@1684213924.64EDT = =tMAIN =mMAIN_scheduler @EDT1684213926.44 #"core_reset"Sent BREAK +2 #t@719 select with ifg=0x10, ie=0xF5 + #@1352 receive with ifg=0x10, ie=0xFD #@1985 receive with ifg=0x10, ie=0xFD + #@2618 receive with ifg=0x10, ie=0xFD + #@2945 receive with ifg=0x80, ie=0xFD #@49240 sendCRC with ifg=0x20, ie=0x7F + #@49686 sendCRC with ifg=0x20, ie=0x7F + #@51278 sendCRC with ifg=0x08, ie=0x5F #@47366 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +248 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +390 "Can"O <: + O <: + #tPolling Can every 10:00 +8055 #-> ESP.shutdown +3 #Asleep / Shutdown +30 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF + #Shutdown +342 #t-> ESP.ready! +3 #Powering core bus +550 .Gate.power :raw,:ON +2 "sampler") +30 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X can +3 "Can"P >< +6404 #t-> ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF + .Gate.power :core,:OFF +2 #Shutdown +110 #t-> can +2 "Can"I h +507 #t-> can +3 "Can"O l +601 #t-> exit +6 #mEXIT @1684214154.40EDT @1684214852.13EDT = =mMAIN_scheduler =tMAIN @EDT1684214853.94 #"core_reset"Sent BREAK + #t@57224 receive with ifg=0x10, ie=0xFD + #@57856 receive with ifg=0x10, ie=0xFD + #@58488 receive with ifg=0x10, ie=0xFD + #@58819 receive with ifg=0x80, ie=0xFD + #@58956 idle with ifg=0x00, ie=0x75 #@54659 receive with ifg=0x10, ie=0xFD + #@55293 receive with ifg=0x10, ie=0xFD + #@55948 receive with ifg=0x10, ie=0xFD #@56586 receive with ifg=0x10, ie=0xFD + #@57224 receive with ifg=0x10, ie=0xFD + #@57856 receive with ifg=0x10, ie=0xFD #@58488 receive with ifg=0x10, ie=0xFD + #@58819 receive with ifg=0x80, ie=0xFD #@11509 initial with ifg=0x00, ie=0xF5 + #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 +11 #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 for core bus +248 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +393 "Can"U "q + U "q + #tPolling Can every 10:00 +2 #Cleanly exited at 01:15:54EDT16-May-23 +4362 #-> GoodNews.email "Updated operating system and ESP application" +2 .GoodNews.email "Updated operating system and ESP application" +452 #"uploadLog"upsync +613 #t-> Power +210 #-> exit +5 #mEXIT @1684214917.07EDT @1687974104.31EDT = =mMAIN_scheduler =tMAIN @EDT1687974106.12 #"core_reset"Sent BREAK +2 #t@18254 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +247 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +390 "Can"A !w + A !w + #tPolling Can every 10:00 +2 #Cleanly exited at 01:28:37EDT16-May-23 +481 #-> access 6 +3 #Powering core bus +579 .Gate.power :raw,:ON +2 "sampler") +51 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +3 "processing"% +2 % +3 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X ESP.ready! +3 "collection"'% +2 "processing"%% +4 "manipulator"&% +7 "core" %\ \ \ +2 %P\ +3 ."rdyProcessing"PSV.dial :air +5 ."rdySampler"Intake.select :close +2 "processing"%  +2 ."rdySampler"Exhaust.select :close +5 .CTV.dial :air +2 "collection"'  +2 "core" %   s +  + +4 ."rdySampler"CSV.dial :waste1 +2 "manipulator"&\ % +3 ."rdyProcessing"PS.home.seek 0ml +4 "collection"' + "processing"% 'ؾ +6 "core" %   z + +3 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +2 .tForearm.home.seek :retract +3 "sampler")  + "manipulator"&' +5 "core"  +2 "sampler") +3 "core"  +2 "sampler") +5 "core"  +2 ."readyCS"CS.reconfigure :fast +5 ."rdySampler"SS.home.seek 0ml +3 "collection"'#d @b +2 "sampler")'ڀ +4 ."readyCS"CS.home.seek 0ml +3 "collection"''i +37 "core" ' +2 ."closeHand"Hand.close +4 .tElbow.reconfigure :loose +2 "manipulator"&/ +3 &$ &.,(#b +6 .tElbow.jog 1500 + "manipulator"&* +9 "core" / +31 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear +2 "manipulator"&(d +309 "core" ' +126 ( + "storage"(& +4 "core" & / 0 \ +2 .tSE.home.seek :down +2 "storage"(' +64 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.home.seek :initial +2 "storage"((,y +149 "core" ' + ."rdyProcessing"PS.stop +2 "processing"%5 +92 "core" ' +1645 ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 "manipulator"&& +43 "core" &d   $ +2 .tForearm.seek :retract +2 "manipulator"&' +4 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&( +93 "core" ( +2 "manipulator"&& +4 "core" &  m 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted + "manipulator"&' +7 "core" ' +2 "manipulator"&% +3 "core" %   D  +3 "processing"%& +3 "collection"' & +4 "core" &q\ + &\ \ \ +3 ."openPC"PC.home.seek :open +3 .tCC.home.seek :open +2 "processing"%!( +2 "collection"'"( +280 "core" ( +24 ( +3 "collection"'# +2 "core"  +3 "processing"%$ +2 "core" V +3 "processing"%% +2 "core"  +3 "processing"%& +3 "core" B +2 "collection"''% +4 "core" %k\ \ \ +2 "processing"%(% +4 "core" %ؽo\ +2 "sampler"))% +4 "core" %چ\ H\ I \ K +2 "collection"'*& +4 "core" &\ \ "\ +2 "processing"%+& +4 "core" &r\  +2 "manipulator"&,% +5 "core" %    T  + "manipulator"&-& +4 "core" &    0 +2 "storage"(.& +4 "core" &,{ V V\ +2 "storage"(/% +4 "core" % V V\ +2 "collection"'09 +4 "core" 9S/ +2 "processing"%19 +2 "core" 9Nh +323 #t-> access 4 +2 "storage"(2% +3 "core" % U Q\ +2 "manipulator"&3% +3 "core" %    ]  +2 "manipulator"&4& +4 "core" &   r 0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"(5(C +991 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &D R \ +440 #t-> access 5 +2 "storage"(7% +3 "core" % T W\ +2 "manipulator"&8% +3 "core" %    Y  +3 "manipulator"&9& +3 "core" &   p 0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(:(  +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" & , $ &\ +689 #t-> access 6 +2 "storage"(<% +3 "core" % S [\ +2 "manipulator"&=% +4 "core" %    +2 "manipulator"&>& +3 "core" &    0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(?( +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" & % . 1\ \ +1630 #t-> require 'shuffle.rb' +1511 #-> 3.times {shuffle 4..6} + #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'A& +3 "core" &\ \ $\ +2 .tHand.open + "manipulator"&B1 +60 "core" 1 + "manipulator"&C% +4 "core" %    +2 "storage"(D% +4 "core" % Z ]\ +2 "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(F(,y +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &,x 1 - \ \ +2 "manipulator"&H& +3 "core" &  0 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&I( +4 "core" ( + "manipulator"&J& +4 "core" &  0 +2 "storage"(K& +3 "core" &,x U U\ \ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +111 "core" ' +2 "storage"(M& +3 "core" &,x W L w\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +294 "core" ' + "storage"(O- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P& +3 "core" &,n + . f\  +3 "manipulator"&Q& +3 "core" &  0 +3 .tElbow.seek 4 + "manipulator"&R( +4 "core" ( +2 "manipulator"&S& +3 "core" &   0 +2 "storage"(T& +4 "core" &,n U W\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&U'c +54 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +3 "storage"(X' +7 "core" &  / 0 +2 "manipulator"&Y% +4 "core" % Z +2 .tForearm.seek :retract +2 "manipulator"&Z' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&\\& +3 "core" &Ӑ  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +2 "core" &Ӑ  < 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'? +100 "core" ' +2 "manipulator"&_& +3 "core" &ӑ   8 +2 "manipulator"&`% +4 "core" %I s  +2 "collection"'a& +4 "core" &\ \ ,\ +3 "collection"'b& +5 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'c(\\ +3 "core" &\ \ *\ +7 &\ \ *\ < +9 &J\ \ ,\ 1 +9 &Cs\ \ +\ E +10 &j\ \ $\ N +9 &^\ \ 7\ N +10 &l_\ \ /\ N +9 &.^\ \ 7\ N +10 &\\\ \ >\ N +9 &]\ \ 5\ N +9 &u_\ \ :\ M +9 &6`\ \ =\ N +10 & [\ \ \ C\ N +9 &"_\ \ L\ N +10 &$|`\ \ \ O\ N +9 &&>\\\ \ F\ N +9 &(_\ \ B\ N +10 &)Z\ \ \ >\ N +9 &+\\\ \ \ /\ N +9 &-Fa\ \ \ C\ N +10 &/ a\ \ \ ?\ M +9 &0[\ \ \ \ G\ N +9 &2`\ \ \ J\ M +10 &4N\\\ \ P\ N +9 &6^\ \ X\ N +10 &7]\ \ \ \\\ N +9 &9`\ \ X\ N +9 &;V`\ \ \ \ W\ N +10 &=[\ \ \ O\ N +9 &>b\ \ `\ N +9 &@]\ \ \ \ `\ N +10 &B^b\ \ c\ N +9 &Dj\ \ `\ O +10 &Eq\ \ d\ P +9 &G\ \ e\ Q +9 &IQ\ +\ #f\ U +10 &K\ 4\ 4e\ Y +9 &L\ 4\ 5a\ X +9 &N\ 7\ 3a\ Y +10 &PK\ 3\ 1b\ Z +9 &R \ -\ /_\ Z +10 &S\ .\ 0a\ [ +9 &U\ .\ ._\ [ +9 &WM\ -\ -g\ \\ +10 &Y \ ,\ /l\ ] +9 &Z\ -\ .r\ ] +9 &\\A^\ .\ -n\ 5 +10 &\\ \ ,\ .n\ ` +9 ( +2 "collection"'b& +3 "core" &\\{\ (\ ,r\ R +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 1.96 + .Hand.open + "manipulator"&d1 +54 "core" 1 + "manipulator"&e% +4 "core" % I  >  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%g& +4 "core" &\  +2 "manipulator"&h% +4 "core" %   ~  +2 "storage"(i% +4 "core" % P I\ +2 "storage"(j. +3 "core" .(,y +2 "storage"(k& +4 "core" &,n K p\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(l(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (m& +2 "core" &,y N \ +2 "manipulator"&n& +4 "core" &Ӓ k 8 +2 "manipulator"&o% +3 "core" %  f  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&p( +160 "core" ( +2 "manipulator"&q& +3 "core" &   f  +2 "storage"(r& +4 "core" &,y\ \ ( T\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +93 "core" ' +2 "storage"(t& +3 "core" &,y C :\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'r +299 "core" ' +2 "storage"(v- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (w& +2 "core" &,m\ \  K\  +2 "manipulator"&x& +4 "core" &  8  +2 .tElbow.seek 4 +2 "manipulator"&y( +4 "core" ( +2 "manipulator"&z& +3 "core" & :  +2 "storage"({& +4 "core" &,m\ \ C\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&|'c +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& + "storage"(' +8 "core" & ;  + "manipulator"&% +5 "core" % k y +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +159 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&& +4 "core" & \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & { \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +36 .tForearm.seek PC +10 "manipulator"&' +91 "core" ' + "manipulator"&& +4 "core" & 9 \ +2 "manipulator"&% +4 "core" %  J +2 "processing"% & +4 "core" &{\  +3 "processing"%\ & +5 "core" &z\  +2 .tPC.seek :closed +2 "processing"% (^ +5 "core" &\  +5 &F\ $f +10 &tU\ 8 +9 &\ M +9 &g\ O +10 &Cd\ O +9 &b\ O +10 &e\ P +9 &c\ O +9 &Jc\ O +10 & a\ O +9 &c\ O +9 &!c\ O +10 &#Sc\ O +9 &%c\ O +10 &&c\ O +9 &(e\ O +9 &*\\e\ O +10 &,c\ O +9 &-b\ O +9 &/g\ O +10 &1ce\ O +9 &3%c\ O +9 &4d\ O +10 &6f\ P +9 &8je\ O +10 &:-`\ O +9 &;h\ O +9 &=g\ O +10 &?rh\ O +9 &A3g\ P +10 &Bm\ P +9 &Dm\ Q +9 &Fr{\ R +10 &H/\ T +9 &I\ T +9 &K\ U +10 &Mp\ U +9 &O2\ U +9 &P\ V +10 &R\ U +9 &Tv\ V +10 &V;\ U +9 &W\ U +9 &Y\ V +10 &[\ V +9 &]A\ M +9 &^vH\ b +10 &^>\ 3 +5 ( +2 "processing"%\ & +4 "core" &^!\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&% +3 "core" %    H J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 "processing"%& +4 "core" &^!\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %    J  +2 "storage"(% +4 "core" %\ \  C\  +2 "storage"( . +3 "core" .(,y +2 "storage"(& +4 "core" &,m\ \ \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&& +4 "core" &,y\ \  \ +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &    \ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'r +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &    \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &   % \ +2 .tForearm.seek PC +2 "manipulator"&#' +90 "core" ' +2 .tHand.close +2 "manipulator"&$/ +57 "core" / +2 .tPC.seek :open +2 "processing"%%( +97 "core" ' + "storage"(&- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +40 "core" ' +310 ( +2 "storage"((& +5 "core" &,j M N\  + "manipulator"&)& +4 "core" & < \ +2 "manipulator"&*% +3 "core" %  L \\ +3 .tForearm.seek :retract + "manipulator"&+' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&,( +244 "core" ( +2 "manipulator"&-& +3 "core" &  r g +2 "storage"(.& +4 "core" &,j\ \ 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +93 "core" ' +2 .tHand.open + "manipulator"&01 +64 "core" 1 +2 "storage"(1- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(2' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(3' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +4 "core" -' +2 "storage"(& +3 "core" &,j \  +2 "manipulator"&6& +4 "core" &    g +2 .tElbow.seek 4 +2 "manipulator"&7( +4 "core" ( + "manipulator"&8& +4 "core" &   Y g +2 "storage"(9& +4 "core" &,j n\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +49 "core" ' +2 "manipulator"&<& +3 "core" &  g +37 "storage"(=& +11 "core" &,j\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&>'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(@' +21 "core" ' +2 "manipulator"&A% +3 "core" %1 h  +2 "storage"(B& +4 "core" &,j\ \ \ +\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 294 counts +2 "manipulator"&C'] +15 "core" ' + "manipulator"&D& +4 "core" &  3 g +2 "storage"(E& +4 "core" &,j O c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +15 "core" ' + "storage"(G% +4 "core" % > ]\ +3 ."downElevator"SE.seek :down +4 "storage"(H' +99 (J% +3 "core" %8I M\ Wb +2 "manipulator"&K% +4 "core" % _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M' +91 "core" ' +60 ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &,j M o\  +2 "collection"'& +4 "core" &\\y\ #\ !V\ R +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&O% +3 "core" %    +2 "storage"(% +4 "core" % N Y\  +2 "storage"(P. +3 "core" .(,y +2 "storage"(Q& +3 "core" &,j P !\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(S(,y +21 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &,{ M ~\ +2 "manipulator"&V& +4 "core" &  | g +2 .tElbow.seek 4 +2 "manipulator"&W( +4 "core" ( +2 "manipulator"&Y& +3 "core" &  g +2 "storage"(I& +4 "core" &,{ Y \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&L' +94 "core" ' +2 "storage"(\\& +3 "core" &,{\ "\  E\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'r +296 "core" ' + "storage"(N- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" & \   g +2 "storage"(_& +3 "core" &,m\ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&`'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(R- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(X'h +29 "core" ' + "manipulator"&Z% +4 "core" %* y  +2 "storage"("& +4 "core" &,m Q \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 287 counts +2 "manipulator"&d'V +14 "core" ' +2 "manipulator"&e& +3 "core" &  8 g +2 "storage"(g& +4 "core" &,m M 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(i' +47 "core" ' +2 "manipulator"&j& +3 "core" &  g +2 "manipulator"&k% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&m(ӂ +150 "core" ( + "manipulator"&n& +4 "core" &ӌ   7 9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &ӌ   9& +3 .tForearm.seek CC + "manipulator"&^'? +96 "core" ' +2 .tHand.close + "manipulator"&q/ +57 "core" / +2 .tCC.seek :open + "collection"'r( +451 "core" ( +2 "storage"(F& +3 "core" &,m / / \ +2 "storage"(t& +5 "core" &,m - % a\ + "manipulator"&[& +4 "core" &ӏ  { 9# +2 "manipulator"&f% +38 "core" % P h +10 .tForearm.seek :retract +2 "manipulator"&v' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&w( +165 "core" ( + "manipulator"&x& +4 "core" &  )  +2 "storage"(z& +4 "core" &,m X V \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&{'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +55 "core" 1 +3 "manipulator"&% +3 "core" % 8   5 +2 "storage"(p& +4 "core" &,m U U\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 301 counts + "manipulator"&s'd +14 "core" ' +2 "manipulator"&u& +3 "core" &  ;  +2 "storage"(|& +4 "core" &,m S W /\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +3 "core" % \\ T\ +3 ."downElevator"SE.seek :down +4 "storage"(y' +99 (% +3 "core" %? / /\ U] +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" &\ \ S\ +2 "manipulator"&% +4 "core" %  [  +2 "storage"(!% +5 "core" % V N \  +2 "storage"( . +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<, X C\  +2 "manipulator"&& +4 "core" &  3  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &  d  +2 "storage"(& +4 "core" &<, S W \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +103 "core" ' + "storage"(& +4 "core" &<, ^ l j\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<, S V !\  +2 "manipulator"&& +3 "core" &  q  +2 .tElbow.seek 5 +2 "manipulator"&$( +4 "core" ( +2 "manipulator"&l& +3 "core" &    +2 "storage"(&& +4 "core" &<, U U @\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"( ' +8 "core" & /  +2 "manipulator"&(% +4 "core" % ϭ _ J +2 .tForearm.seek :retract +2 "manipulator"&)' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&#& +3 "core" &Ӑ 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +4 "core" &Ӑ  7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&.'? +91 "core" ' +2 "manipulator"&& +3 "core" &ӑ   \ 6 +2 "manipulator"&0% +4 "core" %C  \\ T +2 "collection"'1& +4 "core" &\ \ C\ +3 "collection"'4& +6 "core" &\ \ <\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ <\ +6 & -\ \ Q\ $d +9 &V}\ \ T\ 7 +10 &\ \ R\ L +9 &]\ \ L\ M +10 &b\\\ \ Y\ M +9 &$Z\ \ Z\ M +9 &`\ \ M\ M +46 &]\ \ N\ N +11 &j]\ \ Y\ M + &,[\ \ P\ M + &_\ \ W\ M + &!]\ \ F\ N + &#q]\ \ M\ N +5 &%4]\ \ C\ M +9 &&_\ \ \ H\ M +10 &(]\ \ \ \ J\ N +9 &*{\\\ \ M\ M +9 &,=\\\ \ S\ M +10 &-\\\ \ \ T\ M +9 &/[\ \ L\ M +10 &1]\ \ Q\ M +9 &3EZ\ \ X\ M +9 &5]\ \ T\ M +10 &6]\ \ V\ M +9 &8\\\ \ Z\ M +9 &:M_\ \ Z\ M +10 &<\\\ \ [\ M +9 &=]\ \ X\ M +10 &?\\\ \ Y\ M +9 &AT]\ \ Z\ M +9 &C`\ \ [\ N +10 &Dj\ \ [\ N +9 &Fu\ \ Z\ P +9 &HN\ \ X\ R +10 &J\ 2\ (W\ V +9 &K\ 8\ 4W\ Y +10 &M\ 2\ 5W\ Y +9 &OA\ 0\ 2V\ Y +9 &Q\ 0\ 1Y\ Y +10 &R\ /\ 0b\ Z +9 &T\ /\ /_\ [\ +9 &VC\ /\ /X\ [ +10 &X\ -\ ,X\ \\ +9 &Y\ ,\ .b\ ] +10 &[\ .\ /^\ I +9 &\\7\ .\ -d\ 0 +9 &\\~\ +\ ,^\ P +6 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&61 +3 "core" &\\r\ *\ +`\ P +52 1 +3 "manipulator"&8% +3 "core" % C   T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%+& +3 "core" &}\ +2 "manipulator"&<% +4 "core" %  +2 "storage"(=% +4 "core" %  \  +2 "storage"('. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(A(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (B& +2 "core" &<,\ \  \  +2 "manipulator"&2& +4 "core" &Ӓ 6 +2 "manipulator"&D% +4 "core" %   K +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&E( +157 "core" ( + "manipulator"&G& +4 "core" &  W +2 "storage"(,& +4 "core" &<, / /\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&/'O +87 "core" ' +2 "storage"(3& +4 "core" &<, / . \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'r +296 "core" ' +2 "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (5& +2 "core" &<,\ \  \  +2 "manipulator"&7& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&>& +3 "core" &  +2 "storage"(& +4 "core" &<, N s\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&C'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&O& +5 "storage"(' +5 "core" &   * +2 "manipulator"&P% +4 "core" % ϰ p +2 .tForearm.seek :retract +2 "manipulator"&@' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&T& +4 "core" & A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +2 "core" & ] A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Y' +92 "core" ' +2 "manipulator"&I& +9 "core" & A +2 "manipulator"&?% +4 "core" % y V +2 "processing"%\\& +9 "core" &|\ +2 "processing"%H& +5 "core" &x\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +9 &.|\ +z +9 &c\ ? +9 &^\ O +10 &`\ O +9 &`\ O +9 &c\ O +10 &gc\ O +9 &(e\ O +9 &c\ O +10 &c\ O +9 & oc\ O +10 &"1b\ O +9 &#c\ O +9 &%b\ O +10 &'wc\ O +9 &)9b\ O +9 &*g\ O +10 &,e\ O +9 &.`\ O +10 &0Ac\ O +9 &2d\ O +9 &3b\ N +10 &5b\ O +9 &7Jc\ N +9 &9 e\ O +10 &:e\ O +9 &<c\ N +10 &>Of\ O +9 &@d\ O +9 &Ak\ P +10 &Cq\ P +9 &ERx\ Q +9 &G\ R +10 &H\ S +9 &J\ T +10 &LQ\ T +9 &N\ U +9 &O\ U +10 &Q\ U +9 &SV\ U +9 &U\ U +10 &V\ U +9 &X\ U +10 &Z]\ U +9 &\\\ U +9 &]\ 5 +10 &^0v\ P +9 &^\ 0 +2 ( +2 "processing"%H& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&:1 +64 "core" 1 + "manipulator"&M% +5 "core" %    ] V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +91 "core" ' +2 "processing"%U& +39 "core" &^\ 0 +10 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&_% +3 "core" %     +3 "storage"(R% +3 "core" %\ #\ 9\  +2 "storage"(Z. +4 "core" .(<- + "storage"("& +4 "core" &<, N P\  +2 "storage"(e& +3 "manipulator"&g& +7 "core" &<,\ % L \\\  + &   A +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&j( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'r +3 "core" ( +2 "manipulator"&L& +3 "core" &    A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +2 "core" &    A +3 .tForearm.seek PC +2 "manipulator"&]' +93 "core" ' +2 .tHand.close +2 "manipulator"&`/ +62 "core" / +2 .tPC.seek :open + "processing"%d( +90 "core" ' + "storage"(X- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'1 +41 "core" ' +314 ( +2 "storage"(o& +3 "core" &<, P \  +2 "manipulator"&h& +4 "core" & p A +2 "manipulator"&a% +3 "core" %  l @ +3 .tForearm.seek :retract + "manipulator"&q' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&b( +252 "core" ( + "manipulator"&c& +4 "core" &  m +2 "storage"(F& +4 "core" &<,\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&t'O +105 "core" ' +2 .tHand.open +2 "manipulator"&[1 +54 "core" 1 +2 "storage"(f- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(x' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(z' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' + "storage"(m& +4 "core" &<, Y [ \  +2 "manipulator"&~& +4 "core" &\    m +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +3 "manipulator"&p& +3 "core" &\   V m +2 "storage"(u& +4 "core" &<, N Q \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&|'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&v& +3 "core" &\  m +2 "storage"(& +4 "core" &<, N R\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +28 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"({' +20 "core" ' +2 "manipulator"&% +4 "core" %Λ  ) +2 "storage"(& +4 "core" &<,\ \ \ F\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&s' +14 "core" ' + "manipulator"&!& +4 "core" &\   k +2 "storage"( & +5 "core" &<, K w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +15 "core" ' + "storage"(% +4 "core" % P \ +3 ."downElevator"SE.seek :down +4 "storage"(y' +98 (S% +4 "core" %OL\ \  [\ Wd +2 "manipulator"&% +3 "core" %I  J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &<, % o\  +2 "collection"'& +4 "core" &\\r\ !\ "G\ P +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %  ?  +2 "storage"(}% +3 "core" % X\ +2 "storage"( . +4 "core" .(<- + "storage"(& +40 "core" &<,\ % {\  +9 "storage"(& +4 "core" &<, O j\  +2 "manipulator"&& +4 "core" &  T k +2 .tElbow.seek 5 +2 "manipulator"&l( +20 "core" ( +2 "manipulator"&&& +3 "core" &  k +2 "storage"(& +4 "core" &<,\ # ` *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' +2 "storage"((& +4 "core" &<, C K\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" &   +2 "storage"(-& +4 "core" &<, N 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(0'| +28 "core" ' +2 "manipulator"&1% +4 "core" %Π w  +2 "storage"($& +3 "core" &<, Y  R\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"& ' +14 "core" ' + "manipulator"&)& +4 "core" &  , +2 "storage"(r& +4 "core" &<, D c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(8' +37 "core" ' +2 "manipulator"&+& +4 "core" & s +2 "manipulator"&<% +3 "core" %O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +155 "core" ( +2 "manipulator"&4& +3 "core" &ӕ  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +4 "core" &ӕ i 5 +3 .tForearm.seek CC +2 "manipulator"&2'? +95 "core" ' + .tHand.close +2 "manipulator"&D/ +54 "core" / +3 .tCC.seek :open + "collection"'.( +448 "core" ( + "storage"(G& +4 "core" &<, / / r\  +2 "storage"(,& +3 "core" &<, 2 2\  +2 "manipulator"&3& +4 "core" &ӕ S 5 +2 "manipulator"&% +3 "core" % N L  +3 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&9( +162 "core" ( + "manipulator"&K& +4 "core" &   ]  +2 "storage"(5& +4 "core" &<, W U =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&7'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +3 "manipulator"&% +3 "core" % ΐ   + +2 "storage"(O& +5 "core" &<, U U \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 303 counts +2 "manipulator"&P'ϼ +14 "core" ' +2 "manipulator"&E& +5 "core" &  k  + "storage"(/& +4 "core" &<, U M \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +15 "core" ' +2 "storage"(C% +4 "core" % G T R\ +3 ."downElevator"SE.seek :down +3 "storage"(T' +100 (V% +2 "core" %J / . \ V_ +2 "manipulator"&;% +4 "core" %4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +46 #Loading generic puck from tube 6 into Collection Clamp + "collection"'?& +3 "core" &\ \ Z\ +2 "manipulator"&\\% +4 "core" %    G  +2 "storage"(% +4 "core" % k n \  +2 "storage"(@. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(%(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &K ' 7 H\ +2 "manipulator"&M& +3 "core" &  |  +3 .tElbow.seek 6 + "manipulator"&U( +4 "core" ( +2 "manipulator"&H& +3 "core" &   +2 "storage"(_& +4 "core" &K L H `\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +94 "core" ' +2 "storage"(Z& +3 "core" &K n l \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +292 "core" ' +2 "storage"(e- +4 "core" -'. + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (g& +3 "core" &K ! A q\ +2 "manipulator"&L& +4 "core" &  o  +2 .tElbow.seek 6 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&Y& +4 "core" &  0  +2 "storage"(`& +3 "core" &K W V\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&X'h +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +53 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&N& +3 "storage"(' +8 "core" &  Q  + "manipulator"&k% +4 "core" % a +2 .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&a& +3 "core" &Ӑ  n 9) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +2 "core" &ӑ  9( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&c'? +94 "core" ' +2 "manipulator"&F& +3 "core" &ӑ  9( +2 "manipulator"&j% +4 "core" %0  O : +2 "collection"'[& +4 "core" &\ \ M\ +3 "collection"'f& +6 "core" &\ \ U\ +2 .tCC.seek :closed +2 "collection"'^(\\ +4 "core" &\ \ Z\ +7 &;\ \ U\ %f +10 &W\ \ O\ 7 +9 &\ \ W\ L +9 &Z\ \ Z\ L +10 &~Z\ \ Y\ M +9 &@^\ \ [\ M +9 &Z\ \ O\ M +10 &\\\ \ X\ L +9 &\\\ \ Y\ M +10 &G_\ \ H\ M +9 & \\\ \ K\ L +9 &!\\\ \ C\ L +10 &#]\ \ K\ L +9 &%QZ\ \ \ F\ L +9 &'\\\ \ \ E\ L +10 &(\\\ \ Q\ L +9 &*Z\ \ \ P\ M +10 &,YZ\ \ Q\ L +9 &.Z\ \ X\ L +9 &/Z\ \ \ \ N\ L +10 &1[\ \ \ \ T\ L +9 &3a\\\ \ X\ L +9 &5#\\\ \ M\ L +10 &6]\ \ Q\ M +9 &8c\ \ N\ M +10 &:ch\ \ T\ N +9 &<#p\ .\ 'N\ O +9 &=x\ 6\ 5Z\ P +10 &?X\ \ O\ M +9 &Ao_\ \ \ Y\ M +9 &C/f\ \ Y\ N +10 &Dn\ \ W\ N +9 &F~\ \ Y\ Q +10 &Ha\ *\ %_\ U +9 &J\ :\ 9[\ X +9 &K\ :\ =T\ X +10 &M\ 8\ 8N\ Z +9 &O[\ 7\ 6X\ Y +9 &Q\ 4\ 3Y\ Z +10 &R\ 2\ 0P\ Z +9 &T\ 0\ /T\ Z +10 &V[\ /\ -R\ \\ +9 &X\ .\ /N\ \\ +9 &Y\ /\ /Q\ ] +10 &[\ .\ -M\ I +9 &\\5\ -\ /T\ 2 +9 &\\s\ +\ ,T\ O +3 ( +2 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&m1 +53 "core" 1 +2 "manipulator"&~% +3 "core" % 6  U 4 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%u& +4 "core" &\ +2 "manipulator"&q% +3 "core" %  u  +2 "storage"(v% +4 "core" %   A\  +2 "storage"(. +2 "core" .(K +2 "storage"(& +4 "core" &K X ?\ +2 "storage"(& +4 "core" &K Y 8\ +2 "manipulator"&n& +3 "core" & , +3 "manipulator"&!% +3 "core" %  k  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +148 "core" ( +2 "manipulator"&x& +4 "core" &   +2 "storage"(& +5 "core" &K $ e\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&b' +96 "core" ' +2 "storage"(t& +3 "core" &K + . Y\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +42 .tSE.seek :beamBreak +9 "storage"(z'r +297 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K N N\ +2 "manipulator"&|& +4 "core" & {  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & x  +2 "storage"(& +4 "core" &K P i\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +6 "core" & q  +3 "manipulator"&}% +3 "core" % v Q +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&{( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&& +4 "core" & Q X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&&& +4 "core" & y X +2 "manipulator"&% +4 "core" % Y +2 "processing"%i& +5 "core" &\ +2 "processing"%(& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%y(^ +4 "core" &\  +8 &.{\ +z +10 &d\ ? +9 &p~\ O +9 &2b\ O +10 &a\ O +9 &d\ O +9 &yf\ O +10 &;a\ O +9 &b\ O +10 &c\ N +9 & e\ O +9 &"Ce\ O +10 &$e\ O +9 &%_\ N +9 &'c\ O +10 &)Ke\ O +9 &+ a\ O +10 &,b\ O +9 &._\ N +9 &0Sb\ O +10 &2c\ N +9 &3`\ O +9 &5b\ O +10 &7\\`\ N +9 &9e\ N +10 &:d\ N +9 &<c\ O +9 &>ch\ O +10 &@%b\ O +9 &Ai\ O +9 &Cq\ P +10 &Efv\ P +9 &G$|\ R +10 &H\ S +9 &J\ T +9 &Ld\ T +10 &N%\ T +9 &O\ U +9 &Q\ U +10 &Sh\ U +9 &U*\ U +10 &V\ U +9 &X\ U +9 &Zq\ U +10 &\\2\ U +9 &]|~\ ; +9 &^+\ T +10 &^\ 1 +2 ( +2 "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&w1 +55 "core" 1 +2 "manipulator"&% +3 "core" %   J Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +92 "core" ' +2 "processing"%#& +3 "core" &^!\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&-% +4 "core" %     +2 "storage"(% +4 "core" %\ \ V\  +2 "storage"(1. +3 "core" .(K +2 "storage"($& +3 "core" &K\ \ \ +3 "storage"()& +2 "manipulator"&r& +7 "core" &K\ \ V\ + &   X +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&+( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(<'r +3 "core" ( +2 "manipulator"& & +3 "core" &   ` X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &   X +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +3 .tPC.seek :open +2 "processing"% ( +98 "core" ' + "storage"(0- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +40 "core" ' +305 ( +2 "storage"(B& +3 "core" &K L 3\ \ +2 "manipulator"&6& +4 "core" & 9 X +2 "manipulator"&% +4 "core" %  b < +2 .tForearm.seek :retract +2 "manipulator"&D' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&=( +247 "core" ( +2 "manipulator"&& +4 "core" &  ` + "storage"(G& +4 "core" &K\ \ \ 7\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +41 .tForearm.seek 6 + 450 counts +9 "manipulator"&,' +94 "core" ' + .tHand.open +2 "manipulator"&31 +56 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(K' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(5' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(2- +3 "core" -' +2 "storage"('& +3 "core" &K N N \ \ +2 "manipulator"&& +4 "core" &    ` +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&O& +3 "core" &   ` +2 "storage"(E& +4 "core" &K : 7 q\ \ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(C'" +50 "core" ' +2 "manipulator"&*& +3 "core" & [ ` +2 "storage"(V& +4 "core" &K\ \ k\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&;'< +21 "core" ' + .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(7' +20 "core" ' +2 "manipulator"&?% +4 "core" %A p  +2 "storage"(P& +4 "core" &K\ \ \  \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&8'm +14 "core" ' +2 "manipulator"&\\& +4 "core" &  ` +2 "storage"(& +4 "core" &K N J\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +17 "core" ' +2 "storage"(J% +4 "core" % K %\ +3 ."downElevator"SE.seek :down +4 "storage"(T' +98 (A% +3 "core" %,T p\ Xf +2 "manipulator"&:% +4 "core" %  ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M' +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (H& +3 "core" &K [ \ \ +2 "collection"'_& +3 "core" &\\r\ #\ "X\ O +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&Z% +3 "core" %  m  +3 "storage"(>% +3 "core" %   9\  +2 "storage"(I. +3 "core" .(K +2 "storage"(e& +3 "core" &K   \ \ +2 "storage"(g& +4 "core" &K   z\ \ +2 "manipulator"&L& +3 "core" & c ` +3 .tElbow.seek 6 + "manipulator"&Y( +3 "core" ( +2 "manipulator"&`& +4 "core" & f ` +2 "storage"(Q& +3 "core" &K   \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +95 "core" ' + "storage"(k& +4 "core" &K / \\\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'r +298 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" &  o ` +2 "storage"(]& +4 "core" &K O p\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&"'< +19 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(F- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(j'w +29 "core" ' +2 "manipulator"&[% +4 "core" %0 S  +2 "storage"(W& +3 "core" &K P\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 288 counts +2 "manipulator"&'\\ +13 "core" ' +2 "manipulator"&o& +3 "core" &  L _ +2 "storage"(.& +4 "core" &K T Q\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&m' +21 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(~' +47 "core" ' +47 "manipulator"&u& +3 "core" &  l _ +3 "manipulator"&q% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &Ӕ  g 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӕ  ! 5 +3 .tForearm.seek CC +2 "manipulator"&f'? +97 "core" ' + .tHand.close +2 "manipulator"&n/ +61 "core" / +2 .tCC.seek :open +2 "collection"'!( +447 "core" ( +2 "storage"(x& +3 "core" &K % 1 .\ \ +2 "storage"(c& +4 "core" &K / 2 #\ \ +2 "manipulator"&& +3 "core" & - +2 "manipulator"&t% +4 "core" % ' { +2 .tForearm.seek :retract +2 "manipulator"&h' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&p( +161 "core" ( +2 "manipulator"&S& +3 "core" &   +2 "storage"(& +4 "core" &K U W\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&|'< +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +3 "manipulator"&s% +3 "core" % 1  ! +2 "storage"(& +5 "core" &K U R \ \ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 289 counts + "manipulator"&}'] +14 "core" ' +2 "manipulator"& & +3 "core" &  g  +2 "storage"(b& +4 "core" &K M U \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +15 "core" ' + "storage"( % +4 "core" % I Q \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %F 2 2 \ V` +2 "manipulator"&% +4 "core" % ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +3 "core" &\ \ N\ +2 "manipulator"&i% +4 "core" %   ,  +2 "storage"(% +4 "core" % I H T\  +2 "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(d(,y +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" &,z 2 -\ +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&#( +4 "core" ( + "manipulator"&-& +4 "core" &  u  +2 "storage"(& +3 "core" &,z I G *\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +94 "core" ' + "storage"($& +4 "core" &,z j ` \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +297 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +3 "core" &,l $ * N\ +2 "manipulator"& & +3 "core" &  U  +2 .tElbow.seek 4 +2 "manipulator"&l( +4 "core" ( +2 "manipulator"&& +3 "core" & 3  +2 "storage"(& +4 "core" &,l U U\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&0'c +29 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"(y' +7 "core" &  9  +2 "manipulator"&<% +4 "core" % ~  +2 .tForearm.seek :retract +2 "manipulator"&B' +135 "core" ' +9 .tElbow.seek CC +2 "manipulator"&6(ӂ +102 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +48 "core" ( +2 "manipulator"&& +3 "core" &{$ =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &{$ ~ =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +3 "manipulator"&G& +3 "core" &Ӛ   Z 8# +2 "manipulator"&+% +4 "core" %, F +3 "collection"'3& +3 "core" &\ \ X\ +3 "collection"'& +6 "core" &\ \ N\ +2 .tCC.seek :closed +3 "collection"'2(\\ +3 "core" &\ \ S\ +6 &\ \ U\ 8 +10 &FI{\ \ N\ 0 +9 &ss\ \ O\ E +9 &`\ \ W\ M +10 &Z\ \ L\ M +9 &\\\ \ L\ M +10 &b]\ \ N\ L +9 &$^\ \ N\ L +9 &[\ \ U\ M +10 &]\ \ L\ L +9 &j_\ \ R\ L +9 &!,\\\ \ A\ L +10 &"]\ \ A\ L +9 &$]\ \ ;\ L +9 &&r]\ \ :\ L +10 &(4^\ \ E\ L +9 &)]\ \ \ <\ L +10 &+Z\ \ A\ L +9 &-{Y\ \ >\ L +9 &/;\\\ \ @\ M +10 &0Z\ \ ?\ L +9 &2\\\ \ D\ L +9 &4]\ \ A\ L +10 &6D[\ \ \ \ O\ L +9 &8Z\ \ \ H\ L +10 &9]\ \ N\ L +9 &;\\\ \ \ P\ L +9 &=K[\ \ \ R\ M +10 &? [\ \ N\ M +9 &@[\ \ \ N\ M +10 &B_\ \ W\ M +9 &DRc\ \ P\ M +9 &Fn\ \ S\ O +10 &G~\ \ P\ P +9 &I\ *\ "L\ U +9 &K<\ 6\ 3R\ W +10 &L\ 1\ 4R\ Y +9 &N\ 2\ 2R\ X +10 &P}\ /\ 2Q\ Y +9 &R=\ /\ /Q\ Z +9 &S\ /\ ,R\ [ +10 &U\ .\ .R\ Z +9 &W\ .\ -P\ [\ +9 &Y>\ ,\ ,S\ \\ +10 &Z\ ,\ -P\ \\ +9 &\\]P\ +\ +P\ 2 +9 &\\\ +\ +U\ Y +9 ( +2 &\\w\ )\ *R\ W +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&'1 +64 "core" 1 +2 "manipulator"&% +3 "core" % ,  < F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%E& +4 "core" &\ +2 "manipulator"&D% +5 "core" %  m  + "storage"(*% +4 "core" % L M\  +2 "storage"(V. +3 "core" .(,y +2 "storage"(?& +4 "core" &,l N q\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(P(,y +18 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" &,| _\ +2 "manipulator"&\\& +3 "core" &ӛ { 8" +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&K( +166 "core" ( + "manipulator"&J& +4 "core" & X  +2 "storage"(=& +4 "core" &,|\ "\ ! )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&,' +95 "core" ' +2 "storage"(5& +4 "core" &,| !\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +295 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (/& +3 "core" &,m\ \  S\  +2 "manipulator"&& +3 "core" & 4  +2 .tElbow.seek 4 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&;& +3 "core" &  +2 "storage"(8& +3 "core" &,m\ \ \ \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&H'c +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(>' +6 "core" & I  +3 "manipulator"&I% +3 "core" % { +2 .tForearm.seek :retract +2 "manipulator"&7' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +3 "manipulator"&g& +3 "core" & t +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +4 "core" & o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&`' +99 "core" ' +2 "manipulator"&Q& +43 "core" & S +10 "manipulator"&@% +3 "core" % +3 "processing"%k& +3 "core" &\ +3 "processing"%T& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(^ +5 "core" &\  +9 &/{\ *y +9 &d\ ? +10 &m~\ O +9 &/b\ O +9 &c\ N +10 &_\ O +9 &v`\ N +9 &8b\ N +10 &`\ O +9 &`\ N +9 & ~b\ N +10 &"?e\ O +9 &$c\ O +10 &%_\ N +9 &'b\ N +9 &)G`\ O +10 &+ e\ O +9 &,c\ O +10 &._\ N +9 &0Oa\ O +9 &2a\ O +10 &3^\ N +9 &5^\ O +9 &7Xc\ N +10 &9b\ O +9 &:a\ N +9 &<b\ N +10 &>_c\ O +9 &@!a\ O +10 &Ae\ O +9 &Cp\ P +9 &Ebv\ P +10 &G"z\ Q +9 &H\ T +9 &J\ T +10 &L_\ T +9 &N\ U +10 &O\ T +9 &Q\ U +9 &Se\ U +10 &U&\ U +9 &V\ U +9 &X\ U +10 &Zl\ U +9 &\\-\ U +10 &]{z\ ? +9 &^"Y\ T +9 &^8\ 9 +3 ( +2 "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&M1 +61 "core" 1 + "manipulator"&R% +4 "core" %   7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +90 "core" ' +2 "processing"%]& +4 "core" &^4\ 9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&F% +3 "core" %    `  +2 "storage"([% +4 "core" %\ \  S\ +2 "storage"(W. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(o(,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (.& +2 "manipulator"&u& +4 "core" &,}\ \ <\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&q( +2 "storage"(N'r +6 "core" ( +2 "manipulator"&Y& +3 "core" &   [ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &U& +2 "core" &   +3 .tForearm.seek PC +2 "manipulator"&"' +90 "core" ' +3 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%j( +93 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +307 ( +2 "storage"(m& +4 "core" &,k P \  +2 "manipulator"&X& +4 "core" & m +2 "manipulator"&n% +3 "core" % \  } e +3 .tForearm.seek :retract +2 "manipulator"&v' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&^( +240 "core" ( + "manipulator"&x& +4 "core" &  = +2 "storage"(c& +4 "core" &,k P 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +96 "core" ' + .tHand.open +2 "manipulator"&t1 +54 "core" 1 +3 "storage"(S- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(f' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &,k Q Q 5\  +2 "manipulator"&s& +4 "core" &    < +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" &   u < +2 "storage"(b& +4 "core" &,k N P \  +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +9 "core" ' +2 .tSE.reconfigure :gently +45 "storage"(#QK-0-\ b +7 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(h'" +51 "core" ' +2 "manipulator"&& +3 "core" & p < +2 "storage"(& +4 "core" &,k\ \  f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&p'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&}% +4 "core" %4  +2 "storage"(i& +4 "core" &,k\ \ \ a\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 297 counts + "manipulator"&'` +14 "core" ' + "manipulator"& & +4 "core" & < +2 "storage"(~& +4 "core" &,k \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +15 "core" ' + "storage"(% +4 "core" % Q\ +3 ."downElevator"SE.seek :down +4 "storage"(%' +98 (w% +4 "core" %jQ \  \ Wd +2 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,k \  H\  +2 "collection"'$& +4 "core" &\\v\ "\ "W\ W +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %   +2 "storage"(&% +4 "core" % N \  +2 "storage"(). +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(((,y +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" &,} \ \ &\ +2 "manipulator"&& +4 "core" & t < +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&{& +4 "core" &  < +2 "storage"(\ & +4 "core" &,} P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +94 "core" ' + "storage"(#& +4 "core" &,} C ;\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'r +295 "core" ' +2 "storage"(r- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" & w < +2 "storage"(& +3 "core" &,m\ \  J\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(3'h +30 "core" ' + "manipulator"&l% +4 "core" %2 P  +2 "storage"(y& +4 "core" &,m\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 295 counts +2 "manipulator"&B'^ +16 "core" ' + "manipulator"&!& +4 "core" &  [ < +2 "storage"('& +3 "core" &,m K :\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(E' +36 "core" ' +2 "manipulator"&D& +3 "core" & o < +2 "manipulator"&*% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +150 "core" ( +37 "manipulator"&?& +16 "core" &Ӌ"  ;8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +3 "core" &Ӌ"  q ;8 +2 .tForearm.seek CC +2 "manipulator"&\\'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(J& +3 "core" &,m 0 , i\  +2 "storage"(=& +4 "core" &,m 2 1\  +2 "manipulator"&d& +4 "core" &ө { 7 +2 "manipulator"&5% +3 "core" % I z - +3 .tForearm.seek :retract + "manipulator"&6' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&O( +160 "core" ( +2 "manipulator"&:& +3 "core" & |  +2 "storage"(/& +4 "core" &,m U U \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&81 +63 "core" 1 +2 "manipulator"&_% +4 "core" % / Z 8 +2 "storage"(Z& +4 "core" &,m U U \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 292 counts +3 "manipulator"&I'[ +14 "core" ' + "manipulator"&K& +4 "core" &  ]  +2 "storage"(,& +4 "core" &,m X R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +19 "core" ' +2 "storage"(H% +5 "core" % G G 1\ +2 ."downElevator"SE.seek :down +4 "storage"(g' +99 (L% +3 "core" %J / /\ V_ +2 "manipulator"&C% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'@& +3 "core" &\ \ P\ +2 "manipulator"&k% +4 "core" %   i  +2 "storage"(>% +4 "core" % L Z q\ +2 "storage"(7. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &<+ V h\  +2 "manipulator"&R& +4 "core" &  }  +2 .tElbow.seek 5 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&F& +4 "core" &  |  +2 "storage"([& +3 "core" &<* G G ,\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +91 "core" ' +2 "storage"(T& +4 "core" &<* k a b\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'r +291 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +2 "core" &<* T O -\  +3 "manipulator"&U& +3 "core" &  _  +2 .tElbow.seek 5 +2 "manipulator"&`( +4 "core" ( + "manipulator"&& +4 "core" &  C  +2 "storage"(P& +4 "core" &<* T U \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +3 "storage"(9' +7 "core" &    +2 "manipulator"&N% +3 "core" % ϯ  F +48 .tForearm.seek :retract +3 "manipulator"&m' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +110 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +38 "core" ( +2 "manipulator"&n& +3 "core" &{"  7 ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &{"  ] ;5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&x'? +92 "core" ' +2 "manipulator"&c& +4 "core" &}"  ;3 +2 "manipulator"&q% +4 "core" %@ ? V +2 "collection"'t& +4 "core" &\ \ T\ +3 "collection"'S& +5 "core" &\ \ G\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ P\ +6 &;\ \ V\ %g +10 &Wz\ \ F\ 7 +9 &}\ \ K\ L +9 &[\ \ W\ L +10 &zZ\ \ M\ L +9 &;Z\ \ O\ L +9 &Z\ \ R\ L +10 &Z\ \ P\ L +9 &Z\ \ B\ L +9 &CZ\ \ L\ L +10 & \\\ \ K\ L +9 &!Z\ \ O\ L +10 &#\\\ \ ?\ L +9 &%KY\ \ R\ L +9 &'W\ \ E\ L +10 &(Z\ \ I\ L +9 &*Y\ \ M\ L +9 &,TZ\ \ S\ L +10 &.Z\ \ E\ L +9 &/Z\ \ \ M\ L +10 &1[\ \ R\ L +9 &3]Z\ \ P\ L +9 &5Z\ \ S\ L +10 &6Z\ \ U\ L +9 &8Z\ \ P\ L +10 &:cZ\ \ T\ L +9 &<&W\ \ R\ L +9 &=Z\ \ R\ L +10 &?[\ \ V\ L +9 &Ak]\ \ X\ L +9 &C+a\ \ \ T\ M +10 &Dg\ \ U\ N +9 &Fo\ \ X\ O +10 &Hc\ \ O\ R +9 &J\ .\ )P\ U +9 &K\ 3\ 4Q\ X +10 &M\ 2\ 2V\ X +9 &OW\ 1\ 1V\ Y +9 &Q\ .\ /O\ Y +10 &R\ /\ .R\ Z +9 &T\ -\ .W\ Z +9 &VX\ /\ /W\ [\ +10 &X\ .\ .U\ [ +9 &Y\ .\ /P\ \\ +10 &[\ 0\ .T\ I +9 &\\?\ /\ -S\ 'v +9 &\\\ -\ .M\ ] +3 ( +2 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +3 "manipulator"&s% +3 "core" % @  * V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%b& +3 "core" &\ +2 "manipulator"&v% +4 "core" %   5  +2 "storage"(% +5 "core" % K *\  + "storage"(. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (}& +2 "core" &<+ P\  +2 "manipulator"&& +4 "core" &~" \  \\ ;2 +2 "manipulator"&i% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +159 "core" ( +2 "manipulator"&~& +4 "core" &  l  +2 "storage"(& +3 "core" &<*\ !\ <\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +96 "core" ' +2 "storage"(& +4 "core" &<* ! !\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'r +297 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<*\ \  b\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&h& +4 "core" & f  +2 "storage"(p& +3 "core" &<*\  b\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& +2 "storage"(' +8 "core" & ]  + "manipulator"&&% +4 "core" % ϳ +3 .tForearm.seek :retract + "manipulator"&)' +98 "core" ' + .tElbow.seek PC +2 "manipulator"&( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"& & +4 "core" & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +46 "manipulator"&{' +96 "core" ' + "manipulator"&\ & +4 "core" &  < +2 "manipulator"&z% +4 "core" % ` e +2 "processing"%#& +4 "core" &\ +3 "processing"%%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%o(^ +4 "core" &\ +5 &\ 2 +9 &8F\ 1 +10 &`p\ E +9 &l\ O +10 &b\ O +9 &]\ N +9 &Gd\ N +10 & _\ N +9 &`\ N +9 &c\ O +10 &O_\ N +9 &!a\ N +10 &"b\ O +9 &$c\ O +9 &&Va\ O +10 &(b\ O +9 &)_\ N +9 &+d\ N +10 &-_e\ N +9 &/ c\ O +10 &0a\ O +9 &2b\ N +9 &4hb\ N +10 &6)c\ N +9 &7a\ O +9 &9b\ O +10 &;nd\ O +9 &=0b\ O +10 &>e\ O +9 &@e\ N +9 &Bsm\ P +10 &D5q\ P +9 &Ey\ Q +9 &G\ R +10 &Ip\ S +9 &K0\ T +10 &L\ T +9 &N\ T +9 &Pt\ U +10 &R7\ T +9 &S\ U +9 &U\ U +10 &W{\ U +9 &Y>\ U +10 &[\ T +9 &\\\ U +9 &^9e\ 'w +10 &^]\ . +9 ( + &^\ , +2 "processing"%%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&|1 +52 "core" 1 +2 "manipulator"&-% +4 "core" %   C e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +88 "core" ' +2 "processing"%0& +4 "core" &^~\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %     +2 "storage"(+% +5 "core" %\ \ \  + "storage"(l. +4 "core" .(<- + "storage"(y& +4 "core" &<*\ \ \  +3 "storage"(!& +2 "manipulator"&'& +5 "core" &<*\ \ \ \  +2 &   +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(D'r + "manipulator"&*( +6 "core" ( +2 "manipulator"&<& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&1' +89 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%B( +89 "core" ' +2 "storage"(3- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'1 +46 "core" ' +308 ( +2 "storage"(& +3 "core" &<* Q \  +2 "manipulator"&4& +4 "core" & ^ +2 "manipulator"&G% +4 "core" %  o o +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&V( +248 "core" ( +2 "manipulator"&2& +3 "core" &  j Z +2 "storage"(J& +5 "core" &<* \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +96 "core" ' +2 .tHand.open + "manipulator"&d1 +61 "core" 1 +3 "storage"(5- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(:' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +3 "core" -' +2 "storage"(& +4 "core" &<* O 2 &\  +2 "manipulator"&8& +3 "core" &   r Z +2 .tElbow.seek 5 +2 "manipulator"&_( +11 "core" ( + "manipulator"&Z& +4 "core" &   9  +2 "storage"(K& +3 "core" &<* N N \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +48 "storage"(H'" +51 "core" ' + "manipulator"&6& +4 "core" & d  +2 "storage"(L& +4 "core" &<*\ '\  T\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&C'΍ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&@% +4 "core" %Θ +2 "storage"(I& +4 "core" &<*\ \ \  W\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&k' +37 "core" ' +2 "manipulator"&>& +4 "core" &   +2 "storage"(7& +4 "core" &<* X \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&E'O +19 "core" ' + "storage"(A% +4 "core" %\ "\ " G\ +3 ."downElevator"SE.seek :down +4 "storage"(g' +98 ((% +3 "core" %T \ Xg +2 "manipulator"&M% +4 "core" %b  M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +89 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (F& +3 "core" &<* 2 [\  +2 "collection"'[& +4 "core" &\\\ #\ #N\ ] +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&T% +4 "core" %   +2 "storage"(;% +4 "core" % X \ +2 "storage"(Q. +3 "core" .(<- +2 "storage"(u& +4 "core" &<* O \  +2 "storage"(Y& +3 "core" &<* Y \  +2 "manipulator"&U& +4 "core" & o  +2 .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( + "manipulator"&P& +4 "core" &  5  +2 "storage"(e& +4 "core" &<*   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +105 "core" ' + "storage"(N& +4 "core" &<* + $ S\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'r +298 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" & d  +2 "storage"(n& +5 "core" &<* O \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&"'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(c- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(q'| +29 "core" ' +2 "manipulator"&t% +4 "core" %Ρ e > +2 "storage"(`& +4 "core" &<* \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&9' +14 "core" ' + "manipulator"&m& +4 "core" &  -  +2 "storage"(& +4 "core" &<* K (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(s' +50 "core" ' +2 "manipulator"&b& +3 "core" & p  +2 "manipulator"&v% +4 "core" %: +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +163 "core" ( +2 "manipulator"&S& +4 "core" &ӌ  z - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &ӌ ? - +2 .tForearm.seek CC +2 "manipulator"&'? +139 "core" ' +2 .tHand.close + "manipulator"&i/ +55 "core" / +2 .tCC.seek :open +2 "collection"'x( +447 "core" ( +2 "storage"(~& +4 "core" &<* E 8 L\  +2 "storage"(& +3 "core" &<* % '\  +3 "manipulator"& & +3 "core" &ӌ - +2 "manipulator"&% +5 "core" % G 5 +2 .tForearm.seek :retract +2 "manipulator"&X' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +159 "core" ( +2 "manipulator"&w& +4 "core" &  e  +2 "storage"(& +3 "core" &<* U U \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +65 "core" 1 +2 "manipulator"&% +3 "core" % }  ! +2 "storage"($& +4 "core" &<* T W c\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 284 counts +2 "manipulator"&&'ϩ +13 "core" ' +2 "manipulator"& & +4 "core" &  \ _  +2 "storage"(^& +4 "core" &<* G G 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +25 "core" ' +2 "storage"(% +4 "core" % Q n P\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (% +3 "core" %G 1 1\ V` +2 "manipulator"&% +4 "core" %e  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'z& +3 "core" &\ \ T\ +2 "manipulator"&#% +4 "core" %   b  +2 "storage"(% +4 "core" % G G \  +2 "storage"(). +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(j(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (|& +2 "core" &K . * x\ \ +2 "manipulator"&-& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(+& +3 "core" &K H G &\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +90 "core" ' +2 "storage"(y& +3 "core" &K k ` u\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +292 "core" ' +2 "storage"('- +3 "core" -'' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" &K % C \ \ +2 "manipulator"&<& +4 "core" & Q  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&{& +4 "core" &  f  +2 "storage"(& +3 "core" &K T U t\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&3'h +26 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& +2 "storage"(o' +8 "core" &   +2 "manipulator"&D% +3 "core" % r } +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +152 "core" ' +4 ( +2 ."downElevator"SE.stop +2 "manipulator"&G& +2 "storage"(5 +7 "core" &ӎ  B 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &ӎ  U 9' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&2'? +96 "core" ' +2 "manipulator"&J& +4 "core" &ӎ  9' +2 "manipulator"&*% +5 "core" %= m ' +2 "collection"'d& +3 "core" &\ \ Q\ +3 "collection"'5& +5 "core" &\ \ O\ +2 .tCC.seek :closed +3 "collection"'\\(\\ +4 "core" &\ \ O\ +8 &;\ \ W\ %f +9 &V|\ \ Y\ 7 +10 &|\ \ O\ K +9 &W\ \ S\ L +9 &yY\ \ N\ K +10 &:Z\ \ Q\ L +9 &Z\ \ O\ K +10 &X\ \ P\ K +9 &Z\ \ P\ K +9 &BZ\ \ O\ L +10 & W\ \ Q\ L +9 &!W\ \ N\ L +9 &#Z\ \ P\ K +10 &%KY\ \ O\ K +9 &' Z\ \ S\ L +10 &(W\ \ Q\ L +9 &*X\ \ S\ K +9 &,RY\ \ R\ L +10 &.[\ \ T\ L +9 &/V\ \ S\ L +9 &1X\ \ L\ L +10 &3[Y\ \ R\ K +9 &5Y\ \ R\ L +10 &6]\ \ U\ L +9 &8Z\ \ \ R\ L +9 &:aZ\ \ \ X\ L +10 &<$Z\ \ \ X\ L +9 &=[\ \ W\ K +9 &?[\ \ \ \ R\ L +10 &Ah^\ \ R\ L +9 &C)a\ \ Y\ M +10 &Dm\ \ Y\ N +9 &Fx\ \ X\ O +9 &H\\\ +\ 'Y\ S +10 &J\ ;\ 5X\ W +9 &K\ 9\ :Z\ W +9 &M\ 8\ 8X\ Y +10 &OU\ 3\ 4Y\ X +9 &Q\ 5\ 6W\ Y +10 &R\ /\ 2Y\ Z +9 &T\ 0\ 0Y\ [ +9 &VU\ .\ 1W\ [\ +10 &X\ /\ /V\ [ +9 &Y\ .\ 0Z\ ^ +9 &[\ 1\ /Y\ I +10 &\\9\ 0\ 0X\ , +9 &\\\ &\ .U\ [ +6 ( + "collection"'5& +4 "core" &\\}\ -\ 'W\ [ +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&8% +4 "core" % = G ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%K& +3 "core" &\ +2 "manipulator"&% +5 "core" % "  8 ( + "storage"(6% +4 "core" % K \  +2 "storage"(L. +3 "core" .(K +2 "storage"(?& +3 "core" &K N M\ \ +2 "storage"(:& +5 "core" &K L 6\ \ +2 "manipulator"&@& +3 "core" &  t 0 +2 "manipulator"&I% +4 "core" % ! \  ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&>( +161 "core" ( +2 "manipulator"&V& +4 "core" &   +2 "storage"(7& +3 "core" &K T {\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +93 "core" ' +2 "storage"(A& +4 "core" &K " $ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +296 "core" ' +2 "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (M& +2 "core" &K\ \ - 1\ \ +3 "manipulator"&,& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&_( +4 "core" ( + "manipulator"&H& +4 "core" & [  +2 "storage"(C& +3 "core" &K N \ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&k'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(T' +7 "core" & a  +2 "manipulator"&;% +5 "core" % } P +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&u& +3 "core" & I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Y& +3 "core" & v I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&U' +92 "core" ' +2 "manipulator"&P& +4 "core" &  H +2 "manipulator"&e% +4 "core" % 1 R +2 "processing"%E& +4 "core" &\ +2 "processing"%N& +6 "core" &\ +53 .tPC.seek :closed +4 "processing"%g(^ +2 "core" &\ +2 &\ + &\ + &\ + &\ + &\ + &\ 3 +7 &6F~\ 1 +9 &`q\ E +10 &l\ O +9 &b\ N +9 &_\ N +10 &H_\ N +9 &\ _\ N +10 &c\ N +9 &e\ N +9 &Ob\ O +10 &!b\ O +9 &"a\ N +9 &$b\ O +10 &&Xb\ N +9 &(e\ N +10 &)b\ N +9 &+_\ N +9 &-`b\ N +10 &/"c\ N +9 &0_\ N +9 &2b\ N +10 &4i`\ N +9 &6*c\ N +9 &7a\ N +10 &9c\ O +9 &;pb\ N +10 &=2^\ N +9 &>`\ N +9 &@`\ N +10 &Bvi\ O +9 &D6p\ P +10 &Ew\ P +9 &G\ R +9 &Iq\ T +10 &K2\ T +9 &L\ T +9 &N\ T +10 &Pu\ U +9 &R8\ T +9 &S\ T +10 &U\ T +9 &W|\ U +10 &YA\ T +9 &[\ T +9 &\\\ U +10 &^;h\ ) +9 &^m\ : +9 ( +3 "processing"%N& +3 "core" &^%\ 3 +2 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&O1 +61 "core" 1 +2 "manipulator"&R% +3 "core" %   [ R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +91 "core" ' +2 "processing"%.& +5 "core" &^%\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&n% +4 "core" %     +2 "storage"(c% +4 "core" %\ \ \  +2 "storage"(t. +2 "core" .(K +3 "storage"(`& +3 "core" &K\ \ \ \ +3 "storage"(m& +2 "manipulator"&& +6 "core" &K\ \ \ \ \ +2 &   Y H +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(b'r + "manipulator"&v( +7 "core" ( +2 "manipulator"&a& +3 "core" &   = H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   H +3 .tForearm.seek PC + "manipulator"&]' +93 "core" ' +3 .tHand.close + "manipulator"&"/ +54 "core" / +2 .tPC.seek :open +2 "processing"%9( +94 "core" ' +2 "storage"(q- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'1 +47 "core" ' +303 ( +2 "storage"(}& +4 "core" &K P\ \ +2 "manipulator"&& +4 "core" & y H +2 "manipulator"&% +3 "core" %  X : +3 .tForearm.seek :retract + "manipulator"&i' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +249 "core" ( +2 "manipulator"&& +3 "core" &  / $ +2 "storage"(~& +4 "core" &K N M\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +92 "core" ' +2 .tHand.open + "manipulator"& 1 +65 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(w' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &K N P \ \ +2 "manipulator"&p& +4 "core" &   | # +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&$& +3 "core" &   Z # +2 "storage"( & +4 "core" &K N O \ \ +3 .tForearm.seek 6 + 450 counts + "manipulator"&^' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&X& +4 "core" &  t # +2 "storage"(& +3 "core" &K\ \  <\ \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +48 "manipulator"&'< +20 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +20 "core" ' +2 "manipulator"&z% +4 "core" %B = & +2 "storage"(&& +4 "core" &K\ \  \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts +2 "manipulator"&#'n +13 "core" ' + "manipulator"&& +4 "core" &  0 # +2 "storage"()& +4 "core" &K J \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +16 "core" ' +2 "storage"(f% +4 "core" % N \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (% +4 "core" %/R \ Xf +2 "manipulator"&|% +4 "core" % Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K\ \  V\ \ +2 "collection"'+& +4 "core" &\\{\ !\ $P\ [ +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&y% +3 "core" %    +2 "storage"(h% +4 "core" % X \  +2 "storage"(\ . +3 "core" .(K +2 "storage"('& +4 "core" &K P :\ \ +2 "storage"(%& +3 "core" &K P \ \ +2 "manipulator"&<& +4 "core" &  I # +2 .tElbow.seek 6 +2 "manipulator"&{( +4 "core" ( +2 "manipulator"&& +3 "core" &  # +2 "storage"(& +4 "core" &K P \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +44 "Can"2\ TQ +49 "core" ' +2 "storage"(D& +4 "core" &K\  +\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'r +298 "core" ' +2 "storage"(l- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" &  | # +2 "storage"(1& +4 "core" &K  \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&!'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(*'v +31 "core" ' +2 "manipulator"&d% +3 "core" %4 a ( +2 "storage"(& +4 "core" &K N \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 292 counts +2 "manipulator"&o'` +13 "core" ' +2 "manipulator"&& +3 "core" &   # +3 "storage"(x& +3 "core" &K N l\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(8' +38 "core" ' + "manipulator"&K& +9 "core" &  u # +2 "manipulator"&% +4 "core" % N +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +153 "core" ( + "manipulator"&?& +4 "core" &Ӑ \  d 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &5& +3 "core" &Ӑ  D 9) +2 .tForearm.seek CC +2 "manipulator"&:'? +95 "core" ' +2 .tHand.close + "manipulator"&@/ +55 "core" / +2 .tCC.seek :open +2 "collection"'I( +447 "core" ( +2 "storage"(2& +3 "core" &K , :\ \ +2 "storage"(V& +49 "core" &K ! # \ \ +3 "manipulator"&7& +4 "core" & k / +2 "manipulator"&A% +4 "core" % A 2 +2 .tForearm.seek :retract +2 "manipulator"&4' +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&Z( +159 "core" ( +2 "manipulator"&(& +4 "core" &   +2 "storage"(M& +5 "core" &K G G '\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&,'< +89 "core" ' +2 .tElbow.hold +2 "manipulator"&H, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +54 "core" 1 +3 "manipulator"&F% +4 "core" % ;  q ^ +2 "storage"([& +3 "core" &K G G 6\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&;'g +13 "core" ' +2 "manipulator"&>& +4 "core" &  H  +2 "storage"(=& +3 "core" &K k ` \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +20 "core" ' +2 "storage"(k% +3 "core" % j a \ +3 ."downElevator"SE.seek :down +4 "storage"(u' +98 (Y% +3 "core" %G 0 + e\ U_ +2 "manipulator"&_% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'e& +4 "core" &\ \ U\ +2 "manipulator"&E% +3 "core" %  ]  +3 "storage"(T% +3 "core" % Z n R\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(B(,y +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &,y I K \ +2 "manipulator"&R& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&.( +4 "core" ( + "manipulator"&n& +4 "core" &     +2 "storage"(c& +3 "core" &,y H G A\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +92 "core" ' + "storage"(`& +4 "core" &,y a ] \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +297 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,l C T %\ +2 "manipulator"&a& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&U& +4 "core" &  S  +2 "storage"("& +3 "core" &,l T T j\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&q'c +44 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +2 "storage"(g' +8 "core" &  U  + "manipulator"&b% +4 "core" % b   I Y +2 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &Ӈ# << +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +2 "core" &ӈ# <; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +48 "manipulator"&'? +91 "core" ' +2 "manipulator"&~& +4 "core" &Ө 8 +2 "manipulator"&v% +4 "core" %5  B ] +2 "collection"' & +4 "core" &\ \ Z\ +3 "collection"'& +5 "core" &\ \ R\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ W\ +6 &B\ \ O\ %g +9 &Xz\ \ K\ 7 +9 &{\ \ W\ L +10 &V\ \ R\ K +9 &Y\ \ O\ L +10 &G\\\ \ T\ K +9 & Z\ \ Q\ K +9 &Y\ \ O\ K +10 &\\\ \ R\ L +9 &OW\ \ X\ K +9 & Y\ \ P\ L +10 &!Z\ \ T\ L +9 &#Z\ \ P\ K +10 &%V\\\ \ N\ L +9 &'[\ \ Q\ L +9 &(\\\ \ N\ L +10 &*Y\ \ S\ L +9 &,^W\ \ R\ L +9 &.!V\ \ S\ K +10 &/X\ \ P\ K +9 &1Y\ \ P\ K +10 &3e\\\ \ J\ L +9 &5)W\ \ N\ K +9 &6Z\ \ G\ L +10 &8\\\ \ A\ L +9 &:n\\\ \ L\ L +9 &<1[\ \ H\ K +10 &=Y\ \ F\ K +9 &?Y\ \ :\ K +10 &AvZ\ \ C\ L +9 &C7_\ \ \ \ S\ L +9 &Dj\ \ H\ N +10 &Fn\ \ F\ N +9 &Hm\ \ J\ Q +9 &J%\ .\ ':\ U +10 &K\ 3\ 58\ X +9 &M\ 2\ 4?\ X +10 &Oa\ 1\ 1<\ X +9 &Q#\ 0\ 2@\ X +9 &R\ 1\ 1D\ Y +10 &T\ 0\ /9\ Z +9 &Vb\ /\ -8\ [ +9 &X"\ .\ -9\ [ +10 &Y\ -\ -?\ \\ +9 &[\ /\ .9\ I +10 &\\1\ .\ -@\ 3 +9 &\\i\ -\ ,:\ M +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&p% +4 "core" % 5  + ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"% & +3 "core" &\ +2 "manipulator"&i% +4 "core" %   V  +2 "storage"(X% +4 "core" %\ \  "\  +2 "storage"(. +3 "core" .(,y +2 "storage"(S& +4 "core" &,l\ \  \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(z(,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" &,}\ \  0\ +2 "manipulator"&w& +4 "core" &ө R 7 +2 "manipulator"&% +3 "core" %  @  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&)( +162 "core" ( + "manipulator"&f& +4 "core" &   +2 "storage"(& +5 "core" &,} / 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +91 "core" ' +2 "storage"(& +3 "core" &,} 0 / j\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^& +3 "core" &,m P o\ +2 "manipulator"&& +4 "core" & Z  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  Y  +2 "storage"(#& +4 "core" &,m N \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +30 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +2 "storage"(h' +7 "core" & i  +2 "manipulator"&\ % +4 "core" % ϔ +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&%& +3 "core" & B U +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +2 "core" & g T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + "manipulator"&& +4 "core" & T +2 "manipulator"&s% +4 "core" % p r +2 "processing"%D& +4 "core" &\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +9 &0{\ *x +9 &c\ > +51 &q\ N +4 &3_\ N +2 &a\ N + &`\ N + &y_\ N +2 &;b\ N +5 &b\ N +9 &c\ N +10 & c\ N +9 &"C`\ N +10 &$b\ N +9 &%a\ N +9 &'a\ N +10 &)La\ N +9 &+ e\ N +9 &,c\ N +10 &.`\ M +9 &0Sb\ N +10 &2`\ M +9 &3`\ N +9 &5c\ N +10 &7]`\ M +9 &9c\ N +9 &:b\ N +10 &<a\ N +9 &>bc\ N +10 &@$b\ N +9 &Ac\ N +9 &Cm\ O +10 &Eft\ P +9 &G&z\ P +9 &H\ R +10 &J\ T +9 &Lb\ T +10 &N#\ T +9 &O\ T +9 &Q\ T +10 &Sh\ T +9 &U*\ T +9 &V\ U +10 &X\ T +9 &Zo\ U +10 &\\0\ U +9 &]{}\ ? +9 &^"V\ N +10 &^?\ : +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&-1 +63 "core" 1 +2 "manipulator"&l% +5 "core" %   X r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +91 "core" ' + "processing"%1& +4 "core" &^=\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&J% +3 "core" %     +3 "storage"(d% +3 "core" %\ (\  ?\  +2 "storage"(. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (x& +2 "manipulator"&K& +3 "core" &,y\ \ \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   j T +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(r'r +7 "core" ( + "manipulator"&{& +4 "core" &   T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &    T +3 .tForearm.seek PC + "manipulator"&!' +97 "core" ' +2 .tHand.close + "manipulator"&o/ +58 "core" / +2 .tPC.seek :open +2 "processing"%*( +88 "core" ' + "storage"(?- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +48 "core" ' +311 ( +2 "storage"(& +68 "core" &,j `\ ! ]\  +2 "manipulator"&3& +4 "core" & Y T +2 "manipulator"&@% +4 "core" %  { P +2 .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&\\( +243 "core" ( + "manipulator"&2& +4 "core" & 6 M +2 "storage"(V& +3 "core" &,j N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +94 "core" ' + .tHand.open +2 "manipulator"&A1 +64 "core" 1 +2 "storage"((- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(L- +2 "core" -' +3 "storage"(C& +3 "core" &,j D D \  +2 "manipulator"&F& +4 "core" &   M +2 .tElbow.seek 4 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&>& +3 "core" &   8 M +2 "storage"(=& +4 "core" &,j D D ,\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&k' +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +51 "core" ' +2 "manipulator"&Y& +3 "core" & o M +2 "storage"(_& +3 "core" &,j N \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&Z'7 +63 "core" ' +3 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(;' +20 "core" ' +2 "manipulator"&e% +4 "core" %J V B +2 "storage"(E& +4 "core" &,j N *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&T'v +13 "core" ' +2 "manipulator"&& +4 "core" & Q M +2 "storage"(8& +4 "core" &,j T\ " \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +16 "core" ' +2 "storage"(u% +3 "core" % K\ \ +3 ."downElevator"SE.seek :down +4 "storage"(j' +98 (O% +4 "core" %xP\ \ \ \ We +2 "manipulator"&R% +3 "core" % U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (c& +3 "core" &,j & }\  +2 "collection"'`& +4 "core" &\\b\ #\ @\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&H% +4 "core" %   +2 "storage"(P% +4 "core" % 3 ^ n\  +2 "storage"(m. +3 "core" .(,y +2 "storage"(& +3 "core" &,j " ! $\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(a(,y +10 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +4 "core" &,{\ \  :\ +2 "manipulator"&"& +4 "core" & v M +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&W& +4 "core" &  U M +2 "storage"(b& +3 "core" &,{ _ <\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +95 "core" ' +2 "storage"(t& +3 "core" &,{ . / a\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" & h M +2 "storage"(q& +4 "core" &,m N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(v- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"( 'g +30 "core" ' +2 "manipulator"&g% +3 "core" %. +2 "storage"(}& +4 "core" &,m C \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 291 counts +2 "manipulator"&I'Z +14 "core" ' +2 "manipulator"&& +4 "core" &  M +2 "storage"(p& +3 "core" &,m ! 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(i' +41 "core" ' +2 "manipulator"&X& +3 "core" & 6 M +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +154 "core" ( +2 "manipulator"&&& +3 "core" &Ӓ  . 9% +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &w& +3 "core" &Ӓ  = 9% +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +47 "collection"'f( +449 "core" ( + "storage"(& +4 "core" &,m ' : >\  +2 "storage"(B& +4 "core" &,m # ! $\  +2 "manipulator"&& +4 "core" &Ӗ + 8! +2 "manipulator"&% +3 "core" % O = Y +3 .tForearm.seek :retract +2 "manipulator"&$' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&|( +159 "core" ( +2 "manipulator"&^& +4 "core" & u  +2 "storage"(& +4 "core" &,m T T `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&+1 +57 "core" 1 +2 "manipulator"&y% +5 "core" % >   ? + "storage"(\ & +4 "core" &,m W W\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 307 counts + "manipulator"&)'j +14 "core" ' +3 "manipulator"&& +3 "core" & @  +2 "storage"(& +4 "core" &,m G F '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 "storage"(%% +4 "core" % H O i\ +2 ."downElevator"SE.seek :down +5 "storage"(<' +99 (% +3 "core" %N / 1\ Va +2 "manipulator"&% +4 "core" % 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s' +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'D& +4 "core" &\ \ G\ +2 "manipulator"&h% +3 "core" %    +2 "storage"( % +4 "core" % h Z 4\  +2 "storage"(9. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(-(<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" &<* Y \  +2 "manipulator"&1& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&J( +10 "core" ( +2 "manipulator"&d& +4 "core" &  f +2 "storage"(& +3 "core" &<* G G D\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' +2 "storage"(x& +4 "core" &<* n n \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(K'r +292 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +3 "core" &<* & # 2\  +2 "manipulator"&& +3 "core" & f +2 .tElbow.seek 5 +2 "manipulator"&o( +4 "core" ( +2 "manipulator"&z& +3 "core" &  V f +2 "storage"(?& +3 "core" &<* T T `\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&''Ϲ +43 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(r' +7 "core" &  J f +2 "manipulator"&% +3 "core" % ϻ P +3 .tForearm.seek :retract +2 "manipulator"&3' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&@(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&!& +3 "core" &ӏ O 8 +46 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &2& +3 "core" &ӏ  ] 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&V'? +99 "core" ' +3 "manipulator"&& +3 "core" &ӏ   8 +2 "manipulator"&A% +4 "core" %: +3 "collection"'(& +3 "core" &\ \ U\ +3 "collection"'L& +5 "core" &\ \ P\ +2 .tCC.seek :closed +2 "collection"'C(\\ +5 "core" & \ J\  +8 &4\ \ O\ *z +9 &g\ \ R\ ? +10 &s\ \ K\ L +9 &WY\ \ Q\ L +10 &Z\ \ I\ L +9 &W\ \ I\ L +9 &[\ \ G\ K +10 &_W\ \ I\ L +9 &!\\\ \ G\ L +9 &Y\ \ G\ L +10 & W\ \ H\ K +9 &"hY\ \ G\ K +10 &$)W\ \ E\ L +9 &%Z\ \ I\ L +9 &'W\ \ G\ L +10 &)pV\ \ V\ K +9 &+3X\ \ K\ K +9 &,Z\ \ C\ K +10 &.X\ \ F\ L +9 &0xW\ \ 9\ K +10 &2:Y\ \ C\ K +9 &3]\ \ S\ L +9 &5\\\ \ X\ K +10 &7Z\ \ ^\ K +9 &9A]\ \ Q\ L +9 &;X\ \ Y\ K +10 &<Z\ \ Y\ K +9 &>Z\ \ [\ K +10 &@IX\ \ X\ L +9 &B Z\ \ S\ L +9 &Cb\ \ Y\ M +10 &Ej\ \ V\ N +9 &GGv\ \ Z\ O +9 &I\ "\ V\ R +10 &J\ 3\ /X\ V +9 &Lr\ 5\ 3^\ X +10 &N5\ 2\ 2Y\ X +9 &O\ 4\ /U\ Y +9 &Q\ 0\ 1X\ Z +14 &Sv\ /\ 0^\ Z +5 &U4\ /\ .X\ [\ +11 &V\ /\ 1L\ [ +8 &X\ .\ /X\ \\ +9 &Zw\ 0\ -M\ \\ +10 &\\y\ 0\ .Q\ 1 +9 &\\-\ -\ .W\ "f +9 ( +2 "collection"'L& +3 "core" &\\}\ -\ .R\ T +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&F1 +63 "core" 1 +2 "manipulator"&>% +4 "core" % : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&=' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%6& +3 "core" &\ +2 "manipulator"&Y% +4 "core" %  e  +2 "storage"(_% +4 "core" % P d\  +2 "storage"(5. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(M(<- +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (e& +2 "core" &<+ a\  +3 "manipulator"&E& +3 "core" &ӑ D 8 +2 "manipulator"&% +5 "core" %  h  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&8( +161 "core" ( +2 "manipulator"&u& +4 "core" &   +2 "storage"(\\& +3 "core" &<* \\ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +101 "core" ' +2 "storage"(:& +4 "core" &<* ! ! &\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(O'r +299 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (k& +3 "core" &<* L T\  +2 "manipulator"&[& +4 "core" & ;  +2 .tElbow.seek 5 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&Z& +3 "core" &  i  +2 "storage"(T& +4 "core" &<* P \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&c'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +3 "storage"(P' +7 "core" & 3  +2 "manipulator"&m% +4 "core" %  p +2 .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&U& +4 "core" & g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" & X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&W' +93 "core" ' +2 "manipulator"&b& +4 "core" &  +2 "manipulator"&/% +4 "core" % +2 "processing"%t& +4 "core" &\ +3 "processing"%j& +5 "core" &\ +2 .tPC.seek :closed +52 "processing"%(^ +6 "core" &\ + &\ + &\ + &\ +2 &\ + &\ + &\ \ +4 &0{\ )w +10 &c\ > +9 &j}\ N +10 &,]\ N +9 &`\ N +9 &\\\ N +10 &ra\ N +9 &4`\ N +9 &`\ N +10 &a\ N +9 & yb\ N +10 &"<]\ N +9 &#a\ N +9 &%`\ N +10 &'`\ N +9 &)Da\ N +9 &+a\ N +10 &,a\ N +9 &._\ N +10 &0M`\ N +9 &2`\ N +9 &3^\ N +10 &5_\ N +9 &7V_\ M +9 &9b\ N +10 &:b\ N +9 &<b\ N +10 &>\\c\ N +9 &@b\ N +9 &Ag\ N +10 &Co\ O +9 &E^p\ P +9 &G~\ Q +10 &H\ S +9 &J\ S +10 &L\\\ S +9 &N\ T +9 &O\ S +10 &Q\ T +9 &Sa\ T +9 &U"\ U +10 &V\ T +9 &X\ T +10 &Zh\ U +9 &\\*\ U +9 &]\ : +10 &^2\ T +9 &^\ + +2 ( +2 "processing"%j& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&,1 +64 "core" 1 + "manipulator"&n% +4 "core" %   J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +91 "core" ' +2 "processing"%N& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&q% +4 "core" %     +2 "storage"(v% +4 "core" %\ \ =\  +2 "storage"(g. +2 "core" .(<- +2 "storage"(}& +4 "core" &<*\ \ Q\  +3 "storage"(& +2 "manipulator"&p& +7 "core" &<*\ (\  9\  + &   +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&X( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&.& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &   +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%I( +95 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'1 +41 "core" ' +311 ( +2 "storage"(w& +4 "core" &<* M [\  +2 "manipulator"& & +3 "core" &  " +2 "manipulator"&~% +4 "core" %  Q N +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +241 "core" ( +2 "manipulator"&& +5 "core" & 7 + "storage"(& +4 "core" &<*\ *\  M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +91 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(^' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(S& +3 "core" &<* ) ) _\  +2 "manipulator"&+& +4 "core" &   7 +2 .tElbow.seek 5 +2 "manipulator"&y( +4 "core" ( + "manipulator"&\ & +4 "core" &   5 7 +2 "storage"(& +4 "core" &<* N O \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(%'" +51 "core" ' +2 "manipulator"&$& +4 "core" & k 7 +2 "storage"(& +4 "core" &<*\ $\ \ O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +48 "manipulator"&'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&D% +4 "core" %Ν ^ +2 "storage"()& +4 "core" &<*\ \ T\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&h' +15 "core" ' +2 "manipulator"& & +4 "core" &  < 5 +2 "storage"(9& +3 "core" &<* N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +15 "core" ' +2 "storage"(% +3 "core" % N\ +3 ."downElevator"SE.seek :down +4 "storage"(<' +98 (a% +4 "core" %SR\  '\ We +2 "manipulator"&l% +5 "core" %K y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (d& +3 "core" &<* & v\  +2 "collection"'& +4 "core" &\\|\ #\ !L\ T +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&x% +3 "core" %  A  +2 "storage"(#% +4 "core" %  `\  +2 "storage"(s. +3 "core" .(<- +2 "storage"({& +4 "core" &<* O \ \  +2 "storage"(0& +3 "core" &<* N 3\  +2 "manipulator"&& +4 "core" & Q 5 +2 .tElbow.seek 5 +2 "manipulator"&z( +4 "core" ( +2 "manipulator"&?& +3 "core" &  5 +2 "storage"(G& +4 "core" &<* N $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +101 "core" ' +2 "storage"(& +3 "core" &<* . * \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'r +300 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & A 5 +2 "storage"(K& +5 "core" &<* N\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&''΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('{ +30 "core" ' + "manipulator"&A% +4 "core" %Λ j  +2 "storage"((& +3 "core" &<* K S\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&r' +16 "core" ' + "manipulator"&3& +4 "core" & o 5 +2 "storage"(f& +5 "core" &<* K E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(>' +48 "core" ' +2 "manipulator"&6& +3 "core" & 5 +3 "manipulator"&Y% +3 "core" %I 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +155 "core" ( +2 "manipulator"&L& +4 "core" &Ӡ o 3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &Ӡ @ 3 +2 .tForearm.seek CC +2 "manipulator"&E'? +100 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'V( +447 "core" ( +2 "storage"(u& +4 "core" &<* ' $\  +2 "storage"(\\& +3 "core" &<* " '\  +46 "manipulator"&-& +6 "core" &Ӡ d 3 +2 "manipulator"&:% +4 "core" % A l +2 .tForearm.seek :retract +2 "manipulator"&@' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&=( +160 "core" ( +2 "manipulator"&R& +4 "core" & s  +2 "storage"(k& +3 "core" &<* W X \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&['΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +61 "core" 1 +2 "manipulator"&`% +4 "core" % Ι  ~ P +2 "storage"(H& +3 "core" &<* X X #\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&m' +26 "core" ' +2 "manipulator"&8& +3 "core" &  W  +2 "storage"(7& +4 "core" &<* I Q 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +15 "core" ' +2 "storage"(c% +3 "core" % n m \ +3 ."downElevator"SE.seek :down +4 "storage"(U' +98 ("% +3 "core" %nM * / \ Va +2 "manipulator"&4% +4 "core" %1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +93 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'/& +4 "core" &\  ^\ +2 "manipulator"&t% +4 "core" % \   +2 "storage"(P% +4 "core" % n m ,\  +2 "storage"(;. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(*(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &K T R M\  +2 "manipulator"&n& +3 "core" &  9  +2 .tElbow.seek 6 +2 "manipulator"&N( +4 "core" ( + "manipulator"&q& +4 "core" &  Z  +2 "storage"(v& +4 "core" &K n n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&g' +92 "core" ' + "storage"(}& +4 "core" &K n n\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +287 "core" ' +2 "storage"(p- +4 "core" -'% + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K S J @\  +2 "manipulator"&.& +3 "core" &  l  +2 .tElbow.seek 6 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&W& +4 "core" & \  +2 "storage"(& +3 "core" &K W X S\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(' +8 "core" & >  +2 "manipulator"&% +4 "core" % x  X +2 .tForearm.seek :retract +2 "manipulator"&w' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&~& +4 "core" &ӂ# v <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӂ# <: +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +46 "manipulator"&'? +96 "core" ' +2 "manipulator"&& +5 "core" &ӟ  8 +2 "manipulator"&X% +3 "core" %=  m C +3 "collection"'& +3 "core" &\ \ \\\ +3 "collection"'& +6 "core" &\ \ [\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ [\ +7 &<\ \ `\ %g +10 &Xy\ \ Y\ 7 +9 &{\ \ Y\ K +9 &W\ \ [\ K +10 &zV\ \ X\ K +9 &<Y\ \ c\ K +9 &\\\ \ b\ L +10 &Z\ \ a\ L +9 &Z\ \ a\ L +10 &DW\ \ `\ K +9 & W\ \ b\ K +9 &!W\ \ `\ L +10 &#\\\ \ b\ K +9 &%L\\\ \ c\ K +9 &' V\ \ \\\ L +10 &(Y\ \ ^\ L +9 &*U\ \ _\ K +10 &,TW\ \ `\ K +9 &.Y\ \ c\ K +9 &/Z\ \ `\ K +10 &1\\\ \ ^\ L +9 &3[Z\ \ \\\ L +9 &5Z\ \ _\ L +10 &6W\ \ ^\ K +9 &8Y\ \ ^\ K +10 &:dZ\ \ `\ K +9 &<%\\\ \ a\ L +9 &=[\ \ \ c\ L +10 &?X\ \ [\ L +9 &Aj_\ \ \ X\ L +9 &C*b\ \ Z\ M +10 &Dk\ \ a\ M +9 &F}\ \ ^\ P +10 &H]\ +\ $d\ S +9 &J\ 9\ 5d\ W +9 &K\ 8\ :[\ X +10 &M\ 6\ 8\\\ Y +9 &OU\ 5\ 6b\ Y +9 &Q\ 4\ 2a\ Y +10 &R\ 3\ 3_\ Z +9 &T\ 1\ /_\ Z +10 &VX\ 1\ 1d\ Z +9 &X\ 1\ 1d\ [\ +9 &Y\ 1\ /`\ \\ +10 &[\ 0\ /_\ J +9 &\\<\ /\ /[\ , +9 &\\\ ,\ .a\ ] +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&S1 +56 "core" 1 +2 "manipulator"&+% +4 "core" % = ^ C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %  ;  +2 "storage"($% +4 "core" % J G\  +2 "storage"(. +2 "core" .(K +2 "storage"(&& +4 "core" &K K [\  +2 "storage"(D& +4 "core" &K K Z\  +2 "manipulator"&)& +4 "core" & h 0 +2 "manipulator"&^% +3 "core" %  #  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +159 "core" ( +2 "manipulator"&9& +3 "core" &   +2 "storage"(& +4 "core" &K O \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(B& +3 "core" &K o\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +2 "core" &K N J\  +3 "manipulator"&& +3 "core" & k  +2 .tElbow.seek 6 +2 "manipulator"&y( +4 "core" ( + "manipulator"&%& +4 "core" &   +2 "storage"(& +4 "core" &K O\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&h'h +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(x' +5 "core" & P  +3 "manipulator"&#% +4 "core" % e e +2 .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&{& +5 "core" & x V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +3 "core" & V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&?& +3 "core" & V +3 "manipulator"&G% +3 "core" % w / +2 "processing"%i& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%<(^ +4 "core" &\ +5 &\ 3 +9 &8G\ 1 +10 &aq\ E +9 &j\ N +10 &`\ N +9 &^\ N +9 &J_\ N +10 & _\ N +9 &`\ N +9 &`\ N +10 &Q`\ N +9 &!_\ N +10 &"`\ N +9 &$a\ N +9 &&Z_\ N +10 &(`\ N +9 &)_\ N +9 &+_\ N +50 &-b_\ N +7 &/$_\ N + &0^\ N + &2_\ N + &4k\\\ N &6-`\ N +6 &7_\ N +10 &9`\ N +9 &;s`\ N +9 &=4_\ N +10 &>a\ N +9 &@a\ N +9 &Bxf\ O +10 &D8k\ O +9 &Eu\ P +10 &G\ Q +9 &Is\ S +9 &K4\ S +10 &L\ T +9 &N\ T +9 &Px\ T +10 &R9\ T +9 &S\ U +9 &U\ T +10 &W~\ U +9 &Y@\ U +10 &[\ T +9 &\\\ U +9 &^<f\ )~ +10 &^h\ 8 +8 ( +3 "processing"%& +3 "core" &^%\ 2 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&|1 +59 "core" 1 + "manipulator"&1% +4 "core" %    / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' + "processing"%!& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&K% +3 "core" % v  +2 "storage"(o% +4 "core" %\ \ \ \  +2 "storage"(A. +3 "core" .(K +2 "storage"((& +4 "core" &K\ \ \  +2 "storage"(3& +4 "manipulator"&f& +5 "core" &K\ \ \ \  +2 &   V +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(6'r + "manipulator"&Y( +6 "core" ( +2 "manipulator"& & +4 "core" &    V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &   V +2 .tForearm.seek PC +2 "manipulator"&J' +88 "core" ' +2 .tHand.close + "manipulator"&'/ +57 "core" / +3 .tPC.seek :open + "processing"%r( +100 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +47 "core" ' +296 ( +2 "storage"(e& +4 "core" &K P J\  +2 "manipulator"&F& +3 "core" & p V +2 "manipulator"&2% +4 "core" %  m d +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&_( +244 "core" ( + "manipulator"&C& +4 "core" & @ +2 "storage"(u& +4 "core" &K\ \ # 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\\' +97 "core" ' +2 .tHand.open + "manipulator"&-1 +64 "core" 1 +2 "storage"(:- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(k' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +3 "core" -' +2 "storage"(5& +4 "core" &K 7 6 \  +2 "manipulator"&T& +4 "core" &   ? +2 .tElbow.seek 6 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&H& +4 "core" &   . ? +2 "storage"(8& +3 "core" &K * ) W\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(c'" +52 "core" ' + "manipulator"&@& +4 "core" & u ? +2 "storage"("& +4 "core" &K\ \ \ A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&4'< +19 "core" ' +2 .tElbow.hold + "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"([' +19 "core" ' +2 "manipulator"&/% +50 "core" %= ^ % +2 "storage"(m& +4 "core" &K M \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 301 counts +2 "manipulator"&t'i +13 "core" ' +2 "manipulator"&P& +4 "core" &  ` ? +2 "storage"(;& +4 "core" &K J z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +16 "core" ' +2 "storage"(O% +3 "core" % M \ +3 ."downElevator"SE.seek :down +3 "storage"(U' +99 (M% +3 "core" %IS \ Xg +2 "manipulator"&,% +4 "core" % m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (q& +2 "core" &K\ \  \  +3 "collection"'v& +3 "core" &\\\ %\ $^\ ] +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&}% +4 "core" %  Q  +2 "storage"(Z% +4 "core" % N *\  +2 "storage"(b. +2 "core" .(K +2 "storage"(p& +4 "core" &K L 2\  +2 "storage"(& +4 "core" &K O \\\  +2 "manipulator"&.& +3 "core" & K ? +3 .tElbow.seek 6 + "manipulator"&W( +4 "core" ( +2 "manipulator"&& +3 "core" &  y ? +2 "storage"(& +4 "core" &K N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +94 "core" ' +2 "storage"(& +4 "core" &K C Z\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +296 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" & ` ? +2 "storage"(& +4 "core" &K\ -\ , 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&j'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('y +29 "core" ' + "manipulator"&X% +4 "core" %4 i  +2 "storage"(& +4 "core" &K N \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 292 counts +2 "manipulator"&'` +16 "core" ' + "manipulator"&w& +4 "core" & O ? +2 "storage"(V& +4 "core" &K Y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(+' +41 "core" ' +2 "manipulator"&& +3 "core" & W ? +2 "manipulator"&% +4 "core" %\  2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&&& +3 "core" &Ә 6 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +3 "core" &Ә   5 +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&)/ +58 "core" / +2 .tCC.seek :open + "collection"'^( +448 "core" ( + "storage"(& +4 "core" &K 0 , _\  +2 "storage"(9& +5 "core" &K 1 1\  + "manipulator"&& +4 "core" & ` , +2 "manipulator"&B% +4 "core" % 6 w +2 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +41 "manipulator"&\ ( +169 "core" ( + "manipulator"&a& +4 "core" & \ D  +2 "storage"(l& +4 "core" &K T T g\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +93 "core" ' +2 .tElbow.hold + "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +3 "manipulator"&d% +3 "core" % A i W +2 "storage"(& +4 "core" &K V Q @\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 305 counts + "manipulator"&#'m +14 "core" ' +2 "manipulator"& & +3 "core" &  +2 "storage"(& +43 "core" &K j a s\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(h% +3 "core" % n Z {\ +3 ."downElevator"SE.seek :down +3 "storage"({' +99 (0% +3 "core" %bH 1 , ]\ U^ +2 "manipulator"&y% +4 "core" % O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +91 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +16734 #t-> 10.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'G& +3 "core" &\ \ \ +2 "manipulator"&i% +4 "core" %   +2 "storage"(x% +3 "core" % m n \  +2 "storage"(s. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(I(,y +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +3 "core" &,| I R \ +2 "manipulator"&1& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&!( +4 "core" ( +2 "manipulator"&K& +3 "core" &    +2 "storage"(o& +4 "core" &,| R G W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +96 "core" ' + "storage"((& +4 "core" &,| a k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(3- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (f& +2 "core" &,l D R \ \  +3 "manipulator"& & +3 "core" &  T  +2 .tElbow.seek 4 +2 "manipulator"&z( +4 "core" ( +2 "manipulator"&& +3 "core" &  ]  +2 "storage"('& +4 "core" &,l W W\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(<' +7 "core" &   +2 "manipulator"&6% +4 "core" % v   P +2 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&2& +5 "core" &Ӓ 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &Ӓ M 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'? +93 "core" ' +2 "manipulator"&u& +3 "core" &ӓ  7 6 +2 "manipulator"&Y% +4 "core" %5 d p +2 "collection"'-& +4 "core" & \ +49 "collection"':& +6 "core" &\ \ ~\ +3 .tCC.seek :closed +2 "collection"'E(\\ +5 "core" &\ \ }\ +6 &<\ \ w\ %f +9 &X\ \ {\ 8 +9 &{\ \ {\ L +10 &Z\ \ o\ L +9 &~Z\ \ u\ L +9 &?Z\ \ l\ L +10 &X\ \ r\ L +9 &[\ \ z\ L +10 &Z\ \ w\ L +9 &HW\ \ w\ L +9 & Z\ \ \ L +10 &!]\ \ \ L +9 &#\\\ \ \ L +9 &%P\\\ \ \ L +10 &'Z\ \ \ L +9 &(Z\ \ \ M +10 &*[\ \ }\ L +9 &,W[\ \ z\ L +9 &.Z\ \ \ L +10 &/\\\ \ ~\ L +9 &1[\ \ z\ L +9 &3_Z\ \ |\ L +10 &5"\\\ \ \ L +9 &6[\ \ x\ L +10 &8[\ \ ~\ L +9 &:h]\ \ \ L +9 &<*[\ \ u\ L +10 &=[\ \ t\ L +9 &?[\ \ o\ M +9 &Ao]\ \ x\ L +10 &C1`\ \ \ s\ L +9 &Di\ \ \ N +10 &Ft\ \ v\ O +9 &Hg\ \ w\ R +9 &J\ -\ )p\ V +10 &K\ 2\ 3r\ W +9 &M\ 4\ 4s\ X +9 &O\\\ 2\ 1s\ X +10 &Q\ 0\ 1l\ Y +9 &R\ /\ 0m\ Y +10 &T\ ,\ .k\ Z +9 &V]\ /\ /o\ [ +9 &X \ -\ .x\ Z +10 &Y\ .\ .p\ \\ +9 &[\ /\ .s\ I +9 &\\3\ -\ /w\ 2 +10 &\\d\ -\ ,u\ K +2 ( +2 "collection"':& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&51 +59 "core" 1 +2 "manipulator"&T% +5 "core" % 5 p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%8& +4 "core" &7\ +2 "manipulator"&% +4 "core" %  /  +2 "storage"(@% +4 "core" % 3 ' 6\  +2 "storage"(". +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(/(,y +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +3 "core" &,y\ \ }\ +2 "manipulator"&m& +4 "core" &ӓ H 6 +2 "manipulator"&R% +3 "core" %  >  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&P( +153 "core" ( +2 "manipulator"&;& +4 "core" &  X +2 "storage"(O& +4 "core" &,y 0 / \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&_' +95 "core" ' +2 "storage"(\\& +4 "core" &,y ( - $\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(k'r +295 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (,& +3 "core" &,m P "\  +2 "manipulator"&7& +3 "core" & N +3 .tElbow.seek 4 + "manipulator"&`( +3 "core" ( +2 "manipulator"&c& +5 "core" & e + "storage"(4& +4 "core" &,m X \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&q'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& +2 "storage"(}' +7 "core" & ] +2 "manipulator"&Z% +4 "core" % _ v +2 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&p& +3 "core" & 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & M 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +2 "manipulator"&.' +91 "core" ' +2 "manipulator"&& +4 "core" & l 5 +2 "manipulator"&% +4 "core" % W +2 "processing"%>& +4 "core" &Y\ +3 "processing"%& +5 "core" &K\ +2 .tPC.seek :closed +2 "processing"%U(^ +5 "core" &\ +6 &/ \ #b +9 &U6\ 7 +10 &\ L +9 &_\ O +10 &[`\ N +9 &a\ N +9 &`\ N +10 &a8\ N +9 &db\ N +9 &%a\ N +10 &` \ N +9 &!b\ N +10 &#la\ N +9 &%-`\ N +9 &&b\ N +10 &(b \ N +9 &*sb\ N +9 &,5b\ N +10 &-a \ N +9 &/c\ N +10 &1|`\ N +9 &3@` \ M +9 &5`\ N +10 &6c \ N +9 &8b \ N +9 &:H` \ M +10 &<c\ \ N +9 &=b\ N +10 &?b \ N +52 &AMb\ N +2 &C f\ O + &Dn\ P +2 &Fxq\ P + &HL\ Q &J \ S +7 &K \ S +10 &M\ T +9 &OM\ T +9 &Q \ T +10 &R\ T +9 &T?\ U +9 &VU\ T +10 &X\ T +9 &Y\ U +10 &[H\ T +9 &]Z\ C +9 &^E{\ _ +10 &^?\ 2 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&=1 +2 "core" &^%\ 2 +62 1 + "manipulator"&n% +4 "core" %   c W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +92 "core" ' +2 "processing"%~& +3 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" %     +2 "storage"(Q% +3 "core" % Q P\  +2 "storage"(X. +4 "core" .(,y + "storage"(& +4 "core" &,m P O\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(w(,y +40 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (V& +2 "manipulator"&& +4 "core" &,|\ \ \ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  w 5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&]( +7 "core" ( + "manipulator"&W& +4 "core" &   5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &  5 +3 .tForearm.seek PC + "manipulator"&j' +93 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' + "storage"(&- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'1 +51 "core" ' +298 ( +2 "storage"(S& +3 "core" &,j T\  9\  +3 "manipulator"& & +3 "core" &  5 +2 "manipulator"&)% +4 "core" %   H +2 .tForearm.seek :retract +2 "manipulator"&$' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&& +3 "core" &  J +2 "storage"(9& +4 "core" &,j O H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&B1 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(a' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &,j D D \  +2 "manipulator"&d& +4 "core" &   J +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" &   u J +2 "storage"(& +4 "core" &,j F M j\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +52 "core" ' + "manipulator"&0& +4 "core" & ` J +2 "storage"(y& +4 "core" &,j V \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&\ '7 +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(#' +66 "core" ' + "manipulator"&+% +4 "core" %5 &  +2 "storage"(& +4 "core" &,j C _\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 298 counts +2 "manipulator"&{'a +16 "core" ' + "manipulator"&G& +4 "core" &  J +2 "storage"(i& +4 "core" &,j . % I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +18 "core" ' + "storage"(s% +4 "core" % 1 0 \ +3 ."downElevator"SE.seek :down +4 "storage"(*' +98 (|% +3 "core" %U\ \  \ Vd +2 "manipulator"&1% +5 "core" % G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (o& +3 "core" &,j c f\  +2 "collection"'(& +4 "core" &\\c\ #\ !p\ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&%% +3 "core" %   +2 "storage"(?% +4 "core" % - % F\  +2 "storage"(3. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(f(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &,} H W\ +2 "manipulator"&& +5 "core" & 7 J +2 .tElbow.seek 4 +2 "manipulator"&'( +2 "core" ( +2 "manipulator"&& +4 "core" & + J +2 "storage"( & +4 "core" &,} ! !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&6' +90 "core" ' +2 "storage"(!& +3 "core" &,} / 1\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +296 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" & X J +2 "storage"(& +4 "core" &,m N f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(-'g +30 "core" ' +2 "manipulator"&z% +3 "core" %I T  +2 "storage"(<& +4 "core" &,m S \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&e'u +13 "core" ' + "manipulator"&^& +4 "core" & q J +2 "storage"(5& +3 "core" &,m\ \ ! A\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(8' +36 "core" ' +2 "manipulator"&& +4 "core" & { J +2 "manipulator"&@% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +157 "core" ( +2 "manipulator"&L& +3 "core" &ӎ \  6 - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &m& +3 "core" &ӎ O - +2 .tForearm.seek CC +2 "manipulator"&R'? +94 "core" ' +2 .tHand.close + "manipulator"&C/ +61 "core" / +2 .tCC.seek :open +2 "collection"';( +447 "core" ( +2 "storage"(O& +4 "core" &,m T R x\  +2 "storage"(I& +3 "core" &,m W X \  +2 "manipulator"&\\& +4 "core" &ӎ  b - +2 "manipulator"&F% +4 "core" % E C : +46 .tForearm.seek :retract +4 "manipulator"&H' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&M( +162 "core" ( + "manipulator"&,& +4 "core" &  W  +2 "storage"(7& +4 "core" &,m Z K a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&c'7 +92 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +63 "core" 1 +3 "manipulator"&v% +4 "core" % , \  T \\ +2 "storage"(Z& +3 "core" &,m n a K\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 289 counts +2 "manipulator"&P'X +14 "core" ' + "manipulator"&_& +4 "core" &   D  +2 "storage"(k& +4 "core" &,m l ` 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&q' +16 "core" ' + "storage"(p% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (`% +3 "core" %G ! \ V` +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'>& +3 "core" & \ l\ +2 "manipulator"&}% +4 "core" %  b  +2 "storage"(b% +4 "core" % n m )\  +2 "storage"(r. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(=(<- +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +3 "core" &<+\ \ \  +2 "manipulator"&~& +4 "core" & b  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Q& +4 "core" &    +2 "storage"(X& +3 "core" &<+ G G '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +88 "core" ' +2 "storage"(& +3 "core" &<+ j ` \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &<+ R F J\  +2 "manipulator"&N& +4 "core" & b  +2 .tElbow.seek 5 +2 "manipulator"&.( +2 "core" ( +3 "manipulator"&& +3 "core" &  c  +2 "storage"(/& +4 "core" &<+ T T q\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&&'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&g& +2 "storage"(U' +7 "core" &  Z  +2 "manipulator"&% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&S' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&)& +5 "core" &Ӓ 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &j& +2 "core" &Ӓ  h 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +104 "core" ' + "manipulator"&9& +4 "core" &Ӓ 2 +2 "manipulator"&]% +3 "core" %M +47 "collection"'B& +6 "core" & \ \ +3 "collection"'& +6 "core" & \ \ +2 .tCC.seek :closed +3 "collection"'(\\ +4 "core" & s\ +5 & \ y\ 9 +9 &FIx \ \ 1 +10 &{v\ \ ~\ E +9 &&]\ \ \ M +9 &Z\ \ }\ L +10 &Z\ \ }\ L +9 &o\\\ \ l\ L +9 &1W\ \ w\ L +10 &W\ \ w\ L +9 &Z\ \ x\ L +10 &w]\ \ |\ L +9 &!9\\\ \ s\ L +9 &"]\ \ t\ L +10 &$Y\ \ o\ K +9 &&Z\ \ k\ L +9 &(A\\\ \ k\ L +10 &*Y\ \ q\ K +9 &+X\ \ r\ K +10 &-Y\ \ t\ L +9 &/IW\ \ m\ L +9 &1 Y\ \ v\ K +10 &2Y\ \ v\ L +9 &4W\ \ g\ L +9 &6QY\ \ [\ L +10 &8]\ \ c\ L +9 &9Z\ \ h\ L +10 &;Y\ \ d\ K +9 &=XZ\ \ d\ L +9 &?Y\ \ a\ L +10 &@]\ \ e\ L +9 &B]\ \ b\ L +9 &D^c\ \ \ e\ M +10 &Fo\ \ j\ N +9 &G}\ \ f\ P +10 &I\ )\ d\ T +9 &KH\ 3\ 2d\ W +9 &M\ 3\ 4e\ Y +10 &N\ 0\ 0c\ Y +9 &P\ 2\ /f\ Y +9 &RG\ 0\ 0i\ Z +10 &T\ 0\ 0e\ Z +9 &U\ -\ 0e\ [ +10 &W\ -\ -c\ [\ +9 &YH\ .\ /d\ \\ +9 &[ \ 1\ /f\ \\ +10 &\\bH\ 0\ 0d\ 4 +9 &\\\ 0\ 0d\ V +5 ( +2 "collection"'& +4 "core" &\\~\ .\ -a\ V +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +3 "manipulator"&d% +3 "core" % M  R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&$% +3 "core" %  %  +2 "storage"(0% +5 "core" % N \  + "storage"(y. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(D(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (+& +4 "core" &<, \ P\  +2 "manipulator"&& +3 "core" &Ӓ S 2 +2 "manipulator"&a% +5 "core" %  9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&G( +161 "core" ( + "manipulator"&i& +4 "core" &   +2 "storage"(s& +3 "core" &<* ! #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + "storage"(& +4 "core" &<* ! $ +\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +298 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &<* I  \  +2 "manipulator"&h& +4 "core" & R  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(\ & +3 "core" &<* N B\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&{'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(%' +8 "core" & d  +2 "manipulator"&?% +3 "core" % Ͼ  +2 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"& & +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"& & +3 "core" &   +2 "manipulator"&x% +4 "core" % _ K +2 "processing"%!& +4 "core" &4\ +3 "processing"%*& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%w(^ +4 "core" &\  +9 &1~\ *x +10 &c\ > +9 &p}\ N +9 &1\\\ N +10 &_r\ N +9 &_x\ N +10 &w` \ N +9 &9^\ N +9 &`\ O +10 &_\ N +9 & `\ N +9 &"A_ \ N +10 &$_\ N +9 &%^\ N +10 &'_\ N +9 &)Ja\ \ N +9 &+ `\ N +10 &,`\ N +9 &._ \ N +56 &0S_ \ N +4 &2^ \ M +4 &3]\ N + &5\\\ N + &7Z^ \ N + &9` \ N + &:` \ N +7 &<_\ N +9 &>bb\ N +10 &@#`\ N +9 &Ae\ O +10 &Cm\ P +9 &Eeu\ P +9 &G#{ \ Q +10 &H\ \ S +9 &J \ T +9 &Lb\ \ S +10 &N! \ T +9 &O\ T +10 &Q \ U +9 &Sf\ U +9 &U*\ T +10 &V\ T +9 &X\ T +9 &Zn@\ U +10 &\\0\ U +9 &]yy:\ C +10 &^#Q\ ) +9 ( + &^\ & +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&K% +3 "core" %   c K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +90 "core" ' +2 "processing"%J& +4 "core" &^\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %  \  b  +2 "storage"(Y% +4 "core" % N x\  +2 "storage"(z. +2 "core" .(<- +3 "storage"(<& +3 "core" &<* M P\  +3 "storage"(^& +2 "manipulator"&5& +7 "core" &<* P X\  + &    +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak + "storage"(@'r +11 "core" ( + "manipulator"&6& +4 "core" &   L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &   L +3 .tForearm.seek PC + "manipulator"&A' +93 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +3 .tPC.seek :open +2 "processing"%e( +81 "core" ' + "storage"(-- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +41 "core" ' +321 ( + "storage"(m& +4 "core" &<* K =\  +2 "manipulator"&T& +3 "core" & Q K +2 "manipulator"&u% +5 "core" %  z I +2 .tForearm.seek :retract +2 "manipulator"&C' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&"( +247 "core" ( +2 "manipulator"&E& +3 "core" & > +2 "storage"(O& +4 "core" &<*\ \ \ \ /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +96 "core" ' +2 .tHand.open + "manipulator"&\\1 +57 "core" 1 +2 "storage"(F- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(,' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(7' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(R- +3 "core" -' +2 "storage"(:& +4 "core" &<* h h w\  +2 "manipulator"&t& +4 "core" &   > +2 .tElbow.seek 5 +2 "manipulator"&v( +9 "core" ( + "manipulator"&Z& +4 "core" &    +2 "storage"(_& +90 "core" &<* h h \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(p'" +49 "core" ' +2 "manipulator"&H& +3 "core" & N  +2 "storage"(`& +4 "core" &<* K c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(c' +28 "core" ' +2 "manipulator"&>% +3 "core" %Κ +2 "storage"(}& +49 "core" &<*\ \ \ \  +4 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts + "manipulator"&P' +14 "core" ' +2 "manipulator"&b& +4 "core" & m  +2 "storage"(r& +4 "core" &<* N \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&8'O +16 "core" ' +2 "storage"(q% +3 "core" % \  \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (f% +4 "core" %gQ\ \ T\ Wd +2 "manipulator"&n% +5 "core" %<  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Q& +3 "core" &<* # ;\  +2 "collection"'X& +3 "core" &\\}\ %\ $g\ V +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %  T  +2 "storage"(4% +3 "core" %\ !\ ,\  +2 "storage"(. +4 "core" .(<- +2 "storage"(& +3 "core" &<*\ !\ ! K\  +2 "storage"(W& +4 "core" &<* `\ ! b\  +2 "manipulator"&N& +4 "core" & D  +2 .tElbow.seek 5 +2 "manipulator"&( +10 "core" ( +2 "manipulator"&/& +3 "core" &  +3 "storage"([& +3 "core" &<*\ ! \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +92 "core" ' + "storage"(& +4 "core" &<* $ . d\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +6 "Can"\ [Y +294 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & G +2 "storage"(j& +4 "core" &<*\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&V'΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(]'z +27 "core" ' +2 "manipulator"&.% +4 "core" %Η | +2 "storage"(B& +3 "core" &<* K c\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&U' +15 "core" ' + "manipulator"&S& +4 "core" &  m +2 "storage"(;& +5 "core" &<*\ !\  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(d' +36 "core" ' +2 "manipulator"&& +3 "core" & 6 +2 "manipulator"&$% +4 "core" %: 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +158 "core" ( +2 "manipulator"&& +4 "core" &ӗ  0 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &ӗ B 2 +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&a/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( + "storage"(i& +4 "core" &<* + 7 \  +2 "storage"(s& +3 "core" &<* " & 5\  +2 "manipulator"&=& +4 "core" &ӗ  2 +2 "manipulator"&% +4 "core" % G w " +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +152 "core" ( +5 "manipulator"&|& +3 "core" &  2 +2 "storage"(1& +4 "core" &<* R S <\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&h'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\ 1 +59 "core" 1 +2 "manipulator"&o% +3 "core" % Λ O +2 "storage"((& +4 "core" &<* W W\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&?' +24 "core" ' +3 "manipulator"&G& +3 "core" &  M +2 "storage"(& +4 "core" &<* X h (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +14 "core" ' +2 "storage"({% +4 "core" % P n L\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (% +3 "core" %J . , =\ V_ +2 "manipulator"&% +4 "core" %E { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'x& +3 "core" & l\ +2 "manipulator"&!% +4 "core" %   ^  +2 "storage"(%% +4 "core" % m l\  +2 "storage"(3. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K * . \  +2 "manipulator"&K& +4 "core" & +2 .tElbow.seek 6 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&& +4 "core" & +2 "storage"(Y& +3 "core" &K n n G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +94 "core" ' +2 "storage"(<& +5 "core" &K n m 0\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'r +292 "core" ' + "storage"(5- +3 "core" -'# +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (*& +3 "core" &K = Q `\  +2 "manipulator"&6& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&'( +4 "core" ( +2 "manipulator"&& +3 "core" &  \ W +2 "storage"(& +3 "core" &K U T u\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&-'h +16 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +2 "storage"(w' +8 "core" & 9 + "manipulator"&@% +4 "core" % f  k +2 .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&u& +5 "core" &ӎ 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" &ӎ [ 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&E'? +98 "core" ' +2 "manipulator"&O& +5 "core" &ӛ  R 4 + "manipulator"&% +4 "core" %5 Z +2 "collection"'\\& +4 "core" & m\ +3 "collection"'F& +5 "core" & d\ +2 .tCC.seek :closed +2 "collection"'R(\\ +53 "core" &\  h\  +4 &3\ v\ *z + &e\ p\ > +2 &r\ \ {\ M + &NX\ \ r\ K + &\\\ \ l\ L + &Y\ \ y\ L +6 &V\ \ t\ K +9 &VX\ \ q\ K +10 &]\ \ r\ L +9 &Y\ \ o\ L +9 & V\ \ q\ K +10 &"^X\ \ \ K +9 &$ [\ \ m\ K +10 &%W\ \ l\ L +9 &'Z\ \ o\ L +9 &)fV\ \ k\ K +10 &+(Y\ \ k\ K +9 &,\\\ \ p\ K +9 &.W\ \ m\ K +10 &0nY\ \ k\ K +9 &20\\\ \ q\ K +10 &3\\\ \ p\ L +9 &5[\ \ |\ L +9 &7vY\ \ }\ K +10 &98\\\ \ }\ K +9 &:Z\ \ w\ K +9 &<^\ \ w\ L +10 &>}\\\ \ w\ L +9 &@?Y\ \ i\ L +10 &B_\ \ x\ L +9 &Cd\ \ |\ M +9 &E~n\ \ t\ N +10 &G;\ \ t\ P +9 &H\ 0\ )x\ T +9 &J\ 8\ 7z\ W +10 &Li\ 8\ 9x\ X +9 &N(\ 5\ 5s\ Y +10 &O\ 4\ 4x\ Y +9 &Q\ 3\ 3}\ Y +9 &Si\ 1\ 3u\ [ +10 &U,\ 3\ 1m\ Z +9 &V\ 0\ 0w\ [ +9 &X\ 0\ 0y\ \\ +10 &Zo\ 0\ /x\ [ +9 &\\z\ .\ 1x\ 4 +10 &\\)\ /\ /r\ "e +9 ( + &\\~\ +\ ,v\ [ +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&:1 +64 "core" 1 +2 "manipulator"&t% +4 "core" % L  m u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +93 "core" ' +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%C& +3 "core" &t\ +2 "manipulator"&_% +4 "core" %  2  +2 "storage"(H% +4 "core" % N v\  +2 "storage"(`. +4 "core" .(K + "storage"(L& +4 "core" &K N =\  +2 "storage"(,& +4 "core" &K M 0\  +2 "manipulator"&>& +4 "core" & # , +2 "manipulator"&}% +3 "core" %  #  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&"( +159 "core" ( + "manipulator"&b& +4 "core" & w  +2 "storage"(r& +4 "core" &K\ \ >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&q' +95 "core" ' +2 "storage"(I& +3 "core" &K ! !\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +297 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +4 "core" &K Y\ ) _\  +2 "manipulator"&n& +3 "core" & e  +2 .tElbow.seek 6 +2 "manipulator"&v( +4 "core" ( + "manipulator"&p& +4 "core" & +  +2 "storage"(& +4 "core" &K K ,\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&P'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& +2 "storage"(' +7 "core" & L  +2 "manipulator"&4% +4 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&& +3 "core" & . H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +4 "core" & E H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&N' +103 "core" ' +2 "manipulator"&/& +4 "core" & H +2 "manipulator"&[% +4 "core" % h +2 "processing"%8& +4 "core" &\ +3 "processing"%& +5 "core" &?\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ \  +8 &0z\ *x +10 &c \ > +9 &q| \ N +10 &2^ \ N +9 &_\ N +9 &]\ M +10 &z_\ N +9 &;]v\ N +9 &_w\ N +10 &_w\ N +9 & b\ N +10 &"E]\ M +9 &$_\ N +9 &%`\ N +10 &'_\ M +9 &)L_\ N +9 &+_\ \ M +10 &,_\ N +9 &.[ \ N +10 &0U_\ M +9 &2^\ N +9 &3]\ M +10 &5] \ M +9 &7[\\\ N +9 &9_\ N +10 &:b \ N +9 &<^ \ N +10 &>c`\ N +9 &@&_\ N +9 &Ae\ N +10 &Ck \ O +9 &Efs \ P +9 &G%y\ Q +10 &H \ R +9 &J\ S +10 &Lc\ S +9 &N#\ T +9 &O\ S +10 &Q \ U +9 &Si \ T +9 &U*\ T +10 &V\ T +9 &X \ T +10 &Zo\ \ U +9 &\\0 \ U +9 &]zy \ @ +10 &^ P \ G +9 &^ k \ 2 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.51 + .Hand.open +48 "manipulator"&M1 +6 "core" &^\ - +55 1 +2 "manipulator"&~% +3 "core" %   , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' + "processing"%)& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&j% +3 "core" %    {  +3 "storage"(9% +3 "core" % M \  +2 "storage"(.. +4 "core" .(K + "storage"(B& +4 "core" &K K A\  +3 "storage"(S& +2 "manipulator"&;& +8 "core" &K N p\  + &   H +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"($'r +3 "core" ( +2 "manipulator"&g& +3 "core" &   H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   F H +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +3 .tHand.close + "manipulator"&V/ +57 "core" / +2 .tPC.seek :open +2 "processing"%U( +89 "core" ' +2 "storage"(]- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +308 ( +2 "storage"(+& +3 "core" &K N r\  +2 "manipulator"&& +4 "core" & # H +2 "manipulator"&&% +4 "core" %  > S +2 .tForearm.seek :retract +2 "manipulator"&a' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&0( +245 "core" ( +2 "manipulator"&& +4 "core" & C +2 "storage"(i& +3 "core" &K\ \ \ W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +103 "core" ' +2 .tHand.open + "manipulator"&=1 +64 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(1' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(y& +4 "core" &K N N Q\  +2 "manipulator"&\ & +3 "core" &  W C +3 .tElbow.seek 6 + "manipulator"&o( +3 "core" ( +2 "manipulator"&(& +4 "core" &   i C +2 "storage"(G& +4 "core" &K P N \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"({'" +49 "core" ' +2 "manipulator"& & +3 "core" &  _ C +2 "storage"(& +4 "core" &K\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +21 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +21 "core" ' + "manipulator"&x% +4 "core" %J 5  +2 "storage"(!& +4 "core" &K H \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&?'v +14 "core" ' + "manipulator"&%& +4 "core" & 1 C +2 "storage"(3& +4 "core" &K M W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +54 "core" ' +9 "storage"(l% +3 "core" % N M\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (D% +3 "core" %sU \ Wf +2 "manipulator"&% +4 "core" % \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +95 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K\ \ \  +3 "collection"'Y& +3 "core" &\\|\ $\ ${\ [ +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&<% +4 "core" %  O  +2 "storage"( % +3 "core" % X \  +2 "storage"( . +3 "core" .(K +2 "storage"(5& +4 "core" &K Q ?\  +2 "storage"(*& +4 "core" &K N '\  +2 "manipulator"&6& +3 "core" & ^ C +3 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & C +2 "storage"(#& +3 "core" &K N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +93 "core" ' +2 "storage"(@& +3 "core" &K a\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'r +299 "core" ' + "storage"(z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" & T C +2 "storage"(A& +4 "core" &K K d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&^'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('x +29 "core" ' + "manipulator"&\\% +4 "core" %9 { " +2 "storage"('& +3 "core" &K Y \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 297 counts + "manipulator"&w'e +15 "core" ' +2 "manipulator"&m& +3 "core" & 6 C +2 "storage"(& +4 "core" &K N S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&:' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(t' +35 "core" ' + "manipulator"&C& +4 "core" &  9 C +2 "manipulator"&_% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +151 "core" ( + "manipulator"&F& +4 "core" &Ӓ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &Ӓ  8 +2 .tForearm.seek CC +2 "manipulator"&,'? +96 "core" ' +2 .tHand.close +2 "manipulator"&>/ +53 "core" / +2 .tCC.seek :open + "collection"'}( +447 "core" ( +2 "storage"(E& +4 "core" &K T U r\  +2 "storage"(b& +3 "core" &K T U k\  +2 "manipulator"&r& +4 "core" & V . +2 "manipulator"&I% +3 "core" % H N +3 .tForearm.seek :retract +2 "manipulator"&T' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&Z( +158 "core" ( +2 "manipulator"&k& +3 "core" & N  +2 "storage"(f& +4 "core" &K m j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&n'< +91 "core" ' +2 .tElbow.hold + "manipulator"&p, +44 "core" , +8 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +65 "core" 1 +3 "manipulator"&Q% +3 "core" % <  L +2 "storage"(X& +4 "core" &K n n \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 300 counts + "manipulator"&4'h +14 "core" ' +2 "manipulator"&"& +3 "core" &  P  +2 "storage"(q& +4 "core" &K j n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +15 "core" ' +2 "storage"(P% +3 "core" % a j \  +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (W% +3 "core" %tJ / /\ V` +2 "manipulator"&v% +4 "core" % < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'[& +3 "core" & }\ +2 "manipulator"&8% +5 "core" %   + "storage"(% +5 "core" % n n \  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(e(,y +677 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (M& +3 "core" &,y L S `\ +2 "manipulator"&~& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&)& +4 "core" &    +2 "storage"(j& +4 "core" &,y g Y X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&9' +93 "core" ' +2 "storage"(.& +3 "core" &,y j m \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +297 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &,l G S !\ +2 "manipulator"&g& +4 "core" & K  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&N& +3 "core" &    +2 "storage"(V& +4 "core" &,l T U \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&]'c +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & b  +2 "manipulator"&$% +4 "core" % l  < +2 .tForearm.seek :retract +2 "manipulator"&+' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&&& +3 "core" &ӟ m 2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӟ  2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +2 "manipulator"&i& +3 "core" &ӟ  6 2 +3 "manipulator"&% +3 "core" %G  +2 "collection"'=& +4 "core" & \ +3 "collection"'& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +7 &< \ \ %f +9 &X z\ 8 +10 &y\  }\ L +9 &Y\ \ u\ L +9 &Y\ \ p\ K +10 &EY\ \ y\ K +9 &\\\ \ u\ K +9 &\\\ \ u\ L +10 &Z\ \ \ K +9 &LW\ \ \ L +10 & Y\ \ \ L +9 &!Y\ \ \ L +9 &#Z\ \ \ L +10 &%VV\ \ \ K +9 &'\\\ \ \ K +9 &(W\ \ \ K +10 &*W\ \ \ K +9 &,]W\ \ \ K +10 &.W\ \ \ K +9 &/Z\ \ \ K +9 &1\\\ \ \ L +10 &3dZ\ \ \ L +9 &5&Y\ \ \ L +9 &6[\ \ \ L +10 &8X\ \ \ K +9 &:nY\ \ \ K +10 &<.Z\ \ \ L +9 &=W\ \ \ K +9 &?W\ \ \ L +48 &As[\ \ \ L +5 &C5^\ \ y\ L +4 &Di\ \ \ M + &Fr\ \ \ N + &Hm\ \ s\ Q + &J$\ -\ &|\ U +6 &K\ 3\ 1~\ V +9 &M\ 2\ 1|\ X +10 &Ob\ 0\ 0x\ W +9 &Q"\ -\ 0x\ X +9 &R\ -\ .r\ X +10 &T\ -\ 0x\ Y +9 &Va\ .\ ,x\ Z +10 &X#\ /\ -x\ Z +9 &Y\ /\ .y\ \\ +9 &[\ /\ -x\ I +10 &\\2\ .\ .y\ 2 +9 &\\k\ ,\ .w\ O +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&y1 +56 "core" 1 +2 "manipulator"&\ % +4 "core" % G  ?  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%G& +3 "core" &\ +3 "manipulator"&a% +3 "core" %  3  +2 "storage"( % +4 "core" % N \  +2 "storage"(. +3 "core" .(,y +2 "storage"(x& +4 "core" &,l J\  5\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(!(,y +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,{\ \ \  G\  +2 "manipulator"&%& +4 "core" &ӟ ] 2 +2 "manipulator"&3% +3 "core" %  C  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&|( +160 "core" ( + "manipulator"&l& +4 "core" & {  +2 "storage"(0& +4 "core" &,{ ! ! \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&s' +94 "core" ' + "storage"(1& +4 "core" &,{ / . \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,m\ \  M\  +2 "manipulator"&o& +4 "core" &  V  +2 .tElbow.seek 4 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(?& +4 "core" &,m M l\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"( ' +8 "core" & l  +2 "manipulator"& % +3 "core" % Ϝ +3 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&5( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&*& +4 "core" & I +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &  X I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&#& +4 "core" &  K I +2 "manipulator"&d% +4 "core" % G W +2 "processing"%@& +4 "core" &?\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\ +7 & 0\ $c +9 &U\ 7 +10 &\ K +9 &]\ N +10 &i]\ M +9 &*` \ N +9 &c\ N +10 &\\\ \ N +9 &p] \ N +9 &2] \ N +10 &] \ N +9 &!^ \ M +10 &#y^\ M +9 &%;]\ \ M +9 &&b\ N +10 &(_\ M +9 &*`\ M +9 &,C_\ M +10 &.]\ M +9 &/c\ N +10 &1_\ N +9 &3J]\ N +9 &5 `\ M +10 &6_\ M +9 &8_p\ N +9 &:R\\\ N +10 &<_v\ M +9 &=]2\ N +10 &?_.\ M +9 &AZ`\ N +9 &Cg\ N +10 &Dm \ O +9 &Fv\ P +10 &HW\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &OYs\ S +10 &Q\ T +9 &R1\ T +9 &T\ T +9 &V_\ T +10 &X!;\ T +9 &Y\ T +10 &[\ U +9 &]e\ B +9 &^B{\ _ +10 &^6s\ 3 +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&K1 +3 "core" &^%\ 3 +61 1 + "manipulator"&z% +4 "core" %   L W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +4 "manipulator"&u' +93 "core" ' + "processing"%A& +4 "core" &^%\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&O% +3 "core" %     +2 "storage"(\\% +4 "core" % K 0\ +2 "storage"('. +3 "core" .(,y +2 "storage"(m& +4 "core" &,m L I\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +47 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "manipulator"&_& +6 "core" &,{\  &\ + &   I +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&2( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +3 "core" ( +2 "manipulator"&J& +3 "core" &  T I +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &  Q I +2 .tForearm.seek PC +2 "manipulator"&w' +93 "core" ' +3 .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open + "processing"%F( +94 "core" ' +2 "storage"(L- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'1 +41 "core" ' +309 ( +2 "storage"(-& +4 "core" &,j C o\ +2 "manipulator"&>& +3 "core" & 0 I +2 "manipulator"&H% +4 "core" %  9 D +2 .tForearm.seek :retract +2 "manipulator"&R' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&E( +247 "core" ( +2 "manipulator"&b& +4 "core" &  Z K +2 "storage"(r& +3 "core" &,j\ !\ ! L\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +93 "core" ' +2 .tHand.open + "manipulator"&k1 +53 "core" 1 +3 "storage"(f- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(,' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(`' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(Q& +4 "core" &,j D H ]\ +2 "manipulator"&X& +4 "core" &   K +2 .tElbow.seek 4 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&q& +4 "core" &    K +2 "storage"(P& +4 "core" &,j C E\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(Z'" +51 "core" ' +2 "manipulator"&W& +3 "core" & " K +2 "storage"(v& +5 "core" &,j N d\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&n'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(8' +19 "core" ' +2 "manipulator"&4% +4 "core" %. 2 +2 "storage"(& +3 "core" &,j M O\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 291 counts +2 "manipulator"&'Z +14 "core" ' + "manipulator"&t& +4 "core" & 0 K +2 "storage"(7& +4 "core" &,j I 2\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +46 "manipulator"&' +27 "core" ' +2 "storage"(% +3 "core" % 2 z\ +3 ."downElevator"SE.seek :down +4 "storage"(M' +99 (~% +3 "core" %KQ\ \ \ \ Xe +2 "manipulator"&)% +4 "core" % q  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (.& +3 "core" &,j . 0\ +2 "collection"'p& +4 "core" &\\g\ !\ "w\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&/% +4 "core" %  C  +2 "storage"(S% +4 "core" % ! i\  +2 "storage"(;. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(g(,y +26 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" &,w ! # /\ +2 "manipulator"&V& +4 "core" & : K +2 .tElbow.seek 4 +2 "manipulator"&c( +4 "core" ( +2 "manipulator"&& +3 "core" & [ K +2 "storage"($& +4 "core" &,w ! \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(9& +4 "core" &,w 0 / \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +298 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" & * J +2 "storage"(]& +4 "core" &,m X _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&i'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('f +30 "core" ' + "manipulator"&% +4 "core" %J   +2 "storage"(+& +4 "core" &,m J \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&}'v +14 "core" ' +2 "manipulator"&y& +3 "core" & A J +2 "storage"(\ & +4 "core" &,m\ #\ ! P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(a' +36 "core" ' +2 "manipulator"& & +3 "core" & H J +2 "manipulator"&% +4 "core" % S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( +2 "manipulator"&& +3 "core" &ӎ 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +4 "core" &ӎ G 7 +2 .tForearm.seek CC +3 "manipulator"&3'? +92 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'l( +447 "core" ( +2 "storage"(0& +3 "core" &,m T T k\  +2 "storage"(e& +4 "core" &,m G 4 {\  +2 "manipulator"&1& +4 "core" &ӣ 8 4 +2 "manipulator"&% +3 "core" % ? E ( +3 .tForearm.seek :retract + "manipulator"&(' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&& +3 "core" & _  +2 "storage"(o& +4 "core" &,m W T \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +43 .tForearm.seek 4 +9 "manipulator"&'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +55 "core" 1 +3 "manipulator"&<% +5 "core" % =  ] , + "storage"( & +4 "core" &,m U K _\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 306 counts +2 "manipulator"&|'i +13 "core" ' + "manipulator"&s& +4 "core" &  S  +2 "storage"(D& +4 "core" &,m n P F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +16 "core" ' + "storage"(*% +4 "core" % n m d\ +3 ."downElevator"SE.seek :down +4 "storage"(6' +99 ({% +3 "core" %J - &\ V_ +2 "manipulator"&#% +4 "core" % ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +91 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'@& +3 "core" & \ +2 "manipulator"& % +4 "core" %  v  +2 "storage"(h% +3 "core" % n n ^\  +2 "storage"(U. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(K(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &<- ' # #\  +2 "manipulator"& & +4 "core" & <  +2 .tElbow.seek 5 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&O& +3 "core" &  f  +2 "storage"(\\& +4 "core" &<- K G \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +91 "core" ' +2 "storage"(m& +4 "core" &<- ` j b\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(_'r +296 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &<- K S 5\  +2 "manipulator"&^& +4 "core" & i  +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +4 "core" &  [  +2 "storage"(!& +4 "core" &<- X W \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&L'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"( ' +7 "core" & 8  +2 "manipulator"&% +4 "core" % ϼ  +2 .tForearm.seek :retract +2 "manipulator"&-' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +148 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&H& +4 "core" &x$  =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &x% b =A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'? +100 "core" ' +2 "manipulator"&r& +3 "core" &y# <@ +2 "manipulator"&2% +4 "core" %G  +2 "collection"'k& +4 "core" & \ +3 "collection"'f& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'(\\ +4 "core" & \ +4 & x\ 9 +10 &FIx z\ 1 +9 &|v x\ E +9 &)[\ w\ L +10 &U\ \ x\ K +9 &\\\ \ |\ L +10 &qY \ z\ K +9 &4Y\  \ K +9 &Z\ \ \ L +10 &[\ \ \ K +9 &y\\ \ K +10 &!:Z\ \ \ L +9 &"Y\ \ \ L +9 &$V\ \ \ K +56 &&\\\ \ \ K +5 &(C\\\  \ K +2 &*Z\ \ \ L +2 &+Y\ \ \ L +2 &-Y\ \ \ L + &/JZ\ \ \ L + &1 Z\ \ \ L +6 &2Y\ \ \ L +10 &4Z\ \ \ K +9 &6S\\\ \ \ K +9 &8\\\ \ \ L +10 &9Z\ \ \ L +9 &;Z\ \ \ L +10 &=[W\ \ \ K +9 &?X\ \ \ L +9 &@Z\ \ \ L +10 &B\\\ \ x\ K +9 &D_c\ \ \ \ M +9 &Fk\ \ \ N +10 &G~\ \ \ P +9 &I\ #\ \ T +10 &KK\ /\ .\ V +9 &M \ /\ .\ X +9 &N\ .\ .\ W +10 &P\ ,\ ,\ X +9 &RL\ -\ .\ Y +9 &T \ *\ -x\ Y +10 &U\ ,\ +w\ Z +9 &W\ +\ ,u\ Z +10 &YK\ .\ ,|\ \\ +9 &[ \ ,\ ,w\ \\ +9 &\\bE\ +\ /\ 2 +10 &\\\ .\ -|\ M +5 ( +2 "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&Q1 +3 "core" &\\k\ )\ +|\ M +56 1 +2 "manipulator"&X% +4 "core" % G  a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q' +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%P& +4 "core" &\ +2 "manipulator"&R% +4 "core" %  &  +2 "storage"(W% +4 "core" % M h\  +2 "storage"(v. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(4(<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<-\ :\  +2 "manipulator"&:& +3 "core" &y# r <@ +2 "manipulator"&t% +4 "core" %  ]  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&7( +164 "core" ( +2 "manipulator"&,& +4 "core" &  O  +2 "storage"(& +3 "core" &<- ! !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&E'O +106 "core" ' + "storage"(I& +4 "core" &<- J 5 [\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +298 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &<-\ \  \  +2 "manipulator"&)& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&Z& +3 "core" & C  +3 "storage"(n& +3 "core" &<- ! !\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& +2 "storage"(/' +7 "core" &  +2 "manipulator"&S% +4 "core" % Ϲ @ Q +2 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&N& +3 "core" & s 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +4 "core" & > 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 "manipulator"&$& +4 "core" & m 8 +2 "manipulator"&% +4 "core" % I +2 "processing"%9& +4 "core" &"\ +3 "processing"%M& +5 "core" &M\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +8 &2y$\ )w +10 &c\ > +9 &ty\ N +9 &6]\ N +10 &^\ N +9 &\\\ N +10 &|_\ N +9 &>\\\ N +9 &_\ N +10 &\\\ N +9 & _\ N +9 &"F_!\ N +10 &$`\ N +9 &%]\ M +10 &'^q\ M +9 &)N]\ N +9 &+a\ N +10 &,\\\ N +9 &.[\ M +9 &0V]\ N +10 &2a\ \ N +9 &3`\ N +10 &5`3\ N +9 &7__ \ M +9 &9 _v\ N +10 &:`:\ N +9 &<] \ M +9 &>f`\ N +10 &@(]\ N +9 &Ae \ N +10 &Cp\ O +9 &Ehs\ P +9 &G({\ P +10 &H \ S +9 &J4\ S +9 &Lg\ S +10 &N'\ S +9 &O\ T +10 &Q \ T +9 &Sl\ T +9 &U- \ T +10 &V \ T +9 &X \ T +9 &Zs \ T +10 &\\3\ \ U +9 &]z{\ = +10 &^&d\ S +9 &^%\ 4 +2 ( +2 "processing"%M& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&[1 +59 "core" 1 +4 "manipulator"&j% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 "processing"%B& +3 "core" &^&u\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&]% +4 "core" % ! T - +2 "storage"(=% +4 "core" % H C\  +2 "storage"(. +3 "core" .(<- +2 "storage"(+& +3 "core" &<- K I\  +3 "storage"(y& +2 "manipulator"&\ & +8 "core" &<- N }\  + & ( 8 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"& ( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"&& +3 "core" &  ) 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +3 "core" &   8 +2 .tForearm.seek PC +2 "manipulator"&&' +90 "core" ' +2 .tHand.close + "manipulator"&i/ +64 "core" / +3 .tPC.seek :open +2 "processing"%}( +90 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +312 ( + "storage"(%& +4 "core" &<- \  +2 "manipulator"&G& +3 "core" &  I 8 +2 "manipulator"&% +4 "core" %  q l +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&x( +246 "core" ( +2 "manipulator"&& +4 "core" & Q +3 "storage"(0& +4 "core" &<-\ \ 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +91 "core" ' +2 .tHand.open + "manipulator"&11 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(o' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' +2 "storage"(& +3 "core" &<- D D \  +2 "manipulator"&Y& +4 "core" &  - Q +2 .tElbow.seek 5 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"& & +4 "core" &   Q +2 "storage"(s& +3 "core" &<- M M {\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(*'" +51 "core" ' +2 "manipulator"&(& +3 "core" &  Q +2 "storage"({& +5 "core" &<- Y \\\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&#'΍ +28 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&|% +4 "core" %΋ @ d +2 "storage"(@& +4 "core" &<- N m\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 298 counts + "manipulator"& 'Ϸ +14 "core" ' +2 "manipulator"&h& +3 "core" & { + +2 "storage"(U& +4 "core" &<- N G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&a'O +16 "core" ' +2 "storage"(% +43 "core" %\ !\ ! 1\ +10 ."downElevator"SE.seek :down +3 "storage"(6' +99 (g% +3 "core" %4P\ \ \ Wd +3 "manipulator"&z% +3 "core" %* E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 (O& +2 "core" &<- $ 8\  +3 "collection"'\\& +3 "core" &\\j\ !\ "y\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&m% +4 "core" %  > # +2 "storage"(?% +3 "core" % \ # \\\  +2 "storage"(d. +3 "core" .(<- +2 "storage"(C& +5 "core" &<- * j\  + "storage"(J& +4 "core" &<- % T f\  +2 "manipulator"&^& +4 "core" &  X + +2 .tElbow.seek 5 +2 "manipulator"&( +20 "core" ( + "manipulator"&!& +4 "core" &  +2 "storage"(5& +4 "core" &<- ! \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&u'O +94 "core" ' + "storage"(& +4 "core" &<- . . w\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +297 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" & ,  +2 "storage"(w& +4 "core" &<-\ \  k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&_'΍ +28 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(r- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(2'z +30 "core" ' + "manipulator"&k% +4 "core" %Ζ < +2 "storage"(& +4 "core" &<- &  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"& ' +14 "core" ' +2 "manipulator"&-& +3 "core" &  Q  +2 "storage"(l& +3 "core" &<- % . G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(X' +34 "core" ' +2 "manipulator"&P& +4 "core" & N  +2 "manipulator"&R% +5 "core" %3 v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +154 "core" ( +2 "manipulator"&f& +3 "core" &y#  <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &y#  ; <= +2 .tForearm.seek CC +2 "manipulator"&:'? +94 "core" ' +2 .tHand.close + "manipulator"&t/ +63 "core" / +2 .tCC.seek :open +2 "collection"'b( +450 "core" ( + "storage"(,& +4 "core" &<- & : \  +2 "storage"(& +4 "core" &<- ! & +\  +2 "manipulator"&K& +4 "core" &{# 0 <; +2 "manipulator"&I% +4 "core" % B 4 : +2 .tForearm.seek :retract +2 "manipulator"&>' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&q( +161 "core" ( +2 "manipulator"&~& +3 "core" & 1  +2 "storage"(T& +4 "core" &<- W W\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&)'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +49 .tHand.open +2 "manipulator"&n1 +52 "core" 1 +3 "manipulator"&.% +3 "core" % Γ  _ 6 +2 "storage"(p& +4 "core" &<- I G W\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 306 counts + "manipulator"&S'Ͽ +14 "core" ' +2 "manipulator"&7& +3 "core" &  :  +2 "storage"(E& +4 "core" &<- \\ h T\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +14 "core" ' + "storage"(% +4 "core" % n n\ +3 ."downElevator"SE.seek :down +4 "storage"(N' +98 (V% +3 "core" %J + $ B\ V` +2 "manipulator"&"% +4 "core" %[ \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&9% +4 "core" %   x  +2 "storage"(/% +4 "core" % n n \  +2 "storage"(;. +2 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(F(K +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +3 "core" &K S L \  +2 "manipulator"&j& +4 "core" &  I  +2 .tElbow.seek 6 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&]& +4 "core" &  *  +2 "storage"(=& +4 "core" &K G G '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +98 "core" ' +2 "storage"(M& +3 "core" &K a k \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +294 "core" ' +2 "storage"(\ - +2 "core" -'# +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (y& +2 "core" &K T F d\  +3 "manipulator"&& +3 "core" &  o  +2 .tElbow.seek 6 +2 "manipulator"&c( +4 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(i& +4 "core" &K W W\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&8/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  ;  +2 "manipulator"&% +4 "core" % s  * O +2 .tForearm.seek :retract +2 "manipulator"&%' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&G(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &Ӎ i 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &Ӎ a 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' + "manipulator"&0& +4 "core" &ӎ  J 7 +2 "manipulator"& % +4 "core" %? u +2 "collection"'1& +4 "core" & \ \ +3 "collection"'& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'3(\\ +6 "core" & \ +6 &; ~\ $e +9 &W{ \ 7 +10 &x\ \ K +9 &Y \ K +9 &{V \ K +10 &;Y\  \ L +9 &X\ \ \ K +9 &Y\ \ \ K +10 &\\\ \ \ K +9 &DZ\ \ \ K +10 & V\ \ t\ K +9 &!Y\ \ y\ K +9 &#W\ \ \ K +10 &%KY\ \ \ L +9 &'Y\ \ \ K +10 &(Z\ \ \ K +9 &*Y\ \ \ K +9 &,UW\ \ \ K +10 &.Y\ \ \ L +9 &/Y\ \ \ K +9 &1W\ \ \ K +10 &3\\[\ \ \ K +9 &5Y\ \ \ L +9 &6Z\ \ \ L +10 &8\\\ \ \ K +9 &:dX\ \ \ K +10 &<&W\ \ \ K +9 &=W\ \ \ K +9 &?X\ \ \ L +10 &Ak_\ \ \ L +9 &C+e\ \ \ L +10 &Dj\ \ \ M +50 &Fv\ \ \ O +3 &H_\ (\ \ S +2 &J\ 7\ 4\ U +2 &K\ 8\ 7\ X + &M\ 7\ 6\ X + &OU\ 4\ 4\ Y +6 &Q\ 1\ 3\ X +9 &R\ 1\ 0\ Y +10 &T\ 0\ 1~\ Z +9 &VW\ 0\ .\ [ +10 &X\ .\ .\ [ +9 &Y\ 0\ -\ \\ +9 &[\ /\ /\ I +10 &\\?\ 0\ /\ 'x +9 &\\\ ,\ -t\ _ +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +3 "manipulator"&Y% +3 "core" % T  Q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +101 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%s& +4 "core" &R\ +2 "manipulator"&% +4 "core" %  U q +2 "storage"((% +5 "core" % X\  + "storage"({. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(|(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &K\ \ \  \  +2 "manipulator"&& +4 "core" & G . +2 "manipulator"&h% +4 "core" %  < q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&U( +160 "core" ( +2 "manipulator"&& +3 "core" & '  +2 "storage"(& +4 "core" &K Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&x' +93 "core" ' + "storage"(e& +4 "core" &K $ ! ,\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +309 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &K\ )\ . n\  +2 "manipulator"&D& +4 "core" & 1  +2 .tElbow.seek 6 +2 "manipulator"&<( +2 "core" ( +2 "manipulator"&*& +4 "core" &  +2 "storage"(#& +4 "core" &K M o\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(m' +8 "core" & H  +2 "manipulator"&?% +4 "core" % d : +2 .tForearm.seek :retract +2 "manipulator"&d' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&C& +4 "core" &  ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &  ` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&^' +93 "core" ' +2 "manipulator"&!& +4 "core" & " ` +2 "manipulator"&5% +3 "core" %  - u +3 "processing"%a& +3 "core" &%\ +3 "processing"%& +5 "core" &%\ +2 .tPC.seek :closed +2 "processing"%6(^ +5 "core" &#\  +8 &3}(\ )w +9 &c$\ > +10 &uy%\ N +9 &6]'\ N +10 &\\&\ N +9 &_'\ N +9 &|\\\ N +10 &?]\ N +9 &^\ M +9 &]%\ N +10 & ^ \ N +9 &"G_\ N +10 &$\ ]\ M +9 &%]!\ N +9 &'a"\ N +10 &)O^ \ N +9 &+`!\ N +9 &,^!\ M +10 &.\\\ M +9 &0W_!\ N +10 &2]\ M +9 &3\\"\ M +9 &5[\ N +10 &7__!\ N +9 &9"^\ M +9 &:^\ N +10 &<\\\ M +9 &>f_\ N +10 &@)] \ N +9 &Ac\ N +9 &Cj!\ O +10 &Ehp\ P +9 &G'w\ Q +9 &H\ R +10 &J\ T +9 &Lf\ S +10 &N'\ T +9 &O\ T +9 &Q\ T +10 &Sl\ T +9 &U,\ U +9 &V\ T +10 &X\ T +9 &Zr\ U +10 &\\5\ T +9 &]zw\ > +9 &^#Y\ U +10 &^)\ 4 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"& % +4 "core" %   0 u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +97 "core" ' +47 "processing"%H& +6 "core" &^(C\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&w% +3 "core" %     +2 "storage"(r% +4 "core" %\ \  s\  +2 "storage"(k. +4 "core" .(K + "storage"(& +4 "core" &K\ \  \  +3 "storage"(-& +2 "manipulator"&l& +9 "core" &K\ \  \  + &  j ` +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(P'r + "manipulator"&R( +19 "core" ( + "manipulator"&u& +4 "core" &   J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & m +3 .tForearm.seek PC + "manipulator"&A' +90 "core" ' +2 .tHand.close +2 "manipulator"&_/ +52 "core" / +2 .tPC.seek :open +2 "processing"% ( +85 "core" ' + "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'1 +40 "core" ' +322 ( +2 "storage"(& +4 "core" &K\ .\ . \  +2 "manipulator"&Q& +3 "core" &  \ +2 "manipulator"&L% +4 "core" %  % j +2 .tForearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&W( +254 "core" ( +2 "manipulator"&& +3 "core" & %  +2 "storage"(,& +4 "core" &K\ \ {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&K1 +55 "core" 1 +2 "storage"(I- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(T' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +3 "core" -' +2 "storage"(v& +4 "core" &K N O C\  +2 "manipulator"&n& +3 "core" &  y  +3 .tElbow.seek 6 +2 "manipulator"&.( +2 "core" ( +2 "manipulator"&p& +4 "core" &   C  +2 "storage"(7& +4 "core" &K N N \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&>& +4 "core" &   +2 "storage"(V& +4 "core" &K\ "\ , ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&"'< +19 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"()' +19 "core" ' +2 "manipulator"&% +4 "core" %9 @  +2 "storage"(9& +3 "core" &K M `\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 297 counts +2 "manipulator"&S'e +13 "core" ' +2 "manipulator"&/& +4 "core" &   +2 "storage"(;& +4 "core" &K N (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +14 "core" ' +2 "storage"(`% +4 "core" % N M\ +3 ."downElevator"SE.seek :down +3 "storage"(N' +99 (4% +3 "core" %iU\ \ \ \ \ Xg +2 "manipulator"&[% +4 "core" % % +47 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (]& +3 "core" &K  k\  +2 "collection"'=& +4 "core" &\\\ !\ $\ _ +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&M% +3 "core" %    +3 "storage"(Z% +3 "core" %\ \ " Z\  +2 "storage"($. +3 "core" .(K +2 "storage"(\ & +4 "core" &K K \\\  +2 "storage"(y& +4 "core" &K I $\  +2 "manipulator"&& +4 "core" & W  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&i& +4 "core" &  +2 "storage"(8& +4 "core" &K \ " >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +112 "core" ' +2 "storage"(& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(B'r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & :  +2 "storage"(&& +4 "core" &K K `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&+'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(0- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"( 'y +29 "core" ' +2 "manipulator"&1% +3 "core" %C 2 - +2 "storage"(c& +3 "core" &K M J\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 307 counts + "manipulator"&'o +14 "core" ' + "manipulator"&%& +4 "core" & <  +2 "storage"(b& +4 "core" &K O \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(Y' +36 "core" ' + "manipulator"&s& +4 "core" & u  +2 "manipulator"&% +3 "core" % ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&{(ӂ +159 "core" ( +2 "manipulator"&& +3 "core" &ӓ   i 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +4 "core" &ӓ F 6 +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&h/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(& +4 "core" &K , 9 \  +2 "storage"(& +4 "core" &K ' ( E\  +2 "manipulator"&F& +3 "core" & ; . +2 "manipulator"&e% +4 "core" % A ; +2 .tForearm.seek :retract +2 "manipulator"&G' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +158 "core" ( +2 "manipulator"&g& +3 "core" & -  +2 "storage"(z& +5 "core" &K T T i\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&D'< +94 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +64 "core" 1 +2 "manipulator"&O% +4 "core" % =  $ 2 +2 "storage"(\\& +3 "core" &K W W \  +43 .tForearm.force -20 +8 "manipulator"&5 +3 .tForearm.seek 6 + 301 counts +2 "manipulator"&?'i +13 "core" ' +2 "manipulator"&U& +3 "core" & V  +2 "storage"(x& +4 "core" &K J Q d\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +30 "core" ' +2 "storage"( % +4 "core" % n P *\ +3 ."downElevator"SE.seek :down +4 "storage"(C' +98 (J% +3 "core" %O % 1 K\ Vb +2 "manipulator"&<% +4 "core" % > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!' +89 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'5& +3 "core" & u\ +2 "manipulator"&a% +3 "core" %    +2 "storage"(m% +4 "core" % n m\  +2 "storage"(d. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(}(,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,v K H \ +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&H( +4 "core" ( +2 "manipulator"&& +3 "core" &   c  +2 "storage"(w& +4 "core" &,v m n \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +96 "core" ' + "storage"(k& +4 "core" &,v k ` \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +3 "core" &,l F R =\ +2 "manipulator"&u& +4 "core" &  i  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&^& +4 "core" & \  9  +2 "storage"(_& +5 "core" &,l W U\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&2'c +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"(6' +8 "core" &  <  +2 "manipulator"&P% +3 "core" % s  + +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +3 .tElbow.seek CC + "manipulator"&Q(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&L& +3 "core" &Ӄ  9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +3 "core" &Ӄ  9' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +98 "core" ' + "manipulator"&,& +4 "core" &ӌ  D 8 +2 "manipulator"&R% +4 "core" %@ f  +2 "collection"'K& +4 "core" & \ +3 "collection"'I& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"':(\\ +3 "core" & \ +7 &; \ %f +10 &X~ \ 7 +9 &{ \ L +10 &X \ K +9 &Y\ \ w\ K +9 &CZ \ K +10 &[\ \ }\ K +9 &Y\ \ |\ K +9 &[\ \ \ K +10 &KY\ \ \ K +9 & U \ \ K +10 &!X\ \ w\ K +9 &#V\  y\ K +9 &%SW\ \ }\ K +10 &'U\ \ y\ K +9 &(Y\ \ {\ K +9 &*U \ x\ K +10 &,[Y\ \ w\ K +9 &.Z\ \ ~\ K +10 &/X\ \ |\ K +9 &1Y\ \ |\ L +9 &3cX\ \ \ K +10 &5%Y\ \ \ K +9 &6W\ \ \ K +9 &8W\ \ \ K +10 &:k\\\ \ \ K +9 &<-Y\ \ \ K +10 &=V\ \ \ K +9 &?Y\ \ \ L +9 &ArZ\ \ \ L +10 &C4\\\ \ \ L +9 &Dg\ \ \ M +9 &Fq\ \ \ \ N +10 &Hk\ \ \ Q +9 &J!\ )\ #\ U +10 &K\ /\ /\ V +9 &M\ /\ /\ Y +9 &O\\\ ,\ ,\ Y +10 &Q\ ,\ *\ Y +9 &R\ +\ ,\ X +9 &T\ +\ ,\ Z +10 &Va\ *\ +\ Z +9 &X\ +\ ,\ [\ +10 &Y\ *\ +\ \\ +9 &[\ -\ *\ I +9 &\\2\ (\ -\ 4 +10 &\\j\ ,\ -\ O +2 ( +2 "collection"'I& +56 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&v1 +3 "core" &\\f\ )\ )\ O + &\\g\ )\ (\ O + &\\f\ '\ '\ O +2 &\\f\ &\ &\ O + &\\f\ '\ '\ O +55 1 +2 "manipulator"&n% +3 "core" % @ 1  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%7& +5 "core" &S\ + "manipulator"&t% +4 "core" %   +2 "storage"(>% +4 "core" % T\ # \\\  +2 "storage"(V. +4 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (9& +3 "core" &,y N T\ +2 "manipulator"&f& +3 "core" &Ӎ { 8 +2 "manipulator"&/% +5 "core" %  P  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&;( +158 "core" ( +2 "manipulator"&~& +4 "core" & w  +2 "storage"(`& +4 "core" &,y $ , \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +93 "core" ' +2 "storage"(& +5 "core" &,y 5 / R\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +295 "core" ' +2 "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +3 "core" &,m O V\  +2 "manipulator"&E& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&.( +4 "core" ( +2 "manipulator"&& +3 "core" & /  +2 "storage"("& +4 "core" &,m M\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&]'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&S/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(M' +8 "core" & 3  +2 "manipulator"&Z% +4 "core" % k # +2 .tForearm.seek :retract +2 "manipulator"&)' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&$( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&\ & +3 "core" & P p +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &  p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&i& +4 "core" & ; p +2 "manipulator"&8% +4 "core" % d F +2 "processing"%& +4 "core" &P\ +3 "processing"%X& +5 "core" &#\ +2 .tPC.seek :closed +2 "processing"%N(^ +5 "core" &!\ +6 & /&\ #b +9 &U"\ 7 +9 &&\ L +10 &]"\ N +9 &]\\)\ M +10 &Z-\ M +9 &`(\ N +9 &]*\ M +10 &d],\ N +9 &%a,\ N +9 &\\-\ M +10 &!\\+\ N +9 &#l`!\ N +10 &%.[!\ N +9 &&['\ N +9 &(]"\ N +10 &*t`\ N +9 &,5`'\ N +10 &-Z#\ N +9 &/]#\ M +9 &1|^"\ N +10 &3>_'\ N +9 &5^#\ N +9 &6_\ N +10 &8` \ N +9 &:FZ"\ N +9 &<^"\ N +10 &=`"\ N +9 &?]\ N +10 &AM]\ N +9 &C f\ O +9 &Dj\ O +10 &Fs\ P +9 &HK\ Q +9 &J\ S +10 &K\ S +9 &M\ T +10 &OM\ S +9 &Q \ T +9 &R\ T +10 &T\ U +9 &VT\ T +9 &X\ T +10 &Y\ U +9 &[\ T +10 &]Y\ C +9 &^H{\ W +9 &^ L\ 1 +6 ( +2 "processing"%X& +3 "core" &^&\ 1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&q1 +60 "core" 1 + "manipulator"&j% +4 "core" %   u F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 "processing"%& +4 "core" &^&\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&&% +3 "core" %    +48 "storage"(0% +5 "core" % M \  +2 "storage"(1. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(c(,y +24 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (%& +3 "core" &,{ L \ \ +2 "manipulator"&b& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  \\ p +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(s'r + "manipulator"&( +19 "core" ( +2 "manipulator"&& +4 "core" &   o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +3 .tForearm.seek PC + "manipulator"&B' +91 "core" ' +2 .tHand.close + "manipulator"&+/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +82 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +51 "core" ' +314 ( + "storage"(@& +4 "core" &,j\ *\  f\  +2 "manipulator"&& +4 "core" & b +2 "manipulator"&% +4 "core" %  L f +2 .tForearm.seek :retract +2 "manipulator"&h' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&(( +239 "core" ( +2 "manipulator"&3& +3 "core" & { ; +2 "storage"(& +4 "core" &,j K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&F1 +55 "core" 1 +3 "storage"(e- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(g' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"({& +5 "core" &,j D D\  + "manipulator"&#& +4 "core" &   . ; +2 .tElbow.seek 4 +2 "manipulator"&O( +4 "core" ( + "manipulator"&\\& +4 "core" &   u ; +2 "storage"(U& +4 "core" &,j P W h\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(G'" +51 "core" ' + "manipulator"& & +4 "core" & & ; +2 "storage"( & +4 "core" &,j M \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&J'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(D' +28 "core" ' +2 "manipulator"&?% +3 "core" %B  +2 "storage"(5& +4 "core" &,j L V\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&a'n +13 "core" ' + "manipulator"&m& +4 "core" & B ; +2 "storage"(d& +4 "core" &,j\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +15 "core" ' +2 "storage"(o% +3 "core" % ' ( 7\ +3 ."downElevator"SE.seek :down +4 "storage"(C' +98 (|% +3 "core" %Q\ \  n\ Wd +2 "manipulator"&% +48 "core" % \ +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +15 ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,j \ # b\  +2 "collection"'w& +4 "core" &\\f\ "\ \ O +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&k% +3 "core" %   +2 "storage"(*% +4 "core" % ' " 5\  +2 "storage"(!. +3 "core" .(,y +2 "storage"(-& +3 "core" &,j !\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(l(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +2 "core" &,w V 1 i\ +3 "manipulator"&^& +3 "core" & ; +2 .tElbow.seek 4 +2 "manipulator"&_( +4 "core" ( + "manipulator"&& +4 "core" & > ; +2 "storage"('& +4 "core" &,w s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +92 "core" ' +2 "storage"(H& +4 "core" &,w . $ i\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'r +295 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" &  ; +2 "storage"(& +5 "core" &,m\ *\  P\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&2'7 +13 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(K'f +33 "core" ' +2 "manipulator"&% +3 "core" %F M +2 "storage"(6& +4 "core" &,m 1 \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&'r +13 "core" ' + "manipulator"&& +4 "core" &  \\ ; +2 "storage"(v& +4 "core" &,m " ' B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&n' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(7' +42 "core" ' +2 "manipulator"&t& +4 "core" & ; +2 "manipulator"&>% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +151 "core" ( +2 "manipulator"&9& +3 "core" &Ӈ  ' 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &Ӈ  ( 9) +2 .tForearm.seek CC +3 "manipulator"&/'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'~( +450 "core" ( +2 "storage"(`& +3 "core" &,m , ( \  +2 "storage"(}& +4 "core" &,m ' " \  +2 "manipulator"&& +4 "core" &ӊ  C 9& +2 "manipulator"&Q% +3 "core" % >  +2 .tForearm.seek :retract +2 "manipulator"&p' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&4( +161 "core" ( +2 "manipulator"&[& +3 "core" &  U  +2 "storage"(E& +4 "core" &,m V W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +94 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +46 .tHand.open +5 "manipulator"&S1 +52 "core" 1 +3 "manipulator"&=% +3 "core" % -  * M +3 "storage"(Z& +3 "core" &,m R K `\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 290 counts +2 "manipulator"&;'Y +13 "core" ' +2 "manipulator"&W& +4 "core" & K  +2 "storage"(T& +4 "core" &,m l P \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&]' +25 "core" ' +2 "storage"(\ % +4 "core" % m n \ +3 ."downElevator"SE.seek :down +3 "storage"(y' +99 (.% +3 "core" %C ( ( <\ V_ +2 "manipulator"&i% +4 "core" % g  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&M% +4 "core" %  z  +2 "storage"()% +3 "core" % n n \  +2 "storage"( . +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(q(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" &<* ! " 5\  +2 "manipulator"&& +4 "core" & |  +2 .tElbow.seek 5 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&0& +3 "core" & A  +2 "storage"(X& +4 "core" &<* n n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +93 "core" ' + "storage"(%& +4 "core" &<* m j W\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +292 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* > Q 7\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&+( +2 "core" ( +3 "manipulator"&& +3 "core" & a  +2 "storage"( & +4 "core" &<* X W -\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&$'Ϲ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&N& +2 "storage"(s' +7 "core" &  T  +2 "manipulator"&@% +4 "core" %  Y +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + ' +2 ."downElevator"SE.stop +2 "manipulator"&B& +2 "storage"(5 +7 "core" &Ӆ   9# +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &Ӆ  + 9# +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' +2 "manipulator"&& +3 "core" &ӆ  ` 8" +2 "manipulator"&F% +4 "core" %= ] +2 "collection"'e& +4 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'{(\\ +4 "core" & \ +8 &< \ %g +9 &Xy \ 7 +9 &{ \ K +10 &X \ K +9 &{Y \ K +10 &<Y \ \ K +9 &U\ \ \ K +9 &Y \ K +10 &Y \ \ K +9 &EU\ \ \ K +9 & Y\ \ \ K +10 &!Y\ \ \ K +9 &#V\ \ \ K +10 &%MX\ \ \ K +9 &'X\ \ \ K +9 &(U\ \ \ K +10 &*X\  \ K +9 &,TY\ \ \ K +9 &.U \ \ K +10 &/Y\ \ \ K +9 &1Y\ \ \ K +10 &3\\Z\ \ \ K +9 &5X\ \ \ K +9 &6Y\ \ \ L +10 &8Y\ \ \ K +9 &:d[\ \ \ K +9 &<&Y\ \ \ K +10 &=W\ \ \ K +9 &?[\ \ \ K +10 &AlZ\ \ \ K +9 &C-]\ \ \ L +9 &De\ \ \ M +10 &Fo\ \ \ \ N +9 &He\ \ \ P +50 &J\ ,\ "\ U +4 &K\ .\ .\ W +2 &M\ -\ /\ X + &OW\ /\ .\ X + &Q\ -\ ,\ X + &R\ ,\ -\ Y +7 &T\ -\ +\ Y +9 &VX\ -\ .\ Z +9 &X\ -\ ,\ Z +10 &Y\ ,\ +\ \\ +9 &[\ .\ ,\ I +10 &\\6\ /\ /\ / +9 &\\p\ -\ -\ T +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator" +56 "core" 1 +2 "manipulator"&\\% +4 "core" % =  r ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%h& +4 "core" &"\ +2 "manipulator"& % +4 "core" %    +2 "storage"( % +4 "core" % W \  +2 "storage"(?. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(5(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<* S\  +3 "manipulator"&m& +3 "core" &ӈ R 8 +2 "manipulator"&d% +4 "core" %   )  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&g( +160 "core" ( +2 "manipulator"&o& +3 "core" &  +2 "storage"((& +4 "core" &<* ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' +2 "storage"(z& +4 "core" &<* $ ! N\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +298 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (x& +3 "core" &<* ? |\  +2 "manipulator"&O& +4 "core" & ;  +2 .tElbow.seek 5 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&J& +3 "core" &  =  +2 "storage"(a& +4 "core" &<* M \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +2 "storage"(*' +8 "core" & I  +2 "manipulator"&!% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&D' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&u& +3 "core" &  1 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" & _ 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 "manipulator"&'& +4 "core" &  v 1 +2 "manipulator"&Y% +4 "core" % j x +2 "processing"%H& +4 "core" &T\ +3 "processing"%C& +5 "core" &$\ +2 .tPC.seek :closed +2 "processing"%c(^ +5 "core" &!\ +5 & 0%\ $c +10 &T#\ 7 +9 &%\ L +10 &]\ N +9 &Y]"\ N +9 &Z!\ N +10 &]%\ N +9 &_$\ M +9 &a^$\ N +10 &#_&\ N +9 &`&\ N +10 &!],\ M +9 &#i^"\ N +9 &%+b \ N +10 &&b'\ N +9 &(b$\ N +9 &*q\\,\ N +10 &,3]%\ N +9 &-[\ N +10 &/c"\ N +9 &1y`%\ N +9 &3:_$\ N +10 &4\\$\ N +9 &6]\ N +9 &8_'\ M +10 &:C]!\ N +9 &<^"\ N +10 &=_ \ N +9 &?^\ N +9 &AJc\ N +10 &C i!\ O +9 &Dn \ P +9 &Fu\ P +10 &HF\ R +9 &J!\ S +10 &K\ S +9 &M \ T +9 &OJ\ S +10 &Q"\ U +9 &R\ T +9 &T\ U +10 &VP\ T +9 &X\ U +10 &Y\ T +9 &[\ T +9 &]U\ F +10 &^vA\ &q +9 &^*\ / +5 ( +2 "processing"%C& +4 "core" &^\ / +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&<1 +63 "core" 1 + "manipulator"& % +4 "core" %   D x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +92 "core" ' +46 "processing"%A& +7 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %    s  +2 "storage"(R% +4 "core" % J 4\  +2 "storage"(. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(6(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +4 "core" &<+\ \  <\  +3 "manipulator"&v& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & \ 9 1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(t'r + "manipulator"&>( +6 "core" ( +2 "manipulator"&P& +3 "core" &   0 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +3 "core" & \ V 1 +2 .tForearm.seek PC +2 "manipulator"&r' +90 "core" ' +2 .tHand.close +2 "manipulator"&2/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' + "storage"(K- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'1 +40 "core" ' +315 ( +2 "storage"(f& +4 "core" &<) O 7\  +2 "manipulator"&n& +3 "core" & I 1 +2 "manipulator"&,% +4 "core" %   o +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&V( +246 "core" ( +2 "manipulator"&:& +3 "core" & > +2 "storage"(`& +4 "core" &<) K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +93 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +3 "storage"(Q- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(E' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(/- +3 "core" -' +2 "storage"(I& +4 "core" &<) N N o\  +2 "manipulator"&S& +4 "core" &   > +2 .tElbow.seek 5 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&Z& +4 "core" &   f > +2 "storage"(W& +3 "core" &<) E D W\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&T'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\ '" +51 "core" ' +2 "manipulator"&p& +4 "core" & ? > +2 "storage"(4& +3 "core" &<) M 8\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&.'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&;% +4 "core" %Η 4 +2 "storage"(& +3 "core" &<) N i\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&M' +14 "core" ' +2 "manipulator"&)& +3 "core" & . +2 "storage"( & +4 "core" &<) ! \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +15 "core" ' +2 "storage"(]% +3 "core" % $ . \ +3 ."downElevator"SE.seek :down +43 "storage"(y' +59 (l% +3 "core" %MH\ \ 8\ U` +2 "manipulator"&j% +4 "core" %2 ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +109 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (0& +3 "core" &<) . O\  +2 "collection"'X& +4 "core" &\\p\ \ #\ T +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&%% +3 "core" %   +2 "storage"("% +4 "core" % ! E\  +2 "storage"(8. +3 "core" .(<- +2 "storage"(& +3 "core" &<) \  +2 "storage"(& +4 "core" &<) ! \  +2 "manipulator"&& +4 "core" & 6 . +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +4 "core" & * " +2 "storage"(& +4 "core" &<) \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&N'O +93 "core" ' +2 "storage"(@& +4 "core" &<) - $ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +298 "core" ' +2 "storage"(1- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" & _ " +2 "storage"(3& +4 "core" &<)\ \  >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&b'΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(F'y +29 "core" ' +2 "manipulator"&e% +3 "core" %Δ , +2 "storage"(+& +4 "core" &<) N 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&s' +16 "core" ' + "manipulator"&& +4 "core" &  0 " +2 "storage"(~& +4 "core" &<) ! \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&#'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(\\' +41 "core" ' + "manipulator"&h& +4 "core" & ^ " +2 "manipulator"& % +4 "core" %< k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +156 "core" ( +2 "manipulator"&& +4 "core" &Ә  2 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ә  3 +2 .tForearm.seek CC +2 "manipulator"&m'? +94 "core" ' + .tHand.close +2 "manipulator"&d/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(o& +4 "core" &<) T T\  +2 "storage"((& +3 "core" &<) ' ' \  +2 "manipulator"&q& +4 "core" &Ә u 3 +2 "manipulator"&z% +4 "core" % L l  +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&U( +162 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(x& +3 "core" &<) T T Z\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&O'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&a1 +64 "core" 1 +10 "manipulator"&w% +3 "core" % Ζ Z +3 "storage"(k& +5 "core" &<) I R 1\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&!' +14 "core" ' + "manipulator"&g& +4 "core" &   +2 "storage"(& +4 "core" &<) G G 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +26 "core" ' + "storage"(% +4 "core" % ^ b {\ +3 ."downElevator"SE.seek :down +4 "storage"(u' +98 (^% +3 "core" %I $ + Z\ V` +2 "manipulator"&G% +4 "core" %p B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'Y& +4 "core" & \ +2 "manipulator"&H% +4 "core" %      +2 "storage"(*% +3 "core" % m m \  +2 "storage"(D. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +3 "core" &K > ( \ +2 "manipulator"& & +4 "core" &  l  +2 .tElbow.seek 6 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&C& +3 "core" &  /  +2 "storage"(& +4 "core" &K \\ g o\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +94 "core" ' + "storage"(& +4 "core" &K j ` c\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(v- +3 "core" -'! +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" &K @ & \ +2 "manipulator"&_& +5 "core" & <  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&2& +3 "core" &  m  +2 "storage"(5& +4 "core" &K T T j\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&K'h +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"(c' +6 "core" & 2  +2 "manipulator"&t% +4 "core" % p r +2 .tForearm.seek :retract +2 "manipulator"&f' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&,& +6 "core" &Ӓ z 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &Ӓ  n 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'? +100 "core" ' + "manipulator"&`& +4 "core" &ӓ  P 4 +2 "manipulator"&>% +4 "core" %< R  +2 "collection"'& +4 "core" & \ +2 "collection"'Q& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'/(\\ +5 "core" & \  +8 &4 \ +{ +9 &f \ > +10 &p \ L +9 &QW \ K +9 &Y \ K +10 &Y\ \ K +9 &U\  \ K +10 &XW\ \ \ K +9 &Z\ \ L +9 &X\ \ \ K +10 & T\ \ \ K +9 &"`X \ \ K +9 &$"Z\ \ \ K +10 &%Y\ \ \ K +9 &'[ \ \ K +10 &)hX\ \ \ K +9 &+*Z\ \ \ K +9 &,Y \ \ K +10 &.Y\ \ \ L +9 &0qW\ \ \ K +9 &22Y\ \ \ K +10 &3U\ \ \ K +9 &5Y\ \ \ K +10 &7x\\\ \ \ K +9 &9:]\ \ \ K +9 &:\\\ \ \ K +10 &<Y\ \ \ L +9 &>Z\ \ \ K +9 &@BW\ \ \ K +10 &B\\\ \ \ K +9 &Cb\ \ \ \ M +10 &Ek\ \ \ M +9 &G<\ \ \ P +9 &H\ ,\ '\ T +10 &J\ 7\ 5\ W +9 &Lk\ 8\ 7\ X +9 &N/\ 3\ 3\ W +10 &O\ 2\ 2\ X +9 &Q\ 0\ 3\ X +55 &Sp\ 0\ 1\ Y +5 &U1\ .\ 0\ Y +3 &V\ 0\ 0\ Z +2 &X\ /\ /\ [ + &Zq\ 1\ .\ [ + &\\w\ /\ /\ 5 + &\\'\ /\ /\ %m +6 ( +3 "collection"'Q& +3 "core" &\\|\ ,\ ,\ \\ +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&I1 +59 "core" 1 +3 "manipulator"&S% +4 "core" % <  u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%W& +5 "core" &-\ + "manipulator"&% +4 "core" % \  V  +2 "storage"(p% +4 "core" % J \  +2 "storage"(4. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(;(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K\ \ .\  +2 "manipulator"&9& +4 "core" & ? , +2 "manipulator"&)% +4 "core" % \  >  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +153 "core" ( + "manipulator"&[& +4 "core" &  +2 "storage"(]& +4 "core" &K $ , ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&V' +98 "core" ' +2 "storage"(}& +3 "core" &K " ( \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(E'r +296 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (j& +2 "core" &K\ \ \  +3 "manipulator"&T& +3 "core" & / +2 .tElbow.seek 6 +2 "manipulator"&=( +4 "core" ( + "manipulator"&\ & +4 "core" &  +2 "storage"(.& +4 "core" &K M \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&M'h +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"(X' +7 "core" & 7 +2 "manipulator"&%% +4 "core" % ` > +2 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&& +3 "core" & L 0 +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &  0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"& & +4 "core" &  0 +2 "manipulator"&% +3 "core" % f +3 "processing"%7& +4 "core" &\ +2 "processing"%@& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%y(^ +4 "core" &\  +9 &0z\ *x +9 &c)\ > +10 &uy.\ N +9 &8Y\ N +10 &_)\ N +9 &Z/\ N +9 &~].\ N +10 &@]$\ N +9 &`(\ N +9 &])\ N +10 & \\#\ N +9 &"I\\+\ M +10 &$ ],\ M +9 &%\\,\ M +9 &']"\ M +10 &)P]-\ N +9 &+_.\ N +9 &,`+\ N +10 &.^#\ M +9 &0X\\*\ N +10 &2]#\ N +9 &3Z"\ N +9 &5_"\ N +10 &7a_*\ M +9 &9"_,\ N +9 &:a'\ N +10 &<`*\ N +9 &>h_$\ N +10 &@)`(\ N +9 &Ab*\ N +9 &Cj,\ O +10 &Ejr,\ P +9 &G*x'\ P +9 &H'\ S +10 &J+\ S +9 &Lh$\ S +10 &N'#\ T +9 &O\ T +9 &Q\ T +10 &Sl+\ T +9 &U.'\ T +9 &V\ T +10 &X \ T +9 &Zt"\ T +10 &\\5 \ U +9 &]{v"\ ; +9 &^)r+\ R +10 &^\ 1 +2 ( +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&i1 +62 "core" 1 +2 "manipulator"&% +3 "core" %   G f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +91 "core" ' + "processing"%B& +4 "core" &^!=\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&3% +48 "core" %      +5 "storage"(% +4 "core" % K \  +2 "storage"(e. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(+(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&~& +5 "core" &K\ \  L\  +2 &   0 +5 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&h( +4 "core" ( + "manipulator"& & +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(N'r +3 "core" &   # 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   P 0 +3 .tForearm.seek PC +2 "manipulator"&&' +93 "core" ' +2 .tHand.close + "manipulator"&b/ +53 "core" / +2 .tPC.seek :open +2 "processing"%s( +107 "core" ' +2 "storage"(F- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +51 "core" ' +286 ( +2 "storage"(& +4 "core" &K K H\  +2 "manipulator"&#& +3 "core" & & 0 +2 "manipulator"&$% +4 "core" %  I J +2 .tForearm.seek :retract +2 "manipulator"&d' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +244 "core" ( +2 "manipulator"&{& +3 "core" & . +2 "storage"(o& +4 "core" &K\ \ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +98 "core" ' + .tHand.open +2 "manipulator"&q1 +61 "core" 1 +3 "storage"(z- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(x' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(m- +2 "core" -' +2 "storage"(?& +4 "core" &K M P \  +2 "manipulator"&a& +3 "core" &   y . +2 .tElbow.seek 6 +2 "manipulator"&w( +4 "core" ( + "manipulator"&k& +4 "core" &   - . +2 "storage"(g& +4 "core" &K M N \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&& +4 "core" & d . +2 "storage"(^& +4 "core" &K J h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&G'< +19 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +20 "core" ' +2 "manipulator"&Y% +4 "core" %: "  +2 "storage"(!& +4 "core" &K H 3\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 298 counts +2 "manipulator"&H'f +15 "core" ' +2 "manipulator"&*& +3 "core" & Y . +2 "storage"(D& +4 "core" &K M q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +15 "core" ' +2 "storage"(|% +4 "core" % J `\ +2 ."downElevator"SE.seek :down +4 "storage"(u' +98 (6% +4 "core" %UR\ \ \ \ \ We +41 "manipulator"&<% +12 "core" % l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +15 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (C& +3 "core" &K  \  +2 "collection"'& +4 "core" &\\{\ !\ "\ \\ +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %    +2 "storage"(J% +4 "core" %\ \  ,\  +2 "storage"('. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(v(K +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (P& +3 "core" &K\ \ \ \  +2 "manipulator"&_& +4 "core" & * . +2 .tElbow.seek 6 +2 "manipulator"&2( +4 "core" ( + "manipulator"&5& +4 "core" & * . +2 "storage"(-& +4 "core" &K\ \ ! 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +92 "core" ' + "storage"(t& +5 "core" &K a\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +299 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" & - . +2 "storage"(r& +3 "core" &K O \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "Can"\ \ RQ +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' + .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(>'w +27 "core" ' +2 "manipulator"&% +4 "core" %L *  +2 "storage"(& +3 "core" &K M \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&c'x +14 "core" ' + "manipulator"&f& +4 "core" & 1 . +2 "storage"(& +4 "core" &K \  6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(S' +34 "core" ' +2 "manipulator"&W& +3 "core" & - . +2 "manipulator"&% +4 "core" % ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +152 "core" ( +2 "manipulator"&Q& +4 "core" &ӑ  5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӑ - 5 +2 .tForearm.seek CC +2 "manipulator"&9'? +98 "core" ' + .tHand.close +2 "manipulator"&)/ +54 "core" / +2 .tCC.seek :open +2 "collection"':( +447 "core" ( +3 "storage"([& +3 "core" &K ' :\  +2 "storage"(]& +4 "core" &K ( & \  +2 "manipulator"&& +4 "core" & s * +2 "manipulator"&}% +3 "core" % 7 < +2 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&Z( +159 "core" ( +2 "manipulator"&l& +5 "core" &   l  + "storage"(j& +4 "core" &K K V `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&T'< +97 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +42 .tHand.open +9 "manipulator"&.1 +56 "core" 1 +3 "manipulator"&% +4 "core" % 4  I - +2 "storage"(0& +3 "core" &K F G "\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 292 counts +2 "manipulator"&%'` +14 "core" ' + "manipulator"& & +4 "core" & \  C  +2 "storage"(V& +4 "core" &K m n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +21 "core" ' +2 "storage"(M% +3 "core" % m j \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %I , ) /\ U_ +2 "manipulator"&=% +4 "core" % W  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +86 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&7% +4 "core" %   N  +2 "storage"(X% +4 "core" % n n\  +2 "storage"(". +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (i& +2 "core" &,{ B 7 =\ +2 "manipulator"&& +4 "core" &  I  +2 .tElbow.seek 4 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&3& +3 "core" & \  O  +2 "storage"(@& +5 "core" &,{ n l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(e& +5 "core" &,{ j k \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(~- +2 "core" -'\ +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,l S H f\ +2 "manipulator"&& +3 "core" &  m  +3 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&b& +4 "core" &   ]  +2 "storage"(;& +4 "core" &,l W T \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&F'c +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(y' +17 "core" & ,  +3 "manipulator"&N% +5 "core" % W  t +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 .tElbow.seek CC + "manipulator"&#(ӂ +140 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&$& +4 "core" &Ӎ ^ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &Ӎ [ 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&{'? +101 "core" ' +2 "manipulator"&o& +3 "core" &ӎ  \ Q 8 +2 "manipulator"&h% +4 "core" %B z +2 "collection"'q& +4 "core" & \ +3 "collection"'z& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'m(\\ +5 "core" & \  +9 &2{ \ *y +9 &c \ = +10 &s \ L +9 &LU \ K +9 &Y\ \ K +10 &Y\ \ K +9 &T \ K +9 &SW\ \ K +10 &Y \ K +9 &T \ \ K +10 & X \ K +9 &"[Y \ K +9 &$T\ \ \ K +10 &%Y \ K +9 &'X \ L +9 &)dW \ \ K +10 &+&X\ \ K +9 &,X\ \ \ K +10 &.[\ \ \ K +9 &0lX\ \ \ K +9 &2-Y\ \ \ K +10 &3Z\ \ \ K +9 &5Y\ \ \ K +9 &7sZ\ \ \ K +10 &95Z\ \ \ K +9 &:U\ \ \ K +10 &<Y\ \ \ L +9 &>{Y\ \ \ K +9 &@=Z\ \ \ K +10 &A\\\ \ \ K +9 &C_\ \ \ L +9 &E~h\ \ \ M +10 &G9{\ \ \ O +9 &H\ \ \ R +49 &J\ ,\ (\ V +5 &Lh\ ,\ .\ W +2 &N&\ +\ ,\ X + &O\ .\ -\ W +2 &Q\ +\ ,\ X + &Sh\ *\ ,\ Z +6 &U*\ )\ ,\ Z +9 &V\ +\ +\ [ +10 &X\ ,\ +\ [ +9 &Zk\ ,\ *\ \\ +9 &\\x\ +\ +\ 5 +10 &\\)\ ,\ +\ %m +9 ( + &\\\ *\ *\ [ +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&?1 +60 "core" 1 +3 "manipulator"&a% +4 "core" % B % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%g& +3 "core" &\ +2 "manipulator"&d% +4 "core" %  G  +2 "storage"(% +4 "core" % J \  +2 "storage"(^. +2 "core" .(,y +2 "storage"(Y& +4 "core" &,l K c\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(!(,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| K 5\ +2 "manipulator"&*& +4 "core" &ӏ + 7 +2 "manipulator"&D% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&|& +4 "core" &  +2 "storage"( & +4 "core" &,| J 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&(' +96 "core" ' +2 "storage"(x& +4 "core" &,| & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'r +295 "core" ' +2 "storage"(<- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,m\ \  t\ +2 "manipulator"&w& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +2 "core" ( +3 "manipulator"&G& +3 "core" &  +3 "storage"(H& +3 "core" &,m\ \ \ \ \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&C'c +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(J' +8 "core" & w  + "manipulator"&'% +4 "core" % b 6 +2 .tForearm.seek :retract +2 "manipulator"&O' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&_& +3 "core" &  6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &5& +2 "core" &  6 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&-' +99 "core" ' + "manipulator"&t& +4 "core" & 6 +2 "manipulator"&\\% +4 "core" % & +2 "processing"%u& +5 "core" &%\ +2 "processing"%+& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%U(^ +4 "core" &\  +8 &1y\ *x +10 &c\ > +9 &rz/\ N +9 &4\\,\ N +10 &[0\ M +9 &Y\ N +10 &|]%\ M +9 &>]'\ M +9 &]\ N +10 &`\ N +9 & \\(\ N +10 &"F\\\ M +9 &$]&\ M +9 &%[#\ M +10 &'\\&\ M +9 &)N\\\ M +9 &+\\$\ N +10 &,`&\ N +9 &.]\ N +9 &0U_\ N +10 &2Y \ M +9 &3\\\ M +10 &5^\ N +9 &7]^\ N +9 &9 a \ M +10 &:]%\ M +9 &<\\\ N +9 &>eb\ N +10 &@'] \ N +9 &Aa"\ N +10 &Ck\ O +9 &Ehm \ O +9 &G&u\ Q +10 &H"\ R +9 &J!\ T +9 &Ld\ S +12 &N%#\ T +7 &O\ S +10 &Q\ T +9 &Sh\ U +9 &U+\ T +10 &V \ U +9 &X\ T +9 &Zq \ T +10 &\\1\ U +9 &]{v \ = +10 &^$\\!\ [ +9 &^)\ 3 +2 ( +2 "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"& 1 +61 "core" 1 +2 "manipulator"&R% +5 "core" %   & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +91 "core" ' +6 "processing"%r& +4 "core" &^!\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&`% +3 "core" %    K  +2 "storage"(% +4 "core" %\ \  $\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(f(,y +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "manipulator"&W& +6 "core" &,{\ \ z\ + &  ) 6 +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +7 ."raiseStack"SE.seek :beamBreak + "storage"(L'r +3 "core" ( + "manipulator"&2& +5 "core" &   6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &  6 +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&c/ +58 "core" / +3 .tPC.seek :open +2 "processing"%>( +90 "core" ' +2 "storage"(Q- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +52 "core" ' +304 ( + "storage"(I& +4 "core" &,j\ .\ . \  +2 "manipulator"&K& +4 "core" &  6 +2 "manipulator"&)% +3 "core" %  I G +2 .tForearm.seek :retract +2 "manipulator"&p' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&/( +246 "core" ( +2 "manipulator"&[& +3 "core" &  * +3 "storage"(]& +3 "core" &,j\ \ + S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +91 "core" ' +2 .tHand.open +2 "manipulator"&}1 +54 "core" 1 +2 "storage"(l- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(j' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(9' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(4- +2 "core" -' +3 "storage"(.& +3 "core" &,j , ) \ \  +2 "manipulator"&& +15 "core" &  - * +2 .tElbow.seek 4 +2 "manipulator"&0( +4 "core" ( +2 "manipulator"& & +3 "core" &   ( * +2 "storage"(V& +4 "core" &,j . < x\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&M' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +52 "core" ' + "manipulator"&Z& +4 "core" & ( * +2 "storage"(& +5 "core" &,j\ \  R\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&='7 +18 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(%' +21 "core" ' + "manipulator"&% +4 "core" %H C  +2 "storage"(7& +4 "core" &,j\ \ \ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 317 counts +2 "manipulator"&X't +13 "core" ' +2 "manipulator"&"& +3 "core" & * +2 "storage"(S& +4 "core" &,j K 7\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +15 "core" ' +2 "storage"(% +3 "core" % K \\\ +3 ."downElevator"SE.seek :down +50 "storage"(v' +52 (i% +3 "core" %I\ \ \ \ U^ +2 "manipulator"&% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +110 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (@& +3 "core" &,j\  \  +2 "collection"'e& +4 "core" &\\\ "\ #\ [ +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&\ % +3 "core" %  8  +2 "storage"( % +4 "core" % M 6\  +2 "storage"(~. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| L h\ +2 "manipulator"&b& +4 "core" & ! * +2 .tElbow.seek 4 +2 "manipulator"&;( +4 "core" ( +2 "manipulator"&8& +3 "core" & * +2 "storage"(1& +4 "core" &,| N \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&N' +98 "core" ' +2 "storage"(B& +3 "core" &,| T\ K\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" & * +2 "storage"(& +3 "core" &,m\ \  u\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&F'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(q'f +34 "core" ' + "manipulator"&% +4 "core" %6 J B +2 "storage"(y& +4 "core" &,m\ \ ;\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 299 counts +2 "manipulator"&'b +14 "core" ' +2 "manipulator"&:& +3 "core" &   * +2 "storage"(?& +3 "core" &,m N L\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(g' +36 "core" ' +2 "manipulator"&d& +3 "core" & * +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +157 "core" ( +2 "manipulator"&z& +3 "core" &Ә 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ә 3 4 +2 .tForearm.seek CC +2 "manipulator"&*'? +92 "core" ' +2 .tHand.close + "manipulator"&D/ +61 "core" / +2 .tCC.seek :open +2 "collection"'{( +447 "core" ( +2 "storage"(|& +3 "core" &,m R S\ \ +2 "storage"( & +4 "core" &,m G F\ \ +2 "manipulator"&& +3 "core" &ә  [ 4 +2 "manipulator"&x% +4 "core" % R  : +2 .tForearm.seek :retract +2 "manipulator"&#' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&k( +157 "core" ( + "manipulator"&<& +4 "core" &  G  +2 "storage"(& +3 "core" &,m G G \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&w'7 +95 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +50 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&H1 +60 "core" 1 +3 "manipulator"&% +4 "core" % 0   = +2 "storage"(& +4 "core" &,m n m\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 293 counts +2 "manipulator"&''\\ +15 "core" ' +2 "manipulator"&& +4 "core" &  \ K  +2 "storage"((& +3 "core" &,m l p q\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +21 "core" ' +2 "storage"(C% +4 "core" % k m \ +3 ."downElevator"SE.seek :down +4 "storage"(_' +98 (5% +3 "core" %I % " \ V` +2 "manipulator"&% +4 "core" % S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'\\& +4 "core" & \ +2 "manipulator"&u% +4 "core" %  p +2 "storage"(J% +3 "core" % i ^ \  +2 "storage"(O. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(s(<- +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<* + ! ,\  +2 "manipulator"&R& +3 "core" & a  +2 .tElbow.seek 5 +2 "manipulator"&r( +13 "core" ( +2 "manipulator"&`& +3 "core" &    +3 "storage"(& +3 "core" &<) n n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"(+& +4 "core" &<) j k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (2& +2 "core" &<) T Q I\  +2 "manipulator"&A& +4 "core" &  3  +2 .tElbow.seek 5 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&c& +3 "core" &    +2 "storage"(!& +4 "core" &<) K W '\  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&Q'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(U' +8 "core" &   +2 "manipulator"&L% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&I' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +157 "core" ( +2 "manipulator"&)& +3 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" &ӑ 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӑ t 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['? +99 "core" ' +2 "manipulator"&]& +4 "core" &Ӓ  f 6 +3 "manipulator"&% +4 "core" %D 5  +2 "collection"'}& +4 "core" & \ +3 "collection"'l& +5 "core" & \ +3 .tCC.seek :closed + "collection"'4(\\ +4 "core" & \ +8 &< \ %f +9 &Wz \ 7 +9 &z \ K +10 &V \ K +9 &~X \ K +10 &@Y \ K +9 &Z \ K +9 &[ \ L +10 &V \ K +9 &IU \ K +9 & X \ K +10 &!X\  \ K +9 &#X \ K +9 &%QW\ \ \ K +10 &'W\  \ K +9 &(X\ \ \ K +10 &*W\ \ K +9 &,YY \ \ K +9 &.W \ \ K +10 &/W \ \ K +9 &1Y\ \ \ K +10 &3`X \ \ K +9 &5"X\ \ \ K +9 &6U \ \ K +10 &8Y\ \ \ K +9 &:hY\ \ \ K +9 &<+U\ \ \ K +50 &=Y\ \ \ K +4 &?Y\ \ \ K +2 &Ap\\\  \ K + &C1_\ \ \ L + &De\ \ \ L + &Fm\ \ \ \ N +7 &Hj\ \ \ P +9 &J\ (\ "\ U +10 &K\ .\ .\ W +9 &M\ .\ /\ X +10 &OZ\ -\ .\ X +9 &Q\ -\ -\ X +9 &R\ .\ ,\ Y +10 &T\ ,\ +\ Z +9 &V]\ ,\ ,\ Z +9 &X\ -\ -\ [\ +10 &Y\ -\ +\ [ +9 &[\ +\ /\ H +10 &\\8\ /\ .\ . +9 &\\n\ .\ .\ M +2 ( +2 "collection"'l& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&.1 +59 "core" 1 +2 "manipulator"&% +4 "core" % C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%V& +3 "core" &0\ +2 "manipulator"&p% +4 "core" %  3  +2 "storage"(Z% +4 "core" % J Z\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<+ \  +2 "manipulator"&& +4 "core" &ӓ A 6 +2 "manipulator"&"% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&S( +160 "core" ( +2 "manipulator"&j& +4 "core" & <  +2 "storage"(& +3 "core" &<) & "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +100 "core" ' + "storage"(& +4 "core" &<) 8 +\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +300 "core" ' + "storage"(i- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<)\ \ ! B\  +2 "manipulator"&M& +4 "core" &  r  +2 .tElbow.seek 5 +2 "manipulator"&0( +4 "core" ( + "manipulator"&n& +4 "core" & e  +2 "storage"(=& +3 "core" &<) ! " \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&X'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"(\ ' +8 "core" & Q  +2 "manipulator"& % +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&~' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&& +4 "core" & a  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&8' +90 "core" ' +2 "manipulator"&1& +3 "core" &   +3 "manipulator"&E% +3 "core" %  % z +2 "processing"%B& +4 "core" &\ +3 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%f(^ +4 "core" &\  +9 &0{\ )w +9 &c\ > +9 &oz\ N +10 &0[+\ N +9 &^\ M +10 &X,\ M +9 &w]6\ M +9 &8`2\ N +10 &_)\ N +9 &]1\ N +9 & \\\ M +10 &"A\\*\ M +9 &$`\ N +10 &%\\(\ M +9 &']\ M +9 &)H[\ N +10 &+ `&\ M +9 &,]\ N +9 &.Y \ M +10 &0Q\\'\ M +9 &2_\ M +10 &3[&\ M +9 &5[\ N +9 &7YZ \ M +10 &9_/\ M +9 &:b#\ N +9 &<\\\ M +10 &>`` \ N +9 &@"]\ N +10 &Ag!\ N +9 &Cj\ O +9 &Edq%\ O +10 &G!y'\ Q +9 &H)\ S +9 &J#\ S +10 &La\ S +9 &N"&\ S +10 &O!\ S +9 &Q\ T +9 &Sf#\ T +10 &U'%\ T +9 &V"\ T +9 &X%\ U +10 &Zk'\ U +9 &\\,"\ U +10 &]~y/\ : +9 &^1&\ L +9 &^%\ - +3 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&T1 +62 "core" 1 + "manipulator"&3% +4 "core" %   z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +47 "manipulator"&$' +95 "core" ' +2 "processing"%&& +4 "core" &^L\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %  \    +2 "storage"(h% +4 "core" % M S\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(y(<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "manipulator"&?& +4 "core" &<+\  q\  +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & \   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(d'r +2 "manipulator"&( +13 "core" ( +2 "manipulator"&N& +3 "core" &   , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +3 "core" & \ \  +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close +2 "manipulator"&F/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +76 "core" ' +2 "storage"(q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'1 +41 "core" ' +329 ( +2 "storage"(& +4 "core" &<+ N D\  +2 "manipulator"&a& +4 "core" & & +2 "manipulator"&o% +3 "core" %  * G +3 .tForearm.seek :retract +2 "manipulator"&D' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&^( +242 "core" ( +2 "manipulator"&m& +4 "core" &  u j +2 "storage"(|& +4 "core" &<+ K q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +95 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +3 "storage"(x- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(<' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(*- +3 "core" -' +2 "storage"(Y& +3 "core" &<+ ) ( 4\  +2 "manipulator"&H& +4 "core" &\  C j +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &\   j +2 "storage"(& +4 "core" &<+ ( ) "\  +2 .tForearm.seek 5 + 450 counts +3 "manipulator"&('O +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(C'" +51 "core" ' + "manipulator"&#& +4 "core" &\  j +2 "storage"(k& +4 "core" &<+ M 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&5'΍ +30 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +19 "core" ' +2 "manipulator"&'% +3 "core" %΄ R a +2 "storage"(\\& +4 "core" &<+\ \  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 291 counts +2 "manipulator"&u'ϰ +13 "core" ' +2 "manipulator"&J& +4 "core" & ! B +2 "storage"(O& +4 "core" &<+ N \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&g'O +25 "core" ' + "storage"(6% +4 "core" % & 0\ +49 ."downElevator"SE.seek :down +4 "storage"(_' +98 ( % +3 "core" %^S\ \ \ "\ Xf +2 "manipulator"& % +4 "core" %\\   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (`& +2 "core" &<+ b \  +3 "collection"'& +4 "core" &\\k\ #\ "\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&+% +4 "core" %    +2 "storage"(G% +4 "core" % " ' L\  +2 "storage"(t. +2 "core" .(<- +2 "storage"(W& +4 "core" &<+ ^ 3\  +2 "storage"(2& +4 "core" &<+ ' + T\  +2 "manipulator"&A& +5 "core" & B + .tElbow.seek 5 +2 "manipulator"&c( +21 "core" ( +2 "manipulator"&!& +3 "core" &  +2 "storage"(P& +4 "core" &<+ . . \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +90 "core" ' +2 "storage"(L& +3 "core" &<+ ' - &\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & .  +2 "storage"(& +5 "core" &<+ $ ' \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('y +29 "core" ' + "manipulator"&-% +4 "core" %Ν  +2 "storage"(}& +4 "core" &<+ J\  F\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&U' +16 "core" ' + "manipulator"&I& +4 "core" & b  +2 "storage"({& +4 "core" &<+ ^ [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 "manipulator"&V& +3 "core" & k  +2 "manipulator"&p% +4 "core" %H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +3 "manipulator"&l& +3 "core" &ӏ   9# +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +4 "core" &ӏ  9# +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&"/ +55 "core" / +2 .tCC.seek :open + "collection"'[( +450 "core" ( +2 "storage"(j& +4 "core" &<+ T 7 \  +2 "storage"(& +3 "core" &<+ ! % \  +2 "manipulator"&s& +4 "core" &ӑ M 8! +2 "manipulator"&% +3 "core" % J P 8 +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +161 "core" ( +2 "manipulator"&i& +3 "core" &    +2 "storage"(& +5 "core" &<+ T T V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&M'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +42 .tHand.open +9 "manipulator"&=1 +63 "core" 1 +3 "manipulator"&@% +4 "core" % Δ  = +2 "storage"(e& +4 "core" &<+ G Q .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"& ' +13 "core" ' +2 "manipulator"&S& +4 "core" & \  b  +2 "storage"(/& +4 "core" &<+ m n \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +13 "core" ' +2 "storage"(X% +3 "core" % l O \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (b% +3 "core" %J , * ^\ V` +2 "manipulator"&0% +4 "core" %[  S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +89 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'E& +4 "core" & \ +2 "manipulator"&B% +4 "core" %    +3 "storage"(\ % +3 "core" % l l \  +2 "storage"(~. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(>(K +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (T& +2 "core" &K H J f\  +3 "manipulator"&3& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&v( +4 "core" ( + "manipulator"&&& +4 "core" &  H  +2 "storage"(& +4 "core" &K m n \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +92 "core" ' + "storage"(& +4 "core" &K ] j w\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +292 "core" ' +2 "storage"(?- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N& +3 "core" &K R H -\  +2 "manipulator"&;& +3 "core" &  !  +2 .tElbow.seek 6 +2 "manipulator"&8( +4 "core" ( + "manipulator"&F& +4 "core" &   +2 "storage"(& +4 "core" &K T T e\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&q'h +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& + "storage"(f' +8 "core" & G  +2 "manipulator"&d% +4 "core" % a   +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +153 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&o& +4 "core" &Ӎ J 8! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӎ o 8! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'? +98 "core" ' +2 "manipulator"&|& +4 "core" &Ӎ  \\ 8! +2 "manipulator"&% +4 "core" %A y  +2 "collection"'& +5 "core" & \ +2 "collection"'x& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'*(\\ +3 "core" & \ +7 &< \ %f +10 &X} \ 8 +9 &x \ L +9 &X \ K +10 &X \ K +9 &FY \ L +10 &\ X \ K +9 &Y \ K +9 &X \ L +10 &OW\ \ K +9 & W \ \ K +9 &!U \ \ K +10 &#Y \ K +9 &%WW \ K +10 &'T\ \ K +9 &(X \ K +9 &*W\ \ \ K +10 &,_W\ \ \ K +9 &."T\ \ \ K +9 &/W\  \ K +10 &1Y \ K +9 &3fX\ \ \ L +10 &5*X \ K +9 &6Y\ \ \ K +9 &8V \ \ K +10 &:o[\ \ \ K +9 &<1X\ \ \ K +9 &=U\ \ \ K +10 &?Y\ \ \ K +9 &AvY\ \ \ L +10 &C7]\ \ \ L +9 &Dl\ \ \ \ M +9 &Ft\ \ \ O +55 &Hj\ %\ \ S +6 &J"\ 4\ 0\ V +2 &K\ 5\ 6\ W + &M\ 6\ 5\ X +2 &Oe\ 2\ 3\ W +2 &Q$\ 2\ 1\ X + &R\ /\ 0\ Y +6 &T\ /\ /\ Y +10 &Ve\ .\ /\ Z +9 &X%\ /\ .\ Z +10 &Y\ -\ .\ \\ +9 &[\ /\ /\ H +9 &\\6\ -\ .\ . +10 &\\g\ ,\ -\ P +2 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&Y1 +62 "core" 1 +2 "manipulator"&H% +4 "core" % A U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&D% +4 "core" %  B  +2 "storage"(#% +4 "core" %\ \ \  +2 "storage"(k. +3 "core" .(K +2 "storage"('& +4 "core" &K ]\  j\  +2 "storage"(z& +4 "core" &K\ \  \  +2 "manipulator"&\\& +4 "core" &  / +2 "manipulator"&J% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&<( +159 "core" ( +2 "manipulator"&O& +4 "core" & ,  +2 "storage"(6& +4 "core" &K " ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +95 "core" ' +2 "storage"( & +3 "core" &K ' ' )\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K O Q\  +2 "manipulator"& & +5 "core" &  + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&C& +3 "core" & ;  +2 "storage"(5& +4 "core" &K\ \ *\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&u'h +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& +2 "storage"(+' +7 "core" &  +2 "manipulator"&G% +4 "core" %  V +2 .tForearm.seek :retract +2 "manipulator"&t' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&W& +4 "core" & ; > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +4 "core" & E > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +93 "core" ' +2 "manipulator"&!& +3 "core" & 9 > +2 "manipulator"&P% +4 "core" % w d +2 "processing"%g& +4 "core" &\ +3 "processing"%L& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%_(^ +5 "core" &\ +6 & 0\ $c +9 &U\ 7 +10 &\ K +9 &]\ N +10 &WY\ N +9 &X\ M +9 &_\ N +10 &[\ M +9 &_[\ N +9 &!Z\ N +10 &[\ N +9 &!Y\ N +10 &#gZ\ N +9 &%*\\\ M +9 &&]\ M +10 &(]\ N +9 &*nZ\ N +9 &,1]\ N +10 &-]\ N +9 &/`\ N +10 &1wY\ N +9 &39Y\ N +9 &4]4\ N +10 &6^3\ N +9 &8_\ N +9 &:AX\ N +10 &<]*\ N +9 &=_3\ N +10 &?\\3\ N +9 &AHa4\ N +9 &Ch\ O +10 &Dj+\ P +9 &Fq*\ P +9 &HD7\ R +10 &J5\ S +9 &K1\ S +10 &M6\ T +9 &OG8\ T +9 &Q+\ T +10 &R3\ T +9 &T/\ U +9 &VM-\ T +10 &X3\ T +9 &Y)\ U +9 &[2\ T +10 &]S*\ F +9 &^vA~3\ %m +10 &^*7\ . +5 ( +2 "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&1 +4 "core" &^5\ . +54 1 +2 "manipulator"&R% +3 "core" %   d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 "processing"%)& +3 "core" &^\\\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %    +2 "storage"(]% +48 "core" % M \  +6 "storage"(-. +4 "core" .(K + "storage"(}& +4 "core" &K M \  +2 "storage"(I& +4 "manipulator"&{& +5 "core" &K W\  + &  1 > +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&V( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(p'r +3 "core" ( +2 "manipulator"&,& +3 "core" & \  > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +3 "core" &   0 > +2 .tForearm.seek PC +2 "manipulator"&r' +94 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%U( +94 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'1 +41 "core" ' +308 ( +2 "storage"(7& +4 "core" &K $ / d\ +2 "manipulator"&.& +3 "core" &  > +2 "manipulator"&Q% +4 "core" %  h K +2 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&Z( +244 "core" ( +2 "manipulator"&4& +3 "core" & # I +2 "storage"(j& +4 "core" &K ! \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 .tHand.open + "manipulator"&s1 +55 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &K M M 5\ +2 "manipulator"&=& +4 "core" & \ M I +2 .tElbow.seek 6 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&e& +5 "core" &  8 I + "storage"(S& +4 "core" &K Q N \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(X'" +50 "core" ' + "manipulator"&K& +4 "core" & > I +2 "storage"( & +4 "core" &K K M\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&b'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +21 "core" ' + "manipulator"&E% +4 "core" %P  9 +2 "storage"(B& +4 "core" &K K [\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"& '| +13 "core" ' +2 "manipulator"&\ & +3 "core" &  I +2 "storage"(~& +4 "core" &K N D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(9% +3 "core" %\ \  N\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (y% +3 "core" % U\ \ \ Xg +2 "manipulator"&T% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +62 ' +4 ."downElevator"SE.stop + "storage"(5 +3 (&& +3 "core" &K Q \ +2 "collection"'& +4 "core" &\\d\ #\ "\ P +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %  m  +2 "storage"(n% +3 "core" % \  +3 "storage"(1. +3 "core" .(K +2 "storage"(?& +3 "core" &K & " B\ +2 "storage"(N& +4 "core" &K ! ! 3\ +2 "manipulator"&;& +5 "core" & = I +2 .tElbow.seek 6 + "manipulator"&F( +3 "core" ( +2 "manipulator"&& +4 "core" & \ I I +2 "storage"(%& +4 "core" &K ! & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +93 "core" ' +2 "storage"(d& +4 "core" &K / . \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'r +296 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&o& +3 "core" & ^ I +2 "storage"(& +4 "core" &K M >\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&:'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(|- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('w +29 "core" ' +2 "manipulator"&% +3 "core" %H 3 +2 "storage"(8& +4 "core" &K U C\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&f't +14 "core" ' +2 "manipulator"&& +3 "core" & U I +2 "storage"([& +4 "core" &K - $ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(H' +46 "core" ' + "manipulator"&& +4 "core" & T I +2 "manipulator"&D% +4 "core" % % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&k(ӂ +153 "core" ( + "manipulator"&'& +4 "core" &ӑ  m 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +4 "core" &ӑ d 7 +2 .tForearm.seek CC +2 "manipulator"&z'? +99 "core" ' + .tHand.close +2 "manipulator"&\\/ +57 "core" / +3 .tCC.seek :open + "collection"'J( +447 "core" ( +2 "storage"(m& +3 "core" &K * - t\ +2 "storage"(O& +4 "core" &K " + \ +2 "manipulator"&6& +4 "core" &  q - +2 "manipulator"& % +3 "core" %  I +3 .tForearm.seek :retract +2 "manipulator"&a' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +157 "core" ( + "manipulator"&(& +4 "core" & <  +2 "storage"( & +3 "core" &K U U \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"& '< +97 "core" ' +2 .tElbow.hold + "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&51 +63 "core" 1 +2 "manipulator"&`% +4 "core" % 1   a 3 +2 "storage"(& +3 "core" &K I G \\\ +2 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 6 + 289 counts + "manipulator"&G'] +16 "core" ' +2 "manipulator"&<& +50 "core" & D  +2 "storage"(^& +4 "core" &K k k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"(u% +4 "core" % m l\ +3 ."downElevator"SE.seek :down +4 "storage"(W' +98 (2% +4 "core" %I ' & \ V` +2 "manipulator"&% +4 "core" %  )  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'P& +4 "core" & \ +2 "manipulator"&g% +4 "core" %    +2 "storage"(+% +3 "core" % m k `\  +2 "storage"(t. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,v I G )\ +2 "manipulator"&R& +4 "core" &  j  +2 .tElbow.seek 4 +2 "manipulator"&)( +4 "core" ( +2 "manipulator"&& +3 "core" & \ g  +2 "storage"(]& +4 "core" &,v G F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +93 "core" ' +2 "storage"(-& +4 "core" &,v j a \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +299 "core" ' +2 "storage"(I- +4 "core" -'\ + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ({& +3 "core" &,l Y E +\ +2 "manipulator"&,& +3 "core" &  :  +3 .tElbow.seek 4 + "manipulator"&c( +3 "core" ( +2 "manipulator"&A& +4 "core" &   v  +2 "storage"(& +3 "core" &,l l k \ +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(_' +8 "core" &  -  +2 "manipulator"&p% +3 "core" % `  8 +3 .tForearm.seek :retract +2 "manipulator"&7' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.(ӂ +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&Q& +3 "core" &Ӎ  / 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &Ӎ 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'? +91 "core" ' +2 "manipulator"&j& +3 "core" &ӎ 2 8 +2 "manipulator"&V% +4 "core" %= h h +2 "collection"'s& +4 "core" & \ +3 "collection"'& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(\\ +4 "core" & \ +7 &< \ %f +10 &Wz \ 7 +9 &z \ K +9 &X \ K +10 &W \ K +9 &?X \ L +10 &X \ K +9 &X \ K +9 &Z \ K +10 &HX \ K +9 & W \ L +9 &!X \ K +10 &#X \ K +9 &%PW \ K +10 &'T \ K +9 &(X \ K +9 &*W \ K +10 &,YU \ K +9 &.W \ K +9 &/W \ K +10 &1Y \ \ L +9 &3aW \ K +10 &5"W\ \ \ K +9 &6Y\ \ L +9 &8Y\ \ K +10 &:h[ \ \ K +9 &<*Y \ K +10 &=Z\  \ K +9 &?X \ K +9 &AoY\ \ L +10 &C1`\ \ \ L +9 &De\ \ \ L +9 &Fp\ \ \ \ N +10 &Hi\ \ \ P +9 &J\ )\ \ U +9 &K\ -\ -\ V +10 &M\ ,\ -\ X +9 &O\\\ ,\ +\ X +10 &Q\ (\ +\ W +9 &R\ *\ )\ Y +9 &T\ )\ )\ Y +10 &V]\ *\ )\ Z +9 &X\ *\ *\ [ +10 &Y\ *\ )\ [ +9 &[\ +\ ,\ H +9 &\\8\ ,\ +\ - +10 &\\|\ +\ )\ S +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&=% +4 "core" % =  Z h +46 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%S& +4 "core" &N\ +2 "manipulator"&"% +3 "core" %    +2 "storage"(K% +4 "core" % K \  +2 "storage"( . +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(E(,y +32 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" &,{ L d\ +2 "manipulator"&l& +4 "core" &ӏ  8 +2 "manipulator"&\ % +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&~( +159 "core" ( +2 "manipulator"&i& +3 "core" &  +2 "storage"(9& +4 "core" &,{ [ j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&Z' +94 "core" ' +2 "storage"(& +3 "core" &,{ / . \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (T& +3 "core" &,m M \ \ +2 "manipulator"&/& +4 "core" & g  +2 .tElbow.seek 4 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&X& +4 "core" & ~  +2 "storage"(b& +3 "core" &,m N U\ \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&&'c +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & =  + "manipulator"&n% +4 "core" % h h +2 .tForearm.seek :retract +2 "manipulator"&M' +94 "core" ' +3 .tElbow.seek PC + "manipulator"&1( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&?& +3 "core" &  N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" & N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&;' +93 "core" ' +2 "manipulator"&& +4 "core" & $ N +2 "manipulator"&%% +3 "core" %  = x +2 "processing"%& +4 "core" &\ +3 "processing"%d& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +3 "core" &/\ +8 &7,\ #b +10 &U!\ 7 +9 &\ L +9 &Z\ M +10 &c\\\ M +9 &%V\ M +10 &\\\ M +9 &Z\ N +9 &jZ\ N +10 &-Z\ M +9 &[\ N +9 &!^\ M +10 &#rZ\ N +9 &%5Z\ M +9 &&\\\ M +10 &(]\ M +9 &*zZ\ N +10 &,<Z\ N +9 &-]\ M +9 &/]\ M +10 &1^\ M +9 &3EY\ M +9 &5[\ M +10 &6_\ N +9 &8_\ N +10 &:LZ\ N +9 &<]\ M +9 &=[\ N +10 &?\\\ M +9 &AT]\ N +9 &Ce,\ O +10 &Di2\ O +9 &Ft\ P +10 &HP3\ R +9 &J4\ S +9 &K\ S +10 &M/\ T +9 &OS5\ S +9 &Q4\ U +10 &R3\ T +9 &T.\ T +10 &VX3\ T +9 &X0\ T +9 &Y-\ U +10 &[2\ T +9 &]^-\ B +9 &^I}5\ S +10 &^ T7\ 3 +5 ( +2 "processing"%d& +4 "core" &^%5\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&01 +59 "core" 1 +2 "manipulator"&3% +5 "core" %   g x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +90 "core" ' +2 "processing"%o& +4 "core" &^%\\\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %   S  +2 "storage"(|% +4 "core" % J a\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(8(,y +63 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "manipulator"&[& +4 "core" &,y K \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  E N +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&( + "storage"(D'r +7 "core" ( + "manipulator"&$& +4 "core" &  q N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +3 "core" & K N +2 .tForearm.seek PC +2 "manipulator"&v' +94 "core" ' +2 .tHand.close + "manipulator"&:/ +59 "core" / +2 .tPC.seek :open +2 "processing"%f( +90 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +45 "core" ' +308 ( +2 "storage"(x& +4 "core" &,i\ +\ 4\ +2 "manipulator"&Y& +4 "core" &  N +2 "manipulator"&q% +4 "core" %  J L +2 .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&#( +246 "core" ( + "manipulator"&*& +4 "core" & 3 +2 "storage"(m& +4 "core" &,i M \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +93 "core" ' + .tHand.open +2 "manipulator"&61 +54 "core" 1 +3 "storage"( - +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"((' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(z- +3 "core" -' +2 "storage"(k& +3 "core" &,i Z W s\ +2 "manipulator"&5& +3 "core" &   3 +3 .tElbow.seek 4 +2 "manipulator"&`( +2 "core" ( +2 "manipulator"&& +4 "core" &   3 +2 "storage"(<& +5 "core" &,i H N I\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(u'" +51 "core" ' + "manipulator"&a& +4 "core" &  3 +2 "storage"(& +4 "core" &,i\ \ % c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&2'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +21 "core" ' +2 "manipulator"&G% +3 "core" %D  +2 "storage"(P& +4 "core" &,i\ \ \  \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 313 counts + "manipulator"&g'p +14 "core" ' +2 "manipulator"&+& +4 "core" &  ` 3 +2 "storage"(t& +3 "core" &,i M \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +15 "core" ' +2 "storage"(% +4 "core" % J D\ +3 ."downElevator"SE.seek :down +3 "storage"(W' +99 (>% +3 "core" %3O\ \ \ \ Wd +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +49 (& +3 "core" &,i\  r\ +2 "collection"']& +4 "core" &\\v\ !\ !\ S +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&-% +3 "core" %   +2 "storage"(C% +4 "core" % K X\  +2 "storage"(!. +3 "core" .(,y +2 "storage"(I& +4 "core" &,i\ \  w\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"({(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &,} N F\ +2 "manipulator"&A& +4 "core" & 3 +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&w& +4 "core" & 3 3 +2 "storage"(& +4 "core" &,}\ ! K %\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +93 "core" ' +2 "storage"()& +4 "core" &,} \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +295 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" & * 3 +2 "storage"(}& +4 "core" &,m\ )\  P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(s'f +33 "core" ' +2 "manipulator"&c% +3 "core" %J 8 R +2 "storage"(_& +4 "core" &,m V \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&7'v +14 "core" ' +2 "manipulator"&J& +3 "core" & 3 +2 "storage"(& +4 "core" &,m\ \  *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&S& +4 "core" & 3 +2 "manipulator"&"% +3 "core" % C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ( +2 "manipulator"&B& +4 "core" &Ӑ  # 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &Ӑ   2 9% +2 .tForearm.seek CC +2 "manipulator"&\ '? +93 "core" ' + .tHand.close +2 "manipulator"&4/ +61 "core" / +2 .tCC.seek :open +2 "collection"'i( +450 "core" ( +2 "storage"(9& +4 "core" &,m J T -\  +2 "storage"(& +3 "core" &,m D 3 x\  +2 "manipulator"&& +4 "core" &Ӑ  \ 9% +2 "manipulator"&.% +4 "core" % 7 8 +2 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&y( +163 "core" ( +2 "manipulator"&T& +4 "core" & \   +2 "storage"(/& +3 "core" &,m V U \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&X'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +61 "core" 1 +3 "manipulator"&% +3 "core" % *  @ K +2 "storage"(n& +4 "core" &,m G F \  +41 .tForearm.force -20 +9 "manipulator"&5 +3 .tForearm.seek 4 + 287 counts +2 "manipulator"&~'V +13 "core" ' +2 "manipulator"&Z& +3 "core" &  b  +2 "storage"(& +4 "core" &,m n n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +26 "core" ' +2 "storage"(?% +3 "core" % m j \ +3 ."downElevator"SE.seek :down +4 "storage"(N' +99 (@% +3 "core" %D $ 3 J\ U^ +2 "manipulator"&% +3 "core" % r \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&% +4 "core" %  *  +2 "storage"(M% +4 "core" % n n \  +2 "storage"(U. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(0(<- +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" &<, & "\ +2 "manipulator"&o& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&|& +3 "core" &  c  +2 "storage"(& +4 "core" &<, m n\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +96 "core" ' + "storage"(& +4 "core" &<, ` j \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['r +292 "core" ' +2 "storage"($- +2 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (F& +2 "core" &<, W T \ +3 "manipulator"&;& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&:( +4 "core" ( +2 "manipulator"&E& +3 "core" &  r  +2 "storage"(& +4 "core" &<, W U\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&1'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(D' +7 "core" &   + "manipulator"&x% +4 "core" %  p +2 .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&q(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&v& +3 "core" &Ӓ  3 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +4 "core" &Ӓ 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'? +100 "core" ' +2 "manipulator"&& +4 "core" &Ӓ  0 5 +2 "manipulator"&6% +3 "core" %E ] +3 "collection"' & +3 "core" & \ +3 "collection"'z& +6 "core" & \ +4 .tCC.seek :closed + "collection"'k(\\ +3 "core" & \ +5 & \ ; +9 &GIw \ 1 +10 &~v \ E +9 &+\\ \ L +10 &V \ K +9 &Y \ K +9 &tY \ K +10 &6X \ K +9 &W \ K +9 &X \ K +10 &zY \ L +9 &!>V \ K +10 &#X \ K +9 &$W \ K +9 &&X \ K +10 &(EZ \ K +9 &*W \ K +9 &+W \ K +10 &-W\  \ K +9 &/MX\ \ K +10 &1X \ K +9 &2W \ \ K +9 &4Y\ \ \ K +10 &6VX \ K +9 &8Y\ \ \ K +9 &9[ \ K +10 &;X \ K +9 &=]Y\ \ \ K +10 &?Z\ \ \ K +9 &@Y \ K +9 &B]\ \ \ K +10 &Dcb\ \ \ L +9 &F"j\ \ \ \ M +9 &G}\ \ \ P +10 &I\ $\ \ S +9 &KL\ +\ ,\ W +10 &M \ .\ /\ W +9 &N\ .\ .\ X +9 &P\ -\ ,\ Y +10 &RO\ *\ +\ X +9 &T\ +\ ,\ Y +9 &U\ +\ +\ Z +10 &W\ ,\ ,\ [\ +9 &YM\ ,\ -\ \\ +10 &[\ *\ +\ [ +9 &\\cD\ +\ ,\ 1 +9 &\\\ -\ -\ N +6 ( +2 "collection"'z& +48 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 +5 .Hand.open +2 "manipulator"&51 +2 "core" &\\l\ +\ *\ M +59 1 + "manipulator"&% +4 "core" % E  ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%\\& +3 "core" &\ +2 "manipulator"&a% +4 "core" %   +2 "storage"(% +4 "core" %\  !\  +2 "storage"(G. +3 "core" .(<- +2 "storage"(P& +4 "core" &<,\ # S \ +2 "storage"('& +4 "core" &<, M \ +2 "manipulator"&+& +4 "core" &ӓ " 5\ +2 "manipulator"&t% +4 "core" %  (  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&(( +163 "core" ( +2 "manipulator"&& +4 "core" &  J  +2 "storage"(#& +4 "core" &<, & ! 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +92 "core" ' +3 "storage"( & +3 "core" &<, , # \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^& +3 "core" &<, P =\ +2 "manipulator"&`& +3 "core" &   +3 .tElbow.seek 5 + "manipulator"&u( +3 "core" ( +2 "manipulator"&2& +4 "core" & c  +2 "storage"(g& +4 "core" &<,\ \  \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +41 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +2 "storage"(-' +7 "core" & T  + "manipulator"&C% +4 "core" %  C _ +2 .tForearm.seek :retract +2 "manipulator"&!' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +70 "core" ( + "manipulator"&,& +4 "core" &  8 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" & 1 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&w' +96 "core" ' +2 "manipulator"&H& +3 "core" & 4 +2 "manipulator"&% +4 "core" % w +2 "processing"%)& +4 "core" &3\ +3 "processing"%W& +6 "core" &4\ +2 .tPC.seek :closed +3 "processing"%8(^ +3 "core" &,\ +6 &,\ 2 +9 &9Fx9\ 0 +10 &dr\ D +9 &i*\ N +9 &]\ N +10 &\\)\ N +9 &K^6\ N +10 & _\ N +9 &_\ N +9 &[\ N +10 &T\\\ M +9 &!\\\ N +9 &"_\ N +10 &$`\ N +9 &&[_\ N +10 &(_\ N +9 &)Z\ M +9 &+\\\ N +10 &-c_\ N +9 &/%_\ N +9 &0\\\ N +10 &2Z\ N +9 &4k]\ N +10 &6,_\ N +9 &7[\ M +9 &9\\\ M +10 &;s^\ N +9 &=5_\ N +9 &>`\ N +10 &@]\ M +9 &Bxc\ O +10 &D8h\ O +9 &Er\ P +9 &G\ Q +10 &Is\ S +9 &K4\ S +9 &L*\ S +10 &N\ T +9 &Px/\ T +10 &R8\ U +9 &S.\ U +9 &U-\ T +10 &W~3\ U +9 &Y@1\ U +9 &[6\ T +10 &\\3\ U +9 &^9a/\ (y +10 &^g5\ 4 +9 ( + &^ 3\ / +2 "processing"%W& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&R% +4 "core" %    w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +96 "core" ' +3 "processing"%r& +3 "core" &^ ^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&}% +4 "core" % !  . +2 "storage"(V% +3 "core" % K \  +2 "storage"(c. +3 "core" .(<- +2 "storage"(_& +4 "core" &<, J \ +2 "storage"(J& +4 "manipulator"&& +53 "core" &<, J ;\ +2 &   \ 4 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(S'r +2 "manipulator"&"( +6 "core" ( +2 "manipulator"&p& +3 "core" &   T 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  C 4 +2 .tForearm.seek PC +2 "manipulator"&L' +92 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%7( +96 "core" ' + "storage"(s- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +48 "core" ' +302 ( +2 "storage"(l& +4 "core" &<, N \ +2 "manipulator"&=& +3 "core" &  4 +2 "manipulator"&j% +4 "core" %  R +2 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&K( +246 "core" ( +2 "manipulator"&& +3 "core" &  1 +2 "storage"(9& +4 "core" &<, P o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +97 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(.- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(T' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(\ - +3 "core" -' +2 "storage"( & +3 "core" &<, D D \ +2 "manipulator"& & +4 "core" &   ? 0 +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&n& +3 "core" &  z 0 +3 "storage"(Z& +3 "core" &<, : E 0\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(?'" +51 "core" ' +2 "manipulator"&e& +3 "core" &  0 +2 "storage"(y& +4 "core" &<, N \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&@'΍ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(X' +19 "core" ' +2 "manipulator"&% +3 "core" %Δ  f +2 "storage"(~& +4 "core" &<, M D\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 307 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&M& +4 "core" &  ! +2 "storage"(U& +4 "core" &<,\ \ K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 "storage"(&% +4 "core" % \ ! P\ +3 ."downElevator"SE.seek :down +4 "storage"(N' +98 ({% +3 "core" %EN\ \ \ We +2 "manipulator"&3% +4 "core" %2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (|& +3 "core" &<,\ " ] H\ +2 "collection"'& +4 "core" &\\m\ \ "\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +42 "core" %  -  +10 "storage"(b% +3 "core" % * - \  +2 "storage"(%. +4 "core" .(<- + "storage"($& +4 "core" &<, " ( 4\ +2 "storage"(F& +4 "core" &<, + # S\ +2 "manipulator"&;& +4 "core" &  ! +2 .tElbow.seek 5 +2 "manipulator"&E( +23 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(h& +4 "core" &<, . . \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' + "storage"(x& +5 "core" &<, * 3 3\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(d- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & 9  +2 "storage"(*& +4 "core" &<,\ \\ +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&['΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(6'y +27 "core" ' +2 "manipulator"& % +5 "core" %Λ + "storage"(:& +5 "core" &<, J :\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&D' +13 "core" ' + "manipulator"&Y& +4 "core" &   +2 "storage"(i& +4 "core" &<, ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&5'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +39 "core" ' +2 "manipulator"&z& +4 "core" & 3  +2 "manipulator"&\\% +3 "core" %]  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ( + "manipulator"&G& +4 "core" &ӝ  L 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &P& +2 "core" &ӝ \  A 3 +3 .tForearm.seek CC +2 "manipulator"&''? +94 "core" ' + .tHand.close +2 "manipulator"&+/ +59 "core" / +2 .tCC.seek :open +2 "collection"'t( +450 "core" ( +2 "storage"(m& +3 "core" &<, U T \ +2 "storage"(& +4 "core" &<, J H \ +2 "manipulator"&#& +4 "core" &ӝ 2 3 +2 "manipulator"& % +3 "core" % F  2 % +3 .tForearm.seek :retract + "manipulator"&q' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&<( +160 "core" ( +2 "manipulator"&& +3 "core" &  f  +2 "storage"(^& +5 "core" &<, O Z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&`'΍ +91 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +57 "core" 1 +2 "manipulator"&% +4 "core" % Ύ   ; U +2 "storage"(]& +3 "core" &<, m l\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&C'Ϻ +14 "core" ' +2 "manipulator"&(& +4 "core" &  K  +2 "storage"(O& +3 "core" &<, m m L\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +48 "manipulator"&>'O +30 "core" ' +2 "storage"( % +3 "core" % ` j w\ +3 ."downElevator"SE.seek :down +4 "storage"(,' +98 (A% +3 "core" %M & + '\ Va +2 "manipulator"&u% +4 "core" %S 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&)% +4 "core" %   G  +2 "storage"(-% +5 "core" % m l \  + "storage"(!. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(f(K +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &K ! " Q\  +2 "manipulator"&R& +3 "core" &  3  +2 .tElbow.seek 6 +2 "manipulator"&r( +4 "core" ( +2 "manipulator"&}& +3 "core" &  8  +2 "storage"(V& +4 "core" &K F F <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&c' +96 "core" ' +2 "storage"(_& +3 "core" &K j _ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +297 "core" ' +2 "storage"(J- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K A ) s\  +2 "manipulator"&p& +3 "core" &  S  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&w& +4 "core" &  U  +2 "storage"(& +3 "core" &K T T T\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&s'h +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +3 "storage"(8' +7 "core" &   +2 "manipulator"&S% +4 "core" % _ Q +2 .tForearm.seek :retract +2 "manipulator"&l' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&=(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&j& +4 "core" &Ӓ Z 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &ӓ  O 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +102 "core" ' +2 "manipulator"&9& +3 "core" &ӓ { 3 +2 "manipulator"&"% +4 "core" %D Q  +2 "collection"'& +4 "core" & \ +3 "collection"'.& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'\ (\\ +6 "core" & \ +6 &< \ %f +9 &Y} \ 8 +9 &w \ K +10 &W \ K +9 &V \ K +9 &IU \ K +10 & X \ K +9 &X \ K +10 &X \ K +9 &QW \ K +9 & W \ K +10 &!X \ \ K +9 &#Y\ \ K +9 &%XW \ K +10 &'W \ K +9 &(Y \ \ K +10 &*Z \ L +9 &,aW \ K +9 &.#W \ \ K +10 &/W \ K +9 &1X \ K +9 &3hW\ \ \ K +10 &5+Z \ K +9 &6Y\ \ \ K +10 &8Y\ \ \ L +9 &:pX\ \ \ K +9 &<2X \ K +10 &=U\ \ \ K +9 &?Y \ \ L +9 &Aw\\\ \ \ L +10 &C8]\ \ \ L +9 &Dm\ \ \ M +10 &Fs\ \ \ O +9 &Hl\ &\ \ R +9 &J#\ 5\ 1\ V +10 &K\ 5\ 5\ X +9 &M\ 4\ 5\ X +10 &Oa\ 2\ 3\ Y +9 &Q"\ 3\ 2\ Y +9 &R\ 0\ 0\ Y +10 &T\ .\ /\ Z +9 &Ve\ .\ .\ Z +9 &X#\ .\ .\ [ +10 &Y\ .\ -\ \\ +9 &[\ -\ /\ H +9 &\\9\ -\ .\ , +10 &\\n\ +\ ,\ N +2 ( +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"& % +4 "core" % D t  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%Z& +49 "core" &\ +5 "manipulator"&4% +4 "core" %   `  +2 "storage"(e% +3 "core" % _ ; \  +2 "storage"(y. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (~& +3 "core" &K\ \  \  +2 "manipulator"&B& +3 "core" & + +3 "manipulator"&M% +3 "core" %  K  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&U( +158 "core" ( + "manipulator"&T& +4 "core" &  {  +2 "storage"(&& +5 "core" &K " & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&K' +97 "core" ' +3 "storage"(& +3 "core" &K . . n\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +296 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &K H Z\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&?& +3 "core" &   +2 "storage"(@& +4 "core" &K S a\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&|/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +7 "core" &  +2 "manipulator"&X% +4 "core" % u  N +2 .tForearm.seek :retract +2 "manipulator"&b' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&$& +3 "core" & U \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&;' +95 "core" ' +2 "manipulator"&& +4 "core" & u \ +2 "manipulator"&h% +4 "core" % ` y +2 "processing"%& +4 "core" &\ +3 "processing"%x& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%N(^ +4 "core" &\ +5 &\ 3 +10 &8Gw\ 0 +9 &aq\ D +9 &g1\ N +10 &\\ \ N +9 &[\ N +9 &G^ \ N +10 &\ \\7\ N +9 &Z:\ N +9 &\\6\ M +10 &P\\\ N +9 &!Z\ N +10 &"Y\ N +9 &$\\\ M +9 &&X\\\ N +10 &(_\ N +9 &)Y\ N +9 &+Z\ M +10 &-`Z\ N +9 &/"^\ N +10 &0W\ N +9 &2Y\ N +9 &4h\\\ N +10 &6*_\ N +9 &7Y\ N +9 &9[\ M +10 &;p]\ N +9 &=2Z\ N +10 &>]\ N +9 &@]\ M +9 &Btc\ O +10 &D4g\ P +9 &Es\ P +10 &G~\ Q +9 &Ip\ S +9 &K1\ S +10 &L\ S +9 &N\ T +9 &Ps\ U +10 &R6\ T +9 &S\ U +10 &U\ T +9 &Wz\ U +9 &Y>\ T +10 &[\ T +9 &\\\ U +9 &^6`\ * +10 &^g\ 5 +8 ( +3 "processing"%x& +3 "core" &^5\ / +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&o% +4 "core" %   % y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +89 "core" ' +2 "processing"%v& +4 "core" &^7\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&*% +3 "core" %    s  +2 "storage"(% +4 "core" % O z\  +2 "storage"( . +3 "core" .(K +2 "storage"(:& +3 "core" &K K |\  +3 "storage"(Y& +2 "manipulator"&i& +7 "core" &K P n\  + & \  \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +53 "manipulator"&z( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(\\'r +3 "core" ( +2 "manipulator"&& +3 "core" &   \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &E& +3 "core" &  \ +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&[/ +55 "core" / +2 .tPC.seek :open +2 "processing"%D( +90 "core" ' +2 "storage"(6- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(G'1 +46 "core" ' +306 ( + "storage"(P& +4 "core" &K\ \ s\  +2 "manipulator"&5& +4 "core" & % \ +2 "manipulator"&1% +3 "core" %  4 +3 .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&a( +238 "core" ( +2 "manipulator"&k& +3 "core" &  : +2 "storage"(m& +4 "core" &K N \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 .tHand.open + "manipulator" +60 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"('- +3 "core" -' +2 "storage"(& +4 "core" &K L L \  +2 "manipulator"&g& +4 "core" &   } 9 +2 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&]& +4 "core" &   Q 9 +2 "storage"((& +4 "core" &K M L \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +63 "core" ' + "manipulator"&q& +4 "core" & 9 +2 "storage"(<& +3 "core" &K M \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&A'< +19 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(`' +19 "core" ' +2 "manipulator"&C% +3 "core" %N  +2 "storage"(& +4 "core" &K M @\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&)'z +14 "core" ' +2 "manipulator"&-& +4 "core" & 9 9 +2 "storage"(!& +4 "core" &K L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +14 "core" ' +2 "storage"(>% +4 "core" % N +\ +3 ."downElevator"SE.seek :down +4 "storage"(,' +98 (0% +3 "core" %2P\ \ \ We +2 "manipulator"&% +4 "core" % " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (}& +3 "core" &K \  w\  +2 "collection"'V& +4 "core" &\\o\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&_% +4 "core" %   +2 "storage"(2% +4 "core" % & & L\  +2 "storage"(H. +2 "core" .(K +2 "storage"(J& +4 "core" &K # ' \  +2 "storage"(& +43 "core" &K & " \  +9 "manipulator"&p& +4 "core" &  9 +2 .tElbow.seek 6 +2 "manipulator"&w( +2 "core" ( +3 "manipulator"&& +3 "core" & 9 +2 "storage"(I& +5 "core" &K ! %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +94 "core" ' + "storage"(S& +4 "core" &K $ %\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +300 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" & [ 9 +2 "storage"(L& +3 "core" &K N j\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&W'< +22 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"("'u +30 "core" ' + "manipulator"&% +4 "core" %A   +2 "storage"(& +3 "core" &K M M\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&8'm +13 "core" ' +2 "manipulator"&l& +4 "core" & Q 9 +2 "storage"(t& +3 "core" &K N 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +26 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"( ' +41 "core" ' +2 "manipulator"&Z& +3 "core" & . 9 +2 "manipulator"&.% +4 "core" %  W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +153 "core" ( + "manipulator"&y& +4 "core" &Ӎ   8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &Ӎ 8 +3 .tForearm.seek CC + "manipulator"&B'? +98 "core" ' + .tHand.close +2 "manipulator"&M/ +55 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(T& +4 "core" &K G 4 i\  +2 "storage"(&& +3 "core" &K 0 ( L\  +2 "manipulator"&f& +4 "core" & j / +2 "manipulator"&% +3 "core" % * H +3 .tForearm.seek :retract +2 "manipulator"&=' +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&n( +157 "core" ( +2 "manipulator"&{& +3 "core" &  +2 "storage"(3& +5 "core" &K = J -\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +57 "core" 1 +2 "manipulator"&|% +3 "core" % 6  s 3 +2 "storage"(& +4 "core" &K Z g l\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 294 counts + "manipulator"&X'b +15 "core" ' +2 "manipulator"&U& +4 "core" & n  +2 "storage"(K& +4 "core" &K k k w\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +15 "core" ' +2 "storage"(% +4 "core" % \\ h O\ +3 ."downElevator"SE.seek :down +43 "storage"($' +59 (F% +3 "core" %%I # + \ U_ +2 "manipulator"&% +4 "core" % \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +91 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'h& +3 "core" & \ +2 "manipulator"&% +4 "core" %  O ! +2 "storage"(% +4 "core" % l m \  +2 "storage"(b. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(7(,y +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z Q H \ +2 "manipulator"&o& +3 "core" &  4  +2 .tElbow.seek 4 +2 "manipulator"&v( +4 "core" ( + "manipulator"&*& +4 "core" &  ?  +2 "storage"(& +4 "core" &,z F G \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +98 "core" ' +2 "storage"(:& +3 "core" &,z a i \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'r +299 "core" ' + "storage"(i- +3 "core" -'\ +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (x& +3 "core" &,l W T h\  +2 "manipulator"&& +4 "core" &  x  +2 .tElbow.seek 4 +2 "manipulator"&E( +4 "core" ( + "manipulator"&;& +4 "core" &    +2 "storage"([& +3 "core" &,l D 9 \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&6'c +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& +2 "storage"(N' +6 "core" &  r  +3 "manipulator"&\\% +3 "core" % w  B +3 .tForearm.seek :retract +2 "manipulator"&P' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&1& +4 "core" &ӕ $ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӕ  4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&k'? +99 "core" ' +2 "manipulator"&m& +4 "core" &Ӗ O 4 +2 "manipulator"&z% +4 "core" %< h  +2 "collection"'#& +4 "core" & \ +3 "collection"' & +5 "core" & \\\ +2 .tCC.seek :closed +2 "collection"''(\\ +5 "core" & [\ +6 &4 l\ $e +9 &W{ i\ 7 +10 &x e\ K +9 &W d\ K +9 &xW c\ K +10 &;Z \ K +9 &X \ K +9 &W \ K +10 &W \ K +9 &BX \ K +10 & Y \ K +9 &![ \ L +9 &#Y \ K +10 &%KW \ K +9 &' W \ K +9 &(W \ K +10 &*W\ \ K +9 &,RY \ K +10 &.Y \ K +9 &/W \ K +9 &1Y \ K +10 &3[Y \ K +9 &5X \ K +9 &6X\ \ K +10 &8U \ \ K +9 &:bY \ K +10 &<$Y\ \ K +9 &=[\ \ K +9 &?Y \ \ K +10 &AjZ\ \ K +9 &C+Z\ \ \ L +9 &De\ \ \ L +10 &Fp\ \ \ N +9 &Hd\ \ \ P +10 &J\ )\ \ U +9 &K\ +\ ,\ V +9 &M\ +\ ,\ W +10 &OW\ *\ +\ W +9 &Q\ *\ )\ X +9 &R\ *\ (\ X +10 &T\ *\ *\ X +9 &VX\ *\ *\ Z +10 &X\ (\ *\ Z +9 &Y\ )\ )\ [\ +9 &[\ ,\ *\ H +10 &\\=\ ,\ +\ )| +9 &\\{\ ,\ *\ Z +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&g% +4 "core" % <  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +92 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%(& +3 "core" &\ +2 "manipulator"&+% +4 "core" %   +2 "storage"(q% +4 "core" % P {\  +2 "storage"(<. +3 "core" .(,y +2 "storage"(C& +49 "core" &,l O \  +4 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &,{ M Q\ +2 "manipulator"&-& +4 "core" &Ӗ H 4 +2 "manipulator"&!% +4 "core" %  t  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&>& +4 "core" &  +2 "storage"(a& +4 "core" &,{ ' &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(^& +4 "core" &,{ $ . u\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (O& +3 "core" &,m\ \  \ \ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&A& +4 "core" &  +2 "storage"()& +4 "core" &,m ! ! ;\ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&}'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&_& +2 "storage"(2' +8 "core" & !  +2 "manipulator"&H% +4 "core" % l E +2 .tForearm.seek :retract +2 "manipulator"&`' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&& +3 "core" & l +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +2 "core" &  l +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&I& +3 "core" &  l +2 "manipulator"&% +4 "core" % w +2 "processing"%S& +4 "core" &\ +3 "processing"%,& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%u(^ +5 "core" &\ +7 &6\ #c +10 &U}\ 7 +9 &~}\ K +9 &\\\ N +10 &`[\ N +9 &#U\ M +9 &\\\ N +10 &[\ N +9 &hX\ N +10 &*\\\ N +9 &Z0\ N +9 &!]\ N +10 &#qZ/\ M +9 &%1[1\ N +9 &&[\ M +10 &(\\9\ N +9 &*x[\ N +10 &,:_\ N +9 &-Z\ M +9 &/\\\ N +10 &1X\ N +9 &3BY\ N +9 &5]\ N +10 &6]\ N +9 &8Z\ N +10 &:JZ\ N +9 &< [\ N +9 &=\\\ N +10 &?\\\ N +9 &AR\\\ N +9 &Cd\ O +10 &Dh\ P +9 &Fo\ P +10 &HN\ R +9 &J \ S +9 &K\ T +10 &M\ T +9 &ON\ T +9 &Q\ U +10 &R\ U +9 &T\ U +10 &VV\ T +9 &X\ T +9 &Y\ U +10 &[\ U +9 &][\ C +9 &^I}\ T +10 &^ U\ 3 +5 ( +2 "processing"%,& +4 "core" &^!1\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&R1 +60 "core" 1 + "manipulator"&c% +4 "core" %   w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +92 "core" ' +2 "processing"%L& +5 "core" &^ 1\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&9% +4 "core" %     +2 "storage"(% +4 "core" %\ \ , \  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(l(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (t& +3 "core" &,{\ \ \ v\ +4 "manipulator"&Z& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  l +3 .tElbow.reconfigure :tight +43 "manipulator"&$&.,(\ #b +9 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(.'r + "manipulator"&Q( +20 "core" ( +2 "manipulator"&w& +3 "core" &   e \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +3 "core" &  \ 0 \ +2 .tForearm.seek PC +2 "manipulator"&W' +94 "core" ' +2 .tHand.close + "manipulator"&8/ +63 "core" / +2 .tPC.seek :open +2 "processing"%"( +68 "core" ' +2 "storage"(y- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'1 +43 "core" ' +334 ( + "storage"( & +4 "core" &,k N @\  +2 "manipulator"&s& +4 "core" &  e \ +2 "manipulator"&M% +4 "core" %  U P +2 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&\ ( +238 "core" ( +2 "manipulator"&T& +5 "core" & 0 N + "storage"(&& +4 "core" &,k K O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&f' +93 "core" ' +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"({- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(3' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(B' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(e- +3 "core" -' +2 "storage"(@& +4 "core" &,k M M >\  +2 "manipulator"&|& +4 "core" &  D N +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&U& +5 "core" &   6 N + "storage"(K& +4 "core" &,k C M a\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +51 "core" ' +2 "manipulator"&F& +4 "core" &  N +2 "storage"(& +3 "core" &,k\ &\  >\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&n'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(X' +18 "core" ' +2 "manipulator"& % +3 "core" %I 3  +2 "storage"(h& +4 "core" &,k \ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&'u +14 "core" ' + "manipulator"&& +4 "core" &  N +2 "storage"(b& +4 "core" &,k K I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +14 "core" ' +2 "storage"($% +4 "core" % M N\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %0S\ \ \ \ Xf +2 "manipulator"&o% +4 "core" % h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,k\  7\  +2 "collection"':& +4 "core" &\\{\ !\ \ Z +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&?% +3 "core" %    +2 "storage"(% +5 "core" % N\  + "storage"(i. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +47 .tSC.seek 4 +4 "storage"(x(,y +44 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,w\ \ \  \ +2 "manipulator"&;& +4 "core" & N +2 .tElbow.seek 4 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&%& +4 "core" & i N +2 "storage"(d& +4 "core" &,w L J\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +8 "Can"\ OM +88 "core" ' +2 "storage"(v& +3 "core" &,w ! ! B\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +301 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  N +2 "storage"(Y& +4 "core" &,m\ \  a\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(#'f +28 "core" ' +2 "manipulator"&E% +4 "core" %3 . 0 +2 "storage"(N& +4 "core" &,m O ^\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts +2 "manipulator"&P'_ +15 "core" ' +2 "manipulator"&& +4 "core" & N +2 "storage"(& +3 "core" &,m W *\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"((' +36 "core" ' +2 "manipulator"&+& +4 "core" &  N +2 "manipulator"&q% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +155 "core" ( +2 "manipulator"& & +3 "core" &Ӝ  4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +4 "core" &Ӝ 7 4 +2 .tForearm.seek CC +2 "manipulator"&-'? +101 "core" ' + .tHand.close +2 "manipulator"&!/ +58 "core" / +2 .tCC.seek :open + "collection"'k( +447 "core" ( +2 "storage"(>& +3 "core" &,m C 4 ?\ +2 "storage"(a& +4 "core" &,m ! % *\ +2 "manipulator"&7& +3 "core" &Ӝ 0 4 +2 "manipulator"&^% +4 "core" % ; +2 .tForearm.seek :retract +2 "manipulator"&5' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&]( +158 "core" ( +2 "manipulator"&& +3 "core" & \   +2 "storage"(O& +4 "core" &,m U T \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +99 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +63 "core" 1 +2 "manipulator"&V% +4 "core" % &  9 8 +2 "storage"(_& +3 "core" &,m R K _\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 283 counts +2 "manipulator"&H'R +14 "core" ' +2 "manipulator"&& +4 "core" &  >  +2 "storage"(& +3 "core" &,m W J #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +41 "manipulator"&0' +34 "core" ' +2 "storage"(}% +4 "core" % m m \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (p% +3 "core" %K & ' +\ Va +2 "manipulator"& % +4 "core" % g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +94 "core" ' +47 ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&S% +5 "core" %  d  + "storage"(2% +4 "core" % n m\  +2 "storage"(`. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(D(<- +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +3 "core" &<. G \  +2 "manipulator"&c& +4 "core" & W  +2 .tElbow.seek 5 +2 "manipulator"&L( +8 "core" ( + "manipulator"&9& +5 "core" &   +2 "storage"(& +3 "core" &<. l h S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +117 "core" ' +2 "storage"(,& +3 "core" &<. m l \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'r +292 "core" ' +2 "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (w& +3 "core" &<. E G _\  +2 "manipulator"&r& +4 "core" & t  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &  9  +2 "storage"(8& +3 "core" &<. T T [\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&y'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(u' +7 "core" &  +2 "manipulator"&.% +4 "core" % Ϯ I +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&s(ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&M& +3 "core" &ӗ Y 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӗ 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'? +91 "core" ' +2 "manipulator"&&& +3 "core" &Ә  0 6 +3 "manipulator"&Q% +4 "core" %G ] l +2 "collection"'& +4 "core" & \ +3 "collection"'{& +5 "core" & [\ +2 .tCC.seek :closed +2 "collection"'e(\\ +5 "core" & {\ +7 &< a\ %f +9 &W{ f\ 7 +10 &y l\ K +9 &U l\ K +9 &U i\ K +10 &BW k\ K +9 &W g\ K +10 &V c\ K +9 &X f\ K +9 &KX b\ K +10 & W c\ K +9 &!Z \ K +9 &#X \ K +10 &%TV \ J +9 &'W \ K +10 &(X \ K +9 &*W \ K +9 &,[X \ K +10 &.U\  \ K +9 &/W \ K +9 &1Y \ \ K +10 &3bX \ K +9 &5$X \ K +10 &6Y \ \ K +9 &8X \ K +9 &:jY \ K +10 &<,Y \ K +9 &=Y\ \ K +9 &?U\ \ \ J +10 &As\\ \ K +9 &C2_\ \ \ L +10 &De\ \ \ M +9 &Fm\ \ \ \ N +9 &Hl\ \ \ P +10 &J \ (\ !\ U +9 &K\ -\ .\ W +9 &M\ /\ ,\ X +10 &O]\ +\ /\ X +9 &Q\ )\ +\ Y +10 &R\ +\ ,\ X +9 &T\ *\ *\ Z +9 &V]\ ,\ ,\ [ +10 &X!\ +\ ,\ Z +9 &Y\ +\ -\ \\ +9 &[\ ,\ ,\ H +10 &\\9\ .\ -\ , +9 &\\o\ +\ +\ N +2 ( +2 "collection"'{& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&@1 +56 "core" 1 +3 "manipulator"&|% +4 "core" % G B l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%K& +4 "core" &\ +48 "manipulator"&4% +5 "core" %   +2 "storage"(F% +4 "core" % _\  w\  +2 "storage"(. +3 "core" .(<- +2 "storage"( & +3 "core" &<. A \  +2 "storage"(h& +4 "core" &<. R Q\  +2 "manipulator"&~& +3 "core" &ә 5 +2 "manipulator"&% +4 "core" %  J  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&b( +162 "core" ( +2 "manipulator"&3& +3 "core" & S  +2 "storage"($& +4 "core" &<. . / \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\ 'O +94 "core" ' +2 "storage"(f& +3 "core" &<. + 0 C\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(B'r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (o& +3 "core" &<. M &\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&=& +4 "core" &  +2 "storage"(n& +3 "core" &<. + [ q\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"(?' +8 "core" &   +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&i' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&X( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&& +3 "core" & Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" & \ Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&/' +92 "core" ' + "manipulator"&%& +4 "core" & Y +2 "manipulator"&d% +4 "core" %  +2 "processing"%v& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%l(^ +5 "core" &\ +5 & .\ $c +10 &U~\ 7 +9 &~~\ K +10 &]\ N +9 &[Z\ N +9 &W\ M +10 &[\ N +9 &[\ M +9 &dZ\ N +10 &&\\\ N +9 &Z\ M +10 &!Z(\ N +9 &#l\\/\ N +9 &%/[/\ M +10 &&\\/\ N +9 &(\\\ N +9 &*t\\4\ N +10 &,5`\ N +9 &-[\ N +10 &/`\ N +9 &1|]\ N +9 &3>Y\ N +10 &5Y\ N +9 &6\\\ N +9 &8[\ N +10 &:FZ\ N +9 &<]\ N +10 &=_\ N +9 &?\\\ N +9 &AM]\ N +10 &C h\ O +9 &Dl\ P +9 &Fs\ P +10 &HI\ R +9 &J\ T +10 &K\ S +9 &M\ T +9 &OK\ T +10 &Q \ U +9 &R\ T +9 &T\ U +10 &VS\ T +9 &X\ U +10 &Y\ U +9 &[\ U +9 &]X\ E +10 &^y@x\ &p +9 &^+\ - +5 ( +2 "processing"%& +4 "core" &^\ - +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&*% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +91 "core" ' +2 "processing"%& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&Y% +3 "core" %    +2 "storage"(z% +4 "core" % P \  +2 "storage"(E. +3 "core" .(<- +2 "storage"(N& +4 "core" &<. M o\  +2 "storage"(& +3 "manipulator"&& +8 "core" &<. M E\  + &   Y +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&+( +7 ."raiseStack"SE.seek :beamBreak + "storage"(q'r +49 "core" ( +4 "manipulator"&\\& +3 "core" &   ) Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &[& +3 "core" &   ( Y +2 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' + .tHand.close +2 "manipulator"&6/ +56 "core" / +2 .tPC.seek :open +2 "processing"%P( +45 "core" ' +2 "storage"(#- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +40 "core" ' +357 ( + "storage"(G& +4 "core" &<. ) / o\  +2 "manipulator"&g& +3 "core" & + Y +2 "manipulator"&m% +4 "core" %   : +2 .tForearm.seek :retract +2 "manipulator"&!' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&<( +244 "core" ( +2 "manipulator"&'& +3 "core" & 0 6 +2 "storage"(>& +5 "core" &<. ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +93 "core" ' +2 .tHand.open + "manipulator"&71 +55 "core" 1 +3 "storage"(^- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(O' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(-- +2 "core" -' +3 "storage"(C& +3 "core" &<. G = z\  +2 "manipulator"&)& +4 "core" &   6 +2 .tElbow.seek 5 +2 "manipulator"&V( +4 "core" ( +2 "manipulator"&_& +3 "core" &   W 6 +2 "storage"(& +4 "core" &<. M M \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(5'" +51 "core" ' +2 "manipulator"&}& +4 "core" & $ 6 +2 "storage"(]& +4 "core" &<. L U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&p'΍ +31 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +21 "core" ' + "manipulator"&H% +4 "core" %Δ : h +2 "storage"(& +4 "core" &<.\ \ 1\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 307 counts + "manipulator"&S' +14 "core" ' +2 "manipulator"&2& +3 "core" &  ( +2 "storage"(`& +4 "core" &<. \  c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +15 "core" ' +2 "storage"(0% +3 "core" %\  \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (x% +3 "core" %WR\ \ \ \ Xg +3 "manipulator"&R% +4 "core" %0 h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (9& +2 "core" &<. / J\  +2 "collection"'& +4 "core" &\\q\ !\ \ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&,% +3 "core" %   +2 "storage"(A% +4 "core" % 1 6 =\  +2 "storage"(I. +3 "core" .(<- +2 "storage"(Z& +3 "core" &<. ( ' \  +2 "storage"(w& +4 "core" &<. ' 2\  +2 "manipulator"&r& +4 "core" & ' ( +2 .tElbow.seek 5 +2 "manipulator"&( +47 "core" ( +5 "manipulator"&8& +3 "core" &   +2 "storage"(J& +4 "core" &<. ' '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +89 "core" ' + "storage"(.& +4 "core" &<. + ! "\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & ]  +2 "storage"(W& +4 "core" &<. & ' T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&t'΍ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(Q'y +32 "core" ' +2 "manipulator"&% +3 "core" %Ρ +2 "storage"(& +3 "core" &<. M 4\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&u' +13 "core" ' + "manipulator"& & +4 "core" & l  +2 "storage"(k& +4 "core" &<. * U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(|' +36 "core" ' +2 "manipulator"&K& +3 "core" & G  +2 "manipulator"&4% +5 "core" %B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +156 "core" ( + "manipulator"&& +4 "core" &ӗ [ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӗ  5 +2 .tForearm.seek CC +3 "manipulator"&h'? +92 "core" ' +2 .tHand.close + "manipulator"&~/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( + "storage"(T& +4 "core" &<. T T O\  +2 "storage"(3& +4 "core" &<. " % J\  +2 "manipulator"&$& +3 "core" &Ӟ u 4 +2 "manipulator"&f% +4 "core" % 0 ]  +2 .tForearm.seek :retract +2 "manipulator"&s' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&U( +158 "core" ( +2 "manipulator"&& +3 "core" & y  +2 "storage"(o& +4 "core" &<. W W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +64 "core" 1 +3 "manipulator"&% +3 "core" % Ύ  V 0 +2 "storage"(:& +4 "core" &<. F F \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&'Ϻ +15 "core" ' + "manipulator"&b& +4 "core" &  ^  +2 "storage"(\ & +4 "core" &<. l k Q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +13 "core" ' +2 "storage"(% +3 "core" % n n \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (;% +3 "core" %H # ,\ V_ +2 "manipulator"&% +3 "core" %P k +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +89 "core" ' +6 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'d& +3 "core" & \ +2 "manipulator"&v% +4 "core" %    +2 "storage"(?% +5 "core" % i a \  + "storage"(i. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"("(K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &K + . l\  +2 "manipulator"&*& +3 "core" &  u  +3 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&Y& +4 "core" &  H  +2 "storage"(z& +4 "core" &K m m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&E' +96 "core" ' +2 "storage"(N& +3 "core" &K k j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K P > N\  +3 "manipulator"&\\& +3 "core" &  [  +2 .tElbow.seek 6 +2 "manipulator"&[( +4 "core" ( + "manipulator"&/& +4 "core" &  D  +2 "storage"(6& +3 "core" &K V W \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&#'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(l' +8 "core" & {  +2 "manipulator"&q% +4 "core" % q  F \\ +2 .tForearm.seek :retract +2 "manipulator"&G' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&m& +3 "core" &ӎ K 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӎ 3 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&''? +102 "core" ' + "manipulator"&>& +4 "core" &ӏ  ^ 7 +2 "manipulator"&+% +4 "core" %7  w  +2 "collection"'7& +4 "core" & \ +2 "collection"'^& +6 "core" & d\ +3 .tCC.seek :closed +2 "collection"'-(\\ +3 "core" & [\ +7 &< W\ $e +10 &X{ j\ 7 +9 &y n\ K +9 &U n\ K +10 &{W l\ J +9 &;X j\ K +9 &W l\ K +10 &X f\ K +9 &W b\ K +10 &CV `\ K +9 & W _\ K +9 &!W _\ K +10 &#X \ K +9 &%LW g\ K +9 &' U \ K +10 &(W \ K +9 &*W \ K +10 &,SW \ K +9 &.W \ K +9 &/W \ K +10 &1X \ K +9 &3\\W \ K +9 &5W \ K +10 &6X \ K +9 &8\\ \ \ K +10 &:cY\ \ \ K +9 &<%X \ K +9 &=Y \ K +10 &?Y \ \ L +9 &Ak[\ \ \ K +9 &C,_\ \ \ L +10 &Di\ \ \ M +9 &Fx\ \ \ O +10 &H_\ #\ \ R +9 &J\ 3\ 1\ U +9 &K\ 3\ 5\ W +10 &M\ 3\ 1\ W +9 &OU\ 2\ 3\ X +9 &Q\ 0\ 1\ X +10 &R\ 0\ .\ Y +9 &T\ 0\ -\ Z +10 &VY\ -\ .\ Z +9 &X\ +\ -\ [ +9 &Y\ .\ .\ [ +10 &[\ 0\ .\ H +9 &\\<\ .\ -\ *~ +9 &\\{\ )\ +\ Z +3 ( +2 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&C1 +60 "core" 1 +2 "manipulator"&)% +4 "core" % 6   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +3 "core" &\ +2 "manipulator"&!% +4 "core" %  5  +2 "storage"(}% +3 "core" % M H\  +2 "storage"(]. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"( (K +3 "core" ( +2 .tSC.configure :limp +49 "storage"($\ 1b +4 (H& +3 "core" &K\ \ \ \  +2 "manipulator"&& +4 "core" & > - +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&2( +162 "core" ( + "manipulator"&`& +4 "core" & X  +2 "storage"(0& +4 "core" &K & ! *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&<' +93 "core" ' + "storage"(a& +4 "core" &K $ 4\  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'r +297 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (R& +3 "core" &K N\ - l\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&V( +4 "core" ( + "manipulator"&5& +4 "core" & &  +2 "storage"(p& +4 "core" &K O G\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&9'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(,' +7 "core" &   +2 "manipulator"&A% +5 "core" % b +2 .tForearm.seek :retract + "manipulator"&I' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&Z& +4 "core" & 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" & 9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&r' +94 "core" ' + "manipulator"&8& +4 "core" &   9 +2 "manipulator"&J% +4 "core" %  +2 "processing"%(& +4 "core" &\ +3 "processing"%.& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +5 &6\ #c +10 &U\ 7 +9 &\ L +9 &[\ N +10 &_[\ N +9 &"U\ M +9 &\\\ N +10 &Z\ N +9 &hY\ M +10 &)\\\ N +9 &Z\ N +9 &!]\ N +10 &#oY\ N +9 &%2Z\ M +9 &&\\\ N +10 &(Z\ N +9 &*w\\\ N +10 &,9Z5\ N +9 &-Z\ M +9 &/\\ \ N +10 &1]\ N +9 &3A]\ N +9 &5\\\ N +10 &6Z\ N +9 &8_9\ N +10 &:JZ\ M +9 &<\ ]\ N +9 &=\\\ N +10 &?\\\ N +9 &AP]\ N +10 &Cg\ O +9 &Dj\ P +9 &Fq\ P +10 &HL\ R +9 &J \ T +9 &K\ S +10 &M\ T +9 &OM\ T +10 &Q\ U +9 &R\ T +9 &T\ V +10 &VU\ T +9 &X\ T +9 &Y\ U +10 &[\ U +9 &][\ B +10 &^R\ H +9 &^=\ < +2 ( +2 "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"& 1 +55 "core" 1 +2 "manipulator"&c% +4 "core" %   + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +3 "processing"%M& +3 "core" &^C\ < +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&W% +4 "core" %  "  +2 "storage"(&% +3 "core" %\ \ \  +2 "storage"(. +4 "core" .(K + "storage"(& +5 "core" &K\ \ \  +2 "storage"( & +2 "manipulator"&k& +8 "core" &K\ \  F\  + &  - 9 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&K( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(4'r +3 "core" ( +2 "manipulator"&j& +3 "core" &   9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 6 9 +3 .tForearm.seek PC +49 "manipulator"&L' +96 "core" ' +2 .tHand.close + "manipulator"&t/ +53 "core" / +2 .tPC.seek :open +2 "processing"%u( +51 "core" ' + "storage"(Q- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +352 ( +2 "storage"( & +3 "core" &K\ -\ - \  +2 "manipulator"&@& +4 "core" &  9 +2 "manipulator"&y% +4 "core" %  $ / +2 .tForearm.seek :retract +2 "manipulator"&~' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&{( +244 "core" ( +2 "manipulator"&e& +4 "core" & G +2 "storage"(T& +3 "core" &K\ \ ( u\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +90 "core" ' +2 .tHand.open + "manipulator"&$1 +61 "core" 1 +3 "storage"(f- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(o' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +3 "core" -' +2 "storage"(F& +5 "core" &K f f \  + "manipulator"&n& +4 "core" & F +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&:& +4 "core" &   H F +2 "storage"(b& +4 "core" &K g f \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' +2 "manipulator"&s& +4 "core" & F +2 "storage"(;& +4 "core" &K K h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&d% +4 "core" %D  +2 "storage"(v& +4 "core" &K\ \  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&'p +14 "core" ' +2 "manipulator"&?& +4 "core" & F +2 "storage"(i& +4 "core" &K P \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +14 "core" ' +2 "storage"(B% +4 "core" % I y\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (D% +3 "core" %UT\ \ \ Wf +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Y& +3 "core" &K T O\  +2 "collection"'z& +4 "core" &\\|\ "\ #\ Z +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&N% +4 "core" %  \ +2 "storage"(=% +3 "core" %\ " S 9\  +2 "storage"(%. +4 "core" .(K + "storage"(& +5 "core" &K\ " :\  +2 "storage"(& +3 "core" &K J :\  +2 "manipulator"&\\& +4 "core" & F +2 .tElbow.seek 6 +2 "manipulator"&/( +4 "core" ( + "manipulator"&6& +4 "core" & B F +2 "storage"(X& +4 "core" &K H Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek 6 + 450 counts +4 "manipulator"&1' +93 "core" ' +2 "storage"(q& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &  F +2 "storage"( & +4 "core" &K\ -\ - \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +21 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(>- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(+'t +29 "core" ' + "manipulator"&7% +4 "core" %@ _ +2 "storage"([& +3 "core" &K M ~\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 304 counts +2 "manipulator"&l'l +14 "core" ' + "manipulator"&G& +4 "core" & F +2 "storage"(& +5 "core" &K\ " ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"()' +34 "core" ' +2 "manipulator"&& +4 "core" &  F +2 "manipulator"&!% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +152 "core" ( +2 "manipulator"&^& +4 "core" &Ӕ ~ 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &Ӕ  K 6 +2 .tForearm.seek CC +2 "manipulator"&'? +102 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"''( +447 "core" ( + "storage"(`& +4 "core" &K ' , \  +2 "storage"(0& +4 "core" &K $ + 3\  +2 "manipulator"&"& +4 "core" & . +2 "manipulator"&a% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&g' +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&_( +159 "core" ( + "manipulator"&x& +4 "core" &   +2 "storage"(R& +4 "core" &K Q J \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +97 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +60 "core" 1 +2 "manipulator"&S% +4 "core" % < 6 +2 "storage"(& +3 "core" &K W W\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 300 counts + "manipulator"&A'h +14 "core" ' +2 "manipulator"&2& +3 "core" &   +2 "storage"(<& +4 "core" &K [ H n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&O' +16 "core" ' +2 "storage"(9% +3 "core" % k l \ +3 ."downElevator"SE.seek :down +4 "storage"(Z' +99 (w% +3 "core" %J @ H U\ V` +2 "manipulator"&V% +4 "core" % & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +95 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +49 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'J& +4 "core" & \ +2 "manipulator"&(% +4 "core" %  `  +2 "storage"(,% +4 "core" % k k g\  +2 "storage"(I. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(P(,y +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" &,{ % ' J\ +3 "manipulator"&c& +3 "core" & I  +3 .tElbow.seek 4 + "manipulator"&M( +3 "core" ( +2 "manipulator"&W& +4 "core" &   d  +2 "storage"(&& +4 "core" &,{ F G $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +96 "core" ' +2 "storage"(& +4 "core" &,{ ] ] <\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +310 "core" ' +2 "storage"( - +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &,l F @ \ +2 "manipulator"&j& +4 "core" &  T  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&r& +3 "core" &   j  +2 "storage"(t& +4 "core" &,l k m\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&Q'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" & c  +2 "manipulator"&4% +3 "core" % t +3 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&y& +4 "core" &ӓ 1 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &ӓ - 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&e'? +93 "core" ' +2 "manipulator"&T& +3 "core" &ӓ   5 +2 "manipulator"&K% +5 "core" %A  6 V +2 "collection"'$& +4 "core" & $\ +3 "collection"'f& +5 "core" & l\ +2 .tCC.seek :closed +2 "collection"'h(\\ +4 "core" & f\ +6 & n\ 9 +10 &KJv q\ 1 +9 &w~ f\ E +9 &2[ q\ K +10 &V l\ J +9 &X \ K +10 &yX \ K +9 &;U \ K +9 &W \ K +10 &U m\ K +9 &X m\ K +10 &!BU f\ K +9 &#W \ K +9 &$W \ J +13 &&W \ K +6 &(KX \ K +10 &* U \ K +9 &+W \ K +9 &-U \ K +9 &/SW \ K +10 &1W \ J +9 &2X \ K +10 &4W \ K +9 &6[U \ K +9 &8X \ K +10 &9X \ K +9 &;W\ \ K +9 &=cX \ K +10 &?$[\ \ \ K +9 &@Y\  \ K +10 &B\\ \ \ L +9 &Dia\ \ \ L +9 &F'n\ \ \ M +10 &G~\ \ \ \ O +9 &I\ !\ \ S +10 &KS\ +\ +\ V +9 &M\ ,\ *\ W +9 &N\ (\ *\ X +10 &P\ +\ *\ X +9 &RU\ *\ )\ X +9 &T\ (\ +\ Y +10 &U\ )\ )\ Z +9 &W\ *\ +\ [ +10 &YS\ +\ *\ [ +9 &[\ *\ *\ \\ +9 &\\jF\ +\ +\ 2 +10 &\\\ *\ +\ O +5 ( +2 "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&F1 +4 "core" &\\f\ '\ '\ O +55 1 +2 "manipulator"&n% +4 "core" % A V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%b& +4 "core" &\ +2 "manipulator"&~% +4 "core" %    +2 "storage"(s% +3 "core" %\ \ 0\  +2 "storage"(;. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(d(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z\ #\ & _\ +2 "manipulator"&v& +4 "core" &Ӕ 5 +2 "manipulator"&?% +4 "core" %    +49 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&i& +3 "core" &  +2 "storage"(B& +4 "core" &,z # + \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +96 "core" ' +2 "storage"(3& +4 "core" &,z 5 / \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +299 "core" ' +2 "storage"(D- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,m N $\ +2 "manipulator"&\ & +4 "core" & :  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &,m\ \  O\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&Y/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +3 "storage"(N' +7 "core" &   +2 "manipulator"&=% +4 "core" % e +2 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +94 "core" ' + "manipulator"&6& +4 "core" & +2 "manipulator"&X% +4 "core" % J +2 "processing"%|& +4 "core" &\ +3 "processing"%q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +7 & .\ $c +9 &S{\ 6 +10 &~\ K +9 &Z\ N +9 &XZ\ N +10 &Z\ N +9 &`\ N +9 &[\ M +10 &aZ\ N +9 &#^\ N +10 &Z\ M +9 &!Z\ M +9 &#i]\ N +10 &%+X\ N +9 &&Z\ N +9 &(\\\ N +10 &*q]\ N +9 &,3_\ N +10 &-X\ N +9 &/_\ N +9 &1y\\\ N +10 &3;]\ N +9 &4[\ N +9 &6[\ M +10 &8]\ N +9 &:CX\ N +10 &<\\\ N +9 &=_\ N +9 &?[\ N +10 &AK\\\ N +9 &C\ c\ O +9 &Dg\ O +10 &Fr\ P +9 &HG~\ R +10 &J\ S +9 &K\ T +9 &M\ T +10 &OH\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &VP\ T +10 &X\ U +9 &Y\ T +9 &[\ U +10 &]U\ E +9 &^zAq\ 's +9 &^(\ + +6 ( +2 "processing"%q& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&U1 +3 "core" &^\ + +55 1 +2 "manipulator"&*% +3 "core" %   P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +93 "core" ' +2 "processing"%m& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +3 "core" % !  ( & +2 "storage"(>% +4 "core" % M \\\  +2 "storage"(7. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"([(,y +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (G& +2 "manipulator"&& +6 "core" &,|\ \ * l\ + & \  +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'r +2 "core" ( +3 "manipulator"&1& +3 "core" &   c +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &/& +3 "core" &  ; +2 .tForearm.seek PC +42 "manipulator"&' +100 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%l( +44 "core" ' +2 "storage"(+- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'1 +43 "core" ' +358 ( +2 "storage"(H& +3 "core" &,j\ \  D\  +2 "manipulator"&C& +4 "core" &  +2 "manipulator"&#% +4 "core" %  W +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&}( +239 "core" ( +2 "manipulator"&-& +4 "core" &  ; +2 "storage"(`& +4 "core" &,j J ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +93 "core" ' +2 .tHand.open + "manipulator"&"1 +55 "core" 1 +3 "storage"(a- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(x' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(R' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(]& +4 "core" &,j f h \  +2 "manipulator"&p& +3 "core" &   C : +3 .tElbow.seek 4 + "manipulator"&S( +3 "core" ( +2 "manipulator"&& +4 "core" &   f : +2 "storage"(2& +4 "core" &,j d d \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +51 "core" ' +2 "manipulator"&g& +3 "core" & d : +2 "storage"(w& +4 "core" &,j\  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&V'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&A% +4 "core" %K  +2 "storage"()& +4 "core" &,j [ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&J'w +15 "core" ' +2 "manipulator"&(& +4 "core" &  Z : +2 "storage"(,& +4 "core" &,j * / >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +14 "core" ' +2 "storage"(O% +4 "core" % . - \ +3 ."downElevator"SE.seek :down +4 "storage"(Z' +98 ( % +3 "core" %O\ \ \ Wc +2 "manipulator"& % +4 "core" % r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &,j $ \  +2 "collection"'&& +4 "core" &\\e\ !\ !\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" % ! " $ +2 "storage"(5% +4 "core" % ! & \  +2 "storage"(8. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +54 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +3 "core" &,}\ \  \ +2 "manipulator"&j& +4 "core" &  : +2 .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&t& +4 "core" & : +2 "storage"(& +50 "core" &,} " & .\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(4& +3 "core" &,} ' ' \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(M'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" & = : +2 "storage"(L& +4 "core" &,m M \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&k'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(T- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(K'f +28 "core" ' +2 "manipulator"&$% +4 "core" %2 , +2 "storage"(& +3 "core" &,m O \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 295 counts +2 "manipulator"&'^ +14 "core" ' + "manipulator"& & +4 "core" &  : +2 "storage"('& +4 "core" &,m\ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&F' +28 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(n' +43 "core" ' + "manipulator"&b& +4 "core" &  : +2 "manipulator"&~% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +156 "core" ( +2 "manipulator"&f& +4 "core" &ә 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ә 4 +2 .tForearm.seek CC +2 "manipulator"&v'? +92 "core" ' +2 .tHand.close + "manipulator"&?/ +61 "core" / +2 .tCC.seek :open +2 "collection"'e( +447 "core" ( + "storage"(i& +4 "core" &,m J Q #\ +2 "storage"(B& +4 "core" &,m F P C\ +2 "manipulator"&P& +4 "core" &ә  4 +2 "manipulator"&3% +3 "core" % K V R +3 .tForearm.seek :retract + "manipulator"&@' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&:( +163 "core" ( +2 "manipulator"&D& +4 "core" &   +2 "storage"(& +3 "core" &,m U Q \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&\ '7 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&Y% +4 "core" % C \ S ( +2 "storage"(z& +4 "core" &,m F F %\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts +2 "manipulator"&='o +13 "core" ' +2 "manipulator"&& +4 "core" &  :  +2 "storage"({& +4 "core" &,m j k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&o' +15 "core" ' +2 "storage"(% +3 "core" % k j\ +3 ."downElevator"SE.seek :down +5 "storage"(' +99 (% +3 "core" %aJ 4 * \ U_ +2 "manipulator"&% +4 "core" % ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +41 "manipulator"&6' +97 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'X& +4 "core" & \ +2 "manipulator"&|% +3 "core" %  f  +3 "storage"(N% +3 "core" % l m\  +2 "storage"(%. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(u(<- +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +3 "core" &<* ( ( \ +2 "manipulator"&*& +3 "core" &   +3 .tElbow.seek 5 + "manipulator"&m( +4 "core" ( +2 "manipulator"& & +3 "core" & p  +2 "storage"(>& +4 "core" &<) l n \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&7'O +104 "core" ' +2 "storage"(q& +4 "core" &<) ` k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (1& +3 "core" &<) I T (\  +2 "manipulator"&/& +3 "core" &  ;  +2 .tElbow.seek 5 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&& +4 "core" & g  +2 "storage"(d& +3 "core" &<) 9 = h\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&+'Ϲ +12 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& +2 "storage"(' +8 "core" &   +2 "manipulator"&!% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +151 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&#& + "storage"(5 +8 "core" &x# O << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x# << +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'? +102 "core" ' +2 "manipulator"&`& +3 "core" &x# w << +2 "manipulator"&% +4 "core" %D \\ +2 "collection"'"& +4 "core" & /\ +3 "collection"'a& +5 "core" & 3\ +3 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & u\ +5 &< o\ $e +10 &X{ y\ 7 +9 &z j\ K +9 &U n\ K +10 &U i\ K +9 &@W \ K +10 &W f\ K +9 &W g\ K +9 &Z d\ K +10 &HW i\ K +9 & W j\ K +9 &!W k\ K +10 &#U j\ K +9 &%QU n\ K +10 &'V k\ K +9 &(W n\ K +9 &*Z n\ K +10 &,YX l\ K +9 &.W q\ K +9 &/Z f\ K +10 &1W f\ K +9 &3aW s\ K +10 &5#W p\ K +9 &6[ \ K +9 &8X\ s\ L +10 &:iX \ K +9 &<*Z \ K +9 &=X \ K +10 &?W \ K +9 &AoX \ L +10 &C1]\ t\ L +9 &Dd\ \ \ L +9 &Fm\ \ \ N +10 &Hj\ \ \ P +9 &J \ #\ \ T +10 &K\ *\ )\ W +9 &M\ (\ *r\ X +9 &O^\ (\ )\ W +10 &Q\ '\ )\ X +9 &R\ '\ )\ Y +9 &T\ (\ (\ Y +10 &V^\ (\ '\ Z +9 &X\ +\ )\ Z +10 &Y\ +\ *\ [\ +9 &[\ ,\ *\ I +9 &\\5\ *\ +\ 1 +10 &\\w\ )\ )\ Q +2 ( +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&]1 +60 "core" 1 +2 "manipulator"&p% +4 "core" % D  A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%2& +3 "core" &\ +2 "manipulator"&% +5 "core" %    + "storage"(g% +4 "core" % J 7\  +2 "storage"(w. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(A(<- +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &<+ \  +2 "manipulator"&^& +51 "core" &y#  <; +2 "manipulator"&(% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&,( +163 "core" ( +2 "manipulator"&x& +4 "core" &  +2 "storage"(O& +4 "core" &<) & " \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +89 "core" ' +3 "storage"(0& +3 "core" &<) ! % ,\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(R'r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" &<) M ;\  +3 "manipulator"&<& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&S( +3 "core" ( +2 "manipulator"&9& +4 "core" &  +2 "storage"(V& +4 "core" &<)\ +\  a\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&J'Ϲ +33 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +5 "storage"(' +3 "core" & ,  +3 "manipulator"&5% +4 "core" %   c +2 .tForearm.seek :retract +2 "manipulator"&8' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&.& +3 "core" & O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &j& +3 "core" & O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t' +98 "core" ' +2 "manipulator"&& +4 "core" & O +2 "manipulator"&I% +4 "core" %  . +2 "processing"%4& +4 "core" &\ +3 "processing"%Z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%[(^ +4 "core" &\ +8 & /\ $c +9 &U\ 7 +9 &~~\ K +10 &Z\ N +9 &X[\ N +10 &X\ N +9 &_\ N +9 &]\ N +10 &`]\ N +9 &"^\ N +9 &]\ N +10 &!]\ M +9 &#hY\ N +9 &%+Y\ M +10 &&\\\ M +9 &(\\\ M +10 &*p^\ N +9 &,3_\ M +9 &-Z\ M +10 &/_\ N +9 &1y]\ M +10 &3:Z\ N +9 &4]\ M +9 &6\\\ M +10 &8`\ N +9 &:BX\ N +10 &<\\\ M +9 &=\\\ M +9 &?\\\ N +9 &AI`\ N +10 &C h\ O +9 &Dj\ O +10 &Fs\ P +9 &HF\ R +9 &J\ S +10 &K\ S +9 &M\ T +10 &OH\ T +9 &Q\ T +9 &R\ T +10 &T\ U +9 &VN\ T +9 &X\ T +10 &Y\ U +9 &[\ U +10 &]S\ F +9 &^v?s\ *y +9 &^\ ( +6 ( +2 "processing"%Z& +3 "core" &^\ ( +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&_1 +57 "core" 1 +2 "manipulator"&c% +3 "core" %  J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +3 "processing"%y& +3 "core" &^\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&L% +3 "core" %   # +2 "storage"(T% +4 "core" % J b\  +2 "storage"($. +3 "core" .(<- +2 "storage"(& +3 "core" &<) L 6\  +3 "storage"( & +2 "manipulator"&'& +8 "core" &<)\ , M \  + & \  \\ O +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&b( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(~'r +3 "core" ( +2 "manipulator"&& +3 "core" & W O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &  * O +3 .tForearm.seek PC +2 "manipulator"&M' +91 "core" ' +9 .tHand.close +2 "manipulator"&k/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(K- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'1 +37 "core" ' +319 ( +2 "storage"(& +3 "core" &<) S \  +3 "manipulator"&F& +3 "core" & 7 O +2 "manipulator"&Q% +4 "core" %   W +3 .tForearm.seek :retract + "manipulator"&?' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&s( +244 "core" ( +2 "manipulator"&h& +3 "core" & F +2 "storage"(i& +4 "core" &<) N 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +96 "core" ' +2 .tHand.open + "manipulator"&P1 +54 "core" 1 +2 "storage"(3- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(D' +28 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(v- +3 "core" -' +2 "storage"(;& +3 "core" &<) N N \  +2 "manipulator"&& +4 "core" &   o F +2 .tElbow.seek 5 +2 "manipulator"&Y( +4 "core" ( + "manipulator"&z& +4 "core" &   F +2 "storage"(& +4 "core" &<) M M \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +52 "core" ' + "manipulator"&@& +4 "core" &  F +2 "storage"(& +4 "core" &<) A <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +28 "core" ' +2 .tElbow.hold +6 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\ ' +21 "core" ' + "manipulator"&X% +4 "core" %΂  X +2 "storage"(|& +4 "core" &<)\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 289 counts +2 "manipulator"&='Ϯ +14 "core" ' + "manipulator"&N& +4 "core" & # +2 "storage"(%& +4 "core" &<) H e\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +23 "core" ' + "storage"(o% +4 "core" %\ \\\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 ( % +3 "core" %O\ \ \ \ We +3 "manipulator"&U% +4 "core" %_   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &<) # G\  +2 "collection"'>& +5 "core" &\\v\ "\ "\ Q + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&q% +3 "core" %    +3 "storage"(% +3 "core" % X X\  +2 "storage"(6. +3 "core" .(<- +2 "storage"(G& +4 "core" &<) % (\  +2 "storage"(1& +4 "core" &<)\ _ a\  +2 "manipulator"&/& +3 "core" &  # +2 .tElbow.seek 5 +2 "manipulator"&( +17 "core" ( +2 "manipulator"&d& +3 "core" & F  +2 "storage"(& +4 "core" &<) ( (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&E'O +95 "core" ' +9 "storage"(!& +3 "core" &<) 1\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(m'r +298 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +4 "core" & :  +2 "storage"(& +3 "core" &<) % ' H\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('y +27 "core" ' + "manipulator"&"% +4 "core" %Λ ,  +2 "storage"(\\& +3 "core" &<) \  A\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&H& +3 "core" &   +2 "storage"(e& +4 "core" &<) ) " 7\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(p' +36 "core" ' +2 "manipulator"&2& +3 "core" &   +2 "manipulator"&% +4 "core" %7 ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w(ӂ +160 "core" ( +2 "manipulator"&a& +3 "core" &Ӗ \ 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +4 "core" &Ӗ  3 +2 .tForearm.seek CC +2 "manipulator"&^'? +97 "core" ' +2 .tHand.close + "manipulator"&(/ +58 "core" / +2 .tCC.seek :open +2 "collection"'-( +447 "core" ( + "storage"(x& +4 "core" &<) T 7 '\  +2 "storage"(O& +4 "core" &<) ; N 8\  +2 "manipulator"&u& +3 "core" &ӗ 3 +2 "manipulator"&0% +4 "core" % R  +2 .tForearm.seek :retract +2 "manipulator"&C' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +159 "core" ( +2 "manipulator"& & +5 "core" &  + "storage"( & +4 "core" &<) W W\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&<'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&V1 +60 "core" 1 +2 "manipulator"&W% +4 "core" % ΂ 4 +2 "storage"(&& +3 "core" &<) F S >\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 289 counts + "manipulator"&5'Ϯ +14 "core" ' +2 "manipulator"&,& +3 "core" &  B  +2 "storage"(}& +4 "core" &<) b k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +32 "core" ' +2 "storage"(J% +3 "core" % j _ \ +3 ."downElevator"SE.seek :down +3 "storage"(.' +99 (j% +3 "core" %pI # , .\ V` +2 "manipulator"&S% +4 "core" %A * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +44 "collection"'I& +6 "core" & )\ +2 "manipulator"&4% +4 "core" %  i  +2 "storage"(% +4 "core" % ] ] c\  +2 "storage"(8. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(l(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" &K K I \ +2 "manipulator"&c& +4 "core" & N  +2 .tElbow.seek 6 +2 "manipulator"&y( +4 "core" ( +2 "manipulator"&L& +3 "core" &  +  +2 "storage"(T& +4 "core" &K l m y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +92 "core" ' + "storage"(& +4 "core" &K ` ] l\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +289 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Z& +3 "core" &K Q T p\ +2 "manipulator"&& +3 "core" &  S  +3 .tElbow.seek 6 + "manipulator"&r( +3 "core" ( +2 "manipulator"&t& +4 "core" &  i  +2 "storage"(k& +3 "core" &K G G &\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&K'h +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"([' +8 "core" & s  +2 "manipulator"&~% +3 "core" % b l +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&Q& +4 "core" &Ӎ  K 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &Ӎ O 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&h'? +96 "core" ' +2 "manipulator"&i& +4 "core" &Ӎ  q 7 +2 "manipulator"&b% +4 "core" %C I  +2 "collection"'P& +4 "core" & |\ +3 "collection"'3& +5 "core" & <\ +2 .tCC.seek :closed +3 "collection"'v(\\ +5 "core" & ~\ +6 &< |\ $e +9 &Wz |\ 7 +10 &w ~\ K +9 &U ~\ K +10 &|W y\ K +9 &?W }\ J +9 &W w\ K +10 &V y\ K +9 &Z n\ K +9 &FW n\ K +10 & U k\ K +9 &!W l\ K +10 &#X o\ J +9 &%NV o\ K +9 &'W k\ J +10 &(W o\ K +9 &*W m\ J +9 &,UX m\ K +10 &.W j\ K +9 &/U o\ K +10 &1X o\ K +9 &3^V o\ K +9 &5 U n\ K +10 &6W p\ K +9 &8Y o\ K +9 &:fZ o\ K +10 &<(X o\ K +9 &=Y l\ K +10 &?Y u\ K +9 &Al[ u\ L +9 &C.b\ \ j\ L +10 &Dh\ \ o\ M +9 &Fw\ \ \ u\ O +9 &Ha\ !\ n\ R +10 &J\ 2\ .l\ V +9 &K\ 2\ 3s\ W +10 &M\ 2\ 4r\ W +9 &OY\ 1\ 1u\ X +9 &Q\ /\ 0o\ X +10 &R\ /\ /l\ Y +9 &T\ .\ -z\ Y +9 &V[\ -\ .t\ Z +10 &X\ -\ -k\ Z +9 &Y\ ,\ ,s\ [\ +10 &[\ ,\ ,w\ I +9 &\\3\ .\ -\ 5 +9 &\\o\ -\ -p\ L +3 ( +2 "collection"'3& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&;1 +63 "core" 1 +2 "manipulator"&% +3 "core" % C  O  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&?% +4 "core" %  s \ +2 "storage"(@% +4 "core" % \ 7\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(f(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +4 "core" &K\ \ \ \ +2 "manipulator"&|& +3 "core" & . +2 "manipulator"&D% +4 "core" %   \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +48 "manipulator"&N( +160 "core" ( + "manipulator"&%& +4 "core" & \  +2 "storage"(o& +4 "core" &K  :\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +98 "core" ' +2 "storage"(B& +3 "core" &K * 7 \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (U& +3 "core" &K\ +\ L\ +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&Y( +2 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &K " % r\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&='h +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&>& +2 "storage"(q' +8 "core" & 1  +2 "manipulator"&% +4 "core" % u +2 .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +3 .tElbow.seek PC + "manipulator"&\ ( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&G& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&/' +89 "core" ' +2 "manipulator"&d& +3 "core" & @ +2 "manipulator"&% +4 "core" % 1 x +2 "processing"%n& +4 "core" &k\ +3 "processing"%!& +4 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +4 "core" &\ +8 &6\ #b +9 &U!\ 7 +9 &~\ K +10 &[\ N +9 &aZ\ M +10 &#Z7\ M +9 &\\\ N +9 &^\ N +10 &h]\ N +9 &*_,\ N +9 &^\ N +10 &!Y,\ N +9 &#p^\ N +10 &%2Y\ N +9 &&_9\ N +9 &(_\ N +10 &*x^\ N +9 &,:_\ N +9 &-]\ N +10 &/]\ N +9 &1]\ N +10 &3C^(\ M +9 &5Y\ N +9 &6Z\ N +10 &8Z\ N +9 &:KZ\ M +9 &< ]\ N +10 &=_\ N +9 &?Z\ N +10 &AR]@\ N +9 &Ce\ O +9 &Dj\ P +10 &Fq\ P +9 &HN\ R +9 &J \ S +10 &K\ T +9 &M\ T +10 &ON\ T +9 &Q3\ U +9 &R4\ T +10 &T\ U +9 &VU9\ U +10 &XN\ U +9 &Y\ U +9 &[\ U +10 &][\ D +9 &^}@r\ &p +9 &^'\ , +6 ( +2 "processing"%!& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&:1 +3 "core" &^\ , +49 1 + "manipulator"&*% +4 "core" %    x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7' +94 "core" ' +3 "processing"%#& +3 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %   ) # +2 "storage"(`% +4 "core" % M c\  +2 "storage"(". +3 "core" .(K +2 "storage"(\\& +4 "core" &K L 1\ +2 "storage"(H& +3 "manipulator"&e& +8 "core" &K M e\ + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&2( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"&E& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   +3 .tForearm.seek PC + "manipulator"&m' +93 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' +9 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'1 +41 "core" ' +306 ( +2 "storage"()& +3 "core" &K ( & \ +2 "manipulator"&]& +4 "core" & +2 "manipulator"&+% +4 "core" %   S +2 .tForearm.seek :retract +2 "manipulator"&(' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&g( +239 "core" ( +2 "manipulator"&& +3 "core" & M +2 "storage"(x& +4 "core" &K\ \  U\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +96 "core" ' +2 .tHand.open + "manipulator"&u1 +53 "core" 1 +3 "storage"(0- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +3 "core" -' +2 "storage"(w& +4 "core" &K f f }\ +2 "manipulator"&V& +4 "core" &  E M +2 .tElbow.seek 6 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&&& +3 "core" &   M +2 "storage"(,& +4 "core" &K D E g\ +3 .tForearm.seek 6 + 450 counts + "manipulator"&}' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(J'" +49 "core" ' +2 "manipulator"&C& +4 "core" & 2 M +2 "storage"(j& +3 "core" &K S i\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&S'< +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +30 "core" ' + "manipulator"&5% +4 "core" %F  +2 "storage"(I& +4 "core" &K Q S\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&p'r +14 "core" ' +2 "manipulator"&4& +3 "core" &  M +2 "storage"(& +4 "core" &K Y 0 q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&8' +15 "core" ' +2 "storage"(R% +3 "core" % ' &\ +3 ."downElevator"SE.seek :down +3 "storage"(.' +99 (A% +3 "core" %XP\ \ \ We +2 "manipulator"&_% +4 "core" %  # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 (L& +2 "core" &K / z\ +2 "collection"'T& +4 "core" &\\l\ !\ "3\ L +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %   +2 "storage"(9% +4 "core" % \  +2 "storage"(. +2 "core" .(K +2 "storage"( & +5 "core" &K % '\ + "storage"(Z& +4 "core" &K & "\ +2 "manipulator"&& +4 "core" & M +2 .tElbow.seek 6 +2 "manipulator"&t( +4 "core" ( + "manipulator"&k& +4 "core" & \ M +2 "storage"(& +4 "core" &K " (\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(~& +3 "core" &K + $\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +345 "core" ' +2 "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &  M +2 "storage"(M& +4 "core" &K ] m\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&''< +18 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(b'u +28 "core" ' +2 "manipulator"&P% +4 "core" %5 e  +2 "storage"(r& +4 "core" &K\ \ " =\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 293 counts +2 "manipulator"&['a +15 "core" ' +2 "manipulator"&& +4 "core" & M +2 "storage"(-& +4 "core" &K ! \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&;' +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(' +35 "core" ' +2 "manipulator"&& +3 "core" &  M +2 "manipulator"&?% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&3& +3 "core" &ӎ  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &ӎ 8 +3 .tForearm.seek CC + "manipulator"&|'? +94 "core" ' +4 .tHand.close +2 "manipulator"&D/ +53 "core" / +2 .tCC.seek :open +2 "collection"'h( +446 "core" ( +3 "storage"(%& +3 "core" &K * 3 T\ +2 "storage"(o& +3 "core" &K & & H\ +2 "manipulator"&l& +4 "core" &  / +2 "manipulator"&B% +4 "core" % 9 Q +2 .tForearm.seek :retract +2 "manipulator"&F' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&z( +159 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(U& +4 "core" &K T U q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&{'< +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +3 "manipulator"& % +3 "core" % < H +2 "storage"(>& +3 "core" &K < 9 R\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +13 "core" ' +2 "manipulator"&N& +3 "core" &  S  +2 "storage"(s& +4 "core" &K k m F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +17 "core" ' + "storage"(=% +4 "core" % m m /\ +3 ."downElevator"SE.seek :down +3 "storage"(G' +99 (1% +3 "core" %lI ? 4\ U^ +2 "manipulator"&Y% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" & i\ +2 "manipulator"&n% +4 "core" %  z  +2 "storage"(q% +4 "core" % m l \  +2 "storage"(6. +4 "core" .(K +48 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &,{ S W\ +2 "manipulator"&*& +4 "core" & s  +2 .tElbow.seek 4 +2 "manipulator"&#( +4 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(`& +4 "core" &,{ l k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +93 "core" ' +2 "storage"(\\& +3 "core" &,{ ] ` 4\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +295 "core" ' + "storage"(H- +4 "core" -'\ + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (!& +3 "core" &,l I R \  +2 "manipulator"&E& +3 "core" &  1  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&/& +4 "core" & r  +2 "storage"(& +3 "core" &,l g Y h\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&\ / +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& +2 "storage"(' +8 "core" &  h  +2 "manipulator"&% +4 "core" % s  = +2 .tForearm.seek :retract +2 "manipulator"&)' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&+& +5 "core" &ӏ q 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &ӏ 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +102 "core" ' +2 "manipulator"&x& +3 "core" &Ӑ  5 +2 "manipulator"&2% +4 "core" %6 f +2 "collection"'u& +4 "core" & {\ +3 "collection"'0& +5 "core" & 4\ +3 .tCC.seek :closed + "collection"'^(\\ +4 "core" & v\  +9 &4 \ *z +9 & f }\ > +10 &n \ L +9 &WU }\ K +9 &W \ K +10 &W y\ K +9 &U z\ J +9 &`V |\ K +10 &"X |\ K +9 &U {\ K +10 & V q\ K +9 &"iW n\ J +9 &$)W m\ K +10 &%W o\ K +9 &'T o\ K +9 &)pV o\ K +10 &+1U n\ K +9 &,W o\ K +10 &.W m\ J +9 &0xW j\ K +9 &2:W l\ K +10 &3\\ h\ K +9 &5X k\ K +9 &7X o\ K +10 &9BY o\ K +9 &;X h\ K +10 &<X o\ K +9 &>Y o\ K +9 &@JX l\ K +10 &B Z o\ K +9 &Cb\ j\ L +9 &Eg\ \ u\ M +10 &GHu\ \ t\ N +9 &I\ \ r\ Q +10 &J\ )\ $s\ V +9 &Lv\ )\ (w\ W +9 &N6\ %\ )\ W +10 &O\ &\ (\ W +9 &Q\ '\ (n\ X +9 &Sy\ (\ '\ X +10 &U9\ )\ *\ Y +9 &V\ (\ (\ Z +10 &X\ )\ (\ [\ +9 &Zy\ (\ '\ [\ +9 &\\y\ )\ *\ / +10 &\\3\ )\ (\ a +9 ( + &\\m\ (\ '\ L +2 "collection"'0& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&w1 +54 "core" 1 +3 "manipulator"&V% +4 "core" % 6  W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%,& +4 "core" &\ +2 "manipulator"&(% +4 "core" %  :  +2 "storage"(C% +3 "core" % ) v\ +2 "storage"(j. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(5(,y +11 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (a& +2 "core" &,|\ \  \ +3 "manipulator"&I& +3 "core" &Ӑ  5 +2 "manipulator"&4% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +159 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"(R& +4 "core" &,| . - \ +49 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +94 "core" ' +2 "storage"(O& +4 "core" &,| 4 F c\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +3 "core" &,m\ \  *\  +2 "manipulator"&}& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&W( +4 "core" ( + "manipulator"&J& +4 "core" & D  +2 "storage"(S& +4 "core" &,m ! &\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&L'c +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +2 "storage"(' +7 "core" & `  +2 "manipulator"&9% +4 "core" % _ Y | +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&<( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"& & +3 "core" & i < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +4 "core" & < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&k& +3 "core" & ] < +2 "manipulator"&% +4 "core" % F * +2 "processing"%8& +4 "core" &:\ +3 "processing"%~& +5 "core" &=\ +2 .tPC.seek :closed +2 "processing"%.(^ +3 "core" &\  +9 &0y\ *x +9 &c\ > +10 &qy\ N +9 &2Z\ N +10 &Z,\ N +9 &W7\ N +9 &{Z)\ M +10 &<[(\ N +9 &_(\ N +9 &[L\ M +10 & \\\ N +9 &"DW+\ N +10 &$Z\ N +9 &%Z8\ M +9 &'[\ \ N +10 &)MZ\ M +9 &+[\ N +9 &,_4\ N +10 &.Y\ M +9 &0UZ \ M +10 &2Z\ M +9 &3Z=\ M +9 &5Y'\ N +10 &7]Z\ M +9 &9])\ N +9 &:\\r\ N +10 &<_D\ N +9 &>c^\ N +10 &@&]\ N +9 &A`\ N +9 &Cj*\ O +10 &Eem3\ P +9 &G%s\ Q +9 &H\ R +10 &J+\ S +9 &LdB\ S +10 &N"\ T +9 &O\ T +9 &Q\ T +10 &Sf\ U +9 &U)\ U +9 &V!\ U +10 &X\ T +9 &Zp1\ T +10 &\\1\ U +9 &]zu*\ @ +9 &^L\ C +10 &^ o\ 5 +9 ( + &^=\ . +2 "processing"%~& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&c% +3 "core" %   * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +90 "core" ' +2 "processing"%Q& +3 "core" &^y\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&M% +3 "core" %    +3 "storage"(i% +3 "core" % L `\  +2 "storage"(P. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(r(,y +32 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "manipulator"&-& +3 "core" &,{\ \  \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  < +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&?( +7 "core" ( + "manipulator"&& +5 "core" &   p < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +4 "core" &  < +2 .tForearm.seek PC +2 "manipulator"&y' +93 "core" ' +2 .tHand.close + "manipulator"&'/ +56 "core" / +2 .tPC.seek :open +2 "processing"%[( +90 "core" ' + "storage"(b- +43 "core" -'r +9 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +40 "core" ' +266 ( +2 "storage"(X& +3 "core" &,k K\  9\ +2 "manipulator"&;& +4 "core" & < +2 "manipulator"&K% +4 "core" %  E +2 .tForearm.seek :retract +2 "manipulator"&D' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&@( +244 "core" ( +2 "manipulator"&v& +4 "core" & = +2 "storage"(%& +4 "core" &,k K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +93 "core" ' + .tHand.open +2 "manipulator"&l1 +54 "core" 1 +3 "storage"(B- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(U' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +3 "core" -' +2 "storage"(& +4 "core" &,k f k <\ +2 "manipulator"&& +3 "core" &  ~ < +3 .tElbow.seek 4 + "manipulator"& ( +3 "core" ( +2 "manipulator"&>& +4 "core" &   8 < +2 "storage"(N& +3 "core" &,k f g \ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +52 "core" ' + "manipulator"&F& +4 "core" & < +2 "storage"(1& +3 "core" &,k M E\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&Y'7 +13 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"({' +20 "core" ' +2 "manipulator"&% +4 "core" %J  P +2 "storage"(n& +3 "core" &,k P \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&'v +14 "core" ' + "manipulator"&q& +4 "core" &  < +2 "storage"(6& +4 "core" &,k N \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(% +4 "core" % &\ +3 ."downElevator"SE.seek :down +4 "storage"(G' +98 (f% +3 "core" %O\ \  0\ Wd +2 "manipulator"&:% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +94 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,k %\ +2 "collection"'`& +5 "core" &\\m\ \ "\ L + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&\\% +4 "core" %   +2 "storage"(% +3 "core" % ! (\  +2 "storage"(d. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(H(,y +24 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (!& +3 "core" &,} [ L\ +2 "manipulator"&E& +4 "core" & + < +2 .tElbow.seek 4 +2 "manipulator"&/( +4 "core" ( +2 "manipulator"&& +3 "core" &  < +2 "storage"(\ & +4 "core" &,} ' ( \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&7' +107 "core" ' +2 "storage"(& +3 "core" &,} $ " \ +3 .tSE.reconfigure :pick +46 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak + "storage"(#'r +295 "core" ' +2 "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&+& +3 "core" & < +2 "storage"(m& +4 "core" &,m\ ,\ . <\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&e'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(x- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(2'g +30 "core" ' + "manipulator"&u% +5 "core" %K  K + "storage"(& +4 "core" &,m\ " ^\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"&'w +14 "core" ' +2 "manipulator"&)& +3 "core" & 0 < +2 "storage"(h& +4 "core" &,m !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&w' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(V' +34 "core" ' +2 "manipulator"&,& +4 "core" &  < +2 "manipulator"&(% +4 "core" % ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +149 "core" ( +2 "manipulator"&0& +3 "core" &ӌ$ <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +2 "core" &ӌ# / <@ +3 .tForearm.seek CC + "manipulator"&I'? +95 "core" ' +2 .tHand.close + "manipulator"&4/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"( & +4 "core" &,m * 5 .\ +2 "storage"(R& +3 "core" &,m ' ' 1\ +2 "manipulator"&& +4 "core" &Ӑ# N << +2 "manipulator"&]% +3 "core" % =  , +2 .tForearm.seek :retract +2 "manipulator"&O' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&&( +154 "core" ( + "manipulator"&A& +4 "core" &   +2 "storage"(_& +5 "core" &,m W W\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&}'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +56 "core" 1 +2 "manipulator"&p% +4 "core" % %   : +2 "storage"(T& +4 "core" &,m F F \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 282 counts +2 "manipulator"&9'Q +16 "core" ' +2 "manipulator"&& +4 "core" &  A +2 "storage"(g& +4 "core" &,m g X S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +15 "core" ' +2 "storage"(L% +3 "core" % m m\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (Z% +3 "core" %K 7 E 1\ Va +2 "manipulator"&W% +5 "core" % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & n\ +2 "manipulator"&8% +4 "core" %  i  +47 "storage"(% +5 "core" % k l \  +2 "storage"(. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +345 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<- , & \ +2 "manipulator"&c& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&M& +4 "core" &  q +2 "storage"(i& +5 "core" &<- N \\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +92 "core" ' +2 "storage"(~& +4 "core" &<- k a \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<- J F \ +2 "manipulator"&t& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&'& +4 "core" &  D +2 "storage"(5& +3 "core" &<- k ` s\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&b'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%N& +4 "core" &.\ +2 "manipulator"&D% +4 "core" %    +2 "storage"(F% +4 "core" % $ & 8\  +2 "storage"(1. +2 "core" .(<- +2 "storage"(& +4 "core" &<- ^ w\ +2 "storage"(n& +3 "core" &<-\ \  \ +2 "manipulator"&3& +4 "core" &ӏ!  :1 +2 "manipulator"&q% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +164 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(& +4 "core" &<- / 0 r\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 5 + 450 counts +3 "manipulator"&@'O +93 "core" ' + "storage"(o& +4 "core" &<- J P \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'r +303 "core" ' +2 "storage"(f- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (:& +3 "core" &<- \\\ +2 "manipulator"&s& +5 "core" &   +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( +2 "manipulator"&=& +3 "core" & !  +2 "storage"(Y& +4 "core" &<- & ! \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(\\' +8 "core" & Y  +2 "manipulator"&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&{' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&d( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&!& +4 "core" &  I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" & H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&\ & +4 "core" & % H +2 "manipulator"&% +3 "core" % 6 8 +3 "processing"%& +3 "core" &'\ +3 "processing"%G& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%r(^ +5 "core" &\ +6 &7\ $c +9 &U(\ 7 +9 &)\ L +10 &Y3\ N +9 &l]\ M +9 &.Y*\ M +10 &_(\ N +9 &Y\ M +10 &tZ#\ M +9 &6\\\ M +9 &[\ N +10 &!\\\ N +9 &#{](\ N +9 &%>]\ M +10 &'\\7\ M +9 &(\\\ N +9 &*^\ N +10 &,E_&\ N +9 &.] \ N +10 &/_\ N +9 &1_$\ N +9 &3MZ\ N +10 &5\\\ M +9 &6\\5\ N +10 &8`\ N +9 &:UY\ N +9 &<\\\ M +10 &=\\\ N +9 &?Z\ N +9 &A\\^\ N +10 &Cg)\ O +9 &Dk\ P +10 &Fs\ P +9 &HW\ R +9 &J\ T +10 &K\ S +9 &M4\ T +9 &OZ\ T +10 &Q%\ U +9 &R\ U +9 &T\ U +10 &V`\ U +9 &X#\ T +10 &Y\ U +9 &[\ U +9 &]h'\ B +10 &^@t\ ` +9 &^;\ 0 +5 ( +3 "processing"%G& +3 "core" &^ \ 0 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&z1 +60 "core" 1 +2 "manipulator"&*% +4 "core" %    8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +98 "core" ' +2 "processing"%+& +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&m% +3 "core" % !  # + +2 "storage"(x% +4 "core" %   q\  +2 "storage"(u. +3 "core" .(<- +2 "storage"(& +3 "core" &<- X\ +3 "storage"()& +2 "manipulator"&h& +7 "core" &<- V $\ + &  H +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&,( +6 ."raiseStack"SE.seek :beamBreak + "storage"(('r +3 "core" ( + "manipulator"&7& +5 "core" &   E H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &  \  H +2 .tForearm.seek PC +2 "manipulator"&#' +90 "core" ' +2 .tHand.close + "manipulator"&e/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +99 "core" ' + "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'1 +40 "core" ' +304 ( +41 "storage"(a& +11 "core" &<- ! '\ +2 "manipulator"&w& +4 "core" &  H +2 "manipulator"&% +4 "core" %  _ +2 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&C( +244 "core" ( +2 "manipulator"&^& +4 "core" & i F +2 "storage"( & +3 "core" &<-\ \  I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +95 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "storage"(]- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(_' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(I- +2 "core" -' +3 "storage"(j& +3 "core" &<- L L ;\ +2 "manipulator"&S& +5 "core" &  . E +2 .tElbow.seek 5 + "manipulator"&p( +3 "core" ( +2 "manipulator"&T& +4 "core" &    E +2 "storage"(& +4 "core" &<- M M \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(L'" +51 "core" ' +2 "manipulator"&O& +3 "core" & E +3 "storage"(Z& +3 "core" &<- Z d\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&W'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(}' +20 "core" ' +2 "manipulator"&% +4 "core" %΅ p s +2 "storage"(8& +4 "core" &<- J L\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&9'ϱ +14 "core" ' + "manipulator"&& +4 "core" & .  +2 "storage"(V& +4 "core" &<- " &\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +23 "core" ' + "storage"( % +4 "core" % ! $ ,\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (H% +4 "core" %PV\ \ \ Xg +2 "manipulator"&% +3 "core" %V # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +86 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (M& +3 "core" &<-\  q \ +2 "collection"'i& +4 "core" &\\`\ \ $\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&~% +4 "core" %   +2 "storage"(J% +4 "core" % - ) @\  +2 "storage"(k. +2 "core" .(<- +2 "storage"(-& +4 "core" &<- . - \ +2 "storage"(& +3 "core" &<- . - \ +2 "manipulator"&t& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&'( +18 "core" ( +2 "manipulator"&5& +3 "core" &  +2 "storage"(<& +4 "core" &<- # , \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +92 "core" ' + "storage"(& +4 "core" &<- 4 ) F\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'r +17 "Can"\ fc +281 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" &  +2 "storage"(y& +4 "core" &<- ! & :\ +48 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +28 "core" ' +2 .tElbow.hold + "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(?'x +28 "core" ' +2 "manipulator"&% +5 "core" %Γ  M + "storage"(l& +4 "core" &<- M u\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 306 counts + "manipulator"&.'Ͽ +14 "core" ' + "manipulator"&X& +4 "core" & #  +2 "storage"(& +5 "core" &<- 1 $ =\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&N& +5 "core" &   + "manipulator"&D% +4 "core" %3 O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +153 "core" ( +2 "manipulator"&& +3 "core" &|" ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &|" S ;8 +3 .tForearm.seek CC + "manipulator"&3'? +98 "core" ' + .tHand.close +2 "manipulator"&B/ +55 "core" / +2 .tCC.seek :open +2 "collection"'q( +449 "core" ( +2 "storage"(v& +4 "core" &<- % '\ +2 "storage"( & +3 "core" &<-  #\ +2 "manipulator"&& +4 "core" &Ӥ ] 6 +2 "manipulator"&;% +4 "core" % (  = +2 .tForearm.seek :retract +2 "manipulator"&o' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&>( +163 "core" ( + "manipulator"&f& +4 "core" &  )  +2 "storage"(:& +4 "core" &<- V U !\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&s'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&Y1 +61 "core" 1 +2 "manipulator"&% +4 "core" % Ι  6 +2 "storage"(`& +4 "core" &<- < M 0\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +3 "manipulator"&' +14 "core" ' + "manipulator"&6& +5 "core" &  i  + "storage"(@& +4 "core" &<- N X O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&U'O +23 "core" ' +2 "storage"(% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +3 "storage"(!' +99 (E% +3 "core" %F E > K\ Va +2 "manipulator"& % +3 "core" %W P  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & u\ +2 "manipulator"&% +4 "core" % \  }  +2 "storage"(\\% +5 "core" % m l \  + "storage"({. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"([(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &K R K .\ +46 "manipulator"&*& +6 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&+( +2 "core" ( +3 "manipulator"&m& +3 "core" &   +2 "storage"(x& +4 "core" &K _ h 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&u' +95 "core" ' +2 "storage"(G& +3 "core" &K _ j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +293 "core" ' +2 "storage"(h- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ()& +4 "core" &K S S \ +2 "manipulator"&7& +4 "core" & G  +2 .tElbow.seek 6 +2 "manipulator"&/( +2 "core" ( +3 "manipulator"&& +3 "core" & \    +2 "storage"(e& +4 "core" &K V W\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&2'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +3 "storage"(r' +5 "core" &  U  +2 "manipulator"&(% +5 "core" % u  S +2 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &ӏ 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &ӏ c 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'? +92 "core" ' +2 "manipulator"& & +4 "core" &ӏ  t 8 +2 "manipulator"&,% +4 "core" %D * f +2 "collection"'& +4 "core" & ?\ +3 "collection"']& +5 "core" & <\ +2 .tCC.seek :closed +2 "collection"'I(\\ +4 "core" & \ +8 & 3 y\ $e +9 &X{ w\ 7 +9 &x }\ K +10 &U y\ L +9 &vW w\ K +9 &8W y\ K +10 &W |\ K +9 &W \ K +10 &}W \ K +9 &?V y\ K +9 & V }\ K +10 &!W }\ K +9 &#X ~\ L +9 &%GU y\ K +10 &'\ T z\ K +9 &(W y\ K +10 &*U x\ K +9 &,PW w\ K +9 &.V o\ K +10 &/W q\ K +9 &1X p\ K +9 &3WW k\ K +10 &5W n\ K +9 &6W s\ K +10 &8[ ~\ K +9 &:^Y \ L +9 &<"W w\ K +10 &=Y \ K +9 &?Z \ K +9 &Af[ q\ L +10 &C'b\ \ x\ L +9 &Dk\ \ \ M +10 &Fv\ \ m\ O +9 &H[\ \ q\ R +9 &J\ 1\ -v\ U +10 &K\ 2\ 2s\ W +9 &M\ 1\ 3\ W +9 &OS\ /\ 1\ X +10 &Q\ -\ /\ X +9 &R\ /\ .u\ X +10 &T\ ,\ .s\ Z +9 &VU\ -\ -\ Z +9 &X\ .\ -\ [ +10 &Y\ -\ -u\ \\ +9 &[\ -\ ,\ H +9 &\\9\ *\ .{\ , +10 &\\\ ,\ *z\ Z +5 ( +2 "collection"']& +4 "core" &\\}\ )\ 'z\ Z +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&j1 +61 "core" 1 +2 "manipulator"&S% +4 "core" % F * d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&4% +3 "core" %  ,  +2 "storage"(O% +4 "core" % M 0\  +2 "storage"(Z. +3 "core" .(K +2 "storage"(& +3 "core" &K H 3\ +2 "storage"(8& +4 "core" &K M \ +2 "manipulator"&0& +4 "core" &  / +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&V( +156 "core" ( + "manipulator"&A& +4 "core" &   +2 "storage"( & +4 "core" &K % "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +96 "core" ' +2 "storage"(R& +3 "core" &K ' !\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +297 "core" ' +48 "storage"(H- +5 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K M l\ +2 "manipulator"&g& +3 "core" &  +3 .tElbow.seek 6 + "manipulator"&p( +4 "core" ( +2 "manipulator"&L& +3 "core" & d  +2 "storage"(W& +4 "core" &K H J\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&9'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&M/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& +2 "storage"(~' +8 "core" & +  +2 "manipulator"&J% +4 "core" % a I +2 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&-& +4 "core" &  B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & ' B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&t' +89 "core" ' +2 "manipulator"&5& +5 "core" &  B + "manipulator"&<% +4 "core" %  ^ +2 "processing"%& +4 "core" &1\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"% (^ +4 "core" &2\  +9 &1y3\ )w +9 &c*\ > +10 &pw2\ N +9 &2Z1\ N +9 &Y,\ N +10 &Z2\ N +9 &zZ4\ M +9 &;[4\ N +10 &_)\ N +9 &Z*\ M +10 & \\/\ N +9 &"CW/\ N +9 &$Y-\ N +10 &%X'\ N +9 &'Z'\ M +9 &)KZ%\ N +10 &+ Y+\ N +9 &,[ \ M +10 &.Y\ N +9 &0S\\\ N +9 &2W(\ N +10 &3X&\ N +9 &5X\ N +9 &7\\Z\ M +10 &9]\ N +9 &:Z\ N +10 &<Z\ N +9 &>c]\ N +9 &@%\\(\ N +10 &Ad&\ O +9 &Cg'\ O +9 &Eep%\ P +10 &G$u\ Q +9 &H)\ S +10 &J \ S +9 &Lb\ S +10 &N"\ T +9 &O%\ T +9 &Q&\ U +9 &Sg*\ T +10 &U(*\ U +9 &V#\ U +10 &X\ T +9 &Zo\ T +9 &\\0\ U +10 &]zv\ A +9 &^L\ D +9 &^ p\ 6 +9 ( +2 &^ \ 0 +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&&1 +58 "core" 1 + "manipulator"&c% +4 "core" %    ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +95 "core" ' +2 "processing"%K& +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&y% +4 "core" % !  ' +2 "storage"(%% +4 "core" % \ \ 4\  +2 "storage"(. +3 "core" .(K +2 "storage"(l& +3 "core" &K\ \ \ Y\ +3 "storage"(X& +2 "manipulator"&& +7 "core" &K\ \  \ + &   B +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&N( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(D'r +3 "core" ( +2 "manipulator"&$& +3 "core" &   : B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &   : B +3 .tForearm.seek PC + "manipulator"&Q' +93 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%.( +100 "core" ' + "storage"(?- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +298 ( +2 "storage"(n& +3 "core" &K N `\ \ +2 "manipulator"&& +4 "core" &  B +2 "manipulator"&b% +5 "core" %   f +2 .tForearm.seek :retract +2 "manipulator"&B' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +43 .tElbow.seek 6 +9 "manipulator"&F( +245 "core" ( +2 "manipulator"&|& +4 "core" & E +2 "storage"(v& +3 "core" &K\ \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +98 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(;- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(f' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' + "storage"(1& +4 "core" &K I = \ \ +2 "manipulator"&Y& +4 "core" &  E +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&`& +4 "core" &   2 E +2 "storage"(6& +4 "core" &K ( , n\ \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&o& +3 "core" &  E +2 "storage"(E& +4 "core" &K K W\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +28 "core" ' +2 "manipulator"&% +3 "core" %8  +2 "storage"(& +4 "core" &K J R\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"&'d +13 "core" ' +2 "manipulator"&\\& +3 "core" &  E +3 "storage"({& +3 "core" &K \ ! [\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +17 "core" ' + "storage"(U% +4 "core" % % ,\ +3 ."downElevator"SE.seek :down +4 "storage"(!' +98 (% +3 "core" %T\ \ \ \ Wf +2 "manipulator"&z% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (m& +3 "core" &K M 6\ \ +2 "collection"'x& +4 "core" &\\{\ \ u\ Z +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&G% +3 "core" %   +2 "storage"(=% +4 "core" %\ \ I\  +2 "storage"(\ . +3 "core" .(K +2 "storage"(h& +4 "core" &K\ \  \ \ +2 "storage"()& +3 "core" &K\ \  <\ \ +2 "manipulator"&7& +4 "core" & E +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&e& +4 "core" & - E +2 "storage"(d& +4 "core" &K\ \  L\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +92 "core" ' +2 "storage"((& +4 "core" &K & #\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'r +299 "core" ' +3 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & E +2 "storage"(#& +4 "core" &K M A\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +42 "storage"( - +10 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(,'v +28 "core" ' +2 "manipulator"&% +3 "core" %F " +2 "storage"(/& +4 "core" &K M 7\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&r'r +13 "core" ' +2 "manipulator"&a& +4 "core" & H E +2 "storage"(q& +4 "core" &K "\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(S' +39 "core" ' +2 "manipulator"&& +3 "core" & E +2 "manipulator"&4% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +91 "core" ' +3 .tElbow.seek CC + "manipulator"&Z(ӂ +146 "core" ( +2 "manipulator"&& +4 "core" &{"   ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &{"  ;5 +2 .tForearm.seek CC +2 "manipulator"&]'? +95 "core" ' + .tHand.close +2 "manipulator"&0/ +61 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(^& +3 "core" &K G P \ \ +2 "storage"(A& +4 "core" &K 6 * ^\ \ +2 "manipulator"& & +4 "core" & . +2 "manipulator"&R% +3 "core" % J = +3 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&T( +160 "core" ( + "manipulator"&H& +4 "core" &   +2 "storage"(& +4 "core" &K V V\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&g'< +97 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +54 "core" 1 +2 "manipulator"&M% +3 "core" % 7   0 +2 "storage"(i& +4 "core" &K F < \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 295 counts + "manipulator"&J'c +13 "core" ' +3 "manipulator"&V& +3 "core" & X  +2 "storage"(C& +4 "core" &K k l \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +22 "core" ' +2 "storage"(9% +4 "core" % l i g\ +3 ."downElevator"SE.seek :down +3 "storage"(-' +99 (% +3 "core" %K / 2\ V` +2 "manipulator"&p% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'<& +3 "core" & 5\ +2 "manipulator"&% +4 "core" %   +2 "storage"(~% +3 "core" % m m \ +2 "storage"(k. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +674 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +4 "core" &,u R K 9\ +2 "manipulator"&c& +3 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&K( +4 "core" ( + "manipulator"&y& +4 "core" &  G  +2 "storage"(%& +3 "core" &,u k m ~\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 4 + 450 counts +3 "manipulator"&' +94 "core" ' +2 "storage"(l& +3 "core" &,u g ] _\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(X- +3 "core" -'\ +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,l T W\ +2 "manipulator"&$& +3 "core" & !  +3 .tElbow.seek 4 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&t& +3 "core" & X  +2 "storage"(& +4 "core" &,l V V f\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&?'c +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& +2 "storage"( ' +8 "core" &  _  +2 "manipulator"&D% +4 "core" % m I +2 .tForearm.seek :retract +2 "manipulator"&n' +96 "core" ' +3 .tElbow.seek CC + "manipulator"&(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&b& +4 "core" &{"  ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &{" / ;6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&|'? +95 "core" ' +3 "manipulator"&v& +3 "core" &|" K ;5 +2 "manipulator"&N% +4 "core" %= C ? +2 "collection"'& +4 "core" & \ +3 "collection"';& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'3(\\ +5 "core" & \ +7 &; \ %f +9 &Y} \ 7 +10 &y \ L +9 &U \ K +9 &W \ K +10 &EW g\ K +9 &X \ K +10 &X \ K +9 &W \ K +9 &MW \ K +10 & X \ K +9 &!Z \ K +9 &#W \ K +10 &%UV \ K +9 &'W \ K +10 &(W B\ K +9 &*W G\ K +9 &,^W \ K +10 &. W @\ K +9 &/W H\ K +9 &1Y \ K +10 &3eX e\ K +9 &5'W U\ K +10 &6X k\ K +9 &8Z n\ K +9 &:nX }\ K +10 & +9 &zu7\ N +9 &<Z4\ N +10 &Y3\ M +9 &V5\ N +10 &W4\ N +9 &D]9\ N +9 &Z8\ N +10 &Z7\ M +9 & [3\ N +9 &"M\\3\ N +10 &$^1\ N +9 &%\\4\ M +10 &'Z6\ M +9 &)UZ6\ N +9 &+]6\ N +10 &,^/\ N +9 &.[0\ M +9 &0]Z*\ N +10 &2]5\ N +9 &3]+\ N +10 &5[,\ N +9 &7fZ*\ M +9 &9']*\ N +10 &:_,\ N +9 &<Y+\ N +9 &>m\\*\ N +10 &@/\\*\ N +9 &Ab*\ N +10 &Cg-\ O +9 &Eoo*\ P +9 &G/s)\ P +10 &H,\ R +9 &J*\ S +9 &Ll)\ S +10 &N-*\ T +9 &O*\ T +10 &Q%\ T +9 &Sp)\ U +9 &U3-\ T +10 &V+\ T +9 &X)\ T +9 &Zx)\ U +10 &\\9(\ U +9 &]zv*\ ; +10 &^(r*\ R +9 &^#)\ / +2 ( +2 "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&>1 +62 "core" 1 +3 "manipulator"&*% +3 "core" %    O a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' +2 "processing"%& +3 "core" &^!\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&#% +5 "core" %   \   + "storage"( % +4 "core" % J h\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(/(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "manipulator"&q& +6 "core" &,{ M X\ + &  Y +2 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +5 .tElbow.seek PC + "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(4'r +10 "core" ( +2 "manipulator"&"& +4 "core" &  Q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   5  +2 .tForearm.seek PC +2 "manipulator"&+' +96 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%r( +80 "core" ' + "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +322 ( +2 "storage"(8& +4 "core" &,k\  a\ +2 "manipulator"&j& +3 "core" & (  +2 "manipulator"&2% +4 "core" %  J & +2 .tForearm.seek :retract +2 "manipulator"&0' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +42 "manipulator"&O( +251 "core" ( +2 "manipulator"&I& +3 "core" & F +2 "storage"(^& +4 "core" &,k L \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +96 "core" ' +2 .tHand.open +2 "manipulator"& 1 +63 "core" 1 +3 "storage"(R- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(H' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"(Z& +4 "core" &,k @ > <\ +2 "manipulator"&W& +3 "core" &   F +2 .tElbow.seek 4 +2 "manipulator"&M( +4 "core" ( + "manipulator"&i& +4 "core" &    F +2 "storage"(V& +4 "core" &,k + ) C\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +50 "core" ' +2 "manipulator"&w& +3 "core" &  F +2 "storage"(& +4 "core" &,k P U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&p'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +28 "core" ' +2 "manipulator"&J% +3 "core" %E * ' +2 "storage"(<& +4 "core" &,k P \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 314 counts + "manipulator"&'q +16 "core" ' + "manipulator"&~& +4 "core" & F +2 "storage"(k& +4 "core" &,k * \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&S' +16 "core" ' + "storage"(_% +4 "core" % " (\ +3 ."downElevator"SE.seek :down +4 "storage"(-' +98 ([% +3 "core" %[O\ \  C\ Vc +2 "manipulator"&&% +4 "core" % ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +95 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (y& +3 "core" &,k # *\ +2 "collection"'%& +5 "core" &\\p\ \ -\ N + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&l% +4 "core" %    +2 "storage"(L% +3 "core" %\ \  .\  +2 "storage"(5. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(X(,y +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| \  ~\ +2 "manipulator"&$& +5 "core" & F +2 .tElbow.seek 4 + "manipulator"&t( +3 "core" ( +2 "manipulator"&& +4 "core" & F +2 "storage"(}& +4 "core" &,|\  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&P' +96 "core" ' +2 "storage"(D& +4 "core" &,| . $ N\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +301 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +4 "core" & F + "storage"(Q& +4 "core" &,m M \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' + .tElbow.hold +47 "manipulator"&?, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(v- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(N'g +29 "core" ' +2 "manipulator"&% +3 "core" %G  K +2 "storage"('& +4 "core" &,m L y\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"& 's +13 "core" ' +2 "manipulator"&n& +4 "core" & F +3 "storage"(& +3 "core" &,m\ \  2\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(Y' +36 "core" ' +2 "manipulator"&6& +3 "core" &  F +2 "manipulator"&B% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +146 "core" ( +2 "manipulator"&;& +4 "core" &x$   U =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x$ h =B +3 .tForearm.seek CC + "manipulator"&'? +101 "core" ' + .tHand.close +2 "manipulator"&\\/ +54 "core" / +3 .tCC.seek :open +2 "collection"'|( +452 "core" ( +2 "storage"(f& +3 "core" &,m E 4 t\ +2 "storage"(U& +5 "core" &,m " # 9\ + "manipulator"&& +4 "core" &y%  =A +2 "manipulator"& % +3 "core" % ; : +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&`( +155 "core" ( + "manipulator"&& +4 "core" & >  +2 "storage"(z& +4 "core" &,m V U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&@'7 +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&% +5 "core" % ;  + "storage"(x& +4 "core" &,m V J n\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 304 counts + "manipulator"&='g +14 "core" ' +2 "manipulator"&{& +4 "core" &  S  +2 "storage"(F& +3 "core" &,m l k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +15 "core" ' +2 "storage"(m% +4 "core" % n m \ +3 ."downElevator"SE.seek :down +3 "storage"(h' +99 ()% +4 "core" %D 2 B F\ V_ +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'d& +3 "core" & \ +2 "manipulator"&% +4 "core" %  !  +2 "storage"(G% +5 "core" % k k i\  + "storage"(\ . +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(.(<- +357 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +2 "core" &<,\  ^ z\  +3 "manipulator"&*& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&#& +3 "core" &  +2 "storage"( & +50 "core" &<+ < F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + "storage"((& +4 "core" &<+ \\ i M\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +294 "core" ' + "storage"(a- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +3 "core" &<+ T S $\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&7( +4 "core" ( + "manipulator"&& +4 "core" & P  +2 "storage"(& +4 "core" &<+ V U h\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&,'Ϲ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(!' +6 "core" & I  +3 "manipulator"&4% +4 "core" %  f +2 .tForearm.seek :retract +2 "manipulator"&8' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +152 "core" ( +2 ' + "manipulator"&2& +2 ."downElevator"SE.stop +6 "storage"(5 +2 "core" &Ӑ k 5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &Ӑ  " 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&I'? +99 "core" ' +2 "manipulator"&^& +4 "core" &ӑ  5\ +2 "manipulator"&% +4 "core" %9  +2 "collection"' & +4 "core" & \ +3 "collection"'R& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'](\\ +3 "core" & \ +9 &; \ %f +9 &Wz \ 7 +10 &y \ K +9 &T \ K +10 &U \ K +9 &BV \ K +9 &W \ K +10 &V \ K +9 &Z \ K +9 &JW \ K +10 & W \ K +9 &!V \ J +9 &#X \ K +10 &%SU \ K +9 &'W \ J +10 &(W \ K +9 &*W \ K +9 &,ZU \ K +10 &.W \ K +9 &/W \ K +9 &1X \ K +10 &3cW \ K +9 &5%W \ K +10 &6W \ K +9 &8W \ K +9 &:kX \ K +10 &<,W \ K +9 &=W \ K +9 &?T \ K +10 &AsX \ K +9 &C3^ ;\ L +10 &Dg \ \ M +9 &Fk\ \ >\ N +9 &Hl\ \ \ P +10 &J!\ #\ f\ U +9 &K\ (\ (n\ V +9 &M\ *\ (m\ W +10 &O_\ )\ (n\ W +9 &Q\ &\ (\ X +10 &R\ (\ )\ Y +9 &T\ &\ ':\ Y +9 &V`\ )\ 'l\ Z +10 &X \ &\ '\ Z +9 &Y\ )\ )\ [ +9 &[\ ,\ (\ H +10 &\\5\ (\ ,\ / +9 &\\r\ (\ +\ Q +3 ( +2 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&Z1 +60 "core" 1 +2 "manipulator"&W% +4 "core" % 9 ^  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%V& +4 "core" &:\ +2 "manipulator"&0% +4 "core" %    +2 "storage"(w% +3 "core" %\ \  #\  +2 "storage"(. +4 "core" .(<- +2 "storage"(J& +3 "core" &<+\ \  ]\  +2 "storage"(<& +4 "core" &<+\ \  \  +2 "manipulator"&& +4 "core" &ӑ  5\ +2 "manipulator"&~% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&k( +161 "core" ( +2 "manipulator"&H& +3 "core" &  +2 "storage"(_& +4 "core" &<+ # &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&O'O +95 "core" ' +2 "storage"(A& +4 "core" &<+ , . #\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +3 "core" &<+ ] \  +2 "manipulator"&C& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&M( +50 "core" ( +3 "manipulator"&9& +4 "core" &   +2 "storage"(p& +3 "core" &<+ %\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&y'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"(l' +8 "core" &   +2 "manipulator"&L% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&5' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&g( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +3 "manipulator"&& +3 "core" & : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" & S : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"&}& +4 "core" & : +2 "manipulator"&S% +4 "core" % 4 +2 "processing"%D& +5 "core" &\ +2 "processing"%-& +5 "core" &;\ +2 .tPC.seek :closed +2 "processing"%/(^ +5 "core" &9\ +6 &78\ #c +10 &U}8\ 7 +9 &}9\ K +9 &\\6\ N +10 &_Y:\ M +9 &!W6\ M +9 &[6\ M +10 &Z9\ N +9 &f\\5\ N +10 &(Y6\ N +9 &Z2\ M +9 &!Z4\ N +10 &#n]2\ N +9 &%0]7\ N +9 &&^5\ N +10 &(_4\ N +9 &*vZ7\ N +10 &,8Z7\ N +9 &-Y6\ N +9 &/[8\ N +10 &1~\\1\ N +9 &3@],\ N +9 &5Y*\ M +10 &6\\*\ N +9 &8\\/\ N +9 &:I[0\ M +10 &<\ ]2\ N +9 &=_+\ N +10 &?\\+\ N +9 &AO`+\ N +9 &C h/\ O +10 &Dl,\ O +9 &Fs*\ Q +10 &HK+\ R +9 &J +\ S +9 &K*\ S +10 &M*\ T +9 &OM*\ T +9 &Q +\ U +10 &R/\ T +9 &T-\ U +9 &VU*\ T +10 &X+\ U +9 &Y-\ U +10 &[,\ U +9 &][.\ B +9 &^P~+\ E +10 &^,\ U +9 &^*\ / +2 ( +2 "processing"%-& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&T1 +53 "core" 1 +2 "manipulator"&c% +3 "core" %   \  4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 "processing"%b& +3 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&Q% +3 "core" %    9  +2 "storage"(v% +4 "core" % M Q\  +2 "storage"(. +3 "core" .(<- +2 "storage"('& +3 "core" &<+ M '\  +3 "storage"(n& +2 "manipulator"&& +6 "core" &<+ J q\  +2 &   : +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&6( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'r +3 "core" ( +2 "manipulator"&P& +3 "core" &  : +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &   : +2 .tForearm.seek PC +2 "manipulator"&K' +97 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +3 .tPC.seek :open +2 "processing"% ( +82 "core" ' +2 "storage"(;- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(N'1 +45 "core" ' +317 ( + "storage"(& +4 "core" &<+ %\  +2 "manipulator"&1& +4 "core" & : +2 "manipulator"&?% +3 "core" %  / +3 .tForearm.seek :retract + "manipulator"&\\' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&o( +242 "core" ( +2 "manipulator"&3& +4 "core" & < +2 "storage"(f& +4 "core" &<+ O b\  +2 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +94 "core" ' +2 .tHand.open + "manipulator"&1 +56 "core" 1 +3 "storage"( - +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(E& +4 "core" &<+ ) ) |\  +2 "manipulator"& & +4 "core" &   ; +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&x& +4 "core" &    ; +2 "storage"({& +3 "core" &<+ + 4 K\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(m'" +52 "core" ' +2 "manipulator"&& +3 "core" & ; +2 "storage"()& +4 "core" &<+ J ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(@' +21 "core" ' + "manipulator"&d% +4 "core" %΋  l +2 "storage"(& +4 "core" &<+\ \  X\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 298 counts + "manipulator"&='Ϸ +14 "core" ' +2 "manipulator"&G& +3 "core" &  +2 "storage"(\ & +4 "core" &<+\ \  -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +24 "core" ' +2 "storage"(:% +4 "core" % & \ +3 ."downElevator"SE.seek :down +3 "storage"(h' +99 (X% +3 "core" %_R\ \ \ Xf +2 "manipulator"&>% +4 "core" %v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (#& +3 "core" &<+ %  w\  +2 "collection"' & +4 "core" &\\k\ \ S\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&(% +3 "core" %   +2 "storage"(% +4 "core" % % ! \  +2 "storage"(e. +3 "core" .(<- +2 "storage"(a& +3 "core" &<+ & "\  +2 "storage"("& +4 "core" &<+ % '\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +18 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(s& +4 "core" &<+ ! \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&u'O +100 "core" ' + "storage"(4& +4 "core" &<+ - + W\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +5 "storage"(- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" & l  +2 "storage"(+& +4 "core" &<+\ \  )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&q'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(^- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('x +29 "core" ' + "manipulator"& % +4 "core" %Ώ + +2 "storage"(7& +46 "core" &<+\ ! R\  +6 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&!'ϻ +14 "core" ' +2 "manipulator"&8& +3 "core" & 6  +2 "storage"(|& +4 "core" &<+ $ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +13 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(W' +35 "core" ' +2 "manipulator"&V& +3 "core" & #  +2 "manipulator"&0% +4 "core" %T B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +40 "manipulator"&J& +3 "core" &ӎ  5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +4 "core" &ӎ Q 5 +2 .tForearm.seek CC +2 "manipulator"&<'? +99 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'~( +446 "core" ( +2 "storage"(I& +3 "core" &<+ F 4 G\  +2 "storage"(H& +4 "core" &<+ 4 ( S\  +2 "manipulator"&_& +4 "core" &ӑ  5 +2 "manipulator"&A% +3 "core" % <  +3 .tForearm.seek :retract +2 "manipulator"&j' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&i( +161 "core" ( +2 "manipulator"&[& +4 "core" &  +2 "storage"(&& +3 "core" &<+ S T (\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&C'΍ +100 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +64 "core" 1 +2 "manipulator"&% +4 "core" % Δ  +2 "storage"(%& +4 "core" &<+ E G \  +2 .tForearm.force -20 +5 "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&L' +15 "core" ' +2 "manipulator"&k& +4 "core" & ]  +2 "storage"(O& +3 "core" &<+ k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +25 "core" ' + "storage"(y% +4 "core" % n n -\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ($% +3 "core" %I 3 G \ V` +2 "manipulator"&M% +3 "core" %t R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +94 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'S& +3 "core" & \ +2 "manipulator"&D% +4 "core" %    +2 "storage"(l% +4 "core" % k k \  +2 "storage"(5. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(r(K +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (T& +2 "core" &K , $ +\  +2 "manipulator"&c& +4 "core" & k  +2 .tElbow.seek 6 +2 "manipulator"&b( +4 "core" ( + "manipulator"&Q& +4 "core" &   +2 "storage"(v& +3 "core" &K R \\ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"('& +3 "core" &K ` g Q\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +46 "storage"('r +298 "core" ' + "storage"(n- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +4 "core" &K V S :\  +2 "manipulator"&P& +3 "core" &  Q  +3 .tElbow.seek 6 + "manipulator"&t( +4 "core" ( +2 "manipulator"&& +3 "core" &  M  +2 "storage"(& +4 "core" &K W V \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&;'h +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(/' +7 "core" &  + "manipulator"&B% +4 "core" % q R +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +3 .tElbow.seek CC + "manipulator"&1(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&?& +5 "core" &Ӑ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &Ӑ S 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'? +97 "core" ' +3 "manipulator"&f& +3 "core" &ӑ   5 +2 "manipulator"&6% +4 "core" %I ,  +3 "collection"'& +5 "core" & \ +2 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +7 &< \ %g +10 &Xx \ 7 +9 &z \ K +9 &U \ K +10 &W \ K +9 &CW \ K +9 &Z \ K +10 &W \ K +9 &W \ K +10 &KW \ K +9 & Z \ K +9 &!W \ K +10 &#W \ K +9 &%TV \ J +9 &'W \ K +10 &(W \ K +9 &*W \ K +10 &,[V \ K +9 &.W \ K +9 &/V \ K +10 &1X \ K +9 &3cW \ K +9 &5%W \ K +10 &6[ \ L +9 &8Y \ K +10 &:jY \ K +9 &<,X \ K +9 &=Y \ K +10 &?X \ K +9 &AqZ \ L +10 &C2a\ \ L +9 &Dj\ \ \ M +9 &Fs\ \ \ N +10 &Hf\ \ \ R +9 &J\ 0\ -\ V +9 &K\ 3\ 2\ V +10 &M\ 2\ 0\ W +9 &O]\ /\ 0\ X +9 &Q\ .\ /\ X +10 &R\ /\ -\ Y +9 &T\ )\ -\ Y +10 &V`\ ,\ ,=\ Z +9 &X \ *\ ,?\ Z +9 &Y\ ,\ ,\ \\ +10 &[\ ,\ ,\ H +9 &\\;\ -\ +\ + +9 &\\o\ (\ (\ M +3 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&E1 +63 "core" 1 +2 "manipulator"& % +4 "core" % I  E  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%{& +3 "core" &6\ +2 "manipulator"&\\% +4 "core" %    +2 "storage"(% +4 "core" % ' & 7\  +2 "storage"(). +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(d(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K\ \ o\  +2 "manipulator"&N& +5 "core" & 8 , + "manipulator"&G% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\ ( +160 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(:& +4 "core" &K + . )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&o' +97 "core" ' +2 "storage"(U& +3 "core" &K ) 5 .\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +297 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (>& +3 "core" &K F W\  +2 "manipulator"&F& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&m& +4 "core" &   +2 "storage"(& +4 "core" &K ` \  +2 .tForearm.seek 6 + 300 counts +48 "manipulator"&='h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&#/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"((' +8 "core" &   +2 "manipulator"&% +3 "core" % a +3 .tForearm.seek :retract +2 "manipulator"&e' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&a& +3 "core" & J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +3 "core" &  J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&& +3 "core" &  I +2 "manipulator"&s% +4 "core" %  x +2 "processing"%Y& +4 "core" &7\ +3 "processing"%4& +5 "core" &7\ +2 .tPC.seek :closed +3 "processing"%h(^ +4 "core" &6\ +5 &66\ #c +9 &Ty8\ 6 +10 &~8\ K +9 &Z:\ N +10 &_Y8\ M +9 & Z8\ N +9 &]9\ M +10 &Z@\ M +9 &f[8\ N +9 &(^4\ N +10 &X4\ N +9 &!Y7\ N +10 &#nY7\ N +9 &%1Z<\ M +9 &&[6\ M +10 &([8\ N +9 &*v]6\ N +9 &,8_8\ N +10 &-X3\ N +9 &/Z8\ N +10 &1~[5\ N +9 &3@]4\ N +9 &5\\7\ M +10 &6[7\ N +9 &8_1\ N +9 &:IZ5\ M +10 &< \\9\ N +9 &=[8\ M +10 &?\\0\ N +9 &AO]*\ N +9 &Cg)\ O +10 &Di*\ P +9 &Fr)\ P +9 &HJ.\ R +10 &J -\ S +9 &K+\ S +10 &M)\ T +9 &OM+\ T +9 &Q +\ U +10 &R*\ T +9 &T*\ U +9 &VT)\ T +10 &X-\ U +9 &Y*\ U +10 &[*\ U +9 &]Z*\ D +9 &^{@r*\ 's +10 &^&(\ + +5 ( +2 "processing"%4& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&`1 +3 "core" &^*\ + +53 1 + "manipulator"&*% +4 "core" %   > x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%2& +3 "core" &^*\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&+% +4 "core" %     +2 "storage"(^% +3 "core" % O h\  +2 "storage"( . +4 "core" .(K +2 "storage"(7& +3 "core" &K O v\  +3 "storage"(8& +2 "manipulator"&|& +7 "core" &K O p\  + &  I +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&V( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(0'r +2 "core" ( +3 "manipulator"&u& +3 "core" &  I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & 0 I +3 .tForearm.seek PC +2 "manipulator"&' +89 "core" ' +2 .tHand.close + "manipulator"&q/ +60 "core" / +2 .tPC.seek :open +2 "processing"%!( +94 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'1 +40 "core" ' +308 ( +2 "storage"(R& +3 "core" &K F\  D\  +2 "manipulator"&Z& +4 "core" & I +2 "manipulator"&,% +4 "core" %  g +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&w( +243 "core" ( +2 "manipulator"&]& +4 "core" & " +2 "storage"(I& +3 "core" &K J I\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +111 "core" ' + .tHand.open +2 "manipulator"&_1 +64 "core" 1 +9 "storage"(A- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(&' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(<- +2 "core" -' +3 "storage"(& +3 "core" &K M M ^\  +2 "manipulator"&p& +4 "core" &   " +2 .tElbow.seek 6 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&%& +4 "core" &  @  +3 "storage"(k& +3 "core" &K L L \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +8 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +51 "core" ' +2 "manipulator"&j& +3 "core" &   +2 "storage"($& +4 "core" &K\ # D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&M'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(C' +21 "core" ' + "manipulator"&S% +4 "core" %4 D  +2 "storage"(L& +4 "core" &K O\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 292 counts + "manipulator"&D'` +14 "core" ' +2 "manipulator"&l& +3 "core" &  +2 "storage"(5& +4 "core" &K " %\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +21 "core" ' +2 "storage"(% +4 "core" % ! % J\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (.% +3 "core" %IT\ \ \ \ Wf +2 "manipulator"&T% +4 "core" % 6  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +87 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (Q& +3 "core" &K f _\  +2 "collection"'v& +4 "core" &\\m\ !\ \ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&'% +3 "core" %   +2 "storage"(9% +4 "core" % & " \  +2 "storage"(}. +3 "core" .(K +2 "storage"(n& +3 "core" &K  $ (\  +2 "storage"(-& +4 "core" &K & !\  +2 "manipulator"&P& +4 "core" & K  +2 .tElbow.seek 6 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&& +4 "core" & E +2 "storage"(g& +4 "core" &K $ *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(B& +4 "core" &K % & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +296 "core" ' +4 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" & +2 "storage"(K& +4 "core" &K\ \  -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +14 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(6'x +28 "core" ' +2 "manipulator"&% +5 "core" %O  R + "storage"(t& +4 "core" &K V \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&/'{ +14 "core" ' +2 "manipulator"&& +3 "core" &  +41 "storage"(~& +11 "core" &K\ \  J\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"( ' +48 "core" ' +2 "manipulator"&{& +3 "core" &  +3 "manipulator"&\\% +3 "core" % ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +155 "core" ( +2 "manipulator"& & +4 "core" &ӑ 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ 6 +2 .tForearm.seek CC +2 "manipulator"&N'? +96 "core" ' + .tHand.close +2 "manipulator"&G/ +56 "core" / +2 .tCC.seek :open +2 "collection"'3( +446 "core" ( +2 "storage"(& +4 "core" &K P I &\  +2 "storage"(:& +5 "core" &K @ E \  + "manipulator"&r& +4 "core" & # , +2 "manipulator"&U% +4 "core" % 9  +2 .tForearm.seek :retract +2 "manipulator"&1' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&x( +158 "core" ( +2 "manipulator"&X& +4 "core" & .  +2 "storage"(>& +3 "core" &K G G S\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&F'< +98 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +65 "core" 1 +2 "manipulator"&#% +3 "core" % 4   1 +2 "storage"( & +4 "core" &K H < R\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 292 counts +2 "manipulator"&'` +14 "core" ' +2 "manipulator"&\ & +3 "core" &   +2 "storage"(o& +4 "core" &K l l \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +13 "core" ' +2 "storage"(=% +4 "core" % i k \ +3 ."downElevator"SE.seek :down +3 "storage"(a' +99 ("% +3 "core" %G # $ \ V` +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'s& +4 "core" & \ +2 "manipulator"&Y% +3 "core" %   ! # +2 "storage"((% +4 "core" % k k \  +2 "storage"(e. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,y +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (`& +2 "core" &,{ * 5 [\ +2 "manipulator"&*& +4 "core" & g  +2 .tElbow.seek 4 +2 "manipulator"&2( +4 "core" ( + "manipulator"&+& +4 "core" &  `  +2 "storage"(^& +5 "core" &,{ K Z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +94 "core" ' + "storage"(7& +4 "core" &,{ ] ` O\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +297 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (4& +48 "core" &,l T H c\ +4 "manipulator"&u& +3 "core" &  +3 .tElbow.seek 4 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +4 "core" & \ u  +2 "storage"(q& +5 "core" &,l I G <\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(h' +8 "core" & m  +2 "manipulator"&0% +3 "core" % k U +2 .tForearm.seek :retract +2 "manipulator"&R' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&,& +3 "core" &ӏ 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &ӏ 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'? +100 "core" ' +2 "manipulator"&I& +4 "core" &Ӑ ` 5 +2 "manipulator"&V% +5 "core" %H 1 + "collection"'_& +4 "core" & \ +3 "collection"'A& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'<(\\ +5 "core" & \ +7 &4 \ $e +9 &Vw \ 6 +9 &z \ K +10 &V \ K +9 &uY \ K +10 &7W \ K +9 &U \ K +9 &W \ K +10 &}W \ K +9 &>U \ K +10 & V \ K +9 &!W \ K +9 &#W \ K +10 &%FY \ K +9 &' V \ K +9 &(W \ K +10 &*Y \ K +9 &,OV \ K +9 &.U \ K +10 &/Y \ K +9 &1W \ K +10 &3WW \ K +9 &5U \ K +9 &6W \ K +10 &8X \ K +9 &:^W \ K +9 &< W \ K +10 &=X \ K +9 &?W \ K +10 &AfY \ K +9 &C(Z \ K +9 &De \ M +10 &Fm\ \ \ M +9 &H_\ \ \ P +9 &J\ \ \ U +10 &K\ '\ &\ W +9 &M\ $\ &\ X +10 &OS\ %\ &\ W +9 &Q\ '\ $\ W +9 &R\ $\ '\ X +10 &T\ %\ $\ Y +9 &VS\ $\ '=\ Z +9 &X\ &\ (\ Z +10 &Y\ '\ &\ [ +9 &[\ '\ 'v\ H +10 &\\9\ '\ '\ - +9 &\\x\ '\ ( \ W +2 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&p% +4 "core" % H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%%& +4 "core" &?\ +2 "manipulator"&k% +4 "core" % " O $ +2 "storage"(j% +3 "core" % O \  +2 "storage"($. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(S(,y +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +3 "core" &,y \  \  +2 "manipulator"&J& +3 "core" &Ӑ  5 +2 "manipulator"&l% +5 "core" % " M $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&5( +159 "core" ( + "manipulator"&[& +4 "core" & @  +2 "storage"(& +4 "core" &,y " %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&w' +97 "core" ' + "storage"(H& +4 "core" &,y 0 - /\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +301 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (T& +2 "core" &,m J #\  +2 "manipulator"&O& +4 "core" & @  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&y& +3 "core" & O  +2 "storage"(M& +3 "core" &,m M R\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&D'c +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +55 "core" / +50 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"('' +8 "core" &   +2 "manipulator"&9% +4 "core" % X 2 +2 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&n& +4 "core" &  G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" & G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +94 "core" ' +2 "manipulator"&& +3 "core" &   G +3 "manipulator"&g% +3 "core" %  _ +2 "processing"%W& +4 "core" &G\ +3 "processing"%B& +5 "core" &?\ +2 .tPC.seek :closed +3 "processing"%(^ +3 "core" &B\ +6 &B\ 6 +10 &;G{F\ 0 +9 &er9\ E +9 &c;\ N +10 &Z:\ N +9 &X8\ M +9 &N\\3\ N +10 &Y8\ M +9 &Z?\ N +10 &]<\ N +9 &WZA\ N +9 &!]C\ N +10 &"WA\ N +9 &$ZB\ M +9 &&_ZB\ N +10 &( ]@\ N +9 &)ZB\ M +10 &+YB\ N +9 &-g]B\ N +9 &/)YB\ N +10 &0ZA\ N +9 &2]A\ N +9 &4oWB\ N +10 &60^?\ N +9 &7Y<\ N +10 &9ZA\ N +9 &;vZ;\ N +9 &=9Z=\ N +10 &>[A\ N +9 &@\\<\ N +9 &B}`:\ N +10 &D<c5\ O +9 &En6\ P +10 &Gy5\ Q +9 &Iv6\ T +9 &K85\ S +10 &L7\ T +9 &N:\ T +9 &P{.\ T +10 &R=2\ T +9 &S6\ U +10 &U+\ T +9 &W.\ U +9 &YC*\ U +10 &[5\ U +9 &\\+\ U +9 &^?g(\ + +10 &^y)\ @ +8 ( +3 "processing"%B& +3 "core" &^!*\ 2 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"&i1 +57 "core" 1 +2 "manipulator"&c% +4 "core" %  \ . _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"%?& +3 "core" &^!\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&K% +3 "core" %   *  +2 "storage"(f% +5 "core" % I \  + "storage"(. +4 "core" .(,y + "storage"(t& +4 "core" &,m @ 1\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +38 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (~& +3 "core" &,}\ \ \ \ i\ +2 "manipulator"&{& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &  F +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&\\( +2 "storage"('r +6 "core" ( + "manipulator"&& +4 "core" &  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +4 "core" &  I F +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +3 .tHand.close + "manipulator"&// +60 "core" / +2 .tPC.seek :open +2 "processing"%6( +97 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +302 ( +2 "storage"(E& +4 "core" &,k ( ' [\  +2 "manipulator"&;& +4 "core" & F +2 "manipulator"&G% +3 "core" %  M g +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +248 "core" ( +2 "manipulator"&& +3 "core" &  7 !w +3 "storage"(:& +3 "core" &,k P V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +93 "core" ' +2 .tHand.open + "manipulator"&U1 +100 "core" 1 +2 "storage"(X- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(>' +36 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(N' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +3 "core" -' +2 "storage"(& +4 "core" &,k 7 ,\  +2 "manipulator"&#& +4 "core" &\  !q +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&\ & +3 "core" &\    !q +2 "storage"(o& +4 "core" &,k , ) U\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&=' +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +59 "core" ' + "manipulator"&"& +4 "core" &\  !q +2 "storage"(& +4 "core" &,k J 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&x'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +19 "core" ' + "manipulator"&Y% +4 "core" %9 W  +2 "storage"(& +4 "core" &,k\ \  O\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 302 counts +2 "manipulator"&('e +14 "core" ' +2 "manipulator"&e& +3 "core" &\   !q +2 "storage"( & +4 "core" &,k L F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +15 "core" ' +2 "storage"(a% +3 "core" % M 7\ +3 ."downElevator"SE.seek :down +3 "storage"(d' +99 (`% +3 "core" %9L\ \ \ \ \ Wd +2 "manipulator"&*% +4 "core" % k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (^& +4 "core" &,k ` )\  +2 "collection"'7& +3 "core" &\\u\ \ \ W +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&m% +4 "core" % " % +2 "storage"(% +4 "core" % M Q\  +2 "storage"(8. +2 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(4(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (u& +2 "core" &,{ O `\ +2 "manipulator"&& +4 "core" &\   !q +2 .tElbow.seek 4 +2 "manipulator"&q( +4 "core" ( + "manipulator"&@& +4 "core" &\  ! !q +2 "storage"(& +4 "core" &,{ \ ! |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&0' +95 "core" ' +2 "storage"(2& +3 "core" &,{ % ! E\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +294 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &\  & !p +2 "storage"(|& +4 "core" &,m\ \ 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(_'g +33 "core" ' +2 "manipulator"&% +3 "core" %5 6 +2 "storage"(h& +4 "core" &,m U *\  +2 .tForearm.force -20 +48 "manipulator"&5 +3 .tForearm.seek 4 + 298 counts +2 "manipulator"&R'a +14 "core" ' +2 "manipulator"&3& +4 "core" &\  !p +2 "storage"(& +3 "core" &,m\ \  !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(%' +36 "core" ' +2 "manipulator"&k& +4 "core" &\   !p +2 "manipulator"&j% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A(ӂ +155 "core" ( +2 "manipulator"&L& +3 "core" &ә 6 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +4 "core" &ә 3 +2 .tForearm.seek CC +2 "manipulator"&l'? +97 "core" ' +2 .tHand.close + "manipulator"&]/ +54 "core" / +2 .tCC.seek :open + "collection"'[( +447 "core" ( +2 "storage"(& +3 "core" &,m G F \  +2 "storage"( & +3 "core" &,m G I 7\  +2 "manipulator"&H& +4 "core" &ә 3 +2 "manipulator"&Z% +3 "core" % H +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&.( +165 "core" ( + "manipulator"&T& +4 "core" & &  +2 "storage"(O& +4 "core" &,m D 9 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&y'7 +95 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +53 "core" 1 +2 "manipulator"&v% +3 "core" % + = +2 "storage"(9& +4 "core" &,m 9 C \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 288 counts + "manipulator"&5'W +13 "core" ' +3 "manipulator"&w& +3 "core" &  u  +2 "storage"(&& +4 "core" &,m k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +25 "core" ' +2 "storage"(n% +4 "core" % k m \ +3 ."downElevator"SE.seek :down +3 "storage"(-' +99 (% +4 "core" %K . 4 k\ V` +2 "manipulator"&% +3 "core" % ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'W& +3 "core" & \ +2 "manipulator"&'% +5 "core" %  X  + "storage"(}% +4 "core" % k k \  +2 "storage"(!. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(i(<- +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &<+ = d\ +2 "manipulator"&?& +4 "core" & K  +2 .tElbow.seek 5 +2 "manipulator"&K( +4 "core" ( + "manipulator"&f& +4 "core" &  W  +2 "storage"(& +3 "core" &<+ k k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +91 "core" ' +2 "storage"(B& +4 "core" &<+ ` ] k\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(~'r +337 "core" ' +3 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" &<+ U H D\ +2 "manipulator"&b& +5 "core" & q  +2 .tElbow.seek 5 +2 "manipulator"&P( +2 "core" ( +2 "manipulator"&/& +4 "core" &  b  +2 "storage"(S& +4 "core" &<+ U V \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" & z  + "manipulator"&% +5 "core" % ϻ z +2 .tForearm.seek :retract +2 "manipulator"&E' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&G& +3 "core" &Ӌ! :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӌ!  :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' +2 "manipulator"&:& +4 "core" &ӌ!  & :. +2 "manipulator"&\\% +4 "core" %A m +2 "collection"'U& +4 "core" & \ +3 "collection"'X& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +6 &; \ %f +10 &Xy \ 7 +9 &y \ K +10 &T \ K +9 &U \ K +9 &DY \ K +10 &V \ K +9 &V \ J +9 &V \ K +10 &MU \ K +9 & U \ J +10 &!V \ K +9 &#U \ K +9 &%UX \ K +10 &'U \ K +9 &(T \ K +9 &*U \ K +10 &,]T \ K +9 &.U \ K +10 &/U \ K +9 &1Z \ K +9 &3eW \ K +10 &5'V \ K +9 &6W \ K +9 &8W \ K +10 &:kZ \ L +9 && +4 "core" &  +2 "storage"(a& +3 "core" &<+\ \  D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +108 "core" ' + "storage"(r& +5 "core" &<+ & $ ?\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +298 "core" ' +2 "storage"(`- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (*& +3 "core" &<+\ # V G\ +2 "manipulator"&=& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&1& +4 "core" &  +2 "storage"(x& +4 "core" &<+ - _ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&^'Ϲ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +61 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&7& +2 "storage"(m' +7 "core" &   +2 "manipulator"&% +4 "core" % ϲ +2 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&u& +3 "core" & u * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" & j * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&@' +94 "core" ' +2 "manipulator"&& +5 "core" & ) +2 "manipulator"&z% +3 "core" % w +3 "processing"%2& +3 "core" &\ +3 "processing"%d& +5 "core" &D\ +3 .tPC.seek :closed +3 "processing"%(^ +2 "core" &8\ +7 &/A\ #b +10 &V{E\ 7 +9 &}D\ K +9 &WA\ N +10 &Q[>\ N +9 &W@\ M +9 &\\8\ N +14 &[5\ N +5 &ZY4\ N +10 &\\7\ N +9 &Z7\ N +9 &![@\ N +10 &#aY5\ N +9 &%$[?\ N +9 &&Z@\ N +10 &(\\A\ N +9 &*kZ@\ M +9 &,,\\<\ N +10 &-Y;\ N +9 &/\\@\ M +10 &1q\\A\ N +9 &35Z<\ M +9 &4Z:\ M +10 &6\\>\ N +9 &8z\\@\ N +10 &:<Y4\ N +9 &;]<\ N +9 &=\\=\ N +10 &?\\@\ N +9 &AB];\ N +9 &Cd;\ O +10 &Di6\ P +9 &Fp=\ Q +10 &H>;\ R +9 &I6\ T +9 &K6\ T +10 &M/\ T +9 &O@2\ T +9 &Q7\ U +10 &R4\ T +9 &T4\ U +10 &VH4\ T +9 &X\ 8\ T +9 &Y3\ U +10 &[5\ U +9 &]N5\ G +9 &^wE.\ "f +10 &^7+\ 1 +5 ( +2 "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&F1 +3 "core" &^"*\ 1 +56 1 +2 "manipulator"&+% +3 "core" %    w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +94 "core" ' +2 "processing"%& +4 "core" &^!*\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&|% +3 "core" % " \  ( +2 "storage"(V% +4 "core" %\ \ \  +2 "storage"(. +3 "core" .(<- +2 "storage"(h& +3 "core" &<+\ \ \ \ +3 "storage"(3& +4 "manipulator"&& +3 "core" &<+\ \ \ +2 &  ) ) +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&k( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'r +3 "core" ( +2 "manipulator"&0& +3 "core" &  + ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +4 "core" &  V ) +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%R( +94 "core" ' +2 "storage"(_- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +40 "core" ' +306 ( +2 "storage"(J& +3 "core" &<+\ .\ - v\ +2 "manipulator"&p& +4 "core" &  ) +2 "manipulator"&I% +4 "core" %  T +2 .tForearm.seek :retract +2 "manipulator"&]' +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&$( +245 "core" ( + "manipulator"&<& +4 "core" & 9 +2 "storage"(& +3 "core" &<+ K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +94 "core" ' +2 .tHand.open + "manipulator"&H1 +62 "core" 1 +3 "storage"(Z- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(T' +44 "core" ' +9 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +3 "storage"(O' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +3 "core" -' +2 "storage"(A& +4 "core" &<+ 8 7 \ +2 "manipulator"&Q& +5 "core" &   Y 9 + .tElbow.seek 5 +2 "manipulator"&v( +5 "core" ( + "manipulator"&9& +4 "core" &   3 9 +2 "storage"(w& +4 "core" &<+ 8 9\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +49 "core" ' + "manipulator"&& +4 "core" & 9 +2 "storage"(& +3 "core" &<+ J B\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +28 "core" ' + "manipulator"&W% +4 "core" %Ύ  / q +2 "storage"(5& +4 "core" &<+\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 301 counts + "manipulator"&''Ϻ +14 "core" ' +2 "manipulator"&}& +4 "core" & ! +2 "storage"(!& +3 "core" &<+ O h\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +29 "core" ' +2 "storage"(D% +3 "core" % M r\ +3 ."downElevator"SE.seek :down +4 "storage"(-' +98 (4% +4 "core" %`N\ j\ Wd +2 "manipulator"&c% +3 "core" %E M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (f& +3 "core" &<+  .\ +2 "collection"'& +4 "core" &\\\ \ \ \\ +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&B% +3 "core" %   +2 "storage"(M% +4 "core" %\ \  C\  +2 "storage"(g. +3 "core" .(<- +2 "storage"({& +4 "core" &<+\ \  6\ +2 "storage"(& +3 "core" &<+\ \  -\ +2 "manipulator"&b& +4 "core" & ! +2 .tElbow.seek 5 +2 "manipulator"&/( +19 "core" ( + "manipulator"&S& +4 "core" &  +2 "storage"(C& +4 "core" &<+ ' %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' +2 "storage"(& +3 "core" &<+ # & "\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +295 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" &   +2 "storage"(& +36 "core" &<+\ \  T\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&~'΍ +26 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(:- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(\\'y +27 "core" ' +2 "manipulator"&U% +3 "core" %Ν N +2 "storage"(P& +3 "core" &<+ J 2\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&' +14 "core" ' + "manipulator"&E& +4 "core" & (  +2 "storage"([& +4 "core" &<+ ' % *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +45 "manipulator"&)'O +18 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&\ & +3 "core" &  +2 "manipulator"&o% +4 "core" %? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&X& +4 "core" &|# # <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &|#  N <@ +2 .tForearm.seek CC +2 "manipulator"&Y'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'e( +446 "core" ( +2 "storage"(& +4 "core" &<+ 3 *\ +2 "storage"(>& +3 "core" &<+ " + "\ +2 "manipulator"&a& +4 "core" &ӥ 7 +2 "manipulator"&r% +4 "core" % Q H +2 .tForearm.seek :retract +2 "manipulator"&;' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&#( +159 "core" ( +2 "manipulator"&`& +4 "core" &    +2 "storage"(*& +4 "core" &<+ J Q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&='΍ +100 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&x1 +52 "core" 1 +2 "manipulator"&(% +4 "core" % Β  &  +2 "storage"(7& +3 "core" &<+ V U \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts +2 "manipulator"&'Ͼ +13 "core" ' +2 "manipulator"& & +4 "core" &  S  +2 "storage"(& +4 "core" &<+ k k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&N'O +30 "core" ' +2 "storage"(^% +4 "core" % k l \ +3 ."downElevator"SE.seek :down +3 "storage"(u' +99 (% +3 "core" %D * 2 n\ V` +2 "manipulator"& % +4 "core" %V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'z& +3 "core" & \ +3 "manipulator"&2% +3 "core" %   '  +2 "storage"(m% +4 "core" % k j \  +2 "storage"(8. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(6(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (F& +3 "core" &K I R \  +2 "manipulator"&+& +3 "core" & x  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&|& +4 "core" & ;  +2 "storage"(V& +3 "core" &K k k [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(h& +4 "core" &K m ` \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(d'r +292 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K R D 6\  +2 "manipulator"&0& +3 "core" & q  +2 .tElbow.seek 6 +2 "manipulator"&q( +49 "core" ( +3 "manipulator"&@& +4 "core" &  +2 "storage"(& +4 "core" &K H F L\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&_'h +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&,& +2 "storage"(' +6 "core" &    +2 "manipulator"&j% +4 "core" % f 8 +3 .tForearm.seek :retract +2 "manipulator"&J' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&I& +4 "core" &ӎ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӎ  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'? +92 "core" ' +2 "manipulator"&& +3 "core" &ӏ \ . 8 +3 "manipulator"&k% +4 "core" %J M b +2 "collection"'H& +4 "core" & \ +3 "collection"'Z& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'l(\\ +4 "core" & \ +5 & \ : +9 &JLy \ 0 +10 &}u~ \ E +9 &+Z \ K +10 &S \ K +9 &W \ K +9 &qY \ K +10 &5U \ J +9 &U \ K +9 &V \ J +10 &zW \ K +9 &!<Y \ K +10 &"U \ J +9 &$U \ K +9 &&Y \ K +10 &(DW \ K +9 &*Y \ K +9 &+S \ K +10 &-V \ J +9 &/LV \ K +10 &1X \ K +9 &2T \ K +9 &4U \ J +10 &6TW \ K +9 &8X \ K +9 &9X \ K +10 &;W \ J +9 &=\\W \ K +10 &?W \ K +9 &@X \ K +9 &B\\ \ L +10 &D`b\ \ L +9 &Fo\ \ \ N +9 &G\ \ \ Q +10 &I\ +\ %\ U +9 &KJ\ /\ 0\ V +10 &M\ \ 0\ 0\ W +9 &N\ .\ /\ W +9 &P\ .\ .\ X +10 &RN\ .\ -\ X +9 &T\ \ ,\ *\ Z +9 &U\ *\ ,\ Y +10 &W\ )\ +\ Z +9 &YL\ +\ )\ [ +10 &[ \ (\ +\ \\ +9 &\\bF\ )\ ,\ 2 +9 &\\\ )\ *\ O +6 ( +2 "collection"'Z& +3 "core" &\\d\ (\ '\ N +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&A1 +63 "core" 1 +3 "manipulator"&Q% +4 "core" % J  / b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%9& +4 "core" &\ +2 "manipulator"&w% +3 "core" %    +2 "storage"(% +4 "core" % $\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(L(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (W& +2 "core" &K K L\  +2 "manipulator"&5& +4 "core" & / +2 "manipulator"&}% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&T( +159 "core" ( +2 "manipulator"&!& +5 "core" & *  + "storage"(D& +4 "core" &K # *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&$' +90 "core" ' +2 "storage"( & +4 "core" &K G I %\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'r +306 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (c& +3 "core" &K\ (\ \  +2 "manipulator"&&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&v( +2 "core" ( +2 "manipulator"&n& +4 "core" &  +2 "storage"(& +4 "core" &K & /\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&''h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(B' +6 "core" &  +3 "manipulator"&M% +49 "core" % q +5 .tForearm.seek :retract + "manipulator"&g' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y( +110 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +127 "core" ( +2 "manipulator"&{& +3 "core" & 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +91 "core" ' + "manipulator"&S& +4 "core" & Z 2 +2 "manipulator"&C% +4 "core" % 2 m +2 "processing"%%& +4 "core" &F\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%-(^ +5 "core" &F\  +8 &1vB\ *x +9 &aK\ = +10 &lxD\ N +9 &-ZE\ N +9 &ZF\ M +10 &WC\ M +9 &s]\ N +9 &6X1\ N +10 &Y=\ N +9 &Z>\ M +10 & |[;\ N +9 &">]9\ N +9 &$]:\ N +10 &%\\+\ N +9 &']3\ N +9 &)FW7\ N +10 &+Y?\ N +9 &,Z6\ N +10 &.W5\ N +9 &0OY9\ M +9 &2X6\ M +10 &3W8\ N +9 &5\\=\ N +9 &7VW;\ N +10 &9\\D\ M +9 &:\\1\ N +10 &<Z5\ M +9 &>^\\3\ N +9 &@!\\6\ M +10 &Aa4\ O +9 &Cf5\ O +10 &E_m?\ P +9 &Gt9\ Q +9 &H?\ S +10 &J7\ T +9 &L\\8\ T +9 &N5\ T +10 &O4\ T +9 &Q3\ T +9 &Sb5\ T +10 &U$;\ T +9 &V7\ U +10 &X;\ T +9 &Zi8\ U +9 &\\+6\ U +10 &]}x7\ ; +9 &^*u8\ U +9 &^"8\ / +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&.1 +53 "core" 1 +2 "manipulator"&?% +5 "core" %   m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 "processing"%G& +3 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %     +2 "storage"(:% +3 "core" % L P\  +2 "storage"(U. +4 "core" .(K + "storage"(P& +4 "core" &K L \  +2 "storage"(E& +3 "manipulator"&[& +7 "core" &K M \  + & \  2 +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&\ ( +4 ."raiseStack"SE.seek :beamBreak + "storage"(o'r +3 "core" ( +2 "manipulator"&& +4 "core" & \  2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &  2 +3 .tForearm.seek PC + "manipulator"&K' +92 "core" ' +2 .tHand.close + "manipulator"&~/ +56 "core" / +3 .tPC.seek :open +2 "processing"%( +95 "core" ' + "storage"(\\- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +47 "core" ' +303 ( + "storage"(& +4 "core" &K " &\  +2 "manipulator"&)& +3 "core" & 2 +2 "manipulator"& % +4 "core" %  i +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&"( +247 "core" ( +2 "manipulator"&& +4 "core" & C +2 "storage"(& +3 "core" &K O \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +92 "core" ' + .tHand.open +2 "manipulator"&a1 +64 "core" 1 +2 "storage"(r- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(`' +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(*' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +51 "core" -' +2 "storage"(& +4 "core" &K M M \  +2 "manipulator"&x& +3 "core" &    C +3 .tElbow.seek 6 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&7& +3 "core" &    C +2 "storage"( & +4 "core" &K O M \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(^'" +52 "core" ' + "manipulator"&;& +4 "core" & C +2 "storage"(& +4 "core" &K M `\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +19 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(=' +19 "core" ' +2 "manipulator"&% +3 "core" %< # +2 "storage"(z& +4 "core" &K ( ( >\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 300 counts + "manipulator"&2'h +14 "core" ' +2 "manipulator"&m& +4 "core" & $ C +2 "storage"(8& +4 "core" &K ! &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +13 "core" ' +2 "storage"(N% +3 "core" % - , b\ +3 ."downElevator"SE.seek :down +3 "storage"(u' +99 (i% +3 "core" %R\ \ \ Wf +2 "manipulator"&F% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +94 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (|& +3 "core" &K P :\  +2 "Can"\ QN +2 "collection"'V& +4 "core" &\\c\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&h% +4 "core" %   +2 "storage"(1% +4 "core" % ' % \ +2 "storage"(. +4 "core" .(K + "storage"(3& +4 "core" &K " &\  +2 "storage"(& +3 "core" &K ! &\  +2 "manipulator"&0& +4 "core" & 6 C +2 .tElbow.seek 6 +2 "manipulator"&@( +4 "core" ( +2 "manipulator"&& +3 "core" &  C +2 "storage"(s& +4 "core" &K ! & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +93 "core" ' +2 "storage"(j& +4 "core" &K , &\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &  C +2 "storage"( & +4 "core" &K\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&d'< +19 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(k't +30 "core" ' + "manipulator"&H% +4 "core" %8  +2 "storage"(q& +4 "core" &K ( ' >\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"&'d +15 "core" ' +2 "manipulator"&J& +4 "core" & C +2 "storage"(e& +3 "core" &K . . g\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(Q' +35 "core" ' +2 "manipulator"&9& +3 "core" &  C +49 "manipulator"&w% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&Z& +4 "core" &Ӡ 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +4 "core" &Ӡ 0 1 +2 .tForearm.seek CC +2 "manipulator"&5'? +99 "core" ' +2 .tHand.close + "manipulator"&}/ +63 "core" / +2 .tCC.seek :open +2 "collection"'<( +446 "core" ( +2 "storage"(!& +3 "core" &K F F 0\  +2 "storage"(D& +4 "core" &K C G \ \  +2 "manipulator"&6& +4 "core" &  * +2 "manipulator"& % +4 "core" % ! Y +2 .tForearm.seek :retract +2 "manipulator"&p' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&]( +158 "core" ( +2 "manipulator"&4& +3 "core" &  .  +2 "storage"(c& +5 "core" &K T V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +8 .tHand.open + "manipulator"&1 +62 "core" 1 +3 "manipulator"&f% +3 "core" % +   ( +2 "storage"(& +5 "core" &K < C\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 283 counts + "manipulator"&M'W +15 "core" ' +2 "manipulator"&T& +3 "core" &  d  +3 "storage"($& +3 "core" &K n m r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +15 "core" ' +2 "storage"('% +3 "core" % m k\ +3 ."downElevator"SE.seek :down +4 "storage"({' +99 (% +2 "core" %rI 3 > \ T\\ +3 "manipulator"&v% +3 "core" % Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +57526 "Can" :8 +60001  ;8 +60001  ;8 +60002  ;9 +60001 \  ;8 +22318 #t-> exit +6 #mEXIT @1687980940.37EDT @1688057240.01EDT = =tMAIN =mMAIN_scheduler @EDT1688057241.90 #"core_reset"Sent BREAK +2 #t@11175 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +260 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +407 "Can"h !v + h !v + #tPolling Can every 10:00 +25 #Cleanly exited at 15:35:40EDT28-Jun-23 +645 #-> ESP.ready! +3 #Powering core bus +559 .Gate.power :raw,:ON +2 "sampler") +30 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1122 #-> 25.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'1& +3 "core" &\ \ o\  +2 .tHand.open +2 "manipulator"&21 +62 "core" 1 +2 "manipulator"&3% +4 "core" %   G  +2 "storage"(4% +4 "core" % o n \  + "storage"(5. +3 "core" .(,v +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(6(,y +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &,w T O B\ +2 "manipulator"&8& +4 "core" &   l 1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&:& +4 "core" &  c 1 + "storage"(;& +4 "core" &,w o p\ +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +96 "core" ' + "storage"(=& +4 "core" &,w _ _ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +293 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &,w T H 0\ +3 "manipulator"&A& +4 "core" &   n 1 +2 .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&C& +3 "core" &   1 +2 "storage"(D& +4 "core" &,w S J P\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&E'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&G& + "storage"(H' +8 "core" &  1 +2 "manipulator"&I% +4 "core" % \\   u | +2 .tForearm.seek :retract +2 "manipulator"&J' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&L& +4 "core" &ӌ!   K :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &ӌ!   U :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'? +95 "core" ' +3 "manipulator"&O& +4 "core" &Ӎ"   :* +2 "manipulator"&P% +4 "core" %B  W  +2 "collection"'Q& +4 "core" &\ \ \  +2 "collection"'R& +6 "core" &\ \ j\  +2 .tCC.seek :closed +2 "collection"'S(\\ +5 "core" &\ \ l\  +7 &K\ \ o\ %g +9 &Y\ \ l\ 8 +39 &\ \ k\ M +9 &\\\ \ o\ M + &_[\ \ r\ M + & \\\ \ v\ M + &\\\ \ |\ M +6 &]\ \ w\ M +9 &f\\\ \ t\ M +9 &(]\ \ \ q\ M +10 &Z\ \ x\ M +9 &![\ \ \ M +10 &#m^\ \ s\ M +9 &%0Y\ \ r\ M +13 &&Z\ \ q\ M +6 &(Z\ \ r\ M +10 &*v[\ \ r\ M +8 &,9[\ \ l\ M +10 &-^\ \ \ r\ M +9 &/Z\ \ \ g\ M +10 &1~Z\ \ h\ M +9 &3AZ\ \ h\ M +9 &5^\ \ x\ M +10 &6[\ \ z\ L +9 &8\\\ \ \ z\ M +9 &:I\\\ \ \ \ {\ M +10 &< _\ \ {\ M +9 &=\\\ \ |\ L +10 &?[\ \ \ z\ M +9 &APZ\ \ \ {\ M +9 &Cd\ \ r\ M +10 &Di\ \ v\ N +9 &Fs\ \ w\ P +9 &HI\ \ w\ R +10 &J\ 4\ -z\ V +9 &K\ 5\ 4z\ X +10 &M|\ 4\ 5w\ Y +9 &O=\ 3\ 5|\ Y +9 &P\ 0\ 3{\ Y +10 &R\ /\ 2v\ Y +9 &T}\ /\ /y\ [\ +9 &V?\ 0\ 1{\ [\ +10 &X\ /\ /{\ [\ +9 &Y\ /\ .{\ \\ +10 &[\ -\ /{\ I +9 &\\7\ .\ /{\ 1 +9 &\\v\ -\ -{\ M +6 ( + "collection"'R& +4 "core" &\\e\ +\ *v\ M +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&T1 +59 "core" 1 +2 "manipulator"&U% +4 "core" % B  0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%W& +5 "core" &K\  + "manipulator"&X% +5 "core" %    + "storage"(Y% +4 "core" % 1 /\  +2 "storage"(Z. +3 "core" .(,y +2 "storage"([& +4 "core" &,w . - \ +2 "storage"(\\& +3 "core" &,w . 1\ +2 "manipulator"&]& +5 "core" &ӎ   P 9) + "manipulator"&^% +5 "core" %   1  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&_( +161 "core" ( + "manipulator"&`& +4 "core" &  n  +2 "storage"(a& +4 "core" &,w U U \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +102 "core" ' + "storage"(c& +4 "core" &,w W V o\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'r +306 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &,w 1 - T\ +2 "manipulator"&g& +3 "core" & k  +3 .tElbow.seek 4 + "manipulator"&h( +3 "core" ( +2 "manipulator"&i& +4 "core" &  \\  +2 "storage"(j& +4 "core" &,w 1 , X\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&k'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +5 "storage"(n' +6 "core" &  +2 "manipulator"&o% +3 "core" % \\ d 6 +3 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&q( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&r& +3 "core" & = +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &  8 = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&t' +100 "core" ' +2 "manipulator"&u& +4 "core" &  < +2 "manipulator"&v% +4 "core" %  W ) +2 "processing"%w& +3 "core" &L\  +3 "processing"%x& +5 "core" &\  +3 .tPC.seek :closed + "processing"%y(^ +5 "core" &\  +7 &F\ $f +9 &tV\ 8 +10 &\ M +9 &]\ N +9 &G]\ N +10 & Z\ N +9 &_\ N +10 &a\ O +9 &O_\ N +9 &_\ N +10 &b\ O +9 &!\\\ O +10 &#V^\ O +9 &%\\\ N +9 &&^\ O +10 &(b\ O +9 &*]`\ O +9 &, ^l\ O +10 &-\\\ N +9 &/_\ O +10 &1g]\ N +9 &3)_\ N +9 &4_\ \ O +10 &6^\ O +9 &8nc \ O +10 &:0` \ O +9 &;d1\ O +9 &=_x\ O +10 &?w` \ N +9 &A8a \ O +9 &Bg\ \ P +10 &Dk\ P +9 &Fxv \ Q +9 &H4\ \ S +10 &I \ T +9 &K \ T +10 &Mt\ \ U +9 &O5 \ U +9 &P\ \ U +10 &R \ U +9 &Tv\ W +9 &V=\ U +10 &W\ U +9 &Y \ U +9 &[\ V +10 &]C\ N +9 &^yD}\ !d +10 &^ C\ 1 +5 ( +2 "processing"%x& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&z1 +3 "core" &^&\ 1 +51 1 + "manipulator"&{% +4 "core" %  ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +91 "core" ' + "processing"%}& +4 "core" &^&\ 1 +44 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&~% +4 "core" %      +2 "storage"(% +4 "core" % \\ 3 \  +2 "storage"(. +3 "core" .(,y +2 "storage"(& +3 "core" &,w + ` J\ +3 "storage"(& +3 "manipulator"&& +7 "core" &,w ) " {\ + &    < +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +7 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +3 "manipulator"&& +4 "core" &    < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &    < +3 .tForearm.seek PC +2 "manipulator"&\ ' +93 "core" ' + .tHand.close +2 "manipulator"& / +64 "core" / +2 .tPC.seek :open +2 "processing"% ( +88 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +51 "core" ' +302 ( + "storage"(& +5 "core" &,w 0 0 x\ + "manipulator"&& +4 "core" & ^ < +2 "manipulator"&% +4 "core" %  ] T +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +246 "core" ( + "manipulator"&& +4 "core" &  z , +2 "storage"(& +3 "core" &,w ! "\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +95 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(#& +3 "core" &,w \ +3 "manipulator"&$& +4 "core" &  a , +2 .tElbow.seek 4 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +4 "core" &   i , +2 "storage"('& +4 "core" &,w i\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"()'" +61 "core" ' + "manipulator"&*& +4 "core" &   , +2 "storage"(+& +4 "core" &,w 0 0 )\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&,'7 +25 "core" ' +2 .tElbow.hold + "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +75 "core" ' +2 "manipulator"&/% +4 "core" %C +2 "storage"(0& +4 "core" &,w 2 2\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&1'o +15 "core" ' + "manipulator"&2& +4 "core" &   , +2 "storage"(3& +4 "core" &,w ! # ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +15 "core" ' + "storage"(5% +4 "core" % K V \ +3 ."downElevator"SE.seek :down +3 "storage"(7' +99 (8% +3 "core" %Q O\ Xf +2 "manipulator"&:% +3 "core" % p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +92 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (=& +3 "core" &,w , % \ +3 "collection"'& +4 "core" &\\d\ %\ %|\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %    +3 "storage"(% +4 "core" % 1 & .\  + "storage"(?. +4 "core" .(,y +2 "storage"(& +37 "core" &,w 2 3\ +9 "storage"(@& +4 "core" &,w , ' M\ +2 "manipulator"&A& +4 "core" & > , +2 .tElbow.seek 4 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&D& +3 "core" &  , +3 "storage"(F& +4 "core" &,w 3 3 )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +103 "core" ' +2 "storage"(I& +4 "core" &,w U U\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'r +296 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +4 "core" & } , +2 "storage"(M& +4 "core" &,w . / n\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&>'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(P'c +29 "core" ' + "manipulator"&Q% +4 "core" %; Q P +2 "storage"(B& +4 "core" &,w / /\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 304 counts +2 "manipulator"&H'g +14 "core" ' + "manipulator"&J& +4 "core" & H , +2 "storage"(!& +4 "core" &,w 2 1\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +13 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(U' +36 "core" ' +2 "manipulator"&W& +4 "core" &  1 , +2 "manipulator"&X% +3 "core" %  D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +149 "core" ( +2 "manipulator"&[& +4 "core" &|#  i <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &\\& +3 "core" &|# <? +2 .tForearm.seek CC +2 "manipulator"&R'? +92 "core" ' + .tHand.close +2 "manipulator"&]/ +55 "core" / +2 .tCC.seek :open +2 "collection"'^( +447 "core" ( +2 "storage"(N& +3 "core" &,w L Z 1\ +3 "storage"(`& +4 "core" &,w I L W\ + "manipulator"&a& +4 "core" &Ӟ  8 +2 "manipulator"&c% +4 "core" % I  { G +2 .tForearm.seek :retract +2 "manipulator"&K' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&V( +165 "core" ( + "manipulator"&e& +4 "core" &   y  +2 "storage"(f& +3 "core" &,w k a \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&g'7 +95 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&j1 +59 "core" 1 +2 "manipulator"&l% +4 "core" %   @ u +2 "storage"(m& +4 "core" &,w k m j\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 277 counts + "manipulator"&o'L +16 "core" ' +2 "manipulator"&_& +3 "core" &   +  +2 "storage"(b& +5 "core" &,w n n \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +28 "core" ' + "storage"(k% +4 "core" % x\ +3 ."downElevator"SE.seek :down +3 "storage"(r' +99 (s% +3 "core" %I T T \ V` +2 "manipulator"&h% +4 "core" %   J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'v& +38 "core" &\ \ s\ +10 "manipulator"&w% +4 "core" %    H  +2 "storage"(n% +3 "core" % k m \  +2 "storage"(p. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &<* - % `\  +2 "manipulator"&{& +4 "core" &  g  +2 .tElbow.seek 5 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&~& +3 "core" &     +2 "storage"(x& +5 "core" &<) o p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +101 "core" ' + "storage"(& +4 "core" &<) o s J\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<) T \\\  +3 "manipulator"&& +3 "core" &   r  +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&t& +3 "core" &   P  +2 "storage"( & +4 "core" &<) I I Q\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"(y' +8 "core" &   ]  +2 "manipulator"&% +4 "core" % ϲ   , +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +4 "core" &Ӊ   U 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &Ӊ  B 9( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 "manipulator"&& +4 "core" &ӎ  O 9# +2 "manipulator"&% +3 "core" %3   a h +4 "collection"'& +4 "core" &\ \ u\ +2 "collection"' & +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'"(\\ +3 "core" &\ \ y\ +9 &=\ \ |\ %g +9 &W{\ \ }\ 7 +10 &~\ \ {\ L +9 &[\ \ \ M +10 &|X\ \ y\ M +9 &>\\\ \ \ M +9 &]\ \ {\ M +10 &Z\ \ n\ M +9 &Y\ \ k\ L +9 &GY\ \ q\ L +10 & Y\ \ l\ L +9 &!]\ \ n\ M +10 &#]\ \ r\ M +9 &%NZ\ \ z\ M +9 &'W\ \ l\ L +10 &(Y\ \ o\ M +9 &*Z\ \ v\ M +9 &,WW\ \ w\ L +10 &.W\ \ u\ M +9 &/Y\ \ y\ M +10 &1Y\ \ {\ L +9 &3_X\ \ z\ L +9 &5!Y\ \ z\ L +10 &6\\\ \ \ z\ L +9 &8X\ \ {\ M +9 &:g]\ \ \ |\ L +10 &<(]\ \ \ w\ M +9 &=\\\ \ y\ M +10 &?]\ \ \ z\ L +9 &An^\ \ x\ M +9 &C0`\ \ z\ M +10 &Di\ \ v\ N +10 &Fp\ \ s\ O +8 &Hg\ \ n\ R +10 &J\ 1\ *y\ V +9 &K\ 6\ 4z\ X +10 &M\ 4\ 3w\ Y +9 &O\\\ 4\ 1w\ X +9 &Q\ 1\ 2v\ Z +10 &R\ 0\ 0o\ Z +9 &T\ -\ 0n\ [\ +9 &V\\\ .\ -k\ [\ +10 &X\ 0\ .j\ [ +9 &Y\ -\ .j\ \\ +10 &[\ 0\ /k\ I +9 &\\5\ .\ /j\ 0 +9 &\\m\ -\ 0o\ L +3 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator" +62 "core" 1 +2 "manipulator"&$% +3 "core" % 3  n h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%'& +4 "core" &\ +2 "manipulator"& % +4 "core" %   +2 "storage"(*% +4 "core" % , #\  + "storage"(+. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<*\ \ \ \  +2 "manipulator"&/& +4 "core" &Ӑ  ] 8! +2 "manipulator"&0% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&2( +160 "core" ( +2 "manipulator"&3& +3 "core" &  z  +2 "storage"(& +5 "core" &<) U S k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' +2 "storage"(5& +38 "core" &<) R U\  +12 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (8& +2 "core" &<) - . f\  +3 "manipulator"&:& +4 "core" &   {  +2 .tElbow.seek 5 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&)& +3 "core" & w  +3 "storage"(,& +3 "core" &<) 0 . \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&1'Ϲ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +8 "core" &  z  +2 "manipulator"&% +4 "core" % Ϯ   ^ +2 .tForearm.seek :retract +2 "manipulator"&.' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&?( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&& +5 "core" & F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &@& +2 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +95 "core" ' +2 "manipulator"&D& +3 "core" & e +2 "manipulator"&F% +5 "core" %  T r +2 "processing"%4& +3 "core" &J\ +3 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%7(^ +3 "core" &\ +7 & 0\ $c +9 &U\ 7 +10 &~\ K +9 &^\ O +9 &Z^\ N +10 &[\ N +9 &_\ N +9 &`\ N +10 &a^\ O +9 &$_ \ N +9 &\\\ N +10 &!`\ N +9 &#i`\ O +10 &%,_ \ N +9 &&b\ N +9 &(_\ \ O +10 &*r_\ N +9 &,3`\ \ O +9 &-_\ N +10 &/] \ N +9 &1z[\ N +10 &3;^ \ O +9 &4^\ \ N +9 &6`\ \ N +10 &8a \ O +9 &:D\\ \ N +9 &<_ \ O +10 &=a\ \ N +9 &?_ \ N +10 &AKd \ O +9 &C h\ O +9 &Dp\ P +10 &Fx \ Q +9 &HF\ \ S +9 &J\ \ T +10 &K\ \ S +9 &M\ T +10 &OJ \ T +9 &Q \ U +9 &R\ \ T +10 &T\ V +9 &VQ \ U +9 &X2\ T +10 &Y\ T +9 &[?\ U +10 &]W5\ D +9 &^~Cv\ "e +9 &^1\ \ 0 +6 ( + "processing"%I& +4 "core" &^ \ 0 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&-1 +56 "core" 1 + "manipulator"&;% +4 "core" %    r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +91 "core" ' +2 "processing"%L& +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&M% +5 "core" %   |  +2 "storage"(O% +4 "core" % U 5\  + "storage"(Q. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(B(<- +5 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (J& + "manipulator"&!& +6 "core" &<*\  Q \  + &   / +5 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +6 "manipulator"&W( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(X'r +3 "core" ( +2 "manipulator"&G& +4 "core" &   / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&9' +91 "core" ' + .tHand.close +2 "manipulator"&>/ +56 "core" / +2 .tPC.seek :open +2 "processing"%H( +97 "core" ' +2 "storage"(P- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(['1 +53 "core" ' +297 ( + "storage"(\\& +4 "core" &<) . /\  +2 "manipulator"&T& +4 "core" & +2 "manipulator"&E% +3 "core" %  a +2 .tForearm.seek :retract +2 "manipulator"&]' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +38 "manipulator"&Y( +248 "core" ( + "manipulator"&S& +4 "core" &  [ +2 "storage"(N& +3 "core" &<)\ \ ' _\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +95 "core" ' +2 .tHand.open +2 "manipulator"&a1 +60 "core" 1 +2 "storage"(c- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(e' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(f' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(R- +3 "core" -' +2 "storage"(Z& +3 "core" &<) J F )\  +3 "manipulator"&j& +3 "core" &    [ +3 .tElbow.seek 5 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&m& +3 "core" &\ !  i [ +2 "storage"(_& +4 "core" &<) O Y \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(k'" +61 "core" ' +2 "manipulator"&K& +3 "core" &\  e [ +2 "storage"(s& +5 "core" &<) % .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&h'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +7 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +19 "core" ' +2 "manipulator"&v% +3 "core" %· =  +3 "storage"(o& +4 "core" &<)\ $\ ' 3\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 294 counts + "manipulator"&U'ϳ +13 "core" ' +2 "manipulator"&w& +3 "core" &   [ +3 "storage"(n& +4 "core" &<) / , ~\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +31 "core" ' +2 "storage"(d% +4 "core" % 0 . \ +3 ."downElevator"SE.seek :down +3 "storage"(r' +99 (6% +3 "core" %9R\ \ \ 0\ Xg +2 "manipulator"&z% +3 "core" %P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" &<) + 8 I\  +2 "collection"'x& +4 "core" &\\m\ $\ "y\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %  v  +2 "storage"(i% +4 "core" % 1 0 \  + "storage"(u. +4 "core" .(<- +2 "storage"(& +4 "core" &<) 2 1\  + "storage"(& +4 "core" &<) + / l\  +2 "manipulator"&& +4 "core" & c [ +2 .tElbow.seek 5 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"& & +4 "core" & ~ [ +2 "storage"(q& +4 "core" &<) / 0 x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +90 "core" ' +2 "storage"(& +4 "core" &<) % 6 ?\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +301 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  [ +2 "storage"(\ & +4 "core" &<) $ , t\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +29 "core" ' +2 "manipulator"&% +3 "core" %΋ t  +2 "storage"(& +4 "core" &<) $ % L\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 298 counts + "manipulator"&y'Ϸ +16 "core" ' +2 "manipulator"&& +4 "core" &  [ +2 "storage"(^& +4 "core" &<) ' ( X\  +38 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"($' +34 "core" ' +2 "manipulator"&'& +4 "core" &   a [ +2 "manipulator"& % +4 "core" %A 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +150 "core" ( +2 "manipulator"& & +4 "core" &~! r :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &! :- +3 .tForearm.seek CC + "manipulator"&/'? +92 "core" ' +2 .tHand.close + "manipulator"&0/ +63 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( +2 "storage"(3& +4 "core" &<) W U\  +2 "storage"(& +3 "core" &<) W V\  +3 "manipulator"& & +4 "core" &Ӣ  5\ + "manipulator"&5% +5 "core" % /   5  +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&&( +163 "core" ( +2 "manipulator"&(& +3 "core" &  Q  +2 "storage"(8& +4 "core" &<) p o \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&:'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&,1 +57 "core" 1 +2 "manipulator"&=% +4 "core" % ΅  m U +2 "storage"(& +4 "core" &<) p n \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&'ϱ +14 "core" ' +5 "manipulator"&2& +4 "core" &   %  +2 "storage"(& +3 "core" &<) j n 0\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +24 "core" ' +2 "storage"(1% +4 "core" % m l\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (@% +3 "core" %F Q V }\ V` +3 "manipulator"&%% +4 "core" %d  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +86 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'F& +4 "core" &\ \ j\ +2 "manipulator"&4% +3 "core" %    @  +3 "storage"(% +4 "core" % l m /\  +2 "storage"(.. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (-& +2 "core" &K Q P A\ \ +3 "manipulator"&;& +4 "core" &   Q  +2 .tElbow.seek 6 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&M& +3 "core" & \  Z  +3 "storage"(O& +4 "core" &K l a \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +95 "core" ' +2 "storage"(I& +3 "core" &K  W\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(!'r +296 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &K L F G\ \ +2 "manipulator"&C& +5 "core" &  ]  + .tElbow.seek 6 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&>& +4 "core" &  L  +2 "storage"(& +4 "core" &K l ` \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&P'h +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +52 "core" / +47 ."downElevator"SE.seek :down +3 "manipulator"&<& +3 "storage"(7' +8 "core" &   >  + "manipulator"&X% +5 "core" % ]   Q +2 .tForearm.seek :retract +2 "manipulator"&\\' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&T(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&E& +4 "core" &ӏ  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &ӏ  8 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'? +102 "core" ' +2 "manipulator"&N& +5 "core" &Ӑ  U 8 +2 "manipulator"&W% +4 "core" %7   6  +2 "collection"'a& +4 "core" &\ \ w\ +2 "collection"'c& +6 "core" &\ \ }\ +3 .tCC.seek :closed +3 "collection"'R(\\ +3 "core" &\ \ z\ +5 &\ \ ~\ 8 +9 &HIz\ \ t\ 0 +9 &wt\ \ n\ D +10 &b\ \ w\ M +9 &X\ \ w\ L +10 &W\ \ m\ L +9 &cZ\ \ i\ M +9 &'[\ \ l\ L +10 &Z\ \ l\ L +9 &\\\ \ k\ L +9 &m[\ \ q\ L +10 &!.Z\ \ n\ L +9 &"[\ \ l\ L +9 &$Y\ \ m\ L +10 &&u\\\ \ g\ L +9 &(6\\\ \ w\ L +10 &)Z\ \ s\ L +9 &+[\ \ y\ L +9 &-}Z\ \ z\ L +10 &/?Z\ \ y\ L +9 &1Y\ \ {\ L +10 &2Y\ \ z\ L +9 &4Y\ \ z\ L +9 &6F\\\ \ z\ L +10 &8[\ \ y\ L +9 &9Y\ \ \ s\ L +9 &;Z\ \ \ z\ L +10 &=OX\ \ \ x\ L +9 &?[\ \ s\ L +10 &@\\\ \ \ z\ M +9 &Bc\ \ z\ M +9 &DRg\ \ x\ N +10 &Fs\ \ w\ O +9 &G\ %\ s\ R +9 &I\ 9\ 2w\ V +10 &K>\ =\ ;t\ W +9 &L\ 9\ 8o\ X +10 &N\ 7\ 7r\ Y +9 &P\ 5\ 5t\ Y +9 &R@\ 3\ 3v\ Y +10 &S\ 2\ 3y\ Z +9 &U\ /\ 1y\ [ +9 &W\ 2\ 0l\ [ +10 &YA\ /\ 1n\ \\ +9 &[\ 0\ .x\ \\ +9 &\\_P\ .\ /y\ 2 +10 &\\\ -\ +y\ [ +9 ( + &\\x\ *\ ,p\ Y +3 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&Z1 +60 "core" 1 +2 "manipulator"&j% +3 "core" % 7  \\  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%_& +4 "core" &M\ +2 "manipulator"&]% +4 "core" %  Z  +2 "storage"(K% +4 "core" % % , B\  +2 "storage"(s. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(v(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +3 "core" &K \ M\  +2 "manipulator"&o& +3 "core" & / +2 "manipulator"&w% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&e( +163 "core" ( +2 "manipulator"&n& +4 "core" & c  +2 "storage"(d& +4 "core" &K 0 0 '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +95 "core" ' +2 "storage"(`& +4 "core" &K 9 U \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +297 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &K M \  +2 "manipulator"&b& +4 "core" & L  +2 .tElbow.seek 6 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&k& +4 "core" &   + "storage"(h& +4 "core" &K + . |\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&U'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(' +8 "core" & \\  + "manipulator"&i% +5 "core" % o t +2 .tForearm.seek :retract +2 "manipulator"&g' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +3 "manipulator"&& +3 "core" & E +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & j +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 "manipulator"& & +3 "core" & x +2 "manipulator"&q% +5 "core" %  +39 "processing"%p& +12 "core" &\ +2 "processing"%& +5 "core" &@\ +3 .tPC.seek :closed + "processing"%r(^ +5 "core" &\ +7 & /\ $c +10 &T\ 7 +9 &~ \ K +10 &\\\ N +9 &W]\ N +9 &]\ N +10 &_\ N +9 &[ \ N +9 &_] \ N +10 &!\\\ N +9 &`\ N +10 &!]\ N +9 &#h[\ N +9 &%)^ \ N +10 &&_ \ O +9 &(^ \ N +9 &*n^\ O +10 &,1_\ \ N +9 &-] \ N +10 &/] \ N +9 &1wb\ \ N +9 &39^ \ N +10 &4^\ \ O +9 &6_\ N +9 &8] \ N +10 &:A[ \ N +9 &<]\ \ N +10 &=\\ \ N +9 &?^\ N +9 &AHc\ O +10 &Ci\ P +9 &Dh \ P +9 &Fv\ \ Q +10 &HE \ R +9 &J \ T +10 &K \ T +9 &M\ \ T +9 &OH\ T +10 &Q \ U +9 &R\ T +9 &T \ U +10 &VM\ U +9 &X \ U +10 &Y \ U +9 &[ \ U +9 &]T\ F +10 &^v>p \ 'r +9 &^-\ , +5 ( +2 "processing"%& +4 "core" &^ \ , +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&V1 +59 "core" 1 + "manipulator"&{% +4 "core" %   I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 "processing"%& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&\ % +5 "core" %  \ o  +2 "storage"(% +3 "core" %\ (\ \  +3 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "manipulator"&^& +3 "core" &K\ \ \ ! R\  +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(''r +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&|& +4 "core" &   V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &  | +2 .tForearm.seek PC +2 "manipulator"&}' +91 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%y( +96 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +40 "core" ' +308 ( +2 "storage"(& +4 "core" &K - 1 g\  +2 "manipulator"&#& +4 "core" & t +2 "manipulator"&% +3 "core" %  ~ f +3 .tForearm.seek :retract +2 "manipulator"&0' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&*( +253 "core" ( +2 "manipulator"&"& +3 "core" &\  { !v +3 "storage"(3& +4 "core" &K - ' 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "storage"(5- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"((' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(8' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(/- +3 "core" -' +2 "storage"(+& +3 "core" &K s t V\  +3 "manipulator"&,& +4 "core" &\   + !v +2 .tElbow.seek 6 + "manipulator"&=( +4 "core" ( +2 "manipulator"&& +4 "core" &\  = !v + "storage"(2& +5 "core" &K e h \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +51 "core" ' + "manipulator"&& +4 "core" &\  e !v +2 "storage"(@& +3 "core" &K   \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&%'< +19 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +40 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +20 "core" ' +2 "manipulator"&% +3 "core" %*  +2 "storage"(F& +4 "core" &K X N\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 282 counts +2 "manipulator"&4'V +16 "core" ' +2 "manipulator"&& +3 "core" &\  !v +3 "storage"(.& +3 "core" &K # '\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +16 "core" ' + "storage"(% +4 "core" % ) ' =\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (B% +4 "core" %KR\ \  Q\ Xh +2 "manipulator"&-% +4 "core" % ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (M& +3 "core" &K  , i\  +2 "collection"'O& +3 "core" &\\v\ %\ &w\ Y +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&I% +4 "core" %  d  +2 "storage"()% +4 "core" % , $ p\  +2 "storage"(D. +3 "core" .(K +2 "storage"(J& +3 "core" &K / / \  +2 "storage"(G& +4 "core" &K / . \  +2 "manipulator"&C& +3 "core" &\  g !v +3 .tElbow.seek 6 +2 "manipulator"&>( +4 "core" ( + "manipulator"&& +4 "core" &\  i !v +2 "storage"(?& +3 "core" &K / . \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&<' +97 "core" ' +2 "storage"(X& +4 "core" &K . - V\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(L'r +309 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" &\  ^ !u +3 "storage"(9& +4 "core" &K / / |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&!'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +3 "core" -' +2 .tSE.seek 0.13 Pucks below Top Plate +2 "storage"(W'U +32 "core" ' + "manipulator"&a% +4 "core" %E j * +2 "storage"(A& +4 "core" &K + ) \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts +2 "manipulator"&7'q +14 "core" ' +2 "manipulator"&\\& +4 "core" &\  C !u +2 "storage"(& +4 "core" &K ! ! 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +15 "core" ' +2 .tSE.seek 1.13 Pucks below Top Plate +2 "storage"(j' +42 "core" ' +2 "manipulator"&_& +4 "core" &\  !u +2 "manipulator"&]% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +148 "core" ( + "manipulator"&c& +4 "core" &z%  e >J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &z% >J +3 .tForearm.seek CC +2 "manipulator"&o'? +100 "core" ' +2 .tHand.close + "manipulator"&w/ +58 "core" / +2 .tCC.seek :open +2 "collection"'S( +447 "core" ( +2 "storage"(n& +3 "core" &K W R c\  +2 "storage"(d& +4 "core" &K X W \  +2 "manipulator"& & +4 "core" & 3 +2 "manipulator"&`% +4 "core" % .  +2 .tForearm.seek :retract +2 "manipulator"&T' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&m( +158 "core" ( +2 "manipulator"&6& +3 "core" & 6  +3 "storage"(z& +4 "core" &K k a \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +41 .tForearm.seek 6 +10 "manipulator"&b'< +96 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +55 "core" 1 +2 "manipulator"&~% +4 "core" % :   9 +2 "storage"(x& +4 "core" &K n l \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 298 counts + "manipulator"&i'f +14 "core" ' +2 "manipulator"&e& +4 "core" &    +2 "storage"(Y& +4 "core" &K k k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +14 "core" ' +2 "storage"(U% +4 "core" % r o \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +2 "core" %J U T ^\ Va +3 "manipulator"&l% +3 "core" %  I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'q& +3 "core" &\ \ y\ +2 "manipulator"&p% +4 "core" %   %  +2 "storage"(% +4 "core" % l n \  +2 "storage"(g. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(H(,y +671 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" &,{ < @ \ +2 "manipulator"&{& +4 "core" &  b  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\ & +4 "core" &     +2 "storage"(& +4 "core" &,{ o o "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(& +3 "core" &,{ t r |\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +3 (|& +3 "core" &,{ G J +\ +2 "manipulator"&t& +8 "core" &   e  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  Z  +2 "storage"(v& +4 "core" &,{ f m d\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&u/ +55 "core" / +4 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(r' +8 "core" &   L  + "manipulator"&'% +5 "core" % a   Z +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&& +3 "core" &Ӓ   3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +2 "core" &Ӓ  H 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'? +96 "core" ' + "manipulator"&3& +4 "core" &Ӓ  E 3 +2 "manipulator"& % +4 "core" %C < +3 "collection"' & +4 "core" &\ \ |\ +2 "collection"'5& +5 "core" &\ \ ~\ +2 .tCC.seek :closed +2 "collection"'/(\\ +5 "core" &\ \ \  +8 &3\ \ \ *z +10 &e\ \ \ > +9 &r\ \ \ M +9 &OV\ \ \ L +10 &W\ \ \ L +9 &Z\ \ |\ L +9 &Z\ \ \ L +10 &WX\ \ \ L +9 &_\ \ ~\ L +10 &Y\ \ y\ L +9 & Y\ \ y\ L +9 &"^\\\ \ y\ L +10 &$ Y\ \ w\ L +9 &%Y\ \ z\ L +9 &']\ \ y\ L +10 &)gZ\ \ x\ L +9 &+)Z\ \ x\ L +10 &,]\ \ y\ L +9 &.Y\ \ y\ L +9 &0o[\ \ u\ L +10 &20\\\ \ t\ L +9 &3Y\ \ y\ L +9 &5\\\ \ \ y\ L +10 &7wZ\ \ y\ L +9 &98]\ \ y\ L +10 &:Z\ \ y\ L +9 &<W\ \ y\ L +9 &>Z\ \ z\ L +10 &@BY\ \ z\ K +9 &B\\\ \ v\ L +9 &C`\ \ y\ L +10 &Ek\ \ y\ N +9 &G>u\ \ {\ O +10 &H\ #\ z\ R +9 &J\ 4\ 0x\ W +9 &Ln\ 5\ 5y\ W +10 &N+\ 2\ 3y\ Y +9 &O\ 2\ 2z\ Y +9 &Q\ /\ /z\ X +10 &Sl\ .\ /{\ Z +9 &U.\ .\ 0y\ Z +10 &V\ .\ 0w\ [ +49 &X\ /\ +x\ \\ +11 &Zp\ ,\ ,y\ \\ +2 &\\x\ ,\ .z\ 4 + &\\&\ /\ .y\ $j +2 ( + &\\\ ,\ ,w\ ^ + &\\\ *\ +y\ ^ + &\\\ '\ +{\ ^ +2 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 11/26 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&+1 +55 "core" 1 +2 "manipulator"&,% +5 "core" % C  < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%2& +4 "core" &G\ +2 "manipulator"&0% +4 "core" %   +2 "storage"(% +4 "core" % _ 3 )\  +2 "storage"(@. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,{ Q \ +2 "manipulator"&F& +4 "core" &Ӓ l 3 +2 "manipulator"&(% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&.& +4 "core" & $  +2 "storage"(& +3 "core" &,{ 0 - l\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +91 "core" ' +2 "storage"(& +4 "core" &,{ . ( \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +297 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &,{  \ 9\ +3 "manipulator"&& +4 "core" & q  +2 .tElbow.seek 4 + "manipulator"&=( +4 "core" ( +2 "manipulator"&1& +4 "core" & U  +2 "storage"(%& +4 "core" &,{\ \ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&4'c +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& +3 "storage"(I' +8 "core" & k  + "manipulator"&)% +5 "core" % W ^ +2 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&J& +4 "core" & d ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" & h ? +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&C' +90 "core" ' +2 "manipulator"&& +4 "core" & , ? +2 "manipulator"&?% +4 "core" %  \\ ~ +2 "processing"%$& +4 "core" &\ +2 "processing"%X& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%(^ +3 "core" &\ +5 &\ 3 +10 &>Hz\ 0 +9 &gq\ D +10 &j\ O +9 &]\ N +9 &\\\ N +10 &L]\ N +9 &\\\ N +9 &^\ N +10 &_\ N +9 &T\\\ N +10 &!^\ O +9 &"]\ N +9 &$_\ N +10 &&^]\ N +9 &(]\ N +9 &)] \ N +10 &+]\ N +9 &-f]\ N +10 &/'\\\ N +9 &0_\ N +9 &2^\ N +10 &4m\\ \ N +9 &6/_ \ N +9 &7_\ N +10 &9]\ N +9 &;s_\ O +10 &=6^\ N +9 &>b \ N +9 &@a\ N +10 &Bzf\ O +9 &D;j\ O +10 &Et \ Q +9 &G|\ Q +9 &Iu\ S +10 &K6\ T +9 &L\ T +9 &N\ T +10 &Px \ U +9 &R: \ U +9 &S\ U +10 &U \ U +9 &W \ U +10 &Y> \ W +9 &[ \ U +9 &\\ \ V +10 &^Cn \ 0 +9 &^Y\ \ B +6 ( + "processing"%X& +5 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&&1 +4 "core" &^W \ B +50 1 +2 "manipulator"&;% +3 "core" %   J ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +92 "core" ' + "processing"%E& +4 "core" &^W8\ B +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&9% +4 "core" %     +2 "storage"(N% +4 "core" %\ \ \ \ +2 "storage"(a. +3 "core" .(,y +2 "storage"(A& +4 "core" &,{\ \ \ +49 "storage"(\\& +3 "manipulator"&& +6 "core" &,{\ \ \ \ +2 &  ? +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(_'r +3 "manipulator"&]( +7 "core" ( + "manipulator"&<& +4 "core" &   _ ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &    ? +3 .tForearm.seek PC +2 "manipulator"&L' +95 "core" ' +2 .tHand.close + "manipulator"&!/ +63 "core" / +2 .tPC.seek :open +2 "processing"%7( +81 "core" ' +2 "storage"(W- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'1 +46 "core" ' +316 ( +2 "storage"([& +4 "core" &,{ + $ -\ +2 "manipulator"&Z& +4 "core" &  s ? +2 "manipulator"&P% +4 "core" %  . +2 .tForearm.seek :retract +2 "manipulator"&w' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&K( +245 "core" ( +2 "manipulator"&R& +3 "core" & T < +3 "storage"(n& +4 "core" &,{\ ^ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +93 "core" ' +2 .tHand.open + "manipulator"& 1 +61 "core" 1 +3 "storage"(`- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(6' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(o- +3 "core" -' +2 "storage"(s& +4 "core" &,{ f j \ +2 "manipulator"&h& +4 "core" &   < +2 .tElbow.seek 4 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&x& +4 "core" &   W < +2 "storage"(e& +3 "core" &,{ e h \ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(U'" +59 "core" ' +2 "manipulator"&T& +4 "core" & < +2 "storage"(& +4 "core" &,{\ \  )\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&l'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(b' +29 "core" ' +2 "manipulator"&q% +4 "core" %K q S +2 "storage"(p& +4 "core" &,{\ ! ]\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&i'w +13 "core" ' +2 "manipulator"&& +3 "core" & } < +3 "storage"(g& +4 "core" &,{ + # ;\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +14 "core" ' +2 "storage"(f% +3 "core" % . / t\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %R\ \ X\ Xg +2 "manipulator"&V% +5 "core" % c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +62 ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +3 "core" &,{ ] \ +2 "collection"'& +4 "core" &\\\ %\ %y\ ^ +48 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  x  +2 "storage"(k% +4 "core" % ! '\  +2 "storage"( . +3 "core" .(,y +2 "storage"(^& +4 "core" &,{ # '\ +2 "storage"(|& +3 "core" &,{ ! $\ +3 "manipulator"&t& +3 "core" & | < +3 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&v& +4 "core" &  c < +2 "storage"(u& +4 "core" &,{ , '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"('& +3 "core" &,{ . . _\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & < +3 "storage"(}& +4 "core" &,{   \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"( 'd +28 "core" ' +2 "manipulator"& % +4 "core" %B l D +2 "storage"(& +4 "core" &,{ C "\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&r'n +14 "core" ' + "manipulator"&& +4 "core" & < +2 "storage"(S& +4 "core" &,{ !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&+' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(,' +36 "core" ' + "manipulator"&2& +5 "core" & T < +2 "manipulator"&0% +3 "core" % ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +151 "core" ( + "manipulator"&5& +4 "core" &ӎ  w 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ l 7 +2 .tForearm.seek CC +3 "manipulator"&F'? +94 "core" ' + .tHand.close + "manipulator"&(/ +54 "core" / +2 .tCC.seek :open +2 "collection"'"( +450 "core" ( +2 "storage"(.& +3 "core" &,{ T ` 4\ +2 "storage"(& +4 "core" &,{ U R \ +2 "manipulator"&H& +4 "core" &ӏ  6 +2 "manipulator"&% +4 "core" % ;  y & +2 .tForearm.seek :retract +2 "manipulator"&#' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&B& +4 "core" &  ,  +2 "storage"(-& +4 "core" &,{ ^ a \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +54 "core" 1 +3 "manipulator"&M% +4 "core" % ?  = 1 + "storage"(O& +4 "core" &,{ j k \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 308 counts +2 "manipulator"&)'k +14 "core" ' + "manipulator"&& +4 "core" &   7  +2 "storage"(*& +4 "core" &,{ l k\ +2 .tForearm.reconfigure :tight +42 "manipulator"&#Q@2^d^\ b +10 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +16 "core" ' + "storage"(4% +4 "core" % ~ F\ +3 ."downElevator"SE.seek :down +4 "storage"(J' +98 (G% +3 "core" %E T T T\ V` +2 "manipulator"&=% +5 "core" %  v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'?& +3 "core" &\ \ v\ +3 "manipulator"&$% +3 "core" %   0  +3 "storage"(I% +4 "core" % m l `\ + "storage"(D. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(y(<- +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" &<, - ) k\  +2 "manipulator"&;& +4 "core" &   ?  +2 .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&9& +3 "core" &    +3 "storage"(N& +3 "core" &<+ m m\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +93 "core" ' + "storage"(A& +5 "core" &<+ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +2 "core" &<+ ` < Q\  +3 "manipulator"&<& +4 "core" &  ?  +2 .tElbow.seek 5 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&C& +4 "core" &   o  + "storage"(!& +5 "core" &<+ n n \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&W'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +3 "storage"(' +7 "core" &   +2 "manipulator"&_% +3 "core" % ϭ   R +3 .tForearm.seek :retract +2 "manipulator"&[' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&Z(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +4 "manipulator"&P& +4 "core" &ӆ"  ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &ӆ"  ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&R'? +100 "core" ' + "manipulator"&n& +5 "core" &ӥ  7 + "manipulator"&]% +5 "core" %H  E +2 "collection"' & +4 "core" &\ \ \ +2 "collection"'`& +6 "core" &\ \ \ +3 .tCC.seek :closed +3 "collection"'o(\\ +4 "core" &\ \ \ +5 &\ \ \ : +9 &EJy\ \ \ 0 +9 &ut\ \ z\ D +10 &_\ \ x\ L +9 &U\ \ |\ L +9 &W\ \ \ K +10 &fZ\ \ \ K +9 &'X\ \ y\ L +10 &W\ \ x\ K +9 &\\\ \ p\ L +9 &l[\ \ w\ L +10 &!0V\ \ y\ K +9 &"X\ \ r\ K +9 &$\\\ \ p\ K +10 &&u\\\ \ p\ L +9 &(7\\\ \ s\ L +10 &)W\ \ y\ K +9 &+V\ \ m\ L +9 &-~[\ \ q\ K +10 &/?[\ \ \ r\ L +9 &1Y\ \ t\ L +9 &2Z\ \ t\ K +10 &4W\ \ y\ K +9 &6HY\ \ y\ K +10 &8 \\\ \ v\ L +9 &9Z\ \ z\ L +9 &;V\ \ {\ K +10 &=PY\ \ {\ K +9 &?\\\ \ {\ L +9 &@Y\ \ \ x\ L +10 &B]\ \ \ z\ L +9 &DTc\ \ z\ M +10 &Fm\ \ {\ N +9 &G~\ \ x\ P +9 &I\ +\ #z\ S +10 &K?\ 6\ 5t\ W +9 &L\ 4\ 6u\ X +9 &N\ 4\ 5y\ W +10 &P\ 3\ 4{\ X +9 &RA\ 1\ 3y\ Y +10 &T\ 1\ 3s\ Y +9 &U\ 0\ /s\ Z +9 &W\ .\ 0w\ [ +10 &YB\ /\ /u\ [\ +9 &[\ 1\ 1z\ \\ +9 &\\]K\ 1\ /z\ 6 +10 &\\ \ -\ /x\ S +5 ( +2 "collection"'`& +5 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.05 + .Hand.open + "manipulator"&s1 +3 "core" &\\w\ ,\ ,w\ S +56 1 +2 "manipulator"&h% +3 "core" % H  X +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +99 "core" ' +5 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%e& +4 "core" &I\ +2 "manipulator"&w% +4 "core" % " A % +2 "storage"(T% +4 "core" % a 5 T\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(q(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" &<,\ \ G\  +3 "manipulator"&c& +3 "core" &ӧ 7 +3 "manipulator"&% +4 "core" % " l % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&g( +162 "core" ( + "manipulator"&6& +4 "core" &  +2 "storage"(f& +3 "core" &<+ . / \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +94 "core" ' + "storage"(d& +4 "core" &<+ U U\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +297 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" &<+ ' % N\  +2 "manipulator"&Y& +3 "core" & ~  +3 .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&U& +3 "core" & h  +3 "storage"(l& +3 "core" &<+ ! + J\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&i'Ϲ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +7 "core" &  ,  +2 "manipulator"&b% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&k' +95 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +3 "manipulator"&^& +3 "core" & l > +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" & y > +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&t' +93 "core" ' +2 "manipulator"&v& +3 "core" & > +3 "manipulator"&u% +3 "core" %  > { +3 "processing"%j& +4 "core" &\ +2 "processing"%'& +5 "core" &L\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ \ +10 &0y\ )w +9 &b\ > +10 &s{\ N +9 &3]\ N +9 &\\\ N +10 &[\ N +9 &z]\ N +9 &=\\\ N +10 &^\ N +9 &^\ N +9 & ^ \ N +10 &"C\\\ N +9 &$]\ N +10 &%\\\ N +9 &']\ N +9 &)K\\\ N +10 &+ ]\ N +9 &,]\ N +9 &.\\\ N +10 &0S\\\ N +9 &2Z\ N +10 &3]\ N +9 &5\\ \ N +9 &7]\\ \ N +10 &9^\ \ N +9 &:]\ N +9 &<] \ N +10 &>b_\ \ O +9 &@%] \ N +10 &A`\ O +9 &Cj \ O +9 &Efp \ P +10 &G$}\ \ Q +9 &Ht\ S +9 &J\ T +10 &Lc\ \ T +9 &N# \ T +10 &O\ T +9 &Q \ U +9 &Sg\ U +10 &U) \ U +9 &V \ U +9 &X\ \ U +10 &Zp \ U +9 &\\1\ U +10 &]|{ \ ; +9 &^*| \ V +9 &^&\ 2 +3 ( + "processing"%'& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&m1 +61 "core" 1 +2 "manipulator"&{% +3 "core" %   Y { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + "processing"%& +4 "core" &^$ \ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&}% +4 "core" %     +2 "storage"(3% +4 "core" % N =\  +2 "storage"( . +3 "core" .(<- +2 "storage"(& +4 "core" &<+ Y \  +2 "storage"(& +2 "manipulator"&S& +7 "core" &<+ B U\  +2 &   4 > +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +50 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&2( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(0'r +2 "core" ( +2 "manipulator"&& +4 "core" &  > +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &    > +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%r( +97 "core" ' +2 "storage"( - +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +44 "core" ' +303 ( +2 "storage"(& +3 "core" &<+ C m\  +2 "manipulator"&+& +5 "core" & > + "manipulator"&% +4 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&(' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +246 "core" ( + "manipulator"&/& +4 "core" &  B +2 "storage"(.& +4 "core" &<+ N \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + .tHand.open +2 "manipulator"&H1 +62 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(-' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(@& +4 "core" &<+ s s S\  +2 "manipulator"&%& +3 "core" &  \\ B +3 .tElbow.seek 5 +2 "manipulator"&M( +4 "core" ( + "manipulator"&O& +4 "core" &   B +2 "storage"(& +4 "core" &<+ i h x\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +52 "core" ' +2 "manipulator"&#& +3 "core" & B +3 "storage"(G& +4 "core" &<+ $ $\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&='΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&)% +4 "core" %Α *  +2 "storage"(?& +3 "core" &<+ 1 .\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&$'Ͻ +14 "core" ' + "manipulator"&I& +4 "core" & B +2 "storage"(D& +5 "core" &<+ $ 0 m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +15 "core" ' + "storage"(8% +4 "core" % 4 %\ +3 ."downElevator"SE.seek :down +3 "storage"(J' +99 ( % +3 "core" %T\ \  x\ Xg +2 "manipulator"&&% +3 "core" %R E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +89 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +4 (9& +2 "core" &<+ ( , 0\  +3 "collection"'N& +4 "core" &\\u\ %\ %u\ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&A% +4 "core" %  h  +2 "storage"(1% +3 "core" % ! !\ +2 "storage"(. +4 "core" .(<- + "storage"(& +49 "core" &<+ / $ \  +3 "storage"(X& +4 "core" &<+ # \  +2 "manipulator"&<& +4 "core" &  F B +2 .tElbow.seek 5 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&!& +3 "core" &   g B +3 "storage"(:& +3 "core" &<+ " &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +97 "core" ' +2 "storage"(_& +3 "core" &<+ : & A\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +297 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" & M B +2 "storage"(L& +5 "core" &<+\ # W P\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&\\'΍ +14 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(n- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(]'u +30 "core" ' + "manipulator"& % +4 "core" %Ι W D +2 "storage"(>& +3 "core" &<+ " + ?\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&[& +4 "core" &  B +2 "storage"("& +3 "core" &<+ + ! \ \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&s'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(h' +49 "core" ' + "manipulator"&e& +4 "core" & X B +2 "manipulator"&w% +4 "core" %Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( + "manipulator"&`& +4 "core" &ә 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +2 "core" &ә s 3 +3 .tForearm.seek CC +2 "manipulator"&c'? +100 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'R( +447 "core" ( +2 "storage"(6& +4 "core" &<+ V V \ \  +2 "storage"(f& +4 "core" &<+ U T \  +2 "manipulator"&y& +4 "core" &Ӛ 3 + "manipulator"&d% +5 "core" % 4 q +2 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&x( +159 "core" ( +2 "manipulator"&& +3 "core" &  F  +3 "storage"(V& +3 "core" &<+ o o \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Y'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +55 "core" 1 +2 "manipulator"&\ % +4 "core" % x \  P +2 "storage"(& +3 "core" &<+ h ` p\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 279 counts +2 "manipulator"&b'Ϥ +13 "core" ' +2 "manipulator"&g& +3 "core" &  N  +2 "storage"(K& +5 "core" &<+ r k }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +24 "core" ' +2 "storage"(i% +4 "core" % l l \ +48 ."downElevator"SE.seek :down +5 "storage"(^' +98 (|% +2 "core" %J T T r\ Va +3 "manipulator"&~% +3 "core" %| Y +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'u& +3 "core" &\ \ u\ +3 "manipulator"&j% +3 "core" %   Y  +3 "storage"(% +4 "core" % ~ o N\  + "storage"(k. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(7(K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +3 "core" &K < E \ \ +2 "manipulator"&{& +5 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&}& +3 "core" &    +2 "storage"(3& +4 "core" &K m k ;\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +92 "core" ' +2 "storage"(& +4 "core" &K k\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(''r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &K Y g *\ \ +2 "manipulator"&& +5 "core" & g  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&t& +3 "core" &  n  +2 "storage"(& +4 "core" &K n n \ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +13 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &   G  +2 "manipulator"&0% +3 "core" % `  K +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &ә Q 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ә  [ 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&/'? +94 "core" ' +2 "manipulator"&.& +3 "core" &ә   0 +3 "manipulator"&2% +4 "core" %A   K +2 "collection"'H& +3 "core" &\ \ \ +3 "collection"'& +5 "core" & \ \ +3 .tCC.seek :closed + "collection"'F(\\ +6 "core" &\ \ \ +6 &=\ \ \ $e +10 &X|\ \ \ 7 +9 &{\ \ \ K +9 &Y\ \ \ K +10 &{Z\ \ \ L +9 &>Y\ \ \ K +9 &W\ \ \ K +10 &\\\ \ v\ K +9 &Y\ \ z\ K +10 &FW\ \ \ K +9 & U\ \ \ K +9 &!Z\ \ \ K +10 &#Z\ \ {\ L +9 &%NX\ \ }\ K +9 &'Z\ \ |\ K +10 &(Y\ \ \ L +9 &*Y\ \ ~\ K +10 &,WV\ \ v\ K +9 &.Y\ \ ~\ L +9 &/X\ \ x\ K +10 &1\\\ \ z\ K +9 &3]Y\ \ {\ L +9 &5 Y\ \ y\ K +10 &6V\ \ h\ K +9 &8X\ \ l\ L +10 &:fX\ \ h\ K +9 &<(W\ \ j\ K +9 &=\\\ \ g\ K +10 &?\\\ \ \ k\ K +9 &AmZ\ \ \ i\ L +9 &C.`\ \ o\ L +10 &Dn\ \ i\ N +9 &Fu\ \ q\ O +10 &Hb\ )\ #f\ R +9 &J\ :\ 7q\ V +9 &K\ ;\ <l\ W +10 &M\ 9\ ;l\ X +9 &OY\ 5\ 6d\ X +9 &Q\ 6\ 4g\ Y +10 &R\ 5\ 4m\ X +9 &T\ /\ 1h\ Z +10 &V[\ 0\ /b\ Z +9 &X\ /\ 2c\ Z +9 &Y\ 0\ /g\ [\ +10 &[\ 0\ 0i\ H +9 &\\:\ 0\ 0r\ - +9 &\\j\ -\ .i\ K +3 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&@1 +55 "core" 1 +3 "manipulator"&%% +4 "core" % A \  K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&(% +3 "core" %  u  +3 "storage"(#% +4 "core" % & (\  +48 "storage"(G. +4 "core" .(K +2 "storage"()& +3 "core" &K % ' g\ \ +2 "storage"(?& +4 "core" &K 1 - n\ \ +2 "manipulator"&5& +4 "core" &  ) +2 "manipulator"&I% +3 "core" %  _  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&D( +164 "core" ( + "manipulator"&B& +5 "core" &  + "storage"(8& +5 "core" &K U U \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +88 "core" ' +2 "storage"(& +4 "core" &K K V \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +297 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &K " ( W\ \ +3 "manipulator"&*& +3 "core" &  +3 .tElbow.seek 6 + "manipulator"&M( +4 "core" ( +2 "manipulator"&4& +3 "core" &  \\  +2 "storage"(=& +4 "core" &K / 1\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&9'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& +6 "storage"(A' +3 "core" & *  +2 "manipulator"&1% +5 "core" % e M +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&& +4 "core" & E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &  P E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&<' +90 "core" ' + "manipulator"&!& +4 "core" & f E +2 "manipulator"&:% +4 "core" % _ ~ +2 "processing"%,& +3 "core" &\ +3 "processing"%_& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%J(^ +4 "core" &\ +6 &8\ #c +9 &U}\ 7 +10 &~}\ K +9 &]\ N +9 &`\\\ N +10 &#Z\ M +9 &\\\ N +9 &]\ N +10 &hZ\ N +9 &)]\ N +10 &]\ N +9 &!Z\ N +9 &#p\\\ N +10 &%2_\ N +9 &&\\\ N +10 &(\\\ N +9 &*x\\\ N +9 &,;] \ M +10 &-\\\ N +9 &/\\\ \ N +9 &1]\ N +10 &3C\\ \ M +9 &5\\\ N +9 &6]\ N +10 &8^\ \ N +9 &:K\\\ M +10 &<\ ]3\ N +9 &=]\ N +9 &?] \ N +10 &AQ\\\ N +9 &Cfp\ O +10 &Dk\ P +9 &Fr\ Q +9 &HL \ R +10 &J r\ S +9 &K\ T +9 &M5\ T +10 &ON\ T +9 &Q\ U +10 &R \ U +9 &T\ U +9 &VV \ T +10 &X\ T +9 &Y \ U +9 &[3\ U +10 &]Z \ E +9 &^z@y \ 'r +9 &^&\ - +6 ( +2 "processing"%_& +4 "core" &^\ - +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&;% +3 "core" %   v ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +3 "processing"%P& +4 "core" &^7\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&L% +3 "core" %    +3 "storage"(n% +4 "core" % ' "\  + "storage"( . +3 "core" .(K +2 "storage"(>& +4 "core" &K % ,\ \ +2 "storage"([& +3 "manipulator"&"& +7 "core" &K " !\ \ + &   E +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&e( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(w'r +2 "core" ( +2 "manipulator"&Q& +4 "core" &  E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +49 &C& +4 "core" & { E +3 .tForearm.seek PC +2 "manipulator"&E' +92 "core" ' + .tHand.close +2 "manipulator"&\\/ +59 "core" / +2 .tPC.seek :open +2 "processing"%( +46 "core" ' + "storage"(]- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +40 "core" ' +358 ( +2 "storage"(p& +4 "core" &K T U \\\ \ +2 "manipulator"&s& +4 "core" & E +2 "manipulator"&W% +4 "core" %  a +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&T( +245 "core" ( +2 "manipulator"&o& +4 "core" & F +2 "storage"(6& +4 "core" &K * ( [\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +94 "core" ' +2 .tHand.open + "manipulator"&y1 +63 "core" 1 +2 "storage"(d- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(V' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +3 "core" -' +2 "storage"(& +4 "core" &K r r C\ \ +2 "manipulator"&l& +3 "core" &   u F +3 .tElbow.seek 6 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&& +3 "core" &   H F +3 "storage"(g& +4 "core" &K s s g\ \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&K' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(i'" +49 "core" ' +2 "manipulator"&Z& +4 "core" & - F +2 "storage"(x& +3 "core" &K $ \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&|'< +20 "core" ' + .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +21 "core" ' + "manipulator"&b% +4 "core" %: I  +2 "storage"(u& +4 "core" &K C \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 298 counts + "manipulator"&j'f +15 "core" ' +2 "manipulator"&& +4 "core" &  F +2 "storage"(k& +4 "core" &K + ! B\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&h' +15 "core" ' +2 "storage"(z% +4 "core" % 1 0\ +3 ."downElevator"SE.seek :down +3 "storage"(^' +99 (q% +2 "core" %*Q L \ Vd +3 "manipulator"&m% +3 "core" % s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (}& +3 "core" &K " + \ \ +2 "collection"'3& +4 "core" &\\k\ $\ $i\ K +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %  w  +2 "storage"(U% +4 "core" % ' (\  + "storage"(v. +3 "core" .(K +2 "storage"(& +3 "core" &K ( ' \ \ +3 "storage"(S& +3 "core" &K & "\ \ +3 "manipulator"&& +4 "core" & n F +2 .tElbow.seek 6 + "manipulator"&t( +3 "core" ( +2 "manipulator"&& +4 "core" &  F +2 "storage"( & +3 "core" &K * ( G\ \ +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' + "storage"(0& +4 "core" &K U T\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  : F +3 "storage"(& +3 "core" &K " & B\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&''< +21 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(.- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(2'q +28 "core" ' + "manipulator"&H% +5 "core" %> Y  + "storage"(& +4 "core" &K 1 1\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 302 counts + "manipulator"&'j +14 "core" ' +2 "manipulator"&& +4 "core" & F +2 "storage"(R& +4 "core" &K & U\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(%' +36 "core" ' +2 "manipulator"&& +4 "core" & G F +2 "manipulator"&(% +4 "core" %  e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&G(ӂ +153 "core" ( +2 "manipulator"&& +4 "core" &Ӌ# <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &Ӌ# E <: +2 .tForearm.seek CC +3 "manipulator"&?'? +96 "core" ' +2 .tHand.close + "manipulator"&5/ +61 "core" / +2 .tCC.seek :open +2 "collection"'I( +450 "core" ( +2 "storage"(/& +3 "core" &K S H 9\ \ +3 "storage"(B& +4 "core" &K H Q T\ \ +2 "manipulator"&8& +3 "core" & v 3 +3 "manipulator"&% +4 "core" % P h +2 .tForearm.seek :retract +2 "manipulator"&+' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&O( +160 "core" ( + "manipulator"& & +4 "core" & =  +2 "storage"(&& +3 "core" &K k k \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&*'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&=1 +58 "core" 1 +2 "manipulator"&$% +4 "core" % ) 1 +2 "storage"(N& +4 "core" &K l a \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 281 counts +2 "manipulator"&1'U +14 "core" ' +2 "manipulator"&D& +4 "core" & \  K  +2 "storage"(& +4 "core" &K n n \\\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +20 "core" ' + "storage"(9% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (X% +3 "core" %J R U %\ Wb +2 "manipulator"&M% +4 "core" % s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"':& +4 "core" & y\ +2 "manipulator"&,% +4 "core" %   C  +2 "storage"(A% +3 "core" % k k \  +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(r(,y +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| n j \ +2 "manipulator"&;& +4 "core" &   C  +2 .tElbow.seek 4 +2 "manipulator"&P( +4 "core" ( + "manipulator"&L& +4 "core" &   `  +2 "storage"(n& +3 "core" &,| l k @\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +102 "core" ' +2 "storage"(>& +4 "core" &,| \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +297 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &,| o l Q\ +2 "manipulator"&Q& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&<& +4 "core" &    + "storage"(\\& +4 "core" &,| a i \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&]'c +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& +2 "storage"(J' +8 "core" &  @  +2 "manipulator"&w% +4 "core" % \\  % +2 .tForearm.seek :retract +2 "manipulator"&p' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&W& +5 "core" &~"  ' ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &E& +2 "core" &~"   ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'? +100 "core" ' + "manipulator"&6& +5 "core" &Ӥ  f 6 +2 "manipulator"&e% +4 "core" %A  T  +2 "collection"'y& +4 "core" &\ \ s\ +2 "collection"'d& +5 "core" &\ \ o\ +3 .tCC.seek :closed +2 "collection"'c(\\ +4 "core" &\ q\ +7 &>\ \ u\ $e +9 &W|\ \ \ 7 +10 &x\ \ y\ K +9 &Y\ \ t\ K +9 &zV\ \ w\ K +10 &<Z\ \ w\ K +9 &[\ \ t\ K +9 &X\ \ q\ K +10 &U\ \ x\ K +9 &DZ\ \ |\ K +10 & X\ \ v\ L +9 &!X\ \ t\ K +9 &#\\\ \ r\ K +10 &%MY\ \ o\ K +9 &' X\ \ \ L +9 &(X\ \ s\ K +10 &*T\ \ w\ K +9 &,TZ\ \ r\ K +10 &.X\ \ |\ L +9 &/W\ \ z\ K +9 &1[\ \ {\ K +10 &3[Y\ \ m\ L +9 &5X\ \ s\ K +9 &6U\ \ v\ K +10 &8U\ \ ~\ K +9 &:dZ\ \ u\ K +10 &<&Z\ \ s\ K +9 &=Y\ \ q\ L +9 &?Y\ \ m\ L +10 &AkZ\ \ k\ L +9 &C-\\\ \ \ e\ L +9 &Dg\ \ \ v\ M +10 &Fn\ \ k\ N +9 &He\ \ {\ P +10 &J\ /\ (n\ U +9 &K\ 3\ 2r\ W +9 &M\ 4\ 3f\ Y +10 &OX\ 1\ 1d\ X +9 &Q\ /\ /r\ Y +9 &R\ /\ /q\ Z +10 &T\ 0\ /s\ Y +9 &VW\ -\ .k\ [ +9 &X\ .\ .f\ [\ +10 &Y\ -\ -r\ [ +9 &[\ .\ .w\ I +10 &\\7\ -\ -s\ / +9 &\\k\ +\ -c\ O +2 ( +3 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +3 "manipulator"&l% +3 "core" % A  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%g& +4 "core" &E\ +2 "manipulator"&% +5 "core" %   + "storage"(Z% +4 "core" % / $ t\  +2 "storage"(x. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(b(,y +7 "core" ( +2 .tSC.configure :limp +3 "Can"2\ QN + "storage"($\ 1b +3 (u& +3 "core" &,| _\  q\ +2 "manipulator"&`& +50 "core" &Ӥ Y 6 +3 "manipulator"&% +4 "core" %  (  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&k( +163 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(z& +4 "core" &,| T T L\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +95 "core" ' + "storage"(f& +4 "core" &,| W U\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +297 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +3 "core" &,| * - )\ +2 "manipulator"&K& +4 "core" & f  +2 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&i& +3 "core" & e  +2 "storage"(|& +4 "core" &,| % + q\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&j'c +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& +6 "storage"(' +3 "core" &  + "manipulator"&U% +6 "core" % f  | +2 .tForearm.seek :retract +2 "manipulator"&v' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&& +4 "core" &  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" & t F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&& +3 "core" &  z F +3 "manipulator"& % +3 "core" % f +3 "processing"%h& +4 "core" &>\ +2 "processing"%0& +5 "core" &E\ +2 .tPC.seek :closed +2 "processing"%^(^ +5 "core" &\ +7 &7\ #c +9 &V}\ 7 +10 &~\ K +9 &\\\ N +10 &]\\\ N +9 & Z\ M +9 &^\ M +10 &]\ N +9 &eZ\ N +9 &']\ N +10 &^\ N +9 &![\ N +10 &#m]\ N +9 &%/_\ N +9 &&`\ N +10 &([\ N +9 &*v\\\ M +9 &,7] \ N +10 &-Z\ N +9 &/]\ N +10 &1}^\ N +9 &3?Y\ N +9 &5_ \ N +10 &6\\ \ M +9 &8]\ \ N +9 &:G[\ N +10 &< ] \ N +9 &=`r\ N +10 &?]\ N +9 &AM^\ N +9 &C f\ O +10 &Di \ P +9 &Fp-\ P +9 &HJJ\ R +10 &J\ S +9 &K\ T +10 &M\ T +9 &OK\ T +9 &Q \ T +10 &R\ T +9 &T?\ U +9 &VSw\ T +10 &Xx\ U +9 &Y\ U +10 &[}\ T +9 &]X;\ D +9 &^Dvw\ _ +10 &^A|\ 2 +5 ( +2 "processing"%0& +4 "core" &^&\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&~1 +62 "core" 1 + "manipulator"&{% +3 "core" %   K f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +3 "processing"%& +3 "core" &^&6\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %  \ \\  +2 "storage"(.% +3 "core" % + - ]\  +2 "storage"(H. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "manipulator"&R& +3 "core" &,| L \ +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   F +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r + "manipulator"&(( +7 "core" ( + "manipulator"&& +4 "core" &   s F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +43 "core" &   F +10 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 .tHand.close + "manipulator"&'/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +46 "core" ' + "storage"(2- +3 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +39 "core" ' +358 ( +2 "storage"()& +3 "core" &,| . 0 \ +3 "manipulator"&@& +4 "core" & J F +2 "manipulator"& % +3 "core" %  H a +3 .tForearm.seek :retract +2 "manipulator"&5' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&#( +253 "core" ( +2 "manipulator"&F& +3 "core" &\  + !q +3 "storage"(/& +3 "core" &,| b &\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&B' +93 "core" ' +2 .tHand.open + "manipulator"&81 +54 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(&' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(?- +3 "core" -' +3 "storage"(G& +4 "core" &,| K\ + "manipulator"&=& +4 "core" &\   !q +2 .tElbow.seek 4 +2 "manipulator"&$( +4 "core" ( +2 "manipulator"&N& +4 "core" &\   V !q +2 "storage"(D& +4 "core" &,| i h f\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +51 "core" ' +2 "manipulator"&+& +3 "core" &\  i !q +3 "storage"(X& +4 "core" &,| " $ 4\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&M'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&O, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(*' +20 "core" ' + "manipulator"&:% +5 "core" %! W Z + "storage"(1& +4 "core" &,| . / \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 278 counts + "manipulator"&,'M +16 "core" ' + "manipulator"&A& +4 "core" &\   % !q +2 "storage"(& +4 "core" &,| - / r\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +27 "core" ' +2 "storage"(-% +4 "core" % . + E\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (7% +3 "core" %BQ M o\ Xf +2 "manipulator"&% +4 "core" % $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&;' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +2 "core" &,| , A \ +3 "collection"'n& +4 "core" &\\f\ $\ &r\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&>% +4 "core" %    +2 "storage"(4% +4 "core" % ' $ \  +2 "storage"(!. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"("(,y +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" &,{ K E\ +2 "manipulator"&Q& +4 "core" &\  x !q +2 .tElbow.seek 4 +2 "manipulator"&<( +3 "core" ( +41 "manipulator"&\\& +11 "core" &\  / !q +2 "storage"(& +3 "core" &,| ' ( \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +93 "core" ' +2 "storage"(w& +4 "core" &,| K T ^\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +293 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&W& +2 "core" &\  E !q +3 "storage"(E& +3 "core" &,| 2 2 \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&['7 +26 "core" ' + .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(e'd +29 "core" ' +2 "manipulator"&y% +3 "core" %& ; +2 "storage"(C& +4 "core" &,| . / \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 283 counts + "manipulator"&J'R +18 "core" ' + "manipulator"&p& +4 "core" &\  6 !q +3 "storage"(I& +4 "core" &,| 1 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(l' +41 "core" ' +2 "manipulator"&g& +3 "core" &\  ; !q +2 "manipulator"&% +4 "core" % e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +151 "core" ( +2 "manipulator"&d& +3 "core" &ӎ / 9% +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &ӎ  l 9% +3 .tForearm.seek CC +2 "manipulator"&`'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'o( +447 "core" ( +2 "storage"(& +3 "core" &,| Q G 5\ +3 "storage"(z& +4 "core" &,| M ? \ + "manipulator"&r& +4 "core" &ө n 5\ +2 "manipulator"&f% +4 "core" % 1 j  +2 .tForearm.seek :retract +2 "manipulator"&s' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +167 "core" ( +2 "manipulator"&q& +4 "core" &  \ 4  +2 "storage"(m& +4 "core" &,| a l \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&K'7 +98 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&|1 +55 "core" 1 +2 "manipulator"&}% +4 "core" %   $ M + "storage"(3& +4 "core" &,| k k \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 277 counts +2 "manipulator"&U'L +14 "core" ' + "manipulator"&k& +4 "core" &   +2 "storage"(T& +4 "core" &,| h k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +24 "core" ' +2 "storage"(j% +3 "core" % p r Q\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (S% +3 "core" %P U U \ Wc +2 "manipulator"&\ % +4 "core" %  \\ +42 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"' & +3 "core" & o\ +3 "manipulator"&h% +4 "core" %    5  +2 "storage"(% +4 "core" % k l \  + "storage"(v. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +360 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (~& +3 "core" &  n  +2 "collection"'8& +4 "core" &\  r\ +2 "collection"'& +6 "core" &\ l\ +3 .tCC.seek :closed +3 "collection"'?(\\ +3 "core" & \ h\ +6 &<\ \ l\ %f +10 &Y~\ \ t\ 7 +9 &{\ \ x\ L +9 &U\ \ |\ K +10 &U\ \ q\ K +9 &EY\ \ \ L +10 &X\ \ ~\ K +9 &Z\ \ {\ K +9 &X\ \ \ K +10 &NZ\ \ |\ K +9 & W\ \ {\ K +9 &!Y\ \ u\ K +10 &#Y\ \ z\ K +9 &%WT\ \ \ K +10 &'X\ \ ~\ K +9 &(U\ \ \ K +9 &*X\ \ \ L +10 &,^Y\ \ \ K +9 &.X\ \ \ L +9 &/W\ \ w\ K +10 &1Z\ \ m\ L +9 &3fY\ \ {\ K +10 &5(Z\ \ |\ K +9 &6Z\ \ \ K +9 &8[\ \ \ K +10 &:mY\ \ \ L +9 &<1Y\ \ \ K +10 &=Y\ \ \ L +9 &?Y\ \ }\ K +9 &Av\\\ \ v\ K +10 &C7_\ \ \ L +9 &Df\ \ \ M +9 &Fr\ \ \ N +10 &Ho\ \ \ P +9 &J#\ /\ )\ U +9 &K\ 2\ 2|\ W +10 &M\ 3\ 2z\ X +9 &Ob\ 0\ 0\ W +10 &Q"\ 1\ 0\ X +9 &R\ /\ /x\ Y +9 &T\ 1\ /~\ Y +10 &Vd\ .\ /|\ Z +9 &X%\ -\ .u\ Z +9 &Y\ 0\ .{\ [ +10 &[\ /\ 0|\ I +9 &\\2\ .\ /u\ 0 +10 &\\e\ ,\ -x\ M +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&G1 +55 "core" 1 +3 "manipulator"&=% +4 "core" % >   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%D& +3 "core" &A\ +2 "manipulator"&5% +4 "core" %  #  +2 "storage"(+% +4 "core" % " ' /\  +2 "storage"(X. +3 "core" .(<- +2 "storage"(:& +3 "core" &' +7 "core" & ~  +2 "manipulator"&4% +4 "core" % ϴ v +2 .tForearm.seek :retract +2 "manipulator"&!' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&_& +4 "core" & L \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" & P \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +91 "core" ' +2 "manipulator"&& +4 "core" & O \ +2 "manipulator"&%% +4 "core" % & y +2 "processing"%w& +3 "core" &F\ +3 "processing"%& +5 "core" &J\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +7 & 0 \ $c +10 &U\ 7 +9 &\ L +9 &[\ N +10 &a\\\ N +9 &$X\ M +9 &^\ N +10 &[\ M +9 &jY\ M +10 &+\\\ N +9 &Y\ N +9 &!Z\ N +10 &#p_\ N +9 &%4[\ M +9 &&]\ M +10 &(\\\ N +9 &*y[\ N +10 &,;[ \ N +9 &-[\ M +9 &/\\\ N +10 &1_\ N +9 &3C_ \ N +9 &5^\ N +10 &6_\ N +9 &8`\ N +10 &:L[\ M +9 &< ]\ N +9 &=_ \ N +10 &?[\ N +9 &AS^\ N +9 &Cf\ O +10 &Dh\ O +9 &Fs6\ P +10 &HM;\ R +9 &J \ T +9 &K\ S +10 &M\ T +9 &OQp\ T +9 &QA\ U +10 &R\ U +9 &T7\ U +10 &VW/\ T +9 &X:\ U +9 &Y\ U +10 &[r\ T +9 &]\\\ C +9 &^M\ I +10 &^A\ : +5 ( +2 "processing"%& +4 "core" &^=v\ : +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&O1 +55 "core" 1 +2 "manipulator"&;% +4 "core" %   y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 "processing"%W& +4 "core" &^<\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&E% +4 "core" %     +2 "storage"(6% +4 "core" % _ 3\  + "storage"(y. +3 "core" .(<- +2 "storage"(C& +4 "core" & 7 2\  +2 "collection"'.& +4 "core" &\\a\ %\ #z\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&0% +5 "core" %  y  + "storage"(i% +5 "core" % T T j\  + "storage"(. +3 "core" .(<- +2 "storage"(R& +4 "core" &\  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & h . +2 "storage"(& +4 "core" &% +5 "core" % \  + "storage"(!. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &K W T c\  +2 "manipulator"&;& +3 "core" &  [ +3 .tElbow.seek 6 +2 "manipulator"&W( +21 "core" ( +2 "manipulator"&E& +3 "core" &  r h +2 "storage"(6& +5 "core" &K  o R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +92 "core" ' + "storage"(C& +4 "core" &K p v\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +292 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K G H \  +2 "manipulator"&a& +4 "core" &   g +2 .tElbow.seek 6 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&\\& +4 "core" &  g + "storage"([& +5 "core" &K d i O\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&e'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(' +8 "core" &   F g +2 "manipulator"&% +4 "core" % n  ~ +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&]& +4 "core" ' +2 &ӄ"  W ;4 + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &P& +3 "core" &Ӆ"   ;3 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'? +97 "core" ' +2 "manipulator"&& +4 "core" &Ӎ!  i :+ +3 "manipulator"&g% +4 "core" %3 6 +2 "collection"'r& +4 "core" & \ +2 "collection"'f& +6 "core" & v\ +2 .tCC.seek :closed +2 "collection"'`(\\ +3 "core" & \ |\ +9 &; \ u\ %f +9 &Y}\ \ x\ 7 +10 &y \ {\ K +9 &W\ \ y\ K +9 &X\ \ x\ L +10 &FW\ \ z\ K +9 & Z\ \ x\ K +10 &X\ \ z\ K +9 &X\ \ z\ K +9 &NT\ \ }\ K +10 & W\ \ }\ K +9 &!T\ \ \ K +9 &#Y\ \ \ K +10 &%VX\ \ \ K +9 &'W\ \ \ K +10 &(Z\ \ \ K +9 &*W\ \ \ K +9 &,^X\ \ \ K +10 &.!T\ \ \ K +9 &/W\ \ \ K +9 &1X\ \ \ K +10 &3gU\ \ \ K +9 &5(X\ \ \ K +10 &6[\ \ \ K +9 &8Z\ \ \ K +9 &:mZ\ \ \ L +10 &<0X\ \ \ K +9 &=Z\ \ \ K +9 &?[\ \ \ K +10 &Av_\ \ \ \ \ K +9 &C5`\ \ \ L +10 &Dj\ \ \ M +9 &Fu\ \ \ O +9 &Hg\ )\ "\ S +10 &J\ :\ 6\ W +9 &K\ 8\ ;\ X +9 &M\ 8\ 8\ X +10 &O]\ 7\ 6\ Y +9 &Q"\ 4\ 5\ X +10 &R\ 2\ 2\ Z +9 &T\ 0\ 2\ Z +9 &Va\ 0\ 2\ [ +10 &X"\ 1\ /\ [\ +9 &Y\ 0\ .\ \\ +9 &[\ 0\ /\ H +10 &\\>\ 0\ /\ 'v +9 &\\c\ +\ .\ M +3 ( + "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&x1 +62 "core" 1 +2 "manipulator"&|% +4 "core" % 3 , 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%k& +4 "core" &\ +2 "manipulator"&% +4 "core" %  6  +2 "storage"(s% +3 "core" % & % l\  +2 "storage"(S. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(U(K +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K L B\  +2 "manipulator"&d& +4 "core" & b 0 +2 "manipulator"&% +4 "core" %  F  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&v( +161 "core" ( +47 "manipulator"&q& +5 "core" &  +2 "storage"(V& +3 "core" &K U T Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +98 "core" ' +3 "storage"(z& +4 "core" &K Q G A\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +298 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &K ! -\  +2 "manipulator"&T& +5 "core" &   +2 .tElbow.seek 6 + "manipulator"&}( +4 "core" ( +2 "manipulator"&j& +3 "core" & (  +3 "storage"(\ & +4 "core" &K B 4 \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&h'h +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& + "storage"(0' +8 "core" & z  +2 "manipulator"&i% +4 "core" % o g V +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&K( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&R& +4 "core" & ] 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&t' +97 "core" ' + "manipulator"&b& +4 "core" & n 6 +2 "manipulator"&Y% +5 "core" % r 4 +2 "processing"%l& +4 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +4 "core" &"\  +8 &2{%\ )w +9 &b,\ = +10 &jy%\ N +9 &+\\#\ N +9 &Y\ N +10 &Y'\ M +9 &q\\!\ N +10 &4Z)\ N +9 &Z'\ N +9 &[#\ M +10 & z\\,\ N +9 &"<Y#\ N +10 &#Z'\ N +9 &%Y\ N +9 &'Y\ N +10 &)DZ"\ N +9 &+]"\ N +9 &,_#\ N +10 &.X \ N +9 &0MZ\ M +10 &2W)\ N +9 &3Y!\ M +9 &5Z!\ M +10 &7TZ \ N +9 &9_ \ N +9 &:_\ N +10 &<\\#\ M +9 &>[^ \ N +9 &@\\$\ N +10 &Ae\ O +9 &Ch!\ O +10 &E^n%\ P +9 &Gv$\ Q +9 &H\ S +10 &J!\ T +9 &L[ \ S +9 &N\ T +10 &O#\ T +9 &Q\ T +10 &S_ \ U +9 &U!&\ U +9 &V#\ U +10 &X \ T +9 &Zf"\ U +9 &\\(\ U +10 &]~\ 5 +9 &^,h\ W +10 &^"\ 1 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&{% +4 "core" %    4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +2 "processing"% & +3 "core" &^"\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %    X  +2 "storage"(/% +3 "core" % + ! \  +2 "storage"(. +3 "core" .(K +2 "storage"(8& +4 "core" &K . . D\  +2 "storage"()& +3 "manipulator"&o& +6 "core" &K ! % b\  + &   0 6 +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&D( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(5'r +4 "core" ( + "manipulator"& & +4 "core" &  \ h 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &  6 +3 .tForearm.seek PC +2 "manipulator"&' +89 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +3 "processing"%^( +93 "core" ' +2 "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +49 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(:'1 +40 "core" ' +262 ( +2 "storage"(& +4 "core" &K T J :\  +2 "manipulator"&G& +4 "core" & O 6 +2 "manipulator"&2% +4 "core" %  ( i +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&+( +258 "core" ( + "manipulator"&?& +4 "core" &  g ; +2 "storage"(F& +4 "core" &K > % \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +94 "core" ' + .tHand.open + "manipulator"&-1 +54 "core" 1 +2 "storage"(B- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(1- +3 "core" -' +2 "storage"(X& +4 "core" &K h e \  +2 "manipulator"&M& +4 "core" &   ; +2 .tElbow.seek 6 +2 "manipulator"&L( +25 "core" ( +2 "manipulator"&n& +4 "core" &   W  +2 "storage"(& +4 "core" &K p f \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(,'" +55 "core" ' +2 "manipulator"&@& +4 "core" & e  +2 "storage"(Q& +4 "core" &K & " )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&$'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +19 "core" ' +2 "manipulator"&%% +4 "core" %) c  +2 "storage"(w& +4 "core" &K . $ >\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 281 counts +2 "manipulator"&4'U +15 "core" ' +2 "manipulator"&=& +3 "core" &   +3 "storage"(>& +4 "core" &K T T k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +26 "core" ' +2 "storage"(&% +3 "core" % T T i\ +3 ."downElevator"SE.seek :down +4 "storage"(_' +98 (% +3 "core" %rQ L :\ Vd +2 "manipulator"&O% +5 "core" % k  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +4 "core" &K $ A "\  +2 "collection"'6& +3 "core" &\\b\ %\ $\ M +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&C% +4 "core" %  :  +2 "storage"(9% +3 "core" % T U \  +2 "storage"(. +3 "core" .(K +2 "storage"(p& +4 "core" &K P T ^\  +2 "storage"(& +4 "core" &K T T ,\  +2 "manipulator"&a& +4 "core" & E  +2 .tElbow.seek 6 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&[& +4 "core" & t  +2 "storage"(*& +3 "core" &K T U \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +96 "core" ' + "storage"(& +4 "core" &K R V \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'r +309 "core" ' +2 "storage"(y- +3 "core" -' +47 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" & V  +2 "storage"(P& +4 "core" &K ' ' <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&I'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(g' +29 "core" ' +2 "manipulator"&r% +4 "core" %? : O +2 "storage"(<& +4 "core" &K + :\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 303 counts +2 "manipulator"&'k +15 "core" ' +2 "manipulator"&u& +4 "core" &  E  +2 "storage"(A& +3 "core" &K U T i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(|' +49 "core" ' + "manipulator"&k& +4 "core" & f  +2 "manipulator"&% +3 "core" % h +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +154 "core" ( +2 "manipulator"&f& +3 "core" &z" P ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &z"  ;8 +3 .tForearm.seek CC +2 "manipulator"&d'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'c( +450 "core" ( +2 "storage"(q& +3 "core" &K V S '\  +2 "storage"(V& +4 "core" &K M S e\  +2 "manipulator"&& +4 "core" &  k / +2 "manipulator"&% +4 "core" % C ` +2 .tForearm.seek :retract +2 "manipulator"&z' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&3( +160 "core" ( + "manipulator"&"& +4 "core" &  3  +2 "storage"(~& +4 "core" &K a n \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&T'< +94 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\ 1 +64 "core" 1 +2 "manipulator"&% +3 "core" % 3  ` T +2 "storage"(.& +5 "core" &K k k \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 291 counts +2 "manipulator"&i'_ +14 "core" ' +2 "manipulator"&v& +4 "core" &   Q  +2 "storage"(Z& +3 "core" &K k l N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +29 "core" ' +2 "storage"(h% +3 "core" % p _\ +3 ."downElevator"SE.seek :down +4 "storage"(R' +98 (% +3 "core" %I W X\ U^ +2 "manipulator"&}% +5 "core" %!  ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +6 "collection"'Y& +3 "core" & \ +2 "manipulator"&l% +4 "core" %    +2 "storage"(0% +3 "core" % k l\  +2 "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +44 "storage"(J(,y +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,x k m \ +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &  Z  +2 "storage"(/& +4 "core" &,x k j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(8& +3 "core" &,x \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'r +297 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,x J G 2\ +2 "manipulator"& & +4 "core" &    +3 .tElbow.seek 4 + "manipulator"&'( +4 "core" ( +2 "manipulator"&t& +4 "core" &  "  +2 "storage"(& +4 "core" &,x n o\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&('c +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(' +8 "core" &   2  + "manipulator"&5% +5 "core" % d  +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&G(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&2& +4 "core" &Ӎ   e 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ  ~ 9$ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&?'? +101 "core" ' + "manipulator"&F& +4 "core" &ӏ  9# +2 "manipulator"&D% +4 "core" %M  ; } +2 "collection"'-& +4 "core" & \ +2 "collection"'B& +6 "core" & \ +3 .tCC.seek :closed +3 "collection"'1(\\ +3 "core" & \ \ +5 &\  \ 7 +9 &?Jx \ / +10 &kr \ \ D +9 &\\\ \ \ L +9 &W\ \ \ K +10 &Y\ \ \ K +9 &]U\ \ \ K +10 &X\ \ \ K +9 &W\ \ \ K +9 &W\ \ \ K +10 &eZ\ \ \ K +9 &!'X\ \ {\ K +9 &"W\ \ \ K +10 &$X\ \ w\ K +9 &&lX\ \ ~\ K +10 &(/Z\ \ \ K +9 &)W\ \ |\ K +9 &+W\ \ ~\ K +10 &-tX\ \ x\ K +9 &/6W\ \ x\ K +9 &0X\ \ \ K +10 &2W\ \ \ K +9 &4{W\ \ \ L +10 &6?W\ \ ~\ K +9 &8X\ \ \ K +9 &9Y\ \ \ K +10 &;U\ \ \ K +9 &=FY\ \ \ K +9 &?Z\ \ \ K +10 &@Y\ \ \ K +9 &BZ\ \ \ L +10 &DLb\ \ \ L +9 &F\ l\ \ \ M +9 &G}\ \ \ O +10 &I|\ '\ !\ T +9 &K7\ 2\ 1\ V +9 &L\ 1\ 1\ W +10 &N\ 0\ /\ W +9 &Pw\ ,\ .\ X +10 &R9\ -\ -\ X +9 &S\ .\ +\ Z +9 &U\ -\ ,\ Z +10 &Wy\ *\ +\ Z +9 &Y8\ -\ +\ [\ +9 &Z\ -\ ,\ [ +10 &\\ZS\ ,\ ,\ 1 +9 &\\\ ,\ ,\ ] +9 ( +2 &\\v\ (\ *\ Y +2 "collection"'B& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&X1 +63 "core" 1 +2 "manipulator"&M% +3 "core" % M Q } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %    +3 "storage"(@% +4 "core" % $ ! \ + "storage"(Q. +3 "core" .(,y +2 "storage"(:& +4 "core" &,x ! \ +2 "storage"(%& +4 "core" &,x ) " D\ +2 "manipulator"&w& +3 "core" &Ӑ b 8" +2 "manipulator"&7% +4 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&=( +162 "core" ( +2 "manipulator"&>& +3 "core" & {  +3 "storage"(&& +3 "core" &,x U T j\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&+' +95 "core" ' +2 "storage"( & +4 "core" &,x T U 0\ +48 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &,x ' 4 \ +2 "manipulator"&#& +4 "core" & T  +2 .tElbow.seek 4 +2 "manipulator"&L( +4 "core" ( + "manipulator"&,& +4 "core" & ^  +2 "storage"($& +3 "core" &,x , % |\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&4'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& +2 "storage"(C' +8 "core" & |  + "manipulator"&9% +5 "core" % { A +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&p& +4 "core" &  F > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&a' +95 "core" ' +2 "manipulator"&[& +4 "core" & > +2 "manipulator"&*% +4 "core" % G +2 "processing"%!& +4 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%_(^ +5 "core" &&\ +6 & 0\ $c +10 &S|*\ 6 +9 &~\ K +9 &Z+\ N +10 &[Z\ M +9 &W,\ M +9 &]-\ N +10 &]%\ N +9 &c]/\ M +10 &$Z"\ N +9 &]'\ M +9 &!Z'\ M +10 &#jY,\ N +9 &%-Y#\ M +9 &&_(\ N +10 &(\\-\ M +9 &*rY)\ N +10 &,5\\-\ M +9 &-Z-\ M +9 &/\\-\ N +10 &1y_.\ N +9 &3<Y-\ N +9 &4]+\ N +10 &6^&\ N +9 &8_'\ N +10 &:EZ,\ M +9 &<]*\ N +9 &=\\'\ M +10 &?\\)\ N +9 &AK\\,\ N +9 &C\ d,\ O +10 &Dh'\ P +9 &Fo'\ P +10 &HG'\ R +9 &J%\ S +9 &K'\ S +10 &M \ T +9 &OI$\ T +9 &Q &\ U +10 &R#\ T +9 &T%\ U +10 &VO\ U +9 &X"\ U +9 &Y"\ U +10 &["\ U +9 &]V"\ D +9 &^|Cv"\ "e +10 &^2\ . +5 ( +2 "processing"%& +4 "core" &^ \ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&N1 +59 "core" 1 + "manipulator"&;% +4 "core" %   i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +93 "core" ' +2 "processing"%]& +3 "core" &^ <\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&P% +4 "core" %    y +2 "storage"(% +3 "core" % . . _\  +3 "storage"(r. +3 "core" .(,y +2 "storage"(<& +4 "core" &,x ! "\ +2 "storage"(u& +3 "manipulator"&A& +6 "core" &,x * G\ +2 & ( > +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&k( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"& & +4 "core" &  i > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" & \  > +3 .tForearm.seek PC +2 "manipulator"&W' +88 "core" ' + .tHand.close +2 "manipulator"&I/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +98 "core" ' +2 "storage"(g- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(f'1 +46 "core" ' +302 ( + "storage"( & +4 "core" &,x 4 ? "\ +2 "manipulator"&x& +4 "core" & > +2 "manipulator"&e% +3 "core" %  j +49 .tForearm.seek :retract +3 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&s( +244 "core" ( +2 "manipulator"&`& +3 "core" & 4 * +3 "storage"(q& +4 "core" &,x 1 / '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +94 "core" ' +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(~' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(d- +3 "core" -' +2 "storage"(S& +3 "core" &,x _\ +3 "manipulator"&\ & +4 "core" &   * +2 .tElbow.seek 4 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&.& +3 "core" &  \   +2 "storage"(v& +4 "core" &,x k\ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(h'" +52 "core" ' +2 "manipulator"&z& +4 "core" & W  +2 "storage"(& +4 "core" &,x ! % K\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&}'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(T' +21 "core" ' + "manipulator"&i% +4 "core" %C E . +2 "storage"(Y& +4 "core" &,x\ " \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 312 counts + "manipulator"&l'o +14 "core" ' + "manipulator"&0& +5 "core" &  P  + "storage"(& +5 "core" &,x / 1 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +20 "core" ' +2 "storage"(m% +3 "core" % " +\ +3 ."downElevator"SE.seek :down +4 "storage"(R' +98 (U% +3 "core" %-J N _\ We +2 "manipulator"&% +5 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,x # + \ +2 "collection"'/& +4 "core" &\\v\ !\ $\ Y +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&8% +5 "core" %  )  + "storage"(j% +4 "core" % " &\  +2 "storage"(b. +3 "core" .(,y +2 "storage"(o& +4 "core" &,x " &\ +2 "storage"(& +4 "core" &,x & $\ +2 "manipulator"& & +3 "core" & 4  +3 .tElbow.seek 4 +2 "manipulator"&t( +9 "core" ( +2 "manipulator"&& +3 "core" & #  +3 "storage"(K& +4 "core" &,x ' ' P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +89 "core" ' +2 "storage"(5& +3 "core" &,x T T c\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&2& +3 "core" & A  +2 "storage"(& +4 "core" &,x $ + H\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&)'7 +66 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(D'b +30 "core" ' +2 "manipulator"&-% +4 "core" %B P 4 +2 "storage"('& +4 "core" &,x / .\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&'n +14 "core" ' +2 "manipulator"&& +3 "core" & C  +3 "storage"(c& +3 "core" &,x / / \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(M' +36 "core" ' + "manipulator"&& +4 "core" & 0  +2 "manipulator"&% +5 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +153 "core" ( +3 "manipulator"&:& +3 "core" &ӏ  6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &B& +2 "core" &ӏ F 6 +3 .tForearm.seek CC +2 "manipulator"&%'? +95 "core" ' +2 .tHand.close + "manipulator"&w/ +61 "core" / +2 .tCC.seek :open +2 "collection"'7( +447 "core" ( +2 "storage"(?& +3 "core" &,x H O M\ +2 "storage"(>& +4 "core" &,x G G 3\ +2 "manipulator"&&& +4 "core" &ӏ ) 6 +2 "manipulator"& % +4 "core" % F  o  +2 .tForearm.seek :retract +2 "manipulator"&G' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&n( +170 "core" ( + "manipulator"&& +4 "core" & q + +2 "storage"(O& +4 "core" &,x ` j \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&#'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&$1 +60 "core" 1 +2 "manipulator"&E% +4 "core" % H   V P +2 "storage"(6& +4 "core" &,x k k \ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 317 counts + "manipulator"&9't +14 "core" ' +2 "manipulator"&=& +4 "core" &  K + +2 "storage"(+& +4 "core" &,x k m \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +17 "core" ' +2 "storage"(4% +4 "core" % c \ +3 ."downElevator"SE.seek :down +3 "storage"(p' +99 (% +2 "core" %F R V \ U_ +2 "manipulator"&L% +5 "core" %  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'*& +3 "core" & u\ +2 "manipulator"&!% +5 "core" %     +2 "storage"(C% +4 "core" % k k \  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(^(<- +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &<. % ( +\  +2 "manipulator"&;& +4 "core" &  m + +2 .tElbow.seek 5 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&P& +50 "core" &  } + +2 "storage"(& +4 "core" &<. k k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +92 "core" ' +2 "storage"(<& +3 "core" &<. \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (u& +3 "core" &<. n m \  +2 "manipulator"& & +3 "core" &   + +3 .tElbow.seek 5 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&a& +4 "core" &  X + +2 "storage"(I& +3 "core" &<. n m \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&g'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +2 "storage"(_' +6 "core" &  8 + +3 "manipulator"&% +4 "core" % ϴ   +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +151 "core" ( + "manipulator"&e& +5 "core" &ӏ 5\ + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӏ w 5\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&`'? +101 "core" ' +2 "manipulator"&q& +4 "core" &ӏ  5\ +2 "manipulator"&k% +3 "core" %5  4  +3 "collection"'& +3 "core" &\ \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'d(\\ +4 "core" & \ +5 & \ 8 +9 &LKw \ 0 +9 &~u\ \ E +10 &+\\ \ \ K +9 &W\ \ \ K +9 &Y\ \ \ K +10 &qW\ \ ~\ K +9 &4W\ \ \ K +10 &W\ \ \ K +9 &W\ \ \ K +9 &yY\ \ \ K +10 &!<Y\ \ \ K +9 &"W\ \ }\ K +9 &$V\ \ y\ K +10 &&W\ \ \ K +9 &(B[\ \ \ L +10 &*W\ \ |\ J +9 &+W\ \ x\ K +9 &-W\ \ v\ K +10 &/KX\ \ x\ K +9 &1W\ \ y\ K +9 &2X\ \ y\ K +10 &4W\ \ w\ K +9 &6TX\ \ \ K +10 &8Y\ \ \ K +9 &9Z\ \ \ K +9 &;Y\ \ \ K +10 &=[Y\ \ \ K +9 &?X\ \ \ L +9 &@X\ \ \ K +10 &B\\\ \ \ L +9 &D`b\ \ \ L +10 &Fj\ \ \ M +9 &G|\ \ \ O +9 &I\ $\ \ S +10 &KL\ 2\ 1\ V +9 &M\ \ 0\ 0\ W +9 &N\ .\ /\ W +10 &P\ .\ /\ X +9 &RM\ /\ -\ X +10 &T\ -\ -\ X +9 &U\ -\ .\ Z +9 &W\ ,\ 0\ Z +10 &YN\ -\ .\ [ +9 &[\ .\ .\ [ +9 &\\cG\ -\ ,\ 3 +10 &\\\ -\ -\ N +5 ( +2 "collection"'& +4 "core" &\\e\ *\ *\ N +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 + .Hand.open + "manipulator"&S1 +60 "core" 1 +3 "manipulator"&\ % +3 "core" % 5  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%v& +3 "core" &\ +3 "manipulator"&% +3 "core" %  L  +3 "storage"(z% +4 "core" % ) . H\  + "storage"(. +3 "core" .(<- +2 "storage"(f& +4 "core" &<. ' % 0\  +2 "storage"(i& +5 "core" &<. $ - \  + "manipulator"&Y& +4 "core" &ӑ N 5 +2 "manipulator"&0% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( + "manipulator"&"& +4 "core" &   +2 "storage"(m& +4 "core" &<. S K N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +94 "core" ' + "storage"(V& +5 "core" &<. Q T C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +298 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<. / , N\  +2 "manipulator"&Z& +51 "core" & p  +3 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&h& +3 "core" &  H  +3 "storage"(}& +3 "core" &<. 3 @ N\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&l'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& +2 "storage"(8' +7 "core" &  M  +2 "manipulator"&j% +3 "core" %  U ~ +3 .tForearm.seek :retract +2 "manipulator"&b' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +3 "manipulator"&o& +4 "core" & 2 + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & Z + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' + "manipulator"&& +4 "core" & + +3 "manipulator"&K% +4 "core" % ^ +2 "processing"%|& +4 "core" &\ +2 "processing"%5& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%R(^ +4 "core" &\  +8 &1x\ )w +9 &c\ > +10 &ex\ N +9 &(Z\ N +9 &X\ N +10 &[\ M +9 &oZ&\ M +10 &/].\ N +9 &Z\ N +9 &\\,\ M +10 & v\\'\ N +9 &"9].\ M +9 &#\\$\ N +10 &%\\&\ M +9 &'~Z"\ N +10 &)@],\ N +9 &+]#\ N +9 &,_*\ N +10 &.W-\ M +9 &0GZ,\ N +9 &2 Z&\ M +10 &3Z+\ M +9 &5]'\ N +10 &7PY,\ N +9 &9\\,\ M +9 &:\\%\ N +10 &<Y"\ N +9 &>Y]'\ M +9 &@]$\ N +10 &Aa$\ N +9 &Ck'\ P +10 &EZn'\ P +9 &Gv%\ Q +9 &H$\ R +10 &J'\ S +9 &LX'\ S +9 &N"\ T +10 &O"\ T +9 &Q'\ U +10 &S\\#\ T +9 &U\ U +9 &V$\ U +10 &X%\ T +9 &Z` \ V +9 &\\%$\ U +10 &]|!\ 8 +9 &^/ \ R +9 &^"\ 0 +3 ( +2 "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&31 +55 "core" 1 +2 "manipulator"&{% +3 "core" %   1 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"%2& +3 "core" &^  \ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    \ +2 "storage"(F% +3 "core" % ! \  +3 "storage"(-. +3 "core" .(<- +2 "storage"('& +4 "core" &<. ! "\  +2 "storage"(& +3 "manipulator"&c& +5 "core" &<. ! ! \  +2 &   g + +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&( +2 "storage"('r +5 "core" ( + "manipulator"&H& +4 "core" &   o + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" & j + +3 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 .tHand.close + "manipulator"&)/ +55 "core" / +3 .tPC.seek :open +2 "processing"%( +95 "core" ' + "storage"(D- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'1 +45 "core" ' +303 ( + "storage"(B& +4 "core" &<. T T S\  +2 "manipulator"&X& +4 "core" & @ + +2 "manipulator"&(% +4 "core" %  r ] +2 .tForearm.seek :retract +2 "manipulator"&w' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&@( +247 "core" ( + "manipulator"&1& +4 "core" &  = < +2 "storage"(?& +50 "core" &<. % ! V\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&>'O +97 "core" ' +2 .tHand.open + "manipulator"&&1 +65 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +34 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(O' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +3 "core" -' +2 "storage"(Q& +4 "core" &<. f g \  +2 "manipulator"&$& +4 "core" &   v < +2 .tElbow.seek 5 +2 "manipulator"&E( +4 "core" ( + "manipulator"&6& +4 "core" &    < +2 "storage"(=& +4 "core" &<. r o n\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +51 "core" ' +2 "manipulator"&G& +4 "core" & < < +2 "storage"(& +3 "core" &<. . 0 \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&L'΍ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(#' +20 "core" ' + "manipulator"&*% +5 "core" %΍ D  +2 "storage"(9& +3 "core" &<. . . q\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&!'Ϲ +13 "core" ' +2 "manipulator"&C& +3 "core" &  < +3 "storage"(& +3 "core" &<. 5 ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +14 "core" ' + "storage"(% +4 "core" % S Q\ +3 ."downElevator"SE.seek :down +3 "storage"(p' +99 (J% +3 "core" %VS N )\ Xg +2 "manipulator"&N% +3 "core" %V ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (P& +3 "core" &<. : 4 "\  +2 "collection"'& +5 "core" &\\e\ #\ #\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&<% +4 "core" %  j  +2 "storage"(,% +3 "core" % T U z\  +2 "storage"([. +3 "core" .(<- +2 "storage"(A& +4 "core" &<. Q T \ \  +2 "storage"(u& +3 "core" &<. J G w\  +2 "manipulator"& & +4 "core" &  p < +2 .tElbow.seek 5 +2 "manipulator"&a( +4 "core" ( + "manipulator"&I& +4 "core" & r < +2 "storage"(& +3 "core" &<. Q G ^\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +93 "core" ' +2 "storage"(& +3 "core" &<. W U\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'r +298 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" & L < +3 "storage"(W& +4 "core" &<. ' & <\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +14 "core" ' +2 .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(q- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(k'u +29 "core" ' +2 "manipulator"&% +50 "core" %Κ H +2 "storage"(\\& +4 "core" &<. - . \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts + "manipulator"&_' +14 "core" ' +2 "manipulator"& & +4 "core" &  < +2 "storage"(7& +3 "core" &<. / + 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(\ ' +39 "core" ' +2 "manipulator"&v& +4 "core" & + < +2 "manipulator"&% +3 "core" %Q d +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ( +2 "manipulator"&f& +4 "core" &z# 0 <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z# F <> +2 .tForearm.seek CC +2 "manipulator"&i'? +95 "core" ' +2 .tHand.close + "manipulator"&Y/ +62 "core" / +2 .tCC.seek :open + "collection"'0( +448 "core" ( + "storage"(`& +4 "core" &<. m n \  +2 "storage"("& +4 "core" &<. m n\  +2 "manipulator"&m& +3 "core" &Ӟ  7 +2 "manipulator"&V% +4 "core" % S I # +2 .tForearm.seek :retract +2 "manipulator"&x' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&.( +163 "core" ( +2 "manipulator"&U& +4 "core" &   +2 "storage"(& +3 "core" &<. k k \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Z'΍ +98 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +55 "core" 1 +2 "manipulator"&% +4 "core" % Έ \  } . +2 "storage"(/& +4 "core" &<. k k \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 295 counts +2 "manipulator"&j'ϴ +13 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(s& +4 "core" &<. \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +24 "core" ' + "storage"(l% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(o' +99 (% +3 "core" %L U W\ Wb +2 "manipulator"&% +3 "core" %p v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'K& +3 "core" & \ +3 "manipulator"&|% +4 "core" %     +2 "storage"(8% +4 "core" % | k Z\  +2 "storage"(b. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" &K P L D\ +2 "manipulator"&{& +4 "core" & {  +2 .tElbow.seek 6 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&& +4 "core" &  A  +2 "storage"(F& +4 "core" &K ` j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +94 "core" ' +2 "storage"('& +4 "core" &K  \ +2 .tSE.reconfigure :pick +47 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(c- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" &K Y j j\ +2 "manipulator"&H& +5 "core" &  b  +2 .tElbow.seek 6 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"& & +4 "core" & \ M  +2 "storage"()& +4 "core" &K n m\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&D'h +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +6 "storage"(R' +3 "core" &  .  +3 "manipulator"&% +4 "core" % n  5 R +2 .tForearm.seek :retract +2 "manipulator"&B' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 + "core" ( +3 "manipulator"&(& +4 "core" &x"  v ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &x" T ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'? +98 "core" ' +3 "manipulator"&?& +3 "core" &x" \  v ;8 +3 "manipulator"&% +3 "core" %C +3 "collection"'&& +3 "core" & \ +3 "collection"' & +6 "core" & \ +3 .tCC.seek :closed + "collection"'%(\\ +5 "core" & \ +7 &; \ %f +9 &Y} \ 7 +9 &y \ K +10 &W\ \ K +9 &X\ \ K +10 &HX\ \ \ K +9 &\ X\ \ \ K +9 &X\ \ \ K +10 &Z\ \ \ K +9 &PT\ \ \ K +9 & V\ \ \ K +10 &!Z\ \ \ L +9 &#W\  \ K +10 &%WZ\ \ \ K +9 &'W \ \ K +9 &(Y\ \ \ K +10 &*Y\ \ \ K +9 &,`W\ \ \ K +9 &."W\ \ \ K +10 &/V\ \ \ K +9 &1Y\ \ \ K +10 &3gU\ \ \ K +9 &5+T\ \ \ J +9 &6Z\ \ \ K +10 &8`\ \ \ L +9 &:ld\ \ \ L +9 &<*p\ %\ \ N +10 &={\ =\ 3\ O +9 &?\ U\ L\ R +10 &A`\ P\ W\ S +9 &C\ 7\ :\ U +9 &D\ 3\ 2\ V +10 &F\ 1\ 2\ V +9 &H[\ .\ 0\ W +9 &J\ ,\ .\ X +10 &K\ .\ -\ Y +9 &M\ +\ ,\ Y +10 &Oa\ ,\ ,\ X +9 &Q#\ *\ +\ X +9 &R\ +\ +\ Y +10 &T\ *\ ,\ Z +9 &V_\ ,\ *\ \\ +9 &X \ ,\ )\ \\ +10 &Y\ *\ (\ \\ +9 &[\ )\ )\ I +10 &\\7\ (\ )\ . +9 &\\s\ '\ &\ P +2 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 + .Hand.open + "manipulator"&Q1 +60 "core" 1 +2 "manipulator"&$% +4 "core" % C  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%w& +4 "core" &\ +2 "manipulator"&=% +3 "core" %  M  +3 "storage"(G% +4 "core" % 1 0 \  + "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(:(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &K\ )\  i\  +2 "manipulator"&9& +4 "core" &ӑ R 8 +2 "manipulator"&C% +4 "core" %  =  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +165 "core" ( +2 "manipulator"&& +3 "core" &  +3 "storage"(& +4 "core" &K T T s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +93 "core" ' +2 "storage"(>& +3 "core" &K H S N\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +297 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &K # " $\  +2 "manipulator"&+& +3 "core" & {  +3 .tElbow.seek 6 +2 "manipulator"&E( +4 "core" ( + "manipulator"&4& +4 "core" &   +2 "storage"(L& +50 "core" &K ( & $\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&!'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(<' +8 "core" & +  + "manipulator"&,% +4 "core" % u r +3 .tForearm.seek :retract +2 "manipulator"&[' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&A& +3 "core" & , 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +3 "core" &  6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 "manipulator"&I& +4 "core" & O 5 +2 "manipulator"&% +3 "core" % Q +3 "processing"%M& +4 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%p(^ +3 "core" &\ +8 &8\ $c +9 &V~\ 7 +10 &}\ L +9 &Y\ M +9 &jZ\ M +10 &,Z\ M +9 &\\\ N +10 &]\ N +9 &r\\\ M +9 &4Z\ M +10 &Z\ M +9 &!Z\ M +9 &#x^\ N +10 &%;X)\ N +9 &&]2\ N +10 &(]/\ N +9 &*\\5\ M +9 &,DZ.\ M +10 &.W/\ N +9 &/^(\ N +9 &1\\0\ M +10 &3MY%\ M +9 &5\\.\ M +10 &6Z&\ M +9 &8\\'\ M +9 &:TZ,\ M +10 &<\\+\ N +9 &=_*\ N +9 &?\\%\ N +10 &AZ\\,\ N +9 &Cf.\ O +10 &Dj,\ P +9 &Fp)\ P +9 &HV-\ R +10 &J-\ S +9 &K,\ S +9 &M-\ T +10 &OZ-\ S +9 &Q(\ U +10 &R,\ T +9 &T-\ U +9 &V_,\ T +10 &X"*\ T +9 &Y-\ T +9 &[-\ U +10 &]d-\ B +9 &^G|-\ R +10 &^ Q,\ 3 +5 ( +2 "processing"%& +4 "core" &^"+\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&n1 +55 "core" 1 +2 "manipulator"&;% +4 "core" %   \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +89 "core" ' + "processing"%e& +4 "core" &^!Y\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&W% +5 "core" %   @  + "storage"(q% +4 "core" % , . \  +2 "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(\\(K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +3 "manipulator"&7& +3 "core" &K\ \  W\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   o 5 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(v'r + "manipulator"&( +7 "core" ( +2 "manipulator"&y& +3 "core" &   5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &   5 +2 .tForearm.seek PC +2 "manipulator"&]' +96 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%_( +91 "core" ' + "storage"(k- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'1 +40 "core" ' +316 ( + "storage"(& +4 "core" &K T T n\  +2 "manipulator"&S& +4 "core" & X 5 +2 "manipulator"&g% +4 "core" %  K B +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&z( +246 "core" ( + "manipulator"&d& +4 "core" &  J  +2 "storage"(`& +4 "core" &K F B \  +54 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +90 "core" ' +2 .tHand.open + "manipulator"&m1 +56 "core" 1 +3 "storage"(V- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(U' +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(i- +3 "core" -' +2 "storage"(& +4 "core" &K e o \  +2 "manipulator"&}& +3 "core" &  '  +3 .tElbow.seek 6 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&/& +4 "core" &    + "storage"(& +5 "core" &K s s ?\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(l'" +60 "core" ' + "manipulator"&x& +4 "core" & *  +2 "storage"(& +3 "core" &K / . \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Z' +20 "core" ' +2 "manipulator"&j% +3 "core" %I % +3 "storage"(K& +4 "core" &K " ' 6\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 313 counts + "manipulator"&|'u +13 "core" ' +2 "manipulator"&8& +4 "core" & _  +2 "storage"(b& +3 "core" &K / 0 \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts + "manipulator"&\ ' +15 "core" ' +2 "storage"(~% +4 "core" % - / *\ +3 ."downElevator"SE.seek :down +4 "storage"(o' +98 (^% +2 "core" %]S O Y\ Xf +3 "manipulator"&3% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K " & +\  +2 "collection"'F& +4 "core" &\\o\ *\ )\ P +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&'% +4 "core" %  5  +2 "storage"(h% +4 "core" % 3 %\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(c(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &K K i\  +2 "manipulator"&H& +3 "core" &  +3 .tElbow.seek 6 +2 "manipulator"& ( +8 "core" ( +2 "manipulator"&)& +4 "core" & { +2 "storage"(T& +4 "core" &K B 5 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(& +3 "core" &K U W\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +298 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" &  L +2 "storage"( & +4 "core" &K + - \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(?- +3 "core" -' +49 .tSE.seek 0.16 Pucks below Top Plate + "storage"('p +30 "core" ' + "manipulator"&&% +5 "core" %E # + "storage"(t& +4 "core" &K - . l\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 309 counts + "manipulator"&R'q +14 "core" ' +2 "manipulator"&B& +3 "core" &  B +3 "storage"(0& +4 "core" &K + ? `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +13 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"($' +36 "core" ' + "manipulator"&w& +4 "core" &  +2 "manipulator"&=% +4 "core" %  J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( +2 "manipulator"& & +4 "core" &Ӛ  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &Ӛ K 2 +2 .tForearm.seek CC +2 "manipulator"&9'? +97 "core" ' +2 .tHand.close + "manipulator"&C/ +55 "core" / +2 .tCC.seek :open +2 "collection"'1( +450 "core" ( +2 "storage"(& +4 "core" &K Q l /\  +2 "storage"(& +4 "core" &K n k \  +2 "manipulator"&& +4 "core" &ӧ  a 0 + "manipulator"&>% +5 "core" % S  Y  +2 .tForearm.seek :retract +2 "manipulator"&X' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&6( +161 "core" ( +2 "manipulator"&J& +4 "core" &   + "storage"(N& +5 "core" &K n n \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&+'< +96 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&L1 +54 "core" 1 +3 "manipulator"&P% +4 "core" % 5  o < + "storage"(& +4 "core" &K k l \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 293 counts +2 "manipulator"&,'a +15 "core" ' +2 "manipulator"&& +3 "core" &  =  +2 "storage"(@& +4 "core" &K n } L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +15 "core" ' +2 "storage"(!% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(A' +98 (u% +3 "core" %N W U\ Wb +2 "manipulator"&E% +5 "core" % P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&M% +3 "core" %    +3 "storage"(<% +4 "core" % x j i\  +2 "storage"([. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +3 "core" &,z j m \ +2 "manipulator"&;& +4 "core" &  (  +2 .tElbow.seek 4 +2 "manipulator"&e( +4 "core" ( + "manipulator"&W& +4 "core" &    +2 "storage"(q& +4 "core" &,z l k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +138 "core" ' +3 "storage"(& +4 "core" &,z \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +297 "core" ' + "storage"(7- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &,z m o G\ +3 "manipulator"&a& +4 "core" &  /  +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & \ /  +2 "storage"(:& +4 "core" &,z n n \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&k'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&r& + "storage"(p' +8 "core" &   +2 "manipulator"&v% +4 "core" % c w +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&g& +4 "core" &Ӌ!  H :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &Ӌ! O :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&d'? +92 "core" ' +2 "manipulator"&`& +4 "core" &ӌ!  u :. +2 "manipulator"&% +5 "core" %8 P d +2 "collection"'m& +3 "core" & \ +3 "collection"'V& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'i(\\ +4 "core" & \ +5 & \ 9 +9 &EKv \ 0 +9 &xu \ E +10 &%Z \ K +9 &V \ K +10 &[ \ K +9 &kW \ K +9 &.W \ \ K +10 &T \ \ K +9 &V \ K +9 &tX \ K +10 &!5Z\ \ K +9 &"V\ \ \ K +9 &$V \ \ J +10 &&{W\ \ \ K +9 &(>W\ \ \ K +10 &)T\ \ \ K +9 &+U\ \ \ K +9 &-W\ \ \ K +10 &/GW\ \ \ J +9 &1W\ \ \ K +9 &2W \ \ K +10 &4W\ \ \ K +9 &6NW\ \ \ K +10 &8X\ \ \ K +9 &9X\ \ \ K +9 &;W\ \ \ K +10 &=UX\ \ \ K +9 &?Z\ \ \ K +9 &@Y\ \ \ K +10 &B]\ \ \ L +9 &D[b\ \ \ L +10 &Fk\ \ \ M +9 &G~\ \ \ O +9 &I\ %\ \ S +10 &KB\ 1\ /\ W +9 &M\ .\ /\ W +9 &N\ .\ /\ X +10 &P\ ,\ ,\ X +9 &RG\ +\ +\ X +10 &T\ +\ +\ Y +9 &U\ ,\ *\ Y +9 &W\ +\ ,\ Z +10 &YH\ -\ *\ [ +9 &[ \ -\ .\ [\ +9 &\\aK\ -\ +\ 6 +10 &\\t\ +\ ,\ K +5 ( +2 "collection"'V& +5 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.12 + .Hand.open + "manipulator"&1 +4 "core" &\\b\ +\ *\ K +49 1 +2 "manipulator"&}% +4 "core" % 8 9 d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&Y% +4 "core" %  h  +2 "storage"(x% +4 "core" % ( ' \  +2 "storage"(. +3 "core" .(,y +2 "storage"(j& +4 "core" &,z & %\ +2 "storage"(K& +5 "core" &,z ' &\ + "manipulator"&f& +5 "core" &Ӭ  6 + "manipulator"&8% +5 "core" %  T  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&b( +163 "core" ( + "manipulator"&U& +4 "core" &  .  +2 "storage"(~& +3 "core" &,z P G >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +91 "core" ' + "storage"("& +4 "core" &,z L R &\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (3& +3 "core" &,z S L (\ +2 "manipulator"&s& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&l& +4 "core" &   +2 "storage"(& +4 "core" &,z W U\ +49 .tForearm.seek 4 + 300 counts +3 "manipulator"&|'c +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"('' +8 "core" &   +2 "manipulator"&h% +3 "core" % ` Z +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&Z( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +3 "manipulator"&5& +4 "core" & Q : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &  9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&)' +95 "core" ' +2 "manipulator"&T& +3 "core" & \\ 9 +3 "manipulator"&\ % +4 "core" % K z +2 "processing"%& +4 "core" &\ +2 "processing"%o& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\\(^ +4 "core" &\  +9 &1x\ )w +10 &c\ > +9 &qu\ N +9 &3W\ N +10 &Z\ M +9 &V\ M +10 &yZ\ N +9 &;Z\ N +9 &W\ M +10 &Y\ M +9 & Z\ M +9 &"DY\ M +10 &$]\ N +9 &%W\ M +10 &'Z\ N +9 &)L\\\ M +9 &+Z/\ M +10 &,Z.\ M +9 &.V.\ N +9 &0TW5\ M +10 &2Y)\ M +9 &3W*\ M +10 &5Y#\ M +9 &7\\Y#\ M +9 &9\\)\ N +10 &:^,\ N +9 &<Y)\ N +9 &>d\\(\ M +10 &@%\\(\ N +9 &Aa#\ N +10 &Ce"\ O +9 &Efk&\ O +9 &G$s#\ Q +10 &H(\ R +9 &J"\ T +9 &Lb+\ S +10 &N"-\ T +9 &O.\ T +10 &Q-\ U +9 &Se,\ U +9 &U&,\ U +10 &V-\ U +9 &X,\ T +9 &Zl-\ U +10 &\\/#\ U +9 &]{x+\ ? +10 &^ Q'\ K +9 &^6,\ 8 +2 ( +3 "processing"%o& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&.1 +62 "core" 1 +2 "manipulator"&{% +3 "core" %    z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +88 "core" ' +2 "processing"%(& +3 "core" &^4K\ 8 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +3 "core" %     +3 "storage"(?% +4 "core" % ' "\  + "storage"(&. +3 "core" .(,y +2 "storage"(t& +3 "core" &,z " '\ +3 "storage"(B& +3 "manipulator"&0& +5 "core" &,z $ - G\ +2 &   k 9 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&w( +2 "storage"(='r +5 "core" ( +2 "manipulator"&& +4 "core" & \  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & : 9 +3 .tForearm.seek PC +2 "manipulator"&2' +93 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +3 .tPC.seek :open +2 "processing"%R( +91 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"( '1 +46 "core" ' +308 ( + "storage"(*& +3 "core" &,z 7 T T\ +3 "manipulator"&Q& +3 "core" &  9 +3 "manipulator"&D% +3 "core" %  - 8 +3 .tForearm.seek :retract +2 "manipulator"&C' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&G( +246 "core" ( +2 "manipulator"&%& +3 "core" & 5 6 +2 "storage"(& +5 "core" &,z % ! \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open +45 "manipulator"&1 +58 "core" 1 +2 "storage"(>- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(N' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +3 "core" -' +2 "storage"(& +4 "core" &,z 1\ +2 "manipulator"&L& +4 "core" & \  6 +2 .tElbow.seek 4 +2 "manipulator"&P( +4 "core" ( + "manipulator"&& +4 "core" &   6 +2 "storage"(& +4 "core" &,z \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(!'" +52 "core" ' +2 "manipulator"&X& +4 "core" & Q 6 +2 "storage"(u& +4 "core" &,z $ & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&E'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(+' +18 "core" ' +2 "manipulator"&% +4 "core" %8 ! C +2 "storage"(M& +4 "core" &,z 1 .\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 301 counts + "manipulator"&,'d +14 "core" ' + "manipulator"&<& +5 "core" & B 6 + "storage"([& +5 "core" &,z ! & C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +18 "core" ' + "storage"(O% +5 "core" % T T O\ +2 ."downElevator"SE.seek :down +4 "storage"(A' +98 (c% +3 "core" %*N P\  \ We +2 "manipulator"&n% +4 "core" % [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (W& +3 "core" &,z 9 2\ +2 "collection"'q& +3 "core" &\\b\ #\ $\ K +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +5 "core" %  $  + "storage"(4% +4 "core" % S T ;\  +2 "storage"(I. +3 "core" .(,y +2 "storage"(7& +4 "core" &,z H J \ +2 "storage"(y& +4 "core" &,z T T d\ +2 "manipulator"&a& +3 "core" &  6 +3 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&:& +4 "core" & 6 +2 "storage"(#& +4 "core" &,z J G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +95 "core" ' +2 "storage"(v& +4 "core" &,z T Q d\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +4 "core" & + 6 +2 "storage"(]& +4 "core" &,z & , I\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& '7 +19 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(`- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('b +29 "core" ' +2 "manipulator"&m% +3 "core" %. ^ > +2 "storage"( & +4 "core" &,z + . )\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 291 counts +2 "manipulator"&p'Z +16 "core" ' +47 "manipulator"&& +5 "core" & 7 6 +2 "storage"(1& +4 "core" &,z " \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +27 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(}' +47 "core" ' +2 "manipulator"&& +4 "core" & 6 +2 "manipulator"&Y% +4 "core" % {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( +2 "manipulator"&j& +4 "core" &Ӏ! i :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &K& +2 "core" &Ӏ! 7 :/ +3 .tForearm.seek CC +2 "manipulator"&V'? +96 "core" ' + .tHand.close + "manipulator"&f/ +54 "core" / +2 .tCC.seek :open +2 "collection"'8( +450 "core" ( +2 "storage"(d& +4 "core" &,z M [ =\ + "storage"(U& +4 "core" &,z X K z\ +2 "manipulator"&~& +4 "core" &Ӣ | 6 +2 "manipulator"&"% +4 "core" % L  +2 .tForearm.seek :retract +2 "manipulator"&S' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&/( +160 "core" ( + "manipulator"&^& +4 "core" &   +2 "storage"(3& +4 "core" &,z b k \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&s'7 +102 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +3 "core" % ' +3 "storage"(F& +3 "core" &,z n ;\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 284 counts + "manipulator"&h'S +15 "core" ' +2 "manipulator"&b& +4 "core" & 5  +2 "storage"(z& +4 "core" &,z \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(|% +4 "core" % s f\ +3 ."downElevator"SE.seek :down +3 "storage"(5' +99 (H% +3 "core" %D ; F \ \ U^ +2 "manipulator"&% +5 "core" %  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'\ & +3 "core" & \ +2 "manipulator"&% +5 "core" %   T  +2 "storage"('% +4 "core" % k k \  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(_(<- +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +3 "core" &<- S K \ \ +2 "manipulator"&{& +3 "core" &  p  +3 .tElbow.seek 5 +2 "manipulator"&(( +14 "core" ( + "manipulator"& & +4 "core" &  p  +2 "storage"(?& +4 "core" &<- n l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +94 "core" ' +2 "storage"(t& +4 "core" &<- \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(B'r +298 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +49 (o& +5 "core" &<- n o \ +2 "manipulator"&& +4 "core" &  O  +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&)& +4 "core" &    +2 "storage"(& +3 "core" &<- o m l\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"(\\' +8 "core" &  @  +2 "manipulator"&=% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&*' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&Q(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&D& +4 "core" &Ӛ U 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &Ӛ V 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'? +98 "core" ' +2 "manipulator"&& +3 "core" &Ӛ 4 +3 "manipulator"&w% +4 "core" %?   +2 "collection"'& +3 "core" & \ +3 "collection"'>& +6 "core" & \ +3 .tCC.seek :closed + "collection"'9(\\ +5 "core" & \ +8 &3 \ $e +9 &Vw \ 6 +9 &z \ K +10 &U \ K +9 &qV \ K +9 &2Y \ K +10 &W \ K +9 &W \ K +9 &xZ \ K +10 &;V \ K +9 &T \ K +10 &!V \ K +9 &#W \ J +9 &%BV\ \ K +10 &'V\  \ J +9 &(W\ \ K +9 &*V \ \ K +10 &,JZ \ K +9 &. V\ \ \ K +10 &/T\ \ \ K +9 &1W\ \ \ K +9 &3SW \ \ K +10 &5U\ \ \ K +9 &6W\ \ \ K +9 &8W\ \ \ K +10 &:ZY\ \ \ K +9 &<X\ \ \ K +10 &=W\ \ \ K +9 &?W \ \ K +9 &AbY\ \ \ K +10 &C#_\ \ \ L +9 &De\ \ \ L +10 &Fm\ \ \ \ \ N +9 &H\\\ \ \ P +9 &J\ *\ &\ U +10 &K\ 1\ 2\ V +9 &M\ /\ /\ X +9 &ON\ /\ /\ X +10 &Q \ -\ ,\ Y +9 &R\ *\ ,\ X +9 &T\ ,\ ,\ Y +10 &VM\ *\ )\ [ +9 &X\ *\ -\ Z +10 &Y\ -\ -\ [\ +9 &[\ /\ ,\ H +9 &\\@\ .\ -\ 'x +10 &\\\ -\ ,\ [ +2 ( +2 "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&C1 +56 "core" 1 +2 "manipulator"&% +4 "core" % ? D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +82 "Can" \ RN +14 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %  A  +2 "storage"(X% +4 "core" % $ - \  + "storage"(u. +3 "core" .(<- +2 "storage"(& +4 "core" &<- * -\ +2 "storage"(M& +4 "core" &<- , . D\ +2 "manipulator"& & +4 "core" &ӣ  3 +2 "manipulator"&<% +4 "core" %  2  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&[( +162 "core" ( +2 "manipulator"&J& +4 "core" &   +2 "storage"(O& +4 "core" &<- & % `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +92 "core" ' +2 "storage"(& +4 "core" &<- T T k\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +298 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" &<- - 1 \ +2 "manipulator"&@& +3 "core" &   +3 .tElbow.seek 5 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&!& +3 "core" &   +3 "storage"(E& +4 "core" &<- ' "\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&,'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&q& +2 "storage"(' +54 "core" & z  +3 "manipulator"&4% +3 "core" % ϸ 0 +3 .tForearm.seek :retract +2 "manipulator"&+' +89 "core" ' +6 .tElbow.seek PC +3 "manipulator"&I( +107 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +145 "core" ( +3 "manipulator"&7& +4 "core" & 7 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" & W \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&a' +93 "core" ' +2 "manipulator"&:& +3 "core" & ' \ +3 "manipulator"&#% +4 "core" % g | +2 "processing"%$& +3 "core" &\ +3 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%A(^ +6 "core" &\ +6 &/\ #b +9 &U}\ 7 +9 &~|+\ K +10 &W\ N +9 &^[\ N +9 &!U\ M +10 &Y\ N +9 &[\ M +10 &fU\ N +9 &)W\ M +9 &X\ N +10 &!Z\ M +9 &#nW\ N +10 &%0V\ N +9 &&]0\ N +9 &(]\ N +10 &*uZ1\ N +9 &,9Z+\ M +9 &-V*\ N +10 &/]0\ N +9 &1~].\ N +10 &3@\\\ N +9 &5\\\ M +9 &6^1\ N +10 &8_/\ N +9 &:I]2\ M +9 &< \\+\ M +10 &=\\#\ M +9 &?\\!\ M +9 &AP^\ N +10 &Cf\ O +9 &Dk\ O +10 &Fs!\ P +9 &HK"\ R +9 &J *\ S +10 &K%\ T +9 &M!\ T +9 &ON$\ T +10 &Q%\ T +9 &R\ T +10 &T!\ U +9 &VS!\ U +9 &X\ T +10 &Y\ T +9 &[\ T +9 &][\ B +10 &^P~!\ F +9 &^?\ ; +3 ( + "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&61 +61 "core" 1 +2 "manipulator"&;% +3 "core" %   > | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 "processing"%g& +4 "core" &^9J\ ; +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&]% +4 "core" %  \ <  +2 "storage"(`% +4 "core" %\ \  \  +2 "storage"(m. +3 "core" .(<- +2 "storage"( & +3 "core" &<-\ ! O\ +3 "storage"(& +4 "manipulator"&1& +5 "core" &<-\ \ \ + &  [ \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +4 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"(Y'r +6 "core" ( + "manipulator"&r& +4 "core" &   R \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  T \ +3 .tForearm.seek PC +2 "manipulator"&e' +90 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +3 .tPC.seek :open +2 "processing"%p( +95 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'1 +40 "core" ' +308 ( + "storage"(K& +4 "core" &<- $ . p\ +2 "manipulator"&& +4 "core" & o \ +2 "manipulator"&k% +3 "core" %  < h +3 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&x( +243 "core" ( + "manipulator"&i& +5 "core" &  / O + "storage"(d& +4 "core" &<- T \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +122 "core" ' + .tHand.open +2 "manipulator"&~1 +53 "core" 1 +2 "storage"("- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(^' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +42 "storage"(3' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +3 "core" -' +2 "storage"(& +4 "core" &<- D E 9\ +2 "manipulator"&& +3 "core" &    O +3 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&F& +4 "core" &   W O +2 "storage"(b& +4 "core" &<- P [\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(|'" +51 "core" ' + "manipulator"&S& +4 "core" &  | O +2 "storage"(H& +3 "core" &<- _\  \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +19 "core" ' +2 "manipulator"&\ % +4 "core" %Ζ   + "storage"(& +5 "core" &<- " \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"&h' +15 "core" ' + "manipulator"&'& +5 "core" & d O + "storage"(& +4 "core" &<- 0 0 ~\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +26 "core" ' + "storage"(% +4 "core" % & (\ +2 ."downElevator"SE.seek :down +4 "storage"(5' +99 (% +3 "core" %WP J B\ Xf +2 "manipulator"&.% +4 "core" %g # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &<- - ) [\ +3 "collection"'?& +3 "core" &\\~\ #\ "\ [ +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&t% +4 "core" %    +2 "storage"(l% +3 "core" % " &\  +2 "storage"(T. +3 "core" .(<- +2 "storage"(0& +4 "core" &<- " '\ +2 "storage"(o& +3 "core" &<- ! &\ +2 "manipulator"&& +4 "core" & % O +2 .tElbow.seek 5 +2 "manipulator"&)( +4 "core" ( + "manipulator"&& +5 "core" &  O + "storage"(Z& +4 "core" &<- " \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +92 "core" ' +2 "storage"(=& +3 "core" &<- T T f\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('r +299 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +4 "core" & 2 O +2 "storage"(2& +4 "core" &<- - /\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&B'΍ +17 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(w't +29 "core" ' + "manipulator"&% +5 "core" %΂   + "storage"( & +4 "core" &<- - * n\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 289 counts +2 "manipulator"&\\'Ϯ +16 "core" ' + "manipulator"&*& +4 "core" & O +2 "storage"(8& +4 "core" &<- . $ I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +90 "core" ' +3 "manipulator"&& +4 "core" & - O +2 "manipulator"&% +3 "core" %9 u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u(ӂ +151 "core" ( + "manipulator"&& +4 "core" &Ӓ A 5\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &Ӓ ) 5\ +3 .tForearm.seek CC + "manipulator"&M'? +99 "core" ' +2 .tHand.close +2 "manipulator"& / +53 "core" / +2 .tCC.seek :open +2 "collection"'<( +447 "core" ( + "storage"(%& +4 "core" &<- H P w\ +2 "storage"(J& +4 "core" &<- G G ?\ +2 "manipulator"&O& +4 "core" &ӱ ^ 1 + "manipulator"&% +5 "core" % 6 i +2 .tForearm.seek :retract +2 "manipulator"&Q' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&L( +161 "core" ( +2 "manipulator"&c& +4 "core" & \    +2 "storage"(n& +3 "core" &<- a h \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&@'΍ +92 "core" ' +2 .tElbow.hold + "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&E1 +54 "core" 1 +2 "manipulator"&W% +3 "core" % Β  3 Y +2 "storage"(q& +4 "core" &<- a \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 305 counts + "manipulator"&4'Ͼ +13 "core" ' +3 "manipulator"&[& +3 "core" &   S  +2 "storage"(G& +5 "core" &<- o U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +30 "core" ' +2 "storage"(,% +3 "core" % n\ +4 ."downElevator"SE.seek :down +3 "storage"(7' +99 (y% +2 "core" %J U R \ Va +3 "manipulator"&P% +4 "core" %H  i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'#& +4 "core" & \ +2 "manipulator"&$% +4 "core" %   S  +2 "storage"(% +4 "core" % \  +2 "storage"(+. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(R(K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &K T I \  +2 "manipulator"&;& +4 "core" &  M  +2 .tElbow.seek 6 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&]& +3 "core" &  Z  +2 "storage"(`& +5 "core" &K y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +91 "core" ' +2 "storage"( & +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +293 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &K n n )\  +2 "manipulator"&r& +4 "core" &  *  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&a& +4 "core" &  E  + "storage"( & +4 "core" &K a h p\  +48 .tForearm.seek 6 + 300 counts +3 "manipulator"&'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(A' +8 "core" &  y  + "manipulator"&Y% +4 "core" % m  +3 .tForearm.seek :retract +2 "manipulator"&K' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&k& +4 "core" &ә  \\ 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &ә  . 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&i'? +100 "core" ' +2 "manipulator"&d& +3 "core" &ә f 1 +3 "manipulator"&% +4 "core" %I  +2 "collection"'~& +4 "core" & \ +3 "collection"'"& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'f(\\ +4 "core" & \ +7 &; \ %f +9 &Z| \ 8 +10 &u \ K +9 &T \ K +10 &Z \ K +9 &MV \ K +9 &Z \ K +10 &V \ J +9 &W \ K +9 &TZ \ K +10 & U \ J +9 &!W \ J +10 &#W\ \ K +9 &%\\Z \ K +9 &' U \ J +10 &(V \ K +9 &*Y \ K +9 &,eU \ K +10 &.(W \ J +9 &/W\ \ K +10 &1V \ K +9 &3mW \ \ K +9 &5/U \ K +10 &6W\ \ K +9 &8U\ \ K +9 &:uW\  \ K +10 &<6V \ K +9 &=X\ \ \ K +10 &?Z\  \ K +9 &A|_\ \ \ K +9 &C:j\ \ \ M +10 &Dr\ \ #\ N +9 &Fs\ \ \ N +9 &Ho\ $\ \ S +10 &J(\ 1\ 0\ V +9 &K\ .\ 4\ V +10 &M\ /\ /\ W +9 &Og\ .\ ,\ X +9 &Q'\ .\ +\ Y +10 &R\ +\ -\ X +9 &T\ *\ )\ Y +9 &Vg\ -\ ,\ [ +10 &X(\ ,\ *\ [\ +9 &Y\ +\ -\ [ +10 &[\ +\ *\ H +9 &\\/\ -\ ,\ 2 +9 &\\h\ -\ +\ O +3 ( + "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&V1 +63 "core" 1 +5 "manipulator"&% +4 "core" % I X  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%F& +5 "core" &1\ +2 "manipulator"&b% +4 "core" %  U  +2 "storage"(S% +4 "core" % Q F H\  +2 "storage"(H. +3 "core" .(K +2 "storage"(j& +4 "core" &K H F 4\  +2 "storage"(\ & +4 "core" &K G G \  +2 "manipulator"&& +4 "core" &\  m i +2 "manipulator"&^% +3 "core" %  Q  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&'( +137 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &K S Q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&x' +94 "core" ' + "storage"(U& +4 "core" &K F Q H\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &K ( '\  +2 "manipulator"&z& +4 "core" &  I +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&|& +4 "core" & Q + "storage"(& +4 "core" &K S T j\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&h'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"(t' +8 "core" & [ +2 "manipulator"&l% +4 "core" % o  c +2 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +158 "core" ' +2 ."downElevator"SE.stop +47 "storage"(5 +35 "core" ( + "manipulator"&0& +4 "core" &  v 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &o& +3 "core" & k 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&& +4 "core" & 9 +2 "manipulator"&Z% +3 "core" % I +3 "processing"%}& +3 "core" &\ +3 "processing"%=& +6 "core" &O\ +2 .tPC.seek :closed +2 "processing"%5(^ +5 "core" &)\ +7 &7)\ #b +9 &V}%\ 7 +10 &{\ K +9 &Y)\ N +10 &bZ\ M +9 &%Y\ M +9 &\\ \ N +10 &Z\ N +9 &iV\ N +9 &+X\ N +10 &\\\ N +9 &!\\\ M +10 &#q\\\ N +9 &%4\\\ M +9 &&]\ N +10 &(\\\ M +9 &*yW0\ N +9 &,;[-\ N +10 &-W1\ M +9 &/Y1\ N +10 &1^.\ N +9 &3C[1\ N +9 &5W5\ M +10 &6Z\ M +9 &8Z-\ N +9 &:KX.\ N +10 &<[3\ M +9 &=Y1\ N +10 &?['\ M +9 &AR]-\ N +9 &Cg\ O +10 &Di"\ O +9 &Fp!\ P +9 &HN,\ R +10 &J 0\ S +9 &K2\ T +10 &M$\ T +9 &OQ\ T +9 &Q$\ T +10 &R,\ T +9 &T \ V +9 &VW\ T +10 &X\ T +9 &Y&\ U +10 &[ \ U +9 &]]\ B +9 &^P!\ C +10 &^\ U +9 &^\ 0 +3 ( + "processing"%=& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&/1 +61 "core" 1 +2 "manipulator"&{% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +88 "core" ' +2 "processing"%D& +3 "core" &^O\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&2% +4 "core" %     +2 "storage"(% +4 "core" % / . \  +2 "storage"(. +3 "core" .(K +2 "storage"( & +4 "core" &K . . \  +2 "storage"(*& +3 "manipulator"&8& +7 "core" &K . / \  + &  9 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +3 "manipulator"&( +6 "core" ( +2 "manipulator"&-& +4 "core" &   K 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &  ( f 9 +3 .tForearm.seek PC +2 "manipulator"&(' +90 "core" ' +2 .tHand.close + "manipulator"&B/ +58 "core" / +2 .tPC.seek :open +2 "processing"%\\( +93 "core" ' + "storage"(w- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +311 ( + "storage"(>& +4 "core" &K G K \  +2 "manipulator"&C& +4 "core" & 6 9 +2 "manipulator"&% +4 "core" %  & f +2 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&X( +245 "core" ( +2 "manipulator"&9& +4 "core" & ) ! +2 "storage"(%& +4 "core" &K + / 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +94 "core" ' + .tHand.open + "manipulator"&O1 +62 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(c' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(n' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(M- +3 "core" -' +2 "storage"(u& +4 "core" &K M M \  +2 "manipulator"&E& +3 "core" &   ]  +3 .tElbow.seek 6 + "manipulator"&W( +22 "core" ( +47 "manipulator"&q& +6 "core" &    +2 "storage"([& +3 "core" &K M M \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +10 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(,'" +49 "core" ' +2 "manipulator"&Q& +4 "core" & v  +2 "storage"(y& +4 "core" &K + $ K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&P'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(@' +18 "core" ' +2 "manipulator"&4% +3 "core" %O  ; +3 "storage"(#& +3 "core" &K R U\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&$'{ +14 "core" ' + "manipulator"&& +5 "core" &  ,  + "storage"(+& +4 "core" &K T T e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(N% +4 "core" % V Q \ +2 ."downElevator"SE.seek :down +4 "storage"(7' +99 (_% +3 "core" %U I ,\ Yi +2 "manipulator"&6% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&;' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (]& +4 "core" &K 8 ; <\  +2 "collection"'`& +4 "core" &\\f\ $\ $\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %  l  +2 "storage"(!% +4 "core" % Q S \  +2 "storage"(:. +3 "core" .(K +2 "storage"(1& +4 "core" &K S T k\  +2 "storage"(v& +4 "core" &K S Q a\  + "manipulator"&r& +5 "core" &  +2 .tElbow.seek 6 + "manipulator"&a( +3 "core" ( +2 "manipulator"& & +4 "core" &  c  +2 "storage"(I& +3 "core" &K J Q 2\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(Y& +3 "core" &K = N \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +299 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" & g  +2 "storage"(e& +3 "core" &K ? G \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +29 "core" ' + "manipulator"&~% +4 "core" %E  \ +2 "storage"(& +4 "core" &K T T R\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 309 counts + "manipulator"&A'q +14 "core" ' + "manipulator"&K& +5 "core" &    + "storage"(<& +4 "core" &K W W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&F& +4 "core" & ;  +2 "manipulator"&b% +4 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +91 "core" ' +2 .tElbow.seek CC +46 "manipulator"&H(ӂ +158 "core" ( +2 "manipulator"&"& +4 "core" &ӈ  :+ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &ӈ! :+ +3 .tForearm.seek CC +2 "manipulator"&\ '? +103 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'^( +450 "core" ( + "storage"(& +4 "core" &K N < \  +2 "storage"(& +3 "core" &K W X \  +3 "manipulator"&i& +4 "core" &  2 + + "manipulator"&U% +4 "core" %  R +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +142 "core" ( +2 "manipulator"&& +4 "core" & ? +2 "storage"(.& +4 "core" &K k k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&z'< +95 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"& % +4 "core" % 3   4 B +2 "storage"(?& +4 "core" &K l k \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 291 counts +2 "manipulator"&l'_ +16 "core" ' +2 "manipulator"&'& +4 "core" &  J +3 "storage"(x& +4 "core" &K o m h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +16 "core" ' + "storage"(h% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(0' +99 (o% +3 "core" %gG K R \ U_ +2 "manipulator"&% +4 "core" % [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'Z& +3 "core" & \ +2 "manipulator"&}% +4 "core" %   d  +3 "storage"(t% +4 "core" %  \  +2 "storage"(T. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(p(,y +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +3 "core" &,{ n k \ +2 "manipulator"&{& +5 "core" &  + +2 .tElbow.seek 4 + "manipulator"&D( +4 "core" ( +2 "manipulator"&2& +3 "core" & \  { +2 "storage"(& +5 "core" &,{ k a \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"( & +4 "core" &,{ }\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'r +297 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &,{ W j d\ +2 "manipulator"&-& +5 "core" &  P +2 .tElbow.seek 4 + "manipulator"&)( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(B& +4 "core" &,{ k n -\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&w'c +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +3 "storage"(5' +52 "core" &  a +3 "manipulator"&% +3 "core" % σ +3 .tForearm.seek :retract +2 "manipulator"&>' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +105 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +43 "core" ( + "manipulator"&& +4 "core" &y#  R <: +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +3 "core" &y# <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&9'? +100 "core" ' +2 "manipulator"&%& +4 "core" &ә  7 +2 "manipulator"&% +4 "core" %I  t +2 "collection"'O& +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'M(\\ +5 "core" & \ +5 & \ : +10 &ILz \ 0 +9 &}u \ E +10 &+[ \ K +9 &T \ K +9 &W \ J +10 &rV \ K +9 &4Y \ K +9 &Z \ K +10 &U \ K +9 &zW \ K +10 &!<Z \ K +9 &"U \ \ J +9 &$U \ K +10 &&Y \ K +9 &(DU \ K +9 &*W \ K +10 &+Y \ K +9 &-V \ J +10 &/LW \ \ K +9 &1 Z\  \ K +9 &2V\ \ K +10 &4Y\ \ K +9 &6TW\ \ \ K +9 &8X \ J +10 &9Y\ \ \ K +9 &;W\ \ K +10 &=\\X \ K +9 &?Z\ \ K +9 &@Z\ \ \ K +10 &BX\ \ \ K +9 &Db`\ \ \ L +9 &Fm\ \ \ M +10 &Gy\ \ \ O +9 &I\ #\ \ S +10 &KL\ /\ -\ V +9 &M \ .\ .\ V +9 &N\ -\ ,\ W +10 &P\ *\ ,\ X +9 &RO\ (\ ,\ X +9 &T \ *\ +\ Y +10 &U\ )\ +\ Y +9 &W\ +\ )\ Z +10 &YM\ ,\ +\ [\ +9 &[\ ,\ +\ Z +9 &\\dH\ -\ ,\ 4 +10 &\\ x\ *\ +\ M +5 ( +2 "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.09 + .Hand.open + "manipulator"&u1 +4 "core" &\\c\ (\ *\ M +55 1 +2 "manipulator"&E% +4 "core" % J 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%q& +4 "core" &,\ +2 "manipulator"&[% +4 "core" %  >  +2 "storage"(Q% +3 "core" % T T ]\  +2 "storage"(y. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &,{ , / 6\ +2 "manipulator"&4& +4 "core" &Ӳ 4 +2 "manipulator"&#% +4 "core" %  I  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +168 "core" ( + "manipulator"&+& +4 "core" &  q # +2 "storage"(X& +4 "core" &,{ W W A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&N' +97 "core" ' + "storage"(J& +5 "core" &,{ W W\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +297 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (6& +2 "core" &,{ , # +\ +3 "manipulator"&G& +4 "core" &  k # +2 .tElbow.seek 4 +2 "manipulator"&W( +2 "core" ( +2 "manipulator"&,& +4 "core" & e # +2 "storage"(P& +3 "core" &,{ / / c\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&]'c +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&`& + "storage"( ' +8 "core" & @ # +2 "manipulator"&!% +4 "core" % ] O +2 .tForearm.seek :retract +2 "manipulator"&:' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&@( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&1& +4 "core" & Z 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &  J 3 +49 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +93 "core" ' +2 "manipulator"& & +4 "core" & B 2 +2 "manipulator"&I% +4 "core" % h r +2 "processing"%& +4 "core" &\ +2 "processing"%Y& +6 "core" &#\ +2 .tPC.seek :closed +2 "processing"%7(^ +4 "core" &*\ +8 &86\ $c +10 &T\ 7 +9 &}5\ L +9 &W.\ M +10 &fV-\ N +9 &*T1\ M +9 &\\\ N +10 &Y\ N +9 &oW-\ M +10 &1Z\ M +9 &W\ N +9 &!W\ M +10 &#vW\ N +9 &%9[\ M +9 &&]\ N +10 &(Z\ N +9 &*W\ M +10 &,AZ\ M +9 &.\\\ M +9 &/]\ N +10 &1Y\ N +9 &3I\\\ M +9 &5 [\ M +10 &6X\ N +9 &8]\ N +10 &:OZ\ N +9 &<Z\ M +9 &=Y\ N +10 &?X\ N +9 &AY\\\ M +9 &Cb\ O +10 &Dg\ O +9 &Fn\ P +10 &HT\ R +9 &J\ S +9 &K\ S +10 &M\ T +9 &OV\ T +9 &Q\ T +10 &R7\ T +9 &T\ U +10 &V[\ U +9 &X'\ T +9 &Y\ U +10 &[0\ U +9 &]b)\ B +9 &^Bu\ ^ +10 &^8-\ 1 +5 ( +2 "processing"%Y& +4 "core" &^ /\ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&L1 +59 "core" 1 +2 "manipulator"&;% +4 "core" %    [ r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +90 "core" ' + "processing"%k& +5 "core" &^ 4\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&e% +3 "core" %     +3 "storage"(d% +3 "core" % + . 9\  +2 "storage"(~. +3 "core" .(,y +2 "storage"(& +4 "core" &,{ . $ Y\ +2 "storage"(K& +3 "manipulator"&<& +8 "core" &,{ . . 1\ + &  1 2 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(F'r + "manipulator"&b( +7 "core" ( +2 "manipulator"&& +4 "core" & \ 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +4 "core" & 5 2 +2 .tForearm.seek PC +2 "manipulator"&g' +90 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%A( +94 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"("'1 +40 "core" ' +308 ( +2 "storage"(V& +4 "core" &,{ D : I\ +2 "manipulator"&j& +4 "core" & 9 2 +2 "manipulator"&% +3 "core" %  T o +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&S( +245 "core" ( + "manipulator"&f& +4 "core" & X - +2 "storage"(& +3 "core" &,{ 1 1 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' + .tHand.open +2 "manipulator"&i1 +53 "core" 1 +2 "storage"(U- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(.' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(\ - +3 "core" -' +2 "storage"(H& +3 "core" &,{ p j o\ +3 "manipulator"&& +4 "core" &   - +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&?& +4 "core" &    - +2 "storage"('& +4 "core" &,{ f e \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +42 "core" ' +11 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(h'" +51 "core" ' +2 "manipulator"&& +4 "core" & Z - +2 "storage"(o& +4 "core" &,{ $ 0 N\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(z' +19 "core" ' +2 "manipulator"&Z% +4 "core" %;   + "storage"(}& +4 "core" &,{ B 9 \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 304 counts + "manipulator"&l'g +16 "core" ' + "manipulator"&t& +5 "core" & J - +2 "storage"(T& +3 "core" &,{ W U\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(3% +4 "core" % W U\ +3 ."downElevator"SE.seek :down +4 "storage"(0' +99 (R% +3 "core" %N\ ! S ;\ We +2 "manipulator"&/% +3 "core" % \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (2& +3 "core" &,{ K H \ +3 "collection"'& +4 "core" &\\b\ #\ !\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %  V  +2 "storage"(|% +4 "core" % R T\  +2 "storage"(. +3 "core" .(,y +2 "storage"(8& +3 "core" &,{ G J \ +2 "storage"(=& +4 "core" &,{ Q G R\ +2 "manipulator"&-& +4 "core" &  C - +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&B& +3 "core" &    - +3 "storage"(s& +4 "core" &,{ T T k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +111 "core" ' +2 "storage"(& +4 "core" &,{ Q F F\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(D'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" & . - +2 "storage"(& +4 "core" &,{ " & D\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&('7 +17 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('b +29 "core" ' +2 "manipulator"&O% +4 "core" %/  B + "storage"()& +4 "core" &,{ - /\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 292 counts + "manipulator"&5'[ +16 "core" ' + "manipulator"&>& +4 "core" & } - +2 "storage"(^& +4 "core" &,{ B 5 p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&u' +17 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(E' +35 "core" ' +2 "manipulator"&q& +4 "core" & C - + "manipulator"&[% +4 "core" % < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +152 "core" ( +2 "manipulator"&& +3 "core" &Ӗ [ 4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +42 &c& +11 "core" &Ӗ } 4 +2 .tForearm.seek CC +2 "manipulator"&4'? +93 "core" ' + .tHand.close +2 "manipulator"&#/ +53 "core" / +2 .tCC.seek :open +2 "collection"'9( +447 "core" ( + "storage"(+& +4 "core" &,{ ] a \ +2 "storage"(X& +4 "core" &,{ j m \ +2 "manipulator"&p& +3 "core" &ө  ` 2 +2 "manipulator"&J% +5 "core" % E  }  +2 .tForearm.seek :retract +2 "manipulator"&C' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&_& +4 "core" &  [  +2 "storage"(6& +4 "core" &,{ y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&G'7 +95 "core" ' +2 .tElbow.hold + "manipulator"&,, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&P1 +57 "core" 1 +3 "manipulator"&$% +4 "core" % ?  3 8 + "storage"(`& +4 "core" &,{ i\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 308 counts +2 "manipulator"&!'k +14 "core" ' + "manipulator"&& +4 "core" &  T  +2 "storage"(N& +4 "core" &,{ U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +15 "core" ' + "storage"(]% +4 "core" % -\  +3 ."downElevator"SE.seek :down +5 "storage"(1' +98 (v% +3 "core" %DE G I '\ V_ +3 "manipulator"&W% +4 "core" %  ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'I& +3 "core" & \ +3 "manipulator"&% +4 "core" %    + "storage"( % +5 "core" % \  + "storage"(:. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(\\(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +3 "core" &<+ G E ,\  +2 "manipulator"&;& +4 "core" &  e  +2 .tElbow.seek 5 +2 "manipulator"&k( +10 "core" ( +2 "manipulator"&e& +3 "core" &  \ F z +2 "storage"(d& +5 "core" &<* J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +89 "core" ' + "storage"(& +4 "core" &<* .\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +300 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +3 "core" &<* k i \  +2 "manipulator"&& +4 "core" &   z +2 .tElbow.seek 5 +2 "manipulator"&a( +4 "core" ( + "manipulator"&r& +4 "core" &  Q z +2 "storage"(& +3 "core" &<* k k d\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&@/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& + "storage"(7' +8 "core" &  z +2 "manipulator"&F% +3 "core" % ϲ  G +3 .tForearm.seek :retract +2 "manipulator"&V' +93 "core" ' +3 .tElbow.seek CC +2 "manipulator"&j(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &ӏ   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &ӏ  ! 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'? +103 "core" ' + "manipulator"&& +4 "core" &ӏ  + 7 +2 "manipulator"&b% +4 "core" %A   +2 "collection"'i& +4 "core" & \ +3 "collection"'U& +6 "core" & \ +3 .tCC.seek :closed +3 "collection"'\ (\\ +3 "core" & \ +5 & \ 6 +10 &FJy \ / +9 &tt \ D +10 &\\ \ K +9 &V \ J +9 &X \ K +10 &fU \ K +9 &)W \ J +9 &W \ K +10 &Z \ K +9 &oW \ J +10 &!0W \ K +9 &"Y \ K +9 &$W \ J +10 &&vW \ K +9 &(7\\ \ K +9 &)W\ \ J +10 &+W \ K +9 &-~Z \ K +10 &/@U \ K +9 &1W \ K +9 &2Y \ K +10 &4W\ \ \ J +9 &6HW\  \ K +9 &8\ X\  \ K +10 &9\\\ \ \ K +9 &;W\ \ K +10 &=PW \ K +9 &?[\ \ \ K +9 &@Y\ \ K +10 &B\\\ \ \ L +9 &DU_\ \ \ L +9 &Fm\ \ \ M +10 &Gy\ \ \ O +9 &I\ #\ \ S +10 &K?\ 1\ /\ V +9 &L\ .\ /\ W +9 &N\ /\ /\ W +10 &P\ ,\ +\ X +9 &RC\ +\ ,\ W +9 &T\ -\ +\ Y +10 &U\ +\ ,\ Y +9 &W\ -\ (\ Z +10 &YB\ -\ ,\ [ +9 &[\ .\ -\ Z +9 &\\^N\ .\ ,\ 2 +10 &\\\ *\ +\ R +5 ( +2 "collection"'U& +4 "core" &\\j\ *\ )\ R +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&H1 +54 "core" 1 +2 "manipulator"&% +4 "core" % A   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%'& +3 "core" &4\ +2 "manipulator"&% +5 "core" %  f  + "storage"(% +4 "core" % 4 E \  +2 "storage"(o. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"("(<- +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" &<+\  m\  +2 "manipulator"&& +4 "core" &Ӥ  5 +2 "manipulator"&}% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&t( +161 "core" ( + "manipulator"&T& +4 "core" & O  +2 "storage"(3& +3 "core" &<* W W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +112 "core" ' +2 "storage"(& +4 "core" &<* S N T\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +296 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &<* - ( u\  +2 "manipulator"&x& +5 "core" &  z  +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&h& +4 "core" &  +2 "storage"(& +3 "core" &<* ( "\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&l'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"( ' +8 "core" & l  +2 "manipulator"&|% +4 "core" %  ? { +2 .tForearm.seek :retract +2 "manipulator"&z' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&8& +4 "core" & 3 V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" & V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-' +93 "core" ' +2 "manipulator"&B& +51 "core" & N V +2 "manipulator"&s% +4 "core" % } +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%0(^ +3 "core" &)\  +9 &1x/\ )w +10 &d\ > +9 &uv+\ N +9 &8Y \ N +10 &\\\ N +9 &Y\ M +9 &~W*\ N +10 &@Z\ N +9 &W\ M +10 &W\ N +9 & Z\ N +9 &"IW\ M +10 &$ Z\ M +9 &%Z\ M +9 &'\\\ N +10 &)PY\ N +9 &+\\\ M +10 &,X\ N +9 &.Z\ M +9 &0X\\\ N +10 &2\\\ N +9 &3Z\ N +9 &5W\ M +10 &7aY\ M +9 &9"^\ N +9 &:^\ M +10 &<Z\ M +9 &>h[\ N +10 &@+[\ M +9 &A_\ N +9 &Ck\ O +10 &Ejp\ P +9 &G*v\ P +10 &H\ S +9 &J\ T +9 &Lg\ S +10 &N(\ T +9 &O\ T +9 &Q\ T +10 &Sk\ U +9 &U/\ T +10 &V\ T +9 &X\ T +9 &Zt\ T +10 &\\50\ U +9 &]{u\ ; +9 &^)p\ O +10 &^(2\ 2 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&{% +4 "core" %  g } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%*& +3 "core" &^%c\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    2  +2 "storage"(%% +3 "core" % & " K\  +3 "storage"(O. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"()(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (>& +4 "core" &<+\ \ r\  +2 "manipulator"&^& +3 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &   V +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(q'r + "manipulator"&[( +23 "core" ( +2 "manipulator"&&& +4 "core" &   - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  +3 .tForearm.seek PC +2 "manipulator"&D' +91 "core" ' +3 .tHand.close + "manipulator"&(/ +56 "core" / +2 .tPC.seek :open +2 "processing"%5( +75 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +321 ( +3 "storage"(u& +4 "core" &<* F Q 5\  +2 "manipulator"&c& +4 "core" & m + "manipulator"&w% +4 "core" %   j +2 .tForearm.seek :retract +2 "manipulator"&#' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Q( +241 "core" ( + "manipulator"&M& +4 "core" & 6 +2 "storage"(+& +5 "core" &<* ) ( 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +105 "core" ' +2 .tHand.open + "manipulator"&p1 +58 "core" 1 +2 "storage"(J- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(_' +35 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(6' +82 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +3 "core" -' +2 "storage"(y& +3 "core" &<* S I ?\  +3 "manipulator"&P& +3 "core" &   6 +3 .tElbow.seek 5 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&`& +4 "core" &   I 6 +2 "storage"(& +4 "core" &<* C D\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +11 "core" ' +47 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(]'" +59 "core" ' +2 "manipulator"&C& +4 "core" & W 6 +2 "storage"(v& +4 "core" &<* . .\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&W'΍ +20 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(G' +28 "core" ' + "manipulator"&I% +5 "core" %Η 5  + "storage"(& +5 "core" &<* + $ H\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&!' +14 "core" ' +2 "manipulator"& & +3 "core" & z 6 +3 "storage"(:& +4 "core" &<* ' ( :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&E'O +14 "core" ' + "storage"(n% +4 "core" % B 9 =\ +3 ."downElevator"SE.seek :down +3 "storage"(1' +99 (% +4 "core" %7Q M ~\ Xg +2 "manipulator"&L% +5 "core" %R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (e& +3 "core" &<* C - \  +3 "collection"'d& +4 "core" &\\i\ $\ #\ R +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  K  +2 "storage"(,% +3 "core" % T Q \  +2 "storage"( . +3 "core" .(<- +2 "storage"(<& +3 "core" &<* I R -\  +3 "storage"(Y& +4 "core" &<* R J #\  + "manipulator"&& +4 "core" & ^ 6 +2 .tElbow.seek 5 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&& +4 "core" & \ 6 +2 "storage"(@& +4 "core" &<* J S \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +95 "core" ' + "storage"(F& +4 "core" &<* V P R\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +298 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ' 6 +2 "storage"(g& +4 "core" &<* Q T J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&K'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(b't +28 "core" ' +2 "manipulator"&i% +3 "core" %΂ `  +2 "storage"(a& +5 "core" &<* T T [\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 289 counts + "manipulator"&7'Ϯ +15 "core" ' + "manipulator"&V& +4 "core" &   8 6 +2 "storage"(9& +4 "core" &<* J R \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&H'O +25 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +39 "core" ' +2 "manipulator"&'& +3 "core" &   6 +3 "manipulator"&% +4 "core" %z N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o(ӂ +154 "core" ( +2 "manipulator"&U& +4 "core" &ӓ h 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &ӓ 6 +41 .tForearm.seek CC +9 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&}/ +53 "core" / +2 .tCC.seek :open +2 "collection"'f( +447 "core" ( +2 "storage"(T& +3 "core" &<* m m \  +3 "storage"(3& +4 "core" &<* Y g ,\  + "manipulator"&\\& +5 "core" &Ө w 3 + "manipulator"&% +4 "core" % K g  +3 .tForearm.seek :retract + "manipulator"&j' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&?( +166 "core" ( +2 "manipulator"&R& +4 "core" &    +2 "storage"(/& +4 "core" &<* m k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&x'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&2% +3 "core" % ΄  a +2 "storage"(& +5 "core" &<* c | N\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 291 counts + "manipulator"&|'ϰ +14 "core" ' +2 "manipulator"&t& +3 "core" & q  +2 "storage"(S& +5 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +23 "core" ' +2 "storage"(l% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(8' +99 (=% +2 "core" %H V U\ Vb +3 "manipulator"& % +3 "core" %Ђ    +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +98 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'s& +3 "core" & \ +3 "manipulator"&% +4 "core" %    +2 "storage"( % +4 "core" %  #\  +2 "storage"(z. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(A(K +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K l n \ +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&*( +9 "core" ( +2 "manipulator"&& +3 "core" &  U +3 "storage"(%& +4 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&O' +90 "core" ' +2 "storage"(& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +296 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &K Z i e\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&-( +10 "core" ( +2 "manipulator"&(& +4 "core" &  0 +2 "storage"("& +4 "core" &K b j \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& +2 "storage"(0' +8 "core" & m + "manipulator"&q% +4 "core" % ς D +2 .tForearm.seek :retract +2 "manipulator"&u' +94 "core" ' +46 .tElbow.seek CC +3 "manipulator"&c(ӂ +103 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +51 "core" ( + "manipulator"&w& +4 "core" &ә 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &ә 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&M'? +100 "core" ' +2 "manipulator"&+& +5 "core" &Ӛ d 2 +2 "manipulator"&[% +5 "core" %C D +2 "collection"'p& +3 "core" & \ +3 "collection"'J& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'#(\\ +3 "core" & \ +9 &; \ %f +9 &Xz \ 7 +9 &y \ J +10 &V \ J +9 &U \ K +10 &GW \ K +9 & U \ K +9 &W \ J +10 &W \ K +9 &OT \ K +9 & U \ J +10 &!W \ K +9 &#Z \ K +10 &%WT \ K +9 &'W \ J +9 &(W \ K +10 &*Y \ K +9 &,^Z \ K +9 &.!U \ K +10 &/V \ J +9 &1X \ K +10 &3fU\ \ K +9 &5)W \ K +9 &6V \ K +10 &8W \ K +9 &:oW \ K +9 &<2X \ J +10 &=X\ \ \ K +9 &?Z\ \ \ L +10 &Aub\ \ \ L +9 &C4g\ \ \ M +9 &De\ \ \ M +10 &Fv\ \ \ N +9 &Hk\ "\ \ R +9 &J"\ 3\ 0\ V +10 &K\ 0\ 2\ W +9 &M\ /\ /\ W +10 &Od\ .\ .\ W +9 &Q$\ +\ ,\ X +9 &R\ +\ ,\ X +10 &T\ +\ ,\ X +9 &Vc\ +\ +\ Z +9 &X%\ ,\ *\ Z +10 &Y\ *\ +\ [\ +9 &[\ +\ ,\ H +10 &\\1\ .\ .\ 3 +9 &\\r\ +\ ,\ M +2 ( +3 "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&41 +62 "core" 1 +2 "manipulator"&y% +3 "core" % ^ > o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%`& +4 "core" &\ +2 "manipulator"&% +4 "core" %  (  +2 "storage"(C% +4 "core" % T J =\  + "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(v(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (_& +3 "core" &K G H 4\ +3 "manipulator"&I& +4 "core" &  # + "manipulator"&% +4 "core" %  )  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +150 "core" ( +2 "manipulator"&:& +4 "core" &  ]  +2 "storage"(Q& +4 "core" &K V W \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +93 "core" ' +2 "storage"(X& +3 "core" &K F H \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &K * ) \ +2 "manipulator"&N& +4 "core" & L  +2 .tElbow.seek 6 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&]& +4 "core" & 0  + "storage"(W& +4 "core" &K Q G Z\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&!'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&d& +2 "storage"(' +8 "core" &  + "manipulator"&,% +4 "core" % x  k +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&<& +4 "core" & a 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &Y& +2 "core" & t 9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&& +4 "core" &  ' 9 +47 "manipulator"&@% +6 "core" % ) +2 "processing"%E& +4 "core" &\ +2 "processing"%F& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%1(^ +3 "core" &\  +9 &3|\ *x +10 &c\ > +9 &yt\ N +9 &<X\ M +10 &X\ M +9 &Z0\ M +10 &Y3\ M +9 &CW4\ N +9 &X.\ N +10 &X5\ N +9 & X\ N +9 &"LV\ M +10 &$ W\ N +9 &%U\ M +10 &'X\ N +9 &)SZ\ N +9 &+Z\ N +10 &,Y\ M +9 &.Z\ N +9 &0\\V\ M +10 &2W\ M +9 &3Z\ N +10 &5\\\ N +9 &7d\\\ M +9 &9%[\ N +10 &:]\ N +9 &<W\ N +9 &>l[\ M +10 &@-Z\ N +9 &A_\ N +10 &Ce\ O +11 &Ell\ P +8 &G,u\ Q +9 &H\ S +9 &J\ T +9 &Lj\ S +10 &N+\ T +9 &O\ T +10 &Q\ U +9 &Sn\ U +9 &U1\ T +10 &V\ U +9 &X\ T +9 &Zu\ U +10 &\\8\ U +9 &]zx\ ; +10 &^&h\ S +9 &^%\ 3 +2 ( +2 "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"& 1 +64 "core" 1 +2 "manipulator"&;% +3 "core" %  h . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +93 "core" ' +2 "processing"%& +3 "core" &^"\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&g% +4 "core" %     +2 "storage"(% +3 "core" % + "\  +2 "storage"(i. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 6 + "storage"(a(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "manipulator"&9& +3 "core" &K " \ +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  # 9 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(''r + "manipulator"&( +7 "core" ( + "manipulator"&m& +4 "core" &   9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &   _ 9 +3 .tForearm.seek PC +2 "manipulator"&k' +94 "core" ' + .tHand.close + "manipulator"&K/ +54 "core" / +2 .tPC.seek :open +2 "processing"%7( +95 "core" ' +2 "storage"(b- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(U'1 +46 "core" ' +304 ( +2 "storage"(Z& +4 "core" &K - . (\ +2 "manipulator"&H& +4 "core" & 9 +2 "manipulator"&% +4 "core" %  - B +2 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +246 "core" ( +2 "manipulator"&\ & +4 "core" & } 2 + "storage"(T& +5 "core" &K . . v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +98 "core" ' + .tHand.open +2 "manipulator"&\\1 +59 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(o& +3 "core" &K H E n\ +3 "manipulator"&& +3 "core" &  . 2 +3 .tElbow.seek 6 + "manipulator"&2( +4 "core" ( + "manipulator"&& +4 "core" &   C 2 +2 "storage"(t& +3 "core" &K b S H\ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +50 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(l'" +57 "core" ' +2 "manipulator"&j& +4 "core" & | 2 +2 "storage"(=& +4 "core" &K % + o\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"& '< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(x' +28 "core" ' + "manipulator"&|% +5 "core" %B ) + "storage"(s& +4 "core" &K 0 /\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&'n +16 "core" ' + "manipulator"& & +4 "core" &  < 2 +2 "storage"(z& +4 "core" &K * ' \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(.% +4 "core" % 5 J X\ +3 ."downElevator"SE.seek :down +3 "storage"(8' +99 ()% +3 "core" %MT M +\ Wf +2 "manipulator"&% +4 "core" % $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K 3 @\ +3 "collection"'%& +3 "core" &\\m\ #\ $\ M +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   =  +2 "storage"(h% +3 "core" % G I `\  +3 "storage"(B. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(^(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" &K 3 B \ +2 "manipulator"&& +5 "core" & 2 +2 .tElbow.seek 6 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&"& +3 "core" &  2 +2 "storage"(& +5 "core" &K G Q R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(q& +4 "core" &K W U\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +297 "core" ' + "storage"(O- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" & a 2 +2 "storage"(& +3 "core" &K / / X\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&w'< +14 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(['q +29 "core" ' +2 "manipulator"&p% +3 "core" %K U Y +2 "storage"(-& +4 "core" &K T T ^\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 315 counts + "manipulator"&0'w +15 "core" ' + "manipulator"&u& +4 "core" &  O 2 +2 "storage"(f& +4 "core" &K W W \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(y' +45 "core" ' +2 "manipulator"&`& +4 "core" & X 2 + "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&J& +3 "core" &Ӑ l 8" +49 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &Ӑ  8" +3 .tForearm.seek CC +2 "manipulator"&I'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'M( +447 "core" ( + "storage"(:& +3 "core" &K n n \ +3 "storage"(Q& +4 "core" &K m m\ +2 "manipulator"&A& +3 "core" & ' +3 "manipulator"&X% +4 "core" % 3  V +2 .tForearm.seek :retract +2 "manipulator"&c' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&P( +147 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(L& +3 "core" &K k j \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&N'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&W1 +61 "core" 1 +2 "manipulator"&e% +3 "core" % B  J D +2 "storage"(d& +4 "core" &K b i \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&,'n +15 "core" ' +3 "manipulator"& & +4 "core" &   k  + "storage"(n& +5 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +16 "core" ' + "storage"(!% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(<' +99 (Y% +3 "core" %I G H Z\ Va +2 "manipulator"&$% +3 "core" %  6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'@& +3 "core" & \ +2 "manipulator"&E% +4 "core" %  l  +2 "storage"(% +4 "core" % \  +2 "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(5(,y +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &,| b k \ +2 "manipulator"&;& +4 "core" &  2  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&g& +4 "core" & A  +2 "storage"(& +4 "core" &,| k k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +96 "core" ' +2 "storage"(F& +4 "core" &,| \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'r +296 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &,| U h N\ +2 "manipulator"&r& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&K& +4 "core" &  o  +2 "storage"(v& +3 "core" &,| n m \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&b'c +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +3 "storage"(1' +7 "core" &    +2 "manipulator"&'% +4 "core" % p  ; +46 .tForearm.seek :retract +4 "manipulator"&Z' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +107 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +47 "core" ( +2 "manipulator"&& +4 "core" &ӈ  r 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &ӈ   9' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\ '? +96 "core" ' +2 "manipulator"&T& +4 "core" &Ӎ   @ 8" +2 "manipulator"&% +4 "core" %= ( " +2 "collection"'\\& +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +7 &= \ %f +9 &Y~ \ 8 +9 &v \ K +10 &V \ J +9 &X \ J +10 &JW \ K +9 & W \ K +9 &Z \ K +10 &V \ K +9 &RZ \ K +9 & W \ K +10 &!Z \ K +9 &#X \ J +10 &%[W \ K +9 &'U \ J +9 &(V \ K +10 &*U \ J +9 &,bW \ K +9 &.%V \ K +10 &/W \ J +9 &1X\ \ K +9 &3jW \ \ K +10 &5-V \ K +9 &6W\ \ K +10 &8W \ K +9 &:sW \ K +9 &<5X \ K +10 &=W \ K +9 &?W \ K +9 &A{Y\ \ \ K +10 &C;]\ \ \ L +9 &De\ \ \ L +10 &Fo\ \ \ \ N +9 &Ht\ \ \ P +9 &J(\ *\ $\ U +10 &K\ .\ ,\ V +9 &M\ .\ -\ W +9 &Oh\ *\ +\ W +10 &Q(\ +\ )\ X +9 &R\ )\ +\ X +10 &T\ *\ )\ Y +9 &Vh\ )\ *\ Z +9 &X)\ )\ *\ Z +10 &Y\ +\ +\ [\ +9 &[\ ,\ *\ H +9 &\\0\ ,\ )\ 0 +10 &\\i\ *\ )\ P +2 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&o1 +60 "core" 1 +2 "manipulator"&% +3 "core" % = v " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%t& +4 "core" &\ +2 "manipulator"&}% +4 "core" %   +2 "storage"(j% +5 "core" % ( '\  + "storage"(=. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(U(,y +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (R& +2 "core" &,| \\ 9\ +3 "manipulator"&|& +4 "core" &ӱ  4 +2 "manipulator"&s% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +160 "core" ( +2 "manipulator"&z& +4 "core" &  )  +2 "storage"(& +4 "core" &,| S J >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +93 "core" ' +2 "storage"(3& +3 "core" &,| G H \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(/'r +298 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,| & ? %\ +2 "manipulator"&S& +5 "core" &  + .tElbow.seek 4 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&l& +4 "core" & }  +2 "storage"( & +4 "core" &,| G I \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"(' +6 "core" &   +3 "manipulator"&h% +3 "core" % p ] +3 .tForearm.seek :retract +2 "manipulator"&B' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&&& +3 "core" & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&"' +139 "core" ' +4 "manipulator"&& +3 "core" & ~ +3 "manipulator"&% +4 "core" %  A +2 "processing"%q& +4 "core" &\ +2 "processing"%8& +6 "core" &\ +3 .tPC.seek :closed +2 "processing"%a(^ +4 "core" &\ +6 &0\ #b +10 &Uy\ 6 +9 &~\ K +9 &Y\ M +10 &[Y\ M +9 &[\ M +10 &W\ M +9 &W\ M +9 &dW\ M +10 &%]\ M +9 &W\ N +9 &!Z/\ M +10 &#k[\ M +9 &%-V\ M +10 &&X\ N +9 &(\\\ M +9 &*r\\2\ N +10 &,4\\6\ N +9 &-V6\ M +9 &/]6\ N +10 &1zY9\ N +9 &3=Z\ M +10 &4\\\ M +9 &6Y\ M +9 &8]\ N +10 &:E\\\ M +9 &<Z\ M +9 &=]\ N +10 &?Y\ N +9 &AM[\ M +10 &C\ b\ O +9 &Dg\ O +9 &Fp\ P +10 &HG\ R +9 &J\ S +9 &K\ S +10 &M\ T +9 &OK\ S +10 &Q\ \ T +9 &R\ T +9 &T\ U +10 &VQ\ T +9 &X\ T +9 &Y\ T +10 &[\ U +9 &]X\ C +10 &^Gz\ Z +9 &^@\ 2 +5 ( +2 "processing"%8& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&?1 +3 "core" &^&\ 2 +54 1 +2 "manipulator"&{% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +98 "core" ' + "processing"%>& +4 "core" &^&\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %   ! +3 "storage"(+% +3 "core" % ! .\  +2 "storage"(p. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(-(,y +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (u& +2 "manipulator"&f& +6 "core" &,| " # ]\ + & \ # +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&`( +4 ."raiseStack"SE.seek :beamBreak + "storage"('r +4 "core" ( + "manipulator"&& +4 "core" & \ ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&*' +93 "core" ' +2 .tHand.close +2 "manipulator"&w/ +60 "core" / +2 .tPC.seek :open +2 "processing"%0( +91 "core" ' +2 "storage"([- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'1 +45 "core" ' +307 ( +3 "storage"(_& +4 "core" &,| Q I T\ +2 "manipulator"&4& +4 "core" & q + "manipulator"&D% +4 "core" %  } W +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&C( +241 "core" ( +2 "manipulator"&#& +3 "core" &  J +2 "storage"(:& +5 "core" &,| ' & 2\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +96 "core" ' +2 .tHand.open + "manipulator"&A1 +55 "core" 1 +2 "storage"(X- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(L' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(I- +3 "core" -' +2 "storage"(& +4 "core" &,| J\ +2 "manipulator"&W& +4 "core" &  & J +2 .tElbow.seek 4 +2 "manipulator"&e( +4 "core" ( + "manipulator"&d& +4 "core" &   p J +2 "storage"( & +4 "core" &,| \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +50 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(!'" +52 "core" ' + "manipulator"&c& +4 "core" & C J +2 "storage"(Y& +4 "core" &,| 0 .\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&$'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +28 "core" ' + "manipulator"&@% +4 "core" %) & * +2 "storage"(E& +4 "core" &,| . - ~\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 286 counts + "manipulator"&,'U +15 "core" ' +2 "manipulator"&& +4 "core" &  J +2 "storage"( & +3 "core" &,| S J \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +15 "core" ' +2 "storage"(6% +4 "core" % T S '\ +2 ."downElevator"SE.seek :down +4 "storage"(<' +99 (^% +3 "core" %MQ S `\ We +3 "manipulator"& % +4 "core" % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (g& +3 "core" &,| D . &\ +3 "collection"'& +4 "core" &\\e\ "\ #\ P +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&F% +4 "core" %  +  +2 "storage"(]% +3 "core" % I G \  +2 "storage"(. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(9(,y +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" &,{ $ ' \ +2 "manipulator"&r& +4 "core" & } J +2 .tElbow.seek 4 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&v& +4 "core" &  J +2 "storage"(G& +4 "core" &,| G Q @\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +97 "core" ' + "storage"('& +4 "core" &,| V W\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&V& +2 "core" & A J +3 "storage"(& +3 "core" &,| ' ' (\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&k'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('b +35 "core" ' + "manipulator"&\\% +4 "core" %> \\ L +2 "storage"(& +4 "core" &,| ' ( 3\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 307 counts + "manipulator"&1'j +16 "core" ' + "manipulator"&Z& +4 "core" & o J +2 "storage"(M& +3 "core" &,| F G \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +42 "core" ' +2 "manipulator"&t& +4 "core" &  1 J + "manipulator"&}% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +90 "core" ' +2 .tElbow.seek CC +41 "manipulator"&=(ӂ +173 "core" ( +2 "manipulator"&& +4 "core" &Ӊ  ( $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +3 "core" &Ӊ  L $ +2 .tForearm.seek CC +2 "manipulator"&|'? +101 "core" ' +2 .tHand.close + "manipulator"&s/ +63 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +446 "core" ( +2 "storage"(z& +4 "core" &,| m j \ +2 "storage"(& +4 "core" &,| n l v\ +2 "manipulator"&5& +4 "core" &Ӊ  O $ +2 "manipulator"&3% +3 "core" % # S +3 .tForearm.seek :retract +2 "manipulator"&H' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +147 "core" ( +2 "manipulator"&)& +4 "core" & f  + "storage"(& +4 "core" &,| \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&S'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&% +4 "core" % ?  1 + "storage"(%& +4 "core" &,| p q Q\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 308 counts + "manipulator"&h'k +15 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(.& +4 "core" &,| a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +15 "core" ' +2 "storage"(% +3 "core" % Y\ +4 ."downElevator"SE.seek :down +3 "storage"(&' +99 (% +2 "core" %@ N Z 5\ U] +3 "manipulator"&2% +4 "core" %  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&q% +3 "core" %  H  +3 "storage"(% +4 "core" % \  +2 "storage"(B. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(7(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &<* V S Q\  +2 "manipulator"&{& +4 "core" &  Z  +2 .tElbow.seek 5 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&& +4 "core" &  H  +2 "storage"(+& +4 "core" &<* l l \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +90 "core" ' +2 "storage"(8& +3 "core" &<* \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +293 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &<* j V X\  +2 "manipulator"&(& +5 "core" &  Q  +2 .tElbow.seek 5 + "manipulator"&"( +4 "core" ( +2 "manipulator"&w& +4 "core" &   0  +2 "storage"(U& +3 "core" &<* a m \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&['Ϲ +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +3 "storage"(a' +52 "core" &   +4 "manipulator"&% +3 "core" % ϱ m +3 .tForearm.seek :retract +2 "manipulator"&_' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&4(ӂ +104 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +47 "core" ( +2 "manipulator"&D& +4 "core" &Ӛ  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &Ӛ  } 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'? +101 "core" ' +2 "manipulator"&:& +5 "core" &Ӛ  O 2 +2 "manipulator"&`% +3 "core" %A P \ +3 "collection"'A& +4 "core" & }\ +2 "collection"'X& +5 "core" & \ +3 .tCC.seek :closed + "collection"'I(\\ +5 "core" & }\  +9 &4 \ *z +9 &f \ > +9 &n ~\ K +10 &XT \ J +9 &W \ J +10 &W \ K +9 &U \ J +9 &^V \ K +10 &V \ K +9 &U \ K +10 & T \ K +11 &"fW \ K +7 &$(T \ K +10 &%W \ K +9 &'T \ K +9 &)nU \ K +10 &+0T \ K +9 &,U \ K +10 &.U \ K +9 &0vV \ K +9 &29V \ J +10 &3W \ K +9 &5X \ K +9 &7W \ J +10 &9?W \ K +9 &;W\ \ K +9 &<W \ K +10 &>X \ K +9 &@HW \ \ K +10 &B Z \ K +9 &C^\ \ \ L +9 &Ee\ \ \ L +10 &GEv\ \ \ \ O +9 &H\ \ \ Q +9 &J\ 1\ *\ V +10 &Ls\ -\ /\ W +9 &N1\ ,\ -\ X +10 &O\ ,\ ,\ X +9 &Q\ +\ +\ X +9 &Sv\ +\ +\ X +10 &U7\ *\ ,\ Y +9 &V\ +\ +\ [ +10 &X\ *\ -\ Z +9 &Zx\ +\ -\ [ +9 &\\y\ -\ ,\ / +10 &\\2\ -\ ,\ ^ +8 ( +4 "collection"'X& +2 "core" &\\m\ ,\ ,\ K +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&W% +5 "core" % A  X \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"% & +3 "core" &\ +3 "manipulator"&% +3 "core" %  R  +3 "storage"(c% +4 "core" % T S L\  + "storage"(Y. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(J(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<* K J\  +3 "manipulator"&@& +4 "core" &Ӝ " 2 + "manipulator"&E% +4 "core" %  \\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +159 "core" ( +2 "manipulator"& & +4 "core" &  S  +2 "storage"(6& +4 "core" &<* U V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +95 "core" ' +2 "storage"(Q& +3 "core" &<* F P .\  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +296 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( & +2 "core" &<* - 1 r\  +2 "manipulator"&n& +5 "core" & 0  +2 .tElbow.seek 5 + "manipulator"&e( +4 "core" ( +2 "manipulator"&!& +4 "core" &   + "storage"($& +4 "core" &<* ( '\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&,'Ϲ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&g/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(F' +7 "core" & U  +2 "manipulator"&]% +4 "core" %  * +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&m& +3 "core" & E 8 +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" & U 8 +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&v' +93 "core" ' + "manipulator"&G& +5 "core" & C 8 +2 "manipulator"&y% +4 "core" %  ] ~ +3 "processing"%'& +4 "core" &\ +2 "processing"%<& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%-(^ +3 "core" &\ +7 &8\ #b +10 &U~\ 6 +9 &~~\ K +10 &X\ M +9 &^V\ N +9 & Y\ N +10 &Z\ N +9 &[\ M +9 &g\\\ M +10 &(\\\ N +9 &Z\ N +10 &!Z\ N +9 &#nY\ N +9 &%1Y\ M +10 &&W\ M +9 &(X3\ M +9 &*vW \ N +10 &,8Z\ N +9 &-U,\ M +10 &/];\ N +9 &1~Z7\ N +9 &3AX3\ M +10 &5W\ N +9 &6]+\ N +10 &8\\8\ N +9 &:IY\ M +9 &<\ Y4\ N +10 &=Y!\ M +9 &?Z\ N +9 &AO_\ N +10 &Ce\ O +9 &Di\ O +9 &Fr\ Q +10 &HK\ R +9 &J \ S +10 &K\ S +9 &M\ T +9 &ON\ T +10 &Q \ U +9 &R\ T +9 &T\ U +10 &VS\ U +9 &X\ U +10 &Y\ U +9 &[\ U +9 &]Z\ C +10 &^Hz\ W +9 &^\ L\ 3 +6 ( + "processing"%<& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&P1 +4 "core" &^"\ 3 +57 1 +2 "manipulator"&;% +4 "core" %   \ V ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +2 "processing"%V& +3 "core" &^"\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +5 "core" %  \ ]  + "storage"(T% +4 "core" % . . \  +2 "storage"(\\. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (Z& +4 "core" &<+ P\ \  +2 "manipulator"&M& +3 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &   O 8 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(t'r + "manipulator"&}( +7 "core" ( + "manipulator"&~& +4 "core" &   F 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &K& +2 "core" &  8 +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&k/ +56 "core" / +2 .tPC.seek :open +2 "processing"%1( +92 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(o'1 +39 "core" ' +314 ( +3 "storage"(& +4 "core" &<) 7 +\  +2 "manipulator"&R& +3 "core" & " 8 +2 "manipulator"&b% +4 "core" %  - +2 .tForearm.seek :retract +2 "manipulator"&s' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&j( +247 "core" ( +2 "manipulator"&& +4 "core" & O R + "storage"(z& +4 "core" &<) . . `\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 .tHand.open + "manipulator"&51 +59 "core" 1 +3 "storage"(3- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"()' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +3 "core" -' +2 "storage"(=& +4 "core" &<) g h \  +2 "manipulator"& & +3 "core" &  Q +3 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&%& +4 "core" &   V Q +47 "storage"( & +5 "core" &<) g g \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +60 "core" ' +2 "manipulator"&H& +4 "core" & Q +2 "storage"(& +4 "core" &<) . . \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&2'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(S' +20 "core" ' + "manipulator"&% +5 "core" %Α + "storage"(q& +4 "core" &<) ' " "\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 304 counts + "manipulator"&h'Ͻ +14 "core" ' +2 "manipulator"&& +4 "core" & _ Q +2 "storage"(B& +3 "core" &<) ( ' ?\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(/% +4 "core" % $ 3 A\ +2 ."downElevator"SE.seek :down +4 "storage"(&' +98 (9% +4 "core" %VR M \ Xf +2 "manipulator"&?% +4 "core" %L  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" &<) > 9 \  +3 "collection"'+& +3 "core" &\\m\ #\ #\ K +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&8% +4 "core" %   +2 "storage"(l% +3 "core" % Q J \  +2 "storage"(. +3 "core" .(<- +2 "storage"(u& +5 "core" &<) G G \  + "storage"(& +3 "core" &<) J G \  +3 "manipulator"&(& +4 "core" & { Q +2 .tElbow.seek 5 +2 "manipulator"&w( +4 "core" ( + "manipulator"&U& +4 "core" &   Q +2 "storage"(x& +3 "core" &<) S P ^\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +96 "core" ' + "storage"(& +4 "core" &<) N U U\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +298 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +4 "core" &  Q +2 "storage"(D& +4 "core" &<) J S >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&*'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(:- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(`'t +30 "core" ' +2 "manipulator"&A% +4 "core" %Έ y  +2 "storage"("& +4 "core" &<) . .\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 295 counts + "manipulator"&a'ϴ +16 "core" ' +2 "manipulator"&_& +3 "core" & ! Q +2 "storage"(\ & +5 "core" &<) ' ' )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(W' +41 "core" ' +2 "manipulator"& & +4 "core" & D Q + "manipulator"&% +5 "core" %; [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&Y(ӂ +153 "core" ( +9 "manipulator"&X& +4 "core" &ӓ 8 5\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӓ 5\ +3 .tForearm.seek CC +2 "manipulator"&@'? +92 "core" ' +2 .tHand.close + "manipulator"&E/ +55 "core" / +2 .tCC.seek :open +2 "collection"'#( +447 "core" ( + "storage"( & +4 "core" &<) [ P 7\  +2 "storage"(6& +5 "core" &<) \\ h\  + "manipulator"&7& +4 "core" &Ӵ  | 1 +2 "manipulator"&Q% +3 "core" % B  S  +3 .tForearm.seek :retract +2 "manipulator"&4' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&d( +162 "core" ( + "manipulator"&^& +4 "core" &  +2 "storage"( & +4 "core" &<) k k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&n'΍ +98 "core" ' +2 .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&$1 +59 "core" 1 +3 "manipulator"&g% +4 "core" % Γ  3 ' + "storage"(& +4 "core" &<) i k \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&]'Ͽ +14 "core" ' + "manipulator"&& +5 "core" & \  5  + "storage"(C& +4 "core" &<)  X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +13 "core" ' +2 "storage"(,% +3 "core" % \ +4 ."downElevator"SE.seek :down +3 "storage"(m' +99 (r% +2 "core" %H F G \ Wb +3 "manipulator"&e% +4 "core" %N  S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'y& +4 "core" & \ +2 "manipulator"&'% +4 "core" %   ,  +2 "storage"(F% +3 "core" % \  +2 "storage"(. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(0(K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (P& +3 "core" &K j m X\ \ +2 "manipulator"&;& +4 "core" &  K  +2 .tElbow.seek 6 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&& +3 "core" &  T  +3 "storage"(T& +4 "core" &K o \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +107 "core" ' +2 "storage"(<& +4 "core" &K ~ \\\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +298 "core" ' + "storage"(M- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (~& +2 "core" &K j a \ \ +3 "manipulator"&K& +3 "core" & c  +3 .tElbow.seek 6 + "manipulator"&v( +4 "core" ( + "manipulator"&k& +4 "core" & M  +2 "storage"(J& +4 "core" &K g ^ :\ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&i& +2 "storage"(-' +6 "core" &    +46 "manipulator"&t% +6 "core" % `  A = +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +100 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +52 "core" ( +2 "manipulator"&b& +4 "core" &ӌ"  W ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӌ" O ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +3 "manipulator"&z& +4 "core" &ӟ  ; 8! +2 "manipulator"&}% +4 "core" %<  B ) +2 "collection"'5& +4 "core" & \ +3 "collection"'3& +4 "core" & X\ +3 .tCC.seek :closed +2 "collection"'|(\\ +4 "core" & ]\ +8 &> ^\ $e +9 &Xz j\ 7 +9 &w d\ K +10 &U g\ K +9 &~W f\ K +9 &AV a\ J +10 &W f\ K +9 &W c\ K +10 &T c\ K +9 &HW \ K +9 & \ V \ K +10 &!Y \ K +9 &#W \ K +9 &%PT \ K +10 &'U \ K +9 &(W \ J +10 &*V \ K +9 &,XU \ K +9 &.W \ K +10 &/V \ J +9 &1X \ K +9 &3aV \ J +10 &5"W \ K +9 &6W \ K +10 &8U \ K +9 &:gX \ \ K +9 &<)X \ K +10 &=W \ K +9 &?\\\ \ \ K +9 &Ama\ \ \ L +10 &C,f\ \ \ M +9 &Dg\ \ \ \ M +10 &Fw\ \ \ O +9 &Hc\ !\ \ R +9 &J\ 1\ .\ V +10 &K\ 0\ 1\ W +9 &M\ /\ /\ W +9 &O[\ ,\ -\ X +10 &Q\ -\ +\ X +9 &R\ +\ )\ Z +10 &T\ *\ ,\ Z +9 &VZ\ -\ -\ [ +9 &X\ ,\ *\ [\ +10 &Y\ ,\ -\ [\ +9 &[\ ,\ -\ H +9 &\\;\ ,\ ,\ + +10 &\\z\ +\ +\ X +2 ( +2 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&=1 +54 "core" 1 +2 "manipulator"& % +4 "core" % E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +10 "Can"\ IG +81 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"% & +4 "core" &\ +2 "manipulator"&s% +4 "core" %  {  + "storage"(H% +4 "core" % ( ' \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(o(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &K N\  +2 "manipulator"&& +4 "core" & # ( +2 "manipulator"&q% +4 "core" %   h  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +151 "core" ( +2 "manipulator"&B& +3 "core" &  +2 "storage"(j& +5 "core" &K T T g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +95 "core" ' + "storage"(& +4 "core" &K R V\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" &K . . a\  +2 "manipulator"&.& +4 "core" & ^  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & 3  +2 "storage"(2& +4 "core" &K ' - <\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&+& +2 "storage"(8' +7 "core" &  +2 "manipulator"&l% +4 "core" % ^  3  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&S( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&u& +3 "core" & ) +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & N ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +4 "manipulator"&(' +94 "core" ' +2 "manipulator"&U& +4 "core" &  p ) +2 "manipulator"&x% +4 "core" % F +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%&(^ +3 "core" &\  +9 &0x\ )w +10 &b\ = +9 &lu\ N +9 &-Z\ N +10 &W\ M +9 &Y\ N +9 &sZ\ N +10 &5Y\ N +9 &[\ N +10 &Y\ M +9 & {]\ N +9 &">Y\ M +10 &#W\ N +9 &%Y\ M +9 &'Y\ M +10 &)F[\ M +9 &+\\\ N +10 &,[\ N +9 &.Y\ N +9 &0NW\ M +10 &2X\ N +9 &3\\.\ N +9 &5W8\ M +10 &7UW7\ N +9 &9]!\ M +10 &:Y5\ N +9 &<X\ M +9 &>^\\1\ M +10 &@ [\ M +9 &A_4\ N +9 &Ci\ P +10 &E_k5\ P +9 &Gs\ Q +10 &H8\ S +9 &J\ S +9 &L\\\ S +10 &N\ T +9 &O\ T +9 &Q\ U +10 &S`\ U +9 &U!\ U +10 &V\ T +9 &X \ U +9 &Zh\ U +10 &\\(\ U +9 &]w\ : +9 &^4\ J +10 &^\ * +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&{% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +96 "core" ' +2 "processing"%f& +4 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&D% +4 "core" %  \  ! +2 "storage"(:% +3 "core" % $ !\  +2 "storage"(A. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"("(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "manipulator"&\ & +3 "core" &K\ \ \ <\  +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  2 ) +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"( 'r + "manipulator"&( +7 "core" ( +2 "manipulator"&O& +4 "core" &  ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &  ) +2 .tForearm.seek PC +2 "manipulator"&>' +93 "core" ' +2 .tHand.close + "manipulator"&*/ +63 "core" / +2 .tPC.seek :open +2 "processing"%a( +88 "core" ' + "storage"(`- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +40 "core" ' +315 ( +2 "storage"(& +4 "core" &K T U \  +2 "manipulator"&& +4 "core" &  ) + "manipulator"&[% +5 "core" %  I \\ +2 .tForearm.seek :retract +2 "manipulator"&E' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&c( +244 "core" ( + "manipulator"&I& +4 "core" & < +2 "storage"( & +4 "core" &K E 6 y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +94 "core" ' + .tHand.open +2 "manipulator"&71 +62 "core" 1 +3 "storage"(Q- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(^' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +3 "core" -' +2 "storage"(Y& +3 "core" &K s r D\  +3 "manipulator"&$& +3 "core" &  8 < +3 .tElbow.seek 6 +2 "manipulator"&g( +4 "core" ( + "manipulator"&& +5 "core" &  3 < + "storage"(& +4 "core" &K e g \  +49 .tForearm.seek 6 + 450 counts +3 "manipulator"&C' +5 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(,'" +50 "core" ' +2 "manipulator"&4& +4 "core" & Y < +2 "storage"(r& +4 "core" &K ! & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&e'< +14 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(n' +20 "core" ' + "manipulator"&y% +8 "core" %P ' Q +3 "storage"(]& +4 "core" &K M\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 320 counts + "manipulator"&''| +15 "core" ' +2 "manipulator"&F& +3 "core" & T < +3 "storage"(& +4 "core" &K L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +15 "core" ' +2 "storage"(L% +3 "core" % . / \ +4 ."downElevator"SE.seek :down +3 "storage"(m' +98 (% +4 "core" %2Q M I\ Xf +2 "manipulator"&P% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" &K # @ Z\  +3 "collection"'T& +4 "core" &\\u\ "\ "\ X +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&<% +4 "core" %  C  +2 "storage"(!% +3 "core" % I J \  +3 "storage"(G. +3 "core" .(K +2 "storage"(M& +3 "core" &K G P )\  +2 "storage"(~& +4 "core" &K T T f\  +2 "manipulator"&K& +3 "core" & < +3 .tElbow.seek 6 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&J& +4 "core" & k < +2 "storage"(N& +4 "core" &K G I .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +94 "core" ' +2 "storage"(t& +3 "core" &K T T b\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +300 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" &  < +3 "storage"(b& +4 "core" &K $ 3 /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(}'q +27 "core" ' +2 "manipulator"&5% +3 "core" %, , +3 "storage"(v& +4 "core" &K - 0 K\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 284 counts +2 "manipulator"&-'X +15 "core" ' +2 "manipulator"&& +3 "core" & < +2 "storage"(#& +5 "core" &K Q G L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +36 "core" ' +2 "manipulator"& & +37 "core" & < +2 "manipulator"&s% +3 "core" %   +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&3& +51 "core" &Ӊ"  ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &Ӊ" / ;6 +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&q/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(B& +4 "core" &K n n 2\  +2 "storage"(j& +3 "core" &K k m \  +3 "manipulator"&0& +4 "core" & | ( + "manipulator"&% +5 "core" % @  +2 .tForearm.seek :retract +2 "manipulator"&R' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&%( +141 "core" ( +2 "manipulator"&9& +4 "core" & \ j +2 "storage"(?& +5 "core" &K j g N\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&.'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +60 "core" 1 +2 "manipulator"&h% +4 "core" % (   N 5 +2 "storage"(+& +4 "core" &K k k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 280 counts + "manipulator"&l'T +16 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(/& +4 "core" &K ~ :\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +20 "core" ' +2 "storage"(% +4 "core" % ~\ +2 ."downElevator"SE.seek :down +4 "storage"(u' +99 (% +3 "core" %mI K Z \ Va +2 "manipulator"&% +3 "core" % t  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'x& +3 "core" & \ +2 "manipulator"&% +4 "core" %   +2 "storage"(8% +4 "core" % \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(1(,y +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,x m g I\ +2 "manipulator"&{& +3 "core" &   +3 .tElbow.seek 4 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&D& +4 "core" &  + "storage"(:& +5 "core" &,x  w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +94 "core" ' +2 "storage"(& +3 "core" &,x \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +294 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &,x f a ~\ +2 "manipulator"&w& +4 "core" &  1 +2 .tElbow.seek 4 +2 "manipulator"&(( +4 "core" ( + "manipulator"&*& +4 "core" &   +2 "storage"(o& +4 "core" &,x j h \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&`'c +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&p& + "storage"(&' +8 "core" &  b +2 "manipulator"& % +4 "core" % W  : +45 .tForearm.seek :retract +5 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +108 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +43 "core" ( +2 "manipulator"&[& +4 "core" &Ӌ" ; ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &Ӌ"  m ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&I'? +93 "core" ' +2 "manipulator"& & +4 "core" &Ӎ!  ? :1 +2 "manipulator"&% +4 "core" %D   ^ h +2 "collection"'7& +4 "core" & 1\ +2 "collection"'Q& +6 "core" & g\ +2 .tCC.seek :closed +2 "collection"'@(\\ +4 "core" & c\  +10 &5 i\ *z +9 &\ g} \ > +9 &n h\ L +10 &\\W b\ J +9 &W h\ J +9 &W f\ K +10 &Y c\ K +9 &cY c\ K +10 &$Z f\ K +9 &U i\ K +9 & T h\ K +10 &"kU d\ K +9 &$-U b\ K +9 &%U \ K +10 &'U \ K +9 &)tU \ J +10 &+6W \ J +9 &,W \ K +9 &.Z \ K +10 &0{U \ K +9 &2=U \ K +9 &4W \ J +10 &5X \ K +9 &7Z \ K +10 &9FX \ J +9 &;X \ K +10 &<W \ K +9 &>Y \ K +9 &@NX \ J +9 &B [ \ L +10 &C_\ \ \ L +9 &Ej\ \ \ M +10 &GLv\ \ \ N +9 &I\ \ \ Q +9 &J\ )\ (\ V +10 &Ly\ *\ ,\ V +9 &N9\ +\ +\ W +9 &O\ +\ *\ W +10 &Q\ *\ *\ X +9 &Sz\ *\ *\ Y +10 &U<\ )\ )\ Y +9 &V\ )\ )\ Z +9 &X\ +\ )\ [ +10 &Z}\ *\ *\ [ +9 &\\!y\ ,\ +\ . +9 &\\5\ *\ +\ "h +9 ( +3 "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&Y1 +3 "core" &\\^\ )\ (\ J +50 1 + "manipulator"&$% +4 "core" % D  h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&E% +4 "core" %   +2 "storage"(4% +3 "core" % J G h\  +2 "storage"(r. +3 "core" .(,y +2 "storage"(X& +4 "core" &,x T J Y\ +2 "storage"(y& +3 "core" &,x I G C\ +2 "manipulator"&]& +5 "core" &Ӯ 6 + "manipulator"&^% +5 "core" %   /  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&F( +166 "core" ( + "manipulator"&& +3 "core" & .  +3 "storage"(L& +4 "core" &,x > : |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +92 "core" ' +2 "storage"(6& +3 "core" &,x k k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +306 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" &,x A ( h\ +2 "manipulator"&C& +4 "core" & D  +2 .tElbow.seek 4 +2 "manipulator"&g( +4 "core" ( + "manipulator"&,& +4 "core" &   +2 "storage"(e& +4 "core" &,x S S \ +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&T& +3 "storage"(<' +8 "core" & J  + "manipulator"&!% +4 "core" % l +3 .tForearm.seek :retract +2 "manipulator"&G' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&M& +3 "core" & C +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&K' +94 "core" ' + "manipulator"&J& +4 "core" &  N +2 "manipulator"&N% +48 "core" %  l  +6 "processing"%W& +4 "core" &\ +2 "processing"%t& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%m(^ +5 "core" &\  +8 &3{\ )w +9 &d\ > +9 &ys\ N +10 &=W\ M +9 &Z\ N +10 &W\ M +9 &Z\ N +9 &DX\ N +10 &Y\ N +9 &W\ M +9 & X\ M +10 &"MY\ M +9 &$[\ N +10 &%W\ M +9 &'X\ M +9 &)UZ\ M +10 &+\\\ N +9 &,Z\ M +9 &.U\ M +10 &0^X\ M +9 &2[\ M +10 &3V\ M +9 &5W1\ M +9 &7d\\6\ N +10 &9&],\ N +9 &:\\5\ N +9 &<Y\ M +10 &>k^\ N +9 &@.W\ N +10 &A[,\ N +9 &Cg\ O +9 &Enj\ P +10 &G/r(\ P +9 &H\ R +9 &J\ S +10 &Lk\ S +9 &N*\ T +10 &O\ T +9 &Q\ U +9 &So\ U +10 &U2\ T +9 &V\ U +9 &X\ T +10 &Zx\ T +9 &\\:\ T +10 &]zs\ ; +9 &^&h\ Q +9 &^)\ 3 +3 ( + "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&d1 +52 "core" 1 +2 "manipulator"&;% +3 "core" %   g  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +2 "processing"%Z& +4 "core" &^&\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&b% +5 "core" %    =  + "storage"(z% +5 "core" % & , \  + "storage"(5. +3 "core" .(,y +2 "storage"(v& +4 "core" &,x ' (\ +2 "storage"(& +3 "manipulator"&#& +5 "core" &,x 1 0 H\ +2 &   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'r + "manipulator"&s( +7 "core" ( +2 "manipulator"&i& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &  " e +3 .tForearm.seek PC + "manipulator"&V' +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%-( +93 "core" ' + "storage"(}- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +40 "core" ' +310 ( +2 "storage"(=& +3 "core" &,x 6 F w\ +3 "manipulator"&)& +4 "core" & +2 "manipulator"&% +4 "core" %  g ` +2 .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&H( +239 "core" ( +2 "manipulator"&|& +4 "core" & < +2 "storage"(B& +5 "core" &,x & ' >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +94 "core" ' + .tHand.open +2 "manipulator"&01 +59 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(9' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(?' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &,x \ +2 "manipulator"&2& +4 "core" &   < +2 .tElbow.seek 4 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&+& +3 "core" & \  r < +2 "storage"(& +5 "core" &,x ~ \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +57 "core" ' +2 "manipulator"&R& +4 "core" &  < +2 "storage"(& +50 "core" &,x J T @\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +28 "core" ' +2 "manipulator"&x% +4 "core" %J  +2 "storage"(l& +4 "core" &,x * ( 6\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&'v +15 "core" ' +2 "manipulator"&8& +3 "core" & o < +3 "storage"(& +4 "core" &,x T T a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 "storage"(% +3 "core" % T T _\ +3 ."downElevator"SE.seek :down +4 "storage"(u' +98 ("% +3 "core" %VR $ % R\ Ua +3 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (D& +4 "core" &,x > = 7\ +2 "collection"':& +4 "core" &\\^\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +5 "core" %   ;  + "storage"(% +4 "core" % W V\  +2 "storage"(U. +3 "core" .(,y +2 "storage"(\ & +4 "core" &,x V U\ +2 "storage"(O& +4 "core" &,x W W\ +2 "manipulator"&w& +4 "core" & ) < +2 .tElbow.seek 4 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&o& +3 "core" & R < +3 "storage"(S& +4 "core" &,x U T K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +95 "core" ' + "storage"( & +5 "core" &,x H O \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +295 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" &  < +2 "storage"([& +4 "core" &,x O S &\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&>'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('b +31 "core" ' +2 "manipulator"&7% +4 "core" %: ) 3 +2 "storage"((& +4 "core" &,x & $ ,\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts +2 "manipulator"&&'f +15 "core" ' +2 "manipulator"&& +3 "core" &  < +3 "storage"(& +4 "core" &,x S S A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +18 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"($' +36 "core" ' + "manipulator"&& +4 "core" &  < +2 "manipulator"&E% +4 "core" % A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&r(ӂ +154 "core" ( +2 "manipulator"&X& +4 "core" &ӓ U 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" &ӓ I 7 +3 .tForearm.seek CC +2 "manipulator"&Q'? +92 "core" ' + .tHand.close +2 "manipulator"&]/ +53 "core" / +2 .tCC.seek :open +46 "collection"'^( +450 "core" ( + "storage"(I& +4 "core" &,x l k \ +2 "storage"(& +4 "core" &,x m l ~\ +2 "manipulator"&L& +3 "core" &ӧ  ? 4 +3 "manipulator"&6% +4 "core" % Q h  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( + "manipulator"&& +4 "core" &  c  +2 "storage"(P& +4 "core" &,x g j i\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 +2 "manipulator"&C'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&e1 +57 "core" 1 +2 "manipulator"&'% +4 "core" % 0  ? B +2 "storage"(T& +3 "core" &,x k k \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 293 counts +2 "manipulator"&!'\\ +16 "core" ' +2 "manipulator"&F& +4 "core" &  \ ^  +2 "storage"(c& +3 "core" &,x {\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 "storage"(% +3 "core" % \ +4 ."downElevator"SE.seek :down +3 "storage"(M' +98 (~% +3 "core" %C R m \ V_ +3 "manipulator"&g% +4 "core" %  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'N& +3 "core" & X\ +2 "manipulator"&W% +5 "core" %    + "storage"(<% +4 "core" % i\  +2 "storage"(G. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(a(<- +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &<+ L P J\  +2 "manipulator"&;& +3 "core" &  +3 .tElbow.seek 5 +2 "manipulator"&Z( +10 "core" ( +2 "manipulator"&b& +4 "core" &  +2 "storage"(z& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +95 "core" ' + "storage"(v& +4 "core" &<* \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' + "storage"(#- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (t& +3 "core" &<* o m h\  +2 "manipulator"&i& +4 "core" &  1  +2 .tElbow.seek 5 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&K& +3 "core" & b  +2 "storage"(& +3 "core" &<* k j \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&}'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&n/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +3 "storage"(m' +7 "core" & >  +2 "manipulator"& % +4 "core" %  a +2 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&& +4 "core" &ӊ  p - +2 .tElbow.reconfigure :loose +46 "manipulator"&$ &.,(#b +5 &V& +3 "core" &ӊ  9 - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&|'? +102 "core" ' +2 "manipulator"&B& +4 "core" &ӊ \ ; - +2 "manipulator"&s% +4 "core" %4 a  +2 "collection"'0& +3 "core" & c\ +3 "collection"'& +5 "core" & X\ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & u\ +7 &= m\ $f +10 &Xz `\ 7 +9 &y i\ K +9 &X k\ K +10 &T [\ K +9 &DV m\ J +9 &W m\ J +10 &X k\ K +9 &Z g\ K +10 &KZ \ K +9 & U g\ K +9 &!T \ K +10 &#U \ K +9 &%TU k\ J +9 &'V g\ J +10 &(W \ K +9 &*Y \ K +10 &,[Z \ K +9 &.Z \ K +9 &/Z \ K +10 &1U \ K +9 &3cV \ K +9 &5%U \ K +10 &6W \ K +9 &8Z \ K +10 &:kX \ K +9 &<-V \ K +9 &=W \ K +10 &?X \ K +9 &AsZ \ K +9 &C2]\ \ \ L +10 &Dd\ \ \ L +9 &Fm\ \ \ M +10 &Hk\ \ \ P +9 &J"\ )\ "\ T +9 &K\ .\ 0\ V +10 &M\ -\ -\ W +9 &O_\ +\ ,\ W +9 &Q!\ +\ *\ W +10 &R\ )\ ,\ X +9 &T\ (\ *\ Y +10 &Vb\ )\ *\ Y +9 &X!\ *\ ,\ Z +9 &Y\ *\ +\ [ +10 &[\ ,\ *\ H +9 &\\0\ ,\ +\ 7 +9 &\\t\ *\ )\ N +3 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&2% +3 "core" % 4 U  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&q% +4 "core" %   +2 "storage"(R% +4 "core" % ( &\  + "storage"(. +3 "core" .(<- +2 "storage"(3& +4 "core" &<* ( '\  +2 "storage"(9& +4 "core" &<* ( ' \  +2 "manipulator"&x& +3 "core" &Ӛ  + +3 "manipulator"&l% +4 "core" %  L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&8( +161 "core" ( + "manipulator"&& +4 "core" & 8  +2 "storage"(H& +4 "core" &<* S J S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +99 "core" ' + "storage"(j& +4 "core" &<* < C\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'r +298 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &<* ( *\  +2 "manipulator"&/& +5 "core" & Q  +2 .tElbow.seek 5 + "manipulator"&h( +4 "core" ( +2 "manipulator"&& +4 "core" &  E  + "storage"(& +5 "core" &<* G G \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&D'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"(' +8 "core" &  6  + "manipulator"&% +5 "core" % Ϯ + +2 .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&\ & +3 "core" &  A  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&w' +93 "core" ' +2 "manipulator"&o& +4 "core" & Y  +2 "manipulator"&S% +3 "core" %   t +3 "processing"% & +3 "core" &\ +3 "processing"% & +5 "core" &\ +3 .tPC.seek :closed + "processing"%u(^ +5 "core" &\  +8 &2x\ )v +10 &b\ = +9 &ov\ N +9 &2X\ M +10 &Z\ M +9 &W\ N +49 &xZ\ M +6 &9Z\ N +2 &Y\ N + &W\ M + & Y\ M + &"BZ\ M +6 &$[\ N +9 &%X\ M +9 &'X\ M +10 &)JZ\ M +9 &+ V\ M +9 &,W\ N +10 &.W\ N +9 &0R[\ M +10 &2W\ M +9 &3X\ M +9 &5[\ N +10 &7ZZ\ M +9 &9Y\ N +9 &:X\ N +10 &<W\ M +9 &>a[\ N +10 &@#]\ N +9 &A]#\ N +9 &Cf!\ O +10 &Ecn3\ P +9 &G!u\ Q +10 &H\ S +9 &J\ S +9 &L`\ S +10 &N!/\ T +9 &O?\ T +9 &Q\ T +10 &Se\ T +9 &U'\ T +9 &V\ U +10 &X\ T +9 &Zl)\ U +10 &\\-\ U +9 &]~x\ : +9 &^.\ O +10 &^"\ / +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&%1 +62 "core" 1 +2 "manipulator"&{% +3 "core" %   5 t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +2 "processing"%_& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&[% +5 "core" %  \   + "storage"( % +5 "core" % .\  + "storage"(7. +3 "core" .(<- +2 "storage"((& +4 "core" &<* ' ' f\  +2 "storage"(& +3 "manipulator"&& +8 "core" &<* & \  + &  E  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(E'r +10 "core" ( + "manipulator"&p& +4 "core" &   _ : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &  @ : +3 .tForearm.seek PC +2 "manipulator"&f' +98 "core" ' +2 .tHand.close + "manipulator"&>/ +57 "core" / +2 .tPC.seek :open +2 "processing"%&( +81 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(X'1 +40 "core" ' +321 ( + "storage"(y& +4 "core" &<* &\  +2 "manipulator"&Y& +4 "core" & .  +2 "manipulator"&`% +4 "core" % ς  g +2 .tForearm.seek :retract +2 "manipulator"&]' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&4( +239 "core" ( +2 "manipulator"&@& +4 "core" &  2 +2 "storage"(I& +4 "core" &<* . . y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +88 "core" ' +2 .tHand.open + "manipulator"&L1 +65 "core" 1 +2 "storage"(6- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(Q- +3 "core" -' +2 "storage"(r& +3 "core" &<* C J \  +3 "manipulator"&e& +4 "core" & \  1 +2 .tElbow.seek 5 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&T& +4 "core" &   I 1 +2 "storage"(F& +3 "core" &<* D E d\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&& +3 "core" & V 1 +3 "storage"(~& +4 "core" &<* $ 1 ;\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&g'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +50 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(C' +30 "core" ' + "manipulator"&N% +4 "core" %Ξ  # +2 "storage"(W& +5 "core" &<* . / z\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&!' +14 "core" ' +2 "manipulator"&<& +3 "core" & 8 1 +3 "storage"(G& +4 "core" &<* * ? \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +14 "core" ' +2 "storage"( % +3 "core" % 7 I Y\ +3 ."downElevator"SE.seek :down +4 "storage"(M' +99 (1% +3 "core" %KR N h\ Xf +2 "manipulator"&d% +4 "core" %Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (b& +4 "core" &<* 0 5 \  +2 "collection"'z& +4 "core" &\\p\ \ "\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&v% +4 "core" %  G  +2 "storage"(,% +4 "core" % S T A\  + "storage"(J. +3 "core" .(<- +2 "storage"(#& +4 "core" &<* Q S V\  +2 "storage"(t& +3 "core" &<* H G J\  +2 "manipulator"&i& +5 "core" & ) 1 +2 .tElbow.seek 5 + "manipulator"&K( +3 "core" ( +2 "manipulator"&& +4 "core" & ) 1 +2 "storage"(n& +3 "core" &<* F F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +97 "core" ' +2 "storage"( & +3 "core" &<* T U \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Z'r +298 "core" ' +3 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 0 1 +2 "storage"(V& +4 "core" &<* 3 ? \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(B't +32 "core" ' + "manipulator"&s% +4 "core" %Λ &  +2 "storage"(0& +4 "core" &<* ) - Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&m' +14 "core" ' +2 "manipulator"&=& +4 "core" & 8 1 + "storage"(^& +5 "core" &<* S J b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +13 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(2' +36 "core" ' +2 "manipulator"&& +4 "core" & F 1 +2 "manipulator"&q% +3 "core" %M L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"&3& +4 "core" &ӏ  I 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ  9) +2 .tForearm.seek CC +2 "manipulator"&9'? +93 "core" ' +2 .tHand.close + "manipulator"&x/ +60 "core" / +2 .tCC.seek :open + "collection"'l( +450 "core" ( +2 "storage"(|& +3 "core" &<* l k \  +2 "storage"(& +4 "core" &<* H F F\  +2 "manipulator"&H& +4 "core" &Ӥ b 7 +2 "manipulator"&j% +4 "core" % P 8 8 +2 .tForearm.seek :retract +2 "manipulator"&)' +91 "core" ' +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&+( +168 "core" ( +2 "manipulator"&"& +4 "core" &  ) +2 "storage"(& +3 "core" &<* j j \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&/'΍ +93 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +65 "core" 1 +2 "manipulator"&% +4 "core" % {  h Y +3 "storage"(:& +4 "core" &<* ` g Y\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 282 counts + "manipulator"&'ϧ +15 "core" ' + "manipulator"&8& +4 "core" &  h ) +2 "storage"(& +3 "core" &<* k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +26 "core" ' +2 "storage"(D% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +98 (O% +3 "core" %I F P \ V_ +3 "manipulator"&h% +4 "core" %r v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +92 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'S& +3 "core" & "\ +2 "manipulator"& % +4 "core" %  =  +2 "storage"(% +3 "core" % n ~ *\  +2 "storage"(U. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(-(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +3 "core" &K ; @ \ +2 "manipulator"&{& +3 "core" &   ( +3 .tElbow.seek 6 + "manipulator"&_( +5 "core" ( + "manipulator"&[& +4 "core" &  > ( +2 "storage"( & +4 "core" &K k k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +94 "core" ' +2 "storage"((& +3 "core" &K \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +292 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K a k \ +2 "manipulator"&p& +4 "core" & z ( +2 .tElbow.seek 6 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&w& +3 "core" &  ; ( +2 "storage"(>& +4 "core" &K ] h T\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +3 "storage"(u' +8 "core" &  A ( + "manipulator"&E% +4 "core" % p +2 .tForearm.seek :retract +2 "manipulator"&y' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&`& +5 "core" &Ӛ  } 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &f& +2 "core" &Ӛ  y 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&@'? +88 "core" ' + "manipulator"&I& +5 "core" &Ӛ N 3 + "manipulator"&% +5 "core" %J   h +2 "collection"'L& +49 "core" & '\ +4 "collection"'6& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'Q(\\ +4 "core" & }\ +6 & \ ; +10 &HJx \ 1 +9 &~u~ c\ E +9 &,Y \ K +10 &T \ K +9 &U j\ K +9 &tV h\ J +10 &5U ]\ K +9 &U a\ K +10 &U \ K +9 &{V k\ K +9 &!>U \ K +10 &#U \ J +9 &$U \ K +9 &&U \ K +10 &(GU \ J +9 &*U `\ K +10 &+Y \ K +9 &-Y \ J +9 &/NW \ J +10 &1V \ J +9 &2V \ J +9 &4V \ J +10 &6UX \ K +9 &8Z l\ K +10 &9Z \ K +9 &;W \ J +9 &=]X \ K +10 &?W \ K +9 &@Z\ \ \ K +9 &Bc\ \ \ L +10 &Daa\ \ \ \ L +9 &Fp\ \ \ N +10 &G\ \ \ Q +9 &I\ .\ (\ U +9 &KI\ .\ /\ W +10 &M \ /\ /\ W +9 &N\ +\ ,\ X +9 &P\ +\ *\ X +10 &RL\ +\ -\ Y +9 &T \ +\ )\ Y +10 &U\ )\ )\ Y +9 &W\ +\ *\ Z +9 &YO\ +\ *\ [ +10 &[\ *\ +\ \\ +9 &\\aD\ *\ ,\ 2 +9 &\\%\ )\ *\ O +9 ( +2 &\\a\ *\ (\ K +2 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&r1 +57 "core" 1 +3 "manipulator"&e% +4 "core" % ` v R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%F& +4 "core" &\ +2 "manipulator"&]% +4 "core" %  P  +2 "storage"(% +3 "core" % G G \  +2 "storage"(~. +3 "core" .(K +2 "storage"(X& +4 "core" &K G G \ +2 "storage"(& +4 "core" &K I Q p\ +2 "manipulator"&N& +4 "core" &  c # +2 "manipulator"&W% +4 "core" %  '  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&<( +150 "core" ( +2 "manipulator"&G& +4 "core" &  m  +2 "storage"(4& +4 "core" &K T T B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +95 "core" ' +2 "storage"(& +4 "core" &K P m z\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +298 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" &K " " A\ +2 "manipulator"&d& +5 "core" &   +2 .tElbow.seek 6 + "manipulator"&'( +4 "core" ( + "manipulator"&& +4 "core" & 7  +2 "storage"(g& +3 "core" &K Q I `\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&b'h +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"(v' +8 "core" & =  + "manipulator"&,% +5 "core" % f \\ +2 .tForearm.seek :retract +2 "manipulator"&J' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&#& +4 "core" &  F ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &  y ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&i' +94 "core" ' +2 "manipulator"&& +4 "core" & 1 ' +2 "manipulator"&n% +3 "core" % O u +3 "processing"%$& +4 "core" &\ +2 "processing"% & +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%M(^ +5 "core" &\ +7 &6\ #c +9 &V}\ 7 +10 &{\ K +9 &V\ M +9 &`V\ N +10 &#U\ M +9 &U\ M +10 &Z\ N +9 &iW\ M +9 &,X\ M +10 &Y\ N +9 &!X\ N +9 &#pY\ N +10 &%3Y\ M +9 &&W\ M +10 &(W\ N +9 &*yY\ M +9 &,;W\ M +10 &-U\ M +9 &/W\ M +9 &1W\ N +10 &3BZ\ N +9 &5Y\ M +10 &6Y\ M +9 &8]\ N +9 &:JY\ N +10 &< Y\ N +9 &=Z\ N +9 &?Y\ M +10 &AQ^\ N +9 &Cc\ O +10 &Dh\ O +9 &Fp\ P +9 &HN\ R +10 &J \ S +9 &K\ S +49 &M\ T +7 &OO\ T +2 &Q\ T + &R\ T + &T\ U + &VW\ T +5 &X\ T +9 &Y\ V +9 &[\ T +10 &]\\\ B +9 &^M~\ H +10 &^J\ < +5 ( +2 "processing"% & +4 "core" &^H\ < +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&;% +3 "core" %   w u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +96 "core" ' +2 "processing"%& +4 "core" &^H\ < +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&V% +4 "core" % ! \  . . +2 "storage"(k% +3 "core" % ^ 3 \  +3 "storage"(s. +3 "core" .(K +2 "storage"(0& +4 "core" &K & ' \ +2 "storage"(=& +3 "manipulator"&^& +7 "core" &K ( ' \ + &   > ' +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(q'r +2 "core" ( +3 "manipulator"&\\& +4 "core" &  = ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &   o ' +3 .tForearm.seek PC +2 "manipulator"&Z' +95 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%m( +90 "core" ' + "storage"(B- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +47 "core" ' +307 ( + "storage"(& +4 "core" &K J S 0\ +2 "manipulator"&& +4 "core" &  @ ' +2 "manipulator"&}% +4 "core" %  \ K +2 .tForearm.seek :retract +2 "manipulator"&x' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&R( +248 "core" ( +2 "manipulator"&& +3 "core" & t _ +3 "storage"(|& +3 "core" &K ' (\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' + .tHand.open +2 "manipulator"&H1 +64 "core" 1 +2 "storage"(j- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +4 "core" -' +2 "storage"(& +3 "core" &K \ +3 "manipulator"&& +4 "core" &   _ +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&:& +3 "core" &  / _ +2 "storage"(8& +5 "core" &K \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(D'" +52 "core" ' + "manipulator"&)& +4 "core" & f _ +2 "storage"(O& +3 "core" &K ( ) @\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&h'< +22 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(/' +21 "core" ' + "manipulator"&% +3 "core" %- 8 +3 "storage"(S& +4 "core" &K C E \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 285 counts + "manipulator"& 'Y +15 "core" ' +3 "manipulator"&& +47 "core" &  w _ +5 "storage"(U& +5 "core" &K U V \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +16 "core" ' +2 "storage"(?% +4 "core" % U P F\ +2 ."downElevator"SE.seek :down +5 "storage"(\ ' +97 (a% +3 "core" %T I Y\ Xg +3 "manipulator"&%% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 ([& +4 "core" &K 8 / \ +2 "collection"' & +3 "core" &\\a\ !\ "\ K +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&(% +4 "core" %   +2 "storage"(% +3 "core" % J S \  +3 "storage"(o. +3 "core" .(K +2 "storage"(& +4 "core" &K J G +\ +2 "storage"(& +3 "core" &K G F \ +2 "manipulator"&p& +5 "core" & ! _ +2 .tElbow.seek 6 + "manipulator"&w( +4 "core" ( +2 "manipulator"&>& +4 "core" & C _ +2 "storage"(.& +3 "core" &K I Q 3\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&A' +95 "core" ' +2 "storage"(E& +3 "core" &K 9 9 c\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +298 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +4 "core" &  _ +2 "storage"(f& +3 "core" &K Q G N\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"& '< +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +29 "core" ' +2 "manipulator"&L% +3 "core" %+  +2 "storage"(*& +4 "core" &K J G ^\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 283 counts + "manipulator"&u'W +15 "core" ' + "manipulator"&y& +4 "core" &  - _ +2 "storage"(l& +3 "core" &K W U\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +22 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(e' +34 "core" ' +3 "manipulator"&F& +3 "core" &  6 _ +2 "manipulator"&]% +4 "core" % l  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +151 "core" ( + "manipulator"&X& +4 "core" &ӗ s 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &ӗ 4 +3 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' + .tHand.close +2 "manipulator"&N/ +54 "core" / +2 .tCC.seek :open +2 "collection"'W( +447 "core" ( +2 "storage"(@& +4 "core" &K n l \ +2 "storage"(G& +4 "core" &K h j \ +2 "manipulator"&4& +4 "core" &  g # + "manipulator"&% +5 "core" %    +2 .tForearm.seek :retract + "manipulator"&Y' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&T( +139 "core" ( +2 "manipulator"&1& +3 "core" & _ \ +3 "storage"(c& +4 "core" &K k k B\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +43 .tForearm.seek 6 +9 "manipulator"&d'< +96 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&g1 +61 "core" 1 +3 "manipulator"&!% +3 "core" % -   A " +2 "storage"(z& +5 "core" &K k m b\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 285 counts + "manipulator"&,'Y +16 "core" ' +2 "manipulator"&<& +4 "core" &  ^ \ +2 "storage"( & +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +29 "core" ' +2 "storage"(b% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(#' +98 (t% +3 "core" %I R k Y\ V_ +2 "manipulator"&'% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'n& +3 "core" & Y\ +2 "manipulator"&$% +4 "core" %  ~ +2 "storage"(v% +4 "core" % \  +2 "storage"(J. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(&(,y +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,x ~ q \ +2 "manipulator"&;& +3 "core" &  \ +3 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&V& +4 "core" &   Z \ +2 "storage"(k& +3 "core" &,x \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +93 "core" ' + "storage"(0& +4 "core" &,x :\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &,x Z g B\ +2 "manipulator"&\\& +4 "core" &  z \ +2 .tElbow.seek 4 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&i& +4 "core" & U \ +2 "storage"(& +4 "core" &,x j j v\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&B'c +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&5& +2 "storage"(M' +7 "core" &   \ +2 "manipulator"&q% +3 "core" % g  l +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ' ( +2 "manipulator"&}& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &ӊ  / :* +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &ӊ  :* +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + "manipulator"&|& +4 "core" &Ӌ  z 9) +2 "manipulator"&% +4 "core" %5  * +2 "collection"'H& +4 "core" & h\ +2 "collection"'j& +6 "core" & h\ +2 .tCC.seek :closed +3 "collection"'9(\\ +4 "core" & d\ +5 & g\ ; +9 &QJx h\ 1 +9 &v f\ E +10 &4\\ p\ L +9 &T j\ K +9 &X \ J +10 &{W k\ K +9 &>W \ K +10 &Y \ K +9 &W \ K +9 &U \ K +10 &!GX g\ J +9 &#W g\ K +54 &$W f\ J +5 &&X \ K +3 &(NX k\ K + &*Z \ K + &+W \ K +2 &-Z \ K + &/VW \ K +8 &1U _\ K +9 &2W \ K +10 &4U \ K +9 &6^W m\ K +10 &8V [\ K +9 &9X q\ K +9 &;W j\ K +10 &=gW h\ J +9 &?(Z \ K +9 &@\\ r\ K +10 &B\\ \ L +9 &Dk_\ \ \ L +10 &F*j\ \ l\ M +9 &G}\ \ \ h\ O +9 &I\ \ \ R +10 &KS\ +\ *\ W +9 &M\ )\ *\ W +9 &N\ )\ *\ X +10 &P\ (\ (\ X +9 &RX\ (\ (\ X +9 &T\ '\ (\ Y +10 &U\ (\ '\ Y +9 &W\ (\ &\ [ +10 &YY\ *\ (\ Z +9 &[\ '\ )\ [\ +9 &\\lF\ (\ (\ 1 +10 &\\\ )\ )\ K +5 ( +2 "collection"'j& +4 "core" &\\m\ )\ (\ K +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +3 "manipulator"&% +4 "core" % 5 * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%8& +4 "core" &\ +2 "manipulator"&x% +3 "core" %  $  +3 "storage"()% +4 "core" % G 4 \  + "storage"(O. +3 "core" .(,y +2 "storage"(& +4 "core" &,x * 3 l\ +2 "storage"(S& +3 "core" &,x 0 5\ +3 "manipulator"&3& +4 "core" &ӱ 4 + "manipulator"&% +5 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&"( +160 "core" ( + "manipulator"&U& +4 "core" &  f  +2 "storage"(?& +3 "core" &,x W W\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +99 "core" ' +2 "storage"(& +4 "core" &,x O j 1\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" &,x " ! \ +3 "manipulator"&& +4 "core" & K  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&D& +4 "core" &  +2 "storage"(h& +4 "core" &,x $ =\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"((' +8 "core" & E  +2 "manipulator"&% +4 "core" % p R +2 .tForearm.seek :retract +2 "manipulator"&/' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&& +4 "core" & V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&p' +93 "core" ' + "manipulator"&>& +5 "core" &  + "manipulator"&.% +5 "core" %   +2 "processing"%2& +3 "core" &\ +3 "processing"%E& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (^ +4 "core" &\  +9 &1x\ )w +9 &d\ > +10 &ru\ N +9 &6X\ M +9 &[\ M +10 &Y\ N +9 &zZ\ N +10 &<Y\ N +9 &Z\ N +9 &Z\ N +10 & [\ N +9 &"DZ\ N +9 &$[\ N +10 &%X\ M +9 &'V\ M +10 &)NX\ M +9 &+Z\ N +9 &,Z\ N +10 &.Y\ N +9 &0TZ\ N +9 &2Z\ N +10 &3Z\ N +9 &5Z\ N +10 &7]W\ M +9 &9Y\ N +9 &:\\\ N +10 &<X\ N +9 &>d_\ N +9 &@&^\ N +10 &Aa\ N +9 &Ce\ O +10 &Egk\ O +9 &G&r\ P +9 &H\ R +10 &J\ S +9 &Lc\ S +9 &N%\ S +10 &O\ T +9 &Q\ T +10 &Sg\ U +9 &U*\ T +9 &V\ U +10 &X\ T +9 &Zo\ U +9 &\\0\ U +10 &]{u\ ? +9 &^ N\ F +9 &^k\ 2 +9 ( +3 "processing"%E& +3 "core" &^\ - +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&+1 +62 "core" 1 +2 "manipulator"&{% +4 "core" %   I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract +4 "manipulator"&7' +91 "core" ' + "processing"%`& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&f% +5 "core" %  \ X  + "storage"(I% +5 "core" % > ' b\  + "storage"(L. +3 "core" .(,y +2 "storage"(*& +4 "core" &,x & & M\ +2 "storage"(y& +4 "manipulator"&l& +6 "core" &,x * % h\ + & +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&F( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(]'r +2 "core" ( +3 "manipulator"&A& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &   < +3 .tForearm.seek PC +2 "manipulator"&_' +92 "core" ' +2 .tHand.close +2 "manipulator"& / +58 "core" / +2 .tPC.seek :open +2 "processing"%u( +93 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +48 "core" ' +302 ( +3 "storage"(6& +4 "core" &,x G G J\ + "manipulator"&r& +4 "core" & ] +2 "manipulator"&% +4 "core" %  T +2 .tForearm.seek :retract +2 "manipulator"&N' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +248 "core" ( +2 "manipulator"&Q& +3 "core" &   l +3 "storage"(@& +4 "core" &,x . . l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +93 "core" ' +2 .tHand.open + "manipulator"&41 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(1' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(c' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(~& +4 "core" &,x I\ +2 "manipulator"&g& +4 "core" &\   k +2 .tElbow.seek 4 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&z& +3 "core" &\  k k +3 "storage"(<& +4 "core" &,x '\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +22 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(b'" +55 "core" ' +2 "manipulator"&Y& +3 "core" &\   k +3 "storage"(t& +3 "core" &,x & ' :\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&''7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(d' +26 "core" ' +2 "manipulator"&,% +4 "core" %I '  +2 "storage"(n& +4 "core" &,x & & G\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&$'u +16 "core" ' +2 "manipulator"&v& +4 "core" &\  k + "storage"(J& +5 "core" &,x G Q ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +15 "core" ' + "storage"(P% +5 "core" % J T >\ +2 ."downElevator"SE.seek :down +4 "storage"(#' +99 (-% +3 "core" %kO K f\ Xf +3 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 (V& +4 "core" &,x = C \ + "collection"'k& +4 "core" &\\b\ \ #\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&0% +4 "core" %  w  +2 "storage"(% +3 "core" % G I \  +3 "storage"(. +3 "core" .(,y +2 "storage"(^& +4 "core" &,x S T .\ +2 "storage"(=& +4 "core" &,x Q S\ +2 "manipulator"&\\& +4 "core" &  k +2 .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&& +3 "core" &  & k +2 "storage"(C& +5 "core" &,x J Q Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +93 "core" ' +2 "storage"(q& +4 "core" &,x G J 5\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +307 "core" ' + "storage"(s- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&}& +3 "core" &\  T k +2 "storage"(Z& +4 "core" &,x T T 6\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& '7 +23 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('b +36 "core" ' +2 "manipulator"&H% +4 "core" %" +2 "storage"(K& +4 "core" &,x G F\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 279 counts +2 "manipulator"&M'N +17 "core" ' + "manipulator"&& +4 "core" &\  3 k +2 "storage"(W& +4 "core" &,x S Q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&8& +4 "core" &\  & k +2 "manipulator"&x% +4 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +151 "core" ( +2 "manipulator"&j& +3 "core" &ә ^ 4 +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ә 4 +2 .tForearm.seek CC +2 "manipulator"&S'? +96 "core" ' +2 .tHand.close + "manipulator"&3/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(& +4 "core" &,x l m _\ +2 "storage"(U& +4 "core" &,x h m \ +2 "manipulator"&?& +3 "core" &ӝ p 3 +3 "manipulator"&% +43 "core" % < 2  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&:( +153 "core" ( +2 "manipulator"&a& +4 "core" &  M +2 "storage"(%& +4 "core" &,x j k \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +100 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&h1 +52 "core" 1 +3 "manipulator"&[% +50 "core" % C  R  +2 "storage"( & +4 "core" &,x k k \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts +2 "manipulator"&'o +16 "core" ' + "manipulator"&"& +4 "core" &  \ +2 "storage"(R& +4 "core" &,x \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"( % +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %D P G [\ V^ +2 "manipulator"&% +5 "core" % t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'.& +3 "core" & Q\ +3 "manipulator"&2% +4 "core" %   h  +2 "storage"((% +4 "core" % Z\  +2 "storage"(/. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(m(<- +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &<+ T P ]\  +2 "manipulator"&{& +4 "core" &  = +2 .tElbow.seek 5 +2 "manipulator"&E( +14 "core" ( +2 "manipulator"&`& +4 "core" &   m +2 "storage"(f& +4 "core" &<* ~ j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&I'O +94 "core" ' + "storage"(L& +4 "core" &<* y \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'r +311 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +2 "core" &<* \  +3 "manipulator"&A& +3 "core" &  F +3 .tElbow.seek 5 +2 "manipulator"&w( +4 "core" ( + "manipulator"&p& +5 "core" &  ] + "storage"( & +3 "core" &<* L\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&7& + "storage"(\ ' +8 "core" & +2 "manipulator"&]% +4 "core" % Ϯ ~ +2 .tForearm.seek :retract +2 "manipulator"&6' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&& +4 "core" &ӊ"   ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &ӊ"  f ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'? +98 "core" ' +2 "manipulator"&@& +4 "core" &Ӎ!   :0 +2 "manipulator"&F% +3 "core" %B   ' +3 "collection"'4& +3 "core" & {\ +3 "collection"'& +6 "core" & 5\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & m\ +7 &= o\ %f +9 &Y| j\ 7 +9 &y m\ K +10 &S x\ K +9 &T h\ K +9 &JW v\ J +10 & W n\ K +9 &Z j\ K +10 &Y u\ K +9 &QT _\ K +9 & U n\ J +10 &!W c\ J +9 &#X ^\ K +9 &%YY j\ K +10 &'Y j\ K +9 &(U i\ K +10 &*T l\ K +9 &,aU n\ K +9 &.$U f\ J +10 &/V k\ J +9 &1X h\ K +10 &3iU r\ K +9 &5,W l\ J +9 &6W k\ K +10 &8U o\ K +9 &:qX n\ K +9 &<4X n\ J +10 &=W l\ K +9 &?X o\ K +9 &Ax\\ t\ K +10 &C:Z o\ K +9 &De\  k\ M +10 &Fn\ \ n\ M +9 &Hq\ \ s\ P +9 &J(\ '\ u\ T +10 &K\ ,\ ,s\ W +9 &M\ *\ -t\ W +9 &Oe\ *\ +t\ W +10 &Q%\ )\ (n\ X +9 &R\ (\ (q\ Y +10 &T\ (\ )r\ Y +9 &Vg\ *\ (t\ Y +9 &X'\ (\ (u\ Z +52 &Y\ +\ *\ [ +3 &[\ +\ (o\ H +2 &\\0\ *\ +x\ 2 + &\\c\ '\ *\ L + ( + &\\b\ (\ '\ L + &\\b\ '\ &\ L +2 "collection"'& +3 "core" &\\b\ '\ &v\ L +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&~1 +60 "core" 1 +2 "manipulator"&g% +4 "core" % B D ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%<& +3 "core" &\ +3 "manipulator"&N% +3 "core" %  6  +3 "storage"(Y% +3 "core" % ( (\  +2 "storage"(t. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(X(<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &<* \  Y\  +2 "manipulator"&n& +4 "core" &ө U 7 +2 "manipulator"&1% +4 "core" %  r  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&v( +161 "core" ( + "manipulator"&J& +4 "core" &  +2 "storage"(P& +3 "core" &<* V T q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' +2 "storage"(G& +4 "core" &<* O k r\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'r +298 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* ' " F\  +3 "manipulator"& & +4 "core" & x  +2 .tElbow.seek 5 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&b& +4 "core" &  a  +2 "storage"('& +4 "core" &<* I Q \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&$'Ϲ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&k& + "storage"(0' +8 "core" & `  +2 "manipulator"&% +4 "core" %  ` +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&d( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&^& +4 "core" & 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" & R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +93 "core" ' +2 "manipulator"&& +3 "core" &  / +3 "manipulator"&C% +4 "core" % @ +2 "processing"%e& +4 "core" &\ +2 "processing"%q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%#(^ +4 "core" &\  +9 &2v\ )w +9 &b\ = +9 &wv\ N +10 &:U\ M +9 &U\ M +9 &Y\ M +10 &Z\ N +9 &BX\ M +10 &W\ M +9 &W\ M +9 & [\ M +10 &"JZ\ M +9 &$ [\ M +9 &%X\ N +10 &'Y\ N +9 &)QY\ N +10 &+Y\ M +9 &,W\ M +9 &.U\ M +10 &0ZZ\ M +9 &2[\ M +9 &3Z\ M +10 &5Y\ N +9 &7b[\ M +10 &9$]\ M +9 &:]\ N +9 &<Z\ N +10 &>j]\ M +9 &@+X\ N +9 &Aa\ N +10 &Ci\ O +9 &Ekm\ P +10 &G+u\ P +9 &H\ S +9 &J\ S +10 &Lh\ S +9 &N*\ S +9 &O\ T +10 &Q\ T +9 &Sl\ U +10 &U0\ T +9 &V\ T +9 &X\ T +10 &Zu\ T +9 &\\6\ U +9 &]{t\ : +10 &^)q\ Q +9 &^(\ 2 +3 ( +2 "processing"%q& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&T1 +62 "core" 1 + "manipulator"&;% +4 "core" %   ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +97 "core" ' +2 "processing"%}& +3 "core" &^%\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&Z% +49 "core" % "   T & +4 "storage"(|% +4 "core" % - . x\  +2 "storage"(H. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(K(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +4 "core" &<+ S\ 6\  +2 "manipulator"&W& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & \  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(8'r +2 "manipulator"&x( +6 "core" ( + "manipulator"&5& +5 "core" &   k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +2 "core" &   +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"& / +53 "core" / +2 .tPC.seek :open +2 "processing"%M( +91 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(j'1 +46 "core" ' +305 ( +2 "storage"(& +3 "core" &<* S P T\  +2 "manipulator"&& +5 "core" & + "manipulator"&B% +4 "core" %  9 Q +2 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&)( +255 "core" ( +2 "manipulator"&9& +3 "core" & 3  +2 "storage"(& +5 "core" &<* P F 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +101 "core" ' +2 .tHand.open + "manipulator"&?1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(a' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(%' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +3 "core" -' +2 "storage"(O& +4 "core" &<* D E @\  +2 "manipulator"&h& +3 "core" &   @  +3 .tElbow.seek 5 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"& & +3 "core" &   +  +3 "storage"("& +4 "core" &<* D S 7\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +58 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &<* G I \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&.% +4 "core" %Ο ^  +2 "storage"(2& +4 "core" &<* % + ?\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 318 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&(& +4 "core" & 5  +2 "storage"(/& +4 "core" &<* F F 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 "storage"(% +4 "core" % J G \ +3 ."downElevator"SE.seek :down +5 "storage"(' +98 (&% +4 "core" %*S  # 8\ Xf +2 "manipulator"&+% +50 "core" %Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +86 "core" ' +22 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (`& +3 "core" &<* S F =\  +2 "collection"'f& +4 "core" &\\b\ "\ J\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&L% +4 "core" %  r  +2 "storage"(D% +4 "core" % I G +\  + "storage"(>. +4 "core" .(<- +2 "storage"(y& +4 "core" &<* I Q &\  +2 "storage"(l& +3 "core" &<* Q I @\  +2 "manipulator"&A& +4 "core" & s  +3 .tElbow.seek 5 + "manipulator"&p( +3 "core" ( +2 "manipulator"& & +4 "core" &  L  +2 "storage"(o& +4 "core" &<* E Q @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&7'O +96 "core" ' +2 "storage"(]& +4 "core" &<* e k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +298 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & G  +3 "storage"(_& +4 "core" &<* V T u\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&*'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(@- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(F't +30 "core" ' +2 "manipulator"&4% +3 "core" %Ώ  +2 "storage"(w& +4 "core" &<* T T ]\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&\ 'ϻ +15 "core" ' + "manipulator"&6& +3 "core" &  a  +2 "storage"(& +4 "core" &<* U U \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +28 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(g' +36 "core" ' +2 "manipulator"&<& +4 "core" & s  +2 "manipulator"&N% +4 "core" %Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&t(ӂ +159 "core" ( +2 "manipulator"&& +4 "core" &ӏ > 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &ӏ  8 +2 .tForearm.seek CC +2 "manipulator"&n'? +96 "core" ' + .tHand.close +2 "manipulator"&1/ +61 "core" / +2 .tCC.seek :open +2 "collection"'Q( +446 "core" ( +2 "storage"(J& +4 "core" &<* m m )\  +2 "storage"(P& +4 "core" &<* h j s\  + "manipulator"&m& +5 "core" &Ӫ  4 + "manipulator"&G% +4 "core" % B  > +2 .tForearm.seek :retract +2 "manipulator"&r' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&z( +161 "core" ( +2 "manipulator"&-& +4 "core" &  V  +2 "storage"(& +4 "core" &<* j j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&'1 +61 "core" 1 +2 "manipulator"&V% +4 "core" % Α  2 +2 "storage"(k& +50 "core" &<* k k \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&'Ͻ +14 "core" ' +2 "manipulator"&v& +4 "core" &  q  +2 "storage"(& +3 "core" &<* \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +20 "core" ' +2 "storage"($% +3 "core" % \ +4 ."downElevator"SE.seek :down +4 "storage"(^' +98 (=% +3 "core" %J G F 2\ Va +2 "manipulator"&!% +5 "core" %N V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'C& +3 "core" & \ +3 "manipulator"&e% +4 "core" %  $  +2 "storage"(0% +4 "core" % \ + "storage"(. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(u(K +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (T& +3 "core" &K E G &\  +3 "manipulator"&;& +4 "core" & )  +2 .tElbow.seek 6 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&Z& +3 "core" & ,  +2 "storage"(q& +5 "core" &K j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +92 "core" ' +2 "storage"(H& +3 "core" &K y  \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(W- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (5& +2 "core" &K h \\ h\  +3 "manipulator"&i& +4 "core" & f  +2 .tElbow.seek 6 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"& & +4 "core" &  U  + "storage"(X& +4 "core" &K k a x\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(#' +7 "core" & ~  +2 "manipulator"&8% +4 "core" % ^ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&B& +4 "core" &Ӊ#  1 ;8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӊ"  ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&9'? +98 "core" ' +2 "manipulator"&& +4 "core" &Ӛ  9' +2 "manipulator"&x% +3 "core" %< +3 "collection"'?& +3 "core" & =\ +3 "collection"'& +5 "core" & }\ +3 .tCC.seek :closed +2 "collection"'S(\\ +4 "core" & |\ +7 &; \ $f +9 &Xy w\ 7 +9 &y x\ K +10 &T y\ J +9 &V x\ K +10 &EZ {\ K +9 &V y\ K +9 &Z n\ K +10 &V n\ J +9 &NW n\ K +9 & V o\ J +10 &!V r\ K +9 &#Z k\ K +10 &%VT s\ K +9 &'U n\ K +9 &(U o\ K +10 &*U o\ J +9 &,^W o\ K +10 &. T k\ K +9 &/U o\ K +9 &1U o\ K +10 &3fV n\ K +9 &5(T n\ K +9 &6W n\ K +10 &8W k\ K +9 &:oW m\ J +9 &\ +3 "manipulator"&3% +3 "core" %   +3 "storage"(% +4 "core" % P S C\  + "storage"(. +3 "core" .(K +2 "storage"(.& +4 "core" &K P S U\  +2 "storage"(j& +4 "core" &K G F +\  +2 "manipulator"&2& +3 "core" & , ( +2 "manipulator"&a% +4 "core" %  G  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&(( +148 "core" ( +2 "manipulator"&/& +3 "core" &  +3 "storage"(& +4 "core" &K U T \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +94 "core" ' + "storage"(U& +4 "core" &K S H \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +297 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (+& +2 "core" &K $ " \  +3 "manipulator"&R& +4 "core" & m  +2 .tElbow.seek 6 + "manipulator"&[( +3 "core" ( +2 "manipulator"& & +4 "core" &  8  +2 "storage"(& +4 "core" &K S P C\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(L' +8 "core" & d  +2 "manipulator"&D% +4 "core" % ^ +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&y& +3 "core" & S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &l& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +96 "core" ' + "manipulator"& & +4 "core" &   +2 "manipulator"&o% +4 "core" %  Z +2 "processing"%]& +4 "core" &\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +9 &8\ #c +9 &V~\ 7 +10 &{\ K +9 &W\ N +10 &dZ\ N +9 &'W\ M +9 &\\\ M +10 &W\ M +9 &mZ\ M +9 &/\\\ M +10 &[\ N +9 &!Y\ M +10 &#uW\ M +9 &%7U\ M +9 &&[\ M +10 &([\ M +9 &*}[\ M +9 &,>\\\ N +10 &.X\ M +9 &/\\\ N +10 &1Y\ M +9 &3GV\ M +9 &5 V\ M +10 &6W\ N +9 &8[\ N +9 &:OW\ M +10 &<Z\ M +9 &=]\ N +10 &?]\ M +9 &AVZ\ N +9 &Cc\ O +10 &Dh\ O +9 &Fr\ P +9 &HT~\ Q +10 &J\ S +9 &KD\ S +10 &M\ T +9 &OU\ S +9 &Q\ T +10 &R\ T +9 &T\ T +9 &VY\ U +10 &X\ T +9 &Y\ T +10 &[\ U +9 &]a\ B +9 &^G{\ S +10 &^ T\ 3 +5 ( +2 "processing"%& +4 "core" &^"\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&:1 +53 "core" 1 +2 "manipulator"&{% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +3 "processing"%& +3 "core" &^"\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&_% +4 "core" %      +2 "storage"(@% +4 "core" % $ . O\  +2 "storage"(4. +3 "core" .(K +47 "storage"(w& +6 "core" &K - $ /\  +2 "storage"(6& +2 "manipulator"&& +9 "core" &K . . Y\  + &   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&<( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(N'r +3 "core" ( + "manipulator"&7& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &   Z +3 .tForearm.seek PC +2 "manipulator"&E' +93 "core" ' + .tHand.close +2 "manipulator"&*/ +56 "core" / +2 .tPC.seek :open +2 "processing"%\ ( +97 "core" ' +2 "storage"(F- +3 "core" -'r +7 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +294 ( +2 "storage"(,& +4 "core" &K T T K\  +2 "manipulator"&~& +4 "core" & 5 + "manipulator"&% +4 "core" %  g +2 .tForearm.seek :retract +2 "manipulator"&1' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&Y( +252 "core" ( + "manipulator"&& +4 "core" & H  +2 "storage"(J& +4 "core" &K F F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +96 "core" ' + .tHand.open +2 "manipulator"&m1 +58 "core" 1 +2 "storage"(G- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(-' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(n- +3 "core" -' +2 "storage"(t& +3 "core" &K u e P\  +3 "manipulator"&'& +3 "core" &   +3 .tElbow.seek 6 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&k& +3 "core" &  A  +3 "storage"(v& +4 "core" &K o e \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"($'" +61 "core" ' + "manipulator"&r& +4 "core" & e  +2 "storage"(z& +4 "core" &K F P )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&='< +22 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +20 "core" ' + "manipulator"&% +4 "core" %1  +2 "storage"(C& +3 "core" &K ' ) 1\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 289 counts +2 "manipulator"&e'] +16 "core" ' + "manipulator"&0& +4 "core" & \   +2 "storage"(& +4 "core" &K P S S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&g' +20 "core" ' +2 "storage"(c% +3 "core" % T I P\ +3 ."downElevator"SE.seek :down +4 "storage"(^' +98 (K% +3 "core" %R\ \  J\ Xe +3 "manipulator"&T% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Z& +42 "core" &K \\ E +\  +9 "collection"'q& +4 "core" &\\k\ \ ,\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&H% +5 "core" %  T  + "storage"(b% +4 "core" % V U e\  +2 "storage"(. +3 "core" .(K +2 "storage"(W& +3 "core" &K U W\  +2 "storage"(5& +4 "core" &K U W\  +2 "manipulator"&i& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&X& +4 "core" &  S  +2 "storage"(d& +3 "core" &K W K 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +92 "core" ' +2 "storage"(8& +4 "core" &K N G B\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +299 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&B& +3 "core" & .  +2 "storage"(& +4 "core" &K E F 5\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(x'n +32 "core" ' +2 "manipulator"&?% +3 "core" %L :  +2 "storage"(\\& +5 "core" &K # , \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&#'x +15 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(Q& +3 "core" &K F I "\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&O' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(h' +36 "core" ' + "manipulator"&"& +5 "core" & :  + "manipulator"&3% +4 "core" % V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( + "manipulator"&.& +4 "core" &ӎ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +4 "core" &ӎ G 8 +2 .tForearm.seek CC +2 "manipulator"&2'? +100 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'a( +450 "core" ( + "storage"(/& +4 "core" &K l m \  +2 "storage"(9& +4 "core" &K g k \  +2 "manipulator"&& +4 "core" &  & +2 "manipulator"&U% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +149 "core" ( +2 "manipulator"&&& +4 "core" &   +2 "storage"(+& +4 "core" &K k k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&R'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&`% +4 "core" % P  ; ` + "storage"(f& +4 "core" &K n r %\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 320 counts + "manipulator"&D'| +13 "core" ' +2 "manipulator"&(& +3 "core" &   +2 "storage"()& +44 "core" &K \  +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +15 "core" ' +2 "storage"(% +3 "core" % \ +4 ."downElevator"SE.seek :down +4 "storage"(y' +98 (l% +3 "core" %O G Q !\ Vb +3 "manipulator"&[% +3 "core" %  E +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'o& +3 "core" & x\ +2 "manipulator"&]% +3 "core" %   )  +3 "storage"(L% +4 "core" % g\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(M(,y +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (:& +2 "core" &,{ l k \ +3 "manipulator"&{& +3 "core" & d  +3 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&_& +4 "core" & \ u  +2 "storage"(@& +4 "core" &,{ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +94 "core" ' + "storage"(w& +5 "core" &,{ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (6& +2 "core" &,{ _ _ \ +3 "manipulator"&7& +4 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&A& +4 "core" & .  +2 "storage"(*& +4 "core" &,{ m b l\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&F'c +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(' +8 "core" &  z  +2 "manipulator"&N% +3 "core" % a W +3 .tForearm.seek :retract +2 "manipulator"&,' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +4 "core" &Ӂ# A <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &Ӄ# z ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' +2 "manipulator"&J& +4 "core" &Ӈ"  N ;4 +2 "manipulator"&<% +4 "core" %G U +2 "collection"'m& +4 "core" & \ +3 "collection"'G& +5 "core" & -\ +2 .tCC.seek :closed +2 "collection"'n(\\ +4 "core" & }\ +8 &= z\ %g +10 &Yv y\ 7 +9 &y z\ J +10 &U \ J +9 &W \ K +9 &GZ ~\ K +10 &\ W }\ K +9 &Y z\ K +9 &U |\ K +10 &PU y\ K +9 & T \ K +10 &!V y\ K +9 &#Z y\ K +9 &%YU w\ J +10 &'V o\ K +9 &(T v\ K +9 &*U t\ K +10 &,`Y t\ K +9 &."T n\ K +10 &/U t\ J +9 &1W k\ K +9 &3iU o\ J +10 &5*W n\ K +9 &6U s\ K +9 &8W l\ K +10 &:pW m\ K +9 &<1Z p\ K +10 &=W l\ K +9 &?W k\ K +9 &AxY l\ K +10 &C9_ k\ K +9 &De\  l\ L +9 &Fp\ \ m\ N +10 &Hp\ \ \ k\ P +9 &J&\ %\ k\ U +10 &K\ (\ (s\ X +9 &M\ )\ )l\ X +9 &Oc\ %\ 'm\ X +10 &Q#\ '\ 'm\ X +9 &R\ '\ %n\ Y +9 &T\ )\ &n\ Y +10 &Ve\ '\ 'n\ Z +9 &X&\ (\ 'k\ Z +7 "Can"\ ^[ +3 "core" &Y\ '\ 'k\ [\ +9 &[\ )\ 't\ I +9 &\\/\ )\ )v\ 9 +10 &\\n\ '\ &i\ N +5 ( +2 "collection"'G& +4 "core" &\\g\ '\ &h\ N +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&t1 +64 "core" 1 +2 "manipulator"&'% +4 "core" % G U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +47 .tForearm.seek :retract +5 "manipulator"&k' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%v& +4 "core" &\ +2 "manipulator"&1% +3 "core" %  2  +3 "storage"(r% +4 "core" % F F .\  + "storage"(z. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &,{ % $ \ +3 "manipulator"&C& +4 "core" &ӭ Q 6 + "manipulator"&-% +5 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&0( +164 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"(c& +4 "core" &,{ U T 2\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +95 "core" ' +2 "storage"(P& +4 "core" &,{ Q k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (T& +3 "core" &,{ # "\ +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&$& +4 "core" &  b  + "storage"(=& +4 "core" &,{ G F *\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&e'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(q' +8 "core" &  + "manipulator"&H% +4 "core" % X +3 .tForearm.seek :retract +2 "manipulator"&b' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&W& +4 "core" & 6 E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &5& +2 "core" & % E +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&i' +94 "core" ' + "manipulator"&X& +4 "core" & m E +2 "manipulator"&d% +4 "core" %  f +2 "processing"%g& +4 "core" &\ +2 "processing"%8& +5 "core" &\ +3 .tPC.seek :closed + "processing"%^(^ +4 "core" &\  +10 &2w\ )w +8 &d\ > +10 &uuN\ N +9 &8V\ M +10 &Y\ M +9 &W\ M +9 &~U\ M +10 &@U\ M +9 &U\ M +9 &U\ M +10 & Y\ M +9 &"HZ\ M +10 &$\ [\ M +9 &%T\ M +9 &'V\ M +10 &)QW\ M +9 &+Y\ N +10 &,VK\ M +9 &.Y\ M +9 &0XZ\ M +10 &2T\ M +9 &3Z\ M +9 &5X \ N +10 &7`Z\ M +9 &9"\\\ M +9 &:X\ N +10 &<[\ M +9 &>g]\ N +10 &@*\\\ M +9 &A]\ N +10 &Ce\ O +9 &Ekj\ O +9 &G*p\ P +9 &H.\ R +10 &J\ S +9 &Lg\ S +10 &N&\ T +9 &O\ T +9 &Q\ T +10 &Sj\ U +9 &U,D\ U +9 &V\ T +10 &X\ T +9 &Zr\ U +10 &\\5\ T +9 &]{t\ < +9 &^%_\ X +10 &^+\ 3 +2 ( +2 "processing"%8& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&!1 +52 "core" 1 +2 "manipulator"&;% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +93 "core" ' +2 "processing"%B& +4 "core" &^%\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %      +2 "storage"(% +4 "core" % ( , \  +2 "storage"(?. +3 "core" .(,y +2 "storage"(\\& +4 "core" &,{ # + \ +2 "storage"(& +4 "manipulator"&Q& +5 "core" &,{ + $ 6\ + &   E +48 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&"( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'r +3 "core" ( + "manipulator"&s& +4 "core" &    E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  E +3 .tForearm.seek PC +2 "manipulator"&}' +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%#( +94 "core" ' +2 "storage"(x- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(.'1 +46 "core" ' +302 ( + "storage"(j& +5 "core" &,{ W Q _\ + "manipulator"&O& +4 "core" & ? E +2 "manipulator"&% +4 "core" %  ( k +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +249 "core" ( +2 "manipulator"&S& +3 "core" &  B e +2 "storage"(/& +5 "core" &,{ T T 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&9' +95 "core" ' + .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "storage"(U- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(&' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(+' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +3 "core" -' +2 "storage"(& +4 "core" &,{ n\ +2 "manipulator"&& +4 "core" &   d +2 .tElbow.seek 4 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&f& +4 "core" &   s d +2 "storage"((& +3 "core" &,{ w *\ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"&& +3 "core" &  * d +3 "storage"(l& +4 "core" &,{ / 0\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&['7 +19 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(R' +19 "core" ' + "manipulator"&o% +4 "core" %6 ! % +2 "storage"(]& +3 "core" &,{ + $ #\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 299 counts +2 "manipulator"&D'b +16 "core" ' + "manipulator"&L& +4 "core" &  d +2 "storage"(& +3 "core" &,{ 3 B <\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +14 "core" ' +2 "storage"(%% +4 "core" % J Q j\ +2 ."downElevator"SE.seek :down +4 "storage"(y' +99 (u% +3 "core" %>M\ \  #\ Xf +2 "manipulator"&:% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (_& +3 "core" &,{ > $ C\ +2 "collection"'@& +4 "core" &\\f\ !\ '\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&w% +3 "core" %    +3 "storage"( % +48 "core" % R J "\  +4 "storage"( . +3 "core" .(,y +2 "storage"(& +4 "core" &,{ T J s\ +2 "storage"(6& +4 "core" &,{ F F \ +2 "manipulator"&7& +4 "core" &  d +2 .tElbow.seek 4 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&*& +3 "core" &   d +3 "storage"(>& +4 "core" &,{ I G =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +92 "core" ' +2 "storage"(N& +4 "core" &,{ Q G A\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(4- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  d +3 "storage"(E& +3 "core" &,{ ! & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +25 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(<'b +29 "core" ' + "manipulator"&m% +4 "core" %B +2 "storage"(p& +4 "core" &,{ / $ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&'n +16 "core" ' + "manipulator"&,& +4 "core" &  d +2 "storage"(a& +3 "core" &,{ Q I \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"('' +36 "core" ' + "manipulator"&G& +5 "core" &  X d + "manipulator"&v% +4 "core" % a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +148 "core" ( + "manipulator"&z& +3 "core" &x) Ab +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &y)  Aa +3 .tForearm.seek CC +2 "manipulator"&C'? +98 "core" ' +2 .tHand.close + "manipulator"&-/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(& +4 "core" &,{ k j \ + "storage"(c& +4 "core" &,{ j i \ +2 "manipulator"&M& +4 "core" &ӳ  9' +2 "manipulator"&P% +4 "core" % =  f  +2 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&k( +155 "core" ( +2 "manipulator"&K& +3 "core" & r +2 "storage"(T& +5 "core" &,{  }\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&=1 +62 "core" 1 +2 "manipulator"&Z% +4 "core" % &  l D + "storage"( & +4 "core" &,{ [\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 283 counts + "manipulator"&H'R +13 "core" ' +3 "manipulator"&0& +4 "core" & \ B +2 "storage"(Y& +3 "core" &,{ B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +52 "core" ' +9 "storage"(e% +3 "core" % 8\  +4 ."downElevator"SE.seek :down +3 "storage"(W' +99 (5% +2 "core" %hE m l |\ V_ +3 "manipulator"&V% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X' +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'d& +4 "core" & m\ +2 "manipulator"&g% +4 "core" %   A +2 "storage"(q% +4 "core" % /\  +2 "storage"(b. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(\ (<- +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &<* L O T\  +2 "manipulator"&;& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&B( +4 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(& +3 "core" &<) \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +94 "core" ' +2 "storage"(\\& +4 "core" &<) z \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &<) k j F\  +2 "manipulator"&s& +4 "core" &  ] +3 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( +2 "manipulator"&i& +4 "core" &  G + "storage"(& +4 "core" &<) j l \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&x'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&|& +2 "storage"(^' +7 "core" &  ! +2 "manipulator"&3% +4 "core" % ϴ +2 .tForearm.seek :retract +2 "manipulator"&j' +102 "core" ' + .tElbow.seek CC +2 "manipulator"&O(ӂ +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&& +3 "core" &ӕ  o 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +3 "core" &ӕ  N 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'? +97 "core" ' +2 "manipulator"&/& +4 "core" &ӕ  5 +2 "manipulator"&"% +3 "core" %=   +3 "collection"'& +4 "core" & \ +2 "collection"'U& +7 "core" & >\ +2 .tCC.seek :closed +3 "collection"'2(\\ +3 "core" & {\ +7 &A \ %g +9 &[{ \ 8 +10 &v }\ K +9 &U \ J +9 &W \ K +10 &XY \ K +9 &Y \ K +9 &U ~\ K +10 &T |\ K +9 &aV {\ J +10 & "V {\ K +9 &!Y z\ K +9 &#Z {\ K +10 &%hT {\ K +9 &'*U w\ K +9 &(T v\ K +10 &*U o\ J +9 &,pW n\ K +10 &.2T t\ K +9 &/V n\ K +9 &1Z k\ K +10 &3yV n\ J +9 &5:W l\ K +9 &6U o\ K +10 &8W j\ K +9 &:W m\ J +10 &W l\ K +9 &?X o\ K +10 &AY l\ K +9 &CI^ o\ K +9 &Ed\ m\ L +10 &Fm\ \ j\ N +9 &H\ \ m\ P +10 &J6\ '\ o\ U +9 &K\ *\ ,n\ V +9 &M\ *\ )n\ W +10 &Or\ )\ )n\ X +9 &Q3\ (\ (o\ X +9 &R\ )\ 'm\ X +10 &T\ *\ (p\ Y +9 &Vu\ (\ 'n\ Z +10 &X6\ (\ )m\ Z +9 &Y\ *\ (p\ Z +9 &[\ '\ )n\ H +10 &\\.\ )\ +o\ 1 +9 &\\k\ )\ )l\ P +2 ( +3 "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +3 "manipulator"&% +3 "core" % =  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%(& +4 "core" &Q\ +2 "manipulator"&% +48 "core" %   +5 "storage"(% +4 "core" % ! %\  +2 "storage"(l. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(o(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" &<*\ \ \  +2 "manipulator"&.& +4 "core" &ӣ Q 4 +2 "manipulator"&L% +4 "core" %  W  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&&& +5 "core" &   + "storage"(%& +4 "core" &<) T T f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +99 "core" ' +2 "storage"(9& +5 "core" &<) m m \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(+'r +297 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (:& +2 "core" &<) !  \  +3 "manipulator"&)& +4 "core" & V  +2 .tElbow.seek 5 + "manipulator"&`( +3 "core" ( +2 "manipulator"&& +4 "core" &  `  +2 "storage"([& +4 "core" &<) I F O\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&D'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&@& +2 "storage"(w' +6 "core" & =  +2 "manipulator"& % +3 "core" % ϵ l +3 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"& ( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&& +4 "core" &   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&7' +94 "core" ' +2 "manipulator"&*& +4 "core" &  g \ +2 "manipulator"&>% +3 "core" % O n +3 "processing"%h& +4 "core" &\ +2 "processing"%N& +5 "core" &:\ +2 .tPC.seek :closed +2 "processing"%y(^ +4 "core" &:\ +7 &0^\ #b +10 &U\ 7 +9 &~\ L +9 &U,\ M +10 &bY-\ N +9 &%V\ M +9 &V\ M +10 &V\ M +9 &kU\ M +10 &-['\ M +9 &Z\ N +9 &!X\ M +10 &#s[8\ M +9 &%5ZX\ M +9 &&Z3\ N +10 &([\ M +9 &*{\\\ M +10 &,=\\\ M +9 &-Z\ M +9 &/\\\ M +10 &1Z\ M +9 &3DYM\ N +9 &5Y(\ N +10 &6YA\ N +9 &8Z\ N +10 &:MW*\ M +9 &<Y1\ M +9 &=\\\ N +10 &?\\,\ M +9 &AU[\ M +9 &Ce9\ O +10 &Di\ O +9 &Fp\ P +10 &HO)\ R +9 &JJ\ S +9 &K\ S +10 &M\ T +9 &ORF\ T +9 &Q\ T +10 &R7\ T +9 &TN\ U +10 &VY\ T +9 &X\ U +9 &Y-\ U +10 &[\ U +9 &]_\ B +9 &^H-\ Y +10 &^I!\ 6 +5 ( +2 "processing"%N& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"& 1 +3 "core" &^(!\ 6 +52 1 +2 "manipulator"&{% +3 "core" %    + n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +96 "core" ' +2 "processing"%& +4 "core" &^(=\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&E% +3 "core" % !  g $ +3 "storage"(J% +4 "core" % , * i\  + "storage"(m. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(p(<- +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (,& +2 "manipulator"&a& +6 "core" &<* _\  \  + &  7 \ +4 .tElbow.reconfigure :tight +42 ."raiseStack"SE.reconfigure :place +12 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&G( +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(v'r +13 "core" ( +2 "manipulator"&I& +3 "core" &   O +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &   B O +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +85 "core" ' +2 "storage"(<- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(z'1 +46 "core" ' +314 ( +2 "storage"(& +3 "core" &<) G J k\  +3 "manipulator"&t& +4 "core" &  | O + "manipulator"&F% +4 "core" %   x [ +2 .tForearm.seek :retract +2 "manipulator"&-' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&1( +247 "core" ( +2 "manipulator"&n& +3 "core" &   b +2 "storage"(& +4 "core" &<) ' & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +90 "core" ' +2 .tHand.open + "manipulator"&M1 +53 "core" 1 +5 "storage"(P- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(K' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(T' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(r& +4 "core" &<) , , G\  +2 "manipulator"&=& +4 "core" &    b +2 .tElbow.seek 5 +2 "manipulator"&Z( +4 "core" ( + "manipulator"& & +4 "core" &   % b +2 "storage"(0& +3 "core" &<) 9 7 \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(e'" +56 "core" ' +2 "manipulator"&~& +4 "core" &   b +2 "storage"(5& +4 "core" &<) ' ' 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&k'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&H% +4 "core" %Ζ :  +2 "storage"(d& +4 "core" &<) + # \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"&g' +14 "core" ' +2 "manipulator"&q& +4 "core" &  I a +2 "storage"(b& +3 "core" &<) % * 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +13 "core" ' +2 "storage"(% +4 "core" % 4 F v\ +2 ."downElevator"SE.seek :down +4 "storage"(W' +99 (% +3 "core" %LO I r\ We +2 "manipulator"&!% +4 "core" %N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<) 2 7 \  +2 "collection"'& +4 "core" &\\f\ \ !)\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&\\% +5 "core" %  R  + "storage"($% +4 "core" % T T _\  +2 "storage"(X. +3 "core" .(<* +46 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(Q(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" &<+ K M\  +3 "manipulator"&s& +4 "core" &  7 a +2 .tElbow.seek 5 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&& +4 "core" &  - a +2 "storage"(& +4 "core" &<) T T e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +100 "core" ' + "storage"(3& +4 "core" &<) = 9 \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +300 "core" ' + "storage"(?- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  r a +2 "storage"(}& +4 "core" &<) Q T G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(/- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"("'t +30 "core" ' +2 "manipulator"&% +4 "core" %Ξ  v 4 +2 "storage"( & +4 "core" &<) I 5 ^\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&^' +15 "core" ' + "manipulator"&j& +4 "core" &  I a +2 "storage"(& +4 "core" &<) S S #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +19 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&(& +4 "core" &   a +2 "manipulator"&% +3 "core" %A  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ( +2 "manipulator"&l& +4 "core" &x#  <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +2 "core" &x#  <? +3 .tForearm.seek CC +2 "manipulator"&.'? +97 "core" ' +2 .tHand.close + "manipulator"&L/ +53 "core" / +2 .tCC.seek :open +2 "collection"'S( +447 "core" ( +2 "storage"(&& +4 "core" &<) m l \  + "storage"(%& +4 "core" &<) i k \  +2 "manipulator"&\ & +4 "core" &Ӳ   5 +2 "manipulator"&9% +4 "core" % N S  +2 .tForearm.seek :retract +2 "manipulator"&O' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&f( +161 "core" ( +2 "manipulator"&u& +4 "core" &   +2 "storage"(:& +3 "core" &<) g j \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&)'΍ +96 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +61 "core" 1 +2 "manipulator"&_% +3 "core" % ΁   Q +2 "storage"(@& +5 "core" &<) \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 288 counts + "manipulator"& 'ϭ +14 "core" ' +2 "manipulator"&& +3 "core" & F  +2 "storage"(& +4 "core" &<) \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +21 "core" ' + "storage"(D% +4 "core" % \ +3 ."downElevator"SE.seek :down +5 "storage"(' +98 (6% +3 "core" %L k k \ Va +3 "manipulator"&`% +4 "core" %J  . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +85 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'>& +3 "core" & {\ +2 "manipulator"&h% +5 "core" %   r  + "storage"(w% +4 "core" % \  +2 "storage"(R. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(#(K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K [ h\  +2 "manipulator"&{& +4 "core" &  g  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&E& +4 "core" & ?  +2 "storage"(J& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&m' +93 "core" ' + "storage"(N& +4 "core" &K 0\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'r +293 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &K g l \  +2 "manipulator"&A& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&& +4 "core" & }  + "storage"(o& +4 "core" &K k k \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&<'h +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&4& + "storage"(y' +8 "core" &   +2 "manipulator"&v% +5 "core" % i  T +4 .tForearm.seek :retract +5 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&F& +3 "core" &ӝ  D 2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӝ 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&n'? +109 "core" ' + "manipulator"&& +4 "core" &ӝ \  = 2 +2 "manipulator"&G% +4 "core" %A  : @ +2 "collection"'M& +4 "core" & \ +3 "collection"'P& +6 "core" & 6\ +2 .tCC.seek :closed +2 "collection"'C(\\ +6 "core" & f\ +6 &; y\ %g +9 &Yv |\ 7 +9 &v \ K +10 &T t\ J +9 &W {\ J +10 &HV x\ K +9 &\ Z \ K +9 &T \ K +10 &T }\ K +9 &QV \ J +9 & V \ J +10 &!V {\ J +9 &#W |\ K +10 &%XY \ K +9 &'U }\ J +9 &(V {\ K +10 &*X x\ K +9 &,`T y\ K +9 &.#U w\ J +10 &/U \ K +9 &1T x\ K +10 &3hU s\ K +9 &5*Y w\ K +9 &6W u\ K +10 &8Y n\ K +9 &:pV j\ K +9 &<3W h\ J +10 &=Y m\ K +9 &?Z j\ K +10 &Av_\ \ i\ L +9 &C6e\ \ n\ L +9 &Dj\ \ n\ M +10 &Fu\ \ k\ N +9 &Hl\ \ s\ R +9 &J#\ +\ )n\ V +10 &K\ -\ .j\ V +9 &M\ +\ ,j\ W +10 &Oc\ +\ *m\ X +9 &Q%\ *\ )z\ X +9 &R\ +\ (r\ X +10 &T\ '\ )o\ Y +9 &Ve\ *\ (j\ Z +9 &X'\ )\ *t\ Z +10 &Y\ *\ )n\ [\ +9 &[\ +\ +k\ H +10 &\\1\ *\ +k\ 3 +9 &\\h\ (\ )l\ N +2 ( +2 "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&r1 +56 "core" 1 +3 "manipulator"&=% +3 "core" % W f * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +98 "core" ' +49 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%0& +3 "core" &'\ +2 "manipulator"&-% +5 "core" %    +2 "storage"(~% +4 "core" % S I @\  + "storage"(5. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(H(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &K 5 B \ +2 "manipulator"&z& +5 "core" &\  B "y + "manipulator"&q% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&b( +148 "core" ( +2 "manipulator"&K& +4 "core" &   +2 "storage"(& +3 "core" &K W W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +126 "core" ' +3 "storage"(c& +4 "core" &K m P \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(T'r +294 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (!& +3 "core" &K $ , \ +2 "manipulator"&Y& +4 "core" & +2 .tElbow.seek 6 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&e& +4 "core" &  X +2 "storage"(k& +3 "core" &K T T d\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(\\' +8 "core" & +2 "manipulator"&$% +4 "core" % Ϗ o +2 .tForearm.seek :retract +2 "manipulator"&X' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&8& +4 "core" & !  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" & i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 "manipulator"&& +4 "core" &  b  +2 "manipulator"&'% +3 "core" % [ g +3 "processing"%3& +4 "core" &\ +2 "processing"%W& +5 "core" &&\ +3 .tPC.seek :closed +2 "processing"%p(^ +4 "core" &&\ +6 &7\ #c +10 &V}\ 7 +9 &{)\ L +9 &W1\ M +10 &f[\ M +9 &(Y+\ M +9 &['\ N +10 &Y*\ N +9 &mY'\ N +10 &/W\ N +9 &\\\ M +9 &!X\ M +10 &#u](\ N +9 &%7X\ N +9 &&Z\ N +10 &(V(\ M +9 &*}V(\ N +10 &,?Z$\ N +9 &.Z&\ M +9 &/\\\ N +10 &1Y(\ N +9 &3GY\ N +9 &5\ Y\ M +10 &6X9\ M +9 &8\\\ N +9 &:PW\ M +10 &<Z\ M +9 &=Y\ N +10 &?X\ M +9 &AW\\\ N +9 &Cc\ O +10 &Dj\ O +9 &Fs\ P +10 &HS~\ R +12 &J2\ S +6 &K\ S +10 &M\ T +9 &OU\ T +9 &Q\ T +10 &R\ T +9 &T6\ U +9 &V\\@\ T +10 &X(\ T +9 &Y\ T +10 &[\ U +9 &]b(\ B +9 &^Dx\ [ +10 &^?\ 2 +5 ( +2 "processing"%W& +4 "core" &^%\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&V1 +63 "core" 1 + "manipulator"&;% +5 "core" %    g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +94 "core" ' +3 "processing"%& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&}% +4 "core" % !   h ) +2 "storage"(/% +4 "core" % $ - h\  +2 "storage"(. +3 "core" .(K +2 "storage"( & +4 "core" &K $ ' \ +2 "storage"(j& +3 "manipulator"&& +5 "core" &K . +\ +2 &   9  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +51 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&(( +2 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +18 "core" ( + "manipulator"&|& +4 "core" &   P  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &   _  +3 .tForearm.seek PC +2 "manipulator"&B' +100 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%^( +72 "core" ' + "storage"(l- +5 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'1 +41 "core" ' +329 ( + "storage"(]& +4 "core" &K % ' \ +2 "manipulator"&& +4 "core" & :  +2 "manipulator"&x% +4 "core" % Ϩ _  +2 .tForearm.seek :retract +2 "manipulator"&L' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&U( +243 "core" ( +2 "manipulator"&2& +4 "core" &\   !t +2 "storage"(&& +3 "core" &K - # `\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +96 "core" ' +2 .tHand.open + "manipulator"&\ 1 +64 "core" 1 +3 "storage"(9- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(u' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +3 "core" -' +2 "storage"(& +4 "core" &K \ +2 "manipulator"&[& +3 "core" &\  7 !s +3 .tElbow.seek 6 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&@& +4 "core" &\   !s +2 "storage"(& +4 "core" &K O\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(D'" +59 "core" ' +2 "manipulator"&O& +4 "core" &\   !s +2 "storage"(f& +3 "core" &K % > "\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&6'< +24 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"()' +18 "core" ' + "manipulator"& % +4 "core" %1 8 +2 "storage"(>& +4 "core" &K & $ \\\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 289 counts +2 "manipulator"&h'] +15 "core" ' +2 "manipulator"&w& +3 "core" &\   w !s +3 "storage"(R& +4 "core" &K 4 A \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +25 "core" ' + "storage"(+% +4 "core" % H I \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (Q% +3 "core" %R\  E \ Xe +2 "manipulator"& % +4 "core" % % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &K 7 ,\ +2 "collection"'J& +5 "core" &\\f\ !\ ".\ N + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&N% +3 "core" %   +3 "storage"(% +4 "core" % F G 8\  + "storage"(*. +3 "core" .(K +2 "storage"(,& +43 "core" &K S S H\ +9 "storage"(I& +3 "core" &K T T e\ +3 "manipulator"&A& +4 "core" &\  > !s +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&o& +4 "core" &\  e !s +2 "storage"( & +3 "core" &K T T [\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +89 "core" ' +2 "storage"(v& +3 "core" &K F F ;\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(m- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" &\  X !r +2 "storage"(& +3 "core" &K G F T\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&a'< +18 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(G'n +31 "core" ' + "manipulator"&7% +4 "core" %B ;  +2 "storage"(M& +4 "core" &K I G j\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&y'n +16 "core" ' + "manipulator"&& +4 "core" &\   - !r +2 "storage"(S& +3 "core" &K Q J \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(=' +36 "core" ' + "manipulator"&0& +5 "core" &\   L !r + "manipulator"&P% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +149 "core" ( +2 "manipulator"&5& +3 "core" &Ӈ# l <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +2 "core" &ӈ#  <= +3 .tForearm.seek CC +2 "manipulator"&z'? +98 "core" ' + .tHand.close + "manipulator"&q/ +54 "core" / +2 .tCC.seek :open +2 "collection"'n( +446 "core" ( +2 "storage"(K& +3 "core" &K k m \ +2 "storage"(& +5 "core" &K F < !\ + "manipulator"&#& +5 "core" & ( + "manipulator"&c% +4 "core" %  G +2 .tForearm.seek :retract +2 "manipulator"&t' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +150 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(!& +5 "core" &K ~ r G\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&Y'< +95 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +57 "core" 1 +2 "manipulator"&g% +3 "core" % J  ' +2 "storage"(& +4 "core" &K m r .\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 314 counts + "manipulator"&$'v +15 "core" ' +2 "manipulator"&b& +4 "core" &   +2 "storage"(1& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +15 "core" ' +2 "storage"(% +4 "core" % \ +48 ."downElevator"SE.seek :down +5 "storage"(8' +98 (s% +3 "core" %D l n \ V_ +3 "manipulator"&Z% +4 "core" %  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"''& +3 "core" & 4\ +3 "manipulator"&3% +4 "core" %   r  +2 "storage"(\\% +3 "core" % \  +3 "storage"(X. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +665 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" &,{ k a \ +2 "manipulator"&;& +3 "core" &  y  +3 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&}& +4 "core" &  g  +2 "storage"(/& +4 "core" &,{ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(W& +4 "core" &,{  )\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,{ j l \ +3 "manipulator"&|& +4 "core" &  ,  +2 .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&& +3 "core" & \ U  +2 "storage"(& +5 "core" &,{ k k \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&l'c +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +3 "storage"(p' +7 "core" &  +2 "manipulator"&% +4 "core" % b +2 .tForearm.seek :retract +2 "manipulator"&]' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&x& +4 "core" &Ӏ!  * :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &Ӏ  n :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'? +99 "core" ' +2 "manipulator"&&& +4 "core" &ӌ  / 9$ +2 "manipulator"&(% +4 "core" %3 T ' +2 "collection"'\ & +4 "core" & H\ +2 "collection"'9& +5 "core" & &\ +3 .tCC.seek :closed +2 "collection"'.(\\ +5 "core" & v\ +7 &= w\ %g +9 &Yw \ 7 +10 &y \ J +9 &S \ K +9 &U }\ K +10 &GV x\ J +9 &V x\ K +9 &Z y\ K +10 &Y x\ K +9 &OU |\ J +10 & U y\ J +9 &!U |\ K +9 &#Y {\ K +10 &%VT y\ K +9 &'U z\ J +9 &(V |\ J +10 &*U |\ K +9 &,^Y w\ K +10 &.!U }\ J +9 &/U ~\ K +9 &1Y z\ K +10 &3gV {\ J +9 &5(W x\ K +9 &6W ~\ K +10 &8Z \ K +9 &:mW J\ K +10 &<0W @\ K +9 &=W p\ K +9 &?U y\ K +10 &AuX q\ K +9 &C7Z ~\ K +9 &Dd y\ M +10 &Fl\ \ t\ M +9 &Hn\ \ \ z\ P +10 &J&\ !\ \ T +9 &K\ &\ (\ W +9 &M\ (\ '{\ W +10 &Oa\ $\ %q\ X +9 &Q$\ %\ &k\ W +9 &R\ '\ 'q\ X +10 &T\ '\ &{\ X +9 &Vd\ '\ %r\ Y +10 &X$\ &\ &|\ Z +9 &Y\ '\ &}\ [ +9 &[\ '\ (\ H +10 &\\3\ '\ ' \ 1 +9 &\\b\ '\ (x\ J +2 ( +3 "collection"'9& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&[% +4 "core" % 3 ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &1\ +2 "manipulator"&L% +4 "core" %  h  +2 "storage"(O% +4 "core" % T P X\  + "storage"(f. +47 "core" .(,| +6 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"("(,y +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &,{  " ,\ +3 "manipulator"&>& +4 "core" &ӭ  4 +2 "manipulator"&u% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&w( +161 "core" ( +2 "manipulator"&R& +3 "core" & X  +2 "storage"(+& +5 "core" &,{ < M 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +98 "core" ' +2 "storage"(%& +4 "core" &,{ [ P `\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +298 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( & +2 "core" &,{ A ) H\ +3 "manipulator"&& +4 "core" & /  +2 .tElbow.seek 4 + "manipulator"&_( +4 "core" ( +2 "manipulator"&D& +3 "core" &  ,  +2 "storage"(6& +4 "core" &,{ J S &\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&h'c +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +3 "storage"(N' +8 "core" & x  + "manipulator"&% +4 "core" % Y +3 .tForearm.seek :retract + "manipulator"&*' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&)( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&,& +4 "core" & O , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" & x , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +98 "core" ' +2 "manipulator"&o& +3 "core" & H , +3 "manipulator"& % +3 "core" % R @ +3 "processing"%& +4 "core" &\ +2 "processing"%v& +5 "core" &2\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &0\  +9 &2x2\ )w +9 &d-\ > +10 &vu4\ N +9 &9W4\ M +9 &Z7\ M +10 &X*\ M +9 &W,\ M +10 &AY/\ M +9 &V,\ N +9 &Z6\ N +10 & \\4\ M +9 &"I[+\ M +9 &$\ [)\ N +10 &%W2\ M +9 &'V/\ M +10 &)QU*\ M +9 &+V/\ N +9 &,Z6\ N +10 &.W*\ M +9 &0YX/\ M +9 &2Y&\ M +10 &3U&\ M +9 &5Z(\ M +10 &7aZ.\ M +9 &9#]-\ M +9 &:]#\ N +10 &<[$\ M +9 &>h]\ N +9 &@+\\\ M +10 &A]"\ M +9 &Cg$\ O +10 &Elj#\ O +9 &G)v%\ Q +9 &H\ R +10 &J%\ S +9 &Lg\ S +9 &N' \ T +10 &O\ T +9 &Q%\ T +10 &Si'\ V +9 &U/'\ T +9 &V$\ T +10 &X&\ T +9 &Zs\ U +9 &\\6#\ T +10 &]{u\ ; +9 &^)r\ R +10 &^&\ 1 +2 ( +2 "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&`1 +55 "core" 1 +2 "manipulator"&{% +3 "core" %  @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +90 "core" ' +2 "processing"%F& +4 "core" &^$\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %   R  +2 "storage"(% +4 "core" % ' ' \  +2 "storage"(7. +3 "core" .(,y +2 "storage"(M& +4 "core" &,{ ) ' S\ +2 "storage"(& +3 "manipulator"&S& +7 "core" &,{ ) , $\ + &   , +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +4 "manipulator"&0( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'r +2 "core" ( +43 "manipulator"&4& +11 "core" &  , +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & ! ? , +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&a/ +59 "core" / +2 .tPC.seek :open +2 "processing"%y( +44 "core" ' +2 "storage"(G- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +40 "core" ' +358 ( + "storage"(d& +5 "core" &,{ O k \ + "manipulator"&r& +4 "core" & l , +2 "manipulator"&<% +3 "core" %  1 o +3 .tForearm.seek :retract +2 "manipulator"&q' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&-( +245 "core" ( +2 "manipulator"&C& +3 "core" & % 4 +3 "storage"(K& +4 "core" &,{ W V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' +2 .tHand.open + "manipulator" +63 "core" 1 +2 "storage"(c- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(!' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(z- +3 "core" -' +2 "storage"(~& +3 "core" &,{ e g \ +3 "manipulator"&k& +4 "core" &  \ 3 +2 .tElbow.seek 4 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&& +3 "core" & \   3 +2 "storage"(b& +4 "core" &,{ f h \ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&t& +4 "core" & 3 +2 "storage"(s& +4 "core" &,{ ) 3 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& '7 +17 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +20 "core" ' +2 "manipulator"&$% +88 "core" %,   +2 "storage"('& +4 "core" &,{ * 4 5\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 289 counts + "manipulator"&3'X +14 "core" ' + "manipulator"&\\& +5 "core" & ' 3 + "storage"(X& +4 "core" &,{ G Q [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +21 "core" ' +2 "storage"(T% +4 "core" % I S o\ +2 ."downElevator"SE.seek :down +4 "storage"(8' +98 (H% +4 "core" %@Q '\ We +2 "manipulator"&V% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (}& +2 "core" &,{ @ S $\ +3 "collection"'/& +4 "core" &\\]\ \ 9\ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&W% +4 "core" %  t  +2 "storage"(e% +3 "core" % S T v\  +2 "storage"(. +3 "core" .(,y +2 "storage"(j& +4 "core" &,{ V W /\ +2 "storage"(& +4 "core" &,{ U V\ +2 "manipulator"&|& +4 "core" & # 3 +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +46 "manipulator"&& +6 "core" & ^ 3 +2 "storage"(& +4 "core" &,{ T T +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +92 "core" ' +2 "storage"(& +4 "core" &,{ k k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" & 3 +3 "storage"(B& +4 "core" &,{ T S \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& '7 +18 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(('d +29 "core" ' +2 "manipulator"&\ % +4 "core" %H 2 4 + "storage"(i& +5 "core" &,{ J G (\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&p't +16 "core" ' +2 "manipulator"&]& +4 "core" & 3 + "storage"(n& +5 "core" &,{ S Q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"([' +36 "core" ' +2 "manipulator"&& +4 "core" & a 3 +2 "manipulator"&L% +4 "core" %  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&f(ӂ +151 "core" ( +2 "manipulator"&9& +3 "core" &ӓ 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &ӓ 4 +3 .tForearm.seek CC +3 "manipulator"&>'? +92 "core" ' + .tHand.close +2 "manipulator"&u/ +56 "core" / +2 .tCC.seek :open +2 "collection"'2( +447 "core" ( + "storage"(R& +4 "core" &,{ i l \ +2 "storage"(+& +4 "core" &,{ _ j \ +2 "manipulator"&& +4 "core" &Ӝ V 3 + "manipulator"&%% +5 "core" % O 9 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&@( +162 "core" ( + "manipulator"&Q& +4 "core" &    +2 "storage"( & +4 "core" &,{ f ] S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +100 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&61 +61 "core" 1 +2 "manipulator"&E% +4 "core" % 1  +  +2 "storage"(J& +4 "core" &,{ k k \ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 294 counts + "manipulator"&'] +16 "core" ' + "manipulator"&w& +4 "core" &   +2 "storage"(U& +4 "core" &,{ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +26 "core" ' +2 "storage"(h% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(,' +98 (I% +3 "core" %L O m \ Va +2 "manipulator"&_% +5 "core" %   +41 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' +2 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +4 "core" &  \ +2 "manipulator"&% +4 "core" % \  s  +2 "storage"(N% +4 "core" % \  +2 "storage"(*. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(^(<- +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (`& +2 "core" &<* K S d\  +3 "manipulator"&{& +3 "core" & ,  +3 .tElbow.seek 5 +2 "manipulator"&F( +5 "core" ( +2 "manipulator"&& +4 "core" &  h ~ +2 "storage"(& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +101 "core" ' +2 "storage"(M& +3 "core" &<* |  (\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'r +293 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &<* ] g a\  +2 "manipulator"&4& +4 "core" & s ~ +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&A& +4 "core" &  > ~ +2 "storage"(a& +3 "core" &<* j j \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&G'Ϲ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +3 "storage"(' +7 "core" & G ~ +2 "manipulator"&P% +4 "core" % ϱ l +2 .tForearm.seek :retract +2 "manipulator"&d' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&<& +3 "core" &ӄ# & <= +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӄ# \  <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&C'? +98 "core" ' + "manipulator"&K& +5 "core" &ӆ#  L <; + "manipulator"&0% +4 "core" %C i  +3 "collection"'#& +3 "core" & \ +4 "collection"'c& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'z(\\ +5 "core" & \ +7 &; U\ $d +9 &Wv \ 6 +9 &y \ K +10 &U {\ K +9 &|U \ K +9 &>V z\ K +10 &U <\ K +9 &U @\ K +10 &X r\ K +9 &GV \ J +9 & V \ K +10 &!U \ J +9 &#W y\ K +10 &%NT |\ K +9 &'U Y\ K +9 &(Y \ K +10 &*U C\ K +9 &,VZ \ K +9 &.V \ J +10 &/V \ K +9 &1U Q\ K +10 &3^V \ K +9 &5 U \ K +9 &6U \ K +10 &8U \ K +9 &:eW \ K +9 &<(X \ K +10 &=W \ K +9 &?X \ K +10 &AmY \ K +9 &C.^ \ L +9 &Dc \ L +10 &Fo\ \ \ N +9 &Hf\ \ \ P +9 &J\ $\ h\ U +10 &K\ *\ *m\ V +9 &M\ )\ )\ Y +9 &OY\ (\ )=\ X +10 &Q\ &\ %\ X +9 &R\ '\ 'g\ Y +10 &T\ %\ '~\ Y +9 &V\\\ (\ '\ Y +9 &X\ &\ )n\ Z +10 &Y\ %\ *~\ \\ +9 &[\ (\ )\ H +10 &\\;\ *\ *|\ + +9 &\\\ '\ *~\ U +2 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&~1 +64 "core" 1 +2 "manipulator"&k% +4 "core" % C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%b& +3 "core" &7\ +2 "manipulator"&q% +4 "core" %  %  +2 "storage"(t% +4 "core" % - * T\  +2 "storage"(s. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(5(<- +4 "core" ( + .tSC.configure :limp +48 "storage"($\ 1b +4 (& +3 "core" &<+ J _\  +3 "manipulator"&$& +4 "core" &Ӥ 8 +2 "manipulator"&'% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\\( +164 "core" ( + "manipulator"&X& +4 "core" & %  +2 "storage"(-& +4 "core" &<* S P W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(T& +4 "core" &<* T S y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +295 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &<* & % 2\  +2 "manipulator"&H& +4 "core" & S  +2 .tElbow.seek 5 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&& +4 "core" &  >  +2 "storage"( & +4 "core" &<* P S [\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&3'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& +2 "storage"(W' +7 "core" &  +2 "manipulator"&e% +4 "core" % ϼ  6 +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&j& +4 "core" & M 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & A 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&|' +103 "core" ' +2 "manipulator"&& +3 "core" &  S 4 +3 "manipulator"&% +3 "core" % +3 "processing"%=& +4 "core" &\ \ +2 "processing"%& +5 "core" &2\ +3 .tPC.seek :closed +2 "processing"%8(^ +4 "core" &7\ +6 &77\ #b +9 &U~8\ 6 +10 &~=\ K +9 &V6\ M +9 &]Y6\ N +10 &!W8\ M +9 &[6\ M +9 &Y8\ N +10 &fX4\ M +9 &'W3\ N +10 &Y2\ N +9 &!Y4\ N +9 &#nY4\ M +10 &%0W5\ M +9 &&W5\ M +9 &(\\8\ N +10 &*vZ6\ M +9 &,8W7\ M +10 &-U4\ M +9 &/\\:\ M +9 &1~Z6\ M +10 &3@Y7\ M +9 &5V7\ M +9 &6[7\ M +10 &8]8\ M +9 &:H[7\ M +10 &< X5\ N +9 &=Z6\ N +9 &?W7\ M +10 &AP[3\ M +9 &Cc+\ O +10 &Dh6\ O +9 &Fs*\ P +9 &HJ)\ R +10 &J*\ S +9 &K*\ T +9 &M+\ T +10 &OM'\ T +9 &Q1\ T +9 &R/\ T +10 &T,\ U +9 &VT/\ T +10 &X*\ T +9 &Y)\ T +9 &[*\ T +10 &]Y)\ C +9 &^Dv+\ !b +9 &^/*\ 0 +6 ( +2 "processing"%& +4 "core" &^*\ 0 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&Z1 +63 "core" 1 + "manipulator"&;% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%x& +3 "core" &^)\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&B% +4 "core" %     +2 "storage"(&% +4 "core" % ! &\  +2 "storage"(\ . +3 "core" .(<- +2 "storage"(i& +4 "core" &<* ' &\  +2 "storage"(]& +3 "manipulator"&n& +6 "core" &<* % & 8\  + &   4 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&L( +7 "core" ( +2 "manipulator"&?& +4 "core" & \  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  " 4 +48 .tForearm.seek PC +3 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / +2 .tPC.seek :open +2 "processing"%p( +45 "core" ' +2 "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'1 +38 "core" ' +358 ( +2 "storage"( & +3 "core" &<* I G )\  +3 "manipulator"&& +3 "core" & } 4 +2 "manipulator"&l% +4 "core" %  J S +2 .tForearm.seek :retract +2 "manipulator"&u' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&O( +244 "core" ( +2 "manipulator"&.& +4 "core" &  @ +2 "storage"(R& +4 "core" &<* 4 G s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +92 "core" ' + .tHand.open + "manipulator"&1 +59 "core" 1 +2 "storage"(%- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(Q' +28 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(>- +3 "core" -' +2 "storage"(f& +4 "core" &<* - . c\  +2 "manipulator"&6& +4 "core" &   @ +2 .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&J& +3 "core" &   M @ +2 "storage"(w& +4 "core" &<* , + m\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(h'" +57 "core" ' +2 "manipulator"&& +3 "core" & @ +3 "storage"(I& +4 "core" &<* " + E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&_'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"& % +3 "core" %Ο  +3 "storage"(& +4 "core" &<* , # E\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 318 counts + "manipulator"&' +17 "core" ' + "manipulator"&N& +4 "core" &  o @ +2 "storage"(*& +3 "core" &<* ) & E\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&['O +14 "core" ' +2 "storage"(:% +4 "core" % H 5 \ +2 ."downElevator"SE.seek :down +4 "storage"(,' +98 ("% +3 "core" %=Q M *\ Xf +3 "manipulator"&`% +4 "core" %V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<* 8  ;\  +3 "collection"'& +3 "core" &\\z\ \ |\ U +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&M% +4 "core" %    +2 "storage"(D% +3 "core" % F F 0\  +2 "storage"(o. +3 "core" .(<- +2 "storage"(& +4 "core" &<* E G _\  +2 "storage"(v& +4 "core" &<* F F =\  +2 "manipulator"&4& +4 "core" & @ +2 .tElbow.seek 5 +2 "manipulator"&A( +4 "core" ( + "manipulator"&a& +4 "core" & @ +2 "storage"()& +4 "core" &<* F G (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +46 .tForearm.seek 5 + 450 counts +5 "manipulator"&m'O +97 "core" ' +2 "storage"(P& +4 "core" &<* T T E\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(F'r +307 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" & @ +3 "storage"(& +3 "core" &<* F B \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&S'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(K- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(0't +31 "core" ' + "manipulator"&#% +4 "core" %Ν  3 +2 "storage"(& +4 "core" &<* . + P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&d& +4 "core" & " @ +2 "storage"(2& +3 "core" &<* J \\ U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(k' +34 "core" ' +2 "manipulator"&b& +3 "core" & @ +3 "manipulator"&q% +4 "core" %V ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +151 "core" ( + "manipulator"&c& +3 "core" &Ӎ 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӎ 5 +2 .tForearm.seek CC +2 "manipulator"&$'? +96 "core" ' +2 .tHand.close + "manipulator"&'/ +58 "core" / +2 .tCC.seek :open +2 "collection"'C( +446 "core" ( +3 "storage"(X& +4 "core" &<* g ] C\  +2 "storage"(-& +3 "core" &<* j a \  +3 "manipulator"&^& +4 "core" &Ӣ  ? 2 + "manipulator"&T% +5 "core" % S  s +2 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&1& +4 "core" & s  +2 "storage"(g& +3 "core" &<* \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&H'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +55 "core" 1 +2 "manipulator"&}% +4 "core" % |  9 S +2 "storage"(/& +4 "core" &<*  0\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 283 counts +2 "manipulator"&e'Ϩ +13 "core" ' +2 "manipulator"&\\& +4 "core" &  n  +2 "storage"(& +3 "core" &<* \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +27 "core" ' +2 "storage"(3% +3 "core" % y V\ +3 ."downElevator"SE.seek :down +4 "storage"(j' +98 (% +3 "core" %6G m l \ V` +2 "manipulator"&V% +5 "core" %w  [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +85 "core" ' +55 ' + ."downElevator"SE.stop +40 "storage"(5 +10 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&=% +4 "core" %    +2 "storage"(W% +3 "core" % \  +2 "storage"(. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(y(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" &K g W a\  +2 "manipulator"&;& +4 "core" & g  +2 .tElbow.seek 6 +2 "manipulator"&x( +4 "core" ( +2 "manipulator"&B& +4 "core" &  W  +2 "storage"(&& +4 "core" &K z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +97 "core" ' + "storage"(i& +5 "core" &K } \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (n& +2 "core" &K a i ]\  +3 "manipulator"&?& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&|& +4 "core" & >  + "storage"( & +4 "core" &K j j \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&('h +12 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(8' +7 "core" &  +3 "manipulator"&% +4 "core" % ^  o u +2 .tForearm.seek :retract +2 "manipulator"& ' +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&l& +3 "core" &y#  f << +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y# ` << +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&.'? +99 "core" ' + "manipulator"&R& +5 "core" &y#  = << + "manipulator"&L% +5 "core" %F  +2 "collection"'& +3 "core" & \ +3 "collection"'%& +6 "core" & \ +3 .tCC.seek :closed +2 "collection"'>(\\ +4 "core" & \ +7 &; \ %f +9 &Y{ \ 7 +9 &x \ K +10 &T \ K +9 &Z \ K +9 &MV \ J +10 &V \ K +9 &Y \ K +10 &X \ K +9 &UU \ J +9 & U \ J +10 &!U \ K +9 &#Z \ K +9 &%\\X B\ K +10 &'S \ K +9 &(U \ J +10 &*U \ J +9 &,dV \ K +9 &.&X \ K +10 &/S \ K +9 &1U \ K +9 &3lV \ K +10 &5.Y \ K +9 &6U \ K +10 &8V \ K +9 &:tW \ K +9 &<5[ \ K +10 &=X \ K +9 &?\\ \ K +9 &Az_\ \ \ L +10 &C;c\ \ \ L +9 &Di\ \ \ M +10 &Fu\ \ \ N +9 &Ho\ \ \ R +9 &J'\ ,\ (\ V +10 &K\ +\ ,\ X +9 &M\ )\ *\ W +9 &Og\ (\ (\ X +10 &Q(\ )\ (\ X +9 &R\ (\ (\ Y +10 &T\ )\ )\ Z +9 &Vi\ (\ (\ Z +9 &X)\ )\ (\ Z +10 &Y\ )\ )\ [ +9 &[\ )\ (\ I +9 &\\+\ (\ (\ ; +10 &\\s\ '\ '\ N +5 ( +2 "collection"'%& +5 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&f1 +4 "core" &\\e\ $\ '\ N +52 1 +3 "manipulator"&6% +4 "core" % L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%w& +4 "core" &9\ +2 "manipulator"&u% +4 "core" %    +2 "storage"(% +3 "core" % F G <\  +2 "storage"(I. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(9(K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K G G \ +2 "manipulator"&& +4 "core" &  & +2 "manipulator"&Q% +4 "core" %   +49 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&N( +145 "core" ( + "manipulator"&*& +4 "core" &    +3 "storage"(:& +4 "core" &K W V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +101 "core" ' + "storage"(+& +4 "core" &K k k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +299 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +2 "core" &K R G (\ +3 "manipulator"&U& +4 "core" & G  +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&h& +4 "core" &  q  + "storage"(_& +5 "core" &K U V p\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(M' +6 "core" & s  +3 "manipulator"&D% +4 "core" % g { +2 .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&& +4 "core" & x \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" & } \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&4' +90 "core" ' +2 "manipulator"&a& +3 "core" & Q \ +3 "manipulator"&)% +4 "core" % s +2 "processing"%[& +3 "core" &B\ +3 "processing"%P& +5 "core" &E\ +2 .tPC.seek :closed +2 "processing"%,(^ +5 "core" &?\  +9 &4{C\ *x +9 &d?\ > +10 &s@\ N +9 &DY?\ M +9 &Y=\ M +10 &W7\ M +9 &V7\ M +10 &LU7\ M +9 &[7\ M +9 &Z7\ M +10 & [5\ M +9 &"TZ8\ M +9 &$\\;\ M +10 &%X8\ N +9 &'Y3\ N +10 &)[Y7\ N +9 &+Y8\ M +9 &,V6\ M +10 &.U7\ M +9 &0dZ8\ M +9 &2&\\6\ M +10 &3[4\ M +9 &5Y8\ N +10 &7mV6\ M +9 &9-]3\ N +9 &:[6\ N +10 &<W3\ M +9 &>sY7\ N +9 &@6]7\ M +10 &A_8\ N +9 &Ci6\ O +10 &Evl7\ O +9 &G5t8\ P +9 &H8\ R +10 &J7\ S +9 &Ls7\ S +9 &N2,\ T +10 &O6\ S +9 &Q7\ T +10 &Sv1\ U +9 &U:6\ T +9 &V*\ T +10 &X7\ U +9 &Z},\ U +9 &\\@(\ U +10 &]zu*\ 8 +9 &^/-\ M +9 &^)\ - +3 ( +2 "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&@1 +62 "core" 1 +2 "manipulator"&{% +4 "core" %  ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7' +92 "core" ' + "processing"%<& +4 "core" &^*\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %  \   +3 "storage"(K% +4 "core" % # , \  +2 "storage"(#. +2 "core" .(K +2 "storage"(& +3 "core" &K ' ' \ +3 "storage"(d& +3 "manipulator"&2& +7 "core" &K * # \ + &    \ +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&b( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(q'r +4 "core" ( + "manipulator"&m& +4 "core" &   c \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &   ? \ +2 .tForearm.seek PC +2 "manipulator"&F' +95 "core" ' +2 .tHand.close + "manipulator"&S/ +53 "core" / +42 .tPC.seek :open +9 "processing"%( +52 "core" ' +2 "storage"(c- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(0'1 +40 "core" ' +350 ( +2 "storage"(& +4 "core" &K 9 < O\ + "manipulator"&~& +5 "core" &  A \ + "manipulator"&G% +5 "core" %   T T +2 .tForearm.seek :retract +2 "manipulator"&'' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&t( +241 "core" ( + "manipulator"&z& +4 "core" &  B +2 "storage"(X& +3 "core" &K Q I \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +99 "core" ' + .tHand.open + "manipulator"&^1 +58 "core" 1 +3 "storage"(T- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(g' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"($- +3 "core" -' +2 "storage"(s& +4 "core" &K O\ +2 "manipulator"& & +3 "core" &   A B +3 .tElbow.seek 6 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&/& +4 "core" &  " B + "storage"(\\& +5 "core" &K M\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +51 "core" ' +2 "manipulator"&r& +4 "core" &  B +2 "storage"(& +3 "core" &K 4 ) 6\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&V'< +20 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(H' +19 "core" ' +2 "manipulator"&e% +4 "core" %N @ 2 +2 "storage"(k& +4 "core" &K # " d\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&'z +13 "core" ' +2 "manipulator"&=& +4 "core" & 7 B +2 "storage"(W& +4 "core" &K F G #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(!% +3 "core" % F G \ +3 ."downElevator"SE.seek :down +4 "storage"(j' +99 (5% +3 "core" %]W H Z\ Wf +2 "manipulator"&Z% +4 "core" % 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&;' +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 (B& +3 "core" &K A -\ +2 "collection"'&& +3 "core" &\\e\ \ \ N +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&i% +4 "core" %  K  +2 "storage"(% +3 "core" % S P E\  +3 "storage"(. +2 "core" .(K +2 "storage"(]& +4 "core" &K F F \ +2 "storage"(n& +4 "core" &K S S ,\ +2 "manipulator"&?& +3 "core" & \\ B +3 .tElbow.seek 6 +2 "manipulator"&|( +4 "core" ( + "manipulator"& & +4 "core" &  [ B +2 "storage"(Y& +3 "core" &K S S '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(& +4 "core" &K F F :\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +49 .tSE.seek :beamBreak +3 "storage"(x'r +299 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" & U B +2 "storage"(& +3 "core" &K J H -\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +13 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(L'm +32 "core" ' +2 "manipulator"&% +4 "core" %O [ N + "storage"(& +5 "core" &K G I \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&8'{ +15 "core" ' +2 "manipulator"& & +3 "core" & \ B +2 "storage"(C& +5 "core" &K G I \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(6' +36 "core" ' +2 "manipulator"&w& +4 "core" &  B + "manipulator"&u% +5 "core" %  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +151 "core" ( +2 "manipulator"&%& +3 "core" &Ӛ 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &Ӛ H 6 +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close +2 "manipulator"&Q/ +57 "core" / +2 .tCC.seek :open +2 "collection"'.( +447 "core" ( + "storage"(*& +4 "core" &K ] i \ +2 "storage"(:& +4 "core" &K h j \ +2 "manipulator"&y& +4 "core" & Q & +2 "manipulator"&+% +4 "core" %  Z +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&J( +150 "core" ( +2 "manipulator"&"& +4 "core" & G  +2 "storage"(`& +4 "core" &K '\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&U'< +95 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&_1 +64 "core" 1 +2 "manipulator"&% +4 "core" % 8   8 +2 "storage"(& +4 "core" &K \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 296 counts + "manipulator"&D'd +15 "core" ' +2 "manipulator"&N& +4 "core" &  n  +2 "storage"(O& +3 "core" &K U\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +15 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (v% +3 "core" %J 9 > \ Va +2 "manipulator"&E% +3 "core" %   R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +96 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"')& +3 "core" & \ +2 "manipulator"&[% +4 "core" % ! % +2 "storage"(M% +46 "core" % \  +6 "storage"(o. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(p(,y +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (@& +2 "core" &,x m i \ +3 "manipulator"&{& +3 "core" & Z  +3 .tElbow.seek 4 + "manipulator"&<( +5 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(K& +3 "core" &,x q k ?\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +102 "core" ' + "storage"(& +4 "core" &,x x \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +295 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &,x ` ] \ +2 "manipulator"&m& +4 "core" &  |  +2 .tElbow.seek 4 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&4& +4 "core" & \  +2 "storage"(S& +3 "core" &,x b r \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&c'c +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& + "storage"(,' +8 "core" &  ^  +2 "manipulator"&q% +3 "core" % a 0 +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&G& +4 "core" &ӝ 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &ӝ  | 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&z'? +103 "core" ' +2 "manipulator"&X& +4 "core" &ӝ  W 3 +2 "manipulator"&b% +4 "core" %B   u +2 "collection"'^& +4 "core" & \ +3 "collection"'T& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'$(\\ +4 "core" & \  +9 &4~ \ +{ +10 &f \ > +9 &q \ L +9 &^T \ K +10 & U \ K +9 &W \ J +9 &U \ J +10 &gV \ J +9 &(Y \ K +10 &Y \ K +9 & Y \ J +9 &"oV \ J +10 &$0V \ K +9 &%Y \ K +9 &'Y \ K +10 &)vY \ K +9 &+8Y \ K +10 &,Z \ K +9 &.Y \ K +9 &0~Z \ K +10 &2@Y \ K +9 &4Y \ K +9 &5U \ K +10 &7W \ J +9 &9IW \ J +10 &;\ X \ K +9 &<W \ J +9 &>X \ K +10 &@QW \ J +9 &BZ \ L +10 &C^ \ L +9 &Eg \ M +9 &GOu\ \ \ N +10 &I\ \ \ Q +9 &J\ '\ "\ U +9 &L}\ &\ (\ V +10 &N<\ &\ %\ W +9 &O\ $\ &\ X +9 &Q\ %\ $\ X +10 &S\ %\ &\ X +9 &U?\ $\ %\ Y +10 &V\ $\ $\ Z +9 &X\ #\ %\ Z +9 &Z\ '\ &\ [\ +10 &\\$y\ '\ '\ / +9 &\\.\ '\ &\ [ +10 ( &\\a\ %\ $\ M +3 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&s1 +56 "core" 1 +2 "manipulator"& % +4 "core" % B  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%\\& +4 "core" &@\ +2 "manipulator"&'% +3 "core" %  0  +3 "storage"(r% +4 "core" % F F 1\  + "storage"(. +3 "core" .(,y +2 "storage"(e& +4 "core" &,x I G k\ +2 "storage"(k& +3 "core" &,x I F V\ +3 "manipulator"&0& +4 "core" &ө  2 +2 "manipulator"&=% +4 "core" %  ,  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&W( +162 "core" ( +2 "manipulator"&1& +4 "core" &  T  +2 "storage"(!& +4 "core" &,x V U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +49 "manipulator"&t' +93 "core" ' +2 "storage"(-& +4 "core" &,x l k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(g'r +298 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Z& +2 "core" &,x S V r\ +3 "manipulator"&& +4 "core" & K  +2 .tElbow.seek 4 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&3& +4 "core" & D  +2 "storage"(V& +3 "core" &,x V W $\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"(i' +8 "core" & E  + "manipulator"&% +5 "core" % u J +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +3 .tElbow.seek PC + "manipulator"&H( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&]& +4 "core" & G 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &  0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +94 "core" ' + "manipulator"& & +4 "core" & \ M 0 +2 "manipulator"&Y% +4 "core" % G b +2 "processing"%& +4 "core" &\ +3 "processing"%& +4 "core" &F\ +3 .tPC.seek :closed +2 "processing"%j(^ +5 "core" &E\ +7 &8G\ #c +9 &UE\ 7 +9 &}@\ L +10 &U?\ M +9 &eW?\ N +9 &(UB\ M +10 &WB\ M +9 &U>\ M +10 &nT7\ M +9 &0V6\ M +9 &U6\ M +10 &!V2\ M +9 &#vV5\ M +9 &%9U7\ M +10 &&[=\ M +9 &(Z>\ M +10 &*}Y@\ N +9 &,@Y9\ M +9 &.UA\ M +10 &/\\7\ N +9 &1Y>\ M +9 &3HZ<\ M +10 &5\ X8\ M +9 &6U@\ M +10 &8W7\ N +9 &:OY3\ N +9 &<X5\ M +10 &=W5\ N +9 &?W5\ M +9 &AXZ4\ M +10 &Ca5\ O +9 &De3\ O +10 &Fo4\ P +9 &HS~5\ R +9 &J8\ S +10 &K7\ S +9 &M7\ T +9 &OV4\ S +10 &Q7\ T +9 &R6\ T +10 &T7\ U +9 &V\\6\ T +9 &X4\ U +10 &Y1\ U +9 &[4\ T +9 &]b1\ B +10 &^Cx/\ ^ +9 &^62\ 1 +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&1 +3 "core" &^"2\ 1 +59 1 +2 "manipulator"&;% +3 "core" %   b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' + "processing"%l& +4 "core" &^"*\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %    k  +2 "storage"(R% +3 "core" % ' ' \  +2 "storage"(. +3 "core" .(,y +2 "storage"(& +4 "core" &,x % 3 3\ +2 "storage"( & +3 "manipulator"&C& +7 "core" &,x ' ( \ + &  ; 0 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(w'r + "manipulator"&u( +7 "core" ( + "manipulator"&& +4 "core" & \ l 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &    0 +3 .tForearm.seek PC + "manipulator"&x' +93 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%8( +94 "core" ' +2 "storage"(L- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(%'1 +46 "core" ' +302 ( +2 "storage"( & +49 "core" &,x S S \ +4 "manipulator"&f& +4 "core" & j 0 + "manipulator"&(% +4 "core" %  S p +3 .tForearm.seek :retract + "manipulator"&Q' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +248 "core" ( +2 "manipulator"&>& +4 "core" &  e +2 "storage"(*& +3 "core" &,x E E $\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +97 "core" ' +2 .tHand.open + "manipulator"&y1 +64 "core" 1 +2 "storage"(+- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"("' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(I& +4 "core" &,x \ +2 "manipulator"&_& +4 "core" &  d +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  \  d +2 "storage"(N& +4 "core" &,x v i n\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&& +4 "core" &  e d + "storage"(v& +4 "core" &,x ? / /\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&E'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(U' +19 "core" ' +2 "manipulator"&)% +4 "core" %: ) G +2 "storage"([& +4 "core" &,x , - /\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 303 counts + "manipulator"&D'f +14 "core" ' + "manipulator"&M& +5 "core" &   Y d + "storage"(6& +4 "core" &,x E D S\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +16 "core" ' +2 "storage"( % +3 "core" % I R -\ +4 ."downElevator"SE.seek :down +4 "storage"(' +98 (9% +3 "core" %NU S\  T\ Wf +2 "manipulator"&@% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,x < 5 %\ +2 "collection"'K& +4 "core" &\\a\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  8 ! +2 "storage"(h% +4 "core" % F F \  +2 "storage"(a. +3 "core" .(,y +2 "storage"(2& +3 "core" &,x P R b\ +3 "storage"(d& +4 "core" &,x I Q U\ + "manipulator"&m& +4 "core" &   ` d +2 .tElbow.seek 4 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&S& +4 "core" &   _ d +2 "storage"(& +4 "core" &,x F F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +93 "core" ' + "storage"(q& +4 "core" &,x < 8 g\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +295 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" &  d +2 "storage"(F& +5 "core" &,x > ' L\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +49 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&P'7 +23 "core" ' +2 .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(b'f +29 "core" ' +2 "manipulator"&A% +4 "core" %# O s + "storage"(^& +4 "core" &,x Q J \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 280 counts + "manipulator"&,'O +16 "core" ' + "manipulator"&& +4 "core" &  d +2 "storage"(.& +4 "core" &,x P I ?\ +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +22 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"( ' +42 "core" ' +2 "manipulator"&\\& +3 "core" &  9 d +3 "manipulator"&'% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&e& +4 "core" &Ӆ% >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &Ӆ% % >M +2 .tForearm.seek CC +2 "manipulator"&k'? +97 "core" ' +2 .tHand.close + "manipulator"&0/ +61 "core" / +2 .tCC.seek :open +2 "collection"'=( +447 "core" ( + "storage"(z& +4 "core" &,x l k c\ +2 "storage"(1& +4 "core" &,x h j \ + "manipulator"&!& +5 "core" &ӭ  Y 9% + "manipulator"&~% +4 "core" % 6   +2 .tForearm.seek :retract +2 "manipulator"&-' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&/( +165 "core" ( +2 "manipulator"&5& +4 "core" &  ~ } + "storage"(Z& +5 "core" &,x \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +96 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&V1 +64 "core" 1 +2 "manipulator"&B% +3 "core" % -  4 [ +2 "storage"(&& +4 "core" &,x \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 290 counts + "manipulator"&'Y +14 "core" ' +2 "manipulator"&W& +4 "core" & \  o } +2 "storage"(t& +4 "core" &,x \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +26 "core" ' +2 "storage"(% +4 "core" % x q\ +3 ."downElevator"SE.seek :down +3 "storage"(]' +99 (n% +2 "core" %C l m r\ V_ +3 "manipulator"&}% +4 "core" % t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'Y& +4 "core" & \ +2 "manipulator"&% +4 "core" %   +2 "storage"(i% +4 "core" % U\  +2 "storage"(. +2 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<* Q Z V\  +2 "manipulator"&;& +46 "core" &  ! } +6 .tElbow.seek 5 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&& +3 "core" &  } +3 "storage"(R& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + "storage"(& +4 "core" &<* | Z\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (C& +3 "core" &<) m n j\  +2 "manipulator"&& +3 "core" &  } +3 .tElbow.seek 5 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&?& +3 "core" & C } +2 "storage"(& +4 "core" &<) ] ^ >\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&L'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"(j' +8 "core" &  + } +2 "manipulator"&w% +4 "core" % ϳ +2 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&(& +3 "core" &ӎ  L , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +2 "core" &ӎ J , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&>'? +99 "core" ' +2 "manipulator"&*& +4 "core" &ӎ  , +2 "manipulator"&u% +3 "core" %:  +3 "collection"'y& +4 "core" & \ +2 "collection"'+& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +8 &= \ $e +9 &Wv \ 6 +9 &y \ K +10 &T \ J +9 &|U \ K +10 &>U \ K +9 &U \ K +9 &T \ K +10 &T \ K +9 &FU \ K +9 & T \ K +10 &!Y \ K +9 &#Z \ K +10 &%OY \ J +9 &'V \ J +9 &(V \ J +10 &*V \ J +9 &,WW \ K +9 &.Y \ J +10 &/U \ J +9 &1X \ K +10 &3_Y \ K +9 &5!Y \ K +9 &6T \ K +6 "Can") B@ +4 "core" &8V \ J +9 &:gW \ K +9 &<(Z \ K +10 &=Z \ K +9 &?X \ K +10 &AmW \ K +9 &C/Y \ K +9 &Dc\ \ L +10 &Fn\ \ \ N +9 &Hg\ \ \ P +9 &J\ "\ \ T +10 &K\ +\ )\ V +9 &M\ *\ )\ W +10 &OZ\ (\ (\ W +9 &Q\ &\ '\ W +9 &R\ '\ '\ X +10 &T\ &\ (\ X +9 &V\\\ (\ &\ Y +9 &X\ '\ '\ [ +10 &Y\ (\ (\ [ +9 &[\ *\ +\ H +10 &\\9\ (\ *\ - +9 &\\f\ (\ )\ J +2 ( +2 "collection"'+& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&I1 +63 "core" 1 + "manipulator"&_% +4 "core" % G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%N& +4 "core" &E\ +2 "manipulator"&Q% +4 "core" %  O  +2 "storage"(% +4 "core" % P I D\  + "storage"(v. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"()(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" &<* M R\  +2 "manipulator"&%& +5 "core" &ӎ \ , + "manipulator"&M% +4 "core" %  S  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&"( +159 "core" ( +2 "manipulator"&6& +3 "core" &  +3 "storage"( & +4 "core" &<* M V ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +121 "core" ' +2 "storage"(:& +4 "core" &<* k k \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +50 .tSE.seek :beamBreak +3 "storage"(`'r +296 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &<* * 3 %\  +3 "manipulator"&O& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  M  +3 "storage"(E& +4 "core" &<* F J \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&D/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& +2 "storage"(' +7 "core" & E  +2 "manipulator"&h% +3 "core" %  ` +3 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&U( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&2& +4 "core" & V P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" & P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&m' +94 "core" ' +2 "manipulator"&S& +4 "core" & ; P +2 "manipulator"&% +4 "core" % _ +2 "processing"%o& +3 "core" &\ +3 "processing"%q& +5 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &F\ +7 &7F\ #c +9 &TyF\ 6 +10 &~}E\ K +9 &WC\ M +9 &[XD\ N +10 &WH\ N +9 &X@\ N +10 &XB\ M +9 &dT9\ M +9 &&Z6\ M +10 &Z6\ M +9 &!W<\ N +9 &#kX<\ N +10 &%.W4\ M +9 &&\\=\ M +10 &([<\ M +9 &*sY@\ N +9 &,5ZA\ N +10 &-W>\ M +9 &/[B\ M +9 &1|Z=\ M +10 &3>Y<\ M +9 &5UB\ M +10 &6Y@\ N +9 &8Z;\ N +9 &:FY=\ M +10 &<YA\ M +9 &=Z=\ N +9 &?W<\ M +10 &AN[A\ M +9 &C c@\ O +10 &Dh=\ O +9 &FqA\ P +9 &HH=\ R +10 &J;\ S +9 &K>\ S +9 &M5\ S +10 &OK4\ T +9 &Q 6\ T +10 &R?\ T +9 &T>\ U +9 &VR3\ T +10 &X>\ T +9 &Y:\ T +9 &[5\ U +10 &]X6\ C +9 &^Fx>\ \\ +10 &^@3\ 3 +5 ( +2 "processing"%q& +4 "core" &^&6\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&J1 +60 "core" 1 + "manipulator"&{% +4 "core" %   _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +98 "core" ' +3 "processing"%G& +4 "core" &^&\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&F% +4 "core" %    +2 "storage"(X% +3 "core" % / 5 \  +2 "storage"(A. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(^(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +5 "core" &<+\ \ T <\  +2 "manipulator"&.& +3 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &  P +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(\\'r + "manipulator"&'( +24 "core" ( + "manipulator"&7& +4 "core" &   5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &  \  +3 .tForearm.seek PC +2 "manipulator"&<' +95 "core" ' +2 .tHand.close + "manipulator"&P/ +55 "core" / +2 .tPC.seek :open +2 "processing"%,( +74 "core" ' + "storage"(b- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'1 +47 "core" ' +322 ( + "storage"(T& +4 "core" &<) T T @\  +41 "manipulator"&s& +11 "core" & } +2 "manipulator"&c% +5 "core" %  o U +2 .tForearm.seek :retract +2 "manipulator"&0' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&r( +252 "core" ( + "manipulator"&$& +4 "core" & x  +2 "storage"(z& +3 "core" &<) T S j\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +124 "core" ' +2 .tHand.open + "manipulator"&!1 +55 "core" 1 +2 "storage"(~- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(5' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Z' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +3 "core" -' +2 "storage"(& +4 "core" &<) p g \  +2 "manipulator"&V& +3 "core" &   +3 .tElbow.seek 5 +2 "manipulator"&B( +11 "core" ( +2 "manipulator"&&& +3 "core" & \   l +3 "storage"(W& +3 "core" &<) i o \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&-& +4 "core" & p l +2 "storage"(n& +4 "core" &<) <  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&}'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&Y% +4 "core" %Λ C  +2 "storage"(& +4 "core" &<) V W\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts + "manipulator"&' +27 "core" ' + "manipulator"&i& +5 "core" & q l + "storage"(& +5 "core" &<) T S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +16 "core" ' +2 "storage"(g% +4 "core" % W V\ +3 ."downElevator"SE.seek :down +4 "storage"(]' +98 (p% +2 "core" %<T $ '\ Wf +3 "manipulator"&% +4 "core" %/   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<) > H \  +2 "collection"'R& +4 "core" &\\c\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +5 "core" %   ! + "storage"(3% +4 "core" % T S e\  +2 "storage"( . +3 "core" .(<- +2 "storage"( & +3 "core" &<) U T \  +3 "storage"(C& +3 "core" &<) U P \  +2 "manipulator"&& +4 "core" & j l +2 .tElbow.seek 5 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&& +4 "core" & y l +2 "storage"(H& +3 "core" &<) T T p\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +99 "core" ' +2 "storage"(w& +4 "core" &<) k l \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" & l +3 "storage"(x& +4 "core" &<) I Q .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +42 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(u't +30 "core" ' +2 "manipulator"&|% +4 "core" %΍ \ + +2 "storage"(y& +3 "core" &<) J T \\\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 300 counts + "manipulator"&j'Ϲ +16 "core" ' + "manipulator"& & +4 "core" & 8 l +2 "storage"(=& +5 "core" &<) W V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +23 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(_' +36 "core" ' + "manipulator"&N& +5 "core" & h l + "manipulator"&Q% +4 "core" %e d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +158 "core" ( +2 "manipulator"&+& +4 "core" &Ӛ   5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &Ӛ  M 5 +2 .tForearm.seek CC +2 "manipulator"&%'? +90 "core" ' + .tHand.close +2 "manipulator"&M/ +56 "core" / +2 .tCC.seek :open +2 "collection"'>( +447 "core" ( + "storage"(6& +4 "core" &<) j j \  +2 "storage"( & +4 "core" &<) j ` \  +2 "manipulator"&& +4 "core" &Ӯ F 2 + "manipulator"&f% +4 "core" % ,  +3 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&9& +4 "core" &  # 2 + "storage"(@& +4 "core" &<) s o J\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&O'΍ +92 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&E1 +53 "core" 1 +2 "manipulator"&D% +4 "core" % ΃   ^ +2 "storage"(K& +4 "core" &<) \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 290 counts + "manipulator"&h'ϯ +15 "core" ' +2 "manipulator"&"& +4 "core" &  0 2 +2 "storage"(& +4 "core" &<) u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +33 "core" ' +2 "storage"(% +3 "core" % /\ +3 ."downElevator"SE.seek :down +4 "storage"(2' +98 (d% +3 "core" %J C O s\ U^ +2 "manipulator"&% +5 "core" %f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +95 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&o% +3 "core" % \  R  +3 "storage"(% +4 "core" % A\  + "storage"(a. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(8(K +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +3 "core" &K S U 5\  +2 "manipulator"&{& +4 "core" & = 2 +45 .tElbow.seek 6 +5 "manipulator"&G( +4 "core" ( + "manipulator"&F& +4 "core" &  r 2 +2 "storage"(X& +3 "core" &K \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +91 "core" ' +2 "storage"(q& +4 "core" &K ?\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(.- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &K j _ Y\  +2 "manipulator"&4& +3 "core" & 2 +3 .tElbow.seek 6 +2 "manipulator"&m( +4 "core" ( + "manipulator"&P& +4 "core" &  9 2 +2 "storage"()& +4 "core" &K k l \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&b'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"(' +8 "core" &  w 2 +2 "manipulator"&\\% +4 "core" % ` +2 .tForearm.seek :retract +2 "manipulator"&T' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"&c& +4 "core" &ӊ  @ V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +2 "core" &ӊ o V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'? +92 "core" ' +2 "manipulator"&z& +4 "core" &ӊ  z V +2 "manipulator"&'% +3 "core" %5 c +3 "collection"'!& +3 "core" & \ +3 "collection"'~& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'k(\\ +4 "core" & \ +6 &< \ $e +10 &Wv \ 6 +9 &x \ K +9 &W \ K +10 &wT \ K +9 &:V \ J +9 &U \ K +10 &Y \ K +9 &T \ K +10 &BT \ K +9 & T \ K +9 &!T \ J +10 &#W \ J +9 &%JU \ J +9 &' T \ K +10 &(T \ K +9 &*S \ K +10 &,RT \ K +9 &.T \ K +9 &/T \ K +10 &1U \ K +9 &3ZT \ K +9 &5U \ J +10 &6V \ J +9 &8V \ K +10 &:aZ \ K +9 &<"[ \ K +9 &=X \ K +10 &?Z \ L +9 &Afb\ \ \ L +9 &C%g\ \ \ M +10 &Dj\ \ \ M +9 &Fu\ \ \ \ N +10 &H\\\ \ \ R +9 &J\ +\ &\ V +9 &K\ *\ +\ W +10 &M\ *\ )\ W +9 &OS\ )\ (\ X +9 &Q\ )\ +\ Y +10 &R\ '\ '\ Y +9 &T\ (\ (\ Z +10 &VU\ (\ )\ Z +9 &X\ &\ (\ [ +9 &Y\ (\ )\ \\ +10 &[\ )\ &\ I +9 &\\7\ *\ (\ 1 +9 &\\b\ (\ (\ L +3 ( +2 "collection"'~& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&V% +4 "core" % r & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%&& +4 "core" &A\ +2 "manipulator"&W% +3 "core" %  \\  +3 "storage"(-% +4 "core" % V V \  + "storage"(n. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(Y(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K > ' D\  +7 "manipulator"&e& +4 "core" & H  +2 "manipulator"&i% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&5( +151 "core" ( +2 "manipulator"&& +3 "core" &  i  +2 "storage"(g& +5 "core" &K F B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +93 "core" ' +2 "storage"(1& +4 "core" &K k k \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +48 "storage"(Z'r +309 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &K . $ &\  +3 "manipulator"&t& +4 "core" & 9  +2 .tElbow.seek 6 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&& +3 "core" & o  +2 "storage"(}& +4 "core" &K P I `\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +29 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(' +8 "core" &   + "manipulator"&3% +5 "core" % ϣ A +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"& & +4 "core" & = \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" & n \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&& +4 "core" &  v \ +2 "manipulator"&H% +3 "core" %  \\ +3 "processing"% & +4 "core" &\ +2 "processing"%w& +5 "core" &J\ +2 .tPC.seek :closed +2 "processing"%](^ +5 "core" &H\ +6 &8J\ #c +9 &UJ\ 7 +10 &|F\ K +9 &WL\ M +9 &cZF\ M +10 &%VF\ M +9 &YD\ N +9 &YG\ M +10 &lTK\ M +9 &-\\G\ M +10 &ZB\ M +9 &!X?\ N +9 &#sYA\ M +10 &%5ZC\ M +9 &&Z>\ N +10 &(Z7\ N +9 &*zZ>\ N +9 &,<Z:\ N +10 &-XA\ M +9 &/W<\ M +9 &1U8\ M +10 &3DY@\ N +9 &5X>\ M +9 &6[<\ M +10 &8Y;\ N +9 &:LY;\ N +10 &<];\ M +9 &=X:\ M +9 &?Y>\ M +10 &ASZA\ N +9 &Cc5\ O +9 &Dh<\ O +10 &Fr?\ P +9 &HP8\ R +10 &J;\ S +9 &K8\ T +9 &M3\ T +10 &OR>\ T +9 &Q;\ T +9 &R=\ T +10 &T8\ U +9 &VY6\ T +10 &X;\ U +9 &Y=\ T +9 &[:\ T +10 &]_8\ B +9 &^G|<\ U +9 &^I6\ 4 +6 ( +2 "processing"%w& +4 "core" &^(3\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&/1 +57 "core" 1 + "manipulator"&;% +4 "core" %    \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +5 "processing"%(& +3 "core" &^(\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&x% +4 "core" %     +2 "storage"(*% +4 "core" % # - c\  +2 "storage"(|. +3 "core" .(K +2 "storage"(y& +4 "core" &K - . f\  +2 "storage"( & +3 "manipulator"&=& +5 "core" &K , * H\  +2 &   / \ +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(N'r +2 "manipulator"&Q( +5 "core" ( +2 "manipulator"&\ & +3 "core" &   8 \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &   I \ +3 .tForearm.seek PC + "manipulator"&l' +93 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%j( +95 "core" ' + "storage"(u- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +40 "core" ' +311 ( +2 "storage"([& +3 "core" &K E F !\  +2 "manipulator"&I& +5 "core" & f \ + "manipulator"&L% +4 "core" %  d L +2 .tForearm.seek :retract +2 "manipulator"&M' +141 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +252 "core" ( +2 "manipulator"&& +3 "core" &  S \\ +3 "storage"(6& +4 "core" &K - / \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +94 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(f- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(@' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +4 "core" -' +2 "storage"(v& +4 "core" &K e v C\  +2 "manipulator"&E& +4 "core" &   / [ +2 .tElbow.seek 6 +2 "manipulator"&D( +34 "core" ( +2 "manipulator"&K& +3 "core" &   \\ +3 "storage"("& +4 "core" &K i v :\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&:& +4 "core" & \\ +2 "storage"(d& +4 "core" &K G B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +20 "core" ' + "manipulator"&h% +4 "core" %D L  +2 "storage"(& +4 "core" &K G G \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 308 counts + "manipulator"&o'p +14 "core" ' +2 "manipulator"&& +3 "core" & \\ +3 "storage"(a& +3 "core" &K S S b\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +15 "core" ' +2 "storage"(`% +4 "core" % S V x\ +3 ."downElevator"SE.seek :down +4 "storage"(2' +98 (^% +4 "core" %xR &\ We +2 "manipulator"&J% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +93 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (F& +3 "core" &K @ < j\  +3 "collection"'X& +4 "core" &\\`\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&q% +4 "core" %    +2 "storage"(% +4 "core" % T T \  +2 "storage"(S. +3 "core" .(K +2 "storage"(.& +3 "core" &K V T \  +2 "storage"(7& +4 "core" &K T Q (\  +2 "manipulator"&4& +3 "core" & & \\ +3 .tElbow.seek 6 +2 "manipulator"&P( +4 "core" ( + "manipulator"&)& +3 "core" & f \\ +3 "storage"(U& +4 "core" &K U T t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +100 "core" ' +2 "storage"(\\& +4 "core" &K k j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +297 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +3 "core" & \\ +3 "storage"(<& +4 "core" &K H F *\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +14 "core" ' +2 .tElbow.hold +47 "manipulator"&b, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(''m +29 "core" ' + "manipulator"&m% +4 "core" %N R L +2 "storage"(!& +4 "core" &K I S `\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&'z +16 "core" ' + "manipulator"&T& +4 "core" &  ' \\ +2 "storage"(>& +4 "core" &K F P 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(V' +45 "core" ' +2 "manipulator"&&& +3 "core" &  \\ +3 "manipulator"&W% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +161 "core" ( +3 "manipulator"&~& +4 "core" &Ә  ` 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ә 4 +3 .tForearm.seek CC +2 "manipulator"&e'? +93 "core" ' +2 .tHand.close + "manipulator"&i/ +65 "core" / + .tCC.seek :open +2 "collection"'$( +447 "core" ( +2 "storage"(& +4 "core" &K g l \  + "storage"(g& +4 "core" &K h j \  +2 "manipulator"&8& +3 "core" &  | # +2 "manipulator"&1% +5 "core" % &  +2 .tForearm.seek :retract +2 "manipulator"&s' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&0( +150 "core" ( +2 "manipulator"&p& +4 "core" &  8 x + "storage"(& +4 "core" &K h _ j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&t'< +97 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +58 "core" 1 +2 "manipulator"&% +4 "core" % 1 . 6 + "storage"(R& +5 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 289 counts + "manipulator"&3'] +15 "core" ' +2 "manipulator"&5& +4 "core" & , x +2 "storage"(r& +3 "core" &K 6\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +15 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (C% +2 "core" %D R l H\ V_ +3 "manipulator"&B% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'H& +3 "core" & \ +2 "manipulator"& % +5 "core" %   r \ + "storage"(% +4 "core" %  '\  +2 "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(,(,y +668 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (/& +2 "core" &,{ a i \ +2 "manipulator"&;& +5 "core" &  } x +2 .tElbow.seek 4 + "manipulator"&(( +4 "core" ( +2 "manipulator"&x& +3 "core" &   b x +2 "storage"(*& +50 "core" &,{  #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +93 "core" ' +2 "storage"(y& +4 "core" &,{ | E\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (w& +2 "core" &,{ ^ a \ +3 "manipulator"&\ & +3 "core" & x +3 .tElbow.seek 4 +2 "manipulator"&?( +4 "core" ( + "manipulator"&& +4 "core" &  x +2 "storage"(& +4 "core" &,{ k k \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&u'c +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(]' +8 "core" &  T x + "manipulator"&N% +4 "core" % W  +3 .tForearm.seek :retract +2 "manipulator"&[' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&L& +3 "core" &Ӏ"   ;7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &Ӂ" t ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 "manipulator"&6& +4 "core" &Ӂ" \ q ;6 +2 "manipulator"&Q% +3 "core" %?  > @ +3 "collection"'& +3 "core" & \ +3 "collection"'f& +5 "core" & \ +3 .tCC.seek :closed + "collection"'%(\\ +6 "core" & \ +6 &= \ $e +10 &Vv \ 6 +9 &x \ K +9 &S \ K +10 &zY \ K +9 &<T \ K +10 &U \ K +9 &X \ K +9 &W \ K +10 &EU \ J +9 & U \ K +9 &!Y \ K +10 &#V \ J +9 &%LU \ K +10 &'X \ K +9 &(U \ J +9 &*U \ K +10 &,TY \ K +9 &.S \ K +9 &/U \ K +10 &1Z \ K +9 &3]U \ J +10 &5V \ K +9 &6T \ K +9 &8U \ K +10 &:dW ?\ K +9 &<%Z A\ K +9 &=W \ K +10 &?W \ K +9 &AlX \ K +10 &C,\\ \ L +9 &Dc \ L +9 &Fl \ M +10 &Hd\ \ \ \ P +9 &J\ "\ \ U +9 &K\ &\ %\ W +10 &M\ %\ '\ X +9 &OV\ %\ &\ X +10 &Q\ &\ $\ X +9 &R\ $\ #\ X +9 &T\ $\ #\ Z +10 &V[\ %\ %\ Y +9 &X\ %\ %\ Z +9 &Y\ %\ &\ [ +10 &[\ '\ &\ H +9 &\\;\ '\ (\ + +9 &\\c\ %\ %\ L +3 ( +2 "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&v1 +53 "core" 1 +2 "manipulator"&E% +4 "core" % ? @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%K& +4 "core" &E\ +2 "manipulator"&"% +4 "core" %    +2 "storage"(:% +4 "core" % F F \  + "storage"(d. +4 "core" .(,y + "storage"(+& +5 "core" &,{ F F (\ + "storage"(h& +3 "core" &,{ I F K\ +3 "manipulator"&& +4 "core" &ӫ 5 + "manipulator"&9% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( + "manipulator"&a& +4 "core" & x  +2 "storage"(`& +4 "core" &,{ W V \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"( & +3 "core" &,{ k l \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +298 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &,{ G S 7\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&D( +50 "core" ( +2 "manipulator"&& +4 "core" &  I  +2 "storage"(& +3 "core" &,{ F F \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&o'c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +3 "storage"(q' +8 "core" &  +2 "manipulator"&% +4 "core" % a 0 +2 .tForearm.seek :retract +2 "manipulator"&S' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +3 "manipulator"&.& +4 "core" &  \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" & \\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&4' +105 "core" ' + "manipulator"&)& +4 "core" &  6 \\ +2 "manipulator"&U% +5 "core" %  F +2 "processing"%_& +4 "core" &E\ +2 "processing"%\\& +5 "core" &\ +3 .tPC.seek :closed + "processing"%2(^ +5 "core" &\  +8 &2v9\ )v +9 &b#\ = +10 &nuH\ M +9 &/WF\ M +10 &Z"\ M +9 &X\ N +9 &tY6\ N +10 &6XE\ N +9 &XE\ N +9 &[6\ M +10 & |\\E\ N +9 &"?YF\ M +10 &$X\ M +9 &%W\ N +9 &'ZB\ M +10 &)GU:\ M +9 &+\ W;\ M +9 &,Y\ N +10 &.W0\ N +9 &0OY7\ M +10 &2Z;\ M +9 &3Z8\ M +9 &5Z<\ M +10 &7WU;\ M +9 &9YH\ M +9 &:\\5\ N +10 &<Z9\ M +9 &>^W3\ N +10 &@ W6\ N +9 &AZF\ N +9 &Cf8\ O +10 &Eaj6\ O +9 &Gr6\ Q +9 &H@\ S +10 &J:\ T +9 &L]D\ S +10 &NF\ T +9 &O;\ T +9 &Q6\ T +10 &Sb@\ T +9 &U$>\ T +9 &V7\ T +10 &XA\ T +9 &ZjB\ T +10 &\\+3\ U +9 &]}x4\ ; +9 &^+tH\ R +10 &^$:\ 2 +2 ( +2 "processing"%\\& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&{% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +95 "core" ' +2 "processing"%c& +4 "core" &^"C\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&<% +3 "core" % \   Y  +3 "storage"(z% +4 "core" % F F :\  +2 "storage"(m. +3 "core" .(,y +2 "storage"(!& +4 "core" &,{ F F #\ +2 "storage"(T& +3 "manipulator"&>& +7 "core" &,{ F F (\ + & \  \\ +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(W'r +15 "core" ( +2 "manipulator"&#& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &P& +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&G' +90 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' + "storage"('- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'1 +43 "core" ' +311 ( +2 "storage"(& +3 "core" &,{ F F $\ +2 "manipulator"&& +4 "core" &  +2 "manipulator"&b% +4 "core" %  [ O +2 .tForearm.seek :retract +2 "manipulator"&i' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&-( +241 "core" ( +2 "manipulator"&k& +4 "core" & o F +2 "storage"(& +4 "core" &,{ - . A\ +2 .tForearm.reconfigure :tight +48 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +96 "core" ' +2 .tHand.open + "manipulator"&81 +60 "core" 1 +2 "storage"(1- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(e- +3 "core" -' +2 "storage"(n& +4 "core" &,{ r o R\ +2 "manipulator"&}& +3 "core" &  \  F +3 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&R& +4 "core" &  \ O F +2 "storage"(5& +3 "core" &,{ r r Z\ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +60 "core" ' +2 "manipulator"&s& +4 "core" & $ F + "storage"(C& +4 "core" &,{ I T _\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&B'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(t' +28 "core" ' + "manipulator"&H% +4 "core" %E , +2 "storage"( & +4 "core" &,{ P G \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 314 counts + "manipulator"&3'q +14 "core" ' +2 "manipulator"&& +4 "core" &  F +2 "storage"( & +3 "core" &,{ F J w\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +15 "core" ' +2 "storage"(Z% +4 "core" % J Q \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (Y% +2 "core" %OQ \  ]\ Xf +3 "manipulator"&/% +4 "core" % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (x& +2 "core" &,{ 5 0 R\ +3 "collection"'*& +4 "core" &\\b\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&y% +5 "core" %   + "storage"(% +4 "core" % F Q ]\  +2 "storage"(. +3 "core" .(,y +2 "storage"(=& +4 "core" &,{ G I ^\ +2 "storage"(w& +4 "core" &,{ I R 4\ +2 "manipulator"&\ & +3 "core" & ' F +3 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & v F +2 "storage"(& +5 "core" &,{ S Q ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(N& +3 "core" &,{ M H %\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('r +299 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &  h F +3 "storage"(l& +3 "core" &,{ I G J\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& '7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Q'e +29 "core" ' + "manipulator"&% +4 "core" %I +2 "storage"(?& +43 "core" &,{ 6 *\ +9 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&]'u +14 "core" ' + "manipulator"&[& +4 "core" & M F +2 "storage"($& +3 "core" &,{ F G "\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(E' +36 "core" ' + "manipulator"&K& +4 "core" & ! F +2 "manipulator"&"% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&d(ӂ +150 "core" ( +2 "manipulator"&+& +3 "core" &Ӑ 7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &Ӑ 7 +2 .tForearm.seek CC +2 "manipulator"&f'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'9( +449 "core" ( +2 "storage"(& +4 "core" &,{ n m \ +2 "storage"(a& +4 "core" &,{ k l \ +2 "manipulator"&`& +4 "core" &Ӟ  5 + "manipulator"& % +4 "core" % O  d  +2 .tForearm.seek :retract +2 "manipulator"&I' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&M( +163 "core" ( +2 "manipulator"&^& +3 "core" &   +2 "storage"(J& +5 "core" &,{ \ + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +3 "manipulator"&F% +4 "core" % /  7 + "storage"(X& +4 "core" &,{ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 292 counts +2 "manipulator"&'[ +14 "core" ' + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" &,{ p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&@' +27 "core" ' + "storage"(o% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(.' +99 (7% +3 "core" %G Q k S\ U_ +2 "manipulator"&D% +3 "core" %% ! +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'U& +3 "core" & \ +2 "manipulator"&_% +4 "core" %   +2 "storage"(q% +4 "core" %  $\  +2 "storage"(S. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(j(<- +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<* G J \  +2 "manipulator"&{& +5 "core" &   +2 .tElbow.seek 5 + "manipulator"&c( +3 "core" ( +2 "manipulator"&<& +4 "core" &   +2 "storage"(z& +4 "core" &<* D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +101 "core" ' +2 "storage"(!& +4 "core" &<* \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +47 "storage"(>'r +295 "core" ' +3 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" &<* h m \  +3 "manipulator"&#& +4 "core" &  .  +2 .tElbow.seek 5 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&4& +3 "core" &  y  +3 "storage"(& +4 "core" &<* \\ \\ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&''Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&A& +2 "storage"(2' +6 "core" &  e  +2 "manipulator"&W% +3 "core" % ϭ ( +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&b& +5 "core" ' + &y"  ;2 + .tElbow.reconfigure :loose +4 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +4 "manipulator"&G& +3 "core" &y" ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&k'? +92 "core" ' +2 "manipulator"&& +4 "core" &z! ) :1 +2 "manipulator"&&% +4 "core" %<  X [ +2 "collection"'8& +4 "core" & \ +2 "collection"'1& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'e(\\ +4 "core" & \ +5 & \ 8 +9 &CKx \ / +10 &qs~ \ D +9 &] \ K +9 &T \ J +10 &V \ K +9 &bT \ K +10 &$U \ K +9 &X \ K +9 &T \ K +10 &jW \ K +9 &!,Y \ K +10 &"Y \ K +9 &$S \ K +9 &&rU \ K +10 &(4Z \ K +9 &)Y \ K +9 &+X \ K +10 &-zT \ K +9 &/=W \ J +9 &0V A\ K +10 &2T m\ K +9 &4V q\ J +10 &6DW \ K +9 &8U \ K +9 &9W \ K +10 &;[ \ K +9 &=LW \ K +10 &? Z \ K +9 &@W \ K +9 &BZ \ K +10 &DR_ \ L +9 &Fm \ M +9 &Gz\ \ \ O +10 &I\ \ \ S +9 &K;\ (\ '\ V +9 &L\ (\ (\ V +10 &N\ )\ '\ W +9 &P}\ )\ %\ X +10 &R>\ '\ (\ X +9 &S\ '\ %\ Y +9 &U\ $\ %\ Y +10 &W\ (\ (\ Z +9 &Y=\ )\ (\ [\ +9 &Z\ *\ )\ [ +10 &\\\\P\ +\ )\ 2 +9 &\\\ (\ )\ Z +9 ( +3 "collection"'1& +3 "core" &\\\ &\ '\ X +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&n1 +60 "core" 1 +3 "manipulator"&}% +3 "core" % < u [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%5& +4 "core" &\ +2 "manipulator"&i% +3 "core" %    +3 "storage"(s% +4 "core" % . - u\  +2 "storage"(C. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(H(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (~& +3 "core" &<+ J U\  +2 "manipulator"& & +4 "core" &ӡ  5\ +2 "manipulator"&% +4 "core" %  d  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&p( +163 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"(Z& +4 "core" &<) P E 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +97 "core" ' + "storage"(g& +4 "core" &<) L T g\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &<) G E \  +2 "manipulator"&r& +4 "core" &   +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & K  +2 "storage"(B& +4 "core" &<) G I M\  +2 .tForearm.seek 5 + 300 counts +48 "manipulator"&3'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&*& + "storage"(y' +8 "core" & I  +2 "manipulator"&% +3 "core" % Ϯ & +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&=& +4 "core" & \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" & s \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\ ' +104 "core" ' + "manipulator"&& +5 "core" & I \ +2 "manipulator"&% +3 "core" % a +3 "processing"%V& +4 "core" &\ +2 "processing"%N& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +3 "core" &\ +8 &8\ #c +9 &V{\ 7 +9 &~y\ K +10 &V\ N +9 &dZ\ N +10 &&U\ N +9 &Z\ M +9 &U\ N +10 &mY\ M +9 &.U\ N +9 &Z\ N +10 &!X\ N +9 &#tU\ N +10 &%7Y\ M +9 &&[\ N +9 &(Z\ M +10 &*|Z\ N +9 &,>Y\ N +9 &.T\ M +10 &/[\ N +9 &1W\ N +10 &3FX\ N +9 &5Y\ N +9 &6U\ M +10 &8Y;\ M +9 &:NU \ N +10 &<\\B\ N +9 &=[8\ M +9 &?Z8\ N +10 &AV]\ N +9 &Cd7\ O +9 &Dh8\ P +10 &Fp\ P +9 &HQ6\ R +9 &J7\ S +10 &K3\ T +9 &M@\ T +10 &OSA\ T +9 &QI\ U +9 &R5\ T +10 &T\ U +9 &VZ\ T +9 &X\ T +10 &YA\ U +9 &[\ U +10 &]_\ C +9 &^Dw\ \\ +9 &^>\ 3 +6 ( + "processing"%N& +4 "core" &^&\ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&01 +54 "core" 1 +2 "manipulator"&;% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +90 "core" ' +2 "processing"%L& +3 "core" &^&\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&l% +3 "core" %    b  +3 "storage"(6% +4 "core" % % !\  + "storage"(. +3 "core" .(<- +2 "storage"(?& +4 "core" &<) ' "\  +2 "storage"([& +3 "manipulator"&$& +6 "core" &<) " '\  +2 &   P \ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(K'r +2 "manipulator"&"( +7 "core" ( + "manipulator"&& +4 "core" &    \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  \ +2 .tForearm.seek PC +2 "manipulator"&(' +95 "core" ' + .tHand.close + "manipulator"& / +55 "core" / +3 .tPC.seek :open +2 "processing"%]( +92 "core" ' + "storage"(Q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +40 "core" ' +310 ( + "storage"(h& +4 "core" &<) ' % 3\  +2 "manipulator"&v& +3 "core" & K \ +2 "manipulator"&u% +5 "core" %   , +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&:( +249 "core" ( +2 "manipulator"&%& +3 "core" & Y ] +2 "storage"(& +5 "core" &<) # *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +96 "core" ' +2 .tHand.open + "manipulator"&`1 +107 "core" 1 +4 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(^' +23 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(J' +65 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +3 "core" -' +2 "storage"(d& +4 "core" &<) 9 C \\\  +2 "manipulator"&& +4 "core" &   + ] +2 .tElbow.seek 5 +2 "manipulator"&F( +5 "core" ( +2 "manipulator"&X& +4 "core" &  \ ( D +2 "storage"(& +4 "core" &<) \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(o'" +55 "core" ' +2 "manipulator"&I& +3 "core" & D +2 "storage"(7& +5 "core" &<) ' ( \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&D'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&U% +5 "core" %Η > +2 "storage"(& +4 "core" &<) , ' .\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 310 counts + "manipulator"&_' +15 "core" ' + "manipulator"&q& +5 "core" & - D + "storage"(S& +5 "core" &<) . . g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&E'O +15 "core" ' + "storage"(@% +4 "core" % 3 * R\ +3 ."downElevator"SE.seek :down +3 "storage"(.' +99 (,% +4 "core" %ZL L 8\ Vb + "manipulator"&% +5 "core" %P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (<& +3 "core" &<) ,  ?\  +3 "collection"'z& +4 "core" &\\\ \ \ X +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&!% +4 "core" %  ]  +2 "storage"(% +3 "core" % ) % ?\  +2 "storage"(). +3 "core" .(<- +2 "storage"(T& +4 "core" &<) > ) :\  +2 "storage"(\\& +3 "core" &<) A 3 H\  +2 "manipulator"&#& +5 "core" & D + .tElbow.seek 5 +2 "manipulator"&4( +9 "core" ( +2 "manipulator"&& +3 "core" &  # +2 "storage"(O& +5 "core" &<) F F 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +92 "core" ' +2 "storage"(W& +3 "core" &<) S I ]\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'r +300 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" & # +2 "storage"(G& +4 "core" &<) $ % \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&>'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(&'t +30 "core" ' + "manipulator"&8% +5 "core" %Κ  + "storage"(P& +3 "core" &<) . $\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&2' +14 "core" ' + "manipulator"&& +43 "core" & # +9 "storage"(9& +4 "core" &<) % $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(}' +41 "core" ' + "manipulator"&5& +5 "core" & N # + "manipulator"&i% +4 "core" %P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&C(ӂ +156 "core" ( +2 "manipulator"&1& +4 "core" &Ә I 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &Ә  6 +2 .tForearm.seek CC +2 "manipulator"& '? +96 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'k( +446 "core" ( +2 "storage"( & +4 "core" &<) k l \  +2 "storage"(Z& +3 "core" &<) h j \  +2 "manipulator"&j& +4 "core" &ӧ U 4 +2 "manipulator"&g% +3 "core" % B [  +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&R( +217 "core" ( +2 "manipulator"&Y& +3 "core" &   1  +3 "storage"(/& +4 "core" &<) ] ` 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&r'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&B1 +54 "core" 1 +3 "manipulator"&x% +5 "core" % Θ   [ + "storage"(*& +4 "core" &<) d\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 311 counts + "manipulator"&' +26 "core" ' +2 "manipulator"&p& +4 "core" &  j  +2 "storage"(-& +4 "core" &<) }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' + "storage"(3% +4 "core" % r\ +3 ."downElevator"SE.seek :down +3 "storage"(=' +99 (w% +3 "core" %K O k I\ U_ +2 "manipulator"&% +3 "core" %P } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&V% +4 "core" %  \\  +2 "storage"(y% +4 "core" % 5\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +3 "core" &K I R \  +2 "manipulator"&;& +4 "core" & h  +2 .tElbow.seek 6 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&l& +3 "core" &  o  +2 "storage"(6& +5 "core" &K } I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(?& +4 "core" &K ~ >\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['r +301 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +49 (N& +4 "core" &K ] ` L\  +2 "manipulator"&& +4 "core" & m  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\ & +3 "core" &    +2 "storage"( & +5 "core" &K ` ] 7\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Q'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"( ' +5 "core" & -  +3 "manipulator"&K% +5 "core" % ] +2 .tForearm.seek :retract +2 "manipulator"&h' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +155 "core" ' +6 ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&u& +5 "core" &ӌ  . . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &ӌ . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'? +97 "core" ' +2 "manipulator"&& +3 "core" &ӌ  Y . +3 "manipulator"&"% +4 "core" %<  ; +2 "collection"'`& +4 "core" & \ +2 "collection"' & +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +6 &< \ %g +10 &Yv \ 7 +9 &x \ J +9 &S \ K +10 &Y \ K +9 &KT \ K +10 & T \ K +9 &T \ K +9 &X \ K +10 &TS \ J +9 & U \ J +9 &!U \ J +10 &#U \ J +9 &%[T \ J +10 &'T \ K +9 &(S \ K +9 &*S \ K +10 &,bT \ K +9 &.$T \ K +9 &/S \ K +10 &1V \ J +9 &3lU \ J +9 &5.U \ J +10 &6U \ K +9 &8Y \ K +10 &:tW \ J +9 &<5X \ K +9 &=X \ J +10 &?[ \ K +9 &Ay_\ \ \ K +10 &C7c\ \ \ \ M +9 &Dg\ \ \ M +9 &Fu\ \ \ N +10 &Hl\ \ \ S +9 &J#\ +\ (\ V +9 &K\ +\ ,\ X +10 &M\ +\ +\ X +9 &Od\ (\ )\ X +9 &Q#\ )\ *\ Y +10 &R\ (\ (\ Z +9 &T\ &\ (\ Z +10 &Vd\ '\ &\ [ +9 &X&\ (\ (\ [ +9 &Y\ )\ (\ [ +10 &[\ (\ )\ H +9 &\\5\ (\ )\ . +9 &\\`\ (\ (\ L +3 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.30 + .Hand.open + "manipulator"&f1 +60 "core" 1 +3 "manipulator"&d% +4 "core" % [   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%X& +3 "core" &\ +3 "manipulator"&% +4 "core" %  } \ +2 "storage"(I% +4 "core" % T T c\  + "storage"(7. +3 "core" .(K +2 "storage"(U& +4 "core" &K T R S\  +2 "storage"(& +4 "core" &K T S V\  +2 "manipulator"&+& +4 "core" &  O +2 "manipulator"&q% +4 "core" %   \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&S( +149 "core" ( +2 "manipulator"&^& +4 "core" &    +2 "storage"(@& +3 "core" &K N = n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&:' +94 "core" ' + "storage"(a& +3 "core" &K j k \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(J'r +295 "core" ' +2 "storage"(,- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K Q D :\  +3 "manipulator"&& +4 "core" & 0  +2 .tElbow.seek 6 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&o& +4 "core" &   + "storage"(D& +5 "core" &K S T \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&_'h +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%2( +94 "core" ' + "storage"(&- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +40 "core" ' +311 ( +2 "storage"(~& +3 "core" &K I R !\  +3 "manipulator"&n& +4 "core" & + + "manipulator"&'% +4 "core" %  j V +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&s( +244 "core" ( +2 "manipulator"&e& +3 "core" & ( * +3 "storage"( & +4 "core" &K - . h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +93 "core" ' +2 .tHand.open + "manipulator"&j1 +61 "core" 1 +2 "storage"(g- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Y' +57 "core" ' +4 #tLights, camera, ACTION! + "storage"(/- +4 "core" -' +2 "storage"(C& +4 "core" &K p\  +2 "manipulator"&B& +3 "core" &  ) +3 .tElbow.seek 6 +2 "manipulator"&x( +8 "core" ( +2 "manipulator"&*& +4 "core" &   +2 "storage"(p& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(3'" +52 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(w& +4 "core" &K > &\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +13 "core" ' +2 .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(r' +21 "core" ' +2 "manipulator"&% +3 "core" %P  N +2 "storage"(V& +4 "core" &K ' =\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 320 counts + "manipulator"&'| +16 "core" ' +2 "manipulator"&y& +4 "core" & f  +2 "storage"(& +4 "core" &K F F !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +16 "core" ' +2 "storage"(% +4 "core" % F E \ +3 ."downElevator"SE.seek :down +5 "storage"(=' +98 (H% +3 "core" %;N $ * \ Wd +2 "manipulator"&0% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 (l& +3 "core" &K X @ q\  +2 "collection"'6& +3 "core" &\\`\ \ \ L +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&?% +3 "core" %  d  +3 "storage"(% +4 "core" % N S V\  + "storage"(. +3 "core" .(K +2 "storage"($& +4 "core" &K Q J 0\  +2 "storage"(N& +3 "core" &K < D \  +3 "manipulator"&& +4 "core" &  \\  +2 .tElbow.seek 6 + "manipulator"&\ ( +10 "core" ( + "manipulator"& & +4 "core" &  j  +2 "storage"(t& +4 "core" &K N I !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&|' +117 "core" ' +2 "storage"(K& +3 "core" &K j k \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +297 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" & U  +2 "storage"((& +4 "core" &K R I ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&['< +23 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.2 Pucks below Top Plate +2 "storage"("' +29 "core" ' +2 "manipulator"&% +4 "core" %3   + "storage"(`& +4 "core" &K 7 (\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 291 counts +2 "manipulator"& '_ +14 "core" ' +2 "manipulator"&h& +3 "core" & )  +2 "storage"(k& +5 "core" &K I Q "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +14 "core" ' +2 .tSE.seek 1.2 Pucks below Top Plate +2 "storage"(d' +47 "core" ' +5 "manipulator"&X& +3 "core" &   +3 "manipulator"&% +3 "core" % N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7(ӂ +154 "core" ( +2 "manipulator"&U& +3 "core" &Ә 5\ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ә 5\ +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&+/ +58 "core" / +2 .tCC.seek :open +2 "collection"'q( +446 "core" ( +2 "storage"(%& +4 "core" &K l ` x\  +2 "storage"(^& +4 "core" &K i j \  + "manipulator"&@& +4 "core" &  , $ +2 "manipulator"&a% +4 "core" % +  z +2 .tForearm.seek :retract +2 "manipulator"&v' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +147 "core" ( + "manipulator"&,& +5 "core" &  b  + "storage"(& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&'< +92 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&D1 +56 "core" 1 +2 "manipulator"&<% +5 "core" % O   ] + "storage"(z& +4 "core" &K  \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&'{ +15 "core" ' + "manipulator"&S& +4 "core" &   +2 "storage"(:& +5 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +16 "core" ' +2 "storage"(_% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(T' +98 (\\% +3 "core" %I m k \ Va +3 "manipulator"&F% +3 "core" % q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'O& +4 "core" & \ +2 "manipulator"&E% +4 "core" %  8  +2 "storage"(!% +4 "core" % n\  +2 "storage"(). +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(](,y +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &,| j ` t\ +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&G& +4 "core" &  h  + "storage"(& +4 "core" &,| \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +97 "core" ' +2 "storage"(P& +3 "core" &,| ~ 3\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &,| k i \ +2 "manipulator"&A& +4 "core" &  7  +2 .tElbow.seek 4 +2 "manipulator"&4( +4 "core" ( + "manipulator"&#& +4 "core" &   b  +2 "storage"(>& +3 "core" &,|  s\ +3 .tForearm.seek 4 + 300 counts +48 "manipulator"&&'c +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&m& + "storage"(.' +8 "core" &   +2 "manipulator"&5% +4 "core" % j  * +2 .tForearm.seek :retract +2 "manipulator"&~' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&'& +4 "core" &ӝ  l 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &ӝ F 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&e'? +99 "core" ' +2 "manipulator"& & +4 "core" &ӝ \ j 4 +2 "manipulator"&i% +4 "core" %9 +2 "collection"'j& +4 "core" & \ +3 "collection"'g& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'/(\\ +3 "core" & \  +9 &5 \ *z +10 & g{ \ > +9 &m \ K +9 &YU \ K +10 &Y \ K +9 &T \ K +9 &R \ K +10 &aR \ K +9 &$V \ J +9 &U \ J +10 & U \ J +9 &"jU \ J +10 &$,U \ J +9 &%V \ K +9 &'X \ K +10 &)rW \ J +9 &+4U \ J +9 &,U \ K +10 &.X \ K +9 &0zT \ K +10 &2=U \ J +9 &3V \ K +9 &5Y \ K +10 &7T \ K +9 &9DU \ K +10 &;T \ K +9 &<W \ K +9 &>U \ K +10 &@KV \ K +9 &B Y \ K +9 &C` \ L +10 &Eh \ M +9 &GJt\ \ \ N +9 &I\ \ \ Q +10 &J\ $\ "\ V +9 &Lv\ (\ '\ W +10 &N7\ &\ %\ W +9 &O\ '\ "\ W +9 &Q\ $\ $\ X +10 &Sz\ #\ $\ X +9 &U:\ %\ &\ Y +9 &V\ &\ $\ Z +10 &X\ '\ '\ [ +9 &Zy\ (\ '\ [ +10 &\\x\ )\ (\ 0 +9 &\\0\ &\ (\ ^ +9 ( + &\\`\ $\ '\ M +3 "collection"'g& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&C1 +61 "core" 1 +3 "manipulator"&B% +4 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%p& +4 "core" &\ +2 "manipulator"&% +4 "core" % ! & +2 "storage"(% +4 "core" % F F 0\  +2 "storage"(w. +2 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (V& +2 "core" &,{ ' " k\ +3 "manipulator"&1& +4 "core" &Ӫ X 2 +2 "manipulator"&y% +3 "core" % "  & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +158 "core" ( +2 "manipulator"& & +4 "core" &  w  +2 "storage"(& +4 "core" &,| U T l\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +90 "core" ' +2 "storage"(Z& +4 "core" &,| k j \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'r +296 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &,| G R *\ +2 "manipulator"&-& +4 "core" & m  +2 .tElbow.seek 4 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&3& +4 "core" & l  + "storage"(& +4 "core" &,| S T a\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&l'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& +2 "storage"(?' +8 "core" & K  + "manipulator"&% +4 "core" % W  +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +48 "manipulator"&r( +112 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +141 "core" ( +2 "manipulator"&$& +4 "core" & , \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" & L \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"& & +4 "core" & : \ +2 "manipulator"&t% +3 "core" %\  | +3 "processing"%}& +3 "core" &\ +3 "processing"%K& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%=(^ +5 "core" &\ +7 &>\ #c +9 &V|\ 7 +9 &y\ L +10 &T\ M +9 &gU\ M +10 &)R\ M +9 &Y\ M +9 &Y\ M +10 &nV\ N +9 &0X\ N +9 &W\ N +10 &!W\ N +9 &#vX\ N +10 &%8W\ N +9 &&Y\ N +9 &(X\ N +10 &*~Y\ N +9 &,@Y\ N +9 &.W\ M +10 &/V\ N +9 &1W\ M +10 &3IU\ M +9 &5 Z\ M +9 &6Z\ N +10 &8Z\ N +9 &:PY\ N +9 &<W\ M +10 &=Y\ M +9 &?\\\ N +10 &AX\\\ N +9 &Cb\ N +9 &De\ O +10 &Fm\ O +9 &HS\ R +9 &J\ S +10 &K\ S +9 &M\ T +10 &OV\ T +9 &Q\ T +9 &R\ T +10 &T\ V +9 &V]3\ T +9 &X8\ U +10 &Y8\ U +9 &[8\ T +10 &]b\ B +9 &^Dv\ Z +9 &^8\ 1 +6 ( + "processing"%K& +4 "core" &^&\ 1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&R1 +58 "core" 1 + "manipulator"&;% +4 "core" % \   G | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + "processing"%u& +3 "core" &^&\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&(% +3 "core" % # \  5 +3 "storage"(% +4 "core" % . - z\  +2 "storage"(. +3 "core" .(,y +2 "storage"(`& +3 "core" &,| . - \ +3 "storage"(h& +3 "manipulator"&k& +6 "core" &,| - - \ + &  X \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +6 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(X'r +2 "manipulator"&( +6 "core" ( + "manipulator"&|& +4 "core" & \   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &   \ +2 .tForearm.seek PC +2 "manipulator"&L' +92 "core" ' + .tHand.close +2 "manipulator"&[/ +64 "core" / +2 .tPC.seek :open +2 "processing"% ( +86 "core" ' +2 "storage"("- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(U'1 +43 "core" ' +312 ( +2 "storage"( & +3 "core" &,| I P =\ +3 "manipulator"&f& +3 "core" & C \ +2 "manipulator"&Q% +4 "core" %  ? [ +2 .tForearm.seek :retract +2 "manipulator"&+' +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&I( +248 "core" ( +2 "manipulator"&& +4 "core" &  Z l +2 "storage"(%& +4 "core" &,| - - l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +90 "core" ' +2 .tHand.open + "manipulator"&@1 +63 "core" 1 +2 "storage"(a- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(,' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(7& +3 "core" &,| e f \ +2 "manipulator"&D& +4 "core" &\  l +47 .tElbow.seek 4 +4 "manipulator"&<( +4 "core" ( +2 "manipulator"&z& +4 "core" &\   l +2 "storage"(S& +3 "core" &,| e g \ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +58 "core" ' +2 "manipulator"&v& +4 "core" &  a l +2 "storage"(\\& +3 "core" &,| G E Z\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&F'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&O% +3 "core" %7 +3 "storage"(E& +4 "core" &,| #\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 300 counts + "manipulator"&'c +15 "core" ' +2 "manipulator"&!& +4 "core" &\  1 l +2 "storage"()& +3 "core" &,| H F 6\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +18 "core" ' +2 "storage"(J% +4 "core" % P E 4\ +3 ."downElevator"SE.seek :down +4 "storage"(T' +98 (% +2 "core" %TN ( \ Vb +3 "manipulator"&M% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (G& +3 "core" &,| : .\ +2 "collection"'& +4 "core" &\\`\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&P% +5 "core" %  F  + "storage"(o% +4 "core" % S S :\  +2 "storage"(. +3 "core" .(,y +2 "storage"(9& +4 "core" &,| P S R\ +2 "storage"(W& +3 "core" &,| Q R\ +3 "manipulator"&A& +3 "core" &   l +3 .tElbow.seek 4 + "manipulator"&#( +4 "core" ( +2 "manipulator"&>& +4 "core" &    l + "storage"(& +5 "core" &,| P H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +90 "core" ' +2 "storage"(5& +3 "core" &,| H Q p\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +300 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &\  l +3 "storage"(c& +4 "core" &,| F F w\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(i'f +30 "core" ' +2 "manipulator"&j% +3 "core" %3 & +2 "storage"(4& +4 "core" &,| A 4 \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 296 counts + "manipulator"&.'_ +14 "core" ' +2 "manipulator"&~& +3 "core" &\    k +3 "storage"(q& +4 "core" &,| F F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +22 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(B' +42 "core" ' +2 "manipulator"&p& +4 "core" &\  k + "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +48 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w(ӂ +154 "core" ( +2 "manipulator"&g& +3 "core" &ә 4 3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &ә H 3 +3 .tForearm.seek CC +2 "manipulator"&1'? +97 "core" ' +2 .tHand.close + "manipulator"&y/ +55 "core" / +2 .tCC.seek :open +2 "collection"'e( +446 "core" ( +2 "storage"( & +3 "core" &,| g l l\ +3 "storage"(& +4 "core" &,| h j |\ +2 "manipulator"&]& +3 "core" &Ӛ 3 +2 "manipulator"&Z% +5 "core" % O  +2 .tForearm.seek :retract +2 "manipulator"&n' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&*( +161 "core" ( + "manipulator"&H& +4 "core" &  H  +2 "storage"(0& +4 "core" &,|  3\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&-'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&3, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % ! 0 M + "storage"(6& +4 "core" &,| \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 278 counts + "manipulator"&'M +16 "core" ' + "manipulator"&& +4 "core" & \ =  +2 "storage"(s& +3 "core" &,| j\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +26 "core" ' +2 "storage"(l% +4 "core" %  =\ +3 ."downElevator"SE.seek :down +3 "storage"($' +99 (N% +3 "core" %F l j \ U^ +2 "manipulator"&x% +5 "core" %  n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'t& +4 "core" & \ +2 "manipulator"&}% +3 "core" %  y  +3 "storage"(?% +4 "core" % \  + "storage"(. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(2(<- +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (R& +2 "core" &<+ G H !\  +3 "manipulator"&;& +4 "core" & Z  +2 .tElbow.seek 5 +2 "manipulator"&u( +4 "core" ( + "manipulator"&(& +4 "core" &   +2 "storage"(& +3 "core" &<* \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 "storage"(`& +4 "core" &<* #\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(K'r +294 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (k& +2 "core" &<* k i \  +2 "manipulator"&|& +5 "core" &  E  +2 .tElbow.seek 5 + "manipulator"&\ ( +4 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"([& +4 "core" &<* _ g Q\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&"'Ϲ +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +52 "core" / +49 ."downElevator"SE.seek :down +4 "manipulator"&& +6 "storage"(=' +3 "core" & ^  +2 "manipulator"&X% +5 "core" % ϱ +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&Q& +3 "core" &Ӗ  H 5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &Ӗ  5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 "manipulator"&%& +4 "core" &ӗ 4 +2 "manipulator"&% +3 "core" %>  = +3 "collection"'@& +4 "core" & \ +2 "collection"'a& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  +9 &5 \ *z +9 & g| \ > +9 &l \ L +10 &ZS \ K +9 &U \ J +10 &U \ K +9 &W \ K +9 &bW \ K +10 &$Y \ K +9 &X \ K +9 & S \ K +10 &"jS \ K +9 &$,S \ K +10 &%T \ K +9 &'T \ J +9 &)sU \ J +10 &+5U \ J +9 &,U \ J +9 &.U \ K +10 &0zY \ K +9 &2<S \ K +10 &3T \ K +9 &5V \ J +9 &7U \ K +10 &9DT \ K +9 &;U \ K +9 &<V \ K +10 &>W \ J +9 &@JW \ K +10 &B Y \ K +9 &C[ \ L +9 &Ef \ M +10 &GIs\ \ \ N +9 &I\ \ \ R +9 &J\ &\ #\ V +10 &Lv\ (\ )\ W +9 &N5\ '\ (\ X +10 &O\ '\ '\ Y +9 &Q\ (\ (\ X +9 &Sy\ '\ &\ Y +10 &U9\ )\ '\ Y +9 &V\ '\ (\ [\ +10 &X\ '\ (\ \\ +9 &Zy\ )\ )\ [ +9 &\\z\ (\ (\ / +10 &\\9\ (\ )\ %q +9 &\\c\ '\ '\ K +2 ( +3 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&71 +54 "core" 1 +2 "manipulator"&D% +3 "core" % > = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%z& +4 "core" &\ +2 "manipulator"&S% +4 "core" %   +2 "storage"(v% +3 "core" % F F 2\  +2 "storage"(\\. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(U(<- +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &<, K @\  +2 "manipulator"&O& +5 "core" &Ө 2 + "manipulator"&E% +4 "core" %  #  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&!( +155 "core" ( +2 "manipulator"&)& +4 "core" & 0  + "storage"(J& +5 "core" &<) C R @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +91 "core" ' +2 "storage"(^& +4 "core" &<) k j \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (M& +2 "core" &<) ' ' g\  +3 "manipulator"&:& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&<( +4 "core" ( + "manipulator"&_& +4 "core" &  #  +2 "storage"(F& +4 "core" &<) H I <\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&G'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(P' +8 "core" & L  + "manipulator"&o% +5 "core" % ϼ y +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&9& +4 "core" & 6 = +48 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &W& +3 "core" & w = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +94 "core" ' +2 "manipulator"&>& +4 "core" & = +2 "manipulator"&% +4 "core" % . \\ +2 "processing"%d& +4 "core" &\ +2 "processing"%5& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%T(^ +4 "core" &\ +6 &\ 7 +9 &>Ix\ 0 +9 &ir\ D +10 & b\ N +9 &V\ M +9 &S\ M +10 &QV\ N +9 &T\ M +10 &U\ M +9 &X\ M +9 &ZZ\ M +10 &!U\ N +9 &"X\ N +9 &$Z\ M +10 &&bU\ M +9 &($W\ M +10 &)Y\ M +9 &+U\ N +9 &-jY\ M +10 &/,Y\ M +9 &0T\ M +9 &2U\ N +10 &4qW\ N +9 &64Z\ M +10 &7U\ M +9 &9W\ M +9 &;zY\ M +10 &=;V\ N +11 &>W\ N +8 &@W\ N +11 &B`\ N +8 &D?e\ O +9 &Ep\ P +9 &G{\ R +9 &Iy\ S +10 &K:\ S +9 &L\ T +9 &N\ T +10 &P}\ T +9 &R?\ T +10 &S\ U +9 &U1\ T +9 &W\ U +10 &YH\ T +9 &[C\ U +9 &\\!\ U +10 &^Ag7\ + +9 &^s \ @ +10 ( + &^&\ 5 +2 "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&{% +4 "core" %     \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +92 "core" ' +2 "processing"%'& +3 "core" &^&\ 5 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&c% +4 "core" %   \ &  +2 "storage"( % +4 "core" % - - x\  +2 "storage"(j. +3 "core" .(<- +2 "storage"(4& +3 "core" &<) . - w\  +3 "storage"(~& +3 "manipulator"&q& +7 "core" &<) - - }\  + &  = +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&p( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&m& +4 "core" &    = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &  \  = +3 .tForearm.seek PC +2 "manipulator"&b' +94 "core" ' +3 .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%.( +86 "core" ' +2 "storage"(i- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(g'1 +46 "core" ' +312 ( +3 "storage"(V& +4 "core" &<) I S b\  + "manipulator"&C& +4 "core" & = +2 "manipulator"&&% +4 "core" %  8 E +2 .tForearm.seek :retract +2 "manipulator"&y' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&/& +3 "core" &  c +2 "storage"( & +5 "core" &<) $ &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 .tHand.open + "manipulator"&]1 +64 "core" 1 +3 "storage"(Z- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(H' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(0' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +3 "core" -' +2 "storage"(w& +5 "core" &<) + - <\  + "manipulator"&& +4 "core" &   c +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&6& +3 "core" &   , c +2 "storage"(& +4 "core" &<) 3 -\  +46 .tForearm.seek 5 + 450 counts +6 "manipulator"&s'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(l'" +51 "core" ' +2 "manipulator"&n& +4 "core" &   c +2 "storage"(N& +4 "core" &<) % $ 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&x'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(-' +18 "core" ' +2 "manipulator"&% +4 "core" %ΐ 0 +2 "storage"(t& +4 "core" &<) < # {\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 303 counts + "manipulator"&}'ϼ +15 "core" ' +2 "manipulator"&?& +4 "core" &   c +2 "storage"(& +4 "core" &<) F F (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +28 "core" ' +2 "storage"(Y% +3 "core" % G F 2\ +4 ."downElevator"SE.seek :down +3 "storage"($' +99 (% +4 "core" %nT\ * W \ We +2 "manipulator"&R% +3 "core" %X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ((& +3 "core" &<) 6 2 \  +2 "collection"'& +3 "core" &\\b\ \ \ K +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&`% +5 "core" %  =  + "storage"(3% +4 "core" % T T V\  +2 "storage"( . +3 "core" .(<- +2 "storage"(h& +4 "core" &<) S S\  +2 "storage"(k& +4 "core" &<) T V \  +2 "manipulator"&|& +4 "core" &   a c +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&[& +4 "core" &  . c +2 "storage"(r& +3 "core" &<) T S S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' + "storage"(X& +4 "core" &<) G O y\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&Q& +3 "core" &  c +2 "storage"(L& +5 "core" &<) S S m\  +5 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +8 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&K'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +27 "core" ' +2 "manipulator"&@% +3 "core" %΁  +3 "storage"(\ & +4 "core" &<) G F L\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 288 counts + "manipulator"&='ϭ +16 "core" ' +2 "manipulator"& & +3 "core" &   b c +3 "storage"(e& +3 "core" &<) T T g\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +37 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(D' +36 "core" ' +2 "manipulator"&z& +3 "core" &  c +2 "manipulator"&S% +5 "core" %L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +148 "core" ( +2 "manipulator"&a& +48 "core" &z* Bg +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &z* Bg +3 .tForearm.seek CC +2 "manipulator"&O'? +94 "core" ' + .tHand.close + "manipulator"&E/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"()& +3 "core" &<) \\ i /\  +3 "storage"(J& +4 "core" &<) h j \  + "manipulator"&2& +5 "core" &ӱ! E :0 + "manipulator"&^% +5 "core" % 1   +2 .tForearm.seek :retract + "manipulator"&f' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&+( +164 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(M& +4 "core" &<)  q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&:'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&F1 +57 "core" 1 +3 "manipulator"&% +4 "core" % Έ  ` +2 "storage"(& +3 "core" &<) \  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 295 counts + "manipulator"&o'ϴ +14 "core" ' + "manipulator"&!& +4 "core" &    +2 "storage"(I& +3 "core" &<) \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' + "storage"(G% +5 "core" % w J\ +2 ."downElevator"SE.seek :down +5 "storage"(9' +99 (W% +3 "core" %H Q H f\ U_ +2 "manipulator"&<% +4 "core" %4 g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&d% +4 "core" %   +2 "storage"(P% +4 "core" % \  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K : C \  +2 "manipulator"&{& +5 "core" & p  +2 .tElbow.seek 6 + "manipulator"&'( +4 "core" ( +2 "manipulator"&c& +4 "core" &  h  + "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +94 "core" ' + "storage"(4& +4 "core" &K } \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +295 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" &K ` j l\  +2 "manipulator"&m& +4 "core" & f  +2 .tElbow.seek 6 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&A& +3 "core" &  ^  +2 "storage"(& +4 "core" &K k j \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&i'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& +2 "storage"(T' +7 "core" & #  +2 "manipulator"&% +4 "core" % j   +47 .tForearm.seek :retract +3 "manipulator"&V' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +101 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +50 "core" ( + "manipulator"&&& +4 "core" &Ӂ# i <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &ӂ" d ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&/'? +92 "core" ' +2 "manipulator"& & +4 "core" &ӟ   8 +2 "manipulator"&p% +4 "core" %7  = g +2 "collection"']& +4 "core" & \ +2 "collection"'Z& +5 "Can"4 :7 +3 "core" & \ +2 .tCC.seek :closed +3 "collection"'1(\\ +3 "core" & \ +5 & \ : +10 &OMx \ 0 +9 &v} \ D +9 &0Z \ K +10 &S \ K +9 &U \ K +10 &wY \ K +9 &9S \ K +9 &T \ K +10 &U \ K +9 &X \ K +9 &!AX \ K +10 &#W \ K +9 &$R \ K +10 &&T \ K +9 &(IT \ K +9 &* T \ K +10 &+T \ J +9 &-T \ J +9 &/QU \ K +10 &1X \ K +9 &2T \ K +10 &4T \ K +9 &6ZU \ J +9 &8W \ K +10 &9T \ K +9 &;W \ K +9 &=`U \ K +10 &?#U \ K +9 &@]\ \ \ L +10 &Ba\ \ \ L +9 &Ddb \ \ M +9 &F#n\ \ \ N +10 &G\ \ \ Q +9 &I\ '\ !\ U +9 &KK\ ,\ ,\ X +10 &M\ *\ *\ X +9 &N\ *\ *\ X +10 &P\ '\ )\ X +9 &RO\ (\ (\ Y +9 &T\ '\ (\ Z +10 &U\ *\ '\ Z +9 &W\ '\ '\ [ +9 &YQ\ '\ '\ [ +10 &[\ )\ )\ [ +9 &\\eF\ )\ )\ 3 +10 &\\\ '\ )\ N +5 ( +2 "collection"'Z& +4 "core" &\\g\ '\ (\ N +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&w1 +54 "core" 1 +3 "manipulator"&% +3 "core" % l  2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&y% +4 "core" % !  * +2 "storage"(n% +3 "core" % H F !\  +2 "storage"(N. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(g(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K T\  \  +2 "manipulator"&t& +4 "core" &   & +2 "manipulator"&H% +3 "core" % ! ' * +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&?( +145 "core" ( +2 "manipulator"&& +4 "core" &  D  +2 "storage"(& +4 "core" &K S S `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Y' +97 "core" ' + "storage"(& +4 "core" &K G Q \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +298 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (R& +3 "core" &K V S 2\  +2 "manipulator"&s& +4 "core" & A  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&l& +4 "core" &  G  + "storage"(x& +5 "core" &K T T B\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&}'h +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(`' +8 "core" & E  +2 "manipulator"&3% +4 "core" % u M +2 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( +3 "manipulator"&h& +4 "core" &  y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &k& +3 "core" & & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +47 "manipulator"&|' +99 "core" ' + "manipulator"&[& +5 "core" &  + "manipulator"&r% +5 "core" % 1 +2 "processing"%B& +4 "core" &\ +2 "processing"%X& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%$(^ +4 "core" &\ +5 &\ 5 +10 &>Gu\ 0 +9 &jr\ D +9 & c\ N +10 &U\ N +9 &U\ M +10 &RU\ N +9 &Y\ M +9 &U\ M +10 &X\ M +9 &ZZ\ N +9 &!X\ N +10 &"U\ M +9 &$W\ M +10 &&cY\ M +9 &($Z\ N +9 &)W\ N +10 &+Z\ M +9 &-kU\ M +9 &/,U\ N +10 &0T\ M +9 &2Y\ M +10 &4rW\ N +9 &65[\ M +9 &7U\ M +10 &9Y\ M +9 &;zW\ N +9 &==V\ M +10 &>Z\ N +9 &@\\\ N +9 &B_\ N +10 &DAc\ O +9 &Fp\ P +10 &Gx\ Q +9 &Iy\ S +9 &K;\ S +10 &L\ S +9 &N\ T +10 &P}\ U +9 &R@\ T +9 &T\ U +10 &U\ T +9 &W\ U +9 &YG\ U +10 &[ \ U +9 &\\\ U +9 &^Af\ * +10 &^t\ @ +9 ( + &^&\ 4 +2 "processing"%X& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&*1 +58 "core" 1 +2 "manipulator"&;% +3 "core" %   2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"%Q& +3 "core" &^& \ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&L% +3 "core" %    G  +3 "storage"(%% +4 "core" % . - k\  + "storage"(@. +3 "core" .(K +2 "storage"(\ & +4 "core" &K ) " 1\  +2 "storage"( & +3 "manipulator"&e& +6 "core" &K - - >\  + &   +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&z( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(S'r +2 "core" ( +2 "manipulator"&& +5 "core" & \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&u' +93 "core" ' +2 .tHand.close +2 "manipulator"&K/ +56 "core" / +2 .tPC.seek :open +2 "processing"%=( +94 "core" ' +2 "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +305 ( +2 "storage"(7& +4 "core" &K F F =\  +2 "manipulator"&,& +4 "core" & ) + "manipulator"&"% +5 "core" %  ` +2 .tForearm.seek :retract +2 "manipulator"&E' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&v( +238 "core" ( +2 "manipulator"&& +3 "core" & L +3 "storage"()& +3 "core" &K $ $ S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +93 "core" ' +2 .tHand.open + "manipulator"&21 +58 "core" 1 +3 "storage"(^- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(M' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(O- +3 "core" -' +2 "storage"(\\& +3 "core" &K \  +2 "manipulator"&F& +5 "core" &   L + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &    L +3 "storage"(!& +4 "core" &K h n \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +24 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +46 "storage"(G'" +54 "core" ' + "manipulator"&f& +4 "core" & + L +2 "storage"(W& +4 "core" &K ) .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&<'< +18 "core" ' +2 .tElbow.hold + "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +19 "core" ' +2 "manipulator"&% +4 "core" %P  I +2 "storage"(d& +4 "core" &K - + ^\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&o'| +13 "core" ' +2 "manipulator"&P& +4 "core" &  ! L +2 "storage"(& +3 "core" &K $ # @\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&D' +17 "core" ' + "storage"(% +5 "core" % ) 3 ^\ +2 ."downElevator"SE.seek :down +4 "storage"(9' +98 (U% +4 "core" %-P\ )\  F\ Vd +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (c& +3 "core" &K * @ \  +2 "collection"' & +5 "core" &\\f\ \ \ N + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&4% +4 "core" %   +2 "storage"(_% +4 "core" % E F \  + "storage"(>. +3 "core" .(K +2 "storage"(~& +4 "core" &K F F :\  +2 "storage"(5& +4 "core" &K F F )\  +2 "manipulator"&m& +4 "core" &  L +2 .tElbow.seek 6 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&& +3 "core" & L +3 "storage"(& +4 "core" &K F E /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&8' +94 "core" ' + "storage"(& +4 "core" &K F Q d\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''r +312 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&q& +2 "core" & _ L +3 "storage"(&& +4 "core" &K S P T\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&b'< +21 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(p'm +32 "core" ' + "manipulator"&]% +4 "core" %3  +2 "storage"(#& +3 "core" &K B D b\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 291 counts +2 "manipulator"&T'_ +14 "core" ' +2 "manipulator"&V& +3 "core" &  L +2 "storage"(& +5 "core" &K F F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&w' +28 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&& +4 "core" & @ L +2 "manipulator"&y% +5 "core" % B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +154 "core" ( + "manipulator"&Z& +4 "core" &ӕ 2 8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӕ 8 +2 .tForearm.seek CC +2 "manipulator"&t'? +135 "core" ' +8 .tHand.close +2 "manipulator"&H/ +58 "core" / +2 .tCC.seek :open +2 "collection"'/( +447 "core" ( + "storage"(& +4 "core" &K k k \  +2 "storage"(& +3 "core" &K g j \  +3 "manipulator"&& +4 "core" &  c % + "manipulator"& % +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&C' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&6( +148 "core" ( +2 "manipulator"&& +4 "core" &  i | +2 "storage"(R& +3 "core" &K k k \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&s'< +97 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&x1 +52 "core" 1 +2 "manipulator"&(% +3 "core" % 2 ! 1 +2 "storage"(& +4 "core" &K o P\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 290 counts + "manipulator"&3'^ +15 "core" ' +2 "manipulator"&?& +3 "core" & W | +3 "storage"(Y& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +16 "core" ' + "storage"(}% +4 "core" % l\ +3 ."downElevator"SE.seek :down +3 "storage"(h' +99 (k% +3 "core" %E k j }\ U_ +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'r& +3 "core" & \ +2 "manipulator"&B% +4 "core" %   @  +2 "storage"(`% +4 "core" % \  +2 "storage"( . +2 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(.(,y +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &,z k f x\ +2 "manipulator"&;& +3 "core" &  | +3 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&L& +3 "core" &  c | +2 "storage"(%& +5 "core" &,z D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +98 "core" ' + "storage"(\ & +4 "core" &,z w \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &,z ] ` L\ +2 "manipulator"&& +4 "core" & p | +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&|& +4 "core" &  m | +2 "storage"(K& +4 "core" &,z j q L\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&a'c +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"($' +8 "core" & P | +2 "manipulator"&S% +4 "core" % W +2 .tForearm.seek :retract +2 "manipulator"&7' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,(ӂ +153 "core" ( +3 ' + ."downElevator"SE.stop +3 "manipulator"&"& + "storage"(5 +8 "core" &y#  " =B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &y$  @ =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +103 "core" ' + "manipulator"&)& +5 "core" &y$ m =B +2 "manipulator"&z% +4 "core" %;   +2 "collection"'2& +4 "core" & \ +2 "collection"'^& +6 "core" & \ +4 .tCC.seek :closed +2 "collection"'O(\\ +3 "core" & \ +5 & \ 9 +9 &IKu \ 1 +10 &v} \ E +9 &.Y \ K +10 &R \ K +9 &T \ K +9 &vU \ J +9 &8U \ J +10 &U \ J +9 &U \ K +10 &}Y \ K +9 &!?T \ K +9 &#S \ K +10 &$U \ J +9 &&V \ J +9 &(HW \ J +10 &* V \ K +9 &+Y \ J +10 &-U \ K +9 &/OY \ K +9 &1X \ K +10 &2X \ K +9 &4U \ K +9 &6WW \ K +10 &8Z \ K +9 &9U \ K +10 &;W \ K +9 &=_U \ K +9 &?!W \ K +10 &@X \ K +9 &B[ \ K +9 &Ddc \ L +10 &F"k \ M +9 &Gx\ \ \ O +10 &I\ \ \ S +9 &KO\ '\ #\ V +9 &M \ &\ '\ W +10 &N\ #\ $\ W +9 &P\ %\ %\ X +9 &RR\ &\ #\ X +10 &T\ &\ $\ Y +9 &U\ $\ &\ Y +10 &W\ $\ &\ Z +9 &YQ\ %\ #\ [ +9 &[\ )\ $\ [\ +10 &\\dE\ '\ '\ 2 +9 &\\\ '\ '\ L +6 ( + "collection"'^& +4 "core" &\\m\ %\ $\ L +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&\\1 +63 "core" 1 +3 "manipulator"&F% +3 "core" % ;   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%!& +4 "core" &\ +2 "manipulator"&E% +4 "core" % ! * +2 "storage"(f% +4 "core" % & & >\  + "storage"(W. +3 "core" .(,y +2 "storage"(& +4 "core" &,z # "\ +2 "storage"(& +4 "core" &,z & ' !\ +2 "manipulator"&& +4 "core" &ӭ 6 + "manipulator"&d% +5 "core" % ! * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&P( +167 "core" ( + "manipulator"&& +4 "core" & t z +2 "storage"(v& +4 "core" &,z S S W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +108 "core" ' +2 "storage"(J& +4 "core" &,z k k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +295 "core" ' + "storage"(U- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,z 6 N W\ +3 "manipulator"&I& +4 "core" &  \ z +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&G& +4 "core" & 7 z + "storage"(<& +5 "core" &,z F F +\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&o'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(4' +8 "core" & ` z + "manipulator"&_% +4 "core" % g C 4 +2 .tForearm.seek :retract +2 "manipulator"&:' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&~& +5 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &5& +2 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&m' +105 "core" ' +2 "manipulator"&& +4 "core" &  _ +2 "manipulator"&% +4 "core" %   +2 "processing"%D& +3 "core" &\ +3 "processing"%& +5 "core" &\ +53 .tPC.seek :closed +4 "processing"%9(^ +2 "core" &\ +2 &\ + &\ + &\ + &\ + &\ + &\  +5 &4{\ )w +9 &c\ > +9 &us\ N +10 &7U\ M +9 &U\ M +9 &V\ N +10 &|W\ N +9 &?Y\ M +10 &Z\ N +9 &X\ N +9 & [\ M +10 &"GT\ M +9 &$ U\ M +9 &%T\ M +10 &'W\ M +9 &)OY\ M +10 &+Z\ M +9 &,[\ N +9 &.W\ M +10 &0XW\ M +9 &2X\ N +9 &3W\ N +10 &5X\ N +9 &7_U\ M +10 &9!Y\ M +9 &:]\ N +9 &<V\ M +10 &>fZ\ N +9 &@'Z\ N +9 &A\\\ N +10 &Ce\ O +9 &Ehl\ P +10 &G)p\ P +9 &H\ R +9 &J\ T +10 &Ld\ T +9 &N%\ T +9 &O\ T +10 &Q\ U +9 &Si\ U +10 &U+\ U +9 &V\ T +9 &X\ U +10 &Zr\ T +9 &\\2\ U +9 &]zs\ > +10 &^!Q\ L +9 &^?\ : +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&+1 +53 "core" 1 +2 "manipulator"&{% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +88 "core" ' +2 "processing"%q& +4 "core" &^>\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&&% +4 "core" %   \   +2 "storage"( % +4 "core" % & '\  +2 "storage"(]. +4 "core" .(,y + "storage"(#& +4 "core" &,z ! '\ +2 "storage"(V& +3 "manipulator"&& +7 "core" &,z "\ + &   ) +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(y'r +2 "core" ( +3 "manipulator"&8& +4 "core" &  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &   3 +3 .tForearm.seek PC + "manipulator"&'' +92 "core" ' +2 .tHand.close +2 "manipulator"&b/ +58 "core" / +2 .tPC.seek :open +2 "processing"%T( +96 "core" ' + "storage"(p- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Z'1 +41 "core" ' +309 ( +2 "storage"(& +4 "core" &,z ' ) f\ +2 "manipulator"&w& +4 "core" & 7 + "manipulator"&i% +5 "core" %  J +2 .tForearm.seek :retract +2 "manipulator"&H' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&n( +249 "core" ( +2 "manipulator"&1& +4 "core" &\  !p +2 "storage"(& +4 "core" &,z ' ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(R' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +3 "core" -' +2 "storage"(N& +4 "core" &,z f g \ +2 "manipulator"&x& +4 "core" &\  !p +2 .tElbow.seek 4 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&& +3 "core" &\   !p +2 "storage"(?& +5 "core" &,z e h \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +51 "core" ' + "manipulator"&C& +4 "core" &\  !p +2 "storage"(k& +4 "core" &,z . # V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +42 "manipulator"&'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +20 "core" ' +2 "manipulator"&r% +4 "core" %D / O +2 "storage"(3& +3 "core" &,z . - \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&B'p +13 "core" ' +2 "manipulator"&`& +3 "core" &\  D !p +3 "storage"( & +4 "core" &,z $ & '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(0% +3 "core" % E F &\ +3 ."downElevator"SE.seek :down +4 "storage"(h' +98 (g% +4 "core" %5R\ (\ " H\ Xf +2 "manipulator"&*% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +3 "core" &,z 2 @ \ +2 "collection"'%& +4 "core" &\\k\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&\ % +5 "core" %   + "storage"(l% +4 "core" % G H \  +2 "storage"([. +3 "core" .(,y +2 "storage"(e& +4 "core" &,z F F +\ +2 "storage"(X& +4 "core" &,z F F '\ +2 "manipulator"&& +4 "core" &   o +2 .tElbow.seek 4 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&K& +3 "core" &   o +3 "storage"(-& +4 "core" &,z G F 0\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(S& +4 "core" &,z = N k\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +297 "core" ' + "storage"(@- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &\  ; o +2 "storage"(u& +4 "core" &,z $ $ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& '7 +22 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(z'g +29 "core" ' +2 "manipulator"&% +4 "core" %F \ +2 "storage"(2& +4 "core" &,z - ,\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&$'r +14 "core" ' +2 "manipulator"&7& +4 "core" &\   ` o +2 "storage"(/& +4 "core" &,z G @ 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(F' +35 "core" ' +2 "manipulator"&!& +4 "core" &\  o +2 "manipulator"&E% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&^(ӂ +147 "core" ( + "manipulator"&W& +4 "core" &y% >N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &y% & >N +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'d( +446 "core" ( +2 "storage"(& +4 "core" &,z _ ] o\ +2 "storage"(& +43 "core" &,z ` h T\ +9 "manipulator"&v& +4 "core" &Ӵ H 6 +2 "manipulator"&J% +3 "core" % ) o . +3 .tForearm.seek :retract +2 "manipulator"&,' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +165 "core" ( + "manipulator"&U& +4 "core" &   +2 "storage"(& +4 "core" &,z k\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&I'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +58 "core" 1 +3 "manipulator"&c% +4 "core" % >  g 5 +2 "storage"( & +3 "core" &,z \ +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 307 counts + "manipulator"&_'j +14 "core" ' + "manipulator"&P& +4 "core" &  F  +2 "storage"(& +3 "core" &,z '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +16 "core" ' + "storage"(o% +4 "core" % x {\ +2 ."downElevator"SE.seek :down +4 "storage"(~' +99 (5% +3 "core" %G k j \ V_ +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&D% +4 "core" %   } # +2 "storage"(4% +4 "core" % \  +2 "storage"(:. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(=(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &<+ B F\  +2 "manipulator"&{& +3 "core" & D  +3 .tElbow.seek 5 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&&& +4 "core" & \ 2  +2 "storage"( & +3 "core" &<* } q G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +94 "core" ' +2 "storage"(#& +4 "core" &<* | b\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +307 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* f k \  +2 "manipulator"&8& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&m& +4 "core" & \ K  +2 "storage"(b& +3 "core" &<* k j \  +4 .tForearm.seek 5 + 300 counts +2 "manipulator"&p'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(9' +8 "core" & J  +2 "manipulator"&y% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&i& +3 "core" &ӛ 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &'& +3 "core" &ӛ 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +47 "manipulator"&1'? +99 "core" ' +2 "manipulator"&& +3 "core" &ӛ 4 +3 "manipulator"&% +4 "core" %F  +2 "collection"'& +4 "core" & \ +2 "collection"' & +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'t(\\ +5 "core" & \ +7 &= \ $e +9 &Vv \ 6 +10 &x \ K +9 &S \ J +9 &{U \ K +10 &=X  \ K +9 &X \ K +9 &S \ K +10 &S \ K +9 &FU \ J +10 & U \ J +9 &!U \ J +9 &#U \ J +10 &%NT \ J +9 &'T \ J +9 &(U \ J +10 &*U \ J +9 &,VU \ J +10 &.U \ J +9 &/U \ J +9 &1U \ K +10 &3]X \ K +9 &5X \ K +9 &6Y \ K +10 &8Y \ K +9 &:fV \ J +10 &<'W \ K +9 &=U \ K +9 &?U \ K +10 &AlY \ K +9 &C,\\ \ L +9 &Dc \ L +10 &Fo\ \ \ N +9 &Hf\ \ \ P +10 &J\ $\ \ T +9 &K\ *\ (\ V +9 &M\ *\ ,\ W +10 &OX\ )\ )\ W +9 &Q\ )\ (\ X +9 &R\ '\ (\ X +10 &T\ '\ '\ X +9 &V[\ '\ (\ Y +10 &X\ '\ '\ Y +9 &Y\ (\ (\ Z +9 &[\ &\ (\ H +10 &\\9\ *\ )\ , +9 &\\k\ (\ )\ Q +3 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&N1 +54 "core" 1 +2 "manipulator"&x% +3 "core" % F  D  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%?& +4 "core" &\ +2 "manipulator"&H% +3 "core" %    +3 "storage"(C% +4 "core" % @ D \  +2 "storage"(k. +3 "core" .(<- +2 "storage"(Z& +4 "core" &<* G A \  + "storage"(r& +4 "core" &<* H F %\  +2 "manipulator"&3& +3 "core" &ӡ  3 +3 "manipulator"&% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&`( +161 "core" ( + "manipulator"& & +5 "core" &  + "storage"(0& +4 "core" &<* U T {\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +93 "core" ' +2 "storage"(& +3 "core" &<* > N \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(R'r +297 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &<* D Q ,\  +2 "manipulator"&Y& +5 "core" &  + .tElbow.seek 5 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&}& +4 "core" & K  +2 "storage"(& +4 "core" &<* T S [\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&L'Ϲ +34 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +3 "storage"(\ ' +7 "core" &  +2 "manipulator"&l% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&[' +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +3 "manipulator"&e& +4 "core" & c C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" & N C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&K& +4 "core" & c C +2 "manipulator"&-% +4 "core" %   +2 "processing"%& +4 "core" &\ +2 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%h(^ +4 "core" &\ +8 &6\ #b +10 &U}\ 6 +9 &~}\ K +9 &W\ M +10 &YU\ M +9 &S\ M +10 &V\ N +9 &X\ N +9 &aT\ M +10 &"W\ N +9 &Y\ N +9 &!T\ M +10 &#iU\ M +9 &%+T\ M +10 &&W\ N +9 &(Y\ N +9 &*pY\ N +56 &,1Z\ N +6 &-U\ M +2 &/\\\ N + &1yW\ M +2 &3;Z\ M + &4Z\ M + &6[\ N +6 &8Z\ M +10 &:DW\ M +9 &<\\\ M +9 &=W\ N +10 &?W\ M +9 &AJZ\ N +10 &C c\ O +9 &Dg\ O +9 &Fp\ P +10 &HF\ R +9 &J\ S +9 &K\ S +10 &M\ T +9 &OH\ T +10 &Q \ T +9 &R\ T +9 &T\ U +10 &VN\ T +9 &X\ T +9 &Y\ T +10 &[\ T +9 &]T\ E +10 &^u=l\ 'r +9 &^3\ - +5 ( +3 "processing"%S& +3 "core" &^\ - +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&61 +64 "core" 1 + "manipulator"&;% +4 "core" %  n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +96 "core" ' + "processing"%"& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&u% +4 "core" % !   * +2 "storage"()% +4 "core" % ( + \  +2 "storage"(. +3 "core" .(<- +2 "storage"(2& +4 "core" &<* . - K\  +2 "storage"(7& +3 "manipulator"&/& +7 "core" &<* , ( W\  + &   C +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&!( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(E'r +2 "core" ( +2 "manipulator"&& +4 "core" &   7 C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +3 "core" &   C +2 .tForearm.seek PC +2 "manipulator"&Q' +92 "core" ' +2 .tHand.close + "manipulator"& / +64 "core" / +3 .tPC.seek :open +2 "processing"%$( +92 "core" ' + "storage"(z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(W'1 +39 "core" ' +310 ( +2 "storage"(& +4 "core" &<* F G -\  +2 "manipulator"&\\& +3 "core" & C +2 "manipulator"&a% +5 "core" %   g +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&f( +245 "core" ( +2 "manipulator"&O& +4 "core" &  1 +2 "storage"(& +4 "core" &<* % $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 .tHand.open + "manipulator"&v1 +65 "core" 1 +2 "storage"(J- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(U' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(^& +4 "core" &<* f d ]\  +2 "manipulator"&<& +3 "core" &  > 1 +3 .tElbow.seek 5 +2 "manipulator"&c( +9 "core" ( +2 "manipulator"& & +4 "core" &   -  +2 "storage"(P& +4 "core" &<* e e \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(o'" +52 "core" ' + "manipulator"&,& +5 "core" &   + "storage"(5& +4 "core" &<* ' ( 5\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(I' +20 "core" ' + "manipulator"&% +43 "core" %Κ  + +10 "storage"(D& +4 "core" &<* ) , p\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts + "manipulator"&_' +14 "core" ' +2 "manipulator"&4& +4 "core" & -  +2 "storage"(:& +3 "core" &<* 4 7 r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +23 "core" ' + "storage"(M% +4 "core" % S I _\ +3 ."downElevator"SE.seek :down +4 "storage"(~' +99 (.% +3 "core" %AR\ \  )\ Xf +2 "manipulator"&+% +4 "core" %^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +95 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (&& +3 "core" &<* N H ]\  +3 "collection"' & +4 "core" &\\k\ \ \ Q +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&#% +4 "core" %  +2 "storage"(G% +3 "core" % T I O\  +2 "storage"(. +3 "core" .(<- +2 "storage"(V& +4 "core" &<* T U \  +2 "storage"(& +4 "core" &<* P H \  +2 "manipulator"&8& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&m( +9 "core" ( + "manipulator"&b& +4 "core" &   +2 "storage"(>& +4 "core" &<* L H J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +101 "core" ' +2 "storage"(y& +4 "core" &<* j P v\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +297 "core" ' +3 "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" & =  +2 "storage"('& +4 "core" &<* F F Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('t +27 "core" ' +2 "manipulator"&% +4 "core" %Ώ ^ 7 +2 "storage"(& +4 "core" &<* S T b\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 302 counts + "manipulator"&9'ϻ +15 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(d& +4 "core" &<* 4 ' X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +23 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(x' +47 "core" ' +2 "manipulator"&?& +3 "core" &   +2 "manipulator"&H% +5 "core" %f = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +149 "core" ( +2 "manipulator"&Z& +4 "core" &z% ' >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &z%  >O +2 .tForearm.seek CC +2 "manipulator"& '? +96 "core" ' + .tHand.close + "manipulator"&3/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(1& +3 "core" &<* j j \  +2 "storage"( & +5 "core" &<* k j \  + "manipulator"&0& +4 "core" &ӯ e 7 +2 "manipulator"&% +4 "core" % B  O  +2 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +40 "manipulator"&( +171 "core" ( +2 "manipulator"&g& +3 "core" &  D  +2 "storage"(*& +4 "core" &<* ~ ,\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Y'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&B% +3 "core" % z S O +2 "storage"(%& +4 "core" &<* ~ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 281 counts + "manipulator"&l'Ϧ +14 "core" ' +2 "manipulator"&`& +4 "core" &   +2 "storage"(n& +3 "core" &<* \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +15 "core" ' +2 "storage"(L% +4 "core" % ?\ +2 ."downElevator"SE.seek :down +4 "storage"(e' +99 (X% +3 "core" %K Q j t\ V` +2 "manipulator"&(% +3 "core" %2 | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +91 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'-& +3 "core" & \ +2 "manipulator"&% +4 "core" %   h  +2 "storage"(\ % +4 "core" % R\  +2 "storage"([. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(T(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &K S I G\  +2 "manipulator"&;& +4 "core" & W  +2 .tElbow.seek 6 +2 "manipulator"&"( +12 "core" ( +2 "manipulator"&u& +3 "core" &   +2 "storage"()& +5 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(S& +4 "core" &K  { \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(2'r +293 "core" ' + "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &K ^ _ o\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"( & +4 "core" &K j l \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&z'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&s/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"(h' +8 "core" &  L  +2 "manipulator"&E% +3 "core" % p ] +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +150 "core" ( +2 "manipulator"&a& +3 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +2 "core" &ӄ" ) ;2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &ӄ" ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&O'? +100 "core" ' +2 "manipulator"&& +3 "core" &Ӆ! < :1 +2 "manipulator"&!% +5 "core" %C    +2 "collection"'v& +3 "core" &  \ +3 "collection"'J& +5 "core" &  \ +3 .tCC.seek :closed +48 "collection"'(\\ +8 "core" & \ +2 & \ & \ +2 & \ + & \ + & \ + & \ 9 +7 &HJv \ 0 +9 &}v~ \ D +10 &)Z  \ K +9 &S \ K +10 &T \ K +9 &qU \ J +9 &3T \ J +10 &U \ K +9 &X \ K +9 &xS \ K +10 &!:S \ K +9 &"S \ K +10 &$S \ K +9 &&S \ K +9 &(BT \ K +10 &*S \ K +9 &+R \ K +9 &-S \ K +10 &/JT \ K +9 &1 S \ K +10 &2R \ K +9 &4R \ K +9 &6RT \ K +10 &8T \ K +9 &9V \ J +9 &;V \ K +10 &=[V \ J +9 &?Z \ L +10 &@]\  \ L +9 &B`\ \ \ L +9 &D_b\ \ \ L +10 &Fm\ \ \ M +9 &G\ \ \ Q +9 &I\ )\ #\ U +10 &KE\ .\ -\ X +9 &M\ \ *\ +\ V +10 &N\ )\ *\ X +9 &P\ *\ )\ X +9 &RK\ )\ *\ \ X +10 &T \ (\ (\ Y +9 &U\ '\ )\ Y +9 &W\ (\ )\ [ +10 &YL\ &\ )\ [ +9 &[ \ '\ &\ \ [\ +10 &\\cJ\ )\ )\ 5 +9 &\\ \ '\ (\ L +5 ( +2 "collection"'J& +6 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&^1 +3 "core" &\\k\ %\ '\ L +58 1 +2 "manipulator"&<% +4 "core" % Y '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&P% +3 "core" %  \ +3 "storage"(,% +3 "core" % P F 7\  +2 "storage"(5. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &K c c\  +2 "manipulator"&U& +5 "core" &  & + "manipulator"&D% +4 "core" %  \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&4( +139 "core" ( +2 "manipulator"&:& +4 "core" &  9 +2 "storage"(f& +3 "core" &K T T n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +93 "core" ' +2 "storage"(& +3 "core" &K k j \  +4 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &K H R n\  +2 "manipulator"&& +4 "core" & v +2 .tElbow.seek 6 +2 "manipulator"&c( +7 "core" ( +2 "manipulator"&o& +4 "core" &  J  + "storage"(& +5 "core" &K S U f\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&_'h +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(#' +8 "core" &   + "manipulator"&G% +4 "core" % | +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +3 .tElbow.seek PC + "manipulator"&I( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&V& +3 "core" & d : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&8' +99 "core" ' + "manipulator"&b& +4 "core" &  E : +2 "manipulator"&>% +4 "core" %  D 6 +2 "processing"%F& +3 "core" &\ +3 "processing"%y& +5 "core" &\ +3 .tPC.seek :closed + "processing"%~(^ +5 "core" &\ +6 &\ 6 +9 &=Gv\ 0 +9 &ep\ D +10 &c\ N +9 &\\\ M +9 &U\ M +10 &MU\ M +9 &U\ M +10 &U\ M +9 &V\ M +9 &UU\ M +10 &!W\ M +9 &"Y\ N +10 &$Y\ N +9 &&]W\ M +9 &( W\ M +10 &)Y\ N +9 &+X\ M +9 &-eV\ M +10 &/'V\ M +9 &0U\ M +9 &2Z\ M +10 &4lX\ N +9 &6.Z\ N +10 &7Y\ N +9 &9Z\ N +9 &;uX\ M +10 &=8Y\ M +9 &>]\ N +9 &@]\ M +10 &Bz_\ N +9 &D;c\ O +10 &En\ P +56 &Gy\ Q +5 &Iu\ S +2 &K6\ S + &L\ T +2 &N\ T + &Py\ T + &R:\ T +7 &S\ U +9 &U\ T +9 &W\ T +10 &YB\ T +9 &[\ U +9 &\\\ U +10 &^Ep\ 0 +9 &^\ # +6 ( + "processing"%y& +4 "core" &^\ # +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&{% +3 "core" %  7 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +91 "core" ' +2 "processing"%i& +4 "core" &^\ # +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&'% +5 "core" %  7  + "storage"(A% +4 "core" % 3 A ~\  +2 "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K ) ' \  +2 "storage"(& +3 "manipulator"&d& +6 "core" &K @ 4 ;\  +2 & : +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(?'r + "manipulator"&H( +7 "core" ( + "manipulator"&j& +4 "core" &  d : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &   : +3 .tForearm.seek PC +2 "manipulator"&q' +97 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%9( +80 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(Z'1 +40 "core" ' +325 ( + "storage"(r& +4 "core" &K U S \  +2 "manipulator"&N& +3 "core" &  . : +2 "manipulator"&p% +5 "core" %  ] +2 .tForearm.seek :retract +2 "manipulator"&3' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&C( +244 "core" ( +2 "manipulator"&t& +3 "core" & ! B +3 "storage"(1& +4 "core" &K H P <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +96 "core" ' +2 .tHand.open + "manipulator"&01 +63 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(g' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +3 "core" -' +2 "storage"(k& +4 "core" &K Z\  +2 "manipulator"&& +4 "core" &  B +2 .tElbow.seek 6 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&%& +3 "core" &   g B +2 "storage"(`& +4 "core" &K \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(L'" +51 "core" ' +2 "manipulator"&w& +4 "core" & H B +2 "storage"(X& +4 "core" &K % * N\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&('< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +28 "core" ' + "manipulator"&-% +4 "core" %2 +2 "storage"(l& +4 "core" &K ) $ =\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 290 counts +2 "manipulator"&'^ +43 "core" ' +9 "manipulator"&\ & +4 "core" & M B +2 "storage"([& +3 "core" &K F F ,\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +15 "core" ' + "storage"(R% +5 "core" % I F '\ +2 ."downElevator"SE.seek :down +4 "storage"(e' +98 (=% +3 "core" %6R\ \ * :\ Xg +3 "manipulator"&6% +4 "core" %\  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +96 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 (u& +2 "core" &K ( ? g\  +3 "collection"')& +3 "core" &\\k\ \ \ L +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&S% +4 "core" %   # +2 "storage"(}% +4 "core" % F E $\  +2 "storage"(K. +3 "core" .(K +2 "storage"(/& +4 "core" &K F F #\  +2 "storage"(7& +3 "core" &K O F 7\  +3 "manipulator"&& +4 "core" & O B +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" & B +2 "storage"(s& +4 "core" &K F F #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +93 "core" ' +2 "storage"(E& +4 "core" &K Q > w\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" &  B +3 "storage"(Q& +4 "core" &K S P \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&2'< +18 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(!'k +32 "core" ' + "manipulator"&v% +4 "core" %M 4 0 +2 "storage"(|& +3 "core" &K F F A\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&h'y +13 "core" ' +2 "manipulator"&& +4 "core" &  X B +2 "storage"(& +4 "core" &K T T i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(<' +36 "core" ' +2 "manipulator"&& +4 "core" & V B +2 "manipulator"&P% +3 "core" % H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +154 "core" ( + "manipulator"&J& +4 "core" &Ӓ   9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &Ӓ 9& +2 .tForearm.seek CC +3 "manipulator"&U'? +99 "core" ' + .tHand.close + "manipulator"&D/ +60 "core" / +2 .tCC.seek :open +2 "collection"'O( +446 "core" ( +2 "storage"(:& +3 "core" &K k j \  +2 "storage"(f& +4 "core" &K g l U\  +2 "manipulator"&& +3 "core" &  & +2 "manipulator"&T% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&\\' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +150 "core" ( +2 "manipulator"&.& +4 "core" &  m  +2 "storage"(+& +4 "core" &K R\  +2 .tElbow.reconfigure :limp +45 "manipulator"&$ ,(b +7 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&&% +4 "core" % =    6 +2 "storage"( & +4 "core" &K  @\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 301 counts +2 "manipulator"&G'i +14 "core" ' +2 "manipulator"&4& +4 "core" &   +2 "storage"(M& +4 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(_% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(V' +98 (% +3 "core" %G j O V\ V` +3 "manipulator"&c% +3 "core" %  Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'>& +3 "core" & \ +2 "manipulator"&F% +4 "core" %   +2 "storage"(#% +4 "core" % \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"($(,y +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,x j a j\ +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&'& +4 "core" &  +2 "storage"(A& +4 "core" &,x q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(& +4 "core" &,x x w \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'r +292 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &,x _ ] b\ +2 "manipulator"&j& +4 "core" &  $  +2 .tElbow.seek 4 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&8& +4 "core" & t  +2 "storage"(& +4 "core" &,x j j \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +2 "storage"(~' +6 "core" & v  +2 "manipulator"&?% +4 "core" % ] z +2 .tForearm.seek :retract +2 "manipulator"&r' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&p& +3 "core" &Ӟ 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +2 "core" &Ӟ  T 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&t'? +99 "core" ' +2 "manipulator"&1& +4 "core" &Ӟ  o 3 +2 "manipulator"&H% +4 "core" %A  t  +2 "collection"'0& +4 "core" & \ +2 "collection"'& +6 "core" &  \ +2 .tCC.seek :closed +2 "collection"'*(\\ +5 "core" &  \ +7 &= \ $d +9 &Xx \ 7 +10 &u \ J +9 &S \ K +9 &X \ K +10 &CW \ K +9 &X \ K +9 &Y \ J +10 &U \ J +9 &LU \ J +48 & U  \ J +6 &!U \ K + &#V \ K +2 &%SR \ K + &'X \ K + &(X \ K +7 &*W \ K +9 &,\\X \ K +10 &.R \ J +9 &/T \ J +9 &1U \ K +10 &3cV \ K +9 &5%X \ K +9 &6Y  \ K +10 &8Y \ \ K +9 &:kZ \ K +10 &<-T \ K +9 &=U \ J +9 &?W \ \ K +10 &AsW  \ K +9 &C4\\ \ K +9 &Dc \ L +10 &Fl\  \ M +9 &Hl\ \ \ \ P +10 &J"\ "\ \ T +9 &K\ '\ &\ V +9 &M\ &\ '\ W +10 &O`\ '\ %\ W +9 &Q \ '\ %\ X +9 &R\ %\ &\ X +10 &T\ &\ $\ Y +9 &Vb\ &\ $\ Y +9 &X!\ &\ # \ Z +10 &Y\ '\ &\ [ +9 &[\ '\ '\ H +10 &\\2\ '\ ( \ 3 +9 &\\i\ '\ ( \ J +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&k1 +60 "core" 1 +2 "manipulator"&% +4 "core" % A 6  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%`& +3 "core" &\ +3 "manipulator"&3% +3 "core" %   +3 "storage"(w% +4 "core" % F I \  +2 "storage"(X. +3 "core" .(,y +2 "storage"(Z& +4 "core" &,x I P \ + "storage"(-& +5 "core" &,x S S '\ +2 "manipulator"&l& +4 "core" &Ӡ  3 +2 "manipulator"& % +3 "core" %  0  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&\ ( +164 "core" ( +2 "manipulator"&[& +3 "core" &  o  +3 "storage"(R& +3 "core" &,x g P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +93 "core" ' +2 "storage"( & +3 "core" &,x j k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +300 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" &,x R G \ +2 "manipulator"&n& +4 "core" & {  +2 .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&L& +4 "core" &  + "storage"((& +4 "core" &,x E < \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&)& +2 "storage"(S' +7 "core" & p  +2 "manipulator"&}% +4 "core" % o  ! +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&/& +4 "core" &  E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &7& +2 "core" &  E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 "manipulator"& & +3 "core" & : E +3 "manipulator"&s% +4 "core" % = +2 "processing"%x& +3 "core" &\ +3 "processing"%E& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%e(^ +4 "core" &\  +9 &2x\ )w +9 &c\ > +10 &nv\ N +9 &2W\ M +10 &Y\ M +9 &W\ N +9 &vY\ N +10 &8X\ N +9 &X\ M +9 &V\ N +10 & ~Z\ N +9 &"@Y\ N +10 &$Y\ N +9 &%W\ M +9 &'V\ M +10 &)JW\ M +9 &+ X\ M +9 &,V\ N +10 &.W\ M +9 &0RW\ M +10 &2X\ M +9 &3Z\ M +9 &5X\ M +10 &7YU\ M +9 &9X\ N +9 &:Z\ N +10 &<V\ M +9 &>`]\ N +10 &@"Z\ N +9 &A[\ N +9 &Cf\ O +10 &Ecl\ O +9 &G#p\ P +9 &H\ R +10 &J\ S +9 &L_\ S +10 &N\ T +9 &O\ T +9 &Q\ T +10 &Se\ T +9 &U&\ T +14 &V\ T +5 &X\ T +11 &Zl\ T +8 &\\-\ U +9 &]}\ 8 +9 &^5\ K +10 &^\ ) +2 ( +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&;% +4 "core" %  ~ +2 .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 "processing"%a& +3 "core" &^\ ) +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&Q% +4 "core" % # 5 +2 "storage"(% +3 "core" % $ % W\  +2 "storage"(v. +3 "core" .(,y +2 "storage"(|& +4 "core" &,x & %\ +2 "storage"(& +3 "manipulator"&& +6 "core" &,x # #\ +2 &   E +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'r +3 "core" ( + "manipulator"&@& +5 "core" &   ^ E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   E +3 .tForearm.seek PC +2 "manipulator"&"' +94 "core" ' +3 .tHand.close + "manipulator"&2/ +63 "core" / +3 .tPC.seek :open + "processing"%h( +87 "core" ' + "storage"(!- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'1 +42 "core" ' +313 ( +3 "storage"(W& +4 "core" &,x F F \ + "manipulator"&^& +4 "core" & } E +2 "manipulator"&z% +4 "core" %  2 N +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&,( +255 "core" ( +2 "manipulator"&& +3 "core" &\  , "} +3 "storage"(:& +3 "core" &,x ' ( J\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +89 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(T- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(+' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +3 "core" -' +2 "storage"(5& +4 "core" &,x \ +2 "manipulator"&& +3 "core" &   / "} +3 .tElbow.seek 4 +2 "manipulator"&&( +4 "core" ( + "manipulator"& & +4 "core" &   i "} +2 "storage"(4& +4 "core" &,x r o >\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(_'" +49 "core" ' +2 "manipulator"&\\& +4 "core" &   "} +2 "storage"(& +4 "core" &,x ) . \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&c'7 +19 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +30 "core" ' + "manipulator"&>% +4 "core" %9 ( +2 "storage"(F& +4 "core" &,x - - \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 302 counts + "manipulator"&G'e +16 "core" ' + "manipulator"&#& +4 "core" &  "| +2 "storage"(& +3 "core" &,x $ ' \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +16 "core" ' + "storage"(% +4 "core" % F F \ +2 ."downElevator"SE.seek :down +4 "storage"(V' +99 (% +3 "core" %F % ' \ U` +2 "manipulator"&% +4 "core" % i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +94 "core" ' +103 ' + ."downElevator"SE.stop + "storage"(5 +3 ('& +3 "core" &,x = 6\ +3 "collection"'A& +4 "core" &\\h\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +5 "core" %   +2 "storage"(o% +3 "core" % F F "\  +2 "storage"(b. +3 "core" .(,y +2 "storage"(& +3 "core" &,x B E \ +2 "storage"(d& +5 "core" &,x I G \ + "manipulator"&j& +4 "core" &\  "| +2 .tElbow.seek 4 +2 "manipulator"&8( +18 "core" ( +2 "manipulator"&& +3 "core" &  +3 "storage"(I& +4 "core" &,x T S \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&]' +90 "core" ' +2 "storage"(?& +3 "core" &,x k j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" &   +3 "storage"(q& +4 "core" &,x S S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&y'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(1- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(H'i +32 "core" ' + "manipulator"&0% +4 "core" %@ ^ \ +2 "storage"(m& +4 "core" &,x S I b\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 309 counts + "manipulator"&~'l +16 "core" ' + "manipulator"&r& +4 "core" & O  +2 "storage"(O& +3 "core" &,x R J \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&`& +5 "core" &  + "manipulator"&3% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +154 "core" ( + "manipulator"&Z& +4 "core" &ӕ  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &ӕ 5 +2 .tForearm.seek CC +2 "manipulator"&-'? +94 "core" ' + .tHand.close + "manipulator"&l/ +54 "core" / +2 .tCC.seek :open +2 "collection"' ( +446 "core" ( +2 "storage"(t& +4 "core" &,x k j \ + "storage"([& +4 "core" &,x k k \ +2 "manipulator"&R& +3 "core" &ӟ 4 +2 "manipulator"& % +5 "core" % S t  +2 .tForearm.seek :retract +2 "manipulator"&N' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&%( +162 "core" ( + "manipulator"&=& +4 "core" & [  +2 "storage"(6& +4 "core" &,x j ` \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&n'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&(1 +62 "core" 1 +10 "manipulator"&u% +3 "core" % / r . +3 "storage"()& +4 "core" &,x } n 3\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 292 counts + "manipulator"&}'[ +15 "core" ' + "manipulator"&\ & +4 "core" &  &  +2 "storage"(C& +3 "core" &,x w\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +27 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(/' +99 (7% +2 "core" %G k Q M\ V_ +3 "manipulator"&B% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'s& +3 "core" & \ +3 "manipulator"&x% +4 "core" %  j  +2 "storage"(S% +4 "core" % e\  + "storage"(K. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(9(<- +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<* j k \  +2 "manipulator"&;& +4 "core" & Y  +2 .tElbow.seek 5 +2 "manipulator"&E( +12 "core" ( +2 "manipulator"&a& +3 "core" &  & | +2 "storage"(Q& +5 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +98 "core" ' +2 "storage"(v& +4 "core" &<* ~ C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* i n \  +2 "manipulator"&@& +4 "core" & y | +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  M | +2 "storage"(2& +3 "core" &<* \\ ] #\  +4 .tForearm.seek 5 + 300 counts +2 "manipulator"&!'Ϲ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(e' +7 "core" & r | +2 "manipulator"&P% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&W' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&^(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&z& +5 "core" &ӄ! f :0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +2 "core" &Ӆ  K :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&:& +4 "core" &ӎ  ^ 9& +3 "manipulator"&% +4 "core" %J + f +2 "collection"'& +4 "core" & \ +3 "collection"'T& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'U(\\ +4 "core" & \ +7 &= \ $e +9 &Wu \ 6 +10 &x  \ K +9 &R \ J +9 &|V \ K +10 &>X \ K +9 &X \ \ J +9 &U  \ J +10 &U \ J +9 &GU \ J +10 & T \ J +9 &!X  \ J +9 &#U \ \ J +10 &%MR \ K +9 &'R \ \ K +9 &(R \ K +10 &*W  \ K +9 &,VX \ K +10 &.R \ \ K +9 &/R \ J +9 &1T  \ K +10 &3]S \ K +9 &5S \ K +9 &6S \ K +10 &8S  \ K +9 &:eT \ K +9 &<(V  \ J +10 &=U  \ K +9 &?T  \ K +10 &AmV \ \ K +9 &C.Z \ K +9 &Db  \ L +10 &Fk\  \ M +9 &Hg\ \  \ P +10 &J\ !\  \ T +9 &K\ *\ +\ V +9 &M\ *\ )\ W +10 &OY\ (\ & \ W +9 &Q\ &\ &\ W +9 &R\ %\ '\ X +55 &T\ &\ &\ Y +5 &V[\ '\ & \ Y +3 &X\ (\ '\ \ Z + &Y\ &\ '\ [ +2 &[\ +\ (\ \ H + &\\<\ *\ *\ )| +2 &\\u\ &\ '\ V + ( +2 "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&51 +56 "core" 1 +2 "manipulator"&% +4 "core" % J ] f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%4& +4 "core" &\ +2 "manipulator"&D% +4 "core" %   +2 "storage"(\\% +4 "core" % G G M\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(>(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (F& +2 "core" &<* K F\  +3 "manipulator"&J& +4 "core" &ө 5 + "manipulator"&#% +5 "core" %  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&.& +4 "core" &  {  +2 "storage"(& +4 "core" &<* V T \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&,'O +95 "core" ' +2 "storage"(f& +3 "core" &<* P > 8\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* ( ' 6\  +2 "manipulator"&M& +5 "core" &   +2 .tElbow.seek 5 + "manipulator"&&( +4 "core" ( +2 "manipulator"&_& +4 "core" & G  + "storage"(c& +4 "core" &<* F P )\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&G'Ϲ +38 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(A' +8 "core" & `  + "manipulator"&% +4 "core" %   X +2 .tForearm.seek :retract +2 "manipulator"&o' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&b( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +3 "manipulator"&& +4 "core" &  , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" & P , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&j' +98 "core" ' +2 "manipulator"&& +4 "core" & 2 , +2 "manipulator"&I% +4 "core" % * 6 +2 "processing"%<& +4 "core" &\ +2 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%V(^ +5 "core" &\ +7 &8\ #b +9 &V}\ 6 +9 &}\ K +10 &V\ M +9 &c[\ M +10 &%W\ M +9 &Y\ N +9 &U\ M +10 &kY\ M +9 &-Z\ M +9 &U\ M +10 &!U\ M +9 &#rV\ N +10 &%5X\ M +9 &&V\ M +9 &(W\ M +10 &*zY\ N +9 &,<Y\ N +9 &-X\ N +10 &/Z\ N +9 &1W\ N +10 &3EY\ M +9 &5U\ M +9 &6Z\ M +10 &8\\\ M +9 &:MV\ M +9 &<Y\ M +10 &=\\\ N +9 &?\\\ M +10 &AUZ\ M +9 &Cc\ O +9 &Dh\ O +10 &Fp\ P +9 &HO\ R +9 &J\ S +10 &K\ S +9 &M\ T +10 &OS\ S +9 &Q\ T +9 &R\ U +10 &T\ U +9 &VZ\ T +9 &X\ T +10 &Y\ U +9 &[\ T +10 &]^\ B +9 &^J}\ P +9 &^ R\ 6 +6 ( + "processing"%?& +4 "core" &^'\ 6 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&{% +4 "core" %    + 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%p& +3 "core" &^&\ 6 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&q% +49 "core" %      +5 "storage"(1% +4 "core" % ' '\  +2 "storage"(0. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(m(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (r& +2 "manipulator"&O& +6 "core" &<*\  Q &\  + &  , +5 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&`( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'r +2 "core" ( +3 "manipulator"&]& +3 "core" &    , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &8& +2 "core" &   , +3 .tForearm.seek PC +2 "manipulator"&i' +93 "core" ' + .tHand.close + "manipulator"&y/ +55 "core" / +2 .tPC.seek :open +2 "processing"%~( +96 "core" ' + "storage"(H- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Z'1 +47 "core" ' +302 ( +3 "storage"(& +4 "core" &<) F F #\  + "manipulator"&k& +5 "core" & a , + "manipulator"&% +4 "core" %  D +3 .tForearm.seek :retract + "manipulator"&l' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&w( +246 "core" ( + "manipulator"&*& +4 "core" & > I +2 "storage"(t& +4 "core" &<) $ # 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +93 "core" ' + .tHand.open +2 "manipulator"&R1 +58 "core" 1 +3 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(6' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +3 "core" -' +2 "storage"(X& +4 "core" &<) @ B n\  +2 "manipulator"&(& +4 "core" & \  I +2 .tElbow.seek 5 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&)& +3 "core" &   I +2 "storage"(\ & +4 "core" &<) C B \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' +2 "manipulator"&N& +3 "core" & I +3 "storage"(7& +3 "core" &<) $ ( \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&B'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(n' +20 "core" ' +2 "manipulator"&}% +3 "core" %Ρ +3 "storage"(s& +4 "core" &<) + - b\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&x' +14 "core" ' + "manipulator"&S& +4 "core" &  I +2 "storage"(K& +4 "core" &<) & ' (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 "storage"(g% +4 "core" % G 4 m\ +3 ."downElevator"SE.seek :down +3 "storage"(/' +99 ($% +2 "core" %;Q W q\ Wf +42 "manipulator"&% +11 "core" %9  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +15 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +4 "core" &<) * ?\  +2 "collection"'Q& +4 "core" &\\o\ \ \ V +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&v% +4 "core" %   +2 "storage"(L% +4 "core" % F E $\  +2 "storage"( . +3 "core" .(<- +2 "storage"(& +3 "core" &<) F G C\  +2 "storage"(& +4 "core" &<) G I ,\  +2 "manipulator"&@& +3 "core" &  @ I +3 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&2& +4 "core" & I +2 "storage"(Y& +4 "core" &<) I F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + "storage"(P& +4 "core" &<) S Q [\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" & > I +3 "storage"("& +3 "core" &<) E G M\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&|'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(:- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('s +29 "core" ' +2 "manipulator"&% +3 "core" %ΐ + +2 "storage"(& +4 "core" &<) ! $ !\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&e'ϼ +15 "core" ' + "manipulator"&W& +4 "core" &  I +2 "storage"( & +3 "core" &<) & $ '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +25 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&4& +4 "core" & C I +2 "manipulator"&D% +3 "core" %}  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +165 "core" ( +2 "manipulator"&T& +5 "core" &Ӎ ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &Ӎ ( +2 .tForearm.seek CC +2 "manipulator"&J'? +92 "core" ' + .tHand.close + "manipulator"&#/ +65 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( + "storage"(.& +5 "core" &<) \\ \\\  + "storage"(& +4 "core" &<) ] \\ \  +2 "manipulator"&9& +4 "core" &Ӕ  ' +2 "manipulator"&f% +3 "core" % R 3  +3 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +156 "core" ( + "manipulator"&& +3 "core" &  +3 "storage"(& +4 "core" &<) e l =\  +2 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&M'΍ +100 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +53 "core" 1 +2 "manipulator"&% +3 "core" % Β  ! +2 "storage"('& +51 "core" &<) m k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 305 counts + "manipulator"&'Ͼ +13 "core" ' +2 "manipulator"&& +4 "core" &  E  +2 "storage"(,& +3 "core" &<) \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +26 "core" ' +2 "storage"(G% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (d% +3 "core" %B j j \ V_ +2 "manipulator"&&% +4 "core" %q  C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'I& +4 "core" & \ +2 "manipulator"&<% +3 "core" %    +3 "storage"(A% +4 "core" % \  +2 "storage"(o. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(h(K +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K k h 1\ +2 "manipulator"&{& +4 "core" & V  +2 .tElbow.seek 6 +2 "manipulator"&p( +4 "core" ( + "manipulator"&q& +4 "core" &   +2 "storage"(?& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +96 "core" ' +2 "storage"(0& +3 "core" &K x \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +302 "core" ' + "storage"(O- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &K \\ i +\ +2 "manipulator"&8& +4 "core" & c  +2 .tElbow.seek 6 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&y& +4 "core" &   +2 "storage"(>& +4 "core" &K g j \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&H'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(V' +8 "core" &   +2 "manipulator"&3% +4 "core" % c R +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&& +4 "core" &ӓ 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +3 "core" &ӓ 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&*'? +92 "core" ' +2 "manipulator"&t& +3 "core" &Ӕ  W 5 +3 "manipulator"&`% +3 "core" %B  l +3 "collection"'R& +5 "core" & %\ +2 "collection"' & +5 "core" & &\ +2 .tCC.seek :closed +2 "collection"'-(\\ +4 "core" &  \  +9 &5~ %\ *z +10 &g} \ > +9 &m \ K +9 &`U \ J +10 &"U \ J +9 &T  \ K +10 &S \ K +9 &gW \ K +9 &)Y \ K +10 &Y \ K +9 & W \ J +9 &"qU  \ J +10 &$3T \ J +9 &%Y \ K +9 &'X \ J +10 &)yU \ J +9 &+:X \ \ K +10 &,W \ K +9 &.W \ K +9 &0X \ K +10 &2CX \ J +9 &4V \ J +9 &5Y \ K +10 &7Y \ K +9 &9JY \ K +10 &; Y \ K +9 &<Z \ K +9 &>Y \ K +10 &@Q[  \ K +9 &Bb\ \ \ L +9 &Ca\ \  \ L +10 &Eh\ \  \ M +9 &GL\ \ \ O +10 &I\ "\  \ S +9 &J\ ,\ + \ W +9 &L|\ ,\ +\ W +10 &N;\ *\ +\ X +9 &O\ )\ (\ Y +9 &Q\ &\ & \ Y +10 &S{\ (\ (\ Z +9 &U?\ '\ ' \ Y +10 &V\ &\ (\ Z +9 &X\ (\ )\ [ +9 &Z\ (\ ' \ [\ +10 &\\$y\ *\ + \ / +9 &\\.\ )\ * \ _ +9 ( +2 &\\f\ '\ '\ N +51 "collection"' & +7 "core" &\\g\ %\ $\ N + &\\g\ %\ %\ N + &\\f\ $\ #\ N + &\\g\ %\ #\ \ N + &\\g\ "\ "\ N + &\\g\ !\ #\ N +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&X1 +58 "core" 1 + "manipulator"&(% +4 "core" % s ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%\ & +4 "core" &\ +2 "manipulator"&l% +5 "core" %   +2 "storage"(N% +3 "core" % F F ?\  +3 "storage"(7. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(}(K +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +3 "core" &K O f\  +2 "manipulator"&Z& +4 "core" &\  "| +2 "manipulator"&S% +3 "core" %   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&K( +149 "core" ( +2 "manipulator"&=& +4 "core" &  +2 "storage"(g& +3 "core" &K 9 < \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&w' +95 "core" ' +3 "storage"([& +4 "core" &K [ M \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'r +298 "core" ' +2 "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K I G /\  +2 "manipulator"&C& +4 "core" & x  +2 .tElbow.seek 6 +2 "manipulator"&u( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(B& +4 "core" &K F H 4\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(v' +8 "core" & l  + "manipulator"&L% +4 "core" % ` b +2 .tForearm.seek :retract +2 "manipulator"& ' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&& +4 "core" & y 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  s 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&@' +96 "core" ' +2 "manipulator"&2& +4 "core" &  ^ 7 +2 "manipulator"&Y% +4 "core" %  1  +2 "processing"%P& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%/(^ +5 "core" &\ +7 &8\ #a +9 &U\ 6 +9 &~}\ K +10 &W\ M +9 &[Y\ N +9 &U\ M +10 &Z\ M +9 &[\ M +10 &dY\ M +9 &&[\ M +9 &Z\ M +10 &!Y\ M +9 &#kX\ N +10 &%-W\ N +9 &&Y\ N +9 &(Y\ N +10 &*tY\ M +9 &,6W\ M +9 &-U\ M +10 &/V\ M +9 &1}T\ M +10 &3=X\ N +9 &5W\ M +9 &6Z\ M +10 &8[\ M +9 &:FZ\ M +9 &<W\ M +10 &=Y\ M +9 &?\\\ N +10 &AL\\\ N +9 &C b\ O +9 &Dg\ O +10 &Fq\ P +9 &HJ~\ Q +9 &J\ S +10 &K\ S +9 &M\ T +9 &OK\ T +10 &Q \ T +9 &R\ T +10 &T\ U +9 &VS\ T +9 &X\ T +10 &Y\ T +9 &[\ T +9 &]W\ D +10 &^zAu\ &q +9 &^&\ + +6 ( + "processing"%& +4 "core" &^\ + +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&%1 +64 "core" 1 +2 "manipulator"&;% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +3 "processing"%z& +4 "core" &^\ + + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&"% +48 "core" %  { ! +6 "storage"(:% +3 "core" % # $\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (W& + "manipulator"& & +5 "core" &K R 2 \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &    7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(4'r +2 "manipulator"&D( +4 "core" ( +2 "manipulator"&& +4 "core" &    7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   7 +3 .tForearm.seek PC +2 "manipulator"&E' +96 "core" ' +2 .tHand.close + "manipulator"&|/ +57 "core" / +2 .tPC.seek :open +2 "processing"%e( +87 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'1 +40 "core" ' +314 ( + "storage"(F& +4 "core" &K T U g\  +2 "manipulator"&5& +4 "core" & z 7 +2 "manipulator"&!% +4 "core" %  I R +2 .tForearm.seek :retract +2 "manipulator"&#' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\\( +246 "core" ( +2 "manipulator"&U& +4 "core" &  I > +2 "storage"(.& +4 "core" &K F 3 k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' + .tHand.open +2 "manipulator"&91 +56 "core" 1 +2 "storage"(f- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -' +2 "storage"(& +3 "core" &K w \  +2 "manipulator"&c& +5 "core" &   4 = + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&'& +4 "core" &   = +2 "storage"(& +5 "core" &K u i \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(G'" +52 "core" ' +2 "manipulator"&^& +4 "core" & = + "storage"( & +4 "core" &K = % \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&d'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +20 "core" ' + "manipulator"&% +4 "core" %J ; # +2 "storage"(I& +4 "core" &K - - a\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 314 counts + "manipulator"&<'v +16 "core" ' + "manipulator"&A& +5 "core" & = + "storage"(o& +4 "core" &K F E 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(+% +5 "core" % H P 2\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (m% +3 "core" %6R\  J <\ We +2 "manipulator"& % +51 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +96 "core" ' +8 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (q& +3 "core" &K B 3 \  +2 "collection"'?& +4 "core" &\\f\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&0% +4 "core" % " G $ +2 "storage"(_% +4 "core" % S P F\  +2 "storage"(. +3 "core" .(K +2 "storage"(O& +4 "core" &K S I O\  +2 "storage"(]& +3 "core" &K H H \  +3 "manipulator"&8& +4 "core" &  = +2 .tElbow.seek 6 + "manipulator"&y( +3 "core" ( +2 "manipulator"&>& +4 "core" &   = +2 "storage"(b& +4 "core" &K G I %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +96 "core" ' +2 "storage"(3& +3 "core" &K M > K\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +297 "core" ' + "storage"(1- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 8 = +2 "storage"(i& +4 "core" &K E F m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&r'< +14 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(t- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(`'v +74 "core" ' + "manipulator"&R% +4 "core" %G  N +2 "storage"(j& +4 "core" &K T S t\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&V's +14 "core" ' +2 "manipulator"&& +3 "core" & n = +2 "storage"(& +4 "core" &K O C 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"((' +34 "core" ' +2 "manipulator"&\ & +4 "core" & = = +2 "manipulator"&l% +3 "core" % e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7(ӂ +164 "core" ( + "manipulator"& & +4 "core" &ӊ  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &ӊ  ' +2 .tForearm.seek CC +2 "manipulator"&Z'? +93 "core" ' +2 .tHand.close + "manipulator"&S/ +60 "core" / +2 .tCC.seek :open + "collection"'*( +450 "core" ( + "storage"(=& +4 "core" &K h k \  +2 "storage"(g& +4 "core" &K j k \  +2 "manipulator"&h& +4 "core" & 6  + "manipulator"&[% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&k' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&)( +149 "core" ( + "manipulator"&$& +4 "core" & } +2 "storage"(& +3 "core" &K \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&C'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&B1 +58 "core" 1 +2 "manipulator"&x% +4 "core" % /   # + "storage"(Q& +52 "core" &K k q \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 287 counts + "manipulator"&L'[ +13 "core" ' +2 "manipulator"&K& +4 "core" &  e +2 "storage"(w& +4 "core" &K d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +19 "core" ' +2 "storage"(a% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (% +3 "core" %K k j \ V` +2 "manipulator"&u% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'Y& +3 "core" & \ +3 "manipulator"&P% +3 "core" %   q  +3 "storage"(v% +4 "core" % ~ \  + "storage"( . +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(~(,y +669 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +3 "core" &,z b h j\ +2 "manipulator"&;& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&z( +3 "core" ( +2 "manipulator"&"& +3 "core" & L +2 "storage"(& +4 "core" &,z 1\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +93 "core" ' +2 "storage"(& +4 "core" &,z w ~ w\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,z j f \ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&|& +4 "core" &   +2 "storage"(}& +4 "core" &,z i j \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(/' +7 "core" &  +2 "manipulator"&4% +4 "core" % s . +2 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&!& +3 "core" &Ӑ  h 7 +2 "Can" 95 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &Ӑ 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'? +98 "core" ' +2 "manipulator"&.& +4 "core" &ӑ . 7 +2 "manipulator"&D% +3 "core" %F W  +3 "collection"'9& +3 "core" & \ +3 "collection"'f& +6 "core" &  \ +2 .tCC.seek :closed +4 "collection"'J(\\ +3 "core" & \ +5 & $\ 8 +10 &EKv %\ 0 +9 &yu} (\ D +9 &$\\ '\ L +10 &W $\ K +9 &W \ K +9 &lT  \ K +10 &.X &\ K +9 &W \ K +10 &W \ J +9 &uU \ J +9 &!6T \ K +10 &"R \ K +9 &$S \ K +9 &&}S  \ K +10 &(?S \ K +9 &*W \ K +10 &+U \ K +9 &-X \ K +9 &/GX \ J +10 &1 U \ J +9 &2U \ J +9 &4U \ J +10 &6OU \ J +9 &8U \ J +10 &9U \ J +9 &;U \ K +9 &=VY \ K +10 &?Y \ K +9 &@W \ J +9 &BY \ K +10 &D\\_  \ L +9 &Fj \ M +10 &Gy\ \ \ O +9 &I\ \ \ \ S +9 &KF\ '\ $\ \ V +10 &M\ %\ '\ W +9 &N\ '\ %\ W +9 &P\ "\ %\ X +10 &RI\ "\ # \ X +9 &T \ "\ $\ X +10 &U\ $\ #\ Y +9 &W\ $\ $\ \ Z +9 &YG\ %\ & \ [\ +10 &[ \ '\ & \ Z +9 &\\`I\ &\ ' \ 6 +54 &\\\ y\ &\ '\ L +5 ( +2 &\\m\ %\ %\ L +3 &\\m\ !\ & \ L +2 &\\m\ #\ ! \ L +2 &\\m\ "\ # \ L + &\\m\ #\ "\ L + &\\m\ "\ "\ L +2 "collection"'f& +5 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&1 +2 "core" &\\m\ \ !\ L +52 1 + "manipulator"&c% +4 "core" % F  Q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&#% +4 "core" % ! % $ +2 "storage"(^% +4 "core" % H F \  +2 "storage"( . +3 "core" .(,y +2 "storage"(& +3 "core" &,z ) 4 4\ +2 "storage"(I& +5 "core" &,z 3 F o\ + "manipulator"&T& +4 "core" &Ө 3 +2 "manipulator"&A% +4 "core" % ! $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&o( +163 "core" ( + "manipulator"&& +4 "core" & %  +2 "storage"(+& +4 "core" &,z T S W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +97 "core" ' +2 "storage"(& +4 "core" &,z k j \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,z G Q :\ +2 "manipulator"&,& +4 "core" & L  +3 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&G& +4 "core" & O  +2 "storage"(d& +4 "core" &,z V V \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&<'c +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"(0' +8 "core" &  O  + "manipulator"&_% +4 "core" % d +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +3 .tElbow.seek PC + "manipulator"&M( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&O& +3 "core" & t +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&8' +93 "core" ' + "manipulator"&>& +5 "core" & + "manipulator"&b% +5 "core" % o g +2 "processing"%3& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +7 &>\ $d +9 &W{\ 7 +9 &{\ L +10 &T\ M +9 &vX\ N +9 &:U\ M +10 &X\ M +9 &T\ M +10 &W\ M +9 &AZ\ M +9 & W\ M +10 &!T\ M +9 &#Y\ N +9 &%IW\ M +10 &' Z\ M +9 &(Z\ M +10 &*Y\ M +9 &,QU\ M +9 &.X\ M +10 &/Z\ M +9 &1U\ M +9 &3YY\ M +10 &5T\ M +9 &6Z\ M +10 &8Z\ N +9 &:aV\ M +9 &<"X\ N +10 &=Z\ N +9 &?V\ M +9 &AhW\ N +10 &C(b\ N +9 &De\ O +10 &Fn\ P +9 &Hf{\ Q +9 &J#\ S +10 &K\ S +9 &M\ S +9 &Of\ T +10 &Q(\ T +9 &R\ T +10 &T\ T +9 &Vj\ U +9 &X-\ U +10 &Y\ T +9 &[\ T +9 &]r\ B +10 &^:t\ &n +9 &^%\ , +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&&1 +3 "core" &^\ , +60 1 +2 "manipulator"&{% +4 "core" %  > g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +91 "core" ' +2 "processing"%& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&i% +4 "core" %  \    +2 "storage"(t% +4 "core" % $ & -\  +2 "storage"(R. +48 "core" .(,y +4 "storage"(j& +5 "core" &,z * (\ +2 "storage"(& +3 "manipulator"&& +5 "core" &,z $ $ \ +2 &  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(\ 'r + "manipulator"&l( +7 "core" ( + "manipulator"&& +5 "core" &   1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" &   # +3 .tForearm.seek PC +2 "manipulator"&p' +94 "core" ' +2 .tHand.close + "manipulator"&r/ +55 "core" / +2 .tPC.seek :open +2 "processing"%V( +91 "core" ' + "storage"(`- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +41 "core" ' +310 ( + "storage"(s& +4 "core" &,z G 4 o\ +2 "manipulator"&X& +4 "core" & z +2 "manipulator"&H% +4 "core" %  Y D +2 .tForearm.seek :retract +2 "manipulator"&S' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&N( +253 "core" ( +2 "manipulator"&-& +4 "core" &  +2 "storage"(=& +3 "core" &,z ) - B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +96 "core" ' +2 .tHand.open + "manipulator"&h1 +54 "core" 1 +2 "storage"([- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"($' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(Z- +3 "core" -' +2 "storage"(7& +3 "core" &,z e d d\ +3 "manipulator"&B& +4 "core" &   8  +2 .tElbow.seek 4 +2 "manipulator"&x( +4 "core" ( + "manipulator"&Q& +4 "core" &   P  +2 "storage"(K& +3 "core" &,z r o \ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(a'" +52 "core" ' + "manipulator"&k& +4 "core" & q  +2 "storage"()& +3 "core" &,z 4 @ v\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(C' +18 "core" ' +2 "manipulator"&L% +3 "core" %J ? +2 "storage"(Y& +5 "core" &,z * - \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&P'v +14 "core" ' + "manipulator"&v& +4 "core" &  +2 "storage"( & +4 "core" &,z E F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&(' +16 "core" ' + "storage"(6% +4 "core" % I S M\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %'L & &\ We +2 "manipulator"&%% +3 "core" % z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ("& +47 "core" &,z 6 2 \ +4 "collection"'& +4 "core" &\\l\ \  \ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %  +  +3 "storage"(% +3 "core" % T S W\  +3 "storage"(2. +2 "core" .(,y +2 "storage"( & +4 "core" &,z T T X\ +2 "storage"(& +4 "core" &,z S T b\ +2 "manipulator"&& +3 "core" & C  +3 .tElbow.seek 4 +2 "manipulator"&|( +4 "core" ( + "manipulator"&}& +4 "core" &   +2 "storage"(n& +3 "core" &,z T S Q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(4& +3 "core" &,z k k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(z'r +312 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" &  9  +2 "storage"(E& +3 "core" &,z T S @\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&W'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(D'j +32 "core" ' +2 "manipulator"&9% +4 "core" %C  3 + "storage"(@& +5 "core" &,z R Q\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 312 counts + "manipulator"&/'o +16 "core" ' +2 "manipulator"&F& +4 "core" & n  + "storage"(*& +4 "core" &,z T T W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(c' +45 "core" ' +2 "manipulator"&& +3 "core" &  J  +3 "manipulator"&#% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +158 "core" ( +3 "manipulator"&& +4 "core" &Ӑ  ! 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &Ӑ  8 +3 .tForearm.seek CC +2 "manipulator"&f'? +97 "core" ' + .tHand.close + "manipulator"&T/ +59 "core" / + .tCC.seek :open +2 "collection"'A( +450 "core" ( + "storage"(U& +4 "core" &,z k k \ +2 "storage"(& +4 "core" &,z k j \ +2 "manipulator"&+& +4 "core" &Ө 5 + "manipulator"&% +4 "core" % J   +3 .tForearm.seek :retract +2 "manipulator"&5' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&'( +165 "core" ( + "manipulator"&m& +5 "core" &   + "storage"( & +4 "core" &,z r ~ t\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&,'7 +92 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&d1 +53 "core" 1 +2 "manipulator"&q% +3 "core" %  q +2 "storage"(?& +4 "core" &,z \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 277 counts +2 "manipulator"&_'L +15 "core" ' +2 "manipulator"&o& +4 "core" &  y  +2 "storage"(\\& +43 "core" &,z m\ +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +27 "core" ' +2 "storage"(<% +4 "core" % } \ +2 ."downElevator"SE.seek :down +4 "storage"(O' +99 (]% +3 "core" %G Q k 2\ V_ +2 "manipulator"&% +4 "core" %  . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'b& +3 "core" & \ +3 "manipulator"&3% +4 "core" %     +2 "storage"(0% +4 "core" % ~ D\  + "storage"(. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(e(<- +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +3 "core" &<, H J \  +3 "manipulator"&{& +4 "core" & m  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&i& +4 "core" & }  +2 "storage"(t& +3 "core" &<+ ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +98 "core" ' +2 "storage"(& +4 "core" &<+ x w v\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(j'r +293 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<+ i k \  +3 "manipulator"&& +4 "core" & W  +2 .tElbow.seek 5 + "manipulator"&y( +3 "core" ( +2 "manipulator"&8& +4 "core" &   +2 "storage"(r& +4 "core" &<+ j j \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&`'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +3 "storage"(' +8 "core" &   + "manipulator"&\ % +4 "core" % Ϯ w +2 .tForearm.seek :retract +2 "manipulator"&s' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +154 "core" ( + ' +2 "manipulator"&H& +2 ."downElevator"SE.stop +6 "storage"(5 +2 "core" &ӏ  q 7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &ӏ  B 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'? +90 "core" ' +2 "manipulator"&=& +4 "core" &Ӑ  Q 7 +2 "manipulator"&l% +4 "core" %= R m +2 "collection"'h& +4 "core" & !\ +2 "collection"'[& +6 "core" & $\ +3 .tCC.seek :closed +3 "collection"'Z(\\ +3 "core" & #\ +5 & #\ 9 +10 &HKu '\ 1 +9 &x| '\ E +9 &3Y $\ K +10 &W (\ K +9 &X  \ K +9 &{Y \ J +10 &=U  \ J +9 &Y \ K +10 &W \ K +9 &X \ K +9 &!DV \ K +10 &#S \ K +9 &$S \ J +9 &&U \ J +10 &(LS \ K +9 &*W \ K +10 &+U \ K +9 &-R \ K +9 &/TX \ K +10 &1U \ K +9 &2R \ K +9 &4T \ J +10 &6\\U \ J +9 &8U \ K +10 &9Y \ K +9 &;X \ K +9 &=dT \ K +10 &?'U \ J +9 &@W \ K +9 &BY \ K +10 &Dj_ \ K +9 &F&m\  \ M +10 &Gv\ \ \ O +9 &I\ \  \ S +9 &KR\ (\ (\ V +10 &M\ (\ (\ V +9 &N\ &\ ) \ W +9 &P\ '\ )\ X +10 &RV\ %\ '\ X +9 &T\ %\ (\ Y +10 &U\ (\ & \ Y +9 &W\ '\ + \ Z +9 &YU\ (\ )\ [ +10 &[\ &\ ( \ [ +9 &\\lE\ '\ )\ 1 +9 &\\\ '\ ' \ M +6 ( +2 "collection"'[& +4 "core" &\\b\ %\ %\ M +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&71 +54 "core" 1 +2 "manipulator"&B% +4 "core" % =  m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +49 "manipulator"&Q' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%K& +3 "core" &\ +2 "manipulator"&S% +4 "core" %  '  +2 "storage"(k% +5 "core" % E H "\  + "storage"(). +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(L(<- +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" &<, @ a\  +3 "manipulator"& & +3 "core" &ӥ 4 +3 "manipulator"&v% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +153 "core" ( +2 "manipulator"&$& +3 "core" & +2 "storage"(6& +5 "core" &<+ S P C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +93 "core" ' +2 "storage"(g& +3 "core" &<+ k j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" &<+ E Q @\  +2 "manipulator"&w& +4 "core" & B +2 .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&a& +4 "core" & | + "storage"(& +4 "core" &<+ T T N\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&P'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +3 "storage"(' +7 "core" & U +2 "manipulator"&% +4 "core" % ϭ ] +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&2( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"& & +4 "core" & V  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & I  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 "manipulator"&}& +3 "core" &   z  +3 "manipulator"&n% +4 "core" % k +2 "processing"%(& +3 "core" &\ +3 "processing"%4& +5 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +8 &2x\ )u +9 &b\ = +10 &uv\ M +9 &7U\ M +9 &Z\ M +10 &Y\ M +9 &}Z\ M +10 &>Z\ M +9 &Y\ M +9 &Z\ M +10 & [\ N +9 &"GZ\ M +9 &$ Z\ M +10 &%Y\ M +9 &'Z\ M +10 &)OY\ M +9 &+Z\ M +9 &,Y\ M +10 &.X\ M +9 &0XZ\ M +9 &2Y\ M +10 &3W\ M +9 &5Y\ M +10 &7_Y\ M +9 &9!\\\ M +9 &:\\\ M +10 &<Z\ M +9 &>gY\ M +9 &@(\\\ M +10 &A]\ N +9 &Ch\ O +10 &Ejm\ O +9 &G'{\ P +9 &H\ R +10 &J\ S +9 &Lf\ S +9 &N&\ S +10 &O\ S +9 &Q\ T +10 &Sj\ T +9 &U,\ T +9 &V\ T +10 &X\ S +9 &Zr\ T +9 &\\4\ T +10 &]|y\ : +9 &^,{\ N +9 &^"\ / +3 ( +2 "processing"%4& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&u1 +54 "core" 1 +2 "manipulator"&;% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +90 "core" ' + "processing"%!& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&E% +4 "core" %     +2 "storage"(.% +4 "core" % & ? G\  + "storage"(9. +3 "core" .(<- +2 "storage"(@& +3 "core" &<+ = 2 \  +3 "storage"(F& +3 "manipulator"&*& +7 "core" &<+ = # /\  + &  ~  +46 ."raiseStack"SE.reconfigure :place +7 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(#'r +2 "core" ( +3 "manipulator"&& +4 "core" &   C  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &   "  +3 .tForearm.seek PC +2 "manipulator"&z' +93 "core" ' +2 .tHand.close + "manipulator"&W/ +61 "core" / +2 .tPC.seek :open +2 "processing"%/( +89 "core" ' +2 "storage"(D- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +312 ( + "storage"(I& +4 "core" &<+ F E \  +2 "manipulator"&& +4 "core" & f  +2 "manipulator"&% +4 "core" %  C +2 .tForearm.seek :retract +2 "manipulator"&T' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&^( +241 "core" ( + "manipulator"&J& +4 "core" &  ; +2 "storage"(U& +3 "core" &<+ + & d\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +97 "core" ' + .tHand.open +2 "manipulator"&+1 +62 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(m' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +3 "core" -' +2 "storage"( & +4 "core" &<+ e e {\  +2 "manipulator"&d& +4 "core" &  $ ; +2 .tElbow.seek 5 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&?& +3 "core" &   ; +2 "storage"(o& +4 "core" &<+ D W 9\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +57 "core" ' +2 "manipulator"&5& +4 "core" & / ; +2 "storage"('& +4 "core" &<+ & % `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&]'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(,' +28 "core" ' +2 "manipulator"&_% +3 "core" %Ν L @ +2 "storage"(b& +5 "core" &<+ H I d\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&3' +14 "core" ' + "manipulator"&0& +4 "core" &  7 ; +2 "storage"(& +4 "core" &<+ Q S \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +13 "core" ' +2 "storage"(% +4 "core" % T S y\ +2 ."downElevator"SE.seek :down +4 "storage"(O' +98 (~% +3 "core" %]R ' \ We +2 "manipulator"&&% +5 "core" %[ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (i& +3 "core" &<+ + 7\  +3 "collection"'t& +4 "core" &\\b\ \  \ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  m  +2 "storage"(G% +4 "core" % S S a\  +45 "storage"(>. +6 "core" .(<- +2 "storage"(& +4 "core" &<+ Q G )\  +2 "storage"(& +3 "core" &<+ S S j\  +3 "manipulator"&& +4 "core" &  ; +2 .tElbow.seek 5 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&r& +4 "core" & - ; +2 "storage"(M& +4 "core" &<+ T T G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +95 "core" ' + "storage"(\ & +4 "core" &<+ > P 3\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(R- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" &  k ; +2 "storage"(p& +4 "core" &<+ S T \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&j'΍ +14 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(l's +31 "core" ' +2 "manipulator"&h% +4 "core" %Ξ ` J + "storage"(y& +5 "core" &<+ F F \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&s& +3 "core" & ; +3 "storage"(A& +4 "core" &<+ T V _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +13 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(B' +36 "core" ' + "manipulator"&[& +5 "core" & k ; + "manipulator"&K% +5 "core" %^  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +156 "core" ( + "manipulator"&)& +4 "core" &ә  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &ә 3 +2 .tForearm.seek CC +2 "manipulator"& '? +98 "core" ' +2 .tHand.close + "manipulator"&v/ +64 "core" / +2 .tCC.seek :open +2 "collection"'-( +446 "core" ( +2 "storage"($& +4 "core" &<+ k j \  +2 "storage"(6& +3 "core" &<+ g j \  +2 "manipulator"&e& +4 "core" &Ӟ  2 +2 "manipulator"&g% +3 "core" % .  Z +3 .tForearm.seek :retract +2 "manipulator"&X' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Q( +161 "core" ( +2 "manipulator"&& +4 "core" & +  +2 "storage"(%& +4 "core" &<+ j k \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&w'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&"% +4 "core" % Β  D M +2 "storage"(C& +3 "core" &<+ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&'Ͼ +14 "core" ' +2 "manipulator"& & +3 "core" &    +2 "storage"(N& +4 "core" &<+ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +43 "core" ' +8 "storage"(P% +5 "core" % \ +2 ."downElevator"SE.seek :down +5 "storage"( ' +98 (% +3 "core" %L k j \ Va +2 "manipulator"&x% +4 "core" %g r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'n& +3 "core" &  \ +2 "manipulator"&(% +3 "core" % ! ' % +3 "storage"(% +4 "core" % ~ \  + "storage"(. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(V(K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (u& +2 "core" &K \\ L Q\ +2 "manipulator"&;& +5 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&!( +4 "core" ( + "manipulator"&E& +4 "core" &   +2 "storage"(.& +3 "core" &K  I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +91 "core" ' + "storage"(@& +4 "core" &K } { 3\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'r +294 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (4& +2 "core" &K h j \ +3 "manipulator"&& +4 "core" & 5  +2 .tElbow.seek 6 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&& +4 "core" & P  + "storage"(W& +4 "core" &K j j \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&D'h +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&:& + "storage"(' +8 "core" &  d  +2 "manipulator"&#% +4 "core" % ^ ~ +2 .tForearm.seek :retract +2 "manipulator"&I' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&& +3 "core" &ӟ R 0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &ӟ t 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'? +102 "core" ' +2 "manipulator"&U& +3 "core" &ӟ  4 0 +3 "manipulator"&% +4 "core" %8 s +2 "collection"'+& +4 "core" & !\ +3 "collection"'& +5 "core" & !\ +3 .tCC.seek :closed + "collection"'f(\\ +4 "core" & &\  +9 &5~  \ +{ +10 &g~ &\ > +9 &l )\ K +10 &YU $\ J +9 &U #\ J +9 &U \ K +10 &U \ K +9 &aR \ K +9 &#T \ K +10 &S \ K +9 & S \ J +10 &"hT  \ K +9 &$+R  \ K +9 &%T \ K +10 &'W \ K +9 &)rW \ J +9 &+4U \ J +10 &,Y \ J +9 &.U \ J +10 &0xT \ K +9 &2;S \ K +9 &3T \ K +10 &5T \ K +9 &7S \ K +9 &9CT \ K +10 &;T \ K +9 &<W \ J +10 &>Z \ K +9 &@H\\ \ L +9 &B\ ]\ \  \ L +10 &Cc\ \ \ L +9 &El\ \ \ M +9 &GD~\ \ \ \ P +10 &H\ #\ \ S +9 &J\ +\ (\ W +10 &Lv\ *\ +\ V +9 &N6\ +\ * \ W +9 &O\ '\ '\ X +10 &Q\ )\ '\ X +9 &Sv\ &\ '\ Y +9 &U8\ '\ (\ Y +10 &V\ (\ '\ [ +9 &X\ '\ '\ Z +10 &Zx\ '\ & \ [ +9 &\\{\ )\ )\ / +9 &\\0\ '\ )\ ` +9 ( +3 "collection"'& +3 "core" &\\e\ $\ & \ N +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"& 1 +64 "core" 1 +2 "manipulator"&d% +4 "core" % } * . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%o& +4 "core" &\ +2 "manipulator"&T% +3 "core" %    +46 "storage"(5% +7 "core" % E F *\  +2 "storage"('. +4 "core" .(K +2 "storage"(_& +4 "core" &K F G \ +2 "storage"(b& +4 "core" &K P I @\ +2 "manipulator"&& +3 "core" &  k +2 "manipulator"&0% +4 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +138 "core" ( +2 "manipulator"&m& +4 "core" & " +2 "storage"(& +4 "core" &K T S \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +91 "core" ' +2 "storage"(& +4 "core" &K k k \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +2 "core" &K Q E P\ +3 "manipulator"&\\& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&<& +4 "core" &  + "storage"(]& +5 "core" &K E F :\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&3'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& +2 "storage"(' +7 "core" &  T +2 "manipulator"&G% +4 "core" % o < +2 .tForearm.seek :retract +2 "manipulator"&>' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&,( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +3 "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&r& +3 "core" &  _ +3 "manipulator"&M% +4 "core" % h ^ +2 "processing"%c& +3 "core" &\ +3 "processing"%\ & +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%O(^ +3 "core" &\ +7 &8\ #c +10 &U~\ 7 +9 &{\ K +9 &V\ M +10 &eY\ N +9 &(U\ M +10 &Y\ N +9 &X\ M +9 &oT\ M +10 &/Y\ N +9 &Y\ M +9 &!U\ M +10 &#vZ\ M +9 &%8Z\ M +10 &&Y\ N +9 &(X\ N +9 &*~W\ M +10 &,@[\ M +9 &.Y\ M +9 &/Z\ N +10 &1W\ M +9 &3HX\ M +10 &5 T\ M +9 &6Y\ N +9 &8Y\ M +10 &:PU\ M +9 &<W\ M +9 &=X\ N +10 &?Y\ N +9 &AXY\ M +10 &Cc\ O +9 &Di\ O +9 &Fq\ P +10 &HT\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &OV\ S +10 &Q\ T +9 &R\ U +9 &T\ U +10 &V\\\ T +9 &X\ T +9 &Y\ T +10 &[\ T +9 &]b\ B +10 &^Bz\ a +9 &^7\ 1 +5 ( +3 "processing"%\ & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +3 "core" &^"\ 1 +56 1 + "manipulator"&{% +4 "core" %    ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +96 "core" ' +2 "processing"%H& +4 "core" &^"\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&p% +4 "core" % #   5 7 +2 "storage"(=% +4 "core" % - - }\  +2 "storage"(h. +3 "core" .(K +2 "storage"(y& +4 "core" &K ( ! 8\ +2 "storage"(s& +4 "manipulator"&A& +5 "core" &K - - h\ + &  @ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(['r + "manipulator"&K( +6 "core" ( +2 "manipulator"&1& +3 "core" &  = +49 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &8& +3 "core" &  \ +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +3 .tHand.close + "manipulator"&j/ +54 "core" / +2 .tPC.seek :open +2 "processing"%( +45 "core" ' +2 "storage"(l- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'1 +40 "core" ' +359 ( + "storage"(Y& +4 "core" &K E E #\ +2 "manipulator"&7& +3 "core" & +2 "manipulator"&`% +5 "core" %  Y : +2 .tForearm.seek :retract +2 "manipulator"&v' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&S( +239 "core" ( +2 "manipulator"&Z& +4 "core" & 4 + "storage"($& +4 "core" &K ' ' 4\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +95 "core" ' + .tHand.open + "manipulator"&e1 +54 "core" 1 +3 "storage"(g- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(%' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(k& +4 "core" &K e e \ +2 "manipulator"&& +4 "core" &  4 +2 .tElbow.seek 6 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&C& +3 "core" &   > 4 +2 "storage"( & +5 "core" &K e d P\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(P'" +60 "core" ' + "manipulator"&X& +4 "core" & p 4 +2 "storage"(& +3 "core" &K $ % \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&x'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +20 "core" ' + "manipulator"&% +5 "core" %N M C +2 "storage"(n& +4 "core" &K ( % X\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&('z +15 "core" ' + "manipulator"&& +5 "core" &  4 +2 "storage"(& +3 "core" &K E F &\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +16 "core" ' +2 "storage"(% +4 "core" % K J \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (L% +2 "core" %5S 2 c\ Ub +3 "manipulator"&u% +4 "core" % 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &K Y B <\ +2 "collection"'.& +4 "core" &\\e\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&@% +5 "core" %  H  + "storage"(a% +5 "core" % T S >\ + "storage"(}. +3 "core" .(K +2 "storage"(F& +4 "core" &K S S U\ +2 "storage"(4& +4 "core" &K S S U\ + "manipulator"&& +5 "core" & 4 + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&W& +3 "core" & 1 4 +42 "storage"(2& +11 "core" &K S S N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&:' +94 "core" ' +2 "storage"(#& +4 "core" &K k j ]\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(!'r +298 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & , 4 +2 "storage"(z& +4 "core" &K F P B\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&*'< +20 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('m +29 "core" ' +2 "manipulator"&+% +3 "core" %7  +2 "storage"(|& +4 "core" &K F F G\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 295 counts + "manipulator"&'c +16 "core" ' +2 "manipulator"&I& +4 "core" & X 3 +2 "storage"(-& +4 "core" &K P I !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(d' +41 "core" ' +2 "manipulator"&o& +4 "core" & B 3 +2 "manipulator"&T% +4 "core" % B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&'& +3 "core" &Ӊ   :, +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &_& +2 "core" &Ӊ  4 :, +3 .tForearm.seek CC +2 "manipulator"&b'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'0( +446 "core" ( + "storage"(J& +4 "core" &K k Q g\ +2 "storage"(m& +3 "core" &K 8 B \ +3 "manipulator"&& +4 "core" & ] ' +2 "manipulator"&% +3 "core" %  } +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&?( +150 "core" ( +2 "manipulator"&~& +3 "core" &  W  +2 "storage"(&& +5 "core" &K j j \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&\\'< +96 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +59 "core" 1 +2 "manipulator"&i% +3 "core" % 2  d 9 +2 "storage"(t& +4 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 290 counts + "manipulator"&G'^ +15 "core" ' +3 "manipulator"&& +3 "core" & \ r  +2 "storage"(^& +5 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +16 "core" ' + "storage"(3% +4 "core" % d\ +3 ."downElevator"SE.seek :down +5 "storage"(' +98 (% +3 "core" %iM j k \ U_ +2 "manipulator"&q% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +44 "manipulator"&r' +99 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +3 "core" ' +2 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'M& +4 "core" & '\ +2 "manipulator"&c% +4 "core" %  W  +2 "storage"(% +4 "core" % D\  +2 "storage"(>. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(/(,y +666 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &,{ { \ +3 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&H( +4 "core" ( + "manipulator"&p& +4 "core" &    +2 "storage"(=& +4 "core" &,{ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +88 "core" ' +2 "storage"(y& +3 "core" &,{ x U\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\ 'r +295 "core" ' + "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &,{ k h \ +3 "manipulator"&1& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&8( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(j& +4 "core" &,{ j j \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&l'c +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&R& +2 "storage"(O' +8 "core" &  *  + "manipulator"&[% +4 "core" % ^ { +3 .tForearm.seek :retract +2 "manipulator"&Y' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&`& +4 "core" &Ӓ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӓ  4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Z'? +99 "core" ' +2 "manipulator"&$& +3 "core" &ӓ   ( 4 +3 "manipulator"&K% +5 "core" %@ +2 "collection"'e& +4 "core" & ,\ +2 "collection"'g& +5 "core" & *\ +3 .tCC.seek :closed +4 "collection"' (\\ +3 "core" & #\ +5 & '\ 9 +10 &HJv (\ 0 +9 &}v~ "\ E +10 &*\\  \ K +9 &S $\ K +9 &V '\ J +10 &sV (\ J +9 &4X $\ J +9 &T  \ J +10 &U \ J +9 &{U %\ J +10 &!<Y \ K +9 &"X \ K +9 &$X \ J +10 &&U \ J +9 &(DT \ K +9 &*T \ J +10 &+S \ K +9 &-T \ K +10 &/LT \ K +9 &1S \ J +9 &2T \ K +10 &4S \ K +9 &6SX \ K +9 &8Y \ K +10 &9Y \ K +9 &;Y \ K +10 &=[Y  \ K +9 &?T \ K +9 &@U \ K +10 &BY \ K +9 &D`b \ L +9 &F k \ M +10 &G|\ \ \ O +9 &I\ \ \ S +10 &KJ\ &\ $\ V +9 &M \ %\ &\ W +9 &N\ &\ $\ W +10 &P\ &\ $\ X +9 &RL\ "\ %\ \ X +9 &T \ $\ #\ Z +10 &U\ &\ "\ Y +9 &W\ $\ &\ Z +10 &YL\ $\ $\ [\ +9 &[\ &\ &\ [\ +9 &\\bE\ &\ '\ 2 +10 &\\\ &\ %\ N +5 ( +2 "collection"'g& +4 "core" &\\q\ %\ %\ N +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&k1 +55 "core" 1 +2 "manipulator"&% +4 "core" % @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&v% +3 "core" %    +2 "storage"(X% +4 "core" % F I .\  +2 "storage"(. +3 "core" .(,y +2 "storage"(& +4 "core" &,{ G F \ +2 "storage"(n& +3 "core" &,{ F E (\ +3 "manipulator"&)& +4 "core" &ӫ  1 + "manipulator"&% +6 "core" %   +47 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&& +3 "core" & -  +2 "storage"(& +4 "core" &,{ G I z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +95 "core" ' + "storage"(6& +4 "core" &,{ H P m\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(%'r +299 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (u& +2 "core" &,{ G D \ +3 "manipulator"&N& +4 "core" & L  +2 .tElbow.seek 4 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&P& +4 "core" &  t  + "storage"(x& +5 "core" &,{ I Q $\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&('c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(@' +8 "core" & 4  +2 "manipulator"&a% +4 "core" % f t +2 .tForearm.seek :retract +2 "manipulator"&w' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&F& +4 "core" & - \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" & } \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&W& +4 "core" & \ +2 "manipulator"&2% +3 "core" % " z +3 "processing"%B& +3 "core" &\ +3 "processing"%#& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"% (^ +3 "core" &\ +7 &8\ #b +9 &T{\ 6 +10 &~~\ K +9 &Y\ M +9 &^Z\ M +10 &!W\ M +9 &Y\ M +10 &Y\ M +9 &eX\ M +9 &'Y\ M +10 &[\ M +9 &!Y\ M +9 &#mZ\ M +10 &%0\\\ M +9 &&Z\ M +10 &(Z\ M +9 &*v\\\ M +9 &,8Z\ M +10 &-Y\ M +9 &/Z\ M +9 &1}Y\ M +10 &3>Z\ N +9 &5Y\ M +10 &6Z\ M +9 &8\\\ N +9 &:FZ\ N +10 &<\\\ N +9 &=[\ M +9 &?W\ M +10 &AOY\ M +9 &Cb\ N +10 &Dg\ N +9 &Fp\ O +9 &HL\ Q +10 &J \ S +9 &K\ S +9 &M\ S +10 &ON\ S +9 &Q \ T +10 &R\ T +9 &T\ T +9 &VS\ T +10 &X\ T +9 &Y\ T +9 &[\ U +10 &]Y\ C +9 &^Dw\ a +10 &^3\ 0 +5 ( +2 "processing"%#& +4 "core" &^!\ 0 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&Q1 +64 "core" 1 + "manipulator"&;% +4 "core" %    \ z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +3 "processing"%& +3 "core" &^ \ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&z% +3 "core" % #   ` 2 +3 "storage"(U% +4 "core" % - - d\  +2 "storage"(+. +2 "core" .(,y +2 "storage"(|& +4 "core" &,{ - . )\ +2 "storage"(I& +4 "manipulator"&-& +5 "core" &,{ ) - 7\ + &   / \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(o'r + "manipulator"&T( +8 "core" ( +2 "manipulator"&:& +4 "core" &  Z \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \ \ +2 .tForearm.seek PC +2 "manipulator"&!' +93 "core" ' +2 .tHand.close + "manipulator"&*/ +64 "core" / +42 .tPC.seek :open +9 "processing"%( +38 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +47 "core" ' +357 ( + "storage"(_& +5 "core" &,{ G F 9\ + "manipulator"& & +4 "core" & E \ +2 "manipulator"&D% +3 "core" %  2 G +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&5( +241 "core" ( + "manipulator"&f& +4 "core" & ; * +2 "storage"(J& +3 "core" &,{ 7 4 J\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +97 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +36 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(&' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(b- +3 "core" -' +2 "storage"(& +4 "core" &,{ f e \ +2 "manipulator"&]& +4 "core" &   ) +2 .tElbow.seek 4 +2 "manipulator"&i( +4 "core" ( + "manipulator"&t& +5 "core" &    ) + "storage"(& +4 "core" &,{ J E \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +58 "core" ' + "manipulator"&& +4 "core" & ) +2 "storage"(& +3 "core" &,{ - * 7\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&q'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\\' +28 "core" ' + "manipulator"&M% +4 "core" %> ; G +2 "storage"(G& +4 "core" &,{ ' 4 G\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 307 counts + "manipulator"&c'j +16 "core" ' + "manipulator"&& +4 "core" & ) +2 "storage"(>& +3 "core" &,{ F E &\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +14 "core" ' +2 "storage"( % +3 "core" % S J C\ +4 ."downElevator"SE.seek :down +3 "storage"(' +98 (V% +3 "core" %Q\ \  2\ Wd +3 "manipulator"&% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (p& +3 "core" &,{  = \ +2 "collection"'=& +4 "core" &\\p\ \ \ N +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&y% +4 "core" %  ]  +2 "storage"(<% +4 "core" % F Q ?\  + "storage"(r. +3 "core" .(,y +2 "storage"(s& +4 "core" &,{ F E '\ +2 "storage"(A& +4 "core" &,{ I P I\ +2 "manipulator"&1& +4 "core" & 7 ) +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&j& +4 "core" &  N ) + "storage"(,& +5 "core" &,{ E F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +94 "core" ' + "storage"([& +4 "core" &,{ k Q m\ +2 .tSE.reconfigure :pick +42 "storage"(#],K-0-\ b +11 .tSE.seek :beamBreak + "storage"(H'r +296 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" &  5 ) +2 "storage"(& +4 "core" &,{ F F \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&\ '7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"($- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(K'i +30 "core" ' +2 "manipulator"&e% +4 "core" %"  E + "storage"(8& +4 "core" &,{ 4 A w\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 279 counts + "manipulator"&O'N +16 "core" ' +2 "manipulator"&Y& +4 "core" & ' ) +2 "storage"(0& +3 "core" &,{ H F $\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"& & +3 "core" & ^ ) +3 "manipulator"&v% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &Ӗ E 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +3 "core" &Ӗ  5 +3 .tForearm.seek CC + "manipulator"&)'? +97 "core" ' +2 .tHand.close + "manipulator"&g/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +32 "storage"(Z& +4 "core" &,{ ` \\ ?\ +2 "storage"(& +3 "core" &,{ ` i e\ +2 "manipulator"&& +4 "core" &Ӟ \\ 3 +2 "manipulator"&6% +3 "core" % Q +3 .tForearm.seek :retract +2 "manipulator"&7' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&C( +160 "core" ( +2 "manipulator"&L& +4 "core" &  6  +2 "storage"(u& +3 "core" &,{ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&N'7 +96 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&x1 +57 "core" 1 +2 "manipulator"&E% +4 "core" % . } z +2 "storage"(.& +4 "core" &,{ O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 291 counts +2 "manipulator"&a'Z +13 "core" ' +2 "manipulator"&& +3 "core" &  [  +2 "storage"(S& +5 "core" &,{ B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +21 "core" ' +2 "storage"((% +3 "core" % | y K\ +4 ."downElevator"SE.seek :down +3 "storage"(F' +99 (4% +2 "core" %D k k \ V_ +3 "manipulator"&"% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'2& +3 "core" & \ +2 "manipulator"&B% +5 "core" %  C  +2 "storage"(@% +50 "core" % \  + "storage"(w. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +3 "core" &<- Q H `\  +2 "manipulator"&;& +4 "core" &  b  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&z& +3 "core" &  :  +3 "storage"(U& +4 "core" &<-  @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +99 "core" ' + "storage"(#& +4 "core" &<- { z \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'r +292 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &<- j m \  +2 "manipulator"&:& +4 "core" & y  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(*& +5 "core" &<- j k\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +14 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&9& +2 "storage"( ' +8 "core" &  + "manipulator"&o% +5 "core" % ϰ +2 .tForearm.seek :retract +2 "manipulator"&_' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&D& +4 "core" &Ӑ   3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &Ӑ  7 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'? +96 "core" ' +2 "manipulator"&J& +4 "core" &Ӑ  S 3 +2 "manipulator"&T% +4 "core" %D M " +2 "collection"'& +3 "core" & '\ +3 "collection"'& +5 "core" & )\ +3 .tCC.seek :closed +2 "collection"'b(\\ +4 "core" & $\ +7 &C #\ $f +10 &Z{ '\ 8 +9 & s #\ K +9 &R (\ J +10 &U '\ J +9 &PU '\ J +10 &S '\ K +9 &S \ K +9 &X $\ K +10 &XX *\ J +9 & U "\ J +9 &!X $\ J +10 &#U \ J +9 &%`T \ J +10 &'!R \ K +9 &(R \ J +9 &*R \ K +10 &,gT  \ K +9 &.)S \ K +9 &/S \ J +10 &1V  \ K +9 &3oU \ K +10 &51R \ K +9 &6T \ K +9 &8T \ K +10 &:wU  \ K +9 &<:V \ J +9 &=V \ K +10 &?Y \ K +9 &AU \ K +10 &C?Z \ K +9 &Db \ L +9 &Fn \ N +10 &Hx\ \ \ P +9 &J.\ #\ \ T +9 &K\ (\ )\ V +10 &M\ (\ (\ W +9 &Ok\ '\ '\ W +10 &Q+\ '\ &\ X +9 &R\ '\ &\ X +9 &T\ %\ %\ X +10 &Vm\ $\ &\ Y +9 &X-\ %\ %\ Z +9 &Y\ &\ &\ [ +10 &[\ (\ &\ G +9 &\\0\ &\ )\ 0 +10 &\\c\ %\ '\ K +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&]% +4 "core" % D R " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %   +2 "storage"(% +3 "core" % S T h\  +2 "storage"(. +3 "core" .(<- +2 "storage"('& +3 "core" &<- S T Y\  +2 "storage"(M& +5 "core" &<- S I W\  + "manipulator"&G& +4 "core" &ӥ Q 0 +2 "manipulator"&% +4 "core" %  7  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&>( +162 "core" ( +2 "manipulator"&~& +3 "core" &  3  +3 "storage"( & +4 "core" &<- Q k w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek 5 + 450 counts +5 "manipulator"&5'O +95 "core" ' +2 "storage"(m& +3 "core" &<- k j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'r +299 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &<- I G \  +3 "manipulator"&^& +3 "core" &  +3 .tElbow.seek 5 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&3& +4 "core" &  /  +2 "storage"(q& +5 "core" &<- Q S V\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&c'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&p/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(y' +8 "core" & (  + "manipulator"&<% +5 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&r' +92 "core" ' +3 .tElbow.seek PC + "manipulator"&\\( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&s& +4 "core" & # 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &  L 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&1' +94 "core" ' +2 "manipulator"&j& +4 "core" &   2 +2 "manipulator"&,% +4 "core" %  ~ +2 "processing"%d& +4 "core" &\ +2 "processing"%[& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +9 &7\ $d +9 &V{\ 7 +10 &x\ K +9 &V\ M +10 &gX\ M +9 &)U\ M +9 &Y\ N +10 &X\ M +9 &pT\ M +9 &0X\ N +10 &X\ M +9 &!T\ M +10 &#wX\ M +9 &%9Z\ M +9 &&X\ M +10 &(Y\ M +9 &*Y\ M +9 &,AV\ M +10 &.W\ N +9 &/Y\ M +10 &1U\ M +9 &3HY\ N +9 &5 W\ M +10 &6Z\ M +9 &8Z\ N +9 &:PY\ N +10 &<Z\ N +9 &=Z\ N +10 &?W\ M +9 &AXY\ N +9 &Cc\ O +10 &Dg\ O +9 &Fp\ P +9 &HS\ R +10 &J\ S +9 &K\ S +10 &M\ S +9 &OW\ S +9 &Q\ T +10 &R\ T +9 &T\ T +9 &V\\\ T +10 &X\ T +9 &Y\ T +10 &[\ T +9 &]c\ B +9 &^G}\ S +10 &^ ]\ : +5 ( +2 "processing"%[& +4 "core" &^6\ : +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&?1 +58 "core" 1 + "manipulator"&{% +4 "core" %    ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +95 "core" ' +3 "processing"%`& +4 "core" &^6\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    \ # +2 "storage"($% +3 "core" % . - z\  +2 "storage"(e. +3 "core" .(<- +2 "storage"(8& +4 "core" &<- - - p\  +2 "storage"(Y& +4 "manipulator"&0& +4 "core" &<- - . \  +2 &   2 +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"( 'r +2 "manipulator"&v( +6 "core" ( + "manipulator"&R& +4 "core" &   - 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  2 +2 .tForearm.seek PC +2 "manipulator"&H' +94 "core" ' + .tHand.close +2 "manipulator"&\ / +64 "core" / +2 .tPC.seek :open +2 "processing"%O( +83 "core" ' +2 "storage"(K- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +321 ( +48 "storage"(n& +5 "core" &<- I G E\  + "manipulator"&k& +4 "core" & h 2 +2 "manipulator"&l% +3 "core" %  q +3 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&X( +246 "core" ( + "manipulator"& & +4 "core" & 0 +2 "storage"(Z& +4 "core" &<- & $ *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "storage"(6- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(L' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(u' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +3 "core" -' +2 "storage"(& +4 "core" &<- e e \  +2 "manipulator"&x& +4 "core" & \  0 +2 .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&.& +3 "core" &   0 +2 "storage"(& +4 "core" &<- e e {\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(('" +51 "core" ' + "manipulator"&7& +4 "core" & 0 +2 "storage"(4& +3 "core" &<- 3 & r\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&"'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +19 "core" ' +2 "manipulator"&2% +4 "core" %Ξ   +2 "storage"(a& +4 "core" &<- $ $ #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&B' +13 "core" ' +2 "manipulator"&@& +4 "core" & : 0 +2 "storage"(& +4 "core" &<- E F G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +13 "core" ' + "storage"(%% +4 "core" % F I 8\ +3 ."downElevator"SE.seek :down +3 "storage"(F' +99 (/% +3 "core" %1Q ' &\ Xf +2 "manipulator"&Q% +3 "core" %^ & +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +95 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (z& +3 "core" &<- = " f\  +3 "collection"'U& +3 "core" &\\b\ \ \ K +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&#% +4 "core" %  5  +2 "storage"(P% +4 "core" % P S P\  +2 "storage"(W. +3 "core" .(<- +2 "storage"(I& +4 "core" &<- I Q "\  +2 "storage"(-& +3 "core" &<- G P \  +2 "manipulator"&:& +5 "core" & 0 +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&*& +4 "core" &  0 +2 "storage"(}& +4 "core" &<- T S S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +94 "core" ' +2 "storage"(o& +3 "core" &<- j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" & Y 0 +3 "storage"(!& +3 "core" &<- F E \  +47 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&|'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(T't +30 "core" ' + "manipulator"&% +4 "core" %Ί T ! +7 "storage"(& +4 "core" &<- F F %\  +2 .tForearm.force -20 + "manipulator"&5 +8 .tForearm.seek 5 + 297 counts + "manipulator"& '϶ +16 "core" ' +2 "manipulator"&_& +3 "core" & } / +3 "storage"(& +4 "core" &<- T S ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(]' +47 "core" ' +2 "manipulator"&& +3 "core" & T / +3 "manipulator"&% +4 "core" %@ 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( +2 "manipulator"&'& +4 "core" &Ӑ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &Ӑ 7 +3 .tForearm.seek CC + "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&G/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(f& +4 "core" &<- h j \  + "storage"(~& +5 "core" &<- k k \  + "manipulator"& & +4 "core" &ӯ  3 +2 "manipulator"& % +3 "core" % K  g +3 .tForearm.seek :retract +2 "manipulator"&m' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&t( +153 "core" ( +2 "manipulator"&V& +4 "core" & d +2 "storage"(& +4 "core" &<- j k r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&^'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&q1 +59 "core" 1 +2 "manipulator"&p% +4 "core" % Ά  < +2 "storage"(=& +4 "core" &<- \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 293 counts + "manipulator"&<'ϲ +14 "core" ' +3 "manipulator"&>& +3 "core" &  +2 "storage"(5& +5 "core" &<- \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +27 "core" ' +2 "storage"(c% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(s' +98 (A% +3 "core" %D k k \ V` +2 "manipulator"&i% +5 "core" % N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +87 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"',& +3 "core" & \ +3 "manipulator"&d% +3 "core" %   +3 "storage"(y% +4 "core" % l\  + "storage"(r. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (?& +2 "core" &K \\ j 3\ \ +45 "manipulator"&{& +8 "core" & ) +2 .tElbow.seek 6 + "manipulator"&`( +4 "core" ( +2 "manipulator"&& +4 "core" &  n +2 "storage"($& +4 "core" &K \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +93 "core" ' +2 "storage"(8& +3 "core" &K y ~ m\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +296 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (0& +2 "core" &K j m d\ \ +3 "manipulator"&R& +4 "core" & S +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&1& +3 "core" & B +2 "storage"(\ & +5 "core" &K g ` \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&K'h +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +3 "storage"(' +8 "core" & J + "manipulator"& % +4 "core" % j +2 .tForearm.seek :retract +2 "manipulator"&n' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&l& +4 "core" &ӎ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &ӎ 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' +3 "manipulator"&Z& +4 "core" &ӏ  S 7 +2 "manipulator"&v% +3 "core" %D   D +3 "collection"'& +3 "core" & \ +3 "collection"'6& +5 "core" & !\ +2 .tCC.seek :closed +2 "collection"')(\\ +5 "core" & \  +8 &4{ \ *z +9 &\ h}  \ > +10 &m $\ K +9 &[V  \ J +10 &U \ J +9 &U \ J +9 &U \ J +10 &dT  \ J +9 &%U !\ K +9 &T \ K +10 & S \ J +9 &"kV \ J +10 &$,S \ K +9 &%T \ K +9 &'X \ K +10 &)sX \ K +9 &+5X \ K +9 &,W \ K +10 &.X \ K +9 &0zY  \ K +10 &2=X \ J +9 &3U  \ J +9 &5V \ J +10 &7U \ J +9 &9EV \ J +9 &;V \ K +10 &<Z \ K +9 &>Z \ K +10 &@K^ \ K +9 &B _\ \ \ K +9 &Cb \ \ L +10 &Em\  \ M +9 &GG~\ \ \ O +9 &H\ "\ \ S +10 &J\ ,\ *\ V +9 &Ly\ ,\ )\ V +10 &N:\ (\ *\ V +9 &O\ )\ &\ X +9 &Q\ '\ (\ X +10 &Sz\ '\ &\ Y +9 &U<\ '\ &\ Y +9 &V\ &\ &\ Z +10 &X\ )\ % \ [\ +9 &Z}\ *\ '\ Z +10 &\\!y\ (\ ( \ / +9 &\\1\ '\ ( \ _ +9 ( + &\\m\ &\ '\ M +3 "collection"'6& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +3 "manipulator"&x% +4 "core" % q X  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&g% +3 "core" %    +3 "storage"(7% +3 "core" % T S ^\  +2 "storage"(4. +3 "core" .(K +2 "storage"(2& +4 "core" &K T T e\ \ +2 "storage"(a& +4 "core" &K S I F\ \ +2 "manipulator"&& +4 "core" &  $ +2 "manipulator"&@% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +136 "core" ( +2 "manipulator"&L& +3 "core" & \ +2 "storage"(%& +5 "core" &K ; 8 Q\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +96 "core" ' +2 "storage"(& +3 "core" &K k j \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'r +299 "core" ' + "storage"(/- +49 "core" -' +4 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &K I F )\ \ +2 "manipulator"&S& +3 "core" & ! \ +3 .tElbow.seek 6 +2 "manipulator"&E( +8 "core" ( +2 "manipulator"&(& +4 "core" & > +2 "storage"("& +3 "core" &K T T X\ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&B'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& +2 "storage"(#' +8 "core" &  +2 "manipulator"&P% +4 "core" % y J +2 .tForearm.seek :retract +2 "manipulator"&W' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +3 "manipulator"&I& +4 "core" & D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &  C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&:' +94 "core" ' +2 "manipulator"&*& +4 "core" &  a C +2 "manipulator"&}% +4 "core" % F v +2 "processing"%w& +3 "core" &\ +3 "processing"%o& +5 "core" &\ +3 .tPC.seek :closed + "processing"%F(^ +5 "core" &\ +7 &8\ #b +9 &U\ 7 +9 &|\ K +10 &W\ N +9 &cX\ N +9 &'U\ M +10 &Y\ N +9 &X\ N +9 &lW\ M +10 &.V\ M +9 &U\ M +10 &!T\ M +9 &#tZ\ M +9 &%7Z\ M +10 &&Y\ M +9 &(U\ M +9 &*}U\ M +10 &,>[\ M +9 &-W\ N +10 &/Z\ N +9 &1Y\ M +9 &3FU\ M +10 &5 Z\ M +9 &6Y\ N +10 &8Y\ N +9 &:NU\ M +9 &<Y\ M +10 &=[\ M +9 &?Y\ M +9 &AU]\ N +10 &Cb\ O +9 &Df\ O +9 &Fr\ P +10 &HR}\ Q +9 &J\ S +10 &K\ S +9 &M\ S +9 &OS\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &VW\ U +9 &X\ T +10 &Y\ U +9 &[\ T +9 &]_\ B +10 &^G|\ V +9 &^\ J\ 2 +6 ( + "processing"%o& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&C1 +4 "core" &^!\ 2 +53 1 + "manipulator"&;% +5 "core" %    v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' +2 "processing"%D& +4 "core" &^!\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&!% +4 "core" %  b  +2 "storage"(J% +4 "core" % , ( 6\ +2 "storage"(. +3 "core" .(K +2 "storage"(& +3 "core" &K , , 5\ \ +3 "storage"(_& +3 "manipulator"&& +6 "core" &K * , \ \ +2 &    C +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&9& +5 "core" & \  C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   & C +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&|/ +56 "core" / +3 .tPC.seek :open +2 "processing"% ( +96 "core" ' +2 "storage"(T- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(''1 +40 "core" ' +307 ( + "storage"(M& +4 "core" &K P H 0\ \ +2 "manipulator"&& +4 "core" & j C +2 "manipulator"&% +4 "core" %  i +2 .tForearm.seek :retract +2 "manipulator"&G' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +48 .tElbow.seek 6 +3 "manipulator"&( +246 "core" ( + "manipulator"&b& +4 "core" & ^ + +2 "storage"(f& +3 "core" &K - - g\ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +94 "core" ' +2 .tHand.open + "manipulator"& 1 +65 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(V' +34 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &K x \ \ +2 "manipulator"&q& +4 "core" &   - + +2 .tElbow.seek 6 +2 "manipulator"&p( +4 "core" ( + "manipulator"&=& +4 "core" &  e + +2 "storage"(>& +4 "core" &K u d \ \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(c'" +49 "core" ' +2 "manipulator"&m& +4 "core" & @ + +2 "storage"(A& +4 "core" &K ' , ^\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&i'< +22 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(^' +20 "core" ' + "manipulator"&<% +4 "core" %I E  +2 "storage"(,& +3 "core" &K - - |\ \ +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 313 counts + "manipulator"&d'u +15 "core" ' +3 "manipulator"&y& +4 "core" & + +2 "storage"(r& +4 "core" &K F E -\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +15 "core" ' +2 "storage"(&% +4 "core" % H P 6\ +3 ."downElevator"SE.seek :down +3 "storage"(s' +98 (% +3 "core" %+R ^ \ Xg +2 "manipulator"&?% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" &K < 7 7\ \ +3 "collection"'$& +4 "core" &\\l\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&8% +4 "core" %   +2 "storage"(3% +4 "core" % E F (\  +2 "storage"(j. +3 "core" .(K +2 "storage"(Y& +4 "core" &K E F \ \ +2 "storage"(0& +3 "core" &K H P 2\ \ +2 "manipulator"&R& +4 "core" & \ + +2 .tElbow.seek 6 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&\ & +4 "core" & c + +2 "storage"(\\& +3 "core" &K F I *\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +100 "core" ' +2 "storage"( & +4 "core" &K ; C \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +299 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" & * +2 "storage"(H& +5 "core" &K G G 2\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&['< +13 "core" ' + .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +48 "storage"(Z- +4 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(v'k +29 "core" ' +2 "manipulator"&% +4 "core" %D N F +2 "storage"(& +4 "core" &K G E \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&'p +15 "core" ' +2 "manipulator"&n& +3 "core" & a * +3 "storage"(& +4 "core" &K F F 1\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(x' +42 "core" ' +2 "manipulator"&& +4 "core" & * +2 "manipulator"&g% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +151 "core" ( + "manipulator"&2& +4 "core" &Ӆ"  ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &Ӆ" ;4 +2 .tForearm.seek CC +2 "manipulator"&6'? +99 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'@( +446 "core" ( +2 "storage"(L& +4 "core" &K k j \ \ + "storage"(%& +5 "core" &K j k \ \ + "manipulator"& & +4 "core" & E ' +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&k' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&.( +149 "core" ( +2 "manipulator"&/& +3 "core" & \ 5  +3 "storage"(Q& +4 "core" &K \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&S'< +95 "core" ' + .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&"1 +63 "core" 1 +2 "manipulator"&z% +4 "core" % C  U +2 "storage"(U& +4 "core" &K \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&P'o +16 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(X& +4 "core" &K X\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&u' +15 "core" ' +2 "storage"(B% +4 "core" % w ^\ +3 ."downElevator"SE.seek :down +4 "storage"(I' +98 (-% +3 "core" %M P j Q\ Wb +3 "manipulator"&E% +4 "core" % k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'}& +4 "core" & \ +2 "manipulator"&w% +4 "core" %  y  +2 "storage"(#% +4 "core" % l\  +2 "storage"(W. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(O(,y +672 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (C& +2 "core" &,{ ` ] J\ +3 "manipulator"&;& +4 "core" &  \\  +2 .tElbow.seek 4 +2 "manipulator"&D( +4 "core" ( + "manipulator"&!& +3 "core" & K  +2 "storage"(J& +4 "core" &,{ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +45 .tForearm.seek 4 + 450 counts +6 "manipulator"&' +97 "core" ' +2 "storage"(& +3 "core" &,{ } y ^\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(_- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &,{ l n \ +2 "manipulator"&9& +5 "core" & B  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&:& +3 "core" &  +3 "storage"(|& +4 "core" &,{ g ` t\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&T'c +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&+& + "storage"(F' +8 "core" &  +2 "manipulator"&% +3 "core" % p  Z +3 .tForearm.seek :retract +2 "manipulator"&M' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +4 "core" &ӕ  S 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӕ  3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'? +98 "core" ' +2 "manipulator"&f& +3 "core" &ӕ x 3 +3 "manipulator"&% +3 "core" %= + +3 "collection"' & +4 "core" & +\ +2 "collection"' & +5 "core" & &\ +3 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & !\ +7 & !\ : +9 &HKw '\ 0 +10 &|u~ \ E +9 &*] \ K +9 &W \ K +10 &X \ J +9 &rU \ J +9 &3X \ K +10 &W \ K +9 &X \ K +10 &xW \ K +9 &!:X \ K +9 &"W \ K +10 &$W  \ K +9 &&V \ K +9 &(BX \ K +10 &*X \ K +9 &+W \ K +10 &-X \ K +9 &/LX  \ J +9 &1U \ J +10 &2T \ J +9 &4X \ J +9 &6SU \ J +10 &8U \ J +9 &9V \ J +10 &;U \ K +9 &=ZY \ K +9 &?Y \ K +10 &@W  \ J +9 &BZ \ K +10 &D`\\ \ L +9 &Fk \ M +9 &G{\  \ O +10 &I\ \  \ R +9 &KJ\ $\ #\ V +9 &M \ $\ &\ W +10 &N\ "\ #\ V +9 &P\ #\ !\ W +9 &RN\ "\ !\ \ W +10 &T \ "\ ! \ Y +9 &U\ $\ "\ X +10 &W\ "\ # \ [ +9 &YL\ $\ #\ [ +9 &[\ '\ & \ Z +10 &\\bH\ '\ %\ 6 +9 &\\s\ $\ $ \ I +6 ( + "collection"' & +5 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&1 +3 "core" &\\i\ &\ $\ I +56 1 +3 "manipulator"&q% +4 "core" % =  i + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +99 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%G& +3 "core" &\ +3 "manipulator"&>% +4 "core" % ! h $ + "storage"(m% +4 "core" % G F !\  +2 "storage"(A. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(<(,y +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +3 "core" &,{ - - b\ +2 "manipulator"&'& +5 "core" &ө  1 + "manipulator"&y% +4 "core" % " B $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&r( +160 "core" ( +2 "manipulator"&V& +3 "core" & J  +2 "storage"(&& +4 "core" &,{ V T a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(~& +3 "core" &,{ k j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (?& +2 "core" &,{ ? ) _\ +3 "manipulator"&5& +4 "core" & <  +48 .tElbow.seek 4 +3 "manipulator"&p( +3 "core" ( +2 "manipulator"&c& +3 "core" & 0  +2 "storage"(i& +4 "core" &,{ F P :\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&d'c +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&$& +3 "storage"(8' +8 "core" & V  + "manipulator"&3% +4 "core" % W R +2 .tForearm.seek :retract +2 "manipulator"&j' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&Y& +3 "core" & N +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" & N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R' +92 "core" ' + "manipulator"&\ & +5 "core" & D N +2 "manipulator"&\\% +4 "core" % S P +2 "processing"%]& +4 "core" &\ +2 "processing"% & +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%s(^ +5 "core" &\ +6 &7\ $d +10 &Vz\ 7 +9 &y\ K +9 &T\ M +10 &gY\ N +9 &+U\ M +10 &X\ N +9 &W\ M +9 &pW\ M +10 &3U\ M +9 &Y\ N +9 &!W\ M +10 &#wY\ N +9 &%:X\ M +10 &&Y\ N +9 &(X\ M +9 &*Z\ M +10 &,BY\ M +9 &.T\ M +9 &/Y\ N +10 &1W\ M +9 &3JW\ M +10 &5 Y\ M +9 &6Y\ N +9 &8Y\ M +10 &:RV\ M +9 &<W\ M +9 &=W\ M +10 &?X\ M +9 &AYZ\ N +10 &Cb\ N +9 &De\ O +9 &Fp\ P +10 &HW}\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &OW\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &V]\ T +9 &X \ T +9 &Y\ T +10 &[\ T +9 &]d\ B +10 &^Bs\ ] +9 &^6\ 2 +5 ( +2 "processing"% & +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&t1 +3 "core" &^&\ 2 +54 1 + "manipulator"&{% +4 "core" %  \  P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' + "processing"%l& +4 "core" &^&\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&H% +4 "core" %     \ +2 "storage"(Z% +3 "core" % ( * \  +2 "storage"(. +3 "core" .(,y +2 "storage"(& +3 "core" &,{ * ( 9\ +3 "storage"(n& +3 "manipulator"&& +5 "core" &,{ ( %\ +2 &   N +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&( +2 "storage"(g'r +5 "core" ( + "manipulator"&h& +4 "core" &   & N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &    N +3 .tForearm.seek PC + "manipulator"&`' +93 "core" ' + .tHand.close +2 "manipulator"&[/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' +2 "storage"(v- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(2'1 +45 "core" ' +303 ( +2 "storage"(a& +3 "core" &,{ S S\ +2 "manipulator"&& +4 "core" &  N +2 "manipulator"&K% +4 "core" %  X +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&7( +244 "core" ( + "manipulator"&)& +5 "core" & X / + "storage"(L& +44 "core" &,{ F F 6\ +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +93 "core" ' +2 .tHand.open + "manipulator"& 1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +3 "core" -' +2 "storage"(4& +4 "core" &,{ g e \ +2 "manipulator"&"& +3 "core" &   / +3 .tElbow.seek 4 +2 "manipulator"&z( +4 "core" ( + "manipulator"&U& +4 "core" &   / +2 "storage"(& +5 "core" &,{ d g ^\ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(B'" +57 "core" ' +2 "manipulator"&k& +3 "core" &  / +3 "storage"(-& +4 "core" &,{ L G \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&E'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(S' +28 "core" ' +2 "manipulator"&}% +3 "core" %7 % +2 "storage"(w& +5 "core" &,{ G E U\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&P'c +15 "core" ' +2 "manipulator"&#& +3 "core" &  / +3 "storage"(W& +5 "core" &,{ I T F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +16 "core" ' + "storage"(u% +4 "core" % S S b\ +3 ."downElevator"SE.seek :down +3 "storage"(I' +99 (% +3 "core" %]O ( '\ We +2 "manipulator"&C% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (!& +3 "core" &,{ } J\ +2 "collection"'J& +4 "core" &\\i\ \ \ I +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %    +2 "storage"((% +3 "core" % T S F\  +2 "storage"(*. +3 "core" .(,y +2 "storage"(_& +4 "core" &,{ S U\ +2 "storage"(o& +4 "core" &,{ S T I\ +2 "manipulator"&9& +4 "core" & , / +2 .tElbow.seek 4 +2 "manipulator"&:( +4 "core" ( + "manipulator"&|& +4 "core" & @ / +2 "storage"(N& +4 "core" &,{ T S W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +95 "core" ' +2 "storage"(& +3 "core" &,{ j Q \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +296 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  / +2 "storage"(& +4 "core" &,{ ) 2 [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +29 "core" ' +2 "manipulator"& % +47 "core" %G  R +5 "storage"(& +4 "core" &,{ F F -\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 316 counts + "manipulator"&F's +14 "core" ' +2 "manipulator"&M& +3 "core" &  t / +3 "storage"(@& +4 "core" &,{ S P E\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(q' +41 "core" ' +2 "manipulator"&G& +3 "core" & / +3 "manipulator"&>% +4 "core" %  _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&A(ӂ +153 "core" ( + "manipulator"& & +4 "core" &Ӓ . 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &Ӓ 7 +3 .tForearm.seek CC +2 "manipulator"&''? +92 "core" ' +2 .tHand.close + "manipulator"&y/ +63 "core" / +2 .tCC.seek :open +2 "collection"'b( +449 "core" ( +2 "storage"(V& +4 "core" &,{ \\ h \ + "storage"(&& +4 "core" &,{ k m \ +2 "manipulator"&O& +3 "core" &ӵ J 2 +3 "manipulator"&~% +4 "core" % : V  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&=( +153 "core" ( +2 "manipulator"&& +3 "core" & +2 "storage"(?& +5 "core" &,{ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&5'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&i1 +60 "core" 1 +2 "manipulator"&% +3 "core" % '   [ +2 "storage"($& +5 "core" &,{ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 284 counts + "manipulator"&3'S +15 "core" ' +2 "manipulator"&r& +4 "core" &  ; +2 "storage"(& +4 "core" &,{ ~ .\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(d% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(Y' +99 (0% +3 "core" %B j j V\ V_ +2 "manipulator"&p% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'\\& +3 "core" & \ +2 "manipulator"&]% +3 "core" %   +3 "storage"(8% +4 "core" % <\  +2 "storage"(j. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "core" &<* < 9 Y\  +2 "manipulator"&{& +4 "core" &  4 +2 .tElbow.seek 5 + "manipulator"&l( +4 "core" ( +2 "manipulator"&H& +4 "core" & \ + "storage"(Z& +4 "core" &<)  2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +122 "core" ' +2 "storage"(& +3 "core" &<) } M\  +3 .tSE.reconfigure :pick +47 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(n'r +292 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &<) b s \  +2 "manipulator"&h& +4 "core" &  2 +3 .tElbow.seek 5 +2 "manipulator"&1( +4 "core" ( + "manipulator"&R& +4 "core" & +2 "storage"([& +4 "core" &<) k j \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&v'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&^/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(s' +8 "core" & +2 "manipulator"&g% +4 "core" % ϴ } +2 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&K& +5 "core" &Ӎ  :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &`& +2 "core" &Ӎ  k :- +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'? +43 "Can" =: +57 "core" ' +2 "manipulator"&L& +4 "core" &ӎ!  :, +2 "manipulator"&% +4 "core" %C  i  +2 "collection"' & +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +4 "collection"'6(\\ +2 "core" & \ +6 & \ 6 +9 &CJw \ / +9 &rs} \ \ D +10 &W \ K +9 &R \ K +10 &T \ K +9 &dW \ K +9 &&W \ K +10 &W \ J +9 &U \ J +9 &mU \ J +10 &!0T \ J +9 &"T \ J +10 &$W \ K +9 &&vX  \ J +9 &(8U \ J +10 &)X \ K +9 &+W \ \ K +9 &-}X \ K +10 &/>V \ K +9 &1W \ K +10 &2W \ K +9 &4W \ J +9 &6GU \ J +10 &8 U  \ J +9 &9V \ K +9 &;Y \ K +10 &=NT \ K +9 &?U  \ K +10 &@Y \ K +9 &BY \ K +9 &DTa \ L +10 &Fh \ M +9 &Gw\ \ \ O +9 &I\ \ \ R +10 &K9\ %\ $\ X +9 &L\ $\ (\ W +10 &N\ %\ $\ X +9 &P}\ $\ %\ X +9 &R>\ %\ $\ Y +10 &S\ "\ $\ Y +9 &U\ %\ #\ Y +9 &W\ $\ '\ Y +10 &Y@\ &\ %\ [ +9 &[\ $\ '\ [ +10 &\\\\M\ &\ '\ 6 +9 &\\\ (\ %\ X +5 ( +3 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&41 +3 "core" &\\\ %\ &\ W +56 1 +2 "manipulator"&"% +4 "core" % C j  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %   +2 "storage"(k% +4 "core" % - - @\  +2 "storage"(-. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(}(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &<+\ \ \ \  +2 "manipulator"&w& +3 "core" &Ӭ @ 6 +3 "manipulator"&#% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&/( +164 "core" ( + "manipulator"&W& +4 "core" &   +2 "storage"(u& +4 "core" &<) G H ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +95 "core" ' +2 "storage"(%& +3 "core" &<) 7 8 -\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &<) $ - L\  +2 "manipulator"&X& +4 "core" & )  +2 .tElbow.seek 5 +2 "manipulator"&z( +3 "core" ( +2 "manipulator"&B& +4 "core" &  -  + "storage"(E& +52 "core" &<) > 2\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&P'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&J& +2 "storage"(' +5 "core" &  +3 "manipulator"&(% +4 "core" %  q +3 .tForearm.seek :retract +2 "manipulator"&*' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&_& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&9' +100 "core" ' +2 "manipulator"&|& +4 "core" & ' +2 "manipulator"&N% +4 "core" % % +2 "processing"%x& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%I(^ +5 "core" &\  +8 &2v\ )v +9 &b~\ = +10 &ou\ N +9 &3V\ M +9 &Y\ M +10 &Y\ M +9 &wZ\ N +9 &:W\ M +10 &U\ M +9 &W\ M +10 & Z\ M +9 &"BZ\ M +9 &$Z\ M +10 &%Y\ N +9 &'W\ N +9 &)IW\ N +10 &+ Y\ M +9 &,Z\ M +10 &.Y\ M +9 &0RU\ M +9 &2T\ M +10 &3T\ M +9 &5U\ M +9 &7YT\ N +10 &9[\ M +9 &:W\ N +10 &<Z\ N +9 &>`Z\ N +9 &@$Y\ M +10 &A]\ N +9 &Ch\ O +9 &Ebk\ P +10 &G"v\ Q +9 &H\ S +10 &J\ T +9 &L`\ S +9 &N!\ T +10 &O\ T +9 &Q\ U +9 &Se\ T +10 &U&\ U +9 &V\ U +10 &X\ U +9 &Zl\ U +9 &\\-\ U +10 &]\ 8 +9 &^1\ L +9 &^ \ . +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&.1 +57 "core" 1 +2 "manipulator"&;% +3 "core" %   p * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 "processing"%& +3 "core" &^ \ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    +2 "storage"(f% +4 "core" % ' ' \  +2 "storage"( . +3 "core" .(<- +2 "storage"(& +4 "core" &<) & '\  +2 "storage"(M& +3 "manipulator"&@& +7 "core" &<) ! & +\  + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&G( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(>'r +2 "core" ( +3 "manipulator"&+& +3 "core" &   2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&D' +93 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%F( +99 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +41 "core" ' +302 ( + "storage"(,& +4 "core" &<) - # <\  +2 "manipulator"&& +3 "core" &  +2 "manipulator"&T% +4 "core" %  S , +2 .tForearm.seek :retract +2 "manipulator"&y' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&m( +239 "core" ( +2 "manipulator"&& +4 "core" & 3 +2 "storage"(V& +3 "core" &<) ' !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +93 "core" ' +3 .tHand.open +2 "manipulator"&O1 +62 "core" 1 +2 "storage"(~- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(?' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"('- +3 "core" -' +2 "storage"(A& +3 "core" &<) > , \  +3 "manipulator"&i& +4 "core" &  3 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&$& +4 "core" &   1 3 +2 "storage"(r& +3 "core" &<) L L h\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(d'" +57 "core" ' +2 "manipulator"&& +3 "core" & 3 +2 "storage"(0& +5 "core" &<) - . }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&p'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(5' +27 "core" ' +2 "manipulator"&\\% +4 "core" %΍ +2 "storage"(]& +58 "core" &<) ) . a\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 300 counts + "manipulator"&3'Ϲ +14 "core" ' +2 "manipulator"&8& +4 "core" & 3 +2 "storage"(j& +4 "core" &<) F F K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +13 "core" ' +2 "storage"(% +4 "core" % J G H\ +3 ."downElevator"SE.seek :down +5 "storage"(Y' +98 (<% +3 "core" %ZP O r\ Xf +2 "manipulator"&t% +5 "core" %Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 (H& +2 "core" &<)  / D\  +3 "collection"'Z& +3 "core" &\\\ \ \ W +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %   +2 "storage"(c% +3 "core" % H E \  +2 "storage"(\ . +3 "core" .(<- +2 "storage"(& +4 "core" &<) A H D\  +2 "storage"( & +3 "core" &<) I F \  +3 "manipulator"&h& +4 "core" & 3 +2 .tElbow.seek 5 +2 "manipulator"&R( +4 "core" ( + "manipulator"&[& +4 "core" &   3 +2 "storage"(^& +4 "core" &<) G A \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +96 "core" ' + "storage"(g& +4 "core" &<) T T q\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" & 3 +3 "storage"(`& +3 "core" &<) F F =\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&n'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('s +29 "core" ' +2 "manipulator"& % +4 "core" %Ό   +2 "storage"(1& +3 "core" &<) $ % \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 299 counts + "manipulator"&s'ϸ +54 "core" ' +9 "manipulator"&a& +3 "core" &  3 +2 "storage"(b& +4 "core" &<) # #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +27 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"("' +36 "core" ' + "manipulator"&& +5 "core" & ; 3 + "manipulator"&% +4 "core" %d , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +155 "core" ( +3 "manipulator"&& +4 "core" &ӕ / 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &ӕ 3 +2 .tForearm.seek CC +2 "manipulator"&w'? +97 "core" ' + .tHand.close + "manipulator"&#/ +63 "core" / +2 .tCC.seek :open +2 "collection"')( +446 "core" ( +2 "storage"(W& +3 "core" &<) _ j \  +2 "storage"(u& +5 "core" &<) g _ <\  + "manipulator"& & +4 "core" &ӥ p 1 +2 "manipulator"&%% +4 "core" % S  ! +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +154 "core" ( + "manipulator"&& +4 "core" &  k +2 "storage"(C& +4 "core" &<) ~ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&X'΍ +98 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +54 "core" 1 +2 "manipulator"&!% +4 "core" % Β  ? ' +2 "storage"(J& +4 "core" &<)  _\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&('Ͼ +14 "core" ' +2 "manipulator"&/& +4 "core" &  +2 "storage"(7& +3 "core" &<) E\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +27 "core" ' +2 "storage"(P% +4 "core" % w x \ +3 ."downElevator"SE.seek :down +4 "storage"(_' +98 (o% +3 "core" %D l j i\ V_ +3 "manipulator"&z% +4 "core" %{ f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'N& +4 "core" & \ +2 "manipulator"&x% +3 "core" %   y  +3 "storage"(% +4 "core" % \  + "storage"(*. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +3 "core" &K e _ q\ \ +2 "manipulator"&;& +4 "core" & R +3 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(f& +3 "core" &K \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +94 "core" ' + "storage"(& +4 "core" &K z V\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +292 "core" ' +2 "storage"(M- +3 "core" -' +47 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (& +3 "core" &K g l \ \ +2 "manipulator"&+& +4 "core" &  l +2 .tElbow.seek 6 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&9& +4 "core" & a +2 "storage"(& +4 "core" &K l j \ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(I' +8 "core" &  + "manipulator"&>% +4 "core" % j  +2 .tForearm.seek :retract +2 "manipulator"&,' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&T& +3 "core" &z" ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +3 "core" &z" o ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 "manipulator"&V& +4 "core" &ӝ  ) 6 +2 "manipulator"&G% +3 "core" %?  ! +3 "collection"'O& +3 "core" & $\ +3 "collection"'~& +5 "core" & +\ +2 .tCC.seek :closed +2 "collection"''(\\ +6 "core" &  \ +6 &; \ $f +9 &Xx #\ 7 +10 &w $\ J +9 &R \ J +10 &T \ K +9 &KS \ J +9 & U \ J +10 &Y \ K +9 &W \ J +9 &SU \ J +10 & X  \ K +9 &!V  \ K +10 &#Y  \ K +9 &%ZU \ K +9 &'W \ J +10 &(Y \ K +9 &*U \ K +9 &,cS \ J +10 &.&U \ J +9 &/X \ J +10 &1U \ K +9 &3kX \ J +9 &5,R \ K +10 &6X \ J +9 &8U \ \ J +9 &:rY  \ K +10 &<5U  \ J +9 &=Y  \ K +10 &?[ \ K +9 &AwZ \ L +9 &C8] \  \ L +10 &Df \ L +9 &Fu\ \ \ N +9 &Hl\ \  \ R +10 &J$\ )\ &\ V +9 &K\ *\ )\ W +10 &M\ *\ )\ W +9 &Od\ '\ '\ X +9 &Q'\ '\ & \ W +10 &R\ '\ &\ Y +9 &T\ %\ %\ Y +9 &Ve\ %\ $\ Z +10 &X$\ %\ &\ [\ +9 &Y\ #\ %\ [\ +10 &[\ (\ '\ I +9 &\\0\ '\ )\ 1 +9 &\\r\ &\ &\ N +3 ( + "collection"'~& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&A1 +64 "core" 1 +3 "manipulator"&i% +4 "core" % ` h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%r& +4 "core" &\ +2 "manipulator"&y% +3 "core" %   +2 "storage"(% +5 "core" % P H 7\  + "storage"(0. +3 "core" .(K +2 "storage"(\\& +3 "core" &K F E #\ \ +2 "storage"( & +4 "core" &K E H #\ \ +2 "manipulator"&& +3 "core" &#  $ +2 "manipulator"&]% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&8( +145 "core" ( +2 "manipulator"&j& +4 "core" & 0  + "storage"(m& +4 "core" &K S S h\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +113 "core" ' +2 "storage"(&& +4 "core" &K N G \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &K F R 0\ \ +2 "manipulator"&t& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&d& +4 "core" &  + "storage"(p& +4 "core" &K T S w\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&3'h +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& +49 "storage"(' +8 "core" &  o  +2 "manipulator"&c% +4 "core" % r +2 .tForearm.seek :retract +2 "manipulator"&\ ' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&5( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&& +4 "core" & g +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&h' +91 "core" ' +2 "manipulator"&[& +4 "core" &  +2 "manipulator"&^% +3 "core" % ` h +3 "processing"%q& +3 "core" &\ +3 "processing"%g& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%Y(^ +4 "core" &\ +7 &7\ #b +10 &Ty\ 6 +9 &{\ K +9 &Y\ M +10 &`U\ M +9 &#U\ M +9 &Y\ N +10 &W\ M +9 &hT\ M +10 &*U\ M +9 &T\ M +9 &!T\ M +10 &#pU\ M +9 &%3V\ M +9 &&Y\ N +10 &(X\ N +9 &*xX\ M +10 &,:U\ M +9 &-T\ M +9 &/Z\ M +10 &1Y\ M +9 &3BX\ M +9 &5T\ M +10 &6Z\ M +9 &8\\\ M +10 &:JV\ M +9 &< Y\ M +9 &=\\\ M +10 &?W\ M +9 &AQ]\ N +9 &Ca\ N +10 &Df\ O +9 &Fp\ P +10 &HL\ R +9 &J\ \ S +9 &K\ T +10 &M\ T +9 &OP\ S +9 &Q\ T +10 &R\ T +9 &T\ U +10 &VV\ T +9 &X\ U +9 &Y\ U +10 &[\ U +9 &]\\\ B +9 &^P}\ G +10 &^A\ < +2 ( +2 "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&=1 +54 "core" 1 + "manipulator"&{% +4 "core" %   R h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%K& +4 "core" &^?\ < +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&`% +4 "core" %    +2 "storage"(L% +4 "core" % ' '\  +2 "storage"( . +3 "core" .(K +2 "storage"(1& +4 "core" &K ' ' \ \ +2 "storage"(a& +4 "manipulator"&b& +5 "core" &K & & >\ \ + &    +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r + "manipulator"&( +7 "core" ( +2 "manipulator"&e& +4 "core" &   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&l' +91 "core" ' +2 .tHand.close + "manipulator"&n/ +57 "core" / +2 .tPC.seek :open +2 "processing"%s( +92 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +302 ( +2 "storage"(2& +4 "core" &K F E %\ \ + "manipulator"&4& +4 "core" & $ +2 "manipulator"&v% +4 "core" %  " o +2 .tForearm.seek :retract +2 "manipulator"&#' +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&k( +242 "core" ( + "manipulator"&6& +4 "core" &  \\ +2 "storage"(W& +3 "core" &K - - \\\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&u' +92 "core" ' +2 .tHand.open + "manipulator"& 1 +57 "core" 1 +2 "storage"(%- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +41 "storage"(C' +64 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(w- +4 "core" -' +2 "storage"(-& +4 "core" &K q m 3\ \ +2 "manipulator"&E& +4 "core" &   / \\ +2 .tElbow.seek 6 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&J& +3 "core" &   * \\ +2 "storage"(/& +5 "core" &K d d ?\ \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(P'" +52 "core" ' +2 "manipulator"&& +4 "core" & \\ +2 "storage"(o& +3 "core" &K - , \\\ \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&z'< +22 "core" ' + .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(X' +28 "core" ' +2 "manipulator"&(% +4 "core" %F  +2 "storage"(N& +3 "core" &K , ( D\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&x'r +16 "core" ' +2 "manipulator"&& +3 "core" &  4 \\ +3 "storage"(*& +4 "core" &K F E 3\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +15 "core" ' +2 "storage"(Q% +3 "core" % E E @\ +3 ."downElevator"SE.seek :down +4 "storage"(_' +98 (}% +3 "core" %9T I I\ Xg +2 "manipulator"&.% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &K 9 3 \ \ +3 "collection"'f& +4 "core" &\\r\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +5 "core" %  K  +2 "storage"(B% +4 "core" % G F \  +2 "storage"(|. +3 "core" .(K +2 "storage"(M& +3 "core" &K I F "\ \ +2 "storage"(& +4 "core" &K F F #\ \ +2 "manipulator"&+& +4 "core" &  \\ +2 .tElbow.seek 6 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&& +3 "core" & / \\ +3 "storage"(S& +4 "core" &K F E "\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(>& +3 "core" &K L 8 \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" &  \\ +3 "storage"(D& +4 "core" &K E P <\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&@'< +17 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(G'j +31 "core" ' + "manipulator"&O% +4 "core" %J & +2 "storage"(:& +4 "core" &K @ F \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&I'v +15 "core" ' +2 "manipulator"&,& +3 "core" &  . \\ +3 "storage"()& +3 "core" &K H O 4\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +45 "storage"(i' +39 "core" ' +2 "manipulator"&r& +4 "core" &  \\ \\ +2 "manipulator"&y% +4 "core" % T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0(ӂ +151 "core" ( + "manipulator"&\\& +4 "core" &ӕ ) 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &ӕ  6 +3 .tForearm.seek CC +2 "manipulator"& '? +100 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"']( +450 "core" ( + "storage"(j& +4 "core" &K i j 9\ \ +2 "storage"(m& +3 "core" &K k j \ \ +2 "manipulator"&& +5 "core" &#  3 # + "manipulator"&&% +4 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&$( +146 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(<& +5 "core" &K ~ 1\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&t'< +93 "core" ' +2 .tElbow.hold + "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&p1 +52 "core" 1 +2 "manipulator"&H% +4 "core" % B e < +2 "storage"(Z& +4 "core" &K P\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&c'n +16 "core" ' +2 "manipulator"&8& +4 "core" &   +2 "storage"(& +4 "core" &K  p\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&?' +16 "core" ' + "storage"(3% +4 "core" % w w k\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ( % +3 "core" %F _ h L\ V_ +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'^& +3 "core" & \ +2 "manipulator"&q% +5 "core" %  f  +2 "storage"(% +4 "core" %  \  + "storage"(\ . +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(F(,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &,{ ` g C\ +2 "manipulator"&{& +3 "core" & d  +3 .tElbow.seek 4 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&`& +3 "core" &  {  +2 "storage"(L& +5 "core" &,{ ~ 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 "storage"(1& +3 "core" &,{ | ^\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(a'r +299 "core" ' + "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (g& +2 "core" &,{ f j h\ +2 "manipulator"&e& +4 "core" & K  +2 .tElbow.seek 4 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&h& +3 "core" &  k  +3 "storage"(n& +49 "core" &,{ h ~ V\ +4 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(Y' +8 "core" &  +2 "manipulator"&% +4 "core" % W | +2 .tForearm.seek :retract +2 "manipulator"&2' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&v& +4 "core" &ӝ  ^ 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &ӝ  = 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&6'? +94 "core" ' +2 "manipulator"&W& +4 "core" &ӝ  k 0 +3 "manipulator"&% +3 "core" %G , +3 "collection"' & +4 "core" & #\ +2 "collection"'%& +5 "core" & ,\ +3 .tCC.seek :closed +2 "collection"'#(\\ +4 "core" & +\  +8 &4y !\ *y +9 & f~ $\ > +10 &m  \ L +9 &YS '\ K +10 &S \ J +9 &U $\ J +9 &W "\ J +10 &bR \ J +9 &$U \ J +9 &X \ K +10 & U "\ J +9 &"iT \ K +10 &$,R \ J +9 &%S \ K +9 &'W \ J +10 &)qW \ J +9 &+4U \ J +9 &,X  \ K +10 &.U \ K +9 &0zT \ J +10 &2<T \ J +9 &3X \ K +9 &5V \ K +10 &7R \ K +9 &9DX \ J +9 &;U \ J +10 &<U \ J +9 &>Z \ J +10 &@KV  \ J +9 &B X  \ K +9 &C] \ K +10 &Ee \ M +9 &GJr \ N +9 &I\ \ \ Q +10 &J\ "\ \ U +9 &Lu\ "\ # \ W +10 &N6\ !\ !\ \ W +9 &O\ "\  \ W +9 &Q\ \ \ X +10 &Sv\ !\ \ Y +9 &U9\ !\ "\ Y +9 &V\ #\ ! \ Y +10 &X\ !\ \ Z +9 &Zy\ #\ #\ [\ +10 &\\x\ $\ %\ 2 +9 &\\-\ $\ "\ [ +9 ( + &\\t\ !\ #\ Q +3 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&w1 +62 "core" 1 +2 "manipulator"&-% +3 "core" % G e , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%J& +4 "core" &\ +2 "manipulator"&/% +3 "core" %   +3 "storage"(% +4 "core" % 2 A \  +2 "storage"(o. +3 "core" .(,y +2 "storage"(& +3 "core" &,{ F F \ +2 "storage"(& +5 "core" &,{ 9 _ "\ + "manipulator"&(& +5 "core" &ӣ 0 + "manipulator"&N% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&*& +4 "core" &  +2 "storage"(Q& +4 "core" &,{ H F L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +92 "core" ' + "storage"(u& +4 "core" &,{ > > \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'r +297 "core" ' + "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &,{ ' " %\ +2 "manipulator"&7& +5 "core" &    +2 .tElbow.seek 4 + "manipulator"&!( +3 "core" ( +2 "manipulator"&P& +4 "core" &  t  +2 "storage"(z& +4 "core" &,{ G I @\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +3 "storage"(' +7 "core" & 5  +2 "manipulator"&B% +3 "core" % W x +3 .tForearm.seek :retract +2 "manipulator"&|' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&X( +153 "core" ' +2 ."downElevator"SE.stop +48 "storage"(5 +52 "core" ( +3 "manipulator"&M& +3 "core" & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&+' +97 "core" ' +2 "manipulator"&& +4 "core" & T +2 "manipulator"&S% +3 "core" % m +3 "processing"%"& +4 "core" &\ +2 "processing"%>& +5 "core" &\ +3 .tPC.seek :closed + "processing"%_(^ +5 "core" &\ +7 &7\ #b +10 &U~\ 6 +9 &}\ K +9 &V\ M +10 &`Y\ M +9 &"Z\ M +9 &Y\ N +10 &T\ M +9 &gW\ N +10 &)X\ N +9 &X\ M +9 &!T\ M +10 &#pZ\ M +9 &%2X\ M +9 &&V\ M +10 &(Y\ M +9 &*xY\ M +10 &,:W\ M +9 &-Y\ M +9 &/Y\ N +10 &1W\ M +9 &3AY\ N +9 &5W\ M +10 &6Z\ M +9 &8\\\ M +10 &:JU\ M +9 &< Y\ M +9 &=Y\ N +10 &?U\ M +9 &AQZ\ N +9 &Cc\ O +10 &Dc\ O +9 &Fo\ P +10 &HM~\ R +9 &J\ \ S +9 &K\ S +10 &M\ T +9 &OO\ T +9 &Q\ T +10 &R\ T +9 &T\ U +10 &VV\ T +9 &X\ U +9 &Y\ U +10 &[\ T +9 &][\ C +9 &^F~\ ] +10 &^?\ 2 +5 ( +2 "processing"%>& +4 "core" &^&\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&U1 +58 "core" 1 +2 "manipulator"&;% +3 "core" %  ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 "processing"%T& +4 "core" &^&\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&D% +4 "core" % !   = ( +2 "storage"(V% +4 "core" % $ &\  +2 "storage"(O. +3 "core" .(,y +2 "storage"(:& +3 "core" &,{ ' ' \ +3 "storage"(,& +2 "manipulator"&)& +8 "core" &,{ % ' 7\ + & \  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&r( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(y'r +2 "core" ( +2 "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &  + +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&@/ +63 "core" / +2 .tPC.seek :open +2 "processing"%I( +87 "core" ' +2 "storage"(G- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(\\'1 +40 "core" ' +319 ( +2 "storage"(~& +4 "core" &,{ 5 + .\ +2 "manipulator"&A& +4 "core" &  + "manipulator"&% +4 "core" %  X +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +239 "core" ( +2 "manipulator"&'& +3 "core" &  : +2 "storage"(j& +4 "core" &,{ # + \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +96 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "storage"(&- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(<' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(0& +3 "core" &,{ } \ +3 "manipulator"&p& +4 "core" &    : +2 .tElbow.seek 4 + "manipulator"&H( +4 "core" ( +41 "manipulator"&Z& +12 "core" &  \ : +2 "storage"(8& +4 "core" &,{ \ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +52 "core" ' + "manipulator"&& +5 "core" & G : + "storage"( & +5 "core" &,{ - # E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(t' +20 "core" ' + "manipulator"&^% +5 "core" %(  & +2 "storage"(c& +4 "core" &,{ . , ^\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 285 counts + "manipulator"&q'T +15 "core" ' +2 "manipulator"&& +3 "core" & 9 +3 "storage"(\ & +3 "core" &,{ , ' \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +26 "core" ' + "storage"(?% +4 "core" % * 4 O\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %fN\ \  \ Xe +2 "manipulator"&=% +3 "core" % # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (`& +3 "core" &,{ + A N\ +2 "collection"'L& +4 "core" &\\u\ \ \ Q +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&1% +4 "core" %  f  +2 "storage"(d% +3 "core" % G H *\  +3 "storage"([. +2 "core" .(,y +2 "storage"(b& +4 "core" &,{ I G K\ +2 "storage"(g& +4 "core" &,{ F F \ +2 "manipulator"&e& +4 "core" & Q 9 +2 .tElbow.seek 4 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&n& +4 "core" & , 9 +2 "storage"(5& +4 "core" &,{ G F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(& +4 "core" &,{ Q I U\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(K'r +310 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & 9 +2 "storage"(l& +5 "core" &,{ $ & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&a'7 +13 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(W- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('e +28 "core" ' +2 "manipulator"& % +3 "core" %F P +3 "storage"(R& +4 "core" &,{ * ,\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&Y'r +16 "core" ' +2 "manipulator"&2& +3 "core" & o 9 +3 "storage"(]& +3 "core" &,{ E F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(-' +36 "core" ' +2 "manipulator"&J& +4 "core" & ~ 9 +2 "manipulator"&/% +4 "core" % * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +41 .tElbow.seek CC +9 "manipulator"&o(ӂ +150 "core" ( +2 "manipulator"&& +4 "core" &~"  ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &~" ;6 +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&(/ +60 "core" / + .tCC.seek :open +2 "collection"'N( +449 "core" ( +2 "storage"(6& +4 "core" &,{ j i x\ +2 "storage"(*& +4 "core" &,{ \\ [ =\ +2 "manipulator"&Q& +4 "core" &ӽ l 3 +2 "manipulator"&u% +4 "core" % , U +2 .tForearm.seek :retract +2 "manipulator"&4' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&E( +163 "core" ( + "manipulator"&}& +4 "core" &  9  +2 "storage"(.& +4 "core" &,{ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 +2 "manipulator"&7'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&z1 +55 "core" 1 +2 "manipulator"&x% +4 "core" % 7 . 6 +2 "storage"(f& +4 "core" &,{ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +3 "manipulator"&B'c +13 "core" ' +2 "manipulator"&& +3 "core" &  x  +3 "storage"(k& +3 "core" &,{ <\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +21 "core" ' + "storage"(% +4 "core" % y } I\ +2 ."downElevator"SE.seek :down +4 "storage"(M' +99 (% +3 "core" %J j k \ V` +2 "manipulator"&!% +3 "core" % G  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'S& +4 "core" & \ +2 "manipulator"&"% +4 "core" %   +2 "storage"(% +3 "core" % \  +2 "storage"(|. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(s(<- +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +3 "core" &<* : < \  +2 "manipulator"&;& +5 "core" &  $  + .tElbow.seek 5 +2 "manipulator"&T( +4 "core" ( + "manipulator"&D& +5 "core" &  ^  + "storage"(V& +4 "core" &<) \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +92 "core" ' +2 "storage"(:& +3 "core" &<) w \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +296 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &<) _ h \  +2 "manipulator"&& +5 "core" &   + .tElbow.seek 5 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&+& +4 "core" &   +2 "storage"(@& +3 "core" &<) i f \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&G'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(_' +55 "core" &  5  + "manipulator"&y% +4 "core" % Ϯ  b +3 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&A(ӂ +152 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&& +4 "core" &Ӂ  9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӂ   9) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&''? +102 "core" ' +2 "manipulator"&j& +5 "core" &ӂ  ' 9( +2 "manipulator"&r% +4 "core" %9 V +2 "collection"'& +4 "core" & +\ +2 "collection"'&& +6 "core" & .\ +2 .tCC.seek :closed +2 "collection"' (\\ +5 "core" & ,\ +7 &< $\ $e +9 &Yx (\ 7 +10 &x \ J +9 &R "\ J +9 &S \ J +10 &DS "\ K +9 &X  \ J +10 &U \ J +9 &X \ J +9 &NU $\ J +10 & W  \ J +9 &!X \ J +9 &#U !\ J +10 &%VW  \ J +9 &'R \ J +10 &(R \ K +9 &*U \ K +9 &,^R \ J +10 &. R \ J +9 &/T \ J +9 &1X \ J +10 &3fS  \ J +9 &5(U \ J +10 &6X \ K +9 &8W \ K +9 &:nT \ J +10 &<0V \ J +9 &=U \ J +9 &?Y \ K +10 &AtZ \ K +9 &C4^ \ L +10 &De \ L +9 &Fn \ M +9 &Hn\ \ \ P +10 &J$\ !\ \ T +9 &K\ $\ %\ U +9 &M\ $\ $\ V +10 &Oa\ $\ $\ W +9 &Q#\ $\ #\ W +10 &R\ !\ "\ X +9 &T\ %\ %\ X +9 &Vc\ $\ #\ Y +10 &X$\ &\ $\ Y +9 &Y\ $\ $\ [ +9 &[\ '\ %\ G +10 &\\5\ &\ (\ / +9 &\\]\ &\ &\ I +3 ( + "collection"'&& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&01 +60 "core" 1 +2 "manipulator"&p% +4 "core" % 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&8% +3 "core" % ! * +3 "storage"(% +4 "core" % F O .\  + "storage"( . +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(\\(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +2 "core" &<* J 3\  +3 "manipulator"&& +4 "core" &Ӣ 5 +2 "manipulator"&c% +4 "core" % ! * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&\ & +4 "core" & M  +2 "storage"(& +4 "core" &<) 8 B \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +92 "core" ' + "storage"(m& +4 "core" &<) i l \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +2 "core" &<) D P [\  +3 "manipulator"&& +4 "core" & 7  +2 .tElbow.seek 5 + "manipulator"&H( +3 "core" ( +2 "manipulator"&3& +4 "core" & (  +2 "storage"(& +3 "core" &<) S S \\\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&q'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&L& + "storage"(1' +8 "core" & '  +2 "manipulator"&d% +4 "core" % ϸ g +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&t( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&b& +5 "core" &  H 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +4 "core" & 2 5 +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&e' +92 "core" ' +2 "manipulator"&n& +4 "core" &  5 +2 "manipulator"&5% +4 "core" % 2 b +2 "processing"%i& +4 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 &6\ #b +9 &V}\ 6 +10 &}\ K +9 &W\ M +9 &\\Z\ M +10 &W\ M +9 &X\ M +9 &Y\ N +10 &dV\ M +9 &&Z\ M +10 &Y\ N +9 &!W\ M +9 &#lY\ M +10 &%-X\ N +9 &&Y\ M +10 &(Y\ N +9 &*tY\ M +9 &,6Z\ M +10 &-W\ M +9 &/[\ M +9 &1|W\ M +10 &3=X\ N +9 &5X\ M +9 &6Y\ M +10 &8W\ M +9 &:FU\ M +9 &<W\ M +10 &=W\ M +9 &?X\ M +10 &AN\\\ M +9 &C b\ O +9 &Dg\ O +10 &Fr\ P +9 &HH\ R +10 &J\ S +9 &K\ S +9 &M\ S +10 &OL\ S +9 &Q \ T +9 &R\ T +10 &T\ V +9 &VS\ T +10 &X\ T +9 &Y\ U +9 &[\ U +10 &]Y\ B +9 &^O\ E +9 &^\ S +10 &^!\ / +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&$1 +60 "core" 1 +2 "manipulator"&{% +3 "core" %    b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 "processing"%v& +4 "core" &^ \ / + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&l% +3 "core" % !   ; ' +3 "storage"(W% +4 "core" % D 3 :\  +2 "storage"( . +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(R(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (2& +2 "manipulator"&]& +4 "core" &<* O\  \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(J'r +2 "manipulator"&/( +5 "core" ( +2 "manipulator"&& +3 "core" &   p 5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &  5 +3 .tForearm.seek PC + "manipulator"&K' +95 "core" ' +2 .tHand.close +2 "manipulator"&a/ +52 "core" / +2 .tPC.seek :open +2 "processing"%Y( +93 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +302 ( + "storage"(w& +4 "core" &<) I F \  +2 "manipulator"&%& +3 "core" &  3 5 +2 "manipulator"&% +4 "core" %  } B +2 .tForearm.seek :retract +2 "manipulator"&(' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +256 "core" ( +2 "manipulator"&#& +3 "core" & d  +3 "storage"(6& +4 "core" &<) I I E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +93 "core" ' +2 .tHand.open + "manipulator"&Q1 +60 "core" 1 +3 "storage"(u- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(}' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(.' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(o& +4 "core" &<) F K Z\  +2 "manipulator"&z& +4 "core" & \   +2 .tElbow.seek 5 +2 "manipulator"&x( +4 "core" ( + "manipulator"&f& +4 "core" &     +41 "storage"(& +12 "core" &<) ? ? \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +59 "core" ' + "manipulator"&4& +4 "core" &  f  +2 "storage"(& +3 "core" &<) T S _\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&!'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(7' +27 "core" ' +2 "manipulator"&S% +4 "core" %΋ > 1 +2 "storage"(B& +4 "core" &<) R Q\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 298 counts + "manipulator"&"'Ϸ +14 "core" ' + "manipulator"&& +4 "core" & \ <  +3 "storage"(|& +3 "core" &<) P C /\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +26 "core" ' + "storage"(C% +4 "core" % H M &\ +3 ."downElevator"SE.seek :down +4 "storage"(M' +98 (F% +3 "core" %`O & %\ We +2 "manipulator"&U% +5 "core" %p W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (D& +3 "core" &<) ; I !\  +3 "collection"'V& +4 "core" &\\]\ \ \ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&:% +4 "core" %  f  +2 "storage"(P% +3 "core" % i f C\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(,(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &<+\ ! \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&@& +3 "core" &  ?  +3 "storage"(X& +3 "core" &<) j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +92 "core" ' +2 "storage"(y& +3 "core" &<) j j \  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +298 "core" ' + "storage"(O- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" & B  +2 "storage"(& +3 "core" &<) N H '\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(r'r +30 "core" ' +2 "manipulator"&9% +3 "core" %Δ  +2 "storage"(& +4 "core" &<) T S o\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 307 counts + "manipulator"&_' +13 "core" ' +2 "manipulator"&~& +3 "core" &    +3 "storage"(N& +4 "core" &<) 9 = A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +26 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(p' +41 "core" ' +2 "manipulator"&& +4 "core" &   + "manipulator"&8% +5 "core" %r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +48 "manipulator"&' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +157 "core" ( + "manipulator"&&& +4 "core" &Ӑ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &Ӑ I 7 +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 .tHand.close + "manipulator"&c/ +61 "core" / +2 .tCC.seek :open +2 "collection"''( +446 "core" ( +2 "storage"(\ & +3 "core" &<) j j \  +2 "storage"(& +5 "core" &<) j j \  + "manipulator"&s& +4 "core" &ӧ  < 3 +2 "manipulator"&m% +5 "core" % G  +2 .tForearm.seek :retract +2 "manipulator"&A' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Z( +162 "core" ( + "manipulator"&& +4 "core" & $  +2 "storage"(=& +3 "core" &<) ` j \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&`% +3 "core" % Ζ   U +3 "storage"(L& +3 "core" &<) \  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"&d' +25 "core" ' +2 "manipulator"&& +4 "core" & O  +2 "storage"(?& +3 "core" &<) v\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&<'O +15 "core" ' +2 "storage"(q% +4 "core" % r\ +3 ."downElevator"SE.seek :down +4 "storage"(b' +98 (g% +3 "core" %I j j \ V` +2 "manipulator"&H% +5 "core" %H C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'5& +3 "core" &  \ +2 "manipulator"&i% +5 "core" %  P  + "storage"(1% +5 "core" % 9\  + "storage"([. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(I(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "core" &K ? : w\  +2 "manipulator"&{& +4 "core" &  +3 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&l& +4 "core" &  V  + "storage"(W& +5 "core" &K  6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +100 "core" ' + "storage"(& +5 "core" &K w >\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(2'r +293 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K k h \  +3 "manipulator"&h& +4 "core" & :  +2 .tElbow.seek 6 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&a& +3 "core" & \   +2 "storage"(\\& +4 "core" &K k k \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&t/ +61 "core" / +49 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(' +8 "core" &  E  +2 "manipulator"&J% +4 "core" % ^ Z +2 .tForearm.seek :retract +2 "manipulator"&w' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &ӆ  [ :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &ӆ  7 :- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'? +99 "core" ' +2 "manipulator"&6& +4 "core" &ӈ! ] :+ +2 "manipulator"&/% +4 "core" %E  ' +2 "collection"'Q& +4 "core" & \ +2 "collection"'u& +6 "core" & %\ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & *\ +6 &> )\ $d +10 &Wu %\ 6 +9 &x #\ K +9 &R *\ J +10 &|T "\ K +9 &>S $\ K +9 &T !\ J +10 &U \ J +9 &U \ J +10 &FT \ K +9 & R \ J +9 &!U "\ J +10 &#T \ K +9 &%OR "\ J +9 &'T \ J +10 &(U \ J +9 &*W "\ K +10 &,WX  \ J +9 &.U \ J +9 &/X \ K +10 &1Y \ K +9 &3^V \ K +9 &5 S \ K +10 &6T \ K +9 &8T \ K +10 &:eZ \ K +9 &<'Z \ K +9 &=\\ \ K +10 &?Y \ K +9 &Ak_\  \ L +9 &C,c \ L +10 &Dg  \ L +9 &Fs\ \ N +10 &Ha\ \  \ R +9 &J\ &\ "\ V +9 &K\ '\ )\ \ V +10 &M\ )\ (\ W +9 &OX\ &\ ' \ X +9 &Q\ %\ & \ X +10 &R\ &\ & \ X +9 &T\ '\ % \ X +10 &VY\ $\ $\ Z +9 &X\ &\ % \ Z +9 &Y\ &\ '\ [\ +10 &[\ '\ ' \ H +9 &\\8\ '\ &\ . +9 &\\_\ $\ \ K +3 ( + "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&o1 +64 "core" 1 +2 "manipulator"&z% +4 "core" % h  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&(% +3 "core" %   +3 "storage"(4% +4 "core" % T S \\\  +2 "storage"(. +2 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &K ' & *\  +2 "manipulator"&S& +4 "core" &%   % +2 "manipulator"&B% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +148 "core" ( +2 "manipulator"&|& +4 "core" & Q  + "storage"(& +5 "core" &K 8 7 ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +93 "core" ' +2 "storage"(*& +4 "core" &K j j \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +296 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (U& +2 "core" &K R G C\  +3 "manipulator"&k& +4 "core" & {  +2 .tElbow.seek 6 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(!& +4 "core" &K S T W\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&"'h +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& + "storage"(:' +8 "core" &   +2 "manipulator"&P% +3 "core" % | . +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&7( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&)& +5 "core" & z ; +47 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 && +3 "core" & g ; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&@' +91 "core" ' +2 "manipulator"&X& +4 "core" &  ; +2 "manipulator"&-% +4 "core" % > +2 "processing"%y& +4 "core" &\ +2 "processing"%M& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%R(^ +4 "core" &\  +9 &2w\ )v +9 &b~\ = +10 &tt\ N +9 &6W\ M +9 &U\ M +10 &W\ N +9 &{Y\ N +9 &>W\ M +10 &U\ M +9 &Y\ M +10 & Y\ N +9 &"FY\ M +9 &$U\ M +10 &%Y\ M +9 &'X\ N +9 &)NW\ M +10 &+U\ M +9 &,Y\ M +9 &.T\ M +10 &0UY\ N +9 &2W\ M +10 &3X\ M +9 &5U\ M +9 &7^Z\ M +10 &9 \\\ M +9 &:\\\ N +9 &<U\ M +10 &>fY\ M +9 &@'W\ N +10 &A_\ N +9 &Ce\ O +9 &Eii\ O +10 &G(r\ P +9 &H\ R +9 &J\ S +10 &Ld\ S +9 &N%\ T +10 &O\ S +9 &Q\ U +9 &Sj\ T +10 &U*\ U +9 &V\ T +9 &X\ T +10 &Zp\ U +9 &\\3\ T +10 &]zu\ @ +9 &^H\ ? +9 &^l\ 5 +9 ( +3 "processing"%M& +3 "core" &^\ / +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&E1 +58 "core" 1 + "manipulator"&;% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +93 "core" ' +2 "processing"%>& +3 "core" &^\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +3 "core" %   J  +3 "storage"(j% +3 "core" % / @ K\  +2 "storage"(9. +3 "core" .(K +2 "storage"(& +14 "core" &K F E x\  +2 "storage"(~& +3 "manipulator"&N& +8 "core" &K I F +\  + &   K ; +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(8'r +4 "core" ( + "manipulator"& & +4 "core" &   ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &  \  ; +3 .tForearm.seek PC +2 "manipulator"&T' +91 "core" ' +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%_( +96 "core" ' + "storage"(r- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'1 +47 "core" ' +299 ( +2 "storage"(^& +3 "core" &K T S Q\  +2 "manipulator"&0& +4 "core" &  ; +2 "manipulator"&G% +3 "core" %  $ B +3 .tForearm.seek :retract +2 "manipulator"&c' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +255 "core" ( +2 "manipulator"& & +4 "core" &  l + "storage"(\ & +4 "core" &K H H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' +2 .tHand.open + "manipulator"&s1 +64 "core" 1 +2 "storage"(m- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"( & +3 "core" &K _\  +3 "manipulator"&& +4 "core" &\   , k +2 .tElbow.seek 6 + "manipulator"&`( +3 "core" ( +2 "manipulator"&L& +3 "core" &\    k +3 "storage"(& +48 "core" &K \  +5 .tForearm.seek 6 + 450 counts +2 "manipulator"&?' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(q'" +56 "core" ' +2 "manipulator"&A& +4 "core" &  r k +2 "storage"(g& +3 "core" &K G H D\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&H'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&5% +5 "core" %L x B + "storage"(i& +4 "core" &K E F $\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 316 counts + "manipulator"&d'x +15 "core" ' +2 "manipulator"&1& +4 "core" &\   k +2 "storage"([& +3 "core" &K I F 5\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&p' +15 "core" ' +2 "storage"(<% +4 "core" % I S [\ +2 ."downElevator"SE.seek :down +4 "storage"(b' +99 (,% +3 "core" %PR , -\ Xf +3 "manipulator"&$% +3 "core" % p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (l& +3 "core" &K > ? \  +2 "collection"'W& +4 "core" &\\`\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +5 "core" %  j  + "storage"(3% +4 "core" % S S \\\  +2 "storage"(n. +3 "core" .(K +2 "storage"(]& +4 "core" &K T S \\\  +2 "storage"(& +4 "core" &K T S a\  +2 "manipulator"&h& +3 "core" &   k +2 .tElbow.seek 6 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&\\& +4 "core" &    k +2 "storage"(t& +4 "core" &K T S `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +96 "core" ' +2 "storage"(J& +4 "core" &K j N Y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +302 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &\  j +2 "storage"(K& +4 "core" &K F F T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&2'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +2 "core" -' +3 .tSE.seek 0.21 Pucks below Top Plate +2 "storage"(/' +29 "core" ' + "manipulator"&Q% +4 "core" %; V * +2 "storage"(e& +4 "core" &K % # ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&'g +14 "core" ' +2 "manipulator"&w& +4 "core" &\  J j +2 "storage"('& +4 "core" &K F H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +15 "core" ' +2 .tSE.seek 1.21 Pucks below Top Plate +2 "storage"(z' +36 "core" ' +2 "manipulator"&& +3 "core" &\  j +2 "manipulator"&(% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +184 "core" ( +10 "manipulator"&u& +4 "core" &Ӌ  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &Ӌ / +2 .tForearm.seek CC +2 "manipulator"&S'? +95 "core" ' +2 .tHand.close + "manipulator"&B/ +60 "core" / +2 .tCC.seek :open +2 "collection"'#( +449 "core" ( + "storage"(|& +4 "core" &K k j \  +2 "storage"(& +3 "core" &K j j \  +2 "manipulator"&*& +4 "core" & K +2 "manipulator"&I% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&%' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&f( +147 "core" ( +2 "manipulator"&F& +3 "core" &  b  +3 "storage"(U& +3 "core" &K } q n\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&k'< +97 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&!1 +63 "core" 1 +2 "manipulator"&D% +3 "core" % J \  y 1 +2 "storage"(V& +5 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&P'v +15 "core" ' +2 "manipulator"&& +4 "core" & ]  +2 "storage"(C& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&.' +15 "core" ' +2 "storage"("% +3 "core" % \ +4 ."downElevator"SE.seek :down +3 "storage"()' +99 (x% +2 "core" %H N j n\ Va +3 "manipulator"&% +4 "core" %  g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'-& +3 "core" & $\ +2 "manipulator"&y% +4 "core" %   +2 "storage"(:% +5 "core" % ~ *\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(Y(,y +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +3 "core" &,{ k l \ +2 "manipulator"&;& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&>( +4 "core" ( + "manipulator"&& +3 "core" &  e  +3 "storage"(j& +4 "core" &,{ o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&9' +97 "core" ' +2 "storage"(M& +3 "core" &,{ w ~ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(N- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &,{ m a w\ +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&@& +3 "core" &  `  +2 "storage"(& +5 "core" &,{ o  Z\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&r'c +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& +2 "storage"(R' +8 "core" & |  + "manipulator"&8% +48 "core" % s O +5 .tForearm.seek :retract + "manipulator"&^' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0(ӂ +105 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +43 "core" ( + "manipulator"&G& +4 "core" &z!  B :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &z  I :, +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +93 "core" ' +2 "manipulator"&\ & +4 "core" &Ӆ  ] 8! +3 "manipulator"&% +4 "core" %9 g [ +2 "collection"'s& +4 "core" & D\ +2 "collection"'m& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & *\ +7 &< *\ $d +10 &Yy +\ 7 +9 &u +\ K +9 &Q ,\ K +10 &R *\ K +9 &CS )\ K +10 &T '\ J +9 &T *\ K +9 &S \ K +10 &JT "\ K +9 & W #\ K +9 &!W (\ K +10 &#W "\ J +9 &%TT &\ J +10 &'X #\ J +9 &(U "\ J +9 &*U  \ J +10 &,[Y #\ J +9 &.T \ J +9 &/U \ J +10 &1Y  \ K +9 &3cX \ K +10 &5$W \ K +9 &6T \ K +9 &8U \ J +10 &:jY \ K +9 &<,Y \ K +9 &=Y \ K +10 &?T \ K +9 &AsW  \ J +10 &C2Z \ L +9 &Df \ L +9 &Fk \ M +10 &Hl\ \ \ P +9 &J"\ \ \ T +10 &K\ !\ !\ W +9 &M\ \  \ W +9 &O_\ \ \ W +10 &Q\ !\ \ X +9 &R\ \ \ Y +9 &T\ !\ \ Y +10 &V_\ \ #\ Z +9 &X!\ !\ "\ Z +9 &Y\ #\ "\ [ +10 &[\ "\ $\ H +9 &\\3\ %\ $\ 4 +10 &\\i\ #\ #\ O +2 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&% +3 "core" % 9 [ +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +93 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&c% +5 "core" %   +2 "storage"(A% +4 "core" % G F 1\  +2 "storage"(g. +3 "core" .(,y +2 "storage"(&& +3 "core" &,{ H F %\ +2 "storage"(& +4 "core" &,{ E F \ +2 "manipulator"&5& +3 "core" &ӫ 3 +2 "manipulator"&i% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&1( +159 "core" ( +2 "manipulator"&[& +4 "core" &  +2 "storage"(<& +3 "core" &,{ g V \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(& +3 "core" &,{ j j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(='r +310 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &,{ F E %\ +2 "manipulator"&?& +5 "core" & $  + .tElbow.seek 4 +2 "manipulator"&`( +4 "core" ( +2 "manipulator"&q& +4 "core" &   +2 "storage"(H& +4 "core" &,{ J S N\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&l'c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +2 "storage"(' +8 "core" &  + "manipulator"&3% +4 "core" % c +3 .tForearm.seek :retract + "manipulator"&n' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +3 "manipulator"&]& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&h' +94 "core" ' +2 "manipulator"&\\& +3 "core" &   +48 "manipulator"&t% +6 "core" % ` +2 "processing"%p& +4 "core" &\ +2 "processing"%J& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%b(^ +5 "core" &\ +7 &8\ #b +9 &V}\ 6 +9 &}\ K +10 &W\ M +9 &eZ\ M +9 &'T\ M +10 &Y\ N +9 &W\ N +10 &mV\ M +9 &/Y\ M +9 &W\ N +10 &!W\ M +9 &#uU\ M +9 &%7U\ M +10 &&Y\ N +9 &(W\ N +10 &*}X\ M +9 &,?Z\ M +9 &.W\ N +10 &/Y\ N +9 &1X\ M +9 &3GY\ M +10 &5 W\ M +9 &6Z\ M +10 &8Y\ N +9 &:NX\ N +9 &<\\\ M +10 &=\\\ M +9 &?V\ M +9 &AWY\ M +10 &Ca\ O +9 &Dd\ O +10 &Fo\ P +9 &HT~\ Q +9 &J\ T +10 &K\ S +9 &M\ T +9 &OU\ S +10 &Q\ T +9 &R\ T +10 &T\ V +9 &V\\\ T +9 &X\ T +10 &Y\ T +9 &[\ U +9 &]`\ B +10 &^Ey\ [ +9 &^4\ 3 +6 ( + "processing"%J& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&Z1 +3 "core" &^%\ 3 +61 1 + "manipulator"&{% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 "processing"%& +4 "core" &^%\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&K% +4 "core" %     +2 "storage"(6% +4 "core" % + $ \  +2 "storage"(Q. +3 "core" .(,y +2 "storage"(e& +4 "core" &,{ $ $ \ +2 "storage"(w& +3 "manipulator"&'& +7 "core" &,{ # ! \ + &   "  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&( +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(('r +4 "core" ( + "manipulator"& & +5 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +2 "core" &    +3 .tForearm.seek PC +2 "manipulator"&v' +92 "core" ' +2 .tHand.close + "manipulator"&2/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' + "storage"(/- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(u'1 +39 "core" ' +310 ( +2 "storage"(}& +4 "core" &,{ I G \ +2 "manipulator"&o& +4 "core" & H  +2 "manipulator"&% +4 "core" %  U +2 .tForearm.seek :retract +2 "manipulator"&B' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&4( +241 "core" ( +2 "manipulator"&& +3 "core" & M Y +2 "storage"(|& +4 "core" &,{ $ % 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&*1 +64 "core" 1 +2 "storage"(I- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(U' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +4 "core" -' +2 "storage"(& +3 "core" &,{ e e \ +2 "manipulator"&!& +4 "core" &    Y +2 .tElbow.seek 4 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&V& +4 "core" &   5 Y + "storage"(& +4 "core" &,{ e g \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"("'" +57 "core" ' +2 "manipulator"&%& +49 "core" & Y Y +4 "storage"(x& +4 "core" &,{ G F !\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(k' +29 "core" ' +2 "manipulator"&-% +3 "core" %J &  +2 "storage"(y& +5 "core" &,{ % * T\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&P'v +16 "core" ' +2 "manipulator"&:& +3 "core" & A Y +2 "storage"(& +5 "core" &,{ F F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +15 "core" ' +2 "storage"(.% +4 "core" % I T M\ +2 ."downElevator"SE.seek :down +4 "storage"()' +98 (% +4 "core" %\\S L E\ Xg +2 "manipulator"&E% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +94 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +3 "core" &,{ / 5 r\ +2 "collection"'j& +3 "core" &\\f\ \ \ O +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&M% +4 "core" %  ! +2 "storage"(% +4 "core" % I S :\  + "storage"(X. +4 "core" .(,y +2 "storage"(N& +4 "core" &,{ F P +\ +2 "storage"(~& +4 "core" &,{ T I \ + "manipulator"& & +4 "core" & Y +3 .tElbow.seek 4 + "manipulator"&@( +4 "core" ( +2 "manipulator"&& +4 "core" &  Y +2 "storage"(7& +4 "core" &,{ S S j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +95 "core" ' +2 "storage"(8& +4 "core" &,{ = N \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +299 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & Y +2 "storage"(G& +4 "core" &,{ F F x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&T'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\ - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('e +29 "core" ' +2 "manipulator"&s% +4 "core" %C I +2 "storage"(+& +3 "core" &,{ A 3 i\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&R'o +16 "core" ' +2 "manipulator"&^& +4 "core" &  Y + "storage"(#& +4 "core" &,{ F E !\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +42 "core" ' +2 "manipulator"&& +3 "core" &  r Y +2 "manipulator"&c% +5 "core" %  c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +151 "core" ( +2 "manipulator"&&& +4 "core" &Ӟ 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӟ 3 +4 .tForearm.seek CC +2 "manipulator"&m'? +93 "core" ' +2 .tHand.close + "manipulator"&5/ +60 "core" / +41 .tCC.seek :open +9 "collection"'i( +446 "core" ( +2 "storage"( & +3 "core" &,{ j _ \ +3 "storage"([& +4 "core" &,{ k j \ +2 "manipulator"&<& +4 "core" &ӟ N 2 +2 "manipulator"&% +4 "core" % H 8 C +2 .tForearm.seek :retract +2 "manipulator"&0' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&L( +162 "core" ( + "manipulator"&,& +4 "core" &  ]  +2 "storage"($& +3 "core" &,{ ~ -\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&?'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&H1 +57 "core" 1 +2 "manipulator"&d% +4 "core" % -   \\ +2 "storage"(W& +4 "core" &,{ `\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 290 counts + "manipulator"&3'Y +13 "core" ' +3 "manipulator"&1& +4 "core" &  L  +2 "storage"(& +4 "core" &,{ -\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +20 "core" ' + "storage"(l% +4 "core" % y w W\ +3 ."downElevator"SE.seek :down +3 "storage"(]' +99 (% +3 "core" %E j k \ U^ +2 "manipulator"&`% +3 "core" %  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +87 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'t& +3 "core" & &\ +2 "manipulator"&p% +4 "core" %  J  +2 "storage"(% +3 "core" % *\  +2 "storage"(n. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(_(<- +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" &<* P B \  +2 "manipulator"&{& +3 "core" &  +3 .tElbow.seek 5 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&K& +3 "core" &  w i +3 "storage"(6& +4 "core" &<* k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +95 "core" ' +2 "storage"(e& +4 "core" &<* z F\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'r +293 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ('& +2 "core" &<* [ g N\  +3 "manipulator"& & +4 "core" & i +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&h& +4 "core" &  N i + "storage"(2& +4 "core" &<* ~ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&/'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(b' +8 "core" &  j i +2 "manipulator"&(% +4 "core" % ϶  +2 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +48 "core" &ӓ  _ 5 +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +3 "core" &Ӕ  5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +95 "core" ' +2 "manipulator"&|& +4 "core" &Ӕ 5 +2 "manipulator"&% +3 "core" %9 \\ ; +3 "collection"'*& +3 "core" & *\ +3 "collection"'I& +6 "core" & -\ +2 .tCC.seek :closed +3 "collection"'S(\\ +4 "core" & -\ +5 & .\ 9 +9 &KKu (\ 1 +9 &x} +\ E +10 &6Y +\ K +9 &X +\ J +9 &V +\ J +10 &}Y %\ K +9 &@W $\ J +9 &U (\ J +10 &U &\ J +9 &X #\ K +10 &!GW "\ K +9 &# S '\ K +9 &$S %\ J +10 &&U &\ J +9 &(OY $\ J +9 &*U !\ J +10 &+T "\ J +9 &-X $\ K +10 &/VW #\ K +9 &1W "\ J +9 &2S "\ K +10 &4S #\ K +9 &6_R \ K +9 &8"T \ J +10 &9U  \ K +9 &;Y  \ J +10 &=hW \ J +9 &?)V %\ K +9 &@Z \ K +10 &BY \ K +9 &Dlb  \ L +10 &F*h !\ M +9 &G{\ \  \ O +9 &I\ \ \ S +10 &KW\ #\ !\ V +9 &M\ $\ #\ W +9 &N\ "\ $\ W +10 &P\ "\ "\ X +9 &RY\ %\ "\ X +10 &T\ #\ !\ Y +9 &U\ "\ "\ Y +9 &W\ %\ #\ Z +10 &YY\ %\ #\ \ Z +9 &[\ %\ %\ [ +9 &\\mE\ &\ %\ 1 +10 &\\\ %\ %\ M +5 ( +2 "collection"'I& +4 "core" &\\b\ "\ $\ M +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&1 +55 "core" 1 +3 "manipulator"&!% +3 "core" % 9 ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&B% +21 "core" %    +2 "storage"(%% +4 "core" % I T J\  +2 "storage"(x. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(u(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &<+ K H\  +2 "manipulator"&-& +4 "core" &Ө 2 +2 "manipulator"&y% +4 "core" %  L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&:( +160 "core" ( +2 "manipulator"&& +4 "core" &  Y  +2 "storage"(4& +4 "core" &<) e N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +92 "core" ' +2 "storage"(& +4 "core" &<) j j \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (E& +2 "core" &<) D M \  +3 "manipulator"&C& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&D( +4 "core" ( + "manipulator"&"& +4 "core" & D  +2 "storage"(& +3 "core" &<) < M \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&P'Ϲ +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& +3 "storage"(M' +8 "core" & z  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&X' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( +3 "manipulator"&N& +4 "core" &  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &  l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' +2 "manipulator"&& +3 "core" &  r \ +3 "manipulator"&7% +4 "core" % w +2 "processing"%z& +3 "core" &\ +3 "processing"%8& +55 "core" &\ +4 &\ + &\ + &\ + &\ + &\ + &\ +2 .tPC.seek :closed +3 "processing"%)(^ +5 "core" &\ +4 &\ 7 +9 &CIx\ 0 +9 &nr\ D +10 &b\ N +9 &T\ M +10 &U\ M +9 &WW\ M +11 &T\ M +9 &Y\ M +10 &Y\ N +8 &_W\ M +9 &!!T\ M +9 &"Y\ M +10 &$X\ N +9 &&gW\ M +9 &()Y\ M +10 &)W\ M +9 &+T\ M +9 &-nW\ N +10 &/1W\ M +9 &0Z\ M +9 &2X\ M +10 &4xT\ M +9 &68Y\ N +10 &7X\ M +9 &9W\ M +9 &;W\ M +10 &=AV\ M +9 &?X\ M +10 &@\\\ M +9 &B_\ N +9 &DEd\ O +10 &Fp\ P +9 &G}\ Q +9 &I~\ S +10 &K?\ S +9 &M\ T +10 &N\ T +9 &P\ U +9 &RD\ T +10 &T\ T +9 &U\ T +9 &W\ U +10 &YK\ U +9 &[\ T +10 &\\\ U +9 &^Bc\ 'y +9 &^g\ 6 +9 ( +3 "processing"%8& +3 "core" &^\ 0 +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&f1 +64 "core" 1 +2 "manipulator"&;% +3 "core" %   w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' +2 "processing"%& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&G% +5 "core" %    + "storage"(\ % +4 "core" % = # k\  +2 "storage"(s. +3 "core" .(<- +2 "storage"(+& +4 "core" &<) 4 H \  +2 "storage"(^& +3 "manipulator"&#& +7 "core" &<) = 2\  + &   \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&c( +6 "core" ( +2 "manipulator"&O& +4 "core" &   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &   * \ +3 .tForearm.seek PC +2 "manipulator"&>' +93 "core" ' +2 .tHand.close +2 "manipulator"&T/ +52 "core" / +2 .tPC.seek :open +2 "processing"%R( +96 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'1 +40 "core" ' +305 ( +2 "storage"(& +4 "core" &<) G F $\  +2 "manipulator"& & +4 "core" & } \ + "manipulator"&r% +5 "core" %  n I +2 .tForearm.seek :retract +2 "manipulator"&5' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&A( +241 "core" ( +2 "manipulator"&& +3 "core" &  C ; +2 "storage"( & +4 "core" &<) $ $ T\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +93 "core" ' +2 .tHand.open + "manipulator"&<1 +58 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(,' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"($' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +4 "core" -' +2 "storage"(g& +4 "core" &<) \  +2 "manipulator"&H& +4 "core" & \  ) ; +2 .tElbow.seek 5 + "manipulator"&d( +4 "core" ( +2 "manipulator"&W& +3 "core" &  0 ; +3 "storage"(1& +4 "core" &<) B\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(l'" +52 "core" ' + "manipulator"&0& +4 "core" &  ; +2 "storage"(& +4 "core" &<) $ ( \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tForearm.seek 5 +2 "manipulator"&`'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +20 "core" ' +2 "manipulator"&t% +4 "core" %Ξ +2 "storage"(3& +4 "core" &<) U T v\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts + "manipulator"&p' +14 "core" ' + "manipulator"&& +5 "core" & C ; + "storage"(n& +5 "core" &<) K ? \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"(=% +4 "core" % Q k \ +3 ."downElevator"SE.seek :down +4 "storage"(]' +99 (Y% +4 "core" %nQ !\ Xg +2 "manipulator"&Z% +3 "core" %X  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +4 (K& +2 "core" &<) @ Q \  +3 "collection"'6& +3 "core" &\\b\ \ \ M +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&e% +4 "core" %  n  +2 "storage"(q% +4 "core" % L 8 \ +2 "storage"(\\. +3 "core" .(<- +2 "storage"(w& +4 "core" &<) 8 8 M\  +2 "storage"('& +4 "core" &<) 8 8 \  + "manipulator"& & +4 "core" & G ; +2 .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&2& +4 "core" & j ; +2 "storage"(& +3 "core" &<) 8 8 G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +97 "core" ' +2 "storage"((& +3 "core" &<) j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & f ; +3 "storage"(J& +4 "core" &<) T S [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&/'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(|'r +30 "core" ' +2 "manipulator"&% +4 "core" %΍  +2 "storage"(*& +4 "core" &<) G I \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 300 counts + "manipulator"&b'Ϲ +14 "core" ' +2 "manipulator"&}& +4 "core" & ^ ; +2 "storage"(i& +4 "core" &<) G I \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +32 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(!' +42 "core" ' +2 "manipulator"&& +4 "core" & # ; + "manipulator"&B% +4 "core" %\\ - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +148 "core" ( +2 "manipulator"&x& +4 "core" &y$ < =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &y$ =D +2 .tForearm.seek CC +2 "manipulator"&-'? +97 "core" ' +2 .tHand.close + "manipulator"&y/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(& +3 "core" &<) j j \  +49 "storage"(4& +4 "core" &<) k k \  +2 "manipulator"&_& +3 "core" &ӭ 6 +2 "manipulator"&% +5 "core" % ?  +2 .tForearm.seek :retract +2 "manipulator"&o' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&V( +161 "core" ( +2 "manipulator"&& +4 "core" &  V  +2 "storage"(E& +4 "core" &<) ~ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&C'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % Α ^ +2 "storage"(j& +4 "core" &<) w\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 304 counts + "manipulator"&'Ͻ +14 "core" ' + "manipulator"&:& +5 "core" &  i  + "storage"(.& +4 "core" &<) j\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +13 "core" ' +2 "storage"(P% +3 "core" % c\ +4 ."downElevator"SE.seek :down +4 "storage"(N' +98 (~% +2 "core" %D k j \ V` +3 "manipulator"&D% +3 "core" %R R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'7& +4 "core" & $\ +2 "manipulator"&z% +4 "core" %   < # +2 "storage"(M% +5 "core" % n\  + "storage"(X. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &K i l \ +2 "manipulator"&;& +4 "core" & m  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&G& +4 "core" & a  +2 "storage"(\ & +4 "core" &K  #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +98 "core" ' + "storage"(+& +4 "core" &K | | V\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'r +292 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &K a i \ +2 "manipulator"&O& +5 "core" &  m  + .tElbow.seek 6 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"& & +4 "core" &  j  +2 "storage"(T& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"()' +7 "core" &  +2 "manipulator"&% +4 "core" % u +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +157 "core" ' +2 "Can" >; +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&r& +3 "core" &ӛ 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &ӛ 4 +3 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +3 "manipulator"& & +4 "core" &ӛ  r 4 +2 "manipulator"&c% +4 "core" %G  O +2 "collection"'<& +3 "core" & #\ +3 "collection"'& +5 "core" & +\ +3 .tCC.seek :closed + "collection"'m(\\ +5 "core" & ,\  +8 &4{ .\ *z +9 &g~ +\ > +10 &j +\ L +9 &XS +\ K +9 &S +\ K +10 &X *\ K +9 &U *\ K +9 &aR +\ J +10 &#V )\ J +9 &S (\ K +10 & W \ J +9 &"hS "\ K +9 &$+W $\ J +10 &%T (\ K +9 &'W \ J +9 &)pS &\ K +10 &+3W $\ J +9 &,X &\ K +10 &.V '\ K +9 &0yT #\ J +9 &2:T '\ K +10 &3Y (\ J +9 &5T &\ K +9 &7X $\ J +10 &9CV $\ J +9 &;U #\ K +10 &<U #\ K +9 &>Y "\ K +9 &@I[ \ K +10 &B\ a \ K +9 &C_ %\ L +9 &Ek  \ M +10 &GEy\ \ "\ O +9 &H\ \ %\ S +10 &J\ (\ ' \ V +9 &Lr\ '\ (!\ X +9 &N4\ $\ '!\ X +10 &O\ %\ %"\ X +9 &Q\ $\ &!\ Y +9 &Sw\ $\ #!\ X +10 &U8\ \ $\ Y +9 &V\ #\ " \ Z +10 &X\ &\ #!\ [ +9 &Zw\ $\ % \ [ +9 &\\{\ $\ &!\ / +10 &\\6\ %\ !"\ "i +9 ( + &\\`\ #\ "\ L +2 "collection"'& +5 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open + "manipulator"&g1 +62 "core" 1 +2 "manipulator"&H% +3 "core" % ϖ H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%1& +4 "core" &\ +2 "manipulator"&5% +4 "core" %    +2 "storage"(0% +3 "core" % = I ~\  +2 "storage"(. +3 "core" .(K +2 "storage"(&& +4 "core" &K V V\ +2 "storage"(t& +4 "core" &K C = 7\ +2 "manipulator"&3& +3 "core" &  , # +2 "manipulator"&,% +5 "core" %  \\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +145 "core" ( +2 "manipulator"&n& +4 "core" &  i  +2 "storage"(=& +4 "core" &K H M T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +93 "core" ' +2 "storage"([& +4 "core" &K k k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'r +298 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" &K U U \ +2 "manipulator"&& +4 "core" & z  +2 .tElbow.seek 6 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&l& +4 "core" &  S  + "storage"(`& +4 "core" &K U V \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&p'h +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(e' +7 "core" &  +2 "manipulator"&q% +4 "core" % ϋ +3 .tForearm.seek :retract +2 "manipulator"&?' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&\\( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&w& +4 "core" & Z R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &  d Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +89 "core" ' +2 "manipulator"&2& +4 "core" &  t Q +2 "manipulator"&% +4 "core" %  h | +2 "processing"%& +4 "core" &\ +2 "processing"%(& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%](^ +2 "core" &\ +7 &\ +9 &>\ $d +9 &X}\ 7 +10 &z\ L +9 &U\ M +9 &oY\ N +10 &2V\ M +9 &Y\ M +10 &W\ N +9 &wW\ N +9 &:X\ M +10 &U\ M +9 &!T\ M +9 &#Z\ M +56 &%AW\ N +6 &'X\ M +2 &(Y\ M +2 &*W\ N + &,JY\ M + &. X\ M + &/Y\ N +6 &1X\ M +10 &3ST\ M +9 &5W\ M +10 &6U\ M +9 &8Z\ N +9 &:[V\ M +10 &<\\\ N +9 &=Y\ M +9 &?X\ M +10 &Aa]\ N +9 &C c\ O +10 &Df\ O +9 &Fq\ P +9 &H]\ R +10 &J\ S +9 &K\ S +9 &M\ T +10 &O_\ T +9 &Q \ T +10 &R\ T +9 &T\ U +9 &Vf\ T +10 &X'\ T +9 &Y\ U +9 &[\ U +10 &]m\ A +9 &^>r\ $k +10 &^)\ . +5 ( +2 "processing"%(& +4 "core" &^\ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&L1 +55 "core" 1 +2 "manipulator"&{% +4 "core" %     | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +90 "core" ' + "processing"%& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&J% +3 "core" %   P  +3 "storage"(a% +3 "core" % I F \  +2 "storage"(. +4 "core" .(K +2 "storage"(*& +3 "core" &K P I A\ +3 "storage"(}& +3 "manipulator"&i& +5 "core" &K F F \ +2 &  . Q +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&B( +7 "core" ( +2 "manipulator"& & +4 "core" & \ ) Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &   Q +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&// +55 "core" / +3 .tPC.seek :open +2 "processing"%b( +94 "core" ' +2 "storage"(|- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(x'1 +46 "core" ' +302 ( +2 "storage"(F& +3 "core" &K Q S\ +3 "manipulator"&& +3 "core" & Q +2 "manipulator"&v% +4 "core" %  A O +2 .tForearm.seek :retract +2 "manipulator"&y' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&%( +245 "core" ( + "manipulator"&S& +4 "core" & A +2 "storage"(& +3 "core" &K H E \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +97 "core" ' + .tHand.open +2 "manipulator"&_1 +53 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(E' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +4 "core" -' +2 "storage"(I& +4 "core" &K \ +2 "manipulator"&& +4 "core" & \ @ +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&j& +4 "core" &  7 @ +2 "storage"(:& +3 "core" &K \ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(P'" +56 "core" ' +2 "manipulator"&o& +3 "core" & ? @ +2 "storage"(~& +5 "core" &K Q S\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&D'< +19 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(C' +42 "core" ' +10 "manipulator"&7% +3 "core" %H ; # +3 "storage"(z& +4 "core" &K H F \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 312 counts + "manipulator"&'t +16 "core" ' + "manipulator"&M& +5 "core" &  C @ + "storage"(X& +5 "core" &K T S X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +16 "core" ' +2 "storage"(U% +4 "core" % O C T\ +3 ."downElevator"SE.seek :down +4 "storage"(N' +98 (u% +3 "core" %SS\ " \ Wf +3 "manipulator"&f% +4 "core" % = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (G& +3 "core" &K F 6 \ +2 "collection"'\ & +4 "core" &\\`\ \ "\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&+% +5 "core" %  " + "storage"("% +4 "core" % V U \  +2 "storage"(. +3 "core" .(K +2 "storage"(^& +4 "core" &K S T !\ +2 "storage"(#& +4 "core" &K S S ]\ +2 "manipulator"&O& +4 "core" & = @ +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&T& +4 "core" & n @ +2 "storage"(k& +4 "core" &K T V t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +96 "core" ' + "storage"(& +3 "core" &K j j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" & ( @ +2 "storage"(>& +4 "core" &K S I 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&8'< +14 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(@- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"( 'q +26 "core" ' +2 "manipulator"&c% +3 "core" %L V +2 "storage"(<& +4 "core" &K T S F\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 316 counts + "manipulator"&)'x +16 "core" ' +2 "manipulator"&& +3 "core" &  I @ +2 "storage"(& +4 "core" &K ; B \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(H' +44 "core" ' +2 "manipulator"&1& +4 "core" &  @ + "manipulator"&5% +5 "core" %  T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&&& +4 "core" &ӌ . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӌ  . +3 .tForearm.seek CC +2 "manipulator"&t'? +105 "core" ' + .tHand.close + "manipulator"&3/ +55 "core" / +2 .tCC.seek :open +2 "collection"',( +449 "core" ( +2 "storage"(n& +3 "core" &K k P l\ +2 "storage"(& +4 "core" &K 8 9 \ +2 "manipulator"&=& +4 "core" & O J +2 "manipulator"&[% +4 "core" %   2 +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +42 .tElbow.seek 6 +9 "manipulator"&W( +133 "core" ( +2 "manipulator"&Y& +4 "core" &  R +2 "storage"(Z& +3 "core" &K q j \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +97 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&`1 +53 "core" 1 +3 "manipulator"&K% +4 "core" % .  ; 7 +2 "storage"(6& +3 "core" &K \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 286 counts + "manipulator"&q'Z +15 "core" ' + "manipulator"&& +4 "core" &  g +2 "storage"(A& +4 "core" &K r\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +13 "core" ' +2 "storage"(p% +3 "core" % %\ +3 ."downElevator"SE.seek :down +4 "storage"(w' +99 ('% +3 "core" %I j k \ Va +2 "manipulator"&d% +4 "core" % + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & !\ +2 "manipulator"&% +3 "core" %  ^  +3 "storage"(e% +4 "core" % [\  +2 "storage"(?. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(R(,y +666 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +3 "core" &,z k i \ +2 "manipulator"&{& +4 "core" & _ +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&J& +4 "core" & K +2 "storage"(a& +4 "core" &,z  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +99 "core" ' +2 "storage"(*& +4 "core" &,z M\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +289 "core" ' +2 "storage"(i- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" &,z g k M\ +2 "manipulator"& & +4 "core" & h +2 .tElbow.seek 4 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"& & +4 "core" &  M +2 "storage"(/& +4 "core" &,z j j \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&|'c +13 "core" ' +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(]' +7 "core" &  o +2 "manipulator"&% +3 "core" % ] +3 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&v& +5 "core" &Ӝ  2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӝ  L 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'? +94 "core" ' +2 "manipulator"&& +4 "core" &Ӝ  W 2 +2 "manipulator"&B% +4 "core" %A X +2 "collection"'_& +3 "core" & \ +3 "collection"'& +51 "core" & \ +5 & \ +4 &  \ + & &\ + & ?\ + & \ + & .\ +2 .tCC.seek :closed +3 "collection"'-(\\ +3 "core" & -\ +5 & .\ : +10 &JKv +\ 0 +9 &~v~ ,\ E +9 &+\\ &\ K +10 &W *\ K +9 &Y -\ K +9 &sW &\ K +10 &6S  \ J +9 &T $\ K +10 &S \ K +9 &zS #\ K +9 &!<X $\ K +10 &"W %\ K +9 &$W %\ K +9 &&W %\ K +10 &(DW "\ K +9 &*T #\ K +10 &+S %\ K +9 &-X &\ K +9 &/MX %\ K +10 &1U &\ K +9 &2R \ K +9 &4W \ K +10 &6UY "\ K +9 &8W $\ K +10 &9T \ K +9 &;T "\ K +9 &=\\T %\ K +10 &?T  \ K +9 &@W &\ J +9 &BY \ K +10 &Dab %\ L +9 &F j  \ M +10 &Gw\   \ N +9 &I\ \ \ S +9 &KL\ \ \ V +10 &M \ !\ \ W +9 &N\ \ \ W +9 &P\ \ \ Y +10 &RO\ \ \ X +9 &T \ \ \ Y +10 &U\ \ \ Z +9 &W\ \ \ Z +9 &YN\ \ \ [ +10 &[\ \ \ Z +9 &\\bE\ \ !\ 3 +9 &\\\ "\ "\ L +6 ( +2 "collection"'& +4 "core" &\\a\ \ \ L +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&I1 +55 "core" 1 +2 "manipulator"&% +4 "core" % A X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%:& +4 "core" &\ +2 "manipulator"&y% +4 "core" %   +2 "storage"(o% +4 "core" % S P :\  +2 "storage"(~. +3 "core" .(,y +2 "storage"(x& +4 "core" &,z S T G\ + "storage"(7& +4 "core" &,z P S =\ +2 "manipulator"&z& +4 "core" &ӥ  5 0 +2 "manipulator"&% +4 "core" %  c  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&M( +159 "core" ( +2 "manipulator"&X& +4 "core" & G  + "storage"(U& +4 "core" &,z > 9 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +94 "core" ' +2 "storage"(4& +4 "core" &,z j j \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +298 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &,z F F '\ +2 "manipulator"&.& +4 "core" &  k  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&P& +4 "core" & L  + "storage"(D& +4 "core" &,z T S [\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&G'c +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"(+' +7 "core" & F  +2 "manipulator"&"% +4 "core" % ] a +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&^& +4 "core" &  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" & . D +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&O' +95 "core" ' + "manipulator"&T& +5 "core" & 0 D +2 "manipulator"&k% +4 "core" % +2 "processing"%!& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%N(^ +3 "core" &\ +5 &\ 5 +10 &=Fv\ 0 +9 &hr\ D +9 & c\ N +10 &T\ M +9 &V\ M +10 &QY\ M +9 &Y\ M +9 &W\ M +10 &U\ M +9 &YZ\ M +9 &!X\ N +10 &"W\ M +9 &$W\ N +10 &&aW\ M +9 &(#Y\ M +9 &)X\ N +10 &+X\ M +9 &-iT\ M +9 &/*Y\ N +10 &0W\ M +9 &2X\ N +10 &4rV\ M +9 &63Y\ M +9 &7U\ M +10 &9Z\ M +9 &;y\\\ M +9 &=;U\ M +10 &>W\ N +9 &@Z\ N +10 &B\\\ N +9 &DAb\ N +9 &El\ O +10 &Gv\ Q +9 &Iz\ R +9 &K9\ S +10 &L\ T +9 &N\ T +10 &P}\ T +9 &R>\ T +56 &S\ U +6 &U\ T +2 &W\ T +2 &YF\ T + &[\ T + &\\\ U + &^@f\ * +6 &^\ A +9 ( + &^%\ 1 +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&V1 +52 "core" 1 +2 "manipulator"&;% +4 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' + "processing"%r& +4 "core" &^&\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&>% +5 "core" %    \  +2 "storage"(@% +4 "core" % ) 3 T\  +2 "storage"(c. +3 "core" .(,y +2 "storage"(<& +3 "core" &,z > D =\ +3 "storage"(& +3 "manipulator"&& +7 "core" &,z H I *\ + &   ' D +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(1'r +2 "manipulator"&5( +5 "core" ( +2 "manipulator"&9& +4 "core" & \  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  D +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&8/ +64 "core" / +2 .tPC.seek :open +2 "processing"%)( +81 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'1 +46 "core" ' +316 ( +2 "storage"(& +4 "core" &,z M T ;\ +2 "manipulator"&g& +4 "core" & Y D +2 "manipulator"&% +4 "core" %   > +2 .tForearm.seek :retract +2 "manipulator"&3' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&0( +244 "core" ( +2 "manipulator"&m& +3 "core" &  + +2 "storage"(n& +4 "core" &,z E F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 .tHand.open + "manipulator"&=1 +61 "core" 1 +2 "storage"([- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Y' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Z' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +3 "core" -' +2 "storage"(& +4 "core" &,z k\ +2 "manipulator"&`& +4 "core" &    * +2 .tElbow.seek 4 +2 "manipulator"&K( +10 "core" ( + "manipulator"&6& +3 "core" &   \  +3 "storage"(& +4 "core" &,z 9\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(p'" +49 "core" ' +2 "manipulator"& & +4 "core" & T  + "storage"('& +4 "core" &,z S S o\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&d'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&% +5 "core" %J = G +2 "storage"(& +4 "core" &,z I F M\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&q'v +15 "core" ' + "manipulator"&e& +6 "core" &    + "storage"(?& +4 "core" &,z F F \ +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +16 "core" ' +2 "storage"($% +4 "core" % T J H\ +3 ."downElevator"SE.seek :down +3 "storage"(w' +99 (% +3 "core" %WN ' '\ We +3 "manipulator"&L% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +96 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (J& +3 "core" &,z . : -\ +3 "collection"'a& +4 "core" &\\`\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&*% +5 "core" %  9 " + "storage"(l% +4 "core" % S T [\  +2 "storage"(2. +3 "core" .(,y +2 "storage"(i& +4 "core" &,z I T _\ +2 "storage"((& +4 "core" &,z T U {\ +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"& ( +8 "core" ( +2 "manipulator"&/& +4 "core" & e  + "storage"(\\& +5 "core" &,z H < \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +96 "core" ' +2 "storage"(& +4 "core" &,z j j \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & G  +2 "storage"(& +3 "core" &,z S R\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&}'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(B'f +30 "core" ' + "manipulator"&_% +4 "core" %D R +2 "storage"(h& +4 "core" &,z G J \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&]'p +17 "core" ' + "manipulator"&F& +4 "core" & m  +2 "storage"(,& +3 "core" &,z S U W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +45 "core" ' +2 "manipulator"&:& +4 "core" & q  + "manipulator"&y% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +155 "core" ( +2 "manipulator"&x& +3 "core" &Ӗ 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &7& +3 "core" &Ӗ . 5 +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&z/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( + "storage"(S& +4 "core" &,z ] \\ ;\ +2 "storage"(X& +4 "core" &,z ] _ K\ +2 "manipulator"&U& +3 "core" &Ө b 2 +2 "manipulator"&4% +5 "core" % C 5 $ +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&j( +164 "core" ( +2 "manipulator"&u& +3 "core" &  ~  +2 "storage"(f& +5 "core" &,z \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&.'7 +132 "core" ' +9 .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&D1 +54 "core" 1 +3 "manipulator"&% +3 "core" % K  . c +3 "storage"(\ & +4 "core" &,z \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&"'w +16 "core" ' + "manipulator"&M& +4 "core" &  J  +2 "storage"(%& +4 "core" &,z \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&E' +16 "core" ' + "storage"(G% +5 "core" % } ~\ +2 ."downElevator"SE.seek :down +4 "storage"(^' +99 (#% +3 "core" %E j k \ U^ +2 "manipulator"&% +4 "core" % n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'k& +3 "core" & \ +2 "manipulator"&!% +4 "core" %    +2 "storage"(+% +4 "core" % I\  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(b(<- +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" &<* F E \ \  +2 "manipulator"&;& +4 "core" & T  +2 .tElbow.seek 5 +2 "manipulator"&r( +4 "core" ( + "manipulator"&>& +4 "core" &  j  +2 "storage"(@& +3 "core" &<)  :\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +92 "core" ' + "storage"(<& +4 "core" &<) w \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +293 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<) ` ] q\  +2 "manipulator"&9& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&O& +3 "core" &  =  +3 "storage"(8& +4 "core" &<) j j \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&s& + "storage"(N' +8 "core" &  T  +2 "manipulator"&1% +4 "core" % Ϲ  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +152 "core" ' + ( + ."downElevator"SE.stop +3 "manipulator"&& +2 "storage"(5 +7 "core" &x&  ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x& s ?U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'? +94 "core" ' +2 "manipulator"&n& +4 "core" &Ӯ m 8 +2 "manipulator"&5% +3 "core" %D ; +3 "collection"'=& +4 "core" & $\ +2 "collection"'[& +5 "core" & {\ +3 .tCC.seek :closed + "collection"'t(\\ +5 "core" & !\  +9 &4{ X\ *z +9 &g~ \ > +10 &j ,\ L +9 &VS /\ K +9 &S +\ K +10 &T .\ K +9 &R *\ K +10 &_R *\ K +9 &"U .\ J +9 &T )\ J +10 & S *\ K +9 &"gS &\ K +9 &$)S "\ K +10 &%T &\ K +9 &'W !\ K +10 &)oW !\ K +9 &+2W !\ J +9 &,U &\ J +10 &.T $\ J +50 &0xU #\ J +3 &2:U '\ J + &3U &\ J +2 &5U &\ K + &7X %\ K + &9AY &\ K +7 &;T (\ K +10 &<U &\ J +9 &>W \ K +9 &@IU #\ K +10 &B W #\ K +9 &CZ #\ K +10 &Ed &\ M +9 &GGr "\ N +9 &H\ \ &\ R +10 &J\ !\ #\ V +9 &Lt\ "\ "\ V +9 &N2\ "\ #\ X +10 &O\ !\ !\ X +9 &Q\ \ "\ Y +10 &Sv\ !\ !\ Y +9 &U6\ $\ $%\ Y +9 &V\ "\ "\ [ +10 &X\ "\ " \ [ +9 &Zy\ #\ $\ Z +9 &\\y\ $\ &\ 2 +10 &\\-\ $\ &\ Z +9 ( + &\\m\ #\ "\ M +2 "collection"'[& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&`% +4 "core" % D  W ; +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&3% +5 "core" % # / + "storage"( % +4 "core" % E 3 s\  +2 "storage"('. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" &<* J A\  +2 "manipulator"&& +4 "core" &ӯ 8 +2 "manipulator"&e% +4 "core" % # / +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Y( +156 "core" ( +2 "manipulator"&?& +4 "core" &  + "storage"(0& +5 "core" &<) T S Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +104 "core" ' +2 "storage"(& +4 "core" &<) j j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &<) Q C &\  +2 "manipulator"&A& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&K( +7 "core" ( +2 "manipulator"&p& +4 "core" &  F +2 "storage"(d& +4 "core" &<) S S ]\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&J'Ϲ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(*' +8 "core" & > +2 "manipulator"&l% +4 "core" % ϻ +2 .tForearm.seek :retract +2 "manipulator"&2' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +2 "manipulator"&i& +3 "core" & 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 "manipulator"&/& +3 "core" &  +3 "manipulator"&\\% +3 "core" % \\ +3 "processing"%H& +3 "core" &\ +3 "processing"%& +5 "core" &\ +3 .tPC.seek :closed + "processing"%w(^ +5 "core" &\ +7 &7\ $d +10 &X\ 7 +9 &}\ L +9 &U\ M +10 &hX\ N +9 &,U\ M +10 &X\ N +9 &X\ M +9 &pW\ N +10 &3Y\ M +9 &U\ M +9 &!Y\ M +10 &#yY\ M +9 &%;U\ M +10 &&Y\ N +9 &(X\ M +9 &*U\ M +10 &,BY\ N +9 &.V\ M +9 &/[\ M +10 &1W\ M +9 &3LT\ M +9 &5 W\ M +10 &6Y\ M +9 &8Y\ M +10 &:SU\ M +9 &<[\ M +9 &=\\\ M +10 &?V\ M +9 &AZY\ N +10 &Cc\ O +9 &De\ O +9 &Fs\ P +10 &HV\ R +9 &J\ S +9 &K\ S +10 &M\ T +9 &OY\ S +9 &Q\ T +10 &R\ T +9 &T\ U +10 &V_\ T +9 &X!\ T +9 &Y\ T +10 &[\ U +9 &]f\ A +9 &^Dx\ X +10 &^>\ 4 +5 ( +2 "processing"%& +4 "core" &^-\ 4 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&W1 +65 "core" 1 + "manipulator"&{% +50 "core" %    +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 "processing"%v& +4 "core" &^-\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    +2 "storage"(% +5 "core" % . . M\  + "storage"(_. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(h(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (F& +2 "manipulator"&,& +4 "core" &<* 1 O 8\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  \  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&:( + "storage"(y'r +6 "core" ( +2 "manipulator"&Q& +3 "core" &  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close +2 "manipulator"&}/ +63 "core" / +2 .tPC.seek :open +2 "processing"%]( +88 "core" ' + "storage"(B- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +41 "core" ' +315 ( +2 "storage"(7& +5 "core" &<) E E \  + "manipulator"&I& +4 "core" & +2 "manipulator"&|% +4 "core" %  , W +2 .tForearm.seek :retract +2 "manipulator"&z' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&o( +240 "core" ( +2 "manipulator"&-& +4 "core" & 1 +2 "storage"(S& +4 "core" &<) # * \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +98 "core" ' +2 .tHand.open + "manipulator"&U1 +60 "core" 1 +2 "storage"(4- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(f' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(~& +4 "core" &<) o\  +2 "manipulator"&D& +4 "core" &    0 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\ & +3 "core" &   0 +2 "storage"(M& +5 "core" &<) h h \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(G'" +51 "core" ' + "manipulator"&& +4 "core" & { 0 +2 "storage"(#& +3 "core" &<) B D \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +21 "core" ' + "manipulator"&k% +4 "core" %Ζ & 7 +2 "storage"(!& +3 "core" &<) = (\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&"' +14 "core" ' +2 "manipulator"&+& +4 "core" &  0 +2 "storage"(& +3 "core" &<) F E !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 5 + 450 counts +3 "manipulator"&'O +14 "core" ' +2 "storage"(E% +4 "core" % F I \ +2 ."downElevator"SE.seek :down +4 "storage"(^' +99 (R% +4 "core" %)Q + 9\ Xf +2 "manipulator"&V% +4 "core" %T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +87 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +4 (>& +2 "core" &<) F P /\  +3 "collection"'@& +4 "core" &\\l\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&<% +4 "core" %   +2 "storage"(P% +3 "core" % S S c\  +3 "storage"(T. +3 "core" .(<- +2 "storage"(& +4 "core" &<) R M J\  +2 "storage"(& +4 "core" &<) S Q\  + "manipulator"&9& +5 "core" & : 0 +2 .tElbow.seek 5 + "manipulator"&O( +4 "core" ( +2 "manipulator"&8& +4 "core" & 0 0 +2 "storage"(C& +4 "core" &<) S S r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +96 "core" ' +2 "storage"(1& +3 "core" &<) k j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +308 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 0 0 +3 "storage"(& +3 "core" &<) = < \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(n- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(5'r +32 "core" ' +2 "manipulator"&=% +3 "core" %· + > +2 "storage"( & +4 "core" &<) Q S %\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 294 counts + "manipulator"&N'ϳ +15 "core" ' + "manipulator"&& +4 "core" & 0 +2 "storage"(& +3 "core" &<) 8 8 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +31 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(`' +38 "core" ' +2 "manipulator"&& +3 "core" & / 0 +2 "manipulator"&3% +5 "core" %g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +152 "core" ( +3 "manipulator"&[& +4 "core" &Ӕ 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &&& +2 "core" &Ӕ 6 +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' + .tHand.close +2 "manipulator"&e/ +53 "core" / +2 .tCC.seek :open +2 "collection"'m( +452 "core" ( +2 "storage"(?& +4 "core" &<) i l W\  +2 "storage"(0& +4 "core" &<) g ` #\  + "manipulator"&b& +4 "core" &ӭ 5 3 +2 "manipulator"&% +4 "core" % J 7 +2 .tForearm.seek :retract +2 "manipulator"&g' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +160 "core" ( +2 "manipulator"&& +4 "core" &  t  +2 "storage"(L& +3 "core" &<)  5\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&A'΍ +92 "core" ' + .tElbow.hold +41 "manipulator"&p, +11 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&d1 +54 "core" 1 +3 "manipulator"&q% +4 "core" % Ώ  T [ +2 "storage"(a& +4 "core" &<) :\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&l'ϻ +14 "core" ' + "manipulator"&Y& +3 "core" &  b  +3 "storage"($& +4 "core" &<) w \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Z'O +26 "core" ' +2 "storage"(J% +4 "core" % x q\ +2 ."downElevator"SE.seek :down +4 "storage"(i' +99 ((% +3 "core" %J ` N ,\ V` +2 "manipulator"&K% +3 "core" %] 7  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'\\& +3 "core" & !\ +3 "manipulator"&H% +4 "core" %  p | +2 "storage"(*% +3 "core" % x z _\  +2 "storage"(2. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"()(K +345 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &K f ` c\ +2 "manipulator"&{& +4 "core" & o  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&v& +4 "core" &  2  +2 "storage"(& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +91 "core" ' +2 "storage"(_& +4 "core" &K x \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'r +295 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Q& +3 "core" &K i k \ +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&}& +4 "core" &  r  + "storage"(& +5 "core" &K j j \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&B'h +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(w' +7 "core" &  |  +2 "manipulator"&y% +4 "core" % a ~ +3 .tForearm.seek :retract +2 "manipulator"&7' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&I(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"&|& +4 "core" &ӈ  @ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӈ b 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&-'? +98 "core" ' + "manipulator"&S& +4 "core" &ӈ  a 5 +2 "manipulator"&:% +4 "core" %> C ! +2 "collection"'U& +3 "core" & \ +3 "collection"'4& +6 "core" & \ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & \  +8 &6~ \ *z +10 &\ i~ )\ ? +9 &k 0\ L +9 &_R 0\ K +10 &!R 2\ K +9 &S 0\ J +9 &T -\ J +10 &hT +\ J +9 &*V /\ J +10 &T +\ K +9 & R +\ J +9 &"nS (\ K +10 &$0R '\ K +9 &%W %\ K +9 &'W %\ J +10 &)wT "\ J +9 &+:T "\ J +10 &,U &\ J +9 &.X $\ K +9 &0X (\ K +10 &2AX '\ K +9 &4Y %\ K +9 &5Y $\ K +10 &7Y %\ J +47 &9IU %\ K +7 &; Z #\ K +2 &<U #\ K + &>Z \ K + &@N_ $\ L + &B` "\ L +6 &C\\ (\ L +10 &Eh $\ M +9 &GJ}\  (\ P +10 &I\ \ \ S +9 &J\ '\ $\ W +9 &Lz\ '\ &\ W +10 &N:\ %\ $\ X +9 &O\ "\ $"\ Y +9 &Q\ %\ $\ W +10 &S}\ "\ #\ Y +9 &U=\ $\ "\ Z +10 &V\ $\ # \ [ +9 &X\ $\ $\ [ +9 &Z\ #\ %$\ [ +10 &\\!w\ &\ %"\ / +9 &\\-\ $\ &\ \\ +10 ( &\\k\ $\ #\ M +3 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&~1 +56 "core" 1 +2 "manipulator"&D% +3 "core" % f  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%M& +4 "core" &\ +2 "manipulator"&z% +4 "core" %  I  +2 "storage"(% +4 "core" % 8 < \  +2 "storage"(#. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(k(K +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &K [ \  +2 "manipulator"&x& +4 "core" &!  f n +2 "manipulator"&+% +3 "core" %  V  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +148 "core" ( +2 "manipulator"&u& +4 "core" &   + "storage"(E& +5 "core" &K k j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +95 "core" ' + "storage"(X& +4 "core" &K h l -\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'r +298 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" &K U P ^\  +2 "manipulator"&%& +3 "core" & [  +3 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&G& +3 "core" & `  +2 "storage"(& +5 "core" &K G Y \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&"'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"(<' +8 "core" &  + "manipulator"&P% +4 "core" % ^ 9 +2 .tForearm.seek :retract +2 "manipulator"&.' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&& +4 "core" & C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & ? B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&9' +98 "core" ' + "manipulator"&8& +4 "core" & $ B +2 "manipulator"&C% +4 "core" %  : 3 +2 "processing"%& +3 "core" &\ +3 "processing"%1& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%^(^ +4 "core" &\  +9 &2w\ )w +9 &b\ = +9 &mv\ N +10 &0U\ M +9 &U\ M +9 &T\ M +10 &vZ\ M +9 &7W\ N +10 &W\ M +9 &Y\ M +9 & ~X\ M +10 &"@Z\ M +9 &$Y\ N +9 &%W\ M +10 &'Z\ M +9 &)GW\ N +10 &+\ W\ M +9 &,Y\ N +9 &.W\ M +10 &0PU\ M +9 &2X\ N +9 &3W\ M +10 &5X\ M +9 &7XU\ M +10 &9W\ M +9 &:W\ M +9 &<W\ M +10 &>_Y\ N +9 &@"\\\ M +9 &A`\ N +10 &Ch\ O +9 &Ebm\ O +10 &G"r\ P +9 &H\ R +9 &J\ S +10 &L`\ S +9 &N \ S +9 &O\ S +10 &Q\ T +9 &Sc\ T +10 &U$\ U +9 &V\ T +9 &X\ T +10 &Zh\ U +9 &\\,\ U +9 &]~|\ 9 +10 &^1\ S +9 &^\ , +3 ( + "processing"%1& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&j1 +59 "core" 1 + "manipulator"&;% +4 "core" %   \ i 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +5 "manipulator"&c' +89 "core" ' +2 "processing"%& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +5 "core" %   [  + "storage"(n% +4 "core" % E F \  +2 "storage"(=. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&& +6 "core" &K @ D \  + & \   B +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'r +4 "core" ( + "manipulator"&s& +4 "core" &  a B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &   < B +3 .tForearm.seek PC +2 "manipulator"&r' +93 "core" ' +3 .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%N( +89 "core" ' +2 "storage"(5- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(['1 +42 "core" ' +315 ( +2 "storage"(&& +3 "core" &K R I ~\  +2 "manipulator"&& +4 "core" & J B +2 "manipulator"& % +4 "core" %   h +2 .tForearm.seek :retract +2 "manipulator"&e' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +258 "core" ( +2 "manipulator"&t& +4 "core" &\  ) "{ + "storage"(?& +4 "core" &K ) $ ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +93 "core" ' +2 .tHand.open + "manipulator"&b1 +61 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(L' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"('& +3 "core" &K \  +3 "manipulator"&d& +3 "core" &  6 "{ +3 .tElbow.seek 6 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&a& +4 "core" &   "{ +2 "storage"(Y& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(J'" +52 "core" ' + "manipulator"&g& +4 "core" &   "{ +2 "storage"((& +3 "core" &K > '\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&K'< +19 "core" ' +2 .tElbow.hold + "manipulator"&6, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +20 "core" ' + "manipulator"&\\% +4 "core" %. 3  +2 "storage"(l& +3 "core" &K ( $ a\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 286 counts +2 "manipulator"&H'Z +16 "core" ' + "manipulator"&*& +4 "core" &   "{ +2 "storage"(2& +3 "core" &K F E 0\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +13 "core" ' +46 "storage"(Z% +6 "core" % F F '\ +2 ."downElevator"SE.seek :down +4 "storage"(i' +99 (h% +4 "core" %O\ \  0\ Xg +2 "manipulator"&W% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (v& +4 "core" &K ? 8 u\  +2 "collection"'& +3 "core" &\\b\ \ \ M +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&_% +4 "core" %  t  +2 "storage"(p% +3 "core" % S H F\  +3 "storage"(/. +2 "core" .(K +2 "storage"(,& +4 "core" &K S S\  +2 "storage"(Q& +4 "core" &K S S a\  +2 "manipulator"& & +4 "core" &   "{ +2 .tElbow.seek 6 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +4 "core" &\  "{ +2 "storage"(& +4 "core" &K S S <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(y& +4 "core" &K j j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" &  k "z +3 "storage"(& +4 "core" &K G F 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&F'< +18 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(:'p +27 "core" ' +2 "manipulator"&U% +4 "core" %) $ + "storage"( & +4 "core" &K J I \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 281 counts + "manipulator"&w'U +16 "core" ' + "manipulator"&7& +5 "core" &  % "z + "storage"(m& +4 "core" &K G H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +31 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(D' +42 "core" ' + "manipulator"&M& +4 "core" &  ( "z +2 "manipulator"&z% +3 "core" % . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +152 "core" ( +2 "manipulator"&4& +4 "core" &ӝ  3 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &ӝ T 5 +3 .tForearm.seek CC +2 "manipulator"&x'? +101 "core" ' +2 .tHand.close + "manipulator"&+/ +55 "core" / +2 .tCC.seek :open +2 "collection"'-( +449 "core" ( + "storage"(u& +4 "core" &K k k \  +2 "storage"(E& +3 "core" &K l j \  +2 "manipulator"&)& +4 "core" &!  R # +2 "manipulator"&X% +4 "core" %  G h +2 .tForearm.seek :retract +2 "manipulator"&I' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\ ( +144 "core" ( +2 "manipulator"&R& +3 "core" & g  +2 "storage"(V& +4 "core" &K ~ '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&%'< +98 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +45 "manipulator"&$&.,(\ #b +11 .tHand.open +2 "manipulator"&1 +60 "core" 1 +3 "manipulator"&>% +4 "core" % * + +2 "storage"(@& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 282 counts + "manipulator"&P'V +13 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(o& +3 "core" &K h\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +22 "core" ' + "storage"("% +4 "core" % w \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %N M h >\ Wc +2 "manipulator"&% +4 "core" % { 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'C& +3 "core" & -\ +3 "manipulator"&% +3 "core" %  w  +3 "storage"(<% +4 "core" % \  + "storage"(.. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(](,y +670 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (j& +3 "core" &,{ w o /\ +2 "manipulator"&;& +5 "core" &  +2 .tElbow.seek 4 + "manipulator"&1( +3 "core" ( +2 "manipulator"&& +4 "core" &  w  +2 "storage"(& +4 "core" &,{ h\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +95 "core" ' +2 "storage"(=& +3 "core" &,{ z { b\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +2 "core" &,{ ^ j \ +3 "manipulator"&O& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(k& +4 "core" &,{ q\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&5'c +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +3 "storage"(^' +7 "core" &   +2 "manipulator"&3% +4 "core" % s +2 .tForearm.seek :retract +2 "manipulator"&&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"& & +83 "core" &Ӕ c 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &Ӕ K 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&t'? +97 "core" ' +2 "manipulator"&?& +3 "core" &Ӕ p 2 +2 "manipulator"&% +4 "core" %: } ' +3 "collection"'b& +4 "core" & \ +2 "collection"'& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  +9 &5 \ *z +9 &g~ \ > +10 &j 8\ L +9 &WT \ K +9 &X \ K +10 &Y \ K +9 &W %\ K +9 &`W ,\ K +10 &!W 2\ K +9 &W .\ K +10 & X .\ K +9 &"hX 2\ K +9 &$*V /\ K +10 &%T *\ J +9 &'U +\ J +9 &)pS &\ K +10 &+3W $\ J +9 &,U !\ J +10 &.Y $\ K +9 &0yY $\ J +9 &2;U '\ J +10 &3Y %\ K +9 &5Y '\ K +9 &7V $\ K +10 &9AY "\ K +9 &;X #\ K +10 &<Y \ K +9 &>Z &\ K +9 &@IT '\ K +10 &B W #\ K +9 &C] $\ L +50 &Ee $\ L +4 &GHs "\ N + &I\ \ $\ Q +2 &J\ \ \ V + &Lt\ !\ \ W + &N2\ \  \ X +7 &O\ \ %\ X +9 &Q\ \ !\ X +9 &Sx\ \  \ X +10 &U6\ \ \ Z +9 &V\ \ \ Y +10 &X\ !\ ! \ Z +9 &Zx\ \ $\ [\ +9 &\\w\ !\ !\ 2 +10 &\\,\ !\ "\ V +9 ( + &\\a\ !\ "\ K +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&'1 +62 "core" 1 +2 "manipulator"&d% +4 "core" % :  ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%Y& +3 "core" &\ +2 "manipulator"&e% +5 "core" %  0  + "storage"(g% +4 "core" % S T @\  +2 "storage"((. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(\\(,y +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" &,{ K I `\ +2 "manipulator"&[& +4 "core" &Ӧ j 0 +2 "manipulator"&*% +4 "core" %  #  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&2( +160 "core" ( +2 "manipulator"&& +4 "core" & I  + "storage"(Z& +5 "core" &,{ b g \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 "storage"(0& +4 "core" &,{ k j \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +295 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &,{ E R j\ +2 "manipulator"&$& +4 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&q( +4 "core" ( + "manipulator"&J& +4 "core" &  d  +2 "storage"(K& +4 "core" &,{ V V \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&H'c +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(_' +7 "core" &  +2 "manipulator"&p% +4 "core" % ^ r +2 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&A( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&,& +3 "core" & g \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' +2 "manipulator"&& +4 "core" &  + \ +2 "manipulator"&% +3 "core" % G W +3 "processing"%`& +4 "core" &\ +2 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%i(^ +5 "core" &\  +9 &2w\ )v +9 &b~\ = +10 &ru\ N +9 &5S\ M +9 &W\ N +10 &V\ M +9 &zZ\ M +10 &<Y\ M +9 &V\ M +9 &T\ M +10 & T\ M +9 &"DY\ M +9 &$Y\ M +10 &%V\ N +9 &'W\ N +10 &)KW\ N +9 &+X\ M +9 &,U\ M +10 &.X\ M +9 &0SW\ N +9 &2X\ M +10 &3Y\ M +9 &5W\ M +10 &7\\T\ M +9 &9\\\ N +9 &:Z\ M +10 &<V\ M +9 &>dZ\ M +9 &@&[\ M +10 &AZ\ N +9 &Cc\ O +10 &Egh\ O +9 &G%s\ P +9 &H~\ R +10 &J\ S +9 &Lc\ S +9 &N"\ T +10 &O\ T +9 &Q\ T +10 &Sg\ T +9 &U)\ T +9 &V\ T +10 &X\ T +9 &Zo\ T +9 &\\0\ U +10 &]{x\ < +9 &^*p\ N +10 &^'\ 2 +2 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"&61 +58 "core" 1 +2 "manipulator"&{% +4 "core" %    W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +47 "processing"%|& +6 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" % #   / 7 +2 "storage"(S% +3 "core" % + - \  +3 "storage"(U. +3 "core" .(,y +2 "storage"( & +4 "core" &,{ + $ \ +2 "storage"(7& +3 "manipulator"&m& +7 "core" &,{ # # -\ + &   > \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&M( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'r +3 "core" ( +2 "manipulator"&& +4 "core" &   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &   \ +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&F/ +53 "core" / +2 .tPC.seek :open +2 "processing"%w( +97 "core" ' +2 "storage"(:- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(4'1 +44 "core" ' +302 ( +2 "storage"(!& +4 "core" &,{ O S O\ +2 "manipulator"&~& +4 "core" & y \ +2 "manipulator"&B% +4 "core" %  X +2 .tForearm.seek :retract +2 "manipulator"&+' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&& +4 "core" &  Z +2 "storage"(u& +4 "core" &,{ F F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +97 "core" ' + .tHand.open + "manipulator"&)1 +59 "core" 1 +2 "storage"(X- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(V' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(x- +3 "core" -' +2 "storage"(#& +3 "core" &,{ f d \ +3 "manipulator"&& +4 "core" &   J Z +2 .tElbow.seek 4 + "manipulator"&>( +9 "core" ( + "manipulator"&@& +4 "core" &  5 +2 "storage"(& +3 "core" &,{ d d S\ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(I'" +62 "core" ' +2 "manipulator"&"& +3 "core" & & 5 +2 "storage"(\ & +5 "core" &,{ F K ~\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +25 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(%' +20 "core" ' +2 "manipulator"&P% +4 "core" %B \\  +2 "storage"(C& +3 "core" &,{ * ' P\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&'n +13 "core" ' +2 "manipulator"&<& +3 "core" & 5 +3 "storage"(.& +4 "core" &,{ E E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&D' +15 "core" ' +2 "storage"(f% +3 "core" % S H R\ +4 ."downElevator"SE.seek :down +3 "storage"(' +98 ( % +4 "core" %=O ' ' \ We +2 "manipulator"&j% +4 "core" % +46 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +93 "core" ' +12 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,{  : m\ +2 "collection"'& +4 "core" &\\`\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&=% +5 "core" %   +2 "storage"(G% +4 "core" % U T \  + "storage"(8. +3 "core" .(,y +2 "storage"(& +5 "core" &,{ U T l\ + "storage"(s& +4 "core" &,{ Q H \ +2 "manipulator"&O& +3 "core" & Z 5 +3 .tElbow.seek 4 +2 "manipulator"&( +10 "core" ( + "manipulator"&k& +4 "core" & `  +2 "storage"(T& +4 "core" &,{ U V _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +112 "core" ' +2 "storage"(3& +4 "core" &,{ m k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'r +298 "core" ' + "storage"(n- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & e  +2 "storage"(5& +3 "core" &,{ ; 8 u\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& '7 +19 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(?'f +30 "core" ' +2 "manipulator"&% +4 "core" %: C V +2 "storage"(b& +4 "core" &,{ J Y \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts +2 "manipulator"&^'f +14 "core" ' + "manipulator"&&& +5 "core" & ~  +2 "storage"(-& +4 "core" &,{ j l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(d' +44 "core" ' +2 "manipulator"&Y& +3 "core" &  +2 "manipulator"&e% +5 "core" %  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&((ӂ +173 "core" ( +2 "manipulator"&& +3 "core" &Ӈ E = +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &l& +2 "core" &Ӈ  = +3 .tForearm.seek CC +2 "manipulator"&['? +90 "core" ' +2 .tHand.close + "manipulator"&*/ +61 "core" / +2 .tCC.seek :open +2 "collection"'t( +452 "core" ( +2 "storage"(& +3 "core" &,{ _ f \ +3 "storage"(Z& +4 "core" &,{ i f \ + "manipulator"&]& +4 "core" &Ӈ # = +2 "manipulator"&0% +4 "core" % H v  +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&a( +145 "core" ( + "manipulator"&h& +4 "core" &  P +2 "storage"(W& +4 "core" &,{ o ~ >\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&$'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +53 "core" 1 +2 "manipulator"&v% +4 "core" % (  6 +2 "storage"(& +4 "core" &,{ \ +49 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 285 counts + "manipulator"&p'T +16 "core" ' + "manipulator"&2& +4 "core" & W +2 "storage"( & +4 "core" &,{ ~ ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +26 "core" ' + "storage"(H% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(,' +98 (Q% +3 "core" %F k j \ V_ +2 "manipulator"&q% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & "\ +2 "manipulator"&`% +4 "core" %  W  +2 "storage"(_% +3 "core" % \  +3 "storage"(/. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(N(<- +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &<, H F \  +2 "manipulator"&{& +4 "core" &  ` +2 .tElbow.seek 5 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&y& +4 "core" &  P +2 "storage"(& +3 "core" &<+  $\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +93 "core" ' +2 "storage"(U& +3 "core" &<+ v k\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +292 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (7& +2 "core" &<+ j i \  +3 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"& & +3 "core" &  g +2 "storage"(F& +4 "core" &<+ g _ \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&:'Ϲ +40 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(i' +7 "core" &  A +2 "manipulator"&z% +3 "core" %  @ f +3 .tForearm.seek :retract +2 "manipulator"&!' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +153 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&B& +3 "core" &Ӛ  3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӛ @ 3 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 "manipulator"&u& +4 "core" &Ӛ  v 3 +2 "manipulator"&M% +4 "core" %> X % +2 "collection"')& +4 "core" & \ +2 "collection"'X& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'x(\\ +3 "core" & \ +5 & !\ 7 +10 &FKv )\ / +9 &ut} &\ C +10 &] +\ K +9 &R /\ K +9 &T 0\ K +10 &dS ,\ K +9 &&S *\ K +9 &S ,\ K +10 &S +\ K +9 &lT 0\ K +10 &!.W ,\ K +9 &"W #\ K +9 &$W *\ K +10 &&tX $\ K +9 &(6X !\ K +9 &)W %\ K +10 &+W #\ K +9 &-}W #\ K +10 &/@W #\ J +9 &1T &\ J +9 &2T !\ J +10 &4T !\ J +9 &6HU $\ J +9 &8\ V #\ J +10 &9U \ J +9 &;V '\ K +10 &=OY (\ K +9 &?Y "\ K +9 &@Y "\ K +10 &BY  \ K +9 &DT` !\ L +9 &Fh #\ M +10 &Gx \ O +9 &I\ \ \ R +10 &K>\ \ \ V +9 &L\ \ "\ W +9 &N\ \ &\ W +10 &P\ \ %\ W +9 &RA\ !\ "\ X +9 &T\ "\ \ X +10 &U\ \ !\ X +9 &W\ "\ ! \ Y +9 &YB\ #\ # \ Z +10 &[\ #\ # \ [ +9 &\\]L\ #\ $\ 7 +10 &\\ \ #\ $&\ X +5 ( +2 "collection"'X& +56 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 +2 .Hand.open +2 "manipulator" +3 "core" &\\\ !\ "#\ X + &\\\ \ "\ X + &\\\ \ \ X + &\\\ \ \ X + &\\\ \ \ X + &\\\ \ $\ X +52 1 +2 "manipulator"&% +4 "core" % >  % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%@& +3 "core" &\ +2 "manipulator"&% +5 "core" %   + "storage"("% +5 "core" % $ %\  + "storage"(\ . +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(4(<- +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &<,\ \ \  +3 "manipulator"&C& +4 "core" &ӣ I 2 + "manipulator"&R% +4 "core" %  J  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&<( +159 "core" ( +2 "manipulator"&.& +4 "core" &   +2 "storage"(f& +3 "core" &<* H E $\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +101 "core" ' +3 "storage"(E& +3 "core" &<* Q H n\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(V'r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &<* " [\  +2 "manipulator"&o& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&I& +4 "core" &  +2 "storage"(& +4 "core" &<* F H \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(=' +8 "core" & ;  +2 "manipulator"&G% +4 "core" % ϳ ' +2 .tForearm.seek :retract +2 "manipulator"&8' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&& +4 "core" & < +6 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &s& +3 "core" & +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&O' +93 "core" ' +2 "manipulator"&k& +3 "core" & +3 "manipulator"&T% +4 "core" % +2 "processing"%D& +4 "core" &\ +2 "processing"%3& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%(^ +4 "core" &\ +6 &\ 4 +9 &=Fv\ 0 +9 &hr\ E +10 & ^\ M +9 &Y\ N +9 &Y\ M +10 &ST\ M +9 &Y\ M +9 &Y\ M +10 &Z\ M +9 &ZX\ N +10 &!Y\ M +9 &"W\ M +9 &$U\ M +10 &&cY\ M +9 &($X\ N +9 &)W\ M +10 &+T\ M +9 &-jW\ N +10 &/-X\ M +9 &0T\ M +9 &2X\ M +10 &4sW\ M +9 &65Y\ M +9 &7T\ M +10 &9V\ M +9 &;{Y\ M +10 &==[\ M +9 &>\\\ N +9 &@Z\ N +10 &B^\ N +9 &DAd\ O +10 &Fo\ P +9 &G|\ Q +9 &I{\ S +10 &K;\ S +9 &L\ S +9 &N\ T +10 &P\ T +9 &RA\ T +10 &T\ T +9 &U\ U +9 &W\ T +10 &YJ\ T +9 &[ \ U +9 &\\\ U +10 &^Bg\ + +9 &^m\ > +10 ( + &^+\ 6 +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&;% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +3 "processing"%& +4 "core" &^+\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&5% +4 "core" %     +46 "storage"(9% +7 "core" % % "\  +2 "storage"(. +3 "core" .(<- +2 "storage"(b& +3 "core" &<* $ 2\  +3 "storage"(&& +3 "manipulator"&-& +8 "core" &<* - " %\  + &   \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&Y( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(e'r +3 "core" ( + "manipulator"&c& +4 "core" &  \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &    +3 .tForearm.seek PC +2 "manipulator"&1' +92 "core" ' + .tHand.close + "manipulator"& / +57 "core" / +2 .tPC.seek :open +2 "processing"%^( +97 "core" ' + "storage"(?- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +309 ( +2 "storage"(l& +3 "core" &<* + - \  +2 "manipulator"&'& +4 "core" &  +2 "manipulator"&r% +4 "core" %  S J +2 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&g( +241 "core" ( +2 "manipulator"&& +4 "core" & J +2 "storage"(& +4 "core" &<* ' ' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +95 "core" ' +2 .tHand.open + "manipulator"&]1 +55 "core" 1 +3 "storage"(0- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(h' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(W' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"((& +3 "core" &<* E J \  +2 "manipulator"&K& +5 "core" &   Y I + .tElbow.seek 5 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&& +4 "core" &   I +2 "storage"(2& +3 "core" &<* N L \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(H'" +51 "core" ' +2 "manipulator"&& +4 "core" & I +2 "storage"(a& +4 "core" &<* - - \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Q'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"($' +28 "core" ' +2 "manipulator"&% +4 "core" %Ί +2 "storage"(p& +4 "core" &<* " + \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 297 counts +2 "manipulator"&`'϶ +14 "core" ' + "manipulator"&_& +4 "core" & 3 I +2 "storage"(/& +3 "core" &<* H F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +23 "core" ' +2 "storage"(L% +3 "core" % H H #\ +3 ."downElevator"SE.seek :down +4 "storage"(,' +99 (\\% +3 "core" %aN O S\ We +2 "manipulator"&6% +3 "core" %r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&{' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (y& +3 "core" &<* : 5\  +2 "collection"'& +4 "core" &\\\ \ \ X +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&U% +3 "core" %  \  +3 "storage"(J% +3 "core" % H H \  +2 "storage"(. +3 "core" .(<- +2 "storage"(m& +4 "core" &<* E E \  +2 "storage"(7& +4 "core" &<* F G \  +2 "manipulator"&& +3 "core" & I +3 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&F& +4 "core" & I +2 "storage"(A& +4 "core" &<* F E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' +2 "storage"(z& +4 "core" &<* E E +\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(|'r +297 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" &  I +3 "storage"(& +4 "core" &<* N 2 $\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +21 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(M'r +29 "core" ' + "manipulator"&)% +4 "core" %Ί !  +2 "storage"(}& +4 "core" &<* $ $ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 297 counts + "manipulator"&i'϶ +14 "core" ' +2 "manipulator"&!& +4 "core" & . I +2 "storage"(t& +4 "core" &<* I F "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +16 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +45 "core" ' + "manipulator"&@& +4 "core" & I +2 "manipulator"&% +3 "core" %4  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +174 "core" ( +2 "manipulator"&X& +3 "core" &ӂ O +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &ӂ O +2 .tForearm.seek CC +2 "manipulator"&C'? +103 "core" ' +2 .tHand.close + "manipulator"&R/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "storage"(.& +3 "core" &<* k j \  +2 "storage"(f& +4 "core" &<* l k \  +2 "manipulator"&N& +4 "core" &ӂ  | O +2 "manipulator"&E% +4 "core" %  Y +2 .tForearm.seek :retract +2 "manipulator"&~' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&+( +152 "core" ( +2 "manipulator"& & +3 "core" & q  +3 "storage"(j& +4 "core" &<* \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&o'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +5 "core" % r  l Q + "storage"(& +4 "core" &<* \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 273 counts + "manipulator"&G'Ϟ +47 "core" ' +6 "manipulator"&<& +4 "core" &   +2 "storage"(& +3 "core" &<* \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +27 "core" ' +2 "storage"(% +3 "core" % a\ +4 ."downElevator"SE.seek :down +3 "storage"(' +99 (s% +2 "core" %G ` g a\ V_ +3 "manipulator"&>% +4 "core" %Ё L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +92 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'T& +3 "core" & %\ +2 "manipulator"&D% +4 "core" %  X +2 "storage"(=% +4 "core" % t a\  +2 "storage"(8. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(w(K +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K h j \ \ +2 "manipulator"&;& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&5& +3 "core" &  s  +3 "storage"(9& +4 "core" &K { \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +96 "core" ' +2 "storage"(& +4 "core" &K 9\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +295 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &K b i \ \ +2 "manipulator"&c& +5 "core" &  + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&O& +4 "core" &  +2 "storage"( & +3 "core" &K h j @\ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&?'h +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(' +5 "core" & ~  +3 "manipulator"&e% +5 "core" % r +2 .tForearm.seek :retract +2 "manipulator"&l' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&r& +4 "core" &Ӝ  I 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &Ӝ 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 "manipulator"&& +4 "core" &Ӝ ` 2 +2 "manipulator"&Y% +4 "core" %F # +2 "collection"']& +3 "core" & \ +3 "collection"'0& +5 "core" & \ +4 .tCC.seek :closed +2 "collection"'[(\\ +4 "core" & \ +6 &= ?\ %g +9 &Yu \ 7 +10 &v %\ K +9 &U \ J +9 &S $\ K +10 &LR 0\ K +9 &Q 0\ J +9 &U ,\ J +10 &W +\ J +9 &UU +\ J +10 & W )\ K +9 &!U ,\ K +9 &#W -\ J +10 &%\\W ,\ K +9 &'T ,\ K +10 &(Q +\ J +9 &*R +\ J +9 &,eT '\ J +10 &.&X )\ K +9 &/T '\ K +9 &1X #\ K +10 &3lU \ K +9 &5/W \ J +9 &6U !\ J +10 &8W '\ K +9 &:uY  \ J +10 &<7V '\ J +9 &=Y '\ K +9 &?\\ &\ K +10 &Ay_ \ L +9 &C<` !\ K +10 &Dg (\ L +9 &Fs $\ N +9 &Hn\ \ (\ R +10 &J&\ %\ "\ V +9 &K\ $\ &#\ W +9 &M\ $\ '"\ X +10 &Og\ &\ &%\ W +9 &Q'\ $\ ##\ X +10 &R\ #\ $'\ X +9 &T\ $\ "'\ Z +9 &Vh\ #\ $'\ Z +10 &X)\ !\ #!\ Z +9 &Y\ #\ !#\ [ +9 &[\ &\ $\ H +10 &\\/\ %\ $#\ 2 +9 &\\c\ !\ #"\ L +3 ( +2 "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&(1 +64 "core" 1 + "manipulator"&K% +4 "core" % i  +46 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%2& +4 "core" &\ +2 "manipulator"&*% +3 "core" %  E  +3 "storage"(% +4 "core" % V f \  + "storage"(a. +4 "core" .(K +2 "storage"(& +4 "core" &K M h \ \ + "storage"(p& +5 "core" &K f j \ \ + "manipulator"&& +4 "core" &!  m +2 "manipulator"&_% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +3 "manipulator"&/( +146 "core" ( + "manipulator"&h& +6 "core" & 3 + "storage"(L& +4 "core" &K l j \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +92 "core" ' + "storage"(Z& +5 "core" &K _ g ;\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(W'r +296 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (6& +3 "core" &K F H =\ \ +2 "manipulator"& & +4 "core" & P +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&H& +4 "core" & C +2 "storage"(Q& +4 "core" &K J I 4\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&`'h +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(U' +8 "core" & : +2 "manipulator"&J% +4 "core" % ` b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&m& +3 "core" & : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &7& +2 "core" & ( : +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&F& +4 "core" &  q : +2 "manipulator"&A% +4 "core" % i +2 "processing"%d& +4 "core" &\ +2 "processing"%z& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%,(^ +4 "core" &\ +7 &0\ #b +10 &V}\ 6 +9 &|\ K +9 &V\ M +10 &_X\ M +9 &!U\ M +9 &W\ M +10 &Y\ N +9 &hW\ M +10 &)Y\ M +9 &Y\ N +9 &!W\ M +10 &#oX\ M +9 &%2Z\ M +9 &&Y\ M +10 &(W\ M +9 &*wW\ M +10 &,9Z\ M +9 &-T\ M +9 &/Y\ M +10 &1Z\ M +9 &3BW\ M +9 &5X\ M +10 &6X\ M +9 &8[\ M +10 &:IX\ M +9 &< W\ M +9 &=W\ M +10 &?W\ M +9 &APX\ N +9 &Cc\ N +10 &De\ O +9 &Fq\ P +10 &HM\ Q +9 &J\ \ S +9 &K\ S +10 &M\ T +9 &OP\ S +9 &Q\ T +10 &R\ T +9 &T\ U +10 &VU\ T +9 &X\ T +9 &Y\ V +10 &[\ T +9 &]\\\ A +9 &^P}\ E +10 &^\ S +9 &^"\ 1 +3 ( + "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&q1 +58 "core" 1 + "manipulator"&{% +5 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +97 "core" ' +2 "processing"%B& +3 "core" &^!\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %  <  +2 "storage"(u% +3 "core" % G H \  +2 "storage"(). +4 "core" .(K +2 "storage"(}& +4 "core" &K F E $\ \ +2 "storage"(!& +2 "manipulator"&t& +8 "core" &K J I <\ \ +2 &  H : +3 .tElbow.reconfigure :tight +46 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&@( +2 ."raiseStack"SE.seek :beamBreak +4 "storage"('r +2 "core" ( +3 "manipulator"&& +4 "core" &   u : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   : : +3 .tForearm.seek PC +2 "manipulator"&|' +92 "core" ' +2 .tHand.close +2 "manipulator"& / +63 "core" / +2 .tPC.seek :open +2 "processing"%i( +89 "core" ' +2 "storage"(M- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +46 "core" ' +308 ( +3 "storage"(P& +4 "core" &K G F \ \ +2 "manipulator"&#& +3 "core" & ` : +2 "manipulator"&:% +5 "core" %  f M +2 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&"( +246 "core" ( +2 "manipulator"&x& +4 "core" &  > + "storage"(.& +4 "core" &K F I ?\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +93 "core" ' +2 .tHand.open + "manipulator"&N1 +53 "core" 1 +3 "storage"(E- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(j' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(\ & +3 "core" &K [ a V\ \ +3 "manipulator"&& +3 "core" & \   = +3 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  = + "storage"(<& +5 "core" &K e d m\ \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&~& +4 "core" & 2 = +2 "storage"(+& +3 "core" &K % = (\ \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&s'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(o' +21 "core" ' + "manipulator"&T% +4 "core" %O  +2 "storage"(G& +4 "core" &K ) - \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&D'{ +16 "core" ' + "manipulator"&=& +5 "core" & m = + "storage"(8& +4 "core" &K G I 1\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(V% +4 "core" % G H 2\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (4% +3 "core" %+R  2\ Wf +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (5& +4 "core" &K 3 7 \ \ +2 "collection"'9& +3 "core" &\\b\ \ '\ L +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  =  +2 "storage"(I% +4 "core" % T T k\  +2 "storage"(k. +47 "core" .(K +4 "storage"(-& +4 "core" &K T S C\ \ +2 "storage"(&& +3 "core" &K S Q\ \ +3 "manipulator"&c& +3 "core" &  = +2 .tElbow.seek 6 +2 "manipulator"&O( +4 "core" ( +2 "manipulator"& & +3 "core" &  > = +3 "storage"(%& +4 "core" &K G I t\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +96 "core" ' +2 "storage"(e& +4 "core" &K Q j \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(3- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" & - = +2 "storage"(1& +4 "core" &K S P L\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&b'< +19 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(Y'k +31 "core" ' + "manipulator"&]% +3 "core" %@ # +3 "storage"(& +3 "core" &K Q J B\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 304 counts + "manipulator"&'l +15 "core" ' +2 "manipulator"&l& +4 "core" & $ = + "storage"(& +5 "core" &K P H I\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(K' +48 "core" ' +2 "manipulator"&0& +4 "core" & \ = +2 "manipulator"&2% +3 "core" % F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ( +3 "manipulator"&a& +4 "core" &Ә \ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ә 4 +2 .tForearm.seek CC +2 "manipulator"&p'? +101 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'_( +451 "core" ( +2 "storage"(& +4 "core" &K j i \ \ +2 "storage"(h& +4 "core" &K J [ \ \ +2 "manipulator"&L& +4 "core" &"  1 "z +2 "manipulator"&Z% +4 "core" %   g +2 .tForearm.seek :retract +2 "manipulator"&'' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +149 "core" ( + "manipulator"&\\& +5 "core" &  + "storage"(6& +4 "core" &K j j \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"& '< +98 "core" ' + .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&Q1 +61 "core" 1 +2 "manipulator"&y% +4 "core" % B j  +2 "storage"(& +4 "core" &K l \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts +2 "manipulator"&J'n +15 "core" ' +2 "manipulator"&/& +4 "core" &  |  +2 "storage"(g& +3 "core" &K \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +15 "core" ' +2 "storage"(`% +42 "core" % \ +10 ."downElevator"SE.seek :down +4 "storage"(m' +98 (7% +3 "core" %K k j \ Va +3 "manipulator"&v% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'A& +3 "core" & 4\ +2 "manipulator"&d% +5 "core" %   y  + "storage"(U% +5 "core" % 7\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(^(,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &,x f ` \ +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&& +3 "core" & T  +2 "storage"(u& +5 "core" &,x  #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +93 "core" ' + "storage"(}& +4 "core" &,x z x 9\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +296 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &,x _ f \\\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &  B  +2 "storage"( & +5 "core" &,x g h \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&M'c +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(,' +8 "core" &  d  + "manipulator"&% +4 "core" % [ G +3 .tForearm.seek :retract +2 "manipulator"&P' +88 "Can", @> +9 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&:& +3 "core" &ӏ 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +2 "core" &ӏ 4 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&x'? +100 "core" ' +2 "manipulator"&.& +3 "core" &ӏ U 4 +3 "manipulator"&@% +4 "core" %;  A ! +2 "collection"'N& +3 "core" & \ +3 "collection"'E& +5 "core" & \ +4 .tCC.seek :closed + "collection"'C(\\ +5 "core" & \ +7 &< \ $e +10 &Xx \ 7 +9 &u \ K +10 &R #\ J +9 &U '\ J +9 &GW \ J +10 & T ,\ J +9 &U \ J +9 &R #\ K +10 &PR +\ J +9 & R ,\ K +10 &!R *\ K +9 &#S (\ K +9 &%WV )\ K +10 &'U $\ K +9 &(R ,\ K +9 &*R )\ J +10 &,`T %\ J +9 &."T +\ J +10 &/W #\ K +9 &1V $\ K +9 &3gR \ K +10 &5)R \ K +9 &6S \ K +9 &8S 1\ J +10 &:oU (\ J +9 &<1V $\ J +10 &=U $\ J +9 &?V \ J +9 &AvW %\ K +10 &C7Z "\ K +9 &Db &\ L +9 &Fn %\ N +10 &Ho\ \ %\ P +9 &J%\ \ #\ T +10 &K\ \  \ W +9 &M\ \ &\ X +9 &O]\ \ '\ Y +10 &Q#\ \ %\ W +9 &R\ \ 1\ Y +9 &T\ \ '\ Z +10 &Vd\ \ $\ Y +9 &X$\ "\ '\ Z +10 &Y\ !\ %\ [ +9 &[\ \ !'\ H +9 &\\5\ \ !"\ . +10 &\\c\ !\ &\ L +2 ( +2 "collection"'E& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&\ 1 +58 "core" 1 +2 "manipulator"&% +3 "core" % ; > ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%<& +4 "core" &\ +2 "manipulator"&R% +4 "core" %   +2 "storage"(~% +48 "core" % T S N\  +5 "storage"(+. +3 "core" .(,y +2 "storage"(T& +4 "core" &,x T S E\ +2 "storage"(G& +4 "core" &,x U S W\ +2 "manipulator"&X& +3 "core" &ө < 1 +3 "manipulator"&=% +4 "core" %  %  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&8( +160 "core" ( +2 "manipulator"& & +3 "core" & w  +3 "storage"(V& +4 "core" &,x k k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +96 "core" ' +2 "storage"(f& +3 "core" &,x k j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(j'r +301 "core" ' + "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &,x Q V\ +3 "manipulator"&& +4 "core" & Z  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  G  +2 "storage"(s& +3 "core" &,x E F \ \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&5'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&9& +2 "storage"(' +8 "core" &  ~  + "manipulator"&I% +4 "core" % y : +2 .tForearm.seek :retract +2 "manipulator"&k' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&o( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&-& +3 "core" & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&c' +90 "core" ' +2 "manipulator"& & +4 "core" &  W +2 "manipulator"&%% +4 "core" % c +2 "processing"%& +3 "core" &\ +3 "processing"%e& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +8 &4z\ *x +10 &d\ > +9 &s\ N +9 &FW\ M +10 & Y\ M +9 &V\ M +10 &W\ M +9 &NZ\ M +9 &X\ M +10 &T\ M +9 & W\ M +9 &"UX\ N +10 &$W\ M +9 &%X\ M +10 &'W\ M +9 &)^W\ M +9 &+!U\ M +10 &,Y\ M +9 &.U\ M +9 &0gT\ M +10 &2(X\ M +9 &3W\ M +10 &5X\ N +9 &7nW\ M +9 &90\\\ M +10 &:\\\ M +9 &<Z\ M +9 &>v]\ M +10 &@8\\\ M +9 &A_\ N +10 &Cd\ O +9 &Eyk\ O +9 &G8s\ P +10 &H\ R +9 &J\ S +9 &Lt\ S +10 &N6\ S +9 &O\ T +10 &Q\ U +9 &Sz\ T +9 &U;\ T +10 &V\ T +9 &X\ T +9 &Z\ T +10 &\\C\ T +9 &]x{\ 9 +10 &^+\ L +9 &^\ . +2 ( +2 "processing"%e& +4 #tProcessing Clamp onSpring/offSpring for 15/24 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&>1 +61 "core" 1 + "manipulator"&;% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +3 "processing"%r& +3 "core" &^\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&1% +4 "core" %    %  +2 "storage"(% +4 "core" % @ G \  +2 "storage"(]. +2 "core" .(,y +2 "storage"(& +4 "core" &,x G @ \ +2 "storage"(l& +3 "manipulator"&& +7 "core" &,x H F \ + &   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&0( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'r +2 "core" ( +3 "manipulator"&n& +4 "core" &   +2 .tElbow.reconfigure :loose +49 "manipulator"&$ &.,(#b +3 &O& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&b/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +47 "core" ' + "storage"(Y- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'1 +37 "core" ' +359 ( +2 "storage"(& +4 "core" &,x L T ;\ +2 "manipulator"&(& +3 "core" & +3 "manipulator"&?% +3 "core" %  X +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&*( +241 "core" ( +2 "manipulator"&[& +3 "core" & * = +2 "storage"(& +4 "core" &,x S H &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +93 "core" ' +2 .tHand.open + "manipulator"&L1 +60 "core" 1 +2 "storage"(Z- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(\\' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(6' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(p- +3 "core" -' +2 "storage"(& +3 "core" &,x A\ +2 "manipulator"&Q& +4 "core" &  \  = +2 .tElbow.seek 4 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&& +4 "core" &   9 = +2 "storage"(/& +4 "core" &,x \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(`'" +50 "core" ' + "manipulator"&'& +4 "core" & k = +2 "storage"(& +3 "core" &,x F F \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&7'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +19 "core" ' +2 "manipulator"&J% +3 "core" %.  % +3 "storage"(A& +4 "core" &,x G E Q\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 291 counts +2 "manipulator"&d'Z +14 "core" ' + "manipulator"&U& +3 "core" & \  = +3 "storage"(& +4 "core" &,x S S e\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +21 "core" ' + "storage"(W% +4 "core" % L <\ +2 ."downElevator"SE.seek :down +4 "storage"(m' +99 (w% +3 "core" %N % $ \ Vb +2 "manipulator"&q% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,x A 9 \ +2 "collection"'u& +4 "core" &\\a\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&}% +5 "core" %  v  + "storage"(H% +4 "core" % O A b\  +2 "storage"(F. +3 "core" .(,y +2 "storage"(t& +4 "core" &,x A D \ +2 "storage"(!& +4 "core" &,x E D \ +2 "manipulator"&& +4 "core" & L = +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & f = +2 "storage"($& +42 "core" &,x B : \ +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +98 "core" ' + "storage"(& +5 "core" &,x j j \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +294 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&:& +3 "core" & = +2 "storage"(|& +4 "core" &,x O F 6\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&z'7 +25 "core" ' + .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(@'f +34 "core" ' + "manipulator"&N% +4 "core" %%  u +2 "storage"( & +4 "core" &,x E F \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 282 counts +2 "manipulator"&,'Q +14 "core" ' +2 "manipulator"&P& +4 "core" &  K = +2 "storage"(_& +4 "core" &,x S T x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&<& +3 "core" & = +2 "manipulator"&R% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +154 "core" ( + "manipulator"&+& +4 "core" &ӑ  6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +2 "core" &ӑ 6 +3 .tForearm.seek CC +2 "manipulator"&G'? +97 "core" ' + .tHand.close +2 "manipulator"&X/ +58 "core" / +2 .tCC.seek :open + "collection"'=( +452 "core" ( +2 "storage"(x& +3 "core" &,x l k \ +3 "storage"( & +4 "core" &,x ] a w\ + "manipulator"&V& +4 "core" &Ө  3 +2 "manipulator"&f% +3 "core" % B  +3 .tForearm.seek :retract +2 "manipulator"&#' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( + "manipulator"&4& +5 "core" &  +2 "storage"(& +3 "core" &,x \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&s1 +62 "core" 1 +2 "manipulator"&D% +4 "core" % 8  S ? +2 "storage"(9& +4 "core" &,x o\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +3 "manipulator"&I'd +15 "core" ' +2 "manipulator"&8& +4 "core" &   + "storage"("& +4 "core" &,x E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +13 "core" ' +2 "storage"(5% +4 "core" % x D\ +3 ."downElevator"SE.seek :down +3 "storage"(-' +99 (&% +3 "core" %E j l \ V_ +2 "manipulator"&% +4 "core" %\  u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +137 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'%& +4 "core" & *\ +2 "manipulator"&% +3 "core" %   +3 "storage"(% +4 "core" %  p\  +2 "storage"(k. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(i(<- +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +3 "core" &<+ X N #\  +2 "manipulator"&;& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&r( +4 "core" ( + "manipulator"&1& +4 "core" &  3  +2 "storage"(& +4 "core" &<* | \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +103 "core" ' + "storage"(& +4 "core" &<* \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +3 "core" &<* h m \  +2 "manipulator"&n& +4 "core" & )  +2 .tElbow.seek 5 +2 "manipulator"&O( +4 "core" ( + "manipulator"&c& +4 "core" &  +2 "storage"(b& +4 "core" &<* l k \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Y'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +3 "storage"(' +8 "core" &  + "manipulator"&2% +4 "core" % ϲ { +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&((ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&?& +3 "core" &Ӑ  W :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ  :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['? +96 "core" ' +2 "manipulator"&& +3 "core" &Ӓ!  I :- +3 "manipulator"&0% +4 "core" %=  ( +2 "collection"'L& +3 "core" & \ +5 "collection"'Z& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'p(\\ +4 "core" & \ +8 &= '\ $d +9 &Wu '\ 6 +9 &w &\ K +10 &R >\ J +9 &|S K\ K +9 &>R B\ K +10 &R \ J +9 &T )\ K +10 &U 0\ K +9 &FR -\ K +9 & R #\ J +10 &!T +\ J +9 &#U )\ J +9 &%NW +\ K +10 &'W +\ J +9 &(T +\ J +10 &*R *\ K +9 &,WR &\ J +9 &.U \ K +10 &/U \ K +9 &1U \ J +9 &3^R \ K +10 &5 R \ K +9 &6S $\ K +10 &8S '\ K +9 &:fX &\ K +9 &<(T (\ K +10 &=T '\ K +9 &?U %\ J +9 &AnW ,\ K +10 &C/Z &\ K +9 &D` *\ L +10 &Fm )\ M +9 &Hg\ \ )\ P +9 &J\ \ "\ T +10 &K\ \ %\ V +9 &M\ \  \ W +9 &OY\ \ *\ W +10 &Q\ \ ,\ X +9 &R\ \ '\ X +10 &T\ \ (\ Y +9 &VZ\ \ "%\ Z +9 &X\ "\ &\ Z +10 &Y\ !\ #'\ Z +9 &[\ #\ "'\ H +9 &\\>\ %\ #%\ (x +10 &\\e\ #\ "+\ H +2 ( +2 "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +4 "manipulator"&Q% +4 "core" % =  ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%/& +4 "core" &\ +2 "manipulator"&% +4 "core" %   +2 "storage"('% +4 "core" % R I T\  + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(J(<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &<+ ' ! +\  +2 "manipulator"&a& +49 "core" &ӫ 7 +4 "manipulator"&U% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&\\& +4 "core" &   +2 "storage"(W& +3 "core" &<* I X \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +93 "core" ' +2 "storage"(h& +3 "core" &<* _ k \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +307 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" &<* G E 2\  +2 "manipulator"&g& +5 "core" & A  +2 .tElbow.seek 5 + "manipulator"&y( +4 "core" ( +2 "manipulator"&`& +4 "core" & W  +2 "storage"(7& +4 "core" &<* Q H L\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&d'Ϲ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +3 "storage"(}' +8 "core" &  + "manipulator"&H% +5 "core" %  J +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&t& +4 "core" & & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"& & +5 "core" & Z +2 "manipulator"&$% +4 "core" % ? z +2 "processing"%K& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%m(^ +3 "core" &\ +7 &7\ #c +9 &V~\ 7 +9 &z\ K +10 &U\ M +9 &bY\ N +9 &&U\ M +10 &X\ M +9 &U\ M +10 &jW\ N +9 &-Y\ M +9 &Z\ M +10 &!W\ M +9 &#tU\ M +9 &%5X\ M +10 &&U\ M +9 &(Y\ M +9 &*{V\ M +10 &,<Y\ N +9 &-W\ M +10 &/\\\ M +9 &1Y\ N +9 &3EX\ M +10 &5X\ M +9 &6U\ M +10 &8Z\ N +9 &:LY\ N +9 &<Z\ N +10 &=[\ M +9 &?\\\ M +9 &ATY\ N +10 &Cb\ N +9 &Dg\ O +9 &Fp\ P +10 &HN\ R +9 &J\ S +10 &K\ S +9 &M\ T +9 &OR\ T +10 &Q\ T +9 &R\ T +10 &T\ U +9 &VY\ T +9 &X\ T +10 &Y\ T +9 &[\ U +9 &]_\ B +10 &^Hy\ S +9 &^\ J\ 3 +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&v1 +3 "core" &^%\ 3 +58 1 + "manipulator"&{% +5 "core" %   z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +93 "core" ' +2 "processing"%:& +4 "core" &^%\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&|% +4 "core" %    " +2 "storage"(.% +4 "core" % $ + 7\  +2 "storage"(N. +3 "core" .(<- +2 "storage"( & +4 "core" &<* ' ' #\  +2 "storage"(P& +3 "manipulator"&_& +7 "core" &<* $ %\  + & ) +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&<( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(R'r +3 "core" ( +2 "manipulator"&S& +4 "core" &   / \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  \ +2 .tForearm.seek PC +2 "manipulator"&B' +95 "core" ' +41 .tHand.close +9 "manipulator"&z/ +55 "core" / +2 .tPC.seek :open +2 "processing"%,( +47 "core" ' +2 "storage"(@- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(+'1 +47 "core" ' +349 ( + "storage"(T& +4 "core" &<* E F \  +2 "manipulator"&\ & +4 "core" & \ +2 "manipulator"&M% +3 "core" %  R @ +3 .tForearm.seek :retract +2 "manipulator"&X' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&~( +241 "core" ( + "manipulator"&C& +4 "core" &  H d +2 "storage"(x& +3 "core" &<* # $ M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +94 "core" ' + .tHand.open +2 "manipulator"&V1 +56 "core" 1 +3 "storage"(f- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(4' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +3 "core" -' +2 "storage"(E& +4 "core" &<* M O e\  +2 "manipulator"&s& +4 "core" &  d +2 .tElbow.seek 5 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&9& +3 "core" &  d +2 "storage"(8& +4 "core" &<* O P P\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(5'" +58 "core" ' +2 "manipulator"&#& +3 "core" &   d +3 "storage"(&& +4 "core" &<* F I R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&%% +3 "core" %Ι  - +2 "storage"(& +5 "core" &<* F I +\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 312 counts + "manipulator"&I' +14 "core" ' + "manipulator"&& +3 "core" &  p d +3 "storage"(k& +3 "core" &<* F P L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&'O +30 "core" ' + "storage"(j% +3 "core" % S U `\ +4 ."downElevator"SE.seek :down +3 "storage"(-' +99 (^% +2 "core" %R $ g\ Xf +3 "manipulator"&>% +4 "core" %N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (1& +3 "core" &<* = $ .\  +3 "collection"'& +3 "core" &\\i\ \ ,\ H +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %   +3 "storage"(% +4 "core" % F F \  +2 "storage"( . +2 "core" .(<- +2 "storage"(l& +4 "core" &<* I Q W\  +2 "storage"(e& +3 "core" &<* P G L\  +2 "manipulator"&n& +4 "core" &  ! d +2 .tElbow.seek 5 +2 "manipulator"&c( +4 "core" ( +2 "manipulator"&b& +3 "core" &  d +2 "storage"(o& +4 "core" &<* S T k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +97 "core" ' +46 "storage"(2& +6 "core" &<* 8 8 !\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +297 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" &  d +3 "storage"(& +3 "core" &<* G H \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +13 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(0'r +42 "core" ' +2 "manipulator"&L% +3 "core" %Γ  G +2 "storage"(O& +4 "core" &<* S 6 <\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 306 counts + "manipulator"&'Ͽ +15 "core" ' + "manipulator"&& +4 "core" &  d +2 "storage"(=& +4 "core" &<* E E "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +29 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(Q' +45 "core" ' +2 "manipulator"&/& +3 "core" &  d +3 "manipulator"&% +4 "core" %S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&Z& +5 "core" &ӏ 8 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &ӏ ) 8 +3 .tForearm.seek CC +2 "manipulator"&a'? +98 "core" ' + .tHand.close +2 "manipulator"&U/ +61 "core" / +2 .tCC.seek :open +2 "collection"'[( +452 "core" ( + "storage"(\\& +4 "core" &<* k k \  +2 "storage"(W& +4 "core" &<* j j \  +2 "manipulator"&i& +3 "core" &ӯ 4 +2 "manipulator"&h% +5 "core" % ;  +2 .tForearm.seek :retract +2 "manipulator"&(' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&w& +3 "core" &  +3 "storage"(q& +4 "core" &<* o \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&g'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&71 +61 "core" 1 +3 "manipulator"&% +4 "core" % ΁ : l + "storage"(u& +5 "core" &<* \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 288 counts +2 "manipulator"&H'ϭ +14 "core" ' + "manipulator"&& +4 "core" & ]  +2 "storage"(*& +3 "core" &<* K\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +28 "core" ' +2 "storage"(d% +3 "core" % } \ +4 ."downElevator"SE.seek :down +4 "storage"(t' +98 (!% +3 "core" %F k i \ V` +3 "manipulator"&y% +4 "core" %U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'$& +47 "core" & -\ +5 "manipulator"&K% +5 "core" %   +2 "storage"(}% +3 "core" % \  +3 "storage"(F. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +3 "core" &K k b \ +2 "manipulator"&{& +5 "core" &  +2 .tElbow.seek 6 + "manipulator"&:( +4 "core" ( +2 "manipulator"&|& +4 "core" &   + "storage"(.& +5 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +93 "core" ' +2 "storage"( & +4 "core" &K } { C\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +293 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &K \\ ^ V\ +2 "manipulator"&S& +5 "core" &  7  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(z& +4 "core" &K i g \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&@'h +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&)& +2 "storage"(m' +6 "core" &  +2 "manipulator"&R% +3 "core" % x  +3 .tForearm.seek :retract +2 "manipulator"&T' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&M& +4 "core" &ӓ I 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &ӓ B 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&C'? +100 "core" ' + "manipulator"&x& +5 "core" &ӓ  t 1 +2 "manipulator"&<% +4 "core" %C  |  +2 "collection"'V& +5 "core" & \ +2 "collection"'f& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'G(\\ +3 "core" & \ +6 & \ 7 +9 &CKv "\ / +9 &st| \ D +10 &Y %\ K +9 &V +\ J +10 &U (\ J +9 &gU \ J +9 &(W /\ K +10 &W 0\ J +9 &T 6\ J +9 &nX /\ K +10 &!1W -\ J +9 &"T 8\ J +10 &$R )\ K +9 &&vW )\ K +9 &(9X +\ J +10 &)T &\ J +9 &+W -\ K +9 &-W &\ J +10 &/@S "\ K +9 &1R ,\ J +10 &2R (\ K +9 &4R )\ K +9 &6HR '\ K +10 &8\ S )\ K +9 &9X 0\ K +9 &;X 3\ K +10 &=PU )\ K +9 &?Z .\ K +10 &@Z 3\ K +9 &Bb 2\ L +9 &DT` 3\ L +10 &Fn 4\ N +9 &G\ \ 3\ P +9 &I\ \ 3\ T +10 &K<\ %\ $5\ W +9 &L\ #\ %3\ X +10 &N\ %\ $.\ X +9 &P\ $\ #2\ X +9 &R@\ #\ #2\ X +10 &S\ #\ "4\ Z +9 &U\ $\ #*\ Y +9 &W\ "\ #,\ Z +10 &Y=\ $\ "/\ \\ +9 &[\ $\ $3\ [ +10 &\\\\K\ %\ %3\ 8 +9 &\\ \ $\ $3\ W +5 ( +3 "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.21 + .Hand.open + "manipulator"&E1 +3 "core" &\\v\ \ !/\ W +51 1 +3 "manipulator"&s% +3 "core" % f R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%8& +4 "core" &\ +2 "manipulator"&X% +3 "core" %   \ +3 "storage"(#% +4 "core" % F H 6\  + "storage"(&. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(%(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K H H +\ +2 "manipulator"&+& +4 "core" &" ' ^ +2 "manipulator"&% +4 "core" %  Y \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +47 "manipulator"&k( +142 "core" ( + "manipulator"&4& +4 "core" & +2 "storage"(j& +3 "core" &K R Q M\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +98 "core" ' +2 "storage"( & +3 "core" &K P f\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (>& +3 "core" &K $ \ +2 "manipulator"&"& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&5& +4 "core" &  +2 "storage"(& +3 "core" &K H O g\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&I'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&1/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & O +2 "manipulator"&% +4 "core" % v G +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&l& +3 "core" & % +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +3 "core" & < % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n' +92 "core" ' + "manipulator"&b& +4 "core" & b % +2 "manipulator"&o% +4 "core" % Q +2 "processing"%& +4 "core" &\ +2 "processing"%2& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%-(^ +5 "core" &\ +7 &8\ #b +10 &V}\ 7 +9 &{\ K +9 &W\ M +10 &fZ\ M +9 &(W\ M +9 &U\ M +10 &W\ M +9 &oT\ M +10 &/Y\ N +9 &X\ M +9 &!W\ N +10 &#vX\ M +9 &%9U\ M +9 &&Y\ M +10 &(T\ M +9 &*}X\ N +10 &,@X\ M +9 &.Y\ M +9 &/Y\ N +10 &1Y\ M +9 &3HX\ M +9 &5 U\ M +10 &6Y\ M +9 &8Z\ N +10 &:PY\ M +9 &<W\ M +9 &=W\ M +10 &?W\ M +9 &AWY\ N +9 &Cb\ N +10 &Dg\ O +9 &Fo\ P +10 &HR\ R +9 &J\ S +9 &K\ S +10 &M\ T +9 &OW\ S +9 &Q\ T +10 &R\ T +9 &T\ U +10 &V]\ T +9 &X\ T +9 &Y\ U +10 &[\ U +9 &]b\ B +9 &^Cy\ ^ +10 &^8\ 2 +5 ( +2 "processing"%2& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&1 +3 "core" &^"\ 2 +61 1 + "manipulator"&;% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +94 "core" ' + "processing"%?& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" % !  ? * +2 "storage"(% +4 "core" % ( + C\  +2 "storage"(L. +3 "core" .(K +2 "storage"(O& +4 "core" &K  \ +2 "storage"(& +3 "manipulator"&=& +7 "core" &K $ \ + &    % +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&/( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&3& +4 "core" &  2 % +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &  % +2 .tForearm.seek PC +2 "manipulator"&r' +90 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +100 "core" ' +49 "storage"(0- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Z'1 +46 "core" ' +250 ( + "storage"(A& +4 "core" &K L G \ +2 "manipulator"&& +4 "core" & ~ % +2 "manipulator"&Y% +4 "core" %  H r +2 .tForearm.seek :retract +2 "manipulator"&U' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&'( +245 "core" ( +2 "manipulator"&p& +3 "core" & p 8 +3 "storage"(\\& +4 "core" &K & $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +98 "core" ' +2 .tHand.open + "manipulator"&i1 +56 "core" 1 +2 "storage"(h- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(w' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(q' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(a- +3 "core" -' +2 "storage"(& +4 "core" &K \ +2 "manipulator"&7& +4 "core" &   8 +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&u& +3 "core" &   ( 8 +2 "storage"(& +4 "core" &K -\ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(d'" +51 "core" ' +2 "manipulator"&(& +4 "core" &  8 +2 "storage"(!& +3 "core" &K + , `\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&y'< +25 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +18 "core" ' +2 "manipulator"&$% +4 "core" %, _ +2 "storage"(H& +3 "core" &K V E =\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 284 counts +2 "manipulator"&Q'X +15 "core" ' +2 "manipulator"&K& +3 "core" & J 8 +3 "storage"(}& +4 "core" &K T T e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&F' +15 "core" ' +2 "storage"(6% +4 "core" % O S Y\ +2 ."downElevator"SE.seek :down +4 "storage"(t' +98 (J% +3 "core" %R\ \ * E\ Wf +3 "manipulator"&v% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (|& +2 "core" &K < # d\ +3 "collection"'.& +4 "core" &\\v\ \ %\ W +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %  #  +2 "storage"(`% +3 "core" % L P 7\  +2 "storage"( . +3 "core" .(K +2 "storage"(P& +4 "core" &K I G j\ +2 "storage"(_& +4 "core" &K I R |\ + "manipulator"&S& +4 "core" & Z 8 +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +3 "manipulator"&z& +4 "core" & B 8 +2 "storage"( & +4 "core" &K H O L\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +98 "core" ' +2 "storage"(R& +4 "core" &K ; B \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +299 "core" ' +4 "storage"(N- +3 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &  8 +2 "storage"(B& +4 "core" &K F H \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(x- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(<'m +29 "core" ' +2 "manipulator"&V% +3 "core" %/   +2 "storage"(& +4 "core" &K H H ?\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 287 counts + "manipulator"&m'[ +15 "core" ' + "manipulator"&T& +4 "core" & 8 +2 "storage"([& +4 "core" &K U S u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +22 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(s' +34 "core" ' +2 "manipulator"&8& +3 "core" & : 8 +2 "manipulator"&X% +4 "core" % 0  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +154 "core" ( + "manipulator"&f& +5 "core" &Ӑ % 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӑ 7 +3 .tForearm.seek CC +2 "manipulator"&+'? +96 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'C( +449 "core" ( +2 "storage"(4& +4 "core" &K j j \ +2 "storage"(j& +4 "core" &K k j \ +2 "manipulator"&& +4 "core" &   $ + "manipulator"&\ % +4 "core" %  T +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&9( +148 "core" ( + "manipulator"&^& +4 "core" & q  +2 "storage"(>& +4 "core" &K m :\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&"'< +97 "core" ' + .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&1% +4 "core" % 6  p 3 +2 "storage"(& +4 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 294 counts + "manipulator"&'b +15 "core" ' +2 "manipulator"&k& +3 "core" & w  +3 "storage"(~& +4 "core" &K b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +21 "core" ' +2 "storage"(I% +4 "core" % | |\ +2 ."downElevator"SE.seek :down +4 "storage"(l' +98 (e% +3 "core" %J j k \ V_ +2 "manipulator"&D% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'o& +4 "core" & +\ +2 "manipulator"&% +3 "core" %  P  +3 "storage"(% +4 "core" %  6\  +2 "storage"( . +2 "core" .(K +45 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(,(,y +665 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| i j \ +2 "manipulator"&;& +4 "core" & b  +2 .tElbow.seek 4 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&& +5 "core" &  <  + "storage"(& +4 "core" &,| ~ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +93 "core" ' +2 "storage"(O& +3 "core" &,| w w \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +296 "core" ' + "storage"(- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &,| k k \ +2 "manipulator"&3& +4 "core" & W  +2 .tElbow.seek 4 +2 "manipulator"&c( +4 "core" ( + "manipulator"&n& +4 "core" &  A  +2 "storage"(& +4 "core" &,| j j \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +3 "storage"(-' +8 "core" & C  + "manipulator"&A% +4 "core" % ] ` +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&Y& +3 "core" &ӏ U 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &ӏ  ; 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&p'? +100 "core" ' +2 "manipulator"&\\& +4 "core" &Ӑ  M 7 +2 "manipulator"&/% +3 "core" %G m  +3 "collection"'i& +4 "core" & \ +2 "collection"'h& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'a(\\ +4 "core" & \  +8 &4z \ *z +10 &f~ \ > +9 &j \ L +10 &XS \ K +9 &S \ J +9 &T \ K +10 &R \ K +9 &aQ '\ J +9 &#U V\ J +10 &R \ K +9 & Q -\ J +10 &"iT "\ J +9 &$*W .\ K +9 &%V +\ K +10 &'Q 4\ J +9 &)qT 2\ J +9 &+2W .\ J +10 &,T +\ J +9 &.W +\ J +10 &0wS 0\ K +9 &2:R 0\ K +9 &3S :\ J +10 &5U =\ J +9 &7T +\ J +9 &9BS ;\ K +10 &;T 7\ K +9 &<T 9\ K +10 &>T 3\ K +9 &@KU 1\ J +9 &B W 2\ K +10 &C\\ 5\ K +9 &Ed 4\ M +9 &GHs *\ N +10 &I\ \ \ .\ Q +9 &J\ \ 1\ V +10 &Lt\ \ (\ W +9 &N4\ \ 1\ W +9 &O\ \ 4\ X +10 &Q\ \ 3\ Y +9 &Sv\ \ 4\ Y +9 &U9\ \ 4\ Y +10 &V\ \ 4\ Z +9 &X\ \ -\ Z +10 &Zy\ \ /\ [ +9 &\\ {\ \ "3\ . +9 &\\1\ \ #3\ ^ +9 ( +3 "collection"'h& +3 "core" &\\m\ \ 3\ K +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&1 +61 "core" 1 +3 "manipulator"&7% +4 "core" % G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&U% +3 "core" %    +3 "storage"((% +4 "core" % E O W\  + "storage"(!. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"($(,y +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (H& +3 "core" &,| % " #\ +3 "manipulator"&Z& +4 "core" &ө / 4 + "manipulator"&K% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&}( +166 "core" ( + "manipulator"&w& +4 "core" &  +2 "storage"(6& +4 "core" &,| 9 < \ +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +96 "core" ' +2 "storage"(W& +4 "core" &,| j j \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +310 "core" ' + "storage"(J- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (v& +3 "core" &,| R I ,\ +2 "manipulator"&*& +3 "core" & '  +3 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&d& +4 "core" &  +2 "storage"(y& +4 "core" &,| 8 8 \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&Q'c +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"( ' +7 "core" & _  +2 "manipulator"&`% +3 "core" % y G +3 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"& ( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&P& +4 "core" & ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" & o ? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&S' +100 "core" ' + "manipulator"&z& +4 "core" & F ? +2 "manipulator"& % +5 "core" %  7 +2 "processing"%F& +4 "core" &\ +2 "processing"%R& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%t(^ +5 "core" &\ +6 &>\ $d +10 &W\ 7 +9 &|\ L +9 &V\ M +10 &oY\ N +9 &3U\ M +10 &X\ N +9 &Y\ M +9 &yT\ M +10 &:X\ M +9 &U\ M +9 &!Y\ M +10 &#W\ M +9 &%BZ\ M +10 &'X\ M +9 &(U\ M +9 &*Y\ N +10 &,JY\ M +9 &. W\ M +9 &/V\ M +10 &1X\ N +9 &3SW\ M +10 &5W\ M +9 &6Z\ M +9 &8Z\ M +10 &:ZU\ M +9 &<W\ N +9 &=Y\ M +10 &?X\ M +9 &AaZ\ N +10 &C!a\ N +9 &Dc\ O +9 &Fo\ P +10 &H^}\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &O`\ S +10 &Q \ T +9 &R\ T +9 &T\ U +10 &Vg\ T +9 &X(\ T +9 &Y\ T +10 &[\ T +9 &]m\ A +10 &^>s\ $k +9 &^&\ . +5 ( +2 "processing"%R& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&1 +3 "core" &^\ . +54 1 + "manipulator"&{% +4 "core" %    7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +91 "core" ' + "processing"%M& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&B% +4 "core" %  \   +2 "storage"(x% +4 "core" % $ $ \  +2 "storage"(V. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (T& +2 "manipulator"&[& +4 "core" &,|\ "\ ! \ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&8( +2 "storage"(X'r +5 "core" ( + "manipulator"&)& +3 "core" &  ? +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   ? +2 .tForearm.seek PC +2 "manipulator"&:' +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%m( +94 "core" ' +2 "storage"(<- +43 "core" -'r +9 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(f'1 +52 "core" ' +250 ( +2 "storage"(& +4 "core" &,| I F \ + "manipulator"&E& +5 "core" & ( ? + "manipulator"&@% +4 "core" %  R +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&#( +245 "core" ( +2 "manipulator"&G& +4 "core" & r . +2 "storage"(4& +4 "core" &,| I H !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +97 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +3 "storage"(\ - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(^' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(>' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(+- +3 "core" -' +2 "storage"(&& +3 "core" &,| \ +2 "manipulator"&& +5 "core" & \  . +2 .tElbow.seek 4 + "manipulator"&1( +3 "core" ( +2 "manipulator"&& +4 "core" &   . +2 "storage"(k& +4 "core" &,| \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(I'" +55 "core" ' +2 "manipulator"& & +3 "core" &   . +2 "storage"(e& +4 "core" &,| F E E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&D'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"("' +28 "core" ' + "manipulator"&% +4 "core" %F +2 "storage"(o& +4 "core" &,| 7 3 y\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 315 counts + "manipulator"&'r +14 "core" ' +2 "manipulator"&& +3 "core" &  . +3 "storage"( & +3 "core" &,| E G /\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +15 "core" ' +2 "storage"(% +4 "core" % S S Q\ +2 ."downElevator"SE.seek :down +4 "storage"(l' +99 (%% +3 "core" %RO & \ Wd +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,| 3 1\ +3 "collection"'& +4 "core" &\\m\ \ +\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&O% +5 "core" %  [  + "storage"(5% +4 "core" % H F 0\  +2 "storage"(b. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (=& +2 "core" &,{ Z \ +3 "manipulator"&3& +3 "core" & - . +3 .tElbow.seek 4 +2 "manipulator"&n( +4 "core" ( + "manipulator"&& +4 "core" & . +2 "storage"(]& +4 "core" &,| P F K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +97 "core" ' +2 "storage"(A& +4 "core" &,| P j N\ +2 .tSE.reconfigure :pick +46 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(?'r +298 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" & S . +2 "storage"(r& +4 "core" &,| S S \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&2'7 +17 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(/'e +29 "core" ' + "manipulator"&i% +4 "core" %K  , +2 "storage"(c& +4 "core" &,| S T b\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&-'w +14 "core" ' +2 "manipulator"&& +3 "core" &  P . +2 "storage"(C& +5 "core" &,| 9 = \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(7' +36 "core" ' +2 "manipulator"&& +4 "core" & $ . +2 "manipulator"&U% +4 "core" % q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&!(ӂ +154 "core" ( +2 "manipulator"&h& +3 "core" &ӑ  ; 5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &ӑ * 5 +2 .tForearm.seek CC +2 "manipulator"&Z'? +99 "core" ' +2 .tHand.close + "manipulator"&K/ +63 "core" / +2 .tCC.seek :open +2 "collection"'p( +448 "core" ( +2 "storage"(w& +3 "core" &,| _ ] \ +2 "storage"(6& +5 "core" &,| j g s\ + "manipulator"&,& +4 "core" &ӥ  2 +2 "manipulator"&% +4 "core" % N v  +2 .tForearm.seek :retract +2 "manipulator"&W' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&u( +161 "core" ( +2 "manipulator"&J& +3 "core" & <  +3 "storage"(v& +3 "core" &,| \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&*'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +53 "core" 1 +2 "manipulator"&|% +3 "core" % #  , +2 "storage"(.& +4 "core" &,|  #\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 280 counts +2 "manipulator"&`'O +15 "core" ' +2 "manipulator"&}& +5 "core" &  t  + "storage"('& +4 "core" &,| y x Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&q' +20 "core" ' +2 "storage"(Q% +4 "core" % z ;\ +3 ."downElevator"SE.seek :down +3 "storage"(P' +99 (_% +2 "core" %E k j \ V_ +2 "manipulator"&% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"' & +4 "core" & D\ +2 "manipulator"&F% +4 "core" % \   +44 "storage"( % +8 "core" % x w \  + "storage"(g. +5 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<, J T /\  +3 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&M( +12 "core" ( + "manipulator"&B& +3 "core" & [ v +3 "storage"(x& +4 "core" &<+ v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +103 "core" ' +2 "storage"(R& +4 "core" &<+ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +292 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &<+ ^ h P\  +2 "manipulator"&& +4 "core" &  v +2 .tElbow.seek 5 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&& +4 "core" &   v + "storage"($& +4 "core" &<+  \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&<'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +3 "storage"(t' +8 "core" & v + "manipulator"&X% +4 "core" % Ͽ +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&@& +4 "core" &Ӓ  P 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &Ӓ  5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'? +94 "core" ' +2 "manipulator"&4& +3 "core" &Ӓ q 5 +3 "manipulator"&8% +4 "core" %I d ; +2 "collection"'& +3 "core" & \ +6 "collection"'\ & +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'+(\\ +4 "core" & \  +9 &4z \ *y +9 &g~ \ > +9 &n \ L +10 &WS \ K +9 &X \ K +10 &Y 2\ J +9 &T $\ J +9 &_W \ K +10 & W Q\ K +9 &R \ K +9 & R ;\ J +10 &"hU A\ J +9 &$)W 7\ K +10 &%W 3\ K +9 &'W 2\ J +9 &)pT 7\ J +10 &+3T 5\ J +9 &,W =\ J +9 &.S 6\ K +10 &0xT 4\ J +9 &2:U 5\ J +10 &3Y '\ J +9 &5U 4\ J +9 &7U 5\ J +10 &9AT ;\ K +9 &;T 7\ K +9 &<T 0\ K +10 &>U )\ K +9 &@IU *\ K +10 &B W 4\ J +9 &C] ,\ L +9 &Ed +\ L +10 &GHp (\ N +9 &I\ \ 2\ Q +9 &J\ !\ 3\ U +10 &Lu\ "\ "1\ V +9 &N4\ !\ "3\ W +10 &O\ !\ #.\ X +9 &Q\ !\ "3\ X +9 &Sx\ !\ "2\ X +10 &U8\ "\ #3\ Y +9 &V\ "\ !/\ Y +9 &X\ "\ #1\ Z +10 &Zx\ #\ #3\ [ +9 &\\x\ %\ $0\ 0 +10 &\\/\ #\ $2\ X +8 ( +3 "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&&1 +3 "core" &\\a\ !\ ".\ K +50 1 +2 "manipulator"&% +4 "core" % I 1 ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%k& +3 "core" &\ +3 "manipulator"&% +3 "core" %    +3 "storage"( % +4 "core" % O E +\  + "storage"(e. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (f& +3 "core" &<+ P %\  +2 "manipulator"&o& +4 "core" &ӧ [ 2 +2 "manipulator"&% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&^( +161 "core" ( + "manipulator"& & +51 "core" &  +2 "storage"(& +4 "core" &<+ 9 8 b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +94 "core" ' +3 "storage"(j& +4 "core" &<+ j j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +301 "core" ' + "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" &<+ S D h\  +2 "manipulator"&~& +4 "core" & .  +2 .tElbow.seek 5 +2 "manipulator"&1( +4 "core" ( + "manipulator"&I& +4 "core" & ^  +2 "storage"(D& +3 "core" &<+ 8 8 S\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(O' +8 "core" &  + "manipulator"&5% +4 "core" % ϼ +2 .tForearm.seek :retract +2 "manipulator"&b' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +2 "manipulator"&=& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&]& +4 "core" &  # +2 "manipulator"&s% +4 "core" % 4 +2 "processing"%A& +4 "core" &\ +2 "processing"%l& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 &7\ #b +9 &V~\ 6 +9 &}\ K +10 &W\ M +9 &_Y\ M +9 &!U\ M +10 &Y\ M +9 &W\ N +10 &gV\ M +9 &)Y\ M +9 &Y\ M +10 &!W\ N +9 &#oW\ M +9 &%2U\ M +10 &&X\ M +9 &(T\ M +10 &*wZ\ M +9 &,8Y\ N +9 &-V\ M +10 &/[\ M +9 &1Y\ M +9 &3AW\ M +10 &5T\ M +9 &6Y\ M +10 &8Y\ N +9 &:HY\ N +9 &< V\ M +10 &=W\ N +9 &?Z\ M +10 &APX\ N +9 &Cb\ O +9 &Df\ O +10 &Fp\ P +9 &HL\ R +9 &J \ S +10 &K\ S +9 &M\ T +9 &ON\ T +10 &Q\ T +9 &R\ T +10 &T\ U +9 &VU\ T +9 &X\ U +10 &Y\ T +9 &[\ T +9 &][\ B +10 &^J\ S +9 &^ R\ 6 +6 ( + "processing"%l& +4 "core" &^,\ 6 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&91 +56 "core" 1 +2 "manipulator"&;% +3 "core" %    4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +90 "core" ' +2 "processing"%Y& +4 "core" &^,\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&r% +4 "core" %    "  +2 "storage"(\\% +4 "core" % $ & \  +2 "storage"(i. +3 "core" .(<- +2 "storage"(c& +3 "core" &<+ $ $ +\  +3 "storage"(& +2 "manipulator"&C& +9 "core" &<+ % $ F\  + &   \ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&U( +7 "core" ( +2 "manipulator"&0& +3 "core" &  \ 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +2 "core" &  ' +3 .tForearm.seek PC +2 "manipulator"&?' +94 "core" ' + .tHand.close +2 "manipulator"&2/ +53 "core" / +2 .tPC.seek :open +2 "processing"%-( +94 "core" ' +2 "storage"(/- +3 "core" -'r +2 ."raiseStack"SE.configure :default +49 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(h'1 +47 "core" ' +258 ( +2 "storage"(H& +4 "core" &<+ Q S #\  + "manipulator"&& +5 "core" &  + "manipulator"&% +5 "core" %  F P +2 .tForearm.seek :retract +2 "manipulator"&K' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&(( +242 "core" ( +2 "manipulator"&a& +4 "core" & X  +2 "storage"(w& +4 "core" &<+ E F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +96 "core" ' +2 .tHand.open + "manipulator"&,1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(v' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +3 "core" -' +2 "storage"(!& +4 "core" &<+ b\  +2 "manipulator"&y& +4 "core" &   "  +2 .tElbow.seek 5 +2 "manipulator"&|( +21 "core" ( + "manipulator"&.& +4 "core" &    +2 "storage"(}& +4 "core" &<+ j m m\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Q'" +52 "core" ' +2 "manipulator"&W& +3 "core" & #  +3 "storage"(_& +4 "core" &<+ F P \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(*' +22 "core" ' + "manipulator"& % +5 "core" %· J % + "storage"(`& +4 "core" &<+ F E =\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 294 counts + "manipulator"&F'ϳ +14 "core" ' +2 "manipulator"& & +4 "core" &  E  +2 "storage"(7& +4 "core" &<+ S I \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +24 "core" ' + "storage"(q% +4 "core" % < 9 ]\ +3 ."downElevator"SE.seek :down +3 "storage"(P' +99 (% +3 "core" %dO + !\ We +2 "manipulator"&% +4 "core" %q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (B& +3 "core" &<+ @ Y V\  +2 "collection"'x& +4 "core" &\\a\ \ 3\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&R% +4 "core" %  W  +2 "storage"(d% +4 "core" % 8 ; \  +2 "storage"(z. +3 "core" .(<- +2 "storage"([& +3 "core" &<+ ; = \  +2 "storage"()& +4 "core" &<+ 9 ; l\  +2 "manipulator"&& +4 "core" & >  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&$& +4 "core" &  O  +2 "storage"( & +3 "core" &<+ > M ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +96 "core" ' +2 "storage"(X& +3 "core" &<+ g j X\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(M'r +298 "core" ' + "storage"(V- +3 "core" -' +41 .tSE.configure :default +10 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" & x  +2 "storage"(:& +4 "core" &<+ < C r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&T'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(8'r +29 "core" ' + "manipulator"&% +4 "core" %Ο { I +2 "storage"(S& +3 "core" &<+ S I \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&t' +25 "core" ' +2 "manipulator"&& +3 "core" & V  +2 "storage"(p& +4 "core" &<+ B < \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +45 "core" ' +2 "manipulator"&k& +3 "core" & Z  +3 "manipulator"&% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +168 "core" ( +2 "manipulator"&\ & +4 "core" &Ӎ  + +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &f& +2 "core" &Ӎ  + +3 .tForearm.seek CC +2 "manipulator"&o'? +92 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'G( +449 "core" ( + "storage"( & +4 "core" &<+ i ` I\  +2 "storage"(& +3 "core" &<+ g \\ \  +3 "manipulator"&& +4 "core" &Ӧ ( + "manipulator"&E% +4 "core" % H  +2 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +159 "core" ( + "manipulator"&%& +4 "core" & V  +2 "storage"(& +3 "core" &<+ e\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&~'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&D1 +56 "core" 1 +2 "manipulator"&% +3 "core" % Ύ  b A +2 "storage"(& +5 "core" &<+ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&5'Ϻ +14 "core" ' +2 "manipulator"&^& +4 "core" &   +2 "storage"(#& +3 "core" &<+  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +21 "core" ' +2 "storage"(% +3 "core" %  \ +4 ."downElevator"SE.seek :down +3 "storage"(=' +98 (3% +3 "core" %H j l r\ Va +2 "manipulator"&1% +5 "core" %F : 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'s& +4 "core" & ?\ + "manipulator"&A% +5 "core" %  =  +2 "storage"(O% +4 "core" % z /\  +2 "storage"(b. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +46 "storage"(m(K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &K [ M \  +2 "manipulator"&;& +4 "core" & y  +2 .tElbow.seek 6 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&r& +3 "core" &   +3 "storage"(\\& +4 "core" &K  Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +94 "core" ' +2 "storage"(c& +4 "core" &K _\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &K k h \  +2 "manipulator"&0& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&n( +4 "core" ( + "manipulator"&& +5 "core" &   + "storage"(2& +4 "core" &K k o '\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&/'h +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"(' +5 "core" &  +3 "manipulator"&% +4 "core" % s   +2 .tForearm.seek :retract +2 "manipulator"&H' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &ӈ  ' / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &?& +2 "core" &ӈ   / +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&a'? +103 "core" ' +2 "manipulator"&w& +3 "core" &ӈ   / +2 "manipulator"&U% +5 "core" %N c +2 "collection"',& +3 "core" & \ +3 "collection"'& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'Z(\\ +4 "core" & \ +7 &< \ $e +9 &Wu \ 6 +10 &w \ K +9 &R \ J +9 &S 2\ K +10 &BR (\ J +9 &T '\ J +10 &T 9\ J +9 &X !\ K +9 &JS \ J +10 & T 7\ J +9 &!W 9\ J +9 &#U =\ J +10 &%RT :\ J +9 &'W A\ K +10 &(X 4\ J +9 &*R =\ K +9 &,ZW A\ J +10 &.T B\ J +9 &/W 8\ K +9 &1W >\ K +10 &3bR 3\ J +9 &5"S ;\ K +10 &6T A\ K +9 &8S 6\ K +9 &:iT 7\ K +10 &<+U +\ K +9 &=X 4\ K +9 &?\\ 0\ K +10 &Ao_ 0\ K +9 &C1^ 3\ K +10 &De 3\ M +9 &Fp 3\ N +9 &Hc\ \ 1\ R +10 &J\ %\ 0\ U +9 &K\ &\ %*\ W +9 &M\ %\ $.\ W +10 &O[\ %\ #'\ X +9 &Q\ #\ $&\ X +10 &R\ "\ #4\ X +9 &T\ "\ %5\ Y +9 &V_\ "\ #*\ Y +10 &X\ $\ $4\ Z +9 &Y\ #\ #3\ [ +9 &[\ #\ #-\ G +10 &\\=\ %\ #1\ ){ +9 &\\_\ !\ "4\ K +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&!1 +55 "core" 1 +2 "manipulator"&y% +4 "core" % ϙ  B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%K& +5 "core" &\ + "manipulator"&}% +4 "core" %  x +2 "storage"(W% +4 "core" % k j \  +2 "storage"(_. +3 "core" .(K +2 "storage"( & +4 "core" &K j j \  + "storage"(h& +4 "core" &K i g \  +2 "manipulator"&`& +3 "core" & K +2 "manipulator"& % +4 "core" %  y x +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&J( +150 "core" ( + "manipulator"&7& +4 "core" & u  +2 "storage"(q& +4 "core" &K j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +90 "core" ' + "storage"(6& +4 "core" &K j j \  +2 .tSE.reconfigure :pick +50 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(v'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K I G @\  +2 "manipulator"&'& +5 "core" & v  +2 .tElbow.seek 6 + "manipulator"&|( +4 "core" ( +2 "manipulator"&Q& +3 "core" &  +2 "storage"(& +5 "core" &K H P 5\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&F'h +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(R' +9 "core" & O  + "manipulator"&d% +4 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&z' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&[& +4 "core" & 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &  9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&$& +4 "core" &  w 9 +2 "manipulator"& % +4 "core" % 9 P +2 "processing"%g& +3 "core" &\ +3 "processing"%X& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%P(^ +5 "core" &\  +8 &2v\ )u +9 &b~\ = +10 &gu\ N +9 &(W\ N +9 &W\ N +10 &U\ M +9 &oY\ M +10 &1Z\ M +9 &W\ N +9 &W\ N +10 & wW\ M +9 &"9T\ M +9 &#Y\ M +10 &%U\ M +9 &'T\ M +9 &)AW\ M +10 &+V\ M +9 &,U\ M +10 &.W\ M +9 &0HW\ N +9 &2 W\ M +10 &3T\ M +9 &5V\ N +9 &7QW\ M +10 &9W\ M +9 &:W\ N +10 &<[\ M +9 &>Y\\\ M +9 &@W\ N +10 &A^\ N +9 &Ce\ O +9 &E\\h\ O +10 &Gp\ P +9 &H\ R +10 &J\ S +9 &LW\ S +9 &N\ T +10 &O\ S +9 &Q\ U +9 &S]\ T +10 &U\ T +9 &V\ T +10 &X\ T +9 &Zc\ U +9 &\\%\ U +10 &]z\ 7 +9 &^0\ P +9 &^!\ / +3 ( +2 "processing"%X& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&u1 +65 "core" 1 + "manipulator"&{% +4 "core" %  \ z P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +96 "core" ' +2 "processing"%@& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&:% +4 "core" % !   / ( +2 "storage"(4% +4 "core" % $ $ ,\  +2 "storage"(. +3 "core" .(K +2 "storage"(S& +4 "core" &K $ $ 1\  +2 "storage"(& +3 "manipulator"&p& +7 "core" &K # # \  + &   9 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&k( +7 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +3 "manipulator"&N& +4 "core" &   9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   U 9 +2 .tForearm.seek PC +2 "manipulator"&M' +98 "core" ' + .tHand.close + "manipulator"&T/ +60 "core" / +3 .tPC.seek :open +2 "processing"%t( +88 "core" ' +2 "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(\ '1 +40 "core" ' +317 ( + "storage"(f& +4 "core" &K I S 8\  +2 "manipulator"&&& +4 "core" & L 9 +2 "manipulator"&<% +4 "core" %  s d +42 .tForearm.seek :retract +9 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +258 "core" ( +2 "manipulator"&+& +4 "core" &  e + "storage"( & +5 "core" &K ( $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +98 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +3 "storage"(E- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(%' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(o- +3 "core" -' +2 "storage"(e& +4 "core" &K M\  +2 "manipulator"&D& +3 "core" &   $ e +3 .tElbow.seek 6 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&& +3 "core" &   3 +2 "storage"(^& +4 "core" &K \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&#' +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&j& +3 "core" &  3 +3 "storage"(3& +4 "core" &K I F !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&1'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(~' +18 "core" ' +2 "manipulator"&s% +4 "core" %> +2 "storage"(5& +4 "core" &K F H R\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 302 counts + "manipulator"&A'j +15 "core" ' +2 "manipulator"&O& +4 "core" & I 3 +2 "storage"(b& +4 "core" &K = 9 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(>% +3 "core" % j j ^\ +3 ."downElevator"SE.seek :down +4 "storage"(=' +98 (% +3 "core" %Q ' $\ Xf +2 "manipulator"&9% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +96 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (r& +3 "core" &K 8 0 Q\  +3 "collection"'\\& +4 "core" &\\b\ \ <\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&c% +4 "core" % !  $ +2 "storage"(I% +4 "core" % S S _\  + "storage"(]. +3 "core" .(K +2 "storage"(C& +9 "core" &K ; C g\  +2 "storage"(l& +3 "core" &K S S\  +2 "manipulator"&0& +9 "core" &  3 +2 .tElbow.seek 6 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&2& +3 "core" & S  +2 "storage"("& +5 "core" &K T H \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +96 "core" ' +2 "storage"(& +3 "core" &K j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'r +299 "core" ' + "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & W  +2 "storage"(?& +5 "core" &K G H 9\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +48 "core" ' +3 .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(w- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(n'm +34 "core" ' +2 "manipulator"&U% +3 "core" %I ; K +3 "storage"(,& +3 "core" &K I H U\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&'u +15 "core" ' +2 "manipulator"&H& +4 "core" & Y  +2 "storage"(G& +4 "core" &K S S M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&!' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(y' +36 "core" ' +2 "manipulator"&K& +3 "core" & p  +3 "manipulator"&}% +4 "core" % % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_(ӂ +150 "core" ( +3 "manipulator"& & +3 "core" &Ӎ  9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӎ  9' +3 .tForearm.seek CC +2 "manipulator"&h'? +104 "core" ' +2 .tHand.close +2 "manipulator"&`/ +61 "core" / + .tCC.seek :open +2 "collection"' ( +452 "core" ( +2 "storage"(a& +4 "core" &K ; = \  +2 "storage"(7& +4 "core" &K 8 8 g\  +2 "manipulator"&q& +4 "core" & I & + "manipulator"&6% +4 "core" %   9 +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&.( +146 "core" ( +2 "manipulator"&& +3 "core" & "  +2 "storage"(& +5 "core" &K w p /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&''< +98 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "manipulator"&B% +4 "core" % O  &  + "storage"(x& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&d'{ +13 "core" ' +3 "manipulator"&J& +3 "core" &  ]  +3 "storage"((& +4 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +15 "core" ' + "storage"(F% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"([' +99 ()% +3 "core" %G j j \ Wa +2 "manipulator"&|% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +9975 "Can"  41 +60001  51 +60002  52 +60001  52 +60001 7 42 +60001  52 +60002  41 +60001  52 +60001 ? 41 +60001 ( 51 +60002   42 +60001  41 +60001 + 52 +60001 D 52 +60002 0 51 +60001  41 +60002   52 +60001 G 42 +60001 ( 42 +60001  52 +60002  41 +60001 < 41 +60001 1 52 +60002 * 52 +60001 + 41 +60001 & 41 +60001  52 +60002  52 +60001   52 +60001  51 +60002  41 +60001  52 +60001  42 +60001  52 +60002  52 +60001  52 +60001  52 +60002 B 42 +60001 & 42 +60001  42 +60001 \  42 +60002  52 +60001 / 52 +60001  42 +60001   41 +60002  42 +60001  52 +60001 s 52 +60001 I 52 +60002 # 52 +60001  42 +60001  52 +60002 A 42 +60001  51 +60001 b 41 +60001 ' 41 +60002   52 @EDT1688098053.79  52 +60001  52 +60001 = 52 +60002  42 +60001 G 51 +60001  52 +60002  51 +60001  52 +60001 x 52 +60001 T 51 +60002  42 +60001  51 +60001  41 +60002  52 +60001 W 53 +60001  42 +60001  41 +60002 C 52 +60001 \  52 +60001  51 +60002 3 42 +60001  52 +60001  52 +60001 D 52 +60002  52 +60001  52 +60001  51 +60002  52 +60001  42 +60001 3 41 +60001 + 42 +60002  42 +60001 J 52 +60001  52 +60001  42 +60002 M 52 +60001 - 42 +60001  52 +60001  42 +60001 J 52 +60002  41 +60001 D 41 +60001  52 +60002  52 +60001  52 +60001 = 41 +60001   42 +60002  42 +60001  41 +60001  52 @1688391262.35EDT = =tMAIN =mMAIN_scheduler @EDT1688391264.23 #"core_reset"Sent BREAK +2 #t@4521 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +257 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +396 "Can" !x +  !x + #tPolling Can every 10:00 +67 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +520 #-> ESP.ready! +3 #Powering core bus +554 .Gate.power :raw,:ON +2 "sampler") +55 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +1529 #-> 25.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'1& +3 "core" &\ !\ #\  +2 .tHand.open + "manipulator"&21 +64 "core" 1 + "manipulator"&3% +4 "core" %    m ` +2 "storage"(4% +4 "core" % Y Y\  +2 "storage"(5. +2 "core" .(,y +2 "storage"(6& +4 "core" &,w N T W\ +2 "storage"(7& +3 "core" &,w J S \ +2 "manipulator"&8& +4 "core" &   = : +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&9( +17 "core" ( + "manipulator"&:& +4 "core" &    +2 "storage"(;& +4 "core" &,w Z Y\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +92 "core" ' +2 "storage"(=& +5 "core" &,w ` U\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +302 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &,l 0 0 7\  +2 "manipulator"&A& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&B( +5 "core" ( + "manipulator"&C& +4 "core" &   +2 "storage"(D& +4 "core" &,l 0 0 A\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&E'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(H' +8 "core" &   +2 "manipulator"&I% +4 "core" % a  +2 .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&L& +4 "core" &Ӊ! ` :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &Ӊ!  H :- +43 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'? +100 "core" ' +2 "manipulator"&O& +4 "core" &ӊ"   :, +2 "manipulator"&P% +4 "core" %G  k  +2 "collection"'Q& +4 "core" &\ #\ "\  +3 "collection"'R& +5 "core" &\ #\ !\  +2 .tCC.seek :closed +3 "collection"'S(\\ +3 "core" &\ \ !\  +6 &\ #\ "\ = +9 &J|\ #\ $\ 2 +10 &Qv\ "\ #\ F +9 &]\ #\ #\ M +9 &Z\ %\ #\ M +10 &\\\ %\ $\ M +9 &EZ\ %\ #\ M +9 &Z\ #\ #\ M +10 &W\ %\ %\ M +9 &[\ '\ %\ M +10 &MZ\ $\ $\ M +9 &!X\ $\ &\ M +9 &"[\ %\ %\ M +10 &$Z\ %\ &\ M +9 &&T]\ '\ %\ M +9 &(\\\ $\ &\ M +10 &)Y\ %\ (\ M +9 &+[\ &\ $\ M +10 &-]X\ (\ &\ M +9 &/ Y\ '\ &\ L +9 &0X\ &\ '\ M +10 &2]\ %\ '\ M +9 &4fY\ &\ &\ L +9 &6'Y\ $\ &\ M +10 &7Y\ &\ '\ M +9 &9Y\ %\ '\ M +10 &;mY\ '\ '\ M +9 &=.]\ &\ &\ M +9 &>Z\ '\ &\ M +10 &@Z\ &\ '\ M +9 &Bs^\ (\ )\ M +9 &D3c\ +\ -\ N +10 &Eq\ 1\ 0\ O +9 &G}\ 8\ 4\ Q +10 &Ig\ H\ A\ T +9 &K \ O\ P\ W +9 &L\ O\ N\ X +10 &N\ I\ K\ X +9 &Pc\ G\ I\ X +9 &R$\ E\ F\ Y +10 &S\ D\ E\ Y +9 &U\ E\ B\ Z +10 &Wd\ A\ B\ [ +9 &Y$\ B\ C\ [ +9 &Z\ C\ B\ \\ +10 &\\P[\ E\ B\ - +9 &\\\ A\ B\ N +9 ( +3 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&T1 +4 "core" &\\d\ @\ A\ K +60 1 +2 "manipulator"&U% +4 "core" % G   G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%W& +4 "core" &/\  +2 "manipulator"&X% +3 "core" %    _  +2 "storage"(Y% +4 "core" % R \ +2 "storage"(Z. +2 "core" .(,y +2 "storage"([& +4 "core" &,l Q \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(\\(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (]& +2 "core" &,{\ \ ' \ +3 "manipulator"&^& +3 "core" &ӫ   5 5 +2 "manipulator"&_% +4 "core" %    .  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +159 "core" ( +2 "manipulator"&a& +4 "core" &   W +2 "storage"(b& +4 "core" &,{ \ # O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +95 "core" ' +2 "storage"(d& +4 "core" &,{ # " B\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +294 "core" ' +2 "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (g& +3 "core" &,l\ \  \  +2 "manipulator"&h& +4 "core" & R +2 .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&j& +8 "core" &  % +2 "storage"(k& +4 "core" &,l\ \ \  +7 .tForearm.seek 4 + 300 counts +2 "manipulator"&l'c +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(o' +8 "core" &  p +2 "manipulator"&p% +4 "core" % σ  _ +2 .tForearm.seek :retract +2 "manipulator"&q' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&s& +4 "core" &  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +97 "core" ' +2 "manipulator"&v& +3 "core" &  a 8 +3 "manipulator"&w% +4 "core" %   _ +2 "processing"%x& +4 "core" &G\  +3 "processing"%y& +5 "core" &,\  +2 .tPC.seek :closed +2 "processing"%z(^ +4 "core" &F\  +9 &5xH\ *y +9 &cG\ ? +9 &W}G\ P +10 &_F\ O +9 &\\E\ O +9 &]?\ O +10 &`_C\ O +9 &"_?\ O +10 &`7\ O +9 &_=\ O +9 & g`B\ O +10 &")_7\ O +9 &#_=\ O +9 &%_;\ O +10 &'p`7\ O +9 &)2_>\ O +10 &*^<\ O +9 &,`:\ O +9 &.z]@\ N +10 &09_:\ O +45 &1_C\ O +10 &3]9\ O +2 &5^9\ O +2 &7C_9\ O + &9b7\ O + &:bC\ O +4 &<bD\ O +10 &>IbD\ O +9 &@ `=\ O +9 &Af<\ O +10 &Ck;\ P +9 &ELqB\ Q +10 &G x?\ R +9 &HD\ S +9 &JE\ U +10 &LI6\ U +9 &N\ 6\ U +10 &O:\ U +9 &QA\ V +9 &SO>\ U +10 &U7\ V +9 &V>\ V +9 &X:\ V +10 &ZU4\ V +9 &\\7\ U +10 &]>\ 6 +9 &^-m>\ X +9 &^!;\ 1 +3 ( +2 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&{1 +64 "core" 1 + "manipulator"&|% +4 "core" % !  ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +92 "core" ' +3 "processing"%~& +3 "core" &^!;\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +5 "core" %    _  + "storage"(% +4 "core" %\ \  `\  +2 "storage"(. +3 "core" .(,y +2 "storage"(& +4 "core" &,l\ \  \  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&& +4 "core" &,{\ \  C\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &    7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"('r + "manipulator"&( +8 "core" ( + "manipulator"& & +4 "core" &   7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &   ? 7 +3 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +81 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +325 ( +2 "storage"(& +5 "core" &,j N % X\ + "manipulator"& & +4 "core" &  4 7 +2 "manipulator"&% +4 "core" % \  Q + +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +245 "core" ( + "manipulator"&& +4 "core" &  A / +2 "storage"(& +4 "core" &,j   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +92 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"("' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"($- +3 "core" -' +2 "storage"(%& +4 "core" &,j 9 9 (\ +2 "manipulator"&&& +5 "core" &   ' / +2 .tElbow.seek 4 + "manipulator"&'( +4 "core" ( + "manipulator"&(& +4 "core" &   T / +2 "storage"()& +4 "core" &,j 9 9 \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&*' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(+'" +51 "core" ' + "manipulator"&,& +4 "core" &  y / +2 "storage"(-& +4 "core" &,j\ \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&.'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +28 "core" ' +2 "manipulator"&1% +4 "core" %I  A +2 "storage"(2& +3 "core" &,j\ \  p\ +2 .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 4 + 318 counts + "manipulator"&3'u +16 "core" ' + "manipulator"&4& +4 "core" &  Z / +2 "storage"(5& +3 "core" &,j R\ +37 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +16 "core" ' +2 "storage"(7% +3 "core" % O &\ +3 ."downElevator"SE.seek :down +4 "storage"(8' +98 (:% +3 "core" %YR \ \ }\ Wf +2 "manipulator"&;% +4 "core" %  > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,j\ \ ' @\ +2 "collection"'& +4 "core" &\\c\ <\ >\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %   Z  +2 "storage"(?% +4 "core" % Y \  +2 "storage"(@. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(A(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &,| N ;\ +2 "manipulator"&D& +4 "core" &  / +2 .tElbow.seek 4 +2 "manipulator"&F( +4 "core" ( +2 "manipulator"&G& +3 "core" &  6 / +2 "storage"(I& +5 "core" &,| O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&9' +92 "core" ' + "storage"(<& +5 "core" &,| X }\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +302 "core" ' + "storage"(M- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &  0 / +2 "storage"(E& +4 "core" &,l\ '\  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&B'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Q'g +32 "core" ' + "manipulator"&H% +4 "core" %F  Z +2 "storage"(J& +3 "core" &,l\ \  /\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 315 counts + "manipulator"&!'r +14 "core" ' + "manipulator"&T& +5 "core" &  E . + "storage"(U& +4 "core" &,l Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&W' +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(X' +36 "core" ' +2 "manipulator"&Y& +3 "core" & B . +2 "manipulator"&Z% +4 "core" %   # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +91 "core" ' +3 .tElbow.seek CC + "manipulator"&R(ӂ +148 "core" ( +2 "manipulator"&]& +4 "core" &x$   =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &x$ H =D +3 .tForearm.seek CC +2 "manipulator"&_'? +96 "core" ' +2 .tHand.close +2 "manipulator"&N/ +57 "core" / +2 .tCC.seek :open +2 "collection"'a( +451 "core" ( + "storage"(b& +4 "core" &,l 0 0 \  +2 "storage"(& +4 "core" &,l , 8 b\  +2 "manipulator"&d& +4 "core" &Ӷ  e 5 +2 "manipulator"&K% +3 "core" % 4  F  +3 .tForearm.seek :retract + "manipulator"&V' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&f( +160 "core" ( +2 "manipulator"&g& +3 "core" &   g  +2 "storage"(h& +4 "core" &,l - / _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&j'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&m1 +62 "core" 1 +2 "manipulator"&n% +37 "core" %    I +11 "storage"(p& +3 "core" &,l 0 2 4\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 275 counts +2 "manipulator"&`'J +14 "core" ' +2 "manipulator"&c& +4 "core" &    +2 "storage"(e& +4 "core" &,l Y X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&l' +29 "core" ' +2 "storage"(s% +4 "core" % W V\ +3 ."downElevator"SE.seek :down +3 "storage"(t' +99 (i% +3 "core" %L Y\ ( Y\ Wb +2 "manipulator"&v% +4 "core" %  ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +88 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'x& +4 "core" &\ \ !\ +2 "manipulator"&o% +5 "core" %    h  + "storage"(q% +4 "core" % S W \  +2 "storage"( . +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"({(<- +350 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (|& +4 "core" &<* ? :\  +2 "manipulator"&~& +3 "core" &     +2 .tElbow.seek 5 +2 "manipulator"&( +17 "core" ( + "manipulator"&& +4 "core" &    f +2 "storage"(& +4 "core" &<* X X \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&y'O +92 "core" ' +2 "storage"(& +4 "core" &<* V N\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" &<* . 1\  +3 "manipulator"&\ & +3 "core" &   b f +2 .tElbow.seek 5 +2 "manipulator"&u( +4 "core" ( +2 "manipulator"&& +3 "core" &   * f +2 "storage"(\\& +4 "core" &<* 0 0 \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(z' +8 "core" &  f +2 "manipulator"&% +4 "core" %   8 +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &Ӎ  k 8" +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӎ 8" +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' + "manipulator"&& +4 "core" &ӎ  N 8! +3 "manipulator"&% +4 "core" %D    +2 "collection"'& +4 "core" &\ "\ !\ +3 "collection"'& +5 "core" &\ \ !\ +2 .tCC.seek :closed +2 "collection"'$(\\ +4 "core" &\ #\ "\  +9 &4\ \ \ *z +9 &e\ !\ !\ > +9 &u\ #\ "\ M +10 &LW\ "\ $\ M +9 &Y\ #\ #\ M +9 &W\ %\ "\ L +10 &W\ %\ $\ L +9 &UZ\ "\ $\ L +10 &X\ $\ %\ M +9 &U\ $\ $\ L +9 & W\ &\ $\ L +10 &"\\[\ $\ #\ M +9 &$Z\ $\ &\ M +9 &%W\ %\ (\ L +10 &'W\ %\ %\ M +9 &)eV\ #\ %\ L +10 &+'X\ $\ &\ L +9 &,Z\ %\ %\ L +9 &.U\ $\ '\ L +10 &0mV\ &\ &\ L +9 &20W\ '\ (\ L +9 &3Z\ $\ %\ M +10 &5Z\ (\ '\ L +9 &7u[\ (\ '\ L +9 &97W\ '\ '\ L +10 &:X\ (\ (\ L +9 &<Y\ (\ '\ M +10 &>}W\ &\ %\ L +9 &@?X\ (\ )\ L +9 &A_\ (\ (\ M +10 &C`\ ,\ +\ M +9 &Ei\ /\ *\ N +10 &G<u\ 4\ 3\ P +9 &H\ A\ ;\ S +9 &J\ S\ N\ W +10 &Ll\ R\ Q\ X +9 &N-\ L\ N\ X +9 &O\ J\ J\ Y +10 &Q\ E\ G\ Y +9 &Sm\ E\ E\ Z +9 &U-\ D\ D\ [ +10 &V\ D\ C\ Z +9 &X\ C\ D\ [ +10 &Zq\ D\ D\ [ +9 &\\z\ C\ C\ 3 +9 &\\(\ D\ C\ M +9 ( +2 &\\_\ A\ B\ I +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&%1 +64 "core" 1 + "manipulator"&&% +4 "core" % D   V  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +103 "core" ' +45 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%)& +4 "core" &=\ +2 "manipulator"&% +4 "core" %   w +2 "storage"(,% +3 "core" %   b\  +2 "storage"(-. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 5 +2 "storage"(1(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (2& +2 "core" &<* s\  +3 "manipulator"&& +3 "core" &ӫ   4 +2 "manipulator"&4% +4 "core" %  ] w +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&5( +159 "core" ( +3 "manipulator"&"& +4 "core" &  9  +2 "storage"(7& +3 "core" &<* 0 0 \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"( & +4 "core" &<* / /\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'r +299 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (;& +3 "core" &<* M \  +2 "manipulator"&*& +3 "core" &   +3 .tElbow.seek 5 + "manipulator"&'( +3 "core" ( +2 "manipulator"&+& +4 "core" &   +2 "storage"(.& +4 "core" &<*   \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&3'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(' +5 "core" &   W  +2 "manipulator"&?% +5 "core" % ϴ   +2 .tForearm.seek :retract +2 "manipulator"&@' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&0( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&C& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &  u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&G' +102 "core" ' +2 "manipulator"&I& +3 "core" &   +2 "manipulator"&6% +4 "core" %   e +2 "processing"%<& +4 "core" &P\ +3 "processing"%8& +4 "core" &2\ +3 .tPC.seek :closed +2 "processing"%(^ +4 "core" &L\  +8 &2|S\ )w +9 &bG\ > +10 &g{G\ O +9 &(^E\ O +10 &^G\ O +9 &\\F\ N +9 &p];\ N +10 &2^D\ N +9 &^E\ N +9 &]G\ N +10 & x_D\ N +9 &":`G\ N +10 &#_F\ N +9 &%_E\ N +9 &'^<\ N +10 &)B]E\ N +9 &+^9\ N +9 &,_;\ N +10 &.\\:\ O +9 &0I\\D\ O +10 &2 ]>\ N +9 &3`;\ O +9 &5_@\ O +10 &7R^=\ N +9 &9a8\ O +9 &:c;\ O +10 &<]C\ O +9 &>Y`;\ O +10 &@b>\ O +9 &AdC\ O +9 &CnC\ P +10 &E[r<\ Q +10 &GzB\ R +8 &H?\ S +10 &J?\ U +9 &LXA\ T +10 &ND\ U +9 &O<\ U +9 &Q;\ V +10 &S]?\ U +9 &U<\ V +9 &V=\ V +10 &X>\ U +9 &Ze?\ U +10 &\\%:\ V +9 &]~:\ 9 +9 &^/9\ R +10 &^":\ 1 +2 ( +2 "processing"%8& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&/1 +60 "core" 1 +2 "manipulator"&=% +3 "core" %  # ' ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +88 "core" ' +2 "processing"%>& +4 "core" &^!\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&E% +4 "core" %    ^  +2 "storage"(P% +4 "core" %\ \  \  +2 "storage"(H. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(J(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (T& +2 "manipulator"&U& +4 "core" &<+ \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Y'r +2 "manipulator"&Z( +6 "core" ( + "manipulator"&9& +41 "core" &   5 +10 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &  ' T +3 .tForearm.seek PC + "manipulator"&L' +97 "core" ' +2 .tHand.close + "manipulator"&B/ +65 "core" / +2 .tPC.seek :open +2 "processing"%!( +36 "core" ' + "storage"(Q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'1 +47 "core" ' +361 ( + "storage"(^& +4 "core" &<) Q %\  +2 "manipulator"&W& +4 "core" &  ` +2 "manipulator"&O% +3 "core" %   G ) +3 .tForearm.seek :retract +2 "manipulator"&N' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&[( +240 "core" ( + "manipulator"&S& +4 "core" &  S C +2 "storage"(b& +4 "core" &<)  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' + .tHand.open +2 "manipulator"&d1 +55 "core" 1 +2 "storage"(K- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(g' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(h' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(R& +4 "core" &<) 8 : \  +2 "manipulator"&m& +4 "core" &   " C +2 .tElbow.seek 5 +2 "manipulator"&n( +4 "core" ( + "manipulator"&p& +4 "core" &   r C +2 "storage"(c& +4 "core" &<) 9 : k\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(V'" +51 "core" ' + "manipulator"&s& +4 "core" &  + C +2 "storage"(f& +4 "core" &<)\ \  }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&i'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +21 "core" ' + "manipulator"&x% +4 "core" %Κ  ` +2 "storage"(`& +4 "core" &<)\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts + "manipulator"&o' +14 "core" ' +2 "manipulator"&q& +3 "core" &  V , +2 "storage"( & +4 "core" &<) Q \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +13 "core" ' +2 "storage"(l% +4 "core" % P \ +3 ."downElevator"SE.seek :down +4 "storage"(t' +98 (A% +3 "core" %JV F\ Xh +2 "manipulator"&|% +4 "core" %`  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~' +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +3 "core" &<)\ &\ \  +2 "collection"'& +4 "core" &\\_\ @\ <\ I +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %   1  +2 "storage"(k% +4 "core" % Q\  +2 "storage"(w. +2 "core" .(<- +2 "storage"(& +4 "core" &<) Q\  +2 "storage"( & +4 "core" &<) N\  +2 "manipulator"&\ & +3 "core" &  M , +3 .tElbow.seek 5 + "manipulator"&( +24 "core" ( +2 "manipulator"&\\& +3 "core" &   +2 "storage"(r& +4 "core" &<)   $\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}'O +122 "core" ' +2 "storage"(& +4 "core" &<) / M\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +38 "storage"(y- +11 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" &    +2 "storage"( & +4 "core" &<) R ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('s +27 "core" ' + "manipulator"&% +4 "core" %Λ  ` +2 "storage"(u& +4 "core" &<) N %\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&z' +13 "core" ' + "manipulator"&& +4 "core" &    +2 "storage"(a& +4 "core" &<)\ \ " Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&%'O +14 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(&' +34 "core" ' + "manipulator"&)& +4 "core" &  +7 "manipulator"&% +3 "core" %Y  w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,(ӂ +174 "core" ( +2 "manipulator"&-& +4 "core" &Ӄ  ~ % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &Ӄ   o % +2 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +2 .tHand.close + "manipulator"&4/ +57 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"("& +4 "core" &<) D \  +2 "storage"(7& +4 "core" &<)\ "\ ) 9\  +2 "manipulator"&{& +4 "core" &ӆ  N % +2 "manipulator"& % +4 "core" %  i +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&(( +158 "core" ( + "manipulator"&:& +4 "core" &  e  +2 "storage"(;& +4 "core" &<) 3 0 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&*'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&.1 +57 "core" 1 +2 "manipulator"&% +3 "core" % Ε  { B +2 "storage"(& +4 "core" &<) # C\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 308 counts + "manipulator"&?' +13 "core" ' +3 "manipulator"&5& +3 "core" &   _  +2 "storage"(& +4 "core" &<) W V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&#'O +23 "core" ' +2 "storage"(3% +3 "core" % W V\ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 (D% +4 "core" %J\ )\ +\ Wb +2 "manipulator"&'% +3 "core" %X  o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'6& +4 "core" &\ \ \ +2 "manipulator"&<% +5 "core" %    o  + "storage"(% +4 "core" % X X !\  +3 "storage"(@. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +3 "core" &K ` t\ +2 "manipulator"&=& +4 "core" &  7  +2 .tElbow.seek 6 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&E& +4 "core" &     +2 "storage"(P& +4 "core" &K X V\ +39 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts + "manipulator"&H' +93 "core" ' +2 "storage"(8& +4 "core" &K R W n\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +295 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (9& +4 "core" &K 1 . \ +2 "manipulator"&F& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&G( +2 "core" ( +3 "manipulator"&B& +3 "core" &  ~  +2 "storage"(1& +4 "core" &K 4 4\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Q'h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&0/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +3 "storage"(' +8 "core" &   m  +2 "manipulator"&Y% +4 "core" % }   +2 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&W(ӂ +156 "core" ( + ' +2 ."downElevator"SE.stop +2 "manipulator"&O& +2 "storage"(5 +8 "core" &Ӎ   2 9( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +2 "core" &Ӎ  9( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'? +97 "core" ' +3 "manipulator"&b& +3 "core" &ӎ  Q 9' +2 "manipulator"&Z% +4 "core" %7   N ` +2 "collection"'d& +4 "core" &\ \ #\ +3 "collection"'K& +5 "core" &\ !\ "\ +2 .tCC.seek :closed +2 "collection"'_(\\ +4 "core" &\ !\ \  +9 &2}\ \ \ *y +9 &d\ "\ "\ > +10 &t\ $\ !\ M +9 &DU\ %\ #\ L +9 &X\ #\ $\ L +10 &U\ !\ #\ L +9 &X\ '\ %\ M +10 &MW\ %\ $\ L +9 & Z\ %\ !\ M +9 &X\ %\ $\ L +10 & Y\ $\ %\ L +9 &"UX\ (\ &\ L +9 &$W\ $\ &\ M +10 &%Y\ &\ $\ L +9 &'X\ %\ %\ L +10 &)]U\ $\ %\ L +9 &+Y\ #\ %\ L +9 &,Z\ #\ #\ L +10 &.W\ %\ %\ L +9 &0dY\ '\ &\ L +9 &2'U\ '\ &\ L +10 &3X\ &\ '\ L +9 &5Y\ '\ &\ L +10 &7lX\ &\ &\ L +9 &9/Z\ '\ '\ L +9 &:Y\ '\ '\ L +10 &<W\ '\ &\ L +9 &>s[\ +\ +\ M +9 &@6\\\ -\ +\ L +10 &A_\ ,\ ,\ M +9 &C`\ ,\ +\ M +10 &Euk\ 0\ .\ O +9 &G2\ ;\ 6\ P +9 &H\ M\ F\ T +10 &J\ S\ T\ W +9 &Lb\ R\ R\ X +9 &N#\ N\ L\ X +10 &O\ H\ I\ Y +9 &Q\ G\ G\ X +10 &Se\ E\ G\ Z +9 &U&\ C\ D\ Z +9 &V\ D\ D\ [ +10 &X\ C\ B\ [ +9 &Zg\ C\ C\ \\ +9 &\\ y\ F\ D\ 5 +10 &\\(\ C\ C\ ` +8 ( +3 &\\x\ C\ B\ X +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&R1 +60 "core" 1 +2 "manipulator"&m% +4 "core" % y  R  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%c& +3 "core" &S\ +2 "manipulator"&N% +4 "core" %   n  +2 "storage"(s% +4 "core" %\ \ A\  +2 "storage"(f. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(x(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &K\  a\  +2 "manipulator"&]& +4 "core" &  & +2 "manipulator"&q% +3 "core" %   Y  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +148 "core" ( +2 "manipulator"&g& +3 "core" &    +2 "storage"(l& +4 "core" &K Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +96 "core" ' + "storage"(& +4 "core" &K   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(h'r +298 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &K\ \ \  +2 "manipulator"&e& +4 "core" &   U  +2 .tElbow.seek 6 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&V& +4 "core" &  +2 "storage"(i& +4 "core" &K\ \  @\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&o'h +21 "core" ' +39 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +9 "core" &  j  +2 "manipulator"&k% +3 "core" % z +3 .tForearm.seek :retract +2 "manipulator"&w' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&& +4 "core" & R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &  E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\ ' +93 "core" ' + "manipulator"&\\& +4 "core" &   [ +2 "manipulator"&r% +5 "core" %  p ` +2 "processing"%X& +4 "core" &N\ +2 "processing"%& +6 "core" &>\ +2 .tPC.seek :closed +2 "processing"%t(^ +3 "core" &S\  +9 &2}T\ )w +10 &bU\ > +9 &k{P\ O +9 &-ZR\ O +10 &`T\ O +9 &ZP\ N +9 &s^N\ O +10 &5ZT\ O +9 &`L\ O +10 &`L\ O +9 & {\\M\ O +9 &">ZE\ N +10 &$\\L\ N +9 &%\\M\ N +9 &'`L\ O +10 &)FZN\ N +9 &+]F\ N +10 &,]D\ N +9 &.ZG\ O +9 &0NZC\ N +10 &2[C\ N +9 &3Y7\ N +9 &5Y<\ O +10 &7VZB\ N +9 &9_@\ O +10 &:a>\ O +9 &<`C\ O +9 &>]bD\ O +10 &@\\@\ O +9 &AbC\ O +9 &CjC\ P +10 &E_pD\ Q +9 &G vC\ Q +10 &HD\ S +9 &JE\ T +9 &L]F\ T +10 &NE\ U +10 &OD\ T +8 &QE\ U +10 &S`:\ V +9 &U"B\ V +10 &VD\ U +9 &XC\ U +9 &ZgD\ V +10 &\\*C\ V +9 &]C\ 4 +9 &^*eE\ [ +10 &^+;\ 3 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&v1 +55 "core" 1 +2 "manipulator"&~% +3 "core" % ! '  ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +92 "core" ' +2 "processing"%& +4 "core" &^%.\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"& % +3 "core" %    8  +2 "storage"(% +4 "core" % \  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(u(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +3 "core" &K Z\  +3 "manipulator"&a& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   - +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"()'r +2 "manipulator"&( +6 "core" ( +2 "manipulator"&}& +4 "core" & ' N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   " +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +3 .tPC.seek :open +2 "processing"%z( +93 "core" ' +2 "storage"(- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'1 +41 "core" ' +313 ( + "storage"(2& +4 "core" &K\ \ \  +2 "manipulator"&%& +4 "core" & +2 "manipulator"&% +4 "core" %  ? +2 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +241 "core" ( +2 "manipulator"&$& +3 "core" &  X / +2 "storage"("& +76 "core" &K\ \ H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +94 "core" ' +2 .tHand.open + "manipulator"&{1 +59 "core" 1 +3 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(:' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(;' +87 "core" ' +10 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(,& +4 "core" &K 9 8 Z\  +2 "manipulator"&.& +4 "core" &   h . +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & "  O . +2 "storage"(5& +4 "core" &K 7 . %\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +52 "core" ' + "manipulator"& & +4 "core" & . +2 "storage"(D& +4 "core" &K\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&''< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(*' +28 "core" ' +2 "manipulator"&?% +5 "core" %B  + "storage"(6& +4 "core" &K\ \ ^\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&<'n +14 "core" ' +2 "manipulator"&& +3 "core" &  x . +3 "storage"(@& +3 "core" &K\ \  !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +29 "core" ' +2 "storage"(#% +3 "core" %\ \  C\ +4 ."downElevator"SE.seek :down +4 "storage"(C' +99 (J% +3 "core" %\\Q\  M\ Xg +3 "manipulator"&/% +4 "core" %  F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +3 "core" &K\ \  A\  +2 "collection"'P& +4 "core" &\\v\ =\ @\ X +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&8% +4 "core" %    X  +2 "storage"(+% +4 "core" %\ \  \  +2 "storage"(I. +3 "core" .(K +2 "storage"(U& +4 "core" &K\ \  !\  +2 "storage"(9& +3 "core" &K\ \ \  +2 "manipulator"&F& +4 "core" &  . +2 .tElbow.seek 6 +2 "manipulator"&B( +4 "core" ( + "manipulator"&1& +4 "core" &  $ . +2 "storage"(0& +5 "core" &K\ \  a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +94 "core" ' +2 "storage"(Y& +3 "core" &K   \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +297 "core" ' +2 "storage"(H- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & . +2 "storage"(L& +4 "core" &K\ \ \ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&T'< +19 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(b- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(Z'o +30 "core" ' + "manipulator"&G% +4 "core" %C   +2 "storage"(d& +3 "core" &K\ \ \ \ M\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 307 counts + "manipulator"&'o +15 "core" ' +2 "manipulator"&^& +3 "core" &  c . +2 "storage"(& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&R' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(m' +42 "core" ' +2 "manipulator"&c& +4 "core" &  z . +2 "manipulator"&N% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +160 "core" ( +2 "manipulator"&K& +5 "core" &ӧ  S 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &`& +41 "core" &ӧ  \ ] 1 +10 .tForearm.seek CC +2 "manipulator"&]'? +103 "core" ' +2 .tHand.close + "manipulator"&q/ +61 "core" / +2 .tCC.seek :open +2 "collection"'S( +448 "core" ( + "storage"(g& +4 "core" &K  U +\  +2 "storage"(l& +4 "core" &K   8\  +2 "manipulator"&& +4 "core" &  "z +2 "manipulator"&% +4 "core" %  _ +2 .tForearm.seek :retract +2 "manipulator"&W' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&p( +149 "core" ( +2 "manipulator"&A& +3 "core" &  @  +2 "storage"(|& +4 "core" &K 2 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&e'< +96 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&i1 +56 "core" 1 +2 "manipulator"&% +4 "core" % ;   b = +2 "storage"(& +4 "core" &K % # 8\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&k'g +14 "core" ' +2 "manipulator"& & +5 "core" &   j  + "storage"([& +4 "core" &K U R \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +14 "core" ' + "storage"(o% +4 "core" % W X\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 ( % +3 "core" %K\  U ;\ Wd +2 "manipulator"&n% +4 "core" %  C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +89 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'r& +4 "core" &\ \ !\ +2 "manipulator"&X% +3 "core" %    U  +2 "storage"(% +4 "core" % R U\  +2 "storage"(w. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(!(,y +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +3 "core" &,{ - $ L\ +2 "manipulator"&~& +4 "core" &  }  +2 .tElbow.seek 4 +2 "manipulator"&( +2 "core" ( +2 "manipulator"& & +4 "core" &   S  +2 "storage"(& +4 "core" &,{ W V S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(& +4 "core" &,{ W T \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +301 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &,k 0 ; \ +2 "manipulator"&& +4 "core" &   S  +2 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&& +3 "core" &  4  +2 "storage"(x& +4 "core" &,k / / 7\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +31 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(t' +8 "core" &   e  +2 "manipulator"&)% +4 "core" % Ϟ  ~ +2 .tForearm.seek :retract +2 "manipulator"&2' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&& +4 "core" &ӎ l 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'? +104 "core" ' +9 "manipulator"&& +4 "core" &ӏ  e 6 +2 "manipulator"&"% +4 "core" %T i +2 "collection"'{& +4 "core" &\ !\ !\ +3 "collection"' & +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &\ \ !\ +7 &;\ \ "\ %f +9 &Y~\ !\ \ 7 +9 &{\ "\ #\ L +10 &Y\ $\ "\ L +9 &W\ "\ $\ L +9 &CW\ #\ #\ K +10 &X\ $\ $\ L +9 &U\ $\ #\ L +10 &W\ %\ #\ L +9 &JZ\ $\ #\ L +9 & W\ %\ &\ K +10 &!W\ $\ $\ L +9 &#W\ &\ $\ L +9 &%RW\ '\ '\ L +10 &'Z\ &\ &\ L +9 &(X\ $\ '\ L +10 &*Y\ %\ '\ L +9 &,[W\ %\ &\ K +9 &.W\ &\ '\ L +10 &/U\ &\ &\ L +9 &1X\ (\ %\ K +9 &3bW\ '\ (\ L +10 &5#Z\ &\ %\ L +9 &6W\ '\ &\ L +10 &8Z\ '\ '\ L +9 &:jW\ &\ %\ L +9 &<,V\ &\ &\ L +10 &=X\ &\ '\ L +9 &?Y\ (\ (\ L +9 &ArZ\ &\ %\ L +10 &C2]\ )\ (\ L +9 &Df\ -\ +\ M +10 &Fn\ 0\ .\ O +9 &Hi\ :\ 5\ Q +9 &J\ L\ F\ V +10 &K\ N\ P\ W +9 &M\ J\ K\ X +10 &O`\ G\ J\ W +9 &Q\ F\ H\ X +9 &R\ E\ F\ Y +10 &T\ C\ G\ Y +9 &Va\ E\ D\ Z +9 &X \ D\ C\ [ +10 &Y\ F\ C\ \\ +9 &[\ E\ D\ I +9 &\\5\ F\ D\ / +10 &\\m\ D\ C\ K +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&41 +52 "core" 1 +3 "manipulator"&,% +3 "core" % T  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &8\ +2 "manipulator"&5% +4 "core" %  8  +2 "storage"( % +4 "core" %\ \ \  +2 "storage"(D. +3 "core" .(,y +2 "storage"(-& +3 "core" &,k\ \  \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(?(,y +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &,|\  p\ +2 "manipulator"&6& +4 "core" &Ӭ m 2 +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&@( +154 "core" ( +2 "manipulator"&#& +3 "core" &   +2 "storage"(& +4 "core" &,|  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&7' +97 "core" ' +2 "storage"(;& +4 "core" &,| X\ + \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(J'r +295 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,l\ \ L\  +2 "manipulator"&& +4 "core" &  ~  +2 .tElbow.seek 4 +2 "manipulator"&3( +17 "core" ( +2 "manipulator"&'& +4 "core" &  Z +2 "storage"(<& +3 "core" &,l\ \ \ \ \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&E'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& +2 "storage"(+' +7 "core" & Z +2 "manipulator"&I% +4 "core" % { +2 .tForearm.seek :retract +2 "manipulator"&*' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&U( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&9& +4 "core" & ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" & c ` +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&1' +89 "core" ' +2 "manipulator"&0& +4 "core" &  ` +2 "manipulator"&&% +4 "core" %  g ~ +3 "processing"%Y& +4 "core" &0\ +2 "processing"%C& +5 "core" &H\ +2 .tPC.seek :closed +2 "processing"%((^ +4 "core" &G\ +7 & 0G\ #b +10 &U4\ 7 +9 &B\ L +10 &[<\ N +9 &UZA\ O +9 &WJ\ N +10 &]F\ N +9 &\\S\ O +10 &^]T\ N +9 & \\K\ N +9 &[B\ O +9 &!Y@\ N +10 &#eZK\ O +9 &%(_B\ N +10 &&Z?\ N +9 &(\\6\ N +9 &*n^B\ N +10 &,0_E\ N +9 &-Y@\ N +51 &/]C\ N +3 &1u[G\ O +2 &38Y>\ N + &4^;\ O + &6];\ O + &8~\\5\ N +7 &:@[2\ N +9 &<^?\ N +9 &=_5\ O +10 &?_8\ O +9 &AG]2\ O +10 &Cc;\ O +9 &Dg3\ P +9 &Fs5\ Q +10 &HD:\ R +9 &J4\ T +9 &K3\ T +10 &M2\ T +9 &OE4\ U +10 &Q5\ U +9 &R&\ U +9 &T4\ V +10 &VJ8\ V +9 &X 5\ U +10 &Y3\ V +9 &[7\ V +9 &]P,\ J +10 &^Q<\ "h +9 &^.\ * +2 ( +3 "processing"%C& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&=1 +57 "core" 1 +2 "manipulator"&H% +4 "core" %  g ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +95 "core" ' +2 "processing"%L& +3 "core" &^\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&b% +4 "core" % #   / 0 +2 "storage"(G% +4 "core" %\ \ \  +2 "storage"(d. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(^(,y +50 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +4 "core" &,|\ \  ~\ +2 "manipulator"&c& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   - ` +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(N'r +2 "manipulator"&M( +23 "core" ( +2 "manipulator"&B& +3 "core" & M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &   % +3 .tForearm.seek PC +2 "manipulator"&T' +94 "core" ' +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%Z( +83 "core" ' +2 "storage"(K- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'1 +46 "core" ' +315 ( +2 "storage"(`& +4 "core" &,j  a\ +2 "manipulator"&Q& +4 "core" &  +2 "manipulator"&q% +3 "core" %  Q +3 .tForearm.seek :retract +2 "manipulator"&s' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&_( +251 "core" ( + "manipulator"&g& +4 "core" &   _ V +2 "storage"(l& +4 "core" &,j N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(A- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(]' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(f- +2 "core" -' +3 "storage"(i& +3 "core" &,j 9 8 \ +2 "manipulator"&& +4 "core" &   ) V +2 .tElbow.seek 4 +2 "manipulator"&( +32 "core" ( +2 "manipulator"& & +4 "core" &  Z y +2 "storage"([& +4 "core" &,j 9 9 .\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +59 "core" ' + "manipulator"& & +4 "core" &  R y +2 "storage"(n& +4 "core" &,j\ $\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&p'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +49 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +28 "core" ' + "manipulator"&X% +4 "core" %*  .  +2 "storage"(k& +4 "core" &,j Q \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 287 counts + "manipulator"&'V +14 "core" ' +2 "manipulator"&w& +4 "core" &  ( y +2 "storage"(m& +4 "core" &,j   \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +22 "core" ' +2 "storage"(% +3 "core" % M 7\ +3 ."downElevator"SE.seek :down +4 "storage"(u' +98 (v% +4 "core" %mN q\ Xg +2 "manipulator"&~% +4 "core" % a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,j\ \  y\ +2 "collection"'& +4 "core" &\\m\ =\ ?\ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&V% +4 "core" %   +2 "storage"(\\% +4 "core" % Q \  +2 "storage"(a. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(}(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,{ P \ +2 "manipulator"&& +4 "core" &  y +2 .tElbow.seek 4 +2 "manipulator"&x( +4 "core" ( +2 "manipulator"&j& +3 "core" &   K y +2 "storage"(y& +4 "core" &,{ X \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +98 "core" ' +2 "storage"(& +3 "core" &,{  P 5\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & y +2 "storage"(& +4 "core" &,l\ \ \ +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\ - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"("'g +33 "core" ' + "manipulator"&{% +4 "core" %8 > +2 "storage"(t& +3 "core" &,l\ \ b\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&2'd +14 "core" ' +2 "manipulator"&S& +3 "core" &  y +2 "storage"(4& +4 "core" &,l Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&,' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&5& +4 "core" &  ^ y +2 "manipulator"& % +4 "core" % 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +158 "core" ( +2 "manipulator"& & +4 "core" &Ӈ%   p =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &ӈ# ? <@ +2 .tForearm.seek CC +3 "manipulator"&6'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'$( +447 "core" ( +2 "storage"(#& +4 "core" &,l 0 /\  +2 "storage"(& +4 "core" &,l 0 2 O\  +2 "manipulator"&!& +4 "core" &ӭ a 8 +2 "manipulator"&;% +50 "core" % R  h  +2 .tForearm.seek :retract +2 "manipulator"&%' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&.( +162 "core" ( +2 "manipulator"&/& +5 "core" &  j  + "storage"(& +4 "core" &,l X V\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +65 "core" 1 +2 "manipulator"&P% +4 "core" % - O 8 +2 "storage"(8& +4 "core" &,l V V\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 290 counts +2 "manipulator"&I'Y +13 "core" ' + "manipulator"&@& +4 "core" &   %  +2 "storage"(7& +3 "core" &,l U L =\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts + "manipulator"&J' +30 "core" ' + "storage"(E% +4 "core" % H H j\  +3 ."downElevator"SE.seek :down +4 "storage"(9' +98 (F% +3 "core" %LN P o\ U` +2 "manipulator"&3% +4 "core" %  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'&& +4 "core" &\ \ #\ +2 "manipulator"&Y% +5 "core" %      + "storage"(+% +4 "core" % W V\  +2 "storage"(*. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(z(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &<*   9\  +2 "manipulator"&H& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&L( +7 "core" ( +2 "manipulator"&b& +4 "core" &  N y +2 "storage"(G& +4 "core" &<) X V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +93 "core" ' + "storage"(C& +4 "core" &<) Q R p\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(c- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (B& +3 "core" &<) ( - I\  +2 "manipulator"&>& +4 "core" &  s y +2 .tElbow.seek 5 +2 "manipulator"&1( +2 "core" ( +2 "manipulator"&& +4 "core" &  { y +2 "storage"(?& +4 "core" &<) 2 /\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&K'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"((' +9 "core" &   ` y + "manipulator"&N% +4 "core" %   ( +2 .tForearm.seek :retract +2 "manipulator"&`' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&Q(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&q& +5 "core" &|#  <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +4 "core" &|#   <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&g'? +93 "core" ' +2 "manipulator"&l& +48 "core" &ӎ  9' +5 "manipulator"&M% +4 "core" %3 L +2 "collection"'& +4 "core" &\ !\ "\ +3 "collection"'A& +6 "core" &\ !\ #\ +2 .tCC.seek :closed +3 "collection"'f(\\ +4 "core" &\ \ !\ +5 &\ \ !\ 8 +10 &GIx\ !\ !\ 0 +9 &xt\ #\ #\ D +9 & ^\ #\ !\ L +10 &V\ &\ "\ K +9 &X\ $\ #\ K +9 &iV\ #\ #\ K +10 &+W\ $\ "\ K +9 &U\ %\ %\ L +10 &U\ #\ $\ L +9 &pV\ #\ %\ L +9 &!3U\ &\ &\ K +10 &"W\ %\ %\ L +9 &$Y\ $\ '\ K +9 &&yW\ #\ %\ K +10 &(;W\ $\ %\ K +9 &)V\ &\ &\ K +10 &+T\ &\ &\ L +9 &-U\ '\ &\ K +9 &/BW\ %\ &\ L +10 &1W\ '\ %\ L +9 &2V\ '\ (\ K +9 &4Z\ &\ %\ L +10 &6JU\ &\ $\ L +9 &8 Z\ &\ '\ L +10 &9U\ %\ %\ L +9 &;U\ &\ (\ L +9 &=RV\ '\ )\ L +10 &?W\ (\ '\ L +9 &@[\ &\ &\ L +9 &B\\\ *\ )\ L +10 &DWc\ -\ ,\ M +9 &Fk\ 2\ /\ N +10 &Gy\ 6\ 2\ P +9 &I\ G\ B\ S +9 &KA\ S\ R\ W +10 &M\ N\ P\ W +9 &N\ I\ K\ W +9 &P\ J\ I\ X +10 &RE\ J\ H\ X +9 &T\ H\ G\ Y +10 &U\ C\ E\ Z +9 &W\ D\ G\ Z +9 &YE\ F\ F\ [\ +10 &[\ D\ D\ \\ +9 &\\_I\ E\ F\ 3 +9 &\\\ D\ F\ P +6 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&i1 +4 "core" &\\h\ A\ D\ P +51 1 +2 "manipulator"&% +4 "core" % 3  / L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &-\ +2 "manipulator"&[% +4 "core" %    +2 "storage"( % +4 "core" %\ \ \ d\  +2 "storage"(n. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(R(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +3 "core" &<* \  \  +2 "manipulator"&X& +4 "core" &Ӭ _ 5 +2 "manipulator"&k% +3 "core" %    >  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&w( +162 "core" ( + "manipulator"&_& +4 "core" &  j  +2 "storage"(m& +5 "core" &<) W U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"(& +4 "core" &<) N #\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'r +299 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &<)\ \ }\  +2 "manipulator"&~& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&W& +4 "core" & n  +2 "storage"(p& +4 "core" &<) Q \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(V' +7 "core" &  +2 "manipulator"&\\% +4 "core" % ϭ m +2 .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&& +3 "core" & V : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC + "manipulator"&j' +103 "core" ' +2 "manipulator"&y& +4 "core" &  : +2 "manipulator"&h% +4 "core" %  t +2 "processing"%& +4 "core" &1\ +3 "processing"%u& +5 "core" &B\ +3 .tPC.seek :closed +3 "processing"%^(^ +3 "core" &<\ +6 &D\ 5 +10 &;FvF\ 0 +9 &bq>\ E +9 &g6\ O +10 &]A\ N +9 &X@\ N +9 &I\\?\ N +10 & [=\ N +9 &]=\ N +10 &]:\ N +9 &RY?\ N +9 &!\\>\ O +10 &"[?\ N +49 &$]>\ O +5 &&Z\\A\ N +3 &(]>\ O + &)[>\ N + &+[>\ O + &-a[E\ N +5 &/#]A\ N +10 &0Y8\ N +9 &2Y3\ N +9 &4jY=\ N +10 &6+]3\ N +9 &7[;\ O +10 &9\\8\ N +9 &;qZ4\ N +9 &=3Z8\ N +10 &>`5\ N +9 &@_?\ N +9 &Bvf4\ O +10 &D8g>\ O +9 &Er3\ Q +10 &G|+\ R +9 &Iq7\ T +9 &K2B\ T +10 &L'\ T +9 &N,\ U +9 &Pu6\ U +10 &R75\ U +9 &S.\ V +10 &U,\ T +9 &W}+\ U +9 &Y@4\ U +10 &['\ U +9 &\\3\ V +9 &^:d0\ &u +10 &^b6\ 1 +8 ( +3 "processing"%u& +3 "core" &^3\ , +2 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&e1 +62 "core" 1 + "manipulator"& % +4 "core" %   L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%& +3 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" % !   $ ' +3 "storage"(\ % +3 "core" %\ \ 8\  +2 "storage"({. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(t(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "manipulator"&4& +7 "core" &<*\  G\  + &   ( : +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&5( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"( 'r +3 "core" ( + "manipulator"&)& +5 "core" &   N : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &   X : +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 .tPC.seek :open +2 "processing"%2( +96 "core" ' +2 "storage"("- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +47 "core" ' +300 ( +2 "storage"(:& +3 "core" &<)   \  +2 "manipulator"&,& +4 "core" & : +2 "manipulator"&% +4 "core" %   U +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&D( +246 "core" ( + "manipulator"&& +4 "core" &  E +2 "storage"(#& +4 "core" &<) Q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' +2 .tHand.open +2 "manipulator"&!1 +64 "core" 1 +2 "storage"(;- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +3 "core" -' +2 "storage"(-& +4 "core" &<)  & c\  +2 "manipulator"&<& +4 "core" &    E +2 .tElbow.seek 5 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&8& +4 "core" &  "  E +2 "storage"(@& +5 "core" &<)   s\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(E'" +58 "core" ' +2 "manipulator"&%& +3 "core" & % E +2 "storage"(F& +4 "core" &<)\ %\  F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&3'΍ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +47 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&&% +4 "core" %y n +2 "storage"(I& +4 "core" &<)\ \ \ _\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 280 counts +2 "manipulator"&Y'ϥ +13 "core" ' +2 "manipulator"&+& +3 "core" &   Y ! +2 "storage"(*& +4 "core" &<)   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +13 "core" ' +2 "storage"(J% +4 "core" %  \ +3 ."downElevator"SE.seek :down +4 "storage"(9' +98 (}% +3 "core" %tO\ \  B\ Wf +2 "manipulator"&=% +4 "core" %G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 (b& +3 "core" &<)\ )\  A\  +2 "collection"'G& +4 "core" &\\g\ ?\ >\ P +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&C% +3 "core" %   +2 "storage"('% +4 "core" % R 2\  +2 "storage"(0. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(c(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (B& +3 "core" &<, \  \  +2 "manipulator"&>& +4 "core" & j ! +2 .tElbow.seek 5 +2 "manipulator"&( +16 "core" ( +2 "manipulator"&?& +4 "core" &  J  +2 "storage"(U& +4 "core" &<)   L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +92 "core" ' +2 "storage"(N& +4 "core" &<) + l\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +296 "core" ' +3 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" & q  +2 "storage"(T& +4 "core" &<) N )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(l- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(1'u +29 "core" ' +2 "manipulator"&M% +4 "core" %Ξ +2 "storage"(& +4 "core" &<)\ $ M \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&(' +14 "core" ' + "manipulator"&`& +4 "core" &  +2 "storage"($& +4 "core" &<) P 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +47 "core" ' + "manipulator"& & +4 "core" & X  +2 "manipulator"&[% +4 "core" %0 P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&n(ӂ +159 "core" ( +2 "manipulator"&A& +4 "core" &ӑ  W 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &ӑ s 7 +2 .tForearm.seek CC +2 "manipulator"&X'? +97 "core" ' +2 .tHand.close + "manipulator"&k/ +57 "core" / +2 .tCC.seek :open + "collection"'g( +451 "core" ( +2 "storage"(_& +3 "core" &<) / /\  +2 "storage"(m& +4 "core" &<) / .\  +45 "manipulator"&z& +8 "core" &ӣ  4 +2 "manipulator"&% +3 "core" % R  +3 .tForearm.seek :retract +2 "manipulator"&Q' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&s( +161 "core" ( +2 "manipulator"&o& +4 "core" &  O  +2 "storage"(v& +4 "core" &<) Q : l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&~'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +56 "core" 1 +2 "manipulator"&% +4 "core" % Κ  S +2 "storage"(& +4 "core" &<) U U\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts + "manipulator"&\\' +25 "core" ' +2 "manipulator"&w& +3 "core" &   L  +2 "storage"(& +4 "core" &<) Q V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +15 "core" ' +2 "storage"(% +3 "core" % T Q \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %I - )\ Vb +2 "manipulator"&% +4 "core" %= [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'h& +3 "core" &\ "\ \ +2 "manipulator"&% +4 "core" %  \\  +2 "storage"(V% +4 "core" % R Q m\  +2 "storage"(a. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(Z(K +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +3 "core" &K 0 1 \ \ +2 "manipulator"& & +4 "core" &   T  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &   +  +2 "storage"(\ & +4 "core" &K S W \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&{' +90 "core" ' +2 "storage"(u& +3 "core" &K R U (\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +295 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +4 "core" &K / / ?\ \ +2 "manipulator"&x& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(R& +3 "core" &K ( # A\ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&"'h +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&r/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(^' +8 "core" &   g  +2 "manipulator"& % +3 "core" % ]  7 +3 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &ӛ   % 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӛ 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +45 "manipulator"&'? +104 "core" ' +3 "manipulator"&#& +3 "core" &ӛ  2 +2 "manipulator"&5% +4 "core" %D   R +2 "collection"'!& +4 "core" &\ !\ #\ +3 "collection"';& +5 "core" &\ "\ "\ +2 .tCC.seek :closed +3 "collection"'6(\\ +4 "core" &\ !\ \ +5 &\ "\ \ 9 +9 &JJy\ "\ "\ 0 +10 &{t\ #\ "\ D +9 &%^\ %\ #\ L +9 &X\ #\ $\ K +10 &Z\ $\ #\ L +9 &lW\ #\ %\ L +9 &0U\ %\ %\ K +10 &Z\ $\ $\ L +9 &X\ %\ $\ L +10 &uZ\ $\ %\ K +9 &!7U\ &\ $\ K +9 &"U\ &\ '\ K +10 &$Y\ %\ &\ K +9 &&|Y\ &\ &\ L +9 &(>Y\ '\ '\ L +10 &*T\ $\ %\ K +9 &+Y\ %\ '\ L +10 &-W\ (\ %\ L +9 &/FX\ %\ '\ L +9 &1 T\ '\ (\ K +10 &2T\ &\ &\ K +9 &4V\ '\ '\ K +9 &6OY\ '\ '\ K +10 &8Z\ &\ %\ L +9 &9W\ '\ %\ L +10 &;V\ '\ (\ L +9 &=VX\ *\ )\ L +9 &?]\ 0\ ,\ L +10 &@]\ /\ .\ L +9 &B^\ -\ 0\ L +9 &DZg\ .\ /\ M +10 &Fo\ 3\ 4\ N +9 &G\ A\ ;\ R +10 &I\ S\ M\ V +9 &KD\ U\ X\ W +9 &M\ P\ Q\ X +10 &N\ L\ L\ Y +9 &P\ G\ J\ Z +9 &RI\ G\ G\ X +10 &T\ F\ G\ Z +9 &U\ D\ F\ Z +10 &W\ F\ E\ [\ +9 &YE\ D\ D\ \\ +9 &[ \ D\ F\ [\ +10 &\\aI\ E\ F\ 5 +9 &\\ y\ C\ D\ M +5 ( +2 "collection"';& +4 "core" &\\e\ B\ D\ M +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&-1 +59 "core" 1 +3 "manipulator"&<% +3 "core" % Ϟ   B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%@& +4 "core" &F\ +2 "manipulator"&% +3 "core" %   E  +2 "storage"(%% +4 "core" %   n\  +2 "storage"(F. +3 "core" .(K +2 "storage"( & +4 "core" &K W Y\ \ +2 "storage"(/& +4 "core" &K Q \ \ +2 "manipulator"&&& +3 "core" &\   b !u +2 "manipulator"&I% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&+( +149 "core" ( +2 "manipulator"&*& +3 "core" &   +2 "storage"(D& +4 "core" &K Z \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&J' +96 "core" ' + "storage"(& +4 "core" &K / %\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &K P \ \ +2 "manipulator"&=& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&P( +4 "core" ( + "manipulator"&E& +4 "core" &  i  +2 "storage"(3& +4 "core" &K N\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Y'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(C' +8 "core" &  +2 "manipulator"&'% +3 "core" % _  D +3 .tForearm.seek :retract +2 "manipulator"&0' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&B& +4 "core" & 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" & w 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +92 "core" ' + "manipulator"&U& +4 "core" &  6 +2 "manipulator"&% +4 "core" %  u +2 "processing"%N& +4 "core" &F\ +3 "processing"%9& +4 "core" &B\ +3 .tPC.seek :closed +2 "processing"%t(^ +4 "core" &;\  +9 &3{H\ *x +10 &cG\ > +9 &vxK\ N +9 &7YA\ N +10 &[F\ O +9 &[E\ N +9 &}_H\ N +10 &?\\H\ N +9 &ZH\ N +10 &XH\ N +9 & \\Q\ N +9 &"HYG\ N +10 &$ \\A\ N +9 &%WF\ N +9 &'ZN\ N +10 &)O\\I\ N +9 &+\\E\ O +10 &,[F\ N +58 &.ZG\ O +4 &0WZI\ N +2 &2XH\ N + &3ZF\ N +2 &5ZG\ N + &7`ZD\ N + &9 ]G\ O +6 &:\\F\ N +9 &<]D\ N +9 &>f]F\ O +10 &@(\\F\ O +9 &AbE\ O +9 &CgG\ P +10 &EjjG\ P +9 &G)tG\ Q +10 &HH\ S +9 &J>\ T +9 &LfF\ T +10 &N&F\ U +9 &OE\ T +9 &QF\ U +10 &SiA\ V +9 &U-F\ U +10 &VF\ U +9 &XG\ U +9 &ZsH\ U +10 &\\3E\ V +9 &]ztG\ > +9 &^!UG\ Q +10 &^8A\ : +2 ( +2 "processing"%9& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&.1 +64 "core" 1 + "manipulator"&H% +4 "core" %    ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +87 "core" ' +2 "processing"%q& +3 "core" &^6H\ : +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&T% +4 "core" %    ^  +2 "storage"(l% +4 "core" %\ \ \  +2 "storage"(M. +3 "core" .(K +2 "storage"(& +4 "core" &K\ \ \ \ +3 "storage"(`& +2 "manipulator"&$& +7 "core" &K\ \ \ \ \ +2 &    6 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(['r +2 "core" ( +2 "manipulator"&O& +4 "core" &   / 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &    6 +2 .tForearm.seek PC +2 "manipulator"&L' +91 "core" ' +2 .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open + "processing"%(( +94 "core" ' +2 "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'1 +48 "core" ' +305 ( + "storage"(|& +4 "core" &K L 0\ +2 "manipulator"&i& +4 "core" & W 6 +2 "manipulator"&K% +4 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&k' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +245 "core" ( +2 "manipulator"&f& +3 "core" & @ ) +2 "storage"(_& +4 "core" &K\ \  B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +93 "core" ' +2 .tHand.open + "manipulator"&z1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(v' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +3 "core" -' +2 "storage"(n& +4 "core" &K P P 3\ +2 "manipulator"&p& +4 "core" &    ) +2 .tElbow.seek 6 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&& +4 "core" &  R \ +2 "storage"(w& +4 "core" &K P P C\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&Q& +4 "core" &  \ +2 "storage"(& +4 "core" &K\ \ p\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(~' +19 "core" ' + "manipulator"&h% +4 "core" %4 \ +41 "storage"(& +12 "core" &K Q\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 292 counts +2 "manipulator"&\\'` +15 "core" ' + "manipulator"&V& +4 "core" & # \ +2 "storage"(a& +4 "core" &K M \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(]% +4 "core" % W\ # x\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (c% +3 "core" %P \ Wg +2 "manipulator"&e% +4 "core" %  + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K\ *\  7\ +2 "collection"'\ & +4 "core" &\\c\ B\ A\ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&u% +3 "core" %   +2 "storage"(W% +5 "core" % P\  +2 "storage"(y. +3 "core" .(K +2 "storage"(4& +3 "core" &K P C\ +3 "storage"()& +3 "core" &K M\ +2 "manipulator"&x& +4 "core" & n \ +2 .tElbow.seek 6 +2 "manipulator"&( +10 "core" ( + "manipulator"&R& +4 "core" &  }  +2 "storage"(r& +4 "core" &K   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' + "storage"( & +4 "core" &K V W\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" &K\ \ Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&S'< +20 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(#'o +30 "core" ' + "manipulator"&5% +4 "core" %H z  +2 "storage"(!& +4 "core" &K\ \ {\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&^'t +17 "core" ' +4 "manipulator"&:& +8 "core" &  +2 "storage"(g& +3 "core" &K  h\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(<' +34 "core" ' +2 "manipulator"&@& +3 "core" &  +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&F(ӂ +154 "core" ( +2 "manipulator"& & +4 "core" &Ӌ# { <9 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &ӌ"  2 ;8 +2 .tForearm.seek CC +2 "manipulator"&/'? +103 "core" ' + .tHand.close +2 "manipulator"&&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'I( +447 "core" ( +2 "storage"(*& +3 "core" &K\ )\ & G\ +2 "storage"(& +4 "core" &K\ \ # 5\ +2 "manipulator"&D& +3 "core" & ( +2 "manipulator"&% +4 "core" % Ω c +2 .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&8( +186 "core" ( +9 "manipulator"&7& +4 "core" &   _ +2 "storage"(}& +5 "core" &K V W 9\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&='< +98 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +53 "core" 1 +3 "manipulator"&b% +4 "core" % 7   +2 "storage"(G& +4 "core" &K S V m\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 295 counts +2 "manipulator"&''c +15 "core" ' +2 "manipulator"&+& +4 "core" &  +2 "storage"(J& +4 "core" &K S X Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +15 "core" ' +2 "storage"(Y% +4 "core" % S Y N\ +3 ."downElevator"SE.seek :down +4 "storage"(B' +98 (>% +3 "core" %G , 8 l\ Wc +2 "manipulator"&P% +4 "core" % j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &\ "\ !\ +2 "manipulator"&N% +4 "core" %   F  +2 "storage"(C% +4 "core" % V W\  +2 "storage"(0. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(2(,y +674 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +3 "core" &,| + / |\ +2 "manipulator"&H& +4 "core" &  e +2 .tElbow.seek 4 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&T& +4 "core" &   _ +2 "storage"(l& +4 "core" &,| U V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&M' +92 "core" ' + "storage"(& +4 "core" &,| G H .\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +296 "core" ' +2 "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +3 "core" &,k 1 0\ +2 "manipulator"&O& +4 "core" &   ` +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&?& +4 "core" &  m +2 "storage"(& +4 "core" &,k ( & ;\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&1'c +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +3 "storage"(t' +8 "core" &   Z +2 "manipulator"&[% +3 "core" % t  U +3 .tForearm.seek :retract +2 "manipulator"&|' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&K& +5 "core" &x( @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &x(  F @\\ + "Can"\ C@ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&f'? +102 "core" ' + "manipulator"&_& +4 "core" &ө   { :+ +2 "manipulator"& % +4 "core" %@ L +2 "collection"'z& +4 "core" &\ "\ "\ +3 "collection"'& +6 "core" &\ "\ "\ +2 .tCC.seek :closed +2 "collection"'X(\\ +55 "core" &\ "\ "\ +3 &\ !\ !\ + &\ \ !\ + &\ \ \ + &\ "\ !\ + &\ !\ "\ + &\ \ !\  +4 &4~\ !\ #\ *z +10 &f\ "\ #\ > +9 &n\ $\ #\ L +9 &QU\ %\ $\ K +10 &X\ $\ $\ L +9 &T\ %\ $\ K +9 &T\ #\ $\ K +10 &ZU\ %\ &\ K +9 &Z\ &\ %\ K +9 &T\ $\ $\ K +10 & U\ '\ &\ K +9 &"`W\ %\ &\ L +10 &$#Y\ &\ '\ K +9 &%Z\ '\ $\ L +9 &'X\ %\ %\ L +10 &)iY\ &\ %\ K +9 &++Y\ $\ %\ K +9 &,Y\ &\ &\ L +10 &.X\ $\ )\ K +9 &0rW\ &\ &\ K +10 &23Z\ )\ (\ K +9 &3Z\ $\ '\ L +9 &5X\ &\ &\ K +10 &7yU\ '\ &\ K +9 &9;Z\ &\ &\ K +10 &:U\ $\ $\ L +9 &<X\ &\ '\ L +9 &>U\ '\ '\ L +10 &@CU\ (\ '\ K +9 &BY\ )\ )\ L +9 &C^\ ,\ +\ L +10 &Ef\ -\ -\ M +9 &G?v\ 5\ 1\ O +10 &H\ B\ ;\ R +9 &J\ P\ N\ V +9 &Ll\ O\ P\ X +10 &N-\ K\ L\ X +9 &O\ H\ J\ X +9 &Q\ H\ H\ Y +10 &So\ E\ E\ Z +9 &U1\ E\ D\ Z +9 &V\ F\ E\ [ +10 &X\ E\ F\ [\ +9 &Zr\ F\ E\ [ +10 &\\y\ G\ D\ 5 +9 &\\'\ G\ E\ %m +9 ( +2 &\\\ C\ D\ \\ +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&n1 +53 "core" 1 +2 "manipulator"&p% +3 "core" % @  t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%w& +3 "core" &J\ +2 "manipulator"&k% +4 "core" %    !  +2 "storage"(Q% +5 "core" %\ \ \  + "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(h(,y +29 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,} \  F\ +2 "manipulator"&A& +4 "core" &ӯ  e 9% +2 "manipulator"&o% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&V( +163 "core" ( +2 "manipulator"&a& +4 "core" &   +2 "storage"(]& +4 "core" &,}\  J 9\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +95 "core" ' +2 "storage"(m& +4 "core" &,} Q\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'r +297 "core" ' +2 "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +3 "core" &,l \  +2 "manipulator"&& +4 "core" &  A  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &,l\ \ \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'c +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"(u' +7 "core" & l  +2 "manipulator"&W% +4 "core" % j +2 .tForearm.seek :retract +2 "manipulator"&~' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( +2 "manipulator"&4& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" & i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&x' +99 "core" ' + "manipulator"&R& +4 "core" &   +2 "manipulator"&r% +4 "core" % - +2 "processing"%& +4 "core" &>\ +3 "processing"% & +5 "core" &5\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &H\  +8 &0xU\ *x +10 &cQ\ > +9 &kyF\ O +9 &-YF\ N +10 &ZF\ N +9 &[F\ O +9 &s]G\ N +10 &4ZF\ O +9 &[C\ O +10 &]C\ N +9 & {]F\ N +9 &"=]E\ N +10 &#]K\ N +9 &%\\I\ N +9 &']F\ N +10 &)E\\E\ N +9 &+\\R\ N +10 &,\\Q\ O +9 &.ZO\ N +9 &0MWN\ N +10 &2\\S\ N +9 &3ZR\ N +9 &5[R\ N +10 &7UZP\ N +9 &9YR\ N +10 &:ZR\ O +9 &<]M\ N +9 &>]^Q\ N +10 &@YM\ N +9 &A^R\ N +9 &CeL\ P +10 &EajQ\ P +9 &GuO\ Q +10 &HF\ S +9 &JJ\ T +57 &L[I\ T +4 &NI\ U +3 &OO\ U +2 &QJ\ U + &S_H\ V + &U!C\ V + &VH\ U +6 &XF\ U +9 &ZgE\ V +10 &\\)P\ V +9 &]~F\ 8 +9 &^0M\ O +10 &^ F\ / +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&s1 +60 "core" 1 +2 "manipulator"& % +4 "core" %     - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +2 "processing"%& +4 "core" &^ G\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %    %  +2 "storage"(j% +4 "core" % i\  +3 "storage"(5. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(!(,y +24 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (:& +4 "core" &,z\ ~\ +2 "manipulator"&g& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &    +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(@'r +2 "manipulator"&( +5 "core" ( +2 "manipulator"&& +3 "core" &     +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &     +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&S/ +61 "core" / +2 .tPC.seek :open +2 "processing"%^( +88 "core" ' + "storage"(#- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +45 "core" ' +311 ( + "storage"(;& +4 "core" &,j\ \ \ X\  +2 "manipulator"&-& +4 "core" & H  +2 "manipulator"&"% +5 "core" %  d A +2 .tForearm.seek :retract +2 "manipulator"&&' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&%( +246 "core" ( +2 "manipulator"&6& +3 "core" &   j +2 "storage"(*& +4 "core" &,j\ \ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +99 "core" ' + .tHand.open +2 "manipulator"&D1 +62 "core" 1 +3 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(}- +3 "core" -' +2 "storage"(F& +4 "core" &,j   8\  +2 "manipulator"&3& +4 "core" &\    j +2 .tElbow.seek 4 +2 "manipulator"&b( +4 "core" ( + "manipulator"&G& +4 "core" &\ !   j +2 "storage"(+& +4 "core" &,j   \  +3 .tForearm.seek 4 + 450 counts + "manipulator"&J' +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +51 "core" ' + "manipulator"&,& +4 "core" &\  P j +2 "storage"(>& +4 "core" &,j R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&P'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(=' +19 "core" ' +2 "manipulator"&% +4 "core" %: n = +2 "storage"(N& +3 "core" &,j |\  +48 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 303 counts + "manipulator"&''f +14 "core" ' +2 "manipulator"&C& +4 "core" &\  n i +2 "storage"(0& +4 "core" &,j\ \ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +14 "core" ' +2 "storage"(% +5 "core" %\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(B' +98 (Z% +4 "core" %.P\  $\ Xh +2 "manipulator"&.% +4 "core" %  < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 (T& +3 "core" &,j\ \  &\  +2 "collection"'l& +3 "core" &\\~\ @\ >\ \\ +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %   +2 "storage"(E% +4 "core" %\ \  \  +2 "storage"(U. +2 "core" .(,y +2 "storage"($& +4 "core" &,j\ \  \  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(`(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &,|\ \  O\ +2 "manipulator"&?& +5 "core" &  i +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  H i +2 "storage"(d& +5 "core" &,|\ \  `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +93 "core" ' +2 "storage"(q& +3 "core" &,| L ,\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(M'r +295 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &  @ h +2 "storage"(9& +4 "core" &,l V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&1'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(z'g +29 "core" ' + "manipulator"&% +4 "core" %? c +2 "storage"(t& +4 "core" &,l\  \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 308 counts +2 "manipulator"&|'k +13 "core" ' +2 "manipulator"&I& +3 "core" &  Y h +2 "storage"(n& +4 "core" &,l\ \ \ i\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(w' +50 "core" ' + "manipulator"&k& +4 "core" &  h +2 "manipulator"&Q% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( +2 "manipulator"&& +4 "core" &ӛ   6 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &ӛ   3 +2 .tForearm.seek CC +2 "manipulator"&o'? +95 "core" ' +2 .tHand.close + "manipulator"&f/ +63 "core" / +2 .tCC.seek :open +2 "collection"'a( +447 "core" ( +2 "storage"(]& +3 "core" &,l 1 0\ +2 "storage"(2& +5 "core" &,l . / \ + "manipulator"&m& +4 "core" &ӛ  3 +2 "manipulator"&i% +5 "core" % O  , +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +49 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&c( +163 "core" ( +2 "manipulator"&e& +4 "core" &   W  +2 "storage"(& +3 "core" &,l 9 / \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +3 "manipulator"&\ % +4 "core" % '  + r +2 "storage"(W& +4 "core" &,l W X\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 284 counts + "manipulator"&V'S +14 "core" ' + "manipulator"& & +4 "core" &     +2 "storage"(v& +4 "core" &,l X X q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +22 "core" ' +2 "storage"(4% +4 "core" % ^ Z 1\ +3 ."downElevator"SE.seek :down +4 "storage"()' +98 (% +3 "core" %F % 6 h\ Wc +2 "manipulator"&R% +4 "core" % Z $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &\ #\ \ +2 "manipulator"&u% +5 "core" %    V  +2 "storage"(~% +3 "core" % R Q s\  +2 "storage"((. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(s(<- +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<* `\  V\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&j& +3 "core" &  l  +2 "storage"(5& +4 "core" &<* U V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +98 "core" ' +2 "storage"(:& +4 "core" &<* T S m\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(g'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* $ / ;\  +2 "manipulator"&x& +4 "core" & f  +2 .tElbow.seek 5 +2 "manipulator"&S( +4 "core" ( + "manipulator"&h& +5 "core" &  G  + "storage"(#& +4 "core" &<* / / ,\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&y'Ϲ +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(@' +7 "core" &   \\  +2 "manipulator"&;% +4 "core" %  C +2 .tForearm.seek :retract +2 "manipulator"&-' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +157 "core" ' + ( + "manipulator"&& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &ӌ# <: +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &ӌ#  B <: +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&*'? +102 "core" ' +2 "manipulator"&& +3 "core" &ӏ"  8 ;7 +2 "manipulator"&D% +4 "core" %8  2  +3 "collection"'& +3 "core" &\ #\ "\ +50 "collection"'}& +6 "core" &\ #\ #\ +2 .tCC.seek :closed +2 "collection"'F(\\ +5 "core" &\ "\ !\ +7 &<\ !\ "\ $f +9 &Y}\ "\ $\ 7 +10 &y\ #\ %\ K +9 &W\ %\ &\ L +10 &W\ &\ $\ K +9 &CY\ $\ '\ K +9 &Y\ %\ $\ K +10 &W\ #\ %\ L +9 &V\ &\ &\ K +9 &KT\ %\ $\ K +10 & X\ %\ (\ K +9 &!W\ (\ &\ K +10 &#U\ '\ '\ K +9 &%SS\ '\ %\ K +9 &'Y\ &\ %\ K +10 &(V\ %\ %\ L +9 &*U\ %\ %\ K +10 &,[Y\ '\ (\ K +9 &.V\ &\ &\ L +9 &/U\ '\ &\ K +10 &1T\ &\ (\ K +9 &3cX\ '\ &\ K +9 &5%Y\ '\ (\ K +10 &6W\ &\ %\ L +9 &8V\ )\ '\ L +9 &:jV\ (\ '\ L +10 &<,W\ '\ '\ L +9 &=W\ '\ (\ L +10 &?U\ )\ '\ K +9 &ArV\ +\ '\ L +9 &C3Z\ -\ )\ L +10 &Dg\ 0\ .\ M +9 &Fp\ 4\ /\ N +9 &Hl\ =\ 6\ P +10 &J"\ Q\ I\ U +9 &K\ R\ S\ W +10 &M\ O\ O\ X +9 &O_\ L\ J\ X +9 &Q!\ J\ H\ X +10 &R\ G\ I\ Y +9 &T\ G\ F\ Z +10 &V`\ G\ G\ Z +9 &X \ E\ E\ [ +9 &Y\ F\ F\ \\ +10 &[\ H\ G\ I +9 &\\9\ F\ F\ , +9 &\\m\ D\ E\ M +3 ( +2 "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&31 +62 "core" 1 +3 "manipulator"&G% +3 "core" % 8 v  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%&& +3 "core" &A\ +2 "manipulator"&,% +4 "core" %  p  +2 "storage"(>% +4 "core" %\ \ \  +2 "storage"(. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(N(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<* :\  +2 "manipulator"&7& +4 "core" &ӭ  ! 7 +2 "manipulator"&C% +3 "core" %  |  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&0( +162 "core" ( +2 "manipulator"&& +3 "core" &  Z  +2 "storage"(%& +4 "core" &<*   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +102 "core" ' +2 "storage"(/& +3 "core" &<* / \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +295 "core" ' +2 "storage"(.- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +3 "core" &<*\ \ \  +2 "manipulator"&b& +3 "core" & P  +3 .tElbow.seek 5 + "manipulator"&Y( +3 "core" ( +2 "manipulator"&P& +4 "core" &  o  +2 "storage"('& +3 "core" &<*\ %\  3\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&T'Ϲ +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(E' +7 "core" &  +2 "manipulator"&U% +4 "core" %  P +2 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&O& +4 "core" & , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +4 "core" &  s , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&d& +3 "core" &  ^ , +2 "manipulator"&<% +4 "core" % s +2 "processing"%q& +4 "core" &B\ +3 "processing"%B& +5 "core" &F\ +2 .tPC.seek :closed +2 "processing"%!(^ +5 "core" &T\ +7 &6\\\ #b +9 &T]\ 7 +10 &S\ L +9 &ZX\ N +9 &\\\\R\ N +10 &YQ\ N +9 &\\Q\ N +9 &\\P\ N +10 &dYH\ N +9 &%[O\ N +10 &ZG\ N +9 &!\\P\ N +9 &#l[F\ N +10 &%.\\C\ N +9 &&[H\ N +9 &([G\ N +10 &*s\\E\ N +9 &,5\\I\ N +10 &-ZH\ N +9 &/\\E\ N +9 &1|ZG\ N +10 &3?ZJ\ N +9 &5XQ\ N +9 &6[T\ N +10 &8\\Q\ N +9 &:FZO\ N +10 &<\\R\ N +55 &=\\N\ O +5 &?[R\ N +3 &AL]Q\ O +3 &C dP\ O + &DhP\ P + &FrQ\ Q + &HHS\ S +6 &JR\ T +9 &KO\ T +9 &MP\ T +10 &OLR\ T +9 &Q\ R\ U +9 &RP\ U +10 &TP\ V +9 &VQP\ U +10 &XQ\ U +9 &YN\ U +9 &[M\ U +10 &]XQ\ D +9 &^GzN\ [ +9 &^=J\ 2 +6 ( +2 "processing"%B& +4 "core" &^!M\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&81 +61 "core" 1 +2 "manipulator"&H% +4 "core" %  C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +88 "core" ' +2 "processing"%L& +4 "core" &^!2\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&9% +3 "core" %      +2 "storage"( % +4 "core" %\ \  &\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(t(<- +7 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (I& +3 "core" &<* w\  +3 "manipulator"&n& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &   " , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&k( + "storage"(Q'r +7 "core" ( +2 "manipulator"&[& +3 "core" &    , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   , +3 .tForearm.seek PC +2 "manipulator"&M' +93 "core" ' + .tHand.close +2 "manipulator"&1/ +58 "core" / +3 .tPC.seek :open +2 "processing"%|( +91 "core" ' +2 "storage"(z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +305 ( + "storage"(A& +4 "core" &<) Q\  +2 "manipulator"&p& +4 "core" & , +2 "manipulator"&_% +4 "core" %  q V +2 .tForearm.seek :retract +2 "manipulator"&f' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&X& +8 "core" &  G +3 "storage"(]& +3 "core" &<)\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +93 "core" ' +2 .tHand.open + "manipulator"&m1 +61 "core" 1 +2 "storage"(i- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(e' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &<)  \  +2 "manipulator"&& +4 "core" &   i G +2 .tElbow.seek 5 +2 "manipulator"&\ ( +4 "core" ( + "manipulator"&W& +4 "core" &  " d G +2 "storage"( & +4 "core" &<)   \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&v'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +58 "core" ' +2 "manipulator"&& +3 "core" & Y G +2 "storage"(& +4 "core" &<)\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&R'΍ +29 "core" ' + .tElbow.hold +2 "manipulator"&c, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +73 "core" ' +3 "manipulator"&% +5 "core" %Έ k + "storage"(V& +4 "core" &<)\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 295 counts +2 "manipulator"&u'ϴ +13 "core" ' +2 "manipulator"&~& +4 "core" &  / +2 "storage"((& +4 "core" &<) O 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +24 "core" ' + "storage"(\\% +4 "core" % Q \ +3 ."downElevator"SE.seek :down +3 "storage"()' +99 (`% +3 "core" %QQ\  \ Xh +2 "manipulator"& % +4 "core" %S ; " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +85 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (j& +3 "core" &<)\ \  \  +2 "collection"'5& +4 "core" &\\j\ A\ ?\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&:% +4 "core" %  }  +2 "storage"(% +3 "core" % X K\  +2 "storage"(r. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<+\  U\  +3 "manipulator"&x& +3 "core" &  | / +2 .tElbow.seek 5 +2 "manipulator"&h( +22 "core" ( +2 "manipulator"&#& +4 "core" &   +2 "storage"({& +4 "core" &<)   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' + "storage"(;& +4 "core" &<) .  ]\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +4 "core" &  +2 "storage"(6& +3 "core" &<)\ /\ / ;\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&g'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(D't +27 "core" ' + "manipulator"&S% +4 "core" %Ξ n +2 "storage"(& +4 "core" &<) M\ # L\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&@' +14 "core" ' +2 "manipulator"&-& +3 "core" &  +2 "storage"(a& +4 "core" &<) Q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(G' +44 "core" ' +2 "manipulator"&&& +3 "core" & l  +2 "manipulator"&,% +4 "core" %3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&}& +4 "core" &ӓ  , 5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӓ 5 +2 .tForearm.seek CC +2 "manipulator"&7'? +92 "core" ' +2 .tHand.close + "manipulator"&C/ +57 "core" / +2 .tCC.seek :open +2 "collection"'*( +447 "core" ( + "storage"(& +4 "core" &<) & 0 |\  +2 "storage"(%& +4 "core" &<) / & j\  +2 "manipulator"&s& +4 "core" &ө  2 +2 "manipulator"&/% +3 "core" % R }  +3 .tForearm.seek :retract +45 "manipulator"&"' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&+( +162 "core" ( +2 "manipulator"&.& +4 "core" &   H  +2 "storage"(J& +4 "core" &<) M S 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&b'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +55 "core" 1 +3 "manipulator"&l% +3 "core" % Ή  U ( +2 "storage"(& +4 "core" &<) V U\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 296 counts +2 "manipulator"&U'ϵ +13 "core" ' +2 "manipulator"&0& +4 "core" &     +2 "storage"(& +3 "core" &<) Y X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +20 "core" ' + "storage"(T% +4 "core" % X W\ +3 ."downElevator"SE.seek :down +4 "storage"(O' +99 (?% +3 "core" %K - .\ Wc +2 "manipulator"&Y% +4 "core" %K m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'<& +4 "core" &\ !\ !\ +2 "manipulator"&q% +3 "core" %  !  +2 "storage"(E% +4 "core" % ^ [\  +2 "storage"(=. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(^(K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &K 2 /\ +2 "manipulator"&H& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&9& +4 "core" &    +2 "storage"( & +3 "core" &K V W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(B& +3 "core" &K I J q\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +295 "core" ' +2 "storage"(n- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +3 "core" &K $ , \ +2 "manipulator"&& +3 "core" &    +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&1& +3 "core" &  q  +2 "storage"(N& +4 "core" &K 0 1 z\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&z'h +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& +2 "storage"(!' +6 "core" &  0  +2 "manipulator"&Q% +4 "core" % ^   $ +3 .tForearm.seek :retract + "manipulator"&A' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&_& +3 "core" &Ӗ n 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &M& +2 "core" &Ӗ  5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'? +97 "core" ' +2 "manipulator"&]& +4 "core" &Ӗ o 5 +2 "manipulator"&k% +4 "core" %>  +46 "collection"'m& +7 "core" &\ "\  \ +3 "collection"'i& +6 "core" &\ \ "\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ !\ \ +7 &<\ "\ !\ %f +9 &Xy\ !\ "\ 7 +10 &y\ "\ $\ K +9 &V\ $\ $\ K +9 &W\ #\ #\ K +10 &?W\ &\ '\ L +9 &W\ %\ &\ K +9 &W\ $\ $\ L +10 &U\ $\ $\ K +9 &GW\ $\ %\ L +10 & U\ &\ %\ K +9 &!V\ '\ $\ K +9 &#T\ %\ %\ K +10 &%PU\ %\ '\ K +9 &'T\ '\ '\ K +9 &(W\ %\ '\ K +10 &*X\ &\ '\ K +9 &,XV\ &\ %\ K +10 &.U\ $\ '\ L +9 &/V\ %\ &\ K +9 &1X\ %\ '\ K +10 &3aS\ &\ '\ K +9 &5"W\ '\ $\ K +9 &6T\ %\ &\ K +10 &8Y\ &\ (\ K +9 &:hW\ *\ )\ K +10 &<*U\ (\ &\ K +9 &=Z\ *\ )\ K +9 &?^\ 3\ 2\ L +10 &An]\ 0\ 3\ L +9 &C/^\ ,\ ,\ L +9 &Dg\ 2\ .\ M +10 &Fu\ 5\ 3\ O +9 &Hd\ I\ D\ R +10 &J\ W\ T\ V +9 &K\ U\ V\ W +9 &M\ P\ R\ W +10 &O]\ J\ M\ W +9 &Q\ H\ K\ X +9 &R\ G\ G\ Y +10 &T\ F\ F\ Z +9 &V^\ F\ F\ Z +10 &X\ F\ F\ [ +9 &Y\ E\ D\ [ +9 &[\ F\ G\ H +10 &\\<\ F\ F\ (y +9 &\\\ C\ F\ [ +2 ( +2 "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % Ϝ  k , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"% & +3 "core" &W\ +2 "manipulator"&f% +4 "core" %  g \ +2 "storage"(% +4 "core" %\ \ \  +2 "storage"(. +4 "core" .(K + "storage"(& +4 "core" &K\ \  4\ +2 "storage"(o& +4 "core" &K\ \ :\ +2 "manipulator"&& +4 "core" & $ +2 "manipulator"&V% +4 "core" %   U \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&~( +151 "core" ( +2 "manipulator"&(& +3 "core" &  ]  +2 "storage"(& +4 "core" &K O \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&2' +99 "core" ' + "storage"(\\& +4 "core" &K Q /\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'r +298 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" &K\ \ $\ +2 "manipulator"& & +5 "core" &  o  +2 .tElbow.seek 6 + "manipulator"&\ ( +4 "core" ( +2 "manipulator"&4& +3 "core" &  +2 "storage"(R& +4 "core" &K\ \  \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&u'h +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&j/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&5& +2 "storage"(:' +7 "core" & p  +2 "manipulator"&% +4 "core" % _ 8 +2 .tForearm.seek :retract +2 "manipulator"&r' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" & i B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +4 "core" &  B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&#' +105 "core" ' +2 "manipulator"&{& +4 "core" & \ B +2 "manipulator"&w% +5 "core" %  +2 "processing"%;& +4 "core" &D\ +3 "processing"%)& +4 "core" &X\ +3 .tPC.seek :closed +2 "processing"%t(^ +5 "core" &W\ +5 &W\ 7 +10 &?HyW\ 0 +9 &gqW\ D +9 &hT\ O +10 &[R\ N +9 &ZU\ N +9 &MYW\ N +10 &Z[\ N +9 &[V\ N +10 &ZV\ O +9 &TZS\ N +9 &!YR\ N +10 &"YK\ N +9 &$\\U\ N +9 &&\\ZI\ N +10 &(\\K\ N +9 &)ZH\ N +10 &+ZN\ N +9 &-eZQ\ N +9 &/'ZQ\ N +10 &0ZB\ N +9 &2ZN\ N +9 &4nXG\ N +10 &60[I\ N +9 &7ZC\ N +10 &9ZI\ N +9 &;u[G\ N +9 &=6ZE\ N +10 &>]D\ N +9 &@\\B\ N +9 &B{`L\ O +10 &D:fL\ P +9 &EoG\ P +10 &GyH\ Q +49 &ItB\ T +8 &K6E\ T + &LE\ T + &NF\ U + &PyK\ U + &R:G\ U +4 &SA\ V +10 &UF\ U +9 &WF\ U +9 &YBF\ U +10 &[F\ V +9 &\\G\ V +9 &^=fG\ (| +10 &^jM\ 9 +8 ( +2 &^"Q\ 3 +3 "processing"%)& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"&c1 +56 "core" 1 + "manipulator"&% +4 "core" %    f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' + "processing"%& +4 "core" &^!G\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&6% +4 "core" % !   $ - +2 "storage"(% +4 "core" %\ \ \  +2 "storage"(S. +2 "core" .(K +2 "storage"(& +4 "core" &K \ s\ +3 "storage"(-& +3 "manipulator"&a& +5 "core" &K\ \ _\ +2 &   B +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&&( +6 ."raiseStack"SE.seek :beamBreak +3 "storage"(,'r +3 "core" ( +2 "manipulator"&& +3 "core" &    B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &h& +2 "core" &    B +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&g/ +58 "core" / +3 .tPC.seek :open +2 "processing"%@( +88 "core" ' +2 "storage"(D- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'1 +43 "core" ' +314 ( +2 "storage"( & +3 "core" &K\ \ s\ +2 "manipulator"&3& +4 "core" &  F B +2 "manipulator"&y% +4 "core" %  [ 5 +2 .tForearm.seek :retract +2 "manipulator"&C' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&>( +246 "core" ( +2 "manipulator"&F& +3 "core" &  R N +2 "storage"(& +4 "core" &K T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +93 "core" ' +2 .tHand.open + "manipulator"&s1 +60 "core" 1 +2 "storage"(/- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(7' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(.' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(J- +3 "core" -' +2 "storage"(& +4 "core" &K 8 8 \ +2 "manipulator"&'& +4 "core" &    M +2 .tElbow.seek 6 +2 "manipulator"&l( +4 "core" ( + "manipulator"&& +4 "core" &   C M +2 "storage"(0& +4 "core" &K 7 7 D\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(T'" +51 "core" ' +2 "manipulator"&"& +3 "core" & V M +2 "storage"(?& +4 "core" &K\ \ 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Y'< +26 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(b' +19 "core" ' + "manipulator"&U% +4 "core" %:  +2 "storage"(<& +3 "core" &K /\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 298 counts +2 "manipulator"&q'f +16 "core" ' +46 "manipulator"&E& +7 "core" & M + "storage"(=& +4 "core" &K\ \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +16 "core" ' +2 "storage"(Z% +4 "core" %\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(O' +99 (% +3 "core" %DQ\ \  c\ Wg +3 "manipulator"&8% +4 "core" %  n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +89 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (9& +3 "core" &K\ \  \ +2 "collection"' & +4 "core" &\\|\ A\ C\ [ +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&B% +4 "core" %   +2 "storage"(P% +4 "core" %\ \ \  +2 "storage"(d. +2 "core" .(K +3 "storage"(n& +3 "core" &K\ \ \ +2 "storage"([& +4 "core" &K\ \ \ +2 "manipulator"&& +4 "core" &  M +2 .tElbow.seek 6 +2 "manipulator"&1( +4 "core" ( + "manipulator"&N& +4 "core" &  ] M +2 "storage"($& +4 "core" &K\ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&K' +98 "core" ' +2 "storage"(Q& +4 "core" &K O w\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +298 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" & q M +2 "storage"(M& +4 "core" &K\ \ %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&I'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(k'o +29 "core" ' + "manipulator"&m% +4 "core" %F < +2 "storage"(& +4 "core" &K\ \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&!'r +14 "core" ' +2 "manipulator"&A& +3 "core" & f M +2 "storage"(*& +4 "core" &K\ \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"& & +4 "core" & M +2 "manipulator"&f% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ( + "manipulator"&& +4 "core" &ӎ!   1 :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &ӎ!  :* +2 .tForearm.seek CC +2 "manipulator"&i'? +106 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'V( +447 "core" ( +2 "storage"(X& +4 "core" &K X P\ +2 "storage"((& +3 "core" &K   \ +2 "manipulator"&& +4 "core" & i ' +2 "manipulator"&\\% +4 "core" % Ν { ? +2 .tForearm.seek :retract +2 "manipulator"&p' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&W( +146 "core" ( +2 "manipulator"&v& +3 "core" &   +2 "storage"(`& +4 "core" &K , % i\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +50 .tForearm.seek 6 +2 "manipulator"& '< +97 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +54 "core" 1 +2 "manipulator"&j% +4 "core" % M  " +2 "storage"(5& +4 "core" &K Q ; \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 317 counts + "manipulator"&'y +14 "core" ' +2 "manipulator"&~& +3 "core" &   L  +2 "storage"(2& +4 "core" &K X X \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +15 "core" ' +2 "storage"(u% +3 "core" % U Q N\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (x% +3 "core" %L T m\ Wd +2 "manipulator"&\ % +4 "core" % t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'w& +4 "core" &\ \ \ +2 "manipulator"&;% +3 "core" %    +3 "storage"(:% +3 "core" % X U\  +2 "storage"(r. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(|(,y +668 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (c& +7 "core" &,| + # `\ +2 "manipulator"&& +4 "core" & i  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&6& +3 "core" &   p  +2 "storage"(& +4 "core" &,| U U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&S' +94 "core" ' + "storage"(& +4 "core" &,| Q T \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'r +297 "core" ' + "storage"(a- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (-& +2 "core" &,k , # (\  +3 "manipulator"&& +3 "core" & 0  +2 .tElbow.seek 4 +2 "manipulator"&h( +4 "core" ( +2 "manipulator"&#& +3 "core" &  m  +2 "storage"(g& +5 "core" &,k 0 1\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&D'c +17 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(t' +8 "core" &  (  +2 "manipulator"&,% +4 "core" % X +2 .tForearm.seek :retract +2 "manipulator"& ' +98 "core" ' + .tElbow.seek CC +2 "manipulator"&3(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&y& +4 "core" &z" ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &z" ] ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'? +101 "core" ' +2 "manipulator"&& +4 "core" &ӝ  7 +2 "manipulator"&&% +4 "core" %: +2 "collection"'s& +5 "core" &\ "\ "\ +3 "collection"'/& +4 "core" &\ #\ "\ +3 .tCC.seek :closed +2 "collection"'J(\\ +3 "core" &\ #\ "\ +9 &;\ !\ "\ %f +9 &Y}\ "\ !\ 8 +10 &u\ #\ $\ K +9 &V\ %\ #\ K +9 &W\ $\ %\ K +10 &LV\ %\ $\ K +9 &T\ &\ %\ K +10 &W\ $\ %\ K +9 &W\ $\ '\ K +9 &TW\ &\ %\ K +10 & S\ $\ $\ K +50 &!U\ $\ '\ K +4 &#V\ (\ )\ K + &%\\U\ &\ &\ K +2 &'X\ '\ %\ K + &(W\ &\ (\ K + &*V\ &\ '\ K +6 &,eW\ &\ &\ K +10 &.&V\ %\ '\ K +9 &/U\ '\ '\ K +9 &1W\ '\ '\ L +10 &3mV\ (\ (\ K +9 &5/W\ '\ *\ K +10 &6W\ (\ '\ K +9 &8W\ '\ '\ K +9 &:tX\ '\ '\ K +10 &<7T\ &\ '\ K +9 &=W\ &\ '\ K +9 &?Z\ *\ &\ K +10 &A|X\ )\ )\ K +9 &C=\\\ ,\ )\ \ L +10 &Dd\ -\ -\ \ L +9 &Fp\ 0\ 1\ N +9 &Hv\ =\ 5\ P +10 &J*\ N\ G\ U +9 &K\ R\ O\ V +9 &M\ L\ N\ W +10 &Oi\ K\ L \ W +9 &Q)\ J\ J\ X +10 &R\ F\ H\ X +9 &T\ F\ G\ Y +9 &Vj\ G\ G \ Z +10 &X)\ E\ E\ [ +9 &Y\ E\ G\ \\ +9 &[\ D\ F\ H +10 &\\2\ E\ G\ . +9 &\\a\ E\ F\ L +2 ( +3 "collection"'/& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&'% +4 "core" % :   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%0& +4 "core" &R\ +2 "manipulator"&C% +4 "core" %   +2 "storage"("% +4 "core" % Q ;\  +2 "storage"(?. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(U(,y +12 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +4 "core" &,|\ \ \ +2 "manipulator"&}& +3 "core" &ӭ 4 +2 "manipulator"&E% +4 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&7( +161 "core" ( +2 "manipulator"&=& +4 "core" & )  +2 "storage"(>& +3 "core" &,|\ \ ! \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +92 "core" ' + "storage"(%& +4 "core" &,| + ! @\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,l\ \ c\  +2 "manipulator"&8& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&l( +4 "core" ( +2 "manipulator"&T& +3 "core" &   +2 "storage"(Y& +4 "core" &,l N K\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&q'c +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(B' +7 "core" & Z  +2 "manipulator"&P% +4 "core" % s 3 +2 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&n& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" & W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&N& +4 "core" & A +2 "manipulator"&$% +4 "core" % o B +2 "processing"%G& +4 "core" &g\ +3 "processing"%Q& +5 "core" &Q\ +2 .tPC.seek :closed +2 "processing"%O(^ +5 "core" &i\  +8 &0wd\ *x +9 &ck\ > +9 &mvi\ N +10 &.Wh\ N +9 &Yc\ N +10 &Ub\ N +9 &vYb\ N +9 &8Yj\ N +10 &Ye\ N +9 &Yi\ N +9 & }[g\ N +10 &"@Xh\ N +9 &$Zk\ N +10 &%Yj\ M +9 &'Zd\ N +9 &)GXW\ N +10 &+ Xd\ N +9 &,Z]\ N +9 &.Wi\ M +10 &0NYb\ N +9 &2Yh\ N +10 &3Xj\ N +9 &5\\b\ N +9 &7XY[\ N +10 &9\\[\ N +9 &:\\i\ N +9 &<Z^\ N +10 &>_\\f\ N +9 &@![[\ N +10 &A^^\ O +9 &Ce`\ O +9 &Ebkg\ P +10 &G!q[\ Q +9 &HZ\ R +9 &JY\ T +10 &L_`\ S +9 &Nb\ U +10 &Ob\ T +9 &QV\ U +9 &ScX\ U +10 &U$R\ U +9 &V_\ U +9 &XN\ U +10 &ZkU\ U +9 &\\-X\ U +10 &]Y\ 8 +9 &^2V\ P +9 &^!S\ 0 +3 ( +2 "processing"%Q& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 +2 .Hand.open +47 "manipulator"&+1 +65 "core" 1 +2 "manipulator"&H% +4 "core" %    6 B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"%_& +3 "core" &^ W\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&M% +4 "core" %      +2 "storage"(]% +4 "core" %\ \ \  +2 "storage"(m. +3 "core" .(,y +2 "storage"(& +4 "core" &,l\ \  &\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(A(,y +29 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "manipulator"& & +5 "core" &,}\  \ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(f'r + "manipulator"&K( +7 "core" ( +2 "manipulator"&1& +3 "core" &   . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&I' +93 "core" ' + .tHand.close +2 "manipulator"&!/ +55 "core" / +2 .tPC.seek :open +2 "processing"%k( +97 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(o'1 +41 "core" ' +304 ( +2 "storage"(& +4 "core" &,j > !\  +3 "manipulator"&z& +3 "core" & +2 "manipulator"&% +4 "core" %   E +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +238 "core" ( + "manipulator"&X& +4 "core" & D +2 "storage"((& +4 "core" &,j\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' + .tHand.open +2 "manipulator"&\\1 +61 "core" 1 +2 "storage"(v- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(`' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(i' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(R& +4 "core" &,j 8 8 "\  +2 "manipulator"&j& +4 "core" &   C +2 .tElbow.seek 4 +2 "manipulator"&5( +2 "core" ( +2 "manipulator"&~& +4 "core" &  C +2 "storage"(2& +4 "core" &,j 8 8\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&u' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(p'" +58 "core" ' +2 "manipulator"&x& +3 "core" & C +2 "storage"(\ & +4 "core" &,j L "\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&W'7 +18 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +28 "core" ' +2 "manipulator"&;% +4 "core" %9 i  +2 "storage"(& +3 "core" &,j\ \ '\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 302 counts +2 "manipulator"&:'e +14 "core" ' + "manipulator"&r& +48 "core" & t C +4 "storage"(& +4 "core" &,j Q k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +15 "core" ' +2 "storage"(% +4 "core" % Q \ +3 ."downElevator"SE.seek :down +4 "storage"(^' +98 (c% +3 "core" %SS z\ Xg +2 "manipulator"&% +4 "core" %  b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +3 "core" &,j\ % N Z\  +2 "collection"'& +5 "core" &\\a\ C\ @\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&4% +4 "core" %   +2 "storage"({% +4 "core" % Q \  +2 "storage"(a. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(-(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,{ \  A\ +2 "manipulator"&#& +4 "core" & y C +2 .tElbow.seek 4 +2 "manipulator"&g( +4 "core" ( +2 "manipulator"&& +3 "core" & C +2 "storage"( & +4 "core" &,{ N \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&,' +93 "core" ' +2 "storage"(& +4 "core" &,{ C $\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'r +295 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & s C +2 "storage"()& +4 "core" &,l\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&D'7 +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(s'h +32 "core" ' + "manipulator"&h% +4 "core" %8 x  +2 "storage"(t& +4 "core" &,l\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 301 counts + "manipulator"& 'd +14 "core" ' +2 "manipulator"&V& +3 "core" &  C +2 "storage"(& +4 "core" &,l P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&'' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(0' +36 "core" ' +2 "manipulator"&C& +3 "core" & C +2 "manipulator"&"% +4 "core" % ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +91 "core" ' +3 .tElbow.seek CC + "manipulator"&/(ӂ +148 "core" ( +2 "manipulator"&<& +3 "core" &|$  X =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &|$   =D +3 .tForearm.seek CC +2 "manipulator"&E'? +97 "core" ' +2 .tHand.close + "manipulator"&F/ +57 "core" / +2 .tCC.seek :open + "collection"'=( +448 "core" ( + "storage"(>& +4 "core" &,l % 0 p\  +2 "storage"(|& +3 "core" &,l . / w\  +2 "manipulator"&%& +4 "core" &Ӭ k 7 +2 "manipulator"&3% +4 "core" % @ '  +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +165 "core" ( +2 "manipulator"&& +42 "core" &   +10 "storage"(8& +4 "core" &,l ! #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&T'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +63 "core" 1 +3 "manipulator"& % +4 "core" % =  F +2 "storage"(P& +3 "core" &,l D 6 \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&7'i +14 "core" ' +2 "manipulator"&Z& +4 "core" &  =  +2 "storage"(.& +4 "core" &,l U U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&q' +14 "core" ' + "storage"(n% +4 "core" % S T \ +3 ."downElevator"SE.seek :down +3 "storage"([' +99 (l% +3 "core" %YL - (\ Wc +2 "manipulator"&N% +4 "core" %  u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'G& +3 "core" &\ !\ \ +3 "manipulator"&B% +3 "core" %  K  +2 "storage"(d% +4 "core" % W R \  +2 "storage"(@. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(+(<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &<,   k\  +2 "manipulator"&Q& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&M& +4 "core" &   +2 "storage"(]& +3 "core" &<, U U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +99 "core" ' + "storage"(& +4 "core" &<, X K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'r +292 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (1& +3 "core" &<, / ( T\  +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&!& +3 "core" &  }  +2 "storage"(U& +4 "core" &<, 7 1\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(O' +8 "core" &  f  +2 "manipulator"&f% +4 "core" % ϵ H +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( +2 "manipulator"&& +3 "core" &z b ' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &z p ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'? +94 "core" ' + "manipulator"&(& +4 "core" &z   \\ ' +2 "manipulator"&K% +4 "core" %G  s V +2 "collection"'\\& +4 "core" &\ !\ "\ +3 "collection"'v& +5 "core" &\ $\ $\ +3 .tCC.seek :closed + "collection"'(\\ +4 "core" &\ !\ !\  +9 &5~\ !\ !\ *z +10 &\ f}\ "\ \ > +50 &n\ #\ #\ \ L +3 &ZS\ $\ %\ K +2 &W\ &\ #\ K +2 &W\ &\ $\ K + &S\ %\ %\ K + &bU\ %\ %\ K +6 &#X\ &\ $ \ K +10 &W\ $\ '\ K +9 & V\ $\ '\ K +9 &"jX\ &\ &\ K +10 &$,U\ '\ '\ K +9 &%W\ '\ %\ K +9 &'W\ %\ %\ K +10 &)qV\ &\ (\ K +9 &+3W\ '\ %\ K +10 &,V\ %\ '\ K +9 &.V\ '\ &\ K +9 &0zS\ (\ %\ K +10 &2<V\ (\ '\ K +9 &3W\ &\ )\ K +9 &5W\ &\ (\ K +10 &7Y\ (\ (\ K +9 &9DW\ %\ '\ K +10 &;W\ '\ '\ K +9 &<Y\ '\ '\ K +9 &>X\ &\ &\ K +10 &@KU\ )\ '\ K +9 &B \\\ )\ (\ L +9 &C`\ ,\ ,\ L +10 &Eh\ .\ .\ M +9 &GIt\ 4\ 2\ O +10 &I\ C\ >\ Q +9 &J\ R\ Q\ V +9 &Lx\ R\ S\ V +10 &N7\ L\ O\ X +9 &O\ J\ K\ X +9 &Q\ I\ I\ X +10 &Sy\ G\ J\ Y +9 &U:\ G\ H\ Y +10 &V\ G\ H\ Z +9 &X\ E\ G \ [ +9 &Z{\ G\ E\ [\ +10 &\\y\ H\ G\ / +9 &\\0\ E\ F\ _ +9 ( +3 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&R1 +4 "core" &\\i\ D\ F\ J +61 1 + "manipulator"&j% +4 "core" % G  V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%2& +4 "core" &L\ +2 "manipulator"&% +4 "core" %   +2 "storage"(x% +3 "core" % P \  +2 "storage"(\ . +4 "core" .(<- + "storage"(;& +4 "core" &<, I ,\  +2 "storage"(& +4 "core" &<, Q s\  +2 "manipulator"&o& +4 "core" &Ӆ  t % +2 "manipulator"&r% +4 "core" %  Y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&`( +154 "core" ( +2 "manipulator"&& +4 "core" &  &  +2 "storage"(& +4 "core" &<, K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +96 "core" ' +2 "storage"(& +4 "core" &<, % / \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(i'r +298 "core" ' +2 "storage"(c- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<, L %\  +2 "manipulator"&u& +4 "core" & Y  +2 .tElbow.seek 5 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&p& +3 "core" &  +2 "storage"(W& +4 "core" &<,  \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&:'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(4' +8 "core" & t  + "manipulator"&{% +4 "core" % ϴ W +2 .tForearm.seek :retract +2 "manipulator"&a' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&w( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&& +4 "core" & l , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" & , +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 "manipulator"& & +3 "core" &  ; , +3 "manipulator"&e% +3 "core" %  ^ m +2 "processing"%& +4 "core" &e\ +3 "processing"%^& +5 "core" &T\ +2 .tPC.seek :closed +2 "processing"%A(^ +4 "core" &j\  +9 &1xj\ )w +10 &c`\ > +9 &pvb\ N +9 &1Ya\ N +10 &Wh\ N +9 &Ud\ N +10 &yW`\ N +9 &;Wa\ N +9 &Yb\ M +10 &Yc\ N +9 & ]g\ N +10 &"CVa\ N +9 &$X`\ M +9 &%Wc\ M +10 &'Yb\ N +9 &)KZg\ N +9 &+ Wk\ N +10 &,Xi\ M +9 &.Wg\ M +9 &0SYa\ N +10 &2Wj\ N +9 &3Xc\ M +10 &5Yi\ M +9 &7[Yg\ N +9 &9[i\ N +10 &:]c\ N +9 &<Zi\ N +9 &>c\\f\ N +10 &@%Zj\ N +9 &A_g\ N +10 &Cfg\ O +9 &Eeli\ P +9 &G#ue\ Q +10 &Hd\ T +9 &Jd\ T +9 &Lab\ T +10 &N!h\ T +9 &Ob\ T +10 &Q_\ U +9 &Seb\ U +9 &U%Y\ V +10 &Vf\ U +9 &Xf\ T +9 &Zmc\ U +10 &\\,b\ V +9 &]}d\ 8 +10 &^7X\ G +8 ( +2 &^[\ * +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"& 1 +56 "core" 1 +4 "manipulator"&6% +4 "core" %    y m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +92 "core" ' +2 "processing"%& +4 "core" &^Q\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&)% +4 "core" %     +2 "storage"(&% +3 "core" %\ \ \  +3 "storage"(h. +2 "core" .(<- +2 "storage"(t& +4 "core" &<,\ \ \  +3 "storage"(V& +4 "manipulator"&& +5 "core" &<,\ \ \  + &    , +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(C'r +2 "manipulator"&"( +5 "core" ( +2 "manipulator"&,& +4 "core" &   6 , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &  { , +2 .tForearm.seek PC +2 "manipulator"&S' +94 "core" ' +2 .tHand.close + "manipulator"&D/ +61 "core" / +3 .tPC.seek :open +2 "processing"% ( +85 "core" ' +2 "storage"(s- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'1 +41 "core" ' +317 ( + "storage"(}& +4 "core" &<, N B\  +2 "manipulator"&'& +3 "core" & y , +2 "manipulator"&% +4 "core" %  . +2 .tForearm.seek :retract +2 "manipulator"&F' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&?( +252 "core" ( +2 "manipulator"&J& +3 "core" &  r M +2 "storage"(>& +4 "core" &<,\ \ i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +98 "core" ' + .tHand.open +2 "manipulator"&%1 +64 "core" 1 +2 "storage"(3- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(E' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(8- +2 "core" -' +2 "storage"(/& +4 "core" &<, 3 ( \  +2 "manipulator"&9& +4 "core" &    M +3 .tElbow.seek 5 +2 "manipulator"& ( +31 "core" ( + "manipulator"&P& +4 "core" &   g { +2 "storage"(Z& +4 "core" &<, 7 4\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +51 "core" ' +2 "manipulator"&& +3 "core" &  { +2 "storage"(l& +4 "core" &<, N F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&N'΍ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(T' +19 "core" ' +2 "manipulator"&G% +4 "core" %Ε z y +2 "storage"(B& +4 "core" &<,\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&7' +25 "core" ' + "manipulator"&d& +4 "core" &  n { +2 "storage"(@& +4 "core" &<, Y ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&0'O +15 "core" ' +2 "storage"(q% +48 "core" %   \ +5 ."downElevator"SE.seek :down +5 "storage"([' +99 (-% +4 "core" %P\ \ \ Xg +2 "manipulator"&H% +3 "core" %9  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +90 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 (M& +3 "core" &<, X p\  +2 "collection"']& +4 "core" &\\h\ A\ B\ J +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %  T  +2 "storage"(Y% +4 "core" %\ $\ ( H\  +2 "storage"($. +3 "core" .(<- +2 "storage"( & +4 "core" &<, L n\  +2 "storage"(1& +4 "core" &<, L h\  +2 "manipulator"&L& +3 "core" & 7 { +2 .tElbow.seek 5 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&U& +4 "core" &  / { +2 "storage"(b& +4 "core" &<, U 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +99 "core" ' +2 "storage"(f& +4 "core" &<, $ ,\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +298 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & { +2 "storage"(I& +4 "core" &<,\  T X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&*'΍ +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"((- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(K'u +31 "core" ' +2 "manipulator"&% +3 "core" %Ρ o +2 "storage"(\\& +5 "core" &<,\  \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"&O' +14 "core" ' +2 "manipulator"&& +4 "core" & { +2 "storage"(=& +4 "core" &<,\ \  `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&R'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(j' +36 "core" ' +2 "manipulator"&2& +3 "core" &  l { +2 "manipulator"&% +4 "core" %:  \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +155 "core" ( +2 "manipulator"&v& +4 "core" &ӑ  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +3 "core" &ӑ V 8 +2 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' +2 .tHand.close + "manipulator"&o/ +63 "core" / +2 .tCC.seek :open +2 "collection"'r( +447 "core" ( +2 "storage"(X& +3 "core" &<, / , f\  +2 "storage"(& +4 "core" &<, 0 2 8\  +2 "manipulator"&& +4 "core" &ӧ  5 +2 "manipulator"&% +4 "core" % P . +2 .tForearm.seek :retract +2 "manipulator"&z' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&~( +161 "core" ( +2 "manipulator"&c& +3 "core" &   u  +2 "storage"(& +4 "core" &<, U U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&u'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +42 .tHand.open +8 "manipulator"&W1 +58 "core" 1 +3 "manipulator"&% +3 "core" % Θ  H +2 "storage"(& +4 "core" &<, U W \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 311 counts + "manipulator"&{' +25 "core" ' +2 "manipulator"&`& +4 "core" &    +2 "storage"(& +4 "core" &<, G H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +24 "core" ' + "storage"(:% +4 "core" % H G ?\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (#% +3 "core" %G . % 8\ Wb +2 "manipulator"&5% +4 "core" %W  W & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +87 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'e& +3 "core" &\ !\ #\ +2 "manipulator"&% +4 "core" %  '  +2 "storage"(4% +4 "core" % Q Q o\  +2 "storage"(a. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(k(K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" &K / 4 \ +3 "manipulator"&6& +3 "core" &  2  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&)& +4 "core" &  J  +2 "storage"(&& +4 "core" &K W U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&h' +93 "core" ' +2 "storage"(t& +4 "core" &K M H 1\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'r +293 "core" ' +2 "storage"(V- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K $ / p\ +2 "manipulator"&,& +4 "core" &  ~  +2 .tElbow.seek 6 +2 "manipulator"&g( +2 "core" ( +3 "manipulator"&& +3 "core" &   +2 "storage"(D& +5 "core" &K , ! '\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&s'h +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +2 "storage"(A' +7 "core" &  Z  +2 "manipulator"&C% +4 "core" % o  +2 .tForearm.seek :retract +2 "manipulator"&}' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&'(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &Ӓ f 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &Ӓ 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'? +97 "core" ' + "manipulator"&>& +4 "core" &Ӓ  P 6 +2 "manipulator"&"% +4 "core" %H  +2 "collection"'%& +4 "core" &\ $\ "#\ +3 "collection"'3& +4 "core" &\ #\ !\ +3 .tCC.seek :closed +2 "collection"'8(\\ +5 "core" &\ #\ ! \ +6 &;\ !\ #\ %g +10 &Yx\ $\ \ 7 +9 &x\ $\ #\ K +10 &V\ %\ $\ K +9 &W\ &\ $\ K +9 &EW\ $\ #\ K +10 &Y\ %\ &\ K +9 &W\ '\ '\ K +9 &V\ &\ %\ K +10 &NT\ %\ &\ K +9 & V\ &\ %\ K +10 &!U\ '\ '\ K +9 &#W\ &\ &\ L +9 &%VU\ %\ '\ K +10 &'U\ (\ &\ K +9 &(V\ (\ %\ K +9 &*U\ '\ &\ K +10 &,^X\ &\ &\ K +9 &. W\ (\ (\ K +10 &/W\ )\ (\ K +9 &1W\ '\ '\ K +9 &3fT\ )\ )\ K +10 &5'V\ *\ )\ K +9 &6V\ *\ (\ K +9 &8S\ '\ (\ K +10 &:mW\ (\ (\ K +9 & r +2 "storage"({& +4 "core" &K\ \  \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 302 counts + "manipulator"&'j +14 "core" ' +2 "manipulator"&4& +4 "core" & @ +2 "storage"(a& +4 "core" &K Q\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&j' +16 "core" ' + "storage"(i% +4 "core" % P\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (+% +3 "core" %SQ \  7\ Xg +2 "manipulator"& % +5 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +60 ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 ()& +3 "core" &K\ %\ \ \ \ +2 "collection"'&& +7 "core" &\\c\ E\ C\ M +6 #tStoring generic puck in Collection Clamp to tube 6 +3 "manipulator"&t% +7 "core" %  U  +2 "storage"(p% +4 "core" %   N\  +3 "storage"( . +2 "core" .(K +2 "storage"(V& +4 "core" &K   7\ \ +2 "storage"(& +5 "core" &K   \ \ + "manipulator"&,& +4 "core" & v @ +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&D& +4 "core" &  l @ +3 "storage"(w& +3 "core" &K   \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +97 "core" ' +2 "storage"(C& +3 "core" &K . `\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & i @ +2 "storage"(S& +3 "core" &K Q \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&^'< +19 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(>- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"("'o +28 "core" ' +2 "manipulator"&%% +4 "core" %C  +2 "storage"(g& +4 "core" &K\ \  2\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&A'o +15 "core" ' +2 "manipulator"&}& +4 "core" &  X @ +2 "storage"(r& +3 "core" &K M\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(9' +36 "core" ' +2 "manipulator"&P& +4 "core" & M @ +2 "manipulator"&Z% +4 "core" % I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +150 "core" ( +2 "manipulator"&<& +4 "core" &Ӛ  E 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &Ӛ  4 +2 .tForearm.seek CC +2 "manipulator"&G'? +99 "core" ' +2 .tHand.close + "manipulator"&B/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(J& +4 "core" &K % / ~\ \ +2 "storage"(@& +4 "core" &K + . T\ \ +2 "manipulator"&q& +3 "core" &  j "{ +2 "manipulator"&|% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&F( +147 "core" ( +2 "manipulator"&.& +3 "core" &  }  +2 "storage"(-& +4 "core" &K 3 3 \ \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&H'< +95 "core" ' + .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&N1 +61 "core" 1 +2 "manipulator"&M% +5 "core" % <  _ K +2 "storage"(]& +3 "core" &K V U H\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&Y'h +15 "core" ' +46 "manipulator"&d& +7 "core" &  f  +2 "storage"(?& +4 "core" &K U U\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +16 "core" ' + "storage"(7% +4 "core" % T Q r\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (1% +3 "core" %J D <\ Wc +2 "manipulator"& % +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +89 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'b& +4 "core" &\ !\ #\ +2 "manipulator"&0% +4 "core" %   +2 "storage"(% +4 "core" % U U\ +2 "storage"($. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z a\ a\ +2 "manipulator"&Q& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&I& +3 "core" &   +2 "storage"((& +4 "core" &,z U T \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +92 "core" ' + "storage"(& +4 "core" &,z Q R v\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +3 "core" &,k / . w\ +2 "manipulator"&& +4 "core" &  w  +2 .tElbow.seek 4 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&L& +4 "core" &  +2 "storage"(*& +3 "core" &,k 1 /\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&K'c +31 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +3 "storage"([' +8 "core" &  S  +2 "manipulator"&2% +4 "core" % ύ  +2 .tForearm.seek :retract +2 "manipulator"&;' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&R(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +4 "core" &ӏ 5\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &ӏ 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' + "manipulator"&X& +4 "core" &Ӑ  l 5 +2 "manipulator"&% +4 "core" %9 + +2 "collection"'& +4 "core" &\ #\ #\ +3 "collection"'& +6 "core" &\ "\ #\ +4 .tCC.seek :closed +2 "collection"'(\\ +2 "core" &\ #\ #\ +5 &\ "\ ""\ 9 +9 &LKv\ "\ $ \ 1 +10 &u~\ #\ # \ E +9 &-Z\ $\ # \ L +9 &U\ &\ #*\ K +10 &X\ $\ $ \ K +9 &tW\ &\ %!\ L +10 &8V\ &\ %$\ K +9 &V\ '\ % \ K +9 &V\ $\ &\ K +10 &}W\ %\ &"\ K +9 &!>V\ '\ '"\ L +9 &#U\ &\ %\ K +10 &$V\ &\ %\ K +9 &&V\ $\ '\ K +10 &(GW\ '\ (\ K +9 &* V\ '\ &\ K +9 &+U\ &\ (\ K +10 &-X\ (\ '\ K +9 &/PV\ %\ (\ K +9 &1U\ )\ &\ K +10 &2V\ '\ '\ K +9 &4V\ &\ (\ K +10 &6WW\ &\ (\ K +9 &8T\ )\ &\ K +9 &9V\ )\ '%\ K +10 &;W\ )\ ('\ K +9 &=`U\ %\ '\ K +9 &? X\ *\ (\ L +10 &@X\ +\ ($\ K +9 &BX\ ,\ )&\ K +10 &Dc`\ /\ + \ M +9 &F#k\ 0\ /+\ M +9 &Gx\ 7\ 3!\ O +10 &I\ H\ B\ S +9 &KO\ R\ Q\ V +9 &M\ N\ P%\ W +10 &N\ K\ M$\ W +9 &P\ J\ J$\ Y +10 &RR\ H\ H%\ X +9 &T\ J\ F\ Y +9 &U\ G\ E!\ Z +10 &W\ G\ H!\ Z +9 &YS\ G\ H\ Z +9 &[\ F\ F\ [\ +10 &\\fD\ H\ G\ 1 +9 &\\\ F\ F\ L +6 ( +2 "collection"'& +3 "core" &\\b\ E\ D%\ L +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&\ 1 +56 "core" 1 +2 "manipulator"&W% +4 "core" % 9  : +47 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%`& +5 "core" &x\ + "manipulator"&o% +4 "core" %  b  +2 "storage"(:% +4 "core" % P _\  +2 "storage"(~. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(v(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +3 "core" &,} > T\ +2 "manipulator"&{& +4 "core" &Ӭ o 1 +2 "manipulator"&c% +4 "core" %  :  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&4( +161 "core" ( + "manipulator"&a& +4 "core" & J  +2 "storage"(i& +4 "core" &,} T -\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&x' +95 "core" ' +2 "storage"(& +4 "core" &,} % " \\\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &,l\ \  \ +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&z& +4 "core" &  =  +2 "storage"(#& +4 "core" &,l\ \ ( $\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"(t' +7 "core" & R  +2 "manipulator"&u% +4 "core" % ] ` +2 .tForearm.seek :retract +2 "manipulator"&p' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"&V& +3 "core" & V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" & 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +3 "manipulator"&,' +96 "core" ' +2 "manipulator"&D& +3 "core" & U +2 "manipulator"&w% +4 "core" % l +2 "processing"%j& +5 "core" &\\\ +2 "processing"%C& +5 "core" &q\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &n\ +7 &8k\ #c +10 &V}p\ 7 +9 &}j\ K +10 &Zj\ N +9 &fWn\ N +9 &)Ze\ N +10 &Zu\ M +9 &Yp\ N +9 &o[j\ N +10 &1Xk\ N +9 &Yl\ N +10 &![k\ N +9 &#wWe\ N +9 &%:Yg\ M +10 &&Z_\ N +9 &(Xa\ N +9 &*Yd\ N +10 &,@]_\ N +9 &.X\\\ M +10 &/Zf\ N +9 &1W`\ N +9 &3JY]\ M +10 &5 Yf\ M +9 &6Yi\ N +9 &8Xd\ N +10 &:QXj\ N +9 &<Zf\ N +9 &=]c\ N +10 &?Zc\ N +9 &AWZi\ N +10 &C`i\ O +9 &Dgh\ O +9 &Fmj\ P +10 &HT}j\ R +9 &Jk\ T +10 &Kg\ T +9 &Mg\ T +9 &OUc\ T +10 &Qh\ U +9 &Ri\ U +9 &T_\ U +10 &V\\[\ U +9 &Xb\ U +9 &Ye\ U +10 &[\\\ U +9 &]ab\ C +10 &^Cx`\ _ +9 &^<e\ 3 +5 ( +2 "processing"%C& +4 "core" &^!Z\ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&51 +53 "core" 1 +2 "manipulator"&6% +3 "core" %   N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +92 "core" ' +2 "processing"%& +3 "core" &^!G\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&S% +4 "core" %     " +2 "storage"(>% +4 "core" %\ \ u\  +2 "storage"(%. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +46 "storage"(g(,y +20 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (}& +2 "manipulator"&r& +5 "core" &,y\ \ 8\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(P'r +2 "manipulator"&Z( +6 "core" ( +2 "manipulator"&y& +3 "core" &   a +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&^/ +60 "core" / +2 .tPC.seek :open +2 "processing"%A( +87 "core" ' +2 "storage"("- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'1 +45 "core" ' +310 ( +2 "storage"(3& +4 "core" &,i K\  p\ +2 "manipulator"&/& +4 "core" & ~ +2 "manipulator"&s% +4 "core" %  v G +2 .tForearm.seek :retract +2 "manipulator"&B' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +239 "core" ( +2 "manipulator"&8& +4 "core" & G = +2 "storage"(J& +3 "core" &,i Q M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +98 "core" ' +2 .tHand.open + "manipulator"&q1 +61 "core" 1 +2 "storage"(|- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(-' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +3 "core" -' +2 "storage"(l& +4 "core" &,i 8 : '\ +2 "manipulator"&N& +4 "core" &  = +2 .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&]& +4 "core" &   F = +2 "storage"(d& +4 "core" &,i * , '\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(7'" +52 "core" ' +2 "manipulator"&'& +4 "core" & = +2 "storage"(F& +4 "core" &,i\ \ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&1'7 +19 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(H' +20 "core" ' +2 "manipulator"&Y% +4 "core" %4 z $ +2 "storage"(b& +4 "core" &,i\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 297 counts + "manipulator"&0'` +14 "core" ' + "manipulator"&& +4 "core" &  " = +2 "storage"($& +4 "core" &,i\ $\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&9' +30 "core" ' +2 "storage"(E% +4 "core" % N \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (k% +3 "core" %3N \ Wf +2 "manipulator"&% +4 "core" % x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +89 "core" ' +62 ' +40 ."downElevator"SE.stop +9 "storage"(5 +3 (I& +3 "core" &,i\  K P\ +2 "collection"'(& +4 "core" &\\a\ D\ C&\ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %   :  +2 "storage"(n% +4 "core" %   ^\  +2 "storage"(U. +3 "core" .(,y +2 "storage"(& +5 "core" &,i   \ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(=(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,{ Q p\ +2 "manipulator"&L& +4 "core" & S = +2 .tElbow.seek 4 +2 "manipulator"&*( +4 "core" ( + "manipulator"&T& +4 "core" & ? = +2 "storage"(m& +4 "core" &,{ P \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&2' +97 "core" ' +2 "storage"(& +3 "core" &,{ C f\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" & = +2 "storage"(\\& +4 "core" &,l\ \  B\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&K'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +28 "core" ' +2 "manipulator"&!% +4 "core" %% k # +2 "storage"([& +4 "core" &,l L <\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 282 counts +2 "manipulator"&;'Q +15 "core" ' +2 "manipulator"&& +4 "core" &  = +2 "storage"(\ & +4 "core" &,l  Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&`& +4 "core" & L = +2 "manipulator"&o% +4 "core" %  o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +160 "core" ( + "manipulator"&e& +4 "core" &Ӌ  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +4 "core" &Ӌ \\ 1 +2 .tForearm.seek CC +2 "manipulator"&c'? +105 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'a( +450 "core" ( +2 "storage"(i& +3 "core" &,l / /\ +3 "storage"( & +3 "core" &,l / / P\ +2 "manipulator"&& +4 "core" &ӟ c / +2 "manipulator"&R% +4 "core" % 3 s +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&+( +164 "core" ( +2 "manipulator"& & +3 "core" &  U  +3 "storage"(& +3 "core" &,l ? P _\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&z'7 +96 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +54 "core" 1 +2 "manipulator"&&% +4 "core" % I  W $ +2 "storage"(u& +3 "core" &,l U U\ +41 .tForearm.force -20 +10 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&4'u +14 "core" ' +2 "manipulator"&x& +3 "core" &  2  +2 "storage"(& +4 "core" &,l R P ;\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(V% +3 "core" % W R 2\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %I 6 ) k\ Vb +2 "manipulator"&D% +4 "core" % a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'j& +3 "core" &\ "\ "-\ +2 "manipulator"&t% +4 "core" %   y  +2 "storage"(p% +4 "core" % U U\  +2 "storage"(O. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<- +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (6& +2 "core" &<+ N _\  +3 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&S( +4 "core" ( + "manipulator"&>& +4 "core" &    +2 "storage"(%& +4 "core" &<* D ; '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +96 "core" ' +2 "storage"(}& +4 "core" &<* I R (\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'r +296 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &<* 1 2 2\  +2 "manipulator"&,& +4 "core" &  L  +2 .tElbow.seek 5 +2 "manipulator"&^( +4 "core" ( + "manipulator"&v& +4 "core" & T  +2 "storage"("& +4 "core" &<* # ( 5\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(P' +6 "core" &  +2 "manipulator"&3% +4 "core" % ϲ +3 .tForearm.seek :retract + "manipulator"&/' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +39 "Can"\ RP +113 "core" ( +2 ' + "manipulator"&& +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &z" ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &z" c ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'? +94 "core" ' + "manipulator"&Z& +4 "core" &{"  3 ;3 +3 "manipulator"&q% +4 "core" %7  W @ +2 "collection"'|& +4 "core" &\ "\ #4\ +3 "collection"'G& +5 "core" &\ "\ ".\ +2 .tCC.seek :closed +2 "collection"'l(\\ +4 "core" &\ "\ "/\ +8 &=\ "\ #5\ $f +10 &Xy\ !\ "4\ 7 +9 &y\ %\ $5\ K +9 &U\ %\ &-\ K +10 &}Z\ %\ %3\ L +9 &AV\ '\ '2\ K +9 &V\ &\ &3\ K +10 &W\ '\ %3\ K +9 &V\ '\ %4\ K +10 &IR\ %\ &4\ K +9 & U\ '\ '4\ K +9 &!V\ %\ (4\ K +10 &#W\ '\ ).\ K +9 &%PU\ %\ &4\ K +9 &'V\ '\ &5\ K +10 &(T\ (\ '5\ K +9 &*U\ &\ '3\ K +10 &,YU\ (\ )(\ K +9 &.U\ '\ '.\ K +9 &/U\ *\ &/\ K +10 &1W\ )\ &-\ K +9 &3aR\ )\ )4\ K +9 &5#V\ '\ ((\ K +10 &6W\ &\ )(\ K +9 &8W\ (\ (+\ K +10 &:hW\ '\ '1\ K +9 &<)W\ (\ ((\ L +9 &=W\ '\ ()\ K +10 &?T\ )\ *&\ K +9 &AoY\ ,\ )\ L +9 &C1Y\ *\ +#\ L +10 &Dc\ /\ .%\ M +9 &Fm\ 4\ 2'\ N +10 &Hi\ @\ 9.\ P +9 &J \ P\ K!\ T +9 &K\ S\ T&\ W +10 &M\ O\ O*\ W +9 &O[\ K\ M&\ X +9 &Q\ J\ K1\ X +10 &R\ H\ J \ Y +9 &T\ H\ H$\ X +10 &V]\ F\ H'\ Z +9 &X\ H\ I$\ Z +9 &Y\ G\ H%\ [\ +10 &[\ E\ H\ H +9 &\\:\ H\ G&\ *} +9 &\\_\ G\ G&\ J +3 ( +2 "collection"'G& +49 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +4 .Hand.open + "manipulator"&N1 +55 "core" 1 +2 "manipulator"&]% +5 "core" % 7 @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%B& +4 "core" &e\ +2 "manipulator"&'% +4 "core" %   :  +2 "storage"(F% +4 "core" % N 6\  +2 "storage"(Y. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(b(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +3 "core" &<+ \  u\  +2 "manipulator"&& +4 "core" &ӧ p 5 +2 "manipulator"&$% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&.( +158 "core" ( +2 "manipulator"&E& +4 "core" &  +2 "storage"(& +4 "core" &<)\ "\ ! 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +95 "core" ' +2 "storage"(-& +3 "core" &<) % / |\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (?& +2 "core" &<) M *\  +2 "manipulator"&M& +4 "core" & U  +3 .tElbow.seek 5 + "manipulator"&7( +4 "core" ( +2 "manipulator"&1& +3 "core" & e  +2 "storage"(0& +4 "core" &<)   \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&I'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(' +8 "core" & J  +2 "manipulator"&n% +3 "core" % ϴ u +3 .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" & a / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" & m / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +93 "core" ' +2 "manipulator"&m& +3 "core" & ; / +2 "manipulator"&9% +4 "core" % O u +2 "processing"%& +4 "core" &e\ +3 "processing"% & +5 "core" &d\ +2 .tPC.seek :closed +2 "processing"%g(^ +5 "core" &m\ +6 &6}\ #b +10 &Ty\ 7 +9 &~p\ L +10 &Yy\ N +9 &]Yw\ N +9 &Xx\ N +10 &Y}\ M +9 &Xx\ N +9 &gVp\ M +10 &'Yl\ N +9 &Xe\ N +10 &!Zh\ N +9 &#nWd\ N +9 &%/[r\ N +10 &&Xg\ M +9 &(Ye\ N +9 &*vXw\ N +10 &,7\\j\ N +9 &-Wi\ N +10 &/\\l\ N +9 &1~Wh\ N +9 &3@Zi\ N +10 &5Vb\ N +9 &6Y`\ N +10 &8X]\ N +9 &:FYg\ N +9 &<Ze\ N +10 &=Zf\ N +9 &?\\h\ N +9 &AOZi\ N +10 &C gb\ P +9 &Ded\ P +10 &Fp`\ Q +9 &HJk\ R +9 &Jj\ T +10 &Km\ T +9 &Mj\ T +9 &OLi\ T +10 &Qq\ T +11 &Ri\ U +7 &Th\ U +10 &VSl\ U +9 &Xj\ T +10 &Yi\ U +9 &[e\ U +9 &]Xi\ F +10 &^y>ph\ (t +9 &^+g\ , +5 ( +3 "processing"% & +3 "core" &^o\ , +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&Q% +4 "core" %    9 u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"%_& +4 "core" &^a\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&\\% +3 "core" %    Z  +2 "storage"(% +4 "core" %\ \ \  +48 "storage"(!. +4 "core" .(<- +2 "storage"([& +4 "core" &<)\ \ \  +3 "storage"(& +4 "manipulator"&\ & +4 "core" &<)\ \  \  + &   . +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(`'r "manipulator"&o( +7 "core" ( +2 "manipulator"&2& +4 "core" &   U . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &   $ . +3 .tForearm.seek PC + "manipulator"&f' +96 "core" ' +2 .tHand.close + "manipulator"&K/ +63 "core" / +2 .tPC.seek :open +2 "processing"%;( +83 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'1 +47 "core" ' +313 ( +2 "storage"({& +3 "core" &<) O \  +2 "manipulator"&W& +4 "core" & . +2 "manipulator"&X% +4 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&:( +249 "core" ( +2 "manipulator"&& +3 "core" &   "y +2 "storage"(i& +5 "core" &<) N 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(R- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(c- +2 "core" -' +3 "storage"(~& +3 "core" &<)  \  +2 "manipulator"&)& +4 "core" &    "y +2 .tElbow.seek 5 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&u& +4 "core" &   1 "y +2 "storage"(x& +3 "core" &<)   u\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(V'" +58 "core" ' +2 "manipulator"&& +3 "core" &  l "y +2 "storage"(& +4 "core" &<)\ \ l\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&D'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(z' +28 "core" ' + "manipulator"&j% +4 "core" %Ύ \\ +2 "storage"(t& +4 "core" &<)\ \  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&4'Ϻ +13 "core" ' +2 "manipulator"&p& +4 "core" & 7 A +2 "storage"(O& +4 "core" &<) M $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 "storage"(% +4 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (=% +3 "core" %CO\  9\ Xh +2 "manipulator"&6% +3 "core" %2 k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +64 ' +45 ."downElevator"SE.stop +3 "storage"(5 +4 (>& +3 "core" &<) N =\  +2 "collection"'%& +4 "core" &\\\\\ B\ B(\ J +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&}% +3 "core" %   +3 "storage"(#% +3 "core" % U 6\  +2 "storage"(w. +4 "core" .(<- + "storage"(y& +4 "core" &<)   \  +2 "storage"(& +4 "core" &<)   \  +2 "manipulator"&,& +3 "core" & A +3 .tElbow.seek 5 +2 "manipulator"&v( +20 "core" ( + "manipulator"&"& +4 "core" & +2 "storage"(h& +4 "core" &<)\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +92 "core" ' +2 "storage"(3& +4 "core" &<) % . f\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'r +295 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & ] +2 "storage"(8& +3 "core" &<) P s\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&r'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(q'u +28 "core" ' +2 "manipulator"&|% +3 "core" %Ν  y +2 "storage"(^& +4 "core" &<)\ \ \ s\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 316 counts + "manipulator"&P' +14 "core" ' +2 "manipulator"&/& +4 "core" & +2 "storage"(a& +4 "core" &<)  I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(]' +36 "core" ' +2 "manipulator"&B& +3 "core" & g +2 "manipulator"&'% +4 "core" %: 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +153 "core" ( + "manipulator"&G& +4 "core" &x$  =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &x$ h =B +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + .tHand.close +2 "manipulator"&$/ +58 "core" / +2 .tCC.seek :open +2 "collection"'J( +450 "core" ( + "storage"(E& +4 "core" &<) + ! H\  +2 "storage"(& +4 "core" &<) / % Z\  +2 "manipulator"&5& +3 "core" &ӷ R 4 +2 "manipulator"&-% +4 "core" % ) o +2 .tForearm.seek :retract +2 "manipulator"&s' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&d( +164 "core" ( +2 "manipulator"&& +4 "core" &  a  +2 "storage"(?& +3 "core" &<) 1 - 0\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&M'΍ +92 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&01 +61 "core" 1 +2 "manipulator"&H% +4 "core" % Ύ   N +2 "storage"((& +4 "core" &<) U ; \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 301 counts +2 "manipulator"&n'Ϻ +14 "core" ' + "manipulator"&.& +47 "core" & h  +5 "storage"(@& +4 "core" &<) U U \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +15 "core" ' +2 "storage"(I% +4 "core" % U W\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (L% +3 "core" %J " J\ Vb +3 "manipulator"&7% +4 "core" %- +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'9& +4 "core" &\ #\ "6\ +2 "manipulator"&% +4 "core" %   Q  +2 "storage"(% +4 "core" % W R ;\  +2 "storage"(U. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(A(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K \ # F\  +2 "manipulator"&Q& +4 "core" & w  +2 .tElbow.seek 6 +2 "manipulator"&_( +4 "core" ( +2 "manipulator"&\\& +3 "core" &    +2 "storage"(& +4 "core" &K U U \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&!' +93 "core" ' + "storage"( & +4 "core" &K H Q >\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +292 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &K . ! \  +2 "manipulator"&2& +4 "core" &  G  +2 .tElbow.seek 6 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&T& +4 "core" &  ;  +2 "storage"(K& +4 "core" &K ! ! Q\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +114 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(g' +8 "core" & `  +2 "manipulator"&`% +4 "core" % \\  B +2 .tForearm.seek :retract +2 "manipulator"&{' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&X& +4 "core" &Ӓ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &Ӓ S 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 "manipulator"&i& +3 "core" &Ӓ  5 +2 "manipulator"&o% +4 "core" %9 j +2 "collection"'& +4 "core" &\ "\ "H\ +3 "collection"'R& +6 "core" &\ #\ #B\ +2 .tCC.seek :closed +3 "collection"'c(\\ +4 "core" &\ #\ #C\ +4 &\ #\ $C\ 6 +10 &AJw\ #\ "C\ / +9 &ns\ !\ $@\ D +9 &Z\ $\ %5\ L +10 &U\ '\ $;\ K +9 &W\ %\ %>\ K +10 &_W\ '\ &6\ K +9 &"T\ '\ &:\ K +9 &V\ '\ &7\ K +10 &W\ %\ &0\ K +9 &gZ\ &\ '3\ K +9 &!*V\ &\ &3\ K +10 &"U\ &\ &5\ K +9 &$U\ (\ %,\ K +10 &&pX\ '\ '/\ K +9 &(2W\ '\ &4\ K +9 &)V\ (\ '4\ K +10 &+U\ '\ (6\ K +9 &-wW\ '\ (6\ K +9 &/8V\ '\ &3\ L +10 &0U\ (\ )6\ K +9 &2W\ '\ '1\ K +10 &4V\ (\ )9\ K +9 &6AY\ '\ '0\ K +9 &8W\ (\ )+\ K +10 &9W\ (\ )+\ L +9 &;W\ (\ (+\ K +9 &=I\\\ .\ **\ K +10 &? ^\ 5\ 0/\ L +9 &@]\ 4\ 52\ L +10 &BZ\ ,\ ++\ L +9 &DNb\ /\ -*\ L +9 &F p\ 3\ 11\ N +10 &G\ A\ :*\ Q +9 &I|\ T\ M/\ U +9 &K7\ W\ V/\ W +10 &L\ P\ S,\ V +9 &N\ M\ O-\ W +10 &P|\ K\ M+\ W +9 &R<\ I\ K)\ X +9 &S\ H\ H.\ Y +10 &U\ H\ H)\ Y +9 &W{\ G\ G'\ Z +9 &Y<\ G\ I,\ [ +10 &Z\ I\ G-\ [\ +9 &\\\\R\ I\ I'\ 0 +10 &\\\ H\ H-\ Y +8 ( +2 &\\p\ F\ E+\ U +2 "collection"'R& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&~1 +63 "core" 1 +2 "manipulator"&)% +4 "core" % w  / , +47 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%x& +4 "core" &\ +2 "manipulator"&% +4 "core" % " f ' +2 "storage"(% +4 "core" %\ (\  @\  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(j(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (e& +3 "core" &K\  ~\  +2 "manipulator"&t& +4 "core" &,   : n +2 "manipulator"&p% +4 "core" % ! x ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +152 "core" ( + "manipulator"&O& +4 "core" &  +3 "storage"(& +3 "core" &K N w\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&:' +94 "core" ' +2 "storage"( & +4 "core" &K  J -\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (6& +3 "core" &K\ \ h\  +2 "manipulator"&& +4 "core" & w  +2 .tElbow.seek 6 +2 "manipulator"&&( +9 "core" ( +2 "manipulator"&V& +4 "core" &   +2 "storage"(D& +4 "core" &K\ \ =\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&4'h +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"(%' +9 "core" & v  + "manipulator"&}% +4 "core" % g ` +2 .tForearm.seek :retract +2 "manipulator"&#' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&y& +4 "core" & W Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & y Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&,' +91 "core" ' +2 "manipulator"&"& +3 "core" & [ Q +2 "manipulator"&h% +4 "core" %  +2 "processing"%& +4 "core" &o\ +3 "processing"%3& +4 "core" &~\ +3 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +6 &6\ #b +10 &U}\ 7 +9 &{\ K +9 &Z\ N +10 &dW\ N +9 &&X\ N +10 &Z\ N +9 &U\ N +9 &lV\ N +10 &-[|\ N +9 &W~\ N +9 &!Z~\ N +10 &#uW\ M +9 &%6W\ N +10 &&[\ N +9 &(X\ M +9 &*|X\ N +10 &,=\\~\ N +9 &.W\ M +9 &/X{\ N +10 &1Z~\ N +9 &3FV\ N +10 &5U\ N +9 &6Xx\ M +9 &8Xv\ N +10 &:NUw\ N +9 &<Yw\ N +9 &=Yu\ N +10 &?Yu\ N +9 &AUZx\ N +10 &Cd}\ O +9 &Dhw\ P +9 &Fn~\ P +10 &HP~p\ R +9 &Jg\ T +10 &Kk\ T +9 &Mx\ T +9 &ORl\ T +10 &Qi\ U +9 &Rg\ U +9 &Tm\ U +10 &VZj\ T +9 &Xm\ U +10 &Yj\ U +9 &[g\ U +9 &]^l\ D +10 &^~?sl\ &p +9 &^%m\ - +5 ( +2 "processing"%3& +4 "core" &^i\ - +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&+1 +59 "core" 1 +2 "manipulator"&% +3 "core" %   A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +93 "core" ' +3 "processing"%& +4 "core" &^T\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&8% +4 "core" %    " +2 "storage"(Z% +4 "core" %\ \ \  +2 "storage"(|. +3 "core" .(K +2 "storage"(^& +4 "core" &K\ \ \  +2 "storage"(/& +4 "manipulator"&a& +54 "core" &K\ \ \  + &   Q +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(B'r +3 "manipulator"&'( +6 "core" ( +2 "manipulator"&& +3 "core" &   2 Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +3 "core" & ) 4 Q +2 .tForearm.seek PC +2 "manipulator"&S' +91 "core" ' + .tHand.close +2 "manipulator"&r/ +53 "core" / +2 .tPC.seek :open +2 "processing"%P( +96 "core" ' + "storage"(q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(G'1 +48 "core" ' +300 ( + "storage"(<& +4 "core" &K\ \  +2 "manipulator"&N& +4 "core" & T Q +2 "manipulator"& % +4 "core" %  j b +2 .tForearm.seek :retract +2 "manipulator"&$' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&F( +250 "core" ( +2 "manipulator"&l& +4 "core" &    Q +2 "storage"(E& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&51 +57 "core" 1 +2 "storage"(-- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(?' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(Y& +4 "core" &K 8 8 \  +2 "manipulator"&0& +4 "core" &   Z Q +2 .tElbow.seek 6 +2 "manipulator"&H( +10 "core" ( + "manipulator"&(& +4 "core" &  v / +2 "storage"(.& +4 "core" &K 8 8 1\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(I'" +52 "core" ' +2 "manipulator"&s& +4 "core" & e / +2 "storage"(d& +4 "core" &K\ \ .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&L'< +22 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +20 "core" ' +2 "manipulator"&9% +4 "core" %B 3 +2 "storage"(& +4 "core" &K\ \ 0\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&n'n +15 "core" ' +2 "manipulator"&& +4 "core" & : / +2 "storage"(U& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +14 "core" ' +2 "storage"(k% +4 "core" %\ \ #\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (b% +3 "core" %U\ \  B\ Xi +2 "manipulator"& % +4 "core" %  6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\\& +3 "core" &K\ \  q\  +2 "collection"'& +4 "core" &\\o\ C\ C3\ U +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"& % +47 "core" %    +4 "storage"(1% +4 "core" % N [\  +2 "storage"(m. +4 "core" .(K + "storage"(& +4 "core" &K P D\  +2 "storage"(\ & +4 "core" &K L 2\  +2 "manipulator"&2& +4 "core" & / +2 .tElbow.seek 6 +2 "manipulator"&T( +6 "core" ( + "manipulator"&K& +4 "core" & K  +3 "storage"(& +3 "core" &K K =\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(`& +3 "core" &K U 9\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +297 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" & S  +2 "storage"(f& +4 "core" &K\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&['< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(o'n +29 "core" ' + "manipulator"&% +4 "core" %B +2 "storage"(*& +3 "core" &K\ \  ]\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 306 counts + "manipulator"&g'n +15 "core" ' +2 "manipulator"&{& +4 "core" & '  +2 "storage"(J& +4 "core" &K\ \ 6\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"()' +36 "core" ' +2 "manipulator"&R& +3 "core" & d  +2 "manipulator"&x% +4 "core" % F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( +2 "manipulator"&& +4 "core" &Ӆ"  ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &Ӆ" $ ;5 +2 .tForearm.seek CC +2 "manipulator"&t'? +101 "core" ' + .tHand.close +2 "manipulator"&p/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(O& +4 "core" &K $ \  +2 "storage"(& +4 "core" &K " $ [\  +2 "manipulator"&A& +4 "core" & i ' +2 "manipulator"& % +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&W' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&u( +147 "core" ( +2 "manipulator"&=& +4 "core" &   +2 "storage"(6& +4 "core" &K " (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&D1 +63 "core" 1 +2 "manipulator"&>% +4 "core" % 4  < +2 "storage"(z& +4 "core" &K U U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 292 counts +2 "manipulator"&}'` +14 "core" ' +3 "manipulator"& & +3 "core" &  4  +2 "storage"(:& +4 "core" &K U U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 6 + 450 counts +9 "manipulator"&' +17 "core" ' +2 "storage"(4% +3 "core" % U U \ +3 ."downElevator"SE.seek :down +3 "storage"(y' +99 (% +4 "core" %G & " t\ Vb +2 "manipulator"&&% +4 "core" %  ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'h& +3 "core" &\ !\ $*\ +2 "manipulator"&% +5 "core" %   X  + "storage"(%% +4 "core" % U W\  +2 "storage"(#. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(;(,y +679 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (+& +2 "core" &,u / - \ +3 "manipulator"&& +3 "core" &  g  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&8& +4 "core" &    +2 "storage"(Z& +4 "core" &,u U U\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +95 "core" ' +2 "storage"(^& +4 "core" &,u T G <\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'r +296 "core" ' +2 "storage"(/- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (a& +3 "core" &,k 1 /\ +2 "manipulator"&& +4 "core" &  R  +2 .tElbow.seek 4 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&,& +4 "core" &  \ u  +2 "storage"(r& +4 "core" &,k # '\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&q'c +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +2 "storage"(' +8 "core" & V  + "manipulator"&B% +4 "core" % x  k +2 .tForearm.seek :retract +2 "manipulator"&<' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +151 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"& & +4 "core" &Ӌ  C 9$ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &Ӌ  ] 9$ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'? +93 "core" ' +2 "manipulator"&E& +4 "core" &ӌ  O 9# +2 "manipulator"&'% +4 "core" %= ] D +2 "collection"'5& +4 "core" &\ #\ #F\ +3 "collection"'-& +5 "core" &\ !\ "8\ +3 .tCC.seek :closed +2 "collection"'(\\ +3 "core" &\ #\ "?\ +9 &;\ #\ !E\ %g +9 &Yx\ !\ !B\ 7 +10 &x\ $\ %G\ K +9 &U\ (\ %D\ K +9 &W\ #\ $F\ K +10 &IV\ $\ &;\ K +9 &\ V\ &\ $6\ K +9 &U\ %\ &E\ K +10 &V\ '\ &E\ K +9 &PV\ '\ '<\ K +10 & U\ %\ &<\ K +9 &!V\ '\ '9\ K +9 &#T\ '\ ';\ K +10 &%YU\ %\ %<\ K +9 &'U\ '\ &5\ K +9 &(V\ (\ '9\ K +10 &*U\ &\ &/\ K +9 &,aV\ (\ '5\ K +10 &.#U\ '\ '0\ K +9 &/U\ #\ '&\ K +9 &1W\ '\ &(\ K +10 &3iU\ )\ (3\ K +9 &5+V\ (\ (8\ K +9 &6W\ )\ &=\ K +10 &8W\ &\ %<\ K +9 &:qY\ '\ (A\ K +10 &<3W\ )\ ):\ K +9 &=X\ (\ )>\ K +9 &?W\ (\ (>\ L +10 &AxX\ '\ (=\ K +9 &C9Y\ ,\ )>\ L +9 &Dc\ .\ *@\ M +10 &Fm\ 2\ 23\ N +9 &Hq\ =\ 8=\ P +10 &J&\ N\ I=\ U +9 &K\ S\ RA\ W +9 &M\ P\ N<\ X +10 &Oc\ J\ KD\ X +9 &Q%\ I\ J>\ X +9 &R\ I\ I?\ X +10 &T\ J\ HA\ Z +9 &Ve\ G\ G>\ Z +10 &X$\ G\ F?\ [\ +9 &Y\ G\ H?\ [\ +9 &[\ H\ H?\ H +10 &\\/\ F\ G=\ 5 +9 &\\p\ F\ F:\ K +2 ( +3 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&Y1 +56 "core" 1 +2 "manipulator"&0% +4 "core" % = L D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +94 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp +45 "processing"%.& +7 "core" &f\ +2 "manipulator"&$% +5 "core" %  a  + "storage"(s% +4 "core" %\ \ \  +2 "storage"(d. +3 "core" .(,u +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(9(,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &,{\ \ >\ +3 "manipulator"&G& +3 "core" &Ӯ 4 4 +2 "manipulator"&% +4 "core" %  s  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&U( +161 "core" ( +2 "manipulator"&& +3 "core" & d  +2 "storage"(k& +4 "core" &,{ L A\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&F' +94 "core" ' +2 "storage"(& +4 "core" &,{ C V\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'r +294 "core" ' +2 "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &,l\ \ ^\ +2 "manipulator"&@& +4 "core" & C  +2 .tElbow.seek 4 +2 "manipulator"&H( +4 "core" ( + "manipulator"&I& +4 "core" &  r  +2 "storage"(L& +4 "core" &,l\ \ \ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&n'c +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +52 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( ' +8 "core" & ^  +2 "manipulator"&M% +3 "core" % c U +3 .tForearm.seek :retract +2 "manipulator"&1' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&& +3 "core" & ~ 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" & ~ 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&2' +91 "core" ' + "manipulator"&K& +4 "core" & = 2 +2 "manipulator"&% +4 "core" % +2 "processing"%]& +4 "core" &f\ +3 "processing"%`& +5 "core" &l\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &z\ +6 &6w\ $c +9 &T~\ 7 +10 &}|\ L +9 &Xz\ N +10 &cX\ N +9 &&W\ M +9 &X\ N +10 &V\ N +9 &kW\ N +9 &,[\ N +10 &W\ N +9 &!U\ N +10 &#sW\ N +9 &%5Z\ N +9 &&W\ N +10 &(X\ N +9 &*{V\ N +9 &,=Y\ N +10 &-U\ N +9 &/Y\ N +10 &1Z\ N +9 &3EV\ N +9 &5U}\ N +10 &6Wz\ M +9 &8Y\ N +9 &:MW\ N +10 &<Z\ N +9 &=\\\ N +10 &?Yw\ N +9 &ATY{\ N +9 &Cb\ O +10 &De\ P +9 &Fl\ P +9 &HP~{\ R +10 &Jw\ S +9 &K|\ T +10 &M~\ T +9 &OQy\ T +9 &Q}\ T +10 &R{\ T +9 &Ty\ U +9 &VYy\ T +10 &Xz\ U +9 &Yx\ U +10 &[}\ U +9 &]^|\ C +9 &^Du~\ ] +10 &^4v\ 3 +5 ( +2 "processing"%`& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&71 +3 "core" &^%x\ 3 +61 1 + "manipulator"&Q% +4 "core" %   U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!' +95 "core" ' +3 "processing"%X& +3 "core" &^%j\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&f% +3 "core" % !   , +2 "storage"(i% +4 "core" %\ \ \  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(*(,y +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ({& +4 "core" &,| \  }\ +2 "manipulator"&J& +43 ."raiseStack"SE.reconfigure :place +13 "storage"(#]kK-0-\ b +2 "core" &   v 2 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(R'r + "manipulator"&x( +7 "core" ( +2 "manipulator"&& +4 "core" &    2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +4 "core" &   2 +2 .tForearm.seek PC +2 "manipulator"&_' +95 "core" ' +2 .tHand.close + "manipulator"&[/ +63 "core" / +2 .tPC.seek :open +2 "processing"%g( +86 "core" ' +2 "storage"(o- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +316 ( + "storage"(e& +4 "core" &,j N\  +2 "manipulator"&~& +4 "core" & a 2 +2 "manipulator"&% +4 "core" %  P E +2 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +246 "core" ( +2 "manipulator"&c& +4 "core" & p @ +2 "storage"(O& +3 "core" &,j N M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 .tHand.open + "manipulator"&A1 +61 "core" 1 +3 "storage"( - +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(6' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(t- +2 "core" -' +2 "storage"(& +4 "core" &,j 7 7 )\  +2 "manipulator"&D& +3 "core" &  @ +3 .tElbow.seek 4 +2 "manipulator"&>( +2 "core" ( +3 "manipulator"&z& +3 "core" &   K @ +2 "storage"( & +4 "core" &,j   d\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(4'" +60 "core" ' + "manipulator"&W& +4 "core" &  @ +2 "storage"(u& +4 "core" &,j\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&h% +4 "core" %@ F +2 "storage"(}& +4 "core" &,j\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 309 counts +2 "manipulator"&'l +15 "core" ' +2 "manipulator"&%& +4 "core" & S @ +2 "storage"(#& +4 "core" &,j\ \ % r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +14 "core" ' +2 "storage"(% +4 "core" % L P\ +3 ."downElevator"SE.seek :down +4 "storage"(y' +98 (j% +3 "core" %.P\  \ Xg +2 "manipulator"&+% +4 "core" % M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (8& +3 "core" &,j\ \  ,\  +2 "collection"'Z& +4 "core" &\\m\ E\ D?\ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&^% +3 "core" % " . +46 "storage"(V% +7 "core" % N o\  +2 "storage"(". +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(/(,y +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "core" &,| N :\ +2 "manipulator"&& +4 "core" & @ +2 .tElbow.seek 4 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&r& +4 "core" & K @ +2 "storage"(w& +4 "core" &,| N _\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +93 "core" ' +2 "storage"(B& +4 "core" &,|\ \  u\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +301 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & I @ +2 "storage"(S& +4 "core" &,l\ \ 4\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&3'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(E- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(''g +30 "core" ' + "manipulator"&5% +4 "core" %A \ +2 "storage"(v& +4 "core" &,l\ \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +2 "manipulator"&'m +14 "core" ' +2 "manipulator"&<& +3 "core" &  @ @ +2 "storage"(& +4 "core" &,l\ (\  H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&Y' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(0' +36 "core" ' +2 "manipulator"&.& +3 "core" & < @ +2 "manipulator"&-% +4 "core" % \   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&s(ӂ +147 "core" ( + "manipulator"&d& +4 "core" &z#   Y <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &z#  <@ +2 .tForearm.seek CC +2 "manipulator"&G'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'l( +447 "core" ( +2 "storage"(& +4 "core" &,l % / m\ +2 "storage"(k& +4 "core" &,l . + X\ +2 "manipulator"&;& +3 "core" &ӱ } 5 +2 "manipulator"&% +4 "core" % & c ! +2 .tForearm.seek :retract +2 "manipulator"&N' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 + "manipulator"&(( +165 "core" ( + "manipulator"&b& +4 "core" & \   +2 "storage"( & +4 "core" &,l ( # :\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&@'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +64 "core" 1 +3 "manipulator"&\\% +3 "core" % M H G +2 "storage"(& +4 "core" &,l T T {\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 322 counts +2 "manipulator"&M'y +14 "core" ' + "manipulator"&U& +4 "core" &   +2 "storage"(F& +43 "core" &,l T U \ +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +16 "core" ' + "storage"(n% +4 "core" % S P `\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (\ % +3 "core" %D ! ! 2\ V` +2 "manipulator"&H% +4 "core" % < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +96 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" &\ "\ !O\ +2 "manipulator"&]% +4 "core" % ! q , +2 "storage"( % +4 "core" % T U L\  +2 "storage"(1. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(P(<- +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<,\ \  #\  +2 "manipulator"&Q& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&X( +12 "core" ( +2 "manipulator"&f& +3 "core" &  D m +2 "storage"(i& +4 "core" &<+ T T D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +97 "core" ' +2 "storage"(`& +4 "core" &<+ G H \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'r +296 "core" ' +2 "storage"({- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ / - \  +2 "manipulator"&T& +4 "core" & ^ m +2 .tElbow.seek 5 +2 "manipulator"&2( +4 "core" ( + "manipulator"&9& +4 "core" &  n m +2 "storage"([& +4 "core" &<+ ! !\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&o'Ϲ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(' +6 "core" &  D m +2 "manipulator"&R% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&e' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +157 "core" ( +3 "manipulator"&& +3 "core" ' + &ӌ  z 9) +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +5 "manipulator"&$ &.,(#b +3 &_& +3 "core" &ӌ   G 9) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'? +103 "core" ' +3 "manipulator"&O& +3 "core" &Ӝ  7 +2 "manipulator"&x% +4 "core" %7 ^  +2 "collection"'A& +4 "core" &\ "\ "L\ +3 "collection"' & +5 "core" &\ #\ !M\ +2 .tCC.seek :closed +2 "collection"'t(\\ +4 "core" &\ !\ $K\  +9 &3{\ $\ #R\ *y +9 &f\ "\ #M\ > +9 &p\ #\ $K\ L +10 &VS\ %\ $S\ K +9 &Z\ $\ $N\ L +10 &U\ &\ 'Q\ K +9 &T\ &\ $Q\ K +9 &^U\ %\ %M\ K +10 & W\ (\ %R\ K +9 &U\ &\ &P\ K +9 & U\ (\ (G\ K +10 &"fV\ '\ 'L\ K +9 &$(U\ '\ (L\ K +10 &%V\ &\ (E\ K +9 &'U\ (\ &G\ K +9 &)nU\ (\ 'N\ K +10 &+0V\ *\ &L\ K +9 &,U\ &\ &H\ K +9 &.U\ '\ (J\ K +10 &0vV\ (\ 'H\ K +9 &26Y\ '\ (H\ L +10 &3T\ (\ (G\ K +9 &5X\ *\ (G\ K +9 &7~V\ %\ (H\ K +10 &9@W\ *\ )B\ K +9 &;W\ )\ (?\ K +9 &<Y\ )\ )@\ K +10 &>W\ (\ (?\ K +9 &@GW\ &\ '@\ K +10 &B U\ '\ (>\ K +9 &C]\ +\ +8\ L +9 &Ee\ /\ 0>\ M +10 &GGo\ 6\ 2@\ N +9 &H\ C\ >?\ Q +9 &J\ R\ Q?\ V +10 &Lu\ P\ R=\ V +9 &N5\ Q\ O>\ W +10 &O\ O\ N?\ X +9 &Q\ I\ K<\ X +9 &Sx\ K\ H?\ X +10 &U7\ G\ IC\ Y +9 &V\ G\ HE\ Z +9 &X\ H\ H?\ Z +10 &Zy\ F\ H?\ Z +9 &\\y\ J\ I@\ / +10 &\\2\ G\ H?\ ] +9 ( + &\\m\ F\ F@\ K +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&D% +4 "core" % 7  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +47 "manipulator"&z' +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &|\ +2 "manipulator"&p% +4 "core" % ! k + +2 "storage"(W% +4 "core" %\ \ \  +2 "storage"(u. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(h(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (}& +3 "core" &<, j\  +2 "manipulator"&& +4 "core" &ӭ  ' 5 +2 "manipulator"&%% +4 "core" % !  A + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&#( +159 "core" ( +2 "manipulator"&=& +4 "core" & F  +2 "storage"(& +4 "core" &<+ P P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' +3 "storage"(& +4 "core" &<+ C C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'r +298 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (+& +3 "core" &<+ O\ * .\  +2 "manipulator"&:& +4 "core" & w  +2 .tElbow.seek 5 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&4& +4 "core" & o  +2 "storage"(& +4 "core" &<+ L \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&8'Ϲ +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +3 "storage"(^' +8 "core" & h  +2 "manipulator"&V% +4 "core" %  ) +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&a& +4 "core" & P P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  W P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +99 "core" ' +2 "manipulator"&w& +3 "core" &  O P +2 "manipulator"&)% +4 "core" % ( ( +2 "processing"%B& +4 "core" &y\ +3 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%*(^ +5 "core" &\ +6 &8\ #b +10 &U}\ 6 +9 &~}\ K +9 &Y\ N +10 &XWz\ N +9 &Y\ N +9 &Y\ M +10 &Y{\ N +9 &bU\ M +10 &#X|\ N +9 &V\ N +9 &!W{\ N +10 &#iV\ N +9 &%+W\ N +9 &&\\\ N +10 &(X\ N +9 &*qZ~\ N +10 &,4Y\ M +9 &-W}\ N +9 &/\\\ N +10 &1yU\ N +9 &3;U\ N +10 &4U\ N +9 &6X\ M +9 &8Y}\ N +10 &:CU\ N +9 &<Z\ N +9 &=Y\ N +10 &?Y\ N +9 &AJZ\ N +10 &Cey\ O +9 &De\ O +9 &Fo}\ Q +10 &HF~\ R +9 &J\ T +9 &K~\ T +10 &M~\ T +9 &OH{\ T +10 &Qy\ U +9 &R}\ U +9 &Ty\ U +10 &VOz\ T +9 &Xu\ U +9 &Y{\ U +10 &[w\ U +9 &]U\ E +10 &^y@px\ )w +9 &^'|\ * +5 ( +2 "processing"%y& +4 "core" &^x\ * +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&&1 +53 "core" 1 +2 "manipulator"&% +3 "core" %    ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|' +94 "core" ' +2 "processing"% & +4 "core" &^T\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&S% +4 "core" %    \ \ +2 "storage"(E% +4 "core" %\ \  \  +2 "storage"(5. +2 "core" .(<- +2 "storage"(v& +4 "core" &<+\ \  s\  +3 "storage"(<& +2 "manipulator"&& +6 "core" &<+\ \  \  +2 &   { P +50 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&.( +2 "storage"(-'r +21 "core" ( +2 "manipulator"&C& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close +2 "manipulator"&3/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +72 "core" ' +2 "storage"(d- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +47 "core" ' +324 ( +2 "storage"(& +4 "core" &<+\ .\ . j\  +2 "manipulator"&Y& +4 "core" &  0 +2 "manipulator"&q% +4 "core" %  = +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&$( +240 "core" ( + "manipulator"&& +4 "core" &  ? 8 +2 "storage"(& +4 "core" &<+\ \ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +90 "core" ' + .tHand.open +2 "manipulator"&;1 +64 "core" 1 +3 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(b' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +4 "core" -' + "storage"(s& +4 "core" &<+ > < V\  +2 "manipulator"&L& +4 "core" & \ C 8 +2 .tElbow.seek 5 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&& +4 "core" &   8 +2 "storage"(U& +4 "core" &<+ - 7\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&F'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(n'" +52 "core" ' +2 "manipulator"&N& +4 "core" & T 8 +2 "storage"((& +3 "core" &<+\ \  &\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&\ '΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(@' +21 "core" ' +2 "manipulator"&M% +3 "core" %Ζ +2 "storage"(& +4 "core" &<+ 3\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"&]' +25 "core" ' +2 "manipulator"& & +3 "core" & % # +2 "storage"(1& +4 "core" &<+ N z\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +17 "core" ' + "storage"(?% +4 "core" % N 7\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (/% +3 "core" %YQ \ Vd +2 "manipulator"&7% +4 "core" %L E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +86 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (f& +3 "core" &<+\ \  \  +2 "collection"'i& +4 "core" &\\n\ B\ CD\ K +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&`% +3 "core" %  w  +2 "storage"(I% +4 "core" % M R\  +46 "storage"(K. +5 "core" .(<- +2 "storage"({& +5 "core" &<+ M \  + "storage"(& +4 "core" &<+ N O\  +2 "manipulator"&T& +4 "core" & ^ # +2 .tElbow.seek 5 +2 "manipulator"&9( +23 "core" ( +2 "manipulator"&[& +4 "core" & R  +2 "storage"(m& +4 "core" &<+  8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +91 "core" ' +2 "storage"(R& +3 "core" &<+ W\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &   +2 "storage"(_& +3 "core" &<+\ .\ / \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&J'΍ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(x'v +29 "core" ' +2 "manipulator"&2% +4 "core" %Ύ D +2 "storage"(A& +3 "core" &<+\ \  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&'Ϻ +16 "core" ' +2 "manipulator"&e& +4 "core" &   +2 "storage"(l& +4 "core" &<+ N >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(D' +47 "core" ' +2 "manipulator"& & +4 "core" & o  +2 "manipulator"& % +4 "core" %; V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +156 "core" ( +2 "manipulator"&u& +3 "core" &z%   >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &z% >M +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&%/ +64 "core" / +2 .tCC.seek :open +2 "collection"'c( +447 "core" ( + "storage"(=& +4 "core" &<+ / / "\  +2 "storage"(& +4 "core" &<+ " ! \  +2 "manipulator"&P& +3 "core" &ӳ V 7 +2 "manipulator"&% +4 "core" % 4 . +2 .tForearm.seek :retract +2 "manipulator"&~' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&z( +162 "core" ( +2 "manipulator"&j& +4 "core" &  j  +2 "storage"(+& +3 "core" &<+ U U\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&:'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % Ό  + . +2 "storage"(Z& +4 "core" &<+ R T\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 299 counts + "manipulator"&V'ϸ +14 "core" ' +2 "manipulator"&#& +5 "core" &   + "storage"(& +4 "core" &<+ V X \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +63 "core" ' +9 "storage"(8% +4 "core" % X W \ +3 ."downElevator"SE.seek :down +3 "storage"(a' +99 (% +3 "core" %I , & D\ Va +2 "manipulator"&>% +4 "core" %o Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +86 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"')& +3 "core" &\ "\ !Q\ +3 "manipulator"&B% +3 "core" %   +2 "storage"(^% +4 "core" % W X\  +2 "storage"(. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(g(K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &K $ + ]\  +3 "manipulator"&& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&S& +4 "core" & h  +2 "storage"(E& +4 "core" &K W U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5' +92 "core" ' +2 "storage"(v& +3 "core" &K R I s\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +292 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &K - 0 A\  +2 "manipulator"&C& +5 "core" &  + .tElbow.seek 6 +2 "manipulator"&,( +4 "core" ( +2 "manipulator"&r& +3 "core" &  g  +3 "storage"(3& +3 "core" &K 5 & =\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&d'h +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"(*' +8 "core" & V  +2 "manipulator"&-% +4 "core" % r _ +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&Y(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&q& +4 "core" &ӎ F 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ d 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +101 "core" ' + "manipulator"&& +4 "core" &ӎ  y 8 +2 "manipulator"&.% +4 "core" %D  +2 "collection"';& +4 "core" &\ !\ "\\\ +3 "collection"'& +5 "core" &\ #\ "^\ +3 .tCC.seek :closed +2 "collection"'G(\\ +3 "core" &\ $\ $T\ +9 &<\ $\ !V\ %g +9 &Yx\ %\ "H\ 7 +10 &x\ &\ $J\ K +9 &T\ %\ $S\ L +9 &W\ &\ %I\ K +10 &FV\ "\ %O\ K +9 &W\ %\ &P\ K +10 &V\ &\ 'R\ K +9 &U\ (\ 'J\ K +9 &OS\ '\ &S\ K +10 & V\ '\ %T\ K +9 &!V\ '\ 'S\ K +9 &#W\ '\ (T\ K +10 &%VU\ (\ *T\ K +9 &'U\ &\ (S\ K +10 &(W\ )\ 'U\ K +9 &*X\ (\ 'V\ L +9 &,^T\ (\ (R\ K +10 &.!R\ )\ 'U\ K +9 &/V\ '\ 'S\ K +9 &1W\ '\ (T\ K +10 &3fW\ (\ 'R\ K +9 &5(U\ '\ (Q\ K +10 &6X\ (\ 'O\ K +9 &8V\ +\ 'R\ K +9 &:nX\ '\ (P\ K +10 & "x +2 "manipulator"&b% +3 "core" %  s  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +144 "core" ( + "manipulator"&1& +4 "core" & }  +2 "storage"(?& +4 "core" &K X k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&$' +94 "core" ' + "storage"(k& +4 "core" &K ! " )\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"(/- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +3 "core" &K\ \ & P\  +2 "manipulator"&F& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&n& +4 "core" &  +2 "storage"(\ & +4 "core" &K N H\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&f'h +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& + "storage"(`' +8 "core" & 8  +2 "manipulator"&I% +4 "core" % ] ; +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( +2 "manipulator"&{& +4 "core" & u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T' +98 "core" ' +2 "manipulator"&[& +3 "core" & +3 "manipulator"&m% +3 "core" %  1 +3 "processing"%0& +3 "core" &~\ +3 "processing"%R& +5 "core" &|\ +3 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +7 &.\ #b +10 &T~\ 7 +9 &~{\ K +9 &Z\ N +10 &bW\ N +9 &%W\ M +10 &W\ N +9 &Z\ N +9 &jT\ N +10 &,V\ N +9 &X\ N +9 &!Y\ N +10 &#rV|\ N +9 &%5Wz\ M +10 &&X\ M +9 &(X\ N +9 &*zZ|\ N +10 &,<\\z\ N +9 &-U~\ M +9 &/Xy\ N +10 &1U\ N +9 &3EU\ M +10 &5W\ M +9 &6W\ N +9 &8\\~\ N +10 &:LU\ N +9 &<Y\ N +9 &=\\\ N +10 &?Y|\ N +9 &ATZz\ N +10 &Cc}\ O +9 &Dc\ P +9 &Fp\ P +10 &HO\ R +9 &J \ T +9 &K\ T +10 &M\ T +9 &OP\ T +10 &Q\ U +9 &R\ U +9 &T\ U +10 &VW\ U +9 &X\ U +9 &Y\ U +10 &[{\ U +9 &][\ E +10 &^{>n\ 's +9 &^*\ - +5 ( +2 "processing"%R& +4 "core" &^\ - +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open +2 "manipulator"&H1 +58 "core" 1 +2 "manipulator"&Q% +4 "core" %   1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%& +4 "core" &^z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&_% +3 "core" %  \  1  +2 "storage"(O% +4 "core" %\ \  @\ +2 "storage"(2. +3 "core" .(K +2 "storage"(A& +4 "core" &K\ \ \ \  +2 "storage"(e& +2 "manipulator"&l& +9 "core" &K\ \ \  + &  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"& ( +3 ."raiseStack"SE.seek :beamBreak +4 "storage"( 'r +6 "core" ( +3 "manipulator"&!& +57 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &   O +3 .tForearm.seek PC +2 "manipulator"&X' +93 "core" ' +3 .tHand.close + "manipulator"&J/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +37 "core" ' +2 "storage"(x- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'1 +49 "core" ' +356 ( +2 "storage"(}& +4 "core" &K \ \ +2 "manipulator"&& +4 "core" & 9 +2 "manipulator"&o% +4 "core" %  P ? +2 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&p( +240 "core" ( + "manipulator"&t& +4 "core" & _ ; +2 "storage"(=& +3 "core" &K\ \  ]\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + .tHand.open +2 "manipulator"&P1 +61 "core" 1 +2 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(j' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(+' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(W& +4 "core" &K \\ \\ \ +3 "manipulator"&& +3 "core" &   ; +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&Z& +3 "core" &   / ; +2 "storage"(#& +4 "core" &K Q P `\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(8'" +51 "core" ' + "manipulator"&~& +4 "core" & f ; +2 "storage"(z& +4 "core" &K\ %\  g\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +21 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +19 "core" ' + "manipulator"&V% +4 "core" %J 6 +2 "storage"()& +4 "core" &K N 4\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 314 counts + "manipulator"&B'v +16 "core" ' + "manipulator"&^& +4 "core" & - ; +2 "storage"(& +4 "core" &K L V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&D' +14 "core" ' +2 "storage"(6% +4 "core" %\ # T =\ +3 ."downElevator"SE.seek :down +4 "storage"(a' +98 (h% +3 "core" %Q Q\ Wg +2 "manipulator"&&% +4 "core" % S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (S& +3 "core" &K # '\ +2 "collection"'E& +4 "core" &\\i\ B\ AK\ J +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&v% +3 "core" %  J \ +2 "storage"(4% +4 "core" % M \ +2 "storage"(w. +3 "core" .(K +2 "storage"(& +4 "core" &K Q 2\ +2 "storage"(y& +3 "core" &K N \ +2 "manipulator"&C& +4 "core" & h ; +2 .tElbow.seek 6 +2 "manipulator"&r( +4 "core" ( + "manipulator"&3& +51 "core" & ; +2 "storage"("& +4 "core" &K N \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&|' +99 "core" ' +2 "storage"(-& +4 "core" &K $ , F\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' + "storage"(5- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" & ; +2 "storage"(& +4 "core" &K N z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&<'< +19 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(.'l +29 "core" ' +2 "manipulator"&;% +4 "core" %@ / # +2 "storage"(,& +3 "core" &K\ \  ;\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 304 counts +2 "manipulator"&*'l +15 "core" ' +2 "manipulator"&& +4 "core" & ; +2 "storage"(c& +4 "core" &K P \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +14 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(L' +36 "core" ' +2 "manipulator"&U& +4 "core" & S ; +2 "manipulator"&% +4 "core" % j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&N(ӂ +150 "core" ( + "manipulator"&(& +4 "core" &x+   Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &x+   Cm +2 .tForearm.seek CC +2 "manipulator"&'? +106 "core" ' + .tHand.close +2 "manipulator"&'/ +62 "core" / +2 .tCC.seek :open +2 "collection"'b( +450 "core" ( +2 "storage"(& +3 "core" &K / . W\ +2 "storage"(1& +4 "core" &K % " T\ +2 "manipulator"&?& +4 "core" & J , +2 "manipulator"&k% +4 "core" %  J +2 .tForearm.seek :retract +2 "manipulator"&Y' +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +151 "core" ( +2 "manipulator"&/& +3 "core" & =  +2 "storage"(7& +4 "core" &K ! ! \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&F'< +97 "core" ' +2 .tElbow.hold + "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\ 1 +52 "core" 1 +2 "manipulator"&]% +4 "core" % I  ( +2 "storage"(i& +4 "core" &K U U \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&I'u +15 "core" ' +2 "manipulator"& & +4 "core" &  "  +2 "storage"($& +4 "core" &K U U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +16 "core" ' +2 "storage"(f% +3 "core" % R T p\ +3 ."downElevator"SE.seek :down +4 "storage"({' +99 (% +3 "core" %L C P\ Wd +2 "manipulator"&\\% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&[' +90 "core" ' +5 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'m& +3 "core" &\ "\ "T\ +2 "manipulator"&0% +4 "core" %   +2 "storage"(`% +4 "core" % U V\  +2 "storage"(K. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +670 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (H& +3 "core" &,{ # $ g\ +2 "manipulator"&Q& +4 "core" & p  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&_& +3 "core" &   +2 "storage"(O& +4 "core" &,{ K H \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&2' +92 "core" ' +2 "storage"(A& +4 "core" &,{ H H "\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +296 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +4 "core" &,k / + Q\ +2 "manipulator"&!& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&T& +4 "core" &  l  +2 "storage"(J& +4 "core" &,k 0 / _\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&x'c +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  +2 "manipulator"& % +3 "core" % z w +3 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&o& +4 "core" &ӌ 8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &ӌ d 8" +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&t'? +93 "core" ' + "manipulator"&=& +4 "core" &ӌ  8" +2 "manipulator"& % +4 "core" %> V +2 "collection"'P& +4 "core" &\ #\ #b\ +3 "collection"'& +5 "core" &\ #\ "d\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &\ #\ "c\  +9 &2{\ "\ !X\ )w +9 &d~\ !\ $Z\ = +10 &~p\ #\ "X\ L +9 &BU\ (\ $X\ K +9 &U\ &\ %X\ K +10 &U\ &\ &W\ K +9 &U\ %\ &O\ K +10 &IU\ $\ &U\ K +9 &\ W\ &\ %W\ L +9 &T\ '\ 'J\ K +10 & U\ '\ &Q\ K +9 &"RU\ &\ 'R\ K +9 &$U\ '\ 'H\ K +10 &%U\ (\ 'O\ K +9 &'U\ '\ 'K\ K +10 &)YU\ &\ &L\ K +9 &+U\ &\ %Q\ K +9 &,U\ )\ %M\ K +10 &.U\ )\ 'W\ K +9 &0aU\ )\ &R\ K +9 &2#U\ '\ 'W\ K +10 &3X\ )\ 'T\ K +9 &5U\ '\ (^\ K +10 &7iU\ (\ (^\ K +9 &9+U\ (\ *`\ K +9 &:W\ '\ )e\ K +10 &<W\ %\ 'f\ K +9 &>qY\ )\ &f\ K +9 &@3W\ *\ )`\ K +10 &AU\ +\ )]\ K +9 &C\\\ *\ *[\ L +10 &Ete\ ,\ -Z\ M +9 &G0y\ 3\ 3^\ O +9 &H\ B\ <_\ Q +10 &J\ Q\ O`\ V +9 &L]\ O\ S\\\ X +9 &N\ M\ O^\ X +10 &O\ L\ Ka\ X +9 &Q\ L\ Ja\ X +10 &Sa\ H\ H[\ Y +9 &U"\ G\ HV\ Y +9 &V\ H\ I^\ Z +10 &X\ J\ GZ\ [ +9 &Z`\ G\ F]\ \\ +9 &\\z\ H\ Gb\ 6 +10 &\\)\ G\ G[\ %o +9 &\\v\ G\ G_\ X +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&W1 +56 "core" 1 +2 "manipulator"&% +4 "core" % > h V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%#& +3 "core" &\ +2 "manipulator"&%% +4 "core" %    +2 "storage"(~% +4 "core" %\ \  \  +2 "storage"(z. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(V(,y +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +50 ()& +4 "core" &,{\ \ \ +2 "manipulator"&u& +4 "core" &Ӱ T 4 +2 "manipulator"&^% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( + "manipulator"&j& +4 "core" & L  +2 "storage"(6& +4 "core" &,{ N m\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +93 "core" ' +2 "storage"(& +4 "core" &,{ \ " ]\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'r +302 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +3 "core" &,l\ \  U\  +2 "manipulator"&& +4 "core" & _  +2 .tElbow.seek 4 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&8& +4 "core" &   +3 "storage"(& +3 "core" &,l N F\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&B'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(v' +8 "core" & N  +2 "manipulator"&4% +3 "core" % i 5 +3 .tForearm.seek :retract +2 "manipulator"&:' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&& +4 "core" &  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" & Y \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C' +102 "core" ' +2 "manipulator"&3& +3 "core" & + \ +2 "manipulator"&"% +4 "core" %  5 * +2 "processing"%D& +4 "core" &\ +3 "processing"%-& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%a(^ +3 "core" &\ +7 &6\ #b +10 &U}\ 6 +9 &~|\ K +9 &V\ N +10 &\\V\ N +9 &R\ N +9 &U\ N +10 &V\ M +9 &eW\ N +10 &'V\ N +9 &W\ N +9 &!Y\ N +10 &#mU\ N +9 &%0U\ M +9 &&Z\ N +10 &(W\ N +9 &*uU\ N +10 &,8W\ M +9 &-W\ N +9 &/Z\ N +10 &1~X\ M +9 &3@W\ M +9 &5V\ M +10 &6W\ N +9 &8\\\ N +10 &:GW\ N +9 &< Y\ N +9 &=W\ N +10 &?X\ N +9 &ANY\ N +9 &C c\ O +10 &De\ P +9 &Fk\ P +10 &HJ}\ R +9 &J\ T +9 &K\ S +10 &M\ T +9 &OK\ T +9 &Q \ U +10 &R\ U +9 &T\ U +10 &VR\ U +9 &X\ T +9 &Y\ U +10 &[\ U +9 &]W\ F +9 &^zAy\ #h +10 &^*\ / +5 ( +2 "processing"%-& +4 "core" &^\ / +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&>1 +59 "core" 1 +2 "manipulator"&% +3 "core" %   S * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' +2 "processing"%q& +3 "core" &^v\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %      +2 "storage"(% +4 "core" %\ \  \  +2 "storage"(;. +3 "core" .(,y +2 "storage"(,& +4 "core" &,l\ \  /\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +46 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (c& +4 "core" &,|\ \  A\ + "manipulator"&U& +4 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &   \ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"('r +3 "manipulator"&|( +5 "core" ( +48 "manipulator"&r& +5 "core" &   r \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   o \ +3 .tForearm.seek PC +2 "manipulator"&<' +93 "core" ' + .tHand.close +2 "manipulator"&*/ +53 "core" / +2 .tPC.seek :open +2 "processing"%.( +52 "core" ' + "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'1 +50 "core" ' +341 ( +2 "storage"(s& +4 "core" &,j\ \ \ \ \ +2 "manipulator"&d& +4 "core" & \\ \ +2 "manipulator"&'% +4 "core" %  R I +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&G( +241 "core" ( + "manipulator"&& +4 "core" & b ; +2 "storage"(1& +4 "core" &,j\ \ (\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts + "manipulator"&?' +98 "core" ' + .tHand.open +2 "manipulator"&k1 +61 "core" 1 +2 "storage"(/- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(\ & +5 "core" &,j 7 4 \ + "manipulator"&]& +4 "core" &   ; +2 .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"& & +4 "core" &   ; +2 "storage"($& +4 "core" &,j 6 4 \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +60 "core" ' + "manipulator"&& +4 "core" & T ; +2 "storage"(\\& +4 "core" &,j\ \ \ Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(m' +20 "core" ' +2 "manipulator"&I% +3 "core" %G = D +2 "storage"(0& +4 "core" &,j\ \ 8\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&`'s +14 "core" ' +2 "manipulator"&K& +4 "core" &  Q : +2 "storage"(L& +4 "core" &,j\ \ \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +14 "core" ' +2 "storage"({% +5 "core" % \  ?\ +2 ."downElevator"SE.seek :down +3 "storage"(g' +99 (H% +3 "core" %;N\ V\ Xg +2 "manipulator"&Q% +4 "core" %  l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (O& +3 "core" &,j\ \ \ +2 "collection"'A& +4 "core" &\\v\ B\ CZ\ X +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&n% +3 "core" %   +2 "storage"([% +4 "core" % P 2\  +2 "storage"(e. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(R(,y +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &,|\ 7\ +48 "manipulator"&T& +5 "core" & P : +2 .tElbow.seek 4 +2 "manipulator"&J( +4 "core" ( +2 "manipulator"&@& +3 "core" & : +2 "storage"(& +4 "core" &,| N \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +90 "core" ' +2 "storage"(& +4 "core" &,| T i\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +296 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" & 1 : +2 "storage"(l& +4 "core" &,l\ \ \ 7\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&x'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(P'f +29 "core" ' + "manipulator"&9% +4 "core" %A q  +2 "storage"(& +3 "core" &,l\ \  n\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 310 counts + "manipulator"&}'m +13 "core" ' +2 "manipulator"&b& +5 "core" &  : + "storage"(W& +4 "core" &,l\ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(#' +36 "core" ' +2 "manipulator"&%& +4 "core" & f : +2 "manipulator"&~% +4 "core" % E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +148 "core" ( +2 "manipulator"&)& +3 "core" &y$   b =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &z$ =F +3 .tForearm.seek CC + "manipulator"&^'? +95 "core" ' +2 .tHand.close + "manipulator"&t/ +61 "core" / +2 .tCC.seek :open +2 "collection"'j( +447 "core" ( +2 "storage"(6& +4 "core" &,l . /\ +2 "storage"(& +4 "core" &,l % / ;\ +2 "manipulator"&& +4 "core" &ӯ G 6 +2 "manipulator"&% +3 "core" % = = 2 +3 .tForearm.seek :retract +2 "manipulator"&Z' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&h( +154 "core" ( +2 "manipulator"&&& +3 "core" & , +2 "storage"(& +4 "core" &,l U T \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&8'7 +94 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&S1 +63 "core" 1 +2 "manipulator"&E% +4 "core" % >  w ; +2 "storage"(4& +4 "core" &,l K H \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts + "manipulator"&'j +14 "core" ' +2 "manipulator"&p& +4 "core" &  +2 "storage"(+& +4 "core" &,l U W \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&B' +24 "core" ' +2 "storage"(% +4 "core" % W X\ +3 ."downElevator"SE.seek :down +4 "storage"(y' +99 (% +3 "core" %%J B \ Vc +3 "manipulator"&3% +3 "core" % 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&"' +88 "core" ' +92 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'D& +4 "core" &\ #\ #V\ +2 "manipulator"&v% +4 "core" %   c  +2 "storage"(:% +4 "core" % V P ?\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(>(<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<- % - 6\  +2 "manipulator"&q& +4 "core" &  \\ +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(;& +5 "core" &<- W U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +92 "core" ' + "storage"(-& +4 "core" &<- Z K +\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'r +295 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &<- + " 8\  +2 "manipulator"& & +4 "core" & > +2 .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&V& +4 "core" & T +2 "storage"(*& +3 "core" &<- D P ]\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&('Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +3 "storage"(a' +7 "core" &  9 +2 "manipulator"&% +4 "core" % ϵ  +2 .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +2 "manipulator"&'& +5 "core" &Ӓ  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &ӓ F 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 "manipulator"&1& +3 "core" &ӓ  6 +2 "manipulator"&|% +4 "core" %< g ! +2 "collection"'k& +4 "core" &\ $\ #v\ +3 "collection"'/& +6 "core" &\ !\ "s\ +2 .tCC.seek :closed +2 "collection"'N(\\ +4 "core" &\ %\ #m\ +7 &\ \ %l\ : +9 &LLx\ #\ "k\ 0 +9 &u}\ %\ #o\ E +10 &-Y\ %\ $k\ L +9 &R\ %\ %k\ K +9 &W\ '\ &j\ L +10 &tT\ (\ &j\ K +9 &8R\ &\ &l\ J +10 &U\ %\ &i\ K +9 &T\ '\ 'i\ K +9 &|U\ '\ &i\ K +10 &!>U\ '\ (]\ K +9 &#U\ '\ (_\ K +9 &$U\ '\ (b\ K +10 &&U\ (\ (\\\ K +9 &(GU\ '\ '[\ K +10 &* U\ (\ (\\\ K +9 &+T\ (\ )[\ K +9 &-T\ %\ )\\\ K +10 &/NU\ (\ '^\ K +9 &1U\ (\ '[\ K +9 &2U\ )\ )]\ K +10 &4U\ *\ *`\ K +9 &6VV\ '\ (`\ K +10 &8U\ %\ (_\ K +9 &9V\ (\ (d\ K +9 &;W\ (\ )[\ K +10 &=_V\ *\ )\\\ K +9 &? W\ *\ )]\ K +9 &@Z\ (\ *^\ K +10 &B\\\ +\ *f\ K +9 &Dd_\ .\ -_\ L +10 &F!m\ 1\ /_\ N +9 &G\ 8\ 5b\ P +9 &I\ K\ Dd\ S +10 &KK\ U\ U`\ W +9 &M \ R\ T_\ X +9 &N\ M\ N`\ X +10 &P\ K\ Ld\ X +9 &RN\ K\ K]\ Y +10 &T\ J\ J`\ Z +9 &U\ J\ H\\\ Z +9 &W\ H\ K`\ [ +10 &YP\ I\ H^\ [\ +9 &[\ I\ Jd\ \\ +9 &\\aF\ K\ J_\ 5 +10 &\\\ J\ H^\ M +5 ( +2 "collection"'/& +4 "core" &\\m\ F\ Gc\ M +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open +2 "manipulator"&\ 1 +56 "core" 1 +2 "manipulator"&]% +5 "core" % <  X ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%$& +4 "core" &\ +2 "manipulator"&% +5 "core" %  e  +2 "storage"(% +3 "core" % P W\  +2 "storage"(\\. +3 "core" .(<- +2 "storage"(I& +51 "core" &<- N o\  +3 "storage"(0& +4 "core" &<- K _\  +2 "manipulator"&M& +4 "core" &ӭ \\ 3 +2 "manipulator"&K% +3 "core" %  X  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&L( +161 "core" ( + "manipulator"&7& +4 "core" & .  +2 "storage"({& +3 "core" &<-\ !\ ! :\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&G'O +94 "core" ' + "storage"(?& +4 "core" &<- ! !\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"('r +299 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Q& +3 "core" &<- M Y\  +2 "manipulator"&f& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&i( +4 "core" ( + "manipulator"&Y& +5 "core" &  |  + "storage"(& +4 "core" &<- O h\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&`'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(n' +8 "core" & m  +2 "manipulator"&[% +5 "core" % ϭ k +2 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&m( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&!& +3 "core" & G L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +3 "core" & 9 L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@' +100 "core" ' +2 "manipulator"&& +4 "core" & L L +2 "manipulator"& % +4 "core" % P +2 "processing"%& +4 "core" &\ +3 "processing"%g& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +9 &6\ $d +9 &Vz\ 7 +10 &|\ L +9 &W\ M +9 &jW\ M +10 &,X\ M +9 &Y\ M +10 &X\ M +9 &qU\ N +9 &3U\ N +10 &Z\ N +9 &!T\ M +9 &#zW\ M +10 &%=W\ M +9 &&[\ N +10 &([\ M +9 &*X\ M +9 &,CW\ N +10 &.U\ M +9 &/Y\ N +9 &1Z\ M +10 &3KV\ N +9 &5Y\ M +10 &6U\ N +9 &8\\\ N +9 &:T[\ M +10 &<Z\ N +9 &=\\\ N +9 &?W\ N +10 &AZY\ N +9 &Ce\ O +10 &Dh\ P +9 &Fo\ P +9 &HU\ R +10 &J\ S +9 &K\ T +9 &M\ T +10 &OX\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &V_\ T +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]d\ B +9 &^F{\ U +10 &^D\ 6 +5 ( +2 "processing"%g& +4 "core" &^,\ 6 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&F1 +62 "core" 1 +2 "manipulator"&_% +4 "core" %    r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' +2 "processing"%X& +4 "core" &^+x\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&l% +3 "core" % !   L ' +2 "storage"( % +4 "core" %\ \ \  +2 "storage"(9. +2 "core" .(<- +3 "storage"(& +3 "core" &<-\ \ \ \  +3 "storage"(b& +4 "manipulator"&W& +5 "core" &<-\ \ \  + &  ' L +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&%( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(~'r +11 "core" ( +2 "manipulator"& & +3 "core" &   /  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +3 "core" &    +42 .tForearm.seek PC +9 "manipulator"&2' +93 "core" ' + .tHand.close +2 "manipulator"&x/ +61 "core" / +2 .tPC.seek :open +2 "processing"%}( +36 "core" ' + "storage"(P- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'1 +47 "core" ' +360 ( + "storage"(u& +4 "core" &<- O \  +2 "manipulator"&& +5 "core" & Y  + "manipulator"&=% +4 "core" %  ( f +2 .tForearm.seek :retract +2 "manipulator"&t' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&z( +242 "core" ( + "manipulator"&& +4 "core" &  8 9 +2 "storage"(6& +4 "core" &<-\ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(&' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +3 "core" -' +2 "storage"(& +4 "core" &<- \  +2 "manipulator"&S& +4 "core" &   X 9 +2 .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&4& +4 "core" &   9 +2 "storage"(p& +4 "core" &<-  ! \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +62 "core" ' +2 "manipulator"&Z& +4 "core" &  E 9 +2 "storage"(& +4 "core" &<-\ \  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&3'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +21 "core" ' + "manipulator"&% +4 "core" %Δ  +2 "storage"(#& +3 "core" &<-\ \ 4\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&D' +14 "core" ' +2 "manipulator"&v& +3 "core" &  ' +2 "storage"(:& +4 "core" &<- N h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(B% +3 "core" % P ^\ +3 ."downElevator"SE.seek :down +3 "storage"(y' +99 (R% +4 "core" %ER \ Xi +2 "manipulator"&% +4 "core" %4 ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<-\ \ % \  +2 "collection"';& +4 "core" &\\l\ B\ Bc\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&-% +4 "core" %  V  +2 "storage"(% +4 "core" % N `\  +2 "storage"(". +3 "core" .(<- +2 "storage"(U& +5 "core" &<- P c\  +2 "storage"(r& +4 "core" &<- V /\  +2 "manipulator"& & +4 "core" & g ' +2 .tElbow.seek 5 +2 "manipulator"&V( +22 "core" ( +2 "manipulator"&*& +4 "core" &   +2 "storage"(w& +4 "core" &<- X \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +46 .tForearm.seek 5 + 450 counts +5 "manipulator"&5'O +96 "core" ' +2 "storage"(& +4 "core" &<- ! \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" & o  +2 "storage"(<& +4 "core" &<- L ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&c'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(1- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(|'v +29 "core" ' +2 "manipulator"&k% +5 "core" %Μ + "storage"(C& +4 "core" &<-\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 315 counts + "manipulator"&a' +14 "core" ' + "manipulator"&s& +4 "core" & k  +2 "storage"(j& +4 "core" &<- Q 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\ 'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(]' +36 "core" ' +2 "manipulator"&$& +3 "core" & H  +2 "manipulator"&% +5 "core" %8 ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +160 "core" ( + "manipulator"&I& +4 "core" &Ӗ  6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +4 "core" &Ӗ  6 +2 .tForearm.seek CC +2 "manipulator"&0'? +99 "core" ' + .tHand.close +2 "manipulator"&M/ +59 "core" / +2 .tCC.seek :open +2 "collection"'K( +447 "core" ( + "storage"(& +4 "core" &<- " # \  +2 "storage"(7& +5 "core" &<- ! !\  + "manipulator"&{& +4 "core" &ӫ 4 +2 "manipulator"&?% +4 "core" % M g +2 .tForearm.seek :retract +2 "manipulator"&d' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +155 "core" ( + "manipulator"&H& +4 "core" &  i +2 "storage"(Q& +4 "core" &<- # & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&f'΍ +92 "core" ' +2 .tElbow.hold + "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&O% +5 "core" % Π  7 G + "storage"(A& +4 "core" &<- U U\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&[' +28 "core" ' +2 "manipulator"&L& +4 "core" &  +2 "storage"(G& +5 "core" &<- X W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 "storage"(`% +4 "core" % V X \ +3 ."downElevator"SE.seek :down +4 "storage"(!' +98 (T% +3 "core" %F $ . 0\ Wc +2 "manipulator"&i% +5 "core" %\\ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +49 ' + ."downElevator"SE.stop +48 "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"' & +3 "core" &\ #\ n\ +2 "manipulator"&% +4 "core" %  G  +2 "storage"(n% +4 "core" % U W L\  +2 "storage"(e. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(.(K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" &K ' - C\  +2 "manipulator"&_& +4 "core" & R +2 .tElbow.seek 6 +2 "manipulator"&X( +4 "core" ( + "manipulator"&l& +4 "core" & * +2 "storage"( & +4 "core" &K T R \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +94 "core" ' + "storage"(& +4 "core" &K Q H 4\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +193 "Can"\ NL +104 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (W& +3 "core" &K / .\  +2 "manipulator"& & +3 "core" & W +3 .tElbow.seek 6 + "manipulator"&J( +3 "core" ( +2 "manipulator"&@& +4 "core" & ` +2 "storage"(x& +4 "core" &K " '\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&P'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&m/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +3 "storage"(' +9 "core" &  + "manipulator"&~% +4 "core" % υ +3 .tForearm.seek :retract +2 "manipulator"&u' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&=& +5 "core" &z$ . =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &z$ =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&6& +3 "core" &{% =C +2 "manipulator"&%% +4 "core" %C Y +2 "collection"'& +4 "core" &\ #\ #y\ +3 "collection"'& +5 "core" &\ $\ #o\ +2 .tCC.seek :closed +3 "collection"'^(\\ +4 "core" &\ "\ $k\ +5 &\ "\ "p\ 9 +9 &LKu\ $\ !k\ 1 +10 &u~\ $\ "q\ E +9 &/Y\ #\ %q\ L +10 &X\ $\ &t\ K +9 &V\ &\ &p\ K +9 &wU\ '\ (w\ K +10 &9U\ &\ $k\ K +9 &U\ '\ &n\ K +9 &V\ &\ &t\ K +10 &V\ (\ %s\ K +9 &!@T\ &\ 'o\ K +10 &#U\ &\ (k\ K +9 &$U\ &\ 's\ K +9 &&U\ '\ 'j\ K +10 &(HU\ &\ &o\ K +9 &* U\ (\ (n\ K +9 &+T\ %\ 'i\ J +10 &-U\ '\ 'h\ K +9 &/PU\ '\ 'q\ K +10 &1U\ &\ (m\ K +9 &2U\ '\ 'k\ K +9 &4U\ '\ 'f\ K +10 &6YU\ '\ '^\ K +9 &8V\ &\ 'W\ K +9 &9V\ (\ ([\ K +10 &;W\ )\ (^\ K +9 &=_]\ -\ )[\ L +10 &? a\ 5\ 2\\\ L +9 &@c\ 9\ <\\\ M +9 &BW\ +\ '`\ K +10 &Ddb\ -\ -_\ M +9 &F#n\ 1\ 1b\ N +10 &G\ B\ ;`\ Q +9 &I\ R\ P`\ U +9 &KK\ W\ Zf\ X +10 &M\ T\ UX\ W +9 &N\ R\ Q[\ W +9 &P\ M\ Lc\ X +10 &RS\ K\ Ih\ X +9 &T\ J\ H_\ Y +9 &U\ L\ Ja\ Z +10 &W\ I\ I`\ [\ +9 &YS\ I\ G[\ [ +10 &[\ I\ GZ\ [\ +9 &\\hF\ F\ HX\ 1 +9 &\\\ H\ HV\ M +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&1 +3 "core" &\\b\ D\ G_\ M +52 1 +3 "manipulator"&S% +3 "core" % b  2 : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%p& +3 "core" &\ +2 "manipulator"&t% +4 "core" %   +2 "storage"(Z% +4 "core" % P \  +2 "storage"(. +3 "core" .(K +2 "storage"()& +3 "core" &K N \  +2 "storage"(& +4 "core" &K M 6\  +2 "manipulator"&#& +4 "core" &$ & +2 "manipulator"&v% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&&( +191 "core" ( +3 "manipulator"&:& +4 "core" & =  +2 "storage"(B& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +91 "core" ' + "storage"(& +4 "core" &K ! $ &\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(R- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K M  '\  +2 "manipulator"&+& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&& +5 "core" & Y  + "storage"(3& +4 "core" &K\ ! ` ]\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(-' +8 "core" & Z  +2 "manipulator"&% +4 "core" % g N +2 .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&U& +4 "core" & y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" & \\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' +2 "manipulator"&*& +4 "core" & - +2 "manipulator"&w% +4 "core" % S Y +2 "processing"%& +5 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%y(^ +5 "core" &\  +9 &2{\ )w +9 &a\ = +10 &kv\ N +9 &-W\ N +9 &T\ N +10 &W\ N +9 &sU\ N +9 &5U\ N +10 &Z\ N +9 &[\ N +9 & {Z\ N +10 &"=X\ N +9 &#U\ N +10 &%T\ M +9 &'W\ M +9 &)FW\ M +10 &+Z\ N +9 &,Z\ N +10 &.X\ M +9 &0MV\ N +9 &2W\ N +10 &3U\ N +9 &5Y\ N +9 &7UY\ N +10 &9[\ N +9 &:\\\ N +10 &<X\ M +9 &>]Z\ N +9 &@W\ N +10 &A]\ N +9 &Cd\ O +9 &E^h\ P +10 &Gr\ Q +9 &H\ S +10 &J\ T +9 &L[\ T +9 &N\ T +10 &O\ T +9 &Q\ U +9 &S`\ U +10 &U!\ U +9 &V\ U +10 &X\ U +9 &Zi\ T +9 &\\)\ U +10 &]{\ 9 +9 &^4\ O +9 &^\ + +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&h1 +55 "core" 1 +2 "manipulator"&q% +4 "core" %   < Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +92 "core" ' + "processing"%'& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&<% +4 "core" %     +2 "storage"(1% +4 "core" %\ \  E\  +2 "storage"(k. +3 "core" .(K +2 "storage"(C& +3 "core" &K\ \ \ \ \  +3 "storage"(s& +4 "manipulator"&j& +4 "core" &K\ \ \  +2 & \ \ ^ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&$( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +3 "core" ( +2 "manipulator"&5& +3 "core" &  | +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +3 "core" &  m +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&c/ +53 "core" / +3 .tPC.seek :open +2 "processing"%a( +98 "core" ' +2 "storage"(|- +2 "core" -'r +42 ."raiseStack"SE.configure :default +11 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(I'1 +44 "core" ' +253 ( + "storage"(/& +4 "core" &K N \ +2 "manipulator"&\ & +4 "core" & Y +2 "manipulator"&(% +4 "core" %  ; ^ +2 .tForearm.seek :retract +2 "manipulator"&M' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&N& +4 "core" &  i +2 "storage"(& +3 "core" &K\ \ \ \ 0\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +90 "core" ' +2 .tHand.open + "manipulator"&{1 +53 "core" 1 +3 "storage"(?- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(H' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(0- +4 "core" -' + "storage"(\\& +4 "core" &K - 7 ?\ +2 "manipulator"&& +4 "core" &   h +2 .tElbow.seek 6 +2 "manipulator"&O( +4 "core" ( +2 "manipulator"&A& +4 "core" &   H h +2 "storage"(L& +3 "core" &K 4 8\ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(`'" +51 "core" ' +2 "manipulator"&d& +4 "core" &   h +2 "storage"(T& +4 "core" &K\ \ \ $ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&i'< +19 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(f' +20 "core" ' +2 "manipulator"& % +4 "core" %B <  +2 "storage"([& +5 "core" &K\ \  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 306 counts + "manipulator"&]'n +14 "core" ' + "manipulator"&& +4 "core" &  6 h +2 "storage"(n& +4 "core" &K M `\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +15 "core" ' + "storage"(% +4 "core" % M y\ +3 ."downElevator"SE.seek :down +4 "storage"(!' +98 (>% +3 "core" %P\ \ m\ Wf +2 "manipulator"&F% +4 "core" % W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (l& +3 "core" &K\ \  \ +2 "collection"' & +4 "core" &\\a\ D\ BT\ M +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  ?  +2 "storage"(Y% +4 "core" % X \  +2 "storage"(. +2 "core" .(K +3 "storage"(b& +3 "core" &K N \ +2 "storage"(W& +4 "core" &K  V \ +2 "manipulator"& & +4 "core" &  : h +2 .tElbow.seek 6 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&x& +4 "core" &  B h +2 "storage"(m& +4 "core" &K   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +95 "core" ' + "storage"(~& +4 "core" &K ^ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(X'r +297 "core" ' +47 "storage"(9- +5 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &  ^ h +2 "storage"(2& +5 "core" &K N C\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&g'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(6- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(%'o +29 "core" ' + "manipulator"&% +4 "core" %9 b  +2 "storage"(J& +4 "core" &K X \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 297 counts + "manipulator"&'e +14 "core" ' +2 "manipulator"&u& +3 "core" &   ` h +2 "storage"(K& +4 "core" &K N \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +24 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(S' +49 "core" ' + "manipulator"&p& +4 "core" &   h +2 "manipulator"&t% +4 "core" %! l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&)& +4 "core" &ӊ#  <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӌ#    <9 +2 .tForearm.seek CC +2 "manipulator"&#'? +99 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'v( +447 "core" ( + "storage"(& +4 "core" &K / /\ +2 "storage"(:& +4 "core" &K $ ! $\ +2 "manipulator"&B& +4 "core" &  _ ) +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&4( +152 "core" ( + "manipulator"&R& +4 "core" & \ Y  +2 "storage"(& +4 "core" &K ( ( \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&+'< +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +52 "core" 1 +2 "manipulator"&D% +4 "core" % > t 1 +2 "storage"(;& +3 "core" &K U U \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 302 counts +2 "manipulator"&'j +13 "core" ' +2 "manipulator"&&& +4 "core" & K  +2 "storage"(z& +4 "core" &K W W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +14 "core" ' + "storage"(% +4 "core" % W W\ +3 ."downElevator"SE.seek :down +4 "storage"(U' +99 (r% +3 "core" %L # ' G\ Wd +2 "manipulator"&E% +4 "core" %  b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +140 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +21 "core" ' +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'w& +3 "core" &\ $\ #l\ +3 "manipulator"&% +3 "core" %  {  +2 "storage"(-% +4 "core" % X K q\  +2 "storage"(". +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +45 .tSC.seek 4 +6 "storage"(}(,y +673 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (h& +2 "core" &,{ % # 4\ +3 "manipulator"&q& +3 "core" & u  +2 .tElbow.seek 4 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&<& +4 "core" &  +2 "storage"(1& +4 "core" &,{ W X "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +97 "core" ' + "storage"(C& +4 "core" &,{ Q m t\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +297 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,k # * 3\ +2 "manipulator"&5& +3 "core" & N  +2 .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"& & +4 "core" & F  +2 "storage"(c& +3 "core" &,k & ? Q\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&|'c +29 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +3 "storage"(y' +8 "core" &  1  +2 "manipulator"&/% +3 "core" % ϝ   +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&(& +3 "core" &Ӑ   9$ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ   9$ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'? +98 "core" ' +2 "manipulator"&& +4 "core" &ӑ  T 9# +2 "manipulator"&$% +3 "core" %8 , +3 "collection"'{& +3 "core" &\ !\ "{\ +3 "collection"'?& +5 "core" &\ "\ $u\ +2 .tCC.seek :closed +2 "collection"'0(\\ +6 "core" &\ #\ r\ +6 &=\ !\ "y\ %g +9 &Xw\ #\ #}\ 7 +9 &x\ $\ #t\ K +10 &S\ %\ %e\ K +9 &V\ &\ $c\ K +10 &GU\ $\ %k\ K +9 & U\ &\ &n\ K +9 &U\ $\ &m\ K +10 &S\ %\ (f\ K +9 &PR\ (\ &i\ J +9 & W\ )\ %d\ K +10 &!X\ '\ (e\ K +9 &#U\ )\ 'h\ K +10 &%WT\ '\ 'l\ K +9 &'T\ &\ %q\ K +9 &(U\ &\ 'i\ K +10 &*U\ %\ 'h\ K +9 &,^Y\ '\ )i\ K +9 &. U\ '\ )i\ K +10 &/U\ )\ 'a\ K +9 &1W\ (\ (a\ K +9 &3gU\ )\ )d\ K +10 &5)U\ )\ )b\ K +9 &6V\ (\ (c\ K +10 &8U\ *\ (b\ K +9 &:nW\ )\ *l\ K +9 &<0W\ (\ +e\ K +10 &=S\ +\ (r\ K +9 &?W\ )\ +a\ K +10 &AwY\ (\ (]\ K +9 &C7^\ -\ *W\ L +9 &Db\ -\ -Z\ L +10 &Fk\ 3\ 1\\\ N +9 &Hn\ ?\ 7g\ Q +9 &J%\ P\ Kc\ U +10 &K\ Q\ Sg\ W +9 &M\ N\ Pc\ W +10 &Oa\ L\ N[\ X +9 &Q$\ J\ Ib\ W +9 &R\ J\ JY\ X +10 &T\ J\ Jh\ Y +9 &Vd\ H\ Jf\ Z +9 &X%\ G\ IZ\ Z +10 &Y\ J\ GX\ [ +9 &[\ H\ Ja\ H +9 &\\2\ F\ H^\ 2 +10 &\\c\ H\ IV\ K +2 ( +2 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&\\1 +53 "core" 1 +2 "manipulator"&% +4 "core" % 8 J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%L& +4 "core" &\ +2 "manipulator"&M% +4 "core" %  d  +2 "storage"(d% +4 "core" % N \  +2 "storage"(T. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +13 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" &,{ \ +2 "manipulator"&I& +4 "core" &ӭ h 5 +2 "manipulator"&% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&n( +164 "core" ( +2 "manipulator"&H& +4 "core" & / . +2 "storage"(& +4 "core" &,{\ !\ ! \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +3 "storage"(7& +3 "core" &,{ ! ! \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +301 "core" ' +2 "storage"(>- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &,l M S\  +2 "manipulator"&G& +4 "core" & F . +2 .tElbow.seek 4 +2 "manipulator"&O( +4 "core" ( + "manipulator"&`& +4 "core" & q . +2 "storage"(i& +4 "core" &,l N \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&l'c +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(' +8 "core" & @ . +2 "manipulator"&Y% +4 "core" % W " +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&b& +4 "core" &  I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &  I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +94 "core" ' +2 "manipulator"&x& +4 "core" & o I +2 "manipulator"&m% +4 "core" % ] +2 "processing"%e& +4 "core" &\ +3 "processing"%~& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(^ +5 "core" &\ +5 &6\ #c +10 &U}\ 7 +9 &y\ K +10 &Y\ M +9 &dW\ M +9 &&V\ M +10 &Z\ N +9 &X\ N +9 &lT\ M +10 &.W\ M +9 &Y\ N +10 &!Y\ M +9 &#sZ\ N +9 &%5W\ N +10 &&Z\ M +9 &(X\ M +9 &*{Z\ N +10 &,=Y\ N +9 &-T\ N +10 &/[\ N +9 &1Z\ N +9 &3EX\ N +10 &5U\ N +9 &6U\ M +9 &8W\ N +10 &:MY\ N +9 &<\\\ N +10 &=W\ N +9 &?X\ N +9 &AT\\\ N +10 &C`\ O +9 &Dd\ O +9 &Fk\ P +10 &HQ}\ R +9 &J\ S +10 &K\ S +9 &M\ T +9 &OR\ T +10 &Q\ U +9 &R\ T +10 &T\ V +9 &VY\ T +9 &X\ T +10 &Y\ U +9 &[\ U +9 &]]\ D +10 &^Bt\ a +9 &^:\ 0 +5 ( +3 "processing"%~& +3 "core" &^ \ 0 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"& 1 +52 "core" 1 +2 "manipulator"&_% +4 "core" %   s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +88 "core" ' +3 "processing"%=& +3 "core" &^ \ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&2% +4 "core" %  \ 4  +2 "storage"(6% +4 "core" %\ \ * 7\  +2 "storage"(. +3 "core" .(,y +2 "storage"(J& +4 "core" &,l\ \ \ =\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(u(,y +46 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (K& +4 "core" &,z\ \ %\ +2 "manipulator"&p& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  I +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(t'r + "manipulator"&o( +7 "core" ( + "manipulator"&@& +4 "core" &   I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" & \  I +3 .tForearm.seek PC +2 "manipulator"&g' +91 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%%( +97 "core" ' +42 "storage"()- +10 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +250 ( +2 "storage"(& +4 "core" &,i N\  +2 "manipulator"&P& +5 "core" & m I + "manipulator"&% +4 "core" %   l +2 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&^( +255 "core" ( +2 "manipulator"&& +4 "core" &   n +2 "storage"(:& +3 "core" &,i\ \ \ \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&B' +104 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(R- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(3& +4 "core" &,i =\  +2 "manipulator"&D& +4 "core" &\   m +2 .tElbow.seek 4 +2 "manipulator"&;( +10 "core" ( + "manipulator"&&& +4 "core" &   < +2 "storage"(z& +4 "core" &,i [\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' + "manipulator"&r& +4 "core" & c < +2 "storage"(E& +4 "core" &,i\ \ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&4'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&w% +4 "core" %& v  +2 "storage"(& +4 "core" &,i P P\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 283 counts +2 "manipulator"&-'R +16 "core" ' + "manipulator"&S& +4 "core" & , < +2 "storage"("& +4 "core" &,i\ \  B\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(U% +4 "core" % 4 \ +3 ."downElevator"SE.seek :down +4 "storage"(.' +99 (h% +3 "core" %P _\ Xh +2 "manipulator"&q% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (1& +3 "core" &,i\ \  \  +2 "collection"'C& +5 "core" &\\a\ C\ C^\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  \\  +2 "storage"(*% +4 "core" % N \  +2 "storage"(j. +2 "core" .(,y +3 "storage"(& +3 "core" &,i N G\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(5(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &,{ L f\ +2 "manipulator"&c& +4 "core" & c < +2 .tElbow.seek 4 +2 "manipulator"&8( +9 "core" ( +2 "manipulator"&,& +3 "core" & u  +2 "storage"(/& +4 "core" &,{ J 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +93 "core" ' +49 "storage"(k& +5 "core" &,{ ! * u\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&s& +4 "core" & E  +2 "storage"(|& +4 "core" &,l\ \ \ *\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(V'g +29 "core" ' + "manipulator"&y% +4 "core" %E H  +2 "storage"(& +4 "core" &,l \ \ |\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&v'q +14 "core" ' +2 "manipulator"&\\& +3 "core" &   +2 "storage"(& +4 "core" &,l P ^\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(M' +49 "core" ' +2 "manipulator"&d& +3 "core" & T  +2 "manipulator"&T% +4 "core" % K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +149 "core" ( +2 "manipulator"&I& +3 "core" &}% % >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &}% { >H +3 .tForearm.seek CC +2 "manipulator"&N'? +97 "core" ' +2 .tHand.close + "manipulator"&H/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(}& +4 "core" &,l / 1\ \ +2 "storage"(\ & +3 "core" &,l ! \ \ +2 "manipulator"&7& +4 "core" &ӧ & 8 +2 "manipulator"&A% +3 "core" % P  +3 .tForearm.seek :retract +2 "manipulator"&>' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&F( +155 "core" ( +2 "manipulator"&G& +3 "core" & +2 "storage"(`& +4 "core" &,l Q F \\\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&i'7 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +59 "core" 1 +2 "manipulator"&Y% +4 "core" % ! | G +2 "storage"(n& +4 "core" &,l T T c\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 278 counts +2 "manipulator"&'M +15 "core" ' +2 "manipulator"&Q& +4 "core" &   y +2 "storage"(l& +4 "core" &,l V W\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&b' +16 "core" ' +2 "storage"(W% +4 "core" % W X\ +3 ."downElevator"SE.seek :down +3 "storage"(O' +99 (x% +3 "core" %K & \ Wb +2 "manipulator"&m% +4 "core" % \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" &\ !\ "f\ +49 "manipulator"&% +3 "core" %   +3 "storage"(a% +3 "core" % X W\  +2 "storage"( . +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(_(<- +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (=& +3 "core" &<+ W h\  +2 "manipulator"&2& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&6( +3 "core" ( +2 "manipulator"&& +4 "core" & 6 +2 "storage"(J& +5 "core" &<* U T \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +94 "core" ' +2 "storage"(K& +3 "core" &<* P H L\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'r +297 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +3 "core" &<* ( . B\  +2 "manipulator"& & +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"()& +4 "core" &<* T T\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&f'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"(' +8 "core" & = +2 "manipulator"&t% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&P' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&g& +3 "core" &}" O ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &}" m ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'? +94 "core" ' +2 "manipulator"&o& +4 "core" &Ӏ! :0 +2 "manipulator"&% +4 "core" %: \  q R +2 "collection"'R& +4 "core" &\ "\ $\ +3 "collection"'& +5 "core" &\ "\ #s\ +2 .tCC.seek :closed +2 "collection"'3(\\ +4 "core" &\ "\ "y\ +7 &:\ #\ #{\ $e +9 &Ww\ $\ $w\ 6 +10 &x\ #\ %v\ K +9 &T\ $\ %o\ J +9 &~U\ '\ 'v\ K +10 &@U\ #\ %r\ K +9 &U\ $\ %q\ K +10 &U\ '\ &m\ J +9 &V\ '\ 'd\ K +9 &HU\ &\ )j\ K +10 & \ U\ (\ 'h\ K +9 &!U\ &\ &g\ J +9 &#W\ )\ &k\ K +10 &%PU\ )\ 'h\ K +9 &'U\ (\ (p\ K +10 &(U\ (\ 'x\ K +9 &*X\ (\ 'h\ K +9 &,WU\ '\ (d\ K +10 &.T\ (\ )u\ K +9 &/U\ '\ (s\ K +9 &1Y\ '\ 'k\ K +10 &3_U\ '\ 'd\ K +9 &5!U\ )\ )u\ K +10 &6U\ +\ )y\ K +9 &8U\ '\ )s\ K +9 &:gV\ )\ *x\ K +10 &<)V\ *\ (r\ K +9 &=V\ (\ (y\ L +9 &?W\ *\ (s\ K +10 &AoY\ (\ )v\ K +9 &C1Z\ +\ *v\ K +10 &Dc\ /\ -y\ L +9 &Fk\ 3\ /z\ N +9 &Hi\ <\ 8y\ P +10 &J\ R\ Jx\ U +9 &K\ S\ Uu\ W +9 &M\ P\ Rs\ X +10 &OY\ M\ Nq\ X +9 &Q\ J\ Lu\ Y +10 &R\ J\ Iv\ X +9 &T\ K\ Lr\ Y +9 &V_\ H\ Hu\ Y +10 &X\ H\ Jx\ Z +9 &Y\ H\ Iu\ Z +9 &[\ I\ Jv\ I +10 &\\2\ H\ Iq\ 4 +9 &\\c\ I\ Ip\ I +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&D1 +56 "core" 1 +3 "manipulator"&&% +4 "core" % :   D R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Z& +4 "core" &\ +2 "manipulator"&r% +4 "core" % !   R * +2 "storage"(E% +4 "core" % K K\  +2 "storage"(w. +3 "core" .(<- +2 "storage"(& +4 "core" &<* N \  +2 "storage"(& +4 "core" &<* N v\  +2 "manipulator"&S& +4 "core" &Ӭ   g 4 +2 "manipulator"&% +3 "core" % !  S * +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&"( +162 "core" ( + "manipulator"&U& +4 "core" & R  +2 "storage"(^& +51 "core" &<*\ \ ! $\  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +93 "core" ' +2 "storage"(#& +3 "core" &<* 2 /\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(h'r +297 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<*  X\  +2 "manipulator"&;& +4 "core" & T  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&4& +4 "core" &   +2 "storage"(-& +4 "core" &<*\ ! `\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&1'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(*' +8 "core" & <  +2 "manipulator"&j% +5 "core" % Ϯ  R +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"& & +4 "core" & { B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &  B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,' +100 "core" ' +2 "manipulator"&/& +5 "core" & \\ A +2 "manipulator"&% +3 "core" % S & +3 "processing"%k& +3 "core" &\ +3 "processing"%.& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%u(^ +5 "core" &\ +5 &7\ #c +10 &U|\ 7 +9 &x\ K +10 &W\ N +9 &cW\ N +9 &&Z\ M +10 &W\ M +9 &Z\ N +9 &kW\ N +10 &-Y\ N +9 &U\ M +10 &!Y\ N +9 &#tX\ M +9 &%6U\ M +10 &&Z\ N +9 &(Y\ N +9 &*{W\ N +10 &,=U\ N +9 &.T\ M +10 &/W\ N +9 &1Y\ M +9 &3FV\ M +10 &5Y\ N +9 &6Y\ M +9 &8X\ M +10 &:MW\ N +9 &<\\\ N +10 &=Y\ M +9 &?X\ N +9 &AUZ\ N +10 &Cd\ O +9 &Dg\ O +9 &Fp\ P +10 &HN\ S +9 &J \ T +10 &K\ T +9 &M\ T +9 &OR\ T +10 &Q\ U +9 &R\ U +9 &T\ U +10 &VX\ U +9 &X\ U +10 &Y\ U +9 &[\ U +9 &]_\ C +10 &^Bx\ !b +9 &^6\ 3 +5 ( +2 "processing"%.& +4 "core" &^!\ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&+1 +62 "core" 1 + "manipulator"&<% +4 "core" %  & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +3 "processing"%s& +4 "core" &^!\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&|% +3 "core" %   U  +2 "storage"({% +4 "core" %\ .\  C\  +2 "storage"(y. +2 "core" .(<- +2 "storage"(& +4 "core" &<*\ .\ .\  +3 "storage"(\\& +2 "manipulator"&& +7 "core" &<*\ .\ - \  +2 &  A +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +5 .tElbow.seek PC +2 "manipulator"&d( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'r +15 "core" ( + "manipulator"&'& +4 "core" &   { \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" & ' \ \ +3 .tForearm.seek PC +2 "manipulator"&(' +94 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%v( +78 "core" ' +2 "storage"(V- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +49 "storage"(I'1 +45 "core" ' +272 ( +2 "storage"(& +4 "core" &<* K 0\  +2 "manipulator"&L& +4 "core" & N \ +2 "manipulator"&$% +4 "core" %  f R +2 .tForearm.seek :retract +2 "manipulator"&H' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&?( +241 "core" ( +2 "manipulator"&0& +3 "core" &  2 +2 "storage"(}& +4 "core" &<*\ \ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +93 "core" ' +2 .tHand.open + "manipulator"&71 +53 "core" 1 +3 "storage"(A- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(G' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +3 "core" -' +2 "storage"([& +4 "core" &<* c S <\  +2 "manipulator"& & +3 "core" & \  2 +3 .tElbow.seek 5 + "manipulator"&Y( +4 "core" ( + "manipulator"&n& +4 "core" &   ^ 2 +2 "storage"(Q& +4 "core" &<* g e \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +52 "core" ' + "manipulator"&>& +4 "core" & & 2 +2 "storage"(x& +4 "core" &<* O j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&m'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +18 "core" ' +2 "manipulator"&% +3 "core" %Μ L +2 "storage"(& +4 "core" &<*\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 315 counts + "manipulator"&M' +14 "core" ' +2 "manipulator"&& +4 "core" & 9 , +2 "storage"(a& +4 "core" &<* O \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +16 "core" ' +2 "storage"(b% +3 "core" %\ \ ?\ +3 ."downElevator"SE.seek :down +4 "storage"(O' +98 (5% +3 "core" %XO\ \ \ Wf +2 "manipulator"&=% +4 "core" %2  [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +87 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<* [ }\  +2 "collection"'J& +4 "core" &\\_\ C\ Dt\ I +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&K% +3 "core" %  #  +3 "storage"(]% +3 "core" %\ \ ! 4\  +2 "storage"(e. +4 "core" .(<- + "storage"(@& +5 "core" &<*\ !\ ! =\  + "storage"(X& +4 "core" &<*\ !\ ! V\  +2 "manipulator"& & +5 "core" & H , +2 .tElbow.seek 5 + "manipulator"& ( +9 "core" ( + "manipulator"&)& +4 "core" & F \ +2 "storage"(9& +4 "core" &<* + \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +94 "core" ' + "storage"(t& +4 "core" &<* $ * \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'r +298 "core" ' +2 "storage"(~- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +50 "core" & / \ +2 "storage"(& +5 "core" &<*   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&p'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('v +29 "core" ' + "manipulator"&R% +4 "core" %Ρ g +2 "storage"(& +4 "core" &<* L \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&P& +3 "core" & \ +2 "storage"(& +4 "core" &<* O N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(&' +41 "core" ' + "manipulator"&Z& +4 "core" & , \ +2 "manipulator"&r% +4 "core" %3  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w(ӂ +150 "core" ( +3 "manipulator"&& +3 "core" &Ӆ"   | ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӆ" ;7 +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 .tHand.close + "manipulator"&S/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(:& +3 "core" &<* 1 / c\  +2 "storage"(U& +4 "core" &<* ! ! @\  +2 "manipulator"&^& +3 "core" &Ӫ  6 +2 "manipulator"&% +4 "core" % K  +2 .tForearm.seek :retract +2 "manipulator"&#' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&z( +154 "core" ( + "manipulator"&q& +4 "core" &  t +2 "storage"(& +4 "core" &<* # 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&;'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&-1 +58 "core" 1 +2 "manipulator"&C% +4 "core" % Ι f = +2 "storage"(& +4 "core" &<* T U ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&j' +24 "core" ' +4 "manipulator"&"& +4 "core" & 2 +2 "storage"(B& +4 "core" &<* X W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +16 "core" ' +2 "storage"(1% +3 "core" % R G /\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (c% +3 "core" %E , - X\ Va +2 "manipulator"&% +4 "core" %; ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +89 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &\ $\ !|\ +2 "manipulator"&k% +4 "core" %  E  +2 "storage"(*% +4 "core" % G G 7\  +2 "storage"(. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(%(K +357 "core" ( +44 .tSC.configure :limp +6 "storage"($\ 1b +3 (+& +3 "core" &K / / C\  +2 "manipulator"&<& +4 "core" & +2 .tElbow.seek 6 +2 "manipulator"&s( +4 "core" ( +2 "manipulator"&|& +3 "core" &  u +2 "storage"({& +4 "core" &K Q J S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +97 "core" ' + "storage"(& +4 "core" &K K G X\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +292 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +3 "core" &K / /\  +2 "manipulator"&'& +4 "core" & +2 .tElbow.seek 6 +2 "manipulator"&8( +4 "core" ( + "manipulator"&,& +4 "core" & \  +2 "storage"(& +4 "core" &K ' # 5\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&V'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(u' +7 "core" & a + "manipulator"&T% +4 "core" % w X +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&$& +3 "core" &Ӂ! \ :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &Ӂ!  D :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'? +95 "core" ' +2 "manipulator"&}& +5 "core" &Ӌ  ' 9$ +2 "manipulator"&d% +4 "core" %8 _ < +2 "collection"'7& +4 "core" &\ !\ "\ +3 "collection"'A& +5 "core" &\ !\ #\ +3 .tCC.seek :closed +2 "collection"'N(\\ +5 "core" &\ "\ "\ +5 &;\ "\ !\ $e +10 &Xy\ "\ !\ 7 +9 &v\ $\ #\ K +9 &R\ %\ %~\ K +10 &|U\ &\ #\ K +9 &>U\ &\ &\ K +10 &U\ %\ %\ K +9 &U\ $\ '\ K +9 &Y\ %\ &\ K +10 &EU\ '\ &\ K +9 & U\ %\ #|\ K +9 &!U\ %\ &w\ K +10 &#U\ %\ '}\ K +9 &%NT\ '\ &|\ K +10 &'T\ '\ (w\ J +9 &(U\ %\ 'v\ K +9 &*U\ '\ 'x\ K +10 &,VU\ '\ &w\ K +9 &.T\ '\ 'z\ K +9 &/W\ %\ (w\ K +10 &1U\ )\ 'y\ K +9 &3]U\ '\ 'x\ K +10 &5U\ &\ 'x\ K +9 &6U\ '\ (w\ K +9 &8U\ (\ 'v\ K +10 &:eW\ (\ (x\ K +9 &<'Z\ (\ )u\ K +9 &=]\ /\ 0z\ L +10 &?`\ :\ 5w\ L +9 &Al\\\ &\ 9w\ K +10 &C.Z\ +\ *x\ L +9 &Dg\ /\ +y\ M +9 &Fs\ 5\ 3y\ O +10 &Ha\ H\ @z\ R +9 &J\ W\ Ux\ V +9 &K\ W\ Xx\ W +10 &M\ Q\ Rv\ W +9 &OZ\ N\ Ow\ W +10 &Q\ L\ Ku\ X +9 &R\ J\ Lu\ X +9 &T\ I\ Iv\ Y +10 &VY\ G\ J}\ Z +9 &X\ I\ Ju\ [ +10 &Y\ I\ I|\ [ +9 &[\ I\ Ku\ H +9 &\\7\ G\ G}\ / +10 &\\n\ G\ Gw\ R +2 ( +2 "collection"'A& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&[1 +54 "core" 1 +2 "manipulator"& % +4 "core" % A  Y 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%Q& +3 "core" &\ +2 "manipulator"&H% +4 "core" %  ! +2 "storage"(>% +4 "core" % K d\  +2 "storage"(x. +2 "core" .(K +2 "storage"(& +4 "core" &K N M\  +2 "storage"(& +4 "core" &K J \  +2 "manipulator"&I& +4 "core" &,  # +2 "manipulator"&% +4 "core" %  d ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&a( +141 "core" ( +2 "manipulator"&G& +3 "core" &   +2 "storage"(b& +4 "core" &K M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&?' +97 "core" ' +2 "storage"(\ & +4 "core" &K # * C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +48 "storage"(`'r +300 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &K N\ ( \\\  +2 "manipulator"&l& +4 "core" & R  +2 .tElbow.seek 6 +2 "manipulator"&Y( +7 "core" ( +2 "manipulator"&W& +6 "core" & $  +5 "storage"(m& +9 "core" &K N C\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&M/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(K' +7 "core" & @  +2 "manipulator"&]% +4 "core" % \\ " +2 .tForearm.seek :retract +2 "manipulator"&e' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&i( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&@& +4 "core" &  ' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" & W ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' +2 "manipulator"&)& +4 "core" &  ' +2 "manipulator"&9% +4 "core" %  ] +2 "processing"% & +4 "core" &\ +3 "processing"%t& +5 "core" &+\ +2 .tPC.seek :closed +2 "processing"%O(^ +5 "core" &1\ +5 &6\ $d +10 &U},\ 7 +9 &y\ K +10 &W\ N +9 &eU\ M +9 &&Q\ N +10 &Z\ M +9 &T\ N +9 &mT\ M +10 &/W\ M +9 &W\ M +10 &!U\ M +9 &#tYI\ N +9 &%7X@\ M +10 &&U\ N +9 &(U\ N +9 &*}U\ M +10 &,?X\ M +9 &.S\ N +10 &/Z\ N +9 &1Y\ M +9 &3FT\ N +10 &5 Y\ M +9 &6W\ M +9 &8[\ N +10 &:NU\ N +9 &<Y\ N +10 &=\\\ N +9 &?W\ N +9 &AUY\ N +10 &Cc\ O +9 &Df\ O +9 &Fn\ P +10 &HQ}\ R +9 &J\ T +10 &K\ T +9 &M\ T +9 &OR\ T +10 &Q\ U +9 &R\ T +9 &T\ U +10 &VY\ U +9 &X\ U +10 &Y\ U +9 &[\ T +9 &]_\ C +10 &^F{\ X +9 &^3\ 5 +5 ( +2 "processing"%t& +4 "core" &^+\ 5 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&F1 +60 "core" 1 + "manipulator"&2% +4 "core" %   ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +90 "core" ' +2 "processing"%g& +4 "core" &^+\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %  \  +2 "storage"(o% +4 "core" %\ \ \  -\  +2 "storage"(R. +3 "core" .(K +2 "storage"(& +4 "core" &K\ \  ]\  +2 "storage"(P& +3 "manipulator"&& +5 "core" &K\ \  \  +2 &    ' +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&Z( + "storage"(r'r +7 "core" ( + "manipulator"&!& +4 "core" & T ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  ' +2 .tForearm.seek PC +2 "manipulator"&6' +96 "core" ' + .tHand.close +2 "manipulator"&p/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +321 ( +2 "storage"(& +4 "core" &K\ \  =\  +2 "manipulator"&D& +4 "core" & O ' +2 "manipulator"&f% +3 "core" %  C +3 .tForearm.seek :retract + "manipulator"&S' +98 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&E( +245 "core" ( +2 "manipulator"&3& +3 "core" & ) D +2 "storage"(:& +4 "core" &K\ \ \ S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +93 "core" ' +2 .tHand.open + "manipulator"&^1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(w& +3 "core" &K h h \  +2 "manipulator"&-& +4 "core" &   D +2 .tElbow.seek 6 +2 "manipulator"&C( +4 "core" ( + "manipulator"&& +4 "core" &   D +2 "storage"("& +4 "core" &K i h \  +7 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +4 "core" ' +2 .tSE.reconfigure :gently +7 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +56 "core" ' +2 "manipulator"&#& +4 "core" & I D +2 "storage"(c& +3 "core" &K\ \ & S\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(;' +29 "core" ' + "manipulator"&% +4 "core" %: ; +2 "storage"(j& +4 "core" &K\ \  k\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 298 counts + "manipulator"&k'f +14 "core" ' +2 "manipulator"&*& +3 "core" & 7 C +2 "storage"(& +4 "core" &K N ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +15 "core" ' +2 "storage"(h% +3 "core" % N W\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (_% +4 "core" %SQ `\ Xg +2 "manipulator"&+% +4 "core" % N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +3 "core" &K\ \  \  +2 "collection"'{& +4 "core" &\\k\ F\ D{\ R +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %  2  +2 "storage"(4% +4 "core" % N X\  +2 "storage"(/. +3 "core" .(K +2 "storage"(& +4 "core" &K P \\\  +2 "storage"(\\& +4 "core" &K N x\  +2 "manipulator"&'& +4 "core" & G C +2 .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&& +4 "core" & P C +2 "storage"(& +4 "core" &K P \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +98 "core" ' + "storage"(T& +4 "core" &K\ # '\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'r +297 "core" ' +2 "storage"(y- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" & @ C +2 "storage"((& +4 "core" &K\ (\  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&.'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +50 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(d'o +29 "core" ' + "manipulator"&7% +4 "core" %; G  +2 "storage"(8& +4 "core" &K \  3\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 299 counts + "manipulator"&u'g +16 "core" ' + "manipulator"&& +4 "core" & C +2 "storage"(& +4 "core" &K M v\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&[' +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +36 "core" ' + "manipulator"&Q& +4 "core" & 7 C +2 "manipulator"&H% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &ӗ I 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӗ \  6 +3 .tForearm.seek CC +2 "manipulator"&A'? +99 "core" ' + .tHand.close +2 "manipulator"&I/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(G& +4 "core" &K 0 - \  +2 "storage"(0& +4 "core" &K / / \  +2 "manipulator"&b& +4 "core" & w ( +2 "manipulator"&\ % +4 "core" %  o +3 .tForearm.seek :retract + "manipulator"&L' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&n( +154 "core" ( + "manipulator"&5& +4 "core" &  @  +2 "storage"(=& +3 "core" &K " & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&l'< +97 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&m1 +52 "core" 1 +2 "manipulator"&M% +4 "core" % B  S # +2 "storage"(J& +3 "core" &K T U B\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&]'n +13 "core" ' +2 "manipulator"&a& +4 "core" &  5  +2 "storage"(?& +4 "core" &K X X \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +25 "core" ' + "storage"(% +4 "core" % Q G H\ +3 ."downElevator"SE.seek :down +4 "storage"(@' +99 (X% +3 "core" %H ! $ 3\ Va +2 "manipulator"&Y% +4 "core" % y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'9& +3 "core" &\ !\ "\ +2 "manipulator"& % +4 "core" % ! w % +2 "storage"(K% +4 "core" % U T \  +2 "storage"(e. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(v(,y +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &,y " ' D\ +2 "manipulator"&2& +4 "core" & E  +2 .tElbow.seek 4 +2 "manipulator"&g( +4 "core" ( + "manipulator"&& +4 "core" &  c  +2 "storage"(o& +49 "core" &,y U U \ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +94 "core" ' +2 "storage"(& +4 "core" &,y n n `\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +296 "core" ' +2 "storage"(- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" &,k ? Q (\  +2 "manipulator"&!& +5 "core" & R  +2 .tElbow.seek 4 + "manipulator"& ( +3 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(p& +4 "core" &,k H J ~\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +3 "storage"(O' +7 "core" & =  +2 "manipulator"&r% +4 "core" % o  0 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&f& +4 "core" &ӓ h 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &ӓ U 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'? +93 "core" ' +2 "manipulator"&:& +3 "core" &ӓ U 7 +2 "manipulator"&Z% +4 "core" %D l k +2 "collection"'^& +4 "core" &\ !\ "\ +3 "collection"'& +5 "core" &\ !\ "\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ "\ "\ +7 &;\ !\ "\ %f +9 &Y{\ !\ "\ 8 +9 & u\ #\ "}\ K +10 &U\ %\ $w\ J +9 &W\ %\ $x\ K +10 &QY\ "\ #|\ K +9 &V\ #\ '\ K +9 &W\ '\ %\ K +10 &U\ &\ $\ K +9 &YS\ $\ %\ K +9 & U\ $\ '\ K +10 &!U\ $\ &\ K +9 &#W\ &\ &\ K +10 &%aX\ '\ '\ K +9 &'$U\ '\ &\ K +9 &(U\ %\ %\ K +10 &*S\ '\ &\ K +9 &,iU\ '\ %\ K +9 &.,U\ %\ '\ K +10 &/U\ '\ &|\ K +9 &1U\ (\ &~\ K +9 &3qW\ &\ &\ K +10 &53V\ (\ &\ K +9 &6W\ %\ (}\ K +10 &8W\ &\ (|\ K +9 &:yV\ (\ '|\ K +9 &<;W\ &\ &z\ K +10 &=W\ &\ 'y\ L +9 &?X\ (\ '{\ K +10 &AX\ (\ 'w\ K +9 &CBY\ ,\ *y\ L +9 &Ee\ .\ ,x\ L +10 &Ft\ /\ /|\ N +9 &H{\ <\ 6t\ P +9 &J/\ O\ Kw\ U +10 &K\ R\ Sw\ W +9 &M\ O\ O|\ X +10 &On\ I\ Kv\ W +9 &Q-\ J\ Ky\ X +9 &R\ G\ Iy\ X +10 &T\ F\ Iu\ Y +9 &Vq\ G\ Gw\ Y +9 &X/\ H\ Gp\ Z +10 &Y\ F\ Fx\ [\ +9 &[\ H\ Iw\ H +10 &\\/\ G\ H|\ 0 +9 &\\n\ G\ G\ N +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&w1 +56 "core" 1 +2 "manipulator"&-% +4 "core" % D $ k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%"& +4 "core" &5\ +2 "manipulator"&S% +4 "core" %  @  +2 "storage"(#% +4 "core" % M r\  +2 "storage"(c. +2 "core" .(,y +2 "storage"(& +4 "core" &,k K G\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 4 + "storage"((,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" &,y L "\ +2 "manipulator"&q& +4 "core" &Ӯ ; 4 +2 "manipulator"&*% +4 "core" %  B  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +164 "core" ( + "manipulator"&h& +4 "core" & \ :  +2 "storage"(E& +4 "core" &,y\ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +96 "core" ' + "storage"(& +4 "core" &,y \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +308 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +49 "storage"(#QK-0-\ b +4 (B& +3 "core" &,l J Q\ +2 "manipulator"&C& +4 "core" & U  +2 .tElbow.seek 4 +2 "manipulator"&1( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(|& +4 "core" &,l\ !\ ! 7\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&k'c +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(4' +6 "core" &   +3 "manipulator"&/% +3 "core" % W f +3 .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +3 "manipulator"&\\& +4 "core" & B  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" & {  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +90 "core" ' +2 "manipulator"&& +3 "core" & 3  +2 "manipulator"&&% +4 "core" % ] +3 "processing"%T& +3 "core" &y\ +3 "processing"% & +6 "core" &D\ +2 .tPC.seek :closed +3 "processing"%z(^ +3 "core" &\ +6 &9\ 5 +9 &>Gu5\ / +10 &coq\ D +9 &b1\ N +9 &T\ N +10 &T\ N +9 &HW\ N +9 & U\ M +10 &Y\ N +9 &W\ N +10 &QT\ N +9 &!T\ N +9 &"W\ N +10 &$U\ M +9 &&ZU\ M +9 &(Yr\ N +10 &)Yv\ M +9 &+VE\ M +10 &-aY\ N +9 &/#W:\ N +9 &0S\ N +10 &2Y\ M +9 &4jT>\ M +9 &6,W\ M +10 &7YF\ N +9 &9V\ N +9 &;p\\\ N +10 &=3V\ N +9 &>Y\ M +10 &@Y\ N +9 &Bw`\ N +9 &D6b\ O +10 &Em\ P +9 &Gu\ Q +10 &Iq\ S +9 &K1\ T +9 &L\ S +10 &N\ T +9 &Pt\ U +9 &R7\ T +10 &S\ U +9 &U\ T +9 &W|\ U +10 &Y=\ U +9 &[\ T +10 &\\\ U +9 &^9b\ 'w +9 &^e\ 4 +9 ( +2 &^\ . +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&<1 +57 "core" 1 +2 "manipulator"&y% +3 "core" %   z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 "processing"%(& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&}% +3 "core" %   }  +2 "storage"(7% +4 "core" %\ \ \  +2 "storage"(8. +2 "core" .(,y +2 "storage"(& +4 "core" &,l\ \ \ \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +12 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Q& +3 "core" &,} s\ +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&H& +4 "storage"(#]kK-0-\ b +3 "core" &  @  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"('r +2 "manipulator"&,( +8 "core" ( + "manipulator"&s& +4 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +4 "core" &   x  +2 .tForearm.seek PC +2 "manipulator"&u' +92 "core" ' +2 .tHand.close + "manipulator"&d/ +58 "core" / +3 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['1 +40 "core" ' +312 ( +2 "storage"(V& +3 "core" &,i I 5\ +2 "manipulator"&I& +5 "core" & E  + "manipulator"&>% +4 "core" %  U +48 .tForearm.seek :retract +4 "manipulator"&N' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&G( +241 "core" ( +2 "manipulator"&0& +3 "core" & w @ +2 "storage"(b& +4 "core" &,i\ \ \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +98 "core" ' + .tHand.open +2 "manipulator"&51 +53 "core" 1 +3 "storage"(=- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(x' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +3 "core" -' +2 "storage"(M& +4 "core" &,i \ +2 "manipulator"&J& +4 "core" &   z @ +2 .tElbow.seek 4 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&?& +4 "core" &   S @ +2 "storage"(& +4 "core" &,i \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(X'" +50 "core" ' +2 "manipulator"&Y& +3 "core" & P @ +2 "storage"(n& +4 "core" &,i \  E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&l'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&], +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +21 "core" ' + "manipulator"& % +4 "core" %. V  +3 "storage"(K& +3 "core" &,i\ \ \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 291 counts +2 "manipulator"&e'Z +15 "core" ' + "manipulator"& & +4 "core" &  @ +3 "storage"(`& +4 "core" &,i O \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +16 "core" ' +2 "storage"(%% +4 "core" % M m\ +3 ."downElevator"SE.seek :down +3 "storage"(F' +99 (2% +3 "core" %"R\ B\ Xh +2 "manipulator"&% +5 "core" % * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +91 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,i\ \ q\ +2 "collection"'W& +4 "core" &\\e\ A\ D|\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&)% +4 "core" %  2  +2 "storage"(% +5 "core" % X\  + "storage"(t. +3 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(!(,y +35 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &,}\ \ F\ +2 "manipulator"&p& +4 "core" &   @ +2 .tElbow.seek 4 +2 "manipulator"&i( +4 "core" ( + "manipulator"&~& +4 "core" & @ +2 "storage"(r& +4 "core" &,} M \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +90 "core" ' +2 "storage"(R& +4 "core" &,} # * 5\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(f'r +301 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" & 4 @ +2 "storage"(& +4 "core" &,l N K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +46 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&:'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"( 'g +29 "core" ' + "manipulator"&O% +4 "core" %8 b  +2 "storage"(& +4 "core" &,l K P\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 301 counts + "manipulator"&'d +14 "core" ' +2 "manipulator"&w& +3 "core" &  @ +2 "storage"(-& +4 "core" &,l N [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(S' +36 "core" ' + "manipulator"&#& +4 "core" & U @ +2 "manipulator"&c% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&j& +4 "core" &ӊ" * ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &ӊ" l ;7 +2 .tForearm.seek CC +2 "manipulator"&*'? +94 "core" ' + .tHand.close +2 "manipulator"&3/ +61 "core" / +2 .tCC.seek :open +2 "collection"'h( +447 "core" ( + "storage"(E& +4 "core" &,l G G .\  +2 "storage"(v& +4 "core" &,l J G \  +2 "manipulator"&& +4 "core" &Ӫ X 7 +2 "manipulator"&D% +4 "core" % Q 7 U +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&+( +161 "core" ( +2 "manipulator"&B& +3 "core" & L  +2 "storage"(C& +4 "core" &,l X W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +105 "core" ' +2 .tElbow.hold + "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&{1 +58 "core" 1 +3 "manipulator"&% +3 "core" % -   +2 "storage"(/& +4 "core" &,l l k\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 290 counts + "manipulator"&'Y +15 "core" ' + "manipulator"&U& +4 "core" & \  K  +3 "storage"(_& +3 "core" &,l l m \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +21 "core" ' +2 "storage"(\\% +4 "core" % j ` k\  +3 ."downElevator"SE.seek :down +3 "storage"('' +99 (1% +3 "core" %BC / . \ U` +2 "manipulator"&% +4 "core" % , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'T& +4 "core" &\ #\ #\ +2 "manipulator"&4% +4 "core" %   +2 "storage"(;% +4 "core" % Q J }\  +2 "storage"(. +2 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(<(<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" &<+ [ c\  +2 "manipulator"&(& +4 "core" & v  +48 .tElbow.seek 5 +2 "manipulator"&}( +13 "core" ( +2 "manipulator"&7& +3 "core" & | +2 "storage"(8& +4 "core" &<+ G G "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"( & +4 "core" &<+ l n \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Q'r +297 "core" ' +3 "storage"(H- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" &<+ E G j\  +2 "manipulator"&.& +4 "core" &  O | +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&d& +4 "core" & | +2 "storage"(& +4 "core" &<+ R T f\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(z' +8 "core" & | +2 "manipulator"&% +4 "core" % ϲ  m +2 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&>& +4 "core" &}! :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &}! & :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'? +90 "core" ' +2 "manipulator"&b& +4 "core" &~! D :0 +2 "manipulator"&,% +4 "core" %8 U X +2 "collection"'5& +4 "core" &\ !\ "\ +3 "collection"'=& +6 "core" &\ #\ !\ +2 .tCC.seek :closed +3 "collection"'m(\\ +4 "core" &\ #\ "\ +5 &\ #\ "~\ : +9 &QMx\ "\ "x\ 0 +10 &v~\ "\ #u\ E +9 &4Y\ %\ $t\ K +9 &T\ &\ %x\ J +10 &U\ %\ '\ K +9 &{U\ &\ &\ K +9 &=T\ $\ 'z\ K +10 &U\ (\ &\ K +9 &U\ $\ &\ J +9 &W\ &\ %\ K +10 &!FU\ $\ &\ J +9 &#U\ &\ '\ K +10 &$T\ '\ &\ J +9 &&U\ '\ &\ K +9 &(MU\ &\ '\ K +10 &*T\ '\ %\ K +9 &+T\ '\ &\ J +10 &-U\ '\ '\ K +9 &/VU\ &\ &\ J +9 &1U\ '\ *\ K +10 &2U\ '\ '~\ K +9 &4S\ '\ '~\ K +9 &6\\U\ (\ (\ K +10 &8V\ '\ (\ K +9 &9V\ '\ '\ K +9 &;W\ )\ (\ K +10 &=eW\ (\ (y\ K +9 &?'U\ (\ (\ K +10 &@X\ (\ (y\ K +9 &B\\\ *\ )z\ K +9 &Dk_\ .\ ,}\ L +10 &F)k\ 1\ /}\ M +9 &Gz\ 7\ 3z\ O +10 &I\ I\ D\ R +9 &KV\ T\ S\ U +9 &M\ R\ S\ W +10 &N\ M\ O\ W +9 &P\ J\ Lw\ X +9 &RW\ J\ K\ X +10 &T\ I\ J\ Y +9 &U\ I\ I\ Y +10 &W\ I\ I\ Y +9 &YV\ I\ H}\ [\ +9 &[\ H\ I\ Z +10 &\\hD\ I\ I\ 1 +9 &\\\ H\ I\ O +5 ( +2 "collection"'=& +4 "core" &\\s\ E\ G\ O +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&M1 +56 "core" 1 +2 "manipulator"&J% +4 "core" % 8  ^ X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&N% +4 "core" %  S  +2 "storage"(Y% +4 "core" % K !\  +2 "storage"(n. +2 "core" .(<- +2 "storage"( & +4 "core" &<+ K ]\  +2 "storage"(K& +4 "core" &<+ K ]\  +2 "manipulator"&[& +4 "core" &ӭ | 4 +2 "manipulator"& % +4 "core" %  L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&`( +163 "core" ( + "manipulator"&A& +4 "core" & 5  +2 "storage"(%& +4 "core" &<+ K\ !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +96 "core" ' +2 "storage"(\ & +3 "core" &<+ ) "\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'r +295 "core" ' +2 "storage"(2- +3 "core" -' +48 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ % [\  +2 "manipulator"&L& +4 "core" & >  +2 .tElbow.seek 5 +2 "manipulator"&a( +4 "core" ( + "manipulator"&X& +4 "core" & i  +2 "storage"(l& +4 "core" &<+ Q \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&e/ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&W& +3 "storage"()' +7 "core" &  +2 "manipulator"&% +5 "core" % ϯ u +2 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&t( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"& & +3 "core" & L  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +4 "core" & ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +95 "core" ' +2 "manipulator"&r& +5 "core" &   + "manipulator"&@% +4 "core" % C > +2 "processing"%R& +5 "core" &3\ +2 "processing"%F& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +8 &3u\ )w +10 &d~\ > +9 &vq\ N +9 &8S\ N +10 &Tz\ N +9 &S\ N +9 &~YL\ N +10 &@Y\ N +9 &Wy\ N +10 &W\ M +9 & T\ N +9 &"IX \ M +10 &$ U\ M +9 &%W\ N +9 &'Y\ M +10 &)QU\ M +9 &+Y\ N +10 &,Y\ M +9 &.R\ N +9 &0XT2\ N +10 &2X \ M +9 &3U1\ M +9 &5Y\ N +10 &7`W\ N +9 &9"U\ N +10 &:V\ N +9 &<W\ M +9 &>iY\ M +10 &@*Y \ N +9 &A]\ N +9 &Cg\ O +10 &Eihu\ P +9 &G)u\ Q +10 &H\ T +9 &J\ T +9 &Lg\ S +10 &N'\ T +9 &O\ T +9 &Q\ T +10 &Sk\ U +9 &U-\ U +10 &V\ U +9 &X\ U +9 &Zs\ U +10 &\\4\ U +9 &]|v\ ; +10 &^(p\ T +9 &^&\ 2 +2 ( +2 "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&]1 +62 "core" 1 +2 "manipulator"&o% +4 "core" %    > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +93 "core" ' +2 "processing"%P& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %     +2 "storage"(^% +4 "core" %\ \ \  +2 "storage"(O. +2 "core" .(<- +2 "storage"(& +4 "core" &<+\ \ \  +3 "storage"(w& +2 "manipulator"&-& +7 "core" &<+\ \ \ \  +2 &  \ ?  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&#( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(c'r +20 "core" ( +2 "manipulator"&g& +4 "core" &  ? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&f' +98 "core" ' +2 .tHand.close + "manipulator"&:/ +56 "core" / +3 .tPC.seek :open +2 "processing"%( +73 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'1 +47 "core" ' +325 ( +2 "storage"(q& +4 "core" &<+ O 8\  +2 "manipulator"&"& +4 "core" & 3 +2 "manipulator"&Z% +4 "core" % Ϙ 4  +2 .tForearm.seek :retract +2 "manipulator"&3' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +42 "manipulator"&( +248 "core" ( +2 "manipulator"&& +3 "core" &   i  +2 "storage"(E& +4 "core" &<+\ ,\ ( T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&v'O +94 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "storage"(D- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(C' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(*- +3 "core" -' +2 "storage"(& +4 "core" &<+ , 6\  +2 "manipulator"&{& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&/& +3 "core" &   \ +3 "storage"(U& +4 "core" &<+ 7 : \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\\'" +51 "core" ' +2 "manipulator"&& +4 "core" &  \ +2 "storage"(1& +3 "core" &<+\ \ f\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 "manipulator"&% +3 "core" %Ζ Q +2 "storage"(T& +4 "core" &<+\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"&4' +14 "core" ' +2 "manipulator"&;& +4 "core" & o \ +2 "storage"(& +3 "core" &<+ Q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +14 "core" ' + "storage"(k% +4 "core" %   \ +3 ."downElevator"SE.seek :down +3 "storage"('' +99 (!% +3 "core" %cL \ Wf +2 "manipulator"&y% +4 "core" %` @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (7& +3 "core" &<+\ \  C\  +2 "collection"'8& +4 "core" &\\r\ C\ C\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +4 "core" %  )  +2 "storage"(|% +3 "core" % O\  +2 "storage"(&. +3 "core" .(<- +2 "storage"(H& +4 "core" &<+ N .\  +2 "storage"(s& +4 "core" &<+ X\  +2 "manipulator"&.& +4 "core" & < \ +2 .tElbow.seek 5 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&& +4 "core" &  \ +2 "storage"(& +4 "core" &<+ O 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&$'O +91 "core" ' + "storage"(& +4 "core" &<+ ! " L\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(}'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" & m \ +2 "storage"(u& +4 "core" &<+ N '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Q'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(b- +3 "core" -' +49 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(,'u +29 "core" ' +2 "manipulator"&5% +4 "core" %Γ I  +2 "storage"(& +4 "core" &<+\  (\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&z'Ͽ +15 "core" ' +2 "manipulator"&V& +4 "core" & \ +2 "storage"(h& +4 "core" &<+ i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(J' +36 "core" ' +2 "manipulator"&& +4 "core" & + \ +2 "manipulator"&N% +4 "core" %9 @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +149 "core" ( +3 "manipulator"& & +4 "core" &y#  <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &y# # <; +2 .tForearm.seek CC +2 "manipulator"&='? +97 "core" ' + .tHand.close +2 "manipulator"&[/ +53 "core" / +2 .tCC.seek :open +2 "collection"' ( +447 "core" ( + "storage"(0& +4 "core" &<+ . . a\  +2 "storage"(A& +4 "core" &<+ . . \  +2 "manipulator"&%& +4 "core" &ӳ  4 +2 "manipulator"&\ % +4 "core" % #    +2 .tForearm.seek :retract +2 "manipulator"&I' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&?( +163 "core" ( +2 "manipulator"&2& +4 "core" & J  +2 "storage"(& +4 "core" &<+ ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&L'΍ +96 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +56 "core" 1 +2 "manipulator"&e% +4 "core" % }  =  +2 "storage"(W& +4 "core" &<+ U T c\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 284 counts +2 "manipulator"&'ϩ +14 "core" ' + "manipulator"&`& +4 "core" &   a  +2 "storage"(G& +4 "core" &<+ Q P n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +25 "core" ' +2 "storage"(% +4 "core" % G G "\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (p% +3 "core" %K $ . d\ Vb +2 "manipulator"&a% +4 "core" %e  I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'@& +3 "core" &\ \ "\ +2 "manipulator"&R% +4 "core" %  s  +2 "storage"()% +4 "core" % I G 1\  +2 "storage"(9. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (]& +2 "core" &K $ . k\  +3 "manipulator"&o& +3 "core" &  X  +2 .tElbow.seek 6 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&& +4 "core" &  N  +2 "storage"(^& +4 "core" &K L S \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts + "manipulator"&O' +142 "core" ' +2 "storage"(& +3 "core" &K m j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +294 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (-& +3 "core" &K $ A -\  +3 "manipulator"&g& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&i( +4 "core" ( + "manipulator"&~& +4 "core" &  j  +3 "storage"(:& +3 "core" &K T T g\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(' +8 "core" &  +2 "manipulator"&c% +3 "core" % ^ : +3 .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +151 "core" ( + ' +2 ."downElevator"SE.stop +2 "manipulator"&Z& + "storage"(5 +8 "core" &Ӏ! : :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &Ӏ! :- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +3 "manipulator"&E& +3 "core" &ӂ! A :+ +2 "manipulator"&#% +4 "core" %8 V J +2 "collection"'& +4 "core" &\ !\ "\ +3 "collection"'D& +5 "core" &\ "\ "\ +3 .tCC.seek :closed +3 "collection"'*(\\ +4 "core" &\ "\ !\ +5 &\ #\ !\ 9 +9 &IKu\ #\ !\ 1 +10 &u~\ "\ $~\ E +9 &-Y\ &\ %\ K +9 &T\ $\ &\ K +10 &V\ &\ &\ K +9 &tV\ $\ $\ K +10 &5Y\ '\ %\ K +9 &U\ &\ %\ K +9 &X\ &\ &\ K +10 &|U\ &\ &\ K +9 &!=T\ $\ )\ K +9 &#U\ &\ '\ K +10 &$U\ &\ '\ J +9 &&U\ %\ '\ K +9 &(FU\ '\ &\ K +10 &*W\ %\ '\ K +9 &+T\ %\ '\ K +10 &-W\ %\ '\ K +9 &/NU\ '\ %\ K +9 &1Y\ '\ &\ K +10 &2U\ '\ (\ K +9 &4U\ &\ (\ K +9 &6UT\ (\ (\ K +10 &8V\ (\ '\ K +9 &9V\ '\ '\ K +10 &;V\ '\ )\ K +9 &=\\Z\ -\ +\ L +9 &?_\ 8\ 3\ L +10 &@b\ 9\ <\ L +9 &BW\ +\ *\ K +10 &Dbb\ *\ ,\ L +9 &F m\ 1\ 0\ N +9 &G\ A\ <\ Q +10 &I\ V\ P\ U +9 &KM\ V\ W\ V +9 &M \ S\ T\ W +10 &N\ O\ O\ W +9 &P\ L\ M\ W +10 &RO\ L\ K\ X +9 &T\ K\ I\ Y +9 &U\ H\ K\ Y +10 &W\ I\ K\ Z +9 &YO\ H\ I\ [\ +9 &[\ I\ H\ [ +10 &\\dD\ K\ I\ 1 +9 &\\\ F\ I\ K +5 ( +2 "collection"'D& +4 "core" &\\k\ F\ ?\ K +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&{% +3 "core" % D ' > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%3& +4 "core" & \ +2 "manipulator"&U% +4 "core" %   c  +2 "storage"(% +4 "core" %  \  +2 "storage"(1. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(j(K +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &K\ \ \  +3 "manipulator"&T& +3 "core" &%  3 $ +2 "manipulator"&B% +3 "core" %  }  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&;( +148 "core" ( + "manipulator"&& +4 "core" & ^  +2 "storage"(k& +4 "core" &K\ \ /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts + "manipulator"&' +100 "core" ' +2 "storage"(v& +3 "core" &K $ - \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +298 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &K N \  +2 "manipulator"&_& +4 "core" & :  +2 .tElbow.seek 6 +48 "manipulator"&( +5 "core" ( +2 "manipulator"&\\& +4 "core" &  _  +2 "storage"(& +4 "core" &K\ \ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&7'h +39 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +3 "storage"( ' +9 "core" & S  + "manipulator"&|% +4 "core" % r K g +3 .tForearm.seek :retract +2 "manipulator"&&' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&H& +4 "core" &  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" & Y 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&.' +94 "core" ' +2 "manipulator"&& +3 "core" & 4 7 +2 "manipulator"&% +4 "core" % 3 { +2 "processing"%S& +4 "core" &=\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%'(^ +5 "core" &\  +9 &2v\ )w +9 &d\ > +10 &rs \ N +9 &4W4\ N +10 &T7\ N +9 &W\ M +9 &{X\ N +10 &<W\ N +9 &U!\ N +9 &Uq\ M +10 & Wt\ N +9 &"EV1\ N +10 &$Y\ N +9 &%WI\ N +9 &'Y\ N +10 &)MW\ N +9 &+U\ M +9 &,V5\ M +10 &.X\ M +9 &0VV\ M +10 &2X\ N +9 &3W\ N +9 &5Y3\ M +10 &7_V \ M +9 &9\\\ N +9 &:W\ N +10 &<U\ N +9 &>eW\ N +10 &@(Y\ M +9 &A]\ N +9 &Cc+\ O +10 &Egj\ P +9 &G&q\ Q +9 &H4\ S +10 &J\ T +9 &Le5\ S +10 &N#\ T +9 &O\ T +9 &Qp\ T +10 &Si\ T +9 &U)(\ U +9 &V\ T +10 &X\ T +9 &Zp\ U +10 &\\1\ U +9 &]{v\ ? +9 &^"Q\ H +10 &^84\ ; +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&+1 +62 "core" 1 +2 "manipulator"&(% +4 "core" %    { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%>& +4 "core" &^7\ ; +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&u% +3 "core" %     +2 "storage"(b% +4 "core" %\ \ \  +2 "storage"(5. +4 "core" .(K +2 "storage"(& +3 "core" &K\ \ \ \  +3 "storage"(V& +3 "manipulator"&h& +5 "core" &K\ \  Y\  +2 &   p 7 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(N'r +2 "core" ( +2 "manipulator"&$& +6 "core" &  7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +3 "core" &  7 +2 .tForearm.seek PC +2 "manipulator"&}' +92 "core" ' + .tHand.close +2 "manipulator"&Q/ +56 "core" / +3 .tPC.seek :open +2 "processing"%z( +95 "core" ' + "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +40 "core" ' +310 ( +2 "storage"(K& +4 "core" &K N s\  +2 "manipulator"&M& +3 "core" & ` 7 +2 "manipulator"&% +4 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&[' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&Y( +243 "core" ( + "manipulator"&m& +4 "core" & l = +2 "storage"(0& +4 "core" &K\ \ \  +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +91 "core" ' +2 .tHand.open + "manipulator"&%1 +56 "core" 1 +2 "storage"(\ - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(2' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(=- +3 "core" -' +2 "storage"(n& +4 "core" &K C < \  +2 "manipulator"&l& +4 "core" &  \  = +2 .tElbow.seek 6 +2 "manipulator"&e( +4 "core" ( + "manipulator"&W& +4 "core" &   Y = +2 "storage"(`& +4 "core" &K ) 6 \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&G' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"&I& +3 "core" & 6 = +2 "storage"(p& +4 "core" &K\ \  b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&a'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(L' +21 "core" ' + "manipulator"&@% +4 "core" %G q  +2 "storage"(& +4 "core" &K\ \  .\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 311 counts + "manipulator"&R's +15 "core" ' + "manipulator"&)& +4 "core" &  = +2 "storage"(9& +4 "core" &K K #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +16 "core" ' +2 "storage"(x% +4 "core" % K C\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (<% +3 "core" %'Q F\ Xi +2 "manipulator"&]% +4 "core" % \ O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K\ $\  H\  +2 "collection"'^& +4 "core" &\\k\ B\ D\ K +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %   n  +2 "storage"(X% +4 "core" % N \  +2 "storage"(r. +4 "core" .(K + "storage"(w& +4 "core" &K P 6\  +2 "storage"(-& +4 "core" &K N f\  +2 "manipulator"&g& +4 "core" & O = +2 .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&:& +3 "core" & ' = +2 "storage"(t& +4 "core" &K P 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&6' +98 "core" ' + "storage"(c& +4 "core" &K ( #\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(P'r +294 "core" ' +2 "storage"(O- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & & = +2 "storage"(f& +4 "core" &K N c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&F'< +19 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(E- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(#'o +33 "core" ' + "manipulator"&% +4 "core" %@ + +2 "storage"(i& +49 "core" &K N\  +4 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts +2 "manipulator"&'l +14 "core" ' +2 "manipulator"&q& +4 "core" & P = +2 "storage"( & +3 "core" &K S L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts + "manipulator"&' +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"({' +39 "core" ' +2 "manipulator"&3& +3 "core" & 9 = +2 "manipulator"&U% +4 "core" % L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +151 "core" ( +2 "manipulator"&D& +4 "core" &Ӎ , 8! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ u 8 +2 .tForearm.seek CC +2 "manipulator"&T'? +105 "core" ' +2 .tHand.close + "manipulator"&B/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(& +3 "core" &K ( ( \  +2 "storage"(k& +4 "core" &K % , K\  +2 "manipulator"&& +4 "core" &  9 & +2 "manipulator"&v% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&"' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&/( +147 "core" ( +2 "manipulator"&!& +4 "core" &   +2 "storage"(y& +4 "core" &K U U \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&_'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&4% +4 "core" % 8 " U +2 "storage"(8& +3 "core" &K V R G\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"&|'d +13 "core" ' + "manipulator"&;& +4 "core" & d  +3 "storage"(& +3 "core" &K G G '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +16 "core" ' +2 "storage"(7% +3 "core" % n l\ +3 ."downElevator"SE.seek :down +4 "storage"(H' +98 (s% +3 "core" %E . $ N\ Va +2 "manipulator"&% +4 "core" % I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" &\ \ #\ +3 "manipulator"&S% +4 "core" %  :  +2 "storage"( % +4 "core" % Q V \  +2 "storage"(&. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +675 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (+& +3 "core" &,v , / \ +2 "manipulator"&(& +4 "core" &  5  +2 .tElbow.seek 4 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&u& +4 "core" &  +2 "storage"(b& +4 "core" &,v T T l\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +30 "Can"}\ =: +63 "core" ' +2 "storage"(& +4 "core" &,v n O \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +50 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(h- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" &,k ' / ]\ +2 "manipulator"&$& +4 "core" & k  +2 .tElbow.seek 4 +2 "manipulator"&d( +4 "core" ( + "manipulator"&.& +4 "core" &  +2 "storage"(Q& +4 "core" &,k U T y\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&,'c +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('' +8 "core" & X  +2 "manipulator"&N% +5 "core" % } $ +2 .tForearm.seek :retract +2 "manipulator"&K' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&& +3 "core" &ӏ  9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &ӏ  9' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'? +100 "core" ' +2 "manipulator"&0& +4 "core" &Ӑ   9& +2 "manipulator"&% +4 "core" %C 1  +2 "collection"'%& +4 "core" &\ "\ !\ +3 "collection"'\ & +5 "core" &\ \ #\ +2 .tCC.seek :closed +2 "collection"'=(\\ +4 "core" &\ #\ !\ +8 &;\ #\ !\ %f +9 &Z{\ %\ !\ 7 +10 &\ x\ %\ #\ K +9 &R\ #\ #\ K +10 &T\ $\ &\ K +9 &NU\ $\ %\ K +9 &U\ #\ %\ K +10 &X\ %\ %\ K +9 &U\ $\ '\ K +10 &WU\ $\ '\ J +9 & U\ &\ &\ K +9 &!T\ '\ '\ K +10 &#U\ %\ &\ K +9 &%]W\ $\ %\ K +9 &' U\ $\ &\ K +10 &(U\ $\ &\ K +9 &*W\ '\ '\ K +10 &,fU\ &\ %\ K +9 &.(T\ '\ &\ K +9 &/W\ &\ &\ K +10 &1U\ (\ (\ K +9 &3nU\ (\ (\ K +9 &50U\ &\ )\ K +10 &6U\ '\ (\ K +9 &8U\ (\ )\ K +9 &:vV\ '\ '\ K +10 &<8V\ (\ '\ K +9 &=U\ (\ '\ K +10 &?W\ (\ )\ K +9 &A~Y\ (\ &\ K +9 &C=\\\ (\ '\ L +10 &Dc\ -\ -\ M +9 &Fk\ 2\ 0\ N +10 &Hw\ >\ 5\ P +9 &J+\ P\ I\ U +9 &K\ Q\ T\ V +10 &M\ N\ O\ W +9 &Oj\ L\ M\ W +9 &Q*\ I\ J\ X +10 &R\ I\ K\ X +9 &T\ H\ G\ Y +9 &Vl\ I\ H\ Y +10 &X,\ H\ H\ Z +9 &Y\ H\ I\ [ +10 &[\ I\ H\ H +9 &\\2\ H\ I\ . +9 &\\f\ F\ I\ O +3 ( +2 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&n1 +60 "core" 1 +2 "manipulator"&l% +4 "core" % C    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%`& +3 "core" & \ +2 "manipulator"&[% +4 "core" %  c  +2 "storage"(I% +4 "core" % J \  +2 "storage"(p. +2 "core" .(,v +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(@(,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &,{ L T\ +2 "manipulator"& & +3 "core" &Ӯ  J 5 +2 "manipulator"&)% +4 "core" %  \\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&9( +164 "core" ( +2 "manipulator"&2& +3 "core" &   +2 "storage"(x& +4 "core" &,{ & ' X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&Y' +91 "core" ' +2 "storage"(A& +3 "core" &,{ . $ s\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]& +3 "core" &,l I \ +2 "manipulator"&G& +4 "core" & -  +2 .tElbow.seek 4 +2 "manipulator"&e( +2 "core" ( +2 "manipulator"&& +4 "core" & Y  +2 "storage"(a& +4 "core" &,l N \ +48 .tForearm.seek 4 + 300 counts +4 "manipulator"&R'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"(' +8 "core" &   +2 "manipulator"&X% +5 "core" % c 1 +2 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&w& +4 "core" &  L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +4 "core" & % L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&g' +93 "core" ' +2 "manipulator"&:& +4 "core" & Y L +2 "manipulator"&t% +4 "core" %  # h +2 "processing"%J& +4 "core" &"\ +3 "processing"%c& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"% (^ +4 "core" &\ +5 & ."\ #b +10 &V|\ 7 +9 &y\ K +9 &U\ N +10 &aT\ N +9 &$V\ M +10 &Y\ N +9 &X!\ M +9 &jT\ M +10 &*Z\ N +9 &T\ N +9 &!W\ M +10 &#qT \ N +9 &%4X\ M +10 &&U;\ N +9 &(T\ M +9 &*zW\ M +10 &,;Z\ N +9 &-W\ N +9 &/U\ M +10 &1V\ M +9 &3CY\ N +10 &5W\ \ N +9 &6Y\ N +9 &8Y\ N +10 &:KU\ N +9 &<Y\ M +9 &=Y\ M +10 &?W\ N +9 &AS[\ N +10 &C_\ O +9 &Dc\ O +9 &Fn\ P +10 &HN}\ R +9 &J \ T +9 &K\ T +10 &M\ T +9 &OO\ T +9 &Q\ T +10 &R\ T +9 &T\ U +10 &VV\ U +9 &X\ U +9 &Y\ U +10 &[\ U +9 &]\\\ D +10 &^}@q\ &p +9 &^'\ + +5 ( +2 "processing"%c& +4 "core" &^\ + +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&?1 +60 "core" 1 + "manipulator"&o% +4 "core" %    # h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +92 "core" ' +2 "processing"%Z& +3 "core" &^ \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&f% +4 "core" %   ~ ! +2 "storage"(E% +4 "core" %\ \ \ \ \  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(i(,y +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (q& +2 "manipulator"& & +4 "core" &,}\ \  \\\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  _ L +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&3( +2 "storage"(U'r +4 "core" ( +3 "manipulator"&6& +4 "core" &   z L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &  L +2 .tForearm.seek PC +2 "manipulator"&P' +99 "core" ' +2 .tHand.close + "manipulator"&F/ +58 "core" / +3 .tPC.seek :open +2 "processing"%( +92 "core" ' + "storage"(#- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'1 +45 "core" ' +308 ( +2 "storage"(& +3 "core" &,j M c\ +2 "manipulator"&& +4 "core" & B L +2 "manipulator"& % +4 "core" %  &  +2 .tForearm.seek :retract +2 "manipulator"&B' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +255 "core" ( + "manipulator"&*& +4 "core" &  p S +2 "storage"(& +4 "core" &,j J #\ +2 .tForearm.reconfigure :tight +42 "manipulator"&#Q@2^d^\ b +11 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +94 "core" ' +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(v- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(!' +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(T- +3 "core" -' +2 "storage"(1& +4 "core" &,j N N L\ +2 "manipulator"&& +4 "core" &  - S +2 .tElbow.seek 4 +2 "manipulator"&4( +33 "core" ( +2 "manipulator"&8& +4 "core" &   k +2 "storage"(;& +4 "core" &,j M M \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(7'" +52 "core" ' +2 "manipulator"&"& +3 "core" & A k +2 "storage"(s& +4 "core" &,j\ +\ " G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(_' +21 "core" ' + "manipulator"&% +4 "core" %$ 8  +2 "storage"(S& +4 "core" &,j M :\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 281 counts + "manipulator"&|'P +14 "core" ' +2 "manipulator"& & +4 "core" & : k +2 "storage"(&& +3 "core" &,j W C\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +32 "core" ' +2 "storage"(C% +4 "core" % O \ +3 ."downElevator"SE.seek :down +4 "storage"(H' +98 (j% +3 "core" %XL\ \ \ Wf +2 "manipulator"&+% +4 "core" % r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +96 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (u& +3 "core" &,j $ ,\ +2 "collection"'b& +4 "core" &\\f\ C\ D\ O +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %   ! +2 "storage"(\\% +4 "core" % M )\  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(h(,y +38 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" &,|\ \ *\ +3 "manipulator"&$& +3 "core" &  k +2 .tElbow.seek 4 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&Q& +4 "core" & S k +2 "storage"(& +4 "core" &,|\ # \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +98 "core" ' +2 "storage"(N& +3 "core" &,| ! ! \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +301 "core" ' +2 "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & F k +2 "storage"(}& +4 "core" &,l K E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +46 "storage"('h +31 "core" ' +2 "manipulator"&%% +4 "core" %D E ( +2 "storage"(d& +4 "core" &,l O `\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 313 counts + "manipulator"&''p +15 "core" ' +2 "manipulator"&K& +4 "core" &  k +2 "storage"(& +4 "core" &,l M &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(l' +39 "core" ' +2 "manipulator"&`& +4 "core" & 5 k +2 "manipulator"&[% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&p(ӂ +156 "core" ( +2 "manipulator"&\ & +3 "core" &&  ) ?U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӏ&  " ?T +3 .tForearm.seek CC + "manipulator"& '? +92 "core" ' + .tHand.close +2 "manipulator"&)/ +53 "core" / +2 .tCC.seek :open +2 "collection"'m( +447 "core" ( + "storage"(2& +4 "core" &,l T 8 &\ +2 "storage"(x& +4 "core" &,l ( ( ,\ +2 "manipulator"&& +4 "core" &ӫ   9) +2 "manipulator"&A% +5 "core" % J 5 Z +2 .tForearm.seek :retract +2 "manipulator"&M' +88 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&W( +162 "core" ( + "manipulator"&<& +4 "core" & \  +2 "storage"(]& +5 "core" &,l W W \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&G'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&a1 +55 "core" 1 +2 "manipulator"&% +4 "core" % " Z e +2 "storage"(^& +3 "core" &,l G G &\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 279 counts +2 "manipulator"&X'N +15 "core" ' +2 "manipulator"&9& +3 "core" &  )  +2 "storage"(Y& +4 "core" &,l V L W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +17 "core" ' +2 "storage"(R% +3 "core" % n P ,\ +3 ."downElevator"SE.seek :down +3 "storage"(w' +99 (-% +3 "core" %I " ( 5\ Va +7 "manipulator"&e% +4 "core" % ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +94 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'t& +4 "core" &\ "\ \ +2 "manipulator"&J% +3 "core" %    +3 "storage"(% +3 "core" % W V\  +2 "storage"(L. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(z(<- +354 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" &<, K x\  +2 "manipulator"&o& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&Z( +4 "core" ( +2 "manipulator"&f& +4 "core" & z  +2 "storage"(E& +4 "core" &<, R T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +106 "core" ' +2 "storage"(c& +50 "core" &<, n n\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +298 "core" ' +3 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (6& +2 "core" &<, E 6 \  +3 "manipulator"&~& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&g( +4 "core" ( +2 "manipulator"&F& +3 "core" & \ R  +2 "storage"(@& +4 "core" &<, U T \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&#'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +3 "storage"( ' +7 "core" & 6  +2 "manipulator"&U% +4 "core" % ϲ C E +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"& & +4 "core" &ӈ"  B ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &Ӊ$ X ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&*'? +99 "core" ' +2 "manipulator"&& +4 "core" &ӊ" ;6 +2 "manipulator"&3% +4 "core" %A 8 +2 "collection"'& +4 "core" &\ !\ !\ +3 "collection"'v& +5 "core" &\ \ #\ +2 .tCC.seek :closed +2 "collection"'T(\\ +5 "core" &\ "\ !\  +9 &5~\ "\ \ *z +9 &\ g{\ "\ #\ > +9 &l\ #\ #\ L +10 &YT\ $\ #\ K +9 &U\ #\ #\ K +9 &U\ $\ $\ K +10 &R\ $\ %\ K +9 &aU\ #\ $\ K +10 &#W\ #\ %\ K +9 &T\ $\ %\ K +9 & R\ $\ $\ K +10 &"iU\ #\ &\ K +9 &$,T\ '\ &\ K +9 &%S\ &\ &\ K +10 &'T\ '\ $\ K +9 &)rT\ $\ &\ K +10 &+4R\ $\ %\ K +9 &,T\ %\ &\ K +9 &.T\ &\ '\ J +10 &0yU\ )\ &\ K +9 &2;T\ &\ &\ K +9 &3U\ (\ &\ K +10 &5V\ &\ &\ K +9 &7Y\ '\ '\ K +9 &9CV\ '\ &\ K +10 &;V\ %\ (\ K +9 &<V\ &\ '\ K +10 &>V\ &\ &\ L +9 &@LV\ (\ (\ K +9 &B X\ '\ (\ K +10 &C\\\ +\ *\ L +9 &Ee\ -\ +\ M +10 &GKr\ 4\ 0\ N +9 &I\ A\ =\ Q +9 &J\ T\ P\ V +10 &Lx\ Q\ R\ W +9 &N6\ M\ O\ X +9 &O\ J\ L\ X +10 &Q\ J\ K\ X +9 &S{\ I\ K\ X +9 &U;\ H\ G\ Y +10 &V\ G\ J\ Z +9 &X\ I\ H\ Z +10 &Zz\ J\ J\ [ +9 &\\y\ I\ G\ / +9 &\\1\ H\ I\ ^ +9 ( +2 &\\b\ F\ H\ L +2 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&11 +61 "core" 1 +2 "manipulator"&% +4 "core" % A M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%8& +4 "core" & \ +2 "manipulator"&;% +4 "core" %  \\  +2 "storage"("% +4 "core" % K \  +2 "storage"(s. +2 "core" .(<- +3 "storage"(D& +3 "core" &<, N ?\  +2 "storage"(& +5 "core" &<, M $\  + "manipulator"&S& +4 "core" &ӫ  [ 7 +2 "manipulator"&!% +4 "core" %  f  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +161 "core" ( +2 "manipulator"&&& +3 "core" &   +2 "storage"(C& +4 "core" &<, S Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +100 "core" ' +2 "storage"(k& +4 "core" &<, 1 / \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'r +307 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &<, J ;\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&4( +4 "core" ( + "manipulator"&7& +4 "core" & H  +2 "storage"(& +4 "core" &<, O Z\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&|'Ϲ +60 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(' +8 "core" &  +2 "manipulator"&\\% +5 "core" % ϲ % +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&V& +4 "core" & [ 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +4 "core" & . 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Q' +97 "core" ' +2 "manipulator"&& +4 "core" & 7 +2 "manipulator"&{% +4 "core" % J , +2 "processing"%N& +4 "core" &#\ +3 "processing"%H& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%i(^ +2 "core" &!\ +6 & \ 5 +9 &AFv!\ 0 +10 &hp\ D +9 &b\ N +9 &W!\ N +10 &Y \ N +9 &OZ \ M +10 &V\ N +9 &Y!\ N +9 &W\ N +10 &WW\ M +9 &!V \ M +9 &"Y \ N +10 &$Z!\ N +9 &&^W\ N +10 &( U\ N +9 &)T \ N +9 &+T\ N +10 &-gT \ M +9 &/(V\ N +9 &0Y\ N +10 &2X\ N +9 &4nT\ N +10 &60U\ N +9 &7T\ N +9 &9U\ N +10 &;uW\ N +9 &=8W\ N +9 &>]\ N +10 &@Y\ N +9 &B{`\ O +10 &D;c\ O +9 &En\ P +9 &G\ R +10 &Iu\ S +9 &K6\ T +9 &L\ T +10 &N\ U +9 &Py\ U +10 &R<\ T +9 &S\ U +9 &U\ T +10 &W\ U +9 &YD\ T +9 &[\ U +10 &\\\ U +9 &^<d\ &v +10 &^Z\ . +9 ( + &^\ * +2 "processing"%H& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&/1 +60 "core" 1 + "manipulator"&(% +4 "core" %   \ & , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' +2 "processing"%& +4 "core" &^B\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&}% +3 "core" %   )  +2 "storage"(0% +4 "core" % K +\  +2 "storage"(%. +3 "core" .(<- +2 "storage"(d& +3 "core" &<, M h\  +3 "storage"(K& +2 "manipulator"&& +7 "core" &<, K *\  + &  7 +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&`( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(['r +2 "core" ( +2 "manipulator"&& +4 "core" &  L 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &  7 +3 .tForearm.seek PC +2 "manipulator"&>' +92 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%'( +95 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\ '1 +47 "core" ' +300 ( +2 "storage"(& +4 "core" &<,\ \ ! 3\  +2 "manipulator"&n& +4 "core" & M 7 +2 "manipulator"&,% +4 "core" %   j +2 .tForearm.seek :retract +2 "manipulator"&)' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&I( +257 "core" ( + "manipulator"&=& +4 "core" & *  +2 "storage"(2& +4 "core" &<, P \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +112 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +42 "storage"(A- +12 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(<' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(]' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(p& +4 "core" &<, 4 ) b\  +2 "manipulator"&a& +4 "core" & \ 5  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&^& +3 "core" &   4  +2 "storage"(9& +4 "core" &<, 4 ,\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(R'" +59 "core" ' +2 "manipulator"&M& +3 "core" &   +2 "storage"(-& +4 "core" &<, V /\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&e'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(G' +19 "core" ' + "manipulator"&t% +4 "core" %Κ +2 "storage"(X& +5 "core" &<,\ \  2\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts +2 "manipulator"&J' +13 "core" ' +2 "manipulator"&& +3 "core" &  y  +2 "storage"(L& +4 "core" &<,\ \  6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +15 "core" ' +2 "storage"(% +3 "core" % B H\ +3 ."downElevator"SE.seek :down +4 "storage"(w' +98 (h% +4 "core" %SN\ \ \ \ Wf +2 "manipulator"&?% +4 "core" %; 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (f& +3 "core" &<,  \  +2 "collection"'E& +4 "core" &\\a\ D\ D\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&c% +4 "core" %    +2 "storage"(% +3 "core" %\ !\ ! /\  +2 "storage"(:. +4 "core" .(<- + "storage"( & +4 "core" &<,\ !\ 7\  +2 "storage"(6& +4 "core" &<,\ \ ! 0\  +2 "manipulator"&~& +4 "core" & )  +2 .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&@& +3 "core" &   +2 "storage"(r& +4 "core" &<,\ !\ ! >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +98 "core" ' +2 "storage"(U& +4 "core" &<, . . \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +299 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & O  +2 "storage"(P& +4 "core" &<,\ #\ ' 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&q'΍ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(3'v +29 "core" ' + "manipulator"&% +4 "core" %Δ U +2 "storage"(g& +3 "core" &<, \  \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 307 counts +2 "manipulator"& ' +14 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(m& +51 "core" &<,\ \  9\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +41 "core" ' + "manipulator"&8& +4 "core" & +  +2 "manipulator"&;% +4 "core" %/ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +151 "core" ( +2 "manipulator"&D& +4 "core" &y#  Y <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &y# <? +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&S/ +54 "core" / +2 .tCC.seek :open + "collection"'!( +450 "core" ( +2 "storage"(*& +4 "core" &<, ' , \  +2 "storage"(&& +3 "core" &<, . 0 _\  +2 "manipulator"&C& +4 "core" &Ӽ ( 3 +2 "manipulator"&k% +4 "core" % / M  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&B( +154 "core" ( +2 "manipulator"&j& +3 "core" &  +2 "storage"(+& +4 "core" &<, J S \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&u% +4 "core" % Ή G E +2 "storage"(b& +3 "core" &<, T V T\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 296 counts + "manipulator"&\\'ϵ +13 "core" ' +3 "manipulator"& & +3 "core" &  - +2 "storage"(& +4 "core" &<, F G -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +26 "core" ' +2 "storage"(|% +4 "core" % H O \ +3 ."downElevator"SE.seek :down +3 "storage"(V' +99 ($% +3 "core" %G " # \ Va +2 "manipulator"&4% +3 "core" %Ё  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'{& +4 "core" &\ "\ !\ +2 "manipulator"&N% +4 "core" %  c  +2 "storage"(% +4 "core" % F G \  +2 "storage"(. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" &K # " '\  +2 "manipulator"&(& +4 "core" &  ^ +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&}& +4 "core" &  \ ! +2 "storage"(0& +4 "core" &K H M ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +96 "core" ' + "storage"(d& +4 "core" &K l Y 7\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +292 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (H& +3 "core" &K / - \  +47 "manipulator"&& +5 "core" & H +3 .tElbow.seek 6 + "manipulator"&.( +3 "core" ( +2 "manipulator"&Q& +4 "core" & +2 "storage"(& +5 "core" &K 4 B v\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +3 "storage"(i' +8 "core" &  x +2 "manipulator"&[% +4 "core" % ^ ` +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +3 .tElbow.seek CC +4 "manipulator"&n(ӂ +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&,& +4 "core" &Ӊ# << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &Ӊ# @ << +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&='? +101 "core" ' +2 "manipulator"&2& +3 "core" &ӌ# . <9 +3 "manipulator"&`% +3 "core" %? '  +3 "collection"'& +3 "core" &\ !\ \ +3 "collection"'A& +5 "core" &\ "\ !\ +3 .tCC.seek :closed +2 "collection"')(\\ +3 "core" &\ \ "\ +7 &<\ #\ "\ $d +10 &Xx\ "\ !\ 7 +9 &u\ %\ "\ K +9 &T\ #\ #\ J +10 &U\ $\ $\ K +9 &BT\ #\ $\ K +10 &S\ $\ &\ K +9 &T\ "\ &\ K +9 &T\ %\ $\ K +10 &KT\ &\ %\ J +9 & T\ '\ %\ K +9 &!U\ %\ &\ K +10 &#U\ (\ &\ J +9 &%QT\ &\ '\ K +10 &'T\ &\ &\ K +9 &(T\ '\ %\ K +9 &*T\ $\ '\ K +10 &,[T\ $\ %\ J +9 &.T\ &\ (\ K +9 &/T\ %\ &\ K +10 &1U\ '\ &\ J +9 &3aU\ &\ (\ K +10 &5$U\ '\ &\ K +9 &6U\ (\ '\ K +9 &8S\ *\ )\ K +10 &:iU\ (\ )\ K +9 &<*W\ (\ (\ L +9 &=[\ /\ .\ L +10 &?^\ 2\ 7\ L +9 &AqT\ (\ *|\ K +10 &C3[\ ,\ +\ K +9 &Dg\ .\ .\ M +9 &Fo\ 6\ 3\ N +10 &Hd\ H\ B\ S +9 &J\ X\ U\ V +9 &K\ W\ W\ W +10 &M\ O\ Q\ X +9 &O\\\ N\ O\ X +10 &Q\ L\ J\ Y +9 &R\ I\ K\ Y +9 &T\ K\ H\ Y +10 &V]\ I\ H\ Z +9 &X\ K\ I\ Z +9 &Y\ G\ I\ [ +10 &[\ K\ H\ H +9 &\\3\ J\ I\ 3 +10 &\\f\ G\ F\ M +2 ( +2 "collection"'A& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&p% +4 "core" % ? M  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%^& +4 "core" &K\ +2 "manipulator"&9% +3 "core" %    +2 "storage"(M% +4 "core" % J\ -\  +2 "storage"(-. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(\ (K +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (t& +4 "core" &K p\  +2 "manipulator"&X& +4 "core" &' , ' +2 "manipulator"&<% +3 "core" %  6  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +149 "core" ( +2 "manipulator"&L& +3 "core" & n  +2 "storage"(& +4 "core" &K D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +94 "core" ' +2 "storage"(x& +4 "core" &K $ +\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +298 "core" ' + "storage"(h- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" &K \ ! ?\  +2 "manipulator"&Y& +4 "core" & ?  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&R& +4 "core" & +  +2 "storage"(e& +4 "core" &K " &\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&f'h +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&J/ +54 "core" / +3 ."downElevator"SE.seek :down +52 "manipulator"&E& +2 "storage"(c' +7 "core" &   + "manipulator"&% +4 "core" % d +3 .tForearm.seek :retract +2 "manipulator"&:' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +3 "manipulator"& & +3 "core" & ! M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &  L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&~' +98 "core" ' + "manipulator"&@& +4 "core" &  L +2 "manipulator"&r% +4 "core" % J 6 +2 "processing"%l& +4 "core" &\ +3 "processing"%U& +5 "core" &M\ +2 .tPC.seek :closed +2 "processing"%w(^ +3 "core" &\ +9 &=$\ $e +9 &W}#\ 7 +10 &{#\ L +9 &U"\ N +9 &vY \ N +10 &8U&\ N +9 &Y!\ N +10 &S"\ M +9 &U!\ M +9 &@Z\ N +10 & Z \ N +9 &!W \ N +9 &#T \ M +10 &%IU \ M +9 &'\ Z"\ N +10 &(X"\ N +9 &*U\ N +9 &,QY\ M +10 &.S \ N +9 &/Z \ M +9 &1T \ N +10 &3YY!\ M +9 &5Y\ N +10 &6Y\ N +9 &8V \ N +9 &:aU\ M +10 &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +92 "core" ' + .tHand.open +2 "manipulator"&C1 +61 "core" 1 +2 "storage"(k- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(j' +25 "core" ' +2 .tSE.reconfigure :seal +42 "storage"(#QK-0-\ b +11 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(+' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(s& +4 "core" &K K M :\  +2 "manipulator"&& +4 "core" &   Q +2 .tElbow.seek 6 +2 "manipulator"&u( +32 "core" ( +2 "manipulator"&b& +3 "core" &   ^ } +2 "storage"( & +4 "core" &K 4\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(|'" +58 "core" ' +2 "manipulator"&& +3 "core" & 8 } +2 "storage"($& +4 "core" &K O $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&4'< +22 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&\\% +4 "core" %> ] +2 "storage"({& +5 "core" &K K c\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 302 counts +2 "manipulator"&N'j +13 "core" ' +2 "manipulator"&& +4 "core" & } +2 "storage"(& +3 "core" &K O .\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(y% +4 "core" % \  2\ +3 ."downElevator"SE.seek :down +3 "storage"(V' +99 (z% +3 "core" %4O\ \ \ Wf +2 "manipulator"&/% +5 "core" % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 (}& +3 "core" &K ^ ~\  +2 "collection"'0& +4 "core" &\\`\ D\ E\ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&d% +3 "core" % " 3 $ +2 "storage"(7% +4 "core" %\ \ \  +2 "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K\ !\  \  +2 "storage"(H& +4 "core" &K\ \ \  +2 "manipulator"&& +3 "core" &  } +3 .tElbow.seek 6 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&& +4 "core" & k } +2 "storage"(_& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&5' +98 "core" ' +2 "storage"([& +4 "core" &K $ !\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +306 "core" ' + "storage"(%- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &  S } +2 "storage"(>& +4 "core" &K M r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&K'< +14 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(`'n +32 "core" ' +2 "manipulator"&% +4 "core" %M e H +2 "storage"(.& +3 "core" &K M )\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 317 counts + "manipulator"&i'y +15 "core" ' + "manipulator"&& +4 "core" &  } +2 "storage"(!& +4 "core" &K W J\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +54 "core" ' +9 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(p' +46 "core" ' +2 "manipulator"&^& +3 "core" & ) } +2 "manipulator"&9% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +183 "core" ( +2 "manipulator"&A& +3 "core" &{ h L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +3 "core" &{ L +2 .tForearm.seek CC +2 "manipulator"&X'? +97 "core" ' + .tHand.close +2 "manipulator"&T\ '\ '\ K +9 &@UW\ '\ (\ K +10 &BW\ '\ (\ K +9 &C\\\ *\ +\ L +10 &Ed\ ,\ ,\ M +9 &GQy\ 3\ 1\ O +9 &I \ D\ <\ Q +10 &J\ T\ N\ V +9 &L\ Q\ S\ W +9 &N>\ L\ N\ X +10 &P\ I\ K\ X +9 &Q\ K\ J\ X +9 &S\ H\ I\ Y +10 &UD\ I\ I\ Y +9 &W\ J\ H\ Z +10 &X\ H\ H\ [\ +9 &Z\ H\ H\ \\ +9 &\\&y\ J\ I\ 0 +10 &\\.\ I\ H\ ` +8 ( +3 "collection"'k& +3 "core" &\\e\ G\ I\ O +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&s% +4 "core" % A  D a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%b& +4 "core" &K\ +2 "manipulator"& % +4 "core" %  _  +2 "storage"(% +4 "core" % N \  +2 "storage"($. +2 "core" .(,y +2 "storage"(D& +4 "core" &,k N \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(\\(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &,z M c\ +2 "manipulator"&j& +4 "core" &ӯ  a 5 +2 "manipulator"&% +3 "core" %  d  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&y& +3 "core" &  +2 "storage"("& +4 "core" &,z Y  =\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&&' +96 "core" ' + "storage"(+& +4 "core" &,z * - @\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +297 "core" ' + "storage"(/- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,l\ \ k\ \ +2 "manipulator"&u& +3 "core" & 3  +3 .tElbow.seek 4 + "manipulator"&|( +3 "core" ( +2 "manipulator"&4& +4 "core" &   +2 "storage"(N& +5 "core" &,l\ -\ - \ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&}'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +3 "storage"(7' +8 "core" &   +2 "manipulator"&% +49 "core" % W < +4 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +107 "core" ' + ."downElevator"SE.stop + "storage"(5 +131 "core" ( +2 "manipulator"&H& +3 "core" & \ / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & B / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&_& +4 "core" &  / +2 "manipulator"&% +4 "core" %  +2 "processing"%[& +4 "core" &L\ +3 "processing"%V& +4 "core" &%\ +3 .tPC.seek :closed +2 "processing"%B(^ +5 "core" &)\ +6 &6\ #c +10 &U|#\ 7 +9 &x+\ K +9 &T!\ N +10 &fV"\ N +9 &*Q \ M +10 &Y!\ M +9 &S"\ M +9 &oR(\ M +10 &0T \ N +9 &V!\ N +9 &!R(\ M +10 &#vX"\ N +9 &%9U%\ M +10 &&U+\ N +9 &(W!\ N +9 &*T!\ M +10 &,@Y%\ N +9 &.U"\ M +9 &/U\ M +10 &1X#\ M +9 &3IT$\ M +10 &5 U(\ M +9 &6Y!\ M +9 &8U\ N +10 &:QS\ M +9 &<W\ M +9 &=U\ N +10 &?W \ M +9 &AXX\ N +10 &C`\ N +9 &Dd \ O +9 &Fk!\ P +10 &HT{!\ R +9 &J\ S +9 &K\ T +10 &M"\ T +9 &OU\ T +10 &Q \ U +9 &R\ T +9 &T\ U +10 &V]\ T +9 &X\ T +9 &Y\ U +10 &[\ U +9 &]a\ B +10 &^M}\ D +9 &^\ U +9 &^ !\ / +3 ( +2 "processing"%V& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&(1 +56 "core" 1 +2 "manipulator"&%% +3 "core" %    7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +95 "core" ' +3 "processing"%>& +3 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&2% +3 "core" % !   K ' +3 "storage"(% +3 "core" %\ \ T\  +2 "storage"(.. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +23 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (!& +3 "core" &,}\ \ \ \ +3 "manipulator"&^& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  / +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(9'r + "manipulator"&5( +7 "core" ( +2 "manipulator"&Q& +4 "core" &   / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   A / +2 .tForearm.seek PC +2 "manipulator"&K' +93 "core" ' +2 .tHand.close + "manipulator"&i/ +61 "core" / +2 .tPC.seek :open +2 "processing"%`( +91 "core" ' +2 "storage"(A- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(t'1 +44 "core" ' +307 ( +2 "storage"( & +3 "core" &,j\ \ ! !\ +2 "manipulator"&& +4 "core" & Q / +2 "manipulator"&<% +4 "core" %  9 e +2 .tForearm.seek :retract +2 "manipulator"&M' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&)( +253 "core" ( +2 "manipulator"&L& +4 "core" & Z +2 "storage"(& +4 "core" &,j K .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts + "manipulator"&' +95 "core" ' +2 .tHand.open + "manipulator"&x1 +55 "core" 1 +2 "storage"(h- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(?' +24 "core" ' +47 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(X' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +4 "core" -' + "storage"(e& +4 "core" &,j h g \ +2 "manipulator"&J& +4 "core" &  d Z +2 .tElbow.seek 4 +2 "manipulator"&E( +13 "core" ( +2 "manipulator"&& +3 "core" &     +2 "storage"(I& +4 "core" &,j j j \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&f' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +56 "core" ' +2 "manipulator"&6& +4 "core" & (  +2 "storage"(& +4 "core" &,j M 1\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&a'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&r% +3 "core" %E   +2 "storage"(l& +4 "core" &,j K ]\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&c'q +15 "core" ' +2 "manipulator"&:& +3 "core" &   +2 "storage"(p& +4 "core" &,j\ " \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&]' +15 "core" ' +2 "storage"( % +4 "core" %\ J '\ +3 ."downElevator"SE.seek :down +3 "storage"(\ ' +99 (W% +4 "core" %P\ \ \ \ \ Xh +2 "manipulator"&o% +5 "core" % \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +96 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +3 "core" &,j \  *\ +2 "collection"'g& +3 "core" &\\e\ D\ D\ O +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&R% +4 "core" % ! @ $ +2 "storage"(@% +4 "core" % P [\  + "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(m(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &,}\ \  \ +2 "manipulator"&~& +4 "core" & -  +2 .tElbow.seek 4 +2 "manipulator"&q( +9 "core" ( + "manipulator"&G& +4 "core" &  +2 "storage"(& +4 "core" &,} M \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +91 "core" ' +2 "storage"( & +4 "core" &,} " & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & u  +2 "storage"(U& +4 "core" &,l\ ,\ . e\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&3'7 +22 "core" ' +2 .tElbow.hold + "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(8- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(C'h +28 "core" ' +2 "manipulator"&F% +4 "core" %@ +  +2 "storage"(w& +3 "core" &,l \ \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 309 counts +2 "manipulator"&v'l +14 "core" ' + "manipulator"&=& +4 "core" &  +2 "storage"(& +49 "core" &,l N \ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(b' +36 "core" ' + "manipulator"& & +4 "core" &  +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D(ӂ +147 "core" ( +2 "manipulator"&k& +4 "core" &|$ e =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &|$ Y =D +2 .tForearm.seek CC +2 "manipulator"&j'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'T( +447 "core" ( + "storage"(y& +4 "core" &,l T 8 )\ +3 "storage"("& +3 "core" &,l ' , V\ +2 "manipulator"&'& +4 "core" &Ӳ 3 6 +2 "manipulator"&+% +4 "core" % / "  +2 .tForearm.seek :retract +2 "manipulator"&1' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&/& +4 "core" & G  +2 "storage"(& +3 "core" &,l G F 4\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&u'7 +93 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +65 "core" 1 +2 "manipulator"&0% +4 "core" % 3 ; +2 "storage"(d& +4 "core" &,l G G 1\ +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 4 + 296 counts + "manipulator"&'_ +14 "core" ' +2 "manipulator"&& +4 "core" &  0  +2 "storage"(&& +4 "core" &,l k k\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +15 "core" ' +2 "storage"(}% +4 "core" % n n 0\ +3 ."downElevator"SE.seek :down +3 "storage"(H' +99 (% +3 "core" %D $ / 8\ V` +2 "manipulator"&|% +4 "core" % . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &\ !\ !\ +2 "manipulator"&[% +4 "core" %  o  +2 "storage"(7% +4 "core" % D F\  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +348 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 ((& +3 "core" &<*\ \  B\  +2 "manipulator"&%& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&>( +9 "core" ( +2 "manipulator"&2& +3 "core" &  = h +2 "storage"(& +4 "core" &<) G Q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&.'O +93 "core" ' + "storage"(V& +4 "core" &<) n P R\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +292 "core" ' +2 "storage"(^- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Q& +3 "core" &<) " " \  +2 "manipulator"&& +48 "core" & h +4 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&i& +4 "core" &  h +2 "storage"(\\& +4 "core" &<) J H \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&A'Ϲ +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +3 "storage"(B' +8 "core" &  - h +2 "manipulator"&9% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&<& +3 "core" &ӑ n 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &ӑ $ 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&L'? +91 "core" ' +2 "manipulator"&& +4 "core" &ӑ 4 5 +2 "manipulator"&5% +4 "core" %> 4 q +2 "collection"'x& +4 "core" &\ "\ #\ +3 "collection"'h& +6 "core" &\ \ #\ +2 .tCC.seek :closed +3 "collection"'-(\\ +4 "core" &\ "\ !\ +4 &\ \ "\ 9 +9 &MKu\ !\ \ 1 +10 &u}\ #\ $\ E +9 &1Z\ %\ $\ K +10 &T\ $\ $\ J +9 &V\ $\ #\ K +9 &xT\ #\ &\ K +10 &:R\ $\ #\ K +9 &U\ $\ $\ K +9 &U\ $\ %\ K +10 &X\ $\ %\ K +9 &!BU\ &\ %\ K +10 &#U\ $\ &\ J +9 &$T\ '\ '\ K +9 &&T\ &\ %\ K +10 &(IX\ &\ '\ K +9 &* T\ $\ %\ K +9 &+R\ $\ %\ K +10 &-U\ '\ (\ K +9 &/SU\ '\ &\ J +10 &1U\ %\ &\ K +9 &2T\ $\ $\ J +9 &4U\ &\ %\ K +10 &6ZU\ &\ &\ K +9 &8T\ '\ '\ K +9 &9U\ &\ '\ K +10 &;V\ &\ &\ K +9 &=aU\ )\ '\ K +10 &?#V\ &\ '\ K +9 &@W\ '\ (\ K +9 &B[\ (\ )\ K +10 &Dgb\ +\ ,\ L +9 &F%k\ 0\ ,\ M +9 &G\ 4\ 2\ P +10 &I\ H\ B\ S +9 &KP\ S\ T\ W +10 &M\ P\ S\ W +9 &N\ L\ N\ W +9 &P\ K\ J\ X +10 &RT\ J\ K\ X +9 &T\ I\ J\ Y +9 &U\ I\ H\ Y +10 &W\ I\ I\ Y +9 &YS\ I\ H\ [\ +10 &[\ J\ J\ [ +9 &\\fD\ H\ I\ 1 +9 &\\\ H\ I\ M +6 ( +2 "collection"'h& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&M1 +3 "core" &\\k\ G\ H\ L +53 1 + "manipulator"&e% +4 "core" % > q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &S\ +2 "manipulator"&I% +3 "core" % ! y ' +2 "storage"(6% +4 "core" % J 9\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(t(<- +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +4 "core" &<* \  +2 "manipulator"&l& +4 "core" &Ӭ  2 2 +2 "manipulator"&?% +4 "core" % ! N ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&:( +158 "core" ( +2 "manipulator"&p& +4 "core" &   +2 "storage"( & +3 "core" &<)\  J V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +106 "core" ' +2 "storage"(& +3 "core" &<) $ . ;\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +300 "core" ' +2 "storage"(W- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (o& +3 "core" &<) A \  +2 "manipulator"&f& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&E( +4 "core" ( + "manipulator"&n& +4 "core" &  +2 "storage"(a& +4 "core" &<) O J\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&c'Ϲ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +49 "manipulator"&g& +4 "storage"(R' +8 "core" &   +2 "manipulator"&@% +5 "core" % ϼ  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&O& +3 "core" & / 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &~& +2 "core" & 9 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +94 "core" ' + "manipulator"&& +4 "core" & R 8 +2 "manipulator"&]% +4 "core" % 7 z +2 "processing"% & +4 "core" &Y\ +3 "processing"%\ & +4 "core" &\\\ +3 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 &6,\ #c +9 &V|%\ 7 +10 &y \ K +9 &V \ N +9 &iU\ M +10 &+T(\ M +9 &Z\ N +9 &Y\ M +10 &qU\ M +9 &1Z\ N +9 &V\ M +10 &!T\ N +9 &#yY\ M +10 &%;U\ M +9 &&Z\ N +9 &(Z\ N +10 &*Z\ N +9 &,AY$\ N +9 &.U\ M +10 &/[\ N +9 &1T\ M +10 &3KV \ M +9 &5 Y\ M +9 &6U\ N +10 &8U\ M +9 &:RW\ N +9 &<[\ N +10 &=[\ N +9 &?V\ N +10 &AZZ\ N +9 &Cb\ O +9 &Dg\ P +10 &Fo\ P +9 &HT \ R +10 &J\ T +9 &K\ T +9 &M\ T +10 &OV\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &V]\ U +9 &X!\ T +10 &Y\ U +9 &[\ U +10 &]c\ B +9 &^I{\ O +9 &^ O \ 6 +6 ( +2 "processing"%\ & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&Y1 +3 "core" &^,\ 5 +55 1 +2 "manipulator"&P% +3 "core" %   A z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +95 "core" ' + "processing"%Z& +4 "core" &^, \ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&U% +4 "core" % #   P 2 +2 "storage"(8% +3 "core" %\ \ \ \  +2 "storage"(F. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(w(<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "manipulator"&& +4 "core" &<+ l\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   \ 8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'r +2 "manipulator"&( +4 "core" ( +2 "manipulator"&;& +4 "core" &   [ 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +3 "core" &  s 8 +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&3/ +53 "core" / +2 .tPC.seek :open +2 "processing"%v( +94 "core" ' + "storage"(C- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'1 +45 "core" ' +306 ( +2 "storage"({& +4 "core" &<) K c\  +2 "manipulator"&s& +4 "core" & N 8 +2 "manipulator"&*% +3 "core" %   J +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&$( +247 "core" ( +2 "manipulator"&S& +3 "core" &  ( e +2 "storage"(y& +4 "core" &<) J A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"'O +96 "core" ' + .tHand.open +2 "manipulator"&'1 +62 "core" 1 +2 "storage"(+- +3 "core" -'1 +51 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +3 "core" -' +2 "storage"(D& +4 "core" &<) : : \  +2 "manipulator"&N& +4 "core" & \  e +2 .tElbow.seek 5 +2 "manipulator"&0( +4 "core" ( +2 "manipulator"&d& +3 "core" &   e +2 "storage"(& +4 "core" &<) 5 ) \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +57 "core" ' +2 "manipulator"&1& +4 "core" &  Z e +2 "storage"(& +3 "core" &<) K ]\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&|'΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(u' +29 "core" ' + "manipulator"&% +4 "core" %Ύ  T +2 "storage"([& +4 "core" &<)\ \ \ .\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 301 counts + "manipulator"&'Ϻ +14 "core" ' +2 "manipulator"&7& +3 "core" &  > +2 "storage"(& +4 "core" &<) Q f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +15 "core" ' +2 "storage"(z% +4 "core" %\ !\  0\ +3 ."downElevator"SE.seek :down +3 "storage"(H' +99 (m% +3 "core" %[T \ Xh +2 "manipulator"&(% +4 "core" %. q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (2& +4 "core" &<)\ \  b\  +2 "collection"'& +3 "core" &\\k\ D\ C\ L +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&V% +4 "core" %  D  +2 "storage"(4% +4 "core" % N \  +2 "storage"(_. +2 "core" .(<- +2 "storage"(^& +4 "core" &<) N \  +2 "storage"(Q& +4 "core" &<) N 4\  +2 "manipulator"&& +5 "core" & W > + .tElbow.seek 5 +2 "manipulator"&i( +23 "core" ( + "manipulator"&\\& +4 "core" &   +2 "storage"(& +4 "core" &<) I \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +90 "core" ' + "storage"(9& +4 "core" &<) & " 7\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +297 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" & 1  +2 "storage"(K& +4 "core" &<) N b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&!'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(5'v +29 "core" ' + "manipulator"&x% +4 "core" %Δ 6 +2 "storage"(& +4 "core" &<)\ \ i\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&B' +14 "core" ' +2 "manipulator"& & +3 "core" &   +2 "storage"(T& +4 "core" &<) N _\  +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(e' +41 "core" ' + "manipulator"&& +4 "core" & :  +2 "manipulator"&I% +4 "core" %] * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( + "manipulator"&h& +4 "core" &ӏ   P 9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +4 "core" &ӏ    9' +2 .tForearm.seek CC +2 "manipulator"&l'? +97 "core" ' +2 .tHand.close + "manipulator"&?/ +64 "core" / +2 .tCC.seek :open +2 "collection"'L( +450 "core" ( + "storage"(p& +4 "core" &<) ( (\  +2 "storage"( & +4 "core" &<) ' "\  +2 "manipulator"& & +4 "core" &Ӭ K 5\ +2 "manipulator"&% +3 "core" % H O  +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&J( +162 "core" ( + "manipulator"&W& +4 "core" & 9  +2 "storage"(o& +4 "core" &<) T T \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&f'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&a1 +62 "core" 1 +2 "manipulator"&% +4 "core" % Ή  + +2 "storage"(g& +3 "core" &<) W W\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 296 counts +2 "manipulator"&@'ϵ +14 "core" ' +2 "manipulator"&:& +4 "core" & f  +2 "storage"()& +3 "core" &<) G F /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +15 "core" ' +2 "storage"(c% +3 "core" % l h \ +3 ."downElevator"SE.seek :down +3 "storage"(O' +100 (~% +3 "core" %M ' # P\ Wd +2 "manipulator"&E% +4 "core" %- +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"']& +4 "core" &\ !\ !\ +2 "manipulator"& % +3 "core" %     +2 "storage"(R% +4 "core" % F F )\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(`(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Y& +2 "core" &K \\\  +3 "manipulator"&P& +3 "core" & T  +2 .tElbow.seek 6 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&U& +4 "core" &   +2 "storage"(8& +4 "core" &K K V w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F' +95 "core" ' +2 "storage"(\ & +3 "core" &K m l +\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (;& +3 "core" &K 4 3 \  +2 "manipulator"&q& +4 "core" &   +48 .tElbow.seek 6 +3 "manipulator"&G( +2 "core" ( +2 "manipulator"&3& +4 "core" & c  +2 "storage"(t& +4 "core" &K G F %\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&C'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"(' +7 "core" &   + "manipulator"& % +4 "core" % v # +2 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +156 "core" ( +2 "manipulator"&*& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &Ә 5\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ә 5\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'? +90 "core" ' +2 "manipulator"&y& +3 "core" &Ә  U 5\ +3 "manipulator"&% +3 "core" %< ; K +3 "collection"''& +3 "core" &\ #\ !\ +3 "collection"'+& +5 "core" &\ !\ \ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" &\ !\ \ +7 &A\ !\ !\ $f +9 &Xy\ "\ "\ 7 +10 &w\ "\ "\ K +9 &R\ $\ #\ K +9 &X\ "\ #\ K +10 &GU\ $\ %\ K +9 &\ U\ %\ %\ J +10 &U\ $\ $\ K +9 &T\ &\ %\ K +9 &PU\ $\ $\ J +10 & U\ $\ $\ K +9 &!T\ $\ %\ K +9 &#Y\ &\ %\ K +10 &%WT\ #\ &\ K +9 &'T\ &\ &\ J +10 &(T\ %\ $\ K +9 &*T\ $\ %\ J +9 &,_U\ %\ &\ K +10 &.!U\ &\ %\ K +9 &/X\ '\ $\ K +9 &1V\ %\ (\ K +10 &3fS\ '\ '\ K +9 &5)T\ %\ '\ K +10 &6U\ '\ '\ K +9 &8U\ (\ )\ J +9 &:nW\ (\ %\ K +10 &<1Z\ (\ '\ K +9 &=\\\ /\ ,\ L +9 &?_\ 6\ 5\ L +10 &AvT\ %\ '\ K +9 &C7Z\ )\ *\ L +10 &Df\ -\ -\ M +9 &Fs\ 5\ 3\ N +9 &Hj\ I\ @\ R +10 &J"\ W\ T\ V +9 &K\ V\ X\ X +9 &M\ Q\ T\ X +10 &Oa\ M\ N\ X +9 &Q#\ K\ L\ X +10 &R\ L\ I\ X +9 &T\ H\ H\ Z +9 &Vb\ G\ J\ Z +10 &X$\ I\ H\ Z +9 &Y\ J\ I\ [ +9 &[\ J\ H\ I +10 &\\/\ H\ H\ 4 +9 &\\e\ G\ H\ K +2 ( +2 "collection"'+& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&j1 +60 "core" 1 +2 "manipulator"&D% +4 "core" % I  > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%d& +3 "core" &5\ +2 "manipulator"&% +4 "core" % "   +2 "storage"(1% +4 "core" % W z\  +2 "storage"(. +3 "core" .(K +2 "storage"(k& +3 "core" &K K X\  +2 "storage"(& +4 "core" &K J \  +2 "manipulator"&[& +4 "core" & n $ +2 "manipulator"&/% +4 "core" % # `  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&7( +146 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(z& +4 "core" &K [ O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&$' +95 "core" ' +2 "storage"("& +4 "core" &K $ . \\\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +3 "core" &K X 1\  +2 "manipulator"&&& +3 "core" & %  +3 .tElbow.seek 6 + "manipulator"&0( +3 "core" ( +2 "manipulator"&}& +4 "core" &  +2 "storage"(|& +4 "core" &K\ \  >\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(V' +8 "core" & c  +2 "manipulator"&4% +4 "core" % ^ 4 +48 .tForearm.seek :retract +9 "manipulator"&_' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u( +103 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +150 "core" ( +2 "manipulator"&^& +3 "core" & j +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Q& +3 "core" & A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +104 "core" ' +2 "manipulator"&\\& +4 "core" & ! +2 "manipulator"&% +5 "core" % ? +2 "processing"%b& +3 "core" &\ +3 "processing"%9& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%H(^ +4 "core" &%\ +8 &62\ #b +9 &Ty\ 6 +10 &~{\ K +9 &V\ M +9 &[Y.\ N +10 &W5\ N +9 &U\ M +10 &V,\ M +9 &cX$\ N +9 &&Z&\ M +10 &T\ N +9 &!S'\ M +9 &#lW\ M +10 &%-T$\ N +9 &&X\ N +9 &(U%\ M +10 &*sT&\ N +9 &,6Z%\ M +10 &-S+\ M +9 &/U5\ N +9 &1|Y*\ M +10 &3>Y'\ M +9 &5Y$\ M +10 &6U'\ N +9 &8Y$\ N +9 &:ET!\ N +10 &<V$\ N +9 &=\\&\ N +9 &?Z&\ N +10 &AL\\*\ N +9 &C b%\ O +9 &De \ O +10 &Fm \ P +9 &HH*\ R +10 &J*\ S +9 &K&\ S +9 &M#\ S +10 &OI(\ T +9 &Q\ "\ U +9 &R'\ T +10 &T$\ U +9 &VP$\ U +10 &X#\ T +9 &Y#\ T +9 &[,\ U +10 &]V'\ E +9 &^{Ap\ &q +9 &^'#\ , +6 ( +2 "processing"%9& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&1 +3 "core" &^"\ , +49 1 +2 "manipulator"&%% +3 "core" %    0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 "processing"%<& +4 "core" &^Y\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&K% +4 "core" %  \  +2 "storage"(% +4 "core" % N\  +2 "storage"(x. +3 "core" .(K +2 "storage"(& +3 "core" &K N \  +3 "storage"( & +2 "manipulator"&T& +8 "core" &K M n\  + &  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&( +7 ."raiseStack"SE.seek :beamBreak + "storage"(I'r +3 "core" ( +2 "manipulator"&,& +4 "core" & \ 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" & \  @ +2 .tForearm.seek PC +2 "manipulator"&>' +92 "core" ' +2 .tHand.close + "manipulator"&!/ +55 "core" / +3 .tPC.seek :open +2 "processing"%B( +101 "core" ' + "storage"(5- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'1 +48 "core" ' +293 ( + "storage"(r& +4 "core" &K K h\  +2 "manipulator"&M& +4 "core" &  \ +2 "manipulator"&A% +4 "core" %  n @ +2 .tForearm.seek :retract +2 "manipulator"&?' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&6( +248 "core" ( + "manipulator"&-& +4 "core" & < +2 "storage"(p& +4 "core" &K O +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +94 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(o' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(l- +3 "core" -' +47 "storage"(& +6 "core" &K ) ) /\  +2 "manipulator"&a& +4 "core" &  ' < +2 .tElbow.seek 6 +2 "manipulator"&( +27 "core" ( +2 "manipulator"&g& +4 "core" &    | +2 "storage"(:& +4 "core" &K E ? g\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(c'" +52 "core" ' +2 "manipulator"&& +3 "core" & C | +2 "storage"(~& +4 "core" &K K U\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&E'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(f' +19 "core" ' +2 "manipulator"&]% +4 "core" %A   +2 "storage"( & +4 "core" &K\ \  7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&@'m +15 "core" ' +2 "manipulator"&R& +4 "core" & | +2 "storage"(& +4 "core" &K N N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +14 "core" ' +2 "storage"(X% +4 "core" %\  J \ +3 ."downElevator"SE.seek :down +4 "storage"(O' +98 (w% +3 "core" %:T\ \ \ \ Yj +2 "manipulator"&Y% +4 "core" % $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (U& +3 "core" &K ] 5\  +2 "collection"'8& +4 "core" &\\`\ B\ D\ K +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&\ % +3 "core" %  5 \ +2 "storage"(n% +4 "core" % ] ) 7\  +2 "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K\  k\  +2 "storage"(;& +4 "core" &K $ + \  +2 "manipulator"&q& +4 "core" & ! | +2 .tElbow.seek 6 +2 "manipulator"&3( +3 "core" ( +2 "manipulator"&t& +4 "core" & S | +2 "storage"(& +4 "core" &K , ; U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +92 "core" ' +2 "storage"( & +4 "core" &K . . \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +295 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" & 2 | +3 "storage"(& +3 "core" &K\ \  M\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&='< +22 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('o +30 "core" ' + "manipulator"&'% +4 "core" %@ , +2 "storage"(G& +4 "core" &K L \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&'l +15 "core" ' + "manipulator"&{& +4 "core" & R | +2 "storage"(L& +4 "core" &K N ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(D' +48 "core" ' +2 "manipulator"&d& +4 "core" & ! | +2 "manipulator"&% +51 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +176 "core" ( +2 "manipulator"&+& +3 "core" &Ӊ \  $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &Ӊ I $ +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&[/ +61 "core" / +2 .tCC.seek :open +2 "collection"'/( +446 "core" ( +2 "storage"(S& +3 "core" &K ' ( #\  +2 "storage"(& +4 "core" &K 1 / `\  +2 "manipulator"&z& +4 "core" & '  +2 "manipulator"&"% +3 "core" %  [ +3 .tForearm.seek :retract +2 "manipulator"&s' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +3 "manipulator"&N( +146 "core" ( +2 "manipulator"&m& +4 "core" &  +2 "storage"((& +4 "core" &K G J \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&&'< +97 "core" ' + .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&|1 +60 "core" 1 +2 "manipulator"&2% +3 "core" % L   +2 "storage"(& +4 "core" &K S T 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&4'x +13 "core" ' +3 "manipulator"&7& +4 "core" &   +2 "storage"($& +4 "core" &K W W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +3 "core" % Q G N\ +3 ."downElevator"SE.seek :down +3 "storage"(^' +99 (Q% +3 "core" %J + $ B\ Wc +2 "manipulator"&0% +4 "core" % ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &\ !\ "\ +2 "manipulator"&b% +5 "core" %  p  + "storage"(V% +4 "core" % Q F ,\  +2 "storage"(_. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(v(,y +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,{ @ .\ +2 "manipulator"&%& +3 "core" & $  +3 .tElbow.seek 4 + "manipulator"&<( +4 "core" ( +2 "manipulator"&K& +3 "core" & 5  +2 "storage"(& +4 "core" &,{ W W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +97 "core" ' +2 "storage"(& +4 "core" &,{ n n \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +299 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +3 "core" &,k I H 8\  +2 "manipulator"&,& +4 "core" & ;  +2 .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(!& +4 "core" &,k V U \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&5'c +23 "core" ' +46 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +3 "storage"(H' +7 "core" & Q  +2 "manipulator"&I% +4 "core" % u Z +2 .tForearm.seek :retract +2 "manipulator"&r' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +151 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&A& +4 "core" &ӎ  9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &ӎ  Y 9& +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&-'? +99 "core" ' +3 "manipulator"&p& +3 "core" &ӏ  9% +2 "manipulator"&% +4 "core" %?   +2 "collection"' & +4 "core" &\ #\ \ +3 "collection"'& +5 "core" &\ $\ \ +2 .tCC.seek :closed +2 "collection"'l(\\ +5 "core" &\ !\ \ +7 &;\ \ \ %f +10 &Xx\ #\ \ 7 +9 &v\ "\ "\ J +9 &T\ "\ #\ K +10 &X\ $\ #\ K +9 &IT\ $\ %\ K +10 & T\ %\ $\ K +9 &X\ $\ "\ K +9 &U\ %\ #\ K +10 &QU\ &\ #\ K +9 & T\ !\ &\ K +9 &!S\ $\ %\ K +10 &#U\ $\ $\ K +9 &%YT\ '\ %\ K +10 &'T\ %\ &\ J +9 &(T\ %\ $\ K +9 &*T\ %\ $\ K +10 &,aT\ &\ &\ K +9 &."S\ '\ &\ K +9 &/U\ %\ %\ K +10 &1V\ $\ &\ K +9 &3iT\ &\ &\ K +10 &5+U\ '\ %\ K +9 &6U\ &\ &\ K +9 &8U\ (\ '\ K +10 &:qU\ &\ '\ K +9 &<3W\ (\ (\ K +9 &=V\ &\ '\ K +10 &?V\ &\ '\ K +9 &AyS\ &\ '\ K +10 &C:]\ +\ (\ K +9 &Db\ ,\ )\ M +9 &Fj\ /\ -\ N +10 &Hq\ <\ 6\ P +9 &J(\ L\ I\ T +9 &K\ S\ Q\ W +10 &M\ O\ P\ W +9 &Oe\ N\ K\ W +10 &Q$\ J\ J\ X +9 &R\ J\ H\ X +9 &T\ I\ J\ Z +10 &Vf\ H\ H\ Z +9 &X&\ H\ I\ Z +9 &Y\ H\ H\ [ +10 &[\ J\ J\ H +9 &\\/\ I\ J\ 9 +10 &\\r\ G\ H\ K +5 ( +2 "collection"'& +3 "core" &\\n\ D\ G\ K +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +3 "manipulator"&?% +3 "core" % ?  _  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%g& +4 "core" &\ +2 "manipulator"&:% +4 "core" %    +2 "storage"(% +4 "core" % K Y\  +2 "storage"(~. +3 "core" .(,y +2 "storage"(h& +3 "core" &,k M w\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(W(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (]& +3 "core" &,x K c\ +2 "manipulator"& & +4 "core" &Ӯ 5 +2 "manipulator"&R% +3 "core" %  S  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +166 "core" ( + "manipulator"&X& +4 "core" &  E  +2 "storage"(6& +4 "core" &,x\ ] %\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +96 "core" ' +2 "storage"(o& +3 "core" &,x ! #\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'r +302 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ()& +3 "core" &,l ? d\  +2 "manipulator"&& +4 "core" & H  +2 .tElbow.seek 4 +2 "manipulator"&c( +2 "core" ( +2 "manipulator"&E& +4 "core" &  _  +2 "storage"(@& +4 "core" &,l M \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&U'c +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(n' +8 "core" & e  +2 "manipulator"&% +4 "core" % σ  +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 .tElbow.seek PC +48 "manipulator"&( +114 "core" ' + ."downElevator"SE.stop + "storage"(5 +125 "core" ( +2 "manipulator"&;& +3 "core" & < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +3 "core" & - < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t' +100 "core" ' +2 "manipulator"&& +4 "core" &  < +2 "manipulator"&e% +4 "core" % ( A +2 "processing"% & +4 "core" &\ +3 "processing"%O& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(^ +5 "core" &\ +7 &6\ #c +9 &T~\ 7 +9 &y\ K +10 &W\ M +9 &bV\ N +9 &%W\ M +10 &T\ N +9 &T\ M +10 &kT\ M +9 &-V\ M +9 &X\ N +10 &!R\ M +9 &#sU\ M +9 &%4W\ N +10 &&Y3\ N +9 &(W\ N +10 &*zT\ N +9 &,<U\ N +9 &-X/\ N +10 &/X\ N +9 &1U,\ M +9 &3DY\ N +10 &5W)\ M +9 &6U\ M +10 &8U+\ N +9 &:MV,\ M +9 &<X-\ N +10 &=W,\ N +9 &?W-\ N +9 &ASW-\ N +10 &Ca.\ O +9 &Dc-\ O +10 &Fm3\ P +9 &HQy-\ Q +9 &J 2\ T +10 &K-\ T +9 &M*\ T +9 &OQ2\ T +10 &Q-\ U +9 &R1\ T +10 &T-\ V +9 &VW/\ U +9 &X+\ T +10 &Y*\ U +9 &[)\ U +9 &]]-\ C +10 &^L|1\ K +9 &^K-\ 9 +6 ( +2 "processing"%O& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&P1 +3 "core" &^//\ 9 +52 1 +2 "manipulator"&F% +3 "core" %    A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' + "processing"%& +4 "core" &^/X\ 9 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&y% +4 "core" %     +2 "storage"('% +5 "core" %\ \ i\  + "storage"(G. +3 "core" .(,y +2 "storage"({& +4 "core" &,l\ \ M\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(L(,y +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (d& +5 "manipulator"&& + "core" &,~\  \ +5 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &  9 < +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(#'r +3 "manipulator"&3( +7 "core" ( +2 "manipulator"&Z& +3 "core" &   < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &=& +2 "core" &   < +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%+( +94 "core" ' + "storage"(k- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'1 +42 "core" ' +307 ( + "storage"(C& +4 "core" &,j K \ ! +2 "manipulator"&[& +4 "core" & < +2 "manipulator"&1% +4 "core" %  3 L +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&S( +249 "core" ( + "manipulator"&& +4 "core" &  * f +2 "storage"(z& +4 "core" &,j\ \  \ ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +95 "core" ' +2 .tHand.open + "manipulator"&m1 +65 "core" 1 +2 "storage"((- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +102 "core" ' +5 #tLights, camera, ACTION! + "storage"(|- +3 "core" -' +2 "storage"(2& +4 "core" &,j 8 4 ,\ ! +2 "manipulator"&& +4 "core" &  e f +2 .tElbow.seek 4 +2 "manipulator"&7( +4 "core" ( +2 "manipulator"&$& +3 "core" &   f +2 "storage"(& +4 "core" &,j 5 $ Y\ ! +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Q'" +61 "core" ' +2 "manipulator"&0& +3 "core" &  = f +2 "storage"(N& +4 "core" &,j\ \ \ ! +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&&'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(4' +28 "core" ' +2 "manipulator"&b% +3 "core" %K c C +2 "storage"(V& +4 "core" &,j\  T\ ! +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&_'w +13 "core" ' +2 "manipulator"&D& +3 "core" &  - f +2 "storage"(& +4 "core" &,j K #\ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +15 "core" ' +2 "storage"(`% +3 "core" % N \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (%% +4 "core" %NS\  5\ Xh +2 "manipulator"&K% +5 "core" % a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,j\ \ \ ! +2 "collection"'}& +4 "core" &\\m\ C\ C\ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&\\% +4 "core" % !  ( +2 "storage"( % +4 "core" % L #\  + "storage"(9. +3 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(,(,y +64 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &,x\ \ \ +3 "manipulator"&!& +3 "core" &  x f +2 .tElbow.seek 4 +2 "manipulator"&u( +4 "core" ( + "manipulator"&.& +4 "core" &  [ f +2 "storage"(I& +4 "core" &,x L \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +91 "core" ' + "storage"(x& +4 "core" &,x\ ! g\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +295 "core" ' +6 "storage"(>- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" &  " f +2 "storage"(5& +4 "core" &,l\ \ \ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&p'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(i'h +30 "core" ' + "manipulator"&H% +4 "core" %7 +2 "storage"(r& +4 "core" &,l\ \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts + "manipulator"&/'c +15 "core" ' +2 "manipulator"&& +3 "core" &  z f +2 "storage"(?& +4 "core" &,l K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +41 "manipulator"&g' +23 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(:' +47 "core" ' + "manipulator"&& +4 "core" &  & f +2 "manipulator"&~% +4 "core" % K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ( +2 "manipulator"&]& +4 "core" &x$ k =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &x$  =D +2 .tForearm.seek CC +2 "manipulator"&R'? +95 "core" ' +2 .tHand.close + "manipulator"&-/ +65 "core" / + .tCC.seek :open +2 "collection"'X( +447 "core" ( +2 "storage"(6& +3 "core" &,l ' # 6\ +2 "storage"(v& +4 "core" &,l + . 3\ +2 "manipulator"&o& +4 "core" &Ӯ  6 +2 "manipulator"&M% +5 "core" % 2 Z , +2 .tForearm.seek :retract + "manipulator"&a' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&Y( +158 "core" ( +2 "manipulator"&)& +3 "core" &  \ +2 "storage"(& +4 "core" &,l G F D\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&E'7 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&81 +55 "core" 1 +3 "manipulator"&\ % +3 "core" % 5 # +2 "storage"(& +3 "core" &,l R T (\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 298 counts + "manipulator"&'a +14 "core" ' +3 "manipulator"& & +3 "core" &  6 \ +2 "storage"(w& +4 "core" &,l U V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +14 "core" ' +2 "storage"(;% +4 "core" % K > \ +3 ."downElevator"SE.seek :down +3 "storage"(q' +99 (c% +3 "core" %I 0 . x\ Va +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "Can"_\ FC +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +95 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"' & +3 "core" &\ "\ \ +2 "manipulator"&n% +4 "core" %  ?  +2 "storage"(f% +4 "core" % W V\  +2 "storage"(B. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(P(<- +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &<- L /\  +2 "manipulator"&& +3 "core" & - \ +2 .tElbow.seek 5 +2 "manipulator"&y( +14 "core" ( +2 "manipulator"&'& +4 "core" &   +2 "storage"(G& +4 "core" &<- X V \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +95 "core" ' +2 "storage"(O& +3 "core" &<- l l \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" &<- % - g\  +2 "manipulator"&=& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&t( +49 "core" ( +4 "manipulator"&& +4 "core" &  +2 "storage"(W& +5 "core" &<- J Q Q\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&k'Ϲ +44 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"(J' +8 "core" & I  +2 "manipulator"&#% +4 "core" % ϸ  b +3 .tForearm.seek :retract + "manipulator"&C' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&1& +4 "core" &ӏ  . 9# +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ   9# +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + "manipulator"&z& +4 "core" &Ӑ F 8" +2 "manipulator"&3% +4 "core" %E R +2 "collection"'m& +4 "core" &\ "\ "\ +3 "collection"'(& +5 "core" &\ !\ $\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &\ #\ !\  +9 &6~\ !\ \ +{ +9 &h~\ #\ !\ ? +9 &k\ #\ #\ L +10 &jQ\ $\ $\ J +9 &+U\ #\ #\ K +9 &S\ #\ $\ K +10 &T\ %\ $\ K +9 &qT\ "\ '\ K +10 &2X\ &\ %\ K +9 &U\ &\ %\ K +9 & T\ &\ %\ K +10 &"xW\ $\ %\ K +9 &$;T\ $\ '\ K +10 &%T\ %\ '\ K +9 &'T\ &\ &\ K +9 &)T\ #\ %\ J +10 &+CU\ &\ (\ K +9 &-T\ %\ &\ K +9 &.W\ '\ &\ K +10 &0T\ '\ %\ K +9 &2JW\ &\ &\ K +9 &4 T\ (\ &\ K +10 &5V\ '\ &\ K +9 &7T\ (\ &\ J +10 &9RU\ %\ &\ K +9 &;U\ )\ '\ K +9 &<U\ &\ (\ K +10 &>U\ '\ (\ K +9 &@ZU\ )\ (\ K +9 &BY\ (\ '\ K +10 &C^\ +\ *\ L +9 &Ee\ -\ ,\ M +10 &GYp\ 3\ 1\ N +9 &I\ B\ <\ Q +9 &J\ U\ P\ V +10 &L\ S\ Q\ V +9 &NG\ O\ O\ W +9 &P\ K\ L\ X +10 &Q\ J\ K\ X +9 &S\ I\ I\ Y +10 &UJ\ I\ I\ Y +9 &W\ K\ J\ Z +9 &X\ I\ H\ [ +10 &Z\ J\ G\ [ +9 &\\.y\ J\ H\ / +9 &\\%\ H\ I\ V +9 ( +2 &\\f\ H\ I\ N +2 "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&|1 +64 "core" 1 +3 "manipulator"&2% +4 "core" % E o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%$& +4 "core" &\ +2 "manipulator"&% +3 "core" %  '  +2 "storage"(0% +4 "core" % M 1\  +2 "storage"(N. +3 "core" .(<- +2 "storage"(j& +4 "core" &<- K \  +2 "storage"(& +3 "core" &<- K \  +2 "manipulator"&b& +4 "core" &Ӭ t 5 +2 "manipulator"&V% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&D( +163 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(`& +4 "core" &<- ( )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&S'O +99 "core" ' + "storage"("& +4 "core" &<- & #\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &<- M n\  +2 "manipulator"&s& +4 "core" & 7  +2 .tElbow.seek 5 +2 "manipulator"&7( +4 "core" ( + "manipulator"&Q& +4 "core" &   +2 "storage"(&& +5 "core" &<- Q \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(\\' +8 "core" & n  +2 "manipulator"& % +4 "core" %  + +2 .tForearm.seek :retract +2 "manipulator"&9' +94 "core" ' +48 .tElbow.seek PC +4 "manipulator"&4( +109 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +128 "core" ( +3 "manipulator"&& +4 "core" & S 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" & 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&.' +95 "core" ' +2 "manipulator"&I& +4 "core" & R 9 +2 "manipulator"&^% +4 "core" % \\ > +2 "processing"%x& +4 "core" &\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%L(^ +4 "core" &\  +9 &2u\ )v +9 &a}\ = +10 &os\ N +9 &1U\ M +9 &T\ M +10 &W\ N +9 &vT\ N +9 &8Y\ N +10 &W\ M +9 &W\ N +10 & }X\ N +9 &"AT\ M +9 &$Y\ N +10 &%W\ M +9 &'U\ M +10 &)IT\ M +9 &+\ T\ N +9 &,T\ N +10 &.W\ M +9 &0QU\ M +9 &2S\ N +10 &3W\ M +9 &5R\ N +9 &7YT+\ M +10 &9X\ N +9 &:W\ N +10 &<W*\ N +9 &>_\\+\ N +9 &@"X-\ N +10 &A_3\ N +9 &Cd.\ P +10 &Eai*\ P +9 &G t,\ Q +9 &H,\ S +10 &J.\ T +9 &L_/\ S +9 &N+\ U +10 &O4\ T +9 &Q,\ U +9 &Sd,\ T +10 &U$,\ U +9 &V+\ U +10 &X-\ U +9 &Zh1\ V +9 &\\+1\ U +10 &]3\ 3 +9 &^,g2\ P +9 &^&-\ 3 +3 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" %    % > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +95 "core" ' +2 "processing"%T& +3 "core" &^%.\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&5% +3 "core" % !   * +2 "storage"( % +4 "core" %\ \ \ 0\  +2 "storage"(H. +2 "core" .(<- +2 "storage"(r& +4 "core" &<-\ \ \  +3 "storage"(& +3 "manipulator"&?& +5 "core" &<-\ \  \  +2 &  \  9 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak + "storage"(~'r +3 "core" ( +2 "manipulator"&<& +4 "core" &  ! 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &   9 +2 .tForearm.seek PC +2 "manipulator"&A' +93 "core" ' + .tHand.close +2 "manipulator"&p/ +54 "core" / +3 .tPC.seek :open +2 "processing"%/( +98 "core" ' +2 "storage"(i- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'1 +41 "core" ' +303 ( + "storage"( & +4 "core" &<- J $\  +2 "manipulator"&g& +5 "core" &  9 + "manipulator"&% +4 "core" %   ^ +2 .tForearm.seek :retract +2 "manipulator"&-' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&h( +244 "core" ( +2 "manipulator"&l& +3 "core" & ' I +2 "storage"(6& +4 "core" &<-\ \ \ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +96 "core" ' +2 .tHand.open + "manipulator"&o1 +53 "core" 1 +2 "storage"(M- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"()' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(R- +3 "core" -' +2 "storage"(& +4 "core" &<-   e\  +2 "manipulator"&8& +4 "core" & \   I +48 .tElbow.seek 5 +4 "manipulator"&\ ( +2 "core" ( +2 "manipulator"&& +5 "core" &    I +2 "storage"( & +3 "core" &<-  \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +23 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +57 "core" ' +2 "manipulator"&a& +3 "core" & I +2 "storage"(c& +4 "core" &<- J \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +29 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(E' +26 "core" ' +2 "manipulator"& % +4 "core" %Ε  +2 "storage"(n& +4 "core" &<-\ \ R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&f& +3 "core" &  0 +2 "storage"(B& +4 "core" &<- J (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +15 "core" ' +2 "storage"(U% +3 "core" % N \ +3 ."downElevator"SE.seek :down +3 "storage"(q' +99 (,% +3 "core" %HR\ \ \ \ Xh +2 "manipulator"&F% +4 "core" %-  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 ('& +3 "core" &<- O m\  +2 "collection"'G& +4 "core" &\\e\ D\ D\ N +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&O% +4 "core" %   ;  +2 "storage"(@% +4 "core" %\ \  %\  +2 "storage"(e. +3 "core" .(<- +2 "storage"(& +4 "core" &<- O \  +2 "storage"(Z& +3 "core" &<- \  [\  +2 "manipulator"&=& +4 "core" & ! 0 +2 .tElbow.seek 5 +2 "manipulator"&( +26 "core" ( + "manipulator"&W& +4 "core" &  ~ +3 "storage"(& +3 "core" &<- a 5 y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +88 "core" ' +2 "storage"(#& +3 "core" &<- / . \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(y'r +298 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +4 "core" & C ~ +2 "storage"(& +4 "core" &<- M G\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&d'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(3'u +32 "core" ' + "manipulator"&m% +4 "core" %Ν  +2 "storage"(t& +4 "core" &<- P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&J' +14 "core" ' + "manipulator"&C& +4 "core" &  ~ +2 "storage"(X& +4 "core" &<- ^ >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(2' +36 "core" ' +2 "manipulator"&$& +4 "core" &  ~ +2 "manipulator"&% +4 "core" %9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +45 "manipulator"&0' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +158 "core" ( +3 "manipulator"&(& +4 "core" &Ӎ   9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &Ӎ  9& +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&b/ +62 "core" / +3 .tCC.seek :open + "collection"'V( +447 "core" ( + "storage"(& +4 "core" &<- . $\  +2 "storage"(& +4 "core" &<- ! !\  +2 "manipulator"&`& +4 "core" &ӵ  4 +2 "manipulator"&"% +4 "core" % S R  +2 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&%& +4 "core" &  +2 "storage"(K& +4 "core" &<- Q J %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&s'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&&1 +55 "core" 1 +2 "manipulator"&_% +4 "core" % Ε  8 +2 "storage"(}& +3 "core" &<- S J S\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"& ' +27 "core" ' +2 "manipulator"&D& +4 "core" &  +2 "storage"(S& +4 "core" &<- Q U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +18 "core" ' +2 "storage"(% +4 "core" % H F #\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (!% +3 "core" %L $ - d\ Wd +2 "manipulator"&7% +4 "core" %U M  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +87 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'^& +3 "core" &\ \ \ +2 "manipulator"&x% +4 "core" %  0  +2 "storage"(\\% +4 "core" % G G '\  +2 "storage"(9. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(+(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K\ \  0\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&T( +4 "core" ( + "manipulator"&5& +4 "core" &  n  +2 "storage"( & +4 "core" &K W V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&H' +94 "core" ' +2 "storage"(r& +4 "core" &K m j \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K # " \  +2 "manipulator"&<& +4 "core" & R  +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&.& +4 "core" &    +2 "storage"(p& +3 "core" &K F A \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&i'h +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&4/ +56 "core" / +50 ."downElevator"SE.seek :down +4 "manipulator"&>& +2 "storage"(L' +8 "core" & G  +2 "manipulator"&~% +4 "core" % b ; +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&& +4 "core" &ӓ  4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &ӓ \\ 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&l'? +92 "core" ' +2 "manipulator"&6& +4 "core" &ӓ 4 +2 "manipulator"&% +4 "core" %? p +2 "collection"'o& +4 "core" &\ !\ !\ +3 "collection"'M& +6 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'R(\\ +4 "core" &\ \ !\ +4 &\ \ \ 9 +10 &IKt\ \ \ 1 +9 &v|\ \ \ E +9 &.X\ "\ "\ K +10 &T\ $\ "\ J +9 &U\ %\ "\ K +9 &uT\ $\ $\ K +10 &7W\ '\ $\ K +9 &T\ #\ #\ J +10 &T\ $\ #\ K +9 &~U\ &\ #\ J +9 &!?T\ &\ %\ K +10 &#R\ $\ %\ K +9 &$T\ &\ %\ K +9 &&T\ &\ &\ J +10 &(GT\ &\ '\ K +9 &* R\ &\ &\ K +10 &+S\ #\ $\ K +9 &-W\ %\ &\ K +9 &/OT\ %\ %\ K +10 &1W\ '\ '\ K +9 &2T\ '\ &\ K +9 &4T\ %\ %\ J +10 &6VU\ &\ &\ K +9 &8U\ (\ '\ K +10 &9U\ '\ '\ K +9 &;U\ '\ %\ J +9 &=]\\\ *\ +\ L +10 &?`\ 5\ 3\ L +9 &@X\ (\ 2\ K +9 &B\\\ )\ (\ K +10 &Dc`\ -\ ,\ L +9 &F!o\ 1\ 0\ N +10 &G\ ?\ :\ Q +9 &I\ S\ O\ U +9 &KM\ X\ X\ V +10 &M \ R\ T\ X +9 &N\ O\ O\ X +9 &P\ L\ M\ X +10 &RN\ K\ K\ Y +9 &T\ I\ J\ Z +10 &U\ H\ K\ Z +9 &W\ J\ H\ Z +9 &YO\ H\ H\ [ +10 &[\ J\ J\ [ +9 &\\cE\ H\ H\ 2 +9 &\\\ G\ H\ N +6 ( +2 "collection"'M& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&1 +4 "core" &\\b\ G\ G\ M +49 1 +2 "manipulator"&8% +4 "core" % ` + O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"& % +4 "core" %  ] } +2 "storage"(a% +4 "core" % _ \  +2 "storage"(c. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(](K +2 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &K\ \ \ \ \  +2 "manipulator"& & +5 "core" &  ; $ + "manipulator"&n% +4 "core" %  C } +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&f( +153 "core" ( +2 "manipulator"&B& +3 "core" &  +2 "storage"(U& +4 "core" &K + & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&h' +97 "core" ' +2 "storage"(v& +4 "core" &K " ) L\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &K I \  +2 "manipulator"&w& +4 "core" & 0  +2 .tElbow.seek 6 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&;& +5 "core" & b  + "storage"(& +4 "core" &K P ,\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&''h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"(O' +8 "core" & -  +2 "manipulator"&@% +4 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&E( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&& +49 "core" &  4 +5 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &  4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&=' +97 "core" ' + "manipulator"&W& +4 "core" &  4 +2 "manipulator"&% +4 "core" %  F +2 "processing"%:& +4 "core" &)\ +3 "processing"%#& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%q(^ +3 "core" &#\  +9 &3z8\ )w +9 &c~\ > +10 &wr&\ N +9 &:V\ M +10 &U'\ M +9 &W\ N +9 &X\ M +10 &BU\ M +9 &T\ N +9 &U\ M +10 & V\ M +9 &"IS\ N +10 &$ X\ N +9 &%U\ N +9 &'S\ N +10 &)QS\ N +9 &+S\ M +9 &,U\ M +10 &.R\ N +9 &0YT\ N +10 &2W\ M +9 &3S\ N +9 &5X\ M +10 &7bU\ M +9 &9"[\ N +9 &:V\ N +10 &<V\ N +9 &>h[\ N +10 &@+W\ N +9 &A_\ N +9 &Cc\ P +10 &Ejh\ P +9 &G)r\ Q +10 &H\ S +9 &J\ V +9 &Lf\ T +10 &N'\ T +9 &O\ U +9 &Q3\ U +10 &Sl4\ U +9 &U,\ U +9 &V1\ W +10 &X+\ U +9 &Zs0\ U +10 &\\3-\ V +9 &]}~\ ; +9 &^)u3\ S +10 &^!0\ 1 +2 ( +2 "processing"%#& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&Y1 +63 "core" 1 +2 "manipulator"&% +3 "core" %   B F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' + "processing"%1& +4 "core" &^"Y\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %   <  +2 "storage"(z% +4 "core" %\ -\ , ^\  +2 "storage"(m. +3 "core" .(K +2 "storage"(t& +4 "core" &K\ -\ - h\  +3 "storage"(C& +2 "manipulator"&X& +8 "core" &K\ -\ - m\  +2 &   _ 4 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&$( +5 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" ( +3 "manipulator"&*& +3 "core" & \  L 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  b 4 +2 .tForearm.seek PC +2 "manipulator"&y' +96 "core" ' +2 .tHand.close + "manipulator"&d/ +64 "core" / +2 .tPC.seek :open +2 "processing"%J( +85 "core" ' + "storage"(3- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('1 +51 "core" ' +307 ( + "storage"(j& +4 "core" &K K '\  +2 "manipulator"&|& +4 "core" & @ 4 +2 "manipulator"&k% +3 "core" %   % +3 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&0( +243 "core" ( +2 "manipulator"&& +4 "core" & [ F +2 "storage"(& +3 "core" &K\ -\ - \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +100 "core" ' + .tHand.open +2 "manipulator"&`1 +64 "core" 1 +2 "storage"("- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(K' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(N& +5 "core" &K 6 9 \  + "manipulator"&&& +4 "core" &   E +2 .tElbow.seek 6 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&}& +5 "core" &   A E + "storage"(D& +4 "core" &K : : \  +42 .tForearm.seek 6 + 450 counts +10 "manipulator"&S' +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&[& +4 "core" & 0 E +2 "storage"(!& +4 "core" &K J (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&7'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(s' +19 "core" ' +2 "manipulator"&^% +4 "core" %M H +2 "storage"( & +3 "core" &K N S\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&x'y +14 "core" ' + "manipulator"&\\& +4 "core" & E +2 "storage"(9& +4 "core" &K ^ M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +15 "core" ' + "storage"(% +4 "core" % L\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (P% +3 "core" %Q\ \ \ \ Yi +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (5& +3 "core" &K\ \  \  +2 "collection"' & +4 "core" &\\b\ C\ D\ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&r% +4 "core" %  =  +2 "storage"(Q% +3 "core" % J [\  +2 "storage"(I. +3 "core" .(K +2 "storage"(?& +4 "core" &K\ \  \\\  +2 "storage"(& +4 "core" &K Q L\  +2 "manipulator"&<& +4 "core" & E +2 .tElbow.seek 6 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&p& +4 "core" & + E +2 "storage"(4& +4 "core" &K M f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&>' +93 "core" ' +2 "storage"(~& +4 "core" &K & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +298 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  E +2 "storage"(A& +4 "core" &K M s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +28 "core" ' +2 "manipulator"&o% +4 "core" %J   +2 "storage"(u& +3 "core" &K K V\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&L'v +14 "core" ' +2 "manipulator"& & +3 "core" & E +2 "storage"(V& +4 "core" &K M l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(8' +36 "core" ' +2 "manipulator"&& +3 "core" & - E +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +189 "core" ( +9 "manipulator"&M& +4 "core" &ӎ l 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &ӎ ' 6 +2 .tForearm.seek CC +2 "manipulator"& '? +101 "core" ' + .tHand.close +2 "manipulator"&n/ +61 "core" / +2 .tCC.seek :open +2 "collection"'l( +449 "core" ( +2 "storage"(B& +4 "core" &K , - ?\  +2 "storage"(U& +4 "core" &K 0 / h\  +2 "manipulator"&+& +4 "core" & H ( +2 "manipulator"&v% +3 "core" %  ' +2 .tForearm.seek :retract +2 "manipulator"&g' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&-( +150 "core" ( +2 "manipulator"&,& +4 "core" & $  +2 "storage"(F& +3 "core" &K V W\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&w'< +92 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % 8 ; M +2 "storage"(G& +4 "core" &K W U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"&@'d +13 "core" ' +2 "manipulator"&f& +4 "core" &  '  +2 "storage"(h& +4 "core" &K Q K (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +34 "core" ' +2 "storage"('% +3 "core" % O h /\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (\ % +3 "core" %F ! +\ Wc +2 "manipulator"&Z% +4 "core" % O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&:% +4 "core" %   +2 "storage"(O% +4 "core" % < C\  +2 "storage"(e. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(/(,y +672 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (Y& +2 "core" &,{ + 0\ +3 "manipulator"&& +3 "core" & S  +2 .tElbow.seek 4 +2 "manipulator"&1( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(z& +4 "core" &,{ G F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&m' +96 "core" ' +2 "storage"(t& +3 "core" &,{ n l\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +300 "core" ' +2 "storage"(X- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &,k F R X\ +2 "manipulator"&*& +4 "core" & c  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&=& +4 "core" &  C  +2 "storage"(d& +3 "core" &,k V U\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&3'c +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& +2 "storage"(q' +7 "core" &   +2 "manipulator"&% +49 "core" % y N +4 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +107 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +41 "core" ( +2 "manipulator"&k& +3 "core" &y#  <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &y# 8 <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +3 "manipulator"&& +4 "core" &z" \ ;8 +2 "manipulator"&$% +3 "core" %5 S ; +3 "collection"'`& +3 "core" &\ !\ [\ +3 "collection"'"& +5 "core" &\ !\ \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ "[\  +9 &3y\ \ j\ *z +9 &\ g~\ \ !^\ > +10 &k\ \ ]\ L +9 &YU\ !\ #e\ K +9 &X\ #\ #d\ K +10 &T\ #\ #e\ K +9 &T\ #\ $a\ K +9 &bT\ #\ $\ J +10 &"U\ $\ %\ K +9 &U\ #\ $\ K +9 & T\ $\ "\ J +10 &"iT\ &\ %\ K +9 &$+T\ "\ %\ K +10 &%X\ &\ $\ K +9 &'U\ $\ %\ K +9 &)qS\ %\ %\ K +10 &+3U\ %\ &\ K +9 &,T\ #\ &\ J +10 &.U\ %\ %\ K +9 &0yU\ %\ %\ K +9 &2<U\ &\ '\ J +10 &3U\ &\ %\ K +9 &5U\ %\ &\ K +9 &7U\ &\ '\ J +10 &9BW\ '\ $\ K +9 &;V\ %\ $\ K +10 &<V\ '\ &\ K +9 &>W\ &\ &\ L +9 &@KV\ '\ %\ K +10 &B W\ '\ %\ K +9 &C\\\ )\ (\ K +9 &Eg\ +\ *\ M +10 &GJr\ 2\ 0\ N +9 &I\ ?\ 8\ R +10 &J\ Q\ M\ V +9 &Lv\ O\ P\ W +9 &N3\ K\ N\ Y +10 &O\ K\ L\ Y +9 &Q\ I\ H\ X +9 &Sx\ I\ I\ Y +10 &U8\ H\ G\ Z +9 &V\ H\ G\ Z +10 &X\ H\ H\ [\ +9 &Zx\ H\ G\ \\ +9 &\\y\ H\ I\ / +10 &\\2\ H\ G\ _ +8 ( +2 &\\a\ F\ F\ L +3 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&N1 +64 "core" 1 +2 "manipulator"&&% +4 "core" % 5  N ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%D& +3 "core" &\ +2 "manipulator"&b% +4 "core" %   Q  +2 "storage"([% +3 "core" % J 4\  +2 "storage"(!. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(((,y +26 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (%& +2 "core" &,{ K O\ +3 "manipulator"&^& +3 "core" &ӯ  I 4 +2 "manipulator"& % +4 "core" %  I  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&\\( +161 "core" ( +2 "manipulator"&9& +4 "core" &   +2 "storage"(0& +4 "core" &,{ `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' +2 "storage"(& +3 "core" &,{ . . M\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +295 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,l\ $\  \ \ +2 "manipulator"&S& +4 "core" & 3  +2 .tElbow.seek 4 +2 "manipulator"&_( +4 "core" ( + "manipulator"&& +4 "core" & \  +2 "storage"(7& +4 "core" &,l M [\ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&x'c +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(r' +8 "core" & V  +2 "manipulator"&Q% +3 "core" % z +3 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +3 "manipulator"&?& +3 "core" & \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +47 "manipulator"&<' +95 "core" ' +2 "manipulator"&p& +3 "core" &   +2 "manipulator"&4% +4 "core" %  _ { +3 "processing"%2& +3 "core" &\ +3 "processing"%~& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +7 &7\ #b +9 &U}\ 7 +10 &y\ K +9 &W1\ M +9 &aU\ N +10 &$W+\ M +9 &T4\ N +9 &S\ N +10 &jW\ M +9 &,U)\ M +10 &T\ N +9 &!R\ N +9 &#rW\ M +10 &%3S\ N +9 &&X\ M +9 &(U\ M +10 &*yT\ N +9 &,;Y\ N +10 &-V\ N +9 &/Y\ N +9 &1X\ M +10 &3CT\ N +9 &5X\ M +9 &6X\ N +10 &8Z\ M +9 &:LV\ M +10 &< W\ N +9 &=Z\ N +9 &?Z\ N +10 &ARV\ N +9 &C_\ O +9 &Dc\ O +10 &Fj\ P +9 &HO{\ R +10 &J \ S +9 &K\ S +9 &M/\ T +10 &OQ\ T +9 &Q\ T +10 &R1\ T +9 &T\ U +9 &VW\ T +10 &X\ U +9 &Y/\ U +9 &[1\ T +10 &]\\3\ C +9 &^M}-\ I +9 &^A*\ 9 +6 ( +2 "processing"%~& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&1 +3 "core" &^4/\ 9 +59 1 + "manipulator"&% +4 "core" %   * { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +2 "processing"%& +4 "core" &^4W\ 9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&A% +3 "core" %     +3 "storage"(6% +3 "core" %\ \ \ +2 "storage"(o. +4 "core" .(,y + "storage"(u& +4 "core" &,l\ \ \ \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,y +14 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (V& +2 "manipulator"&& +4 "core" &,\ \  >\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'r +2 "manipulator"&>( +5 "core" ( +2 "manipulator"&.& +4 "core" &   ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &   h +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&L/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' +2 "storage"(M- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +308 ( +2 "storage"()& +4 "core" &,j N A\ ! +2 "manipulator"&i& +4 "core" & + +2 "manipulator"&n% +3 "core" %  P Y +3 .tForearm.seek :retract + "manipulator"&a' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&R( +239 "core" ( +2 "manipulator"&B& +4 "core" &  9 +2 "storage"(U& +3 "core" &,j P R\ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&+' +94 "core" ' +2 .tHand.open + "manipulator"&v1 +60 "core" 1 +3 "storage"(,- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(c- +3 "core" -' +2 "storage"(& +4 "core" &,j : 9 \ ! +2 "manipulator"&& +4 "core" &   9 +2 .tElbow.seek 4 +2 "manipulator"&G( +4 "core" ( + "manipulator"&f& +4 "core" &   T 9 +2 "storage"(h& +50 "core" &,j - + t\ ! +4 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(g'" +59 "core" ' + "manipulator"&\ & +4 "core" &  9 +3 "storage"(Z& +3 "core" &,j K 4\ ! +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&-'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(@' +28 "core" ' +2 "manipulator"&% +4 "core" %8 0  +2 "storage"(:& +4 "core" &,j M \ ! +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&O'd +15 "core" ' +2 "manipulator"&e& +4 "core" & 9 +2 "storage"(8& +4 "core" &,j N 9\ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 "storage"(% +4 "core" %\ \ ! <\ +3 ."downElevator"SE.seek :down +3 "storage"(]' +99 (Y% +3 "core" %\\O\ \ \ \ Xg +2 "manipulator"&% +4 "core" % @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 (z& +3 "core" &,j # 5\ ! +2 "collection"'t& +4 "core" &\\a\ D\ D\ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&;% +3 "core" %   +2 "storage"(W% +4 "core" % M L\  +2 "storage"(X. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(C(,y +59 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +3 "core" &,{ K x\ +2 "manipulator"&=& +4 "core" &  9 +2 .tElbow.seek 4 +2 "manipulator"&d( +4 "core" ( + "manipulator"&E& +4 "core" & w 9 +2 "storage"({& +4 "core" &,{ M F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(1& +3 "core" &,{ & ! +\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +295 "core" ' +2 "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&k& +4 "core" & 9 + "storage"(y& +4 "core" &,l\ ,\ - \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&3'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"($- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(`'h +30 "core" ' + "manipulator"&% +4 "core" %:   +2 "storage"(q& +4 "core" &,l L 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&j'f +15 "core" ' +2 "manipulator"&l& +3 "core" & 9 +2 "storage"(N& +4 "core" &,l N C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(D' +36 "core" ' +2 "manipulator"&b& +3 "core" & f 9 +2 "manipulator"&[% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +47 "manipulator"&!' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +150 "core" ( +3 "manipulator"&%& +3 "core" &ӆ"  :2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &^& +3 "core" &Ӊ!  :/ +2 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'9( +447 "core" ( + "storage"(0& +4 "core" &,l 0 $ e\  +2 "storage"(/& +3 "core" &,l , . G\  +2 "manipulator"&& +4 "core" &Ӥ ] 7 +2 "manipulator"&|% +4 "core" % D 0 +2 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&P( +162 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(S& +4 "core" &,l Q S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&51 +52 "core" 1 +2 "manipulator"& % +4 "core" %  4 f +2 "storage"(Q& +4 "core" &,l W W\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 277 counts +2 "manipulator"&\\'L +15 "core" ' +2 "manipulator"&& +4 "core" &  f  +2 "storage"(K& +4 "core" &,l J Q u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +16 "core" ' +2 "storage"(?% +4 "core" % K G 8\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (_% +3 "core" %K . $ I\ Wb +2 "manipulator"&p% +4 "core" % " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'2& +3 "core" &\ \ !\ +2 "manipulator"&r% +4 "core" %  x  +3 "storage"(I% +3 "core" % F G M\  +2 "storage"(J. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<0 @ I %\ +2 "manipulator"&& +4 "core" & ^  +2 .tElbow.seek 5 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&6& +3 "core" &  S  +2 "storage"(o& +4 "core" &% +3 "core" %H # v +2 "collection"'v& +4 "core" &\ \ ^\ +3 "collection"',& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'c(\\ +4 "core" &\ \ _\ +8 &;\ \ !g\ $f +10 &Z{\ \ g\ 7 +9 &v\ !\ d\ K +9 &R\ "\ !\ K +10 &T\ #\ !`\ K +9 &JT\ #\ #\ K +10 & T\ #\ "g\ J +9 &T\ $\ "\ K +9 &T\ "\ #\ K +10 &ST\ $\ #\ J +9 & T\ "\ $\ K +9 &!T\ #\ &\ K +10 &#U\ $\ $\ K +9 &%YR\ #\ "\ K +9 &'S\ #\ %\ K +10 &(T\ $\ $\ K +9 &*W\ &\ #\ K +10 &,bT\ $\ #\ K +9 &.#R\ %\ &\ K +9 &/T\ %\ &\ K +10 &1U\ &\ $\ K +9 &3iW\ #\ %\ K +10 &5+T\ %\ $\ K +9 &6U\ $\ %\ K +9 &8U\ %\ %\ K +10 &:rV\ %\ %\ K +9 &<4W\ &\ '\ K +9 &=U\ %\ &\ K +10 &?W\ &\ &\ K +9 &AxW\ %\ %\ L +10 &C:Z\ '\ &\ L +9 &Db\ )\ +\ L +9 &Fj\ 0\ ,\ N +10 &Hr\ ;\ 7\ P +9 &J(\ O\ J\ U +9 &K\ P\ S\ W +10 &M\ O\ O\ W +9 &Og\ J\ M\ W +10 &Q%\ L\ L\ X +9 &R\ I\ I\ Y +9 &T\ J\ H\ Y +10 &Vg\ H\ I\ Z +9 &X)\ F\ I\ Z +9 &Y\ J\ H\ [\ +10 &[\ G\ I\ H +9 &\\2\ G\ I\ 1 +9 &\\k\ G\ I\ J +3 ( +2 "collection"',& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +3 "core" % H g v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%h& +3 "core" &\ +2 "manipulator"&a% +4 "core" %  -  +2 "storage"(\ % +4 "core" % S +\  +2 "storage"(Z. +2 "core" .(<- +2 "storage"(& +4 "core" &<. H y\ +2 "storage"(F& +4 "core" &<.\ \  p\ +2 "manipulator"&& +4 "core" &Ӫ  % 4 +2 "manipulator"&:% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&e( +157 "core" ( + "manipulator"&8& +4 "core" &  +2 "storage"(R& +4 "core" &<. - ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' + "storage"(+& +4 "core" &<. & !\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +298 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<. ? b\ +2 "manipulator"&'& +4 "core" & #  +2 .tElbow.seek 5 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&g& +3 "core" &  +2 "storage"(-& +4 "core" &<. M g\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&O'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(;' +8 "core" & E  +2 "manipulator"&W% +4 "core" % ϱ  +2 .tForearm.seek :retract +2 "manipulator"&X' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&*& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +47 "manipulator"&E' +95 "core" ' + "manipulator"&{& +4 "core" & a +2 "manipulator"&% +4 "core" % H T +3 "processing"%1& +3 "core" &\ +3 "processing"%]& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +9 &2v\ )u +10 &b~\ = +9 &ms\ M +9 &.U\ M +10 &U\ M +9 &U\ N +9 &tY\ M +10 &5T(\ N +9 &W.\ N +10 &T.\ N +9 & |Y2\ M +9 &">T\ M +10 &#T)\ N +9 &%U/\ N +9 &'W/\ M +10 &)EX\ N +9 &+W\ N +10 &,Y\ N +9 &.U\ M +9 &0MU\ N +10 &2W\ N +9 &3T\ M +9 &5S\ M +10 &7VU\ M +9 &9V\ N +10 &:W\ N +9 &<U\ N +9 &>]W\ N +10 &@ X\ M +9 &A\\\ N +9 &Ch\ O +10 &E_k\ P +9 &Gr\ Q +10 &H\ S +9 &J\ T +9 &L[\ T +10 &N\ T +9 &O\ T +9 &Q\ U +10 &Sa\ T +9 &U"\ U +10 &V\ U +9 &X\ U +9 &Zh\ U +10 &\\*\ U +9 &]~y\ ; +9 &^5\ J +10 &^\ ) +2 ( +2 "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&w1 +54 "core" 1 + "manipulator"&% +4 "core" %     T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +97 "core" ' + "processing"%k& +4 "core" &^Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&y% +4 "core" % # \ 2 +2 "storage"($% +4 "core" % I 3\  +2 "storage"(. +2 "core" .(<- +2 "storage"(q& +4 "core" &<. K P\ +3 "storage"(l& +2 "manipulator"&N& +7 "core" &<. K g\ + &   +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&b( +2 "storage"(['r +5 "core" ( + "manipulator"&& +6 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +2 "core" &    +3 .tForearm.seek PC +2 "manipulator"&m' +91 "core" ' +3 .tHand.close + "manipulator"&3/ +62 "core" / +2 .tPC.seek :open +2 "processing"%j( +92 "core" ' +2 "storage"(`- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'1 +46 "core" ' +307 ( +3 "storage"(&& +3 "core" &<- R E\ +2 "manipulator"&^& +4 "core" &  +2 "manipulator"&% +4 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&!( +239 "core" ( +2 "manipulator"&& +4 "core" & s > +2 "storage"(0& +3 "core" &<- M y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +93 "core" ' +2 .tHand.open + "manipulator"&1 +65 "core" 1 +2 "storage"(|- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(S' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +2 "core" -' +2 "storage"("& +4 "core" &<-  * G\ +2 "manipulator"&5& +4 "core" & \  > +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&Q& +3 "core" &  - > +2 "storage"(& +4 "core" &<- \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +49 "storage"(?'" +57 "core" ' + "manipulator"&}& +4 "core" &  > +2 "storage"(_& +4 "core" &<- U C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&p'΍ +29 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&2% +4 "core" %Ε | x +2 "storage"(r& +4 "core" &<-\ \ 0\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 308 counts + "manipulator"&\\' +14 "core" ' +2 "manipulator"&I& +3 "core" & = +2 "storage"(J& +4 "core" &<- I i\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +15 "core" ' + "storage"(x% +4 "core" %\  <\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (C% +4 "core" %gR \ \ \ Xg +2 "manipulator"&% +4 "core" %0  I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (6& +3 "core" &<- ] 7\ +2 "collection"'o& +4 "core" &\\f\ C\ C\ J +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&~% +4 "core" %   +2 "storage"(7% +3 "core" % I 8\  +2 "storage"(4. +3 "core" .(<- +2 "storage"(& +4 "core" &<-\ \  \ +2 "storage"(.& +4 "core" &<- \  \\\ +2 "manipulator"&T& +4 "core" &  # = +2 .tElbow.seek 5 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&(& +4 "core" & { = +2 "storage"(s& +5 "core" &<-\ \  D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&H'O +94 "core" ' +2 "storage"( & +4 "core" &<- # )\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +296 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +4 "core" & $ = +2 "storage"(& +4 "core" &<- N \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&V'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(U- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(>'u +28 "core" ' +2 "manipulator"&v% +4 "core" %Ζ 0 +2 "storage"(<& +4 "core" &<- K f\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&)& +3 "core" & T = +2 "storage"(9& +4 "core" &<- M 0\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +41 "core" ' + "manipulator"&h& +4 "core" & 7 = +2 "manipulator"&a% +4 "core" %3  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &Ӎ" ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &Ӎ"   ;2 +3 .tForearm.seek CC +2 "manipulator"&F'? +143 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / +2 .tCC.seek :open +2 "collection"':( +446 "core" ( +2 "storage"(B& +3 "core" &<- ' & \ +2 "storage"(8& +4 "core" &<- + . \ +2 "manipulator"&R& +4 "core" &Ӱ 6 +2 "manipulator"&+% +5 "core" % D  +2 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&f( +160 "core" ( +2 "manipulator"&Y& +3 "core" &    +2 "storage"(& +4 "core" &<- W U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&''΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&-1 +60 "core" 1 +2 "manipulator"&z% +4 "core" % Ό  ; K +2 "storage"(t& +3 "core" &<- W X \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 299 counts + "manipulator"&W'ϸ +15 "core" ' +2 "manipulator"&e& +4 "core" &  f  +2 "storage"(& +4 "core" &<- C F Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +26 "core" ' + "storage"(O% +4 "core" % k R \ +3 ."downElevator"SE.seek :down +3 "storage"(*' +100 (=% +2 "core" %G * - V\ Wb +3 "manipulator"&G% +4 "core" %_ \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +99 "core" ' +41 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&1% +4 "core" %  ^ +2 "storage"(;% +4 "core" % n m s\  +2 "storage"(X. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (w& +2 "core" &K I H \ \ +3 "manipulator"&& +3 "core" & K  +2 .tElbow.seek 6 +2 "manipulator"&k( +4 "core" ( +2 "manipulator"&y& +3 "core" &  U  +2 "storage"($& +4 "core" &K m m \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +95 "core" ' +2 "storage"(q& +4 "core" &K n m\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(l'r +299 "core" ' +2 "storage"(N- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &K D 1 \ \ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&d( +2 "core" ( +2 "manipulator"&E& +4 "core" &  +2 "storage"(3& +4 "core" &K P I D\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&`'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&@/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"( ' +8 "core" &  7  +2 "manipulator"&[% +4 "core" % t g +2 .tForearm.seek :retract +2 "manipulator"&&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^(ӂ +148 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&& +4 "core" &Ӊ B . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &Ӊ V . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 "manipulator"&0& +4 "core" &Ӊ  - . +2 "manipulator"&b% +4 "core" %G T 0 +2 "collection"'& +4 "core" &\ \ !\ +3 "collection"'|& +7 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"' (\\ +3 "core" &\ \ a\ +9 &<\ !\ !b\ $f +9 &Z{\ \ f\ 7 +10 &v\ "\ j\ K +9 &R\ $\ !k\ K +9 &T\ #\ !n\ K +10 &IT\ #\ "a\ K +9 & U\ "\ #l\ J +10 &U\ #\ #k\ K +9 &T\ "\ $d\ J +9 &PU\ $\ %f\ K +10 & U\ #\ #^\ K +9 &!S\ "\ $c\ K +9 &#U\ #\ $\ K +10 &%ZT\ &\ $a\ J +9 &'T\ $\ #\ K +9 &(U\ $\ &\ K +10 &*W\ $\ &\ K +9 &,aT\ #\ %\ K +10 &."X\ $\ $\ K +9 &/U\ #\ $\ K +9 &1T\ %\ %\ K +10 &3iT\ %\ $\ K +9 &5+T\ %\ &\ K +10 &6T\ %\ %\ K +9 &8U\ (\ '\ K +9 &:pV\ '\ %\ K +10 &<2W\ %\ '\ K +9 &=Z\ 0\ ,\ K +9 &?b\ ;\ 6\ L +10 &Aub\ ;\ @\ L +9 &C9]\ )\ '\ L +10 &Df\ .\ ,\ M +9 &Fx\ 4\ 1\ O +9 &Hl\ G\ B\ R +10 &J!\ X\ T\ W +9 &K\ U\ W\ W +9 &M\ P\ Q\ X +10 &Oc\ N\ O\ X +9 &Q$\ K\ L\ X +10 &R\ J\ K\ Z +9 &T\ I\ J\ Z +9 &Vd\ G\ G\ Z +10 &X%\ H\ I\ [ +9 &Y\ I\ H\ [ +9 &[\ J\ I\ I +10 &\\0\ H\ J\ 1 +9 &\\l\ G\ I\ O +2 ( +2 "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&"1 +54 "core" 1 +2 "manipulator"&5% +4 "core" % J I - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %  F  +2 "storage"(}% +5 "core" % ^ +\  + "storage"(_. +4 "core" .(K + "storage"(%& +4 "core" &K + x\ \ +2 "storage"(& +4 "core" &K 1 ` \ \ +2 "manipulator"&2& +4 "core" & K +2 "manipulator"&r% +3 "core" %  F  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&I( +138 "core" ( + "manipulator"&J& +4 "core" & +2 "storage"(!& +4 "core" &K & " V\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +93 "core" ' + "storage"(x& +4 "core" &K & $ ?\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'r +297 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K\ -\ , d\ \ +2 "manipulator"&K& +4 "core" & 2 +2 .tElbow.seek 6 +2 "manipulator"& ( +2 "core" ( +3 "manipulator"&?& +3 "core" & " +2 "storage"(p& +4 "core" &K M s\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&6'h +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(~' +9 "core" & a + "manipulator"&7% +4 "core" % ] : +3 .tForearm.seek :retract + "manipulator"&4' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +3 "manipulator"&& +3 "core" & \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +2 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +99 "core" ' +2 "manipulator"&(& +4 "core" & } +2 "manipulator"&s% +4 "core" % A +2 "processing"%D& +4 "core" &\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +55 "processing"%(^ +3 "core" &\ + &\ +2 &\ + &\ + &\ + &\ + &\  +4 &2v\ )v +10 &b}\ = +9 &qs\ N +9 &2T\ N +10 &R\ M +9 &S+\ M +9 &yU,\ M +10 &;Y*\ M +9 &S\ M +10 &U0\ N +9 & T\ M +9 &"CT\ M +10 &$V\ M +9 &%V\ N +10 &'Y-\ M +9 &)KT/\ M +9 &+ U\ M +10 &,Z\ M +9 &.W\ M +9 &0SV\ M +10 &2X\ M +9 &3T\ M +10 &5S\ N +9 &7ZV\ N +9 &9V\ N +10 &:[\ N +9 &<Z\ N +9 &>aZ\ N +10 &@%W\ M +9 &A\\\ N +10 &Cg\ O +9 &Edh\ P +9 &G$p\ P +10 &H\ S +9 &J\ T +9 &L`\ T +10 &N!\ T +9 &O\ T +9 &Q\ T +10 &Se\ U +9 &U(\ T +10 &V\ V +9 &X\ T +9 &Zm\ U +10 &\\.\ U +9 &]\ 4 +9 &^*j\ [ +10 &^&\ 0 +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&P1 +59 "core" 1 +2 "manipulator"&% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 "processing"%n& +4 "core" &^ <\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %    O  +2 "storage"(U% +4 "core" %\ \ \ \  +2 "storage"(v. +3 "core" .(K +2 "storage"(<& +4 "core" &K\ \ \ \ \ +2 "storage"()& +3 "manipulator"&9& +7 "core" &K\ \ \ \ \ \ + &   3 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&h( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(a'r +2 "core" ( +2 "manipulator"&H& +5 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &   Q +2 .tForearm.seek PC +2 "manipulator"&A' +94 "core" ' +2 .tHand.close +2 "manipulator"&V/ +52 "core" / +2 .tPC.seek :open +2 "processing"%( +102 "core" ' + "storage"(>- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +292 ( +2 "storage"(,& +4 "core" &K W O\ +2 "manipulator"&& +4 "core" &  +2 "manipulator"&M% +4 "core" %  | 9 +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&\ ( +241 "core" ( + "manipulator"&c& +4 "core" &  e l +2 "storage"(B& +4 "core" &K J \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&8' +100 "core" ' +2 .tHand.open + "manipulator"&R1 +60 "core" 1 +2 "storage"(+- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Y' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(Z& +3 "core" &K 8 6 0\ +2 "manipulator"&-& +4 "core" &\  l +2 .tElbow.seek 6 +2 "manipulator"&z( +4 "core" ( +2 "manipulator"&t& +3 "core" &\  l +2 "storage"(e& +4 "core" &K 6 +\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(O'" +58 "core" ' +2 "manipulator"&i& +3 "core" &\   l +2 "storage"(=& +4 "core" &K K #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +42 "manipulator"&G'< +32 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"('' +28 "core" ' + "manipulator"&% +4 "core" %<   +3 "storage"(W& +3 "core" &K K `\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 300 counts +2 "manipulator"&1'h +15 "core" ' + "manipulator"&;& +4 "core" &\  l +2 "storage"(X& +4 "core" &K N 5\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"( % +3 "core" % \ '\ +3 ."downElevator"SE.seek :down +4 "storage"(*' +98 (% +3 "core" %QS\ \ \ Xh +2 "manipulator"&w% +4 "core" %  2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (y& +3 "core" &K J 7\ +2 "collection"'$& +4 "core" &\\d\ C\ C\ O +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&q% +4 "core" %    +2 "storage"(g% +3 "core" % N ;\  +2 "storage"({. +3 "core" .(K +2 "storage"(N& +4 "core" &K P y\ +2 "storage"(]& +4 "core" &K M \ +2 "manipulator"&& +4 "core" &\  c l +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&3& +3 "core" &  l +3 "storage"(@& +3 "core" &K M M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +94 "core" ' +2 "storage"([& +3 "core" &K ! E\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &\  4 l +2 "storage"(m& +3 "core" &K N \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&l'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(0- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(b'm +27 "core" ' +2 "manipulator"&% +3 "core" %/ (  +2 "storage"(d& +4 "core" &K K g\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 287 counts + "manipulator"& '[ +16 "core" ' +2 "manipulator"&&& +3 "core" &\  U k +2 "storage"(:& +4 "core" &K\ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(5' +36 "core" ' +2 "manipulator"&& +3 "core" &\  ' k +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_(ӂ +163 "core" ( +2 "manipulator"&%& +4 "core" &ӊ [ ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӊ ( +3 .tForearm.seek CC + "manipulator"&|'? +97 "core" ' +2 .tHand.close + "manipulator"&2/ +61 "core" / +2 .tCC.seek :open +2 "collection"'r( +447 "core" ( + "storage"(J& +4 "core" &K Q 7 \ +2 "storage"(!& +48 "core" &K & ' )\ +5 "manipulator"&& +3 "core" & 4 +2 "manipulator"&x% +4 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&Q( +147 "core" ( +2 "manipulator"&C& +5 "core" & ( { + "storage"(& +4 "core" &K T I L\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&K'< +97 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&p1 +57 "core" 1 +3 "manipulator"&\\% +4 "core" % , $ + "storage"(o& +4 "core" &K T U m\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 284 counts +2 "manipulator"&7'X +15 "core" ' + "manipulator"&I& +4 "core" & r { +2 "storage"(/& +4 "core" &K F F !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&S' +16 "core" ' +2 "storage"(6% +3 "core" % l O I\ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (.% +2 "core" %J . $ (\ Va +3 "manipulator"& % +3 "core" % + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'s& +3 "core" &\ \ [\ +2 "manipulator"&D% +4 "core" %  ~ \ +2 "storage"(~% +4 "core" % G G D\  +2 "storage"(4. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(j(,y +671 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (P& +2 "core" &,|  $ 6\ +3 "manipulator"&& +3 "core" & * { +2 .tElbow.seek 4 +2 "manipulator"&n( +4 "core" ( + "manipulator"&& +5 "core" &   { + "storage"(U& +4 "core" &,| U V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +97 "core" ' + "storage"(<& +4 "core" &,| k m \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +296 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (9& +3 "core" &,k O : n\  +2 "manipulator"&H& +3 "core" & { +2 .tElbow.seek 4 +2 "manipulator"&L( +4 "core" ( +2 "manipulator"&T& +3 "core" &  G { +2 "storage"(V& +4 "core" &,k Q J 7\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&>'c +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +3 "storage"(' +8 "core" & { +2 "manipulator"&a% +3 "core" % } +3 .tForearm.seek :retract +2 "manipulator"&,' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&M& +3 "core" &z#  <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &z# < <; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +46 "manipulator"&c'? +99 "core" ' +3 "manipulator"&B& +3 "core" &z# u <; +2 "manipulator"&h% +4 "core" %A > , +3 "collection"'R& +4 "core" &\ \ &\ +3 "collection"'+& +5 "core" &\ \ k\ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" &\ \ i\ +7 &;\ \ f\ $e +10 &Xy\ \ g\ 7 +9 &v\ \ "\ K +9 &R\ \ "j\ J +10 &U\ "\ %\ K +9 &GT\ $\ #\ K +9 & T\ $\ "i\ K +10 &R\ #\ $b\ K +9 &T\ "\ %b\ K +9 &OT\ "\ $f\ K +10 & R\ "\ #`\ K +9 &!U\ %\ #\ K +10 &#U\ "\ #\ K +9 &%VW\ $\ $\ K +9 &'S\ #\ #\ K +10 &(R\ $\ $\ K +9 &*S\ "\ $\ K +10 &,_R\ $\ $\ K +9 &.!T\ #\ $\ K +9 &/T\ $\ &\ J +10 &1U\ #\ \ K +9 &3gU\ $\ %\ K +9 &5)T\ $\ %\ K +10 &6U\ #\ "\ K +9 &8U\ %\ &\ K +10 &:oU\ #\ &\ K +9 &<1V\ %\ #\ K +9 &=U\ &\ $\ K +10 &?W\ $\ '\ K +9 &AwS\ $\ &\ K +9 &C7^\ )\ '\ L +10 &Db\ *\ (\ L +9 &Fm\ /\ .\ N +10 &Hp\ 9\ 7\ P +9 &J#\ L\ G\ U +9 &K\ R\ R\ W +10 &M\ K\ N\ X +9 &Oa\ K\ K\ X +9 &Q"\ H\ K\ X +10 &R\ I\ H\ Z +9 &T\ F\ G\ Y +10 &Vb\ G\ F\ Z +9 &X"\ H\ E\ [\ +9 &Y\ E\ F\ \\ +10 &[\ H\ H\ H +9 &\\8\ G\ G\ - +9 &\\k\ F\ F\ K +3 ( +2 "collection"'+& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&Z1 +57 "core" 1 +3 "manipulator"&-% +4 "core" % A ; , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%e& +4 "core" &\ +2 "manipulator"&% +4 "core" %   +2 "storage"(i% +4 "core" % J -\  +2 "storage"(=. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" &,z\ \ +2 "manipulator"&& +5 "core" &Ӳ  4 + "manipulator"&W% +4 "core" %  ,  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&;( +164 "core" ( + "manipulator"&X& +4 "core" & +2 "storage"(\ & +4 "core" &,z & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 "storage"(8& +3 "core" &,z $ . 0\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" &,l\ \ \ i\  +2 "manipulator"&w& +3 "core" & +2 .tElbow.seek 4 +2 "manipulator"&z( +3 "core" ( +2 "manipulator"&O& +5 "core" & + "storage"(G& +4 "core" &,l J {\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&y'c +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& +2 "storage"(q' +6 "core" & Z +2 "manipulator"&g% +4 "core" % [ ' +2 .tForearm.seek :retract +2 "manipulator"&{' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"&N& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&3& +4 "core" & +2 "manipulator"&@% +4 "core" %  } +2 "processing"%& +4 "core" &\ +3 "processing"%[& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%*(^ +4 "core" &\  +9 &2v\ )v +9 &c}\ = +10 &qs\ N +9 &5U\ M +10 &Y\ M +9 &R\ M +56 &yY\ N +5 &;V\ N +3 &W\ N + &U\ M +2 & U\ M + &"DT\ M + &$T\ N +6 &%U\ M +9 &'V\ M +10 &)KW\ N +9 &+Y\ M +9 &,Y4\ M +10 &.V\ N +9 &0TT,\ M +10 &2Y-\ M +9 &3T\ M +9 &5Y\ M +10 &7\\X-\ M +9 &9V\ M +9 &:W\ M +10 &<Z\ M +9 &>dY\ M +10 &@%W\ N +9 &AY\ N +9 &Cf\ O +10 &Ehg\ O +9 &G%r\ P +9 &H\ R +10 &J\ S +9 &Lb\ S +10 &N#\ T +9 &O\ T +9 &Q\ U +10 &Sg\ T +9 &U'\ U +9 &V\ T +10 &X\ T +9 &Zn\ U +10 &\\0\ U +9 &]{t\ ? +9 &^!Q\ N +10 &^9\ 9 +2 ( +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&f1 +60 "core" 1 +2 "manipulator"&% +3 "core" %   C } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 "processing"%& +4 "core" &^6\ 9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&m% +4 "core" %  \  ;  +2 "storage"(0% +4 "core" %\ \  X\  +2 "storage"(. +3 "core" .(,y +2 "storage"(d& +4 "core" &,l\ \ \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(&(,y +32 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (:& + "manipulator"&& +6 "core" &,{\  5\ +2 &   +4 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&( +4 "core" ( + "manipulator"&#& +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(E'r +2 "core" &   C +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &k& +3 "core" &  1 +3 .tForearm.seek PC +2 "manipulator"&l' +92 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tPC.seek :open +2 "processing"%b( +100 "core" ' +2 "storage"(%- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +301 ( +2 "storage"("& +4 "core" &,i\ " L\  +2 "manipulator"&`& +3 "core" &  +2 "manipulator"&2% +4 "core" %  J +2 .tForearm.seek :retract +2 "manipulator"&}' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +241 "core" ( + "manipulator"&J& +4 "core" &  7 "| +2 "storage"(!& +4 "core" &,i P ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +2 .tHand.open + "manipulator"&x1 +61 "core" 1 +2 "storage"(C- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(_- +2 "core" -' +3 "storage"(p& +3 "core" &,i #  I\  +2 "manipulator"&\\& +4 "core" &   % "{ +2 .tElbow.seek 4 +2 "manipulator"&o( +4 "core" ( + "manipulator"&I& +4 "core" &  A "{ +3 "storage"(/& +3 "core" &,i , 4 ^\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(^'" +59 "core" ' +2 "manipulator"&.& +4 "core" &  - "{ +2 "storage"( & +4 "core" &,i\ \  y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Q'7 +43 "core" ' +9 .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +27 "core" ' +2 "manipulator"&D% +4 "core" %A & I +2 "storage"(7& +4 "core" &,i J R\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 310 counts + "manipulator"&~'m +14 "core" ' + "manipulator"&4& +4 "core" &  "{ +2 "storage"(5& +4 "core" &,i M {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&S' +16 "core" ' + "storage"(% +4 "core" % H `\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (P% +4 "core" %SO\  V\ Xg +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (U& +3 "core" &,i\ \  <\  +2 "collection"'<& +4 "core" &\\m\ A\ A\ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&?% +4 "core" %   +2 "storage"((% +3 "core" % M i\  +2 "storage"(). +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(9(,y +25 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +4 "core" &,} K X\ +2 "manipulator"&T& +3 "core" &  "z +3 .tElbow.seek 4 +2 "manipulator"&V( +2 "core" ( +3 "manipulator"&& +3 "core" &   "z +2 "storage"(u& +4 "core" &,} M t\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +97 "core" ' + "storage"(n& +4 "core" &,}\ E\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +301 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +4 "core" &  "z + "storage"( & +4 "core" &,l\ ,\ - f\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&>'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(h'g +29 "core" ' + "manipulator"&R% +4 "core" %C 4 D +2 "storage"(& +4 "core" &,l J _\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts +2 "manipulator"&,'o +13 "core" ' + "manipulator"&r& +4 "core" &  "z +2 "storage"(Z& +4 "core" &,l J G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(e' +40 "core" ' +2 "manipulator"&& +4 "core" &  "z +2 "manipulator"&i% +4 "core" % ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +151 "core" ( + "manipulator"&Y& +4 "core" &ӓ  D 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӕ H 7 +2 .tForearm.seek CC +2 "manipulator"&W'? +95 "core" ' + .tHand.close +2 "manipulator"&c/ +62 "core" / +2 .tCC.seek :open +2 "collection"'X( +450 "core" ( +4 "storage"(\ & +4 "core" &,l , )\  +2 "storage"(j& +4 "core" &,l ' '\  +2 "manipulator"&8& +4 "core" &ӭ 4 +2 "manipulator"&% +4 "core" % Q , +2 .tForearm.seek :retract +2 "manipulator"&t' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(w& +4 "core" &,l S Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&O'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&11 +57 "core" 1 +2 "manipulator"&$% +5 "core" %  W + "storage"(g& +4 "core" &,l X W\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 273 counts +2 "manipulator"&;'H +15 "core" ' + "manipulator"& & +4 "core" &   ]  +2 "storage"(& +4 "core" &,l F F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +25 "core" ' +2 "storage"(N% +3 "core" % n P \ +3 ."downElevator"SE.seek :down +3 "storage"(]' +99 (z% +3 "core" %B / .\ U^ +2 "manipulator"&3% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" &\ \ \ +2 "manipulator"&q% +4 "core" %  S  +2 "storage"({% +4 "core" % R J \  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(f(<- +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<1 \\ "\  +3 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&m( +7 "core" ( +2 "manipulator"&0& +4 "core" &  <  +2 "storage"(& +3 "core" &<1 W W \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +90 "core" ' +2 "storage"([& +4 "core" &<1 l k \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(:- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &<. G T =\  +2 "manipulator"&k& +4 "core" & ?  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" &  G  +2 "storage"(& +4 "core" &<. T V s\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&%'Ϲ +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&'/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(*' +6 "core" &    +2 "manipulator"&E% +4 "core" % ϰ  B +2 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&2& +4 "core" &ӗ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +47 "core" &ӗ  4 +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'? +95 "core" ' +2 "manipulator"&!& +4 "core" &ӗ 9 4 +2 "manipulator"&% +4 "core" %7 4 e +2 "collection"'x& +4 "core" &\ \ f\ +3 "collection"'C& +5 .tCC.seek :closed +2 "collection"'_(\\ +3 "core" &\ \ d\ +6 &;\ \ ^\ $e +10 &Xx\ \ m\ 7 +9 &w\ !\ ^\ K +10 &U\ !\ g\ K +9 &U\ "\ !\ K +9 &BS\ !\ #\ K +10 &T\ "\ $\ K +9 &W\ "\ #\ K +9 &R\ %\ "\ K +10 &JT\ #\ #]\ K +9 & R\ $\ #d\ K +9 &!T\ #\ #f\ J +10 &#U\ #\ #\ K +9 &%RR\ "\ "|\ K +10 &'T\ $\ %\ K +9 &(W\ #\ !\ K +9 &*Q\ "\ $\ K +10 &,[T\ $\ #\ J +9 &.T\ $\ #\ K +9 &/X\ #\ #\ K +10 &1V\ "\ $\ K +9 &3bW\ #\ #\ K +10 &5%U\ $\ #\ J +9 &6U\ $\ $o\ K +9 &8T\ #\ &k\ J +10 &:iV\ $\ $w\ K +9 &<,V\ $\ $\ K +9 &=U\ &\ $\ J +10 &?W\ #\ #\ K +9 &ArZ\ &\ &\ K +10 &C2\\\ '\ '\ L +9 &Dc\ (\ +\ L +9 &Fk\ /\ ,\ M +10 &Hj\ 8\ 3\ P +9 &J\ M\ G\ U +10 &K\ R\ R\ W +9 &M\ O\ P\ W +9 &O]\ J\ L\ X +10 &Q\ K\ J\ X +9 &R\ H\ G\ Y +9 &T\ I\ G\ Z +10 &V^\ I\ G\ Z +9 &X\ I\ H\ [\ +9 &Y\ H\ G\ \\ +10 &[\ H\ I\ H +9 &\\=\ H\ G\ )| +10 &\\l\ E\ F\ L +2 ( +2 "collection"'C& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&p1 +60 "core" 1 +2 "manipulator"&\\% +4 "core" % 7 \\ e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +98 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%/& +4 "core" &\ +3 "manipulator"&}% +4 "core" %   @  +2 "storage"(.% +4 "core" % J Z\  +2 "storage"( . +2 "core" .(<1 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (D& +3 "core" &X\ N +10 &@Z\ N +9 &Bw_\ N +9 &D6c\ O +10 &El\ P +9 &Gz\ Q +10 &Ip\ S +9 &K2\ S +9 &L\ T +10 &N\ T +9 &Pu\ T +9 &R6\ U +10 &S\ U +9 &U\ T +10 &Wz\ V +9 &Y?\ T +9 &Z\ U +10 &\\\ U +9 &^<i\ )} +9 &^j\ 9 +9 ( +2 &^$\ 1 +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&K1 +64 "core" 1 +2 "manipulator"&% +4 "core" %   H Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +95 "core" ' + "processing"%A& +4 "core" &^%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"& % +3 "core" % !   r - +3 "storage"(B% +3 "core" %\ \ ;\  +2 "storage"(R. +4 "core" .(<- + "storage"(& +4 "core" &/ +53 "core" / +3 .tPC.seek :open +2 "processing"%,( +96 "core" ' +2 "storage"(h- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Y'1 +42 "core" ' +303 ( +2 "storage"(& +4 "core" &<- K \\\  +2 "manipulator"&-& +3 "core" &  \ +2 "manipulator"&L% +4 "core" %   I +2 .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&=( +249 "core" ( + "manipulator"&F& +4 "core" &  D +2 "storage"(\ & +4 "core" &<-\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&j'O +92 "core" ' +2 .tHand.open + "manipulator"&81 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(w' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(W- +3 "core" -' +2 "storage"(+& +4 "core" &<-   \  +2 "manipulator"&1& +4 "core" &   D +2 .tElbow.seek 5 +2 "manipulator"&$( +28 "core" ( +2 "manipulator"&g& +3 "core" &   = h +2 "storage"( & +4 "core" &<-   T\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(N'" +56 "core" ' +2 "manipulator"&t& +4 "core" & h +2 "storage"(z& +3 "core" &<- K K\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&3'΍ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +48 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +18 "core" ' +2 "manipulator"&% +4 "core" %Ο +2 "storage"(;& +3 "core" &<- K 0\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&q' +14 "core" ' + "manipulator"&{& +4 "core" &   h +2 "storage"(& +4 "core" &<- K ;\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +15 "core" ' + "storage"(y% +4 "core" % K 1\ +3 ."downElevator"SE.seek :down +3 "storage"(]' +99 (9% +3 "core" %4R\ \ \ \ \ Wf +2 "manipulator"&% +4 "core" %:  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (0& +3 "core" &<- / \  +2 "collection"'& +4 "core" &\\k\ C\ A\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&[% +3 "core" %    +3 "storage"(G% +3 "core" % ^\  +2 "storage"(@. +3 "core" .(<- +2 "storage"(:& +5 "core" &<- & E\  + "storage"(#& +4 "core" &<- & &\  +2 "manipulator"&k& +3 "core" & h +3 .tElbow.seek 5 +2 "manipulator"& ( +2 "core" ( +3 "manipulator"&& +3 "core" &  h +2 "storage"('& +4 "core" &<- b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +101 "core" ' +2 "storage"(E& +3 "core" &<- & " [\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +306 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" &  h +2 "storage"(l& +4 "core" &<- J o\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(!'u +29 "core" ' +2 "manipulator"&% +4 "core" %Ο +2 "storage"(x& +4 "core" &<-\  "\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&*' +15 "core" ' + "manipulator"&"& +4 "core" & \  * h +2 "storage"(X& +4 "core" &<- M *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(\\' +36 "core" ' + "manipulator"&/& +4 "core" & 8 h +2 "manipulator"&}% +3 "core" %=  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +87 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +161 "core" ( + "manipulator"&C& +4 "core" &Ӕ ( 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &Ӕ . 6 +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +2 .tHand.close + "manipulator"&7/ +63 "core" / +2 .tCC.seek :open + "collection"'J( +450 "core" ( +2 "storage"(5& +3 "core" &<- , . =\  +2 "storage"(& +4 "core" &<- ( , /\  +2 "manipulator"&f& +4 "core" &ӯ  3 +2 "manipulator"&% +4 "core" % = +42 .tForearm.seek :retract +9 "manipulator"&`' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&I( +164 "core" ( +2 "manipulator"&P& +4 "core" & _  +2 "storage"(& +4 "core" &<- T T n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&6'΍ +100 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +39 "Can" \ ?= +19 "core" 1 +2 "manipulator"&~% +4 "core" % Ι \  7  +2 "storage"(<& +4 "core" &<- G G S\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 312 counts + "manipulator"&(' +14 "core" ' +2 "manipulator"&4& +4 "core" &  R  +2 "storage"( & +4 "core" &<- 9 C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&|'O +15 "core" ' +2 "storage"(U% +4 "core" % X O G\ +3 ."downElevator"SE.seek :down +4 "storage"(H' +98 (T% +3 "core" %J $ . \ Vb +2 "manipulator"&o% +4 "core" %/ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'S& +4 "core" &\ \ L\ +2 "manipulator"&n% +3 "core" %   <  +3 "storage"(?% +4 "core" % G Q R\  +2 "storage"(). +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(b(K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +3 "core" &K # ' "\  +2 "manipulator"&& +3 "core" & e  +3 .tElbow.seek 6 + "manipulator"&A( +5 "core" ( + "manipulator"& & +5 "core" &    + "storage"(B& +4 "core" &K W W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +98 "core" ' + "storage"(& +4 "core" &K i m \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" &K P > \  +2 "manipulator"&a& +4 "core" &  J  +2 .tElbow.seek 6 +2 "manipulator"&V( +4 "core" ( + "manipulator"&& +5 "core" & V  + "storage"(>& +4 "core" &K P G /\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&h'h +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(&' +8 "core" & m  +2 "manipulator"&% +3 "core" % a ! +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&L& +3 "core" &Ӗ " 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &Ӗ & 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'? +99 "core" ' + "manipulator"&\ & +4 "core" &Ӗ 4 +2 "manipulator"&i% +48 "core" %? > +6 "collection"'8& +4 "core" &\ \ 5\ +3 "collection"'& +5 "core" &\ \ o\ +2 .tCC.seek :closed +2 "collection"'W(\\ +5 "core" &\ \ m\  +8 &3z\ \ !w\ *x +9 &d}\ \ n\ = +10 &p\ \ o\ L +9 &JT\ "\ i\ J +9 & T\ \ "l\ K +10 &S\ !\ !j\ K +9 &T\ "\ "m\ J +10 &QT\ #\ o\ K +9 &T\ \ $n\ K +9 &T\ "\ "n\ K +10 & W\ #\ _\ K +9 &"YR\ $\ "p\ K +9 &$S\ %\ #h\ K +10 &%W\ %\ "i\ K +9 &'R\ "\ #b\ K +10 &)aT\ $\ "x\ K +9 &+#W\ %\ m\ K +9 &,W\ "\ !m\ K +10 &.T\ %\ %n\ J +9 &0iT\ %\ $t\ K +10 &2*W\ $\ "f\ K +9 &3T\ $\ #k\ J +9 &5U\ #\ %t\ K +10 &7qR\ #\ $u\ K +9 &93U\ #\ %z\ K +9 &:X\ $\ $j\ K +10 &<W\ (\ 'r\ L +9 &>v\\\ 0\ +l\ L +9 &@:W\ '\ /\ K +10 &AY\ '\ '\ L +9 &C_\ +\ (x\ L +10 &E{j\ -\ ,s\ M +9 &G6y\ :\ 3t\ O +9 &H\ M\ Ds\ S +10 &J\ W\ Vm\ W +9 &Lf\ R\ S\ W +9 &N!\ O\ Or\ Y +10 &O\ L\ L\ X +9 &Q\ K\ J\ Y +10 &Sf\ H\ F\ Z +9 &U(\ G\ Gt\ Z +9 &V\ G\ F\ Z +10 &X\ H\ H\ [\ +9 &Zh\ H\ Gv\ \\ +9 &\\ y\ I\ G\ 7 +10 &\\*\ G\ G\ 't +9 &\\\ F\ F\ [ +2 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&+1 +63 "core" 1 +2 "manipulator"&1% +4 "core" % _  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%c& +4 "core" &\ +2 "manipulator"& % +4 "core" %    +2 "storage"(t% +4 "core" %\ (\ , =\  +2 "storage"(z. +2 "core" .(K +2 "storage"(Y& +4 "core" &K\ \  :\  +2 "storage"(& +4 "core" &K\ -\ - ;\  +2 "manipulator"&& +3 "core" & \ & +2 "manipulator"&;% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&{( +148 "core" ( + "manipulator"&& +4 "core" &  ;  +2 "storage"(=& +4 "core" &K N 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +94 "core" ' +2 "storage"(j& +4 "core" &K\ \ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'r +298 "core" ' +2 "storage"(9- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K \  n\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&N& +3 "core" &   +2 "storage"(3& +4 "core" &K\ ,\ - {\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&0'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"([' +5 "core" &   +2 "manipulator"&G% +5 "core" % {  +2 .tForearm.seek :retract +2 "manipulator"&@' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +3 "manipulator"&:& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&k' +95 "core" ' + "manipulator"&& +4 "core" & O +2 "manipulator"&'% +4 "core" % E Q +2 "processing"%e& +4 "core" &\ +3 "processing"%E& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%](^ +5 "core" &\  +8 &4y\ *x +9 &d~\ > +10 &~r\ N +9 &AU\ M +9 &X\ N +10 &T\ N +9 &S\ M +9 &IT\ M +10 & X\ N +9 &S\ M +9 & U\ N +10 &"PU\ N +9 &$T\ M +10 &%T\ M +9 &'T\ N +9 &)XS\ N +10 &+X\ N +9 &,W\ N +9 &.Q\ M +10 &0`V\ N +9 &2"X\ N +10 &3W\ M +9 &5U\ M +9 &7hX\ N +10 &9*Z\ N +9 &:U\ N +9 &<V\ M +10 &>pY\ N +9 &@2U\ N +10 &A\\\ N +9 &Cb\ O +52 &Eqi\ P +4 &G1r\ Q +2 &H\ S + &J\ T + &Lo\ S + &N.!\ T +5 &O\ T +9 &Q\ U +9 &Sr\ U +10 &U3\ U +9 &V\ T +9 &X\ U +10 &Z{\ U +9 &\\<\ U +10 &]|u\ 9 +9 &^(u\ U +9 &^ \ / +3 ( +2 "processing"%E& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +4 "core" %    0 Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +94 "core" ' +2 "processing"%2& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&l% +4 "core" % \  m  +2 "storage"(% +4 "core" %\ \ \  +2 "storage"(. +3 "core" .(K +2 "storage"(x& +3 "core" &K\ \ \ \  +3 "storage"("& +2 "manipulator"&X& +8 "core" &K\ \ \ \  + &   F +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&/( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'r +2 "core" ( +3 "manipulator"&& +3 "core" &  A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &  + +2 .tForearm.seek PC +2 "manipulator"&m' +91 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%*( +101 "core" ' +2 "storage"(!- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'1 +42 "core" ' +299 ( + "storage"(D& +4 "core" &K\ \ \ +2 "manipulator"&p& +4 "core" & q +2 "manipulator"&%% +4 "core" %  8 W +2 .tForearm.seek :retract +2 "manipulator"&7' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&.( +239 "core" ( +2 "manipulator"&_& +4 "core" &  d C +2 "storage"(5& +4 "core" &K\ \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open +2 "manipulator"&f1 +61 "core" 1 +2 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(P' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"( & +4 "core" &K !\ +2 "manipulator"&Q& +3 "core" &   C +2 .tElbow.seek 6 +2 "manipulator"&~( +4 "core" ( +2 "manipulator"&<& +3 "core" &   C +2 "storage"(4& +4 "core" &K 9 -\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(U'" +51 "core" ' +2 "manipulator"&`& +3 "core" &  C +2 "storage"(T& +4 "core" &K\ \ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&o'< +24 "core" ' +2 .tElbow.hold + "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(6' +20 "core" ' +2 "manipulator"&S% +4 "core" %8  +2 "storage"(n& +4 "core" &K\ \ \ ?\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 296 counts + "manipulator"&('d +61 "core" ' +2 "manipulator"&?& +4 "core" & C +2 "storage"()& +4 "core" &K\ \ &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +17 "core" ' +2 "storage"(|% +3 "core" %\ \  \ +3 ."downElevator"SE.seek :down +4 "storage"(H' +98 (% +3 "core" %FQ \  F\ Xg +3 "manipulator"&K% +3 "core" %  g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &K\ \ \ +2 "collection"'B& +4 "core" &\\\ A\ A,\ [ +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %  7  +2 "storage"(^% +3 "core" %\ .\ - %\  +2 "storage"(u. +3 "core" .(K +2 "storage"(r& +4 "core" &K\ \  m\ +2 "storage"(Z& +4 "core" &K\ (\ , G\ +2 "manipulator"&a& +4 "core" &  C +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&>& +4 "core" &  d C +2 "storage"(s& +3 "core" &K\ )\  N\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +91 "core" ' + "storage"(& +4 "core" &K M \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +311 "core" ' +2 "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" & k C +2 "storage"(v& +5 "core" &K\ ,\ - W\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +22 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\ - +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(i'n +32 "core" ' + "manipulator"&V% +4 "core" %I +2 "storage"(8& +4 "core" &K\ \ P\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&&'u +16 "core" ' + "manipulator"&& +4 "core" & E C +2 "storage"(J& +4 "core" &K\ -\ , b\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(1' +36 "core" ' + "manipulator"&c& +4 "core" & P C +2 "manipulator"& % +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +154 "core" ( + "manipulator"&Y& +4 "core" &Ӑ p 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ  8 +3 .tForearm.seek CC +2 "manipulator"&'? +105 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"';( +450 "core" ( + "storage"(& +4 "core" &K + . .\ +3 "storage"(=& +3 "core" &K - . |\ +2 "manipulator"&F& +4 "core" & 3 & +2 "manipulator"&j% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&-' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&g( +150 "core" ( +2 "manipulator"&9& +4 "core" & M  +2 "storage"(& +4 "core" &K T Q g\ +48 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +97 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&31 +60 "core" 1 +2 "manipulator"&q% +4 "core" % 6 & +2 "storage"(& +5 "core" &K W W $\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 294 counts +2 "manipulator"&G'b +14 "core" ' +2 "manipulator"&{& +4 "core" &  +2 "storage"(y& +4 "core" &K G F $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&w' +14 "core" ' +2 "storage"(0% +4 "core" % l P 2\ +3 ."downElevator"SE.seek :down +4 "storage"(:' +98 (#% +15 "core" %G !\ Va + "manipulator"&$% +4 "core" % 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +38 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"''& +3 "core" &\ \ m\ +2 "manipulator"&e% +4 "core" %  :  +2 "storage"([% +4 "core" % F F .\  +2 "storage"(@. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(,(,y +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,w ' # 4\ +2 "manipulator"&& +3 "core" & '  +3 .tElbow.seek 4 + "manipulator"&2( +15 "core" ( + "manipulator"&l& +5 "core" &  k + "storage"(& +4 "core" &,x W W \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(x& +4 "core" &,x m n \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +300 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (E& +2 "core" &,k G R >\ +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&k& +4 "core" & s +2 "storage"(& +4 "core" &,k U T S\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&!'c +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +52 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(]' +8 "core" & D +2 "manipulator"&}% +4 "core" % c    +2 .tForearm.seek :retract +2 "manipulator"&D' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( + "manipulator"&%& +4 "core" &Ӈ ? ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &Ӈ  \\ ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&_'? +93 "core" ' +3 "manipulator"&5& +3 "core" &Ӈ  ( +3 "manipulator"&/% +3 "core" %C D +3 "collection"'f& +3 "core" &\ \ |\ +3 "collection"'& +5 "core" &\ \ z\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ }\  +9 &3y\ \ \ *y +9 &d}\ \ ~\ = +9 &n\ \ ~\ L +10 &QR\ !\ ~\ K +9 &U\ \ }\ J +10 &U\ \ !\ J +9 &T\ !\ !{\ K +54 &YV\ \ "|\ K +6 &X\ "\ "y\ K +2 &R\ \ w\ K +2 & T\ !\ !v\ J + &"bT\ #\ q\ J +2 &$#T\ $\ r\ K + &%X\ "\ #n\ K +7 &'W\ "\ "o\ K +9 &)iV\ "\ "l\ K +10 &++W\ "\ #l\ K +9 &,W\ #\ #p\ K +9 &.R\ #\ n\ K +10 &0qR\ #\ "o\ K +9 &24T\ %\ "l\ J +10 &3U\ #\ #o\ K +9 &5W\ #\ $o\ K +9 &7yR\ "\ #j\ K +10 &9<T\ %\ "z\ J +9 &:T\ &\ #m\ K +9 &<X\ #\ $o\ K +10 &>V\ %\ #o\ K +9 &@CV\ &\ 'n\ K +10 &BU\ $\ $s\ K +9 &CY\ %\ %v\ L +9 &Ee\ +\ )u\ M +10 &GBo\ /\ .w\ N +9 &H\ A\ 7k\ Q +9 &J\ R\ Kx\ V +10 &Lo\ P\ Pv\ V +9 &N.\ K\ Jv\ X +10 &O\ K\ Jz\ X +9 &Q\ H\ F\ X +9 &Sp\ G\ J\ Y +10 &U2\ I\ Fr\ Y +9 &V\ F\ F\ Z +9 &X\ I\ E|\ Z +10 &Zr\ G\ H\ [\ +9 &\\y\ H\ F\ 0 +10 &\\/\ H\ F\ b +8 ( +2 &\\u\ G\ F\ Q +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&Q% +4 "core" % C ^ D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%4& +4 "core" &\ +2 "manipulator"&7% +3 "core" %  P  +2 "storage"(`% +4 "core" % J Q\  +2 "storage"(T. +3 "core" .(,y +2 "storage"(S& +4 "core" &,k J e\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(n(,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &,{ K _\ +2 "manipulator"&P& +5 "core" &Ӈ ( + "manipulator"&?% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&)( +157 "core" ( +2 "manipulator"&.& +5 "core" &   + "storage"(|& +4 "core" &,{ O Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(& +4 "core" &,{ " &\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,l\ \  \ +3 "manipulator"&~& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&o& +4 "core" &  +2 "storage"( & +5 "core" &,l\ +\  -\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&('c +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(^' +8 "core" & >  +2 "manipulator"&u% +4 "core" % υ  +2 .tForearm.seek :retract +2 "manipulator"&6' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"&Z& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&>' +101 "core" ' +2 "manipulator"&s& +3 "core" & +3 "manipulator"&\\% +3 "core" % +3 "processing"%& +3 "core" &\ +3 "processing"%H& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%I(^ +4 "core" &\ +6 &\ 7 +10 &BIu\ 0 +9 &or~\ E +9 &]\ N +10 &U\ N +9 &Q\ M +9 &YR&\ N +10 &W\ M +9 &W\ N +10 &U\ M +9 &bT\ M +9 &!#R\ N +10 &"U\ N +9 &$R\ M +9 &&jR\ M +10 &(,T\ M +9 &)W\ N +10 &+U\ M +9 &-sS\ M +9 &/3V\ N +10 &0R\ M +9 &2U\ M +9 &4zW\ M +10 &6;Y\ N +9 &7V\ N +10 &9U\ M +9 &;Z\ N +9 &=CT\ N +10 &?U\ N +9 &@V\ M +9 &B\\\ N +10 &DG`\ O +9 &Fk\ P +10 &Gw\ Q +9 &I\ S +9 &KA\ T +10 &M\ T +9 &N\ T +9 &P\ T +10 &RF\ U +9 &T\ U +10 &U\ T +9 &W\ T +9 &YN\ U +10 &[\ U +9 &\\\ U +9 &^Dc\ &v +10 &^f\ 9 +8 ( +54 "processing"%H& +6 "core" &^"\ 2 + &^"\ 2 + &^"\ 2 + &^"\ 2 + &^"\ 2 + &^"\ 2 + &^"\ 2 +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&R% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +88 "core" ' +2 "processing"%v& +3 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&\ % +4 "core" %    "  +2 "storage"(V% +4 "core" %\ \ \ \ +2 "storage"(8. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (J& +2 "manipulator"&c& +4 "core" &,}\ \ \  \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'r +2 "manipulator"&M( +5 "core" ( +2 "manipulator"&& +4 "core" &   ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +4 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%i( +94 "core" ' + "storage"(Y- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +50 "core" ' +298 ( + "storage"(+& +4 "core" &,i M c\  +2 "manipulator"&h& +4 "core" & +2 "manipulator"&% +4 "core" %  t +2 .tForearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&W( +248 "core" ( + "manipulator"&& +4 "core" &\  p !q +2 "storage"(=& +4 "core" &,i\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&F' +100 "core" ' + .tHand.open +2 "manipulator"&j1 +59 "core" 1 +3 "storage"(9- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +3 "core" -' +2 "storage"(3& +4 "core" &,i   )\  +2 "manipulator"&q& +5 "core" &\   !q +2 .tElbow.seek 4 + "manipulator"&( +5 "core" ( + "manipulator"&{& +4 "core" &\   T !q +2 "storage"(y& +4 "core" &,i \ \ \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(-'" +61 "core" ' + "manipulator"&#& +4 "core" &\   !q +2 "storage"($& +4 "core" &,i\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&g'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"('' +28 "core" ' +2 "manipulator"&e% +3 "core" %C / D +2 "storage"(G& +4 "core" &,i\ \ \ \ -\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 312 counts +2 "manipulator"&['o +62 "core" ' + "manipulator"&@& +4 "core" &\  \ !p +2 "storage"(1& +4 "core" &,i K a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +15 "core" ' +2 "storage"(:% +3 "core" % J \ +3 ."downElevator"SE.seek :down +4 "storage"(b' +98 (% +4 "core" %IP N\ Xf +2 "manipulator"&% +4 "core" %  r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,i\ \ Q\  +2 "collection"'x& +4 "core" &\\v\ C\ C\ Q +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&N% +3 "core" %  "  +2 "storage"(% +4 "core" %\ -\ - \  +2 "storage"(X. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(E(,y +40 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &,| \ 1\ +3 "manipulator"&k& +3 "core" &\  O !p +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&O& +4 "core" &\  5 !p +2 "storage"(d& +4 "core" &,| J \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&}' +93 "core" ' +2 "storage"(2& +4 "core" &,|\ \  \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' +2 "storage"(%- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &\  !p +2 "storage"("& +4 "core" &,l\ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&!'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"( 'e +30 "core" ' + "manipulator"&f% +4 "core" %I ,  +2 "storage"(]& +3 "core" &,l\ \ k\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 318 counts + "manipulator"&D'u +15 "core" ' +2 "manipulator"&;& +4 "core" &\  !p +2 "storage"( & +3 "core" &,l L ~\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&Q' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(4' +36 "core" ' +2 "manipulator"&7& +3 "core" &\   B !p +2 "manipulator"&`% +4 "core" % q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +149 "core" ( +2 "manipulator"&& +3 "core" &ӑ 1 5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &ӑ    5 +3 .tForearm.seek CC +2 "manipulator"&P'? +93 "core" ' + .tHand.close +2 "manipulator"&?/ +64 "core" / +2 .tCC.seek :open +2 "collection"'_( +449 "core" ( +2 "storage"(.& +4 "core" &,l , + \ +2 "storage"(|& +4 "core" &,l ' - `\ +2 "manipulator"&,& +4 "core" &ӟ - 4 +2 "manipulator"&% +4 "core" % Q  T +2 .tForearm.seek :retract +2 "manipulator"&p' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&<( +200 "core" ( +9 "manipulator"&K& +4 "core" & '  +2 "storage"( & +4 "core" &,l Q T `\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&~'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&B% +4 "core" % G  H 8 +2 "storage"(& +4 "core" &,l U V\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 316 counts + "manipulator"&u's +16 "core" ' +2 "manipulator"&)& +4 "core" &  \ O  +2 "storage"(& +4 "core" &,l F F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +15 "core" ' +2 "storage"((% +4 "core" % G G -\ +3 ."downElevator"SE.seek :down +4 "storage"(Z' +98 (a% +3 "core" %H # <\ Va +2 "manipulator"&U% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'\\& +3 "core" &\ \ *\ +2 "manipulator"&% +4 "core" %  |  +2 "storage"(^% +4 "core" % F Q 4\  +2 "storage"(6. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(*(<- +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<, J G\  +2 "manipulator"&R& +4 "core" & #  +2 .tElbow.seek 5 +2 "manipulator"&v( +4 "core" ( +2 "manipulator"&\ & +3 "core" & \  ?  +2 "storage"(V& +4 "core" &<, T V d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&8'O +91 "core" ' +2 "storage"(H& +4 "core" &<, k m \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'r +307 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<, P > O\  +2 "manipulator"&A& +4 "core" & x  +2 .tElbow.seek 5 +2 "manipulator"&>( +4 "core" ( + "manipulator"&&& +4 "core" &  X  +2 "storage"(n& +4 "core" &<, < 9 Y\  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&Y'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +3 "storage"(I' +8 "core" &   +2 "manipulator"& % +4 "core" % ϲ  # +2 .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&h(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&& +4 "core" &Ӕ r 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӕ  5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + "manipulator"&=& +4 "core" &ӕ 5 +2 "manipulator"&M% +4 "core" %H j i +2 "collection"'j& +4 "core" &\ \ 4\ +3 "collection"'9& +6 "core" &\ \ w\ +2 .tCC.seek :closed +3 "collection"'z(\\ +55 "core" &\ \ \ + &\ \ }\ +2 &\ \ |\ + &\ \ \ + &\ \ \ + &\ \ \ + &\ \ ~\  +4 &6}\ \ z\ +{ +8 &h}\ \ w\ ? +10 &k\ \ v\ L +9 &cR\ \ v\ K +10 &&T\ \ x\ J +9 &T\ \ u\ J +9 &T\ \ o\ J +10 &lS\ \ w\ J +9 &-U\ !\ "n\ K +9 &W\ \ !l\ K +10 & W\ "\ "l\ K +9 &"sW\ #\ #j\ K +10 &$5W\ "\ "i\ K +9 &%W\ "\ "q\ K +9 &'R\ "\ "k\ K +10 &){R\ "\ "n\ K +9 &+=Q\ !\ #o\ K +9 &,W\ #\ #l\ K +10 &.W\ "\ #m\ K +9 &0W\ \ #g\ K +10 &2ER\ #\ #k\ K +9 &4S\ #\ "n\ K +9 &5S\ "\ "k\ K +10 &7R\ "\ $l\ K +9 &9LR\ #\ #t\ K +9 &;T\ $\ #n\ J +10 &<U\ #\ #o\ K +9 &>V\ %\ "t\ J +10 &@TU\ &\ %n\ K +9 &BW\ $\ $k\ K +9 &C\\\ %\ 'v\ L +10 &Ec\ )\ )z\ M +9 &GTp\ 0\ .s\ N +9 &I \ @\ 9u\ Q +10 &J\ P\ Ms\ V +9 &L\ O\ Ru\ W +10 &N@\ L\ Lw\ W +9 &P\ H\ Ko\ W +9 &Q\ H\ Hu\ X +10 &S\ G\ Jy\ Y +9 &UA\ F\ Gp\ Z +9 &W\ H\ Gk\ Z +10 &X\ I\ Gn\ Z +9 &Z\ H\ Gs\ [\ +10 &\\%y\ F\ Gs\ / +9 &\\.\ F\ H\ ` +9 ( +3 "collection"'9& +3 "core" &\\_\ E\ C\ L +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&31 +54 "core" 1 +2 "manipulator"&q% +3 "core" % H ? i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%y& +4 "core" &\ +2 "manipulator"&t% +4 "core" %  &  +2 "storage"(#% +3 "core" % H T\  +2 "storage"($. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(e(<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &<, \  ?\  +2 "manipulator"&& +4 "core" &Ӫ h 2 +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&@( +154 "core" ( + "manipulator"&1& +4 "core" &  +2 "storage"(W& +4 "core" &<, " & E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +95 "core" ' +3 "storage"(F& +4 "core" &<, ^\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<, N _\  +2 "manipulator"&0& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&-& +4 "core" & ) +2 "storage"(g& +4 "core" &<, N o\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(N' +6 "core" & Y +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&X' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&& +4 "core" & @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" & @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&O' +102 "core" ' +2 "manipulator"&d& +4 "core" &  ? +2 "manipulator"&w% +4 "core" % " +2 "processing"%2& +4 "core" &\ +3 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +6 &6\ $d +9 &X~G\ 7 +10 &{\ L +9 &U\ N +9 &lW\ N +10 &/Q\ M +9 &V\ M +9 &X\ M +10 &uR\ M +9 &7U\ M +10 &X\ N +9 &!W\ M +9 &#}W\ M +10 &%?S\ M +9 &'U\ M +9 &(X\ N +10 &*V\ N +9 &,GY(\ M +10 &. R\ M +9 &/U\ M +9 &1W\ M +10 &3NW\ N +9 &5U\ M +9 &6U\ M +10 &8Y\ N +9 &:WX\ M +10 &<W\ N +9 &=Y\ N +9 &?W\ N +10 &A]\\\ N +9 &Cd\ O +9 &Dg\ P +10 &Fm\ P +9 &HY\ R +10 &J\ T +49 &K\ T +5 &M\ T +3 &O\\\ T + &Q\ U +2 &R\ T + &T\ U +4 &Vb\ T +10 &X"\ U +9 &Y\ T +9 &[\ U +10 &]h\ B +9 &^Bs\ [ +9 &^>\ 2 +6 ( +2 "processing"%b& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&1 +4 "core" &^%\ 2 +52 1 + "manipulator"&l% +4 "core" %   9 # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +89 "core" ' +3 "processing"%m& +3 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&"% +4 "core" %     +2 "storage"(/% +4 "core" % J \  +2 "storage"(f. +2 "core" .(<- +3 "storage"(]& +4 "core" &<, I 2\  +2 "storage"(;& +3 "manipulator"& & +8 "core" &<, M W\  + & \ \  ? +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&7( +7 ."raiseStack"SE.seek :beamBreak + "storage"(`'r +3 "core" ( +3 "manipulator"&}& +3 "core" &   2 ? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  = ? +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + .tHand.close +2 "manipulator"&!/ +58 "core" / +2 .tPC.seek :open +2 "processing"%D( +100 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +297 ( + "storage"(C& +4 "core" &<,\ \ * 4\  +2 "manipulator"&Q& +4 "core" &  ? +2 "manipulator"&5% +4 "core" %  h +2 .tForearm.seek :retract +2 "manipulator"&?' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&T( +244 "core" ( + "manipulator"&& +4 "core" & * ; +2 "storage"(.& +4 "core" &<, J T\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +88 "core" ' +2 .tHand.open + "manipulator"&,1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(P' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(K' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(S& +4 "core" &<, )  B\  +2 "manipulator"& & +5 "core" &    ; + .tElbow.seek 5 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&& +3 "core" &  6 ; +2 "storage"()& +4 "core" &<, \ \ \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(('" +57 "core" ' +3 "manipulator"&p& +3 "core" &  ; +2 "storage"(a& +4 "core" &<, M '\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&U'΍ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(~' +28 "core" ' +2 "manipulator"&\\% +5 "core" %Δ ; y + "storage"(u& +93 "core" &<,\ -\ - m\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 307 counts + "manipulator"&' +14 "core" ' +47 "manipulator"&^& +5 "core" &  6 +2 "storage"(6& +5 "core" &<,\ _ G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +20 "core" ' +2 "storage"(% +4 "core" % ( & N\ +3 ."downElevator"SE.seek :down +4 "storage"(Z' +98 (E% +3 "core" %O\ \ \ \ Xf +2 "manipulator"&% +4 "core" %8 \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +3 "core" &<, + q\  +3 "collection"'V& +3 "core" &\\_\ B\ Ci\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&H% +3 "core" %  .  +2 "storage"(o% +4 "core" % ' ' ^\  +2 "storage"(s. +3 "core" .(<- +2 "storage"(c& +4 "core" &<, & & a\  +2 "storage"(& +4 "core" &<, ( ' &\  +2 "manipulator"&A& +4 "core" & 6 +2 .tElbow.seek 5 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&n& +4 "core" &  6 +2 "storage"(r& +4 "core" &<, & " \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&L'O +97 "core" ' + "storage"( & +4 "core" &<, $ & ,\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +308 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 6 +2 "storage"(& +4 "core" &<, M \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&J'΍ +26 "core" ' +2 .tElbow.hold + "manipulator"&Y, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(M'u +30 "core" ' +2 "manipulator"&j% +3 "core" %Ο  +2 "storage"(>& +4 "core" &<, J U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&I' +15 "core" ' +2 "manipulator"&+& +4 "core" &  6 +2 "storage"(_& +4 "core" &<, ! E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&3'O +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(q' +34 "core" ' +2 "manipulator"&y& +3 "core" &  6 +2 "manipulator"&t% +4 "core" %K 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +146 "core" ( + "manipulator"&G& +4 "core" &y#  <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +4 "core" &y# : <; +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(1& +3 "core" &<, + - -\  +2 "storage"(W& +4 "core" &<, " * F\  +2 "manipulator"&*& +4 "core" &Ӹ 3 +2 "manipulator"&F% +3 "core" % . ;  +3 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&{( +161 "core" ( +2 "manipulator"&& +4 "core" & ]  +2 "storage"(& +4 "core" &<, I Q R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +50 .tForearm.seek 5 +2 "manipulator"&0'΍ +101 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +63 "core" 1 +3 "manipulator"&[% +4 "core" % Ώ  = +2 "storage"(x& +4 "core" &<, T T j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&'ϻ +14 "core" ' + "manipulator"&@& +4 "core" &  +  +2 "storage"(:& +3 "core" &<, L G ]\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +19 "core" ' + "storage"(% +4 "core" % F G '\ +8 ."downElevator"SE.seek :down +3 "storage"(' +99 (k% +3 "core" %E . - Z\ V` +2 "manipulator"&% +4 "core" %2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'w& +4 "core" &\ \ w\ +2 "manipulator"&2% +4 "core" %  K  +2 "storage"(N% +3 "core" % F G %\  +2 "storage"(X. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(i(K +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" &K 2 * +\  +2 "manipulator"&l& +3 "core" & Q  +2 .tElbow.seek 6 +2 "manipulator"&m( +4 "core" ( + "manipulator"&"& +4 "core" &   +2 "storage"(/& +5 "core" &K W V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +94 "core" ' + "storage"(]& +4 "core" &K k k\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'r +292 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (b& +2 "core" &K @ -\  +3 "manipulator"&}& +3 "core" & \\  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&O& +4 "core" & ]  +2 "storage"(!& +4 "core" &K F F V\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(' +7 "core" & X  +2 "manipulator"&`% +5 "core" % ϓ   +2 .tForearm.seek :retract +2 "manipulator"&C' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +153 "core" ( +2 "manipulator"&5& +4 "core" ' + &x%  >L +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +4 && +3 "core" &x% >L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +98 "core" ' +2 "manipulator"&.& +3 "core" &x& >L +2 "manipulator"&7% +4 "core" %D  ! +2 "collection"',& +4 "core" &\ \ w\ +3 "collection"'& +5 "core" &\ \ 6\ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" &\ \ x\  +9 &6~\ \ x\ *z +9 &h~\ \ ~\ ? +9 &k\ \ \ L +10 &eT\ \ !\ J +9 &&U\ "\ !\ K +9 &R\ !\ !\ K +10 &R\ \ }\ K +9 &mS\ \ !\ J +9 &.U\ "\ "\ K +10 &R\ #\ !~\ K +9 & R\ \ "x\ K +54 &"tR\ "\ #z\ K +5 &$7T\ "\ #x\ J +3 &%T\ #\ "\ K +2 &'W\ #\ #~\ K + &)}T\ "\ $v\ J +2 &+?T\ "\ "u\ J + &-U\ !\ $l\ K +7 &.W\ %\ %l\ K +10 &0W\ $\ #o\ K +9 &2FW\ "\ $u\ K +9 &4R\ $\ "p\ K +10 &5T\ #\ $q\ J +9 &7T\ "\ "p\ K +10 &9MX\ &\ "o\ K +9 &;U\ %\ #o\ K +9 &<[\ &\ &o\ L +10 &>\\\ -\ +j\ L +9 &@WT\ %\ 'l\ J +9 &BY\ '\ &n\ L +10 &Ca\ (\ )k\ L +9 &Ek\ -\ ,n\ M +10 &GRz\ 9\ 5o\ O +9 &I\ M\ Fo\ S +9 &J\ X\ Yk\ V +10 &L\ T\ Um\ W +9 &N@\ O\ Ql\ X +9 &P\ M\ Ko\ X +10 &Q\ J\ Jo\ X +9 &S\ I\ Hn\ Y +10 &UE\ H\ Ho\ Y +9 &W\ G\ Hm\ Z +9 &X\ G\ Ik\ Z +10 &Z\ G\ Go\ \\ +9 &\\(y\ H\ Fo\ / +9 &\\-\ H\ Hn\ ] +9 ( +2 &\\e\ E\ Fg\ N +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&S1 +52 "core" 1 +3 "manipulator"& % +3 "core" % D  2 ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%)& +4 "core" &\ +2 "manipulator"&?% +4 "core" %    +2 "storage"(p% +4 "core" %\ \ (\  +2 "storage"(a. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (\\& +3 "core" &K K c\  +3 "manipulator"&P& +3 "core" &  ( +2 "manipulator"&u% +4 "core" %  |  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&T( +155 "core" ( +2 "manipulator"&^& +4 "core" & % % +2 "storage"(|& +4 "core" &K ( ( \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&K' +94 "core" ' +2 "storage"(6& +4 "core" &K $ ! #\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &K\ !\  Y\  +2 "manipulator"&(& +4 "core" &  % +2 .tElbow.seek 6 +2 "manipulator"&E( +4 "core" ( + "manipulator"&& +4 "core" & % +3 "storage"(U& +3 "core" &K _\  f\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(H' +7 "core" & % +2 "manipulator"&o% +4 "core" % s +2 .tForearm.seek :retract +2 "manipulator"&s' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&c& +4 "core" & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +103 "core" ' +2 "manipulator"&n& +3 "core" & 0 +2 "manipulator"&r% +4 "core" % 2 +2 "processing"%4& +4 "core" &\ +3 "processing"% & +5 "core" &#\ +2 .tPC.seek :closed +2 "processing"%Z(^ +3 "core" &\  +10 &1v\ )w +9 &b~-\ = +10 &ku+\ N +9 &.U\ M +9 &Z\ N +10 &W\ M +9 &sZ\ N +9 &5WA\ N +10 &T\ M +9 &U\ M +10 & |W4\ M +9 &">Y&\ M +9 &#Y\ N +10 &%V\ M +9 &'V\ M +9 &)FY<\ M +10 &+U\ M +9 &,V\ M +10 &.Wq\ M +9 &0MY\ N +9 &2W8\ N +10 &3XA\ M +9 &5X\ M +9 &7UX\ N +10 &9Z5\ N +9 &:W0\ N +10 &<U\ N +9 &>]\\\ N +9 &@W\ N +10 &AZ\ N +9 &Cd\ O +9 &E`h\ O +10 &Gp@\ P +9 &H\ S +10 &J>\ S +9 &L[\ T +9 &N?\ T +10 &O\ T +9 &Q;\ U +9 &S`\ U +10 &U#\ T +9 &V@\ T +10 &X\ T +9 &Zg\ U +9 &\\)\ U +10 &]~(\ 5 +9 &^-q\ S +9 &^+\ / +3 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&<1 +104 "core" 1 +4 "manipulator"&R% +4 "core" %  \ & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +89 "core" ' +2 "processing"%& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %   +2 "storage"(=% +4 "core" % J /\  +2 "storage"(j. +2 "core" .(K +3 "storage"(>& +3 "core" &K K \  +3 "storage"(+& +2 "manipulator"&_& +5 "core" &K J W\  +2 &    +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(y'r +2 "manipulator"&t( +6 "core" ( + "manipulator"&L& +4 "core" & \   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &   = +3 .tForearm.seek PC +2 "manipulator"&v' +96 "core" ' +2 .tHand.close +2 "manipulator"&J/ +63 "core" / +2 .tPC.seek :open +2 "processing"%I( +80 "core" ' +2 "storage"(G- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'1 +45 "core" ' +317 ( +2 "storage"(9& +3 "core" &K O v\  +2 "manipulator"&3& +4 "core" & 3 +2 "manipulator"&Y% +4 "core" %   _ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&#( +239 "core" ( +2 "manipulator"&z& +4 "core" & / 5 +2 "storage"(1& +4 "core" &K M \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +95 "core" ' +2 .tHand.open + "manipulator"&*1 +61 "core" 1 +3 "storage"(F- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"($& +3 "core" &K 9 9 "\  +2 "manipulator"&g& +4 "core" &   3 4 +2 .tElbow.seek 6 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&x& +4 "core" &   4 +2 "storage"(@& +3 "core" &K 7 5 \ \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&:' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&h& +4 "core" &  4 +2 "storage"(k& +4 "core" &K J Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +28 "core" ' +2 "manipulator"&% +3 "core" %N ! +2 "storage"(w& +4 "core" &K J f\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&2'z +16 "core" ' +2 "manipulator"&N& +3 "core" &  4 +3 "storage"(X& +4 "core" &K M K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +17 "core" ' +40 "storage"(% +11 "core" % R\ $ $\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (e% +4 "core" %R\ \ \ \ \ Xh +2 "manipulator"&% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 ("& +3 "core" &K\ # R\  +2 "collection"'/& +4 "core" &\\e\ B\ B(\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&]% +3 "core" %  9  +2 "storage"(-% +4 "core" % \  +2 "storage"(d. +3 "core" .(K +2 "storage"( & +4 "core" &K $ o\  +2 "storage"(b& +4 "core" &K ^ 2 \  +2 "manipulator"&}& +3 "core" & 4 +3 .tElbow.seek 6 +2 "manipulator"&O( +2 "core" ( +3 "manipulator"&!& +3 "core" &  4 +2 "storage"('& +4 "core" &K ! ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&%' +93 "core" ' +2 "storage"(`& +3 "core" &K ) " L\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +297 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" &  4 +2 "storage"(& +5 "core" &K J Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&;'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(7'o +30 "core" ' +2 "manipulator"&,% +3 "core" %J  +2 "storage"(& +4 "core" &K N l\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 314 counts + "manipulator"&'v +15 "core" ' + "manipulator"&C& +4 "core" & P 4 +2 "storage"(& +4 "core" &K N f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +45 "core" ' +2 "manipulator"&)& +4 "core" & 4 +2 "manipulator"&?% +4 "core" % 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +154 "core" ( + "manipulator"&& +4 "core" &ӏ 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &ӏ 6 +2 .tForearm.seek CC +2 "manipulator"&P'? +106 "core" ' +2 .tHand.close + "manipulator"&u/ +54 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( + "storage"(^& +4 "core" &K ( ( \  +2 "storage"(|& +5 "core" &K ( ' 6\  + "manipulator"&i& +4 "core" &  & +2 "manipulator"&6% +3 "core" % ε  ; +3 .tForearm.seek :retract +2 "manipulator"&Q' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +149 "core" ( + "manipulator"&& +4 "core" & y  +2 "storage"(B& +4 "core" &K G J \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&('< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +41 .tElbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&U1 +53 "core" 1 +3 "manipulator"&\ % +4 "core" % 6 5 +2 "storage"(V& +4 "core" &K R I \\\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 294 counts + "manipulator"&o'b +15 "core" ' +2 "manipulator"&T& +3 "core" & j  +2 "storage"(K& +4 "core" &K O l "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +17 "core" ' + "storage"(% +4 "core" % k m\ +3 ."downElevator"SE.seek :down +3 "storage"(c' +99 (% +3 "core" %D . 0 8\ Va +2 "manipulator"&E% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'r& +4 "core" &\ \ <\ +2 "manipulator"&4% +4 "core" %    # +2 "storage"(H% +4 "core" % W V \  +2 "storage"(s. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(D(,y +671 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &,| ! # ^\ +2 "manipulator"&R& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & ?  +2 "storage"(& +4 "core" &,| W W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +95 "core" ' + "storage"(j& +4 "core" &,| m l \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +300 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +3 "core" &,k G R :\ +2 "manipulator"&L& +4 "core" & 7  +2 .tElbow.seek 4 +2 "manipulator"&&( +2 "core" ( +2 "manipulator"&A& +4 "core" &  +2 "storage"(J& +4 "core" &,k T T e\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&G'c +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +6 "storage"(Z' +3 "core" &  n  +2 "manipulator"&y% +6 "core" % ϕ   a +2 .tForearm.seek :retract + "manipulator"&9' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3(ӂ +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&Y& +3 "core" &Ӫ  0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &Ӫ  H 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&z'? +100 "core" ' +2 "manipulator"&1& +3 "core" &Ӫ < 0 +2 "manipulator"&t% +4 "core" %A K  +2 "collection"'*& +4 "core" &\ \ \ +3 "collection"'F& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &\ \ L\ +8 &A\ \ \ $f +9 &Z{\ \ \ 7 +9 &v\ \ \ K +10 &Q\ \ z\ K +9 &R\ \ y\ K +9 &JT\ \ {\ K +10 & S\ \ \ J +9 &U\ !\ z\ K +10 &R\ \ \ K +9 &RT\ \ \ K +9 & W\ "\ !}\ K +10 &!R\ !\ "z\ K +9 &#T\ !\ !{\ K +9 &%ZU\ "\ "\ K +10 &'S\ "\ !y\ J +9 &(T\ !\ !y\ K +10 &*V\ \ z\ K +9 &,bS\ \ !w\ K +9 &.$T\ "\ "w\ K +10 &/V\ !\ !w\ K +9 &1S\ #\ "w\ K +9 &3jT\ \ !w\ K +10 &5+W\ !\ "x\ K +9 &6T\ \ "O\ K +10 &8W\ "\ "z\ K +9 &:rU\ !\ !h\ K +9 &<3Y\ "\ #|\ K +10 &=U\ "\ !t\ K +9 &?U\ !\ $o\ K +9 &A{U\ !\ !p\ J +10 &C:\\\ $\ "s\ L +50 &De\ &\ (o\ M +4 &Fk\ *\ +r\ N +2 &Hr\ 7\ 0|\ P +2 &J(\ I\ Dn\ U + &K\ N\ Nx\ X + &M\ J\ Mr\ W +5 &Oe\ H\ Js\ X +10 &Q%\ F\ Ht\ X +9 &R\ D\ Ft\ Y +10 &T\ E\ Gs\ Z +9 &Vf\ F\ El\ Z +9 &X'\ G\ Fi\ Z +10 &Y\ E\ En\ \\ +9 &[\ G\ Go\ H +9 &\\5\ G\ Fw\ . +10 &\\p\ D\ E~\ M +2 ( +2 "collection"'F& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&$1 +57 "core" 1 +2 "manipulator"&g% +5 "core" % A  3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%@& +3 "core" &\ +3 "manipulator"&% +3 "core" %  =  +2 "storage"(h% +4 "core" % M #\  +2 "storage"(k. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +14 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (M& +3 "core" &,z \ +\  +2 "manipulator"&w& +4 "core" &Ӫ = 0 +2 "manipulator"&N% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +159 "core" ( +2 "manipulator"&X& +4 "core" & +  +2 "storage"(& +4 "core" &,z ( " \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +93 "core" ' +2 "storage"(W& +4 "core" &,z & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (:& +3 "core" &,l\ \ \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&[( +4 "core" ( + "manipulator"&& +4 "core" & /  +2 "storage"(& +3 "core" &,l\ )\ - \\\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&2'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&"/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(]' +8 "core" & Y  +2 "manipulator"&-% +4 "core" % W . +2 .tForearm.seek :retract +2 "manipulator"&d' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"& & +4 "core" & 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +4 "core" & 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +96 "core" ' +2 "manipulator"&!& +3 "core" & e 2 +3 "manipulator"&'% +3 "core" % V ~ +2 "processing"%q& +4 "core" & \ +3 "processing"%`& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%(^ +3 "core" &0\ +6 &\ 5 +9 &=Gu%\ 0 +10 &hr(\ D +9 &c"\ N +9 &T\ N +10 &U&\ N +9 &OU&\ N +10 &V \ N +9 &R\ M +9 &X!\ M +10 &WY:\ N +9 &!V\ N +9 &"U\ N +10 &$T,\ M +9 &&`X\ M +10 &(!T\ N +9 &)U\ N +9 &+S\ M +10 &-hR\ M +11 &/*S\ M +7 &0U\ M +10 &2Y\ M +9 &4pR\ M +10 &61T5\ N +9 &7V\ N +9 &9T\ N +10 &;w[\ N +9 &=:U\ M +9 &>X\ N +10 &@Z\ N +9 &B~]\ N +10 &D>`\ O +9 &Ek\ P +9 &Gt\ Q +10 &Iw\ S +9 &K6\ T +9 &L.\ T +10 &N\ T +9 &Pz\ U +10 &R<\ U +9 &S,\ U +9 &U\ U +10 &W\ U +9 &YD\ U +9 &[\ \ U +10 &\\$\ U +9 &^=d\ &u +9 &^Z \ . +10 ( + &^\ * +2 "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&{1 +52 "core" 1 +2 "manipulator"&l% +3 "core" %    ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +90 "core" ' +4 "processing"%5& +4 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %   s  +2 "storage"(.% +4 "core" %\ -\ , _\  +2 "storage"(,. +3 "core" .(,y +2 "storage"(& +4 "core" &,l\ ,\ - `\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(C(,y +50 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&)& +4 "core" &,u\ \ \  C\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(?'r + "manipulator"&%( +7 "core" ( +2 "manipulator"&O& +4 "core" &  < 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" & \  2 +2 .tForearm.seek PC +2 "manipulator"&;' +97 "core" ' +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%7( +84 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'1 +42 "core" ' +318 ( +2 "storage"(S& +4 "core" &,h\ " M\ +2 "manipulator"& & +4 "core" &  2 +2 "manipulator"&u% +3 "core" %  6 +3 .tForearm.seek :retract +2 "manipulator"&p' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +244 "core" ( + "manipulator"&^& +4 "core" & \ , +2 "storage"(|& +4 "core" &,h Q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&i' +94 "core" ' + .tHand.open +2 "manipulator"&61 +63 "core" 1 +2 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(a- +4 "core" -' + "storage"(U& +4 "core" &,h 7 7\ +2 "manipulator"&\ & +4 "core" & \ ! , +2 .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&T& +4 "core" &  q , +2 "storage"(K& +3 "core" &,h 6 , W\ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Q'" +50 "core" ' + "manipulator"&& +4 "core" & , +2 "storage"(& +4 "core" &,h J l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&E'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +19 "core" ' +2 "manipulator"&o% +3 "core" %? J ' +2 "storage"(4& +4 "core" &,h\ \ J\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 308 counts + "manipulator"&H'k +16 "core" ' +2 "manipulator"&s& +3 "core" &  , +2 "storage"( & +4 "core" &,h M -\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(c% +50 "core" % O O\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (<% +4 "core" %GL\ \ \ \ We +2 "manipulator"&R% +4 "core" % < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,h C i\ +2 "collection"'j& +4 "core" &\\m\ C\ ?2\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %   +2 "storage"(n% +4 "core" %\ \  G\  +2 "storage"(+. +2 "core" .(,u +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(_(,y +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +3 "core" &,x\ H\  +2 "manipulator"&A& +4 "core" & , +2 .tElbow.seek 4 +2 "manipulator"&J( +4 "core" ( +2 "manipulator"&~& +3 "core" &  , +2 "storage"(8& +4 "core" &,x\  J\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +97 "core" ' + "storage"( & +4 "core" &,x \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +295 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & Q , +2 "storage"(>& +4 "core" &,l\ \ \ x\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&G'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(t- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(&'f +31 "core" ' +2 "manipulator"&*% +4 "core" %B # M +2 "storage"(Z& +3 "core" &,l J I\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 311 counts + "manipulator"&9'n +15 "core" ' + "manipulator"&& +4 "core" & 2 , +2 "storage"($& +4 "core" &,l N e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(@' +45 "core" ' +2 "manipulator"&& +4 "core" & , +2 "manipulator"&h% +3 "core" % A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +148 "core" ( + "manipulator"&M& +4 "core" &y#   <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +4 "core" &y# 8 <@ +2 .tForearm.seek CC +2 "manipulator"&N'? +96 "core" ' + .tHand.close +2 "manipulator"&z/ +57 "core" / +2 .tCC.seek :open +2 "collection"'X( +450 "core" ( + "storage"(& +4 "core" &,l 7 *\  +2 "storage"(D& +4 "core" &,l ' ' 8\  +2 "manipulator"&W& +3 "core" &ӭ : 5 +2 "manipulator"&3% +4 "core" % A  ; +2 .tForearm.seek :retract +2 "manipulator"&x' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&e( +163 "core" ( + "manipulator"&:& +4 "core" &  +2 "storage"(& +4 "core" &,l G G <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +97 "core" ' +5 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&"1 +56 "core" 1 +2 "manipulator"&/% +5 "core" % @ R * + "storage"(-& +4 "core" &,l V R d\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 309 counts +2 "manipulator"&'l +13 "core" ' +2 "manipulator"&#& +4 "core" &  ^  +2 "storage"(& +4 "core" &,l P K E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&2' +15 "core" ' +2 "storage"( % +4 "core" % Y P \ +3 ."downElevator"SE.seek :down +4 "storage"(b' +98 ([% +3 "core" %D / . \ Va +2 "manipulator"&!% +4 "core" % # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'q& +4 "core" &\ \ ;\ +2 "manipulator"&]% +4 "core" %  [  +2 "storage"(d% +4 "core" % K = G\  +2 "storage"(I. +2 "core" .(,v +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"({(<- +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" &<+\  e\  +2 "manipulator"&5& +4 "core" & r  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&.& +3 "core" &   +2 "storage"(,& +4 "core" &<+ T J G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +101 "core" ' +2 "storage"(`& +4 "core" &<+ m k d\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (O& +3 "core" &<+ # " \  +2 "manipulator"&m& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&}( +4 "core" ( +2 "manipulator"&& +3 "core" & +  +2 "storage"(& +4 "core" &<+ T Q n\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +43 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +6 "storage"(' +3 "core" &   +2 "manipulator"&?% +5 "core" % ϸ a +2 .tForearm.seek :retract +2 "manipulator"&S' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ( +2 ' +2 ."downElevator"SE.stop +2 "manipulator"&u& + "storage"(5 +8 "core" &ӊ! f :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &ӊ! :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&^'? +101 "core" ' +2 "manipulator"&|& +4 "core" &Ӎ! > :+ +2 "manipulator"&%% +5 "core" %9 ) +2 "collection"'6& +3 "core" &\ \ &\ +3 "collection"'& +5 "core" &\ \ )\ +2 .tCC.seek :closed +2 "collection"'a(\\ +5 "core" &\ \ o\ +6 &<\ \ \ %f +10 &Z{\ \ s\ 8 +9 & t\ \ x\ K +10 &R\ \ y\ K +9 &W\ \ z\ K +9 &NR\ \  \ K +10 &T\ !\ y\ J +9 &T\ \ }\ K +9 &W\ \ "\ K +10 &VR\ \ R\ K +9 & T\ \ "\ J +10 &!T\ \ u\ J +9 &#T\ "\ y\ K +9 &%^W\ "\ "u\ K +10 &' R\ !\ !z\ K +9 &(S\ !\ \ K +10 &*T\ !\ #~\ J +9 &,gT\ !\ $|\ J +9 &.(T\ !\ "d\ K +10 &/W\ !\ "w\ K +9 &1X\ %\ "{\ K +48 &3nR\ "\ #q\ K +5 &51U\ #\ !r\ J +4 &6U\ !\ #|\ K + &8S\ !\ "{\ K + &:vU\ #\ !\ K + &<7Y\ "\ !v\ K +6 &=U\ #\ "\ K +9 &?U\ !\ "{\ K +9 &A}Z\ #\ ~\ K +10 &C?W\ $\ $o\ K +9 &Db\ '\ '\ L +10 &Fn\ +\ +\ N +9 &Hw\ 6\ 1\ P +9 &J-\ K\ E\ T +10 &K\ O\ Q\ V +9 &M\ K\ P\ X +9 &Oi\ J\ IM\ X +10 &Q*\ J\ H\ X +9 &R\ G\ H\ X +9 &T\ F\ FL\ Z +10 &Vl\ G\ FR\ Y +9 &X,\ F\ F\ Z +10 &Y\ F\ FK\ \\ +9 &[\ G\ Gl\ H +9 &\\1\ H\ H\ / +10 &\\f\ C\ Fy\ O +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&U1 +56 "core" 1 +3 "manipulator"&\ % +4 "core" % 9  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%K& +4 "core" &'\ +2 "manipulator"&p% +4 "core" %   +2 "storage"(% +4 "core" % L D\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(o(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (4& +3 "core" &<+ \  +2 "manipulator"&\\& +4 "core" &Ӭ 4 5 +2 "manipulator"&s% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 + "manipulator"& ( +160 "core" ( + "manipulator"&B& +4 "core" &  +2 "storage"(c& +4 "core" &<+ " &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +101 "core" ' + "storage"(i& +4 "core" &<+ # & Z\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +298 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &<+\ ! e\  +2 "manipulator"&& +5 "core" & =  + .tElbow.seek 5 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&Q& +4 "core" & 5  +2 "storage"(E& +3 "core" &<+ ^ \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&H'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(' +8 "core" & W  +2 "manipulator"&n% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&+' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&L& +3 "core" & , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +3 "core" & , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +105 "core" ' + "manipulator"&8& +4 "core" & O , +2 "manipulator"&% +4 "core" % w +2 "processing"% & +4 "core" &\ +3 "processing"%& +5 "core" &(\ +2 .tPC.seek :closed +2 "processing"%C(^ +5 "core" &,\ +6 &66\ #c +9 &Tx1\ 6 +10 &~{&\ K +9 &U3\ N +9 &ZX)\ M +10 &Q/\ M +9 &T'\ N +10 &V$\ N +9 &bR"\ M +9 &$U\ M +10 &T)\ N +9 &!R\ M +10 &#jR!\ M +9 &%,S\ M +9 &&Y\ N +10 &(V\ N +9 &*rS'\ M +9 &,3T\ N +10 &-U\ N +9 &/Y\ N +9 &1zY\ M +10 &3;T\ N +9 &4W\ N +10 &6T\ M +9 &8W\ M +9 &:CT\ N +10 &<U"\ N +9 &=U\ N +10 &?U#\ N +9 &AJW\ N +9 &C e \ O +10 &De\ O +9 &Fn\ P +9 &HF \ R +10 &J$\ S +9 &K\ S +9 &M\ S +10 &OG\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &VL\ U +10 &X\ U +9 &Y$\ T +9 &[\ U +10 &]U#\ E +9 &^w?n\ 's +10 &^-\ , +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&(1 +2 "core" &^\ , +60 1 +2 "manipulator"&% +4 "core" %    o +47 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +2 "processing"%v& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&>% +4 "core" %     +2 "storage"(t% +4 "core" % J \  +2 "storage"(*. +4 "core" .(<- + "storage"(Z& +4 "core" &<+ J h\  +3 "storage"(& +2 "manipulator"&$& +6 "core" &<+ J \  +2 & \ 9 , +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&h( +7 "core" ( +2 "manipulator"&y& +4 "core" &   q , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &   d , +2 .tForearm.seek PC +2 "manipulator"&=' +94 "core" ' +2 .tHand.close +2 "manipulator"&G/ +53 "core" / +3 .tPC.seek :open + "processing"%9( +93 "core" ' + "storage"(&- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'1 +45 "core" ' +307 ( +3 "storage"(w& +3 "core" &<+ W\ * m\  +2 "manipulator"&g& +4 "core" & , +2 "manipulator"&1% +3 "core" %   C +3 .tForearm.seek :retract +2 "manipulator"&z' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&k( +245 "core" ( + "manipulator"&& +4 "core" &  A +2 "storage"(& +3 "core" &<+ P W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +92 "core" ' +2 .tHand.open + "manipulator"&W1 +56 "core" 1 +3 "storage"(3- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(:' +32 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(F& +4 "core" &<+ %  m\  +2 "manipulator"&"& +4 "core" &  + A +2 .tElbow.seek 5 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&-& +4 "core" &  , A +2 "storage"(#& +4 "core" &<+ 7 7\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +59 "core" ' +2 "manipulator"&x& +4 "core" &  A +2 "storage"([& +4 "core" &<+ J W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&!'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&q% +4 "core" %΅ I q +2 "storage"(]& +4 "core" &<+\ \ \ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 292 counts + "manipulator"&'ϱ +16 "core" ' + "manipulator"&d& +4 "core" & _  +2 "storage"(I& +4 "core" &<+ N \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +15 "core" ' + "storage"(2% +4 "core" % I 9\ +3 ."downElevator"SE.seek :down +47 "storage"(b' +55 (_% +3 "core" %E\ \ \ Wc +2 "manipulator"&l% +4 "core" %; +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +94 "core" ' +103 ' + ."downElevator"SE.stop + "storage"(5 +3 (.& +3 "core" &<+ L I\  +3 "collection"',& +3 "core" &\\f\ B\ A2\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&`% +4 "core" %   +2 "storage"(% +3 "core" %\ \  \  +2 "storage"('. +3 "core" .(<- +2 "storage"()& +4 "core" &<+ \  _\  +2 "storage"(O& +3 "core" &<+\ \  B\  +3 "manipulator"&m& +3 "core" & 6  +2 .tElbow.seek 5 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(0& +3 "core" &<+\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +115 "core" ' +2 "storage"(?& +4 "core" &<+  $ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" &  +2 "storage"(;& +4 "core" &<+ \ ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(%'u +30 "core" ' + "manipulator"&}% +4 "core" %Ρ  +2 "storage"(6& +4 "core" &<+\ \  B\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&S& +4 "core" &  +2 "storage"(X& +5 "core" &<+ + 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(\ ' +36 "core" ' + "manipulator"&K& +4 "core" &   +2 "manipulator"&p% +5 "core" %G ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +179 "core" ( +2 "manipulator"&& +4 "core" &ӎ c 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &ӎ F 5 +2 .tForearm.seek CC +2 "manipulator"&\\'? +100 "core" ' +2 .tHand.close + "manipulator"&s/ +64 "core" / +2 .tCC.seek :open +2 "collection"'^( +446 "core" ( +2 "storage"(B& +4 "core" &<+ J R \  +2 "storage"(c& +4 "core" &<+ H G =\  +2 "manipulator"&{& +3 "core" &ӎ 5 +2 "manipulator"&i% +4 "core" % &  +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&T( +151 "core" ( + "manipulator"&<& +4 "core" &   +2 "storage"(R& +4 "core" &<+ Q U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +52 "core" 1 +6 "manipulator"&% +3 "core" % Κ b C +2 "storage"(j& +4 "core" &<+ G G \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts + "manipulator"&n' +14 "core" ' +3 "manipulator"& & +4 "core" & d  +2 "storage"( & +4 "core" &<+ k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&P'O +14 "core" ' +2 "storage"(H% +4 "core" % m m\ +3 ."downElevator"SE.seek :down +3 "storage"(L' +99 (A% +3 "core" %G # "\ Wb +2 "manipulator"&V% +4 "core" %d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" &\ \ \ +3 "manipulator"& % +3 "core" %  c  +2 "storage"(% +4 "core" % F F \  +2 "storage"(+. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(7(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +3 "core" &K # & ;\ +2 "manipulator"&& +3 "core" & -  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&v& +4 "core" &  +2 "storage"(>& +4 "core" &K V U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&t' +97 "core" ' + "storage"(*& +4 "core" &K j l y\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +295 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &K S F\ +2 "manipulator"&y& +3 "core" & \\  +3 .tElbow.seek 6 + "manipulator"&J( +3 "core" ( +2 "manipulator"&~& +4 "core" &  E  +2 "storage"(G& +4 "core" &K S J X\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&&'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& + "storage"(C' +8 "core" & J  +2 "manipulator"&% +4 "core" % π r +2 .tForearm.seek :retract +2 "manipulator"&w' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&g(ӂ +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&1& +4 "core" &Ӗ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &Ӗ  4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&& +3 "core" &Ӗ   4 +3 "manipulator"&h% +3 "core" %A " +3 "collection"'W& +3 "core" &\ \ \ +3 "collection"'3& +6 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'N(\\ +4 "core" &\ \ \ +5 &\ \ \ : +9 &KMx\ \ \ 0 +10 &v}\ \ \ E +9 &.W\ \ \ K +10 &T\ \ J\ J +9 &V\ \ \ K +9 &uX\ \ \ K +10 &7R\ \ \ K +9 &T\ \ A\ J +9 &T\ \ \ J +10 &}U\ \ \ K +9 &!?X\ \ \ K +10 &#W\ \ \ K +9 &$R\ !\ !\ K +9 &&U\ \ !\ J +10 &(HU\ \ F\ J +9 &*\ T\ \ \ J +9 &+T\ \ !\ J +10 &-U\ \ !\ K +9 &/OW\ \ \ K +10 &1X\ \ !C\ K +9 &2R\ !\ \ K +9 &4U\ \ \ J +10 &6XU\ \ \ J +9 &8U\ !\ "\ K +9 &9W\ \ \ K +10 &;U\ !\ !\ J +9 &=^\\\ &\ %\ K +10 &?_\ *\ .\ L +9 &@X\ #\ %f\ K +9 &B\\\ $\ %\ L +10 &Dd_\ *\ (\ L +9 &F!m\ -\ ,\ N +9 &G\ =\ 7\ Q +10 &I\ Q\ L\ U +9 &KM\ S\ TL\ W +10 &M\ \ Q\ Qk\ X +9 &N\ K\ Nn\ W +55 &P\ J\ IA\ X +5 &RQ\ G\ G\ X +3 &T\ I\ F\ Y + &U\ G\ H<\ Z +3 &W\ E\ Fl\ Z + &YP\ F\ Hm\ [\ + &[\ G\ Go\ [ +6 &\\cE\ F\ G\ 2 +9 &\\\ G\ Gn\ O +6 ( +2 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&F1 +3 "core" &\\f\ F\ D\ N +56 1 +2 "manipulator"&"% +4 "core" % ^ ] o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%#& +4 "core" &8\ +2 "manipulator"&z% +4 "core" % " * +2 "storage"(x% +4 "core" % M \  +2 "storage"([. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(M(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &K \ 2\  +2 "manipulator"&]& +4 "core" & & +2 "manipulator"&d% +4 "core" % " * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&I( +150 "core" ( + "manipulator"&:& +4 "core" & J  +2 "storage"(2& +4 "core" &K ' ' 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&k' +98 "core" ' +2 "storage"(D& +4 "core" &K . $ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (l& +2 "core" &K\ -\ - e\  +3 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"& & +5 "core" &  + "storage"(!& +4 "core" &K N w\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +3 "storage"(,' +8 "core" & S  +2 "manipulator"&`% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&)& +4 "core" &  Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &   Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&m' +94 "core" ' +2 "manipulator"&& +4 "core" &  Y +2 "manipulator"&0% +4 "core" % " T +2 "processing"%@& +4 "core" &\ +3 "processing"%?& +5 "core" &3\ +2 .tPC.seek :closed +2 "processing"%b(^ +4 "core" &7\ +7 &6-\ #c +9 &V{(\ 7 +9 &w1\ K +10 &T5\ N +9 &dV7\ N +9 &&U8\ N +10 &W6\ N +9 &R7\ M +10 &mW,\ M +9 &/X2\ M +9 &W2\ M +10 &!R-\ M +9 &#uW.\ M +9 &%7R%\ M +10 &&X1\ M +9 &(T'\ M +10 &*|T+\ N +9 &,>V)\ N +9 &.U\ N +10 &/W*\ N +9 &1S"\ M +9 &3GS(\ M +10 &5 S"\ M +9 &6T(\ M +10 &8V)\ M +9 &:NY#\ N +9 &<Z(\ M +10 &=W\ M +9 &?U(\ N +9 &AUW)\ N +10 &Cc\ O +9 &Dc(\ O +10 &Fo&\ P +9 &HR}\ R +9 &J$\ T +10 &K\ S +9 &M'\ T +9 &OT'\ T +10 &Q)\ T +9 &R)\ T +10 &T)\ U +9 &VY)\ U +9 &X)\ T +10 &Y(\ U +9 &[)\ U +9 &]a(\ B +10 &^Fz(\ X +9 &^0\ 4 +6 ( +2 "processing"%?& +3 "core" &^&#\ 4 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&e1 +55 "core" 1 + "manipulator"&5% +4 "core" %   I T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%u& +3 "core" &^%%\ 4 +50 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&;% +4 "core" %     +2 "storage"(|% +4 "core" % J \  +2 "storage"(}. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(6(K +7 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (S& +2 "manipulator"&X& +4 "core" &K\  \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  Y +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(K'r +2 "manipulator"&p( +5 "core" ( +2 "manipulator"&f& +4 "core" &   Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  \  Y +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"(%- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +310 ( +2 "storage"(4& +3 "core" &K\ +\ N\  +3 "manipulator"&U& +3 "core" & Y +2 "manipulator"&% +4 "core" %  X +2 .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&a& +4 "core" & G +2 "storage"(B& +4 "core" &K M %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&c' +98 "core" ' +2 .tHand.open + "manipulator"&{1 +63 "core" 1 +2 "storage"(i- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(<' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(R' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +3 "core" -' +2 "storage"(& +4 "core" &K - )\  +2 "manipulator"&E& +4 "core" &   F +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&j& +3 "core" &   ~ F +2 "storage"( & +4 "core" &K ) ) 1\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(H'" +60 "core" ' + "manipulator"& & +4 "core" & c F +2 "storage"(A& +4 "core" &K K L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&V'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&% +4 "core" %L  = +2 "storage"( & +4 "core" &K M 5\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 316 counts +2 "manipulator"&n'x +15 "core" ' + "manipulator"&& +4 "core" & F +2 "storage"(+& +4 "core" &K N n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +15 "core" ' + "storage"(P% +4 "core" % J D\ +3 ."downElevator"SE.seek :down +3 "storage"(L' +138 (o% +11 "core" %˭J\ \  N\ We +2 "manipulator"&(% +4 "core" % / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +7 ' + ."downElevator"SE.stop + "storage"(5 +4 (v& +3 "core" &K\ # n\  +2 "collection"'>& +4 "core" &\\f\ A\ @\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&*% +3 "core" %  \  +2 "storage"(Q% +4 "core" % "\  +2 "storage"(8. +2 "core" .(K +2 "storage"(& +5 "core" &K " % #\  +2 "storage"($& +3 "core" &K ( (\  +2 "manipulator"&y& +4 "core" & d F +2 .tElbow.seek 6 +2 "manipulator"&~( +4 "core" ( +2 "manipulator"&G& +3 "core" & F +2 "storage"(r& +4 "core" &K ' " &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +95 "core" ' + "storage"(& +4 "core" &K &\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" & , F +2 "storage"(=& +4 "core" &K\ \  ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Z'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(h'n +30 "core" ' +2 "manipulator"&W% +3 "core" %J J +2 "storage"(J& +4 "core" &K L D\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 314 counts + "manipulator"&C'v +15 "core" ' + "manipulator"&w& +4 "core" & F +2 "storage"(^& +4 "core" &K\ \ '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&F' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"("' +36 "core" ' + "manipulator"&#& +4 "core" & F +2 "manipulator"&z% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +150 "core" ( + "manipulator"&3& +4 "core" &y* L Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &y* 0 Bl +2 .tForearm.seek CC +2 "manipulator"&]'? +96 "core" ' +2 .tHand.close + "manipulator"&d/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( +3 "storage"(:& +4 "core" &K # 4 U\  +2 "storage"(2& +3 "core" &K & ' N\  +2 "manipulator"&7& +4 "core" &*  + +2 "manipulator"&D% +4 "core" % ! b +2 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&-( +148 "core" ( + "manipulator"&_& +4 "core" &  +2 "storage"(l& +4 "core" &K T V f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +97 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&!1 +61 "core" 1 +2 "manipulator"&% +44 "core" % 1  + +9 "storage"(.& +4 "core" &K W J J\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 289 counts + "manipulator"&`'] +16 "core" ' +2 "manipulator"&I& +3 "core" &  7  +2 "storage"(k& +4 "core" &K k l P\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +3 "core" % k l \ +3 ."downElevator"SE.seek :down +4 "storage"()' +4 "Can" ;8 +94 "storage"(O% +4 "core" %J ) . =\ Wd +2 "manipulator"&/% +4 "core" % V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'0& +3 "core" &\ \ \ +2 "manipulator"&@% +4 "core" %   +2 "storage"(,% +4 "core" % F E ,\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(9(,y +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +3 "core" &,{ + " 1\ +2 "manipulator"&5& +4 "core" & .  +2 .tElbow.seek 4 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&;& +4 "core" &  M  +2 "storage"(?& +4 "core" &,{ V U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&|' +98 "core" ' +2 "storage"(}& +3 "core" &,{ h j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +294 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (f& +3 "core" &,k F Q <\ +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&m( +3 "core" ( +2 "manipulator"&& +4 "core" &  s  +2 "storage"(M& +4 "core" &,k V T E\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&%'c +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(b' +7 "core" &  u  +2 "manipulator"&K% +4 "core" % i  s +2 .tForearm.seek :retract +2 "manipulator"&4' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &ӌ! < :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӎ  J :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&a'? +99 "core" ' +2 "manipulator"&B& +3 "core" &Ӣ 7 +2 "manipulator"&p% +4 "core" %9  % +2 "collection"'{& +4 "core" &\ \ \ +3 "collection"'i& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'\\(\\ +6 "core" &\ \ \ +6 &<\ \ \ $f +10 &Z|\ \ \ 7 +9 &v\ \ \ K +10 &R\ \ \ K +9 &Y\ \ \ K +9 &IR\ \ \ K +10 & T\ \ \ K +9 &W\ \ \ K +9 &W\ \ \ K +10 &RT\ \ \ J +9 & T\ \ \ K +10 &!W\ \ \ K +9 &#U\ \ \ J +9 &%YT\ \ \ K +10 &'V\ \ \ K +9 &(R\ \ !\ K +9 &*T\ \ \ J +10 &,aT\ \ !\ K +9 &.#W\ !\ \ K +10 &/R\ \ \ K +9 &1U\ \ \ J +9 &3iU\ !\ \ K +10 &5+S\ \ \ K +9 &6U\ \ \ J +9 &8U\ \ !\ K +10 &:pY\ \ \ K +9 &<3U\ \ \ K +10 &=T\ \ \ K +9 &?V\ !\ !\ K +9 &AyV\ \ \ K +10 &C9[\ #\ "\ L +9 &Db\ &\ #\ L +9 &Fn\ )\ '\ N +10 &Hr\ 5\ 0\ P +9 &J'\ I\ D\ U +10 &K\ M\ N\ W +9 &M\ K\ J\ W +9 &Oc\ F\ H\ X +10 &Q$\ E\ H8\ X +9 &R\ E\ G\ Y +9 &T\ E\ D\ Y +10 &Ve\ E\ E\ Z +48 &X$\ D\ Fe\ [\ +6 &Y\ E\ Em\ \\ +3 &[\ E\ E\ H +2 &\\1\ E\ C\ 0 + &\\g\ B\ EI\ N ( + &\\f\ D\ DA\ N +3 "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&1 +4 "core" &\\f\ C\ A@\ N +58 1 +2 "manipulator"&E% +3 "core" % 9  . % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &7\ +2 "manipulator"&s% +5 "core" %   e  +2 "storage"( % +3 "core" % P u\  +2 "storage"(A. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &,} K T\ +2 "manipulator"&& +5 "core" &Ӵ  ^ 5 + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&+( +154 "core" ( +2 "manipulator"&<& +4 "core" & +2 "storage"(P& +3 "core" &,} " \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(c& +4 "core" &,} . - >\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +295 "core" ' +2 "storage"(o- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +3 "core" &,l\ +\  2\ +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&H& +3 "core" &  ? +2 "storage"(V& +4 "core" &,l\ -\ - x\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&n'c +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&>& +2 "storage"(*' +7 "core" & V +2 "manipulator"&Q% +4 "core" % k  +2 .tForearm.seek :retract +2 "manipulator"&8' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&& +3 "core" &  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&y' +100 "core" ' +2 "manipulator"&G& +3 "core" & +3 "manipulator"&r% +3 "core" % , +3 "processing"%& +3 "core" &1\ +3 "processing"%\ & +5 "core" &3\ +2 .tPC.seek :closed +2 "processing"%L(^ +4 "core" &5\  +9 &2u3\ )v +9 &d6\ > +10 &pt6\ N +9 &3U1\ N +9 &T6\ N +10 &X7\ M +9 &{U7\ M +10 &;Y6\ N +9 &V7\ N +9 &Z7\ M +10 & V8\ M +9 &"DS6\ M +9 &$V6\ M +10 &%W4\ M +9 &'T5\ N +9 &)LT4\ M +10 &+U.\ M +9 &,Y,\ N +10 &.U-\ N +9 &0ST4\ N +9 &2U+\ N +10 &3R'\ M +9 &5S#\ M +10 &7\\T(\ M +9 &9V2\ N +9 &:U)\ N +10 &<W)\ M +9 &>dX)\ M +9 &@%X(\ N +10 &A\\%\ N +9 &Ce*\ O +9 &Egf(\ O +10 &G%m\ P +9 &H(\ R +10 &J)\ S +9 &Lb"\ S +9 &N")\ T +10 &O)\ T +9 &Q*\ U +10 &Se\ U +9 &U('\ U +9 &V(\ U +10 &X)\ U +9 &Zn(\ U +9 &\\/)\ U +10 &]{w)\ ? +9 &^"S)\ O +9 &^0)\ 7 +3 ( +2 "processing"%\ & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&T1 +60 "core" 1 +2 "manipulator"&% +4 "core" %    , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +90 "core" ' +2 "processing"%1& +3 "core" &^-&\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&=% +3 "core" %   A  +49 "storage"(% +5 "core" %\ \ \  +2 "storage"(W. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(J(,y +32 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (w& +4 "core" &,|\  t\ +2 "manipulator"&^& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(#'r +3 "manipulator"&z( +6 "core" ( +2 "manipulator"&Y& +3 "core" &  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &~& +2 "core" &  x +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close +2 "manipulator"&Z/ +57 "core" / +2 .tPC.seek :open +2 "processing"%C( +92 "core" ' +2 "storage"(h- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +44 "core" ' +305 ( +3 "storage"(q& +3 "core" &,i M \  +2 "manipulator"&F& +4 "core" &  +2 "manipulator"&&% +4 "core" %  > +2 .tForearm.seek :retract +2 "manipulator"&d' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&x( +239 "core" ( +2 "manipulator"&N& +4 "core" & e 9 +2 "storage"(:& +3 "core" &,i M M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&2' +100 "core" ' + .tHand.open +2 "manipulator"&71 +62 "core" 1 +2 "storage"(D- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(_' +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"([& +4 "core" &,i L M \  +2 "manipulator"&!& +4 "core" &   2 9 +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&.& +4 "core" &    9 +2 "storage"(I& +5 "core" &,i M M \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"&g& +3 "core" & 9 +2 "storage"(-& +4 "core" &,i\ \  4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +21 "core" ' + "manipulator"&0% +4 "core" %?  C +3 "storage"(@& +3 "core" &,i G\  '\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 308 counts + "manipulator"&`'k +14 "core" ' +2 "manipulator"&,& +4 "core" & 9 +2 "storage"(& +4 "core" &,i M M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&"' +15 "core" ' +2 "storage"(% +4 "core" % K S\ +3 ."downElevator"SE.seek :down +3 "storage"()' +99 (6% +3 "core" %>R\ \ \ \ \ Xf +2 "manipulator"&e% +44 "core" % +10 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' +14 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (;& +3 "core" &,i $ =\  +2 "collection"'?& +4 "core" &\\f\ >\ >\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&}% +3 "core" %   +2 "storage"( % +4 "core" %\ *\  v\  +2 "storage"(. +3 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(X(,y +29 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (f& +3 "core" &,w\ !\ G\ +2 "manipulator"&& +4 "core" & 8 +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&M& +3 "core" & ; 8 +2 "storage"('& +4 "core" &,w\ \ N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(K& +4 "core" &,w # !\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'r +295 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   1 8 +2 "storage"(& +4 "core" &,l\ \  n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&S'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(p'f +29 "core" ' + "manipulator"&{% +4 "core" %: / +2 "storage"(m& +4 "core" &,l N S\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&b'f +15 "core" ' +2 "manipulator"&4& +4 "core" &  8 +2 "storage"(& +4 "core" &,l K ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(E' +36 "core" ' +2 "manipulator"& & +3 "core" & 8 +2 "manipulator"&s% +4 "core" % ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A(ӂ +151 "core" ( + "manipulator"&i& +4 "core" &ӓ  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӓ ! 8 +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'a( +447 "core" ( +2 "storage"(<& +4 "core" &,l I 4 \  +2 "storage"(P& +3 "core" &,l 3 %\  +2 "manipulator"&9& +4 "core" &ӵ 3 +2 "manipulator"&c% +3 "core" % E   +3 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&j( +160 "core" ( +2 "manipulator"&o& +3 "core" &   +2 "storage"((& +4 "core" &,l K G =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"& '7 +96 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +107 "core" 1 +2 "manipulator"&v% +4 "core" % J 1 $ +2 "storage"(>& +4 "core" &,l V J \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&Q'v +14 "core" ' +2 "manipulator"&+& +3 "core" &   +2 "storage"(& +4 "core" &,l k k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +15 "core" ' +2 "storage"(n% +3 "core" % l m \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ($% +3 "core" %I ' " G\ Va +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'r& +4 "core" &\ \ \ +2 "manipulator"&% +4 "core" %  E  +2 "storage"(*% +4 "core" % F G I\  +2 "storage"(8. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &<+ N }\  +2 "manipulator"&& +4 "core" & )  +2 .tElbow.seek 5 +2 "manipulator"&1( +4 "core" ( + "manipulator"&=& +4 "core" &  +2 "storage"(& +4 "core" &<* W W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +93 "core" ' +2 "storage"(W& +4 "core" &<* j m T\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'r +295 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +3 "core" &<* P > -\  +2 "manipulator"&~& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&y( +3 "core" ( +2 "manipulator"&Z& +4 "core" & 8  +2 "storage"(& +3 "core" &<* Q S \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&h'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(L' +8 "core" &    +2 "manipulator"&#% +4 "core" % ϵ +2 .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +151 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&&& +4 "core" &Ӆ" ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӆ" ) ;6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'? +102 "core" ' +2 "manipulator"&:& +3 "core" &Ӗ   9% +2 "manipulator"&z% +4 "core" %N O +2 "collection"'7& +4 "core" &\ \ \ +3 "collection"'D& +6 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'](\\ +5 "core" &\ \ \ +5 &;\ \ \ %f +10 &Xx\ \ \ 7 +9 &v\ \ \ J +10 &S\ \ \ J +9 &U\ \ \ K +9 &IR\ \ \ K +10 & T\ \ \ K +9 &W\ \ \ K +9 &W\ \ \ K +10 &QT\ \ \ J +9 & T\ \ \ K +10 &!W\ \ !\ K +9 &#R\ \ \ K +9 &%YR\ \ \ J +10 &'T\ \ \ K +9 &(R\ \ \ K +9 &*S\ \ \ J +10 &,aT\ \ \ J +9 &."T\ \ \ K +10 &/R\ \ \ K +9 &1U\ !\ \ K +9 &3gW\ \ \ K +10 &5+T\ \ \ J +9 &6U\ \ \ K +9 &8T\ \ "\ J +10 &:oU\ !\ \ K +9 &<2U\ !\ !\ K +10 &=U\ !\ \ K +9 &?Y\ \ \ K +9 &AvW\ \ \ L +10 &C9Y\ !\ #\ K +9 &Dc\ %\ &\ M +9 &Fh\ +\ )\ M +10 &Hr\ 6\ .\ P +9 &J'\ J\ D\ T +10 &K\ N\ O\ V +9 &M\ K\ L\ W +50 &Oc\ I\ J\ X +5 &Q$\ J\ J\ X +2 &R\ H\ G\ X + &T\ F\ E\ Y + &Vf\ F\ E\ Y + &X'\ E\ D\ Z +6 &Y\ F\ F \ [ +9 &[\ G\ H\ H +9 &\\2\ D\ F\ 1 +10 &\\r\ D\ F\ M +2 ( +2 "collection"'D& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&[1 +60 "core" 1 +2 "manipulator"&!% +4 "core" % N W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%d& +4 "core" &2\ +2 "manipulator"&I% +4 "core" %   +2 "storage"(g% +4 "core" % J F\  +2 "storage"(-. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 5 + "storage"(0(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &<+\  (\  +2 "manipulator"&3& +4 "core" &ӫ Q 6 +2 "manipulator"&,% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +162 "core" ( + "manipulator"&_& +4 "core" &  +2 "storage"(& +3 "core" &<* ^ K\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&x'O +95 "core" ' +2 "storage"(2& +4 "core" &<* $ - E\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +300 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +3 "core" &<* N\  +2 "manipulator"&k& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & B  +2 "storage"(O& +3 "core" &<* ^\  9\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&`'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"(}' +8 "core" &   +2 "manipulator"& % +3 "core" % ϵ +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&f& +3 "core" & \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & / \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&M' +93 "core" ' +2 "manipulator"&'& +4 "core" & \ +2 "manipulator"&"% +5 "core" % +2 "processing"%K& +4 "core" &\ +2 "processing"%)& +5 "core" &-\ +2 .tPC.seek :closed +2 "processing"%J(^ +5 "core" &-\ +7 &.6\ #a +9 &U{7\ 6 +10 &~{4\ K +9 &V7\ N +10 &[W7\ N +9 &R7\ M +9 &T7\ N +10 &T5\ M +9 &dR6\ N +9 &&U7\ N +10 &X6\ M +9 &!S6\ M +10 &#mT6\ M +9 &%0U6\ M +9 &&W6\ N +10 &(X6\ M +9 &*uX5\ M +9 &,6Y3\ N +10 &-V4\ M +9 &/U3\ N +10 &1|U#\ N +9 &3>W3\ N +9 &5V,\ N +10 &6W3\ N +9 &8U)\ M +9 &:GV)\ M +10 &< Y'\ M +9 &=[)\ N +10 &?U-\ N +9 &ANX)\ N +9 &C c"\ O +10 &Df)\ O +9 &Fq*\ Q +9 &HJ~)\ R +10 &J(\ S +9 &K(\ S +10 &M \ T +9 &OM'\ S +9 &Q (\ T +10 &R'\ T +9 &T&\ U +9 &VS)\ T +10 &X(\ U +9 &Y(\ U +10 &[(\ V +9 &]W)\ F +9 &^yA{(\ $j +10 &^*)\ - +5 ( +2 "processing"%)& +4 "core" &^%\ - +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&/1 +58 "core" 1 + "manipulator"&5% +4 "core" %  \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|' +89 "core" ' + "processing"%& +4 "core" &^\ - +51 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %  \  +2 "storage"(B% +4 "core" % J b\  +2 "storage"({. +3 "core" .(<- +2 "storage"(m& +3 "core" &<* M O\  +3 "storage"(4& +4 "manipulator"&& +4 "core" &<*\ -\ , ]\  + &   \ +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"( 'r +3 "manipulator"&s( +5 "core" ( +2 "manipulator"&& +4 "core" &   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &  & \ +2 .tForearm.seek PC +2 "manipulator"&u' +93 "core" ' +2 .tHand.close +2 "manipulator"&S/ +59 "core" / +2 .tPC.seek :open + "processing"%b( +90 "core" ' + "storage"(p- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'1 +47 "core" ' +305 ( +2 "storage"( & +4 "core" &<* P M\  +2 "manipulator"&& +4 "core" & & \ +2 "manipulator"&%% +3 "core" %  ( A +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +241 "core" ( +2 "manipulator"&\\& +4 "core" &  x = +2 "storage"(<& +4 "core" &<* J h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +104 "core" ' +2 .tHand.open + "manipulator"&91 +63 "core" 1 +2 "storage"(c- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"((' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(A& +4 "core" &<* )  8\  +3 "manipulator"&V& +3 "core" &   = +2 .tElbow.seek 5 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&>& +4 "core" &   O = +2 "storage"(+& +4 "core" &<* \ \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +59 "core" ' +2 "manipulator"&U& +4 "core" &  = +2 "storage"($& +4 "core" &<* L P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&j'΍ +31 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +22 "core" ' +2 "manipulator"&r% +4 "core" %Ζ L f +2 "storage"(& +4 "core" &<*\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&Q' +15 "core" ' +2 "manipulator"&*& +4 "core" & 6 +2 "storage"(8& +4 "core" &<* N V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&E'O +17 "core" ' +2 "storage"(R% +3 "core" % S f\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (X% +4 "core" %VW \ \ \ Yi +2 "manipulator"&T% +4 "core" %K L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +43 .tForearm.seek :retract +9 "manipulator"&' +92 "core" ' +11 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (=& +3 "core" &<* J 0\  +2 "collection"'& +4 "core" &\\m\ >\ ?@\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&W% +4 "core" %    +2 "storage"(H% +4 "core" %\ \  \  +2 "storage"(G. +2 "core" .(<- +3 "storage"(^& +4 "core" &<* N D\  +2 "storage"(Y& +3 "core" &<* I\  \  +2 "manipulator"&~& +4 "core" & 6 +2 .tElbow.seek 5 +2 "manipulator"&Z( +4 "core" ( +2 "manipulator"&& +3 "core" & k 6 +2 "storage"(& +4 "core" &<* N `\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +104 "core" ' +2 "storage"(#& +4 "core" &<* $ . h\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'r +298 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" &  6 +2 "storage"(& +4 "core" &<* \  @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&w'΍ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(:- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(z't +27 "core" ' +2 "manipulator"&7% +3 "core" %Ρ  +2 "storage"(y& +4 "core" &<*\  5\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"&L' +14 "core" ' +2 "manipulator"&q& +4 "core" & 6 +2 "storage"(a& +4 "core" &<* % \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(!' +35 "core" ' + "manipulator"&d& +4 "core" &  6 +2 "manipulator"&I% +4 "core" %E , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&-(ӂ +197 "core" ( + "manipulator"&D& +4 "core" &Ӎ  9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &@& +2 "core" &Ӎ  9) +3 .tForearm.seek CC +2 "manipulator"&3'? +95 "core" ' +2 .tHand.close + "manipulator"&,/ +56 "core" / +2 .tCC.seek :open +2 "collection"'N( +447 "core" ( + "storage"(_& +4 "core" &<* & , \  +2 "storage"(& +3 "core" &<* . . Z\  +2 "manipulator"&& +4 "core" &Ӹ  4 +2 "manipulator"&2% +4 "core" % ; +2 .tForearm.seek :retract +2 "manipulator"&F' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&.( +158 "core" ( +2 "manipulator"&6& +4 "core" & .  +2 "storage"(e& +4 "core" &<* J = \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&k'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +52 "core" 1 +3 "manipulator"&;% +3 "core" % ΍  ) +2 "storage"(?& +4 "core" &<* W W\  +2 .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 5 + 300 counts +9 "manipulator"& 'Ϲ +16 "core" ' +2 "manipulator"&& +4 "core" & =  +2 "storage"(x& +4 "core" &<* O l n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +16 "core" ' +2 "storage"(`% +3 "core" % l k \ +4 ."downElevator"SE.seek :down +3 "storage"(f' +99 (% +3 "core" %G . . q\ Va +2 "manipulator"&% +4 "core" %; - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +89 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'"& +3 "core" &\ \ \ +2 "manipulator"&K% +4 "core" %  h  +2 "storage"(}% +4 "core" % k k \  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(C(K +377 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" &K Y N\ +2 "manipulator"&5& +4 "core" & s  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & \  8  +2 "storage"()& +4 "core" &K k k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&B' +91 "core" ' +2 "storage"({& +3 "core" &K j m \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(m'r +296 "core" ' +2 "storage"(4- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K G S B\ +2 "manipulator"&& +4 "core" & 4  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&M& +4 "core" &  v  +2 "storage"(S& +5 "core" &K T T b\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&p'h +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(J' +8 "core" & O  +2 "manipulator"& % +3 "core" % c [ +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&%& +4 "core" &Ӓ $ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &Ӓ 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&\\'? +99 "core" ' +2 "manipulator"&<& +5 "core" &ӓ 3 6 + "manipulator"&s% +4 "core" %E  +2 "collection"'9& +4 "core" &\ \ \ +3 "collection"'c& +5 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" &\ \ \ +6 &\ \ \ ; +10 &NJu\ \ \ 1 +9 &w{\ \ \ E +9 &7X\ \ \ K +10 &Q\ \ \ K +9 &T\ \ \ K +9 &}W\ \ \ K +10 &@T\ \ \ K +9 &W\ \ \ K +9 &T\ \ !\ J +10 &T\ \ \ K +9 &!GW\ \ \ K +10 &# S\ \ \ J +9 &$T\ \ \ K +9 &&W\ \ \ K +10 &(QU\ !\ \ J +9 &*T\ \ \ K +10 &+R\ \ \ K +9 &-S\ \ \ J +9 &/XT\ \ \ K +10 &1R\ \ \ K +9 &2S\ \ \ K +9 &4W\ \ \ K +10 &6aT\ \ \ J +9 &8!T\ \ \ K +9 &9U\ "\ \ K +10 &;U\ \ \ J +9 &=f[\ #\ #\ L +10 &?(Y\ $\ %\ L +9 &@W\ #\ \ K +9 &B\\\ #\ "\ K +10 &Dl`\ &\ %\ L +9 &F*n\ )\ *\ N +10 &G\ <\ 5\ Q +9 &I\ Q\ K\ U +9 &KS\ S\ T\ X +10 &M\ P\ P\ W +9 &N\ L\ M\ Y +9 &P\ J\ I\ X +10 &RW\ F\ G\ Y +9 &T\ E\ G\ Z +10 &U\ E\ F\ Z +9 &W\ F\ D\ Z +9 &YX\ E\ D\ [ +10 &[\ G\ D\ [ +9 &\\lF\ D\ F\ 1 +9 &\\\ E\ D\ P +6 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +45 .Hand.open +6 "manipulator"&A1 +2 "core" &\\f\ @\ C\ P +59 1 +2 "manipulator"&V% +4 "core" % E  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +96 "core" ' +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%+& +4 "core" &\ +2 "manipulator"&% +4 "core" %   \\  +2 "storage"(U% +4 "core" % M N\  +2 "storage"($. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(i(K +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +4 "core" &K\ ' K 9\  +2 "manipulator"&& +3 "core" &  % +2 "manipulator"&o% +4 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&*( +141 "core" ( + "manipulator"&8& +4 "core" & @ +2 "storage"(R& +4 "core" &K\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +93 "core" ' + "storage"(P& +4 "core" &K . # C\  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('r +299 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (T& +3 "core" &K\  J }\  +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&n& +4 "core" &  +2 "storage"(j& +3 "core" &K N c\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&Q'h +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(W' +7 "core" & $ +2 "manipulator"&H% +5 "core" %   _ +2 .tForearm.seek :retract +2 "manipulator"&G' +93 "core" ' +3 .tElbow.seek PC +2 "manipulator"& ( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( + "manipulator"&^& +4 "core" & 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" & 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +93 "core" ' + "manipulator"&& +4 "core" & 4 +2 "manipulator"&% +4 "core" % +2 "processing"%#& +4 "core" &\ +3 "processing"%E& +5 "core" &)\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &0\ +7 &66\ #c +9 &U}-\ 7 +10 &z6\ L +9 &T5\ M +9 &iX7\ M +10 &+Q5\ M +9 &U6\ M +10 &W6\ M +9 &qR6\ M +9 &3V8\ M +10 &X6\ N +9 &!U5\ N +9 &#yW7\ M +10 &%;T7\ M +9 &&T7\ N +10 &(Y4\ M +9 &*T6\ M +9 &,CU7\ M +10 &.W6\ M +9 &/Y6\ N +9 &1U6\ M +10 &3KS6\ M +9 &5 S7\ M +10 &6V3\ M +9 &8Z4\ M +9 &:RU4\ N +10 &<V2\ N +9 &=Y/\ N +9 &?V5\ M +10 &AZZ1\ N +9 &Cb.\ O +10 &De(\ O +9 &Fm5\ P +9 &HT~2\ R +10 &J3\ S +9 &K)\ S +9 &M(\ T +10 &OX(\ T +9 &Q-\ T +10 &R+\ U +9 &T(\ U +9 &V_(\ T +10 &X(\ U +9 &Y(\ U +9 &[)\ U +10 &]d(\ B +9 &^Cv)\ ] +9 &^;#\ 5 +6 ( +2 "processing"%E& +4 "core" &^*%\ 5 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" %   \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +96 "core" ' +2 "processing"%&& +4 "core" &^*)\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" % # \ 3 +2 "storage"(:% +4 "core" %\ \ \  +2 "storage"(7. +48 "core" .(K +4 "storage"(y& +4 "core" &K\ \ D\  +3 "storage"(q& +2 "manipulator"&a& +6 "core" &K\ \  R\  +2 &  4 +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(d'r +2 "manipulator"&I( +6 "core" ( +2 "manipulator"&t& +3 "core" &   > 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &  4 +2 .tForearm.seek PC +2 "manipulator"&1' +97 "core" ' + .tHand.close +2 "manipulator"&w/ +61 "core" / +2 .tPC.seek :open +2 "processing"%L( +86 "core" ' +2 "storage"(z- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'1 +48 "core" ' +311 ( + "storage"([& +4 "core" &K S [\  +2 "manipulator"&@& +3 "core" &  4 +2 "manipulator"&h% +4 "core" %  O +2 .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&g( +250 "core" ( +2 "manipulator"&]& +4 "core" &  6 f +2 "storage"(_& +3 "core" &K N z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "storage"(2- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(6' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(e' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +3 "core" -' +2 "storage"(-& +4 "core" &K ) ) O\  +2 "manipulator"&O& +4 "core" &    e +2 .tElbow.seek 6 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&?& +4 "core" &   ? e +2 "storage"(& +3 "core" &K ) ) (\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(`'" +49 "core" ' +2 "manipulator"&F& +3 "core" &   e +2 "storage"(& +4 "core" &K\ $\ + \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(k' +19 "core" ' +2 "manipulator"&"% +4 "core" %7  % +2 "storage"(K& +3 "core" &K L +\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 295 counts + "manipulator"& 'c +16 "core" ' +2 "manipulator"&}& +4 "core" &  e +2 "storage"(& +4 "core" &K P W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +15 "core" ' +2 "storage"(l% +4 "core" %\ +\  k\ +3 ."downElevator"SE.seek :down +3 "storage"(f' +99 (0% +3 "core" %kP \ \ \ Xh +2 "manipulator"&/% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +43 (& +10 "core" &K S )\  +2 "collection"')& +4 "core" &\\f\ ?\ =\ P +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&{% +3 "core" %  /  +2 "storage"(% +4 "core" %\ \  ,\  +2 "storage"('. +3 "core" .(K +2 "storage"(4& +4 "core" &K\ \  B\  +2 "storage"(& +4 "core" &K\ \  :\  +2 "manipulator"&& +4 "core" &  d +2 .tElbow.seek 6 +2 "manipulator"&M( +4 "core" ( + "manipulator"&S& +4 "core" &  d +2 "storage"(& +4 "core" &K\ \  f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&|' +94 "core" ' +2 "storage"( & +4 "core" &K # + \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" &   d +2 "storage"(u& +4 "core" &K L H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&m'< +18 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(s'o +30 "core" ' + "manipulator"&9% +4 "core" %3  +2 "storage"(& +3 "core" &K Q z\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 291 counts + "manipulator"&J'_ +15 "core" ' +2 "manipulator"& & +3 "core" &  c +2 "storage"(N& +4 "core" &K ' (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(V' +35 "core" ' + "manipulator"&c& +4 "core" &  c +2 "manipulator"&+% +4 "core" % ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&U(ӂ +154 "core" ( +2 "manipulator"&$& +4 "core" &Ӓ  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &Ӓ . 6 +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' + .tHand.close +2 "manipulator"&o/ +54 "core" / +2 .tCC.seek :open +2 "collection"'\\( +446 "core" ( +2 "storage"(8& +4 "core" &K % ' \  +2 "storage"(R& +3 "core" &K ' - \  +2 "manipulator"&P& +4 "core" &  ( +2 "manipulator"&C% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&>( +152 "core" ( +2 "manipulator"&X& +3 "core" &  +3 "storage"(T& +3 "core" &K F F *\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'< +97 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&j1 +59 "core" 1 +2 "manipulator"&=% +4 "core" % L , +2 "storage"(& +4 "core" &K T S F\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 316 counts + "manipulator"&H'x +15 "core" ' +2 "manipulator"&*& +4 "core" & \\ +45 "storage"( & +7 "core" &K = C\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +16 "core" ' +2 "storage"(Q% +4 "core" % M H \ +3 ."downElevator"SE.seek :down +3 "storage"(^' +99 (Y% +3 "core" %G , $ \ Va +2 "manipulator"&v% +4 "core" % ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &\ \ \ +2 "manipulator"&#% +4 "core" %    +2 "storage"(W% +4 "core" % n n \  +2 "storage"(G. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(b(,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z # ' _\ +2 "manipulator"&& +5 "core" &  h +2 .tElbow.seek 4 + "manipulator"&&( +4 "core" ( +2 "manipulator"&& +3 "core" & y +2 "storage"(:& +4 "core" &,z Z G W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +93 "core" ' +2 "storage"(E& +4 "core" &,z l m \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +296 "core" ' +2 "storage"(q- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (a& +3 "core" &,k B ' "\ +2 "manipulator"&t& +4 "core" & +2 .tElbow.seek 4 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&~& +4 "core" &  3 +2 "storage"(w& +4 "core" &,k T S G\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&z'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +3 "storage"(' +8 "core" & H +2 "manipulator"&d% +4 "core" % Z  D +2 .tForearm.seek :retract +2 "manipulator"&[' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&@(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&h& +3 "core" &Ӈ# <: +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &Ӈ# <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'? +100 "core" ' +2 "manipulator"&_& +3 "core" &ӌ" ;5 +2 "manipulator"&I% +4 "core" %@  $ +2 "collection"'& +4 "core" &\ \ \ +3 "collection"'2& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'3(\\ +4 "core" &\ \ \ +6 &\ \ \ ; +9 &MKv\ \ \ 1 +10 &u}\ \ \ E +9 &2X\ \ \ K +9 &W\ \ \ K +10 &T\ \ \ J +9 &xT\ \ \ K +10 &9W\ \ \ K +9 &R\ \ \ K +9 &T\ \ \ K +10 &W\ \ \ K +9 &!CT\ \ \ J +9 &#T\ \ \ K +10 &$W\ \ \ K +9 &&T\ \ \ J +10 &(JT\ \ \ K +9 &* R\ \ \ K +9 &+Q\ \ \ K +10 &-T\ \ \ J +9 &/RU\ \ \ K +9 &1W\ \ \ K +10 &2T\ \ \ K +9 &4W\ \ \ K +10 &6ZU\ \ \ K +9 &8S\ \ \ K +9 &9T\ \ \ K +10 &;T\ \ \ J +9 &=aU\ \ \ K +9 &?#U\ \ \ K +10 &@W\ \ \ K +9 &BY\ \ \ K +10 &Dg]\ \ !\ L +9 &F&j\ %\ $\ M +9 &Gy\ +\ )\ O +10 &I\ ?\ ;\ R +9 &KQ\ L\ K\ V +9 &M\ I\ H\ W +10 &N\ F\ G\ W +9 &P\ E\ G\ X +10 &RQ\ D\ D\ Y +9 &T\ D\ DP\ Z +9 &U\ D\ B\ Y +10 &W\ D\ C\ Z +9 &YT\ C\ D\ [ +10 &[\ C\ C\ [ +9 &\\gF\ C\ D\ 2 +9 &\\\ D\ D\ \ K +6 ( +2 "collection"'2& +3 "core" &\\a\ A\ B\ K +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&-1 +57 "core" 1 +2 "manipulator"&O% +4 "core" % @   H $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +50 .tForearm.seek :retract +2 "manipulator"&?' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&,% +4 "core" %  S  +2 "storage"(F% +4 "core" % M Y\  +2 "storage"(. +3 "core" .(,y +2 "storage"("& +3 "core" &,k K "\ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(K(,y +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" &,z N \ +3 "manipulator"&}& +3 "core" &ӭ t 7 +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&6( +162 "core" ( +7 "manipulator"&l& +4 "core" & (  +2 "storage"(g& +4 "core" &,z ' "\ +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(e& +4 "core" &,z , - $\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +296 "core" ' + "storage"(/- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (x& +3 "core" &,l \ # /\ \ +2 "manipulator"&;& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&`( +2 "core" ( +2 "manipulator"&& +4 "core" & +  +2 "storage"( & +4 "core" &,l L L\ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&k'c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& +2 "storage"({' +6 "core" &  +2 "manipulator"&% +5 "core" % c +2 .tForearm.seek :retract +2 "manipulator"&'' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&& +3 "core" & # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&S' +103 "core" ' +2 "manipulator"&& +4 "core" & +2 "manipulator"&!% +4 "core" % +2 "processing"% & +4 "core" &\ \ +3 "processing"%f& +4 "core" &?\ +3 .tPC.seek :closed + "processing"%.(^ +5 "core" &7\  +9 &2v6\ )v +10 &b}6\ = +9 &cs5\ N +9 &%T2\ M +10 &U5\ M +9 &W3\ N +10 &jX6\ N +9 &-T4\ M +9 &U8\ M +10 &Y9\ N +9 & rX7\ N +9 &"5T7\ M +10 &#Y8\ N +9 &%V6\ N +10 &'{Y9\ M +9 &)=T2\ M +9 &*V5\ M +10 &,Y6\ N +9 &.U7\ M +9 &0EU3\ M +10 &2X6\ M +9 &3S6\ M +10 &5X5\ M +9 &7MT7\ M +9 &9W5\ M +10 &:V6\ N +9 &<U5\ M +9 &>TY3\ N +10 &@[3\ N +9 &A]5\ N +10 &Cf7\ O +9 &EXg4\ O +9 &Gn.\ P +10 &H~6\ R +9 &J-\ S +9 &LS/\ S +10 &N,\ T +9 &O)\ T +10 &Q)\ U +9 &SW)\ U +9 &U(\ U +10 &V'\ V +9 &X*\ T +10 &Z`(\ T +9 &\\!(\ U +9 &])\ 3 +10 &^4m(\ = +9 ( + &^)\ , +2 "processing"%f& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&51 +61 "core" 1 + "manipulator"&B% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +97 "core" ' + "processing"%u& +4 "core" &^*\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&<% +4 "core" % !  6 * +2 "storage"(9% +3 "core" % J \  +2 "storage"(. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,y +62 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (N& +2 "manipulator"&c& +4 "core" &,y J k\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(+'r +2 "manipulator"&|( +6 "core" ( +2 "manipulator"&M& +3 "core" &   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   , +2 .tForearm.seek PC +2 "manipulator"&m' +91 "core" ' +2 .tHand.close + "manipulator"&J/ +60 "core" / +2 .tPC.seek :open +2 "processing"%s( +94 "core" ' + "storage"($- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'1 +40 "core" ' +310 ( +2 "storage"(A& +4 "core" &,i N 4\ +2 "manipulator"&p& +4 "core" &  +2 "manipulator"&o% +4 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +238 "core" ( +2 "manipulator"&8& +4 "core" & 9 +2 "storage"(R& +3 "core" &,i J z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +90 "core" ' +2 .tHand.open + "manipulator"&C1 +63 "core" 1 +3 "storage"(X- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(T' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +3 "core" -' +2 "storage"(j& +4 "core" &,i : 9 \ +2 "manipulator"&=& +4 "core" &    9 +2 .tElbow.seek 4 +2 "manipulator"&( +2 "core" ( +3 "manipulator"&*& +3 "core" &   @ 9 +2 "storage"( & +4 "core" &,i 7 7 ]\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +60 "core" ' + "manipulator"&>& +4 "core" &  9 +2 "storage"(Y& +4 "core" &,i P I\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&v'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&#% +3 "core" %B #  +2 "storage"(H& +4 "core" &,i M\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 311 counts + "manipulator"&W'n +16 "core" ' +2 "manipulator"&G& +3 "core" & 9 +2 "storage"(V& +4 "core" &,i\ #\ * c\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +15 "core" ' +2 "storage"(^% +3 "core" % \  \ +3 ."downElevator"SE.seek :down +4 "storage"(i' +98 (% +3 "core" %O\ \ \ \ \ Xg +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +42 (:& +11 "core" &,i ' ' 3\ +2 "collection"'E& +4 "core" &\\`\ =\ >l\ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&n% +4 "core" %  *  +2 "storage"(% +4 "core" % ! " $\  +2 "storage"(q. +3 "core" .(,y +2 "storage"(a& +4 "core" &,i ! ' ,\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(t(,y +36 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (~& +3 "core" &,{\ \ p\ +3 "manipulator"&w& +3 "core" & 9 +3 .tElbow.seek 4 + "manipulator"& ( +3 "core" ( +2 "manipulator"&\ & +4 "core" & G 9 +2 "storage"(d& +4 "core" &,{ & ! \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +91 "core" ' + "storage"(7& +4 "core" &,{ + #\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(h'r +297 "core" ' +2 "storage"(1- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" & 9 +2 "storage"(z& +5 "core" &,l P \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&_'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Z'f +28 "core" ' +2 "manipulator"&% +5 "core" %.  ) + "storage"([& +4 "core" &,l M f\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 291 counts + "manipulator"&\\'Z +15 "core" ' +2 "manipulator"&-& +4 "core" & ~ 8 +2 "storage"(O& +3 "core" &,l\  >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&2' +18 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +36 "core" ' +2 "manipulator"&,& +4 "core" & 8 +2 "manipulator"&F% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +151 "core" ( + "manipulator"&D& +5 "core" &ӓ 5\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +2 "core" &Ӕ 5 +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + .tHand.close +2 "manipulator"&]/ +61 "core" / +2 .tCC.seek :open +2 "collection"'l( +446 "core" ( + "storage"(g& +4 "core" &,l 3 ) *\ +2 "storage"(b& +4 "core" &,l 2 $ E\ +2 "manipulator"&e& +4 "core" &ӥ 3 +2 "manipulator"&@% +3 "core" % O 3  +3 .tForearm.seek :retract +2 "manipulator"&?' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&/( +160 "core" ( +2 "manipulator"&x& +3 "core" & \  +2 "storage"(;& +4 "core" &,l G G ?\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +94 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&)% +4 "core" % ( Z +2 "storage"(& +3 "core" &,l B F ;\ +2 .tForearm.force -20 +45 "manipulator"&5 +7 .tForearm.seek 4 + 285 counts +2 "manipulator"&6'T +16 "core" ' + "manipulator"&& +4 "core" & I  +2 "storage"(0& +4 "core" &,l j l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +14 "core" ' +2 "storage"(% +4 "core" % k m \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (`% +3 "core" %F $ . K\ V` +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +4 "core" &\ \ \ +2 "manipulator"&{% +3 "core" %   +3 "storage"('% +3 "core" % G N &\  +3 "storage"(L. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(5(<- +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" &<+ ! " 5\  +2 "manipulator"&u& +4 "core" & #  +2 .tElbow.seek 5 +2 "manipulator"&<( +4 "core" ( + "manipulator"&9& +4 "core" & U  +2 "storage"(& +5 "core" &<* 9 B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +92 "core" ' + "storage"(N& +4 "core" &<* k m \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'r +292 "core" ' + "storage"(M- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<* = Q \  +2 "manipulator"&S& +4 "core" & 3  +2 .tElbow.seek 5 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&K& +4 "core" & Q  +2 "storage"($& +3 "core" &<* G P \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&4'Ϲ +33 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(+' +7 "core" & J  +2 "manipulator"&A% +4 "core" % Ϻ o +2 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&m& +3 "core" &ә + 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +4 "core" &ә  3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&R'? +100 "core" ' +2 "manipulator"&|& +4 "core" &ә  3 +2 "manipulator"&C% +4 "core" %F ) # +2 "collection"'X& +4 "core" &\ \ \ +3 "collection"'U& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'j(\\ +4 "core" &\ \ \ +8 &;\ \ \ $f +9 &Z{\ \ \ 7 +10 &v\ \ \ K +9 &Q\ \ \ K +9 &X\ \ \ K +10 &GT\ \ \ J +9 &T\ \ \ K +10 &R\ \ \ K +9 &T\ \ \ K +9 &NW\ \ \ K +10 & T\ \ \ J +9 &!T\ \ \ K +9 &#X\ \ \ K +10 &%VR\ \ \ K +9 &'S\ \ \ J +10 &(T\ \ \ K +9 &*V\ \ \ K +9 &,]R\ \ \ K +10 &. T\ \ \ K +9 &/W\ \ \ K +9 &1U\ \ \ J +10 &3fU\ \ \ K +9 &5(R\ \ \ K +10 &6T\ \ \ K +9 &8R\ \ \ K +9 &:nU\ \ \ K +10 &% +4 "core" %  .  +2 "storage"(Y% +4 "core" % K O\  +2 "storage"(#. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(r(<- +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &<+ \  ;\  +2 "manipulator"&G& +4 "core" &ӫ S 1 +2 "manipulator"&T% +5 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&V( +160 "core" ( + "manipulator"&^& +4 "core" & \ H  +2 "storage"(& +4 "core" &<* % "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&P'O +92 "core" ' +2 "storage"(& +3 "core" &<* ( , \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Q& +3 "core" &<* O E\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&v& +4 "core" & L  +2 "storage"(W& +3 "core" &<*\ \  S\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(n' +8 "core" & U  +2 "manipulator"&% +3 "core" % ϻ : +3 .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a( +180 "core" ' + ."downElevator"SE.stop + "storage"(5 +59 "core" ( +2 "manipulator"&~& +3 "core" & 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" & 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +100 "core" ' +2 "manipulator"&\ & +4 "core" & 5 +2 "manipulator"&d% +4 "core" %  ' +2 "processing"%7& +4 "core" &B\ +3 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +3 "core" &C\ +9 &7>\ #c +9 &U|?\ 7 +10 &z?\ L +9 &U3\ M +9 &`U3\ M +10 &"R5\ M +9 &W5\ M +9 &T6\ N +10 &hW7\ M +9 &)U3\ N +10 &Y3\ N +9 &!X:\ M +9 &#oX6\ N +10 &%1U5\ N +9 &&X4\ N +9 &(T4\ N +10 &*xY2\ M +9 &,:U6\ M +10 &-U5\ M +9 &/Z6\ M +9 &1S6\ M +10 &3BT6\ M +9 &5S7\ M +11 &6U5\ M +8 &8Z4\ N +9 &:JY6\ M +10 &< Y8\ N +9 &=Z(\ N +9 &?Z2\ N +10 &AQY4\ N +9 &Cb7\ O +9 &Dg4\ O +10 &Fn5\ P +9 &HK8\ R +10 &J 6\ T +9 &K1\ S +9 &M0\ T +10 &OM3\ T +9 &Q3\ U +9 &R1\ T +10 &T4\ U +9 &VU2\ T +10 &X&\ U +9 &Y'\ U +9 &[)\ U +10 &]Y*\ F +9 &^y>s)\ *y +9 &^#'\ ) +6 ( +2 "processing"%i& +4 "core" &^&\ ) +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&% +4 "core" %  \ e ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +97 "core" ' + "processing"%y& +4 "core" &^*\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&z% +4 "core" % ! ' & +2 "storage"(% +3 "core" % J w\  +46 "storage"(. +6 "core" .(<- +2 "storage"([& +4 "core" &<* J \\\  +3 "storage"(-& +4 "manipulator"&O& +5 "core" &<* J W\  + &   5 +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&,( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(F'r +2 "core" ( +2 "manipulator"&&& +6 "core" &   q 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & \  5 +2 .tForearm.seek PC +2 "manipulator"&h' +93 "core" ' +2 .tHand.close + "manipulator"&_/ +64 "core" / +2 .tPC.seek :open +2 "processing"%\\( +86 "core" ' +2 "storage"(Z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(D'1 +46 "core" ' +312 ( + "storage"(}& +4 "core" &<* \  O\  +2 "manipulator"&2& +4 "core" & 5 +2 "manipulator"&I% +4 "core" %  * J +2 .tForearm.seek :retract +2 "manipulator"&]' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +253 "core" ( +2 "manipulator"&3& +4 "core" & N +2 "storage"(g& +4 "core" &<* J e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&b'O +97 "core" ' + .tHand.open +2 "manipulator"&e1 +62 "core" 1 +2 "storage"(@- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(x' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(;' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"("& +4 "core" &<* "  \  +2 "manipulator"&& +4 "core" & \  N +2 .tElbow.seek 5 +2 "manipulator"&)( +29 "core" ( + "manipulator"&& +4 "core" &     +2 "storage"(& +4 "core" &<*  +\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' +2 "manipulator"&?& +4 "core" & G  +2 "storage"(`& +4 "core" &<*\ \  :\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"& % +4 "core" %Λ +2 "storage"({& +4 "core" &<* O e\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts +2 "manipulator"&6' +13 "core" ' + "manipulator"&'& +4 "core" &  +2 "storage"(L& +4 "core" &<* !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"(k% +4 "core" % ( '\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (t% +3 "core" %[O\ \  \ Wf +2 "manipulator"&B% +4 "core" %B ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +49 (9& +3 "core" &<*\ " ] J\  +2 "collection"'& +4 "core" &\\b\ =\ A\ L +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&N% +5 "core" %   + "storage"( % +4 "core" % % "\  +2 "storage"(!. +3 "core" .(<- +2 "storage"(M& +4 "core" &<* ' &\  +2 "storage"(& +4 "core" &<* & \  +2 "manipulator"&S& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&K( +4 "core" ( + "manipulator"&$& +4 "core" &   +2 "storage"(%& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +94 "core" ' +2 "storage"(A& +4 "core" &<* , % \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'r +299 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &   +2 "storage"(8& +4 "core" &<* ] 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&c'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(|- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(C't +28 "core" ' +2 "manipulator"&X% +4 "core" %Μ  +2 "storage"(J& +4 "core" &<* J x\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 315 counts + "manipulator"&+' +14 "core" ' + "manipulator"&p& +4 "core" & P  +2 "storage"(l& +4 "core" &<* 3 '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(*' +36 "core" ' + "manipulator"&U& +4 "core" &  +2 "manipulator"&% +4 "core" %5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +169 "core" ( +2 "manipulator"&#& +4 "core" &ӆ \ u - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &ӆ  K - +2 .tForearm.seek CC +2 "manipulator"&G'? +101 "core" ' + .tHand.close +2 "manipulator"&T/ +58 "core" / +2 .tCC.seek :open +2 "collection"'R( +449 "core" ( + "storage"(^& +4 "core" &<* ' ,\  +2 "storage"(& +4 "core" &<* . 0 R\  +2 "manipulator"&5& +4 "core" &ӡ * +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&o' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(Q& +4 "core" &<* F F *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +61 "core" 1 +2 "manipulator"&:% +4 "core" % ·  K +2 "storage"(E& +3 "core" &<* M T F\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 294 counts + "manipulator"&'ϳ +15 "core" ' + "manipulator"&V& +47 "core" & 2  +6 "storage"(P& +3 "core" &<* G < \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +25 "core" ' + "storage"(% +4 "core" % k l \ +3 ."downElevator"SE.seek :down +3 "storage"(~' +99 (w% +4 "core" %G - + R\ Va +2 "manipulator"&% +4 "core" %y A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +96 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'d& +4 "core" &\ \ \ +2 "manipulator"&7% +4 "core" %  D  +2 "storage"(n% +4 "core" % n l y\  +2 "storage"(q. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(s(K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K H G F\ \ +2 "manipulator"&& +4 "core" & t  +2 .tElbow.seek 6 +2 "manipulator"&y( +4 "core" ( +2 "manipulator"&z& +3 "core" &  j  +2 "storage"(& +4 "core" &K m k a\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' +2 "storage"(i& +4 "core" &K l m \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['r +296 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &K R C \ \ +2 "manipulator"&&& +4 "core" & a  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&(& +5 "core" &   +2 "storage"(_& +4 "core" &K V S n\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Z'h +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +3 "storage"( ' +7 "core" & 7  +2 "manipulator"&F% +4 "core" % \\  G +2 .tForearm.seek :retract +2 "manipulator"&}' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&I& +3 "core" &ӓ l 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &ӓ 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&3'? +95 "core" ' +2 "manipulator"&g& +4 "core" &Ӕ S 6 +2 "manipulator"&,% +3 "core" %B  q @ +3 "collection"'e& +4 "core" &\ \ \ +3 "collection"'@& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ \ +7 &<\ \ \ $e +9 &Yx\ \ \ 7 +9 &v\ \ \ J +10 &R\ \ \ K +9 &~U\ \ \ K +9 &@W\ \ \ K +10 &T\ \ \ J +9 &U\ \ \ K +10 &W\ \ \ K +9 &IT\ \ \ J +9 & \ T\ \ \ K +10 &!R\ \ \ K +9 &#T\ \ \ K +9 &%PW\ \ \ K +10 &'T\ \ \ J +9 &(T\ \ \ K +10 &*W\ \ \ K +9 &,YT\ \ \ J +9 &.T\ \ \ K +10 &/T\ \ \ J +9 &1U\ \ \ K +9 &3_W\ \ \ K +10 &5"U\ \ \ K +9 &6T\ \ \ K +10 &8U\ \ \ K +9 &:hU\ \ \ K +9 &<)Y\ \ \ K +10 &=W\ #\ !\ K +9 &?X\ #\ !\ K +9 &An[\ \ \ L +10 &C0_\ \ \ L +9 &Df\ &\ #\ L +10 &Fr\ ,\ )\ N +9 &Hd\ >\ :\ R +9 &J\ Q\ P\ V +10 &K\ Q\ Q\ V +9 &M\ L\ M\ X +9 &O[\ L\ J\ X +10 &Q\ I\ H\ X +9 &R\ E\ G\ Y +10 &T\ E\ E\ Z +9 &V]\ D\ D\ Z +9 &X\ E\ D\ Z +10 &Y\ D\ D\ [\ +9 &[\ E\ C\ H +9 &\\8\ F\ D\ , +10 &\\\ B\ C\ U +2 ( +2 "collection"'@& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&"1 +54 "core" 1 + "manipulator"&% +4 "core" % C  A ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +47 .tForearm.seek :retract +5 "manipulator"&]' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &A\ +2 "manipulator"&% +4 "core" %   ]  +2 "storage"(?% +4 "core" % J .\  +2 "storage"(`. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(D(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K\ \ \ \  +2 "manipulator"&{& +4 "core" &  $ +2 "manipulator"&x% +4 "core" %  )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&'( +147 "core" ( + "manipulator"&L& +4 "core" & r  +2 "storage"(k& +4 "core" &K N l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +98 "core" ' +2 "storage"(b& +5 "core" &K ! \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(;'r +298 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (B& +2 "core" &K M Y\  +3 "manipulator"&0& +3 "core" & 0  +2 .tElbow.seek 6 +2 "manipulator"&)( +4 "core" ( + "manipulator"&& +4 "core" & @  +2 "storage"(& +4 "core" &K M S\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&9'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&6/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" &    +2 "manipulator"&N% +4 "core" % v = +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&M& +4 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&S' +93 "core" ' +2 "manipulator"&$& +3 "core" & s +2 "manipulator"&%% +4 "core" % 5 Q +2 "processing"%& +4 "core" &C\ +3 "processing"%A& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &@\  +10 &2v?\ )w +9 &cD\ > +9 &ns8\ N +10 &0U>\ N +9 &Y>\ N +9 &T@\ N +10 &wU9\ M +9 &9U?\ M +10 &R5\ N +9 &Y7\ N +9 & ~Y5\ N +10 &"@V3\ N +9 &$T7\ N +9 &%W6\ M +10 &'U4\ M +9 &)HX:\ N +10 &+ Y6\ M +9 &,T4\ N +9 &.W5\ M +10 &0QU:\ M +9 &2W6\ M +9 &3S6\ N +10 &5U6\ N +9 &7YS5\ M +10 &9W8\ M +9 &:W3\ N +9 &<W7\ M +10 &>`Y4\ N +9 &@"[9\ N +9 &A\\6\ N +10 &Cg6\ O +9 &Ebi7\ P +10 &G"q4\ P +9 &H7\ S +9 &J7\ T +10 &L^7\ T +9 &N 5\ T +9 &O6\ T +10 &Q5\ U +9 &Sd6\ T +10 &U%3\ U +9 &V3\ U +9 &X8\ U +10 &Zj2\ U +9 &\\-5\ U +9 &]}7\ 8 +10 &^.1\ S +9 &^*\ - +2 ( +3 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&/1 +60 "core" 1 +2 "manipulator"&u% +4 "core" %    / Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +96 "core" ' +2 "processing"%m& +4 "core" &^+\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&8% +4 "core" % !  - % +2 "storage"(|% +4 "core" %\ \ \  +2 "storage"(X. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(J(K +8 "core" ( +48 .tSC.configure :limp +3 "storage"($\ 1b +3 (p& +2 "manipulator"&l& +4 "core" &K\  \  +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +3 "core" &   ] +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(U'r +3 "manipulator"&( +7 "core" ( +2 "manipulator"&.& +4 "core" &   0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +4 "core" &  H +2 .tForearm.seek PC +2 "manipulator"&<' +92 "core" ' +2 .tHand.close + "manipulator"&c/ +61 "core" / +2 .tPC.seek :open +2 "processing"%+( +84 "core" ' +2 "storage"(C- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'1 +43 "core" ' +317 ( + "storage"(H& +4 "core" &K\ ,\ , 4\  +2 "manipulator"&=& +4 "core" & u +2 "manipulator"&4% +4 "core" %  K [ +2 .tForearm.seek :retract +2 "manipulator"&T' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&>( +253 "core" ( + "manipulator"&j& +4 "core" & K Q +2 "storage"(^& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +98 "core" ' +2 .tHand.open + "manipulator"&51 +54 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +4 "core" -' + "storage"(Y& +4 "core" &K , ) ;\  +2 "manipulator"&W& +4 "core" &  Q +2 .tElbow.seek 6 +2 "manipulator"&:( +30 "core" ( +2 "manipulator"&E& +3 "core" &    v +2 "storage"(V& +4 "core" &K 9 6 -\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&o& +4 "core" & ' v +2 "storage"( & +3 "core" &K\ \  K\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&w'< +14 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&d% +4 "core" %B . G +2 "storage"(& +4 "core" &K J E\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&7'n +15 "core" ' +2 "manipulator"&n& +5 "core" & 1 v + "storage"(q& +4 "core" &K J t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&*' +15 "core" ' +2 "storage"(% +4 "core" % O \ +3 ."downElevator"SE.seek :down +3 "storage"(~' +99 (r% +3 "core" %JQ \ Xh +2 "manipulator"&% +4 "core" % J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (z& +3 "core" &K  \ \  +46 "collection"'& +6 "core" &\\}\ =\ =\ U +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&i% +4 "core" %   +2 "storage"(v% +4 "core" %\ \  \  +2 "storage"(\ . +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(-(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &K |\  +2 "manipulator"&&& +4 "core" & w v +2 .tElbow.seek 6 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&_& +4 "core" & v +2 "storage"(a& +4 "core" &K M \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +93 "core" ' +2 "storage"(F& +4 "core" &K % H\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +296 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" & 0 v +2 "storage"(h& +4 "core" &K L \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&['< +19 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(g- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(,'m +33 "core" ' +2 "manipulator"&e% +3 "core" %7 " ) +2 "storage"( & +4 "core" &K\ \  .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 295 counts +2 "manipulator"& 'c +14 "core" ' +2 "manipulator"&}& +4 "core" &  v +2 "storage"(R& +4 "core" &K N 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +45 "core" ' +2 "manipulator"&@& +3 "core" &  v +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +166 "core" ( +2 "manipulator"&`& +4 "core" &ӌ  8 + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +4 "core" &ӌ H + +2 .tForearm.seek CC +2 "manipulator"&{'? +101 "core" ' +2 .tHand.close + "manipulator"&x/ +58 "core" / +2 .tCC.seek :open +2 "collection"'3( +449 "core" ( +2 "storage"(L& +3 "core" &K & ' \  +2 "storage"(k& +4 "core" &K , - \  +2 "manipulator"&s& +4 "core" & F +2 "manipulator"&b% +5 "core" % ε +2 .tForearm.seek :retract + "manipulator"&2' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&]( +149 "core" ( +2 "manipulator"&t& +5 "core" &  + "storage"(B& +4 "core" &K T T L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&0'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&6% +4 "core" % 9  T +2 "storage"(& +4 "core" &K P V U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 297 counts +2 "manipulator"&N'e +54 "core" ' +8 "manipulator"&'& +4 "core" & E  +2 "storage"(& +4 "core" &K F F %\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +15 "core" ' +2 "storage"(9% +4 "core" % m k \ +3 ."downElevator"SE.seek :down +4 "storage"(M' +98 (% +3 "core" %H ) - \ Wb +2 "manipulator"&)% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'%& +3 "core" &\ \ \ +2 "manipulator"&% +5 "core" %  . # + "storage"(% +4 "core" % Q T\  +2 "storage"( . +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(\\(,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" &,{ , % Y\ +2 "manipulator"&u& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&m( +4 "core" ( + "manipulator"&8& +4 "core" & O  +2 "storage"(|& +4 "core" &,{ W V X\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +97 "core" ' + "storage"(A& +4 "core" &,{ l k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'r +293 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &,k F P 7\ +3 "manipulator"&K& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&c& +5 "core" & a  + "storage"(D& +4 "core" &,k U V \ +3 .tForearm.seek 4 + 300 counts + "manipulator"&C'c +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +60 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(' +8 "core" & ,  +2 "manipulator"&U% +4 "core" % {  X +2 .tForearm.seek :retract +2 "manipulator"&H' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&4& +6 "core" &Ӛ 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &Ӛ s 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&j'? +100 "core" ' + "manipulator"&^& +4 "core" &Ӛ 3 +2 "manipulator"&% +4 "core" %P H +2 "collection"'5& +4 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'G(\\ +5 "core" &\ \ \ +7 &<\ \ \ $f +9 &Z{\ \ \ 7 +10 &v\ \ \ K +9 &R\ \ \ J +10 &U\ \ \ J +9 &HT\ \ \ K +9 &\ W\ \ \ K +10 &W\ \ \ K +9 &W\ \ \ K +9 &PX\ \ \ K +10 & W\ \ \ K +9 &!W\ \ \ K +10 &#W\ \ \ K +9 &%XW\ \ \ K +9 &'R\ \ \ K +10 &(R\ \ \ K +9 &*R\ \ \ K +9 &,`S\ \ \ K +10 &."S\ \ \ K +9 &/R\ \ \ K +10 &1U\ \ \ J +9 &3iT\ \ \ J +9 &5*U\ \ \ K +10 &6W\ \ \ K +9 &8R\ \ \ K +9 &:qU\ \ \ J +10 &<2U\ \ \ J +9 &=U\ \ \ K +10 &?V\ \ \ K +9 &AwU\ \ \ K +9 &C8Y\ \ \ K +10 &Da\ \ \ L +9 &Fj\ '\ !\ M +9 &Ho\ 0\ +\ P +10 &J&\ E\ =\ T +9 &K\ I\ I\ V +10 &M\ H\ G\ W +9 &Oa\ D\ E\ X +9 &Q"\ C\ D\ X +10 &R\ D\ A\ X +9 &T\ B\ C\ Y +9 &Ve\ A\ B\ Y +10 &X$\ @\ B\ Z +9 &Y\ @\ C\ [\ +10 &[\ C\ D\ H +9 &\\0\ C\ B\ 4 +9 &\\c\ @\ C\ K +3 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&Y1 +63 "core" 1 +47 "manipulator"&W% +7 "core" % P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%E& +4 "core" &@\ +2 "manipulator"&V% +4 "core" %  L  +2 "storage"(o% +4 "core" %\ \  -\  +2 "storage"( . +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(#(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (d& +3 "core" &,} K 3\ +2 "manipulator"&& +4 "core" &ӟ , 2 +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&n( +160 "core" ( +2 "manipulator"&q& +3 "core" &  +3 "storage"(& +3 "core" &,} \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +96 "core" ' +3 "storage"(& +3 "core" &,} - . @\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +295 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,l\ '\  c\  +2 "manipulator"&P& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&& +3 "core" & $  +2 "storage"(w& +4 "core" &,l I s\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&7'c +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +8 "core" &  +2 "manipulator"&i% +3 "core" % | +2 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&\ ( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&O& +4 "core" & \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&_' +104 "core" ' + "manipulator"&a& +4 "core" & \ +2 "manipulator"&*% +4 "core" % +2 "processing"%F& +4 "core" &\ +3 "processing"%~& +5 "core" &;\ +2 .tPC.seek :closed +2 "processing"%J(^ +5 "core" &C\ +6 &7?\ #c +9 &Ty@\ 6 +9 &{?\ K +10 &UA\ N +9 &\\W>\ N +10 &U?\ N +9 &W:\ M +9 &T@\ N +10 &eU4\ M +9 &(U0\ M +9 &Y6\ M +10 &!W2\ M +9 &#lV,\ N +9 &%/W7\ M +10 &&W3\ N +9 &(Y5\ M +10 &*uY4\ M +9 &,7Y7\ M +9 &-X6\ M +10 &/Z4\ M +9 &1}W6\ M +9 &3?X6\ M +10 &5V4\ N +9 &6W4\ N +10 &8W6\ N +9 &:GT4\ M +9 &< W4\ M +10 &=Z4\ N +9 &?Z9\ N +9 &AMZ5\ N +10 &C `7\ O +9 &Dc5\ O +10 &Fk6\ P +9 &HK|7\ Q +9 &J7\ S +10 &K7\ T +9 &M3\ T +9 &OL7\ T +10 &Q 7\ T +9 &R5\ T +10 &T5\ U +9 &VT7\ T +9 &X5\ T +10 &Y5\ U +9 &[6\ T +9 &]Y5\ C +10 &^Gy/\ [ +9 &^63\ 1 +6 ( +2 "processing"%~& +3 "core" &^!5\ 1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 "processing"%I& +4 "core" &^!\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&h% +4 "core" %    C  +3 "storage"(g% +3 "core" % I \  +2 "storage"(e. +3 "core" .(,} +2 .tSC.reconfigure :tight +48 "storage"($\ .\ 1~b +5 .tSC.seek 4 +2 "storage"( (,y +29 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (}& +2 "manipulator"&R& +6 "core" &,x J T\ + &  \ +4 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&@( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"&1& +3 "core" &   \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" & \ ! L \ +3 .tForearm.seek PC +2 "manipulator"&y' +92 "core" ' +2 .tHand.close + "manipulator"&[/ +63 "core" / +2 .tPC.seek :open +2 "processing"% ( +89 "core" ' +2 "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(`'1 +43 "core" ' +308 ( +2 "storage"( & +5 "core" &,i\ * W ]\ + "manipulator"&"& +4 "core" & \ +2 "manipulator"&Z% +4 "core" %  f +3 .tForearm.seek :retract + "manipulator"&x' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&& +4 "core" &\  Z !p +2 "storage"(L& +4 "core" &,i\ \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +92 "core" ' +2 .tHand.open + "manipulator"&s1 +61 "core" 1 +3 "storage"(b- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(t' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(B' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +3 "core" -' +2 "storage"(?& +4 "core" &,i , 4\ +2 "manipulator"&& +4 "core" &\  + !p +2 .tElbow.seek 4 +2 "manipulator"&6( +4 "core" ( + "manipulator"&& +4 "core" &\   H !p +2 "storage"('& +4 "core" &,i 7 8 \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +52 "core" ' +2 "manipulator"&2& +3 "core" &\   !p +2 "storage"(]& +4 "core" &,i J n\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +20 "core" ' +2 "manipulator"&%% +3 "core" %@  +2 "storage"(& +4 "core" &,i\ \  0\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 309 counts + "manipulator"&N'l +16 "core" ' +2 "manipulator"&& +3 "core" &\  o +2 "storage"( & +4 "core" &,i Q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(;% +3 "core" %\ \ * `\ +3 ."downElevator"SE.seek :down +4 "storage"(M' +98 (-% +3 "core" %6N\ \ \ Wf +2 "manipulator"&/% +4 "core" % I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (8& +3 "core" &,i ' U\ +2 "collection"'|& +4 "core" &\\`\ ;\ <\ K +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&A% +4 "core" %  H  +2 "storage"(% +4 "core" % T z\  +2 "storage"($. +3 "core" .(,y +2 "storage"(l& +4 "core" &,i\ \  V\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(.(,y +22 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (K& +2 "core" &,z \  O\ +3 "manipulator"&c& +3 "core" &  o +3 .tElbow.seek 4 +2 "manipulator"&D( +2 "core" ( +3 "manipulator"&!& +3 "core" &  t o +2 "storage"(f& +4 "core" &,z\ \  b\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&U' +103 "core" ' +2 "storage"(m& +3 "core" &,z $ 0\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +295 "core" ' +2 "storage"(4- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +4 "core" &\  Z o +2 "storage"(p& +3 "core" &,l\ (\  L\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&C'7 +24 "core" ' +2 .tElbow.hold + "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(5'e +28 "core" ' +2 "manipulator"&S% +4 "core" %D +2 "storage"(& +3 "core" &,l K N\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&H'p +16 "core" ' +2 "manipulator"&3& +4 "core" &\  o +2 "storage"(Y& +4 "core" &,l\ *\  e\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&E& +4 "core" &\  o +2 "manipulator"&V% +4 "core" % K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +146 "core" ( +2 "manipulator"&d& +3 "core" &z$ J =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &z$ , =F +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&j/ +54 "core" / +2 .tCC.seek :open +2 "collection"'q( +432 "Can"\ RO +14 "core" ( +2 "storage"(& +4 "core" &,l # + C\ \ +2 "storage"(\\& +4 "core" &,l / / w\ \ +2 "manipulator"&& +4 "core" &ӯ 6 +2 "manipulator"&=% +3 "core" % E R $ +3 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&r( +163 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(P& +4 "core" &,l G Q F\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +52 "core" 1 +2 "manipulator"&% +4 "core" % D 1 +42 "storage"(i& +11 "core" &,l T T U\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 313 counts +2 "manipulator"&n'p +15 "core" ' +2 "manipulator"&>& +4 "core" & L  +2 "storage"(Q& +4 "core" &,l P D \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +16 "core" ' + "storage"(O% +4 "core" % Q G ?\ +3 ."downElevator"SE.seek :down +4 "storage"(&' +98 (:% +3 "core" %C $ * \ Va +2 "manipulator"&a% +4 "core" % . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'F& +4 "core" &\ \ \ +2 "manipulator"&% +4 "core" %    +2 "storage"(v% +4 "core" % W < r\  +2 "storage"(+. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<, + " ,\  +3 "manipulator"&I& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&h( +4 "core" ( + "manipulator"&g& +4 "core" &  ,  +2 "storage"(e& +4 "core" &<, I H :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +93 "core" ' +2 "storage"(R& +4 "core" &<, k k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'r +309 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +3 "core" &<, R S P\  +2 "manipulator"&_& +4 "core" & @  +2 .tElbow.seek 5 +2 "manipulator"&[( +2 "core" ( +3 "manipulator"&#& +3 "core" & \\  +2 "storage"(,& +4 "core" &<, G G E\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&\ 'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(' +7 "core" & j  +2 "manipulator"& % +4 "core" % Ϯ  = +2 .tForearm.seek :retract +2 "manipulator"&"' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +154 "core" ( + ' +2 ."downElevator"SE.stop +2 "manipulator"&y& +2 "storage"(5 +7 "core" &Ӌ   :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӌ  A :* +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'? +101 "core" ' +2 "manipulator"&@& +4 "core" &ӌ  ! 9) +3 "manipulator"&s% +3 "core" %= +3 "collection"'b& +3 "core" &\ \ \ +3 "collection"'{& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'?(\\ +4 "core" &\ \ \ +8 &?\ \ \ $f +9 &Z{\ \ \ 8 +9 &t\ \ \ K +10 &Q\ \ \ K +9 &X\ \ \ K +10 &SR\ \ \ K +9 &T\ \ \ J +9 &T\ \ \ J +10 &T\ \ \ K +9 &[W\ \ \ K +9 & R\ \ \ K +10 &!T\ \ \ J +9 &#T\ \ \ J +10 &%cT\ \ \ K +9 &'%W\ \ \ K +9 &(W\ \ \ K +10 &*W\ \ \ K +9 &,kW\ \ \ K +9 &.-R\ \ \ K +10 &/R\ \ \ K +9 &1U\ \ \ J +10 &3sU\ \ \ K +9 &55R\ \ \ K +9 &6T\ \ \ J +10 &8T\ \ \ K +9 &:{S\ \ \ K +9 &<=U\ \ \ K +10 &=U\ \ \ K +9 &?T\ \ \ K +9 &AW\ \ \ K +10 &CDW\ \ \ K +9 &E`\ \ \ L +10 &Fi\ $\ $\ N +9 &H|\ /\ )\ P +9 &J1\ F\ >\ U +10 &K\ I\ J\ W +9 &M\ H\ I\ X +10 &Oj\ F\ G\ Y +9 &Q.\ C\ D\ X +9 &R\ C\ D\ Z +10 &T\ A\ C\ Z +9 &Vp\ D\ C\ Z +9 &X+\ C\ B\ \\ +10 &Y\ B\ A\ [ +9 &[\ F\ C\ H +54 &\\/\ D\ C\ 1 +10 &\\q\ D\ A\ O +2 ( + &\\r\ B\ D\ O + &\\q\ ?\ >\ O + &\\q\ @\ >\ O + &\\q\ ?\ @\ O + &\\r\ >\ <\ O +2 "collection"'{& +4 "core" &\\r\ =\ >\ O +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +3 "core" % = & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%x& +4 "core" &\ +2 "manipulator"&2% +5 "core" %    + "storage"(]% +4 "core" % K U\ +2 "storage"(%. +3 "core" .(<- +2 "storage"(& +4 "core" &<, M T\  +2 "storage"(`& +3 "core" &<, M v\  +2 "manipulator"&& +4 "core" &ӭ o 5 +2 "manipulator"& % +4 "core" %  H  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&t( +161 "core" ( + "manipulator"&;& +4 "core" &  +2 "storage"(& +4 "core" &<, ' "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&k'O +92 "core" ' +3 "storage"(B& +3 "core" &<, & $ G\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +296 "core" ' +2 "storage"(/- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<, M r\  +2 "manipulator"&6& +5 "core" &  +2 .tElbow.seek 5 + "manipulator"&9( +5 "core" ( + "manipulator"&& +5 "core" &   + "storage"(8& +4 "core" &<, M I\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&N'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& +2 "storage"(' +7 "core" & D  + "manipulator"&$% +4 "core" % ϻ +2 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&K& +3 "core" &  : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +3 "core" & : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&!' +91 "core" ' +2 "manipulator"&f& +3 "core" & N : +2 "manipulator"&% +4 "core" % d } +2 "processing"%m& +4 "core" &E\ +3 "processing"%M& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +3 "core" &?\  +9 &2vD\ )w +10 &dE\ > +9 &vsE\ N +9 &9R@\ M +10 &SD\ M +9 &R:\ M +10 &V@\ M +9 &@U>\ N +9 &T8\ M +10 &S4\ M +9 & T5\ M +9 &"IR7\ M +10 &$\ X3\ N +9 &%T9\ M +10 &'S5\ N +9 &)PU6\ N +9 &+X;\ M +10 &,X7\ M +9 &.V5\ M +9 &0XW>\ N +10 &2V:\ M +9 &3S3\ M +10 &5X4\ M +9 &7aS7\ M +9 &9#W3\ M +10 &:Z6\ N +9 &<Y=\ M +9 &>iY?\ M +10 &@+X2\ M +9 &A]5\ N +10 &Cg9\ O +9 &Eij=\ P +9 &G(s8\ Q +10 &H6\ S +9 &J3\ S +9 &Lh6\ S +10 &N&7\ T +9 &O2\ T +10 &Q9\ U +9 &Sk4\ U +9 &U.4\ T +10 &V6\ U +9 &X2\ U +9 &Zr/\ U +10 &\\50\ U +9 &]ys6\ > +10 &^"T6\ O +9 &^6/\ 8 +2 ( +2 "processing"%M& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&)1 +57 "core" 1 + "manipulator"&u% +4 "core" %    } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +97 "core" ' +2 "processing"%<& +4 "core" &^3*\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&p% +3 "core" %   # +2 "storage"(% +4 "core" %\ \ \  +2 "storage"(S. +3 "core" .(<- +2 "storage"(& +52 "core" &<,\ \ \ \  +2 "storage"(3& +3 "manipulator"&Y& +7 "core" &<,\ \ \  +2 &    : +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +6 .tElbow.seek PC +2 "manipulator"&E( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(V'r +2 "core" ( +2 "manipulator"&U& +5 "core" &  K : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &   : +3 .tForearm.seek PC +2 "manipulator"&X' +93 "core" ' +2 .tHand.close + "manipulator"&C/ +64 "core" / +2 .tPC.seek :open +2 "processing"%H( +88 "core" ' + "storage"(d- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +47 "core" ' +310 ( + "storage"(& +4 "core" &<, \\ t\  +2 "manipulator"&W& +4 "core" & : +2 "manipulator"&^% +4 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&j' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&o( +254 "core" ( + "manipulator"&G& +4 "core" & % +2 "storage"(& +3 "core" &<, O Y\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +97 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(=- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +6 "storage"(P' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"( & +4 "core" &<, X\  +2 "manipulator"&z& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&i& +3 "core" &  b  +2 "storage"(>& +4 "core" &<, | \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(O'" +53 "core" ' + "manipulator"&T& +4 "core" &   +2 "storage"(:& +4 "core" &<, W !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&a'΍ +27 "core" ' +2 .tElbow.hold + "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&F% +4 "core" %Μ   +2 "storage"(n& +4 "core" &<,\ +\ $ K\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 315 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&v& +4 "core" &  +2 "storage"(+& +4 "core" &<, S <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +15 "core" ' +2 "storage"(7% +4 "core" % # + $\ +3 ."downElevator"SE.seek :down +3 "storage"(&' +99 (.% +3 "core" %gN\ \ \ \ Xg +2 "manipulator"&% +4 "core" %N  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (g& +3 "core" &<, M E\  +41 "collection"'e& +11 "core" &\\q\ <\ ;\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&R% +4 "core" %    +2 "storage"(w% +4 "core" % 3 \  +2 "storage"(*. +2 "core" .(<- +2 "storage"(1& +4 "core" &<, & ' 6\  +2 "storage"((& +5 "core" &<, & "\  + "manipulator"&_& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&,& +4 "core" &  +2 "storage"(& +4 "core" &<,\  T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&J'O +94 "core" ' +2 "storage"( & +4 "core" &<, ! \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'r +298 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" &  +2 "storage"(& +4 "core" &<, R 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&}'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(@- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(s'u +28 "core" ' +2 "manipulator"&[% +3 "core" %Ν _ +2 "storage"(b& +4 "core" &<, J n\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&"& +3 "core" &   +2 "storage"(q& +4 "core" &<, 2 ' V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&x& +4 "core" &  +2 "manipulator"&2% +4 "core" %G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +153 "core" ( + "manipulator"&& +5 "core" &x% 2 >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &x% m >K +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&{/ +64 "core" / +2 .tCC.seek :open +2 "collection"' ( +446 "core" ( +2 "storage"(L& +4 "core" &<, ' ,\  +2 "storage"(;& +4 "core" &<, , ) .\  +2 "manipulator"&& +3 "core" &ӭ ` 7 +2 "manipulator"&B% +5 "core" % D c : +2 .tForearm.seek :retract +2 "manipulator"&Z' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&'( +161 "core" ( +2 "manipulator"&/& +3 "core" & ^  +2 "storage"(& +4 "core" &<, P F 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&6'΍ +97 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&81 +63 "core" 1 +2 "manipulator"&|% +4 "core" % ΁   +2 "storage"(A& +4 "core" &<, S I _\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 288 counts + "manipulator"&$'ϭ +16 "core" ' +2 "manipulator"&t& +3 "core" &  Y  +2 "storage"(k& +4 "core" &<, 8 < \  +42 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +19 "core" ' +2 "storage"(N% +4 "core" % k O n\ +3 ."downElevator"SE.seek :down +4 "storage"(K' +98 (c% +3 "core" %J . . V\ Wc +2 "manipulator"&9% +4 "core" %9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" &\ \ \ +3 "manipulator"&m% +3 "core" %  r  +2 "storage"(% +4 "core" % m m \  +2 "storage"(0. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &K , ) ]\ +2 "manipulator"&u& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&<( +4 "core" ( + "manipulator"&p& +4 "core" &  K  +2 "storage"(& +4 "core" &K K Y \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +96 "core" ' +2 "storage"(& +3 "core" &K m m\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +294 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (3& +3 "core" &K # ? a\ +2 "manipulator"&U& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&!& +4 "core" & a  +2 "storage"(C& +4 "core" &K F F C\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&d'h +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&4& +2 "storage"( ' +6 "core" & #  +2 "manipulator"&V% +5 "core" % v  o +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +154 "core" ( + "manipulator"&^& +5 "core" ' + &Ӏ# $ <: +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &X& +4 "core" &Ӂ# a <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&G'? +102 "core" ' +2 "manipulator"&& +3 "core" &Ӟ X 8 +2 "manipulator"&E% +4 "core" %6 c  +2 "collection"'& +4 "core" &\ \ \ +3 "collection"'=& +6 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'(\\ +3 "core" &\ \ \ +7 &<\ \ \ $f +10 &Z{\ \ \ 7 +9 &v\ \ \ K +9 &R\ \ \ K +10 &W\ \ \ K +9 &IR\ \ \ K +10 & T\ \ \ K +9 &W\ \ \ K +9 &W\ \ \ K +10 &RT\ \ \ J +9 & U\ \ \ K +9 &!W\ \ \ K +10 &#R\ \ \ K +9 &%YT\ \ \ K +10 &'V\ \ \ K +9 &(R\ \ \ K +9 &*S\ \ \ J +10 &,bU\ \ \ J +9 &.#T\ \ \ K +9 &/W\ \ \ K +10 &1T\ \ \ K +9 &3iT\ \ \ K +10 &5+W\ \ \ K +9 &6T\ \ \ K +9 &8W\ \ \ K +10 &:qT\ \ \ K +9 &<2Y\ \ \ K +9 &=V\ \ \ K +10 &?U\ \ \ K +9 &AwW\ \ \ L +10 &C8\\\ \ \ L +9 &De\ #\ !\ M +9 &Fs\ *\ &\ O +10 &Hm\ ?\ 6\ R +9 &J!\ P\ L\ W +9 &K\ P\ N\ W +10 &M\ I\ M\ Y +9 &Od\ G\ I\ W +10 &Q#\ F\ F\ Y +9 &R\ C\ D\ Y +9 &T\ E\ D\ Y +10 &Vf\ B\ B\ Z +9 &X&\ C\ C\ Z +10 &Y\ A\ C\ \\ +9 &[\ C\ B\ H +9 &\\1\ B\ C\ 1 +10 &\\g\ A\ B\ N +2 ( +2 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"& 1 +61 "core" 1 +2 "manipulator"&z% +4 "core" % 6    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +139 "core" ' +6 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%i& +3 "core" &\ +2 "manipulator"&>% +4 "core" %   +2 "storage"(T% +5 "core" % O -\  + "storage"(:. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(5(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &K\ ;\  +2 "manipulator"&& +4 "core" &  M & +2 "manipulator"&n% +4 "core" %  g  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&v( +149 "core" ( +2 "manipulator"&+& +4 "core" &  +2 "storage"(7& +4 "core" &K ! % %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&o' +95 "core" ' +2 "storage"(\\& +4 "core" &K . . k\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +299 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" &K Q \  +2 "manipulator"&Q& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&O& +4 "core" &  +2 "storage"(a& +3 "core" &K U \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(' +7 "core" &   +2 "manipulator"&R% +4 "core" % g +2 .tForearm.seek :retract +2 "manipulator"&w' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( + "manipulator"&1& +4 "core" & \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" & ' \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&_' +93 "core" ' +2 "manipulator"&,& +4 "core" & \ +2 "manipulator"&% +4 "core" % c +2 "processing"%& +4 "core" &\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%&(^ +5 "core" &F\ +7 &6E\ #b +9 &U~E\ 7 +9 &xC\ K +10 &VB\ N +9 &bSE\ M +9 &$QE\ M +10 &TA\ N +9 &V?\ N +10 &jW?\ M +9 &,Y?\ M +9 &T@\ N +10 &!V@\ N +9 &#qU:\ N +10 &%3W=\ N +9 &&W7\ N +9 &(Y1\ M +10 &*zY5\ M +9 &,<Y2\ M +9 &-S4\ M +10 &/Z6\ N +9 &1U?\ M +9 &3DX7\ M +10 &5W5\ M +9 &6Y;\ N +10 &8X>\ N +9 &:LY?\ M +9 &< X=\ N +10 &=Z6\ N +9 &?U:\ N +10 &ARW:\ N +9 &Cc4\ O +9 &De9\ O +10 &Fm;\ P +9 &HM=\ R +9 &J 8\ T +10 &K<\ T +9 &M7\ T +9 &OP;\ T +10 &Q?\ U +9 &R:\ T +10 &T4\ U +9 &VV5\ U +9 &X3\ T +10 &Y4\ U +9 &[;\ U +9 &]\\6\ D +10 &^}@q6\ &p +9 &^&5\ + +6 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&r1 +2 "core" &^8\ + +51 1 +2 "manipulator"&I% +3 "core" %   c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +88 "core" ' +2 "processing"%y& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %    .  +2 "storage"(@% +4 "core" % J \  +2 "storage"([. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(b(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +51 ("& +3 "core" &K\ ,\ - a\  +2 "manipulator"&q& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &  \ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(x'r + "manipulator"&2( +8 "core" ( + "manipulator"&J& +4 "core" &  : \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +3 "core" &   H \ +2 .tForearm.seek PC +2 "manipulator"&h' +96 "core" ' + .tHand.close +2 "manipulator"&}/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(s- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +318 ( +2 "storage"(`& +3 "core" &K M +\  +2 "manipulator"&& +4 "core" &  \ +2 "manipulator"&\ % +4 "core" %  M C +2 .tForearm.seek :retract +2 "manipulator"&{' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&]( +240 "core" ( + "manipulator"&?& +4 "core" & > +3 "storage"(L& +3 "core" &K\ \ \  '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +93 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(B- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(%& +4 "core" &K ( ( 3\  +2 "manipulator"&8& +4 "core" & \  > +2 .tElbow.seek 6 +2 "manipulator"&|( +4 "core" ( + "manipulator"&A& +4 "core" &   > +2 "storage"(t& +4 "core" &K 9 : '\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(N'" +50 "core" ' +2 "manipulator"&Z& +4 "core" &  > +2 "storage"('& +3 "core" &K J \\\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&c'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(6' +19 "core" ' +2 "manipulator"&% +4 "core" %I A +2 "storage"($& +3 "core" &K J O\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&m'u +15 "core" ' +2 "manipulator"&& +4 "core" & = +2 "storage"(0& +4 "core" &K M r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +15 "core" ' +2 "storage"(-% +4 "core" % M _\ +3 ."downElevator"SE.seek :down +3 "storage"(K' +99 (% +3 "core" %EU \ Xi +2 "manipulator"&)% +3 "core" % K +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (p& +3 "core" &K $ 5\  +2 "collection"'& +4 "core" &\\f\ <\ <\ N +49 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % " \  +2 "storage"(f. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(Y(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" &K\ \ \ \  +2 "manipulator"&U& +4 "core" & _ = +2 .tElbow.seek 6 +2 "manipulator"&!( +4 "core" ( +2 "manipulator"&C& +3 "core" &  = +2 "storage"(l& +4 "core" &K & !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +106 "core" ' +2 "storage"(V& +3 "core" &K $ & ;\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +297 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&^& +3 "core" & = +2 "storage"(X& +4 "core" &K M \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&M'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(E'o +29 "core" ' + "manipulator"&D% +4 "core" %D  G  +2 "storage"(& +4 "core" &K J j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"& 'p +15 "core" ' +2 "manipulator"&& +3 "core" & ' = +2 "storage"( & +4 "core" &K J \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(z' +49 "core" ' + "manipulator"&=& +4 "core" &  = +2 "manipulator"&i% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +152 "core" ( +2 "manipulator"&:& +4 "core" &Ӑ  Y 8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &Ӑ > 8 +3 .tForearm.seek CC + "manipulator"&'? +102 "core" ' +2 .tHand.close + "manipulator"&n/ +57 "core" / +2 .tCC.seek :open + "collection"'G( +447 "core" ( + "storage"(+& +4 "core" &K ' , \  +2 "storage"(7& +3 "core" &K ' - \  +3 "manipulator"& & +3 "core" &  ' +2 "manipulator"&\\% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&W' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&j( +147 "core" ( +2 "manipulator"&.& +3 "core" & O  +2 "storage"(& +4 "core" &K K G F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&Q'< +94 "core" ' +2 .tElbow.hold + "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&a1 +62 "core" 1 +2 "manipulator"&g% +3 "core" % K 4 +2 "storage"(e& +4 "core" &K U T '\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 315 counts + "manipulator"&R'w +13 "core" ' +3 "manipulator"&v& +50 "core" &  +2 "storage"(o& +4 "core" &K F F $\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +17 "core" ' +2 "storage"(% +4 "core" % O G C\ +3 ."downElevator"SE.seek :down +4 "storage"(1' +99 ((% +3 "core" %D . . h\ V` +2 "manipulator"&% +5 "core" % : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +5 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&% +5 "core" %  (  + "storage"(% +4 "core" % F G #\  +2 "storage"(w. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(H(,y +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" &,{ - ) `\ +2 "manipulator"&I& +4 "core" & _  +2 .tElbow.seek 4 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&& +4 "core" &  q  +2 "storage"(@& +4 "core" &,{ U T \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +101 "core" ' + "storage"( & +9 "core" &,{ l m /\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +7 "storage"("'r +296 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +3 "core" &,k $ " \ +2 "manipulator"&#& +3 "core" &  +3 .tElbow.seek 4 +2 "manipulator"&_( +2 "core" ( +2 "manipulator"&}& +4 "core" &  _  +2 "storage"(5& +4 "core" &,k I G 6\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&s'c +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +2 "storage"(&' +8 "core" & J  +2 "manipulator"&x% +4 "core" % h  +2 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&\ & +4 "core" ' + &|" P ;8 +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &h& +3 "core" &|"  ;8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&?'? +93 "core" ' +2 "manipulator"&L& +3 "core" &" - ;5 +3 "manipulator"&2% +4 "core" %6 J +2 "collection"'& +4 "core" &\ \ \ +3 "collection"'B& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ \  +8 &5x\ \ \ *z +9 & g{\ \ \ > +10 &j\ \ \ L +9 &]S\ \ \ J +9 &T\ \ \ K +10 &R\ \ \ K +9 &T\ \ \ J +10 &dT\ \ \ K +9 &%X\ \ \ K +9 &T\ \ \ J +10 & T\ \ \ K +9 &"lW\ \ \ K +10 &$.R\ \ \ K +9 &%T\ \ \ J +9 &'T\ \ \ J +10 &)tT\ \ \ K +9 &+6W\ \ \ K +9 &,R\ \ \ K +10 &.S\ \ \ K +9 &0|W\ \ \ K +9 &2?T\ \ \ J +10 &4U\ \ \ K +9 &5S\ \ \ K +10 &7T\ \ \ K +9 &9ES\ \ \ K +9 &;U\ \ \ K +10 &<U\ \ \ K +9 &>V\ \ \ K +9 &@NU\ \ \ K +10 &BW\ \ \ K +9 &C\\\ \ \ L +10 &Eg\ \ \ M +9 &GMp\ #\ #\ N +9 &I\ 6\ -\ Q +10 &J\ H\ D\ V +9 &Lx\ F\ H\ W +9 &N9\ D\ F\ X +10 &O\ C\ D\ X +9 &Q\ ?\ @\ Y +10 &S|\ A\ A\ X +9 &U9\ B\ ?\ Z +9 &V\ B\ A\ Z +10 &X\ @\ A\ \\ +9 &Z|\ A\ A\ [ +9 &\\y\ @\ B\ / +10 &\\2\ B\ B\ _ +8 ( +2 &\\b\ ?\ @\ L +3 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&%1 +55 "core" 1 +2 "manipulator"&8% +4 "core" % 6 J +46 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%t& +3 "core" &A\ +3 "manipulator"&{% +3 "core" %    +2 "storage"(Z% +4 "core" % M C\  +2 "storage"('. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "core" &,}\ \  b\ +2 "manipulator"&& +4 "core" &ӯ  j 5 +2 "manipulator"&% +4 "core" %  U  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0( +153 "core" ( + "manipulator"&/& +4 "core" &  +2 "storage"(-& +5 "core" &,} & %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&]' +93 "core" ' +2 "storage"(;& +4 "core" &,} . . U\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +302 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ()& +3 "core" &,l @ i\  +2 "manipulator"&k& +3 "core" & +2 .tElbow.seek 4 +2 "manipulator"&|( +8 "core" ( + "manipulator"&N& +4 "core" &   +2 "storage"(c& +4 "core" &,l\ \ # R\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&p'c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&m/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(6' +8 "core" &  +2 "manipulator"&% +3 "core" % ό W +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&3& +4 "core" & g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &  g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&C' +96 "core" ' +2 "manipulator"&l& +4 "core" & 7 f +2 "manipulator"&% +4 "core" %  +2 "processing"%V& +4 "core" &D\ +3 "processing"%K& +5 "core" &A\ +2 .tPC.seek :closed +2 "processing"%b(^ +4 "core" &C\ +6 &6D\ #b +10 &TxB\ 6 +9 &~{J\ K +9 &YD\ N +10 &^Y@\ M +9 & VC\ M +9 &YB\ M +10 &S?\ M +9 &fRB\ M +10 &)V?\ M +9 &W@\ N +9 &!SI\ M +10 &#mWA\ N +9 &%/U=\ N +9 &&WC\ N +10 &(S7\ M +9 &*vU5\ M +10 &,7Y2\ N +9 &-U3\ N +9 &/Y5\ M +10 &1}S:\ N +9 &3?V@\ N +9 &5S7\ M +10 &6T8\ N +9 &8Y8\ N +10 &:GV@\ N +9 &< X?\ N +9 &=Z<\ N +10 &?Z;\ N +9 &AOV9\ N +9 &C_6\ O +10 &Db7\ O +9 &Fm4\ P +10 &HK|6\ R +9 &J;\ T +9 &K4\ T +10 &M6\ T +9 &OL8\ T +9 &Q 5\ U +10 &R9\ T +9 &T4\ U +10 &VS6\ T +9 &X3\ T +9 &Y4\ U +10 &[9\ U +9 &]Y3\ E +9 &^x>s3\ )x +10 &^"5\ ) +5 ( +2 "processing"%K& +4 "core" &^8\ ) +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&91 +58 "core" 1 +2 "manipulator"&u% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +90 "core" ' +2 "processing"%^& +4 "core" &^5\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&X% +3 "core" %     +2 "storage"(% +4 "core" % L p\  +2 "storage"(D. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +63 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"& & +6 "core" &,z P Y\ +2 &   3 f +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&=( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(i'r +2 "core" ( +2 "manipulator"&4& +6 "core" &  f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &!& +4 "core" &  f +2 .tForearm.seek PC +2 "manipulator"&<' +100 "core" ' +2 .tHand.close + "manipulator"&M/ +65 "core" / +2 .tPC.seek :open + "processing"% ( +79 "core" ' + "storage"(E- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'1 +48 "core" ' +315 ( + "storage"(F& +4 "core" &,j \  X\ +2 "manipulator"& & +4 "core" & f +2 "manipulator"&d% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&n' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&>( +244 "core" ( +2 "manipulator"&& +3 "core" & k ? +2 "storage"(+& +4 "core" &,j J d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&7' +96 "core" ' + .tHand.open +2 "manipulator"& 1 +58 "core" 1 +2 "storage"(\\- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(T& +3 "core" &,j \ \ \ +2 "manipulator"&a& +4 "core" & \   ? +2 .tElbow.seek 4 +2 "manipulator"&g( +4 "core" ( +2 "manipulator"&e& +3 "core" &   1 ? +2 "storage"(v& +4 "core" &,j  \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' +2 "manipulator"&W& +4 "core" & ? +2 "storage"(j& +4 "core" &,j J ;\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&('7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +29 "core" ' + "manipulator"&% +4 "core" %?   +2 "storage"(R& +4 "core" &,j K *\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 308 counts + "manipulator"&'k +16 "core" ' + "manipulator"&& +4 "core" & ? +2 "storage"(w& +4 "core" &,j P 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +16 "core" ' + "storage"(P% +4 "core" % \ ! ]\ +3 ."downElevator"SE.seek :down +3 "storage"(1' +99 (Y% +3 "core" %VN\ \ \ \ Xg +2 "manipulator"&r% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +49 (& +3 "core" &,j \ " E\ +2 "collection"'@& +5 "core" &\\a\ ;\ :\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %    +2 "storage"(O% +4 "core" %\ \  F\  +2 "storage"(,. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(q(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +4 "core" &,} K V\ +2 "manipulator"&#& +3 "core" & ? +2 .tElbow.seek 4 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&5& +4 "core" & G ? +2 "storage"(*& +4 "core" &,}\ \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +97 "core" ' + "storage"(x& +4 "core" &,} & .\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'r +301 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" & ? +2 "storage"(h& +3 "core" &,l\ \  (\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&"'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(2'd +29 "core" ' + "manipulator"&% +4 "core" %F M +2 "storage"(_& +4 "core" &,l M }\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&&'r +15 "core" ' +2 "manipulator"&`& +3 "core" &  ? +3 "storage"(G& +3 "core" &,l O p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&%' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(8' +44 "core" ' +2 "manipulator"&B& +3 "core" &  ? +2 "manipulator"&t% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +148 "core" ( +2 "manipulator"&'& +3 "core" &{$ $ =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +4 "core" &{$  =E +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'?( +449 "core" ( +2 "storage"(/& +4 "core" &,l T 7 .\  +2 "storage"(-& +4 "core" &,l 0 ) +\  +2 "manipulator"&H& +4 "core" &Ӵ  5 +2 "manipulator"&;% +3 "core" % ) $ 6 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&A( +161 "core" ( +2 "manipulator"&& +4 "core" &  Y  +2 "storage"()& +4 "core" &,l W W \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&k'7 +98 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +62 "core" 1 +2 "manipulator"&m% +3 "core" % 9  +2 "storage"(& +5 "core" &,l U T \  + .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 4 + 302 counts +9 "manipulator"&'e +16 "core" ' +2 "manipulator"&0& +5 "core" & "  + "storage"(]& +4 "core" &,l \\ O `\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"(p% +3 "core" % k l T\ +3 ."downElevator"SE.seek :down +4 "storage"(3' +98 (U% +3 "core" %E * - P\ V` +2 "manipulator"&|% +4 "core" % D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &\ \ \ +2 "manipulator"&V% +4 "core" %  u  +2 "storage"(6% +4 "core" % 9 < f\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &<* ! $ .\  +2 "manipulator"&u& +4 "core" & 5  +2 .tElbow.seek 5 +2 "manipulator"&^( +10 "core" ( +2 "manipulator"&X& +4 "core" & d l +2 "storage"(& +4 "core" &<* W V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&D'O +94 "core" ' + "storage"(K& +4 "core" &<* k m\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &<* F R 9\  +2 "manipulator"&!& +4 "core" & K l +2 .tElbow.seek 5 +2 "manipulator"&C( +4 "core" ( + "manipulator"&M& +4 "core" &  b l +2 "storage"(& +5 "core" &<* U U \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'Ϲ +37 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&f/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +3 "storage"(b' +7 "core" & I l +2 "manipulator"&i% +4 "core" %  < b +2 .tForearm.seek :retract +2 "manipulator"&F' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&d& +4 "core" &ӏ  9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &ӏ  : 9& +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +105 "core" ' +3 "manipulator"&+& +3 "core" &Ӑ  9% +2 "manipulator"&=% +4 "core" %V y +2 "collection"' & +4 "core" &\ \ \ +3 "collection"'\\& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'(\\ +3 "core" &\ \ \ +8 &B\ \ \ $f +9 &Z{\ \ \ 7 +10 &v\ \ \ K +9 &Q\ \ \ K +9 &W\ \ \ K +10 &JR\ \ \ K +9 & R\ \ \ K +9 &T\ \ \ J +10 &T\ \ \ J +9 &RT\ \ \ K +9 & W\ \ \ K +10 &!W\ \ \ K +9 &#R\ \ \ K +10 &%[S\ \ \ J +9 &'S\ \ \ J +9 &(T\ \ \ K +10 &*W\ \ \ K +9 &,aR\ \ \ K +9 &.$S\ \ \ K +10 &/W\ \ \ K +9 &1W\ \ \ K +10 &3jR\ \ \ K +9 &5-T\ \ \ J +9 &6U\ \ \ K +10 &8S\ \ \ K +9 &:rU\ \ \ K +9 &<3T\ \ \ K +10 &=U\ \ \ K +9 &?U\ \ \ K +10 &AyV\ \ \ K +9 &C;\\\ \ \ K +9 &D`\ \ \ L +10 &Fk\ #\ "\ N +9 &Ht\ -\ '\ P +10 &J)\ E\ ;\ T +11 &K\ H\ G\ V +9 &M\ G\ F\ W +8 &Oe\ D\ E\ X +9 &Q(\ C\ D\ W +9 &R\ C\ C\ Y +10 &T\ @\ A\ Y +9 &Vh\ B\ B\ Y +9 &X(\ @\ A\ Z +10 &Y\ A\ @\ [\ +9 &[\ A\ A\ I +10 &\\2\ C\ C\ . +9 &\\j\ ?\ @\ L +2 ( +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&T1 +107 "core" 1 +2 "manipulator"&a% +4 "core" % V ) y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%v& +4 "core" &\ +2 "manipulator"&n% +4 "core" %  Q  +2 "storage"(W% +4 "core" % P ,\  +2 "storage"(j. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (:& +2 "core" &<* \ \  +3 "manipulator"&R& +3 "core" &Ӫ 2 5 +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&.( +164 "core" ( +2 "manipulator"&w& +4 "core" &  +2 "storage"(P& +3 "core" &<* 3 _ H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +96 "core" ' +3 "storage"(7& +3 "core" &<* # &\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +307 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &<* H \  +2 "manipulator"&o& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&g( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"((& +4 "core" &<* P w\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&Q& +4 "storage"(@' +5 "core" &   +2 "manipulator"& % +5 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&O' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&J& +5 "core" & + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&5' +92 "core" ' + "manipulator"&z& +4 "core" & +2 "manipulator"&*% +4 "core" % n +2 "processing"%x& +4 "core" &\ +3 "processing"%1& +5 "core" &E\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &@\ +5 &6E\ #b +10 &U}C\ 7 +9 &~xD\ K +10 &U?\ N +9 &cTC\ N +9 &&QB\ M +10 &VB\ M +9 &VC\ M +9 &kWF\ N +10 &.XA\ M +9 &U@\ M +10 &!W@\ N +9 &#sU@\ N +9 &%6R?\ M +10 &&T?\ N +9 &(S6\ M +9 &*}U1\ M +10 &,=Y5\ N +9 &-U2\ N +10 &/X5\ N +9 &1U7\ N +9 &3FR5\ M +10 &5T3\ M +9 &6X3\ N +9 &8X5\ N +10 &:MY1\ N +9 &<Z6\ N +10 &=U6\ N +9 &?V3\ N +9 &AT[2\ N +10 &Cb:\ O +9 &De5\ P +9 &Fm>\ Q +10 &HO~5\ R +9 &J 5\ T +10 &K4\ T +9 &M2\ T +9 &OR6\ T +10 &Q6\ U +9 &R5\ T +9 &T5\ U +10 &VY2\ T +9 &X6\ U +10 &Y9\ U +9 &[3\ U +9 &]^5\ C +10 &^Ev6\ \\ +9 &^44\ 2 +5 ( +2 "processing"%1& +4 "core" &^!3\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&I% +4 "core" %    n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +96 "core" ' +3 "processing"%\ & +4 "core" &^!6\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&h% +3 "core" % #  1 +2 "storage"(L% +4 "core" %\ \ \ \  +2 "storage"(. +3 "core" .(<* +49 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(_(<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (`& +2 "manipulator"&G& +4 "core" &<+ y\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(B'r +3 "manipulator"&t( +6 "core" ( +2 "manipulator"&~& +4 "core" & 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&y' +94 "core" ' + .tHand.close +2 "manipulator"&"/ +53 "core" / +2 .tPC.seek :open +2 "processing"%&( +95 "core" ' +2 "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +40 "core" ' +308 ( +2 "storage"($& +4 "core" &<* J -\  +2 "manipulator"&%& +4 "core" & +2 "manipulator"&s% +3 "core" %  G +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&{( +240 "core" ( + "manipulator"&& +4 "core" &  5 +2 "storage"(/& +4 "core" &<*\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&-'O +94 "core" ' + .tHand.open +2 "manipulator"&H1 +53 "core" 1 +3 "storage"(;- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"()' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(Z& +4 "core" &<* 5 + D\  +2 "manipulator"&c& +4 "core" & \  5 +2 .tElbow.seek 5 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&& +3 "core" &   M 5 +2 "storage"(0& +4 "core" &<* 6 6 E\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(p'" +52 "core" ' + "manipulator"&& +4 "core" &  5 +2 "storage"(A& +4 "core" &<* \  b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&U'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(k' +20 "core" ' +2 "manipulator"&% +3 "core" %Π 9 +2 "storage"(& +4 "core" &<*\ \ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&V' +14 "core" ' + "manipulator"&6& +4 "core" & 4 +2 "storage"(& +4 "core" &<* O u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&8'O +15 "core" ' +2 "storage"(% +4 "core" % J C\ +3 ."downElevator"SE.seek :down +3 "storage"(3' +99 (q% +3 "core" %IO\ \ \ \ \ Wf +2 "manipulator"&9% +5 "core" %B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +41 "manipulator"&u' +97 "core" ' +15 ' + ."downElevator"SE.stop + "storage"(5 +4 (X& +3 "core" &<* O `\  +2 "collection"'& +4 "core" &\\m\ ;\ :\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&K% +4 "core" %   +2 "storage"(N% +4 "core" %\ \ %\  +2 "storage"(l. +2 "core" .(<- +3 "storage"( & +4 "core" &<* _ [\  +2 "storage"(4& +3 "core" &<*\ \  T\  +2 "manipulator"&!& +4 "core" & ` 4 +2 .tElbow.seek 5 +2 "manipulator"&M( +4 "core" ( +2 "manipulator"&& +3 "core" & 4 +2 "storage"(f& +4 "core" &<*\ \  [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&S'O +98 "core" ' +2 "storage"(i& +4 "core" &<* & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'r +296 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" &  4 +2 "storage"(<& +5 "core" &<*\ ,\ , G\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(+- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(='u +30 "core" ' + "manipulator"&C% +4 "core" %Ι  +2 "storage"( & +4 "core" &<* \  ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&b' +14 "core" ' + "manipulator"&F& +4 "core" & ? 4 +2 "storage"(?& +5 "core" &<* L W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&T'O +14 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(a' +43 "core" ' + "manipulator"&\\& +4 "core" & t 4 +2 "manipulator"&v% +4 "core" %B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +151 "core" ( + "manipulator"&j& +4 "core" &ӏ 7 7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &Ӑ  @ 6 +2 .tForearm.seek CC +2 "manipulator"&R'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "storage"(w& +4 "core" &<* 3 ) a\  +2 "storage"(P& +3 "core" &<* + ' X\  +2 "manipulator"&& +4 "core" &ӵ 1 +2 "manipulator"&7% +5 "core" % O @ +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&e( +160 "core" ( +2 "manipulator"&Y& +4 "core" & *  +2 "storage"(r& +4 "core" &<* W U \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&o'΍ +92 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&(1 +53 "core" 1 +3 "manipulator"&% +3 "core" % Β t V +2 "storage"(Q& +5 "core" &<* F Z G\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts +41 "manipulator"& 'Ͼ +22 "core" ' + "manipulator"&.& +4 "core" &  =  +2 "storage"(>& +4 "core" &<* k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"(% +4 "core" % m m \ +3 ."downElevator"SE.seek :down +3 "storage"(J' +100 (#% +2 "core" %O ) ] \ UY +3 "manipulator"&g% +3 "core" %4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' +114 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'*& +3 "core" &\ \ \ +2 "manipulator"&x% +4 "core" %  2  +2 "storage"(@% +4 "core" % = I\  +2 "storage"(O. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +352 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K , % $\  +2 "manipulator"&I& +4 "core" & ~  +2 .tElbow.seek 6 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&h& +4 "core" &    +2 "storage"(L& +4 "core" &K V T \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +98 "core" ' +2 "storage"(1& +4 "core" &K l m \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'r +295 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (~& +2 "core" &K # ?\  +3 "manipulator"&}& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&5( +4 "core" ( +2 "manipulator"&"& +3 "core" &   +2 "storage"(& +4 "core" &K H I 7\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&2'h +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +3 "storage"(' +8 "core" & k  +2 "manipulator"&B% +3 "core" % ό Y +3 .tForearm.seek :retract +2 "manipulator"&$' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&s& +4 "core" &Ә 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &Ә  5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +102 "core" ' +2 "manipulator"&/& +4 "core" &Ә  T 5 +2 "manipulator"&t% +4 "core" %= U  +2 "collection"'H& +4 "core" &\ \ \ +3 "collection"';& +6 "core" &\ \ \ +2 .tCC.seek :closed +4 "collection"'(\\ +2 "core" &\ \ \ +5 &\ \ \ : +9 &FJu\ \ \ 1 +10 &}v{\ \ \ E +9 &,W\ \ \ K +9 &W\ \ \ K +10 &R\ \ \ K +9 &sT\ \ \ J +10 &4T\ \ \ K +9 &W\ \ \ K +9 &R\ \ \ K +10 &zR\ \ \ K +9 &!<R\ \ \ K +9 &"S\ \ \ J +10 &$T\ \ \ K +9 &&W\ \ \ K +10 &(DW\ \ \ K +9 &*R\ \ \ K +9 &+R\ \ \ K +10 &-R\ \ \ K +9 &/MT\ \ \ J +9 &1T\ \ \ J +10 &2T\ \ \ K +9 &4R\ \ \ K +10 &6UU\ \ \ J +9 &8U\ \ \ K +9 &9R\ \ \ K +10 &;U\ \ \ K +9 &=[X\ \ \ K +9 &?U\ \ \ K +10 &@Y\ \ \ K +9 &BZ\ \ \ K +10 &D`a\ \ \ L +9 &Fm\ &\ !\ N +9 &G\ 5\ .\ Q +10 &I\ K\ C\ U +9 &KI\ O\ M\ W +9 &M\ \ H\ L\ W +10 &N\ G\ H\ X +9 &P\ D\ G\ X +10 &RM\ D\ E\ X +9 &T \ D\ A\ Y +9 &U\ C\ D\ Y +10 &W\ A\ A\ [\ +9 &YK\ B\ A\ \\ +9 &[\ A\ A\ [ +10 &\\cI\ A\ A\ 5 +9 &\\w\ @\ A\ O +6 ( +2 "collection"';& +3 "core" &\\e\ =\ ?\ O +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.23 + .Hand.open + "manipulator"&Z1 +55 "core" 1 +6 "manipulator"&c% +3 "core" % = '  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%0& +4 "core" &E\ +2 "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % ! '\  +2 "storage"(A. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +2 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K\ \  a\  +2 "manipulator"&'& +4 "core" &  # +2 "manipulator"&6% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +149 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &K - # A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts + "manipulator"&{' +95 "core" ' +2 "storage"(-& +4 "core" &K , - #\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'r +295 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (9& +3 "core" &K J .\  +2 "manipulator"&]& +3 "core" &   +3 .tElbow.seek 6 + "manipulator"&m( +3 "core" ( +2 "manipulator"&p& +4 "core" &   +2 "storage"(U& +4 "core" &K P\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&V'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(K' +6 "core" & f  +2 "manipulator"&N% +4 "core" % _ . +2 .tForearm.seek :retract +2 "manipulator"&l' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +3 "manipulator"& & +4 "core" & 2 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" & U \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&!' +90 "core" ' +2 "manipulator"&& +3 "core" & \ +3 "manipulator"&f% +3 "core" % z +3 "processing"%8& +3 "core" &\ +3 "processing"%i& +5 "core" &B\ +2 .tPC.seek :closed +2 "processing"%3(^ +4 "core" &A\ +7 &7E\ $d +9 &TvD\ 6 +10 &~{E\ K +9 &UA\ N +9 &^XD\ M +10 & UC\ M +9 &YD\ N +9 &UF\ N +10 &fV@\ M +9 &'XA\ N +10 &UF\ N +9 &!RC\ M +9 &#nR?\ M +10 &%0T@\ M +9 &&Y@\ M +9 &(T@\ M +10 &*uV9\ N +9 &,8T6\ M +9 &-T@\ M +10 &/Y9\ N +9 &1}W,\ N +10 &3@T?\ M +9 &5T3\ M +9 &6X0\ N +10 &8W4\ N +9 &:HS6\ M +9 &<W5\ N +10 &=U2\ N +9 &?W6\ M +10 &AOX6\ N +9 &C a6\ O +9 &Dd5\ O +10 &Fl5\ P +9 &HJ{7\ R +9 &J5\ S +10 &K7\ S +9 &M4\ T +10 &OL5\ T +9 &Q 4\ U +9 &R:\ U +10 &T6\ U +9 &VP3\ V +10 &X4\ U +9 &Y5\ U +9 &[6\ U +10 &]X6\ D +9 &^Ev7\ ^ +9 &^56\ 1 +6 ( +2 "processing"%i& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&|1 +3 "core" &^"4\ 1 +60 1 + "manipulator"&u% +4 "core" %  & z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +92 "core" ' +2 "processing"%d& +4 "core" &^"\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&<% +4 "core" %      +2 "storage"(+% +5 "core" %\ .\ , 0\  + "storage"(C. +3 "core" .(K +2 "storage"( & +48 "core" &K\ \  \  +6 "storage"(F& +2 "manipulator"&?& +8 "core" &K\ \ \ h\  + &  D \ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(\\'r + "manipulator"&v( +8 "core" ( + "manipulator"&S& +4 "core" &  \  \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &   \ +3 .tForearm.seek PC +2 "manipulator"&^' +90 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%b( +94 "core" ' + "storage"(=- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'1 +40 "core" ' +310 ( +2 "storage"(:& +3 "core" &K K 0\  +2 "manipulator"&T& +4 "core" & \ +2 "manipulator"&E% +4 "core" %  f +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&n( +242 "core" ( + "manipulator"&& +4 "core" & ^ +2 "storage"(w& +4 "core" &K M H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&P' +94 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "storage"(7- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Y' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(r' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(R- +2 "core" -' +3 "storage"(W& +3 "core" &K  / i\  +2 "manipulator"&(& +5 "core" &    ] + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Q& +4 "core" &  \ 3 ] +2 "storage"(.& +4 "core" &K ( ' =\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' +2 "manipulator"& & +3 "core" & ] +2 "storage"(#& +4 "core" &K M _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&g'< +20 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(o' +18 "core" ' +2 "manipulator"& % +4 "core" %N +2 "storage"(a& +4 "core" &K J 7\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&*'z +14 "core" ' +2 "manipulator"&x& +3 "core" &  ( ] +2 "storage"(@& +4 "core" &K\ K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +15 "core" ' +2 "storage"(% +3 "core" %\ \ #\ +3 ."downElevator"SE.seek :down +4 "storage"(J' +98 (_% +4 "core" %Q\ \ \ Wg +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (h& +3 "core" &K \\ +\  +41 "collection"'L& +11 "core" &\\e\ ;\ :\ O +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&1% +4 "core" %   +2 "storage"(% +4 "core" % + X \  +2 "storage"(z. +2 "core" .(K +3 "storage"(G& +3 "core" &K W %\  +2 "storage"(~& +4 "core" &K ]\  i\  +2 "manipulator"&}& +4 "core" & ] +2 .tElbow.seek 6 +2 "manipulator"&"( +4 "core" ( + "manipulator"&& +4 "core" & B ] +2 "storage"(,& +4 "core" &K $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +92 "core" ' +2 "storage"(B& +4 "core" &K ( &\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" & ] +2 "storage"(y& +4 "core" &K S\  L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&`'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(t'm +33 "core" ' + "manipulator"&H% +4 "core" %4   +2 "storage"(5& +4 "core" &K  3\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 292 counts +2 "manipulator"&'` +16 "core" ' + "manipulator"&$& +4 "core" & ] +2 "storage"(& +4 "core" &K\ \ & L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(c' +35 "core" ' +2 "manipulator"&0& +4 "core" &  + ] +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&A(ӂ +153 "core" ( + "manipulator"&;& +4 "core" &Ӎ  :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ  :, +3 .tForearm.seek CC +2 "manipulator"&''? +102 "core" ' + .tHand.close +2 "manipulator"&6/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( + "storage"(& +4 "core" &K 4 %\  +2 "storage"(& +4 "core" &K % ! \  +2 "manipulator"&-& +4 "core" & B ' +2 "manipulator"& % +3 "core" %  F +3 .tForearm.seek :retract +2 "manipulator"&%' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +149 "core" ( +2 "manipulator"&q& +3 "core" &  &  +2 "storage"(9& +4 "core" &K V V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&]'< +96 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&U1 +53 "core" 1 +2 "manipulator"&X% +4 "core" % F ; +2 "storage"(& +4 "core" &K I F ^\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 310 counts + "manipulator"&N'r +16 "core" ' +2 "manipulator"&& +4 "core" & |  +2 "storage"({& +4 "core" &K l l \  +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +16 "core" ' + "storage"(V% +4 "core" % n m \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (4% +3 "core" %M & # -\ Wc +2 "manipulator"&m% +4 "core" % 1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'f& +4 "core" &\ \ \ +2 "manipulator"&8% +4 "core" %  m  +2 "storage"(K% +4 "core" % W g P\  +2 "storage"(l. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(&(,y +670 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (|& +3 "core" &,{ " \ +2 "manipulator"&u& +4 "core" & [  +2 .tElbow.seek 4 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&<& +4 "core" &  b  +2 "storage"(+& +4 "core" &,{ F F '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +95 "core" ' + "storage"( & +4 "core" &,{ ` j `\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +293 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (?& +3 "core" &,k S T ;\ +2 "manipulator"&S& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&M( +3 "core" ( +2 "manipulator"&!& +4 "core" &  {  +2 "storage"(& +4 "core" &,k V U 5\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&='c +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&k/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(3' +8 "core" &  +2 "manipulator"&\\% +3 "core" % u \ +3 .tForearm.seek :retract +2 "manipulator"&:' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&T(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&E& +4 "core" &Ӟ E 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &Ӟ  1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&w& +4 "core" &Ӟ  n 1 +2 "manipulator"&v% +4 "core" %= 9 +2 "collection"'& +4 "core" &\ \ \ +3 "collection"'7& +4 "core" &\ \  \ +4 .tCC.seek :closed + "collection"'R(\\ +4 "core" &\ \ \  +9 &6}\ \ \ *z +10 & h~\ \ \ ? +9 &k\ \  \ L +9 &_T\ \ \ K +10 &!X\ \  \ K +9 &T\ \ \ J +10 &T\ \ \ K +9 &gV\ \ \ K +9 &*U\ \ \ J +10 &T\ \ \ K +9 & V\ \  \ K +9 &"oR\ \ \ K +10 &$2T\ \ \ J +9 &%U\ \ \ K +10 &'R\ \ \ K +9 &)xT\ \ \ J +9 &+9T\ \ \ K +10 &,W\ \ \ K +9 &.R\ \ \ K +9 &0U\ \ \ J +10 &2AU\ \ \ K +9 &4S\ \ \ K +10 &5U\ \ \ K +9 &7W\ \ \ K +9 &9IT\ \ \ K +10 &;\ W\ \ \ K +9 &<U\ \ \ K +9 &>W\ \ \ J +10 &@PW\ \ \ K +9 &BW\ \ \ K +10 &C[\ \ \ K +9 &Ee\ \ \ M +9 &GQn\ #\ !\ N +10 &I\ 4\ ,\ Q +9 &J\ D\ ?\ V +9 &L~\ E\ F\ V +10 &N=\ @\ E\ W +9 &O\ A\ @\ W +10 &Q\ >\ B\ X +9 &S\ ?\ ?\ Y +9 &UA\ >\ @\ Y +10 &W\ @\ ?\ Z +9 &X\ >\ >\ Z +9 &Z\ >\ ?\ [\ +10 &\\&z\ A\ >\ / +9 &\\.\ @\ @\ [ +9 ( +2 &\\n\ ?\ >\ M +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&W1 +62 "core" 1 +2 "manipulator"&(% +4 "core" % = v 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +141 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%.& +3 "core" &B\ +2 "manipulator"&% +4 "core" %   +2 "storage"( % +4 "core" % M \  +2 "storage"(#. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 4 + "storage"( (,y +26 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (a& +2 "core" &,} K f\ +3 "manipulator"&j& +4 "core" &Ӡ 1 +2 "manipulator"&x% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&@( +152 "core" ( +2 "manipulator"&Y& +4 "core" & T +2 "storage"(& +3 "core" &,}\ \  0\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +92 "core" ' +2 "storage"(P& +4 "core" &,} $ ! +\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +296 "core" ' + "storage"(_- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,l\ \  E\ +2 "manipulator"&>& +4 "core" & +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & e +2 "storage"(g& +4 "core" &,l\ ,\ , J\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&h'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(o' +8 "core" & +2 "manipulator"&1% +3 "core" % d  +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&G& +4 "core" & : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" & L : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&}' +100 "core" ' +2 "manipulator"&& +4 "core" & : +2 "manipulator"&,% +4 "core" %  +2 "processing"%O& +4 "core" &\ +3 "processing"%B& +5 "core" &?\ +2 .tPC.seek :closed +2 "processing"%J(^ +5 "core" &C\ +6 &6G\ $d +10 &V{I\ 7 +9 &x4\ K +10 &T5\ N +9 &dVC\ N +9 &(P=\ M +10 &X?\ M +9 &X@\ N +9 &mUE\ M +10 &/TB\ M +9 &U?\ M +10 &!WA\ M +9 &#tU\ N +9 &%8R\ M +10 &&X:\ M +9 &(SC\ M +9 &*|S:\ N +10 &,>W3\ N +9 &.W:\ M +10 &/Y2\ N +9 &1U8\ N +9 &3FV4\ N +10 &5 R6\ M +9 &6X2\ N +9 &8W0\ N +10 &:NT2\ N +9 &<U5\ N +10 &=U6\ N +9 &?TH\ N +9 &AUU:\ N +10 &C_3\ O +9 &Db9\ O +9 &Fi6\ P +10 &HR{8\ R +9 &JE\ S +10 &KG\ T +9 &M;\ T +9 &OR7\ T +10 &Q8\ U +9 &R@\ T +9 &T:\ U +10 &VZB\ T +9 &X7\ U +10 &Y5\ U +9 &[9\ U +9 &]_?\ C +10 &^Gz7\ U +9 &^ R8\ 3 +5 ( +2 "processing"%B& +4 "core" &^$7\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&e1 +65 "core" 1 + "manipulator"&I% +4 "core" %   s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 "processing"%s& +4 "core" &^#\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&y% +4 "core" % #   2 +2 "storage"(/% +3 "core" %\ \ \ \  +2 "storage"(H. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(5(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +51 ($& + "manipulator"&& +7 "core" &,|\ \ \ + &   . 9 +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&0( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&[& +6 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &    9 +3 .tForearm.seek PC + "manipulator"&\ ' +97 "core" ' + .tHand.close +2 "manipulator"&`/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(t- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'1 +40 "core" ' +318 ( +2 "storage"(& +3 "core" &,i M P\  +2 "manipulator"&Z& +4 "core" & 9 +2 "manipulator"&2% +4 "core" %  V +2 .tForearm.seek :retract +2 "manipulator"&6' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +255 "core" ( +2 "manipulator"&& +4 "core" &\   "x +2 "storage"(& +4 "core" &,i\ -\ - \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +92 "core" ' + .tHand.open +2 "manipulator"&-1 +56 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(9' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"('- +3 "core" -' +2 "storage"(A& +3 "core" &,i : : '\  +2 "manipulator"&U& +4 "core" &   "x +2 .tElbow.seek 4 +2 "manipulator"&X( +4 "core" ( + "manipulator"&& +4 "core" &    "x +2 "storage"(& +4 "core" &,i 7 6 -\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(V'" +51 "core" ' +2 "manipulator"&%& +4 "core" &\  !w +2 "storage"(4& +4 "core" &,i\ \ \  ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(]' +20 "core" ' +2 "manipulator"&f% +4 "core" %K Q +2 "storage"(8& +4 "core" &,i\ \ \ f\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"&N'w +14 "core" ' +2 "manipulator"&K& +3 "core" &\  !w +2 "storage"(l& +4 "core" &,i J \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +15 "core" ' +2 "storage"()% +3 "core" % M l\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (% +3 "core" %fR\ \ \ Wf +2 "manipulator"&|% +4 "core" % z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (<& +3 "core" &,i G \  +2 "collection"'+& +48 "core" &\\m\ 9\ 8\ M +5 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %    +2 "storage"(p% +4 "core" % N y\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(F(,y +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &,}\ \ \ +2 "manipulator"&S& +4 "core" &\  !w +2 .tElbow.seek 4 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&& +4 "core" &\  & !w +2 "storage"(k& +4 "core" &,} M `\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +93 "core" ' +2 "storage"(\\& +4 "core" &,} ' \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'r +301 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" &\  !w +2 "storage"(^& +4 "core" &,l\ -\ , D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&i'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(w- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(v'e +30 "core" ' + "manipulator"&% +4 "core" %J  +2 "storage"(M& +4 "core" &,l m\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&3'v +14 "core" ' +2 "manipulator"&:& +3 "core" &\  l !w +3 "storage"(& +3 "core" &,l M 4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"((' +41 "core" ' + "manipulator"&7& +4 "core" &\  S !w +2 "manipulator"&.% +4 "core" % ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +146 "core" ( + "manipulator"&#& +4 "core" &ӏ" 6 ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &ӏ" r ;2 +2 .tForearm.seek CC +2 "manipulator"&j'? +93 "core" ' +2 .tHand.close + "manipulator"&x/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +445 "core" ( +2 "storage"(Y& +4 "core" &,l G F ?\  +2 "storage"(& +4 "core" &,l S J \  +2 "manipulator"&&& +3 "core" &ӻ 5 +2 "manipulator"&P% +4 "core" % 4   +2 .tForearm.seek :retract +2 "manipulator"&T' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&Q( +164 "core" ( +2 "manipulator"&_& +4 "core" & ^  +2 "storage"(& +3 "core" &,l V V -\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&>'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +58 "core" 1 +2 "manipulator"&*% +4 "core" % D K @ +2 "storage"(L& +3 "core" &,l F Z 3\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&1'p +16 "core" ' +40 "manipulator"&@& +11 "core" &   +2 "storage"(n& +4 "core" &,l k k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +15 "core" ' +2 "storage"(h% +4 "core" % j ` n\ +3 ."downElevator"SE.seek :down +3 "storage"(G' +99 (~% +3 "core" %A . , %\ V` +2 "manipulator"&% +4 "core" % U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"',& +4 "core" &\ \ \ +2 "manipulator"&O% +4 "core" % \   +2 "storage"(o% +4 "core" % l e \  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(b(<- +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +3 "core" &<. / - {\  +2 "manipulator"&I& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&y& +4 "core" & \ <  +2 "storage"(/& +4 "core" &<. k m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&H'O +92 "core" ' + "storage"(B& +4 "core" &<. j m }\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +4 "core" &<. F > \  +2 "manipulator"&"& +3 "core" & S  +2 .tElbow.seek 5 +2 "manipulator"&}( +4 "core" ( + "manipulator"& & +5 "core" &  x  + "storage"(`& +4 "core" &<. J T D\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&t'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(J' +8 "core" & [  +2 "manipulator"&% +4 "core" % ϳ / +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&2& +4 "core" &~  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +74 "core" &~ + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' +2 "manipulator"&& +4 "core" &~ 0 + +2 "manipulator"&0% +4 "core" %6 W +2 "collection"'-& +4 "core" &\ \ \ +3 "collection"' & +5 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"''(\\ +4 "core" &\ \ \ +5 &\ \ \ : +9 &KMx\ \ \ 0 +10 &u}\ \ \ E +9 &-Z\ \ \ K +9 &T\ \ \ J +10 &U\ \ \ K +9 &tW\ \ \ K +9 &6R\ \ \ K +10 &R\ \ \ K +9 &T\ \ \ J +10 &|U\ \ \ K +9 &!>X\ \ \ K +9 &#R\ \ \ K +10 &$T\ \ \ J +9 &&T\ \ \ K +9 &(FW\ \ \ K +10 &*W\ \ \ K +9 &+Q\ \ \ K +10 &-T\ \ \ J +9 &/NU\ \ \ K +9 &1W\ \ \ K +10 &2R\ \ \ K +9 &4T\ \ \ K +9 &6VW\ \ \ K +10 &8S\ \ \ K +9 &9T\ \ \ K +10 &;S\ \ \ K +9 &=^U\ \ \ K +9 &? V\ \ \ K +10 &@W\ \ \ K +9 &BY\ \ \ L +9 &Dcb\ \ \ L +10 &F!j\ \ \ M +9 &Gt\ '\ #\ O +10 &I\ 8\ 2\ S +9 &KL\ E\ E\ W +9 &M \ D\ F\ W +10 &N\ B\ C\ W +9 &P\ B\ B\ X +9 &RN\ ?\ @\ X +10 &T\ @\ A\ Y +9 &U\ >\ @\ Z +10 &W\ ?\ ?\ [\ +9 &YP\ @\ @\ [ +9 &[\ @\ >\ [ +10 &\\dF\ A\ A\ 1 +9 &\\\ @\ ?\ P +5 ( +2 "collection"' & +4 "core" &\\f\ >\ >\ P +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&A1 +64 "core" 1 +2 "manipulator"&U% +48 "core" % O ; { +6 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +3 "core" &\ +3 "manipulator"&6% +3 "core" %   +2 "storage"(%% +4 "core" %\ \  W\  +2 "storage"(4. +3 "core" .(<- +2 "storage"(f& +4 "core" &<.\ \  ^\  +2 "storage"(8& +4 "core" &<. U E\  +2 "manipulator"&;& +5 "core" &Ӂ = * + "manipulator"&K% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&l( +156 "core" ( + "manipulator"&q& +4 "core" & \  +2 "storage"()& +5 "core" &<. >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"(& +4 "core" &<. . . i\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'r +301 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (|& +3 "core" &<.\ \  \  +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&V& +4 "core" & B  +2 "storage"(& +3 "core" &<. ' "\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&<'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"(]' +8 "core" & )  +2 "manipulator"& % +4 "core" % Ϯ 8 +2 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&?& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&c& +3 "core" & =  +2 "manipulator"&k% +4 "core" % 5 , +2 "processing"%\\& +4 "core" &\ \ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%5(^ +4 "core" &\ +8 &6A\ #b +9 &V{E\ 6 +10 &~{@\ K +9 &U\ N +10 &VT5\ M +9 &T\ M +9 &Z\ N +10 &S\ N +9 &^R\ M +9 & U4\ M +10 &TI\ N +9 &!S\ N +10 &#eW\ N +9 &%'V\ N +9 &&T\ N +10 &(X\ N +9 &*mV\ N +9 &,/T=\ N +10 &-WE\ M +9 &/T?\ N +10 &1uSD\ N +9 &38S2\ M +9 &4U\ M +10 &6V=\ M +9 &8}U9\ N +13 &:?S\ N +6 &<WB\ M +10 &=W<\ N +9 &?Y>\ N +9 &AHX:\ M +9 &Cc0\ O +10 &De,\ P +9 &Fm7\ P +9 &HB6\ R +10 &I3\ T +9 &K5\ S +10 &M;\ T +9 &OB:\ U +9 &Q8\ U +10 &R7\ U +9 &T7\ U +9 &VJ7\ U +10 &X :\ U +9 &Y?\ U +10 &[@\ U +9 &]P?\ I +9 &^O7\ !f +10 &^9\ , +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&m1 +64 "core" 1 +2 "manipulator"&u% +3 "core" %   \ 9 , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +90 "core" ' +2 "processing"%E& +3 "core" &^6\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&^% +37 "core" %    3  +2 "storage"(w% +3 "core" % J *\  +2 "storage"(. +3 "core" .(<- +2 "storage"(M& +4 "core" &<. I G\  +2 "storage"(:& +4 "manipulator"&& +5 "core" &<. K \  + &     +4 ."raiseStack"SE.reconfigure :place +50 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(7'r +2 "manipulator"&.( +6 "core" ( + "manipulator"&D& +4 "core" &  \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &    +3 .tForearm.seek PC +2 "manipulator"&d' +93 "core" ' +3 .tHand.close + "manipulator"&i/ +64 "core" / +2 .tPC.seek :open +2 "processing"%3( +82 "core" ' +2 "storage"(v- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'1 +51 "core" ' +310 ( +2 "storage"(a& +5 "core" &<. M ,\  + "manipulator"&W& +4 "core" &    +2 "manipulator"&=% +4 "core" %  > B +2 .tForearm.seek :retract +2 "manipulator"&x' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +240 "core" ( + "manipulator"&R& +4 "core" &  ; +2 "storage"(Y& +4 "core" &<.\ -\ - g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +98 "core" ' +2 .tHand.open + "manipulator"&&1 +54 "core" 1 +2 "storage"(P- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(_' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(j- +2 "core" -' +2 "storage"( & +4 "core" &<. 6 3\  +3 "manipulator"&g& +3 "core" &   : +2 .tElbow.seek 5 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&L& +5 "core" &   M : + "storage"(@& +4 "core" &<. 3 ) u\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(h'" +49 "core" ' + "manipulator"&T& +4 "core" & : +2 "storage"(~& +4 "core" &<. J \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Q'΍ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(>' +27 "core" ' + "manipulator"&,% +4 "core" %Γ  m +2 "storage"(O& +4 "core" &<.\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 306 counts + "manipulator"&1'Ͽ +16 "core" ' +2 "manipulator"&o& +3 "core" & \ ( +2 "storage"(& +4 "core" &<. W B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +15 "core" ' +2 "storage"(r% +3 "core" % J =\ +3 ."downElevator"SE.seek :down +4 "storage"(G' +99 (F% +3 "core" %WR\ \ \ Xh +2 "manipulator"&e% +4 "core" %F  ] +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +87 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (y& +3 "core" &<. K (\  +2 "collection"'/& +4 "core" &\\e\ 8\ 9\ P +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&B% +4 "core" %   +2 "storage"(% +3 "core" %\ \  _\  +2 "storage"(. +3 "core" .(<- +41 "storage"(& +11 "core" &<.\ \  `\  +2 "storage"([& +4 "core" &<. \ /\  +2 "manipulator"&"& +4 "core" & ( +2 .tElbow.seek 5 +2 "manipulator"& ( +20 "core" ( +2 "manipulator"&`& +4 "core" &  +2 "storage"(z& +4 "core" &<. & 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' +2 "storage"(& +4 "core" &<. # \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'r +298 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&2& +4 "core" &  + "storage"($& +4 "core" &<.\  \\\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&t'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +27 "core" ' +2 "manipulator"&0% +3 "core" %Θ +2 "storage"(-& +4 "core" &<. P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&J' +15 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &<. . / \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(U' +39 "core" ' + "manipulator"& & +4 "core" &  +2 "manipulator"&% +4 "core" %K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +154 "core" ( + "manipulator"&4& +4 "core" &|$ g =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &f& +3 "core" &}$ , =D +2 .tForearm.seek CC +2 "manipulator"&8'? +95 "core" ' +2 .tHand.close + "manipulator"&;/ +54 "core" / +2 .tCC.seek :open + "collection"'K( +9 "Can"\ EB +440 "core" ( +2 "storage"(& +4 "core" &<. Q 6 f\  +2 "storage"(q& +3 "core" &<. 4 A \  +2 "manipulator"&)& +4 "core" &ӧ 7 +2 "manipulator"&% +4 "core" % A . +2 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +163 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(|& +4 "core" &<. J Q *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&{'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&N% +4 "core" % ΍  < +2 "storage"(+& +4 "core" &<. E F "\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +13 "core" ' +2 "manipulator"&l& +4 "core" & p  +2 "storage"(& +4 "core" &<. l l \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +22 "core" ' + "storage"(<% +43 "core" % l k I\ +11 ."downElevator"SE.seek :down +3 "storage"(?' +99 (S% +4 "core" %H . + B\ Va +2 "manipulator"&X% +4 "core" %T   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'k& +4 "core" &\ \ \ +2 "manipulator"&\\% +4 "core" %  m  +2 "storage"(]% +4 "core" % j k j\  +2 "storage"(p. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +3 "core" &K ' $\ +2 "manipulator"&u& +4 "core" & S  +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"& & +4 "core" &  -  +2 "storage"(^& +4 "core" &K F G \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&w' +93 "core" ' +2 "storage"(& +5 "core" &K k m \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'r +293 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &K 8 H \ +2 "manipulator"&D& +4 "core" & !  +2 .tElbow.seek 6 +2 "manipulator"&!( +4 "core" ( + "manipulator"&& +4 "core" &  1  +2 "storage"(i& +4 "core" &K S Q \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&v'h +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +2 "storage"(5' +8 "core" & Z  +2 "manipulator"&7% +5 "core" % r ` +2 .tForearm.seek :retract + "manipulator"&a' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&=& +4 "core" &Ӌ" ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &Ӌ" ;5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'? +94 "core" ' +2 "manipulator"&Y& +3 "core" &Ӑ!  W :0 +2 "manipulator"&.% +4 "core" %F z V +2 "collection"'&& +4 "core" &\ \  \ +3 "collection"'P& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'j(\\ +4 "core" &\ \ \ +7 &\ \  \ : +9 &KLx\ \ \ 1 +9 &w{\ \ \ E +10 &6X\ \ \ K +9 &W\ \ \ K +10 &S\ \ \ K +9 &}T\ \ \ J +9 &>U\ \ \ K +10 &W\ \ \ K +9 &T\ \ \ J +9 &T\ \ \ J +10 &!FU\ \ \ K +9 &#W\ \ \ K +10 &$W\ \ \ K +9 &&R\ \ \ K +9 &(OT\ \ \ J +10 &*U\ \ \ J +9 &+T\ \ \ J +9 &-T\ \ \ K +10 &/VX\ \ \ K +9 &1R\ \ \ K +10 &2S\ \ \ J +9 &4T\ \ \ K +9 &6]X\ \ \ K +10 &8!U\ \ \ J +9 &9U\ \ \ K +9 &;T\ \ \ K +10 &=dY\ \ \ L +9 &?'X\ \ \ K +10 &@Y\ \ \ K +9 &BZ\ \ \ K +9 &Dj`\ \ \ L +10 &F'm\ "\ \ N +9 &G\ 2\ *\ Q +9 &I\ F\ @\ T +10 &KU\ K\ L\ V +9 &M\ G\ I\ W +10 &N\ D\ H\ W +9 &P\ A\ F\ W +9 &RX\ B\ A\ X +10 &T\ A\ B\ Y +9 &U\ >\ @\ Y +9 &W\ @\ ?\ Y +10 &YX\ @\ @\ [ +9 &[\ ?\ @\ Z +10 &\\iC\ @\ ?\ 1 +9 &\\\ >\ >\ M +5 ( +2 "collection"'P& +4 "core" &\\m\ =\ =\ M +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"& 1 +65 "core" 1 +2 "manipulator"&g% +3 "core" % K  Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +96 "core" ' +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%@& +4 "core" &\ +2 "manipulator"&x% +4 "core" % ! $ +2 "storage"(T% +51 "core" % M \  +2 "storage"(~. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(#(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (,& +3 "core" &K\ \  \  +2 "manipulator"&O& +4 "core" & 7 ( +2 "manipulator"&_% +4 "core" % ! J $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&o( +149 "core" ( +2 "manipulator"&& +4 "core" & Y  +2 "storage"(r& +4 "core" &K ^ :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(& +4 "core" &K # \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(F- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +3 "core" &K\ '\ ! 4\  +2 "manipulator"&n& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&*( +4 "core" ( + "manipulator"&h& +4 "core" &  +2 "storage"(Q& +4 "core" &K\ !\ /\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&y'h +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +4 "storage"(B' +7 "core" &  +2 "manipulator"&% +4 "core" % k  +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&& +4 "core" & J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &  J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&"' +92 "core" ' +2 "manipulator"&`& +3 "core" & ' I +2 "manipulator"&z% +4 "core" % * Y +2 "processing"%(& +4 "core" &\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%G(^ +3 "core" &?\  +9 &1v\ )w +9 &d~E\ > +10 &xr\ N +9 &;TB\ N +9 &T\ M +10 &T\ M +9 &W\ M +10 &CY\ N +9 &W/\ M +9 &U\ M +10 & U\ N +9 &"LS \ M +9 &$U\ M +10 &%R\ N +9 &'X\ N +10 &)TW\ M +9 &+U\ M +9 &,Y\ N +10 &.UB\ N +9 &0[S\ N +9 &2W\ M +10 &3W\ N +9 &5V\ \ N +10 &7dWF\ M +9 &9&W\ M +9 &:Z6\ N +10 &<W<\ M +9 &>lY\ M +9 &@-X:\ N +10 &A_=\ N +9 &Cc7\ O +10 &Emi\ P +9 &G,p\ Q +9 &H6\ S +10 &J=\ T +9 &Li;\ T +10 &N*<\ T +9 &OI\ T +9 &Q,\ U +10 &SmF\ U +9 &U0G\ U +9 &VK\ U +10 &XB\ U +9 &Zu=\ U +9 &\\8A\ U +10 &]zt?\ ; +9 &^'gG\ Q +10 &^(B\ 4 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&I% +4 "core" %   7 Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +2 "processing"%2& +4 "core" &^&I\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&$% +4 "core" %   /  +2 "storage"(}% +3 "core" %\ ,\ - f\  +2 "storage"(0. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(-(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&& +4 "core" &K \ \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & \ \  I +49 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'r + "manipulator"&( +7 "core" ( +2 "manipulator"&& +4 "core" &  I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +4 "core" & \  I +2 .tForearm.seek PC +2 "manipulator"&s' +93 "core" ' + .tHand.close +2 "manipulator"&t/ +58 "core" / +2 .tPC.seek :open + "processing"%J( +90 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +47 "core" ' +308 ( + "storage"(f& +4 "core" &K K F\  +2 "manipulator"&A& +4 "core" &  I +2 "manipulator"&\ % +4 "core" %  _ +2 .tForearm.seek :retract +2 "manipulator"&;' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&6( +251 "core" ( + "manipulator"&'& +4 "core" &\  ^ !s +2 "storage"(& +4 "core" &K\ ,\ , o\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +91 "core" ' +2 .tHand.open +2 "manipulator"&)1 +62 "core" 1 +3 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +3 "core" -' +2 "storage"(%& +4 "core" &K 9 , \  +2 "manipulator"&& +4 "core" &\   !r +2 .tElbow.seek 6 +2 "manipulator"&N( +4 "core" ( + "manipulator"&+& +5 "core" &\    !r + "storage"(l& +4 "core" &K 7 8 W\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +58 "core" ' + "manipulator"&Z& +4 "core" &\  !r +2 "storage"(& +4 "core" &K J E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&S'< +21 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"({' +28 "core" ' +2 "manipulator"& % +3 "core" %L  +2 "storage"(k& +4 "core" &K K p\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&\\'x +14 "core" ' + "manipulator"&]& +4 "core" &\  !r +2 "storage"(p& +4 "core" &K M Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +14 "core" ' +2 "storage"(9% +4 "core" % N\ +3 ."downElevator"SE.seek :down +3 "storage"(?' +99 (b% +3 "core" %MW \ Yj +2 "manipulator"&m% +4 "core" % \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 ( & +3 "core" &K Z e\  +2 "collection"'^& +4 "core" &\\l\ 8\ 9\ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %   +2 "storage"(V% +4 "core" % R\  \  +2 "storage"(c. +3 "core" .(K +2 "storage"(& +48 "core" &K \ " k\  +4 "storage"(:& +4 "core" &K\ \  (\  +2 "manipulator"&D& +4 "core" &\   !r +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&i& +3 "core" &\  D !r +2 "storage"(& +4 "core" &K K A\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +90 "core" ' +2 "storage"(7& +4 "core" &K " \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +298 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &\  !r +2 "storage"(d& +4 "core" &K\ \  S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&M'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(.'n +30 "core" ' +2 "manipulator"&&% +3 "core" %K  +2 "storage"(!& +5 "core" &K N \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 315 counts + "manipulator"&5'w +15 "core" ' + "manipulator"&a& +4 "core" &\   !r +2 "storage"(K& +4 "core" &K J A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +14 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(g' +35 "core" ' +2 "manipulator"&@& +4 "core" &\  !r +2 "manipulator"&x% +4 "core" % 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +89 "core" ' +3 .tElbow.seek CC + "manipulator"&P(ӂ +154 "core" ( +2 "manipulator"&~& +4 "core" &Ӛ  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &Ӛ  5 +3 .tForearm.seek CC +2 "manipulator"&O'? +100 "core" ' + .tHand.close +2 "manipulator"&_/ +56 "core" / +2 .tCC.seek :open +2 "collection"'R( +450 "core" ( +2 "storage"(& +3 "core" &K ' ' W\  +2 "storage"(r& +4 "core" &K " & \  +2 "manipulator"&& +4 "core" & ( +2 "manipulator"&% +4 "core" % ξ +2 .tForearm.seek :retract +2 "manipulator"&W' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&L( +152 "core" ( + "manipulator"&F& +4 "core" & b  +2 "storage"(e& +4 "core" &K E F !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&n'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +63 "core" 1 +3 "manipulator"&1% +3 "core" % 5  2 +2 "storage"(/& +4 "core" &K V W\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 293 counts +2 "manipulator"&'a +14 "core" ' + "manipulator"&o& +4 "core" &  R  +3 "storage"(& +3 "core" &K H F )\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +23 "core" ' + "storage"(y% +4 "core" % m n h\ +49 ."downElevator"SE.seek :down +4 "storage"(' +99 ([% +3 "core" %G - , \ Wb +2 "manipulator"&*% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +92 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'z& +3 "core" &\ \ \ +2 "manipulator"&(% +4 "core" %  g  +2 "storage"(B% +3 "core" % k k \  +2 "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(3(,y +688 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,v J R T\  +2 "manipulator"&I& +4 "core" & i  +2 .tElbow.seek 4 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&$& +4 "core" &    +2 "storage"(}& +4 "core" &,v j k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&0' +95 "core" ' + "storage"(& +4 "core" &,v a h h\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +293 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,k P T M\  +2 "manipulator"& & +4 "core" & D  +2 .tElbow.seek 4 +2 "manipulator"&"( +4 "core" ( + "manipulator"&t& +4 "core" &  H  +2 "storage"(#& +4 "core" &,k W V b\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +63 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"(G' +8 "core" & O  +2 "manipulator"& % +4 "core" % X e +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&\ & +5 "core" &y'  ^ @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &z' @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&''? +94 "core" ' +2 "manipulator"&& +4 "core" &Ӯ  9$ +2 "manipulator"&% +4 "core" %? ! D +2 "collection"')& +4 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'8(\\ +4 "core" &\ \ \ +7 &<\ \ \ %g +9 &[y\ \ \ 8 +9 & t\ \ \ K +10 &Q\ \ \ K +9 &W\ \ \ K +10 &PR\ \ \ K +9 &R\ \ \ K +9 &R\ \ \ K +10 &T\ \ \ J +9 &YT\ \ \ J +9 & T\ \ \ K +10 &!W\ \ \ J +9 &#T\ \ \ K +10 &%`W\ \ \ K +9 &'"R\ \ \ K +9 &(R\ \ \ K +10 &*R\ \ \ K +9 &,hR\ \ \ K +9 &.+T\ \ \ J +10 &/T\ \ \ J +9 &1U\ \ \ K +10 &3pW\ \ \ K +9 &52R\ \ \ K +9 &6U\ \ \ J +10 &8U\ \ \ K +9 &:yT\ \ \ J +9 &<:U\ \ \ K +10 &=S\ \ \ K +9 &?V\ \ \ K +10 &AV\ \ \ K +9 &C@Z\ \ \ L +9 &Ec\ \ \ L +10 &Fk\ \ \ M +9 &Hx\ )\ $\ P +9 &J.\ <\ 5\ U +10 &K\ ?\ C\ W +9 &M\ >\ ?\ W +10 &Ol\ =\ <\ W +9 &Q/\ =\ <\ W +9 &R\ ;\ <\ Y +10 &T\ >\ =\ X +9 &Vo\ 9\ ;\ Y +9 &X,\ <\ ;\ [ +10 &Y\ =\ <\ [ +9 &[\ =\ <\ H +9 &\\1\ >\ >\ . +10 &\\d\ ;\ =\ M +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&%1 +54 "core" 1 +2 "manipulator"&% +4 "core" % ? Z D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%l& +3 "core" &\ +2 "manipulator"&;% +4 "core" %   +2 "storage"(Z% +3 "core" % M \  +48 "storage"(. +5 "core" .(,u +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,y +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (4& +2 "core" &,z N x\ +3 "manipulator"&k& +3 "core" &Ӯ 9$ +2 "manipulator"&]% +4 "core" %  *  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&p( +165 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(9& +4 "core" &,z \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +93 "core" ' +2 "storage"(q& +4 "core" &,z , & F\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +299 "core" ' + "storage"(b- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +3 "core" &,l\ (\ + W\ \ +2 "manipulator"&& +4 "core" & L  +2 .tElbow.seek 4 +2 "manipulator"&N( +2 "core" ( +3 "manipulator"&<& +3 "core" &  +2 "storage"(S& +4 "core" &,l ' (\ \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'c +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"(' +6 "core" & 1  +2 "manipulator"&V% +4 "core" % i % +3 .tForearm.seek :retract + "manipulator"&c' +101 "core" ' +3 .tElbow.seek PC +2 "manipulator"&{( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&& +4 "core" & 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &  Z 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&D' +91 "core" ' +2 "manipulator"&i& +3 "core" &  8 +2 "manipulator"&% +4 "core" % c +2 "processing"%U& +4 "core" &\ +3 "processing"%7& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%?(^ +4 "core" &\  +9 &3y\ *x +10 &d\ > +9 &us\ N +10 &8U\ N +9 &W\ M +9 &W\ M +10 &~T\ N +9 &AY\ M +9 &T\ N +10 &W\ M +9 & T\ N +10 &"IW\ M +9 &$\ Y\ N +9 &%U\ N +10 &'Y\ N +9 &)PU\ N +9 &+T\ M +10 &,U\ M +9 &.U\ M +10 &0YU\ M +9 &2X\ M +9 &3S\ M +10 &5T\ M +9 &7`W\ N +9 &9!X\ N +10 &:W\ M +9 &<V\ N +10 &>h\\\ N +9 &@*U\ N +9 &AZ\ N +10 &Cd\ O +9 &Ejg0\ P +9 &G+m\ P +10 &H\ S +9 &J6\ T +10 &Lg6\ S +9 &N&H\ T +9 &O\ T +10 &QB\ U +9 &Sj\ U +9 &U,\ U +10 &V \ U +9 &X\ U +10 &Zs\ U +9 &\\5\ U +9 &]|v\ ; +10 &^)p\ Q +9 &^$\ 3 +2 ( +2 "processing"%7& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 +2 .Hand.open +2 "manipulator"&X1 +56 "core" 1 +2 "manipulator"&u% +4 "core" %    c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +95 "core" ' +2 "processing"%=& +5 "core" &^!\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&d% +4 "core" % !   ; * +2 "storage"(Y% +3 "core" %\ -\ - _\  +2 "storage"(&. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(!(,y +35 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (a& +2 "manipulator"&K& +3 "core" &,{\ \ +4 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  8 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +42 ."raiseStack"SE.seek :beamBreak +10 .tElbow.seek PC +2 "storage"(@'r + "manipulator"&x( +7 "core" ( +2 "manipulator"&C& +4 "core" &  ' 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \  8 +3 .tForearm.seek PC + "manipulator"&E' +91 "core" ' +2 .tHand.close + "manipulator"&M/ +55 "core" / +2 .tPC.seek :open +2 "processing"%5( +98 "core" ' +2 "storage"(.- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'1 +45 "core" ' +300 ( +2 "storage"(,& +3 "core" &,i \ " D\  +2 "manipulator"& & +4 "core" &  8 +2 "manipulator"&v% +4 "core" %  v +2 .tForearm.seek :retract +2 "manipulator"&_' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&T( +257 "core" ( + "manipulator"&j& +4 "core" & B +2 "storage"(& +4 "core" &,i\ \ ! ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&r' +92 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(e' +58 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(O- +2 "core" -' +3 "storage"(P& +3 "core" &,i 3 ) l\  +2 "manipulator"&Q& +4 "core" &   B +2 .tElbow.seek 4 +2 "manipulator"&1( +26 "core" ( + "manipulator"&/& +4 "core" &   T z +3 "storage"(o& +4 "core" &,i ) ( 2\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +50 "core" ' + "manipulator"&W& +4 "core" & z +3 "storage"(L& +3 "core" &,i M $\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&['7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(n' +19 "core" ' +2 "manipulator"&% +4 "core" %@ " & +2 "storage"(z& +3 "core" &,i N x\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 309 counts +2 "manipulator"&('l +15 "core" ' +2 "manipulator"&B& +4 "core" & z +2 "storage"(& +3 "core" &,i\ \  !\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +15 "core" ' +2 "storage"(% +4 "core" % & $ ,\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (-% +3 "core" %1R\ \ \ |\ Xg +3 "manipulator"&% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 ($& +3 "core" &,i . \  +2 "collection"'}& +4 "core" &\\b\ 7\ 7\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %   +2 "storage"(h% +5 "core" % " '\  + "storage"(`. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +42 .tSC.seek 4 +9 "storage"((,y +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z $ # \ +2 "manipulator"& & +4 "core" & z +2 .tElbow.seek 4 +2 "manipulator"&t( +4 "core" ( + "manipulator"&#& +4 "core" & U z +2 "storage"(>& +4 "core" &,z & !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&H' +94 "core" ' +2 "storage"( & +3 "core" &,z , & S\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(2'r +302 "core" ' +2 "storage"(0- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" & N z +2 "storage"(s& +4 "core" &,l K T\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('d +33 "core" ' + "manipulator"&)% +4 "core" %, + +2 "storage"("& +3 "core" &,l M i\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 289 counts +2 "manipulator"&G'X +14 "core" ' +2 "manipulator"&f& +4 "core" & z +2 "storage"(R& +4 "core" &,l " %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&%' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +36 "core" ' +2 "manipulator"&l& +5 "core" & A z + "manipulator"&;% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ( +2 "manipulator"&& +3 "core" &Ӓ B 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +3 "core" &Ӓ  7 +2 .tForearm.seek CC +2 "manipulator"&k'? +97 "core" ' +2 .tHand.close + "manipulator"&]/ +64 "core" / +2 .tCC.seek :open +2 "collection"''( +449 "core" ( +2 "storage"(& +4 "core" &,l 3 * P\ +2 "storage"(9& +3 "core" &,l , ( 4\ +2 "manipulator"&3& +4 "core" &ӥ 5 +2 "manipulator"&q% +3 "core" % G   " +3 .tForearm.seek :retract + "manipulator"&A' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&+( +159 "core" ( +2 "manipulator"&b& +4 "core" &  N  +2 "storage"(m& +4 "core" &,l X T j\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' +2 .tElbow.hold + "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&S1 +55 "core" 1 +2 "manipulator"& % +4 "core" %  M +2 "storage"(^& +4 "core" &,l N U F\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 277 counts +2 "manipulator"&V'L +15 "core" ' +2 "manipulator"&p& +4 "core" &  B  +2 "storage"(6& +5 "core" &,l Z N 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +64 "core" ' +8 "storage"(\\% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (:% +3 "core" %B . - <\ V` +2 "manipulator"&N% +4 "core" % ]  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&U% +4 "core" %   `  +2 "storage"(% +4 "core" % m m ^\  +2 "storage"(c. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(J(<- +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (X& +2 "core" &<.\ '\ # M\  +3 "manipulator"&u& +3 "core" & /  +2 .tElbow.seek 5 +2 "manipulator"&=( +4 "core" ( + "manipulator"&d& +4 "core" &  Y  +2 "storage"(Y& +4 "core" &<. N Y 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&&'O +92 "core" ' +2 "storage"(7& +3 "core" &<. k m \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +292 "core" ' +2 "storage"(K- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (C& +3 "core" &<. C Q \  +2 "manipulator"&& +4 "core" &  w  +2 .tElbow.seek 5 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&M& +4 "core" &  +2 "storage"( & +3 "core" &<. G F \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&.'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"(?' +7 "core" &  +2 "manipulator"&@% +4 "core" % ϳ ~ +2 .tForearm.seek :retract +2 "manipulator"&,' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&v& +3 "core" &ӛ 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &E& +3 "core" &ӛ y 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&j'? +96 "core" ' + "manipulator"&& +4 "core" &ӛ - 1 +2 "manipulator"&x% +4 "core" %3  9 +2 "collection"'& +4 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ \ +5 .tCC.seek :closed + "collection"'O(\\ +3 "core" &\ \ \ +5 &\ \ \ 9 +10 &HLt\ \ \ 0 +9 &}v{\ \ \ E +9 &*V\ \ \ K +10 &T\ \ \ J +9 &U\ \ \ J +9 &rT\ \ \ J +10 &3T\ \ \ K +9 &W\ \ \ K +10 &V\ \ \ K +9 &yR\ \ \ K +9 &!;R\ \ \ K +10 &"R\ \ \ K +9 &$R\ \ \ K +9 &&R\ \ \ K +10 &(CS\ \ \ K +9 &*R\ \ \ K +9 &+T\ \ \ J +10 &-T\ \ \ J +9 &/LT\ \ \ J +10 &1 T\ \ \ K +9 &2V\ \ \ K +9 &4W\ \ \ K +10 &6RW\ \ \ K +9 &8T\ \ \ J +9 &9U\ \  \ K +10 &;S\ \ \ K +9 &=[U\ \ \ \ K +10 &?U\ \ \ J +9 &@W\ \ \ K +9 &BY\ \ \ L +10 &Da`\ \ \ L +9 &F k\ \ \ M +10 &Gy\ $\ \ O +9 &I\ 6\ .\ \ S +9 &KH\ D\ B\ W +10 &M\ \ @\ @\ W +9 &N\ B\ B\ W +9 &P\ >\ @\ X +10 &RM\ =\ =\ X +9 &T \ >\ <\ Y +9 &U\ <\ >\ \ Y +10 &W\ @\ >\ Z +9 &YK\ >\ >\ [ +10 &[\ A\ >\ [\ +9 &\\bE\ B\ >\ 1 +9 &\\\ ?\ >\ \ J +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&P1 +4 "core" &\\g\ <\ =\ I +56 1 +2 "manipulator"&Q% +4 "core" % 5 N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%_& +3 "core" &\ +48 "manipulator"&o% +5 "core" %  +2 "storage"(W% +4 "core" % ' # \  +2 "storage"(L. +3 "core" .(<- +2 "storage"(~& +4 "core" &<. ( .\  +2 "storage"(& +4 "core" &<. * ^ D\  +2 "manipulator"&z& +4 "core" &Ӧ O 0 +2 "manipulator"&F% +4 "core" %  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 + "manipulator"&B( +160 "core" ( +2 "manipulator"&& +3 "core" & V  +2 "storage"(& +4 "core" &<. . . r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&T'O +94 "core" ' +2 "storage"(r& +3 "core" &<. . , `\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +302 "core" ' +2 "storage"(-- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +8 (& +2 "core" &<.\ \  |\  +3 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&1( +2 "core" ( +2 "manipulator"&y& +4 "core" & ?  +2 "storage"([& +4 "core" &<. ] f\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&('Ϲ +45 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& +2 "storage"(' +7 "core" &  +2 "manipulator"&h% +4 "core" % ϩ G y +2 .tForearm.seek :retract +2 "manipulator"&`' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&n( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" & ( G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&#' +96 "core" ' + "manipulator"&>& +4 "core" & r F +2 "manipulator"&g% +4 "core" % ! v +2 "processing"% & +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%!(^ +3 "core" &\ +6 &\ 7 +9 &BIu\ 0 +10 &nr\ E +9 &]\ N +10 &X\ M +9 &U\ M +9 &YU\ M +10 &S\ N +9 &X\ N +9 &W\ N +10 &aV\ M +9 &!#V\ M +10 &"W\ N +9 &$Y\ M +9 &&hS\ N +10 &(*T\ N +9 &)Y\ N +9 &+X\ M +10 &-qT\ M +9 &/2W\ N +10 &0T\ M +9 &2U\ M +9 &4yR\ M +10 &6;V\ M +9 &7U\ M +9 &9V\ M +10 &;X\ N +9 &=BU\ N +10 &?W\ N +9 &@Z \ N +9 &B_\ O +10 &DEb\ O +9 &Fn1\ P +9 &Gx\ Q +10 &I~6\ T +9 &K@>\ T +10 &M=\ T +9 &NJ\ T +9 &P=\ T +10 &RFC\ T +9 &T@\ U +9 &UH\ U +10 &W/\ U +9 &YNH\ T +10 &[\ U +9 &\\I\ U +9 &^DdJ\ &u +10 &^jI\ 9 +8 ( +3 "processing"%& +3 "core" &^%I\ 2 +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&*1 +55 "core" 1 +2 "manipulator"&I% +4 "core" %   V v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +95 "core" ' +2 "processing"%\ & +4 "core" &^%I\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&s% +3 "core" % !   & +2 "storage"(% +4 "core" %\ \ \  t\  +2 "storage"(). +3 "core" .(<- +2 "storage"("& +4 "core" &<.\ \ \ \  +2 "storage"(f& +4 "manipulator"&R& +5 "core" &<.\ \ \ \  + &   % F +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(l'r + "manipulator"&;( +7 "core" ( +49 "manipulator"&H& +5 "core" &  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &   F +2 .tForearm.seek PC +2 "manipulator"&2' +95 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%G( +37 "core" ' +2 "storage"(- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"('1 +42 "core" ' +364 ( + "storage"(4& +4 "core" &<. Q \  +2 "manipulator"&%& +4 "core" & F +2 "manipulator"&% +4 "core" %  9 L +2 .tForearm.seek :retract +2 "manipulator"&]' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Z( +246 "core" ( + "manipulator"&8& +4 "core" & [ ; +2 "storage"(& +3 "core" &<.\ ,\ + (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +94 "core" ' + .tHand.open +2 "manipulator"&31 +59 "core" 1 +2 "storage"(q- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(b' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(m' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(k- +2 "core" -' +3 "storage"(& +3 "core" &<. 6 , \ \  +2 "manipulator"&S& +4 "core" &   9 ; +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&^& +4 "core" &    ; +2 "storage"(p& +4 "core" &<. 6 5 -\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\\'" +57 "core" ' +2 "manipulator"&A& +4 "core" &  ; +2 "storage"(+& +3 "core" &<. U "\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&:'΍ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&V% +4 "core" %Ύ ; e +2 "storage"(& +3 "core" &<.\ \  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&U'Ϻ +16 "core" ' +2 "manipulator"&& +4 "core" & i % +2 "storage"(c& +4 "core" &<. H\ ! 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' + "storage"(|% +4 "core" %\ \  9\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %PP\ \ \ Xg +2 "manipulator"&X% +4 "core" %? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&u' +92 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (d& +3 "core" &<. V s\  +3 "collection"'Y& +4 "core" &\\h\ 6\ 6\ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&7% +4 "core" %  7  +2 "storage"(<% +4 "core" %\ \  S\  +2 "storage"(i. +2 "core" .(<- +3 "storage"(K& +3 "core" &<.\  U K\  +2 "storage"(C& +4 "core" &<. \\ f\  +2 "manipulator"&& +3 "core" & % +3 .tElbow.seek 5 + "manipulator"&M( +20 "core" ( +46 "manipulator"& & +7 "core" &  +2 "storage"({& +4 "core" &<. % !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&w'O +118 "core" ' +2 "storage"(@& +4 "core" &<. & # \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +298 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" &  +2 "storage"(E& +4 "core" &<. K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&a'΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(x'u +29 "core" ' + "manipulator"&% +4 "core" %Α  +2 "storage"(D& +3 "core" &<. M \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&?'Ͻ +16 "core" ' + "manipulator"&,& +4 "core" &   +2 "storage"('& +4 "core" &<. % # V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(Q' +34 "core" ' +2 "manipulator"&_& +3 "core" & K  +2 "manipulator"&o% +4 "core" %G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&W(ӂ +161 "core" ( + "manipulator"&L& +4 "core" &ӗ  4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &ӗ  4 +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&z/ +64 "core" / +2 .tCC.seek :open +2 "collection"'F( +449 "core" ( +2 "storage"(j& +3 "core" &<. 4 * @\  +2 "storage"(& +4 "core" &<. ( ' G\  +2 "manipulator"&& +4 "core" &ӳ 0 +2 "manipulator"&r% +4 "core" % 2   +2 .tForearm.seek :retract +2 "manipulator"& ' +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&/( +161 "core" ( + "manipulator"&-& +4 "core" &   +2 "storage"(& +4 "core" &<. G H 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +57 "core" 1 +2 "manipulator"&$% +4 "core" % Η   2 +2 "storage"(}& +4 "core" &<. W T\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&h' +14 "core" ' +2 "manipulator"&B& +4 "core" & 6  +2 "storage"(T& +3 "core" &<. 9 9 w\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +13 "core" ' +2 "storage"((% +4 "core" % l R y\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ( % +3 "core" %E , ) l\ Va +2 "manipulator"&1% +4 "core" %Y ! +2 .tForearm.reconfigure :loose +42 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract +2 "manipulator"&>' +90 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'g& +4 "core" &\ \ \ +2 "manipulator"& % +4 "core" %  f  +2 "storage"(% +4 "core" % F E =\  +2 "storage"(`. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(5(K +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (*& +2 "core" &K " & \  +3 "manipulator"&I& +3 "core" & n  +2 .tElbow.seek 6 +2 "manipulator"&\ ( +4 "core" ( + "manipulator"&s& +4 "core" &  w  +2 "storage"(& +4 "core" &K H S /\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +96 "core" ' +2 "storage"("& +4 "core" &K i m W\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +295 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K J F \  +2 "manipulator"&H& +4 "core" & *  +2 .tElbow.seek 6 +2 "manipulator"&t( +2 "core" ( +3 "manipulator"&#& +3 "core" &  +2 "storage"(& +4 "core" &K J G ;\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"(!' +7 "core" &  )  +2 "manipulator"&l% +4 "core" % u + +2 .tForearm.seek :retract +2 "manipulator"&4' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&%(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&& +4 "core" &Ӌ  :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &Ӌ!  :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&8'? +95 "core" ' +2 "manipulator"&& +4 "core" &Ӧ  6 +2 "manipulator"&;% +4 "core" %B K . +2 "collection"'3& +4 "core" &\ \  \ +3 "collection"'q& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'k(\\ +3 "core" &\ \ \ +8 &;\ \ \ %f +9 &Zz\ \  \ 8 +9 & s\ \  \ K +10 &Q\ \ \ K +9 &W\ \ \ K +10 &RS\ \ \ J +9 &T\ \ \ K +9 &W\ \ \ K +10 &Q\ \ \ K +9 &ZR\ \ \ J +9 & S\ \ \ K +10 &!V\ \ \ K +9 &#T\ \ \ J +9 &%aS\ \ \ K +10 &'#V\ \ \ K +9 &(R\ \ \ K +10 &*T\ \ \ K +9 &,iV\ \ \ K +9 &.+R\ \ \ K +10 &/S\ \ \ J +9 &1U\ \ \ K +10 &3qR\ \ \ K +9 &53T\ \ \ K +9 &6R\ \ \ K +10 &8S\ \ \ J +9 &:xT\ \  \ K +9 &<;U\ \ \ K +10 &=W\ \ \ L +9 &?W\ \ \ \ K +10 &AW\ \ \ L +9 &C@\\\ \  \ L +9 &Df\ \ \ M +10 &Fr\ #\ \ N +9 &Hu\ 5\ 0\ R +9 &J+\ J\ C\ V +10 &K\ H\ J\ V +9 &M\ G\ I\ X +10 &Ok\ D\ E\ X +9 &Q,\ C\ B\ X +9 &R\ @\ @\ Y +10 &T\ ?\ ?\ Y +9 &Vn\ A\ =\ \ Z +9 &X,\ ?\ > \ [\ +10 &Y\ @\ <\ [\ +9 &[\ =\ >\ H +10 &\\.\ >\ < \ 2 +9 &\\r\ :\ =\ N +2 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&S% +4 "core" % B # . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%p& +4 "core" &\ +2 "manipulator"&]% +4 "core" %    +2 "storage"(A% +4 "core" %\ " y\  +2 "storage"(+. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(V(K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +50 (& +4 "core" &K\ \ \  +2 "manipulator"&& +4 "core" &  ' +2 "manipulator"&% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&b( +148 "core" ( +2 "manipulator"&c& +3 "core" &  +2 "storage"(|& +4 "core" &K ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Z' +97 "core" ' +2 "storage"(9& +4 "core" &K $ . N\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(m'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (X& +2 "core" &K O F\  +3 "manipulator"&6& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&\\& +4 "core" & 2  +2 "storage"(:& +4 "core" &K\ \  (\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&d'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&U/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& +2 "storage"(7' +7 "core" & E  +2 "manipulator"&<% +5 "core" % m +2 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&K& +4 "core" & L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" & 9 L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"& & +5 "core" & L + "manipulator"&{% +4 "core" % +2 "processing"%& +4 "core" &\ +3 "processing"%@& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 &6\ #c +10 &U}\ 7 +9 &x\ K +9 &U\ N +10 &bS\ N +9 &%V\ M +9 &Y\ M +10 &R\ M +9 &kR\ M +10 &-V\ M +9 &W\ M +9 &!T\ M +10 &#sU\ M +9 &%5X\ M +9 &&Y\ N +10 &(V\ N +9 &*{X\ M +10 &,<U\ N +9 &-V\ N +9 &/Y\ N +10 &1V\ N +9 &3DV\ N +9 &5R\ M +10 &6Y\ N +9 &8W\ N +10 &:MS \ M +9 &<X\ N +9 &=Z\ N +10 &?Y\ N +9 &AS[\ N +9 &Ca\ O +10 &Dd\ O +9 &Fk\ P +10 &HO~-\ R +9 &J\ S +9 &K4\ T +10 &MG\ T +9 &OQ4\ T +9 &QC\ T +10 &R9\ T +9 &TH\ U +10 &VY6\ T +9 &X\ U +9 &Y1\ U +10 &[\ U +9 &]^=\ B +9 &^M~\ H +10 &^G9\ ; +5 ( +2 "processing"%@& +4 "core" &^7?\ ; +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&N1 +52 "core" 1 +2 "manipulator"&u% +4 "core" %  \ % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' +2 "processing"%v& +4 "core" &^7H\ ; +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&E% +4 "core" %    +3 "storage"(% +3 "core" %\ \ \ \  +2 "storage"(. +3 "core" .(K +2 "storage"(D& +4 "core" &K\ \ \  +3 "storage"(,& +4 "manipulator"&'& +4 "core" &K \ \ Q\  +2 &  L +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&_( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(o'r +3 "core" ( +2 "manipulator"&w& +4 "core" & \  3 L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &   & L +2 .tForearm.seek PC +48 "manipulator"&=' +93 "core" ' +2 .tHand.close + "manipulator"&a/ +61 "core" / +2 .tPC.seek :open +2 "processing"%?( +49 "core" ' + "storage"(x- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +47 "core" ' +351 ( +2 "storage"(~& +4 "core" &K J 8\  +2 "manipulator"&P& +4 "core" & = L +2 "manipulator"&.% +3 "core" %  $ N +3 .tForearm.seek :retract +2 "manipulator"&z' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&O& +3 "core" &  o +2 "storage"(j& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "storage"(r- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(-' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(W& +4 "core" &K , 5 \  +2 "manipulator"&[& +4 "core" &   Y o +2 .tElbow.seek 6 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&}& +4 "core" &\   o +2 "storage"(B& +4 "core" &K p r \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(('" +50 "core" ' +2 "manipulator"& & +4 "core" &  o +2 "storage"( & +3 "core" &K\ \  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&1'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&g% +4 "core" %: K +2 "storage"( & +4 "core" &K\ \  9\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 298 counts +2 "manipulator"&h'f +15 "core" ' + "manipulator"&& +4 "core" &\  I o +2 "storage"(`& +4 "core" &K W c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +15 "core" ' +2 "storage"(e% +3 "core" % W p\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (J% +3 "core" %RQ O\ Xg +2 "manipulator"&*% +4 "core" %  r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 (s& +3 "core" &K\ \  7\  +2 "collection"'& +5 "core" &\\p\ 4\ 7\ N + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&"% +4 "core" %   +2 "storage"(y% +3 "core" % M \  +2 "storage"(>. +3 "core" .(K +2 "storage"(R& +4 "core" &K M X\  +2 "storage"(& +4 "core" &K P W\  +2 "manipulator"&H& +4 "core" &  n +2 .tElbow.seek 6 +2 "manipulator"&#( +4 "core" ( + "manipulator"&& +4 "core" &  n +2 "storage"(n& +4 "core" &K P g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +45 "manipulator"&0' +95 "core" ' + "storage"(l& +4 "core" &K $ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\ 'r +299 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &\   m +2 "storage"(2& +4 "core" &K W 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&f'< +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(;'n +31 "core" ' +2 "manipulator"&3% +4 "core" %J % +2 "storage"(t& +4 "core" &K M \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&!'v +14 "core" ' + "manipulator"&4& +4 "core" &\  V m +2 "storage"(F& +4 "core" &K \ "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(S' +36 "core" ' +2 "manipulator"&p& +3 "core" &\  m +2 "manipulator"&]% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +3 .tElbow.seek CC + "manipulator"&+(ӂ +150 "core" ( + "manipulator"&q& +4 "core" &ӏ   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &ӏ  7 7 +2 .tForearm.seek CC +2 "manipulator"&'? +103 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'8( +452 "core" ( +2 "storage"(c& +3 "core" &K 7 * W\  +2 "storage"(|& +4 "core" &K 3 > \  +2 "manipulator"&5& +4 "core" & ' +2 "manipulator"&9% +3 "core" % ο +3 .tForearm.seek :retract +2 "manipulator"&%' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&^( +150 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(X& +4 "core" &K F F !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&6'< +95 "core" ' +2 .tElbow.hold + "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +52 "core" 1 +2 "manipulator"&U% +4 "core" % ? . . +2 "storage"(Y& +4 "core" &K E F \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 303 counts +2 "manipulator"&<'k +13 "core" ' +2 "manipulator"&b& +4 "core" &  ,  +2 "storage"(Z& +4 "core" &K f Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +15 "core" ' +2 "storage"(d% +3 "core" % k l \ +3 ."downElevator"SE.seek :down +3 "storage"(K' +99 (C% +3 "core" %N - - V\ Wc +2 "manipulator"& % +4 "core" % C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +50 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'{& +3 "core" &\ \ \ +2 "manipulator"&% +5 "core" %  E  +2 "storage"(7% +3 "core" % G G *\  +2 "storage"(i. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(G(,y +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &,| C 1 J\ +2 "manipulator"&u& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&E& +4 "core" &  d  +2 "storage"(& +4 "core" &,| V J /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +90 "core" ' + "storage"(D& +4 "core" &,| ` m \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +300 "core" ' + "storage"(,- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +4 "core" &,k I Q \\\  + "manipulator"&w& +4 "core" & f  +2 .tElbow.seek 4 +2 "manipulator"&M( +4 "core" ( + "manipulator"&& +4 "core" &  @  +2 "storage"(a& +4 "core" &,k U V\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&x'c +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(' +8 "core" & W  +2 "manipulator"&o% +4 "core" % [  5 +2 .tForearm.seek :retract +2 "manipulator"&~' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&P(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&.& +5 "core" &Ӓ  S  2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &Ӓ 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&O'? +99 "core" ' +2 "manipulator"&j& +4 "core" &Ӓ   2 +2 "manipulator"&_% +5 "core" %B 1 & +2 "collection"'& +4 "core" &\ \ \ +2 "collection"'r& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ \ +7 &B\ \ \ $f +10 &Z{\ \ \ 7 +9 &v\ \ \ K +9 &Q\ \ \ J +10 &T\ \ \ K +9 &JV\ \  \ K +9 & V\ \ \ K +10 &R\ \ \ K +9 &T\ \ \ J +10 &ST\ \ \ J +9 & T\ \ \ K +9 &!W\ \ \ K +10 &#R\ \  \ K +9 &%ZR\ \ \ K +9 &'S\ \  \ J +10 &(T\ \ \ J +9 &*S\ \ \ J +10 &,bT\ \ \ K +9 &.$W\ \ \ K +9 &/W\ \ \ K +10 &1R\ \ \ K +9 &3jR\ \ \ K +9 &5-T\ \ \ \ J +10 &6U\ \  \ K +9 &8W\ \  \ K +10 &:rT\ \  \ K +9 &<4U\ \  \ K +9 &=Y\ \ \ K +10 &?V\ \  \ K +9 &AzU\ \ \ K +9 &C;Z\ \ \ K +10 &Db\ \ \ L +9 &Fj\ \  \ M +10 &Hs\ &\ \ P +9 &J*\ :\ 5\ T +9 &K\ A\ =\ W +10 &M\ =\ > \ W +9 &Og\ ;\ <\ W +9 &Q&\ ;\ <\ X +10 &R\ ;\ ;\ Y +9 &T\ :\ 8\ Y +10 &Vg\ <\ :\ Z +9 &X)\ ;\ 9\ Z +9 &Y\ ;\ ;\ \ [\ +10 &[\ ;\ <\ H +9 &\\0\ <\ <\ 1 +9 &\\g\ 9\ <\ M +3 ( +2 "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&W1 +58 "core" 1 +2 "manipulator"&[% +5 "core" % B { & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%B& +3 "core" &\ +2 "manipulator"&z% +4 "core" %  ,  +2 "storage"( % +4 "core" %\ \  \  +2 "storage"( . +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(g(,y +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &,{\ \ & \ +2 "manipulator"&L& +4 "core" &ө / +2 "manipulator"&% +4 "core" %    +49 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&`( +160 "core" ( +2 "manipulator"&-& +3 "core" & 0  +2 "storage"(e& +4 "core" &,{ . . \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(& +4 "core" &,{ - - 5\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (*& +2 "core" &,l\  \ +3 "manipulator"&T& +3 "core" & B  +2 .tElbow.seek 4 +2 "manipulator"&$( +4 "core" ( + "manipulator"&(& +4 "core" &  +2 "storage"(1& +4 "core" &,l J `\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&h'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"("' +7 "core" & P  +2 "manipulator"&y% +4 "core" % W  +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&R& +4 "core" &  : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&H' +94 "core" ' +2 "manipulator"&& +4 "core" &  : +2 "manipulator"&n% +5 "core" % A +2 "processing"%Q& +3 "core" &\ +3 "processing"%l& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 &8\ #a +10 &Tx\ 6 +9 &}x\ J +9 &U\ N +10 &XU\ N +9 &Y\ M +9 &Y\ N +10 &W\ N +9 &aW\ M +10 &#Y\ M +9 &T\ M +9 &!T\ M +10 &#hV\ N +9 &%*U\ N +10 &&W\ N +9 &(W\ M +9 &*qX\ M +10 &,3T\ M +9 &-T\ M +9 &/W\ N +10 &1zR\ M +9 &3;X\ M +9 &4S\ M +10 &6U\ M +9 &8Y\ M +10 &:CT\ M +9 &<Z\ N +9 &=U\ N +10 &?V\ M +9 &AKW\ M +10 &C_\ O +9 &Da\ O +9 &Fl\ P +10 &HE|\ R +9 &J\ S +9 &K\ T +10 &M\ T +9 &OG\ T +10 &Q8\ T +9 &R8\ T +9 &T>\ U +10 &VOH\ T +9 &X?\ T +9 &Y@\ U +10 &[<\ T +9 &]S>\ G +10 &^{HD\ \\ +9 &^59\ 2 +5 ( +2 "processing"%l& +4 "core" &^$H\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&/1 +59 "core" 1 + "manipulator"&I% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +89 "core" ' +2 "processing"%& +4 "core" &^$6\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&2% +3 "core" %     +2 "storage"(% +4 "core" % J 8\  +2 "storage"(3. +3 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(t(,y +32 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +4 "core" &,| \ \ + "manipulator"&F& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &  : +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(p'r +2 "manipulator"&]( +6 "core" ( +2 "manipulator"&0& +3 "core" &    : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +3 "core" &  : +2 .tForearm.seek PC +2 "manipulator"&\ ' +145 "core" ' + .tHand.close +2 "manipulator"&f/ +56 "core" / +2 .tPC.seek :open +2 "processing"%!( +42 "core" ' +2 "storage"(;- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'1 +49 "core" ' +353 ( +2 "storage"(& +3 "core" &,i \ !\  +2 "manipulator"&& +4 "core" &  : +2 "manipulator"&% +4 "core" %   ; +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&A( +246 "core" ( +2 "manipulator"&k& +3 "core" & G +3 "storage"(c& +3 "core" &,i N L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +115 "core" ' +3 .tHand.open + "manipulator"&51 +57 "core" 1 +2 "storage"(9- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(X' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(+& +3 "core" &,i ) + ;\  +2 "manipulator"&:& +4 "core" &   G G +2 .tElbow.seek 4 +2 "manipulator"&U( +4 "core" ( + "manipulator"&Y& +4 "core" &  5 G +2 "storage"(b& +4 "core" &,i ( (\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(d'" +59 "core" ' + "manipulator"&%& +4 "core" & K G +2 "storage"(C& +4 "core" &,i I X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& '7 +15 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(6' +28 "core" ' + "manipulator"&{% +4 "core" %H ^ L +2 "storage"(<& +4 "core" &,i K c\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 317 counts + "manipulator"&S't +16 "core" ' + "manipulator"&& +4 "core" & G +2 "storage"(7& +4 "core" &,i\ \  A\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +15 "core" ' + "storage"(m% +4 "core" %\ 0\ +3 ."downElevator"SE.seek :down +3 "storage"(K' +99 (V% +4 "core" %UK\ \ \ \ \ Wd +2 "manipulator"&N% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +94 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &,i  0\  +2 "collection"'& +4 "core" &\\b\ 5\ 8\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&D% +4 "core" %   G  +2 "storage"(\\% +4 "core" %\ \  S\  +2 "storage"( . +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(,(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &,{\ (\ # F\ +2 "manipulator"&w& +4 "core" & G +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&a& +5 "core" & G + "storage"(& +49 "core" &,{\ \  U\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +99 "core" ' +2 "storage"(o& +4 "core" &,{ ( '\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" & g G +2 "storage"(=& +4 "core" &,l \ c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&''7 +14 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(_'e +31 "core" ' +2 "manipulator"&% +4 "core" %8 H +2 "storage"(M& +3 "core" &,l N P\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 301 counts + "manipulator"&'d +15 "core" ' + "manipulator"&~& +4 "core" & G +2 "storage"(8& +4 "core" &,l Q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&W' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"([' +48 "core" ' +2 "manipulator"&B& +4 "core" & > G +2 "manipulator"&z% +4 "core" % o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ( +2 "manipulator"&r& +4 "core" &ӎ  q 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 & & +3 "core" &ӎ  9% +2 .tForearm.seek CC +2 "manipulator"&L'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'O( +449 "core" ( + "storage"(-& +4 "core" &,l ' , \ \ +2 "storage"(e& +4 "core" &,l / , 8\ +2 "manipulator"&G& +4 "core" &ӫ 5 +2 "manipulator"&% +4 "core" % E  +2 .tForearm.seek :retract +2 "manipulator"&P' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&}( +163 "core" ( + "manipulator"&J& +4 "core" & =  +2 "storage"(*& +4 "core" &,l V U U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&T'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&11 +62 "core" 1 +2 "manipulator"&s% +4 "core" % #  V Z +2 "storage"(& +3 "core" &,l V U\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 280 counts +2 "manipulator"&y'O +15 "core" ' +2 "manipulator"&`& +4 "core" &   +2 "storage"(& +4 "core" &,l F F G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(h% +4 "core" % m l t\ +3 ."downElevator"SE.seek :down +3 "storage"(R' +99 (% +3 "core" %> ' ( Y\ V_ +2 "manipulator"&$% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +133 "core" ' +7 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'n& +3 "core" &\ \ \ +3 "manipulator"&Q% +3 "core" %   r  +3 "storage"("% +3 "core" % k j r\  +2 "storage"(>. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(?(<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "core" &<* , $ F\  +3 "manipulator"&I& +3 "core" & \\  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&2& +4 "core" &  +2 "storage"(& +4 "core" &<) W K c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +91 "core" ' +2 "storage"(l& +3 "core" &<) \\ g I\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +295 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +2 "core" &<) G I 2\  +3 "manipulator"&#& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&H( +4 "core" ( + "manipulator"&g& +4 "core" &  L  +2 "storage"(f& +4 "core" &<) J G \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&)& +6 "storage"(' +5 "core" &   +2 "manipulator"&p% +4 "core" % ϯ O +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &ӏ h 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &ӏ  3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&k'? +93 "core" ' +2 "manipulator"&c& +4 "core" &ӏ  3 +2 "manipulator"&]% +4 "core" %@ O k +2 "collection"'5& +4 "core" &\ \ \ \ \ +3 "collection"'9& +5 "core" &\ \ &\ +3 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ \ (\ +7 &;\ \ \ %f +9 &Zz\ \ \ 8 +10 &t\ \ \ K +9 &Q\ \ \ \ K +9 &W\ \  \ K +10 &SR\ \ \ K +9 &T\ \ \ \ J +9 &T\ \  \ K +10 &V\ \  \ K +9 &[V\ \  \ K +10 & R\ \ \ K +9 &!R\ \ \ K +9 &#S\ \ \ J +10 &%dT\ \ \ J +9 &'&S\ \ \ J +9 &(T\ \ \ K +10 &*V\ \ \ K +9 &,kV\ \  \ K +10 &.-R\ \  \ K +9 &/R\ \ \ K +9 &1T\ \ \ J +10 &3sT\ \  \ K +9 &55R\ \ \ K +9 &6T\ \ \ \ J +10 &8T\ \ \ K +9 &:zW\ \  \ K +9 &<=U\ \ \ K +10 &=X\ \  \ K +9 &?U\ \ \ K +10 &AX\ \ \ K +9 &CD\\\ \ \ \ K +9 &Eb\ \  \ L +10 &Fj\ \ \ N +9 &H}\ '\  \ P +10 &J2\ <\ 6\ T +9 &K\ A\ A \ X +9 &M\ ?\ @ \ X +10 &On\ =\ <\ X +9 &Q/\ >\ = \ X +9 &R\ =\ ;\ Y +10 &T\ ?\ ; \ Z +9 &Vn\ =\ <\ \ Z +9 &X/\ <\ = \ [ +10 &Y\ =\ <\ \\ +9 &[\ <\ ? \ I +10 &\\.\ >\ =\ \ 3 +9 &\\l\ ;\ :\ Q +2 ( +2 "collection"'9& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&+1 +63 "core" 1 +3 "manipulator"&:% +3 "core" % @   k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Y& +4 "core" &\ +2 "manipulator"&b% +4 "core" %   +2 "storage"(%% +4 "core" %\ \  J\  +2 "storage"(C. +2 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(q(<- +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &<* \ n\  +2 "manipulator"&<& +51 "core" &Ө D 0 +3 "manipulator"&% +3 "core" %  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( + "manipulator"&7& +4 "core" &  +2 "storage"(m& +4 "core" &<) \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +94 "core" ' +3 "storage"(|& +3 "core" &<) $ * \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(X'r +298 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N& +3 "core" &<)\ \  #\  +2 "manipulator"&Z& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&U( +4 "core" ( + "manipulator"&d& +4 "core" &  +2 "storage"( & +4 "core" &<) ( '\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'Ϲ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +52 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +6 "storage"(D' +5 "core" &   +2 "manipulator"&\\% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&6( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&@& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" & C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&a' +105 "core" ' +2 "manipulator"&& +4 "core" & +2 "manipulator"&i% +4 "core" % +2 "processing"%o& +4 "core" &\ +3 "processing"%K& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%t(^ +3 "core" &\  +10 &1u\ *x +9 &c\ > +9 &rs\ N +10 &4U\ N +9 &R\ M +10 &R\ M +9 &|U\ M +9 &=Y\ N +10 &W\ N +9 &U\ M +9 & Y\ N +10 &"FW\ M +9 &$Y\ N +10 &%U\ N +9 &'Y\ N +9 &)MU\ N +10 &+T\ M +9 &,U\ M +9 &.V\ M +10 &0WT\ M +9 &2X\ M +10 &3T\ M +9 &5S\ N +9 &7^W\ \ M +10 &9Z\ N +9 &:Z\ N +9 &<Z\ \ N +10 &>e[\ N +9 &@'U\ N +10 &A\\\ N +9 &Cg\ O +9 &Egk\ P +10 &G'r\ P +9 &H\ S +9 &J\ T +10 &Lc\ T +9 &N$\ T +10 &O\ T +9 &Q\ U +9 &Si*\ T +10 &U)\ U +9 &V\ U +9 &X/\ T +10 &Zp8\ U +9 &\\1:\ U +10 &]{p>\ ? +9 &^!Q:\ K +9 &^?8\ < +3 ( +2 "processing"%K& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&^1 +61 "core" 1 +2 "manipulator"&u% +3 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +3 "processing"%.& +3 "core" &^HF\ < +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&=% +3 "core" %   s  +3 "storage"(j% +3 "core" %\ \  v\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(M(<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +2 "manipulator"&8& +6 "core" &<* `\  + &   f +5 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&B( +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(z'r +3 "core" ( +2 "manipulator"&&& +4 "core" &  \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +43 "core" &   +10 .tForearm.seek PC +2 "manipulator"&v' +92 "core" ' +2 .tHand.close + "manipulator"&'/ +64 "core" / +3 .tPC.seek :open + "processing"%( +41 "core" ' +2 "storage"(_- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(r'1 +40 "core" ' +365 ( +2 "storage"( & +4 "core" &<)\ ,\ - i\  +2 "manipulator"&W& +4 "core" & +2 "manipulator"&x% +3 "core" %  6 +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +250 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(-& +4 "core" &<) J i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +92 "core" ' + .tHand.open +2 "manipulator"&G1 +61 "core" 1 +3 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(*' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(L- +4 "core" -' +2 "storage"( & +3 "core" &<) 4 -\  +2 "manipulator"&1& +4 "core" &   O  +2 .tElbow.seek 5 +2 "manipulator"&s( +5 "core" ( +2 "manipulator"&& +4 "core" &   f  +2 "storage"(`& +3 "core" &<) 7 6 S\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(h'" +58 "core" ' +2 "manipulator"&P& +3 "core" &  +2 "storage"(& +4 "core" &<) J _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&$'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(T' +28 "core" ' + "manipulator"&n% +4 "core" %Κ +3 "storage"(Q& +3 "core" &<) K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts +2 "manipulator"&y' +13 "core" ' +2 "manipulator"&"& +4 "core" & b  +2 "storage"(>& +4 "core" &<) _\  .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&['O +15 "core" ' +2 "storage"(% +4 "core" % % '\ +3 ."downElevator"SE.seek :down +3 "storage"(R' +99 (,% +3 "core" %gP\ \ \ \ Xg +2 "manipulator"&/% +5 "core" %<  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (2& +3 "core" &<)\ \  \  +2 "collection"'& +4 "core" &\\i\ 5\ 5\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&l% +3 "core" %   +2 "storage"((% +4 "core" %\ \  .\  +2 "storage"(. +3 "core" .(<- +2 "storage"(F& +4 "core" &<)\ \ \  +2 "storage"(0& +4 "core" &<)\ \  3\  +2 "manipulator"&#& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&g( +2 "core" ( +2 "manipulator"&f& +4 "core" &   +2 "storage"(& +5 "core" &<)\ \  S\  +2 .tForearm.reconfigure :tight +49 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +98 "core" ' +2 "storage"(p& +3 "core" &<) & "\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +309 "core" ' +2 "storage"(3- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(\ & +4 "core" &<)\ \  }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&4'΍ +14 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(]'u +31 "core" ' + "manipulator"&5% +4 "core" %Ξ > +2 "storage"(H& +4 "core" &<) J\  '\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(O& +4 "core" &<) " (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +23 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(:' +41 "core" ' + "manipulator"&Y& +4 "core" &   +2 "manipulator"&b% +4 "core" %V  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +158 "core" ( +2 "manipulator"&9& +4 "core" &ӓ N 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &ӓ  3 +3 .tForearm.seek CC + "manipulator"&<'? +98 "core" ' + .tHand.close +2 "manipulator"&/ +57 "core" / +3 .tCC.seek :open + "collection"'k( +449 "core" ( +2 "storage"(7& +3 "core" &<) ' , \  +2 "storage"(m& +4 "core" &<) / 0 G\  +2 "manipulator"&?& +4 "core" &Ӣ  1 +2 "manipulator"&|% +3 "core" % Q +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&V& +4 "core" & -  +2 "storage"(N& +4 "core" &<) T V 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Z'΍ +92 "core" ' +2 .tElbow.hold + "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +58 "core" 1 +3 "manipulator"&S% +3 "core" % Ξ  \ T +2 "storage"(& +4 "core" &<) W U\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts + "manipulator"&\\' +13 "core" ' +2 "manipulator"&& +4 "core" & V  +2 "storage"(A& +4 "core" &<) E C 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +23 "core" ' +2 "storage"(E% +3 "core" % m l k\ +3 ."downElevator"SE.seek :down +3 "storage"(@' +99 (w% +3 "core" %fG - - s\ V` +2 "manipulator"&U% +4 "core" %c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +48 ' +8 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'i& +5 "core" &\ \  \ + "manipulator"&o% +56 "core" %  % +2 "storage"(D% +4 "core" % F H M\  +2 "storage"( . +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(!(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +3 "core" &K \\ D\  +2 "manipulator"&u& +3 "core" & *  +3 .tElbow.seek 6 + "manipulator"&.( +4 "core" ( +2 "manipulator"&=& +4 "core" & E  +2 "storage"(j& +4 "core" &K V W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +96 "core" ' + "storage"(K& +4 "core" &K i m \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +292 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (&& +2 "core" &K R F \\\  +3 "manipulator"&& +3 "core" & z  +2 .tElbow.seek 6 +2 "manipulator"&a( +4 "core" ( + "manipulator"&'& +4 "core" &  !  +2 "storage"(q& +4 "core" &K P S d\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&_'h +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +61 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(t' +8 "core" &  +2 "manipulator"&z% +4 "core" % ` L +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&W(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&x& +4 "core" &Ӎ  :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &Ӎ! :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&-& +5 "core" &Ӡ  8 + "manipulator"&B% +4 "core" %C D +3 "collection"'G& +4 "core" &\ \ \ #\ +3 "collection"'& +5 "core" &\ \ \ \ #\ +2 .tCC.seek :closed +2 "collection"'L(\\ +4 "core" &\ \ '\ +6 &\ \ #\ : +10 &GJu\ \ \ \ 1 +9 &~u{\ \ \ E +10 &-W\ \ \ K +9 &V\ \ \ J +9 &U\ \ !\ K +10 &sW\ \ \ K +9 &5Q\ \ \ K +9 &Q\ \  \ K +10 &R\ \ \ K +9 &{R\ \ \ K +10 &!>T\ \ \ J +9 &#T\ \ \ J +9 &$T\ \ \ K +10 &&W\ \  \ K +9 &(EW\ \ \ K +9 &*Q\ \ \ K +10 &+Q\ \ \ K +9 &-R\ \ \ K +10 &/NT\ \ \ J +9 &1T\ \ \ J +9 &2T\ \ \ K +10 &4W\ \ \ K +9 &6UR\ \ \ K +9 &8U\ \ \ J +10 &9T\ \  \ K +9 &;W\ \ \ K +10 &=[X\ \ \ L +9 &?X\ \  \ K +9 &@W\ \ \ \ K +10 &B\\\ \ \ \ K +9 &Db`\ \ \ L +9 &F l\ \ \ M +10 &G\ -\ '\ \ Q +9 &I\ E\ > \ U +10 &KJ\ H\ I \ W +9 &M \ F\ F \ W +9 &N\ C\ G\ \ W +10 &P\ C\ B \ X +9 &RN\ B\ B\ X +9 &T\ @\ ?\ \ Y +10 &U\ ?\ =\ Y +9 &W\ ;\ ;\ \ Z +9 &YN\ >\ ?\ [\ +10 &[\ =\ = \ [ +9 &\\cH\ >\ < \ 4 +10 &\\\ <\ ; \ M +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"& 1 +4 "core" &\\m\ :\ 9 \ M +50 1 +2 "manipulator"&1% +4 "core" % C D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%`& +4 "core" &\ +2 "manipulator"&% +4 "core" %  H  +2 "storage"(P% +4 "core" % M o\  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(r(K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +4 "core" &K \  \  +2 "manipulator"&Q& +3 "core" & ' +49 "manipulator"&J% +5 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&"( +147 "core" ( +2 "manipulator"&>& +4 "core" & E  +2 "storage"(& +4 "core" &K ( \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +96 "core" ' + "storage"(e& +4 "core" &K . - h\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"(*'r +299 "core" ' + "storage"(,- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &K N 8\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&s( +4 "core" ( + "manipulator"&h& +4 "core" &   +2 "storage"($& +4 "core" &K\ \  H\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&y'h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(l' +8 "core" & \  +2 "manipulator"&(% +4 "core" % a  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&F& +4 "core" & m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&#' +93 "core" ' +2 "manipulator"&f& +3 "core" & # +3 "manipulator"&% +3 "core" % 2 ] +3 "processing"%[& +3 "core" &\ +3 "processing"%p& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%R(^ +5 "core" &\ +6 &6\ #b +9 &V{\ 6 +10 &y\ K +9 &U\ N +9 &\\Y\ N +10 &W\ M +9 &W\ M +10 &U\ N +9 &eR\ M +9 &'U\ M +10 &U\ M +9 &!S\ N +9 &#lX\ N +10 &%.V\ N +9 &&U\ N +10 &(Y\ N +9 &*sW\ N +9 &,6U\ N +10 &-S\ M +9 &/W\ M +9 &1|T\ N +10 &3?T\ M +9 &5S\ N +10 &6Y\ N +9 &8X\ N +9 &:FS\ N +10 &<U\ N +9 &=W\ M +9 &?W\ N +10 &AM\\\ N +9 &C b\ O +10 &Dd\ O +9 &Fk\ P +9 &HI{\ R +10 &J\ S +9 &K\ T +9 &M \ T +10 &OJF\ T +9 &Q\ \ U +10 &R\ U +9 &T\ U +9 &VR\ T +10 &X4\ U +9 &Y\ U +9 &[F\ U +10 &]WD\ F +9 &^zBx5\ #g +10 &^+F\ - +5 ( +2 "processing"%p& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&}1 +2 "core" &^B\ - +58 1 +2 "manipulator"&I% +4 "core" %   ) ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +96 "core" ' +3 "processing"%& +3 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&\ % +4 "core" % #   2 +2 "storage"(c% +3 "core" %\ \  9\  +2 "storage"(5. +3 "core" .(K +2 "storage"(H& +5 "core" &K\ (\ i\  +2 "storage"(& +2 "manipulator"&O& +8 "core" &K\ ,\ + @\  + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&Y( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'r +3 "core" ( + "manipulator"&)& +4 "core" &  ; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &g& +2 "core" & \  +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&4/ +111 "core" / +2 .tPC.seek :open +2 "processing"%( +39 "core" ' +2 "storage"(]- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'1 +41 "core" ' +367 ( + "storage"({& +4 "core" &K I G\  +2 "manipulator"&+& +4 "core" & ! +2 "manipulator"&;% +5 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&%( +239 "core" ( +2 "manipulator"&& +4 "core" & ( +2 "storage"(7& +4 "core" &K\ \ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +91 "core" ' +2 .tHand.open + "manipulator"&?1 +58 "core" 1 +3 "storage"(|- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(V' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(N' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +3 "core" -' +2 "storage"(C& +4 "core" &K M M w\  +2 "manipulator"& & +4 "core" &   o ' +2 .tElbow.seek 6 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&& +4 "core" &    ' +2 "storage"(& +4 "core" &K ; .\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(E'" +51 "core" ' +2 "manipulator"&& +4 "core" & ' +2 "storage"(w& +4 "core" &K J R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&U'< +22 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Z' +19 "core" ' + "manipulator"&i% +4 "core" %< +3 "storage"(\\& +3 "core" &K O $\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&:'h +15 "core" ' +2 "manipulator"&o& +3 "core" & ' +2 "storage"(D& +4 "core" &K M d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +16 "core" ' +2 "storage"(X% +3 "core" % S \ +3 ."downElevator"SE.seek :down +4 "storage"(@' +98 (M% +3 "core" %Q\ \ \ \ \ Xf +2 "manipulator"&^% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +91 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (=& +3 "core" &K F \  +2 "collection"'j& +4 "core" &\\m\ 6\ 4 \ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&K% +4 "core" %   +2 "storage"(d% +3 "core" %\ \  \  +2 "storage"(. +4 "core" .(K + "storage"(~& +4 "core" &K\ \  O\  +2 "storage"(&& +4 "core" &K J f\  +2 "manipulator"&& +3 "core" & ' +3 .tElbow.seek 6 + "manipulator"&'( +3 "core" ( +2 "manipulator"&q& +4 "core" &  ' +2 "storage"(6& +4 "core" &K\ \ ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(z& +44 "core" &K _\  +9 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(.'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" &  ' +2 "storage"(v& +4 "core" &K M q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&8'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(-- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(B'n +30 "core" ' +2 "manipulator"&G% +4 "core" %4  +2 "storage"(a& +4 "core" &K\ \  $\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 292 counts +2 "manipulator"&t'` +15 "core" ' +2 "manipulator"& & +4 "core" & w ' +2 "storage"(k& +4 "core" &K % ' =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(1' +35 "core" ' + "manipulator"&`& +4 "core" & ] ' +2 "manipulator"&% +4 "core" % \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +11 "Can"\ US +143 "core" ( + "manipulator"&& +4 "core" &ӑ  9 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &ӑ { 7 +3 .tForearm.seek CC +2 "manipulator"&Q'? +98 "core" ' +2 .tHand.close +2 "manipulator"&J/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "storage"(>& +3 "core" &K S 7 A\  +2 "storage"(& +4 "core" &K $ % \  +2 "manipulator"&!& +4 "core" & 1 ) +2 "manipulator"&e% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&W' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +142 "core" ( +2 "manipulator"&,& +4 "core" &  +2 "storage"(/& +4 "core" &K P S ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&$1 +58 "core" 1 +2 "manipulator"&2% +4 "core" % @  T +2 "storage"(& +4 "core" &K T V h\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&('l +15 "core" ' +2 "manipulator"&"& +4 "core" & Z +3 "storage"( & +3 "core" &K B F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +16 "core" ' + "storage"(y% +4 "core" % j Q \ +3 ."downElevator"SE.seek :down +4 "storage"(F' +98 (0% +3 "core" %G - - b\ Wb +2 "manipulator"&s% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +89 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &\ \ \ +46 "manipulator"&[% +6 "core" %  V  +2 "storage"(l% +5 "core" % l k \  + "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &,| G I @\ +2 "manipulator"&I& +4 "core" &  > +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&\ & +4 "core" & : +2 "storage"(c& +3 "core" &,| N g \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +92 "core" ' + "storage"(p& +4 "core" &,| k k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +297 "core" ' + "storage"(O- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,k 6 > +\  +2 "manipulator"&)& +3 "core" & 5 +3 .tElbow.seek 4 + "manipulator"&g( +3 "core" ( +2 "manipulator"&#& +4 "core" &  B +2 "storage"(4& +3 "core" &,k J F '\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&]'c +32 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +3 "storage"(R' +8 "core" &  +2 "manipulator"&b% +5 "core" % ϝ ? +2 .tForearm.seek :retract +2 "manipulator"&{' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +153 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&;& +4 "core" &ӟ  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӟ Y 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&7& +4 "core" &ӟ  G 1 +2 "manipulator"&Y% +4 "core" %=  $ +2 "collection"'?& +4 "core" &\ \ \ '\ +3 "collection"'|& +6 "core" &\ \ \ '\ +2 .tCC.seek :closed +2 "collection"'<(\\ +5 "core" &\ \ \ "\ +6 &<\ \ \ \ $f +9 &Z{\ \ \ 7 +9 &v\ \ \ \ $\ K +10 &Q\ \ \ J +9 &T\ \ \ J +9 &HT\ \ #\ J +10 & T\ \ \ K +9 &V\ \ \ K +9 &W\ \ \ K +10 &OR\ \ \ K +9 & T\ \  \ J +10 &!T\ \ \ J +9 &#U\ \ \ K +9 &%WW\ \ \ K +10 &'Q\ \ \ K +9 &(S\ \ \ J +9 &*S\ \ \ J +10 &,_T\ \ \ K +9 &.!W\ \ \ K +10 &/W\ \ \ K +9 &1U\ \ \ J +9 &3gT\ \ \ K +10 &5)R\ \ \ K +9 &6T\ \ \ J +9 &8T\ \  \ K +10 &:oS\ \ \ K +9 &<1U\ \  \ K +10 &=U\ \ \ J +9 &?V\ \  \ K +9 &AvU\ \  \ K +10 &C8\\\ \  \ K +9 &Da\ \  \ L +10 &Fj\ \ \ N +9 &Hq\ $\  \ P +9 &J'\ 9\ 2 \ T +10 &K\ ;\ ?\ \ W +9 &M\ <\ :\ W +9 &Ob\ ;\ :\ \ X +10 &Q$\ 7\ :\ \ X +9 &R\ 9\ 8\ X +10 &T\ 7\ 7\ Y +9 &Ve\ 9\ 8 \ Y +9 &X&\ :\ 9 \ Z +10 &Y\ 9\ ; \ [\ +9 &[\ :\ 7\ H +9 &\\1\ :\ ;\ 2 +10 &\\`\ :\ ;\ I +2 ( +2 "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&C1 +63 "core" 1 +3 "manipulator"& % +4 "core" % = $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" %\ \ # k\  +2 "storage"(w. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(i(,y +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +3 "core" &,z \ $\ +2 "manipulator"&9& +4 "core" &Ӡ 1 +2 "manipulator"&o% +3 "core" %  E  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&D( +209 "core" ( +3 "manipulator"&V& +4 "core" & +  +2 "storage"(X& +3 "core" &,z ' $ b\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +97 "core" ' +2 "storage"(m& +5 "core" &,z - , _\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +300 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (^& +2 "core" &,l M /\  +3 "manipulator"&A& +3 "core" & ?  +2 .tElbow.seek 4 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&E& +5 "core" &  + "storage"(U& +4 "core" &,l\ \ # W\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&='c +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(K' +6 "core" & o  +2 "manipulator"&d% +4 "core" % ρ  +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&~& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&q& +4 "core" & +2 "manipulator"&6% +4 "core" % S +2 "processing"% & +4 "core" &\ +3 "processing"%z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(^ +5 "core" &\ +6 &7\ #b +10 &U}\ 7 +9 &~y\ K +9 &U\ N +10 &[T\ M +9 &R\ M +10 &U\ N +9 &Y\ M +9 &cR\ M +10 &%U\ M +9 &X\ N +9 &!V\ N +10 &#kT\ M +9 &%-T\ M +9 &&U\ N +10 &(Y\ M +9 &*rT\ N +10 &,4W\ N +9 &-R\ M +9 &/Z\ N +10 &1zV\ N +9 &3=Y\ M +9 &4X\ M +10 &6Y\ N +9 &8X\ N +10 &:EW\ M +9 &<W\ M +9 &=Z\ N +10 &?U\ N +9 &ALU\ N +9 &C `\ O +10 &Db\ O +9 &Fk\ P +10 &HG~\ R +9 &J\ S +9 &K\ S +10 &M\ T +9 &OJ\ T +9 &Q \ T +10 &R\ T +9 &T\ U +9 &VP\ T +10 &X\ T +9 &Y1\ U +10 &[\ U +9 &]U1\ G +9 &^{FF\ ` +10 &^ A6\ 1 +5 ( +2 "processing"%z& +4 "core" &^!D\ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&u% +4 "core" %   S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"%x& +4 "core" &^!\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&v% +4 "core" % #   Y / +3 "storage"(-% +3 "core" % J \  +2 "storage"(G. +4 "core" .(,y + "storage"(a& +5 "core" &,l K ;\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +42 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (k& +2 "manipulator"&`& +5 "core" &,{\ \ \  \ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &    +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"('r +4 "manipulator"&( +5 "core" ( +2 "manipulator"&'& +3 "core" &    +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &.& +3 "core" &  +3 .tForearm.seek PC +2 "manipulator"&8' +93 "core" ' +42 .tHand.close +9 "manipulator"&t/ +60 "core" / +2 .tPC.seek :open +2 "processing"%B( +38 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'1 +48 "core" ' +358 ( +2 "storage"( & +3 "core" &,j \ \ +2 "manipulator"&_& +4 "core" & +2 "manipulator"&J% +4 "core" %  > +2 .tForearm.seek :retract +2 "manipulator"&P' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&L( +244 "core" ( + "manipulator"&>& +4 "core" &  c +2 "storage"(& +5 "core" &,j M \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +94 "core" ' +2 .tHand.open +2 "manipulator"&e1 +54 "core" 1 +3 "storage"(,- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +29 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"($& +4 "core" &,j } )\ +2 "manipulator"&2& +4 "core" &   c +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&"& +4 "core" &  7 c +2 "storage"( & +4 "core" &,j \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +6 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +58 "core" ' +2 "manipulator"&0& +3 "core" &  c +3 "storage"(s& +3 "core" &,j U %\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&[% +4 "core" %E 1  +2 "storage"((& +4 "core" &,j J d\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 314 counts + "manipulator"&1'q +16 "core" ' + "manipulator"&l& +4 "core" &  c +2 "storage"(& +4 "core" &,j\  E %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&*' +16 "core" ' + "storage"(F% +4 "core" %\ ! n\ +3 ."downElevator"SE.seek :down +4 "storage"(r' +98 (}% +3 "core" %>L\ \ \ \ We +2 "manipulator"&I% +4 "core" % \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (c& +3 "core" &,j $\ +3 "collection"'p& +3 "core" &\\]\ 4\ 3 \ I +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&h% +4 "core" %   +2 "storage"(f% +4 "core" % ( '\  +2 "storage"(O. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ()& +2 "core" &,|\ \ /\  +3 "manipulator"&#& +3 "core" &  c +2 .tElbow.seek 4 +2 "manipulator"&4( +4 "core" ( + "manipulator"&T& +4 "core" &  c +3 "storage"(3& +3 "core" &,| " % \  +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +94 "core" ' +2 "storage"(& +3 "core" &,| . 0 Q\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(5'r +294 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   c +2 "storage"(H& +4 "core" &,l\ -\ - \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&]'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(?'d +28 "core" ' +2 "manipulator"&g% +5 "core" %@  + "storage"(R& +4 "core" &,l M k\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 309 counts + "manipulator"&{'l +16 "core" ' + "manipulator"&& +4 "core" &  b +2 "storage"(C& +4 "core" &,l\ \ /\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&& +4 "core" &  b +2 "manipulator"&% +4 "core" % 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +164 "core" ( +3 "manipulator"&\\& +4 "core" &Ӊ V * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &Ӊ & * +3 .tForearm.seek CC + "manipulator"&o'? +101 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'V( +448 "core" ( +2 "storage"(X& +4 "core" &,l F 4 a\  +2 "storage"(& +4 "core" &,l ' % :\  +2 "manipulator"&+& +3 "core" &Ӊ  * +2 "manipulator"&m% +4 "core" % ' +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&M( +158 "core" ( +2 "manipulator"&^& +3 "core" &  ]  +2 "storage"(A& +4 "core" &,l V U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&E'7 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +62 "core" 1 +2 "manipulator"&j% +4 "core" % G h 2 +2 "storage"(d& +4 "core" &,l B F \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 316 counts +2 "manipulator"&D's +14 "core" ' + "manipulator"&%& +4 "core" & x  +2 "storage"(N& +4 "core" &,l k j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&=' +16 "core" ' + "storage"(~% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +3 "storage"(&' +99 (S% +3 "core" %C , / Q\ U_ +2 "manipulator"&q% +4 "core" % < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +93 "core" ' +48 ' +9 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +4 "core" &\ \ \ +2 "manipulator"&K% +4 "core" %  K  +2 "storage"(% +4 "core" % G I X\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +3 "core" &<+ ! $ \ +2 "manipulator"&x& +4 "core" & V  +2 .tElbow.seek 5 +2 "manipulator"&v( +6 "core" ( +2 "manipulator"&-& +4 "core" & f l +2 "storage"(G& +4 "core" &<* Q S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z'O +93 "core" ' +2 "storage"(a& +4 "core" &<* m m V\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +291 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ('& +3 "core" &<* E Q \  +2 "manipulator"&.& +3 "core" & l +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&i& +4 "core" &  l +2 "storage"(t& +3 "core" &<* V V \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(@' +7 "core" & G l +2 "manipulator"&% +4 "core" % ϭ +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&_(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&J& +3 "core" &Ӛ 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &Ӛ 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&>'? +92 "core" ' +2 "manipulator"&& +4 "core" &Ӛ 3 +2 "manipulator"&% +4 "core" %< l +2 "collection"'e& +4 "core" &\ \ %\ +3 "collection"',& +5 "core" &\ \ !\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ (\ +6 &<\ \ '\ $e +10 &Xy\ \ #\ 7 +9 &u\ \ \ #\ J +9 &T\ \ \ J +10 &U\ \ \ K +9 &FW\ \  \ K +9 &W\ \ \ K +10 &R\ \ \ K +9 &R\ \ \ K +10 &MR\ \ \ K +9 & R\ \ \ K +9 &!T\ \ \ J +10 &#T\ \ \ J +9 &%VT\ \ \ J +9 &'T\ \ \ K +10 &(V\ \ \ K +9 &*R\ \ \ K +10 &,]R\ \ \ K +9 &. T\ \ \ J +9 &/T\ \ \ K +10 &1W\ \ \ K +9 &3eR\ \ \ K +9 &5'T\ \ \ K +10 &6W\ \ \ K +9 &8T\ \ \ J +10 &:mU\ \ \ K +9 &\ V +9 &Oa\ ;\ ; \ W +9 &Q#\ =\ <\ W +10 &R\ :\ : \ Y +9 &T\ <\ :\ X +10 &Vc\ :\ :\ \ Y +9 &X#\ ;\ 9\ Z +9 &Y\ :\ <\ [\ +10 &[\ <\ = \ H +9 &\\2\ ;\ ;\ 0 +9 &\\e\ 9\ < \ M +3 ( +2 "collection"',& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&$1 +55 "core" 1 +2 "manipulator"&2% +5 "core" % < l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&P% +4 "core" %   +2 "storage"(0% +4 "core" %\ \ \  +2 "storage"(s. +3 "core" .(<- +2 "storage"([& +4 "core" &<*\ \  \  +2 "storage"((& +4 "core" &<*\ \  \  +2 "manipulator"&n& +4 "core" &Ӫ  1 +2 "manipulator"&l% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +206 "core" ( +2 "manipulator"&/& +4 "core" &  +2 "storage"(F& +4 "core" &<* , ) \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +102 "core" ' +2 "storage"(!& +3 "core" &<* ' ( #\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(Q'r +299 "core" ' + "storage"(}- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (I& +3 "core" &<* I 6\  +2 "manipulator"&y& +4 "core" & 8  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&W& +4 "core" &  +2 "storage"(& +3 "core" &<* & "\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&1'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&c/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& +2 "storage"(h' +7 "core" &  +2 "manipulator"&f% +4 "core" %  y +2 .tForearm.seek :retract +2 "manipulator"&O' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&)& +3 "core" & f +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &  f +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +94 "core" ' + "manipulator"&3& +4 "core" & f +2 "manipulator"&*% +4 "core" % +2 "processing"%& +4 "core" &\ +3 "processing"%r& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +5 "core" &\  +8 &2u\ )v +9 &b}\ = +10 &pr\ N +9 &2T\ N +10 &U\ N +9 &R\ M +9 &xW\ N +10 &:W\ N +9 &V\ N +9 &S\ M +10 & Y\ M +9 &"CW\ M +9 &$Y\ M +10 &%W\ M +9 &'X\ M +10 &)KW\ M +9 &+ X\ M +9 &,Y\ M +10 &.T\ N +9 &0SX\ M +10 &2X\ M +9 &3V\ N +9 &5V\ N +10 &7[W\ M +9 &9Z\ N +9 &:W\ N +10 &<Y\ M +9 &>cX\ M +10 &@$V\ N +9 &AZ\ N +10 &Cd\ O +9 &Eei\ O +9 &G"r\ Q +9 &H\ S +10 &J\ T +9 &La\ S +10 &N!\ T +9 &O\ T +9 &Q\ U +10 &Se\ U +9 &U(\ T +9 &V\ U +10 &X\ T +9 &Zm\ U +9 &\\.\ U +10 &]x\ 8 +9 &^7\ G +10 &^\ ) +2 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&\ % +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +2 "processing"%& +4 "core" &^\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&H% +4 "core" %    +2 "storage"(Y% +4 "core" %\ !\  3\  +2 "storage"(g. +2 "core" .(<- +3 "storage"(R& +3 "core" &<* M \\\  +3 "storage"(& +4 "manipulator"&C& +3 "core" &<* S\  O\  +2 &    f +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&( +6 "core" ( +2 "manipulator"&b& +3 "core" &   f +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" & \  f +3 .tForearm.seek PC + "manipulator"&5' +94 "core" ' +2 .tHand.close + "manipulator"&]/ +55 "core" / +2 .tPC.seek :open +2 "processing"%{( +91 "core" ' + "storage"(?- +3 "core" -'r +50 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(\\'1 +44 "core" ' +261 ( + "storage"(9& +4 "core" &<* \ " c\  +2 "manipulator"& & +4 "core" &  f +2 "manipulator"&7% +5 "core" %  8 +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&w( +244 "core" ( + "manipulator"&<& +4 "core" &  ? +2 "storage"(X& +4 "core" &<* O v\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' + .tHand.open +2 "manipulator"&+1 +56 "core" 1 +2 "storage"(m- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(^' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(A' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(o- +3 "core" -' +2 "storage"(|& +4 "core" &<* 9 : *\  +2 "manipulator"&:& +4 "core" &    > +2 .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&d& +4 "core" &   _ > +2 "storage"(%& +3 "core" &<* 7 6 U\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(~'" +61 "core" ' +2 "manipulator"&& +4 "core" & > +2 "storage"(S& +4 "core" &<* M r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&q'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(E' +18 "core" ' +2 "manipulator"& % +4 "core" %Ν +2 "storage"(D& +4 "core" &<* J c\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 316 counts + "manipulator"&K' +14 "core" ' +2 "manipulator"&& +3 "core" & : +2 "storage"(& +4 "core" &<* M =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(=% +3 "core" %\ \  =\ +3 ."downElevator"SE.seek :down +4 "storage"(&' +98 (% +4 "core" %7N\ \ \ \ \ Wf +2 "manipulator"&u% +4 "core" %A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (-& +3 "core" &<* . g\  +2 "collection"'G& +4 "core" &\\b\ 3\ 3\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&a% +4 "core" %   +2 "storage"(U% +4 "core" % % "\  +2 "storage"(6. +2 "core" .(<- +2 "storage"(`& +4 "core" &<* ) + 0\  +2 "storage"('& +5 "core" &<* & !\  + "manipulator"&.& +4 "core" & : +2 .tElbow.seek 5 +2 "manipulator"&i( +4 "core" ( +2 "manipulator"&t& +3 "core" & \ : +2 "storage"(Z& +4 "core" &<* & !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"(& +4 "core" &<* . . F\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'r +298 "core" ' +41 "storage"(z- +10 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&J& +4 "core" & : + "storage"(8& +4 "core" &<*\ \  +\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&k'΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +29 "core" ' + "manipulator"&e% +4 "core" %Ζ +2 "storage"(& +4 "core" &<* O R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&@' +14 "core" ' +2 "manipulator"& & +3 "core" &  9 +2 "storage"(V& +4 "core" &<* & '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(2' +42 "core" ' +2 "manipulator"& & +4 "core" & 9 +2 "manipulator"&P% +4 "core" %N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +154 "core" ( +2 "manipulator"&[& +4 "core" &Ӕ  | 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &Ӕ 4 1 +2 .tForearm.seek CC +2 "manipulator"&,'? +99 "core" ' + .tHand.close +2 "manipulator"&n/ +53 "core" / +2 .tCC.seek :open +2 "collection"'l( +449 "core" ( + "storage"(>& +4 "core" &<* I 4 \  +2 "storage"(/& +4 "core" &<* 3 > :\  +2 "manipulator"&F& +4 "core" &Ӟ l 0 +2 "manipulator"&_% +3 "core" % P  +3 .tForearm.seek :retract +2 "manipulator"&!' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&"( +160 "core" ( +2 "manipulator"&}& +3 "core" & w  +2 "storage"(I& +4 "core" &<* T V ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&y'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&c% +3 "core" % ΐ  C S +2 "storage"(p& +4 "core" &<* F F \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 303 counts +2 "manipulator"&f'ϼ +14 "core" ' +2 "manipulator"&& +3 "core" &  _  +2 "storage"(L& +4 "core" &<* j k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +13 "core" ' +2 "storage"(1% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +3 "storage"()' +99 (#% +3 "core" %G - . +\ Wa +2 "manipulator"&% +4 "core" %V ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'*& +3 "core" &\ \ \ +2 "manipulator"&% +4 "core" %  ^ +2 "storage"(h% +5 "core" % k j \  +2 "storage"(O. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +47 .tSC.seek 6 +4 "storage"(B(K +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K # + j\  +2 "manipulator"&\ & +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&H& +3 "core" & 2  +2 "storage"(Y& +4 "core" &K k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +102 "core" ' + "storage"(R& +4 "core" &K ] \\ 7\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (r& +3 "core" &K T N N\  +2 "manipulator"&b& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&4( +4 "core" ( + "manipulator"&T& +4 "core" &  >  +2 "storage"(]& +4 "core" &K V T \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&?'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"( ' +8 "core" &  +2 "manipulator"&% +4 "core" % q U +2 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&7& +4 "core" &Ӓ + 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &Ӓ ^ 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'? +102 "core" ' +2 "manipulator"&X& +4 "core" &ӓ ) 4 +2 "manipulator"&% +4 "core" %E  [ +2 "collection"'+& +4 "core" &\ \ \ "\ +3 "collection"'m& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'o(\\ +5 "core" &\ \ (\ +5 &<\ \ \ &\ $f +10 &Xx\ \ #\ 7 +9 &v\ \ '\ J +9 &R\ \ \ $\ K +10 &W\ \ \ $\ K +9 &EW\ \  \ K +10 &R\ \ "\ K +9 &S\ \ \ K +9 &T\ \ \ J +10 &NT\ \ \ J +9 & T\ \ \ K +9 &!W\ \ \ K +10 &#X\ \ \ K +9 &%UR\ \ \ K +10 &'R\ \ \ K +9 &(R\ \ \ K +9 &*R\ \ \ K +10 &,]R\ \ \ K +9 &.R\ \ \ K +10 &/R\ \ \ K +9 &1U\ \ \ J +9 &3eU\ \ \ K +10 &5'W\ \ \ K +9 &6R\ \ \ K +9 &8T\ \ \ J +10 &:mU\ \ \ K +9 &\ @\ X +9 &T\ :\ =\ Y +10 &Va\ ;\ <\ \ Z +9 &X!\ <\ ;\ \ [ +9 &Y\ >\ < \ [ +10 &[\ <\ =\ I +9 &\\0\ ;\ <\ 5 +10 &\\k\ 9\ ;\ N +2 ( +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&|1 +61 "core" 1 +2 "manipulator"&:% +4 "core" % ς L a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%%& +4 "core" &\ +2 "manipulator"&% +4 "core" %  +2 "storage"(% +4 "core" % ( '\  +2 "storage"(S. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" &K\ \ R\  +2 "manipulator"&\\& +4 "core" & ) +2 "manipulator"&% +4 "core" %  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&^& +5 "core" & ,  +2 "storage"(=& +4 "core" &K . . \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 6 + 450 counts +3 "manipulator"&w' +91 "core" ' +2 "storage"(& +4 "core" &K . - 6\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(A'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (u& +3 "core" &K L #\  +2 "manipulator"&N& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&~& +4 "core" & M  +2 "storage"(q& +4 "core" &K\  J R\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&-'h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(a' +8 "core" &  +2 "manipulator"&U% +3 "core" % ^  +3 .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&E( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&`& +4 "core" & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" & ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&.' +93 "core" ' +2 "manipulator"&t& +4 "core" &  +2 "manipulator"&Z% +4 "core" % ^ +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%&(^ +5 "core" &\ +6 &6\ #b +9 &U{\ 7 +10 &x\ K +9 &T\ N +10 &fV\ N +9 &(T\ N +9 &X\ N +10 &W\ M +9 &oW\ M +9 &1Y\ M +10 &S\ M +9 &!T\ M +10 &#vU\ N +9 &%8U\ N +9 &&W\ N +10 &(Y\ M +9 &*T\ M +9 &,AT\ M +10 &.T\ M +9 &/V\ N +10 &1U\ N +9 &3HV\ N +9 &5\ U\ N +10 &6Y\ M +9 &8Y\ N +9 &:PV\ N +10 &<U\ M +9 &=W\ M +10 &?U\ M +9 &AXY\ N +9 &Ca\ O +10 &De\ O +9 &Fn\ P +9 &HS{\ R +10 &J\ S +9 &K\ T +10 &M\ T +9 &OU\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &V[\ U +10 &X\ U +9 &Y\ U +10 &[\ U +9 &]b\ B +9 &^Jy\ K +10 &^K\ 7 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&M1 +4 "core" &^3\ 7 +54 1 + "manipulator"&x% +4 "core" %   M ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +97 "core" ' + "processing"%J& +4 "core" &^2B\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&8% +3 "core" % ! F ' +2 "storage"(% +4 "core" %\ \  K\  +2 "storage"(e. +2 "core" .(K +2 "storage"(& +4 "core" &K\ \  \  +3 "storage"( & +4 "manipulator"&V& +5 "core" &K\ \  \  + &   M +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'r +2 "core" ( +2 "manipulator"&& +6 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" & \ 1 +3 .tForearm.seek PC +2 "manipulator"&v' +92 "core" ' + .tHand.close +2 "manipulator"&k/ +64 "core" / +2 .tPC.seek :open +2 "processing"%@( +91 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['1 +53 "core" ' +303 ( +9 "storage"((& +4 "core" &K M <\  +2 "manipulator"&$& +4 "core" &  +2 "manipulator"&% +4 "core" %  b Z +2 .tForearm.seek :retract +2 "manipulator"&n' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&0( +241 "core" ( + "manipulator"&& +4 "core" &   V U +2 "storage"(>& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&/' +94 "core" ' + .tHand.open +2 "manipulator"&F1 +55 "core" 1 +2 "storage"(_- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(}' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(I' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(s& +4 "core" &K 8 9 \  +2 "manipulator"&& +4 "core" &  U +2 .tElbow.seek 6 +2 "manipulator"&c( +2 "core" ( +2 "manipulator"&p& +4 "core" &    U +2 "storage"(& +4 "core" &K 2 ( E\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&L' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +59 "core" ' +2 "manipulator"&!& +4 "core" & U +2 "storage"(#& +4 "core" &K J G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +18 "core" ' +2 "manipulator"&*% +4 "core" %; +2 "storage"(& +4 "core" &K\ \ \ a\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 299 counts +2 "manipulator"&f'g +14 "core" ' +2 "manipulator"&h& +4 "core" & T +2 "storage"(O& +5 "core" &K O \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +16 "core" ' +2 "storage"(Q% +3 "core" % N _\ +3 ."downElevator"SE.seek :down +3 "storage"()' +99 (% +3 "core" %US\ \ \ \ Xg +4 "manipulator"&% +3 "core" % H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (H& +4 "core" &K\  (\  +2 "collection"'Y& +3 "core" &\\e\ 1\ 2\ N +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&R% +5 "core" %  3  + "storage"(W% +4 "core" % N S\  +2 "storage"(3. +2 "core" .(K +2 "storage"(C& +4 "core" &K \  \  +2 "storage"(r& +4 "core" &K H ]\  +2 "manipulator"&b& +4 "core" & T +2 .tElbow.seek 6 +2 "manipulator"&T( +4 "core" ( +2 "manipulator"&]& +3 "core" & ) T +2 "storage"(& +4 "core" &K\  J F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&;' +94 "core" ' +2 "storage"(& +4 "core" &K & # \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" & T +2 "storage"(5& +50 "core" &K U 5\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('n +32 "core" ' + "manipulator"&+% +4 "core" %8  +2 "storage"(4& +3 "core" &K M D\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"& 'd +14 "core" ' +2 "manipulator"&9& +3 "core" & T +2 "storage"(l& +4 "core" &K ' '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +31 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(:' +40 "core" ' +2 "manipulator"&%& +5 "core" & T + "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +147 "core" ( +2 "manipulator"&m& +3 "core" &ӏ  7 9$ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +4 "core" &Ӑ 9# +2 .tForearm.seek CC +2 "manipulator"&\\'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'<( +452 "core" ( + "storage"(^& +4 "core" &K 2 )\  +2 "storage"(=& +4 "core" &K ' & #\  +2 "manipulator"&B& +4 "core" & ) +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&d( +153 "core" ( +2 "manipulator"&& +4 "core" &  2  +2 "storage"(u& +3 "core" &K F F \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&N'< +98 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&q1 +59 "core" 1 +2 "manipulator"&K% +3 "core" % ?  6  +2 "storage"(G& +4 "core" &K V T \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 303 counts + "manipulator"&U'k +15 "core" ' + "manipulator"&& +4 "core" &  Q  +2 "storage"(w& +4 "core" &K J X v\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +15 "core" ' + "storage"(-% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +3 "storage"(`' +99 ('% +4 "core" %D " $ \ V` +2 "manipulator"&j% +3 "core" % Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +90 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'Z& +3 "core" &\ \ \ +2 "manipulator"&% +4 "core" %   +2 "storage"(a% +4 "core" % M Y 9\  +2 "storage"(6. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"({(,y +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &,| F P `\ +47 "manipulator"&x& +5 "core" & C  +2 .tElbow.seek 4 +2 "manipulator"&J( +4 "core" ( + "manipulator"&8& +4 "core" &  %  +2 "storage"(& +4 "core" &,| F F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +93 "core" ' + "storage"(& +4 "core" &,| i k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +306 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (V& +3 "core" &,k J U |\  +2 "manipulator"&& +4 "core" & n  +2 .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&.& +4 "core" &   +2 "storage"(k& +3 "core" &,k f N #\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +3 "storage"(&' +8 "core" & {  +2 "manipulator"&P% +4 "core" % Ϗ r +2 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&& +3 "core" &Ӊ , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &Ӊ , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&>& +4 "core" &Ӊ  > , +2 "manipulator"& % +4 "core" %C @ W +2 "collection"'F& +4 "core" &\ \ "\ +3 "collection"'_& +5 "core" &\ \ &\ +2 .tCC.seek :closed +2 "collection"',(\\ +5 "core" &\ \ #\ +6 &<\ \ !\ $f +10 &Z{\ \ %\ 7 +9 &v\ \ (\ K +9 &Q\ \ (\ J +10 &T\ \ \ #\ K +9 &GW\ \ &\ K +9 & R\ \ \ \ (\ K +10 &T\ \ \  \ J +9 &T\ \ \ \ !\ K +10 &OV\ \ \ K +9 & R\ \ \ \ K +9 &!T\ \ \ J +10 &#T\ \ \ J +9 &%WT\ \ \ \ K +9 &'V\ \ \ \ K +10 &(V\ \ \ K +9 &*R\ \ \ K +10 &,_R\ \ \ \ K +9 &."T\ \ \ J +9 &/T\ \ \ K +10 &1X\ \ \ K +9 &3gR\ \ \ K +9 &5*T\ \ \ J +10 &6U\ \ \ K +9 &8R\ \ \ \ K +10 &:oU\ \ \ K +9 &<0Y\ \ \ K +9 &=U\ \ \ K +10 &?W\ \ \ K +9 &AwW\ \  \ K +9 &C7Z\ \ \ L +10 &Db\ \ \ L +9 &Fj\ \ \ M +10 &Hp\ \  \ P +9 &J&\ 8\ /\ T +9 &K\ :\ ;\ \ W +10 &M\ 7\ :\ V +9 &Oc\ 8\ 8\ \ W +9 &Q$\ 8\ 7\ X +10 &R\ 8\ 6\ X +9 &T\ 8\ 6\ X +10 &Vd\ 5\ 6 \ Z +9 &X%\ 7\ 7 \ Z +9 &Y\ ;\ 8 \ [ +10 &[\ 8\ 8\ H +9 &\\2\ 7\ : \ 0 +9 &\\s\ 8\ 9\ O +3 ( +2 "collection"'_& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&s1 +61 "core" 1 +2 "manipulator"&% +3 "core" % C K W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&n% +4 "core" %   +2 "storage"(!% +4 "core" % P n\  +2 "storage"(#. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(*(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z K "\ +2 "manipulator"&[& +4 "core" &Ӊ , +2 "manipulator"&h% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&O( +158 "core" ( + "manipulator"&}& +4 "core" &  +2 "storage"(Q& +4 "core" &,z ) ^ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +95 "core" ' +2 "storage"(/& +3 "core" &,z " '\ +49 .tSE.reconfigure :pick +5 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,l\ \ /\  +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&1& +4 "core" & &  +2 "storage"(& +4 "core" &,l\ \  \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&H'c +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& +2 "storage"(R' +8 "core" &  +2 "manipulator"&W% +4 "core" % Z +2 .tForearm.seek :retract +2 "manipulator"&3' +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&y( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&C& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +94 "core" ' +2 "manipulator"&]& +3 "core" & 4 +2 "manipulator"&% +4 "core" %  y +2 "processing"%2& +5 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%)(^ +4 "core" &\ +8 &.\ #b +9 &U|\ 7 +9 &x\ K +10 &U\ N +9 &UT\ M +9 &U\ M +10 &Y\ N +9 &W\ N +10 &]R\ M +9 &T\ N +41 &S\ M + &!U\ M +2 &#dU\ N + &%'S\ M +3 &&Y\ N +8 &(W\ N +10 &*mX\ M +9 &,.Y\ N +9 &-V\ M +10 &/U\ N +9 &1tU\ N +9 &36V\ N +10 &4V\ N +9 &6T\ M +10 &8|Y\ N +9 &:>V\ N +9 &<U\ N +10 &=Y\ M +9 &?W\ M +9 &AGW\ M +10 &C_\ O +9 &Dc\ O +10 &Fm\ P +9 &HC}\ Q +9 &J\ S +10 &K\ S +9 &M\ T +9 &OC\ T +10 &Q\ U +9 &R\ T +10 &T\ U +9 &VK\ T +9 &X\ \ U +10 &Y\ T +9 &[\ U +9 &]O\ I +10 &^Q\ "h +9 &^\ ( +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&"1 +58 "core" 1 +2 "manipulator"&\ % +3 "core" %   C y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +92 "core" ' +3 "processing"%7& +3 "core" &^E\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&5% +3 "core" %   $  +3 "storage"(X% +3 "core" % I K\  +2 "storage"(+. +4 "core" .(,y + "storage"(4& +4 "core" &,l I *\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(9(,y +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (l& +2 "manipulator"&%& +5 "core" &,~ \  \  +2 & \   +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +6 .tElbow.seek PC +2 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(;'r +3 "core" ( +2 "manipulator"&T& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  = +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"& / +62 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(m- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(D'1 +41 "core" ' +314 ( +9 "storage"(|& +4 "core" &,h\ ,\ - B\ $ +2 "manipulator"&?& +4 "core" & \ +2 "manipulator"&% +4 "core" %  > +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&o( +241 "core" ( +2 "manipulator"&^& +3 "core" & \ Y 2 +2 "storage"(=& +4 "core" &,h\ \ \ \ $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&B' +98 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(S- +3 "core" -' +2 "storage"(q& +3 "core" &,h * + O\ $ +2 "manipulator"&K& +4 "core" &  B 2 +2 .tElbow.seek 4 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&& +4 "core" &   ! 2 +2 "storage"(w& +4 "core" &,h  \ $ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&'& +4 "core" & 2 +2 "storage"(j& +4 "core" &,h\ -\ - N\ $ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&d'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Z' +28 "core" ' +2 "manipulator"&% +4 "core" %* ;  +2 "storage"(U& +4 "core" &,h J 0\ $ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 287 counts +2 "manipulator"&a'V +15 "core" ' +2 "manipulator"&6& +3 "core" &  2 +3 "storage"(:& +3 "core" &,h M M\ $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +15 "core" ' +2 "storage"(`% +3 "core" % M \ +3 ."downElevator"SE.seek :down +4 "storage"( ' +99 (M% +3 "core" %.P \ \ \ Xg +2 "manipulator"&x% +3 "core" % M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,h\ +\ % x\ $ +2 "collection"'& +4 "core" &\\r\ /\ 1\ O +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&~% +3 "core" %   +3 "storage"(t% +3 "core" % L d\  +2 "storage"( . +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(V(,y +74 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,u\ \ %\ +2 "manipulator"&.& +4 "core" & 1 +2 .tElbow.seek 4 +2 "manipulator"&k( +4 "core" ( +2 "manipulator"&E& +3 "core" & 1 +2 "storage"(z& +4 "core" &,u L C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +97 "core" ' + "storage"(J& +4 "core" &,u & %\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'r +300 "core" ' + "storage"(- +3 "core" -' +47 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&v& +4 "core" &   8 1 +2 "storage"(& +4 "core" &,l\ \ \ I\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(F'c +35 "core" ' + "manipulator"&i% +4 "core" %= ! + +2 "storage"(&& +4 "core" &,l J %\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts +2 "manipulator"&('i +14 "core" ' +2 "manipulator"&<& +4 "core" & ! 1 +2 "storage"(s& +4 "core" &,l\ +\ # Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&n& +4 "core" & 1 +2 "manipulator"&!% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_(ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &ӓ Q 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &ӓ 5 +2 .tForearm.seek CC +2 "manipulator"&h'? +94 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +3 .tCC.seek :open + "collection"'}( +449 "core" ( +2 "storage"(Q& +3 "core" &,l G F K\ +2 "storage"({& +4 "core" &,l G G @\ +2 "manipulator"&/& +3 "core" &Ӡ  3 +2 "manipulator"&$% +4 "core" % > D +2 .tForearm.seek :retract +2 "manipulator"&p' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" & ;  +2 "storage"(L& +4 "core" &,l U T l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&1'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&f1 +63 "core" 1 +2 "manipulator"&Y% +4 "core" % E : +2 "storage"(W& +3 "core" &,l J = N\ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 314 counts + "manipulator"&O'q +16 "core" ' + "manipulator"&0& +4 "core" &  W  +3 "storage"(I& +3 "core" &,l l k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +15 "core" ' + "storage"(C% +4 "core" % l k \ +3 ."downElevator"SE.seek :down +3 "storage"(r' +99 (c% +3 "core" %D ( , #\ V_ +2 "manipulator"&]% +4 "core" % ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'2& +4 "core" &\ \ \ +2 "manipulator"&R% +4 "core" %  b  +2 "storage"(3% +4 "core" % L 8 \  +2 "storage"(@. +3 "core" .(,v +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"("(<- +397 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" &<*\  R\  +2 "manipulator"&7& +4 "core" & 8  +2 .tElbow.seek 5 +2 "manipulator"&5( +14 "core" ( + "manipulator"&X& +4 "core" &  +  +7 "storage"(+& +4 "core" &<) < 8 X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +97 "core" ' +2 "storage"(& +4 "core" &<) j m \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +296 "core" ' +2 "storage"(%- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &<) * # .\  +2 "manipulator"&& +4 "core" &  n  +2 .tElbow.seek 5 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"& & +3 "core" &  +3 "storage"(*& +40 "core" &<) G F M\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&m'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +3 "storage"()' +8 "core" & !  +2 "manipulator"&;% +4 "core" % Ϻ +2 .tForearm.seek :retract +2 "manipulator"&|' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&& +3 "core" &Ӕ 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӕ - 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'? +92 "core" ' +2 "manipulator"&=& +4 "core" &Ӕ ] 2 +2 "manipulator"&% +4 "core" %A 4 j +2 "collection"' & +4 "core" &\ \ #\ +3 "collection"'& +5 "core" &\ \  \ +2 .tCC.seek :closed +2 "collection"'S(\\ +4 "core" &\ \ !\  +9 &5y\ \ !\ *y +9 & gz\ \ &\ > +9 &k\ \ (\ L +10 &\\R\ \ '\ K +9 &R\ \ \ '\ K +9 &T\ \ !\ J +10 &T\ \ \ J +9 &eT\ \ \ \ #\ J +10 &'U\ \ "\ J +9 &T\ \ \ \ K +9 & U\ \ \ \ \ K +10 &"lW\ \ \ \ \ K +9 &$.V\ \ \ K +10 &%W\ \ \ K +9 &'R\ \ \ K +9 &)tR\ \ \ K +10 &+6R\ \ \ \ K +9 &,Q\ \ \ K +9 &.R\ \ \ K +10 &0}T\ \ \ J +9 &2?T\ \ \ J +9 &4U\ \ \ K +10 &5W\ \ \ K +9 &7R\ \ \ K +10 &9GT\ \ \ J +9 &;T\ \ \ K +9 &<Y\ \ \ K +10 &>U\ \ \ K +9 &@MX\ \ \ K +9 &BV\ \ \ K +10 &C]\ \  \ L +9 &Ec\ \ \ L +10 &GMr\ \ \ N +9 &I\ (\ !\ Q +9 &J\ ;\ 7\ V +10 &Ly\ :\ ; \ W +9 &N<\ <\ :\ V +9 &O\ 9\ :\ W +10 &Q\ 9\ :\ X +9 &S|\ :\ 8\ Y +10 &U=\ 9\ 8\ Y +9 &V\ :\ ;\ Z +9 &X\ :\ :\ [ +10 &Z}\ 8\ 8\ [\ +9 &\\!y\ :\ :\ \ / +9 &\\/\ :\ 9\ a +10 ( + &\\f\ 8\ :\ O +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&q1 +61 "core" 1 +3 "manipulator"&K% +3 "core" % A  j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%w& +3 "core" &\ +2 "manipulator"&% +4 "core" % ! | ) +2 "storage"('% +4 "core" % J d\  +2 "storage"(j. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +3 "core" &<*\ k\  +2 "manipulator"&D& +4 "core" &Ӧ E 0 +2 "manipulator"&6% +4 "core" % ! ? ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&:( +163 "core" ( + "manipulator"&u& +4 "core" &  +2 "storage"(`& +4 "core" &<)\ \  >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +48 "manipulator"&o'O +100 "core" ' +2 "storage"(B& +4 "core" &<) ' '\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'r +297 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" &<)\ \  \  +2 "manipulator"&-& +4 "core" & #  +2 .tElbow.seek 5 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&& +4 "core" & g  +2 "storage"(d& +4 "core" &<)\ ,\ , o\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(~' +8 "core" &   +2 "manipulator"&t% +4 "core" %  } +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&& +4 "core" & S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" & S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&E' +101 "core" ' + "manipulator"&z& +4 "core" &  S +2 "manipulator"&A% +4 "core" %  + +2 "processing"%J& +4 "core" &\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(^ +5 "core" &\ +6 &.\ #b +10 &V{\ 7 +9 &w\ K +9 &U\ N +10 &cS\ M +9 &%Q\ M +9 &U\ M +10 &W\ M +9 &kQ\ M +9 &.U\ M +10 &W\ M +9 &!W\ N +10 &#rV\ N +9 &%4U\ N +9 &&X\ M +10 &(S\ N +9 &*zV\ N +9 &,=Y\ M +10 &-W\ M +9 &/Y\ N +10 &1V\ N +9 &3EW\ M +9 &5W\ M +10 &6U\ M +9 &8Y\ N +10 &:LU\ N +9 &<U\ N +9 &=U\ N +10 &?V\ M +9 &ATX\ N +9 &Cb\ O +10 &Db\ O +9 &Fm\ Q +10 &HO~\ R +9 &J \ T +9 &K\ S +10 &M\ T +9 &OQ\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &VW\ U +10 &X\ U +9 &Y\ U +10 &[\ U +9 &][\ F +9 &^{>n\ 's +10 &^+\ - +5 ( +2 "processing"% & +4 "core" &^\ - +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&N1 +59 "core" 1 +2 "manipulator"&8% +3 "core" %   \ z + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +3 "processing"%v& +3 "core" &^7\ - +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %  -  +2 "storage"( % +4 "core" % J d\  +2 "storage"(i. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(&(<- +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +2 "manipulator"&s& +4 "core" &<*\  i\  +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   ; S +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(n'r +2 "manipulator"&!( +5 "core" ( +2 "manipulator"&P& +4 "core" &   , S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &   H S +2 .tForearm.seek PC +2 "manipulator"&e' +93 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%(( +91 "core" ' +2 "storage"(F- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +43 ."raiseStack"SE.seek :place +10 "storage"('1 +40 "core" ' +265 ( + "storage"([& +4 "core" &<) I ?\  +2 "manipulator"&& +4 "core" & S +2 "manipulator"&>% +4 "core" %  K +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&#( +254 "core" ( + "manipulator"&,& +4 "core" &  M +2 "storage"(Q& +4 "core" &<)\ ,\ , ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&{'O +95 "core" ' +2 .tHand.open + "manipulator"&/1 +64 "core" 1 +2 "storage"($- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(L' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +4 "core" -' + "storage"(_& +4 "core" &<) 6 9\  +2 "manipulator"&f& +4 "core" &   5 M +2 .tElbow.seek 5 +2 "manipulator"&Y( +32 "core" ( + "manipulator"&W& +4 "core" &  \ . r +2 "storage"(0& +4 "core" &<) & 2 J\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(C'" +52 "core" ' +2 "manipulator"&p& +4 "core" & r +2 "storage"(c& +3 "core" &<) J R\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&]'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(1' +18 "core" ' +2 "manipulator"&2% +4 "core" %Λ +2 "storage"(R& +4 "core" &<) K "\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts + "manipulator"&O' +14 "core" ' + "manipulator"&3& +4 "core" & U r +2 "storage"(@& +4 "core" &<)\ \  <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"(H% +4 "core" % '\ +3 ."downElevator"SE.seek :down +3 "storage"(r' +99 (V% +3 "core" %aP\ \ \ \ Wf +2 "manipulator"&\ % +4 "core" %@ $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +92 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (X& +3 "core" &<) $ \  +2 "collection"'+& +4 "core" &\\f\ 1\ 0\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %   +3 "storage"(% +3 "core" %\ \  1\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(%(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (T& +3 "core" &<+\  \  +3 "manipulator"&& +3 "core" & 2 r +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&*& +3 "core" & G r +2 "storage"(y& +4 "core" &<) \  Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&g'O +96 "core" ' +2 "storage"(;& +4 "core" &<) ' ' M\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'r +335 "core" ' +9 "storage"(4- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & r +2 "storage"(& +4 "core" &<) K )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&l'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(=- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('v +29 "core" ' +2 "manipulator"& % +4 "core" %Κ +2 "storage"(b& +4 "core" &<) C "\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&)' +14 "core" ' +2 "manipulator"&|& +3 "core" & r +2 "storage"(}& +4 "core" &<)\ \ ) D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +13 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(K' +36 "core" ' +2 "manipulator"&w& +4 "core" & k r +2 "manipulator"&% +4 "core" %a < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +160 "core" ( +2 "manipulator"&& +4 "core" &ӛ r 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &U& +3 "core" &ӛ Q 4 +2 .tForearm.seek CC +2 "manipulator"&D'? +100 "core" ' + .tHand.close +2 "manipulator"&6/ +62 "core" / +2 .tCC.seek :open +2 "collection"'^( +449 "core" ( + "storage"(u& +4 "core" &<) 4 ) \  +3 "storage"(`& +3 "core" &<) ' % A\  +2 "manipulator"&"& +4 "core" &ӡ # 3 +2 "manipulator"&?% +4 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&B' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&M& +4 "core" & ?  +2 "storage"(x& +4 "core" &<) V T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&-'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&d1 +63 "core" 1 +2 "manipulator"&a% +4 "core" % Β  ; M +2 "storage"(& +3 "core" &<) G F \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 305 counts +2 "manipulator"&t'Ͼ +14 "core" ' +2 "manipulator"&:& +4 "core" & G  +2 "storage"(o& +4 "core" &<) l l \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +24 "core" ' +2 "storage"(% +4 "core" % m h {\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (.% +3 "core" %G # . i\ Va +2 "manipulator"&G% +4 "core" %Ё +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'A& +4 "core" &\ \ \ +2 "manipulator"&J% +3 "core" %   +3 "storage"(~% +3 "core" % > ; \  +2 "storage"( . +3 "core" .(<- +47 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +350 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (N& +3 "core" &K ' #\  +2 "manipulator"&8& +3 "core" &  +3 .tElbow.seek 6 +2 "manipulator"&v( +2 "core" ( +3 "manipulator"&& +3 "core" &  Q  +2 "storage"( & +4 "core" &K U T v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +93 "core" ' +2 "storage"( & +4 "core" &K l k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'r +291 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +4 "core" &K P S [\  +2 "manipulator"&k& +4 "core" & <  +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&& +4 "core" & ;  +2 "storage"(& +4 "core" &K S S ^\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&F'h +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(9' +8 "core" & P  +2 "manipulator"&n% +4 "core" % r x +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +3 .tElbow.seek CC + "manipulator"&(ӂ +152 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&>& +2 "storage"(5 +7 "core" &ӊ! :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &ӊ!  k :- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'? +90 "core" ' +2 "manipulator"&Q& +4 "core" &Ӟ  7 +2 "manipulator"&!% +4 "core" %H  n +2 "collection"'/& +4 "core" &\ \  \ +3 "collection"'$& +5 "core" &\ \ '\ +3 .tCC.seek :closed +3 "collection"'h(\\ +4 "core" &\ \ $\ +5 &\ \ "\ ; +9 &KKu\ \  \ 1 +10 &v|\ \ '\ E +9 &1W\ \ $\ K +10 &V\ \ (\ K +9 &R\ \ \ K +9 &xR\ \ \ '\ K +10 &:Q\ \ \ \ K +9 &R\ \ \ \ &\ K +9 &S\ \ \ \ J +10 &T\ \ \ \ #\ J +9 &!CT\ \ &\ J +10 &#T\ \ \ %\ J +9 &$T\ \  \ K +9 &&V\ \ \ K +10 &(JW\ \ \ K +9 &* W\ \ \ \ K +9 &+Q\ \ \ K +10 &-R\ \ \ K +9 &/RR\ \ \ K +10 &1T\ \ \ J +9 &2T\ \ \ K +9 &4W\ \ \ K +10 &6ZR\ \ \ K +9 &8R\ \ \ \ K +9 &9T\ \ \ J +10 &;U\ \ \ K +9 &=`Y\ \ \ K +10 &?"U\ \ \ K +9 &@V\ \  \ K +9 &BZ\ \  \ L +10 &Df`\ \ \ L +9 &F#l\ \ \ N +9 &G\ '\ #\ P +10 &I\ @\ : \ T +9 &KP\ D\ D\ V +10 &M\ C\ C\ W +9 &N\ ?\ ?\ W +9 &P\ ?\ ?\ X +10 &RT\ ;\ <\ X +9 &T\ ;\ ;\ Y +9 &U\ <\ :\ Y +10 &W\ ;\ <\ [ +9 &YR\ =\ :\ [\ +10 &[\ ;\ =\ [ +9 &\\eE\ :\ :\ 1 +9 &\\\ 8\ 9\ N +6 ( +2 "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&_1 +3 "core" &\\a\ 6\ 9\ M +51 1 +2 "manipulator"&f% +4 "core" % M i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%W& +4 "core" &\ +2 "manipulator"&0% +3 "core" %    +2 "storage"(p% +4 "core" % # & \  +2 "storage"(c. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &K\  x\  +2 "manipulator"&R& +4 "core" & ' +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&3( +150 "core" ( + "manipulator"&@& +4 "core" & \  +2 "storage"(H& +3 "core" &K / . \\\  +50 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +93 "core" ' + "storage"({& +4 "core" &K $ , .\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(L'r +308 "core" ' + "storage"(V- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +3 "core" &K A \  +2 "manipulator"&I& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&C& +4 "core" &  +2 "storage"(]& +4 "core" &K K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&X'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +3 "storage"(' +8 "core" &  +2 "manipulator"&% +5 "core" % q +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&T& +3 "core" & ?  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&*' +92 "core" ' +2 "manipulator"&y& +4 "core" &   +2 "manipulator"&% +4 "core" % U y +2 "processing"%;& +4 "core" &\ +3 "processing"%r& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%&(^ +5 "core" &\ +6 &5\ #b +9 &T}\ 6 +10 &~{\ K +9 &T\ M +9 &^T\ N +10 &!U\ M +9 &Y\ M +9 &S\ M +10 &hS\ M +9 &(V\ N +9 &R\ M +10 &!T\ M +9 &#nU\ N +10 &%1W\ M +9 &&Y\ M +9 &(W\ N +10 &*vU\ N +9 &,8W\ N +9 &-W\ M +10 &/Y\ M +9 &1W\ M +10 &3@X\ N +9 &5U\ M +9 &6T\ N +10 &8W\ N +9 &:HS\ N +10 &<\ Z\ N +9 &=Z\ N +9 &?Y\ M +10 &APY\ N +9 &C`\ O +9 &Dd\ O +10 &Fl\ P +9 &HK~\ R +9 &J\ T +10 &K\ S +9 &M\ T +10 &OL\ T +9 &Q \ U +9 &R\ T +10 &T\ U +9 &VT\ T +9 &X\ U +10 &Y\ U +9 &[\ U +10 &]Z\ D +9 &^{@p\ 's +9 &^&\ + +6 ( +2 "processing"%r& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&1 +3 "core" &^\ + +51 1 +2 "manipulator"&7% +3 "core" %   & y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +93 "core" ' +2 "processing"%& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %    ( " +2 "storage"(=% +4 "core" % I \  + "storage"( . +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(b(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (|& +2 "manipulator"&}& +4 "core" &K \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   8  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(w'r + "manipulator"&( +13 "core" ( +2 "manipulator"&g& +4 "core" &   { +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   # +2 .tForearm.seek PC +2 "manipulator"&5' +93 "core" ' + .tHand.close +2 "manipulator"&l/ +62 "core" / +2 .tPC.seek :open +2 "processing"%)( +83 "core" ' +51 "storage"(- +11 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +258 ( + "storage"(U& +4 "core" &K " %\  +2 "manipulator"&q& +3 "core" &  +3 "manipulator"&m% +3 "core" %  c Y +3 .tForearm.seek :retract +2 "manipulator"&6' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&'( +253 "core" ( +2 "manipulator"&S& +4 "core" & \  +2 "storage"(u& +4 "core" &K  5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&`' +96 "core" ' +2 .tHand.open +2 "manipulator"&"1 +53 "core" 1 +2 "storage"(?- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(D- +4 "core" -' + "storage"(j& +4 "core" &K C S E\  +2 "manipulator"&d& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&a( +4 "core" ( + "manipulator"&& +4 "core" &   !  +2 "storage"(:& +4 "core" &K C D\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&B& +3 "core" &   +2 "storage"(.& +4 "core" &K \ m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&G'< +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(-' +28 "core" ' + "manipulator"&A% +4 "core" %C : +2 "storage"(t& +5 "core" &K M B\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 307 counts +2 "manipulator"&J'o +15 "core" ' +2 "manipulator"&~& +3 "core" &  +2 "storage"( & +4 "core" &K & @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&K' +16 "core" ' +2 "storage"(\\% +3 "core" % + # '\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (%% +3 "core" %?V\ \ \ \ Xi +2 "manipulator"&N% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K V  M\  +2 "collection"' & +4 "core" &\\a\ 2\ 1\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %   +2 "storage"(% +4 "core" % % \  +2 "storage"(z. +3 "core" .(K +2 "storage"(s& +4 "core" &K " %\  +2 "storage"(P& +3 "core" &K % 4\  +2 "manipulator"&k& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(Z& +4 "core" &K %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' + "storage"(n& +4 "core" &K / , $\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +296 "core" ' +4 "storage"(i- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &  +2 "storage"(e& +4 "core" &K V )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&<'< +19 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Q- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(!'n +30 "core" ' + "manipulator"&/% +4 "core" %* ` " +2 "storage"(E& +4 "core" &K & ' \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 282 counts +2 "manipulator"&9'V +14 "core" ' +2 "manipulator"&[& +3 "core" &  +2 "storage"(^& +4 "core" &K ) # \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(f' +39 "core" ' + "manipulator"&W& +4 "core" &  +2 "manipulator"&0% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +157 "core" ( +2 "manipulator"&$& +3 "core" &ӏ  7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &2& +3 "core" &ӏ 7 +2 .tForearm.seek CC +2 "manipulator"&R'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"',( +449 "core" ( + "storage"(@& +4 "core" &K 3 A p\  +2 "storage"(H& +4 "core" &K 3 A e\  +2 "manipulator"&& +4 "core" & ' +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&{' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +152 "core" ( +2 "manipulator"&V& +4 "core" &  { +2 "storage"(\ & +4 "core" &K G J q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&I'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +57 "core" 1 +2 "manipulator"&O% +4 "core" % 8  T +2 "storage"(+& +4 "core" &K C < \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"&'d +13 "core" ' +2 "manipulator"&3& +4 "core" & , { +2 "storage"(#& +4 "core" &K X H E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +20 "core" ' + "storage"(X% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +3 "storage"(T' +99 (% +3 "core" %I . , R\ Vb +2 "manipulator"&Y% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +95 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +933 #t-> esit +163 #-> exit +6 #mEXIT @1688397818.77EDT @1688584319.56EDT = =tMAIN =mMAIN_scheduler @EDT1688584321.38 #"core_reset"Sent BREAK +2 #t@12640 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +250 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +394 "Can" " +  " #tPolling Can every 10:00 +112 #Cleanly exited at 11:23:38EDT03-Jul-23 +1944 #-> ESP,ready! +2 !o:SyntaxError: mesg"Zcompile error\ (ESP):1: syntax error, unexpected '\\n', expecting tCOLON2 or '[' or '.':bt["(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +584 #-> ESP.ready! +3 #Powering core bus +566 .Gate.power :raw,:ON +2 "sampler") +21 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1230 #-> 25.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'1& +4 "core" &\ \ \  +2 .tHand.open + "manipulator"&21 +59 "core" 1 +2 "manipulator"&3% +4 "core" %    k  +2 "storage"(4% +3 "core" % S S $\  +2 "storage"(5. +3 "core" .(,y +2 "storage"(6& +4 "core" &,y T W \  +2 "storage"(7& +3 "core" &,y W X\  +2 "manipulator"&8& +4 "core" &   / 6 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&9( +4 "core" ( + "manipulator"&:& +4 "core" &   > 6 +2 "storage"(;& +3 "core" &,y S R\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +94 "core" ' +2 "storage"(=& +3 "core" &,y O \\ Z\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +298 "core" ' + "storage"(?- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &,l Y S K\  +2 "manipulator"&A& +4 "core" & # 6 +2 .tElbow.seek 4 +2 "manipulator"&B( +4 "core" ( + "manipulator"&C& +4 "core" &   v 6 +2 "storage"(D& +3 "core" &,l X Y\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&E'c +48 "core" ' +9 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&F/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(H' +7 "core" &    6 +2 "manipulator"&I% +3 "core" % Y  ( +3 .tForearm.seek :retract +2 "manipulator"&J' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +147 "core" ( +2 ' + "manipulator"&L& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &x#  <? +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &x# g <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'? +99 "core" ' +2 "manipulator"&O& +4 "core" &ӣ   b 7 +2 "manipulator"&P% +4 "core" %;  p +2 "collection"'Q& +4 "core" &\ \ \  +3 "collection"'R& +5 "core" &\ \ \  +2 .tCC.seek :closed +2 "collection"'S(\\ +4 "core" &\ \ \  +7 &I\ \ \ %g +9 &tZ\ \ \ 8 +10 &|\ \ \ M +9 &Z\ \ \ M +9 &VV\ \ \ L +10 &Y\ \ \ M +9 &Z\ \ \ M +9 &W\ \ \ M +10 &^\\\ \ \ L +9 & Y\ \ \ L +10 &\\\ \ \ M +9 &!Y\ \ \ M +9 &#eX\ \ \ M +10 &%'Z\ \ \ M +9 &&Z\ \ \ M +10 &(W\ \ \ M +9 &*nU\ \ \ L +9 &,/W\ \ \ M +10 &-[\ \ \ L +9 &/V\ \ \ L +9 &1vY\ \ \ L +10 &37[\ \ \ M +9 &4Z\ \ \ M +9 &6[\ \ \ L +10 &8}Z\ \ \ M +9 &:?Z\ \ \ M +10 &<W\ \ \ L +9 &=Z\ \ \ L +9 &?]\ \ \ M +10 &AH]\ \ \ L +9 &C_\ \ \ M +9 &Dj\ \ \ N +10 &Fs\ #\ "\ O +9 &H>\ -\ )\ R +10 &I\ A\ ;\ V +9 &K\ D\ F\ X +9 &Mt\ D\ F\ X +10 &O3\ D\ C\ Y +9 &P\ B\ D\ Z +9 &R\ A\ A\ Y +10 &Tv\ =\ ?\ Z +9 &V8\ =\ <\ Z +10 &W\ ;\ =\ [ +9 &Y\ ;\ 9\ ] +9 &[w\ 7\ <\ I +10 &\\<\ :\ :\ 1 +9 &\\}\ 7\ 8\ O +5 ( +2 "collection"'R& +4 "core" &\\w\ 4\ 7\ O +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&T1 +56 "core" 1 +2 "manipulator"&U% +4 "core" % ;  Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%W& +3 "core" &U\ +2 "manipulator"&X% +4 "core" %     +2 "storage"(Y% +4 "core" %   #\  +2 "storage"(Z. +3 "core" .(,y +2 "storage"([& +4 "core" &,l   \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(\\(,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" &,{ [ 7\ +2 "manipulator"&^& +4 "core" &Ӱ  v 5 +2 "manipulator"&_% +3 "core" %  y  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&`( +162 "core" ( + "manipulator"&a& +4 "core" &   +2 "storage"(b& +4 "core" &,{ / 0 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +91 "core" ' +2 "storage"(d& +4 "core" &,{ 0 / \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +301 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &,l   [\  +2 "manipulator"&h& +3 "core" & %  +2 .tElbow.seek 4 +3 "manipulator"&i( +3 "core" ( +2 "manipulator"&j& +4 "core" &  h  +2 "storage"(k& +3 "core" &,l Y x\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&l'c +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(o' +8 "core" &  v  +2 "manipulator"&p% +3 "core" % φ  M +3 .tForearm.seek :retract +2 "manipulator"&q' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&s& +5 "core" &  s 9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +3 "core" &  9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +36 .tForearm.seek PC +10 "manipulator"&u' +95 "core" ' +2 "manipulator"&v& +4 "core" &  4 9 +2 "manipulator"&w% +4 "core" %  ^ v +2 "processing"%x& +4 "core" &J\ +3 "processing"%y& +5 "core" &<\ +2 .tPC.seek :closed +2 "processing"%z(^ +5 "core" &M\  +8 &4yT\ *x +9 &bT\ > +10 &MxU\ O +9 &ZU\ O +10 &[S\ O +9 &YV\ O +9 &V\\T\ O +10 &]U\ O +9 &]S\ O +9 &\\O\ O +10 & ^]S\ O +9 &"!\\U\ N +10 &#]T\ O +9 &%[U\ O +10 &'e`O\ O +9 &)&]Q\ O +9 &*\\T\ O +9 &,]T\ O +10 &.o[U\ N +9 &0/]Q\ O +10 &1]Q\ O +9 &3Z@\ O +9 &5v[E\ O +10 &78]F\ O +9 &8`C\ O +9 &:^K\ O +10 &<}`F\ O +9 &>?`E\ O +10 &@_?\ O +9 &Ab?\ P +9 &CkD\ P +10 &EBm<\ Q +9 &GsC\ Q +9 &HD\ S +10 &J|B\ U +9 &L?E\ T +10 &M?\ U +9 &OD\ U +9 &QB\ U +10 &SDD\ U +9 &UB\ V +9 &VE\ V +10 &XB\ U +9 &ZK?\ V +9 &\\ D\ V +10 &]D\ > +9 &^0C\ R +10 &^>\ . +2 ( +2 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&{1 +61 "core" 1 +2 "manipulator"&|% +3 "core" % "   v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +94 "core" ' + "processing"%~& +4 "core" &^C\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" % #   W 6 +2 "storage"(% +4 "core" %\ \  P\  +2 "storage"(. +3 "core" .(,y +2 "storage"(& +3 "core" &,l\ * O J\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "manipulator"&& +4 "core" &,| \ \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   9 +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'r +2 "manipulator"&( +5 "core" ( +2 "manipulator"&& +5 "core" & !  , 9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &    9 +3 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%( +96 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +305 ( +2 "storage"(& +4 "core" &,i O /\  +2 "manipulator"& & +3 "core" &   g 9 +2 "manipulator"&% +4 "core" %    n < +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&& +4 "core" &  e 6 +2 "storage"(& +4 "core" &,i\ )\ , G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +101 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"($- +3 "core" -' +2 "storage"(%& +4 "core" &,i R R\  +2 "manipulator"&&& +4 "core" &    6 +2 .tElbow.seek 4 +2 "manipulator"&'( +4 "core" ( + "manipulator"&(& +5 "core" & ' " ! 6 + "storage"()& +4 "core" &,i Z R\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(+'" +51 "core" ' +2 "manipulator"&,& +3 "core" &  Y 6 +2 "storage"(-& +38 "core" &,i R &\  +10 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&.'7 +26 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +27 "core" ' +2 "manipulator"&1% +4 "core" %. J +2 "storage"(2& +3 "core" &,i O\ ' #\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 291 counts +2 "manipulator"&3'Z +13 "core" ' +2 "manipulator"&4& +5 "core" &  [ 6 +2 "storage"(5& +3 "core" &,i   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +25 "core" ' +2 "storage"(7% +4 "core" % X\ ) [\ +3 ."downElevator"SE.seek :down +3 "storage"(8' +99 (:% +4 "core" %KQ\ \ \ \ Wf +2 "manipulator"&;% +4 "core" %  Z  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,i 1 ]\  +2 "collection"'& +5 "core" &\\u\ .\ /\ O + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&?% +3 "core" % \   +3 "storage"(% +3 "core" %\ (\ " F\  +2 "storage"(@. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(A(,y +38 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &,z \\ F\ +2 "manipulator"&D& +4 "core" &  \\ 6 +2 .tElbow.seek 4 +2 "manipulator"&F( +4 "core" ( +2 "manipulator"&G& +3 "core" &   D 6 +2 "storage"(I& +5 "core" &,z 8 c \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&9' +100 "core" ' + "storage"(<& +5 "core" &,z 0 / \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +301 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &  5 5 +2 "storage"(E& +4 "core" &,l \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(B'd +29 "core" ' + "manipulator"&H% +4 "core" %: 9 C +2 "storage"(J& +3 "core" &,l W e\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 303 counts +2 "manipulator"&!'f +14 "core" ' +2 "manipulator"&T& +3 "core" &  w 5 +3 "storage"(U& +3 "core" &,l   '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(X' +36 "core" ' +2 "manipulator"&Y& +3 "core" & 5 +2 "manipulator"&Z% +4 "core" % K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +154 "core" ( +2 "manipulator"&]& +3 "core" &Ӛ   K 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +4 "core" &Ӛ  L 3 +2 .tForearm.seek CC +2 "manipulator"&_'? +97 "core" ' +2 .tHand.close + "manipulator"&N/ +57 "core" / +2 .tCC.seek :open +2 "collection"'a( +447 "core" ( +2 "storage"(b& +4 "core" &,l 0 0 f\ +2 "storage"(& +4 "core" &,l / 1\ +2 "manipulator"&d& +4 "core" &ӣ  2 +2 "manipulator"&K% +3 "core" % M : +3 .tForearm.seek :retract +36 "manipulator"&V' +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&f( +159 "core" ( + "manipulator"&g& +4 "core" &   +2 "storage"(h& +4 "core" &,l X Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&j'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +63 "core" 1 +3 "manipulator"&n% +3 "core" % 5   K T +2 "storage"(p& +5 "core" &,l T R c\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 298 counts +2 "manipulator"&`'a +13 "core" ' +2 "manipulator"&c& +3 "core" &  +2 "storage"(e& +4 "core" &,l V N \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +17 "core" ' + "storage"(s% +5 "core" % X N \ +2 ."downElevator"SE.seek :down +4 "storage"(t' +99 (i% +3 "core" %|G / 0 \ Vc +2 "manipulator"&v% +4 "core" %  u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'x& +4 "core" &\ \ \ +2 "manipulator"&o% +5 "core" %   ;  +2 "storage"(q% +5 "core" % K K \  +2 "storage"( . +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"({(<- +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +3 "core" &<* $ , J\  +2 "manipulator"&~& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +5 "core" &<* V N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' +2 "storage"(y& +4 "core" &<* _ ^ A\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* X V\  +2 "manipulator"&\ & +4 "core" &  1 +2 .tElbow.seek 5 +2 "manipulator"&u( +4 "core" ( + "manipulator"&& +4 "core" &  Y +2 "storage"(\\& +4 "core" &<* W S ?\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(z' +8 "core" &   +2 "manipulator"& % +4 "core" %    p +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +147 "core" ( +2 "manipulator"&& +4 "core" &z" V ;5 + ' +3 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +5 & & +3 "core" &z"  u ;5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + "manipulator"&& +4 "core" &ӊ   9% +2 "manipulator"&% +5 "core" %:  E +2 "collection"'& +3 "core" &\ \ \ +3 "collection"'& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'$(\\ +5 "core" &\ \ \ +6 &=\ \ \ $d +9 &Uz\ \ \ 6 +10 &~\ \ \ K +9 &Z\ \ \ L +9 &rY\ \ \ L +10 &4Y\ \ \ L +9 &Z\ \ \ L +9 &Z\ \ \ L +10 &yX\ \ \ L +9 &<U\ \ \ L +10 &X\ \ \ L +9 &!X\ \ \ L +9 &#V\ \ \ L +10 &%CX\ \ \ L +9 &'U\ \ \ L +45 &(X\ \ \ L +3 &*Y\ \ \ L +2 &,LY\ \ \ L + &. X\ \ \ L + &/Z\ \ \ L +4 &1Y\ \ \ L +10 &3SX\ \ \ L +9 &5X\ \ \ L +9 &6U\ \ \ L +10 &8X\ \ \ L +9 &:ZX\ \ \ M +10 &<Y\ \ \ L +9 &=Y\ \ \ M +9 &?Y\ \ \ L +10 &AcW\ \ \ L +9 &C%]\ \ \ L +9 &Dg\ \ \ N +10 &Fs\ "\ \ O +9 &HZ\ -\ &\ R +10 &J\ <\ 7\ W +9 &K\ E\ D\ X +9 &M\ B\ G\ Y +10 &ON\ @\ B\ Y +9 &Q\ A\ A\ Y +9 &R\ ?\ >\ Y +10 &T\ ?\ >\ Z +9 &VP\ ;\ >\ [\ +10 &X\ ;\ :\ \\ +9 &Y\ ;\ :\ ] +9 &[\ ;\ :\ H +10 &\\9\ :\ :\ + +9 &\\\ 8\ 7\ W +5 ( +2 "collection"'& +4 "core" &\\y\ 6\ 6\ W +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&%1 +54 "core" 1 +2 "manipulator"&&% +5 "core" % :   G E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%)& +4 "core" &H\ +2 "manipulator"&% +5 "core" %  &  +2 "storage"(,% +3 "core" %   J\  +2 "storage"(-. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" &<* \  !\  +2 "manipulator"&1& +4 "core" &Ӫ  ? 5 +2 "manipulator"&2% +4 "core" %   3  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&4( +163 "core" ( +2 "manipulator"&5& +5 "core" &   J  +2 "storage"(& +3 "core" &<*\ "\ ) "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +99 "core" ' + "storage"( & +4 "core" &<* 0 1\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'r +300 "core" ' + "storage"(:- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &<*  N\  +2 "manipulator"&*& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&'( +4 "core" ( + "manipulator"&+& +4 "core" &   +2 "storage"(.& +5 "core" &<* V Q\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&3'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(?' +9 "core" &  Z  +2 "manipulator"&% +3 "core" % Ͽ  = +3 .tForearm.seek :retract +2 "manipulator"&@' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&0( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&C& +3 "core" & M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +92 "core" ' + "manipulator"&I& +4 "core" &  +2 "manipulator"&6% +4 "core" %  3 Q +2 "processing"%<& +4 "core" &B\ +3 "processing"%8& +5 "core" &C\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &E\ +5 &C\ 4 +10 &<HyC\ 0 +9 &dqI\ D +9 &iQ\ O +10 &YF\ N +9 &XE\ O +10 &F\\J\ O +9 &\ Z?\ N +9 &\\B\ N +10 &YF\ O +9 &OY@\ O +9 &!YA\ O +10 &"\\>\ O +9 &$\\=\ O +10 &&XY7\ N +9 &([?\ O +9 &)]5\ O +10 &+\\<\ O +9 &-_Y,\ O +9 &/"]2\ N +10 &0Z;\ N +9 &2^9\ N +10 &4hWI\ N +9 &6*\\C\ N +9 &7Y-\ N +10 &9\\-\ O +9 &;o`'\ O +9 &=1Z&\ O +10 &>]*\ N +9 &@]&\ O +10 &Bub&\ O +9 &D4h8\ P +9 &EpC\ Q +10 &G~4\ R +9 &IpB\ T +9 &K00\ T +10 &L8\ U +9 &N3\ U +10 &Pr1\ V +9 &R5:\ U +9 &S3\ V +10 &UB\ U +9 &Wz=\ V +9 &Y=0\ U +10 &Z0\ V +9 &\\4\ V +10 &^9e9\ 'x +9 &^Z2\ 0 +9 ( +2 &^5\ - + "processing"%8& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&/1 +52 "core" 1 +2 "manipulator"&=% +4 "core" %    k Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M' +91 "core" ' +2 "processing"%>& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&E% +3 "core" %    =  +47 "storage"(Q% +4 "core" % > ,\  +2 "storage"(H. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(J(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +2 "manipulator"&U& +6 "core" &<*\ \  v\  + &   n +4 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +6 "manipulator"&Y( +4 ."raiseStack"SE.seek :beamBreak + "storage"(Z'r +3 "core" ( + "manipulator"&9& +5 "core" &   7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" &   [ +3 .tForearm.seek PC +2 "manipulator"&L' +93 "core" ' +2 .tHand.close +2 "manipulator"&O/ +56 "core" / +2 .tPC.seek :open +2 "processing"%!( +95 "core" ' +2 "storage"(B- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(]'1 +43 "core" ' +305 ( +2 "storage"(^& +4 "core" &<* M \  +2 "manipulator"&W& +4 "core" & ) +2 "manipulator"&P% +3 "core" %  2 +3 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&[( +240 "core" ( + "manipulator"&S& +4 "core" &   L A +2 "storage"(b& +4 "core" &<*\ \ T\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 .tHand.open + "manipulator"&d1 +55 "core" 1 +2 "storage"(K- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(_' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(g' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +4 "core" -' +2 "storage"(R& +3 "core" &<*   d\  +3 "manipulator"&m& +3 "core" &   A A +3 .tElbow.seek 5 + "manipulator"&n( +4 "core" ( +2 "manipulator"&p& +3 "core" & !  A +2 "storage"(c& +4 "core" &<*   \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(s'" +58 "core" ' + "manipulator"&V& +4 "core" &  4 A +2 "storage"(i& +4 "core" &<* R \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&f, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +28 "core" ' + "manipulator"&x% +4 "core" %΅  = t +2 "storage"(`& +4 "core" &<*\ \  G\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 292 counts + "manipulator"&o'ϱ +14 "core" ' +2 "manipulator"&q& +3 "core" & *  +2 "storage"( & +4 "core" &<* M g\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +13 "core" ' +2 "storage"(l% +4 "core" %\ \  K\ +3 ."downElevator"SE.seek :down +4 "storage"(t' +99 (A% +3 "core" %[S\ )\ Xi +2 "manipulator"&|% +4 "core" %N \\ +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &<* M }\  +3 "collection"'& +3 "core" &\\x\ /\ 0\ W +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&y% +3 "core" %    +2 "storage"(k% +4 "core" %  \  +2 "storage"(w. +39 "core" .(<* +9 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<+\ \ $ \  +2 "manipulator"&\ & +4 "core" &  -  +2 .tElbow.seek 5 +2 "manipulator"&( +19 "core" ( + "manipulator"&\\& +4 "core" & p  +2 "storage"(r& +4 "core" &<* ^ k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +97 "core" ' +2 "storage"( & +4 "core" &<* / \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  E  +2 "storage"( & +4 "core" &<* R 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +30 "core" ' + "manipulator"&% +4 "core" %Β  d  +2 "storage"(u& +4 "core" &<* \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts +2 "manipulator"&z'Ͼ +14 "core" ' +2 "manipulator"&& +3 "core" &  ,  +2 "storage"(a& +4 "core" &<* \ ;\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(&' +36 "core" ' +2 "manipulator"&)& +4 "core" &    +2 "manipulator"&% +4 "core" %B  K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&-(ӂ +157 "core" ( +2 "manipulator"&& +4 "core" &Ӕ    7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &"& +3 "core" &Ӕ   7 +2 .tForearm.seek CC +2 "manipulator"&1'? +92 "core" ' +2 .tHand.close + "manipulator"&2/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(5& +4 "core" &<* & 4 \  +2 "storage"(& +3 "core" &<* # % $\  +3 "manipulator"&{& +3 "core" &ӯ _ 3 +3 "manipulator"& % +3 "core" % J   ] . +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&(( +163 "core" ( +2 "manipulator"&:& +4 "core" &     +2 "storage"(;& +3 "core" &<* V W\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&*'΍ +91 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&.1 +54 "core" 1 +2 "manipulator"&% +5 "core" % Α   ^ G + "storage"(& +4 "core" &<* U R\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 304 counts + "manipulator"&'Ͻ +15 "core" ' +2 "manipulator"&4& +3 "core" & e  +2 "storage"(7& +4 "core" &<* J U [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +27 "core" ' +2 "storage"(3% +3 "core" % N X\ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 (D% +3 "core" %TJ 2 1\ Wc +2 "manipulator"&'% +5 "core" %Z c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +39 .tForearm.seek :retract +9 "manipulator"&I' +90 "core" ' +6 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'6& +3 "core" &\ \ \ +2 "manipulator"&<% +4 "core" %   g  +2 "storage"(?% +4 "core" % _ c\  +2 "storage"(@. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" &K " # \ +2 "manipulator"&=& +4 "core" &   `  +2 .tElbow.seek 6 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&E& +3 "core" &   +2 "storage"(8& +4 "core" &K J H w\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +96 "core" ' + "storage"(H& +4 "core" &K ^ ^ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'r +306 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +3 "core" &K Y T\ +2 "manipulator"&F& +4 "core" &   a  +2 .tElbow.seek 6 +2 "manipulator"&G( +4 "core" ( + "manipulator"&O& +4 "core" &  t  +2 "storage"(& +4 "core" &K R U \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&B'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&0/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(' +9 "core" &    +2 "manipulator"&Z% +3 "core" % t   g +3 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&P& +4 "core" &Ӗ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &Ӗ  i 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'? +101 "core" ' +2 "manipulator"&b& +4 "core" &Ӗ   3 5 +2 "manipulator"&Y% +4 "core" %=   h +2 "collection"'d& +4 "core" &\ \ \ +3 "collection"'K& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'h(\\ +4 "core" &\ \ \  +9 &3|\ \ \ *y +9 &e\ \ \ > +10 &s\ \ \ M +9 &QW\ \ \ L +9 &V\ \ \ L +10 &W\ \ \ K +9 &V\ \ \ L +9 &YY\ \ \ L +10 &[\ \ \ L +9 &U\ \ \ L +9 & W\ \ \ K +10 &"aW\ \ \ L +9 &$#Z\ \ \ L +10 &%[\ \ \ L +9 &'U\ \ \ L +9 &)iU\ \ \ L +10 &++Y\ \ \ L +9 &,Z\ \ \ L +10 &.U\ \ \ L +9 &0rW\ \ \ K +9 &24W\ \ \ K +10 &3X\ \ \ L +9 &5Z\ \ \ L +9 &7yU\ \ \ L +10 &9<W\ \ \ K +9 &:W\ \ \ L +10 &<]\ \ \ L +9 &>~\\\ \ \ M +9 &@BY\ \ \ L +10 &B]\ \ \ L +9 &Cb\ \ \ M +9 &Em\ \ \ N +10 &G<\ .\ (\ Q +9 &H\ C\ ;\ T +10 &J\ O\ K\ X +9 &Ll\ L\ L\ X +9 &N/\ I\ J\ X +10 &O\ E\ G\ Y +9 &Q\ C\ F\ Z +9 &Sn\ ?\ B\ Z +10 &U2\ A\ ?\ Z +9 &V\ =\ =\ [ +10 &X\ ;\ ;\ \\ +9 &Zq\ :\ :\ \\ +9 &\\z\ ;\ :\ 2 +10 &\\0\ 8\ 8\ Z +9 ( + &\\c\ 6\ 6\ L +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&R1 +58 "core" 1 + "manipulator"&m% +4 "core" % X  u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%c& +4 "core" &4\ +2 "manipulator"&N% +3 "core" %   . v +2 "storage"(V% +4 "core" % / . \  +2 "storage"(i. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(](K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +3 "core" &K\ \ \  +2 "manipulator"&`& +5 "core" & g ' + "manipulator"&_% +4 "core" %  I v +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&q( +151 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(l& +4 "core" &K / . \  +40 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +95 "core" ' +2 "storage"(& +3 "core" &K - 1 A\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(g'r +298 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (|& +3 "core" &K L a\  +2 "manipulator"&e& +4 "core" &  [  +2 .tElbow.seek 6 +2 "manipulator"&n( +4 "core" ( + "manipulator"&s& +5 "core" &  \  + "storage"(v& +4 "core" &K # " \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&o/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(y' +6 "core" &  =  +3 "manipulator"&k% +5 "core" % b  4 +2 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&& +4 "core" &  Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +93 "core" ' +2 "manipulator"&r& +3 "core" &   K \ +3 "manipulator"&X% +3 "core" %  x a +3 "processing"% & +3 "core" &$\ +3 "processing"%t& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(^ +3 "core" &:\ +9 &69\ #c +10 &T}>\ 7 +9 &}}@\ K +9 &Y5\ N +10 &ZZ=\ N +9 &W:\ N +9 &\\5\ O +10 &Z6\ O +9 &aY<\ O +10 &$\\<\ N +9 &[<\ N +9 &!WB\ N +10 &#jV9\ N +9 &%,W5\ N +9 &&X;\ N +10 &(WA\ N +9 &*rW7\ N +10 &,4W<\ N +9 &-V6\ N +9 &/]>\ N +10 &1z\\:\ N +9 &3<]9\ N +9 &4[8\ N +10 &6Z<\ O +9 &8Z,\ O +10 &:CZ2\ O +9 &<Y@\ O +9 &=]1\ N +10 &?Z7\ N +9 &AJ_-\ O +9 &C c.\ P +10 &Dg6\ P +9 &Fr>\ Q +10 &HH~8\ R +9 &J1\ T +9 &K,\ U +10 &M&\ U +9 &OI'\ U +9 &Q\ ,\ U +10 &R-\ U +9 &T:\ V +10 &VO*\ U +9 &X5\ V +9 &Y'\ U +10 &[,\ V +9 &]U(\ I +9 &^|G6\ ` +10 &^\ D6\ 2 +5 ( +2 "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&f1 +3 "core" &^"0\ 2 +54 1 +2 "manipulator"&~% +3 "core" % !  q a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 "processing"%& +4 "core" &^"(\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +5 "core" % !   6 + + "storage"(% +4 "core" % Q\  +2 "storage"(. +3 "core" .(K +2 "storage"(u& +3 "core" &K Q\  +3 "storage"(& +3 "manipulator"&a& +5 "core" &K K .\  + &   $ \ +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"()'r + "manipulator"&( +6 "core" ( +2 "manipulator"&}& +3 "core" & ' r \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   % \ +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%z( +90 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +308 ( + "storage"("& +4 "core" &K O  X\  +2 "manipulator"&%& +4 "core" &  F \ +2 "manipulator"&% +4 "core" %   _ C +2 .tForearm.seek :retract +2 "manipulator"&2' +90 "core" ' +2 .tElbow.reconfigure :tight +40 "manipulator"&$&.,(\ #b +11 .tElbow.seek 6 +2 "manipulator"&,( +245 "core" ( +2 "manipulator"&$& +3 "core" & { X +2 "storage"(5& +4 "core" &K O T\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open +2 "manipulator"&{1 +62 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(:' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(;' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +4 "core" -' + "storage"(-& +4 "core" &K O R T\  +2 "manipulator"&.& +4 "core" &   ? X +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & !   X +2 "storage"(4& +4 "core" &K R S 9\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +50 "core" ' + "manipulator"& & +4 "core" & l X +2 "storage"(D& +4 "core" &K Q ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&''< +19 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(*' +20 "core" ' +2 "manipulator"&% +4 "core" %4  8  +2 "storage"(6& +4 "core" &K N D\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 292 counts + "manipulator"&<'` +15 "core" ' +2 "manipulator"&?& +4 "core" & A X +2 "storage"(@& +4 "core" &K\ (\ " 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +16 "core" ' +2 "storage"(#% +3 "core" % , \ +3 ."downElevator"SE.seek :down +4 "storage"(C' +98 (% +4 "core" %K\ \  >\ Wf +2 "manipulator"&/% +4 "core" % D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &K \  N\  +2 "collection"'8& +4 "core" &\\c\ /\ 0\ L +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&H% +4 "core" %   F  +2 "storage"(+% +4 "core" %\ \  `\  +2 "storage"(I. +3 "core" .(K +2 "storage"(T& +4 "core" &K\ \  O\  +2 "storage"(9& +4 "core" &K\ %\  C\  +2 "manipulator"&F& +4 "core" & o W +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&& +4 "core" &  W +2 "storage"(0& +4 "core" &K + 6 y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&M' +96 "core" ' +2 "storage"(Z& +3 "core" &K / /\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +298 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" &  D W +2 "storage"(L& +4 "core" &K  P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&U'< +14 "core" ' + .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(Y'o +29 "core" ' +2 "manipulator"&d% +4 "core" %J  L + "storage"(G& +4 "core" &K   #\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&'v +13 "core" ' +2 "manipulator"&^& +4 "core" & g W +40 "storage"(& +12 "core" &K\ # X W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(m' +51 "core" ' +2 "manipulator"&c& +4 "core" & W +2 "manipulator"&N% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +146 "core" ( +2 "manipulator"&K& +4 "core" &Ӂ"  c ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &Ӂ" _ ;4 +3 .tForearm.seek CC + "manipulator"&`'? +97 "core" ' +2 .tHand.close + "manipulator"&_/ +58 "core" / +2 .tCC.seek :open +2 "collection"'S( +447 "core" ( +2 "storage"( & +4 "core" &K % + 2\  +2 "storage"(l& +4 "core" &K & 0 r\  +2 "manipulator"&& +3 "core" &  = + +2 "manipulator"&W% +5 "core" %  x +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&p( +150 "core" ( +2 "manipulator"&A& +4 "core" &   !  +2 "storage"(|& +4 "core" &K W Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&e'< +97 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +61 "core" 1 +2 "manipulator"&o% +4 "core" % : % ' +2 "storage"(& +4 "core" &K Y X\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 298 counts +2 "manipulator"&k'f +14 "core" ' +3 "manipulator"&q& +3 "core" &   p  +2 "storage"([& +4 "core" &K I I C\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +16 "core" ' +2 "storage"(% +3 "core" % ] M #\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (\ % +3 "core" %I = : @\ Vc +2 "manipulator"&n% +4 "core" %   H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'X& +3 "core" &\ \ \ +2 "manipulator"& % +4 "core" %    t  +2 "storage"(y% +4 "core" % K K \  +2 "storage"(w. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(!(,y +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (f& +3 "core" &,y 0 /\ +2 "manipulator"&~& +3 "core" &   k  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &   *  +2 "storage"(& +4 "core" &,y K O 9\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(u& +4 "core" &,y _ _ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +4 "core" &,k D & \ +2 "manipulator"&}& +3 "core" &  M  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&\\& +3 "core" &    +2 "storage"(& +4 "core" &,k V V\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +29 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +98 "core" / +11 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(J' +6 "core" &   +3 "manipulator"&)% +3 "core" % t   +3 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &Ӕ c 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &Ӕ  9 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'? +100 "core" ' +2 "manipulator"&5& +4 "core" &Ӕ  y 4 +2 "manipulator"&% +4 "core" %>   ~  +2 "collection"'{& +4 "core" &\ \ \ +3 "collection"' & +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'1(\\ +5 "core" &\ \ \  +8 &3{\ \ \ *y +9 &f\ \ \ > +10 &q\ \ \ M +9 &MT\ \ \ L +9 &V\ \ \ K +10 &W\ \ \ L +9 &Y\ \ \ L +9 &UW\ \ \ L +10 &W\ \ \ K +9 &U\ \ \ K +9 & U\ \ \ K +10 &"]Y\ \ \ L +9 &$ T\ \ \ L +10 &%U\ \ \ L +9 &'Y\ \ \ L +9 &)gS\ \ \ K +10 &+)U\ \ \ K +9 &,U\ \ \ K +9 &.U\ \ \ K +10 &0oV\ \ \ K +9 &2/Y\ \ \ L +10 &3U\ \ \ L +9 &5U\ \ \ L +9 &7vY\ \ \ L +10 &98Z\ \ \ L +9 &:T\ \ \ L +9 &<Y\ \ \ L +10 &>~U\ \ \ L +9 &@AW\ \ \ K +10 &BY\ \ \ L +9 &C]\ \ \ M +9 &Ef\ \ \ M +10 &G>v\ "\ \ O +9 &H\ 0\ +\ R +9 &J\ A\ ?\ V +10 &Li\ B\ C\ X +9 &N+\ C\ B\ X +10 &O\ A\ ?\ Y +9 &Q\ >\ =\ X +9 &Sj\ =\ <\ [ +10 &U/\ <\ =\ Z +9 &V\ ;\ <\ [\ +9 &X\ ;\ <\ \\ +10 &Zn\ 8\ :\ \\ +9 &\\x\ 9\ ;\ 7 +10 &\\'\ 7\ 8\ 't +9 &\\\ 7\ 8\ Z +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&-1 +53 "core" 1 + "manipulator"&.% +4 "core" % > "  ]  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%4& +3 "core" &0\ +3 "manipulator"&2% +3 "core" %   c  +2 "storage"( % +5 "core" % M e\  + "storage"(D. +4 "core" .(,y + "storage"(& +4 "core" &,k\ /\ * m\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(6(,y +17 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,} \  +2 "manipulator"&?& +5 "core" &ӫ  R 1 + "manipulator"&@% +4 "core" %   D  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&:( +160 "core" ( +2 "manipulator"&#& +4 "core" &  C  +2 "storage"(,& +3 "core" &,} Z\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +101 "core" ' +2 "storage"(;& +4 "core" &,} R q\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &,l\ \ \  +2 "manipulator"&& +4 "core" &  E  +2 .tElbow.seek 4 +2 "manipulator"&3( +4 "core" ( + "manipulator"&'& +4 "core" & c  +2 "storage"(E& +3 "core" &,l\ \ \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&<'c +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(+' +8 "core" &  + "manipulator"&I% +4 "core" % Y +3 .tForearm.seek :retract + "manipulator"&*' +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&9& +5 "core" &  ` \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +3 "core" & \ +2 .tForearm.reconfigure :tight +50 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&0& +3 "core" &  r \ +3 "manipulator"&&% +3 "core" %  + w +3 "processing"%Z& +3 "core" &%\ +3 "processing"%C& +5 "core" &5\ +2 .tPC.seek :closed +2 "processing"%((^ +5 "core" &A\ +7 & .I\ #a +10 &T}H\ 6 +9 &}}I\ K +9 &ZG\ N +10 &SYG\ O +9 &WQ\ N +9 &ZJ\ O +10 &YQ\ N +9 &\\UJ\ N +9 &ZR\ N +10 &YG\ O +9 &!ZQ\ N +10 &#dXD\ N +9 &%&TD\ N +9 &&ZG\ O +10 &(YP\ O +9 &*lYQ\ N +9 &,.\\G\ N +10 &-WC\ N +9 &/[F\ N +10 &1sYC\ O +9 &36XB\ N +9 &4XJ\ N +10 &6UE\ N +9 &8{ZE\ O +9 &:>XE\ N +10 &;WF\ O +9 &=ZF\ O +10 &?\\L\ N +9 &AEWH\ O +9 &Ca@\ O +10 &Dc9\ P +9 &FoE\ Q +9 &HC}B\ R +10 &I?\ T +9 &KB\ U +10 &M6\ U +9 &ODC\ T +9 &Q:\ U +10 &RE\ U +9 &TD\ V +9 &VI:\ U +10 &X >\ U +9 &Y>\ U +10 &[8\ U +9 &]O9\ H +9 &^xEA\ "f +10 &^09\ 1 +5 ( +2 "processing"%C& +3 "core" &^"2\ 1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&=1 +52 "core" 1 +2 "manipulator"&Q% +3 "core" % !   w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +91 "core" ' +2 "processing"%L& +4 "core" &^""\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&b% +3 "core" %      +2 "storage"(d% +4 "core" %\ \  X\  +2 "storage"(G. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(^(,y +50 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&c& +4 "core" &,{ g\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &    \ +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(N'r + "manipulator"&M( +6 "core" ( +2 "manipulator"&O& +4 "core" &    \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &   ! \ +2 .tForearm.seek PC +2 "manipulator"&U' +91 "core" ' +3 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%Y( +90 "core" ' + "storage"(K- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +39 "core" ' +316 ( + "storage"(R& +4 "core" &,i   \  +2 "manipulator"&B& +4 "core" & \ +2 "manipulator"&_% +4 "core" %  e +2 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&h( +240 "core" ( +2 "manipulator"& & +3 "core" &  X +2 "storage"(l& +4 "core" &,i\ \  V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' + .tHand.open +2 "manipulator"&W1 +54 "core" 1 +3 "storage"(A- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(`' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(i- +3 "core" -' +2 "storage"(v& +4 "core" &,i 4 - '\  +2 "manipulator"&o& +4 "core" &   ) X +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&q& +4 "core" &   1 X +41 "storage"([& +11 "core" &,i   \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +55 "core" ' + "manipulator"&\ & +4 "core" &   X +2 "storage"(n& +4 "core" &,i\ \  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&p'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(X' +19 "core" ' +2 "manipulator"&k% +3 "core" %E  (  +2 "storage"( & +4 "core" &,i\ \  e\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&y'q +13 "core" ' +2 "manipulator"&w& +5 "core" &  x X + "storage"(m& +4 "core" &,i\ \ \ /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +16 "core" ' +2 "storage"(% +3 "core" % \  7\ +3 ."downElevator"SE.seek :down +4 "storage"(]' +98 (f% +4 "core" %EQ \ 8\ Xg +2 "manipulator"&~% +4 "core" %   q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,i\ \ * v\  +2 "collection"'u& +4 "core" &\\\ /\ /\ Z +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&s% +3 "core" %   Z  +3 "storage"(r% +3 "core" % Q -\  +2 "storage"(. +3 "core" .(,y +2 "storage"(a& +4 "core" &,i Q \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(}(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +3 "core" &,z P l\ +2 "manipulator"&& +5 "core" &  ? W +2 .tElbow.seek 4 + "manipulator"&j( +3 "core" ( +3 "manipulator"&& +3 "core" &  ] W +2 "storage"()& +5 "core" &,z O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(& +3 "core" &,z Y ?\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&t& +3 "core" & W +2 "storage"(& +4 "core" &,l\ \  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&5'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('d +31 "core" ' +2 "manipulator"&J% +4 "core" %D  C M +2 "storage"("& +45 "core" &,l P\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&S'p +13 "core" ' +2 "manipulator"&-& +3 "core" & 9 W +2 "storage"(.& +4 "core" &,l P E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(2' +36 "core" ' +2 "manipulator"& & +4 "core" & Z W +2 "manipulator"&D% +3 "core" % } +3 .tForearm.reconfigure :loose +41 "manipulator"&#Q@2^d^b +15 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &ӎ   W 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &ӎ  ; 9) +2 .tForearm.seek CC +2 "manipulator"&@'? +99 "core" ' + .tHand.close +2 "manipulator"&$/ +53 "core" / +2 .tCC.seek :open +2 "collection"'#( +450 "core" ( +2 "storage"(,& +4 "core" &,l 9 W \  +2 "storage"(!& +3 "core" &,l 8 M R\  +2 "manipulator"&;& +4 "core" &Ӥ Q 6 +2 "manipulator"&%% +4 "core" % C   +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&/( +161 "core" ( +2 "manipulator"&7& +5 "core" &   +2 "storage"(& +3 "core" &,l ^ \\ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&''7 +100 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&81 +64 "core" 1 +2 "manipulator"&H% +4 "core" % B R  +3 "storage"(I& +3 "core" &,l ^ \\ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&:'n +15 "core" ' + "manipulator"&& +4 "core" &   ]  +2 "storage"(& +4 "core" &,l l i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +15 "core" ' + "storage"(9% +4 "core" % l k \ +3 ."downElevator"SE.seek :down +4 "storage"(F' +99 (3% +3 "core" %E 2 0\ Va +2 "manipulator"&0% +4 "core" %  O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'Z& +4 "core" &\ \ \ +2 "manipulator"&+% +4 "core" %   V  +2 "storage"(*% +4 "core" % K K h\  +2 "storage"(z. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(=(<- +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Q& +2 "core" &<* , $ >\  +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&b( +4 "core" ( + "manipulator"&d& +4 "core" &  M  +2 "storage"(G& +4 "core" &<) [ ^ g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&C'O +95 "core" ' + "storage"(& +4 "core" &<) k l \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'r +297 "core" ' + "storage"(O- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &<) 7 C u\  +2 "manipulator"&& +4 "core" &  c  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&6& +5 "core" &   W  +2 "storage"(K& +3 "core" &<) W W\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&T'Ϲ +39 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +103 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&(& +2 "storage"(N' +8 "core" &  p  +2 "manipulator"&R% +4 "core" % Ͽ  M +2 .tForearm.seek :retract +2 "manipulator"&B' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&U& +4 "core" &Ӊ  a * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +4 "core" &Ӊ  k * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'? +93 "core" ' +3 "manipulator"&M& +3 "core" &Ӊ   5 * +3 "manipulator"&W% +3 "core" %@ U N +3 "collection"'A& +3 "core" &\ \ \ +3 "collection"'i& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'v(\\ +3 "core" &\ \ \  +9 &5y\ \ \ *z +9 & h\ \ \ ? +10 &n\ \ \ L +9 &\\U\ \ \ K +10 &X\ \ \ K +9 &T\ \ \ K +9 &S\ \ \ K +10 &bW\ \ \ L +9 &$Y\ \ \ L +10 &W\ \ \ K +9 & S\ \ \ K +9 &"jW\ \ \ L +10 &$-V\ \ \ K +9 &%U\ \ \ K +9 &'Y\ \ \ K +10 &)rW\ \ \ L +9 &+5W\ \ \ K +9 &,Y\ \ \ K +10 &.W\ \ \ L +9 &0{W\ \ \ K +10 &2=T\ \ \ K +9 &3Y\ \ \ K +9 &5X\ \ \ L +10 &7W\ \ \ K +9 &9EU\ \ \ K +9 &;T\ \ \ K +10 &<Y\ \ \ K +9 &>Z\ \ \ K +10 &@LZ\ \ \ L +9 &B Z\ \ \ L +9 &C^\ \ \ L +10 &Ei\ \ \ M +9 &GKr\ "\ "\ O +9 &I\ 3\ +\ Q +10 &J\ C\ >\ V +9 &Ly\ C\ E\ W +10 &N8\ C\ D\ X +9 &O\ @\ B\ X +9 &Q\ ?\ @\ Y +10 &S|\ @\ >\ X +9 &U:\ ?\ >\ Z +9 &V\ <\ =\ [ +10 &X\ <\ =\ [\ +9 &Z|\ ;\ <\ [ +10 &\\{\ ;\ :\ / +9 &\\0\ :\ :\ c +9 ( +2 &\\r\ 7\ 9\ O + "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 12/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&o1 +54 "core" 1 +2 "manipulator"&q% +4 "core" % @  a N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%V& +4 "core" &'\ +2 "manipulator"&\ % +4 "core" %   Q  +2 "storage"(n% +4 "core" %\ !\ ) \  +2 "storage"(x. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(k(<- +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (|& +3 "core" &<* g\  +2 "manipulator"& & +3 "core" &Ӑ  ) ) +2 "manipulator"&w% +4 "core" %  f  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&m( +157 "core" ( + "manipulator"&& +4 "core" &  u  +2 "storage"(h& +4 "core" &<) / 1 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' +2 "storage"(`& +4 "core" &<) 2 9 (\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +298 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<)  \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&p& +4 "core" &  +2 "storage"(y& +5 "core" &<)\ #\ -\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(r' +8 "core" &  + "manipulator"&% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&X' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +3 "manipulator"&\\& +52 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 "manipulator"&)& +4 "core" & J +2 "manipulator"&g% +4 "core" % : S +2 "processing"%& +4 "core" &P\ +3 "processing"%]& +5 "core" &D\ +2 .tPC.seek :closed +2 "processing"%^(^ +5 "core" &J\ +7 & 0N\ $c +10 &SyG\ 6 +9 &~}K\ K +10 &YG\ N +9 &YYF\ O +9 &XG\ N +10 &\\P\ N +9 &YH\ O +9 &bVJ\ N +10 &#YH\ O +9 &WJ\ N +10 &!XI\ O +9 &#kXR\ N +9 &%,XK\ N +10 &&YM\ O +9 &(YQ\ N +9 &*qXF\ O +10 &,5YQ\ N +9 &-XQ\ N +10 &/YO\ N +9 &1z[I\ N +9 &3<XP\ N +10 &4XI\ N +9 &6ZG\ N +9 &8YE\ N +10 &:DXF\ N +9 &<WK\ O +10 &=YG\ N +9 &?WF\ N +9 &AKXH\ O +10 &C dH\ O +9 &DgE\ P +9 &FoD\ Q +10 &HGE\ S +9 &JE\ T +10 &KC\ U +9 &M>\ U +9 &OIC\ U +10 &Q\ E\ U +9 &RG\ U +9 &TE\ V +10 &VQE\ U +9 &XE\ U +10 &YQ\ V +9 &[C\ V +9 &]U9\ I +10 &^NF\ c +9 &^#:\ / +2 ( +2 "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&e1 +57 "core" 1 +2 "manipulator"& % +4 "core" %  \\ S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 "processing"%t& +3 "core" &^:\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    &  +2 "storage"({% +4 "core" %   \  +2 "storage"(J. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"("(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (-& +2 "manipulator"&.& +6 "core" &<)\ %\ W\  + &    +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'r +2 "manipulator"&D( +7 "core" ( + "manipulator"&& +5 "core" &  ' ^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &j& +2 "core" &   +3 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +3 .tHand.close + "manipulator"&5/ +59 "core" / +2 .tPC.seek :open +2 "processing"%S( +91 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +313 ( +2 "storage"(?& +4 "core" &<)   \  +2 "manipulator"&4& +3 "core" &  : +3 "manipulator"&% +3 "core" %  C d +3 .tForearm.seek :retract + "manipulator"&$' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +245 "core" ( + "manipulator"&1& +5 "core" &  Y c + "storage"(,& +4 "core" &<)\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +93 "core" ' + .tHand.open +2 "manipulator"&;1 +62 "core" 1 +3 "storage"(%- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +3 "core" -' +2 "storage"( & +3 "core" &<) 8 8\  +2 "manipulator"&8& +4 "core" &    b +2 .tElbow.seek 5 +41 "manipulator"&H( +12 "core" ( +2 "manipulator"&I& +4 "core" &    b +2 "storage"(& +4 "core" &<) ; 9 n\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +58 "core" ' +2 "manipulator"&& +4 "core" &  b +2 "storage"(3& +3 "core" &<) O *\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&0'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"('' +28 "core" ' +2 "manipulator"&Z% +3 "core" %Κ  D +2 "storage"(+& +4 "core" &<) L =\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&:' +13 "core" ' + "manipulator"&*& +4 "core" &  C +2 "storage"(z& +4 "core" &<) Q ^\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +13 "core" ' +2 "storage"(<% +3 "core" %\ #\ # ?\ +3 ."downElevator"SE.seek :down +5 "storage"(F' +99 (}% +5 "core" %Q\ \  f\ Xg +2 "manipulator"&Q% +3 "core" %a   = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (d& +3 "core" &<) ' +\  +2 "collection"'G& +4 "core" &\\r\ 2\ 0\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %  c  +3 "storage"(E% +3 "core" %\  U G\  +2 "storage"(&. +4 "core" .(<- + "storage"(O& +4 "core" &<) Z 9\  +2 "storage"(>& +4 "core" &<)\ (\  B\  +2 "manipulator"&& +4 "core" & 9 C +2 .tElbow.seek 5 +2 "manipulator"&6( +24 "core" ( + "manipulator"&K& +4 "core" &   +2 "storage"(P& +4 "core" &<) 7 % W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +93 "core" ' + "storage"(R& +5 "core" &<) 3 2\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +298 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +4 "core" &  +2 "storage"(c& +3 "core" &<) N 4\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"& '΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(M- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(W'u +29 "core" ' +2 "manipulator"&A% +4 "core" %Κ +2 "storage"(& +3 "core" &<) X \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&N' +14 "core" ' + "manipulator"&B& +4 "core" & L  +2 "storage"(#& +4 "core" &<)\ " <\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&o'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(q' +36 "core" ' + "manipulator"&V& +5 "core" & z  + "manipulator"&\ % +4 "core" %F  v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +40 "manipulator"&n' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +156 "core" ( +2 "manipulator"&i& +4 "core" &ӌ   ` :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +3 "core" &ӌ  :/ +2 .tForearm.seek CC +2 "manipulator"& '? +91 "core" ' +2 .tHand.close + "manipulator"&w/ +60 "core" / +2 .tCC.seek :open +2 "collection"'l( +447 "core" ( +2 "storage"(& +3 "core" &<) ' ; .\  +3 "storage"(h& +3 "core" &<) " !\  +2 "manipulator"&=& +4 "core" &Ӻ Z 4 +2 "manipulator"&`% +4 "core" % 7 {  +3 .tForearm.seek :retract + "manipulator"&_' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&[( +165 "core" ( + "manipulator"&~& +4 "core" &  d  +2 "storage"(& +4 "core" &<) V V\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +58 "core" 1 +2 "manipulator"&u% +4 "core" % Γ   M +2 "storage"(s& +4 "core" &<) \\ U 7\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&'Ͽ +14 "core" ' + "manipulator"&m& +5 "core" &   + "storage"(& +5 "core" &<) J H 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&f'O +35 "core" ' +2 "storage"(% +3 "core" % [ L D\ +3 ."downElevator"SE.seek :down +4 "storage"(\\' +99 (% +3 "core" %N / & {\ We +2 "manipulator"&% +4 "core" %U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +93 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'g& +4 "core" &\ \ \ +2 "manipulator"&% +4 "core" %   |  +2 "storage"(r% +4 "core" % K H \  +2 "storage"(X. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(Y(K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (e& +3 "core" &K A $ \ \ +2 "manipulator"& & +3 "core" &  `  +3 .tElbow.seek 6 + "manipulator"&t( +3 "core" ( +2 "manipulator"&& +4 "core" &   #  +2 "storage"({& +4 "core" &K S Q \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +97 "core" ' +2 "storage"(]& +3 "core" &K _ k \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'r +294 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" &K @ + .\ \ +2 "manipulator"&j& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&5& +3 "core" &   +2 "storage"(k& +4 "core" &K V V\ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +62 "core" / +49 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(^' +7 "core" &   +2 "manipulator"& % +4 "core" % d  ( +2 .tForearm.seek :retract +2 "manipulator"&?' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&& +5 "core" &ӂ H 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӂ  1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&1'? +100 "core" ' +3 "manipulator"&,& +3 "core" &ӂ   j 1 +2 "manipulator"&D% +4 "core" %A  +3 "collection"';& +3 "core" &\ \ \ +3 "collection"'%& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'@(\\ +4 "core" &\ \ \ +9 &;\ \ \ %g +9 &Z{\ \ \ 8 +10 & u\ \ \ K +9 &V\ \ \ K +9 &W\ \ \ K +10 &PT\ \ \ K +9 &W\ \ \ L +9 &W\ \ \ K +10 &W\ \ \ K +9 &XS\ \ \ K +10 & V\ \ \ K +9 &!W\ \ \ K +9 &#X\ \ \ K +10 &%^U\ \ \ L +9 &'"U\ \ \ K +9 &(V\ \ \ K +10 &*X\ \ \ K +9 &,hV\ \ \ K +10 &.)U\ \ \ K +9 &/W\ \ \ K +9 &1W\ \ \ K +10 &3nW\ \ \ L +9 &51W\ \ \ K +9 &6Y\ \ \ K +10 &8W\ \ \ L +9 &:wW\ \ \ K +10 &<9U\ \ \ K +9 &=\\\ \ \ L +9 &?X\ \ \ L +10 &A~Z\ \ \ L +9 &C@^\ \ \ L +9 &Dk\ \ \ M +10 &Fx\ (\ #\ O +9 &Hq\ :\ 4\ S +10 &J'\ K\ I\ W +9 &K\ L\ N\ X +9 &M\ J\ K\ Y +10 &Oi\ F\ I\ X +9 &Q+\ D\ D\ X +9 &R\ A\ C\ Z +10 &T\ @\ A\ Y +9 &Vh\ >\ ?\ [ +10 &X,\ >\ >\ [ +9 &Y\ <\ <\ \\ +9 &[\ 9\ :\ I +10 &\\4\ :\ 8\ + +9 &\\s\ 7\ 8\ P +2 ( +2 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"& 1 +56 "core" 1 + "manipulator"&8% +4 "core" % A     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%I& +3 "core" &S\ +2 "manipulator"&% +4 "core" %   l  +2 "storage"(% +4 "core" %\ \ %\  +2 "storage"(3. +3 "core" .(K +2 "storage"(& +3 "core" &K\  \ \ +2 "storage"(7& +4 "core" &K\ " G\ \ +2 "manipulator"&Z& +4 "core" &\  !q +2 "manipulator"&+% +4 "core" %  t  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&*( +149 "core" ( + "manipulator"&z& +5 "core" &  K  +2 "storage"(<& +3 "core" &K 0 , \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(!& +3 "core" &K 1 0\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(}- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Q& +3 "core" &K\ )\ u\ \ +2 "manipulator"&& +3 "core" & v  +3 .tElbow.seek 6 + "manipulator"&H( +4 "core" ( + "manipulator"&9& +4 "core" &    +2 "storage"(0& +4 "core" &K / / \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&:'h +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(' +8 "core" & A  +2 "manipulator"&E% +4 "core" % { # +2 .tForearm.seek :retract +2 "manipulator"&&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&O& +5 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +3 "core" & 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +3 "manipulator"&' +102 "core" ' +2 "manipulator"&K& +3 "core" & : +2 "manipulator"&P% +4 "core" % A  +3 "processing"%2& +3 "core" &E\ +3 "processing"%R& +5 "core" &W\ +2 .tPC.seek :closed +2 "processing"%F(^ +4 "core" &K\ +8 & .H\ #b +9 &U~N\ 7 +10 &}O\ L +9 &YH\ N +9 &_UN\ N +10 &!WP\ N +9 &ZF\ N +9 &WQ\ N +10 &fWO\ N +9 &)ZH\ N +10 &WF\ N +9 &!WG\ N +9 &#oXJ\ N +10 &%1WG\ N +9 &&YG\ N +9 &(XG\ N +10 &*wYP\ N +9 &,9YP\ N +10 &-WR\ N +9 &/YR\ N +9 &1XR\ N +10 &3AWQ\ N +9 &5WR\ N +9 &6XR\ N +10 &8WR\ N +9 &:HWF\ N +10 &<\ \\M\ N +9 &=ZI\ N +9 &?WN\ N +10 &AP]N\ N +9 &CaI\ O +9 &DdL\ P +10 &FpK\ Q +9 &HM}P\ R +10 &J P\ T +9 &KH\ T +9 &MJ\ T +10 &ONN\ T +9 &QF\ U +9 &RD\ U +10 &TM\ V +9 &VTI\ U +10 &XG\ V +9 &YI\ U +9 &[M\ U +10 &]ZF\ D +9 &^FvE\ [ +9 &^<G\ 3 +6 ( +2 "processing"%R& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&/1 +3 "core" &^"G\ 3 +51 1 + "manipulator"&L% +5 "core" %  `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +94 "core" ' +2 "processing"%U& +4 "core" &^"(\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&c% +4 "core" % \     +2 "storage"(M% +4 "core" % Q \  +2 "storage"(A. +3 "core" .(K +2 "storage"(& +3 "core" &K R 7\ \ +3 "storage"(B& +4 "manipulator"&#& +4 "core" &K Q I\ \ +2 &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&V( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(\ 'r +3 "core" ( +2 "manipulator"&(& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &6& +2 "core" &   +3 .tForearm.seek PC +2 "manipulator"&b' +91 "core" ' +2 .tHand.close + "manipulator"& / +55 "core" / +2 .tPC.seek :open +2 "processing"%N( +98 "core" ' +2 "storage"(W- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'1 +51 "core" ' +297 ( +2 "storage"(o& +5 "core" &K Q \ + "manipulator"&|& +4 "core" & +2 "manipulator"&T% +4 "core" %   F +2 .tForearm.seek :retract +2 "manipulator"&w' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&n( +244 "core" ( +2 "manipulator"&v& +4 "core" & j _ +2 "storage"(& +4 "core" &K \  v\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +96 "core" ' +2 .tHand.open + "manipulator"&=1 +55 "core" 1 +3 "storage"(`- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(x& +4 "core" &K X O H\ +2 "manipulator"&y& +4 "core" &   " _ +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&s& +4 "core" &   ` _ +2 "storage"(m& +4 "core" &K ^ [ J\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +51 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' + "manipulator"&_& +4 "core" & _ +2 "storage"(& +5 "core" &K X `\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +23 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&% +4 "core" %A  B +2 "storage"(g& +4 "core" &K R \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&'m +14 "core" ' + "manipulator"&r& +5 "core" &  R _ + "storage"(X& +5 "core" &K  & Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +16 "core" ' +2 "storage"(f% +4 "core" % W\  M\ +3 ."downElevator"SE.seek :down +3 "storage"(\\' +99 ("% +4 "core" %IQ\ \ \ Xh +2 "manipulator"&e% +4 "core" %  h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K H U\ +2 "collection"'{& +4 "core" &\\q\ /\ 0\ P +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&]% +3 "core" %  p  +3 "storage"(p% +3 "core" %\ "\ " U\  +2 "storage"(). +4 "core" .(K + "storage"(.& +4 "core" &K\ "\ " '\ +2 "storage"(& +4 "core" &K\ \ ' ,\ +2 "manipulator"&j& +4 "core" & _ +2 .tElbow.seek 6 +2 "manipulator"&5( +4 "core" ( + "manipulator"&k& +4 "core" &  | _ +2 "storage"(a& +4 "core" &K\ "\ " `\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"( & +4 "core" &K , " F\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'r +296 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  k _ +2 "storage"(& +4 "core" &K N *\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&-'< +16 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(,- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('o +29 "core" ' +2 "manipulator"&D% +4 "core" %J 5 L +2 "storage"(;& +3 "core" &K   V\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&^'v +14 "core" ' + "manipulator"&?& +4 "core" &  ^ +2 "storage"(l& +4 "core" &K\ !\ ( '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(8' +34 "core" ' +2 "manipulator"&I& +3 "core" & ^ +2 "manipulator"&% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&3(ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &Ӌ# <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &Ӌ# \  / <? +41 .tForearm.seek CC +10 "manipulator"&%'? +101 "core" ' + .tHand.close +2 "manipulator"&Z/ +64 "core" / +2 .tCC.seek :open +2 "collection"'+( +447 "core" ( + "storage"(1& +4 "core" &K W V\ +2 "storage"(z& +4 "core" &K W V\ +2 "manipulator"&<& +4 "core" & . +2 "manipulator"&!% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&4' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&$( +151 "core" ( +2 "manipulator"&}& +3 "core" &   X  +2 "storage"(Q& +5 "core" &K O I b\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&01 +63 "core" 1 +2 "manipulator"&d% +4 "core" % 1   j . +2 "storage"(G& +3 "core" &K N J \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 289 counts +2 "manipulator"&E'] +16 "core" ' +2 "manipulator"&*& +3 "core" &   V  +2 "storage"(& +4 "core" &K l k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(:% +3 "core" % k l \ +3 ."downElevator"SE.seek :down +4 "storage"(O' +98 (>% +3 "core" %L 1 2\ Wd +2 "manipulator"&H% +4 "core" %  s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +90 "core" ' +4 "Can"j\ FC +45 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'P& +3 "core" &\ \ \ +2 "manipulator"&2% +4 "core" %   -  +2 "storage"(% +5 "core" % a g N\  +2 "storage"(&. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(S(,y +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" &,| 0 4\ +2 "manipulator"&L& +4 "core" & h  +2 .tElbow.seek 4 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&c& +3 "core" &  G  +2 "storage"(M& +4 "core" &,| J I o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +91 "core" ' +2 "storage"(& +3 "core" &,| i a \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +297 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &,k = T P\  +2 "manipulator"&(& +4 "core" &  u  +2 .tElbow.seek 4 +2 "manipulator"&6( +4 "core" ( + "manipulator"&& +4 "core" &   &  +2 "storage"( & +4 "core" &,k W U\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&W'c +29 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& + "storage"(F' +8 "core" &  F  +2 "manipulator"&\ % +4 "core" % ϑ  +2 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' +2 .tElbow.seek CC +46 "manipulator"&|(ӂ +109 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +44 "core" ( +2 "manipulator"&T& +4 "core" &ӈ" :, +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +3 "core" &Ӊ! N :+ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'? +103 "core" ' +2 "manipulator"&& +4 "core" &ӌ  R 9( +2 "manipulator"&V% +5 "core" %4  +2 "collection"'=& +3 "core" &\ \ \ +3 "collection"'`& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"' (\\ +5 "core" &\ \ \  +9 &6~\ \ \ +{ +9 &h\ \ \ ? +10 &o\ \ \ L +9 &bV\ \ \ K +9 &$V\ \ \ K +10 &R\ \ \ K +9 &U\ \ \ K +9 &jU\ \ \ K +10 &-T\ \ \ K +9 &U\ \ \ K +10 & U\ \ \ K +9 &"sS\ \ \ K +9 &$5V\ \ \ K +10 &%V\ \ \ K +9 &'W\ \ \ K +9 &){U\ \ \ K +10 &+<U\ \ \ K +9 &,V\ \ \ L +10 &.U\ \ \ K +9 &0W\ \ \ K +9 &2EX\ \ \ K +10 &4V\ \ \ K +9 &5V\ \ \ K +9 &7W\ \ \ K +10 &9LU\ \ \ K +9 &;X\ \ \ K +10 &<W\ \ \ K +9 &>U\ \ \ K +9 &@TY\ \ \ K +10 &BZ\ \ \ K +9 &C]\ \ \ L +9 &Ej\ \ \ M +10 &GQr\ \ \ O +9 &I \ 2\ )\ R +10 &J\ D\ =\ V +9 &L}\ B\ D\ X +9 &N>\ A\ A\ X +10 &P\ A\ A\ X +9 &Q\ <\ >\ X +9 &S\ >\ <\ Y +10 &UB\ >\ <\ Z +9 &W\ ;\ <\ Z +10 &X\ :\ :\ [\ +9 &Z\ :\ <\ \\ +9 &\\)z\ 8\ ;\ / +10 &\\+\ 9\ 9\ [ +9 ( + &\\e\ 7\ 8\ N +2 "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&x1 +54 "core" 1 + "manipulator"&y% +5 "core" % 4  s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%m& +4 "core" &T\ +2 "manipulator"&w% +4 "core" %   W  +2 "storage"(_% +4 "core" %   \  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(i(,y +12 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &,{\ \  q\ +2 "manipulator"&~& +3 "core" &ӯ  i 5 +2 "manipulator"&g% +4 "core" %   ~  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&r( +160 "core" ( +2 "manipulator"&X& +4 "core" &   ^  +2 "storage"(f& +3 "core" &,{ , % |\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +93 "core" ' +2 "storage"(h& +3 "core" &,{ . 2\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +3 "core" &,l   %\  +2 "manipulator"&& +4 "core" & M  +2 .tElbow.seek 4 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +4 "core" & V  +2 "storage"(& +4 "core" &,l \\ r\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& +2 "storage"(]' +8 "core" &  +2 "manipulator"&p% +3 "core" % a  +3 .tForearm.seek :retract +2 "manipulator"&)' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&.& +3 "core" &  { E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & A E +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&j' +95 "core" ' +2 "manipulator"&k& +4 "core" &  E +2 "manipulator"&a% +51 "core" % i s +3 "processing"%q& +4 "core" &U\ +2 "processing"% & +6 "core" &9\ +2 .tPC.seek :closed +2 "processing"%\\(^ +5 "core" &X\ +7 &.W\ #b +9 &U}S\ 7 +10 &yL\ K +9 &TS\ N +9 &\\WQ\ N +10 &XF\ N +9 &YN\ N +9 &VH\ N +10 &eVE\ N +9 &'XE\ N +10 &ZF\ N +9 &!VJ\ N +9 &#mZL\ N +10 &%0VF\ M +9 &&YG\ N +9 &(UQ\ N +10 &*uWM\ N +9 &,7WH\ N +9 &-VP\ M +10 &/YJ\ N +9 &1}UR\ N +10 &3@WR\ M +9 &5WS\ N +9 &6ZS\ N +10 &8VM\ N +9 &:FWQ\ N +9 &<YN\ N +10 &=YR\ N +9 &?YQ\ N +10 &ANZO\ N +9 &C bO\ O +9 &DbS\ O +10 &FlL\ P +9 &HJP\ R +10 &JI\ T +9 &KR\ T +9 &MO\ T +10 &OKP\ T +9 &Q R\ U +9 &RN\ T +10 &TL\ U +9 &VRF\ U +9 &XG\ T +10 &YM\ U +9 &[O\ U +10 &]WO\ E +9 &^z@qI\ (u +9 &^#K\ + +6 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&[1 +4 "core" &^J\ + +59 1 +2 "manipulator"& % +3 "core" %   o s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +92 "core" ' +2 "processing"%& +4 "core" &^2\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %    B  +2 "storage"(,% +4 "core" %  \  +2 "storage"(D. +3 "core" .(,y +2 "storage"(;& +4 "core" &,l   \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(?(,y +29 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (l& +3 "core" &,|\ \ ( \ +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&I& +4 "storage"(#]kK-0-\ b +3 "core" &   " E +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"('r +5 "core" ( +3 "manipulator"&5& +3 "core" &   E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +3 "core" &   E +2 .tForearm.seek PC +2 "manipulator"&-' +93 "core" ' +2 .tHand.close +2 "manipulator"&^/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(7'1 +42 "core" ' +312 ( +2 "storage"( & +4 "core" &,j Z C\  +2 "manipulator"&& +4 "core" &  q E +2 "manipulator"&Z% +4 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&@( +244 "core" ( +2 "manipulator"&1& +4 "core" &  R E +2 "storage"(z& +4 "core" &,j Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +98 "core" ' +2 .tHand.open + "manipulator"&!1 +60 "core" 1 +2 "storage"(}- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(Q' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(%' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(3- +3 "core" -' +2 "storage"(0& +3 "core" &,j 8 8 =\  +3 "manipulator"&d& +3 "core" &   \ E +3 .tElbow.seek 4 + "manipulator"&G( +3 "core" ( +2 "manipulator"&*& +5 "core" &  N E + "storage"(& +4 "core" &,j * + P\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +3 "core" ' +48 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +50 "core" ' +2 "manipulator"&>& +3 "core" &  ~ E +3 "storage"(H& +3 "core" &,j Q !\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&$'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(P' +20 "core" ' +2 "manipulator"&2% +3 "core" %C t ! +2 "storage"(E& +4 "core" &,j M ,\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 312 counts +2 "manipulator"&'o +15 "core" ' +2 "manipulator"&&& +3 "core" & u D +2 "storage"(8& +4 "core" &,j V\ " X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(O% +3 "core" %\ " V n\ +3 ."downElevator"SE.seek :down +4 "storage"(Y' +98 (/% +4 "core" %CN\ \  \ Xf +2 "manipulator"&L% +4 "core" % | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +3 "core" &,j ` <\  +2 "collection"'& +4 "core" &\\f\ 1\ /\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&9% +3 "core" %  b  +2 "storage"(K% +4 "core" % / / \  +2 "storage"(B. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(R(,y +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +3 "core" &,{ L _\ +2 "manipulator"&& +5 "core" & p D +2 .tElbow.seek 4 + "manipulator"& ( +3 "core" ( +2 "manipulator"&'& +4 "core" &  n D +2 "storage"(C& +4 "core" &,{ + % \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +93 "core" ' +2 "storage"(U& +4 "core" &,{ 0 2\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +295 "core" ' + "storage"(#- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" & \ D +2 "storage"(W& +5 "core" &,l Q Q\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&b'7 +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(='e +30 "core" ' + "manipulator"&6% +5 "core" %8 w  + "storage"(F& +4 "core" &,l $\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&o'd +15 "core" ' +2 "manipulator"&+& +4 "core" & T D +2 "storage"(x& +4 "core" &,l\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +14 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(m' +41 "core" ' +2 "manipulator"&w& +3 "core" & u D +3 "manipulator"&_% +3 "core" % & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +172 "core" ( +4 "manipulator"&& +4 "core" &Ӗ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &Ӗ  5 +3 .tForearm.seek CC + "manipulator"&g'? +96 "core" ' + .tHand.close +2 "manipulator"&v/ +64 "core" / +2 .tCC.seek :open +2 "collection"'X( +447 "core" ( +2 "storage"(f& +3 "core" &,l U U\  +2 "storage"(S& +4 "core" &,l U U\  +2 "manipulator"&h& +5 "core" &ӭ   2 + "manipulator"&|% +4 "core" % 8  L  +3 .tForearm.seek :retract + "manipulator"&s' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&"( +166 "core" ( + "manipulator"&e& +5 "core" &     + "storage"(& +5 "core" &,l Q Q h\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&{% +3 "core" % D \  * 0 +2 "storage"(p& +4 "core" &,l H H M\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&r'p +14 "core" ' +2 "manipulator"&n& +3 "core" &     +2 "storage"(& +5 "core" &,l k a \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(.% +3 "core" % k ` \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (u% +3 "core" %I 0 ' =\ Vb +2 "manipulator"&k% +4 "core" %  ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'q& +3 "core" &\ \ \ +2 "manipulator"&]% +4 "core" %   +2 "storage"()% +5 "core" % k a \  +2 "storage"(N. +2 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"([(<- +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<* & - Q\  +2 "manipulator"&& +5 "core" & p  + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&,& +3 "core" &  ^  +2 "storage"(D& +4 "core" &<* H H %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +92 "core" ' + "storage"( & +4 "core" &<* l a \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'r +297 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (5& +3 "core" &<* I V 9\  +2 "manipulator"&t& +4 "core" &  /  +2 .tElbow.seek 5 +2 "manipulator"&j( +4 "core" ( + "manipulator"&^& +4 "core" &   3  +2 "storage"(i& +4 "core" &<* Y S d\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(\\' +8 "core" &   "  +2 "manipulator"&% +49 "core" %   K +4 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +106 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +44 "core" ( +2 "manipulator"&Z& +3 "core" &Ӂ' ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &-& +3 "core" &ӧ  t :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'? +99 "core" ' +2 "manipulator"&z& +5 "core" &Ө!  :/ + "manipulator"&% +4 "core" %H  P +3 "collection"'!& +3 "core" &\ \  \ +3 "collection"'}& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'3(\\ +4 "core" &\ \ \  +9 &6~\ \ \ *z +9 & i\ \ \ ? +10 &l\ \ \ L +9 &`S\ \ \ J +10 & V\ \ \ K +9 &S\ \ \ J +9 &W\ \ \ K +10 &hU\ \ \ J +9 &'W\ \ \ L +9 &S\ \ \ K +10 & U\ \ \ K +9 &"nU\ \ \ K +10 &$0U\ \ \ K +9 &%V\ \ \ K +9 &'U\ \ \ K +10 &)vU\ \ \ K +9 &+9U\ \ \ K +9 &,U\ \ \ K +10 &.U\ \ \ K +9 &0V\ \ \ K +10 &2AV\ \ \ K +9 &4V\ \ \ K +9 &5V\ \ \ K +10 &7U\ \ \ K +9 &9HV\ \ \ K +9 &;\ U\ \ \ K +10 &<T\ \ \ K +9 &>W\ \ \ K +10 &@OW\ \ \ L +9 &BX\ \ \ K +9 &C]\ \ \ L +10 &Eh\ \ \ M +9 &GOs\ !\ \ N +9 &I\ /\ )\ R +10 &J\ A\ >\ V +9 &L}\ D\ E\ V +10 &N=\ B\ B\ W +9 &O\ @\ @\ X +9 &Q\ >\ @\ W +10 &S\ >\ @\ Y +9 &UB\ >\ ?\ X +9 &W\ ;\ =\ Z +10 &X\ ;\ <\ [ +9 &Z\ <\ <\ Z +10 &\\#x\ :\ :\ . +9 &\\2\ ;\ ;\ b +9 ( +2 "collection"'}& +3 "core" &\\\\\ 8\ 8\ I +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&01 +56 "core" 1 +2 "manipulator"&d% +3 "core" % H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &C\ +2 "manipulator"&% +4 "core" %  g  +2 "storage"(>% +4 "core" % . / \  +2 "storage"(H. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(7(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &<* \  +2 "manipulator"&E& +4 "core" &ӵ _ 8" +2 "manipulator"&Q% +4 "core" %  |  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&&( +159 "core" ( +2 "manipulator"&8& +4 "core" &   +2 "storage"(O& +4 "core" &<* & / S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +91 "core" ' +2 "storage"(<& +3 "core" &<* U U\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(%'r +299 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &<* $ - !\  +2 "manipulator"&:& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&G( +4 "core" ( + "manipulator"&4& +4 "core" &  +  +2 "storage"($& +4 "core" &<* , . X\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(9' +8 "core" & Q  +2 "manipulator"&K% +4 "core" % ϶ k +2 .tForearm.seek :retract +2 "manipulator"&B' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&(& +4 "core" & f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek PC +4 "manipulator"&'' +92 "core" ' +2 "manipulator"&C& +4 "core" &  +2 "manipulator"&% +4 "core" % U +3 "processing"%U& +3 "core" &D\ +3 "processing"%Y& +5 "core" &U\ +2 .tPC.seek :closed +2 "processing"%?(^ +4 "core" &V\ +7 &=Y\ $f +10 &W}W\ 8 +9 &xT\ L +9 &TX\ N +10 &wWX\ N +9 &9YS\ N +9 &\\T\ N +10 &UQ\ N +9 &WR\ M +10 &AYW\ N +9 & ZO\ N +9 &!XI\ M +10 &#XH\ N +9 &%IYR\ N +9 &' [U\ N +10 &(VI\ N +9 &*XQ\ M +10 &,QYC\ N +9 &.YM\ N +9 &/[K\ N +10 &1YF\ N +9 &3Y[G\ N +9 &5ZF\ N +10 &6WD\ N +9 &8WD\ N +10 &:aWA\ N +9 &<$ZQ\ M +9 &=YR\ N +10 &?YR\ N +9 &Ah[Q\ N +9 &C&fG\ O +10 &DgM\ O +9 &FqP\ Q +10 &HbO\ S +9 &J"M\ S +9 &KO\ T +10 &MQ\ T +9 &OeG\ T +9 &Q%G\ U +10 &RO\ U +9 &TJ\ U +10 &VlJ\ U +9 &X.J\ U +9 &YM\ U +10 &[L\ U +9 &]rF\ B +9 &^:rH\ 's +10 &^%E\ . +5 ( +2 "processing"%Y& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&1 +4 "core" &^I\ . +56 1 +2 "manipulator"&c% +4 "core" % "  G U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +90 "core" ' +2 "processing"%T& +3 "core" &^L\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +4 "core" %      +2 "storage"(V% +4 "core" %\ \  V\  +2 "storage"(6. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(F(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "manipulator"&x& +5 "core" &<+\  \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(w'r +2 "manipulator"&_( +7 "core" ( + "manipulator"&\ & +4 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &   w +3 .tForearm.seek PC +2 "manipulator"&A' +96 "core" ' + .tHand.close +2 "manipulator"&b/ +56 "core" / +2 .tPC.seek :open +2 "processing"%o( +86 "core" ' +2 "storage"(=- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +313 ( +2 "storage"(~& +4 "core" &<) 0 / \  +2 "manipulator"&y& +4 "core" & +2 "manipulator"&% +4 "core" %  - +2 .tForearm.seek :retract +2 "manipulator"&v' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +247 "core" ( +2 "manipulator"& & +4 "core" & J +2 "storage"(f& +4 "core" &<) \ E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&S'O +111 "core" ' +2 .tHand.open + "manipulator"&h1 +56 "core" 1 +2 "storage"(|- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(e' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(g- +2 "core" -' +3 "storage"(`& +3 "core" &<) 5 7 e\  +2 "manipulator"&& +4 "core" &   " J +2 .tElbow.seek 5 +2 "manipulator"&{( +9 "core" ( + "manipulator"&p& +4 "core" &  5 ) +2 "storage"(n& +4 "core" &<) 5 - \  +48 .tForearm.seek 5 + 450 counts +4 "manipulator"&'O +8 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +59 "core" ' + "manipulator"&s& +5 "core" & ) + "storage"(u& +4 "core" &<)\ \ " L\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&k'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&q% +4 "core" %Ν m  +2 "storage"(]& +4 "core" &<)\ `\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 316 counts + "manipulator"&r' +14 "core" ' + "manipulator"&)& +4 "core" &  p ) +2 "storage"(N& +4 "core" &<) / / \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +15 "core" ' + "storage"(% +4 "core" % / 0\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (R% +3 "core" %fP\ \ \ Xh +2 "manipulator"& % +4 "core" %? j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (,& +3 "core" &<)\  k \  +2 "collection"'D& +4 "core" &\\]\ 1\ 0\ I +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +4 "core" %  {  +2 "storage"(% +4 "core" % 2 - 9\  +2 "storage"(a. +3 "core" .(<- +2 "storage"(I& +4 "core" &<) 1 2\  +2 "storage"(5& +3 "core" &<) $ + U\  +2 "manipulator"&t& +4 "core" & n ) +2 .tElbow.seek 5 +2 "manipulator"&^( +8 "core" ( +2 "manipulator"&i& +5 "core" & &  + "storage"(& +4 "core" &<) 1 2\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +91 "core" ' +2 "storage"(& +3 "core" &<) ( " .\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" &  +2 "storage"(Z& +4 "core" &<) ] Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&-'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +30 "core" ' + "manipulator"&!% +5 "core" %Ί + "storage"(j& +4 "core" &<) K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 297 counts + "manipulator"&\\'϶ +14 "core" ' + "manipulator"& & +4 "core" &   +2 "storage"(X& +4 "core" &<) / / \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +13 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(d' +36 "core" ' +2 "manipulator"&& +4 "core" & U  +2 "manipulator"&% +4 "core" %P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +154 "core" ( +2 "manipulator"&}& +48 "core" &Ӗ j 6 +5 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &Ӗ  6 +2 .tForearm.seek CC +2 "manipulator"&E'? +99 "core" ' +2 .tHand.close + "manipulator"&Q/ +59 "core" / +2 .tCC.seek :open +2 "collection"'1( +447 "core" ( +2 "storage"(8& +4 "core" &<) " ( o\  +2 "storage"(O& +4 "core" &<) . / j\  +2 "manipulator"&[& +4 "core" &ӧ  , 3 +2 "manipulator"&<% +4 "core" % 8  4 +2 .tForearm.seek :retract +2 "manipulator"&' +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&*( +159 "core" ( +2 "manipulator"&/& +4 "core" &   +2 "storage"(L& +4 "core" &<) W h )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&:'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&$1 +57 "core" 1 +2 "manipulator"&M% +4 "core" % Ί  : +2 "storage"(& +4 "core" &<) J T U\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 297 counts +2 "manipulator"&K'϶ +13 "core" ' +2 "manipulator"&&& +3 "core" &  _  +3 "storage"(@& +3 "core" &<) V N \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +29 "core" ' +2 "storage"(% +4 "core" % X g c\ +3 ."downElevator"SE.seek :down +4 "storage"((' +98 (% +3 "core" %N 2 0\ We +2 "manipulator"&G% +4 "core" %S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +92 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" &\ \ \ +2 "manipulator"&U% +4 "core" %    M  +2 "storage"(9% +4 "core" % k b ~\  +2 "storage"(B. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K ' % ;\  +2 "manipulator"&c& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&T( +4 "core" ( +2 "manipulator"&W& +3 "core" &  M  +2 "storage"(V& +4 "core" &K V M 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +90 "core" ' +2 "storage"(Y& +3 "core" &K l a \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(+'r +295 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +3 "core" &K R F Z\  +2 "manipulator"& & +4 "core" &   T  +2 .tElbow.seek 6 +2 "manipulator"&'( +4 "core" ( + "manipulator"&b& +4 "core" &     +2 "storage"(7& +4 "core" &K U V\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&='h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"(?' +6 "core" &  6  +2 "manipulator"&w% +4 "core" % b   T +47 .tForearm.seek :retract +4 "manipulator"&~' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +107 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +49 "core" ( +2 "manipulator"&& +3 "core" &Ӓ 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +3 "core" &Ӓ ] 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +92 "core" ' +3 "manipulator"&f& +3 "core" &ӓ   7 +3 "manipulator"&_% +3 "core" %4  P X +3 "collection"'h& +4 "core" &\ \ \ +3 "collection"'|& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'g(\\ +5 "core" &\ \ \ +7 &;\ \ \ %g +9 &[y\ \ \ 8 +10 & u\ \ \ K +9 &T\ \ \ K +9 &Y\ \ \ K +14 &PU\ \ \ K +5 &U\ \ \ K +11 &W\ \ \ K +8 &U\ \ \ K +9 &ZR\ \ \ J +10 & W\ \ \ K +9 &!W\ \ \ K +9 &#W\ \ \ K +10 &%`U\ \ \ K +9 &'"U\ \ \ K +9 &(U\ \ \ K +10 &*U\ \ \ K +9 &,iU\ \ \ K +9 &.+U\ \ \ K +10 &/U\ \ \ K +9 &1W\ \ \ K +10 &3qV\ \ \ K +9 &53V\ \ \ K +9 &6V\ \ \ K +10 &8V\ \ \ K +9 &:xV\ \ \ K +10 &<9X\ \ \ L +9 &=\\\ \ \ K +9 &?Z\ \ \ K +10 &A[\ \ \ K +9 &C@a\ \ \ L +9 &Dk\ \ \ M +10 &Ft\ $\ \ O +9 &Hs\ :\ 1\ S +10 &J+\ L\ I\ V +9 &K\ N\ L\ W +9 &M\ J\ M\ Y +10 &Ok\ H\ H\ X +9 &Q*\ G\ E\ Y +9 &R\ B\ C\ X +10 &T\ A\ @\ Z +9 &Vl\ @\ ?\ Z +9 &X-\ =\ ?\ [ +10 &Y\ =\ =\ [ +9 &[\ <\ :\ H +10 &\\/\ =\ :\ 2 +9 &\\q\ 7\ 8\ N +2 ( +2 "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&`1 +59 "core" 1 +2 "manipulator"&% +4 "core" % 5 O W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%v& +4 "core" &F\ +2 "manipulator"&n% +4 "core" %  {  +2 "storage"(s% +4 "core" % ` \  +2 "storage"(u. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +2 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +3 "core" &K\ \ R\  +2 "manipulator"&q& +4 "core" & u & +2 "manipulator"&]% +4 "core" %  W  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&)( +148 "core" ( +2 "manipulator"&N& +4 "core" & x  +2 "storage"(& +4 "core" &K 1 / @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(S& +4 "core" &K 0 2\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(R- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &K / 2 \  +2 "manipulator"&& +4 "core" & j  +2 .tElbow.seek 6 +2 "manipulator"&{( +4 "core" ( + "manipulator"&.& +4 "core" & +  +2 "storage"(k& +4 "core" &K / / u\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&,'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&r/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"( ' +7 "core" &  + "manipulator"&% +4 "core" % | +2 .tForearm.seek :retract +2 "manipulator"&a' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&I& +3 "core" & \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &5& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t' +148 "core" ' +2 "manipulator"&i& +3 "core" &  \ +3 "manipulator"&% +3 "core" % T ! +3 "processing"%m& +4 "core" &X\ +3 "processing"%& +5 "core" &K\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &Y\  +8 &2vd\ )w +10 &dV\ > +9 &qrW\ N +10 &2VZ\ N +9 &U[\ N +9 &S^\ N +10 &yV_\ N +9 &:TZ\ N +9 &WW\ N +10 &Ua\ N +9 & UZ\ N +10 &"CV[\ N +9 &$Z]\ N +9 &%UX\ M +10 &'WU\ N +9 &)KUJ\ N +9 &+ YP\ N +10 &,VR\ N +9 &.WX\ N +10 &0SUW\ N +9 &2UO\ N +9 &3TQ\ N +10 &5UU\ M +9 &7[WZ\ N +9 &9WW\ M +10 &:YK\ N +9 &<WJ\ N +10 &>aZP\ N +9 &@#YQ\ N +9 &A]S\ N +10 &CdG\ P +9 &EdfE\ P +9 &G#tH\ Q +10 &HH\ S +9 &JV\ T +10 &LaK\ T +9 &N"C\ T +9 &OQ\ T +10 &QL\ U +9 &SeQ\ U +9 &U'P\ U +10 &VQ\ U +9 &XV\ U +9 &ZmU\ U +10 &\\.T\ U +9 &]}uU\ < +10 &^*uT\ Q +9 &^#H\ 3 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&"1 +54 "core" 1 +2 "manipulator"&% +4 "core" %    O ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +98 "core" ' +2 "processing"%l& +3 "core" &^!6\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&Z% +4 "core" % #   % 5 +2 "storage"(z% +4 "core" % P \  +2 "storage"(!. +3 "core" .(K +2 "storage"(j& +3 "core" &K I "\  +3 "storage"( & +3 "manipulator"&X& +4 "core" &K Q \  +2 &   | \ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&J& +3 "core" &    \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &   O \ +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +5 .tHand.close + "manipulator"&-/ +60 "core" / +2 .tPC.seek :open +2 "processing"%\\( +94 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'1 +42 "core" ' +308 ( +2 "storage"(0& +4 "core" &K   \  +2 "manipulator"&2& +3 "core" & x \ +2 "manipulator"&% +4 "core" %   W V +2 .tForearm.seek :retract +2 "manipulator"&Q' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&>( +241 "core" ( +2 "manipulator"&3& +4 "core" & ` 9 +2 "storage"(8& +3 "core" &K  1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +98 "core" ' +2 .tHand.open + "manipulator"&[1 +55 "core" 1 +3 "storage"(<- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(L' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +2 "storage"(H& +4 "core" &K 8 : \  +2 "manipulator"&$& +4 "core" &   _ 9 +2 .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&& +4 "core" &   P 9 +2 "storage"(&& +4 "core" &K 8 7 \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +105 "core" ' + "manipulator"&& +4 "core" & 9 9 +2 "storage"(& +56 "core" &K  Y 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&G'< +14 "core" ' + .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +28 "core" ' +2 "manipulator"&K% +4 "core" %H 1 +2 "storage"(& +4 "core" &K   U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&U't +15 "core" ' +2 "manipulator"&9& +3 "core" &  _ 9 +3 "storage"(B& +3 "core" &K\ \  @\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +16 "core" ' + "storage"(%% +4 "core" %\ #\ ( 3\ +3 ."downElevator"SE.seek :down +4 "storage"((' +98 (F% +4 "core" %KP\ \ ^\ Xh +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &K ' \  +2 "collection"'V& +5 "core" &\\n\ 0\ /\ N + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&Y% +4 "core" %   +2 "storage"(4% +4 "core" % 0 / \  +2 "storage"(C. +3 "core" .(K +2 "storage"(x& +4 "core" &K / / ^\  +2 "storage"(\ & +4 "core" &K + # 8\  +2 "manipulator"& & +3 "core" & 9 +3 .tElbow.seek 6 + "manipulator"&b( +4 "core" ( +2 "manipulator"&7& +3 "core" & V 9 +2 "storage"(P& +5 "core" &K + # b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +94 "core" ' +2 "storage"(w& +4 "core" &K / / !\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +298 "core" ' +2 "storage"(6- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&+& +3 "core" & ^ 9 +2 "storage"(& +4 "core" &K , # #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&A'< +19 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(_'n +31 "core" ' + "manipulator"&h% +4 "core" %5 ~  +2 "storage"('& +4 "core" &K\ (\ ! n\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 293 counts + "manipulator"&?'a +16 "core" ' + "manipulator"&~& +4 "core" &  8 +2 "storage"(1& +4 "core" &K , " E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&`' +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&v& +4 "core" & 8 +2 "manipulator"&n% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u(ӂ +153 "core" ( + "manipulator"&|& +4 "core" &ә 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &ә  8 3 +2 .tForearm.seek CC +2 "manipulator"&q'? +98 "core" ' +9 .tHand.close + "manipulator"&]/ +63 "core" / +2 .tCC.seek :open +2 "collection"' ( +447 "core" ( +2 "storage"(N& +4 "core" &K V V\  +2 "storage"(& +4 "core" &K V U\  +2 "manipulator"&S& +4 "core" &  ' +2 "manipulator"&% +3 "core" %   f +3 .tForearm.seek :retract +2 "manipulator"&y' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&p( +151 "core" ( +2 "manipulator"&R& +3 "core" &   Z  +2 "storage"( & +4 "core" &K H G ,\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +61 "core" 1 +2 "manipulator"&r% +4 "core" % 4   I  +2 "storage"(D& +4 "core" &K M I (\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 292 counts + "manipulator"&'` +15 "core" ' +2 "manipulator"&)& +3 "core" &   +3 "storage"(& +3 "core" &K [ N .\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"(,% +4 "core" % a k f\ +3 ."downElevator"SE.seek :down +4 "storage"(I' +98 (5% +3 "core" %I ! + \ Wb +2 "manipulator"&{% +5 "core" % w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" &\ \ \ +2 "manipulator"&m% +4 "core" %     +2 "storage"( % +4 "core" % k k \  +2 "storage"(a. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(o(,y +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" &,{ # & i\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&l( +4 "core" ( +2 "manipulator"&Z& +3 "core" &  5  +2 "storage"(z& +4 "core" &,{ H I s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +99 "core" ' +2 "storage"(j& +4 "core" &,{ a ^ j\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &,k ( A 9\ +2 "manipulator"&J& +4 "core" &   B  +2 .tElbow.seek 4 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&t& +3 "core" &    +2 "storage"(-& +4 "core" &,k U V\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&;& +2 "storage"(' +8 "core" &   E  + "manipulator"&% +4 "core" % f   Q +3 .tForearm.seek :retract + "manipulator"&0' +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2(ӂ +144 "core" ' +46 ."downElevator"SE.stop +4 "storage"(5 +2 "core" ( + "manipulator"&& +6 "core" &}!  :+ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &}!  w :+ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&3'? +104 "core" ' +2 "manipulator"&8& +4 "core" &ӑ  b 7 +2 "manipulator"&% +4 "core" %:  U +2 "collection"'[& +4 "core" &\ \ \ +3 "collection"'<& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'E(\\ +6 "core" &\ \ \ +6 &;\ \  \ $f +9 &Z|\ \ \ 7 +10 &w\ \ \ K +9 &T\ \  \ K +10 &Y\ \ \ K +9 &IU\ \ \ K +9 & W\ \ \ K +10 &W\ \ \ K +9 &U\ \ \ K +10 &QU\ \ \ K +9 & U\ \  \ K +9 &!T\ \  \ K +10 &#U\ \ \ K +9 &%YT\ \ \ K +9 &'T\ \ \ K +10 &(U\ \ \ K +9 &*T\ \ \ J +9 &,aU\ \ \ K +10 &.$U\ \ \ K +9 &/U\ \ \ K +10 &1U\ \ \ K +9 &3iS\ \  \ K +9 &5+U\ \ \ K +10 &6R\ \ \ J +9 &8U\ \ \ K +9 &:rS\ \ \ K +10 &<4V\ \ \ K +9 &=V\ \ \ K +10 &?W\ \ \ K +9 &AyX\ \ \ K +9 &C:]\ \  \ L +10 &Df\ \ \ M +9 &Fj\ \ \ N +10 &Hp\ (\ %\ Q +9 &J(\ <\ 5\ U +9 &K\ A\ B\ W +10 &M\ @\ A\ W +9 &Oc\ @\ A \ X +9 &Q$\ <\ >\ Y +10 &R\ >\ <\ X +9 &T\ ;\ >\ Z +9 &Ve\ ;\ <\ Z +10 &X#\ <\ <\ \\ +9 &Y\ 9\ 8\ \\ +10 &[\ :\ ;\ H +9 &\\2\ ;\ 7 \ 2 +9 &\\r\ 8\ 9\ M +3 ( + "collection"'<& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&H1 +59 "core" 1 +2 "manipulator"&$% +4 "core" % :    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%&& +3 "core" &d\ +2 "manipulator"&Q% +4 "core" %   ]  +2 "storage"(% +5 "core" %\ (\ O\  + "storage"(}. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" &,} R ^\ +2 "manipulator"&K& +4 "core" &Ӭ 3 +2 "manipulator"&% +4 "core" %   k  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&>( +163 "core" ( + "manipulator"&9& +5 "core" &  x  + "storage"(B& +4 "core" &,} / / \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +96 "core" ' + "storage"(L& +4 "core" &,} " !\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +300 "core" ' +2 "storage"(F- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,l P \ +2 "manipulator"&@& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&& +4 "core" & O  +2 "storage"(G& +3 "core" &,l\ "\ " U\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&W'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(Y' +8 "core" &  +2 "manipulator"&4% +3 "core" % Z ` +3 .tForearm.seek :retract +2 "manipulator"&C' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&x& +3 "core" & R = +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +2 "core" & X = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' +2 "manipulator"&7& +4 "core" &  = +2 "manipulator"&P% +3 "core" % O x +3 "processing"%d& +48 "core" &j\ +6 "processing"%w& +5 "core" &R\ +2 .tPC.seek :closed +2 "processing"%((^ +5 "core" &l\  +8 &3zd\ *x +9 &ac\ = +9 &nub\ N +10 &0Vb\ N +9 &U`\ N +10 &S_\ M +9 &vWh\ N +9 &8Yh\ N +10 &Yb\ N +9 &Yg\ N +9 & ~Zf\ N +10 &"AYh\ M +9 &$Wh\ M +10 &%Sh\ N +9 &'Yi\ N +9 &)HTj\ N +10 &+\ Tj\ N +9 &,Zi\ N +9 &.Wb\ M +10 &0QWh\ M +9 &2Ui\ M +10 &3Va\ M +9 &5T^\ N +9 &7XT\\\ N +10 &9Wa\ N +9 &:Wj\ N +9 &<W[\ N +10 &>_Y[\ N +9 &@"YX\ N +10 &A\\h\ N +9 &Cg`\ O +9 &Ebj[\ P +10 &G"oa\ P +9 &HZ\ R +9 &Jd\ T +10 &L_Y\ S +9 &NX\ T +10 &OZ\ T +9 &QZ\ U +9 &ScZ\ U +10 &U#[\ U +9 &Va\ U +9 &Xc\ T +10 &ZkY\ U +9 &\\+^\ U +10 &]}]\ 6 +9 &^/{Z\ O +9 &^\\\ 0 +3 ( +2 "processing"%w& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&*1 +55 "core" 1 + "manipulator"&c% +4 "core" %   X x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +92 "core" ' +2 "processing"%+& +3 "core" &^@\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %      +2 "storage"(f% +5 "core" % M \ + "storage"(h. +3 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"('(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +4 "core" &,}\ \  \ +3 "manipulator"&1& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   = +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(v'r + "manipulator"&n( +7 "core" ( + "manipulator"&#& +4 "core" &   = +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +4 "core" &  = +2 .tForearm.seek PC +2 "manipulator"&T' +95 "core" ' +2 .tHand.close + "manipulator"&A/ +53 "core" / +2 .tPC.seek :open +2 "processing"%?( +96 "core" ' + "storage"(_- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'1 +45 "core" ' +303 ( +2 "storage"(e& +4 "core" &,i / /\  +2 "manipulator"&`& +4 "core" & c = +2 "manipulator"&=% +4 "core" %  m 5 +2 .tForearm.seek :retract +2 "manipulator"&]' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&s( +245 "core" ( + "manipulator"&g& +5 "core" & X A + "storage"(N& +4 "core" &,i / / \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&S1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(u& +4 "core" &,i 7 6 \\\  +2 "manipulator"&k& +4 "core" &    @ +2 .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&D& +4 "core" &   B @ +2 "storage"()& +4 "core" &,i 8 8 5\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(,'" +50 "core" ' +48 "manipulator"&y& +5 "core" & G @ +2 "storage"(5& +3 "core" &,i W #\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&{'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&% +4 "core" %J N +2 "storage"(& +4 "core" &,i   n\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&m'v +14 "core" ' + "manipulator"& & +4 "core" & @ +2 "storage"(a& +4 "core" &,i ] \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(% +4 "core" % " 1\ +3 ."downElevator"SE.seek :down +4 "storage"(I' +98 (% +4 "core" %HQ\ \  \ Xh +2 "manipulator"&"% +4 "core" %   " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (Z& +3 "core" &,i\  k \  +2 "collection"'z& +4 "core" &\\m\ 0\ 1\ M +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&j% +5 "core" %  }  + "storage"(.% +4 "core" % + / \  +2 "storage"(i. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +3 "core" &,|\ \  &\ +2 "manipulator"&J& +4 "core" & q @ +2 .tElbow.seek 4 +2 "manipulator"&t( +4 "core" ( + "manipulator"&-& +4 "core" & b @ +2 "storage"(& +4 "core" &,| & . \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +92 "core" ' + "storage"(& +4 "core" &,| 2 2\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +298 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & { @ +2 "storage"(& +4 "core" &,l M p\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(8'd +29 "core" ' +2 "manipulator"&% +3 "core" %B $ +2 "storage"([& +4 "core" &,l D P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&'n +16 "core" ' + "manipulator"&0& +4 "core" &   @ +2 "storage"( & +4 "core" &,l M ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"($' +41 "core" ' + "manipulator"&&& +4 "core" & @ +2 "manipulator"&Q% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&}(ӂ +151 "core" ( +2 "manipulator"&<& +4 "core" &ә  j 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &/& +3 "core" &ә 0 4 +41 .tForearm.seek CC +9 "manipulator"&K'? +97 "core" ' +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'3( +447 "core" ( + "storage"(9& +4 "core" &,l U U\  +2 "storage"(B& +4 "core" &,l U U\  +2 "manipulator"&o& +4 "core" &Ӡ  3 +2 "manipulator"&L% +4 "core" % C Y  +3 .tForearm.seek :retract + "manipulator"&2' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&F& +3 "core" &  <  +3 "storage"(& +3 "core" &,l K U \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&@'7 +100 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&G1 +63 "core" 1 +3 "manipulator"&U% +3 "core" % 4  ! +2 "storage"(V& +4 "core" &,l b _ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 297 counts +2 "manipulator"&4'` +13 "core" ' +2 "manipulator"&>& +3 "core" &   a  +2 "storage"(O& +4 "core" &,l _ k n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +23 "core" ' +2 "storage"(W% +3 "core" % l a C\ +3 ."downElevator"SE.seek :down +4 "storage"(x' +98 (\ % +4 "core" %I 3 7 5\ Va +2 "manipulator"&M% +4 "core" %  ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'P& +3 "core" &\ \  \ +2 "manipulator"&d% +4 "core" %   %  +2 "storage"(Y% +4 "core" % a k Y\  +2 "storage"(C. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(\\(<- +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &<- / 2\  +2 "manipulator"&c& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&& +4 "core" &  H  +2 "storage"(f& +3 "core" &<- Y H D\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +94 "core" ' +2 "storage"(w& +3 "core" &<- ^ ^ \\\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +300 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &<- U Q \  +2 "manipulator"&b& +4 "core" & S  +2 .tElbow.seek 5 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&A& +4 "core" &     +2 "storage"(& +3 "core" &<- b k K\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&_'Ϲ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& +3 "storage"((' +5 "core" &   \\  +3 "manipulator"&v% +4 "core" %   V +2 .tForearm.seek :retract +2 "manipulator"&e' +89 "core" ' +46 .tElbow.seek CC +4 "manipulator"&`(ӂ +109 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +48 "core" ( + "manipulator"&=& +4 "core" &ӎ  ] 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +4 "core" &ӎ  + 9% +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'? +97 "core" ' +2 "manipulator"&N& +4 "core" &ӏ  9$ +2 "manipulator"&n% +4 "core" %3 V k +2 "collection"'S& +4 "core" &\ \ \ \ +3 "collection"'& +5 "core" &\ \ !\ +2 .tCC.seek :closed +2 "collection"'q(\\ +5 "core" &\ \ \ +7 &;\ \ \ %g +9 &[y\ \ \ 8 +10 & t\ \ \ K +9 &R\ \ \ L +10 &T\ \ \ K +9 &QU\ \ \ \ K +9 &U\ \ \ K +10 &U\ \ \ K +9 &T\ \ \ K +9 &[T\ \ \ J +10 & T\ \ \ K +9 &!T\ \ \ K +10 &#U\ \ \ K +9 &%aS\ \ \ K +9 &'%Q\ \ \ J +10 &(U\ \ \ K +9 &*T\ \ \ K +9 &,iS\ \ \ K +10 &.+U\ \ \ K +9 &/U\ \ \ K +10 &1V\ \ \ K +9 &3rU\ \  \ K +9 &53Y\ \ \ K +10 &6U\ \ \ K +9 &8U\ \ \ K +9 &:yU\ \ \ K +10 &<;U\ \ \ K +9 &=V\ \ \ K +10 &?W\ \ \ K +9 &AZ\ \ \ K +9 &CC]\ \ \ K +10 &Ee\ \ \ M +9 &Fk\ \ \ N +9 &Hz\ (\ "\ P +10 &J0\ >\ 5\ U +9 &K\ D\ C\ V +10 &M\ @\ A\ W +9 &Ol\ @\ @\ X +9 &Q,\ ?\ ?\ Y +10 &R\ >\ ?\ Y +9 &T\ >\ <\ Y +9 &Vn\ =\ ?\ Z +10 &X-\ <\ ;\ [\ +9 &Y\ <\ ;\ \\ +10 &[\ ;\ <\ I +9 &\\1\ :\ <\ - +9 &\\e\ 9\ 9\ M +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&u1 +56 "core" 1 +3 "manipulator"&k% +4 "core" % 3 E k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%)& +4 "core" &e\ +2 "manipulator"&]% +4 "core" %    +2 "storage"(y% +3 "core" % # * @\  +2 "storage"(5. +4 "core" .(<- + "storage"(|& +5 "core" &<- % ! ]\  +2 "storage"(R& +3 "core" &<- / % w\  +2 "manipulator"&& +5 "core" &ӭ o 5 + "manipulator"&% +5 "core" %  n  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +161 "core" ( +2 "manipulator"&a& +3 "core" &  +2 "storage"(& +4 "core" &<- 0 / x\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +92 "core" ' + "storage"(& +4 "core" &<- U ; \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +308 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +3 "core" &<-\ \  W\  +2 "manipulator"&& +4 "core" & ~  +2 .tElbow.seek 5 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&,& +4 "core" &   +2 "storage"({& +4 "core" &<- / . \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Z'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&m/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& +2 "storage"(j' +6 "core" &  +3 "manipulator"&.% +4 "core" % ϸ +2 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&X& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-' +102 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&% +4 "core" %  +2 "processing"%& +5 "core" &j\ +2 "processing"%I& +53 "core" &d\ +3 .tPC.seek :closed + "processing"%'(^ +4 "core" &f\ +8 &6f\ #b +9 &V}e\ 6 +9 &~}c\ K +10 &Wd\ N +9 &`Wf\ N +9 &#Xa\ M +10 &Ya\ N +9 &Wi\ M +10 &hUk\ N +9 &*Zd\ N +9 &Tj\ N +10 &!Ui\ M +9 &#qVk\ M +9 &%3Ug\ M +10 &&Wk\ M +9 &(Wk\ N +10 &*xUk\ N +9 &,;Xh\ M +9 &-Uh\ M +10 &/Wj\ N +9 &1Zj\ N +9 &3BYi\ N +10 &5Xd\ N +9 &6Zc\ N +10 &8Uj\ N +9 &:KVe\ M +9 &< Yg\ N +10 &=Xh\ N +9 &?X_\ N +9 &AQZc\ N +10 &Ccj\ O +9 &Deb\ O +10 &Fpi\ Q +9 &HK~g\ S +9 &J\ h\ T +10 &K^\ S +9 &M\\\ T +9 &ONX\ T +10 &Q Z\ U +9 &RY\ U +10 &TY\ V +9 &VT`\ U +9 &X[\ V +10 &YX\ U +9 &[X\ U +9 &][W\ B +10 &^R\\\ I +9 &^EQ\ = +3 ( + "processing"%I& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&p1 +55 "core" 1 + "manipulator"&% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +88 "core" ' +2 "processing"%& +3 "core" &^BF\ = +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %      +2 "storage"(^% +3 "core" % Q \  +2 "storage"(. +4 "core" .(<- + "storage"([& +4 "core" &<- P\  +3 "storage"(0& +2 "manipulator"& & +7 "core" &<- Q [\  + &   +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(Q'r +3 "core" ( +2 "manipulator"&;& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &    +3 .tForearm.seek PC + "manipulator"&l' +96 "core" ' +2 .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open + "processing"%( +96 "core" ' +2 "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'1 +50 "core" ' +302 ( +2 "storage"(/& +3 "core" &<-\ " V Z\  +2 "manipulator"&H& +4 "core" & s  +2 "manipulator"&% +4 "core" %  8 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +241 "core" ( + "manipulator"&E& +4 "core" & F +2 "storage"(9& +4 "core" &<- Z  4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +94 "core" ' +2 .tHand.open + "manipulator"&o1 +54 "core" 1 +2 "storage"(L- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +3 "core" -' +2 "storage"(}& +4 "core" &<-   \  +2 "manipulator"&G& +4 "core" &   @ E +2 .tElbow.seek 5 +2 "manipulator"&U( +2 "core" ( +2 "manipulator"&V& +4 "core" &   E +2 "storage"(>& +3 "core" &<- + * W\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(W'" +52 "core" ' + "manipulator"&2& +4 "core" & n E +2 "storage"(\ & +4 "core" &<- ? =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +48 .tForearm.seek 5 +3 "manipulator"&M'΍ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(@' +18 "core" ' +2 "manipulator"&4% +4 "core" %Β   +2 "storage"(P& +4 "core" &<- N\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 305 counts +2 "manipulator"&d'Ͼ +13 "core" ' + "manipulator"&Y& +5 "core" & % + "storage"(C& +5 "core" &<- . % m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +16 "core" ' +2 "storage"(%% +3 "core" % / / \ +3 ."downElevator"SE.seek :down +4 "storage"(x' +98 ( % +4 "core" %RO\ \  m\ Wf +2 "manipulator"&*% +4 "core" %8 a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<- ` I\  +2 "collection"'f& +4 "core" &\\b\ 2\ 0\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&w% +3 "core" %   +2 "storage"(% +4 "core" % . % \  +2 "storage"(7. +4 "core" .(<- + "storage"(1& +5 "core" &<- / . m\  + "storage"(#& +4 "core" &<- 0 2\  +2 "manipulator"&b& +4 "core" & y $ +2 .tElbow.seek 5 +2 "manipulator"&A( +20 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(:& +4 "core" &<- 2 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +93 "core" ' +2 "storage"(v& +4 "core" &<- 7 E T\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +298 "core" ' +2 "storage"(h- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" & \\  +3 "storage"(=& +3 "core" &<- 2 2 \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&_'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(n'u +30 "core" ' + "manipulator"&S% +4 "core" %Η _ +2 "storage"( & +4 "core" &<-   \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 310 counts + "manipulator"&(' +14 "core" ' +2 "manipulator"&e& +4 "core" &  Y  +2 "storage"(3& +4 "core" &<- 0 . \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&u'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(k' +47 "core" ' + "manipulator"&)& +4 "core" & _  +2 "manipulator"&]% +4 "core" %> ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +160 "core" ( +2 "manipulator"&|& +3 "core" &Ӑ  7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &Ӑ   W 7 +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(g& +4 "core" &<- U U\  +46 "storage"(a& +6 "core" &<- U U\  +2 "manipulator"&& +4 "core" &ө  f 3 +2 "manipulator"&% +4 "core" % M + +2 .tForearm.seek :retract +2 "manipulator"&`' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&D( +160 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"("& +4 "core" &<- X V\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&{1 +53 "core" 1 +2 "manipulator"&m% +4 "core" % Έ m H +2 "storage"(z& +4 "core" &<- H G %\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 295 counts + "manipulator"&.'ϴ +14 "core" ' +2 "manipulator"& & +3 "core" &   a  +2 "storage"(s& +5 "core" &<- k a \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +23 "core" ' + "storage"(Z% +4 "core" % ^ ^ U\ +3 ."downElevator"SE.seek :down +4 "storage"(X' +98 (J% +3 "core" %F ' ; n\ Wb +2 "manipulator"&r% +4 "core" %T " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &\ \ \ +2 "manipulator"&% +4 "core" %   p  +2 "storage"(j% +4 "core" % ^ a \  +2 "storage"(i. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(?(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" &K H S \ +2 "manipulator"&& +3 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(^& +4 "core" &K a k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +91 "core" ' + "storage"([& +4 "core" &K l k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +4 "core" &K H V o\ +2 "manipulator"&;& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&t( +4 "core" ( + "manipulator"&-& +4 "core" &   +2 "storage"(& +4 "core" &K X U ~\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&8'h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"('' +7 "core" & }  + "manipulator"&Q% +4 "core" % w  +2 .tForearm.seek :retract +2 "manipulator"&/' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +155 "core" ( +3 "manipulator"&& +3 "core" ' + &Ӕ 6 +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &l& +4 "core" &Ӕ p 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek CC +4 "manipulator"&E'? +100 "core" ' +3 "manipulator"&9& +3 "core" &Ӕ 6 +3 "manipulator"&&% +3 "core" %? |  +3 "collection"'o& +3 "core" &\ \ %\ +3 "collection"'L& +5 "core" &\ \ \ $\ +3 .tCC.seek :closed + "collection"'K(\\ +4 "core" &\ \  \ +9 &<\ \  \ $f +9 &Xx\ \ \ 7 +9 &w\ \  \ K +10 &S\ \ \ K +9 &U\ \ !\ K +10 &CU\ \ \ K +9 &U\ \ \ K +9 &U\ \ \ K +10 &T\ \ \ K +9 &KT\ \ \ K +9 & T\ \ \ K +10 &!U\ \ \ K +9 &#T\ \ \ K +10 &%RT\ \ \ K +9 &'U\ \ \ K +9 &(U\ \ \ K +10 &*T\ \ \ K +9 &,[T\ \ \ \ K +9 &.U\ \ \ K +10 &/U\ \ \ K +9 &1U\ \ \ K +10 &3bS\ \ \ K +9 &5%R\ \  \ K +9 &6U\ \ \ K +10 &8T\ \ \ K +9 &:kU\ \ (\ K +9 &<,W\ \ %\ K +10 &=Y\ \  \ L +9 &?X\ \ \ L +10 &AqX\ \ \ L +9 &C2_\ \ \ L +9 &Dg\ \ \ M +10 &Fr\ &\ \ O +9 &Hf\ :\ 2\ R +9 &J\ K\ G \ V +10 &K\ L\ L\ X +9 &M\ K\ J\ X +10 &O^\ H\ G\ X +9 &Q\ D\ F\ X +9 &R\ B\ C \ Y +10 &T\ @\ B\ Y +9 &V`\ >\ >\ Z +9 &X\ <\ =\ [ +10 &Y\ <\ =\ \\ +9 &[\ :\ ;\ H +10 &\\;\ :\ <\ *~ +9 &\\c\ 7\ 9"\ N +2 ( +2 "collection"'L& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&}1 +62 "core" 1 +2 "manipulator"&G% +5 "core" % ?   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%>& +5 "core" &Y\ + "manipulator"&% +4 "core" %  1  +2 "storage"(2% +4 "core" % / . \  +2 "storage"(\ . +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(<(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" &K \ !\  +2 "manipulator"&F& +4 "core" &  % +2 "manipulator"&P% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&Y( +148 "core" ( + "manipulator"&C& +4 "core" &  J  +2 "storage"(%& +5 "core" &K / 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(B& +4 "core" &K , & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (*& +3 "core" &K " , ,\  +2 "manipulator"&O& +4 "core" &  6  +2 .tElbow.seek 6 +2 "manipulator"&U( +2 "core" ( +2 "manipulator"&W& +4 "core" &   +2 "storage"(M& +4 "core" &K 3 2\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&d'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(w' +8 "core" & |  +2 "manipulator"&% +4 "core" % q d +2 .tForearm.seek :retract +2 "manipulator"&7' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&1& +4 "core" & @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &#& +3 "core" & S @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&b' +99 "core" ' +2 "manipulator"&& +4 "core" &  @ +2 "manipulator"&:% +5 "core" % " +2 "processing"%$& +3 "core" &x\ +3 "processing"%v& +5 "core" &Z\ +2 .tPC.seek :closed +2 "processing"%x(^ +4 "core" &q\  +9 &1vs\ )w +9 &cl\ > +9 &fth\ N +10 &'Wj\ N +9 &Wb\ N +51 &Yi\ N +4 &mZm\ N +2 &0Wk\ N + &Ug\ N + &Wh\ N + & uUc\ N +6 &"8Wg\ N +9 &#Wg\ M +9 &%Vf\ M +10 &'~Wc\ N +9 &)@Ug\ N +10 &+Wk\ M +9 &,Xb\ N +9 &.Tb\ N +10 &0IWg\ M +9 &2\ Wh\ N +9 &3Yg\ N +10 &5Yh\ N +9 &7PTd\ N +10 &9Xg\ N +9 &:\\i\ N +9 &<W`\ N +10 &>XZ`\ N +9 &@Yc\ N +10 &A]g\ N +9 &Ced\ P +9 &EYjc\ P +10 &Gsb\ Q +9 &Hi\ T +9 &J`\ T +10 &LVh\ T +9 &Ng\ T +9 &Oa\ T +10 &Qb\ U +9 &S[c\ U +10 &Ud\ U +9 &V`\ U +9 &X_\ U +10 &Zcb\ U +9 &\\$c\ U +9 &]a\ 4 +10 &^*dg\ \\ +9 &^#c\ 1 +3 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&c% +3 "core" %   D " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +2 "processing"%~& +4 "core" &^"E\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&=% +3 "core" %     +2 "storage"(N% +4 "core" %   \  +2 "storage"(S. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +4 "core" &K\ \  +3 "manipulator"&3& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   @ +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"()'r +2 "manipulator"&]( +6 "core" ( + "manipulator"&6& +4 "core" &   ; @ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +3 "core" &   @ +2 .tForearm.seek PC +2 "manipulator"&+' +90 "core" ' +2 .tHand.close + "manipulator"&_/ +56 "core" / +3 .tPC.seek :open +2 "processing"%(( +93 "core" ' +2 "storage"(n- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'1 +41 "core" ' +309 ( +2 "storage"(R& +3 "core" &K 5 f\  +2 "manipulator"&u& +4 "core" & y @ +2 "manipulator"&T% +4 "core" %  { l +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&y( +243 "core" ( +2 "manipulator"&q& +3 "core" &  Z 9 +2 "storage"(g& +4 "core" &K Q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +93 "core" ' +2 .tHand.open + "manipulator"&1 +56 "core" 1 +3 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"("' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(5& +4 "core" &K N O K\  +2 "manipulator"&{& +4 "core" &   % 9 +2 .tElbow.seek 6 +2 "manipulator"&m( +4 "core" ( +2 "manipulator"&z& +3 "core" &  9 +2 "storage"( & +4 "core" &K 6 3 j\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&s' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Z'" +58 "core" ' +2 "manipulator"&`& +3 "core" & p 9 +2 "storage"(J& +4 "core" &K\ \ ! R\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&r'< +19 "core" ' +48 .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&% +5 "core" %2 T  + "storage"(.& +4 "core" &K\ \ ! "\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 290 counts +2 "manipulator"&'^ +14 "core" ' +2 "manipulator"&j& +4 "core" & K 8 +2 "storage"(i& +3 "core" &K , % f\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&k' +15 "core" ' +2 "storage"( % +4 "core" % 3 0\ +3 ."downElevator"SE.seek :down +4 "storage"(X' +98 (\\% +3 "core" %\\Q\ \ \ b\ Xh +2 "manipulator"&p% +4 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K ` D\  +2 "collection"'^& +5 "core" &\\e\ 0\ 2"\ N + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&[% +4 "core" %  F  +2 "storage"(,% +3 "core" % 1 2\  +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" &K\ \ <\  +2 "manipulator"&;& +4 "core" & v 8 +2 .tElbow.seek 6 +2 "manipulator"&-( +4 "core" ( + "manipulator"&& +4 "core" & @ 8 +2 "storage"(& +4 "core" &K 2 0\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +97 "core" ' +2 "storage"(Q& +3 "core" &K 2 2\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & 8 +2 "storage"(l& +3 "core" &K  O\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&0'< +13 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(t- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(9'p +29 "core" ' + "manipulator"&&% +4 "core" %9 C +2 "storage"(o& +3 "core" &K D \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 297 counts +2 "manipulator"&''e +14 "core" ' + "manipulator"&/& +4 "core" &  8 +2 "storage"(& +4 "core" &K ` Y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +27 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(G' +36 "core" ' +2 "manipulator"&>& +4 "core" & V 8 +2 "manipulator"&% +4 "core" % 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&\ (ӂ +151 "core" ( +2 "manipulator"&L& +4 "core" &ӏ  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &ӏ U 7 +2 .tForearm.seek CC +3 "manipulator"&F'? +98 "core" ' +2 .tHand.close + "manipulator"&P/ +55 "core" / +2 .tCC.seek :open +2 "collection"'E( +447 "core" ( +41 "storage"(C& +10 "core" &K X S \  +2 "storage"(%& +4 "core" &K T W o\  +2 "manipulator"&?& +4 "core" & g * +2 "manipulator"&B% +4 "core" %  ~ +2 .tForearm.seek :retract +2 "manipulator"&H' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&V( +143 "core" ( + "manipulator"& & +4 "core" &  g +2 "storage"(*& +4 "core" &K b k }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&O'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +55 "core" 1 +3 "manipulator"&% +5 "core" % 5 \ 3 + + "storage"(f& +4 "core" &K k a \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 293 counts +2 "manipulator"&'a +14 "core" ' +2 "manipulator"&Y& +4 "core" & o +2 "storage"(& +3 "core" &K X b a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(d% +4 "core" % b l \ +3 ."downElevator"SE.seek :down +3 "storage"(1' +99 (#% +3 "core" %F 0 % =\ Wb +2 "manipulator"&U% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"':& +3 "core" &\ \ \ +2 "manipulator"&$% +5 "core" %   + "storage"(w% +4 "core" % n k \  +2 "storage"(7. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &,{ J S =\ +2 "manipulator"&c& +4 "core" &  l +2 .tElbow.seek 4 +2 "manipulator"&~( +4 "core" ( +2 "manipulator"&=& +3 "core" &   ^ +2 "storage"(N& +4 "core" &,{ j Y t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +95 "core" ' +2 "storage"(v& +3 "core" &,{ b k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +296 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" &,k P U 4\ +2 "manipulator"&A& +4 "core" &  U +2 .tElbow.seek 4 +2 "manipulator"&b( +4 "core" ( + "manipulator"&_& +4 "core" & | +2 "storage"(<& +3 "core" &,k T Q >\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&n'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&@/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(x' +8 "core" &  t +2 "manipulator"&)% +3 "core" % a +3 .tForearm.seek :retract +2 "manipulator"&R' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&T& +3 "core" &Ӑ  E 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &Ӑ ] 6 +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&q'? +92 "core" ' +2 "manipulator"&g& +4 "core" &ӑ 6 +2 "manipulator"&]% +4 "core" %C p +3 "collection"'& +3 "core" &\ \ 4\ +3 "collection"'& +5 "core" &\ \ 5\ +3 .tCC.seek :closed + "collection"'(\\ +6 "core" &\ \ /\ +6 &;\ \ 5\ %f +10 &Z{\ \ -\ 7 +9 &v\ \ )\ K +9 &R\ \ 5\ K +10 &U\ \ (\ K +9 &EU\ \ .\ K +9 &T\ \ 4\ K +10 &T\ \ 6\ K +9 &T\ \ /\ K +10 &NT\ \ &\ K +9 & T\ \ .\ K +9 &!W\ \ +\ K +10 &#U\ \ 3\ K +9 &%UU\ \ 5\ K +9 &'T\ \ /\ K +10 &(T\ \ !\ K +9 &*T\ \ /\ K +10 &,]W\ \  \ K +9 &.T\ \ #\ K +9 &/T\ \ #\ K +10 &1U\ \ (\ K +9 &3fT\ \ &\ K +9 &5(T\ \ /\ K +10 &6U\ \ '\ K +9 &8U\ \  \ J +10 &:mU\ \ $\ K +9 &<0S\ \ %\ K +9 &=V\ \  \ K +10 &?W\ \ \ K +9 &AvY\ \ $\ K +9 &C5Z\ \ $\ L +10 &Dc\ \ %\ M +9 &Fk\ \  \ N +10 &Hm\ )\ $$\ Q +9 &J%\ <\ 6 \ T +9 &K\ A\ C\ W +10 &M\ A\ A$\ X +9 &O`\ >\ @#\ X +9 &Q \ >\ >$\ Y +10 &R\ >\ <$\ X +9 &T\ <\ ;&\ Z +10 &Vd\ ;\ <\ Y +9 &X$\ <\ ;$\ Z +9 &Y\ <\ 9#\ [\ +10 &[\ ;\ ='\ H +9 &\\/\ 7\ :&\ 8 +9 &\\h\ 9\ 8&\ J +6 ( +2 "collection"'& +4 "core" &\\]\ 7\ 7!\ J +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&51 +53 "core" 1 +3 "manipulator"&{% +3 "core" % C  _ p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"% & +3 "core" &]\ +2 "manipulator"&% +4 "core" %   +2 "storage"(`% +4 "core" % / / R\  +2 "storage"(J. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(|(,y +14 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &,~ M V\ +2 "manipulator"&& +3 "core" &ӯ 2 +2 "manipulator"&.% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&j( +163 "core" ( + "manipulator"&i& +4 "core" & V  +2 "storage"(y& +4 "core" &,~ # ' $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +91 "core" ' +2 "storage"(a& +4 "core" &,~ U V\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +295 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +3 "core" &,l M \  +2 "manipulator"&p& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&m( +4 "core" ( + "manipulator"&Z& +4 "core" &  J  +2 "storage"(r& +4 "core" &,l\ !\  %\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"([' +8 "core" &  + "manipulator"&,% +4 "core" % a = +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +68 "core" ( +2 "manipulator"&I& +3 "core" & v [ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +2 "core" & g [ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' + "manipulator"&& +4 "core" & Q [ +2 "manipulator"&k% +5 "core" % Z { +2 "processing"%Q& +3 "core" &w\ +3 "processing"%X& +6 "core" &o\ +2 .tPC.seek :closed +2 "processing"% (^ +3 "core" &g\ +54 &5r\ #b +3 &U}s\ 6 + &~{s\ K + &Wn\ N + &]Ul\ N + & Sm\ M +4 &Wm\ N +10 &Yl\ N +9 &eXn\ N +9 &'Zs\ N +10 &Yh\ M +9 &!Um\ M +9 &#nVj\ M +10 &%/Ve\ N +9 &&Xl\ N +10 &(Ve\ M +9 &*uVc\ N +9 &,6Y^\ N +10 &-U\\\ M +9 &/We\ M +9 &1~Vf\ M +10 &3?T`\ N +9 &5Sh\ M +10 &6Wh\ N +9 &8Zd\ N +9 &:GY^\ N +10 &<\ Y\\\ M +9 &=Yd\ N +9 &?Wh\ M +10 &ANZi\ N +9 &C ba\ O +10 &Dc^\ P +9 &Fkg\ P +9 &HKyj\ R +10 &Jd\ T +9 &Ke\ T +9 &Mg\ U +10 &OKg\ T +9 &Q c\ U +10 &Rc\ V +9 &T`\ V +9 &VR]\ U +10 &Xc\ U +9 &Yh\ V +9 &[i\ U +10 &]Wi\ F +9 &^zAzb\ #h +10 &^6^\ 3 +5 ( +2 "processing"%X& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&D1 +3 "core" &^%[\ 3 +54 1 +2 "manipulator"&% +4 "core" %    V { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%& +4 "core" &^%L\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&l% +4 "core" %     +2 "storage"(t% +3 "core" % L 8\  +2 "storage"(&. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(o(,y +39 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (/& +4 "core" &,t \  \ + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &   [ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(>'r + "manipulator"&( +7 "core" ( +2 "manipulator"&!& +3 "core" &   [ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &   [ +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close +2 "manipulator"&0/ +57 "core" / +2 .tPC.seek :open +2 "processing"%'( +88 "core" ' +2 "storage"(9- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +52 "core" ' +304 ( +2 "storage"(4& +3 "core" &,j . -\ +2 "manipulator"&}& +4 "core" & [ [ +2 "manipulator"&8% +4 "core" %  y & +2 .tForearm.seek :retract +2 "manipulator"&P' +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&2( +245 "core" ( +2 "manipulator"&K& +3 "core" &  E +2 "storage"(C& +4 "core" &,j\ \ ' \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +92 "core" ' + .tHand.open +2 "manipulator"&?1 +54 "core" 1 +2 "storage"(B- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(*' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(F- +3 "core" -' +2 "storage"(\ & +3 "core" &,j 9 8 0\ +2 "manipulator"&M& +4 "core" &    E +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&f& +4 "core" &  E +2 "storage"(Y& +4 "core" &,j 4 7\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(d'" +58 "core" ' +2 "manipulator"&H& +3 "core" &  @ E +3 "storage"(#& +3 "core" &,j ? !\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek 4 +4 "manipulator"&U'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +27 "core" ' +2 "manipulator"&:% +3 "core" %E [  +2 "storage"($& +4 "core" &,j\ (\  I\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&'q +15 "core" ' +2 "manipulator"&w& +4 "core" &  W E +2 "storage"(7& +3 "core" &,j . . 4\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +16 "core" ' +2 "storage"(% +4 "core" % . / \ +3 ."downElevator"SE.seek :down +4 "storage"(1' +98 ( % +3 "core" %JL\ \  \ Wf +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (=& +3 "core" &,j X ' t\ +2 "collection"'N& +4 "core" &\\]\ /\ 0'\ J +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&v% +3 "core" %  q  +2 "storage"(W% +4 "core" % / / \  +2 "storage"(. +3 "core" .(,t +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(3(,y +35 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &,} - & >\ +2 "manipulator"&A& +4 "core" & w E +2 .tElbow.seek 4 +2 "manipulator"&_( +4 "core" ( + "manipulator"&<& +5 "core" & T E + "storage"(@& +4 "core" &,} ! + (\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +92 "core" ' + "storage"()& +4 "core" &,} ! & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +298 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" & Y E +2 "storage"(+& +4 "core" &,l   \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&e'7 +22 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(g'e +33 "core" ' +2 "manipulator"&]% +3 "core" %F +2 "storage"(& +4 "core" &,l\ '\ ! #\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 315 counts + "manipulator"&x'r +14 "core" ' +2 "manipulator"&R& +4 "core" & j D +2 "storage"(E& +4 "core" &,l / / \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +14 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"({' +36 "core" ' +2 "manipulator"& & +4 "core" & [ D +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &ӓ  6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &ӓ b 6 +3 .tForearm.seek CC + "manipulator"&'? +104 "core" ' + .tHand.close +2 "manipulator"&./ +64 "core" / +41 .tCC.seek :open +9 "collection"'q( +448 "core" ( + "storage"(i& +4 "core" &,l E : \ \ +2 "storage"(y& +4 "core" &,l % @ Y\ \ +2 "manipulator"&& +4 "core" &ӯ  f 3 +2 "manipulator"&a% +4 "core" % 7 n +2 .tForearm.seek :retract +2 "manipulator"&u' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&z( +119 "Can"S\ C@ +44 "core" ( +2 "manipulator"&\\& +3 "core" &   +2 "storage"(s& +4 "core" &,l T ]\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&p'7 +98 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&r1 +60 "core" 1 +2 "manipulator"&% +4 "core" % B   ) +2 "storage"(^& +4 "core" &,l L H \ \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&,'n +15 "core" ' +2 "manipulator"&j& +3 "core" &   %  +3 "storage"( & +3 "core" &,l l a \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +15 "core" ' +2 "storage"(% +4 "core" % j a |\ +2 ."downElevator"SE.seek :down +5 "storage"(I' +99 (;% +3 "core" %F ; ' O\ V` +2 "manipulator"&m% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'k& +3 "core" &\ \ 5\ +2 "manipulator"&Q% +4 "core" %  f  +2 "storage"([% +5 "core" % ] a }\  + "storage"(. +4 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(((<- +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (D& +3 "core" &<+ 0 * 0\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&l& +4 "core" & &  +2 "storage"(t& +4 "core" &<* K J j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&&'O +92 "core" ' + "storage"(X& +4 "core" &<* j a \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (!& +3 "core" &<* K U ,\  +2 "manipulator"&-& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&0& +4 "core" & ?  +2 "storage"(|& +3 "core" &<* V R s\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&9'Ϲ +37 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( ' +7 "core" & Y  +2 "manipulator"&>% +4 "core" %   V +2 .tForearm.seek :retract +2 "manipulator"&4' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&8& +5 "core" &|" b ;6 +48 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &|" ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'? +102 "core" ' +2 "manipulator"&C& +3 "core" &~" ;4 +3 "manipulator"&% +3 "core" %;  +3 "collection"'?& +3 "core" &\ \ \ E\ +3 "collection"'B& +5 "core" &\ \ ;\ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" &\ \ ;\ +8 &A\ \ \ 6\ $f +9 &Xy\ \ ;\ 7 +10 &x\ \ 6\ K +9 &R\ \ 4\ K +9 &U\ \ 4\ K +10 &KU\ \ 9\ K +9 & U\ \ 4\ K +9 &U\ \ 3\ K +10 &U\ \ 3\ K +9 &TU\ \ 4\ K +10 & T\ \ 5\ K +9 &!T\ \ 4\ K +10 &#U\ \ 5\ K +9 &%]T\ \ 5\ J +9 &'U\ \ 2\ K +10 &(U\ \ 5\ K +9 &*T\ \ 0\ K +9 &,cU\ \ 4\ K +10 &.&T\ \ .\ K +9 &/T\ \ 4\ K +9 &1U\ \ 2\ K +10 &3lT\ \ 3\ K +9 &5.U\ \ )\ K +9 &6U\ \ 1\ K +10 &8U\ \ %\ K +9 &:sU\ \ 0\ K +10 &<5V\ \ 5\ K +9 &=R\ \ '\ K +9 &?W\ \ +\ K +10 &A{Y\ \ &\ K +9 &C<\\\ \ 0\ L +10 &Dc\ \ &\ L +9 &Fm\ \ &\ N +9 &Hs\ '\ "+\ Q +10 &J(\ =\ 6%\ U +9 &K\ B\ C$\ W +9 &M\ C\ C#\ X +10 &Od\ A\ ?$\ Y +9 &Q(\ @\ ?$\ X +10 &R\ >\ A#\ Y +9 &T\ <\ >#\ Z +9 &Vg\ =\ <$\ Z +10 &X(\ =\ :&\ [ +9 &Y\ <\ =$\ \\ +9 &[\ <\ <#\ H +10 &\\/\ :\ ;\ 2 +9 &\\k\ ;\ 9#\ O +2 ( +2 "collection"'B& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&\ 1 +62 "core" 1 +3 "manipulator"&M% +3 "core" % ;  y  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%Y& +4 "core" &^\ +2 "manipulator"&P% +3 "core" %  d  +2 "storage"(H% +4 "core" %\ \ ! =\  +2 "storage"(#. +4 "core" .(<- + "storage"(L& +4 "core" &<*\ "\  Y\  +2 "storage"( & +4 "core" &<*\ "\  Y\  +2 "manipulator"&:& +4 "core" &Ӯ ^ 4 +2 "manipulator"&$% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&w( +159 "core" ( +2 "manipulator"&7& +3 "core" &   +2 "storage"(2& +4 "core" &<* . . \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(%& +3 "core" &<* Q 8 #\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +297 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* J \  +2 "manipulator"&& +4 "core" & O  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&d& +4 "core" &    +2 "storage"(U& +4 "core" &<* " + o\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"(v' +8 "core" & Y  +2 "manipulator"&W% +4 "core" % Ϸ V +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&6& +5 "core" &  6 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +3 "core" & z 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&<' +103 "core" ' +2 "manipulator"&@& +3 "core" & s 0 +2 "manipulator"&G% +4 "core" %   +2 "processing"%)& +4 "core" &}\ +3 "processing"%1& +5 "core" &e\ +2 .tPC.seek :closed +2 "processing"%o(^ +4 "core" &x\  +9 &1v{\ )w +9 &a~n\ = +10 &krt\ N +9 &-Vx\ N +57 &Tw\ N +6 &T~\ M + &tUo\ M +2 &5Vt\ N + &Yr\ N + &Wz\ N + & {Z}\ N +6 &"=Yz\ N +10 &#Yo\ N +9 &%Wx\ M +9 &'Vs\ M +10 &)FVp\ M +9 &+Wj\ M +9 &,Wq\ M +10 &.Xh\ N +9 &0MYj\ N +10 &2Vh\ N +9 &3Sj\ M +9 &5Th\ M +10 &7VUh\ M +9 &9[k\ N +9 &:Vi\ N +10 &<Wk\ M +9 &>]Yj\ N +10 &@Vi\ N +9 &A]`\ N +9 &Cdk\ O +10 &E_li\ P +9 &Gsj\ Q +9 &Hh\ S +10 &Ji\ T +9 &L[f\ T +10 &Ns\ T +9 &Oj\ T +9 &Q`\ U +10 &Sai\ T +9 &U i\ U +9 &Vh\ U +10 &Xh\ T +9 &Zhh\ U +10 &\\'i\ V +9 &]}ug\ < +9 &^)ni\ V +10 &^ g\ 1 +2 ( +2 "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&V1 +55 "core" 1 +2 "manipulator"&c% +4 "core" %   i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S' +88 "core" ' +2 "processing"%T& +4 "core" &^!R\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&+% +4 "core" %     +2 "storage"(b% +4 "core" %   \  +2 "storage"(]. +3 "core" .(<- +2 "storage"(& +3 "core" &<*   T\  +3 "storage"(R& +4 "manipulator"&E& +4 "core" &<*   \  +2 &  0 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"( 'r + "manipulator"&( +6 "core" ( +2 "manipulator"&h& +4 "core" &   W 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &   n 0 +3 .tForearm.seek PC + "manipulator"&~' +91 "core" ' + .tHand.close +2 "manipulator"&e/ +59 "core" / +3 .tPC.seek :open +2 "processing"%x( +93 "core" ' +2 "storage"(g- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +312 ( +2 "storage"(& +3 "core" &<*\ " E\  +2 "manipulator"&5& +4 "core" & j 0 +2 "manipulator"&n% +4 "core" %  { ` +2 .tForearm.seek :retract +2 "manipulator"&.' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&`( +246 "core" ( +2 "manipulator"&& +4 "core" &  J M +2 "storage"(i& +3 "core" &<*   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +93 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(a- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(\\' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(s' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(J& +4 "core" &<* 8 8\  +2 "manipulator"&r& +3 "core" &  { M +3 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&^& +4 "core" &   M +2 "storage"(j& +4 "core" &<*  0 v\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +59 "core" ' + "manipulator"&u& +4 "core" &  # M +2 "storage"(;& +4 "core" &<* C ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&m'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +48 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(p' +27 "core" ' +2 "manipulator"&k% +3 "core" %Ό R q +3 "storage"(Q& +4 "core" &<* Z M\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 299 counts +2 "manipulator"&,'ϸ +13 "core" ' +2 "manipulator"&[& +4 "core" & * +2 "storage"(& +4 "core" &<* , - W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +19 "core" ' +2 "storage"("% +3 "core" % , 1 b\ +3 ."downElevator"SE.seek :down +4 "storage"(I' +98 (3% +3 "core" %O\ \ \ \ Xg +2 "manipulator"&D% +4 "core" %9 r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (l& +3 "core" &<* 5  \  +2 "collection"'t& +4 "core" &\\e\ 0\ 2!\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&X% +3 "core" %  z \ +3 "storage"(Z% +3 "core" % / / \  +3 "storage"(. +2 "core" .(<- +2 "storage"(& +4 "core" &<* $ . m\  +2 "storage"(!& +4 "core" &<* " $ \  +2 "manipulator"&-& +4 "core" & } * +2 .tElbow.seek 5 +2 "manipulator"&0( +23 "core" ( +2 "manipulator"&|& +4 "core" & ~  +2 "storage"(& +4 "core" &<* 2 /\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' + "storage"(>& +4 "core" &<* U U\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" &  +2 "storage"(/& +4 "core" &<* 0 2 a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&9'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(C'u +27 "core" ' + "manipulator"&% +4 "core" %Λ N +2 "storage"(?& +4 "core" &<* Y  8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"& ' +16 "core" ' + "manipulator"&4& +4 "core" & l  +2 "storage"(q& +5 "core" &<* " "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(M' +42 "core" ' +2 "manipulator"&Y& +3 "core" &  +2 "manipulator"&P% +4 "core" %L $ +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +161 "core" ( +2 "manipulator"&B& +4 "core" &ӎ  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &ӎ 2 +3 .tForearm.seek CC + "manipulator"& '? +105 "core" ' + .tHand.close +2 "manipulator"&:/ +62 "core" / +2 .tCC.seek :open +2 "collection"'$( +450 "core" ( +2 "storage"(K& +4 "core" &<* U T \\\  +2 "storage"(7& +3 "core" &<* K R Q\  +2 "manipulator"&2& +4 "core" &Ӥ  0 / +2 "manipulator"&%% +3 "core" % ( - +3 .tForearm.seek :retract +2 "manipulator"&}' +140 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&f( +161 "core" ( +2 "manipulator"& & +3 "core" &  /  +2 "storage"(& +4 "core" &<* n o \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +101 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&U1 +59 "core" 1 +2 "manipulator"&=% +4 "core" % Ύ  +2 "storage"(N& +4 "core" &<* Y L 6\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 301 counts + "manipulator"&W'Ϻ +14 "core" ' +2 "manipulator"&w& +3 "core" &  7  +2 "storage"(& +4 "core" &<* b j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +13 "core" ' +2 "storage"(% +5 "core" % l l [\ +2 ."downElevator"SE.seek :down +4 "storage"(6' +99 (A% +3 "core" %L ; 1 c\ Vb +2 "manipulator"&% +4 "core" %P Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +88 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'G& +4 "core" &\ \ 6\ +2 "manipulator"&)% +5 "core" %   v  + "storage"(v% +5 "core" % k b \  + "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"('(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" &K U T\ \ +2 "manipulator"&c& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&+& +4 "core" &  Y  +2 "storage"(b& +4 "core" &K p b \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +96 "core" ' +2 "storage"(& +4 "core" &K c i \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +296 "core" ' +2 "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (1& +3 "core" &K U U\ +2 "manipulator"&h& +4 "core" &  0  +2 .tElbow.seek 6 +2 "manipulator"&_( +4 "core" ( +2 "manipulator"&<& +3 "core" &    +2 "storage"(e& +4 "core" &K X X V\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&g'h +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(o' +8 "core" &  g  +2 "manipulator"& % +4 "core" % p  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&n& +5 "core" &ӎ 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +4 "core" &ӎ ' 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +2 "manipulator"&i& +3 "core" &ӎ  d 7 +3 "manipulator"&% +3 "core" %2  7 % +3 "collection"'& +50 "core" &\ \ C\ +3 "collection"'a& +5 "core" &\ \ ?\ +3 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ 5\ +6 &<\ \ 5\ %f +9 &Z{\ \ 6\ 7 +9 &w\ \ .\ K +10 &T\ \ 1\ K +9 &Y\ \ 4\ K +10 &GT\ \ 7\ K +9 &\ T\ \ 4\ K +9 &R\ \ 1\ K +10 &T\ \ 0\ K +9 &PU\ \ 3\ K +9 & T\ \ 1\ K +10 &!T\ \ 1\ J +9 &#V\ \ .\ K +9 &%WT\ \ 3\ K +10 &'T\ \ 4\ K +9 &(T\ \ 0\ K +10 &*W\ \ 1\ K +9 &,`T\ \ 4\ K +9 &.#U\ \ 3\ J +10 &/U\ \ 3\ K +9 &1V\ \ 5\ K +9 &3hU\ \ (\ K +10 &5*T\ \ (\ K +9 &6U\ \ )\ K +10 &8U\ \ +\ K +9 &:pV\ \ -\ K +9 &<1X\ \ -\ K +10 &=Z\ \ ,\ K +9 &?W\ \ '\ K +10 &AwW\ \ &\ K +9 &C7Z\ \ '\ L +9 &Dj\ \ 7\ M +10 &Fs\ #\ 0\ N +9 &Hl\ 8\ 02\ R +9 &J"\ J\ H.\ V +10 &K\ L\ K&\ W +9 &M\ H\ J+\ X +9 &Od\ H\ F,\ W +10 &Q"\ F\ E'\ X +9 &R\ E\ D+\ Y +10 &T\ ?\ A'\ Y +9 &Vc\ @\ @4\ Z +9 &X#\ =\ =*\ [\ +10 &Y\ >\ =+\ [ +9 &[\ ;\ = \ I +9 &\\0\ :\ <)\ 5 +10 &\\j\ :\ 91\ N +2 ( +2 "collection"'a& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&J1 +53 "core" 1 +2 "manipulator"&r% +4 "core" % 2  j % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%j& +4 "core" &q\ +2 "manipulator"&.% +5 "core" %  l  + "storage"(u% +4 "core" % " ! \  +2 "storage"(;. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (\\& +3 "core" &K\ \  \  +2 "manipulator"&k& +4 "core" &  s $ +2 "manipulator"&Q% +3 "core" %  ~  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&[( +149 "core" ( +2 "manipulator"&& +3 "core" & 6  +2 "storage"(`& +4 "core" &K - . V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +112 "core" ' +2 "storage"(y& +3 "core" &K V U X\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &K `\  +2 "manipulator"&D& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & P  +2 "storage"(m& +3 "core" &K / / \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&,'h +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(X' +8 "core" &  +2 "manipulator"&Z% +4 "core" % e  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&& +3 "core" & ( 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &!& +2 "core" & = 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +2 "manipulator"&-' +93 "core" ' +2 "manipulator"&|& +3 "core" & 0 +3 "manipulator"&% +4 "core" % \\ +2 "processing"%{& +4 "core" &r\ +3 "processing"%>& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%I(^ +5 "core" &\ +6 &<\ #c +9 &U~~\ 7 +9 &y\ K +10 &W\ M +9 &aU\ M +9 &"X\ N +10 &Y\ N +9 &T\ M +9 &iT\ M +10 &+X\ M +9 &Y\ N +10 &!V\ N +9 &#qS\ M +9 &%2T\ N +10 &&X\ N +9 &(T\ N +9 &*xY\ N +10 &,:Y\ N +9 &-R\ N +10 &/Y\ N +9 &1Zx\ N +9 &3CYy\ M +10 &5T~\ N +55 &6U\ N +5 &8T~\ N +4 &:JTp\ N + &< Ux\ N + &=Wo\ M +2 &?Ww\ N + &ARYx\ N +6 &C`w\ O +9 &Ddo\ P +9 &Fkv\ P +10 &HN{l\ R +9 &J n\ S +10 &Ki\ T +9 &Mm\ T +9 &ONq\ T +10 &Qm\ U +9 &Rl\ U +9 &Tk\ U +10 &VWo\ T +9 &Xu\ V +10 &Yv\ U +9 &[p\ U +9 &]\\u\ B +10 &^Qm\ E +9 &^u\ T +9 &^p\ . +3 ( +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&z1 +55 "core" 1 +2 "manipulator"&% +4 "core" %    W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' +2 "processing"%8& +4 "core" &^n\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&/% +4 "core" %     +2 "storage"(% +4 "core" %\ "\ " D\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(?(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (4& +2 "manipulator"&q& +4 "core" &K\ \ G\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  g 0 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&Y( +2 "storage"(P'r +6 "core" ( + "manipulator"&& +4 "core" &   0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +3 "core" &   0 +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&9/ +57 "core" / +2 .tPC.seek :open +2 "processing"% ( +98 "core" ' +2 "storage"(C- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(B'1 +51 "core" ' +293 ( +2 "storage"(L& +3 "core" &K . . j\  +2 "manipulator"&\ & +4 "core" & c 0 +2 "manipulator"&% +3 "core" %  O e +3 .tForearm.seek :retract +2 "manipulator"&:' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&H( +247 "core" ( +2 "manipulator"&F& +3 "core" &  ; +2 "storage"(K& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +93 "core" ' +2 .tHand.open + "manipulator"&21 +61 "core" 1 +2 "storage"(%- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(#& +4 "core" &K Q P \  +2 "manipulator"&U& +3 "core" &    ; +3 .tElbow.seek 6 +2 "manipulator"&=( +4 "core" ( + "manipulator"&N& +4 "core" &   ; +2 "storage"(w& +5 "core" &K P P \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&}& +3 "core" & B ; +2 "storage"(A& +4 "core" &K \  )\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +15 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +48 "storage"(' +21 "core" ' +2 "manipulator"&G% +5 "core" %P P + "storage"()& +4 "core" &K L 5\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&W'| +14 "core" ' +2 "manipulator"&v& +4 "core" &  ! : +2 "storage"(& +4 "core" &K\ (\ # B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +16 "core" ' + "storage"(*% +4 "core" % . . \ +3 ."downElevator"SE.seek :down +3 "storage"(6' +99 ((% +3 "core" %7U\ \  {\ Yj +2 "manipulator"&V% +4 "core" % E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (+& +4 "core" &K  ) \  +2 "collection"'b& +4 "core" &\\e\ 3\ 19\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %   +2 "storage"(d% +4 "core" % % + \  +2 "storage"(@. +3 "core" .(K +2 "storage"(E& +4 "core" &K " ! \  +2 "storage"(1& +4 "core" &K " !\  +2 "manipulator"&h& +3 "core" & 1 : +3 .tElbow.seek 6 +2 "manipulator"&<( +4 "core" ( + "manipulator"&e& +4 "core" &  M : +2 "storage"(O& +4 "core" &K $ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +90 "core" ' +2 "storage"( & +3 "core" &K ' ( \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(T'r +298 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" & j : +2 "storage"(~& +4 "core" &K # + \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&R'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('o +29 "core" ' + "manipulator"&% +4 "core" %O j  +2 "storage"(_& +3 "core" &K _ 4 y\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&o'{ +14 "core" ' +2 "manipulator"&& +4 "core" & ~ : +2 "storage"($& +3 "core" &K / / \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(r' +35 "core" ' + "manipulator"&j& +4 "core" & : +2 "manipulator"&.% +4 "core" % J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +151 "core" ( +2 "manipulator"&a& +3 "core" &ӓ  \ > 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &ӓ Z 7 +3 .tForearm.seek CC + "manipulator"&k'? +97 "core" ' + .tHand.close +2 "manipulator"&Q/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(& +4 "core" &K U U\  +2 "storage"(`& +4 "core" &K U U\  +2 "manipulator"&'& +3 "core" &  \\ + +2 "manipulator"&y% +5 "core" %  u +2 .tForearm.seek :retract + "manipulator"&5' +96 "core" ' +41 .tElbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&^( +149 "core" ( +2 "manipulator"& & +4 "core" & 3  +2 "storage"(3& +4 "core" &K L U [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&D'< +95 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +63 "core" 1 +3 "manipulator"&l% +4 "core" % 6 5 +2 "storage"(t& +3 "core" &K H G O\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 294 counts +2 "manipulator"&Z'b +15 "core" ' +2 "manipulator"&[& +3 "core" &  +2 "storage"("& +4 "core" &K a k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +15 "core" ' +2 "storage"(,% +3 "core" % ] j z\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (!% +3 "core" %J ! ! \ Wd +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +90 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &\ \ '\ +2 "manipulator"&{% +5 "core" %   v  +2 "storage"(X% +3 "core" % n a \  +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(x(,y +670 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +3 "core" &,y T G L\ +2 "manipulator"&& +4 "core" & O  +2 .tElbow.seek 4 +2 "manipulator"&8( +4 "core" ( +2 "manipulator"&/& +3 "core" &    +2 "storage"(& +4 "core" &,y ] V V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(>& +4 "core" &,y ^ a \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +298 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,k T ] \  +2 "manipulator"&0& +4 "core" &  %  +2 .tElbow.seek 4 +2 "manipulator"&-( +2 "core" ( +2 "manipulator"&9& +4 "core" &  p  +2 "storage"(& +4 "core" &,k H J G\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&C'c +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +56 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(I' +8 "core" & /  +2 "manipulator"&P% +4 "core" % σ  9 +2 .tForearm.seek :retract +2 "manipulator"&L' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +4 "core" &ӣ m 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӣ _ 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'? +104 "core" ' +2 "manipulator"&K& +4 "core" &ӣ   0 +2 "manipulator"&Y% +5 "core" %R   v +2 "collection"'2& +3 "core" &\ \ K\ +3 "collection"'%& +53 "core" &\ \ D\ +3 .tCC.seek :closed +3 "collection"'(\\ +2 "core" &\ \ H\ +6 &\ \ I\ 9 +10 &JKu\ \ I\ 1 +9 &u}\ \ E\ E +9 &.Y\ \ ;\ K +10 &T\ \ F\ K +9 &V\ \ F\ K +9 &tS\ \ 4\ K +10 &7U\ \ D\ K +9 &U\ \ E\ K +10 &X\ \ 8\ K +9 &|U\ \ :\ K +9 &!?U\ \ ;\ K +10 &#X\ \ :\ K +9 &$U\ \ .\ K +9 &&U\ \ .\ K +10 &(FX\ \ .\ K +9 &* U\ \ 4\ K +10 &+W\ \ 6\ K +9 &-U\ \ :\ K +9 &/NY\ \ .\ K +10 &1U\ \ 9\ K +9 &2U\ \ 9\ J +9 &4U\ \ ?\ K +10 &6WU\ \ @\ K +9 &8U\ \ @\ K +10 &9U\ \ ?\ K +9 &;Y\ \ =\ K +9 &=^W\ \ >\ K +10 &?W\ \ @\ L +9 &@U\ \ A\ K +9 &BW\ \ >\ K +10 &Dd_\ \ ?\ L +9 &F!l\ \ @\ N +10 &Gy\ "\ >\ O +9 &I\ 5\ /@\ S +9 &KM\ @\ @@\ W +10 &M \ C\ C>\ W +9 &N\ A\ @>\ X +9 &P\ =\ @?\ X +10 &RQ\ >\ =:\ X +9 &T\ >\ =C\ Y +10 &U\ ;\ ;>\ Y +9 &W\ ;\ ==\ Z +9 &YQ\ 9\ ;>\ [ +10 &[\ ;\ :>\ [ +9 &\\fH\ :\ ;>\ 1 +9 &\\\ ;\ ;>\ M +6 ( +2 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator" +3 "core" &\\c\ 9\ 9;\ M +53 1 +2 "manipulator"&U% +4 "core" % R  W v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%w& +3 "core" &e\ +2 "manipulator"&:% +4 "core" %  @  +2 "storage"(}% +4 "core" % ! D s\  +2 "storage"(A. +3 "core" .(,y +2 "storage"(B& +3 "core" &,k + \  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(G(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ()& +3 "core" &,z ) - _\ +2 "manipulator"& & +4 "core" &ӣ 0 +2 "manipulator"&v% +4 "core" %  m  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&*& +5 "core" &   +2 "storage"(H& +3 "core" &,z 1 0\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +95 "core" ' +2 "storage"( & +3 "core" &,z U ; \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('r +296 "core" ' +2 "storage"(V- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,l O  \ \ +2 "manipulator"&=& +4 "core" & e  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & T  +2 "storage"(W& +4 "core" &,l\ !\ ! R\ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&+'c +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(d' +9 "core" & {  + "manipulator"&@% +4 "core" % w b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&E( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&1& +3 "core" & ` = +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" & = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&e' +91 "core" ' + "manipulator"&O& +4 "core" & K = +2 "manipulator"&M% +4 "core" % +2 "processing"% & +4 "core" &|\ +3 "processing"%6& +5 "core" &k\ +2 .tPC.seek :closed +2 "processing"%f(^ +3 "core" &|\  +10 &2v\ )w +9 &d\ > +9 &zrz\ N +10 &=U{\ M +9 &Y\ N +10 &U\ N +9 &Y|\ N +9 &DV\ N +10 &T\ M +9 &U\ M +9 & Z\ N +10 &"LV\ N +9 &$W\ N +10 &%S\ M +9 &'U\ N +9 &)UT\ M +10 &+V~\ M +9 &,Z\ M +9 &.R\ M +10 &0]V\ M +9 &2Y\ N +10 &3Y\ M +9 &5Y\ M +9 &7fU}\ M +49 &9'Z\ M +5 &:W~\ N +4 &<Vw\ M + &>k\\\ N + &@/Wy\ M + &A[\ N +5 &Ce~\ O +9 &Emh\ P +10 &G.n\ P +9 &H\ R +9 &J\ T +10 &Lkw\ S +9 &N+w\ T +10 &Oj\ T +9 &Qv\ U +9 &Sqq\ T +10 &U1y\ U +9 &Vw\ U +9 &Xp\ T +10 &Zvn\ U +9 &\\8i\ U +10 &]ztm\ ; +9 &^%hk\ T +9 &^$j\ 3 +3 ( +2 "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&c1 +54 "core" 1 +2 "manipulator"&]% +3 "core" %   K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +2 "processing"%~& +4 "core" &^!_\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&i% +4 "core" %     +2 "storage"(% +3 "core" %   \  +3 "storage"(_. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +2 "manipulator"&j& +6 "core" &,}\ & X\ + &   = +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&.( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(S'r +3 "core" ( +2 "manipulator"&<& +3 "core" &   } = +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +3 "core" &   = +2 .tForearm.seek PC +2 "manipulator"&R' +96 "core" ' +2 .tHand.close +2 "manipulator"&o/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' + "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'1 +48 "core" ' +311 ( + "storage"(J& +4 "core" &,i . + +\  +2 "manipulator"&g& +3 "core" & < = +2 "manipulator"&Q% +4 "core" %  % +3 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&& +4 "core" & C 1 +2 "storage"(`& +3 "core" &,i ! ! \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +92 "core" ' +2 .tHand.open + "manipulator"&y1 +64 "core" 1 +3 "storage"(k- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(3' +66 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +4 "core" -' + "storage"(m& +4 "core" &,i 5 3 r\  +2 "manipulator"&l& +4 "core" &   1 +2 .tElbow.seek 4 +2 "manipulator"&t( +4 "core" ( + "manipulator"&[& +4 "core" &   1 +2 "storage"("& +4 "core" &,i O P \  +3 .tForearm.seek 4 + 450 counts + "manipulator"&,' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(5'" +58 "core" ' +2 "manipulator"&!& +4 "core" & T 1 +2 "storage"(& +3 "core" &,i / % \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&^'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +73 "core" ' +3 "manipulator"&Z% +4 "core" %F _ + +2 "storage"({& +5 "core" &,i C % H\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&X'r +15 "core" ' +2 "manipulator"&& +3 "core" &  S 1 +3 "storage"(r& +3 "core" &,i . * "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +15 "core" ' +2 "storage"(% +3 "core" % ! +\ +3 ."downElevator"SE.seek :down +4 "storage"(?' +98 (z% +3 "core" %FL\ \  }\ Wf +2 "manipulator"&% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +94 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,i a ) \  +3 "collection"'>& +3 "core" &\\b\ 1\ 2=\ M +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +3 "core" %  b  +3 "storage"(|% +3 "core" % / $ [\  +2 "storage"(q. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (0& +3 "core" &,} K \ +2 "manipulator"&9& +3 "core" & j 1 +3 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&p& +4 "core" & X 1 +2 "storage"(&& +4 "core" &,} / . \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +92 "core" ' +2 "storage"(8& +3 "core" &,} " !\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & G 1 +2 "storage"(4& +4 "core" &,l O\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&C'7 +23 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(-'e +28 "core" ' +2 "manipulator"&2% +4 "core" %8 l  +2 "storage"(I& +4 "core" &,l O b\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&L'd +14 "core" ' + "manipulator"&& +4 "core" &  1 +2 "storage"(#& +4 "core" &,l + " J\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(w' +48 "core" ' +2 "manipulator"&:& +4 "core" & h 1 +2 "manipulator"&}% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B(ӂ +155 "core" ( +2 "manipulator"&%& +4 "core" &ӓ f 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &ӓ  8 +2 .tForearm.seek CC +2 "manipulator"& '? +99 "core" ' + .tHand.close +2 "manipulator"&v/ +61 "core" / +2 .tCC.seek :open +2 "collection"'F( +447 "core" ( + "storage"(*& +4 "core" &,l U U\  +2 "storage"(H& +4 "core" &,l U T \  +2 "manipulator"&x& +4 "core" &Ө A 5 +2 "manipulator"& % +3 "core" % D ]  +42 .tForearm.seek :retract +9 "manipulator"&\ ' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&N( +164 "core" ( +2 "manipulator"&V& +4 "core" &  +2 "storage"(& +4 "core" &,l c H J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&='7 +98 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +58 "core" 1 +3 "manipulator"&b% +4 "core" % ; `  +2 "storage"(& +4 "core" &,l H G "\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 304 counts + "manipulator"&@'g +14 "core" ' + "manipulator"&& +4 "core" &   O  +2 "storage"(7& +5 "core" &,l a ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +15 "core" ' + "storage"(+% +4 "core" % j ] \ +3 ."downElevator"SE.seek :down +4 "storage"(1' +98 (h% +3 "core" %C U J \\\ Vb +2 "manipulator"&% +4 "core" % ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'M& +4 "core" &\ \ <\ +2 "manipulator"& % +3 "core" %  j  +3 "storage"(d% +3 "core" % a k \  +2 "storage"(. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &<* ! \  +2 "manipulator"&]& +4 "core" &  ~  +2 .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&i& +4 "core" &    +2 "storage"(& +4 "core" &<) a k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +98 "core" ' + "storage"(6& +4 "core" &<) k k\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +292 "core" ' +2 "storage"(j- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &<) S X n\  +2 "manipulator"&T& +4 "core" &   >  +2 .tElbow.seek 5 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&o& +4 "core" &    +2 "storage"(G& +3 "core" &<) H G G\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&a'Ϲ +11 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(f' +8 "core" &  +2 "manipulator"&S% +4 "core" % Ͻ  +2 .tForearm.seek :retract +2 "manipulator"&J' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&Q& +5 "core" &Ӕ { 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &Ӕ  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' + "manipulator"&`& +4 "core" &Ӕ  R 6 +2 "manipulator"&.% +49 "core" %:   +4 "collection"'y& +4 "core" &\ \ T\ +3 "collection"'k& +6 "core" &\ \ P\ +2 .tCC.seek :closed +2 "collection"';(\\ +5 "core" &\ \ L\ +7 &;\ \ L\ %g +9 &Yv\ \ L\ 7 +10 &w\ \ P\ J +9 &T\ \ R\ K +9 &S\ \ O\ K +10 &JQ\ \ J\ K +9 & T\ \ O\ K +10 &U\ \ O\ J +9 &U\ \ N\ K +9 &QT\ \ I\ K +10 & U\ \ H\ K +9 &!U\ \ O\ K +9 &#U\ \ I\ K +10 &%YT\ \ ?\ K +9 &'T\ \ B\ K +10 &(T\ \ C\ K +9 &*T\ \ ?\ K +9 &,aX\ \ ?\ K +10 &.#T\ \ <\ K +9 &/T\ \ >\ K +9 &1U\ \ @\ K +10 &3jU\ \ >\ K +9 &5,U\ \ ?\ K +10 &6U\ \ =\ K +9 &8U\ \ ?\ K +9 &:qU\ \ ?\ K +10 &<3V\ \ =\ K +9 &=V\ \ =\ K +9 &?S\ \ <\ K +10 &AxW\ \ >\ L +9 &C9Z\ \ ?\ L +10 &Db\ \ C\ M +9 &Fk\ \ @\ N +9 &Hq\ (\ !A\ Q +10 &J(\ =\ 6?\ U +9 &K\ A\ B=\ W +9 &M\ A\ CA\ X +10 &Ob\ A\ A@\ Y +9 &Q&\ @\ ?@\ X +10 &R\ =\ >A\ X +9 &T\ =\ >B\ Z +9 &Ve\ <\ ;C\ Z +10 &X%\ >\ ;F\ [\ +9 &Y\ =\ <?\ [ +9 &[\ <\ ;>\ I +10 &\\1\ <\ ;B\ 1 +9 &\\c\ 9\ :>\ L +2 ( +2 "collection"'k& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&m1 +62 "core" 1 +3 "manipulator"&l% +4 "core" % :   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +102 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%u& +4 "core" &k\ +2 "manipulator"&"% +3 "core" %  j +2 "storage"(!% +4 "core" % . / o\  +2 "storage"(. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(\\(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<*\  +\  +2 "manipulator"&Z& +4 "core" &ӫ G 3 +2 "manipulator"&{% +4 "core" %  _ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +164 "core" ( + "manipulator"&r& +4 "core" &  +2 "storage"(& +4 "core" &<) T : \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +89 "core" ' +2 "storage"('& +4 "core" &<) U U\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'r +298 "core" ' +2 "storage"(z- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &<) % . #\  +2 "manipulator"&& +4 "core" & a  +2 .tElbow.seek 5 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&5& +4 "core" & ,  +2 "storage"(^& +4 "core" &<) 2 2\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&>& +2 "storage"(' +7 "core" &  +2 "manipulator"&|% +4 "core" %  B +2 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&0& +4 "core" & J ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &9& +3 "core" &  ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p' +101 "core" ' +2 "manipulator"&&& +4 "core" & ? +2 "manipulator"&s% +4 "core" %  +2 "processing"%8& +4 "core" &o\ +3 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &}\ +7 &.\ #b +9 &U~\ 7 +10 &|\ L +9 &U\ M +9 &YX\ M +10 &R\ M +9 &U\ N +9 &Z\ M +10 &`S\ N +9 &#Y\ M +10 &T\ N +9 &!Y\ M +9 &#hT\ N +10 &%+Y\ M +9 &&V\ N +9 &(Z\ N +10 &*pX\ N +9 &,3U\ M +9 &-U\ M +56 &/Z\ N +6 &1xW\ N +3 &3;T\ M + &4U\ M +2 &6Y\ N + &8Y\ M + &:CU\ M +6 &<W}\ M +9 &=X\ M +9 &?W\ N +10 &AI\\~\ N +9 &Cd\ O +9 &Df\ O +10 &Fn|\ Q +9 &HE~\ R +10 &J\ S +9 &K\ S +9 &Mz\ T +10 &OF\ T +9 &Q\ U +9 &R\ T +10 &Ty\ U +9 &VNv\ T +10 &Xw\ U +9 &Y~\ U +9 &[p\ T +10 &]Rv\ H +9 &^zEv\ ` +9 &^8y\ 2 +6 ( +2 "processing"%?& +4 "core" &^%{\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&D1 +55 "core" 1 +2 "manipulator"&/% +4 "core" %   ?  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 "processing"%& +4 "core" &^%s\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&4% +4 "core" %   Y  +2 "storage"(Y% +4 "core" % L ;\  +2 "storage"(2. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(I(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&#& +5 "core" &<*\  S &\  +2 &   d ? +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&:( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'r +2 "core" ( + "manipulator"&P& +6 "core" &   Z ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  s ? +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&C/ +55 "core" / +2 .tPC.seek :open +2 "processing"%L( +99 "core" ' + "storage"(-- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(%'1 +40 "core" ' +304 ( +2 "storage"()& +3 "core" &<* + ! (\  +3 "manipulator"&U& +4 "core" & Q ? +2 "manipulator"&K% +3 "core" %  B P +3 .tForearm.seek :retract +2 "manipulator"&v' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&A( +260 "core" ( + "manipulator"&& +4 "core" & p  +2 "storage"(*& +4 "core" &<* \ ! [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&H'O +115 "core" ' + .tHand.open +2 "manipulator"&x1 +64 "core" 1 +2 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(V' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(B& +5 "core" &<* ! \ g\  +2 "manipulator"&W& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&b( +4 "core" ( + "manipulator"&& +5 "core" &    + "storage"(& +4 "core" &<* \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(+'" +51 "core" ' +2 "manipulator"&\ & +4 "core" & M  +2 "storage"(h& +4 "core" &<* T y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +49 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(=' +19 "core" ' +2 "manipulator"&M% +4 "core" %Ι u +2 "storage"( & +4 "core" &<*  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&@' +14 "core" ' + "manipulator"&d& +4 "core" & 0  +2 "storage"(& +5 "core" &<* . / \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +16 "core" ' +2 "storage"((% +4 "core" % 2 2\ +3 ."downElevator"SE.seek :down +3 "storage"(1' +100 (% +3 "core" %5O Q H\ We +2 "manipulator"&c% +4 "core" %: 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +86 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (i& +3 "core" &<* _\ s\  +3 "collection"'& +3 "core" &\\b\ 3\ 1C\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&6% +4 "core" %   +2 "storage"(% +3 "core" % , 0 L\  +2 "storage"(O. +3 "core" .(<- +2 "storage"(j& +4 "core" &<* / $ e\  +2 "storage"(<& +4 "core" &<* - / K\  +2 "manipulator"&T& +4 "core" & o  +2 .tElbow.seek 5 +2 "manipulator"&o( +4 "core" ( + "manipulator"&G& +4 "core" & {  +2 "storage"(E& +4 "core" &<* ! , 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n'O +92 "core" ' + "storage"(S& +4 "core" &<* U :\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +297 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" & T  +2 "storage"(R& +4 "core" &<* + ( \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&$'΍ +20 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(.'v +31 "core" ' +2 "manipulator"&e% +4 "core" %Ξ T +2 "storage"(y& +4 "core" &<* D % o\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts + "manipulator"&f' +14 "core" ' + "manipulator"&J& +4 "core" &  +2 "storage"(F& +3 "core" &<* / / t\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(l' +36 "core" ' +2 "manipulator"&u& +3 "core" &   +2 "manipulator"&"% +4 "core" %9 J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +150 "core" ( +2 "manipulator"&& +4 "core" &z" T ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &z" ^ ;6 +2 .tForearm.seek CC +3 "manipulator"&Z'? +101 "core" ' +2 .tHand.close + "manipulator"&{/ +60 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(r& +4 "core" &<* R U \  +2 "storage"(& +4 "core" &<* V V )\  +2 "manipulator"& & +4 "core" &Ӷ 3 +2 "manipulator"&'% +3 "core" % ,  k +3 .tForearm.seek :retract +2 "manipulator"&g' +97 "core" ' +9 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&[( +162 "core" ( +2 "manipulator"&z& +3 "core" &    +2 "storage"(,& +4 "core" &<* k n \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +90 "core" ' +2 .tElbow.hold + "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&^1 +58 "core" 1 +3 "manipulator"&X% +3 "core" % Δ  m Q +2 "storage"(>& +4 "core" &<* k n N\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&|' +14 "core" ' + "manipulator"&& +4 "core" & \   +2 "storage"(& +4 "core" &<* k n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +27 "core" ' +2 "storage"(% +3 "core" % ^ b \ +3 ."downElevator"SE.seek :down +4 "storage"(0' +98 (9% +3 "core" %M 3 % T\ Vc +2 "manipulator"&t% +4 "core" %n w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +91 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'s& +4 "core" &\ \ \ R\ +2 "manipulator"&8% +5 "core" %  M  + "storage"(% +4 "core" % n n W\  +2 "storage"(q. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" &K W S\  +2 "manipulator"&/& +4 "core" & {  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&4& +3 "core" &   +2 "storage"(Y& +5 "core" &K W f g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +93 "core" ' +2 "storage"(?& +4 "core" &K k l \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(#- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P& +3 "core" &K U G g\  +2 "manipulator"&& +4 "core" & X  +2 .tElbow.seek 6 +2 "manipulator"&p( +2 "core" ( +2 "manipulator"&C& +4 "core" &    +2 "storage"(\\& +4 "core" &K X X\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&-'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +7 "core" &  ?  +2 "manipulator"&}% +4 "core" % ϔ  +3 .tForearm.seek :retract +2 "manipulator"&)' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&U(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&K& +5 "core" &ӛ  w 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӛ  2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +96 "core" ' +2 "manipulator"&*& +3 "core" &ӛ  / 2 +2 "manipulator"&:% +4 "core" %F U ? +2 "collection"'x& +4 "core" &\ \ U\ +50 "collection"' & +5 "core" &\ \ P\ +3 .tCC.seek :closed + "collection"' (\\ +5 "core" &\ \ T\ +7 &<\ \ S\ %f +9 &Xx\ \ M\ 7 +9 &w\ \ K\ J +10 &T\ \ S\ K +9 &X\ \ T\ K +9 &IT\ \ R\ K +10 & T\ \ T\ K +9 &W\ \ S\ K +10 &U\ \ R\ K +9 &QU\ \ R\ K +9 & S\ \ S\ K +10 &!U\ \ L\ K +9 &#U\ \ S\ K +9 &%XW\ \ L\ K +10 &'T\ \ R\ K +9 &(U\ \ O\ J +10 &*T\ \ K\ K +9 &,bT\ \ N\ J +9 &."T\ \ S\ K +10 &/U\ \ S\ K +9 &1V\ \ E\ K +9 &3hW\ \ H\ K +10 &5+T\ \ J\ K +9 &6U\ \ J\ K +10 &8U\ \ H\ K +9 &:pT\ \ B\ K +9 &<1W\ \ I\ L +10 &=]\ \ H\ K +9 &?X\ \ B\ K +9 &AxX\ \ ;\ K +10 &C9\\\ \ ;\ L +9 &Dg\ \ E\ M +10 &Fs\ #\ N\ O +9 &Hm\ 5\ 0F\ R +9 &J#\ I\ ED\ V +10 &K\ I\ KH\ W +9 &M\ G\ I<\ W +9 &Od\ F\ H<\ X +10 &Q$\ C\ EI\ X +9 &R\ B\ CA\ Y +10 &T\ @\ B=\ Z +9 &Vd\ =\ ?=\ Z +9 &X#\ =\ <B\ [ +10 &Y\ :\ >=\ \\ +9 &[\ :\ =H\ H +9 &\\5\ 9\ ;@\ / +10 &\\q\ 8\ 96\ N +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&B1 +56 "core" 1 +2 "manipulator"&W% +5 "core" % F m ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +3 "core" &|\ +2 "manipulator"&% +5 "core" %  f  + "storage"(\ % +4 "core" % " % \  +2 "storage"(h. +3 "core" .(K +2 "storage"(%& +3 "core" &K + !\  +2 "storage"(V& +4 "core" &K * 3\  +2 "manipulator"&M& +4 "core" &  v # +2 "manipulator"& % +4 "core" %  `  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&d( +148 "core" ( +2 "manipulator"&& +3 "core" & X  +2 "storage"(A& +5 "core" &K 0 0 Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +95 "core" ' + "storage"(H& +4 "core" &K 1 : f\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" &K  - \  +2 "manipulator"&7& +4 "core" & E  +2 .tElbow.seek 6 +2 "manipulator"&b( +3 "core" ( + "manipulator"&+& +4 "core" & L  +2 "storage"(& +4 "core" &K 1 0 \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&@'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(6' +8 "core" & i  + "manipulator"&% +5 "core" % m \  : +2 .tForearm.seek :retract +2 "manipulator"&O' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&j& +4 "core" & i 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &<& +3 "core" & D 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&T' +92 "core" ' +2 "manipulator"&G& +3 "core" & ] 8 +2 "manipulator"&E% +4 "core" % R e +2 "processing"%w& +5 "core" &y\ +3 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%1(^ +4 "core" &\ +5 &\ 6 +10 &?Gt\ 0 +9 &kr~\ D +9 & `\ N +10 &R\ M +9 &T\ N +10 &SU\ N +9 &V\ N +9 &S\ M +10 &Y\ N +9 &\\V\ M +9 &!S\ M +10 &"U\ M +9 &$X\ N +10 &&eR\ M +9 &(%Y\ N +9 &)W\ M +10 &+T\ N +9 &-kU\ N +10 &/-V\ N +9 &0W\ M +9 &2Y\ M +10 &4tV\ M +9 &65Y\ N +9 &7U\ N +10 &9X\ N +9 &;{Z\ N +9 &==Y\ N +10 &>[\ N +9 &@W\ M +10 &B_\ O +9 &D@c\ O +9 &Fk\ P +10 &Gx\ Q +9 &Iz\ T +9 &K:\ T +10 &L\ S +57 &N\ T +5 &P\ T +4 &RA\ T + &T~\ U + &U\ T + &W\ U + &YG\ U +5 &[\ w\ U +9 &\\\ U +10 &^Af\ * +9 &^_\ 9 +9 ( +2 &^,{\ 5 + "processing"%S& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&N1 +59 "core" 1 +2 "manipulator"&]% +4 "core" %   D e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +97 "core" ' +2 "processing"%Q& +4 "core" &^,r\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&R% +4 "core" % #   1 +2 "storage"(`% +5 "core" % M Z\  + "storage"(e. +4 "core" .(K + "storage"(y& +5 "core" &K P s\  +2 "storage"(J& +4 "manipulator"&F& +5 "core" &K P f\  + &  a 8 +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&u( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"("'r +2 "core" ( +3 "manipulator"&n& +3 "core" &   l 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +3 "core" &  t 8 +2 .tForearm.seek PC +2 "manipulator"&~' +92 "core" ' + .tHand.close +2 "manipulator"&$/ +61 "core" / +2 .tPC.seek :open +2 "processing"%f( +94 "core" ' +2 "storage"(.- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +307 ( +2 "storage"( & +3 "core" &K\ \ X\ \ +2 "manipulator"&m& +4 "core" & 8 +2 "manipulator"&a% +4 "core" %  } _ +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&!( +246 "core" ( +2 "manipulator"&;& +3 "core" & 3 2 +2 "storage"(r& +4 "core" &K  L\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"& 1 +55 "core" 1 +2 "storage"('- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(z' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +3 "core" -' +3 "storage"(k& +3 "core" &K Q O S\ \ +2 "manipulator"&^& +5 "core" &   a 2 +2 .tElbow.seek 6 +2 "manipulator"&X( +4 "core" ( + "manipulator"&>& +5 "core" &   F 2 + "storage"(& +4 "core" &K [ T \ \ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&g& +4 "core" & U 2 +2 "storage"(9& +4 "core" &K\ \ ! 8\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&t'< +25 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +30 "core" ' +2 "manipulator"&s% +4 "core" %;  +2 "storage"(|& +4 "core" &K   h\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 299 counts + "manipulator"&8'g +16 "core" ' +2 "manipulator"&& +4 "core" &  L 2 +47 "storage"(q& +5 "core" &K ` H\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +15 "core" ' +2 "storage"(3% +4 "core" % " ^\ +3 ."downElevator"SE.seek :down +3 "storage"(0' +99 (I% +3 "core" %%R\ \  \ Xh +3 "manipulator"&D% +3 "core" % ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +89 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (4& +3 "core" &K ' \ \ +3 "collection"'Y& +3 "core" &\\r\ 4\ 1B\ N +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&?% +4 "core" %  D  +2 "storage"(5% +3 "core" % ! !\  +2 "storage"(&. +4 "core" .(K + "storage"(#& +4 "core" &K ! "\ \ +2 "storage"(P& +4 "core" &K . + ;\ \ +2 "manipulator"&& +4 "core" & 8 2 +2 .tElbow.seek 6 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&\\& +4 "core" &  ^ 2 +2 "storage"(& +4 "core" &K ! % e\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(}& +3 "core" &K 0 1 \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" &  & 2 +2 "storage"(& +4 "core" &K " % [\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(:'o +32 "core" ' + "manipulator"&x% +4 "core" %F I 0 +2 "storage"(p& +4 "core" &K , $ U\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&'r +16 "core" ' + "manipulator"&)& +5 "core" &  2 + "storage"(& +4 "core" &K 2 2\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&B' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(W' +39 "core" ' +2 "manipulator"&& +4 "core" & S 2 +2 "manipulator"&% +4 "core" % a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +153 "core" ( + "manipulator"&%& +4 "core" &Ӗ 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &ӗ } 4 +3 .tForearm.seek CC + "manipulator"& '? +95 "core" ' + .tHand.close +2 "manipulator"&M/ +59 "core" / +2 .tCC.seek :open +2 "collection"' ( +447 "core" ( +2 "storage"(& +3 "core" &K T U ~\ \ +2 "storage"(& +4 "core" &K U U /\ \ +2 "manipulator"&A& +4 "core" & ' +2 "manipulator"&H% +4 "core" %  k +2 .tForearm.seek :retract +2 "manipulator"&U' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&v( +154 "core" ( + "manipulator"&& +5 "core" &  i  +2 "storage"(c& +3 "core" &K W L n\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +48 "manipulator"&7'< +92 "core" ' +2 .tElbow.hold + "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +3 "manipulator"&i% +3 "core" % M   Z _ +2 "storage"(& +5 "core" &K X j +\ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&'y +13 "core" ' +2 "manipulator"&d& +3 "core" &  W  +3 "storage"((& +3 "core" &K a k \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(@% +3 "core" % k b \ +3 ."downElevator"SE.seek :down +4 "storage"(j' +98 (<% +3 "core" %E B 6 J\ Wc +2 "manipulator"&b% +4 "core" % U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'E& +3 "core" &\ \ \ O\ +3 "manipulator"&w% +3 "core" %   O  +2 "storage"(6% +4 "core" % k n \  +2 "storage"(O. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(L(,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &,w X T \ +2 "manipulator"&]& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&Q( +17 "core" ( + "manipulator"&R& +4 "core" & \ 5  +2 "storage"(`& +3 "core" &,w k a \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +98 "core" ' +2 "storage"(S& +4 "core" &,w k l \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +296 "core" ' +2 "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (F& +3 "core" &,k U T ]\ +2 "manipulator"&n& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&o( +4 "core" ( + "manipulator"&T& +4 "core" &  }  +3 "storage"($& +3 "core" &,k R V \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&.'c +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(1' +8 "core" &  $  +2 "manipulator"&"% +4 "core" % Y   S +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&a& +3 "core" &Ӌ! d :, +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &~& +2 "core" &ӌ!  :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&;'? +91 "core" ' +2 "manipulator"&r& +3 "core" &Ӥ  6 +3 "manipulator"&u% +3 "core" %=  : h +3 "collection"' & +4 "core" &\ \ ^\ +3 "collection"''& +5 "core" &\ \ a\ +3 .tCC.seek :closed +3 "collection"'Z(\\ +4 "core" &\ \ \ W\ +5 &\ \ Z\ : +9 &KLw\ \ Y\ 1 +10 &x}\ \ V\ E +9 &5Y\ \ \\\ K +9 &T\ \ [\ K +10 &T\ \ R\ K +9 &|T\ \ N\ K +9 &>S\ \ P\ K +10 &U\ \ L\ K +9 &X\ \ L\ K +10 &U\ \ M\ K +9 &!EX\ \ P\ K +9 &# T\ \ P\ J +10 &$T\ \ J\ K +9 &&R\ \ J\ K +51 &(NU\ \ R\ K +4 &*S\ \ T\ K +2 &+T\ \ M\ K + &-S\ \ Q\ K + &/VT\ \ J\ K + &1R\ \ N\ K +6 &2T\ \ P\ K +9 &4S\ \ S\ K +9 &6^U\ \ X\ K +10 &8!U\ \ [\ J +9 &9U\ \ _\ K +10 &;U\ \ \\\ K +9 &=fV\ \ a\ K +9 &?(U\ \ \\\ K +10 &@U\ \ ^\ K +9 &BY\ \ c\ L +9 &Dk`\ \ [\ L +10 &F*h\ \ ^\ M +9 &G\ !\ ^\ O +10 &I\ 8\ ,\\\ S +9 &KT\ A\ BZ\ W +9 &M\ @\ Ba\ X +10 &N\ @\ ?V\ X +9 &P\ =\ >T\ X +9 &RV\ <\ ;L\ X +10 &T\ <\ =Y\ Z +9 &U\ <\ ;\\\ Z +10 &W\ ;\ :[\ Z +9 &YW\ :\ 9V\ [\ +9 &[\ ;\ :M\ \\ +10 &\\nH\ ;\ :L\ 1 +9 &\\ \ ;\ 8L\ P +5 ( +2 "collection"''& +4 "core" &\\e\ 8\ 4U\ P +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&k1 +53 "core" 1 +3 "manipulator"&^% +3 "core" % = h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&{% +4 "core" %  O  +2 "storage"(g% +4 "core" % % , ^\  +2 "storage"(9. +3 "core" .(,y +2 "storage"(& +3 "core" &,k " ! /\ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(s(,y +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +3 "core" &,z K L\ +2 "manipulator"&z& +5 "core" &Ӱ m 5 + "manipulator"&% +4 "core" %  S  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&q( +160 "core" ( + "manipulator"&!& +5 "core" & :  + "storage"(& +4 "core" &,z ( &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +94 "core" ' +2 "storage"(,& +3 "core" &,z 9 U \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (D& +3 "core" &,l M \  +2 "manipulator"&X& +3 "core" &  +3 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&t& +4 "core" &   +2 "storage"(4& +3 "core" &,l `\ ! b\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&8'c +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(5' +8 "core" & f  +2 "manipulator"&&% +4 "core" % v ; +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&P& +4 "core" & H ) +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & h ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +92 "core" ' +2 "manipulator"&& +4 "core" &  ) +2 "manipulator"&l% +4 "core" % T v +2 "processing"%}& +4 "core" &\ +3 "processing"%0& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%[(^ +4 "core" &\  +8 &0w\ *x +10 &d~\ > +9 &rs\ N +9 &6R\ M +10 &R\ M +9 &Q\ M +10 &{T\ N +9 &=U\ N +9 &V\ N +10 &T\ M +9 & V\ M +9 &"EV\ N +10 &$W\ M +9 &%Wz\ M +10 &'T\ M +9 &)OUy\ M +9 &+W\ N +10 &,X~\ M +9 &.W\ M +9 &0UW|\ N +10 &2V\ M +9 &3T\ M +10 &5V\ N +9 &7^R\ M +9 &9T\ N +10 &:Y\ N +9 &<U\ M +9 &>d[\ N +10 &@'U\ N +9 &AY\ N +10 &Ce\ O +9 &Ehf\ O +9 &G'n\ P +10 &H\ R +9 &J\ T +9 &Lc\ T +10 &N$\ T +9 &O\ T +10 &Qz\ U +9 &Sh\ U +9 &U*\ U +10 &V\ U +9 &X\ U +9 &Zo\ U +10 &\\0|\ U +9 &]~y\ : +10 &^1\ N +9 &^\ , +2 ( +2 "processing"%0& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +47 .Hand.open +4 "manipulator"&/1 +55 "core" 1 + "manipulator"&2% +4 "core" %   c v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +89 "core" ' +2 "processing"%& +4 "core" &^_\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&*% +4 "core" %     +2 "storage"(x% +4 "core" % \ " t\  +2 "storage"(p. +3 "core" .(,y +2 "storage"()& +3 "core" &,l _\  \  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&& +5 "core" &,} \  n\ +2 &  2 ) +5 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(C'r +3 "core" ( +2 "manipulator"&& +3 "core" &  ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   ) +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +3 .tHand.close + "manipulator"&:/ +62 "core" / +2 .tPC.seek :open +2 "processing"%%( +86 "core" ' + "storage"(V- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +48 "core" ' +309 ( +2 "storage"(-& +4 "core" &,j / / \  +2 "manipulator"&M& +4 "core" & 7 ) +2 "manipulator"&\ % +3 "core" %  * . +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +245 "core" ( + "manipulator"&& +5 "core" & + + "storage"(A& +4 "core" &,j + . Y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +94 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(c- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(h' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(i& +4 "core" &,j I O )\  +2 "manipulator"&& +4 "core" &    + +2 .tElbow.seek 4 +2 "manipulator"&d( +4 "core" ( + "manipulator"&(& +4 "core" &   1 + +2 "storage"(@& +4 "core" &,j D E %\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&U' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +63 "core" ' + "manipulator"&b& +4 "core" & t + +2 "storage"(v& +4 "core" &,j\ \  ?\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&7'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +19 "core" ' + "manipulator"&% +4 "core" %; x P +2 "storage"(6& +4 "core" &,j T ;\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 304 counts +2 "manipulator"&O'g +14 "core" ' +41 "manipulator"&W& +11 "core" & ; + +3 "storage"(& +9 "core" &,j " $ $\  +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 4 + 450 counts +4 "manipulator"&j' +16 "core" ' +2 "storage"(% +3 "core" % / / \ +3 ."downElevator"SE.seek :down +4 "storage"(N' +98 (]% +4 "core" %,Q\ \  \ Xh +2 "manipulator"&R% +4 "core" % k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +89 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (S& +2 "core" &,j ( 4 L\  +3 "collection"'+& +3 "core" &\\e\ 1\ 0M\ P +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&G% +4 "core" %  F  +2 "storage"(J% +4 "core" % 2 1 <\ +2 "storage"(F. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(n(,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &,{ ) . \ +2 "manipulator"&$& +4 "core" & { + +2 .tElbow.seek 4 +2 "manipulator"&=( +4 "core" ( + "manipulator"&_& +4 "core" & ; + +2 "storage"("& +4 "core" &,{ 2 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +93 "core" ' +2 "storage"(e& +3 "core" &,{ ! !\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(a'r +299 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +4 "core" & k + +2 "storage"(.& +3 "core" &,l I\  5\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&r'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(o'd +30 "core" ' +2 "manipulator"&1% +3 "core" %K z S +2 "storage"( & +4 "core" &,l B \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"& 'w +14 "core" ' +2 "manipulator"&k& +4 "core" & + +2 "storage"(^& +5 "core" &,l " \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"({' +34 "core" ' +2 "manipulator"&g& +4 "core" & { + +2 "manipulator"&9% +4 "core" % g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +154 "core" ( +2 "manipulator"&|& +3 "core" &Ӟ  2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &Ӟ b 2 +3 .tForearm.seek CC + "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&;/ +65 "core" / +2 .tCC.seek :open + "collection"'!( +447 "core" ( +3 "storage"(& +3 "core" &,l X V\ +2 "storage"(L& +4 "core" &,l T V m\ +2 "manipulator"&,& +4 "core" &Ӟ G 2 +2 "manipulator"&m% +3 "core" % P O +3 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&I( +160 "core" ( +2 "manipulator"&D& +51 "core" &   N  + "storage"(X& +5 "core" &,l o a i\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&t'7 +98 "core" ' +2 .tElbow.hold + "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +54 "core" 1 +3 "manipulator"&?% +4 "core" % $ N +2 "storage"(&& +3 "core" &,l I G G\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 281 counts +2 "manipulator"&q'P +13 "core" ' +2 "manipulator"&3& +3 "core" & \   +2 "storage"(& +4 "core" &,l m n $\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +21 "core" ' +2 "storage"(P% +4 "core" % n k \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +3 "core" %}G K T Z\ Va +2 "manipulator"&% +3 "core" % O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'}& +4 "core" &\ \ Y\ +2 "manipulator"&5% +3 "core" %     +2 "storage"(% +4 "core" % o n "\  +2 "storage"(f. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(/(<- +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &<0 ) . l\  +2 "manipulator"&0& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&*& +3 "core" &  a o +2 "storage"(x& +4 "core" &<0 k a \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +96 "core" ' +2 "storage"()& +4 "core" &<0 k k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +309 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & +3 &l\ \ h\ L +2 &XS\ \ m\ K +2 &U\ \ d\ K + &W\ \ g\ K + &T\ \ g\ J +8 &`T\ \ i\ K +9 &!Y\ \ `\ K +9 &S\ \ a\ K +10 & U\ \ d\ K +9 &"gX\ \ ^\ K +9 &$+T\ \ \\\ J +10 &%U\ \ d\ K +9 &'S\ \ \\\ K +10 &)qT\ \ Y\ J +9 &+2U\ \ ]\ K +9 &,X\ \ Z\ K +10 &.S\ \ U\ K +9 &0yT\ \ ^\ J +9 &2:T\ \ e\ K +10 &3U\ \ `\ J +9 &5V\ \ e\ K +9 &7U\ \ `\ J +10 &9AV\ \ e\ K +9 &;U\ \ g\ K +10 &<W\ \ _\ K +9 &>W\ \ _\ K +9 &@JV\ \ ]\ K +10 &B X\ \ [\ K +9 &CY\ \ f\ L +10 &Ei\ \ b\ M +9 &GHq\ \ f\ N +9 &I\ .\ (`\ Q +10 &J\ @\ =f\ W +9 &Lt\ B\ C_\ W +9 &N4\ A\ B_\ X +10 &O\ @\ @d\ Y +9 &Q\ >\ @^\ X +10 &Su\ >\ ?d\ Z +9 &U4\ <\ =_\ [ +9 &V\ =\ =f\ [\ +10 &X\ =\ =f\ [ +9 &Zy\ >\ ;`\ [\ +9 &\\x\ ;\ :`\ 2 +10 &\\+\ 9\ ;]\ Y +9 ( + &\\f\ 9\ 9_\ P +3 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&i1 +54 "core" 1 +3 "manipulator"&% +3 "core" % Y  [ | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%@& +3 "core" &\ +2 "manipulator"& % +4 "core" %  B  +2 "storage"(b% +4 "core" % \\ [\  +2 "storage"(v. +3 "core" .(<- +2 "storage"(& +3 "core" &[\ N +9 &@[\ N +10 &B{_\ N +9 &D:e\ O +9 &Eo\ P +10 &Gz\ R +9 &It\ S +9 &K5\ T +10 &L\ T +9 &N\ U +10 &Px\ U +9 &R9\ U +9 &S\ V +10 &U\ U +9 &W\ U +9 &YB\ U +10 &[\ V +9 &\\\ V +9 &^?i\ , +10 &^k\ ? +9 ( +2 "processing"%N& +3 "core" &^'\ 5 +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&E1 +103 "core" 1 +2 "manipulator"&`% +3 "core" %   \ F } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +2 "processing"%y& +4 "core" &^'{\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&.% +3 "core" %     +3 "storage"( % +3 "core" %  V \  +2 "storage"(1. +4 "core" .(<- + "storage"( & +4 "core" &\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(P'" +61 "core" ' +2 "manipulator"&>& +3 "core" & ] ; +2 "storage"(& +4 "core" &<-\ \  U\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(t' +19 "core" ' +2 "manipulator"&q% +3 "core" %Μ _ +2 "storage"(}& +4 "core" &<- M .\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 315 counts +2 "manipulator"&5' +13 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(f& +4 "core" &<- ( (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +43 "core" ' +9 "storage"(8% +3 "core" % " " \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (n% +4 "core" %N\ \ \ &\ Wf +2 "manipulator"&2% +4 "core" %8 p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +89 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (*& +3 "core" &<- -  \  +3 "collection"'x& +3 "core" &\\e\ 3\ 0b\ P +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&)% +4 "core" %  B  +2 "storage"(4% +3 "core" % 2 /\  +2 "storage"(l. +4 "core" .(<- + "storage"(& +4 "core" &<- 1 2\  +2 "storage"(& +4 "core" &<- / 0\  +2 "manipulator"&& +4 "core" & w  +2 .tElbow.seek 5 +2 "manipulator"&:( +19 "core" ( +2 "manipulator"&s& +3 "core" &  +2 "storage"(#& +4 "core" &<- & ( \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +92 "core" ' + "storage"(C& +4 "core" &<- U U \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" & p  +2 "storage"(& +4 "core" &<- ! " B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +30 "core" ' +2 "manipulator"&\\% +3 "core" %Δ +2 "storage"(& +4 "core" &<- " \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&[' +13 "core" ' + "manipulator"&-& +4 "core" &  Y  +2 "storage"(!& +4 "core" &<- / . \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&@& +3 "core" &  u  +3 "manipulator"& % +3 "core" %1  i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +159 "core" ( + "manipulator"&& +4 "core" &ӑ + 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &6& +3 "core" &ӑ W 6 +2 .tForearm.seek CC +2 "manipulator"&B'? +100 "core" ' + .tHand.close +2 "manipulator"&c/ +64 "core" / +2 .tCC.seek :open +2 "collection"'W( +447 "core" ( + "storage"(& +4 "core" &<- R V \  +2 "storage"(& +4 "core" &<- W X U\  +2 "manipulator"&& +3 "core" &ӷ ~ 1 +2 "manipulator"&H% +4 "core" % J x +2 .tForearm.seek :retract +2 "manipulator"&M' +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&(( +112 "Can"C ?= +42 "core" ( +2 "manipulator"&U& +3 "core" &  +2 "storage"(]& +4 "core" &<- k ` \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&R'΍ +91 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , +45 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +60 "core" 1 +3 "manipulator"&S% +4 "core" % Θ  ~ Q +2 "storage"(+& +3 "core" &<- n l I\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&J' +13 "core" ' +2 "manipulator"& & +4 "core" &   e +2 "storage"(& +4 "core" &<- k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +14 "core" ' + "storage"(O% +4 "core" % l k\ +3 ."downElevator"SE.seek :down +4 "storage"(T' +98 ($% +3 "core" %L & 4 H\ Wc +2 "manipulator"&d% +5 "core" %T A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +94 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'j& +4 "core" &\ \ \\\ +2 "manipulator"&e% +4 "core" %  r  +2 "storage"(G% +4 "core" % n o \  +2 "storage"(w. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(%(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (E& +4 "core" &K # ) V\ +2 "manipulator"&`& +3 "core" & y +2 .tElbow.seek 6 +2 "manipulator"&N( +4 "core" ( +2 "manipulator"&y& +4 "core" &  P +2 "storage"(.& +4 "core" &K X H [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +100 "core" ' + "storage"(1& +4 "core" &K a k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +292 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &K V G \ +2 "manipulator"&Q& +5 "core" &  V + .tElbow.seek 6 +2 "manipulator"&=( +4 "core" ( +2 "manipulator"&_& +3 "core" &  C +2 "storage"(r& +4 "core" &K V T \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&o'h +12 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(' +7 "core" &  Z +2 "manipulator"&9% +4 "core" % g \\ +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ( + "manipulator"&u& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &ӓ 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &ӓ  U 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Z'? +99 "core" ' + "manipulator"&& +4 "core" &Ӕ  6 +2 "manipulator"&g% +4 "core" %B L  +2 "collection"',& +4 "core" &\ \ n\ +3 "collection"'m& +6 "core" &\ \ t\ +2 .tCC.seek :closed +3 "collection"'X(\\ +4 "core" &\ \ p\ +5 &\ \ n\ 7 +10 &DKv\ \ w\ / +9 &rs}\ \ u\ D +9 &[\ \ w\ K +10 &T\ \ l\ K +9 &Y\ \ j\ K +10 &cU\ \ k\ K +9 &%R\ \ o\ K +9 &U\ \ i\ K +10 &R\ \ j\ K +9 &kU\ \ j\ K +9 &!-R\ \ c\ K +10 &"U\ \ i\ K +9 &$S\ \ e\ K +10 &&sU\ \ k\ K +9 &(5Y\ \ k\ K +9 &)T\ \ b\ J +10 &+T\ \ e\ K +9 &-zW\ \ _\ K +9 &/>U\ \ \\\ J +10 &0T\ \ c\ K +9 &2T\ \ c\ K +10 &4U\ \ ]\ K +9 &6ES\ \ d\ K +9 &8U\ \ e\ K +10 &9U\ \ j\ J +9 &;U\ \ `\ K +9 &=L\\\ \ c\ K +10 &?W\ \ e\ K +9 &@T\ \ f\ K +10 &B[\ \ i\ L +50 &DRa\ \ g\ L +5 &Fn\ \ h\ N + &G\ -\ (d\ P + &I\ E\ >g\ U + &K;\ L\ K_\ V + &L\ J\ Je\ W +6 &N\ G\ Ge\ W +10 &P|\ E\ Fg\ X +9 &R<\ B\ Bf\ Y +9 &S\ @\ Ad\ Y +10 &U\ @\ ?g\ Z +9 &W~\ >\ >f\ Z +10 &Y;\ <\ =e\ \\ +9 &Z\ <\ =d\ [ +9 &\\[N\ :\ ;j\ 5 +10 &\\\ :\ <i\ Z +5 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&'1 +3 "core" &\\}\ 8\ 9e\ Z +56 1 +2 "manipulator"&Y% +3 "core" % B  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%3& +5 "core" &\ + "manipulator"&;% +5 "core" %  k  + "storage"(>% +4 "core" %\ !\ " 5\  +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(q(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &K\ \ B\  +2 "manipulator"&|& +4 "core" &  % +2 "manipulator"&% +4 "core" %  y  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&f( +152 "core" ( + "manipulator"&D& +4 "core" &   +2 "storage"(8& +4 "core" &K $ .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(L& +4 "core" &K / + \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &K P B\  +2 "manipulator"&& +5 "core" &  +2 .tElbow.seek 6 + "manipulator"&?( +4 "core" ( +2 "manipulator"&P& +3 "core" & [  +2 "storage"(& +4 "core" &K . . 6\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&5'h +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"()' +8 "core" & 9  +2 "manipulator"&4% +3 "core" % ] u +3 .tForearm.seek :retract +2 "manipulator"&l' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&t( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&& +4 "core" & Z K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  ; K +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&s& +4 "core" & 3 J +2 "manipulator"&#% +4 "core" % \\ +2 "processing"%{& +4 "core" &\ +3 "processing"%C& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 & .\ $c +9 &Uz\ 7 +10 &v\ K +9 &S\ M +9 &dV\ N +10 &&U\ N +9 &X\ M +10 &W\ N +9 &mT\ M +9 &/T\ M +10 &U\ N +9 &!Q\ M +9 &#uR\ M +10 &%8S\ M +9 &&V\ N +10 &(W\ M +9 &*|X\ N +9 &,?U\ M +10 &.R\ M +9 &/U\ N +9 &1T\ N +10 &3GS\ M +9 &5 Q\ M +10 &6S\ N +9 &8V\ N +9 &:OR\ M +10 &<U\ N +9 &=W\ N +9 &?U\ M +10 &AVW\ N +9 &C`\ O +10 &Dc\ P +9 &Fl\ P +9 &HQ}\ R +10 &J\ S +9 &K\ T +9 &M\ T +10 &OS\ T +9 &Q\ U +10 &R\ U +9 &T\ U +9 &VY\ U +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]_\ C +9 &^Cx\ ` +10 &^G\ 9 +5 ( +2 "processing"%C& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&I1 +3 "core" &^4\ 9 +58 1 + "manipulator"&0% +4 "core" %    \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +142 "core" ' +5 "processing"%\ & +4 "core" &^4}\ 9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %    # +2 "storage"(A% +4 "core" %\ \ \ \ \  +2 "storage"(\\. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +2 "manipulator"&!& +5 "core" &K \  \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   J +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(@'r +2 "manipulator"& ( +6 "core" ( + "manipulator"&K& +5 "core" &   R J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &:& +2 "core" &   J +3 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%[( +96 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +304 ( + "storage"(6& +4 "core" &K ) \\ D\  +2 "manipulator"&i& +4 "core" & N J +2 "manipulator"&V% +3 "core" %  Y ^ +3 .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&b( +244 "core" ( +2 "manipulator"&& +3 "core" &   ; +2 "storage"(& +4 "core" &K O &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "storage"(H- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(U' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(]' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(B- +3 "core" -' +2 "storage"(v& +4 "core" &K R ] 1\  +2 "manipulator"&7& +4 "core" &   0 : +2 .tElbow.seek 6 +2 "manipulator"&S( +4 "core" ( + "manipulator"&+& +4 "core" &   q : +2 "storage"( & +4 "core" &K i i a\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(O'" +51 "core" ' + "manipulator"&M& +4 "core" & X : +2 "storage"($& +4 "core" &K P -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&('< +21 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(R' +19 "core" ' + "manipulator"&j% +4 "core" %O +2 "storage"(e& +4 "core" &K P\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&J'{ +15 "core" ' + "manipulator"&G& +4 "core" &  ~ : +2 "storage"(w& +5 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(h% +3 "core" %  B\ +49 ."downElevator"SE.seek :down +5 "storage"(T' +99 (/% +4 "core" %$Q\ \  \ Xh +2 "manipulator"&E% +4 "core" % 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (y& +3 "core" &K / {\  +2 "collection"'.& +4 "core" &\\|\ 4\ 2[\ Z +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&1% +4 "core" %  6  +2 "storage"(<% +5 "core" % ! " \  + "storage"(". +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(k(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (^& +3 "core" &K\ \ F\  +2 "manipulator"&Q& +3 "core" & C : +3 .tElbow.seek 6 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&r& +4 "core" & T : +2 "storage"(F& +4 "core" &K $ . b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&~' +95 "core" ' + "storage"(9& +4 "core" &K . / <\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +298 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" & V : +2 "storage"(a& +4 "core" &K \ `\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(g'p +29 "core" ' +2 "manipulator"&,% +3 "core" %O $  +2 "storage"(=& +4 "core" &K L $\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&'{ +14 "core" ' +2 "manipulator"&z& +4 "core" &  : +2 "storage"(W& +4 "core" &K\ !\ ! \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(Y' +34 "core" ' +2 "manipulator"&3& +4 "core" & 9 : +2 "manipulator"&;% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&m& +4 "core" &Ӑ - 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &}& +3 "core" &Ӑ ; 3 +2 .tForearm.seek CC +2 "manipulator"&|'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'Z( +447 "core" ( +2 "storage"(D& +3 "core" &K G S K\  +2 "storage"(8& +4 "core" &K S W 0\  +2 "manipulator"&%& +4 "core" &  % +2 "manipulator"&L% +3 "core" %   [ +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&&( +147 "core" ( +2 "manipulator"&n& +3 "core" &  \   +2 "storage"(2& +5 "core" &K n n \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' +44 .tElbow.hold +5 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +58 "core" 1 +3 "manipulator"&*% +3 "core" % , \  = 1 +2 "storage"(x& +4 "core" &K o m .\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 284 counts + "manipulator"&4'X +16 "core" ' + "manipulator"&f& +4 "core" &  \   +2 "storage"(& +4 "core" &K j l \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(5% +4 "core" % b h \  +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %OI T T S\ Wc +2 "manipulator"&?% +5 "core" % S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'#& +3 "core" &\ \ \ h\ +2 "manipulator"&{% +4 "core" %   i  +2 "storage"()% +4 "core" % n n \  +2 "storage"(l. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +677 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (I& +2 "core" &,z R I \ +2 "manipulator"&0& +4 "core" & 3  +2 .tElbow.seek 4 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&\ & +4 "core" & i  +2 "storage"(& +3 "core" &,z o n \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +95 "core" ' +2 "storage"(\\& +4 "core" &,z j i \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'r +299 "core" ' +2 "storage"(!- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (K& +3 "core" &,k L Q \ +2 "manipulator"&:& +4 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  G  +2 "storage"(q& +4 "core" &,k n o \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&t/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& +2 "storage"(' +6 "core" &  *  +3 "manipulator"&@% +3 "core" % g  T +3 .tForearm.seek :retract +2 "manipulator"&6' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +153 "core" ' +2 ( + "manipulator"&V& +2 ."downElevator"SE.stop +7 "storage"(5 +2 "core" &ӊ  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӊ  8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + "manipulator"&& +4 "core" &ӌ   8 +2 "manipulator"& % +5 "core" %9 H D +2 "collection"'& +3 "core" &\ \ \ \ +3 "collection"'H& +5 "core" &\ \ \ s\ +3 .tCC.seek :closed + "collection"'B(\\ +4 "core" &\ \ \ x\ +7 &?\ \ w\ %g +10 &Yu\ \ \ s\ 7 +9 & w\ \ n\ K +10 &Q\ \ i\ K +9 &W\ \ j\ K +9 &PR\ \ v\ K +10 &T\ \ s\ J +9 &U\ \ t\ K +9 &R\ \ x\ K +10 &YS\ \ w\ J +9 & T\ \ w\ K +10 &!W\ \ j\ K +9 &#S\ \ w\ K +9 &%aT\ \ j\ J +10 &'"T\ \ o\ K +9 &(W\ \ j\ K +9 &*R\ \ `\ K +10 &,iT\ \ i\ J +9 &.*T\ \ h\ K +10 &/X\ \ b\ K +9 &1S\ \ h\ K +9 &3qT\ \ f\ J +10 &52U\ \ c\ K +9 &6T\ \ W\ K +48 &8U\ \ S\ K +5 &:wS\ \ Q\ K +4 &<9V\ \ V\ K + &=V\ \ Y\ K + &?V\ \ U\ K + &AW\ \ Y\ K +6 &C@[\ \ V\ L +9 &Ec\ \ T\ L +9 &Fm\ \ R\ N +10 &Hx\ '\ !S\ P +9 &J,\ ;\ 5T\ U +10 &K\ @\ AR\ V +9 &M\ >\ @R\ W +9 &Ok\ >\ ?]\ X +10 &Q-\ >\ <T\ W +9 &R\ ;\ ;T\ Y +9 &T\ ;\ <X\ Y +10 &Vo\ :\ ;U\ Y +9 &X.\ ;\ :Y\ Z +10 &Y\ :\ :Z\ [\ +9 &[\ :\ 9d\ H +9 &\\/\ :\ 9X\ 0 +10 &\\r\ 7\ 7a\ N +2 ( +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&v1 +57 "core" 1 +2 "manipulator"&7% +4 "core" % 9  ^ D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"% & +3 "core" &\ +2 "manipulator"&c% +4 "core" %  X  +2 "storage"(M% +4 "core" %\ \ :\  +2 "storage"($. +4 "core" .(,y + "storage"(j& +5 "core" &,k a W\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +3 "core" &,z\ \ u\ +2 "manipulator"&G& +4 "core" &ӯ E 3 +2 "manipulator"&w% +4 "core" %  M  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&U( +161 "core" ( +2 "manipulator"&h& +3 "core" & #  +2 "storage"(b& +4 "core" &,z / . T\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(]& +3 "core" &,z 1 ; \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +6 "storage"(/'r +298 "core" ' +2 "storage"(E- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,l  O \  +2 "manipulator"&S& +4 "core" & X  +2 .tElbow.seek 4 +2 "manipulator"&O( +4 "core" ( + "manipulator"&(& +4 "core" &   +2 "storage"(J& +4 "core" &,l\ \ ! J\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&y'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"(<' +7 "core" & F  + "manipulator"&R% +4 "core" % _ K +2 .tForearm.seek :retract +2 "manipulator"&"' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&Q& +4 "core" & ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" & g +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&F' +90 "core" ' +2 "manipulator"&& +3 "core" & O +2 "manipulator"&9% +4 "core" % Q l +2 "processing"%T& +4 "core" &\ +3 "processing"%& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%d(^ +3 "core" &\ +7 &6\ #b +9 &T}\ 6 +10 &|\ K +9 &U\ N +10 &RR\ N +9 &W\ M +9 &T\ N +10 &W\ M +9 &ZR\ N +9 &X\ M +10 &R\ N +9 &!W\ M +10 &#bS\ N +9 &%%W\ M +9 &&U\ N +10 &(S\ M +9 &*kT\ M +9 &,,Y\ N +10 &-W\ M +9 &/Z\ N +10 &1rU\ N +9 &35R\ M +9 &4T\ M +10 &6Y\ N +9 &8yX\ N +9 &:=T\ M +10 &;W\ M +9 &=W\ M +10 &?V\ N +9 &ACU\ N +9 &C_\ O +10 &Db\ O +9 &Fj\ P +9 &H?{\ R +10 &I\ S +9 &K\ S +10 &M\ T +9 &OA\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &VF\ U +10 &X\ \ T +9 &Y\ T +10 &[\ U +9 &]L\ J +9 &^P\ !g +10 &^\ , +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&`1 +59 "core" 1 +2 "manipulator"& % +3 "core" %    l +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +93 "core" ' + "processing"%a& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %    O  +3 "storage"(,% +3 "core" % X \  +2 "storage"(=. +3 "core" .(,y +2 "storage"(z& +4 "core" &,l X o\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(W(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (3& +2 "manipulator"&;& +6 "core" &,} X\ ' <\ + & \ [ +5 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&~( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(_'r +2 "core" ( +2 "manipulator"&N& +6 "core" & \ C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   Q +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close +2 "manipulator"&g/ +60 "core" / +2 .tPC.seek :open +2 "processing"%m( +89 "core" ' +2 "storage"(}- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +42 "core" ' +312 ( +2 "storage"(o& +3 "core" &,j\ "\ ! 7\  +2 "manipulator"&& +4 "core" & V +2 "manipulator"&>% +4 "core" %  M @ +2 .tForearm.seek :retract +2 "manipulator"&X' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&D( +241 "core" ( +2 "manipulator"&8& +4 "core" & / < +2 "storage"(%& +4 "core" &,j   z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&L' +93 "core" ' +2 .tHand.open + "manipulator"&n1 +57 "core" 1 +2 "storage"(2- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(*& +4 "core" &,j Z [ Z\  +2 "manipulator"&x& +4 "core" &   < +2 .tElbow.seek 4 +2 "manipulator"&f( +4 "core" ( + "manipulator"&& +4 "core" &   < +2 "storage"(5& +4 "core" &,j O X \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' + "manipulator"&?& +4 "core" & ` < +2 "storage"(&& +4 "core" &,j W  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"({' +19 "core" ' +2 "manipulator"&4% +4 "core" %H s S +2 "storage"()& +4 "core" &,j N \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 317 counts + "manipulator"&l't +14 "core" ' + "manipulator"&Y& +4 "core" &  f < +2 "storage"(& +4 "core" &,j L S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 4 + 450 counts +9 "manipulator"&' +16 "core" ' + "storage"(k% +4 "core" % ! z\ +3 ."downElevator"SE.seek :down +4 "storage"(I' +98 (0% +4 "core" %3N\ \  [\ Wf +2 "manipulator"&\ % +4 "core" % : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\\& +3 "core" &,j ' [ D\  +3 "collection"'P& +3 "core" &\\p\ 1\ 2V\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&s% +3 "core" %  U  +3 "storage"(!% +3 "core" % . / E\  +2 "storage"(K. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(:(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,y " $ R\ +2 "manipulator"&q& +4 "core" & < +2 .tElbow.seek 4 +2 "manipulator"&t( +4 "core" ( +2 "manipulator"&p& +3 "core" & p < +2 "storage"(@& +4 "core" &,y ! ! \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +92 "core" ' + "storage"(A& +4 "core" &,y 0 + (\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&-& +4 "core" & X < +2 "storage"(& +3 "core" &,l P L\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"& , +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('d +33 "core" ' +2 "manipulator"&% +4 "core" %J i Z +2 "storage"(6& +3 "core" &,l S X\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&Z'v +14 "core" ' + "manipulator"&v& +4 "core" & J ; +2 "storage"(7& +4 "core" &,l ( 4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(c' +36 "core" ' + "manipulator"&M& +4 "core" & e ; +2 "manipulator"&$% +5 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +166 "core" ( +2 "manipulator"&e& +4 "core" &ӊ  P ( +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &ӊ E ( +2 .tForearm.seek CC +2 "manipulator"&w'? +100 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'h( +446 "core" ( +2 "storage"(b& +4 "core" &,l T T N\  +2 "storage"( & +4 "core" &,l T U m\  +2 "manipulator"&]& +4 "core" &ӊ ( +2 "manipulator"&i% +3 "core" % %  u +2 .tForearm.seek :retract +2 "manipulator"&+' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&E( +154 "core" ( +2 "manipulator"&& +3 "core" & L  +2 "storage"(S& +4 "core" &,l G H 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +47 .tForearm.seek 4 +5 "manipulator"&('7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&.1 +65 "core" 1 +2 "manipulator"&1% +4 "core" % :  { Z +2 "storage"(R& +3 "core" &,l n n \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 303 counts +2 "manipulator"&U'f +14 "core" ' +2 "manipulator"&& +3 "core" &   j  +2 "storage"(/& +4 "core" &,l a k }\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +15 "core" ' +2 "storage"(Q% +3 "core" % a k \ +3 ."downElevator"SE.seek :down +4 "storage"(r' +98 (O% +3 "core" %I U T H\ Vb +2 "manipulator"&% +4 "core" % q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'T& +5 "core" &\ \ g\ + "manipulator"&<% +4 "core" % !  B $ +2 "storage"("% +4 "core" % n m \  +2 "storage"([. +2 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(`(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<- % . R\  +2 "manipulator"&& +4 "core" & [  +2 .tElbow.seek 5 +2 "manipulator"&a( +14 "core" ( + "manipulator"&& +4 "core" &  i +2 "storage"(,& +4 "core" &<- n n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +93 "core" ' + "storage"(z& +4 "core" &<- l k #\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +295 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &<- U I D\  +2 "manipulator"& & +4 "core" &  i +2 .tElbow.seek 5 +2 "manipulator"&F( +4 "core" ( + "manipulator"&g& +4 "core" &   W i +2 "storage"(& +4 "core" &<- Q V @\  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&}'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(d' +8 "core" & [ i +2 "manipulator"&_% +5 "core" %  B r +2 .tForearm.seek :retract +2 "manipulator"&o' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&>& +4 "core" &ӕ I 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӕ  5 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&8'? +105 "core" ' +3 "manipulator"&%& +3 "core" &ӕ 5 +2 "manipulator"&~% +4 "core" %>  l +2 "collection"'n& +5 "core" &\ \ \ q\ +2 "collection"'2& +6 "core" &\ \ \ f\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ j\ +6 &;\ \ \ j\ %g +10 &Yv\ \ a\ 7 +9 &v\ \ _\ J +10 &Q\ \ `\ K +9 &W\ \ a\ K +9 &JR\ \ d\ K +10 & T\ \ f\ J +9 &U\ \ d\ K +9 &W\ \ c\ K +10 &RS\ \ d\ K +9 & S\ \ e\ K +48 &!T\ \ c\ J +5 &#U\ \ a\ K +2 &%ZW\ \ c\ K +2 &'R\ \ n\ K +2 &(R\ \ d\ K + &*S\ \ b\ J +6 &,cU\ \ b\ J +9 &.%U\ \ e\ J +10 &/U\ \ \\\ K +9 &1Y\ \ a\ K +9 &3jR\ \ k\ K +10 &5-T\ \ ^\ J +9 &6U\ \ c\ K +9 &8T\ \ d\ K +10 &:rU\ \ n\ K +9 &<3Y\ \ h\ K +10 &=V\ \ ^\ K +9 &?V\ \ a\ J +9 &AyW\ \ e\ K +10 &C;W\ \ o\ K +9 &Db\ \ [\ L +9 &Fj\ \ _\ N +10 &Ht\ &\ l\ P +9 &J)\ =\ 3`\ T +10 &K\ A\ ?g\ W +9 &M\ A\ Bd\ X +9 &Oc\ A\ @`\ X +10 &Q#\ ?\ >_\ Y +9 &R\ <\ >[\ X +9 &T\ >\ =`\ Z +10 &Vf\ <\ =d\ Z +9 &X$\ :\ ;j\ [ +10 &Y\ =\ <i\ \\ +9 &[\ >\ ;g\ H +9 &\\0\ ;\ ;d\ 2 +10 &\\g\ :\ 9e\ N +2 ( +2 "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&*1 +54 "core" 1 +2 "manipulator"&x% +4 "core" % > H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%5& +4 "core" &\ +2 "manipulator"&X% +4 "core" %  t  +2 "storage"(?% +4 "core" % ! !\  +2 "storage"(&. +4 "core" .(<- + "storage"(4& +4 "core" &<- ! + :\  +2 "storage"()& +4 "core" &<- ! $ 5\  +2 "manipulator"&'& +4 "core" &ӭ  2 +2 "manipulator"&Y% +3 "core" %  H  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&|& +3 "core" &  )  +2 "storage"(k& +4 "core" &<- ! #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +93 "core" ' +2 "storage"(L& +3 "core" &<- T U \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +3 "core" &<- c /\  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 5 + "manipulator"&f( +3 "core" ( +2 "manipulator"&& +4 "core" &  >  +2 "storage"(& +4 "core" &<- / / \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&l'Ϲ +40 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&P& +2 "storage"(s' +8 "core" &  +2 "manipulator"&!% +4 "core" %  0 [ +2 .tForearm.seek :retract +2 "manipulator"&K' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" &  E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" & E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p' +92 "core" ' +2 "manipulator"&@& +3 "core" & [ E +2 "manipulator"&% +4 "core" % T V +2 "processing"%A& +5 "core" &\ +2 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%W(^ +4 "core" &\ +7 &6\ #c +9 &V{\ 7 +10 &u\ K +9 &S\ N +10 &eU\ N +9 &(Q\ M +9 &T\ N +10 &R\ M +9 &nS\ M +9 &/W\ N +10 &U\ N +9 &!Q\ M +9 &#vU\ M +10 &%7W\ N +9 &&V\ N +10 &(S\ M +9 &*~T\ M +9 &,?T\ N +10 &.W\ M +9 &/X\ N +9 &1W\ M +10 &3GW\ N +9 &5 U\ N +10 &6X\ N +9 &8V\ N +9 &:OS\ N +10 &<U\ M +9 &=V\ M +10 &?V\ N +9 &AVW\ N +9 &Cb\ O +10 &Db\ O +9 &Fp\ P +9 &HQ\ R +10 &J\ S +9 &K\ T +10 &M\ T +9 &OS\ T +9 &Q\ U +10 &R\ U +9 &T\ U +9 &V[\ T +10 &X\ U +11 &Y\ U +10 &[\ U +7 &]_\ C +9 &^Cu\ ` +10 &^=\ 4 +5 ( +2 "processing"%I& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open + "manipulator" +3 "core" &^(\ 4 +61 1 +2 "manipulator"&% +3 "core" %   Z V +3 .tForearm.reconfigure :loose +50 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + "processing"%-& +4 "core" &^'\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % !  i $ +2 "storage"(% +4 "core" % P j\  +2 "storage"(. +2 "core" .(<- +3 "storage"(6& +3 "core" &<- N B\  +2 "storage"(v& +5 "manipulator"&7& +5 "core" &<- N r\  + & \  E +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&M( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"($'r +3 "core" ( +2 "manipulator"&C& +3 "core" &   E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +3 "core" &   h E +2 .tForearm.seek PC +2 "manipulator"&V' +90 "core" ' +2 .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%Z( +100 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(e'1 +46 "core" ' +296 ( +3 "storage"(G& +3 "core" &<- % ! ?\  +2 "manipulator"& & +4 "core" & ) E +2 "manipulator"& % +4 "core" %  1 c +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&j( +246 "core" ( + "manipulator"&B& +4 "core" & G ' +2 "storage"(b& +4 "core" &<-\ \  B\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +90 "core" ' + .tHand.open +2 "manipulator"&]1 +56 "core" 1 +2 "storage"(i- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(S' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(w- +3 "core" -' +3 "storage"(H& +3 "core" &<- 7 7\  +2 "manipulator"&.& +4 "core" &   & +2 .tElbow.seek 5 +2 "manipulator"&1( +4 "core" ( + "manipulator"&R& +5 "core" &   x & +2 "storage"(& +3 "core" &<- 7 8 >\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(Q'" +52 "core" ' +2 "manipulator"&+& +3 "core" &  & +2 "storage"(O& +4 "core" &<- \ ! O\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +28 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"((' +19 "core" ' +2 "manipulator"&T% +3 "core" %΁ w +2 "storage"(U& +4 "core" &<-\ \ (\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 288 counts +2 "manipulator"&<'ϭ +13 "core" ' +2 "manipulator"&"& +4 "core" &  +2 "storage"([& +3 "core" &<- 2 2\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +29 "core" ' +2 "storage"(y% +5 "core" % 3 % \ +2 ."downElevator"SE.seek :down +38 "storage"(r' +64 (:% +3 "core" %B N r\ Vb +2 "manipulator"& % +4 "core" %I ! +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +104 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<-  ' &\  +2 "collection"',& +4 "core" &\\e\ 1\ 2e\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&z% +3 "core" %  6 +3 "storage"(J% +3 "core" % 4 ?\  +2 "storage"(9. +4 "core" .(<- + "storage"(3& +4 "core" &<- & \  +2 "storage"(N& +4 "core" &<- ! & \  +2 "manipulator"& & +4 "core" & O  +2 .tElbow.seek 5 +2 "manipulator"&g( +16 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"(^& +3 "core" &<- : 1 \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&u'O +92 "core" ' + "storage"(_& +4 "core" &<- : - \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +300 "core" ' +2 "storage"(=- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&>& +3 "core" & J  +2 "storage"(& +4 "core" &<- ! +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&;'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(~'t +29 "core" ' + "manipulator"&F% +5 "core" %Π + "storage"(n& +4 "core" &<-\ #\ ( [\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&d' +14 "core" ' +2 "manipulator"&o& +3 "core" & ]  +2 "storage"(h& +4 "core" &<- % , *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(x' +42 "core" ' +2 "manipulator"&5& +3 "core" &  +3 "manipulator"&X% +3 "core" %? ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +156 "core" ( +2 "manipulator"&4& +3 "core" &ӏ   :. +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &)& +3 "core" &ӏ  k :. +2 .tForearm.seek CC +2 "manipulator"&2'? +99 "core" ' +2 .tHand.close + "manipulator"&'/ +56 "core" / +2 .tCC.seek :open +2 "collection"'Y( +447 "core" ( + "storage"(8& +4 "core" &<- Q T V\  +2 "storage"(|& +4 "core" &<- X V \  +2 "manipulator"&k& +4 "core" &Ӭ 6 +2 "manipulator"&L% +4 "core" % =  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( + "manipulator"&0& +4 "core" & \  s  +2 "storage"(\ & +4 "core" &<- n n \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +52 "core" 1 +9 "manipulator"&\\% +4 "core" % Ή  s  +2 "storage"(P& +4 "core" &<- n k K\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 296 counts +2 "manipulator"&!'ϵ +14 "core" ' +2 "manipulator"&& +4 "core" & k  +2 "storage"(D& +4 "core" &<- k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +25 "core" ' +2 "storage"(l% +3 "core" % k k\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (q% +3 "core" %F T T [\ Va +2 "manipulator"&f% +3 "core" %} p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ h\ +2 "manipulator"&A% +4 "core" % \   a  +2 "storage"(s% +5 "core" % k k \  + "storage"(K. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(m(K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (#& +3 "core" &K R T c\ +2 "manipulator"&& +3 "core" &  9  +3 .tElbow.seek 6 + "manipulator"&I( +3 "core" ( +2 "manipulator"&-& +5 "core" &  V  + "storage"(& +4 "core" &K l k\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(& +3 "core" &K k l\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'r +291 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (v& +2 "core" &K X Y\ +2 "manipulator"&C& +4 "core" &  +  +2 .tElbow.seek 6 +2 "manipulator"&t( +4 "core" ( + "manipulator"&p& +4 "core" &  w  +2 "storage"(& +3 "core" &K V S \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +27 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(W' +8 "core" &    +2 "manipulator"&$% +5 "core" % ϓ  t  +2 .tForearm.seek :retract +2 "manipulator"&G' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"& & +3 "core" &Ӎ# < ;9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +2 "core" &Ӎ# Y <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&B'? +101 "core" ' +2 "manipulator"&b& +4 "core" &Ӑ"  ;6 +2 "manipulator"&M% +5 "core" %9 ,  +2 "collection"']& +3 "core" &\ \ \ \ +3 "collection"'i& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'w(\\ +5 "core" &\ \ \ \ +7 &<\ \ \ \ %g +9 &Yv\ \ \ \ v\ 7 +9 &w\ \ y\ K +10 &U\ \ u\ K +9 &U\ \ |\ K +10 &GS\ \ x\ K +9 & T\ \ y\ K +9 &W\ \ r\ K +10 &T\ \ y\ K +9 &OW\ \ t\ K +9 & T\ \ u\ J +10 &!T\ \ h\ K +9 &#X\ \ s\ K +10 &%XT\ \ y\ J +9 &'T\ \ s\ K +9 &(R\ \ u\ K +10 &*T\ \ y\ J +9 &,_U\ \ x\ K +9 &.!R\ \ x\ K +10 &/T\ \ x\ J +9 &1U\ \ w\ K +10 &3hT\ \ o\ J +9 &5)T\ \ y\ K +9 &6U\ \ y\ J +10 &8U\ \ t\ K +9 &:oU\ \ t\ K +9 &<1W\ \ v\ K +10 &=Z\ \ t\ L +9 &?U\ \ w\ K +10 &AwW\ \ j\ K +9 &C7_\ \ x\ L +9 &Dg\ \ y\ M +10 &Fr\ !\ t\ N +9 &Hj\ 7\ /u\ R +9 &J#\ H\ Et\ U +10 &K\ L\ Kx\ W +9 &M\ J\ Ju\ W +10 &O`\ E\ Gu\ X +9 &Q!\ C\ Fs\ X +55 &R\ E\ Bq\ Y +5 &T\ @\ Aw\ Y +3 &Vb\ >\ ?r\ Z +2 &X$\ <\ ?x\ Z + &Y\ =\ =r\ \\ +2 &[\ ;\ <v\ H + &\\1\ <\ <s\ 6 +6 &\\h\ 9\ :m\ L +2 ( +2 "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&H1 +56 "core" 1 +2 "manipulator"&.% +4 "core" % 9  C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %  Q  +2 "storage"(+% +4 "core" % 1 /\  +2 "storage"(O. +3 "core" .(K +2 "storage"(T& +4 "core" &K 1 \ +2 "storage"(U& +4 "core" &K 0 2\ +2 "manipulator"&e& +5 "core" & ( + "manipulator"&"% +5 "core" %  '  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&[( +149 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(y& +4 "core" &K B 4 o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +91 "core" ' + "storage"( & +4 "core" &K T T C\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +298 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( & +2 "core" &K ! & *\ +2 "manipulator"&/& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&Q& +4 "core" &  J  +2 "storage"(& +3 "core" &K 0 / \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&<'h +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&(/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(,' +8 "core" &  +2 "manipulator"&z% +4 "core" % m +2 .tForearm.seek :retract +2 "manipulator"&J' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&9( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&3& +3 "core" & ( L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +3 "core" & L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 "manipulator"&& +4 "core" & e L +2 "manipulator"&^% +4 "core" %  V +2 "processing"%c& +4 "core" &\ +3 "processing"%_& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%r(^ +3 "core" &\ +9 &5\ #c +9 &Vz\ 7 +10 &u\ K +9 &R\ N +9 &dT\ N +10 &(P\ M +9 &W\ N +10 &T\ M +9 &mQ\ M +9 &/T\ M +10 &T\ N +9 &!S\ N +10 &#tT\ N +9 &%8Q\ M +9 &&W\ M +10 &(W\ N +9 &*}U\ M +9 &,?R\ M +10 &.Q\ M +9 &/S\ N +9 &1T\ N +10 &3FU\ N +9 &5 U\ M +10 &6W\ M +9 &8R\ M +9 &:OT\ M +10 &<U\ M +9 &=Y\ N +9 &?T\ N +10 &AVV\ N +9 &Ca\ O +10 &De\ O +9 &Fk\ Q +9 &HQ~\ R +10 &J\ T +9 &K\ T +9 &M\ T +10 &OS\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &VY\ U +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]_\ C +9 &^Du\ [ +10 &^>\ 2 +5 ( +2 "processing"%_& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&E1 +3 "core" &^%\ 2 +58 1 +2 "manipulator"&% +3 "core" %     V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&=' +97 "core" ' +2 "processing"%>& +4 "core" &^%x\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +5 "core" % !  o ) + "storage"(%% +5 "core" % O \  + "storage"(F. +50 "core" .(K +3 "storage"(n& +4 "core" &K   :\ +2 "storage"(o& +3 "manipulator"&h& +8 "core" &K  Z\ + & \ Q L +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&5( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(X'r +3 "core" ( +2 "manipulator"&u& +4 "core" &   L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &  f L +3 .tForearm.seek PC + "manipulator"&a' +95 "core" ' +3 .tHand.close + "manipulator"&;/ +61 "core" / +2 .tPC.seek :open +2 "processing"%d( +89 "core" ' + "storage"(~- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +48 "core" ' +306 ( +2 "storage"()& +4 "core" &K + 4 \ +2 "manipulator"&*& +3 "core" & F L +2 "manipulator"&}% +4 "core" %  J 3 +2 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&?( +250 "core" ( +2 "manipulator"&& +5 "core" & b T + "storage"(8& +4 "core" &K 1 /\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +94 "core" ' +2 .tHand.open + "manipulator"&k1 +58 "core" 1 +2 "storage"(L- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\ ' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +3 "core" -' +2 "storage"(&& +4 "core" &K e g \ +2 "manipulator"&& +4 "core" &   b T +2 .tElbow.seek 6 +2 "manipulator"&\\( +4 "core" ( +2 "manipulator"&P& +3 "core" & \  L T +2 "storage"(& +4 "core" &K h h \ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&D' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(l'" +51 "core" ' +2 "manipulator"&& +4 "core" & N T +2 "storage"(q& +3 "core" &K \  X\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&f'< +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&!% +4 "core" %A J  +2 "storage"(& +4 "core" &K . . h\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&A'm +15 "core" ' + "manipulator"&s& +4 "core" & r S +2 "storage"(K& +4 "core" &K / + C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +15 "core" ' + "storage"(% +4 "core" % 5 &\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (`% +3 "core" %R\ "\ P\ Xi +2 "manipulator"&#% +4 "core" % w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (-& +42 "core" &K . + \ +9 "collection"'& +4 "core" &\\a\ 1\ 1n\ L +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +5 "core" %  c  + "storage"(% +4 "core" % / $ \  +2 "storage"(@. +3 "core" .(K +2 "storage"(7& +3 "core" &K . / \ +2 "storage"(v& +4 "core" &K / . \ +2 "manipulator"&C& +4 "core" & < S +2 .tElbow.seek 6 +2 "manipulator"&p( +4 "core" ( + "manipulator"&& +4 "core" & k S +2 "storage"({& +4 "core" &K / .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +111 "core" ' +2 "storage"($& +3 "core" &K : T V\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +4 "core" & K S +2 "storage"(V& +4 "core" &K 1 1 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&6'< +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(M'n +33 "core" ' +2 "manipulator"&]% +3 "core" %J Q  +2 "storage"(t& +3 "core" &K 0 1\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&W'v +14 "core" ' +2 "manipulator"&G& +3 "core" &  T S +2 "storage"(Y& +4 "core" &K ! " #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(.' +39 "core" ' +2 "manipulator"&& +4 "core" & 6 S +2 "manipulator"&% +4 "core" % o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +147 "core" ( +2 "manipulator"&T& +4 "core" &Ӌ! :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &Ӌ! 3 :0 +3 .tForearm.seek CC +2 "manipulator"&U'? +95 "core" ' +2 .tHand.close + "manipulator"&e/ +59 "core" / +2 .tCC.seek :open +2 "collection"'"( +450 "core" ( +2 "storage"(B& +4 "core" &K Q V b\ +2 "storage"(& +4 "core" &K R V \ +2 "manipulator"&y& +4 "core" & * +2 "manipulator"& % +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&R( +150 "core" ( +2 "manipulator"&:& +4 "core" &  h  +2 "storage"( & +4 "core" &K n n \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&/'< +95 "core" ' +2 .tElbow.hold + "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&(% +3 "core" % I   4 0 +2 "storage"(& +4 "core" &K a k \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 313 counts + "manipulator"&z'u +13 "core" ' +3 "manipulator"&[& +3 "core" &  \ _  +2 "storage"(j& +49 "core" &K k l \ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +16 "core" ' + "storage"(<% +4 "core" % k l M\ +3 ."downElevator"SE.seek :down +4 "storage"(3' +98 (N% +3 "core" %G U T \ Wc +2 "manipulator"&1% +5 "core" % U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'^& +3 "core" &\ \ \ z\ +2 "manipulator"&c% +4 "core" %    +2 "storage"(,% +4 "core" % i a \  +2 "storage"(J. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(Z(,y +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +3 "core" &,{ S K \ +2 "manipulator"&& +3 "core" &  P  +3 .tElbow.seek 4 +2 "manipulator"&>( +2 "core" ( +2 "manipulator"&& +4 "core" & \  {  +2 "storage"(%& +5 "core" &,{ o n \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +116 "core" ' +2 "storage"(_& +3 "core" &,{ l k E\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +300 "core" ' +2 "storage"(h- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &,k P \\ x\  +2 "manipulator"&u& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&g( +4 "core" ( +2 "manipulator"& & +3 "core" & \  X  +2 "storage"(;& +4 "core" &,k h Z 3\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&~'c +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(r' +7 "core" &  + "manipulator"&X% +4 "core" % q +2 .tForearm.seek :retract +2 "manipulator"&)' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&*(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&}& +3 "core" &ә z 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +3 "core" &ә x 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +3 "manipulator"&8& +4 "core" &ә  \ 3 +2 "manipulator"&5% +4 "core" %3  +2 "collection"'k& +5 "core" &\ \ \ \ w\ +2 "collection"'L& +6 "core" &\ \ \ |\ +2 .tCC.seek :closed +3 "collection"'2(\\ +4 "core" &\ \ \ {\ +4 &\ \ \ ; +9 &MKv\ \ \ \ 1 +10 &u}\ \ \ \ E +9 &2Y\ \ \ K +10 &W\ \ \ K +9 &U\ \ \ J +9 &xT\ \ \ K +10 &:R\ \ \ K +9 &T\ \ \ J +9 &U\ \ ~\ K +10 &S\ \ {\ K +9 &!BT\ \ z\ K +10 &#W\ \ x\ K +9 &$T\ \ y\ J +9 &&T\ \ {\ K +10 &(IW\ \ u\ K +9 &* T\ \ y\ J +9 &+T\ \ w\ J +10 &-U\ \ r\ K +9 &/RS\ \ y\ K +10 &1T\ \ x\ K +9 &2W\ \ z\ K +9 &4T\ \ z\ J +10 &6YU\ \ t\ K +9 &8U\ \ u\ K +9 &9Y\ \ w\ K +10 &;U\ \ y\ K +9 &=bV\ \ w\ K +10 &?$W\ \ s\ K +9 &@W\ \ w\ K +9 &BY\ \ u\ K +10 &Dg_\ \ x\ L +9 &F%k\ \ v\ M +9 &Gz\ \ w\ P +10 &I\ 1\ .t\ T +9 &KQ\ @\ @w\ V +14 &M \ @\ @x\ X +5 &N\ =\ >v\ X +11 &P\ >\ >w\ X +8 &RS\ <\ =v\ X +9 &T\ =\ :u\ X +9 &U\ :\ <v\ Z +10 &W\ ;\ ;u\ [ +9 &YP\ 9\ :v\ \\ +10 &[\ :\ :x\ [ +9 &\\hF\ :\ 9t\ 1 +9 &\\\ 7\ 9s\ N +6 ( + "collection"'L& +4 "core" &\\f\ 7\ 6o\ N +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&&1 +63 "core" 1 +2 "manipulator"&% +5 "core" % 3  ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +47 .tForearm.seek :retract +5 "manipulator"&P' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&'% +4 "core" %  o  +2 "storage"(% +4 "core" % `\  +2 "storage"(q. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(!(,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| ! # Q\ +2 "manipulator"&4& +4 "core" &Ӭ A 0 +2 "manipulator"&s% +4 "core" %  [  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&K( +165 "core" ( + "manipulator"&0& +4 "core" &  +2 "storage"(& +5 "core" &,| ( & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +93 "core" ' + "storage"(|& +4 "core" &,| U U\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'r +300 "core" ' +2 "storage"(`- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (#& +3 "core" &,l\  a w\ \ +2 "manipulator"&D& +4 "core" & n  +2 .tElbow.seek 4 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&l& +4 "core" &  +2 "storage"(f& +3 "core" &,l ! + \ \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&-'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" & F  +2 "manipulator"&% +4 "core" % h I +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +3 .tElbow.seek PC +2 "manipulator"&@( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&7& +4 "core" & G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" & K G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C' +99 "core" ' +2 "manipulator"&& +3 "core" &  G +2 "manipulator"&{% +4 "core" % S K +2 "processing"%x& +4 "core" &\ +3 "processing"%$& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 &6\ #c +9 &Tx\ 6 +10 &~z\ K +9 &T\ M +9 &ZV\ N +10 &U\ N +9 &X\ M +10 &W\ N +9 &cT\ M +9 &&T\ M +10 &T\ N +9 &!R\ M +9 &#jW\ N +10 &%-T\ M +9 &&T\ N +10 &(T\ N +9 &*sR\ M +9 &,5T\ M +10 &-Q\ M +9 &/S\ N +9 &1zU\ N +10 &3<U\ N +9 &5R\ M +10 &6W\ N +9 &8V\ M +9 &:ET\ M +10 &<U\ M +9 &=Y\ N +9 &?T\ N +10 &ALU\ N +9 &C\ ^\ O +10 &Db\ O +9 &Fm\ P +9 &HHy\ R +10 &J\ S +9 &K\ T +9 &M\ T +10 &OH\ T +9 &Q \ U +9 &R\ U +10 &T\ U +9 &VP\ T +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]U\ E +9 &^z@p\ )w +9 &^&\ . +6 ( +2 "processing"%$& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&1 +4 "core" &^ \ . +54 1 + "manipulator"&% +4 "core" %  K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"% & +3 "core" &^ y\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&V% +4 "core" % #   4 +2 "storage"(b% +4 "core" %  \  +2 "storage"(]. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(t(,y +24 "core" ( +48 .tSC.configure :limp +3 "storage"($\ 1b +3 (G& +2 "manipulator"&Y& +4 "core" &,{ N !\ +4 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &   G +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&( +6 "core" ( +2 "manipulator"&& +4 "core" &   G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +4 "core" &  f G +3 .tForearm.seek PC +2 "manipulator"&I' +94 "core" ' + .tHand.close +2 "manipulator"&6/ +57 "core" / +2 .tPC.seek :open +2 "processing"%W( +90 "core" ' + "storage"(M- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'1 +39 "core" ' +315 ( + "storage"(i& +4 "core" &,j / 0 \ +2 "manipulator"&H& +4 "core" & t G +2 "manipulator"&% +4 "core" %  f f +2 .tForearm.seek :retract +2 "manipulator"&e' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&+( +253 "core" ( +2 "manipulator"&w& +4 "core" & d B +2 "storage"(B& +4 "core" &,j , & D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +90 "core" ' +2 .tHand.open + "manipulator"&y1 +63 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(:' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"(O& +3 "core" &,j O N W\ +3 "manipulator"&& +3 "core" &  \ T B +3 .tElbow.seek 4 + "manipulator"&(( +29 "core" ( +2 "manipulator"&& +3 "core" &   E  +2 "storage"([& +4 "core" &,j P N \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&j' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +50 "core" ' +2 "manipulator"& & +3 "core" & g  +2 "storage"(N& +4 "core" &,j # % \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&R'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(/' +28 "core" ' +2 "manipulator"&^% +3 "core" %> a * +2 "storage"(z& +4 "core" &,j ! (\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 307 counts + "manipulator"&c'j +14 "core" ' +2 "manipulator"&,& +4 "core" & u  +2 "storage"(J& +3 "core" &,j / . \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +15 "core" ' +2 "storage"(S% +4 "core" % 0 1 L\ +3 ."downElevator"SE.seek :down +3 "storage"(3' +99 (m% +4 "core" %S\ \ We +2 "manipulator"&E% +4 "core" % r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,j  * *\ +46 "collection"'%& +6 "core" &\\f\ 3\ 3z\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&_% +4 "core" %  9  +2 "storage"(Q% +4 "core" % 0 , c\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(h(,y +34 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" &,|\ !\  A\ +2 "manipulator"&u& +4 "core" & I  +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&;& +4 "core" & p  +2 "storage"(9& +4 "core" &,| 2 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&=' +93 "core" ' +2 "storage"(X& +4 "core" &,| T : _\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +295 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&}& +3 "core" & H  +2 "storage"(a& +4 "core" &,l O /\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&n'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(8- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(5'c +30 "core" ' + "manipulator"&k% +4 "core" %B \\ S +2 "storage"(g& +4 "core" &,l / % \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&r'n +14 "core" ' +2 "manipulator"&)& +3 "core" &    +2 "storage"("& +4 "core" &,l 2 2 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&L& +3 "core" &  K  +2 "manipulator"&% +4 "core" % n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( + "manipulator"&q& +4 "core" &ӛ  2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &ӛ 2 +2 .tForearm.seek CC +2 "manipulator"&4'? +94 "core" ' + .tHand.close +2 "manipulator"&s/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(0& +4 "core" &,l G R O\ +2 "storage"(& +3 "core" &,l V W -\ +3 "manipulator"&Z& +3 "core" &Ӝ  ( 2 +2 "manipulator"&|% +4 "core" % L 9 Q +3 .tForearm.seek :retract + "manipulator"&*' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&P( +159 "core" ( +2 "manipulator"&`& +4 "core" & \ a  +2 "storage"(#& +3 "core" &,l k m L\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&D'7 +95 "core" ' +2 .tElbow.hold + "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&f1 +57 "core" 1 +2 "manipulator"&A% +4 "core" % E  ? 2 +2 "storage"(& +3 "core" &,l o n -\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&'q +60 "core" ' + "manipulator"&K& +4 "core" &   P  +2 "storage"(?& +4 "core" &,l k l \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +16 "core" ' +2 "storage"(-% +3 "core" % k l\ +3 ."downElevator"SE.seek :down +5 "storage"(7' +99 (v% +3 "core" %F T T\ Va +2 "manipulator"&\\% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'{& +4 "core" &\ \ w\ +2 "manipulator"&x% +4 "core" %  t  +2 "storage"(% +4 "core" % n n \  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(d(<- +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<, # & '\  +2 "manipulator"&& +4 "core" &  e  +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&V& +3 "core" &  Y  +2 "storage"(b& +4 "core" &<+ n n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +103 "core" ' +2 "storage"($& +3 "core" &<+ o q \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +295 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ N T u\  +2 "manipulator"&p& +5 "core" &   +2 .tElbow.seek 5 + "manipulator"&C( +3 "core" ( +2 "manipulator"&6& +4 "core" &  `  +2 "storage"(!& +4 "core" &<+ G G *\  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&M'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" &  4  + "manipulator"&% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&i' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&H(ӂ +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &ӑ ~ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +4 "core" &ӑ p 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&w'? +93 "core" ' +2 "manipulator"&B& +4 "core" &Ӓ / 4 +2 "manipulator"&% +4 "core" %I 9 +2 "collection"'y& +4 "core" &\ \ \ v\ +3 "collection"' & +6 "core" &\ \ \ |\ +3 .tCC.seek :closed + "collection"'U(\\ +4 "core" &\ \ \ |\ +8 &;\ \ \ {\ %g +9 &Yv\ \ \ \ y\ 7 +9 &v\ \ \ \ J +10 &R\ \ \ K +9 &U\ \ \ J +9 &KT\ \ \ \ K +10 & S\ \ \ K +9 &U\ \ \ J +10 &U\ \ \ K +9 &SR\ \ \ K +9 & U\ \ \ J +10 &!T\ \ \ K +9 &#T\ \ \ K +9 &%\\T\ \ \ J +10 &'T\ \ z\ K +9 &(W\ \ ~\ K +10 &*R\ \ w\ K +9 &,dU\ \ x\ J +9 &.%U\ \ w\ K +10 &/U\ \ x\ J +9 &1U\ \ s\ K +9 &3jW\ \ u\ K +10 &5-U\ \ x\ K +9 &6X\ \ w\ K +9 &8T\ \ u\ K +10 &:rY\ \ w\ K +9 &<5V\ \ w\ K +10 &=V\ \ v\ K +9 &?V\ \ t\ K +9 &A{W\ \ z\ K +10 &C<\\\ \ y\ K +9 &Db\ \ {\ L +10 &Fm\ \ y\ N +9 &Hu\ $\ x\ P +9 &J*\ <\ 4v\ T +10 &K\ A\ Cz\ W +9 &M\ >\ @|\ W +9 &Oe\ >\ >v\ X +10 &Q&\ =\ ?v\ X +9 &R\ >\ =w\ X +9 &T\ =\ <u\ X +10 &Vg\ ;\ ;y\ Z +9 &X)\ <\ ;w\ Z +10 &Y\ ;\ ;x\ [\ +9 &[\ 9\ <x\ H +9 &\\2\ :\ <t\ / +10 &\\r\ 9\ :w\ N +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&O1 +54 "core" 1 +47 "manipulator"&% +7 "core" % I 7 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&[% +4 "core" %  Q  +2 "storage"( % +4 "core" % ! #\  +2 "storage"(N. +4 "core" .(<- + "storage"(T& +4 "core" &<+ ! ! \  +2 "storage"(^& +4 "core" &<+ ! \  +2 "manipulator"&z& +4 "core" &Ӫ & 1 +2 "manipulator"&:% +4 "core" %  ?  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +160 "core" ( +2 "manipulator"&J& +3 "core" &  +2 "storage"(S& +4 "core" &<+ 2 2 _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&+'O +93 "core" ' + "storage"(& +5 "core" &<+ ' : S\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" &<+ % . \  +2 "manipulator"&j& +5 "core" & =  +2 .tElbow.seek 5 + "manipulator"&(( +4 "core" ( +2 "manipulator"&<& +3 "core" &  <  +2 "storage"(R& +4 "core" &<+ 1 1\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&c'Ϲ +34 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"(/' +6 "core" &  J  +2 "manipulator"&_% +4 "core" %  ` +3 .tForearm.seek :retract +2 "manipulator"&Q' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&o& +4 "core" & X a +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" & a +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&;' +98 "core" ' +2 "manipulator"&.& +3 "core" &  Z a +2 "manipulator"&9% +4 "core" % e ( +2 "processing"%X& +4 "core" &\ +3 "processing"%3& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%t(^ +3 "core" &\  +10 &4z\ *y +9 &d|\ > +9 &q\ N +10 &FT\ N +9 &W\ N +10 &T\ N +9 &W\ N +9 &OW\ M +10 &S\ N +9 &W\ M +9 & R\ N +10 &"WS\ M +9 &$U\ M +9 &%R\ M +10 &'T\ M +9 &)^W\ N +10 &+!X\ M +9 &,T\ N +9 &.U\ M +10 &0fW\ N +9 &2(U\ N +9 &3R\ M +10 &5R\ N +9 &7oR\ M +10 &90U\ N +9 &:U\ N +9 &<S\ N +10 &>vW\ N +9 &@9W\ M +10 &A\\\ N +9 &Cc\ O +9 &Exk\ P +10 &G5s\ Q +9 &H\ T +9 &J\ S +10 &Lu\ S +9 &N4\ T +9 &O\ T +10 &Q\ U +9 &Sy\ U +10 &U9\ U +9 &V\ T +9 &X\ T +10 &Z\ U +9 &\\@\ V +9 &]{u\ 7 +10 &^+\ U +9 &^#\ 0 +3 ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&11 +52 "core" 1 +2 "manipulator"&% +4 "core" %    ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +92 "core" ' + "processing"%}& +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&a% +3 "core" %    ~  +3 "storage"(8% +3 "core" % N \  +2 "storage"(k. +4 "core" .(<- +2 "storage"(g& +3 "core" &<+ N \  +3 "storage"()& +2 "manipulator"&"& +8 "core" &<+ N \  + &   ' a +3 .tElbow.reconfigure :tight +47 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&L( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"&=& +4 "core" &  r a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   a +3 .tForearm.seek PC + "manipulator"&>' +97 "core" ' +2 .tHand.close +2 "manipulator"&n/ +52 "core" / +2 .tPC.seek :open +2 "processing"%r( +96 "core" ' + "storage"(5- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'1 +40 "core" ' +307 ( +2 "storage"(& +4 "core" &<+ L\ " &\  +2 "manipulator"&&& +4 "core" & ( a +2 "manipulator"&~% +4 "core" %  , , +3 .tForearm.seek :retract +2 "manipulator"&s' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&'( +245 "core" ( + "manipulator"&2& +4 "core" & i G +2 "storage"(0& +4 "core" &<+ N G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' + .tHand.open +2 "manipulator"&Z1 +54 "core" 1 +2 "storage"(|- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(`' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +3 "core" -' +3 "storage"(& +3 "core" &<+ 8 7 #\  +2 "manipulator"&f& +4 "core" &   8 G +2 .tElbow.seek 5 +2 "manipulator"&A( +4 "core" ( +2 "manipulator"&& +3 "core" & \   G +2 "storage"(K& +4 "core" &<+ + -\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&?'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(-'" +57 "core" ' +2 "manipulator"&*& +3 "core" & > G +3 "storage"(v& +3 "core" &<+ [ .\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&P'΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(D' +29 "core" ' + "manipulator"&{% +4 "core" %Ή > r +2 "storage"(& +4 "core" &<+ K ;\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 296 counts + "manipulator"&x'ϵ +14 "core" ' +2 "manipulator"&& +3 "core" & N # +2 "storage"(& +4 "core" &<+ ! +\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +13 "core" ' +2 "storage"(\ % +4 "core" % / % \ +3 ."downElevator"SE.seek :down +4 "storage"(7' +99 (h% +3 "core" %]Q\ \ \ \ Xh +2 "manipulator"&% +5 "core" %R 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (V& +3 "core" &<+ ' `\  +2 "collection"'b& +4 "core" &\\r\ 1\ 1u\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&$% +3 "core" %  -  +2 "storage"(l% +4 "core" % $ ! \  +2 "storage"(. +47 "core" .(<- +4 "storage"(Y& +4 "core" &<+ $ - =\  +2 "storage"(& +4 "core" &<+ + - \  +2 "manipulator"&p& +4 "core" &  # +2 .tElbow.seek 5 +2 "manipulator"&6( +22 "core" ( + "manipulator"&!& +4 "core" &  +2 "storage"(@& +4 "core" &<+ . . \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +97 "core" ' +2 "storage"(& +4 "core" &<+ U U x\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +298 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ^  +2 "storage"(I& +5 "core" &<+ ! [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&G'΍ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('t +29 "core" ' + "manipulator"&y% +4 "core" %Θ - x +2 "storage"(C& +4 "core" &<+  D\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 311 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&i& +3 "core" & &  +2 "storage"(& +4 "core" &<+ . + W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"& & +4 "core" & "  +2 "manipulator"&% +4 "core" %9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +155 "core" ( +3 "manipulator"&N& +3 "core" &ӄ +  Ak +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +3 "core" &ӳ#  << +2 .tForearm.seek CC +2 "manipulator"&^'? +90 "core" ' +2 .tHand.close + "manipulator"&z/ +60 "core" / +2 .tCC.seek :open +2 "collection"':( +450 "core" ( + "storage"(w& +5 "core" &<+ G Q R\  + "storage"(J& +4 "core" &<+ W X\  +2 "manipulator"&S& +4 "core" &ӳ# e << +2 "manipulator"&% +4 "core" % Q d ? +2 .tForearm.seek :retract +2 "manipulator"&H' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&e( +162 "core" ( + "manipulator"&m& +4 "core" &  f  +2 "storage"(E& +4 "core" &<+ n n +\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&j'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +63 "core" 1 +2 "manipulator"&% +4 "core" % ΋  / +2 "storage"(%& +4 "core" &<+ n l &\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 298 counts + "manipulator"&_'Ϸ +15 "core" ' + "manipulator"&,& +5 "core" &  p  +2 "storage"(+& +3 "core" &<+ l l \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +25 "core" ' +2 "storage"(c% +50 "core" % n n\ +3 ."downElevator"SE.seek :down +4 "storage"(o' +98 (u% +3 "core" %J J U 9\ Wc +2 "manipulator"&(% +4 "core" %q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'9& +3 "core" &\ \ \ +2 "manipulator"&X% +4 "core" %   e  +2 "storage"(/% +4 "core" % n n \  +2 "storage"(Q. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(W(K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" &K S I +\ \ +2 "manipulator"&& +4 "core" &  N  +2 .tElbow.seek 6 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&a& +3 "core" &   +2 "storage"(8& +4 "core" &K n n \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +97 "core" ' +2 "storage"(g& +3 "core" &K k l \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"("'r +292 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (3& +3 "core" &K R W h\ \ +2 "manipulator"&=& +4 "core" & a  +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&;& +4 "core" &  l  +2 "storage"(n& +4 "core" &K G G @\ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&5'h +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(t' +8 "core" & O  +2 "manipulator"&% +3 "core" % q n +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&~& +3 "core" &Ӓ 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &Ӓ 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&2'? +97 "core" ' +2 "manipulator"&0& +4 "core" &Ӓ  x 8 +2 "manipulator"&L% +4 "core" %< { $ +2 "collection"'Z& +4 "core" &\ \ \ +3 "collection"'|& +5 "core" &\ \ \ \ +2 .tCC.seek :closed +2 "collection"'4(\\ +4 "core" &\ \ \ |\ +7 &\ \ y\ : +9 &EJu\ \ \ z\ 1 +10 &{u|\ \ y\ E +9 &*X\ \ w\ K +9 &W\ \ t\ K +10 &U\ \ \ J +9 &pT\ \ \ K +10 &2S\ \ }\ K +9 &S\ \ \ K +9 &T\ \ \ K +10 &xW\ \ \ K +9 &!:R\ \ \ K +9 &"T\ \ \ J +10 &$T\ \ \ K +9 &&X\ \ \ K +10 &(BS\ \ w\ K +9 &*T\ \ \ J +9 &+T\ \ \ J +10 &-T\ \ \ K +9 &/JR\ \ \ K +9 &1 T\ \ z\ J +10 &2T\ \ \ K +9 &4R\ \ \ K +10 &6RU\ \ |\ K +9 &8X\ \ ~\ K +9 &9U\ \ \ K +10 &;X\ \ |\ K +9 &=Y\\\ \ x\ K +9 &?Y\ \ u\ K +10 &@W\ \ |\ K +9 &BZ\ \ |\ L +9 &D_a\ \ z\ L +10 &Fm\ \ \ N +9 &G\ -\ &z\ Q +10 &I\ D\ >\ U +9 &KI\ K\ H\ V +9 &M \ I\ G\ W +10 &N\ F\ Gz\ W +9 &P\ F\ Ew\ X +9 &RL\ B\ C}\ X +10 &T \ @\ C\ Y +9 &U\ @\ ?{\ Y +10 &W\ =\ =\ Z +9 &YJ\ ;\ ;\ [ +9 &[ \ ;\ :\ [\ +10 &\\bH\ :\ ;y\ 4 +9 &\\ \ ;\ :\ M +5 ( +2 "collection"'|& +4 "core" &\\m\ 7\ 6\ M +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.17 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&f% +4 "core" % <  $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%K& +3 "core" &5\ +2 "manipulator"&s% +5 "core" % " ~ $ +46 "storage"(*% +6 "core" % ! ! R\  +2 "storage"(v. +4 "core" .(K +2 "storage"(q& +3 "core" &K - . f\ \ +2 "storage"({& +5 "core" &K ! ! \ \ + "manipulator"&& +4 "core" & - % +2 "manipulator"&`% +4 "core" % " e $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +147 "core" ( + "manipulator"&& +4 "core" & K  +2 "storage"(\ & +4 "core" &K / /\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'' +94 "core" ' +2 "storage"(& +4 "core" &K 7 R *\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +299 "core" ' +2 "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K\ \ ! q\ \ +2 "manipulator"&?& +4 "core" & 7  +2 .tElbow.seek 6 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&-& +4 "core" & z  +2 "storage"(P& +4 "core" &K ! ! \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&x'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"($' +8 "core" &   +2 "manipulator"&l% +4 "core" % τ  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&D( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&Y& +4 "core" & ; : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&p' +96 "core" ' +2 "manipulator"&!& +4 "core" & : +2 "manipulator"&@% +4 "core" % 0 & +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &E\ +2 .tPC.seek :closed +2 "processing"%7(^ +5 "core" &\  +8 &2u\ )w +10 &b|\ = +9 &op\ N +9 &2Q\ M +10 &U \ M +9 &Rq\ N +9 &wV\ M +10 &9U\ M +9 &V \ M +10 &T\ \ N +9 & ~T\ N +9 &"AW\ M +10 &$VJ\ M +9 &%U\ M +9 &'W\ M +10 &)IV\ M +9 &+ W\ M +10 &,XI\ M +9 &.U\ M +9 &0QV\ M +10 &2V\ M +9 &3V\ M +9 &5W\ M +10 &7YQ\ M +9 &9U\ M +10 &:Y\ N +9 &<V\ N +9 &>`U\ N +10 &@#U\ M +9 &AZ\ N +9 &Ce\ O +10 &Ebi\ P +9 &G!o\ Q +10 &H\ S +9 &J\ T +9 &L^\ T +10 &N\ T +9 &O\ T +9 &Q\ U +10 &Sc\ U +9 &U$\ U +10 &V\ U +9 &X\ U +9 &Zk\ U +10 &\\-\ U +9 &]}v\ ; +9 &^,x\ P +10 &^"\ 0 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&\\1 +59 "core" 1 +2 "manipulator"&% +3 "core" %    @ & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +93 "core" ' +2 "processing"%& +3 "core" &^ \ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&I% +4 "core" %     +2 "storage"(B% +4 "core" % X \  +2 "storage"(y. +2 "core" .(K +3 "storage"(C& +3 "core" &K O \ \ +3 "storage"(i& +2 "manipulator"&& +8 "core" &K X \ \ + &   V : +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"& ( +7 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( + "manipulator"&& +5 "core" & \ & : +48 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &6& +3 "core" &   : +3 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' +2 .tHand.close +2 "manipulator"&G/ +52 "core" / +2 .tPC.seek :open +2 "processing"%( +50 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'1 +49 "core" ' +343 ( +2 "storage"(T& +4 "core" &K # ' 0\ +2 "manipulator"&O& +5 "core" &  : + "manipulator"&M% +4 "core" %   ] +3 .tForearm.seek :retract + "manipulator"&z' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&[( +246 "core" ( +2 "manipulator"&U& +3 "core" &   @ +2 "storage"(w& +5 "core" &K X 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +93 "core" ' +2 .tHand.open + "manipulator"&S1 +53 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(m' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(E' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' +2 "storage"( & +3 "core" &K h h y\ +2 "manipulator"&R& +4 "core" &   & @ +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&%& +3 "core" &   @ +2 "storage"(,& +4 "core" &K f ^ t\ +3 .tForearm.seek 6 + 450 counts + "manipulator"&+' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(c'" +51 "core" ' +2 "manipulator"&H& +4 "core" & + @ +2 "storage"(e& +4 "core" &K R \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&u'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +18 "core" ' +2 "manipulator"&_% +4 "core" %>  +2 "storage"(9& +4 "core" &K Y g\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 302 counts + "manipulator"&X'j +15 "core" ' +2 "manipulator"&/& +4 "core" & j @ +2 "storage"(Q& +4 "core" &K ! ! )\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"( % +3 "core" % . $ \ +3 ."downElevator"SE.seek :down +4 "storage"(o' +99 (d% +3 "core" %HT\ \ \ \ Xi +2 "manipulator"&1% +4 "core" % ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +3 "core" &K ] X\ +2 "collection"'8& +4 "core" &\\m\ .\ 1\ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&g% +4 "core" %  I  +2 "storage"(<% +3 "core" % - . v\  +2 "storage"(.. +4 "core" .(K + "storage"()& +4 "core" &K / / x\ +2 "storage"(3& +4 "core" &K ! $ T\ +2 "manipulator"&=& +4 "core" & S @ +2 .tElbow.seek 6 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&n& +4 "core" &   @ +2 "storage"(& +51 "core" &K 1 % I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&F' +94 "core" ' +2 "storage"(& +3 "core" &K 4 % A\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(}'r +299 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +4 "core" & 4 @ +2 "storage"(>& +3 "core" &K $ ! ,\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&"'< +14 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(L'n +32 "core" ' + "manipulator"&Z% +5 "core" %N V Q + "storage"( & +4 "core" &K ! * ;\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&t'z +14 "core" ' +2 "manipulator"&& +3 "core" & N @ +2 "storage"(:& +4 "core" &K $ + \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(f' +36 "core" ' +2 "manipulator"&K& +3 "core" & @ +2 "manipulator"&s% +4 "core" % * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +151 "core" ( +2 "manipulator"&v& +3 "core" &Ӎ  9( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +3 "core" &Ӎ  = 9( +2 .tForearm.seek CC +2 "manipulator"&{'? +99 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'`( +446 "core" ( +3 "storage"(2& +3 "core" &K U W\ +2 "storage"(& +4 "core" &K Q W \ +2 "manipulator"&\ & +5 "core" & C + + "manipulator"&% +4 "core" %  ; +3 .tForearm.seek :retract + "manipulator"&&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +133 "Can"4 =: +15 "core" ( +2 "manipulator"&h& +3 "core" & A  +3 "storage"(& +3 "core" &K m m \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&?'< +95 "core" ' +2 .tElbow.hold + "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +65 "core" 1 +2 "manipulator"&V% +3 "core" % =  - % +2 "storage"(b& +4 "core" &K n m \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 301 counts + "manipulator"&l'i +14 "core" ' +2 "manipulator"&& +3 "core" & y  +3 "storage"('& +3 "core" &K k j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +16 "core" ' +2 "storage"(x% +3 "core" % j k \ +3 ."downElevator"SE.seek :down +4 "storage"(Y' +99 (% +3 "core" %I R K C\ Wb +2 "manipulator"&A% +5 "core" % 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +41 "manipulator"&!' +97 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'@& +3 "core" &\ \ \ +2 "manipulator"&% +5 "core" %  E  + "storage"($% +4 "core" % n n \  +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(r(,y +664 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +3 "core" &,| @ E Q\ +2 "manipulator"&& +4 "core" &  A  +2 .tElbow.seek 4 +2 "manipulator"&( +36 "core" ( + "manipulator"&I& +5 "core" &  ] + "storage"(B& +4 "core" &,| m n \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +96 "core" ' + "storage"(C& +4 "core" &,| k k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (i& +3 "core" &,k U I H\  +2 "manipulator"&& +4 "core" &  c +2 .tElbow.seek 4 +2 "manipulator"&6( +44 "core" ( +2 "manipulator"&p& +3 "core" & ^ 1 +2 "storage"(G& +4 "core" &,k K W b\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&D/ +63 "core" / +3 ."downElevator"SE.seek :down +9 "manipulator"&]& +2 "storage"(7' +9 "core" & X 1 + "manipulator"&% +4 "core" % {  q +3 .tForearm.seek :retract + "manipulator"&T' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&M& +4 "core" &ӂ 7 - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +4 "core" &ӂ  - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&U'? +101 "core" ' +2 "manipulator"&w& +4 "core" &ӂ A - +2 "manipulator"& % +5 "core" %>   +2 "collection"'S& +4 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ \ \ +2 .tCC.seek :closed +2 "collection"'^(\\ +5 "core" &\ \ \  +8 &5}\ \ \ *z +9 & g~\ \ \ \ > +10 &j\ \ \ \ L +9 &YT\ \ y\ J +9 &T\ \ \ K +10 &W\ \ \ K +9 &W\ \ \ K +10 &`W\ \ \ K +9 &"T\ \ \ K +9 &R\ \ \ K +10 & R\ \ \ K +9 &"hR\ \ \ K +10 &$*Q\ \ \ K +9 &%S\ \ \ K +9 &'R\ \ \ K +10 &)pR\ \ \ K +9 &+2R\ \ \ K +9 &,W\ \ \ K +10 &.W\ \ \ K +9 &0xW\ \ \ K +10 &2:R\ \ \ K +9 &3S\ \ \ K +9 &5S\ \ \ K +10 &7U\ \ \ J +9 &9BU\ \ \ K +9 &;X\ \ \ K +10 &<U\ \ \ J +9 &>V\ \ \ K +9 &@JV\ \ \ K +10 &B V\ \ \ K +9 &C\\\ \ \ L +10 &Ee\ \ \ M +9 &GIr\ \ \ N +9 &I\ +\ $\ Q +10 &J\ =\ :\ V +9 &Lw\ @\ ?\ V +9 &N6\ =\ >\ W +10 &O\ :\ :\ W +9 &Q\ <\ <\ W +10 &Sy\ :\ 9\ X +9 &U:\ 8\ 9\ Y +9 &V\ 8\ 9\ Y +10 &X\ 8\ :\ [ +9 &Z|\ 8\ 9\ Z +9 &\\w\ 9\ 7\ 1 +10 &\\-\ 8\ 8\ \\ +9 ( +2 "collection"'& +3 "core" &\\r\ 8\ 7\ N +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&R% +4 "core" % ? A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +92 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%,& +4 "core" &w\ +2 "manipulator"&z% +4 "core" %  =  +2 "storage"(H% +4 "core" % * # \  +2 "storage"(e. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(_(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &,x\  ` 6\ +46 "manipulator"&N& +7 "core" &ӛ * +3 "manipulator"&/% +3 "core" %  R  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&Q( +158 "core" ( + "manipulator"&m& +4 "core" &  +2 "storage"( & +5 "core" &,x / . \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +90 "core" ' +2 "storage"(J& +4 "core" &,x : T K\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +22 "core" ' mO \ @b +3 !to:Slide::Error\ :@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positionim: velocityi: currentiO:pwmig:erri: inPressi : outPressi :deltaPressi : voltagef13.045688757977418: @type2F: @tagiJ: mesg"6Storage Elevator overCurrent at down + 206 counts:@axisName"Storage Elevator:bt[ "2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/utils/puckmoves.rb:600:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:577:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:25:in `shuffle'"7/home/esp/esp2/lib/log.rb:442:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"& +3 "core" & \ ] O +2 "manipulator"&0% +4 "core" %  +2 "processing"%Z& +4 "core" &N\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +8 &2v\ )v +10 &cz\ = +9 &tr\ N +9 &7Op\ M +10 &T\ N +9 &T\ M +10 &|R\ M +9 &>Q\ M +9 &Q\ M +10 &Q\ M +9 & V \ M +9 &"FU\ \ M +10 &$W\ M +9 &%U\ \ M +10 &'U\ \ M +9 &)NU\ M +9 &+Q \ M +10 &,W\ \ N +9 &.R\ M +9 &0VV\ M +10 &2Q \ M +9 &3Q\ M +10 &5R \ M +9 &7_T \ M +9 &9 X\ M +10 &:T\ N +9 &<W\ M +9 &>fW=\ M +10 &@(V}\ M +9 &AY\ N +10 &CcJ\ O +9 &Egf\ P +9 &G'm\ P +10 &H\ S +9 &J\ T +9 &Lc\ T +10 &N$\ T +9 &O\ T +10 &Q\ U +9 &Sh\ U +9 &U*\ U +10 &V\ U +9 &X\ U +9 &Zo\ U +10 &\\1\ U +9 &]x\ 8 +9 &^2\ O +10 &^\ , +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&:1 +53 "core" 1 +2 "manipulator"&K% +3 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s' +95 "core" ' +2 "processing"%F& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&;% +50 "core" % !   N + +3 "storage"(}% +3 "core" % N \ \  +2 "storage"(". +3 "core" .(,y +2 "storage"(t& +4 "core" &,l N W\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(L(,y +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (v& +3 "core" &,}\  \ +3 "manipulator"&q& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  \ 6 O +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(5'r +6 "core" ( + "manipulator"&& +4 "core" &   O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" & \  O +3 .tForearm.seek PC +2 "manipulator"&4' +94 "core" ' +2 .tHand.close +2 "manipulator"&2/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +86 "core" ' +2 "storage"(\ - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +313 ( +2 "storage"(h& +4 "core" &,i\ !\ "\ ! +2 "manipulator"&& +4 "core" & K O +2 "manipulator"&{% +3 "core" %  \ : +3 .tForearm.seek :retract +2 "manipulator"&|' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&P( +246 "core" ( +2 "manipulator"&V& +4 "core" & O N +2 "storage"(b& +3 "core" &,i O \ ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' +2 .tHand.open + "manipulator"&'1 +64 "core" 1 +2 "storage"(x- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(&' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(A- +3 "core" -' +2 "storage"(& +3 "core" &,i   m\ ! +3 "manipulator"&?& +3 "core" &  ] N +2 .tElbow.seek 4 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&l& +5 "core" &   ) N + "storage"(& +5 "core" &,i  E\ ! +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&f& +3 "core" &  X N +2 "storage"(#& +4 "core" &,i N\ ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Y'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\\' +28 "core" ' +2 "manipulator"&% +3 "core" %J ? L +2 "storage"(I& +5 "core" &,i N %\ ! +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&B'v +16 "core" ' + "manipulator"&C& +5 "core" & f N +2 "storage"(-& +3 "core" &,i a Y\ ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +16 "core" ' +2 "storage"(% +3 "core" % # ! \ +3 ."downElevator"SE.seek :down +4 "storage"(i' +99 (% +10 "core" %I \ Xf +2 "manipulator"&p% +4 "core" % # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +90 "core" ' +93 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (D& +3 "core" &,i S E\ ! +2 "collection"']& +4 "core" &\\q\ 1\ 1\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %  F  +2 "storage"(% +4 "core" % # '\  +2 "storage"(y. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(M(,y +75 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 ( & +2 "core" &,x ) ] I\  +2 "manipulator"&& +4 "core" & s N +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&w& +4 "core" & ~ N +2 "storage"( & +4 "core" &,x ' #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +95 "core" ' + "storage"(S& +5 "core" &,x . - \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +295 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & % N +2 "storage"( & +4 "core" &,l\ %\ - \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&R'7 +14 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(H'h +35 "core" ' + "manipulator"&e% +5 "core" %= O O + "storage"(& +4 "core" &,l Q d\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 306 counts + "manipulator"&9'i +14 "core" ' +2 "manipulator"&N& +3 "core" & 0 M +2 "storage"(/& +4 "core" &,l \ $ &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(m' +36 "core" ' +2 "manipulator"& & +3 "core" & R M +2 "manipulator"&r% +4 "core" % , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&O(ӂ +153 "core" ( + "manipulator"&E& +4 "core" &Ӓ ) 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &Ӓ . 6 +2 .tForearm.seek CC +2 "manipulator"&+'? +93 "core" ' +2 .tHand.close + "manipulator"&c/ +54 "core" / + .tCC.seek :open +2 "collection"'u( +447 "core" ( +2 "storage"(X& +4 "core" &,l U U\  +2 "storage"(%& +3 "core" &,l U U\  +3 "manipulator"&Q& +3 "core" &ӳ > 2 +2 "manipulator"&[% +4 "core" % , 8  +2 .tForearm.seek :retract +2 "manipulator"&g' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&d( +160 "core" ( +2 "manipulator"&<& +3 "core" &  +2 "storage"(.& +4 "core" &,l R X \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&)'7 +93 "core" ' + .tElbow.hold +2 "manipulator"&3, +47 "core" , +5 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&n1 +54 "core" 1 +2 "manipulator"&% +4 "core" % 1  q _ +2 "storage"(& +4 "core" &,l i O O\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 294 counts + "manipulator"&'] +15 "core" ' +2 "manipulator"&a& +4 "core" &  J  +2 "storage"(8& +4 "core" &,l n o -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +16 "core" ' +2 "storage"(% +3 "core" % a k \ +3 ."downElevator"SE.seek :down +4 "storage"(k' +98 (j% +3 "core" %D / 1 j\ V` +2 "manipulator"&>% +4 "core" %  p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'Z& +3 "core" &\ \ \ +2 "manipulator"&% +4 "core" %  i  +2 "storage"(o% +4 "core" % k k \  +2 "storage"(. +3 "core" .(,u +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(:(<- +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +3 "core" &<* " $ 4\  +2 "manipulator"&F& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&;( +4 "core" ( +2 "manipulator"& & +3 "core" &  >  +2 "storage"(}& +5 "core" &<) k ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +89 "core" ' + "storage"(t& +4 "core" &<) l l\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +295 "core" ' +2 "storage"(q- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<) 7 O D\  +2 "manipulator"&*& +4 "core" &  _  +2 .tElbow.seek 5 +2 "manipulator"&~( +4 "core" ( + "manipulator"&2& +4 "core" &  y  +2 "storage"(_& +4 "core" &<) P P 6\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&\ 'Ϲ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(' +8 "core" & ?  +2 "manipulator"&5% +4 "core" % Ͼ l +2 .tForearm.seek :retract +2 "manipulator"&h' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&{& +4 "core" &x! :1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +2 "core" &x  :1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'? +105 "core" ' +2 "manipulator"&b& +3 "core" &ӓ   7 +2 "manipulator"&% +4 "core" %U c +3 "collection"''& +3 "core" &\ \ \ +3 "collection"'x& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'A(\\ +5 "core" &\ \ \ \ +7 &<\ \ \ \ %f +9 &Z{\ \ \ 8 +10 & s\ \ \ K +9 &Q\ \ \ J +9 &T\ \ \ J +10 &QT\ \ \ J +9 &T\ \ \ J +10 &U\ \ \ J +9 &T\ \ \ J +9 &YT\ \ \ J +10 & T\ \ \ J +9 &!T\ \ \ J +9 &#T\ \ \ J +10 &%aT\ \ \ J +9 &'#T\ \ \ J +10 &(T\ \ \ K +9 &*T\ \ \ K +9 &,iR\ \ \ K +10 &.,T\ \ \ J +9 &/T\ \ \ J +9 &1U\ \ \ J +10 &3rU\ \ \ J +9 &53T\ \ \ K +10 &6Y\ \ \ K +9 &8X\ \ \ K +9 &:yR\ \ \ K +10 &<<U\ \ \ J +9 &=U\ \ \ J +9 &?V\ \ \ K +51 &AW\ \ \ K +3 &CAZ\ \ \ K +3 &Ec\ \ \ L + &Fj\ \ \ M + &Hx\ #\ \ P + &J/\ :\ 4\ T +6 &K\ A\ @\ V +9 &M\ @\ =\ V +10 &Om\ =\ =\ W +9 &Q-\ =\ >\ X +10 &R\ <\ <\ X +9 &T\ =\ <\ X +9 &Vo\ ;\ ;\ Y +10 &X/\ :\ =\ Z +9 &Y\ :\ ;\ Z +9 &[\ <\ ;\ G +10 &\\1\ :\ :\ . +9 &\\f\ 9\ 8\ N +2 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +3 "manipulator"&?% +4 "core" % U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&|% +5 "core" %  9  +4 "storage"(f% +7 "core" % ! ! M\  +7 "storage"(#. +4 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (I& +3 "core" &<*\  \  +2 "manipulator"&& +3 "core" &Ӫ f 4 +2 "manipulator"&C% +4 "core" %  0  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&&( +161 "core" ( + "manipulator"&-& +4 "core" & b  +2 "storage"(& +4 "core" &<* 1 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +96 "core" ' +2 "storage"(& +3 "core" &<* T T _\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (p& +3 "core" &<*\ ! C\  +2 "manipulator"&$& +3 "core" & ;  +3 .tElbow.seek 5 + "manipulator"&@( +3 "core" ( +2 "manipulator"&& +4 "core" &  >  +2 "storage"(Y& +3 "core" &<* . $ g\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&B'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"(]' +6 "core" & ;  +3 "manipulator"&% +4 "core" % ϴ = +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&!& +4 "core" &  > +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & e > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +104 "core" ' +2 "manipulator"&w& +5 "core" &  > +2 "manipulator"& % +3 "core" % p +3 "processing"%S& +3 "core" &_\ +3 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%L(^ +5 "core" &Q\ +7 &8{\ #b +9 &Vz\ 7 +10 &v6\ K +9 &St\ N +9 &jT3\ N +10 &-S \ M +9 &T\ M +10 &T\ N +9 &sS\ M +9 &4R\ N +10 &T\ M +9 &!R\ \ M +9 &#{U\ \ M +10 &%=Q\ \ M +9 &&W \ M +9 &(R \ M +10 &*R \ M +9 &,ES \ M +10 &.Q\ M +9 &/V\ N +9 &1Y\ M +10 &3MW\ M +9 &5W \ M +9 &6X\ N +10 &8VG\ M +9 &:TR\ N +10 &<U\ M +9 &=TJ\ N +9 &?UA\ N +10 &A\\[|\ N +9 &C`\ O +10 &De\ P +9 &Fn\ P +9 &HV}\ R +10 &J\ S +9 &K\ S +9 &M\ T +10 &OY\ T +9 &Q\ U +9 &R\ U +10 &T\ U +9 &V_\ U +10 &X!\ U +9 &Y\ U +9 &[\ U +10 &]e\ B +9 &^@q\ !b +9 &^0\ 0 +6 ( +2 "processing"%i& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&W1 +2 "core" &^\ 0 +53 1 +2 "manipulator"&G% +3 "core" %   G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +136 "core" ' +3 "processing"%`& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"& % +4 "core" %   ,  +2 "storage"(z% +3 "core" % ] /\  +3 "storage"(e. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (N& +2 "manipulator"&/& +6 "core" &<*- \  + &  > +5 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +3 "manipulator"& ( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'r +3 "core" ( +2 "manipulator"&6& +4 "core" &   z > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   > +3 .tForearm.seek PC + "manipulator"&7' +93 "core" ' +2 .tHand.close + "manipulator"&R/ +53 "core" / +3 .tPC.seek :open + "processing"%9( +98 "core" ' + "storage"(H- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'1 +40 "core" ' +305 ( +3 "storage"(1& +3 "core" &<) K T\  +2 "manipulator"&U& +4 "core" & ' > +2 "manipulator"&,% +8 "core" %  " 7 +3 .tForearm.seek :retract +2 "manipulator"&c' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&J( +246 "core" ( + "manipulator"&^& +4 "core" &  D C +2 "storage"(X& +4 "core" &<) K )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +93 "core" ' + .tHand.open +2 "manipulator"&Q1 +56 "core" 1 +3 "storage"([- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(<' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(.' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(+- +2 "core" -' +3 "storage"(O& +3 "core" &<) '\  +2 "manipulator"&n& +4 "core" &  9 C +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   q C +2 "storage"(a& +4 "core" &<)\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&8'O +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&g& +4 "core" & k C +2 "storage"(j& +4 "core" &<) X |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&d'΍ +30 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"()' +28 "core" ' +2 "manipulator"&Z% +4 "core" %Ή L j +2 "storage"(& +4 "core" &<) K `\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 296 counts + "manipulator"&'ϵ +14 "core" ' +2 "manipulator"&o& +3 "core" & & ' +2 "storage"(& +4 "core" &<) "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +13 "core" ' +2 "storage"(=% +4 "core" % # * L\ +49 ."downElevator"SE.seek :down +4 "storage"(k' +98 (M% +3 "core" %Q\  \ Xh +2 "manipulator"&K% +5 "core" %Q $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &<) ) S 5\  +2 "collection"'}& +4 "core" &\\f\ 2\ 3\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&t% +3 "core" %  `  +3 "storage"(3% +3 "core" % $ . W\  +2 "storage"(0. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(q(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &<+ \ q\  +2 "manipulator"&*& +4 "core" & 7 ' +2 .tElbow.seek 5 +2 "manipulator"&2( +22 "core" ( + "manipulator"&_& +4 "core" & \ S  +2 "storage"((& +4 "core" &<) ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +90 "core" ' + "storage"(5& +4 "core" &<) U T 2\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +298 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +4 "core" &    +2 "storage"(4& +3 "core" &<) / / \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&v'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('y +28 "core" ' +2 "manipulator"&'% +4 "core" %Θ +2 "storage"(~& +3 "core" &<) ' ( 1\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&h& +4 "core" & ?  +2 "storage"(u& +4 "core" &<) / / a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +13 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(?' +43 "core" ' + "manipulator"&& +4 "core" & h  +2 "manipulator"&|% +4 "core" %b  _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +154 "core" ( + "manipulator"&x& +4 "core" &ӌ" | ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &ӌ" ' ;4 +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&C/ +58 "core" / +2 .tCC.seek :open +2 "collection"'V( +446 "core" ( +2 "storage"(-& +4 "core" &<) X X h\  +2 "storage"(& +4 "core" &<) R T o\  +2 "manipulator"&:& +3 "core" &ӷ o 5 +3 "manipulator"&% +3 "core" % 4 f  +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&l( +154 "core" ( + "manipulator"&& +4 "core" & { +2 "storage"(p& +4 "core" &<) m l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&$'΍ +94 "core" ' + .tElbow.hold +45 "manipulator"&, +8 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&Y1 +52 "core" 1 +4 "manipulator"&\\% +3 "core" % Γ   V +2 "storage"(D& +4 "core" &<) n n\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 306 counts + "manipulator"&'Ͽ +14 "core" ' + "manipulator"&&& +4 "core" &  F +2 "storage"(P& +4 "core" &<) ^ k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +13 "core" ' +2 "storage"(B% +3 "core" % k k \ +3 ."downElevator"SE.seek :down +4 "storage"(!' +99 ( % +3 "core" %L $ - L\ We +2 "manipulator"&@% +3 "core" %P a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +95 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"' & +3 "core" &\ \ \ \ +3 "manipulator"&S% +3 "core" % \     +2 "storage"(]% +4 "core" % k h \  +2 "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &K J R \ +2 "manipulator"&G& +4 "core" &  { +2 .tElbow.seek 6 +2 "manipulator"&i( +4 "core" ( +2 "manipulator"&`& +3 "core" &   +2 "storage"( & +4 "core" &K ] ` R\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +92 "core" ' + "storage"(e& +4 "core" &K a ] \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +294 "core" ' + "storage"(N- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" &K T W\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&R& +4 "core" &  L +2 "storage"(& +4 "core" &K Q V \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&H'h +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +2 "storage"(L' +6 "core" & +3 "manipulator"&r% +3 "core" % φ +3 .tForearm.seek :retract +2 "manipulator"&1' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&,& +6 "core" &ӏ  a 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &7& +2 "core" &ӏ 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'? +98 "core" ' +2 "manipulator"&X& +3 "core" &ӏ  q 4 +3 "manipulator"& % +3 "core" %9  \\ ! +3 "collection"'Q& +3 "core" &\ \ \ \ +3 "collection"'[& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'+(\\ +3 "core" &\ \ \ +8 &;\ \ \ $f +9 &Z{\ \ \ \ 7 +9 &v\ \ \ K +10 &Q\ \ \ \ J +9 &T\ \ \ \ \ J +9 &KS\ \ \ K +10 & W\ \ \ K +9 &W\ \ \ K +10 &W\ \ \ K +9 &SW\ \ \ K +9 & R\ \ \ K +10 &!W\ \ \ K +9 &#R\ \ \ \ K +9 &%[V\ \ \ K +10 &'R\ \ \ K +9 &(R\ \ \ K +10 &*Q\ \ \ K +9 &,cR\ \ \ K +9 &.%R\ \ \ K +10 &/T\ \ \ J +9 &1T\ \ \ K +9 &3kV\ \ \ K +10 &5-R\ \ \ K +9 &6S\ \ \ K +52 &8T\ \ \ K +2 &:rX\ \ \ K +2 &<4W\ \ \ K + &=]\ \ \ L + &?Z\ \ \ K + &A{V\ \ \ K +7 &C;_\ \ \ L +9 &De\ \ \ M +10 &Fp\ \ \ N +9 &Ho\ 4\ ,\ R +9 &J'\ H\ C\ U +10 &K\ I\ J\ W +9 &M\ E\ H\ W +9 &Oe\ D\ E\ X +10 &Q%\ C\ B\ Y +9 &R\ B\ C\ Y +10 &T\ @\ ?\ Z +9 &Vg\ ?\ =\ Z +9 &X'\ =\ =\ [ +10 &Y\ ;\ ;\ [ +9 &[\ ;\ <\ H +9 &\\.\ ;\ :\ 7 +10 &\\o\ 8\ ;\ K +2 ( +2 "collection"'[& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&O1 +62 "core" 1 +3 "manipulator"&n% +3 "core" % 9 Q ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%a& +3 "core" &\ +2 "manipulator"&c% +4 "core" %  I  +2 "storage"(g% +4 "core" % ! ! 7\  +2 "storage"(j. +3 "core" .(K +2 "storage"(E& +4 "core" &K ! $ \ +2 "storage"(Z& +4 "core" &K , $ \ +2 "manipulator"&& +5 "core" &  ? # + "manipulator"&<% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&o( +145 "core" ( +2 "manipulator"&& +4 "core" & [  +2 "storage"(=& +4 "core" &K , $ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&J' +98 "core" ' +2 "storage"(%& +3 "core" &K Q G 2\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(.'r +296 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &K D ]\ \ +2 "manipulator"&K& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(d& +4 "core" &K\ !\ ! 8\ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(t' +8 "core" & !  +2 "manipulator"&3% +3 "core" % _ - +3 .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&& +4 "core" & H 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +4 "core" & / 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +2 "manipulator"&_' +94 "core" ' +2 "manipulator"&(& +4 "core" & - 4 +2 "manipulator"&m% +3 "core" %  s +3 "processing"%5& +3 "core" &?\ +3 "processing"%k& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &3u\ )w +9 &d|\ > +10 &~n \ N +9 &BQ\ M +10 &U\ M +9 &Tw\ M +9 &U \ N +10 &IS \ M +9 & V\ \ M +9 &Qq\ M +10 & R\ M +9 &"QQ\ M +10 &$R\ M +9 &%P\ \ M +9 &'Q\ \ M +10 &)YR\ M +9 &+R\ M +9 &,T \ M +10 &.R\ \ M +9 &0aQ \ M +10 &2#R\ \ M +9 &3R \ M +9 &5R\ \ N +10 &7hT \ N +9 &9*W\ N +9 &:W\ N +10 &<R\ N +9 &>pU\ N +10 &@2T \ N +9 &AX\ N +9 &Cb \ O +10 &Eqg\ P +9 &G0o\ Q +9 &H\ S +10 &J \ T +9 &Lnp\ T +10 &N/\ T +9 &Oz\ T +9 &QH\ U +10 &Ss\ U +9 &U4\ U +9 &V\ U +10 &X\ U +9 &Zz\ U +10 &\\;\ U +9 &]{w\ ; +9 &^%h\ T +10 &^%\ 2 +2 ( +2 "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&>1 +62 "core" 1 +2 "manipulator"&F% +4 "core" %   S s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +95 "core" ' +2 "processing"%{& +3 "core" &^"\ 2 +50 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&4% +4 "core" %     # +2 "storage"(b% +4 "core" % S\  +2 "storage"('. +4 "core" .(K + "storage"(~& +4 "core" &K N '\ \ +3 "storage"(h& +2 "manipulator"&u& +6 "core" &K N\ \ +3 &   ` 4 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'r +2 "core" ( +3 "manipulator"&s& +3 "core" &  a 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &2& +3 "core" &  4 +2 .tForearm.seek PC +2 "manipulator"&;' +97 "core" ' +2 .tHand.close + "manipulator"&v/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +84 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +46 "core" ' +312 ( + "storage"(I& +4 "core" &K 0 , e\ +2 "manipulator"&& +4 "core" & I 4 +2 "manipulator"&\ % +4 "core" %  V 2 +2 .tForearm.seek :retract +2 "manipulator"&C' +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&f( +245 "core" ( +2 "manipulator"&A& +3 "core" & M +2 "storage"(-& +4 "core" &K ! ! \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&:1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(p' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(#& +3 "core" &K  [\ +2 "manipulator"&Y& +4 "core" &  y L +2 .tElbow.seek 6 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&D& +4 "core" &   I L +2 "storage"(&& +4 "core" &K s\ +3 .tForearm.seek 6 + 450 counts + "manipulator"&P' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(B'" +50 "core" ' +2 "manipulator"&& +4 "core" & > L +2 "storage"( & +3 "core" &K W I\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&@'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"($' +19 "core" ' +2 "manipulator"& % +4 "core" %@ D +2 "storage"(S& +3 "core" &K V +\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts +2 "manipulator"&'l +14 "core" ' + "manipulator"&]& +4 "core" &  L +2 "storage"(& +4 "core" &K\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&?' +15 "core" ' + "storage"(% +4 "core" % ! \ +3 ."downElevator"SE.seek :down +4 "storage"(!' +98 (q% +3 "core" %GT \  \ Xi +2 "manipulator"&W% +4 "core" % K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&G' +92 "core" ' +13 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (`& +3 "core" &K S y\ +3 "collection"' & +3 "core" &\\l\ 0\ 0\ K +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&e% +4 "core" %    +2 "storage"(% +4 "core" % ! ! \  +2 "storage"(w. +3 "core" .(K +2 "storage"(N& +3 "core" &K ! # H\ +2 "storage"(6& +4 "core" &K ! "\ +2 "manipulator"&& +5 "core" & L +2 .tElbow.seek 6 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&& +4 "core" &  I L +2 "storage"(y& +4 "core" &K ! ! d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +93 "core" ' +2 "storage"(r& +4 "core" &K + 8\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +298 "core" ' +2 "storage"(z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" & B L +2 "storage"(7& +5 "core" &K ' '\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&/'< +18 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"( 't +32 "core" ' + "manipulator"&Q% +4 "core" %2 j  +2 "storage"(& +4 "core" &K " ! \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 290 counts +2 "manipulator"&L'^ +15 "core" ' + "manipulator"&1& +4 "core" & ) L +2 "storage"(V& +4 "core" &K 0 + S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(n' +45 "core" ' +2 "manipulator"&a& +3 "core" & 8 L +2 "manipulator"&c% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&j(ӂ +150 "core" ( + "manipulator"&E& +5 "core" &ӄ# N <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &Ӆ# H <: +3 .tForearm.seek CC + "manipulator"&Z'? +105 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'<( +446 "core" ( +2 "storage"(& +3 "core" &K T 7 (\ +3 "storage"(^& +3 "core" &K P T :\ +2 "manipulator"&=& +4 "core" &  * +2 "manipulator"&%% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&U' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +151 "core" ( + "manipulator"&8& +5 "core" &  + "storage"(M& +4 "core" &K G G 9\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&K'< +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&d1 +60 "core" 1 +2 "manipulator"& % +4 "core" % ,     +2 "storage"(}& +3 "core" &K F G +\ +2 .tForearm.force -20 +2 "manipulator"&5 +46 .tForearm.seek 6 + 284 counts +5 "manipulator"&3'X +15 "core" ' +2 "manipulator"&o& +3 "core" & \  I  +3 "storage"(J& +3 "core" &K m n X\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +17 "core" ' + "storage"(% +4 "core" % k m h\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (*% +4 "core" %G % ! .\ Wc +2 "manipulator"&% +4 "core" % / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +92 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'m& +4 "core" &\ \ \ +2 "manipulator"&5% +5 "core" %   t  + "storage"(t% +4 "core" % o n \  +2 "storage"(0. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(9(,y +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (>& +2 "core" &,| & \ +2 "manipulator"&F& +4 "core" &  /  +2 .tElbow.seek 4 +2 "manipulator"&{( +4 "core" ( + "manipulator"&4& +4 "core" &  \  +2 "storage"(k& +4 "core" &,| n n\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +91 "core" ' + "storage"('& +4 "core" &,| k k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +300 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (u& +3 "core" &,k S V \ +2 "manipulator"&s& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&2( +4 "core" ( + "manipulator"&_& +4 "core" &  \  +2 "storage"(v& +4 "core" &,k c H \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(' +8 "core" &  A  + "manipulator"&|% +4 "core" % Z    +2 .tForearm.seek :retract +2 "manipulator"&I' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&\ & +3 "core" &ӏ k 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +3 "core" &ӏ P 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'? +103 "core" ' +2 "manipulator"&-& +4 "core" &ӏ 7 +2 "manipulator"&% +4 "core" %O  E ~ +2 "collection"':& +4 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ \ \ +6 &:\ \ \ %g +10 &[y\ \ \ \ 8 +9 &s\ \ \ K +9 &R\ \ \ \ K +10 &X\ \ \ K +9 &TW\ \ \ \ K +10 &W\ \ \ K +9 &W\ \ \ K +9 &R\ \ \ K +10 &\\R\ \ \ K +9 & T\ \ \ J +9 &!T\ \ \ J +10 &#U\ \ \ J +9 &%eT\ \ \ J +10 &''S\ \ \ J +9 &(S\ \ \ J +9 &*T\ \ \ J +10 &,mT\ \ \ J +9 &..U\ \ \ K +9 &/X\ \ \ K +10 &1T\ \ \ K +9 &3tS\ \ \ K +10 &57T\ \ \ J +9 &6U\ \ \ K +9 &8R\ \ \ K +10 &:|T\ \ \ K +9 &<>Y\ \ \ K +9 &>V\ \ \ K +10 &?Y\ \ \ K +9 &AV\ \ \ K +10 &CDZ\ \ \ L +9 &Eb\ \ \ L +9 &Fk\ \ \ M +10 &H|\ %\ \ P +9 &J3\ 9\ 2\ T +9 &K\ ?\ ?\ V +10 &M\ =\ >\ W +9 &Oo\ ;\ <\ X +10 &Q2\ :\ ;\ W +9 &R\ :\ :\ Y +9 &T\ ;\ 9\ X +10 &Vr\ :\ 8\ Y +9 &X2\ 9\ 9\ Z +9 &Y\ :\ :\ [\ +10 &[\ :\ 8\ H +9 &\\1\ 8\ :\ , +10 &\\e\ 8\ 8\ N +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +48 .Hand.open +3 "manipulator" +56 "core" 1 + "manipulator"&Y% +4 "core" % O | ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%&& +4 "core" &\ +2 "manipulator"&C% +3 "core" %   +2 "storage"(% +4 "core" % ! \  +2 "storage"( . +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" &,|\ \  ^\  +2 "manipulator"&x& +4 "core" &ӭ ( 3 +2 "manipulator"&]% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +160 "core" ( +2 "manipulator"&& +4 "core" & e  +2 "storage"(& +4 "core" &,| $ ' ;\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +96 "core" ' +2 "storage"(& +4 "core" &,| U T \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +297 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &,l # -\  +2 "manipulator"&P& +4 "core" & ,  +2 .tElbow.seek 4 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&B& +4 "core" &    +2 "storage"(@& +4 "core" &,l . % `\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&`'c +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(e' +7 "core" &   +2 "manipulator"&% +4 "core" % W f +2 .tForearm.seek :retract +2 "manipulator"&w' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&$( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( + "manipulator"&N& +5 "core" & .  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &6& +2 "core" &  W  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&y% +4 "core" % P +2 "processing"%r& +4 "core" &A\ +3 "processing"%?& +5 "core" &B\ +2 .tPC.seek :closed +2 "processing"%!(^ +3 "core" &\ +9 &6\ #c +9 &U|\ 7 +10 &v\ K +9 &R\ N +9 &eT\ \ M +10 &(O\ M +9 &U\ \ N +10 &T\ M +9 &mPt\ M +9 &/V\ M +10 &S\ \ N +9 &!R \ N +10 &#uT\ M +9 &%7Q\ M +9 &&W\ M +10 &(U\ M +9 &*|T \ N +9 &,?T \ M +10 &.P \ M +9 &/W\ \ M +10 &1U \ N +9 &3FU \ N +9 &5 T\ \ M +10 &6R\ M +9 &8R \ M +9 &:NR \ N +10 &<X \ M +9 &=T \ N +10 &?S \ M +9 &AVU \ N +9 &C_ \ N +10 &Db\ O +9 &Fi\ \ P +9 &HSy \ Q +10 &J\ \ S +9 &K\ T +10 &M \ T +9 &OS \ T +9 &Q\ \ U +10 &R\ T +9 &T\ U +9 &VZ\ T +10 &X\ U +9 &Y\ U +10 &[\ U +9 &]`\ B +9 &^Fw\ X +10 &^;\ 3 +5 ( +2 "processing"%?& +4 "core" &^"\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&l1 +53 "core" 1 +2 "manipulator"&G% +4 "core" %   < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +93 "core" ' +2 "processing"%,& +3 "core" &^!\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&7% +4 "core" %   ]  +2 "storage"(X% +4 "core" % S -\  +2 "storage"(Q. +3 "core" .(,y +49 "storage"(& +4 "core" &,l  S \  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(1(,y +44 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (V& +4 "core" &,{ I\  \ +3 "manipulator"&a& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   M  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&c( +2 "storage"(T'r +6 "core" ( +2 "manipulator"&R& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &  \   +3 .tForearm.seek PC +2 "manipulator"&/' +96 "core" ' + .tHand.close +2 "manipulator"&L/ +58 "core" / +2 .tPC.seek :open +2 "processing"% ( +89 "core" ' +2 "storage"(E- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['1 +39 "core" ' +318 ( + "storage"(O& +4 "core" &,j ! ! \  +2 "manipulator"&H& +4 "core" & &  +2 "manipulator"&% +4 "core" %  / * +2 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&+( +241 "core" ( +2 "manipulator"&& +4 "core" &  < +2 "storage"(^& +4 "core" &,j\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +94 "core" ' +2 .tHand.open + "manipulator"&%1 +64 "core" 1 +2 "storage"(8- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Z' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +4 "core" -' +2 "storage"(d& +3 "core" &,j "\  +2 "manipulator"& & +4 "core" &  T < +2 .tElbow.seek 4 +2 "manipulator"&}( +4 "core" ( +2 "manipulator"&o& +3 "core" &   < +2 "storage"(J& +4 "core" &,j\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(U'" +59 "core" ' + "manipulator"&& +4 "core" & ? < +2 "storage"(*& +4 "core" &,j S 8\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&'7 +25 "core" ' +2 .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(m' +29 "core" ' +2 "manipulator"&3% +5 "core" %(  + "storage"(5& +5 "core" &,j   \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 285 counts +2 "manipulator"&t'T +15 "core" ' +2 "manipulator"&0& +3 "core" & ; +2 "storage"(n& +4 "core" &,j 3 }\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +15 "core" ' +2 "storage"(% +3 "core" % ! 3\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (>% +3 "core" %O\ \ \ \ We +2 "manipulator"&F% +4 "core" % ` +47 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +91 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (k& +3 "core" &,j  $ ;\  +3 "collection"''& +3 "core" &\\f\ 1\ 1\ N +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +3 "core" %  9  +2 "storage"((% +4 "core" % . * D\  +2 "storage"(h. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(u(,y +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (s& +3 "core" &,{ " " \ +2 "manipulator"&_& +3 "core" & . ; +3 .tElbow.seek 4 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&)& +3 "core" &  ; +2 "storage"("& +4 "core" &,{ / / \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts + "manipulator"&|' +95 "core" ' +2 "storage"({& +4 "core" &,{ ( , ,\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +295 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&;& +3 "core" & > ; +2 "storage"(~& +4 "core" &,l\ .\ , a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(:'h +30 "core" ' + "manipulator"&2% +4 "core" %F : N +2 "storage"(& +4 "core" &,l  \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 315 counts + "manipulator"&I'r +14 "core" ' +2 "manipulator"&<& +3 "core" & H ; +2 "storage"(#& +4 "core" &,l\  _ H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +3 "manipulator"&&& +4 "core" &  X ; +2 "manipulator"&C% +4 "core" % W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +146 "core" ( + "manipulator"&S& +4 "core" &z# <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &z# . <; +2 .tForearm.seek CC +2 "manipulator"&]'? +95 "core" ' + .tHand.close +2 "manipulator"&A/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(& +3 "core" &,l L T 8\  +2 "storage"(9& +4 "core" &,l P P \  +2 "manipulator"&& +4 "core" & @ 2 +2 "manipulator"&% +4 "core" % ? (  +2 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&q( +160 "core" ( +2 "manipulator"&W& +3 "core" &  P  +2 "storage"(P& +4 "core" &,l k k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&B'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +4 "manipulator"& % +4 "core" % F p K +2 "storage"(& +4 "core" &,l T V d\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&'r +14 "core" ' +2 "manipulator"&f& +4 "core" &  {  +2 "storage"(p& +5 "core" &,l Q V s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&`' +16 "core" ' + "storage"(N% +4 "core" % F Q P\ +3 ."downElevator"SE.seek :down +4 "storage"(6' +99 (\\% +3 "core" %ED , # =\ V` +2 "manipulator"&% +4 "core" % G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'r& +3 "core" &\ \ \ +2 "manipulator"&e% +4 "core" %   /  +2 "storage"(w% +4 "core" % n n -\  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(l(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &<* G 9\  +2 "manipulator"&,& +3 "core" &   +3 .tElbow.seek 5 + "manipulator"&7( +4 "core" ( +2 "manipulator"&X& +3 "core" &  m  +2 "storage"(Q& +4 "core" &<* n n \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&?'O +94 "core" ' + "storage"(& +4 "core" &<* l a \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +292 "core" ' + "storage"(a- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (R& +3 "core" &<* T H <\  +2 "manipulator"&i& +3 "core" &  K  +3 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&L& +4 "core" &  `  +2 "storage"( & +4 "core" &<* W R t\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'Ϲ +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& + "storage"(!' +8 "core" &    +2 "manipulator"&T% +4 "core" %   B +2 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +153 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +8 "core" &ӊ < 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &ӊ 3 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + "manipulator"&^& +4 "core" &ӌ  = 8 +2 "manipulator"&c% +4 "core" %8 } +2 "collection"'%& +4 "core" &\ \ \ \ +3 "collection"'8& +4 "core" &\ \ \ \ \ +3 .tCC.seek :closed +2 "collection"'j(\\ +5 "core" &\ \ \ +6 &;\ \ \ %g +9 &Yv\ \ \ \ 7 +10 &v\ \ \ \ J +9 &R\ \ \ \ K +10 &Y\ \ \ K +9 &FW\ \ \ K +9 &X\ \ \ \ K +10 &W\ \ \ K +9 &W\ \ \ K +9 &NR\ \ \ K +10 & R\ \ \ K +9 &!R\ \ \ K +10 &#S\ \ \ K +9 &%VR\ \ \ K +9 &'R\ \ \ K +10 &(R\ \ \ K +9 &*R\ \ \ K +9 &,^R\ \ \ K +10 &. R\ \ \ K +9 &/S\ \ \ K +10 &1S\ \ \ K +9 &3fS\ \ \ K +9 &5)T\ \ \ J +10 &6U\ \ \ K +9 &8X\ \ \ K +9 &:nT\ \ \ K +10 &<1V\ \ \ J +9 &=V\ \ \ K +10 &?W\ \ \ J +9 &AuW\ \ \ K +9 &C6Z\ \ \ L +10 &Dc\ \ \ L +9 &Fj\ \ \ M +9 &Hp\ "\ \ P +10 &J&\ 9\ 1\ T +9 &K\ B\ ?\ V +10 &M\ >\ A\ W +9 &Oa\ >\ =\ X +9 &Q"\ =\ =\ X +10 &R\ =\ =\ Y +50 &T\ :\ ;\ Y +3 &Vb\ ;\ ;\ Z +3 &X#\ ;\ ;\ Z + &Y\ =\ :\ [\ +2 &[\ :\ ;\ H + &\\6\ ;\ 9\ . +5 &\\u\ 8\ 9\ O +3 ( +2 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&d1 +57 "core" 1 + "manipulator"& % +5 "core" % 8  # } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%J& +3 "core" &G\ +2 "manipulator"&g% +4 "core" %  9  +2 "storage"(% +4 "core" % `\ ! >\  +2 "storage"(*. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"([(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (3& +3 "core" &<* l\  +2 "manipulator"&5& +3 "core" &ӭ | 3 +3 "manipulator"&M% +3 "core" %  Q  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&0( +158 "core" ( +2 "manipulator"&n& +4 "core" &  +2 "storage"(& +4 "core" &<* . $ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +94 "core" ' +2 "storage"(=& +3 "core" &<* T J Z\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Z'r +298 "core" ' + "storage"(>- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &<*\  ` N\  +2 "manipulator"&& +4 "core" & ;  +2 .tElbow.seek 5 +2 "manipulator"&}( +4 "core" ( + "manipulator"&U& +4 "core" & D  +2 "storage"(& +4 "core" &<* T\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&t'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(' +8 "core" &  +2 "manipulator"&(% +4 "core" % ϻ ! +2 .tForearm.seek :retract +2 "manipulator"&h' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&s& +5 "core" & C F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" & \\ F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&)' +94 "core" ' +2 "manipulator"&"& +3 "core" &  F +3 "manipulator"&.% +3 "core" % K D +3 "processing"%{& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%1(^ +4 "core" &\ +7 &\ 6 +9 &=Hs\ / +9 &dp}\ D +10 &[\ N +9 &S\ N +10 &S \ N +9 &KR\ M +9 & P\ M +10 &T \ M +9 &T\ \ N +9 &RT \ N +10 &!S\ N +9 &"S\ N +10 &$U\ N +9 &&[S\ M +9 &(P \ M +10 &)Qs\ M +9 &+P|\ M +9 &-cT\ M +10 &/%S\ \ M +9 &0Q \ N +10 &2T \ N +9 &4kR \ M +9 &6,R \ N +10 &7T\ \ N +9 &9V\ \ M +9 &;rX\ \ N +10 &=4T \ N +9 &>U \ N +10 &@T \ N +9 &Bx]\ N +9 &D7b\ \ O +10 &Ek \ P +9 &Gy \ R +9 &Iq\ \ S +10 &K3 \ S +9 &L \ S +10 &N \ U +9 &Pu \ U +9 &R6 \ U +10 &S \ U +9 &U\ U +9 &Wz\ V +10 &Y?\ \ U +9 &[\ U +10 &\\ \ V +9 &^8b\ )| +9 &^e\ 6 +9 ( +2 &^$\ 1 +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&K1 +57 "core" 1 +2 "manipulator"&4% +4 "core" %   ^ D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +2 "processing"%;& +3 "core" &^"x\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&~% +43 "core" %   7  +10 "storage"(% +4 "core" % N \  +2 "storage"(2. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +2 "manipulator"&#& +5 "core" &<* 6\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  6 F +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(&'r +2 "manipulator"&C( +6 "core" ( +2 "manipulator"&|& +3 "core" &   I F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +3 "core" &   F +2 .tForearm.seek PC +2 "manipulator"&b' +95 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%I( +83 "core" ' + "storage"(:- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'1 +40 "core" ' +319 ( +3 "storage"(x& +3 "core" &<* J c\  +2 "manipulator"&Y& +4 "core" & n F +2 "manipulator"&-% +4 "core" %  7 4 +2 .tForearm.seek :retract +2 "manipulator"&A' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&& +5 "core" & H + "storage"(& +4 "core" &<* N b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +94 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"( & +3 "core" &<* \  +3 "manipulator"&& +3 "core" &  ; H +3 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &   V H +3 "storage"(f& +3 "core" &<* }\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(N'" +56 "core" ' +2 "manipulator"&D& +4 "core" & 5 H +2 "storage"(\\& +4 "core" &<*\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&q, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +29 "core" ' + "manipulator"&r% +4 "core" %z n y +2 "storage"(& +4 "core" &<* N F\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 281 counts + "manipulator"&e'Ϧ +14 "core" ' +2 "manipulator"&w& +3 "core" &  +3 "storage"(& +3 "core" &<* 4 '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +24 "core" ' +2 "storage"(`% +4 "core" % ! ! \ +3 ."downElevator"SE.seek :down +4 "storage"(6' +99 (u% +4 "core" %R :\ Wh +41 "manipulator"&G% +11 "core" %m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +89 "core" ' +14 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (X& +3 "core" &<* 0 \  +3 "collection"'Q& +3 "core" &\\r\ 1\ 0\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %  *  +2 "storage"(@% +4 "core" % ! + \  +2 "storage"(y. +3 "core" .(<- +2 "storage"(a& +3 "core" &<* !\  +3 "storage"(R& +3 "core" &<* + -\  +2 "manipulator"&i& +4 "core" & =  +2 .tElbow.seek 5 +2 "manipulator"&L( +30 "core" ( + "manipulator"& & +4 "core" &  $ +2 "storage"($& +4 "core" &<* $ - k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +93 "core" ' +2 "storage"(T& +3 "core" &<* $ & M\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +295 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  $ +2 "storage"(/& +5 "core" &<* Z z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&V'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(c'x +30 "core" ' + "manipulator"&%% +5 "core" %Π C + "storage"(& +4 "core" &<* P \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&!' +14 "core" ' +2 "manipulator"&O& +3 "core" & Q  +2 "storage"(& +4 "core" &<*\ \ 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"( ' +45 "core" ' +2 "manipulator"&J& +4 "core" & Y  +2 "manipulator"&g% +4 "core" %9 # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +149 "core" ( +2 "manipulator"&8& +4 "core" &Ӆ"   ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &3& +3 "core" &Ӆ" ;8 +2 .tForearm.seek CC +2 "manipulator"&5'? +92 "core" ' +2 .tHand.close + "manipulator"&M/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( + "storage"(n& +4 "core" &<* U K +\  +2 "storage"(& +4 "core" &<* W V 9\  +2 "manipulator"&l& +4 "core" &Ӻ 8 4 +2 "manipulator"&=% +3 "core" % H <  +3 .tForearm.seek :retract + "manipulator"&H' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&o( +164 "core" ( +2 "manipulator"&>& +3 "core" & \  \\  +3 "storage"(F& +3 "core" &<* m o\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&U, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&k% +3 "core" % Ε  Y + +42 "storage"('& +11 "core" &<* H X \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&(' +14 "core" ' +2 "manipulator"&0& +4 "core" &    +2 "storage"(+& +3 "core" &<* m n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +13 "core" ' +2 "storage"(t% +4 "core" % k n \ +3 ."downElevator"SE.seek :down +4 "storage"(s' +98 (_% +3 "core" %N # \ \ We +2 "manipulator"&}% +4 "core" %X Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'.& +3 "core" &\ \ \ +3 "manipulator"&{% +3 "core" %    +2 "storage"(% +4 "core" % b n T\  +2 "storage"(h. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +3 "core" &K U S d\  +2 "manipulator"&4& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&~& +4 "core" & -  +2 "storage"(& +3 "core" &K n n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(2& +3 "core" &K l k \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(<'r +294 "core" ' +2 "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (|& +3 "core" &K T P m\  +2 "manipulator"&v& +3 "core" &  Y  +3 .tElbow.seek 6 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&& +4 "core" &  K  +2 "storage"([& +4 "core" &K X X u\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&:'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"(1' +7 "core" &  I  + "manipulator"&&% +4 "core" % g   +2 .tForearm.seek :retract +2 "manipulator"&x' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&Y(ӂ +157 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&-& +2 "storage"(5 +7 "core" &ӕ  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &ӕ 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 "manipulator"&& +3 "core" &ӕ  d 4 +2 "manipulator"&C% +4 "core" %4  f j +3 "collection"'& +4 "core" &\ \ \ +2 "collection"'& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'](\\ +4 "core" &\ \ \ +8 &;\ \ \ $e +9 &Yx\ \ \ 7 +9 &v\ \ \ J +10 &R\ \ \ \ J +9 &T\ \ \ \ J +10 &DT\ \ \ \ J +9 &R\ \ \ K +9 &R\ \ \ \ K +10 &W\ \ \ K +9 &KV\ \ \ K +9 & W\ \ \ \ J +10 &!U\ \ \ J +9 &#S\ \ \ K +10 &%SR\ \ \ K +9 &'R\ \ \ K +9 &(R\ \ \ K +10 &*V\ \ \ K +9 &,\\W\ \ \ K +9 &.W\ \ \ K +10 &/W\ \ \ K +9 &1Y\ \ \ K +10 &3dX\ \ {\ K +9 &5&X\ \ \ K +9 &6X\ \ \ K +10 &8W\ \ \ K +9 &:lY\ \ \ K +10 &<-U\ \ \ K +9 &=[\ \ \ L +9 &?W\ \ \ K +10 &AsW\ \ \ K +9 &C3]\ \ \ L +9 &Df\ \ \ L +10 &Fs\ \ \ N +9 &Hg\ 1\ +\ R +10 &J\ G\ B\ V +9 &K\ E\ H\ X +9 &M\ F\ H\ X +10 &O_\ D\ E\ W +9 &Q\ B\ B\ X +9 &R\ @\ A\ Y +10 &T\ >\ A\ Z +9 &V_\ ;\ =\ Z +9 &X!\ ;\ <\ Z +10 &Y\ =\ <\ [ +9 &[\ <\ :\ I +10 &\\1\ <\ :\ 3 +54 &\\o\ 8\ 9\ M +6 ( + &\\m\ 5\ 5\ M +3 &\\m\ 4\ 6\ M +3 &\\m\ 3\ 4\ M + &\\m\ 2\ 3\ M + &\\m\ 2\ 2\ M + &\\m\ 2\ 2\ M +2 "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 +2 .Hand.open + "manipulator"& 1 +4 "core" &\\m\ 2\ 2\ M +49 1 + "manipulator"&% +4 "core" % :  0 d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%f& +3 "core" &=\ +2 "manipulator"&A% +4 "core" % " > ( +2 "storage"(D% +4 "core" % ! !\  +2 "storage"(\\. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(S(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" &K O\  +2 "manipulator"&& +4 "core" &  # +2 "manipulator"&W% +4 "core" % !  ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&w( +149 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(`& +4 "core" &K / / \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +93 "core" ' +3 "storage"(9& +3 "core" &K K 6 Q\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(P'r +297 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (G& +3 "core" &K  L i\  +2 "manipulator"&p& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&N& +4 "core" &   +2 "storage"(& +3 "core" &K \ +\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&e'h +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&X/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(' +6 "core" & T  +3 "manipulator"&@% +3 "core" % n ' _ +3 .tForearm.seek :retract +2 "manipulator"&y' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&B( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( +2 "manipulator"&a& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" & ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&i' +90 "core" ' +2 "manipulator"& & +3 "core" &  c +3 "manipulator"&$% +3 "core" %  ; n +2 "processing"%& +4 "core" &\ +3 "processing"%T& +6 "core" &C\ +2 .tPC.seek :closed +2 "processing"%6(^ +3 "core" &\ +8 &6\ #c +10 &Vz\ 7 +9 &x\ L +9 &O\ M +10 &hQ\ M +9 &+S\ M +10 &U\ M +9 &P\ M +9 &pP\ M +10 &2U\ M +9 &S\ N +9 &!S\ M +10 &#xR\ M +9 &%:Q\ M +10 &&R\ M +9 &(U\ M +9 &*U\ M +10 &,BWQ\ M +9 &.U1\ M +9 &/U\ N +10 &1T\ N +9 &3JS\ M +10 &5 Q{\ M +9 &6Rw\ M +9 &8R\ N +10 &:QT<\ N +9 &<Rt\ M +9 &=U\ M +10 &?T6\ N +9 &AYU\ \ N +10 &C`w\ O +9 &Db5\ O +9 &Fk\ \ P +10 &HUy \ R +9 &J \ T +9 &K\ T +10 &M\ T +9 &OV\ \ T +10 &Q \ T +9 &R\ T +9 &T\ \ U +10 &V]\ T +9 &X\ U +9 &Y\ U +10 &[\ \ U +9 &]b \ B +9 &^Hy\ Q +10 &^V\ 2 +5 ( +2 "processing"%T& +4 "core" &^"\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&q1 +54 "core" 1 + "manipulator"&,% +4 "core" %    ~ n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +92 "core" ' +2 "processing"%& +5 "core" &^!<\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&/% +48 "core" %     +6 "storage"(^% +4 "core" % W :\  +2 "storage"(%. +3 "core" .(K +2 "storage"(& +3 "core" &K N \  +3 "storage"(O& +4 "manipulator"&& +5 "core" &K  \  + &  * +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&J( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'r +3 "core" ( +2 "manipulator"&z& +4 "core" &  G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&7' +92 "core" ' +2 .tHand.close + "manipulator"&V/ +57 "core" / +2 .tPC.seek :open + "processing"%!( +99 "core" ' +2 "storage"(c- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +49 "core" ' +295 ( +2 "storage"(3& +3 "core" &K ;\ +2 "manipulator"&d& +4 "core" & R +2 "manipulator"&E% +4 "core" %  * Q +2 .tForearm.seek :retract +2 "manipulator"&M' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +241 "core" ( +2 "manipulator"&j& +3 "core" &  I +2 "storage"(n& +4 "core" &K P \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' + .tHand.open +2 "manipulator"&l1 +58 "core" 1 +2 "storage"(=- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(>' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(F' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' + "storage"(*& +4 "core" &K <\ +2 "manipulator"&& +4 "core" & \ \ H +2 .tElbow.seek 6 +2 "manipulator"&k( +4 "core" ( + "manipulator"&'& +4 "core" &   H +2 "storage"(0& +4 "core" &K \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(t'" +52 "core" ' +2 "manipulator"&H& +3 "core" & H +2 "storage"(_& +4 "core" &K  V\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&}'< +24 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&.% +4 "core" %B J +2 "storage"({& +3 "core" &K ! & I\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&('n +14 "core" ' + "manipulator"&& +4 "core" &  H +2 "storage"(h& +4 "core" &K 1 /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +14 "core" ' +2 "storage"(Z% +4 "core" % 1 .\ +3 ."downElevator"SE.seek :down +3 "storage"(s' +99 (% +3 "core" %P\  \ Xi +2 "manipulator"&K% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +138 "core" ' +19 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" &K ) 6 p\ +2 "collection"'& +4 "core" &\\m\ .\ 0\ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&2% +4 "core" %   l  +2 "storage"(U% +4 "core" % . . \ +2 "storage"(". +4 "core" .(K + "storage"(#& +4 "core" &K . . \ +2 "storage"(|& +4 "core" &K . . \ +2 "manipulator"&v& +4 "core" & # H +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&[& +4 "core" &   H +2 "storage"(m& +4 "core" &K . . \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +99 "core" ' +2 "storage"(&& +3 "core" &K + &\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(;'r +305 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&-& +3 "core" & - H +2 "storage"(b& +4 "core" &K N c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&<'< +13 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(C's +32 "core" ' +2 "manipulator"&% +3 "core" %J N F +2 "storage"()& +4 "core" &K N |\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 314 counts + "manipulator"&1'v +14 "core" ' +2 "manipulator"&x& +4 "core" & ? H +2 "storage"(& +4 "core" &K\ \ ! #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 "manipulator"&f& +3 "core" & 8 H +2 "manipulator"&A% +4 "core" % 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +151 "core" ( + "manipulator"&& +4 "core" &ӈ!  :0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &ӈ  c :0 +3 .tForearm.seek CC +2 "manipulator"&'? +103 "core" ' +2 .tHand.close + "manipulator"&W/ +53 "core" / +3 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(& +3 "core" &K U 8 %\ +3 "storage"(`& +3 "core" &K < E \ +2 "manipulator"&9& +4 "core" & W ' +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&Y' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +151 "core" ( +2 "manipulator"&u& +4 "core" &  '  +2 "storage"(G& +3 "core" &K W W\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&p'< +94 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&X% +3 "core" % ?  8 +2 "storage"(Q& +4 "core" &K G G -\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 303 counts +44 "manipulator"&@'k +19 "core" ' + "manipulator"&w& +4 "core" & ;  +2 "storage"(& +4 "core" &K m n\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +19 "core" ' +2 "storage"(e% +4 "core" % n n b\ +3 ."downElevator"SE.seek :down +4 "storage"(a' +98 (R% +3 "core" %J . .\ Vb +2 "manipulator"& % +4 "core" % 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'$& +4 "core" &\ \ \ +2 "manipulator"&% +4 "core" %   ~  +2 "storage"(% +4 "core" % k k \  +2 "storage"(y. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(I(,y +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (q& +2 "core" &,{ & ' $\ +2 "manipulator"&,& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&/& +4 "core" &  z  +2 "storage"(T& +4 "core" &,{ n n \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +91 "core" ' + "storage"(%& +4 "core" &,{ m s ^\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(O- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,k W N \ +2 "manipulator"&z& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&L( +4 "core" ( + "manipulator"&i& +4 "core" &  W  +2 "storage"(V& +3 "core" &,k N = 1\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&c'c +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&B/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"(6' +6 "core" & Y  +2 "manipulator"&g% +4 "core" % Z   +3 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&d(ӂ +155 "core" ' +2 ( +2 "manipulator"&E& + ."downElevator"SE.stop +6 "storage"(5 +2 "core" &Ә  3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &Ә * 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&j'? +95 "core" ' +2 "manipulator"&n& +3 "core" &Ә  _ 3 +3 "manipulator"&J% +3 "core" %H h * +3 "collection"'l& +3 "core" &\ \ \ +3 "collection"'=& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'5(\\ +3 "core" &\ \ \  +9 &6}\ \ \ *z +9 &i~\ \ \ ? +10 &k\ \ \ L +9 &dT\ \ \ \ \ J +10 &&T\ \ \ K +9 &W\ \ \ K +9 &V\ \ \ \ K +10 &lV\ \ \ \ K +9 &.X\ \ \ K +9 &W\ \ \ \ K +10 & W\ \ \ J +9 &"tU\ \ \ K +10 &$7W\ \ \ J +9 &%T\ \ \ J +9 &'T\ \ \ K +10 &)}V\ \ \ \ J +9 &+?T\ \ \ J +9 &-T\ \ \ J +10 &.T\ \ \ J +9 &0U\ \ \ J +10 &2GT\ \ \ J +9 &4 T\ \ \ J +9 &5U\ \ \ K +10 &7W\ \ \ K +9 &9NX\ \ \ K +9 &;X\ \ \ K +10 &<T\ \ \ K +9 &>T\ \ \ K +10 &@UV\ \ \ K +9 &BW\ \ \ K +9 &C\\\ \ \ L +10 &Ec\ \ \ M +9 &GTs\ \ \ N +9 &I \ ,\ "\ Q +10 &J\ <\ 8\ U +9 &L\ >\ =\ V +10 &N@\ <\ <\ X +9 &P\ ;\ ;\ X +9 &Q\ :\ :\ X +10 &S\ 9\ 7\ Y +9 &UE\ 9\ 8\ Y +9 &W\ 8\ 7\ Z +10 &X\ :\ 8\ Z +9 &Z\ 8\ :\ Z +10 &\\'y\ 9\ 7\ . +9 &\\0\ 8\ 7\ b +9 ( +2 &\\k\ 6\ 6\ K +2 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&*1 +64 "core" 1 +2 "manipulator"&% +53 "core" % H j * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%0& +5 "core" &\ + "manipulator"&M% +5 "core" %  ,  + "storage"(H% +4 "core" % ! & ]\  +2 "storage"(_. +4 "core" .(,y + "storage"(.& +4 "core" &,k ! "\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"({(,y +11 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (8& +3 "core" &,z\ \ \ +2 "manipulator"&& +4 "core" &ӥ  / 2 +2 "manipulator"&h% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&>( +162 "core" ( + "manipulator"&Z& +4 "core" &  +2 "storage"(& +4 "core" &,z - ) ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +91 "core" ' +2 "storage"(F& +3 "core" &,z K G !\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (+& +3 "core" &,l\ % v\  +2 "manipulator"&k& +4 "core" & $  +2 .tElbow.seek 4 +2 "manipulator"&t( +4 "core" ( + "manipulator"&}& +4 "core" &   +2 "storage"((& +4 "core" &,l N\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&~'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +2 "storage"(U' +8 "core" & Y  +2 "manipulator"&% +4 "core" % [ | +2 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&#( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&|& +4 "core" & d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" & ] d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&[' +96 "core" ' + "manipulator"&m& +4 "core" & Z d +2 "manipulator"& % +5 "core" % l +2 "processing"%&& +4 "core" &K\ +2 "processing"%s& +5 "core" &\ +3 .tPC.seek :closed + "processing"%o(^ +4 "core" &\ +8 &.\ #a +9 &Tx \ 6 +9 &x$\ K +10 &U\ N +9 &\\T\ M +10 &O\ M +9 &U\ M +9 &U\ M +10 &dT\ M +9 &%T\ N +10 &S"\ N +9 &!R\ M +9 &#lQ"\ M +10 &%.Q\ M +9 &&W\ M +9 &(U\ M +10 &*sS\ N +9 &,6T\ M +10 &-Q\ M +9 &/W\ M +9 &1{T\ N +10 &3>T\ M +9 &5Q\ M +9 &6W\ M +10 &8Ws\ M +9 &:FV\ M +9 &< U\ M +10 &=X\ M +9 &?U\ M +10 &AMY-\ N +9 &C ^v\ N +9 &Da\ O +10 &Fk\ P +9 &HJzu\ Q +9 &J\ \ S +10 &K \ S +9 &M \ T +10 &OK\ T +9 &Q  \ T +9 &R\ T +10 &T\ U +9 &VP\ U +9 &X\ U +10 &Y\ U +9 &[\ T +10 &]V\ F +9 &^zC} \ "f +9 &^1\ . +6 ( +2 "processing"%s& +3 "core" &^ \ . +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&41 +63 "core" 1 +2 "manipulator"&% +4 "core" %   / l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +90 "core" ' +2 "processing"%b& +3 "core" &^E\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %     +2 "storage"(% +4 "core" %\ !\ ! \  +2 "storage"(). +3 "core" .(,y +49 "storage"(x& +4 "core" &,l\ \  O\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +39 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (f& +2 "manipulator"&A& +5 "core" &,|\ \ % \ +2 & \ Z d +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&\ ( +2 "storage"('r +13 "core" ( +2 "manipulator"&;& +3 "core" &   p * +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &  3 * +2 .tForearm.seek PC +2 "manipulator"&1' +94 "core" ' +2 .tHand.close + "manipulator"&C/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +84 "core" ' +2 "storage"(r- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +42 "core" ' +319 ( + "storage"(:& +4 "core" &,i . / \  +2 "manipulator"&W& +4 "core" & n * +2 "manipulator"&D% +3 "core" %  , U +3 .tForearm.seek :retract +2 "manipulator"&]' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +252 "core" ( +2 "manipulator"&`& +3 "core" & _ ` +2 "storage"(9& +4 "core" &,i ' ! /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 .tHand.open + "manipulator"&u1 +59 "core" 1 +3 "storage"(G- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(X& +3 "core" &,i \  +2 "manipulator"&Q& +5 "core" &   ` +2 .tElbow.seek 4 +2 "manipulator"&w( +4 "core" ( + "manipulator"&& +4 "core" &   X ` +2 "storage"(e& +4 "core" &,i\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&Y' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&R& +4 "core" & = ` +2 "storage"( & +4 "core" &,i N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&p'7 +22 "core" ' +2 .tElbow.hold + "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"($' +28 "core" ' +2 "manipulator"&% +4 "core" %= C  +2 "storage"(& +3 "core" &,i  ;\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 306 counts + "manipulator"&y'i +14 "core" ' +2 "manipulator"&& +5 "core" &  A _ + "storage"(P& +4 "core" &,i O \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +15 "core" ' +2 "storage"(S% +4 "core" % ! ! #\ +3 ."downElevator"SE.seek :down +3 "storage"(q' +99 (,% +3 "core" %MR\ \ Yi +2 "manipulator"&/% +4 "core" %  4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +47 .tForearm.seek :retract +4 "manipulator"&T' +91 "core" ' +14 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (%& +3 "core" &,i 2 ^ \  +3 "collection"'N& +4 "core" &\\l\ 0\ 0\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %   U  +2 "storage"(O% +4 "core" % . - p\  +2 "storage"(. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(z(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" &,} M {\ +2 "manipulator"&V& +3 "core" & ^ _ +3 .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&?& +3 "core" & _ +2 "storage"(g& +4 "core" &,} . / [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +163 "core" ' + "storage"(^& +4 "core" &,} : , \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +295 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &  ) _ +2 "storage"(c& +3 "core" &,l\ .\ , j\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&n'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(L'h +33 "core" ' +2 "manipulator"&6% +3 "core" %= S  +2 "storage"(3& +4 "core" &,l\ !\  ~\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 306 counts + "manipulator"&'i +14 "core" ' +2 "manipulator"&*& +4 "core" &  3 _ +2 "storage"(& +3 "core" &,l ! j\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(0' +36 "core" ' +3 "manipulator"&M& +3 "core" &  ) _ +2 "manipulator"&H% +4 "core" % 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.(ӂ +154 "core" ( + "manipulator"&8& +5 "core" &ӟ 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &ӟ Q 2 +2 .tForearm.seek CC +2 "manipulator"&h'? +92 "core" ' +2 .tHand.close + "manipulator"&j/ +53 "core" / +2 .tCC.seek :open +2 "collection"'Z( +101 "Can"%\ IF +349 "core" ( +2 "storage"(& +3 "core" &,l G G &\ +2 "storage"(I& +3 "core" &,l S V\ +2 "manipulator"&F& +4 "core" &ӡ 2 +2 "manipulator"&d% +3 "core" % G  t 3 +3 .tForearm.seek :retract +2 "manipulator"&'' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&K( +160 "core" ( + "manipulator"&+& +4 "core" &  [  +2 "storage"(k& +4 "core" &,l P l %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&}'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +42 "manipulator"&2% +11 "core" % 5 ] ; +2 "storage"(& +3 "core" &,l k ` z\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 298 counts +2 "manipulator"&>'a +16 "core" ' + "manipulator"&& +4 "core" &  S  +2 "storage"(& +4 "core" &,l k k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +18 "core" ' + "storage"(|% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +4 "storage"(v' +99 (t% +3 "core" %H " ! \ Wb +2 "manipulator"&m% +4 "core" %  _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'&& +4 "core" &\ \ \ +2 "manipulator"&U% +4 "core" %   a  +2 "storage"("% +3 "core" % n m "\  +2 "storage"(!. +3 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(4(<- +346 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &<* " % ^\  +2 "manipulator"&b& +3 "core" &  C  +2 .tElbow.seek 5 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&& +3 "core" &  p  +3 "storage"()& +3 "core" &<* n n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +93 "core" ' +2 "storage"(s& +4 "core" &<* l k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +295 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (;& +3 "core" &<* 4 N \  +2 "manipulator"&<& +4 "core" & f  +2 .tElbow.seek 5 +2 "manipulator"&[( +4 "core" ( + "manipulator"&C& +4 "core" &  9  +2 "storage"({& +4 "core" &<* X W\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&r'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(o' +6 "core" &  U  +3 "manipulator"&% +3 "core" % ϰ  ' +3 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&W(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&D& +5 "core" &ӎ , 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &ӎ / 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&`'? +93 "core" ' +2 "manipulator"&9& +4 "core" &ӎ _ 6 +2 "manipulator"&\ % +5 "core" %H K +2 "collection"'u& +4 "core" &\ \ \ +2 "collection"'G& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ \ +6 &;\ \ \ $f +10 &Z{\ \ \ 7 +9 &v\ \ \ K +9 &R\ \ \ J +10 &U\ \ \ J +9 &JT\ \ \ \ J +10 & T\ \ \ J +9 &U\ \ \ \ J +9 &W\ \ \ K +10 &QW\ \ \ \ J +9 & T\ \ \ J +9 &!S\ \ \ K +10 &#S\ \ \ K +9 &%XQ\ \ \ K +10 &'R\ \ \ K +9 &(S\ \ \ J +9 &*W\ \ \ J +10 &,aT\ \ \ J +9 &.#U\ \ \ J +9 &/U\ \ \ J +10 &1U\ \ \ J +9 &3hR\ \ \ K +10 &5*R\ \ \ K +9 &6T\ \ \ J +9 &8T\ \ \ J +10 &:qV\ \ \ J +9 &<2V\ \ \ K +9 &=Y\ \ \ K +10 &?U\ \ \ J +9 &AwW\ \ \ K +10 &C8Z\ \ \ L +9 &Dd\ \ \ L +9 &Fj\ \ \ M +10 &Hr\ #\ \ P +9 &J(\ 6\ 0\ T +9 &K\ >\ =\ V +10 &M\ =\ ?\ W +9 &Oe\ =\ =\ W +10 &Q&\ ;\ <\ W +9 &R\ =\ ;\ X +9 &T\ :\ :\ X +10 &Ve\ :\ 9\ Z +48 &X(\ 9\ 9\ Y +6 &Y\ :\ ;\ [ +2 &[\ 9\ :\ H + &\\1\ 9\ ;\ 0 +2 &\\i\ 9\ 9\ N + ( + &\\f\ 6\ 7\ N +2 "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 11/26 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&X1 +4 "core" &\\e\ 5\ 5\ N +49 1 +2 "manipulator"&Q% +4 "core" % H P K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%e& +4 "core" &O\ +2 "manipulator"&]% +4 "core" %  _  +2 "storage"(R% +4 "core" % ! ! X\  +2 "storage"( . +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<*\ 8\  +2 "manipulator"& & +4 "core" &ӫ A 2 +2 "manipulator"&% +4 "core" %  Q  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&P( +159 "core" ( +2 "manipulator"&& +4 "core" & `  +2 "storage"(S& +4 "core" &<* & !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +88 "core" ' + "storage"( & +4 "core" &<* T T\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\\'r +297 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (/& +3 "core" &<* ! ! 1\  +2 "manipulator"&Y& +4 "core" & 3  +2 .tElbow.seek 5 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&& +4 "core" & N  +2 "storage"(p& +4 "core" &<* % ! J\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&y'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&%/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& +2 "storage"( ' +8 "core" & \\  + "manipulator"&O% +5 "core" % ϲ ! +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +3 "manipulator"&i& +3 "core" & 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +2 "core" & W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +93 "core" ' +2 "manipulator"&g& +3 "core" & * +3 "manipulator"&a% +3 "core" % 9 A +3 "processing"%^& +3 "core" &W\ +3 "processing"%q& +6 "core" &U\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &!\ +6 &6!\ $d +10 &Vy#\ 7 +9 &v&\ K +9 &R \ M +10 &jU(\ N +10 &-Q$\ M +13 &W\ N +5 &T\ M +9 &sT\ M +10 &4T(\ N +9 &T'\ M +9 &!O'\ M +10 &#zT \ N +9 &%=T \ M +10 &&R"\ M +9 &(V+\ M +9 &*V#\ M +10 &,DU \ N +9 &.S\ M +9 &/R#\ M +10 &1R\ M +9 &3MV\ M +10 &5U\ M +9 &6U\ N +9 &8U\ N +10 &:VQ\ M +9 &<W\ N +9 &=V\ N +10 &?S\ N +9 &A[Z\ N +10 &C`\ O +9 &Db\ O +9 &Fm\ P +10 &HW\ R +9 &J\ S +9 &K\ T +10 &M\ T +9 &OY \ T +10 &Q\ U +9 &R\ \ T +9 &T \ V +10 &V`\ T +9 &X  \ U +9 &Y\ U +10 &[\ U +9 &]d\ C +10 &^Bs\ \\ +9 &^?\ 3 +5 ( +2 "processing"%q& +4 "core" &^%\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&@1 +57 "core" 1 +2 "manipulator"&T% +4 "core" %   # A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7' +91 "core" ' +2 "processing"%& +4 "core" &^%\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&c% +51 "core" %  \ \   +4 "storage"(l% +3 "core" %\ # S A\  +2 "storage"(6. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(3(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (*& +4 "core" &<+ \  \  +3 "manipulator"&& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & \   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&M( +2 "storage"(H'r +6 "core" ( + "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" & \  +3 .tForearm.seek PC +2 "manipulator"&E' +94 "core" ' +3 .tHand.close + "manipulator"&n/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(L- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +47 "core" ' +305 ( +2 "storage"(& +4 "core" &<* ! \  +2 "manipulator"&=& +4 "core" & +2 "manipulator"&J% +3 "core" %  | $ +3 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&_( +241 "core" ( + "manipulator"&5& +4 "core" & Q B +2 "storage"(& +4 "core" &<* - * a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +112 "core" ' + .tHand.open +2 "manipulator"&F1 +53 "core" 1 +3 "storage"(d- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(k' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(h- +2 "core" -' +3 "storage"(.& +3 "core" &<* \  +2 "manipulator"&& +4 "core" & \  r B +2 .tElbow.seek 5 +2 "manipulator"&2( +4 "core" ( +2 "manipulator"&& +3 "core" &   j B +2 "storage"(& +4 "core" &<*\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +10 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(|'" +49 "core" ' +2 "manipulator"&'& +4 "core" & < B +2 "storage"(K& +3 "core" &<* L .\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&t'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(}' +28 "core" ' +2 "manipulator"&&% +4 "core" %΅ 6 +2 "storage"(>& +3 "core" &<*\ \  +\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&U'ϱ +14 "core" ' + "manipulator"&"& +5 "core" &  +2 "storage"(!& +3 "core" &<* - # ;\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +29 "core" ' + "storage"(~% +4 "core" % . . \ +3 ."downElevator"SE.seek :down +4 "storage"(v' +99 (z% +3 "core" %^R g\ Xi +41 "manipulator"&% +11 "core" %Ё +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +89 "core" ' +15 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<* Y  5\  +2 "collection"')& +4 "core" &\\e\ 0\ /\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&s% +3 "core" %   +3 "storage"((% +4 "core" % 0 / d\  +2 "storage"( . +3 "core" .(<- +2 "storage"(A& +3 "core" &<* 2 1 -\  +2 "storage"(;& +5 "core" &<* # ) 1\  +2 "manipulator"&<& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&C( +21 "core" ( + "manipulator"&{& +4 "core" &  +2 "storage"(#& +4 "core" &<* ' ' =\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +91 "core" ' +2 "storage"(& +4 "core" &<* T T k\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(x- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" & 4  +2 "storage"(1& +4 "core" &<* 1 0\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&f'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(\ 'w +28 "core" ' +2 "manipulator"&u% +3 "core" %Ε  +2 "storage"([& +4 "core" &<*\ \  6\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 308 counts + "manipulator"&o' +15 "core" ' + "manipulator"&:& +4 "core" & V  +2 "storage"(Z& +4 "core" &<* - / V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +14 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(Q' +42 "core" ' + "manipulator"&e& +4 "core" & I  +2 "manipulator"&]% +4 "core" %5  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +158 "core" ( +3 "manipulator"&G& +3 "core" &ӌ"  ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӌ" ;5 +2 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'`( +446 "core" ( +2 "storage"(& +3 "core" &<* T T o\  +2 "storage"(S& +4 "core" &<* H R k\  +2 "manipulator"&4& +4 "core" &ӹ 5 +2 "manipulator"& % +3 "core" % 3  +3 .tForearm.seek :retract +2 "manipulator"&W' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +155 "core" ( + "manipulator"&,& +4 "core" & s  +2 "storage"(/& +4 "core" &<* K S 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Y'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&p1 +55 "core" 1 +2 "manipulator"&%% +4 "core" % Β   , +46 "storage"(N& +8 "core" &<* I P l\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts +2 "manipulator"&O'Ͼ +13 "core" ' +2 "manipulator"&P& +3 "core" &  @  +3 "storage"(& +3 "core" &<* l m\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +27 "core" ' +2 "storage"(y% +4 "core" % n k \ +3 ."downElevator"SE.seek :down +4 "storage"(i' +98 (V% +3 "core" %M ' $ 5\ Wc +2 "manipulator"&w% +4 "core" %V y , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'a& +3 "core" &\ \ \ +2 "manipulator"&^% +4 "core" %   E  +2 "storage"( % +5 "core" % a g w\  + "storage"(. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &K J R 0\ +2 "manipulator"&T& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&c& +3 "core" &   +2 "storage"(q& +4 "core" &K m m \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +92 "core" ' + "storage"(6& +4 "core" &K k ` \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +292 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K S D \ +2 "manipulator"&B& +5 "core" &  +2 .tElbow.seek 6 + "manipulator"&?( +4 "core" ( +2 "manipulator"&n& +3 "core" & \ \\  +2 "storage"(& +4 "core" &K W X h\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&L'h +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"(' +9 "core" & 2  + "manipulator"&H% +4 "core" % b  1 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&=(ӂ +151 "core" ( +2 "manipulator"&J& +3 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +4 "core" &  \\ 9' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &Ӏ  9& +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&5'? +96 "core" ' +2 "manipulator"&& +4 "core" &Ӏ  $ 9& +2 "manipulator"&M% +5 "core" %F ' + "collection"'F& +4 "core" &\ \ \ +3 "collection"'d& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'h(\\ +4 "core" &\ \ \ +7 &?\ \ \ $f +10 &Z{\ \ \ 7 +9 & v\ \ \ K +9 &Q\ \ \ J +10 &T\ \ \ \ J +9 &NT\ \ \ \ J +9 &T\ \ \ J +10 &T\ \ \ \ J +9 &T\ \ \ \ \ J +10 &VT\ \ \ \ J +9 & Q\ \ \ \ \ K +9 &!Q\ \ \ \ K +10 &#R\ \ \ K +9 &%]R\ \ \ K +9 &'R\ \ \ \ K +10 &(R\ \ \ \ K +9 &*W\ \ \ K +10 &,eW\ \ \ K +9 &.'W\ \ \ K +9 &/V\ \ \ K +10 &1W\ \ \ K +9 &3mW\ \ \ K +9 &5/W\ \ \ K +10 &6S\ \ \ K +9 &8T\ \ \ J +10 &:uU\ \ \ K +9 &<6Z\ \ \ K +9 &=\\\ \ \ K +10 &?W\ \ \ K +9 &A|Z\ \ \ K +9 &C=^\ \ \ L +10 &De\ \ \ L +9 &Fr\ \ \ N +10 &Hp\ 0\ +\ R +9 &J)\ G\ B\ U +9 &K\ I\ H\ V +10 &M\ E\ D\ X +9 &Oe\ D\ D\ Y +9 &Q(\ A\ C\ X +10 &R\ @\ A\ Y +9 &T\ ?\ @\ Y +10 &Vh\ >\ =\ Z +9 &X*\ =\ ;\ Z +9 &Y\ <\ >\ [ +10 &[\ =\ :\ H +9 &\\1\ 9\ :\ 3 +54 &\\g\ 7\ 8\ N +8 ( + &\\e\ 4\ 5\ N +2 &\\e\ 5\ 3\ N +2 &\\e\ 2\ 1\ N +2 &\\e\ 0\ 2\ N + &\\e\ 1\ 3\ N + &\\e\ 1\ 1\ N +4 "collection"'d& +2 "core" &\\e\ 2\ 0\ N +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&.1 +53 "core" 1 +2 "manipulator"&% +4 "core" % F 7 ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &P\ +2 "manipulator"&j% +4 "core" %  *  +2 "storage"('% +4 "core" % $ . A\  +2 "storage"(K. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(8(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" &K \ %\ +2 "manipulator"&>& +4 "core" &   % +2 "manipulator"&+% +4 "core" %  2  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&"( +148 "core" ( +2 "manipulator"&!& +3 "core" &  2  +2 "storage"(~& +4 "core" &K ' % N\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +95 "core" ' +2 "storage"(I& +4 "core" &K 8 T \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(k'r +297 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" &K . 0 u\ +2 "manipulator"&& +3 "core" &  m  +3 .tElbow.seek 6 + "manipulator"&2( +4 "core" ( +2 "manipulator"&|& +4 "core" & =  +2 "storage"(t& +3 "core" &K / / C\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&U'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(s' +9 "core" & W  +2 "manipulator"&(% +4 "core" % ~ . +2 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&}( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&A& +4 "core" & e @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &  @ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&<' +99 "core" ' +2 "manipulator"&{& +4 "core" & @ +2 "manipulator"&#% +5 "core" % I * +2 "processing"%& +3 "core" &V\ +3 "processing"%0& +5 "core" &Z\ +2 .tPC.seek :closed +2 "processing"%v(^ +4 "core" &&\ +8 &6*\ #c +9 &V{)\ 7 +9 &x'\ L +10 &R'\ M +9 &fT\ N +9 &(T,\ N +10 &U+\ M +9 &Q%\ M +10 &oP(\ M +9 &1Q-\ M +9 &P,\ M +10 &!U$\ M +9 &#wU*\ M +9 &%9V(\ M +10 &&U'\ N +9 &(Q'\ M +10 &*~T-\ N +9 &,AT'\ M +9 &.Q+\ M +10 &/V$\ M +9 &1U\ M +9 &3HT\ N +10 &5\ T!\ N +9 &6U\ N +10 &8U\ M +9 &:PQ#\ N +9 &<W\ M +10 &=S\ N +9 &?T\ M +9 &AXW\ N +10 &C_\ O +9 &Dc\ O +10 &Fk\ P +9 &HTy\ R +9 &J\ T +10 &K\ T +9 &M\ T +9 &OU \ T +10 &Q\ U +9 &R\ U +10 &T\ U +9 &V\\\ T +9 &X\ U +10 &Y\ U +9 &[\ U +9 &]`\ C +10 &^Cx\ _ +9 &^ A\ 1 +6 ( + "processing"%0& +4 "core" &^&\ 1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&m1 +59 "core" 1 +2 "manipulator"&b% +4 "core" %  * * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +101 "core" ' +2 "processing"%D& +5 "core" &^%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&1% +53 "core" %   +2 "storage"(9% +4 "core" % " '\  +2 "storage"(u. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"([(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (:& +2 "manipulator"&Z& +4 "core" &K\  U\  +5 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &   1 @ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(e'r +2 "manipulator"&]( +6 "core" ( +2 "manipulator"&-& +4 "core" &  \ < @ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &C& +3 "core" & @ +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&f/ +53 "core" / +2 .tPC.seek :open +2 "processing"%o( +94 "core" ' +2 "storage"(\ - +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(G'1 +44 "core" ' +308 ( + "storage"(& +4 "core" &K\ \ q\  +2 "manipulator"&X& +4 "core" & K @ +2 "manipulator"&r% +4 "core" %   2 +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&R( +247 "core" ( +2 "manipulator"&& +4 "core" & > +2 "storage"(& +3 "core" &K\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +92 "core" ' + .tHand.open +2 "manipulator"&41 +58 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(,' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"( & +4 "core" &K   \ \  +2 "manipulator"&p& +4 "core" &   < > +2 .tElbow.seek 6 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&N& +4 "core" &   n > +2 "storage"(P& +4 "core" &K   #\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +51 "core" ' + "manipulator"&W& +4 "core" &  > +2 "storage"(& +4 "core" &K  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&V'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +19 "core" ' +2 "manipulator"&a% +4 "core" %P  R +2 "storage"(O& +3 "core" &K   \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&^'| +15 "core" ' +2 "manipulator"& & +3 "core" & ~ > +2 "storage"(& +5 "core" &K\ !\  #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +15 "core" ' +2 "storage"(\\% +4 "core" % \  i\ +3 ."downElevator"SE.seek :down +4 "storage"(i' +99 (3% +3 "core" %Q\ \ \ \ \ Wg +41 "manipulator"&@% +13 "core" % A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +12 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (c& +3 "core" &K \\ \  +2 "collection"'q& +4 "core" &\\d\ 2\ /\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&6% +4 "core" %  -  +2 "storage"(% +4 "core" % . + 0\  +2 "storage"(g. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &K \  +3 "manipulator"&B& +3 "core" & | = +2 .tElbow.seek 6 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&& +5 "core" &  = + "storage"($& +4 "core" &K + 0 6\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +91 "core" ' + "storage"(H& +4 "core" &K K H \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" & % = +2 "storage"(E& +4 "core" &K , % $\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&*'< +17 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(M't +27 "core" ' +2 "manipulator"&F% +4 "core" %A 0 +2 "storage"(?& +3 "core" &K \ \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&'m +15 "core" ' +2 "manipulator"&& +3 "core" & / = +2 "storage"(`& +4 "core" &K * , G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +49 "core" ' + "manipulator"&& +5 "core" & l = + "manipulator"&j% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +154 "core" ( + "manipulator"&d& +4 "core" &Ӕ 0 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &&& +3 "core" &Ӕ j 6 +2 .tForearm.seek CC +2 "manipulator"&>'? +102 "core" ' + .tHand.close +2 "manipulator"&+/ +59 "core" / +2 .tCC.seek :open +2 "collection"'5( +447 "core" ( + "storage"(!& +4 "core" &K : &\  +2 "storage"(~& +4 "core" &K ? P !\  +2 "manipulator"&& +3 "core" & * +2 "manipulator"&I% +4 "core" %  [ +3 .tForearm.seek :retract + "manipulator"&=' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +143 "core" ( + "manipulator"&z& +5 "core" &  + "storage"(& +4 "core" &K G I \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +42 .tHand.open +9 "manipulator"&t1 +62 "core" 1 +3 "manipulator"&% +4 "core" % 6 * +2 "storage"()& +3 "core" &K G G O\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 294 counts +2 "manipulator"&('b +15 "core" ' + "manipulator"&"& +4 "core" &  " +2 "storage"(_& +4 "core" &K n m \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +15 "core" ' + "storage"(U% +4 "core" % m m\ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (;% +3 "core" %H $ - <\ Vc +2 "manipulator"&2% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +87 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'#& +3 "core" &\ \ \ +2 "manipulator"&% +4 "core" %  T  +2 "storage"(s% +4 "core" % l l \  +2 "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +696 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (m& +3 "core" &,w < C F\  +2 "manipulator"&b& +3 "core" & +2 .tElbow.seek 4 +2 "manipulator"&D( +4 "core" ( + "manipulator"&1& +4 "core" &  I +2 "storage"(0& +4 "core" &,w k a \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&9' +95 "core" ' +2 "storage"(u& +4 "core" &,w n m \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +295 "core" ' + "storage"(Z- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &,k T O !\  +2 "manipulator"&C& +4 "core" &  d +2 .tElbow.seek 4 +2 "manipulator"&<( +4 "core" ( + "manipulator"&f& +4 "core" & u +2 "storage"(8& +4 "core" &,k Q V \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\ 'c +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +3 "storage"(v' +6 "core" & i +3 "manipulator"&e% +3 "core" % ^  T +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&r& +3 "core" &ӝ 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӝ 5 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +104 "core" ' + "manipulator"&& +4 "core" &ӝ \ 1 +2 "manipulator"&]% +5 "core" %A O +2 "collection"'4& +3 "core" &\ \ \ +3 "collection"' & +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"' (\\ +5 "core" &\ \ \  +8 &6}\ \ \ *z +9 &i~\ \ \ ? +10 &k\ \ \ \ L +9 &cR\ \ \ K +10 &%R\ \ \ K +9 &T\ \ \ \ J +9 &T\ \ \ J +10 &lT\ \ \ J +9 &-U\ \ \ \ \ K +9 &W\ \ \ \ K +10 & W\ \ \ J +9 &"tU\ \ \ J +10 &$6T\ \ \ J +9 &%U\ \ \ K +9 &'W\ \ \ K +10 &){V\ \ \ \ K +9 &+=W\ \ \ \ K +9 &,W\ \ \ \ K +10 &.W\ \ \ \ K +9 &0W\ \ \ K +10 &2ER\ \ \ K +9 &4R\ \ \ K +9 &5T\ \ \ \ J +10 &7T\ \ \ K +9 &9MW\ \ \ \ K +9 &;S\ \ \ \ K +10 &<U\ \ \ K +9 &>T\ \ \ \ K +10 &@UV\ \ \ K +9 &BW\ \ \ K +9 &C`\ \ \ L +10 &Ee\ \ \ M +9 &GTs\ \ \ N +9 &I \ &\ !\ Q +55 &J\ ;\ 8\ V +6 &L\ <\ <\ W +4 &N@\ ;\ ;\ X + &P\ 9\ 9\ W +2 &Q\ 8\ 8\ X + &S\ ;\ 7\ Y + &UB\ 7\ 8\ Z +5 &W\ 8\ 8\ [ +10 &X\ 6\ 7\ Z +9 &Z\ 9\ 7\ [\ +10 &\\(y\ 9\ 7\ / +9 &\\.\ 7\ 8\ ] +9 ( +2 &\\n\ 6\ 7\ N +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&p% +4 "core" % A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%P& +4 "core" &2\ +2 "manipulator"&% +4 "core" %  :  +2 "storage"(W% +4 "core" % \  +2 "storage"(. +3 "core" .(,v +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(a(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +4 "core" &,z _ *\ +2 "manipulator"&G& +3 "core" &Ӟ  ^ 1 +2 "manipulator"& % +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +159 "core" ( +2 "manipulator"&,& +3 "core" &  A  +2 "storage"(\\& +4 "core" &,z / / \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +95 "core" ' + "storage"(S& +4 "core" &,z : , 1\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +298 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &,l I\  X\ +2 "manipulator"&& +4 "core" & W  +2 .tElbow.seek 4 +2 "manipulator"&%( +4 "core" ( + "manipulator"&y& +4 "core" & b  +2 "storage"(V& +98 "core" &,l S\  B\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&^'c +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&q& +2 "storage"(6' +8 "core" &   +2 "manipulator"&% +4 "core" % ~ u +2 .tForearm.seek :retract +2 "manipulator"&g' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y( +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&& +4 "core" &  T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" & $ T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +104 "core" ' +2 "manipulator"&$& +4 "core" & T +2 "manipulator"&H% +5 "core" %  +2 "processing"%Q& +4 "core" &\ +3 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%[(^ +5 "core" &\  +9 &2v\ )v +9 &cz\ = +9 &jp+\ N +10 &-S)\ M +9 &W!\ M +9 &U(\ M +10 &sV"\ M +9 &5W-\ M +10 &V-\ M +9 &V.\ M +9 & {W-\ M +10 &"=W,\ M +9 &#W-\ M +9 &%R-\ M +10 &'R-\ M +9 &)ER-\ M +10 &+R-\ M +9 &,S.\ N +9 &.T-\ M +10 &0MV&\ M +9 &2V'\ M +10 &3T&\ N +9 &5T,\ M +9 &7VS%\ M +10 &9W"\ N +9 &:W-\ N +9 &<R!\ M +10 &>\\U\ N +9 &@Y'\ M +9 &AY"\ N +10 &Cb \ O +9 &E_d!\ O +10 &Gm!\ P +9 &H}!\ R +9 &J\ S +10 &LZ \ T +9 &N$\ T +10 &O\ T +9 &Q\ U +9 &S_\ U +10 &U \ U +9 &V\ T +9 &X#\ U +10 &Zg\ U +9 &\\(\ U +10 &]{\ 5 +9 &^,g\ Q +9 &^(\ 2 +3 ( +2 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&w1 +59 "core" 1 +2 "manipulator"&T% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +91 "core" ' +2 "processing"%J& +4 "core" &^%\ 2 +50 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&E% +3 "core" %  \ O  +2 "storage"(% +5 "core" % N T\  + "storage"(F. +4 "core" .(,y + "storage"(?& +5 "core" &,l N \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (`& +4 "core" &,{  W \ +3 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &  T +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(j'r +2 "manipulator"&7( +24 "core" ( + "manipulator"&n& +4 "core" &   ^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & ' } +2 .tForearm.seek PC +2 "manipulator"&*' +89 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%M( +80 "core" ' +2 "storage"(d- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'1 +44 "core" ' +322 ( + "storage"(.& +4 "core" &,h ^\ ! \  +2 "manipulator"&L& +4 "core" & . +2 "manipulator"&+% +4 "core" %   p +2 .tForearm.seek :retract +2 "manipulator"&'' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&h( +239 "core" ( +2 "manipulator"&!& +3 "core" & 3 +2 "storage"(~& +4 "core" &,h M >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' +2 .tHand.open + "manipulator"&I1 +63 "core" 1 +2 "storage"(z- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(>' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(t& +4 "core" &,h\  +2 "manipulator"&& +3 "core" &   h 3 +3 .tElbow.seek 4 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&"& +4 "core" &   \\ 3 +2 "storage"(_& +3 "core" &,h >\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +50 "core" ' +2 "manipulator"&& +3 "core" & # 3 +2 "storage"(;& +4 "core" &,h L i\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&2'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(#' +19 "core" ' + "manipulator"&% +5 "core" %G " , + "storage"((& +4 "core" &,h  8\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 316 counts + "manipulator"&s's +14 "core" ' +2 "manipulator"& & +4 "core" &   3 +2 "storage"(& +3 "core" &,h\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +15 "core" ' +2 "storage"(A% +3 "core" % ! +\ +3 ."downElevator"SE.seek :down +50 "storage"(' +52 (m% +3 "core" %AO\ \ \ Xf +2 "manipulator"&b% +5 "core" % 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +96 "core" ' +102 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (0& +3 "core" &,h @ *\  +2 "collection"'u& +4 "core" &\\n\ 0\ 0\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&|% +3 "core" %  ! # +3 "storage"({% +3 "core" % y\  +2 "storage"(Z. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(-(,y +43 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &,w J +\ +2 "manipulator"&f& +4 "core" & w 3 +2 .tElbow.seek 4 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&}& +4 "core" & B 3 +2 "storage"(x& +4 "core" &,x ! ! B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +114 "core" ' + "storage"(D& +4 "core" &,x T 8 #\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +295 "core" ' +2 "storage"(r- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & = 3 +2 "storage"(:& +4 "core" &,l M [\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&\ '7 +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(<'g +29 "core" ' +2 "manipulator"&4% +3 "core" %I !  +2 "storage"(v& +4 "core" &,l \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 318 counts + "manipulator"&'u +14 "core" ' +2 "manipulator"&5& +3 "core" & 6 3 +3 "storage"( & +3 "core" &,l ]\  e\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(P' +36 "core" ' + "manipulator"&& +4 "core" &  3 +2 "manipulator"&W% +4 "core" % 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +151 "core" ( +2 "manipulator"&O& +3 "core" &Ӓ 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &Ӓ A 5 +3 .tForearm.seek CC +2 "manipulator"& '? +93 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"',( +447 "core" ( +2 "storage"(\\& +3 "core" &,l Q R $\ +2 "storage"(& +4 "core" &,l ? E \ +2 "manipulator"&S& +4 "core" &ӛ  z 3 +2 "manipulator"&X% +3 "core" % K  C +3 .tForearm.seek :retract +2 "manipulator"&N' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&3( +161 "core" ( +2 "manipulator"&@& +3 "core" &   +2 "storage"(& +4 "core" &,l n n\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&y'7 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +50 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&c1 +55 "core" 1 +5 "manipulator"&q% +3 "core" % I  f ( +2 "storage"(& +4 "core" &,l j a \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&'u +14 "core" ' +2 "manipulator"&R& +3 "core" &  :  +2 "storage"(/& +4 "core" &,l j k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +15 "core" ' +2 "storage"(% +3 "core" % l l \ +3 ."downElevator"SE.seek :down +4 "storage"(B' +99 (%% +3 "core" %C . / \ V` +2 "manipulator"&$% +4 "core" % h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'Q& +3 "core" &\ \ \ +2 "manipulator"&6% +4 "core" %   +2 "storage"(g% +4 "core" % ^ ] 3\  +2 "storage"(o. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(w(<- +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (T& +3 "core" &<*\ \ .\  +2 "manipulator"&J& +3 "core" &    +3 .tElbow.seek 5 + "manipulator"&E( +4 "core" ( +2 "manipulator"&i& +3 "core" &   +2 "storage"(& +4 "core" &<* n m\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +97 "core" ' +2 "storage"(?& +3 "core" &<* k j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" &<* ? Q _\  +2 "manipulator"&& +5 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & -  +2 "storage"(a& +4 "core" &<* V W\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&d'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& +2 "storage"([' +8 "core" &  u  +2 "manipulator"&j% +3 "core" % ϴ  +3 .tForearm.seek :retract +2 "manipulator"&.' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +149 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&+& +2 "storage"(5 +7 "core" &|" : ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &}" c :2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&!'? +99 "core" ' + "manipulator"&~& +4 "core" &~! :1 +2 "manipulator"&7% +4 "core" %D  +3 "collection"'I& +3 "core" &\ \ \ +3 "collection"'z& +6 "core" &\ \ \ +3 .tCC.seek :closed +3 "collection"'K(\\ +2 "core" &\ \ \ +6 &\ \ \ : +9 &LKv\ \ \ 0 +10 &v}\ \ \ E +9 &.[\ \ \ K +10 &W\ \ \ \ K +9 &Y\ \ \ \ K +9 &uW\ \ \ K +10 &8W\ \ \ K +9 &W\ \ \ K +9 &W\ \ \ \ K +10 &~X\ \ \ K +9 &!@W\ \ \ \ K +10 &#W\ \ \ \ J +9 &$T\ \ \ \ J +9 &&T\ \ \ \ J +10 &(IT\ \ \ J +9 &* S\ \ \ \ \ J +9 &+Q\ \ \ K +10 &-R\ \ \ K +9 &/PS\ \ \ \ K +10 &1R\ \ \ K +9 &2T\ \ \ \ J +9 &4T\ \ \ J +10 &6YU\ \ \ J +9 &8U\ \ \ K +9 &9W\ \ \ K +54 &;S\ \ \ K +6 &=`V\ \ \ K +3 &?!Y\ \ \ K +2 &@V\ \ \ J +2 &BY\ \ \ L + &De`\ \ \ L + &F#j\ \ \ M +6 &Gy\ \ \ O +10 &I\ /\ '\ S +9 &KO\ >\ <\ V +10 &M\ <\ =\ V +9 &N\ >\ >\ W +9 &P\ :\ :\ X +10 &RQ\ ;\ :\ X +9 &T\ :\ :\ Y +9 &U\ 9\ 8\ Y +10 &W\ 9\ 9\ Z +9 &YQ\ 7\ 8\ [ +10 &[\ :\ :\ [ +9 &\\eD\ 9\ 9\ 1 +9 &\\\ 8\ :\ J +6 ( +2 "collection"'z& +4 "core" &\\g\ 5\ 8\ J +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&t1 +57 "core" 1 +2 "manipulator"&% +4 "core" % D  '  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%_& +4 "core" &\ +2 "manipulator"&'% +4 "core" %    +2 "storage"(% +4 "core" % ! P\  +2 "storage"(;. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ((& +3 "core" &<* w\  +2 "manipulator"&&& +4 "core" &Ӥ > 5 +2 "manipulator"& % +3 "core" %  b  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +168 "core" ( + "manipulator"&& +5 "core" &  + "storage"(A& +5 "core" &<) * - \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +94 "core" ' +2 "storage"(& +3 "core" &<) U T W\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +296 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" &<)\ $\  4\  +2 "manipulator"&U& +4 "core" & =  +2 .tElbow.seek 5 +2 "manipulator"&)( +23 "core" ( + "manipulator"&=& +4 "core" &   +2 "storage"(2& +4 "core" &<) " ! h\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&s'Ϲ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(|' +7 "core" & ;  + "manipulator"&{% +4 "core" %  ] +3 .tForearm.seek :retract + "manipulator"&Z' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&C& +4 "core" & \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &f& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&k' +89 "core" ' +2 "manipulator"&}& +3 "core" & \ +3 "manipulator"&x% +3 "core" %   ~ +3 "processing"%D& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +8 &2u\ )w +10 &d~\ > +9 &tp$\ N +10 &8R(\ M +9 &U'\ M +9 &T&\ M +10 &~R(\ M +9 &>T'\ N +9 &T$\ M +10 &Q,\ M +9 & Q+\ M +10 &"GQ-\ M +9 &$ U.\ M +9 &%S-\ N +10 &'T,\ N +9 &)OR.\ M +9 &+Q-\ M +10 &,Q(\ M +9 &.T-\ M +10 &0VS*\ N +9 &2T*\ N +9 &3T-\ M +10 &5Q-\ M +9 &7_U+\ M +9 &9!W$\ M +10 &:T,\ N +9 &<T'\ N +10 &>gU'\ M +9 &@)U\ M +9 &AZ(\ N +10 &Ce\ O +9 &Ehi"\ P +9 &G'q)\ Q +10 &H%\ S +9 &J'\ T +10 &Le\ S +9 &N%"\ T +9 &O\ T +10 &Q \ U +9 &Si\ U +9 &U*\ U +10 &V\ U +9 &X\ U +10 &Zq\ U +9 &\\3\ U +9 &]}\ 8 +10 &^4\ I +9 &^\ , +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&1% +3 "core" %   ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +48 "manipulator"&r' +92 "core" ' +2 "processing"%& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&:% +4 "core" %     +2 "storage"(]% +4 "core" % \  +2 "storage"(4. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(v(<- +2 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +2 "manipulator"& & +4 "core" &<*\ \  \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & \ ; \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&W( +6 "core" ( +2 "manipulator"&e& +4 "core" &  \ \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" & \  * \ +3 .tForearm.seek PC + "manipulator"&9' +94 "core" ' +2 .tHand.close +2 "manipulator"&\ / +62 "core" / +2 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(<- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(O'1 +47 "core" ' +312 ( +2 "storage"(G& +3 "core" &<) ! $ !\  +2 "manipulator"&p& +4 "core" & \ +2 "manipulator"&% +4 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +241 "core" ( + "manipulator"& & +5 "core" &  k 0 + "storage"(\\& +5 "core" &<) ! !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +103 "core" ' + .tHand.open +2 "manipulator"&S1 +59 "core" 1 +3 "storage"(X- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"( & +5 "core" &<) \  + "manipulator"&c& +4 "core" &  \ [ 0 +2 .tElbow.seek 5 +2 "manipulator"&q( +4 "core" ( +2 "manipulator"&& +3 "core" &   : 0 +2 "storage"(R& +4 "core" &<) \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&/'O +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' + "manipulator"&N& +4 "core" & ! 0 +2 "storage"(%& +4 "core" &<)\ "\  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&3'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +28 "core" ' +2 "manipulator"&Q% +4 "core" %Ρ +2 "storage"(6& +4 "core" &<) & ! I\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"&' +14 "core" ' + "manipulator"&g& +4 "core" & 3 / +2 "storage"(o& +4 "core" &<) 0 / P\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +15 "core" ' +2 "storage"(^% +50 "core" % . / v\ +3 ."downElevator"SE.seek :down +4 "storage"(B' +98 (-% +4 "core" %uR\ \ \ \ \ Xg +2 "manipulator"&T% +3 "core" %=  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (i& +3 "core" &<)  % l\  +2 "collection"'& +4 "core" &\\e\ /\ .\ J +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&?% +4 "core" %    +2 "storage"(V% +3 "core" % 1 1\  +3 "storage"(H. +2 "core" .(<- +2 "storage"(& +4 "core" &<) . 0 S\  +2 "storage"(n& +4 "core" &<) $ , <\  +2 "manipulator"&& +4 "core" & / +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&a& +4 "core" & U / +2 "storage"(Y& +4 "core" &<) % + \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +88 "core" ' +2 "storage"(j& +3 "core" &<) T T 0\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(E'r +296 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&+& +4 "core" &  / +2 "storage"(*& +3 "core" &<) + $ (\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&`'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(7'x +30 "core" ' + "manipulator"&I% +4 "core" %Κ  +2 "storage"(& +4 "core" &<) / . \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&[' +14 "core" ' +2 "manipulator"&.& +3 "core" & * / +2 "storage"(,& +4 "core" &<) - $ ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +13 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +42 "core" ' + "manipulator"&_& +4 "core" & , / +2 "manipulator"&'% +4 "core" %] # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +154 "core" ( + "manipulator"&z& +4 "core" &Ӑ  \ :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &(& +3 "core" &Ӑ  e :+ +2 .tForearm.seek CC +2 "manipulator"&&'? +94 "core" ' + .tHand.close +2 "manipulator"& / +62 "core" / +2 .tCC.seek :open +2 "collection"'!( +447 "core" ( + "storage"(& +4 "core" &<) K Q K\  +2 "storage"(A& +4 "core" &<) H Q 6\  +2 "manipulator"&w& +4 "core" &Ӵ R 5 +2 "manipulator"&% +3 "core" % I  ;  +3 .tForearm.seek :retract +2 "manipulator"&L' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&"( +160 "core" ( +2 "manipulator"&m& +3 "core" & q  +2 "storage"(b& +4 "core" &<) L G #\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&U'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +42 "manipulator"&$&.,(\ #b +10 .tHand.open + "manipulator"&21 +53 "core" 1 +3 "manipulator"&0% +5 "core" % { U . + "storage"(u& +5 "core" &<) l m \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 282 counts +2 "manipulator"&{'ϧ +14 "core" ' +2 "manipulator"&& +4 "core" &    +2 "storage"(h& +4 "core" &<) n n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +14 "core" ' +2 "storage"(s% +4 "core" % j k \ +3 ."downElevator"SE.seek :down +4 "storage"(C' +98 (f% +3 "core" %J $ " \ Vb +2 "manipulator"&)% +4 "core" %9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'x& +4 "core" &\ \ \ +2 "manipulator"&D% +4 "core" %    +2 "storage"(|% +3 "core" % k k \  +3 "storage"(Z. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(M(K +345 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K I R \ \ +2 "manipulator"&1& +4 "core" &  h  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  3  +2 "storage"(:& +4 "core" &K n n *\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +94 "core" ' + "storage"(4& +4 "core" &K k k \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'r +296 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +3 "core" &K R E\ \ +2 "manipulator"&8& +3 "core" & ^  +2 .tElbow.seek 6 +2 "manipulator"&k( +4 "core" ( + "manipulator"&\ & +4 "core" & U  +2 "storage"(& +4 "core" &K T U \ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&<'h +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& +2 "storage"(' +8 "core" &  .  + "manipulator"&% +4 "core" % ω [ +2 .tForearm.seek :retract +2 "manipulator"&G' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &Ӕ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &Ӕ Q 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +97 "core" ' +2 "manipulator"&\\& +4 "core" &Ӕ   4 +2 "manipulator"&W% +4 "core" %@ n % +2 "collection"'S& +4 "core" &\ \ \ +3 "collection"'X& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"' (\\ +5 "core" &\ \ \ +7 &;\ \ \ $e +9 &Xx\ \ \ 7 +10 &t\ \ \ K +9 &R\ \ \ \ J +9 &T\ \ \ J +10 &GU\ \ \ J +9 & T\ \ \ \ J +10 &T\ \ \ J +9 &T\ \ \ \ J +9 &NU\ \ \ K +10 & W\ \ \ K +9 &!W\ \ \ K +9 &#X\ \ \ \ K +10 &%VW\ \ \ \ \ K +9 &'W\ \ \ \ K +10 &(W\ \ \ K +9 &*W\ \ \ \ K +9 &,^W\ \ \ \ \ K +10 &. X\ \ \ \ K +9 &/X\ \ \ \ K +9 &1Y\ \ \ \ K +10 &3fY\ \ \ \ K +9 &5(X\ \ \ \ K +10 &6S\ \ \ K +9 &8T\ \ \ \ J +9 &:nV\ \ \ K +10 &\ Y +10 &X#\ <\ <\ Z +9 &Y\ :\ ;\ [ +9 &[\ ;\ :\ H +10 &\\4\ 9\ :\ 1 +9 &\\f\ 7\ 9\ N +2 ( +2 "collection"'X& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&c% +4 "core" % @ < % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%R& +4 "core" &\ +2 "manipulator"&% +3 "core" %  -  +3 "storage"(N% +3 "core" % & ! +\  +2 "storage"(%. +3 "core" .(K +2 "storage"(O& +4 "core" &K ( " 4\ \ +2 "storage"(Q& +5 "core" &K " ! )\ \ + "manipulator"&6& +4 "core" &   "| +2 "manipulator"&@% +4 "core" %  j  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&g( +148 "core" ( +2 "manipulator"&o& +3 "core" &  +2 "storage"(^& +4 "core" &K / 0 \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' +2 "storage"(& +3 "core" &K T 8 a\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(-- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &K 3 ^ A\ \ +2 "manipulator"&/& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&q( +4 "core" ( + "manipulator"&& +4 "core" &  e  +2 "storage"(3& +4 "core" &K ! @\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(?' +8 "core" & J  +2 "manipulator"&V% +3 "core" % f V +3 .tForearm.seek :retract +2 "manipulator"&H' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&& +4 "core" & \ 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &  [ 1 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&a& +3 "core" &  Z 1 +2 "manipulator"&Y% +5 "core" %  n ~ +2 "processing"%P& +4 "core" &\ +3 "processing"%j& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%B(^ +4 "core" &\  +8 &4y\ *x +10 &d}\ > +9 &qo\ N +9 &5R\ M +10 &U\ M +9 &U\ M +10 &zW\ N +9 &=S\ M +9 &Q\ M +10 &R\ M +9 & R\ M +9 &"ER+\ M +10 &$R,\ N +9 &%T-\ M +10 &'R1\ N +9 &)MU.\ M +9 &+W(\ M +10 &,W-\ N +9 &.R-\ M +9 &0UU.\ M +10 &2U.\ M +9 &3U.\ M +10 &5T-\ N +9 &7^Q-\ M +9 &9X-\ N +10 &:W-\ N +9 &<R-\ M +9 &>eW+\ M +10 &@&T-\ N +9 &AX.\ N +10 &Ca!\ O +9 &Egg$\ O +9 &G%p-\ Q +10 &H.\ S +9 &J.\ T +9 &Lc*\ S +10 &N#!\ T +10 &O+\ T +9 &Q"\ T +9 &Sh\ T +9 &U(\ U +10 &V(\ U +9 &X+\ T +9 &Zo+\ U +10 &\\0#\ U +9 &]~x)\ : +10 &^0\ P +9 &^\ - +2 ( +2 "processing"%j& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&$1 +60 "core" 1 +2 "manipulator"&J% +3 "core" %   4 ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' +2 "processing"%+& +3 "core" &^ \ - +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&*% +4 "core" %     +50 "storage"(~% +4 "core" %\ !\ 3\  +2 "storage"(I. +4 "core" .(K +2 "storage"(& +3 "core" &K\ \ ! \ \ +3 "storage"(.& +3 "manipulator"&,& +6 "core" &K\ \ \ \ + &  \ D 1 +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&_( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(''r +2 "core" ( +3 "manipulator"&l& +3 "core" &   1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  \ H 1 +2 .tForearm.seek PC +2 "manipulator"&E' +96 "core" ' +3 .tHand.close + "manipulator"&`/ +63 "core" / +2 .tPC.seek :open +2 "processing"%[( +85 "core" ' +2 "storage"(7- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'1 +48 "core" ' +310 ( +2 "storage"((& +4 "core" &K\ # \ +2 "manipulator"&t& +3 "core" & = 1 +2 "manipulator"&d% +4 "core" %  / +3 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +248 "core" ( + "manipulator"&K& +4 "core" &   S +2 "storage"(& +4 "core" &K\ !\ ! \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +94 "core" ' +2 .tHand.open + "manipulator"&w1 +53 "core" 1 +3 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(m' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(b' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(;& +3 "core" &K   \ +2 "manipulator"&2& +4 "core" &   ! S +2 .tElbow.seek 6 +2 "manipulator"&0( +4 "core" ( +2 "manipulator"&u& +3 "core" &   P S +2 "storage"(& +5 "core" &K   \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(s'" +61 "core" ' +2 "manipulator"&L& +4 "core" &  S +2 "storage"(f& +4 "core" &K\ \  7\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&)'< +19 "core" ' + .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(U' +20 "core" ' +2 "manipulator"&x% +3 "core" %D  & +2 "storage"(D& +4 "core" &K N X\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&{'p +14 "core" ' + "manipulator"&|& +5 "core" &  S + "storage"(Z& +4 "core" &K \\ Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(>% +4 "core" % ! (\ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 (v% +3 "core" %9O\ \ \ \ Vd +2 "manipulator"&% +5 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +91 "core" ' +60 ' +4 ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K R |\ +2 "collection"':& +4 "core" &\\g\ 0\ /\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&4% +3 "core" %  '  +3 "storage"(=% +3 "core" % . * \  +2 "storage"(}. +3 "core" .(K +2 "storage"( & +4 "core" &K - 0 c\ +2 "storage"(e& +4 "core" &K . . \ +2 "manipulator"&8& +5 "core" & . S +2 .tElbow.seek 6 + "manipulator"&\ ( +4 "core" ( +2 "manipulator"&& +3 "core" & 1 S +2 "storage"(#& +4 "core" &K + . r\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +93 "core" ' +2 "storage"(& +3 "core" &K 7 T \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & S +2 "storage"(9& +4 "core" &K M \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&5'< +20 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(\\- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(W'w +30 "core" ' +2 "manipulator"&S% +3 "core" %O +2 "storage"(k& +4 "core" &K\ # S\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&'{ +15 "core" ' +2 "manipulator"&G& +3 "core" & S +2 "storage"(!& +4 "core" &K\ !\ R\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(c' +46 "core" ' + "manipulator"&R& +4 "core" & I S +2 "manipulator"&% +5 "core" % ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +149 "core" ( +2 "manipulator"&X& +3 "core" &Ӌ  X 9& +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &O& +3 "core" &Ӌ  7 9& +2 .tForearm.seek CC +2 "manipulator"&Q'? +97 "core" ' +2 .tHand.close + "manipulator"&6/ +53 "core" / +2 .tCC.seek :open +2 "collection"'@( +447 "core" ( + "storage"( & +4 "core" &K S T B\ +2 "storage"(o& +4 "core" &K G Q c\ +2 "manipulator"&^& +4 "core" &  * +2 "manipulator"&% +4 "core" %  O +2 .tForearm.seek :retract +2 "manipulator"&p' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +154 "core" ( + "manipulator"&-& +4 "core" & ?  +2 "storage"(T& +4 "core" &K F F 3\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&/'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&31 +60 "core" 1 +3 "manipulator"&i% +3 "core" % >   D +2 "storage"(& +4 "core" &K m m\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts +2 "manipulator"&V'j +13 "core" ' +49 "manipulator"&g& +4 "core" &  f  +2 "storage"(& +4 "core" &K j ` y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +20 "core" ' +2 "storage"(% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (n% +3 "core" %L % " E\ Wd +2 "manipulator"&q% +4 "core" % k  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'Y& +3 "core" &\ \ \ +2 "manipulator"&P% +4 "core" %  ~  +2 "storage"(?% +4 "core" % j j \  +2 "storage"(H. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "core" &,{ 6 C 3\ +2 "manipulator"&J& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&*& +4 "core" & u  +2 "storage"(~& +3 "core" &,{ ] ` R\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +91 "core" ' +2 "storage"(I& +4 "core" &,{ i b \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +293 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &,k P I \ +2 "manipulator"&l& +5 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & Q  +2 "storage"(`& +4 "core" &,k G G E\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&7'c +27 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(B' +6 "core" &    +3 "manipulator"&'% +4 "core" % ς  l +2 .tForearm.seek :retract +2 "manipulator"&(' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&d& +5 "core" &Ӓ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &Ӓ 9 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&K'? +98 "core" ' +2 "manipulator"&& +3 "core" &Ӓ \ H 5 +3 "manipulator"&_% +3 "core" %A  k $ +3 "collection"'w& +3 "core" &\ \ s\ +3 "collection"'& +6 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'&(\\ +3 "core" &\ \ \ +8 &;\ \ \ $e +9 &Yx\ \ \ 7 +10 &t\ \ \ J +9 &T\ \ \ J +9 &T\ \ \ J +10 &HT\ \ \ \ J +9 &\ T\ \ \ J +10 &T\ \ \ \ J +9 &U\ \ \ \ J +9 &PU\ \ \ \ J +10 & T\ \ \ J +9 &!Y\ \ \ \ J +9 &#U\ \ \ \ J +10 &%WT\ \ \ \ J +9 &'T\ \ \ \ J +10 &(T\ \ \ \ K +9 &*V\ \ \ \ K +9 &,^X\ \ \ K +10 &. Y\ \ \ \ \ K +9 &/Y\ \ \ \ K +9 &1Y\ \ \ \ \ K +10 &3fY\ \ \ \ K +9 &5(Y\ \ \ K +10 &6Y\ \ \ K +9 &8Y\ \ \ K +9 &:nU\ \ \ \ K +10 &<1W\ \ \ J +9 &=W\ \ \ \ K +9 &?U\ \ \ \ K +10 &AvW\ \ \ K +9 &C7[\ \ \ K +10 &Dc\ \ \ L +9 &Fl\ \ \ M +9 &Ho\ \ \ P +10 &J$\ 6\ .\ U +9 &K\ ;\ ;\ U +9 &M\ ;\ ;\ X +10 &Oa\ 8\ 8\ X +9 &Q!\ 7\ ;\ X +10 &R\ 6\ 8\ X +9 &T\ 6\ 8\ X +9 &Vd\ 5\ 7\ Y +10 &X \ 7\ 8\ [ +9 &Y\ 8\ 7\ \\ +9 &[\ 7\ 8\ H +10 &\\4\ 6\ 7\ 0 +9 &\\b\ 3\ 6\ L +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&;1 +60 "core" 1 +2 "manipulator"&2% +49 "core" % A ( $ +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"& % +4 "core" %  J  +2 "storage"(L% +5 "core" % . 0 \  + "storage"(f. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(x(,y +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (D& +3 "core" &,} K P\ +2 "manipulator"&z& +3 "core" &Ӯ  1 +2 "manipulator"&|% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&Z( +162 "core" ( +2 "manipulator"&m& +4 "core" &  +2 "storage"(>& +4 "core" &,} J Q &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +95 "core" ' +2 "storage"(A& +4 "core" &,} S T 3\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +301 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,l\ \ \  +2 "manipulator"&h& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&0( +4 "core" ( + "manipulator"&s& +4 "core" &   +2 "storage"()& +3 "core" &,l ' '\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&{'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(4' +8 "core" & Z  + "manipulator"&=% +4 "core" % i D +2 .tForearm.seek :retract +2 "manipulator"&U' +87 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"& & +4 "core" & < \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&8' +93 "core" ' +2 "manipulator"&& +4 "core" & D \ +2 "manipulator"&#% +4 "core" % + F +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(^ +3 "core" &\  +10 &1v\ *x +9 &b}\ = +10 &qq\ N +9 &4P\ M +9 &Q\ M +10 &S\ M +9 &yR\ N +9 &<T\ M +10 &Q\ M +9 &U\ M +10 & U\ N +9 &"CS\ N +9 &$T0\ M +10 &%P\ M +9 &'T\ N +10 &)KS \ N +9 &+T+\ M +9 &,R+\ M +10 &.O-\ M +9 &0TT)\ M +9 &2T)\ M +10 &3Q)\ M +9 &5Q,\ M +9 &7\\Q+\ M +10 &9S,\ M +9 &:T-\ N +10 &<Q.\ M +9 &>cU-\ N +9 &@%S-\ N +10 &AW.\ N +9 &Cc.\ O +10 &Eee(\ P +9 &G&l,\ P +9 &H-\ R +10 &J/\ T +9 &La,\ T +9 &N""\ T +10 &O-\ T +9 &Q-\ U +9 &Sf-\ U +10 &U''\ U +9 &V%\ U +10 &X-\ V +9 &Zn-\ U +9 &\\/!\ U +10 &]~x#\ 9 +9 &^6#\ K +9 &^(\ + +3 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&"1 +52 "core" 1 +2 "manipulator"&1% +4 "core" %   \ ? F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +90 "core" ' +2 "processing"%& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&9% +3 "core" %   b  +2 "storage"(\\% +4 "core" % & " \  +2 "storage"(S. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +49 "storage"(k(,y +18 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (G& +4 "core" &,z " -\ +3 "manipulator"&!& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & \  \ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(R'r + "manipulator"&( +6 "core" ( +2 "manipulator"&r& +3 "core" &  ] \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &   M \ +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 .tHand.close + "manipulator"&5/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(W- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +44 "core" ' +308 ( + "storage"(O& +4 "core" &,i !\ +2 "manipulator"& & +4 "core" & 9 \ +2 "manipulator"&<% +4 "core" %  7 ` +2 .tForearm.seek :retract +2 "manipulator"&6' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&N( +241 "core" ( + "manipulator"& & +4 "core" & @ +2 "storage"( & +4 "core" &,i\ \  A\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +93 "core" ' + .tHand.open +2 "manipulator"&^1 +59 "core" 1 +3 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(-' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(T' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(Q- +4 "core" -' +2 "storage"(%& +3 "core" &,i 6 )\ +2 "manipulator"&3& +4 "core" & \  @ +2 .tElbow.seek 4 +2 "manipulator"&i( +4 "core" ( + "manipulator"&& +4 "core" &   R @ +2 "storage"(g& +4 "core" &,i , 6\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' + "manipulator"&p& +5 "core" & A @ + "storage"(& +4 "core" &,i ! \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&n'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&q, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(/' +29 "core" ' + "manipulator"&Y% +4 "core" %)   +2 "storage"(V& +4 "core" &,i " !\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 286 counts +2 "manipulator"&P'U +14 "core" ' +2 "manipulator"&?& +4 "core" & f @ +2 "storage"(H& +4 "core" &,i 1 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&c' +15 "core" ' +2 "storage"(% +5 "core" % ( , a\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (M% +3 "core" %hR\ \ \ \ \ Yi +2 "manipulator"&$% +5 "core" % ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +60 ' + ."downElevator"SE.stop +47 "storage"(5 +5 (*& +3 "core" &,i a A\ +2 "collection"'~& +5 "core" &\\b\ .\ /\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&I% +4 "core" %  %  +2 "storage"(% +4 "core" % + $ ]\  +2 "storage"(a. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(.(,y +37 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &,y N J\ +2 "manipulator"&l& +4 "core" & @ +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&`& +4 "core" & + @ +2 "storage"(y& +4 "core" &,y 0 / \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +97 "core" ' +2 "storage"('& +3 "core" &,y P H J\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(+'r +294 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +4 "core" & / @ +2 "storage"(E& +3 "core" &,l P e\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(_'g +34 "core" ' +2 "manipulator"&w% +4 "core" %J   +2 "storage"(& +3 "core" &,l $ + C\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&B'v +15 "core" ' + "manipulator"&(& +4 "core" & ) @ +2 "storage"(@& +4 "core" &,l % ' P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(2' +34 "core" ' +2 "manipulator"&& +3 "core" & w @ +3 "manipulator"&% +3 "core" % R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&L(ӂ +156 "core" ( +2 "manipulator"&f& +3 "core" &ӛ ' 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +4 "core" &ӛ , 1 +3 .tForearm.seek CC +2 "manipulator"&z'? +95 "core" ' + .tHand.close +2 "manipulator"&|/ +64 "core" / +2 .tCC.seek :open +2 "collection"'K( +446 "core" ( +2 "storage"(m& +4 "core" &,l T T t\ +2 "storage"(>& +3 "core" &,l U U \ +2 "manipulator"&& +4 "core" &ӟ n 1 +2 "manipulator"&A% +4 "core" % I = ! +5 .tForearm.seek :retract +6 "manipulator"&t' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&u( +163 "core" ( + "manipulator"&v& +4 "core" &  ! +2 "storage"(& +4 "core" &,l G G \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&h'7 +95 "core" ' +2 .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&)1 +56 "core" 1 +2 "manipulator"&% +4 "core" %  - Q +2 "storage"(:& +3 "core" &,l m n \ +2 .tForearm.force -20 +2 "manipulator"&5 +47 .tForearm.seek 4 + 276 counts +5 "manipulator"&='K +16 "core" ' +2 "manipulator"&Z& +3 "core" &  ! +2 "storage"(& +4 "core" &,l i ` z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +15 "core" ' +2 "storage"({% +4 "core" % n n L\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +100 (e% +2 "core" %D . $ `\ Va +3 "manipulator"&0% +3 "core" % = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'#& +3 "core" &\ \ \ +2 "manipulator"&% +4 "core" %   `  +2 "storage"(4% +4 "core" % n m \  +2 "storage"(U. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"([(<- +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ("& +2 "core" &<+ - % \ +2 "manipulator"&1& +4 "core" &  K ! +2 .tElbow.seek 5 +2 "manipulator"&( +19 "core" ( +2 "manipulator"&9& +3 "core" &  H  +2 "storage"(\\& +4 "core" &<+ o m (\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +93 "core" ' +2 "storage"(& +3 "core" &<+ k k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(G'r +296 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (r& +3 "core" &<+ S G )\ +2 "manipulator"&\ & +3 "core" &  S  +3 .tElbow.seek 5 +2 "manipulator"&8( +2 "core" ( +2 "manipulator"&5& +4 "core" &  +2 "storage"(x& +4 "core" &<+ X W\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&W'Ϲ +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(C' +8 "core" &  o  + "manipulator"&R% +4 "core" % ϳ  W +2 .tForearm.seek :retract +2 "manipulator"&O' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&<& +3 "core" &ӌ! [ :- +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӌ!  :- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +97 "core" ' +2 "manipulator"& & +4 "core" &ӣ k 7 +2 "manipulator"&% +4 "core" %? & +2 "collection"'^& +4 "core" &\ \ \ +3 "collection"'& +4 "core" &\ \ T\ +3 .tCC.seek :closed +2 "collection"'Q(\\ +4 "core" &\ \ U\ +7 &;\ \ Y\ %f +9 &Z|\ \ ^\ 8 +9 &\ s\ \ b\ K +10 &Q\ \ \ K +9 &W\ \ \ K +9 &OW\ \ \ \ K +10 &W\ \ \ K +9 &W\ \ \ \ K +10 &R\ \ \ K +9 &XT\ \ \ \ J +9 & T\ \ \ J +10 &!T\ \ \ \ \ J +9 &#U\ \ \ \ K +9 &%_W\ \ \ K +10 &'!W\ \ \ \ K +9 &(W\ \ \ K +10 &*W\ \ \ K +9 &,gW\ \ \ \ K +9 &.)R\ \ \ K +10 &/R\ \ \ K +9 &1U\ \ \ J +9 &3pT\ \ \ J +10 &51U\ \ \ \ K +9 &6S\ \ \ \ K +10 &8U\ \ \ J +9 &:wU\ \ \ K +9 &<9Y\ \ \ K +10 &=U\ \ \ K +9 &?U\ \ \ K +9 &A~W\ \ \ K +10 &C?[\ \ \ L +9 &Eb\ \ \ L +10 &Fm\ \ \ N +9 &Hx\ \ \ P +9 &J.\ 6\ /\ T +10 &K\ >\ @\ V +9 &M\ ;\ =\ W +9 &Ok\ <\ :\ W +10 &Q+\ :\ :\ X +9 &R\ ;\ :\ X +10 &T\ 9\ :\ Y +9 &Vn\ 9\ :\ Y +9 &X.\ ;\ ;\ Z +10 &Y\ 9\ 9\ [ +12 &[\ :\ :\ H +6 &\\1\ 7\ :\ . +10 &\\g\ 8\ 8\ N +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open +46 "manipulator"&%1 +59 "core" 1 +2 "manipulator"&3% +4 "core" % ? l & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%g& +4 "core" &\ +2 "manipulator"&6% +3 "core" %  G  +2 "storage"(p% +4 "core" % $ *\  +2 "storage"(. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(Y(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &<+\ \ ;\ +2 "manipulator"&V& +4 "core" &ӯ 5\ +2 "manipulator"&?% +5 "core" %  C  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&-( +161 "core" ( + "manipulator"&H& +5 "core" & e  + "storage"(& +5 "core" &<+ ' ' :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +86 "core" ' +2 "storage"(o& +4 "core" &<+ U U w\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(T'r +295 "core" ' +2 "storage"(M- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &<+ I /\ +2 "manipulator"&& +4 "core" & (  +2 .tElbow.seek 5 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(n& +3 "core" &<+ ^ I\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&P'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(~' +8 "core" &  +2 "manipulator"&I% +4 "core" % Ͼ % +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +3 .tElbow.seek PC + "manipulator"&a( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"&,& +3 "core" & A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" & 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&c' +94 "core" ' + "manipulator"&`& +4 "core" & +2 "manipulator"&y% +5 "core" %  j +2 "processing"%'& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%k(^ +5 "core" &\ +6 &6\ #b +10 &Vz\ 6 +9 &w\ K +10 &R\ M +9 &bT\ N +9 &%S\ M +10 &V\ M +9 &U\ M +9 &jR\ N +10 &-S\ M +9 &U\ M +10 &!T\ M +9 &#sS\ M +9 &%5P \ M +10 &&T-\ N +9 &(T\ N +9 &*{T1\ M +10 &,=V*\ M +9 &-S!\ N +10 &/T'\ M +9 &1U)\ M +9 &3DT#\ N +10 &5R \ M +9 &6V"\ M +9 &8U&\ N +10 &:NQ)\ M +9 &<W&\ N +10 &=U/\ N +9 &?W!\ M +9 &AUV$\ M +10 &C`+\ O +9 &Dc+\ O +9 &Fm-\ P +10 &HO)\ R +9 &J -\ S +10 &K(\ S +9 &M!\ T +9 &OR(\ T +10 &Q*\ T +9 &R)\ T +10 &T&\ U +9 &VX!\ T +9 &X"\ U +10 &Y+\ U +9 &[#\ U +9 &]](\ D +10 &^@p-\ #i +9 &^+$\ / +5 ( +2 "processing"%& +4 "core" &^ &\ / +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&q1 +54 "core" 1 +2 "manipulator"&J% +3 "core" %    i j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +2 "processing"%d& +4 "core" &^ #\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&E% +3 "core" %     +2 "storage"(% +4 "core" %\  8\  +2 "storage"(w. +50 "core" .(<- +3 "storage"(& +3 "core" &<+\ \ \ +3 "storage"((& +2 "manipulator"&@& +8 "core" &<+ S 1\ + &  ` +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&F& +3 "core" &   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&+' +92 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%B( +96 "core" ' + "storage"(_- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place +2 "storage"(f'1 +38 "core" ' +310 ( + "storage"(D& +4 "core" &<+ # '\ +2 "manipulator"&;& +4 "core" &  +2 "manipulator"&7% +4 "core" %   M +2 .tForearm.seek :retract +2 "manipulator"&|' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +239 "core" ( +2 "manipulator"&&& +4 "core" &  K ; +2 "storage"(m& +3 "core" &<+\ \  ;\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +95 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(A- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(v' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(z- +3 "core" -' +2 "storage"(L& +3 "core" &<+   ?\ +3 "manipulator"&)& +3 "core" &   ; +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&:& +4 "core" &   F ; +2 "storage"(Z& +4 "core" &<+   \ +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"({'" +51 "core" ' +2 "manipulator"&t& +3 "core" &  ; +2 "storage"(e& +4 "core" &<+ B # g\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&u'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +19 "core" ' + "manipulator"&#% +5 "core" %Ο   + "storage"(& +5 "core" &<+ S\ # \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&=' +13 "core" ' +2 "manipulator"&4& +3 "core" & Q ; +3 "storage"(U& +3 "core" &<+ ! (\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +15 "core" ' +2 "storage"(b% +3 "core" % " & e\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (.% +3 "core" %T\ \ Xh +2 "manipulator"&"% +4 "core" %4 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +42 (9& +11 "core" &<+ . / \ +2 "collection"'\\& +5 "core" &\\g\ 1\ /\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %   +2 "storage"(s% +5 "core" % 0 / w\  + "storage"(. +3 "core" .(<- +2 "storage"(!& +5 "core" &<+ 0 / n\ + "storage"(r& +4 "core" &<+ . . \ +2 "manipulator"&\ & +4 "core" &  ; +2 .tElbow.seek 5 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&x& +4 "core" &   L ; +2 "storage"(}& +5 "core" &<+ / / c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +92 "core" ' +2 "storage"(R& +3 "core" &<+ 9 O \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" & % ; +2 "storage"(& +5 "core" &<+\ \ [\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&G'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('w +34 "core" ' + "manipulator"&^% +4 "core" %Π +2 "storage"(8& +4 "core" &<+   ]\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&C' +16 "core" ' + "manipulator"&O& +5 "core" & : + "storage"(K& +4 "core" &<+ ! !\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +13 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(3' +36 "core" ' +2 "manipulator"&& +3 "core" & $ : +2 "manipulator"&g% +4 "core" %Q S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +149 "core" ( +2 "manipulator"&& +3 "core" &Ӎ @ 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" &Ӎ  4 8 +3 .tForearm.seek CC +2 "manipulator"&V'? +91 "core" ' +2 .tHand.close + "manipulator"&?/ +5 "Can"%\ RO +56 "core" / +2 .tCC.seek :open +2 "collection"' ( +446 "core" ( +2 "storage"(H& +4 "core" &<+ U J \ +2 "storage"(& +3 "core" &<+ G G D\ +3 "manipulator"&[& +3 "core" &ӭ V 3 +2 "manipulator"&o% +5 "core" % S  ' +2 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&M& +4 "core" &  +2 "storage"($& +3 "core" &<+ g Y 8\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +100 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +63 "core" 1 +2 "manipulator"&*% +3 "core" % Α U +2 "storage"(/& +4 "core" &<+ E G &\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&I'Ͻ +14 "core" ' +2 "manipulator"&-& +3 "core" &   +42 "storage"(N& +11 "core" &<+ b n S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&T'O +27 "core" ' +2 "storage"(P% +4 "core" % n m P\ +3 ."downElevator"SE.seek :down +3 "storage"(,' +100 (l% +2 "core" %H # . B\ Wb +3 "manipulator"&i% +3 "core" %X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'y& +3 "core" &\ \ \ +3 "manipulator"&'% +3 "core" %   "  +2 "storage"(~% +4 "core" % ` k I\  +2 "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (q& +2 "core" &K % # +\  +2 "manipulator"&J& +4 "core" &  [  +2 .tElbow.seek 6 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&E& +4 "core" &  O  +2 "storage"(& +3 "core" &K m n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&w' +93 "core" ' +2 "storage"(& +3 "core" &K f m G\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(@- +2 "core" -'! +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +3 "core" &K T R )\  +2 "manipulator"&F& +4 "core" & y  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&c& +3 "core" &  \ o  +2 "storage"(& +4 "core" &K V Q \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&_'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&a/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& +5 "storage"(k' +4 "core" &  + "manipulator"&% +6 "core" % f p +2 .tForearm.seek :retract + "manipulator"&D' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +150 "core" ( +2 "manipulator"&7& +4 "core" &x#  <= + ' +3 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &+& +4 "core" &x# p <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'? +92 "core" ' +2 "manipulator"&m& +3 "core" &y#  Q << +3 "manipulator"&% +3 "core" %E   Y +2 "collection"'& +5 "core" &\ \ \ +2 "collection"'A& +6 "core" &\ \ V\ +2 .tCC.seek :closed +3 "collection"'z(\\ +4 "core" &\ \ X\ +5 &\ \ Y\ : +10 &HJv\ \ Z\ 1 +9 &x|\ \ b\ E +9 &3X\ \ \ K +10 &W\ \ \ K +9 &X\ \ \ K +9 &yW\ \ \ K +10 &;V\ \ \ K +9 &W\ \ \ K +10 &W\ \ \ K +9 &X\ \ \ \ K +9 &!CX\ \ \ K +10 &#R\ \ \ \ \ K +9 &$R\ \ \ \ \ K +10 &&T\ \ \ J +9 &(LT\ \ \ \ J +9 &* R\ \ \ K +10 &+R\ \ \ \ K +9 &-R\ \ \ \ K +9 &/SS\ \ \ \ \ K +10 &1T\ \ \ \ J +9 &2T\ \ \ \ J +10 &4U\ \ \ \ K +9 &6[X\ \ \ K +9 &8T\ \ \ \ K +10 &9U\ \ \ \ \ J +9 &;U\ \ \ K +9 &=bZ\ \ \ K +10 &?%Z\ \ \ K +9 &@W\ \ \ K +10 &BZ\ \ \ K +9 &Dga\ \ \ L +9 &F%m\ \ \ N +10 &G\ )\ #\ Q +9 &I\ @\ 8\ T +9 &KN\ H\ E\ X +10 &M\ C\ F\ X +9 &N\ C\ D\ W +10 &P\ @\ C\ Y +9 &RR\ @\ B\ Y +9 &T\ A\ ?\ Z +10 &U\ >\ =\ Z +9 &W\ =\ >\ Z +9 &YS\ :\ <\ [ +10 &[\ 9\ ;\ \\ +9 &\\kF\ :\ <\ 2 +9 &\\\ 9\ 9\ N +6 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&L1 +4 "core" &\\q\ 6\ 7\ N +49 1 +2 "manipulator"&)% +4 "core" % F X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +47 .tForearm.seek :retract +5 "manipulator"&:' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%Z& +3 "core" &\ +2 "manipulator"&|% +4 "core" %   +2 "storage"(t% +4 "core" % & \  +2 "storage"(e. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(#(K +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &K\ \ \  +2 "manipulator"&f& +4 "core" & H & +2 "manipulator"&4% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&U( +147 "core" ( +2 "manipulator"&v& +4 "core" &  +2 "storage"(b& +4 "core" &K - ) =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +91 "core" ' +2 "storage"(>& +3 "core" &K 7 R $\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +3 "core" &K [ /\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&{& +5 "core" &   + "storage"(u& +4 "core" &K ! ! O\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&9'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&=/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&h& +2 "storage"(\\' +8 "core" & @  +2 "manipulator"&% +5 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&s' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&!& +4 "core" & 4 a +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" & + a +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\ ' +88 "core" ' +2 "manipulator"&x& +3 "core" & a +2 "manipulator"&}% +4 "core" % } +2 "processing"%2& +4 "core" &\ +3 "processing"%R& +5 "core" &R\ +2 .tPC.seek :closed +2 "processing"% (^ +5 "core" &-\ +7 &6/\ #b +9 &Tx\ 6 +9 &y\ K +10 &U\ M +9 &aT\ M +9 &#W\ M +10 &U\ M +9 &U\ M +10 &iS\ M +9 &*T\ N +9 &S\ M +10 &!S\ M +9 &#qU\ M +9 &%3T-\ M +10 &&T.\ M +9 &(Q/\ M +10 &*xT\ N +9 &,;U\ M +9 &-S(\ M +10 &/R%\ M +9 &1T\ M +9 &3DQ\ M +10 &5S\ M +9 &6W"\ M +10 &8U#\ N +9 &:KT\ M +9 &<T#\ M +10 &=V(\ N +9 &?S \ M +9 &ART%\ N +10 &C_!\ O +9 &Db$\ O +10 &Fj"\ P +9 &HL~"\ R +9 &J\ "\ T +10 &K'\ T +9 &M!\ T +9 &OP&\ T +10 &Q#\ T +9 &R!\ T +10 &T!\ U +9 &VV\ T +9 &X'\ U +10 &Y#\ U +9 &["\ T +9 &]["\ C +10 &^Hx\ U +9 &^ S\ 4 +5 ( +2 "processing"%R& +4 "core" &^+!\ 4 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&01 +61 "core" 1 + "manipulator"&1% +5 "core" %   } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S' +92 "core" ' +2 "processing"%<& +3 "core" &^+\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %  \ I  +2 "storage"( % +4 "core" % N\  +2 "storage"(^. +3 "core" .(K +2 "storage"(8& +3 "core" &K N H\  +3 "storage"(O& +2 "manipulator"&K& +54 "core" &K N\  +2 &   J a +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'r +16 "core" ( + "manipulator"&]& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +4 "core" & "  +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&G/ +58 "core" / +2 .tPC.seek :open +2 "processing"%C( +81 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +315 ( +3 "storage"(X& +3 "core" &K " & 1\  +2 "manipulator"&%& +4 "core" & + +2 "manipulator"&W% +4 "core" %  : P +3 .tForearm.seek :retract + "manipulator"&?' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&6( +241 "core" ( +2 "manipulator"&Q& +4 "core" &  A +2 "storage"(H& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +101 "core" ' +2 .tHand.open + "manipulator"&[1 +57 "core" 1 +2 "storage"(o- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"($' +60 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' + "storage"(p& +4 "core" &K 2 $ L\  +2 "manipulator"&n& +4 "core" &  . A +2 .tElbow.seek 6 +2 "manipulator"&*( +4 "core" ( + "manipulator"&/& +4 "core" &   @ A +2 "storage"(-& +4 "core" &K r E\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +46 "core" ' +2 "manipulator"&P& +4 "core" &  A +2 "storage"(& +5 "core" &K M n\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&l'< +21 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&I% +4 "core" %G   +2 "storage"(y& +3 "core" &K N p\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&''s +14 "core" ' + "manipulator"&~& +4 "core" & = A +2 "storage"(& +4 "core" &K\ !\ ! 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +13 "core" ' +2 "storage"(T% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(,' +98 (Y% +3 "core" %0O \ Xi +3 "manipulator"&q% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +91 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &K [\  +2 "collection"'& +4 "core" &\\p\ /\ /\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %    +2 "storage"(% +48 "core" % / 1 \  +5 "storage"(`. +2 "core" .(K +3 "storage"(@& +3 "core" &K . . \  +2 "storage"((& +5 "core" &K 0 . \  + "manipulator"&F& +4 "core" &  A +2 .tElbow.seek 6 +2 "manipulator"&c( +4 "core" ( + "manipulator"&& +4 "core" & O A +2 "storage"(a& +4 "core" &K . . \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +92 "core" ' +2 "storage"(& +3 "core" &K 4 /\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(d'r +296 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" &  A +2 "storage"(+& +4 "core" &K B \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +22 "core" ' +2 .tElbow.hold + "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('s +30 "core" ' +2 "manipulator"&% +3 "core" %D  7 +2 "storage"(& +4 "core" &K N \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 308 counts + "manipulator"&k'p +14 "core" ' +2 "manipulator"&D& +4 "core" &  M A +2 "storage"( & +4 "core" &K O @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&L' +14 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"()' +45 "core" ' +2 "manipulator"&A& +3 "core" &  A +2 "manipulator"&Z% +4 "core" % + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&t(ӂ +148 "core" ( +2 "manipulator"&e& +3 "core" &ӌ  Y :, +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӌ! :, +2 .tForearm.seek CC +2 "manipulator"&f'? +102 "core" ' +2 .tHand.close + "manipulator"&4/ +59 "core" / +3 .tCC.seek :open + "collection"'&( +447 "core" ( + "storage"(v& +4 "core" &K T T k\  +2 "storage"(b& +4 "core" &K G Q M\  +2 "manipulator"&>& +3 "core" & J * +2 "manipulator"&% +4 "core" %  U +2 .tForearm.seek :retract +2 "manipulator"&;' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&:( +150 "core" ( +2 "manipulator"&.& +4 "core" &  B  +2 "storage"("& +3 "core" &K G F \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +99 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&u1 +56 "core" 1 +2 "manipulator"&=% +4 "core" % H  2 +2 "storage"(h& +3 "core" &K Z K <\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&'t +14 "core" ' +2 "manipulator"&U& +4 "core" &   +2 "storage"( & +4 "core" &K m b \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +72 "core" ' + "storage"(9% +4 "core" % a k \ +3 ."downElevator"SE.seek :down +3 "storage"(!' +99 (r% +3 "core" %G # + I\ U_ +2 "manipulator"&% +5 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'}& +3 "core" &\ \ \ +3 "manipulator"&2% +3 "core" %    +2 "storage"(\\% +4 "core" % j k \  +2 "storage"(s. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(B(,y +679 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +3 "core" &,x T W n\ +2 "manipulator"&1& +4 "core" &  X  +2 .tElbow.seek 4 +2 "manipulator"&<( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"( & +4 "core" &,y n l o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +92 "core" ' + "storage"(8& +5 "core" &,y e ^ o\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +293 "core" ' +2 "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (O& +3 "core" &,k W X\ +2 "manipulator"&]& +3 "core" &  G  +3 .tElbow.seek 4 + "manipulator"&5( +4 "core" ( + "manipulator"&\ & +4 "core" & '  +2 "storage"(G& +4 "core" &,k G G 2\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"( ' +8 "core" & s  +2 "manipulator"&g% +4 "core" % _  T +2 .tForearm.seek :retract +2 "manipulator"&X' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&W& +4 "core" &ӑ  / 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ  t 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Q'? +97 "core" ' +2 "manipulator"&H& +3 "core" &ӑ v 5 +3 "manipulator"&% +3 "core" %4  1 +3 "collection"'[& +3 "core" &\ \ b\ +3 "collection"'o& +5 "core" &\ \  \ +2 .tCC.seek :closed +2 "collection"'V(\\ +5 "core" &\ \ b\  +8 &4y\ \ m\ *z +9 & h{\ \ r\ > +10 &k\ \ d\ L +9 &^R\ \ n\ K +9 & R\ \ h\ K +10 &R\ \ \ g\ K +9 &R\ \ a\ K +10 &fR\ \ g\ K +9 &(R\ \ \ g\ K +9 &S\ \ f\ J +10 & S\ \ \ J +9 &"nS\ \ \ K +9 &$1T\ \ \ J +10 &%U\ \ \ J +9 &'T\ \ \ J +9 &)wT\ \ \ J +10 &+8R\ \ \ \ K +9 &,R\ \ \ \ K +10 &.R\ \ \ K +9 &0~S\ \ \ \ K +9 &2@R\ \ \ \ K +10 &4U\ \ \ \ J +9 &5U\ \ \ J +9 &7U\ \ \ \ J +10 &9HU\ \ \ K +9 &;\ X\ \ \ \ K +10 &<X\ \ \ K +9 &>U\ \ \ \ K +9 &@PW\ \ \ K +10 &BU\ \ \ K +9 &CZ\ \ \ L +10 &Ee\ \ \ M +9 &GOr\ \ \ N +9 &I\ &\ \ Q +10 &J\ 9\ 5\ V +9 &L|\ 7\ :\ W +9 &N=\ :\ :\ W +10 &O\ 8\ :\ W +9 &Q\ 8\ 7\ X +9 &S~\ 7\ 7\ Y +10 &UA\ 5\ 5\ X +9 &V\ 5\ 5\ Z +10 &X\ 6\ 6\ Z +9 &Z\ 9\ 6\ Z +9 &\\$z\ 7\ 6\ . +10 &\\.\ 7\ 7\ ` +9 ( + &\\b\ 5\ 6\ M +2 "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&p1 +64 "core" 1 +2 "manipulator"&n% +4 "core" % 4  1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%-& +5 "core" &\ + "manipulator"&?% +52 "core" %    +2 "storage"(P% +4 "core" % ! \  +2 "storage"(. +4 "core" .(,y + "storage"(& +4 "core" &,k " ! \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(I(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" &,z ( $\ +2 "manipulator"&M& +5 "core" &ӭ  2 + "manipulator"&~% +4 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&T& +3 "core" &  +3 "storage"(6& +3 "core" &,z T S \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"($& +4 "core" &,z J S \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'r +296 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N& +3 "core" &,l K y\ +2 "manipulator"&*& +5 "core" & 7  + .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&l& +4 "core" &  +2 "storage"(E& +4 "core" &,l N\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&''c +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  +2 "manipulator"&% +4 "core" % z d +2 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&(& +4 "core" & I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +4 "core" & 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&a& +4 "core" & +2 "manipulator"&3% +4 "core" %  +2 "processing"%& +4 "core" &\ +3 "processing"%,& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%i(^ +3 "core" &\  +10 &1u\ )w +9 &c|\ = +10 &oo\ N +9 &0T\ N +9 &T\ M +10 &R\ M +9 &wU\ M +10 &9T\ M +9 &S\ M +9 &T\ N +10 & T\ M +9 &"AT\ M +9 &$V\ M +10 &%T\ M +9 &'U\ M +9 &)JQ\ M +10 &+ T\ M +9 &,V\ M +10 &.R\ M +9 &0PT0\ N +9 &2R\ M +10 &3T\ M +9 &5T\ N +9 &7YT/\ M +10 &9X)\ M +9 &:V3\ N +10 &<U+\ M +9 &>aT)\ M +9 &@"T3\ N +10 &A[+\ N +9 &C`(\ O +10 &Eee2\ O +9 &G"o1\ P +9 &H}2\ R +10 &J3\ S +9 &L_4\ S +9 &N )\ T +10 &O'\ T +9 &Q+\ T +10 &Sd,\ T +9 &U%3\ U +9 &V7\ T +10 &X9\ T +9 &Zk5\ U +9 &\\-.\ U +10 &]x%\ 8 +9 &^04\ L +9 &^)\ - +3 ( +2 "processing"%,& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&J1 +53 "core" 1 +2 "manipulator"&w% +4 "core" %   V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +93 "core" ' +3 "processing"%+& +3 "core" &^*\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&m% +3 "core" %     +3 "storage"(% +3 "core" % ' Q\  +2 "storage"(. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(D(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 ( & +2 "manipulator"&A& +5 "core" &,z _ \\\ +2 &  +44 .tElbow.reconfigure :tight +11 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +5 .tElbow.seek PC +2 "manipulator"&Z( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'r +4 "core" ( + "manipulator"&c& +4 "core" &   n \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +3 "core" &   v \ +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&k/ +59 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' +2 "storage"(e- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +309 ( +2 "storage"(L& +3 "core" &,h\ " \ \ +2 "manipulator"&_& +4 "core" & y \ +2 "manipulator"&4% +4 "core" %  @ M +2 .tForearm.seek :retract +2 "manipulator"&|' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&z( +241 "core" ( +2 "manipulator"&v& +4 "core" & 4 C +2 "storage"(b& +3 "core" &,h M v\ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&>' +93 "core" ' +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "storage"(.- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(f' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(t- +3 "core" -' +2 "storage"(u& +3 "core" &,h  \ \ +3 "manipulator"&=& +3 "core" &   ` C +3 .tElbow.seek 4 + "manipulator"&h( +4 "core" ( +2 "manipulator"&U& +3 "core" &   . C +2 "storage"( & +4 "core" &,h   `\ \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&9' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +52 "core" ' + "manipulator"&:& +4 "core" & = C +2 "storage"(r& +4 "core" &,h " & \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&}% +4 "core" %* !  +2 "storage"(2& +4 "core" &,h\ "\  a\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 287 counts +2 "manipulator"&\\'V +14 "core" ' +2 "manipulator"&s& +4 "core" & = C +2 "storage"()& +3 "core" &,h " ! 5\ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(!% +4 "core" % $ . o\ +3 ."downElevator"SE.seek :down +3 "storage"(#' +99 (0% +3 "core" %@O\ \  \ Xg +2 "manipulator"&1% +4 "core" % [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &,h  ) /\ \ +2 "collection"'8& +5 "core" &\\b\ .\ .\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&{% +4 "core" %    +46 "storage"(x% +6 "core" % / . \  +2 "storage"(K. +4 "core" .(,y +2 "storage"(O& +3 "core" &,h . / \ \ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(](,y +21 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" &,z 1 - -\ +2 "manipulator"&G& +4 "core" & C +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&S& +5 "core" &  C + "storage"(g& +5 "core" &,z # + ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +100 "core" ' + "storage"(^& +4 "core" &,z 4 ) k\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" & H C +2 "storage"(& +4 "core" &,l N E\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&H'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(5'g +29 "core" ' + "manipulator"& % +4 "core" %8  H +2 "storage"(X& +4 "core" &,l _ ,\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&&'d +14 "core" ' +2 "manipulator"&p& +3 "core" &  B +2 "storage"(n& +4 "core" &,l \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(?' +42 "core" ' +2 "manipulator"&o& +4 "core" & ) B +2 "manipulator"&P% +5 "core" % H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( +2 "manipulator"&y& +3 "core" &Ӏ  :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &M& +2 "core" &Ӏ  7 :/ +3 .tForearm.seek CC +2 "manipulator"&~'? +91 "core" ' +2 .tHand.close + "manipulator"&Q/ +58 "core" / +2 .tCC.seek :open +2 "collection"'T( +446 "core" ( +2 "storage"(6& +4 "core" &,l T U !\ \ +2 "storage"(B& +4 "core" &,l T T [\ \ +2 "manipulator"&$& +3 "core" &Ӭ 3 4 +2 "manipulator"&%% +4 "core" % S 7  +3 .tForearm.seek :retract + "manipulator"&/' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&q( +164 "core" ( +2 "manipulator"&N& +3 "core" &  _  +2 "storage"(*& +4 "core" &,l n n\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&l'7 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +3 "core" % "  P +2 "storage"(& +4 "core" &,l m n\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 279 counts +2 "manipulator"&'N +14 "core" ' + "manipulator"&& +4 "core" &  J  +41 "storage"(Y& +11 "core" &,l h a \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +24 "core" ' + "storage"((% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +4 "storage"(F' +98 ( % +3 "core" %F / . Y\ Va +2 "manipulator"&a% +5 "core" % P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&% +4 "core" %  }  +2 "storage"(`% +3 "core" % n n \  +3 "storage"(C. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(J(<- +346 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +3 "core" &<* # ! \  +2 "manipulator"&+& +4 "core" &  x  +2 .tElbow.seek 5 +2 "manipulator"&m( +4 "core" ( +2 "manipulator"&& +3 "core" &  W  +2 "storage"(& +4 "core" &<* m l H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +92 "core" ' +2 "storage"(A& +3 "core" &<* l k\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +296 "core" ' +2 "storage"(c- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (d& +3 "core" &<* F R O\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&I& +4 "core" &  @  +2 "storage"(e& +3 "core" &<* T V\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&@'Ϲ +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& +2 "storage"(j' +8 "core" & I  + "manipulator"&L% +4 "core" %   x +2 .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&4(ӂ +153 "core" ( + "manipulator"&& +4 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &y"  L ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +2 "core" &y"  ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'? +97 "core" ' +2 "manipulator"&Z& +4 "core" &y"  ~ ;4 +3 "manipulator"&% +3 "core" %E  +3 "collection"'.& +3 "core" &\ \ _\ +3 "collection"'t& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'u(\\ +5 "core" &\ \ a\  +9 &4{\ \ g\ *z +9 & g~\ \ l\ > +9 &k\ \ g\ K +10 &\\T\ \ l\ J +9 &U\ \ m\ J +10 &U\ \ d\ J +9 &T\ \ \ J +9 &dT\ \ \ J +10 &%S\ \ \ K +9 &T\ \ \ J +9 & T\ \ \ J +10 &"lT\ \ \ J +9 &$.T\ \ \ J +10 &%U\ \ \ J +9 &'T\ \ \ J +9 &)sT\ \ \ K +10 &+5W\ \ \ K +9 &,W\ \ \ K +9 &.W\ \ \ K +10 &0{R\ \ \ K +9 &2>T\ \ \ J +10 &3U\ \ \ K +9 &5X\ \ \ K +9 &7R\ \ \ K +10 &9ES\ \ \ \ K +9 &;T\ \ \ \ K +9 &<X\ \ \ \ K +10 &>U\ \ \ K +9 &@LT\ \ \ \ K +10 &BW\ \ \ K +9 &CZ\ \ \ L +9 &Ee\ \ \ M +10 &GLo\ \ \ N +9 &I\ &\ \ Q +9 &J\ ;\ 4\ U +10 &Lz\ ;\ >\ V +9 &N;\ :\ :\ V +10 &O\ 9\ 9\ X +9 &Q\ 8\ 9\ W +9 &S~\ 8\ 7\ X +10 &U=\ 6\ 7\ Y +9 &V\ 7\ 7\ Y +9 &X\ 8\ 7\ [ +10 &Z~\ 8\ 9\ Z +9 &\\ x\ 7\ 9\ . +10 &\\6\ 8\ 8\ "h +9 ( + &\\_\ 7\ 6\ J +2 "collection"'t& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&=1 +65 "core" 1 +2 "manipulator"&U% +4 "core" % E +  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +47 .tForearm.seek :retract +5 "manipulator"& ' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%|& +4 "core" &/\ +2 "manipulator"&:% +4 "core" %    +2 "storage"(r% +4 "core" % ! P\  +2 "storage"(}. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(2(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<* \  o\  +2 "manipulator"&s& +4 "core" &ӧ / 5 +2 "manipulator"&)% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&"( +161 "core" ( + "manipulator"&!& +4 "core" & N  +2 "storage"(z& +4 "core" &<* ? 4 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +89 "core" ' +3 "storage"(f& +3 "core" &<* U K \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(0'r +306 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (9& +2 "core" &<* ! \  +2 "manipulator"&h& +4 "core" & M  +2 .tElbow.seek 5 +2 "manipulator"&;( +4 "core" ( + "manipulator"&& +4 "core" & N  +2 "storage"(\\& +3 "core" &<* ! ! \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(x' +8 "core" &   + "manipulator"&% +5 "core" % ϸ > +2 .tForearm.seek :retract +2 "manipulator"&K' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&\ & +4 "core" &  _ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &  _ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +93 "core" ' + "manipulator"&g& +4 "core" & _ +2 "manipulator"&% +5 "core" % + { +2 "processing"%^& +3 "core" &\ +3 "processing"%#& +6 "core" &.\ +2 .tPC.seek :closed +2 "processing"%D(^ +3 "core" &9\ +9 &6\ #c +9 &V{\ 7 +10 &w\ K +9 &R\ M +9 &jS\ M +10 &-U\ M +9 &U\ M +10 &T\ N +9 &sR\ M +9 &4T\ M +10 &R\ M +9 &!Q\ M +9 &#zU\ M +10 &%=U\ M +9 &&U\ M +10 &(T\ M +9 &*Q\ M +9 &,DU\ M +10 &.T\ M +9 &/U\ M +9 &1T\ M +10 &3LT\ M +9 &5U\ M +10 &6U\ M +9 &8U\ N +9 &:ST6\ N +10 &<U7\ M +9 &=T1\ M +9 &?U\ M +10 &A[Z\ N +9 &C`(\ O +10 &De\ O +9 &Fp\ P +9 &HV)\ R +10 &J4\ S +9 &K3\ S +9 &M5\ T +10 &OX9\ T +9 &Q+\ U +10 &R7\ T +9 &T3\ U +9 &V`4\ T +10 &X!.\ T +9 &Y7\ U +9 &[4\ U +10 &]f/\ B +9 &^Bs4\ \\ +10 &^?1\ 3 +5 ( +2 "processing"%#& +4 "core" &^%6\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +3 "core" %   , { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 "processing"%R& +4 "core" &^%2\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    o  +2 "storage"([% +4 "core" % 5 *\  +2 "storage"( . +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(X(<- +51 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +2 "manipulator"&n& +5 "core" &<*\ \  4\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  W ^ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(o'r + "manipulator"&P( +6 "core" ( +2 "manipulator"&<& +4 "core" &    ^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &  \ L ^ +2 .tForearm.seek PC +2 "manipulator"&W' +94 "core" ' + .tHand.close +2 "manipulator"&H/ +59 "core" / +2 .tPC.seek :open +2 "processing"%&( +102 "core" ' +2 "storage"(5- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'1 +47 "core" ' +297 ( + "storage"(M& +5 "core" &<* . . f\  + "manipulator"&-& +4 "core" &  ^ +2 "manipulator"&% +4 "core" %   J +2 .tForearm.seek :retract +2 "manipulator"&Q' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +243 "core" ( +2 "manipulator"&V& +3 "core" & b : +2 "storage"(6& +4 "core" &<* ! "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +93 "core" ' +2 .tHand.open + "manipulator"&$1 +63 "core" 1 +3 "storage"(%- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(N' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(*' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +4 "core" -' + "storage"(& +4 "core" &<* \  +2 "manipulator"&& +5 "core" & \  : +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   : +2 "storage"(& +4 "core" &<* \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(/'" +57 "core" ' +2 "manipulator"&(& +3 "core" &  : +2 "storage"(q& +4 "core" &<* ! ^\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"& '΍ +28 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(l' +18 "core" ' +2 "manipulator"&% +4 "core" %Β Z +2 "storage"(& +4 "core" &<* M \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&'Ͼ +14 "core" ' +2 "manipulator"&`& +3 "core" & ` # +2 "storage"(C& +4 "core" &<* ! .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +24 "core" ' +2 "storage"('% +4 "core" % / $\ +3 ."downElevator"SE.seek :down +4 "storage"(F' +99 (]% +3 "core" %LQ\ \ \ \ Xh +2 "manipulator"&w% +5 "core" %u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +42 "core" &<*   3\  +9 "collection"'& +4 "core" &\\^\ /\ -\ J +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&A% +4 "core" %  !  +2 "storage"(E% +4 "core" % S T _\  +2 "storage"(3. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(c(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &<+ \  +2 "manipulator"&& +5 "core" & M # + .tElbow.seek 5 +2 "manipulator"&I( +23 "core" ( + "manipulator"&e& +4 "core" & O  +2 "storage"(7& +4 "core" &<) J G \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +94 "core" ' +2 "storage"(L& +5 "core" &<) U T -\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(m'r +298 "core" ' +2 "storage"(,- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & r  +2 "storage"(v& +4 "core" &<) / . f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('w +29 "core" ' + "manipulator"&.% +5 "core" %΅ ' \ + "storage"(k& +5 "core" &<) ! $ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&j'ϱ +13 "core" ' +2 "manipulator"&_& +3 "core" &  +2 "storage"(T& +4 "core" &<) # . \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&='O +28 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(U' +36 "core" ' +2 "manipulator"&t& +4 "core" &  +2 "manipulator"&|% +4 "core" %Z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +166 "core" ( +5 "manipulator"&}& +5 "core" &ӌ 2 , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӌ : , +2 .tForearm.seek CC +2 "manipulator"&s'? +101 "core" ' +2 .tHand.close + "manipulator"&)/ +60 "core" / +2 .tCC.seek :open +2 "collection"'b( +446 "core" ( +2 "storage"(!& +3 "core" &<) V W \  +2 "storage"(z& +3 "core" &<) \\ X\  +3 "manipulator"&J& +3 "core" &Ӑ , +2 "manipulator"&f% +4 "core" %  " +2 .tForearm.seek :retract +2 "manipulator"&4' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +157 "core" ( + "manipulator"&1& +4 "core" &  B  +2 "storage"(9& +4 "core" &<) o n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&h'΍ +102 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +64 "core" 1 +2 "manipulator"&8% +4 "core" % ΂  B  +2 "storage"({& +3 "core" &<) n a C\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 289 counts +41 "manipulator"&'Ϯ +20 "core" ' +2 "manipulator"&"& +3 "core" & \   +2 "storage"(>& +4 "core" &<) k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +27 "core" ' +2 "storage"( % +4 "core" % i ` i\ +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +98 (G% +3 "core" %J " ' -\ Wd +2 "manipulator"&;% +4 "core" %V > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \\\ +2 "manipulator"&^% +4 "core" %    +2 "storage"(x% +4 "core" % n m \  +2 "storage"(K. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 6 +2 "storage"((K +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K B 5 <\ \ +2 "manipulator"&& +3 "core" &  y  +3 .tElbow.seek 6 + "manipulator"&R( +4 "core" ( +2 "manipulator"&& +4 "core" &   i  +2 "storage"([& +3 "core" &K n l \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +94 "core" ' +2 "storage"(#& +3 "core" &K l k\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(p'r +293 "core" ' +2 "storage"(n- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (<& +3 "core" &K I S {\ \ +2 "manipulator"&& +4 "core" &  v  +2 .tElbow.seek 6 +2 "manipulator"&S( +2 "core" ( +2 "manipulator"&H& +4 "core" & h  +2 "storage"(2& +4 "core" &K K W 9\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&5'h +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(D' +8 "core" &    + "manipulator"&o% +4 "core" % p  E +3 .tForearm.seek :retract +2 "manipulator"&M' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&& +3 "core" &Ә E 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +2 "core" &Ә  3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'? +94 "core" ' +2 "manipulator"&6& +3 "core" &Ә 6 3 +2 "manipulator"&P% +4 "core" %A  7 6 +2 "collection"'$& +4 "core" &\ \ f\ +3 "collection"'%& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'~(\\ +4 "core" &\ \ Y\ +8 &:\ \ e\ $f +9 &Xy\ \ c\ 7 +9 &v\ \ \ J +10 &R\ \ k\ K +9 &W\ \ \ K +9 &IV\ \ h\ K +10 & W\ \ \ K +9 &V\ \ q\ K +10 &X\ \ \ J +9 &RT\ \ \ J +9 & T\ \ ~\ J +10 &!Q\ \ \ \ K +9 &#R\ \ \ K +9 &%YQ\ \ \ K +10 &'Q\ \ \ K +9 &(V\ \ \ K +10 &*V\ \ \ K +9 &,aW\ \ \ K +9 &.#V\ \ \ K +10 &/W\ \ \ K +9 &1W\ \ \ K +9 &3iV\ \ \ K +10 &5+R\ \ \ K +9 &6R\ \ \ K +10 &8T\ \ \ J +9 &:qU\ \ \ K +9 &<2Y\ \ \ K +10 &=]\ \ \ L +9 &?`\ \ \ L +9 &AyT\ \ \ K +10 &C9\\\ \ \ L +9 &De\ \ \ M +10 &Fr\ \ \ N +9 &Hm\ -\ '\ R +9 &J"\ C\ >\ V +10 &K\ B\ D\ W +9 &M\ B\ C\ W +9 &Od\ A\ C\ X +10 &Q%\ ?\ A\ X +9 &R\ ?\ >\ Y +10 &T\ <\ >\ Z +9 &Vf\ ;\ =\ Z +9 &X%\ :\ :\ [ +10 &Y\ 9\ ;\ [\ +9 &[\ 7\ :\ I +9 &\\0\ 9\ 9\ 1 +10 &\\h\ 6\ 6\ O +2 ( +2 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +6 "manipulator"&% +3 "core" % I X . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +3 "core" &T\ +3 "manipulator"&Q% +3 "core" %  "  +2 "storage"((% +4 "core" % $ . ~\  +2 "storage"(q. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" &K N \ \ +2 "manipulator"&& +4 "core" &  6 "x +2 "manipulator"&`% +4 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&N( +145 "core" ( +2 "manipulator"&C& +4 "core" &   +2 "storage"('& +4 "core" &K % %\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +99 "core" ' + "storage"(B& +5 "core" &K T T ]\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(*'r +296 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (w& +3 "core" &K \ ! =\ \ +2 "manipulator"&Y& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&/& +4 "core" & J  +2 "storage"( & +4 "core" &K ! o\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(' +8 "core" & L  +2 "manipulator"&A% +4 "core" % h +2 .tForearm.seek :retract +2 "manipulator"&E' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&3( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&d& +5 "core" & S \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 4 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&e' +97 "core" ' +2 "manipulator"&7& +4 "core" &  \ +2 "manipulator"&?% +4 "core" % . +2 "processing"%L& +4 "core" &+\ +3 "processing"%F& +5 "core" &\\\ +2 .tPC.seek :closed +2 "processing"%X(^ +3 "core" &\  +10 &1v\ )w +9 &b}3\ = +9 &hp:\ N +10 &)T;\ N +9 &S\ N +9 &R\ M +10 &oT\ N +9 &2S\ M +10 &U\ M +9 &T\ N +9 & xU\ M +10 &":W\ M +9 &#U\ N +10 &%S\ M +9 &'W\ M +9 &)CU\ M +10 &+U\ M +9 &,S\ M +9 &.T\ M +10 &0JR\ M +9 &2 V\ M +9 &3T\ N +10 &5T\ M +9 &7RV\ M +10 &9V\ N +9 &:W\ N +9 &<W\ M +10 &>ZZ\ M +9 &@T\ N +9 &A]\ N +10 &Ce\ O +9 &E]f\ O +10 &Go\ P +9 &H\ S +9 &J\ S +10 &LW\ T +9 &N5\ T +9 &O3\ T +10 &Q/\ U +9 &S]3\ T +10 &U\ U +9 &V\ U +9 &X+\ T +10 &Zc0\ U +9 &\\&2\ U +9 &]z4\ 9 +10 &^2/\ P +9 &^3\ - +2 ( +2 "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&a1 +53 "core" 1 +2 "manipulator"&+% +4 "core" %  \ / . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' +2 "processing"%& +3 "core" &^d\ - +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&v% +4 "core" %    U  +2 "storage"(Z% +3 "core" % ! \ +2 "storage"(.. +3 "core" .(K +2 "storage"(k& +5 "core" &K ! c\ \ +49 "storage"(_& +3 "manipulator"&T& +8 "core" &K ! ' E\ \ + &   Z \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&t( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'r +3 "core" ( +3 "manipulator"&i& +3 "core" &   . \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &I& +3 "core" &  O \ +2 .tForearm.seek PC +2 "manipulator"&m' +94 "core" ' +2 .tHand.close +2 "manipulator"& / +55 "core" / +2 .tPC.seek :open +2 "processing"%j( +94 "core" ' +2 "storage"(- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'1 +52 "core" ' +296 ( +2 "storage"(& +4 "core" &K W :\ +2 "manipulator"&=& +4 "core" &  \ +2 "manipulator"&@% +4 "core" %  G +2 .tForearm.seek :retract +2 "manipulator"&)' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&:( +238 "core" ( +2 "manipulator"&u& +4 "core" & = +2 "storage"(!& +3 "core" &K N p\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +92 "core" ' + .tHand.open +2 "manipulator"&J1 +59 "core" 1 +2 "storage"(f- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(9' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +4 "core" -' + "storage"(r& +4 "core" &K M\ +2 "manipulator"&\\& +4 "core" &  < +2 .tElbow.seek 6 +2 "manipulator"&8( +4 "core" ( +2 "manipulator"&{& +3 "core" &   = < +2 "storage"("& +4 "core" &K \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(4'" +52 "core" ' +2 "manipulator"& & +3 "core" & < +2 "storage"( & +4 "core" &K \  1\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&G'< +24 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +29 "core" ' + "manipulator"&% +5 "core" %@ + + "storage"(& +5 "core" &K \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 304 counts +2 "manipulator"&^'l +13 "core" ' +2 "manipulator"&x& +3 "core" & < +2 "storage"(K& +4 "core" &K ! "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +13 "core" ' +2 "storage"(0% +4 "core" % $ / &\ +3 ."downElevator"SE.seek :down +3 "storage"(\ ' +99 (c% +3 "core" %OS\ \ \ \ Xi +2 "manipulator"&% +4 "core" % & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K V \ +2 "collection"'[& +43 "core" &\\d\ /\ -\ O +9 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&#% +4 "core" %  E  +2 "storage"(% +4 "core" % / . \  +2 "storage"(g. +3 "core" .(K +2 "storage"(n& +4 "core" &K . . ~\ +2 "storage"(<& +3 "core" &K . . [\ +3 "manipulator"&& +3 "core" & & < +3 .tElbow.seek 6 + "manipulator"&H( +3 "core" ( +2 "manipulator"&2& +4 "core" &  < +2 "storage"(O& +4 "core" &K . . \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(o& +4 "core" &K 7 P \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +298 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 8 < +2 "storage"(W& +4 "core" &K . . \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&p'< +19 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(P'r +31 "core" ' +2 "manipulator"&$% +3 "core" %.   +2 "storage"(S& +6 "core" &K ! \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 286 counts +2 "manipulator"&D'Z +16 "core" ' + "manipulator"&M& +4 "core" & S < +2 "storage"(b& +4 "core" &K 1 0 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&& +4 "core" & 2 < +2 "manipulator"&Q% +4 "core" % O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +152 "core" ( +2 "manipulator"&%& +3 "core" &Ӕ 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" &Ӕ & 6 +3 .tForearm.seek CC +2 "manipulator"&'? +105 "core" ' +2 .tHand.close + "manipulator"&`/ +58 "core" / +2 .tCC.seek :open +2 "collection"'V( +446 "core" ( +2 "storage"(C& +3 "core" &K J G \ +3 "storage"('& +3 "core" &K T J 4\ +2 "manipulator"&& +4 "core" &  & +2 "manipulator"&B% +4 "core" % ν I +2 .tForearm.seek :retract +2 "manipulator"&-' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +145 "core" ( +2 "manipulator"&]& +4 "core" &  +2 "storage"(w& +4 "core" &K G F 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&Y'< +96 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +4 "core" % 8  - 5 +2 "storage"(l& +3 "core" &K n l\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"&A'd +14 "core" ' +2 "manipulator"&N& +3 "core" & n  +3 "storage"(& +4 "core" &K n l\ +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&*' +15 "core" ' +2 "storage"(% +3 "core" % ` j g\ +3 ."downElevator"SE.seek :down +4 "storage"(d' +98 (% +3 "core" %H - $ C\ Wb +2 "manipulator"&% +5 "core" % E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'?& +3 "core" &\ \ \ +2 "manipulator"&L% +5 "core" %  k  + "storage"(% +4 "core" % j l \  +2 "storage"(E. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(&(,y +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "core" &,| S K Z\ +2 "manipulator"&+& +3 "core" & r  +3 .tElbow.seek 4 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&v& +4 "core" & \ G  +2 "storage"(Z& +4 "core" &,| n n \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&.' +93 "core" ' +2 "storage"(k& +4 "core" &,| h b \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +300 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (F& +3 "core" &,k j a \  +2 "manipulator"&i& +4 "core" &  &  +2 .tElbow.seek 4 +2 "manipulator"&I( +4 "core" ( + "manipulator"&e& +4 "core" &    +2 "storage"( & +4 "core" &,k a m ^\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"(X' +7 "core" &  /  +2 "manipulator"&|% +4 "core" % W  k +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&@& +3 "core" &ӑ  5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &m& +2 "core" &ӑ G 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'? +98 "core" ' +2 "manipulator"&!& +4 "core" &ӑ   5 +2 "manipulator"&t% +5 "core" %< L % +2 "collection"'J& +4 "core" &\ \ q\ +3 "collection"'f& +5 "core" &\ \ 1\ +3 .tCC.seek :closed +2 "collection"'s(\\ +5 "core" &\ \ r\ +7 &:\ \ a\ %g +9 &Yv\ \ p\ 7 +9 &\ v\ \ u\ K +10 &Q\ \ \ J +9 &T\ \ \ J +9 &PT\ \ \ J +10 &T\ \ \ J +9 &T\ \ }\ J +10 &T\ \ n\ J +9 &XT\ \ ^\ J +9 & S\ \ b\ J +10 &!V\ \ \ K +9 &#W\ \ \ K +9 &%^W\ \ \ K +10 &' V\ \ \ K +9 &(W\ \ \ K +10 &*V\ \ \ K +9 &,gW\ \ \ \ K +9 &.)Q\ \ \ K +10 &/V\ \ \ K +9 &1R\ \ \ K +9 &3pT\ \ \ J +10 &52T\ \ \ J +9 &6U\ \ \ K +10 &8W\ \ \ K +9 &:wX\ \ \ K +9 &<9S\ \ \ K +10 &=U\ \ \ K +9 &?V\ \ \ o\ J +9 &A~V\ \ \ \ K +10 &C>[\ \ \ \ L +9 &Db\ \ \ L +10 &Fk\ \ \ M +9 &Hv\ \ \ P +9 &J-\ 4\ .\ T +10 &K\ ;\ :\ W +9 &M\ 6\ :\ W +9 &Oj\ 7\ 9\ W +10 &Q+\ 5\ 8\ X +9 &R\ 7\ 7\ X +10 &T\ 5\ 4\ Y +9 &Vk\ 3\ 5\ Z +9 &X,\ 6\ 6\ Z +10 &Y\ 7\ 7\ [\ +9 &[\ 6\ 5\ H +9 &\\-\ 5\ 6\ 5 +10 &\\g\ 5\ 5\ J +2 ( +2 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&r1 +61 "core" 1 +2 "manipulator"&\\% +4 "core" % <  ? % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +92 "core" ' +6 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%"& +3 "core" &\ +2 "manipulator"&)% +4 "core" %  -  +2 "storage"( % +4 "core" % . . \  +2 "storage"( . +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +21 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| ( - p\ +2 "manipulator"&}& +4 "core" &ӭ , 2 +2 "manipulator"&x% +4 "core" %  k  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&K( +164 "core" ( +2 "manipulator"&1& +3 "core" & O  +2 "storage"(0& +4 "core" &,| S T\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +93 "core" ' +2 "storage"(z& +3 "core" &,| T T K\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(9'r +295 "core" ' + "storage"(c- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,l K p\ +2 "manipulator"&>& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&8( +4 "core" ( + "manipulator"&4& +4 "core" &   +2 "storage"(G& +4 "core" &,l\ !\ ! !\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&^'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +3 "storage"(h' +5 "core" & \\  +3 "manipulator"&#% +3 "core" % l } S +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&g( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&n& +5 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" & i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&2& +4 "core" & s +2 "manipulator"&O% +5 "core" % V ] +2 "processing"%U& +5 "core" &\ +2 "processing"%o& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (^ +4 "core" &\ +7 &6\ #c +10 &U}\ 7 +9 &v\ K +9 &R4\ M +10 &gT4\ M +9 &)Q:\ M +10 &U4\ M +9 &T9\ N +9 &oR"\ M +10 &0T-\ M +9 &S\ M +9 &!O\ M +10 &#vT\ M +9 &%7T\ N +10 &&T\ M +9 &(T\ M +9 &*~S\ M +10 &,AQ\ M +9 &.R\ M +9 &/T\ M +10 &1V\ M +9 &3HT\ M +10 &5\ T\ M +9 &6R\ M +9 &8U\ N +10 &:PT\ M +9 &<T\ M +10 &=U\ M +9 &?U\ M +9 &AXY\ M +10 &C^\ O +9 &D_\ O +9 &Fl\ P +10 &HS}\ R +9 &J\ S +9 &K\ T +10 &M\ T +9 &OU\ T +10 &Q\ T +9 &R4\ T +9 &T\ U +10 &V\\\ T +9 &X\ U +9 &Y5\ T +10 &[ \ T +9 &]a7\ B +10 &^Fx5\ W +9 &^F\ 5 +5 ( +2 "processing"%o& +4 "core" &^'3\ 5 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&;1 +61 "core" 1 + "manipulator"&% +5 "core" %   ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' + "processing"%& +4 "core" &^'f\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&W% +3 "core" % #  @ 5 +2 "storage"(6% +4 "core" %\ \  \  +2 "storage"($. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(S(,y +24 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (M& +51 "core" &,z \ j\ +4 "manipulator"&b& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  " +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&Q( +6 "core" ( +2 "manipulator"&& +4 "core" &   \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &   +3 .tForearm.seek PC + "manipulator"&R' +93 "core" ' +2 .tHand.close +2 "manipulator"&p/ +60 "core" / +2 .tPC.seek :open +2 "processing"%D( +91 "core" ' + "storage"(P- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'1 +41 "core" ' +310 ( +2 "storage"(y& +4 "core" &,i ! ! 4\  +2 "manipulator"&& +4 "core" &  +2 "manipulator"&5% +3 "core" %  > F +3 .tForearm.seek :retract +2 "manipulator"&`' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&(( +241 "core" ( + "manipulator"&~& +4 "core" &  " +2 "storage"(C& +4 "core" &,i\ !\ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +96 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(B- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(w' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(q& +4 "core" &,i 5\  +2 "manipulator"& & +3 "core" &   " +3 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&l& +4 "core" &   " +2 "storage"(N& +4 "core" &,i ?\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&-& +3 "core" &  " +2 "storage"(& +4 "core" &,i ! & $\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(Y' +29 "core" ' + "manipulator"&?% +4 "core" %A   +2 "storage"(L& +5 "core" &,i ' ( '\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +2 "manipulator"&A'm +13 "core" ' +2 "manipulator"&& +3 "core" & O " +2 "storage"(E& +4 "core" &,i / . \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' + "storage"(*% +4 "core" % 1 /\ +3 ."downElevator"SE.seek :down +3 "storage"(d' +99 (% +3 "core" %;O\ \ \ \ Xh +2 "manipulator"&a% +5 "core" % - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&+' +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (v& +3 "core" &,i\ " [\  +2 "collection"'Z& +4 "core" &\\]\ /\ +\ J +2 #tStoring generic puck in Collection Clamp to tube 4 +47 "manipulator"&k% +5 "core" %   +2 "storage"(/% +5 "core" % ' (\  + "storage"(7. +3 "core" .(,y +2 "storage"(_& +5 "core" &,i ' $ <\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(F(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" &,{ , ' \ +2 "manipulator"&e& +4 "core" &  ! +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&3& +4 "core" & S ! +2 "storage"(,& +4 "core" &,{ ( (\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +98 "core" ' +2 "storage"(& +3 "core" &,{ H J m\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +298 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" & ! +2 "storage"(T& +4 "core" &,l M j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +24 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(t- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(J'g +30 "core" ' + "manipulator"&I% +4 "core" %8 +2 "storage"(X& +3 "core" &,l & $ /\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&'d +16 "core" ' + "manipulator"&V& +5 "core" & ! + "storage"(r& +4 "core" &,l ! \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"("' +36 "core" ' + "manipulator"&)& +4 "core" & 6 ! +2 "manipulator"& % +4 "core" % / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &ә A 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +3 "core" &ә " 3 +3 .tForearm.seek CC + "manipulator"&x'? +96 "core" ' + .tHand.close +2 "manipulator"&u/ +58 "core" / + .tCC.seek :open +2 "collection"'1( +450 "core" ( + "storage"(0& +4 "core" &,l G F #\  +2 "storage"(&& +4 "core" &,l I G f\  +2 "manipulator"&z& +3 "core" &ӣ O 2 +2 "manipulator"&=% +4 "core" % C 8 " +2 .tForearm.seek :retract +2 "manipulator"&{' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&c( +163 "core" ( + "manipulator"&& +4 "core" & !  +2 "storage"(>& +4 "core" &,l m n *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&4'7 +95 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&[% +4 "core" % /  D +2 "storage"(#& +4 "core" &,l k k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 292 counts +2 "manipulator"&K'[ +43 "core" ' +9 "manipulator"&:& +3 "core" &  E  +2 "storage"(9& +4 "core" &,l k h \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +16 "core" ' +2 "storage"(n% +3 "core" % l o ?\ +3 ."downElevator"SE.seek :down +4 "storage"(<' +98 (8% +3 "core" %D / / \ V` +3 "manipulator"&2% +3 "core" % S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'U& +3 "core" &\ \  \ +2 "manipulator"&h% +4 "core" %  T  +2 "storage"(% +4 "core" % j k \  +2 "storage"(j. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(;(<- +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<+ \\ '\  +2 "manipulator"&& +4 "core" &  R  +2 .tElbow.seek 5 +2 "manipulator"&W( +4 "core" ( +2 "manipulator"&6& +3 "core" &    +2 "storage"($& +4 "core" &<* ^ a \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&o'O +92 "core" ' +2 "storage"(M& +3 "core" &<* f ?\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(b'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &<* S M \  +2 "manipulator"&& +4 "core" & m  +2 .tElbow.seek 5 +2 "manipulator"&p( +3 "core" ( + "manipulator"&& +4 "core" &  +  +2 "storage"(P& +4 "core" &<* G G ,\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&g'Ϲ +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +58 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&\ & +5 "storage"(' +3 "core" &  ,  +2 "manipulator"&y% +6 "core" % ϱ  6 +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&R& +3 "core" &Ӛ  t 2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &Ӛ S 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&C'? +99 "core" ' +2 "manipulator"&Q& +3 "core" &Ӛ  b 2 +2 "manipulator"&% +4 "core" %D g +2 "collection"'B& +4 "core" &\ \ t\ +3 "collection"'& +5 "core" &\ \ w\ +3 .tCC.seek :closed +2 "collection"'q(\\ +4 "core" &\ \ u\ +8 &A\ \ o\ $f +9 &Zz\ \ p\ 7 +9 &u\ \ k\ K +10 &S\ \ m\ K +9 &U\ \ \ K +9 &KU\ \ i\ K +10 & V\ \ \ K +9 &W\ \ j\ K +9 &V\ \ o\ K +10 &UQ\ \ n\ J +9 & R\ \ p\ J +10 &!R\ \ i\ J +9 &#R\ \ a\ J +9 &%]R\ \ m\ J +10 &'R\ \ s\ J +9 &(S\ \ \ r\ J +9 &*R\ \ h\ K +10 &,dQ\ \ \ h\ K +9 &.'S\ \ \ J +10 &/W\ \ \ K +9 &1W\ \ \ K +9 &3kQ\ \ \ K +10 &5-Q\ \ \ K +9 &6T\ \ \ \ J +9 &8T\ \ \ J +10 &:sT\ \ \ K +9 &<5S\ \ \ K +10 &=U\ \ \ K +9 &?T\ \ \ J +9 &AzV\ \ \ K +10 &C<Z\ \ \ K +9 &Da\ \ \ L +9 &Fj\ \ \ N +10 &Ht\ \ \ P +9 &J)\ 3\ .\ U +10 &K\ ;\ :\ V +9 &M\ :\ 9\ W +9 &Oe\ :\ :\ X +10 &Q(\ 7\ 8\ W +9 &R\ 7\ 8\ Y +9 &T\ 7\ 8\ Y +10 &Vh\ 9\ 8\ Z +9 &X*\ 8\ 7\ Z +10 &Y\ 8\ 7\ [\ +9 &[\ 9\ 8\ H +9 &\\1\ 8\ :\ 0 +10 &\\k\ 4\ 8\ J +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"& 1 +60 "core" 1 +3 "manipulator"&l% +3 "core" % D N +47 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%`& +4 "core" &\ +2 "manipulator"&-% +4 "core" %  !  +2 "storage"(% +4 "core" % \  +2 "storage"(?. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(%(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (L& +3 "core" &<+\ @\  +2 "manipulator"&& +3 "core" &ӟ  1 +3 "manipulator"&]% +3 "core" %  %  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&E( +152 "core" ( +2 "manipulator"&*& +3 "core" & F  +2 "storage"((& +4 "core" &<* ( ' ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +95 "core" ' + "storage"(w& +4 "core" &<* T Q ^\  +2 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* ( 0 d\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +21 "core" ( +2 "manipulator"&& +3 "core" &  A # +2 "storage"(A& +4 "core" &<* . / \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&v'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +2 "storage"(Y' +8 "core" &  l # +2 "manipulator"&/% +4 "core" % ϯ H +2 .tForearm.seek :retract +2 "manipulator"&7' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( + "manipulator"&i& +5 "core" &  \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +3 "core" & E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&3' +100 "core" ' + "manipulator"&& +4 "core" & $ \ +2 "manipulator"&,% +4 "core" %  +3 "processing"%& +3 "core" &\ +3 "processing"%d& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%S(^ +4 "core" &\ +7 &6\ $d +9 &Tw\ 6 +10 &~y\ K +9 &P\ M +10 &bR\ M +9 &%O\ M +9 &U2\ M +10 &T\ M +9 &iR\ N +9 &-T\ M +10 &R\ M +9 &!R\ N +10 &#sR\ M +9 &%5R\ M +9 &&T\ M +10 &(Q\ M +9 &*zR\ M +9 &,=V\ M +10 &-R\ M +9 &/T\ M +10 &1P\ M +9 &3DS\ M +9 &5U\ M +10 &6U\ M +9 &8V\ M +9 &:LU\ M +10 &<W\ M +9 &=U\ N +10 &?R\ M +9 &ATU\ M +9 &C_\ O +10 &Dc\ O +9 &Fl\ P +9 &HN~\ R +10 &J \ T +9 &K\ S +10 &M\ T +9 &OO\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &VX\ T +10 &X\ T +9 &Y\ T +10 &[\ T +9 &]\\\ D +9 &^{>n\ 'q +10 &^&4\ + +5 ( +2 "processing"%d& +4 "core" &^6\ + +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&+% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +89 "core" ' +2 "processing"%m& +4 "core" &^`\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&T% +3 "core" %     +2 "storage"(t% +5 "core" % _ \  + "storage"(I. +3 "core" .(<- +2 "storage"(X& +5 "core" &<* & (\  +2 "storage"(V& +49 "manipulator"&r& +9 "core" &<* ! & &\  + & \ \  \ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&)( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'r +3 "core" ( +2 "manipulator"&|& +3 "core" &  \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" & &  \ +2 .tForearm.seek PC +2 "manipulator"&.' +94 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +3 .tPC.seek :open + "processing"%( +96 "core" ' + "storage"(J- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +299 ( +2 "storage"(}& +5 "core" &<* . . \  +2 "manipulator"&\\& +4 "core" &  \ +2 "manipulator"&!% +3 "core" %  R +3 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +241 "core" ( +2 "manipulator"&s& +3 "core" &  7 +2 "storage"(0& +4 "core" &<* )\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +93 "core" ' +2 .tHand.open + "manipulator"&z1 +59 "core" 1 +3 "storage"(=- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(>' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(x- +2 "core" -' +3 "storage"(f& +3 "core" &<* C\  +3 "manipulator"&& +3 "core" &   7 +3 .tElbow.seek 5 + "manipulator"&[( +4 "core" ( +2 "manipulator"&#& +3 "core" &   7 +2 "storage"(:& +4 "core" &<* \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +57 "core" ' +2 "manipulator"&{& +3 "core" & ( 7 +2 "storage"(8& +4 "core" &<* $ & ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&2'΍ +29 "core" ' +2 .tElbow.hold + "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(4' +27 "core" ' + "manipulator"&U% +4 "core" %Λ 5 +2 "storage"(h& +4 "core" &<*  6\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts + "manipulator"&K' +25 "core" ' +2 "manipulator"&& +3 "core" & ] 6 +2 "storage"(j& +4 "core" &<* $ P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"'O +18 "core" ' + "storage"(^% +5 "core" % . / \ +2 ."downElevator"SE.seek :down +4 "storage"(<' +98 (F% +4 "core" %}S\ \ \ Yj +2 "manipulator"&% +4 "core" %9 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (6& +3 "core" &<* _ ) M\  +3 "collection"'$& +3 "core" &\\g\ -\ -\ J +2 #tStoring generic puck in Collection Clamp to tube 5 +48 "manipulator"&M% +5 "core" %    +2 "storage"(G% +4 "core" % ' ( 0\  +2 "storage"(O. +4 "core" .(<- + "storage"(& +4 "core" &<* ' ' 4\  +2 "storage"(H& +3 "core" &<* " '\  +2 "manipulator"&& +5 "core" & N 6 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&P& +4 "core" & 6 +2 "storage"( & +4 "core" &<* % "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +92 "core" ' + "storage"(y& +4 "core" &<* J H !\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +298 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +4 "core" &  r 6 +2 "storage"(~& +3 "core" &<* ! \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&b'΍ +16 "core" ' +2 .tElbow.hold +2 "manipulator"&g, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(Q- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('w +27 "core" ' +2 "manipulator"&B% +3 "core" %Ο * 1 +2 "storage"(p& +4 "core" &<* ' " \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&' +25 "core" ' +2 "manipulator"&& +4 "core" & f 6 +2 "storage"(1& +3 "core" &<* ! !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(l' +36 "core" ' +2 "manipulator"&& +4 "core" & F 6 +2 "manipulator"&`% +3 "core" %C & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ( +2 "manipulator"&?& +3 "core" &y"  ;5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &y" B ;5 +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&]/ +61 "core" / +2 .tCC.seek :open +2 "collection"'C( +447 "core" ( + "storage"(*& +4 "core" &<* W U\  +2 "storage"((& +4 "core" &<* W W\  +2 "manipulator"&;& +4 "core" &ӯ  O 4 +2 "manipulator"&w% +3 "core" % A  +3 .tForearm.seek :retract +2 "manipulator"&5' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&N( +163 "core" ( + "manipulator"&a& +4 "core" & o  +2 "storage"(& +4 "core" &<* g Y 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +97 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&A1 +60 "core" 1 +2 "manipulator"&Z% +4 "core" % t  #  +2 "storage"(k& +4 "core" &<* m n\  + .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 5 + 275 counts + "manipulator"&/'Ϡ +14 "core" ' +2 "manipulator"&E& +4 "core" &   +  +2 "storage"('& +3 "core" &<* k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +43 .tForearm.seek 5 + 450 counts +9 "manipulator"&'O +29 "core" ' +2 "storage"(v% +4 "core" % l k \ +2 ."downElevator"SE.seek :down +5 "storage"(i' +99 (e% +3 "core" %G ) # K\ U` +2 "manipulator"&% +4 "core" %_ < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"',& +4 "core" &\ \ k\ +2 "manipulator"&% +4 "core" %    +2 "storage"(Y% +3 "core" % k j \  +2 "storage"(7. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(D(K +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &K H L c\ \ +2 "manipulator"&+& +3 "core" &  U  +3 .tElbow.seek 6 + "manipulator"&m( +4 "core" ( + "manipulator"&T& +4 "core" &  P  +2 "storage"(t& +4 "core" &K m a S\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +97 "core" ' +2 "storage"(X& +3 "core" &K f i \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(d'r +291 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &K U G D\ \ +2 "manipulator"&|& +4 "core" & ~  +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&3& +4 "core" &  B  +2 "storage"(& +4 "core" &K W U \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&J'h +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"(S' +8 "core" & ^  +2 "manipulator"& % +4 "core" % e +2 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&\\(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&!& +4 "core" &Ӎ k 8" +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +2 "core" &Ӎ  b 8" +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&s'? +97 "core" ' +2 "manipulator"&0& +3 "core" &ӎ   8! +3 "manipulator"&)% +3 "core" %A -  +3 "collection"'z& +3 "core" &\ \ ;\ +3 "collection"'=& +6 "core" &\ \ w\ +2 .tCC.seek :closed +3 "collection"'x(\\ +3 "core" &\ \ ~\ +6 &\ \ z\ : +9 &JMw\ \ |\ 0 +10 &v{\ \ q\ E +9 &/W\ \ p\ K +10 &V\ \ k\ K +9 &W\ \ k\ K +9 &uR\ \ l\ K +10 &7Q\ \ j\ K +9 &S\ \ j\ J +9 &S\ \ l\ J +10 &~T\ \ m\ J +9 &!@S\ \ n\ J +9 &#S\ \ o\ J +10 &$T\ \ n\ K +9 &&W\ \ n\ K +10 &(GW\ \ o\ K +9 &* U\ \ k\ K +9 &+U\ \ k\ K +10 &-V\ \ v\ K +9 &/OW\ \ n\ K +9 &1Q\ \ u\ K +10 &2Q\ \ \ K +9 &4S\ \ \ J +10 &6WT\ \ \ k\ K +9 &8W\ \ \ K +9 &9T\ \ \ J +10 &;T\ \ \ K +9 &=^X\ \ \ K +9 &?!Y\ \ \ K +10 &@W\ \ \ \ K +9 &BZ\ \ \ K +10 &Dc`\ \ \ L +9 &F!n\ \ \ N +9 &G\ (\ !\ Q +10 &I\ <\ 7\ U +9 &KL\ D\ C\ W +9 &M \ C\ D\ X +10 &N\ A\ B\ X +9 &P\ >\ @\ Y +10 &RO\ =\ =\ Y +9 &T\ <\ >\ Y +9 &U\ =\ ;\ Z +10 &W\ 9\ :\ Z +9 &YO\ 9\ :\ [ +9 &[\ ;\ 9\ [ +10 &\\cE\ 9\ :\ 2 +9 &\\\ 8\ 9\ O +6 ( +2 "collection"'=& +3 "core" &\\p\ 5\ 6\ O +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&f1 +61 "core" 1 +3 "manipulator"&% +4 "core" % A  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +92 "core" ' +50 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%:& +4 "core" &\ +2 "manipulator"&u% +4 "core" %    +2 "storage"({% +5 "core" % . $ a\  + "storage"(8. +4 "core" .(K + "storage"(& +4 "core" &K $ / \ \ +2 "storage"(U& +4 "core" &K * !\ \ +2 "manipulator"&h& +4 "core" & . & +2 "manipulator"&% +3 "core" %  b  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +147 "core" ( + "manipulator"&j& +4 "core" &   +2 "storage"(^& +5 "core" &K * #\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +94 "core" ' +2 "storage"(&& +4 "core" &K T 7 q\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +298 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K - & T\ \ +2 "manipulator"&9& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&[( +2 "core" ( +2 "manipulator"&n& +4 "core" & G  +2 "storage"(2& +4 "core" &K + \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&K'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&6/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(M' +8 "core" &  +2 "manipulator"&4% +3 "core" % ^ h +3 .tForearm.seek :retract +2 "manipulator"&G' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&& +5 "core" & F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &H& +2 "core" & ^ F +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + "manipulator"&P& +4 "core" & $ F +2 "manipulator"& % +4 "core" % , ~ +2 "processing"%"& +4 "core" &\ +3 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%<(^ +5 "core" &\ +6 &6\ $d +9 &Wx\ 7 +10 &w\ L +9 &Q\ M +9 &mS\ M +10 &/R\ M +9 &T\ N +10 &R\ M +9 &vR\ M +9 &7T\ M +10 &P\ M +9 &!T\ M +10 &#~P4\ M +9 &%?T\ M +9 &'U\ N +10 &(S4\ M +9 &*T\ M +9 &,HQ\ M +10 &. R\ M +9 &/T\ N +9 &1T\ M +10 &3OT\ M +9 &5Q\ M +10 &6U\ N +9 &8T\ M +9 &:VT\ N +10 &<U\ N +9 &=U\ M +9 &?T\ M +10 &A^Z\ N +9 &C_\ O +10 &Dc\ O +9 &Fn\ P +9 &HX\ R +10 &J\ T +9 &K\ S +9 &M\ T +10 &O\\\ T +9 &Q\ T +10 &R\ U +9 &T\ U +9 &Vb\ T +10 &X$\ T +9 &Y\ U +9 &[\ T +10 &]h5\ B +9 &^?r\ "d +10 &^9\ 5 +5 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&c1 +3 "core" &^'\ 5 +59 1 +2 "manipulator"&% +4 "core" %   R ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +88 "core" ' +2 "processing"%R& +4 "core" &^'7\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&~% +3 "core" %    +2 "storage"(Q% +4 "core" % K \  +2 "storage"(B. +4 "core" .(K + "storage"(p& +4 "core" &K\ # \ \ +3 "storage"(& +2 "manipulator"&1& +7 "core" &K X I\ \ + &  J F +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +53 ."raiseStack"SE.seek :beamBreak +3 "storage"(`'r +2 "core" ( +3 "manipulator"&\ & +5 "core" &   h < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  @ < +2 .tForearm.seek PC +2 "manipulator"&W' +91 "core" ' +2 .tHand.close + "manipulator"&b/ +124 "core" / +2 .tPC.seek :open +2 "processing"%( +33 "core" ' + "storage"(?- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +364 ( + "storage"(L& +4 "core" &K " 2\ +2 "manipulator"& & +4 "core" & < +2 "manipulator"&g% +4 "core" %   v +2 .tForearm.seek :retract +2 "manipulator"&]' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&-( +246 "core" ( + "manipulator"&q& +4 "core" & Z 6 +2 "storage"(*& +4 "core" &K K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +96 "core" ' + .tHand.open +2 "manipulator"&;1 +59 "core" 1 +2 "storage"(w- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(a' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &K K\ +2 "manipulator"&A& +4 "core" &   @ 6 +2 .tElbow.seek 6 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&k& +4 "core" &   6 +2 "storage"(E& +4 "core" &K\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'' +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(5'" +51 "core" ' +2 "manipulator"&v& +3 "core" & S 6 +2 "storage"(N& +4 "core" &K \ # F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&e'< +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&/% +4 "core" %P 4 2 +2 "storage"(,& +3 "core" &K O \ +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 320 counts + "manipulator"&'| +16 "core" ' + "manipulator"&Y& +4 "core" & 6 +2 "storage"(7& +4 "core" &K J E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +30 "core" ' +2 "storage"(% +4 "core" %\ \ ! /\ +3 ."downElevator"SE.seek :down +3 "storage"(i' +99 (%% +3 "core" %,U\ \  S\ Xi +3 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (T& +3 "core" &K & y\ +2 "collection"'t& +4 "core" &\\o\ .\ .\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&X% +4 "core" %    +2 "storage"(% +4 "core" % . / \  +2 "storage"(. +3 "core" .(K +2 "storage"(V& +4 "core" &K . 0 \ +2 "storage"(r& +3 "core" &K . . \ +2 "manipulator"&|& +4 "core" & Y 6 +42 .tElbow.seek 6 +9 "manipulator"&3( +4 "core" ( +2 "manipulator"&& +3 "core" & I 6 +2 "storage"(_& +4 "core" &K . . \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +89 "core" ' + "storage"( & +4 "core" &K 9 + \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +306 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & 6 +2 "storage"(.& +4 "core" &K / #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&d'< +19 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"()'t +30 "core" ' + "manipulator"&z% +4 "core" %B +2 "storage"( & +4 "core" &K ! ! \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&S'n +16 "core" ' + "manipulator"&}& +4 "core" & 6 +2 "storage"(C& +4 "core" &K . . \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&=& +3 "core" &  6 +2 "manipulator"&:% +4 "core" % ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +30 "Can"8\ RO +60 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{(ӂ +156 "core" ( +2 "manipulator"&8& +3 "core" &ӓ 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӓ 5 +3 .tForearm.seek CC +2 "manipulator"&U'? +100 "core" ' +2 .tHand.close + "manipulator"&h/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(s& +4 "core" &K T T =\ +2 "storage"(j& +3 "core" &K S J \ +2 "manipulator"&^& +5 "core" &  ( + "manipulator"&&% +4 "core" %  & +2 .tForearm.seek :retract +2 "manipulator"&\\' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&#( +149 "core" ( +2 "manipulator"&F& +3 "core" &    +2 "storage"(& +4 "core" &K K Y (\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&9'< +96 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +64 "core" 1 +2 "manipulator"&6% +4 "core" % >   4 +2 "storage"($& +4 "core" &K n m\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 302 counts + "manipulator"&4'j +15 "core" ' +2 "manipulator"&& +4 "core" & g  +2 "storage"( & +4 "core" &K n m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&>' +15 "core" ' + "storage"(K% +4 "core" % n n 0\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (H% +3 "core" %F . / v\ Wc +42 "manipulator"&[% +11 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +91 "core" ' +2 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"' & +3 "core" &\ \ )\ +2 "manipulator"&"% +4 "core" %    +2 "storage"(M% +5 "core" % _ h g\  + "storage"(G. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &,| R W\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&R( +2 "core" ( +2 "manipulator"&~& +4 "core" &   +2 "storage"(Q& +4 "core" &,| l n\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&B' +89 "core" ' +2 "storage"(p& +4 "core" &,| a m %\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(1'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (y& +3 "core" &,k R H\  +2 "manipulator"&\ & +4 "core" &  J  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(b& +3 "core" &,k W V \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&O'c +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"(<' +6 "core" &  +3 "manipulator"&`% +4 "core" % Z +2 .tForearm.seek :retract +2 "manipulator"&L' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +155 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&g& + "storage"(5 +8 "core" &Ӕ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &Ӕ h 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&q'? +98 "core" ' +2 "manipulator"&*& +3 "core" &Ӕ 5 +3 "manipulator"&% +3 "core" %@ l  +3 "collection"';& +3 "core" &\ \ ~\ +3 "collection"'w& +5 "core" &\ \ =\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &\ \ ~\  +9 &5x\ \ }\ *z +9 &gz\ \ }\ > +9 &j\ \ x\ L +10 &`R\ \ {\ K +9 &"R\ \ {\ K +9 &S\ \ x\ J +10 &Q\ \ v\ K +9 &hQ\ \ n\ K +10 &*R\ \ m\ K +9 &Q\ \ l\ K +9 & Q\ \ p\ J +10 &"pT\ \ m\ J +9 &$2S\ \ k\ J +9 &%R\ \ k\ K +10 &'Q\ \ o\ K +9 &)wQ\ \ l\ K +10 &+9Q\ \ n\ K +9 &,Q\ \ o\ K +9 &.R\ \ n\ K +10 &0R\ \ m\ K +9 &2AQ\ \ r\ K +9 &4R\ \ n\ K +10 &5R\ \ v\ K +9 &7S\ \ \ t\ J +10 &9IT\ \ \ K +9 &; V\ \ v\ K +9 &<W\ \ u\ K +10 &>S\ \ s\ K +9 &@QU\ \ \ K +9 &BV\ \ \ \ K +10 &C\\\ \ \ L +9 &Ec\ \ \ M +10 &GOt\ \ \ N +9 &I\ $\ \ R +9 &J\ 5\ 1\ V +10 &L|\ 8\ 7\ W +9 &N;\ 7\ 6\ X +9 &O\ 6\ 4\ X +10 &Q\ 4\ 5\ X +9 &S~\ 4\ 4\ Y +10 &U?\ 6\ 3m\ Y +9 &V\ 5\ 1j\ [ +9 &X\ 5\ 1i\ [\ +10 &Z\ 3\ 4n\ [\ +9 &\\"x\ 5\ 7j\ / +9 &\\2\ 6\ 5r\ !e +9 ( +2 &\\a\ 3\ 5n\ L +2 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&A% +4 "core" % @  C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%E& +4 "core" &\ +2 "manipulator"&]% +4 "core" %  )  +2 "storage"(v% +3 "core" % E\  +2 "storage"(N. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(/(,y +58 "core" ( +3 .tSC.configure :limp +3 "storage"($\ 1b +3 (,& +3 "core" &,z % " #\ +2 "manipulator"&& +4 "core" &Ӫ  2 +2 "manipulator"&Y% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&a( +159 "core" ( + "manipulator"&7& +4 "core" &   +2 "storage"(& +4 "core" &,z ( '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +96 "core" ' +2 "storage"((& +4 "core" &,z J T [\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,l M \ \ +2 "manipulator"&'& +4 "core" & T  +2 .tElbow.seek 4 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&5& +4 "core" & Q  +2 "storage"(e& +3 "core" &,l N I\ \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& +3 "storage"(X' +5 "core" & _  +3 "manipulator"&% +3 "core" % n \\ +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&V& +4 "core" & U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" & U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&|' +92 "core" ' +2 "manipulator"&& +3 "core" & M U +3 "manipulator"&_% +4 "core" % / ` +2 "processing"%l& +4 "core" &\ +2 "processing"% & +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%i(^ +3 "core" &\ +9 &6\ $d +9 &Uv\ 6 +10 &z\ K +9 &R\ M +9 &cQ\ M +10 &%R\ M +9 &U\ M +10 &T\ M +9 &jR\ M +9 &+T\ N +10 &R\ M +9 &!T\ M +9 &#rT\ M +10 &%4T4\ M +9 &&U8\ N +10 &(T4\ M +9 &*zT4\ M +9 &,<U<\ M +10 &-P\ M +9 &/U\ M +9 &1T\ M +10 &3DT\ M +9 &5Q\ M +10 &6U\ M +9 &8U\ N +9 &:LT\ M +10 &<S\ M +9 &=T\ M +9 &?S\ M +10 &ATT\ M +9 &C_\ O +10 &D_\ O +9 &Fj\ P +9 &HP{\ Q +10 &J\ S +9 &K\ S +9 &M\ T +10 &OP\ T +9 &Q\ T +10 &R\ T +9 &T\ U +9 &VW\ T +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]\\\ C +9 &^Iy"\ R +10 &^ T\ 3 +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +4 "core" &^$\ 3 +55 1 +2 "manipulator"&+% +3 "core" %   D ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +3 "processing"%!& +3 "core" &^$d\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&.% +4 "core" %    +2 "storage"(0% +4 "core" %\ \  ;\  +2 "storage"(z. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +31 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (}& +3 "core" &,}\ \ ( d\ +3 "manipulator"&C& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & \  U +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(='r + "manipulator"&:( +54 "core" ( +2 "manipulator"&@& +4 "core" & \ / U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &   p U +3 .tForearm.seek PC +2 "manipulator"&m' +96 "core" ' +2 .tHand.close + "manipulator"&d/ +55 "core" / +2 .tPC.seek :open +2 "processing"%S( +45 "core" ' +2 "storage"()- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +39 "core" ' +358 ( + "storage"(& +4 "core" &,i / $ o\  +2 "manipulator"&f& +4 "core" & 9 U +2 "manipulator"&J% +4 "core" %  c + +2 .tForearm.seek :retract +2 "manipulator"&h' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&u( +255 "core" ( +2 "manipulator"&x& +3 "core" &  & i +2 "storage"(s& +4 "core" &,i $ &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +95 "core" ' + .tHand.open +2 "manipulator"&^1 +64 "core" 1 +2 "storage"(&- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(F' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"({& +5 "core" &,i \  +2 "manipulator"&2& +3 "core" &\ \  i +2 .tElbow.seek 4 +2 "manipulator"&6( +4 "core" ( + "manipulator"&$& +4 "core" &\   A i +2 "storage"(& +4 "core" &,i\  +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(K'" +49 "core" ' +2 "manipulator"&\\& +4 "core" &\  . i +2 "storage"(H& +4 "core" &,i\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&['7 +23 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(9' +29 "core" ' + "manipulator"& % +4 "core" %E & +2 "storage"("& +5 "core" &,i\ \ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&4'q +13 "core" ' +2 "manipulator"&M& +4 "core" &  h +2 "storage"(G& +4 "core" &,i  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 "storage"(>% +3 "core" % ! # \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (D% +3 "core" %AM\ \ \ \ We +2 "manipulator"&c% +4 "core" % @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (~& +3 "core" &,i  & *\  +2 "collection"'Q& +4 "core" &\\a\ .\ + \ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&p% +3 "core" %  8  +2 "storage"(n% +5 "core" % . . ^\  + "storage"(P. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +49 "core" &,} # $\ +3 "manipulator"&\ & +4 "core" &   4 h +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&b& +4 "core" &  ? h +2 "storage"(?& +5 "core" &,} , ( \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&o' +92 "core" ' + "storage"(`& +4 "core" &,} T T 9\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +295 "core" ' +2 "storage"(B- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" &  < h +2 "storage"(W& +4 "core" &,l N O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&1'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('i +30 "core" ' + "manipulator"&;% +4 "core" %A K  +2 "storage"(& +4 "core" &,l ^ =\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +2 "manipulator"&<'m +14 "core" ' +2 "manipulator"&L& +3 "core" &  R h +2 "storage"(& +4 "core" &,l ! 0\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +21 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(A' +35 "core" ' + "manipulator"&E& +4 "core" &   h +2 "manipulator"&]% +4 "core" %  n  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +150 "core" ( + "manipulator"&w& +4 "core" &ӈ  k :- +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +4 "core" &ӈ! H :- +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&Y/ +55 "core" / +2 .tCC.seek :open +2 "collection"'q( +446 "core" ( +2 "storage"(7& +3 "core" &,l H G \  +2 "storage"(& +4 "core" &,l K G "\  +2 "manipulator"&& +3 "core" &Ӯ 1 5 +2 "manipulator"&(% +4 "core" % 5  +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&k( +166 "core" ( +2 "manipulator"&%& +3 "core" & L  +2 "storage"(& +9 "core" &,l n n \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +6 "manipulator"&''7 +98 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&e1 +60 "core" 1 +3 "manipulator"&T% +4 "core" % D H * +2 "storage"(t& +3 "core" &,l W W\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&'p +14 "core" ' + "manipulator"&a& +4 "core" &  ]  +2 "storage"(-& +5 "core" &,l F F (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 "storage"(% +4 "core" % H O \ +3 ."downElevator"SE.seek :down +42 "storage"(V' +60 (r% +3 "core" %H - . \ Va +2 "manipulator"&Z% +4 "core" % C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +98 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'_& +3 "core" &\ \ l\ +2 "manipulator"&l% +4 "core" %   Q  +2 "storage"(X% +4 "core" % j h \  +2 "storage"(. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &<+ U a\  +2 "manipulator"&+& +4 "core" & Q  +2 .tElbow.seek 5 +2 "manipulator"&!( +3 "core" ( + "manipulator"&.& +4 "core" &  Y  +2 "storage"(0& +4 "core" &<* ] h ~\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +92 "core" ' +2 "storage"( & +3 "core" &<* q o I\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(}'r +294 "core" ' +2 "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (@& +3 "core" &<* T V o\  +2 "manipulator"&3& +3 "core" &  k  +2 .tElbow.seek 5 +2 "manipulator"&|( +4 "core" ( + "manipulator"&d& +4 "core" &    +2 "storage"(/& +4 "core" &<* G G (\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&)'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& +2 "storage"(i' +8 "core" &  ^  +2 "manipulator"&=% +4 "core" % ϱ ` +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +153 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&J& + "storage"(5 +7 "core" &|  j 9* +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &|  M :* +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&x'? +98 "core" ' +2 "manipulator"&s& +3 "core" &|! ` :* +2 "manipulator"&:% +4 "core" %@ S  +2 "collection"'^& +4 "core" &\ \ ?\ +3 "collection"'&& +5 "core" &\ \ }\ +3 .tCC.seek :closed +3 "collection"'U(\\ +3 "core" &\ \ ~\ +6 &\ \ {\ ; +9 &LJu\ \ \ 1 +10 &x{\ \ x\ E +9 &6W\ \ \ K +9 &U\ \ z\ K +10 &R\ \ m\ K +9 &}Q\ \ l\ K +9 &@S\ \ o\ J +10 &S\ \ o\ J +9 &S\ \ q\ K +10 &W\ \ p\ K +9 &!GV\ \ m\ K +9 &# U\ \ r\ K +10 &$V\ \ p\ K +9 &&V\ \ q\ K +9 &(OV\ \ v\ K +10 &*Q\ \ k\ K +9 &+Q\ \ n\ K +10 &-S\ \ o\ J +9 &/WW\ \ u\ K +9 &1V\ \ m\ K +10 &2Q\ \ t\ K +9 &4T\ \ s\ J +9 &6_T\ \ s\ K +10 &8!W\ \ w\ K +9 &9R\ \ u\ K +10 &;T\ \ \ J +9 &=gU\ \ \ K +9 &?)U\ \ \ K +10 &@U\ \ \ J +9 &BZ\ \ \ K +9 &Dk`\ \ \ L +10 &F,f\ \ \ M +9 &Gw\ \ \ O +10 &I\ -\ &\ S +9 &KT\ 8\ :\ W +9 &M\ 9\ 8\ X +10 &N\ 8\ 8\ W +9 &P\ 7\ 8\ Y +9 &RX\ 6\ 6\ X +10 &T\ 6\ 5\ Z +9 &U\ 5\ 4\ [ +10 &W\ 7\ 6\ Z +9 &YT\ 8\ 5j\ \\ +9 &[\ 7\ 5k\ [ +10 &\\kF\ 9\ 6i\ 2 +9 &\\\ 5\ ;j\ Q +5 ( +2 "collection"'&& +4 "core" &\\j\ 2\ 4\ Q +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&{1 +58 "core" 1 +2 "manipulator"&2% +4 "core" % @  h  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&h% +4 "core" %  - +2 "storage"(\\% +4 "core" % . .\  +2 "storage"(H. +3 "core" .(<* +49 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (8& +3 "core" &<+\ \ ~\  +2 "manipulator"&"& +4 "core" &ӫ @ 3 +2 "manipulator"&M% +4 "core" %  \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&F( +161 "core" ( +2 "manipulator"&G& +3 "core" &  C  +3 "storage"(>& +3 "core" &<* 3 > \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&u'O +90 "core" ' +2 "storage"(j& +4 "core" &<* I S +\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" &<* V #\  +2 "manipulator"& & +4 "core" & :  +2 .tElbow.seek 5 +2 "manipulator"&6( +2 "core" ( +2 "manipulator"&K& +4 "core" &    +2 "storage"([& +4 "core" &<* " ( \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&4'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&~/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(p' +8 "core" & :  +2 "manipulator"&n% +4 "core" %  ' +2 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&9( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&y& +4 "core" & P A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &  u A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&b' +107 "core" ' +2 "manipulator"&& +4 "core" & y A +2 "manipulator"&?% +4 "core" % 4 +2 "processing"%`& +4 "core" &\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed + "processing"% (^ +4 "core" &\  +9 &2t\ )v +10 &b|\ = +9 &rn\ M +9 &3Q\ M +10 &O\ M +9 &R\ M +9 &yU\ M +10 &:T\ N +9 &S\ M +10 &T\ M +9 & S\ M +9 &"CU\ M +10 &$T\ N +9 &%R\ M +9 &'U4\ M +10 &)JS\ N +9 &+ S\ M +10 &,V8\ M +9 &.R\ M +9 &0TP\ M +10 &2S\ N +9 &3S-\ M +9 &5V\ M +10 &7ZT\ N +9 &9U\ M +9 &:R\ M +10 &<Q\ M +9 &>bT\ N +10 &@%S\ M +9 &AZ\ N +9 &Ce\ O +10 &Edg\ P +9 &G"p\ Q +10 &H\ S +9 &J\ S +9 &La\ S +10 &N!\ T +9 &O\ T +9 &Q\ U +10 &Sf\ T +9 &U%\ U +10 &V\ U +9 &X\ U +9 &Zl\ U +10 &\\.\ U +9 &]z\ 8 +9 &^2\ R +10 &^#\ 2 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator" +54 "core" 1 +2 "manipulator"&% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +90 "core" ' +2 "processing"%g& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&W% +3 "core" %   \ 4  +2 "storage"(*% +4 "core" % \ " $\  +2 "storage"(;. +4 "core" .(<- + "storage"(& +4 "core" &<* K ;\  +3 "storage"(L& +2 "manipulator"&& +7 "core" &<*\ #\  h\  + &  + A +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&E( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(]'r +3 "core" ( +42 "manipulator"&o& +11 "core" &  , A +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  ` A +3 .tForearm.seek PC + "manipulator"&R' +93 "core" ' + .tHand.close +2 "manipulator"&1/ +59 "core" / +2 .tPC.seek :open +2 "processing"%<( +46 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'1 +46 "core" ' +350 ( + "storage"(,& +4 "core" &<* ! * \  +2 "manipulator"&& +4 "core" & A +2 "manipulator"&O% +3 "core" %   T +3 .tForearm.seek :retract +2 "manipulator"&Y' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&v( +255 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(7& +4 "core" &<* _ * \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"((- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(N& +3 "core" &<* \  +3 "manipulator"&e& +3 "core" &   +3 .tElbow.seek 5 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&t& +4 "core" &   & +2 "storage"(a& +3 "core" &<* \\\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"& & +3 "core" &  +2 "storage"(r& +4 "core" &<* B \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Z'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"('' +19 "core" ' + "manipulator"&% +4 "core" %Θ  +2 "storage"(A& +4 "core" &<* ^ t\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&_' +14 "core" ' +2 "manipulator"&l& +4 "core" & +2 "storage"(X& +3 "core" &<* + ) \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' + "storage"(% +4 "core" % * ' 2\ +3 ."downElevator"SE.seek :down +4 "storage"(V' +98 (% +3 "core" %O\ \ \ \ Wg +2 "manipulator"&% +5 "core" %S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&+' +89 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (.& +3 "core" &<* ;  g\  +2 "collection"'0& +4 "core" &\\j\ -\ ,\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +4 "core" %  I  +2 "storage"(5% +3 "core" % . . \  +2 "storage"(. +4 "core" .(<- + "storage"(C& +4 "core" &<* . . G\  +2 "storage"(@& +4 "core" &<* + # Z\  +2 "manipulator"&3& +3 "core" & " +3 .tElbow.seek 5 + "manipulator"&d( +4 "core" ( +41 "manipulator"&/& +11 "core" &  +2 "storage"(& +4 "core" &<* , #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +95 "core" ' +2 "storage"(=& +4 "core" &<* J T h\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +307 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" &   +2 "storage"(m& +4 "core" &<* + . [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&}'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(s- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(:'w +27 "core" ' +2 "manipulator"&^% +3 "core" %Γ  +2 "storage"(|& +4 "core" &<* & $ 4\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&i'Ͽ +15 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(q& +4 "core" &<* J P F\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +24 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(2' +34 "core" ' +2 "manipulator"&& +4 "core" & 6 +2 "manipulator"&h% +4 "core" %k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +157 "core" ( +2 "manipulator"&&& +4 "core" &ӝ 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &8& +2 "core" &ӝ 2 +3 .tForearm.seek CC +2 "manipulator"&"'? +95 "core" ' + .tHand.close +2 "manipulator"&M/ +63 "core" / +2 .tCC.seek :open + "collection"'x( +447 "core" ( + "storage"(G& +4 "core" &<* Y K \  +2 "storage"(>& +3 "core" &<* G F 1\  +3 "manipulator"&& +3 "core" &ӥ  1 +2 "manipulator"&j% +4 "core" % C  #  +2 .tForearm.seek :retract +2 "manipulator"&f' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&$( +160 "core" ( + "manipulator"&D& +4 "core" &  -  +2 "storage"(c& +4 "core" &<* m l )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +97 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +63 "core" 1 +2 "manipulator"&~% +4 "core" % Α  ] , +2 "storage"(Q& +4 "core" &<* k k \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&n'Ͻ +26 "core" ' + "manipulator"&F& +4 "core" & $  +2 "storage"(u& +5 "core" &<* m l \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +2 "storage"(4% +4 "core" % o H\  +3 ."downElevator"SE.seek :down +3 "storage"(y' +99 (\ % +3 "core" %\\G $ >\ Wc +2 "manipulator"&6% +4 "core" %N J \ +2 .tForearm.reconfigure :loose +43 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +5 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'?& +3 "core" &\  *\ +2 "manipulator"&`% +5 "core" %     + "storage"(p% +4 "core" % k k \  +2 "storage"(P. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(S(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +3 "core" &K *  E\  +2 "manipulator"&& +4 "core" & ~  +2 .tElbow.seek 6 +2 "manipulator"&g( +4 "core" ( +2 "manipulator"&W& +3 "core" &  +2 "storage"(*& +5 "core" &K k k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +92 "core" ' + "storage"(& +4 "core" &K k b \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(L- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K S R B\  +2 "manipulator"&o& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&b& +4 "core" & I  +2 "storage"(1& +4 "core" &K W W\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"( ' +8 "core" &    +2 "manipulator"&]% +4 "core" % ]  1 +2 .tForearm.seek :retract +2 "manipulator"&,' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&O& +4 "core" &ӝ  ' 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +2 "core" &ӝ a 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 "manipulator"&7& +4 "core" &Ӟ  2 +2 "manipulator"&E% +5 "core" %;   : +2 "collection"'& +3 "core" &\ \ C\ +3 "collection"'(& +6 "core" &\ \ @\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ \ +6 &:\ \ \ $f +9 &Xx\ \ \ 7 +10 &u\ \ \ J +9 &Q\ \ \ K +10 &V\ \ {\ K +9 &IQ\ \ \ K +9 & Q\ \ z\ J +10 &R\ \ z\ J +9 &S\ \ x\ J +9 &QT\ \ v\ J +10 & Q\ \ t\ K +9 &!Q\ \ n\ K +10 &#R\ \ n\ K +9 &%XQ\ \ k\ K +9 &'U\ \ p\ K +10 &(U\ \ o\ K +9 &*U\ \ p\ K +9 &,bQ\ \ s\ J +10 &.#S\ \ m\ J +9 &/T\ \ s\ K +10 &1W\ \ r\ K +9 &3iV\ \ o\ K +9 &5+R\ \ l\ K +10 &6R\ \ o\ K +9 &8R\ \ o\ K +9 &:rT\ \ n\ J +10 &<2V\ \ \ \ z\ K +9 &=Z\ \ }\ L +10 &?Y\ \ z\ K +9 &AxR\ \ k\ K +9 &C8\\\ \ n\ L +10 &De\ \ k\ M +9 &Fr\ \ u\ N +9 &Hl\ /\ &l\ R +10 &J#\ A\ =v\ V +9 &K\ D\ C\ W +10 &M\ @\ Cu\ W +9 &Oc\ A\ A\ X +9 &Q%\ >\ @f\ X +10 &R\ <\ @\ Y +9 &T\ <\ =\ Y +9 &Ve\ ;\ <|\ Z +10 &X$\ 6\ 9\ [ +9 &Y\ :\ :o\ [ +10 &[\ 7\ 9\ H +9 &\\4\ 9\ 8\ 0 +9 &\\f\ 6\ 4\ M +2 ( +2 "collection"'(& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&N1 +54 "core" 1 +2 "manipulator"&e% +4 "core" % F   / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%a& +4 "core" &\ +2 "manipulator"&Y% +4 "core" %   F  +2 "storage"( % +3 "core" % & , \  +2 "storage"(r. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +51 (w& +3 "core" &K P\ $\  +2 "manipulator"&A& +4 "core" &   "x +2 "manipulator"&l% +3 "core" %   @  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&X( +140 "core" ( +2 "manipulator"&%& +3 "core" & ) +3 "storage"(& +3 "core" &K ' ' N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +96 "core" ' +2 "storage"(& +4 "core" &K T T n\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +301 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K # & )\  +2 "manipulator"&-& +4 "core" & 7 +2 .tElbow.seek 6 +2 "manipulator"&T( +4 "core" ( + "manipulator"&& +4 "core" & 6 +2 "storage"(Z& +3 "core" &K . - >\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&.'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"( ' +6 "core" & P +2 "manipulator"&5% +4 "core" % z [ +2 .tForearm.seek :retract +2 "manipulator"&'' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&C& +5 "core" & 9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &@& +3 "core" & 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&3' +92 "core" ' +2 "manipulator"&/& +3 "core" & c +2 "manipulator"&% +4 "core" %  > t +3 "processing"%& +3 "core" &\ +3 "processing"%=& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%V(^ +3 "core" &\  +10 &3u\ )w +9 &e|\ > +9 &n\ N +10 &AT\ N +9 &R\ M +10 &R\ N +9 &R\ M +9 &JU\ M +10 & T\ N +9 &R\ M +9 & S\ N +10 &"RR\ M +9 &$U\ M +10 &%R\ M +9 &'V\ M +11 &)ZU\ M +8 &+U\ N +9 &,T3\ M +9 &.O\ M +10 &0aT\ N +9 &2$S\ M +10 &3Q,\ M +9 &5U4\ M +9 &7kU:\ M +10 &9+U)\ N +9 &:V\ N +9 &<Q\ M +10 &>qT\ N +9 &@4S\ M +10 &AY\ N +9 &Cd\ O +9 &Erg\ P +10 &G2n\ Q +9 &H\ S +9 &J\ S +10 &Lp\ S +9 &N0\ T +10 &O\ T +9 &Q\ U +9 &St\ U +10 &U5\ U +9 &V\ U +9 &X\ U +10 &Z{\ U +9 &\\=\ U +10 &]|t\ 9 +9 &^)z\ Q +9 &^"\ / +3 ( +2 "processing"%=& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&k1 +60 "core" 1 +2 "manipulator"&+% +3 "core" %    t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +90 "core" ' +2 "processing"%J& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&m% +4 "core" %    +2 "storage"(s% +5 "core" % $ (\  + "storage"(^. +4 "core" .(K + "storage"(|& +4 "core" &K\ !\ !\  +3 "storage"(& +2 "manipulator"&q& +6 "core" &K \  =\  +2 &  | +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'r +2 "core" ( +3 "manipulator"&I& +4 "core" &  Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &  3 +3 .tForearm.seek PC +41 "manipulator"&!' +102 "core" ' +2 .tHand.close + "manipulator"&}/ +58 "core" / +2 .tPC.seek :open +2 "processing"%i( +44 "core" ' + "storage"(:- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'1 +47 "core" ' +351 ( + "storage"(8& +5 "core" &K # ! \  + "manipulator"&{& +5 "core" & 6 + "manipulator"&)% +4 "core" %  # R +2 .tForearm.seek :retract +2 "manipulator"&M' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&\\( +249 "core" ( + "manipulator"&U& +4 "core" &  - "} +2 "storage"(G& +3 "core" &K 8\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&>' +94 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "storage"(j- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(D' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(c' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +4 "core" -' + "storage"(H& +5 "core" &K +\  + "manipulator"&[& +4 "core" & \  ? "} +2 .tElbow.seek 6 +2 "manipulator"&~( +4 "core" ( + "manipulator"&Q& +4 "core" &   B "} +2 "storage"(F& +4 "core" &K +\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&u' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +52 "core" ' +2 "manipulator"&f& +3 "core" &  ' "} +2 "storage"(\ & +4 "core" &K\ \  L\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&6'< +23 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +28 "core" ' +2 "manipulator"&?% +3 "core" %> +2 "storage"(`& +4 "core" &K\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 302 counts +2 "manipulator"&n'j +15 "core" ' +2 "manipulator"&p& +3 "core" &  # "| +2 "storage"(P& +4 "core" &K " & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +15 "core" ' +2 "storage"(% +3 "core" % / . f\ +3 ."downElevator"SE.seek :down +3 "storage"(y' +99 ( % +3 "core" %QR\ \ \ \ Xh +2 "manipulator"&#% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &K '  o\  +2 "collection"'*& +5 "core" &\\b\ ,\ ,\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  ,  +2 "storage"(K% +4 "core" % / . \  +2 "storage"(. +3 "core" .(K +2 "storage"(L& +3 "core" &K $ . v\  +2 "storage"(& +4 "core" &K . - g\  +2 "manipulator"&o& +4 "core" &\  s "| +2 .tElbow.seek 6 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&1& +3 "core" &\  d "| +2 "storage"(9& +4 "core" &K . 0 \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +41 "manipulator"&B' +103 "core" ' +2 "storage"(]& +4 "core" &K J T \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +298 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" &  u "{ +2 "storage"(R& +4 "core" &K & ! &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(E't +32 "core" ' + "manipulator"&% +5 "core" %J \ + "storage"(& +4 "core" &K [ 2 \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"& 'v +14 "core" ' +2 "manipulator"&,& +3 "core" &  "{ +2 "storage"(x& +4 "core" &K ! \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +13 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(e' +41 "core" ' +2 "manipulator"&a& +3 "core" &  - "{ +2 "manipulator"&Y% +5 "core" %\  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +146 "core" ( + "manipulator"&(& +4 "core" &x&  ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &x& ?S +3 .tForearm.seek CC +2 "manipulator"&A'? +100 "core" ' +2 .tHand.close + "manipulator"&l/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( + "storage"(%& +4 "core" &K T S \  +2 "storage"(& +3 "core" &K T T Y\  +3 "manipulator"&S& +3 "core" & # - +2 "manipulator"&% +4 "core" %  p +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&t( +151 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +5 "core" &K G L '\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&-'< +93 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&Z1 +62 "core" 1 +2 "manipulator"&_% +4 "core" % ?  7 F +2 "storage"(0& +3 "core" &K m l\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 303 counts +2 "manipulator"&5'k +13 "core" ' + "manipulator"&X& +4 "core" &  U  +2 "storage"(v& +4 "core" &K n n \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +13 "core" ' +2 "storage"(.% +3 "core" % n m f\ +3 ."downElevator"SE.seek :down +4 "storage"(C' +99 (@% +3 "core" %F , % \ Va +2 "manipulator"&T% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +50 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +3 "core" &\ \ +\ +2 "manipulator"&% +4 "core" %     +2 "storage"( % +4 "core" % k j \  +2 "storage"('. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(<(,y +675 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (k& +3 "core" &,v R V\ +2 "manipulator"&+& +3 "core" & |  +3 .tElbow.seek 4 +2 "manipulator"&J( +2 "core" ( +2 "manipulator"&m& +4 "core" &  V  +2 "storage"(s& +4 "core" &,v j ` w\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +94 "core" ' + "storage"(|& +4 "core" &,v k p D\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +3 "core" &,k R H C\ +2 "manipulator"&I& +4 "core" & K  +2 .tElbow.seek 4 +2 "manipulator"&d( +2 "core" ( +3 "manipulator"&3& +3 "core" &  -  +2 "storage"(}& +4 "core" &,k V W\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&:'c +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"(V' +8 "core" &  + "manipulator"&h% +4 "core" % }  , +2 .tForearm.seek :retract +2 "manipulator"&8' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&)& +3 "core" &Ӄ  / 9) +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &Ӄ  D 9) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&U'? +100 "core" ' +2 "manipulator"&G& +3 "core" &Ӌ s 8! +3 "manipulator"&% +3 "core" %C ? +3 "collection"'& +3 "core" &\ \ y\ +3 "collection"'j& +5 "core" &\  C\ +2 .tCC.seek :closed +2 "collection"'"(\\ +4 "core" & {\ +9 &:\ \ \ $f +9 &Zz\ \ \ 7 +9 &u\ \ \ K +10 &P\ \ \ J +9 &R\ \ \ J +9 &MS\ \ \ J +10 &S\ \ \ J +9 &T\ \ \ J +9 &T\ \ |\ J +10 &US\ \ {\ J +9 & S\ \ {\ J +10 &!R\ \ m\ J +9 &#S\ \ u\ J +9 &%]S\ \ m\ J +10 &'S\ \ h\ J +9 &(S\ \ n\ J +10 &*R\ \ r\ K +9 &,dQ\ \ q\ K +9 &.&Q\ \ l\ K +10 &/Q\ \ p\ K +9 &1R\ \ o\ K +9 &3mS\ \ p\ J +10 &5.T\ \ o\ K +9 &6W\ \ m\ K +10 &8Q\ \ n\ K +9 &:tR\ \ m\ K +9 &<7T\ \ z\ J +10 &=U\ \ k\ K +9 &?U\ \ p\ K +9 &A}U\ \ n\ J +10 &C<\\\ \ q\ L +9 &Dc\ \ \ i\ L +10 &Fj\ \ t\ N +9 &Hu\ \ t\ P +9 &J*\ 2\ *n\ U +10 &K\ 8\ 7t\ V +9 &M\ 8\ 7{\ W +9 &Og\ 4\ 5\ X +10 &Q+\ 4\ 4\ W +9 &R\ 3\ 6\ Y +10 &T\ 4\ 4\ Y +9 &Vi\ 2\ 4\ Z +9 &X*\ 4\ 5\ Z +10 &Y\ 3\ 6\ [\ +9 &[\ 2\ 3\ H +9 &\\.\ 5\ 5\ 5 +10 &\\e\ 2\ 3\ L +2 ( +2 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&H1 +64 "core" 1 +2 "manipulator"&[% +5 "core" % C H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%F& +4 "core" &\ +2 "manipulator"&M% +5 "core" %   + "storage"(f% +4 "core" % . / c\  +2 "storage"(\ . +3 "core" .(,v +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(?(,y +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &,z\ \  ,\  +2 "manipulator"&&& +4 "core" &ӫ 4 +2 "manipulator"&p% +4 "core" %   +2 .tElbow.reconfigure :tight +50 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 + "manipulator"&P( +163 "core" ( + "manipulator"&D& +4 "core" & F  +2 "storage"(& +5 "core" &,z S T O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +96 "core" ' +2 "storage"(>& +3 "core" &,z T W 7\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(c'r +294 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &,l K @\  +2 "manipulator"&u& +5 "core" & )  +2 .tElbow.seek 4 + "manipulator"&~( +4 "core" ( + "manipulator"&4& +4 "core" & }  +2 "storage"(6& +4 "core" &,l\ \ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&W'c +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"(' +8 "core" & i  +2 "manipulator"&K% +3 "core" % s A +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&L& +4 "core" & _ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & 7 _ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&o' +101 "core" ' +2 "manipulator"&1& +3 "core" & x ^ +3 "manipulator"&9% +3 "core" % f +3 "processing"%2& +3 "core" &\ +3 "processing"%]& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%y(^ +3 "core" &\ +6 &\ 6 +10 &@Hs\ / +9 &gp}\ D +10 & ]\ M +9 &R\ M +9 &P\ M +10 &PQ\ M +9 &R\ M +9 &O\ M +10 &S\ M +9 &XU\ M +10 &!R\ M +9 &"S\ M +9 &$Q\ M +10 &&_R\ M +9 &(!T\ M +9 &)T\ M +10 &+S\ N +9 &-gS\ M +10 &/)R\ M +9 &0S4\ N +9 &2T \ M +10 &4nR2\ N +9 &61T.\ M +9 &7U4\ M +10 &9T;\ M +9 &;vS\ N +10 &=9T\ M +9 &>U\ M +9 &@Y\ M +10 &B}\\ \ N +9 &D<b\ O +9 &Eh\ P +10 &Gs\ Q +9 &Iu\ T +10 &K7\ S +9 &L\ S +9 &N\ T +10 &Pz\ T +9 &R;\ U +9 &S\ U +10 &U\ U +9 &W\ U +10 &YD\ T +9 &[\ U +9 &\\\ U +10 &^Cm\ / +9 &^L\ (o +9 &^3\ - +6 ( +2 "processing"%]& +4 "core" &^\ - +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&$1 +60 "core" 1 +2 "manipulator"&% +4 "core" %   ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +88 "core" ' +2 "processing"%O& +4 "core" &^&\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&R% +3 "core" %  \    +3 "storage"(7% +3 "core" % \  +2 "storage"(. +4 "core" .(,y + "storage"(& +4 "core" &,l ! \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(,(,y +36 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (x& +3 "core" &,w\ \ \  @\ +2 "manipulator"&a& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & 9 ^ +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Y'r +2 "manipulator"&B( +5 "core" ( +2 "manipulator"&b& +3 "core" &   ^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &g& +2 "core" &   [ ^ +49 .tForearm.seek PC +3 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"& / +62 "core" / +2 .tPC.seek :open +2 "processing"%E( +36 "core" ' +2 "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'1 +48 "core" ' +357 ( +2 "storage"(N& +3 "core" &,j 1 /\ +2 "manipulator"&& +4 "core" &  ^ +2 "manipulator"&l% +4 "core" % \   3 +2 .tForearm.seek :retract +2 "manipulator"& ' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&%& +3 "core" & r 7 +2 "storage"(& +4 "core" &,j " :\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +98 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(A' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(r- +3 "core" -' +2 "storage"(Z& +4 "core" &,j -\ +2 "manipulator"&_& +5 "core" &   7 +2 .tElbow.seek 4 + "manipulator"&0( +3 "core" ( +2 "manipulator"&X& +4 "core" &   2 7 +2 "storage"(v& +4 "core" &,j\ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' + "manipulator"&@& +4 "core" & ' 7 +2 "storage"(T& +4 "core" &,j\ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&t'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(5' +28 "core" ' + "manipulator"&% +4 "core" %< G +2 "storage"(e& +5 "core" &,j ! \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 305 counts +2 "manipulator"&'h +13 "core" ' +2 "manipulator"& & +3 "core" & q 7 +3 "storage"('& +3 "core" &,j " ' \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 "storage"(C% +4 "core" % $ 0\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (k% +3 "core" %FR\ \ \ \ \ Yi +2 "manipulator"&+% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +3 "core" &,j ) _ Q\ +2 "collection"'|& +4 "core" &\\a\ ,\ .h\ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %   z  +2 "storage"(/% +4 "core" % / / \  +2 "storage"(. +3 "core" .(,y +2 "storage"(=& +4 "core" &,j 0 * d\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(I(,y +13 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (3& +3 "core" &,z\  3\  +2 "manipulator"&}& +5 "core" & 7 +2 .tElbow.seek 4 + "manipulator"&( +47 "core" ( +6 "manipulator"&z& +3 "core" & 9 7 +2 "storage"(h& +4 "core" &,z * ( I\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&J' +95 "core" ' +2 "storage"(^& +4 "core" &,z F H B\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'r +298 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" & 7 +2 "storage"(:& +4 "core" &,l & " >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&G'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(d'h +33 "core" ' +2 "manipulator"&V% +4 "core" %E - +2 "storage"(8& +4 "core" &,l / & 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&'q +14 "core" ' +2 "manipulator"&H& +3 "core" & _ 7 +2 "storage"([& +4 "core" &,l M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&F' +14 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(M' +36 "core" ' +2 "manipulator"&f& +4 "core" & : 7 +2 "manipulator"&\ % +3 "core" % > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +149 "core" ( +2 "manipulator"&&& +3 "core" &ӎ  * 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +3 "core" &ӎ \ 5 +3 .tForearm.seek CC +2 "manipulator"&U'? +103 "core" ' + .tHand.close +2 "manipulator"&D/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( + "storage"(<& +4 "core" &,l S T 6\  +2 "storage"(>& +4 "core" &,l G Q L\  +2 "manipulator"&{& +3 "core" &Ӱ  0 +2 "manipulator"&Q% +4 "core" % 3 ~ +2 .tForearm.seek :retract +2 "manipulator"& ' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&#( +163 "core" ( +2 "manipulator"&u& +4 "core" & 4  +2 "storage"(4& +4 "core" &,l F F \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&6'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +58 "core" 1 +2 "manipulator"&K% +4 "core" % )  7 < +2 "storage"(P& +4 "core" &,l n l\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 286 counts +2 "manipulator"&\\'U +14 "core" ' + "manipulator"&c& +4 "core" &   +2 "storage"(W& +4 "core" &,l j m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&L' +23 "core" ' +2 "storage"(% +4 "core" % j k \ +3 ."downElevator"SE.seek :down +3 "storage"(~' +99 (1% +3 "core" %I $ ! \ Wc +2 "manipulator"&9% +4 "core" % 5 +42 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2' +93 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & \ j\ +2 "manipulator"&% +4 "core" %   g  +2 "storage"(i% +4 "core" % j m \  +2 "storage"($. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &<*\ \  @\  +2 "manipulator"&R& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&7( +4 "core" ( +2 "manipulator"&& +3 "core" & J  +2 "storage"(& +4 "core" &<* m l 4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +92 "core" ' +2 "storage"(x& +3 "core" &<* p q d\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +295 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &<* Q B _\  +2 "manipulator"&o& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&?( +4 "core" ( + "manipulator"& & +5 "core" &  1  + "storage"((& +4 "core" &<* R L \  +3 .tForearm.seek 5 + 300 counts + "manipulator"& 'Ϲ +16 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(Y' +8 "core" &  s  +2 "manipulator"&N% +4 "core" % Ϲ +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &Ӑ 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &Ӑ  y 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 "manipulator"&B& +3 "core" &Ӑ C 6 +2 "manipulator"&% +4 "core" %C 0  +2 "collection"'& +4 "core" &\ \ 8\ +3 "collection"'r& +5 "core" &\ \ y\ +2 .tCC.seek :closed +2 "collection"'Z(\\ +4 "core" &\ \ \ +7 &;\ \ \ %g +9 &Yu\ \ \ 7 +9 &u\ \ \ K +10 &Q\ \ \ J +9 &S\ \ \ J +10 &LR\ \ \ J +9 &T\ \ \ J +9 &T\ \ }\ J +10 &T\ \ |\ J +9 &TT\ \ {\ J +10 & S\ \ x\ J +9 &!S\ \ o\ J +9 &#T\ \ m\ J +10 &%]S\ \ i\ J +9 &'S\ \ n\ J +9 &(T\ \ o\ J +10 &*T\ \ n\ J +9 &,cW\ \ i\ K +9 &.%W\ \ r\ K +10 &/W\ \ r\ K +9 &1W\ \ i\ K +10 &3kQ\ \ m\ K +9 &5-R\ \ m\ K +9 &6T\ \ m\ J +10 &8S\ \ m\ K +9 &:sW\ \ l\ K +10 &<4W\ \ m\ K +9 &=T\ \ v\ K +9 &?X\ \ k\ K +10 &AzV\ \ y\ K +9 &C;Y\ \ \ p\ L +9 &D`\ \ v\ L +10 &Fn\ \ k\ N +9 &Ht~\ \ o\ P +9 &J(\ 4\ ,o\ U +10 &K\ 8\ 7l\ V +9 &M\ 7\ 7r\ X +10 &Of\ 8\ 9k\ X +9 &Q(\ 7\ 6p\ X +9 &R\ 7\ 6\ X +10 &T\ 6\ 6p\ Y +9 &Vi\ 6\ 4p\ Y +9 &X)\ 7\ 6o\ Z +10 &Y\ 6\ 5\ [ +9 &[\ 8\ 8q\ H +10 &\\/\ 5\ 6q\ 1 +9 &\\b\ 6\ 5m\ L +2 ( +2 "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&_1 +54 "core" 1 + "manipulator"&X% +4 "core" % C 7  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&@% +4 "core" %  ,  +2 "storage"(T% +3 "core" % ! #\  +2 "storage"(. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(e(<- +8 "core" ( +48 .tSC.configure :limp +4 "storage"($\ 1b +3 (w& +3 "core" &<*\  9\  +2 "manipulator"& & +4 "core" &Ӫ M 3 +2 "manipulator"&'% +3 "core" %  4  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( + "manipulator"&C& +4 "core" &   +2 "storage"(& +4 "core" &<) ( ( :\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +99 "core" ' +2 "storage"(A& +4 "core" &<) Q S \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +296 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (.& +3 "core" &<) # &\  +2 "manipulator"&0& +4 "core" &  8  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&t& +4 "core" &   +2 "storage"(& +5 "core" &<) ! " \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&s'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(/' +8 "core" & K  + "manipulator"&% +4 "core" % Ͽ r +3 .tForearm.seek :retract + "manipulator"&5' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&=( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&3& +4 "core" & ~ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +4 "core" & , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&z' +101 "core" ' +2 "manipulator"&h& +4 "core" &   . +2 "manipulator"&% +4 "core" %  +2 "processing"%^& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%,(^ +5 "core" &\ +6 &7\ $d +9 &Vz\ 7 +9 &w\ K +10 &S\ N +9 &nU\ M +9 &1O\ M +10 &U\ N +9 &S\ M +10 &uT\ N +9 &8T\ M +9 &Q\ M +10 &!V\ M +9 &#~U\ M +9 &%AQ\ M +10 &'U\ M +9 &(Q\ M +10 &*U\ M +9 &,HU\ M +9 &.\ Q\ M +10 &/U\ N +9 &1T,\ M +9 &3PV/\ M +10 &5T6\ N +9 &6U9\ N +10 &8U6\ N +9 &:WU$\ N +9 &<W-\ M +10 &=Y-\ M +9 &?U:\ M +9 &A_U\ N +10 &Cb \ O +9 &Dc\ O +10 &Fm\ P +9 &HY~\ R +9 &J\ S +10 &K\ T +9 &M\ T +9 &O\\\ T +10 &Q\ T +9 &R\ T +10 &T\ U +9 &Vc\ T +9 &X%\ T +10 &Y\ U +9 &[\ U +9 &]i\ B +10 &^>n\ $j +9 &^*\ - +6 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&-1 +2 "core" &^\ - +60 1 +2 "manipulator"&m% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +88 "core" ' +2 "processing"%q& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&:% +3 "core" %   g  +2 "storage"(% +4 "core" % ' " "\  +2 "storage"(V. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(8(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (H& +2 "manipulator"&[& +4 "core" &<+\ \  \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(f'r + "manipulator"&\ ( +6 "core" ( +48 "manipulator"&J& +5 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &   \\ +2 .tForearm.seek PC +2 "manipulator"&)' +95 "core" ' +2 .tHand.close + "manipulator"&G/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +36 "core" ' + "storage"(d- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'1 +51 "core" ' +354 ( +2 "storage"(p& +3 "core" &<) & # \  +3 "manipulator"&F& +3 "core" &  +2 "manipulator"&% +5 "core" %  : C +2 .tForearm.seek :retract +2 "manipulator"&D' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&j( +241 "core" ( + "manipulator"&"& +4 "core" &  l 1 +2 "storage"(<& +4 "core" &<) M [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +102 "core" ' +2 .tHand.open + "manipulator"&{1 +58 "core" 1 +3 "storage"(Q- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(4' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' +2 "storage"(`& +4 "core" &<) \  +2 "manipulator"&*& +3 "core" &  \  1 +3 .tElbow.seek 5 + "manipulator"&K( +4 "core" ( +2 "manipulator"&P& +3 "core" &    1 +2 "storage"(c& +4 "core" &<) \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&W'O +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' + "manipulator"& & +4 "core" & 1 +2 "storage"(1& +4 "core" &<) & " .\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&9'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(6' +30 "core" ' +2 "manipulator"&\\% +5 "core" %Ε   + "storage"(& +4 "core" &<) ' ( \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&' +14 "core" ' + "manipulator"&i& +4 "core" &  A 0 +2 "storage"($& +4 "core" &<) + # b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&M'O +23 "core" ' +2 "storage"(L% +4 "core" % . , \ +3 ."downElevator"SE.seek :down +4 "storage"(~' +98 (I% +4 "core" %LT\ \ \ Xi +2 "manipulator"&O% +3 "core" %i ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<) $ N m\  +2 "collection"'& +4 "core" &\\a\ -\ -,\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&x% +3 "core" %  8  +2 "storage"(n% +4 "core" % 0 . \  +2 "storage"(2. +2 "core" .(<- +2 "storage"(b& +4 "core" &<) - . `\  +2 "storage"(g& +3 "core" &<) / 0 \  +2 "manipulator"&o& +4 "core" & ) 0 +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( +41 "manipulator"&(& +11 "core" & 0 +2 "storage"(;& +4 "core" &<) . . \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +90 "core" ' +2 "storage"(N& +3 "core" &<) T J ]\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +298 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  0 +3 "storage"(%& +3 "core" &<) ' $ e\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&a'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('w +30 "core" ' +2 "manipulator"&% +3 "core" %Θ   +2 "storage"(?& +4 "core" &<) . . \\\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 311 counts + "manipulator"&Y' +14 "core" ' +2 "manipulator"&& +4 "core" &  I / +2 "storage"(& +4 "core" &<) ' & 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +22 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(X' +35 "core" ' + "manipulator"& & +4 "core" &  / +2 "manipulator"&@% +4 "core" %o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +148 "core" ( +2 "manipulator"&r& +3 "core" &y#  <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &w& +3 "core" &y# E <= +2 .tForearm.seek CC +2 "manipulator"& '? +102 "core" ' +2 .tHand.close + "manipulator"&'/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(C& +3 "core" &<) U T \  +2 "storage"(& +4 "core" &<) T T r\  +2 "manipulator"&& +4 "core" &ӿ 3 +2 "manipulator"&A% +3 "core" % , K Q +3 .tForearm.seek :retract + "manipulator"&l' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&v( +158 "core" ( +2 "manipulator"&+& +4 "core" & \ ;  +2 "storage"(.& +3 "core" &<) V R\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&0'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&|% +5 "core" % Κ    E + "storage"(& +4 "core" &<) n n \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&' +24 "core" ' +2 "manipulator"&& +4 "core" &  c  +2 "storage"(S& +4 "core" &<) m o #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +19 "core" ' + "storage"(s% +5 "core" % m n \ +2 ."downElevator"SE.seek :down +4 "storage"(3' +98 (}% +3 "core" %C $ /\ Va +2 "manipulator"&% +4 "core" %P  o  +2 .tForearm.reconfigure :loose +42 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract +2 "manipulator"&h' +85 "core" ' +9 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" &\ \ t\ +2 "manipulator"&^% +4 "core" %    +2 "storage"(/% +5 "core" % k k \  + "storage"(5. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(E(K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +3 "core" &K " # \  +2 "manipulator"&m& +4 "core" & J  +2 .tElbow.seek 6 +2 "manipulator"&q( +4 "core" ( +2 "manipulator"&:& +3 "core" &  >  +2 "storage"(& +4 "core" &K ] i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +95 "core" ' +2 "storage"(& +3 "core" &K l k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +295 "core" ' +2 "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +3 "core" &K O W \\\  +2 "manipulator"&& +4 "core" & I  +2 .tElbow.seek 6 +2 "manipulator"&z( +3 "core" ( +2 "manipulator"&G& +4 "core" &  +2 "storage"(e& +4 "core" &K W V\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&d'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(,' +8 "core" & e  +2 "manipulator"&f% +3 "core" % ]  # +3 .tForearm.seek :retract +2 "manipulator"&p' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &Ӑ c 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &)& +3 "core" &ӑ ) 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'? +95 "core" ' +2 "manipulator"&<& +3 "core" &ӑ  [ 3 +3 "manipulator"&\ % +3 "core" %8 Q _ +3 "collection"'{& +3 "core" &\ \ \ +3 "collection"'Q& +5 "core" &\ \ 4\ +2 .tCC.seek :closed +2 "collection"'U(\\ +4 "core" & \ \ +9 &@\  w\ $e +9 &Xx\ \ z\ 7 +9 &u\ \ }\ J +10 &Q\ \ }\ J +9 &S\ \ \ J +9 &LS\ \ }\ J +10 &T\ \ }\ J +9 &T\ \ }\ J +10 &R\ \ x\ K +9 &TR\ \ y\ K +9 & Q\ \ x\ K +10 &!U\ \ |\ K +9 &#V\ \ \ \ K +9 &%[T\ \ l\ K +10 &'V\ \ x\ K +9 &(V\ \ o\ J +10 &*S\ \ k\ J +9 &,cQ\ \ k\ K +9 &.%Q\ \ k\ K +10 &/Q\ \ o\ K +9 &1R\ \ l\ K +9 &3kV\ \ k\ K +10 &5-R\ \ l\ K +9 &6R\ \ z\ K +10 &8R\ \ {\ K +9 &:tU\ \ \ J +9 &<5V\ \ |\ K +10 &=Y\ \ |\ K +9 &?W\ \ |\ K +9 &AzY\ \ \ K +10 &C;^\ \ \ r\ L +9 &De\ \ p\ L +10 &Fr\ \ s\ N +9 &Ho\ +\ 'r\ R +9 &J"\ @\ <o\ W +10 &K\ C\ Cp\ X +9 &M\ A\ At\ W +9 &Ob\ ?\ Ak\ Y +10 &Q$\ ?\ =q\ Y +9 &R\ ;\ >n\ Z +10 &T\ <\ <~\ Y +9 &Vf\ <\ ;v\ Z +9 &X'\ 9\ ;w\ [ +10 &Y\ 7\ 9\ ] +9 &[\ 8\ 8\ I +9 &\\2\ 8\ 9x\ 0 +10 &\\j\ 5\ 5d\ P +2 ( +2 "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + .Hand.open +2 "manipulator"&`1 +54 "core" 1 + "manipulator"&*% +4 "core" % = Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%c& +3 "core" &\ +2 "manipulator"&D% +4 "core" %  ; " +2 "storage"( % +4 "core" % # * \  +2 "storage"(1. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(&(K +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +50 (\\& +4 "core" &K\ \ \  +2 "manipulator"&& +4 "core" &  U o +2 "manipulator"&u% +4 "core" %  [ " +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&i( +148 "core" ( + "manipulator"&$& +4 "core" &  +2 "storage"(L& +5 "core" &K * / C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +96 "core" ' +2 "storage"(>& +3 "core" &K F G \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(4'r +297 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &K # " \  +2 "manipulator"&W& +4 "core" & #  +2 .tElbow.seek 6 +2 "manipulator"&K( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(9& +4 "core" &K & 4\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +7 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(x' +8 "core" & 2  +2 "manipulator"&n% +3 "core" % p  +3 .tForearm.seek :retract +2 "manipulator"&2' +95 "core" ' +3 .tElbow.seek PC +2 "manipulator"&6( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&b& +4 "core" & . B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &  B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&o' +95 "core" ' +2 "manipulator"&(& +3 "core" & ^ B +3 "manipulator"&;% +3 "core" %  4 +3 "processing"%M& +3 "core" &\ +3 "processing"%N& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%~(^ +5 "core" &\ +6 &6\ $d +10 &Xz\ 7 +9 &w\ L +9 &Q\ M +10 &pR\ M +9 &3O\ M +9 &T\ M +10 &Q\ M +9 &xT\ M +10 &;Q\ M +9 &S\ M +9 &!P\ M +10 &#T\ M +9 &%BQ\ M +9 &'U\ N +10 &(S\ M +9 &*P\ M +10 &,JU\ M +9 &. P\ M +9 &/U\ N +10 &1T\ M +9 &3RU\ M +9 &5S\ M +10 &6R\ M +9 &8R\ M +10 &:ZV\ M +9 &<S*\ M +9 &=T;\ M +10 &?T\ M +9 &AaU\ N +9 &C_\ O +10 &Dc\ O +9 &Fk\ P +10 &H[\ R +9 &J1\ S +9 &K\ S +10 &M9\ T +9 &O^\ T +9 &Q\ U +10 &R\ U +9 &T!\ U +10 &Vd\ U +9 &X%\ U +9 &Y\ U +10 &[\ U +9 &]k\ B +9 &^=p\ 'q +10 &^#\ * +5 ( +2 "processing"%N& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator" +4 "core" &^\ * +53 1 + "manipulator"&R% +5 "core" %   E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +96 "core" ' + "processing"%& +4 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&%% +3 "core" % ! \  ^ $ +2 "storage"(B% +4 "core" %\ \  ,\  +2 "storage"(. +3 "core" .(K +2 "storage"(?& +4 "core" &K\ \ \  +2 "storage"(& +3 "manipulator"&& +7 "core" &K [ S\  + &   d B +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"& ( +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(@'r +2 "core" ( +3 "manipulator"&y& +4 "core" &   @ B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &    B +2 .tForearm.seek PC +42 "manipulator"&7' +103 "core" ' +2 .tHand.close +2 "manipulator"&a/ +62 "core" / +2 .tPC.seek :open +2 "processing"%Y( +39 "core" ' +2 "storage"(r- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +361 ( + "storage"(w& +5 "core" &K ( (\  + "manipulator"&_& +4 "core" & & B +2 "manipulator"& % +4 "core" %  J B +2 .tForearm.seek :retract +2 "manipulator"&'' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&T( +246 "core" ( + "manipulator"&Z& +4 "core" &  2 +2 "storage"(C& +4 "core" &K . / \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(A- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(.' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(& +4 "core" &K a\  +2 "manipulator"&& +4 "core" &   0 2 +2 .tElbow.seek 6 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&& +4 "core" &   C 2 +2 "storage"(& +4 "core" &K\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(s'" +51 "core" ' + "manipulator"&l& +4 "core" & 2 +2 "storage"(}& +4 "core" &K\ " \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +21 "core" ' +2 "manipulator"&% +3 "core" %N = I +2 "storage"(& +4 "core" &K ? \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts +2 "manipulator"&^'z +13 "core" ' +2 "manipulator"&/& +5 "core" & 2 + "storage"(5& +4 "core" &K 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +14 "core" ' +2 "storage"(k% +4 "core" % ! ! \ +3 ."downElevator"SE.seek :down +3 "storage"(3' +99 (8% +3 "core" %/O\ \ \ Wf +2 "manipulator"&-% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (:& +3 "core" &K _  I\  +2 "collection"'& +4 "core" &\\f\ ,\ -1\ P +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %  |  +2 "storage"(t% +4 "core" % ( ' \  +2 "storage"(h. +3 "core" .(K +2 "storage"([& +4 "core" &K - & D\  +2 "storage"(J& +3 "core" &K ' ' \  +2 "manipulator"&& +4 "core" &  2 +2 .tElbow.seek 6 +2 "manipulator"&G( +4 "core" ( +2 "manipulator"&e& +3 "core" &  2 +2 "storage"(=& +4 "core" &K ' '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +46 "manipulator"&!' +96 "core" ' +2 "storage"(f& +4 "core" &K I G \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +307 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 2 +2 "storage"()& +4 "core" &K\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&H'< +19 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(\ 't +30 "core" ' + "manipulator"&{% +4 "core" %*   +2 "storage"(z& +4 "core" &K ! \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 282 counts +2 "manipulator"&,'V +16 "core" ' + "manipulator"&p& +4 "core" &  r 2 +2 "storage"(& +3 "core" &K $ * >\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(*' +47 "core" ' + "manipulator"&c& +4 "core" & l 2 +2 "manipulator"&D% +5 "core" % o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +146 "core" ( + "manipulator"&Q& +4 "core" &x" ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +4 "core" &x" , ;5 +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' + .tHand.close +2 "manipulator"&u/ +59 "core" / +2 .tCC.seek :open +2 "collection"'"( +446 "core" ( +2 "storage"($& +3 "core" &K T J D\  +2 "storage"(L& +4 "core" &K J G \  +2 "manipulator"&E& +4 "core" & N * +2 "manipulator"&>% +4 "core" %  v +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&P( +151 "core" ( + "manipulator"&I& +4 "core" & %  +2 "storage"(O& +4 "core" &K g Y m\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&W'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +65 "core" 1 +2 "manipulator"&% +4 "core" % L   , +2 "storage"(& +4 "core" &K k m\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&n'x +14 "core" ' +3 "manipulator"&i& +3 "core" &  Z  +2 "storage"(j& +4 "core" &K ` j _\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +13 "core" ' + "storage"(% +4 "core" % j a \ +3 ."downElevator"SE.seek :down +4 "storage"(b' +98 (g% +3 "core" %G , ) j\ Wc +2 "manipulator"&K% +4 "core" % r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +50 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"';& +4 "core" &\  w\ +2 "manipulator"&M% +5 "core" %  _  + "storage"(x% +4 "core" % l j \  +2 "storage"(2. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +3 "core" &,z Q I 0\ +2 "manipulator"&R& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&%& +3 "core" &  P  +2 "storage"(B& +4 "core" &,z k k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(?& +4 "core" &,z q n S\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,k M Q Q\ +2 "manipulator"&y& +3 "core" &  s  +3 .tElbow.seek 4 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&o& +4 "core" &  =  +2 "storage"(a& +5 "core" &,k G X h\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&r'c +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +2 "storage"(~' +6 "core" &  I  +3 "manipulator"&@% +3 "core" % e  a +3 .tForearm.seek :retract + "manipulator"&w' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&_(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"& & +4 "core" &ӑ  T 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +4 "core" &ӑ u 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Z'? +94 "core" ' +2 "manipulator"&C& +3 "core" &Ӓ   g 6 +3 "manipulator"& % +3 "core" %H _ A +3 "collection"'& +3 "core" &\ \ \ +3 "collection"'A& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"' (\\ +5 "core" &\ \ +7 &A\ \ \ $f +10 &Zz\ \ \ 7 +9 & v\ \ z\ K +10 &Q\ \ x\ J +9 &T\ \ ~\ J +9 &OT\ \ \ J +10 &R\ \ t\ K +9 &R\ \ \ K +9 &V\ \ \ K +10 &VV\ \ {\ K +9 & U\ \ y\ J +10 &!R\ \ x\ J +9 &#T\ \ Y\ J +9 &%_S\ \ w\ J +10 &'!S\ \ t\ J +9 &(R\ \ z\ K +9 &*Q\ \ o\ K +10 &,fQ\ \ r\ K +9 &.)Q\ \ o\ J +10 &/R\ \ i\ J +9 &1T\ \ n\ J +9 &3nT\ \ k\ J +10 &50T\ \ q\ J +9 &6T\ \ \ J +9 &8T\ \ \ J +10 &:uT\ \ P\ K +9 &<7X\ \ N\ K +10 &=W\ \ h\ K +9 &?U\ \ \ K +9 &A}S\ \ \ K +10 &C>\\\ \ \ K +9 &Da\ \ \ L +9 &Fk\ \ |\ M +10 &Hu\ \ \ P +9 &J*\ 3\ +\ U +10 &K\ 7\ 7{\ V +9 &M\ 7\ 7~\ X +9 &Oh\ 4\ 5n\ W +10 &Q(\ 7\ 6\ X +9 &R\ 3\ 4\ X +9 &T\ 6\ 4\ Y +10 &Vh\ 4\ 3\ Z +9 &X(\ 4\ 5z\ [\ +10 &Y\ 5\ 5z\ [ +9 &[\ 4\ 4\ H +9 &\\1\ 1\ 4q\ / +10 &\\f\ 3\ 5~\ M +2 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +5 "core" % H ) A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&'% +4 "core" %    +2 "storage"(l% +4 "core" % / . \  +2 "storage"(}. +4 "core" .(,y + "storage"(& +4 "core" &,k *  ?\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +34 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z ! # $\ +2 "manipulator"&/& +4 "core" &Ӭ 3 +2 "manipulator"&5% +51 "core" %   a  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&+( +159 "core" ( +2 "manipulator"&k& +4 "core" &  e  +2 "storage"(T& +4 "core" &,z P S ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(.& +5 "core" &,z K Q \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +301 "core" ' + "storage"(-- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &,l M U\ +2 "manipulator"&|& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&s( +4 "core" ( + "manipulator"&& +4 "core" &  ^  +2 "storage"(^& +3 "core" &,l ( ' Y\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&:'c +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(t' +7 "core" & B  +2 "manipulator"&h% +5 "core" % b Q +2 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&[( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&J& +3 "core" & D I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & ? I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&e' +92 "core" ' +2 "manipulator"&=& +4 "core" &  3 I +2 "manipulator"&X% +4 "core" % / c +2 "processing"%f& +4 "core" &\ +3 "processing"%3& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%v(^ +5 "core" &\ +7 &C\ $e +9 &X{\ 8 +10 &u\ L +9 &R\ N +9 &~T\ M +10 &@O\ M +9 &W\ M +9 &V\ M +10 &T\ M +9 &GT\ N +9 & \ S\ M +10 &!Q\ M +9 &#Q\ M +10 &%PQ\ M +9 &'V\ M +9 &(Q\ M +10 &*V\ M +9 &,XV\ M +9 &.T\ M +10 &/U\ N +9 &1T\ M +10 &3`R\ M +9 &5"Q\ M +9 &6R\ M +10 &8R\ N +9 &:gU\ N +10 &<*S\ M +9 &=U\ M +9 &?W\ N +10 &AoT\ N +9 &C._\ O +9 &Db\ O +10 &Fl\ P +9 &Hlw\ Q +9 &J(\ S +10 &K\ S +9 &M\ T +10 &Oj\ U +9 &Q,\ U +9 &R\ T +10 &T\ U +9 &Vr\ U +9 &X4\ U +10 &Y\ U +9 &[\ V +10 &]w\ C +9 &^:w\ !b +9 &^3\ 2 +6 ( +2 "processing"%3& +3 "core" &^"\ 2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&m1 +60 "core" 1 +2 "manipulator"&V% +4 "core" %   ; c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%)& +4 "core" &^!\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&<% +3 "core" %    +  +2 "storage"({% +4 "core" % _\ Z\  +2 "storage"(z. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(p(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&c& +5 "core" &,}\  A\ +2 &   8 H +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&D( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'r +2 "core" ( +2 "manipulator"&G& +6 "core" & \  H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +2 "core" &   H +43 .tForearm.seek PC +9 "manipulator"&H' +93 "core" ' + .tHand.close +2 "manipulator"&,/ +64 "core" / +2 .tPC.seek :open +2 "processing"%\ ( +44 "core" ' + "storage"(Q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'1 +47 "core" ' +350 ( +2 "storage"(`& +4 "core" &,h ! ! F\ \ +2 "manipulator"&d& +5 "core" &  H + "manipulator"&u% +4 "core" %   X +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&U( +245 "core" ( +2 "manipulator"&$& +5 "core" &  / + "storage"(L& +4 "core" &,h\ \  x\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +93 "core" ' + .tHand.open +2 "manipulator"&>1 +56 "core" 1 +3 "storage"(I- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(O' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(1- +3 "core" -' +2 "storage"(9& +3 "core" &,h   a\ \ +3 "manipulator"&& +3 "core" &   C / +3 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&i& +4 "core" &   0 / +2 "storage"(j& +4 "core" &,h   w\ \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(F'" +59 "core" ' +2 "manipulator"&g& +5 "core" & / + "storage"(K& +4 "core" &,h 3 ^ K\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&P'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(n' +28 "core" ' + "manipulator"&*% +4 "core" %J   +2 "storage"(;& +4 "core" &,h ' \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&M'v +14 "core" ' +2 "manipulator"&x& +4 "core" &  O / +2 "storage"(2& +4 "core" &,h " ( 7\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&4' +15 "core" ' +2 "storage"(b% +3 "core" % . $ w\ +3 ."downElevator"SE.seek :down +5 "storage"(&' +99 (#% +3 "core" %VP\ \ \ \ Wf +2 "manipulator"&R% +4 "core" %  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (B& +3 "core" &,h K # :\ \ +2 "collection"'?& +4 "core" &\\b\ ,\ -;\ M +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %  )  +2 "storage"((% +4 "core" % ' ' \  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +34 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" &,} P D\ +2 "manipulator"&o& +4 "core" & F / +2 .tElbow.seek 4 +2 "manipulator"&a( +4 "core" ( +2 "manipulator"&6& +47 "core" & / +5 "storage"(]& +4 "core" &,} % '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +93 "core" ' +2 "storage"(& +4 "core" &,} P F 9\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +96 "Can"2\ a^ +199 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" & 7 / +2 "storage"(N& +5 "core" &,l . . u\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&r'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +31 "core" ' +2 "manipulator"& % +3 "core" %K % T +2 "storage"(~& +4 "core" &,l ^ * X\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"&w'w +16 "core" ' +2 "manipulator"&"& +3 "core" &   / +3 "storage"(& +3 "core" &,l & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +26 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&'& +4 "core" & / +2 "manipulator"&l% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +166 "core" ( +2 "manipulator"&A& +4 "core" &ӌ ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӌ A ( +2 .tForearm.seek CC +2 "manipulator"&/'? +101 "core" ' + .tHand.close +2 "manipulator"&5/ +64 "core" / +2 .tCC.seek :open +2 "collection"'Z( +446 "core" ( + "storage"(k& +4 "core" &,l U T 5\  +2 "storage"(T& +4 "core" &,l T T Y\  +2 "manipulator"&& +4 "core" &ӌ N ( +2 "manipulator"&.% +3 "core" %  r +3 .tForearm.seek :retract +2 "manipulator"&_' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( + "manipulator"&-& +4 "core" & s  +2 "storage"(S& +4 "core" &,l n l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&|'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&^1 +64 "core" 1 +3 "manipulator"&% +3 "core" % '  / H +2 "storage"(& +4 "core" &,l n n\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 284 counts +2 "manipulator"&h'S +14 "core" ' + "manipulator"&+& +4 "core" & i  +2 "storage"(& +4 "core" &,l l m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&8' +16 "core" ' + "storage"(:% +4 "core" % l j \ +3 ."downElevator"SE.seek :down +4 "storage"(J' +98 (% +3 "core" %D , - 7\ V` +2 "manipulator"&s% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&=' +89 "core" ' +10 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'X& +3 "core" &\ \ \ +3 "manipulator"&f% +3 "core" %   =  +3 "storage"(t% +3 "core" % j j \  +2 "storage"(0. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(Y(<- +376 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (m& +2 "core" &<0 j n \ +3 "manipulator"&V& +3 "core" &  G  +2 .tElbow.seek 5 +2 "manipulator"&)( +4 "core" ( + "manipulator"&<& +4 "core" &  A  +2 "storage"({& +4 "core" &<0 n m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +95 "core" ' +2 "storage"(3& +4 "core" &<0 o L\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'r +310 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" && +4 "core" & \ \ +3 "collection"'I& +5 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'1(\\ +5 "core" &\  \  +8 &5y\ \ \ *z +9 &hz\ \ F\ > +10 &k\ \ \ L +9 &cQ\ \ \ K +10 &%W\ \ k\ K +9 &Q\ \ \ K +9 &Q\ \ D\ K +10 &lQ\ \ G\ K +9 &.R\ \ \ K +9 &R\ \ \ K +10 & Q\ \ \ J +9 &"tT\ \  \ J +10 &$6T\ \ \ J +9 &%T\ \ S\ J +9 &'T\ \ \ J +10 &)|R\ \ \ J +9 &+?S\ \ h\ J +9 &-T\ \ ~\ J +10 &.T\ \ q\ J +9 &0T\ \ s\ J +10 &2GT\ \ |\ J +9 &4 T\ \ y\ J +9 &5T\ \ x\ K +10 &7V\ \ \ K +9 &9NW\ \ S\ K +9 &;R\ \ \ K +10 &<S\ \ I\ K +9 &>T\ \ k\ K +10 &@TV\ \ \ K +9 &BW\ \ \ K +9 &C]\ \ \ \ K +10 &Ed\ \ \ M +9 &GTp\ \ p\ N +9 &I \ $\ o\ Q +10 &J\ 6\ 2\ V +9 &L\ 9\ 8\ W +10 &N@\ 9\ :L\ X +9 &P\ 6\ 6\ W +9 &Q\ 6\ 4O\ X +10 &S\ 7\ 6\ Y +9 &UC\ 6\ 5h\ Y +9 &W\ 4\ 7P\ Z +10 &X\ 6\ 4l\ [ +9 &Z\ 8\ 7y\ [ +10 &\\*z\ 7\ 5\ . +9 &\\.\ 6\ 8~\ ^ +9 ( +2 "collection"'I& +3 "core" &\\k\ 4\ 6~\ M +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&91 +61 "core" 1 +2 "manipulator"&% +4 "core" % G f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%j& +3 "core" &\ +2 "manipulator"& % +4 "core" %   S  +2 "storage"(g% +4 "core" % " ! \  +2 "storage"(K. +3 "core" .(<1 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(\\(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +50 (*& +4 "core" &dZ\ N +9 &@'T\ M +9 &A[\ N +10 &Cb\ O +9 &Efh\ P +10 &G$p\ Q +9 &H\ S +9 &J\ S +10 &Lb\ T +9 &N"\ T +9 &O\ T +10 &Q\ U +9 &Sf\ U +10 &U(\ U +9 &V\ U +9 &X\ U +10 &Zn\ U +9 &\\0\ U +9 &]{u\ ? +10 &^ P\ K +9 &^ n\ 6 +9 ( +3 "processing"%&& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&W1 +4 "core" &^%\ 1 +55 1 +2 "manipulator"&%% +4 "core" %  ) * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +3 "processing"%7& +3 "core" &^%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&N% +4 "core" % " \  G  +2 "storage"( % +3 "core" % M E\  +2 "storage"( . +3 "core" .(<- +2 "storage"(~& +4 "core" &% +4 "core" %Λ  +2 "storage"(e& +4 "core" &<, M\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&v' +14 "core" ' +2 "manipulator"&`& +4 "core" & ?  +2 "storage"(Z& +3 "core" &<, " &\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +43 "core" ' +2 "manipulator"&j& +4 "core" &   +2 "manipulator"& % +3 "core" %Q  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +152 "core" ( +2 "manipulator"&I& +3 "core" &x& ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &*& +3 "core" &x&  ?T +2 .tForearm.seek CC +2 "manipulator"&;'? +96 "core" ' + .tHand.close +2 "manipulator"&O/ +61 "core" / +2 .tCC.seek :open +2 "collection"'$( +446 "core" ( + "storage"(2& +5 "core" &<, S S .\ + "storage"(b& +4 "core" &<, Q T S\ +2 "manipulator"&Y& +4 "core" &ӹ a 6 +2 "manipulator"&E% +4 "core" % L @  +2 .tForearm.seek :retract +2 "manipulator"&d' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&i( +163 "core" ( +2 "manipulator"&#& +3 "core" &  \ +  +2 "storage"(R& +4 "core" &<, k m\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +100 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +53 "core" 1 +2 "manipulator"&B% +4 "core" % Δ  g +2 "storage"(?& +3 "core" &<, < C \ +3 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&(' +14 "core" ' + "manipulator"&x& +4 "core" & u  +2 "storage"(U& +4 "core" &<, n m \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +26 "core" ' + "storage"(M% +5 "core" % ` h T\ +2 ."downElevator"SE.seek :down +4 "storage"(y' +98 (o% +3 "core" %D . . q\ Va +2 "manipulator"&% +5 "core" %: < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +49 #Loading generic puck from tube 6 into Collection Clamp + "collection"']& +3 "core" &\ \ \ +3 "manipulator"&% +3 "core" %   a  +2 "storage"(% +4 "core" % k j \  +2 "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(\ (K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &K & " H\  +2 "manipulator"&%& +4 "core" &  5  +2 .tElbow.seek 6 +2 "manipulator"&7( +4 "core" ( + "manipulator"&N& +4 "core" &   (  +2 "storage"( & +4 "core" &K j m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +91 "core" ' +2 "storage"(~& +5 "core" &K n H\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'r +292 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K F S #\  +2 "manipulator"&@& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&a( +4 "core" ( + "manipulator"&6& +4 "core" &   +2 "storage"(r& +4 "core" &K W W\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(p' +7 "core" & <  +2 "manipulator"&l% +4 "core" % ς n +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&C& + "storage"(5 +8 "core" &z! :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z! :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '? +101 "core" ' + "manipulator"&k& +4 "core" &z! O :0 +2 "manipulator"&'% +5 "core" %> M  +2 "collection"'& +3 "core" &\ \ \ +3 "collection"'.& +5 "core" &\ \ +2 .tCC.seek :closed +3 "collection"'/(\\ +5 "core" &\ \ \ +6 &;\ \ \ $f +9 &Yx\ \ \ 7 +10 &v\ \ \ J +9 &Q\ \ \ J +9 &S\ \ \ J +10 &JT\ \ \ J +9 & S\ \ \ K +10 &U\ \ \ K +9 &R\ \ B\ K +9 &ST\ \ \ J +10 & W\ \ \ K +9 &!V\ \ \ K +9 &#W\ \ \ K +10 &%ZV\ \ \ K +9 &'V\ \ \ K +9 &(W\ \ \ K +10 &*V\ \ \ K +9 &,aT\ \ \ K +10 &.#R\ \ `\ K +9 &/R\ \ ~\ K +9 &1S\ \ E\ K +10 &3iR\ \ w\ K +9 &5,T\ \ \ J +9 &6T\ \ \ J +10 &8T\ \ \ K +9 &:qX\ \ \ K +10 &<2T\ \ T\ K +9 &=[\ \ l\ K +9 &?Z\ \ p\ K +10 &AzV\ \ \ J +9 &C8^\ \ \ L +10 &Dd\ \ \ M +9 &Fs\ \ \ N +9 &Hm\ +\ $n\ R +10 &J$\ @\ =\ V +9 &K\ B\ @\ W +9 &M\ @\ @p\ W +10 &Oc\ @\ ?~\ X +9 &Q$\ @\ @n\ X +9 &R\ @\ >P\ X +10 &T\ 9\ ;l\ Y +9 &Vc\ ;\ <S\ [ +10 &X'\ 9\ :\ Z +9 &Y\ 8\ ;\ [ +9 &[\ 8\ :M\ H +10 &\\3\ 5\ 8\ 1 +9 &\\g\ 7\ 6K\ O +2 ( +2 "collection"'.& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&^% +4 "core" % >  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%+& +4 "core" &\ +2 "manipulator"&5% +3 "core" %  /  +2 "storage"(_% +4 "core" % . . s\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(A(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +3 "core" &K\ \ \ >\  +2 "manipulator"&h& +5 "core" & 5 % + "manipulator"&-% +4 "core" %  k  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +49 .tElbow.seek 6 +3 "manipulator"&t( +146 "core" ( +2 "manipulator"&0& +4 "core" & c  +2 "storage"(8& +4 "core" &K 3 A \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +94 "core" ' +2 "storage"(T& +3 "core" &K T T U\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +4 "core" &K # ' >\  +2 "manipulator"&& +4 "core" &  )  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&:& +4 "core" &  #  +2 "storage"(s& +4 "core" &K ' - \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&f'h +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&. +4 "core" .(K + "storage"(e& +4 "core" &K " \  +2 "storage"(`& +3 "manipulator"&Z& +6 "core" &K " \  +2 &  \  d +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&j( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"( 'r +2 "core" ( +3 "manipulator"&& +3 "core" &  D d +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &,& +2 "core" &  \  d +3 .tForearm.seek PC +2 "manipulator"&)' +93 "core" ' +2 .tHand.close + "manipulator"&c/ +57 "core" / +2 .tPC.seek :open +49 "processing"%v( +50 "core" ' + "storage"(D- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(I'1 +40 "core" ' +354 ( +2 "storage"(*& +4 "core" &K % 5\  +2 "manipulator"&9& +4 "core" & 4 d +2 "manipulator"&Q% +4 "core" %  K +3 .tForearm.seek :retract + "manipulator"&O' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&g( +258 "core" ( +2 "manipulator"&1& +3 "core" & I +2 "storage"(2& +4 "core" &K M K\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&b' +90 "core" ' +2 .tHand.open + "manipulator"&Y1 +53 "core" 1 +2 "storage"(E- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(#' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(R' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(;- +3 "core" -' +2 "storage"(K& +3 "core" &K 5\  +2 "manipulator"&P& +4 "core" &   I +2 .tElbow.seek 6 +2 "manipulator"&B( +24 "core" ( +2 "manipulator"&?& +4 "core" &   +2 "storage"(x& +4 "core" &K \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&U' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(M'" +58 "core" ' +2 "manipulator"&d& +3 "core" & +3 "storage"(o& +3 "core" &K & !\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +28 "core" ' +2 "manipulator"&(% +3 "core" %P ! ( +2 "storage"(& +4 "core" &K ] 2 8\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&]'| +15 "core" ' +2 "manipulator"&& +3 "core" & % +2 "storage"(& +4 "core" &K % \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +13 "core" ' +2 "storage"(% +4 "core" % # - n\ +3 ."downElevator"SE.seek :down +4 "storage"(y' +98 (\\% +3 "core" %UR\ \ \ Xi +3 "manipulator"&W% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (N& +3 "core" &K U ,\  +2 "collection"' & +5 "core" &\\e\ -\ .\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&~% +4 "core" %    +2 "storage"(F% +3 "core" % . . \  +2 "storage"(4. +3 "core" .(K +2 "storage"("& +5 "core" &K . . ~\  + "storage"(& +4 "core" &K # + J\  +2 "manipulator"&@& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&6( +4 "core" ( + "manipulator"&r& +4 "core" & U +2 "storage"(n& +4 "core" &K . . U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +97 "core" ' + "storage"(l& +4 "core" &K I T V\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +43 .tSE.seek :beamBreak +9 "storage"(7'r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" &  * +2 "storage"(& +4 "core" &K ' '\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(''t +33 "core" ' + "manipulator"&a% +4 "core" %9 - +2 "storage"(& +3 "core" &K \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 297 counts +2 "manipulator"&p'e +16 "core" ' + "manipulator"&& +4 "core" & C +2 "storage"($& +4 "core" &K , ' !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(^' +36 "core" ' + "manipulator"&+& +4 "core" &  +2 "manipulator"&5% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( + "manipulator"&.& +4 "core" &ӏ ( 8! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +4 "core" &ӏ  8! +2 .tForearm.seek CC +2 "manipulator"&h'? +101 "core" ' +2 .tHand.close +2 "manipulator"&-/ +64 "core" / +2 .tCC.seek :open + "collection"' ( +446 "core" ( +2 "storage"(0& +4 "core" &K U T \  +2 "storage"(8& +4 "core" &K S T +\  +2 "manipulator"&\ & +4 "core" &  & +2 "manipulator"&T% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +147 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(m& +5 "core" &K \\ h H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +91 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&s1 +54 "core" 1 +2 "manipulator"&<% +5 "core" % K  Y + "storage"({& +4 "core" &K l l \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 315 counts + "manipulator"&'w +16 "core" ' +2 "manipulator"&t& +4 "core" &   i  +2 "storage"(}& +4 "core" &K a k l\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +31 "core" ' +2 "storage"(f% +3 "core" % j g i\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (G% +3 "core" %J % `\ Wd +2 "manipulator"&% +4 "core" % @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'[& +3 "core" &\ \ +2 "manipulator"&% +4 "core" %    +2 "storage"(3% +4 "core" % \\ g I\  +46 "storage"(=. +5 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(w(,y +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &,v S T e\ +2 "manipulator"&V& +4 "core" & 4  +2 .tElbow.seek 4 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&H& +4 "core" &  +2 "storage"(L& +4 "core" &,v \\ g ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +101 "core" ' + "storage"(e& +4 "core" &,v \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +293 "core" ' +2 "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +3 "core" &,k O J ;\ +2 "manipulator"&& +4 "core" &  (  +2 .tElbow.seek 4 +2 "manipulator"&,( +4 "core" ( + "manipulator"&q& +3 "core" &   f  +2 "storage"(c& +4 "core" &,k g k R\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&D'c +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& +5 "storage"(J' +3 "core" &   +3 "manipulator"& % +4 "core" % V  z 9 +2 .tForearm.seek :retract +2 "manipulator"&*' +99 "core" ' +2 .tElbow.seek CC + "manipulator"&9(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&Q& +4 "core" &Ӓ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &Ӓ 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'? +96 "core" ' +2 "manipulator"&2& +4 "core" &ӓ   F 5\ +2 "manipulator"&j% +5 "core" %A % 6 +2 "collection"'Y& +5 "core" & \ \ +2 "collection"'E& +6 "core" &\ \ \ +3 .tCC.seek :closed + "collection"';(\\ +4 "core" &\ \ +7 &; \ \ $f +10 &Xx\ \ \ 7 +9 &u\ \ \ J +9 &Q\ \ \ K +10 &V\ \ \ J +9 &JT\ \ \ J +9 & T\ \ \ J +10 &T\ \ \ J +9 &T\ \ \ J +10 &RT\ \ \ J +9 & S\ \ \ J +9 &!T\ \ \ J +10 &#T\ \ \ J +9 &%[R\ \ \ J +9 &'Q\ \ \ K +10 &(R\ \ \ K +9 &*Q\ \ \ K +10 &,bW\ \ \ K +9 &.$W\ \ \ K +9 &/V\ \ \ K +10 &1W\ \ \ K +9 &3jV\ \ \ K +9 &5,W\ \ \ K +10 &6X\ \ \ K +9 &8W\ \ \ K +10 &:rR\ \ \ K +9 &<5U\ \ ;\ J +9 &=U\ \ D\ K +10 &?S\ \ o\ K +9 &AzT\ \ \ J +10 &C:\\\ \ \ K +9 &D`\ \ \ L +9 &Fi\ \ \ M +10 &Hq\ \ n\ P +9 &J'\ 1\ )n\ U +9 &K\ 6\ 6q\ V +10 &M\ 6\ 4R\ W +9 &Od\ 4\ 3m\ X +10 &Q&\ 3\ 4\ X +9 &R\ 3\ 4\ X +9 &T\ 3\ 3\ Y +10 &Vh\ 4\ 4\ Y +9 &X&\ 3\ 2\ Z +9 &Y\ 4\ 3\ [ +10 &[\ 3\ 4\ H +9 &\\3\ 4\ 5O\ / +9 &\\m\ 3\ 2B\ K +3 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&K1 +61 "core" 1 +2 "manipulator"&P% +4 "core" % A Y 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%x& +5 "core" &\ + "manipulator"&O% +4 "core" %  " +2 "storage"(d% +4 "core" % ( (\  +2 "storage"(o. +3 "core" .(,y +2 "storage"(I& +4 "core" &,k ( (\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(((,y +35 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,y @ <\  +2 "manipulator"&#& +3 "core" &ӭ / 2 +2 "manipulator"&% +4 "core" %   z " +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +163 "core" ( + "manipulator"&& +52 "core" & \  +3 "storage"(g& +3 "core" &,{ . . \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +97 "core" ' + "storage"(R& +4 "core" &,{ F I A\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +299 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (U& +3 "core" &,l N H\  +2 "manipulator"&B& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&M( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(]& +4 "core" &,l I Y\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&N'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(F' +8 "core" &  t  +2 "manipulator"&4% +4 "core" % z +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&"( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&& +3 "core" & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &@& +2 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&r' +99 "core" ' + "manipulator"&n& +4 "core" & J +2 "manipulator"&% +4 "core" % z +2 "processing"%l& +5 "core" &\ +2 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%i(^ +5 "core" &\ +5 &6\ #b +10 &Tx\ 6 +9 &y\ K +10 &S\ M +9 &_T\ N +9 &"R\ M +10 &V\ M +9 &U\ M +9 &gS\ N +10 &*T\ M +9 &U\ M +10 &!U\ M +9 &#oT\ N +9 &%2T\ M +10 &&R\ M +9 &(V\ M +10 &*wU\ N +9 &,9U\ N +9 &-T\ M +10 &/W\ M +9 &1T\ N +9 &3BT\ M +10 &5Q\ M +9 &6W\ M +9 &8W\ M +10 &:JV\ M +9 &< S\ N +10 &=U\ N +9 &?T\ N +9 &AQY\ N +10 &C`\ O +9 &Da\ O +9 &Fm\ P +10 &HL|\ R +9 &J\ \ S +10 &K\ T +9 &M\ T +9 &OM\ T +10 &Q\ U +9 &R\ T +9 &T\ U +10 &VT\ U +9 &X\ U +10 &Y\ U +9 &[\ U +9 &][\ C +10 &^Gx\ Y +9 &^4\ 4 +5 ( +2 "processing"%y& +4 "core" &^,\ 4 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&%1 +54 "core" 1 +2 "manipulator"& % +3 "core" %  \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +88 "core" ' +3 "processing"%& +3 "core" &^+\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&k% +5 "core" %     +2 "storage"(a% +3 "core" % P 1\  +2 "storage"(. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "manipulator"&+& +4 "core" &,| K H\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   U +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(5'r + "manipulator"& ( +6 "core" ( +2 "manipulator"&6& +4 "core" &  ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &   Y +3 .tForearm.seek PC + "manipulator"&&' +96 "core" ' +2 .tHand.close + "manipulator"&p/ +65 "core" / +2 .tPC.seek :open +42 "processing"%'( +47 "core" ' +2 "storage"(.- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +45 "core" ' +358 ( +2 "storage"(& +3 "core" &,j 4 + \ \ +2 "manipulator"&& +5 "core" & + "manipulator"&-% +5 "core" %  ' O +2 .tForearm.seek :retract +2 "manipulator"&_' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&/( +240 "core" ( +2 "manipulator"&0& +3 "core" & 9 @ +2 "storage"(8& +4 "core" &,j + ! C\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +91 "core" ' +2 .tHand.open +2 "manipulator"&T1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(m' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(h' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(s& +4 "core" &,j \ \ +2 "manipulator"&<& +4 "core" &   ? @ +2 .tElbow.seek 4 +2 "manipulator"&{( +4 "core" ( + "manipulator"&t& +4 "core" &   - @ +2 "storage"(}& +4 "core" &,j \ \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&f' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' +2 "manipulator"&G& +3 "core" & @ +2 "storage"(& +4 "core" &,j\ !\ B\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&[% +4 "core" %2 \ +2 "storage"(& +5 "core" &,j N \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 295 counts +2 "manipulator"&3'^ +13 "core" ' +2 "manipulator"&=& +4 "core" & @ +2 "storage"(^& +4 "core" &,j " '\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&S' +21 "core" ' +2 "storage"(% +4 "core" % # ! \ +3 ."downElevator"SE.seek :down +4 "storage"(A' +98 (% +4 "core" %FN\ \ \ Xg +2 "manipulator"&V% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +3 "core" &,j Z d\ \ +2 "collection"'e& +4 "core" &\\m\ +\ +;\ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&:% +4 "core" %  #  +2 "storage"(% +3 "core" % + $\  +2 "storage"(Z. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(`(,y +32 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| B x\ +2 "manipulator"&q& +3 "core" &  @ +3 .tElbow.seek 4 + "manipulator"&c( +4 "core" ( + "manipulator"&|& +4 "core" & Q @ +2 "storage"(z& +4 "core" &,| ( (\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +129 "core" ' +9 "storage"(u& +4 "core" &,| + 3 \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +295 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & L @ +2 "storage"(!& +4 "core" &,l J T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&D'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Y'h +30 "core" ' +2 "manipulator"&,% +3 "core" %A   +2 "storage"(J& +4 "core" &,l S\ " /\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 310 counts + "manipulator"&*'m +14 "core" ' +2 "manipulator"& & +4 "core" & 3 @ +2 "storage"(K& +4 "core" &,l 3 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(x' +36 "core" ' + "manipulator"&O& +4 "core" &  @ +2 "manipulator"&d% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&E(ӂ +147 "core" ( + "manipulator"&I& +4 "core" &x# p <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x#  L <= +2 .tForearm.seek CC +2 "manipulator"&#'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / + .tCC.seek :open +2 "collection"'1( +449 "core" ( +3 "storage"(& +3 "core" &,l T 9 1\  +2 "storage"(g& +4 "core" &,l G 6 f\  +2 "manipulator"&w& +4 "core" &ӽ & 3 +2 "manipulator"&9% +3 "core" % 7  +3 .tForearm.seek :retract +2 "manipulator"&R' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&?( +163 "core" ( +2 "manipulator"&W& +3 "core" & \  9  +3 "storage"(U& +4 "core" &,l F E -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&B'7 +96 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +61 "core" 1 +2 "manipulator"& % +4 "core" % J  N ( +2 "storage"(~& +4 "core" &,l Z \\ }\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts +2 "manipulator"&4'v +15 "core" ' +2 "manipulator"&& +3 "core" &  \ W  +2 "storage"(b& +4 "core" &,l ] a ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +13 "core" ' +2 "storage"(N% +5 "core" % ` j \ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (@% +3 "core" %J # + 8\ Vb +2 "manipulator"&M% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +48 "collection"'& +4 "core" &\ \ \ +3 "manipulator"&l% +4 "core" %  0  +2 "storage"(F% +3 "core" % k h z\  +3 "storage"(. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(v(<- +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +3 "core" &<+ - / \  +2 "manipulator"& & +4 "core" &  3  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&k& +3 "core" &  {  +2 "storage"(a& +4 "core" &<+ n m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(y& +4 "core" &<+ o } k\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'r +296 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" &<+ N H 5\  +2 "manipulator"&7& +4 "core" &  v  +2 .tElbow.seek 5 +2 "manipulator"&r( +4 "core" ( + "manipulator"&p& +4 "core" & J  +2 "storage"((& +4 "core" &<+ O P c\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&.'Ϲ +35 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& +2 "storage"(i' +6 "core" & P  +2 "manipulator"&5% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( + "manipulator"&-& +4 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +2 "core" &x# <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &&& +3 "core" &x#  <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'? +96 "core" ' +2 "manipulator"&8& +3 "core" &x# p <= +3 "manipulator"& % +3 "core" %C 4  +3 "collection"'T& +3 "core" &\ \ \ +3 "collection"'& +6 "core" &\ \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ \ +6 &;\ \ \ $e +10 &Xx\ \ \ 7 +9 &t\ \ \ K +9 &Q\ \ \ J +10 &T\ \ \ J +9 &DT\ \ \ J +10 &T\ \ \ J +9 &T\ \ \ J +9 &W\ \ \ K +10 &LV\ \ \ J +9 & T\ \ \ J +9 &!T\ \ \ J +10 &#R\ \ \ K +9 &%SQ\ \ \ K +10 &'R\ \ \ K +9 &(W\ \ \ K +9 &*V\ \ \ K +10 &,\\V\ \ \ K +9 &.W\ \ \ K +9 &/W\ \ \ K +10 &1X\ \ \ K +9 &3dW\ \ \ K +10 &5&W\ \ \ K +9 &6W\ \ \ K +9 &8W\ \ \ K +10 &:lW\ \ \ K +9 &<.R\ \ \ K +9 &=U\ \ \ J +10 &?V\ \ \ J +9 &ArW\ \ \ K +10 &C3Y\ \ \ L +9 &Dc\ \ \ L +9 &Fk\ \ \ M +10 &Hk\ \ \ P +9 &J!\ 1\ +\ U +9 &K\ 8\ 9\ W +10 &M\ 7\ 7\ X +9 &O_\ 6\ 9\ W +10 &Q\ 7\ 8\ X +9 &R\ 6\ 7\ Y +9 &T\ 6\ 8\ Y +10 &Va\ 6\ 5\ Y +9 &X\ 5\ 5\ [ +9 &Y\ 6\ 6\ [ +10 &[\ 5\ 7\ H +9 &\\;\ 9\ 7\ )| +10 &\\b\ 6\ 8\ L +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&s1 +54 "core" 1 +3 "manipulator"&<% +4 "core" % C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%}& +4 "core" &\ +2 "manipulator"&_% +3 "core" %  \  +2 "storage"(G% +4 "core" % - 0 d\  +2 "storage"(. +3 "core" .(<- +2 "storage"(X& +4 "core" &<+ . 0 \  +2 "storage"([& +4 "core" &<+ . 0 \  +2 "manipulator"&& +3 "core" &ө  5 +2 "manipulator"&m% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&=( +162 "core" ( + "manipulator"&^& +4 "core" &   +49 "storage"(& +5 "core" &<+ S T V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +90 "core" ' +2 "storage"(\ & +3 "core" &<+ S T Y\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(h'r +308 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (V& +3 "core" &<+\ \  )\  +2 "manipulator"&f& +5 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&{( +2 "core" ( +2 "manipulator"&& +4 "core" & 5  +2 "storage"(& +4 "core" &<+ & ' \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&3'Ϲ +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"(:' +8 "core" & !  +2 "manipulator"&% +5 "core" % Ϯ ; +2 .tForearm.seek :retract +2 "manipulator"&Z' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&& +3 "core" & s 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" & G 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&|' +92 "core" ' +2 "manipulator"&z& +3 "core" &  " 8 +3 "manipulator"&S% +3 "core" %  ~ f +2 "processing"%u& +4 "core" &\ +3 "processing"%A& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &2u\ )w +9 &b|\ = +9 &po\ N +10 &1S\ N +9 &R\ M +9 &R\ M +10 &xQ\ M +9 &;U\ M +10 &S\ M +9 &T\ M +9 & Q\ M +10 &"BT\ M +9 &$Q\ M +9 &%R\ M +10 &'V\ M +9 &)JT\ M +10 &+ V\ M +9 &,U\ M +9 &.R\ M +10 &0RU\ M +9 &2T\ M +9 &3T\ N +10 &5T\ M +9 &7YT\ N +10 &9V\ M +9 &:X\ M +9 &<W\ M +10 &>bZ\ M +9 &@$T\ M +9 &AZ\ N +10 &Cc\ O +9 &Ech\ P +10 &G#q\ P +9 &H\ S +9 &J\ S +10 &La\ S +9 &N!\ T +9 &O\ S +10 &Q\ U +9 &Sd\ U +10 &U'\ T +9 &V\ U +9 &X\ T +10 &Zl\ U +9 &\\-\ U +9 &]}u\ < +10 &^,x\ O +9 &^#\ 1 +2 ( +2 "processing"%A& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&H% +3 "core" %    f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +90 "core" ' +2 "processing"%)& +4 "core" &^!\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&!% +3 "core" %     +3 "storage"(j% +3 "core" % \  i\  +2 "storage"(,. +4 "core" .(<- + "storage"(J& +4 "core" &<+ _\ ?\  +3 "storage"( & +2 "manipulator"&K& +7 "core" &<+ S W\  + &  7 8 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&O( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(d'r +2 "core" ( +3 "manipulator"& & +3 "core" &   N 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" & \ \  8 +3 .tForearm.seek PC + "manipulator"&>' +94 "core" ' + .tHand.close +2 "manipulator"&D/ +56 "core" / +2 .tPC.seek :open +2 "processing"%*( +95 "core" ' +2 "storage"(I- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +50 ."raiseStack"SE.seek :place +3 "storage"(Y'1 +46 "core" ' +252 ( +2 "storage"(& +3 "core" &<+ , - t\  +3 "manipulator"&P& +4 "core" & 8 +2 "manipulator"&2% +3 "core" %   = K +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&o( +247 "core" ( +2 "manipulator"&;& +3 "core" & \ @ E +2 "storage"(& +4 "core" &<+ ( "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +92 "core" ' + .tHand.open +2 "manipulator"&w1 +56 "core" 1 +2 "storage"(9- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(U' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +3 "core" -' +2 "storage"(E& +3 "core" &<+ W\ y +2 "manipulator"&]& +4 "core" &  E +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&~& +3 "core" &   9 E +3 "storage"(& +3 "core" &<+ m\ t +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(N'" +53 "core" ' +2 "manipulator"&R& +4 "core" &  E +2 "storage"(@& +4 "core" &<+ \  "\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&M'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +28 "core" ' +2 "manipulator"&4% +3 "core" %Γ $ +2 "storage"(& +4 "core" &<+ O \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 306 counts + "manipulator"&x'Ͽ +14 "core" ' +2 "manipulator"&l& +5 "core" &  2 + "storage"(F& +4 "core" &<+ + # \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 "storage"(\\% +4 "core" % - . \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (`% +3 "core" %cQ R\ Xi +2 "manipulator"&%% +4 "core" %O  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (k& +3 "core" &<+ '  z\  +3 "collection"'a& +3 "core" &\\a\ -\ ,\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&y% +3 "core" %   +2 "storage"(% +4 "core" % ' ' "\  +2 "storage"(n. +3 "core" .(<- +2 "storage"(+& +5 "core" &<+ ' & \  +2 "storage"(6& +4 "core" &<+ 3 A \  +2 "manipulator"&7& +4 "core" & 2 +2 .tElbow.seek 5 +2 "manipulator"&p( +20 "core" ( + "manipulator"&(& +4 "core" & =  +2 "storage"("& +4 "core" &<+ F F >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&C'O +92 "core" ' +2 "storage"(5& +3 "core" &<+ T I \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +42 "manipulator"&-& +11 "core" & I  +2 "storage"(&& +5 "core" &<+ , ( F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&$'΍ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(8- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"( 'w +35 "core" ' + "manipulator"&T% +4 "core" %Κ >  +2 "storage"(r& +4 "core" &<+ N j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&i' +14 "core" ' +2 "manipulator"&& +3 "core" &  b  +3 "storage"(1& +3 "core" &<+ V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +26 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(<' +44 "core" ' +2 "manipulator"&}& +3 "core" &  +2 "manipulator"&_% +5 "core" %h  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&X& +3 "core" &ӏ 8! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ  8! +2 .tForearm.seek CC +2 "manipulator"&['? +99 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'m( +449 "core" ( + "storage"(0& +4 "core" &<+ G G 9\  +2 "storage"(^& +4 "core" &<+ T Q b\  +2 "manipulator"&& +3 "core" &Ӭ  V 4 +2 "manipulator"&% +5 "core" % ?  +2 .tForearm.seek :retract + "manipulator"&\ ' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&t( +163 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(V& +4 "core" &<+ F F $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&f'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +3 "manipulator"&L% +3 "core" % Ύ X < +2 "storage"(e& +4 "core" &<+ n l\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 301 counts +2 "manipulator"&'Ϻ +14 "core" ' + "manipulator"&=& +4 "core" &  ?  +2 "storage"(/& +4 "core" &<+ n m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +23 "core" ' + "storage"(3% +5 "core" % n n ^\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (q% +3 "core" %G\ \  4\ Vb +2 "manipulator"&{% +4 "core" %y  I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +92 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'S& +3 "core" &\ \ \ +2 "manipulator"&u% +4 "core" %   /  +2 "storage"(:% +4 "core" % m k \  +2 "storage"(Z. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"('(K +353 "core" ( +4 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K\ \ \  +2 "manipulator"&H& +4 "core" & -  +2 .tElbow.seek 6 +2 "manipulator"&)( +4 "core" ( +2 "manipulator"&!& +3 "core" & D  +2 "storage"(j& +4 "core" &K l m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +93 "core" ' + "storage"(J& +4 "core" &K o o <\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +296 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (A& +3 "core" &K G Q ^\  +2 "manipulator"& & +3 "core" &  b  +2 .tElbow.seek 6 +2 "manipulator"&c( +4 "core" ( +2 "manipulator"&|& +3 "core" &  ~  +2 "storage"(D& +4 "core" &K S T ^\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&I'h +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(' +8 "core" &  + "manipulator"&% +4 "core" % ^ l ~ +2 .tForearm.seek :retract +2 "manipulator"&d' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&P(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&2& +4 "core" &ӛ  x 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &ӛ S 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&;'? +98 "core" ' +2 "manipulator"&& +3 "core" &ӛ  K 1 +3 "manipulator"&O% +3 "core" %; L & +3 "collection"'w& +3 "core" &\ \ \ +3 "collection"'9& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'#(\\ +3 "core" &\ \ \ +8 &4\ \ \ $d +10 &Wu\ \ \ 6 +9 &w\ \ \ K +9 &T\ \ \ K +10 &wV\ \ \ K +9 &9V\ \ \ K +10 &V\ \ \ J +9 &T\ \ \ J +9 &R\ \ \ K +10 &AR\ \ \ K +9 & R\ \ \ J +9 &!T\ \ \ J +10 &#T\ \ \ J +9 &%IR\ \ \ K +10 &' Q\ \ \ K +9 &(R\ \ \ K +9 &*W\ \ \ K +10 &,RW\ \ \ J +9 &.T\ \ \ J +9 &/T\ \ \ J +10 &1T\ \ \ J +9 &3ZT\ \ \ J +10 &5T\ \ \ J +9 &6U\ \ \ J +9 &8T\ \ \ K +10 &:aX\ \ \ K +9 &<#Y\ \ \ K +9 &=Z\ \ \ K +10 &?\\\ \ \ K +9 &AhW\ \ F\ K +10 &C(\\\ \ \ L +9 &De\ \ \ L +9 &Fr\ \ \ N +10 &H]\ )\ !\ Q +9 &J\ ?\ :\ V +9 &K\ A\ B\ W +10 &M\ @\ @\ X +9 &OT\ @\ >\ W +10 &Q\ ?\ @\ Y +9 &R\ =\ =\ Y +9 &T\ ;\ ;:\ Y +10 &VS\ :\ :d\ Z +9 &X\ ;\ ;l\ Z +9 &Y\ ;\ 9m\ \\ +10 &[\ 9\ :|\ I +9 &\\<\ 7\ 9o\ + +10 &\\\ 4\ 8j\ ^ +2 ( +2 "collection"'9& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&E1 +64 "core" 1 +2 "manipulator"&]% +4 "core" % ; r & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %    +2 "storage"(R% +4 "core" % / & \  +2 "storage"(@. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(Y(K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (4& +2 "core" &K f\  +2 "manipulator"&& +4 "core" &  j +2 "manipulator"&l% +5 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&W( +138 "core" ( +2 "manipulator"&F& +3 "core" & +2 "storage"(\\& +4 "core" &K ! & a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +96 "core" ' +3 "storage"(g& +4 "core" &K $ . r\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'r +297 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (%& +3 "core" &K\ \ * U\  +2 "manipulator"&b& +4 "core" & & +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&N& +3 "core" & +2 "storage"(M& +4 "core" &K\ ,\ - \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&x'h +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& +2 "storage"(y' +7 "core" & 1 + "manipulator"&% +4 "core" % t  +2 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&B( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&+& +3 "core" & d +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &6& +2 "core" & d +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&7' +88 "core" ' +2 "manipulator"&(& +4 "core" & & d +2 "manipulator"&"% +5 "core" % 4 +2 "processing"%& +4 "core" &\ +2 "processing"%5& +5 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +4 "core" &\ +8 &6\ #c +9 &Vz\ 7 +9 &v\ K +10 &R\ N +9 &hT\ N +9 &+R\ M +10 &R\ M +9 &Q\ M +10 &qP\ M +9 &3Q\ M +9 &P\ M +10 &!P\ M +9 &#yU\ M +9 &%;U\ M +10 &&V\ M +9 &(Q\ M +10 &*Q\ M +9 &,CQ\ M +9 &.P\ M +10 &/R\ M +9 &1Q\ M +10 &3JQ\ N +9 &5 T\ M +9 &6T\ M +10 &8W\ M +9 &:SQ\ M +9 &<T\ N +10 &=U\ N +9 &?T\ N +10 &AYU\ N +9 &Ca\ O +9 &Dc\ O +10 &Fk\ P +9 &HU|\ R +9 &J\ S +10 &K\ T +9 &M\ T +9 &OW\ T +10 &Q\ U +9 &R\ T +10 &T\ V +9 &V]\ U +9 &X \ T +10 &Y\ U +9 &[\ U +9 &]c\ C +10 &^?r\ $k +9 &^(\ . +6 ( +2 "processing"%5& +3 "core" &^\ . +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&?1 +54 "core" 1 +2 "manipulator"& % +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%-& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&&% +3 "core" %    +2 "storage"(8% +4 "core" % M 4\  +2 "storage"(T. +3 "core" .(K +2 "storage"(r& +4 "core" &K M S\  +2 "storage"(& +2 "manipulator"&1& +8 "core" &K M s\  + &    d +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&}( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(_'r +3 "core" ( +2 "manipulator"&C& +3 "core" &   M d +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +3 "core" &   d +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 .tHand.close +2 "manipulator"&$/ +57 "core" / +3 .tPC.seek :open +2 "processing"%i( +95 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +40 "core" ' +312 ( + "storage"(& +4 "core" &K I R\  +2 "manipulator"&s& +43 "core" & / d +11 "manipulator"&.% +4 "core" %  k +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&G( +243 "core" ( +2 "manipulator"&& +3 "core" &  4 +2 "storage"(0& +4 "core" &K\ \  4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +90 "core" ' +2 .tHand.open + "manipulator"&1 +56 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +32 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(V' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +4 "core" -' + "storage"(& +4 "core" &K \  +2 "manipulator"&& +4 "core" &   . 4 +2 .tElbow.seek 6 +2 "manipulator"&L( +4 "core" ( + "manipulator"&e& +4 "core" &    4 +2 "storage"(=& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +49 "core" ' +2 "manipulator"&\ & +3 "core" &  4 +2 "storage"(q& +4 "core" &K\ +\  :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&{'< +20 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(f' +19 "core" ' + "manipulator"&S% +4 "core" %H - +2 "storage"(& +4 "core" &K\ \ \ l\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&u't +13 "core" ' +2 "manipulator"&:& +3 "core" &  4 +2 "storage"(Z& +4 "core" &K M W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&<' +15 "core" ' +2 "storage"(h% +3 "core" % J \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (v% +3 "core" %+R ?\ Xi +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +95 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (!& +3 "core" &K\ \ % A\  +2 "collection"'j& +5 "core" &\\\ ,\ ,8\ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&J% +4 "core" %   " +2 "storage"(% +3 "core" % % / [\  +2 "storage"(z. +4 "core" .(K + "storage"( & +5 "core" &K & 3 \  + "storage"(A& +4 "core" &K # % U\  +2 "manipulator"& & +4 "core" & 4 +2 .tElbow.seek 6 +2 "manipulator"&|( +4 "core" ( +2 "manipulator"&D& +3 "core" & T 4 +2 "storage"(& +4 "core" &K ( ' $\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +97 "core" ' + "storage"(& +4 "core" &K . / {\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'r +298 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" & 4 +2 "storage"(>& +4 "core" &K Z 0 \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +42 "manipulator"&#Q@2^d^b +10 .tForearm.seek 6 + "manipulator"&K'< +21 "core" ' +2 .tElbow.hold + "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(O'r +28 "core" ' +2 "manipulator"&w% +4 "core" %.  +2 "storage"(c& +3 "core" &K\ \  i\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 286 counts +2 "manipulator"&'Z +15 "core" ' +2 "manipulator"&d& +4 "core" & Y 3 +2 "storage"(m& +3 "core" &K . . \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(]' +39 "core" ' +2 "manipulator"&& +4 "core" & 3 +2 "manipulator"&% +4 "core" % < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +156 "core" ( + "manipulator"&9& +4 "core" &ӝ   3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &ӝ  3 +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&l/ +58 "core" / +2 .tCC.seek :open +2 "collection"';( +446 "core" ( +2 "storage"(F& +3 "core" &K W W\  +2 "storage"(\\& +4 "core" &K U V\  +2 "manipulator"&g& +3 "core" & & +2 "manipulator"&'% +4 "core" %  W +3 .tForearm.seek :retract + "manipulator"&P' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&~( +152 "core" ( +2 "manipulator"&`& +3 "core" & \ B  +3 "storage"(%& +3 "core" &K _ g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&b'< +97 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +57 "core" 1 +2 "manipulator"&k% +4 "core" % ;   +2 "storage"(a& +4 "core" &K j k \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&'g +13 "core" ' +2 "manipulator"&W& +5 "core" &  &  + "storage"(o& +4 "core" &K ` j R\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +30 "core" ' + "storage"(x% +4 "core" % ` ^ ~\ +3 ."downElevator"SE.seek :down +4 "storage"(+' +99 (6% +3 "core" %D U .\ Va +2 "manipulator"& % +4 "core" %'  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +87 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'"& +3 "core" &\  \ +2 "manipulator"&% +4 "core" %   1  +2 "storage"(y% +4 "core" % j g m\  +2 "storage"(n. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(*(,y +679 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &,z & Z\ +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 4 +48 "manipulator"&-( +4 "core" ( +2 "manipulator"&&& +3 "core" & p  +2 "storage"(8& +4 "core" &,z ` h I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +96 "core" ' +2 "storage"(r& +3 "core" &,z n E\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(1'r +296 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (5& +3 "core" &,k G R c\ +2 "manipulator"&C& +4 "core" &  k  +2 .tElbow.seek 4 +2 "manipulator"&p( +4 "core" ( + "manipulator"&7& +4 "core" & t  +2 "storage"($& +5 "core" &,k S S R\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'c +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +8 "core" &  x  + "manipulator"&_% +5 "core" % ^ +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&.& +3 "core" &ӟ l 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӟ   1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&0& +3 "core" &ӟ  W 1 +3 "manipulator"&}% +3 "core" %5 E +3 "collection"'& +3 "core" & \ +3 "collection"'& +5 "core" &\ \ +2 .tCC.seek :closed +2 "collection"'[(\\ +5 "core" & \ +7 &; \ $f +10 &Yw \ 7 +9 &v \ J +10 &Q\ \ \ J +9 &S\ \ \ J +9 &HW\ \ \ J +10 & R\ \ \ K +9 &V\ \ \ J +9 &R\ \ \ K +10 &PR\ \ \ K +9 & R\ \ \ J +10 &!R\ \ \ K +9 &#W\ \ \ K +9 &%XV\ \ \ K +10 &'T\ \ \ K +9 &(R\ \ \ J +9 &*S\ \ \ J +10 &,`W\ \ \ J +9 &."S\ \ \ J +9 &/T\ \ \ J +10 &1W\ \ \ J +9 &3hS\ \ \ J +10 &5+T\ \ \ J +9 &6R\ \ \ K +9 &8R\ \ \ K +10 &:qR\ \ \ J +9 &<2U\ \ \ J +10 &=U\ \ \ J +9 &?V\ \ \ K +9 &AwY\ \ \ K +10 &C9Y\ \ \ K +9 &Db\ \ g\ L +9 &Fn\ \ \ N +10 &Hq\ \ \ P +9 &J&\ 1\ *\ T +9 &K\ 6\ 6\ V +10 &M\ 4\ 5\ W +9 &Oc\ 3\ 3\ W +10 &Q#\ 3\ 4\ X +9 &R\ 2\ 49\ Y +9 &T\ 4\ 2g\ Z +10 &Vd\ 1\ 0x\ Z +9 &X&\ 1\ 1{\ Z +10 &Y\ 3\ 2z\ \\ +9 &[\ 0\ 3M\ H +9 &\\7\ 4\ 4\ \ - +10 &\\n\ /\ 2\ Q +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % 5 q E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%=& +4 "core" &\ +2 "manipulator"&% +4 "core" %  +  +2 "storage"(\ % +4 "core" % % "\  +2 "storage"(q. +3 "core" .(,y +2 "storage"(S& +3 "core" &,k & !\ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +32 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +3 "core" &,z _ 3\ +2 "manipulator"&:& +3 "core" &Ӡ $ 1 +2 "manipulator"&Z% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +153 "core" ( +2 "manipulator"&h& +4 "core" &  +2 "storage"(G& +4 "core" &,z . / c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&^' +93 "core" ' +2 "storage"(V& +4 "core" &,z F G \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +50 .tSE.seek :beamBreak +4 "storage"(v'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (/& +3 "core" &,l\ \ -\ \ +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&3( +4 "core" ( +2 "manipulator"&{& +3 "core" &  +2 "storage"(u& +4 "core" &,l J _\ \ +3 .tForearm.seek 4 + 300 counts + "manipulator"&!'c +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&j/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +3 "storage"(' +8 "core" & 2 + "manipulator"&z% +5 "core" % [ +2 .tForearm.seek :retract +2 "manipulator"&f' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&A& +4 "core" &  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  } \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&D' +92 "core" ' + "manipulator"&& +4 "core" &  \ +2 "manipulator"&<% +4 "core" % * _ +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +4 "processing"%t(^ +4 "core" &\ +4 &\ 5 +10 &?Hr\ / +9 &fp}\ C +9 &a\ N +10 &T\ N +9 &T\ N +10 &JT\ M +9 & Q\ M +9 &P\ M +10 &U\ M +9 &QT\ N +9 &!R\ N +10 &"S\ M +9 &$R\ M +10 &&[P\ M +9 &(U\ M +9 &)T\ N +10 &+S\ N +9 &-aS\ N +9 &/$R\ M +10 &0Q\ M +9 &2W\ M +10 &4jU\ M +9 &6+U\ N +9 &7P\ M +10 &9V\ M +9 &;qY\ N +9 &=3U\ N +10 &>T\ N +9 &@Y\ N +10 &Bw]\ N +9 &D8_\ O +9 &Ei\ P +10 &Gs\ Q +9 &Iq\ S +9 &K0\ T +10 &L\ T +9 &N\ T +10 &Pu\ T +9 &R6\ U +9 &S\ U +10 &U\ U +9 &W{\ U +9 &Y?\ T +10 &[\ U +9 &\\\ U +10 &^7`{\ * +9 &^h\ 8 +9 ( +2 &^%\ 1 +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&H1 +55 "core" 1 +4 "manipulator"&,% +8 "core" %  \ @ _ +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +7 .tForearm.seek :retract +5 "manipulator"&2' +97 "core" ' +2 "processing"%>& +4 "core" &^%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" % #   w 3 +2 "storage"(w% +4 "core" % O\  +2 "storage"(c. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(d(,y +24 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (m& +2 "manipulator"&& +4 "core" &,{ N 1\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  \  \ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(Q'r +6 "core" ( + "manipulator"&|& +5 "core" &  } \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &   ) \ +3 .tForearm.seek PC + "manipulator"&K' +92 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%O( +92 "core" ' +2 "storage"(9- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +41 "core" ' +308 ( + "storage"(E& +4 "core" &,i $ :\  +52 "manipulator"&I& +12 "core" & . \ +2 "manipulator"&l% +4 "core" %  g m +2 .tForearm.seek :retract +2 "manipulator"&R' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&#( +239 "core" ( +2 "manipulator"&F& +4 "core" & < +2 "storage"(\\& +4 "core" &,i\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +99 "core" ' +2 .tHand.open + "manipulator"&'1 +59 "core" 1 +2 "storage"(`- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(@- +3 "core" -' +2 "storage"(M& +4 "core" &,i \  +2 "manipulator"&k& +4 "core" & \ \ < +2 .tElbow.seek 4 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&W& +4 "core" &   ? < +2 "storage"(o& +3 "core" &,i \  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(P'" +60 "core" ' + "manipulator"&6& +5 "core" &  < + "storage"( & +4 "core" &,i K ^\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&~'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&"% +4 "core" %>  F +2 "storage"(& +4 "core" &,i J Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts +2 "manipulator"&y'j +14 "core" ' + "manipulator"&n& +4 "core" &  < +2 "storage"(]& +4 "core" &,i M \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +15 "core" ' + "storage"(+% +4 "core" % S L\ +3 ."downElevator"SE.seek :down +4 "storage"(Y' +98 (?% +3 "core" %DN \  T\ We +2 "manipulator"& % +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (8& +3 "core" &,i $ Q\  +2 "collection"'r& +4 "core" &\\h\ +\ *D\ Q +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&N% +3 "core" %    +3 "storage"((% +3 "core" % . . \  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(5(,y +41 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &,{ \  f\ +2 "manipulator"&7& +4 "core" & 9 < +2 .tElbow.seek 4 +2 "manipulator"&$( +4 "core" ( +2 "manipulator"&B& +3 "core" &  < +2 "storage"(& +4 "core" &,| * / ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&_' +93 "core" ' +2 "storage"(-& +4 "core" &,| 4 J v\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(T'r +295 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +43 "core" &  < +9 "storage"(1& +4 "core" &,l\ ) M /\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& '7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +30 "core" ' +2 "manipulator"&p% +4 "core" %B J  +2 "storage"(& +3 "core" &,l N\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&'n +14 "core" ' + "manipulator"&;& +4 "core" &   < +2 "storage"(& +4 "core" &,l\  K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(=' +43 "core" ' +2 "manipulator"&& +5 "core" &  < + "manipulator"&\ % +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &Ӈ! :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &Ӈ! :0 +2 .tForearm.seek CC +2 "manipulator"&:'? +92 "core" ' +2 .tHand.close + "manipulator"&Z/ +60 "core" / +2 .tCC.seek :open + "collection"'( +446 "core" ( +2 "storage"(h& +4 "core" &,l T J =\ +2 "storage"(G& +4 "core" &,l Q R \ +2 "manipulator"&*& +3 "core" &Ӹ 6 4 +2 "manipulator"&V% +4 "core" % 0  a  +2 .tForearm.seek :retract +2 "manipulator"&s' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&e( +162 "core" ( +2 "manipulator"&& +4 "core" &  d  +2 "storage"(/& +4 "core" &,l G F \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&L'7 +100 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&u1 +58 "core" 1 +2 "manipulator"&j% +5 "core" % ?  n $ + "storage"(J& +4 "core" &,l k k \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts +2 "manipulator"&z'k +15 "core" ' +2 "manipulator"&& +3 "core" & g  +2 "storage"(^& +4 "core" &,l n m T\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +20 "core" ' + "storage"(!% +4 "core" % j j \ +3 ."downElevator"SE.seek :down +4 "storage"(A' +98 ( % +3 "core" %G 3 w\ Vb +2 "manipulator"&3% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'<& +77 "core" & \ \ +2 "manipulator"&% +3 "core" %   +3 "storage"(% +3 "core" % k k \  +2 "storage"(f. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(i(<- +352 "core" ( +2 .tSC.configure :limp +48 "storage"($\ 1b +3 (H& +3 "core" &<*\ -\ - \  +2 "manipulator"&,& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&>( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" &<* j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +94 "core" ' +2 "storage"(c& +3 "core" &<* l k &\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +297 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (|& +3 "core" &<* T P e\  +2 "manipulator"&)& +3 "core" &  3  +2 .tElbow.seek 5 +2 "manipulator"&D( +4 "core" ( + "manipulator"&& +4 "core" &  ]  +2 "storage"(& +4 "core" &<* S S\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&9'Ϲ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"(t' +8 "core" &  2  +2 "manipulator"&Q% +4 "core" % Ͼ  F +2 .tForearm.seek :retract +2 "manipulator"&E' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&l& +4 "core" &ӎ / 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &ӎ  y 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'? +89 "core" ' +2 "manipulator"&\\& +4 "core" &ӎ \  M 7 +2 "manipulator"&% +5 "core" %9 $ f +2 "collection"''& +3 "core" &\ \ +3 "collection"'`& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'@(\\ +5 "core" &\ \ \ +6 &; \ $d +9 &Wu \ \ 6 +9 &w\ \ \ K +10 &T\ \ \ J +9 &}R\ \ \ K +10 &?R\ \ \ K +9 &W\ \ \ K +9 &V\ \ \ K +10 &V\ \ \ J +9 &IT\ \ \ J +9 & \ W\ \ \ J +10 &!S\ \ \ J +9 &#T\ \ \ J +10 &%PR\ \ \ K +9 &'Q\ \ \ J +9 &(R\ \ \ K +10 &*Q\ \ \ K +9 &,YQ\ \ \ J +9 &.R\ \ \ K +10 &/R\ \ \ K +9 &1W\ \ \ K +9 &3`W\ \ \ J +10 &5"T\ \ \ J +9 &6T\ \ \ J +10 &8T\ \ \ J +9 &:hT\ \ \ K +9 &<)U\ \ \ K +10 &=S\ \ \ K +9 &?V\ \ =\ K +10 &AnY\ \ o\ K +9 &C0Z\ \ \ K +9 &Db\ \ \ L +10 &Fh\ \ <\ M +9 &Hj\ \ Q\ O +9 &J\ 2\ (w\ T +10 &K\ 8\ 8\ W +9 &M\ 8\ 8v\ W +10 &OZ\ 7\ 7t\ X +9 &Q\ 6\ 6\ X +9 &R\ 6\ 8L\ X +10 &T\ 3\ 5q\ Z +9 &V\\\ 6\ 4u\ Z +9 &X\ 4\ 5 \ [ +10 &Y\ 5\ 6b\ [ +9 &[\ 6\ 6w\ H +10 &\\>\ 9\ 7s\ (z +9 &\\\ 5\ 6f\ _ +2 ( +2 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&M1 +61 "core" 1 +2 "manipulator"&k% +4 "core" % 9  k f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%o& +3 "core" &\ +2 "manipulator"&R% +4 "core" %   +2 "storage"(6% +3 "core" %\ \  (\  +3 "storage"( . +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"("(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<+ \  +2 "manipulator"&4& +3 "core" &Ӭ < 3 +2 "manipulator"&n% +4 "core" %  7  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&]( +163 "core" ( +2 "manipulator"&%& +3 "core" &   +2 "storage"(+& +5 "core" &<)  0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +95 "core" ' +47 "storage"(g& +6 "core" &<) / / \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &<) M 1\  +2 "manipulator"&x& +3 "core" &   +3 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&P& +4 "core" &  +2 "storage"(~& +3 "core" &<) P d\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&8'Ϲ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& +5 "storage"(N' +3 "core" & *  +3 "manipulator"&(% +4 "core" %  \ +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&C& +4 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" & U  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&B' +93 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&U% +5 "core" % Y +2 "processing"%-& +3 "core" &\ +3 "processing"%Y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%d(^ +4 "core" &\ +8 &<\ $d +9 &Ww\ 7 +9 &u\ K +10 &Q\ N +9 &oT\ M +10 &1O\ M +9 &V\ M +9 &T\ M +10 &wR\ M +9 &9Q\ M +9 &T\ M +10 &!S\ N +9 &#~U\ N +10 &%AT\ M +9 &'Q\ M +9 &(U\ M +10 &*U\ M +9 &,HU\ N +9 &. R\ M +10 &/W\ M +9 &1V\ M +10 &3QU\ M +9 &5T\ N +9 &6U\ N +10 &8T\ N +9 &:YQ\ M +9 &<S\ M +10 &=T\ M +9 &?X\ N +10 &A`Y\ N +9 &C`\ O +9 &Dd\ P +10 &Fm\ P +9 &HZ\ R +9 &J\ S +10 &K\ T +9 &M\ T +10 &O\\\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &Vd\ T +9 &X%\ U +10 &Y\ U +9 &[\ U +10 &]i\ C +9 &^<m\ 'q +9 &^&\ * +6 ( +2 "processing"%Y& +4 "core" &^\ * +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&b1 +58 "core" 1 + "manipulator"&&% +5 "core" %    G Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +89 "core" ' +3 "processing"%& +4 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&1% +4 "core" %   5  +2 "storage"(}% +4 "core" % M \  +2 "storage"(p. +3 "core" .(<- +2 "storage"(& +3 "core" &<) I\  #\  +3 "storage"(;& +3 "manipulator"&& +4 "core" &<) M K\  +2 &  \  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(\ 'r +3 "core" ( +2 "manipulator"&_& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &   +3 .tForearm.seek PC +2 "manipulator"&T' +93 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / +2 .tPC.seek :open + "processing"%( +94 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +310 ( + "storage"(X& +4 "core" &<)\ .\ - \  +2 "manipulator"&& +4 "core" &  +41 "manipulator"&0% +12 "core" %  > J +3 .tForearm.seek :retract + "manipulator"&Z' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&q( +242 "core" ( +2 "manipulator"&[& +4 "core" & % ; +2 "storage"(h& +3 "core" &<)\ \ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +93 "core" ' +2 .tHand.open + "manipulator"&*1 +54 "core" 1 +2 "storage"(V- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +3 "core" -' +2 "storage"(S& +4 "core" &<) ;\ t +2 "manipulator"&u& +4 "core" &   L : +2 .tElbow.seek 5 +2 "manipulator"&j( +4 "core" ( + "manipulator"&J& +5 "core" &   x : + "storage"(& +5 "core" &<) z\ t +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(!'" +57 "core" ' +2 "manipulator"&s& +3 "core" & : +2 "storage"( & +5 "core" &<) N t\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&3'΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(L' +29 "core" ' +2 "manipulator"&z% +4 "core" %Η [ +2 "storage"(=& +3 "core" &<)\ \ \ P\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&<' +14 "core" ' +2 "manipulator"&& +3 "core" & 5 +3 "storage"(& +3 "core" &<)\ # j\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +13 "core" ' +2 "storage"(v% +4 "core" % S\  \\\ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (5% +4 "core" %PP P\ Xh +2 "manipulator"&H% +3 "core" %\\  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +16 "Can"*\ ^[ +73 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<)\ \ " }\  +2 "collection"'& +4 "core" &\\\ +\ ,\ _ +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&c% +4 "core" %   +2 "storage"({% +3 "core" % ( '\  +2 "storage"(. +4 "core" .(<- + "storage"(& +5 "core" &<) ( "\  + "storage"(|& +4 "core" &<) " \  +2 "manipulator"&)& +5 "core" &  5 +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  5 +2 "storage"( & +4 "core" &<) " !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +89 "core" ' +2 "storage"(Q& +3 "core" &<) . / s\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +299 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" & 5 +2 "storage"(K& +4 "core" &<)\ \  A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +46 .tForearm.seek 5 +5 "manipulator"&m'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('w +32 "core" ' + "manipulator"&'% +4 "core" %Ύ  +2 "storage"(D& +3 "core" &<) M \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&t'Ϻ +14 "core" ' +2 "manipulator"&E& +4 "core" & 4 +2 "storage"(& +3 "core" &<)\ \  %\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(k' +36 "core" ' + "manipulator"&o& +5 "core" &  4 + "manipulator"&R% +4 "core" %S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ( +3 "manipulator"&`& +3 "core" &Ә \ = 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &Ә M 3 +2 .tForearm.seek CC +2 "manipulator"&4'? +95 "core" ' +2 .tHand.close + "manipulator"&n/ +60 "core" / +2 .tCC.seek :open +2 "collection"'F( +448 "core" ( +2 "storage"(%& +4 "core" &<) T T g\  +2 "storage"(+& +3 "core" &<) T J S\  +3 "manipulator"&i& +3 "core" &ӥ K 2 +2 "manipulator"&g% +4 "core" % A B  +2 .tForearm.seek :retract +2 "manipulator"&I' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&W( +160 "core" ( + "manipulator"&?& +4 "core" &  +2 "storage"( & +3 "core" &<) W W\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&x'΍ +97 "core" ' +2 .tElbow.hold + "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +63 "core" 1 +2 "manipulator"&y% +4 "core" % Β  K + +2 "storage"(r& +4 "core" &<) P K I\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 305 counts +2 "manipulator"&('Ͼ +13 "core" ' +2 "manipulator"&]& +4 "core" & F  +2 "storage"(#& +4 "core" &<) g ` S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +32 "core" ' + "storage"(8% +4 "core" % n n \ +3 ."downElevator"SE.seek :down +4 "storage"(C' +98 (7% +3 "core" %J K D\ Wc +2 "manipulator"&a% +4 "core" %Q % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'U& +4 "core" & \ +2 "manipulator"&-% +3 "core" %   +3 "storage"(N% +3 "core" % ^ ^ <\  +2 "storage"(. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(O(K +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (b& +2 "core" &K K H\ \ +2 "manipulator"&&& +4 "core" &   +2 .tElbow.seek 6 +37 "manipulator"&( +16 "core" ( + "manipulator"&1& +4 "core" & w  +2 "storage"(}& +5 "core" &K ^ ` \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&p' +95 "core" ' +2 "storage"(& +3 "core" &K  u\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +291 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +3 "core" &K S P ]\ \ +2 "manipulator"&_& +4 "core" & ;  +2 .tElbow.seek 6 +2 "manipulator"&$( +4 "core" ( +2 "manipulator"&B& +4 "core" &  L  +2 "storage"( & +3 "core" &K S T X\ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(d' +8 "core" & $  +2 "manipulator"&\ % +4 "core" % } J +2 .tForearm.seek :retract +2 "manipulator"&X' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&0& +3 "core" &Ӛ / 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +2 "core" &Ӛ  1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['? +92 "core" ' +2 "manipulator"&h& +5 "core" &Ӛ  t 1 +2 "manipulator"&% +5 "core" %= S n +2 "collection"'*& +4 "core" &\ \ +3 "collection"'V& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"':(\\ +5 "core" &\ \  +8 &6} \ \ +{ +9 & g}\ \ \ > +10 &h\ \ \ L +9 &]R\ \ \ K +9 & W\ \ \ J +10 &S\ \ \ J +9 &S\ \ \ J +9 &fW\ \ \ J +10 &'S\ \ \ K +9 &U\ \ \ K +9 & Q\ \ \ J +10 &"mR\ \ \ K +9 &$/U\ \ \ K +10 &%R\ \ \ J +9 &'R\ \ \ K +9 &)uU\ \ \ K +10 &+8Q\ \ \ J +9 &,W\ \ \ K +10 &.U\ \ \ K +9 &0~R\ \ \ J +9 &2AT\ \ \ J +10 &4W\ \ \ J +9 &5S\ \ \ K +9 &7R\ \ \ J +10 &9HU\ \ \ J +9 &; X\ \ \ K +9 &<Z\ \ \ K +10 &>]\ \ \ K +9 &@MW\ \ \ \ K +10 &BX\ \ P\ K +9 &C_\ \ S\ L +9 &Eh\ \ \ M +10 &GKx\ \ \ O +9 &I\ 4\ +\ S +10 &J\ ?\ =\ W +9 &Ly\ @\ B\ W +9 &N5\ ?\ @\ Y +10 &O\ =\ ? \ W +9 &Q\ ?\ =\ Y +9 &Sx\ >\ <\ Z +10 &U=\ =\ ;\ Y +9 &V\ 9\ ;\ [ +9 &X\ 9\ 9\ \\ +10 &Z~\ 9\ 8\ [ +9 &\\x\ 9\ 9\ 0 +10 &\\: \ 8\ 7\ %s +9 &\\d\ 6\ 5\ O +2 ( +2 "collection"'V& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 .Hand.open + "manipulator"&S1 +54 "core" 1 +3 "manipulator"&u% +3 "core" % Q Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&Z% +3 "core" %    +3 "storage"(s% +3 "core" % / . \  +2 "storage"( . +4 "core" .(K + "storage"(& +4 "core" &K $ + @\ \ +2 "storage"(z& +4 "core" &K 0 / ]\ \ +2 "manipulator"&=& +4 "core" &   "} +2 "manipulator"&% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +145 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(v& +5 "core" &K ( (\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +96 "core" ' + "storage"(G& +5 "core" &K T T [\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(/'r +297 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +50 "core" &K & & \ \ +3 "manipulator"&^& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&j( +4 "core" ( +2 "manipulator"&!& +3 "core" & z  +2 "storage"(3& +4 "core" &K ^ \ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&<'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& +2 "storage"(c' +7 "core" &  +2 "manipulator"&{% +4 "core" % \\ N +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +3 "manipulator"&& +3 "core" & K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +2 "core" & K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&)' +95 "core" ' + "manipulator"&& +4 "core" &  7 K +2 "manipulator"& % +4 "core" %  v +2 "processing"%f& +5 "core" &\ +2 "processing"%Q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%A(^ +5 "core" &\ +7 &6V\ $d +9 &Vy\ 7 +10 &y\ L +9 &T\ M +10 &^W\ N +9 &!S\ M +9 &T\ M +10 &R\ M +9 &gQ\ M +9 &)W\ M +10 &W>\ M +9 &!V\ M +10 &#nU\ N +9 &%1T\ M +9 &&T\ M +10 &(W\ M +9 &*wW.\ M +9 &,8W\ N +10 &-T\ N +9 &/V\ M +9 &1R\ M +10 &3AW\ M +9 &5U\ M +10 &6T\ M +9 &8T\ M +9 &:IR\ M +10 &< V\ M +9 &=Y\ M +9 &?T\ N +10 &APZ\ N +9 &C_\ N +10 &Dc\ O +9 &Fk\ P +9 &HL}\ R +10 &J \ S +9 &KE\ S +9 &M\ S +10 &OM\ T +9 &Q\ T +10 &R\ T +9 &T\ U +9 &VU\ T +10 &X\ U +9 &Y\ T +9 &[\ U +10 &]Z\ C +9 &^Kx\ L +10 &^ O\ 7 +5 ( +2 "processing"%Q& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&e1 +3 "core" &^.\ 7 +57 1 +2 "manipulator"&,% +3 "core" %   1 v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 "processing"%l& +3 "core" &^.\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&K% +4 "core" %  \ ?  +2 "storage"(\\% +4 "core" %   \  +2 "storage"('. +2 "core" .(K +2 "storage"(D& +4 "core" &K U @\ \ +3 "storage"(E& +2 "manipulator"&& +8 "core" &K   ;\ \ + &  M K +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&o( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(R'r +3 "core" ( +2 "manipulator"&2& +3 "core" & \ \ A K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &   q K +2 .tForearm.seek PC +2 "manipulator"&>' +93 "core" ' + .tHand.close +2 "manipulator"&m/ +53 "core" / +3 .tPC.seek :open + "processing"%t( +102 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +40 "core" ' +305 ( +2 "storage"(& +3 "core" &K $ 3\ +2 "manipulator"&M& +4 "core" & K +2 "manipulator"&9% +4 "core" %   B +2 .tForearm.seek :retract +2 "manipulator"&n' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&6( +256 "core" ( +50 "manipulator"&@& +3 "core" &  o +2 "storage"(%& +4 "core" &K ]\ E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +95 "core" ' +2 .tHand.open +2 "manipulator"&i1 +59 "core" 1 +2 "storage"(g- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +3 "storage"(?' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(4- +2 "core" -' +3 "storage"( & +3 "core" &K \ +2 "manipulator"&~& +4 "core" &\  F o +2 .tElbow.seek 6 +2 "manipulator"&y( +4 "core" ( +2 "manipulator"&r& +3 "core" &\   o +2 "storage"(]& +5 "core" &K B\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(8'" +51 "core" ' +2 "manipulator"&I& +3 "core" &\  o +2 "storage"(7& +5 "core" &K \  h\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&a'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(x' +19 "core" ' +2 "manipulator"&(% +4 "core" %2 E  +2 "storage"(U& +3 "core" &K ! % &\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 290 counts +2 "manipulator"&-'^ +15 "core" ' +2 "manipulator"&N& +4 "core" &\   n +2 "storage"(& +3 "core" &K $ . n\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +15 "core" ' +2 "storage"(% +4 "core" % + - P\ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 ("% +3 "core" %N\  !\ Wg +2 "manipulator"&b% +4 "core" % ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +96 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (1& +3 "core" &K\  ^ \ +2 "collection"'}& +4 "core" &\\e\ +\ ,\ O +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %   +3 "storage"(P% +3 "core" % ' % \  +2 "storage"(. +3 "core" .(K +2 "storage"(;& +4 "core" &K $ %\ +2 "storage"(Y& +4 "core" &K 3 >\ +2 "manipulator"&_& +4 "core" &   n +2 .tElbow.seek 6 +2 "manipulator"&B( +4 "core" ( + "manipulator"& & +5 "core" &  n + "storage"(& +4 "core" &K ' '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +89 "core" ' +2 "storage"(\ & +3 "core" &K J 4 R\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +305 "core" ' +3 "storage"(p- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" &\  n +2 "storage"(T& +4 "core" &K P \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +45 "storage"('r +34 "core" ' + "manipulator"&*% +4 "core" %K  +2 "storage"($& +5 "core" &K M {\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&d'w +13 "core" ' +2 "manipulator"&X& +3 "core" &\  D n +2 "storage"(F& +4 "core" &K K U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(u' +41 "core" ' + "manipulator"&& +4 "core" &\   n +2 "manipulator"&Z% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +147 "core" ( +2 "manipulator"&& +4 "core" &}$ @ =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &~$ * =B +3 .tForearm.seek CC + "manipulator"&V'? +98 "core" ' +2 .tHand.close + "manipulator"&=/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(& +3 "core" &K S S 0\ +2 "storage"([& +4 "core" &K F G \ +2 "manipulator"&v& +4 "core" &  , +2 "manipulator"&G% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&J( +150 "core" ( +2 "manipulator"&5& +4 "core" &  q  +2 "storage"(H& +3 "core" &K Q G P\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&^'< +92 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&31 +60 "core" 1 +3 "manipulator"&% +3 "core" % I O +2 "storage"(& +4 "core" &K m l "\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 313 counts + "manipulator"&{'u +15 "core" ' +2 "manipulator"&& +4 "core" &  R  +2 "storage"(q& +4 "core" &K k k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +25 "core" ' + "storage"(<% +4 "core" % m l !\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (|% +3 "core" %G J\  \ Wc +2 "manipulator"&j% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"' & +4 "core" & \ \ +2 "manipulator"&f% +4 "core" %   {  +2 "storage"(c% +3 "core" % ] ] 1\  +2 "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +3 "core" &,x @ / \ +2 "manipulator"&,& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&l( +4 "core" ( +2 "manipulator"&K& +3 "core" &    +2 "storage"(\\& +4 "core" &,x n m\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +95 "core" ' +47 "storage"(D& +5 "core" &,x k k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +294 "core" ' + "storage"(- +3 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (E& +3 "core" &,k T W i\ +2 "manipulator"&2& +3 "core" & a  +3 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&)& +3 "core" &  @  +2 "storage"(m& +4 "core" &,k V R (\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"(A' +7 "core" &   + "manipulator"&R% +4 "core" % d +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&9& +3 "core" &ӑ 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &ӑ M 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'? +99 "core" ' +2 "manipulator"&@& +4 "core" &ӑ  N 3 +2 "manipulator"&%% +4 "core" %P  \\ +2 "collection"'i& +4 "core" &\ \ +3 "collection"'g& +5 "core" & \ +3 .tCC.seek :closed + "collection"'4(\\ +4 "core" & \ \ +8 &> \ $f +10 &Z{ \ 7 +9 &x\ \ \ K +10 &U\ \ \ J +9 &U\ \ \ J +9 &SY\ \ \ J +10 &T\ \ \ K +9 &X\ \ \ J +9 &S\ \ \ K +10 &[S\ \ \ K +9 & S\ \ \ J +9 &!U\ \ \ J +10 &#Y\ \ \ K +9 &%cV\ \ \ K +10 &'&R\ \ \ J +9 &(U\ \ \ J +9 &*X\ \ \ K +10 &,kV\ \ \ K +9 &..S\ \ \ J +9 &/U\ \ \ J +10 &1Y\ \ \ J +9 &3rS\ \ \ K +10 &55T\ \ \ K +9 &6T\ \ \ K +9 &8S\ \ \ J +10 &:|U\ \ \ J +9 &<=T\ \ \ K +9 &=T\ \ \ K +10 &?U\ \ \ K +9 &AV\ \ \ J +10 &CD[\ \ \ K +9 &Eg\ \ \ \ L +9 &Fk\ \ \ M +10 &H{\ \ \ P +9 &J3\ 2\ (\ T +9 &K\ 6\ 6\ V +10 &M\ 2\ 6\ X +9 &Oo\ 1\ 6\ W +10 &Q.\ 3\ 1\ X +9 &R\ 2\ 2\ X +9 &T\ 2\ 2\ Y +10 &Vq\ 0\ 3\ Y +9 &X0\ 4\ 2\ Z +9 &Y\ 5\ 4\ [\ +10 &[\ 4\ 3\ H +9 &\\.\ 5\ 3\ 3 +10 &\\h\ 1\ 2\ N +2 ( +2 "collection"'g& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"& 1 +61 "core" 1 +2 "manipulator"&~% +3 "core" % P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%]& +4 "core" &\ +2 "manipulator"&n% +4 "core" %  (  +2 "storage"(I% +4 "core" % $ * X\  +2 "storage"(7. +3 "core" .(,y +2 "storage"((& +3 "core" &,k - + O\ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(U(,y +32 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (`& +2 "core" &,x ( , 7\ +2 "manipulator"&N& +4 "core" &Ӧ  0 +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&?( +153 "core" ( +2 "manipulator"&& +3 "core" & +3 "storage"(6& +3 "core" &,x 2 %\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +95 "core" ' +2 "storage"( & +3 "core" &,x J G \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +295 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &,l\ %\  L\ +2 "manipulator"&y& +4 "core" & * +2 .tElbow.seek 4 +2 "manipulator"&8( +56 "core" ( + "manipulator"&a& +4 "core" & +2 "storage"(-& +4 "core" &,l M b\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&1'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(P' +8 "core" & , + "manipulator"&% +5 "core" % Z % +2 .tForearm.seek :retract +2 "manipulator"&x' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&;( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +3 "manipulator"&Y& +3 "core" &  M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +3 "core" &  M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' +2 "manipulator"&& +3 "core" &  M +3 "manipulator"&k% +3 "core" % 2 +3 "processing"%\ & +3 "core" &\ +3 "processing"%C& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%W(^ +4 "core" &\ +7 &6\ #b +9 &Tx\ 6 +10 &yY\ K +9 &W\ N +10 &TT\ N +9 &V\ M +9 &W\ N +10 &R\ M +9 &]Q\ M +9 &X\ M +10 &W\ M +9 &!V\ M +10 &#dW\ N +9 &%'U\ M +9 &&T\ M +10 &(T\ M +9 &*lU\ N +9 &,0T\ M +10 &-V\ M +9 &/W\ N +10 &1vQ\ M +9 &37W\ M +9 &4U\ N +10 &6V\ N +9 &8|W\ N +9 &:?R\ M +10 &<V\ M +9 &=Y\ M +10 &?U\ M +9 &AFY\ N +9 &C^\ N +10 &Db\ O +9 &FkB\ P +9 &HC{\ Q +10 &I\ T +9 &K\ S +10 &M\ T +9 &OC\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &VJ\ T +10 &X ,\ U +9 &Y\ U +10 &[\ U +9 &]O\ G +9 &^xE}\ "e +10 &^/\ . +5 ( +2 "processing"%C& +4 "core" &^C\ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&&1 +64 "core" 1 +2 "manipulator"&p% +4 "core" %    @ 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +2 "processing"%T& +3 "core" &^\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&h% +4 "core" %   &  +2 "storage"(*% +4 "core" % S J\  +2 "storage"($. +3 "core" .(,y +2 "storage"(X& +3 "core" &,l T i\ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(F(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&Z& +4 "core" &,z\ \  \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & \ M +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(.'r + "manipulator"&B( +6 "core" ( +2 "manipulator"&& +3 "core" &   # M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  V M +2 .tForearm.seek PC +2 "manipulator"&d' +90 "core" ' +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(z- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'1 +43 "core" ' +310 ( +2 "storage"(& +4 "core" &,i\ \ /\ +2 "manipulator"&=& +4 "core" &  M +2 "manipulator"&s% +3 "core" %   o +3 .tForearm.seek :retract +2 "manipulator"&:' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +49 "manipulator"&( +244 "core" ( +2 "manipulator"&[& +3 "core" & 8 +2 "storage"(v& +4 "core" &,i M \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +93 "core" ' +2 .tHand.open + "manipulator"&51 +58 "core" 1 +2 "storage"(H- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(V' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(3- +3 "core" -' +2 "storage"(& +4 "core" &,i /\ +2 "manipulator"&& +4 "core" &   ) 8 +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&q& +5 "core" &   8 + "storage"(<& +4 "core" &,i l\ +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(|'" +50 "core" ' +2 "manipulator"&j& +5 "core" & 8 + "storage"(J& +4 "core" &,i\ "\  -\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&^'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"( ' +29 "core" ' + "manipulator"&f% +4 "core" %F 1 \ +2 "storage"(c& +5 "core" &,i\ \  Y\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&'r +15 "core" ' + "manipulator"&u& +4 "core" & X 8 +2 "storage"(/& +4 "core" &,i & "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(O% +4 "core" % + # \ +3 ."downElevator"SE.seek :down +3 "storage"(e' +99 (,% +3 "core" %PR \  /\ Xh +2 "manipulator"&K% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (D& +3 "core" &,i   j\ +3 "collection"'!& +3 "core" &\\d\ *\ +\ N +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  4  +2 "storage"(% +4 "core" % # $\  +2 "storage"(E. +2 "core" .(,y +2 "storage"(2& +4 "core" &,i ' (\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"()(,y +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (m& +2 "core" &,| # ' H\ +3 "manipulator"&L& +3 "core" & 8 +3 .tElbow.seek 4 + "manipulator"&w( +4 "core" ( +2 "manipulator"&R& +3 "core" & 8 +3 "storage"(l& +3 "core" &,| , '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +92 "core" ' +2 "storage"(9& +4 "core" &,| I G O\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +309 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 8 +2 "storage"(@& +4 "core" &,l ' '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&%'7 +65 "core" ' +4 .tElbow.hold +2 "manipulator"&i, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(A'g +32 "core" ' + "manipulator"&% +5 "core" %J  \ + "storage"(& +4 "core" &,l J \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"& 'v +14 "core" ' +2 "manipulator"&~& +3 "core" & < 8 +3 "storage"(]& +3 "core" &,l\ \ ! 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(I' +47 "core" ' + "manipulator"&7& +4 "core" & 8 +2 "manipulator"&(% +4 "core" % < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +152 "core" ( +2 "manipulator"&N& +3 "core" &ӏ k 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӏ 7 +3 .tForearm.seek CC +2 "manipulator"&o'? +98 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'6( +446 "core" ( +2 "storage"(& +3 "core" &,l I G z\  +2 "storage"( & +4 "core" &,l T P D\  +2 "manipulator"&M& +4 "core" &ө % 4 +2 "manipulator"&r% +3 "core" % H 8  +3 .tForearm.seek :retract +2 "manipulator"&b' +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&#( +165 "core" ( +2 "manipulator"&y& +3 "core" &  \ }  +2 "storage"(a& +5 "core" &,l l k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&-'7 +93 "core" ' +2 .tElbow.hold + "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % (   D +2 "storage"(?& +3 "core" &,l l k \  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 285 counts + "manipulator"&+'T +16 "core" ' + "manipulator"&"& +4 "core" & d  +2 "storage"(1& +4 "core" &,l l l \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +15 "core" ' + "storage"(_% +4 "core" % ^ j X\ +3 ."downElevator"SE.seek :down +3 "storage"(8' +99 (% +3 "core" %D Q 3\ V` +2 "manipulator"&k% +4 "core" % @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +95 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'P& +4 "core" &\ \ +2 "manipulator"&x% +4 "core" %  J  +2 "storage"(t% +4 "core" % h ] i\  +2 "storage"(&. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(p(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &<+ K d\  +2 "manipulator"&h& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&*( +4 "core" ( +47 "manipulator"&$& +5 "core" &  +2 "storage"(X& +4 "core" &<+ a h \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +92 "core" ' +2 "storage"(& +4 "core" &<+ h ~ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +296 "core" ' + "storage"(- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ F Q &\  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&U& +3 "core" &  \ _  +3 "storage"(z& +3 "core" &<+ T Q W\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&;'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(.' +8 "core" & 6  + "manipulator"&% +4 "core" %   m +2 .tForearm.seek :retract +2 "manipulator"&=' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&d& +5 "core" &ӊ A 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &ӊ / 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&v'? +92 "core" ' +3 "manipulator"&B& +3 "core" &ӊ  c 0 +3 "manipulator"&5% +3 "core" %I ^ @ +3 "collection"'H& +3 "core" & \ +3 "collection"'3& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ \  +8 &4y \ *z +9 &\ g} \ \ > +10 &j\ \ \ L +9 &[R\ \ \ K +10 &R\ \ \ J +9 &U\ \ \ J +9 &W\  \ K +10 &cU\ \ \ K +9 &%Y\ \ \ K +9 &U\ \ \ K +10 & Q\ \ \ J +9 &"lR\ \ \ J +10 &$.T\ \ \ J +9 &%X\ \ \ K +9 &'U\ \ \ K +10 &)tR\ \ \ J +9 &+6R\ \ \ J +9 &,T\ \ \ J +10 &.W\ \ \ K +9 &0{U\ \ \ K +10 &2>R\ \ \ J +9 &4U\ \ \ J +9 &5Y\ \ \ K +10 &7X\ \ \ J +9 &9GU\ \ \ J +9 &;X\ \ \ K +10 &<V\ \ \ K +9 &>T\ \ \ K +10 &@LT\ \ \ K +9 &BW\ \ \ J +9 &C^\ \ \ K +10 &Ec\ \ \ \ L +9 &GKo\ \ \ N +9 &I\ "\ \ Q +10 &J\ 3\ /\ U +9 &Lt\ 6\ 8\ X +10 &N9\ 6\ 7\ W +9 &O\ 4\ 4\ W +9 &Q\ 5\ 4\ W +10 &Sx\ 2\ 4\ Y +9 &U:\ 4\ 5\ Y +9 &V\ 4\ 5\ Z +10 &X\ 4\ 5\ [ +9 &Z}\ 6\ 4\ Z +10 &\\x\ 6\ 5\ 0 +9 &\\0\ 5\ 4\ ^ +9 ( +2 "collection"'3& +3 "core" &\\f\ 3\ 5\ N +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&1 +64 "core" 1 + "manipulator"&q% +4 "core" % I @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%:& +3 "core" &Q\ +2 "manipulator"&j% +4 "core" %   # +2 "storage"(J% +4 "core" % "\  +2 "storage"(f. +4 "core" .(<- + "storage"(c& +4 "core" &<+ \  +2 "storage"(S& +4 "core" &<+ & \  +2 "manipulator"&u& +3 "core" &ӟ  . +2 "manipulator"&/% +4 "core" %  0 # +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&V( +152 "core" ( +2 "manipulator"&O& +3 "core" &  +2 "storage"(& +4 "core" &<+ ' ) \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +92 "core" ' + "storage"( & +4 "core" &<+ I P ?\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +298 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ ' - I\  +2 "manipulator"&& +51 "core" & * +4 .tElbow.seek 5 + "manipulator"&|( +3 "core" ( +2 "manipulator"&^& +5 "core" & 7 +2 "storage"(D& +3 "core" &<+ . 0 \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&!/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +6 "core" & $ +3 "manipulator"&E% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&2( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&m& +3 "core" & 6 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +3 "core" & 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +92 "core" ' +2 "manipulator"&l& +4 "core" & 6 +2 "manipulator"&% +4 "core" % # x +2 "processing"%9& +4 "core" &p\ +3 "processing"%e& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(^ +5 "core" &\ +7 &5\ #c +9 &U|\ 7 +9 &v\ K +10 &R>\ N +9 &eS\ M +9 &(T\ M +10 &U\ M +9 &R\ M +10 &mU\ M +9 &/T\ M +9 &Q\ M +10 &!U\ M +9 &#tT\ N +9 &%7S\ M +10 &&R\ M +9 &(V\ M +10 &*|T\ N +9 &,?U\ M +9 &.P\ M +10 &/U\ N +9 &1S\ M +9 &3GV\ M +10 &5 T\ M +9 &6R.\ M +10 &8W\ M +9 &:OV\ M +9 &<X\ M +10 &=X\ M +9 &?S\ M +9 &AVW\ N +10 &C`\ O +9 &DdR\ O +10 &Fo\ Q +9 &HR}K\ R +9 &J\ S +10 &K\ T +9 &M\ T +9 &OS4\ T +10 &Q\ U +9 &R;\ T +10 &T<\ U +9 &VY1\ U +9 &X\ T +10 &Y\ U +9 &[D\ U +9 &]`\ B +10 &^Jy\ M +9 &^NL\ 8 +5 ( +2 "processing"%e& +4 "core" &^.\ 8 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&{1 +62 "core" 1 + "manipulator"&\\% +4 "core" %    3 x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +2 "processing"%& +3 "core" &^.\ 8 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&@% +4 "core" % \   +2 "storage"(% +4 "core" % ' &\  +2 "storage"(. +3 "core" .(<- +2 "storage"(& +4 "core" &<+ * $ !\  +3 "storage"(~& +4 "manipulator"&]& +3 "core" &<+ ' ' \  +2 &   ? 6 +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(7'r +2 "manipulator"&(( +6 "core" ( +2 "manipulator"&'& +3 "core" &    6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &w& +2 "core" &  6 +3 .tForearm.seek PC +2 "manipulator"&>' +91 "core" ' + .tHand.close +2 "manipulator"&%/ +53 "core" / +3 .tPC.seek :open + "processing"% ( +97 "core" ' + "storage"(A- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'1 +42 "core" ' +305 ( + "storage"(& +4 "core" &<+\  T O\  +2 "manipulator"&n& +4 "core" &  6 +2 "manipulator"&i% +4 "core" %  \\ +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&g( +242 "core" ( +2 "manipulator"&4& +4 "core" & 9 +42 "storage"(& +11 "core" &<+ J m\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +96 "core" ' + .tHand.open +2 "manipulator"&M1 +53 "core" 1 +2 "storage"(r- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(y' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(a' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(o- +3 "core" -' +2 "storage"(`& +4 "core" &<+\ \  `\  +2 "manipulator"&& +4 "core" &  9 +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&?& +3 "core" &   9 +2 "storage"("& +4 "core" &<+\ \  V\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +51 "core" ' +2 "manipulator"&b& +4 "core" & 9 +2 "storage"(& +3 "core" &<+ J H\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&k'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(-' +18 "core" ' +2 "manipulator"&P% +4 "core" %Ε ! +2 "storage"(x& +4 "core" &<+ M S\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&+' +14 "core" ' + "manipulator"&t& +4 "core" & T # +2 "storage"(&& +4 "core" &<+\ \  K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +16 "core" ' +2 "storage"(Y% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(8' +99 ()% +3 "core" %UQ\  \ Xi +2 "manipulator"&T% +4 "core" %/  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ($& +3 "core" &<+ a {\  +2 "collection"'X& +4 "core" &\\f\ +\ ,\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %    +3 "storage"(}% +3 "core" % ' ' \  +2 "storage"(\ . +4 "core" .(<- + "storage"(& +5 "core" &<+ ' '\  + "storage"(& +5 "core" &<+ . - F\  +2 "manipulator"& & +3 "core" &  # +2 .tElbow.seek 5 +2 "manipulator"&U( +25 "core" ( +2 "manipulator"&z& +3 "core" &  +2 "storage"(0& +5 "core" &<+ ? E K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +92 "core" ' + "storage"(& +4 "core" &<+ J S 6\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +298 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +4 "core" &  +2 "storage"([& +3 "core" &<+ . . B\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&Z'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(B- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(5'w +28 "core" ' +41 "manipulator"&H% +11 "core" %Ώ   +2 "storage"(& +4 "core" &<+ & _\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&.'ϻ +14 "core" ' +2 "manipulator"&=& +3 "core" &  m  +3 "storage"(6& +3 "core" &<+ - . #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +13 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(q' +35 "core" ' +2 "manipulator"&:& +4 "core" & Z  +2 "manipulator"&j% +4 "core" %Q + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3(ӂ +157 "core" ( +2 "manipulator"&f& +4 "core" &Ӑ  & 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &Ӑ < 6 +2 .tForearm.seek CC +2 "manipulator"&S'? +91 "core" ' + .tHand.close +2 "manipulator"&u/ +58 "core" / +2 .tCC.seek :open + "collection"'/( +446 "core" ( +2 "storage"(v& +3 "core" &<+ T S Q\  +3 "storage"(O& +3 "core" &<+ S Q N\  +2 "manipulator"&& +4 "core" &ӧ  3 +2 "manipulator"& % +4 "core" % O  - +2 .tForearm.seek :retract +2 "manipulator"&s' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&<( +166 "core" ( + "manipulator"&K& +4 "core" &  7  +2 "storage"(& +10 "core" &<+ F B \\\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +101 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&D1 +62 "core" 1 +3 "manipulator"&!% +4 "core" % Ί  + "storage"(& +4 "core" &<+ Q G &\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 297 counts +2 "manipulator"&E'϶ +13 "core" ' +2 "manipulator"&V& +3 "core" & `  +2 "storage"(G& +5 "core" &<+ n l \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +27 "core" ' +2 "storage"(% +4 "core" % m m \ +3 ."downElevator"SE.seek :down +4 "storage"(m' +98 (L% +3 "core" %I K R\ Vb +2 "manipulator"&|% +4 "core" %s * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +90 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&9% +4 "core" %   7  +2 "storage"(% +4 "core" % j j }\  +2 "storage"( . +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &K\ &\ :\  +2 "manipulator"&\\& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&@& +4 "core" & \   +2 "storage"(& +3 "core" &K m l\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +99 "core" ' +2 "storage"(& +4 "core" &K k ` \  +48 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +296 "core" ' +2 "storage"(~- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &K I O P\  +2 "manipulator"&'& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&w( +4 "core" ( +2 "manipulator"&R& +3 "core" &  {  +2 "storage"(%& +5 "core" &K G P K\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&A'h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +5 "storage"(F' +3 "core" & )  +2 "manipulator"&7% +5 "core" % \\   +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&i& +4 "core" &Ӓ @ 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &Ӓ S 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'? +98 "core" ' +2 "manipulator"&& +4 "core" &Ӓ 2 +2 "manipulator"&(% +5 "core" %E   +2 "collection"'M& +5 "core" &\ \ \ +2 "collection"'r& +6 "core" & \ \ +2 .tCC.seek :closed +3 "collection"'o(\\ +4 "core" & \ +4 & \ : +10 &KKv \ \ 0 +9 &v} \ E +9 &.[\ \ \ K +10 &V\ \ \ J +9 &U\ \ \ J +9 &wT\ \ \ J +10 &8W\ \ \ K +9 &T\ \ \ K +10 &R\ \ \ K +9 &X\ \ \ J +9 &!@R\ \ \ K +10 &#W\ \ \ K +9 &$U\ \ \ K +9 &&R\ \ \ J +10 &(IU\ \ \ J +9 &*\ R\ \ \ K +10 &+W\ \ \ J +9 &-T\ \ \ J +9 &/PY\ \ \ K +10 &1U\ \ \ K +9 &2W\ \ \ J +9 &4T\ \ \ J +10 &6YT\ \ \ J +9 &8Y\ \ \ K +10 &9X\ \ \ K +9 &;Y\ \ \ K +9 &=_\\\ \ \ K +10 &?\\\ \ \ L +9 &@X\ \ \ J +9 &B[\ \ \ K +10 &Ddb\ \ \ L +9 &F!o\ \ \ N +10 &G\ !\ \ P +9 &I\ 8\ 4\ U +9 &KM\ @\ @\ W +10 &M \ ?\ ?\ W +9 &N\ =\ <\ W +9 &P\ =\ >\ X +10 &RR\ <\ <\ X +9 &T\ ;\ <\ Z +10 &U\ ;\ ;\ Z +9 &W\ 6\ <\ Z +9 &YR\ 8\ 9\ Z +10 &[\ :\ 9\ [\ +9 &\\eG\ 7\ 6\ 2 +9 &\\\ 5\ 7\ M +6 ( +2 "collection"'r& +4 "core" &\\b\ 2\ 3\ L +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&`1 +64 "core" 1 +2 "manipulator"&% +3 "core" % E <  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +95 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%"& +3 "core" &]\ +3 "manipulator"&% +4 "core" %  )  +2 "storage"(b% +4 "core" % . / l\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(P(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" &K a\  +2 "manipulator"&N& +3 "core" &\   !q +3 "manipulator"&t% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&&( +146 "core" ( +2 "manipulator"&y& +3 "core" &  ;  +3 "storage"(Y& +3 "core" &K > 3 /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +96 "core" ' +2 "storage"( & +4 "core" &K T U \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +306 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (T& +3 "core" &K\ \  ;\  +2 "manipulator"&1& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&_& +4 "core" &  +48 "storage"(k& +6 "core" &K "\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&+'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&$/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& +2 "storage"(' +9 "core" &  +2 "manipulator"&}% +4 "core" % p +3 .tForearm.seek :retract + "manipulator"&\ ' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&& +4 "core" & < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & , < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' +2 "manipulator"&z& +3 "core" &   < +3 "manipulator"&0% +3 "core" % ] +3 "processing"%I& +3 "core" &b\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%8(^ +5 "core" &\ +5 &.\ #b +10 &Vz'\ 6 +9 &y0\ K +10 &R)\ M +9 &`T\ N +9 &#R\ M +10 &U1\ N +9 &T\ M +9 &iP\ M +10 &*T\ N +9 &R\ M +10 &!T/\ M +9 &#qT\ M +9 &%4O\ M +10 &&U\ M +9 &(Q.\ M +10 &*yU,\ M +9 &,;U\ M +9 &-Q\ M +10 &/U\ M +9 &1Q'\ M +9 &3CT\ M +10 &5U\ M +9 &6U\ M +9 &8R\ M +10 &:KV)\ M +9 &< W"\ M +10 &=U\ N +9 &?W.\ M +9 &ARU;\ N +10 &C`O\ O +9 &Db[\ O +9 &Fn\ P +10 &HOy\ Q +9 &J \ S +10 &K\ T +9 &M\ T +9 &OP(\ T +10 &Q\ T +9 &R\ T +9 &T\ U +10 &VW\ T +9 &X1\ T +10 &Y<\ U +9 &['\ U +9 &][\ C +10 &^Hxq\ U +9 &^ T \ 3 +5 ( +2 "processing"%& +4 "core" &^% \ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator" +59 "core" 1 + "manipulator"&h% +5 "core" %  \  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +97 "core" ' + "processing"%d& +4 "core" &^$\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&[% +3 "core" %    " +2 "storage"(B% +4 "core" %\ \ \  +2 "storage"(H. +3 "core" .(K +2 "storage"(& +3 "core" &K\ \  \  +3 "storage"(=& +3 "manipulator"&6& +6 "core" &K\ \  3\  + &  P < +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&:( +7 ."raiseStack"SE.seek :beamBreak + "storage"(j'r +3 "core" ( + "manipulator"&W& +5 "core" &   < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +4 "core" &  9 < +2 .tForearm.seek PC +2 "manipulator"&*' +98 "core" ' +2 .tHand.close + "manipulator"&Z/ +58 "core" / +3 .tPC.seek :open +2 "processing"%.( +90 "core" ' + "storage"(5- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'1 +40 "core" ' +316 ( +2 "storage"(c& +3 "core" &K\ "\  \  +2 "manipulator"&& +4 "core" &  < +2 "manipulator"&;% +4 "core" %   \\ +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&J( +244 "core" ( + "manipulator"&& +4 "core" & G +2 "storage"(v& +4 "core" &K M 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&O' +133 "core" ' +9 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(K' +25 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(S- +3 "core" -' +2 "storage"(3& +4 "core" &K \  +2 "manipulator"&D& +4 "core" &   F +2 .tElbow.seek 6 +2 "manipulator"&!( +4 "core" ( +2 "manipulator"&& +3 "core" &   0 F +2 "storage"(V& +4 "core" &K \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&G' +18 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' + "manipulator"&s& +5 "core" & F F +2 "storage"(L& +4 "core" &K\ \  ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&|'< +20 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&E% +4 "core" %O +2 "storage"(& +3 "core" &K O z\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&9'{ +14 "core" ' + "manipulator"&& +5 "core" & * F + "storage"( & +5 "core" &K & " !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +15 "core" ' + "storage"(,% +5 "core" % " &\ +2 ."downElevator"SE.seek :down +4 "storage"(m' +98 (p% +3 "core" %@S\  F\ Yj +2 "manipulator"&{% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (@& +3 "core" &K &  m\  +2 "collection"'& +4 "core" &\\a\ +\ +\ L +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %   +3 "storage"(^% +3 "core" % , ) \  +2 "storage"(l. +4 "core" .(K + "storage"(~& +4 "core" &K ' ( \  +2 "storage"(]& +4 "core" &K ' '\  +2 "manipulator"&'& +4 "core" & F +2 .tElbow.seek 6 +2 "manipulator"&R( +4 "core" ( + "manipulator"&%& +4 "core" & U F +2 "storage"(2& +4 "core" &K ' %\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +96 "core" ' + "storage"(7& +4 "core" &K I G w\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +306 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" & F +2 "storage"(>& +4 "core" &K\ \  4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&e'< +19 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(('t +30 "core" ' + "manipulator"&M% +4 "core" %D / +2 "storage"(w& +3 "core" &K \ !\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +46 "manipulator"&F'p +17 "core" ' +2 "manipulator"&& +3 "core" & F +2 "storage"(/& +4 "core" &K & \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +41 "core" ' + "manipulator"&"& +4 "core" &  F +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&r& +4 "core" &ӟ R 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &ӟ 2 3 +2 .tForearm.seek CC +2 "manipulator"&N'? +99 "core" ' + .tHand.close +2 "manipulator"&t/ +56 "core" / +2 .tCC.seek :open +2 "collection"'4( +449 "core" ( + "storage"(y& +4 "core" &K T T #\  +2 "storage"(Y& +4 "core" &K G J u\  +2 "manipulator"&& +3 "core" & 1 & +2 "manipulator"& % +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&n' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&?( +141 "core" ( + "manipulator"&)& +4 "core" & +2 "storage"(T& +4 "core" &K k l \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&1'< +94 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +54 "core" 1 +2 "manipulator"&$% +4 "core" % 8 < 5 +2 "storage"(X& +3 "core" &K m k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 296 counts + "manipulator"&}'d +13 "core" ' +2 "manipulator"&&& +3 "core" & 7 +2 "storage"(g& +5 "core" &K k n \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +24 "core" ' + "storage"(+% +4 "core" % j ` \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %B  ) f\ Vb +2 "manipulator"&% +4 "core" %  S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +94 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'0& +4 "core" & \ +2 "manipulator"&I% +4 "core" % \   +2 "storage"(% +4 "core" % ` h \  +2 "storage"(\ . +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +3 "core" &,{ L I ?\ +2 "manipulator"&h& +3 "core" &  u +3 .tElbow.seek 4 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&[& +3 "core" &  u +2 "storage"(B& +4 "core" &,{ ] ] K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&H' +92 "core" ' +2 "storage"(& +3 "core" &,{ d D\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(6- +49 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (=& +4 "core" &,k F Q E\  +2 "manipulator"&W& +3 "core" & +3 .tElbow.seek 4 + "manipulator"&U( +4 "core" ( +2 "manipulator"& & +3 "core" &  4 +2 "storage"(Z& +4 "core" &,k T T o\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&5'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& +2 "storage"(8' +7 "core" & ~ + "manipulator"&j% +4 "core" % l 7 ] +2 .tForearm.seek :retract +2 "manipulator"&c' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&;& +4 "core" &Ӕ ( 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &Ӕ 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&v& +4 "core" &Ӕ 7 +2 "manipulator"&:% +5 "core" %? l +2 "collection"'& +4 "core" &\ \ +2 "collection"' & +5 "core" & \ +3 .tCC.seek :closed + "collection"'S(\\ +4 "core" & \  +9 &6} \ +{ +10 & g~ \ > +9 &k\ \ \ L +9 &^R\ \ \ K +10 & X\ \ K +9 &X\ \ \ J +9 &R\ \ \ K +10 &gR\ \ \ J +9 &(T\ \ \ K +10 &R\ \ \ J +9 & T\ \ \ J +9 &"nX\ \ \ K +10 &$1X\ \ \ J +9 &%T\ \ \ K +9 &'R\ \ \ J +10 &)wT\ \ \ J +9 &+8W\ \ \ K +10 &,V\ \ \ K +9 &.R\ \ \ K +9 &0~X\ \ \ K +10 &2?V\ \ \ K +9 &4X\ \ \ K +9 &5Y\ \ \ K +10 &7V\ \ \ K +9 &9GR\ \ \ K +10 &; W\ \ \ K +9 &<W\ \ \ K +9 &>Y\ \ \ K +10 &@OU\ \ \ K +9 &BW\ \ \ K +9 &C]\ \ \ \ L +10 &Ee\ \ \ L +9 &GNs\ \ \ N +10 &I\ !\ \ Q +9 &J\ 3\ 0\ V +9 &L{\ 4\ 5\ W +10 &N;\ 2\ 4\ W +9 &O\ 1\ 3\ X +9 &Q\ 0\ 2\ X +10 &S}\ 2\ 1\ Y +9 &U?\ 3\ 0\ Y +10 &V\ 3\ 2\ Z +9 &X\ 2\ 1\ Z +9 &Z~\ 2\ 1\ [\ +10 &\\"y\ 1\ 2\ / +9 &\\0\ 1\ 2\ ` +9 ( +2 &\\k\ 1\ 4\ L +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&u1 +55 "core" 1 +3 "manipulator"&3% +3 "core" % ?  l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&V% +4 "core" %  0  +2 "storage"(s% +5 "core" % # , /\  + "storage"(L. +3 "core" .(,y +2 "storage"(f& +4 "core" &,k * # T\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(E(,y +29 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &,y ! # h\ +2 "manipulator"&K& +3 "core" &ӭ 4 +2 "manipulator"&% +4 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +163 "core" ( +2 "manipulator"&,& +3 "core" &  +3 "storage"(J& +3 "core" &,y 2 A K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +100 "core" ' + "storage"(& +4 "core" &,y T U \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(p'r +297 "core" ' +2 "storage"({- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (G& +3 "core" &,l \ & @\ +2 "manipulator"&!& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&|& +5 "core" & i  + "storage"(@& +4 "core" &,l J n\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&9'c +51 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(^' +8 "core" & (  +2 "manipulator"&l% +4 "core" % l  z +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&]& +3 "core" & 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &'& +2 "core" & 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&%' +94 "core" ' +2 "manipulator"&2& +3 "core" & @ 7 +2 "manipulator"&q% +4 "core" %  " +3 "processing"%7& +3 "core" &2\ +3 "processing"%m& +5 "core" &.\ +3 .tPC.seek :closed +3 "processing"%<(^ +2 "core" &)\ +6 &*\ 5 +10 &5Gt'\ 0 +9 &]p~\ D +9 &`.\ N +10 &R/\ M +9 &Q/\ M +10 &DQ,\ M +9 &T&\ M +9 &U'\ M +10 &R\ M +9 &LW+\ M +9 &!V\ M +10 &"W,\ M +9 &$X*\ N +10 &&TT\ M +9 &(R*\ N +9 &)U)\ N +10 &+T1\ N +9 &-\\V\ M +9 &/U1\ N +10 &0U7\ M +9 &2U'\ N +10 &4dS(\ M +9 &6&R)\ M +9 &7R%\ M +10 &9T%\ M +9 &;lY&\ M +9 &=-S;\ N +10 &>Z+\ N +9 &@X\ N +10 &Br[\ N +9 &D2_!\ O +9 &Eh\ O +10 &Gu%\ Q +9 &Ik \ S +9 &K+/\ T +10 &L)\ T +9 &N%\ T +10 &Pp\ T +9 &R0\ U +9 &S\ U +10 &U\ T +9 &Ws#\ V +9 &Y9'\ T +10 &Z$\ U +9 &\\\ U +10 &^2]t$\ 5 +9 &^4!\ & +5 ( +2 "processing"%m& +4 "core" &^#\ & +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&\\1 +58 "core" 1 +2 "manipulator"&% +4 "core" %  5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +90 "core" ' +3 "processing"%>& +3 "core" &^\ & +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %      +2 "storage"(M% +4 "core" % # !\  +2 "storage"(w. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (/& +2 "manipulator"&"& +4 "core" &,|\  ^ D\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & $ 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&Q( +6 "core" ( +2 "manipulator"&R& +4 "core" &   r 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  K 7 +2 .tForearm.seek PC +2 "manipulator"&e' +93 "core" ' +2 .tHand.close + "manipulator"&F/ +63 "core" / +2 .tPC.seek :open +2 "processing"%(( +89 "core" ' +2 "storage"(r- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +45 "core" ' +310 ( +2 "storage"(`& +3 "core" &,i\  K \ +2 "manipulator"&A& +4 "core" & 7 +2 "manipulator"&t% +4 "core" %  A +2 .tForearm.seek :retract +2 "manipulator"&b' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&o( +243 "core" ( + "manipulator"&y& +5 "core" & F + "storage"(Y& +4 "core" &,i M m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +47 "manipulator"&' +99 "core" ' +2 .tHand.open +2 "manipulator"& 1 +54 "core" 1 +2 "storage"()- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(T' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(N' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(k& +4 "core" &,i \ +2 "manipulator"&$& +4 "core" &   F +2 .tElbow.seek 4 +2 "manipulator"&X( +4 "core" ( + "manipulator"&&& +4 "core" &   A F +2 "storage"(g& +4 "core" &,i c\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(n'" +52 "core" ' +2 "manipulator"&& +3 "core" & F +2 "storage"(& +4 "core" &,i M S\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&?'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(}' +18 "core" ' + "manipulator"&0% +4 "core" %9 F +2 "storage"(I& +4 "core" &,i K c\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 302 counts +2 "manipulator"&'e +13 "core" ' +2 "manipulator"&\ & +4 "core" & < F +2 "storage"(& +4 "core" &,i N\ + i\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +16 "core" ' +2 "storage"(% +3 "core" %\ \  $\ +3 ."downElevator"SE.seek :down +3 "storage"(P' +99 (#% +4 "core" %;N\  O\ Xg +2 "manipulator"&h% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +87 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (B& +3 "core" &,i ' g\ +2 "collection"'& +4 "core" &\\k\ *\ +\ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&_% +3 "core" %    +3 "storage"(z% +3 "core" % % % \  +2 "storage"(6. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(=(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &,} $ ! 2\ +2 "manipulator"& & +4 "core" & L E +2 .tElbow.seek 4 +2 "manipulator"&Z( +4 "core" ( +2 "manipulator"&-& +3 "core" & E +2 "storage"(C& +4 "core" &,} & ' \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +98 "core" ' +2 "storage"(d& +3 "core" &,} ) & \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +302 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" &  E +2 "storage"(& +5 "core" &,l P \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&5'7 +14 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(:- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +29 "core" ' + "manipulator"&U% +49 "core" %4 ' C +4 "storage"(8& +3 "core" &,l P \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 297 counts +2 "manipulator"&c'` +14 "core" ' + "manipulator"&4& +4 "core" &  E +2 "storage"(u& +4 "core" &,l\ \  "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&V& +4 "core" & a E +2 "manipulator"&s% +4 "core" % ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +151 "core" ( +2 "manipulator"& & +5 "core" &ӕ 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӕ  6 +3 .tForearm.seek CC +2 "manipulator"&K'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "storage"(,& +3 "core" &,l l k \  +2 "storage"(J& +4 "core" &,l l k \  +2 "manipulator"& & +4 "core" &Ӫ d 3 +2 "manipulator"&% +4 "core" % I  ~ ! +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&D( +164 "core" ( +2 "manipulator"&{& +3 "core" &   +2 "storage"(G& +4 "core" &,l ^ ] G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&!'7 +99 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +64 "core" 1 +3 "manipulator"&% +3 "core" % ?    +3 "storage"(& +3 "core" &,l K R +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts +2 "manipulator"&l'k +13 "core" ' +2 "manipulator"& & +4 "core" & P  +2 "storage"(O& +3 "core" &,l = G \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +17 "core" ' + "storage"(9% +4 "core" % R k \ +3 ."downElevator"SE.seek :down +4 "storage"(]' +98 ('% +3 "core" %~C 1 \ Va +2 "manipulator"&% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'q& +3 "core" & \ +3 "manipulator"&7% +3 "core" %   +2 "storage"(^% +4 "core" % k j \  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(.(<- +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (\\& +2 "core" &<.\ \  y\  +3 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&>( +5 "core" ( + "manipulator"&& +4 "core" &  ( ~ +2 "storage"(M& +4 "core" &<. i _ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +96 "core" ' +2 "storage"(m& +3 "core" &<. N\  +2 .tSE.reconfigure :pick +48 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(/'r +297 "core" ' +2 "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (R& +3 "core" &<. K G \  +2 "manipulator"&& +4 "core" & T ~ +2 .tElbow.seek 5 +2 "manipulator"&%( +4 "core" ( +2 "manipulator"&F& +3 "core" &  ~ +2 "storage"(E& +4 "core" &<. U U \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&r'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& +2 "storage"(<' +6 "core" & } ~ +2 "manipulator"&% +5 "core" % Ͼ  g +3 .tForearm.seek :retract +2 "manipulator"&`' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&A(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&t& +5 "core" &Ӓ f 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &Ӓ o 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&y'? +90 "core" ' +3 "manipulator"&Y& +4 "core" &Ӓ  2 +2 "manipulator"&Q% +4 "core" %B  o j +2 "collection"' & +4 "core" & \ +3 "collection"')& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'b(\\ +5 "core" & \ +7 &; \ $f +9 &Xx\ \ 7 +10 &v \ \ J +9 &Q\ \ \ K +9 &W \ \ K +10 &HW\ \ \ J +9 &\ T\ \ \ J +10 &R\ \ \ K +9 &R\ \ \ J +9 &OT\ \ \ J +10 & R\ \ \ K +9 &!R\ \ \ K +9 &#T\ \ \ J +10 &%WV\ \ \ J +9 &'S\ \ \ J +10 &(S\ \ \ J +9 &*Q\ \ \ K +9 &,_R\ \ \ K +10 &.!R\ \ \ K +9 &/R\ \ \ K +10 &1S\ \ \ K +9 &3gQ\ \ \ K +9 &5)Q\ \ \ K +10 &6R\ \ \ K +9 &8R\ \ \ K +9 &:oR\ \ \ K +10 &<1R\ \ \ K +9 &=T\ \ \ J +10 &?U\ \ \ K +9 &AvZ\ \ \ K +9 &C7Y\ \ \ K +10 &Da\ \ \ L +9 &Fj\ \ \ M +9 &Ho\ \ \ P +10 &J%\ -\ (\ T +9 &K\ 7\ 6\ V +10 &M\ 4\ 5\ X +9 &Oa\ 5\ 3\ W +9 &Q!\ 4\ 2\ X +10 &R\ 3\ 4\ X +9 &T\ 4\ 3\ Y +9 &Vb\ 3\ 4\ Z +10 &X#\ 3\ 3\ Z +9 &Y\ 5\ 3\ \\ +9 &[\ 4\ 4\ H +10 &\\2\ 5\ 4\ 3 +9 &\\p\ 4\ 3\ O +3 ( +2 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&k% +4 "core" % B j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%&& +4 "core" &1\ +2 "manipulator"&g% +4 "core" % \  '  +2 "storage"(% +4 "core" % / . \  +2 "storage"(. +3 "core" .(<- +2 "storage"(0& +3 "core" &<. / . \\\  +2 "storage"(I& +4 "core" &<. / . \  +2 "manipulator"&x& +4 "core" &ӧ  / +2 "manipulator"&\ % +4 "core" % \   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +159 "core" ( +2 "manipulator"&T& +4 "core" & *  +2 "storage"(& +4 "core" &<. J G P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&o'O +92 "core" ' + "storage"(& +4 "core" &<. J G 5\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +308 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (h& +3 "core" &<. M ^\  +2 "manipulator"&+& +3 "core" & v  +3 .tElbow.seek 5 + "manipulator"&X( +3 "core" ( +2 "manipulator"&n& +4 "core" & O  +2 "storage"(?& +4 "core" &<. L V\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&B'Ϲ +34 "core" ' +2 .tForearm.reconfigure :loose +49 "manipulator"&#Q@2^d^b +5 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(_' +9 "core" & b  +2 "manipulator"&z% +3 "core" %   V +3 .tForearm.seek :retract +2 "manipulator"&6' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&W& +4 "core" & > K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  q K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-' +101 "core" ' +2 "manipulator"&C& +3 "core" & = K +2 "manipulator"&a% +4 "core" % +3 "processing"%d& +3 "core" &\ +3 "processing"%P& +5 "core" &\ \ +3 .tPC.seek :closed + "processing"%(^ +4 "core" &/\ +8 &=8\ $f +9 &X{.\ 8 +10 &x8\ L +9 &P8\ M +9 &}X4\ N +10 &@S0\ M +9 &U:\ M +9 &V5\ M +10 &W6\ M +9 &HS9\ M +10 & \ T5\ M +9 &!U0\ M +9 &#W2\ M +10 &%PR0\ M +9 &'R7\ M +9 &(T6\ M +10 &*U6\ N +9 &,XW5\ M +10 &.U-\ M +9 &/X4\ N +9 &1U(\ M +10 &3aT+\ M +9 &5!T+\ N +10 &6W*\ M +9 &8X7\ N +9 &:hW\ M +10 &<*U#\ M +9 &=Y,\ N +9 &?T.\ N +10 &AoW'\ N +9 &C-b\ O +9 &De)\ P +10 &Fm/\ P +9 &Hh!\ S +10 &J' \ T +9 &K)\ S +9 &M\ T +10 &Ok#\ T +9 &Q+'\ U +10 &R)\ U +9 &T/\ U +9 &Vr(\ U +10 &X5#\ T +9 &Y)\ U +9 &[%\ U +10 &]x)\ B +9 &^9s'\ $k +9 &^*/\ . +6 ( +2 "processing"%P& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&11 +3 "core" &^1\ . +51 1 + "manipulator"&[% +4 "core" %   h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +89 "core" ' +2 "processing"%*& +3 "core" &^\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %     +2 "storage"(:% +4 "core" % _\  k\  +2 "storage"(U. +3 "core" .(<- +2 "storage"(8& +3 "core" &<.\  \  +3 "storage"(4& +4 "manipulator"&u& +3 "core" &<. \ (\  +2 &  K +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&V( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'r +2 "core" ( +3 "manipulator"&j& +3 "core" &  0 K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &   L K +2 .tForearm.seek PC +2 "manipulator"&H' +92 "core" ' +2 .tHand.close + "manipulator"&5/ +60 "core" / +3 .tPC.seek :open +2 "processing"%c( +91 "core" ' +2 "storage"(- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +50 "core" ' +302 ( + "storage"(& +4 "core" &<. Y h\  +2 "manipulator"&3& +4 "core" &  K +2 "manipulator"&v% +4 "core" %   i +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&L( +242 "core" ( +2 "manipulator"&S& +3 "core" & o > +2 "storage"(,& +5 "core" &<. J \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +98 "core" ' + .tHand.open +2 "manipulator"& 1 +59 "core" 1 +2 "storage"(- +3 "core" -'1 +51 .tSE.seek -0.26 Pucks below Top Plate + "storage"({' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(G' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +3 "core" -' +2 "storage"(f& +4 "core" &<. s\  +2 "manipulator"&@& +4 "core" &  $ > +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   : > +2 "storage"( & +4 "core" &<. F F #\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +52 "core" ' + "manipulator"&& +4 "core" & > +2 "storage"('& +4 "core" &<. L \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +29 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(!' +28 "core" ' +2 "manipulator"&q% +3 "core" %Β } u +2 "storage"(l& +4 "core" &<. N \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts +2 "manipulator"&7'Ͼ +15 "core" ' +2 "manipulator"&^& +3 "core" & j ' +2 "storage"(& +5 "core" &<.  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' +2 "storage"(p% +3 "core" % &  \ +3 ."downElevator"SE.seek :down +4 "storage"(]' +99 (=% +3 "core" %PO A\ Xh +2 "manipulator"&\\% +4 "core" %9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<.  # i\  +2 "collection"'M& +4 "core" &\\p\ *\ +\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&m% +4 "core" %   +2 "storage"(|% +4 "core" % ! &\  +2 "storage"(2. +3 "core" .(<- +2 "storage"("& +4 "core" &<. + ) \  +2 "storage"(R& +4 "core" &<. & '\  +2 "manipulator"&& +3 "core" & ' +3 .tElbow.seek 5 + "manipulator"&F( +21 "core" ( +2 "manipulator"&E& +3 "core" &  +3 "storage"(~& +3 "core" &<. T T m\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +96 "core" ' +2 "storage"(& +5 "core" &<. S 8 \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +300 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&t& +3 "core" &   +2 "storage"(e& +4 "core" &<. P \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&/'΍ +15 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(Q'w +30 "core" ' + "manipulator"& % +4 "core" %Π 5 +2 "storage"(%& +4 "core" &<. H\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&<' +14 "core" ' +2 "manipulator"&`& +4 "core" &   +2 "storage"(& +3 "core" &<. $ - @\  +42 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(k' +36 "core" ' + "manipulator"&&& +4 "core" &  +2 "manipulator"&g% +4 "core" %@  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&0& +3 "core" &ӎ 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &ӎ % 5 +3 .tForearm.seek CC + "manipulator"&)'? +92 "core" ' + .tHand.close +2 "manipulator"&x/ +59 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +449 "core" ( +2 "storage"(y& +3 "core" &<. U S \  +2 "storage"(T& +4 "core" &<. J S S\  +2 "manipulator"&& +4 "core" &Ө ] 1 +2 "manipulator"&% +4 "core" % P T . +2 .tForearm.seek :retract +2 "manipulator"&A' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&$( +160 "core" ( +2 "manipulator"&#& +4 "core" &  +2 "storage"(h& +3 "core" &<. W L x\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&+'΍ +100 "core" ' + .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&?1 +56 "core" 1 +2 "manipulator"&% +4 "core" % Λ   +2 "storage"(& +4 "core" &<. k k a\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +3 "manipulator"&z' +13 "core" ' +2 "manipulator"&& +3 "core" &  <  +3 "storage"(o& +3 "core" &<. l l \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +15 "core" ' +2 "storage"(B% +3 "core" % ` j \ +3 ."downElevator"SE.seek :down +4 "storage"(W' +99 ( % +2 "core" %G J c\ Wc +2 "manipulator"&X% +4 "core" %+ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'a& +3 "core" & \ +2 "manipulator"&d% +5 "core" %   + "storage"(_% +4 "core" % ` i \  +2 "storage"(6. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(((K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" &K J H W\ +2 "manipulator"&[& +5 "core" & ]  +2 .tElbow.seek 6 + "manipulator"&*( +4 "core" ( +2 "manipulator"&& +3 "core" &  m  +2 "storage"(:& +4 "core" &K ` g \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +95 "core" ' +2 "storage"(8& +3 "core" &K k c \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +295 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" &K # ?\ +2 "manipulator"&j& +3 "core" & Z  +48 .tElbow.seek 6 +4 "manipulator"&Z( +3 "core" ( +2 "manipulator"&-& +3 "core" &  A  +2 "storage"(5& +4 "core" &K I P ;\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&;& +2 "storage"(' +6 "core" & E  +3 "manipulator"&s% +3 "core" % ς  +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&v& +3 "core" &x"  ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &x" ;4 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'? +94 "core" ' +2 "manipulator"&,& +4 "core" &x" ] ;4 +2 "manipulator"&V% +5 "core" %I  O V +2 "collection"' & +3 "core" &\ \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 &A \ $f +10 &Z{ \ 7 +9 &v \ K +9 &Q \ \ J +10 &R\  \ K +9 &KQ\ \ \ K +10 & R\ \ \ K +9 &R\  \ K +9 &R\ \ \ K +10 &SR\ \ \ K +9 & W\ \ \ K +9 &!V\ \ \ J +10 &#T\ \ \ J +9 &%\\T\ \ \ J +10 &'S\ \ \ J +9 &(T\ \ \ J +9 &*T\ \ \ J +10 &,eT\ \ \ J +9 &.'T\ \ \ J +10 &/Q\ \ \ K +9 &1R\ \ \ K +9 &3lR\ \ \ K +10 &5.R\ \ \ K +9 &6R\ \ \ K +9 &8T\ \ \ J +10 &:uU\ \ \ J +9 &<6W\ \ \ K +9 &=Z\ \ \ \ K +10 &?Y\ \ \ K +9 &AzZ\ \ \ K +10 &C;]\ \ \ L +9 &De\ \ \ L +9 &Fr\ \ \ N +10 &Ho\ )\ !\ R +9 &J'\ =\ 7\ U +10 &K\ @\ >\ X +9 &M\ =\ ?\ X +9 &Of\ <\ <\ X +10 &Q%\ =\ =\ Y +9 &R\ <\ <\ Y +9 &T\ 9\ ;\ Z +10 &Vh\ ;\ 9\ Z +9 &X(\ 7\ 9\ Z +9 &Y\ 7\ 7\ [\ +10 &[\ 7\ 7\ H +9 &\\3\ 7\ 8\ 1 +10 &\\b\ 4\ 7\ L +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&K1 +55 "core" 1 + "manipulator"&f% +4 "core" % J U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &6\ +2 "manipulator"& % +4 "core" %    +2 "storage"(% +4 "core" % $ !\  +2 "storage"('. +3 "core" .(K +2 "storage"(q& +3 "core" &K % ) Z\ +2 "storage"( & +4 "core" &K % ' \ +2 "manipulator"&l& +4 "core" &  J % +2 "manipulator"&^% +4 "core" %  l  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&{( +147 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(p& +4 "core" &K I P 9\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +92 "core" ' + "storage"(J& +4 "core" &K T S \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +311 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +3 "core" &K O \ +2 "manipulator"&O& +3 "core" &   +3 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&9& +4 "core" & y  +2 "storage"(& +5 "core" &K\ \  C\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(m' +8 "core" & W  + "manipulator"&|% +4 "core" % Ϝ +2 .tForearm.seek :retract +50 "manipulator"&2' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!( +118 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +118 "core" ( + "manipulator"&"& +5 "core" & 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +2 "core" & @ 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&E& +4 "core" & 2 5 +2 "manipulator"&~% +4 "core" % u +2 "processing"%& +4 "core" &?\ +3 "processing"%& +5 "core" &<\ +3 .tPC.seek :closed +3 "processing"%](^ +2 "core" &?\ +6 &5\ 6 +9 &@Gs:\ 0 +10 &lr|=\ D +9 & _1\ N +10 &T7\ N +9 &T>\ M +9 &VQ8\ M +10 &U8\ M +9 &U6\ M +9 &T8\ N +10 &]T1\ M +9 &!P2\ M +10 &"U5\ M +9 &$T'\ N +9 &&eR4\ M +10 &('Q5\ M +9 &)Q4\ M +9 &+T4\ N +10 &-lT1\ N +9 &//T4\ M +10 &0QA\ M +9 &2T-\ N +9 &4uR6\ M +10 &67V2\ M +9 &7U3\ M +9 &9W6\ M +10 &;|Y(\ N +9 &=>U1\ N +10 &?Y.\ N +9 &@X5\ N +9 &B]+\ N +10 &DA`3\ O +9 &Fm6\ P +9 &Gw5\ Q +10 &I{2\ T +9 &K=)\ S +10 &L)\ S +9 &N\ T +9 &P(\ U +10 &RA-\ U +9 &T(\ V +9 &U)\ T +10 &W*\ U +9 &YI,\ U +10 &[\ +\ U +9 &\\\ U +9 &^Ej)\ - +10 &^J8\ 'n +9 &^9*\ / +5 ( +2 "processing"%& +4 "core" &^&\ / +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&D1 +59 "core" 1 + "manipulator"&% +4 "core" %   u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +89 "core" ' +2 "processing"%t& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&e% +3 "core" %    +2 "storage"(Y% +4 "core" % & "\ +2 "storage"( . +3 "core" .(K +2 "storage"(%& +4 "core" &K & "\ +2 "storage"(`& +3 "manipulator"&& +7 "core" &K & "\ + & \  5 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'r +2 "core" ( +3 "manipulator"&i& +3 "core" &   < 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +3 "core" &  4 5 +2 .tForearm.seek PC +2 "manipulator"&>' +94 "core" ' + .tHand.close +2 "manipulator"&// +58 "core" / +2 .tPC.seek :open +2 "processing"%<( +92 "core" ' +2 "storage"(Q- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'1 +48 "core" ' +304 ( + "storage"(I& +4 "core" &K \ " \ +2 "manipulator"&& +4 "core" &  5 +2 "manipulator"&r% +4 "core" %  K +2 .tForearm.seek :retract +2 "manipulator"&x' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +243 "core" ( + "manipulator"&b& +4 "core" & i B +2 "storage"(y& +4 "core" &K\  E T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&T' +94 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(#' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(h' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"()- +3 "core" -' +49 "storage"(& +4 "core" &K \ +3 "manipulator"&?& +4 "core" &    B +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +5 "core" & \  8 B +2 "storage"(& +3 "core" &K \ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(B'" +59 "core" ' + "manipulator"&A& +5 "core" &  B +2 "storage"( & +3 "core" &K L \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&X'< +20 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(+' +22 "Can"1\ NL +5 "core" ' +2 "manipulator"&a% +3 "core" %A  +2 "storage"(d& +4 "core" &K " % /\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 305 counts +2 "manipulator"&z'm +13 "core" ' +2 "manipulator"&_& +4 "core" & B +2 "storage"(6& +4 "core" &K . - \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +14 "core" ' +2 "storage"(N% +4 "core" % * # .\ +3 ."downElevator"SE.seek :down +4 "storage"(W' +98 (.% +3 "core" %qT \ \ Xj +2 "manipulator"&1% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K -  p\ +2 "collection"':& +4 "core" &\\`\ +\ +\ L +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&8% +4 "core" %   +2 "storage"(n% +3 "core" % ' % \  +2 "storage"(C. +3 "core" .(K +2 "storage"(u& +4 "core" &K ' % \ +2 "storage"(P& +4 "core" &K ' '\ +2 "manipulator"&j& +3 "core" & B +3 .tElbow.seek 6 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&5& +3 "core" &  B +2 "storage"(}& +5 "core" &K ' ' 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +91 "core" ' + "storage"(s& +4 "core" &K F G (\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +297 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & B +2 "storage"(H& +4 "core" &K \  /\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&4'< +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(V't +30 "core" ' + "manipulator"& % +4 "core" %K   +2 "storage"(Z& +3 "core" &K  8\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&'w +13 "core" ' + "manipulator"&& +4 "core" &  ; B +2 "storage"(\ & +4 "core" &K\ \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&K' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(f' +47 "core" ' + "manipulator"&& +4 "core" & A B +41 "manipulator"& % +11 "core" %  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +153 "core" ( +2 "manipulator"&q& +4 "core" &ӌ"  ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӌ" 5 ;4 +3 .tForearm.seek CC + "manipulator"&'? +98 "core" ' +2 .tHand.close +2 "manipulator"&l/ +53 "core" / +2 .tCC.seek :open +2 "collection"'^( +448 "core" ( +2 "storage"(& +4 "core" &K E P 6\ +2 "storage"(S& +3 "core" &K O T j\ +3 "manipulator"&p& +3 "core" & d * +2 "manipulator"&J% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&3' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&@( +150 "core" ( +2 "manipulator"&=& +5 "core" &  _  +2 "storage"(\\& +3 "core" &K F E :\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&O'< +94 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&7% +4 "core" % .  2 +2 "storage"(M& +3 "core" &K Y J -\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 286 counts +2 "manipulator"&|'Z +16 "core" ' + "manipulator"&{& +4 "core" & .  +2 "storage"(L& +4 "core" &K k j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +15 "core" ' + "storage"(% +5 "core" % l k ]\ +2 ."downElevator"SE.seek :down +4 "storage"("' +98 (R% +3 "core" %J S w\ Vb +2 "manipulator"&% +4 "core" % ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'~& +5 "core" & \ +4 "manipulator"&% +11 "core" %  R  +3 "storage"(m% +4 "core" % ` g \  +2 "storage"(2. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(c(,y +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" &,{ H G \ +2 "manipulator"&& +4 "core" & E  +2 .tElbow.seek 4 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&e& +3 "core" & \ ?  +2 "storage"(Y& +5 "core" &,{ j j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +96 "core" ' + "storage"(%& +4 "core" &,{ m ~ =\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +290 "core" ' +2 "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,k S T o\  +2 "manipulator"&i& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(/& +4 "core" &,k V V\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&Q'c +25 "core" ' +48 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"(]' +9 "core" & E  + "manipulator"&g% +4 "core" % | z +2 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( + "manipulator"&r& +4 "core" ' + &y" ) ;8 +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +5 &>& +3 "core" &y"  ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'? +93 "core" ' +2 "manipulator"&y& +4 "core" &y" : ;8 +2 "manipulator"&&% +4 "core" %= \ D +2 "collection"'& +4 "core" & \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"')(\\ +4 "core" & \ +5 & \ : +9 &JKu \ 0 +10 &v{\ \ E +9 &,Z \ \ K +10 &R\ \ \ K +9 &R\ \ \ K +9 &sQ\ \ \ K +10 &5Q\ \ \ K +9 &R\  \ K +9 &R\  \ K +10 &{R\ \ \ K +9 &!>R\ \ \ K +10 &#R\ \ \ K +9 &$R\ \ \ K +9 &&T\ \ \ J +10 &(EX\ \ \ K +9 &*V\ \ \ K +9 &+U\ \ \ K +10 &-W\ \ \ K +9 &/MW\ \ \ K +10 &1S\ \ \ K +9 &2R\ \ \ K +9 &4T\ \ \ J +10 &6UT\ \ \ K +9 &8X\ \ \ K +9 &9R\ \ \ K +10 &;T\ \ \ J +9 &=]U\ \ \ K +10 &?W\ \ \ K +9 &@V\ \ \ K +9 &B[\ \ \ L +10 &Db[\ \ \ L +9 &Fm\ \ \ N +9 &Gu\ \ \ O +10 &I\ &\ \ S +9 &KI\ 3\ 3\ W +10 &M \ 4\ 4\ W +9 &N\ 3\ 2\ W +9 &P\ 2\ 1\ Y +10 &RK\ 0\ 2\ Y +9 &T \ 3\ 2\ Y +9 &U\ 0\ 2\ Z +10 &W\ 1\ 1\ Z +9 &YM\ 0\ 0\ [ +10 &[\ 1\ 1\ [\ +9 &\\dF\ /\ 1\ 1 +9 &\\\ /\ 0\ N +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&1 +3 "core" &\\m\ .\ 0\ M +51 1 +2 "manipulator"&x% +3 "core" % = D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ \ +2 "manipulator"&% +3 "core" %    +3 "storage"(A% +3 "core" % % !\  +2 "storage"( . +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(0(,y +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +3 "core" &,} t\ +2 "manipulator"&a& +5 "core" &ө  5 + "manipulator"&d% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&_( +165 "core" ( +2 "manipulator"&6& +3 "core" &  +3 "storage"(N& +3 "core" &,} ( *\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(T& +3 "core" &,} I S &\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'r +295 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &,l\ \ \  +2 "manipulator"&o& +4 "core" & "  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&B& +3 "core" &  +2 "storage"(X& +4 "core" &,l\ (\  ~\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"(8' +8 "core" & J  +2 "manipulator"&n% +4 "core" % y $ +2 .tForearm.seek :retract +2 "manipulator"&C' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+( +161 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&u& +5 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&j' +93 "core" ' + "manipulator"&5& +4 "core" & \ +2 "manipulator"&}% +4 "core" % | W +2 "processing"%k& +4 "core" &G\ +3 "processing"%s& +5 "core" &C\ +2 .tPC.seek :closed +3 "processing"%W(^ +4 "core" &E\ +5 &;\ 6 +9 &CHs;\ / +10 &ip}3\ D +9 &\ ^2\ N +9 &T/\ M +10 &Q+\ M +9 &PT(\ N +10 &S4\ N +9 &T5\ N +9 &T6\ N +10 &XT/\ N +9 &!T4\ N +9 &"U7\ N +10 &$U3\ N +9 &&aT0\ M +10 &($S7\ M +9 &)U7\ N +9 &+T9\ N +10 &-hT+\ N +9 &/+T2\ M +9 &0R6\ M +10 &2R@\ M +9 &4qQ/\ M +10 &62W4\ N +9 &7U3\ M +9 &9T7\ M +10 &;xY8\ N +9 &=:U4\ N +9 &>Z6\ N +10 &@Y0\ N +9 &B~_0\ N +9 &D>_-\ O +10 &Em-\ P +9 &Gu!\ Q +10 &Iw-\ T +9 &K73\ T +9 &L,\ S +10 &N*\ T +9 &Py+\ V +10 &R=/\ U +9 &S+\ U +9 &U+\ U +10 &W,\ V +9 &YE*\ U +9 &[*\ U +10 &\\*\ V +9 &^<b'\ &t +9 &^Y'\ / +10 ( + &^.\ , +2 "processing"%s& +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&$1 +53 "core" 1 +2 "manipulator"&[% +3 "core" %    W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +90 "core" ' +2 "processing"%v& +3 "core" &^-\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&H% +4 "core" %    +2 "storage"(,% +4 "core" % ] \ +2 "storage"( . +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(Z(,y +52 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "manipulator"&\ & +6 "core" &,|\ !\ $ o\ + &    +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +4 "storage"( 'r +2 "core" ( +2 "manipulator"&;& +4 "core" &  E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &    +3 .tForearm.seek PC + "manipulator"&*' +93 "core" ' +2 .tHand.close + "manipulator"&4/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' + "storage"(V- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'1 +42 "core" ' +313 ( +2 "storage"( & +3 "core" &,i N &\  +2 "manipulator"&K& +4 "core" & $ +2 "manipulator"&% +4 "core" %   f +2 .tForearm.seek :retract +2 "manipulator"&l' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +238 "core" ( +2 "manipulator"&& +3 "core" & P 9 +2 "storage"(& +4 "core" &,i J y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +96 "core" ' +2 .tHand.open + "manipulator"&p1 +57 "core" 1 +2 "storage"(J- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"('& +44 "core" &,i \  +10 "manipulator"&& +4 "core" &  a 9 +2 .tElbow.seek 4 +2 "manipulator"&7( +4 "core" ( + "manipulator"&M& +4 "core" &    9 +2 "storage"({& +4 "core" &,i g\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&L' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&3& +4 "core" & | 9 +2 "storage"(R& +4 "core" &,i P '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +24 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +28 "core" ' +2 "manipulator"&~% +3 "core" %8  +3 "storage"(|& +3 "core" &,i P e\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&'d +15 "core" ' +2 "manipulator"&m& +3 "core" &   9 +2 "storage"(2& +4 "core" &,i # &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +15 "core" ' +2 "storage"(G% +3 "core" % ( (\ +3 ."downElevator"SE.seek :down +4 "storage"("' +99 ((% +3 "core" %GO \  ~\ Xh +2 "manipulator"&D% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (e& +2 "core" &,i a }\  +2 "collection"'Y& +4 "core" &\\l\ +\ (\ M +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&%% +4 "core" %  C  +2 "storage"(9% +4 "core" % ! &\  +2 "storage"(E. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(`(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,} ^\  \ +2 "manipulator"&i& +4 "core" & e 9 +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&/& +3 "core" & I 9 +2 "storage"(!& +4 "core" &,} . . \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +93 "core" ' +2 "storage"(g& +3 "core" &,} R I 5\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(t'r +301 "core" ' + "storage"( - +4 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" & 9 +2 "storage"(>& +4 "core" &,l Q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +22 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(&'g +32 "core" ' + "manipulator"&% +4 "core" %F   +2 "storage"(F& +4 "core" &,l\  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&]'r +14 "core" ' +2 "manipulator"&I& +3 "core" & { 9 +3 "storage"(^& +3 "core" &,l J\ " h\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +47 "storage"(x' +47 "core" ' +2 "manipulator"&& +3 "core" & 9 +3 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +151 "core" ( +2 "manipulator"&& +3 "core" &Ӑ  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &ӑ 8 +3 .tForearm.seek CC + "manipulator"&a'? +101 "core" ' +2 .tHand.close + "manipulator"&d/ +57 "core" / +2 .tCC.seek :open + "collection"'b( +452 "core" ( +2 "storage"(6& +3 "core" &,l H F \  +2 "storage"(N& +5 "core" &,l G H &\  +2 "manipulator"&c& +3 "core" &Ӱ  3 +2 "manipulator"&T% +4 "core" % 0 +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&?( +161 "core" ( +2 "manipulator"&.& +3 "core" &  E  +2 "storage"(1& +4 "core" &,l l k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&o'7 +99 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&X1 +58 "core" 1 +2 "manipulator"&z% +4 "core" % 1 G # +2 "storage"(:& +4 "core" &,l l k \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 294 counts +2 "manipulator"&n'] +13 "core" ' +2 "manipulator"&_& +4 "core" & \  \\  +2 "storage"(& +4 "core" &,l l p \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +21 "core" ' + "storage"(% +5 "core" % ^ ] C\ +2 ."downElevator"SE.seek :down +4 "storage"(u' +98 (P% +3 "core" %F L\ + \ Va +2 "manipulator"&% +4 "core" % u  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +86 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'}& +3 "core" & \ +2 "manipulator"&k% +5 "core" %   +2 "storage"(8% +3 "core" % ` g y\  +2 "storage"(C. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(<(<- +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ($& +3 "core" &<-\ \ \ J\  +2 "manipulator"&[& +3 "core" &   +3 .tElbow.seek 5 + "manipulator"&v( +4 "core" ( +2 "manipulator"&H& +3 "core" &  U  +2 "storage"(,& +5 "core" &<- m a \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +91 "core" ' +2 "storage"(s& +3 "core" &<- c k \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &<- P 9 A\  +2 "manipulator"&-& +4 "core" & w  +2 .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&4& +3 "core" &  ;  +2 "storage"(0& +4 "core" &<- R T p\  +48 .tForearm.seek 5 + 300 counts +3 "manipulator"&V'Ϲ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&+/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(W' +9 "core" &  + "manipulator"& % +5 "core" % ϲ V +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +151 "core" ' + ( + "manipulator"&& +2 ."downElevator"SE.stop +6 "storage"(5 +3 "core" &y" ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &*& +3 "core" &y"  ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + "manipulator"&& +4 "core" &Ӑ 8 +3 "manipulator"&% +5 "core" %8  R + "collection"'p& +4 "core" & \ +3 "collection"'J& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & \ +6 & \ ; +9 &MLx \ 1 +9 &x{ \ \ F +10 &:U \ K +9 &Q\ \ \ K +10 &W\ \ \ K +9 &W\ \ \ K +9 &BW\ \ \ K +10 &W\ \ \ K +9 &W\ \ \ K +9 &W\ \ \ K +10 &!KU\ \ \ K +9 &# V\ \ \ K +10 &$W\ \ \ K +9 &&W\ \ \ K +9 &(SW\ \ \ K +10 &*W\ \ \ K +9 &+V\ \ \ K +9 &-W\ \ \ K +10 &/[W\ \ \ K +9 &1V\ \ \ K +10 &2R\ \ \ K +9 &4R\ \ \ K +9 &6dT\ \ \ J +10 &8&T\ \ \ J +9 &9U\ \ \ K +9 &;W\ \ \ K +10 &=kS\ \ \ K +9 &?+T\ \ \ K +10 &@V\ \ \ K +9 &BX\ \ \ K +9 &Dp]\ \ \ L +10 &F-h\ \ \ M +9 &Gu\ \ \ O +9 &I\ &\ !\ S +10 &KY\ 5\ 4\ V +9 &M\ 5\ 6\ W +10 &N\ 3\ 7\ W +9 &P\ 3\ 3\ X +9 &R[\ 2\ 5\ X +10 &T\ 3\ 5\ Y +9 &U\ 5\ 3\ Z +9 &W\ 4\ 3\ Z +10 &Y[\ 4\ 2\ [\ +9 &[\ 4\ 4\ [\ +10 &\\qF\ 4\ 4\ 2 +9 &\\\ \ 3\ 4\ N +5 ( +2 "collection"'J& +4 "core" &\\q\ 1\ 4\ N +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&'1 +59 "core" 1 +2 "manipulator"&l% +3 "core" % 8 0 R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%M& +4 "core" &7\ +2 "manipulator"&{% +4 "core" %    +2 "storage"(3% +4 "core" % ( (\  +2 "storage"(R. +3 "core" .(<- +2 "storage"(q& +3 "core" &<- ( '\  +2 "storage"(=& +4 "core" &<- # ,\  +2 "manipulator"&~& +4 "core" &ӫ 4 +2 "manipulator"&|% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&m( +161 "core" ( +2 "manipulator"&2& +3 "core" &  +2 "storage"(G& +5 "core" &<- ' $ *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' +2 "storage"(S& +3 "core" &<- G F \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +298 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &<- # % \  +2 "manipulator"&L& +4 "core" & ?  +2 .tElbow.seek 5 +2 "manipulator"&7( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &<- . . a\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&e'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(%' +8 "core" & ,  +2 "manipulator"&9% +4 "core" % Ϯ  +2 .tForearm.seek :retract +2 "manipulator"&E' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +160 "core" ' + ."downElevator"SE.stop +50 "storage"(5 +29 "core" ( +2 "manipulator"&& +3 "core" & D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +3 "core" & D +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&/' +100 "core" ' +2 "manipulator"&!& +4 "core" & 7 D +2 "manipulator"&f% +4 "core" % f " +2 "processing"%g& +4 "core" &G\ +3 "processing"%"& +6 "core" &?\ +2 .tPC.seek :closed +2 "processing"%Z(^ +3 "core" &@\ +9 &6B\ #b +9 &U|D\ 6 +10 &~{8\ K +9 &S;\ M +9 &]T?\ N +10 &!Q8\ M +9 &U7\ N +10 &S7\ N +9 &fR2\ M +9 &(Q0\ M +10 &T7\ M +9 &!S@\ N +9 &#nTB\ M +10 &%1Q4\ M +9 &&T0\ N +9 &(T;\ N +10 &*vS5\ M +9 &,8Q?\ M +10 &-T:\ M +9 &/U?\ M +9 &1~R8\ M +10 &3@U5\ M +9 &5U2\ M +10 &6T9\ N +9 &8U3\ N +9 &:HU9\ M +10 &< W:\ N +9 &=U8\ N +9 &?S7\ M +10 &AOU<\ N +9 &C`3\ O +9 &Dc0\ O +10 &Fl0\ P +9 &HI7\ R +10 &J2\ T +9 &K7\ T +9 &M-\ T +10 &OK,\ T +9 &Q 2\ U +9 &R4\ U +10 &T0\ U +9 &VS*\ T +10 &X*\ U +9 &Y1\ U +9 &[*\ U +10 &]W/\ F +9 &^z@u.\ #g +9 &^,)\ . +6 ( +2 "processing"%"& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&@1 +3 "core" &^ .\ . +51 1 +2 "manipulator"&% +3 "core" %     % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' +2 "processing"%r& +3 "core" &^ .\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&>% +4 "core" % " \  ' +2 "storage"(y% +4 "core" % P \  +2 "storage"(. +3 "core" .(<- +2 "storage"(F& +3 "core" &<- I +\  +3 "storage"(I& +4 "manipulator"&^& +3 "core" &<- Q \  +3 &  C D +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&( +6 "core" ( +2 "manipulator"&w& +3 "core" &   1 D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & !  > D +2 .tForearm.seek PC +2 "manipulator"&t' +96 "core" ' + .tHand.close +2 "manipulator"&/ +57 "core" / +3 .tPC.seek :open +2 "processing"%]( +87 "core" ' +2 "storage"(&- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +312 ( +2 "storage"(#& +4 "core" &<- ! %\  +2 "manipulator"&& +4 "core" & D +2 "manipulator"&Q% +3 "core" %   A +3 .tForearm.seek :retract +2 "manipulator"&d' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&A( +244 "core" ( +2 "manipulator"&)& +3 "core" & T 8 +2 "storage"(6& +4 "core" &<- A 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&N'O +90 "core" ' + .tHand.open +2 "manipulator"&c1 +57 "core" 1 +3 "storage"(T- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(1' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(a- +4 "core" -' + "storage"( & +5 "core" &<- [ ^\  + "manipulator"&X& +4 "core" &   e 8 +2 .tElbow.seek 5 +2 "manipulator"&z( +4 "core" ( +42 "manipulator"&:& +12 "core" &   . 8 + "storage"(_& +5 "core" &<-\ \  \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&& +3 "core" &  8 +2 "storage"(P& +4 "core" &<- U\ ! A\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 + "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(o' +19 "core" ' +2 "manipulator"&}% +4 "core" %Ν  +2 "storage"(n& +4 "core" &<- I d\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&k' +14 "core" ' + "manipulator"&8& +4 "core" &  " +2 "storage"(C& +4 "core" &<- Z \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +15 "core" ' +2 "storage"(h% +5 "core" % % & \ +2 ."downElevator"SE.seek :down +3 "storage"(u' +99 (`% +3 "core" %YR n\ Yj +2 "manipulator"&$% +4 "core" %=  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +87 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (H& +3 "core" &<- _ m\  +2 "collection"',& +4 "core" &\\p\ +\ *\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&s% +3 "core" %   +3 "storage"(B% +3 "core" % / / \  +2 "storage"(5. +4 "core" .(<- + "storage"(& +5 "core" &<- & / c\  + "storage"(;& +4 "core" &<- / / }\  +2 "manipulator"&-& +4 "core" &  " +2 .tElbow.seek 5 +2 "manipulator"&4( +21 "core" ( +2 "manipulator"&0& +3 "core" &  +2 "storage"(+& +4 "core" &<- & %\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +99 "core" ' +2 "storage"( & +3 "core" &<- J G \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +299 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & Y  +2 "storage"(*& +4 "core" &<- / . '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&\ '΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('w +27 "core" ' +2 "manipulator"&p% +3 "core" %Ε   +2 "storage"(j& +4 "core" &<- . 0 {\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 308 counts + "manipulator"&W' +13 "core" ' +2 "manipulator"& & +3 "core" & T  +2 "storage"(b& +4 "core" &<- P H @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(l' +37 "core" ' +2 "manipulator"&M& +3 "core" &  +2 "manipulator"&{% +4 "core" %a 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3' +87 "core" ' +41 .tElbow.seek CC +10 "manipulator"&R(ӂ +158 "core" ( +3 "manipulator"&q& +3 "core" &Ӑ D 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &=& +3 "core" &Ӑ  8 +2 .tForearm.seek CC +2 "manipulator"&J'? +95 "core" ' +2 .tHand.close + "manipulator"&~/ +59 "core" / +2 .tCC.seek :open +2 "collection"'|( +449 "core" ( +2 "storage"(& +3 "core" &<- Q S R\  +2 "storage"(2& +4 "core" &<- T S e\  +2 "manipulator"&G& +4 "core" &ӧ w 5 +2 "manipulator"&S% +3 "core" % Q g  +3 .tForearm.seek :retract +2 "manipulator"&K' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( + "manipulator"&(& +4 "core" & e  +2 "storage"(D& +5 "core" &<- _ f ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&L'΍ +98 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % z  ' +2 "storage"(Y& +4 "core" &<- m m \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 281 counts +2 "manipulator"&9'Ϧ +15 "core" ' + "manipulator"&m& +4 "core" &  G  +2 "storage"(& +4 "core" &<- j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +15 "core" ' + "storage"(e% +4 "core" % k j \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (i% +3 "core" %L @ X\ Wd +2 "manipulator"&7% +4 "core" %/  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'f& +4 "core" & \ +2 "manipulator"&g% +4 "core" %  M  +2 "storage"(%% +4 "core" % ^ ] 0\  +2 "storage"(E. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (@& +2 "core" &K ! # /\  +2 "manipulator"&& +4 "core" & O  +2 .tElbow.seek 6 +2 "manipulator"&r( +4 "core" ( + "manipulator"&>& +4 "core" &  2  +2 "storage"(y& +4 "core" &K ] ] 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(F& +4 "core" &K p  @\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +309 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +3 "core" &K d N O\  +2 "manipulator"&w& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&/& +4 "core" & W  +2 "storage"(& +4 "core" &K a m b\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&&'h +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(Z' +53 "core" & o  +4 "manipulator"&% +4 "core" % ϒ [ +2 .tForearm.seek :retract +2 "manipulator"&#' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&Q& +4 "core" &ӊ! :+ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +2 "core" &ӊ! J :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'? +100 "core" ' +2 "manipulator"&6& +4 "core" &Ӎ  9( +2 "manipulator"&% +4 "core" %E  i +3 "collection"'c& +3 "core" & \ +3 "collection"'T& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'a(\\ +4 "core" & \ +8 &; \ %f +9 &Z{ \ 8 +9 &\ s \ K +10 &Q\ \ J +9 &T\ \ \ J +9 &QT\ \ \ J +10 &W\ \ \ K +9 &W\ \ \ K +10 &W\ \ \ K +9 &YW\ \ \ J +9 & R\ \ \ J +10 &!Q\ \ \ K +9 &#R\ \ \ J +9 &%`T\ \ \ J +10 &'!R\ \ \ K +9 &(R\ \ \ K +10 &*W\ \ \ K +9 &,hW\ \ \ K +9 &.*V\ \ \ K +10 &/T\ \ \ K +9 &1R\ \ \ K +9 &3oW\ \ \ K +10 &51W\ \ \ K +9 &6W\ \ \ K +10 &8W\ \ \ K +9 &:wW\ \ \ K +9 &<9Y\ \ \ K +10 &=Y\ \ \ K +9 &?Y\ \ \ K +9 &AW\ \ \ J +10 &C>_\ \ \ L +9 &De\ \ \ \ M +10 &Fr\ \ \ N +9 &Hr\ )\ "\ R +9 &J+\ >\ :\ U +10 &K\ ?\ @\ V +9 &M\ >\ @\ W +9 &Oj\ =\ <\ X +10 &Q,\ <\ ;\ X +9 &R\ 8\ <\ Y +10 &T\ :\ <\ Y +9 &Vk\ <\ ;\ Z +9 &X,\ :\ 9\ Z +10 &Y\ 9\ 8\ [ +9 &[\ 8\ 7\ H +9 &\\0\ 7\ 9\ 1 +10 &\\p\ 6\ 6\ O +2 ( +2 "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"& 1 +63 "core" 1 +2 "manipulator"&X% +4 "core" % υ b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%d& +3 "core" &\ +2 "manipulator"&_% +4 "core" %  "  +2 "storage"(% +4 "core" % \  +2 "storage"(P. +2 "core" .(K +2 "storage"(& +4 "core" &K ! " \  +2 "storage"(}& +5 "core" &K ' "\  + "manipulator"&.& +4 "core" & . +2 "manipulator"&n% +4 "core" %  [  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&8( +163 "core" ( +2 "manipulator"&C& +3 "core" & /  +2 "storage"(h& +4 "core" &K ' ' /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +94 "core" ' +2 "storage"(N& +4 "core" &K P F >\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'r +295 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($& +3 "core" &K L \  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&z( +4 "core" ( +2 "manipulator"&& +3 "core" & /  +2 "storage"(& +4 "core" &K\ !\ ! D\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&H'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"(s' +6 "core" &  +2 "manipulator"&B% +4 "core" % ύ  +3 .tForearm.seek :retract + "manipulator"&5' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&o( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&& +5 "core" & 3 = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" & = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&-' +146 "core" ' +3 "manipulator"&0& +4 "core" & = +2 "manipulator"&+% +4 "core" % +2 "processing"%x& +4 "core" &\ +3 "processing"% & +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%u(^ +5 "core" &>\ +6 &6B\ $d +9 &Vx9\ 7 +10 &v7\ K +9 &S8\ M +9 &cV7\ M +10 &%R8\ M +9 &X>\ N +10 &T;\ M +9 &kVB\ M +9 &-W<\ M +10 &T;\ N +9 &!TA\ N +10 &#rU=\ N +9 &%4U:\ N +9 &&W;\ N +10 &(U8\ N +9 &*zU5\ N +9 &,=UA\ M +10 &-Q6\ M +9 &/W<\ M +9 &1VA\ M +10 &3DU@\ N +9 &5T6\ M +10 &6R8\ M +9 &8S?\ M +9 &:LR:\ N +10 &<Y5\ M +9 &=T6\ M +9 &?U8\ M +10 &ATU5\ N +9 &C_8\ O +10 &Dc9\ O +9 &Fk3\ P +9 &HQy3\ Q +10 &J 1\ S +9 &K0\ S +9 &M-\ T +10 &OQ-\ T +9 &Q+\ U +10 &R+\ U +9 &T4\ U +9 &VX-\ T +10 &X/\ V +9 &Y+\ U +9 &[/\ U +10 &]_+\ B +9 &^N*\ J +10 &^?)\ ; +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&?1 +2 "core" &^9+\ ; +58 1 +2 "manipulator"&[% +4 "core" %   c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' + "processing"%& +4 "core" &^9\ ; +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&*% +3 "core" %   A  +3 "storage"(% +3 "core" % L &\  +2 "storage"(p. +3 "core" .(K +2 "storage"(j& +4 "core" &K L P\  +2 "storage"( & +5 "manipulator"&b& +4 "core" &K N \  +2 &   ' = +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +3 "storage"(M'r + "manipulator"&{( +6 "core" ( + "manipulator"&U& +5 "core" &  G = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +3 "core" &  = +2 .tForearm.seek PC +2 "manipulator"&v' +94 "core" ' +2 .tHand.close +2 "manipulator"&\ / +52 "core" / +2 .tPC.seek :open +2 "processing"%W( +99 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'1 +41 "core" ' +307 ( +2 "storage"('& +3 "core" &K " '\  +2 "manipulator"&=& +4 "core" & % = +2 "manipulator"&V% +4 "core" %  V J +2 .tForearm.seek :retract +2 "manipulator"&~' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&3( +244 "core" ( +2 "manipulator"&& +3 "core" & H +2 "storage"(& +4 "core" &K J w\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +93 "core" ' +2 .tHand.open + "manipulator"&G1 +63 "core" 1 +3 "storage"(S- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"((' +35 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(D' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' +2 "storage"(R& +3 "core" &K \  +3 "manipulator"&& +3 "core" &  & H +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&Y& +3 "core" &   b H +2 "storage"(m& +4 "core" &K I\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(e'" +51 "core" ' +9 "manipulator"&K& +5 "core" & H + "storage"(i& +4 "core" &K M ,\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&7'< +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(L' +19 "core" ' +2 "manipulator"&f% +4 "core" %; +2 "storage"(g& +4 "core" &K\ ,\ , e\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&9'g +15 "core" ' +2 "manipulator"&%& +4 "core" & H +2 "storage"(E& +3 "core" &K M \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&l' +15 "core" ' +2 "storage"(\\% +4 "core" %\ \ + j\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (<% +3 "core" %LR 7\ Yj +2 "manipulator"&@% +4 "core" %  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (>& +3 "core" &K   :\  +2 "collection"'y& +4 "core" &\\o\ ,\ -\ O +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&F% +3 "core" %   +2 "storage"(% +4 "core" % 0 0 '\  +2 "storage"(!. +2 "core" .(K +3 "storage"(^& +3 "core" &K , - \  +2 "storage"("& +5 "core" &K - . z\  + "manipulator"&w& +4 "core" &  G +2 .tElbow.seek 6 +2 "manipulator"&/( +4 "core" ( + "manipulator"&& +4 "core" & f G +2 "storage"(O& +4 "core" &K / . \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +92 "core" ' + "storage"(& +4 "core" &K 7 S :\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +296 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &  G +2 "storage"(Q& +4 "core" &K I \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&t'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('r +29 "core" ' + "manipulator"&c% +5 "core" %N + "storage"(& +4 "core" &K L .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&Z'z +16 "core" ' + "manipulator"&#& +4 "core" & ; G +2 "storage"(|& +4 "core" &K M \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(X' +43 "core" ' +2 "manipulator"&d& +4 "core" &  G +2 "manipulator"&_% +4 "core" % M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &Ӝ  J 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +3 "core" &Ӝ 3 +3 .tForearm.seek CC + "manipulator"&}'? +96 "core" ' +41 .tHand.close +9 "manipulator"&./ +62 "core" / +2 .tCC.seek :open +2 "collection"'n( +452 "core" ( +2 "storage"()& +3 "core" &K T T `\  +2 "storage"(C& +4 "core" &K J U g\  +2 "manipulator"&h& +3 "core" & K $ +3 "manipulator"&N% +4 "core" %  e +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&:( +152 "core" ( +2 "manipulator"&`& +3 "core" &   +2 "storage"($& +4 "core" &K 9 : \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&k% +4 "core" % 4  V 7 +2 "storage"(,& +3 "core" &K k l \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 292 counts +3 "manipulator"&B'` +15 "core" ' + "manipulator"&8& +4 "core" &  "  +2 "storage"(A& +4 "core" &K k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&1' +16 "core" ' + "storage"(H% +4 "core" % ] j |\ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (;% +2 "core" %I H \ Wd +2 "manipulator"&z% +4 "core" % C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +94 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'+& +3 "core" & \ +2 "manipulator"&x% +4 "core" %    +2 "storage"(s% +4 "core" % g a \  +2 "storage"(5. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(](,y +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &,| R K e\ +2 "manipulator"&[& +3 "core" &  +3 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&*& +4 "core" & \ 4  +2 "storage"(& +4 "core" &,| _ h l\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +96 "core" ' +2 "storage"(j& +4 "core" &,| m o _\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +296 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" &,k H R [\  +2 "manipulator"&U& +4 "core" & v  +2 .tElbow.seek 4 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&-& +3 "core" &  ]  +2 "storage"(\ & +4 "core" &,k T S \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(u' +7 "core" &    +2 "manipulator"&M% +4 "core" % x +2 .tForearm.seek :retract +2 "manipulator"&'' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +49 "core" ( +3 "manipulator"&V& +4 "core" &ӏ  Q 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &ӏ D 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&& +4 "core" &Ӑ # 7 +2 "manipulator"&{% +4 "core" %C   +2 "collection"'G& +5 "core" & \ +2 "collection"'S& +6 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'J(\\ +5 "core" & \ +6 &A \ \ $f +10 &Z{ \ 8 +9 &\ s\  \ K +10 &Q \ J +9 &R\ \ \ K +9 &OR\ \ \ K +10 &R \ \ K +9 &R\ \ \ K +9 &W\ \ \ K +10 &WW\ \ \ K +9 & V\ \ \ K +10 &!V\ \ \ K +9 &#W\ \ \ K +9 &%`W\ \ \ K +10 &'!T\ \ \ K +9 &(Q\ \ \ K +9 &*V\ \ \ K +10 &,hW\ \ \ J +9 &.*T\ \ \ J +10 &/T\ \ \ J +9 &1T\ \ \ J +9 &3pT\ \ \ J +10 &52T\ \ \ J +11 &6T\ \ \ J +7 &8T\ \ \ K +10 &:wW\ \ \ K +9 &<9S\ \ \ K +10 &=T\ \ \ J +9 &?U\ \ \ K +9 &AV\ \ \ K +10 &C@Z\ \ \ K +9 &Dc\ \ \ L +9 &Fk\ \ \ N +10 &Hx\ \ \ P +9 &J-\ .\ '\ U +10 &K\ 2\ 1\ V +9 &M\ 6\ 3\ X +9 &Ok\ 1\ 1\ W +10 &Q*\ 0\ 1\ X +9 &R\ 0\ 0\ Y +9 &T\ 0\ 1\ Y +10 &Vi\ 0\ 2\ [ +9 &X-\ 2\ 2\ Z +10 &Y\ 1\ 0\ [\ +9 &[\ 2\ 3\ H +9 &\\1\ 2\ 1\ / +10 &\\e\ 0\ 0\ M +2 ( +2 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&R1 +64 "core" 1 +3 "manipulator"&% +3 "core" % C  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%m& +4 "core" &G\ +2 "manipulator"&~% +4 "core" %    +2 "storage"(K% +3 "core" % ! ! $\  +2 "storage"(i. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(q(,y +25 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (f& +3 "core" &,y ' # ,\ +2 "manipulator"&g& +5 "core" &ӭ 3 + "manipulator"&%% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&E( +163 "core" ( +2 "manipulator"&(& +3 "core" &   +3 "storage"(\\& +3 "core" &,y @ 3 u\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +90 "core" ' +2 "storage"(2& +3 "core" &,y T V [\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +295 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &,l \  /\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&e& +3 "core" &   +2 "storage"(7& +4 "core" &,l K\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&>'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(F' +6 "core" &   +3 "manipulator"&% +4 "core" % W +2 .tForearm.seek :retract +2 "manipulator"&!' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&^& +4 "core" & / +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&w' +93 "core" ' +2 "manipulator"&& +4 "core" & +2 "manipulator"&O% +4 "core" % \\ +2 "processing"%l& +4 "core" &\ +51 "processing"%& +5 "core" &E\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &G\  +8 &2vF\ )w +9 &c~9\ > +10 &sqD\ N +9 &8R8\ M +10 &T5\ M +9 &T7\ N +9 &}U8\ M +10 &?Q5\ M +9 &V9\ M +9 &T6\ M +10 & Q5\ M +9 &"GW;\ M +10 &$UA\ N +9 &%R<\ M +9 &'U@\ N +10 &)OT@\ M +9 &+RA\ M +9 &,V?\ M +10 &.R=\ M +9 &0WR9\ M +10 &2Q5\ M +9 &3Q9\ M +9 &5V5\ M +10 &7_U=\ M +9 &9!W6\ M +9 &:X6\ M +10 &<Q7\ M +9 &>gW;\ M +10 &@(Y<\ N +9 &A\\5\ N +9 &Cc?\ O +10 &Eje@\ O +9 &G'p5\ Q +9 &H8\ S +10 &J5\ S +9 &Le/\ S +10 &N$5\ T +9 &O2\ T +9 &Q/\ U +10 &Sk3\ T +9 &U++\ U +9 &V+\ T +10 &X6\ T +9 &Zq.\ U +10 &\\3+\ U +9 &]zr*\ ? +9 &^K+\ F +10 &^"s*\ 5 +9 ( + &^*\ , +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&% +4 "core" %    \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 "processing"%I& +4 "core" &^,\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&Q% +3 "core" %     +3 "storage"(6% +3 "core" % & (\  +2 "storage"(c. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +2 "manipulator"&|& +5 "core" &,x ' ' 2\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(d'r +2 "manipulator"&_( +4 "core" ( +2 "manipulator"& & +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +4 "core" &  . +2 .tForearm.seek PC +2 "manipulator"&r' +95 "core" ' + .tHand.close +2 "manipulator"&t/ +62 "core" / +2 .tPC.seek :open +2 "processing"%Z( +88 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +311 ( +2 "storage"(T& +4 "core" &,g ( "\ \ +2 "manipulator"& & +4 "core" & +2 "manipulator"&&% +4 "core" %  H . +2 .tForearm.seek :retract +2 "manipulator"&.' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +239 "core" ( +2 "manipulator"&a& +3 "core" & t 3 +2 "storage"()& +4 "core" &,g % ! ?\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +92 "core" ' + .tHand.open +2 "manipulator"&h1 +64 "core" 1 +2 "storage"(N- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(`' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"($' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(}- +2 "core" -' +2 "storage"(P& +4 "core" &,g \ \ +2 "manipulator"&& +4 "core" &   3 +2 .tElbow.seek 4 +2 "manipulator"&k( +4 "core" ( +2 "manipulator"&,& +3 "core" &   3 +2 "storage"(8& +4 "core" &,g |\ \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(H'" +51 "core" ' +2 "manipulator"&& +43 "core" & [ 3 +10 "storage"(;& +3 "core" &,g \  e\ \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&z'7 +23 "core" ' +2 .tElbow.hold + "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&+% +4 "core" %7 { +2 "storage"(x& +3 "core" &,g L ,\ \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&B'c +15 "core" ' +2 "manipulator"&s& +4 "core" & 3 +2 "storage"(5& +3 "core" &,g ' 3\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +15 "core" ' +2 "storage"(1% +4 "core" % ) ' &\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +4 "core" %QQ\  C\ Xh +2 "manipulator"&?% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (*& +3 "core" &,g /  \ \ +2 "collection"'& +4 "core" &\\`\ +\ *\ M +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&j% +4 "core" %    +2 "storage"(% +4 "core" % % $ \  +2 "storage"(0. +2 "core" .(,y +3 "storage"( & +3 "core" &,g # \ \ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(b(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +3 "core" &,{ " ! \ +2 "manipulator"&-& +4 "core" & 3 +2 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&o& +4 "core" & 3 +2 "storage"( & +4 "core" &,{ % % #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +95 "core" ' +2 "storage"(& +3 "core" &,{ H G \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(p'r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 3 +2 "storage"(V& +4 "core" &,l B R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&v'7 +23 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"({'g +29 "core" ' + "manipulator"&G% +4 "core" %8 ^ +2 "storage"(u& +4 "core" &,l  Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&''d +14 "core" ' +2 "manipulator"&n& +3 "core" & 3 +3 "storage"(R& +3 "core" &,l 3 &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(m' +45 "core" ' +2 "manipulator"&~& +3 "core" & B 3 +2 "manipulator"&K% +4 "core" % 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +151 "core" ( + "manipulator"&f& +4 "core" &Ӓ  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &g& +42 "core" &Ӓ 4 +10 .tForearm.seek CC +2 "manipulator"&%'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'(( +449 "core" ( + "storage"(\\& +4 "core" &,l G P :\  +2 "storage"(]& +5 "core" &,l S S\  +2 "manipulator"&2& +3 "core" &Ӧ g 1 +2 "manipulator"&=% +4 "core" % R  +3 .tForearm.seek :retract + "manipulator"&Y' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&<( +161 "core" ( +2 "manipulator"&@& +3 "core" &  /  +3 "storage"(& +3 "core" &,l m P \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&e'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +59 "core" 1 +2 "manipulator"&y% +4 "core" % B  G +2 "storage"(& +3 "core" &,l \\ g d\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&E'n +16 "core" ' + "manipulator"&3& +5 "core" &  ]  + "storage"(D& +4 "core" &,l m m 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +15 "core" ' + "storage"(^% +4 "core" % m m \ +3 ."downElevator"SE.seek :down +4 "storage"("' +98 (% +3 "core" %D H\ ! \ Wc +2 "manipulator"&% +5 "core" % R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'l& +3 "core" & \ +2 "manipulator"&F% +4 "core" %   y  +2 "storage"(!% +4 "core" % j k {\  +2 "storage"(W. +4 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<* L h\  +3 "manipulator"&I& +3 "core" &  U  +2 .tElbow.seek 5 +2 "manipulator"&Q( +4 "core" ( + "manipulator"&6& +4 "core" & {  +2 "storage"(c& +4 "core" &<) k m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"(#& +3 "core" &<) c \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &<) G S \  +2 "manipulator"&w& +4 "core" & d  +2 .tElbow.seek 5 +2 "manipulator"&t( +4 "core" ( + "manipulator"&q& +4 "core" &  c  +2 "storage"(& +4 "core" &<) T S V\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&L'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(d' +6 "core" &   +3 "manipulator"&T% +3 "core" % ϰ +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +46 .tElbow.seek CC +4 "manipulator"&&(ӂ +107 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +46 "core" ( +2 "manipulator"&r& +3 "core" &ӏ  c 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +3 "core" &ӏ  7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'? +101 "core" ' +2 "manipulator"&_& +4 "core" &Ӑ o 7 +2 "manipulator"&h% +5 "core" %J +2 "collection"'N& +3 "core" & \ +3 "collection"'}& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'P(\\ +5 "core" &  \  +8 &4y \ *z +9 & hz \ > +10 &k \ L +9 &]R \ \ K +9 &W \ K +10 &W\ \ \ K +9 &V\ \ \ K +9 &eU\ \ \ K +10 &'X\ \ \ K +9 &V\ \ \ K +9 & V\ \ \ K +10 &"mW\ \ \ K +9 &$/W\ \ \ K +10 &%W\ \ \ K +9 &'R\ \ \ J +9 &)uR\ \ \ K +10 &+7R\ \ \ K +9 &,V\ \ \ K +10 &.V\  \ K +9 &0~W\ \ \ J +9 &2?T\ \ \ K +10 &4W\ \ \ K +9 &5W\ \ \ K +9 &7R\ \ \ K +10 &9HR\ \ \ K +9 &;\ R\ \ \ K +10 &<R\ \ \ K +9 &>U\ \ \ J +9 &@PV\ \ \ J +10 &BV\ \ \ K +9 &C]\ \ \ K +9 &Ec\ \ \ \ M +10 &GNn\ \ \ N +9 &I\ \ \ Q +10 &J\ 1\ -\ V +9 &L|\ 4\ 6\ V +9 &N:\ 6\ 4\ X +10 &O\ 5\ 3\ W +9 &Q\ 2\ 3\ X +9 &S}\ 2\ 2\ Y +10 &U?\ 2\ 2\ Y +9 &V\ 2\ 3\ Z +10 &X\ 3\ 4\ Z +9 &Z}\ 5\ 3\ [ +9 &\\"z\ 5\ 5\ / +10 &\\/\ 4\ 4\ a +9 ( + &\\e\ 3\ 5\ O +2 "collection"'}& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&1 +52 "core" 1 +3 "manipulator"&,% +3 "core" % J  5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%.& +4 "core" &\ +2 "manipulator"&% +4 "core" %    +2 "storage"(;% +4 "core" % $ + T\  +2 "storage"(. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(`(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (+& +3 "core" &<* *\  +2 "manipulator"&x& +4 "core" &Ӭ 3 +2 "manipulator"&s% +4 "core" %  \  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&5( +165 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(1& +4 "core" &<* T S 5\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +93 "core" ' +2 "storage"($& +3 "core" &<* J S Y\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +308 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (A& +3 "core" &<* P \  +2 "manipulator"&k& +4 "core" & G  +2 .tElbow.seek 5 +2 "manipulator"&H( +4 "core" ( + "manipulator"&z& +4 "core" &  +2 "storage"(B& +4 "core" &<*\ \  $\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&*'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(' +8 "core" & B  +2 "manipulator"&0% +4 "core" %  & +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +3 "manipulator"&U& +3 "core" & * 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &-& +2 "core" & Z 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&o' +95 "core" ' + "manipulator"& & +4 "core" & 5 +48 "manipulator"&X% +6 "core" % ^ @ +2 "processing"%& +4 "core" &\ +3 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &G\ +6 &6E\ $d +9 &Wx@\ 7 +10 &xA\ L +9 &R7\ M +9 &rT8\ N +10 &4U7\ N +9 &W>\ N +9 &R7\ M +10 &{Q7\ M +9 &=W5\ M +9 &V5\ M +10 &!T?\ N +9 &#UB\ N +10 &%DT<\ N +9 &'V:\ N +9 &(V8\ M +10 &*U@\ N +9 &,LU9\ N +9 &.T?\ N +10 &/V@\ N +9 &1T:\ N +10 &3UT8\ M +9 &5Q5\ M +9 &6R7\ M +10 &8R5\ M +9 &:]R8\ M +9 &<V6\ M +10 &=T6\ M +9 &?U9\ M +10 &AdW8\ N +9 &C"`5\ O +9 &Dd8\ O +10 &Fn8\ P +9 &H^8\ R +9 &J3\ S +10 &K8\ T +9 &M6\ T +10 &O`4\ T +9 &Q 1\ U +9 &R0\ T +10 &T5\ U +9 &Vi5\ T +9 &X(6\ U +10 &Y7\ U +9 &[0\ T +10 &]m/\ C +9 &^9m0\ 'r +9 &^0.\ 0 +6 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&:1 +2 "core" &^!-\ 0 +55 1 +2 "manipulator"&[% +3 "core" %     @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 "processing"%& +3 "core" &^ /\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&V% +4 "core" %  \    +2 "storage"(% +4 "core" % ^\  +2 "storage"(G. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(u(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (n& +2 "manipulator"&R& +4 "core" &<*\ \  /\  +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & \  5 +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(~'r +2 "manipulator"&K( +6 "core" ( +2 "manipulator"&M& +3 "core" &  { 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &  $ 5 +3 .tForearm.seek PC +2 "manipulator"&p' +91 "core" ' +2 .tHand.close +2 "manipulator"&v/ +62 "core" / +2 .tPC.seek :open +2 "processing"%'( +86 "core" ' + "storage"({- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'1 +47 "core" ' +310 ( +2 "storage"(g& +4 "core" &<) - . \  +2 "manipulator"&& +4 "core" & 5 +2 "manipulator"&4% +3 "core" %  R h +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&S( +250 "core" ( +2 "manipulator"&J& +3 "core" &  D a +2 "storage"(\\& +4 "core" &<)\ \  $\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +95 "core" ' + .tHand.open +2 "manipulator"&21 +59 "core" 1 +3 "storage"(=- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +4 "core" -' + "storage"(i& +4 "core" &<) >\ | +2 "manipulator"&9& +4 "core" &  a +2 .tElbow.seek 5 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&& +3 "core" &   x a +2 "storage"(3& +4 "core" &<)\ \  |\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +2 "core" ' +3 .tSE.reconfigure :gently +49 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(^'" +55 "core" ' +2 "manipulator"&Y& +3 "core" &   a +8 "storage"(& +3 "core" &<) ' ' \  +2 .tElbow.reconfigure :limp +8 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(e' +28 "core" ' +2 "manipulator"&l% +3 "core" %Ε  +3 "storage"(F& +3 "core" &<) K >\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&E' +14 "core" ' + "manipulator"&!& +4 "core" & % I +2 "storage"(W& +4 "core" &<) ' ' &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +18 "core" ' + "storage"(>% +4 "core" % . $ T\ +3 ."downElevator"SE.seek :down +3 "storage"("' +99 (b% +3 "core" %bQ d\ Xi +2 "manipulator"&% +4 "core" %8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (6& +3 "core" &<) ' s\  +2 "collection"'c& +5 "core" &\\e\ ,\ +\ O + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&#% +4 "core" %  Q  +2 "storage"(7% +3 "core" % ' !\  +3 "storage"(O. +2 "core" .(<- +2 "storage"( & +5 "core" &<) & \  + "storage"(/& +5 "core" &<) % !\  + "manipulator"&w& +5 "core" & F I +2 .tElbow.seek 5 + "manipulator"&q( +30 "core" ( +2 "manipulator"&& +4 "core" &  6  +2 "storage"(& +4 "core" &<) R S =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' +2 "storage"(T& +3 "core" &<) S S /\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" &  +2 "storage"(r& +3 "core" &<) M |\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&L'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(h'x +30 "core" ' + "manipulator"&N% +5 "core" %Ρ + "storage"(t& +4 "core" &<) . - \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"&d' +14 "core" ' +2 "manipulator"& & +3 "core" &  U  +2 "storage"((& +4 "core" &<) ! e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(,' +42 "core" ' +2 "manipulator"&.& +3 "core" &  3  +2 "manipulator"&% +4 "core" %; C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&}& +4 "core" &x+ M Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &x* Bl +42 .tForearm.seek CC +9 "manipulator"&x'? +92 "core" ' +2 .tHand.close + "manipulator"&s/ +55 "core" / +2 .tCC.seek :open +2 "collection"')( +449 "core" ( + "storage"(& +4 "core" &<) I I Y\  +2 "storage"(1& +4 "core" &<) @ E *\  +2 "manipulator"&& +4 "core" &ӽ  $ 9' +2 "manipulator"&$% +4 "core" % 8 ( +2 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&8( +166 "core" ( +2 "manipulator"&?& +3 "core" &  E  +2 "storage"(A& +4 "core" &<) D Q k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&k'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&B1 +63 "core" 1 +2 "manipulator"&% +4 "core" % ΄  e Q +2 "storage"(j& +3 "core" &<) k Y \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 291 counts +2 "manipulator"&0'ϰ +14 "core" ' +2 "manipulator"&5& +3 "core" &  ;  +3 "storage"(C& +3 "core" &<) k j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +23 "core" ' + "storage"(*% +4 "core" % h l g\ +3 ."downElevator"SE.seek :down +4 "storage"(U' +98 (-% +3 "core" %E J\  R\ Wb +2 "manipulator"&H% +4 "core" %g y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +86 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'X& +4 "core" & \ +2 "manipulator"&% +4 "core" %    +2 "storage"(% +3 "core" % g ] r\  +2 "storage"(. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(Z(K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &K ! # =\  +2 "manipulator"&[& +4 "core" & \\  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&V& +3 "core" &   +2 "storage"(& +4 "core" &K ` ] ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +93 "core" ' +2 "storage"(& +4 "core" &K d l q\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +292 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (M& +3 "core" &K P E i\  +2 "manipulator"&\ & +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&o( +4 "core" ( + "manipulator"&v& +4 "core" &  +2 "storage"(`& +4 "core" &K G I `\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&{'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(' +8 "core" &  B  +2 "manipulator"&~% +5 "core" % k x U +2 .tForearm.seek :retract +2 "manipulator"&g' +92 "core" ' +2 .tElbow.seek CC +47 "manipulator"&(ӂ +104 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +54 "core" ( + "manipulator"&4& +4 "core" &ӓ  W 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +3 "core" &ӓ  7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'? +90 "core" ' +3 "manipulator"&\\& +4 "core" &ӓ  b 7 +2 "manipulator"&K% +3 "core" %I c l +3 "collection"'2& +3 "core" & \ +3 "collection"'=& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'%(\\ +4 "core" & \ +8 &; \ $f +9 &Xx \ 7 +10 &u \ K +9 &T \ K +9 &W\ \ \ K +10 &IW\ \ \ K +9 & V\ \ \ K +9 &W\ \ \ K +10 &U\ \ \ K +9 &QR\ \ \ K +10 & W\ \ \ K +9 &!W\ \ \ J +9 &#T\ \ \ J +10 &%ZT\ \ \ J +9 &'S\ \ \ J +10 &(S\ \ \ J +9 &*S\ \ \ J +9 &,aW\ \ \ K +10 &.$W\ \ \ J +9 &/T\ \ \ J +9 &1T\ \ \ J +10 &3jT \ \ J +9 &5,T\ \ \ J +10 &6U\ \ \ J +9 &8T\ \ \ J +9 &:rU\ \ \ J +10 &<3V\ \ \ K +9 &=Y\ \ \ \ K +9 &?U\ \ \ K +10 &AyW\ \ \ K +9 &C:]\ \ \ K +10 &De\ \ \ \ M +9 &Fr\ \ \ N +9 &Hk\ '\ \ S +10 &J#\ ;\ 8\ V +9 &K\ =\ ?\ V +9 &M\ ?\ ?\ Y +10 &Oc\ =\ =\ X +9 &Q"\ :\ <\ Y +9 &R\ 8\ ;\ Y +10 &T\ ;\ :\ Y +9 &Ve\ 9\ 8\ Z +10 &X#\ 8\ 9\ [ +9 &Y\ 9\ 8\ [ +9 &[\ 6\ 8\ I +10 &\\0\ 7\ 6\ 2 +9 &\\f\ 3\ 4\ N +2 ( +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&i1 +58 "core" 1 +2 "manipulator"&9% +4 "core" % ^  Z W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%3& +4 "core" &\ +2 "manipulator"&% +4 "core" %    +2 "storage"(Y% +3 "core" % ' %\  +2 "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(f(K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (@& +3 "core" &K 0\  +2 "manipulator"&l& +3 "core" &  & +2 "manipulator"&F% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&!( +141 "core" ( +2 "manipulator"&W& +4 "core" &  +2 "storage"(S& +3 "core" &K G I C\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +92 "core" ' + "storage"(>& +5 "core" &K F F B\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K - $ D\  +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&y( +4 "core" ( + "manipulator"&^& +4 "core" & +2 "storage"(& +3 "core" &K . . \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&6'h +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +55 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(#' +8 "core" & Y +2 "manipulator"&7% +4 "core" % ` c +2 .tForearm.seek :retract +2 "manipulator"&O' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"& & +3 "core" & E +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +4 "core" & ' E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&w' +93 "core" ' +2 "manipulator"&& +3 "core" & g E +3 "manipulator"&% +49 "core" %   +5 "processing"%m& +3 "core" &G\ +3 "processing"%T& +5 "core" &F\ +2 .tPC.seek :closed +2 "processing"%"(^ +5 "core" &H\ +6 &.D\ #b +9 &U}D\ 7 +9 &vF\ K +10 &RF\ M +9 &`T;\ N +9 &$QA\ M +10 &U7\ M +9 &P8\ M +10 &iR8\ M +9 &+Q>\ M +9 &S;\ N +10 &!R7\ M +9 &#qV8\ M +9 &%3S<\ M +10 &&Q;\ M +9 &(T@\ N +10 &*yT=\ M +9 &,;VB\ M +9 &-R>\ M +10 &/RB\ M +9 &1T9\ M +9 &3CT@\ M +10 &5Q=\ M +9 &6V7\ M +10 &8U6\ N +9 &:JT5\ N +9 &< V6\ M +10 &=U7\ N +9 &?R7\ M +9 &ARV6\ N +10 &C_3\ O +9 &Db8\ O +10 &Fn6\ P +9 &HMy6\ R +9 &J 9\ S +10 &K6\ S +9 &M@\ T +9 &ON6\ T +10 &Q9\ U +9 &R8\ T +10 &T9\ V +9 &VT2\ U +9 &X7\ U +10 &Y6\ U +9 &[.\ V +9 &][7\ B +10 &^O}9\ D +9 &^0\ T +10 &^*\ 0 +2 ( +2 "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&<1 +52 "core" 1 +2 "manipulator"&I% +3 "core" %   F  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"%|& +3 "core" &^,\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&r% +3 "core" %  \ 7  +3 "storage"(_% +3 "core" % ! \  +2 "storage"(N. +4 "core" .(K +2 "storage"(t& +3 "core" &K ' ' \  +3 "storage"( & +2 "manipulator"&(& +6 "core" &K ! $ \  +2 &  # E +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&.( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"&& +3 "core" &   E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +3 "core" &  \  E +2 .tForearm.seek PC +2 "manipulator"&Q' +96 "core" ' +2 .tHand.close + "manipulator"&L/ +64 "core" / +3 .tPC.seek :open +2 "processing"%d( +87 "core" ' +2 "storage"(h- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'1 +44 "core" ' +315 ( +2 "storage"(+& +4 "core" &K\ R Q\  +2 "manipulator"&& +4 "core" &  E +2 "manipulator"&a% +4 "core" %   Z +2 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&;( +257 "core" ( + "manipulator"&P& +4 "core" & _ +2 "storage"(& +4 "core" &K O P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&1' +94 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "storage"($- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(?' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(A' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(x- +3 "core" -' +2 "storage"(& +3 "core" &K e\  +2 "manipulator"&B& +4 "core" &   _ +2 .tElbow.seek 6 +2 "manipulator"&( +26 "core" ( +2 "manipulator"&j& +3 "core" &  3  +2 "storage"(5& +5 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(*'" +51 "core" ' +2 "manipulator"&&& +4 "core" &   +2 "storage"(-& +44 "core" &K\ j\  +9 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&H'< +18 "core" ' + .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(k' +19 "core" ' + "manipulator"&X% +4 "core" %2   +2 "storage"(0& +4 "core" &K * " \\\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 290 counts +2 "manipulator"&'^ +15 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &K \  x\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +18 "core" ' +2 "storage"(% +4 "core" %\ \ ! 4\ +3 ."downElevator"SE.seek :down +3 "storage"(U' +99 (u% +3 "core" %S \ 6\ Xh +2 "manipulator"&:% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (V& +3 "core" &K   Y\  +2 "collection"'& +4 "core" &\\e\ +\ +\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %    +2 "storage"(z% +3 "core" % ) + P\  +2 "storage"( . +3 "core" .(K +2 "storage"(R& +4 "core" &K ' '\  +2 "storage"(M& +4 "core" &K # $\  +2 "manipulator"&\ & +3 "core" & N  +3 .tElbow.seek 6 + "manipulator"&v( +4 "core" ( +2 "manipulator"&`& +3 "core" &  +2 "storage"( & +4 "core" &K 3 > \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +97 "core" ' +2 "storage"(~& +3 "core" &K I S <\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(G- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&n& +4 "core" & !  +2 "storage"({& +3 "core" &K . , f\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&4'< +19 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(\\'s +31 "core" ' +2 "manipulator"&K% +3 "core" %F j * +2 "storage"(2& +4 "core" &K ' ' X\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 310 counts + "manipulator"&'r +15 "core" ' + "manipulator"&g& +5 "core" &  + "storage"()& +4 "core" &K & " \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(9' +45 "core" ' +2 "manipulator"&3& +3 "core" &  +2 "manipulator"&% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&=& +4 "core" &ӛ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &ӛ " 4 +2 .tForearm.seek CC +2 "manipulator"&l'? +96 "core" ' + .tHand.close +2 "manipulator"&F/ +53 "core" / +42 .tCC.seek :open +9 "collection"'J( +452 "core" ( + "storage"(W& +4 "core" &K J G z\  +2 "storage"(S& +4 "core" &K I G E\  +2 "manipulator"&>& +4 "core" &  w & +2 "manipulator"&Z% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +149 "core" ( + "manipulator"&b& +4 "core" &    +2 "storage"(& +4 "core" &K I Q n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&D'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&E% +5 "core" % 9   N + "storage"(c& +4 "core" &K g m G\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 297 counts +2 "manipulator"&7'e +13 "core" ' +3 "manipulator"&!& +3 "core" & V  +2 "storage"(]& +4 "core" &K l l \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +28 "core" ' +2 "storage"(6% +4 "core" % l m \ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (/% +3 "core" %I L B\ Vb +2 "manipulator"&y% +4 "core" %& +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +5397 "Can"' :7 +60002 % :8 +60001 . ;7 +60001   :7 +60001   :7 +60002  :7 +60001  :7 +60001  :7 +60001  ;7 +60002  ;8 +60001  :7 +60001  :7 +60002  ;8 +60001  ;8 +60001 ' :7 +60001 / :7 +60002 / :7 +60001 5 :7 +60001 F :7 +60001 I :7 +60001 B ;8 +60001 > ;8 +60002 C :8 +60001 < :8 +60001 6 ;7 +60002 7 :7 +60001 4 :8 +60001 7 ;7 +60001 G ;7 +60002 6 :7 +60001 6 :7 +60002 ( ;8 +60001 . :7 +60001 - :7 +60001 . :7 +60002 % ;8 +60001 # :8 +60001 % ;7 +60002 ) ;8 +60001  :7 +60001 ( :8 +60001 # ;8 @EDT1688616133.56  ;7 +60001 ! :7 +60001 ! :7 +60002  :7 +60001  ;8 +60001  :8 +60002  :8 +60001  :8 +60001   :8 +60002 " ;8 +60001  :8 +60001   :7 +60001  ;7 +60002  ;8 +60001  :8 +60001  ;8 +60002  ;8 +60001  :7 +60001 j :8 +60001   :8 +60002  :7 +60001  :7 +60001   ;7 +60001  :7 +60002  :8 +60001   :8 +60001  :8 +60001   :7 +60001   ;8 +60002  ;8 +60001  ;8 +60002  :7 +60001  :7 +60001   :8 +60001   :8 +60002  ;7 +60001   :8 +60001 ' :7 +60001 * :7 +60002  ;8 +60001 $ :7 +60001 * :8 +60001   :8 +60002 " ;8 +60001 2 ;8 +60001 0 :7 +60001 * :7 +60002 * :7 +60001 6 :8 +60001 9 ;9 +60001 A :7 +24194 #t-> exit +6 #mEXIT @1688646376.20EDT @1688665386.01EDT = =tMAIN =mMAIN_scheduler @EDT1688665387.81 #"core_reset"Sent BREAK + #t@7542 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +211 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +247 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +381 "Can"n !~ + n !~ + #tPolling Can every 10:00 +155 #Cleanly exited at 08:26:16EDT06-Jul-23 +493 #-> ESP.ready! +3 #Powering core bus +554 .Gate.power :raw,:ON +3 "sampler") +11 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +39 % *\ +5 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'PrimeReagent.rb' +2 !o:LoadError: mesg",no such file to load -- PrimeReagent.rb:bt[ "(ESP):2:in `require'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +24771 #-> ‘PrimeReagent.rb’ +2 !o:SyntaxError: mesg"compile error\ (ESP):3: Invalid char `\\342' in expression\ (ESP):3: Invalid char `\\200' in expression\ (ESP):3: Invalid char `\\230' in expression\ (ESP):3: Invalid char `\\342' in expression\ (ESP):3: Invalid char `\\200' in expression\ (ESP):3: Invalid char `\\231' in expression:bt["(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +465 #-> require ‘PrimeReagent.rb’ +2 !o:SyntaxError: mesg"compile error\ (ESP):4: Invalid char `\\342' in expression\ (ESP):4: Invalid char `\\200' in expression\ (ESP):4: Invalid char `\\230' in expression\ (ESP):4: Invalid char `\\342' in expression\ (ESP):4: Invalid char `\\200' in expression\ (ESP):4: Invalid char `\\231' in expression:bt["(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +27144 "Can"N ?< +20495 #t-> require ‘PrimeReagent.rb’ +2 !o:SyntaxError: mesg"compile error\ (ESP):5: Invalid char `\\342' in expression\ (ESP):5: Invalid char `\\200' in expression\ (ESP):5: Invalid char `\\230' in expression\ (ESP):5: Invalid char `\\342' in expression\ (ESP):5: Invalid char `\\200' in expression\ (ESP):5: Invalid char `\\231' in expression:bt["(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1138 #-> require 'PrimeReagent.rb' +38366 "Can"I ?< +58879 #t-> primePSRflush + #**Prepare to clean and prime PSR flush reagent** + .PSV.dial :air +3 .PS.seek 0ml + "processing"%1'ؾ +42 "core" ' +2 .tPSV.dial PSR +2 "processing"%2 +132 "core"  +2 .tPSR.select :flush +2 "processing"%j +10 #tAwaiting answer to "**Disinfect and attach PSR flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +924 "Can"0 ?< +39428 .tPS.seek 2.5ml +2 "processing"%3' +2624 "core" ' +2 .tPSV.dial :waste1 + "processing"%4  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%5'ؾ +2624 "core" ' + .tPSV.dial PSR +2 "processing"%6 +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%7' +2636 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%8  +43 "core"  +3 .tPS.seek 0ml + "processing"%9'ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%: +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%;' +2630 "core" ' +2 .tPSV.dial :waste1 + "processing"%<  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%='ؾ +2636 "core" ' +2 .tPSV.dial PSR + "processing"%> +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1390 "processing"%?% +4 "core" %ع\ +2 .tPS.seek 0.5ml +2 "processing"%@' +591 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +2490 "Can"$ @= +687 .tPS.seek 2.5ml +2 "processing"%A' +2137 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%B  +75 "core" ~ +2 .tPS.seek 0ml + "processing"%C'ؾ +2637 "core" ' +2 .tPSV.dial PSR + "processing"%D +74 "core"  +2 .tPS.seek 2.5ml +2 "processing"%E' +2628 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%F  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%G'ؾ +2626 "core" ' + .tPSV.dial PSR +2 "processing"%H +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%I' +2636 "core" ' +2 .tPSV.dial :waste2 +6 "processing"%J  +74 "core" ~ +2 .tPS.seek 0ml + "processing"%K'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%L +74 "core"  + #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1691 "processing"%M% +3 "core" %%\ +2 .tPS.seek 0.5ml +2 "processing"%N' +586 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +2932 .PS.seek 2.5ml +5 "processing"%O' +2130 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%P  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%Q'ؾ +2640 "core" ' + .tPSV.dial PSR +2 "processing"%R +44 "core"  +2 .tPS.seek 2.5ml + "processing"%S' +2625 "core" ' + .tPSV.dial :waste1 +2 "processing"%T  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%U'ؾ +2638 "core" ' +2 .tPSV.dial PSR + "processing"%V +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%W' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%X  +43 "core"  +3 .tPS.seek 0ml + "processing"%Y'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%Z +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2102 "processing"%[% +3 "core" %\ +3 .tPS.seek 0.5ml +2 "processing"%\\' +591 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +20001 "Can" @= +34679 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +567 #**Priming reagent line** +2 .PS.seek 2.5ml +2 "processing"%]' +2117 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%^  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%_'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%` +44 "core" +2 .tPS.seek 2.5ml + "processing"%a' +2634 "core" ' +2 .tPSV.dial :waste1 + "processing"%b  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%c'ؾ +2633 "core" ' +2 #t**Air out PSR manifold** + .PSR.select :air +2 "processing"% +9 .tPSV.dial PSR +2 "processing"%d +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%e' +2624 "core" ' + .tPSV.dial :waste1 +2 "processing"%f  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%g'ؾ +2635 "core" ' +2 .tPSV.dial PSR + "processing"%h +44 "core" +2 .tPS.seek 2.5ml +2 "processing"%i' +2631 "core" ' + .tPSV.dial :waste1 +2 "processing"%j  +43 "core"  +3 .tPS.seek 0ml + "processing"%k'ؾ +2634 "core" ' + #t**SUCCESSFULLY PRIMED PSR FLUSH REAGENT** +3836 "Can" A> +60001   A> +12463 #t-> primeCSRflush +2 #**Prepare to clean and prime CSR flush reagent** + .CSV.dial :air +2 "collection"'l @ +69 "core" B +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'m'i +3 "core" ' +2 .tCSV.dial CSR +2 "collection"'n  +78 "core"  +2 .tCSR.select :flush +2 "collection"' +10 #tAwaiting answer to "**Disinfect and attach CSR flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +3873 .CS.seek 10ml + "collection"'o' +2636 "core" ' + .tCSV.dial :waste1 +38 "collection"'p +131 "core" +2 .tCS.seek 0ml +2 "collection"'q'i +2638 "core" ' +2 .tCSV.dial CSR + "collection"'r  +136 "core"  +3 .tCS.seek 10ml + "collection"'s' +2635 "core" ' +2 .tCSV.dial :waste1 + "collection"'t +124 "core" +2 .tCS.seek 0ml +2 "collection"'u'i +2635 "core" ' + .tCSV.dial CSR +2 "collection"'v  +123 "core"  +3 .tCS.seek 10ml + "collection"'w' +2642 "core" ' + .tCSV.dial :waste1 +2 "collection"'x +123 "core" +2 .tCS.seek 0ml +2 "collection"'y'i +2635 "core" ' +2 .tCSV.dial CSR +2 "collection"'z  +123 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2393 "collection"'{% +3 "core" %c \ +3 .tCS.seek 0.499ml +2 "collection"'|'^ +214 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1429 .CS.seek 10ml +2 "collection"'}' +2511 "core" ' + .tCSV.dial :waste2 +2 "collection"'~ +40 "core"  +3 .tCS.seek 0ml + "collection"''i +2662 "core" ' + .tCSV.dial CSR +2 "collection"'  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'' +2638 "core" ' +2 .tCSV.dial :waste2 +2 "collection"' +42 "core"  +2 .tCS.seek 0ml + "collection"''i +2633 "core" ' + .tCSV.dial CSR +2 "collection"'  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'' +2647 "core" ' +2 .tCSV.dial :waste2 +2 "collection"' +42 "core"  +2 .tCS.seek 0ml + "collection"''i +2639 "core" ' + .tCSV.dial CSR +2 "collection"'  +42 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +2826 "collection"'\ % +3 "core" %c \ +3 .tCS.seek 0.499ml + "collection"' '^ +207 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1714 .CS.seek 10ml + "collection"'' +2001 "Can"\ FC +507 "core" ' +3 .tCSV.dial :waste1 + "collection"' +123 "core" +2 .tCS.seek 0ml +2 "collection"''i +2644 "core" ' +2 .tCSV.dial CSR + "collection"'  +125 "core"  +3 .tCS.seek 10ml + "collection"'' +2643 "core" ' +2 .tCSV.dial :waste1 + "collection"' +125 "core" +3 .tCS.seek 0ml + "collection"''i +2634 "core" ' + .tCSV.dial CSR +2 "collection"'  +123 "core"  +3 .tCS.seek 10ml + "collection"'' +2632 "core" ' +2 .tCSV.dial :waste1 + "collection"' +125 "core" +3 .tCS.seek 0ml + "collection"''i +2631 "core" ' + .tCSV.dial CSR +2 "collection"'  +125 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2627 "collection"'% +4 "core" %j \ +2 .tCS.seek 0.5ml +2 "collection"''e +216 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +42669 "Can" DA +1221 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +156 #**Priming reagent line** + "collection"'"% +3 "core" %d \  +3 .tCS.seek 5.5ml +2 "collection"'#'0 +1391 "core" ' +2 .tCSV.dial :waste1 + "collection"'$ +125 "core" +2 .tCS.seek 0ml +2 "collection"'%'i +1481 "core" ' + #t**Air out CSR manifold** + .CSR.select :air + "collection"' +9 .tCSV.dial CSR +2 "collection"'&  +125 "core"  +2 .tCS.seek 10ml + "collection"''' +2636 "core" ' + .tCSV.dial :waste1 +2 "collection"'( +125 "core" +2 .tCS.seek 0ml +2 "collection"')'i +2646 "core" ' + #t**SUCCESSFULLY PRIMED CSR FLUSH REAGENT** +50054 "Can" B@ @1688671595.01EDT = =mMAIN_scheduler =tMAIN @EDT1688671596.80 #"core_reset"Sent BREAK +2 #t@40440 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +243 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 "Can"  !t +   !t + #tPolling Can every 10:00 +153 #Cleanly exited at 13:43:17EDT06-Jul-23 +523 #-> ESP.ready! +3 #Powering core bus +546 .Gate.power :raw,:ON +3 "sampler") +24 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +38 % *\ +5 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'PrimeReagent.rb' +735 #-> primeCSVflush +2 #**Prepare to clean and prime CSV flush reagent to CSV port 5** + .CSV.dial :air +2 "collection"'1 @ +70 "core" B +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'2'i +4 "core" ' +2 .tCSV.dial :flush + "collection"'3  +42 "core" +2 #tAwaiting answer to "**Disinfect and attach CSV flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +2904 .CS.seek 10ml +2 "collection"'4' +2635 "core" ' + .tCSV.dial :waste1 +2 "collection"'5 +40 "core" +2 .tCS.seek 0ml +2 "collection"'6'i +2690 "core" ' +8 .tCSV.dial :flush +2 "collection"'7  +42 "core"  +2 .tCS.seek 10ml + "collection"'8' +2645 "core" ' +2 .tCSV.dial :waste1 + "collection"'9 +42 "core" +2 .tCS.seek 0ml +2 "collection"':'i +2635 "core" ' +2 .tCSV.dial :flush +2 "collection"';  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'<' +2635 "core" ' + .tCSV.dial :waste1 +2 "collection"'= +42 "core" +2 .tCS.seek 0ml +2 "collection"'>'i +2635 "core" ' +2 .tCSV.dial :flush + "collection"'?  +42 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2179 "collection"'@% +3 "core" %e \ +3 .tCS.seek 0.5ml + "collection"'A'` +211 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1768 .CS.seek 10ml +2 "collection"'B' +2504 "core" ' + .tCSV.dial :waste2 +2 "collection"'C +125 "core"  +2 .tCS.seek 0ml +2 "collection"'D'i +2643 "core" ' + .tCSV.dial :flush +2 "collection"'E  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'F' +2633 "core" ' +2 .tCSV.dial :waste2 + "collection"'G +124 "core"  +2 .tCS.seek 0ml +2 "collection"'H'i +2635 "core" ' + .tCSV.dial :flush +2 "collection"'I  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'J' +2643 "core" ' + .tCSV.dial :waste2 +2 "collection"'K +125 "core"  +2 .tCS.seek 0ml +2 "collection"'L'i +2655 "core" ' +2 .tCSV.dial :flush + "collection"'M  +125 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1037 "collection"'N% +4 "core" %f \  +2 .tCS.seek 0.5ml +2 "collection"'O'a +200 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +3420 .CS.seek 10ml +2 "collection"'P' +2507 "core" ' +2 .tCSV.dial :waste1 + "collection"'Q +43 "core" +2 .tCS.seek 0ml + "collection"'R'i +2654 "core" ' +2 .tCSV.dial :flush + "collection"'S  +43 "core"  +2 .tCS.seek 10ml + "collection"'T' +2645 "core" ' +2 .tCSV.dial :waste1 + "collection"'U +42 "core" +2 .tCS.seek 0ml +2 "collection"'V'i +1222 "Can"  ?< +1410 "core" ' +2 .tCSV.dial :flush + "collection"'W  +42 "core"  +3 .tCS.seek 10ml + "collection"'X' +2645 "core" ' + .tCSV.dial :waste1 +2 "collection"'Y +42 "core" +2 .tCS.seek 0ml +2 "collection"'Z'i +2632 "core" ' +2 .tCSV.dial :flush + "collection"'[  +42 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1906 "collection"'\\% +3 "core" %l \ +3 .tCS.seek 0.5ml + "collection"']'g +206 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +36183 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +59 #**Priming reagent line** + "collection"'^% +3 "core" %b \  +2 .tCS.seek 5.5ml +2 "collection"'_'. +1378 "core" ' +2 .tCSV.dial :waste1 + "collection"'` +43 "core" +2 .tCS.seek 0ml + "collection"'a'i +1482 "core" ' +2 #t**SUCCESSFULLY PRIMED CSV FLUSH REAGENT** +6709 !o:SignalException : mesg" SIGHUP:@timestampu: Time : :\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +3 #Waiting to Resume from Checkpoint "Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** "" + ."Qmail"BadNews.email "SIGHUP",Subject: "SignalException in MAIN" +2400 #"uploadLog"upsync +2774 "Can" >; +60001 % >; +60001   =; +60002 1 >; +60001  >; +60001 2 >; +60001 " >; +60002 " >; +60001 & =; +60001 $ >; +60002 # >; +60001  =; +60001   >; +60001  =; +60002  >; +60001  >; +60001  >; +60002  =: +60001  >; +60001  >; +60001  =; +60002  >; +60001  >; +60001  >; +60001  >; +60002  =: +60001  >; +60001  >; +60001  >; +60002  >; +60001  >; +60001  =; +60001  >; +60002 u >; +60001 R >; +60001 M =; +60001 O >; +60002 G >; +60001 E >; +60001 K >; +60001 U =; +60002 X >; +60001 C >; +60001 D ?< +60002 I >; +60001 L >; +60001 @ >; +60001 < >; +60002 = >; +60001 : =: @EDT1688702808.06 ; >; +60002 G =; +60001 G =; +60001 C >; +60001 @ =; +60002 : >; +60001 : =; +60001 6 >; +60002 < =; +60001 A >; +60001 2 =; +60001 6 >; +60002 2 >; +60001 . >; +60001 0 =; +60002 . =; +60001 6 >; +60001 * >; +60001 ! >; +60002 % =; +60001  =; +60001 ( >; +60001 3 >; +60002 & >; +60001 ) =; +60001 ) >; +60001 ( >; +60002 ( >; +60001 ) >; +60001 . >; +60001 + =; +60002 # >; +60001 + >; +60001 " >; +60001 0 =; +60002 # >; +60001 + >; +60001 8 =; +60002 ? >; +60001 7 >; +60001 ; =: +60002 ? >; +60001 ; >; +60001 D >; +60001 - =: +60002 @ >; +60001 = >; +60001 0 >: +60002 ? =; +60001 2 >; +60001 : >; @1688732913.05EDT = =tMAIN =mMAIN_scheduler @EDT1688732914.71 #"core_reset"Sent BREAK +2 #t@45439 sendCRC with ifg=0x20, ie=0x7F + #@47274 sendCRC with ifg=0x08, ie=0x5F + #@52825 idle with ifg=0x84, ie=0x75 #@53508 select with ifg=0x10, ie=0xF5 + #@54154 receive with ifg=0x10, ie=0xFD + #@54801 receive with ifg=0x10, ie=0xFD #@55447 receive with ifg=0x10, ie=0xFD + #@55774 receive with ifg=0x80, ie=0xFD + #@40463 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +12 #ESP2 v3.41 I2C Gateway v3.20 for core bus +236 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +354 "Can"8 @= + 8 @= #tPolling Can every 10:00 +154 #Cleanly exited at 15:26:46EDT06-Jul-23 +645 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %n H\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +42 "sampler")% +3 "core" %\ ;\ ; \ F +2 .tSS.configure :default +2 "sampler")#.0X require 'PrimeReagent.rb' +1080 #-> primeCSRkill +2 #**Prepare to clean and prime CSR kill reagent** + .CSV.dial :air +2 "collection"'3 @ +71 "core" B +2 .tCS.seek 0ml +2 "collection"'4'i +3 "core" ' +2 .tCSV.dial CSR + "collection"'5  +69 "core"  +2 .tCSR.select :kill +2 "collection"' +9 #tAwaiting answer to "**Disinfect and attach CSR kill fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +26922 .CS.seek 10ml +2 "collection"'6' +2646 "core" ' + .tCSV.dial :waste1 +2 "collection"'7 +125 "core" +2 .tCS.seek 0ml +2 "collection"'8'i +2655 "core" ' +2 .tCSV.dial CSR + "collection"'9  +124 "core"  +2 .tCS.seek 10ml +2 "collection"':' +2628 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'; +125 "core" +2 .tCS.seek 0ml + "collection"'<'i +2656 "core" ' + .tCSV.dial CSR +2 "collection"'=  +136 "core"  +2 .tCS.seek 10ml +2 "collection"'>' +2641 "core" ' +2 .tCSV.dial :waste1 + "collection"'? +124 "core" +2 .tCS.seek 0ml +2 "collection"'@'i +2638 "core" ' + .tCSV.dial CSR +2 "collection"'A  +164 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2166 "collection"'B% +3 "core" %l Q\ +3 .tCS.seek 0.5ml +2 "collection"'C'g +207 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +2590 .CS.seek 10ml +2 "collection"'D' +2506 "core" ' + .tCSV.dial :waste2 +2 "collection"'E +42 "core"  +2 .tCS.seek 0ml +2 "collection"'F'i +2635 "core" ' +2 .tCSV.dial CSR + "collection"'G  +42 "core"  +3 .tCS.seek 10ml + "collection"'H' +2115 "Can"? FC +530 "core" ' +2 .tCSV.dial :waste2 +2 "collection"'I +41 "core"  +2 .tCS.seek 0ml +2 "collection"'J'i +2641 "core" ' +2 .tCSV.dial CSR +2 "collection"'K  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'L' +2632 "core" ' + .tCSV.dial :waste2 +2 "collection"'M +42 "core"  +2 .tCS.seek 0ml +2 "collection"'N'i +2635 "core" ' + .tCSV.dial CSR +2 "collection"'O  +42 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1590 "collection"'P% +3 "core" %k \ +3 .tCS.seek 0.5ml +2 "collection"'Q'f +214 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +2083 .CS.seek 10ml +2 "collection"'R' +2519 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'S +125 "core" +2 .tCS.seek 0ml +2 "collection"'T'i +2633 "core" ' +2 .tCSV.dial CSR + "collection"'U  +138 "core"  +2 .tCS.seek 10ml +2 "collection"'V' +2633 "core" ' +2 .tCSV.dial :waste1 + "collection"'W +124 "core" +2 .tCS.seek 0ml +2 "collection"'X'i +2635 "core" ' + .tCSV.dial CSR +2 "collection"'Y  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'Z' +2633 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'[ +124 "core" +3 .tCS.seek 0ml + "collection"'\\'i +2643 "core" ' +2 .tCSV.dial CSR + "collection"']  +125 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2150 "collection"'^% +3 "core" %h \ +3 .tCS.seek 0.5ml + "collection"'_'c +204 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +28606 "Can"K CA +440 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +120 #**Priming reagent line** +2 "collection"'`% +3 "core" %a \ +3 .tCS.seek 5.5ml +2 "collection"'a'- +1361 "core" ' +2 .tCSV.dial :waste1 + "collection"'b +125 "core" +2 .tCS.seek 0ml +2 "collection"'c'i +1490 "core" ' + #t**Flush clean and air out CSR manifold** + .CSR.select :flush +2 "collection"' +10 .tCSV.dial CSR +2 "collection"'d  +124 "core"  +2 "collection"'e% +4 "core" %g \ +2 .tCS.seek 5ml +2 "collection"'f's3 +1372 "core" ' + .tCSV.dial :waste1 +2 "collection"'g +125 "core" +2 .tCS.seek 0ml +2 "collection"'h'i +1380 "core" ' + .tCSR.select :air +2 "collection"' +9 .tCSV.dial CSR +2 "collection"'i  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'j' +2641 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'k +125 "core" +2 .tCS.seek 0ml +2 "collection"'l'i +2655 "core" ' + #t**SUCCESSFULLY PRIMED CSR KILL REAGENT** +47842 "Can"3 A? +1022 #t-> primeCSRaqmeoh + #**Prepare to clean and prime CSR AqMeOH reagent** + .CSV.dial :air +2 "collection"'m @ +69 "core" B +2 .tCS.seek 0ml +2 "collection"'n'i +4 "core" ' + .tCSV.dial CSR +2 "collection"'o  +69 "core"  + .tCSR.select :AqMeOH +2 "collection"' +10 #tAwaiting answer to "**Disinfect and attach CSR AqMeOH fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +314 .CS.seek 10ml +2 "collection"'p' +2649 "core" ' + .tCSV.dial :waste1 +2 "collection"'q +125 "core" +2 .tCS.seek 0ml +2 "collection"'r'i +2637 "core" ' + .tCSV.dial CSR +2 "collection"'s  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'t' +2630 "core" ' +2 .tCSV.dial :waste1 + "collection"'u +125 "core" +2 .tCS.seek 0ml +2 "collection"'v'i +2634 "core" ' + .tCSV.dial CSR +2 "collection"'w  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'x' +2643 "core" ' + .tCSV.dial :waste1 +2 "collection"'y +125 "core" +2 .tCS.seek 0ml +2 "collection"'z'i +2642 "core" ' +2 .tCSV.dial CSR +2 "collection"'{  +125 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +3133 "collection"'|% +3 "core" %h \ +3 .tCS.seek 0.5ml +2 "collection"'}'c +216 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +2027 .CS.seek 10ml +2 "collection"'~' +2516 "core" ' + .tCSV.dial :waste2 +2 "collection"' +40 "core"  +3 .tCS.seek 0ml + "collection"''i +2634 "core" ' + .tCSV.dial CSR +2 "collection"'  +42 "core"  +2 .tCS.seek 10ml +45 "collection"'' +2658 "core" ' +2 .tCSV.dial :waste2 + "collection"' +42 "core"  +2 .tCS.seek 0ml +2 "collection"''i +2635 "core" ' +2 .tCSV.dial CSR +2 "collection"'  +41 "core"  +3 .tCS.seek 10ml +2 "collection"' ' +2647 "core" ' +2 .tCSV.dial :waste2 + "collection"' +42 "core"  +3 .tCS.seek 0ml + "collection"' 'i +2635 "core" ' +2 .tCSV.dial CSR +2 "collection"'  +42 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +2477 "collection"'% +3 "core" %j \ +3 .tCS.seek 0.5ml +2 "collection"''e +208 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1270 .CS.seek 10ml +2 "collection"'' +2510 "core" ' +2 .tCSV.dial :waste1 +2 "collection"' +124 "core" +3 .tCS.seek 0ml + "collection"''i +2653 "core" ' + .tCSV.dial CSR +2 "collection"'  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'' +2633 "core" ' +2 .tCSV.dial :waste1 + "collection"' +125 "core" +3 .tCS.seek 0ml + "collection"''i +2631 "core" ' + .tCSV.dial CSR +2 "collection"'  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'' +2643 "core" ' + .tCSV.dial :waste1 +2 "collection"' +125 "core" +2 .tCS.seek 0ml +2 "collection"''i +2633 "core" ' +2 .tCSV.dial CSR + "collection"'  +90 "Can":\ [Y +48 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2516 "collection"'!% +3 "core" %h \ +3 .tCS.seek 0.5ml +2 "collection"'"'c +224 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +43527 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +129 #**Priming reagent line** + "collection"'#% +3 "core" %b \ +3 .tCS.seek 5.5ml +2 "collection"'$'. +1359 "core" ' +2 .tCSV.dial :waste1 + "collection"'% +124 "core" +2 .tCS.seek 0ml +2 "collection"'&'i +1482 "core" ' + #t**Flush clean and air out CSR manifold** + .CSR.select :flush +2 "collection"'  +9 .tCSV.dial CSR +2 "collection"''  +138 "core"  + "collection"'(% +4 "core" %k \ +2 .tCS.seek 5ml +2 "collection"')'s7 +1356 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'* +123 "core" +2 .tCS.seek 0ml +2 "collection"'+'i +1354 "core" ' + .tCSR.select :air +2 "collection"' +9 .tCSV.dial CSR +2 "collection"',  +137 "core"  +2 .tCS.seek 10ml +2 "collection"'-' +2645 "core" ' + .tCSV.dial :waste1 +2 "collection"'. +123 "core" +2 .tCS.seek 0ml +2 "collection"'/'i +2657 "core" ' + #t**SUCCESSFULLY PRIMED CSR AQMEOH REAGENT** +1972 "Can"? B? +12234 #t-> primeCSRrnal + #**Prepare to clean and prime CSR rnal reagent** + .CSV.dial :air +2 "collection"'0 @ +81 "core" > +2 .tCS.seek 0ml +2 "collection"'1'i +4 "core" ' + .tCSV.dial CSR +2 "collection"'2  +70 "core"  +2 .tCSR.select :rnal +2 "collection"' +9 #tAwaiting answer to "**Disinfect and attach CSR rnal fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +580 .CS.seek 10ml +2 "collection"'3' +2635 "core" ' + .tCSV.dial :waste1 +2 "collection"'5 +125 "core" +2 .tCS.seek 0ml +2 "collection"''i +2655 "core" ' +2 .tCSV.dial CSR +2 "collection"'4  +124 "core"  +3 .tCS.seek 10ml +2 "collection"'7' +2655 "core" ' + .tCSV.dial :waste1 +2 "collection"'6 +125 "core" +2 .tCS.seek 0ml +2 "collection"'9'i +2649 "core" ' + .tCSV.dial CSR +2 "collection"'8  +125 "core"  +2 .tCS.seek 10ml +2 "collection"';' +2643 "core" ' +2 .tCSV.dial :waste1 + "collection"': +125 "core" +2 .tCS.seek 0ml +2 "collection"'='i +2630 "core" ' +2 .tCSV.dial CSR +2 "collection"'<  +125 "core"  + #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1557 "collection"'?% +3 "core" %l \ +3 .tCS.seek 0.5ml +2 "collection"'>'g +208 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1707 .CS.seek 10ml +2 "collection"'A' +2514 "core" ' +2 .tCSV.dial :waste2 +2 "collection"'B +40 "core"  +2 .tCS.seek 0ml +2 "collection"'@'i +2637 "core" ' + .tCSV.dial CSR +2 "collection"'C  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'E' +2648 "core" ' + .tCSV.dial :waste2 +2 "collection"'D +42 "core"  +2 .tCS.seek 0ml +2 "collection"'G'i +2638 "core" ' + .tCSV.dial CSR +2 "collection"'F  +42 "core"  +3 .tCS.seek 10ml + "collection"'I' +2635 "core" ' +2 .tCSV.dial :waste2 +2 "collection"'H +42 "core"  +2 .tCS.seek 0ml +2 "collection"'K'i +2638 "core" ' + .tCSV.dial CSR +40 "collection"'J  +49 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +4133 "collection"'M% +3 "core" %h \ +3 .tCS.seek 0.5ml + "collection"'L'c +211 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1373 .CS.seek 10ml +2 "collection"'O' +2508 "core" ' + .tCSV.dial :waste1 +2 "collection"'P +125 "core" +2 .tCS.seek 0ml +2 "collection"'N'i +2450 "Can"I HE +193 "core" ' + .tCSV.dial CSR +2 "collection"'Q  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'S' +2649 "core" ' +2 .tCSV.dial :waste1 + "collection"'R +125 "core" +2 .tCS.seek 0ml +2 "collection"'U'i +2637 "core" ' + .tCSV.dial CSR +2 "collection"'T  +137 "core"  +3 .tCS.seek 10ml + "collection"'W' +2643 "core" ' +2 .tCSV.dial :waste1 + "collection"'V +125 "core" +2 .tCS.seek 0ml +2 "collection"'Y'i +2634 "core" ' + .tCSV.dial CSR +2 "collection"'X  +137 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1078 "collection"'[% +3 "core" %j +\ +3 .tCS.seek 0.5ml +2 "collection"'Z'e +215 "core" ' +2 #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +20582 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +58 #**Priming reagent line** + "collection"']% +3 "core" %g \  +3 .tCS.seek 5.5ml +2 "collection"'^'3 +1361 "core" ' + .tCSV.dial :waste1 +2 "collection"'\\ +123 "core" +2 .tCS.seek 0ml +2 "collection"'`'i +1485 "core" ' + #t**Flush clean and air out CSR manifold** + .CSR.select :flush +2 "collection"' +10 .tCSV.dial CSR +2 "collection"'_  +125 "core"  +2 "collection"'b% +3 "core" %c 4\ +3 .tCS.seek 4.999ml + "collection"'a's/ +1372 "core" ' +2 .tCSV.dial :waste1 + "collection"'d +125 "core" +2 .tCS.seek 0ml +2 "collection"'e'i +1352 "core" ' +2 .tCSR.select :air +2 "collection"' +9 .tCSV.dial CSR +2 "collection"'c  +124 "core"  +3 .tCS.seek 10ml + "collection"'g' +2660 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'f +125 "core" +2 .tCS.seek 0ml +2 "collection"'i'i +2658 "core" ' + #t**SUCCESSFULLY PRIMED CSR RNAL REAGENT** +14638 !o:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +6 #mEXIT @1688737116.92EDT @1689094039.06EDT = =tMAIN =mMAIN_scheduler @EDT1689094040.87 #"core_reset"Sent BREAK +2 #t@33508 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +249 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +392 "Can" !r +  !r + #tPolling Can every 10:00 +602 #-> ESP.ready! +3 #Powering core bus +578 .Gate.power :raw,:ON +2 "sampler") +48 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +1860 #-> 10.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'1& +3 "core" &\ \ \  +3 .tHand.open + "manipulator"&21 +58 "core" 1 +2 "manipulator"&3% +4 "core" %    +2 "storage"(4% +3 "core" % b ^ \  +2 "storage"(5. +3 "core" .(,y +2 "storage"(6& +4 "core" &,x b k \ \ +2 "storage"(7& +3 "core" &,x b ^ \ \ +2 "manipulator"&8& +4 "core" &   G  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&:& +3 "core" &    +2 "storage"(;& +4 "core" &,x k n \ \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +96 "core" ' +2 "storage"(=& +4 "core" &,x k k \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +293 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (@& +3 "core" &,n R K (\  +2 "manipulator"&A& +3 "core" &  M  +2 .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&C& +3 "core" &  M  +2 "storage"(D& +4 "core" &,n [ k |\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&E'c +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(H' +8 "core" &  >  +2 "manipulator"&I% +3 "core" % W  p +3 .tForearm.seek :retract + "manipulator"&J' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&K(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&L& +4 "core" &y. L E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &y.  Z E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'? +100 "core" ' +2 "manipulator"&O& +4 "core" &z/  E +2 "manipulator"&P% +4 "core" %F 8 +2 "collection"'Q& +3 "core" &\ \ \  +3 "collection"'R& +6 "core" &\ \ \  +2 .tCC.seek :closed +2 "collection"'S(\\ +4 "core" &\ \ \  +8 &6\ \ \ +| +10 &f\ \ \ ? +9 &`u\ \ \ N +9 &%Z\ \ \ M +10 &]\ \ \ M +9 &\\\ \ \ M +10 &k\\\ \ \ M +9 &-X\ \ \ M +9 &[\ \ \ M +10 &]\ \ \ M +9 & tZ\ \ \ L +10 &"6Z\ \ \ L +9 &#Z\ \ \ M +9 &%Y\ \ \ M +10 &'{Y\ \ \ M +9 &)<\\\ \ \ M +9 &*W\ \ \ M +10 &,Y\ \ \ L +9 &.Z\ \ \ L +9 &0EZ\ \ \ M +10 &2X\ \ \ M +9 &3Z\ \ \ L +10 &5Y\ \ \ M +9 &7L]\ \ \ M +9 &9Y\ \ \ L +10 &:Y\ \ \ M +9 &<\\\ \ \ M +10 &>TZ\ \ \ M +9 &@Z\ \ \ M +9 &A]\ \ \ M +10 &Cb\ \ \ N +9 &EWj\ "\ \ O +10 &Gu\ &\ $\ P +9 &H\ 6\ /\ S +9 &J\ G\ B\ W +9 &LD\ H\ G\ X +10 &N\ D\ F\ X +9 &O\ @\ B\ Y +37 &Q\ >\ ?\ Z +11 &SG\ >\ =\ Z + &U\ :\ ;\ Z + &V\ 7\ 9\ [ + &X\ 7\ 9\ \\ +6 &ZH\ 5\ 6\ \\ +9 &[y\ 8\ 6\ B +9 &\\&\ 4\ 4\ (v +10 &\\u\ 4\ 4\ V +2 ( +2 "collection"'R& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&T1 +62 "core" 1 +2 "manipulator"&U% +4 "core" % F  j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%W& +5 "core" &\  + "manipulator"&X% +4 "core" %  J u +2 "storage"(Y% +4 "core" % $ . "\  +2 "storage"(Z. +3 "core" .(,y +2 "storage"([& +4 "core" &,n - ( \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(\\(,y +31 "core" ( +6 .tSC.configure :limp +3 "storage"($\ 1b +3 (]& +2 "core" &,} Q P\ +3 "manipulator"&^& +3 "core" &ӯ% >J +2 "manipulator"&_% +4 "core" %  A u +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +165 "core" ( +2 "manipulator"&a& +5 "core" & l  + "storage"(b& +4 "core" &,} W U 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&c' +97 "core" ' + "storage"(d& +5 "core" &,} W W\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'r +300 "core" ' +2 "storage"(f- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &,m 4 ' \ +2 "manipulator"&h& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&j& +4 "core" & i  + "storage"(k& +4 "core" &,m * + W\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&l'c +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&m/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(o' +8 "core" &  +3 "manipulator"&p% +3 "core" % { +2 .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&s& +4 "core" &  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" & a 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&u' +93 "core" ' + "manipulator"&v& +4 "core" & P 3 +2 "manipulator"&w% +4 "core" % z L +2 "processing"%x& +4 "core" &\  +3 "processing"%y& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%z(^ +3 "core" &\  +9 &E\ $e +9 &|V\ 8 +10 &~~\ L +9 &_\ O +9 &I]\ O +10 & \\\ O +9 &^\ O +10 &]\ O +9 &R\\\ O +9 &^\ O +10 &]\ O +9 &!]\ O +9 &#Z]\ O +10 &%]4\ O +9 &&_\ O +10 &(^\ O +9 &*c^\ O +9 &,$\\\ O +10 &-\\\ O +9 &/^\ O +9 &1i^\ O +10 &3,[\ O +9 &4[\ O +10 &6]\ O +9 &8r]\ O +9 &:3]\ O +10 &;a\ O +9 &=^\ O +9 &?y_\ O +10 &A<\\\ O +9 &Bd\ P +10 &Dj\ Q +9 &F{r\ Q +9 &H9\ S +10 &I\ T +9 &K\ U +9 &Mx\ U +10 &O8\ V +9 &P\ V +10 &R\ U +9 &T|\ V +9 &VA\ U +10 &X\ V +9 &Y\ V +9 &[\ V +10 &]G\ M +9 &^zG\ ^ +10 &^3\ 3 +5 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&{1 +2 "core" &^"\ 3 +61 1 +2 "manipulator"&|% +3 "core" %   I L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +2 "processing"%~& +3 "core" &^":\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %     +2 "storage"(% +3 "core" % " $ \  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +37 "core" ( +9 .tSC.configure :limp +4 "storage"($\ 1b +3 (& +4 "core" &,{ ! #\ +2 "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &   3 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"('r +4 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &   Y 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +4 "core" &    3 +2 .tForearm.seek PC +2 "manipulator"&\ ' +94 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +305 ( +2 "storage"(& +3 "core" &,j / .\ +2 "manipulator"&& +4 "core" &  3 +2 "manipulator"& % +3 "core" %  \\ ; +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +254 "core" ( + "manipulator"&& +4 "core" & } ] +2 "storage"(& +4 "core" &,j / - \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +92 "core" ' +2 .tHand.open + "manipulator"& 1 +65 "core" 1 +2 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"("' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(#- +3 "core" -' +2 "storage"($& +3 "core" &,j f h \ +2 "manipulator"&%& +4 "core" &   / \\ +2 .tElbow.seek 4 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&'& +4 "core" &   H \\ +2 "storage"((& +4 "core" &,j e e \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(*'" +51 "core" ' +2 "manipulator"&+& +4 "core" &  M \\ + "storage"(,& +4 "core" &,j 3 ` k\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&-'7 +13 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(/' +18 "core" ' + "manipulator"&0% +4 "core" %F k K +2 "storage"(1& +4 "core" &,j . . "\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&2'r +13 "core" ' +2 "manipulator"&3& +4 "core" &  \\ +2 "storage"(4& +4 "core" &,j . /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +15 "core" ' +2 "storage"(6% +4 "core" % 1 1\ +3 ."downElevator"SE.seek :down +3 "storage"(7' +99 (8% +3 "core" %FI O ^\ Vb +2 "manipulator"&:% +4 "core" %  _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 (=& +3 "core" &,j + / k\ +2 "collection"'& +3 "core" &\\q\ -\ -\ V +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  \\  +2 "storage"(?% +4 "core" % " '\  + "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(@(,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &,| / ) d\ +2 "manipulator"&C& +45 "core" & x \\ +2 .tElbow.seek 4 +2 "manipulator"&D( +2 "core" ( +2 "manipulator"&F& +4 "core" &  x \\ +2 "storage"(G& +4 "core" &,| !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +92 "core" ' + "storage"(9& +4 "core" &,| U T\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'r +298 "core" ' +2 "storage"(L- +2 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &  \\ +2 "storage"(>& +3 "core" &,m * # \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&E'7 +23 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Q'f +29 "core" ' +2 "manipulator"&B% +3 "core" %7 +2 "storage"(H& +4 "core" &,m . .\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts + "manipulator"&J'c +15 "core" ' +2 "manipulator"& & +4 "core" &   M \\ +2 "storage"(T& +3 "core" &,m 1 /\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(W' +36 "core" ' +2 "manipulator"&X& +4 "core" &  E \\ +2 "manipulator"&Y% +4 "core" % ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +151 "core" ( + "manipulator"&[& +4 "core" &ӑ)   A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &ӑ)  , A_ +2 .tForearm.seek CC +2 "manipulator"&^'? +95 "core" ' + .tHand.close +2 "manipulator"&_/ +61 "core" / +2 .tCC.seek :open +2 "collection"'N( +447 "core" ( +2 "storage"(a& +3 "core" &,m V P \ +2 "storage"(b& +4 "core" &,m V V \ +2 "manipulator"&& +4 "core" &ӯ$ =A +2 "manipulator"&d% +3 "core" % B \ +2 .tForearm.seek :retract +2 "manipulator"&K' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&V( +155 "core" ( +2 "manipulator"&f& +3 "core" &   } +2 "storage"(g& +3 "core" &,m n a N\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +3 "manipulator"&h'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +58 "core" 1 +2 "manipulator"&m% +4 "core" % . \  9 +2 "storage"(n& +3 "core" &,m k k \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 291 counts + "manipulator"&p'Z +15 "core" ' +3 "manipulator"&`& +4 "core" &  H +2 "storage"(c& +3 "core" &,m l k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&e' +15 "core" ' +2 "storage"(l% +4 "core" % l k \ +3 ."downElevator"SE.seek :down +3 "storage"(s' +99 (t% +3 "core" %F T S R\ V_ +2 "manipulator"&i% +4 "core" % s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'w& +3 "core" &\ \ \ +2 "manipulator"&x% +39 "core" %    +9 "storage"(o% +3 "core" % l g \  +2 "storage"(q. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(!(<- +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ({& +2 "core" &<+ ' # %\  +2 "manipulator"&|& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &<+ a m \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +104 "core" ' +2 "storage"(y& +4 "core" &<+ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ _ k \  +2 "manipulator"& & +4 "core" &  ' +2 .tElbow.seek 5 +2 "manipulator"&u( +2 "core" ( +2 "manipulator"& & +4 "core" &  c +2 "storage"(\\& +4 "core" &<+ l l \  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&'Ϲ +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&r/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +3 "storage"(z' +7 "core" &  +2 "manipulator"&% +4 "core" % ϼ  N  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +3 "manipulator"& & + "core" ' +4 ."downElevator"SE.stop + "storage"(5 +3 "core" &x0 F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &x0 M F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +97 "core" ' +2 "manipulator"&& +4 "core" &x0  F +2 "manipulator"&% +4 "core" %I h " +2 "collection"' & +4 "core" &\ \ \ +3 "collection"'& +4 "core" &\ \ \ +4 .tCC.seek :closed + "collection"'#(\\ +4 "core" &\ \ \ +7 & 6\ \ \ %f +10 &W\ \ \ 7 +9 &~\ \ \ L +10 &Z\ \ \ L +9 &|Z\ \ \ L +9 &>W\ \ \ L +10 &Z\ \ \ M +9 &Z\ \ \ L +9 &\\\ \ \ L +10 &FW\ \ \ L +9 & \\\ \ \ L +10 &![\ \ \ L +9 &#\\\ \ \ M +9 &%NY\ \ \ L +10 &'U\ \ \ L +9 &([\ \ \ L +9 &*Y\ \ \ L +10 &,V\\\ \ ~\ L +9 &.Y\ \ \ L +10 &/U\ \ \ L +9 &1Z\ \ \ M +9 &3^Y\ \ \ L +10 &5X\ \ \ M +9 &6Y\ \ \ L +9 &8Z\ \ \ L +10 &:fZ\ \ \ L +9 &<)V\ \ \ L +10 &=Y\ \ \ M +9 &?Z\ \ \ M +9 &AnX\ \ \ L +10 &C/]\ \ \ M +9 &Dg\ !\ \ N +9 &Fn\ %\ #\ O +10 &Hf\ 0\ +\ R +9 &J\ B\ <\ V +10 &K\ F\ G\ W +9 &M\ D\ D\ X +9 &O\\\ B\ B\ X +10 &Q\ =\ @\ Y +9 &R\ =\ <\ Y +10 &T\ 9\ :\ [ +9 &V\\\ 8\ 9\ [ +9 &X\ 7\ 7\ [ +10 &Y\ 7\ 7\ \\ +9 &[\ 5\ 6\ H +9 &\\>\ 6\ 6\ (z +10 &\\m\ 5\ 6\ J +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 + .Hand.open + "manipulator"&$1 +56 "core" 1 +3 "manipulator"&%% +3 "core" % I  w " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%(& +4 "core" &\ +2 "manipulator"&% +3 "core" %  X  +2 "storage"(+% +4 "core" % / 0 a\  +2 "storage"(,. +2 "core" .(<- +2 "storage"(0& +4 "core" &<+ 0 + d\  +2 "storage"(1& +4 "core" &<+ $ + M\  +2 "manipulator"&3& +3 "core" &Ӳ% >J +2 "manipulator"&% +4 "core" %  m  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&4( +164 "core" ( +2 "manipulator"&& +5 "core" &  + "storage"(6& +4 "core" &<+ W W \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + "storage"(& +4 "core" &<+ P Q Z\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'r +298 "core" ' +2 "storage"(8- +46 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &<+ S U ;\  +2 "manipulator"&)& +4 "core" & b  +2 .tElbow.seek 5 +2 "manipulator"&&( +2 "core" ( +3 "manipulator"&*& +3 "core" &   +2 "storage"(-& +4 "core" &<+ S T `\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&2'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +60 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(' +5 "core" &  *  +2 "manipulator"&?% +5 "core" % ϱ 2 +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&/( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&A& +4 "core" &  l ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" & q ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&F' +101 "core" ' +2 "manipulator"&G& +4 "core" & R ; +2 "manipulator"&5% +4 "core" %  E +2 "processing"%9& +5 "core" &\ +2 "processing"%7& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &2{\ )w +9 &b\ > +10 &ly\ O +9 &.\\\ O +10 &\\\ O +9 &X\ N +9 &t_"\ O +10 &5]\ O +9 &[4\ O +9 &\\\ O +10 & }[\ N +9 &"?\\\ N +10 &$`\ O +9 &%_\ N +9 &'\\\ N +10 &)F_\ O +9 &+]\ O +10 &,\\\ N +9 &.Y\ N +9 &0O\\\ N +10 &2]\ N +9 &3Y\ N +9 &5]\ N +10 &7WZ\ N +9 &9^\ N +10 &:`\ O +9 &<\\\ N +9 &>^_\ O +10 &@ `\ O +9 &Ab\ O +9 &Cj\ P +10 &E`o\ Q +9 &G x\ Q +10 &H\ T +9 &J\ T +9 &L]\ T +10 &N\ U +9 &O\ T +9 &Q\ V +10 &Sa\ V +9 &U%\ U +9 &V\ U +10 &X\ U +9 &Zi\ V +10 &\\+\ V +9 &]~z\ ; +9 &^1\ N +10 &^\ / +2 ( +2 "processing"%7& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&.1 +58 "core" 1 +3 "manipulator"&;% +3 "core" %    K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +88 "core" ' +2 "processing"%M& +3 "core" &^\\\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&>% +3 "core" %     +2 "storage"(P% +4 "core" % + / b\  +2 "storage"(B. +3 "core" .(<- +2 "storage"(H& +4 "core" &<+ % 0 t\  +2 "storage"( & +3 "manipulator"&T& +6 "core" &<+ , # \  +2 &   ; +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&X( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'r +2 "core" ( +3 "manipulator"&I& +3 "core" &  ; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &   ; +2 .tForearm.seek PC +2 "manipulator"&<' +91 "core" ' +2 .tHand.close + "manipulator"&E/ +63 "core" / +2 .tPC.seek :open +2 "processing"%J( +91 "core" ' + "storage"(Q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['1 +40 "core" ' +310 ( +2 "storage"(]& +3 "core" &<+ . . R\  +2 "manipulator"&U& +4 "core" & k ; +2 "manipulator"&O% +3 "core" %  U ] +3 .tForearm.seek :retract +2 "manipulator"&_' +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Z( +255 "core" ( + "manipulator"&S& +4 "core" & 6 E +2 "storage"(a& +4 "core" &<+ ' , !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +90 "core" ' +37 .tHand.open +9 "manipulator"&1 +53 "core" 1 +2 "storage"(d- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(f' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(g' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"(R& +3 "core" &<+ - *\  +2 "manipulator"&k& +4 "core" &   f E +2 .tElbow.seek 5 +2 "manipulator"&m( +29 "core" ( + "manipulator"&n& +4 "core" &   J  +2 "storage"(`& +4 "core" &<+ : 7 \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(l'" +59 "core" ' +2 "manipulator"&K& +3 "core" &   +2 "storage"(t& +4 "core" &<+ ' $ ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&i'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +19 "core" ' + "manipulator"&w% +4 "core" %Ο X +2 "storage"(x& +4 "core" &<+ U T 9\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&p' +13 "core" ' +2 "manipulator"&W& +4 "core" & i  +2 "storage"(o& +4 "core" &<+ 5 ? \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +15 "core" ' +2 "storage"(e% +4 "core" % H 4 m\ +3 ."downElevator"SE.seek :down +3 "storage"(s' +99 (@% +2 "core" %TM N 2\ Wd +3 "manipulator"&{% +3 "core" %@  ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<+ > ' \  +2 "collection"'& +3 "core" &\\k\ .\ 0\ J +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&y% +4 "core" %  |  +2 "storage"(j% +4 "core" % S T b\  + "storage"(v. +3 "core" .(<- +2 "storage"(& +4 "core" &<+ V U\  +2 "storage"(& +4 "core" &<+ S Q\  +2 "manipulator"& & +3 "core" & `  +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&\\& +4 "core" & c  +2 "storage"(r& +4 "core" &<+ U S u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +95 "core" ' +2 "storage"(& +3 "core" &<+ O C \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  c  +2 "storage"(\ & +4 "core" &<+ U Q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('v +28 "core" ' +2 "manipulator"& % +3 "core" %Κ K  +2 "storage"(u& +4 "core" &<+ I Q &\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&z' +14 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(N& +4 "core" &<+ H F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(%' +36 "core" ' +2 "manipulator"&(& +3 "core" &  +2 "manipulator"&% +40 "core" %; z +9 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,(ӂ +154 "core" ( +2 "manipulator"&0& +4 "core" &z. Q E~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &z. X E~ +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&3/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(& +3 "core" &<+ W W\  +2 "storage"(& +4 "core" &<+ Y U\  +2 "manipulator"&6& +3 "core" &" n ;6 +2 "manipulator"&% +4 "core" % 8 Y  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&'( +161 "core" ( +2 "manipulator"&8& +3 "core" & f  +2 "storage"(:& +4 "core" &<+ n m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&)'΍ +99 "core" ' +2 .tElbow.hold + "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&-1 +58 "core" 1 +3 "manipulator"&=% +3 "core" % Ε  o  +2 "storage"(& +4 "core" &<+ o n \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&?' +13 "core" ' +2 "manipulator"&4& +3 "core" &  +2 "storage"(& +4 "core" &<+ l j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"'O +15 "core" ' + "storage"(2% +4 "core" % b l \ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (C% +3 "core" %I U U\ Va +2 "manipulator"&&% +3 "core" %W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +89 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'5& +4 "core" &\ \ \ +2 "manipulator"&9% +4 "core" %  ;  +2 "storage"(% +3 "core" % _\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +3 "core" &K R L U\ +2 "manipulator"&;& +4 "core" & )  +2 .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&>& +4 "core" &   \\  + "storage"(P& +4 "core" &K m l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&B' +106 "core" ' +2 "storage"(H& +4 "core" &K \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +295 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (7& +2 "core" &K V < S\ +3 "manipulator"&I& +3 "core" &  i  +2 .tElbow.seek 6 +2 "manipulator"&D( +4 "core" ( + "manipulator"&F& +4 "core" &    +2 "storage"(E& +4 "core" &K l n\ +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&Q'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"(' +7 "core" & u  +2 "manipulator"&Y% +4 "core" % k 5 +2 .tForearm.seek :retract +2 "manipulator"&]' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +155 "core" ' +9 ."downElevator"SE.stop + "storage"(5 +38 "core" ( + "manipulator"&O& +4 "core" &ӎ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &ӎ u 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&S'? +91 "core" ' +3 "manipulator"&a& +3 "core" &ӎ @ 7 +2 "manipulator"&X% +4 "core" %4 W o +2 "collection"'& +4 "core" &\ \ \ +3 "collection"'d& +4 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'^(\\ +5 "core" &\ \ \  +9 &2}\ \ \ *x +9 &c\ \ \ = +10 &~s\ \ \ L +9 &BU\ \ \ L +9 &W\ \ \ L +10 &Y\ \ \ L +9 &X\ \ \ K +10 &JY\ \ \ L +9 & [\ \ \ L +9 &X\ \ \ L +10 & Z\ \ \ L +9 &"RW\ \ \ L +9 &$X\ \ \ K +10 &%Y\ \ \ L +9 &'X\ \ \ L +10 &)[X\ \ \ K +9 &+X\ \ \ L +9 &,W\ \ \ K +10 &.W\ \ \ L +9 &0bX\ \ \ L +9 &2#[\ \ \ L +10 &3X\ \ \ L +9 &5Y\ \ \ K +10 &7jY\ \ \ L +9 &9,Y\ \ \ L +9 &:X\ \ \ L +10 &<]\ \ \ L +9 &>o\\\ \ \ M +9 &@1Z\ \ \ M +10 &A]\ \ \ M +9 &C_\ \ \ M +10 &Erk\ #\ \ N +9 &G/\ .\ *\ P +9 &H\ C\ ;\ U +10 &J\ L\ K\ W +9 &L]\ J\ L\ X +9 &N\ G\ H\ X +10 &O\ B\ B\ Y +9 &Q\ >\ A\ Y +10 &S_\ 9\ =\ Z +9 &U#\ ;\ <\ Z +9 &V\ 7\ 9\ [\ +10 &X\ 9\ 9\ \\ +9 &Za\ 9\ 8\ \\ +9 &\\z\ 7\ 7\ 8 +10 &\\)\ 7\ 6\ &p +9 &\\s\ 4\ 2\ U +3 ( +2 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&R1 +53 "core" 1 +2 "manipulator"&_% +5 "core" % L  W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%n& +4 "core" &\ +2 "manipulator"&`% +4 "core" %    +2 "storage"(K% +3 "core" % C 4 ?\  +2 "storage"(t. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"([(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" &K ) % S\ +2 "manipulator"&x& +4 "core" &  O % +2 "manipulator"&f% +3 "core" %  f  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&W( +145 "core" ( + "manipulator"&o& +4 "core" & & \ +2 "storage"(e& +4 "core" &K H Q b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +95 "core" ' +2 "storage"(b& +4 "core" &K U U\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(g'r +296 "core" ' +2 "storage"(@- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ({& +2 "core" &K # + \ +3 "manipulator"&c& +4 "core" & { \ +2 .tElbow.seek 6 + "manipulator"&m( +3 "core" ( +2 "manipulator"&l& +4 "core" & M \ +2 "storage"(i& +3 "core" &K . 1\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&p'h +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(y' +6 "core" & T \ +2 "manipulator"&j% +4 "core" % ] G +2 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&& +4 "core" & 7 P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & P P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +101 "core" ' + "manipulator"&\\& +4 "core" & } P +2 "manipulator"&r% +4 "core" % b  +2 "processing"%q& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%s(^ +3 "core" &\ +7 &5\ $d +10 &U~\ 7 +9 &}\ K +9 &[\ O +10 &_[\ O +9 &#V\ N +9 &\\\ O +10 &\\\ O +9 &hW\ N +43 &*[\ N +10 &]\ N + &!Y\ N +2 &#o^\ O + &%1[\ O + &&\\\ O +8 &(Y \ N +9 &*wY,\ O +9 &,9]\ O +10 &-W\ N +9 &/_\ O +10 &1\\\ N +9 &3BW\ N +9 &5\\\ N +10 &6]\ N +9 &8]\ N +10 &:JX\ N +9 &< \\\ N +9 &=]\ O +10 &?^\ N +9 &AR]\ N +9 &Cd\ P +10 &Dh\ P +9 &Fq\ Q +10 &HM\ S +9 &J\ \ T +9 &K\ T +10 &M\ U +9 &OM\ U +9 &Q \ W +10 &R\ U +9 &T\ V +10 &VU\ U +9 &X\ V +9 &Y\ V +10 &[\ V +9 &][\ E +9 &^{>p\ 's +10 &^*\ / +5 ( +2 "processing"%& +4 "core" &^\ / +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&V1 +58 "core" 1 +2 "manipulator"&|% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 "processing"% & +3 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&\ % +4 "core" %      +2 "storage"(% +3 "core" % ! ! \  +3 "storage"( . +2 "core" .(K +2 "storage"(u& +4 "core" &K ! ! \ +3 "storage"(& +2 "manipulator"&N& +7 "core" &K # ! \ + &   X P +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(('r + "manipulator"&( +7 "core" ( + "manipulator"&}& +4 "core" &    P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +4 "core" &   P +2 .tForearm.seek PC +2 "manipulator"&~' +92 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%z( +89 "core" ' +2 "storage"(- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'1 +44 "core" ' +308 ( + "storage"(1& +4 "core" &K : ' \ \ +2 "manipulator"&$& +3 "core" & P +2 "manipulator"&% +4 "core" % \  I V +2 .tForearm.seek :retract +2 "manipulator"&3' +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&+( +243 "core" ( +2 "manipulator"&#& +4 "core" & 0  +2 "storage"(& +4 "core" &K 1 0 %\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' + .tHand.open +2 "manipulator"&61 +62 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(8' +27 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(,& +4 "core" &K h h \ \ +2 "manipulator"&-& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&=( +9 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(4& +4 "core" &K E E [\ \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(2'" +60 "core" ' + "manipulator"&& +4 "core" & Z  +2 "storage"(C& +4 "core" &K ! ! \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&&'< +13 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"()' +27 "core" ' + "manipulator"&5% +4 "core" %L = A +2 "storage"(9& +4 "core" &K / /\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&?'x +14 "core" ' + "manipulator"&& +4 "core" & d  +2 "storage"(& +4 "core" &K ! 1\ \ +40 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +17 "core" ' +2 "storage"("% +4 "core" % % 3\ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (!% +3 "core" %]M M [\ Xf +2 "manipulator"&.% +4 "core" % A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (>& +3 "core" &K ) 7 z\ \ +2 "collection"'P& +4 "core" &\\q\ /\ -\ U +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&H% +3 "core" %    +2 "storage"(*% +4 "core" % % u\  +3 "storage"(G. +3 "core" .(K +2 "storage"( & +4 "core" &K / $ 5\ \ +2 "storage"(7& +3 "core" &K ? P M\ \ +2 "manipulator"&I& +4 "core" & 4  +2 .tElbow.seek 6 +2 "manipulator"&F( +10 "core" ( + "manipulator"&E& +4 "core" & B +2 "storage"(/& +4 "core" &K T U x\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +97 "core" ' + "storage"(Y& +4 "core" &K Q W \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'r +300 "core" ' +2 "storage"(B- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" & l +2 "storage"(O& +4 "core" &K - . Y\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&Q'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(a't +27 "core" ' +2 "manipulator"&X% +4 "core" %5 9  + "storage"(& +4 "core" &K - . p\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 293 counts + "manipulator"&'a +15 "core" ' + "manipulator"&]& +4 "core" & +2 "storage"(& +4 "core" &K / . \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +20 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(_' +36 "core" ' +2 "manipulator"&n& +4 "core" & N +2 "manipulator"&`% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&t(ӂ +158 "core" ( + "manipulator"&d& +4 "core" &ӑ& A ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &ӑ& K ?S +2 .tForearm.seek CC +2 "manipulator"&x'? +96 "core" ' +2 .tHand.close + "manipulator"&f/ +63 "core" / +2 .tCC.seek :open +2 "collection"'S( +450 "core" ( +2 "storage"(o& +3 "core" &K V Q \ \ +2 "storage"(e& +4 "core" &K J T \ \ +2 "manipulator"&b& +4 "core" &  ~ / +2 "manipulator"&% +3 "core" %  N +2 .tForearm.seek :retract +2 "manipulator"&U' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&k( +153 "core" ( + "manipulator"&@& +4 "core" &   +2 "storage"({& +3 "core" &K h m o\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&c'< +95 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&i1 +60 "core" 1 +2 "manipulator"&% +4 "core" % A  7 +2 "storage"(& +3 "core" &K l a \ \ +2 .tForearm.force -20 + "manipulator"&5 +41 .tForearm.seek 6 + 305 counts +10 "manipulator"&j'm +13 "core" ' +2 "manipulator"&W& +3 "core" &  :  +2 "storage"(Z& +4 "core" &K k h \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&g' +16 "core" ' + "storage"(p% +4 "core" % l m \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %G T T d\ Wb +2 "manipulator"&m% +4 "core" % ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +87 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'r& +3 "core" &\ \ \ +2 "manipulator"&q% +4 "core" %    :  +2 "storage"(y% +4 "core" % k k \  +2 "storage"(v. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(J(,y +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" &,{ R I \ +2 "manipulator"&|& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"& ( +4 "core" ( + "manipulator"&\ & +4 "core" &    +2 "storage"(& +4 "core" &,{ k k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +94 "core" ' + "storage"(u& +4 "core" &,{ p K\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &,l [ R Z\ +2 "manipulator"&}& +4 "core" &    +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"& & +4 "core" &   B  +2 "storage"(& +4 "core" &,l n n \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(s' +7 "core" & n  +2 "manipulator"&(% +4 "core" % x  6 +2 .tForearm.seek :retract +2 "manipulator"&1' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +5 "core" &ӛ! G :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &ӛ  p :/ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'? +100 "core" ' +2 "manipulator"&& +4 "core" &ӛ! t :/ +2 "manipulator"&% +4 "core" %@  +2 "collection"'6& +4 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ \ +2 .tCC.seek :closed +4 "collection"'(\\ +2 "core" &\ \ \ +6 &\ \ \ : +9 &FIx\ \ \ 1 +10 &}v\ \ \ E +9 &)[\ \ \ L +9 &U\ \ \ K +10 &X\ \ \ K +9 &qX\ \ \ L +10 &2X\ \ \ L +9 &W\ \ \ K +9 &W\ \ \ K +10 &zW\ \ \ K +9 &!<W\ \ \ K +9 &"Z\ \ \ L +10 &$U\ \ \ L +9 &&U\ \ \ L +10 &(CZ\ \ \ L +9 &*Z\ \ \ L +10 &+X\ \ \ L +9 &-U\ \ \ L +9 &/KU\ \ \ L +9 &1 Y\ \ \ L +10 &2Y\ \ \ K +9 &4W\ \ \ K +10 &6SZ\ \ \ L +9 &8U\ \ \ L +9 &9Z\ \ \ L +10 &;X\ \ \ L +9 &=[W\ \ \ L +9 &?V\ \ \ L +10 &@X\ \ \ K +9 &B\\\ \ \ L +10 &D`c\ \ \ M +9 &Fl\ #\ \ N +9 &Gz\ +\ &\ P +10 &I\ :\ 5\ T +9 &KI\ F\ E\ W +9 &M \ C\ D\ X +10 &N\ ?\ A\ X +9 &P\ >\ ?\ X +9 &RN\ <\ <\ X +10 &T \ ;\ 8\ Z +9 &U\ 9\ 9\ Z +10 &W\ 8\ 8\ Z +9 &YK\ 7\ 8\ \\ +9 &[\ 7\ 8\ \\ +10 &\\eH\ 8\ 8\ 1 +9 &\\\ 5\ 7\ K +6 ( +2 "collection"'& +3 "core" &\\o\ 1\ 4\ K +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&,1 +57 "core" 1 +2 "manipulator"&-% +4 "core" % @   9  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%4& +4 "core" &\ +2 "manipulator"&3% +43 "core" %  q  +10 "storage"(% +3 "core" % / 1 \  +2 "storage"(C. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(5(,y +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &,y K M\  +2 "manipulator"&0& +3 "core" &Ӝ! :. +2 "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( + "manipulator"&8& +4 "core" &  +2 "storage"("& +4 "core" &,y I Q S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&+' +97 "core" ' +2 "storage"(& +4 "core" &,y W V a\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +294 "core" ' +2 "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (.& +4 "core" &,l ! ! -\  +2 "manipulator"&& +4 "core" & O  +2 .tElbow.seek 4 + "manipulator"&=( +4 "core" ( +2 "manipulator"&2& +3 "core" &  +2 "storage"(&& +3 "core" &,l 1 1\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&>'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(H' +6 "core" & '  +2 "manipulator"&*% +4 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&G' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"& & +5 "core" & p 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" & 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I' +96 "core" ' + "manipulator"&E& +4 "core" & m 3 +2 "manipulator"&/% +4 "core" % v +2 "processing"%%& +4 "core" &\ +2 "processing"%Y& +5 "core" &\ +3 .tPC.seek :closed + "processing"%A(^ +4 "core" &\  +9 &1v\ *x +9 &c\ > +10 &px\ O +9 &2Z\ O +9 &[\ O +10 &W\ N +9 &xZ\ O +9 &:]\ O +10 &[\ O +9 &\\\ N +9 & ]\ N +10 &"C\\\ N +9 &$]\ N +10 &%\\\ N +9 &']\ N +9 &)KW\ N +10 &+ X\ N +9 &,]\ N +9 &.Z\ O +10 &0SZ\ N +9 &2V,\ N +10 &3[1\ N +9 &5Z\ N +9 &7\\W,\ N +10 &9\\\ O +9 &:\\\ O +9 &<X\ N +10 &>b] \ O +9 &@&Z.\ N +10 &A`\ O +9 &Cf\ P +9 &Egj\ P +10 &G%v\ Q +9 &H\ S +9 &J\ U +10 &La\ T +9 &N"\ U +10 &O\ U +9 &Q\ U +9 &Se\ V +10 &U&\ V +9 &V\ U +9 &X\ U +10 &Zk\ W +9 &\\/\ V +10 &]{v\ ? +9 &^#S\ P +9 &^C\ ; +3 ( +2 "processing"%Y& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&'1 +58 "core" 1 + "manipulator"&;% +4 "core" %   v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +97 "core" ' +2 "processing"%T& +4 "core" &^@\ ; +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&O% +4 "core" %     +2 "storage"(D% +3 "core" % " ! \  +2 "storage"(X. +3 "core" .(,y +2 "storage"(& +4 "core" &,l ! *\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(](,y +47 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&n& +6 "core" &,{\ \  \ + &   3 +4 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&`( +43 ."raiseStack"SE.seek :beamBreak +10 "storage"(L'r + "core" ( +3 "manipulator"&F& +4 "core" &   U 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &  L 3 +2 .tForearm.seek PC +2 "manipulator"&Q' +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%a( +94 "core" ' +2 "storage"(d- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'1 +41 "core" ' +312 ( +2 "storage"(R& +4 "core" &,j - . p\ +2 "manipulator"&<& +4 "core" & G 3 +2 "manipulator"&f% +3 "core" %  W X +2 .tForearm.seek :retract +2 "manipulator"&K' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&^( +251 "core" ( + "manipulator"&o& +4 "core" &  # [ +2 "storage"(e& +3 "core" &,j ( & '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +92 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(@- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"({' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(x' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +3 "core" -' +2 "storage"(i& +4 "core" &,j ) , C\ +2 "manipulator"&& +4 "core" &   v [ +2 .tElbow.seek 4 +2 "manipulator"&( +2 "core" ( +3 "manipulator"&W& +3 "core" &   [ +2 "storage"(Z& +4 "core" &,j , 6 D\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(U'" +58 "core" ' +2 "manipulator"&& +4 "core" &  y [ + "storage"(k& +4 "core" &,j / . G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&m'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +27 "core" ' +2 "manipulator"&r% +4 "core" %I  +2 "storage"(q& +4 "core" &,j / / \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&y'u +14 "core" ' +2 "manipulator"&v& +4 "core" &  o Z +2 "storage"(_& +3 "core" &,j " ' \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts + "manipulator"&g' +16 "core" ' +2 "storage"(% +4 "core" % 8 U\ +2 ."downElevator"SE.seek :down +4 "storage"([' +99 (V% +3 "core" %ZK M e\ Vc +2 "manipulator"&|% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" &,j ( ' 1\ +3 "collection"'u& +3 "core" &\\n\ .\ 0\ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&l% +3 "core" %  B  +2 "storage"(\\% +4 "core" % 4 F t\  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(N(,y +26 "core" ( +48 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &,z " $\ +2 "manipulator"& & +4 "core" & ^ Z +2 .tElbow.seek 4 +2 "manipulator"&( +5 "core" ( + "manipulator"&h& +4 "core" & ; O +2 "storage"(& +4 "core" &,z T J \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&(' +95 "core" ' +2 "storage"( & +4 "core" &,z J T v\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" &  O O +2 "storage"(& +4 "core" &,m " ! -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(6'f +29 "core" ' +2 "manipulator"& % +3 "core" %3 L +2 "storage"(s& +4 "core" &,m . / \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts + "manipulator"&1'_ +14 "core" ' +2 "manipulator"&S& +3 "core" &  a O +3 "storage"(,& +3 "core" &,m / 1 E\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(4' +36 "core" ' +2 "manipulator"&3& +4 "core" & < O +2 "manipulator"&% +3 "core" % 1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +162 "core" ( +2 "manipulator"&9& +3 "core" &Ӊ!  * :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &Ӊ!   :- +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&#/ +64 "core" / +2 .tCC.seek :open +2 "collection"'8( +447 "core" ( +2 "storage"("& +3 "core" &,m G F 7\  +2 "storage"(J& +4 "core" &,m L T t\  +2 "manipulator"&& +3 "core" &ӓ  l 9# +2 "manipulator"&$% +5 "core" % S b ( +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&!( +160 "core" ( +2 "manipulator"&.& +3 "core" & D  +2 "storage"(& +4 "core" &,m n n \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&2'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&?1 +55 "core" 1 +2 "manipulator"&P% +4 "core" % , U V +2 "storage"(*& +3 "core" &,m k a \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 289 counts + "manipulator"&'X +16 "core" ' +3 "manipulator"&+& +4 "core" &   +2 "storage"(:& +3 "core" &,m l k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +14 "core" ' +2 "storage"( % +4 "core" % m o ;\ +49 ."downElevator"SE.seek :down +3 "storage"(7' +98 (=% +3 "core" %F W U \ U_ +2 "manipulator"&E% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +95 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'%& +4 "core" &\ \ \ +2 "manipulator"&H% +4 "core" %  B  +2 "storage"(G% +4 "core" % k l \  + "storage"(z. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"('(<- +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &<, R K \  +2 "manipulator"&T& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&O( +11 "core" ( + "manipulator"&D& +4 "core" &  | +2 "storage"(X& +4 "core" &<, a ^ y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +97 "core" ' +2 "storage"(Y& +3 "core" &<, \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (F& +3 "core" &<, : D 1\  +2 "manipulator"&M& +3 "core" & 8 | +2 .tElbow.seek 5 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&5& +4 "core" &   | +2 "storage"(& +4 "core" &<, n n\  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&)'Ϲ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(A' +8 "core" & | + "manipulator"&L% +4 "core" %  ) +3 .tForearm.seek :retract + "manipulator"&R' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<(ӂ +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&f& +4 "core" &Ӑ%  >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &Ӑ% 9 >H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'? +91 "core" ' +2 "manipulator"&e& +4 "core" &Ӑ%  \\ >H +2 "manipulator"&`% +3 "core" %@ o +3 "collection"'& +4 "core" &\ \ \ +3 "collection"'@& +4 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'t(\\ +5 "core" &\ \ \ +6 &<\ \ \ %f +10 &Y}\ \ \ 7 +9 &z\ \ \ K +9 &W\ \ \ K +10 &W\ \ \ K +9 &CZ\ \ \ K +9 &Z\ \ \ K +10 &U\ \ \ K +9 &U\ \ \ K +9 &LV\ \ \ K +10 & Y\ \ \ K +9 &!Y\ \ \ K +10 &#Z\ \ \ K +9 &%RY\ \ \ L +9 &'W\ \ \ K +10 &(T\ \ \ L +9 &*V\ \ \ L +10 &,ZW\ \ \ L +9 &.Y\ \ \ K +9 &/Y\ \ \ K +10 &1U\ \ \ K +9 &3dV\ \ \ K +9 &5$X\ \ \ L +10 &6U\ \ \ K +9 &8U\ \ \ L +9 &:jX\ \ \ L +10 &<.U\ \ \ K +9 &=Y\ \ \ L +10 &?Y\ \ \ L +9 &ArW\ \ \ L +9 &C4\\\ \ \ L +10 &Dh\ \ \ M +9 &Fp\ &\ "\ N +9 &Hl\ -\ (\ P +10 &J \ D\ ;\ U +9 &K\ H\ G\ W +10 &M\ D\ E\ X +9 &O_\ B\ C\ W +9 &Q\ >\ >\ X +10 &R\ =\ >\ X +9 &T\ 9\ =\ Y +9 &Vb\ :\ ;\ Y +10 &X \ :\ :\ [ +9 &Y\ 9\ 9\ [\ +10 &[\ 7\ 8\ I +9 &\\2\ 8\ 9\ 0 +9 &\\h\ 6\ 7\ N +3 ( +2 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&i1 +53 "core" 1 +2 "manipulator"&% +4 "core" % @ | o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Z& +4 "core" &\ +2 "manipulator"&K% +3 "core" %  c  +2 "storage"(% +4 "core" % ' &\  +46 "storage"(k. +6 "core" .(<- +2 "storage"(r& +4 "core" &<, ( " \  +2 "storage"(w& +4 "core" &<, ' "\  +2 "manipulator"&q& +3 "core" &Ӭ  m :, +2 "manipulator"&v% +4 "core" %  _  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&{( +154 "core" ( +2 "manipulator"&_& +3 "core" & / +2 "storage"(& +4 "core" &<, W W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +92 "core" ' +2 "storage"(b& +4 "core" &<, Q F >\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'r +298 "core" ' +2 "storage"(V- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &<, ! . D\  +2 "manipulator"&p& +4 "core" & 9 +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&U& +4 "core" & - +2 "storage"(m& +4 "core" &<, ? + T\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&y'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& + "storage"(l' +8 "core" & G +2 "manipulator"&\\% +3 "core" % ϱ +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&}& +4 "core" & ' K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & & K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&h' +92 "core" ' + "manipulator"&& +4 "core" & c K +2 "manipulator"&g% +4 "core" % i p +2 "processing"% & +4 "core" &\ +2 "processing"%[& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%](^ +5 "core" &\  +8 &2{\ )w +9 &b\ > +10 &nv\ N +9 &/X\ N +9 &Z\ N +10 &Y\ N +9 &uZ\ N +9 &6Y\ O +10 &Z\ N +9 &Z\ N +10 & ~X\ N +9 &"?Z\ N +9 &$[\ N +10 &%Y\ N +9 &'Z\ O +9 &)GY\ N +10 &+\ \\\ N +9 &,Z\ N +10 &.Y\ N +9 &0O[\ N +9 &2Y\ N +10 &3Y\ N +9 &5Y\ N +9 &7X[\ N +10 &9\\\ N +9 &:[\ O +10 &<Z=\ N +9 &>^\\\ O +9 &@!\\\ N +10 &A]\ O +9 &Ch\ P +9 &Ebk\ P +10 &G v\ Q +9 &H\ T +10 &J\ T +9 &L^\ T +9 &N\ U +10 &O\ T +9 &Q\ U +9 &Sc\ U +10 &U$\ U +9 &V\ U +10 &X\ U +9 &Zl\ U +9 &\\,\ U +10 &]~y\ ; +9 &^,\ R +9 &^#\ 2 +3 ( +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&c1 +64 "core" 1 +2 "manipulator"&\ % +4 "core" %   T p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 "processing"%~& +4 "core" &^!\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    ! +2 "storage"(% +4 "core" % . $ Y\  + "storage"( . +3 "core" .(<- +2 "storage"(s& +4 "core" &<, !\  +3 "storage"(S& +2 "manipulator"&,& +5 "core" &<, ' $ C\  +2 &  K +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(3'r + "manipulator"&( +7 "core" ( + "manipulator"&(& +4 "core" &   K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +43 && +10 "core" &  : K +2 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%1( +44 "core" ' +2 "storage"(6- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(9'1 +46 "core" ' +356 ( +2 "storage"(0& +4 "core" &<, 4 * 1\  +2 "manipulator"&-& +4 "core" & 7 K +2 "manipulator"&% +4 "core" %  m = +2 .tForearm.seek :retract +2 "manipulator"&#' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +242 "core" ( +2 "manipulator"&& +4 "core" & C A +2 "storage"("& +4 "core" &<, . . \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&J'O +103 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +3 "storage"($- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(.' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(C& +4 "core" &<,  8\  +2 "manipulator"&?& +3 "core" &   b @ +2 .tElbow.seek 5 +2 "manipulator"&P( +4 "core" ( + "manipulator"&*& +4 "core" &   @ +2 "storage"(+& +4 "core" &<, . 5\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +58 "core" ' +2 "manipulator"&& +3 "core" & * @ +2 "storage"(=& +4 "core" &<, ( ' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&E'΍ +29 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(2' +28 "core" ' +2 "manipulator"&% +4 "core" %Δ T f +2 "storage"(%& +3 "core" &<, " ' \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 307 counts + "manipulator"&H' +14 "core" ' +2 "manipulator"&G& +4 "core" & ` . +2 "storage"(z& +4 "core" &<, E A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&4'O +17 "core" ' +2 "storage"(>% +3 "core" % Q J ,\ +3 ."downElevator"SE.seek :down +4 "storage"(7' +98 (N% +3 "core" %J M ^\ Wc +2 "manipulator"&;% +4 "core" %: d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 (D& +2 "core" &<, > B .\  +3 "collection"'X& +3 "core" &\\f\ 0\ /\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&Y% +5 "core" %    + "storage"(&% +4 "core" % S R \  + "storage"(/. +3 "core" .(<- +2 "storage"(& +4 "core" &<, V P c\  +2 "storage"(F& +4 "core" &<, Q J \  + "manipulator"&M& +4 "core" &  f . +2 .tElbow.seek 5 +2 "manipulator"&5( +23 "core" ( +2 "manipulator"&& +3 "core" & 1  +2 "storage"(d& +49 "core" &<, W W \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +91 "core" ' +2 "storage"(L& +4 "core" &<, G Q E\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(O'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&f& +3 "core" & b  +2 "storage"(Q& +4 "core" &<, S P a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&n'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&), +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(`'v +32 "core" ' + "manipulator"&% +4 "core" %Ώ 9  +2 "storage"(I& +4 "core" &<, T J O\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&A'ϻ +14 "core" ' + "manipulator"&R& +4 "core" &  c  +2 "storage"(8& +4 "core" &<, P F >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +39 "core" ' +2 "manipulator"&Z& +4 "core" & i  +2 "manipulator"&K% +3 "core" %[ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +166 "core" ( +2 "manipulator"&@& +4 "core" &Ӊ : 8" +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &Ӊ#   8" +2 .tForearm.seek CC +2 "manipulator"&w'? +102 "core" ' +2 .tHand.close + "manipulator"&q/ +63 "core" / +2 .tCC.seek :open +2 "collection"'v( +447 "core" ( +2 "storage"(o& +3 "core" &<, H O {\  +2 "storage"(_& +4 "core" &<, F F \  +2 "manipulator"&& +3 "core" &ӭ 5 4 +2 "manipulator"&b% +4 "core" %  ; +2 .tForearm.seek :retract +2 "manipulator"&<' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&W( +161 "core" ( +2 "manipulator"&V& +3 "core" &    +2 "storage"(|& +4 "core" &<, j j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&p'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +64 "core" 1 +3 "manipulator"&% +3 "core" % ΅ U +2 "storage"(u& +4 "core" &<, k ` \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 292 counts +2 "manipulator"&\\'ϱ +14 "core" ' + "manipulator"&{& +4 "core" &  g  +2 "storage"(^& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +13 "core" ' +2 "storage"(y% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(}' +99 ( % +3 "core" %E T T \ U^ +2 "manipulator"&% +3 "core" %M  ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +128 "core" ' +12 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'g& +3 "core" &\ \ \ +2 "manipulator"& % +4 "core" %     +2 "storage"(l% +4 "core" % 8\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(a(K +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &K E A \ +2 "manipulator"&\ & +3 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &K k k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +94 "core" ' +2 "storage"([& +3 "core" &K \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'r +294 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &K l m q\ +2 "manipulator"&(& +4 "core" & m  +2 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&h& +4 "core" &  [  +2 "storage"(& +3 "core" &K n n\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&6'h +15 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(]' +6 "core" &  +2 "manipulator"&3% +4 "core" % `  D +2 .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&& +5 "core" &ӎ& ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +4 "core" &ӎ&  N ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&"& +4 "core" &ӎ& ?S +2 "manipulator"&% +3 "core" %E ^ ! +2 "collection"'& +4 "core" &\ \ \ +3 "collection"'$& +5 "core" &\ \ \ +6 .tCC.seek :closed +3 "collection"'(\\ +2 "core" &\ \ \ +5 &\ \ \ 9 +9 &IKv\ \ \ 1 +10 &~u\ \ \ E +9 &+X\ \ \ L +10 &W\ \ \ K +9 &T\ \ \ K +9 &rY\ \ \ K +10 &4Y\ \ \ K +9 &X\ \ \ L +9 &Z\ \ \ K +10 &zZ\ \ \ K +9 &!;W\ \ \ L +10 &"V\ \ \ L +9 &$W\ \ \ K +9 &&T\ \ \ K +10 &(DU\ \ \ K +9 &*T\ \ \ K +9 &+Y\ \ \ K +10 &-Z\ \ \ K +9 &/LZ\ \ \ K +10 &1Y\ \ \ K +9 &2Y\ \ \ K +9 &4Y\ \ \ K +10 &6TZ\ \ \ K +9 &8Z\ \ \ K +9 &9Z\ \ \ K +10 &;Z\ \ \ K +9 &=[Y\ \ \ L +10 &?Z\ \ \ L +9 &@Z\ \ \ L +9 &B]\ \ \ L +10 &D`g\ \ \ M +9 &Fo\ &\ #\ N +10 &G\ 7\ 0\ Q +9 &I\ I\ D\ V +9 &KJ\ K\ N\ W +10 &M\ I\ L\ X +9 &N\ F\ F\ W +9 &P\ C\ C\ Y +10 &RO\ @\ >\ X +9 &T \ :\ <\ Y +9 &U\ ;\ <\ Z +10 &W\ 9\ 8\ \\ +9 &YO\ 7\ 8\ [ +10 &[\ 8\ 7\ [ +9 &\\dG\ 6\ 7\ 3 +9 &\\\ 6\ 5\ M +6 ( +2 "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&C1 +3 "core" &\\b\ 3\ 3\ M +55 1 +3 "manipulator"&?% +3 "core" % E  : ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%#& +4 "core" &\ +2 "manipulator"&+% +4 "core" %  N  +2 "storage"(% +4 "core" % Q 7 V\  + "storage"(=. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(9(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K Q G\  +3 "manipulator"&%& +49 "core" & , +3 "manipulator"&.% +4 "core" %  S  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&G( +145 "core" ( +2 "manipulator"&z& +4 "core" &   +2 "storage"(>& +4 "core" &K T T \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +100 "core" ' + "storage"(J& +4 "core" &K W V c\  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +4 "core" &K ( ( \  + "manipulator"&:& +4 "core" & j  +2 .tElbow.seek 6 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"& & +4 "core" &  r  +2 "storage"(E& +3 "core" &K I Q \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&H'h +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& +2 "storage"(Y' +7 "core" & 7  +2 "manipulator"&&% +4 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&/' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&2( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&& +3 "core" &  4 L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" & r L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M' +92 "core" ' + "manipulator"&& +4 "core" & , L +2 "manipulator"&d% +4 "core" % 9 \\ +2 "processing"%4& +4 "core" &\ +3 "processing"%L& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%7(^ +5 "core" &\  +9 &3{\ *y +10 &c\ > +9 &qv\ O +9 &4Y\ N +10 &X\ N +9 &W\ N +10 &{Z\ N +9 &>Y\ M +9 &Z\ N +10 &Z\ M +9 & Z\ N +9 &"FZ\ M +10 &$[\ N +9 &%Y\ M +10 &'Z\ N +9 &)NZ\ M +9 &+Z\ N +10 &,[\ M +9 &.Y\ N +9 &0TX\ N +10 &2Y\ N +9 &3\\\ N +10 &5W\ N +9 &7^Z\ M +9 &9\\\ N +10 &:[\ N +9 &<Z\ N +9 &>e[\ N +10 &@&[\ N +9 &A`\ O +9 &Cg\ P +10 &Egj\ P +9 &G%t\ Q +10 &H\ S +9 &J\ T +9 &Ld\ S +10 &N!\ U +9 &O\ T +9 &Q\ U +10 &Sf\ U +9 &U(\ U +10 &V\ U +9 &X\ U +9 &Zk\ W +10 &\\1\ U +9 &]~{\ : +9 &^1\ P +10 &^\ , +2 ( +2 "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&!1 +60 "core" 1 +2 "manipulator"&T% +4 "core" %    \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +3 "processing"%f& +3 "core" &^\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&Q% +4 "core" % !   ) +2 "storage"(e% +4 "core" % / 0 \  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(I(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (R& +3 "core" &K\ \  5\  +3 "manipulator"&8& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  L +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(Z'r +2 "manipulator"&K( +6 "core" ( + "manipulator"&B& +4 "core" &   L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +43 "core" &  L +10 .tForearm.seek PC +2 "manipulator"&O' +95 "core" ' + .tHand.close +2 "manipulator"&n/ +53 "core" / +2 .tPC.seek :open +2 "processing"%A( +44 "core" ' + "storage"(`- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'1 +47 "core" ' +356 ( +2 "storage"(r& +3 "core" &K J G \  +2 "manipulator"&i& +4 "core" &  L +2 "manipulator"&)% +4 "core" %   < +2 .tForearm.seek :retract +2 "manipulator"&q' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +248 "core" ( + "manipulator"&t& +4 "core" &\   !s +2 "storage"(o& +4 "core" &K . . z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +100 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(b- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(V' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(w- +2 "core" -' +2 "storage"(k& +4 "core" &K g f \  +2 "manipulator"&m& +4 "core" &\   z !r +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&u& +4 "core" &\   D !r +2 "storage"({& +4 "core" &K h h \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +59 "core" ' +2 "manipulator"&<& +3 "core" &\  + !r +2 "storage"( & +4 "core" &K + ' W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +18 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(p' +19 "core" ' + "manipulator"&g% +4 "core" %O # +2 "storage"( & +4 "core" &K - - U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&\\'{ +14 "core" ' +2 "manipulator"&l& +3 "core" &\  !r +2 "storage"(& +4 "core" &K $ . ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"(x% +4 "core" % $ 3 /\ +2 ."downElevator"SE.seek :down +4 "storage"(}' +98 ('% +4 "core" %2O O \ We +2 "manipulator"&c% +3 "core" %  f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K -  Q\  +2 "collection"'& +4 "core" &\\b\ 0\ /\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&[% +4 "core" %  L  +2 "storage"(U% +4 "core" % S S .\  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(S(K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &K N \  +2 "manipulator"&(& +4 "core" &\  6 !q +2 .tElbow.seek 6 +2 "manipulator"&h( +48 "core" ( +4 "manipulator"&& +4 "core" &\   !q +2 "storage"(j& +4 "core" &K P I &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(3& +4 "core" &K V Q\  +5 .tSE.reconfigure :pick +5 "storage"(#],K-0-\ b +10 .tSE.seek :beamBreak +2 "storage"(~'r +297 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &\  D !q +2 "storage"( & +4 "core" &K - * W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&s'< +22 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"("- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('r +29 "core" ' +2 "manipulator"&% +3 "core" %D X +2 "storage"(& +4 "core" &K T J V\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&]'p +14 "core" ' + "manipulator"&0& +4 "core" &\  S !q +2 "storage"(v& +4 "core" &K U T \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(?' +34 "core" ' +2 "manipulator"&#& +4 "core" &\  } !q +2 "manipulator"&+% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=(ӂ +153 "core" ( + "manipulator"&$& +4 "core" &ӕ%  0 >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӕ% ; >I +3 .tForearm.seek CC +2 "manipulator"&%'? +99 "core" ' +2 .tHand.close +2 "manipulator"&./ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(z& +4 "core" &K T U \  +2 "storage"(>& +39 "core" &K F F ,\  + "manipulator"&a& +4 "core" &  0 +2 "manipulator"&J% +4 "core" % ξ 6 +2 .tForearm.seek :retract +2 "manipulator"&-' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&*( +155 "core" ( +2 "manipulator"&N& +4 "core" & H  +2 "storage"(;& +3 "core" &K m n \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&:'< +96 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +60 "core" 1 +3 "manipulator"&D% +4 "core" % J  C / +2 "storage"(X& +4 "core" &K g ^ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&&'v +13 "core" ' +2 "manipulator"&G& +3 "core" &  +2 "storage"(& +4 "core" &K g ] x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(H% +3 "core" % k l \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (F% +2 "core" %oL T T `\ U` +2 "manipulator"&P% +4 "core" % z +2 .tForearm.reconfigure :loose +46 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +8 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'d& +4 "core" &\ \ \ +3 "manipulator"&4% +4 "core" %  ]  +2 "storage"(Y% +3 "core" % o \  +2 "storage"(/. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(1(,y +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &,{ l j Y\ +2 "manipulator"&T& +4 "core" & L  +2 .tElbow.seek 4 +2 "manipulator"&f( +4 "core" ( + "manipulator"&Q& +4 "core" &  \\  +2 "storage"(e& +4 "core" &,{ k k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(L& +4 "core" &,{ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +297 "core" ' + "storage"(8- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &,l h O \  +2 "manipulator"&5& +3 "core" & l  +2 .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&n& +4 "core" &    +2 "storage"(9& +3 "core" &,l l l \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&`'c +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(7' +7 "core" &  B  +2 "manipulator"&Z% +4 "core" % g  l +2 .tForearm.seek :retract +2 "manipulator"&r' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +2 "manipulator"&)& +5 "core" &Ӗ%  >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &Ӗ%  W >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&t'? +91 "core" ' + "manipulator"&o& +4 "core" &ӗ%  Z >I +2 "manipulator"&K% +4 "core" %> z i +2 "collection"'& +4 "core" &\ \ \ +3 "collection"'b& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'w(\\ +5 "core" &\ \ \ +7 &<\ \ \ %f +9 &Z}\ \ \ 7 +9 &y\ \ \ K +10 &V\ \ \ K +9 &Y\ \ \ L +9 &HW\ \ \ K +10 &\ Y\ \ \ K +9 &W\ \ \ K +10 &Y\ \ \ K +9 &OW\ \ \ L +9 & W\ \ \ K +10 &!Y\ \ \ K +9 &#Y\ \ \ K +9 &%YT\ \ \ K +10 &'W\ \ \ K +9 &(T\ \ \ K +10 &*V\ \ \ L +9 &,`W\ \ \ K +9 &.#Y\ \ \ K +10 &/W\ \ \ K +9 &1Z\ \ \ K +9 &3gX\ \ \ L +10 &5*W\ \ \ K +9 &6Z\ \ \ K +6 "Can"a\ NK +4 "core" &8W\ \ \ L +9 &:pW\ \ \ K +9 &<2Z\ \ \ K +10 &=Y\ \ \ L +9 &?\\\ \ \ K +9 &AwZ\ \ \ L +10 &C8Z\ \ \ L +9 &Dh\ \ \ M +10 &Fm\ #\ !\ N +9 &Hp\ 0\ )\ Q +9 &J(\ @\ =\ T +10 &K\ E\ H\ W +9 &M\ A\ B\ X +9 &Of\ A\ B\ W +10 &Q'\ =\ <\ W +9 &R\ ;\ ;\ X +10 &T\ 9\ :\ Y +9 &Vg\ 7\ 9\ Y +9 &X&\ 6\ 8\ Z +10 &Y\ 6\ 8\ [\ +9 &[\ 6\ 6\ H +9 &\\0\ 7\ 7\ 3 +10 &\\e\ 6\ 4\ K +2 ( +2 "collection"'b& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&k1 +59 "core" 1 +2 "manipulator"&m% +4 "core" % >  e i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%{& +4 "core" &\ +2 "manipulator"&q% +4 "core" %  5 { +2 "storage"(<% +3 "core" % I G }\  +2 "storage"( . +3 "core" .(,y +2 "storage"(g& +4 "core" &,l T P s\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +48 "core" ( +4 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &,y " \  +2 "manipulator"&l& +4 "core" &ӭ" J ;3 +2 "manipulator"&% +4 "core" %   P { +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&V( +167 "core" ( +2 "manipulator"&x& +4 "core" &   +2 "storage"(& +4 "core" &,y F F S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&_' +95 "core" ' +2 "storage"(|& +4 "core" &,y G K '\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +294 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &,l $ , \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&& +3 "core" & Y  +2 "storage"(& +4 "core" &,l . , e\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(U' +8 "core" & v  + "manipulator"&% +4 "core" % X ; +2 .tForearm.seek :retract +2 "manipulator"&p' +97 "core" ' +3 .tElbow.seek PC + "manipulator"&,( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( + "manipulator"&(& +4 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&j' +93 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&3% +4 "core" %  a ^ +2 "processing"%}& +4 "core" &\ +3 "processing"%I& +4 "core" &\ +3 .tPC.seek :closed + "processing"%W(^ +4 "core" &\  +9 &1w\ )w +9 &c\ > +10 &lw\ O +9 &/X\ N +9 &Y\ N +10 &W\ M +9 &vY\ N +9 &8Y\ N +10 &\\\ N +9 &Y\ N +9 & ~Z\ N +10 &"?]\ N +9 &$Y\ N +9 &%Y\ N +10 &'\\\ N +9 &)GY\ N +10 &+\ Y\ N +9 &,Z\ N +9 &.[\ N +10 &0PY\ N +9 &2U\ N +9 &3X\ M +10 &5W\ N +9 &7W[\ N +10 &9Z\ N +9 &:Y\ N +9 &<Z\ N +10 &>`\\\ N +9 &@"Z\ N +10 &A^\ N +9 &Ch\ O +9 &Ebk\ P +10 &G!r\ Q +9 &H\ R +9 &J\ T +10 &L^\ T +9 &N\ T +10 &O\ T +9 &Q\ U +9 &Sc\ U +10 &U%\ U +9 &V\ V +9 &X\ T +10 &Zj\ U +9 &\\,\ U +10 &]\ 3 +9 &^-g\ L +9 &^$\ 3 +3 ( + "processing"%I& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&\ 1 +58 "core" 1 + "manipulator"& % +4 "core" %   ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 "processing"% & +4 "core" &^"\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&"% +4 "core" %   F  +2 "storage"(% +4 "core" % ' $\  +2 "storage"(. +3 "core" .(,y +2 "storage"(0& +4 "core" &,l ' ' 4\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(v(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (#& +2 "manipulator"&+& +4 "core" &,x - + h\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  W +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"('r +3 "manipulator"&h( +51 "core" ( +2 "manipulator"&~& +4 "core" &   v +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&]' +91 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%$( +52 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'1 +46 "core" ' +346 ( + "storage"(6& +4 "core" &,i G Q ?\  +2 "manipulator"&.& +3 "core" & +2 "manipulator"&% +4 "core" %  X i +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&z( +245 "core" ( + "manipulator"&>& +4 "core" & ^ +2 "storage"(a& +4 "core" &,i * 3 "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&J' +94 "core" ' + .tHand.open +2 "manipulator"&N1 +58 "core" 1 +2 "storage"(;- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(%' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +3 "core" -' +2 "storage"(D& +4 "core" &,i - 6\  +2 "manipulator"&X& +4 "core" &  F ^ +2 .tElbow.seek 4 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&& +3 "core" &   8 ^ +2 "storage"(H& +4 "core" &,i 6 7 )\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(F'" +51 "core" ' +2 "manipulator"&P& +4 "core" &  x ^ +2 "storage"(*& +3 "core" &,i $ + Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&:'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(&' +28 "core" ' +2 "manipulator"&4% +4 "core" %K < P +2 "storage"(Y& +4 "core" &,i G I m\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"&/'w +15 "core" ' + "manipulator"&?& +4 "core" & + ] +2 "storage"(& +3 "core" &,i G K 2\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(S% +4 "core" % T K d\ +3 ."downElevator"SE.seek :down +3 "storage"(!' +99 (T% +3 "core" %L H\  \ Wd +2 "manipulator"&Q% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +3 "core" &,i % > b\  +2 "collection"' & +4 "core" &\\b\ /\ /\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  "  +2 "storage"(8% +4 "core" % T T m\  +2 "storage"(B. +3 "core" .(,y +2 "storage"(5& +4 "core" &,i T U \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(n(,y +49 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &,{ U R i\ +2 "manipulator"&2& +4 "core" & , ] +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&Z& +3 "core" & 6 ] +2 "storage"(f& +4 "core" &,{ T U e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +96 "core" ' + "storage"()& +4 "core" &,{ 9 9 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(O'r +295 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & 8 ] +2 "storage"(o& +4 "core" &,l " * P\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&K'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(M- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(7'f +29 "core" ' +2 "manipulator"&r% +4 "core" %E N  +2 "storage"(& +3 "core" &,l Q F m\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 314 counts + "manipulator"&k'q +15 "core" ' + "manipulator"&m& +4 "core" &   ] +2 "storage"({& +3 "core" &,l T T s\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&q' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(<' +34 "core" ' +2 "manipulator"& & +3 "core" & 5 ] +3 "manipulator"&b% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +152 "core" ( +2 "manipulator"&l& +3 "core" &ӗ# \ " <; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӗ# < <; +3 .tForearm.seek CC + "manipulator"&t'? +100 "core" ' + .tHand.close +2 "manipulator"&x/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(1& +4 "core" &,l U P Y\ +2 "storage"(|& +4 "core" &,l F Q )\ +2 "manipulator"&i& +3 "core" &ӥ  :- +2 "manipulator"&u% +5 "core" % I 9 +2 .tForearm.seek :retract + "manipulator"&c' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&^( +163 "core" ( +2 "manipulator"&& +3 "core" &   N  +2 "storage"(& +4 "core" &,l j k \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +93 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&[1 +63 "core" 1 +2 "manipulator"&% +3 "core" % :   [ +2 "storage"(V& +4 "core" &,l j ` \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 303 counts +2 "manipulator"&_'f +12 "core" ' +2 "manipulator"&'& +4 "core" &  +2 "storage"(\\& +4 "core" &,l h e ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +15 "core" ' +2 "storage"(% +42 "core" %  "\ +10 ."downElevator"SE.seek :down +4 "storage"(y' +98 (% +4 "core" %I T U <\ V` +2 "manipulator"&3% +3 "core" % h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'U& +4 "core" &\ \ \ +2 "manipulator"&p% +4 "core" %  s  +2 "storage"(A% +4 "core" %  (\  +2 "storage"(\ . +2 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" &<* G H '\  +2 "manipulator"&"& +4 "core" & w  +3 .tElbow.seek 5 + "manipulator"&( +9 "core" ( +2 "manipulator"&& +4 "core" & < | +2 "storage"(0& +3 "core" &<) k l \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +92 "core" ' + "storage"(#& +4 "core" &<) \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'r +295 "core" ' +2 "storage"(~- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +3 "core" &<) T f 3\  +2 "manipulator"&j& +4 "core" &  # | +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" & f | +2 "storage"(& +3 "core" &<) k m\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&,'Ϲ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(' +8 "core" & w | +2 "manipulator"&6% +3 "core" %  { +2 .tForearm.seek :retract +2 "manipulator"&.' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&]& +3 "core" &ә" A ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &ә"  Y ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&a'? +92 "core" ' +2 "manipulator"&h& +3 "core" &ә"  % ;4 +2 "manipulator"&N% +4 "core" %5  l +2 "collection"';& +4 "core" &\ \ \ +3 "collection"'E& +4 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'D(\\ +4 "core" &\ \ \ +6 &<\ \ \ %f +10 &Z}\ \ \ 7 +9 &y\ \ \ K +9 &W\ \ \ K +10 &W\ \ \ K +9 &GW\ \ \ L +10 &\ W\ \ \ K +9 &W\ \ \ K +9 &X\ \ \ K +10 &PV\ \ \ K +9 & Y\ \ \ K +9 &!W\ \ \ K +10 &#X\ \ \ K +9 &%YT\ \ \ K +9 &'W\ \ \ K +10 &(W\ \ \ L +9 &*U\ \ \ K +10 &,`W\ \ \ K +9 &."W\ \ \ K +9 &/T\ \ \ K +10 &1W\ \ \ K +9 &3gW\ \ \ L +10 &5+W\ \ \ K +9 &6W\ \ \ K +9 &8T\ \ \ K +10 &:oW\ \ \ L +9 &<3W\ \ \ K +9 &=X\ \ \ L +10 &?X\ \ \ K +9 &AwW\ \ \ L +10 &C9_\ \ \ L +9 &Dd\ \ \ M +9 &Fm\ %\ "\ N +10 &Hp\ /\ +\ Q +9 &J&\ D\ =\ U +9 &K\ F\ G\ V +10 &M\ D\ B\ X +9 &Oc\ @\ C\ X +10 &Q$\ @\ @\ X +9 &R\ :\ =\ Y +9 &T\ :\ =\ Y +10 &Ve\ :\ 9\ Z +9 &X$\ 8\ 8\ [\ +9 &Y\ 8\ 9\ \\ +10 &[\ 8\ 8\ H +9 &\\2\ 6\ 7\ 0 +9 &\\c\ 6\ 8\ L +3 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&X1 +63 "core" 1 + "manipulator"&% +4 "core" % 5 Z l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&P% +4 "core" %  ) ~ +2 "storage"(*% +51 "core" % T S \  +2 "storage"(4. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Y(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &<* K Z\  +2 "manipulator"&?& +4 "core" &Ӫ  + 9# +2 "manipulator"&% +3 "core" %  ' ~ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&%( +163 "core" ( +2 "manipulator"&S& +4 "core" &  1  +2 "storage"(z& +3 "core" &<) F F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +92 "core" ' + "storage"(=& +5 "core" &<) O ? [\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +299 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (-& +3 "core" &<) H Q 5\  +2 "manipulator"&G& +4 "core" & .  +2 .tElbow.seek 5 + "manipulator"&F( +3 "core" ( +2 "manipulator"&:& +4 "core" & Y  +2 "storage"(L& +3 "core" &<) H Q L\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&/'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(8' +8 "core" & "  +2 "manipulator"&B% +3 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&5( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&9& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Z' +91 "core" ' +2 "manipulator"&f& +4 "core" &  + +2 "manipulator"&% +4 "core" %  0 W +2 "processing"%)& +4 "core" &\ +2 "processing"%!& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%v(^ +4 "core" &\  +8 &2v\ )v +10 &b~\ = +9 &lv\ N +9 &-Y\ N +10 &Y\ N +9 &U\ N +9 &uV\ N +10 &7X\ N +9 &Z\ N +10 &V\ N +9 & ~Y\ M +9 &"?Y\ N +10 &$\\\ N +9 &%W\ N +9 &'W\ N +10 &)HX\ M +9 &+\ Y\ M +9 &,Z\ M +10 &.Y\ M +9 &0OY\ N +10 &2V\ N +9 &3V\ M +9 &5W\ N +10 &7WZ\ N +9 &9]\ N +10 &:Y1\ N +9 &<X\ M +9 &>_[\ N +10 &@ Y\ N +9 &A_\ N +9 &Cg\ O +10 &Ebj\ O +9 &Gw\ Q +9 &H\ T +10 &J\ T +9 &L]3\ T +10 &N\ T +9 &O\ T +9 &Q\ U +10 &Sc\ T +9 &U#\ U +10 &VB\ U +9 &X\ T +9 &Zi&\ U +10 &\\*\ U +9 &]y\ 9 +9 &^1\ W +10 &^\ - +2 ( +2 "processing"%!& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&d1 +55 "core" 1 +2 "manipulator"&e% +3 "core" %    = W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +89 "core" ' +2 "processing"%`& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&o% +4 "core" %      +2 "storage"(M% +4 "core" % F G \  +2 "storage"(r. +2 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +2 "manipulator"&{& +6 "core" &<* * Q w\  +2 &  O +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +49 "storage"(#]kK-0-\ b +5 .tElbow.seek PC +5 "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak + "storage"(b'r +2 "core" ( +2 "manipulator"&& +5 "core" &   = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   u +2 .tForearm.seek PC +2 "manipulator"&O' +95 "core" ' + .tHand.close +2 "manipulator"&K/ +61 "core" / +2 .tPC.seek :open +2 "processing"%k( +89 "core" ' + "storage"(7- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'1 +45 "core" ' +310 ( + "storage"(& +4 "core" &<) I T c\  +2 "manipulator"&q& +3 "core" & L +2 "manipulator"&% +4 "core" %  0 > +2 .tForearm.seek :retract +2 "manipulator"&x' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&g( +249 "core" ( + "manipulator"&w& +4 "core" &  + +2 "storage"(1& +4 "core" &<) H P K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +92 "core" ' +2 .tHand.open +2 "manipulator"&i1 +53 "core" 1 +2 "storage"(u- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +3 "core" -' +2 "storage"(@& +4 "core" &<)   C\  +2 "manipulator"&[& +3 "core" &   m + +2 .tElbow.seek 5 +2 "manipulator"&( +22 "core" ( + "manipulator"&V& +4 "core" &    +2 "storage"('& +4 "core" &<)   \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' +2 "manipulator"&c& +4 "core" & E  +2 "storage"(^& +3 "core" &<) Q S\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +29 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' + "manipulator"&_% +4 "core" %Δ Q w +2 "storage"(U& +3 "core" &<) - . \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 307 counts + "manipulator"&p' +13 "core" ' +2 "manipulator"&A& +4 "core" &  +2 "storage"(\ & +4 "core" &<) T S e\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +13 "core" ' + "storage"((% +4 "core" % T T \\\ +3 ."downElevator"SE.seek :down +4 "storage"(y' +98 (n% +3 "core" %[R K \ Xg +3 "manipulator"& % +3 "core" %_ + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<) # = o\  +2 "collection"'0& +4 "core" &\\b\ 0\ 0\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&#% +3 "core" %  .  +2 "storage"(% +4 "core" % T V y\  +2 "storage"(}. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +49 .tSC.seek 5 +2 "storage"(~(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +4 "core" &<+ K H\  + "manipulator"&j& +4 "core" & x  +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &<) T P Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +96 "core" ' + "storage"(6& +4 "core" &<) l m \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" &  b  +3 "storage"(>& +3 "core" &<) J Q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&+'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(h- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(N'v +28 "core" ' + "manipulator"&;% +4 "core" %΢ \ +2 "storage"(& +4 "core" &<) U T \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 321 counts + "manipulator"&' +14 "core" ' + "manipulator"&.& +4 "core" & H  +2 "storage"(& +3 "core" &<) F F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +42 "core" ' +2 "manipulator"&& +4 "core" & a  +2 "manipulator"&P% +4 "core" %? B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +154 "core" ( + "manipulator"&4& +4 "core" &ӎ% >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &ӎ%  >N +2 .tForearm.seek CC +2 "manipulator"&?'? +92 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'a( +447 "core" ( +2 "storage"(S& +3 "core" &<) G O \  +2 "storage"(z& +4 "core" &<) E < \  +2 "manipulator"& & +4 "core" &Ӯ% # :. +2 "manipulator"&=% +3 "core" % I  " +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&H( +162 "core" ( +2 "manipulator"&Q& +3 "core" & L  +2 "storage"(-& +5 "core" &<) l k \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&G'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +57 "core" 1 +2 "manipulator"& % +4 "core" % ΍  v < +2 "storage"(& +3 "core" &<) k k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 300 counts + "manipulator"&B'Ϲ +14 "core" ' +2 "manipulator"&%& +4 "core" &  1  +2 "storage"(J& +4 "core" &<) s  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +41 "manipulator"&T'O +35 "core" ' +2 "storage"(/% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(9' +99 (2% +3 "core" %F W V \ Va +2 "manipulator"&F% +4 "core" %R  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" &\ \ \ +3 "manipulator"&)% +3 "core" %  c  +2 "storage"(8% +3 "core" %  A\  +2 "storage"(&. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"($(K +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (d& +3 "core" &K F E 4\ +2 "manipulator"&e& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&`( +4 "core" ( + "manipulator"&o& +4 "core" &  Y  +2 "storage"(M& +4 "core" &K n k +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +96 "core" ' +2 "storage"({& +4 "core" &K \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'r +293 "core" ' +2 "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K m k \ +3 "manipulator"&& +3 "core" &  ]  +2 .tElbow.seek 6 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&K& +4 "core" & T  +2 "storage"(Y& +3 "core" &K l k \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&7'h +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(v' +8 "core" &  )  + "manipulator"&b% +4 "core" % s } +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&q(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &Ӑ%  >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &Ӑ%  >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&w'? +100 "core" ' +2 "manipulator"&1& +4 "core" &Ӑ% 1 >J +2 "manipulator"& % +4 "core" %D 7  +2 "collection"'i& +4 "core" &\ \ \ +3 "collection"'u& +5 "core" &\ \ \ +2 .tCC.seek :closed +4 "collection"'t(\\ +2 "core" &\ \ \ +7 &<\ \ \ %f +9 &Z|\ \ \ 7 +10 &y\ \ \ K +9 &U\ \ \ K +10 &Z\ \ \ L +9 &IW\ \ \ K +9 &\ W\ \ \ K +10 &W\ \ \ K +9 &V\ \ \ L +9 &QU\ \ \ K +10 & V\ \ \ K +9 &!V\ \ \ K +10 &#W\ \ \ K +9 &%YR\ \ \ K +9 &'V\ \ \ K +10 &(U\ \ \ K +9 &*U\ \ \ K +9 &,`V\ \ \ K +10 &."V\ \ \ K +9 &/X\ \ \ K +10 &1W\ \ \ K +9 &3hW\ \ \ K +9 &5*V\ \ \ K +10 &6Y\ \ \ K +9 &8V\ \ \ K +9 &:pV\ \ \ K +10 &<2U\ \ \ K +9 &=]\ \ \ L +10 &?X\ \ \ L +9 &AwZ\ \ \ L +9 &C9]\ \ \ L +10 &Dh\ !\ \ M +9 &Fr\ (\ '\ O +10 &Hk\ ?\ 6\ S +9 &J$\ M\ J\ V +9 &K\ L\ N\ X +10 &M\ H\ I\ X +9 &Oc\ D\ G\ X +9 &Q$\ @\ A\ X +10 &R\ >\ ?\ Z +9 &T\ ;\ >\ Y +9 &Vd\ :\ 9\ Z +10 &X'\ 9\ 9\ Z +9 &Y\ 8\ 9\ [ +10 &[\ 7\ 7\ H +9 &\\7\ 7\ 7\ . +9 &\\d\ 4\ 5\ N +3 ( +2 "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&@1 +63 "core" 1 +2 "manipulator"&[% +4 "core" % C  U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%V& +50 "core" &#\ +3 "manipulator"&'% +4 "core" %  %  +2 "storage"(c% +3 "core" % I G \  +2 "storage"(^. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(l(K +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" &K\ \  -\  +2 "manipulator"&U& +4 "core" & $ + +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&A( +150 "core" ( + "manipulator"&\ & +4 "core" &   +2 "storage"((& +4 "core" &K V V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +102 "core" ' +2 "storage"(|& +3 "core" &K j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(n- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &K R G N\  +2 "manipulator"&\\& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & p  +2 "storage"(& +4 "core" &K U W n\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&p/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +3 "storage"(#' +8 "core" & Y  + "manipulator"&% +4 "core" % \\ +3 .tForearm.seek :retract +2 "manipulator"&}' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&s& +4 "core" & > \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" & $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"&& +3 "core" & 4 \ +2 "manipulator"&<% +4 "core" % q | +2 "processing"%6& +4 "core" &$\ +3 "processing"%y& +5 "core" &Z\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 &6\ $d +9 &U}\ 7 +9 &~{A\ K +10 &W\ N +9 &fX\ M +10 &(T#\ M +9 &X$\ M +9 &[\ N +10 &nZ1\ M +9 &0Y \ M +9 &Z"\ N +10 &!Y\ M +9 &#u[\ N +10 &%6Y%\ N +9 &&W\ M +9 &(X$\ M +10 &*}\\#\ N +9 &,?Z\ N +9 &.U\ M +10 &/\\\ N +9 &1W\ N +10 &3GW\ N +9 &5\ Y\ M +9 &6[,\ N +10 &8Z\ N +9 &:PT\ M +9 &<X$\ N +10 &=[\ N +9 &?[\ N +10 &AV]\ \ N +9 &Cc=\ O +9 &Dg\ O +10 &Fn \ P +9 &HS~6\ R +9 &J#\ S +10 &K\ S +9 &M\ T +10 &OT\ T +9 &Q\ U +9 &R\ U +10 &T#\ U +9 &V[6\ T +9 &Xw\ U +10 &Y \ T +9 &[\ U +10 &]a\ B +9 &^G{H\ V +9 &^EH\ 5 +6 ( +2 "processing"%y& +3 "core" &^'\ 5 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&31 +56 "core" 1 +2 "manipulator"&"% +3 "core" %    | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +2 "processing"%]& +4 "core" &^'\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&>% +4 "core" %   V  +2 "storage"(h% +4 "core" % ) - M\  +2 "storage"(;. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (.& +3 "core" &K\ \ !\  +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&& +49 "storage"(#]kK-0-\ b +5 "core" & ) \ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&P( +13 "core" ( + "manipulator"&W& +4 "core" &   <  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + .tHand.close +2 "manipulator"&+/ +55 "core" / +2 .tPC.seek :open + "processing"%( +90 "core" ' + "storage"(N- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +44 "core" ' +313 ( +2 "storage"(C& +4 "core" &K U V\  +2 "manipulator"&X& +4 "core" &   +2 "manipulator"&,% +3 "core" %   i +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&*( +239 "core" ( +2 "manipulator"&D& +4 "core" & U +2 "storage"(S& +4 "core" &K F F \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +95 "core" ' +2 .tHand.open + "manipulator"& 1 +56 "core" 1 +3 "storage"(=- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Q' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(-' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(E& +4 "core" &K g g \  +2 "manipulator"&L& +4 "core" &  U +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &   f U +2 "storage"(%& +4 "core" &K f f \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(/'" +50 "core" ' + "manipulator"&& +4 "core" &  U +2 "storage"(H& +4 "core" &K + . \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&2'< +99 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(G' +19 "core" ' + "manipulator"&B% +4 "core" %P L @ +2 "storage"(& +3 "core" &K $ $ _\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 320 counts + "manipulator"&)'| +13 "core" ' +2 "manipulator"&8& +4 "core" &  U +2 "storage"(&& +4 "core" &K 3 $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +17 "core" ' + "storage"(T% +4 "core" % F F 0\ +3 ."downElevator"SE.seek :down +4 "storage"(9' +98 (~% +3 "core" %JN P e\ We +2 "manipulator"&d% +4 "core" % * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (o& +3 "core" &K 8 =\  +2 "collection"'M& +4 "core" &\\e\ /\ 2\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&{% +3 "core" %  -  +2 "storage"(:% +43 "core" % I P \\\  +9 "storage"(f. +2 "core" .(K +3 "storage"(!& +3 "core" &K J Q W\  +2 "storage"(& +5 "core" &K S Q \  + "manipulator"&& +4 "core" & 7 U +2 .tElbow.seek 6 +2 "manipulator"&K( +4 "core" ( + "manipulator"&Y& +4 "core" & ) U +2 "storage"(5& +4 "core" &K G G D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +96 "core" ' +2 "storage"(b& +4 "core" &K J M Z\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'r +311 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & > U +2 "storage"(O& +3 "core" &K G F &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&m'< +24 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 'q +32 "core" ' +2 "manipulator"&i% +4 "core" %B ! +2 "storage"(Z& +3 "core" &K T I \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&v'n +16 "core" ' +2 "manipulator"&& +4 "core" &  h T +2 "storage"(a& +4 "core" &K : = V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"([' +38 "core" ' +2 "manipulator"&V& +3 "core" & # T +2 "manipulator"&u% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&c(ӂ +153 "core" ( + "manipulator"&^& +4 "core" &Ӑ$ ( =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &_& +3 "core" &Ӑ$ =F +2 .tForearm.seek CC +2 "manipulator"&U'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'w( +447 "core" ( + "storage"(\ & +4 "core" &K k k \  +2 "storage"((& +4 "core" &K m l \  +2 "manipulator"&$& +3 "core" & # / +2 "manipulator"&|% +4 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&q' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&x( +152 "core" ( + "manipulator"&n& +4 "core" &   +2 "storage"( & +4 "core" &K l m q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&\\'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&p% +4 "core" % 2  # 1 +2 "storage"(0& +4 "core" &K k k \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 290 counts + "manipulator"&'^ +15 "core" ' +2 "manipulator"&A& +4 "core" &  +2 "storage"(g& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +54 "core" ' +9 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(s' +98 (j% +3 "core" %E R V\ V` +2 "manipulator"&% +4 "core" % M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'<& +3 "core" &\ \ \ +2 "manipulator"&6% +4 "core" %   +2 "storage"(#% +4 "core" % ~ E\  +2 "storage"(}. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(k(,y +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (3& +3 "core" &,| @ : \ +2 "manipulator"&"& +4 "core" &  8  +2 .tElbow.seek 4 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&>& +4 "core" &    +2 "storage"(h& +3 "core" &,| ~ 9\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&;' +93 "core" ' + "storage"(y& +4 "core" &,| ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(.'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (W& +2 "core" &,l l d \ +3 "manipulator"& & +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&+& +4 "core" & 6  +2 "storage"(l& +3 "core" &,l m m i\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&N'c +42 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& +2 "storage"(' +7 "core" &   +2 "manipulator"&% +4 "core" % b t S +2 .tForearm.seek :retract +2 "manipulator"&C' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&X(ӂ +153 "core" ( + "manipulator"&,& +3 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &ӊ) Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӊ) H Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'? +91 "core" ' + "manipulator"&S& +4 "core" &ӏ( a @\\ +2 "manipulator"&P% +4 "core" %H E k +2 "collection"' & +4 "core" &\ \ \ +3 "collection"'=& +5 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'?(\\ +4 "core" &\ \ \ +5 &\ \ \ 8 +9 &HJw\ \ \ 0 +10 &|v~\ \ \ E +9 &)Z\ \ \ K +9 &V\ \ \ K +10 &W\ \ \ K +9 &pX\ \ \ K +10 &2W\ \ \ K +9 &V\ \ \ K +9 &U\ \ \ K +10 &wW\ \ \ K +9 &!9V\ \ \ K +9 &"W\ \ \ K +10 &$V\ \ \ K +9 &&S\ \ \ K +10 &(BW\ \ \ K +9 &*V\ \ \ K +9 &+V\ \ \ K +10 &-V\ \ \ K +9 &/JY\ \ \ K +9 &1 V\ \ \ K +10 &2U\ \ \ K +9 &4U\ \ \ K +10 &6QV\ \ \ K +9 &8T\ \ \ K +9 &9W\ \ \ K +10 &;W\ \ \ K +9 &=YW\ \ \ K +9 &?U\ \ \ K +10 &@Y\ \ \ K +9 &B[\ \ \ L +10 &D^_\ \ \ L +9 &Fl\ #\ !\ N +9 &Gz\ )\ $\ P +10 &I\ =\ 5\ S +9 &KF\ D\ D\ W +10 &M\ E\ F\ X +9 &N\ ?\ B\ X +9 &P\ @\ A\ X +10 &RK\ <\ =\ X +9 &T\ \ :\ ;\ Y +9 &U\ 9\ ;\ [ +10 &W\ :\ 9\ \\ +9 &YK\ ;\ 9\ [\ +9 &[ \ 8\ 8\ [\ +10 &\\`F\ :\ :\ 4 +9 &\\\ 6\ 8\ M +6 ( +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&E1 +2 "core" &\\b\ 5\ 5\ M +56 1 +3 "manipulator"&L% +3 "core" % H  # k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%%& +4 "core" &\ +2 "manipulator"&% +51 "core" %  %  +2 "storage"(% +4 "core" % 5 G \  +2 "storage"(H. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(4(,y +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Q& +3 "core" &,} `\ ' [\ +3 "manipulator"&B& +4 "core" &Ӭ# J <? + "manipulator"&% +4 "core" %  D  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&8( +164 "core" ( +2 "manipulator"&&& +4 "core" &  +2 "storage"(*& +3 "core" &,} G < s\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&T' +97 "core" ' +3 "storage"(z& +3 "core" &,} k k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'r +295 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &,l / , i\  +2 "manipulator"&d& +4 "core" & 0  +2 .tElbow.seek 4 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&/& +4 "core" &    +2 "storage"(2& +4 "core" &,l ' ' \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&o'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +3 "storage"({' +8 "core" & h  + "manipulator"&:% +4 "core" % Y +2 .tForearm.seek :retract +2 "manipulator"&G' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&!& +4 "core" & \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&Y& +3 "core" &  4 +2 "manipulator"&5% +4 "core" % E ^ +2 "processing"%& +4 "core" &3\ +3 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(^ +3 "core" &0\ +9 & .+\ $c +9 &Ty\ 6 +10 &~&\ K +9 &Y7\ N +9 &QU+\ N +10 &Y*\ M +9 &[&\ N +9 &U&\ M +10 &ZU.\ M +9 &[3\ N +10 &V)\ M +9 &!W-\ M +9 &#bW)\ M +10 &%#U&\ N +9 &&Y\ N +9 &(W$\ N +10 &*iV'\ N +9 &,,[ \ M +10 &-U$\ N +9 &/\\\ N +9 &1qX\ N +10 &34Z\ M +9 &4Z\ M +9 &6V\ N +10 &8xZ'\ N +9 &:;U%\ N +10 &;W\ N +9 &=Z!\ N +9 &?Y\ M +10 &ACY \ N +9 &Ca\ N +9 &De \ O +10 &Fk!\ P +9 &H@}\ Q +10 &I\ S +9 &K%\ T +9 &M~'\ T +10 &O?\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &VH\ T +9 &X &\ T +10 &Y\ T +9 &[&\ U +10 &]L\ J +9 &^P\ !f +9 &^\ , +3 ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&F1 +55 "core" 1 + "manipulator"&e% +4 "core" %   ) ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +95 "core" ' +3 "processing"%& +3 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&O% +3 "core" %  \   +2 "storage"(1% +4 "core" % 3 *\  +2 "storage"(i. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(Z(,y +35 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&a& +4 "core" &,|\ # b \\\ +4 ."raiseStack"SE.reconfigure :place +42 "storage"(#]kK-0-\ b +11 "core" &  \  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(V'r + "manipulator"&u( +7 "core" ( +2 "manipulator"&R& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&`' +92 "core" ' + .tHand.close +2 "manipulator"&m/ +54 "core" / +2 .tPC.seek :open +2 "processing"%v( +96 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'1 +45 "core" ' +303 ( +2 "storage"(_& +3 "core" &,k P G O\ +3 "manipulator"&@& +3 "core" & 6 +2 "manipulator"&7% +3 "core" %   M +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&'( +240 "core" ( + "manipulator"&t& +4 "core" & o C +2 "storage"(\ & +3 "core" &,k J F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +95 "core" ' +2 .tHand.open + "manipulator"&$1 +61 "core" 1 +3 "storage"(|- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(n' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(U- +2 "core" -' +2 "storage"(c& +4 "core" &,k M M \ +2 "manipulator"&& +4 "core" &  C +2 .tElbow.seek 4 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&0& +4 "core" &   D C +2 "storage"(A& +3 "core" &,k > 8 \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&q& +4 "core" & C +2 "storage"(x& +3 "core" &,k " % I\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&j'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\\' +29 "core" ' + "manipulator"&% +4 "core" %< G +2 "storage"(<& +4 "core" &,k G I t\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 305 counts + "manipulator"&6'h +16 "core" ' + "manipulator"&#& +4 "core" & C +2 "storage"(}& +4 "core" &,k G Q E\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +16 "core" ' + "storage"(% +4 "core" % V T \ +3 ."downElevator"SE.seek :down +3 "storage"(s' +99 (% +3 "core" %]L L ]\ Xf +2 "manipulator"&3% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (>& +3 "core" &,k > $\ +2 "collection"'h& +4 "core" &\\`\ .\ 1\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&y% +4 "core" %  E  +2 "storage"(% +4 "core" % T T d\  +2 "storage"(. +48 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &,| # &\ +2 "manipulator"& & +4 "core" & C +2 .tElbow.seek 4 +2 "manipulator"&+( +4 "core" ( + "manipulator"&l& +4 "core" & N C +2 "storage"(& +4 "core" &,| U T \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&I' +95 "core" ' + "storage"(& +4 "core" &,| X M F\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +301 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &  C +3 "storage"(& +3 "core" &,l 9 Q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&.'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(S- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(P'f +29 "core" ' +2 "manipulator"& % +3 "core" %E k  +2 "storage"(& +4 "core" &,l 4 I 2\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&'q +14 "core" ' + "manipulator"&C& +4 "core" & C +2 "storage"(w& +3 "core" &,l G J {\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(L' +36 "core" ' + "manipulator"&%& +4 "core" & 9 C +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( + "manipulator"&H& +4 "core" &Ӗ$ [ =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &Ӗ$  =B +2 .tForearm.seek CC +2 "manipulator"&B'? +100 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'D( +447 "core" ( + "storage"(&& +4 "core" &,l M < \ +2 "storage"(*& +4 "core" &,l V J g\ +2 "manipulator"&k& +4 "core" &ӯ  9) + "manipulator"&z% +4 "core" % A +2 .tForearm.seek :retract +2 "manipulator"&X' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&J& +4 "core" & V  +2 "storage"(~& +4 "core" &,l g j s\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&d'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&21 +52 "core" 1 +2 "manipulator"&)% +4 "core" % <  @ # +2 "storage"(M& +3 "core" &,l g j i\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 305 counts + "manipulator"&:'h +14 "core" ' +2 "manipulator"&8& +5 "core" &   + "storage"(T& +4 "core" &,l  [\ +2 .tForearm.reconfigure :tight +48 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +17 "core" ' +2 "storage"(o% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(!' +99 (% +4 "core" %L E < \ Wb +2 "manipulator"& % +3 "core" % - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +89 "core" ' +52 ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'5& +3 "core" &\ \ \ +2 "manipulator"&% +4 "core" %   E  +2 "storage"({% +4 "core" % \  +2 "storage"(G. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &<* T J ,\  +2 "manipulator"&e& +4 "core" &  &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&O& +4 "core" &  B  +2 "storage"(1& +4 "core" &<* r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +93 "core" ' +2 "storage"(b& +3 "core" &<* o\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (R& +3 "core" &<* ] h 5\  +2 "manipulator"&K& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&m& +3 "core" &   +2 "storage"(4& +4 "core" &<* k k \  +3 .tForearm.seek 5 + 300 counts + "manipulator"& 'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&f/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +2 "storage"(9' +7 "core" & g  +2 "manipulator"&V% +4 "core" % ϵ +2 .tForearm.seek :retract +2 "manipulator"&_' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&7& +4 "core" &Ӣ  :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &Ӣ! M :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&t'? +98 "core" ' +2 "manipulator"&\ & +3 "core" &Ӣ! 9 :. +2 "manipulator"&u% +4 "core" %@ 3  +2 "collection"'$& +4 "core" &\ \ \ +3 "collection"'|& +5 "core" &\ \ V\ +2 .tCC.seek :closed +3 "collection"'U(\\ +4 "core" &\ \ w\ +5 &\ \ g\ 8 +9 &HJx\ \ g\ 0 +10 &|v~\ \ e\ E +9 &)Z\ \ d\ K +10 &U\ \ e\ K +9 &V\ \ \ K +9 &pU\ \ \ K +10 &2V\ \ \ K +9 &V\ \ i\ J +9 &X\ \ \ K +10 &wZ\ \ d\ K +9 &!9V\ \ \ K +9 &"V\ \ \ K +10 &$U\ \ \ K +9 &&U\ \ \ K +10 &(BW\ \ \ K +9 &*T\ \ \ K +9 &+U\ \ \ K +10 &-V\ \ \ K +9 &/IV\ \ \ K +9 &1 U\ \ \ K +10 &2U\ \ \ K +9 &4V\ \ \ L +10 &6QT\ \ \ K +9 &8T\ \ \ K +9 &9V\ \ \ K +10 &;V\ \ \ K +9 &=YW\ \ \ K +10 &?W\ \ \ K +9 &@T\ \ \ K +9 &B\\\ \ \ L +10 &D^b\ \ \ L +9 &Fi\ #\ \ M +9 &G{\ )\ &\ P +10 &I\ <\ 5\ S +9 &KH\ H\ G\ W +10 &M\ D\ F\ X +9 &N\ A\ C\ W +9 &P\ A\ @\ X +10 &RL\ @\ ?\ X +9 &T \ ;\ ;\ Z +9 &U\ :\ ;\ Y +10 &W\ 9\ 9\ Z +9 &YL\ 8\ 7\ [ +10 &[ \ 8\ 8\ [ +9 &\\bI\ 7\ 8\ 4 +9 &\\ y\ 5\ 8\ K +6 ( +2 "collection"'|& +4 "core" &\\b\ 4\ 5\ K +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&c1 +63 "core" 1 +2 "manipulator"&% +4 "core" % @  `  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +99 "core" ' +4 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%A& +5 "core" & \ + "manipulator"&% +4 "core" % ! J % +3 "storage"(q% +3 "core" % P G -\  +2 "storage"(x. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" &<*\ \  |\  +2 "manipulator"&^& +4 "core" &ӧ  y 9) +2 "manipulator"&#% +4 "core" % " X % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&}( +162 "core" ( + "manipulator"&n& +4 "core" &  +2 "storage"(& +4 "core" &<* V V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +94 "core" ' + "storage"((& +4 "core" &<* l l \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"( 'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &<* 5 G r\  +2 "manipulator"&g& +4 "core" & K  +2 .tElbow.seek 5 +2 "manipulator"&p( +2 "core" ( +2 "manipulator"&& +4 "core" & $  +2 "storage"(j& +3 "core" &<* F P <\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&>'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&h& +2 "storage"(y' +7 "core" & ,  + "manipulator"&% +4 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.seek PC +2 "manipulator"&\\( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&W& +4 "core" &  * E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &  E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l' +89 "core" ' +2 "manipulator"&[& +4 "core" & 5 E +2 "manipulator"&% +4 "core" % L u +2 "processing"%& +4 "core" & \ +2 "processing"%s& +5 "core" &3\ +2 .tPC.seek :closed +2 "processing"%Z(^ +4 "core" &9\ +8 &>=\ $e +9 &W3\ 7 +10 &}4\ L +9 &W6\ N +10 &uY1\ N +9 &8V7\ M +9 &]8\ N +10 &Y5\ N +9 &V3\ M +9 &@\\4\ M +10 & W7\ M +9 &!W6\ M +10 &#\\8\ M +9 &%G[8\ N +9 &' Y4\ N +10 &([7\ M +9 &*\\7\ N +9 &,OZ8\ N +10 &.Y7\ N +9 &/\\0\ M +10 &1Z4\ M +9 &3XU6\ M +9 &5U2\ N +10 &6Z,\ M +9 &8\\)\ N +9 &:^Y(\ N +10 &<"Y(\ M +9 &=\\*\ N +10 &?\\-\ N +9 &Af^)\ N +9 &C&e,\ O +10 &Dh-\ O +9 &Fp*\ Q +9 &Hb/\ R +10 &J.\ T +9 &K,\ S +10 &M.\ T +9 &Od-\ T +9 &Q%.\ T +10 &R*\ T +9 &T+\ U +9 &Vk*\ T +10 &X..\ T +9 &Y*\ U +10 &[)\ U +9 &]r*\ B +9 &^;v*\ %m +10 &^&)\ , +5 ( +2 "processing"%s& +4 "core" &^*\ , +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&"% +4 "core" %    u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +92 "core" ' +2 "processing"%,& +3 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %    &  +2 "storage"(S% +4 "core" % / ) )\  +2 "storage"( . +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +89 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +51 (C& +2 "manipulator"&w& +4 "core" &<) ' ' /\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  3 E +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(%'r + "manipulator"&( +7 "core" ( +2 "manipulator"&I& +4 "core" &   @ E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" & ' M E +2 .tForearm.seek PC +2 "manipulator"&]' +95 "core" ' + .tHand.close +2 "manipulator"&./ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +83 "core" ' + "storage"(P- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'1 +40 "core" ' +324 ( + "storage"(Q& +4 "core" &<) 4 H j\  +2 "manipulator"&E& +4 "core" &  E + "manipulator"&N% +4 "core" %   D +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&=( +243 "core" ( +2 "manipulator"&?& +3 "core" & ? +2 "storage"(&& +4 "core" &<) . . F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +94 "core" ' +2 .tHand.open + "manipulator"&k1 +61 "core" 1 +3 "storage"(z- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(~' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(B- +3 "core" -' +2 "storage"(& +4 "core" &<) * = \  +2 "manipulator"&2& +3 "core" &  \  > +2 .tElbow.seek 5 +2 "manipulator"&)( +4 "core" ( + "manipulator"&M& +4 "core" &    > +2 "storage"(8& +4 "core" &<) 1\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&T'O +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(o'" +55 "core" ' + "manipulator"&X& +4 "core" &  > +2 "storage"(& +3 "core" &<) I G \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(d' +30 "core" ' + "manipulator"&5% +4 "core" %Π P r +2 "storage"(:& +3 "core" &<) . . \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&{& +4 "core" &  : +2 "storage"(G& +4 "core" &<) S P R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +15 "core" ' +2 "storage"(-% +4 "core" % T S _\ +3 ."downElevator"SE.seek :down +4 "storage"(!' +98 (% +3 "core" %jL\  ;\ We +2 "manipulator"&F% +3 "core" %I  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (O& +3 "core" &<) & ? %\  +2 "collection"'1& +4 "core" &\\a\ /\ 3\ K +48 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&b% +4 "core" %    +2 "storage"(/% +4 "core" % G J \  +2 "storage"(Y. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(a(<- +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (R& +2 "core" &<, K E\  +3 "manipulator"&K& +3 "core" & : +2 .tElbow.seek 5 +2 "manipulator"&m( +4 "core" ( + "manipulator"&4& +4 "core" & : +2 "storage"(f& +4 "core" &<* V V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +92 "core" ' + "storage"(V& +4 "core" &<* P [ A\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +4 "core" & ~ : +2 "storage"(`& +3 "core" &<* V V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +28 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\ - +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(u'v +27 "core" ' +2 "manipulator"&$% +4 "core" %Η  y + "storage"(& +4 "core" &<* G G $\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&9' +14 "core" ' + "manipulator"&_& +4 "core" &  \\ : +2 "storage"(D& +4 "core" &<* I Q x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(' +41 "core" ' +2 "manipulator"&A& +4 "core" & P : +2 "manipulator"&% +3 "core" %?  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&|(ӂ +158 "core" ( + "manipulator"&x& +4 "core" &ӌ" ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +4 "core" &ӌ"  ;5 +2 .tForearm.seek CC +2 "manipulator"&^'? +101 "core" ' +2 .tHand.close +2 "manipulator"&#/ +54 "core" / +2 .tCC.seek :open +2 "collection"'t( +450 "core" ( +2 "storage"(n& +3 "core" &<* F P 4\  +3 "storage"(& +3 "core" &<* M I >\  +2 "manipulator"&& +4 "core" &ӭ 7 +2 "manipulator"&(% +3 "core" % 5 +3 .tForearm.seek :retract + "manipulator"&@' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&0( +162 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(3& +4 "core" &<* j g s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&g'΍ +97 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&j1 +61 "core" 1 +2 "manipulator"&6% +3 "core" % Ώ   5 +2 "storage"(h& +4 "core" &<* h ` L\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&'ϻ +13 "core" ' +2 "manipulator"&}& +50 "core" &   +2 "storage"('& +4 "core" &<* ~ c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +30 "core" ' +2 "storage"(>% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(W' +99 ( % +3 "core" %E S Q `\ V` +2 "manipulator"&p% +4 "core" %K  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" &\ \ \ +2 "manipulator"&% +4 "core" %   +2 "storage"(y% +4 "core" % \  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(v(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K k k \ \ +2 "manipulator"&"& +3 "core" & -  +2 .tElbow.seek 6 +2 "manipulator"&,( +4 "core" ( + "manipulator"&& +4 "core" &  ^  +2 "storage"(S& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +92 "core" ' +2 "storage"(s& +4 "core" &K 3\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +292 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (l& +3 "core" &K j n _\ +2 "manipulator"&I& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&+( +4 "core" ( + "manipulator"&& +4 "core" & /  +2 "storage"(.& +3 "core" &K ] g 9\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&P'h +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(Z' +8 "core" &  ]  +2 "manipulator"&%% +4 "core" % ]  [ +2 .tForearm.seek :retract +2 "manipulator"&Q' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&N& +4 "core" &Ӕ& ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &Ӕ& ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&?'? +102 "core" ' +2 "manipulator"&&& +3 "core" &ӕ& . ?Q +2 "manipulator"&% +4 "core" %D c  +2 "collection"'k& +4 "core" &\ \ \ +2 "collection"'z& +6 "core" &\ \ G\ +2 .tCC.seek :closed +3 "collection"'B(\\ +4 "core" &\ \ {\ +7 &<\ \ d\ $e +9 &Vv\ \ j\ 6 +9 &x\ \ c\ K +10 &U\ \ d\ K +9 &xY\ \ m\ K +9 &:U\ \ h\ K +10 &U\ \ d\ K +9 &U\ \ g\ K +10 &U\ \ e\ K +9 &DU\ \ a\ J +9 & V\ \ \ K +10 &!U\ \ h\ K +9 &#W\ \ f\ K +9 &%KU\ \ f\ K +10 &' U\ \ _\ K +9 &(U\ \ \ K +10 &*U\ \ i\ K +9 &,RU\ \ `\ K +9 &.R\ \ a\ K +10 &/Y\ \ \ K +9 &1S\ \ \ K +9 &3ZT\ \ \ K +10 &5R\ \ \ K +9 &6V\ \ ~\ K +10 &8U\ \ c\ K +9 &:bW\ \ _\ K +9 &<$W\ \ \ K +10 &=Y\ \ \ K +9 &?]\ \ \ L +10 &AjY\ \ \ K +9 &C+^\ \ \ L +9 &Dk\ \ \ M +10 &Ft\ ,\ '\ N +9 &H]\ 9\ 4\ R +9 &J\ M\ J\ W +10 &K\ K\ N\ W +9 &M\ G\ G\ X +9 &OU\ E\ F\ X +10 &Q\ ?\ B\ Y +9 &R\ =\ >\ Y +10 &T\ =\ >\ Z +9 &VW\ ;\ ;\ Z +9 &X\ 8\ 9\ [ +10 &Y\ 8\ 8\ [\ +9 &[\ 9\ 8\ H +10 &\\>\ 6\ 8\ *~ +9 &\\y\ 4\ 6\ X +2 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +3 "manipulator"&2% +3 "core" % D   +46 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%8& +4 "core" &\ +2 "manipulator"&% +3 "core" %    +2 "storage"(X% +4 "core" % F E %\  +2 "storage"(. +2 "core" .(K +2 "storage"(H& +4 "core" &K 4 A \ +2 "storage"(5& +4 "core" &K ' 4 ]\ +2 "manipulator"&:& +4 "core" & , +2 "manipulator"&J% +3 "core" %   W  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&{( +144 "core" ( +2 "manipulator"&G& +4 "core" &   +2 "storage"(-& +4 "core" &K S S 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +97 "core" ' + "storage"(*& +4 "core" &K M 9 /\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(~'r +306 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" &K ! ! I\ +2 "manipulator"&T& +4 "core" & ?  +2 .tElbow.seek 6 +2 "manipulator"&)( +4 "core" ( + "manipulator"&o& +4 "core" & a  +2 "storage"( & +3 "core" &K ( &\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(b' +8 "core" & Q  +2 "manipulator"&d% +4 "core" % `  +2 .tForearm.seek :retract +2 "manipulator"&/' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&R& +4 "core" & \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" & , \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&4' +93 "core" ' +2 "manipulator"&f& +4 "core" & G \ +2 "manipulator"&L% +4 "core" % ) T +2 "processing"%V& +4 "core" &9\ +3 "processing"%!& +5 "core" &4\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &6\  +10 &1w:\ )w +9 &c;\ > +9 &iv7\ N +10 &,Y8\ M +9 &U8\ M +10 &U6\ N +9 &qY7\ N +9 &4V7\ M +10 &V5\ N +9 &Z;\ M +9 & yW4\ N +10 &"<Z<\ M +9 &#[8\ N +10 &%X3\ N +9 &'V4\ M +9 &)DX8\ M +10 &+Z8\ N +9 &,Y7\ N +9 &.Z7\ M +10 &0K[6\ N +9 &2X7\ M +10 &3U6\ M +9 &5U4\ M +9 &7SV3\ N +10 &9\\5\ M +9 &:X8\ N +9 &<V6\ N +10 &>[]0\ N +9 &@\\1\ N +10 &A\\0\ N +9 &Ce4\ O +9 &E]j6\ P +10 &Gr/\ P +9 &H.\ S +10 &J*\ S +9 &LZ,\ S +9 &N1\ T +10 &O*\ T +9 &Q+\ U +9 &S_)\ T +10 &U +\ U +9 &V*\ T +9 &X+\ T +10 &Zf+\ U +9 &\\(*\ U +10 &]+\ 3 +9 &^0i.\ E +9 &^*\ / +3 ( +2 "processing"%!& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&e% +3 "core" %   4 T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +96 "core" ' +2 "processing"%7& +4 "core" &^)\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&`% +4 "core" % !   + +2 "storage"(\ % +4 "core" % + # \  + "storage"($. +3 "core" .(K +2 "storage"(& +4 "core" &K - - -\ +3 "storage"(_& +2 "manipulator"&D& +7 "core" &K * $ '\ + &   | \ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +49 "manipulator"&$&.,(\ #b +5 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(A'r +3 "manipulator"&( +6 "core" ( +2 "manipulator"&r& +3 "core" &   n \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &  \\ \ +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%9( +89 "core" ' + "storage"(u- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +56 "core" ' +301 ( +2 "storage"(<& +4 "core" &K A ' E\ +2 "manipulator"&c& +3 "core" &  \ +2 "manipulator"& % +5 "core" %   K +2 .tForearm.seek :retract + "manipulator"&#' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&q( +239 "core" ( + "manipulator"&U& +4 "core" &  < +2 "storage"(n& +3 "core" &K - - =\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' +2 .tHand.open +3 "manipulator"&1 +58 "core" 1 +2 "storage"((- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(3' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +3 "core" -' +2 "storage"(|& +4 "core" &K g g \ +2 "manipulator"&j& +3 "core" &    < +3 .tElbow.seek 6 + "manipulator"&6( +3 "core" ( +2 "manipulator"&h& +4 "core" &    < +2 "storage"(}& +3 "core" &K g g \ +3 .tForearm.seek 6 + 450 counts + "manipulator"&'' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(@'" +50 "core" ' + "manipulator"&>& +4 "core" & @ < +2 "storage"(0& +4 "core" &K # * ;\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +19 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +17 "core" ' +2 "manipulator"&% +4 "core" %H /  +2 "storage"(& +4 "core" &K , * \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&'t +14 "core" ' + "manipulator"&y& +4 "core" & Y < +2 "storage"(& +4 "core" &K $ % \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"( % +4 "core" % A 2 ,\ +3 ."downElevator"SE.seek :down +4 "storage"(W' +98 (a% +3 "core" %kO O [\ Wf +2 "manipulator"&% +4 "core" % m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K ' & E\ +2 "collection"'S& +4 "core" &\\u\ /\ 1\ X +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&s% +4 "core" %    +2 "storage"(% +4 "core" % E F \  +2 "storage"([. +2 "core" .(K +2 "storage"(w& +4 "core" &K F F \ +47 "storage"(l& +5 "core" &K F F 6\ +2 "manipulator"&I& +4 "core" &  ; +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&.& +3 "core" &   ; +2 "storage"(\\& +4 "core" &K E F '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&;' +94 "core" ' +2 "storage"(%& +4 "core" &K T U :\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'r +296 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +4 "core" & H ; + "storage"(]& +4 "core" &K $ % \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&C'< +19 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('r +29 "core" ' +2 "manipulator"&k% +4 "core" %M  + "storage"(+& +4 "core" &K % + @\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 317 counts + "manipulator"&Z'y +16 "core" ' +2 "manipulator"&Q& +3 "core" &  ; +2 "storage"(t& +4 "core" &K 4 I V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(2' +42 "core" ' +2 "manipulator"&z& +4 "core" &  ; +2 "manipulator"&8% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +152 "core" ( +2 "manipulator"&& +3 "core" &ӑ'   @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &ӑ( \  { @Z +3 .tForearm.seek CC +2 "manipulator"&5'? +97 "core" ' +2 .tHand.close + "manipulator"&:/ +54 "core" / +2 .tCC.seek :open + "collection"'J( +447 "core" ( +2 "storage"(G& +4 "core" &K ` h i\ +2 "storage"(?& +3 "core" &K m k \ +2 "manipulator"&-& +4 "core" & C 2 +2 "manipulator"&*% +4 "core" %  ~ +2 .tForearm.seek :retract +2 "manipulator"&E' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&M( +153 "core" ( +2 "manipulator"&& +8 "core" & O  +3 "storage"(F& +4 "core" &K o | w\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +7 .tForearm.seek 6 +2 "manipulator"&T'< +91 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +57 "core" 1 +2 "manipulator"&O% +3 "core" % < 0 P +2 "storage"(1& +3 "core" &K \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 300 counts + "manipulator"&d'h +14 "core" ' +3 "manipulator"&{& +4 "core" &  }  +2 "storage"(=& +4 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +16 "core" ' +2 "storage"(% +3 "core" % \ +49 ."downElevator"SE.seek :down +4 "storage"(R' +98 (K% +3 "core" %N < E \ Wc +2 "manipulator"&)% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'L& +3 "core" &\ \ a\ +3 "manipulator"&V% +3 "core" %   N  +2 "storage"(b% +4 "core" % 8\  +2 "storage"(/. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +667 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,y ` f @\ +2 "manipulator"&e& +4 "core" & Y  +2 .tElbow.seek 4 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&`& +4 "core" &  +2 "storage"(\ & +3 "core" &,y p G\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +95 "core" ' + "storage"(& +4 "core" &,y \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'r +297 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &,k j a \  +2 "manipulator"&r& +4 "core" & @  +2 .tElbow.seek 4 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&4& +3 "core" &   +2 "storage"(& +4 "core" &,k l j \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&u'c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +3 "storage"(' +8 "core" &  j  +2 "manipulator"&A% +3 "core" % _ n +3 .tForearm.seek :retract +2 "manipulator"&<' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"& & +3 "core" &ӑ( @W +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӑ( @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'? +91 "core" ' +2 "manipulator"&n& +4 "core" &Ӓ& ?V +2 "manipulator"&% +4 "core" %C i N +2 "collection"'& +4 "core" &\ \ *\ +3 "collection"'(& +5 "core" &\ \ h\ +3 .tCC.seek :closed +3 "collection"'^(\\ +2 "core" &\ \ m\ +7 &;\ \ j\ %g +10 &Yv\ \ j\ 7 +9 &w\ \ t\ K +9 &S\ \ c\ K +10 &V\ \ e\ J +9 &JV\ \ e\ K +9 & U\ \ x\ K +10 &T\ \ j\ K +9 &U\ \ c\ K +9 &TV\ \ c\ J +10 & U\ \ i\ K +9 &!V\ \ ]\ J +10 &#W\ \ b\ K +9 &%ZT\ \ \\\ K +9 &'U\ \ k\ K +10 &(U\ \ l\ J +9 &*U\ \ m\ K +9 &,dW\ \ n\ J +10 &.$W\ \ \ K +9 &/U\ \ \ K +10 &1W\ \ f\ J +9 &3jW\ \ g\ K +9 &5-U\ \ f\ K +10 &6V\ \ c\ K +9 &8Y\ \ g\ K +9 &:rW\ \ \ K +10 &<5W\ \ \ K +9 &=W\ \ \ K +10 &?X\ \ \ K +9 &AzX\ \ \ K +9 &C;Z\ \ \ L +10 &Dd\ \ \ M +9 &Fk\ #\ \ M +9 &Hs\ 1\ )\ P +10 &J+\ B\ =\ T +9 &K\ F\ E\ W +10 &M\ C\ C\ W +9 &Og\ B\ ?\ W +9 &Q(\ <\ =g\ X +10 &R\ =\ <\ Y +9 &T\ ;\ 9\ Y +10 &Vi\ 9\ 9\ Y +9 &X'\ 8\ 8\ [ +9 &Y\ 6\ 7\ [ +10 &[\ 8\ 7\ H +9 &\\.\ 8\ 6\ 7 +9 &\\p\ 5\ 5\ J +6 ( +2 "collection"'(& +4 "core" &\\h\ 3\ 4\ J +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&|1 +53 "core" 1 +2 "manipulator"&j% +4 "core" % C  ' N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%}& +4 "core" & \ +2 "manipulator"&#% +4 "core" %   +2 "storage"(>% +3 "core" % I H Z\  +48 "storage"(0. +5 "core" .(,y + "storage"(& +4 "core" &,k I G 9\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" &,{\ \ & S\ +2 "manipulator"&y& +4 "core" &Ӯ#  V <: +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(q& +4 "core" &,{ E < s\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +3 "storage"(3& +4 "core" &,{ k j 5\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(a'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ('& +2 "core" &,l , & >\  +3 "manipulator"&6& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"(& +3 "core" &,l ' '\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +38 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +63 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"(' +8 "core" & K  + "manipulator"&[% +4 "core" % a  ] +2 .tForearm.seek :retract +2 "manipulator"&g' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( + "manipulator"&l& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&.' +90 "core" ' + "manipulator"&\\& +4 "core" & +2 "manipulator"&% +4 "core" % y +2 "processing"%%& +4 "core" &J\ +2 "processing"%W& +6 "core" &<\ +2 .tPC.seek :closed +3 "processing"%p(^ +3 "core" &A\ +6 &A\ 6 +9 &5Ix=\ / +10 &\\p6\ D +9 &c@\ N +9 &X5\ N +10 &WA\ M +9 &BW5\ N +9 &Z6\ M +10 &U=\ M +9 &VA\ N +10 &KZ@\ M +9 &! ZA\ N +9 &"XA\ N +10 &$UA\ M +9 &&RU=\ N +9 &(T@\ M +10 &)UA\ N +9 &+XA\ N +10 &-[T;\ M +9 &/V9\ M +9 &0VA\ M +10 &2ZA\ M +9 &4cY:\ M +9 &6$\\>\ N +10 &7X?\ N +9 &9[9\ N +10 &;jZ2\ N +9 &=-W2\ M +9 &>Z;\ N +10 &@]:\ N +9 &Bpb5\ N +9 &D1b:\ O +10 &Ek8\ P +9 &Gv3\ Q +10 &Ik5\ S +9 &K+7\ S +9 &L:\ T +10 &N-\ T +9 &Pn5\ T +10 &R/3\ U +9 &S4\ U +9 &U3\ T +9 &Wu5\ U +10 &Y8*\ T +9 &Z3\ T +10 &\\/\ U +9 &^3b1\ * +9 &^b,\ 4 +10 ( + &^*\ 0 +2 "processing"%W& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&"1 +56 "core" 1 +2 "manipulator"& % +4 "core" %    y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +92 "core" ' +2 "processing"%]& +4 "core" &^*\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&&% +4 "core" %   8  +2 "storage"(k% +4 "core" % ' ' \  +2 "storage"(+. +2 "core" .(,y +2 "storage"(Q& +4 "core" &,l ( (\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(t(,y +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (z& +3 "core" &,|  X\ +3 "manipulator"&8& +4 ."raiseStack"SE.reconfigure :place +50 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(;'r + "manipulator"&( +7 "core" ( +2 "manipulator"&,& +4 "core" &  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&Z' +94 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +97 "core" ' +2 "storage"(H- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +302 ( + "storage"(P& +4 "core" &,j 3 F r\  +2 "manipulator"&:& +4 "core" &  +2 "manipulator"&% +5 "core" %   W +2 .tForearm.seek :retract + "manipulator"&B' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&G( +240 "core" ( +2 "manipulator"&?& +3 "core" & 9 +2 "storage"(-& +4 "core" &,j @ 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +110 "core" ' + .tHand.open +2 "manipulator"&1 +57 "core" 1 +3 "storage"(F- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(5' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(X' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +2 "core" -' +2 "storage"(O& +4 "core" &,j M O \  +2 "manipulator"&1& +4 "core" &    9 +2 .tElbow.seek 4 +2 "manipulator"&{( +2 "core" ( +2 "manipulator"&=& +4 "core" &   7 9 +2 "storage"(& +4 "core" &,j O M \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(K'" +60 "core" ' + "manipulator"&)& +4 "core" &  9 +2 "storage"(M& +4 "core" &,j E A \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&T'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(L' +19 "core" ' +2 "manipulator"&V% +3 "core" %E % +2 "storage"(b& +4 "core" &,j # , B\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&/'q +13 "core" ' + "manipulator"&2& +4 "core" & f 8 +2 "storage"(~& +4 "core" &,j F F 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +16 "core" ' + "storage"(v% +4 "core" % F F 1\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (e% +4 "core" %;J  [\ Wd +2 "manipulator"&`% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,j Q F e\  +2 "collection"'o& +4 "core" &\\h\ /\ /\ J +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&f% +3 "core" %    +2 "storage"(_% +4 "core" % : = \  +47 "storage"(D. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(r(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (4& +3 "core" &,{ S S t\ +3 "manipulator"&& +3 "core" & $ 8 +2 .tElbow.seek 4 +2 "manipulator"&Y( +4 "core" ( + "manipulator"&i& +4 "core" &  8 +2 "storage"(A& +4 "core" &,{ 8 8 p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&7' +92 "core" ' + "storage"($& +4 "core" &,{ N g >\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & ) 8 +2 "storage"(u& +4 "core" &,m + )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&n'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(m'f +29 "core" ' +2 "manipulator"&% +4 "core" %8   +2 "storage"(<& +4 "core" &,m F G 4\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&J'd +15 "core" ' +2 "manipulator"&|& +4 "core" &  j 8 +2 "storage"(j& +4 "core" &,m T J \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&}' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(#' +34 "core" ' +2 "manipulator"&>& +4 "core" &  8 +2 "manipulator"&0% +3 "core" % 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( + "manipulator"&x& +4 "core" &Ӌ*    Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &Ӌ*  Bl +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&U/ +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +447 "core" ( + "storage"(q& +4 "core" &,m k Q \  +2 "storage"(& +4 "core" &,m M \\ \  +2 "manipulator"&3& +4 "core" &" ;3 + "manipulator"&c% +4 "core" % ; D +2 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&'& +3 "core" &  .  +2 "storage"(6& +4 "core" &,m j j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"& '7 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&S1 +54 "core" 1 +2 "manipulator"&s% +4 "core" % 3   $ +2 "storage"([& +3 "core" &,m k j \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts + "manipulator"&'_ +16 "core" ' +2 "manipulator"&& +4 "core" &  q  +2 "storage"(a& +4 "core" &,m \  +41 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(l% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(I' +99 (@% +4 "core" %D B 8 \ V` +2 "manipulator"&\\% +3 "core" % . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'%& +3 "core" &\ \ \ +2 "manipulator"&% +3 "core" %  @  +3 "storage"(g% +3 "core" %  (\  +2 "storage"(9. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"("(<- +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &<+ f N W\  +2 "manipulator"&]& +4 "core" & a  +2 .tElbow.seek 5 +2 "manipulator"&&( +11 "core" ( +2 "manipulator"&k& +4 "core" &  +2 "storage"(+& +3 "core" &<* q ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +94 "core" ' +2 "storage"(W& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(z'r +300 "core" ' +2 "storage"(8- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &<* h k 4\  +2 "manipulator"&C& +3 "core" & P +2 .tElbow.seek 5 +2 "manipulator"&.( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &<* j k \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&H'Ϲ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&N& +4 "storage"(p' +5 "core" & 8 +2 "manipulator"&;% +5 "core" % ϯ  d +2 .tForearm.seek :retract +2 "manipulator"&P' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +2 "Can"- C@ +4 "core" &Ә% =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +4 "core" &Ә$ =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&?'? +95 "core" ' +2 "manipulator"&-& +3 "core" &Ә% =B +2 "manipulator"&% +4 "core" %5 < +3 "collection"'& +4 "core" &\ \ 2\ +3 "collection"'F& +6 "core" &\ \ m\ +2 .tCC.seek :closed +3 "collection"' (\\ +3 "core" &\ \ o\ +6 &\ \ s\ : +9 &OKv\ \ g\ 0 +10 &u}\ \ x\ D +9 &.Z\ \ s\ K +9 &U\ \ r\ K +10 &W\ \ j\ K +9 &uW\ \ r\ K +10 &6T\ \ l\ K +9 &V\ \ d\ K +9 &U\ \ \\\ K +10 &}V\ \ g\ K +9 &!>T\ \ d\ K +9 &#U\ \ \ K +10 &$U\ \ \ K +9 &&Y\ \ \ K +9 &(GV\ \ `\ K +10 &* U\ \ i\ K +9 &+X\ \ g\ K +10 &-U\ \ h\ K +9 &/PU\ \ i\ J +9 &1U\ \ n\ K +10 &2U\ \ \ K +9 &4V\ \ \ K +9 &6VY\ \ m\ K +10 &8W\ \ k\ K +9 &9V\ \ n\ K +10 &;U\ \ u\ K +9 &=`V\ \ p\ J +9 &?!Y\ \ n\ K +10 &@X\ \ o\ K +9 &B[\ \ m\ L +9 &Dd_\ \ r\ L +10 &F#i\ !\ w\ M +9 &Gz\ (\ &o\ P +10 &I\ ;\ 3o\ S +9 &KL\ G\ Et\ W +9 &M \ C\ Fl\ W +10 &N\ B\ Cu\ W +9 &P\ @\ @u\ X +9 &RO\ =\ <l\ X +10 &T\ <\ :t\ Y +9 &U\ <\ :u\ Y +10 &W\ ;\ 9u\ [ +9 &YP\ 9\ 9u\ [\ +9 &[\ 9\ 9\ [\ +10 &\\eF\ 8\ 8m\ 1 +9 &\\\ 7\ 9\ L +5 ( +3 "collection"'F& +3 "core" &\\b\ 5\ 6\ L +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&O1 +57 "core" 1 +3 "manipulator"&1% +4 "core" % 5   < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&=' +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&B% +5 "core" % ! 8 ( + "storage"()% +4 "core" % F F /\  +2 "storage"(M. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(V(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" &<* \  \  +2 "manipulator"&& +4 "core" &Ӯ    :, +2 "manipulator"&2% +3 "core" % !  ^ ( +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&~( +165 "core" ( +2 "manipulator"&5& +4 "core" & W  +2 "storage"(v& +3 "core" &<* = M G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +93 "core" ' +3 "storage"(*& +3 "core" &<* j j \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +295 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +2 "core" &<* G Q F\  +3 "manipulator"&E& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&K& +4 "core" &  +2 "storage"(T& +3 "core" &<* T S q\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +62 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(f' +7 "core" &  +2 "manipulator"&_% +4 "core" % ϴ +2 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&L( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&4& +4 "core" & T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&i' +96 "core" ' +2 "manipulator"&A& +4 "core" & T +2 "manipulator"&R% +3 "core" % ( +2 "processing"%$& +4 "core" &F\ +3 "processing"%& +5 "core" &E\ +2 .tPC.seek :closed +3 "processing"%t(^ +3 "core" &D\ +6 &6<\ #c +9 &U@\ 7 +10 &~C\ L +9 &V3\ M +10 &dV8\ N +9 &'X:\ M +9 &Z7\ M +10 &Z,\ N +9 &mX1\ M +9 &/X6\ M +10 &Z6\ M +9 &!V8\ M +10 &#tY6\ N +9 &%7U3\ M +9 &&W6\ N +10 &([7\ M +9 &*|W:\ N +9 &,>Z5\ N +10 &.U=\ M +9 &/\\8\ N +10 &1X6\ N +9 &3FY5\ N +9 &5X9\ N +10 &6V8\ M +9 &8W7\ N +9 &:OV3\ M +10 &<Y6\ M +9 &=W6\ N +10 &?W7\ N +9 &AUY7\ N +9 &Ce6\ O +10 &Dg5\ O +9 &Fp4\ Q +9 &HQ7\ R +10 &J4\ S +9 &K3\ S +9 &M9\ T +10 &OT7\ T +9 &Q3\ T +10 &R6\ T +9 &T7\ U +9 &V[8\ T +10 &X5\ U +9 &Y6\ U +10 &[7\ U +9 &]_0\ C +9 &^Cw2\ ^ +10 &^68\ 2 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&d1 +3 "core" &^"2\ 2 +61 1 + "manipulator"&\ % +4 "core" %    b * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +3 "processing"%!& +3 "core" &^")\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&u% +3 "core" % !   5 ' +2 "storage"(% +4 "core" % % $\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(<(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +50 (|& +2 "manipulator"&j& +6 "core" &<* , % \  + &  T +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&>( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(0'r +13 "core" ( +2 "manipulator"&7& +4 "core" &   O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +4 "core" &  g +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 .tHand.close +2 "manipulator"&n/ +56 "core" / +2 .tPC.seek :open +2 "processing"%J( +83 "core" ' + "storage"(m- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +41 "core" ' +319 ( +2 "storage"(y& +4 "core" &<* E F %\  +2 "manipulator"&}& +4 "core" & ( +2 "manipulator"&% +3 "core" %   M +2 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&(( +240 "core" ( + "manipulator"&^& +3 "core" & 7 +3 "storage"(q& +3 "core" &<* F E V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' + .tHand.open +2 "manipulator"&31 +61 "core" 1 +3 "storage"(c- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"('' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(6' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &<*  !\  +2 "manipulator"&S& +4 "core" &  7 +2 .tElbow.seek 5 +2 "manipulator"&s( +4 "core" ( + "manipulator"&[& +4 "core" &   j 7 +2 "storage"(& +4 "core" &<* ( ) \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(l'" +57 "core" ' + "manipulator"&h& +4 "core" & 7 +2 "storage"(@& +4 "core" &<* G I -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&\\'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +28 "core" ' + "manipulator"&%% +4 "core" %Κ  +2 "storage"(& +3 "core" &<* - . \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&g& +4 "core" &  6 +2 "storage"(9& +4 "core" &<* F F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +18 "core" ' +2 "storage"(% +3 "core" % U T \ +3 ."downElevator"SE.seek :down +4 "storage"(I' +98 (r% +3 "core" %Q\  R\ We +2 "manipulator"& % +4 "core" %9 \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&]' +89 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 (k& +2 "core" &<* G P d\  +3 "collection"'+& +3 "core" &\\b\ 1\ /{\ L +49 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&W% +4 "core" %    +2 "storage"(% +3 "core" % U T r\  +2 "storage"(. +3 "core" .(<- +2 "storage"(8& +4 "core" &<* T T W\  +2 "storage"(,& +4 "core" &<* E P \  +2 "manipulator"&C& +3 "core" & 6 +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & 6 +2 "storage"(w& +4 "core" &<* T S d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +96 "core" ' +2 "storage"(;& +3 "core" &<* j Q H\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +299 "core" ' + "storage"(Q- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & q 6 +2 "storage"(Z& +3 "core" &<* V V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&z'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(-- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('v +31 "core" ' + "manipulator"&% +4 "core" %Η +2 "storage"(.& +4 "core" &<* 3 ) F\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&p' +14 "core" ' + "manipulator"&P& +4 "core" &  6 +2 "storage"( & +3 "core" &<* U V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(1' +42 "core" ' +2 "manipulator"&F& +4 "core" & 6 +2 "manipulator"&% +3 "core" %a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&)(ӂ +151 "core" ( +2 "manipulator"&M& +4 "core" &Ӆ*  Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &Ӆ* ~ Bf +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&2/ +57 "core" / +2 .tCC.seek :open +2 "collection"'?( +447 "core" ( + "storage"(5& +4 "core" &<* N [ 2\  +2 "storage"(v& +3 "core" &<* N [ \  +2 "manipulator"&"& +4 "core" &ӳ"  ;8 +2 "manipulator"&*% +4 "core" % 3   +2 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&=( +163 "core" ( +2 "manipulator"&e& +3 "core" & 1  +2 "storage"(`& +4 "core" &<* g i |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&E'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +53 "core" 1 +2 "manipulator"&/% +4 "core" % Ε : +2 "storage"(o& +3 "core" &<* j k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 308 counts + "manipulator"&_' +14 "core" ' + "manipulator"&~& +4 "core" & z  +2 "storage"(G& +3 "core" &<*  %\  +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +13 "core" ' +2 "storage"(% +3 "core" % \ +4 ."downElevator"SE.seek :down +3 "storage"(4' +99 (% +3 "core" %K 9 M N\ Va +3 "manipulator"&{% +3 "core" %V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'R& +4 "core" &\ \ '\ +2 "manipulator"&$% +4 "core" %   +2 "storage"(f% +3 "core" % 4\  +3 "storage"(D. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &K k j \ \ +2 "manipulator"&\ & +3 "core" &  +3 .tElbow.seek 6 + "manipulator"&!( +4 "core" ( + "manipulator"&u& +4 "core" &    +2 "storage"(& +4 "core" &K \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(& +3 "core" &K D\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +292 "core" ' +2 "storage"(|- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &K \\ V 8\ \ +2 "manipulator"&Y& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&n& +3 "core" &  +2 "storage"(V& +4 "core" &K ] ] <\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&m'h +31 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(t' +6 "core" &  i  +2 "manipulator"&0% +4 "core" % d _ +2 .tForearm.seek :retract +2 "manipulator"&y' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +5 "core" &Ә% =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ә$ =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'? +94 "core" ' + "manipulator"&q& +4 "core" &Ә% = =C +2 "manipulator"&>% +4 "core" %5  e g +2 "collection"'3& +4 "core" &\ \ {\ +2 "collection"'c& +6 "core" &\ \ }\ +2 .tCC.seek :closed +3 "collection"'(\\ +2 "core" &\ \ y\ +7 &<\ \ {\ $f +9 &Xy\ \ \ 7 +10 &v\ \ \ K +9 &R\ \ \ K +9 &V\ \ q\ J +10 &AU\ \ {\ K +9 &U\ \ |\ K +10 &Y\ \ y\ K +9 &U\ \ z\ J +9 &JU\ \ x\ K +10 & U\ \ x\ J +9 &!U\ \ p\ K +9 &#V\ \ w\ J +10 &%RU\ \ x\ K +9 &'T\ \ v\ K +9 &(U\ \ n\ K +10 &*T\ \ s\ K +9 &,ZU\ \ r\ K +10 &.Y\ \ l\ K +9 &/U\ \ o\ J +9 &1V\ \ l\ K +10 &3cV\ \ n\ J +9 &5$V\ \ w\ K +10 &6U\ \ p\ J +9 &8V\ \ h\ K +9 &:kV\ \ n\ J +10 &<+X\ \ n\ K +9 &=]\ \ p\ L +9 &?Z\ \ j\ K +10 &ArZ\ \ o\ K +9 &C2`\ \ p\ L +10 &Dg\ \ m\ M +9 &Fw\ (\ 'l\ N +9 &Hd\ =\ 5m\ S +10 &J\ J\ Io\ V +9 &K\ I\ Ml\ W +9 &M\ H\ Hk\ Y +10 &O]\ A\ En\ X +9 &Q\ B\ Bk\ X +10 &R\ ?\ >h\ Y +9 &T\ <\ <n\ Y +9 &V]\ ;\ ;o\ Z +10 &X\ 9\ 9n\ Z +9 &Y\ 9\ :m\ [ +9 &[\ 8\ 8l\ I +10 &\\9\ 6\ 8n\ . +9 &\\h\ 7\ 6c\ O +3 ( +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&S% +4 "core" % M | O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +96 "core" ' +6 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&U% +4 "core" %   +2 "storage"(h% +3 "core" % T T Z\  +2 "storage"(@. +3 "core" .(K +2 "storage"(%& +4 "core" &K T S j\ \ +2 "storage"(x& +3 "core" &K Q U \ \ +3 "manipulator"&& +3 "core" & , +2 "manipulator"&g% +4 "core" %  D  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&'( +146 "core" ( + "manipulator"&9& +4 "core" & +2 "storage"(& +4 "core" &K k Q \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&(' +92 "core" ' +2 "storage"(& +4 "core" &K k j \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'r +298 "core" ' +2 "storage"(r- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &K R G N\ \ +2 "manipulator"&a& +3 "core" & 3 +2 .tElbow.seek 6 +2 "manipulator"&s( +4 "core" ( + "manipulator"&l& +4 "core" & L +2 "storage"(\\& +4 "core" &K S S o\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"( ' +7 "core" & +2 "manipulator"&W% +3 "core" % a  +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&8& +3 "core" & / < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" & 5 < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&C' +89 "core" ' +2 "manipulator"&& +4 "core" &  ` < +2 "manipulator"&w% +3 "core" % W z +3 "processing"%#& +3 "core" &\ +3 "processing"%;& +5 "core" &@\ +2 .tPC.seek :closed +3 "processing"%I(^ +3 "core" &@\ +6 &I\ 5 +10 &>GuG\ 0 +9 &gp\ D +9 &b4\ N +10 &T5\ M +9 &S\ M +9 &OT\ M +10 &T\ M +9 &V\ M +10 &Y\ M +9 &WY\ M +9 &!Y\ N +10 &"W:\ N +9 &$Y \ N +9 &&`UA\ M +10 &( Z7\ N +9 &)X,\ N +10 &+W:\ N +9 &-gTF\ M +9 &/)Z(\ M +10 &0TD\ M +9 &2Z\ M +9 &4oYD\ M +10 &61Z\ M +9 &7Y/\ M +10 &9VB\ N +9 &;v[9\ N +9 &=8Y=\ N +10 &>W\ M +9 &@Y*\ N +9 &B{cA\ O +10 &D=c@\ O +9 &EmD\ P +10 &Gy7\ Q +9 &Iv\ S +9 &K6\ T +10 &L=\ S +9 &N?\ T +9 &P{\ T +10 &R;\ U +9 &S \ U +9 &U?\ T +10 &W9\ U +9 &YDG\ T +10 &[D\ U +9 &\\8\ U +9 &^?hB\ * +10 &^_?\ 7 +8 ( +2 &^!A\ 3 +3 "processing"%;& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&]% +4 "core" %   \  z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' + "processing"%& +4 "core" &^!4\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&Z% +4 "core" %  \   +2 "storage"(-% +3 "core" % ' ' \ \  +2 "storage"(. +3 "core" .(K +2 "storage"(.& +4 "core" &K $ & -\ \ +2 "storage"(P& +2 "manipulator"& & +8 "core" &K , & K\ \ +2 &  < +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +4 "manipulator"&F( +51 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" ( +2 "manipulator"&N& +5 "core" &   X < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \   < +2 .tForearm.seek PC +2 "manipulator"&&' +92 "core" ' + .tHand.close +2 "manipulator"&z/ +58 "core" / +2 .tPC.seek :open +2 "processing"%p( +98 "core" ' +2 "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'1 +48 "core" ' +299 ( +2 "storage"(b& +4 "core" &K I S \\\ +2 "manipulator"&O& +4 "core" & 8 < +2 "manipulator"&H% +3 "core" %  5 Z +3 .tForearm.seek :retract +2 "manipulator"&2' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&B( +244 "core" ( +2 "manipulator"& & +4 "core" &  R +2 "storage"(5& +4 "core" &K F G 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +92 "core" ' + .tHand.open +2 "manipulator"&"1 +55 "core" 1 +2 "storage"(*- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(e' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(`' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"()& +4 "core" &K e e \ +2 "manipulator"&T& +4 "core" &   R +2 .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&o& +3 "core" &   : R +2 "storage"(~& +4 "core" &K e e \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&:& +4 "core" & R +2 "storage"(& +3 "core" &K > ( )\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&{'< +22 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(E' +19 "core" ' + "manipulator"&R% +4 "core" %D +2 "storage"($& +4 "core" &K % ( 3\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&_'p +16 "core" ' + "manipulator"&f& +4 "core" & R +2 "storage"(D& +4 "core" &K F F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +16 "core" ' + "storage"(X% +4 "core" % F F (\ +3 ."downElevator"SE.seek :down +3 "storage"(4' +99 (<% +3 "core" %yQ H h\ Xg +2 "manipulator"&d% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (u& +3 "core" &K = E &\ +2 "collection"'& +4 "core" &\\e\ 1\ 0+\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %    +2 "storage"(K% +4 "core" % T U v\  +2 "storage"(A. +2 "core" .(K +2 "storage"(|& +4 "core" &K S T b\ +2 "storage"(7& +4 "core" &K S T Y\ + "manipulator"&Y& +4 "core" & Q +46 .tElbow.seek 6 +4 "manipulator"&n( +4 "core" ( +2 "manipulator"&V& +3 "core" & J Q +2 "storage"(L& +4 "core" &K U T k\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(0& +3 "core" &K M T `\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & Q +2 "storage"( & +3 "core" &K G E U\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&j'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(q- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(>'s +29 "core" ' + "manipulator"&3% +4 "core" %K C +2 "storage"(i& +4 "core" &K F F %\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 315 counts + "manipulator"&t'w +14 "core" ' +2 "manipulator"&y& +4 "core" & _ Q +2 "storage"(?& +3 "core" &K G H >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(S' +41 "core" ' +2 "manipulator"&& +3 "core" & Q +2 "manipulator"&U% +4 "core" % b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +147 "core" ( +2 "manipulator"&%& +4 "core" &Ӌ+ Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &ӌ+  Y Cp +2 .tForearm.seek CC +2 "manipulator"&x'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'g( +448 "core" ( +2 "storage"(^& +4 "core" &K k k \ + "storage"(9& +4 "core" &K k k \ +2 "manipulator"&& +4 "core" &  1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&}' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&[( +156 "core" ( + "manipulator"&r& +4 "core" &  > +2 "storage"( & +3 "core" &K l j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&a'< +95 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&\\1 +60 "core" 1 +2 "manipulator"&k% +3 "core" % - G 3 +2 "storage"(+& +4 "core" &K q } Y\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 285 counts + "manipulator"&W'Y +14 "core" ' +3 "manipulator"&'& +3 "core" &  B +2 "storage"((& +4 "core" &K s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +26 "core" ' +2 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(8' +99 (,% +3 "core" %nD ; 8 \ U_ +41 "manipulator"&s% +10 "core" %!   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +5 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'w& +4 "core" &\ \ {\ +2 "manipulator"&#% +3 "core" %  w  +2 "storage"( % +4 "core" % =\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(J(,y +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,| N [ \ \ +3 "manipulator"&]& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&Z& +4 "core" & +2 "storage"(-& +4 "core" &,| \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(.& +4 "core" &,| p\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +300 "core" ' + "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &,l h j \ +2 "manipulator"&N& +4 "core" & \\ +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&C& +4 "core" & +2 "storage"(z& +4 "core" &,l k k \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(I' +7 "core" &  +2 "manipulator"&% +4 "core" % y  +2 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&H& +4 "core" &ӣ  :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &ӣ   :- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +98 "core" ' + "manipulator"&5& +4 "core" &ӣ! k :- +2 "manipulator"&F% +4 "core" %D 1 +2 "collection"'"& +4 "core" &\ \ \ +3 "collection"'*& +5 "core" &\ \ v\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ y\ +6 &<\ \ |\ %f +10 &Z{\ \ \ 8 +9 & u\ \ {\ K +10 &U\ \ y\ J +9 &U\ \ |\ K +9 &MX\ \ \ K +10 &U\ \ \ K +9 &Y\ \ \ K +9 &U\ \ \ J +10 &VU\ \ \ K +9 & U\ \ \ J +10 &!U\ \ \ K +9 &#Y\ \ z\ K +9 &%^T\ \ \ K +10 &' S\ \ x\ K +9 &(U\ \ \ K +9 &*S\ \ |\ K +10 &,fU\ \ \ K +9 &.)U\ \ z\ J +10 &/U\ \ v\ K +9 &1V\ \ {\ K +9 &3mX\ \ y\ K +10 &50U\ \ o\ K +9 &6W\ \ o\ K +9 &8X\ \ o\ K +10 &:vV\ \ m\ K +9 &<8V\ \ m\ K +9 &=Y\ \ k\ K +10 &?Y\ \ t\ K +9 &A~W\ \ o\ K +10 &C>^\ \ o\ L +9 &Dg\ \ i\ M +9 &Fk\ \ o\ N +10 &Hu\ -\ (o\ Q +9 &J+\ ?\ ;k\ U +10 &K\ E\ Dr\ W +9 &M\ B\ Bn\ W +9 &Oi\ <\ Ao\ X +10 &Q,\ ?\ =o\ W +9 &R\ ;\ :l\ Y +9 &T\ :\ :n\ X +10 &Vk\ 7\ 9k\ Z +9 &X-\ 8\ 8l\ Z +9 &Y\ 6\ :n\ [ +10 &[\ 7\ 6l\ H +9 &\\0\ 6\ 6l\ 0 +10 &\\c\ 5\ 4m\ L +2 ( +2 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&)1 +54 "core" 1 + "manipulator"&T% +4 "core" % D s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +93 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%~& +70 "core" &\ + "manipulator"&2% +4 "core" %  C  +2 "storage"(:% +4 "core" % F F 4\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +48 "storage"(R(,y +21 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" &,y G G $\ +2 "manipulator"&M& +4 "core" &ӣ   :- +2 "manipulator"&f% +4 "core" %  b  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&D( +165 "core" ( +2 "manipulator"&e& +4 "core" &   +2 "storage"(X& +3 "core" &,y 9 8 z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&B' +98 "core" ' +2 "storage"(v& +3 "core" &,y j j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +296 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &,l ' $ '\ \ +2 "manipulator"&G& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"({& +4 "core" &,l ' $ $\ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&_'c +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  + "manipulator"&K% +4 "core" % v +2 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&E( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&|& +4 "core" & ^ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" & O 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Y' +94 "core" ' +2 "manipulator"&V& +4 "core" & 4 7 +2 "manipulator"&L% +4 "core" % c +2 "processing"%1& +4 "core" &\ +2 "processing"%0& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(^ +4 "core" &\  +9 &1w\ )w +10 &d\ > +9 &qu\ N +9 &5U\ M +10 &W\ N +9 &V\ M +9 &zU\ M +10 &<T\ M +9 &U\ M +10 &U\ M +9 & Y\ N +9 &"CW\ N +10 &$Y\ M +9 &%X\ M +9 &'Z\ M +10 &)LT\ M +9 &+V\ M +10 &,Y\ N +9 &.W\ N +9 &0TY\ M +10 &2Y0\ M +9 &3U\ M +9 &5T-\ M +10 &7[TG\ N +9 &9Z6\ N +10 &:W\ M +9 &<W\ M +9 &>b]\ N +10 &@%W0\ N +9 &AZ\ N +9 &Cf\ O +10 &Efh\ O +9 &G%p\ P +10 &H\ R +9 &J\ S +9 &Lb\ S +10 &N!\ T +9 &O\ T +9 &Q\ U +10 &Sg\ T +9 &U(\ U +10 &V\ T +9 &X.\ T +9 &Zn \ U +10 &\\0\ U +9 &]|v\ < +9 &^'g\ P +10 &^(\ 3 +2 ( +2 "processing"%0& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&=1 +56 "core" 1 + "manipulator"&\ % +4 "core" %   S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +3 "processing"%& +3 "core" &^%\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +3 "core" %   \  +2 "storage"(q% +4 "core" % ) 3\  +2 "storage"(3. +2 "core" .(,y +2 "storage"(i& +4 "core" &,l 4 @ n\ \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(y(,y +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +4 "core" &,z & $ 5\ +2 "manipulator"&& +5 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &  \ A 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +41 "storage"(U'r +10 "manipulator"&( +7 "core" ( +2 "manipulator"&n& +4 "core" &   @ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +4 "core" & \  7 +2 .tForearm.seek PC +2 "manipulator"&j' +92 "core" ' + .tHand.close +2 "manipulator"&t/ +59 "core" / +2 .tPC.seek :open +2 "processing"%>( +94 "core" ' +2 "storage"(%- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(c'1 +44 "core" ' +305 ( + "storage"(& +4 "core" &,i S T j\  +2 "manipulator"&m& +4 "core" & 2 7 +2 "manipulator"&% +4 "core" %   q +2 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +243 "core" ( +2 "manipulator"&^& +4 "core" & $ 5 + "storage"(9& +4 "core" &,i F F ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "storage"(r- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +3 "core" -' +2 "storage"(\\& +4 "core" &,i q n \  +2 "manipulator"&k& +4 "core" &    5 +2 .tElbow.seek 4 +2 "manipulator"&+( +2 "core" ( +2 "manipulator"&'& +4 "core" &   e 5 +2 "storage"((& +3 "core" &,i g e \  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(}'" +51 "core" ' +2 "manipulator"&,& +3 "core" & 5 +2 "storage"(s& +4 "core" &,i > D b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&['7 +21 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +19 "core" ' +2 "manipulator"&W% +3 "core" %? +2 "storage"(#& +4 "core" &,i F F D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts +2 "manipulator"& 'k +13 "core" ' + "manipulator"&& +4 "core" & 5 +2 "storage"(S& +4 "core" &,i S S \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +15 "core" ' + "storage"(8% +4 "core" % I R l\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %K Z \ We +2 "manipulator"&]% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +89 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (-& +3 "core" &,i < O e\  +2 "collection"'.& +4 "core" &\\b\ 0\ /m\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&l% +4 "core" %   +2 "storage"(% +4 "core" % H < ^\  +2 "storage"(P. +2 "core" .(,y +2 "storage"(;& +4 "core" &,i P I 6\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +45 "storage"(N(,y +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &,{ R I \  +2 "manipulator"&z& +4 "core" & 5 +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&Q& +4 "core" &  u 5 +2 "storage"(& +4 "core" &,{ < 9 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(& +4 "core" &,{ Q j U\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(H'r +295 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & 5 +3 "storage"(& +3 "core" &,l & $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&5'7 +13 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"("- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +29 "core" ' + "manipulator"&I% +4 "core" %K U +2 "storage"(b& +3 "core" &,l F I h\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"&g'w +13 "core" ' +2 "manipulator"&)& +4 "core" & 5 +2 "storage"(T& +3 "core" &,l F P &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(~' +36 "core" ' + "manipulator"&2& +4 "core" & 5 +2 "manipulator"&:% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&$(ӂ +156 "core" ( +2 "manipulator"&M& +3 "core" &ӕ$  ' =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &ӕ$ =B +2 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' +2 .tHand.close + "manipulator"&e/ +60 "core" / + .tCC.seek :open +2 "collection"'X( +447 "core" ( +3 "storage"(J& +3 "core" &,l j j \  +2 "storage"(v& +4 "core" &,l k j \  +2 "manipulator"&O& +4 "core" &Ө  $ :/ + "manipulator"&o% +4 "core" % O   +2 .tForearm.seek :retract +2 "manipulator"&<' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&d( +162 "core" ( + "manipulator"&G& +4 "core" &  +2 "storage"(& +3 "core" &,l l q w\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&{'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&K% +4 "core" % 3 $ J + "storage"(D& +4 "core" &,l ~\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts + "manipulator"&B'_ +14 "core" ' +3 "manipulator"&`& +4 "core" &  M  +2 "storage"(_& +3 "core" &,l \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +41 "core" ' +9 "storage"(7% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(/' +99 (V% +3 "core" %kD > 9 x\ V` +2 "manipulator"&L% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" &\ \ 7\ +2 "manipulator"&A% +4 "core" %   +2 "storage"(p% +4 "core" %  <\  +2 "storage"(=. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(\ (<- +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<+ R J D\  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&q( +11 "core" ( +2 "manipulator"&3& +3 "core" & D  +2 "storage"(i& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +121 "core" ' + "storage"(?& +4 "core" &<* w j\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(n- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &<* k i \  +2 "manipulator"&Y& +4 "core" & 2  +2 .tElbow.seek 5 +2 "manipulator"&t( +4 "core" ( + "manipulator"&R& +4 "core" &  +2 "storage"(%& +4 "core" &<* g j e\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&4& +3 "storage"(U' +8 "core" & 9  + "manipulator"&% +4 "core" %  5 +2 .tForearm.seek :retract +2 "manipulator"&m' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&j& +3 "core" &Ӝ" 3 ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &Ӝ" ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'? +98 "core" ' +2 "manipulator"&& +4 "core" &Ӝ" j ;7 +2 "manipulator"&% +4 "core" %4 1 +2 "collection"'r& +4 "core" &\ \ D\ +3 "collection"'@& +5 "core" &\ \ {\ +2 .tCC.seek :closed +2 "collection"'\\(\\ +4 "core" &\ \ \ +7 &;\ \ |\ $e +9 &Xx\ \ \ 7 +9 &v\ \ \ K +10 &S\ \ y\ K +9 &U\ \ j\ K +9 &BX\ \ {\ K +10 &U\ \ ~\ K +9 &V\ \ S\ K +10 &Y\ \ {\ K +9 &KU\ \ ~\ K +9 & T\ \ ~\ J +10 &!U\ \ r\ K +9 &#T\ \ \ K +9 &%SU\ \ \ K +10 &'U\ \ |\ J +9 &(U\ \ y\ K +9 &*U\ \ }\ J +10 &,[U\ \ |\ K +9 &.S\ \ {\ K +10 &/U\ \ v\ K +9 &1V\ \ z\ J +9 &3bU\ \ x\ K +10 &5%U\ \ w\ K +9 &6U\ \ s\ K +9 &8U\ \ \ K +10 &:kU\ \  \ K +9 &<-T\ \ t\ K +10 &=U\ \ \ K +9 &?W\ \ m\ K +9 &ArX\ \ v\ K +10 &C4Z\ \ s\ K +9 &Dc\ \ \ L +9 &Fk\ \ b\ N +10 &Hk\ .\ &t\ P +9 &J \ B\ ;s\ U +10 &K\ E\ Dv\ V +9 &M\ A\ C{\ W +9 &O_\ @\ B\ W +10 &Q \ @\ ?V\ X +9 &R\ ;\ =?\ X +9 &T\ ;\ :k\ Y +10 &Va\ 9\ :z\ Y +9 &X \ 8\ 9n\ Z +10 &Y\ 6\ 7p\ [ +9 &[\ 8\ 8u\ G +9 &\\:\ 7\ 8\ + +10 &\\j\ 6\ 7\ K +2 ( +2 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&k1 +60 "core" 1 +2 "manipulator"&'% +3 "core" % 4  . 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%h& +4 "core" &\ +2 "manipulator"&,% +50 "core" %  m \ +3 "storage"(s% +5 "core" % F F \  + "storage"(W. +3 "core" .(<- +2 "storage"(#& +4 "core" &<* F E !\  +2 "storage"(c& +3 "core" &<* E F \  +2 "manipulator"&& +4 "core" &Ӱ P 9# +2 "manipulator"&S% +4 "core" %  k \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +162 "core" ( +2 "manipulator"&8& +3 "core" & F  +2 "storage"(& +4 "core" &<* S P Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +96 "core" ' + "storage"(x& +4 "core" &<* l j l\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* F R ]\  +2 "manipulator"&+& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&[& +4 "core" & B  +2 "storage"( & +4 "core" &<* F F '\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&-'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(' +8 "core" &   +2 "manipulator"&P% +4 "core" % Ϲ 1 +2 .tForearm.seek :retract +2 "manipulator"&w' +88 "core" ' +3 .tElbow.seek PC +2 "manipulator"&;( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&C& +4 "core" &  T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &  T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q' +102 "core" ' +2 "manipulator"&& +4 "core" &  ? S +2 "manipulator"&6% +4 "core" % @ +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%y(^ +5 "core" &\ +6 &6\ $d +9 &U|\ 7 +10 &{\ K +9 &W\ N +9 &bT\ M +10 &%R\ M +9 &X\ N +9 &W\ N +10 &kT\ M +9 &,Z\ M +10 &Z\ M +9 &!Y\ N +9 &#rX\ M +10 &%5W\ M +9 &&Y\ N +9 &(U\ M +10 &*zU\ M +9 &,<V\ M +10 &-T\ N +9 &/Y\ N +9 &1U\ M +10 &3DZ\ M +9 &5Y\ M +9 &6Z6\ M +10 &8W5\ M +9 &:MVG\ M +10 &< \\6\ N +9 &=Y8\ N +9 &?W\ N +10 &ASX\ N +9 &Cc\ O +9 &Dg\ P +10 &Fo\ P +9 &HM\ R +9 &J \ S +10 &K\ T +9 &M\ T +10 &OP\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &VX\ T +9 &X\ U +10 &Y\ U +9 &[\ U +10 &]]\ B +9 &^L}\ K +9 &^K\ 8 +6 ( +2 "processing"%& +3 "core" &^0\ 8 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&a1 +56 "core" 1 +2 "manipulator"&Z% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +89 "core" ' +2 "processing"% & +4 "core" &^/H\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    o  +2 "storage"("% +4 "core" % # # \  + "storage"(I. +3 "core" .(<- +2 "storage"(b& +4 "core" &<* 3 > A\  +2 "storage"()& +3 "manipulator"&T& +6 "core" &<* & $ \  + &    S +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&2( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(:'r +2 "core" ( +3 "manipulator"&& +44 "core" &   S +9 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &   S +2 .tForearm.seek PC +2 "manipulator"&H' +93 "core" ' +2 .tHand.close +2 "manipulator"&5/ +60 "core" / +3 .tPC.seek :open + "processing"%g( +57 "core" ' + "storage"(- +3 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(M'1 +44 "core" ' +345 ( +2 "storage"(f& +3 "core" &<* S T c\  +2 "manipulator"&*& +4 "core" &  S +2 "manipulator"&F% +3 "core" %  " ? +3 .tForearm.seek :retract +2 "manipulator"&e' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +256 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(J& +4 "core" &<* F F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&v'O +95 "core" ' +2 .tHand.open + "manipulator"&O1 +55 "core" 1 +2 "storage"(o- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(G' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"($& +4 "core" &<* + ) `\  +2 "manipulator"&& +4 "core" &     +2 .tElbow.seek 5 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&D& +4 "core" &   M  +2 "storage"(`& +3 "core" &<* \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(7'" +55 "core" ' +2 "manipulator"&<& +3 "core" &   +2 "storage"(V& +4 "core" &<* I I \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&L'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"({' +28 "core" ' +2 "manipulator"&B% +4 "core" %Κ  + "storage"(& +4 "core" &<* $ % \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&A' +14 "core" ' + "manipulator"&p& +4 "core" &  +2 "storage"(=& +4 "core" &<* T T O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +16 "core" ' +2 "storage"(|% +4 "core" % M 9 O\ +3 ."downElevator"SE.seek :down +3 "storage"(/' +99 (N% +3 "core" %`R & (\ Xh +2 "manipulator"&% +4 "core" %9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 (3& +3 "core" &<* P I c\  +2 "collection"'i& +4 "core" &\\j\ 0\ 08\ K +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&?% +3 "core" %   +2 "storage"(u% +4 "core" % I M 8\  +2 "storage"(1. +3 "core" .(<- +2 "storage"(n& +4 "core" &<* I Q J\  +2 "storage"(!& +3 "core" &<* = 9 \  +2 "manipulator"&Y& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&R( +4 "core" ( + "manipulator"&%& +49 "core" &  +3 "storage"(& +4 "core" &<* H < z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +92 "core" ' + "storage"(& +4 "core" &<* j j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(q'r +298 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" & @  +3 "storage"(^& +3 "core" &<* G I *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('v +28 "core" ' + "manipulator"&r% +4 "core" %Κ u +2 "storage"(t& +4 "core" &<* G I -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&U' +14 "core" ' +2 "manipulator"&m& +4 "core" &   +2 "storage"(X& +3 "core" &<* 8 8 x\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"('' +36 "core" ' +2 "manipulator"&h& +4 "core" &  +2 "manipulator"&,% +3 "core" %9 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&s(ӂ +156 "core" ( +2 "manipulator"&W& +3 "core" &Ӑ(  @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &Ӑ(  \  @X +3 .tForearm.seek CC +2 "manipulator"&c'? +91 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'S( +450 "core" ( +2 "storage"(9& +4 "core" &<* k N f\  +2 "storage"(8& +4 "core" &<* Y M \  +2 "manipulator"&& +3 "core" &ӿ  9) +2 "manipulator"&x% +4 "core" % ,  +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&(( +168 "core" ( + "manipulator"&]& +4 "core" &  7 +2 "storage"(& +4 "core" &<* ` i C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&+'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "manipulator"&.% +4 "core" % Ζ + +2 "storage"(l& +4 "core" &<* \\ \\ %\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&P' +14 "core" ' +2 "manipulator"& & +4 "core" & H 6 +2 "storage"(& +3 "core" &<* j k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' + "storage"(-% +4 "core" % b h K\ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 (z% +3 "core" %F L 8 \ V` +2 "manipulator"&}% +3 "core" %^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&' +87 "core" ' +10 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'6& +3 "core" &\ \ \ +3 "manipulator"&% +3 "core" %  r  +2 "storage"(% +4 "core" % \  +2 "storage"(w. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (a& +2 "core" &K k k x\ \ +3 "manipulator"&Z& +3 "core" & 6 +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" &  6 +2 "storage"("& +3 "core" &K  J\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +93 "core" ' +2 "storage"(b& +4 "core" &K \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'r +292 "core" ' + "storage"(T- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K Y I [\ \ +3 "manipulator"&& +3 "core" & B 6 +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&Q& +4 "core" & + 6 +2 "storage"(5& +4 "core" &K k j \ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&;'h +13 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +3 "storage"(y' +7 "core" & r 6 +2 "manipulator"&:% +4 "core" % _ +2 .tForearm.seek :retract +2 "manipulator"&f' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +152 "core" ( +3 "manipulator"&F& + "core" ' +4 ."downElevator"SE.stop + "storage"(5 +3 "core" &Ӑ# <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +4 "core" &Ӑ# ( <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 "manipulator"&J& +4 "core" &Ӑ#  <; +2 "manipulator"&2% +4 "core" %C " ! +2 "collection"'O& +4 "core" &\ \ \ +3 "collection"'o& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"' (\\ +5 "core" &\ \ \  +8 &4{\ \ \ *x +9 &d~\ \ \ = +9 &p\ \ \ L +10 &NU\ \ \ J +9 &V\ \ \ K +9 &U\ \ \ K +10 &S\ \ \ K +9 &VU\ \ \ J +10 &W\ \ \ K +9 &U\ \ \ J +9 & U\ \ \ K +10 &"]S\ \ \ K +9 &$U\ \ \ K +10 &%X\ \ \ K +9 &'U\ \ \ K +9 &)eS\ \ \ K +10 &+(U\ \ \ J +9 &,U\ \ \ K +9 &.V\ \ \ K +10 &0lY\ \ \ K +9 &2/U\ \ \ K +10 &3T\ \ \ K +9 &5U\ \ \ K +9 &7uV\ \ \ K +10 &96Y\ \ \ K +9 &:V\ \ \ K +9 &<Y\ \ \ K +10 &>{[\ !\ \ L +9 &@>U\ \ \ K +9 &AZ\ \ \ L +10 &C]\ \ \ L +9 &E~k\ \ \ M +10 &G:{\ .\ '\ O +9 &H\ A\ 9\ S +9 &J\ M\ L\ V +10 &Lh\ I\ I\ X +9 &N)\ E\ E\ X +10 &O\ D\ C\ X +9 &Q\ ?\ ?\ X +9 &Sm\ ;\ =\ Y +10 &U,\ :\ <\ Z +9 &V\ :\ 9\ Z +9 &X\ :\ 8\ Z +10 &Zo\ 8\ 7\ [ +9 &\\y\ 7\ 8\ 4 +9 &\\*\ 5\ 8\ "f +10 ( + &\\\ 4\ 7\ X +2 "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&$1 +54 "core" 1 + "manipulator"&% +4 "core" % C  ! +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%`& +4 "core" &\ +2 "manipulator"&e% +3 "core" %    +2 "storage"(<% +4 "core" % A 2 \  +2 "storage"(V. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(B(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +49 "core" &K\ \  #\  +3 "manipulator"&M& +4 "core" & \ j * +2 "manipulator"&p% +4 "core" %    /  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&=( +149 "core" ( +2 "manipulator"&G& +4 "core" & g  +2 "storage"(|& +4 "core" &K F E %\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(v& +4 "core" &K N = A\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(N- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K F F !\  +2 "manipulator"&_& +4 "core" & `  +2 .tElbow.seek 6 +2 "manipulator"&K( +2 "core" ( +2 "manipulator"&7& +4 "core" & 0  +2 "storage"(L& +4 "core" &K P I ^\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&A'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& +2 "storage"(?' +6 "core" &  +2 "manipulator"&u% +4 "core" % ] +2 .tForearm.seek :retract +2 "manipulator"&1' +97 "core" ' +3 .tElbow.seek PC +2 "manipulator"&{( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( + "manipulator"&n& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Y' +94 "core" ' +2 "manipulator"&%& +4 "core" & /  +2 "manipulator"&% +4 "core" %   +2 "processing"%~& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%/(^ +4 "core" &\ +8 &.\ #b +9 &Ux\ 6 +10 &{\ K +9 &U\ M +9 &UU\ N +10 &W\ M +9 &Y\ N +9 &W\ M +10 &^U\ M +9 &Y\ N +10 &W\ M +9 &!U\ M +9 &#fY\ M +10 &%(Y\ M +9 &&Z\ M +9 &(Y\ N +10 &*nW\ M +9 &,0U\ M +10 &-T\ M +9 &/Z\ N +9 &1vW\ M +10 &38U\ M +9 &4U\ M +9 &6Z\ M +10 &8~[\ M +9 &:@U\ M +10 &<Y\ M +9 &=[\ M +9 &?Y\ M +10 &AF]\ N +9 &Cb\ O +9 &De\ P +10 &Fl\ P +9 &HB\ R +10 &J\ S +9 &K\ T +9 &M\ T +10 &OC5\ T +9 &Q9\ U +9 &R\ T +10 &T\ U +9 &VK\ T +10 &X \ T +9 &Y\ U +9 &[\ U +10 &]P\ I +9 &^P\ !f +9 &^\ + +3 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&d1 +54 "core" 1 +2 "manipulator"& % +4 "core" %  `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +93 "core" ' +2 "processing"%j& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&^% +4 "core" %    G  +5 "storage"(% +10 "core" % - . f\  +3 "storage"(r. +4 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(t(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (m& + "manipulator"&X& +6 "core" &K ' P $\  +2 &   )  +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&h( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(,'r + "core" ( +3 "manipulator"&4& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +50 &R& +3 "core" &   ,  +2 .tForearm.seek PC +2 "manipulator"&q' +95 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%U( +49 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(W'1 +41 "core" ' +357 ( + "storage"(#& +4 "core" &K J U g\  +2 "manipulator"&k& +4 "core" & =  +2 "manipulator"&E% +3 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&@( +241 "core" ( +2 "manipulator"&\\& +4 "core" &  X +2 "storage"(9& +4 "core" &K F E "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&8' +97 "core" ' + .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(x- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(c- +2 "core" -' +2 "storage"(s& +4 "core" &K I E\  +3 "manipulator"& & +3 "core" &   3 X +2 .tElbow.seek 6 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&l& +4 "core" &    X +2 "storage"( & +3 "core" &K C D \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(-'" +51 "core" ' + "manipulator"&& +4 "core" & X +2 "storage"(z& +4 "core" &K - + .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&}'< +28 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(+' +20 "core" ' +2 "manipulator"&6% +3 "core" %9   +2 "storage"(& +4 "core" &K ' % C\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 297 counts + "manipulator"&P'e +16 "core" ' +2 "manipulator"&& +3 "core" & X +2 "storage"(w& +4 "core" &K > &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'' +16 "core" ' +2 "storage"(% +3 "core" % 4 ' \ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 (\ % +3 "core" %BP M T\ Xg +2 "manipulator"&a% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K $ ' "\  +2 "collection"'"& +3 "core" &\\\ 0\ 1\ X +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&b% +4 "core" %   +2 "storage"([% +3 "core" % F G &\  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(T(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K\ \  1\  +2 "manipulator"&& +4 "core" &  ( W +2 .tElbow.seek 6 +46 "manipulator"&Q( +6 "core" ( +2 "manipulator"&5& +4 "core" & C W +2 "storage"(& +3 "core" &K F F !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +93 "core" ' +2 "storage"(:& +3 "core" &K O C Q\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +297 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" & W +2 "storage"(H& +4 "core" &K - - 9\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&)'< +20 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(2'r +29 "core" ' +2 "manipulator"&O% +3 "core" %N  +2 "storage"(& +3 "core" &K $ * `\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts +2 "manipulator"&y'z +13 "core" ' + "manipulator"&f& +4 "core" & W +2 "storage"(S& +4 "core" &K ' ,\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&`& +3 "core" & W +2 "manipulator"&e% +4 "core" % C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V(ӂ +152 "core" ( +2 "manipulator"&o& +3 "core" &Ӓ& m ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӓ&   1 ?R +3 .tForearm.seek CC +2 "manipulator"&M'? +97 "core" ' +2 .tHand.close +2 "manipulator"&p/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(G& +3 "core" &K ` i ?\  +2 "storage"(|& +3 "core" &K h k s\  +3 "manipulator"&>& +3 "core" & 0 +2 "manipulator"&v% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&*' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&D( +154 "core" ( + "manipulator"&N& +4 "core" & >  +2 "storage"(& +4 "core" &K } \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&_'< +97 "core" ' +2 .tElbow.hold + "manipulator"&7, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&L1 +64 "core" 1 +2 "manipulator"&3% +4 "core" % 2   9 +2 "storage"(i& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 290 counts +2 "manipulator"&u'^ +16 "core" ' + "manipulator"&=& +4 "core" & G  +2 "storage"(& +3 "core" &K  R\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +15 "core" ' +2 "storage"(A% +3 "core" % \ \ +3 ."downElevator"SE.seek :down +4 "storage"(n' +98 (!% +3 "core" %J 7 B i\ Wc +2 "manipulator"&K% +43 "core" % E +9 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +89 "core" ' +5 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&~% +4 "core" %    +2 "storage"(?% +4 "core" % w\  +2 "storage"(1. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(g(,y +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &,z ` j {\ +3 "manipulator"& & +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&j( +4 "core" ( + "manipulator"&^& +4 "core" & l  +2 "storage"(& +4 "core" &,z \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +93 "core" ' +2 "storage"(& +5 "core" &,z ~ #\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +298 "core" ' +2 "storage"(m- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &,k e ` -\  +3 "manipulator"&R& +3 "core" & C  +2 .tElbow.seek 4 +2 "manipulator"&Y( +4 "core" ( + "manipulator"&& +4 "core" &  }  +2 "storage"(B& +3 "core" &,k j j \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +41 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"(/' +7 "core" &   +2 "manipulator"&,% +4 "core" % m l _ +2 .tForearm.seek :retract +2 "manipulator"&#' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&E& +4 "core" &Ӝ" ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &Ӝ" ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'? +105 "core" ' +2 "manipulator"&9& +4 "core" &Ӝ" ;6 +2 "manipulator"&h% +4 "core" %0 % +2 "collection"'& +4 "core" &\ \ \ +2 "collection"'x& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'c(\\ +5 "core" &\ \ \ +7 &A\ \ \ $f +9 &Z{\ \ \ 7 +10 &x\ \ \ K +9 &S\ \ \ J +9 &T\ \ \ K +10 &IU\ \ \ K +9 & X\ \ \ K +9 &X\ \ \ K +10 &X\ \ \ K +9 &QS\ \ \ K +10 & S\ \ \ K +9 &!S\ \ \ K +9 &#T\ \ \ K +10 &%YS\ \ \ K +9 &'T\ \ \ J +9 &(U\ \ \ K +10 &*W\ \ \ K +9 &,aY\ \ \ K +10 &.#T\ \ \ K +9 &/T\ \ \ K +9 &1W\ \ \ K +10 &3iY\ \ \ K +9 &5+X\ \ \ K +9 &6T\ \ \ K +10 &8U\ \ \ J +9 &:qU\ \ \ K +10 &<3Y\ \ \ K +9 &=T\ \ \ K +9 &?W\ \ \ K +10 &AyX\ \ \ K +9 &C9\\\ \ \ L +9 &Dd\ \ \ L +10 &Fm\ \ \ M +9 &Hq\ -\ '\ P +10 &J(\ A\ 9\ T +9 &K\ C\ F\ V +9 &M\ B\ C\ W +10 &Oe\ >\ =\ W +9 &Q&\ ;\ =\ W +9 &R\ ;\ <\ W +10 &T\ :\ 9\ Y +9 &Vf\ 9\ 9\ Z +10 &X&\ 8\ 8\ Z +9 &Y\ 7\ 8\ Z +9 &[\ 7\ 6\ H +10 &\\/\ 4\ 6\ 5 +9 &\\i\ 4\ 3\ M +2 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&s1 +56 "core" 1 +2 "manipulator"& % +4 "core" % 0 % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"% & +4 "core" &\ +2 "manipulator"&% +3 "core" %  "  +2 "storage"(% +4 "core" % F P G\  +2 "storage"(z. +2 "core" .(,y +2 "storage"(6& +4 "core" &,k S P X\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +48 "storage"((,y +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &,v ) > H\ +2 "manipulator"&& +3 "core" &Ӧ  :, +3 "manipulator"&w% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&]( +163 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(@& +4 "core" &,v j k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +92 "core" ' +2 "storage"(& +3 "core" &,v j j \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +295 "core" ' +2 "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,l - ( \  +2 "manipulator"&.& +3 "core" &  +3 .tElbow.seek 4 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&}& +3 "core" & Q  +2 "storage"(& +4 "core" &,l F E %\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&P'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"([' +7 "core" &   +2 "manipulator"&% +4 "core" % \\ 6 +2 .tForearm.seek :retract +2 "manipulator"&+' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + "manipulator"&'& +4 "core" &  +2 "manipulator"&:% +5 "core" %  A + "processing"%C& +4 "core" &\ +2 "processing"%t& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%((^ +4 "core" &\ +7 &6\ #c +9 &U}\ 7 +10 &y\ K +9 &V\ N +9 &ZT\ M +10 &U\ M +9 &Y\ N +10 &T\ M +9 &bT\ M +9 &$U\ M +10 &T\ N +9 &!V\ N +9 &#iW\ N +10 &%,U\ M +9 &&Y\ M +9 &(Y\ N +10 &*rW\ M +9 &,4U\ M +10 &-T\ M +9 &/U\ N +9 &1yW\ N +10 &3<X\ M +9 &4U\ M +10 &6U\ M +9 &8V\ N +9 &:CX\ N +10 &<V\ M +9 &=X\ M +9 &?[\ N +10 &AKW\ N +9 &C\ a\ O +10 &Dd\ O +9 &Fm\ P +9 &HHy\ Q +10 &J\ S +9 &K\ T +9 &M\ T +10 &OJ\ S +9 &Q \ T +10 &R\ T +9 &T\ U +9 &VO\ T +10 &X\ T +9 &Y\ T +9 &[\ U +10 &]U\ H +9 &^|G\ ] +10 &^ A@\ 2 +5 ( +2 "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&Z1 +2 "core" &^"\ 2 +56 1 + "manipulator"&I% +4 "core" %   A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +90 "core" ' +3 "processing"%H& +4 "core" &^!\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&J% +4 "core" %    ,  +2 "storage"(O% +4 "core" % F F "\  +2 "storage"(. +2 "core" .(,v +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(f(,y +32 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (S& +3 "core" &,y . ? m\ +3 "manipulator"&`& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(e'r +3 "manipulator"&&( +53 "core" ( +2 "manipulator"&Q& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  = +2 .tForearm.seek PC +2 "manipulator"&)' +94 "core" ' + .tHand.close +2 "manipulator"&y/ +59 "core" / +2 .tPC.seek :open +2 "processing"%2( +43 "core" ' + "storage"(o- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +356 ( + "storage"($& +4 "core" &,i F F #\ +2 "manipulator"&;& +4 "core" &  +2 "manipulator"&p% +3 "core" %  H +3 .tForearm.seek :retract + "manipulator"&<' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +238 "core" ( +2 "manipulator"&G& +4 "core" &  A +2 "storage"(|& +4 "core" &,i 3 ' ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +96 "core" ' +2 .tHand.open +2 "manipulator"&v1 +54 "core" 1 +2 "storage"(N- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(M' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(V- +3 "core" -' +2 "storage"(L& +4 "core" &,i d n \ +2 "manipulator"&3& +3 "core" &  A +3 .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&=& +5 "core" &   A + "storage"(& +4 "core" &,i d d |\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(*'" +59 "core" ' +2 "manipulator"&!& +4 "core" & A + "storage"(K& +4 "core" &,i H F F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&D'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&~% +4 "core" %I & +2 "storage"(u& +4 "core" &,i ( / -\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&?'u +14 "core" ' + "manipulator"&1& +4 "core" & @ +2 "storage"(& +4 "core" &,i F I =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +16 "core" ' + "storage"(n% +4 "core" % S S 3\ +3 ."downElevator"SE.seek :down +3 "storage"(T' +99 (d% +3 "core" %9M T %\ We +2 "manipulator"& % +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +95 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,i 3 B B\ +2 "collection"'& +4 "core" &\\`\ .\ /\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&7% +4 "core" %   +2 "storage"(%% +4 "core" % T V q\  +2 "storage"(m. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(4(,y +29 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +47 (R& +4 "core" &,| P F ;\ +2 "manipulator"&& +4 "core" & @ +2 .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&{& +4 "core" &  @ +2 "storage"(0& +4 "core" &,| S U X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&,' +95 "core" ' + "storage"(j& +4 "core" &,| j j \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'r +295 "core" ' +2 "storage"(E- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +4 "core" & @ +2 "storage"(X& +3 "core" &,l > 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(h- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('e +29 "core" ' +2 "manipulator"&Y% +4 "core" %F ) +2 "storage"(/& +3 "core" &,l 3 G T\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&#'r +13 "core" ' + "manipulator"&& +4 "core" &  # @ +2 "storage"(s& +4 "core" &,l F I {\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"( ' +36 "core" ' +2 "manipulator"&& +3 "core" & @ +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6(ӂ +151 "core" ( + "manipulator"&x& +4 "core" &ӑ$ 0 =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӑ$  =F +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' + .tHand.close +2 "manipulator"&w/ +58 "core" / +2 .tCC.seek :open + "collection"'\\( +450 "core" ( +3 "storage"(& +3 "core" &,l ] _ $\  +2 "storage"(@& +4 "core" &,l \\ \\\  +2 "manipulator"&g& +4 "core" &ӡ" ;6 +2 "manipulator"&% +3 "core" % A +2 .tForearm.seek :retract +2 "manipulator"&k' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&l( +161 "core" ( + "manipulator"&a& +4 "core" & #  +2 "storage"(& +3 "core" &,l  !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&.'7 +98 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&"% +4 "core" % <    +2 "storage"(b& +4 "core" &,l \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 305 counts +2 "manipulator"&'h +16 "core" ' +2 "manipulator"&]& +3 "core" &  Q  +2 "storage"(8& +4 "core" &,l  >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +19 "core" ' +2 "storage"(P% +4 "core" % \ +3 ."downElevator"SE.seek :down +49 "storage"(' +99 (5% +3 "core" %C R m s\ V_ +2 "manipulator"&-% +4 "core" % { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +91 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"':& +4 "core" &\ \ \ +2 "manipulator"&C% +4 "core" %    +2 "storage"([% +4 "core" %  @\  +2 "storage"(+. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(U(<- +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" &<- A 4 g\  +2 "manipulator"&I& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&H( +4 "core" ( + "manipulator"&J& +4 "core" &  ^  +2 "storage"(O& +4 "core" &<- {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(t& +4 "core" &<- u #\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'r +293 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &<- _ g \  +2 "manipulator"& & +4 "core" & H  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&y& +4 "core" &  [  +2 "storage"(& +4 "core" &<- j m \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&o'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"((' +8 "core" & E  + "manipulator"&e% +4 "core" % ϶ r +2 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&p& +4 "core" &ӎ( @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &ӎ( @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'? +97 "core" ' +2 "manipulator"&|& +4 "core" &ӏ( D @X +2 "manipulator"&&% +3 "core" %<  $ +2 "collection"'v& +4 "core" &\ \ \ +2 "collection"'N& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'V(\\ +4 "core" &\ \ \ +6 &\ \ \ 9 +10 &IKw\ \ \ / +9 &ws~\ \ \ D +9 &#Y\ \ \ K +10 &X\ \ \ K +9 &W\ \ \ K +9 &hY\ \ \ K +10 &+T\ \ \ K +9 &U\ \ \ K +10 &W\ \ \ K +9 &rU\ \ \ J +9 &!3U\ \ \ K +10 &"Y\ \ \ K +9 &$U\ \ \ J +9 &&yU\ \ \ K +10 &(:Y\ \ \ K +9 &)S\ \ \ K +9 &+T\ \ \ J +10 &-U\ \ \ K +9 &/CT\ \ @\ K +10 &1U\ \ \ J +9 &2U\ \ \ K +9 &4X\ \ >\ K +10 &6LU\ \ \ J +9 &8 V\ \ \ K +10 &9Y\ \ @\ K +9 &;T\ \ \ K +9 &=SV\ \ \ K +10 &?Z\ \ \ K +9 &@W\ \ \ K +9 &BZ\ \ \ K +10 &DZ_\ \ \ K +9 &Fk\ \ \ M +10 &Gy\ %\ #\ O +9 &I\ 9\ 2\ S +9 &KB\ F\ F\ V +10 &M\ E\ F\ W +9 &N\ A\ B\ W +9 &P\ =\ >\ W +10 &RE\ ;\ =\ X +9 &T\ 8\ ;\ Y +10 &U\ 9\ 9\ Y +9 &W\ 6\ :\ Z +9 &YF\ 8\ 8\ Z +10 &[\ 9\ 7\ [\ +9 &\\_J\ 9\ 7\ 4 +9 &\\\ 8\ 7\ L +6 ( +2 "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&L1 +3 "core" &\\a\ 4\ 6\ L +50 1 +6 "manipulator"&3% +4 "core" % < M $ +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&<% +4 "core" %  e  +2 "storage"(!% +3 "core" % G L \  +2 "storage"(K. +49 "core" .(<- +3 "storage"(~& +4 "core" &<- F F \  +2 "storage"(u& +4 "core" &<- I H \  +2 "manipulator"&& +3 "core" &ӯ" 0 ;8 +2 "manipulator"&1% +4 "core" %   )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&& +4 "core" & +2 "storage"(n& +4 "core" &<- 8 8 ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +93 "core" ' +2 "storage"(>& +4 "core" &<- k k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +309 "core" ' + "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &<- K H {\  +2 "manipulator"&A& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&*& +3 "core" & +2 "storage"(D& +4 "core" &<- B 8 S\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(7' +6 "core" & 1 +2 "manipulator"&%% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&m' +88 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&R& +4 "core" &  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&{' +97 "core" ' +2 "manipulator"&0& +4 "core" & \ +2 "manipulator"&% +4 "core" % * +2 "processing"%j& +4 "core" &\ +2 "processing"%T& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%f(^ +5 "core" &\ +7 &6\ $d +9 &Uw\ 6 +9 &~|\ K +10 &T\ M +9 &bY\ M +10 &$R\ M +9 &U\ M +9 &T\ N +10 &iU\ N +9 &+W\ N +9 &W\ N +10 &!W\ N +9 &#qW\ N +10 &%4T\ M +9 &&Z\ N +9 &(W\ N +10 &*yW\ N +9 &,;X\ N +10 &-W\ M +9 &/Z\ M +9 &1Y\ M +10 &3DT\ M +9 &5T\ M +9 &6V\ M +10 &8Y\ N +9 &:KT\ N +9 &< Z\ N +10 &=Y\ N +9 &?V\ N +10 &ASX\ N +9 &Cc\ O +9 &Df\ O +10 &Fn\ Q +9 &HN\ R +9 &J \ T +10 &K\ S +9 &M\ T +10 &OP\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &VW\ T +9 &X\ U +10 &Y\ U +9 &[\ U +10 &]\\\ E +9 &^z=m\ &o +9 &^-\ , +6 ( +2 "processing"%T& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&_1 +2 "core" &^\ , +56 1 + "manipulator"&^% +4 "core" %    * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +95 "core" ' +2 "processing"%q& +3 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&X% +4 "core" %    ;  +2 "storage"(h% +3 "core" % F F \  +2 "storage"(Y. +3 "core" .(<- +2 "storage"(/& +4 "core" &<- F F \  +2 "storage"(& +2 "manipulator"&s& +8 "core" &<- I F 4\  + & \   \ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&( +5 "core" ( +2 "manipulator"&,& +4 "core" &  . \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +49 &B& +4 "core" & \  \ +2 .tForearm.seek PC +2 "manipulator"&r' +91 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%#( +45 "core" ' +2 "storage"(- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(x'1 +46 "core" ' +351 ( + "storage"(W& +4 "core" &<- T T \  +2 "manipulator"& & +4 "core" &  \ +2 "manipulator"&9% +3 "core" %  i +3 .tForearm.seek :retract + "manipulator"&w' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&z( +238 "core" ( +2 "manipulator"&c& +4 "core" & 7 +2 "storage"(& +4 "core" &<- I G H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +97 "core" ' + .tHand.open +2 "manipulator"&g1 +61 "core" 1 +2 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(a' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(6& +3 "core" &<- #  l\  +2 "manipulator"&& +4 "core" &  $ 7 +2 .tElbow.seek 5 +2 "manipulator"&"( +4 "core" ( + "manipulator"&b& +4 "core" &  O 7 +2 "storage"(]& +4 "core" &<- ( ( \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&8'O +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(P'" +58 "core" ' + "manipulator"&k& +4 "core" & 7 +2 "storage"(l& +4 "core" &<- I J 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&5'΍ +30 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +28 "core" ' +2 "manipulator"&% +4 "core" %Ό  W +2 "storage"(:& +3 "core" &<- - - U\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 299 counts +2 "manipulator"&C'ϸ +14 "core" ' + "manipulator"&[& +4 "core" &   +2 "storage"(+& +5 "core" &<- H < o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +13 "core" ' +2 "storage"(\ % +3 "core" % E P T\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (4% +3 "core" %N [ ]\ We +3 "manipulator"&Z% +4 "core" %] ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +87 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (J& +3 "core" &<- I G \  +3 "collection"'O& +3 "core" &\\`\ .\ .\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&t% +3 "core" %   +2 "storage"(}% +4 "core" % B ; d\  +2 "storage"('. +2 "core" .(<- +3 "storage"(`& +3 "core" &<- < U [\  +2 "storage"(Q& +4 "core" &<- > 9 W\  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&y( +19 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &<- Q [ K\  +41 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +93 "core" ' +2 "storage"(e& +3 "core" &<- j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(H'r +296 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" &  +2 "storage"()& +4 "core" &<- S R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&S'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(|- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(&'u +28 "core" ' + "manipulator"&v% +4 "core" %Ε c +2 "storage"(& +4 "core" &<- H F =\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&(' +14 "core" ' + "manipulator"&$& +4 "core" & m  +2 "storage"(\\& +3 "core" &<- j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(3' +43 "core" ' +2 "manipulator"&& +4 "core" & C  +2 "manipulator"&<% +4 "core" %0 , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +160 "core" ( +2 "manipulator"&N& +4 "core" &Ӕ%  . >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &Ӕ% - >H +2 .tForearm.seek CC +2 "manipulator"&u'? +90 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'1( +450 "core" ( +2 "storage"(G& +4 "core" &<- j j \  +2 "storage"(& +3 "core" &<- g j x\  +2 "manipulator"&n& +4 "core" &Ӯ% :. +2 "manipulator"&>% +3 "core" % L ! +3 .tForearm.seek :retract + "manipulator"&;' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&=( +164 "core" ( + "manipulator"&d& +4 "core" &  +2 "storage"( & +3 "core" &<- j m \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&A'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&D1 +58 "core" 1 +2 "manipulator"&?% +4 "core" % Ο  W C +2 "storage"(& +4 "core" &<- ~ &\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 318 counts +2 "manipulator"&%' +14 "core" ' +2 "manipulator"&& +4 "core" & 7  +2 "storage"( & +4 "core" &<- \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&M'O +15 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(R' +99 (% +3 "core" %J N = T\ Wc +2 "manipulator"&i% +4 "core" %0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &\ \ \ +2 "manipulator"&j% +4 "core" %  =  +2 "storage"(7% +4 "core" % \  +2 "storage"(m. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(2(K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" &K i k \ \ +2 "manipulator"&^& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&q( +4 "core" ( +2 "manipulator"&X& +3 "core" & &  +2 "storage"(h& +4 "core" &K ~ -\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Y' +97 "core" ' + "storage"(/& +4 "core" &K } \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +295 "core" ' +2 "storage"(s- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K j ^ \ \ +2 "manipulator"&,& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&B( +2 "core" ( +2 "manipulator"&{& +4 "core" & =  +2 "storage"(& +4 "core" &K l k I\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +6 "storage"(f' +3 "core" &  m  +3 "manipulator"&% +4 "core" % | q +2 .tForearm.seek :retract +2 "manipulator"&W' +91 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&9& +4 "core" &Ә$ =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +4 "core" &Ә$ @ =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&c'? +89 "core" ' +2 "manipulator"&& +4 "core" &Ә% =E +2 "manipulator"&% +4 "core" %F l +2 "collection"'g& +4 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &\ \ \  +9 &3{\ \ \ *y +9 &d~\ \ \ = +9 &p\ \ \ L +10 &OU\ \ \ J +9 &U\ \ \ K +9 &V\ \ \ J +2 "Can"\ PM +8 "core" &U\ \ \ K +9 &WT\ \ \ J +10 &W\ \ \ K +9 &S\ \ \ K +9 & U\ \ \ J +10 &"^U\ \ \ K +9 &$ S\ \ \ K +9 &%V\ \ \ K +10 &'Y\ \ \ K +9 &)gU\ \ \ J +10 &+)U\ \ \ J +9 &,U\ \ \ K +9 &.T\ \ \ K +10 &0nU\ \ \ K +9 &20W\ \ \ K +9 &3U\ \ \ J +10 &5V\ \ \ K +9 &7vY\ \ \ K +10 &99U\ \ \ J +9 &:W\ \ \ K +9 &<Y\ \ \ K +10 &>|_\ \ \ L +9 &@@W\ \ \ K +9 &BZ\ \ \ K +10 &C^\ \ \ L +9 &Ek\ \ \ M +10 &G;x\ )\ $\ O +9 &H\ ?\ 8\ S +9 &J\ J\ J\ W +10 &Li\ G\ I\ X +9 &N,\ E\ F\ W +10 &O\ B\ A\ X +9 &Q\ ;\ >\ X +9 &Sn\ =\ ;\ X +9 &U.\ 8\ :\ Y +10 &V\ :\ 8\ Z +9 &X\ 7\ 9\ Z +10 &Zn\ 8\ 5\ [ +9 &\\y\ 8\ 7\ 3 +9 &\\)\ 7\ 5\ a +10 ( + &\\w\ 3\ 4\ Y +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&61 +58 "core" 1 +2 "manipulator"&% +4 "core" % \\ 0 V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%]& +3 "core" &\ +2 "manipulator"&w% +4 "core" %   ]  +2 "storage"(k% +3 "core" % H F \  +2 "storage"(l. +3 "core" .(K +2 "storage"(x& +3 "core" &K I I Q\ \ +2 "storage"(& +4 "core" &K F F 8\ \ +2 "manipulator"&:& +3 "core" & / +2 "manipulator"&a% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +49 "manipulator"&[( +152 "core" ( +2 "manipulator"&+& +4 "core" &   +2 "storage"(\ & +3 "core" &K 9 8 \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +100 "core" ' + "storage"(@& +4 "core" &K C ; \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" &K F F \ \ +2 "manipulator"&8& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&"( +2 "core" ( +2 "manipulator"&P& +4 "core" &   +2 "storage"(5& +4 "core" &K F H -\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&C'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&O& +2 "storage"(t' +7 "core" &  +2 "manipulator"&}% +4 "core" % f +2 .tForearm.seek :retract +2 "manipulator"&'' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&`& +3 "core" & - 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" & 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' +2 "manipulator"&& +4 "core" & ] 2 +2 "manipulator"&% +4 "core" % M | +2 "processing"% & +4 "core" &\ +2 "processing"%e& +5 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +8 &3y\ *x +10 &c~\ > +9 &ts\ N +9 &6U\ N +10 &T\ M +9 &R\ N +9 &~Y\ M +10 &@T\ M +9 &U\ M +9 &Y\ N +10 & W\ N +9 &"HT\ M +10 &$ Y\ N +9 &%U\ N +9 &'Y\ M +10 &)OX\ N +9 &+W\ M +9 &,W\ M +10 &.W\ N +9 &0XX\ M +10 &2Y\ M +9 &3T\ M +9 &5T\ M +10 &7aU\ M +9 &9!Z\ N +9 &:V\ M +10 &<W\ M +9 &>gW\ N +10 &@*Y\ M +9 &A]\ N +9 &Cg\ O +10 &Eik\ P +9 &G)r\ P +9 &H\ S +10 &J\ T +9 &Le\ T +10 &N'\ T +9 &O\ T +9 &Q\ U +10 &Sl\ T +9 &U,\ U +9 &V\ T +10 &X\ T +9 &Zq\ U +10 &\\3\ U +9 &]~x\ 9 +9 &^3\ I +10 &^\ , +2 ( +2 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&-1 +62 "core" 1 +2 "manipulator"&I% +3 "core" %  [ | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%p& +3 "core" &^\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&)% +4 "core" %    O  +2 "storage"(|% +4 "core" % + (\  +2 "storage"(v. +2 "core" .(K +2 "storage"(& +4 "core" &K # # \ \ +2 "storage"($& +3 "manipulator"&\\& +6 "core" &K $ $ \ \ + & \  2 +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&<( +6 "core" ( +2 "manipulator"&F& +3 "core" &  c 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +4 "core" &    2 +2 .tForearm.seek PC +2 "manipulator"&H' +94 "core" ' +2 .tHand.close + "manipulator"&S/ +55 "core" / +3 .tPC.seek :open + "processing"%(( +96 "core" ' +41 "storage"(&- +9 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(N'1 +53 "core" ' +247 ( +2 "storage"(~& +3 "core" &K ' &\ +3 "manipulator"&L& +3 "core" & 2 +2 "manipulator"&o% +4 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&!( +245 "core" ( + "manipulator"&V& +4 "core" &  H +2 "storage"(G& +4 "core" &K , *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + .tHand.open +2 "manipulator"&n1 +56 "core" 1 +2 "storage"(>- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(d' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(u- +2 "core" -' +2 "storage"(K& +4 "core" &K ? 6 \ +2 "manipulator"&D& +4 "core" &   ! H +2 .tElbow.seek 6 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&& +4 "core" &  H +2 "storage"(& +4 "core" &K E G \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&;& +4 "core" & O H +2 "storage"(& +5 "core" &K # * B\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&i'< +21 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +19 "core" ' + "manipulator"&% +4 "core" %F  +2 "storage"(j& +5 "core" &K " * @\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 310 counts + "manipulator"&%'r +16 "core" ' + "manipulator"&7& +4 "core" & < H +2 "storage"(m& +4 "core" &K @ 3 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&3' +16 "core" ' + "storage"(M% +4 "core" % I F '\ +3 ."downElevator"SE.seek :down +3 "storage"(R' +99 (U% +3 "core" %PR O \ Xg +2 "manipulator"&_% +4 "core" % 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (X& +3 "core" &K = 1 \ +3 "collection"'h& +4 "core" &\\v\ /\ /\ Y +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&/% +4 "core" %   +2 "storage"(*% +3 "core" % P R Q\  +2 "storage"(0. +3 "core" .(K +2 "storage"(s& +4 "core" &K F H \ +2 "storage"(& +3 "core" &K E P ,\ +2 "manipulator"&,& +4 "core" & H +2 .tElbow.seek 6 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&& +4 "core" &  H +2 "storage"(& +4 "core" &K S T \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +93 "core" ' +2 "storage"(& +3 "core" &K S L n\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +300 "core" ' +9 "storage"(Y- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&9& +3 "core" & H +2 "storage"(r& +4 "core" &K G G \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&T'< +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +29 "core" ' +2 "manipulator"&g% +3 "core" %4  +2 "storage"(B& +4 "core" &K , , X\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 292 counts +2 "manipulator"&f'` +15 "core" ' + "manipulator"&W& +4 "core" & O G +2 "storage"(1& +4 "core" &K G I =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&]& +3 "core" & G +2 "manipulator"&w% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +146 "core" ( +2 "manipulator"&x& +3 "core" &z+   e Cn +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &z+  \ F Cn +3 .tForearm.seek CC +2 "manipulator"&'? +105 "core" ' +2 .tHand.close + "manipulator"&:/ +64 "core" / +2 .tCC.seek :open +2 "collection"'a( +447 "core" ( +2 "storage"(c& +4 "core" &K j j \ +2 "storage"(+& +4 "core" &K k k \ +2 "manipulator"&\ & +3 "core" & - +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&@' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&b( +150 "core" ( +2 "manipulator"&4& +4 "core" & ;  +2 "storage"(Z& +4 "core" &K  w h\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&8'< +95 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&51 +58 "core" 1 +2 "manipulator"&J% +4 "core" % - , 2 +2 "storage"(O& +4 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 285 counts + "manipulator"&}'Y +14 "core" ' +2 "manipulator"&[& +4 "core" &  g  +2 "storage"(z& +4 "core" &K q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(C% +4 "core" % "\ +3 ."downElevator"SE.seek :down +4 "storage"(`' +99 (Q% +3 "core" %M 8 B o\ Wc +2 "manipulator"&"% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &\ \ \ + "manipulator"& % +4 "core" %   +2 "storage"(t% +4 "core" % \\\  +2 "storage"('. +2 "core" .(K +3 .tSC.reconfigure :tight +47 "storage"($\ .\ 1~b +4 .tSC.seek 4 +2 "storage"(#(,y +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +3 "core" &,y ^ h x\ +2 "manipulator"&I& +4 "core" & D  +2 .tElbow.seek 4 +2 "manipulator"&p( +4 "core" ( + "manipulator"&)& +4 "core" & 8  +2 "storage"(|& +4 "core" &,y  B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +94 "core" ' +2 "storage"(& +4 "core" &,y } \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'r +298 "core" ' +2 "storage"($- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +3 "core" &,l i k \ +2 "manipulator"&F& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&y( +3 "core" ( +2 "manipulator"& & +4 "core" & v  +2 "storage"(S& +4 "core" &,l  v A\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&&'c +31 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" &   +2 "manipulator"&% +4 "core" % V +2 .tForearm.seek :retract +2 "manipulator"&~' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&L(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&o& +4 "core" &Ӎ( @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &Ӎ'  @^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&V'? +90 "core" ' +2 "manipulator"&G& +4 "core" &ӎ( , @] +2 "manipulator"&<% +4 "core" %B  m +2 "collection"'n& +4 "core" &\ \ \ +3 "collection"'>& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'u(\\ +5 "core" &\ \ \ +6 &<\ \ \ $e +9 &Wv\ \ \ 6 +10 &y\ \ \ K +9 &S\ \ \ K +9 &Y\ \ \ K +10 &AT\ \ \ K +9 &U\ \ \ J +9 &V\ \ \ J +10 &U\ \ \ J +9 &IU\ \ \ K +9 & X\ \ \ K +10 &!W\ \ \ K +9 &#T\ \ \ K +10 &%RU\ \ \ J +9 &'U\ \ \ J +9 &(V\ \ \ K +10 &*W\ \ \ K +9 &,YY\ \ \ K +9 &.T\ \ \ K +10 &/T\ \ \ J +9 &1W\ \ \ K +10 &3aX\ \ \ K +9 &5#Y\ \ \ K +9 &6T\ \ \ K +10 &8U\ \ \ J +9 &:iV\ \ \ K +9 &<+Y\ \ \ K +10 &=Y\ \ \ K +9 &?W\ \ \ K +10 &ArW\ \ \ J +9 &C1]\ \ \ L +9 &Df\ \ \ L +10 &Fk\ \ \ M +9 &Hi\ *\ %\ P +9 &J\ @\ 6\ U +10 &K\ @\ B\ V +9 &M\ ?\ @\ W +10 &O^\ <\ ?\ W +9 &Q\ ;\ ;\ X +9 &R\ ;\ 9\ X +10 &T\ 7\ 8\ X +9 &V`\ 7\ 6\ Y +9 &X\ 9\ 6\ Z +10 &Y\ 5\ 5\ Z +9 &[\ 5\ 8\ H +10 &\\3\ 6\ 8\ 2 +9 &\\c\ 5\ 6\ J +2 ( +2 "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&K1 +59 "core" 1 +2 "manipulator"&D% +4 "core" % B  8 m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" % \    + "storage"(;% +4 "core" % S S k\  +2 "storage"(. +2 "core" .(,y +2 "storage"(& +4 "core" &,l S T Y\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(j(,y +14 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" &,} " # \ +2 "manipulator"&7& +4 "core" &ӫ#  <@ +2 "manipulator"&m% +4 "core" % \  d  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&d( +166 "core" ( + "manipulator"&M& +4 "core" & a  +2 "storage"(!& +50 "core" &,} j j \ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"( & +4 "core" &,} i j \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'r +294 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,l ' & >\  +2 "manipulator"&?& +4 "core" & =  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&i& +4 "core" & ;  +2 "storage"(%& +3 "core" &,l F H \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&X'c +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +3 "storage"(*' +7 "core" &  +2 "manipulator"&0% +3 "core" % } 1 +3 .tForearm.seek :retract +2 "manipulator"&A' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&& +4 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" & ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&& +4 "core" & $ +2 "manipulator"&3% +4 "core" % R Z +2 "processing"%& +4 "core" &\ +3 "processing"%R& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%=(^ +3 "core" &\  +9 &4z\ *x +9 &d~\ > +10 &~p\ N +9 &>V\ N +9 &R\ M +10 &W\ M +9 &T\ M +10 &GS\ N +9 & U\ N +9 &V\ N +10 & Y\ M +9 &"PX\ M +9 &$T\ M +10 &%T\ M +9 &'W\ N +10 &)XS\ M +9 &+T\ M +9 &,T\ N +10 &.U\ M +9 &0aU\ M +9 &2"U\ M +10 &3T\ M +9 &5T\ M +10 &7hT\ M +9 &9)U\ N +9 &:Y\ N +10 &<T\ M +10 &>pX\ M +8 &@1Z\ N +10 &A]\ N +9 &Cd\ O +10 &Erj\ O +9 &G1o\ P +9 &H\ R +10 &J\ T +9 &Lo\ S +10 &N-\ T +9 &O\ T +9 &Q\ U +10 &Ss\ T +9 &U4\ U +9 &V\ T +10 &X\ T +9 &Zz\ U +10 &\\<\ U +9 &]zu\ ; +9 &^$d\ T +10 &^&\ 3 +2 ( +2 "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&^1 +59 "core" 1 + "manipulator"&Y% +4 "core" %  $ Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +97 "core" ' +2 "processing"%r& +4 "core" &^"\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" % !   & +2 "storage"(g% +4 "core" % 1 C &\  + "storage"(B. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(W(,y +55 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (1& +2 "manipulator"&]& +4 "core" &,z\  S u\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(w'r +3 "manipulator"&E( +6 "core" ( + "manipulator"&{& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &   / +2 .tForearm.seek PC +2 "manipulator"&T' +94 "core" ' + .tHand.close +2 "manipulator"&f/ +54 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' +41 "storage"(x- +10 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +265 ( + "storage"(6& +4 "core" &,j ; F \ +2 "manipulator"&& +4 "core" &  +2 "manipulator"&:% +3 "core" %   O +2 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +238 "core" ( +2 "manipulator"&c& +4 "core" & 8 +2 "storage"(+& +3 "core" &,j Q T q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +91 "core" ' +2 .tHand.open + "manipulator"& 1 +64 "core" 1 +3 "storage"(4- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Z' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(l- +3 "core" -' +2 "storage"(5& +4 "core" &,j e e {\ +2 "manipulator"&J& +3 "core" &   # 8 +3 .tElbow.seek 4 + "manipulator"&O( +3 "core" ( +2 "manipulator"&[& +4 "core" &   * 8 +2 "storage"(z& +4 "core" &,j e e k\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(@'" +50 "core" ' + "manipulator"&Q& +4 "core" & 8 +2 "storage"("& +3 "core" &,j E F F\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&b'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&8, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 "manipulator"&}% +3 "core" %I  +2 "storage"( & +4 "core" &,j Q R\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&t'u +14 "core" ' +3 "manipulator"&'& +3 "core" & ' 8 +2 "storage"(& +4 "core" &,j < E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 "storage"(`% +4 "core" % C ;\ +3 ."downElevator"SE.seek :down +3 "storage"(2' +99 (-% +3 "core" %aJ & # '\ Wd +2 "manipulator"&I% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (|& +3 "core" &,j Q I [\ +2 "collection"'& +3 "core" &\\^\ /\ /\ J +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&P% +4 "core" %  ,  +2 "storage"(% +3 "core" % Z E E\  +2 "storage"($. +3 "core" .(,y +2 "storage"(\\& +4 "core" &,j f T o\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(F(,y +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &,{ Q k K\ +2 "manipulator"&S& +4 "core" & 8 +2 .tElbow.seek 4 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&& +3 "core" & \ 8 +2 "storage"(& +4 "core" &,{ Z K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +99 "core" ' +41 "storage"(v& +11 "core" &,{ j k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +295 "core" ' +2 "storage"(H- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" & 8 +2 "storage"(&& +4 "core" &,m - . R\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&G'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(n- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(y'e +29 "core" ' + "manipulator"&% +4 "core" %6 2 H +2 "storage"(~& +4 "core" &,m S I M\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 299 counts + "manipulator"&a'b +14 "core" ' + "manipulator"&K& +4 "core" & \\ 8 +2 "storage"(D& +3 "core" &,m I P \ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&;& +3 "core" & ) 8 +2 "manipulator"&% +4 "core" % F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +155 "core" ( +2 "manipulator"&N& +4 "core" &Ӧ   9# +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &Ӧ 5 9# +2 .tForearm.seek CC +2 "manipulator"&m'? +93 "core" ' + .tHand.close +2 "manipulator"&V/ +58 "core" / +2 .tCC.seek :open +2 "collection"'M( +446 "core" ( +2 "storage"(!& +4 "core" &,m | f \ \ +2 "storage"(#& +3 "core" &,m ^ g t\ \ +2 "manipulator"&L& +4 "core" &Ӧ   9# +2 "manipulator"& % +4 "core" % P $ S +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&_( +161 "core" ( +2 "manipulator"& & +4 "core" &    +2 "storage"(?& +3 "core" &,m `\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&i'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&h1 +57 "core" 1 +2 "manipulator"&/% +4 "core" % - B +2 "storage"(0& +3 "core" &,m :\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 290 counts + "manipulator"&d'Y +14 "core" ' + "manipulator"&& +4 "core" &  D  +2 "storage"(U& +4 "core" &,m { y .\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +17 "core" ' +2 "storage"(% +3 "core" % { B\  +4 ."downElevator"SE.seek :down +3 "storage"(,' +99 (% +3 "core" %3D j j \ Va +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" &\ \ \ +45 "manipulator"&*% +7 "core" %   +2 "storage"(A% +4 "core" %  (\  +2 "storage"((. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(^(<- +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" &<* Q J \  +2 "manipulator"&r& +4 "core" & F  +2 .tElbow.seek 5 +2 "manipulator"&( +14 "core" ( + "manipulator"&g& +4 "core" &   t +2 "storage"(B& +3 "core" &<) ~ "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +92 "core" ' +2 "storage"(1& +4 "core" &<) w d\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'r +295 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (q& +3 "core" &<) ` ] ~\  +2 "manipulator"&& +3 "core" & w t +2 .tElbow.seek 5 +2 "manipulator"&f( +4 "core" ( + "manipulator"&j& +4 "core" & P t +2 "storage"(x& +4 "core" &<) p w L\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&s'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(w' +7 "core" &  t +2 "manipulator"&6% +4 "core" % Ϲ E +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&:(ӂ +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&T& +4 "core" &ӛ  :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &ӛ!  :0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&+'? +100 "core" ' +2 "manipulator"&E& +4 "core" &ӛ! :0 +2 "manipulator"& % +4 "core" %? 9 " +3 "collection"'4& +3 "core" &\ \ \ +3 "collection"'l& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'5(\\ +4 "core" &\ \ \  +8 &4{\ \ \ *y +10 &g~\ \ \ > +9 &k\ \ \ L +9 &WU\ \ \ K +10 &Y\ \ \ K +9 &V\ \ \ K +10 &W\ \ \ K +9 &_S\ \ \ K +9 &!V\ \ \ K +10 &Y\ \ \ K +9 & S\ \ \ K +10 &"fT\ \ \ K +9 &$)V\ \ \ K +9 &%Z\ \ \ K +10 &'T\ \ \ K +9 &)oU\ \ \ K +9 &+1Y\ \ \ K +10 &,Y\ \ \ K +9 &.U\ \ \ J +9 &0wW\ \ \ K +10 &29T\ \ \ K +9 &3W\ \ \ K +10 &5Z\ \ \ K +9 &7V\ \ \ J +9 &9AW\ \ \ K +10 &;T\ \ \ K +9 &<U\ \ \ K +9 &>U\ \ \ K +10 &@HW\ \ \ K +9 &B\ Y\ \ \ K +10 &C[\ \ \ L +9 &Ef\ \ \ M +9 &GHr\ \ \ N +10 &I\ /\ '\ Q +9 &J\ C\ >\ V +9 &Lr\ D\ C\ X +10 &N5\ A\ A\ W +9 &O\ >\ >\ X +10 &Q\ ;\ ;\ X +9 &Sv\ ;\ ;\ Y +9 &U7\ 9\ 9\ Y +10 &V\ 9\ 9\ Z +9 &X\ 7\ 8\ [\ +9 &Zw\ 6\ 8\ [ +10 &\\y\ 7\ 6\ 1 +9 &\\/\ 6\ 8\ [ +9 ( +2 &\\`\ 5\ 5\ L +2 "collection"'l& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&J1 +55 "core" 1 +2 "manipulator"&[% +4 "core" % ?  6 " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%k& +4 "core" &\ +2 "manipulator"&Q% +4 "core" %    +2 "storage"("% +3 "core" % E F *\  +2 "storage"(}. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<* J C\  +2 "manipulator"&'& +4 "core" &ө  b 8" +2 "manipulator"&% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Z( +202 "core" ( +2 "manipulator"&`& +4 "core" & +2 "storage"(& +3 "core" &<) A 8 t\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +98 "core" ' +2 "storage"(& +4 "core" &<) j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +298 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (C& +3 "core" &<) G Q U\  +2 "manipulator"&O& +4 "core" & +2 .tElbow.seek 5 + "manipulator"&@( +3 "core" ( +2 "manipulator"&b& +4 "core" & +2 "storage"(t& +3 "core" &<) 8 < y\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&|'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& +2 "storage"(' +7 "core" & \ +2 "manipulator"&$% +5 "core" % ϸ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\\( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"& & +4 "core" & X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" & * X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" & ] X +2 "manipulator"&% +4 "core" % / Z +2 "processing"%v& +4 "core" &\ +3 "processing"%2& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%W(^ +4 "core" &\ +7 &8\ #b +9 &Ty\ 6 +9 &{\ K +10 &U\ M +9 &\\W\ M +9 &V\ M +10 &W\ N +9 &T\ M +10 &dX\ M +9 &&Y\ M +9 &T\ M +10 &!U\ M +9 &#kW\ N +10 &%.T\ M +9 &&Z\ N +9 &(W\ N +10 &*tY\ M +9 &,5Y\ N +9 &-V\ M +10 &/W\ M +9 &1|Y\ M +9 &3>Y\ M +10 &5Y\ M +9 &6Y\ N +10 &8X\ N +9 &:EW\ N +9 &<U\ N +10 &=X\ N +9 &?U\ N +9 &AMW\ N +10 &C d\ O +9 &De\ O +10 &Fn\ P +9 &HH\ R +9 &J\ S +10 &K\ T +9 &M\ T +9 &OJ\ T +10 &Q\ \ U +9 &R\ T +10 &T\ U +9 &VQ\ T +9 &X\ U +10 &Y\ U +9 &[\ U +9 &]V\ F +10 &^yA{\ #i +9 &^1\ - +6 ( +2 "processing"%2& +3 "core" &^\ - +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&81 +60 "core" 1 + "manipulator"&)% +4 "core" %    Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +92 "core" ' +2 "processing"%e& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&&% +4 "core" %   # $ +2 "storage"(n% +4 "core" % F E '\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(~(<- +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (K& +2 "manipulator"&D& +3 "core" &<+ X\  8\  +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &    X +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(;'r + "manipulator"&( +19 "core" ( +2 "manipulator"&p& +4 "core" &    \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &   D \ +2 .tForearm.seek PC +2 "manipulator"&o' +90 "core" ' + .tHand.close +2 "manipulator"&G/ +98 "core" / +4 .tPC.seek :open + "processing"%a( +42 "core" ' + "storage"(y- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'1 +47 "core" ' +353 ( +2 "storage"(7& +4 "core" &<) 9 7 W\  +2 "manipulator"&& +4 "core" & \ +2 "manipulator"&<% +3 "core" %  k +3 .tForearm.seek :retract + "manipulator"&V' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +239 "core" ( +2 "manipulator"&u& +3 "core" & %  +2 "storage"(!& +4 "core" &<) Q H 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&#'O +99 "core" ' + .tHand.open +2 "manipulator"&L1 +56 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(?' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(m- +2 "core" -' +3 "storage"(>& +4 "core" &<) / ( 1\  + "manipulator"&h& +4 "core" &    +3 .tElbow.seek 5 + "manipulator"&/( +21 "core" ( +2 "manipulator"&0& +3 "core" &   +2 "storage"(& +4 "core" &<) + * 5\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&& +4 "core" & @  +2 "storage"(& +4 "core" &<) G F G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +30 "core" ' +2 "manipulator"&% +3 "core" %Ν +2 "storage"(d& +5 "core" &<) I I %\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 316 counts + "manipulator"&*' +14 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(A& +4 "core" &<) P H K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +15 "core" ' +2 "storage"(X% +4 "core" % ; D \ +3 ."downElevator"SE.seek :down +3 "storage"(,' +99 (F% +4 "core" %[Q $ ' \ Xg +2 "manipulator"&Y% +4 "core" %9 y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +94 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 (g& +3 "core" &<) P F j\  +2 "collection"'B& +4 "core" &\\`\ -\ 1\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&1% +4 "core" %  e ! +2 "storage"(%% +3 "core" % 8 ; p\  +2 "storage"(3. +3 "core" .(<- +2 "storage"({& +4 "core" &<) : > \  +2 "storage"(q& +4 "core" &<) E C 9\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&x& +3 "core" &  +2 "storage"(9& +4 "core" &<) 9 = i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&='O +94 "core" ' + "storage"(6& +4 "core" &<) j j \  +42 .tSE.reconfigure :pick +9 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" & J  +3 "storage"(c& +3 "core" &<) 7 8 l\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&]'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(E- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"( 'u +29 "core" ' +2 "manipulator"&f% +3 "core" %Ν " +2 "storage"(4& +4 "core" &<) F F I\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&w' +14 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(M& +4 "core" &<) 9 > \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"([' +36 "core" ' + "manipulator"&k& +4 "core" & O  +2 "manipulator"&Q% +4 "core" %9  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +152 "core" ( +2 "manipulator"&l& +3 "core" &Ӌ) \\ Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӌ)  Ad +2 .tForearm.seek CC +2 "manipulator"&''? +93 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / +2 .tCC.seek :open + "collection"'+( +447 "core" ( +2 "storage"(`& +4 "core" &<) j j \  +2 "storage"(& +4 "core" &<) j j \  +2 "manipulator"&^& +3 "core" &ӭ$  =B +2 "manipulator"&:% +4 "core" % E  3 +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&z( +155 "core" ( +2 "manipulator"&I& +3 "core" & +2 "storage"(C& +4 "core" &<) ] \\ %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&O'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +57 "core" 1 +2 "manipulator"&% +3 "core" % ΄  +2 "storage"(P& +4 "core" &<) j _ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 291 counts + "manipulator"&$'ϰ +13 "core" ' +3 "manipulator"&Z& +3 "core" &  @ +2 "storage"(\ & +4 "core" &<) ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +29 "core" ' +2 "storage"(|% +4 "core" % k\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (S% +3 "core" %G ; < \ V` +2 "manipulator"&@% +3 "core" %P  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &\ \ \ +2 "manipulator"&v% +46 "core" %   +6 "storage"(% +3 "core" % ~ :\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &K C W \  +2 "manipulator"&)& +4 "core" & & +2 .tElbow.seek 6 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&&& +4 "core" & 8 +2 "storage"(n& +3 "core" &K ~ -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(2& +3 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +296 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (p& +3 "core" &K Z g \  +2 "manipulator"&.& +3 "core" & , +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&G& +4 "core" &   +2 "storage"( & +3 "core" &K j j \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&y'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"(W' +8 "core" & N +2 "manipulator"&;% +3 "core" % s +2 .tForearm.seek :retract +2 "manipulator"&7' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&<& +3 "core" &Ӑ% 6 >L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +4 "core" &Ӑ%  >L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'? +93 "core" ' +2 "manipulator"&!& +3 "core" &Ӑ% 1 >L +2 "manipulator"&% +4 "core" %5 D +2 "collection"'L& +4 "core" &\ \ \ +3 "collection"' & +4 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'m(\\ +4 "core" &\ \ \ \  +9 &4y\ \ \ *y +9 &f\ \ \ > +10 &m\ \  \ L +9 &VS\ \  \ K +9 &T\ \ \ K +10 &V\ \ \ K +9 &W\ \ \ K +10 &^R\ \ \ K +9 &U\ \  \ K +9 &U\ \ \ K +10 & W\ \ \ J +9 &"fU\ \ \ K +9 &$(T\ \ \ K +10 &%V\ \ \ J +9 &'U\ \ \ K +10 &)nW\ \ \ K +9 &+0W\ \ \ K +9 &,T\ \ \ K +10 &.U\ \ \ K +9 &0vY\ \ \ K +9 &28Y\ \ \ K +10 &3T\ \ \ K +9 &5U\ \ \ J +10 &7~U\ \ \ K +9 &9@Y\ \  \ K +9 &;V\ \  \ J +10 &<Y\ \ \ K +9 &>\\\ \ \ L +9 &@HY\ \ \ K +10 &B]\ \ \ L +9 &Cb\ \ \ L +10 &Em\ \ \ M +9 &GDz\ )\ !\ O +9 &H\ @\ 7\ S +10 &J\ H\ I\ V +9 &Lo\ G\ G\ X +9 &N1\ C\ C\ X +10 &O\ A\ B\ X +9 &Q\ >\ >\ X +10 &Ss\ :\ <\ Z +9 &U4\ :\ :\ Z +9 &V\ 8\ 8\ Z +10 &X\ 6\ 9\ [\ +9 &Zv\ 7\ 8\ [ +9 &\\w\ 7\ 8\ 3 +10 &\\(\ 6\ 4\ U +9 ( +3 "collection"' & +2 "core" &\\e\ 3\ 3\ \ O +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&>1 +61 "core" 1 +2 "manipulator"&h% +4 "core" % < = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&V% +4 "core" %  -  +2 "storage"(% +4 "core" % S S s\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(N(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K\ !\ & 9\  +3 "manipulator"&d& +3 "core" & + +2 "manipulator"& % +4 "core" %  +  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +147 "core" ( +3 "manipulator"&A& +3 "core" & '  +2 "storage"(X& +4 "core" &K 7 8 H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(#& +4 "core" &K j j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(?'r +298 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +3 "core" &K T J $\  +2 "manipulator"&U& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&/( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &K E E R\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&*'h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(1' +8 "core" &   +2 "manipulator"&%% +3 "core" % σ  +3 .tForearm.seek :retract + "manipulator"&3' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&i( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&{& +5 "core" & E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" & ! E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&x& +4 "core" & B E +2 "manipulator"&9% +4 "core" % " [ +2 "processing"%(& +4 "core" &\ +3 "processing"%6& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%,(^ +3 "core" &\  +9 &2u\ )v +10 &c{\ = +9 &us\ N +10 &7T\ M +9 &S\ N +9 &V\ M +10 &~U\ M +9 &>W\ N +9 &W\ N +10 &Y\ M +9 & Z\ N +9 &"GW\ M +10 &$ T\ M +9 &%T\ M +10 &'W\ N +9 &)OS\ M +9 &+Y\ N +10 &,W\ N +9 &.V\ N +9 &0VW\ N +10 &2T\ M +9 &3T\ M +9 &5T\ M +10 &7`U\ M +9 &9 [\ N +10 &:X\ N +9 &<T\ M +9 &>gX\ M +10 &@)X\ M +9 &A\\\ N +10 &Cg\ O +9 &Egh\ P +9 &G'p\ Q +10 &H\ R +9 &J\ S +9 &Le\ S +10 &N%\ T +9 &O\ T +10 &Q\ U +9 &Si\ U +9 &U*\ U +10 &V\ U +9 &X\ T +9 &Zn\ V +10 &\\1\ U +9 &]}x\ : +9 &^0\ K +10 &^\ - +2 ( +2 "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&_1 +55 "core" 1 +2 "manipulator"&r% +3 "core" %   B [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +97 "core" ' +2 "processing"%T& +3 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&c% +3 "core" %    ,  +2 "storage"(E% +4 "core" % H F \  +2 "storage"(f. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(4(K +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "manipulator"&M& +4 "core" &K\ O Z\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  E +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(k'r +2 "manipulator"&Q( +4 "core" ( +2 "manipulator"&=& +4 "core" &   E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &   1 E +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&]/ +55 "core" / +42 .tPC.seek :open +9 "processing"%w( +45 "core" ' +2 "storage"( - +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'1 +47 "core" ' +351 ( + "storage"(& +4 "core" &K > M 6\  +2 "manipulator"&J& +4 "core" & E +2 "manipulator"&s% +4 "core" %  U C +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&"( +249 "core" ( + "manipulator"&5& +4 "core" &\  1 i +2 "storage"(`& +4 "core" &K T S j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +99 "core" ' + .tHand.open +2 "manipulator"&^1 +59 "core" 1 +3 "storage"(:- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(I' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(C' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"('- +3 "core" -' +2 "storage"(}& +3 "core" &K E C\  +2 "manipulator"&t& +4 "core" &  i +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&P& +4 "core" &\  i +2 "storage"(Z& +3 "core" &K L N \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&\ ' +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(|'" +59 "core" ' + "manipulator"&& +4 "core" &\  ] i +2 "storage"(S& +4 "core" &K E F C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&@'< +24 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +28 "core" ' +2 "manipulator"&$% +3 "core" %E O +2 "storage"(& +4 "core" &K H F "\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 309 counts + "manipulator"&v'q +16 "core" ' + "manipulator"&[& +4 "core" &  * h +2 "storage"(& +4 "core" &K S S S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(-% +4 "core" % R S \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (~% +4 "core" %'M\ )\ " L\ Wf +2 "manipulator"&8% +4 "core" % N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (&& +3 "core" &K 7 + B\  +2 "collection"'n& +4 "core" &\\e\ -\ /\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&2% +4 "core" %    +2 "storage"(b% +4 "core" % S S X\  +2 "storage"(. +2 "core" .(K +2 "storage"(D& +4 "core" &K S S\  +2 "storage"(p& +4 "core" &K S S \\\  +2 "manipulator"&.& +3 "core" &  ( h +2 .tElbow.seek 6 +2 "manipulator"&G( +4 "core" ( + "manipulator"& & +4 "core" &  b h +2 "storage"(\\& +4 "core" &K S S S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +95 "core" ' +2 "storage"(;& +4 "core" &K = M 2\  +2 .tSE.reconfigure :pick +48 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(e'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +4 "core" &   h +2 "storage"(o& +3 "core" &K 4 I |\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&K'< +13 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('r +32 "core" ' + "manipulator"&L% +4 "core" %K L +2 "storage"(& +4 "core" &K ! ' G\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&W'w +13 "core" ' +2 "manipulator"&7& +4 "core" &   h + "storage"(+& +4 "core" &K F E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(h' +36 "core" ' +2 "manipulator"&& +4 "core" &  W h +2 "manipulator"&V% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +162 "core" ( + "manipulator"& & +4 "core" &ӊ!  9 :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӊ!   :* +3 .tForearm.seek CC +2 "manipulator"&d'? +97 "core" ' + .tHand.close +2 "manipulator"& / +64 "core" / +2 .tCC.seek :open +2 "collection"'u( +447 "core" ( + "storage"(A& +4 "core" &K _ \\ C\  +2 "storage"(X& +3 "core" &K l ` c\  +2 "manipulator"&#& +4 "core" & - +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&0( +152 "core" ( +2 "manipulator"&F& +4 "core" & ^  +2 "storage"(Y& +4 "core" &K ~ 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&U'< +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&g% +4 "core" % >  ? +2 "storage"(B& +3 "core" &K ~\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts +2 "manipulator"&%'j +14 "core" ' +3 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &K N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?' +15 "core" ' +2 "storage"(*% +4 "core" % ~ *\ +3 ."downElevator"SE.seek :down +3 "storage"({' +99 (q% +3 "core" %K < = :\ Va +2 "manipulator"&/% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'9& +3 "core" &\ \ \ +2 "manipulator"&(% +4 "core" %    +2 "storage"(1% +49 "core" % y\  +2 "storage"(3. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(a(,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" &,| j h I\ +2 "manipulator"&r& +4 "core" & (  +2 .tElbow.seek 4 +2 "manipulator"&T( +4 "core" ( + "manipulator"&c& +4 "core" & O  +2 "storage"(E& +4 "core" &,| ~ &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +96 "core" ' +2 "storage"(6& +3 "core" &,| { ~\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' +2 "storage"(M- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +2 "core" &,l ] ^ \ +3 "manipulator"&j& +3 "core" & T  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&]& +4 "core" &  z  +2 "storage"(N& +4 "core" &,l ` g w\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'c +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&i/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +6 "storage"(,' +5 "core" &  +2 "manipulator"&k% +4 "core" % u  F +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&J(ӂ +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&s& +4 "core" &Ә" s ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ә" ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&5'? +102 "core" ' +2 "manipulator"&`& +4 "core" &Ә" ;7 +2 "manipulator"&Q% +4 "core" %B   +2 "collection"'^& +4 "core" &\ \ \ +3 "collection"':& +5 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"''(\\ +3 "core" &\ \ %\ +7 &<\ \  \ $e +9 &Yy\ \  \ 7 +10 &w\ \ \ J +9 &T\ \ \ J +9 &U\ \  \ J +10 &CU\ \  \ K +9 &Y\ \ \ K +10 &T\ \  \ K +9 &T\ \ \ K +9 &LU\ \ \ J +10 & U\ \ \ J +9 &!T\ \ \ J +9 &#U\ \ \ J +10 &%TU\ \ \ J +9 &'U\ \  \ K +10 &(X\ \ \ K +9 &*S\ \ \ K +9 &,[T\ \ \ K +10 &.S\ \ \ K +9 &/U\ \ \ J +9 &1W\ \ \ J +10 &3cV\ \  \ K +9 &5%Y\ \  \ K +10 &6T\ \  \ K +9 &8U\ \  \ J +9 &:kV\ \  \ K +10 &<-Y\ \  \ K +9 &=Y\ \ \ \ K +9 &?W\ \  \ K +10 &AsW\ \  \ K +9 &C3[\ \  \ L +10 &Db\ \  \ L +9 &Fj\ \  \ N +9 &Hl\ )\ # \ P +10 &J!\ >\ 8 \ U +9 &K\ A\ A\ \ W +10 &M\ @\ A\ W +9 &O\\\ >\ >\ X +9 &Q\ :\ ;\ X +10 &R\ :\ 9\ X +9 &T\ :\ 9 \ Y +9 &V_\ 9\ 8 \ Z +10 &X"\ 6\ 6\ Z +9 &Y\ 6\ 6\ [ +9 &[\ 6\ 9\ H +10 &\\6\ 7\ 6\ / +9 &\\o\ 5\ 5\ N +3 ( +2 "collection"':& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&}1 +56 "core" 1 +3 "manipulator"&t% +3 "core" % B   N  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +101 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%Z& +4 "core" &\ +2 "manipulator"&% +4 "core" %  : +2 "storage"(% +4 "core" % F F \  +2 "storage"(S. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(l(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +4 "core" &,} G I R\ + "manipulator"&& +4 "core" &ӧ   @ 9( +2 "manipulator"&I% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&[( +162 "core" ( +2 "manipulator"&& +50 "core" &  +3 "storage"(-& +4 "core" &,} Z f \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&"' +93 "core" ' +2 "storage"(& +3 "core" &,} k j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'r +295 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +3 "core" &,l - ( R\ +2 "manipulator"&\ & +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&|& +4 "core" &  1  +2 "storage"(@& +3 "core" &,l ) > #\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&v'c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&n& +4 "storage"(2' +6 "core" &  +2 "manipulator"&b% +3 "core" % q +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&D& +3 "core" & $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" & < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&.' +101 "core" ' +2 "manipulator"& & +3 "core" &  +2 "manipulator"&\\% +4 "core" % +2 "processing"%& +4 "core" &\ +3 "processing"%;& +4 "core" &\ +3 .tPC.seek :closed + "processing"% (^ +5 "core" &\  +8 &1v\ *x +10 &a~\ = +9 &os\ N +10 &2U\ M +9 &X\ N +9 &U\ M +10 &wT\ N +9 &9V\ N +9 &U\ N +10 &T\ M +9 & Y\ N +10 &"AV\ N +9 &$W\ N +9 &%R\ M +10 &'Y\ N +9 &)IV\ N +10 &+ W\ N +9 &,Y\ M +9 &.W\ M +10 &0QX\ N +9 &2U\ M +9 &3T\ M +10 &5S\ M +9 &7[U\ M +9 &9Z\ N +10 &:U\ M +9 &<V\ M +10 &>bY\ M +9 &@$W\ M +9 &A^\ N +10 &Cb\ O +9 &Edj\ O +10 &G"n\ Q +9 &H\ R +9 &J\ S +10 &L`\ S +9 &N \ T +9 &O\ T +10 &Q\ T +9 &Se\ T +9 &U'\ T +10 &V\ U +9 &X\ T +10 &Zl\ U +9 &\\.\ U +9 &]|u\ < +10 &^'g\ T +9 &^-\ 4 +2 ( +2 "processing"%;& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&z1 +58 "core" 1 +2 "manipulator"&)% +4 "core" %     +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + "processing"%<& +4 "core" &^+\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&o% +4 "core" %    =  +2 "storage"(!% +4 "core" % % $ \  + "storage"(L. +3 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "manipulator"&+& +6 "core" &,| / P \ + &   ! +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(V'r +2 "core" ( +3 "manipulator"&H& +3 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&e' +90 "core" ' +2 .tHand.close + "manipulator"&K/ +63 "core" / +2 .tPC.seek :open +41 "processing"%W( +56 "core" ' +2 "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +54 "core" ' +343 ( +2 "storage"(& +3 "core" &,i ( 3 :\  +2 "manipulator"&>& +4 "core" & +2 "manipulator"&y% +4 "core" %  J +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +246 "core" ( + "manipulator"&m& +4 "core" &   h d +2 "storage"(A& +3 "core" &,i $ -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +92 "core" ' +2 .tHand.open + "manipulator" +58 "core" 1 +3 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Y' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(d- +3 "core" -' +2 "storage"(& +4 "core" &,i d d ]\  +2 "manipulator"&& +4 "core" &  & d +2 .tElbow.seek 4 +2 "manipulator"&g( +2 "core" ( +2 "manipulator"&B& +4 "core" &   d +2 "storage"(& +4 "core" &,i e e ;\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(*'" +52 "core" ' + "manipulator"&& +4 "core" &  d +2 "storage"(q& +4 "core" &,i ) - ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&/'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(U' +28 "core" ' + "manipulator"&9% +4 "core" %I +2 "storage"((& +5 "core" &,i $ < f\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 318 counts +2 "manipulator"&%'u +13 "core" ' +2 "manipulator"&1& +4 "core" &  5 d +2 "storage"(h& +3 "core" &,i F G \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +15 "core" ' +2 "storage"(?% +3 "core" % E H (\ +3 ."downElevator"SE.seek :down +4 "storage"({' +98 (4% +3 "core" %_P\ \ ( V\ Xf +2 "manipulator"&_% +4 "core" % \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (c& +3 "core" &,i  <\  +2 "collection"'E& +4 "core" &\\p\ -\ . \ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&6% +4 "core" %   +2 "storage"(% +4 "core" % H P \  +2 "storage"(x. +2 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(M(,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +3 "core" &,} \ +2 "manipulator"&j& +4 "core" &   c +2 .tElbow.seek 4 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&N& +4 "core" &   c +2 "storage"(i& +4 "core" &,} S S Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +135 "core" ' +9 "storage"(k& +4 "core" &,} S S O\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +296 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &  c +2 "storage"(& +4 "core" &,l - - \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(`- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(Q'f +34 "core" ' + "manipulator"&% +4 "core" %: O +2 "storage"(^& +4 "core" &,l 3 S \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&,'f +14 "core" ' + "manipulator"&& +4 "core" &   c +2 "storage"(u& +3 "core" &,l H H \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&}' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(t' +36 "core" ' +2 "manipulator"&Z& +3 "core" &  c +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +156 "core" ( + "manipulator"&:& +4 "core" &ӝ  9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &ӝ  9' +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&I/ +63 "core" / +2 .tCC.seek :open +2 "collection"'5( +446 "core" ( +2 "storage"(& +4 "core" &,l \\ [ E\  +2 "storage"(-& +4 "core" &,l _ i g\  +2 "manipulator"&a& +4 "core" &ӝ  M 9' +2 "manipulator"&J% +4 "core" % K A : +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&P( +165 "core" ( + "manipulator"&~& +4 "core" &   +2 "storage"(8& +3 "core" &,l ~ ,\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&\ '7 +96 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +63 "core" 1 +2 "manipulator"&&% +4 "core" % ' P . +2 "storage"(n& +4 "core" &,l s\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 284 counts + "manipulator"&b'S +16 "core" ' +2 "manipulator"&[& +4 "core" &    +2 "storage"("& +4 "core" &,l 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +15 "core" ' +2 "storage"(v% +4 "core" % | h\ +3 ."downElevator"SE.seek :down +4 "storage"(D' +99 (p% +3 "core" %G N Y \ V` +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'\\& +3 "core" &\ \ \ +48 "manipulator"&% +4 "core" %  W  +2 "storage"(2% +4 "core" % ~ \  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(w(<- +350 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +3 "core" &<+ E F \  +2 "manipulator"&)& +4 "core" & '  +2 .tElbow.seek 5 +2 "manipulator"&<( +4 "core" ( + "manipulator"&o& +4 "core" & l  +2 "storage"(!& +4 "core" &<* ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&L'O +93 "core" ' + "storage"(;& +4 "core" &<*  ^\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +297 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &<* h ` \  +2 "manipulator"&G& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&K& +4 "core" & ,  +2 "storage"(l& +3 "core" &<* j k d\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"( ' +5 "core" & D  +2 "manipulator"&V% +4 "core" % ϰ 6 +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&y& +5 "core" &ӛ! :+ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +2 "core" &ӛ  :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'? +90 "core" ' + "manipulator"&A& +4 "core" &ӛ  G :+ +2 "manipulator"&% +4 "core" %B ) m +2 "collection"'#& +4 "core" &\ \  \ +3 "collection"'& +5 "core" &\ \ !\ +2 .tCC.seek :closed +2 "collection"'d(\\ +5 "core" &\ \ \ +6 &;\ \ &\ $f +10 &Z{\ \ \ 7 +9 &w\ \ !\ K +9 &S\ \ \ J +10 &U\ \ \ K +9 &IX\ \ \ K +9 & S\ \ \ K +10 &S\ \ \ K +9 &R\ \ \ K +9 &RT\ \ \ J +10 & U\ \ \ J +9 &!U\ \ \ J +10 &#U\ \ \ K +9 &%YW\ \ \ K +9 &'X\ \ \ K +10 &(S\ \ \ K +9 &*R\ \ \ K +10 &,aT\ \ \ K +9 &.$U\ \ \ J +9 &/U\ \ \ J +10 &1U\ \ \ K +9 &3iX\ \ \ K +9 &5+T\ \ \ K +10 &6U\ \ \ J +9 &8U\ \ \ K +10 &:qX\ \ \ K +9 &<3T\ \ \ K +9 &=T\ \ \ K +10 &?W\ \ \ K +9 &AyX\ \ \ K +9 &C:[\ \ \ K +10 &Dc\ \ \ L +9 &Fl\ \ \ N +10 &Hr\ (\ $\ P +9 &J'\ >\ 6 \ U +9 &K\ D\ C\ W +10 &M\ @\ A \ W +9 &Oe\ >\ ?\ W +9 &Q%\ <\ ; \ X +10 &R\ :\ ;\ X +9 &T\ 8\ 9 \ Y +10 &Ve\ 8\ 8\ Z +9 &X&\ :\ 9\ Z +9 &Y\ 7\ 6\ \ \\ +10 &[\ 8\ 6\ H +9 &\\0\ 6\ 7 \ 2 +9 &\\q\ 5\ 5\ M +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % B  M m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"& % +4 "core" %  ~  +2 "storage"(% +4 "core" % H F -\  + "storage"(q. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(9(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ((& +3 "core" &<+ L 0\  +2 "manipulator"& & +4 "core" &ӥ 8! +2 "manipulator"&1% +4 "core" %  \ S  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +48 "manipulator"&h( +162 "core" ( + "manipulator"&F& +4 "core" &  +2 "storage"(?& +4 "core" &<) j i P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +89 "core" ' +2 "storage"(X& +3 "core" &<) j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Y'r +297 "core" ' +2 "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +3 "core" &<) B E \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&g( +3 "core" ( +2 "manipulator"&*& +4 "core" &  +2 "storage"(/& +3 "core" &<) j e n\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&c'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& +2 "storage"(6' +7 "core" &  +2 "manipulator"&% +4 "core" % ϰ +2 .tForearm.seek :retract +2 "manipulator"&x' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&U( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&=& +4 "core" & \ N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" & N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&N' +93 "core" ' + "manipulator"&i& +4 "core" & N +2 "manipulator"&3% +4 "core" % O +2 "processing"%k& +4 "core" &\ +3 "processing"%{& +4 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +8 &2v\ )v +9 &b~\ = +10 &pt\ N +9 &1W\ N +9 &T\ M +10 &W\ M +9 &wX\ N +10 &9V\ N +9 &W\ N +9 &W\ M +10 & T\ M +9 &"BU\ M +10 &$T\ M +9 &%T\ M +9 &'Y\ M +10 &)JT\ M +9 &+ Y\ M +9 &,Z\ M +10 &.V\ N +9 &0QW\ N +10 &2W\ N +9 &3W\ M +9 &5T\ M +10 &7ZU\ M +9 &9\\\ N +9 &:Y\ N +10 &<Z\ M +9 &>a\\\ N +10 &@#Z\ N +9 &A\\\ N +9 &Ch\ O +10 &Edj\ O +9 &G!s\ Q +9 &H\ S +10 &J\ T +9 &L`\ S +10 &N \ T +9 &O\ T +9 &Q\ T +10 &Se\ T +9 &U$\ U +9 &V\ U +10 &X\ U +9 &Zk\ U +9 &\\.\ U +10 &]{v\ = +9 &^&]\ V +10 &^&\ 1 +2 ( +2 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&01 +53 "core" 1 + "manipulator"&r% +4 "core" %    O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 "processing"%s& +4 "core" &^&\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %      +2 "storage"(`% +4 "core" % # #\  +2 "storage"(. +3 "core" .(<- +2 "storage"(^& +4 "core" &<) # #\  +2 "storage"(& +2 "manipulator"&u& +8 "core" &<) $ ( )\  + &   9 N +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +5 .tElbow.seek PC +2 "manipulator"&Z( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" ( +3 "manipulator"&R& +4 "core" &    N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &  T N +3 .tForearm.seek PC +2 "manipulator"&T' +3 "core" ' n! g N\ 9b +4 !"raiseStack"o:Slide::Error\ :@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positionin: velocityi: currenti!:pwmig:erri: inPressig : outPressi :deltaPressiN : voltagef13.011324496809033}: @type2F: @tagi: mesg"6Storage Elevator overCurrent at down + 207 counts:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/utils/puckmoves.rb:600:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:577:in `raiseStack'"6/home/esp/esp2/utils/puckmoves.rb:438:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:437:in `unload'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Retry #1 of 4 +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +3 ."raiseStack"SE.home.seek :down +2 "storage"(' +59 "core" ' +9 "storage"(,& +4 "core" &<) % # (\  +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" ' +3 .tHand.close +2 "manipulator"&Q/ +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(:'r +55 "core" / +3 .tPC.seek :open + "processing"%$( +219 "core" ' +2 "storage"(}- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"( '1 +41 "core" ' +184 ( +2 "storage"(I& +4 "core" &<) S S _\  +2 "manipulator"&& +4 "core" & N +2 "manipulator"&'% +3 "core" %  5 = +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&-( +252 "core" ( + "manipulator"&a& +4 "core" &  1 ` +2 "storage"(J& +4 "core" &<) F H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +92 "core" ' +2 .tHand.open + "manipulator"&81 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(S' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(@' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(n& +4 "core" &<) \  +2 "manipulator"&[& +4 "core" &    _ +2 .tElbow.seek 5 +2 "manipulator"&"( +2 "core" ( +2 "manipulator"&v& +4 "core" &   _ +2 "storage"(& +4 "core" &<)   \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&P& +3 "core" & _ +3 "storage"(\ & +3 "core" &<) H I 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&\\'΍ +21 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(t' +29 "core" ' + "manipulator"&% +4 "core" %Θ +2 "storage"(2& +6 "core" &<) H I /\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&C& +3 "core" & ( F +2 "storage"(D& +4 "core" &<) S S V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +16 "core" ' +2 "storage"(z% +3 "core" % P E $\ +3 ."downElevator"SE.seek :down +3 "storage"()' +99 (o% +3 "core" %pR\ \ ( :\ Xf +2 "manipulator"&!% +4 "core" %9 N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +3 "core" &<) = G\  +2 "collection"' & +4 "core" &\\b\ /\ 0\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&+% +3 "core" %   +2 "storage"(H% +4 "core" % = < \  +2 "storage"(G. +3 "core" .(<- +2 "storage"(K& +4 "core" &<) ; 8 \  +2 "storage"(l& +4 "core" &<) D B \  + "manipulator"&O& +4 "core" & F +2 .tElbow.seek 5 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&V& +43 "core" &  +9 "storage"(<& +4 "core" &<) Y e 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +97 "core" ' +3 "storage"(y& +4 "core" &<) i j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +300 "core" ' +2 "storage"(7- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(A& +4 "core" &<) > C \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(.- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"( 's +31 "core" ' + "manipulator"&% +4 "core" %Ο  +2 "storage"(5& +4 "core" &<) H H \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &<) 9 < \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&q& +3 "core" &  +2 "manipulator"&% +4 "core" %> +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +167 "core" ( + "manipulator"&1& +4 "core" &ӎ Z 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &ӎ  Y 8 +2 .tForearm.seek CC +2 "manipulator"&F'? +101 "core" ' + .tHand.close +2 "manipulator"&?/ +55 "core" / +2 .tCC.seek :open +2 "collection"'w( +446 "core" ( +2 "storage"(>& +4 "core" &<) j Q }\  +2 "storage"(X& +3 "core" &<) ] N M\  +2 "manipulator"&B& +4 "core" &Ӧ 9 5 +2 "manipulator"&4% +4 "core" % % +2 .tForearm.seek :retract +2 "manipulator"&_' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&*& +4 "core" &  +2 "storage"(/& +3 "core" &<) j j Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&%'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&h% +4 "core" % ΁ F  +2 "storage"(& +3 "core" &<) j ` \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 288 counts + "manipulator"&Y'ϭ +15 "core" ' +3 "manipulator"&c& +3 "core" &  +2 "storage"(=& +5 "core" &<)  1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +27 "core" ' + "storage"(g% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(i' +99 (3% +3 "core" %J < M \ Va +2 "manipulator"&k% +3 "core" %g  < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&6' +87 "core" ' +8 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'x& +3 "core" &\ \  \ +2 "manipulator"&W% +4 "core" %  a  +2 "storage"(0% +4 "core" %  5\  +2 "storage"(r. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(s(K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K P Y \ \ +2 "manipulator"&`& +4 "core" & %  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&^& +4 "core" & ?  + "storage"(u& +4 "core" &K } #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"({& +4 "core" &K  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(R'r +292 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K _ ^ g\ +2 "manipulator"&,& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&N( +4 "core" ( + "manipulator"&Q& +4 "core" &  \\  +2 "storage"(U& +4 "core" &K g \\\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&f'h +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" &  +2 "manipulator"&I% +4 "core" % h ^ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +153 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&:& + "storage"(5 +8 "core" &z+ Ct + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &z+ Ct +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&a'? +103 "core" ' + "manipulator"&J& +4 "core" &Ӟ& ?P +2 "manipulator"&Z% +4 "core" %< d +2 "collection"'8& +4 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ #\ +2 .tCC.seek :closed +3 "collection"'&(\\ +5 "core" &\ \ \ \ +7 &;\ \ \ \ $e +9 &Wu\ \ \ 6 +9 &x\ \ \ K +10 &S\ \ \ K +9 &}Y\ \ \ K +9 &@U\ \ \ J +10 &U\ \ \ J +9 &U\ \ !\ J +10 &U\ \ \ K +9 &GX\ \  \ K +9 & S\ \  \ K +10 &!S\ \  \ K +9 &#U\ \  \ J +10 &%OT\ \ \ K +9 &'W\ \ \ K +9 &(U\ \ \ J +10 &*U\ \ \ J +9 &,WU\ \ \ K +9 &.X\ \ \ K +10 &/T\ \ \ K +9 &1U\ \ \ J +10 &3_U\ \ \ K +9 &5!S\ \  \ K +9 &6U\ \ \ J +10 &8W\ \ \ K +9 &:gU\ \ \ K +9 &<)W\ \ \ K +10 &=[\ \ \ L +9 &?]\ \ \ K +9 &AnX\ \ \ K +10 &C._\ \ \ L +9 &Df\ \ \ M +10 &Fs\ !\ \ N +9 &Hb\ 5\ -\ R +9 &J\ I\ D\ V +10 &K\ H\ H\ X +9 &M\ C\ D\ X +10 &OZ\ A\ A\ X +9 &Q\ ?\ ?\ X +9 &R\ ;\ =\ Y +10 &T\ 8\ 9\ Z +9 &V[\ 9\ 7\ Z +9 &X\ 7\ 8\ Z +10 &Y\ 8\ 7\ [ +9 &[\ 7\ 9\ I +9 &\\9\ 6\ 6\ / +10 &\\v\ 4\ 5\ V +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&n1 +56 "core" 1 +2 "manipulator"&[% +4 "core" % x  A ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %  s +2 "storage"(P% +3 "core" % T S a\  +2 "storage"(\ . +4 "core" .(K + "storage"( & +4 "core" &K S S X\ +2 "storage"(& +4 "core" &K S S `\ +2 "manipulator"&2& +3 "core" &  4 +2 "manipulator"&S% +4 "core" %  s +48 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&C( +153 "core" ( + "manipulator"&D& +4 "core" & 6  +2 "storage"(z& +4 "core" &K k j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&-' +92 "core" ' +2 "storage"(~& +4 "core" &K P Y \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'r +298 "core" ' +2 "storage"(o- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (!& +3 "core" &K V P \ +2 "manipulator"&p& +4 "core" & T  +2 .tElbow.seek 6 + "manipulator"&"( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(\\& +4 "core" &K V T |\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&|'h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(+' +8 "core" & .  +2 "manipulator"&H% +4 "core" % ρ +2 .tForearm.seek :retract +2 "manipulator"&G' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&K& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&O' +92 "core" ' +2 "manipulator"&V& +3 "core" & +2 "manipulator"&<% +4 "core" % J +2 "processing"%M& +4 "core" &\ +3 "processing"%y& +4 "core" &\ +3 .tPC.seek :closed + "processing"%)(^ +4 "core" &\ +8 &6\ #b +9 &U}\ 6 +9 &|\ K +10 &U\ N +9 &\\W\ N +10 &U\ N +9 &W\ N +9 &W\ N +10 &dV\ N +9 &&X\ N +10 &W\ N +9 &!V\ N +9 &#lW\ N +10 &%.W\ N +9 &&Y\ N +9 &(X\ N +10 &*tW\ N +9 &,6Y\ N +9 &-W\ M +10 &/V\ M +9 &1}U\ M +10 &3?U\ M +9 &5Y\ M +9 &6Y\ M +10 &8Z\ M +9 &:GY\ M +9 &<\ W\ M +10 &=Y\ N +9 &?W\ M +10 &AM]\ N +9 &C b\ O +9 &De\ O +10 &Fp\ P +9 &HK|\ Q +9 &J\ S +10 &K\ T +9 &M\ T +10 &OJ\ T +9 &Q \ U +9 &R\ U +10 &T\ U +9 &VR\ T +9 &X\ V +10 &Y\ T +9 &[\ U +10 &]W\ F +9 &^zC\ "g +9 &^0\ / +6 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&b1 +2 "core" &^ \ / +50 1 + "manipulator"&;% +4 "core" %    J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7' +90 "core" ' +2 "processing"%& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&A% +4 "core" %    K  +2 "storage"(.% +4 "core" % ' 0 =\  + "storage"(. +3 "core" .(K +2 "storage"(5& +4 "core" &K = 2 v\ +2 "storage"(& +2 "manipulator"&& +7 "core" &K $ $ )\ + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&q( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( + "manipulator"&L& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&e' +94 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +42 .tPC.seek :open +9 "processing"%( +45 "core" ' +2 "storage"( - +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +49 "core" ' +349 ( +2 "storage"(m& +4 "core" &K D E \ + "manipulator"& & +4 "core" & +2 "manipulator"&#% +9 "core" %  A +2 .tForearm.seek :retract +2 "manipulator"&?' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&(( +239 "core" ( + "manipulator"&d& +4 "core" &  , 5 +2 "storage"(>& +3 "core" &K ? C \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +97 "core" ' + .tHand.open +2 "manipulator"&B1 +58 "core" 1 +2 "storage"(4- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(/' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"( & +4 "core" &K 6 +\ +2 "manipulator"&& +4 "core" &  4 +2 .tElbow.seek 6 +2 "manipulator"&h( +4 "core" ( + "manipulator"&& +4 "core" &  # 4 +2 "storage"(c& +4 "core" &K ( 1 M\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(g'" +54 "core" ' + "manipulator"&_& +4 "core" & 4 +2 "storage"(3& +4 "core" &K & $ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&k'< +19 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(%' +18 "core" ' +2 "manipulator"&Y% +4 "core" %O  +2 "storage"(x& +3 "core" &K ! ) #\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts +2 "manipulator"&W'{ +14 "core" ' + "manipulator"&0& +4 "core" & G 4 +2 "storage"(r& +4 "core" &K % & 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +20 "core" ' +2 "storage"(j% +4 "core" % G E \ +3 ."downElevator"SE.seek :down +3 "storage"(i' +99 (9% +3 "core" %KL J k\ We +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (^& +2 "core" &K $ > %\ +3 "collection"'u& +3 "core" &\\n\ .\ /\ V +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&{% +5 "core" %    + "storage"(E% +4 "core" % S S\  +2 "storage"(6. +3 "core" .(K +2 "storage"(]& +3 "core" &K H P 2\ +2 "storage"(& +4 "core" &K O G J\ +2 "manipulator"&,& +4 "core" & M 4 +2 .tElbow.seek 6 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&U& +3 "core" & e 4 +2 "storage"(}& +4 "core" &K S S 5\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(I& +4 "core" &K Q k _\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +47 .tSE.seek :beamBreak +4 "storage"('r +309 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&:& +4 "core" & j 4 +2 "storage"(T& +3 "core" &K > N <\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&R'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(Z'p +28 "core" ' +2 "manipulator"&N% +3 "core" %< # +2 "storage"(8& +4 "core" &K I E s\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 300 counts + "manipulator"&'h +16 "core" ' +2 "manipulator"&& +3 "core" & ` 4 +2 "storage"(w& +4 "core" &K I F B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"([' +36 "core" ' +2 "manipulator"&& +4 "core" &  4 + "manipulator"&% +4 "core" % R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +163 "core" ( +2 "manipulator"& & +3 "core" &ӎ 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &ӎ < 6 +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&2/ +61 "core" / +2 .tCC.seek :open +2 "collection"'S( +447 "core" ( + "storage"(a& +4 "core" &K j i \ +2 "storage"(D& +3 "core" &K ] g \ +2 "manipulator"&z& +4 "core" & * +2 "manipulator"&~% +4 "core" % λ r +2 .tForearm.seek :retract +2 "manipulator"&'' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&v( +153 "core" ( + "manipulator"&o& +4 "core" &   +2 "storage"(!& +4 "core" &K \\ \\ D\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&p'< +100 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\\1 +55 "core" 1 +2 "manipulator"&% +4 "core" % B v  +2 "storage"( & +3 "core" &K z p }\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts + "manipulator"&H'n +15 "core" ' +2 "manipulator"&C& +4 "core" &  V  +2 "storage"(-& +3 "core" &K ~ .\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +15 "core" ' + "storage"(|% +4 "core" % f\ +3 ."downElevator"SE.seek :down +4 "storage"(K' +98 (l% +3 "core" %D 7 8 ]\ V` +2 "manipulator"&"% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'<& +4 "core" &\ \ \ \ +2 "manipulator"&M% +4 "core" %  &  +2 "storage"(+% +48 "core" % |\  +3 "storage"(G. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"($(,y +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" &,y _ f v\ +2 "manipulator"&;& +4 "core" & `  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&A& +4 "core" &   +2 "storage"(.& +3 "core" &,y  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(5& +4 "core" &,y | \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &,k ` g K\  +2 "manipulator"&L& +3 "core" & \\  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&O& +4 "core" &   +2 "storage"(& +3 "core" &,k ] ` t\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&t/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"()' +8 "core" & Z  +2 "manipulator"&% +3 "core" % Z +3 .tForearm.seek :retract + "manipulator"&m' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&#& +4 "core" &Ӗ" ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &Ӗ" ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&d'? +35 "Can"E B@ +67 "core" ' + "manipulator"&>& +4 "core" &Ӗ" ;8 +2 "manipulator"&q% +4 "core" %D Z +2 "collection"'B& +4 "core" &\ \ \ +2 "collection"'4& +6 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'F(\\ +3 "core" &\ \ \ +6 &\ \ \ \ : +9 &NMx\ \ \ \ 0 +9 &v}\ \ \ \ E +10 &0]\ \ \ K +9 &U\ \ \ J +10 &W\ \ \ K +9 &wY\ \ \ K +9 &9X\ \ \ K +10 &Y\ \ \ K +9 &X\ \ \ K +10 &T\ \ \ K +9 &!AT\ \ \ K +9 &#S\ \ \ K +10 &$U\ \ \ J +9 &&V\ \ \ J +9 &(IU\ \ \ K +10 &* Y\ \ \ K +9 &+X\ \ \ K +9 &-X\ \ \ K +10 &/QT\ \ \ K +9 &1T\ \ \ K +10 &2U\ \ \ \ J +9 &4U\ \ \ K +9 &6YY\ \  \ K +10 &8T\ \ \ K +9 &9U\ \ \ J +9 &;U\ \ \ K +10 &=aY\ \ \ K +9 &?$W\ \ \ J +10 &@W\ \ \ K +9 &BZ\ \  \ K +9 &Dg_\ \ \ L +10 &F%k\ \ \ M +9 &G}\ #\ \ O +9 &I\ 5\ /\ R +10 &KQ\ D\ @ \ V +9 &M\ ?\ @\ W +10 &N\ ;\ >\ W +9 &P\ ;\ < \ X +9 &RR\ 9\ ;\ X +10 &T\ 8\ :\ Y +9 &U\ 6\ 8\ \ Y +9 &W\ 6\ 7\ Z +10 &YS\ 6\ 6\ \ [ +9 &[\ 5\ 6\ [\ +10 &\\dF\ 5\ 6\ 5 +9 &\\\ 3\ 5 \ P +5 ( +2 "collection"'4& +4 "core" &\\r\ 3\ 3\ P +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"& 1 +57 "core" 1 +2 "manipulator"&% +4 "core" % D  K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%c& +4 "core" &\ +2 "manipulator"&?% +4 "core" %  J  + "storage"(_% +4 "core" % H H \  +2 "storage"(3. +3 "core" .(,y +2 "storage"(Y& +4 "core" &,k I H \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(x(,y +14 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" &,{\ "\ ! \ +2 "manipulator"&0& +4 "core" &Ӧ J 9( +2 "manipulator"&r% +4 "core" %   u  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&*( +166 "core" ( +3 "manipulator"&j& +3 "core" &  +2 "storage"((& +4 "core" &,{ > = \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +92 "core" ' + "storage"(/& +4 "core" &,{ P j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +3 "core" &,l + ! \  +2 "manipulator"&h& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&k& +4 "core" &  +2 "storage"(W& +3 "core" &,l # +\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&^'c +40 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(E' +8 "core" &  +2 "manipulator"&6% +4 "core" % u O +2 .tForearm.seek :retract +2 "manipulator"&%' +96 "core" ' + .tElbow.seek PC +2 "manipulator"&]( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&& +4 "core" & d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" & d +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&U' +92 "core" ' +2 "manipulator"&}& +4 "core" & c +2 "manipulator"&% +4 "core" % +2 "processing"%I& +4 "core" &\ +2 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +8 &4y\ *x +9 &d}\ > +10 &zr\ N +9 &<U\ N +9 &W\ N +10 &V\ M +9 &W\ M +9 &EW\ M +10 &R\ M +9 &W\ M +10 & S\ M +9 &"MT\ M +9 &$S\ M +10 &%S\ M +9 &'U\ M +9 &)TU\ N +10 &+U\ N +9 &,V\ N +10 &.U\ N +9 &0]X\ M +9 &2X\ M +10 &3T\ M +9 &5T\ M +9 &7fU\ M +10 &9&Y\ N +9 &:U\ M +10 &<T\ N +9 &>lY\ N +9 &@/U\ M +10 &AZ\ N +9 &Cc\ O +9 &Eog\ O +10 &G.n\ P +9 &H~\ R +10 &J\ T +9 &Lk\ S +9 &N*\ T +10 &O\ T +9 &Q\ U +9 &Sp\ T +10 &U0\ U +9 &V\ T +10 &X\ T +9 &Zw\ U +9 &\\9\ U +10 &]zs\ : +9 &^(p\ Q +9 &^$\ 2 +3 ( +2 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&`1 +62 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +91 "core" ' +2 "processing"%T& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&J% +4 "core" %     +2 "storage"(N% +4 "core" % # # \  +2 "storage"(8. +2 "core" .(,y +2 "storage"(& +4 "core" &,l # # Z\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(w(,y +45 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&& +6 "core" &,} J % \ + &    c +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +4 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(Q'r +15 "core" ( +2 "manipulator"&& +3 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close +48 "manipulator"&Z/ +62 "core" / +2 .tPC.seek :open +2 "processing"% ( +28 "core" ' +2 "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'1 +46 "core" ' +371 ( +2 "storage"(f& +3 "core" &,j E H\ +2 "manipulator"&2& +4 "core" &  +2 "manipulator"&P% +3 "core" %  + +3 .tForearm.seek :retract + "manipulator"&&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&a( +249 "core" ( +2 "manipulator"&D& +3 "core" &  ` \\ +2 "storage"(z& +4 "core" &,j H H \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +97 "core" ' +2 .tHand.open + "manipulator"&o1 +54 "core" 1 +2 "storage"(!- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(\ ' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(\\- +3 "core" -' +2 "storage"(& +4 "core" &,j 6 6\ +2 "manipulator"& & +3 "core" &    \\ +3 .tElbow.seek 4 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&-& +4 "core" &    \\ +2 "storage"(|& +3 "core" &,j * ( R\ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(l'" +58 "core" ' +2 "manipulator"&"& +3 "core" &  4 \\ +3 "storage"(v& +3 "core" &,j ! *\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&p'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +28 "core" ' +2 "manipulator"&H% +4 "core" %3 B +2 "storage"(+& +3 "core" &,j # #\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 296 counts +2 "manipulator"&['_ +14 "core" ' + "manipulator"&G& +4 "core" &  \\ +2 "storage"(@& +4 "core" &,j E G \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&K' +15 "core" ' +2 "storage"(s% +4 "core" % F H \ +3 ."downElevator"SE.seek :down +3 "storage"(b' +99 (;% +3 "core" %N E c\ We +2 "manipulator"&A% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +99 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (5& +3 "core" &,j $ 3\ +2 "collection"'& +4 "core" &\\p\ .\ .\ P +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&V% +4 "core" %  ;  +2 "storage"(% +4 "core" % S S S\  +2 "storage"(y. +2 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(L(,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &,} Q S L\ +2 "manipulator"&& +3 "core" & [ +3 .tElbow.seek 4 + "manipulator"&t( +4 "core" ( + "manipulator"&7& +4 "core" & | [ +2 "storage"(& +4 "core" &,} 8 < \ +2 .tForearm.reconfigure :tight +42 "manipulator"&#Q@2^d^\ b +10 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +90 "core" ' +2 "storage"(& +4 "core" &,} 7 7 q\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'r +295 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  [ +2 "storage"( & +3 "core" &,l C\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&>'7 +21 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('c +33 "core" ' + "manipulator"&)% +4 "core" %H ^ +2 "storage"(m& +3 "core" &,l + % \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 317 counts + "manipulator"&S't +13 "core" ' +2 "manipulator"& & +4 "core" &   [ +2 "storage"(& +4 "core" &,l I 3 ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(?' +43 "core" ' +2 "manipulator"&_& +4 "core" &   [ +2 "manipulator"&3% +3 "core" % ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&4(ӂ +150 "core" ( + "manipulator"&1& +3 "core" &Ӌ+  Y Ct +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +2 "core" &ӌ+  Cs +3 .tForearm.seek CC +2 "manipulator"&r'? +96 "core" ' +2 .tHand.close + "manipulator"&d/ +65 "core" / +2 .tCC.seek :open + "collection"'j( +447 "core" ( +2 "storage"((& +3 "core" &,l j j \ +2 "storage"($& +4 "core" &,l Z f T\ +2 "manipulator"&/& +4 "core" &Ӳ% >M + "manipulator"& % +4 "core" % J  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +165 "core" ( + "manipulator"&=& +4 "core" &    +2 "storage"(h& +4 "core" &,l ~ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&k'7 +95 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&u1 +53 "core" 1 +2 "manipulator"&{% +3 "core" % % K ? +2 "storage"(6& +4 "core" &,l ~ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 282 counts + "manipulator"&*'Q +14 "core" ' +2 "manipulator"&X& +4 "core" & )  +2 "storage"(9& +4 "core" &,l ~ 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +15 "core" ' +2 "storage"(% +4 "core" %  ]\ +3 ."downElevator"SE.seek :down +3 "storage"(,' +99 (g% +4 "core" %G = C \ Va + "manipulator"&}% +4 "core" % L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +49 ' +8 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'I& +3 "core" &\ \ \ \ +2 "manipulator"&E% +4 "core" %  ^  +2 "storage"(%% +9 "core" % \  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +7 .tSC.seek 5 +2 "storage"(`(<- +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<+ Y L 9\  +2 "manipulator"&T& +4 "core" & t  +2 .tElbow.seek 5 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&N& +4 "core" &  +2 "storage"(8& +3 "core" &<+ ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +88 "core" ' +2 "storage"(i& +4 "core" &<+  \\\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ h ` h\  +2 "manipulator"&R& +4 "core" & d  +2 .tElbow.seek 5 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&x& +3 "core" & $  +2 "storage"(Z& +4 "core" &<+ \\ \\ C\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +3 "storage"(' +7 "core" & U  +2 "manipulator"&Q% +3 "core" % ϱ  m +3 .tForearm.seek :retract +2 "manipulator"&f' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&2(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&P& +4 "core" &Ӕ! J :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӕ! :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'? +93 "core" ' +2 "manipulator"&z& +3 "core" &ӕ! R :0 +2 "manipulator"&% +4 "core" %E + @ +2 "collection"'o& +4 "core" &\ \ *\ +3 "collection"'!& +5 "core" &\ \ *\ +2 .tCC.seek :closed +3 "collection"'\\(\\ +4 "core" &\ \ $\ +5 &\ \ \ \ 8 +9 &GJv\ \ \ \ \ 0 +10 &|v}\ \ #\ D +9 &)Z\ \ "\ K +9 &W\ \ &\ K +10 &T\ \ #\ K +9 &pR\ \ !\ K +9 &2R\ \ %\ K +10 &S\ \ #\ K +9 &R\ \ #\ K +10 &xS\ \ \ K +9 &!:W\ \ "\ K +9 &"X\ \ #\ K +10 &$W\ \ \ K +9 &&X\ \  \ K +10 &(BS\ \ \ K +9 &*T\ \ \ K +9 &+R\ \ \ K +10 &-T\ \ \ \ K +9 &/KU\ \ \ J +9 &1 U\ \ \ \ J +10 &2T\ \ \ K +9 &4W\ \ \ \ K +9 &6RT\ \  \ K +10 &8U\ \  \ J +9 &9U\ \ \ K +10 &;Y\ \  \ K +9 &=ZY\ \ \ K +9 &?V\ \ \ \ J +10 &@W\ \ \ K +9 &BZ\ \ \ K +9 &D^`\ \ \ L +10 &Fj\ \ \ M +9 &Gv\ !\  \ O +10 &I\ 6\ .\ S +9 &KD\ C\ ?\ X +9 &M\ ?\ C\ W +10 &N\ >\ ?\ W +9 &P\ ;\ >\ X +9 &RJ\ <\ :\ X +10 &T\ 7\ :\ Z +9 &U\ 7\ 8\ Z +10 &W\ 8\ 8\ Z +9 &YK\ 6\ 7\ [ +9 &[ \ 9\ 7\ [ +10 &\\cM\ 6\ 7\ 5 +9 &\\x\ 6\ 6\ O +5 ( +2 "collection"'!& +4 "core" &\\e\ 3\ 4\ O +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"& % +4 "core" % E @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%|& +4 "core" &\ +2 "manipulator"&&% +3 "core" %  " +2 "storage"("% +4 "core" % G E \  +2 "storage"(v. +3 "core" .(<- +2 "storage"(H& +4 "core" &<+ H H\  +2 "storage"(+& +3 "core" &<+ F H\  +2 "manipulator"&n& +4 "core" &Ӫ   ` 8 +2 "manipulator"&G% +4 "core" %    C " +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +48 "manipulator"&@( +155 "core" ( +2 "manipulator"&& +4 "core" & q +2 "storage"(s& +4 "core" &<+ S S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&a'O +93 "core" ' +2 "storage"(~& +4 "core" &<+ j j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\ 'r +299 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &<+ R S 0\  +2 "manipulator"&'& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&C( +4 "core" ( + "manipulator"&l& +4 "core" & C +2 "storage"(p& +3 "core" &<+ S S \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&['Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(V' +7 "core" &  +2 "manipulator"&% +4 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&y' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&M( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&O& +3 "core" & u B +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & : B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&7' +94 "core" ' +2 "manipulator"&& +3 "core" &  B +2 "manipulator"&K% +4 "core" % ( +2 "processing"%& +4 "core" &\ +3 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%w(^ +4 "core" &\  +8 &1v\ )w +10 &b~\ = +9 &gs\ N +9 &*S\ M +10 &T\ M +9 &U\ M +9 &oY\ N +10 &2V\ M +9 &S\ M +10 &S\ M +9 & xU\ M +9 &":T\ M +10 &#X\ M +9 &%Y\ M +10 &'Y\ M +9 &)BX\ M +9 &+X\ M +10 &,Y\ M +9 &.W\ M +9 &0JY\ M +10 &2 T\ M +9 &3X\ M +9 &5W\ N +10 &7SS\ M +9 &9Z\ M +10 &:U\ M +9 &<V\ M +9 &>YZ\ N +10 &@Z\ M +9 &A\\\ N +10 &Ch\ O +9 &EZh\ P +9 &Gr\ Q +10 &H\ S +9 &J\ T +9 &LW\ T +10 &N\ T +9 &O\ T +10 &Q\ U +9 &S]\ T +9 &U\ U +10 &V\ U +9 &X\ U +9 &Zd\ U +10 &\\&\ U +9 &]\ 3 +9 &^2j\ ? +10 ( + &^\ . +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&<1 +60 "core" 1 +2 "manipulator"&.% +5 "core" %   ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +93 "core" ' +2 "processing"%& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" %     +2 "storage"(B% +3 "core" % I H \  +2 "storage"(). +3 "core" .(<- +2 "storage"(m& +4 "core" &<+ 3 ( )\  +3 "storage"( & +2 "manipulator"&& +6 "core" &<+ G 4 K\  + &   B +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(_'r +2 "manipulator"&3( +6 "core" ( + "manipulator"&& +4 "core" &   B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &   B +2 .tForearm.seek PC +2 "manipulator"&#' +95 "core" ' +2 .tHand.close + "manipulator"&>/ +53 "core" / +3 .tPC.seek :open +2 "processing"%S( +92 "core" ' + "storage"(- +43 "core" -'r +9 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(1'1 +46 "core" ' +256 ( +2 "storage"(0& +4 "core" &<+ S S j\  +2 "manipulator"&c& +3 "core" & B +2 "manipulator"&q% +4 "core" %   1 +2 .tForearm.seek :retract +2 "manipulator"&d' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Y( +244 "core" ( +2 "manipulator"&F& +3 "core" & d 9 +2 "storage"((& +4 "core" &<+ H I ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +94 "core" ' +2 .tHand.open + "manipulator"&/1 +56 "core" 1 +3 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(h' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(r- +3 "core" -' +2 "storage"(4& +4 "core" &<+ 8 6\  +2 "manipulator"&u& +4 "core" &   9 +2 .tElbow.seek 5 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&6& +3 "core" &   9 +2 "storage"(X& +4 "core" &<+ + 5\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&& +4 "core" & / 9 +2 "storage"(g& +3 "core" &<+ $ ( G\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&}'΍ +20 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(k' +25 "core" ' +2 "manipulator"&I% +4 "core" %Π / +2 "storage"(*& +4 "core" &<+ # $\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&E' +14 "core" ' + "manipulator"&%& +4 "core" & " + +2 "storage"(& +4 "core" &<+ S S o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +15 "core" ' +2 "storage"(^% +3 "core" % R O 0\ +3 ."downElevator"SE.seek :down +4 "storage"(,' +98 (L% +3 "core" %N\ \  '\ We +2 "manipulator"&% +4 "core" %=  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +89 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (N& +3 "core" &<+ ; > ]\  +2 "collection"'8& +4 "core" &\\e\ .\ -\ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&i% +4 "core" %   +2 "storage"(W% +4 "core" % : = \  +2 "storage"(. +2 "core" .(<- +2 "storage"(& +4 "core" &<+ < 7 J\  +2 "storage"(& +4 "core" &<+ < J \  +2 "manipulator"&R& +3 "core" & + +2 .tElbow.seek 5 +2 "manipulator"&x( +25 "core" ( + "manipulator"&Z& +4 "core" &  +2 "storage"(]& +4 "core" &<+ S K "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +95 "core" ' +2 "storage"(Q& +3 "core" &<+ j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'r +355 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +4 "core" & 0  +2 "storage"(& +3 "core" &<+ 8 7 \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('s +32 "core" ' +2 "manipulator"&o% +3 "core" %Μ ( +2 "storage"(U& +4 "core" &<+ R P 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&' +14 "core" ' + "manipulator"&f& +4 "core" &  +2 "storage"(j& +4 "core" &<+ ` k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +39 "core" ' +2 "manipulator"&|& +4 "core" &  + "manipulator"&&% +4 "core" %9  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&v(ӂ +156 "core" ( + "manipulator"&!& +4 "core" &Ӎ$ B =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &H& +2 "core" &Ӎ$  =D +3 .tForearm.seek CC +2 "manipulator"&+'? +89 "core" ' +2 .tHand.close + "manipulator"&n/ +53 "core" / +2 .tCC.seek :open +2 "collection"'G( +450 "core" ( +2 "storage"(D& +3 "core" &<+ _ f \  +2 "storage"(& +3 "core" &<+ g k \  +2 "manipulator"&s& +4 "core" &ӭ   9$ +2 "manipulator"&2% +4 "core" % S  +2 .tForearm.seek :retract +2 "manipulator"&~' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&-( +162 "core" ( + "manipulator"&;& +4 "core" &    +2 "storage"(A& +3 "core" &<+ ~ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&''΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&p1 +53 "core" 1 +2 "manipulator"&5% +4 "core" % Π ( +2 "storage"(& +4 "core" &<+ ~ #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&' +13 "core" ' +3 "manipulator"&@& +3 "core" &    +2 "storage"(a& +4 "core" &<+  ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\ 'O +15 "core" ' +2 "storage"([% +3 "core" % ~ \ +3 ."downElevator"SE.seek :down +3 "storage"(O' +99 (% +3 "core" %E = < \ V` +2 "manipulator"&C% +5 "core" %:  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'K& +4 "core" &\ \ \ \ +2 "manipulator"&% +3 "core" %  {  +3 "storage"(V% +4 "core" % ;\  + "storage"(y. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +48 .tSC.seek 6 +2 "storage"( (K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &K h _ z\ +2 "manipulator"&.& +4 "core" & d  +2 .tElbow.seek 6 +2 "manipulator"&( +11 "core" ( +2 "manipulator"& & +3 "core" &  i  +2 "storage"(B& +4 "core" &K ~ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&)' +92 "core" ' +2 "storage"(m& +4 "core" &K   \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +295 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K i ` \ +3 "manipulator"&& +3 "core" & c  +2 .tElbow.seek 6 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&7& +4 "core" & `  +2 "storage"(>& +3 "core" &K ` l \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(w' +7 "core" & K  +2 "manipulator"&_% +4 "core" % a +2 .tForearm.seek :retract +2 "manipulator"&0' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +156 "core" ' +2 ( +2 ."downElevator"SE.stop +2 "manipulator"&q& + "storage"(5 +8 "core" &ӣ ? 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &ӣ  8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'? +92 "core" ' +2 "manipulator"&(& +3 "core" &ӣ  8 +2 "manipulator"&3% +4 "core" %= c +2 "collection"'/& +4 "core" &\ \ +\ +3 "collection"' & +5 "core" &\ \ \ +\ +2 .tCC.seek :closed +6 "collection"'r(\\ +13 "core" &\ \ +\ +3 &\ \ \ \ .\ +2 &<\ \ \ *\ $d +6 &Wu\ \ \ (\ 6 +10 &x\ \ +\ K +9 &R\ \ (\ J +9 &yU\ \ (\ J +10 &;U\ \ \ J +9 &U\ \ \ J +10 &U\ \ \ J +9 &U\ \ $\ J +9 &CU\ \ %\ J +10 & U\ \ %\ J +9 &!U\ \  \ J +10 &#U\ \ %\ J +9 &%LT\ \ &\ J +9 &'U\ \ !\ J +10 &(U\ \ !\ K +9 &*W\ \ !\ J +9 &,SV\ \ $\ K +10 &.Y\ \ #\ K +9 &/X\ \ \ K +10 &1Z\ \ !\ K +9 &3[T\ \ \ \ K +9 &5U\ \ \ J +10 &6U\ \ \ K +9 &8Y\ \ !\ K +9 &:cT\ \ \ K +10 &<%W\ \ \ K +9 &=\\\ \ \ K +10 &?c\ $\ \ L +9 &Aci\ 2\ -\ M +9 &C&k\ ,\ 5\ M +10 &Dh\ \ \ \ M +9 &Fq\ !\ \ N +9 &H^\ 3\ .\ R +10 &J\ F\ B\ V +9 &K\ E\ F\ W +10 &M\ B\ C\ W +9 &OU\ A\ A\ W +9 &Q\ >\ =\ X +10 &R\ <\ <\ Y +9 &T\ ;\ :\ Z +9 &VW\ 7\ 8\ Z +10 &X\ :\ 9\ [\ +9 &Y\ 7\ 6\ [ +9 &[\ 8\ 6\ I +10 &\\9\ 4\ 5\ - +9 &\\\ 4\ 7 \ W +3 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&41 +60 "core" 1 +2 "manipulator"&u% +4 "core" % h  E 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%X& +4 "core" &\ +2 "manipulator"&d% +4 "core" %   +2 "storage"(% +3 "core" % H H \  +2 "storage"(g. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(I(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &K\  \ +2 "manipulator"&1& +3 "core" & ( +2 "manipulator"&%% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +146 "core" ( + "manipulator"&=& +4 "core" & ;  +2 "storage"(^& +4 "core" &K R S T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 6 + 450 counts + "manipulator"&Y' +92 "core" ' +2 "storage"($& +3 "core" &K 7 8 X\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'r +299 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K ' ! K\ +3 "manipulator"&9& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&{( +4 "core" ( +2 "manipulator"&& +3 "core" & X  +2 "storage"(}& +4 "core" &K H H \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&N'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& +2 "storage"(i' +7 "core" & A  +2 "manipulator"&W% +4 "core" % b 9 +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&k( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&& +4 "core" &  P +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +94 "core" ' + "manipulator"&Z& +4 "core" & O +2 "manipulator"&]% +4 "core" % L +2 "processing"%?& +4 "core" &\ +3 "processing"%Q& +4 "core" &\ \ +3 .tPC.seek :closed + "processing"%,(^ +5 "core" &\  +8 &2v\ )w +9 &c\ > +10 &vr\ N +9 &8T\ N +9 &T\ M +10 &R\ N +9 &Y\ M +10 &@T\ N +9 &W\ N +9 &T\ M +10 & V\ M +9 &"IY\ M +9 &$ T\ M +10 &%S\ M +9 &'U\ N +10 &)PV\ N +9 &+W\ M +9 &,Y\ N +10 &.U\ M +9 &0YT\ M +9 &2Y\ M +10 &3T\ M +9 &5T\ N +10 &7aT\ M +9 &9"U\ N +9 &:U\ M +10 &<V\ M +9 &>iX\ M +9 &@+W\ M +10 &A\\\ N +9 &Cc\ O +10 &Eii\ P +9 &G(p\ Q +9 &H\ S +10 &J\ T +9 &Lg\ S +9 &N'\ T +10 &O\ T +9 &Q\ U +10 &Sl\ T +9 &U+\ U +9 &V\ U +10 &X\ T +9 &Zs\ U +9 &\\5\ U +10 &]zt\ > +9 &^#V\ S +10 &^*\ 5 +2 ( +2 "processing"%Q& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&T% +3 "core" %     L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%P& +4 "core" &^'\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %    '  +2 "storage"(z% +4 "core" % - - T\  +2 "storage"(o. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(U(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (f& +2 "manipulator"&j& +4 "core" &K\ \ M \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  ) O +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(|'r +2 "manipulator"&&( +4 "core" ( +2 "manipulator"&:& +4 "core" &   O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &   O +2 .tForearm.seek PC +2 "manipulator"&J' +91 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +42 "storage"(#QK-0-\ b +11 ."raiseStack"SE.seek :place +2 "storage"(!'1 +40 "core" ' +268 ( + "storage"(H& +4 "core" &K E H \  +2 "manipulator"&& +4 "core" & @ O +2 "manipulator"&% +3 "core" %  c +3 .tForearm.seek :retract +2 "manipulator"&n' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&"( +245 "core" ( + "manipulator"&\\& +4 "core" &\   X s +2 "storage"(D& +4 "core" &K " #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +100 "core" ' + .tHand.open +2 "manipulator"&s1 +56 "core" 1 +2 "storage"(2- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(;' +27 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(A' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(+- +3 "core" -' +2 "storage"(v& +5 "core" &K 6 5 Z\  + "manipulator"&p& +4 "core" &   h +2 .tElbow.seek 6 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&& +3 "core" &   h +2 "storage"(@& +4 "core" &K D I )\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(['" +51 "core" ' +2 "manipulator"&~& +4 "core" &  I h +2 "storage"(& +3 "core" &K - , s\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&C'< +24 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"('' +19 "core" ' +2 "manipulator"&K% +4 "core" %>   +2 "storage"(& +4 "core" &K & $ E\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 302 counts + "manipulator"&'j +15 "core" ' +2 "manipulator"&V& +4 "core" &   h +2 "storage"(y& +4 "core" &K $ , 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 "storage"(\ % +4 "core" % ) R\ +3 ."downElevator"SE.seek :down +3 "storage"(O' +99 (`% +2 "core" %BU\ +\ & X\ Xi +3 "manipulator"&<% +3 "core" % 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +89 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &K # $ J\  +2 "collection"'B& +4 "core" &\\\ .\ .\ W +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&m% +3 "core" %  +  +3 "storage"(l% +3 "core" % H G \  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K\ \  D\  +2 "manipulator"&& +4 "core" &  7 h +2 .tElbow.seek 6 +2 "manipulator"&7( +4 "core" ( + "manipulator"&>& +4 "core" &  h +2 "storage"(M& +3 "core" &K F G \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +93 "core" ' +2 "storage"(_& +4 "core" &K S O &\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +42 .tSE.seek :beamBreak +9 "storage"('r +299 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" &  K h +2 "storage"(#& +4 "core" &K $ " \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&b'< +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"((- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(3'o +33 "core" ' + "manipulator"&/% +4 "core" %: &  +2 "storage"(t& +4 "core" &K % $ -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 298 counts + "manipulator"&w'f +14 "core" ' + "manipulator"&0& +5 "core" &  T h + "storage"(G& +4 "core" &K # " \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&4' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(u' +45 "core" ' +2 "manipulator"&X& +4 "core" &  h + "manipulator"&d% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +148 "core" ( + "manipulator"& & +4 "core" &|+  T Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &*& +2 "core" &|+ Cn +3 .tForearm.seek CC +2 "manipulator"&1'? +97 "core" ' + .tHand.close +2 "manipulator"&%/ +62 "core" / +2 .tCC.seek :open +2 "collection"'F( +447 "core" ( + "storage"(=& +4 "core" &K i _ \  +2 "storage"(^& +4 "core" &K Z f I\  +2 "manipulator"& & +3 "core" &  1 +2 "manipulator"&c% +4 "core" % γ +2 .tForearm.seek :retract +2 "manipulator"&$' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&6( +152 "core" ( + "manipulator"&L& +4 "core" &  +2 "storage"(& +4 "core" &K _ i z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&9'< +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&}1 +55 "core" 1 +2 "manipulator"&E% +4 "core" % 9 - +2 "storage"(8& +4 "core" &K ~ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 297 counts + "manipulator"&W'e +13 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(Y& +3 "core" &K } \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&h' +16 "core" ' +2 "storage"(N% +3 "core" % y\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %F A O 9\ Wb +2 "manipulator"&{% +3 "core" % # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +35976 "Can" <9 +28962 #t-> exit +6 #mEXIT @1689097341.71EDT @1689097881.02EDT = =tMAIN =mMAIN_scheduler @EDT1689097882.79 #"core_reset"Sent BREAK +2 #t@38744 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +245 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +386 "Can"\  !r + \  !r + #tPolling Can every 10:00 +21 #Cleanly exited at 13:42:21EDT11-Jul-23 +11605 #-> exit +4 #mEXIT @1689098007.56EDT @1689098256.44EDT = =tMAIN =mMAIN_scheduler @EDT1689098258.24 #"core_reset"Sent BREAK +2 #t@18451 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +211 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +247 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +388 "Can" !t +  !t + #tPolling Can every 10:00 +20 #Cleanly exited at 13:53:27EDT11-Jul-23 +1655 !"core_reader"o:I2C::Gateway::Reset: mesg"Received BREAK:bt[ "4/home/esp/esp2/lib/i2c/gateway.rb:203:in `getc'"5/home/esp/esp2/lib/i2c/gateway.rb:328:in `reset'"4/home/esp/esp2/lib/i2c/gateway.rb:326:in `loop'"5/home/esp/esp2/lib/i2c/gateway.rb:326:in `reset'":/home/esp/esp2/lib/i2c/gateway.rb:321:in `initialize'"*/home/esp/esp2/lib/i2c/gateway.rb:321 +14 #"core_reset"Sent BREAK +212 #Sent BREAK +212 #Sent BREAK +201 !"core_reader"o:I2C::Gateway::Port::Error: mesg"No Response to BREAK:bt[ "5/home/esp/esp2/lib/i2c/gateway.rb:271:in `reset'"1/home/esp/esp2/lib/thread.rb:887:in `create'"0/home/esp/esp2/lib/thread.rb:736:in `start'"1/home/esp/esp2/lib/thread.rb:884:in `create'"5/home/esp/esp2/lib/thread.rb:883:in `initialize'"%/home/esp/esp2/lib/thread.rb:883 +3 #Retry #1 of 3 +13 #"core_reset"Sent BREAK +212 #Sent BREAK +212 #Sent BREAK +201 !"core_reader"o:I2C::Gateway::Port::Error: mesg"No Response to BREAK:bt[ "5/home/esp/esp2/lib/i2c/gateway.rb:271:in `reset'"1/home/esp/esp2/lib/thread.rb:887:in `create'"0/home/esp/esp2/lib/thread.rb:736:in `start'"1/home/esp/esp2/lib/thread.rb:884:in `create'"5/home/esp/esp2/lib/thread.rb:883:in `initialize'"%/home/esp/esp2/lib/thread.rb:883 +2 #Retry #2 of 3 +13 #"core_reset"Sent BREAK +212 #Sent BREAK +212 #Sent BREAK +201 !"core_reader"o:I2C::Gateway::Port::Error: mesg"No Response to BREAK:bt[ "5/home/esp/esp2/lib/i2c/gateway.rb:271:in `reset'"1/home/esp/esp2/lib/thread.rb:887:in `create'"0/home/esp/esp2/lib/thread.rb:736:in `start'"1/home/esp/esp2/lib/thread.rb:884:in `create'"5/home/esp/esp2/lib/thread.rb:883:in `initialize'"%/home/esp/esp2/lib/thread.rb:883 +2 #Retry #3 of 3 +14 #"core_reset"Sent BREAK +212 #Sent BREAK +212 #Sent BREAK @1689098442.01EDT = =mMAIN_scheduler =tMAIN @EDT1689098443.89 #"core_reset"Sent BREAK +2 #t@35706 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +258 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +404 "Can"2 2} + 2 2} + #tPolling Can every 10:00 +20 #Cleanly exited at 13:57:46EDT11-Jul-23 +1305 #-> ESP.configure +3 #Powering core bus +586 .Gate.power :raw,:ON +2 "sampler") +12 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X ESP.shutdown +6 #Asleep / Shutdown +32 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF + #Shutdown +36417 #t-> exit +6 #mEXIT @1689098913.36EDT @1689190901.58EDT = =tMAIN =mMAIN_scheduler @EDT1689190903.26 #"core_reset"Sent BREAK +2 #t@33250 sendCRC with ifg=0x20, ie=0x7F + #@35084 sendCRC with ifg=0x08, ie=0x5F + #@39916 sendCRC with ifg=0x20, ie=0x7F #@40363 sendCRC with ifg=0x20, ie=0x7F + #@41678 sendCRC with ifg=0x20, ie=0x7F + #@41894 sendCRC with ifg=0x20, ie=0x7F #@43048 sendCRC with ifg=0x20, ie=0x7F + #@44414 sendCRC with ifg=0x08, ie=0x5F + #@6302 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +364 "Can" qZf2 +  qZf2 + #tPolling Can every 10:00 +19 #Cleanly exited at 14:08:33EDT11-Jul-23 +2025 #-> ESP.ready! +3 #Powering core bus +539 .Gate.power :raw,:ON +3 "sampler") +29 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X access 4 +3 "storage"(1% +3 "core" % } m\  +2 "manipulator"&2% +3 "core" %   =  +2 "manipulator"&3& +4 "core" & Y 8 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"(4(C +990 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &E ^ ] \ +746 #t-> access 5 +3 "storage"(6% +3 "core" % y \  +2 "manipulator"&7% +3 "core" %   [  +2 "manipulator"&8& +4 "core" & T 8 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(9(  +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" & M X \  +692 #t-> access 6 +2 "storage"(;% +3 "core" %  \  +2 "manipulator"&<% +4 "core" %  y  +2 "manipulator"&=& +3 "core" & 8 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(>( +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" & f _ 5\ +2579 #t-> access 5 +2 "storage"(@% +3 "core" %   \  +2 "manipulator"&A% +4 "core" %  n  +2 "manipulator"&B& +3 "core" &  + 8 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(C(  +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" &  q y F\ +47319 "Can"8 >Z +60001  =[$ +60001  >\\(0 +60001  >\\% +60002   > ]T +60001 , \ >?] +60001  >^^ +60002  =~_ +60001 ! >_ +60001   >`B! +60001  =` +60001  >an +60002  >b! +60001  \ =8b$ +60001  >Rc0. +60002  \ >kc* +60001  \ =d\\' +60001  \ >d +60001  =e# +60002  >f +60001  \ =f +60001  \ =gJ! +60001  = g +60002  \ >:hv/ +60001 > =Ti ' +60001  \ =ni# +60001  \ =҈j8! +60002  \ >ԡj/ +60001  =ֻkd +60001  =k( +60002  =l, +60001  \ =m&" +60001  >!m# +60001  \ =;nR! +60002   >Vn +60001  =po~! +60001   \ =p) +60002 $ \ =p1 +60001  >q@& +60001   >q +60002 $ >rl# +60001 2 >s$ +60001 ) >=s/ +60002  =Yt." +60001 ) =rt +60001 ( =uZ$ +60001  =u- +60002  \ =v! +60001  \ >w! @EDT1689220913.07  >w0 +60002  \ > xH" +60001 % >'x* +60001 ' \ > Byt& +60001 # = \\z\ # +60002  > vz" +60001  ={6 +60001  >{ +60002  >|b# +60001  \ >|0 +60001  =}% +60001  \ =~$! +60002  =,~ +60001  \ >FP +60001  \ > `) +60001  \ >"{|! +60002  \ >$ +60001  =&3 +60001 ( =(>& +60001  \ >*. +60002  \ =-j# +60001  >/( +60001  >14% +60002  >3O, +60001  \ =5h! +60001  =7X$ +60001  =9" +60002  >; +60001  ==% +60001 \  \ =? +60001  \ =BF! +60002  \ =D$ +60001  >F9r +60001 $ >HS0 +60002  \ >Jm% +60001   =L4& +60001  =N$ +60001 0 >P` +60002 - \ =R$ +60001 2 \ =T +60001 2 =W "* +60001 C >Y#' +60002 C =[=N' +60001 H =]W& +60001 D >_qz) +60001 ' =a% +60002  =c3 +60001  >e<# +60001  \ >g$ +60002  =ih, +60001  =l $ +60001  \ =n'# +60002  >pA*" +60001  >r[* +60001  =tuV +60001  \ >v' +60002  \ >x& +60001  =z) +60001  \ >|" +60002   >~D +60001  \ ? +60001  ?>p +60001  ?d +60002  = +60001  \ >2! +14005 #t-> require 'shufflerb' +2 !o:LoadError: mesg"&no such file to load -- shufflerb:bt[ "(ESP):6:in `require'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +817 #-> require 'shuffle.rb' +2270 #-> 5.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'E& +3 "core" & e\  +2 .tHand.open + "manipulator"&F1 +60 "core" 1 +2 "manipulator"&G% +3 "core" %    +2 "storage"(H% +4 "core" % i l p\  +2 "storage"(I. +2 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(J(,y +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +3 "core" &,v [ g 8\ \ +2 "manipulator"&L& +4 "core" & F 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&M( +2 "core" ( +2 "manipulator"&N& +5 "core" & 8 + "storage"(O& +4 "core" &,v ~\ \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +100 "core" ' + "storage"(Q& +4 "core" &,v { '\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(R'r +279 "core" ' + "storage"(S- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek :pick + "storage"(T' +46 "core" ' +3 .tSE.seek :down +2 "storage"(U' +269 "core" ' + .tSE.stop + "storage"(5 +3 "manipulator"&V% +4 "core" % + t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +99 "core" ' + !to:Puck::Error: mesg"Tube 4 is Empty:bt["4/home/esp/esp2/utils/puckmoves.rb:369:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):8:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" access 6 +3 "storage"(X% +3 "core" % `\  +2 "manipulator"&Y% +3 "core" %  A \ i +2 "manipulator"&Z& +3 "core" &  : 8 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"([( +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" & m \ +743 #t-> access 5 +3 "storage"(]% +3 "core" % |\  +2 "manipulator"&^% +3 "core" %   ? \ i +2 "manipulator"&_& +4 "core" &  O 8 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(`(  +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +2 "core" &  v Y\ +3547 #t-> 10.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'b& +3 "core" & \  +3 "manipulator"&c% +3 "core" %  > \ i +2 "storage"(d% +4 "core" % l\  + "storage"(e. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(f(<- +988 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (g& +3 "core" &<+ ] g &\  +2 "manipulator"&h& +4 "core" & 8 +2 .tElbow.seek 5 + "manipulator"&i( +3 "core" ( +2 "manipulator"&j& +4 "core" & ? 8 +2 "storage"(k& +3 "core" &<* o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +87 "core" ' +35 "storage"(m& +11 "core" &<* x\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(n'r +294 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (p& +2 "core" &<* | Z\  +3 "manipulator"&q& +3 "core" &  8 +3 .tElbow.seek 5 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&s& +4 "core" & ! 8 +2 "storage"(t& +3 "core" &<* } \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&u'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +3 "storage"(x' +8 "core" &  8 +2 "manipulator"&y% +3 "core" % ϼ +3 .tForearm.seek :retract + "manipulator"&z' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&|& +3 "core" &Ӑ# <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &Ӑ# X <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&~'? +104 "core" ' +2 "manipulator"&& +4 "core" &Ӑ# <= +2 "manipulator"&% +4 "core" %? +2 "collection"'& +4 "core" & \  +3 "collection"'& +4 "core" & \  +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & \  +9 &7} \ +} +9 &h \ @ +10 &sn \ M +9 &7Y \ M +9 &\\ \ L +10 &[ \ L +9 &}Y \ M +10 &@\\ \ L +9 &[ \ M +9 &W \ L +10 & Y \ L +9 &"G] \ M +9 &$ \\ \ M +10 &%Z \ M +9 &'W \ M +10 &)PZ \ L +9 &+W \ L +9 &,X \ L +10 &.\\ \ M +9 &0WZ \ M +9 &2\\ \ L +10 &3] \ M +9 &5Y \ M +9 &7`\\ \ L +10 &9!W \ M +9 &:[ \ L +10 &<\\ \ M +9 &>f[ \ M +9 &@*Z \ L +10 &A_ \ M +9 &C` \ N +9 &Ejh \ N +10 &G'u \ P +9 &H\ \ x\ S +10 &J\ \ t\ W +9 &LW\ \ s\ X +9 &N\ \ r\ X +10 &O\ \ s\ Y +9 &Q\ \ w\ Y +10 &SZ\ \ o\ Y +9 &U\ \ w\ Z +9 &V\ \ w\ Z +10 &X\ \ w\ [ +9 &Z\\\ \ w\ [ +9 &\\z\ \ w\ : +10 &\\'\ \ x\ 't +9 &\\s\ \ u\ U +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +3 "core" % ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &K\ +2 "manipulator"& % +3 "core" %  "  +2 "storage"(\ % +4 "core" % < < \ + "storage"( . +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<+ # " ^\  +3 "manipulator"&& +3 "core" &ӯ D 8 +2 "manipulator"&% +4 "core" %  7  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(& +3 "core" &<* i i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' +2 "storage"(& +4 "core" &<* l l \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +4 "core" &<* P H Q\  +2 "manipulator"&& +3 "core" & S  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&"& +4 "core" &  +2 "storage"(#& +3 "core" &<* B : ~\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&$'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +44 "storage"('' +8 "core" & M  +2 "manipulator"&(% +3 "core" % ϻ R +3 .tForearm.seek :retract +2 "manipulator"&)' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&+& +3 "core" & * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" & U * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-' +92 "core" ' +2 "manipulator"&.& +4 "core" & D * +2 "manipulator"&/% +4 "core" % W E +2 "processing"%0& +4 "core" &g\ +2 "processing"%1& +5 "core" &`\ +3 .tPC.seek :closed + "processing"%2(^ +4 "core" &\\\ +7 &?`\ $e +10 &fW~c\ 8 +9 &}W\ L +9 &s]b\ O +10 &7ZX\ N +9 &]\\\ O +9 &]T\ O +10 &|ZU\ O +9 &?^S\ N +10 &ZP\ O +9 &^X\ N +9 &!\\X\ N +10 &#F]S\ O +9 &%\\S\ O +9 &&]Q\ O +10 &(ZO\ O +9 &*NZW\ O +10 &,ZT\ N +9 &-ZQ\ O +9 &/^O\ O +10 &1WZO\ N +9 &3YO\ O +10 &4[B\ O +9 &6\\F\ N +9 &8^_A\ O +10 &: YA\ O +9 &;^@\ N +9 &=[F\ O +10 &?f]?\ O +9 &A(`J\ O +9 &BdE\ O +10 &DgC\ Q +9 &Fgm@\ Q +10 &H#@\ S +9 &IB\ T +9 &K?\ U +10 &McA\ U +9 &O$B\ U +9 &P@\ V +10 &R8\ U +9 &Th@\ V +10 &V-5\ U +9 &W1\ U +9 &Y7\ U +10 &[q2\ V +9 &]33\ R +9 &^w@c3\ &o +10 &^02\ , +5 ( +2 "processing"%1& +4 "core" &^0\ , +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&31 +61 "core" 1 +2 "manipulator"&% +4 "core" %    E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' +2 "processing"%6& +3 "core" &^3\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&7% +3 "core" %    +2 "storage"(8% +4 "core" % A : \ +2 "storage"(4. +2 "core" .(<- +3 "storage"(:& +3 "core" &<* C B \  +3 "storage"(;& +2 "manipulator"&<& +7 "core" &<* O Q f\  + & 4 * +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&=( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'r +3 "core" ( + "manipulator"&?& +4 "core" &  * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &  * +2 .tForearm.seek PC +2 "manipulator"&A' +92 "core" ' + .tHand.close +2 "manipulator"&B/ +62 "core" / +3 .tPC.seek :open +2 "processing"%>( +91 "core" ' + "storage"(D- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'1 +44 "core" ' +309 ( + "storage"(F& +4 "core" &<* c W ,\  +2 "manipulator"&G& +3 "core" & , * +2 "manipulator"&H% +4 "core" %  H O +2 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&C( +245 "core" ( + "manipulator"&K& +4 "core" & , ; +2 "storage"(L& +3 "core" &<* < = \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&N'O +98 "core" ' + .tHand.open +2 "manipulator"&O1 +53 "core" 1 +2 "storage"(Q- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(S- +2 "core" -' +2 "storage"(& +4 "core" &<* \  +2 "manipulator"&R& +4 "core" &  ; +2 .tElbow.seek 5 + "manipulator"&V( +5 "core" ( + "manipulator"&T& +46 "core" &  ; +2 "storage"(U& +5 "core" &<* \ \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(X'" +52 "core" ' +2 "manipulator"&Y& +4 "core" & + ; + "storage"(Z& +4 "core" &<* I Q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&J'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(]' +28 "core" ' + "manipulator"&^% +4 "core" %Λ 7 +2 "storage"(_& +3 "core" &<* < = \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts + "manipulator"&[' +14 "core" ' +2 "manipulator"&a& +3 "core" & ; +2 "storage"(b& +4 "core" &<* g ^ V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +16 "core" ' +2 "storage"(d% +3 "core" % h i L\ +3 ."downElevator"SE.seek :down +3 "storage"(e' +99 (`% +3 "core" %rN # ' \ Wd +2 "manipulator"&g% +4 "core" %9 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 (j& +3 "core" &<* S < U\  +2 "collection"'k& +3 "core" &\\p O\ U +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&m% +4 "core" %  Q  + "storage"(M% +4 "core" % [ ^ /\  +2 "storage"(W. +3 "core" .(<- +2 "storage"(o& +3 "core" &<* ^ i r\  +2 "storage"(p& +4 "core" &<* Z Z \  +2 "manipulator"&q& +3 "core" & ; +2 .tElbow.seek 5 +2 "manipulator"&s( +4 "core" ( + "manipulator"&t& +4 "core" & T ; +2 "storage"(v& +4 "core" &<* ^ f @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +96 "core" ' + "storage"(y& +4 "core" &<* j k \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(i'r +310 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" & t ; +2 "storage"(}& +3 "core" &<* : < ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&n'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('c +28 "core" ' +2 "manipulator"&r% +4 "core" %Η N ( +2 "storage"(& +3 "core" &<* h h )\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&x' +14 "core" ' + "manipulator"&z& +4 "core" & [ ; +2 "storage"(!& +4 "core" &<* Z e .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +22 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +42 "core" ' + "manipulator"&& +4 "core" & ; +2 "manipulator"& % +4 "core" %D  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +155 "core" ( +2 "manipulator"&& +3 "core" &Ӗ#  9 << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &Ӗ# v << +2 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'~( +448 "core" ( +9 "storage"( & +3 "core" &<* [ [\  +2 "storage"(& +4 "core" &<* ^ ]\  +2 "manipulator"&f& +3 "core" &Ӣ   :0 +2 "manipulator"&% +4 "core" % 6  +2 .tForearm.seek :retract +2 "manipulator"&{' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&& +5 "core" &  + "storage"( & +4 "core" &<* k z \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator" +63 "core" 1 +2 "manipulator"&%% +4 "core" % Κ , + "storage"(&& +4 "core" &<* u \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&(' +13 "core" ' +3 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &<* t Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +15 "core" ' +2 "storage"($% +4 "core" %  9\ +3 ."downElevator"SE.seek :down +3 "storage"(+' +99 (,% +2 "core" %B l r \ V_ +3 "manipulator"&% +3 "core" %5 = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'/& +4 "core" & \\\ +2 "manipulator"&0% +3 "core" %    +2 "storage"('% +4 "core" % ^\ +2 "storage"(). +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" &K p ~ V\ \ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&6( +2 "core" ( +2 "manipulator"&7& +4 "core" & ~  +2 "storage"(8& +4 "core" &K k r ,\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +96 "core" ' +2 "storage"(:& +3 "core" &K n\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +293 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (1& +2 "core" &K s r M\ \ +3 "manipulator"&?& +3 "core" & o  +2 .tElbow.seek 6 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&-& +4 "core" &  E  +2 "storage"(B& +3 "core" &K t &\ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&D'h +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"(2' +8 "core" &  U  + "manipulator"&9% +4 "core" % \\ q +2 .tForearm.seek :retract +2 "manipulator"&F' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +2 "manipulator"&H& +4 "core" &ӎ( O @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" &ӎ( 6 @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&K'? +90 "core" ' +2 "manipulator"&L& +4 "core" &Ӑ( @\\ +2 "manipulator"&=% +4 "core" %; ` c +2 "collection"'O& +4 "core" & p\ +3 "collection"'Q& +5 "core" & \ +46 & \ +3 & \ + & \ + & \ +2 & \ + & \ +2 .tCC.seek :closed +2 "collection"'S(\\ +3 "core" & \  +10 &4 \ *z +9 & f \ > +10 &t \ M +9 &SY \ L +9 &Y \ L +10 &Z \ L +9 &W \ L +9 &]Y \ L +10 &\\ \ L +9 &Y {\ L +9 & Y \ L +10 &"dY z\ L +9 &$&Y u\ L +10 &%Z r\ L +9 &'Z r\ L +9 &)mY t\ L +10 &+/Y w\ L +9 &,X u\ L +9 &.[ u\ L +10 &0uY w\ L +9 &27Y v\ L +10 &3Y w\ L +9 &5W r\ L +9 &7|Y v\ L +10 &9>Y v\ L +9 &;Y w\ L +9 &<X t\ K +10 &>Z p\ L +9 &@EY n\ L +10 &B\\ p\ M +9 &C^ k\ M +9 &Ej g\ N +10 &GCv k\ P +9 &H\ \ j\ S +9 &J\ \ i\ W +10 &Ls\ \ b\ W +9 &N4\ \ ^\ X +10 &O\ \ e\ X +9 &Q\ \ h\ Y +9 &Sv\ \ c\ Y +10 &U5\ \ g\ Z +9 &V\ \ d\ [\ +9 &X\ \ f\ \\ +10 &Zu\ \ a\ \\ +9 &\\y\ \ b\ 3 +10 &\\'\ \ g\ N +8 ( +3 "collection"'Q& +3 "core" &\\j\ \ c\ H +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&R% +4 "core" % ;  c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%I& +4 "core" &9\ +2 "manipulator"&U% +4 "core" %  J  +2 "storage"(Y% +3 "core" % ^ h H\  +2 "storage"(Z. +3 "core" .(K +2 "storage"(E& +4 "core" &K ^ h G\ \ +2 "storage"(^& +3 "core" &K g c N\ \ +2 "manipulator"&_& +4 "core" &Ӯ# 7 <> +2 "manipulator"&% +3 "core" %  e  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&a( +157 "core" ( + "manipulator"&b& +4 "core" & +2 "storage"(d& +4 "core" &K e [\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +96 "core" ' + "storage"(N& +4 "core" &K ` k J\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(`- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (g& +2 "core" &K g ^ \ \ +3 "manipulator"&P& +3 "core" & _ +2 .tElbow.seek 6 +2 "manipulator"&V( +4 "core" ( + "manipulator"&X& +4 "core" & M +2 "storage"(J& +4 "core" &K j i \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&['h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&j/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +3 "storage"(m' +7 "core" & R + "manipulator"&M% +4 "core" % e @ +2 .tForearm.seek :retract +2 "manipulator"&W' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&]( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +3 "manipulator"&o& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&q' +89 "core" ' + "manipulator"&t& +4 "core" & % +2 "manipulator"&v% +4 "core" % ! i +2 "processing"%c& +3 "core" &?\ +3 "processing"%y& +5 "core" &R\ +3 .tPC.seek :closed +2 "processing"%e(^ +3 "core" &S\ +7 &6S\ #c +10 &TzV\ 6 +9 &}P\ K +9 &\\O\ O +10 &U\\I\ O +9 &[N\ O +10 &^K\ O +9 &\\M\ O +9 &^[P\ N +10 & ZR\ N +9 &ZO\ N +9 &!]P\ N +10 &#f]Q\ N +9 &%(YN\ N +10 &&]J\ N +9 &(ZL\ N +9 &*n\\C\ N +10 &,1^@\ N +9 &-[A\ N +9 &/]@\ N +10 &1u]>\ O +9 &39[=\ N +10 &4[A\ N +9 &6\\A\ O +9 &8~]?\ N +10 &:@Y@\ N +9 &<\\@\ N +9 &=ZA\ N +10 &?[?\ N +9 &AH]?\ N +10 &CeA\ O +9 &Dj?\ P +9 &Fu=\ Q +10 &HC7\ S +9 &J:\ T +9 &K=\ T +10 &M@\ T +9 &OE3\ U +10 &Q2\ U +9 &R2\ T +9 &T4\ U +10 &VN1\ T +9 &X1\ U +9 &Y5\ U +10 &[4\ U +9 &]R7\ G +10 &^wA{2\ $l +9 &^04\ . +5 ( +2 "processing"%y& +4 "core" &^1\ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&\\1 +55 "core" 1 +2 "manipulator"&h% +3 "core" %    i +39 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +96 "core" ' + "processing"%|& +4 "core" &^ *\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&}% +3 "core" %    +2 "storage"(% +4 "core" % C D \  +2 "storage"(r. +2 "core" .(K +3 "storage"(& +3 "core" &K P M J\ \ +2 "storage"(z& +3 "manipulator"&!& +5 "core" &K D C \ \ +2 &  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"& ( +6 "core" ( +2 "manipulator"&w& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &s& +2 "core" &  Z +3 .tForearm.seek PC +2 "manipulator"&i' +90 "core" ' +2 .tHand.close +2 "manipulator"&n/ +60 "core" / +2 .tPC.seek :open +2 "processing"%x( +90 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +49 "core" ' +302 ( +2 "storage"(& +4 "core" &K _ _ ,\ +2 "manipulator"&& +3 "core" & X +2 "manipulator"&u% +4 "core" %   ] +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&\ ( +238 "core" ( + "manipulator"&& +4 "core" & } 6 +2 "storage"( & +4 "core" &K ; : y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' + .tHand.open +2 "manipulator"&f1 +59 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"( & +4 "core" &K H\ +2 "manipulator"&#& +3 "core" &  6 +2 .tElbow.seek 6 +2 "manipulator"&%( +4 "core" ( + "manipulator"&&& +4 "core" &   6 +2 "storage"(& +3 "core" &K \ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"($'" +50 "core" ' +2 "manipulator"&{& +3 "core" & j 6 +3 "storage"(,& +3 "core" &K ? F \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&/% +4 "core" %O L ] +2 "storage"((& +3 "core" &K E D \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&0'{ +14 "core" ' + "manipulator"&'& +4 "core" & 7 6 +2 "storage"()& +4 "core" &K [ N c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(% +4 "core" % _ \\\ +3 ."downElevator"SE.seek :down +4 "storage"(+' +98 (% +3 "core" %\\N D G\ Wd +2 "manipulator"&3% +3 "core" % T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (7& +3 "core" &K j W \ +3 "collection"'8& +3 "core" &\\j x\ H +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&:% +40 "core" %    +9 "storage"("% +4 "core" % i i x\  +2 "storage"(.. +2 "core" .(K +3 "storage"(;& +3 "core" &K _ [ |\ +2 "storage"(1& +4 "core" &K i i v\ +2 "manipulator"&?& +4 "core" & t 6 +2 .tElbow.seek 6 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&B& +4 "core" & 6 +2 "storage"(*& +4 "core" &K i _ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&5' +92 "core" ' +2 "storage"(9& +4 "core" &K ^ f ]\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'r +297 "core" ' +2 "storage"(4- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" & t 6 +2 "storage"(A& +4 "core" &K I Z i\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&<'< +24 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(='r +29 "core" ' + "manipulator"&O% +4 "core" %O ( +2 "storage"(@& +3 "core" &K E D \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&2'{ +14 "core" ' +2 "manipulator"&F& +3 "core" & ] 6 +2 "storage"(~& +4 "core" &K \\ _ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(R' +35 "core" ' +2 "manipulator"&I& +4 "core" & ] 6 +2 "manipulator"&U% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +152 "core" ( +2 "manipulator"&E& +4 "core" &ӝ  :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &ӝ  :, +3 .tForearm.seek CC + "manipulator"&Q'? +94 "core" ' + .tHand.close +2 "manipulator"&_/ +55 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(K& +4 "core" &K _ m \ +2 "storage"(b& +3 "core" &K ] \\ B\ +2 "manipulator"&d& +4 "core" &Ө 4 8! +2 "manipulator"&N% +3 "core" % P S  +2 .tForearm.seek :retract +2 "manipulator"&G' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&T( +161 "core" ( +2 "manipulator"&`& +4 "core" &  +2 "storage"(g& +3 "core" &K } \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&P'< +96 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&J1 +63 "core" 1 +2 "manipulator"&j% +4 "core" % < s 6 +2 "storage"(k& +3 "core" &K ~ \ +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 6 + 300 counts + "manipulator"&M'h +14 "core" ' +2 "manipulator"&a& +4 "core" &  +2 "storage"(C& +3 "core" &K u s /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"([% +4 "core" % T\ +3 ."downElevator"SE.seek :down +3 "storage"(o' +99 (p% +3 "core" %F | m =\ V` +2 "manipulator"&V% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +39 "manipulator"&t' +97 "core" ' +11 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'v& +3 "core" & Z\ +2 "manipulator"&c% +4 "core" %   +2 "storage"(m% +4 "core" % v v X\ +2 "storage"(W. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(>([ +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\\& +4 "core" &[ q [ X\ +2 "manipulator"&h& +3 "core" &  k  +2 .tElbow.seek 7 +2 "manipulator"&y(r +41 "core" ( +2 "manipulator"&|& +4 "core" & 8 & +2 "storage"(}& +3 "core" &[ l l \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' +2 "storage"(r& +4 "core" &[ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' + "storage"(z- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (!& +3 "core" &[ ` m \ +3 "manipulator"&w& +4 "core" & & +2 .tElbow.seek 7 + "manipulator"&s(r +31 "core" ( + "manipulator"&q& +4 "core" &{ H +2 "storage"(n& +4 "core" &[ { \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& +2 "storage"(e' +7 "core" &{  R H +2 "manipulator"&% +4 "core" % Ϭ % +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&u& +4 "core" &ӏ! S <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &ӏ# u <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +3 "manipulator"& & +3 "core" &Ӑ" U ;8 +2 "manipulator"& % +4 "core" %A U  +2 "collection"'f& +4 "core" & m\ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & \ +7 & 4 \ $d +10 &Vx \ 6 +9 &| \ K +10 &[ \ L +9 &pU \ L +9 &3W \ K +10 &X \ L +9 &Y \ L +9 &xZ \ L +10 &;W \ K +9 &X v\ L +9 &!Z ~\ L +10 &#\\ u\ L +9 &%BU t\ L +10 &'V o\ K +9 &(W x\ K +9 &*W v\ K +10 &,KX w\ K +9 &. W w\ K +9 &/W x\ K +10 &1X v\ K +9 &3RW v\ L +10 &5Z j\ L +9 &6U o\ L +9 &8W t\ K +10 &:[X o\ K +9 &<Y m\ L +9 &=\\ _\ L +10 &?[ _\ L +9 &Aa\\ [\ L +10 &C!c n\ M +9 &Di d\ N +9 &Fw a\ O +10 &HU\ \ \ a\ S +9 &J \ \ g\ W +9 &K\ \ i\ W +10 &M\ \ b\ X +9 &ON\ \ c\ X +10 &Q\ \ h\ X +9 &R\ \ c\ Y +9 &T\ \ b\ Y +10 &VP\ \ h\ Z +9 &X\ \ g\ [ +9 &Y\ \ b\ \\ +10 &[\ \ g\ I +9 &\\B\ \ d\ %q +10 &\\\ \ h\ ] +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"& 1 +62 "core" 1 +2 "manipulator"&#% +3 "core" % A U  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &L\ +2 "manipulator"&% +3 "core" %  7  +2 "storage"({% +4 "core" % : ; f\  +2 "storage"(,. +2 "core" .([ +2 "storage"(/& +4 "core" &[ < < O\ +2 "storage"((& +4 "core" &[ < < h\ +2 "manipulator"&& +4 "core" & : ) + "manipulator"&'% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&)(r +152 "core" ( +2 "manipulator"&& +4 "core" &{ C  +2 "storage"(& +4 "core" &[ \\ ^ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&\ '= +97 "core" ' +9 "storage"(& +4 "core" &[ \\ _ c\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &[ J P L\ +2 "manipulator"&& +4 "core" &{ +  +2 .tElbow.seek 7 +2 "manipulator"&%(r +3 "core" ( +2 "manipulator"&$& +4 "core" &{ "  +2 "storage"(& +3 "core" &[ < ; J\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&0'ϧ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +3 "storage"(:' +8 "core" &{ b  + "manipulator"&% +4 "core" % Ϡ [ +2 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&.( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&;& +4 "core" & q @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" & G @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +92 "core" ' +2 "manipulator"&B& +3 "core" & Q @ +2 "manipulator"&*% +4 "core" % 6 R +2 "processing"%& +4 "core" &N\ +2 "processing"%9& +5 "core" &;\ +3 .tPC.seek :closed + "processing"%+(^ +5 "core" &P\  +8 &1wO\ )w +10 &cR\ > +9 &qwJ\ N +9 &1ZT\ N +10 &[J\ N +9 &ZU\ N +9 &x]R\ N +10 &:[O\ N +9 &\\Q\ N +10 &\\P\ N +9 & \\Q\ N +9 &"B[G\ N +10 &$\\@\ N +9 &%ZA\ N +9 &'[@\ N +10 &)J[A\ N +9 &+ Z@\ N +10 &,\\?\ N +9 &.Z?\ N +9 &0RZA\ N +10 &2Y@\ N +9 &3Y=\ N +9 &5Y?\ N +10 &7[Z@\ N +9 &9]9\ N +10 &:\\?\ N +9 &<]?\ N +9 &>`]2\ O +10 &@"\\:\ O +9 &A`=\ O +9 &Ch;\ P +10 &Edk2\ P +9 &G"w1\ Q +10 &H2\ S +9 &J6\ T +9 &L`-\ T +10 &N2\ U +9 &O3\ U +9 &Q2\ U +10 &Sf5\ U +9 &U&4\ U +10 &V1\ U +9 &X5\ U +9 &Zm0\ U +10 &\\-1\ V +9 &]{u1\ @ +9 &^L/\ D +10 &^ u1\ 7 +9 ( + &^(\ / +3 "processing"%9& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +5 "core" % \   R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +90 "core" ' +2 "processing"%H& +3 "core" &^\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&A% +4 "core" %  \   +2 "storage"(L% +4 "core" % G F \  + "storage"(O. +3 "core" .([ +2 "storage"(@& +4 "core" &[ F E \ +2 "storage"(F& +3 "manipulator"&~& +6 "core" &[ D G @\ + & \  @ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&I( +2 "storage"(U'r +5 "core" ( +2 "manipulator"&5& +4 "core" & \  @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &  @ +2 .tForearm.seek PC +2 "manipulator"&6' +96 "core" ' +2 .tHand.close + "manipulator"& Q 9\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&R'= +13 "core" ' +2 "storage"(% +4 "core" % ? I ?\ +3 ."downElevator"SE.seek :down +3 "storage"(o' +99 ( % +2 "core" %XP " " D\ Xe +3 "manipulator"&\\% +3 "core" %O  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (|& +3 "core" &[ E G \ +2 "collection"'}& +4 "core" &\\\ 2\ ] +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&r% +4 "core" %  Z  +2 "storage"(X% +4 "core" % : ; z\  +2 "storage"(t. +2 "core" .([ +2 "storage"(z& +4 "core" &[ : : _\ +2 "storage"(!& +4 "core" &[ < F K\ +2 "manipulator"&w& +3 "core" &k  T +2 .tElbow.seek 7 +2 "manipulator"&q(r +4 "core" ( + "manipulator"&n& +4 "core" &k f T +2 "storage"(]& +3 "core" &[ > T \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&l'= +93 "core" ' + "storage"(& +4 "core" &[ ^ [ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(y'r +310 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" &k w T +2 "storage"(i& +4 "core" &[ E G 3\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 'k +29 "core" ' + "manipulator"&s% +4 "core" %΍ +2 "storage"(f& +3 "core" &[ D D \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts + "manipulator"&e'Ϲ +14 "core" ' +2 "manipulator"&& +4 "core" &k T +2 "storage"(& +3 "core" &[ \\ [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& '= +52 "core" ' +10 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(#' +34 "core" ' + "manipulator"&& +4 "core" &k t T +2 "manipulator"&% +4 "core" %M ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,(ӂ +153 "core" ( + "manipulator"&/& +4 "core" &Ӕ& ; ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӕ& N ?R +2 .tForearm.seek CC +2 "manipulator"&('? +98 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"''( +448 "core" ( + "storage"(& +4 "core" &[ k p *\ +2 "storage"(& +3 "core" &[ ^ o \ +2 "manipulator"&& +4 "core" & 1 +2 "manipulator"&% +4 "core" % λ ( +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&&(r +150 "core" ( +2 "manipulator"&& +4 "core" &y   + "storage"(3& +4 "core" &[ k u #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&7% +4 "core" % ΄  % +2 "storage"(8& +3 "core" &[ ~ x |\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 309 counts + "manipulator"&'ϰ +14 "core" ' +2 "manipulator"&)& +4 "core" &y  +2 "storage"(\ & +3 "core" &[ w f\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& '= +16 "core" ' +2 "storage"(0% +4 "core" % y \ +3 ."downElevator"SE.seek :down +3 "storage"(;' +99 (1% +2 "core" %F  ~ \ V` +3 "manipulator"&%% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'*& +3 "core" & F\ +2 "manipulator"&% +4 "core" %   \  +2 "storage"(:% +5 "core" % m y F\  +2 "storage"(". +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(x(<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<- \\ [ \ +3 "manipulator"&& +3 "core" &y [  +2 .tElbow.seek 5 +2 "manipulator"&H( +26 "core" ( +2 "manipulator"&A& +3 "core" &  1 +2 "storage"(L& +4 "core" &<- ~ q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +94 "core" ' +2 "storage"(@& +4 "core" &<- }\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +296 "core" ' +2 "storage"(~- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (9& +2 "core" &<- | s )\ +3 "manipulator"&5& +3 "core" & M 1 +2 .tElbow.seek 5 +2 "manipulator"&-( +26 "core" ( +2 "manipulator"&?& +4 "core" &  r +2 "storage"(<& +4 "core" &<- ~ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&='Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&./ +102 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&4& +2 "storage"(+' +6 "core" & L +2 "manipulator"&U% +4 "core" %  a +2 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +2 "manipulator"&D& +5 "core" &Ӑ# . <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &Ӑ# F <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'? +93 "core" ' +3 "manipulator"&K& +4 "core" &Ӑ# <; +2 "manipulator"&I% +4 "core" %G < @ +2 "collection"'d& +4 "core" & \ +3 "collection"'N& +5 "core" & l\ +2 .tCC.seek :closed +2 "collection"'Q(\\ +3 "core" & \  +10 &4{ \ *y +9 & f \ > +9 &o \ L +10 &XW \ K +9 &Y \ L +9 &Y \ L +10 &Y \ L +9 &`W \ K +10 &"\\ \ K +9 &Y \ K +9 & W \ L +10 &"hX \ K +9 &$*U \ K +9 &%U \ K +10 &'Z \ K +9 &)oW \ L +10 &+2W y\ K +9 &,T x\ K +9 &.Y m\ K +10 &0wY o\ L +9 &29X u\ L +9 &3Y w\ K +10 &5V q\ K +9 &7V v\ K +10 &9BU x\ K +9 &;Z y\ K +9 &<W w\ L +10 &>Y w\ L +9 &@IZ w\ L +9 &B Y t\ L +10 &C_ v\ L +9 &Ek w\ N +10 &GHt w\ O +9 &I\  v\ R +9 &J\ \ w\ W +10 &Lu\ \ v\ W +9 &N4\ \ s\ X +9 &O\ \ v\ Y +10 &Q\ \ u\ Y +9 &Sv\ \ j\ Z +10 &U7\ \ k\ Z +9 &V\ \ n\ Z +9 &X\ \ p\ [ +10 &Zw\ \ m\ \\ +9 &\\z\ \ o\ 0 +9 &\\2\ \ i\ ^ +9 ( +2 &\\c\ \ i\ M +2 "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&Z1 +53 "core" 1 +2 "manipulator"&J% +4 "core" % G 9 @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%a& +3 "core" &P\ +2 "manipulator"&_% +3 "core" %   +3 "storage"(G% +3 "core" % S Z C\  +2 "storage"(p. +3 "core" .(<- +2 "storage"(M& +4 "core" &<- V H \ + "storage"(E& +4 "core" &<- > < ;\ +2 "manipulator"&v& +4 "core" &Ӯ s 8 +2 "manipulator"&m% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&W( +178 "core" ( +2 "manipulator"&`& +3 "core" &  ! +2 "storage"(& +4 "core" &<- k i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +96 "core" ' + "storage"(b& +4 "core" &<- ^ f X\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(g'r +297 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" &<- E @ \ +2 "manipulator"&C& +4 "core" & [ ! +2 .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&[& +4 "core" &  ! +2 "storage"(V& +4 "core" &<- [ [ \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&|'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& + "storage"(r' +8 "core" & L ! +2 "manipulator"&X% +3 "core" %  ^ y +2 .tForearm.seek :retract +2 "manipulator"&t' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&z& +4 "core" & b 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &!& +2 "core" &  5 +42 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&w' +98 "core" ' + "manipulator"&n& +4 "core" & J 5 +2 "manipulator"&]% +4 "core" % 5 * +2 "processing"%R& +4 "core" &<\ +3 "processing"%& +4 "core" &K\ +3 .tPC.seek :closed +2 "processing"%o(^ +3 "core" &L\ +7 &5S\ #b +10 &UQ\ 7 +9 &L\ L +9 &YN\ N +10 &_YR\ N +9 &"WO\ N +10 &ZP\ N +9 &ZQ\ N +9 &i\\R\ N +10 &+ZN\ N +9 &]Q\ N +9 &!YP\ M +10 &#qZO\ N +9 &%3]K\ N +10 &&YH\ N +9 &(ZO\ N +9 &*zZA\ M +10 &,;Z@\ N +9 &-YD\ M +9 &/[B\ N +10 &1Z?\ N +9 &3CWA\ N +10 &5YA\ M +9 &6Z?\ N +9 &8ZA\ N +10 &:KY@\ N +9 &< \\@\ N +9 &=Z@\ N +10 &?ZA\ N +9 &AR\\A\ N +10 &CdB\ O +9 &DhA\ P +9 &Fm@\ P +10 &HN}?\ R +9 &J\ @\ T +9 &KA\ T +10 &M@\ U +9 &OP;\ T +10 &Q@\ U +9 &R?\ U +9 &T;\ U +10 &VV=\ U +9 &X7\ U +9 &Y?\ U +10 &[;\ U +9 &][3\ C +10 &^J|6\ R +9 &^X*\ 2 +5 ( +2 "processing"%& +4 "core" &^%+\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&T1 +58 "core" 1 +2 "manipulator"&h% +4 "core" %   + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%u& +4 "core" &^$\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&i% +4 "core" %    +2 "storage"( % +4 "core" % Q G g\  +2 "storage"(s. +2 "core" .(<- +2 "storage"(f& +4 "core" &<- B 8 ^\ +3 "storage"(& +2 "manipulator"&& +7 "core" &<- < N\ + &  5 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +3 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" ( +3 "manipulator"&l& +3 "core" &  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &  5 +2 .tForearm.seek PC +2 "manipulator"&y' +94 "core" ' +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%e( +97 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/'1 +51 "core" ' +297 ( +2 "storage"(& +3 "core" &<, h ^ \ +2 "manipulator"& & +4 "core" & h 5 +2 "manipulator"&% +3 "core" %  7 G +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&{( +243 "core" ( +2 "manipulator"&& +3 "core" & M +2 "storage"(& +4 "core" &<, = ? \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(3' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"((- +2 "core" -' +2 "storage"(,& +4 "core" &<, \ +2 "manipulator"&& +4 "core" &  M +2 .tElbow.seek 5 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&8& +4 "core" &   M +2 "storage"()& +4 "core" &<, c\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +12 "core" ' +42 .tSE.reconfigure :gently +9 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(0'" +51 "core" ' + "manipulator"&& +4 "core" & P M +2 "storage"(1& +4 "core" &<, S < J\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&%'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&*% +4 "core" %Π L & +2 "storage"(& +4 "core" &<, \\ Z\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&:& +4 "core" & X L +2 "storage"("& +4 "core" &<, [ \\ 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +15 "core" ' +2 "storage"( % +4 "core" % i i \ +3 ."downElevator"SE.seek :down +3 "storage"(;' +99 (>% +4 "core" %nL C E\ Wd +2 "manipulator"&% +3 "core" %: ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (A& +3 "core" &<, \\ e \ +2 "collection"'L& +4 "core" &\\b o\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&@% +3 "core" %  +  +2 "storage"($% +4 "core" % j i \  +2 "storage"(B. +3 "core" .(<- +2 "storage"(~& +3 "core" &<, j f \ +2 "storage"(9& +4 "core" &<, i i \ +2 "manipulator"&5& +3 "core" & 3 L +2 .tElbow.seek 5 +2 "manipulator"&?( +4 "core" ( + "manipulator"&<& +4 "core" & n L +2 "storage"(.& +3 "core" &<, k k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +95 "core" ' +2 "storage"(U& +3 "core" &<, [ ^ ,\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +298 "core" ' + "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" & g L +2 "storage"(6& +4 "core" &<, \\ ^ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&F'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(K- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(I'c +33 "core" ' + "manipulator"&d% +4 "core" %Ή V  +2 "storage"(-& +3 "core" &<, g \\\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 296 counts +2 "manipulator"&+'ϵ +13 "core" ' +2 "manipulator"&^& +4 "core" & t J +2 "storage"('& +4 "core" &<, b g a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +22 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(J' +37 "core" ' + "manipulator"&a& +4 "core" & @ J +2 "manipulator"&_% +3 "core" %R V  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +146 "core" ( +2 "manipulator"&M& +3 "core" &x. ] E~ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &x.  E~ +49 .tForearm.seek CC +2 "manipulator"&N'? +93 "core" ' +2 .tHand.close +2 "manipulator"&v/ +54 "core" / +2 .tCC.seek :open +2 "collection"'m( +448 "core" ( +2 "storage"(S& +3 "core" &<,   \ +2 "storage"(`& +4 "core" &<, t q \ +2 "manipulator"&& +4 "core" &Ӵ$ 9 =B +2 "manipulator"&b% +3 "core" % 3 } ( +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&k( +163 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"(\\& +4 "core" &<, h h V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&C'΍ +92 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&V1 +55 "core" 1 +2 "manipulator"&c% +4 "core" % Ν ! G +2 "storage"(}& +4 "core" &<, z\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&X' +13 "core" ' +2 "manipulator"&W& +4 "core" & 0  +2 "storage"(Y& +3 "core" &<, i\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +15 "core" ' +2 "storage"(|% +3 "core" % k\ +3 ."downElevator"SE.seek :down +4 "storage"(z' +98 (!% +3 "core" %D k s \ V` +2 "manipulator"&j% +3 "core" %3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"']& +3 "core" & z\ +2 "manipulator"&R% +4 "core" %  @  +2 "storage"(r% +3 "core" % q h '\  +2 "storage"(t. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(2(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &K ] f D\  +2 "manipulator"&h& +3 "core" & _  +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&i& +4 "core" &  +2 "storage"( & +3 "core" &K  x f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +99 "core" ' + "storage"(f& +4 "core" &K r\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +293 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K l w W\  +2 "manipulator"&l& +4 "core" & .  +2 .tElbow.seek 6 +2 "manipulator"&q( +2 "core" ( +2 "manipulator"&w& +4 "core" &  +2 "storage"(& +4 "core" &K q \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(o' +6 "core" &   +2 "manipulator"&% +4 "core" % π X +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +46 .tElbow.seek CC +3 "manipulator"& (ӂ +104 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +53 "core" ( +2 "manipulator"&& +3 "core" &ӏ& ^ ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &ӏ& _ ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +3 "manipulator"&& +4 "core" &ӏ& x ?V +2 "manipulator"&% +4 "core" %B  +2 "collection"'& +4 "core" & j\ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'((\\ +5 "core" & \ +6 &< \ %f +9 &Y} \ 7 +10 &{ }\ K +9 &W |\ K +10 &W }\ K +9 &GU \ K +9 & Z \ K +10 &Y \ K +9 &W \ L +9 &OW \ K +10 & Y \ K +9 &!W }\ K +10 &#Z ~\ K +9 &%WW \ K +9 &'Y ~\ K +10 &(W {\ K +9 &*W \ K +9 &,`Z s\ K +10 &."W r\ K +9 &/W {\ K +10 &1Z r\ K +9 &3gX n\ K +9 &5)X o\ K +10 &6U k\ K +9 &8X k\ K +9 &:oZ v\ K +10 &<1Y w\ K +9 &=X x\ L +10 &?X m\ K +9 &AwW p\ K +9 &C7] p\ L +10 &Df v\ M +9 &Fo u\ N +9 &Hp\ w\ P +10 &J&\ \ w\ U +9 &K\ \ w\ W +10 &M\ \ x\ W +9 &Oc\ \ u\ X +9 &Q%\ \ w\ X +10 &R\ \ o\ X +9 &T\ \ v\ X +9 &Vd\ \ v\ Z +10 &X%\ \ m\ Z +9 &Y\ \ k\ [ +10 &[\ \ r\ H +9 &\\1\ \ t\ 1 +9 &\\c\ \ t\ K +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&,1 +62 "core" 1 + "manipulator"&% +4 "core" % B C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%)& +4 "core" &N\ +2 "manipulator"&% +4 "core" %  F  +2 "storage"(% +3 "core" % [ [\  +2 "storage"(1. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(/(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K !  f\  +2 "manipulator"&*& +3 "core" &ӫ# k <: +2 "manipulator"&% +4 "core" %  U  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&:( +167 "core" ( + "manipulator"&"& +4 "core" &  +2 "storage"( & +4 "core" &K f h *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&{' +96 "core" ' + "storage"(& +4 "core" &K ^ ^ ;\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(3'r +307 "core" ' + "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &K U = ]\  +2 "manipulator"&\ & +4 "core" & f  +2 .tElbow.seek 6 +2 "manipulator"&7( +2 "core" ( +2 "manipulator"&0& +4 "core" & &  +2 "storage"(%& +3 "core" &K [ [\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&A'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +3 "storage"(@' +5 "core" & S  +2 "manipulator"&$% +5 "core" % ψ G +2 .tForearm.seek :retract +2 "manipulator"&B' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&~& +4 "core" & ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&5' +91 "core" ' + "manipulator"&<& +4 "core" & +2 "manipulator"&.% +48 "core" %  K +5 "processing"%#& +4 "core" &<\ +3 "processing"%U& +5 "core" &P\ +2 .tPC.seek :closed +2 "processing"%;(^ +5 "core" &R\ +5 &.S\ #b +10 &U}N\ 7 +9 &~|N\ K +9 &ZN\ N +10 &]YR\ N +9 & YJ\ M +9 &[G\ N +10 &YF\ N +9 &fXA\ M +10 &'Y@\ N +9 &Y@\ M +9 &!X?\ N +10 &#mW@\ N +9 &%/Y@\ N +9 &&]>\ N +10 &(ZA\ M +9 &*uZD\ N +10 &,7Y?\ N +9 &-Y@\ M +9 &/ZA\ N +10 &1}X@\ N +9 &3@YA\ M +9 &5[A\ N +10 &6Y=\ M +9 &8Z?\ N +10 &:GW@\ N +9 &< [@\ N +9 &=Y@\ N +10 &?Z<\ M +9 &AN\\<\ N +9 &C e:\ O +10 &Dh8\ O +9 &Fq9\ P +10 &HI?\ R +9 &J4\ T +9 &K0\ T +10 &M8\ T +9 &OL3\ T +9 &Q 1\ U +10 &R1\ T +9 &T0\ U +10 &VQ3\ U +9 &X2\ U +9 &Y+\ U +10 &[2\ U +9 &]V1\ E +9 &^z@q1\ 's +10 &^'4\ , +5 ( +2 "processing"%U& +4 "core" &^2\ , +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&&1 +58 "core" 1 +2 "manipulator"&% +3 "core" %   K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +91 "core" ' +2 "processing"%D& +3 "core" &^4\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&6% +3 "core" %    +2 "storage"(K% +4 "core" % [ Z\  +2 "storage"(d. +2 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(-(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (^& + "manipulator"&'& +6 "core" &K E B Q\  +2 &  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&a( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(_'r +3 "core" ( +2 "manipulator"&4& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" & \  +2 .tForearm.seek PC +2 "manipulator"&H' +94 "core" ' +2 .tHand.close +2 "manipulator"&F/ +54 "core" / +2 .tPC.seek :open +2 "processing"%+( +96 "core" ' +2 "storage"(M- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(I'1 +41 "core" ' +304 ( +2 "storage"(E& +4 "core" &K [ Z\  +2 "manipulator"&Z& +3 "core" &  +2 "manipulator"&=% +4 "core" %  ^ D +2 .tForearm.seek :retract +2 "manipulator"&v' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&G( +238 "core" ( +2 "manipulator"&Q& +4 "core" & P > +2 "storage"(S& +3 "core" &K D ; \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +93 "core" ' +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(b- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(\\' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(p& +3 "core" &K | x G\  +2 "manipulator"&V& +4 "core" &  = +2 .tElbow.seek 6 + "manipulator"&c( +3 "core" ( +2 "manipulator"&}& +4 "core" &  \  = +2 "storage"(W& +3 "core" &K p\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +51 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(|'" +52 "core" ' +2 "manipulator"&& +3 "core" & 0 = +2 "storage"(!& +4 "core" &K G Q (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&j'< +25 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(C' +18 "core" ' +2 "manipulator"&]% +3 "core" %O x u +2 "storage"(R& +4 "core" &K F G \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&X'{ +14 "core" ' + "manipulator"&r& +4 "core" & B = +2 "storage"(t& +3 "core" &K [ [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +15 "core" ' +2 "storage"(g% +4 "core" % g ^ \ +3 ."downElevator"SE.seek :down +3 "storage"(z' +99 (x% +4 "core" %"L ' D \ We +2 "manipulator"&T% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (i& +3 "core" &K I O '\  +2 "collection"' & +4 "core" &\\b\ s\ K +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&f% +3 "core" %  T  +2 "storage"([% +4 "core" % i i \  +2 "storage"(n. +2 "core" .(K +2 "storage"(& +4 "core" &K ` \\ f\  +2 "storage"(& +4 "core" &K f h @\  +2 "manipulator"&l& +3 "core" & = +2 .tElbow.seek 6 +2 "manipulator"&w( +4 "core" ( + "manipulator"&& +4 "core" &  = +2 "storage"(P& +4 "core" &K h h e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(& +4 "core" &K \\ e \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(u'r +297 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & f = +2 "storage"( & +4 "core" &K ^ \\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +23 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('r +29 "core" ' + "manipulator"&% +4 "core" %M [ +2 "storage"(q& +3 "core" &K S I 1\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 317 counts + "manipulator"&o'y +14 "core" ' +2 "manipulator"&& +4 "core" & = + "storage"(m& +4 "core" &K h f 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +42 "core" ' + "manipulator"&)& +4 "core" & " = +2 "manipulator"&% +3 "core" % @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +151 "core" ( + "manipulator"&& +4 "core" &ӏ% - >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӏ% I >I +3 .tForearm.seek CC +3 "manipulator"&*'? +144 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"("& +4 "core" &K ^ l \  +2 "storage"( & +4 "core" &K ^ [ H\  +2 "manipulator"&2& +3 "core" &ӯ  9) +2 "manipulator"&% +4 "core" % 5 d +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&8( +163 "core" ( +2 "manipulator"&>& +4 "core" &  +2 "storage"(& +4 "core" &K } i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&\ '< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +53 "core" 1 +2 "manipulator"&% +4 "core" % : 4 +2 "storage"(L& +3 "core" &K h j \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 298 counts + "manipulator"&$'f +14 "core" ' +2 "manipulator"&:& +4 "core" &  +2 "storage"({& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +15 "core" ' + "storage"(A% +4 "core" % `\ +3 ."downElevator"SE.seek :down +4 "storage"(~' +98 (9% +3 "core" %G j p d\ Va +2 "manipulator"&7% +4 "core" % q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'.& +3 "core" & Z\ +2 "manipulator"&#% +4 "core" %    +2 "storage"(@% +5 "core" % \  +2 "storage"(B. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(e([ +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (&& +2 "core" &[ \\ \\\  +3 "manipulator"&& +3 "core" & V  +3 .tElbow.seek 7 + "manipulator"&D(r +35 "core" ( +2 "manipulator"&6& +4 "core" &  +2 "storage"(K& +4 "core" &[ g h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'= +100 "core" ' + "storage"(U& +4 "core" &[ f\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +293 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (4& +2 "core" &[ s } \  +3 "manipulator"&?& +3 "core" & /  +3 .tElbow.seek 7 +2 "manipulator"&5(r +24 "core" ( +2 "manipulator"&F& +4 "core" &p  ` +2 "storage"(/& +3 "core" &[ |\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&M'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(;' +8 "core" &p  c ` + "manipulator"&_% +4 "core" % Ϧ +2 .tForearm.seek :retract +2 "manipulator"&E' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +151 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&=& +4 "core" &Ӗ# M <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &Ӗ#  <> +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'? +92 "core" ' +2 "manipulator"&S& +4 "core" &ӗ# <= +2 "manipulator"&a% +4 "core" %B 0 P +2 "collection"'& +4 "core" & \ +3 "collection"'b& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'N(\\ +5 "core" & \  +8 &4{ \ *y +9 &\ f \ > +10 &n \ L +9 &ZT \ J +9 &W \ K +10 &U \ K +9 &W \ K +9 &aW \ K +10 &"X \ K +9 &V \ K +10 & V x\ K +9 &"hV \ K +9 &$*W \ K +10 &%W \ K +9 &'T \ K +9 &)qV {\ K +10 &+2Z ~\ K +9 &,X \ K +10 &.W {\ K +9 &0xU {\ K +9 &2;T v\ K +10 &3X r\ K +9 &5W l\ K +9 &7W m\ K +10 &9CV p\ K +9 &;W k\ K +10 &<Y r\ L +9 &>Z w\ K +9 &@KY v\ K +10 &B \\ v\ L +9 &C` q\ L +9 &Ek v\ N +10 &GE~ u\ P +9 &H\ \ u\ T +10 &J\ \ v\ V +9 &Lu\ \ t\ W +9 &N7\ \ v\ W +10 &O\ \ v\ X +9 &Q\ \ v\ Y +9 &Sy\ \ v\ Y +10 &U9\ \ w\ Y +9 &V\ \ s\ Z +10 &X\ \ w\ [ +9 &Zz\ \ u\ [\ +9 &\\x\ \ w\ 0 +10 &\\1\ \ v\ ] +8 ( +4 "collection"'b& +2 "core" &\\e\ \ \ x\ N +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&p1 +52 "core" 1 +2 "manipulator"&V% +4 "core" % D  N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%W& +4 "core" &;\ +2 "manipulator"&v% +3 "core" %  ]  +2 "storage"(% +4 "core" % [ [\  +2 "storage"(!. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(I([ +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +3 "core" &[   -\  +2 "manipulator"& & +4 "core" & / * +2 "manipulator"&R% +4 "core" %  $  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&r(r +162 "core" ( + "manipulator"&t& +4 "core" &g V  +2 "storage"(g& +3 "core" &[ h i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&G'= +98 "core" ' +2 "storage"(`& +4 "core" &[ ] ^ h\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\\'r +297 "core" ' +2 "storage"(x- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &[ Z f\  +2 "manipulator"&Y& +4 "core" &g H  +2 .tElbow.seek 7 + "manipulator"&c(r +21 "core" ( +2 "manipulator"&|& +3 "core" &h\  2 !t +2 "storage"(j& +4 "core" &[ e ^ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&i'ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(f' +8 "core" &h\  | !t + "manipulator"&[% +4 "core" %  [ u +2 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +2 "manipulator"&& +5 "core" & K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l' +99 "core" ' +2 "manipulator"&& +3 "core" & L +2 "manipulator"&P% +4 "core" % / +46 "processing"%J& +7 "core" &9\ +3 "processing"%& +4 "core" &@\ +3 .tPC.seek :closed + "processing"%z(^ +4 "core" &S\  +9 &1wV\ )w +9 &cR\ > +10 &suO\ O +9 &7WV\ N +9 &XP\ M +10 &UR\ N +9 &}XT\ N +9 &@XO\ M +10 &YM\ N +4 "Can" YL! +5 "core" &WL\ N +10 & YN\ M +9 &"GXH\ N +9 &$ W@\ N +10 &%WF\ M +9 &'Y@\ N +9 &)OW9\ N +10 &+XB\ N +9 &,\\@\ N +10 &.UA\ N +9 &0WW@\ N +9 &2VA\ N +10 &3Z>\ M +9 &5WA\ N +9 &7`WA\ M +10 &9!ZA\ N +9 &:]A\ N +10 &<\\A\ N +9 &>g^@\ N +9 &@)]A\ N +10 &Ac@\ N +9 &Cf@\ O +10 &Eik@\ P +9 &G's<\ Q +9 &H@\ S +10 &J@\ T +9 &Lg>\ S +9 &N%@\ T +10 &O9\ T +9 &Q8\ U +9 &Sk=\ T +10 &U+4\ U +9 &V2\ T +10 &X1\ U +9 &Zq1\ U +9 &\\33\ U +10 &]{w2\ < +9 &^(p2\ R +9 &^&1\ 2 +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&k1 +55 "core" 1 + "manipulator"&h% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +97 "core" ' + "processing"%& +4 "core" &^"1\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"& % +4 "core" %   l +2 "storage"(% +4 "core" % W I 4\  +2 "storage"(. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(q([ +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &[ ; ! Y\  +3 "manipulator"&m& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&)( +2 "storage"('r +4 "core" ( +2 "manipulator"&& +5 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&u' +91 "core" ' +2 .tHand.close + "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%o( +96 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +310 ( +2 "storage"(& +4 "core" &[ j k t\  +2 "manipulator"&,& +4 "core" &  +2 "manipulator"&y% +4 "core" %  B f +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +240 "core" ( +2 "manipulator"&(& +3 "core" &o a N +2 "storage"("& +4 "core" &[ h h o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +99 "core" ' + .tHand.open +2 "manipulator"&21 +53 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(>' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +4 "core" -' + "storage"(1& +4 "core" &[ \  +2 "manipulator"&%& +4 "core" &p  : M +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( + "manipulator"&L& +4 "core" &p  ' M +2 "storage"(:& +4 "core" &[ +\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&{'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(A'" +97 "core" ' +2 "manipulator"& & +3 "core" &p  M +3 "storage"(9& +3 "core" &[ R R 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&7'{ +14 "core" ' + .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\ ' +18 "core" ' +2 "manipulator"&.% +4 "core" %΋ \\ / +2 "storage"(#& +3 "core" &[ ; < N\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 316 counts + "manipulator"&$'Ϸ +14 "core" ' + "manipulator"&@& +4 "core" &p e M +2 "storage"(B& +4 "core" &[ Z Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +16 "core" ' + "storage"(3% +4 "core" % [ ^ \ +3 ."downElevator"SE.seek :down +4 "storage"(~' +98 (-% +3 "core" %`N D D \ Wd +2 "manipulator"&&% +4 "core" %' K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (6& +3 "core" &[ Q G I\  +2 "collection"'K& +4 "core" &\\e\ \ O\ N +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&U% +3 "core" %  R  +2 "storage"(0% +4 "core" % ] [\  +2 "storage"(<. +2 "core" .([ +2 "storage"(^& +4 "core" &[ e ^\  +2 "storage"(4& +4 "core" &[ \\ Z\  +2 "manipulator"&?& +3 "core" &p W M +3 .tElbow.seek 7 + "manipulator"&F(r +5 "core" ( + "manipulator"&/& +4 "core" &p R M +2 "storage"(& +4 "core" &[ [ d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&O'= +102 "core" ' +2 "storage"(_& +3 "core" &[ f h A\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +298 "core" ' + "storage"(d- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &p q M +2 "storage"(H& +3 "core" &[ Z [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&''{ +14 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(S- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(a'k +33 "core" ' +2 "manipulator"&% +3 "core" %΋ O ? +2 "storage"(5& +4 "core" &[ = < \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&;'Ϸ +15 "core" ' + "manipulator"&E& +4 "core" &p e M +2 "storage"(& +4 "core" &[ h h +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&p'= +20 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(V' +35 "core" ' + "manipulator"&W& +4 "core" &p M +2 "manipulator"&v% +4 "core" %3 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!(ӂ +151 "core" ( +2 "manipulator"&b& +3 "core" &ӊ+ } Cn +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &ӊ+ S Cn +2 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' +47 .tHand.close +2 "manipulator"&R/ +59 "core" / +2 .tCC.seek :open +2 "collection"'Q( +448 "core" ( + "storage"(t& +4 "core" &[ ~ e\  +2 "storage"(g& +4 "core" &[ ~  W\  +2 "manipulator"&e& +3 "core" & < 1 +2 "manipulator"&`% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&Z' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&}(r +178 "core" ( +2 "manipulator"&x& +3 "core" &  +3 "storage"(T& +3 "core" &[ ~ %\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&Y'{ +95 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +52 "core" 1 +3 "manipulator"&X% +4 "core" % ΁  \ 2 +2 "storage"( & +3 "core" &[ h h {\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 306 counts + "manipulator"&['ϭ +14 "core" ' +2 "manipulator"&r& +4 "core" &   +2 "storage"(G& +4 "core" &[ b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +17 "core" ' + "storage"(i% +4 "core" % z\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %B _ o J\ U^ +2 "manipulator"&c% +4 "core" % / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'P& +3 "core" & [\ +2 "manipulator"&J% +4 "core" %  =  +2 "storage"(f% +4 "core" % %\  +2 "storage"(n. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(+(<- +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" &O +2 "manipulator"&)% +4 "core" %4  ~ +2 "collection"'2& +5 "core" & m\ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'*(\\ +4 "core" & \ +7 &< \ %f +9 &Z} \ 7 +10 &y \ K +9 &U \ K +9 &Z \ K +10 &KV \ K +9 & V \ K +9 &W \ K +10 &U \ K +9 &TU \ K +10 & Y \ K +9 &!U \ K +9 &#W \ K +10 &%\\V \ K +9 &'V \ K +10 &(U \ K +9 &*U \ K +9 &,dV \ K +10 &.&V \ K +9 &/U \ K +9 &1Z z\ L +10 &3kU z\ K +9 &5/S \ J +9 &6Y \ K +10 &8V o\ K +9 &:tV y\ K +10 &<5U \ K +9 &=X u\ K +9 &?X m\ K +10 &A{Y y\ K +9 &C=\\ o\ K +10 &Df l\ M +9 &Fk p\ N +9 &Hr w\ Q +10 &J)\ \ n\ U +9 &K\ \ t\ W +9 &M\ \ w\ X +10 &Oe\ \ v\ X +9 &Q'\ \ x\ X +9 &R\ \ x\ Y +10 &T\ \ w\ Z +9 &Vi\ \ w\ Z +10 &X'\ \ w\ [\ +9 &Y\ \ x\ \\ +9 &[\ \ w\ I +10 &\\/\ \ }\ 2 +9 &\\l\ \ x\ P +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&11 +58 "core" 1 +3 "manipulator"&%% +4 "core" % 4 % ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%:& +3 "core" &>\ +2 "manipulator"&% +4 "core" %   +2 "storage"( % +4 "core" % I S "\  +2 "storage"(9. +2 "core" .(<- +2 "storage"(& +4 "core" &<- 4 9 s\ +2 "storage"(.& +3 "core" &<- J Z ~\ +2 "manipulator"&#& +4 "core" &ӭ% >N +2 "manipulator"&>% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&@( +166 "core" ( + "manipulator"&B& +4 "core" & J  +2 "storage"(3& +3 "core" &<- i i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' +2 "storage"( & +3 "core" &<- n  {\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +2 "core" &<- D D \ +2 "manipulator"&{& +4 "core" & 0  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&A& +3 "core" &   +2 "storage"(7& +4 "core" &<- : < L\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&6'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +3 "storage"(U' +7 "core" & M  +2 "manipulator"&0% +4 "core" % ϲ  +2 .tForearm.seek :retract +2 "manipulator"&<' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&\ ( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&^& +4 "core" & * @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" & % @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +92 "core" ' +2 "manipulator"&/& +3 "core" & 1 @ +2 "manipulator"&% +4 "core" % t +2 "processing"%& +4 "core" &B\ +3 "processing"%_& +4 "core" &R\ +2 .tPC.seek :closed +2 "processing"%~(^ +51 "core" &P\ +5 &8V\ #c + &U}X\ 7 +2 &{S\ K + &YR\ N + &`UQ\ N + &"WR\ N +6 &YO\ N +9 &VP\ M +10 &iZS\ M +9 &*[P\ N +9 &YQ\ N +10 &!US\ M +9 &#qYS\ M +9 &%2[R\ N +10 &&ZQ\ N +9 &([T\ M +10 &*yWR\ M +9 &,;YU\ M +9 &-ZO\ M +10 &/XO\ N +9 &1VS\ M +9 &3CUN\ M +10 &5UD\ N +9 &6ZB\ M +10 &8\\@\ N +9 &:KZA\ M +9 &< ZA\ N +10 &=ZB\ N +9 &?Y@\ M +9 &ASZ@\ M +10 &CcA\ O +9 &DcA\ O +10 &Fo@\ P +9 &HM@\ R +9 &J B\ S +10 &KA\ T +9 &M@\ T +9 &OO>\ T +10 &QA\ U +9 &RA\ U +10 &T>\ U +9 &VW@\ T +9 &XA\ T +10 &Y?\ U +9 &[7\ U +9 &]\\?\ B +10 &^M@\ I +9 &^=\ [ +9 &^-=\ 4 +3 ( +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&81 +61 "core" 1 +2 "manipulator"&% +3 "core" %    t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +92 "core" ' +2 "processing"%=& +4 "core" &^+\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&H% +4 "core" %    +2 "storage"(S% +3 "core" % D D \  +2 "storage"(. +3 "core" .(<- +2 "storage"(5& +4 "core" &<- D D \ +2 "storage"(E& +2 "manipulator"&& +9 "core" &<- D D\ + &   @ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&W( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'r +2 "core" ( +3 "manipulator"&O& +4 "core" &  @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" & \  _ @ +2 .tForearm.seek PC +2 "manipulator"&D' +93 "core" ' +2 .tHand.close + "manipulator"&'/ +58 "core" / +2 .tPC.seek :open +2 "processing"%;( +95 "core" ' + "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'1 +40 "core" ' +309 ( +2 "storage"(]& +3 "core" &<, I [ .\ +2 "manipulator"&p& +4 "core" & C @ +2 "manipulator"&M% +3 "core" %   7 +2 .tForearm.seek :retract +2 "manipulator"&R' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&N& +3 "core" & 2 9 +2 "storage"(t& +4 "core" &<, 9 9 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +91 "core" ' + .tHand.open +2 "manipulator"&e1 +61 "core" 1 +2 "storage"(`- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(x' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(T' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(!& +4 "core" &<, \ +2 "manipulator"&j& +3 "core" &  9 +3 .tElbow.seek 5 + "manipulator"&X( +3 "core" ( +2 "manipulator"& & +4 "core" & ? 9 +2 "storage"(r& +3 "core" &<, \ +3 .tForearm.seek 5 + 450 counts + "manipulator"&G'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(i'" +59 "core" ' +2 "manipulator"&Z& +4 "core" & E 9 +2 "storage"(& +4 "core" &<, J [ +\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&c'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&}, +49 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +28 "core" ' + "manipulator"&P% +4 "core" %Ά Y +2 "storage"(J& +3 "core" &<, S H -\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 293 counts +2 "manipulator"&['ϲ +13 "core" ' +2 "manipulator"&f& +3 "core" & 7 +2 "storage"(n& +4 "core" &<, [ [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&V'O +14 "core" ' +2 "storage"(\\% +4 "core" % ] \\ %\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (q% +3 "core" %gN D D\ We +2 "manipulator"&k% +3 "core" %Z ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &<, V I 6\ +2 "collection"'& +4 "core" &\\f \ O\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  7  +2 "storage"(|% +4 "core" % [ [ \  +2 "storage"(. +2 "core" .(<- +2 "storage"(m& +4 "core" &<, h g \ +2 "storage"(& +4 "core" &<, g f D\ +2 "manipulator"&w& +3 "core" & # 7 +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&I& +4 "core" & I 7 +2 "storage"(C& +4 "core" &<, [ Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +96 "core" ' + "storage"(& +4 "core" &<, h f 9\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" & s 7 +3 "storage"(& +3 "core" &<, \\ Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +13 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"("'c +28 "core" ' +2 "manipulator"&)% +3 "core" %Κ  D +2 "storage"(2& +3 "core" &<, [ [ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts + "manipulator"&z' +13 "core" ' +2 "manipulator"&& +4 "core" &  7 + "storage"(Q& +4 "core" &<, h h d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&1'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(%' +35 "core" ' + "manipulator"&:& +4 "core" & \\ 7 +2 "manipulator"&% +4 "core" %\\ V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9(ӂ +149 "core" ( +2 "manipulator"&& +3 "core" &ӆ(  1 @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &.& +2 "core" &ӆ( < @\\ +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&#/ +52 "core" / +2 .tCC.seek :open +2 "collection"'>( +448 "core" ( +2 "storage"((& +4 "core" &<, t  \ +2 "storage"(B& +3 "core" &<, ~ ~ \ +2 "manipulator"&3& +4 "core" &Ӯ" L ;4 +2 "manipulator"& % +3 "core" % : H  +47 .tForearm.seek :retract +4 "manipulator"&,' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&L( +160 "core" ( +2 "manipulator"&-& +3 "core" & 3  +2 "storage"(&& +4 "core" &<, h h \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&{'΍ +97 "core" ' +2 .tElbow.hold + "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +55 "core" 1 +3 "manipulator"&$% +4 "core" % ΐ { 6 +2 "storage"(K& +3 "core" &<,  \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 303 counts +2 "manipulator"&0'ϼ +14 "core" ' + "manipulator"&@& +4 "core" & 6  +2 "storage"(& +4 "core" &<, f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 "storage"(6% +4 "core" % ^\ +2 ."downElevator"SE.seek :down +5 "storage"(^' +99 (4% +3 "core" %D t k _\ V_ +2 "manipulator"&% +4 "core" %[ Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&% +4 "core" %   +2 "storage"(U% +3 "core" % c\  +3 "storage"(<. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(o(K +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &K ^ g \  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&=( +4 "core" ( + "manipulator"&H& +4 "core" & Q  +2 "storage"(S& +4 "core" &K y y V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(5& +4 "core" &K f\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +293 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" &K v ~ G\  +2 "manipulator"&O& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&F( +2 "core" ( +2 "manipulator"&?& +4 "core" &  +2 "storage"('& +3 "core" &K ~ ~\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'h +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& +2 "storage"(~' +7 "core" &  +2 "manipulator"&v% +3 "core" % ^  d +3 .tForearm.seek :retract +2 "manipulator"&]' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +154 "core" ( +2 "manipulator"&M& +2 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +3 "core" &ӎ( @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &ӎ' @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'? +91 "core" ' +2 "manipulator"&t& +3 "core" &ӏ& U ?V +46 "manipulator"&W% +6 "core" %A 2 q +3 "collection"'e& +4 "core" & n\ +2 "collection"'`& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"' (\\ +5 "core" & \ +7 &< \ $e +9 &Xy \ 7 +10 &x \ K +9 &S \ J +9 &W \ K +10 &FV \ K +9 &T \ K +10 &W \ K +9 &W \ J +9 &MW \ K +10 & V \ K +9 &!S \ K +9 &#W \ K +10 &%WV \ J +9 &'U \ K +10 &(V \ K +9 &*T \ K +9 &,^W \ K +10 &.!V \ J +9 &/U \ K +9 &1W \ K +10 &3eU \ K +9 &5'V w\ K +10 &6W z\ K +9 &8V t\ K +9 &:mZ p\ K +10 &<0V p\ K +9 &=V k\ K +9 &?W s\ K +10 &AvX q\ K +9 &C6^ r\ L +10 &De q\ L +9 &Fm v\ N +9 &Hn r\ P +10 &J#\ \ t\ U +9 &K\ \ w\ V +10 &M\ \ s\ W +9 &Oa\ \ w\ X +9 &Q#\ \ w\ W +10 &R\ \ v\ X +9 &T\ \ v\ Y +9 &Vd\ \ m\ Y +10 &X$\ \ v\ Z +9 &Y\ \ x\ [\ +9 &[\ \ w\ H +10 &\\1\ \ q\ 2 +9 &\\c\ \ v\ K +3 ( +2 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&!1 +52 "core" 1 +2 "manipulator"&j% +4 "core" % A q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%r& +3 "core" &5\ +2 "manipulator"&R% +4 "core" %  S  +2 "storage"(Z% +3 "core" % Z [\  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(b(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" &K   \  +2 "manipulator"&P& +4 "core" &Ӭ" <9 + "manipulator"&J% +4 "core" %  E  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&f( +166 "core" ( +2 "manipulator"&n& +4 "core" &  +2 "storage"(\\& +4 "core" &K j a ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(g& +4 "core" &K n  B\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(T'r +298 "core" ' +2 "storage"(q- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (k& +2 "core" &K W = \ \  +3 "manipulator"&G& +3 "core" & )  +2 .tElbow.seek 6 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&i& +4 "core" &  +2 "storage"(c& +3 "core" &K _ [ \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&['h +36 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" &   + "manipulator"&|% +4 "core" % s W V +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&Y( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&m& +4 "core" &  \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & - \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&w' +96 "core" ' +2 "manipulator"&I& +3 "core" & $ \ +2 "manipulator"&C% +4 "core" % % o +2 "processing"%V& +3 "core" &_\ +3 "processing"%& +5 "core" &C\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &X\  +8 &2vS\ )w +9 &dL\ > +10 &|uM\ N +9 &AXP\ M +9 &YR\ N +10 &UR\ M +9 &[R\ M +9 &H[N\ M +10 &\ \\T\ M +9 &[Q\ M +10 & \\P\ N +9 &"PYL\ M +9 &$VQ\ M +10 &%[Q\ M +9 &'\\O\ M +9 &)XZO\ M +10 &+\\Q\ M +9 &,\\O\ M +51 &.YP\ N +4 &0_YX\ N + &2"XQ\ M + &3UI\ M + &5ZE\ M + &7hZ@\ M +7 &9)]C\ N +9 &:Z?\ N +10 &<Z;\ M +9 &>o^A\ N +9 &@1ZA\ N +10 &A\\?\ N +9 &CdA\ O +10 &Eqk@\ P +9 &G/s?\ Q +9 &H@\ S +10 &J@\ S +9 &Ln@\ S +9 &N-?\ T +10 &OB\ T +9 &Q:\ U +9 &Sr@\ U +10 &U6A\ T +9 &V@\ T +10 &X?\ T +9 &Z{?\ T +9 &\\;@\ U +10 &]zu@\ : +9 &^(wA\ R +9 &^9\ 0 +3 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&}1 +57 "core" 1 + "manipulator"&h% +4 "core" %  \  o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%y& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %    +2 "storage"(l% +4 "core" % ; : v\  +2 "storage"(). +2 "core" .(K +2 "storage"(2& +4 "core" &K < ; T\  +3 "storage"(& +2 "manipulator"&Q& +5 "core" &K < ; W\  +2 &  \ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(:'r + "manipulator"&( +6 "core" ( + "manipulator"&s& +4 "core" &  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  \ +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%z( +93 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'1 +47 "core" ' +304 ( + "storage"(.& +4 "core" &K ^ h \  +2 "manipulator"&1& +3 "core" & [ \ +3 "manipulator"&u% +3 "core" %  O +2 .tForearm.seek :retract +2 "manipulator"&#' +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +240 "core" ( + "manipulator"&*& +4 "core" & Q . +2 "storage"((& +3 "core" &K [ Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +92 "core" ' +2 .tHand.open + "manipulator"&31 +63 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(-' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(&' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(9& +4 "core" &K n\  +2 "manipulator"&7& +3 "core" &  . +3 .tElbow.seek 6 + "manipulator"&$( +5 "core" ( + "manipulator"&K& +4 "core" &   ) . +2 "storage"(@& +3 "core" &K | 7\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(6'" +54 "core" ' +2 "manipulator"&,& +3 "core" & . +2 "storage"(4& +4 "core" &K T < q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +29 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"({' +19 "core" ' + "manipulator"&% +4 "core" %N  + V +47 "storage"(& +5 "core" &K G D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&0'z +14 "core" ' +2 "manipulator"&U& +4 "core" & \\ . +2 "storage"(<& +4 "core" &K [ [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +15 "core" ' +2 "storage"(% +3 "core" % ^ h \ +3 ."downElevator"SE.seek :down +3 "storage"(^' +99 (+% +3 "core" %nL D E <\ Wd +2 "manipulator"&8% +4 "core" % 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 (H& +3 "core" &K S < \  +2 "collection"'S& +3 "core" &\\`\ F\ K +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&5% +4 "core" %  c  +2 "storage"(A% +3 "core" % \\ _ 5\  +2 "storage"(/. +3 "core" .(K +2 "storage"(& +4 "core" &K ^ i a\  +2 "storage"(E& +4 "core" &K h f :\  + "manipulator"&O& +4 "core" &  . +2 .tElbow.seek 6 +2 "manipulator"&?( +4 "core" ( + "manipulator"&'& +4 "core" &  . +2 "storage"(\ & +4 "core" &K h i V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +93 "core" ' +2 "storage"(v& +3 "core" &K a n !\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +306 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & ; . +3 "storage"(D& +3 "core" &K Y [ F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&_'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(t- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(W't +28 "core" ' +2 "manipulator"&F% +4 "core" %P + "storage"(e& +4 "core" &K [ ^ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&~'| +15 "core" ' + "manipulator"&]& +4 "core" & . . +2 "storage"(>& +3 "core" &K h j ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +20 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(j' +39 "core" ' + "manipulator"&r& +4 "core" & k . +2 "manipulator"&R% +4 "core" % I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&`& +4 "core" &Ӎ% \  A >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +4 "core" &Ӎ% >O +2 .tForearm.seek CC +2 "manipulator"&P'? +91 "core" ' + .tHand.close +2 "manipulator"&J/ +59 "core" / +2 .tCC.seek :open +2 "collection"'N( +448 "core" ( + "storage"(n& +4 "core" &K u l \  +2 "storage"(\\& +4 "core" &K ^ ^ G\  +2 "manipulator"&o& +3 "core" &ӳ   9) +2 "manipulator"&g% +4 "core" % H   +2 .tForearm.seek :retract +2 "manipulator"&p' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +204 "core" ( +4 "manipulator"&q& +4 "core" &  +2 "storage"(k& +4 "core" &K | M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&G'< +96 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +53 "core" 1 +3 "manipulator"& % +4 "core" % ; : +2 "storage"(& +3 "core" &K | w #\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 299 counts + "manipulator"&|'g +15 "core" ' + "manipulator"&f& +4 "core" &   +2 "storage"(& +3 "core" &K w Q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +16 "core" ' + "storage"([% +4 "core" %  =\ +3 ."downElevator"SE.seek :down +3 "storage"(m' +99 (% +2 "core" %J m _ {\ V` +3 "manipulator"&X% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'C& +3 "core" & \ +2 "manipulator"&V% +4 "core" %    +2 "storage"(% +4 "core" % S\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(;([ +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &[ e [\  +2 "manipulator"&h& +4 "core" & ?  +2 .tElbow.seek 7 +2 "manipulator"&y(r +37 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"(l& +3 "core" &[ i h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&)'= +93 "core" ' + "storage"(2& +4 "core" &[ m\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +293 "core" ' +2 "storage"(Q- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ p | 7\  +3 "manipulator"&s& +3 "core" &  +2 .tElbow.seek 7 +3 "manipulator"&(r +23 "core" ( +2 "manipulator"&w& +3 "core" &s m +2 "storage"(& +4 "core" &[ |\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +6 "core" &s \ m +2 "manipulator"&:% +4 "core" % Ϲ S +2 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&u& +3 "core" &ӓ$ =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӓ$ =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&*'? +95 "core" ' + "manipulator"&(& +4 "core" &ӓ$ & =D +2 "manipulator"&% +4 "core" %C % 1 +2 "collection"'3& +4 "core" & i\ +3 "collection"' & +10 "core" & \ + & \ +2 .tCC.seek :closed +2 "collection"'(\\ +58 "core" & \ +5 & \ + & \ + & \ & \ + & \ + &< \ %f +3 &Z| \ 7 +10 &x \ K +9 &S \ K +9 &U \ K +10 &IV \ K +9 & V \ K +10 &U \ K +9 &U \ K +9 &RU \ K +10 & Y \ K +9 &!U }\ K +9 &#Z \ K +10 &%ZV \ K +9 &'U \ J +10 &(W \ K +9 &*U \ K +9 &,aY \ K +10 &.$U \ K +9 &/U \ J +9 &1W \ K +10 &3jW \ K +9 &5-V \ J +10 &6W \ K +9 &8V {\ K +9 &:rW |\ K +10 &<3V |\ K +9 &=U \ K +9 &?Y z\ K +10 &AyW {\ K +9 &C:^ {\ L +10 &Di |\ M +9 &Fs \ N +9 &Hm\ \ \ R +10 &J$\ \ o\ V +9 &K\ \ w\ W +10 &M\ \ q\ X +9 &Of\ \ s\ W +9 &Q&\ \ t\ X +10 &R\ \ x\ Y +9 &T\ \ v\ Y +9 &Vd\ \ w\ [ +10 &X%\ \ t\ [\ +9 &Y\ \ p\ [\ +9 &[\ \ j\ H +10 &\\.\ \ n\ 7 +9 &\\o\ \ s\ K +3 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&91 +62 "core" 1 + "manipulator"&7% +4 "core" % C  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%@& +4 "core" &T\ +2 "manipulator"&#% +4 "core" %   +2 "storage"(,% +3 "core" % ^ [\  +2 "storage"(4. +3 "core" .([ +2 "storage"("& +4 "core" &[ Z Z\  +2 "storage"(& +5 "core" &[ \\ [\  +2 "manipulator"&& +4 "core" &  + +2 "manipulator"&-% +3 "core" %  X  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&U(r +147 "core" ( +2 "manipulator"&<& +3 "core" &q   +2 "storage"( & +5 "core" &[ i k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' +2 "storage"(B& +4 "core" &[ ] ^ P\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'r +297 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +2 "core" &[ f Z \  +3 "manipulator"&& +3 "core" &q  +2 .tElbow.seek 7 +2 "manipulator"&$(r +4 "core" ( + "manipulator"&6& +4 "core" &q  +2 "storage"(& +3 "core" &[ [ e\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&0'ϧ +40 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&H/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(5' +7 "core" &q -  +2 "manipulator"&A% +4 "core" % Ϫ S ^ +2 .tForearm.seek :retract +2 "manipulator"&/' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&& +4 "core" & L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &  L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&O' +98 "core" ' + "manipulator"&'& +4 "core" & q L +2 "manipulator"&\ % +4 "core" % +2 "processing"%%& +4 "core" &Y\ +2 "processing"%v& +5 "core" &J\ +2 .tPC.seek :closed +2 "processing"%^(^ +4 "core" &[\  +9 &2vX\ )w +9 &dT\ > +9 &tuZ\ N +10 &8WT\ M +9 &YS\ M +9 &VP\ M +10 &~TR\ M +9 &@YU\ M +10 &ZN\ M +9 &ZY\ M +9 & YL\ N +10 &"HWU\ M +9 &$\ UW\ M +9 &%U[\ M +10 &'ZP\ M +9 &)PZO\ M +10 &+XQ\ N +9 &,ZK\ M +9 &.TU\ M +10 &0YYV\ M +9 &2WF\ M +9 &3TM\ M +10 &5WN\ M +9 &7`ZC\ M +9 &9"[D\ M +10 &:Z@\ N +9 &<U@\ M +10 &>g]B\ N +9 &@)Y?\ N +9 &A`?\ N +10 &CgA\ O +9 &Ejh>\ O +10 &G)r?\ P +9 &H@\ R +9 &JD\ S +10 &LfA\ S +9 &N'@\ T +9 &O@\ T +10 &QA\ T +9 &Sk>\ T +10 &U.=\ T +9 &V@\ T +9 &XA\ T +10 &ZrB\ U +9 &\\4E\ U +9 &]zs=\ = +10 &^!T@\ T +51 &^-@\ 7 +4 ( +2 &^.>\ 7 +2 &^.4\ 7 + &^.:\ 7 +2 &^.B\ 7 &^.>\ 7 +4 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&L1 +2 "core" &^.9\ 7 +57 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +3 "processing"%M& +4 "core" &^.)\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&D% +4 "core" %    +2 "storage"(t% +4 "core" % Q M ,\  +2 "storage"(F. +2 "core" .([ +3 "storage"(e& +3 "core" &[ ? D \  +2 "storage"(]& +4 "manipulator"&>& +5 "core" &[ G D \  + &  L +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&r( +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(R'r +13 "core" ( + "manipulator"&d& +4 "core" & \  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &  \ +2 .tForearm.seek PC +2 "manipulator"&=' +95 "core" ' + .tHand.close +2 "manipulator"&_/ +59 "core" / +2 .tPC.seek :open +2 "processing"%~( +82 "core" ' +2 "storage"(W- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +46 "core" ' +318 ( +2 "storage"(x& +4 "core" &[ [ [\  +2 "manipulator"&!& +3 "core" &  \ +2 "manipulator"&a% +4 "core" %  ; O +2 .tForearm.seek :retract +2 "manipulator"&J' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&Z(r +245 "core" ( + "manipulator"& & +4 "core" &y O S +2 "storage"(n& +4 "core" &[ ; : \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +97 "core" ' + .tHand.open +2 "manipulator"&o1 +58 "core" 1 +2 "storage"(g- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(P' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(q' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +3 "core" -' +2 "storage"(& +4 "core" &[ \  +2 "manipulator"&c& +4 "core" &y  S +2 .tElbow.seek 7 +2 "manipulator"& (r +3 "core" ( +2 "manipulator"&& +3 "core" &y   ! S +2 "storage"(f& +4 "core" &[ *\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(['" +52 "core" ' + "manipulator"&p& +4 "core" &y N S +2 "storage"(& +4 "core" &[ = : W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&X'{ +18 "core" ' +2 .tElbow.hold + "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(G' +18 "core" ' +2 "manipulator"&C% +4 "core" %΀ d # +2 "storage"(V& +3 "core" &[ D D b\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 305 counts + "manipulator"&|'Ϭ +14 "core" ' + "manipulator"&& +4 "core" &y V S +2 "storage"(& +4 "core" &[ [ [\  +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&j'= +19 "core" ' + "storage"(T% +4 "core" % [ [\ +4 ."downElevator"SE.seek :down +4 "storage"(m' +99 (b% +3 "core" %bN C D \ Xf +2 "manipulator"&}% +4 "core" % ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +94 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &[ W 6 V\  +2 "collection"'l& +4 "core" &\\m\ \ |\ K +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&2% +4 "core" %  M  +2 "storage"(i% +4 "core" % [ [\  +2 "storage"(I. +3 "core" .([ +2 "storage"(Q& +4 "core" &[ [ [\  +2 "storage"(& +4 "core" &[ [ [\  +2 "manipulator"&s& +3 "core" &y S +2 .tElbow.seek 7 +2 "manipulator"&w(r +4 "core" ( + "manipulator"&& +4 "core" &y A S +2 "storage"(Y& +4 "core" &[ [ ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +95 "core" ' +2 "storage"(:& +5 "core" &[ ^ [ T\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +296 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" &y J S +3 "storage"(& +3 "core" &[ [ \\ .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"((- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('k +29 "core" ' +2 "manipulator"&3% +4 "core" %΍ [  +2 "storage"(& +3 "core" &[ : B @\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts + "manipulator"&'Ϲ +14 "core" ' + "manipulator"&.& +4 "core" &z m R +2 "storage"(N& +4 "core" &[ V I %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(7' +35 "core" ' +2 "manipulator"&@& +3 "core" &z f R +2 "manipulator"&#% +4 "core" %+ ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +143 "core" ( +2 "manipulator"&"& +4 "core" &Ӏ'    @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӏ' > @Z +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'-( +448 "core" ( +2 "storage"(<& +4 "core" &[   \  +2 "storage"(*& +3 "core" &[  ~\ \  +2 "manipulator"& & +3 "core" & K 0 +2 "manipulator"&B% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&1' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&K(r +153 "core" ( + "manipulator"&+& +4 "core" &j  +2 "storage"(8& +3 "core" &[  z =\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +99 "core" ' +9 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&H% +4 "core" % Ύ e +2 "storage"(S& +3 "core" &[ | I\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 319 counts +2 "manipulator"&A'Ϻ +16 "core" ' + "manipulator"&U& +4 "core" &j d  +2 "storage"(& +3 "core" &[ X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&&'= +15 "core" ' +2 "storage"(0% +4 "core" % g\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (E% +3 "core" %J [ ` T\ Wa +2 "manipulator"&$% +4 "core" %5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'\ & +3 "core" & W\ +2 "manipulator"&%% +5 "core" %    + "storage"(5% +4 "core" % i h \  +2 "storage"(/. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(z(<- +679 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +4 "core" &<0 : S K\ + "manipulator"&& +4 "core" &j   +2 .tElbow.seek 5 +2 "manipulator"&M( +32 "core" ( + "manipulator"&D& +4 "core" & 6 +2 "storage"(t& +4 "core" &<0 g h \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&F'O +94 "core" ' +2 "storage"(e& +3 "core" &<0 d\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +310 "core" ' +2 "storage"(]- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (v& +4 "core" &<- i k ,\ +2 "manipulator"&d& +3 "core" & 9 +2 .tElbow.seek 5 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&O& +3 "core" & / +3 "storage"(_& +3 "core" &<- y L\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&W'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(^' +8 "core" &  + "manipulator"&R% +4 "core" % ϼ  H +2 .tForearm.seek :retract +2 "manipulator"&x' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&a& +4 "core" &ӭ J 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &ӭ C 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +102 "core" ' +2 "manipulator"&n& +3 "core" &ӭ 5 +2 "manipulator"&r% +4 "core" %E 8 +2 "collection"'o& +4 "core" & \ +3 "collection"'g& +5 "core" & \ +2 .tCC.seek :closed + "collection"'k(\\ +4 "core" & \ +8 &< \ %f +9 &Y| \ 8 +10 & v \ K +9 &U \ K +9 &U \ K +10 &QW \ K +9 &V \ J +9 &W \ K +10 &Y \ K +9 &ZV \ J +10 & W \ K +9 &!V \ J +9 &#X \ K +10 &%`T \ K +9 &'#U \ K +9 &(W \ J +10 &*W \ K +9 &,hU ~\ K +10 &.+W \ K +9 &/V \ J +54 &1X \ K +5 &3rW {\ J +2 &53U \ K +2 &6W \ K + &8Y \ K +2 &:yW \ K + &<;U \ K +8 &=W \ K +9 &?X \ K +10 &AY \ K +9 &CA] \ L +10 &Ed \ M +9 &Fn \ N +9 &Hy\ \ P +10 &J/\ \ \ U +9 &K\ \ \ W +9 &M\ \ \ X +10 &Om\ \ \ W +9 &Q.\ \ \ X +10 &R\ \ \ Y +9 &T\ \ \ Z +9 &Vn\ \ \ Z +10 &X/\ \ \ Z +9 &Y\ \ \ [ +9 &[\ \ \ I +10 &\\-\ \ \ 8 +9 &\\m\ \ \ M +6 ( +2 "collection"'g& +3 "core" &\\c\ \ \ M +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&c% +4 "core" % E c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%f& +4 "core" &`\ +2 "manipulator"&J% +3 "core" %  +  +2 "storage"(p% +4 "core" % [ Z\  +2 "storage"(. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(C(<- +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (V& +2 "core" &<. A : \  +3 "manipulator"&`& +3 "core" &ӭ  5 +2 "manipulator"&% +4 "core" %  ;  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&P& +4 "core" &   +2 "storage"(T& +4 "core" &<. i i g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +93 "core" ' +2 "storage"(\\& +4 "core" &<. k q 1\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +297 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &<. - 7 \  +2 "manipulator"&& +4 "core" & a  +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&[& +4 "core" &  +2 "storage"(X& +3 "core" &<. Z V \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&|'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& +2 "storage"(2' +7 "core" & "  +2 "manipulator"&i% +4 "core" % ϳ c +2 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&Q& +4 "core" & a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +99 "core" ' + "manipulator"&& +4 "core" & Y +2 "manipulator"&Y% +4 "core" % 8 & +2 "processing"%j& +3 "core" &P\ +3 "processing"%:& +5 "core" &`\ +2 .tPC.seek :closed +2 "processing"%m(^ +4 "core" &e\ +7 &.o\ #a +9 &U|p\ 6 +10 &|f\ K +9 &U]\ M +9 &]Yf\ M +10 &T_\ M +9 &U[\ M +10 &TS\ M +9 &eTP\ M +9 &'YX\ M +10 &W_\ N +9 &!W_\ N +9 &#mXb\ M +10 &%/TO\ M +9 &&XY\ N +10 &(UZ\ M +9 &*tY[\ N +9 &,7WZ\ M +10 &-T[\ M +9 &/ZP\ N +9 &1}WV\ M +10 &3?X\\\ M +9 &5WT\ M +10 &6TV\ M +9 &8ZX\ M +9 &:GY^\ M +10 &<ZX\ N +9 &=Y^\ M +9 &?WU\ M +10 &AN[Z\ N +9 &C cT\ O +10 &DaS\ O +9 &FlP\ P +9 &HJ{R\ R +10 &JX\ S +9 &KK\ S +9 &MM\ T +10 &OKQ\ T +9 &Q O\ U +10 &RC\ T +9 &TJ\ U +9 &VS@\ T +10 &XG\ T +9 &YM\ U +9 &[N\ T +10 &]VG\ G +9 &^zB~C\ "g +10 &^0G\ 0 +5 ( +2 "processing"%:& +3 "core" &^N\ 0 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&h% +3 "core" %    / & +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +96 "core" ' +2 "processing"%u& +3 "core" &^B\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %  p  +2 "storage"((% +3 "core" % : : V\  +2 "storage"(3. +3 "core" .(<- +2 "storage"(& +4 "core" &<. 6 9 <\  +3 "storage"(.& +2 "manipulator"&N& +5 "core" &<. ; : m\  +2 & +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(@'r + "manipulator"&#( +7 "core" ( +2 "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&y' +95 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' +2 "storage"("- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +305 ( +2 "storage"( & +4 "core" &<- ^ h %\  +2 "manipulator"&9& +4 "core" & U +2 "manipulator"&% +4 "core" %  : / +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&,( +239 "core" ( +2 "manipulator"&& +4 "core" & q C +2 "storage"(<& +4 "core" &<- [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +89 "core" ' + .tHand.open +2 "manipulator"& 1 +64 "core" 1 +2 "storage"(B- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(8' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(4& +4 "core" &<- \  +2 "manipulator"&& +3 "core" & { C +2 .tElbow.seek 5 +2 "manipulator"&H( +4 "core" ( + "manipulator"&S& +4 "core" &   C +2 "storage"(U& +4 "core" &<- y y \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(0'" +58 "core" ' + "manipulator"&1& +4 "core" & I C +2 "storage"(E& +3 "core" &<- ^ h \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&$'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&\ % +4 "core" %Β [  +2 "storage"(%& +4 "core" &<- ] [ !\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 305 counts + "manipulator"&A'Ͼ +15 "core" ' + "manipulator"&5& +4 "core" &  0 +2 "storage"(/& +4 "core" &<- ^ f a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +15 "core" ' +2 "storage"(&% +8 "core" % ^ i }\ +3 ."downElevator"SE.seek :down +50 "storage"(' +52 (;% +3 "core" %C E D \ V` +2 "manipulator"&L% +4 "core" %0 n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +108 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (D& +3 "core" &<- b U L\  +2 "collection"'t& +4 "core" &\\b\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&e% +3 "core" %  4  +2 "storage"(6% +4 "core" % i i \  +2 "storage"('. +2 "core" .(<- +2 "storage"(]& +4 "core" &<- h j \  +2 "storage"(v& +3 "core" &<- Z d ?\  +2 "manipulator"&d& +4 "core" & = 0 +2 .tElbow.seek 5 +2 "manipulator"&O( +4 "core" ( + "manipulator"&_& +4 "core" & w 0 +2 "storage"({& +4 "core" &<- j h t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' +2 "storage"(R& +3 "core" &<- n ^ :\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +298 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & X 0 +2 "storage"(=& +4 "core" &<- i j j\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&>'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(n- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(r'c +44 "core" ' +2 "manipulator"&?% +3 "core" %Ε R H +2 "storage"(o& +4 "core" &<- ^ e \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&^' +13 "core" ' +2 "manipulator"&x& +4 "core" &  0 +2 "storage"(-& +3 "core" &<- ^ ^ e\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(c' +40 "core" ' + "manipulator"&f& +4 "core" &  0 +2 "manipulator"&J% +3 "core" %Y = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&g& +3 "core" &Ӕ% B >L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +3 "core" &ӕ% >K +2 .tForearm.seek CC +2 "manipulator"&`'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"' ( +448 "core" ( + "storage"(P& +4 "core" &<- | ~ l\  +2 "storage"(T& +3 "core" &<- ] o ~\  +2 "manipulator"&z& +4 "core" &Ӷ! V :* +2 "manipulator"&\\% +4 "core" % @ s  +2 .tForearm.seek :retract +2 "manipulator"&!' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&b& +4 "core" & 1  +2 "storage"(}& +3 "core" &<- } \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +91 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&X1 +54 "core" 1 +9 "manipulator"&% +4 "core" % Ό M E +2 "storage"(l& +3 "core" &<- u k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 299 counts +2 "manipulator"&i'ϸ +14 "core" ' + "manipulator"&& +4 "core" & %  +2 "storage"(Z& +4 "core" &<- V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +14 "core" ' +2 "storage"(|% +3 "core" % ]\ +3 ."downElevator"SE.seek :down +4 "storage"(Q' +98 (% +3 "core" %F k t L\ V_ +2 "manipulator"& % +3 "core" %R   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'Y& +3 "core" & w\ +2 "manipulator"&j% +4 "core" %  G  +2 "storage"(2% +4 "core" % X\  +2 "storage"(I. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(~(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K u =\ +2 "manipulator"&h& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&:( +2 "core" ( +3 "manipulator"&u& +3 "core" &  +2 "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +95 "core" ' + "storage"(3& +4 "core" &K c\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N& +3 "core" &K s Y\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&w( +4 "core" ( + "manipulator"&s& +4 "core" & ?  +2 "storage"(& +4 "core" &K z .\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&"'h +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +3 "storage"(m' +6 "core" & !  +2 "manipulator"&@% +4 "core" % a  O +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &z+  Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &z+ Cr +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +2 "manipulator"&<& +3 "core" &ӎ( r @^ +2 "manipulator"&#% +4 "core" %A $ +2 "collection"' & +4 "core" & \ +3 "collection"'B& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'(\\ +4 "core" & \ +8 &< \ %g +9 &Yw \ 7 +9 &\ y \ J +10 &U \ J +9 &W \ K +10 &MY \ K +9 &Z \ K +9 &U \ K +10 &U \ K +9 &UY \ K +9 & T \ K +10 &!U \ J +9 &#W \ K +9 &%]Y \ K +10 &' V \ J +9 &(W \ K +10 &*T \ K +9 &,fV \ J +9 &.'W \ K +10 &/U \ K +9 &1W \ K +9 &3lZ \ K +10 &50V \ J +9 &6X \ K +10 &8W \ J +9 &:uW \ K +9 &<6Z \ K +10 &=W \ J +9 &?Y \ K +9 &A|Z \ K +10 &C>_ \ K +10 &Dd \ L +9 &Fn \ N +9 &Hv\ \ P +9 &J+\ \ \ U +10 &K\ \ \ W +9 &M\ \ \ W +9 &Oi\ \ \ W +10 &Q,\ \ \ W +54 &R\ \ \ Y +5 &T\ \ \ X +3 &Vi\ \ \ Z + &X*\ \ \ Z +2 &Y\ \ \ [ + &[\ \ \ H + &\\0\ \ \ 0 +8 &\\b\ \ \ J +2 ( +2 "collection"'B& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&41 +61 "core" 1 +3 "manipulator"&% +3 "core" % A  $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%U& +4 "core" &j\ +2 "manipulator"&% +4 "core" %   +2 "storage"(1% +3 "core" % [ Z\  +2 "storage"(E. +3 "core" .(K +2 "storage"(\ & +4 "core" &K ] Z\ +2 "storage"(%& +4 "core" &K Z Z\ +2 "manipulator"&& +4 "core" &Ӫ# F =B + "manipulator"&5% +4 "core" %  [  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&/( +163 "core" ( +2 "manipulator"&+& +4 "core" &   +2 "storage"(&& +4 "core" &K j f >\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&,' +97 "core" ' + "storage"(*& +4 "core" &K ~  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(8'r +302 "core" ' +2 "storage"(;- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (L& +3 "core" &K Y f \ +2 "manipulator"&& +3 "core" & .  +2 .tElbow.seek 6 +2 "manipulator"&H( +4 "core" ( +2 "manipulator"&0& +4 "core" &   + "storage"($& +4 "core" &K h h \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&A'h +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +63 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&t& +4 "storage"(e' +7 "core" &  +2 "manipulator"&6% +3 "core" % τ +3 .tForearm.seek :retract +2 "manipulator"&'' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&]& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" & ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&d' +92 "core" ' +2 "manipulator"&_& +4 "core" & Q +2 "manipulator"&{% +3 "core" % 6 ^ +2 "processing"%7& +4 "core" &X\ +3 "processing"%R& +4 "core" &V\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &h\  +8 &2vm\ )w +9 &d~g\ > +10 &vsm\ N +9 &:To\ M +9 &Wi\ N +10 &Tg\ M +9 &Va\ M +10 &AVX\ M +9 &TY\ M +9 &W_\ M +10 & U\\\ M +9 &"IWa\ M +9 &$ Y`\ M +10 &%Vb\ M +9 &'Wa\ N +10 &)QVc\ M +9 &+Y]\ M +9 &,Wb\ M +10 &.V[\ M +9 &0YT^\ M +9 &2Xa\ M +10 &3U`\ M +9 &5Ta\ M +10 &7`WZ\ N +9 &9#Y_\ M +9 &:U^\ M +10 &<Ta\ M +9 &>hW]\ N +9 &@*YX\ N +10 &A_^\ N +9 &ChW\ O +10 &EkkV\ O +9 &G)s]\ Q +9 &HO\ R +10 &JS\ S +9 &Lh\\\ S +9 &N'Y\ T +10 &OS\ S +9 &QI\ T +10 &SlQ\ T +9 &U-J\ U +9 &VR\ T +10 &XS\ T +9 &ZqR\ V +9 &\\5I\ U +10 &]ysN\ = +9 &^#WH\ U +9 &^0O\ 7 +3 ( +2 "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&K1 +55 "core" 1 + "manipulator"&% +4 "core" %    ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' + "processing"%a& +3 "core" &^3S\ 7 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&=% +4 "core" %    +2 "storage"(n% +3 "core" % D C \  +2 "storage"(?. +3 "core" .(K +47 "storage"(o& +6 "core" &K C 9 \ +3 "storage"(x& +2 "manipulator"&-& +7 "core" &K D ; \ + &  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&f( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(J'r +4 "core" ( +2 "manipulator"&& +4 "core" &  J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&M' +93 "core" ' + .tHand.close +2 "manipulator"&>/ +61 "core" / +3 .tPC.seek :open +2 "processing"%^( +89 "core" ' + "storage"(r- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'1 +47 "core" ' +307 ( + "storage"(V& +4 "core" &K _ i H\ \ +2 "manipulator"&& +3 "core" & " +2 "manipulator"&W% +4 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&p( +239 "core" ( + "manipulator"&k& +4 "core" & G 9 +2 "storage"(P& +4 "core" &K [ Z \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +92 "core" ' +2 .tHand.open + "manipulator"&z1 +53 "core" 1 +2 "storage"(\\- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(b' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(}' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(`- +3 "core" -' +2 "storage"(& +4 "core" &K y g *\ \ +2 "manipulator"&X& +3 "core" &  1 8 +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&l& +4 "core" &    8 +2 "storage"(& +3 "core" &K o\ \ +3 .tForearm.seek 6 + 450 counts + "manipulator"&Z' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(|'" +57 "core" ' +2 "manipulator"&!& +3 "core" & % 8 +2 "storage"(& +4 "core" &K [ ] \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"& '< +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&Y% +4 "core" %I v +2 "storage"(j& +4 "core" &K C 9 \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&i'u +13 "core" ' +2 "manipulator"&2& +3 "core" & 8 +2 "storage"(I& +4 "core" &K i i \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&c' +17 "core" ' +2 "storage"(q% +4 "core" % f ` O\ +3 ."downElevator"SE.seek :down +3 "storage"(Q' +99 (C% +3 "core" %eN D D\ We +2 "manipulator"& % +4 "core" % u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (u& +3 "core" &K [ ^ \ \ +47 "collection"'& +5 "core" &\\^\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&3% +3 "core" %  '  +2 "storage"([% +4 "core" % i i \  +2 "storage"(. +2 "core" .(K +2 "storage"(.& +4 "core" &K h i l\ \ +2 "storage"(N& +4 "core" &K h j l\ \ +2 "manipulator"&& +3 "core" & + 8 +2 .tElbow.seek 6 +2 "manipulator"&s( +4 "core" ( +2 "manipulator"&& +3 "core" & e 8 +2 "storage"(G& +5 "core" &K h h \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +98 "core" ' +2 "storage"(@& +3 "core" &K p j w\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +296 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 8 +2 "storage"(y& +4 "core" &K Z [\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +16 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(<- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(#'q +30 "core" ' + "manipulator"& % +4 "core" %O 0 +2 "storage"(w& +4 "core" &K ] f 1\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&m'{ +14 "core" ' +2 "manipulator"& & +4 "core" & + 8 +2 "storage"( & +3 "core" &K \\ a 9\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&U& +4 "core" & 8 +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&E(ӂ +161 "core" ( + "manipulator"&\ & +4 "core" &ө  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &ө * 7 +2 .tForearm.seek CC +2 "manipulator"&%'? +92 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'5( +448 "core" ( + "storage"(& +4 "core" &K ~ t \ \ +2 "storage"(+& +4 "core" &K q q @\ \ +2 "manipulator"&&& +4 "core" &Ӯ ( 6 + "manipulator"&*% +4 "core" % /  +2 .tForearm.seek :retract +2 "manipulator"&9' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&S( +160 "core" ( +2 "manipulator"&;& +3 "core" & R  +2 "storage"(L& +4 "core" &K g i \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +92 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&$1 +57 "core" 1 +2 "manipulator"&D% +4 "core" % ; / V +2 "storage"(t& +4 "core" &K t r \ \ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 299 counts +2 "manipulator"&6'g +13 "core" ' +3 "manipulator"&/& +3 "core" &   +2 "storage"(,& +4 "core" &K  4\ \ +65 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&8' +15 "core" ' + "storage"(A% +4 "core" % O\ +3 ."downElevator"SE.seek :down +4 "storage"(]' +98 (v% +3 "core" %F k q \ V_ +2 "manipulator"&H% +4 "core" % h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'{& +3 "core" & ~\ +2 "manipulator"&7% +4 "core" %   +2 "storage"(e% +4 "core" % N\  +2 "storage"('. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +3 "core" &[ g i C\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&a(r +48 "core" ( + "manipulator"&=& +4 "core" & q +2 "storage"(n& +4 "core" &[ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +95 "core" ' +2 "storage"(o& +4 "core" &[ ^\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +291 "core" ' +2 "storage"(x- +2 "core" -' +7 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (-& +3 "core" &[ | \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&O(r +13 "core" ( +2 "manipulator"&d& +4 "core" &{ @ +2 "storage"(>& +3 "core" &[ }\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&r'ϧ +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& +2 "storage"(' +7 "core" &{  Q @ + "manipulator"&J% +4 "core" % ϳ  +2 .tForearm.seek :retract +2 "manipulator"&V' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( + "manipulator"&W& +4 "core" &ӎ  D :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &ӎ! ) :, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'? +92 "core" ' +2 "manipulator"&P& +4 "core" &ӎ! ] :, +2 "manipulator"&f% +4 "core" %5 F +2 "collection"'z& +3 "core" & \ +2 "collection"'\\& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'`(\\ +3 "core" & \ +9 &; \ $e +9 &Yy \ 7 +10 &x \ J +9 &U \ K +9 &Y \ K +10 &CY \ K +9 &V \ J +10 &V \ K +9 &Y \ K +9 &MV \ J +10 & V \ J +9 &!V \ K +9 &#Z \ K +10 &%UU \ J +9 &'V \ K +10 &(Y \ K +9 &*V \ J +9 &,\\W \ K +10 &.U \ K +9 &/U \ K +9 &1Z \ K +10 &3cU \ K +9 &5&U \ K +10 &6U \ K +9 &8W \ K +9 &:kZ \ K +10 &<.Y \ K +9 &=Y \ K +9 &?Z \ K +10 &As\\ \ K +9 &C4a \ L +10 &Di \ M +9 &Fv \ O +9 &Hg\ \ \ R +10 &J\ \ \ V +9 &K\ \ \ V +9 &M\ \ *\ W +10 &Oa\ \ n\ W +9 &Q \ \ \ X +10 &R\ \ \ Y +9 &T\ \ \ Y +9 &V_\ \ \ Z +10 &X!\ \ %\ Z +9 &Y\ \ r\ [ +9 &[\ \ \ H +10 &\\1\ \ \ 5 +9 &\\s\ \ \ M +3 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&X% +4 "core" % 7 D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +142 "core" ' +5 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &o\ +2 "manipulator"&% +3 "core" %  <  +2 "storage"(!% +4 "core" % [ [\  +2 "storage"(. +2 "core" .([ +2 "storage"(Y& +4 "core" &[ _ ^ *\  +2 "storage"(g& +4 "core" &[ [ Z\  +2 "manipulator"&j& +3 "core" & ` ' +2 "manipulator"&2% +4 "core" %  h  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&b(r +148 "core" ( + "manipulator"&I& +4 "core" &m   +2 "storage"(q& +3 "core" &[ ^ f M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&p'= +95 "core" ' + "storage"(T& +4 "core" &[ a j y\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'r +298 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &[ Z h\  +2 "manipulator"&Z& +3 "core" &m  +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( +2 "manipulator"&|& +3 "core" &m _  +2 "storage"( & +4 "core" &[ j f Q\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&i'ϧ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" &m   + "manipulator"&3% +4 "core" % ϝ ] +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&.& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" & M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&& +4 "core" & +2 "manipulator"&G% +4 "core" %  l +2 "processing"%c& +4 "core" &o\ +2 "processing"%@& +5 "core" &p\ +2 .tPC.seek :closed +2 "processing"%Q(^ +5 "core" &p\  +9 &1vo\ *x +9 &do\ > +10 &tsm\ N +9 &7Tn\ M +9 &Xo\ M +10 &Wg\ M +9 &}Wi\ M +10 &@Si\ M +9 &Vm\ M +9 &Tl\ M +10 & Ya\ M +9 &"GW_\ M +9 &$ Y`\ M +10 &%V`\ M +9 &'T`\ M +10 &)OS`\ M +9 &+Xa\ M +9 &,Wa\ M +10 &.R`\ M +9 &0WXb\ M +9 &2V`\ N +10 &3U[\ M +9 &5Va\ N +10 &7_W`\ M +9 &9!Za\ M +9 &:X`\ N +10 &<T]\ M +9 &>fVa\ N +9 &@)Z_\ M +10 &A\\^\ N +9 &Cd`\ O +10 &Ehha\ P +9 &G(p^\ P +9 &H_\ R +10 &J\\\ S +9 &Le]\ S +9 &N%Y\ T +10 &O\\\ T +9 &QZ\ U +10 &SkY\ T +9 &U,S\ T +9 &VS\ U +10 &XV\ T +9 &Zq\\\ U +9 &\\3S\ U +10 &]ztM\ ? +9 &^JM\ D +9 &^!tS\ 6 +9 ( +3 "processing"%@& +3 "core" &^Q\ . +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&h% +4 "core" %    l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +101 "core" ' +2 "processing"%& +3 "core" &^8\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&y% +3 "core" %  M  +2 "storage"(<% +4 "core" % [ ]\  +2 "storage"( . +2 "core" .([ +3 "storage"(w& +3 "core" &[ Z Z\  +3 "storage"( & +2 "manipulator"& & +5 "core" &[ [ ]\  +2 &  d +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +47 "storage"(U'r +4 "manipulator"&( +7 "core" ( +2 "manipulator"&)& +4 "core" & \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" & \ +2 .tForearm.seek PC +2 "manipulator"&:' +92 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%m( +87 "core" ' + "storage"(#- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\ '1 +45 "core" ' +312 ( +2 "storage"(B& +3 "core" &[ [ [ \  +2 "manipulator"&4& +4 "core" &  +2 "manipulator"&"% +3 "core" %  ; E +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&1(r +241 "core" ( +2 "manipulator"&& +4 "core" &~ u @ +2 "storage"(& +3 "core" &[ ] ^\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&+'= +95 "core" ' +2 .tHand.open + "manipulator"&&1 +64 "core" 1 +2 "storage"(*- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(;' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(L' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +3 "core" -' +2 "storage"(E& +4 "core" &[ E\  +2 "manipulator"&$& +4 "core" &~  @ +2 .tElbow.seek 7 +2 "manipulator"&D(r +9 "core" ( + "manipulator"&t& +4 "core" &  =  +2 "storage"(/& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&,'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(A'" +52 "core" ' + "manipulator"&9& +4 "core" & P  +2 "storage"(S& +3 "core" &[ 9 < V\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&v'{ +14 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' + "manipulator"&{% +4 "core" %Ό E +2 "storage"(7& +4 "core" &[ Y W\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&6'ϸ +13 "core" ' +2 "manipulator"&e& +4 "core" & )  +2 "storage"('& +4 "core" &[ Z Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +19 "core" ' + "storage"(8% +4 "core" % [ ^ (\ +3 ."downElevator"SE.seek :down +3 "storage"(]' +99 (~% +3 "core" %lJ C D \ Wc +2 "manipulator"&K% +4 "core" %) V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (=& +3 "core" &[ R 9 +\  +2 "collection"'n& +4 "core" &\\k\ \ J\ M +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&o% +3 "core" %  M  +2 "storage"(0% +4 "core" % h h [\  +2 "storage"(_. +3 "core" .([ +2 "storage"(x& +4 "core" &[ h h z\  + "storage"(-& +4 "core" &[ h e !\  +2 "manipulator"&& +48 "core" & 0  +4 .tElbow.seek 7 +2 "manipulator"&d(r +10 "core" ( + "manipulator"&>& +4 "core" &   +2 "storage"(& +4 "core" &[ i i y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'= +92 "core" ' +2 "storage"(J& +4 "core" &[ ] ] \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +298 "core" ' + "storage"(?- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" & _  +2 "storage"(M& +3 "core" &[ e h !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&R'{ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(f'j +31 "core" ' +2 "manipulator"&z% +3 "core" %΋ V +2 "storage"(O& +4 "core" &[ [ [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&'Ϸ +15 "core" ' + "manipulator"&V& +4 "core" &  +2 "storage"(5& +3 "core" &[ _ i z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(X' +35 "core" ' + "manipulator"&\\& +4 "core" & U  +2 "manipulator"&% +4 "core" %* +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&!(ӂ +162 "core" ( +2 "manipulator"&& +3 "core" &ӡ  N :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &ӡ  D :/ +2 .tForearm.seek CC +2 "manipulator"&g'? +96 "core" ' + .tHand.close +2 "manipulator"&j/ +55 "core" / +2 .tCC.seek :open + "collection"'2( +451 "core" ( +2 "storage"(k& +4 "core" &[ ~ ~ j\  +2 "storage"(I& +3 "core" &[ s { \  +2 "manipulator"&q& +4 "core" & Y - +2 "manipulator"&T% +3 "core" %  ] +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&l(r +174 "core" ( +2 "manipulator"&C& +3 "core" &i 6 U +2 "storage"( & +4 "core" &[ y k M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&Z'{ +99 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&u% +4 "core" % ΍ +2 "storage"(& +4 "core" &[ ~ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&3'Ϲ +15 "core" ' +2 "manipulator"&b& +3 "core" &k N S +2 "storage"(p& +4 "core" &[ x \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&}'= +16 "core" ' +2 "storage"(i% +3 "core" % ]\ +3 ."downElevator"SE.seek :down +4 "storage"(.' +98 (N% +42 "core" %C k a e\ V_ +9 "manipulator"&% +4 "core" %? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +5 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'G& +3 "core" & \ +2 "manipulator"&c% +4 "core" %   +2 "storage"(% +3 "core" % k k\  +2 "storage"([. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(^(<- +674 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &\ N +3 ( +2 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&E1 +57 "core" 1 +4 "manipulator"&$% +6 "core" % < d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%/& +3 "core" &o\ +2 "manipulator"&% +4 "core" %  S  +2 "storage"(9% +3 "core" % [ ]\  +2 "storage"(S. +3 "core" .(<- +2 "storage"({& +3 "core" &<- Z [\ +2 "storage"(7& +4 "core" &<- Y \\\ +47 "manipulator"&\ & +6 "core" &Ӭ   9% +2 "manipulator"&e% +3 "core" %  -  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&'( +165 "core" ( + "manipulator"&;& +4 "core" & Q  +2 "storage"(8& +4 "core" &<- f ] \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&1'O +105 "core" ' +2 "storage"(+& +4 "core" &<- n r \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(L'r +297 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (K& +3 "core" &<- C 9 y\ +2 "manipulator"&,& +3 "core" & Q  +2 .tElbow.seek 5 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&A& +4 "core" & E  +2 "storage"(v& +3 "core" &<- I V \ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&='Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(o' +7 "core" & ;  +2 "manipulator"&0% +4 "core" % Ϸ E > +2 .tForearm.seek :retract +2 "manipulator"&_' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&x& +4 "core" & O ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" & J > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&>& +4 "core" & q > +2 "manipulator"&% +4 "core" % 6 S +2 "processing"%& +4 "core" &l\ +3 "processing"%J& +5 "core" &o\ +2 .tPC.seek :closed +2 "processing"%](^ +4 "core" &o\  +9 &2vo\ )w +9 &b~o\ = +10 &ysp\ N +6 "Can"\ Z$ +3 "core" &;Zp\ M +9 &Ym\ M +10 &Wn\ N +9 &Wo\ M +9 &CUo\ M +10 &Xs\ M +9 &Wo\ N +9 & Wl\ M +10 &"KTi\ M +9 &$ Yj\ M +10 &%Xh\ M +9 &'Xh\ N +9 &)SWc\ M +10 &+Ue\ M +9 &,Y`\ N +10 &.V_\ M +9 &0[Y`\ M +9 &2W^\ M +10 &3S^\ M +9 &5Wa\ M +9 &7cYa\ M +10 &9$Y]\ N +9 &:Y\\\ N +10 &<W`\ N +9 &>jZ`\ N +9 &@-Z`\ M +10 &A^`\ N +9 &Cc^\ O +9 &Ene`\ O +10 &G,r_\ P +9 &Ha\ R +10 &Ja\ S +9 &Li`\ S +9 &N*a\ T +10 &O_\ T +9 &Q[\ T +9 &Sm_\ U +10 &U0]\ T +9 &VR\ T +10 &X\\\ T +9 &ZvT\ T +9 &\\7Y\ U +10 &]{s]\ : +9 &^*uT\ N +9 &^&R\ 1 +3 ( +2 "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&H1 +61 "core" 1 +2 "manipulator"&% +3 "core" %  \  S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +97 "core" ' +2 "processing"%W& +3 "core" &^%S\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&M% +3 "core" %    +2 "storage"(P% +4 "core" % C F \\\  +2 "storage"(z. +3 "core" .(<- +2 "storage"(O& +3 "core" &<- D D A\ +3 "storage"(V& +2 "manipulator"&5& +7 "core" &<- C E \ + &  M > +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&\\( +5 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" ( +3 "manipulator"&F& +4 "core" &  > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &   > +2 .tForearm.seek PC +2 "manipulator"&a' +95 "core" ' +9 .tHand.close +2 "manipulator"&R/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' +2 "storage"(f- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"('1 +48 "core" ' +310 ( + "storage"(Y& +4 "core" &<, Z [\ +2 "manipulator"&& +4 "core" & ~ > +2 "manipulator"&r% +4 "core" %  a 1 +2 .tForearm.seek :retract +2 "manipulator"&j' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +243 "core" ( + "manipulator"&`& +4 "core" & @ 8 +2 "storage"(k& +4 "core" &<, > H '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +94 "core" ' + .tHand.open +2 "manipulator"&q1 +64 "core" 1 +3 "storage"(T- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(C' +29 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +3 "core" -' +2 "storage"(!& +4 "core" &<, e\ +2 "manipulator"& & +3 "core" &  " 7 +2 .tElbow.seek 5 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +4 "core" &   7 +2 "storage"(b& +3 "core" &<, \ +3 .tForearm.seek 5 + 450 counts + "manipulator"&p'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(i'" +51 "core" ' +2 "manipulator"&& +3 "core" & i 7 +2 "storage"(N& +4 "core" &<, ? : \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&l'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Z' +19 "core" ' +2 "manipulator"&G% +4 "core" %΍ e  +2 "storage"(c& +3 "core" &<, ; D w\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 300 counts +2 "manipulator"&3'Ϲ +13 "core" ' + "manipulator"&& +4 "core" & 5 +2 "storage"([& +4 "core" &<, Z Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&X'O +17 "core" ' +2 "storage"(}% +4 "core" % Z Z\ +2 ."downElevator"SE.seek :down +4 "storage"(.' +99 (% +3 "core" %PO , D \ Wd +2 "manipulator"&% +4 "core" %6 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +92 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (y& +3 "core" &<, V E J\ +2 "collection"'<& +4 "core" &\\o\ \ C\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&w% +48 "core" %  Y  +2 "storage"(|% +3 "core" % Z [ \  +2 "storage"(. +2 "core" .(<- +2 "storage"( & +4 "core" &<, Z Z\ +2 "storage"( & +3 "core" &<, Z [\ +2 "manipulator"&)& +4 "core" & k 5 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & 5 +2 "storage"(& +4 "core" &<, ] [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&('O +93 "core" ' +8 "storage"(U& +4 "core" &<, i i \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" & Y 5 +2 "storage"(:& +4 "core" &<, ^ ^ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&@'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('c +33 "core" ' + "manipulator"&&% +4 "core" %Ζ : +2 "storage"(s& +3 "core" &<, [ ^ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"&Q' +14 "core" ' +2 "manipulator"&B& +3 "core" & b 5 +2 "storage"(2& +3 "core" &<, h h B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&E'O +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"($' +35 "core" ' + "manipulator"&/& +4 "core" & 5 +2 "manipulator"&% +4 "core" %; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +148 "core" ( +2 "manipulator"&{& +3 "core" &ӏ( Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +4 "core" &Ӑ) @ Ab +2 .tForearm.seek CC +2 "manipulator"&7'? +94 "core" ' +2 .tHand.close + "manipulator"&\ / +61 "core" / +2 .tCC.seek :open +2 "collection"'e( +448 "core" ( +2 "storage"(& +3 "core" &<,  ~ \ +2 "storage"(;& +4 "core" &<, ~ ~ \ +2 "manipulator"&8& +3 "core" &Ӭ# Z =F +2 "manipulator"&+% +4 "core" % R /  +2 .tForearm.seek :retract +2 "manipulator"&4' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&t( +160 "core" ( +2 "manipulator"&~& +4 "core" &  + "storage"(K& +4 "core" &<, k \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&,'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +57 "core" 1 +2 "manipulator"&6% +4 "core" % Ξ @ +2 "storage"(n& +3 "core" &<, U\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts + "manipulator"&0' +14 "core" ' +2 "manipulator"&'& +4 "core" & T  +2 "storage"(1& +3 "core" &<, \\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +15 "core" ' + "storage"(=% +4 "core" % [\ +3 ."downElevator"SE.seek :down +3 "storage"(x' +99 (-% +3 "core" %G k q \ V` +2 "manipulator"&D% +3 "core" %@ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +46 "core" & \ +5 "manipulator"&% +4 "core" %   W  +2 "storage"(o% +4 "core" % T\  +2 "storage"(_. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(m(K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &K } v w\ \ +2 "manipulator"&& +3 "core" & E  +3 .tElbow.seek 6 +2 "manipulator"&W( +2 "core" ( +2 "manipulator"&M& +4 "core" &   +2 "storage"(P& +4 "core" &K g g z\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +96 "core" ' +2 "storage"(O& +4 "core" &K V\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(J'r +292 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" &K x ~ o\ \ +2 "manipulator"&F& +4 "core" & j  +2 .tElbow.seek 6 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(R& +3 "core" &K ~\ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&f'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(]' +8 "core" & J  +2 "manipulator"&% +4 "core" % c 2 +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&r& +3 "core" &ӎ* Bg +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &ӎ* C Bg +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&`'? +93 "core" ' +2 "manipulator"&k& +4 "core" &Ӑ)  Ae +2 "manipulator"&\\% +4 "core" %I R W +2 "collection"'q& +4 "core" & X\ +2 "collection"'T& +6 "core" & H\ +2 .tCC.seek :closed +2 "collection"'g(\\ +4 "core" & c\ +6 &5 N\ $d +10 &Ww 7\ 6 +9 &y Z\ K +9 &T i\ J +10 &|U :\ K +9 &?V 1\ J +10 &U 1\ J +9 &T 1\ K +9 &S >\ K +10 &FT ,\ K +9 & S B\ K +9 &!T _\ K +10 &#Y W\ K +9 &%NX -\ K +10 &'W 0\ K +9 &(W 8\ K +9 &*W W\ K +10 &,VX B\ K +9 &.X M\ K +9 &/Y S\ K +10 &1Y 2\ K +9 &3^T \ K +10 &5 S 8\ K +9 &6U 1\ J +9 &8U 2\ K +10 &:fX 8\ K +9 &<(Y *\ K +9 &=T ,\ K +10 &?W N\ K +9 &Am[ /\ K +10 &C/Y "\ K +9 &Dd $\ L +9 &Fl \ N +10 &Hg '\ P +9 &J\ \ +\ U +9 &K\ \ "\ V +10 &M\ \  \ W +9 &OY\ \ !\ X +9 &Q\ \ \ X +10 &R\ \  \ X +9 &T\ \ +\ Y +10 &V[\ \ \ Z +9 &X\ \ 7\ Z +9 &Y\ \ $\ \\ +10 &[\ \ &\ H +9 &\\:\ \  \ + +9 &\\s\ \  \ V +3 ( +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&!1 +59 "core" 1 +2 "manipulator"& % +4 "core" % I W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%b& +4 "core" &o\ +2 "manipulator"&j% +3 "core" %  s | +2 "storage"(% +4 "core" % [ Z\  +2 "storage"(N. +2 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(G(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (c& +2 "core" &K ) 7 B\  +3 "manipulator"&& +4 "core" &Ӭ%  >I +2 "manipulator"&% +3 "core" %  e | +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +46 "manipulator"&[( +189 "core" ( + "manipulator"&C& +3 "core" & " +3 "storage"(}& +3 "core" &K j f %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +88 "core" ' +3 "storage"(I& +4 "core" &K f ] 2\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K N C \  +2 "manipulator"&p& +4 "core" & # " +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&i& +4 "core" & " +2 "storage"(l& +3 "core" &K F > \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&y'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(Z' +7 "core" & D " +2 "manipulator"&w% +4 "core" % ` h +2 .tForearm.seek :retract +2 "manipulator"&|' +87 "core" ' + .tElbow.seek PC +2 "manipulator"&( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( + "manipulator"& & +4 "core" & t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & c  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&)' +94 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&% +4 "core" % U 3 +2 "processing"%X& +4 "core" &o\ +3 "processing"%U& +4 "core" &o\ +3 .tPC.seek :closed +2 "processing"%.(^ +3 "core" &o\ +7 &n\ 6 +9 &:Hyo\ 0 +9 &frs\ D +10 &bo\ N +9 &Tn\ M +9 &Vo\ M +10 &QSm\ M +9 &Xo\ M +10 &Wp\ M +9 &Ti\ M +9 &YYm\ M +10 &!Wo\ M +9 &"Sh\ M +10 &$Yl\ N +9 &&`Vm\ M +9 &("Th\ M +10 &)Y`\ M +9 &+Wf\ M +9 &-iTd\ M +10 &/)Xb\ N +9 &0X`\ M +9 &2Ta\ M +10 &4pV`\ M +9 &61X`\ N +10 &7W^\ M +9 &9Za\ M +9 &;wZ[\ N +10 &=9Ya\ N +9 &>Z`\ N +9 &@\\_\ M +10 &B~`c\ N +9 &D>c^\ O +10 &Ena\ P +9 &Gxb\ Q +9 &Iw`\ S +10 &K8`\ S +9 &La\ S +9 &Nb\ T +10 &P}b\ T +9 &R<^\ U +10 &S`\ U +9 &U_\ T +9 &W`\ U +10 &YE_\ T +9 &[a\ U +9 &\\^\ U +10 &^=cY\ %q +9 &^b\\\ 0 +9 ( +2 &^]\ + +2 "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&h% +3 "core" %   3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 "processing"%"& +4 "core" &^;\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&:% +4 "core" %  '  +2 "storage"(% +4 "core" % 9 ; \  +2 "storage"(&. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(s(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (B& +2 "manipulator"&2& +4 "core" &K 5  W\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   >  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(/'r +2 "manipulator"&( +22 "core" ( + "manipulator"&(& +4 "core" &   D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  D +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&@/ +97 "core" / +9 .tPC.seek :open +2 "processing"%Q( +24 "core" ' + "storage"({- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +39 "core" ' +380 ( +2 "storage"(*& +3 "core" &K [ Z\  +2 "manipulator"&E& +5 "core" &  D + "manipulator"&#% +4 "core" %  ' * +2 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&9( +241 "core" ( +2 "manipulator"&%& +3 "core" & ! A +2 "storage"(& +4 "core" &K [ ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +94 "core" ' +2 .tHand.open + "manipulator"&81 +64 "core" 1 +3 "storage"(+- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(K' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(7- +3 "core" -' +2 "storage"(S& +4 "core" &K \  +2 "manipulator"&v& +3 "core" &  @ +2 .tElbow.seek 6 +2 "manipulator"&6( +4 "core" ( + "manipulator"&n& +4 "core" &   @ +2 "storage"('& +4 "core" &K F\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +50 "core" ' +2 "manipulator"&4& +3 "core" & @ +2 "storage"(-& +4 "core" &K D C v\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&D'< +16 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(,' +28 "core" ' + "manipulator"&0% +4 "core" %T +2 "storage"($& +4 "core" &K 9 ; x\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 324 counts +2 "manipulator"&'π +13 "core" ' +2 "manipulator"&& +4 "core" & @ +2 "storage"(o& +4 "core" &K ] [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +15 "core" ' +2 "storage"(L% +4 "core" % h h \ +3 ."downElevator"SE.seek :down +3 "storage"(x' +99 (^% +3 "core" %_O 7 A \ Xf +2 "manipulator"&H% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +3 "core" &K Q G '\  +2 "collection"'P& +4 "core" &\\n\ \ (\ V +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&O% +4 "core" %   +2 "storage"(A% +4 "core" % Z [\  +2 "storage"(>. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(V(K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &K   S\  +2 "manipulator"&F& +4 "core" & 3 @ +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&R& +3 "core" &  @ +2 "storage"(& +4 "core" &K [ Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +46 .tForearm.seek 6 + 450 counts +5 "manipulator"&?' +93 "core" ' +2 "storage"(& +4 "core" &K i ^ ^\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(W'r +299 "core" ' + "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" &  @ +3 "storage"(a& +3 "core" &K e [ L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&J'< +22 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(\\'q +30 "core" ' +2 "manipulator"&q% +4 "core" %O - +2 "storage"(d& +3 "core" &K : < \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&]'{ +14 "core" ' + "manipulator"&Y& +4 "core" & @ +2 "storage"(e& +4 "core" &K h h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&!' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +37 "core" ' + "manipulator"&b& +4 "core" & q @ +2 "manipulator"&j% +3 "core" % ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +154 "core" ( + "manipulator"&T& +4 "core" &ӓ(  @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" &ӓ' @[ +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'`( +448 "core" ( + "storage"(C& +4 "core" &K ~ ~ \  +2 "storage"(}& +4 "core" &K s q \  +2 "manipulator"&m& +3 "core" &ӭ# =A +2 "manipulator"&% +4 "core" % E _  +2 .tForearm.seek :retract +2 "manipulator"&I' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &K h y *\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&p'< +92 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +52 "core" 1 +3 "manipulator"&3% +3 "core" % L Z +2 "storage"(<& +4 "core" &K R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&w'x +14 "core" ' +2 "manipulator"&[& +4 "core" &   +2 "storage"(& +4 "core" &K Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +20 "core" ' + "storage"(y% +4 "core" % Q\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 ( % +3 "core" %D ~ m `\ U_ +2 "manipulator"&u% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +52 ' + ."downElevator"SE.stop +40 "storage"(5 +11 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +4 "core" & ,\ +2 "manipulator"&X% +3 "core" %  (  +2 "storage"(Z% +4 "core" % P\  +2 "storage"(|. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ Z d\  +2 "manipulator"&h& +3 "core" & `  +3 .tElbow.seek 7 + "manipulator"&"(r +40 "core" ( +2 "manipulator"&:& +4 "core" &{ c K +2 "storage"(& +4 "core" &[ w k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&&'= +93 "core" ' +2 "storage"(U& +4 "core" &[ V\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'r +291 "core" ' +2 "storage"(2- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +2 "core" &[ t } T\  +3 "manipulator"&& +3 "core" &{ X K +4 .tElbow.seek 7 + "manipulator"&)(r +3 "core" ( +2 "manipulator"&@& +4 "core" &{ 3 K +2 "storage"(G& +3 "core" &[ ~ ~ \  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&{'ϧ +42 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(.' +7 "core" &{ K +2 "manipulator"&/% +4 "core" % ϙ Z +2 .tForearm.seek :retract +2 "manipulator"&*' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&#& +4 "core" &ӛ# X <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӛ# <> +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'? +95 "core" ' +2 "manipulator"&& +4 "core" &ӛ# 0 <> +2 "manipulator"&% +4 "core" %: @ i +2 "collection"'8& +4 "core" & K\ +2 "collection"'+& +5 "core" & ?\ +2 .tCC.seek :closed +2 "collection"'7(\\ +4 "core" & 6\ +7 &< =\ $f +9 &Z{ E\ 7 +9 &w ?\ K +10 &U K\ K +9 &Y ;\ J +9 &LU @\ J +10 & T ?\ K +9 &S 5\ K +10 &R :\ J +9 &TU C\ J +9 & T @\ J +10 &!W 0\ K +9 &#Y -\ K +10 &%[W /\ K +9 &'S 6\ K +9 &(T 2\ K +10 &*W \ K +9 &,cV /\ K +9 &.&S /\ K +10 &/S 3\ K +9 &1Y .\ K +9 &3lY 2\ K +10 &5.V 2\ K +9 &6T 4\ K +10 &8U ?\ J +9 &:uU 7\ J +9 &<7W :\ J +10 &=X 9\ K +9 &?\\ 7\ K +9 &AzZ 5\ K +10 &C<] 8\ K +9 &Dh @\ M +10 &Fv @\ N +9 &Hn\ \ 4\ R +9 &J'\ \ 8\ U +10 &K\ \ =\ V +9 &M\ \ :\ X +9 &Og\ \ 6\ W +10 &Q'\ \ 6\ X +9 &R\ \ 2\ Y +10 &T\ \ 5\ Y +9 &Vj\ \ 3\ Y +9 &X(\ \ 6\ Z +10 &Y\ \ 3\ [ +9 &[\ \ 8\ H +9 &\\/\ \ 2\ 3 +10 &\\h\ \ 4\ N +2 ( +2 "collection"'+& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&S1 +58 "core" 1 +2 "manipulator"&v% +4 "core" % S 1 P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%'& +3 "core" &Y\ +2 "manipulator"&\ % +4 "core" %  S  +2 "storage"(4% +4 "core" % _ ]\  + "storage"(-. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(0([ +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" &[   \  +2 "manipulator"&& +4 "core" & - . +2 "manipulator"&% +4 "core" %  &  +46 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&o(r +151 "core" ( + "manipulator"&~& +4 "core" &v  +2 "storage"(L& +4 "core" &[ f ] o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'= +95 "core" ' +2 "storage"(;& +3 "core" &[ n ~ e\  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +297 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (H& +2 "core" &[ \\ f >\  +3 "manipulator"&1& +3 "core" &v `  +2 .tElbow.seek 7 +2 "manipulator"&6(r +2 "core" ( +2 "manipulator"&=& +4 "core" &v h  +2 "storage"(D& +4 "core" &[ [ Z\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&M'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(O' +8 "core" &v   + "manipulator"&A% +4 "core" % Ϟ E +2 .tForearm.seek :retract +2 "manipulator"&>' +92 "core" ' +3 .tElbow.seek PC + "manipulator"&,( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&5& +4 "core" & ) 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" & T 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&R' +94 "core" ' +2 "manipulator"&& +4 "core" & h 4 +2 "manipulator"&_% +3 "core" % Q P +2 "processing"%& +4 "core" &\ +3 "processing"%x& +4 "core" &K\ +3 .tPC.seek :closed + "processing"%s(^ +4 "core" &n\  +9 &1vv\ )w +9 &d~w\ > +10 &vsp\ N +9 &9Tt\ M +9 &Wp\ M +10 &To\ M +9 &Un\ M +9 &AUu\ M +10 &Un\ M +9 &Un\ M +10 & Wp\ M +9 &"JVm\ M +9 &$ Vn\ M +10 &%Wo\ M +9 &'Wm\ M +9 &)PUm\ N +10 &+Vm\ M +9 &,Wn\ M +10 &.Uk\ N +9 &0YVh\ M +9 &2Rb\ M +10 &3Uk\ M +9 &5Vh\ M +9 &7bWg\ M +10 &9#Yb\ M +9 &:Ya\ M +10 &<Xb\ M +9 &>hYb\ N +9 &@*Wi\ N +10 &A__\ N +9 &Ced\ O +9 &Elh^\ O +10 &G)sj\ Q +9 &Hj\ R +10 &Jj\ T +9 &Lgd\ S +9 &N'c\ T +10 &Od\ T +9 &Q`\ U +9 &Sl_\ T +10 &U/_\ T +9 &Va\ T +10 &X]\ T +9 &Zt`\ T +9 &\\6]\ T +10 &]{s]\ ; +9 &^'g`\ P +9 &^(`\ 3 +3 ( +2 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&t1 +52 "core" 1 + "manipulator"&% +4 "core" %    P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +97 "core" ' +2 "processing"%r& +4 "core" &^%;\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&a% +4 "core" %   ! +2 "storage"(k% +4 "core" % D C \  +2 "storage"(q. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(d([ +5 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Y& +2 "manipulator"&e& +4 "core" &[ 5  S\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  [ 4 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&b( +2 "storage"(j'r +6 "core" ( + "manipulator"&?& +4 "core" &  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  4 4 +2 .tForearm.seek PC +2 "manipulator"&W' +130 "core" ' +9 .tHand.close +2 "manipulator"&J/ +59 "core" / +3 .tPC.seek :open + "processing"%]( +62 "core" ' +2 "storage"(\\- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'1 +41 "core" ' +341 ( +2 "storage"(c& +3 "core" &[ [ ]\  +2 "manipulator"&!& +4 "core" & 4 +2 "manipulator"&f% +3 "core" %  V b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +274 "core" ( + "manipulator"&g& +4 "core" &w c +2 "storage"(C& +4 "core" &[ [ ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&}'= +92 "core" ' +2 .tHand.open +2 "manipulator"&m1 +62 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(N& +4 "core" &[ S\  +2 "manipulator"&l& +4 "core" &w  c +2 .tElbow.seek 7 + "manipulator"&3(r +5 "core" ( + "manipulator"&<& +4 "core" &w  ) c +2 "storage"([& +3 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +61 "core" ' + "manipulator"&I& +4 "core" &w % c +2 "storage"( & +3 "core" &[ \\ `\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&u'{ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(p' +19 "core" ' + "manipulator"&w% +4 "core" %Ά _ +2 "storage"( & +4 "core" &[ < I K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 311 counts +2 "manipulator"&'ϲ +13 "core" ' +2 "manipulator"&X& +4 "core" &w I c +2 "storage"(Z& +3 "core" &[ ^ i r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&|'= +15 "core" ' +2 "storage"( % +4 "core" % i i \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +100 (V% +3 "core" %.N C D -\ Xf +2 "manipulator"&% +4 "core" %. ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (:& +3 "core" &[ ^ f &\  +2 "collection"'& +4 "core" &\\f\ \ 3\ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&U% +4 "core" %  Q  +2 "storage"(i% +3 "core" % ^ ] Y\  +2 "storage"(. +3 "core" .([ +2 "storage"(2& +3 "core" &[ h h V\  +2 "storage"((& +4 "core" &[ a g W\  +2 "manipulator"&& +4 "core" &w 2 c +2 .tElbow.seek 7 +2 "manipulator"&@(r +3 "core" ( +2 "manipulator"&G& +3 "core" &w c +3 "storage"(& +3 "core" &[ ` f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +130 "core" ' +9 "storage"(/& +4 "core" &[ [ \\ D\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'r +298 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" &w L c +2 "storage"(& +4 "core" &[ i i O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&B'{ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('i +31 "core" ' +2 "manipulator"&8% +3 "core" %Έ  +2 "storage"()& +4 "core" &[ a ^ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&.'ϴ +14 "core" ' + "manipulator"&*& +4 "core" &w L c +2 "storage"(`& +3 "core" &[ h i l\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&S'= +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(v' +35 "core" ' + "manipulator"&'& +4 "core" &w c +2 "manipulator"&\ % +4 "core" %,  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +155 "core" ( +2 "manipulator"&+& +4 "core" &ӂ+  9 Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &ӂ+  Cq +4 .tForearm.seek CC + "manipulator"&'? +98 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'%( +448 "core" ( + "storage"(~& +4 "core" &[ q { p\  +2 "storage"(L& +3 "core" &[ s { \  +2 "manipulator"&& +5 "core" &  . 1 + "manipulator"&;% +4 "core" %  % +2 .tForearm.seek :retract +2 "manipulator"&E' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&n(r +154 "core" ( + "manipulator"&^& +4 "core" &i  +2 "storage"(H& +4 "core" &[ }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&1'{ +100 "core" ' +2 .tElbow.hold + "manipulator"&=, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&D1 +64 "core" 1 +2 "manipulator"&% +4 "core" % ΋ \ +2 "storage"(P& +3 "core" &[  t j\  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 7 + 316 counts +2 "manipulator"&A'Ϸ +15 "core" ' + "manipulator"&o& +4 "core" &i  +2 "storage"(9& +4 "core" &[ R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'= +17 "core" ' +2 "storage"(M% +4 "core" % T\ +3 ."downElevator"SE.seek :down +3 "storage"(5' +99 (F% +3 "core" %C ~ ~ \ V_ +2 "manipulator"&6% +4 "core" %: U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp +44 "collection"'_& +7 "core" & @\ +2 "manipulator"&% +4 "core" %   +2 "storage"(O% +4 "core" % W\  +2 "storage"(>. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(Q(<- +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "core" &<* ^ \\\ +2 "manipulator"&& +3 "core" &i  +3 .tElbow.seek 5 + "manipulator"&r( +37 "core" ( +2 "manipulator"&a& +4 "core" &   +2 "storage"(k& +4 "core" &<* ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +93 "core" ' +2 "storage"(x& +4 "core" &<* Z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Y'r +294 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (?& +3 "core" &<* } s F\ +2 "manipulator"&& +3 "core" & $  +3 .tElbow.seek 5 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&J& +4 "core" &  +2 "storage"(0& +3 "core" &<* } \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&\\'Ϲ +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +3 "storage"(s' +6 "core" &  +2 "manipulator"&j% +4 "core" %  : w +2 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!(ӂ +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&f& +4 "core" &Ӑ& C ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &Ӑ& ) ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&g'? +102 "core" ' + "manipulator"&C& +4 "core" &Ӑ& ?P +2 "manipulator"&b% +4 "core" %@ F +2 "collection"'m& +4 "core" & N\ +3 "collection"'& +5 "core" & V\ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & R\ +9 &; K\ $e +9 &Xy B\ 7 +10 &u B\ K +9 &R C\ J +9 &V C\ J +10 &FU H\ J +9 &U A\ J +10 &U @\ J +9 &V B\ J +9 &OV E\ J +10 & T @\ K +9 &!S @\ J +9 &#V @\ J +10 &%VU ?\ J +9 &'V >\ J +10 &(V >\ J +9 &*U 6\ J +9 &,^W 5\ K +10 &. Y 6\ K +9 &/X 9\ K +9 &1Y :\ K +10 &3fY :\ K +9 &5'W >\ K +10 &6T >\ K +9 &8T @\ K +9 &:mT 9\ K +10 &\ K +9 &=T :\ K +9 &?W :\ J +10 &AtX 9\ K +9 &C5\\ 3\ L +10 &Dc 6\ L +9 &Fk <\ M +9 &Hl 7\ Q +10 &J#\ \ 4\ U +9 &K\ \ 8\ V +9 &M\ \ 3\ W +10 &Oa\ \ 2\ W +9 &Q#\ \ 2\ W +10 &R\ \ 6\ X +9 &T\ \ 2\ X +9 &Vc\ \ 2\ Y +10 &X"\ \ %\ Z +9 &Y\ \ 3\ [\ +9 &[\ \ '\ H +10 &\\-\ \ 2\ ; +9 &\\m\ \ 4\ H +6 ( +2 "collection"'& +3 "core" &\\h\ \ )\ H +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&N1 +54 "core" 1 +2 "manipulator"&l% +3 "core" % @  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%[& +4 "core" &Z\ +2 "manipulator"&% +4 "core" %    + "storage"(I% +4 "core" % \\ V \  +2 "storage"( . +2 "core" .(<- +2 "storage"(w& +4 "core" &<* F 4 \ +2 "storage"( & +3 "core" &<* Z S f\ +2 "manipulator"&T& +4 "core" &Ӱ  % :0 +2 "manipulator"&X% +4 "core" %  (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Z( +160 "core" ( + "manipulator"&& +4 "core" &  +48 "storage"( & +5 "core" &<* h h e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +96 "core" ' + "storage"(}& +4 "core" &<* m s 2\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"('r +298 "core" ' + "storage"(V- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<* U 8 \ +3 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&3( +4 "core" ( + "manipulator"&y& +4 "core" &  +2 "storage"(u& +4 "core" &<* Z ]\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(U' +7 "core" & P  +2 "manipulator"&i% +4 "core" % ϳ u +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&2& +4 "core" &  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" & ( \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + "manipulator"&G& +4 "core" & A \ +2 "manipulator"&% +4 "core" % $ r +2 "processing"%|& +4 "core" &>\ +2 "processing"%/& +5 "core" &\ +3 .tPC.seek :closed + "processing"% (^ +5 "core" &\ +7 &6\ #c +10 &V{j\ 7 +9 &xv\ K +9 &Up\ M +10 &bWk\ M +9 &$Tm\ M +9 &Yp\ M +10 &Vs\ N +9 &jUp\ M +9 &,Yo\ M +10 &Vn\ M +9 &!Sn\ M +10 &#rYo\ M +9 &%5Yp\ M +9 &&Xm\ M +10 &(Yj\ M +9 &*zXc\ M +10 &,=Ul\ M +9 &-Vh\ M +9 &/Ym\ N +10 &1Wl\ M +9 &3DVm\ M +9 &5Vl\ M +10 &6Tc\ M +9 &8Xh\ M +10 &:MT\\\ M +9 &<Za\ M +9 &=Yg\ N +10 &?Xa\ N +9 &ASY_\ N +9 &C_a\ N +10 &Df_\ O +9 &Fl`\ O +10 &HP~i\ Q +9 &J d\ S +9 &Kd\ S +10 &M_\ T +9 &OQf\ T +9 &Q`\ T +10 &R`\ T +9 &T_\ U +10 &VX^\ T +9 &X_\ U +14 &Y`\ T +5 &[`\ T +11 &]^[\ B +7 &^Iz^\ P +10 &^ Q`\ 5 +5 ( +2 "processing"%/& +4 "core" &^,X\ 5 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"&h% +4 "core" %   r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +97 "core" ' +2 "processing"%#& +4 "core" &^,=\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    " +2 "storage"(% +3 "core" % D C \  +2 "storage"(8. +3 "core" .(<- +2 "storage"()& +3 "core" &<* D M d\ +3 "storage"(*& +2 "manipulator"&`& +9 "core" &<* C C\ + &  \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&'( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(\ 'r +3 "core" ( +2 "manipulator"& & +3 "core" &   N \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +4 "core" &    \ +2 .tForearm.seek PC +2 "manipulator"&"' +94 "core" ' + .tHand.close +2 "manipulator"&B/ +62 "core" / +2 .tPC.seek :open +2 "processing"%.( +90 "core" ' +2 "storage"(- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +49 ."raiseStack"SE.seek :place +4 "storage"(+'1 +51 "core" ' +258 ( +2 "storage"($& +3 "core" &<* h e '\ +2 "manipulator"&S& +4 "core" & # \ +2 "manipulator"&{% +4 "core" %  $ ? +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&4( +240 "core" ( + "manipulator"&7& +4 "core" &  S +2 "storage"(~& +4 "core" &<* [ Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&L'O +94 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(;- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(^' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(H' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(-& +3 "core" &<* z\ +2 "manipulator"&D& +4 "core" & S +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&P& +4 "core" &   S +2 "storage"(o& +3 "core" &<* \ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(M'" +58 "core" ' +2 "manipulator"&E& +4 "core" &  _ S +2 "storage"(F& +3 "core" &<* O X F\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&6'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(1' +28 "core" ' + "manipulator"&_% +4 "core" %Π ) +2 "storage"(A& +4 "core" &<* < 9 X\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&v' +13 "core" ' +2 "manipulator"&& +3 "core" & F S +2 "storage"(O& +4 "core" &<* [ Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +15 "core" ' +2 "storage"(K% +3 "core" % i i V\ +3 ."downElevator"SE.seek :down +3 "storage"(5' +99 (d% +3 "core" %`R ( C \ Xg +2 "manipulator"&t% +4 "core" %G # +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (a& +3 "core" &<* [ Z )\ +2 "collection"'k& +3 "core" &\\h\ \ ;\ H +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&x% +4 "core" %  Q  +2 "storage"(=% +4 "core" % i i }\  + "storage"(. +3 "core" .(<- +2 "storage"(e& +4 "core" &<* i i m\ +2 "storage"(?& +4 "core" &<* h f q\ +2 "manipulator"&& +3 "core" &  S +2 .tElbow.seek 5 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&0& +4 "core" & ' S +2 "storage"(,& +4 "core" &<* h h H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +91 "core" ' +2 "storage"(j& +4 "core" &<* ] ^ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(r'r +297 "core" ' +2 "storage"(q- +2 "core" -' +3 .tSE.configure :default +47 "storage"(#QK-0-\ b +5 "manipulator"&f& +3 "core" & G S +2 "storage"(W& +4 "core" &<* e h\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&Y'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(C- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(b'c +31 "core" ' + "manipulator"&R% +4 "core" %΅  +2 "storage"(m& +3 "core" &<* ^ h Q\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 292 counts + "manipulator"&s'ϱ +16 "core" ' + "manipulator"&c& +4 "core" & R +2 "storage"(%& +4 "core" &<* \\ ] H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&N'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(l' +35 "core" ' +2 "manipulator"&[& +3 "core" & ; R +2 "manipulator"&% +4 "core" %G : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ( +3 "manipulator"&w& +3 "core" &ӊ+ 8 Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӊ+ Ct +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 .tHand.close + "manipulator"&T/ +55 "core" / +2 .tCC.seek :open +2 "collection"'X( +451 "core" ( + "storage"(g& +4 "core" &<*  t \ +2 "storage"(& +3 "core" &<* r | \ +2 "manipulator"& & +4 "core" &Ӹ# =F +2 "manipulator"&!% +3 "core" % N ]  +2 .tForearm.seek :retract +2 "manipulator"&}' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&<( +161 "core" ( + "manipulator"&V& +4 "core" &   +2 "storage"(& +3 "core" &<* g g \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +96 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&u1 +62 "core" 1 +2 "manipulator"&:% +3 "core" % Ύ +2 "storage"(& +4 "core" &<* | \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&i'Ϻ +15 "core" ' +2 "manipulator"&Z& +3 "core" & &  +2 "storage"(& +4 "core" &<* V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 "storage"(% +3 "core" % P\ +3 ."downElevator"SE.seek :down +3 "storage"(2' +99 ((% +3 "core" %C q p $\ V_ +2 "manipulator"&3% +4 "core" %> / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & F\ +2 "manipulator"&|% +4 "core" %  X  +2 "storage"(U% +3 "core" % X\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(](K +355 "core" ( +5 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K ~ z E\  +2 "manipulator"&h& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &K w \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&8' +94 "core" ' + "storage"()& +4 "core" &K F\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +296 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (*& +2 "core" &K  s .\  +3 "manipulator"& & +3 "core" & ?  +2 .tElbow.seek 6 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(B& +3 "core" &K |\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +14 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"( ' +7 "core" & 0  + "manipulator"&\ % +4 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&$' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&{& +3 "core" &Ӗ$ E =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &Ӗ$ =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&7'? +93 "core" ' + "manipulator"&~& +4 "core" &ӗ$  =F +2 "manipulator"&'% +4 "core" %8 y +2 "collection"'& +4 "core" & V\ +3 "collection"';& +4 "core" & W\ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & Z\ +8 &< V\ %g +9 &Yw P\ 7 +10 &x F\ J +9 &S @\ K +9 &Y F\ K +10 &JZ B\ K +9 & Y ?\ K +9 &Y ?\ K +10 &Y @\ K +9 &SS @\ K +10 & S @\ K +9 &!Y B\ K +9 &#Y ?\ K +10 &%[Y =\ K +9 &'Y :\ K +9 &(T :\ K +10 &*X :\ K +9 &,cY 9\ K +10 &.%S ?\ K +9 &/T 4\ K +9 &1U 6\ K +10 &3lV 5\ J +9 &5.U <\ J +9 &6V :\ K +10 &8Y <\ K +9 &:sT ?\ K +10 &<5T ?\ K +9 &=T ?\ K +9 &?W ?\ K +10 &Az\\ ?\ K +9 &C:\\ ?\ L +9 &Dc ?\ L +10 &Fm @\ M +9 &Hq\ @\ Q +10 &J(\ \ A\ U +9 &K\ \ =\ V +9 &M\ \ <\ W +10 &Og\ \ =\ W +9 &Q(\ \ @\ W +9 &R\ \ @\ X +10 &T\ \ ?\ Y +9 &Vh\ \ :\ Y +10 &X'\ \ ?\ Z +9 &Y\ \ <\ Z +9 &[\ \ ?\ H +10 &\\0\ \ :\ 2 +9 &\\c\ \ =\ K +2 ( +2 "collection"';& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&-1 +59 "core" 1 +2 "manipulator"&D% +4 "core" % 8 y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%o& +4 "core" &s\ +2 "manipulator"&% +3 "core" % \  7  +3 "storage"(E% +3 "core" % ^ ]\  +2 "storage"(F. +3 "core" .(K +2 "storage"(+& +3 "core" &K [ ]\  +2 "storage"(_& +4 "core" &K Z Z\  +2 "manipulator"&A& +3 "core" &Ӣ" f <; +2 "manipulator"&^% +4 "core" % \  j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&O& +3 "core" & 1  +2 "storage"(K& +4 "core" &K { } y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&4' +97 "core" ' +2 "storage"(L& +4 "core" &K m ^ ]\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +50 .tSE.seek :beamBreak +2 "storage"(H'r +300 "core" ' +2 "storage"(d- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (t& +3 "core" &K Y f \  +2 "manipulator"&9& +4 "core" & X  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&M& +3 "core" & c  +2 "storage"(6& +4 "core" &K j i h\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&v'h +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +2 "storage"(x' +7 "core" & R  +2 "manipulator"&=% +4 "core" % s 0 +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&e& +4 "core" & E N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" & N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&0& +4 "core" & N +2 "manipulator"&,% +4 "core" % ` r +2 "processing"%>& +3 "core" &d\ +3 "processing"%j& +5 "core" &$\ +2 .tPC.seek :closed +2 "processing"%5(^ +3 "core" &\ +9 &6L\ #b +9 &Tyt\ 6 +9 &{y\ K +10 &Tp\ M +9 &]Td\ M +10 &Sl\ M +9 &Ue\ M +9 &Rb\ M +10 &eUm\ M +9 &'Um\ M +9 &Rn\ M +11 &!To\ M +8 &#mVt\ M +10 &%0Ro\ M +9 &&Wm\ M +9 &(Vm\ M +10 &*uWh\ M +9 &,7Wm\ M +9 &-TZ\ M +10 &/Yi\ M +9 &1|Vc\ N +10 &3@Ua\ M +9 &5Tc\ M +9 &6Vf\ N +10 &8Va\ M +9 &:HWi\ M +9 &<WX\ N +10 &=VV\ M +9 &?Ta\ M +10 &ANU`\ N +9 &C `]\ O +9 &Dc^\ O +10 &Fp[\ P +9 &HH_\ R +9 &J_\ S +10 &K`\ S +9 &M`\ T +10 &OK_\ T +9 &Q \\\ T +9 &R^\ T +10 &T`\ U +9 &VSa\ T +9 &Xb\ T +10 &Yb\ U +9 &[Z\ U +10 &]XW\ D +9 &^Du`\ ` +9 &^5_\ 0 +6 ( +2 "processing"%j& +3 "core" &^^\ 0 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&n1 +53 "core" 1 +2 "manipulator"&% +3 "core" %    r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +97 "core" ' +2 "processing"%f& +4 "core" &^@\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&W% +3 "core" %    +2 "storage"(C% +4 "core" % R : 3\  +2 "storage"(R. +2 "core" .(K +2 "storage"(m& +4 "core" &K \\ J \  +3 "storage"(c& +2 "manipulator"&%& +5 "core" &K 9 9 n\  +2 & N +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(['r +2 "manipulator"&( +6 "core" ( +2 "manipulator"&z& +4 "core" &  : N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &   N +2 .tForearm.seek PC +2 "manipulator"&r' +93 "core" ' +2 .tHand.close + "manipulator"&Y/ +63 "core" / +2 .tPC.seek :open + "processing"%s( +88 "core" ' + "storage"(b- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'1 +48 "core" ' +308 ( +2 "storage"( & +3 "core" &K [ ^ J\ +2 "manipulator"&N& +4 "core" & [ N +2 "manipulator"&\\% +3 "core" %  < K +2 .tForearm.seek :retract +2 "manipulator"&T' +136 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&I( +243 "core" ( +2 "manipulator"&& +3 "core" &  G +2 "storage"(g& +5 "core" &K d ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open +2 "manipulator"& 1 +62 "core" 1 +2 "storage"(!- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(V' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"( & +4 "core" &K X\ +2 "manipulator"&u& +3 "core" &  = G +3 .tElbow.seek 6 + "manipulator"&:( +4 "core" ( +2 "manipulator"&& +3 "core" &  \ & G +2 "storage"(Z& +4 "core" &K { | g\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' + "manipulator"&}& +4 "core" & 2 G +2 "storage"((& +4 "core" &K Z [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&3'< +26 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&% +4 "core" %H J f +2 "storage"(|& +4 "core" &K D D \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&i't +13 "core" ' +2 "manipulator"&U& +3 "core" & G +2 "storage"(& +4 "core" &K e h 4\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +15 "core" ' +2 "storage"(% +4 "core" % i i \ +3 ."downElevator"SE.seek :down +4 "storage"(2' +99 (Q% +3 "core" %gM D D \ Wd +2 "manipulator"&% +3 "core" % E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K E N F\ +2 "collection"'& +4 "core" &\\a\ \ ?\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&)% +4 "core" %  c  +2 "storage"(y% +3 "core" % g e \  +2 "storage"(G. +3 "core" .(K +2 "storage"(`& +4 "core" &K [ Z\ +2 "storage"(*& +3 "core" &K Z Z\ +3 "manipulator"& & +3 "core" & i F +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&B& +4 "core" & % F +2 "storage"(p& +3 "core" &K h g D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +101 "core" ' +2 "storage"(\ & +4 "core" &K ] ^\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'r +296 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" & J F +2 "storage"("& +4 "core" &K T Y m\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&/'< +17 "core" ' + .tElbow.hold +41 "manipulator"&, +10 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(~- +3 "core" -' +3 .tSE.seek 0.18 Pucks below Top Plate + "storage"('' +30 "core" ' + "manipulator"&% +4 "core" %P Z +2 "storage"(@& +3 "core" &K [ ]\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 320 counts + "manipulator"& '| +14 "core" ' +2 "manipulator"&$& +3 "core" & F +2 "storage"(X& +4 "core" &K ] d \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(D' +36 "core" ' + "manipulator"&o& +4 "core" & F +2 "manipulator"&% +3 "core" % + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&F(ӂ +153 "core" ( +2 "manipulator"&+& +4 "core" &Ӓ( k @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &Ӓ(  @W +2 .tForearm.seek CC +2 "manipulator"&_'? +102 "core" ' + .tHand.close +2 "manipulator"&A/ +56 "core" / +2 .tCC.seek :open +2 "collection"'^( +447 "core" ( +2 "storage"(7& +4 "core" &K a ^ G\ +2 "storage"(O& +4 "core" &K Z ] &\ + "manipulator"&K& +4 "core" &Ө# =A +2 "manipulator"&L% +4 "core" % 7 \\ +2 .tForearm.seek :retract +2 "manipulator"&S' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&P( +160 "core" ( + "manipulator"&d& +4 "core" &  +2 "storage"(t& +3 "core" &K g h x\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&9'< +94 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +55 "core" 1 +2 "manipulator"&a% +4 "core" % : $ L +2 "storage"(k& +3 "core" &K j h r\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 298 counts + "manipulator"&='f +14 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(4& +3 "core" &K \\\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +15 "core" ' + "storage"(v% +4 "core" % X\ +3 ."downElevator"SE.seek :down +4 "storage"(e' +98 (?% +3 "core" %H q t `\ V` +2 "manipulator"&% +4 "core" % . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"',& +3 "core" & @\ +2 "manipulator"&>% +4 "core" %   +2 "storage"(x% +3 "core" % R\  +2 "storage"(. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(.([ +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +3 "core" &[ g ] \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&f(r +36 "core" ( + "manipulator"&W& +4 "core" &  +2 "storage"(C& +49 "core" &[  \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&R'= +90 "core" ' +2 "storage"(m& +3 "core" &[ [\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'r +295 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (j& +2 "core" &[ { @\  +3 "manipulator"&z& +3 "core" & +2 .tElbow.seek 7 +2 "manipulator"&J(r +51 "core" ( +2 "manipulator"&& +3 "core" &t\   h +2 "storage"(Y& +5 "core" &[ | \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&b'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(5' +6 "core" &t  h +2 "manipulator"&[% +5 "core" % Ϣ  +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&\\& +4 "core" &Ӟ  T :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &Ӟ  s :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + "manipulator"&g& +4 "core" &Ӟ! e :1 +2 "manipulator"&% +4 "core" %' E +2 "collection"' & +4 "core" & X\ +3 "collection"'!& +5 "core" & \\\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & X\ +8 &; X\ %f +9 &Z{ T\ 8 +10 &\ u V\ K +9 &R T\ J +9 &T K\ K +10 &NT C\ K +9 &U K\ J +10 &U N\ J +9 &U M\ J +9 &XU N\ J +10 & Y K\ K +9 &!X L\ K +9 &#T H\ J +10 &%_U C\ J +9 &'!U E\ J +10 &(U B\ J +9 &*S ?\ K +9 &,fT A\ K +10 &.(T A\ K +9 &/S A\ K +9 &1T @\ K +10 &3nT :\ K +9 &50S ?\ K +10 &6T 9\ K +9 &8T ?\ K +9 &:vT :\ K +10 &<9W 9\ J +9 &=X @\ K +9 &?Y B\ K +10 &A}Z <\ K +9 &C>` =\ L +10 &Dh <\ M +9 &Fx =\ N +9 &Hr\ \ @\ R +10 &J(\ !\ ?\ V +9 &K\ "\ !6\ W +9 &M\ \ <\ X +10 &Oi\ \ 9\ X +9 &Q*\ \ 7\ X +10 &R\ \ <\ Z +9 &T\ \ <\ Y +9 &Vj\ \ ;\ Z +10 &X*\ \ <\ [ +9 &Y\ \ <\ [ +9 &[\ \ :\ I +10 &\\/\ \ ?\ 0 +9 &\\z\ \ @\ S +3 ( +2 "collection"'!& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 +2 .Hand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&u% +3 "core" % '  E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%Z& +3 "core" &d\ +2 "manipulator"&T% +4 "core" %  Q  +2 "storage"(}% +4 "core" % ^ ]\  +2 "storage"((. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(w([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ ! ! ?\  +2 "manipulator"&|& +4 "core" & S * +2 "manipulator"&U% +3 "core" %  >  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&V(r +150 "core" ( + "manipulator"&& +4 "core" &{ O } +2 "storage"(& +4 "core" &[ Z [ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&I'= +94 "core" ' + "storage"(& +4 "core" &[ j a \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +307 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +49 "core" &[ Z Z\  +3 "manipulator"&& +4 "core" &{ } +2 .tElbow.seek 7 +2 "manipulator"&:(r +3 "core" ( +2 "manipulator"&& +4 "core" &{ L } +2 "storage"(3& +3 "core" &[ [ Z\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"()' +8 "core" &{ \\ } +2 "manipulator"&y% +3 "core" % ϛ _ +3 .tForearm.seek :retract +2 "manipulator"&G' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&`& +4 "core" & T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" & O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 "manipulator"&B& +4 "core" & T +2 "manipulator"&p% +4 "core" % g J +2 "processing"%l& +4 "core" &v\ +3 "processing"%\ & +5 "core" &R\ +2 .tPC.seek :closed +2 "processing"%2(^ +3 "core" &\  +10 &4yv\ *x +9 &e}z\ > +9 &}rz\ N +10 &@ST\ M +9 &Tx\ N +9 &Tr\ M +10 &Uf\ M +9 &IWg\ M +10 &\ Uc\ M +9 &Wf\ M +9 & Tb\ M +10 &"PU \ M +9 &$RY\ M +9 &%T\ M +10 &'W=\ M +9 &)WUA\ N +10 &+Uf\ M +9 &,Xm\ M +9 &.To\ M +10 &0_Vn\ N +9 &2"Ud\ M +9 &3Tp\ M +10 &5Ui\ N +9 &7hUi\ M +10 &9*Ym\ M +9 &:Wi\ N +9 &<Vl\ N +10 &>oXm\ N +9 &@2Xg\ M +9 &A]d\ N +10 &Cd`\ O +9 &Ergb\ O +10 &G1pg\ P +9 &HW\ S +9 &JU\ S +10 &LnW\ S +9 &N/a\ T +9 &Oa\ S +10 &Qm\ U +9 &Sse\ T +10 &U4h\ U +9 &Vc\ T +9 &Xc\ T +10 &Zyh\ U +9 &\\<e\ U +9 &]{sV\ 9 +10 &^._\ K +9 &^ a\ / +3 ( +2 "processing"%\ & +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&<1 +58 "core" 1 +2 "manipulator"&h% +3 "core" %   J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +95 "core" ' +2 "processing"%{& +4 "core" &^ >\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&"% +4 "core" %   E # +2 "storage"(~% +4 "core" % D D \  +2 "storage"(. +2 "core" .([ +2 "storage"(@& +4 "core" &[ F D U\  +3 "storage"($& +2 "manipulator"&X& +7 "core" &[ G D $\  + & \ 2 +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(o'r +2 "manipulator"&( +6 "core" ( +2 "manipulator"&&& +3 "core" & \  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  +3 .tForearm.seek PC + "manipulator"&#' +91 "core" ' + .tHand.close +2 "manipulator"&// +56 "core" / +2 .tPC.seek :open +2 "processing"% ( +98 "core" ' + "storage"('- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +45 "core" ' +304 ( + "storage"(;& +4 "core" &[ Z Z\  +2 "manipulator"&-& +3 "core" & ] +2 "manipulator"&% +4 "core" %  F ` +2 .tForearm.seek :retract +2 "manipulator"&A' +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&E(r +240 "core" ( +2 "manipulator"&& +43 "core" &o\  % !v +9 "storage"(7& +4 "core" &[ : : d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&O'= +96 "core" ' + .tHand.open +2 "manipulator"&K1 +53 "core" 1 +2 "storage"(L- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(d' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(t' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(_- +2 "core" -' +3 "storage"(F& +3 "core" &[ \  +2 "manipulator"&6& +4 "core" &p\ \ !u +2 .tElbow.seek 7 +2 "manipulator"&a(r +3 "core" ( +2 "manipulator"&k& +4 "core" &p\    !u +2 "storage"(& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&4'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(v'" +51 "core" ' +2 "manipulator"&S& +4 "core" &p\  Y !u +2 "storage"(?& +3 "core" &[ C D\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +19 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +27 "core" ' +2 "manipulator"&,% +5 "core" %΄ { + "storage"(>& +4 "core" &[ ; 9 ;\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 309 counts + "manipulator"&='ϰ +16 "core" ' +2 "manipulator"&x& +4 "core" &p\  > !u +2 "storage"(& +3 "core" &[ Z Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'= +15 "core" ' +2 "storage"(H% +4 "core" % ^ ] \ +2 ."downElevator"SE.seek :down +5 "storage"(e' +99 (]% +2 "core" %lO   M\ Wd +3 "manipulator"&n% +3 "core" %3  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &[ R U \  +2 "collection"'C& +4 "core" &\\u\ \ >\ S +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&m% +3 "core" %  m  +2 "storage"(M% +4 "core" % Z [\  +2 "storage"(0. +2 "core" .([ +2 "storage"(%& +4 "core" &[ [ ]\  +2 "storage"(j& +4 "core" &[ Z Z\  +2 "manipulator"&z& +3 "core" &p\  P !u +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( + "manipulator"&Y& +4 "core" &p\   !u +2 "storage"(1& +4 "core" &[ [ [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'= +103 "core" ' +2 "storage"([& +3 "core" &[ f ^ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'r +306 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &p\  I !u +2 "storage"(r& +3 "core" &[ S 9 :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&c'{ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +72 "core" ' +5 "manipulator"& % +3 "core" %Ί + +2 "storage"(J& +4 "core" &[ G C \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 315 counts + "manipulator"&5'϶ +15 "core" ' +2 "manipulator"& & +4 "core" &p\  !u +2 "storage"(^& +3 "core" &[ V I .\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(u' +35 "core" ' +2 "manipulator"&Z& +4 "core" &p\  !u +2 "manipulator"&T% +3 "core" %@ f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&((ӂ +150 "core" ( +2 "manipulator"&!& +4 "core" &ӏ-  Dw + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӏ- ^ Dw +3 .tForearm.seek CC +2 "manipulator"&|'? +95 "core" ' +2 .tHand.close + "manipulator"&U/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "storage"(& +3 "core" &[ t q v\  +2 "storage"(& +4 "core" &[ r r \  +2 "manipulator"&& +3 "core" & \\ 2 +2 "manipulator"&.% +4 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&N' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +149 "core" ( + "manipulator"&Q& +4 "core" &|   +2 "storage"(& +4 "core" &[ g h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&31 +63 "core" 1 +3 "manipulator"&i% +3 "core" % Ά  +2 "storage"(& +4 "core" &[ E\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 311 counts +2 "manipulator"&y'ϲ +13 "core" ' +3 "manipulator"&V& +3 "core" &| 4  +2 "storage"(I& +4 "core" &[ W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +14 "core" ' +2 "storage"(% +3 "core" % Z\ +3 ."downElevator"SE.seek :down +4 "storage"(`' +98 (*% +3 "core" %C p q /\ V^ +3 "manipulator"&:% +3 "core" %* * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +92 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'p& +3 "core" & I\ +2 "manipulator"&l% +5 "core" %  7 # + "storage"()% +4 "core" % B\  +2 "storage"(G. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(s(<- +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" &\ N +9 &Hl\ >\ Q +10 &J#\ \ 6\ U +9 &K\ \ 9\ X +9 &M\ \ ;\ X +10 &Oa\ \ ?\ W +9 &Q!\ \ ?\ X +10 &R\ \ F\ X +9 &T\ \ @\ Z +9 &Vb\ \ >\ Z +10 &X!\ \ 8\ [ +9 &Y\ \ =\ \\ +9 &[\ \ =\ H +10 &\\5\ \ @\ . +9 &\\\ \ \ A\ [ +6 ( +2 "collection"'L& +3 "core" &\\}\ \ <\ [ +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&F1 +57 "core" 1 +2 "manipulator"&6% +4 "core" % 5 - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&A% +3 "core" %  A  +2 "storage"(S% +4 "core" % C C \  +2 "storage"(?. +2 "core" .(<0 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(,(<- +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (>& +2 "core" &<, A ; W\ +3 "manipulator"&+& +3 "core" &ӥ Y 5 +2 "manipulator"&x% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +159 "core" ( + "manipulator"&d& +4 "core" & %  +2 "storage"(H& +4 "core" &<, Z [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&E'O +92 "core" ' +2 "storage"(O& +3 "core" &<, Y d\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'r +295 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (n& +2 "core" &<, D 7 \ +2 "manipulator"&4& +4 "core" & !  +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&v& +50 "core" & a  +3 "storage"(& +4 "core" &<, D C\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&W'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& + "storage"(m' +8 "core" &   +2 "manipulator"&M% +3 "core" % ϯ * +3 .tForearm.seek :retract +2 "manipulator"&0' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&9( +154 "core" ' +6 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&%& +4 "core" & I 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" & , 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&z' +93 "core" ' +2 "manipulator"&Y& +4 "core" & l 3 +2 "manipulator"&1% +4 "core" % R +2 "processing"%D& +4 "core" &\ +2 "processing"%[& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%e(^ +5 "core" &\ +7 &=\ #c +9 &Vz\ 7 +9 &v\ K +10 &R9\ M +9 &gW\ M +10 &(T\ N +9 &V\ M +9 &R\ M +10 &nT\ N +9 &1U\ M +9 &R\ M +10 &!RZ\ M +9 &#wW\ M +10 &%9X\ M +9 &&V\ M +9 &(S5\ M +10 &*T\ M +9 &,@W\ N +10 &.T\ M +9 &/W\ N +9 &1U\ M +10 &3IWV\ M +9 &5 U\ M +9 &6W\ N +10 &8W\ M +9 &:QR\ M +9 &<Y\ M +10 &=X\ M +9 &?Y\ M +10 &AXU\ N +9 &C^\ N +9 &Db\ O +10 &Fj\ P +9 &HT{\ R +10 &J\ S +9 &K\\\ T +9 &Mb\ T +10 &OUj\ T +9 &Qf\ U +9 &Rg\ T +10 &Tk\ U +9 &V\\b\ T +9 &Xb\ U +10 &Yc\ T +9 &[f\ U +10 &]bc\ B +9 &^Kyf\ H +9 &^Qg\ > +6 ( +2 "processing"%[& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&P1 +2 "core" &^Al\ > +55 1 +2 "manipulator"&% +4 "core" %   R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' +2 "processing"%\\& +4 "core" &^Ae\ > +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&r% +4 "core" %    >  +2 "storage"(g% +4 "core" % D D \  +2 "storage"( . +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(J(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +3 "core" &<, @ 0 \ +2 "manipulator"&^& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  3 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(Z'r +3 "manipulator"&T( +6 "core" ( + "manipulator"&q& +4 "core" &   3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   3 +3 .tForearm.seek PC + "manipulator"&f' +96 "core" ' +2 .tHand.close +2 "manipulator"&c/ +59 "core" / +3 .tPC.seek :open +2 "processing"%5( +86 "core" ' + "storage"(!- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +311 ( +2 "storage"(& +4 "core" &<, > H e\ +2 "manipulator"& & +3 "core" & c 3 +2 "manipulator"&b% +4 "core" %  J J +2 .tForearm.seek :retract +2 "manipulator"&U' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +245 "core" ( + "manipulator"&& +4 "core" &  P +41 "storage"(& +11 "core" &<, E D \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(.- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Q' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +4 "core" -' + "storage"((& +4 "core" &<, P\ +2 "manipulator"&3& +4 "core" &  < P +2 .tElbow.seek 5 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&& +4 "core" &   P + "storage"(V& +4 "core" &<, y\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&I'O +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&N& +4 "core" & C P +2 "storage"(*& +4 "core" &<, D F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&:'΍ +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +26 "core" ' + "manipulator"&p% +4 "core" %Ν " +2 "storage"(l& +4 "core" &<, G D J\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 316 counts + "manipulator"&y' +14 "core" ' +2 "manipulator"&)& +3 "core" & 3 P +2 "storage"(G& +4 "core" &<, 9 : y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&u'O +16 "core" ' +2 "storage"(% +3 "core" % ] J >\ +3 ."downElevator"SE.seek :down +3 "storage"(`' +99 (w% +3 "core" %qO ! $ 6\ We +2 "manipulator"&<% +4 "core" %G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +92 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ("& +3 "core" &<, 4 R \ +2 "collection"'~& +4 "core" &\\}\  B\ [ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&@% +4 "core" %  a  +2 "storage"(% +4 "core" % [ \\ \  +2 "storage"(B. +4 "core" .(<- + "storage"(X& +4 "core" &<, ] [\ +2 "storage"($& +4 "core" &<, ] J 3\ +2 "manipulator"&&& +3 "core" & W P +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&/& +4 "core" & ) P +2 "storage"(& +3 "core" &<, [ \\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&8'O +97 "core" ' +2 "storage"(o& +4 "core" &<, Y Z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & _ P +2 "storage"(#& +3 "core" &<, 9 9 ?\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&\ '΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('c +31 "core" ' +41 "manipulator"&% +11 "core" %Ό 5 +2 "storage"(K& +4 "core" &<, [ Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 299 counts + "manipulator"&2'ϸ +15 "core" ' + "manipulator"&;& +4 "core" & ; P +2 "storage"(& +4 "core" &<, _ [ .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(6' +38 "core" ' +2 "manipulator"&& +3 "core" & P +3 "manipulator"&A% +3 "core" %; & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +157 "core" ( +2 "manipulator"&L& +4 "core" &ӆ"   K ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &ӆ" ' ;8 +2 .tForearm.seek CC +2 "manipulator"&+'? +102 "core" ' + .tHand.close +2 "manipulator"&x/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(d& +4 "core" &<, q q \ + "storage"(H& +4 "core" &<, p \ +2 "manipulator"&s& +4 "core" &ӈ" > ;6 +2 "manipulator"&O% +3 "core" %  U +2 .tForearm.seek :retract +2 "manipulator"&-' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&k( +151 "core" ( + "manipulator"&]& +4 "core" & * +2 "storage"(n& +4 "core" &<, k h r\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&4'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&=% +4 "core" % Κ W  +2 "storage"(C& +3 "core" &<, | \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts + "manipulator"&M' +14 "core" ' +2 "manipulator"&& +4 "core" &  H +2 "storage"(E& +3 "core" &<, S\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +15 "core" ' + "storage"(W% +4 "core" % Z\ +3 ."downElevator"SE.seek :down +3 "storage"(%' +99 (j% +4 "core" %D s ~ w\ V_ + "manipulator"&a% +4 "core" %A d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'1& +3 "core" & D\ +2 "manipulator"&D% +4 "core" %  $  +2 "storage"(m% +4 "core" % e\  +2 "storage"(0. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &K ] Z\  +2 "manipulator"&& +3 "core" & K +2 .tElbow.seek 6 +2 "manipulator"&\\( +4 "core" ( +2 "manipulator"&r& +3 "core" & +2 "storage"(g& +3 "core" &K h k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 "storage"([& +3 "core" &K O\  +2 .tSE.reconfigure :pick +49 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +292 "core" ' +2 "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (q& +3 "core" &K t ~ \  +2 "manipulator"&& +4 "core" &  > +2 .tElbow.seek 6 +2 "manipulator"&z( +2 "core" ( +2 "manipulator"&c& +4 "core" & ] +2 "storage"(,& +4 "core" &K | /\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&!'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(e' +8 "core" &  + "manipulator"&Z% +4 "core" % z 2 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +151 "core" ( + ' +2 ."downElevator"SE.stop +2 "manipulator"&b& + "storage"(5 +8 "core" &Ӌ+ 6 Cn + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &ӌ+  Cm +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&& +4 "core" &ӌ+ H Cm +2 "manipulator"&T% +3 "core" %@  u +3 "collection"'& +3 "core" & R\ +3 "collection"'.& +5 "core" & \\\ +2 .tCC.seek :closed +2 "collection"'|(\\ +5 "core" & R\  +8 &4{ W\ *z +9 & h} W\ > +9 &m S\ L +10 &_T [\ K +9 &"X V\ J +9 &T O\ K +10 &S N\ J +9 &gS A\ K +10 &)Y A\ K +9 &V A\ K +9 & W A\ J +10 &"oS C\ K +9 &$2X @\ J +9 &%T M\ K +10 &'S I\ J +9 &)xU E\ J +10 &+:Y I\ J +9 &,V C\ J +9 &.Y F\ K +10 &0X B\ K +9 &2BR A\ J +9 &4T ?\ K +10 &5Y A\ K +9 &7X 7\ J +9 &9IW L\ J +10 &; U L\ J +9 &<T H\ K +10 &>T @\ K +9 &@QT R\ K +9 &BY ?\ J +10 &C^ :\ L +9 &Ed =\ L +10 &GMv 6\ O +9 &I\ \ E\ Q +9 &J\ \ G\ V +10 &Ly\ \ K\ X +9 &N9\ \ D\ X +9 &O\ \ G\ X +10 &Q\ \ H\ X +9 &Sy\ \ E\ Z +9 &U=\ \ E\ Y +10 &V\ \ L\ [ +9 &X\ \ K\ Z +10 &Z\ \ ?\ [\ +9 &\\y\ \ B\ 1 +9 &\\1\ \ C\ ` +9 ( +2 &\\f\ \ <\ P +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&(1 +57 "core" 1 +3 "manipulator"&3% +4 "core" % @ 3 u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%V& +4 "core" &\ +2 "manipulator"&U% +3 "core" %  /  +2 "storage"(N% +4 "core" % ] [\  +2 "storage"(*. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(p(K +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (l& +3 "core" &K C C \  +2 "manipulator"&& +4 "core" &ӯ% 2 >J +2 "manipulator"&)% +3 "core" %  B  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&G( +162 "core" ( +2 "manipulator"&Q& +3 "core" &   +2 "storage"(& +4 "core" &K [ e\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +96 "core" ' +2 "storage"(& +4 "core" &K j q \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(w- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (<& +2 "core" &K X [\  +3 "manipulator"&I& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(:& +3 "core" &K h g G\  +49 .tForearm.seek 6 + 300 counts +3 "manipulator"&"'h +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(@' +7 "core" & D  +2 "manipulator"&% +4 "core" % z \\ +2 .tForearm.seek :retract +2 "manipulator"&B' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&X& +4 "core" &  : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" & = : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&&' +89 "core" ' + "manipulator"&/& +4 "core" &  9 +3 "manipulator"&% +3 "core" % + w +2 "processing"%u& +4 "core" &\ +3 "processing"%o& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%`(^ +5 "core" &\ +6 &5\ #b +10 &Tx\ 6 +2 "Can"\ b^x" +7 "core" &{\ K +9 &W\ M +10 &`W\ M +9 &"S\ M +9 &W\ N +10 &U\ M +9 &iU\ M +10 &+U\ M +9 &U\ M +9 &!R\ M +10 &#pU\ M +9 &%3R\ M +9 &&U\ M +10 &(U\ N +9 &*xU\ M +10 &,:V\ M +9 &-Q\ M +9 &/V\ M +10 &1W\ M +9 &3BU\ M +9 &5T\ M +10 &6R\ M +9 &8W\ N +10 &:JU\ M +9 &< T\ N +9 &=V\ M +10 &?T\ M +9 &AQU\ N +9 &C`\ O +10 &Dc\ O +9 &Fn\ P +10 &HL|\ R +9 &J\ \ S +9 &K\ T +10 &M\ T +9 &OPW\ S +9 &Qm\ T +10 &Rt\ T +9 &Ts\ U +10 &VVk\ T +9 &Xl\ T +9 &Yg\ U +10 &[m\ T +9 &][\ C +9 &^Fwl\ Y +10 &^?q\ 5 +5 ( +2 "processing"%o& +4 "core" &^&m\ 5 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&h% +4 "core" %  h w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + "processing"%& +4 "core" &^&k\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&#% +4 "core" %    I  +2 "storage"(7% +3 "core" % 9 9 X\  +2 "storage"(. +3 "core" .(K +2 "storage"(K& +4 "core" &K 9 8 Z\  +2 "storage"(;& +2 "manipulator"&& +9 "core" &K > A \  + &  9 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(A'r +2 "core" ( +2 "manipulator"&8& +5 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  9 +2 .tForearm.seek PC +2 "manipulator"&{' +95 "core" ' + .tHand.close +2 "manipulator"&\ / +55 "core" / +2 .tPC.seek :open +2 "processing"%2( +98 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +45 "core" ' +300 ( +2 "storage"(>& +3 "core" &K g d \  +2 "manipulator"&F& +4 "core" &  9 +2 "manipulator"&'% +4 "core" %  N . +2 .tForearm.seek :retract +2 "manipulator"&x' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&S( +244 "core" ( +2 "manipulator"&_& +3 "core" &  X +2 "storage"(d& +4 "core" &K Z [ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +94 "core" ' +9 .tHand.open +2 "manipulator"&s1 +53 "core" 1 +2 "storage"(O- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(n' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(+- +3 "core" -' +2 "storage"(?& +4 "core" &K \  +2 "manipulator"&& +3 "core" &  W +3 .tElbow.seek 6 +2 "manipulator"&=( +4 "core" ( + "manipulator"&C& +4 "core" &  \  W +2 "storage"(& +4 "core" &K y \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +51 "core" ' +2 "manipulator"&-& +4 "core" & } W + "storage"(j& +4 "core" &K 9 9 R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&a'< +19 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(4' +18 "core" ' + "manipulator"&1% +4 "core" %P 8 +2 "storage"(D& +4 "core" &K F D G\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 320 counts + "manipulator"&M'| +13 "core" ' +2 "manipulator"&m& +5 "core" & " W + "storage"(0& +4 "core" &K \\ [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +15 "core" ' +2 "storage"(t% +4 "core" % Z Z\ +3 ."downElevator"SE.seek :down +3 "storage"(%' +99 (J% +2 "core" %NR 5 + R\ Xg +3 "manipulator"&P% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (r& +3 "core" &K G ; =\  +2 "collection"'g& +4 "core" &\\e\ \ @\ P +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&[% +3 "core" %  '  +2 "storage"(v% +4 "core" % Z Z\  +2 "storage"(Y. +2 "core" .(K +2 "storage"(^& +4 "core" &K ] [\  +2 "storage"(q& +4 "core" &K Z Z\  +2 "manipulator"&& +3 "core" & & W +2 .tElbow.seek 6 +2 "manipulator"&c( +4 "core" ( + "manipulator"&,& +4 "core" & : W +2 "storage"(9& +4 "core" &K e ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +98 "core" ' +2 "storage"(Z& +3 "core" &K ^ \\ 4\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'r +296 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +4 "core" & ( W +2 "storage"(f& +4 "core" &K Z Z !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +25 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(T'p +29 "core" ' + "manipulator"&% +4 "core" %O S +2 "storage"(z& +3 "core" &K 9 C r\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&e'{ +55 "core" ' +9 "manipulator"&& +3 "core" & & V +2 "storage"(& +4 "core" &K j h b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&(' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(3' +33 "core" ' +2 "manipulator"&V& +4 "core" & V +2 "manipulator"&U% +3 "core" % H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +154 "core" ( +2 "manipulator"&.& +4 "core" &ӛ# U =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &ӛ# d =A +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&)/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"(Q& +4 "core" &K { m d\  +2 "storage"(& +4 "core" &K o q .\  +2 "manipulator"& & +3 "core" &ӯ! :- +2 "manipulator"&% +4 "core" % F ( +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +165 "core" ( +2 "manipulator"&w& +3 "core" &  +2 "storage"(<& +4 "core" &K } n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&I'< +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +63 "core" 1 +2 "manipulator"&y% +4 "core" % .  + "storage"(~& +4 "core" &K k n \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 286 counts + "manipulator"&'Z +15 "core" ' +2 "manipulator"&G& +3 "core" &   +2 "storage"(}& +4 "core" &K _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"("% +3 "core" % Z\ +3 ."downElevator"SE.seek :down +4 "storage"(X' +98 ($% +3 "core" %D { s 8\ V_ +2 "manipulator"&i% +3 "core" %  3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +3 "core" & N\ +2 "manipulator"&u% +4 "core" %   X  +2 "storage"(@% +3 "core" % #\  +2 "storage"(B. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(5([ +361 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[ f [\  +2 "manipulator"&h& +4 "core" &  +2 .tElbow.seek 7 + "manipulator"&(r +20 "core" ( +2 "manipulator"&#& +3 "core" &f +2 "storage"(7& +4 "core" &[ k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' + "storage"(K& +3 "core" &[ c\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +291 "core" ' +2 "storage"(;- +3 "core" -' +47 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (o& +3 "core" &[ ~ w \  +2 "manipulator"&8& +4 "core" &g +2 .tElbow.seek 7 +2 "manipulator"& (r +25 "core" ( + "manipulator"&&& +4 "core" &h  # +2 "storage"(\ & +4 "core" &[ { \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(`' +7 "core" &h  D # +2 "manipulator"&A% +4 "core" % ϰ R +2 .tForearm.seek :retract +2 "manipulator"&>' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +150 "core" ( +2 "manipulator"&'& +4 "core" ' + &ӏ* V Bg +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +5 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&{& +4 "core" &ӏ* / Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&_'? +101 "core" ' +2 "manipulator"&d& +3 "core" &Ӑ* Bf +2 "manipulator"&% +4 "core" %: : ( +2 "collection"'s& +4 "core" & Z\ +2 "collection"'O& +5 "core" & ^\ +3 .tCC.seek :closed + "collection"'+(\\ +4 "core" & Y\  +9 &4z _\ *y +10 & g~ \\\ > +9 &l W\ K +9 &YT U\ K +10 &Y c\ K +9 &Y e\ K +9 &W _\ J +10 &cR g\ J +9 &#T g\ K +9 &W [\ K +10 & W a\ J +9 &"kU V\ J +10 &$,Y U\ K +9 &%W G\ K +9 &'T B\ J +10 &)sT P\ J +9 &+4Y Q\ K +9 &,W M\ K +10 &.Y I\ J +9 &0yT M\ K +10 &2<T Q\ K +9 &3Y K\ K +9 &5W Q\ K +10 &7S R\ K +9 &9ET S\ J +9 &;T R\ K +10 &<U T\ K +9 &>X Q\ J +10 &@JY Q\ K +9 &B [ O\ K +9 &Cc T\ L +10 &Ek R\ M +9 &GF T\ O +10 &H\ \ M\ S +9 &J\ \ T\ U +9 &Lu\ \ T\ W +10 &N7\ \ S\ W +9 &O\ \ T\ X +9 &Q\ \ R\ W +10 &Sy\ \ T\ Y +9 &U:\ \ T\ Y +9 &V\ \ R\ Z +10 &X\ \ T\ [ +9 &Z|\ \ O\ Z +10 &\\x\ \ N\ / +9 &\\:\ \ R\ $o +9 &\\`\ \ R\ L +3 ( +2 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&?1 +62 "core" 1 +2 "manipulator"&% +4 "core" % : ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&x% +4 "core" %    +2 "storage"(-% +3 "core" % Z Z\  +2 "storage"(j. +3 "core" .([ +2 "storage"(1& +3 "core" &[ Z [\  +2 "storage"(D& +4 "core" &[ ^ ^\  +2 "manipulator"&L& +3 "core" & H / +2 "manipulator"&m% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&0(r +151 "core" ( + "manipulator"&]& +4 "core" &n  +2 "storage"(t& +4 "core" &[ ] ] A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&S'= +97 "core" ' + "storage"(H& +4 "core" &[ w | w\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'r +298 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (P& +3 "core" &[ h \\ )\  +2 "manipulator"&E& +4 "core" &n N  +2 .tElbow.seek 7 +2 "manipulator"&=(r +2 "core" ( +2 "manipulator"&W& +4 "core" &n   +2 "storage"(a& +3 "core" &[ [ ] \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&r'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +2 "storage"([' +52 "core" &n p  +4 "manipulator"&v% +4 "core" % ϡ 7 +2 .tForearm.seek :retract +2 "manipulator"&Y' +100 "core" ' + .tElbow.seek PC +2 "manipulator"&4( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +3 "manipulator"&^& +3 "core" & G - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" & r - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 "manipulator"&,& +3 "core" & O - +2 "manipulator"&9% +4 "core" % 1 } +2 "processing"%6& +4 "core" & \ +3 "processing"%Z& +4 "core" & \ +3 .tPC.seek :closed + "processing"%%(^ +5 "core" &\ +7 &5\ #c +10 &Tv\ 6 +9 &y\ K +9 &V\ M +10 &bT\ M +9 &%R\ M +10 &U\ M +9 &Q\ M +9 &kS\ M +10 &-U\ M +9 &T\ M +9 &!T\ M +10 &#sQ\ M +9 &%5T\ M +10 &&U\ M +9 &(T\ M +9 &*{Q\ M +10 &,=U\ M +9 &-T\ M +9 &/U\ M +10 &1R\ M +9 &3DT\ M +9 &5T\ M +10 &6W\ M +9 &8U\ M +10 &:KT\ N +9 &<V\ M +9 &=R\ M +10 &?X\ M +9 &ATY\ M +10 &C_\ O +9 &Db\ O +9 &Fk\ P +10 &HPz\ Q +9 &J \ S +9 &K\ S +10 &M\ T +9 &OQ\ T +9 &Q\ T +10 &R\ T +9 &T\ U +10 &VW\ T +9 &X\ U +9 &Y\ U +10 &[=\ T +9 &]\\h\ C +10 &^Dtg\ ] +9 &^4k\ 2 +5 ( +2 "processing"%Z& +4 "core" &^%\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&k1 +59 "core" 1 +2 "manipulator"&% +4 "core" %   } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 "processing"%b& +4 "core" &^$l\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&f% +4 "core" %  "  +2 "storage"(% +3 "core" % = 9 {\  +2 "storage"(. +3 "core" .([ +2 "storage"(z& +4 "core" &[ : B \  +2 "storage"(& +2 "manipulator"&& +9 "core" &[ 9 8 \  + & \  - +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&V( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(U'r +3 "core" ( +2 "manipulator"&R& +3 "core" &  - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" & \ / - +3 .tForearm.seek PC + "manipulator"&\\' +97 "core" ' + .tHand.close +2 "manipulator"& / +53 "core" / +3 .tPC.seek :open +2 "processing"%e( +95 "core" ' +2 "storage"(T- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(.'1 +40 "core" ' +310 ( + "storage"(l& +4 "core" &[ [ ]\  +2 "manipulator"&(& +3 "core" & J - +2 "manipulator"&!% +4 "core" %  , $ +2 .tForearm.seek :retract +2 "manipulator"&)' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&N(r +270 "core" ( + "manipulator"&|& +4 "core" &| ; +2 "storage"(Q& +3 "core" &[ = O \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +94 "core" ' + .tHand.open +2 "manipulator"& 1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(w' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +42 "storage"(<' +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(*& +4 "core" &[ A\  +2 "manipulator"&:& +3 "core" &| ] ; +2 .tElbow.seek 7 +2 "manipulator"&y(r +4 "core" ( + "manipulator"&~& +4 "core" &|  \  ; +2 "storage"(G& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&}'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"("'" +56 "core" ' + "manipulator"& & +4 "core" &|  ; +2 "storage"($& +4 "core" &[ h i H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&i'{ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(I' +29 "core" ' + "manipulator"&% +4 "core" %Ώ D +2 "storage"(u& +3 "core" &[ [ ^\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 320 counts + "manipulator"&'ϻ +14 "core" ' +2 "manipulator"&@& +4 "core" &| ; +2 "storage"(B& +4 "core" &[ i a +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&3'= +15 "core" ' +2 "storage"(% +3 "core" % e i \ +3 ."downElevator"SE.seek :down +4 "storage"(X' +98 (p% +4 "core" %sL E F \ Vb +2 "manipulator"&% +3 "core" %4 / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (#& +3 "core" &[ M C 3\  +2 "collection"'7& +4 "core" &\\`\ \ N\ L +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&K% +4 "core" %   +2 "storage"(% +4 "core" % g d \  + "storage"(/. +3 "core" .([ +2 "storage"(;& +5 "core" &[ _ d \  + "storage"(o& +4 "core" &[ g d )\  +2 "manipulator"&8& +4 "core" &| I ; +2 .tElbow.seek 7 + "manipulator"&&(r +3 "core" ( +2 "manipulator"&\ & +4 "core" &| ; +2 "storage"(& +4 "core" &[ g g h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +95 "core" ' + "storage"(A& +4 "core" &[ p p 0\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +3 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &| k ; +2 "storage"({& +4 "core" &[ \\ ` :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +17 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +31 "core" ' +2 "manipulator"&s% +3 "core" %s   +2 "storage"( & +4 "core" &[ ^ b 9\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 292 counts + "manipulator"&`'ϟ +16 "core" ' +2 "manipulator"&>& +4 "core" &| ; +2 "storage"(& +3 "core" &[ ] \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +82 "core" ' +2 "manipulator"&& +4 "core" &| > ; +2 "manipulator"&x% +4 "core" %3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +154 "core" ( +2 "manipulator"&1& +4 "core" &y. + E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &y. 6 E +2 .tForearm.seek CC +2 "manipulator"&D'? +93 "core" ' + .tHand.close +2 "manipulator"&L/ +55 "core" / +2 .tCC.seek :open + "collection"'m( +448 "core" ( +2 "storage"(]& +3 "core" &[ p q \  +2 "storage"(_& +4 "core" &[ q x ,\  + "manipulator"&t& +4 "core" & ) / +2 "manipulator"&H% +4 "core" %  T +2 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&C(r +152 "core" ( +2 "manipulator"&J& +4 "core" &z  +2 "storage"(P& +3 "core" &[ v \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&E'{ +95 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&a1 +52 "core" 1 +2 "manipulator"&M% +4 "core" % x  +2 "storage"(g& +3 "core" &[ w\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 297 counts + "manipulator"&v'Ϥ +15 "core" ' +2 "manipulator"&0& +4 "core" &z G  +3 "storage"(S& +3 "core" &[ b\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts + "manipulator"&n'= +18 "core" ' + "storage"(r% +4 "core" % h\ +3 ."downElevator"SE.seek :down +3 "storage"(^' +99 (q% +4 "core" %G } m\ U^ +2 "manipulator"&=% +3 "core" %4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'9& +3 "core" & T\ +2 "manipulator"&6% +3 "core" %   +2 "storage"([% +4 "core" % V\  +2 "storage"(Y. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(2(<- +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +2 "core" &/\ 1 +6 ( +2 "processing"%A& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&1 +2 "core" &^%i\ 1 +59 1 + "manipulator"&h% +4 "core" %  h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 "processing"%'& +3 "core" &^%k\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&{% +3 "core" %   Z  +2 "storage"(d% +4 "core" % < ; T\  +2 "storage"(s. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (>& +3 "core" &<, > D \  +3 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +3 "manipulator"&x( +6 "core" ( +2 "manipulator"&& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" & \ \ l +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%`( +96 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +42 "core" ' +305 ( + "storage"(O& +4 "core" &<, [ ]\  +2 "manipulator"&?& +4 "core" & < +2 "manipulator"&% +3 "core" %  1 P +2 .tForearm.seek :retract +2 "manipulator"&L' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&-( +255 "core" ( +2 "manipulator"&+& +4 "core" &  +2 "storage"(]& +3 "core" &<, Z ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +92 "core" ' + .tHand.open +2 "manipulator"&t1 +61 "core" 1 +2 "storage"(H- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +50 "core" ' +10 #tLights, camera, ACTION! + "storage"(D- +3 "core" -' +2 "storage"(j& +4 "core" &<, \  +2 "manipulator"&a& +3 "core" & h  +3 .tElbow.seek 5 + "manipulator"&M( +5 "core" ( + "manipulator"&g& +4 "core" &   +2 "storage"(0& +3 "core" &<, \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(r'" +52 "core" ' +2 "manipulator"&F& +3 "core" & +  +2 "storage"(q& +4 "core" &<, Z ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&='΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(E' +18 "core" ' + "manipulator"&9% +4 "core" %Ώ /  +2 "storage"(6& +4 "core" &<, [ ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&v'ϻ +13 "core" ' +2 "manipulator"&[& +4 "core" &  +2 "storage"(Y& +4 "core" &<, h ` ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 "storage"(n% +4 "core" % h h L\ +3 ."downElevator"SE.seek :down +3 "storage"(^' +99 (5% +2 "core" %TP C D m\ Wd +3 "manipulator"&k% +3 "core" %: @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (f& +3 "core" &<, e [ \  +2 "collection"'& +4 "core" &\\e\ \ H\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&z% +3 "core" %    +2 "storage"(W% +4 "core" % k i \  +2 "storage"(,. +2 "core" .(<- +2 "storage"(& +4 "core" &<, \\ ` K\  +2 "storage"(Z& +4 "core" &<, h e /\  +2 "manipulator"&R& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(4& +4 "core" &<, f g ~\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +92 "core" ' + "storage"(U& +4 "core" &<, a j ]\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +307 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & 6  +2 "storage"(\\& +4 "core" &<, h h 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +13 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Q- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(V'd +32 "core" ' + "manipulator"& % +4 "core" %Ρ  B +2 "storage"(c& +3 "core" &<, j i @\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&%' +15 "core" ' +2 "manipulator"&l& +3 "core" & R  +2 "storage"(m& +4 "core" &<, { ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(*' +43 "core" ' +8 "manipulator"&~& +4 "core" & S  +2 "manipulator"&G% +4 "core" %T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +154 "core" ( + "manipulator"&& +4 "core" &ӆ-  s Dw +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &ӆ-  Dw +2 .tForearm.seek CC +3 "manipulator"&'? +100 "core" ' + .tHand.close +2 "manipulator"&u/ +62 "core" / +2 .tCC.seek :open +2 "collection"'|( +448 "core" ( + "storage"(B& +4 "core" &<, t q \  +2 "storage"(& +3 "core" &<, q r \  +2 "manipulator"&2& +5 "core" &Ӱ% l >M + "manipulator"&% +4 "core" % %   +2 .tForearm.seek :retract +2 "manipulator"&(' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&:( +162 "core" ( + "manipulator"&p& +4 "core" & d  +2 "storage"(& +3 "core" &<, r m J\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&}'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&i1 +53 "core" 1 +3 "manipulator"&#% +3 "core" % ΀ t  +2 "storage"(7& +4 "core" &<, } \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 287 counts +2 "manipulator"&'Ϭ +15 "core" ' +3 "manipulator"&@& +4 "core" & B  +2 "storage"(N& +3 "core" &<, Q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +15 "core" ' +2 "storage"(% +4 "core" % M\ +3 ."downElevator"SE.seek :down +3 "storage"(;' +99 (o% +4 "core" %F p o\ V^ + "manipulator"&y% +4 "core" %D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +89 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" & ^\ +2 "manipulator"&3% +3 "core" %  ^  +3 "storage"(K% +4 "core" % X\  +2 "storage"(/. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(e(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K Z Z \  +3 "manipulator"&h& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&'( +4 "core" ( + "manipulator"&{& +4 "core" &  +2 "storage"(d& +4 "core" &K y o f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +93 "core" ' + "storage"(A& +4 "core" &K f\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K w {\  +3 "manipulator"&&& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(.& +4 "core" &K y z O\  +2 .tForearm.seek 6 + 300 counts +47 "manipulator"&'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(X' +8 "core" &   +2 "manipulator"&% +3 "core" % _  6 +3 .tForearm.seek :retract + "manipulator"&O' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&?(ӂ +154 "core" ( +3 "manipulator"&& +3 "core" ' +2 &{2 9 H + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&& +4 "core" &{2 8 H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&+'? +93 "core" ' +2 "manipulator"&]& +3 "core" &Ӫ( & Ae +2 "manipulator"&x% +4 "core" %$ , b +2 "collection"'t& +4 "core" & d\ +3 "collection"'H& +5 "core" & b\ +3 .tCC.seek :closed +2 "collection"'D(\\ +4 "core" & ]\ +7 &; a\ %g +9 &[y Z\ 8 +10 & u S\ K +9 &S ^\ J +10 &U a\ K +9 &RT g\ K +9 &T h\ K +10 &Y e\ J +9 &U g\ J +9 &ZT c\ K +10 & T [\ K +9 &!S [\ K +10 &#Y ^\ K +9 &%dX _\ J +9 &'&U \\\ J +10 &(Y ^\ J +9 &*U Y\ J +9 &,lV Q\ J +10 &.-T V\ K +9 &/S T\ J +10 &1W Q\ J +9 &3tV R\ J +9 &56U Q\ J +10 &6U U\ K +9 &8T \\\ K +9 &:{T Y\ K +10 &<>T _\ J +9 &=V _\ J +10 &?U Z\ K +9 &AW X\ K +9 &CC[ Y\ K +10 &Ec T\ L +9 &Fp Z\ N +9 &H{\  R\ P +10 &J2\ \ X\ T +9 &K\ \ _\ X +10 &M\ \ X\ W +9 &Om\ \ X\ X +9 &Q.\ \ T\ X +10 &R\ \ R\ Z +9 &T\ \ R\ Y +9 &Vn\ \ W\ Z +10 &X/\ \ Q\ Z +9 &Y\ \ W\ [ +10 &[\ \ R\ I +9 &\\/\ \ O\ 2 +9 &\\m\ \ S\ Q +3 ( +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&j1 +56 "core" 1 +2 "manipulator"&a% +4 "core" % $ b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%0& +3 "core" & \ +2 "manipulator"&L% +4 "core" %  ,  +2 "storage"(F% +4 "core" % 9 8 C\  + "storage"(q. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(9(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &K  " !\  +2 "manipulator"&1& +4 "core" &ӱ' + @^ +2 "manipulator"&[% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Y( +162 "core" ( + "manipulator"&J& +4 "core" &  +2 "storage"(n& +4 "core" &K h h V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +102 "core" ' + "storage"(_& +4 "core" &K ` j :\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +305 "core" ' +2 "storage"(5- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (k& +2 "core" &K T 6 \  +3 "manipulator"&S& +3 "core" & O  +2 .tElbow.seek 6 +2 "manipulator"&M( +4 "core" ( + "manipulator"&r& +3 "core" &  +3 "storage"(=& +3 "core" &K [ H 3\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&f'h +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +60 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(z' +8 "core" &   + "manipulator"&W% +4 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +2 .tElbow.seek PC +47 "manipulator"&E( +109 "core" ' + ."downElevator"SE.stop + "storage"(5 +148 "core" ( + "manipulator"&& +4 "core" & H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" & e +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +94 "core" ' +2 "manipulator"& & +4 "core" & A +2 "manipulator"&4% +4 "core" % S o +2 "processing"%& +4 "core" &\ +3 "processing"%U& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%^(^ +3 "core" &\ +8 &6\ #c +9 &Uw\ 6 +9 &z\ K +10 &P\ M +9 &bU\ N +9 &&S\ M +10 &U\ M +9 &T\ N +10 &lR\ M +9 &-U\ M +9 &T\ M +10 &!U\ M +9 &#sT\ M +9 &%5T\ M +10 &&V\ M +9 &(T\ M +10 &*{U\ M +9 &,=W\ M +9 &.S\ M +10 &/U\ M +9 &1R\ M +9 &3FW\ M +10 &5T\ M +9 &6U\ M +10 &8U\ N +9 &:MT\ M +9 &<R\ M +10 &=R\ M +9 &?X\ M +9 &ATY\ N +10 &C`\ N +9 &Dc\ O +10 &Fl\ P +9 &HP|\ R +9 &J\ S +10 &K\ T +9 &M\ T +9 &OR\ T +10 &Q\ T +9 &R\ T +10 &T\ U +9 &VX\ T +9 &X\ U +10 &Y\ U +9 &[\ T +9 &]]\ D +10 &^Ew\ ^ +9 &^.\ 2 +6 ( +2 "processing"%U& +3 "core" &^$\ 2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&C1 +55 "core" 1 +2 "manipulator"&% +4 "core" %  ; o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 "processing"%!& +3 "core" &^%j\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&\\% +4 "core" %  \  +2 "storage"(Q% +3 "core" % 9 9 L\  +2 "storage"( . +3 "core" .(K +2 "storage"(c& +4 "core" &K < S x\  +2 "storage"(l& +2 "manipulator"&m& +8 "core" &K 9 9 j\  + &  n +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(~'r +3 "manipulator"&G( +6 "core" ( +2 "manipulator"& & +3 "core" &  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  c +2 .tForearm.seek PC +2 "manipulator"&b' +92 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +3 .tPC.seek :open + "processing"%%( +90 "core" ' + "storage"(V- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +311 ( +2 "storage"(w& +3 "core" &K ] Z\  +2 "manipulator"&& +4 "core" &  +2 "manipulator"&T% +4 "core" %  & H +2 .tForearm.seek :retract +2 "manipulator"&u' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +242 "core" ( + "manipulator"&)& +4 "core" & w \ +2 "storage"(B& +3 "core" &K Y Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' +2 .tHand.open + "manipulator"&21 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(p' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"($& +3 "core" &K \  +2 "manipulator"&i& +4 "core" &  \ g \ +45 .tElbow.seek 6 +6 "manipulator"&#( +18 "core" ( +2 "manipulator"&7& +4 "core" &    +2 "storage"(@& +3 "core" &K \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&(& +4 "core" & W  + "storage"(o& +4 "core" &K T A \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&y'< +25 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(}' +21 "core" ' +2 "manipulator"&% +4 "core" %O 4 +2 "storage"(3& +3 "core" &K D 9 -\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&'{ +14 "core" ' + "manipulator"&K& +4 "core" & )  +2 "storage"(/& +4 "core" &K f h 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&*' +16 "core" ' + "storage"(<% +4 "core" % h g X\ +3 ."downElevator"SE.seek :down +4 "storage"(;' +98 ( % +3 "core" %M D C \ Xe +2 "manipulator"&% +3 "core" % a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ({& +3 "core" &K [ ]\  +2 "collection"'d& +4 "core" &\\j\ \ W\ Q +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&A% +4 "core" %  A +2 "storage"("% +4 "core" % [ \\\  +2 "storage"(\ . +2 "core" .(K +2 "storage"(& +4 "core" &K [ [\  +2 "storage"(& +4 "core" &K a j E\  +2 "manipulator"&&& +3 "core" & <  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&.& +3 "core" &   +2 "storage"(I& +4 "core" &K \\ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +91 "core" ' +2 "storage"(& +4 "core" &K q j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(''r +297 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & X  +3 "storage"(& +3 "core" &K i i L\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&>'< +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(x'o +33 "core" ' + "manipulator"&t% +4 "core" %I \ +2 "storage"(8& +3 "core" &K h h L\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 313 counts + "manipulator"&X'u +14 "core" ' +2 "manipulator"&O& +4 "core" & D  +2 "storage"(|& +4 "core" &K ` ] t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(a' +42 "core" ' +2 "manipulator"&0& +4 "core" &  +2 "manipulator"&L% +3 "core" % d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +54 "manipulator"&F' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +155 "core" ( +2 "manipulator"&H& +4 "core" &Ӎ% 9 >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &Ӎ%  >L +2 .tForearm.seek CC +2 "manipulator"&1'? +96 "core" ' + .tHand.close +2 "manipulator"&[/ +59 "core" / +2 .tCC.seek :open +2 "collection"'+( +448 "core" ( + "storage"(J& +4 "core" &K ~ t \  +2 "storage"(n& +3 "core" &K r q w\  +2 "manipulator"&e& +4 "core" &Ӝ#  <= +2 "manipulator"&_% +4 "core" % I O  +2 .tForearm.seek :retract +2 "manipulator"&?' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&g( +161 "core" ( +2 "manipulator"&5& +3 "core" &   +2 "storage"(k& +4 "core" &K ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&S'< +96 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&=1 +60 "core" 1 +2 "manipulator"&v% +4 "core" % I 4  +2 "storage"(& +3 "core" &K n v s\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&W'u +13 "core" ' + "manipulator"&Y& +4 "core" &  +2 "storage"(-& +3 "core" &K U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +19 "core" ' + "storage"(f% +4 "core" % >\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (Z% +3 "core" %I q t V\ Va +2 "manipulator"&M% +4 "core" % 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'4& +3 "core" & _\ +2 "manipulator"&% +4 "core" %   b  +2 "storage"(z% +4 "core" % ^\  + "storage"(,. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(`([ +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &[ f \\ ,\  +2 "manipulator"&& +4 "core" & +  +2 .tElbow.seek 7 + "manipulator"&!(r +36 "core" ( + "manipulator"&\\& +4 "core" &  +2 "storage"(Q& +4 "core" &[ x y K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +98 "core" ' +2 "storage"(c& +4 "core" &[ U\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'r +291 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &[ } w C\  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&(r +19 "core" ( +2 "manipulator"&R& +4 "core" &i g +2 "storage"(& +3 "core" &[ g j \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&V'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +59 "core" / +49 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(^' +7 "core" &i   g +2 "manipulator"&~% +4 "core" % ϛ W +2 .tForearm.seek :retract +2 "manipulator"&w' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&T& +4 "core" &ө" ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &ө" G ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'? +95 "core" ' +2 "manipulator"&B& +4 "core" &ө" 1 ;2 +2 "manipulator"&G% +4 "core" %) U +2 "collection"'2& +4 "core" & i\ +3 "collection"'& +5 "core" & j\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & h\ +7 &; h\ %g +9 &[y h\ 8 +9 & s g\ K +10 &R _\ J +9 &T ]\ K +9 &RX \\\ K +10 &U a\ K +9 &S d\ J +10 &U ^\ J +9 &ZY h\ J +9 & S h\ K +10 &!R f\ J +9 &#U d\ J +9 &%bS g\ K +10 &'%R h\ J +9 &(U b\ J +10 &*T ^\ K +9 &,kY _\ J +9 &.-V ]\ J +10 &/Y a\ K +9 &1X _\ K +9 &3sT Z\ J +10 &55U U\ J +9 &6Z U\ K +10 &8W W\ K +9 &:zY X\ J +9 &<<Y W\ J +10 &=Y \\\ K +9 &?X `\ K +9 &AZ \\\ K +10 &CA_ _\ L +9 &Ei _\ M +10 &Fs ]\ N +9 &Hu\ \ `\ R +9 &J,\ !\ `\ V +10 &K\ \ _\ X +9 &M\ \ ^\ X +9 &Om\ \ ]\ W +10 &Q,\ \ Y\ X +9 &R\ \ _\ X +10 &T\ \ _\ Z +9 &Vn\ \ a\ Z +9 &X.\ \ ^\ Z +10 &Y\ \ [\ [\ +9 &[\ \ Y\ H +9 &\\-\ \ X\ 8 +10 &\\p\ \ [\ P +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&$1 +52 "core" 1 +3 "manipulator"&i% +3 "core" % , R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%7& +3 "core" &\ +2 "manipulator"&@% +4 "core" %  a  +2 "storage"((% +4 "core" % [ ^\  + "storage"(o. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +7 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (p& +4 "core" &[   \  +2 "manipulator"&& +3 "core" & [ + +2 "manipulator"&3% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&K(r +146 "core" ( + "manipulator"&/& +4 "core" &z n  +2 "storage"(<& +4 "core" &[ h h G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +100 "core" ' +2 "storage"(& +3 "core" &[ q t :\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ B V\  +2 "manipulator"&N& +4 "core" &z   +2 .tElbow.seek 7 +2 "manipulator"&#(r +2 "core" ( +2 "manipulator"&& +4 "core" &z %  +2 "storage"(y& +4 "core" &[ ] Z\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& +2 "storage"(A' +7 "core" &z "  +2 "manipulator"&"% +4 "core" % ϫ ? +2 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&}( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&& +4 "core" & R O +2 .tElbow.reconfigure :loose +49 "manipulator"&$ &.,(#b +4 && +3 "core" & O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&&' +91 "core" ' +2 "manipulator"&.& +4 "core" & O +2 "manipulator"&I% +4 "core" % g r +2 "processing"%*& +4 "core" &\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%;(^ +3 "core" &\ +8 &=\ #c +9 &W{\ 7 +9 &v\ K +10 &R\ M +9 &lU\ M +9 &-T\ M +10 &W\ N +9 &T\ M +10 &tR\ M +9 &6T\ M +9 &T\ M +10 &!T\ M +9 &#|U\ M +9 &%>U\ M +10 &'U\ M +9 &(T\ M +10 &*U\ M +9 &,FU\ M +9 &.T\ M +10 &/V\ M +9 &1U\ M +9 &3NT\ M +10 &5T\ M +9 &6U\ M +9 &8U\ M +10 &:WT\ M +9 &<W\ M +10 &=V\ M +9 &?V\ M +9 &A]U\ M +10 &C`\ O +9 &Db\ O +9 &Fn\ P +10 &HY}\ Q +9 &J\ S +10 &K\ T +9 &M\ T +9 &OY\ T +10 &Q\ U +9 &R\ T +9 &T\ U +10 &Va\ T +9 &X!\ U +10 &Y\ U +9 &[\ U +9 &]f\ B +10 &^@r\ _ +9 &^4\ 2 +5 ( +3 "processing"%& +3 "core" &^"\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&:1 +53 "core" 1 +2 "manipulator"&h% +4 "core" %   r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +93 "core" ' +2 "processing"%& +3 "core" &^"9\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" % !  { ' +2 "storage"(]% +4 "core" % 9 9 X\  +2 "storage"(t. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(8([ +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (O& +2 "manipulator"&|& +6 "core" &[ 5 C I\  + &  * O +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&0( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(L'r +19 "core" ( + "manipulator"&& +4 "core" &   3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  s +2 .tForearm.seek PC +2 "manipulator"&'' +104 "core" ' +2 .tHand.close + "manipulator"&>/ +60 "core" / +3 .tPC.seek :open +2 "processing"%X( +65 "core" ' +2 "storage"(x- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'1 +41 "core" ' +336 ( + "storage"(6& +4 "core" &[ ] e\  +2 "manipulator"&j& +4 "core" &  +2 "manipulator"&% +3 "core" %  2 +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&F(r +243 "core" ( +2 "manipulator"&D& +4 "core" & * W + "storage"(J& +4 "core" &[ Z H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&n'= +93 "core" ' + .tHand.open +2 "manipulator"&e1 +61 "core" 1 +2 "storage"(_- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(5' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(k' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(1- +2 "core" -' +3 "storage"(q& +3 "core" &[ \  +2 "manipulator"&=& +4 "core" & U W +2 .tElbow.seek 7 +2 "manipulator"&v(r +78 "core" ( +3 "manipulator"&& +4 "core" &|  ` +2 "storage"(Y& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&-'= +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(f'" +52 "core" ' +2 "manipulator"&?& +3 "core" &| & ` +2 "storage"(Z& +4 "core" &[ S \\ S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&M'{ +14 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(S' +26 "core" ' +2 "manipulator"&4% +3 "core" %Ώ  I +2 "storage"(W& +4 "core" &[ ^ ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&'ϻ +13 "core" ' +2 "manipulator"&z& +4 "core" &| 4 ` +2 "storage"(,& +4 "core" &[ g ] O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&a'= +15 "core" ' +2 "storage"(P% +4 "core" % h h t\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (9% +2 "core" %[N D D >\ Wc +3 "manipulator"&C% +3 "core" %; 1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" &[ V h \  +2 "collection"'Q& +3 "core" &\\e\ \ W\ P +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&c% +4 "core" %  2  +2 "storage"(r% +3 "core" % ] ] \  +2 "storage"( . +2 "core" .([ +2 "storage"(l& +4 "core" &[ ] ] \  +2 "storage"(m& +4 "core" &[ ] ]\  +2 "manipulator"& & +3 "core" &| ` +2 .tElbow.seek 7 +2 "manipulator"&R(r +4 "core" ( +2 "manipulator"&& +3 "core" &| , ` +2 "storage"(E& +4 "core" &[ ^ ^ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +98 "core" ' + "storage"(~& +4 "core" &[ k ` 9\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(!'r +308 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" &| ` +2 "storage"(b& +4 "core" &[ e ] \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&U'{ +13 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(G'h +33 "core" ' + "manipulator"&2% +4 "core" %΀ . 4 +2 "storage"(& +3 "core" &[ h h R\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 305 counts + "manipulator"&^'Ϭ +14 "core" ' +2 "manipulator"&w& +4 "core" &| ` +2 "storage"(+& +3 "core" &[ r q \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&$'= +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(i' +40 "core" ' +2 "manipulator"&7& +3 "core" &| g ` +2 "manipulator"&@% +4 "core" %* ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +96 "core" ' +9 .tElbow.seek CC +2 "manipulator"&o(ӂ +156 "core" ( + "manipulator"&& +4 "core" &z0 % F +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &z0 c F +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&3/ +53 "core" / +2 .tCC.seek :open +2 "collection"')( +447 "core" ( +2 "storage"(/& +4 "core" &[ ~ t \  +2 "storage"(<& +4 "core" &[ o j \  + "manipulator"&`& +4 "core" & N 3 +2 "manipulator"&% +4 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&u(r +170 "core" ( +2 "manipulator"& & +4 "core" &g  a +2 "storage"(& +4 "core" &[ | \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&N'{ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +56 "core" 1 +2 "manipulator"&{% +4 "core" % ΍  +2 "storage"(d& +3 "core" &[ } \  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 318 counts +2 "manipulator"&"'Ϲ +15 "core" ' + "manipulator"&K& +4 "core" &i   _ +2 "storage"( & +3 "core" &[ l h \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +19 "core" ' + "storage"(% +4 "core" % ~ \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (#% +3 "core" %G e [ \ V` +2 "manipulator"&% +4 "core" %9 ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +100 "core" ' +41 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'I& +3 "core" & g\ +2 "manipulator"&*% +4 "core" %  C  +2 "storage"(A% +4 "core" % U\  +2 "storage"(\ . +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(%(<- +695 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &<+ p ~ ?\  +2 "manipulator"&h& +4 "core" &i & _ +2 .tElbow.seek 5 +2 "manipulator"&( +30 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(]& +4 "core" &<+ R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&t'O +91 "core" ' +2 "storage"(& +3 "core" &<+ C\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +293 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ } w g\  +2 "manipulator"&& +3 "core" & L  +3 .tElbow.seek 5 + "manipulator"&&( +3 "core" ( +2 "manipulator"&>& +4 "core" & 0  +2 "storage"(& +4 "core" &<+ { \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&x'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +49 "storage"(;' +7 "core" &  +2 "manipulator"&L% +4 "core" % ϲ +2 .tForearm.seek :retract +2 "manipulator"&6' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &ӎ* R Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &ӎ* A Bk +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'? +93 "core" ' +2 "manipulator"&J& +4 "core" &Ӛ( A_ +2 "manipulator"&0% +3 "core" %9  +2 "collection"'e& +4 "core" & f\ +3 "collection"'_& +5 "core" & g\ +2 .tCC.seek :closed +2 "collection"'1(\\ +4 "core" & h\  +8 &5~ d\ +{ +10 &f~ h\ > +9 &j c\ L +9 &bS f\ K +10 &%S c\ J +9 &V \\\ J +9 &S _\ K +10 &kW [\ J +9 &-W [\ J +10 &X e\ K +9 & V h\ K +9 &"sS k\ J +10 &$5U g\ J +9 &%Y h\ K +9 &'Y i\ J +10 &)|U h\ J +9 &+=Y f\ J +9 &,T g\ K +10 &.S h\ J +9 &0U c\ J +10 &2DY d\ J +9 &4T b\ K +9 &5Y \\\ K +10 &7Z d\ K +9 &9LZ ]\ K +9 &;W W\ K +10 &<T W\ J +9 &>U Q\ K +10 &@SV T\ K +9 &BY P\ J +9 &C` X\ L +10 &Ef U\ L +9 &GRu R\ N +10 &I \ \ S\ Q +9 &J\ \ S\ U +9 &L\ \ X\ V +10 &N@\ \ Q\ W +9 &P\ \ T\ W +9 &Q\ \ S\ W +10 &S\ \ S\ Y +9 &UC\ \ R\ Y +9 &W\ \ P\ Z +10 &X\ \ V\ [ +9 &Z\ \ M\ [ +10 &\\&x\ \ U\ / +9 &\\.\ \ I\ _ +9 ( + &\\h\ \ Q\ N +3 "collection"'_& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&q1 +60 "core" 1 +7 "manipulator"&=% +4 "core" % 9 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&Y% +4 "core" %   + "storage"(?% +4 "core" % H < \  +2 "storage"(Z. +2 "core" .(<) +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(H(<- +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &<+ > C \  +2 "manipulator"&4& +4 "core" &Ө& @ ?Q +2 "manipulator"&W% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&z( +164 "core" ( +2 "manipulator"&,& +4 "core" & X  +2 "storage"(F& +4 "core" &<+ h h :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +98 "core" ' +2 "storage"(n& +3 "core" &<+ ] [ +\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +295 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (C& +2 "core" &<+ O > W\  +3 "manipulator"&-& +3 "core" & c  +2 .tElbow.seek 5 +2 "manipulator"&v( +2 "core" ( +2 "manipulator"&f& +4 "core" &  +2 "storage"(M& +4 "core" &<+ 9 9 G\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&\\'Ϲ +36 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(c' +6 "core" & d  +2 "manipulator"&r% +4 "core" %  9 q +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&l& +3 "core" & C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +48 "core" & / +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +89 "core" ' + "manipulator"&& +4 "core" & X +2 "manipulator"&E% +4 "core" % ] s +2 "processing"%a& +4 "core" &\ +3 "processing"%~& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +8 &2v\ )w +10 &b~\ = +9 &rq\ N +9 &5S\ M +10 &T\ M +9 &Q\ M +9 &{U\ M +10 &>T\ M +9 &Q\ M +10 &S\ M +9 & T\ M +9 &"ER\ M +10 &$T\ M +9 &%S\ M +9 &'T\ M +10 &)NT\ M +9 &+T\ M +10 &,X\ M +9 &.R\ M +9 &0UT\ M +10 &2T\ M +9 &3T\ M +9 &5T\ M +10 &7]T\ M +9 &9V\ M +10 &:W\ M +9 &<U\ M +9 &>eU\ M +10 &@%W\ N +9 &AY\ N +9 &Ca\ N +10 &Ehe\ O +9 &G'o\ P +10 &H\ R +9 &J\ S +9 &Lc\ S +10 &N"\ T +9 &O\ T +9 &Q\ T +10 &Si\ T +9 &U*\ T +9 &V\ T +10 &X\ T +9 &Zn\ U +10 &\\0\ U +9 &]yq\ B +9 &^"L\ % +9 ( +2 &^\ # +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&g1 +63 "core" 1 +2 "manipulator"&% +3 "core" %   s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +98 "core" ' + "processing"%T& +4 "core" &^_\ # +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&b% +3 "core" %  X +2 "storage"(B% +4 "core" % [ Z \  +2 "storage"(2. +3 "core" .(<- +2 "storage"(& +4 "core" &<+ V [\  +2 "storage"(w& +2 "manipulator"&+& +8 "core" &<+ [ Z\  + &  = +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&7( +6 ."raiseStack"SE.seek :beamBreak + "storage"(@'r +2 "core" ( +2 "manipulator"&& +5 "core" &  h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &  \ W +2 .tForearm.seek PC +2 "manipulator"&!' +95 "core" ' +2 .tHand.close + "manipulator"&U/ +61 "core" / +2 .tPC.seek :open +2 "processing"%^( +91 "core" ' +2 "storage"(G- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +308 ( + "storage"(p& +4 "core" &<+ ] [\  +2 "manipulator"&$& +3 "core" & M +2 "manipulator"&V% +4 "core" %  b  +2 .tForearm.seek :retract +2 "manipulator"&3' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&(( +240 "core" ( + "manipulator"&& +4 "core" & ? K +2 "storage"(/& +4 "core" &<+ \\ Z \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +100 "core" ' +2 .tHand.open + "manipulator"&`1 +58 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(o& +4 "core" &<+ B\  +2 "manipulator"&y& +3 "core" &  K +2 .tElbow.seek 5 +2 "manipulator"&{( +4 "core" ( + "manipulator"&d& +4 "core" &  K +2 "storage"(K& +4 "core" &<+ .\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +51 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&& +4 "core" & _ K +2 "storage"(#& +3 "core" &<+ < S #\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +27 "core" ' +2 .tElbow.hold + "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +18 "core" ' +2 "manipulator"&I% +4 "core" %Γ  +2 "storage"("& +3 "core" &<+ G G \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 306 counts + "manipulator"&*'Ͽ +15 "core" ' +2 "manipulator"&A& +4 "core" &  J +2 "storage"(\ & +4 "core" &<+ Z Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +15 "core" ' +2 "storage"(% +4 "core" % Z [\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (8% +3 "core" %(L C C y\ Vc +2 "manipulator"&:% +4 "core" %P ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<+ B M ]\  +2 "collection"']& +4 "core" &\\d\ \ W\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %  V  +2 "storage"(% +4 "core" % f ] ,\  +2 "storage"(.. +3 "core" .(<- +2 "storage"(|& +4 "core" &<+ Z Z\  +2 "storage"(& +4 "core" &<+ h h \  + "manipulator"&& +4 "core" &  J +2 .tElbow.seek 5 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&& +4 "core" & / J +2 "storage"(}& +3 "core" &<+ Z e\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +110 "core" ' + "storage"(L& +4 "core" &<+ j q t\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & J +2 "storage"(& +4 "core" &<+ Z [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&''΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(0'c +29 "core" ' +2 "manipulator"&e% +3 "core" %Θ 0 +2 "storage"(&& +4 "core" &<+ : A \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&;' +15 "core" ' +2 "manipulator"&6& +4 "core" & J +2 "storage"()& +3 "core" &<+ ] [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&q'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(=' +36 "core" ' + "manipulator"&& +4 "core" & v J +2 "manipulator"&Y% +3 "core" %O X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +160 "core" ( + "manipulator"&_& +3 "core" &Ӊ M 7 +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +43 "core" &Ӊ  7 +9 .tForearm.seek CC +2 "manipulator"&4'? +93 "core" ' +2 .tHand.close + "manipulator"&W/ +57 "core" / +2 .tCC.seek :open +2 "collection"'D( +447 "core" ( + "storage"(,& +4 "core" &<+ ~ t \  +2 "storage"(F& +4 "core" &<+ r q y\  +2 "manipulator"&%& +3 "core" &Ӎ J 6 +3 "manipulator"&n% +3 "core" % - +3 .tForearm.seek :retract + "manipulator"&j' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&[( +158 "core" ( +2 "manipulator"&9& +3 "core" &  +2 "storage"(C& +4 "core" &<+ h j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&-'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +56 "core" 1 +2 "manipulator"&% +4 "core" % Ά _ # +2 "storage"(Q& +4 "core" &<+ l k \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 293 counts +2 "manipulator"&r'ϲ +16 "core" ' +2 "manipulator"&z& +4 "core" &  +2 "storage"(P& +3 "core" &<+ ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +14 "core" ' +2 "storage"(\\% +4 "core" % H\ +3 ."downElevator"SE.seek :down +4 "storage"(l' +99 (m% +3 "core" %G } n \\\ V` +2 "manipulator"&v% +4 "core" %L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'E& +3 "core" & ]\ +2 "manipulator"&a% +4 "core" %  "  +2 "storage"(c% +3 "core" % x k\  +2 "storage"( . +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(X(K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +2 "core" &K  u S\  +3 "manipulator"&& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&b& +4 "core" &   +2 "storage"(B& +3 "core" &K g g z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +93 "core" ' + "storage"(~& +4 "core" &K V\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +293 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (w& +2 "core" &K x ~ A\  +3 "manipulator"&& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"& & +4 "core" & 0  +2 "storage"(U& +3 "core" &K | \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&G'h +29 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(' +7 "core" & 6  +2 "manipulator"&@% +4 "core" % r 1 +2 .tForearm.seek :retract +2 "manipulator"&p' +93 "core" ' +46 .tElbow.seek CC +4 "manipulator"&$(ӂ +105 "core" ' + ."downElevator"SE.stop + "storage"(5 +52 "core" ( +2 "manipulator"&V& +3 "core" &Ӕ( N @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &Ӕ'  @W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +3 "manipulator"&/& +4 "core" &ӕ& B ?V +2 "manipulator"&7% +4 "core" %9 8 I +2 "collection"'`& +4 "core" & _\ +3 "collection"'& +5 "core" & d\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & d\ +6 &A `\ %g +9 &[x c\ 8 +9 &s _\ K +10 &T a\ K +9 &W d\ K +9 &UW ^\ J +10 &T a\ J +9 &X U\ K +10 &U T\ K +9 &[W U\ K +9 & W a\ K +10 &!U c\ K +9 &#R b\ J +9 &%eT e\ J +10 &''U e\ J +9 &(X a\ J +10 &*R e\ K +9 &,kX e\ K +9 &..X d\ J +10 &/T d\ J +9 &1U g\ J +9 &3tY c\ J +10 &56U _\ J +9 &6T c\ K +9 &8R ]\ K +10 &:|T \\\ K +9 &<>Y ]\ K +10 &=W U\ K +9 &?Y U\ K +9 &AU S\ K +10 &CDZ S\ K +9 &Eb S\ L +10 &Fl N\ M +9 &H|\  Q\ P +9 &J1\ \ T\ U +10 &K\ \ W\ W +9 &M\ \ W\ W +9 &Op\ \ R\ W +10 &Q.\ \ X\ X +9 &R\ \ T\ X +10 &T\ \ Q\ Z +9 &Vp\ \ P\ Z +9 &X1\ \ P\ Z +10 &Y\ \ Q\ Z +9 &[\ \ T\ H +9 &\\2\ \ S\ - +10 &\\n\ \ T\ N +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&o1 +59 "core" 1 +2 "manipulator"&y% +4 "core" % 9 1 I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%K& +4 "core" &\ +2 "manipulator"&3% +4 "core" %  G  +2 "storage"(% +3 "core" % < : \  +2 "storage"(#. +3 "core" .(K +2 "storage"(& +4 "core" &K 9 : R\  + "storage"(I& +4 "core" &K ) 5\  +2 "manipulator"& & +4 "core" &ӭ# <> +2 "manipulator"&"% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&A( +162 "core" ( +2 "manipulator"&\ & +4 "core" & _  +2 "storage"(& +3 "core" &K Z Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +94 "core" ' +2 "storage"(<& +4 "core" &K [ \\\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(8- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (:& +2 "core" &K X [\  +3 "manipulator"& & +3 "core" & )  +2 .tElbow.seek 6 +2 "manipulator"&{( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &K ^ g ;\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(' +8 "core" & o  + "manipulator"&% +4 "core" % ϝ ` +2 .tForearm.seek :retract +2 "manipulator"&.' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&|& +3 "core" & ? R +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & I R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' + "manipulator"&& +4 "core" &  R +2 "manipulator"&}% +3 "core" % 2 +2 "processing"%i& +4 "core" &\ +50 "processing"%L& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +7 &6\ #b +9 &V{\ 6 +9 &z\ K +10 &Q\ M +9 &dT\ M +10 &'R\ M +9 &T\ M +9 &U\ M +10 &mT\ M +9 &.S\ M +9 &U\ M +10 &!T\ M +9 &#tT\ M +10 &%7T\ M +9 &&T\ M +9 &(U\ M +10 &*}U\ M +9 &,?U\ M +9 &.T\ L +10 &/U\ M +9 &1U\ M +10 &3FU\ M +9 &5T\ M +9 &6U\ M +10 &8U\ M +9 &:OU\ M +9 &<V\ M +10 &=V\ M +9 &?W\ M +10 &AUU\ M +9 &C`\ O +9 &Db\ O +10 &Fn\ P +9 &HP~\ R +9 &J\ S +10 &K\ S +9 &M\ T +10 &OR\ T +9 &Q\ T +9 &R\ T +10 &T\ U +9 &VZ\ T +9 &X\ T +10 &Y\ T +9 &[\ T +10 &]_\ B +9 &^Fv\ V +9 &^<\ 4 +6 ( +2 "processing"%L& +3 "core" &^,\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&u1 +54 "core" 1 + "manipulator"&h% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 "processing"%O& +3 "core" &^+\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %   j  +2 "storage"(J% +4 "core" % F D \  +2 "storage"(e. +2 "core" .(K +2 "storage"(&& +4 "core" &K F G\  +3 "storage"(6& +2 "manipulator"&)& +5 "core" &K C D ;\  +2 & y R +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&Y( +5 "core" ( +2 "manipulator"&s& +4 "core" &   d R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &  R +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&'/ +60 "core" / +2 .tPC.seek :open + "processing"%;( +95 "core" ' +2 "storage"(0- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'1 +41 "core" ' +308 ( +2 "storage"(q& +3 "core" &K ? Z (\  +2 "manipulator"&5& +4 "core" & * R +2 "manipulator"&x% +3 "core" %  O ^ +2 .tForearm.seek :retract +2 "manipulator"&W' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&?( +243 "core" ( + "manipulator"&1& +4 "core" & = +2 "storage"(,& +4 "core" &K H 9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&F' +94 "core" ' + .tHand.open +2 "manipulator"&%1 +64 "core" 1 +2 "storage"(n- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(C' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +3 "core" -' +2 "storage"(Z& +4 "core" &K ~ T\  +2 "manipulator"&M& +4 "core" &   $ = +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&Q& +4 "core" &  g = +2 "storage"(z& +4 "core" &K y \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\\'" +58 "core" ' +2 "manipulator"&j& +3 "core" & M = +2 "storage"(m& +4 "core" &K W Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +42 .tForearm.seek 6 +10 "manipulator"&v'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(-' +29 "core" ' + "manipulator"&E% +4 "core" %P \ +2 "storage"(a& +4 "core" &K ] [\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&r'| +13 "core" ' +2 "manipulator"&c& +3 "core" & = +2 "storage"( & +4 "core" &K ` e \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +15 "core" ' +2 "storage"(k% +4 "core" % i h X\ +3 ."downElevator"SE.seek :down +4 "storage"(l' +99 (H% +3 "core" %vQ # + \ Wd +2 "manipulator"&g% +4 "core" % C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +57 ' +6 ."downElevator"SE.stop + "storage"(5 +3 (b& +3 "core" &K U R \  +2 "collection"'B& +4 "core" &\\n\ \ L\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&~% +3 "core" %   +2 "storage"(f% +4 "core" % Z Z\  +2 "storage"(. +3 "core" .(K +2 "storage"(+& +3 "core" &K ] Z\  +2 "storage"(w& +4 "core" &K ] [\  +2 "manipulator"&& +3 "core" & C = +3 .tElbow.seek 6 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&U& +4 "core" & ] = +2 "storage"(S& +3 "core" &K ] Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +96 "core" ' +2 "storage"(@& +4 "core" &K h e !\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +297 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & : = +2 "storage"(G& +4 "core" &K [ Z \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&V'< +24 "core" ' +2 .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(7'o +30 "core" ' + "manipulator"&`% +4 "core" %E 7 +2 "storage"(R& +3 "core" &K A E \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 309 counts + "manipulator"&'q +16 "core" ' + "manipulator"&p& +4 "core" & ! < +2 "storage"(D& +4 "core" &K ] [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(y' +42 "core" ' + "manipulator"&K& +4 "core" & $ < +2 "manipulator"&3% +3 "core" % D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +147 "core" ( +2 "manipulator"&& +4 "core" &Ӏ- N Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӂ+  Du +3 .tForearm.seek CC +2 "manipulator"&I'? +95 "core" ' + .tHand.close + "manipulator"& / +60 "core" / +2 .tCC.seek :open +2 "collection"'"( +447 "core" ( +2 "storage"(& +3 "core" &K s { W\  +46 "storage"(\ & +6 "core" &K q t \  +2 "manipulator"&& +3 "core" &ӵ$ 4 =A +2 "manipulator"&<% +4 "core" % C G  +2 .tForearm.seek :retract +2 "manipulator"&$' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&d( +166 "core" ( + "manipulator"&8& +4 "core" & a  +2 "storage"(:& +4 "core" &K g g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"& '< +97 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&*% +4 "core" % ; k % +2 "storage"(]& +3 "core" &K Q\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 299 counts + "manipulator"&'g +15 "core" ' + "manipulator"&A& +4 "core" & 6  +2 "storage"((& +4 "core" &K U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(% +4 "core" % S\ +3 ."downElevator"SE.seek :down +4 "storage"(|' +98 (% +3 "core" %H s q 0\ V_ +2 "manipulator"&{% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'}& +3 "core" & R\ +2 "manipulator"&i% +4 "core" %    +2 "storage"(% +3 "core" % D\  +2 "storage"(.. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(^([ +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (u& +3 "core" &[  t 4\ \ +2 "manipulator"&h& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&O(r +52 "core" ( +2 "manipulator"&& +4 "core" & h +2 "storage"(J& +3 "core" &[ S\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&e'= +89 "core" ' + "storage"(&& +3 "core" &[ P\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +292 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +4 "core" &[ s } Y\ +2 "manipulator"&s& +4 "core" &  h +2 .tElbow.seek 7 + "manipulator"&>(r +14 "core" ( +2 "manipulator"&& +3 "core" &u 1 > +2 "storage"('& +4 "core" &[ ~ m Y\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&0'ϧ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +59 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&t& + "storage"(' +8 "core" &u J > +2 "manipulator"&% +4 "core" % Ϟ +2 .tForearm.seek :retract +2 "manipulator"&q' +102 "core" ' +2 .tElbow.seek CC + "manipulator"&5(ӂ +141 "core" ' + ."downElevator"SE.stop + "storage"(5 +18 "core" ( + "manipulator"&x& +4 "core" &Ӓ(  @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӓ( ! @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek CC +4 "manipulator"&1'? +91 "core" ' + "manipulator"&,& +4 "core" &ӓ(  @[ +2 "manipulator"&Y% +4 "core" %5  +2 "collection"'%& +4 "core" & d\ +3 "collection"'n& +5 "core" & d\ +2 .tCC.seek :closed +2 "collection"'4(\\ +4 "core" & d\ +6 & b\ 9 +10 &HKs e\ 1 +9 &x| e\ E +9 &4X f\ J +10 &T d\ J +9 &X ^\ J +9 &zS b\ K +10 &<U Z\ K +9 &R ^\ J +9 &T M\ J +10 &X V\ J +9 &!DX ]\ K +10 &#U Z\ K +9 &$V e\ K +9 &&S ^\ J +10 &(MU f\ J +9 &*X e\ J +9 &+R `\ J +10 &-T d\ J +9 &/TX d\ K +10 &1V c\ K +9 &2S d\ J +9 &4U e\ J +10 &6\\Y c\ K +9 &8W j\ K +9 &9T p\ J +10 &;U h\ J +9 &=eW f\ J +10 &?&X _\ J +9 &@X a\ K +9 &B\\ U\ L +10 &Dib V\ L +9 &F%p f\ N +10 &G\ \ b\ Q +9 &I\ \ _\ U +9 &KP\ \ "k\ W +10 &M\ \ X\ X +9 &N\ \ V\ W +9 &P\ \ N\ X +10 &RS\ \ V\ Y +9 &T\ \ ]\ Z +9 &U\ \ Z\ Z +10 &W\ \ V\ [\ +9 &YT\ \ R\ [\ +10 &[\ \ V\ ] +9 &\\dE\ \ \\\ 3 +9 &\\\ \ ^\ P +6 ( +2 "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&Z1 +2 "core" &\\e\ \ T\ P +59 1 +2 "manipulator"&M% +4 "core" % L 7 h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%z& +4 "core" &\ +2 "manipulator"&W% +3 "core" %  `  +2 "storage"(j% +3 "core" % ] [\  +2 "storage"(m. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(_([ +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (9& +2 "core" &[ " 4 \  +3 "manipulator"&E& +3 "core" & 9 1 +2 "manipulator"&a% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&c(r +167 "core" ( + "manipulator"& & +4 "core" &f # +2 "storage"(k& +4 "core" &[ ` e $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +92 "core" ' +2 "storage"(F& +3 "core" &[ ] [ L\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'r +296 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +4 "core" &[ 8 9 ?\  + "manipulator"&P& +4 "core" &f c # +2 .tElbow.seek 7 +2 "manipulator"&(r +24 "core" ( + "manipulator"&\\& +4 "core" & K 7 +2 "storage"(v& +3 "core" &[ Y Z\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&b'ϧ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +3 "storage"(~' +6 "core" &  7 +2 "manipulator"&f% +4 "core" % Ϧ +2 .tForearm.seek :retract +2 "manipulator"&-' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( + "manipulator"&+& +4 "core" & @ \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 "manipulator"&U& +4 "core" & > \ +2 "manipulator"&S% +3 "core" %  +3 "processing"%=& +3 "core" &\ +3 "processing"%@& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%l(^ +4 "core" &\ +7 &6\ #c +10 &Vy\ 7 +9 &v\ K +9 &O\ M +47 "Can" W6 +8 "core" &kT\ M +2 &.S\ M + &W\ M + &S\ M + &tQ\ M + &6U\ M +5 &R\ M +9 &!S\ M +10 &#{S\ M +9 &%>T\ M +10 &&S\ M +9 &(T\ M +9 &*T\ M +10 &,EY\ M +9 &. S\ L +9 &/U\ M +10 &1U\ M +9 &3MS\ M +10 &5S\ M +9 &6U\ M +9 &8U\ M +10 &:VT\ M +9 &<U\ M +9 &=U\ M +10 &?V\ M +9 &A]X\ M +10 &C`\ N +9 &Db\ O +9 &Fl\ P +10 &HX}\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &OZ\ S +10 &Q\ T +9 &R\ T +9 &T\ T +10 &V_\ T +9 &X!\ T +9 &Y\ T +10 &[\ T +9 &]g\ A +10 &^Bs\ \\ +9 &^8\ 1 +5 ( +2 "processing"%@& +4 "core" &^%\ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&[1 +56 "core" 1 +2 "manipulator"&% +4 "core" %   ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2' +93 "core" ' +2 "processing"%& +4 "core" &^%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&G% +4 "core" % ! M ' +2 "storage"(/% +3 "core" % D F \  +2 "storage"(`. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(R([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +4 "core" &[ 3  \  + "manipulator"&D& +4 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & \  P \ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&K( +2 "storage"(3'r +3 "core" ( +4 "manipulator"& & +3 "core" &  \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &  K \ +3 .tForearm.seek PC +2 "manipulator"&T' +90 "core" ' +2 .tHand.close + "manipulator"&V/ +63 "core" / +3 .tPC.seek :open +2 "processing"%( +90 "core" ' +2 "storage"(7- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +309 ( +2 "storage"(& +3 "core" &[ h h :\  +2 "manipulator"&o& +4 "core" & + \ +2 "manipulator"&!% +4 "core" %  - ] +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +243 "core" ( + "manipulator"&& +4 "core" &{  # +2 "storage"(& +3 "core" &[ ] ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\ '= +112 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(<- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(8' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(I- +3 "core" -' +2 "storage"(#& +4 "core" &[ p\  +2 "manipulator"&& +3 "core" &{   # +2 .tElbow.seek 7 +2 "manipulator"&*(r +3 "core" ( +2 "manipulator"&]& +4 "core" &{   \ # +2 "storage"(A& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&('= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&$& +4 "core" &{  # +2 "storage"(& +4 "core" &[ = : \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&{'{ +49 "core" ' +3 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +18 "core" ' +2 "manipulator"&}% +4 "core" %Ώ 2 +2 "storage"(i& +4 "core" &[ c ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&'ϻ +13 "core" ' +2 "manipulator"&& +3 "core" &|  x # +2 "storage"(.& +4 "core" &[ h h [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&y'= +16 "core" ' +2 "storage"(% +3 "core" % h e ?\ +3 ."downElevator"SE.seek :down +3 "storage"(|' +99 (X% +3 "core" %O D ' \ We +2 "manipulator"&u% +4 "core" %6 ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &[ ] f +\  +2 "collection"'J& +3 "core" &\\e\ \ W\ P +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&&% +4 "core" %  &  +2 "storage"(% +3 "core" % h h B\ +2 "storage"(. +3 "core" .([ +2 "storage"()& +3 "core" &[ U [ =\  +2 "storage"(L& +4 "core" &[ h h =\  +2 "manipulator"&s& +3 "core" &|  # +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( + "manipulator"&'& +4 "core" &|  # +2 "storage"(N& +4 "core" &[ h h O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'= +92 "core" ' +2 "storage"(& +4 "core" &[ f ] \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'r +299 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" &|  / # +2 "storage"(& +3 "core" &[ Y \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&6'{ +19 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(>- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(,'g +30 "core" ' + "manipulator"&Y% +4 "core" %΀ l # +2 "storage"(%& +4 "core" &[ > ; \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 305 counts +2 "manipulator"&'Ϭ +15 "core" ' +2 "manipulator"&q& +3 "core" &|   # +2 "storage"("& +4 "core" &[ ^ Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Z'= +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(M' +35 "core" ' +2 "manipulator"&z& +3 "core" &|  I # +2 "manipulator"&W% +4 "core" %<  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +161 "core" ( + "manipulator"&n& +4 "core" &ӌ 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &ӌ  1 +3 .tForearm.seek CC +2 "manipulator"&E'? +100 "core" ' + .tHand.close +2 "manipulator"&a/ +61 "core" / +2 .tCC.seek :open +2 "collection"'1( +450 "core" ( +2 "storage"( & +3 "core" &[ p p !\  +2 "storage"(k& +4 "core" &[ z } :\  +2 "manipulator"&^& +50 "core" &  5 # +2 "manipulator"&F% +4 "core" % θ Z +2 .tForearm.seek :retract +2 "manipulator"&5' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&Q(r +150 "core" ( +2 "manipulator"&H& +4 "core" &t  +2 "storage"(g& +3 "core" &[ w ~ v\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&P'{ +95 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +60 "core" 1 +3 "manipulator"&r% +3 "core" % Έ \  +2 "storage"(B& +4 "core" &[ g j s\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&f'ϴ +14 "core" ' +2 "manipulator"&c& +3 "core" &t |  +2 "storage"(?& +4 "core" &[ V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&C'= +16 "core" ' +2 "storage"(b% +4 "core" % ]\ +2 ."downElevator"SE.seek :down +4 "storage"(+' +99 (w% +3 "core" %H p q \ Va +2 "manipulator"&% +3 "core" %: +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'S& +3 "core" & U\ +2 "manipulator"&=% +4 "core" %  l  +2 "storage"(~% +4 "core" % \\\  +2 "storage"(-. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(;(<- +668 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ([& +4 "core" &<0 U t ~\ + "manipulator"&& +4 "core" &t  +2 .tElbow.seek 5 +2 "manipulator"&( +25 "core" ( +2 "manipulator"&G& +3 "core" & V ' +2 "storage"(/& +4 "core" &<0 /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&`'O +89 "core" ' +2 "storage"(@& +4 "core" &<0 ^\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(p'r +294 "core" ' +2 "storage"(D- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &<. } s Q\ +2 "manipulator"& & +3 "core" &  ' +2 .tElbow.seek 5 +2 "manipulator"&( +23 "core" ( +2 "manipulator"&V& +4 "core" &   +2 "storage"(_& +3 "core" &<. ~ \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&7'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +2 "storage"(l' +7 "core" & .  +2 "manipulator"&3% +4 "core" % ϭ  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o(ӂ +151 "core" ( + "manipulator"&!& +2 "core" ' +4 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &y-  Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &y- J Dv +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +137 "core" ' +5 "manipulator"&& +4 "core" &Ӌ) 5 Ad +2 "manipulator"&K% +4 "core" %< P C +2 "collection"'& +4 "core" & t\ +3 "collection"'<& +5 "core" & q\ +2 .tCC.seek :closed +2 "collection"'I(\\ +5 "core" & r\ +7 &A d\ $f +9 &Z{ h\ 8 +9 &\ t f\ K +10 &R e\ J +9 &X e\ K +9 &PW g\ J +10 &T b\ J +9 &X d\ K +10 &U S\ K +9 &WR _\ K +9 & W \\\ J +10 &!T W\ J +9 &#Y T\ K +9 &%_U `\ K +10 &'!R j\ K +9 &(R b\ J +10 &*T i\ J +9 &,gX e\ K +9 &.)X e\ K +10 &/U h\ K +9 &1X c\ K +9 &3nX d\ K +10 &51W e\ K +9 &6X d\ K +10 &8W k\ J +9 &:xU g\ J +9 &<:U b\ J +10 &=Y X\ J +9 &?W \\\ K +9 &A~U Z\ K +10 &C>Z _\ L +9 &Dc ]\ L +10 &Fp [\ N +9 &Hv\ ^\ P +9 &J,\ \ _\ U +10 &K\ \ _\ V +9 &M\ \ `\ W +10 &Oi\ \ a\ X +9 &Q+\ \ d\ X +9 &R\ \ Z\ X +10 &T\ \ X\ X +9 &Vk\ \ Y\ Z +9 &X+\ \ Y\ Z +10 &Y\ \ d\ [\ +9 &[\ \ ]\ H +9 &\\1\ \ _\ / +10 &\\p\ \ ^\ O +2 ( +2 "collection"'<& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator" +62 "core" 1 + "manipulator"&% +4 "core" % <  C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%]& +4 "core" &\ +2 "manipulator"&A% +3 "core" %  \ +3 "storage"($% +3 "core" % 8 9 (\  +2 "storage"(. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &<- A C H\  +2 "manipulator"&i& +3 "core" &Ӳ# <= +2 "manipulator"&8% +4 "core" %  \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&.& +3 "core" & c  +2 "storage"(& +4 "core" &<- h g R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +97 "core" ' +2 "storage"(\ & +4 "core" &<- r k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +294 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &<- [ \\\  +2 "manipulator"&(& +4 "core" & a  +2 .tElbow.seek 5 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&& +3 "core" & '  +2 "storage"({& +4 "core" &<- i i b\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +3 "storage"(&' +7 "core" & 4  +2 "manipulator"&% +4 "core" % ϰ ( +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&)& +4 "core" & j ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" & ; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&s' +97 "core" ' + "manipulator"&'& +4 "core" &  ; +2 "manipulator"&N% +4 "core" % e ) +2 "processing"%y& +4 "core" &\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%|(^ +5 "core" &\ +7 &7\ #c +9 &Ty\ 6 +9 &{\ K +10 &R\ M +9 &_U\ M +9 &"S\ M +10 &V\ M +9 &T\ M +9 &hT\ M +55 &*U\ M +7 &U\ M + &!X\ M + &#oU\ M +2 &%2U\ M + &&U\ M + &(T\ M +8 &*wU\ M +9 &,:V\ M +9 &-T\ L +10 &/V\ M +9 &1U\ M +9 &3BU\ M +10 &5W\ M +9 &6U\ M +10 &8V\ M +9 &:JU\ M +9 &< V\ M +10 &=W\ M +9 &?W\ N +9 &APW\ M +10 &C^\ N +9 &De\ O +10 &Fj\ O +9 &HMx\ Q +9 &J \ S +10 &K\ S +9 &M\ T +9 &ON\ S +10 &Q\ T +9 &R\ T +10 &T\ T +9 &VS\ T +9 &X\ T +10 &Y\ T +9 &[\ U +9 &]Z\ C +10 &^Cq\ ` +9 &^8\ / +6 ( +2 "processing"%& +3 "core" &^\ / +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&d1 +60 "core" 1 + "manipulator"&h% +4 "core" %    ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' + "processing"%x& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" % \   +2 "storage"(>% +4 "core" % 9 9 E\  +2 "storage"(Y. +2 "core" .(<- +2 "storage"(%& +4 "core" &<- 6 1 G\  +2 "storage"(q& +4 "manipulator"&"& +5 "core" &<- R > \  + & = ; +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&z( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(W'r + "core" ( +3 "manipulator"&t& +4 "core" & \  ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \  ~ ; +2 .tForearm.seek PC +2 "manipulator"&O' +95 "core" ' +2 .tHand.close + "manipulator"&6/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'1 +49 "core" ' +302 ( + "storage"(9& +4 "core" &<, [ Z\  +2 "manipulator"&Z& +3 "core" &  ; +2 "manipulator"&0% +4 "core" %   , +2 .tForearm.seek :retract +2 "manipulator"&a' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&j( +254 "core" ( +2 "manipulator"&4& +3 "core" &  1 $ +2 "storage"( & +4 "core" &<, [ ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +91 "core" ' + .tHand.open +2 "manipulator"&^1 +56 "core" 1 +2 "storage"(F- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(H' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(g' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +3 "storage"(m& +3 "core" &<, \  +2 "manipulator"&v& +4 "core" &  ? $ +2 .tElbow.seek 5 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&B& +3 "core" &  # $ +2 "storage"(c& +3 "core" &<, }\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(b'" +50 "core" ' +2 "manipulator"&5& +4 "core" &  Z $ +2 "storage"(w& +4 "core" &<, > E \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&Q, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +42 "storage"(P' +27 "core" ' + "manipulator"&S% +4 "core" %Β ] +2 "storage"(=& +4 "core" &<, D F \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts +2 "manipulator"&f'Ͼ +15 "core" ' +2 "manipulator"&~& +3 "core" &  ` # +2 "storage"(-& +4 "core" &<, ? H \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&M'O +16 "core" ' +2 "storage"(C% +3 "core" % ] [\ +3 ."downElevator"SE.seek :down +3 "storage"(+' +99 (R% +3 "core" %6N ' 3\ We +2 "manipulator"&[% +4 "core" %N ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +4 (G& +3 "core" &<, ^ I \  +2 "collection"'/& +3 "core" &\\q\ \ W\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&@% +3 "core" %    +2 "storage"(\\% +4 "core" % ^ ]\  +2 "storage"(U. +2 "core" .(<- +2 "storage"(D& +4 "core" &<, ] \\\  +2 "storage"( & +4 "core" &<, ^ ^ \  +2 "manipulator"& & +3 "core" &   # +2 .tElbow.seek 5 +2 "manipulator"&V( +12 "core" ( + "manipulator"&_& +4 "core" & 6 +2 "storage"(& +4 "core" &<, ] ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +95 "core" ' +2 "storage"(3& +4 "core" &<, h e \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & ' 6 +2 "storage"(T& +3 "core" &<, h h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&p'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('c +42 "core" ' +2 "manipulator"&K% +3 "core" %Ε + +2 "storage"(& +4 "core" &<, i i s\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&l' +18 "core" ' + "manipulator"&& +4 "core" & k 6 +2 "storage"(1& +4 "core" &<, i i X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +41 "core" ' +2 "manipulator"&]& +4 "core" & s 6 +2 "manipulator"&A% +4 "core" %M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ( +3 "manipulator"&<& +3 "core" &|- Dz +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &|- Dz +2 .tForearm.seek CC +2 "manipulator"&i'? +93 "core" ' + .tHand.close +2 "manipulator"&8/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(.& +4 "core" &<, ~ ~ \  +2 "storage"(& +3 "core" &<, ~  \  +2 "manipulator"&;& +4 "core" &Ӳ$ ] =D + "manipulator"&\ % +4 "core" % 3 M  +2 .tForearm.seek :retract +2 "manipulator"&o' +98 "core" ' +41 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&X& +4 "core" &  O  +2 "storage"(u& +4 "core" &<, W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&('΍ +92 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&{1 +55 "core" 1 +3 "manipulator"&% +4 "core" % ΐ / +2 "storage"(J& +3 "core" &<, { E\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 303 counts + "manipulator"&'ϼ +15 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &<, ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +16 "core" ' + "storage"(% +4 "core" % \\\ +3 ."downElevator"SE.seek :down +3 "storage"()' +99 (L% +4 "core" %D t { r\ V_ + "manipulator"&*% +4 "core" %A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'N& +3 "core" & a\ +2 "manipulator"&y% +3 "core" %    +2 "storage"(&% +4 "core" % J\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &K v ~ u\  +3 "manipulator"&h& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(>& +3 "core" &K d\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +96 "core" ' + "storage"(%& +4 "core" &K *\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'r +291 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K } \\\  +2 "manipulator"&t& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&s& +5 "core" &  + "storage"(6& +4 "core" &K k g \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&,'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(|' +7 "core" & /  +2 "manipulator"&W% +3 "core" % χ +3 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&0& +4 "core" &x1  H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &x1 C H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'? +98 "core" ' +2 "manipulator"& & +4 "core" &Ӳ) N A_ +2 "manipulator"&z% +4 "core" %? = % +2 "collection"'^& +3 "core" & o\ +3 "collection"'F& +50 "core" & o\ +5 .tCC.seek :closed +3 "collection"'E(\\ +3 "core" & r\ +6 & t\ 8 +9 &IKu q\ 0 +9 &~v} j\ D +10 &+Z o\ K +9 &W m\ J +10 &U l\ J +9 &sU d\ J +9 &4X f\ K +10 &W f\ J +9 &U b\ J +9 &zY `\ J +10 &!;T V\ K +9 &"S Z\ K +10 &$R h\ K +9 &&X k\ K +9 &(CU b\ K +10 &*X o\ K +9 &+W q\ K +9 &-V c\ K +10 &/KX p\ K +9 &1X p\ K +10 &2W j\ J +9 &4T b\ J +9 &6TX q\ K +10 &8W o\ K +9 &9W q\ K +9 &;T p\ K +10 &=\\T q\ K +9 &?T p\ K +10 &@U n\ K +9 &BY p\ K +9 &D`a p\ L +10 &F g o\ M +9 &Gz b\ O +9 &I\ \ n\ S +10 &KJ\ \ k\ V +9 &M \ \ h\ V +10 &N\ \ f\ X +9 &P\ \ Z\ X +9 &RN\ \ ^\ W +10 &T \ \ j\ Y +9 &U\ \ d\ Y +10 &W\ \ _\ Z +9 &YK\ \ Y\ [ +9 &[ \ \ _\ [ +10 &\\aF\ \ b\ 3 +9 &\\\ \ `\ L +5 ( +2 "collection"'F& +4 "core" &\\a\ \ \\\ L +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&m1 +63 "core" 1 +3 "manipulator"&v% +3 "core" % ? % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%c& +3 "core" &\ +2 "manipulator"&a% +4 "core" %  W  +2 "storage"(5% +3 "core" % [ [\  +2 "storage"(w. +3 "core" .(K +2 "storage"(n& +4 "core" &K [ [\  +2 "storage"(S& +3 "core" &K [ [\  +3 "manipulator"&=& +3 "core" &Ӳ( D A_ +2 "manipulator"&H% +4 "core" %  W  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&~( +164 "core" ( +2 "manipulator"&-& +3 "core" &   +2 "storage"(C& +4 "core" &K ] \\ 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +91 "core" ' +2 "storage"(k& +3 "core" &K   \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'r +298 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +2 "core" &K h \\ 9\  +3 "manipulator"&?& +3 "core" & J  +2 .tElbow.seek 6 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&b& +4 "core" & T  +2 "storage"(& +3 "core" &K ] ]\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&f'h +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(@' +7 "core" & L  +2 "manipulator"&\\% +4 "core" % Ϛ 5 +2 .tForearm.seek :retract +2 "manipulator"&U' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&D& +4 "core" & 6 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" & O 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' +2 "manipulator"&_& +4 "core" & V 1 +2 "manipulator"&% +3 "core" % > - +2 "processing"%M& +4 "core" &\ +2 "processing"%3& +6 "core" &\ +2 .tPC.seek :closed + "processing"%+(^ +5 "core" &\  +9 &3t\ )w +9 &e}\ > +10 &ys\ N +9 &>Q\ M +9 &T\ M +10 &T\ M +9 &U\ M +9 &EU\ M +10 &T\ M +10 &U\ M +9 & U\ M +9 &"NT\ M +9 &$U\ M +10 &%T\ M +9 &'U\ M +9 &)VS\ M +10 &+U\ M +9 &,V\ M +10 &.T\ L +9 &0\\U\ M +9 &2U\ M +10 &3T\ M +9 &5T\ M +9 &7dU\ M +10 &9&Y\ M +9 &:W\ M +9 &<W\ M +10 &>lX\ M +9 &@.T\ M +10 &A\\\ N +9 &Cc\ O +9 &Eng\ O +10 &G,p\ Q +9 &H\ R +10 &J\ T +9 &Lj\ S +9 &N+\ T +10 &O\ T +9 &Q\ U +9 &Sn\ U +56 &U1\ T +5 &V\ T +2 &X\ T +2 &Zw\ T +2 &\\9\ T + &]{s\ : + &^*u\ P +6 &^ \ 0 +3 ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&Q1 +56 "core" 1 + "manipulator"&% +4 "core" %    - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +92 "core" ' +2 "processing"%!& +3 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&T% +4 "core" %  \   +2 "storage"(% +3 "core" % > S >\  +2 "storage"(K. +3 "core" .(K +2 "storage"(& +4 "core" &K Q 6 :\  +2 "storage"(& +3 "manipulator"&1& +5 "core" &K U H <\  +2 & a 1 +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(]'r + "manipulator"&A( +7 "core" ( + "manipulator"&2& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &  t 1 +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&p/ +55 "core" / +2 .tPC.seek :open +2 "processing"%l( +93 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'1 +44 "core" ' +306 ( + "storage"(}& +4 "core" &K Z \\\  +2 "manipulator"&#& +3 "core" & 1 +2 "manipulator"&7% +3 "core" %  U ' +3 .tForearm.seek :retract +2 "manipulator"&8' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&$( +243 "core" ( +2 "manipulator"&I& +3 "core" & n < +2 "storage"(.& +3 "core" &K ] [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +124 "core" ' + .tHand.open +2 "manipulator"&;1 +55 "core" 1 +2 "storage"(\ - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(i' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +7 .tSE.seek -1.22 Pucks below Top Plate +3 "storage"(X' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +3 "core" -' +2 "storage"(& +4 "core" &K y y ^\  +2 "manipulator"&{& +3 "core" &  b < +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&J& +4 "core" &   < +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&o& +3 "core" & ! < +2 "storage"(L& +4 "core" &K ^ ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&*'< +26 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"((' +28 "core" ' +2 "manipulator"&N% +3 "core" %G  +2 "storage"(y& +4 "core" &K 9 8 Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&'s +14 "core" ' + "manipulator"&&& +4 "core" & < +2 "storage"(& +4 "core" &K i h D\  +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"(:% +4 "core" % ` e \ +3 ."downElevator"SE.seek :down +3 "storage"()' +99 (% +3 "core" %xK C C |\ Vb +2 "manipulator"&d% +4 "core" % L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K i ] \  +2 "collection"'>& +4 "core" &\\`\ \ m\ L +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&%% +3 "core" %  3  +2 "storage"(% +4 "core" % h j o\  + "storage"('. +3 "core" .(K +2 "storage"(q& +4 "core" &K ^ e n\  +2 "storage"(& +3 "core" &K d g V\  +2 "manipulator"&t& +4 "core" & < +2 .tElbow.seek 6 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&6& +4 "core" &  < +2 "storage"( & +3 "core" &K _ e F\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +95 "core" ' +2 "storage"(W& +3 "core" &K m ^ J\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'r +295 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" & J < +2 "storage"(O& +4 "core" &K ^ ] \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&"'< +17 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(z'o +30 "core" ' + "manipulator"&^% +4 "core" %I P +2 "storage"(& +3 "core" &K [ ]\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 313 counts + "manipulator"&|'u +16 "core" ' + "manipulator"&9& +4 "core" &  < +2 "storage"(& +4 "core" &K [ [ 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(v' +34 "core" ' +2 "manipulator"&c& +3 "core" & ] < +2 "manipulator"&a% +5 "core" % 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w(ӂ +160 "core" ( + "manipulator"&n& +4 "core" &Ӎ / 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &F& +2 "core" &Ӎ 1 6 +3 .tForearm.seek CC +2 "manipulator"&S'? +99 "core" ' + .tHand.close +2 "manipulator"&=/ +59 "core" / +2 .tCC.seek :open +2 "collection"'H( +447 "core" ( +2 "storage"(4& +4 "core" &K q v \  + "storage"(-& +4 "core" &K k ` 6\  +2 "manipulator"&C& +3 "core" &Ӟ 9 4 +2 "manipulator"&k% +4 "core" %  6 +2 .tForearm.seek :retract +2 "manipulator"&Z' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&B( +163 "core" ( +2 "manipulator"&R& +3 "core" &  +2 "storage"([& +4 "core" &K { C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&?'< +139 "core" ' +5 .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&G% +3 "core" % @  % +2 "storage"(/& +4 "core" &K j h \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 304 counts + "manipulator"&\\'l +17 "core" ' + "manipulator"&~& +4 "core" & `  +2 "storage"(j& +3 "core" &K 9\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +17 "core" ' +2 "storage"(f% +4 "core" % W\ +2 ."downElevator"SE.seek :down +5 "storage"(D' +99 ( % +3 "core" %I k s H\ V` +2 "manipulator"&r% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +98 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +3 "core" & n\ +2 "manipulator"&M% +4 "core" %   Q +2 "storage"(@% +3 "core" % G\  +2 "storage"(U. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +3 "core" &[ g ^ !\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&!(r +33 "core" ( +2 "manipulator"&T& +3 "core" &f U +2 "storage"(& +4 "core" &[ O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'= +91 "core" ' +2 "storage"(& +3 "core" &[ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (3& +2 "core" &[ ~ x e\  +3 "manipulator"&2& +3 "core" &f  U +2 .tElbow.seek 7 +2 "manipulator"&V(r +19 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(p& +4 "core" &[ z >\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(+' +8 "core" &   +2 "manipulator"&]% +4 "core" % Ϡ +2 .tForearm.seek :retract +2 "manipulator"&}' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&7& +4 "core" &ӛ# K =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +46 "core" &ӛ# X =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&I'? +98 "core" ' +2 "manipulator"&.& +4 "core" &ӛ$ & =A +2 "manipulator"&A% +3 "core" %8 e ' +3 "collection"';& +3 "core" & \ +3 "collection"'\ & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'u(\\ +3 "core" & \  +9 &5~ |\ +{ +9 &f~ v\ > +10 &j v\ L +9 &_S t\ K +9 &"R q\ J +10 &T n\ K +9 &R l\ K +10 &hR i\ J +9 &*U r\ J +9 &W r\ K +10 & U r\ K +9 &"pS p\ J +9 &$2T c\ J +10 &%W m\ J +9 &'T j\ K +10 &)wR a\ K +9 &+:R [\ J +9 &,U f\ J +10 &.Y ]\ K +47 &0V `\ K +5 &2AR r\ K +2 &4X o\ K + &5V t\ K +2 &7X q\ K + &9HY t\ K +7 &; Y s\ J +10 &<W r\ K +9 &>V q\ K +9 &@OX r\ K +10 &BZ q\ K +9 &C` q\ L +10 &Ej s\ M +9 &GK\ u\ O +9 &I\ \ s\ T +10 &J\ \ v\ V +9 &Lv\ \ q\ Y +9 &N:\ \ p\ X +10 &O\ \ o\ X +9 &Q\ \ o\ X +10 &Sx\ \ p\ [ +9 &U=\ \ q\ Z +9 &V\ \ r\ Z +10 &X\ \ o\ \\ +9 &Z\ \ m\ [ +9 &\\w\ \ q\ 1 +10 &\\*\ \ r\ Z +9 ( + &\\v\ \ o\ Q +3 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +3 "manipulator"&{% +3 "core" % 8 h ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%J& +4 "core" &\ +2 "manipulator"&% +4 "core" %  s  +2 "storage"(o% +3 "core" % ^ ]\  +2 "storage"(L. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(<([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &[ " " \  +2 "manipulator"&y& +4 "core" & G , +2 "manipulator"&&% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&i(r +151 "core" ( + "manipulator"&& +4 "core" &x O  +2 "storage"($& +3 "core" &[ g h 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&:'= +99 "core" ' +2 "storage"(& +4 "core" &[ e [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(X'r +305 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ - 9 '\  +3 "manipulator"&d& +3 "core" &x D  +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&& +4 "core" &x 2  +2 "storage"(*& +3 "core" &[ V H K\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&>& +2 "storage"(%' +8 "core" &x R  + "manipulator"&% +4 "core" % Ϡ g +3 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&q& +4 "core" & W D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & ; D +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t' +94 "core" ' +2 "manipulator"&6& +3 "core" & D +2 "manipulator"& % +4 "core" %  u +2 "processing"%& +4 "core" &{\ +3 "processing"%W& +4 "core" &\ +3 .tPC.seek :closed + "processing"%)(^ +5 "core" &\ +7 &=\ $e +9 &X|\ 8 +10 &v\ L +9 &R\ M +9 &sU\ M +10 &5S\ M +9 &U\ N +9 &U\ M +10 &|T\ M +9 &=U\ M +10 &T\ M +9 &!T\ M +9 &#U\ M +10 &%FR\ M +9 &'U\ M +10 &(U\ M +9 &*U\ M +9 &,MU\ M +10 &.T\ M +9 &/W\ M +9 &1U\ M +10 &3UT\ M +9 &5S\ M +9 &6U\ M +10 &8V\ M +9 &:^R\ M +10 &<W\ M +9 &=T\ M +9 &?W\ N +10 &AdX\ N +9 &C#`\ O +9 &Dc\ O +10 &Fl\ P +9 &H_~\ R +10 &J\ S +9 &K\ T +9 &M\ T +10 &Oc\ S +9 &Q#\ T +9 &R\ T +10 &T\ U +9 &Vh\ T +10 &X)\ U +9 &Y\ T +9 &[\ T +10 &]o\ B +9 &^<u\ %l +9 &^&\ , +6 ( +2 "processing"%W& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"& 1 +3 "core" &^\ , +55 1 +2 "manipulator"&h% +3 "core" %   u +47 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' +2 "processing"%0& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&O% +4 "core" %  \   +2 "storage"( % +4 "core" % G D \  +2 "storage"(^. +2 "core" .([ +2 "storage"(& +4 "core" &[ C F \  +3 "storage"(9& +2 "manipulator"&& +5 "core" &[ C C \  +2 &   ? D +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(c'r + "manipulator"&a( +7 "core" ( + "manipulator"&e& +4 "core" &   Q D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &   D +2 .tForearm.seek PC +2 "manipulator"&x' +92 "core" ' +2 .tHand.close + "manipulator"&"/ +61 "core" / +3 .tPC.seek :open +2 "processing"%|( +92 "core" ' +2 "storage"(z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'1 +46 "core" ' +304 ( + "storage"(F& +4 "core" &[ Z I M\  +2 "manipulator"&m& +4 "core" & ? D +2 "manipulator"&,% +3 "core" %  F . +2 .tForearm.seek :retract +2 "manipulator"&=' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&5(r +245 "core" ( + "manipulator"&E& +4 "core" &{  d +2 "storage"(4& +4 "core" &[ F D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&-'= +103 "core" ' +2 .tHand.open + "manipulator"&C1 +54 "core" 1 +2 "storage"(k- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"([' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(S- +3 "core" -' +2 "storage"(w& +4 "core" &[ } +\  +2 "manipulator"&& +3 "core" &| \  c +3 .tElbow.seek 7 + "manipulator"&G(r +3 "core" ( +2 "manipulator"&/& +4 "core" &|  c +2 "storage"(~& +3 "core" &[ z y `\  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&j'= +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(f'" +59 "core" ' + "manipulator"&Z& +4 "core" &|  _ c +2 "storage"( & +3 "core" &[ 8 9 \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&r'{ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +28 "core" ' + "manipulator"&% +4 "core" %Ύ > . +2 "storage"(\\& +4 "core" &[ 9 9 \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&M'Ϻ +13 "core" ' +2 "manipulator"&@& +5 "core" &|  s c + "storage"(U& +4 "core" &[ Z Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&v'= +15 "core" ' +2 "storage"(g% +4 "core" % [ ]\ +3 ."downElevator"SE.seek :down +49 "storage"(D' +53 (% +2 "core" %D C D \ V` +3 "manipulator"&Q% +3 "core" %: +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +103 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (T& +3 "core" &[ N F $\  +2 "collection"'& +4 "core" &\\v\ \ q\ Q +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +3 "core" %  _  +2 "storage"(b% +4 "core" % ^ e \  +2 "storage"(_. +2 "core" .([ +2 "storage"(1& +4 "core" &[ g e \  +2 "storage"(3& +5 "core" &[ f ] #\  + "manipulator"&2& +4 "core" &|  c +2 .tElbow.seek 7 +2 "manipulator"& (r +3 "core" ( +2 "manipulator"&p& +3 "core" &|  g c +2 "storage"(P& +4 "core" &[ e ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&`'= +87 "core" ' +2 "storage"(]& +3 "core" &[ ^ i r\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'r +306 "core" ' + "storage"(K- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" &|  } c +2 "storage"(& +4 "core" &[ 8 8 <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(V- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(.'h +30 "core" ' +2 "manipulator"&A% +3 "core" %΂ p  +2 "storage"(;& +3 "core" &[ Z \\\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 307 counts +2 "manipulator"&+'Ϯ +15 "core" ' +2 "manipulator"&}& +4 "core" &|  f c +2 "storage"(H& +3 "core" &[ [ [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +17 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"({' +45 "core" ' + "manipulator"&J& +4 "core" &|  Y c +2 "manipulator"&% +3 "core" %= +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +148 "core" ( + "manipulator"&\ & +4 "core" &{0 m F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &{0 F +4 .tForearm.seek CC +2 "manipulator"&y'? +100 "core" ' +2 .tHand.close + "manipulator"&&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'I( +447 "core" ( +2 "storage"(& +3 "core" &[ ~ ~ \  +2 "storage"($& +3 "core" &[ [ a h\  +2 "manipulator"&& +4 "core" & [ 5 +2 "manipulator"&% +3 "core" % ο  +3 .tForearm.seek :retract + "manipulator"&#' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&8(r +158 "core" ( +2 "manipulator"&& +4 "core" &y : k + "storage"(& +4 "core" &[ ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&d'{ +97 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +92 "core" 1 +9 "manipulator"&% +4 "core" % Ί 9 + "storage"(>& +4 "core" &[ }\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 315 counts + "manipulator"&'϶ +16 "core" ' + "manipulator"&i& +4 "core" &y 6 k +2 "storage"(:& +4 "core" &[ Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&X'= +20 "core" ' +2 "storage"(% +4 "core" % R\ +3 ."downElevator"SE.seek :down +3 "storage"(q' +99 (% +3 "core" %I i s )\ U_ +2 "manipulator"&% +4 "core" %I  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +98 "core" ' +42 ' +2 ."downElevator"SE.stop + "storage"(5 +29252 "Can" 7- +60001  7w:) +60001   7V. +60002 " 75f" +60001 $ 7 +60001 6 \ 7" +60001 3 8( +60002 > 7 +60001 > 7T +60001 > 7o/ +60002 9 7N +60001 , 7-! +60001  7  +60001 % 7B+ +60002   7 +60001  7n +60001  7 +60002  7g +60001   7F0$ +60001  7% +60001  7\\1 +60002  7 +60001  \ 7 +60001  7͠! +60002  7" +60001  7^J +60001  7= +60001  7v +60002  7  +60001  7 +60001   7ں8 +60002  7ܙ& +60001  7xd +60001  7W# +60001  76 +60002  7& +60001  7! +60001  8R# +60001  7! +60002  7~ +60001  7p +60001  7O+ +60002  7.@ +60001  7 " +60001  7l +60001  7 +60002  7# +60001  7.$ +60001  7i +60001 7 7HZ$ +60002 T 7'" +60001  7# +60001  71 +60002  7²$ +60001  7H! +60001  7  +60001  8 bt+ +60002  7 A\ ! +60001  7 Š" +60001  76& +60001  7$ +60002  7b' +60001  7 +60001  7|Ȏ, +60002  7[$# +60001  7:ɺ% +60001 . 7P +60001 1 \ 7$ +60002 3 7!|5 @EDT1689307314.90 4 7#% +60001 8 7%̨$ +60002 6 8'u>% +60001 G \ 7)U% +60001 I 7+4j$ +60001 C 7-% +60002 M 7.ϖ0 +60001 K \ 80, +60001 P 72/ +60002 T \ 74X( +60001 R 76o- +60001  78N҄* +60001  \ 6:-. +60002  7< Ӱ +60001  7=F# +60001  7?% +60001  7Ar# +60002  7C) +60001  7Eh֞" +60001  7GG4' +60002 . 7I&' +60001 4 7K`% +60001 D 7L! +60001 H 7Nٌ& +60002 I 7P"# +60001 R 8Rڸ# +60001 Z \ 8TaN# +60001 d 7V@4 +60002 d 7Xz7 +60001 L 7Y +60001  7[ݦ3 +60002  7]<* +60001  7_ +60001  7a|h+ +60001  7c[( +60002  7e:* +60001  7g*! +60001  7h +60002  7jV) +60001  7l) +60001  8n# +60001  8pu* +60002  7rT- +60001 ^ \ 7t3D+ +60001 < 7v* +60001 A 7wp+ +60002 = 7y0 +60001 3 8{2 +60001 ? 8}2) +60002 A 7n( +60001 : 7M^( +60001 E \ 8-& +60001 P \ 8 7 +60002 O 7 ) +60001 F 7( +60001 P 8L6 +60001 5 7$ +60002 ! 7gx# +60001 \  \ 7F$ +60001  7%* +60002  7:+ +60001  7$ +60001  7f' +60001  8* +60002  7/ +60001  7`(+ +60001   8?% +60002   7T1 +60001  7* +60001  7$ +60001  7; +60002  8/ +60001  7yB" +60001  7Y) +60002  88n. +60001  7- +60001  7) +60001  70& +60001  7& +60002  7\\( +60001  7r, +60001  7R' +60002 1 71, +60001 2 7) +60001 @ 7J6 +60001 9 \ 7* +60002 ; 7Įv+ +60001 > 8ƍ # +60001 F \ 8l$ +60002 G 7K8# +60001 2 7*' +60001  7\ d+ +11349 #t-> access 2 +3 "storage"( % +3 "core" % \  +2 "manipulator"&% +3 "core" %   +2 "manipulator"&%& +4 "core" &y U k +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"('(K +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" &K R I .\ +1425 #t-> 10.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"' & +3 "core" & \ +2 "manipulator"&h% +4 "core" %   +2 "storage"(W% +4 "core" % \  +2 "storage"(0. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(O(<- +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &<) ` h P\ +3 "manipulator"&^& +3 "core" &y ! k +2 .tElbow.seek 5 +2 "manipulator"&( +46 "core" ( +2 "manipulator"&9& +3 "core" &  U +2 "storage"(& +4 "core" &<) \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +90 "core" ' + "storage"(s& +4 "core" &<)  +\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'r +293 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (z& +3 "core" &<) i a T\ +2 "manipulator"&(& +3 "core" &  \\ +2 .tElbow.seek 5 +2 "manipulator"&Y( +10 "core" ( + "manipulator"&)& +4 "core" & / \ +2 "storage"(c& +4 "core" &<) l n \ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&F'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +3 "storage"(x' +7 "core" &  ^ \ +2 "manipulator"&E% +4 "core" % Ϯ j +2 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&a(ӂ +153 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&C& +2 "storage"(5 +6 "core" &{, $ Cr +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &{,  Cr +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'? +97 "core" ' +2 "manipulator"&w& +3 "core" &|, Cq +2 "manipulator"&% +4 "core" %I N  +2 "collection"'/& +4 "core" & \ +3 "collection"'~& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'=(\\ +4 "core" & \ +6 &< \ %f +10 &W \ 8 +9 &z \ L +9 &Y !\ L +10 &{Y \ M +9 &<] \ M +10 &Z \ L +9 &Z \ L +9 &Z \ M +10 &EW \ M +9 & Y \ M +9 &!\\ \ M +10 &#Z  \ M +9 &%MY \ M +10 &'\\ \ M +9 &(\\ \ M +9 &*W \ M +10 &,U]  \ M +9 &.W \ L +9 &/X \ M +10 &1] \ M +9 &3\\\\ \ M +10 &5 Y \ L +9 &6\\ \ M +9 &8W \ M +10 &:f\\ \ L +9 &<(Y \ L +9 &=\\ \ M +10 &?Y \ M +9 &AmY \ M +10 &C-` \ M +9 &Dj \ N +9 &Fr \ P +10 &He\ \ \ \ R +9 &J\ \ \ V +9 &K\ \ "\ X +10 &M\ \ !\ X +9 &OZ\ \ \ Y +10 &Q\ \ \ X +9 &R\ \ !\ Z +9 &T\ \ \ Z +10 &V\\\ \ \ [ +9 &X\ \ \ [ +9 &Y\ \ \ ] +10 &[\ \ \ J +9 &\\;\ \ \ + +10 &\\m\ \ \ I +2 ( +2 "collection"'~& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&Z1 +54 "core" 1 + "manipulator"& % +4 "core" % I L  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&\\% +4 "core" %    +2 "storage"(R% +48 "core" % % $ \  +5 "storage"(@. +2 "core" .(<) +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +3 "storage"(U(<- +21 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (g& +2 "core" &<, # ' \  +3 "manipulator"&5& +3 "core" &Ӵ# <9 +2 "manipulator"&-% +4 "core" %  /  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&[( +156 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(Q& +4 "core" &<, V U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +92 "core" ' +2 "storage"(G& +4 "core" &<, U V \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(f'r +294 "core" ' +2 "storage"(r- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &<, , # \  +2 "manipulator"&T& +3 "core" & +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ; +2 "storage"(b& +4 "core" &<, , . e\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&_'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(3' +8 "core" &  + "manipulator"&2% +4 "core" % Ϯ +2 .tForearm.seek :retract +2 "manipulator"&p' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&v& +4 "core" &  ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &  ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +3 "manipulator"&D' +99 "core" ' +2 "manipulator"&B& +4 "core" & K ; +2 "manipulator"&% +3 "core" %  - +2 "processing"%K& +4 "core" &\ +2 "processing"%7& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\  +9 &4w\ *x +9 &d~\ > +10 &xu\ O +9 &:W\ N +10 &Y\ N +9 &W\ N +9 &Y\ O +10 &A[\ O +9 &X\ N +9 &]\ N +10 & Y\ N +9 &"IY\ O +10 &$ \\\ O +9 &%W\ N +9 &']\ N +10 &)R\\\ N +9 &+]\ N +9 &,]\ O +10 &.Y\ N +9 &0Y]\ O +10 &2[\ N +9 &3W\ N +9 &5[\ O +10 &7a[\ O +9 &9$_\ N +9 &:_\ O +10 &<]\ N +9 &>ia\ O +10 &@+]\ O +9 &Ab\ O +9 &Cf\ O +10 &Elk\ P +9 &G,s\ Q +9 &H\ S +10 &J\ T +9 &Li\ T +10 &N)\ U +9 &O\ U +9 &Q\ U +10 &Sn\ U +9 &U/\ U +9 &V\ U +10 &X\ U +9 &Zu\ U +10 &\\7\ U +9 &]|s\ ; +9 &^)q\ N +10 &^&\ 3 +2 ( +2 "processing"%7& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&V1 +61 "core" 1 +2 "manipulator"&A% +4 "core" %   Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +95 "core" ' +2 "processing"%}& +3 "core" &^%\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&H% +3 "core" %    g  +2 "storage"(J% +4 "core" % ! % \  +2 "storage"(. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(`(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +3 "core" &<,\ \  /\  +3 "manipulator"&!& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   ; +43 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +4 "storage"('r + "manipulator"&+( +6 "core" ( +2 "manipulator"&.& +4 "core" & ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &  * ; +2 .tForearm.seek PC +2 "manipulator"&N' +92 "core" ' +2 .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' +2 "storage"(&- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'1 +45 "core" ' +312 ( + "storage"(u& +4 "core" &<, F G D\  +2 "manipulator"&& +4 "core" & ; + "manipulator"&$% +4 "core" %   4 +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +251 "core" ( +2 "manipulator"&& +4 "core" &  V +2 "storage"(& +3 "core" &<, F F 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +104 "core" ' + .tHand.open +2 "manipulator"&L1 +61 "core" 1 +2 "storage"(*- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(>' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(i- +3 "core" -' +2 "storage"(:& +4 "core" &<, \  +2 "manipulator"&& +3 "core" &   V +2 .tElbow.seek 5 +2 "manipulator"&#( +4 "core" ( + "manipulator"&& +4 "core" &  u V +2 "storage"(8& +3 "core" &<, \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(d'" +51 "core" ' +2 "manipulator"&& +4 "core" & V +2 "storage"({& +4 "core" &<, . - `\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&X'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +19 "core" ' + "manipulator"&% +4 "core" %Ύ (  +2 "storage"(%& +4 "core" &<, 3 >\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&<'Ϻ +16 "core" ' +2 "manipulator"&l& +4 "core" & K +2 "storage"( & +3 "core" &<, 2 *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +23 "core" ' +2 "storage"(W% +3 "core" % % ' \ +3 ."downElevator"SE.seek :down +3 "storage"(0' +99 ('% +3 "core" %9Q\ *\ , L\ Xg +2 "manipulator"& % +4 "core" %U M w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (9& +2 "core" &<, P ? 1\  +3 "collection"'& +3 "core" &\\k\ \ \ I +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&s% +3 "core" %   +2 "storage"(% +4 "core" % F P 7\  +2 "storage"(6. +2 "core" .(<- +2 "storage"("& +4 "core" &<, E F %\  +41 "storage"(z& +11 "core" &<, P F >\  +2 "manipulator"&(& +3 "core" & K +2 .tElbow.seek 5 +2 "manipulator"&)( +27 "core" ( +2 "manipulator"&c& +4 "core" &   +2 "storage"(m& +3 "core" &<, S U 9\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +92 "core" ' + "storage"(E& +4 "core" &<, Q U \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" & _  +3 "storage"(k& +3 "core" &<, ' ' G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&t'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(w- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('b +29 "core" ' +2 "manipulator"&/% +3 "core" %Ν  D +2 "storage"(Y& +4 "core" &<, ' +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&x' +25 "core" ' +2 "manipulator"&4& +4 "core" &  +2 "storage"(I& +3 "core" &<, G F "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"( ' +47 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&\\% +3 "core" %P  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +159 "core" ( +2 "manipulator"&@& +4 "core" &ӏ(  @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &ӏ(   P @W +2 .tForearm.seek CC +2 "manipulator"&5'? +97 "core" ' + .tHand.close +2 "manipulator"&-/ +61 "core" / +2 .tCC.seek :open +2 "collection"'S( +447 "core" ( + "storage"(& +4 "core" &<, 9 8 h\  +2 "storage"(Q& +3 "core" &<, Q I B\  +2 "manipulator"&O& +4 "core" &Ӷ! :0 +2 "manipulator"&G% +4 "core" % 9 +2 .tForearm.seek :retract +2 "manipulator"&a' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&n( +165 "core" ( + "manipulator"&r& +4 "core" &    +2 "storage"(M& +4 "core" &<, i ] A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&T'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&b1 +61 "core" 1 +3 "manipulator"&?% +3 "core" % Ε = +2 "storage"(1& +4 "core" &<, k j \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&2' +14 "core" ' + "manipulator"&[& +4 "core" &  k  +2 "storage"(j& +3 "core" &<, \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +14 "core" ' +2 "storage"(_% +4 "core" %  \ +2 ."downElevator"SE.seek :down +50 "storage"(v' +52 (]% +3 "core" %F N ; \ Va +2 "manipulator"&% +4 "core" %K / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +96 "core" ' +94 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&K% +3 "core" %  K  +3 "storage"(3% +3 "core" % \  +2 "storage"(p. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(|(K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" &K ] \\ .\  +2 "manipulator"&A& +4 "core" &  '  +2 .tElbow.seek 6 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&H& +3 "core" &  c  +2 "storage"(J& +4 "core" &K p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(7& +4 "core" &K h\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +293 "core" ' +2 "storage"(!- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (.& +2 "core" &K k a \  +3 "manipulator"&\ & +3 "core" & U  +2 .tElbow.seek 6 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&& +4 "core" & N  +2 "storage"(U& +3 "core" &K m k \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&&'h +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(' +7 "core" &  w  +2 "manipulator"&% +4 "core" % `  7 +2 .tForearm.seek :retract +2 "manipulator"&u' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&$& + "storage"(5 +7 "core" &ӏ% >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &ӏ% >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&& +3 "core" &ӏ& >J +2 "manipulator"&+% +4 "core" %E B +2 "collection"'L& +4 "core" & \ +3 "collection"'*& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'i(\\ +5 "core" & \ +7 &4  \ $e +9 &W} \ 7 +9 &z \ K +10 &W \ L +9 &wX \ L +9 &9Y \ L +10 &Y \ L +9 &Z \ L +10 &X \ L +9 &AY \ L +9 & X \ L +10 &![ \ L +9 &#Y \ L +9 &%IW \ L +10 &' W \ L +9 &(Y \ L +10 &*U \ L +9 &,PX \ L +9 &.X \ L +10 &/V \ K +9 &1Y \ L +9 &3YY \ L +10 &5W \ K +9 &6Y \ L +10 &8X \ L +9 &:aY \ L +9 &<#Y \ L +10 &=[ \ L +9 &?Y \ L +9 &AgZ \ L +10 &C(a \ M +9 &Dh \ M +10 &Fn \ O +9 &H`\ \ \ Q +9 &J\ \ \ U +10 &K\ \ \ X +9 &M\ !\ \ X +9 &OT\ \ \ X +10 &Q\ \ \ Y +9 &R\ \ \ Y +10 &T\ \ \ Z +9 &VW\ \ \ Z +9 &X\ \ \ \\ +10 &Y\ \ \ \\ +9 &[\ \ \ I +9 &\\@\ \ \ &s +10 &\\~\ \ \ Z +2 ( +2 "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&:1 +56 "core" 1 +2 "manipulator"&% +4 "core" % E  U B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%8& +4 "core" &\ +2 "manipulator"&% +4 "core" %  ;  +2 "storage"(% +3 "core" % ' ' \  +2 "storage"({. +3 "core" .(K +47 "storage"(& +6 "core" &K # &\  +2 "storage"(%& +4 "core" &K  \  +2 "manipulator"&o& +3 "core" &ө  d :0 +2 "manipulator"&l% +4 "core" %   (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +164 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(W& +3 "core" &K 3 E k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(y& +4 "core" &K P F :\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +294 "core" ' +2 "storage"('- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &K X \  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&d& +4 "core" &   + "storage"(X& +4 "core" &K & "\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&<'h +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(s' +5 "core" & )  +2 "manipulator"&% +4 "core" % f +2 .tForearm.seek :retract +2 "manipulator"&6' +92 "core" ' + .tElbow.seek PC +2 "manipulator"& ( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&"& +3 "core" &  +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" & ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&(' +95 "core" ' +2 "manipulator"&c& +4 "core" & +2 "manipulator"&m% +3 "core" %  3 +3 "processing"%h& +3 "core" &\ +3 "processing"%E& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%0(^ +3 "core" &\ +9 &6\ #b +9 &V|\ 7 +10 &~z\ K +9 &U\ N +9 &`X\ N +10 &#U\ N +9 &Z\ N +10 &Y\ N +9 &iW\ N +9 &+X\ N +10 &Y\ N +9 &!Z\ N +9 &#pY\ N +10 &%2Y\ N +9 &&U\ N +10 &(Y\ N +9 &*wY\ O +9 &,;Y\ N +10 &-W\ N +9 &/Z\ N +9 &1Y\ O +10 &3CW\ N +9 &5W\ N +10 &6Y\ N +9 &8Z\ N +9 &:KU\ N +10 &< ]\ N +9 &=Z\ N +9 &?Y\ N +10 &AQ\\\ O +9 &Cb\ O +10 &Dg\ P +9 &Fs\ Q +9 &HL\ S +10 &J \ T +9 &K\ T +9 &M\ T +10 &OP\ T +9 &Q\ U +10 &R\ U +9 &T\ V +9 &VW\ U +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]\\\ C +9 &^Jx\ O +9 &^ O\ 8 +6 ( +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&q1 +3 "core" &^.\ 8 +54 1 +2 "manipulator"&^% +3 "core" %    2 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +96 "core" ' + "processing"%C& +4 "core" &^.\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&k% +4 "core" %     +2 "storage"(w% +4 "core" % E\  \  +2 "storage"(/. +2 "core" .(K +3 "storage"(Y& +3 "core" &K \  \  +2 "storage"(4& +2 "manipulator"&I& +8 "core" &K J <\  + &  = +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(\\'r +3 "core" ( + "manipulator"&,& +4 "core" &   | +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &   +47 .tForearm.seek PC +5 "manipulator"&' +93 "core" ' +3 .tHand.close + "manipulator"&t/ +58 "core" / +2 .tPC.seek :open +2 "processing"%x( +47 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'1 +48 "core" ' +352 ( +2 "storage"(g& +4 "core" &K ' % \ +2 "manipulator"&Z& +4 "core" & # +2 "manipulator"&F% +3 "core" %  ; +3 .tForearm.seek :retract + "manipulator"&-' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&R( +239 "core" ( +2 "manipulator"&=& +4 "core" & ? +2 "storage"(& +3 "core" &K " '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +100 "core" ' + .tHand.open +2 "manipulator"&O1 +64 "core" 1 +2 "storage"(G- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(r' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(M' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +3 "core" -' +2 "storage"(~& +4 "core" &K D E \ +2 "manipulator"&b& +3 "core" &   P ? +3 .tElbow.seek 6 + "manipulator"&?( +4 "core" ( +2 "manipulator"&1& +3 "core" &   . ? +2 "storage"([& +4 "core" &K N G 6\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +59 "core" ' + "manipulator"&a& +4 "core" &  ? +2 "storage"(]& +4 "core" &K & ' 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +24 "core" ' +2 .tElbow.hold + "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(T' +19 "core" ' + "manipulator"&2% +4 "core" %O 6 +2 "storage"(& +4 "core" &K J k\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&K'{ +14 "core" ' +2 "manipulator"&3& +3 "core" & 5 ? +2 "storage"(p& +4 "core" &K - - }\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 "storage"(f% +3 "core" % - - \ +3 ."downElevator"SE.seek :down +4 "storage"(v' +98 (`% +3 "core" %GS J \ Xi +2 "manipulator"&V% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&A' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (H& +3 "core" &K , ( %\ +2 "collection"'J& +4 "core" &\\~\ \ \ Z +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&7% +4 "core" %    +2 "storage"(% +3 "core" % & ' \  +2 "storage"(B. +3 "core" .(K +2 "storage"(!& +4 "core" &K 3 > \ +2 "storage"(.& +3 "core" &K & $ /\ +2 "manipulator"&\ & +4 "core" & $ ? +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&U& +3 "core" & ? +2 "storage"(P& +4 "core" &K * ' J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek 6 + 450 counts +4 "manipulator"&;' +92 "core" ' +2 "storage"(& +3 "core" &K G F \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" & 8 ? +2 "storage"(N& +4 "core" &K % ( 0\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +18 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(+'o +29 "core" ' + "manipulator"&L% +4 "core" %L " +2 "storage"(D& +3 "core" &K * Q\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 316 counts + "manipulator"&'x +16 "core" ' + "manipulator"&u& +4 "core" & J > +2 "storage"(S& +4 "core" &K P F 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&:' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +37 "core" ' + "manipulator"&8& +4 "core" & > +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&{(ӂ +154 "core" ( +2 "manipulator"&& +4 "core" &Ӓ$ F =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &Ӓ$ s =F +2 .tForearm.seek CC +2 "manipulator"&%'? +91 "core" ' +2 .tHand.close +2 "manipulator"&o/ +60 "core" / +2 .tCC.seek :open +2 "collection"'l( +450 "core" ( +2 "storage"(& +4 "core" &K k Q \ +2 "storage"(& +3 "core" &K X M N\ +2 "manipulator"&W& +4 "core" &Ӧ"  ;2 +2 "manipulator"&y% +3 "core" % P ! +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&'& +4 "core" &  O  +2 "storage"( & +3 "core" &K k k \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +93 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&X1 +63 "core" 1 +2 "manipulator"&9% +4 "core" % ? B +2 "storage"(& +3 "core" &K b &\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 303 counts +2 "manipulator"&'k +16 "core" ' + "manipulator"& & +4 "core" &  s  +2 "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&>' +16 "core" ' + "storage"(<% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"("' +99 (z% +3 "core" %G E D \ Va +2 "manipulator"&#% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +89 "core" ' +50 ' +2 ."downElevator"SE.stop +47 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'m& +4 "core" & \ +2 "manipulator"&h% +4 "core" %  a  +2 "storage"(s% +4 "core" % ~ \  +2 "storage"(6. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +3 "core" &[ h j [\ +2 "manipulator"&^& +4 "core" & R  +2 .tElbow.seek 7 +2 "manipulator"&C(r +37 "core" ( + "manipulator"&k& +4 "core" &   +2 "storage"(w& +3 "core" &[ o %\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&/'= +100 "core" ' + "storage"(Y& +4 "core" &[ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'r +292 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (E& +2 "core" &[ h m I\ \ +3 "manipulator"&,& +4 "core" & Q  +2 .tElbow.seek 7 +2 "manipulator"&)(r +27 "core" ( +2 "manipulator"&(& +4 "core" &t   _ + "storage"(t& +4 "core" &[ ` j h\ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(0' +7 "core" &t _ +2 "manipulator"&\\% +4 "core" % ϛ  s  +2 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +154 "core" ' +2 ( + "manipulator"&F& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &ӄ* Aa +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӄ)  Aa +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&='? +91 "core" ' +2 "manipulator"&& +4 "core" &Ӈ( @^ +2 "manipulator"&% +4 "core" %G  f +2 "collection"'O& +4 "core" & \ +3 "collection"'G& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'5(\\ +3 "core" & \  +9 &3{ \ *y +10 &f \ > +9 &s \ M +10 &LU \ L +9 &U \ L +9 &Z \ L +10 &W \ L +9 &VT \ K +9 &X \ K +10 &U \ L +9 & T \ K +10 &"]U \ L +9 &$Y \ L +9 &%X \ L +10 &'U \ K +9 &)gU \ K +9 &+(Y \ K +10 &,Z \ L +9 &.Y \ K +10 &0mU \ L +9 &20Y \ K +9 &3W \ K +10 &5Z \ L +9 &7uW \ L +9 &98U \ K +10 &:W \ K +9 &<Y \ K +10 &>}Z \ L +9 &@?\\ \ L +9 &B] \ L +10 &Cc \ M +9 &E}n \ N +9 &G:\  \ P +10 &H\ \ \ T +9 &J\ %\ #\ V +10 &Lj\ %\ $\ X +9 &N-\ $\ $\ W +9 &O\ #\ $\ X +10 &Q\ #\ %\ X +9 &Sn\ !\ "\ Y +9 &U.\ \ \ Z +10 &V\ \ \ [ +9 &X\ \ \ [ +10 &Zn\ \ \ \\ +9 &\\z\ \ \ 2 +9 &\\.\ \ \ !c +9 ( +2 &\\k\ \ \ Q +2 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&~1 +58 "core" 1 +2 "manipulator"&b% +4 "core" % K + b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%[& +3 "core" &\ +2 "manipulator"&-% +4 "core" %  8  +2 "storage"(a% +3 "core" % + ) \  +2 "storage"(]. +2 "core" .([ +2 "storage"(2& +4 "core" &[ # &\ \ +2 "storage"(@& +4 "core" &[ $ $\ \ +2 "manipulator"&& +3 "core" & + . +2 "manipulator"&3% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&r(r +176 "core" ( + "manipulator"&p& +51 "core" &o D +2 "storage"(f& +4 "core" &[ F E #\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&R'= +91 "core" ' +2 "storage"(Q& +4 "core" &[ F J w\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'r +296 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (V& +2 "core" &[ # ,\ \ +3 "manipulator"&j& +3 "core" &o Y D +2 .tElbow.seek 7 +2 "manipulator"&?(r +4 "core" ( + "manipulator"&_& +4 "core" &o : D +2 "storage"(& +4 "core" &[ . - }\ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&K'ϧ +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(7' +7 "core" &o D +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&B' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&!& +3 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\ ' +93 "core" ' +2 "manipulator"&U& +4 "core" & +2 "manipulator"&P% +3 "core" % 5 +2 "processing"% & +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%v(^ +4 "core" &\ +6 &0\ #b +9 &T}\ 7 +10 &|\ K +9 &U\ N +10 &YW\ N +9 &T\ N +9 &Y\ N +10 &X\ M +9 &cU\ N +9 &%W\ N +10 &Z\ N +9 &!W\ N +10 &#jW\ N +9 &%,W\ N +9 &&X\ N +10 &(Z\ N +9 &*sW\ N +10 &,4W\ N +9 &-U\ N +9 &/Y\ N +10 &1zZ\ N +9 &3=W\ N +9 &4Y\ N +10 &6W\ N +9 &8\\\ N +9 &:DW\ N +10 &<Z\ N +9 &=Y\ N +10 &?\\\ N +9 &AKZ\ N +9 &C a\ O +10 &Dh\ P +9 &Fn\ Q +9 &HG~\ R +10 &J\ T +9 &K\ T +10 &M\ T +9 &OI\ T +9 &Q \ U +10 &R\ U +9 &T\ U +9 &VO\ U +10 &X\ V +9 &Y\ U +10 &[\ U +9 &]U\ F +9 &^v=p\ )x +10 &^'\ ) +5 ( +2 "processing"%& +4 "core" &^\ ) +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&n1 +59 "core" 1 + "manipulator"&A% +4 "core" %    5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%$& +4 "core" &^\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&N% +4 "core" %  \  P  +2 "storage"(% +3 "core" % - - 7\  +3 "storage"(L. +2 "core" .([ +2 "storage"(D& +4 "core" &[ ! * \ \ +2 "storage"(u& +2 "manipulator"&S& +6 "core" &[ * - P\ \ +2 &  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +7 "manipulator"&8( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&;& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  - +2 .tForearm.seek PC +2 "manipulator"&}' +94 "core" ' + .tHand.close +2 "manipulator"& / +55 "core" / +2 .tPC.seek :open +2 "processing"%( +96 "core" ' +2 "storage"(+- +2 "core" -'r +3 ."raiseStack"SE.configure :default +42 "storage"(#QK-0-\ b +11 ."raiseStack"SE.seek :place +2 "storage"('1 +38 "core" ' +261 ( +2 "storage"(*& +4 "core" &[ P F 4\ \ +2 "manipulator"&:& +4 "core" & +2 "manipulator"&&% +3 "core" %  1 +2 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +261 "core" ( +2 "manipulator"&i& +3 "core" &s !  +2 "storage"(& +4 "core" &[ F F *\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +89 "core" ' +2 .tHand.open + "manipulator"&W1 +58 "core" 1 +2 "storage"(y- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"('' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +59 "core" ' + #tLights, camera, ACTION! +2 "storage"(%- +2 "core" -' +2 "storage"({& +4 "core" &[ \ \ +2 "manipulator"&X& +4 "core" &s     +2 .tElbow.seek 7 +2 "manipulator"&9(r +4 "core" ( + "manipulator"&& +4 "core" &s   )  +2 "storage"( & +4 "core" &[ \ \ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +56 "core" ' +2 "manipulator"&& +3 "core" &s  +2 "storage"(z& +3 "core" &[ ' ' %\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&#'{ +24 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&m% +3 "core" %Ώ / +2 "storage"(& +3 "core" &[ - . ~\ \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&'ϻ +16 "core" ' + "manipulator"&h& +4 "core" &s  +2 "storage"(s& +4 "core" &[ F F (\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&6'= +15 "core" ' + "storage"(>% +4 "core" % T T ?\ +3 ."downElevator"SE.seek :down +4 "storage"("' +98 (|% +3 "core" %cN\ \ *\ Xf +2 "manipulator"&q% +4 "core" %;  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (k& +3 "core" &[ . @ \ \ +2 "collection"'w& +3 "core" &\\k\ \ \ Q +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&Y% +4 "core" %  `  +2 "storage"(d% +3 "core" % E P ?\  +2 "storage"(c. +3 "core" .([ +2 "storage"(4& +5 "core" &[ F P 3\ \ +2 "storage"(E& +4 "core" &[ F F -\ \ +2 "manipulator"&,& +3 "core" &s   +2 .tElbow.seek 7 +2 "manipulator"&((r +4 "core" ( + "manipulator"&t& +5 "core" &s   + "storage"( & +4 "core" &[ F F 4\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&e'= +95 "core" ' +2 "storage"(\\& +3 "core" &[ 9 M J\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +298 "core" ' + "storage"(/- +3 "core" -' +41 .tSE.configure :default +10 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" &s  +2 "storage"(& +9 "core" &[ T J n\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +7 .tForearm.seek 7 +2 "manipulator"&I'{ +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('h +29 "core" ' + "manipulator"&O% +4 "core" %΍  +2 "storage"()& +3 "core" &[ S Q\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts +2 "manipulator"&0'Ϲ +15 "core" ' + "manipulator"&g& +4 "core" &s 1  +2 "storage"(l& +4 "core" &[ J U }\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&~'= +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(b' +34 "core" ' + "manipulator"&[& +4 "core" &s  +2 "manipulator"&-% +4 "core" %< 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +158 "core" ( +3 "manipulator"&2& +3 "core" &Ӝ" G ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &Ӝ"   ;7 +2 .tForearm.seek CC +2 "manipulator"&G'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'3( +447 "core" ( +2 "storage"(=& +4 "core" &[ j Q \ \ +2 "storage"(p& +4 "core" &[ M Y /\ \ + "manipulator"&f& +4 "core" & - +2 "manipulator"&Z% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&Q' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&1(r +144 "core" ( +2 "manipulator"&`& +4 "core" &v  W \ +2 "storage"(V& +4 "core" &[ j m e\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&j'{ +100 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&H% +4 "core" % Έ + "storage"(J& +4 "core" &[ j i l\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&'ϴ +15 "core" ' +2 "manipulator"&r& +4 "core" &v  \ +2 "storage"(R& +3 "core" &[ x\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&M'= +15 "core" ' +2 "storage"(K% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(!' +98 (.% +3 "core" %D M U \ V` +2 "manipulator"&?% +4 "core" %: Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'P& +3 "core" & \ +2 "manipulator"& % +4 "core" %   +2 "storage"(7% +4 "core" % } C\  +2 "storage"(B. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(x(<- +717 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +3 "core" &<0 H Q 2\ +2 "manipulator"&A& +4 "core" &v  \ +2 .tElbow.seek 5 +2 "manipulator"&$( +35 "core" ( + "manipulator"&N& +4 "core" &  <  +2 "storage"(& +4 "core" &<0 ~ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +95 "core" ' +2 "storage"(D& +4 "core" &<0 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'r +296 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<. ` d \ +2 "manipulator"&;& +4 "core" &  +3 .tElbow.seek 5 +2 "manipulator"&( +12 "core" ( + "manipulator"&\ & +4 "core" &  r { +2 "storage"( & +4 "core" &<. f ^ A\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&+'Ϲ +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(v' +7 "core" & W { +2 "manipulator"&% +4 "core" % ϵ +2 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&&& +4 "core" &Ӕ$ =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &Ӕ$ =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'? +91 "core" ' +2 "manipulator"&& +3 "core" &ӕ%  =C +3 "manipulator"&8% +4 "core" %8 ' k +2 "collection"'W& +4 "core" & \ +3 "collection"'y& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'%(\\ +3 "core" & \ +8 &< \ $e +9 &Xz \ 7 +9 &y \ K +10 &W \ K +9 &U \ K +10 &CW \ L +9 &S \ K +9 &Y \ K +10 &Y \ K +9 &LY \ K +9 & X \ K +10 &!U \ L +9 &#W \ L +10 &%US \ K +9 &'W \ K +9 &(Y \ K +10 &*W \ L +9 &,[W \ L +9 &.W \ L +10 &/V \ L +9 &1W \ L +10 &3eT \ K +9 &5&X \ K +9 &6Z \ K +10 &8U \ K +9 &:mV \ K +9 &<-W \ L +10 &=W \ L +9 &?Z \ K +10 &AtX \ K +9 &C4\\ \ L +9 &Dh \ M +10 &Fl \ N +9 &Hk\  \ Q +9 &J"\ \ \ U +10 &K\ \ \ W +9 &M\ \ \ X +10 &O`\ \ \ X +9 &Q!\ \ \ X +9 &R\ \ \ Y +10 &T\ \ \ Y +9 &Vb\ \ \ Z +9 &X"\ \ \ Z +10 &Y\ \ \ [ +9 &[\ \ \ H +9 &\\:\ \ \ + +10 &\\k\ \ \ J +2 ( +2 "collection"'y& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&{1 +59 "core" 1 +2 "manipulator"&X% +4 "core" % 8  k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&o% +4 "core" % \  !  +2 "storage"(% +3 "core" % K P K\  +2 "storage"(z. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(m(<- +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<. *  \  +2 "manipulator"&& +4 "core" &Ӱ  9( + "manipulator"&h% +4 "core" % \  <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&'( +157 "core" ( +2 "manipulator"&s& +4 "core" & \ +2 "storage"(>& +3 "core" &<. P F t\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +45 "manipulator"&'O +99 "core" ' +2 "storage"(& +4 "core" &<. 8 L \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" &<. Q D Q\  +2 "manipulator"&& +4 "core" & " \ +2 .tElbow.seek 5 +2 "manipulator"&9( +8 "core" ( + "manipulator"&<& +4 "core" & +2 "storage"(#& +4 "core" &<. U U\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +31 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(Y' +8 "core" &  +2 "manipulator"&d% +4 "core" %  * +2 .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&4& +4 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&,' +117 "core" ' +2 "manipulator"&t& +4 "core" & O +2 "manipulator"& % +4 "core" % ? U +2 "processing"%6& +4 "core" &\ +3 "processing"%\\& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%"(^ +5 "core" &\  +8 &2v\ )v +10 &b~\ = +9 &qs\ N +10 &2V\ N +9 &X\ N +9 &W\ M +10 &yV\ M +9 &:T\ N +9 &T\ N +10 &T\ N +9 & T\ M +10 &"BU\ N +9 &$Y\ N +9 &%Y\ N +10 &'Y\ N +9 &)JT\ N +9 &+ U\ N +10 &,V\ N +9 &.S\ N +10 &0SV\ M +9 &2U\ N +9 &3W\ M +10 &5U\ M +9 &7[U\ M +9 &9Y\ N +10 &:[\ N +9 &<V\ M +10 &>aY\ N +9 &@$X\ N +9 &A[\ N +10 &Cg\ O +9 &Edh\ P +9 &G"p\ Q +10 &H\ R +9 &J\ T +10 &L_\ T +9 &N\ U +9 &O\ T +10 &Q\ U +9 &Sc\ U +9 &U"\ W +10 &V\ U +9 &X\ U +10 &Zk\ U +9 &\\+\ V +9 &]z\ 8 +10 &^,}\ T +9 &^\ 0 +2 ( +3 "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&^% +4 "core" %  U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' +2 "processing"%F& +3 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %      +2 "storage"(% +4 "core" % - - :\  +2 "storage"(O. +2 "core" .(<- +2 "storage"()& +3 "core" &<. - + <\  +3 "storage"(g& +2 "manipulator"&l& +6 "core" &<. , ( \  + &  , +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(['r + "manipulator"&-( +7 "core" ( +2 "manipulator"&e& +3 "core" & \  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &  3 +2 .tForearm.seek PC +2 "manipulator"&C' +94 "core" ' + .tHand.close +2 "manipulator"&I/ +59 "core" / +2 .tPC.seek :open +2 "processing"%0( +92 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'1 +44 "core" ' +308 ( + "storage"(@& +4 "core" &<, * 5 r\  +48 "manipulator"&~& +5 "core" & 3 +2 "manipulator"&% +3 "core" %   3 +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&a( +240 "core" ( +2 "manipulator"&5& +3 "core" & < +2 "storage"(=& +4 "core" &<, % ) \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +92 "core" ' +2 .tHand.open + "manipulator"&f1 +62 "core" 1 +2 "storage"(Z- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(`' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(V' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +4 "core" -' + "storage"(]& +4 "core" &<, j n b\  +2 "manipulator"&& +4 "core" &   < +2 .tElbow.seek 5 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&J& +3 "core" &   D < +2 "storage"(r& +4 "core" &<, d e |\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(K'" +58 "core" ' + "manipulator"&Q& +4 "core" & < +2 "storage"(.& +4 "core" &<, $ % ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&?'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +28 "core" ' +2 "manipulator"&P% +3 "core" %Μ  +2 "storage"( & +4 "core" &<, $ 4 p\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 315 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&7& +4 "core" & < +2 "storage"(B& +4 "core" &<, R J F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&b'O +15 "core" ' +2 "storage"(M% +4 "core" % T I X\ +3 ."downElevator"SE.seek :down +3 "storage"(!' +99 (% +3 "core" %iO " \ Xg +2 "manipulator"&n% +4 "core" %K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (N& +3 "core" &<, 7 =\  +2 "collection"'& +4 "core" &\\h\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&D% +3 "core" %   +2 "storage"(_% +4 "core" % F F \  +2 "storage"(U. +2 "core" .(<- +2 "storage"(u& +4 "core" &<, D H )\  +2 "storage"(& +4 "core" &<, I F \  +2 "manipulator"&;& +3 "core" &  < +2 .tElbow.seek 5 +2 "manipulator"&\ ( +4 "core" ( + "manipulator"& & +4 "core" &  < +2 "storage"(T& +3 "core" &<, F F )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +110 "core" ' +2 "storage"(& +3 "core" &<, R I \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +309 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" & < +2 "storage"(}& +3 "core" &<, I F .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +47 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&S'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(8'b +31 "core" ' +2 "manipulator"&W% +4 "core" %Π B +2 "storage"(& +3 "core" &<, T S F\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&v' +14 "core" ' + "manipulator"&*& +4 "core" & 7 < +2 "storage"(3& +4 "core" &<, I T W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(X' +34 "core" ' + "manipulator"& & +4 "core" &  < +2 "manipulator"&o% +3 "core" %H \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +154 "core" ( +2 "manipulator"&y& +4 "core" &ӎ! \  J ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ" Q ;2 +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&h/ +65 "core" / +2 .tCC.seek :open + "collection"'i( +450 "core" ( +2 "storage"(s& +4 "core" &<, k k \  +2 "storage"(>& +3 "core" &<, k l \  +2 "manipulator"&x& +4 "core" &Ӫ 7 +2 "manipulator"&:% +4 "core" % K  +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +160 "core" ( +2 "manipulator"&|& +4 "core" & |  +2 "storage"(q& +3 "core" &<, k i ~\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator" +61 "core" 1 +2 "manipulator"&k% +4 "core" % ΄    +2 "storage"(w& +3 "core" &<, k k |\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 291 counts +2 "manipulator"&d'ϰ +13 "core" ' + "manipulator"&'& +4 "core" & v  +2 "storage"(& +4 "core" &<,  -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +16 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(4' +98 (E% +3 "core" %E N [ S\ Va +2 "manipulator"&9% +4 "core" %3  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"' & +3 "core" & \ +2 "manipulator"&6% +4 "core" %  `  +2 "storage"(Y% +3 "core" %  #\  +2 "storage"(c. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K i l \  +3 "manipulator"&^& +3 "core" & W  +47 .tElbow.seek 6 +3 "manipulator"&F( +4 "core" ( + "manipulator"&& +4 "core" & 7  +2 "storage"(& +3 "core" &K h v ?\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +95 "core" ' +2 "storage"()& +3 "core" &K V\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +300 "core" ' + "storage"(g- +4 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +2 "core" &K ` k \  +2 "manipulator"&e& +4 "core" & f  +2 .tElbow.seek 6 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&,& +4 "core" & Y  +2 "storage"(I& +4 "core" &K j i ~\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& +2 "storage"("' +7 "core" & /  +2 "manipulator"&[% +4 "core" % ϙ +2 .tForearm.seek :retract +2 "manipulator"&@' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +151 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&& +2 "storage"(5 +7 "core" &z- Du +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &z- Du +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&5'? +100 "core" ' +2 "manipulator"&=& +4 "core" &ӌ * @c +2 "manipulator"&-% +4 "core" %F "  +2 "collection"'f& +4 "core" & \ +3 "collection"'Z& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'G(\\ +4 "core" & \ +8 &4 \ $e +9 &Ww \ 6 +10 &z \ K +9 &V \ K +9 &pV \ L +10 &2V \ L +9 &V \ K +10 &T \ K +9 &yW \ K +9 &;S \ K +10 &X \ K +9 &!W \ K +10 &#U \ K +9 &%CW \ K +9 &'U \ L +10 &(U \ K +9 &*W \ K +9 &,KV \ K +10 &. S \ K +9 &/V \ L +10 &1W \ K +9 &3SW \ K +9 &5U \ K +10 &6Y \ K +9 &8V \ K +9 &:[T \ K +14 &<W \ L +5 &=W \ K +11 &?U \ K +8 &AbZ \ L +9 &C$^ \ L +10 &Df \ M +9 &Fo \ N +9 &H[\  \ Q +10 &J\ \ \ T +9 &K\ \ \ W +10 &M\ \ \ X +9 &ON\ \ \ X +9 &Q \ \ \ Y +10 &R\ \ \ Y +9 &T\ \ \ Y +9 &VP\ \ \ Z +10 &X\ \ \ [ +9 &Y\ \ \ [ +10 &[\ \ \ H +9 &\\9\ \ \ , +9 &\\y\ \ \ U +3 ( +2 "collection"'Z& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&]1 +60 "core" 1 + "manipulator"&% +4 "core" % F    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%r& +4 "core" &\ +2 "manipulator"&% +5 "core" %  b  + "storage"(Q% +4 "core" % - - \  +2 "storage"(.. +2 "core" .(K +2 "storage"(P& +4 "core" &K ! % Z\  +2 "storage"( & +3 "core" &K / - p\  +2 "manipulator"&2& +4 "core" &ӭ$ 2 =B +2 "manipulator"&7% +3 "core" %  *  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&B( +156 "core" ( + "manipulator"&`& +4 "core" &   +2 "storage"(M& +3 "core" &K I P\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +95 "core" ' +2 "storage"(p& +3 "core" &K T S l\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +298 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +49 (n& +4 "core" &K ) ' N\  +3 "manipulator"&R& +3 "core" & S  +2 .tElbow.seek 6 +2 "manipulator"&H( +21 "core" ( +2 "manipulator"&K& +4 "core" &  "x +2 "storage"(?& +4 "core" &K $ % \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&N'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(D' +8 "core" &\   !w +2 "manipulator"&_% +4 "core" % h +2 .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&u& +4 "core" & 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;' +91 "core" ' +2 "manipulator"& & +4 "core" & < 7 +2 "manipulator"&T% +5 "core" % r +2 "processing"%b& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(^ +5 "core" &\ +6 &7\ $d +9 &U{\ 7 +10 &y\ K +9 &W\ N +9 &`T\ N +10 &#Q\ M +9 &U\ N +10 &U\ M +9 &iU\ M +9 &+V\ M +10 &U\ M +9 &!T\ M +9 &#qU\ M +10 &%3V\ M +9 &&Z\ N +10 &(U\ M +9 &*yU\ M +9 &,;W\ M +10 &-U\ M +9 &/Z\ N +9 &1V\ M +10 &3CW\ M +9 &5V\ M +10 &6V\ M +9 &8X\ N +9 &:JY\ N +10 &< W\ M +9 &=X\ N +9 &?Y\ N +10 &ARY\ N +9 &Cc\ O +10 &Dh\ P +9 &Fn\ Q +9 &HK\ S +10 &J \ T +9 &K\ T +9 &M\ T +10 &OO\ T +9 &Q \ V +10 &R\ U +9 &T\ U +9 &VT\ U +10 &X\ V +9 &Y\ U +9 &[\ U +10 &]Z\ E +9 &^{@r\ (u +9 &^"\ * +6 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&11 +3 "core" &^\ * +55 1 + "manipulator"&A% +4 "core" %   r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +96 "core" ' +2 "processing"%&& +4 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&}% +4 "core" %   K " +2 "storage"(% +29 "core" % - - \  +2 "storage"(W. +2 "core" .(K +2 "storage"(& +4 "core" &K  \  +2 "storage"(*& +4 "manipulator"&3& +5 "core" &K * =\  + &   7 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"& ( +3 "core" ( +3 "manipulator"&o& +4 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" &   & 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &   7 +2 .tForearm.seek PC +2 "manipulator"&$' +95 "core" ' + .tHand.close +2 "manipulator"&S/ +64 "core" / +3 .tPC.seek :open + "processing"%v( +95 "core" ' + "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'1 +45 "core" ' +304 ( + "storage"(& +4 "core" &K G H %\ +2 "manipulator"&{& +3 "core" &  7 +2 "manipulator"&+% +5 "core" %   . +2 .tForearm.seek :retract + "manipulator"&h' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +250 "core" ( +10 "manipulator"&%& +3 "core" &  \ m +2 "storage"(s& +4 "core" &K = 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +92 "core" ' + .tHand.open +2 "manipulator"&x1 +55 "core" 1 +2 "storage"(:- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(q' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(z& +4 "core" &K L L F\ +2 "manipulator"&#& +4 "core" &\   , m +2 .tElbow.seek 6 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&w& +3 "core" &\   H m +3 "storage"('& +3 "core" &K J B \ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +53 "core" ' + "manipulator"&& +4 "core" &\  m +2 "storage"(E& +3 "core" &K " % ?\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&9'< +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"& % +3 "core" %I  +2 "storage"(6& +4 "core" &K ^ ( '\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&d'u +14 "core" ' + "manipulator"&Y& +4 "core" &\  N l +2 "storage"(c& +4 "core" &K % "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +15 "core" ' +2 "storage"( % +4 "core" % / ' =\ +3 ."downElevator"SE.seek :down +3 "storage"(4' +99 (m% +2 "core" %HW L G\ Yi +3 "manipulator"&% +3 "core" % ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K 7  ^\ +2 "collection"'& +4 "core" &\\o\ \ \ U +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&)% +4 "core" %  +  + "storage"(<% +4 "core" % 3 A \  +2 "storage"(t. +3 "core" .(K +2 "storage"(g& +3 "core" &K G I D\ +2 "storage"(l& +4 "core" &K @ D \ +2 "manipulator"&e& +4 "core" &   k +2 .tElbow.seek 6 +2 "manipulator"&,( +4 "core" ( + "manipulator"&I& +4 "core" &   k +2 "storage"(& +3 "core" &K F F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +94 "core" ' +2 "storage"([& +3 "core" &K I I /\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'r +298 "core" ' + "storage"(O- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &\   k +2 "storage"(C& +4 "core" &K = 3 T\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&\\'< +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(=- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +41 "storage"(-'o +35 "core" ' + "manipulator"&f% +4 "core" %C +2 "storage"((& +4 "core" &K $ $ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&"'o +15 "core" ' + "manipulator"&@& +4 "core" & ] +2 "storage"(i& +4 "core" &K P I 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +43 "core" ' +2 "manipulator"&r& +3 "core" &  ] +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&.(ӂ +156 "core" ( +2 "manipulator"&P& +4 "core" &Ӑ$ ) =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӑ$   =G +2 .tForearm.seek CC +2 "manipulator"&Z'? +97 "core" ' +2 .tHand.close + "manipulator"&2/ +55 "core" / +2 .tCC.seek :open +2 "collection"'7( +447 "core" ( + "storage"(5& +4 "core" &K N G \ +2 "storage"(`& +3 "core" &K 8 9 \ +2 "manipulator"&M& +4 "core" &Ӯ  9) +2 "manipulator"&p% +3 "core" % D  +3 .tForearm.seek :retract +2 "manipulator"&~' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&J( +171 "core" ( +2 "manipulator"&& +4 "core" & C $ +2 "storage"(n& +3 "core" &K ] ] B\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&R'< +95 "core" ' +2 .tElbow.hold + "manipulator"&K, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&?1 +57 "core" 1 +3 "manipulator"&% +3 "core" % D  .  +2 "storage"(& +4 "core" &K l g S\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&_'p +14 "core" ' + "manipulator"&B& +4 "core" & I $ +2 "storage"(a& +4 "core" &K j j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +16 "core" ' + "storage"(N% +4 "core" %  \ +3 ."downElevator"SE.seek :down +4 "storage"(u' +98 (% +3 "core" %G 8 L \ Wb +2 "manipulator"&H% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'T& +3 "core" & \ +2 "manipulator"&b% +4 "core" %  q  +2 "storage"(D% +3 "core" % v\  +2 "storage"(U. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(0([ +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" &[ l j \ \ +2 "manipulator"&A& +3 "core" &  $ +3 .tElbow.seek 7 + "manipulator"&&(r +17 "core" ( +2 "manipulator"&}& +4 "core" &{ 0  +2 "storage"(& +4 "core" &[  `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +95 "core" ' +5 "storage"(W& +4 "core" &[ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &[ m h \ +2 "manipulator"&o& +4 "core" &{   +2 .tElbow.seek 7 +2 "manipulator"&\ (r +4 "core" ( + "manipulator"&;& +4 "core" &{   +3 "storage"(S& +3 "core" &[ ` j ]\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&8'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +62 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"(!' +8 "core" &{ >  +2 "manipulator"&% +4 "core" % ϡ C +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&+& +4 "core" &ӕ# <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &ӕ# <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'? +98 "core" ' +2 "manipulator"&s& +4 "core" &Ӗ#  <9 +2 "manipulator"& % +3 "core" %I   +3 "collection"'x& +3 "core" & \ +3 "collection"':& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 &< \ %f +9 &Y| \ 7 +9 &y \ K +10 &U \ K +9 &V \ K +9 &HV \ K +10 &\ V \ K +9 &W \ K +10 &V \ K +9 &RR \ J +9 & W \ K +10 &!U \ K +9 &#W \ K +9 &%YU \ K +10 &'U \ K +9 &(V \ K +10 &*U \ K +9 &,_Z \ L +9 &.#U \ K +10 &/U \ K +9 &1W \ K +9 &3iV \ K +10 &5+V \ K +9 &6W \ K +10 &8V \ K +9 &:pW \ K +9 &<1Y \ L +10 &=W \ L +9 &?Y \ L +10 &AwZ \ L +9 &C9_ \ L +9 &Dn \ M +10 &Fs \ O +9 &Hj\ \ \ S +9 &J"\ !\ \ V +10 &K\ "\ #\ W +9 &M\ \ !\ X +10 &Od\ \ \ W +9 &Q!\ \ \ Y +9 &R\ \ \ Z +10 &T\ \ \ Z +9 &Vc\ \ \ [ +9 &X!\ \ \ \\ +10 &Y\ \ \ ] +9 &[\ \ \ I +9 &\\3\ \ \ 1 +10 &\\r\ \ \ T +2 ( +2 "collection"':& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&z1 +53 "core" 1 +2 "manipulator"&#% +4 "core" % I  .  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%'& +3 "core" &\ +2 "manipulator"&h% +4 "core" %   +2 "storage"(% +4 "core" % E 3 h\  +2 "storage"(E. +3 "core" .([ +2 "storage"( & +3 "core" &[ # # 3\ +2 "storage"(6& +4 "core" &[ = G A\ +2 "manipulator"&y& +3 "core" & + +2 "manipulator"&Y% +4 "core" %  B  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&c(r +148 "core" ( +2 "manipulator"&|& +4 "core" &q  +2 "storage"( & +4 "core" &[ E H %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +92 "core" ' + "storage"(>& +4 "core" &[ U Q\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +298 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" &[ " ! \ +2 "manipulator"&& +3 "core" &q ?  +2 .tElbow.seek 7 +2 "manipulator"&k(r +4 "core" ( + "manipulator"&& +4 "core" &q *  +2 "storage"(9& +3 "core" &[ 7 3 v\ +2 .tForearm.seek 7 + 300 counts +49 "manipulator"&'ϧ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"()' +8 "core" &q  +2 "manipulator"&<% +3 "core" % Ϣ  A +2 .tForearm.seek :retract +2 "manipulator"&t' +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +103 "core" ( +2 "manipulator"&g& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&e' +91 "core" ' +2 "manipulator"&I& +3 "core" & +2 "manipulator"&% +4 "core" % s +2 "processing"%X& +4 "core" &\ +3 "processing"%[& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(^ +4 "core" &\ +7 &8\ $d +10 &V|\ 7 +9 &z\ K +9 &W\ N +10 &eV\ M +9 &%U\ N +10 &W\ N +9 &W\ N +9 &lS\ M +10 &.U\ M +9 &V\ M +9 &!X\ M +10 &#sU\ N +9 &%6Z\ M +10 &&U\ N +9 &(Z\ M +9 &*|U\ M +10 &,?X\ M +9 &.X\ M +9 &/[\ N +10 &1Z\ N +9 &3EX\ N +10 &5W\ N +9 &6T\ M +9 &8W\ N +10 &:NU\ M +9 &<X\ N +10 &=X\ N +9 &?X\ M +9 &AUZ\ N +10 &Cb\ O +9 &Dg\ P +9 &Fl\ P +10 &HO\ R +9 &J \ T +9 &K\ T +10 &M\ T +9 &OQ\ T +10 &Q\ U +9 &R\ T +9 &T\ V +10 &VX\ U +9 &X\ U +9 &Y\ U +10 &[\ U +9 &]]\ D +10 &^@q\ $j +9 &^%\ . +5 ( +2 "processing"%[& +4 "core" &^\ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&^% +3 "core" %  " s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +92 "core" ' +2 "Can"\ Xг( + "processing"%& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&C% +4 "core" %      +2 "storage"(=% +3 "core" % ' & \  +2 "storage"(f. +3 "core" .([ +2 "storage"((& +4 "core" &[ ' %\ +2 "storage"(@& +2 "manipulator"&i& +9 "core" &[ % !\ + &  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +4 "manipulator"&r( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&/& +5 "core" &   F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&F' +93 "core" ' +2 .tHand.close + "manipulator"&\\/ +55 "core" / +3 .tPC.seek :open +2 "processing"%"( +99 "core" ' + "storage"(-- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(P'1 +46 "core" ' +298 ( +2 "storage"( & +3 "core" &[ $ ' 0\ +2 "manipulator"&]& +4 "core" & +2 "manipulator"&% +4 "core" %  ] T +2 .tForearm.seek :retract +2 "manipulator"&2' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&Q(r +243 "core" ( + "manipulator"&G& +4 "core" &x   Y +2 "storage"(5& +4 "core" &[ " % Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&`'= +91 "core" ' + .tHand.open +2 "manipulator"&M1 +111 "core" 1 +2 "storage"(p- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(n' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(Z- +3 "core" -' +2 "storage"(.& +4 "core" &[ 9\ +2 "manipulator"&?& +3 "core" &x   Y +3 .tElbow.seek 7 + "manipulator"&(r +3 "core" ( +2 "manipulator"&& +4 "core" &x   < Y +2 "storage"(B& +4 "core" &[ { } u\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&a'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(N'" +50 "core" ' + "manipulator"&~& +4 "core" &x Y +2 "storage"(& +4 "core" &[ % ]\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&H'{ +18 "core" ' +2 .tElbow.hold + "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(R' +28 "core" ' +2 "manipulator"&T% +3 "core" %· 1 +2 "storage"(b& +4 "core" &[ ' ' \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&_'ϳ +13 "core" ' +2 "manipulator"&D& +4 "core" &y X +2 "storage"(U& +4 "core" &[ ' % #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +17 "core" ' + "storage"(V% +4 "core" % A 3 \ +3 ."downElevator"SE.seek :down +4 "storage"(u' +98 (% +3 "core" %EO F N\ Wf +2 "manipulator"&1% +3 "core" %. { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (}& +3 "core" &[ # % \ +2 "collection"'& +4 "core" &\\o\ \ \ T +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&W% +4 "core" %  %  +2 "storage"(K% +3 "core" % $ & H\  +2 "storage"( . +3 "core" .([ +2 "storage"(3& +5 "core" &[ A ) M\ +2 "storage"(*& +4 "core" &[ H F \ + "manipulator"&o& +4 "core" &y  X +2 .tElbow.seek 7 +2 "manipulator"&;(r +4 "core" ( + "manipulator"&S& +4 "core" &y X +2 "storage"(j& +4 "core" &[ 3 A n\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&L'= +97 "core" ' + "storage"(& +4 "core" &[ J R !\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'r +308 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&+& +3 "core" &y X +2 "storage"($& +4 "core" &[ @ 3 ,\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +15 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(s- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"( 'g +32 "core" ' + "manipulator"&x% +4 "core" %΍ K > +2 "storage"(\ & +3 "core" &[ ' ' \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts +2 "manipulator"&!'Ϲ +13 "core" ' +2 "manipulator"&& +49 "core" &y  X +3 "storage"(7& +4 "core" &[ G J 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&z'= +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(#' +36 "core" ' + "manipulator"&'& +4 "core" &y X +2 "manipulator"&h% +4 "core" %/ > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +154 "core" ( +2 "manipulator"& & +4 "core" &Ӕ#   <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &Ӕ# <? +2 .tForearm.seek CC +2 "manipulator"&y'? +100 "core" ' +2 .tHand.close + "manipulator"&:/ +63 "core" / +2 .tCC.seek :open +2 "collection"'Y( +447 "core" ( + "storage"(|& +4 "core" &[ k Q |\ +2 "storage"(%& +3 "core" &[ W < n\ +2 "manipulator"& & +5 "core" & . + "manipulator"&>% +4 "core" % ο +2 .tForearm.seek :retract +2 "manipulator"&{' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&w(r +152 "core" ( + "manipulator"&m& +4 "core" &{ 2  +2 "storage"(& +4 "core" &[ _ g O\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +58 "core" 1 +2 "manipulator"&d% +4 "core" % u  a  +2 "storage"(& +3 "core" &[ q k e\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 294 counts +2 "manipulator"&<'ϡ +14 "core" ' +2 "manipulator"&c& +6 "core" &{  +2 "storage"(& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'= +19 "core" ' + "storage"(% +4 "core" % C\ +3 ."downElevator"SE.seek :down +3 "storage"(g' +99 (l% +3 "core" %F f j h\ Wb +2 "manipulator"&k% +3 "core" %  9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +97 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&X% +4 "core" % \   +2 "storage"()% +4 "core" % Y\  +2 "storage"(t. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(v(<- +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<0 h ` O\ +3 "manipulator"&^& +3 "core" &{ ~  +2 .tElbow.seek 5 +2 "manipulator"&( +39 "core" ( + "manipulator"&C& +5 "core" &  b  + "storage"(=& +4 "core" &<0 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +95 "core" ' +2 "storage"((& +4 "core" &<0 Z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +312 "core" ' +9 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +48 ([& +4 "core" &<- \ +2 "manipulator"&/& +4 "core" &  5  +2 .tElbow.seek 5 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&e& +4 "core" &  v  +2 "storage"(\\& +4 "core" &<- \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&-'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& +2 "storage"(4' +7 "core" &    +2 "manipulator"&% +4 "core" % ϭ  b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +152 "core" ( +2 "manipulator"&& +4 "core" &Ӎ$ =F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& + "core" ' +4 ."downElevator"SE.stop + "storage"(5 +3 "core" &Ӎ$  =F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'? +104 "core" ' + "manipulator"&5& +4 "core" &Ӎ%  D =F +2 "manipulator"&r% +4 "core" %O @ +2 "collection"'M& +4 "core" & \ +3 "collection"'p& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'2(\\ +4 "core" & \ +7 &; \ $f +10 &Xy \ 7 +9 &v \ K +9 &U \ K +10 &Y \ K +9 &GU \ K +9 & U \ K +10 &U \ J +9 &V \ K +9 &NU \ K +10 & V \ K +9 &!T \ J +10 &#U \ K +9 &%WU \ K +9 &'U \ K +10 &(U \ J +9 &*U \ K +9 &,_V \ K +10 &.!U \ K +9 &/T \ K +10 &1Y \ L +9 &3fT \ K +9 &5(U \ K +10 &6V \ K +9 &8V \ K +9 &:oU \ K +10 &<1V \ K +9 &=U \ K +10 &?W \ K +9 &AvW \ K +9 &C8[ \ K +10 &De \ M +9 &Fo \ N +9 &Hk\  \ R +10 &J$\ \ \ U +9 &K\ \ \ X +10 &M\ \ \ X +9 &O`\ \ \ X +9 &Q"\ \ \ X +10 &R\ \ \ Y +9 &T\ \ \ Z +9 &V`\ \ \ [\ +10 &X\ \ \ \\ +9 &Y\ \ \ \\ +10 &[\ \ \ H +9 &\\7\ \ \ - +9 &\\c\ \ \ L +3 ( +2 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&Z1 +63 "core" 1 +2 "manipulator"&.% +5 "core" % O  Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&B% +4 "core" %  4  +2 "storage"(~% +3 "core" % F F "\ +2 "storage"(. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(T(<- +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (b& +3 "core" &<* , ) \ +2 "manipulator"&P& +4 "core" &Ӱ  9# +2 "manipulator"&D% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&U( +163 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(V& +3 "core" &<* S T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Q'O +93 "core" ' + "storage"(`& +3 "core" &<* P j d\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (1& +2 "core" &<* , $ \ +3 "manipulator"&a& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&N& +3 "core" &   +2 "storage"(H& +4 "core" &<* # $ +\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&_'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&}/ +63 "core" / +51 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(W' +7 "core" &   +2 "manipulator"&K% +4 "core" % ϳ  +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&R( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( +2 "manipulator"&3& +4 "core" & n 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" & - 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&o' +89 "core" ' +2 "manipulator"&S& +4 "core" & 5 +2 "manipulator"&j% +3 "core" %  z +3 "processing"%& +3 "core" &\ +3 "processing"%& +5 "core" &\ +3 .tPC.seek :closed + "processing"%u(^ +4 "core" &\ +8 &7\ #b +9 &T{\ 6 +9 &{\ K +10 &U\ M +9 &`T\ N +9 &$R\ M +10 &Y\ M +9 &T\ N +10 &iW\ M +9 &*Y\ N +9 &Y\ M +10 &!T\ M +9 &#pY\ N +9 &%2W\ N +10 &&U\ M +9 &(V\ M +10 &*xU\ N +9 &,;Z\ M +9 &-S\ M +10 &/W\ M +9 &1U\ M +9 &3CU\ M +10 &5X\ M +9 &6Z\ N +10 &8Y\ N +9 &:KV\ M +9 &< Y\ M +10 &=W\ M +9 &?X\ M +9 &ARX\ N +10 &C_\ O +9 &Dd\ O +10 &Fn\ P +9 &HMy\ R +9 &J \ S +10 &K\ T +9 &M\ T +9 &OO\ T +10 &Q\ U +9 &R\ U +10 &T\ U +9 &VU\ U +9 &X\ U +10 &Y\ U +9 &[\ U +9 &]Z\ E +10 &^z?s\ (v +9 &^(\ ) +6 ( +2 "processing"%& +3 "core" &^\ ) +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&J1 +56 "core" 1 +2 "manipulator"&A% +4 "core" %   1 z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%+& +4 "core" &^\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&$% +4 "core" %  \    +2 "storage"(s% +4 "core" % ( % \  +2 "storage"(x. +2 "core" .(<- +2 "storage"(\ & +4 "core" &<* % $ \ +2 "storage"(& +3 "manipulator"&7& +5 "core" &<* $ $ <\ +2 &    5 +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(''r +2 "manipulator"&h( +7 "core" ( + "manipulator"&L& +4 "core" &   B 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &   r 5 +2 .tForearm.seek PC +2 "manipulator"&&' +93 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%!( +91 "core" ' +2 "storage"( - +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +41 "core" ' +311 ( + "storage"(6& +4 "core" &<* ' 3 I\ +2 "manipulator"&z& +3 "core" & 5 +2 "manipulator"&8% +4 "core" %  0 8 +2 .tForearm.seek :retract +2 "manipulator"&:' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&& +3 "core" & { 4 +2 "storage"(|& +4 "core" &<* & % P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +93 "core" ' + .tHand.open +2 "manipulator"& 1 +59 "core" 1 +2 "storage"(>- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(m' +25 "core" ' +41 .tSE.reconfigure :seal +11 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +3 "core" -' +2 "storage"(E& +4 "core" &<* ~ $\ +2 "manipulator"&9& +4 "core" &   D 4 +2 .tElbow.seek 5 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&& +4 "core" &   + 4 +2 "storage"(c& +3 "core" &<* \ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +60 "core" ' + "manipulator"&{& +4 "core" & 4 +2 "storage"(l& +3 "core" &<* % & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&k'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&% +4 "core" %} \ +2 "storage"(<& +3 "core" &<* H J /\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 284 counts + "manipulator"&X'ϩ +14 "core" ' +2 "manipulator"&)& +3 "core" & 3 +2 "storage"(t& +4 "core" &<* F E Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&#'O +21 "core" ' + "storage"(q% +4 "core" % P R 0\ +3 ."downElevator"SE.seek :down +4 "storage"(g' +98 (0% +3 "core" %]P \ Xg +2 "manipulator"&% +4 "core" %A e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (C& +2 "core" &<* & > \ +3 "collection"'=& +3 "core" &\\a\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&(% +4 "core" %   +2 "storage"(% +3 "core" % F O \  +2 "storage"(I. +3 "core" .(<- +2 "storage"(@& +3 "core" &<* F F E\ +2 "storage"([& +4 "core" &<* S R 2\ +2 "manipulator"&/& +4 "core" & 1 2 +2 .tElbow.seek 5 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&\\& +3 "core" & 2 +3 "storage"(& +3 "core" &<* F E &\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +93 "core" ' + "storage"(& +4 "core" &<* < 9 \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(f- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 2 +2 "storage"(F& +4 "core" &<* E H =\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&i'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(5- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(r'b +29 "core" ' + "manipulator"&M% +4 "core" % P  +2 "storage"(,& +3 "core" &<* E E V\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 286 counts + "manipulator"&4'ϫ +14 "core" ' +2 "manipulator"& & +3 "core" & . 2 +2 "storage"(Y& +4 "core" &<* H P J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Z'O +63 "core" ' +9 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(.' +43 "core" ' + "manipulator"&& +4 "core" & 2 +2 "manipulator"&B% +4 "core" %b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&p& +4 "core" &Ӆ+  3 Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &Ӆ+  Cr +2 .tForearm.seek CC +2 "manipulator"&P'? +97 "core" ' +2 .tHand.close + "manipulator"&D/ +58 "core" / +2 .tCC.seek :open +2 "collection"'G( +447 "core" ( + "storage"(& +4 "core" &<* A ; \ +2 "storage"(V& +4 "core" &<* : D \ +2 "manipulator"&v& +3 "core" &ӯ% * >H +2 "manipulator"&`% +4 "core" % Q  +2 .tForearm.seek :retract +2 "manipulator"&]' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&?( +166 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(1& +3 "core" &<* i j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&a'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&H1 +52 "core" 1 +2 "manipulator"&}% +4 "core" % Ν  G  +2 "storage"(& +3 "core" &<* h g \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&K' +14 "core" ' +2 "manipulator"&U& +4 "core" &   +2 "storage"(Q& +4 "core" &<* ~ #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +15 "core" ' +2 "storage"(_% +3 "core" % ~ \ +3 ."downElevator"SE.seek :down +4 "storage"(3' +98 (*% +3 "core" %F k j P\ Wc +2 "manipulator"&% +4 "core" %> , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'j& +4 "core" & \ +2 "manipulator"&% +3 "core" %  u  +2 "storage"(W% +3 "core" % ~ \  +3 "storage"( . +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"("(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +3 "core" &K A E \  +2 "manipulator"&A& +3 "core" &  k  +3 .tElbow.seek 6 + "manipulator"&+( +3 "core" ( +2 "manipulator"&$& +3 "core" &  T  +3 "storage"(s& +3 "core" &K j j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +94 "core" ' + "storage"(\ & +4 "core" &K  $\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K ^ j O\  +2 "manipulator"&L& +4 "core" & &  +2 .tElbow.seek 6 +2 "manipulator"&;( +4 "core" ( + "manipulator"&o& +49 "core" &  +4 "storage"(& +3 "core" &K f [ C\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(u' +7 "core" & n  +2 "manipulator"&'% +4 "core" % χ  +2 .tForearm.seek :retract +2 "manipulator"&6' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&z(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&8& +4 "core" &ӏ) S Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &Ӑ) / Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 "manipulator"&|& +4 "core" &ӑ) I A` +2 "manipulator"&h% +4 "core" %F  % +2 "collection"' & +4 "core" & \ +3 "collection"'>& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"':(\\ +3 "core" & \ +9 &; \ $e +9 &Wv \ 6 +10 &y \ K +9 &S \ K +9 &wU \ K +10 &:V \ J +9 &W \ K +10 &Y \ K +9 &U \ K +9 &AU \ K +10 & T \ J +9 &!U \ K +9 &#U \ K +10 &%IT \ K +9 &' S \ K +10 &(U \ K +9 &*U \ K +9 &,PY \ K +10 &.T \ K +9 &/T \ K +9 &1V \ J +10 &3XU \ K +9 &5U \ K +10 &6V \ K +9 &8U \ K +9 &:aU \ K +10 &<"X \ K +9 &=U \ K +9 &?V \ K +10 &AiU \ K +9 &C)] \ L +10 &De \ M +9 &Fn \ N +9 &H`\  \ Q +10 &J\ \ \ T +9 &K\ \ \ W +9 &M\ \ \ W +10 &OT\ \ \ X +9 &Q\ \ \ Y +10 &R\ \ \ Y +9 &T\ \ \ [ +9 &VV\ \ \ Z +10 &X\ \ \ [ +9 &Y\ \ \ \\ +9 &[\ \ \ I +10 &\\=\ \ \ *~ +9 &\\\ \ \ ] +3 ( +2 "collection"'>& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&y1 +63 "core" 1 + "manipulator"&E% +4 "core" % F t % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +94 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&c% +3 "core" %   B  +2 "storage"({% +4 "core" %\  8\  +2 "storage"(l. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K\ \  1\  +2 "manipulator"&<& +4 "core" &Ӯ$  =C +2 "manipulator"&)% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&t( +163 "core" ( + "manipulator"&m& +4 "core" & I  +2 "storage"(q& +3 "core" &K + ( \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(%& +4 "core" &K H E '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K - ( h\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&d( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(k& +3 "core" &K $ * \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&X'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"((' +7 "core" & j  +2 "manipulator"&% +3 "core" % _ +48 .tForearm.seek :retract +4 "manipulator"&I' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +112 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +139 "core" ( +2 "manipulator"&@& +4 "core" & \ \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&/' +94 "core" ' +2 "manipulator"&\\& +3 "core" &  +2 "manipulator"&% +4 "core" % K +2 "processing"%#& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%g(^ +5 "core" &\ +6 &6\ #c +10 &U{\ 7 +9 &y\ L +9 &R\ M +10 &hW\ N +9 &*T\ N +9 &W\ M +10 &W\ N +9 &pU\ N +10 &3X\ M +9 &W\ N +9 &!T\ N +10 &#yR\ M +9 &%;U\ M +9 &&Y\ N +10 &(W\ N +9 &*T\ M +10 &,CV\ M +9 &.V\ M +9 &/Y\ N +10 &1X\ N +9 &3KX\ M +9 &5 R\ N +10 &6X\ N +9 &8X\ N +9 &:ST\ M +10 &<V\ N +9 &=Y\ N +10 &?U\ N +9 &AZY\ N +9 &Cb\ O +10 &Df\ P +9 &Fn\ Q +10 &HS\ S +9 &J\ T +9 &K\ T +10 &M\ T +9 &OW\ T +9 &Q\ U +10 &R\ U +9 &T\ U +10 &V\\\ U +9 &X\ U +9 &Y\ U +10 &[\ U +9 &]b\ C +9 &^As\ ` +10 &^3\ 2 +5 ( +2 "processing"%& +4 "core" &^"\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&w1 +62 "core" 1 +2 "manipulator"&^% +3 "core" %   \ K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +95 "core" ' + "processing"%& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&F% +4 "core" %    P  +2 "storage"(5% +4 "core" %\ \ \  +2 "storage"(M. +2 "core" .(K +2 "storage"(,& +4 "core" &K\ "\  i\  +2 "storage"( & +4 "manipulator"&Y& +5 "core" &K\ )\  y\  + &   5 +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'r +2 "core" ( +2 "manipulator"&O& +4 "core" &   6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &  & +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close +2 "manipulator"&i/ +54 "core" / +3 .tPC.seek :open +2 "processing"%4( +97 "core" ' +2 "storage"(r- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'1 +41 "core" ' +305 ( + "storage"(b& +4 "core" &K ' ' W\  +2 "manipulator"&Z& +4 "core" &  + "manipulator"&-% +4 "core" %  ; +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&~( +240 "core" ( + "manipulator"&2& +4 "core" &  ' " +2 "storage"(& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +94 "core" ' + .tHand.open +2 "manipulator"&v1 +62 "core" 1 +2 "storage"(`- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(1' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(P- +2 "core" -' +42 "storage"(& +11 "core" &K N M p\  +2 "manipulator"&H& +5 "core" &   O " +2 .tElbow.seek 6 + "manipulator"&}( +10 "core" ( +2 "manipulator"&& +3 "core" &   %  +2 "storage"(U& +4 "core" &K M L i\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +57 "core" ' + "manipulator"&]& +4 "core" &   +2 "storage"(*& +3 "core" &K ' % l\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +21 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(a' +27 "core" ' +2 "manipulator"&j% +4 "core" %K \ +2 "storage"(& +3 "core" &K $ B\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&K'w +14 "core" ' + "manipulator"&W& +4 "core" & l  +2 "storage"( & +4 "core" &K . . k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&.' +16 "core" ' + "storage"(n% +4 "core" % " ! D\ +3 ."downElevator"SE.seek :down +4 "storage"(3' +98 (T% +3 "core" %XN \ \ Xg +2 "manipulator"&J% +4 "core" % _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 ($& +3 "core" &K\  Y l\  +2 "collection"'s& +4 "core" &\\ \ \ ] +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&\ % +4 "core" %    +2 "storage"(N% +4 "core" % # ) \  + "storage"(S. +3 "core" .(K +2 "storage"(7& +4 "core" &K , , G\  +2 "storage"(& +3 "core" &K ) K\  +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&o( +9 "core" ( + "manipulator"&& +4 "core" & u +2 "storage"(R& +4 "core" &K , - =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +100 "core" ' +2 "storage"('& +3 "core" &K F E \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +298 "core" ' +2 "storage"(x- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" & +2 "storage"(&& +4 "core" &K + . _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(|- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(h'q +27 "core" ' +2 "manipulator"& % +3 "core" %K ;  +2 "storage"(;& +4 "core" &K . . R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&u'w +15 "core" ' + "manipulator"&6& +5 "core" & E + "storage"(G& +4 "core" &K & >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&y' +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(E' +36 "core" ' +2 "manipulator"&& +3 "core" & +2 "manipulator"&c% +49 "core" % +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +153 "core" ( +2 "manipulator"&>& +4 "core" &Ӏ+  ? Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӏ+ \ F Cp +2 .tForearm.seek CC +2 "manipulator"&<'? +91 "core" ' + .tHand.close +2 "manipulator"&)/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(m& +4 "core" &K j Q |\  +2 "storage"(q& +3 "core" &K L U ~\  +3 "manipulator"&"& +3 "core" &Ӯ$  =B +2 "manipulator"&%% +4 "core" % S ' +2 .tForearm.seek :retract +2 "manipulator"&z' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&9( +161 "core" ( +2 "manipulator"&0& +4 "core" & >  +2 "storage"(& +4 "core" &K n ` [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +94 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +63 "core" 1 +2 "manipulator"&C% +3 "core" % 8  W B +2 "storage"(=& +4 "core" &K ] ^ R\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 296 counts +2 "manipulator"&'d +14 "core" ' +2 "manipulator"&t& +3 "core" &  G  +2 "storage"(& +5 "core" &K  9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(X% +3 "core" % ~ \ +3 ."downElevator"SE.seek :down +4 "storage"(@' +98 ([% +3 "core" %F j f l\ Va +2 "manipulator"&d% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&#% +4 "core" %    +2 "storage"((% +4 "core" % ~ \  +2 "storage"(I. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(!([ +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" &[ T R I\  +2 "manipulator"&^& +4 "core" &  a  +2 .tElbow.seek 7 + "manipulator"&(r +43 "core" ( +2 "manipulator"&F& +3 "core" &| Z : +2 "storage"(5& +4 "core" &[ n r \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&M'= +94 "core" ' +2 "storage"(,& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +293 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +2 "core" &[ i m \  +2 "manipulator"&O& +5 "core" &|  : +2 .tElbow.seek 7 +2 "manipulator"&e(r +2 "core" ( +2 "manipulator"&/& +4 "core" &|  w : +2 "storage"(i& +4 "core" &[ l l \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&r'ϧ +19 "core" ' + .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(g' +7 "core" &| : +2 "manipulator"&B% +4 "core" % ϲ  e +2 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +152 "core" ( +2 "manipulator"&-& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &ӏ$ x =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ$ =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'? +102 "core" ' +2 "manipulator"&& +4 "core" &ӏ%  =B +2 "manipulator"&% +4 "core" %@  +2 "collection"'v& +4 "core" & \ +3 "collection"'`& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'P(\\ +4 "core" & \ +6 &< \ %f +10 &Z| \ 7 +9 &x \ K +9 &T \ J +10 &V \ K +9 &IT \ K +10 & U \ K +9 &U \ K +9 &X \ K +10 &RU \ K +9 & S \ K +9 &!U \ K +10 &#Y \ K +9 &%[U \ J +10 &'U \ K +9 &(V \ K +9 &*X \ K +10 &,aS \ K +9 &.$U \ K +10 &/S \ K +9 &1W \ K +9 &3iT \ K +10 &5,U \ K +9 &6T \ K +9 &8U \ K +10 &:sU \ J +9 &<3W \ K +9 &=W \ K +10 &?Z \ K +9 &AyZ \ K +10 &C;] \ K +9 &Dj \ M +9 &F{ \ O +10 &Hl\ \ \ R +9 &J"\ !\ \ W +9 &K\ #\ #\ W +10 &M\ !\ !\ X +9 &Oe\ \ \ W +10 &Q$\ \ \ X +9 &R\ \ \ Z +9 &T\ \ \ Y +10 &Va\ \ \ \\ +9 &X&\ \ \ [ +9 &Y\ \ \ \\ +10 &[\ \ \ I +9 &\\/\ \ \ 5 +10 &\\j\ \ \ P +2 ( +2 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&D% +4 "core" % @   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&U% +3 "core" %   +2 "storage"(]% +4 "core" % F H \  +2 "storage"(*. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(p([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[ G /\  +2 "manipulator"&j& +4 "core" & R + +2 "manipulator"&% +3 "core" %  r  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&W(r +151 "core" ( + "manipulator"& & +4 "core" &z &  +2 "storage"(n& +4 "core" &[ S I Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&~'= +108 "core" ' + "storage"(V& +4 "core" &[ j j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(1'r +312 "core" ' + "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (J& +2 "core" &[ E G \  +3 "manipulator"&Q& +3 "core" &z  +2 .tElbow.seek 7 +2 "manipulator"&}(r +3 "core" ( +2 "manipulator"&_& +4 "core" &z   +2 "storage"(& +3 "core" &[ U U \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&K'ϧ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"(\ ' +8 "core" &z   +2 "manipulator"&N% +3 "core" % ϣ G K +3 .tForearm.seek :retract + "manipulator"&S' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a( +154 "core" ' +48 ."downElevator"SE.stop +3 "storage"(5 +35 "core" ( + "manipulator"&7& +5 "core" & E N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&L' +91 "core" ' +2 "manipulator"&& +3 "core" &  N +2 "manipulator"&R% +4 "core" %  x +2 "processing"%.& +5 "core" &\ +2 "processing"%'& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%3(^ +4 "core" &\ +7 &8\ $d +10 &Vy\ 7 +9 &v\ K +9 &T\ N +10 &gV\ N +9 &*S\ M +9 &T\ M +10 &R\ M +9 &pR\ M +10 &3U\ M +9 &V\ N +9 &!R\ M +10 &#xY\ M +9 &%9Y\ N +9 &&V\ M +10 &(T\ M +9 &*T\ M +9 &,BU\ M +10 &.R\ M +9 &/T\ M +10 &1T\ M +9 &3JS\ M +9 &5 T\ M +10 &6T\ M +9 &8U\ N +10 &:QW\ N +9 &<T\ M +9 &=W\ M +10 &?U\ N +9 &AYW\ N +9 &C`\ O +10 &Dd\ O +9 &Fm\ P +10 &HT|\ R +9 &J\ S +9 &K\ S +10 &M\ T +9 &OU\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &V]\ T +10 &X\ U +9 &Y\ U +10 &[\ T +9 &]b\ C +9 &^@q\ !b +10 &^0\ 1 +5 ( +2 "processing"%'& +4 "core" &^%\ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&?1 +59 "core" 1 +2 "manipulator"&A% +3 "core" %   8 x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +92 "core" ' +2 "processing"%8& +4 "core" &^%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&&% +4 "core" %      +2 "storage"(|% +3 "core" % & \  +2 "storage"( . +3 "core" .([ +2 "storage"(;& +4 "core" &[ ( ' \  +2 "storage"(6& +3 "manipulator"&G& +5 "core" &[ * \  +2 &    M +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&( +2 "storage"(c'r +4 "core" ( +2 "manipulator"&& +5 "core" &   M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &  M +2 .tForearm.seek PC +2 "manipulator"&+' +93 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%u( +99 "core" ' + "storage"(h- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'1 +47 "core" ' +296 ( +2 "storage"(& +4 "core" &[ ' 4 d\  +2 "manipulator"&y& +3 "core" & ) M +2 "manipulator"& % +4 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&)' +88 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&{(r +248 "core" ( +2 "manipulator"&:& +3 "core" &w  X +2 "storage"(m& +4 "core" &[ $ #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'= +91 "core" ' +2 .tHand.open + "manipulator"&"1 +58 "core" 1 +2 "storage"(%- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +3 "core" -' +2 "storage"(l& +4 "core" &[ ~ \  +2 "manipulator"&k& +3 "core" &w   J X +2 .tElbow.seek 7 +2 "manipulator"&C(r +4 "core" ( +41 "manipulator"&=& +11 "core" &w    X +2 "storage"(t& +4 "core" &[ A\  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(X'" +51 "core" ' + "manipulator"&z& +4 "core" &w X +2 "storage"([& +4 "core" &[ ' ( b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&d'{ +23 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&% +4 "core" %΋  +2 "storage"(#& +4 "core" &[ ) + @\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&'Ϸ +14 "core" ' + "manipulator"&(& +4 "core" &w \   X +2 "storage"(I& +4 "core" &[ Q H k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'= +15 "core" ' +2 "storage"(% +4 "core" % T T j\ +3 ."downElevator"SE.seek :down +4 "storage"(@' +98 ( % +3 "core" %N\ )\  \ We +2 "manipulator"&w% +4 "core" %3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +4 (F& +3 "core" &[ 2 8 r\  +2 "collection"'5& +3 "core" &\\f\ \ \ P +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&,% +4 "core" %   +2 "storage"(% +3 "core" % I I ;\  +2 "storage"(\\. +2 "core" .([ +2 "storage"( & +4 "core" &[ F @ <\  +2 "storage"(Y& +4 "core" &[ H E \  +2 "manipulator"&O& +3 "core" &w X +2 .tElbow.seek 7 +2 "manipulator"&/(r +4 "core" ( + "manipulator"&i& +4 "core" &w L X +2 "storage"(& +4 "core" &[ H F ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&f'= +97 "core" ' + "storage"(B& +4 "core" &[ K Q V\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(M- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&-& +3 "core" &w X +2 "storage"(& +3 "core" &[ Q H ]\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +21 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +29 "core" ' + "manipulator"&v% +4 "core" %΍ Y +2 "storage"(e& +4 "core" &[ " ) (\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts +2 "manipulator"&g'Ϲ +13 "core" ' +2 "manipulator"&b& +4 "core" &w X + "storage"(& +4 "core" &[ G E 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +19 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(D' +40 "core" ' + "manipulator"&& +4 "core" &w X +2 "manipulator"&U% +3 "core" %4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +95 "core" ' +2 .tElbow.seek CC +45 "manipulator"&*(ӂ +154 "core" ( +3 "manipulator"&`& +3 "core" &Ӌ+ = Co +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӌ+  Co +3 .tForearm.seek CC +2 "manipulator"&j'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'2( +450 "core" ( + "storage"( & +4 "core" &[ l m y\  +2 "storage"(n& +4 "core" &[ l g ~\  +2 "manipulator"&!& +3 "core" &  2 +2 "manipulator"&V% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&Z' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&H(r +151 "core" ( + "manipulator"&T& +4 "core" &y  +2 "storage"(J& +4 "core" &[ m l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&Q'{ +96 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&$% +4 "core" % Ά ! ' +2 "storage"(s& +3 "core" &[ l l \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 311 counts +2 "manipulator"&N'ϲ +14 "core" ' +2 "manipulator"&W& +4 "core" &y l  +2 "storage"(~& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&1'= +15 "core" ' + "storage"(K% +4 "core" % Z\ +3 ."downElevator"SE.seek :down +4 "storage"(7' +98 (% +3 "core" %G N j S\ V` +2 "manipulator"&}% +4 "core" %, ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'R& +3 "core" & \ +2 "manipulator"&.% +4 "core" %   +2 "storage"(\ % +4 "core" %  "\  +2 "storage"(S. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(4(<- +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &<0 = B \ +2 "manipulator"&A& +4 "core" &y G  +2 .tElbow.seek 5 +2 "manipulator"&8( +27 "core" ( + "manipulator"&&& +4 "core" &  +2 "storage"(|& +4 "core" &<0 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +91 "core" ' + "storage"(;& +4 "core" &<0 t\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'r +296 "core" ' +2 "storage"(G- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ('& +2 "core" &<. _ j \ +3 "manipulator"&& +3 "core" & $  +2 .tElbow.seek 5 +2 "manipulator"&o( +18 "core" ( + "manipulator"&L& +4 "core" &  {  +2 "storage"(& +3 "core" &<. g i s\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&h'Ϲ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +2 "storage"(3' +53 "core" & 9  +3 "manipulator"&c% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +101 "core" ' + ."downElevator"SE.stop + "storage"(5 +55 "core" ( +2 "manipulator"& & +4 "core" &Ӑ% =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &Ӑ$ A =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'? +102 "core" ' +2 "manipulator"&m& +4 "core" &Ӑ% =G +2 "manipulator"&% +4 "core" %5 W  +2 "collection"'"& +4 "core" & \ \ +3 "collection"'%& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'<(\\ +4 "core" & \ +8 &; \ %f +9 &Xy \ 7 +10 &x \ K +9 &S \ J +9 &V \ K +10 &FY \ K +9 & U \ K +9 &Y \ K +10 &T \ K +9 &OU \ K +10 & X \ K +9 &!S \ K +9 &#U \ K +10 &%WX \ K +9 &'U \ J +9 &(V \ K +10 &*S \ K +9 &,`U \ J +10 &.!U \ K +9 &/S \ K +9 &1U \ K +10 &3gY \ K +9 &5)S \ K +9 &6U \ K +10 &8Y \ K +9 &:oU \ K +10 &<1Y \ K +9 &=S \ K +9 &?W \ K +10 &AvW \ K +9 &C7] \ L +9 &Dc \ L +10 &Fp \ N +9 &Hn\  \ Q +10 &J%\ \ \ U +9 &K\ \ \ W +9 &M\ \ \ W +10 &Oa\ \ \ X +9 &Q#\ \ \ X +9 &R\ \ \ Y +10 &T\ \ \ Z +9 &Vd\ \ \ Z +10 &X$\ \ \ Z +9 &Y\ \ \ \\ +9 &[\ \ \ I +10 &\\2\ \ \ 3 +9 &\\`\ \ \ J +2 ( +2 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&l1 +60 "core" 1 + "manipulator"&k% +4 "core" % 5 7  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%)& +3 "core" &\ +2 "manipulator"&t% +4 "core" %  $  +2 "storage"(z% +4 "core" % F E \  +2 "storage"([. +2 "core" .(<0 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(>(<- +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &<. % , K\  +2 "manipulator"&0& +3 "core" &ӯ  9( +2 "manipulator"&#% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&(( +163 "core" ( +2 "manipulator"&I& +3 "core" &  +2 "storage"(& +4 "core" &<. U U \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +94 "core" ' +2 "storage"(q& +3 "core" &<. k k \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +293 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" &<. P R d\  +2 "manipulator"&& +4 "core" & B  +2 .tElbow.seek 5 +2 "manipulator"&C( +4 "core" ( + "manipulator"&X& +4 "core" &  +2 "storage"(d& +4 "core" &<. A < \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"(,' +8 "core" & 9  + "manipulator"&% +4 "core" %  3 +2 .tForearm.seek :retract +2 "manipulator"&\\' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"& & +4 "core" & Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &Y& +2 "core" & 7 Q +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&O' +93 "core" ' +2 "manipulator"&i& +4 "core" &  Q +2 "manipulator"&% +3 "core" %  Q +3 "processing"%E& +4 "core" &\ +2 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(^ +4 "core" &\  +9 &3z\ *x +9 &c}\ = +10 &up\ N +9 &7T\ M +9 &R\ M +10 &T\ N +9 &}U\ M +9 &?R\ M +10 &V\ N +9 &V\ M +10 & S\ M +9 &"FV\ N +9 &$ V\ M +10 &%W\ M +9 &'V\ M +9 &)OR\ M +10 &+W\ N +9 &,V\ M +10 &.V\ M +9 &0WV\ M +9 &2S\ M +10 &3X\ M +9 &5U\ N +10 &7^U\ N +9 &9 Y\ N +9 &:Y\ N +10 &<T\ M +9 &>gX\ M +9 &@(Z\ N +10 &A]\ N +9 &Cb\ O +9 &Eig\ O +10 &G(o\ P +9 &H\ R +10 &J\ T +9 &Le\ S +9 &N$\ T +10 &O\ T +9 &Q\ T +9 &Sj\ T +10 &U+\ U +9 &V\ U +10 &X\ T +9 &Zq\ U +9 &\\3\ U +10 &]|u\ : +9 &^+x\ Q +9 &^"\ 1 +3 ( +2 "processing"%B& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&91 +55 "core" 1 +2 "manipulator"&^% +4 "core" %   \ N Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +96 "core" ' +2 "processing"%-& +4 "core" &^"\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % !  \  & +3 "storage"(% +3 "core" % / , \  +2 "storage"(v. +3 "core" .(<- +2 "storage"(e& +3 "core" &<. - - \  +3 "storage"(b& +4 "manipulator"&& +3 "core" &<. / ( o\  +2 &   Q +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(U'r +22 "core" ( +2 "manipulator"&f& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%g( +75 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +42 "core" ' +327 ( + "storage"(& +4 "core" &<, E P \  +2 "manipulator"&& +3 "core" & +2 "manipulator"&r% +3 "core" %  ? Z +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&]( +238 "core" ( +2 "manipulator"&P& +4 "core" & 5 +2 "storage"( & +4 "core" &<, H F '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +92 "core" ' + .tHand.open +2 "manipulator"&!1 +59 "core" 1 +3 "storage"(V- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(T' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(J' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(j- +2 "core" -' +2 "storage"(*& +4 "core" &<, \\\  +2 "manipulator"&& +4 "core" &   / 5 +2 .tElbow.seek 5 +2 "manipulator"&$( +2 "core" ( +2 "manipulator"&s& +4 "core" &   d 5 +2 "storage"(W& +3 "core" &<, U\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +2 "core" ' +48 .tSE.reconfigure :gently +5 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(K'" +55 "core" ' +2 "manipulator"&Z& +4 "core" & 5 +2 "storage"(& +4 "core" &<, # & ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&}'΍ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&H, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +25 "core" ' +2 "manipulator"&R% +3 "core" %Ξ +2 "storage"(.& +4 "core" &<, ' # z\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts + "manipulator"&N' +13 "core" ' +2 "manipulator"&\ & +4 "core" & - 5 +2 "storage"(S& +4 "core" &<, I I '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +15 "core" ' +2 "storage"(1% +4 "core" % S U d\ +3 ."downElevator"SE.seek :down +3 "storage"(7' +99 (p% +3 "core" %dP & !\ Wf +2 "manipulator"&?% +4 "core" %B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (&& +3 "core" &<, ? %\  +2 "collection"'|& +3 "core" &\\^\ \ \ J +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&;% +4 "core" %    +2 "storage"(_% +3 "core" % T R e\  +2 "storage"(. +3 "core" .(<- +2 "storage"(G& +4 "core" &<, U T X\  +2 "storage"('& +4 "core" &<, U S :\  +2 "manipulator"&& +3 "core" &  5 +2 .tElbow.seek 5 +2 "manipulator"&L( +4 "core" ( +2 "manipulator"&& +3 "core" &  5 +2 "storage"(a& +4 "core" &<, T R \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&x'O +96 "core" ' + "storage"(c& +4 "core" &<, J Z \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'r +299 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" & 5 +2 "storage"( & +4 "core" &<, G I +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&+'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('c +30 "core" ' +2 "manipulator"&"% +4 "core" %Α  ) +2 "storage"(o& +3 "core" &<, G 4 s\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 304 counts + "manipulator"&3'Ͻ +14 "core" ' + "manipulator"&& +4 "core" & K 4 +2 "storage"(2& +4 "core" &<, Q I R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&l'O +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(k' +36 "core" ' + "manipulator"&)& +3 "core" & 8 4 +3 "manipulator"&t% +3 "core" %c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +151 "core" ( +2 "manipulator"&%& +3 "core" &ӆ+   o Cs +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӆ+  i Cs +42 .tForearm.seek CC +9 "manipulator"&0'? +97 "core" ' + .tHand.close +2 "manipulator"&#/ +62 "core" / +2 .tCC.seek :open +2 "collection"':( +447 "core" ( +2 "storage"(I& +3 "core" &<, j a \  +2 "storage"(& +4 "core" &<, k j \  +2 "manipulator"&4& +4 "core" &Ӱ%  >I +2 "manipulator"&q% +3 "core" % 2  +3 .tForearm.seek :retract + "manipulator"&y' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&=( +164 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"(w& +3 "core" &<, ] ] ^\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +98 "core" ' +2 .tElbow.hold + "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&d1 +57 "core" 1 +2 "manipulator"&F% +4 "core" % Ε  A +2 "storage"(5& +3 "core" &<, \\ ^ =\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&(& +4 "core" & \ R  +2 "storage"({& +3 "core" &<,  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' + "storage"(% +4 "core" % z\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (Y% +2 "core" %H N j R\ Va +3 "manipulator"&C% +3 "core" %: p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&E% +4 "core" %   +2 "storage"(,% +4 "core" %  E\  +2 "storage"(\\. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(u(K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (9& +3 "core" &K ^ g Y\  +2 "manipulator"&^& +4 "core" &  l  +7 .tElbow.seek 6 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&& +9 "core" &  c  + "storage"(& +4 "core" &K f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +97 "core" ' +2 "storage"(e& +4 "core" &K h\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &K i ` \  +2 "manipulator"&f& +4 "core" & X  +2 .tElbow.seek 6 +2 "manipulator"&/( +2 "core" ( +2 "manipulator"&O& +4 "core" &  f  +2 "storage"(& +4 "core" &K j k s\  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +3 "storage"(@' +7 "core" & M  +2 "manipulator"&U% +4 "core" % j  L ` +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +46 .tElbow.seek CC +4 "manipulator"&(ӂ +100 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +56 "core" ( +2 "manipulator"&r& +4 "core" &Ӓ(  @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӓ( @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'? +94 "core" ' +2 "manipulator"& & +4 "core" &ӓ( @[ +2 "manipulator"&% +4 "core" %: o +2 "collection"'!& +4 "core" & \ +3 "collection"'V& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'j(\\ +4 "core" & \ +8 &; \ \ $e +9 &Xy  \ 7 +10 &x \ K +9 &U \ K +9 &U \ K +10 &FX \ K +9 &\ U \ \ J +10 &U  \ K +9 &X \ K +9 &PU \ J +10 & U  \ K +9 &!W \ K +10 &#X \ K +9 &%XT \ J +9 &'U \ K +10 &(Y \ K +9 &*S \ K +9 &,`U \ J +10 &.!V \ K +9 &/W \ K +9 &1V \ J +10 &3gU \ K +9 &5)X \ K +10 &6U \ J +9 &8V \ K +9 &:oT \ K +10 &<1U \ \ K +9 &=Y \ K +9 &?V \ J +10 &AuX \ L +9 &C7\\ \ L +10 &De \ L +9 &Fl \ N +9 &Hn\  \ Q +10 &J%\ \ \ U +9 &K\ \ \ \ V +9 &M\ \ \ W +10 &Oc\ \ \ W +9 &Q#\ \ \ X +10 &R\ \ \ Y +9 &T\ \ \ Y +9 &Vd\ \ \ Z +10 &X$\ \ \ Z +9 &Y\ \ \ [\ +9 &[\ \ \ H +10 &\\.\ \ \ 9 +9 &\\n\ \ \ J +6 ( +2 "collection"'V& +3 "core" &\\g\ \ \ J +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&*1 +61 "core" 1 +2 "manipulator"&% +4 "core" % : 6 o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%W& +4 "core" &\ +2 "manipulator"&% +4 "core" %  G  +2 "storage"(Z% +4 "core" % H H \  + "storage"(. +3 "core" .(K +2 "storage"(`& +4 "core" &K F I \  +2 "storage"(R& +4 "core" &K F I V\  +2 "manipulator"&T& +3 "core" &Ӱ# <> +2 "manipulator"&.% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&\ ( +163 "core" ( +2 "manipulator"&S& +4 "core" &   + "storage"(1& +4 "core" &K L U o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +88 "core" ' +2 "storage"(n& +3 "core" &K [ M a\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'r +296 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" &K ( & Z\  +2 "manipulator"&~& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&K& +4 "core" &   +2 "storage"(}& +3 "core" &K I I (\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&N'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +59 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"(;' +6 "core" &  +2 "manipulator"&_% +4 "core" % } +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +72 "core" ( + "manipulator"&Q& +4 "core" & 9 E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" & E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&& +4 "core" & / E +2 "manipulator"&a% +3 "core" %  Y +2 "processing"%D& +4 "core" &\ +49 "processing"%c& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%7(^ +5 "core" &\ +6 &6\ #b +10 &Ty\ 6 +9 &~{\ K +10 &W\ N +9 &_U\ N +9 &!T\ N +10 &V\ N +9 &W\ N +9 &iR\ M +10 &*X\ M +9 &W\ N +10 &!U\ M +9 &#qU\ M +9 &%1W\ N +10 &&S\ M +9 &(S\ N +9 &*wU\ N +10 &,9X\ N +9 &-R\ M +10 &/Y\ M +9 &1T\ M +9 &3CU\ M +10 &5V\ N +9 &6X\ M +9 &8Y\ N +10 &:IV\ N +9 &< U\ N +10 &=T\ M +9 &?W\ N +9 &AP[\ N +10 &Cc\ O +9 &De\ O +9 &Fp\ P +10 &HJ\ S +9 &J \ T +10 &K\ T +9 &M\ T +9 &ON\ T +10 &Q\ U +9 &R\ U +9 &T\ U +10 &VU\ T +9 &X\ U +10 &Y\ U +9 &[\ U +9 &]Z\ E +10 &^y=k\ &p +9 &^3\ 0 +5 ( +3 "processing"%c& +3 "core" &^ \ 0 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&H1 +55 "core" 1 +2 "manipulator"&A% +4 "core" %   & Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 "processing"%6& +84 "core" &^ \ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"& % +3 "core" %   >  +2 "storage"(m% +4 "core" % & % 1\  +2 "storage"(". +3 "core" .(K +2 "storage"(o& +3 "core" &K % , <\  +3 "storage"(& +2 "manipulator"&2& +5 "core" &K $ %\  +2 &    E +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +5 .tElbow.seek PC +3 "manipulator"&)( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(t'r +2 "core" ( +2 "manipulator"&x& +4 "core" &  M E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &  E +2 .tForearm.seek PC +2 "manipulator"&8' +93 "core" ' +2 .tHand.close + "manipulator"&+/ +56 "core" / +2 .tPC.seek :open +2 "processing"%3( +100 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'1 +45 "core" ' +299 ( +2 "storage"(& +3 "core" &K E F '\ +2 "manipulator"&l& +4 "core" & E E +2 "manipulator"&h% +3 "core" %  B +2 .tForearm.seek :retract +2 "manipulator"&#' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&z( +244 "core" ( +2 "manipulator"&<& +4 "core" & P  +2 "storage"(I& +3 "core" &K 2 @ |\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 .tHand.open +2 "manipulator"&41 +57 "core" 1 +3 "storage"(q- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(w' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"([& +4 "core" &K d e \ + "manipulator"&d& +4 "core" &   '  +2 .tElbow.seek 6 +2 "manipulator"&F( +19 "core" ( + "manipulator"&5& +4 "core" &   F  +2 "storage"((& +4 "core" &K e e r\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&{' +5 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&y& +4 "core" &  +2 "storage"(Y& +4 "core" &K E F \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +47 .tForearm.seek 6 +5 "manipulator"&C'< +18 "core" ' +2 .tElbow.hold + "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&% +4 "core" %C +2 "storage"(E& +4 "core" &K 8 A @\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&'o +13 "core" ' + "manipulator"&,& +4 "core" &   +2 "storage"(\\& +4 "core" &K I R F\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +15 "core" ' + "storage"(% +4 "core" % U U \ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (>% +3 "core" %eR ' %\ Xg +2 "manipulator"&9% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K H Q J\ +2 "collection"'& +4 "core" &\\f\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&e% +4 "core" %   +2 "storage"(X% +3 "core" % ? D C\  +2 "storage"(i. +3 "core" .(K +2 "storage"(& +4 "core" &K M R D\ +2 "storage"(B& +3 "core" &K Q I D\ +2 "manipulator"&f& +4 "core" & H  +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&& +4 "core" & *  +2 "storage"(& +3 "core" &K S P 8\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +96 "core" ' +2 "storage"(U& +3 "core" &K U L ]\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +298 "core" ' + "storage"(v- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &  +2 "storage"(& +3 "core" &K K F G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&r'< +19 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('o +28 "core" ' +2 "manipulator"&!% +4 "core" %P : +2 "storage"(/& +4 "core" &K I S ^\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&@'| +15 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(:& +4 "core" &K L 8 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +43 "core" ' +2 "manipulator"&W& +3 "core" &  +2 "manipulator"&% +4 "core" % M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ( +2 "manipulator"&V& +4 "core" &Ӂ+  Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &Ӂ+ Cn +3 .tForearm.seek CC + "manipulator"&R'? +96 "core" ' +2 .tHand.close + "manipulator"&T/ +53 "core" / +2 .tCC.seek :open +2 "collection"'.( +450 "core" ( +2 "storage"(P& +3 "core" &K k l \ +46 "storage"(S& +6 "core" &K j k \ +2 "manipulator"&1& +4 "core" &Ӫ$ $ =E +2 "manipulator"&n% +3 "core" % J ] % +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&s( +168 "core" ( + "manipulator"&p& +4 "core" &  X  +2 "storage"(?& +3 "core" &K k j \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&~'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +62 "core" 1 +2 "manipulator"&&% +4 "core" % ?  A +2 "storage"(|& +3 "core" &K n u\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 303 counts + "manipulator"&_'k +14 "core" ' + "manipulator"&\ & +4 "core" & z  +2 "storage"(]& +4 "core" &K  _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +16 "core" ' + "storage"(N% +4 "core" % 3\ +3 ."downElevator"SE.seek :down +3 "storage"(Q' +99 ('% +2 "core" %D j j \ V` +2 "manipulator"&$% +4 "core" % W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'a& +4 "core" &  \ +2 "manipulator"&D% +4 "core" %    +2 "storage"(;% +4 "core" %  \  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(g([ +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &[ < D \  +2 "manipulator"&A& +4 "core" & J  +2 .tElbow.seek 7 +2 "manipulator"&c(r +46 "core" ( + "manipulator"&6& +4 "core" &|  7  +2 "storage"( & +3 "core" &[  W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&m'= +95 "core" ' + "storage"("& +4 "core" &[  M\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(o'r +292 "core" ' +2 "storage"(2- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \\ i d\  +2 "manipulator"&x& +4 "core" &|  +2 .tElbow.seek 7 +2 "manipulator"&L(r +3 "core" ( +2 "manipulator"&& +4 "core" &| `  +2 "storage"(+& +3 "core" &[ i f z\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(7' +7 "core" &| 6  + "manipulator"&t% +4 "core" %  \\ +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&h& +3 "core" &Ӗ% >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &Ӗ% $ >I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek CC +3 "manipulator"&<'? +100 "core" ' +2 "manipulator"&I& +3 "core" &ӗ&  >H +2 "manipulator"&)% +4 "core" %@   +2 "collection"'4& +4 "core" & \ +3 "collection"'q& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'0(\\ +5 "core" & \  +8 &4z \ *z +9 &g} \ > +10 &l \ L +9 &_U \ K +9 & X \ K +10 &U \ K +9 &R \ K +9 &hT \ J +10 &(V \ K +9 &S \ K +10 & T \ K +9 &"oX \ K +9 &$2T  \ J +10 &%V \ K +9 &'S  \ K +9 &)wT \ K +10 &+9W \ \ K +9 &,S \ K +10 &.U  \ K +9 &0S \ K +9 &2AT \ \ K +10 &4X \ K +9 &5U \ J +9 &7U \ K +10 &9JU \ J +9 &;\ V \ K +10 &<W \ K +9 &>Y \ K +9 &@QZ  \ K +10 &BZ \ \ L +9 &C] \ L +9 &Ei \ M +10 &GK\ \ P +9 &I\ \  \ T +10 &J\ "\ "\ \ V +9 &L|\ \ \ W +9 &N;\ \ \ X +10 &O\ \ \ X +9 &Q\ \ \ W +9 &S~\ \ \ Y +10 &U=\ \ \ Z +9 &V\ \ \ [ +10 &X\ \ \ [ +9 &Z\ \ \ [ +9 &\\#{\ \  \ / +10 &\\0\ \ \ _ +8 ( +4 "collection"'q& +2 "core" &\\a\ \ \ L +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&[1 +53 "core" 1 +3 "manipulator"&d% +3 "core" % @  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +92 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%(& +4 "core" &\ +2 "manipulator"&#% +3 "core" %  P  +2 "storage"(y% +4 "core" % I H ,\  + "storage"(Y. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(%([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &[\ \  -\  +2 "manipulator"&& +4 "core" &  , +2 "manipulator"&E% +3 "core" %  m  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&,(r +153 "core" ( + "manipulator"&\\& +3 "core" &q 0  +3 "storage"(z& +3 "core" &[ 7 8 M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +95 "core" ' +2 "storage"(& +4 "core" &[ = N w\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'r +296 "core" ' + "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +4 "core" &[ ' > \  + "manipulator"&{& +4 "core" &q  +2 .tElbow.seek 7 +2 "manipulator"&F(r +3 "core" ( +2 "manipulator"&& +3 "core" &q .  +2 "storage"(C& +3 "core" &[ F E *\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(e' +7 "core" &q  +2 "manipulator"&X% +3 "core" % Ϫ  +2 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&& +4 "core" & \\  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&f' +103 "core" ' +2 "manipulator"&& +3 "core" &  +2 "manipulator"&% +5 "core" %   + "processing"%k& +4 "core" &\ +2 "processing"%U& +5 "core" &\ +3 .tPC.seek :closed + "processing"% (^ +5 "core" &\  +9 &4y\ *x +9 &d}\ > +9 &yq\ N +10 &=T\ M +56 &U\ N +4 &T\ M +3 &R\ M + &DU\ N + &U\ N + &U\ M + & R\ M +8 &"MR\ M +9 &$S\ M +10 &%R\ M +9 &'X\ M +9 &)UR\ M +10 &+W\ M +9 &,Y\ M +9 &.T\ M +10 &0]S\ M +9 &2R\ M +10 &3R\ M +9 &5U\ N +9 &7eW\ M +10 &9'Y\ M +9 &:Y\ N +9 &<U\ N +10 &>mZ\ M +9 &@/W\ M +10 &A_\ N +9 &Cb\ O +9 &Eoh\ O +10 &G,q\ Q +9 &H\ S +9 &J\ T +10 &Lk\ S +9 &N+\ T +10 &O\ T +9 &Q\ U +9 &So\ U +10 &U2\ T +9 &V\ U +9 &X\ T +10 &Zx\ T +9 &\\9\ U +10 &]zs\ : +9 &^*u\ M +9 &^"\ 1 +3 ( +2 "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&=1 +52 "core" 1 +2 "manipulator"&^% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +2 "processing"%b& +3 "core" &^"\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" %     +2 "storage"( % +4 "core" % ( *\  +2 "storage"(!. +3 "core" .([ +2 "storage"(/& +3 "core" &[ - *\  +3 "storage"(& +2 "manipulator"&:& +5 "core" &[ # %\  +2 &   + +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(W'r + "manipulator"&( +8 "core" ( + "manipulator"&M& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&-' +92 "core" ' + .tHand.close +2 "manipulator"&r/ +59 "core" / +3 .tPC.seek :open +2 "processing"%@( +93 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(V'1 +43 "core" ' +306 ( +2 "storage"(`& +4 "core" &[ U T \  +2 "manipulator"&*& +3 "core" & +2 "manipulator"&% +4 "core" %  C A +2 .tForearm.seek :retract +2 "manipulator"&T' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&Z(r +244 "core" ( +2 "manipulator"&j& +3 "core" & + : +2 "storage"(P& +4 "core" &[ F E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&S'= +99 "core" ' + .tHand.open +2 "manipulator"&11 +61 "core" 1 +2 "storage"(n- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(?' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(R- +3 "core" -' +2 "storage"(& +4 "core" &[ \  +2 "manipulator"&}& +4 "core" &    : +2 .tElbow.seek 7 +2 "manipulator"&&(r +32 "core" ( + "manipulator"&|& +4 "core" &x  c D +2 "storage"(\ & +3 "core" &[ \  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&]'= +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(N'" +57 "core" ' +2 "manipulator"&& +4 "core" &x D +2 "storage"('& +4 "core" &[ F F \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&$'{ +25 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +49 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(~' +28 "core" ' + "manipulator"&a% +4 "core" %Ί ) +2 "storage"(_& +3 "core" &[ F H \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&D'϶ +13 "core" ' +2 "manipulator"&;& +4 "core" &x  D +2 "storage"(& +3 "core" &[ N > k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 "storage"(J% +3 "core" % 9 M C\ +3 ."downElevator"SE.seek :down +3 "storage"(Q' +99 (u% +3 "core" %kO ' '\ Xg +2 "manipulator"&H% +4 "core" %+ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (6& +3 "core" &[ ; = `\  +2 "collection"' & +4 "core" &\\b\ \  \ L +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&"% +4 "core" %  9  +2 "storage"(K% +4 "core" % S U ]\  +2 "storage"(. +3 "core" .([ +2 "storage"(2& +4 "core" &[ S S g\  + "storage"(& +3 "core" &[ T S c\  +3 "manipulator"&x& +3 "core" &x D +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( + "manipulator"&+& +4 "core" &x  D +2 "storage"(G& +4 "core" &[ T U w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +93 "core" ' +2 "storage"(t& +3 "core" &[ k l \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'r +307 "core" ' +3 "storage"(m- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" &x % D +2 "storage"(8& +4 "core" &[ E E /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&o'{ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(L- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(I'g +30 "core" ' +2 "manipulator"&)% +3 "core" %y +2 "storage"(4& +4 "core" &[ F I l\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 298 counts + "manipulator"&7'ϥ +16 "core" ' +2 "manipulator"&& +3 "core" &x D +2 "storage"(.& +4 "core" &[ I I \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&['= +17 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(d' +35 "core" ' +2 "manipulator"&(& +3 "core" &x  D +2 "manipulator"&#% +4 "core" %3 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +154 "core" ( +2 "manipulator"& & +3 "core" &y- Du +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &z+ # Ct +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&E/ +57 "core" / +2 .tCC.seek :open + "collection"'<( +450 "core" ( +2 "storage"(\\& +4 "core" &[ i j o\  +2 "storage"(z& +3 "core" &[ k j \  +2 "manipulator"&g& +4 "core" & 2 +2 "manipulator"&% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&l' +139 "core" ' +5 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&5(r +142 "core" ( + "manipulator"&>& +4 "core" &x   +2 "storage"(9& +4 "core" &[ j j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&{'{ +94 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +61 "core" 1 +3 "manipulator"&% +4 "core" % Ώ I +2 "storage"(& +3 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 320 counts + "manipulator"&X'ϻ +15 "core" ' + "manipulator"&,& +4 "core" &x +2 "storage"(& +4 "core" &[  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +16 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (B% +2 "core" %G j N F\ Va +3 "manipulator"&F% +3 "core" %5 Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&k% +4 "core" %    +2 "storage"(e% +4 "core" % ~ \  + "storage"(i. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(3(<- +678 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &<, I S \ +2 "manipulator"&^& +4 "core" &x +2 .tElbow.seek 5 +2 "manipulator"&b( +22 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"( & +4 "core" &<, q j H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +94 "core" ' +2 "storage"(/& +3 "core" &<, \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(:- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (U& +2 "core" &<, a i \ +3 "manipulator"&M& +3 "core" & E  +3 .tElbow.seek 5 + "manipulator"&O( +24 "core" ( +2 "manipulator"&f& +4 "core" & '  +2 "storage"(r& +3 "core" &<, ` l \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"( ' +8 "core" & 3  + "manipulator"&W% +4 "core" % Ϯ . +2 .tForearm.seek :retract +2 "manipulator"&`' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&& +3 "core" &ӣ = 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &ӣ \\ 9( +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'? +105 "core" ' +4 "manipulator"&P& +4 "core" &ӣ  7 9( +2 "manipulator"&% +4 "core" %8  +2 "collection"'1& +48 "core" & &\ +5 "collection"'n& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'R(\\ +4 "core" & \  +8 &5y \ *z +10 & h~ \ ? +9 &l \ L +9 &_Q \ K +10 &"U \ J +9 &U \ K +10 &R \ K +9 &hT \ J +9 &)V \ K +10 &X \ K +9 & R \ K +9 &"pU \ J +10 &$1U \ K +9 &%Y \ K +10 &'T \ K +9 &)wT \ K +9 &+9Y \ \ K +10 &,Y \ K +9 &.U  \ J +9 &0W \ K +10 &2AZ  \ K +9 &4U \ J +9 &5U \ K +10 &7Y  \ K +9 &9IV  \ K +10 &; Y \ \ K +9 &<U  \ J +9 &>W  \ K +10 &@QV \ K +9 &BY  \ K +9 &C` \ \ L +10 &Ef \ M +9 &GNw \ O +10 &I\ \  \ R +9 &J\ \ \ \ V +9 &L|\ \  \ W +10 &N;\ \  \ X +9 &O\ \ \ X +9 &Q\ \  \ X +10 &S\ \  \ Y +9 &U>\ \ \ Z +10 &W\ \ \ Z +9 &X\ \ \ [ +9 &Z~\ \  \ \\ +10 &\\#z\ \ \ 0 +9 &\\+\ \ \ \ Z +9 ( + &\\m\ \  \ M +2 "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&}% +4 "core" % 8   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%|& +4 "core" &\ +2 "manipulator"&\ % +4 "core" %  c  +2 "storage"(% +4 "core" % ' & \  + "storage"('. +3 "core" .(<- +2 "storage"(V& +4 "core" &<, $ $ \ \ +2 "storage"(p& +3 "core" &<, 5 / F\ +2 "manipulator"&a& +4 "core" &ӣ 9( +2 "manipulator"&_% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&;( +161 "core" ( + "manipulator"&Z& +4 "core" & 7  +2 "storage"(& +4 "core" &<, S S Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +102 "core" ' +2 "storage"(S& +4 "core" &<, G ; ]\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'r +296 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]& +2 "core" &<, ! " 1\ +3 "manipulator"&H& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&N& +4 "core" & X  +2 "storage"($& +3 "core" &<, * , ?\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&6'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"("' +8 "core" &   +2 "manipulator"&K% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&2& +4 "core" & o ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & F ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&x' +91 "core" ' +2 "manipulator"&+& +4 "core" &  ) +2 "manipulator"&G% +3 "core" % X +2 "processing"%& +4 "core" &\ +3 "processing"%t& +4 "core" &\ +3 .tPC.seek :closed + "processing"%Q(^ +5 "core" &\ +7 &<\ $d +10 &Vy\ 7 +9 &v\ K +9 &R\ N +10 &oT\ M +9 &2O\ M +9 &U\ N +10 &U\ M +9 &wQ\ M +10 &9V\ M +9 &V\ M +9 &!U\ M +10 &#W\ M +9 &%AW\ M +9 &'W\ M +10 &(W\ N +9 &*U\ M +10 &,IX\ M +9 &. U\ M +9 &/X\ M +10 &1X\ M +9 &3QW\ M +9 &5U\ N +10 &6U\ N +9 &8V\ N +10 &:YR\ M +9 &<U\ M +9 &=Y\ M +10 &?U\ M +7 "Can"\ Xӎ' +2 "core" &A`U\ N +9 &C^\ O +10 &Db\ O +9 &Fn\ P +10 &H[{\ R +9 &J\ S +9 &K\ T +50 &M\ T +5 &O\\\ T +2 &Q\ U + &R\ U + &T\ U + &Vd\ T +6 &X%\ U +9 &Y\ U +10 &[\ U +9 &]h\ C +9 &^=p\ &o +10 &^"\ , +2 ( +2 "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&s1 +58 "core" 1 +2 "manipulator"&A% +3 "core" %    X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +90 "core" ' +2 "processing"%h& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&8% +4 "core" %    g  +2 "storage"(L% +4 "core" % $ $\  +2 "storage"(). +2 "core" .(<- +2 "storage"(4& +4 "core" &<, $ # \ +2 "storage"(& +4 "manipulator"&.& +5 "core" &<, $ # \ + &   ) +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&(( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(#'r +2 "core" ( +2 "manipulator"& & +4 "core" &   ! ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   A ) +2 .tForearm.seek PC +2 "manipulator"&c' +94 "core" ' + .tHand.close +2 "manipulator"&o/ +59 "core" / +2 .tPC.seek :open +2 "processing"%7( +95 "core" ' +2 "storage"(I- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +42 "core" ' +306 ( +2 "storage"(q& +3 "core" &<, H F \ +2 "manipulator"&[& +4 "core" &  ) +2 "manipulator"&% +3 "core" %  G +2 .tForearm.seek :retract +2 "manipulator"&E' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&y( +246 "core" ( + "manipulator"&0& +4 "core" & P > +2 "storage"(\\& +3 "core" &<, ) '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z'O +90 "core" ' +2 .tHand.open + "manipulator"&g1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(>' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(9' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(Y& +4 "core" &<, T\ +2 "manipulator"&C& +4 "core" &   Q > +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +3 "manipulator"&& +3 "core" &   5 > +2 "storage"(,& +4 "core" &<, \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&l& +3 "core" & > +2 "storage"(B& +4 "core" &<, % N\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&F'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"({' +23 "core" ' +2 "manipulator"&% +4 "core" %Θ +2 "storage"(k& +4 "core" &<, " # \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&X' +13 "core" ' + "manipulator"&e& +4 "core" & h = +46 "storage"(i& +6 "core" &<, H H \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +16 "core" ' + "storage"(w% +4 "core" % E E \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (%% +4 "core" %hK S m\ We +2 "manipulator"&=% +4 "core" %@ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<, < 1 \ +2 "collection"' & +4 "core" &\\l\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&/% +4 "core" %   +2 "storage"(% +3 "core" % F H \  +2 "storage"(. +3 "core" .(<- +2 "storage"(:& +4 "core" &<, E F \ +2 "storage"(U& +4 "core" &<, F H \ + "manipulator"&M& +4 "core" & = +2 .tElbow.seek 5 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&r& +4 "core" & = +2 "storage"(& +3 "core" &<, H H \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +90 "core" ' + "storage"(W& +4 "core" &<, P R 5\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(b'r +299 "core" ' +2 "storage"(!- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & = +2 "storage"(-& +4 "core" &<, F D d\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(O'b +29 "core" ' + "manipulator"&% +4 "core" %Ξ +2 "storage"(1& +3 "core" &<, $ * d\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts + "manipulator"& ' +14 "core" ' +2 "manipulator"&`& +3 "core" & . < +2 "storage"(<& +4 "core" &<, H F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(}' +42 "core" ' + "manipulator"&|& +4 "core" & < +2 "manipulator"&\ % +4 "core" %C < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +157 "core" ( +2 "manipulator"&V& +4 "core" &ӏ    9& +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &ӏ  ! 9& +2 .tForearm.seek CC +2 "manipulator"&n'? +94 "core" ' +2 .tHand.close +2 "manipulator"&a/ +64 "core" / +2 .tCC.seek :open + "collection"'_( +447 "core" ( +2 "storage"(j& +3 "core" &<, j k \ +2 "storage"(Z& +4 "core" &<, k j \ +2 "manipulator"&& +3 "core" &Ӛ > 8 +2 "manipulator"&S% +4 "core" % N =  +2 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&T( +161 "core" ( + "manipulator"&u& +4 "core" &  +2 "storage"(]& +4 "core" &<,  P\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +42 .tForearm.seek 5 +9 "manipulator"&H'΍ +99 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&$1 +59 "core" 1 +2 "manipulator"&D% +4 "core" % Β  D + "storage"( & +4 "core" &<, j j \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 305 counts + "manipulator"&K'Ͼ +15 "core" ' +2 "manipulator"&;& +3 "core" &  a  +2 "storage"(J& +4 "core" &<, \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +16 "core" ' +2 "storage"(6% +8 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(2' +98 (% +4 "core" %G k j \ Va + "manipulator"&&% +4 "core" %L p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'G& +3 "core" & \ +2 "manipulator"&% +4 "core" %  m  +2 "storage"("% +4 "core" % ~ \  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(@(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" &K b i k\ \ +2 "manipulator"&A& +4 "core" & =  +2 .tElbow.seek 6 +2 "manipulator"&h( +4 "core" ( + "manipulator"&8& +4 "core" &  _  +2 "storage"(L& +3 "core" &K ~ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +92 "core" ' + "storage"(4& +4 "core" &K ~ ,\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'r +292 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" &K a i \ \ +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&x& +4 "core" & W  +2 "storage"(o& +3 "core" &K m a i\ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&I'h +40 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +4 "storage"(Q' +5 "core" &   +2 "manipulator"&#% +4 "core" % π @ P +3 .tForearm.seek :retract + "manipulator"&q' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &Ӑ' R @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &ӑ' Z @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'? +95 "core" ' +2 "manipulator"&\\& +3 "core" &Ӓ( ] @[ +2 "manipulator"&(% +4 "core" %A 6 < +2 "collection"'g& +4 "core" & &\ +3 "collection"'& +5 "core" & )\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & '\ +8 &<  \ $e +9 &Xy \ 7 +9 &x $\ J +10 &T "\ J +9 &U %\ J +9 &CU !\ K +10 &S \ K +9 &U \ J +10 &U \ J +9 &KU \ K +9 & Y \ K +10 &!R \ K +9 &#U \ K +9 &%SW \ K +10 &'R \ K +54 &(T \ J +4 &*T \ K +4 &,[X \ K + &.S \ K &/T \ J +2 &1U \ K + &3bR  \ K +9 &5%T \ K +9 &6T \ K +10 &8U \ K +9 &:jY \ K +9 &<.U  \ J +10 &=U \ K +9 &?V \ J +9 &AqW \ L +10 &C4Z \ K +9 &De \ M +10 &Fn \ N +9 &Hl\   \ P +9 &J!\ \ \ U +10 &K\ \ \ W +9 &M\ \ \ W +9 &O^\ \ \ X +10 &Q\ \ \ \ X +9 &R\ \ \ X +10 &T\ \ \ Z +9 &V^\ \ \ Z +9 &X \ \ \ Z +10 &Y\ \ \ [ +9 &[\ \ \ I +9 &\\8\ \ \ . +10 &\\r\ \ \ T +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&Y1 +53 "core" 1 +2 "manipulator"&C% +4 "core" % A  < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%,& +3 "core" &\ +2 "manipulator"&E% +4 "core" %  4  +2 "storage"(l% +4 "core" % * - h\  +2 "storage"(B. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (k& +2 "core" &K K H\  +3 "manipulator"& & +3 "core" &ӭ" 7 <@ +2 "manipulator"&e% +4 "core" %  1  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&i( +166 "core" ( +2 "manipulator"&>& +4 "core" &  +2 "storage"(w& +3 "core" &K G J ^\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +98 "core" ' +2 "storage"(z& +3 "core" &K 8 = \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'r +311 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +2 "core" &K Q E R\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & 0  + "storage"(F& +4 "core" &K S S `\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&X'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(/' +7 "core" &  +2 "manipulator"&% +3 "core" % _  +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&:& +3 "core" & G +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" & T G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M' +94 "core" ' + "manipulator"&r& +4 "core" & e F +2 "manipulator"&% +4 "core" % * ~ +2 "processing"%d& +3 "core" &\ +3 "processing"%W& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &4x\ *y +10 &c}\ > +9 &p\ N +9 &HR\ M +10 &\ R\ M +9 &Q\ M +10 &U\ M +9 &PW\ M +9 &W\ N +10 &U\ M +9 & R\ M +9 &"XR\ M +10 &$U\ M +9 &%U\ N +10 &'X\ M +9 &)_W\ N +9 &+"U\ M +10 &,T\ M +9 &.T\ N +9 &0hW\ M +10 &2*W\ M +9 &3R\ M +10 &5S\ M +9 &7qU\ M +9 &92Y\ M +10 &:Y\ N +9 &<W\ M +9 &>xW\ M +10 &@9T\ N +9 &A\\\ N +10 &Cf\ O +9 &Eyk\ P +9 &G8s\ Q +10 &H\ S +9 &J\ S +9 &Lw\ S +10 &N5\ T +9 &O\ T +10 &Q\ U +9 &Sz\ U +9 &U=\ T +10 &V\ U +9 &X\ T +9 &Z\ U +10 &\\C\ U +9 &]|u\ 5 +9 &^3\ G +10 &^\ ( +2 ( +2 "processing"%W& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&51 +52 "core" 1 +2 "manipulator"&^% +51 "core" %  ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +93 "core" ' +2 "processing"%& +3 "core" &^\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&-% +4 "core" %    ! +2 "storage"(P% +3 "core" % ! \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(1(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (`& + "manipulator"&<& +6 "core" &K + \\ 7\  +2 &   2 F +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&|( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(\ 'r +2 "core" ( +2 "manipulator"&v& +5 "core" &   F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" & \  F +2 .tForearm.seek PC +2 "manipulator"&b' +96 "core" ' +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"% ( +87 "core" ' +2 "storage"(O- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(V'1 +50 "core" ' +306 ( +2 "storage"(p& +3 "core" &K # *\  +2 "manipulator"&& +4 "core" & F +2 "manipulator"&% +3 "core" %  # 1 +3 .tForearm.seek :retract + "manipulator"&a' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&R& +3 "core" & . Q +2 "storage"(j& +4 "core" &K , - a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +99 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "storage"(S- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(]' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(n- +3 "core" -' +2 "storage"('& +4 "core" &K f d w\  +2 "manipulator"&$& +3 "core" & \  Q +2 .tElbow.seek 6 +2 "manipulator"&D( +4 "core" ( + "manipulator"& & +4 "core" &   7 Q +2 "storage"(;& +3 "core" &K f e \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(6'" +58 "core" ' + "manipulator"&*& +4 "core" & Q +2 "storage"(& +4 "core" &K " * (\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&&'< +18 "core" ' +2 .tElbow.hold + "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(H' +28 "core" ' + "manipulator"&G% +4 "core" %M +2 "storage"(K& +4 "core" &K - - x\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&'y +14 "core" ' +2 "manipulator"&"& +4 "core" & Q +2 "storage"(& +3 "core" &K A 6 \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 6 + 450 counts +9 "manipulator"&}' +15 "core" ' + "storage"(?% +4 "core" % F F <\ +3 ."downElevator"SE.seek :down +3 "storage"(2' +99 (3% +3 "core" %oV\ *\ ( k\ Xh +3 "manipulator"&s% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +4 (8& +3 "core" &K 8 0 \  +2 "collection"'L& +4 "core" &\\n \ \ T +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&4% +4 "core" %   +2 "storage"(N% +3 "core" % F H \  +2 "storage"(+. +2 "core" .(K +2 "storage"(& +4 "core" &K E C (\  +2 "storage"(t& +3 "core" &K F H \  +2 "manipulator"& & +4 "core" & P +2 .tElbow.seek 6 +2 "manipulator"&x( +4 "core" ( + "manipulator"&o& +4 "core" & P +2 "storage"(~& +4 "core" &K I E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +95 "core" ' +2 "storage"(#& +3 "core" &K T S \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'r +296 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  P +3 "storage"(c& +3 "core" &K + ,\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&.'< +18 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\\- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(('o +34 "core" ' + "manipulator"&g% +4 "core" %O +2 "storage"(& +3 "core" &K + % 1\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&Q'{ +14 "core" ' +2 "manipulator"&q& +3 "core" & P +2 "storage"(_& +4 "core" &K E 3 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(C' +40 "core" ' +2 "manipulator"&,& +4 "core" & ? P +2 "manipulator"&E% +3 "core" % u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B(ӂ +153 "core" ( + "manipulator"&& +4 "core" &ӊ-  ! Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +4 "core" &Ӌ- y Du +2 .tForearm.seek CC + "manipulator"& '? +95 "core" ' + .tHand.close +2 "manipulator"&e/ +54 "core" / +2 .tCC.seek :open +2 "collection"'0( +447 "core" ( +2 "storage"(>& +3 "core" &K j Q }\  +2 "storage"(w& +4 "core" &K T < r\  +2 "manipulator"&@& +3 "core" &ӯ& [ ?Q +2 "manipulator"&z% +3 "core" % Q , > +3 .tForearm.seek :retract +2 "manipulator"&[' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&%& +3 "core" &  B  +2 "storage"(=& +4 "core" &K f ] Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +96 "core" ' + .tElbow.hold +45 "manipulator"&, +7 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&F1 +56 "core" 1 +4 "manipulator"&% +3 "core" % 5 # +2 "storage"( & +3 "core" &K g i u\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 293 counts +2 "manipulator"&'a +14 "core" ' + "manipulator"&i& +4 "core" & L  +2 "storage"(y& +4 "core" &K  ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +15 "core" ' + "storage"(X% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(:' +98 (U% +3 "core" %K Z M (\ Vb +2 "manipulator"&% +4 "core" % + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&d% +4 "core" %  \ +2 "storage"(/% +4 "core" %  \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(7([ +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &[ [ g \ +2 "manipulator"&^& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&W(r +40 "core" ( + "manipulator"&& +4 "core" &  ,  +2 "storage"(-& +4 "core" &[ } r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&P'= +94 "core" ' + "storage"(& +4 "core" &[ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(<'r +294 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &[ _ j \ +2 "manipulator"&f& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&M(r +23 "core" ( +2 "manipulator"&& +4 "core" &w 7 d +2 "storage"(& +4 "core" &[ _ \\ m\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&O'ϧ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(' +7 "core" &w o d +2 "manipulator"&\ % +4 "core" %  ? +2 .tForearm.seek :retract +2 "manipulator"&p' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" &Ӑ& ?R +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &Ӑ& 2 ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&R'? +100 "core" ' +2 "manipulator"&j& +4 "core" &ӑ& ?Q +2 "manipulator"&|% +4 "core" %<  " +2 "collection"'& +4 "core" & \ +3 "collection"'S& +4 "core" & &\ +3 .tCC.seek :closed +2 "collection"'n(\\ +3 "core" & &\ +7 &<  \ $f +9 &Z{ !\ 7 +10 &x !\ K +9 &R \ K +9 &Y (\ K +10 &IX \ K +9 & S \ K +10 &U \ J +9 &T \ J +9 &RU \ K +10 & W \ K +9 &!W \ K +10 &#S  \ K +9 &%ZS \ K +9 &'T  \ J +10 &(U \ J +9 &*T \ J +9 &,cT \ J +10 &.$U \ K +9 &/W \ K +9 &1S \ K +10 &3jS \ K +9 &5-U \ J +10 &6U  \ K +54 &8X  \ K +7 &:sT \ J + &<3W \ K + &=V \ K &?X \ K +2 &AyY \ K + &C9\\ \ L +9 &Di \ M +9 &Fu \ O +9 &Hl\ \ \ \ S +10 &J$\ !\ \ V +9 &K\ !\ "\ W +10 &M\ \ !\ X +9 &Oc\ \ \ X +9 &Q'\ \ \ W +10 &R\ \ \ Y +9 &T\ \ \ Z +9 &Vc\ \ \ [\ +10 &X%\ \ \ [\ +9 &Y\ \ \ [ +10 &[\ \ \ I +9 &\\1\ \ \ 2 +9 &\\q\ \ \ N +3 ( +2 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&'1 +63 "core" 1 +3 "manipulator"&$% +3 "core" % < ; " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%;& +4 "core" &\ + "manipulator"&a% +4 "core" %   +2 "storage"(*% +4 "core" % ' 3 \  +2 "storage"(. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(G([ +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +3 "core" &[ J H\  +2 "manipulator"&V& +4 "core" &  \\ - +2 "manipulator"&"% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +153 "core" ( + "manipulator"&u& +4 "core" &o g  +2 "storage"(?& +4 "core" &[ H H !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +99 "core" ' + "storage"(Z& +4 "core" &[ 9 L \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +308 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" &[ 3 A \  +2 "manipulator"&J& +4 "core" &o  +2 .tElbow.seek 7 +2 "manipulator"&D(r +3 "core" ( +2 "manipulator"&6& +4 "core" &o  +2 "storage"(&& +3 "core" &[ I R \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"(4' +7 "core" &o  + "manipulator"&N% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&H( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&& +4 "core" & % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" & % +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 "manipulator"&o& +3 "core" & % +2 "manipulator"&~% +4 "core" % +2 "processing"%}& +4 "core" &\ +3 "processing"%#& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%2(^ +4 "core" &\ +8 &6\ $d +9 &Vy\ 7 +10 &x\ K +9 &T\ M +10 &kW\ M +9 &-R\ M +9 &W\ M +10 &U\ N +9 &sT\ M +9 &5W\ M +10 &V\ M +9 &!T\ N +9 &#{U\ M +10 &%=S\ M +9 &&V\ N +10 &(U\ N +9 &*V\ M +9 &,ET\ M +10 &.U\ M +9 &/V\ M +10 &1S\ M +9 &3MS\ M +9 &5W\ M +10 &6X\ M +9 &8W\ N +9 &:TU\ N +10 &<W\ N +9 &=Y\ M +9 &?U\ M +10 &A]Y\ M +9 &Ca\ O +10 &De\ O +9 &Fm\ P +9 &HU\ S +10 &J\ S +9 &K\ T +10 &M\ T +9 &OY\ T +9 &Q\ U +10 &R\ U +9 &T\ U +9 &Va\ T +10 &X"\ T +9 &Y\ V +9 &[\ U +10 &]h\ A +9 &^Bu\ [ +12 &^5\ 3 +3 ( +2 "processing"%#& +9 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&T1 +3 "core" &^%\ 3 +56 1 +2 "manipulator"&A% +4 "core" %   r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +5 "manipulator"&)' +92 "core" ' +2 "processing"%& +3 "core" &^%\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&c% +4 "core" %    +2 "storage"(\\% +4 "core" % ' &\  + "storage"(g. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +2 "manipulator"&_& +6 "core" &   = % + &[\  P W\  +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&,( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(E'r + "core" ( +3 "manipulator"&m& +4 "core" &   . % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &   % +3 .tForearm.seek PC + "manipulator"&h' +97 "core" ' +2 .tHand.close +2 "manipulator"&./ +54 "core" / +2 .tPC.seek :open +2 "processing"%Q( +95 "core" ' + "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +308 ( +2 "storage"(k& +4 "core" &[ F I \  +2 "manipulator"&Y& +3 "core" & % +2 "manipulator"&I% +5 "core" %  % +2 .tForearm.seek :retract + "manipulator"&e' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&l(r +249 "core" ( +2 "manipulator"&& +3 "core" & 1 +2 "storage"(>& +4 "core" &[ F E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +90 "core" ' + .tHand.open +2 "manipulator"&@1 +56 "core" 1 +2 "storage"(z- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(%' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(B& +4 "core" &[ | } u\  +2 "manipulator"&F& +4 "core" &  1 +2 .tElbow.seek 7 +2 "manipulator"&(r +32 "core" ( +2 "manipulator"& & +4 "core" &{   = +2 "storage"(i& +4 "core" &[  | :\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&y'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(X'" +51 "core" ' +2 "manipulator"&[& +4 "core" &{ ( = +2 "storage"(U& +4 "core" &[ ) + b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&% +4 "core" %΀ ! +2 "storage"(& +4 "core" &[ $ & 5\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 305 counts + "manipulator"&d'Ϭ +14 "core" ' +2 "manipulator"&/& +3 "core" &{ = +3 "storage"(& +3 "core" &[ F E \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&C'= +18 "core" ' +47 "storage"(9% +4 "core" % H E \ +3 ."downElevator"SE.seek :down +4 "storage"(:' +98 (1% +4 "core" %)O  9\ Wf +2 "manipulator"&5% +4 "core" %) Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" &[ 5 0 \  +3 "collection"'-& +3 "core" &\\p\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +4 "core" %   +2 "storage"(% +3 "core" % P R F\  +2 "storage"(r. +2 "core" .([ +2 "storage"(`& +4 "core" &[ K G \  +2 "storage"(v& +4 "core" &[ F P ?\  +2 "manipulator"&f& +3 "core" &{ 9 = +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( + "manipulator"&& +4 "core" &{ = +2 "storage"({& +4 "core" &[ F I q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&!'= +94 "core" ' + "storage"(\ & +4 "core" &[ B O G\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(W'r +298 "core" ' + "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &{ = +3 "storage"(b& +3 "core" &[ P F %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&<'{ +20 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(|'g +32 "core" ' + "manipulator"&% +4 "core" %Ή . +2 "storage"(M& +3 "core" &[ 5 ( \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 314 counts + "manipulator"&'ϵ +14 "core" ' +2 "manipulator"&p& +3 "core" &{  = +2 "storage"(0& +4 "core" &[ F E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&''= +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"($' +36 "core" ' + "manipulator"&;& +4 "core" &{  = +2 "manipulator"&a% +3 "core" %. % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +162 "core" ( +2 "manipulator"&S& +3 "core" &ӓ" 7 ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &ӓ" ;6 +2 .tForearm.seek CC +2 "manipulator"&V'? +98 "core" ' +2 .tHand.close + "manipulator"&"/ +61 "core" / +2 .tCC.seek :open +2 "collection"'R( +447 "core" ( + "storage"(u& +4 "core" &[ j j {\  +2 "storage"(?& +4 "core" &[ j j \  + "manipulator"&7& +4 "core" & ! . +2 "manipulator"&Z% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"& (r +154 "core" ( +2 "manipulator"&3& +3 "core" &{  +3 "storage"(s& +3 "core" &[ L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&J'{ +96 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +41 "manipulator"&$&.,(\ #b +10 .tHand.open + "manipulator"&&1 +53 "core" 1 +3 "manipulator"&8% +3 "core" % ~ +2 "storage"(L& +4 "core" &[ |\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 303 counts +2 "manipulator"&N'Ϫ +15 "core" ' + "manipulator"&& +4 "core" &{  m  +2 "storage"(& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&]'= +17 "core" ' +2 "storage"(% +4 "core" % 4\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (t% +3 "core" %F a N \ Wb +2 "manipulator"&D% +4 "core" %: j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'~& +3 "core" & \ +2 "manipulator"&}% +4 "core" %  J  +2 "storage"(4% +4 "core" % ~ \  +2 "storage"(+. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +677 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &<, : 9 \ +2 "manipulator"&A& +3 "core" &{ ~  +2 .tElbow.seek 5 +2 "manipulator"&#( +38 "core" ( +2 "manipulator"&& +4 "core" & 8  +2 "storage"(c& +3 "core" &<, ~ D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +101 "core" ' +2 "storage"(g& +4 "core" &<, w \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(q'r +296 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +4 "core" &<, k h \ +2 "manipulator"&x& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&.& +4 "core" &  +2 "storage"(G& +3 "core" &<, j j \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&('Ϲ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(2' +6 "core" & p  +2 "manipulator"&E% +4 "core" % ϻ  +2 .tForearm.seek :retract +2 "manipulator"&k' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&I& +4 "core" &ӡ! M ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &ӡ"  ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +96 "core" ' +2 "manipulator"&>& +4 "core" &ӡ"  ;4 +2 "manipulator"&,% +5 "core" %@ g 1 +2 "collection"'@& +3 "core" & \ +3 "collection"'z& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" & \ +8 &; \ $d +9 &Yx \ 7 +9 &u \ K +10 &R \ K +9 &X \ K +10 &ET  \ K +9 &U \ \ J +9 &V \ J +10 &U \ K +9 &MY \ K +10 & S \ \ K +9 &!R  \ K +9 &#U \ J +10 &%UT \ K +9 &'W \ K +9 &(T \ K +10 &*T \ J +9 &,]U \ K +9 &.Y \ K +10 &/S \ K +9 &1V \ \ J +10 &3eU \ K +9 &5'X \ K +9 &6T \ K +10 &8T \ J +9 &:mU \ K +10 &\ $d +10 &Wy\ 7 +9 &x\ L +9 &S\ M +10 &rR\ M +9 &4R\ M +9 &U\ M +10 &U\ M +9 &zT\ M +10 &<U\ M +9 &U\ M +9 &!U\ M +10 &#V\ M +9 &%DU\ M +9 &'U\ M +10 &(U\ M +9 &*V\ M +10 &,MV\ M +9 &.U\ M +9 &/V\ M +10 &1W\ M +9 &3TV\ M +9 &5V\ M +10 &6V\ M +9 &8Y\ M +10 &:[W\ M +9 &<Y\ M +9 &=W\ N +10 &?Y\ M +9 &AcZ\ M +9 &C"`\ N +10 &Dc\ O +9 &Fk\ P +10 &H_{\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &Oa\ S +9 &Q \ T +10 &R\ T +9 &T\ U +10 &Ve\ U +9 &X&\ U +9 &Y\ T +10 &[\ T +9 &]k\ B +9 &^Cs\ V +10 &^=\ 4 +5 ( +2 "processing"%\ & +4 "core" &^,\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&^% +4 "core" %    z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +92 "core" ' + "processing"%& +4 "core" &^,\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&b% +4 "core" %  \  &  +47 "storage"(j% +6 "core" %  #\  +2 "storage"(. +3 "core" .(<- +2 "storage"(M& +4 "core" &<, " *\ +2 "storage"(p& +4 "manipulator"&0& +4 "core" &<, % \ + &   , 4 +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(;'r + "manipulator"&a( +7 "core" ( +2 "manipulator"&!& +3 "core" &    4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   4 +3 .tForearm.seek PC +2 "manipulator"&W' +91 "core" ' +2 .tHand.close + "manipulator"&\ +2 "manipulator"&x& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&G& +4 "core" & D  +2 "storage"(H& +4 "core" &<, L 8 '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +90 "core" ' + "storage"(E& +4 "core" &<, 8 < K\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'r +296 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &   +2 "storage"(h& +4 "core" &<, # #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&q'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(>- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(,'b +29 "core" ' +2 "manipulator"&@% +3 "core" %Λ S +2 "storage"( & +4 "core" &<, $ # \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&2' +15 "core" ' + "manipulator"&k& +4 "core" & @  +2 "storage"(R& +3 "core" &<, H F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(F' +36 "core" ' +2 "manipulator"&e& +3 "core" &  +2 "manipulator"&i% +4 "core" %: +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +157 "core" ( +2 "manipulator"&& +3 "core" &ә#  9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ә# : 9( +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&z/ +64 "core" / +2 .tCC.seek :open +2 "collection"'%( +449 "core" ( +2 "storage"(& +4 "core" &<, g k /\ +2 "storage"(& +4 "core" &<, i _ x\ +2 "manipulator"&9& +3 "core" &Ӛ  0 9' +2 "manipulator"&w% +4 "core" % S ) B +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +162 "core" ( +2 "manipulator"&1& +3 "core" &   +2 "storage"(5& +4 "core" &<, }  w\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&y'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +3 "core" % Ι 2 + +2 "storage"(-& +3 "core" &<,  v T\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 312 counts + "manipulator"&' +52 "core" ' +9 "manipulator"&/& +4 "core" &  +2 "storage"(l& +3 "core" &<, P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +14 "core" ' +2 "storage"(d% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(`' +99 (v% +3 "core" %G k k c\ Va +2 "manipulator"&% +4 "core" %b D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'{& +3 "core" & \ +2 "manipulator"&C% +3 "core" %  `  +3 "storage"(% +3 "core" %  1\  +2 "storage"(r. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(Q(K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K Y M\  +2 "manipulator"&^& +4 "core" & N  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&b& +4 "core" &  W  +2 "storage"(j& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +91 "core" ' +2 "storage"(& +4 "core" &K x\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'r +295 "core" ' + "storage"(p- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +2 "core" &K ^ ^ \  +3 "manipulator"&!& +3 "core" & w  +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&f& +4 "core" & f  +2 "storage"(<& +4 "core" &K k g <\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&|'h +31 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& +2 "storage"(:' +7 "core" &  + "manipulator"&;% +4 "core" % ] +2 .tForearm.seek :retract +2 "manipulator"&K' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +155 "core" ( +2 "manipulator"&O& +2 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +3 "core" &ӂ- Dw +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &Ӄ- Dv +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&n'? +91 "core" ' +2 "manipulator"&u& +4 "core" &Ӟ'  @[ +2 "manipulator"&a% +4 "core" %< V p +2 "collection"'7& +4 "core" & \ +2 "collection"'Z& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'V(\\ +5 "core" & \  +8 &4z \ *y +9 &g~ \ > +10 &n \ L +9 &XT  \ J +9 &U \ J +10 &U \ K +9 &W \ K +10 &`W \ J +9 &!U \ K +9 &W \ K +10 & W \ J +9 &"hT  \ J +10 &$)T \ K +9 &%X \ K +9 &'X \ K +10 &)oX \ K +9 &+1W \ K +9 &,W \ K +10 &.W \ K +9 &0wS \ K +9 &29S \ K +10 &3S \ K +9 &5T \ K +10 &7U \ J +9 &9AU \ K +9 &;W \ K +10 &<W \ K +9 &>T \ K +9 &@IU \ K +10 &B\ W \ K +9 &C\\ \ L +10 &Ee \ M +9 &GGt  \ N +9 &H\ \ \ \ R +10 &J\ \ \ V +9 &Lt\ \ \ W +9 &N5\ \ \ \ W +10 &O\ \ \ W +9 &Q\ \ \ \ W +10 &Su\ \  \ Y +9 &U8\ \  \ Y +9 &V\ \ \ [ +10 &X\ \ \ [ +9 &Zx\ \ \ [\ +9 &\\z\ \ \ / +10 &\\7\ \ \ "i +9 ( + &\\_\ \ \ L +3 "collection"'Z& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&&% +4 "core" % < I p +46 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&"% +4 "core" %   +2 "storage"(% +3 "core" % 4 @ P\  +2 "storage"(t. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(~(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +4 "core" &K O `\  +2 "manipulator"&S& +3 "core" &Ӭ$ c >M +2 "manipulator"&4% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&+( +156 "core" ( +2 "manipulator"&3& +4 "core" &  +2 "storage"(]& +3 "core" &K > 9 u\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +92 "core" ' + "storage"(?& +4 "core" &K j Q #\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(s'r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (T& +2 "core" &K & ?\  +3 "manipulator"&& +3 "core" & , +2 .tElbow.seek 6 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&& +4 "core" & # +2 "storage"(D& +3 "core" &K I H )\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&}'h +45 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(g' +8 "core" & + "manipulator"&6% +4 "core" % k G +2 .tForearm.seek :retract +2 "manipulator"&o' +97 "core" ' +3 .tElbow.seek PC +2 "manipulator"&J( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&_& +3 "core" & ! < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" & < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&x' +99 "core" ' +2 "manipulator"&G& +4 "core" &  < +2 "manipulator"&H% +4 "core" %  ) +2 "processing"%$& +3 "core" &\ +3 "processing"%E& +4 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +9 &3y\ *x +9 &b|\ = +10 &sp\ N +9 &6Q\ M +9 &U\ N +10 &T\ M +9 &{W\ M +9 &=U\ M +10 &U\ N +9 &T\ M +10 & V\ N +9 &"ET\ M +9 &$U\ M +10 &%Q\ M +9 &'U\ M +9 &)NV\ M +10 &+U\ M +9 &,W\ M +10 &.Q\ M +9 &0UU\ M +9 &2R\ M +10 &3V\ M +9 &5U\ M +9 &7]W\ M +10 &9Z\ M +9 &:Y\ M +10 &<S\ M +9 &>eU\ M +9 &@'V\ M +10 &A^\ N +9 &Cf\ O +9 &Efh\ P +10 &G%s\ Q +9 &H\ S +10 &J\ T +9 &Lc\ S +9 &N$\ T +10 &O\ T +9 &Q\ U +9 &Sh\ T +10 &U)\ U +9 &V\ U +10 &X\ T +9 &Zo\ U +9 &\\1\ U +10 &]zs\ A +9 &^!I\ C +9 ( +2 &^@\ < + "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"& 1 +54 "core" 1 + "manipulator"&A% +4 "core" %    ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +92 "core" ' +2 "processing"%I& +3 "core" &^A\ < +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&h% +3 "core" % \   D  +2 "storage"(>% +4 "core" % - - 8\  +2 "storage"(@. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +47 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +3 (k& +2 "manipulator"&R& +3 "core" &K\  R ^\  +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   8 < +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(e'r +3 "manipulator"&i( +5 "core" ( +2 "manipulator"&)& +5 "core" &   D < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" & \ & < +3 .tForearm.seek PC +2 "manipulator"&#' +94 "core" ' + .tHand.close +2 "manipulator"&q/ +62 "core" / +2 .tPC.seek :open +2 "processing"%2( +83 "core" ' + "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +317 ( +2 "storage"(& +3 "core" &K G F =\  +2 "manipulator"&B& +4 "core" & a < +2 "manipulator"&(% +4 "core" %   H +2 .tForearm.seek :retract +2 "manipulator"&z' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&[( +258 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(& +4 "core" &K E F "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' +2 .tHand.open +2 "manipulator"&91 +57 "core" 1 +2 "storage"(w- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(5' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(U& +4 "core" &K n p \  +2 "manipulator"&& +4 "core" &   F  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&-& +4 "core" &   A  +2 "storage"(/& +3 "core" &K f g \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(d'" +58 "core" ' +2 "manipulator"&Y& +3 "core" &  +2 "storage"(v& +4 "core" &K F F \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +18 "core" ' +2 "manipulator"&{% +3 "core" %K ` +2 "storage"(C& +4 "core" &K % $ )\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&'w +13 "core" ' +2 "manipulator"&& +4 "core" & &  +2 "storage"(r& +4 "core" &K P H 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&F' +15 "core" ' +2 "storage"(=% +4 "core" % S P [\ +3 ."downElevator"SE.seek :down +3 "storage"(`' +99 ( % +3 "core" %FN % &\ Wd +2 "manipulator"&% +4 "core" % Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (b& +42 "core" &K P S d\  +9 "collection"'j& +4 "core" &\\`\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %  9  +2 "storage"(X% +3 "core" % < I )\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(p(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (0& +3 "core" &K  ! =\  +2 "manipulator"&!& +4 "core" & 3  +2 .tElbow.seek 6 +2 "manipulator"&f( +4 "core" ( + "manipulator"&<& +4 "core" & N  +2 "storage"(& +3 "core" &K = ; \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +93 "core" ' +2 "storage"(;& +3 "core" &K j Q B\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +308 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" &  +2 "storage"(W& +3 "core" &K I F \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&M'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(a'p +34 "core" ' +2 "manipulator"&7% +3 "core" %C +2 "storage"(& +4 "core" &K F J d\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&:'o +14 "core" ' + "manipulator"&K& +4 "core" & *  +2 "storage"(%& +4 "core" &K G F #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(&' +40 "core" ' + "manipulator"&Z& +4 "core" & %  +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( + "manipulator"&t& +4 "core" &ӟ! ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &N& +2 "core" &ӟ! ;7 +3 .tForearm.seek CC +2 "manipulator"&S'? +92 "core" ' +2 .tHand.close + "manipulator"&4/ +58 "core" / +2 .tCC.seek :open +2 "collection"'n( +446 "core" ( +2 "storage"(3& +4 "core" &K j ` 7\  +2 "storage"(]& +3 "core" &K i \\ 4\  +3 "manipulator"&Q& +3 "core" &Ӥ" P ;2 +2 "manipulator"&?% +4 "core" % G \ 0 +2 .tForearm.seek :retract +2 "manipulator"&'' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&L( +161 "core" ( + "manipulator"&& +4 "core" &  _  +2 "storage"(T& +3 "core" &K  6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&D1 +58 "core" 1 +2 "manipulator"&% +4 "core" % 5 - +2 "storage"(c& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 293 counts +40 "manipulator"&6'a +21 "core" ' +2 "manipulator"&+& +4 "core" &  g  +2 "storage"(*& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +25 "core" ' + "storage"(}% +4 "core" % x g\ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (m% +3 "core" % A l k \ V` +2 "manipulator"&8% +3 "core" %' ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'H& +4 "core" & \ +2 "manipulator"&$% +4 "core" %  C \ +2 "storage"(g% +4 "core" % ~ <\ +2 "storage"(o. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &[ j h Q\ \ +2 "manipulator"&A& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&I(r +38 "core" ( + "manipulator"&h& +4 "core" &  =  +2 "storage"(>& +4 "core" &[ ~ #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'= +99 "core" ' + "storage"(E& +4 "core" &[ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +294 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ()& +3 "core" &[ k ^ \ +3 "manipulator"&.& +3 "core" &  &  +2 .tElbow.seek 7 +2 "manipulator"&x(r +23 "core" ( +2 "manipulator"&q& +4 "core" &z . b +2 "storage"(~& +3 "core" &[ k ` _\ +3 .tForearm.seek 7 + 300 counts + "manipulator"&,'ϧ +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +3 "storage"(' +7 "core" &z  b +2 "manipulator"&e% +3 "core" %  R +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' + .tElbow.seek CC +2 "manipulator"&B(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&(& +3 "core" &Ӌ  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &Ӌ F 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '? +93 "core" ' +2 "manipulator"&& +3 "core" &ӌ   5 +2 "manipulator"&i% +4 "core" %9  % > +2 "collection"'9& +4 "core" & -\ +3 "collection"'w& +5 "core" & )\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & )\ +7 &; ,\ %g +10 &Yv \ 7 +9 &v \ J +10 &T \ J +9 &U \ K +9 &KW #\ K +10 & R \ K +9 &R #\ K +9 &R #\ K +10 &SR \ K +9 & T \ J +10 &!T \ J +9 &#X \ K +9 &%ZW \ K +10 &'S \ K +9 &(S \ K +9 &*T \ J +10 &,cT  \ J +9 &.%U \ J +10 &/U  \ K +9 &1X \ K +9 &3jX \ K +10 &5,S  \ K +9 &6U \ J +9 &8U \ K +10 &:qY \ K +9 &<4V \ K +10 &=W \ K +9 &?Y \ K +9 &AyX \ K +10 &C9_ \ L +9 &Dg  \ M +9 &Fs \ N +10 &Hk\ \ \ S +9 &J!\ \ \ W +10 &K\ "\ !\ W +9 &M\ \ \ X +9 &Ob\ \ \ Y +10 &Q"\ \ \ Y +9 &R\ \ \ Y +9 &T\ \ \ [ +10 &Vd\ \ \ [ +9 &X$\ \ \ [ +10 &Y\ \ \ [\ +9 &[\ \ \ I +9 &\\1\ \ \ 2 +10 &\\e\ \ \ N +2 ( +2 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&U1 +54 "core" 1 +6 "manipulator"&% +3 "core" % 9 L > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +98 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%/& +4 "core" &\ +2 "manipulator"&z% +3 "core" %   +2 "storage"(Y% +4 "core" % F O =\  +2 "storage"(v. +2 "core" .([ +2 "storage"({& +4 "core" &[ S T `\ +2 "storage"(C& +4 "core" &[ S U a\ +2 "manipulator"&& +3 "core" &  % +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&r(r +149 "core" ( + "manipulator"&1& +4 "core" &v   +2 "storage"(=& +3 "core" &[ 8 ; C\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts + "manipulator"&['= +95 "core" ' +2 "storage"(& +4 "core" &[ j k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'r +310 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ F R ;\ +3 "manipulator"&l& +3 "core" &v  +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&d& +4 "core" &v  + "storage"(& +4 "core" &[ T S U\ +3 .tForearm.seek 7 + 300 counts + "manipulator"&b'ϧ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(j' +8 "core" &v  + "manipulator"&% +4 "core" % ϝ +2 .tForearm.seek :retract +2 "manipulator"&X' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&0& +4 "core" & J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" & J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&<' +98 "core" ' +2 "manipulator"&& +3 "core" & J +2 "manipulator"&F% +4 "core" % + +2 "processing"%;& +4 "core" &\ +3 "processing"%`& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +3 "core" &\ +8 &6\ $c +9 &U|\ 7 +10 &y\ L +9 &S\ M +9 &bV\ N +10 &%S\ M +9 &X\ M +9 &U\ N +10 &kT\ M +9 &-W\ M +10 &U\ N +9 &!T\ M +9 &#sS\ M +10 &%5X\ M +9 &&U\ N +9 &(W\ N +10 &*{U\ M +9 &,=S\ M +10 &-V\ M +9 &/V\ M +9 &1T\ M +10 &3EW\ M +9 &5U\ M +9 &6X\ M +10 &8W\ N +9 &:MS\ M +9 &<Y\ N +10 &=W\ N +9 &?Y\ M +10 &ATU\ N +9 &C_\ O +9 &Dc\ O +10 &Fn\ P +9 &HP{\ R +10 &J\ S +9 &K\ T +9 &M\ T +10 &OP\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &VW\ U +9 &X\ U +10 &Y\ U +9 &[\ T +10 &]]\ D +9 &^Ap\ !c +9 &^/\ / +6 ( +2 "processing"%`& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"& 1 +2 "core" &^\ / +56 1 +2 "manipulator"&^% +3 "core" %   + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' +2 "processing"%O& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&W% +4 "core" %    +2 "storage"(u% +3 "core" % ) 4\  +2 "storage"(7. +3 "core" .([ +2 "storage"(& +4 "core" &[ ( = "\ +2 "storage"(K& +2 "manipulator"&%& +8 "core" & \  J + &[ 2 )\ +48 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&Z( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +18 "core" ( +2 "manipulator"&P& +4 "core" &   Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&M/ +58 "core" / +2 .tPC.seek :open +2 "processing"%:( +77 "core" ' +2 "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'1 +47 "core" ' +318 ( +3 "storage"(N& +3 "core" &[ G F \ +2 "manipulator"&& +4 "core" & +2 "manipulator"&|% +4 "core" %   H +2 .tForearm.seek :retract +2 "manipulator"&4' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&"(r +243 "core" ( + "manipulator"&V& +4 "core" &j  # +2 "storage"(3& +4 "core" &[ $ !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&]'= +95 "core" ' +2 .tHand.open + "manipulator"&Q1 +54 "core" 1 +2 "storage"(?- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(T' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +3 "core" -' +2 "storage"(& +4 "core" &[ \ +2 "manipulator"&D& +3 "core" &j \  # +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( + "manipulator"&c& +4 "core" &j    # +2 "storage"(+& +4 "core" &[ u e \ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&*'= +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(}'" +57 "core" ' +2 "manipulator"&'& +4 "core" &j  # +2 "storage"(L& +3 "core" &[ 2 < \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&m'{ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&6% +3 "core" %΍ +2 "storage"(H& +4 "core" &[ - , [\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&$'Ϲ +15 "core" ' + "manipulator"&g& +4 "core" &m   # +2 "storage"(o& +4 "core" &[ F F %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&&'= +16 "core" ' + "storage"(s% +4 "core" % I T E\ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (p% +4 "core" %7M\ \  \ Xg +2 "manipulator"& % +4 "core" %6  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (h& +3 "core" &[ ; 6 \ +3 "collection"'>& +3 "core" &\\e \ \ N +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&E% +3 "core" %   +2 "storage"(% +4 "core" % F E \  +46 "storage"(G. +4 "core" .([ +2 "storage"(R& +4 "core" &[ F F \ +2 "storage"()& +4 "core" &[ I I %\ +2 "manipulator"&.& +3 "core" &m  # +2 .tElbow.seek 7 +2 "manipulator"&q(r +3 "core" ( +2 "manipulator"&~& +4 "core" &m  # +2 "storage"(J& +4 "core" &[ G H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +96 "core" ' +2 "storage"(e& +3 "core" &[ 8 L f\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'r +296 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" &m  # +3 "storage"(#& +3 "core" &[ F E 8\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&k'{ +18 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(i'g +30 "core" ' +2 "manipulator"&9% +4 "core" %΃ +2 "storage"(x& +3 "core" &[ ) 2 ,\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 308 counts + "manipulator"&'ϯ +15 "core" ' +2 "manipulator"&& +4 "core" &n  # +2 "storage"(n& +4 "core" &[ I R b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'= +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&/& +4 "core" &n   # +2 "manipulator"&z% +3 "core" %< 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +155 "core" ( +2 "manipulator"&{& +3 "core" &Ә# M <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &Ә# <= +2 .tForearm.seek CC +2 "manipulator"&C'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"( & +4 "core" &[ _ i #\ +2 "storage"(1& +3 "core" &[ j j \ +2 "manipulator"&=& +4 "core" & B / +2 "manipulator"&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&B' +105 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&-(r +152 "core" ( +2 "manipulator"& & +4 "core" &t  f  + "storage"(& +4 "core" &[  r\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&l'{ +96 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +3 "manipulator"&% +3 "core" % ΍ ' +2 "storage"(y& +4 "core" &[ ~ \ + .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&'Ϲ +15 "core" ' + "manipulator"&r& +4 "core" &t  2  +2 "storage"([& +4 "core" &[ O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&5'= +19 "core" ' +41 "storage"(b% +10 "core" % 9\ +3 ."downElevator"SE.seek :down +4 "storage"(0' +98 (!% +3 "core" %I j j \ Va +2 "manipulator"&% +4 "core" %= +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'F& +3 "core" & !\ +2 "manipulator"&;% +4 "core" %    +2 "storage"(j% +3 "core" %  \  +2 "storage"(X. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(2(<- +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<. H Q !\ +2 "manipulator"&^& +4 "core" &t  +2 .tElbow.seek 5 +2 "manipulator"&O( +36 "core" ( +2 "manipulator"&W& +3 "core" &  \ +2 "storage"(u& +4 "core" &<.  .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +97 "core" ' +2 "storage"(& +4 "core" &<. \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'r +296 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +4 "core" &<- g _ P\ + "manipulator"&P& +5 "core" & \ +2 .tElbow.seek 5 +2 "manipulator"&f( +4 "core" ( + "manipulator"&<& +4 "core" & Q \ +2 "storage"(M& +4 "core" &<- i i ]\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"( ' +7 "core" & \ +2 "manipulator"&% +3 "core" % ϭ [ +3 .tForearm.seek :retract +2 "manipulator"&N' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&|& +4 "core" &ӑ  . :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӑ  S :- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'? +103 "core" ' +3 "manipulator"&3& +3 "core" &ӑ!  :- +2 "manipulator"&Z% +4 "core" %K 0 +3 "collection"'Q& +3 "core" & +\ +3 "collection"'?& +5 "core" & -\ +2 .tCC.seek :closed +2 "collection"'S(\\ +3 "core" & *\  +9 &4{ *\ *y +10 & f~ *\ > +9 &j (\ L +9 &ZU "\ J +10 &U \ J +9 &U  \ J +9 &T '\ J +10 &bT &\ J +9 &$U \ J +10 &T $\ J +9 & T \ J +9 &"jU &\ J +10 &$,T "\ J +9 &%U !\ J +9 &'U \ J +10 &)rU \ J +9 &+4T \ J +10 &,T \ J +9 &.U  \ J +9 &0zU \ J +10 &2;U \ K +9 &3X  \ K +9 &5Y  \ K +10 &7X \ K +9 &9CT \ K +10 &;U \ J +9 &<U \ J +9 &>V \ K +10 &@JU \ K +9 &B W \ K +9 &CZ \ L +10 &Ee \ M +9 &GHt \ O +10 &I\  \ Q +9 &J\ \ \ W +9 &Lu\ \ \ W +10 &N6\ \ \ X +9 &O\ \ \ W +9 &Q\ \ \ X +10 &Sy\ \ \ Y +9 &U:\ \ \ Y +10 &V\ \ \ Z +9 &X\ \ \ [ +9 &Z{\ \ \ [ +10 &\\y\ \ \ 0 +9 &\\0\ \ \ X +9 ( + &\\k\ \ \ K +3 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&D% +4 "core" % K  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%+& +4 "core" &\ +2 "manipulator"&4% +4 "core" %   + "storage"('% +48 "core" % I I 4\  +5 "storage"(L. +3 "core" .(<- +2 "storage"(t& +4 "core" &<- D E \ +2 "storage"(6& +3 "core" &<- A 3 \ +2 "manipulator"&H& +4 "core" &Ӥ - 7 +2 "manipulator"&% +4 "core" %  \\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&g( +160 "core" ( +2 "manipulator"&o& +4 "core" &  + "storage"(s& +4 "core" &<- S S &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +104 "core" ' + "storage"(]& +4 "core" &<- j j \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(T'r +299 "core" ' +2 "storage"(p- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &<- 6 D N\ +2 "manipulator"&*& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&}& +4 "core" &    +2 "storage"(m& +3 "core" &<- O G Y\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&$'Ϲ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&h/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&>& +2 "storage"(E' +7 "core" &  +2 "manipulator"&% +4 "core" % Ϻ +2 .tForearm.seek :retract +2 "manipulator"&G' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( + "manipulator"&R& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&.' +93 "core" ' +2 "manipulator"&~& +3 "core" & R +2 "manipulator"&J% +4 "core" % ( U +2 "processing"%&& +4 "core" &\ +3 "processing"%e& +4 "core" &\ +3 .tPC.seek :closed + "processing"%_(^ +5 "core" &\  +8 &3u\ )w +10 &e}\ > +9 &~p\ N +9 &AR\ M +10 &V\ M +9 &S\ M +10 &T\ M +9 &JQ\ M +9 & T\ M +10 &T\ N +9 & T\ M +9 &"PT\ N +10 &$U\ M +9 &%T\ N +10 &'T\ M +9 &)YU\ M +9 &+U\ M +10 &,S\ M +9 &.T\ M +9 &0aR\ M +10 &2#W\ M +9 &3T\ M +10 &5R\ M +9 &7iW\ M +9 &9+Y\ M +10 &:Y\ N +9 &<U\ M +9 &>qW\ M +10 &@3Y\ M +9 &AY\ M +10 &Cd\ O +9 &Etf\ O +9 &G1q\ Q +10 &H~\ R +9 &J\ S +9 &Lo\ S +10 &N.\ T +9 &O\ T +10 &Q\ U +9 &St\ T +9 &U3\ U +10 &V\ T +9 &X\ T +9 &Zz\ U +10 &\\;\ U +9 &]|t\ 8 +10 &^0\ J +9 &^\ + +2 ( +2 "processing"%e& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&81 +55 "core" 1 +2 "manipulator"&A% +5 "core" %     U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@' +96 "core" ' +3 "processing"%(& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&#% +4 "core" % ! \  & +2 "storage"(% +3 "core" % , - t\  +2 "storage"(9. +3 "core" .(<- +2 "storage"(x& +4 "core" &<- - - m\ +2 "storage"(& +3 "manipulator"&n& +7 "core" &<- * , ;\ + & \  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +3 "manipulator"&/( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'r +3 "core" ( + "manipulator"&\\& +4 "core" &   4 +2 .tElbow.reconfigure :loose +42 "manipulator"&$ &.,(#b +10 &q& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&I' +95 "core" ' +2 .tHand.close + "manipulator"&k/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +52 "core" ' + "storage"(i- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'1 +42 "core" ' +349 ( +2 "storage"(w& +4 "core" &<, E E $\ +2 "manipulator"&U& +3 "core" & ? +2 "manipulator"&,% +4 "core" %  > +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Y( +249 "core" ( +2 "manipulator"&& +4 "core" & 9  +2 "storage"( & +3 "core" &<, E E -\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +96 "core" ' + .tHand.open +2 "manipulator"&=1 +61 "core" 1 +3 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(v& +4 "core" &<, ;\ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +11 "core" ( +2 "manipulator"&y& +4 "core" &   + "storage"(r& +4 "core" &<, Y\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(b'" +51 "core" ' + "manipulator"&B& +4 "core" &  +2 "storage"(-& +3 "core" &<, > D r\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&!'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(l' +18 "core" ' +2 "manipulator"&% +4 "core" %΂   +2 "storage"(F& +3 "core" &<, $ ' \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 289 counts +2 "manipulator"&;'Ϯ +13 "core" ' + "manipulator"&j& +3 "core" &   +3 "storage"(X& +3 "core" &<, E F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' + "storage"(5% +4 "core" % S S \\\ +3 ."downElevator"SE.seek :down +3 "storage"(0' +99 (% +2 "core" %YO ' ' \ We +3 "manipulator"& % +3 "core" %3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +4 (W& +2 "core" &<, = I 0\ +3 "collection"'u& +3 "core" &\\k \ \ K +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %    +2 "storage"(d% +4 "core" % G I \  +2 "storage"(. +2 "core" .(<- +2 "storage"(K& +4 "core" &<, P H o\ +2 "storage"(`& +4 "core" &<, T U D\ +2 "manipulator"&P& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&<( +5 "core" ( + "manipulator"&M& +3 "core" &   +3 "storage"(& +42 "core" &<, S R \ +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +92 "core" ' +2 "storage"(& +3 "core" &<, j Q *\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +307 "core" ' +2 "storage"(7- +2 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" &  +2 "storage"(& +4 "core" &<, G G T\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&%'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(3- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Z'b +29 "core" ' + "manipulator"&Q% +4 "core" %Ν  +2 "storage"(f& +4 "core" &<, 2 F h\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"& ' +13 "core" ' +2 "manipulator"&N& +4 "core" &   +2 "storage"(& +3 "core" &<, E E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(D' +36 "core" ' + "manipulator"&+& +4 "core" &  +2 "manipulator"&4% +5 "core" %E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +160 "core" ( +2 "manipulator"&L& +4 "core" &Ӛ" o ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &Ӛ" E ;6 +4 .tForearm.seek CC + "manipulator"&6'? +96 "core" ' + .tHand.close +2 "manipulator"&H/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(V& +3 "core" &<, g j \ +3 "storage"(o& +3 "core" &<, j j \ +2 "manipulator"&s& +4 "core" &Ӣ  T :. +2 "manipulator"&]% +3 "core" % H  # +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&c( +162 "core" ( +2 "manipulator"&p& +3 "core" &  4  +2 "storage"( & +3 "core" &<, ~ 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&*'΍ +101 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +63 "core" 1 +3 "manipulator"&h% +3 "core" % Ώ I +2 "storage"(>& +4 "core" &<, ~ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&'ϻ +14 "core" ' + "manipulator"&g& +4 "core" &  f  +2 "storage"("& +3 "core" &<, [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&T'O +16 "core" ' + "storage"($% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(R' +99 ()% +2 "core" %F j k \ V` +3 "manipulator"&% +3 "core" %F W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +131 "core" ' +11 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'J& +3 "core" & \ +2 "manipulator"&&% +4 "core" %  p  +2 "storage"(E% +4 "core" % ~ \  +2 "storage"(G. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(:(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &K j _ x\ \ +2 "manipulator"&A& +4 "core" & D  +2 .tElbow.seek 6 + "manipulator"&(( +3 "core" ( +2 "manipulator"&#& +4 "core" & -  +2 "storage"(& +3 "core" &K p j \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +90 "core" ' + "storage"(x& +4 "core" &K } A\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +308 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (n& +2 "core" &K j m \ \ +2 "manipulator"&\\& +4 "core" & i  +2 .tElbow.seek 6 +2 "manipulator"&q( +4 "core" ( + "manipulator"&.& +4 "core" & .  +2 "storage"(k& +3 "core" &K h ` h\ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&i'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"(_' +7 "core" & 4  +2 "manipulator"&z% +3 "core" % f +3 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&,& +3 "core" &ӑ& R ?U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &ӑ& e ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 "manipulator"& & +4 "core" &Ӓ& ?T +2 "manipulator"&/% +3 "core" %6 7 v +3 "collection"'=& +4 "core" & .\ +2 "collection"'& +5 "core" & *\ +2 .tCC.seek :closed +2 "collection"'C(\\ +5 "core" & /\ +7 &4 ,\ $e +9 &Wv "\ 6 +9 &x *\ K +10 &U '\ K +9 &|S  \ K +9 &?T #\ J +10 &U "\ J +9 &T \ J +10 &W %\ K +9 &EW )\ K +9 & W #\ K +10 &!W "\ K +9 &#W #\ K +9 &%NW $\ K +10 &'R !\ J +9 &(T  \ J +10 &*T \ J +9 &,UR \ K +9 &.T  \ J +10 &/U \ J +9 &1U  \ J +9 &3^T \ \ J +10 &5 T  \ J +9 &6U \ K +10 &8W \ K +9 &:eR \ K +9 &<(U \ J +10 &=U \ J +9 &?U \ K +9 &AmW \ K +10 &C.[ \ K +11 &De \ L +8 &Fk \ N +10 &He\ \ P +10 &J\ \ \ U +9 &K\ \ \ X +9 &M\ \ \ X +10 &OW\ \ \ X +9 &Q\ \ \ X +10 &R\ \ \ X +8 &T\ \ \ Z +10 &VX\ \ \ Z +10 &X\ \ \ [ +9 &Y\ \ \ \\ +9 &[\ \ \ I +10 &\\=\ \ \ (z +9 &\\{\ \ \ Z +4 ( +6 "collection"'& +6 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open +3 "manipulator"&v1 +7 "core" &\\}\ \ \ Z +51 1 +3 "manipulator"&% +7 "core" % 6  u v +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +3 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%y& +4 "core" &\ +2 "manipulator"&r% +4 "core" %   +2 "storage"(B% +3 "core" % $ $\  +2 "storage"(-. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" &K U\ # =\  +2 "manipulator"&{& +48 "core" &ӭ" <9 +5 "manipulator"&j% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&X( +165 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(5& +4 "core" &K T S T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +97 "core" ' +2 "storage"(1& +4 "core" &K F G ?\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K - ' I\  +2 "manipulator"&[& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&b& +3 "core" &  +2 "storage"(!& +4 "core" &K & ' \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&;'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&W/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(' +7 "core" & b  +2 "manipulator"&d% +4 "core" % x - +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&l( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( + "manipulator"&K& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +99 "core" ' +2 "manipulator"&M& +3 "core" & +2 "manipulator"&% +4 "core" % +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%0(^ +3 "core" &\  +9 &3u\ )w +10 &d}\ > +9 &|q\ N +9 &@P\ M +10 &U\ M +9 &T\ M +10 &U\ N +9 &HU\ M +9 &\ T\ M +10 &T\ M +9 & U\ M +9 &"PR\ M +10 &$U\ M +9 &%U\ M +10 &'U\ M +9 &)XU\ M +9 &+U\ M +10 &,W\ M +9 &.T\ M +9 &0_R\ M +10 &2!V\ M +9 &3U\ N +10 &5U\ M +9 &7gV\ M +9 &9)Y\ M +10 &:Y\ M +9 &<X\ M +9 &>nU\ N +10 &@0W\ N +9 &AZ\ N +10 &Ce\ O +9 &Epi\ P +9 &G.r\ Q +10 &H\ S +9 &J\ T +9 &Lm\ S +10 &N-\ T +9 &O\ T +10 &Q\ V +9 &Sr\ T +9 &U4\ T +10 &V\ U +6 "Can"\ ch&5 +3 "core" &X\ T +9 &Zz\ T +10 &\\:\ U +9 &]yw\ > +10 &^"T\ P +9 &^8\ 8 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&^% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7' +93 "core" ' +2 "processing"%|& +4 "core" &^4\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" % !  \ - +2 "storage"(3% +4 "core" %\ \  2\  + "storage"(Q. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(f(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (N& +2 "manipulator"&& +4 "core" &K\ \  \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   Y +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(+'r +3 "manipulator"&4( +28 "core" ( + "manipulator"&\ & +4 "core" &   =  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +43 "core" & \  )  +10 .tForearm.seek PC +2 "manipulator"&O' +97 "core" ' + .tHand.close +2 "manipulator"&%/ +58 "core" / +2 .tPC.seek :open +2 "processing"% ( +15 "core" ' +2 "storage"(Z- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +41 "core" ' +390 ( + "storage"(t& +4 "core" &K - ) w\  +2 "manipulator"&& +4 "core" &  + "manipulator"&a% +4 "core" %  > +2 .tForearm.seek :retract +2 "manipulator"&H' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&'( +245 "core" ( + "manipulator"&S& +4 "core" & B +2 "storage"(V& +3 "core" &K % &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +90 "core" ' +2 .tHand.open +2 "manipulator"&s1 +56 "core" 1 +3 "storage"(]- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +3 "core" -' +2 "storage"(?& +4 "core" &K g e \  +2 "manipulator"&m& +3 "core" &   / A +2 .tElbow.seek 6 +2 "manipulator"&h( +4 "core" ( + "manipulator"&>& +4 "core" &   4 A +2 "storage"(g& +3 "core" &K e e e\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +17 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"($'" +49 "core" ' + "manipulator"&& +4 "core" & A +2 "storage"()& +3 "core" &K ' ' R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +27 "core" ' + .tElbow.hold +2 "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(*' +20 "core" ' + "manipulator"&J% +4 "core" %N  T +2 "storage"(&& +4 "core" &K\ \  2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&'z +13 "core" ' +2 "manipulator"&E& +3 "core" &  A +2 "storage"(G& +4 "core" &K + ' g\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&D' +15 "core" ' +2 "storage"(T% +4 "core" % $ # #\ +2 ."downElevator"SE.seek :down +4 "storage"(R' +98 (2% +3 "core" %GR O ]\ Xh +2 "manipulator"&8% +4 "core" % \  F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 (#& +2 "core" &K  / ?\  +3 "collection"'& +3 "core" &\\|\ \ \ Z +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&x% +3 "core" %   +2 "storage"(}% +4 "core" % $ # 2\  +2 "storage"(~. +2 "core" .(K +2 "storage"(& +4 "core" &K $ % U\  +2 "storage"(n& +3 "core" &K # " 3\  +2 "manipulator"&\\& +4 "core" & m A +2 .tElbow.seek 6 +2 "manipulator"&.( +2 "core" ( +2 "manipulator"&k& +4 "core" & 6 A +2 "storage"(& +3 "core" &K % 3 "\  +3 .tForearm.reconfigure :tight +46 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +94 "core" ' +2 "storage"(z& +3 "core" &K P I *\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('r +298 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" & A +2 "storage"(I& +4 "core" &K D 4 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&e'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(/'o +27 "core" ' + "manipulator"&=% +4 "core" %G  +2 "storage"(q& +3 "core" &K - . S\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 311 counts + "manipulator"&_'s +14 "core" ' +2 "manipulator"&w& +3 "core" & 0 @ +2 "storage"(& +4 "core" &K F G \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&y& +3 "core" &  @ +2 "manipulator"&r% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&B(ӂ +148 "core" ( +2 "manipulator"&-& +3 "core" &y-  D{ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &y-  f D{ +2 .tForearm.seek CC +2 "manipulator"&{'? +97 "core" ' + .tHand.close +2 "manipulator"&j/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"( & +4 "core" &K k j \  +2 "storage"(5& +4 "core" &K j j \  + "manipulator"&:& +4 "core" &" ;2 +2 "manipulator"&1% +4 "core" % *  +2 .tForearm.seek :retract +2 "manipulator"&U' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"( & +4 "core" &K j l \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&['< +97 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&!1 +61 "core" 1 +2 "manipulator"&W% +4 "core" % -  V ! +2 "storage"(u& +4 "core" &K j k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 285 counts + "manipulator"&d'Y +15 "core" ' + "manipulator"&X& +4 "core" &   +2 "storage"(Y& +4 "core" &K P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +23 "core" ' +2 "storage"(;% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(K' +99 (`% +3 "core" %E k k \ V` +2 "manipulator"&% +4 "core" % 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +89 "core" ' +53 ' +8 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +3 "core" & "\ +2 "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % ~ \  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ j _ d\ +2 "manipulator"&^& +3 "core" & m  +2 .tElbow.seek 7 +2 "manipulator"&|(r +32 "core" ( +2 "manipulator"&& +4 "core" &i 9 K +2 "storage"(3& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Q'= +90 "core" ' +2 "storage"(& +4 "core" &[ x\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +2 "core" &[ i _ \ +3 "manipulator"&<& +3 "core" &i  K +2 .tElbow.seek 7 +2 "manipulator"&P(r +2 "core" ( +3 "manipulator"&%& +4 "core" &i  ' K +2 "storage"(& +3 "core" &[ \\ f\ +3 .tForearm.seek 7 + 300 counts + "manipulator"&Z'ϧ +34 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"(0' +6 "core" &i 5 K +2 "manipulator"&+% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&t' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ' + ."downElevator"SE.stop +3 "storage"(5 + "core" ( +2 "manipulator"&a& +6 "core" &ӑ& ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &ӑ&  ?S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'? +94 "core" ' +2 "manipulator"&V& +4 "core" &Ӓ& ?R +2 "manipulator"&4% +3 "core" %? V +3 "collection"'s& +3 "core" & -\ +3 "collection"']& +5 "core" & /\ +2 .tCC.seek :closed +2 "collection"'6(\\ +3 "core" & 0\  +9 &5y /\ *z +10 &\ g{ 0\ > +9 &k ,\ L +10 &\\R *\ K +9 &R *\ K +9 &R (\ J +10 &S %\ J +9 &eR $\ J +9 &%X %\ K +10 &W '\ K +9 & U &\ K +10 &"lS '\ K +9 &$.W $\ K +9 &%U &\ K +10 &'R '\ K +9 &)tR &\ K +9 &+6W #\ K +10 &,U \ K +9 &.R "\ K +10 &0|T \ K +9 &2>S #\ K +9 &4W \ K +10 &5X \ K +9 &7W \ J +9 &9GU \ J +10 &; U \ J +9 &<W \ K +10 &>U  \ K +9 &@NW \ J +9 &B Z \ L +10 &Cb  \ L +9 &Ek \ M +9 &GH{ \ O +10 &H\ \ \ T +9 &J\ !\ \ V +10 &Lx\ \ !\ W +9 &N9\ \ \ W +9 &O\ \ \ X +10 &Q\ \ \ X +9 &S{\ \ \ Y +9 &U;\ \ \ Y +10 &V\ \ \ Z +9 &X\ \ \ [ +10 &Z{\ \ \ [ +9 &\\ z\ \ \ / +9 &\\2\ \ \ a +9 ( +2 &\\p\ \ \ N +2 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&?1 +58 "core" 1 +2 "manipulator"&m% +3 "core" % C  O R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%g& +4 "core" &\ +2 "manipulator"&H% +3 "core" %    +2 "storage"(% +4 "core" % G H 3\  +2 "storage"(). +2 "core" .([ +2 "storage"(J& +4 "core" &[ 4 H _\ +2 "storage"(&& +4 "core" &[ & 3 \ + "manipulator"&L& +4 "core" & - +2 "manipulator"&E% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&G(r +152 "core" ( +3 "manipulator"&p& +4 "core" &s  +2 "storage"(T& +4 "core" &[ E E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&''= +99 "core" ' + "storage"(o& +4 "core" &[ J U V\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +294 "core" ' +2 "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +2 "core" &[ ' % 5\ +3 "manipulator"&"& +3 "core" &s  +2 .tElbow.seek 7 +2 "manipulator"&h(r +4 "core" ( + "manipulator"&$& +4 "core" &s  +2 "storage"(& +4 "core" &[ F H \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(x' +7 "core" &s   +2 "manipulator"&}% +3 "core" % ϲ +2 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +160 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&& +4 "core" & Y 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" & \ 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +92 "core" ' + "manipulator"&k& +4 "core" &  3 +2 "manipulator"&% +5 "core" %  +2 "processing"%D& +3 "core" &\ +3 "processing"%z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%R(^ +3 "core" &\  +9 &2v\ )v +9 &c{\ = +10 &mq\ N +9 &0Q\ M +9 &T\ M +10 &O\ M +9 &uT\ M +10 &7V\ M +9 &U\ N +9 &T\ M +10 & }V\ M +9 &"?T\ M +10 &$R\ M +9 &%W\ M +9 &'U\ M +10 &)HQ\ M +9 &+ U\ M +9 &,S\ M +10 &.T\ M +9 &0OR\ M +10 &2W\ M +9 &3V\ M +9 &5T\ M +10 &7WR\ M +9 &9Y\ M +9 &:Y\ M +10 &<X\ M +9 &>_U\ M +10 &@ T\ N +9 &A]\ N +9 &Ce\ O +10 &Eag\ O +9 &Gp\ Q +9 &H\ R +10 &J\ T +9 &L]\ S +9 &N\ T +10 &O\ T +9 &Q\ U +10 &Sa\ U +9 &U"\ U +9 &V\ U +10 &X\ T +9 &Zi\ U +9 &\\+\ U +10 &]~v\ : +9 &^1\ H +10 &^\ - +2 ( +2 "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&c1 +56 "core" 1 +2 "manipulator"&A% +3 "core" %  \ r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +92 "core" ' +2 "processing"%,& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&I% +4 "core" %    +2 "storage"( % +3 "core" % " /\  +2 "storage"(=. +3 "core" .([ +2 "storage"(q& +4 "core" &[ - - \ +2 "storage"(w& +3 "manipulator"&& +7 "core" &[ " ) ?\ + &   3 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&y( +6 ."raiseStack"SE.seek :beamBreak + "storage"(r'r +2 "core" ( +2 "manipulator"&@& +4 "core" & 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +2 "core" &  + 3 +3 .tForearm.seek PC +2 "manipulator"&(' +95 "core" ' +2 .tHand.close +2 "manipulator"&e/ +54 "core" / +3 .tPC.seek :open +2 "processing"%_( +108 "core" ' +2 "storage"(-- +3 "core" -'r +41 ."raiseStack"SE.configure :default +10 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(/'1 +40 "core" ' +246 ( + "storage"(F& +4 "core" &[ E E \ +2 "manipulator"&v& +4 "core" &  3 +2 "manipulator"&i% +4 "core" %  P +2 .tForearm.seek :retract +2 "manipulator"&j' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +248 "core" ( + "manipulator"&C& +4 "core" &x   j +2 "storage"( & +4 "core" &[ * " I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&5'= +94 "core" ' + .tHand.open +2 "manipulator"&:1 +61 "core" 1 +2 "storage"(1- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"({- +2 "core" -' +3 "storage"(B& +3 "core" &[ k\ +2 "manipulator"&!& +4 "core" &x\  . j +2 .tElbow.seek 7 +2 "manipulator"&W(r +3 "core" ( +2 "manipulator"&u& +3 "core" &x\   4 j +2 "storage"(X& +4 "core" &[ \ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Y'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +52 "core" ' + "manipulator"&U& +4 "core" &x\  j +2 "storage"(`& +4 "core" &[ - ( ^\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"([' +25 "core" ' +2 "manipulator"&d% +3 "core" %Ή  +2 "storage"(& +4 "core" &[ ! ) a\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 314 counts + "manipulator"&'ϵ +13 "core" ' +2 "manipulator"&& +4 "core" &x\  = j +2 "storage"(& +4 "core" &[ E E $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 "storage"(% +4 "core" % F H E\ +3 ."downElevator"SE.seek :down +3 "storage"(K' +99 (f% +2 "core" %fR\ *\  ]\ Xg +3 "manipulator"&% +10 "core" %3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &[ ( * 4\ +2 "collection"'3& +4 "core" &\\q\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %  @  +2 "storage"(b% +4 "core" % F I 1\  +2 "storage"(M. +2 "core" .([ +2 "storage"(& +3 "core" &[ E E !\ +3 "storage"(\ & +3 "core" &[ H E K\ +2 "manipulator"&<& +4 "core" &x   j +2 .tElbow.seek 7 +2 "manipulator"&%(r +4 "core" ( + "manipulator"&& +4 "core" &x   j +2 "storage"(l& +4 "core" &[ F F 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +98 "core" ' +2 "storage"(+& +3 "core" &[ S S\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'r +298 "core" ' + "storage"(Q- +3 "core" -' +41 .tSE.configure :default +10 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" &y\  i +2 "storage"(O& +4 "core" &[ H F (\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&N'{ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(V- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(4'h +31 "core" ' +2 "manipulator"&s% +3 "core" %Ή 0  +2 "storage"(P& +4 "core" &[ F E D\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 314 counts + "manipulator"&0'ϵ +15 "core" ' +2 "manipulator"&t& +4 "core" &y\  i +2 "storage"(& +3 "core" &[ T U\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(m' +37 "core" ' +2 "manipulator"&g& +5 "core" &y\   i + "manipulator"&H% +4 "core" %A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +153 "core" ( + "manipulator"&J& +4 "core" &ӗ% 1 >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &ӗ% >H +3 .tForearm.seek CC +2 "manipulator"&]'? +99 "core" ' +2 .tHand.close + "manipulator"&L/ +55 "core" / +2 .tCC.seek :open +2 "collection"'E( +450 "core" ( +2 "storage"(S& +3 "core" &[ l j \ +3 "storage"(p& +3 "core" &[ j l \ +2 "manipulator"&T& +4 "core" & I 1 +2 "manipulator"&o% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&>(r +152 "core" ( + "manipulator"&2& +4 "core" &l   +2 "storage"(8& +4 "core" &[  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&"'{ +102 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&#% +4 "core" % · * + "storage"(& +4 "core" &[ g ` \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&}'ϳ +15 "core" ' +2 "manipulator"&G& +3 "core" &l \ 7  +2 "storage"('& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +18 "core" ' + "storage"(% +4 "core" % ~ \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (n% +3 "core" %G k i \ V` +2 "manipulator"&h% +4 "core" %9 > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & %\ +2 "manipulator"&D% +4 "core" %   p  +2 "storage"(x% +4 "core" % V\  +2 "storage"(~. +2 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +45 "storage"( (<- +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (c& +2 "core" &<0 F E $\ +3 "manipulator"&A& +3 "core" &l U  +2 .tElbow.seek 5 +2 "manipulator"&,( +34 "core" ( + "manipulator"&I& +4 "core" &  -  +2 "storage"( & +4 "core" &<0 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +100 "core" ' +2 "storage"(q& +3 "core" &<0 w ~ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &<. k | G\ +3 "manipulator"&@& +3 "core" &  s  +2 .tElbow.seek 5 +2 "manipulator"&.( +6 "core" ( +2 "manipulator"&\\& +3 "core" & b  +2 "storage"(e& +4 "core" &<. ~ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&-'Ϲ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"(R' +8 "core" &  d  + "manipulator"&F% +4 "core" % ϰ g M +2 .tForearm.seek :retract +2 "manipulator"&v' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&r& +4 "core" &ӆ+  Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &Ӈ+ B Co +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&C'? +97 "core" ' +3 "manipulator"& & +3 "core" &Ӡ& I ?V +2 "manipulator"&y% +4 "core" %G =  +2 "collection"':& +4 "core" & \ +3 "collection"'1& +4 "core" & \ +3 .tCC.seek :closed + "collection"'{(\\ +4 "core" & 9\  +9 &5x %\ *z +9 & g{ 1\ > +10 &j ,\ L +9 &ZR -\ K +10 &W .\ K +9 &R ,\ K +9 &R *\ K +10 &cQ +\ K +9 &&T '\ J +9 &T '\ J +10 & W $\ K +9 &"kW #\ K +10 &$-W (\ K +9 &%W )\ K +9 &'U (\ K +10 &)rW %\ K +9 &+5W #\ J +9 &,T $\ J +10 &.T %\ J +9 &0{U $\ J +10 &2=U \ J +9 &3U \ K +9 &5X  \ K +10 &7W "\ K +9 &9EW  \ K +9 &;R \ K +10 &<R \ K +9 &>U \ J +10 &@MV \ K +9 &BU \ K +9 &C_ \ L +10 &Eg \ M +9 &GJs \ N +9 &I\  \ R +10 &J\ \ \ V +9 &Lw\ \ \ \ W +10 &N7\ \ \ X +9 &O\ \ \ X +9 &Q\ \ \ W +10 &Sy\ \ \ Y +9 &U:\ \ \ Y +9 &V\ \ \ Z +10 &X\ \ \ [ +9 &Zz\ \ \ [ +9 &\\ {\ \ \ / +10 &\\3\ \ \ c +9 ( + &\\b\ \ \ M +3 "collection"'1& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&B1 +64 "core" 1 +2 "manipulator"&!% +4 "core" % G T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%X& +3 "core" &\ +2 "manipulator"&j% +4 "core" %   +2 "storage"(U% +3 "core" % F E \  +2 "storage"(`. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(d(<- +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<. $ &\  +2 "manipulator"&/& +4 "core" &ӯ# V =G +2 "manipulator"&% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&& +4 "core" & <  +2 "storage"(& +3 "core" &<. E B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +48 "manipulator"&'O +97 "core" ' +2 "storage"(5& +4 "core" &<. P Z #\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +297 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<. % - G\  +3 "manipulator"&Y& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&W( +4 "core" ( + "manipulator"&;& +4 "core" &  +2 "storage"(& +4 "core" &<. 3 H ?\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +2 "storage"(' +8 "core" &   +2 "manipulator"&b% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&M' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[( +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&& +3 "core" &  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" & / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&<' +95 "core" ' + "manipulator"&& +4 "core" & / +2 "manipulator"&l% +3 "core" % m +3 "processing"%& +3 "core" &\ +3 "processing"%+& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%K(^ +5 "core" &\ +5 &\ 8 +9 &>Hs\ 0 +10 &kr}\ D +9 &_\ N +9 &T\ M +10 &Q\ M +9 &UT\ M +9 &Q\ M +10 &T\ M +9 &U\ N +9 &]T\ M +10 &!U\ N +9 &"T\ M +10 &$W\ M +9 &&eT\ M +9 &('S\ M +10 &)R\ M +9 &+T\ N +10 &-mT\ M +9 &/.T\ N +9 &0U\ M +10 &2S\ M +9 &4vU\ M +9 &67V\ M +10 &7R\ M +9 &9W\ M +9 &;}Y\ M +11 &=?X\ M +12 &?Z\ N +6 &@X\ N +9 &BZ\ N +9 &DD`\ N +10 &Fj\ P +9 &Gt\ Q +9 &I}\ S +10 &K<\ T +9 &L\ T +10 &N\ T +9 &P\ T +9 &RB\ T +10 &T\ U +9 &U\ T +9 &W\ U +10 &YJ\ T +9 &[ \ T +10 &\\\ U +9 &^Ad\ (z +9 &^e\ 7 +9 ( +2 &^"\ 1 +2 "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +64 "core" 1 + "manipulator"&^% +4 "core" %   m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +95 "core" ' +2 "processing"%a& +4 "core" &^"\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&O% +4 "core" % !  ( +2 "storage"(V% +3 "core" % , , \  +2 "storage"(s. +3 "core" .(<- +2 "storage"(P& +4 "core" &<. ( ! 1\  +2 "storage"(t& +3 "manipulator"&& +5 "core" &<. - - L\  +2 &  / +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&g( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(H'r + "core" ( +3 "manipulator"&7& +4 "core" &  \  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &    / +2 .tForearm.seek PC +2 "manipulator"&|' +93 "core" ' + .tHand.close +2 "manipulator"&N/ +55 "core" / +2 .tPC.seek :open + "processing"%0( +100 "core" ' +2 "storage"(4- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(J'1 +41 "core" ' +301 ( +2 "storage"(&& +43 "core" &<, E 3 \  +10 "manipulator"&?& +3 "core" & # / +2 "manipulator"&Z% +4 "core" %  \\ +2 .tForearm.seek :retract +2 "manipulator"&L' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +249 "core" ( +2 "manipulator"&6& +4 "core" & ` +2 "storage"(S& +4 "core" &<, - # X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&p'O +95 "core" ' +2 .tHand.open +2 "manipulator"&T1 +60 "core" 1 +2 "storage"(o- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(2' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(8' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +3 "core" -' +2 "storage"()& +4 "core" &<, \  +2 "manipulator"&& +3 "core" &   ; ` +3 .tElbow.seek 5 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&& +3 "core" &  . ` +2 "storage"(G& +4 "core" &<, \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&& +4 "core" & ` +2 "storage"(n& +4 "core" &<, > % \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&h'΍ +28 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"("' +24 "core" ' +2 "manipulator"&% +4 "core" %Β  +2 "storage"(}& +4 "core" &<, % $ /\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&D'Ͼ +14 "core" ' + "manipulator"&x& +4 "core" & Q +2 "storage"(~& +4 "core" &<, F H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +16 "core" ' + "storage"( % +4 "core" % S I c\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %dP & 7\ Xf +3 "manipulator"&c% +3 "core" %? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A' +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +4 (I& +3 "core" &<, 5 < ?\  +2 "collection"' & +3 "core" &\\a \ \ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&q% +3 "core" %   +2 "storage"($% +4 "core" % T S ]\  +2 "storage"(k. +2 "core" .(<- +3 "storage"(w& +3 "core" &<, S H =\  +2 "storage"(z& +4 "core" &<, R S\  +2 "manipulator"&@& +3 "core" & Q +2 .tElbow.seek 5 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&e& +4 "core" & X Q +2 "storage"(*& +3 "core" &<, S S N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +94 "core" ' + "storage"(F& +4 "core" &<, j N H\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'r +296 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" & Q +2 "storage"((& +3 "core" &<, I G l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(y'b +29 "core" ' +2 "manipulator"&:% +4 "core" %Έ r % +2 "storage"(.& +3 "core" &<, F F >\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 295 counts +2 "manipulator"&R'ϴ +14 "core" ' +2 "manipulator"&v& +4 "core" & V P +2 "storage"(E& +3 "core" &<, F E \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(!' +36 "core" ' + "manipulator"&X& +4 "core" & P +2 "manipulator"&j% +4 "core" %F * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +159 "core" ( + "manipulator"&1& +4 "core" &ӎ Q 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ 5 8 +3 .tForearm.seek CC +2 "manipulator"&/'? +103 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'C( +446 "core" ( +2 "storage"(& +4 "core" &<, j j \  +2 "storage"(& +3 "core" &<, k j \  +2 "manipulator"& & +4 "core" &ӧ  4 +2 "manipulator"&i% +3 "core" % % O +2 .tForearm.seek :retract +2 "manipulator"&5' +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&u( +160 "core" ( +2 "manipulator"&f& +4 "core" & =  +2 "storage"(& +3 "core" &<, y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Y'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +4 "core" % {   +2 "storage"(3& +3 "core" &<, ~ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 282 counts +2 "manipulator"&b'ϧ +14 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +16 "core" ' +2 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (\ % +3 "core" %H j N h\ Va +2 "manipulator"&W% +4 "core" %0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'l& +2 "core" & !\ +3 "manipulator"&% +3 "core" %   +2 "storage"(% +3 "core" % ~ !\  +2 "storage"(M. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(_(K +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K j j {\  +2 "manipulator"&^& +4 "core" &   +44 .tElbow.seek 6 +6 "manipulator"&a( +2 "core" ( +2 "manipulator"&O& +4 "core" &  O  +2 "storage"(V& +4 "core" &K ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +102 "core" ' +2 "storage"(+& +3 "core" &K 5\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +296 "core" ' +3 "storage"(t- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K j j v\ +2 "manipulator"&7& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&<& +4 "core" & $  +2 "storage"(N& +3 "core" &K ` i j\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&4'h +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&[/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(K' +7 "core" & [  +2 "manipulator"&H% +4 "core" % ^ R +2 .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&?(ӂ +155 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&Z& + "storage"(5 +7 "core" &ӊ( e Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &ӊ(  Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&6'? +99 "core" ' +3 "manipulator"&S& +3 "core" &ӌ) ; A` +2 "manipulator"&g% +4 "core" %E b  +2 "collection"'T& +4 "core" & h\ +3 "collection"'o& +4 "core" & m\ +3 .tCC.seek :closed +2 "collection"'](\\ +3 "core" & *\  +9 &5~ *\ +{ +9 &\ g~ *\ > +10 &k ,\ K +9 &[U /\ J +10 &T *\ J +9 &U 1\ J +9 &T ,\ J +10 &cS !\ J +9 &%U *\ K +9 &W %\ K +10 & U &\ K +9 &"lT &\ J +9 &$,W (\ K +10 &%X (\ K +9 &'X '\ K +10 &)sW &\ J +9 &+5T &\ J +9 &,U  \ K +10 &.W #\ K +9 &0{Y %\ K +9 &2=W %\ K +10 &3W %\ K +9 &5X \ K +10 &7W \ K +9 &9ER \ K +9 &;R \ K +10 &<R \ K +9 &>U \ J +10 &@MU \ K +9 &BW \ K +9 &C] \ L +10 &Ed \ M +9 &GJs  \ N +9 &I\ \ \ \ Q +10 &J\ \  \ V +9 &Lv\ \  \ W +10 &N7\ \  \ X +9 &O\ \ \ \ X +9 &Q\ \ \ Y +10 &Sy\ \ \ Y +9 &U8\ \ \ Z +9 &V\ \ \ [ +10 &X\ \ \ \\ +9 &Z|\ \  \ [ +9 &\\w\ \ \ 3 +10 &\\(\ \ \ O +9 ( + &\\]\ \ \ J +3 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&)1 +61 "core" 1 +2 "manipulator"&% +3 "core" % E  B  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%G& +4 "core" &\ +2 "manipulator"&L% +3 "core" %  7  +2 "storage"(% +4 "core" % H F \  +2 "storage"(n. +2 "core" .(K +2 "storage"(& +4 "core" &K F G Z\ +2 "storage"(J& +3 "core" &K F E $\ +2 "manipulator"&}& +4 "core" &Ӯ" l <> +2 "manipulator"&x% +3 "core" %  [  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&2( +164 "core" ( +2 "manipulator"&~& +3 "core" &  +2 "storage"( & +4 "core" &K H M ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(p& +3 "core" &K k Q \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +49 (c& +3 "core" &K H O ?\ +2 "manipulator"&'& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&#( +4 "core" ( + "manipulator"&& +4 "core" & }  +2 "storage"(h& +4 "core" &K E E \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&D'h +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +52 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"& & +4 "storage"(q' +5 "core" &  +3 "manipulator"&$% +3 "core" % ρ W +2 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&w& +4 "core" & ?   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" & 0 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@' +91 "core" ' +2 "manipulator"&e& +4 "core" & 7 +2 "manipulator"&*% +4 "core" % v +2 "processing"%m& +4 "core" &\ +2 "processing"%F& +5 "core" &\ +3 .tPC.seek :closed +3 "processing"%(^ +2 "core" &\ +7 &6\ $d +9 &Wx\ 7 +10 &u\ K +9 &Q\ M +10 &lT\ M +9 &/R\ M +9 &U\ M +10 &T\ M +9 &tS\ M +9 &6U\ M +10 &T\ M +9 &!T\ M +10 &#|R\ M +9 &%>T\ M +9 &'U\ M +10 &(U\ M +9 &*U\ M +9 &,EV\ M +10 &.Q\ M +9 &/W\ M +10 &1U\ M +9 &3NR\ M +9 &5T\ M +10 &6U\ M +9 &8W\ N +9 &:UT\ M +10 &<X\ M +9 &=W\ N +10 &?V\ N +9 &A[Y\ N +9 &C_\ O +10 &Df\ O +9 &Fn\ P +9 &HW\ R +10 &J\ S +9 &K\ T +10 &M\ T +9 &OY\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &V`\ T +10 &X!\ U +9 &Y\ U +10 &[\ U +9 &]e\ C +9 &^?n\ #h +10 &^*\ - +5 ( +2 "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&>1 +3 "core" &^\ - +52 1 +2 "manipulator"&A% +4 "core" %  z v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +92 "core" ' + "processing"%r& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&(% +3 "core" %    2  +2 "storage"( % +4 "core" % & $ .\  +2 "storage"(:. +2 "core" .(K +2 "storage"(.& +4 "core" &K D E N\ +2 "storage"(v& +2 "manipulator"&E& +9 "core" &K @ (\ + & \  7 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +4 "manipulator"&X( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'r +2 "core" ( +2 "manipulator"&9& +5 "core" &   . 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &  . 7 +2 .tForearm.seek PC +2 "manipulator"&,' +90 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +3 .tPC.seek :open +2 "processing"%R( +94 "core" ' +2 "storage"(y- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +41 "core" ' +310 ( +2 "storage"(& +3 "core" &K I F Q\ +2 "manipulator"&B& +4 "core" & 7 +2 "manipulator"&-% +3 "core" %  f +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&U( +242 "core" ( +3 "manipulator"&{& +4 "core" & 4 +2 "storage"(& +3 "core" &K 3 @ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"& 1 +56 "core" 1 +3 "storage"(i- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(f' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(/- +3 "core" -' +2 "storage"(`& +4 "core" &K d d N\ +2 "manipulator"&& +3 "core" &   4 +3 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&3& +4 "core" &   0 4 +2 "storage"(& +3 "core" &K d d Q\ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&5& +3 "core" & 6 4 +2 "storage"(\ & +4 "core" &K G I .\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&W'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +28 "core" ' +2 "manipulator"&l% +3 "core" %D +2 "storage"(& +4 "core" &K F I D\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 308 counts + "manipulator"&b'p +13 "core" ' +2 "manipulator"&& +4 "core" & { 4 +2 "storage"(M& +4 "core" &K S T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +14 "core" ' +2 "storage"( % +4 "core" % 7 8 _\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (d% +2 "core" %WN & '\ Xf +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +61 ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 (O& +3 "core" &K = $ \ +2 "collection"'V& +5 "core" &\\] \ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&+% +3 "core" %   +3 "storage"(;% +3 "core" % S S d\  +2 "storage"(. +4 "core" .(K + "storage"(t& +4 "core" &K S S S\ +2 "storage"(& +3 "core" &K R S R\ +2 "manipulator"&7& +4 "core" & h 3 +2 .tElbow.seek 6 +2 "manipulator"&<( +4 "core" ( + "manipulator"&N& +4 "core" & 3 +2 "storage"([& +3 "core" &K S S V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +94 "core" ' + "storage"(H& +4 "core" &K j Q h\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'r +307 "core" ' +2 "storage"(s- +2 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Z& +3 "core" &  3 +3 "storage"(|& +3 "core" &K S S ,\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&P'< +18 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +47 "storage"(g'o +32 "core" ' +2 "manipulator"&T% +4 "core" %B %  + "storage"(%& +4 "core" &K F G E\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&K'n +15 "core" ' +2 "manipulator"&&& +4 "core" & 3 +2 "storage"(C& +3 "core" &K ? D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +40 "core" ' +2 "manipulator"&G& +4 "core" & 3 +2 "manipulator"&L% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +160 "core" ( + "manipulator"&& +4 "core" &ӎ U 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &ӎ 7 +2 .tForearm.seek CC +2 "manipulator"&J'? +100 "core" ' + .tHand.close +2 "manipulator"&}/ +56 "core" / +2 .tCC.seek :open +2 "collection"'x( +449 "core" ( +2 "storage"(6& +3 "core" &K N j y\ +2 "storage"(~& +4 "core" &K [ P\ +2 "manipulator"& & +3 "core" &ӫ 3 +2 "manipulator"&p% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&?' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&& +3 "core" & *  +2 "storage"(c& +4 "core" &K j _ |\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&''< +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +64 "core" 1 +2 "manipulator"&I% +4 "core" % ; r 9 +2 "storage"( & +4 "core" &K o v \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&$'g +15 "core" ' + "manipulator"&2& +3 "core" & 7  +3 "storage"(& +3 "core" &K  D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&8' +14 "core" ' +2 "storage"(D% +3 "core" % } $\ +3 ."downElevator"SE.seek :down +3 "storage"(w' +99 (z% +3 "core" %C k j \ Va +2 "manipulator"&#% +4 "core" %  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +91 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'*& +4 "core" & !\ +2 "manipulator"&m% +3 "core" %   >  +3 "storage"(q% +3 "core" % ~ \  +2 "storage"(k. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(0([ +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +3 "core" &[ j j \ \ +2 "manipulator"&A& +3 "core" & v  +2 .tElbow.seek 7 +2 "manipulator"&r(r +39 "core" ( + "manipulator"&(& +4 "core" & <  +2 "storage"( & +3 "core" &[ ~ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&:'= +92 "core" ' +46 "storage"(.& +5 "core" &[ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +295 "core" ' +3 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &[ k k o\ +2 "manipulator"&9& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&\\(r +19 "core" ( +2 "manipulator"&@& +4 "core" &{ \\ i +2 "storage"(& +3 "core" &[ i \\ (\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&y'ϧ +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(' +7 "core" &{ ) i +2 "manipulator"&j% +3 "core" % ϥ  +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B(ӂ +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&-& +4 "core" &Ӓ#  <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &Ӓ# <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'? +101 "core" ' +2 "manipulator"&& +3 "core" &ӓ# <? +2 "manipulator"&X% +4 "core" %= z +2 "collection"' & +4 "core" & \ +3 "collection"'i& +4 "core" & \ +3 .tCC.seek :closed + "collection"'/(\\ +4 "core" & c\ +8 &: \ $e +9 &Yx %\ 7 +10 &t -\ J +9 &T ,\ J +9 &T ,\ J +10 &CT '\ J +9 &T $\ J +10 &T ,\ J +9 &T '\ J +9 &KT &\ J +10 & T '\ J +9 &!T \ J +9 &#T $\ J +10 &%SR "\ K +9 &'Q \ K +10 &(R #\ K +9 &*R &\ K +9 &,[R $\ K +10 &.R \ K +9 &/R \ K +10 &1S (\ K +9 &3cR #\ K +9 &5%W "\ K +10 &6R "\ K +9 &8R %\ K +9 &:lT &\ J +10 &<-V \ K +9 &=U \ K +9 &?W \ K +10 &AsW \ K +9 &C2] \ L +10 &Dh \ M +9 &Ft \ N +9 &Ha\ \ \ T +10 &J\ \ \ W +9 &K\ \ \ W +9 &M\ \  \ Y +10 &O[\ \ \ X +9 &Q\ \ \ Z +10 &R\ \ \ Y +9 &T\ \ \ Z +9 &V\\\ \ \ [ +10 &X\ \ \ [ +9 &Y\ \ \ \\ +10 &[\ \ \ \ I +9 &\\4\ \ \ 1 +9 &\\e\ \ \ M +3 ( +2 "collection"'i& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.34 +2 .Hand.open + "manipulator"&`1 +57 "core" 1 + "manipulator"&% +4 "core" % j 3 x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %   +2 "storage"(5% +3 "core" % G I \  +2 "storage"(\ . +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(l([ +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (1& +3 "core" &[ & ' '\ +2 "manipulator"&& +4 "core" & c / + "manipulator"&% +4 "core" %  1  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&M(r +150 "core" ( +2 "manipulator"&f& +4 "core" &{  +2 "storage"( & +3 "core" &[ S S P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'= +101 "core" ' + "storage"(& +4 "core" &[ j j \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(d- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &[ J R #\ +2 "manipulator"&& +4 "core" &{  +2 .tElbow.seek 7 +2 "manipulator"&(r +2 "core" ( +2 "manipulator"&& +51 "core" &{   +3 "storage"(W& +3 "core" &[ 8 8 *\ +3 .tForearm.seek 7 + 300 counts + "manipulator"&O'ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +3 "storage"(+' +8 "core" &{  + "manipulator"&;% +4 "core" % Ϻ +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&t& +3 "core" & = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 8 = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&7' +92 "core" ' + "manipulator"&N& +4 "core" & ' = +2 "manipulator"&[% +4 "core" % Q +2 "processing"%!& +4 "core" &\ +3 "processing"%H& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +9 &6\ $d +9 &Vy\ 7 +10 &x\ L +9 &Q\ M +9 &aQ\ M +10 &#R\ M +9 &R\ M +9 &T\ N +10 &iS\ M +10 &+U\ M +9 &T\ N +9 &!S\ M +9 &#qV\ M +10 &%2U\ N +9 &&U\ M +10 &(W\ M +9 &*xU\ N +9 &,;U\ M +10 &-Q\ M +9 &/U\ N +9 &1U\ M +10 &3DQ\ M +9 &5U\ M +9 &6R\ M +10 &8X\ M +9 &:KR\ M +10 &< T\ M +9 &=S\ M +9 &?U\ M +10 &AQY\ N +9 &C_\ O +9 &Dc\ O +10 &Fn\ P +9 &HM}\ R +10 &J \ S +9 &K\ T +9 &M\ T +10 &OP\ T +9 &Q\ U +9 &R\ U +10 &T\ U +9 &VW\ T +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]\\\ B +9 &^M~\ I +9 &^\ ^ +10 &_ \ / +2 ( +2 "processing"%H& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&u1 +62 "core" 1 + "manipulator"&^% +4 "core" %    Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +100 "core" ' +2 "processing"%Z& +3 "core" &_\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&|% +4 "core" %    + "storage"(S% +4 "core" % I E 7\  +2 "storage"(T. +2 "core" .([ +2 "storage"(%& +4 "core" &[ F H \ +3 "storage"(&& +2 "manipulator"&C& +5 "core" &[ E E \ +2 &   = +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(G'r +3 "manipulator"&L( +6 "core" ( +2 "manipulator"&Q& +4 "core" &   = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +2 "core" &  ? = +3 .tForearm.seek PC +2 "manipulator"&a' +89 "core" ' +2 .tHand.close + "manipulator"&P/ +64 "core" / +3 .tPC.seek :open +2 "processing"%K( +91 "core" ' +2 "storage"(g- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +50 "core" ' +304 ( + "storage"(o& +4 "core" &[ E H \ +2 "manipulator"&)& +4 "core" &  = +2 "manipulator"&4% +3 "core" %  c +2 .tForearm.seek :retract +2 "manipulator"&}' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +247 "core" ( +2 "manipulator"&]& +3 "core" &   h A +3 "storage"(6& +3 "core" &[ # # \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +42 "manipulator"&~'= +104 "core" ' +2 .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "storage"(p- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +34 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(c' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -' +2 "storage"(n& +4 "core" &[ | I\ +2 "manipulator"&h& +3 "core" &  @ +2 .tElbow.seek 7 +2 "manipulator"&I(r +33 "core" ( + "manipulator"& & +4 "core" &|  , T +2 "storage"(2& +4 "core" &[ ~ | G\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(D'" +49 "core" ' + "manipulator"&?& +4 "core" &|  T +2 "storage"(z& +4 "core" &[ D A a\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&#'{ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"('' +24 "core" ' + "manipulator"&*% +4 "core" %Ό & +2 "storage"($& +4 "core" &[ I F "\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&m'ϸ +16 "core" ' + "manipulator"&q& +4 "core" &| F T +2 "storage"(k& +4 "core" &[ S S K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +16 "core" ' + "storage"(8% +4 "core" % Q I !\ +3 ."downElevator"SE.seek :down +3 "storage"(w' +99 (_% +3 "core" %XQ ' &\ We +2 "manipulator"&>% +4 "core" %?  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ((& +3 "core" &[ G B z\ +2 "collection"' & +3 "core" &\\` \ \ M +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&.% +4 "core" %   +2 "storage"(% +3 "core" % S T b\  +2 "storage"(e. +3 "core" .([ +2 "storage"(v& +4 "core" &[ S S X\ +2 "storage"(F& +3 "core" &[ S Q W\ +2 "manipulator"&9& +4 "core" &|  T +2 .tElbow.seek 7 +2 "manipulator"&@(r +4 "core" ( + "manipulator"&& +4 "core" &| \\ T +2 "storage"("& +3 "core" &[ S S O\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&='= +93 "core" ' +2 "storage"(j& +3 "core" &[ k k \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'r +298 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&-& +3 "core" &| T +2 "storage"(,& +4 "core" &[ H P \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&E'{ +17 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(X'h +29 "core" ' + "manipulator"& % +4 "core" %΂  +2 "storage"(\\& +3 "core" &[ T S o\ +2 .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 7 + 307 counts +8 "manipulator"&'Ϯ +14 "core" ' + "manipulator"&& +4 "core" &| T +2 "storage"(x& +4 "core" &[ Q k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&`'= +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +39 "core" ' + "manipulator"&& +4 "core" &| T +2 "manipulator"&% +4 "core" %. +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&\ (ӂ +161 "core" ( + "manipulator"&i& +4 "core" &ӗ$ 2 =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &Ә$ =B +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'{( +446 "core" ( +2 "storage"(f& +3 "core" &[ f \\ L\ +2 "storage"( & +4 "core" &[ j j \ +2 "manipulator"&0& +3 "core" &  / +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&B' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&3(r +154 "core" ( +2 "manipulator"&d& +3 "core" &y  +2 "storage"(& +4 "core" &[ } p u\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +97 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +59 "core" 1 +2 "manipulator"&b% +4 "core" % ΍  ' +2 "storage"(V& +3 "core" &[ n o #\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts + "manipulator"&;'Ϲ +15 "core" ' +3 "manipulator"&M& +3 "core" &y R  +2 "storage"(U& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 "storage"(O% +3 "core" % } "\ +3 ."downElevator"SE.seek :down +3 "storage"(t' +99 (% +3 "core" %F k j \ Va +2 "manipulator"&% +4 "core" %< W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'[& +4 "core" & #\ +2 "manipulator"&!% +4 "core" %  :  +2 "storage"(+% +4 "core" %  2\  + "storage"(. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(R(<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +2 "core" &<0 Q I F\ +3 "manipulator"&^& +3 "core" &y .  +2 .tElbow.seek 5 +2 "manipulator"&Z( +40 "core" ( +2 "manipulator"&|& +3 "core" & $  +2 "storage"(S& +4 "core" &<0 } \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&T'O +96 "core" ' + "storage"(H& +4 "core" &<0 k\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +344 "core" ' +4 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &<. k e \ +2 "manipulator"&Q& +4 "core" & o  +2 .tElbow.seek 5 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&7& +4 "core" &  A  +2 "storage"(P& +4 "core" &<. j j \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&g'Ϲ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"(' +8 "core" & \\  + "manipulator"&G% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&o' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +154 "core" ( +2 "manipulator"&4& +4 "core" ' + &Ӂ' U @] +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +3 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &a& +2 "core" &Ӂ' @] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'? +92 "core" ' + "manipulator"&6& +4 "core" &ӂ( @\\ +2 "manipulator"&L% +4 "core" %E  d +2 "collection"' & +4 "core" & \ +3 "collection"'p& +4 "core" & \ +3 .tCC.seek :closed + "collection"'J(\\ +4 "core" & X\  +9 &4z #\ *y +10 &g~ \ > +9 &m (\ L +9 &VT ,\ K +10 &X +\ K +9 &U [\ K +10 &R C\ K +9 &^T \ K +9 &Y '\ K +10 &T &\ J +9 & T (\ K +9 &"fR $\ K +10 &$(T !\ K +9 &%Y \ K +10 &'U \ J +9 &)nU %\ K +9 &+0R &\ K +10 &,T '\ J +9 &.U &\ K +9 &0wU $\ J +10 &28U  \ K +9 &3S !\ K +10 &5U \ K +9 &7}W #\ K +9 &9@U '\ K +10 &;X )\ K +9 &<T %\ J +9 &>U !\ K +10 &@HW \ K +9 &B\ X \ K +10 &C_  \ L +9 &Eg "\ M +9 &GDs \ O +10 &H\  \ R +9 &J\ \ \ W +9 &Ln\ \ "\ Y +10 &N0\ \ \ Y +9 &O\ \ \ X +10 &Q\ \  \ Y +9 &Sp\ \ \ [ +9 &U5\ \ \ Z +10 &V\ \ \ [\ +9 &X\ \  \ \\ +9 &Zs\ \ \ \\ +10 &\\{\ \ \ 2 +9 &\\-\ \ \ #i +9 ( +2 &\\n\ \  \ U +2 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&n1 +58 "core" 1 +3 "manipulator"&h% +3 "core" % E  d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&2% +4 "core" %   +2 "storage"(?% +3 "core" % F F W\  +2 "storage"(z. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +21 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "core" &<* & $ *\ +3 "manipulator"&$& +3 "core" &ӫ" ;3 +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&q( +167 "core" ( + "manipulator"&k& +4 "core" &   +2 "storage"(8& +3 "core" &<* 8 < \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +99 "core" ' +2 "storage"(~& +4 "core" &<* L 7 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(c'r +297 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &<* " + L\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&D& +3 "core" &  +2 "storage"(#& +3 "core" &<* $ ) .\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&m'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +49 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&(/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(.' +7 "core" & U  +2 "manipulator"&% +4 "core" % ϭ D +2 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( +2 "manipulator"&v& +4 "core" & ' Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" & Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&9' +102 "core" ' + "manipulator"&& +4 "core" & Y +2 "manipulator"&"% +4 "core" % < +2 "processing"%& +4 "core" &\ +3 "processing"%j& +4 "core" &\ +3 .tPC.seek :closed + "processing"%w(^ +4 "core" &\ +9 &6\ $d +9 &Wy\ 7 +9 &x\ K +10 &T\ N +9 &oU\ M +10 &1R\ M +9 &U\ N +9 &T\ M +10 &vT\ N +9 &9U\ M +9 &U\ M +10 &!T\ M +9 &#U\ M +10 &%BR\ M +9 &'U\ M +9 &(V\ M +10 &*V\ M +9 &,IV\ M +9 &. Q\ M +10 &/U\ M +9 &1W\ M +10 &3QU\ M +9 &5U\ M +9 &6S\ M +10 &8W\ N +9 &:YV\ M +9 &<U\ N +10 &=W\ M +9 &?V\ M +10 &A_Y\ N +9 &C ^\ N +9 &Dc\ N +10 &Fn\ P +9 &H]|\ Q +9 &J\ S +10 &K\ S +9 &M\ T +9 &O^\ T +10 &Q\ T +9 &R\ T +10 &T\ U +9 &Ve\ T +9 &X&\ T +10 &Y\ T +9 &[\ T +10 &]j\ B +9 &^;j\ &n +9 &^(\ * +6 ( +2 "processing"%j& +3 "core" &^\ * +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&A% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +88 "core" ' +2 "processing"%-& +4 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&,% +4 "core" %    .  +2 "storage"(% +3 "core" % + ' +\ +3 "storage"( . +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(\\(<- +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &<, ' # \  +3 "manipulator"&x& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &   Y +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +3 "manipulator"&( +24 "core" ( + "manipulator"&=& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" & 2 +2 .tForearm.seek PC +2 "manipulator"&r' +96 "core" ' +2 .tHand.close +2 "manipulator"&E/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +71 "core" ' +2 "storage"(X- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'1 +42 "core" ' +329 ( +2 "storage"(1& +3 "core" &<, # $\  +2 "manipulator"&`& +3 "core" & ; +2 "manipulator"&y% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&5( +240 "core" ( + "manipulator"&/& +4 "core" & V M +2 "storage"(f& +3 "core" &<, ( - [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +94 "core" ' +9 .tHand.open + "manipulator"&01 +54 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(d' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(\ & +4 "core" &<, d d [\  +2 "manipulator"&W& +4 "core" &  M +2 .tElbow.seek 5 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&V& +3 "core" &   M +2 "storage"(M& +4 "core" &<, d e x\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(O'" +58 "core" ' + "manipulator"&B& +4 "core" & , M +2 "storage"(& +4 "core" &<, $ $ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold +6 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +22 "core" ' + "manipulator"&[% +4 "core" %Δ +2 "storage"(!& +4 "core" &<, , - w\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&;' +16 "core" ' + "manipulator"&+& +4 "core" & E +2 "storage"(& +4 "core" &<, ' 3 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +15 "core" ' +2 "storage"(% +4 "core" % E F \ \ +3 ."downElevator"SE.seek :down +3 "storage"(t' +99 (l% +3 "core" %9Q\ \  .\ Xg +2 "manipulator"&u% +4 "core" %G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +4 "core" &<, 2 @ \  +2 "collection"'S& +4 "core" &\\l \ U +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&H% +3 "core" %   +2 "storage"(% +4 "core" % F E \  +2 "storage"(N. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(&(<- +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (C& +3 "core" &<, # #\  +2 "manipulator"&Q& +4 "core" & \ E +2 .tElbow.seek 5 +2 "manipulator"&7( +4 "core" ( + "manipulator"&P& +4 "core" & E +2 "storage"(Y& +4 "core" &<, F E !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +92 "core" ' +2 "storage"(G& +4 "core" &<, 8 B p\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Z'r +294 "core" ' +3 "storage"(T- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" & E +2 "storage"(a& +3 "core" &<, $ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&%'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(6- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(L'a +30 "core" ' + "manipulator"& % +4 "core" %Ζ  +2 "storage"(<& +43 "core" &<, $ $ V\  +9 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"&' +16 "core" ' + "manipulator"&o& +4 "core" & : D +2 "storage"({& +4 "core" &<, H P 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(h' +35 "core" ' +2 "manipulator"& & +4 "core" & D +2 "manipulator"&2% +3 "core" %N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +160 "core" ( + "manipulator"&p& +4 "core" &ӌ y 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &ӌ \  J 6 +2 .tForearm.seek CC +2 "manipulator"&$'? +101 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"']( +446 "core" ( +2 "storage"(k& +4 "core" &<, j j \  +2 "storage"(8& +3 "core" &<, o .\  +2 "manipulator"&R& +4 "core" &ӡ L 3 +2 "manipulator"&~% +3 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&)' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +160 "core" ( +2 "manipulator"&_& +4 "core" & i  +2 "storage"(>& +3 "core" &<, ~ r |\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +102 "core" ' +2 .tElbow.hold + "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator" +62 "core" 1 +2 "manipulator"&(% +4 "core" % Ε E + "storage"( & +4 "core" &<, } h\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&' +23 "core" ' +2 "manipulator"&q& +4 "core" &  n  +2 "storage"(& +4 "core" &<,  K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +23 "core" ' +2 "storage"(m% +3 "core" % t\ +3 ."downElevator"SE.seek :down +3 "storage"(v' +99 (F% +3 "core" %F j k \ V` +2 "manipulator"&I% +4 "core" %?  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +42 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'"& +3 "core" & \ +2 "manipulator"&% +4 "core" %   +2 "storage"(.% +3 "core" % \  +2 "storage"(e. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(K(K +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K j i \  +2 "manipulator"&A& +4 "core" & W  +2 .tElbow.seek 6 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&,& +3 "core" &  r  +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +100 "core" ' + "storage"(j& +4 "core" &K -\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +49 .tSE.seek :beamBreak +3 "storage"('r +295 "core" ' +2 "storage"(x- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &K j g \  +2 "manipulator"&@& +4 "core" & Q  +2 .tElbow.seek 6 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&E& +3 "core" &  +2 "storage"(& +4 "core" &K _ j \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&X'h +29 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"(w' +7 "core" & 3  +2 "manipulator"&% +4 "core" % s T +2 .tForearm.seek :retract +2 "manipulator"&1' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&y& +4 "core" &ӓ   :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &ӓ  ^ :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'? +108 "core" ' +3 "manipulator"&f& +3 "core" &Ӕ! " :0 +2 "manipulator"&% +4 "core" %G +2 "collection"'0& +4 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & G\ +7 &A =\ $f +10 &Z{ /\ 7 +9 &v .\ K +10 &R 5\ J +9 &T =\ K +9 &MT ,\ J +10 &T (\ J +9 &T *\ J +9 &R +\ K +10 &UR /\ K +9 & R )\ J +10 &!T '\ J +9 &#T \ J +9 &%]R \ K +10 &'Q \ K +9 &(R !\ K +9 &*R #\ J +10 &,eT  \ K +9 &.'W "\ K +10 &/W $\ J +9 &1U "\ J +9 &3nU '\ J +10 &50T !\ J +9 &6U  \ J +9 &8T .\ J +10 &:vT 2\ J +9 &<8U %\ J +9 &=U '\ J +10 &?U #\ K +9 &A|Z !\ K +10 &C=[ &\ K +9 &Dc %\ L +9 &Fk !\ N +10 &Hu '\ P +9 &J*\ \ +\ U +10 &K\ \ +\ W +9 &M\ \  \ X +9 &Oc\ \ \ Y +10 &Q(\ \ #\ X +9 &R\ \ \ Z +9 &T\ \ !\ Z +10 &Vf\ \  \ [ +9 &X'\ \ \ [\ +10 &Y\ \ \ \\ +9 &[\ \ \ I +9 &\\/\ \ \ 5 +10 &\\m\ \ \ K +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 + .Hand.open +2 "manipulator"&\ 1 +64 "core" 1 + "manipulator"&W% +4 "core" % G \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%M& +4 "core" &\ +2 "manipulator"&% +3 "core" %  2  +2 "storage"(B% +4 "core" % 7 4 >\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"([(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &K J (\  +2 "manipulator"&i& +4 "core" &ӣ  D 8! + "manipulator"&+% +4 "core" %  C  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( + "manipulator"&d& +4 "core" &  +2 "storage"(& +3 "core" &K H F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&5' +95 "core" ' +2 "storage"( & +4 "core" &K j j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &K G R \  +2 "manipulator"&U& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&b( +2 "core" ( +3 "manipulator"&O& +3 "core" & 8  +2 "storage"(& +4 "core" &K 8 8 \  +2 .tForearm.seek 6 + 300 counts +48 "manipulator"&;'h +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&|/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(H' +7 "core" & O  +2 "manipulator"&% +4 "core" % a @ +2 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&C& +4 "core" & P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +94 "core" ' +2 "manipulator"&Y& +4 "core" & a +2 "manipulator"&% +4 "core" % m | +2 "processing"%G& +4 "core" &\ +2 "processing"%t& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\\(^ +4 "core" &\ +7 &>\ $d +9 &Wx\ 7 +10 &x\ L +9 &R\ M +9 &nR\ M +10 &0S\ M +9 &S\ M +10 &U\ N +9 &vS\ M +9 &8W\ M +10 &U\ N +9 &!U\ M +9 &#~S\ M +10 &%?V\ N +9 &'U\ M +9 &(R\ M +10 &*V\ M +9 &,HU\ M +10 &.\ Q\ M +9 &/U\ N +9 &1U\ M +10 &3QR\ M +9 &5T\ M +10 &6R\ M +9 &8X\ M +9 &:XR\ M +10 &<U\ N +9 &=W\ N +9 &?T\ M +10 &A`X\ M +9 &Cb\ O +10 &De\ O +9 &Fp\ Q +9 &HZ\ R +10 &J\ S +9 &K\ T +9 &M\ T +10 &O\\\ T +9 &Q\ U +10 &R\ U +9 &T\ U +9 &Vb\ U +10 &X$\ U +9 &Y\ U +9 &[\ U +10 &]i\ B +9 &^>p\ $j +9 &^&\ . +6 ( +2 "processing"%t& +3 "core" &^ \ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&31 +58 "core" 1 + "manipulator"&^% +4 "core" %   / | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +95 "core" ' +2 "processing"%4& +3 "core" &^ \ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&a% +3 "core" % !   ( & +2 "storage"(6% +4 "core" % + & L\  +2 "storage"( . +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(<(K +7 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (o& +2 "manipulator"&{& +4 "core" &K R\ E\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  + +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"( 'r +4 "manipulator"&2( +4 "core" ( +2 "manipulator"&s& +4 "core" &   < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" & \  +2 .tForearm.seek PC +2 "manipulator"&Z' +95 "core" ' +2 .tHand.close +2 "manipulator"&%/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +79 "core" ' + "storage"(L- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'1 +40 "core" ' +326 ( +2 "storage"(*& +3 "core" &K F H \  +2 "manipulator"&n& +4 "core" & ` +2 "manipulator"&g% +3 "core" %  ) 2 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&?( +240 "core" ( +2 "manipulator"&J& +3 "core" & 9 +2 "storage"(k& +4 "core" &K $ # s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 6 + 450 counts +9 "manipulator"&8' +94 "core" ' +2 .tHand.open + "manipulator"&R1 +63 "core" 1 +2 "storage"(~- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(_' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(>' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"(z& +4 "core" &K e g \  +2 "manipulator"&#& +3 "core" &    8 +2 .tElbow.seek 6 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"& & +4 "core" &   . 8 +2 "storage"(q& +4 "core" &K d d <\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(m'" +57 "core" ' +2 "manipulator"&)& +4 "core" & 9 8 +2 "storage"(F& +3 "core" &K F F \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&I'< +19 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 "manipulator"&"% +3 "core" %N +2 "storage"(& +4 "core" &K E F K\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&'z +14 "core" ' + "manipulator"&.& +4 "core" &  7 +2 "storage"(e& +3 "core" &K S S k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +15 "core" ' +2 "storage"(c% +4 "core" % U S c\ +3 ."downElevator"SE.seek :down +3 "storage"(v' +99 (&% +3 "core" %WR 2 C\ Xh +2 "manipulator"&% +3 "core" % d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (,& +4 "core" &K 7 +\  +2 "collection"'& +3 "core" &\\` \ K +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&j% +3 "core" %  ~  +2 "storage"(D% +4 "core" % J S 5\  +2 "storage"(. +2 "core" .(K +2 "storage"(x& +4 "core" &K I S '\  +2 "storage"(=& +4 "core" &K S Q\  + "manipulator"&@& +4 "core" & 7 +2 .tElbow.seek 6 +2 "manipulator"&E( +4 "core" ( + "manipulator"&& +4 "core" & > 7 +2 "storage"('& +3 "core" &K R S \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&:' +90 "core" ' +2 "storage"(& +4 "core" &K Q j N\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'r +299 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" & 7 +2 "storage"(r& +4 "core" &K E E -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +24 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(9'o +32 "core" ' + "manipulator"&% +4 "core" %P $ +2 "storage"(0& +3 "core" &K * " #\  +2 .tForearm.force -20 +46 "manipulator"&5 +5 .tForearm.seek 6 + 320 counts + "manipulator"&w'| +15 "core" ' +2 "manipulator"&1& +3 "core" & 7 +2 "storage"(]& +4 "core" &K E E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\ ' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(W' +33 "core" ' +2 "manipulator"&M& +4 "core" & . 7 +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( + "manipulator"&& +4 "core" &Ӓ% V >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &Ӓ% ^ >L +2 .tForearm.seek CC +2 "manipulator"&i'? +92 "core" ' + .tHand.close +2 "manipulator"&+/ +53 "core" / +2 .tCC.seek :open +2 "collection"'/( +446 "core" ( +2 "storage"(d& +3 "core" &K h _ \  +2 "storage"(& +3 "core" &K j i \  +2 "manipulator"&K& +4 "core" &ӫ"  ;3 +2 "manipulator"& % +4 "core" % M : ' +2 .tForearm.seek :retract +2 "manipulator"&`' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&V( +163 "core" ( +2 "manipulator"&l& +4 "core" &  +2 "storage"(u& +3 "core" &K  c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&U'< +93 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&|% +4 "core" % ;  E L +2 "storage"(S& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 299 counts + "manipulator"&'g +14 "core" ' +2 "manipulator"&& +3 "core" & }  +3 "storage"(5& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' + "storage"(;% +4 "core" % y S\ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 (Q% +3 "core" %L Q k x\ Vc +2 "manipulator"&b% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +4 "core" & 0\ +2 "manipulator"&G% +3 "core" %  _ \ +2 "storage"(H% +4 "core" % ~ \  +2 "storage"(N. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +349 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (3& +3 "core" &[ T R <\  +2 "manipulator"&^& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&4(r +32 "core" ( + "manipulator"&a& +4 "core" &f  w Z +2 "storage"(6& +4 "core" &[ q r \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +100 "core" ' + "storage"(t& +4 "core" &[  y\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +292 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +2 "core" &[ i l \  +3 "manipulator"&7& +3 "core" &g Y +3 .tElbow.seek 7 +2 "manipulator"&P(r +11 "core" ( + "manipulator"&%& +4 "core" &j  H % +2 "storage"([& +4 "core" &[ ` m S\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&L'ϧ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +4 "storage"(\\' +5 "core" & K +2 "manipulator"& % +4 "core" % ϛ F +2 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&n(ӂ +152 "core" ( +2 "manipulator"&g& +4 "core" ' +2 &Ӑ& ?V + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&Z& +4 "core" &Ӑ& ?V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'? +91 "core" ' +2 "manipulator"&k& +4 "core" &Ӓ& ?T +2 "manipulator"&2% +4 "core" %I n +2 "collection"'R& +4 "core" & \ +3 "collection"'~& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'$(\\ +4 "core" & \ +5 & 1\ 9 +9 &MKu \ 1 +10 &v{ 1\ E +9 &3X +\ K +9 &W _\ K +10 &Y #\ K +9 &zY 8\ K +10 &<W :\ K +9 &X 3\ K +9 &X ;\ K +10 &W ;\ J +9 &!ET 2\ J +9 &#T /\ J +10 &$T 1\ J +9 &&T '\ K +10 &(MW 1\ K +9 &*X (\ J +9 &+T +\ J +10 &-T .\ J +9 &/VU /\ J +9 &1T %\ J +10 &2T $\ J +9 &4U (\ J +10 &6^U )\ J +9 &8 U 3\ J +9 &9U .\ K +10 &;X 2\ K +9 &=eU (\ K +9 &?'W *\ J +10 &@W %\ K +9 &B\\ (\ L +10 &Dic 3\ L +9 &F'm +\ M +9 &G\  (\ Q +10 &I\ \ %\ U +9 &KQ\ \ 3\ W +9 &M\ \ &\ V +10 &N\ \ ,\ W +9 &P\ \ '\ W +10 &RV\ \ &\ X +9 &T\ \ "\ Z +9 &U\ \ &\ Y +10 &W\ \ .\ [ +9 &YT\ \ 3\ [ +9 &[\ \ &\ \\ +10 &\\gF\ \ &\ 1 +9 &\\\ \ '\ L +6 ( +2 "collection"'~& +3 "core" &\\e\ \ \ +\ L +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&z1 +55 "core" 1 +2 "manipulator"&#% +4 "core" % K d l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%q& +4 "core" &\ +2 "manipulator"&% +3 "core" %  L  +2 "storage"()% +4 "core" % F I #\  +2 "storage"(F. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"("([ +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" &[ L 1\  +2 "manipulator"&& +4 "core" & . + "manipulator"&.% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&e(r +154 "core" ( +2 "manipulator"&_& +3 "core" &{   +2 "storage"(c& +4 "core" &[ E C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +94 "core" ' +2 "storage"(8& +4 "core" &[ j P t\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +295 "core" ' +2 "storage"(&- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ $  =\  +3 "manipulator"&& +3 "core" &{  +2 .tElbow.seek 7 +2 "manipulator"&((r +2 "core" ( +2 "manipulator"&m& +4 "core" &{ P  +2 "storage"(I& +3 "core" &[ F H L\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +50 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +60 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(j' +5 "core" &{ ?  +3 "manipulator"&D% +4 "core" % ϝ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&x& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&@' +102 "core" ' + "manipulator"&& +4 "core" & +2 "manipulator"&'% +4 "core" %  +2 "processing"%h& +4 "core" &\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%v(^ +4 "core" &\ +7 &7\ #b +9 &Ux\ 6 +10 &x\ K +9 &R\ M +9 &bP\ M +10 &$R\ M +9 &T\ M +10 &U\ M +9 &jS\ M +9 &+U\ M +10 &Q\ M +9 &!S\ M +9 &#qV\ M +10 &%3T\ M +9 &&U\ M +10 &(Q\ M +9 &*yU\ M +9 &,<S\ M +10 &-S\ M +9 &/V\ N +9 &1V\ M +10 &3DR\ M +9 &5U\ M +10 &6R\ M +9 &8U\ N +9 &:JT\ N +10 &< W\ N +9 &=W\ N +9 &?W\ N +10 &ASU\ M +9 &C_\ O +10 &Dc\ O +9 &Fn\ P +9 &HN|\ R +10 &J \ S +9 &K\ S +9 &M\ T +10 &OQ\ S +9 &Q\ T +10 &R\ T +9 &T\ U +9 &VX\ T +10 &X\ T +2 "Can"\ a?! +7 "core" &Y\ T +9 &[\ T +10 &]]\ B +9 &^Jy\ M +10 &^N\ 7 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&}1 +3 "core" &^4\ 7 +49 1 +2 "manipulator"&A% +4 "core" %    k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 "processing"%y& +3 "core" &^4\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&r% +4 "core" % !  ) +2 "storage"(f% +4 "core" % ' '\  +2 "storage"(. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(0([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +2 "manipulator"&]& +6 "core" &   + &[ Q ) 2\  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&M( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" ( +2 "manipulator"&:& +5 "core" &   W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&-' +95 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +3 .tPC.seek :open +2 "processing"%w( +95 "core" ' +2 "storage"(9- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +303 ( +2 "storage"(!& +4 "core" &[ F E \  +2 "manipulator"&\ & +3 "core" & +2 "manipulator"&X% +4 "core" %  ; +2 .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&B(r +244 "core" ( +2 "manipulator"&& +3 "core" & . +2 "storage"(d& +4 "core" &[ H G %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +42 "manipulator"&'= +106 "core" ' + .tHand.open +2 "manipulator"&K1 +53 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(l' +26 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(u' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(i- +2 "core" -' +2 "storage"(& +4 "core" &[ \  +2 "manipulator"&& +3 "core" &   . +3 .tElbow.seek 7 + "manipulator"&|(r +27 "core" ( +2 "manipulator"&S& +4 "core" &u   \\ +2 "storage"(& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&5'= +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +49 "core" ' + "manipulator"&`& +4 "core" &u \\ +2 "storage"(Q& +4 "core" &[ E D \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&b'{ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(U' +19 "core" ' + "manipulator"&% +4 "core" %΋ 2 +2 "storage"(G& +3 "core" &[ * 3 \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 316 counts +2 "manipulator"&'Ϸ +13 "core" ' +2 "manipulator"&H& +3 "core" &u \\ +2 "storage"(N& +4 "core" &[ P H H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&W'= +16 "core" ' +2 "storage"(% +3 "core" % S I Z\ +3 ."downElevator"SE.seek :down +4 "storage"(C' +98 (<% +3 "core" %bM ' '\ Xf +2 "manipulator"&3% +4 "core" %4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (a& +3 "core" &[ # = \  +2 "collection"'6& +3 "core" &\\k\ \ -\ L +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&t% +4 "core" %   +2 "storage"(O% +3 "core" % S S l\  +2 "storage"(Y. +3 "core" .([ +2 "storage"({& +4 "core" &[ J Q \  +2 "storage"(s& +3 "core" &[ J Q \  +2 "manipulator"&7& +4 "core" &u \\ +2 .tElbow.seek 7 +2 "manipulator"&%(r +4 "core" ( + "manipulator"&[& +4 "core" &u \\ +2 "storage"(& +4 "core" &[ S S W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&T'= +96 "core" ' +2 "storage"( & +3 "core" &[ j P m\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&g& +3 "core" &u  \\ +3 "storage"(Z& +3 "core" &[ S S )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&o'{ +18 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(k- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(2'g +32 "core" ' + "manipulator"&R% +4 "core" %  +2 "storage"(P& +3 "core" &[ S S R\  +2 .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 7 + 304 counts +8 "manipulator"&\\'ϫ +16 "core" ' +2 "manipulator"&*& +5 "core" &u : \\ + "storage"(/& +4 "core" &[ j j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&z'= +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(#' +43 "core" ' + "manipulator"&q& +4 "core" &u \\ +2 "manipulator"&% +3 "core" %9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +162 "core" ( + "manipulator"&~& +4 "core" &ӎ# m =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &ӎ$   # =D +2 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' + .tHand.close +2 "manipulator"&./ +56 "core" / +2 .tCC.seek :open +3 "collection"'J( +448 "core" ( +2 "storage"(_& +3 "core" &[ l k \  +2 "storage"(c& +4 "core" &[ j j \  +2 "manipulator"&& +3 "core" &  0 +2 "manipulator"&8% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&n' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"& (r +152 "core" ( +2 "manipulator"&&& +3 "core" &y  >  +2 "storage"(& +4 "core" &[  +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +92 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&I1 +58 "core" 1 +2 "manipulator"&,% +4 "core" % ΋  G , +2 "storage"(& +3 "core" &[ x\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 316 counts + "manipulator"&D'Ϸ +15 "core" ' +3 "manipulator"&e& +3 "core" &y  |  +2 "storage"(?& +5 "core" &[ u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&>'= +16 "core" ' + "storage"(% +4 "core" % P\ +3 ."downElevator"SE.seek :down +4 "storage"(x' +98 (=% +3 "core" %G N j g\ Va +2 "manipulator"&(% +4 "core" %< +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"''& +3 "core" & ;\ +3 "manipulator"&h% +3 "core" %  S  +2 "storage"(j% +4 "core" % ~ &\  +2 "storage"(. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +701 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +2 "core" &<- ^ g }\ +2 "manipulator"&A& +4 "core" &y   +2 .tElbow.seek 5 +2 "manipulator"&y( +38 "core" ( +2 "manipulator"&r& +4 "core" & Z  +2 "storage"(f& +3 "core" &<- } <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' + "storage"(& +4 "core" &<- \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +296 "core" ' +46 "storage"(1- +5 "core" -'\ +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (:& +2 "core" &<- ` h i\ +3 "manipulator"&E& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&@( +15 "core" ( + "manipulator"&& +4 "core" & s +2 "storage"("& +4 "core" &<- j j \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&9'Ϲ +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(v' +8 "core" & s +2 "manipulator"&% +3 "core" %  4 +3 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&\ (ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&X& +3 "core" &Ӑ(  Aa +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &Ӑ( Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' + "manipulator"&d& +4 "core" &ӓ( \\ @^ +2 "manipulator"&M% +4 "core" %:  +2 "collection"'K& +3 "core" & \ +3 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'+(\\ +4 "core" & \  +9 &4z \ *y +10 & g~ \ > +9 &l \ L +9 &[Q 8\ J +10 &U (\ K +9 &X H\ K +9 &W \ K +10 &bV *\ K +9 &#X ;\ K +10 &W @\ J +9 & T B\ J +9 &"iT =\ K +10 &$+W ;\ K +9 &%W 2\ K +9 &'S 7\ K +10 &)rT 0\ J +9 &+4T .\ J +9 &,T (\ K +10 &.W /\ K +9 &0yX $\ K +10 &2;S &\ K +9 &3U )\ J +9 &5U 3\ K +10 &7X 4\ K +9 &9CS 4\ K +10 &;T 4\ J +9 &<U )\ K +9 &>T /\ K +10 &@KV 3\ K +9 &B W 3\ K +9 &C_ 0\ L +10 &Ef ,\ M +9 &GGv 3\ O +10 &I\  -\ R +9 &J\ \ 1\ V +9 &Lu\ \ +\ W +10 &N6\ \ $\ W +9 &O\ \ +\ X +9 &Q\ \ -\ Y +10 &Sx\ \ (\ Y +9 &U:\ \ 0\ Y +10 &V\ \ +\ Z +9 &X\ \ %\ [\ +9 &Zw\ \ +\ \\ +10 &\\z\ \ '\ 0 +9 &\\/\ \ '\ ^ +9 ( + &\\`\ \ '\ L +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&i1 +64 "core" 1 +3 "manipulator"&% +4 "core" % :  "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%S& +4 "core" &\ +2 "manipulator"&% +3 "core" %  X  +2 "storage"(`% +4 "core" % & %\  +2 "storage"(Q. +2 "core" .(<) +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &<. 8 "\  + "manipulator"&G& +4 "core" &ӯ# =B +2 "manipulator"&l% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&H( +165 "core" ( + "manipulator"&N& +4 "core" &   +2 "storage"(& +4 "core" &<. Q I K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +102 "core" ' +2 "storage"(& +3 "core" &<. j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'r +296 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &<. 4 E l\  +2 "manipulator"&5& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&|( +4 "core" ( +2 "manipulator"&;& +3 "core" &  +2 "storage"(b& +3 "core" &<. I I 4\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +11 "core" ' +2 .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&a/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& +2 "storage"(t' +7 "core" &  +2 "manipulator"&O% +4 "core" % Ϻ +2 .tForearm.seek :retract +2 "manipulator"&Y' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&U( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&{& +4 "core" & # X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" & ' X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&7' +94 "core" ' +2 "manipulator"&[& +4 "core" &  X +2 "manipulator"&% +4 "core" % E +2 "processing"%W& +3 "core" &\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(^ +4 "core" &\  +10 &2v\ )v +9 &b|\ = +9 &fr\ N +10 &)R\ M +9 &V\ M +10 &S\ M +9 &nW\ M +9 &0V\ M +10 &S\ M +9 &Q\ M +9 & uU\ N +10 &"8R\ M +9 &#Q\ M +10 &%Q\ M +9 &'}U\ N +9 &)@T\ M +10 &+R\ M +9 &,R\ M +9 &.U\ M +10 &0GV\ N +9 &2\ W\ M +10 &3U\ N +9 &5T\ M +9 &7QT\ M +10 &9W\ N +9 &:V\ N +9 &<R\ M +10 &>WY\ N +9 &@W\ N +10 &AW\ N +9 &Cc\ O +9 &E[e\ O +10 &Gp\ Q +9 &H~\ R +9 &J\ S +10 &LV\ S +9 &N\ T +10 &O\ T +9 &Q\ U +9 &SY\ U +10 &U\ U +9 &V\ U +9 &X\ T +10 &Z`\ U +9 &\\#\ U +10 &]}\ 2 +9 &^3j\ @ +9 ( + &^\ - +3 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&V1 +60 "core" 1 +2 "manipulator"&^% +4 "core" %  \ " E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 "processing"%g& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&Z% +4 "core" %    ' +2 "storage"(k% +3 "core" % $ % \ +2 "storage"(R. +3 "core" .(<- +2 "storage"(P& +4 "core" &<. $ $ U\  +2 "storage"(*& +3 "manipulator"&/& +6 "core" &<. ( + ?\  + &    X +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&q( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +16 "core" ( +2 "manipulator"&T& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +4 "core" &   +2 .tForearm.seek PC +2 "manipulator"&4' +93 "core" ' + .tHand.close +2 "manipulator"&o/ +53 "core" / +2 .tPC.seek :open +2 "processing"%\\( +87 "core" ' + "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'1 +44 "core" ' +316 ( + "storage"(p& +4 "core" &<+ E H \ +2 "manipulator"&z& +8 "core" & v +2 "manipulator"&L% +4 "core" %  ] +2 .tForearm.seek :retract +2 "manipulator"&.' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&)( +238 "core" ( +2 "manipulator"&$& +3 "core" & \ C +2 "storage"(_& +3 "core" &<+ E F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +92 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(8- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +47 "storage"(&' +35 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(F& +4 "core" &<+ \ +2 "manipulator"&I& +4 "core" &   # B +2 .tElbow.seek 5 +2 "manipulator"&,( +4 "core" ( + "manipulator"&& +4 "core" &  \ $ B +2 "storage"(e& +4 "core" &<+ z n\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&n& +4 "core" & B +2 "storage"(=& +3 "core" &<+ D 4 9\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&('΍ +21 "core" ' +2 .tElbow.hold +2 "manipulator"& , +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&'% +4 "core" %Ο J +2 "storage"(h& +4 "core" &<+ D 3 ,\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 318 counts + "manipulator"&D' +15 "core" ' + "manipulator"&j& +4 "core" & B +2 "storage"(& +4 "core" &<+ S S s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +16 "core" ' + "storage"(>% +4 "core" % M < ?\ +3 ."downElevator"SE.seek :down +3 "storage"(x' +99 (0% +3 "core" %kO & &\ Xf +2 "manipulator"&}% +4 "core" %N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 (r& +2 "core" &<+ 6 +\ +3 "collection"'f& +3 "core" &\\` ,\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %  3  + "storage"(m% +4 "core" % S S _\  +2 "storage"(. +3 "core" .(<- +2 "storage"(1& +4 "core" &<+ S P N\ + "storage"(:& +4 "core" &<+ P G a\ +2 "manipulator"&E& +4 "core" & B +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&"& +3 "core" & ' B +2 "storage"(& +4 "core" &<+ T S ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +95 "core" ' +2 "storage"(& +3 "core" &<+ 8 7 (\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'r +298 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&X& +3 "core" &  B +3 "storage"(-& +3 "core" &<+ E E \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&]'΍ +14 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(d- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(M'a +27 "core" ' +2 "manipulator"&K% +3 "core" %Ξ E +2 "storage"(@& +4 "core" &<+ S R \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&v' +16 "core" ' +2 "manipulator"&!& +3 "core" &  B +3 "storage"(J& +3 "core" &<+ j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 "manipulator"&S& +3 "core" & B +2 "manipulator"&% +4 "core" %K - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&Q(ӂ +154 "core" ( +3 "manipulator"& & +3 "core" &ә' 3 =F +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ә# _ =F +3 .tForearm.seek CC +2 "manipulator"&G'? +94 "core" ' + .tHand.close +2 "manipulator"&l/ +54 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(N& +4 "core" &<+ j j \ +2 "storage"(& +4 "core" &<+ j i \ + "manipulator"&& +4 "core" &ӫ" ;4 +2 "manipulator"&% +4 "core" % K = +2 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&<& +4 "core" &  +2 "storage"(3& +3 "core" &<+ k j \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&5'΍ +99 "core" ' +2 .tElbow.hold + "manipulator"&;, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&b1 +64 "core" 1 +2 "manipulator"&a% +4 "core" % ΐ r +2 "storage"(6& +3 "core" &<+ j i \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 303 counts +2 "manipulator"&O'ϼ +14 "core" ' +2 "manipulator"&H& +3 "core" &  +2 "storage"(B& +4 "core" &<+ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&u'O +16 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"({' +98 (s% +3 "core" %G j Q S\ Va +2 "manipulator"&|% +4 "core" %I  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & =\ +2 "manipulator"&W% +4 "core" %  U  +2 "storage"(t% +4 "core" %  :\  + "storage"(Y. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(w(K +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" &K \\ @\  +2 "manipulator"&^& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&g( +2 "core" ( +2 "manipulator"&Z& +4 "core" &  P  +2 "storage"(k& +3 "core" &K } i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +95 "core" ' +2 "storage"(P& +3 "core" &K { w\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +296 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &K h ` \  +2 "manipulator"&T& +4 "core" &  +2 .tElbow.seek 6 +46 "manipulator"&%( +5 "core" ( +2 "manipulator"&7& +4 "core" & R  +2 "storage"(o& +3 "core" &K ` j \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&2'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(C' +6 "core" &  G  +2 "manipulator"&% +4 "core" % | +2 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +151 "core" ( + "manipulator"&L& +4 "core" &|+  Cr +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b + "core" ' +3 ."downElevator"SE.stop +2 "manipulator"&4& +2 "storage"(5 +4 "core" &|+ Cr +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&$'? +99 "core" ' +2 "manipulator"&_& +3 "core" &~+ Cp +2 "manipulator"&q% +4 "core" %F C  +2 "collection"'& +4 "core" & \ +3 "collection"'8& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'.(\\ +4 "core" & \ +7 &4 \ $e +9 &Wu ?\ 6 +10 &x U\ K +9 &R L\ J +9 &}U $\ K +10 &?W >\ K +9 &W \ K +9 &W 2\ K +10 &V B\ K +9 &GR B\ K +10 & R A\ K +9 &!W <\ K +9 &#X ;\ K +10 &%OQ 7\ K +9 &'Q >\ K +9 &(R 4\ K +10 &*S 5\ J +9 &,YT *\ J +10 &.R 1\ K +9 &/T %\ J +9 &1U #\ J +10 &3`U %\ J +9 &5"T +\ J +9 &6T 3\ K +10 &8X 4\ K +9 &:gW 0\ K +10 &<)Y 4\ K +9 &=W 1\ K +9 &?Y '\ K +10 &AoU 2\ K +9 &C/Z +\ L +10 &Db 3\ L +9 &Fk ,\ N +9 &Hf +\ Q +10 &J\ \ .\ T +9 &K\ \ +\ V +9 &M\ \ 2\ W +10 &O[\ \ '\ W +9 &Q\ \ ,\ X +9 &R\ \ '\ Y +10 &T\ \ +\ Y +9 &V[\ \ \ Z +10 &X\ \ \ [\ +9 &Y\ \ #\ [\ +9 &[\ \ )\ H +10 &\\;\ \ (\ - +9 &\\_\ \ %\ J +2 ( +3 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&F% +4 "core" % E 4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&e% +5 "core" %   + "storage"(n% +4 "core" % H H \  +2 "storage"(=. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"('(K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (~& +3 "core" &K\ \ # /\  +2 "manipulator"&h& +3 "core" &Ӫ# : =D +2 "manipulator"&j% +4 "core" %  "  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( + "manipulator"&&& +4 "core" &   +2 "storage"(>& +3 "core" &K ; 8 \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +95 "core" ' +2 "storage"(c& +4 "core" &K j j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +308 "core" ' +2 "storage"(0- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &K H S \  +2 "manipulator"&?& +3 "core" & M  +2 .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"((& +4 "core" &K I R \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&D'h +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(' +52 "core" &   +4 "manipulator"&m% +3 "core" % s \ +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +112 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +127 "core" ( +2 "manipulator"&1& +4 "core" & F 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" & 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&E' +93 "core" ' +2 "manipulator"&"& +4 "core" & 2 +2 "manipulator"&% +4 "core" % Z +2 "processing"%#& +4 "core" &\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed + "processing"%x(^ +4 "core" &\ +7 &\ ; +9 &LJs\ 1 +9 &t}\ F +10 &(Z\ N +9 &T\ M +9 &U\ M +10 &oU\ M +9 &1Q\ M +10 &U\ M +9 &T\ N +9 &wT\ M +10 &!9R\ M +9 &"W\ M +10 &$W\ M +9 &&U\ M +9 &(@U\ N +10 &*U\ M +9 &+R\ M +9 &-R\ M +10 &/IW\ M +9 &1 X\ M +10 &2W\ M +9 &4T\ N +9 &6PW\ N +10 &8R\ M +9 &9R\ M +9 &;V\ M +10 &=XX\ N +9 &?X\ N +10 &@T\ N +9 &B]\ N +9 &D\\b\ O +10 &Fn\ P +9 &Gx\ R +9 &I\ S +10 &KV\ T +9 &M\ T +9 &N\ T +10 &P\ U +9 &R[\ U +10 &T\ U +9 &U\ T +9 &W\ U +10 &Yd\ T +9 &[&\ T +10 &\\\ U +9 &^MWy\ (w +9 &^_\ 9 +9 ( +2 &^'\ 5 + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"& 1 +61 "core" 1 + "manipulator"&A% +4 "core" %     Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"%X& +4 "core" &^&\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&-% +4 "core" %     +2 "storage"(d% +4 "core" % % #\  +2 "storage"(K. +3 "core" .(K +2 "storage"(@& +4 "core" &K ) & 1\  +2 "storage"(!& +2 "manipulator"&J& +8 "core" &K $ #\  + &   2 +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(S'r +2 "manipulator"&( +6 "core" ( +2 "manipulator"& & +3 "core" &  5 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  \ 2 +2 .tForearm.seek PC +2 "manipulator"&y' +92 "core" ' + .tHand.close +2 "manipulator"&]/ +58 "core" / +2 .tPC.seek :open +2 "processing"%v( +93 "core" ' +2 "storage"(M- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +41 "core" ' +311 ( +2 "storage"(& +3 "core" &K S S X\  +2 "manipulator"&i& +4 "core" & 2 +2 "manipulator"&9% +4 "core" % \  K +2 .tForearm.seek :retract +2 "manipulator"&l' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&`( +245 "core" ( + "manipulator"&+& +4 "core" & 8 +2 "storage"(N& +4 "core" &K H H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(<' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(3' +50 "core" ' +10 #tLights, camera, ACTION! + "storage"(G- +3 "core" -' +2 "storage"(Q& +4 "core" &K \  +2 "manipulator"&b& +4 "core" &  \  8 +2 .tElbow.seek 6 +2 "manipulator"&a( +4 "core" ( +2 "manipulator"&6& +4 "core" &   \\ 8 +2 "storage"(H& +3 "core" &K j\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' + "manipulator"&\ & +4 "core" &  8 +2 "storage"(s& +4 "core" &K $ # G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&|'< +24 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(5' +23 "core" ' + "manipulator"&% +4 "core" %M $ g +2 "storage"(O& +4 "core" &K - . D\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&W'y +13 "core" ' +2 "manipulator"&t& +3 "core" &  8 +2 "storage"(Y& +3 "core" &K S S Y\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(u% +3 "core" % M H \ +3 ."downElevator"SE.seek :down +3 "storage"({' +99 (% +3 "core" %dT & &\ Xg +2 "manipulator"&V% +4 "core" % 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' +60 ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 (Z& +3 "core" &K D 4 \ \  +2 "collection"'k& +4 "core" &\\\\ .\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&P% +4 "core" %   +2 "storage"(;% +3 "core" % S S S\  +2 "storage"([. +3 "core" .(K +2 "storage"(/& +4 "core" &K S S O\  +2 "storage"(*& +4 "core" &K S S T\  + "manipulator"&T& +4 "core" & N 8 +2 .tElbow.seek 6 +2 "manipulator"&7( +4 "core" ( + "manipulator"&o& +4 "core" & 6 8 +2 "storage"(U& +3 "core" &K S S u\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +98 "core" ' +2 "storage"(& +4 "core" &K g P\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +309 "core" ' +2 "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" & 2 8 +2 "storage"(4& +3 "core" &K S S )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +24 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(_- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(q'o +32 "core" ' + "manipulator"&% +4 "core" %P +2 "storage"(%& +4 "core" &K E H K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&C'| +15 "core" ' + "manipulator"&p& +4 "core" & x 8 +2 "storage"(& +3 "core" &K Z g >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(F' +49 "core" ' +3 "manipulator"&& +4 "core" &  8 +2 "manipulator"&e% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=(ӂ +149 "core" ( +2 "manipulator"&8& +5 "core" &. ? E~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &Ӏ. j E} +2 .tForearm.seek CC +2 "manipulator"&h'? +94 "core" ' + .tHand.close +2 "manipulator"&j/ +64 "core" / +2 .tCC.seek :open + "collection"'$( +450 "core" ( +2 "storage"(&& +3 "core" &K \\ \\\  +2 "storage"(>& +4 "core" &K a m j\  +2 "manipulator"&w& +3 "core" &ӥ' @X +2 "manipulator"&c% +4 "core" % S  I +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&I( +166 "core" ( +2 "manipulator"&0& +3 "core" & b  +2 "storage"(}& +4 "core" &K  7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&?'< +94 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&(1 +63 "core" 1 +2 "manipulator"&r% +4 "core" % M P H +2 "storage"(f& +3 "core" &K y\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 317 counts +2 "manipulator"&m'y +13 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"()& +4 "core" &K ~ o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(D% +3 "core" % w w {\  +3 ."downElevator"SE.seek :down +4 "storage"(1' +98 (:% +3 "core" %PH N j h\ Vb +2 "manipulator"&,% +4 "core" % M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +91 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +3 "core" & A\ +2 "manipulator"&#% +3 "core" %  c  +2 "storage"(% +4 "core" % ~ \  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(\\([ +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &[ > U 0\  +7 "manipulator"&A& +3 "core" & 3  +3 .tElbow.seek 7 + "manipulator"&X(r +15 "core" ( + "manipulator"&-& +4 "core" &h  U | +2 "storage"(d& +4 "core" &[ ~ 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'= +94 "core" ' +2 "storage"(@& +3 "core" &[ w q\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'r +293 "core" ' +2 "storage"(!- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ h k \  +2 "manipulator"& & +3 "core" &h  | +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( + "manipulator"&E& +4 "core" &h \ E | +2 "storage"(]& +3 "core" &[ g ` z\  +3 .tForearm.seek 7 + 300 counts +47 "manipulator"&M'ϧ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(x' +7 "core" &h  | +2 "manipulator"&S% +4 "core" % ϳ Q +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +156 "core" ( +2 "manipulator"&9& +4 "core" ' + &Ӏ,  Dv +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +4 &y& +2 "core" &Ӏ- + Dv +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&+'? +103 "core" ' +2 "manipulator"&N& +4 "core" &Ӣ& ?T +2 "manipulator"&% +4 "core" %: &  +2 "collection"'& +4 "core" & \ +3 "collection"'& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'G(\\ +4 "core" & \ +8 &: =\ $d +10 &Wu \ 6 +9 &x <\ K +9 &T 1\ K +10 &xR *\ K +9 &;T (\ J +9 &T  \ J +10 &T <\ J +9 &T A\ J +9 &CT >\ J +10 & R A\ J +9 &!T =\ J +10 &#U A\ J +9 &%KS =\ J +9 &' T >\ J +10 &(T =\ K +9 &*V 7\ K +9 &,RV 5\ K +10 &.W 0\ K +9 &/R *\ K +10 &1R )\ K +9 &3[T 1\ J +9 &5U 3\ J +10 &6U 4\ K +9 &8R 0\ K +9 &:cT 3\ J +10 &<$U 4\ K +9 &=U 3\ K +10 &?W 2\ K +9 &AjX 3\ K +9 &C*_ 3\ L +10 &Dg 3\ M +9 &Fs 4\ N +9 &H\\\ \ 3\ S +10 &J\ \ 3\ V +9 &K\ \ 3\ W +10 &M\ \ 1\ X +9 &OU\ \ 3\ X +9 &Q\ \ 3\ X +10 &R\ \ 3\ Y +9 &T\ \ 4\ Y +9 &VW\ \ 4\ Z +10 &X\ \ +\ [ +9 &Y\ \ 1\ \\ +10 &[\ \ -\ I +9 &\\;\ \ 0\ - +9 &\\n\ \ *\ T +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&Q1 +57 "core" 1 +2 "manipulator"&b% +4 "core" % :  \\  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +95 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%l& +3 "core" &\ +2 "manipulator"&H% +4 "core" %  M  +2 "storage"(\ % +4 "core" % $ * \  + "storage"(s. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"( ([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[ % " \  +2 "manipulator"&O& +5 "core" & 0 + "manipulator"&t% +4 "core" %  1  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&Y(r +142 "core" ( +2 "manipulator"&<& +4 "core" &} +2 "storage"(u& +3 "core" &[ E E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&`'= +98 "core" ' + "storage"(& +4 "core" &[ < G \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(3'r +310 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (V& +2 "core" &[ D F \  +2 "manipulator"&B& +4 "core" &} Y +2 .tElbow.seek 7 +2 "manipulator"&a(r +7 "core" ( + "manipulator"&& +4 "core" &z >  +2 "storage"(|& +4 "core" &[ T T ]\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&W'ϧ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&Z/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(P' +8 "core" &z   + "manipulator"&;% +4 "core" % ϛ W +2 .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' +2 .tElbow.seek PC +47 "manipulator"&5( +115 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +119 "core" ( +2 "manipulator"&/& +4 "core" & ! ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" & 2 ] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T' +90 "core" ' +2 "manipulator"&o& +4 "core" &  ] +2 "manipulator"&U% +4 "core" %  z +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%{(^ +4 "core" &\  +9 &3u\ )v +9 &e|\ > +9 &xp\ N +10 &;Q\ M +9 &T\ M +9 &S\ M +10 &W\ M +9 &CV\ M +10 &U\ N +9 &T\ M +9 & U\ M +10 &"JT\ N +9 &$ U\ M +9 &%U\ M +10 &'T\ N +9 &)SS\ M +10 &+Q\ M +9 &,U\ N +9 &.S\ M +10 &0[R\ M +9 &2R\ M +9 &3Q\ M +10 &5U\ N +9 &7bT\ N +10 &9$W\ N +9 &:T\ M +9 &<R\ M +10 &>kW\ M +9 &@,Y\ N +9 &A\\\ N +10 &Ce\ O +9 &Elg\ P +10 &G+n\ Q +9 &H\ R +9 &J\ T +10 &Li\ S +9 &N'\ U +9 &O\ T +10 &Q\ U +9 &Sm\ U +10 &U/\ U +9 &V\ U +9 &X\ T +10 &Zt\ U +9 &\\6\ U +9 &]|t\ : +10 &^+s\ K +9 &^!\ 0 +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&^% +3 "core" %   , z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +97 "core" ' +2 "processing"%L& +3 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&4% +3 "core" %    +2 "storage"(_% +4 "core" % # #\  +2 "storage"(. +2 "core" .([ +3 "storage"(%& +3 "core" &[ $ & B\  +3 "storage"(p& +2 "manipulator"&& +5 "core" &[ $ #\  +2 &    ] +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"('r +3 "manipulator"&e( +6 "core" ( +2 "manipulator"& & +3 "core" &   I ] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" & \ ] +3 .tForearm.seek PC + "manipulator"&g' +96 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tPC.seek :open +2 "processing"%C( +82 "core" ' +2 "storage"(q- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +47 "core" ' +313 ( + "storage"(~& +4 "core" &[ F E %\  +2 "manipulator"&& +71 "core" & E ] +2 "manipulator"&2% +4 "core" %  . " +2 .tForearm.seek :retract +2 "manipulator"&j' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&n(r +244 "core" ( +2 "manipulator"&.& +4 "core" &j  c +2 "storage"(&& +4 "core" &[ H E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&>'= +101 "core" ' +2 .tHand.open + "manipulator"&w1 +54 "core" 1 +2 "storage"(c- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(}' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(h- +2 "core" -' +2 "storage"(=& +4 "core" &[ D\  +2 "manipulator"&(& +4 "core" &j   ( c +2 .tElbow.seek 7 +41 "manipulator"&r(r +11 "core" ( +2 "manipulator"&f& +4 "core" &j   - c +2 "storage"(& +4 "core" &[ #\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&)'= +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(D'" +58 "core" ' +2 "manipulator"&z& +3 "core" &j  Y c +2 "storage"(:& +4 "core" &[ $ # 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&,'{ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +28 "core" ' +2 "manipulator"&% +3 "core" %Ά +2 "storage"(#& +4 "core" &[ . - \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 311 counts +2 "manipulator"&m'ϲ +13 "core" ' +2 "manipulator"&& +4 "core" &y ! T +2 "storage"(& +3 "core" &[ E E !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'= +19 "core" ' +2 "storage"(% +4 "core" % F I \ +3 ."downElevator"SE.seek :down +3 "storage"(1' +99 ('% +3 "core" %|P\ \  \ Xg +2 "manipulator"& % +4 "core" %; F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (-& +3 "core" &[ ? , h\  +2 "collection"'d& +4 "core" &\\n '\ T +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&@% +4 "core" %  I  +2 "storage"(% +3 "core" % E F +\  +2 "storage"(". +3 "core" .([ +2 "storage"(!& +4 "core" &[ E B G\  +2 "storage"(& +4 "core" &[ H H \  +2 "manipulator"& & +3 "core" &y T +2 .tElbow.seek 7 +2 "manipulator"&E(r +4 "core" ( + "manipulator"&]& +4 "core" &y 8 T +2 "storage"(& +3 "core" &[ F E \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' +2 "storage"(S& +3 "core" &[ P C >\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +295 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&9& +3 "core" &y T +2 "storage"(y& +4 "core" &[ % $\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&J'{ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +27 "core" ' + "manipulator"&% +4 "core" %{  +2 "storage"(& +4 "core" &[ ) 3 8\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&x'ϧ +15 "core" ' + "manipulator"&& +4 "core" &z S +2 "storage"($& +3 "core" &[ F H 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Q'= +31 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(b' +34 "core" ' +2 "manipulator"&l& +3 "core" &z S +2 "manipulator"&H% +4 "core" %4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +136 "core" ' +9 .tElbow.seek CC +2 "manipulator"&s(ӂ +155 "core" ( + "manipulator"&& +4 "core" &ӑ&  g ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ& A ?P +2 .tForearm.seek CC +2 "manipulator"&O'? +98 "core" ' + .tHand.close +2 "manipulator"&t/ +56 "core" / +2 .tCC.seek :open +2 "collection"'+( +446 "core" ( +2 "storage"(<& +3 "core" &[ j j \  +2 "storage"(u& +4 "core" &[ e V 8\  +2 "manipulator"&& +3 "core" & 2 +2 "manipulator"&\\% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&i' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&6(r +152 "core" ( +2 "manipulator"&& +3 "core" &{  +2 "storage"(V& +5 "core" &[ ~ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&B'{ +92 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&|1 +61 "core" 1 +2 "manipulator"&Z% +4 "core" % ·  d # +2 "storage"(k& +4 "core" &[ u\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&;'ϳ +14 "core" ' +3 "manipulator"&Y& +3 "core" &{  '  +2 "storage"(`& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&3'= +15 "core" ' +2 "storage"(W% +4 "core" % x\ +3 ."downElevator"SE.seek :down +3 "storage"(/' +99 (*% +2 "core" %H j j \ Va +3 "manipulator"&a% +3 "core" %: ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +96 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +29449 "Can" :۫R1 +60001  :ݧ& +60001  :ߣ~' +15734 #t-> exit +6 #mEXIT @1689366273.56EDT @1689617194.05EDT = =mMAIN_scheduler =tMAIN @EDT1689617195.84 #"core_reset"Sent BREAK +2 #t@35024 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +389 "Can"  /2 +   /2 + #tPolling Can every 10:00 +20 #Cleanly exited at 16:24:33EDT14-Jul-23 +521 #-> ESP.ready! +3 #Powering core bus +563 .Gate.power :raw,:ON +2 "sampler") +54 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X\ <\ +2 "processing"%'% +4 "core" %ؾ\ +2 "sampler")(% +4 "core" %ڄ\ c\ a \ P +2 "collection"')& +4 "core" &\ ;\ ?\  +2 "processing"%*& +4 "core" &\  +2 "manipulator"&+% +3 "core" %    +3 "manipulator"&,& +3 "core" &  3 +2 "storage"(-& +4 "core" &,v T T L\ +2 "storage"(.% +4 "core" % Q S e\  +2 "collection"'/9 +3 "core" 9] +2 "processing"%09 +4 "core" 9{ +336 #t-> access 5 +3 "storage"(1% +3 "core" % E P S\  +2 "manipulator"&2% +3 "core" %  {  +2 "manipulator"&3& +4 "core" &  3 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(4(  +665 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +2 "core" &  H F 7\ +694 #t-> access 6 +3 "storage"(6% +3 "core" % = > \  +2 "manipulator"&7% +3 "core" %   4  +2 "manipulator"&8& +4 "core" & Z 3 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(9( +374 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &  \  +973 #t-> access 5 +3 "storage"(;% +3 "core" % D @ '\  +2 "manipulator"&<% +3 "core" %   +2 "manipulator"&=& +4 "core" & 3 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(>(  +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &  R J \ +379 #t-> access 7 +2 "storage"(@% +3 "core" % M > \  +2 "manipulator"&A% +4 "core" %  S  +2 "manipulator"&B& +3 "core" &  U 3 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(C(,y +664 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" &,z " #\  +2758 #t-> access 3 +3 "storage"(E% +3 "core" % C = \  +2 "manipulator"&F% +3 "core" %  P  +2 "manipulator"&G& +4 "core" & : 3 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(H([ +981 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" &[ % \ +586 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +7 #mEXIT @1689617347.92EDT @1689687687.98EDT = =mMAIN_scheduler =tMAIN @EDT1689687689.77 #"core_reset"Sent BREAK +2 #t@46869 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +249 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +389 "Can"Z X2> +2 Z X2> #tPolling Can every 10:00 +3 #Cleanly exited at 14:09:07EDT17-Jul-23 +427 #-> ESP.ready! +3 #Powering core bus +580 .Gate.power :raw,:ON + "sampler") +39 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X access 4 +2 "storage"(1% +3 "core" % k a c\  +2 "manipulator"&2% +4 "core" %    S  +2 "manipulator"&3& +3 "core" &  T 6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(4(C +991 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &E # , V\ +555 #t-> access 5 +2 "storage"(6% +3 "core" % _ a \  +2 "manipulator"&7% +4 "core" %    +2 "manipulator"&8& +3 "core" & z 6 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(9(  +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" &  G 4 P\ +1051 #t-> require 'shuffle.rb' +1483 #-> 20.times {shuffle 3..5} +2 #Shuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"';& +3 "core" &\ \ r\  +2 .tHand.open +2 "manipulator"&<1 +61 "core" 1 + "manipulator"&=% +4 "core" %    e  +2 "storage"(>% +4 "core" % n n -\  +2 "storage"(?. +2 "core" .(  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(@( +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" & ( - S\  +2 "manipulator"&B& +3 "core" &  [ 6 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&C( +42 "core" ( +2 "manipulator"&D& +3 "core" &  5 [ +2 "storage"(E& +4 "core" & G F M\  +3 .tForearm.seek 3 + 450 counts + "manipulator"&F'7 +94 "core" ' +2 "storage"(G& +4 "core" & k _ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +303 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +3 "core" & J E D\  +2 "manipulator"&K& +3 "core" &  Y [ +2 .tElbow.seek 3 +2 "manipulator"&L( +4 "core" ( + "manipulator"&M& +4 "core" &   D [ +2 "storage"(N& +3 "core" & o m \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϡ +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(R' +8 "core" &   [ +2 "manipulator"&S% +3 "core" %  C +3 .tForearm.seek :retract +2 "manipulator"&T' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&U(ӂ +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&V& +3 "core" &ӑ$  C =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӑ$  ^ =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'? +93 "core" ' +8 "manipulator"&Y& +4 "core" &Ӓ%  =D +2 "manipulator"&Z% +4 "core" %= 0 +2 "collection"'[& +4 "core" &\ \ \  +3 "collection"'\\& +5 "core" &\ \ \  +3 .tCC.seek :closed +2 "collection"'](\\ +5 "core" &\ \ \  +5 &\ \ w\ = +9 & K|\ \ \ 2 +10 &Uu\ \ \ F +9 &\\\ \ x\ M +9 &Z\ \ z\ M +10 &_\ \ }\ M +9 &H]\ \ {\ M +10 &\ Y\ \ p\ M +9 &\\\ \ x\ L +9 &Z\ \ |\ M +10 &P]\ \ w\ M +9 &!\\\ \ w\ M +9 &"]\ \ t\ M +10 &$Y\ \ k\ M +9 &&XY\ \ v\ M +10 &(Z\ \ \ x\ L +9 &)Y\ \ \ L +9 &+\\\ \ z\ M +10 &-`\\\ \ {\ M +9 &/#\\\ \ |\ L +9 &0Y\ \ y\ L +10 &2Y\ \ t\ L +9 &4h\\\ \ \ \ M +10 &6+\\\ \ \ L +9 &7Z\ \ \ L +9 &9X\ \ \ L +10 &;pW\ \ \ M +9 &=2X\ \ \ M +10 &>W\ \ \ M +9 &@Y\ \ \ \ M +9 &Bw^\ \ \ M +10 &D7f\ \ \ N +9 &Eq\ \ \ O +9 &G\ \ \ Q +10 &Ih\ +\ &\ U +9 &K"\ 4\ 5\ X +9 &L\ 5\ 7\ Y +10 &N\ 5\ 3x\ Z +9 &Pc\ 1\ 2\ Y +10 &R%\ .\ 1\ Y +9 &S\ .\ 0\ [ +9 &U\ -\ .\ \\ +10 &Wc\ *\ ,\ \\ +9 &Y#\ +\ *\ ] +10 &Z\ (\ +|\ \\ +9 &\\S_\ *\ )\ - +9 &\\ \ '\ (\ T +9 ( +3 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&^1 +4 "core" &\\j\ #\ \ O +51 1 +2 "manipulator"&_% +4 "core" % =    0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%a& +4 "core" &Q\ +2 "manipulator"&b% +3 "core" %   p  +2 "storage"(c% +4 "core" % / . w\  +2 "storage"(d. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(e( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" & K a\  +2 "manipulator"&g& +4 "core" &ӯ  9' +2 "manipulator"&h% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&i( +162 "core" ( +2 "manipulator"&j& +4 "core" &   +2 "storage"(k& +3 "core" & P T 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&l'7 +95 "core" ' +2 "storage"(m& +3 "core" & U T 0\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +310 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (p& +2 "core" & ( - Z\  +2 "manipulator"&q& +5 "core" & m  + .tElbow.seek 3 +2 "manipulator"&r( +4 "core" ( +2 "manipulator"&s& +3 "core" &   +2 "storage"(t& +4 "core" & 0 0 \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&u'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"(x' +8 "core" &  + "manipulator"&y% +4 "core" % Ϣ x +2 .tForearm.seek :retract +2 "manipulator"&z' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&{( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&|& +3 "core" &  ' > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" & j > +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +96 "core" ' + "manipulator"&& +4 "core" & / > +2 "manipulator"&% +4 "core" % 3 * +2 "processing"%& +4 "core" &U\ +2 "processing"%& +5 "core" &'\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &&\ +7 &A,\ $e +10 &eV!\ 8 +9 &{ \ L +10 &q^*\ O +9 &4Z!\ O +9 &Z+\ O +10 &\\)\ O +9 &{Z"\ O +9 &<Y.\ O +10 &[(\ O +9 &Z*\ O +10 &!^,\ O +9 &#EZ$\ O +9 &%Z\ N +10 &&\\"\ O +9 &(`+\ O +9 &*MZ.\ O +10 &,Y"\ O +9 &-Z,\ N +10 &/\\-\ O +9 &1T] \ O +9 &3Z)\ N +10 &4Y(\ N +9 &6[+\ O +9 &8]_\ O +10 &:Z!\ O +9 &;_#\ O +10 &=Z(\ O +9 &?e\\"\ O +9 &A'\\\ O +10 &Bc#\ P +9 &Df*\ Q +9 &Ffn#\ Q +10 &H! \ T +39 &I\ T +10 &K\ U + &Mb"\ U + &O#!\ U + &P\ V +4 &R&\ U +9 &Tf#\ V +10 &V* \ V +9 &W\ V +10 &Y\ V +9 &[p \ V +9 &]1\ S +10 &^xBe\ &q +9 &^,\ - +5 ( +2 "processing"%& +4 "core" &^\ - +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&% +4 "core" %   @ * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 "processing"%& +3 "core" &^C\ - +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %    r  +2 "storage"(\ % +3 "core" % ! 6\  +2 "storage"( . +4 "core" .( + "storage"(& +4 "core" & ! _\  +2 "storage"(& +3 "manipulator"&& +7 "core" &\ !\  \  + &   > +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"& & +4 "core" &    > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   Y > +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +47 "core" ' +309 ( +2 "storage"(& +3 "core" & 8 *\  +2 "manipulator"&& +3 "core" & > +2 "manipulator"&"% +4 "core" %  j ) +3 .tForearm.seek :retract + "manipulator"&#' +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&$( +247 "core" ( + "manipulator"&%& +4 "core" &  1 +2 "storage"(&& +3 "core" & ( & -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&''7 +95 "core" ' +2 .tHand.open + "manipulator"&(1 +55 "core" 1 +2 "storage"()- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(+' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(,- +2 "core" -' +3 "storage"(-& +3 "core" & g f \  +2 "manipulator"&.& +4 "core" &   1 +2 .tElbow.seek 3 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&0& +3 "core" &   1 +2 "storage"(1& +4 "core" & q k \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +60 "core" ' +2 "manipulator"&& +3 "core" & 1 +2 "storage"(5& +4 "core" & # \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&6'u +24 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +21 "core" ' + "manipulator"&4% +4 "core" %x B +2 "storage"(:& +4 "core" &\ Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&;'Ϥ +14 "core" ' + "manipulator"&<& +4 "core" &  1 +2 "storage"(=& +4 "core" & / . \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&>'7 +18 "core" ' +2 "storage"(?% +3 "core" % - 0 E\ +3 ."downElevator"SE.seek :down +4 "storage"(9' +98 (A% +3 "core" %I   \ Vd +36 "manipulator"&B% +11 "core" %& +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +87 "core" ' +28 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +3 "core" & 4 ( `\  +2 "collection"'G& +3 "core" &\\i\ \ r\ O +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %  x  +2 "storage"(% +4 "core" % 0 $ \  +2 "storage"(. +3 "core" .( +2 "storage"(I& +3 "core" & & !\  +2 "storage"(J& +4 "core" & " &\  +2 "manipulator"&K& +3 "core" & c 1 +3 .tElbow.seek 3 + "manipulator"&M( +4 "core" ( +2 "manipulator"&N& +3 "core" & g 1 +2 "storage"(P& +4 "core" & & "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q'7 +93 "core" ' + "storage"(S& +4 "core" & T S X\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'r +312 "core" ' +3 "storage"(F- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & y 1 +2 "storage"(W& +3 "core" & & $ W\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&H'u +19 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Z'h +32 "core" ' + "manipulator"&[% +5 "core" %z \ + "storage"(L& +5 "core" & - * Y\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&R'Ϧ +14 "core" ' + "manipulator"&T& +5 "core" &  1 + "storage"(!& +4 "core" & H P Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&^'7 +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(_' +40 "core" ' + "manipulator"&a& +4 "core" & g 1 +2 "manipulator"&b% +5 "core" %, i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&d(ӂ +148 "core" ( +2 "manipulator"&\\& +3 "core" &z+   ( Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &z+  Cr +3 .tForearm.seek CC + "manipulator"&g'? +94 "core" ' + .tHand.close +2 "manipulator"&h/ +55 "core" / + .tCC.seek :open +2 "collection"'X( +448 "core" ( + "storage"(j& +4 "core" & O = "\  +2 "storage"(k& +4 "core" & R V \  +2 "manipulator"&@& +3 "core" &ӳ# Z <9 +2 "manipulator"&m% +4 "core" % = n ( +2 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +166 "core" ( +2 "manipulator"&o& +3 "core" &  n  +2 "storage"(p& +4 "core" & l n \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&q'u +94 "core" ' +2 .tElbow.hold +2 "manipulator"&s, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +53 "core" 1 +2 "manipulator"&v% +3 "core" % e \  +2 "storage"(w& +4 "core" & k k \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 284 counts +2 "manipulator"&y'ϑ +13 "core" ' +3 "manipulator"&i& +3 "core" &   "  +2 "storage"(l& +4 "core" & i a \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n'7 +70 "core" ' +2 "storage"(u% +3 "core" % q v\ +3 ."downElevator"SE.seek :down +4 "storage"(|' +99 (}% +3 "core" %A W X q\ V_ +2 "manipulator"&r% +4 "core" %C  A  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" &\ \ }\ +2 "manipulator"&% +4 "core" %    [  +2 "storage"(x% +4 "core" % k k \  +2 "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,v T E H\ \ +2 "manipulator"&& +4 "core" &  z  +2 .tElbow.seek 4 +2 "manipulator"&( +40 "core" ( +2 "manipulator"& & +3 "core" &   \ +2 "storage"(\ & +4 "core" &,v h ^ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +94 "core" ' +2 "storage"(& +4 "core" &,v l l \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" &,m a j \  +2 "manipulator"& & +3 "core" & W \ +3 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&~& +5 "core" &  I \ +2 "storage"(& +3 "core" &,m k m \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +37 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & \ +2 "manipulator"&% +4 "core" % w  . Y +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&"& +4 "core" &Ӓ$ | =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӓ$ q =A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'? +107 "core" ' +2 "manipulator"&&& +5 "core" &ӕ#  x <> + "manipulator"&% +4 "core" %9  b +2 "collection"'(& +5 "core" &\ \ \ +2 "collection"')& +5 "core" &\ \ }\ +2 .tCC.seek :closed +2 "collection"',(\\ +5 "core" &\ \ \  +8 &3}\ \ \ *y +9 &e\ \ \ > +10 &v\ \ \ M +9 &KV\ \ \ L +9 & Z\ \ \ L +10 &[\ \ \ L +9 &X\ \ \ M +9 &SY\ \ \ L +10 &Z\ \ \ M +9 &Y\ \ \ M +9 & Y\ \ \ L +10 &"[V\ \ \ L +9 &$[\ \ \ L +10 &%Z\ \ \ M +9 &'Y\ \ \ M +9 &)cX\ \ z\ L +10 &+%X\ \ \ L +9 &,U\ \ \ L +9 &.Z\ \ \ L +10 &0kX\ \ \ L +9 &2,Y\ \ w\ M +10 &3X\ \ \ L +9 &5W\ \ \ L +9 &7sV\ \ \ L +10 &95X\ \ \ L +9 &:U\ \ \ L +9 &<X\ \ |\ L +10 &>{Y\ \ \ L +9 &@>U\ \ \ L +10 &A\\\ \ \ \ M +9 &C`\ \ \ M +9 &E|n\ \ \ O +10 &G<u\ \ \ O +9 &H\ $\ \ S +10 &J\ 5\ 2\ W +9 &Ld\ 7\ 9\ Z +9 &N*\ 6\ 8\ X +10 &O\ 4\ 4\ Z +9 &Q\ /\ 3\ Z +9 &Sj\ .\ 0\ Z +10 &U,\ ,\ -\ Z +9 &V\ -\ .\ [ +9 &X\ +\ ,\ \\ +10 &Zk\ )\ )\ ] +9 &\\z\ (\ (\ 4 +10 &\\'\ &\ '\ a +9 ( + &\\\ %\ &\ Y +2 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&-1 +54 "core" 1 +2 "manipulator"&.% +4 "core" % 9  r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%1& +5 "core" &+\ + "manipulator"&#% +4 "core" %  A  +2 "storage"(% +4 "core" % $ * g\  +2 "storage"(5. +2 "core" .(,v +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(4(,y +21 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +4 "core" &,| $ % C\ +2 "manipulator"& & +46 "core" &Ӯ 9% +2 "manipulator"&<% +4 "core" %  l  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&=( +240 "core" ( +2 "manipulator"&*& +3 "core" & T  +2 "storage"(?& +4 "core" &,| ( ( \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +96 "core" ' +2 "storage"('& +3 "core" &,| ( , \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +296 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &,m M P\ +2 "manipulator"&2& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&3& +3 "core" & K  +2 "storage"(6& +5 "core" &,m\ \  \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&;'c +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(' +6 "core" &  c  +3 "manipulator"&% +3 "core" % h +2 .tForearm.seek :retract +2 "manipulator"&8' +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&I& +3 "core" & h 7 +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +3 &J& +3 "core" & _ 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek PC +2 "manipulator"&K' +97 "core" ' +2 "manipulator"&N& +3 "core" &  7 7 +2 "manipulator"&P% +5 "core" % k . + "processing"%S& +4 "core" &)\ +3 "processing"%>& +5 "core" &1\ +2 .tPC.seek :closed +2 "processing"%9(^ +5 "core" &0\ +6 &6)\ #c +9 &U}#\ 7 +10 &}|-\ K +9 &Y0\ O +9 &ZX.\ O +10 &X&\ N +9 &Y%\ N +10 &X&\ O +9 &bU#\ O +9 &$X-\ O +10 &W.\ N +9 &!Y.\ O +9 &#jZ.\ O +10 &%-Y+\ N +9 &&]&\ O +10 &(X(\ O +9 &*r[#\ O +9 &,4[-\ O +10 &-V.\ N +9 &/Z.\ O +9 &1zZ-\ O +10 &3=W.\ N +9 &4W-\ O +9 &6\\.\ O +10 &8\\.\ O +9 &:EW-\ N +10 &<Z-\ O +9 &=\\.\ O +9 &?\\.\ O +10 &AK_-\ O +9 &C g-\ P +9 &Dg,\ Q +10 &Fs-\ R +9 &HD/\ T +10 &J-\ U +9 &K-\ T +9 &M,\ U +10 &OI.\ U +9 &Q .\ V +10 &R.\ V +9 &T.\ V +9 &VP)\ U +10 &X-\ V +9 &Y.\ V +9 &[.\ V +10 &]W)\ E +9 &^{At(\ &p +10 &^.$\ 1 +5 ( +2 "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&71 +2 "core" &^%+\ 1 +58 1 + "manipulator"&D% +4 "core" %   P . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' +2 "processing"%V& +4 "core" &^%#\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&W% +3 "core" %     +2 "storage"(Y% +4 "core" % %  \  +2 "storage"([. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(L(,y +26 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (T& +2 "manipulator"&!& +6 "core" &,x X  E\ + &   7 +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&a( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'r +2 "core" ( +3 "manipulator"&Q& +3 "core" &    7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &  # 7 +2 .tForearm.seek PC +2 "manipulator"&C' +94 "core" ' + .tHand.close +2 "manipulator"&H/ +62 "core" / +2 .tPC.seek :open +2 "processing"%R( +93 "core" ' + "storage"(Z- +3 "core" -'r +38 ."raiseStack"SE.configure :default +10 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'1 +41 "core" ' +265 ( + "storage"(f& +4 "core" &,j - / 3\  +2 "manipulator"&^& +3 "core" & 7 +2 "manipulator"&O% +4 "core" %   E +2 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&c( +245 "core" ( +2 "manipulator"&]& +4 "core" &  9 +2 "storage"(j& +3 "core" &,j . 0 S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +97 "core" ' + .tHand.open +2 "manipulator"&@1 +54 "core" 1 +3 "storage"(m- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(p' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(g- +2 "core" -' +3 "storage"(d& +3 "core" &,j N O +\  +2 "manipulator"&t& +4 "core" &   9 +2 .tElbow.seek 4 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&w& +3 "core" &  3 9 +2 "storage"(i& +4 "core" &,j ? E \  +3 .tForearm.seek 4 + 450 counts + "manipulator"&l' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(u'" +52 "core" ' +2 "manipulator"&U& +4 "core" & j 9 +2 "storage"(}& +3 "core" &,j\ $ w\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&`'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(q' +19 "core" ' + "manipulator"&y% +4 "core" %@ \ 9 +2 "storage"(& +3 "core" &,j\ \ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 309 counts +2 "manipulator"&'l +14 "core" ' +2 "manipulator"&x& +3 "core" & 6 9 +2 "storage"(z& +4 "core" &,j ( ( 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&_' +15 "core" ' +2 "storage"(n% +3 "core" % ! !\ +3 ."downElevator"SE.seek :down +3 "storage"(|' +99 (e% +3 "core" %!J K j\ T^ +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &,j\  ` O\  +2 "collection"'\ & +4 "core" &\\y\ \ \ Y +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %  _  +2 "storage"(s% +3 "core" % . , \  +2 "storage"(. +3 "core" .(,y +2 "storage"(& +4 "core" &,j - - j\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &,| ! & R\ +2 "manipulator"&~& +4 "core" & } 9 +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&{& +4 "core" &  9 +2 "storage"(& +3 "core" &,| 0 . \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +103 "core" ' +2 "storage"(& +3 "core" &,| + % f\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & O 9 +2 "storage"(& +4 "core" &,m\  @\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +38 .tForearm.seek 4 +10 "manipulator"&'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('q +27 "core" ' +2 "manipulator"&(% +3 "core" %# ' +2 "storage"(& +4 "core" &,m * ) %\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 280 counts +2 "manipulator"&'O +13 "core" ' +2 "manipulator"&X& +3 "core" &  9 +2 "storage"(-& +4 "core" &,m . 0 d\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&.' +25 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(1' +35 "core" ' + "manipulator"&#& +4 "core" & d 9 +2 "manipulator"&% +4 "core" % p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +156 "core" ( + "manipulator"&:& +4 "core" &Ӕ&    ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӕ&  J ?R +2 .tForearm.seek CC +2 "manipulator"&<'? +93 "core" ' +2 .tHand.close + "manipulator"&%/ +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +451 "core" ( + "storage"(*& +4 "core" &,m L W \ \ +2 "storage"(?& +4 "core" &,m H K &\ \ +2 "manipulator"&& +3 "core" &ӧ# <? +2 "manipulator"&'% +4 "core" % R  +2 .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&A( +165 "core" ( + "manipulator"&B& +4 "core" &  +2 "storage"(2& +4 "core" &,m m m \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&3'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +60 "core" 1 +2 "manipulator"&G% +4 "core" % 6 v % + "storage"(& +4 "core" &,m m m \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 299 counts +2 "manipulator"&='b +14 "core" ' + "manipulator"&$& +4 "core" &    +2 "storage"(+& +3 "core" &,m o j \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +16 "core" ' + "storage"(I% +4 "core" % l b x\ +3 ."downElevator"SE.seek :down +3 "storage"(J' +99 (/% +3 "core" %D U Y\ V_ +2 "manipulator"&N% +3 "core" %  9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'S& +3 "core" &\ \ \ +2 "manipulator"&% +5 "core" %    f  + "storage"(8% +4 "core" % j k \  +2 "storage"(. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(7(<- +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" &<+ J R \ +2 "manipulator"&V& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&W( +11 "core" ( +2 "manipulator"&Y& +3 "core" &   w m +2 "storage"([& +5 "core" &<+ n n \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +93 "core" ' +2 "storage"(!& +4 "core" &<+ r  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +38 "storage"(T'r +307 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (M& +3 "core" &<+ l o _\ +2 "manipulator"&K& +4 "core" &   _ m +2 .tElbow.seek 5 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&4& +3 "core" &  b m +2 "storage"(Z& +4 "core" &<+ m j \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&9& +2 "storage"(b' +7 "core" & r m +2 "manipulator"&f% +4 "core" % ϭ  F +2 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&C& +4 "core" &Ӑ& r ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &Ӑ& W ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'? +101 "core" ' +3 "manipulator"&a& +3 "core" &ӑ& ?S +2 "manipulator"&@% +5 "core" %; q  +2 "collection"'m& +5 "core" &\ \ y\ +2 "collection"'g& +5 "core" &\ \ q\ +2 .tCC.seek :closed +2 "collection"'d(\\ +5 "core" &\ \ }\ +7 &<\ \ |\ $e +9 &W|\ \ z\ 7 +10 &|\ \ y\ K +9 &W\ \ u\ L +9 &yX\ \ \ L +10 &:\\\ \ \ L +9 &X\ \ \ L +9 &W\ \ \ L +10 &W\ \ v\ K +9 &CX\ \ \ L +10 & W\ \ \ K +9 &!Y\ \ \ L +9 &#Y\ \ \ L +10 &%KW\ \ \ L +9 &' U\ \ \ L +9 &(W\ \ \ K +10 &*V\ \ \ K +9 &,SX\ \ \ L +10 &.[\ \ \ L +9 &/Z\ \ \ L +9 &1\\\ \ \ L +10 &3[V\ \ \ L +9 &5U\ \ \ L +9 &6X\ \ \ K +10 &8W\ \ \ L +9 &:cZ\ \ \ L +10 &<%Z\ \ \ L +9 &=Z\ \ \ L +9 &?X\ \ \ K +10 &AkZ\ \ \ L +9 &C+]\ \ \ L +9 &Dg\ \ \ N +10 &Fm\ \ \ N +9 &Ha\ \ \ R +10 &J\ 0\ *\ V +9 &K\ 7\ 5\ W +9 &M\ 6\ 6\ Y +10 &OT\ 3\ 2\ Y +9 &Q\ 3\ 2\ Y +9 &R\ /\ 0\ Y +10 &T\ *\ .\ Y +9 &VX\ ,\ .\ Z +10 &X\ *\ *\ \\ +9 &Y\ '\ )\ \\ +9 &[\ *\ (\ I +10 &\\?\ &\ (\ &s +9 &\\\ $\ %\ Z +3 ( + "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&t1 +59 "core" 1 +2 "manipulator"&w% +3 "core" % ;   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%h& +3 "core" & \ +2 "manipulator"&U% +4 "core" %  n  +2 "storage"(}% +3 "core" % Q\  +2 "storage"(y. +3 "core" .(<- +2 "storage"(& +3 "core" &<+ N\ +2 "storage"(\\& +4 "core" &<+ N \ +2 "manipulator"&x& +3 "core" &Ӯ"   ^ ;6 +2 "manipulator"&z% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&o( +162 "core" ( + "manipulator"&n& +4 "core" & \  H  +2 "storage"(c& +3 "core" &<+ ) ) E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +94 "core" ' +2 "storage"(p& +3 "core" &<+ / - (\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &<+ \ # g\ +2 "manipulator"&v& +3 "core" & =  +3 .tElbow.seek 5 + "manipulator"&u( +4 "core" ( + "manipulator"&`& +4 "core" &     +2 "storage"(& +4 "core" &<+ , !\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(s' +5 "core" &  +3 "manipulator"&% +4 "core" % ϱ  w +2 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' +10 .tElbow.seek PC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( +3 "manipulator"& & +3 "core" &  K \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&{' +94 "core" ' +2 "manipulator"&& +3 "core" & } \ +3 "manipulator"&_% +3 "core" % w +2 "processing"%& +4 "core" &\ +3 "processing"%|& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%L(^ +4 "core" &\ +8 &6\ $d +9 &Ux0\ 6 +10 &~~.\ K +9 &Z1\ O +10 &WW0\ O +9 &W-\ N +9 &W0\ O +10 &X)\ O +9 &_X-\ O +9 &"W$\ N +10 &[$\ N +9 &!U/\ N +10 &#hV.\ N +9 &%*V.\ N +9 &&W-\ N +10 &(Y.\ N +9 &*oY.\ O +10 &,1Z-\ O +9 &-X-\ O +9 &/Z-\ N +10 &1wW-\ O +9 &3:Y.\ N +9 &4Z.\ N +10 &6Z-\ N +9 &8]/\ N +9 &:BU'\ N +10 &<Y-\ O +9 &=Z-\ O +10 &?W-\ N +9 &AJZ-\ N +9 &Cb(\ P +10 &Dg.\ P +9 &Fo-\ Q +9 &HD.\ S +10 &J.\ U +9 &K-\ U +10 &M.\ U +9 &OF(\ U +9 &Q-\ V +10 &R*\ U +9 &T.\ V +9 &VM-\ U +10 &X-\ U +9 &Y)\ U +10 &[,\ U +9 &]S(\ G +9 &^wAy+\ %m +10 &^*!\ . +5 ( +2 "processing"%|& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&r1 +4 "core" &^&\ . +59 1 +2 "manipulator"&% +87 "core" %   X w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +92 "core" ' +2 "processing"%& +4 "core" &^"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %    \  +2 "storage"(% +5 "core" % R H\  + "storage"((. +3 "core" .(<- +2 "storage"(& +3 "core" &<+ N \ +2 "storage"(X& +3 "manipulator"&-& +6 "core" &<+ J \ +2 &   ` \ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&#( + "storage"('r +6 "core" ( + "manipulator"&& +5 "core" &   Y \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   \ +2 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'1 +47 "core" ' +306 ( +2 "storage"( & +4 "core" &<+ / / \ +2 "manipulator"&.& +3 "core" & % \ +2 "manipulator"&&% +4 "core" %   * +2 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&5( +244 "core" ( +2 "manipulator"&,& +3 "core" & = Z +2 "storage"(*& +4 "core" &<+ . . J\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +92 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +3 "storage"('- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(2' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +3 "core" -' +2 "storage"()& +4 "core" &<+ 5 3 \ +2 "manipulator"&E& +3 "core" &   Y +3 .tElbow.seek 5 + "manipulator"&G( +4 "core" ( +2 "manipulator"&& +3 "core" &   i Y +2 "storage"($& +5 "core" &<+ 5 ,\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +49 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(I'" +57 "core" ' +2 "manipulator"&0& +4 "core" & a Y +2 "storage"(/& +4 "core" &<+ X \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&N'΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(3' +29 "core" ' +2 "manipulator"&S% +3 "core" %Γ  0 | +2 "storage"(& +4 "core" &<+ P \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&='Ͽ +27 "core" ' + "manipulator"&8& +4 "core" & J +2 "storage"(& +3 "core" &<+ - + c\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +25 "core" ' +2 "storage"(;% +3 "core" % ! q\ +3 ."downElevator"SE.seek :down +4 "storage"(J' +98 (% +3 "core" %Q\ \ c\ We +2 "manipulator"&D% +4 "core" %J \   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Y& +2 "core" &<+ W  o\ +2 "collection"'[& +4 "core" &\\\ \ \ Z +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&!% +3 "core" %  {  +2 "storage"(6% +4 "core" % + % E\  +2 "storage"(P. +3 "core" .(<- +2 "storage"(Q& +3 "core" &<+ , %\ +3 "storage"(M& +3 "core" &<+ # (\ +2 "manipulator"&K& +3 "core" & | J +3 .tElbow.seek 5 + "manipulator"&4( +28 "core" ( +2 "manipulator"&Z& +3 "core" & 2  +2 "storage"(F& +4 "core" &<+ / 0 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +94 "core" ' +2 "storage"(f& +3 "core" &<+ # , \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +299 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" & Q  +2 "storage"(]& +3 "core" &<+ - + d\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&T'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(@'r +28 "core" ' +2 "manipulator"&m% +3 "core" %Δ h  +2 "storage"(H& +5 "core" &<+ $ . \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&b' +13 "core" ' +2 "manipulator"&^& +4 "core" &  +2 "storage"( & +3 "core" &<+ 0 . \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(w' +43 "core" ' + "manipulator"&h& +4 "core" & R  +2 "manipulator"&U% +3 "core" %5 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&y(ӂ +158 "core" ( + "manipulator"&& +4 "core" &Ӑ'  @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &Ӑ(  @X +3 .tForearm.seek CC + "manipulator"&\\'? +99 "core" ' +2 .tHand.close + "manipulator"&x/ +58 "core" / +2 .tCC.seek :open +2 "collection"'z( +448 "core" ( + "storage"(j& +4 "core" &<+ T T g\ +2 "storage"(n& +3 "core" &<+ T V k\ +2 "manipulator"&c& +4 "core" &Ӭ# k << +2 "manipulator"&p% +41 "core" % <  +10 .tForearm.seek :retract +2 "manipulator"&O' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&i( +168 "core" ( +2 "manipulator"&& +3 "core" &  @  +2 "storage"(l& +4 "core" &<+ m j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&v'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +52 "core" 1 +3 "manipulator"&\ % +4 "core" % Ι  ~  +2 "storage"(& +4 "core" &<+ l k \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&' +23 "core" ' +2 "manipulator"&o& +4 "core" &    +2 "storage"(k& +3 "core" &<+ k l \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +23 "core" ' +2 "storage"( % +3 "core" % k j \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +100 (~% +2 "core" %> I Q Z\ U^ +2 "manipulator"&u% +5 "core" %? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'_& +3 "core" & \ \ +2 "manipulator"&% +5 "core" %   + "storage"(s% +5 "core" % k l \  + "storage"(q. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(R( +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" & Z P \ +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&|( +15 "core" ( + "manipulator"&& +4 "core" &  a +2 "storage"(& +4 "core" & ` k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +95 "core" ' +2 "storage"((& +3 "core" & p m\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" & B [ \ +2 "manipulator"&& +3 "core" &  S a +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&{& +4 "core" &  , a +2 "storage"(& +3 "core" & k k \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"(L' +8 "core" &   1 a +2 "manipulator"&% +3 "core" % ϡ ] +3 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&.(ӂ +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&&& +4 "core" &ә# <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ә# m <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'? +99 "core" ' +2 "manipulator"&*& +3 "core" &ә# < <? +2 "manipulator"&#% +4 "core" %B ! # +2 "collection"'& +5 "core" &\ |\ +3 "collection"''& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'<(\\ +4 "core" & \ t\ +7 &= \ }\ $f +9 &X{ \ z\ 7 +10 &{\ \ r\ K +9 &X\ \ z\ L +10 &~U\ \ x\ L +9 &AY\ \ u\ K +9 &Z\ \ x\ L +10 &X\ \ y\ L +9 &Y\ \ z\ L +42 &IU\ \ \ K +10 & W\ \ \ K +2 &!Y\ \ \ K + &#V\ \ \ L +2 &%QY\ \ \ K +2 &'T\ \ {\ K +7 &(W\ \ \ K +9 &*W\ \ \ L +9 &,YU\ \ \ K +10 &.U\ \ \ K +9 &/U\ \ \ K +10 &1X\ \ \ L +9 &3aY\ \ \ K +9 &5#Y\ \ \ K +10 &6U\ \ \ K +9 &8W\ \ \ K +9 &:iZ\ \ \ K +10 &<+Z\ \ \ K +9 &=Y\ \ \ L +10 &?X\ \ \ L +9 &ApW\ \ \ L +9 &C2]\ \ \ L +10 &Dh\ \ \ M +9 &Fu\ \ \ O +9 &Hf\ \ \ R +10 &J\ .\ (\ V +9 &K\ 2\ 2\ W +10 &M\ 3\ 2\ Y +9 &OY\ 0\ 1\ Y +9 &Q\ ,\ /\ X +10 &R\ +\ ,\ Y +9 &T\ +\ ,\ Z +9 &V_\ '\ +~\ Z +10 &X\ )\ (\ [ +9 &Y\ *\ '~\ \\ +10 &[\ (\ (z\ I +9 &\\4\ &\ &}\ 0 +9 &\\l\ %\ $\ J +3 ( +2 "collection"''& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&)1 +62 "core" 1 +3 "manipulator"&E% +3 "core" % B  J # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%$& +4 "core" &\ +2 "manipulator"&%% +4 "core" %   Y  +2 "storage"(0% +3 "core" % # * (\  +2 "storage"(/. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(:( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" & % + f\ +2 "manipulator"&S& +4 "core" &Ӝ"  G << +2 "manipulator"&% +3 "core" %  y  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&8( +166 "core" ( + "manipulator"&& +5 "core" &{   + "storage"(5& +4 "core" & J Q \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&?'7 +88 "core" ' +2 "storage"(;& +3 "core" & U Q \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (D& +3 "core" & / . k\ +2 "manipulator"&+& +3 "core" &{  +2 .tElbow.seek 3 +3 "manipulator"&G( +2 "core" ( +2 "manipulator"&I& +4 "core" &{ /  +2 "storage"(N& +3 "core" & 2 .\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&='ϡ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(!' +8 "core" &{ }  + "manipulator"&6% +4 "core" %  W +2 .tForearm.seek :retract +2 "manipulator"&P' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&Q& +4 "core" & T  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" & L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +89 "core" ' + "manipulator"&Z& +4 "core" &  +2 "manipulator"&F% +3 "core" % o +3 "processing"%1& +3 "core" &\ +3 "processing"%f& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(^ +5 "core" &\  +8 &1v\ )w +9 &d\ > +10 &nu\ O +9 &1T\ N +9 &Y\ O +10 &U\ N +9 &wZ\ N +9 &8X\ N +10 &\\)\ N +9 &Y(\ N +10 & ~[(\ N +9 &"@Y-\ N +9 &$Y-\ O +10 &%W(\ N +9 &'Y'\ N +9 &)IY$\ N +10 &+ X+\ N +9 &,Y'\ N +10 &.W-\ N +9 &0PX.\ N +9 &2T.\ N +10 &3W-\ N +9 &5W)\ N +9 &7XX-\ N +10 &9\\.\ N +9 &:Z,\ O +10 &<Y.\ O +9 &>`Z+\ N +9 &@"W,\ N +10 &AZ-\ O +9 &Cd(\ P +10 &Ecj-\ P +9 &G!s-\ Q +9 &H~-\ S +10 &J+\ T +9 &L^-\ T +9 &N+\ U +10 &O-\ T +9 &Q.\ U +9 &Sc*\ U +10 &U%,\ U +9 &V(\ V +10 &X-\ V +9 &Zi'\ V +9 &\\,-\ V +10 &]}v,\ < +9 &^)p,\ T +9 &^--\ 4 +3 ( +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&A1 +58 "core" 1 +40 "manipulator"&V% +13 "core" %    o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +92 "core" ' +2 "processing"%C& +3 "core" &^+L\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&]% +3 "core" %     +2 "storage"(a% +4 "core" %\ \  !\ +2 "storage"(m. +4 "core" .( + "storage"(H& +4 "core" &\ \  .\ +2 "storage"(^& +3 "manipulator"& & +7 "core" &\ \ ' d\ + &  O +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&h( +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(U'r +5 "core" ( +2 "manipulator"&9& +3 "core" &   + +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +4 "core" &  " + +2 .tForearm.seek PC +2 "manipulator"&W' +92 "core" ' +2 .tHand.close +2 "manipulator"&T/ +56 "core" / +2 .tPC.seek :open +2 "processing"%b( +95 "core" ' +2 "storage"(@- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +305 ( +2 "storage"(g& +4 "core" & " & \ +2 "manipulator"&t& +3 "core" & Y ) +2 "manipulator"&% +4 "core" %  > V +3 .tForearm.seek :retract + "manipulator"&x' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&}( +236 "core" ( +2 "manipulator"&d& +3 "core" &| F +2 "storage"(j& +5 "core" & - $ &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&n'7 +93 "core" ' +2 .tHand.open + "manipulator"&c1 +57 "core" 1 +2 "storage"(p- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(\\- +3 "core" -' +2 "storage"(y& +3 "core" & \ +2 "manipulator"&& +4 "core" &|   F +2 .tElbow.seek 3 +2 "manipulator"&\ ( +4 "core" ( + "manipulator"&& +4 "core" &|   X F +2 "storage"(o& +3 "core" & \ +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&k'7 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +60 "core" ' +2 "manipulator"&O& +3 "core" &} : E +2 "storage"(~& +4 "core" & / . \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&u'u +24 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(v' +28 "core" ' +2 "manipulator"&% +4 "core" %Ή o +2 "storage"(_& +4 "core" & # ' 8\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ϵ +25 "core" ' + "manipulator"&s& +4 "core" &}  3 E +2 "storage"(q& +4 "core" & ' ' 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&w'7 +16 "core" ' + "storage"(e% +4 "core" % ( $ \ +48 ."downElevator"SE.seek :down +4 "storage"( ' +99 (7% +3 "core" %ST K 9\ Xi +2 "manipulator"&r% +5 "core" %. +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & * - F\ +3 "collection"'& +3 "core" &\\h\ \ t\ J +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&(% +4 "core" %  V  +2 "storage"(`% +4 "core" % \  +2 "storage"(. +2 "core" .( +2 "storage"(X& +5 "core" & & "\ + "storage"(-& +4 "core" & $ \ +2 "manipulator"&& +3 "core" &} T E +3 .tElbow.seek 3 + "manipulator"&{( +4 "core" ( +2 "manipulator"&& +3 "core" &}  S E +2 "storage"(& +4 "core" & & "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&"'7 +97 "core" ' +2 "storage"(& +3 "core" & U T !\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" &} J E +2 "storage"( & +3 "core" & 0 . 9\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(*- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(#'h +30 "core" ' + "manipulator"&% +4 "core" %Ά  = +2 "storage"(& +4 "core" & " ' ,\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&L'ϲ +14 "core" ' + "manipulator"& & +4 "core" &} S E +2 "storage"(z& +4 "core" & B E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&)'7 +17 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(E' +35 "core" ' +2 "manipulator"&$& +3 "core" &}  E +2 "manipulator"&%% +4 "core" %* u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/(ӂ +151 "core" ( + "manipulator"&'& +4 "core" &ӎ(  @ Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &ӎ) 9 Ac +2 .tForearm.seek CC +2 "manipulator"&S'? +99 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"',( +447 "core" ( +2 "storage"(& +4 "core" & K T \\\ +2 "storage"(5& +3 "core" & H G \ +2 "manipulator"&R& +4 "core" &ӭ( g =D +2 "manipulator"&;% +3 "core" % 9 q  +3 .tForearm.seek :retract + "manipulator"&.' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(D& +3 "core" & n k U\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&+'u +94 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +42 .tHand.open +8 "manipulator"&N1 +58 "core" 1 +3 "manipulator"&Y% +4 "core" % } \\ " +2 "storage"([& +3 "core" & l k y\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&6'ϩ +14 "core" ' + "manipulator"&8& +4 "core" &   +2 "storage"(?& +3 "core" & a j z\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2'7 +20 "core" ' +2 "storage"(=% +3 "core" % h _ l\ +3 ."downElevator"SE.seek :down +4 "storage"(Q' +98 (M% +3 "core" %XH V T \ Vc +2 "manipulator"&G% +4 "core" %& +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +92 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'F& +3 "core" & \ +2 "manipulator"&1% +3 "core" %   Y  +2 "storage"(!% +4 "core" % k k \  +2 "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &,w M V \ \ +2 "manipulator"&V& +4 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&f( +40 "core" ( +2 "manipulator"&C& +3 "core" &  j  +2 "storage"(]& +4 "core" &,w k ` \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +96 "core" ' +2 "storage"(m& +3 "core" &,w d o U\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +300 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( & +3 "core" &,m l b \  +2 "manipulator"&9& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&4( +12 "core" ( +2 "manipulator"&K& +3 "core" &  ;  +2 "storage"(T& +4 "core" &,m i k \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&@'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&3/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&>& +2 "storage"(J' +8 "core" &   W  +2 "manipulator"&U% +3 "core" % y +3 .tForearm.seek :retract +2 "manipulator"&g' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&& +3 "core" &ӗ# : <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӗ# j <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&d'? +100 "core" ' +2 "manipulator"&j& +4 "core" &ӗ# <= +2 "manipulator"&h% +4 "core" %@  +2 "collection"'c& +4 "core" & \ \ +2 "collection"'p& +5 "core" & |\ +3 .tCC.seek :closed + "collection"'\\(\\ +5 "core" & r\  +9 &3{ \ k\ *y +9 &e \ x\ > +10 &r\ \ r\ M +9 &QU\ \ z\ K +10 &U\ \ u\ K +9 &U\ \ v\ K +9 &T\ \ s\ K +10 &YX\ \ t\ K +9 &Y\ \ {\ L +9 &V\ \ p\ K +10 & T\ \ |\ K +9 &"aT\ \ ~\ K +10 &$#X\ \ \ K +9 &%X\ \ \ L +9 &'X\ \ \ L +10 &)hW\ \ \ L +9 &++W\ \ \ K +9 &,S\ \ |\ K +10 &.X\ \ \ K +9 &0pW\ \ {\ L +10 &22V\ \ \ L +9 &3W\ \ \ L +9 &5W\ \ \ K +10 &7yT\ \ s\ K +9 &9;U\ \ }\ K +9 &:S\ \ z\ K +10 &<T\ \ z\ K +9 &>Z\ \ }\ K +10 &@CU\ \ |\ K +9 &BZ\ \ w\ L +9 &C_\ \ \ x\ L +10 &Ej\ \ \ N +9 &G@x\ \ }\ O +9 &H\ "\ \ R +10 &J\ 3\ /~\ V +50 &Ln\ 7\ 5{\ W +4 &N.\ 4\ 5|\ X + &O\ 2\ 1w\ Y + &Q\ /\ /y\ X + &So\ ,\ .{\ Z +2 &U/\ +\ ,z\ Z +6 &V\ +\ )\ [ +10 &X\ (\ )x\ [ +9 &Zr\ (\ 'x\ [ +10 &\\y\ (\ (~\ 3 +9 &\\'\ (\ '{\ L +9 ( +2 "collection"'p& +3 "core" &\\Z\ "\ ${\ G +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&y1 +59 "core" 1 +3 "manipulator"&% +3 "core" % @ C  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%o& +3 "core" &\ +2 "manipulator"&x% +4 "core" %  '  +2 "storage"(O% +4 "core" % 1 % y\  +2 "storage"(~. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z *  q\ +2 "manipulator"&_& +4 "core" &ӫ Z 9) +2 "manipulator"&% +3 "core" %  U  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&s( +165 "core" ( + "manipulator"&q& +4 "core" &   +2 "storage"(e& +4 "core" &,z U T c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&}' +92 "core" ' +2 "storage"(n& +3 "core" &,z R V \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'r +295 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &,m ] .\  +2 "manipulator"&r& +3 "core" & `  +3 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"& & +4 "core" & 4  +2 "storage"(u& +3 "core" &,m . / \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +39 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"((' +7 "core" & Y  +2 "manipulator"&`% +5 "core" % Y Y +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&X& +5 "core" & , B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &-& +2 "core" &  B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' + "manipulator"&& +4 "core" &  W B +2 "manipulator"&% +44 "core" % d  + "processing"%w& +4 "core" &\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed + "processing"% (^ +5 "core" &\  +9 &3{\ *x +10 &c\ > +9 &vt\ N +9 &7Z\ N +10 &Y\ N +9 &V\ N +10 &}Y\ N +9 &>Y0\ O +9 &Y \ N +10 &X+\ N +9 & Y,\ N +9 &"HX*\ N +10 &$\ Y-\ N +9 &%W-\ N +10 &'Y\ N +9 &)OW,\ N +9 &+W,\ N +10 &,Y-\ N +9 &.W-\ N +9 &0WX.\ N +10 &2W,\ N +9 &3W.\ N +10 &5W-\ N +9 &7_W.\ N +9 &9!Z-\ N +10 &:Y-\ O +9 &<Y-\ N +9 &>g[-\ N +10 &@*W.\ N +9 &Ab-\ O +10 &Cg-\ P +9 &Ehl/\ Q +9 &G'y.\ R +10 &H.\ T +9 &J,\ T +9 &Ld.\ U +10 &N&.\ U +9 &O.\ U +10 &Q,\ U +9 &Sj-\ U +9 &U-.\ U +10 &V-\ U +9 &X-\ U +9 &Zq.\ V +10 &\\3-\ V +9 &]|u*\ ; +10 &^)k-\ O +9 &^$-\ 3 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&i1 +55 "core" 1 +2 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 "processing"%&& +49 "core" &^"[\ 3 +4 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +4 "core" %     +2 "storage"(*% +3 "core" % % . \  +2 "storage"(. +4 "core" .(,y + "storage"(& +4 "core" &,m ' ,\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (z& +2 "manipulator"&$& +5 "core" &,~ ' L 7\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   B +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(%'r + "manipulator"&"( +6 "core" ( +2 "manipulator"&{& +3 "core" &   # B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +4 "core" &  t B +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&L/ +58 "core" / +2 .tPC.seek :open +2 "processing"%#( +91 "core" ' +2 "storage"('- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +47 "core" ' +309 ( +2 "storage"()& +4 "core" &,j W U\ ! +2 "manipulator"&& +4 "core" & m B +2 "manipulator"&% +3 "core" %  \\ +3 .tForearm.seek :retract + "manipulator"&0' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&<( +245 "core" ( +2 "manipulator"&& +4 "core" &  , 4 +2 "storage"(5& +3 "core" &,j R J X\ ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +98 "core" ' +2 .tHand.open + "manipulator"&;1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(D' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(S' +57 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(/- +2 "core" -' +2 "storage"(N& +4 "core" &,j r k \ ! +2 "manipulator"&Y& +4 "core" &   4 +2 .tElbow.seek 4 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&8& +3 "core" &   \\ 4 +2 "storage"(?& +3 "core" &,j e g \ ! +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +49 "core" ' + "manipulator"&& +4 "core" & a 4 +2 "storage"(M& +3 "core" &,j 1 +\ ! +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&G'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(6' +28 "core" ' +2 "manipulator"&F% +3 "core" %, X  +2 "storage"(1& +4 "core" &,j 0 / %\ ! +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 289 counts +2 "manipulator"&!'X +14 "core" ' +2 "manipulator"&P& +3 "core" &  q 4 +2 "storage"(E& +4 "core" &,j % % ^\ ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&2' +15 "core" ' +2 "storage"(Q% +3 "core" % T 7 \ +3 ."downElevator"SE.seek :down +50 "storage"(:' +52 (A% +3 "core" %G " & \ Va +2 "manipulator"&V% +4 "core" % J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +92 "core" ' +106 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (]& +3 "core" &,j " B T\ ! +2 "collection"'m& +4 "core" &\\Z\ \ t\ G +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&I% +4 "core" %  ]  +2 "storage"(Z% +3 "core" % I B \  +2 "storage"(^. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,y +61 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &,{ % ' A\ +2 "manipulator"&K& +3 "core" & e 4 +3 .tElbow.seek 4 + "manipulator"&T( +4 "core" ( +2 "manipulator"&3& +3 "core" &  { 4 +2 "storage"(>& +4 "core" &,{ U Q K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&U' +97 "core" ' +2 "storage"(f& +3 "core" &,{ V U M\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" & 4 +2 "storage"(H& +3 "core" &,l , * x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&@'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(c'q +32 "core" ' + "manipulator"&4% +4 "core" %< b  +2 "storage"(J& +3 "core" &,l . $ B\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 305 counts + "manipulator"&g'h +13 "core" ' +2 "manipulator"&,& +3 "core" &  4 +2 "storage"(y& +5 "core" &,l " = \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(o' +46 "core" ' + "manipulator"&x& +5 "core" &  } 4 + "manipulator"&O% +5 "core" %  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +156 "core" ( + "manipulator"&& +4 "core" &ӗ%  & >J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &ӗ% R >J +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 .tHand.close + "manipulator"&d/ +55 "core" / +2 .tCC.seek :open +2 "collection"'q( +447 "core" ( +2 "storage"(e& +3 "core" &,l U U\ +2 "storage"(& +4 "core" &,l P S %\ +2 "manipulator"&n& +3 "core" &ӥ# ` << +2 "manipulator"&t% +4 "core" % M L +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&k( +166 "core" ( + "manipulator"&7& +4 "core" &   +2 "storage"(r& +3 "core" &,l a m D\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"& '7 +97 "core" ' +2 .tElbow.hold + "manipulator"&u, +49 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % *   W 9 +2 "storage"(`& +4 "core" &,l g j r\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 287 counts +2 "manipulator"&s'V +14 "core" ' +2 "manipulator"&}& +3 "core" &  x  +2 "storage"(l& +5 "core" &,l m b \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(X% +3 "core" % k l C\ +3 ."downElevator"SE.seek :down +4 "storage"(-' +98 (\ % +3 "core" %B R T i\ V` +2 "manipulator"&% +4 "core" % W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'w& +3 "core" &\ q\ +2 "manipulator"&(% +4 "core" %   2  +2 "storage"(% +4 "core" % k k \  +2 "storage"(b. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(i(<- +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<, 4 A i\  +2 "manipulator"&&& +4 "core" & b  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &  l  +2 "storage"(*& +3 "core" &<, ` m C\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' +2 "storage"(& +3 "core" &<, i c \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +292 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &<, I I\  +2 "manipulator"&|& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&L& +4 "core" & y  +2 "storage"(& +4 "core" &<, c O 4\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&''Ϲ +33 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( ' +7 "core" &   +2 "manipulator"&%% +4 "core" %  u +2 .tForearm.seek :retract +2 "manipulator"&)' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &ӏ( T @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ( E @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + "manipulator"&5& +4 "core" &ӏ( 7 @^ +2 "manipulator"&"% +4 "core" %C  5 , +2 "collection"';& +5 "core" & p\ +2 "collection"'& +5 "core" &\ \ p\ +2 .tCC.seek :closed +4 "collection"'/(\\ +4 "core" & q\ +4 &\  t\ 6 +9 &EJx\ v\ / +10 &rs\ e\ D +9 &\\\ \ o\ L +10 &V\ \ r\ K +9 &U\ \ n\ K +9 &bZ\ \ b\ K +10 &$X\ \ a\ K +9 &T\ \ e\ K +9 &W\ \ h\ L +10 &jW\ \ n\ K +9 &!-S\ \ r\ K +10 &"V\ \ k\ L +9 &$V\ \ m\ K +9 &&rT \ p\ K +10 &(3W\ \ x\ L +9 &)W\ \ t\ K +9 &+S\ \ n\ K +10 &-zY\ \ z\ K +9 &/;W\ \ y\ L +10 &0V\ \ q\ K +9 &2R\ \ x\ K +9 &4S\ \ {\ K +10 &6DY\ \ x\ K +9 &8Y\ \ ~\ K +9 &9X\ \ ~\ K +10 &;V\ \ {\ L +49 &=LV\ \ ~\ K +5 &? T\ \ u\ L + &@W\ \ v\ L + &B]\ \ r\ L + &DQ`\ \ \ x\ L +2 &Fj\ \ r\ N +6 &Gz\ \ \ P +10 &I\ '\ {\ S +9 &K:\ 5\ 2\ W +10 &L\ 4\ 6\ W +9 &N\ 2\ 3{\ W +9 &P~\ 2\ 1{\ W +10 &R@\ -\ 1\ X +9 &S\ ,\ ,\ Y +9 &U\ -\ /\ Z +10 &W\ )\ ){\ Z +9 &Y>\ *\ ,\ [\ +10 &Z\ (\ *\ \\ +9 &\\\\M\ )\ (\ 6 +9 &\\ \ %\ (\ T +6 ( +2 "collection"'& +3 "core" &\\~\ #\ $~\ T +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&N1 +63 "core" 1 +2 "manipulator"&Y% +3 "core" % C   - , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%?& +4 "core" &\ +2 "manipulator"&0% +3 "core" %     +3 "storage"(% +3 "core" %\ \  -\  +2 "storage"(M. +4 "core" .(<- + "storage"(F& +4 "core" &<,\ \ ! \  +2 "storage"(1& +4 "core" &<,\ \  #\  +2 "manipulator"&B& +4 "core" &ӭ#  n <@ +2 "manipulator"&P% +3 "core" %   =  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&E( +157 "core" ( + "manipulator"&D& +4 "core" & I +2 "storage"(Q& +4 "core" &<, 0 / \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +94 "core" ' +2 "storage"(R& +3 "core" &<, 7 C \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +22 "core" ' mm G d 7\ _b +3 !to:Slide::Error\ :@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positionim: velocityi: currentim:pwmig:erri: inPressiG : outPressid :deltaPressi7 : voltagef13.197873343151693,e: @type2F: @tagiX: mesg"6Storage Elevator overCurrent at down + 206 counts:@axisName"Storage Elevator:bt[ "2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/utils/puckmoves.rb:600:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:577:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:25:in `shuffle'"7/home/esp/esp2/lib/log.rb:442:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"& +2 "storage"(f' +8 "core" & o +2 "manipulator"&:% +3 "core" % ϸ w +3 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&C& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&W' +97 "core" ' + "manipulator"&H& +4 "core" & +3 "manipulator"&h% +4 "core" % {  +2 "processing"%4& +4 "core" &\ +3 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%,(^ +3 "core" &\ +8 & /\ $c +9 &U{\ 7 +9 &~y\ K +10 &Y\ N +9 &WX\ N +9 &U\ N +10 &X\ N +9 &W\ N +10 &aU\ N +9 &$Y\ M +9 &W\ N +50 &!V\ N +3 &#iW\ N +4 &%,W\ M + &&Y\ N &(Y(\ N + &*qW,\ N +7 &,2W$\ N +9 &-V!\ N +10 &/W-\ N +9 &1xY!\ N +9 &3<W \ M +10 &4W)\ N +9 &6\\!\ N +10 &8Z,\ N +9 &:DW-\ M +9 &<Z-\ N +10 &=Y(\ N +9 &?Y-\ N +9 &AJZ-\ N +10 &Cc.\ O +9 &Dd)\ P +9 &Fp%\ Q +10 &HE)\ R +9 &J"\ T +10 &K,\ T +9 &M-\ T +9 &OG-\ T +10 &Q-\ U +9 &R"\ U +10 &T'\ U +9 &VN'\ U +9 &X,\ U +10 &Y-\ U +9 &[(\ U +9 &]S%\ F +10 &^w@r \ )y +9 &^& \ + +5 ( +2 "processing"%J& +4 "core" &^)\ + +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&y1 +53 "core" 1 +2 "manipulator"&x% +3 "core" %     +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +96 "core" ' +2 "processing"%U& +4 "core" &^$\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&T% +3 "core" %    +2 "storage"(a% +4 "core" % # &\  +2 "storage"(@. +3 "core" .(<- +2 "storage"(g& +3 "core" &<, " \  +3 "storage"(c& +2 "manipulator"&& +7 "core" &<, + %\  + & \ 2 +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&_( +5 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +3 "manipulator"&j& +4 "core" &   * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&~' +93 "core" ' + .tHand.close +2 "manipulator"&\\/ +64 "core" / +2 .tPC.seek :open +2 "processing"%e( +88 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'1 +40 "core" ' +316 ( +2 "storage"(t& +3 "core" &<, & " Q\  +2 "manipulator"&7& +4 "core" & 7 +2 "manipulator"&r% +3 "core" %  H 0 +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&p( +239 "core" ( +2 "manipulator"&& +4 "core" & & F +2 "storage"(& +3 "core" &<, 2 [ r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +95 "core" ' + .tHand.open +2 "manipulator"&}1 +61 "core" 1 +2 "storage"(l- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(X' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +3 "core" -' +2 "storage"(\ & +3 "core" &<, 8 7 \  +2 "manipulator"&& +4 "core" &   _ F +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&w& +4 "core" &   T F +2 "storage"((& +3 "core" &<, i g \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&b& +4 "core" & Y F +2 "storage"(o& +3 "core" &<, _\ <\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +28 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +47 "storage"( ' +21 "core" ' + "manipulator"&% +4 "core" %΋ Z  +2 "storage"(&& +4 "core" &<,\ \  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 298 counts +2 "manipulator"& 'Ϸ +24 "core" ' +2 "manipulator"&*& +3 "core" & u % +2 "storage"(& +4 "core" &<, ' ' \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&u'O +16 "core" ' +2 "storage"(% +4 "core" % . , \ \ +3 ."downElevator"SE.seek :down +4 "storage"($' +98 ({% +3 "core" %N J 3\ We +2 "manipulator"&|% +4 "core" %P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<,\  d c\  +2 "collection"'v& +3 "core" &\\}\ \ \ T +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +3 "core" %  =  +3 "storage"(%% +3 "core" % . 1 \  +2 "storage"(. +4 "core" .(<- + "storage"(& +4 "core" &<, 0 - Y\  +2 "storage"(& +4 "core" &<, 0 1 \  +2 "manipulator"&& +3 "core" & % +3 .tElbow.seek 5 + "manipulator"&z( +19 "core" ( +2 "manipulator"&'& +3 "core" &  +2 "storage"(5& +4 "core" &<, , * k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +92 "core" ' + "storage"(;& +4 "core" &<, 9 , T\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" &  +2 "storage"(q& +4 "core" &<,  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&N'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(0'u +33 "core" ' + "manipulator"&% +4 "core" %Ύ [ +2 "storage"(M& +3 "core" &<,\ \ ;\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&'Ϻ +14 "core" ' + "manipulator"&F& +4 "core" &  @  +2 "storage"(1& +4 "core" &<, . . \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +14 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(P' +37 "core" ' + "manipulator"&& +5 "core" & j  + "manipulator"&D% +4 "core" %3 y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &Ӏ+   Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &Ӏ+ R Ct +2 .tForearm.seek CC +2 "manipulator"&V'? +28 "Can"8\ [/ɒ0 +69 "core" ' + .tHand.close +2 "manipulator"&=/ +56 "core" / +2 .tCC.seek :open +2 "collection"'.( +447 "core" ( +2 "storage"(G& +3 "core" &<, T W \  +2 "storage"(]& +4 "core" &<, T T _\  +2 "manipulator"&8& +4 "core" &Ӯ$ 5 =F +2 "manipulator"&E% +3 "core" % @ ] +2 .tForearm.seek :retract +2 "manipulator"&<' +98 "core" ' +47 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&A( +162 "core" ( +2 "manipulator"&I& +3 "core" &  }  +2 "storage"(Z& +4 "core" &<, k j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&^'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +55 "core" 1 +2 "manipulator"&3% +4 "core" % Δ  @ +2 "storage"(>& +3 "core" &<, k ` \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&:' +24 "core" ' + "manipulator"&[& +4 "core" &   +2 "storage"(!& +4 "core" &<, l k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +24 "core" ' +2 "storage"(K% +3 "core" % ` k t\ +3 ."downElevator"SE.seek :down +4 "storage"(C' +98 (% +3 "core" %D X U \ U_ +2 "manipulator"&6% +4 "core" %E j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'h& +3 "core" & x\ +2 "manipulator"&4% +4 "core" %  G  +2 "storage"(f% +4 "core" % a g \  +2 "storage"( . +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(#( +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (y& +3 "core" & R W i\ +2 "manipulator"&x& +4 "core" & ;  +2 .tElbow.seek 3 +2 "manipulator"&U( +34 "core" ( +2 "manipulator"&T& +3 "core" &|  f 2 +2 "storage"(a& +5 "core" & m n \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&@'7 +93 "core" ' +2 "storage"(g& +4 "core" & k k S\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +293 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" & ; G \ +2 "manipulator"&j& +4 "core" &| 2 +2 .tElbow.seek 3 +2 "manipulator"&d( +4 "core" ( + "manipulator"&W& +4 "core" &| Y 2 +2 "storage"(\\& +3 "core" & m l\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(,' +8 "core" &|  \ 2 + "manipulator"&% +4 "core" %  3 +2 .tForearm.seek :retract +2 "manipulator"&t' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&r& +5 "core" &ӑ% i >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &ӑ%  3 >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +15 "manipulator"&& +3 "core" &ӑ%  4 >N +2 "manipulator"&_% +4 "core" %; a n +2 "collection"'}& +4 "core" & \ +49 "collection"'l& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'k(\\ +4 "core" & \ +7 &< \ v\ $e +9 &Vv \ |\ 6 +10 &y\ \ }\ K +9 &V\  |\ K +10 &{W v\ K +9 &=X\ \ \ K +9 &V \ y\ K +10 &Y\ \ |\ K +9 &W\ \ x\ K +9 &EV\ \ t\ K +10 & U\ \ y\ K +9 &!X\ \ x\ K +10 &#W\  \ K +9 &%MU\ \ v\ K +9 &'U\  v\ L +10 &(W\ \ z\ K +9 &*U\ \ |\ K +9 &,TV\ \ {\ L +10 &.V\ \ n\ K +9 &/U\ \ s\ K +10 &1W\ \ y\ L +9 &3^U\ \ x\ K +9 &5U\ \ \ K +10 &6X\ \ \ K +9 &8W\ \ {\ K +9 &:fY\ \ \ K +10 &<(W\ \ \ K +9 &=W\ \ \ K +10 &?T\ \ \ K +9 &AmY\ \ \ K +9 &C,`\ \ \ L +10 &Dg\ \ \ \ M +9 &Fp\ \ \ N +9 &He\ \ \ Q +10 &J\ .\ &\ U +9 &K\ 1\ 2\ W +10 &M\ /\ 1\ X +9 &OZ\ /\ 0\ W +9 &Q\ -\ .\ X +10 &R\ .\ .\ Y +9 &T\ )\ )\ Z +9 &V[\ +\ *\ Z +10 &X\ (\ (\ [ +9 &Y\ &\ '\ \\ +9 &[\ &\ (\ H +10 &\\8\ &\ '\ *| +9 &\\}\ #\ %\ W +6 ( + "collection"'l& +4 "core" &\\u\ #\ !\ W +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&\ 1 +60 "core" 1 +2 "manipulator"&% +5 "core" % ;  c n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%(& +3 "core" &\ +2 "manipulator"&% +4 "core" %  z  +2 "storage"(b% +3 "core" % <\  +2 "storage"(o. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(n( +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +3 "core" & Q -\ +2 "manipulator"&& +4 "core" &ӭ$ F ;2 +2 "manipulator"&&% +3 "core" %   q  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&*( +164 "core" ( + "manipulator"&& +4 "core" & /  +2 "storage"(p& +4 "core" & ) , \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +94 "core" ' + "storage"(`& +4 "core" & J G \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ({& +3 "core" & # + '\ +2 "manipulator"&|& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +5 "core" & ' "\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"(' +8 "core" & w  +2 "manipulator"&%% +3 "core" % ϛ U +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&& +4 "core" & Q & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 3 & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&'& +4 "core" & B & +2 "manipulator"&5% +4 "core" % a  +2 "processing"%u& +3 "core" &\ +3 "processing"%;& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%$(^ +5 "core" &\  +9 &1w\ *x +9 &c~\ > +10 &tt\ O +9 &6W\ N +9 &W\ N +10 &T\ N +9 &}X\ N +9 &@V\ N +10 &U\ N +9 &W\ N +10 & W\ N +9 &"HW\ N +9 &$ Z\ N +10 &%U\ N +9 &'Z0\ N +9 &)PU.\ N +10 &+U\ N +9 &,W'\ N +10 &.Y\ N +9 &0WU\ N +9 &2W \ N +10 &3T\ N +9 &5U-\ N +9 &7`W$\ N +10 &9!\\ \ N +9 &:Y+\ N +10 &<W(\ N +51 &>hY&\ N +3 &@*X&\ N +2 &A\\"\ N + &Ce \ O + &Eje%\ P + &G(p)\ Q +6 &H \ S +10 &J\ T +9 &Lf!\ T +9 &N&)\ T +10 &O!\ U +9 &Q\ U +9 &Sj \ U +10 &U+%\ U +9 &V \ V +10 &X%\ U +9 &Zr#\ U +9 &\\2$\ V +10 &]{y#\ > +9 &^"T \ P +9 &^A$\ : +3 ( +2 "processing"%;& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&-1 +58 "core" 1 +2 "manipulator"&L% +3 "core" %   B  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +3 "processing"%)& +3 "core" &^?\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&q% +3 "core" %    v  +2 "storage"(?% +4 "core" % M 2\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(M( +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (F& +2 "manipulator"&1& +6 "core" &\ " U\  + &   & +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(D'r +2 "core" ( +2 "manipulator"&"& +6 "core" &  & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &z& +3 "core" &   & +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&N/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"(0- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +49 "core" ' +309 ( +2 "storage"(S& +3 "core" & & " \  +2 "manipulator"&B& +3 "core" & I & +2 "manipulator"&Y% +4 "core" %  K 9 +2 .tForearm.seek :retract +2 "manipulator"&=' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Q( +244 "core" ( +2 "manipulator"&/& +3 "core" &  Y +2 "storage"(G& +5 "core" & ! ! \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&]'7 +93 "core" ' +2 .tHand.open + "manipulator"&81 +149 "core" 1 +2 "storage"(E- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(V' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(I' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +4 "core" -' + "storage"(R& +4 "core" & p r \  +2 "manipulator"&9& +5 "core" &  u Y + .tElbow.seek 3 +2 "manipulator"&3( +4 "core" ( + "manipulator"&>& +4 "core" &   Y +2 "storage"([& +3 "core" & h h [\  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&!'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(K'" +57 "core" ' + "manipulator"&<& +5 "core" & M Y + "storage"(& +4 "core" & $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'u +19 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(^' +28 "core" ' +48 "manipulator"&h% +5 "core" %{ A +2 "storage"(:& +3 "core" & D\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&4'ϧ +13 "core" ' +2 "manipulator"&f& +4 "core" & ` Y +2 "storage"( & +4 "core" & 0 . "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&P'7 +18 "core" ' + "storage"(m% +5 "core" % ( (\ +2 ."downElevator"SE.seek :down +4 "storage"(C' +99 (i% +4 "core" %!R K \ Xi +2 "manipulator"&y% +5 "core" %) X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (T& +3 "core" & ) - a\  +2 "collection"'a& +4 "core" &\\u\ \ \ W +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&g% +3 "core" %  '  +2 "storage"(2% +4 "core" % > 2 \  +2 "storage"(H. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(c( +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (J& +3 "core" & / . \  +2 "manipulator"&j& +3 "core" & S Y +3 .tElbow.seek 3 + "manipulator"&W( +4 "core" ( +2 "manipulator"&\\& +3 "core" & ) Y +2 "storage"(+& +4 "core" & & &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&O'7 +91 "core" ' +2 "storage"(& +5 "core" & + 4 [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(U'r +300 "core" ' +2 "storage"(@- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" &  Y +2 "storage"(~& +4 "core" & $ * -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'u +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(_'j +34 "core" ' +2 "manipulator"&}% +4 "core" %Έ 4 + "storage"(d& +4 "core" &  P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&,'ϴ +13 "core" ' + "manipulator"&t& +4 "core" & u X +2 "storage"(.& +4 "core" & + ! `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&\ '7 +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&(& +3 "core" & C X +2 "manipulator"&% +4 "core" %' Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o(ӂ +151 "core" ( + "manipulator"&l& +4 "core" &Ӊ+  X Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &ӊ+   Cq +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(& +4 "core" & H P a\  +2 "storage"(p& +3 "core" & K I -\  +2 "manipulator"&#& +4 "core" &Ӯ% >M +2 "manipulator"&`% +3 "core" % 6 z  +3 .tForearm.seek :retract +41 "manipulator"&7' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&w( +166 "core" ( +2 "manipulator"&s& +3 "core" & {  +2 "storage"({& +4 "core" & k k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&|'u +94 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +52 "core" 1 +3 "manipulator"&% +4 "core" % w N * +2 "storage"(v& +3 "core" & k l \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&%'ϣ +15 "core" ' + "manipulator"&*& +4 "core" &   0  +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +18 "core" ' + "storage"( % +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %I U W )\ Vc +2 "manipulator"& % +4 "core" %' v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'5& +3 "core" & }\ +2 "manipulator"&u% +4 "core" %   +2 "storage"(% +4 "core" % k m \  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(e(,y +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +2 "core" &,v E d ,\ +2 "manipulator"&L& +4 "core" &  [  +2 .tElbow.seek 4 +2 "manipulator"&)( +46 "core" ( + "manipulator"&q& +5 "core" &  Q  + "storage"(?& +4 "core" &,v k l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +92 "core" ' +2 "storage"(;& +3 "core" &,v p w\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'r +299 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +3 "core" &,m j a \  +2 "manipulator"&z& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&N& +4 "core" &   \\  +2 "storage"(n& +3 "core" &,m j m \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&0'c +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"($' +7 "core" &  +2 "manipulator"&D% +4 "core" % Ϙ  4 +2 .tForearm.seek :retract +2 "manipulator"&S' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&B(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&Y& +5 "core" &Ӈ+ ] Cn +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӈ+ ( Cn +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'? +101 "core" ' + "manipulator"&G& +4 "core" &Ӑ)  { Ae +2 "manipulator"&% +4 "core" %3   - r +46 "collection"'8& +6 "core" & \ +3 "collection"'E& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'=(\\ +5 "core" & \ +6 &A \ %g +10 &Xw \ 7 +9 &x \ K +10 &U\  \ K +9 &V \ \ K +9 &MU \ \ K +10 &U\  \ K +9 &V\  \ K +9 &W\  \ K +10 &TV\ \ \ K +9 & U\ \ z\ K +10 &!U\ \ \ K +9 &#W\ \ \ K +9 &%]U\ \ ~\ K +10 &'U\ \ y\ K +9 &(V\  \ K +9 &*V\  {\ J +10 &,dW \ {\ K +9 &.(S\ z\ J +10 &/V\ \ y\ K +9 &1V\ \ z\ L +9 &3mU\ \ \ K +10 &5/U\ \ y\ K +9 &6V\ z\ K +9 &8V\ \ {\ K +10 &:tV \ u\ K +9 &<6U\ \ y\ K +10 &=W\ \ \ K +9 &?W\ \ y\ K +9 &A|Z\ \ \ K +10 &C>[\ \ \ K +9 &Dh\ \ \ y\ M +9 &Fo\ \ u\ N +10 &Ht\ \ \ Q +9 &J*\ -\ *\ U +10 &K\ 3\ 4\ V +9 &M\ 1\ 4\ X +9 &Oh\ 2\ 2\ X +10 &Q(\ 1\ 0\ X +9 &R\ /\ ,\ Y +9 &T\ ,\ /\ Y +10 &Vg\ +\ ,}\ [ +9 &X(\ )\ *\ [\ +10 &Y\ )\ )\ \\ +9 &[\ (\ (w\ I +9 &\\/\ #\ (\ 1 +10 &\\q\ '\ &\ M +2 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&Z1 +53 "core" 1 +2 "manipulator"&R% +3 "core" % 3  r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%>& +4 "core" &\ +2 "manipulator"&[% +3 "core" %   W  +3 "storage"(<% +3 "core" % - *\  +2 "storage"(. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" &,z $ ' K\ +2 "manipulator"&h& +3 "core" &Ӯ#   n =G +2 "manipulator"&:% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&f( +164 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(Q& +3 "core" &,z T S R\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +95 "core" ' +2 "storage"(]& +4 "core" &,z T T u\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +298 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (i& +2 "core" &,m " , \  +2 "manipulator"&y& +5 "core" & C  +2 .tElbow.seek 4 + "manipulator"&3( +4 "core" ( + "manipulator"&K& +4 "core" &  +2 "storage"(6& +3 "core" &,m & $ \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&4'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& +2 "storage"(g' +7 "core" & j  +2 "manipulator"&2% +3 "core" % r +3 .tForearm.seek :retract +2 "manipulator"&H' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&J& +4 "core" &  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" & . . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\' +96 "core" ' +2 "manipulator"&+& +3 "core" & # . +2 "manipulator"&P% +4 "core" % B = +2 "processing"%& +4 "core" &\ +3 "processing"%C& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%M(^ +4 "core" &\ +6 &7\ #c +10 &V|\ 7 +9 &y\ K +10 &W\ M +9 &XW\ N +9 &R\ N +10 &Z\ N +9 &Z\ N +9 &bX\ M +10 &$W\ M +9 &W\ M +10 &!W\ M +9 &#jV\ M +9 &%,W\ M +10 &&Z\ N +9 &(U\ N +9 &*qU\ N +10 &,3U\ N +9 &-Y\ N +10 &/Y\ N +9 &1zW+\ M +9 &3<U+\ M +10 &4X-\ N +57 &6U,\ N +3 &8X\ M +3 &:CU\ N + &<Y!\ M + &=W\ N + &?X.\ N +3 &AJZ\ N +6 &Ce\ P +9 &Dd1\ P +9 &Fu&\ Q +10 &HC%\ S +9 &J/\ T +10 &K'\ T +9 &M,\ T +9 &OG'\ T +10 &Q\ U +9 &R(\ U +9 &T)\ V +10 &VN(\ U +9 &X+\ U +10 &Y3\ V +9 &[,\ U +9 &]S(\ H +10 &^{G+\ ^ +9 &^2&\ 3 +5 ( +2 "processing"%C& +4 "core" &^"\ 3 +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&A1 +59 "core" 1 +2 "manipulator"&x% +3 "core" %   = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@' +92 "core" ' +3 "processing"%r& +3 "core" &^"$\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&~% +3 "core" %  \ a  +2 "storage"(% +4 "core" % .\  +2 "storage"(}. +3 "core" .(,y +2 "storage"(d& +3 "core" &,m ' ' K\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(t(,y +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (.& +2 "manipulator"&(& +6 "core" &,{ 2 \\ \\\ + &  f . +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r + "manipulator"&O( +6 "core" ( +2 "manipulator"&W& +3 "core" &   . +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &  Y . +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&,/ +56 "core" / +2 .tPC.seek :open +2 "processing"%_( +94 "core" ' +2 "storage"(l- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(X'1 +46 "core" ' +303 ( +2 "storage"(\ & +3 "core" &,k * 0 E\ +2 "manipulator"&& +4 "core" & U . +2 "manipulator"&&% +3 "core" %  = f +3 .tForearm.seek :retract + "manipulator"&b' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&k( +246 "core" ( + "manipulator"&& +4 "core" &  ? +2 "storage"(p& +4 "core" &,k ! * >\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +95 "core" ' +2 .tHand.open + "manipulator"&`1 +55 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(s' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"({' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(o- +2 "core" -' +3 "storage"(& +3 "core" &,k f f \ +2 "manipulator"&& +4 "core" &   ? +2 .tElbow.seek 4 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&*& +3 "core" &   L ? +2 "storage"(& +4 "core" &,k f d J\ +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(7'" +49 "core" ' +2 "manipulator"&& +3 "core" & T ? +2 "storage"( & +4 "core" &,k ! \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&w'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +47 "storage"(#QK-0-\ b +5 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(5' +19 "core" ' + "manipulator"&u% +4 "core" %J R ? +2 "storage"(%& +4 "core" &,k ' & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&'v +14 "core" ' +2 "manipulator"&& +3 "core" & G ? +2 "storage"(& +5 "core" &,k T Q U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +3 "core" % J Q \ +3 ."downElevator"SE.seek :down +4 "storage"(c' +98 (-% +4 "core" %M O \ Xf +2 "manipulator"&L% +3 "core" %  q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +94 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (?& +3 "core" &,k , & K\ +2 "collection"';& +4 "core" &\\l\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %   +2 "storage"('% +4 "core" % & "\  +2 "storage"(F. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"("(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &,} , % k\ +2 "manipulator"&N& +4 "core" & D ? +2 .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"& & +3 "core" & 5 ? +3 "storage"( & +3 "core" &,} ' "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +93 "core" ' + "storage"()& +4 "core" &,} T T Q\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +289 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & < ? +2 "storage"(1& +3 "core" &,m 1 .\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&0'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(8'u +28 "core" ' +2 "manipulator"&% +3 "core" %: c  +2 "storage"($& +4 "core" &,m $ +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts +2 "manipulator"&S'f +13 "core" ' +2 "manipulator"&& +3 "core" &  [ ? +2 "storage"(Z& +4 "core" &,m . . h\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&R' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(>' +46 "core" ' + "manipulator"&[& +4 "core" & $ ? +2 "manipulator"&<% +5 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +154 "core" ( +2 "manipulator"&V& +3 "core" &Ӑ( & @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &Ӑ' K @X +2 .tForearm.seek CC +2 "manipulator"&:'? +95 "core" ' +2 .tHand.close + "manipulator"&// +64 "core" / +2 .tCC.seek :open +2 "collection"' ( +447 "core" ( +2 "storage"(Q& +3 "core" &,m V P `\  +2 "storage"(e& +4 "core" &,m W V \  +2 "manipulator"&]& +3 "core" &Ӫ# $ <> +41 "manipulator"&B% +11 "core" % E b 2 +2 .tForearm.seek :retract +2 "manipulator"&9' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&!( +167 "core" ( +2 "manipulator"&i& +4 "core" &  H  +2 "storage"(y& +4 "core" &,m l l \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&K'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +63 "core" 1 +3 "manipulator"&a% +3 "core" % 6 }  +2 "storage"(2& +4 "core" &,m m b \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 299 counts +2 "manipulator"&f'b +14 "core" ' +2 "manipulator"&m& +3 "core" &  Q  +2 "storage"(I& +4 "core" &,m k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +15 "core" ' +2 "storage"(J% +3 "core" % l o <\ +3 ."downElevator"SE.seek :down +4 "storage"(j' +98 (3% +3 "core" %? F F \ U^ +2 "manipulator"&+% +4 "core" % n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&g% +4 "core" %   +2 "storage"(H% +4 "core" % k k \  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(A(<- +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" &<, G H e\ +2 "manipulator"&r& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(}& +3 "core" &<, ] g v\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +91 "core" ' +2 "storage"(C& +3 "core" &<, |\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +296 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &<, Q W\ +2 "manipulator"&U& +3 "core" &  B  +2 .tElbow.seek 5 +2 "manipulator"&\\( +4 "core" ( +2 "manipulator"&,& +3 "core" & \ ^  +2 "storage"(& +4 "core" &<, m l J\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&l'Ϲ +39 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"(M' +8 "core" & 3  +2 "manipulator"&% +3 "core" %  ^ W +3 .tForearm.seek :retract + "manipulator"&\ ' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&&& +3 "core" &Ӕ$  k =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӕ$ f =E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' +44 "manipulator"&p& +8 "core" &Ӝ# d <= +2 "manipulator"&O% +5 "core" %@ +2 "collection"'`& +3 "core" & \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'o(\\ +5 "core" & \ +6 &< \ %f +9 &Z{ \ 7 +10 &x \ K +9 &S\  \ K +9 &W\ \ K +10 &HV\  \ K +9 & U\ \ J +9 &V\ \ \ K +10 &U\ \ \ K +9 &PU \ \ K +10 & U \ K +9 &!Y \ K +9 &#U \ \ K +10 &%XU\ \ \ K +9 &'U \ |\ K +9 &(T \ K +10 &*T\ z\ K +9 &,`U\ z\ K +10 &."U\ \ \ K +9 &/U\ \ J +9 &1W\ \ \ K +10 &3gU \ z\ K +9 &5)U\ y\ K +9 &6V\ \ ~\ K +10 &8U \ y\ K +9 &:oU\ \ {\ K +10 &<2U\ \ |\ K +9 &=U\ \ w\ K +9 &?U\ \ y\ K +10 &AwZ\ \ u\ K +9 &C8^\ \ v\ L +9 &Dc\ \ x\ M +10 &Fp\ \ }\ N +9 &Ho\ \ y\ Q +10 &J$\ .\ (y\ U +9 &K\ 4\ 3{\ V +9 &M\ 3\ 3x\ X +10 &Oc\ 2\ 1w\ W +9 &Q#\ 0\ 0v\ X +9 &R\ /\ -|\ X +10 &T\ -\ ,\ X +9 &Ve\ -\ ,w\ Z +9 &X'\ )\ ,|\ Z +10 &Y\ )\ *\ \\ +9 &[\ *\ )z\ H +10 &\\2\ (\ (z\ 0 +9 &\\k\ &\ (\ N +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % @ U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&b% +4 "core" %    +2 "storage"(% +3 "core" % $ ' )\  +2 "storage"( . +3 "core" .(<- +2 "storage"(X& +5 "core" &<, . . U\ + "storage"(u& +5 "core" &<, / . ~\ + "manipulator"&%& +4 "core" &ө  s :0 +2 "manipulator"&s% +4 "core" %  c  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +5 "core" &<, G Q V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +98 "core" ' +2 "storage"(#& +4 "core" &<, Q I \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"({'r +294 "core" ' +2 "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (L& +2 "core" &<, % #\ +2 "manipulator"& & +4 "core" & .  +2 .tElbow.seek 5 +2 "manipulator"&v( +4 "core" ( + "manipulator"&7& +4 "core" &  +2 "storage"(w& +3 "core" &<, - + c\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&?'Ϲ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&;& +2 "storage"(' +8 "core" & 2  + "manipulator"&'% +5 "core" %  M  +2 .tForearm.seek :retract + "manipulator"&F' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&5( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&z& +4 "core" & J +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" & * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' + "manipulator"& & +4 "core" & } +2 "manipulator"&% +4 "core" % S +2 "processing"%)& +4 "core" &\ +3 "processing"%c& +5 "core" &%\ +2 .tPC.seek :closed +2 "processing"%t(^ +5 "core" &\ +6 &<\ $d +10 &Tw\ 6 +9 &}{\ K +9 &U\ N +10 &aY\ N +9 &$Q\ M +10 &V\ M +9 &T\ N +9 &jS\ M +10 &*V\ N +9 &T\ N +10 &!S\ N +9 &#qT\ N +9 &%3U\ N +10 &&U\ N +9 &(V\ M +9 &*zV\ M +10 &,;U\ N +9 &-U\ M +9 &/[\ N +10 &1V\ M +9 &3DV\ M +10 &5Y\ N +9 &6Y\ N +51 &8U\ N +10 &:LU\ M +2 &< Y\ N + &=U\ N +2 &?W\ N + &ASY\ N +2 &Cc\ O +6 &Df\ P +9 &Fp\ Q +10 &HL4\ S +9 &J\ \ T +9 &K\ T +10 &M2\ T +9 &ON/\ U +10 &Q5\ U +9 &R\ U +9 &T4\ V +10 &VV-\ U +9 &X5\ U +10 &Y7\ U +9 &[2\ U +9 &][5\ C +10 &^Jy\ P +9 &^ Q2\ 6 +5 ( +2 "processing"%c& +4 "core" &^'3\ 6 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&|1 +55 "core" 1 + "manipulator"&q% +5 "core" %   O S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +90 "core" ' +2 "processing"%& +4 "core" &^',\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&1% +3 "core" %    +2 "storage"(% +4 "core" % ( &\  +2 "storage"(. +3 "core" .(<- +2 "storage"($& +4 "core" &<, 5 \ +2 "storage"(& +2 "manipulator"&Z& +8 "core" &<, " & \ + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&[( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(<'r +2 "core" ( +2 "manipulator"&D& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &   V +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' + .tHand.close +2 "manipulator"&0/ +58 "core" / +2 .tPC.seek :open +2 "processing"%S( +95 "core" ' +2 "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(V'1 +41 "core" ' +308 ( + "storage"(h& +3 "core" &<, T T A\ +3 "manipulator"&R& +3 "core" & I +2 "manipulator"&G% +3 "core" %  4 ? +3 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +238 "core" ( +2 "manipulator"&=& +3 "core" & i 1 +2 "storage"(Q& +4 "core" &<, ' ' O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +99 "core" ' +2 .tHand.open + "manipulator"&]1 +60 "core" 1 +2 "storage"(B- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(:- +3 "core" -' +2 "storage"(E& +4 "core" &<, N P t\ +2 "manipulator"&T& +4 "core" &  I 0 +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&2& +4 "core" &   0 +2 "storage"(m& +3 "core" &<, M N \ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(J'" +58 "core" ' +2 "manipulator"&9& +3 "core" &  0 +2 "storage"(3& +4 "core" &<, $ & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&+'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(K' +28 "core" ' + "manipulator"&% +4 "core" %Ε  t +2 "storage"(g& +4 "core" &<,\ \  K\ +41 .tForearm.force -20 +9 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&f' +14 "core" ' +2 "manipulator"&H& +4 "core" & !  +2 "storage"(& +3 "core" &<, 1 1 C\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +15 "core" ' +2 "storage"(4% +3 "core" % ' (\ +3 ."downElevator"SE.seek :down +3 "storage"(j' +99 ("% +3 "core" %YO M \\\ Xf +2 "manipulator"&x% +4 "core" %< +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &<, ! 5 [\ +3 "collection"'}& +3 "core" &\\r\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&C% +3 "core" %  m  +3 "storage"(6% +3 "core" % ' % \  +2 "storage"(P. +3 "core" .(<- +2 "storage"((& +3 "core" &<, ( ' \ +2 "storage"(W& +4 "core" &<, & " .\ +2 "manipulator"&U& +3 "core" & +  +3 .tElbow.seek 5 + "manipulator"&,( +22 "core" ( + "manipulator"&& +4 "core" & .  +2 "storage"(^& +3 "core" &<, * (\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +94 "core" ' + "storage"(& +4 "core" &<, Q I ?\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'r +298 "core" ' +2 "storage"(d- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" & #  +2 "storage"(& +4 "core" &<, + $ I\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&.'΍ +17 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(p- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(\\'u +29 "core" ' + "manipulator"&O% +4 "core" %ΐ 4  +2 "storage"(`& +3 "core" &<, . . \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&M'ϼ +14 "core" ' + "manipulator"&\ & +4 "core" & ,  +2 "storage"( & +3 "core" &<, + " (\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&& +3 "core" & f  +2 "manipulator"&b% +4 "core" %9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +159 "core" ( + "manipulator"&X& +4 "core" &ӌ*  Af +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &ӌ* Bf +3 .tForearm.seek CC +2 "manipulator"&%'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'s( +447 "core" ( +2 "storage"(& +3 "core" &<, V Q\ +2 "storage"(& +4 "core" &<, W W\ +2 "manipulator"&& +4 "core" &ӭ$ P =E +2 "manipulator"&#% +4 "core" % M j # +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&*( +169 "core" ( +2 "manipulator"&-& +43 "core" & Z  +9 "storage"(L& +3 "core" &<, n n \ \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&w1 +59 "core" 1 +2 "manipulator"&% +3 "core" % Ά   R +2 "storage"(;& +4 "core" &<, j m \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 293 counts + "manipulator"&''ϲ +13 "core" ' +2 "manipulator"&& +3 "core" & L  +3 "storage"(k& +3 "core" &<, k l \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +23 "core" ' +2 "storage"(?% +3 "core" % h b \ +3 ."downElevator"SE.seek :down +3 "storage"(z' +99 (N% +3 "core" %? L G \ V_ +2 "manipulator"&v% +4 "core" %e  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&)% +4 "core" %  S  +2 "storage"(% +3 "core" % k k \  +2 "storage"(F. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(_( +675 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (|& +2 "core" & K T \ +2 "manipulator"&q& +4 "core" & i  +2 .tElbow.seek 3 +2 "manipulator"&( +16 "core" ( + "manipulator"&1& +5 "core" & &  + "storage"(& +4 "core" & k k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +96 "core" ' +2 "storage"($& +3 "core" & {\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (c& +3 "core" & I U &\ +2 "manipulator"&D& +3 "core" &    +3 .tElbow.seek 3 + "manipulator"&n( +4 "core" ( +2 "manipulator"& & +3 "core" & \ H  +2 "storage"(0& +4 "core" & l k \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&8'ϡ +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(t' +8 "core" &  d  + "manipulator"&<% +4 "core" % Ϣ E v +2 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&R(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&G& +4 "core" &ӌ* 9 Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӌ* Bg +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&='? +92 "core" ' +2 "manipulator"&Q& +4 "core" &ӎ)  Ae +2 "manipulator"&[% +4 "core" %; Y i +2 "collection"']& +4 "core" & \ +3 "collection"'B& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"':(\\ +4 "core" & \  +8 &5 \ *z +50 & g} \ > +4 &m \ L + &]R \ J +2 &V \ L + &U \ K + &V \ K +7 &dU \ K +9 &&W \ K +10 &V \ \ K +9 & U \ K +9 &"lU\ \ \ K +10 &$-U \ K +9 &%U \ K +10 &'V\ \ \ K +9 &)sU\ \ \ K +9 &+5U \ K +10 &,V \ K +9 &.V\ \ K +9 &0{V\ \ K +10 &2>W \ K +9 &3Y \ \ L +10 &5U\ \ K +9 &7V \ K +9 &9EV \ K +10 &;W \ K +9 &<V\ \ \ K +9 &>V\  \ K +10 &@MX\ \ \ K +9 &BX\ \ \ L +10 &C\\\ \ \ L +9 &Eg\ \ \ M +9 &GJz\ \ \ O +10 &I\ \ \ R +9 &J\ -\ -\ V +9 &Ly\ 2\ /\ W +10 &N7\ -\ .\ X +9 &O\ ,\ .\ Y +10 &Q\ )\ +\ Y +9 &Sz\ *\ )\ Y +9 &U;\ )\ )\ Z +10 &V\ '\ &\ \\ +9 &X\ &\ (\ \\ +10 &Zy\ $\ '\ \\ +9 &\\z\ %\ &\ 0 +9 &\\0\ %\ '\ _ +9 ( +3 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&E1 +3 "core" &\\b\ #\ $\ L +59 1 + "manipulator"&T% +5 "core" % ;   c i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2' +89 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%m& +3 "core" &Z\ +2 "manipulator"&/% +3 "core" %  \   +3 "storage"(9% +3 "core" % . . m\  +2 "storage"(3. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" & ( - [\  +2 "manipulator"&g& +4 "core" &ӱ#  5 =B +2 "manipulator"&i% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&H( +168 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" & J H \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&4'7 +95 "core" ' +2 "storage"(e& +3 "core" & ; N L\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +295 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" & , " \  +2 "manipulator"&x& +4 "core" & h  +2 .tElbow.seek 3 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&J& +3 "core" &  +2 "storage"(+& +4 "core" & + / 7\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&}& +2 "storage"(C' +7 "core" &   + "manipulator"&6% +5 "core" % ϣ $ +2 .tForearm.seek :retract + "manipulator"&P' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&K( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&(& +4 "core" & 8 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &W& +2 "core" &  1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&U' +104 "core" ' + "manipulator"&& +4 "core" & 1 +2 "manipulator"&^% +4 "core" % ! +2 "processing"%>& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%j(^ +4 "core" &\  +9 &2{\ )w +9 &c~\ > +10 &ss\ N +9 &5U&\ N +9 &T5\ M +10 &U9\ N +9 &{U6\ N +10 &>S\ N +9 &S\ M +9 &U\ N +10 & V\ N +9 &"FR\ N +9 &$ T\ M +10 &%T\ M +9 &'U\ M +10 &)OU\ M +9 &+X\ N +9 &,U\ N +10 &.W\ M +9 &0VU\ N +9 &2X\ N +10 &3W\ N +9 &5V\ N +10 &7^U\ N +9 &9 Z\ N +9 &:Y\ N +10 &<U\ M +9 &>fW\ N +9 &@'Z\ N +10 &AZ\ N +9 &Ce\ P +10 &Ehg\ P +9 &G&n\ Q +9 &H\ S +10 &J\ T +9 &Lc\ T +9 &N"\ U +10 &O\ T +9 &Q\ U +10 &Sf\ V +9 &U+\ U +9 &V/\ U +10 &X\ U +9 &Zm\ V +9 &\\0*\ V +10 &]{q7\ > +47 &^!Q0\ O +10 &^;\ : ( + &^8\ : + &^81\ : + &^8\ : + &^8\ : +2 "processing"%& +4 "core" &^8\ : +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&!1 +62 "core" 1 +2 "manipulator"&r% +3 "core" %   5 ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +95 "core" ' +2 "processing"%&& +5 "core" &^7X\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %     +2 "storage"(p% +4 "core" % ' 3 \  +2 "storage"(O. +2 "core" .( +2 "storage"(`& +4 "core" & ] )\  +3 "storage"(\ & +2 "manipulator"& & +7 "core" &\ \ \  +2 &  K 1 + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(b'r +3 "core" ( +2 "manipulator"&@& +3 "core" &  G 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &  1 +3 .tForearm.seek PC + "manipulator"&~' +94 "core" ' +3 .tHand.close + "manipulator"&./ +64 "core" / + .tPC.seek :open +2 "processing"%M( +88 "core" ' +2 "storage"(\\- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +46 "core" ' +312 ( +2 "storage"(u& +3 "core" & 3 > \  +3 "manipulator"&& +3 "core" &  1 +2 "manipulator"&l% +3 "core" %  4 9 +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +247 "core" ( + "manipulator"&o& +4 "core" & i = +2 "storage"(& +3 "core" & - * \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +99 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +3 "storage"(#- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(-' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(%' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(L- +3 "core" -' +2 "storage"( & +4 "core" & g f \  +2 "manipulator"&w& +5 "core" &   q = +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&;& +4 "core" &   = +2 "storage"(& +3 "core" & f g \  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&k'7 +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(?'" +57 "core" ' +2 "manipulator"&& +3 "core" & , = +3 "storage"(N& +3 "core" & ' ' \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&v'u +24 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +27 "core" ' +2 "manipulator"&% +3 "core" %Έ 5 +2 "storage"('& +4 "core" & . . \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&)'ϴ +13 "core" ' +2 "manipulator"&& +3 "core" &  = +2 "storage"(F& +4 "core" & Q S `\  +42 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +19 "core" ' +2 "storage"({% +3 "core" % T T [\ +3 ."downElevator"SE.seek :down +4 "storage"(z' +98 (A% +3 "core" %nZ M f\ Xj +2 "manipulator"&|% +4 "core" %0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (1& +2 "core" &  . ,\  +3 "collection"'& +3 "core" &\\b\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&$% +4 "core" %  !  +2 "storage"(7% +3 "core" % B 5 [\  +2 "storage"( . +4 "core" .( + "storage"(& +4 "core" & O 7 j\  +2 "storage"(c& +5 "core" & 5 B \  + "manipulator"&D& +4 "core" & , = +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&0& +4 "core" &  = +2 "storage"(5& +3 "core" & 4 F e\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +94 "core" ' +2 "storage"(<& +3 "core" & T T }\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" & + = +2 "storage"(& +3 "core" & . 0 h\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Z'u +20 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(['j +29 "core" ' + "manipulator"&]% +7 "core" %Έ E  +2 "storage"(n& +8 "core" & $ * :\  +5 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 319 counts +2 "manipulator"&t'ϴ +13 "core" ' + "manipulator"&h& +4 "core" &  = +2 "storage"(s& +3 "core" & ' ' 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&E'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(T' +36 "core" ' +2 "manipulator"&m& +3 "core" & C = +2 "manipulator"&/% +4 "core" %+ " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3(ӂ +154 "core" ( +2 "manipulator"&B& +3 "core" &Ӎ( \   @[ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +3 "core" &Ӎ'  f @[ +2 .tForearm.seek CC +2 "manipulator"&g'? +101 "core" ' + .tHand.close + "manipulator"&i/ +60 "core" / +2 .tCC.seek :open +2 "collection"'=( +447 "core" ( +2 "storage"(& +3 "core" & T V .\  +2 "storage"(& +4 "core" & T J S\  +2 "manipulator"&_& +3 "core" &ӭ% <; +2 "manipulator"&e% +4 "core" % B  +2 .tForearm.seek :retract +2 "manipulator"&R' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&2( +164 "core" ( + "manipulator"&"& +5 "core" &   + "storage"(I& +4 "core" & a i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&x'u +134 "core" ' +9 .tElbow.hold +2 "manipulator"&J, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&+1 +58 "core" 1 +2 "manipulator"&f% +4 "core" % v \  = . +2 "storage"(}& +4 "core" & j m x\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&6'Ϣ +13 "core" ' + "manipulator"&H& +4 "core" &  h  +2 "storage"(4& +5 "core" & j g g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&y'7 +18 "core" ' +2 "storage"(% +3 "core" % i j j\ +3 ."downElevator"SE.seek :down +4 "storage"((' +98 (W% +3 "core" %Q I U \ We +2 "manipulator"&a% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'^& +3 "core" & \ +2 "manipulator"&>% +3 "core" %  _  +3 "storage"(C% +3 "core" % j k \  +2 "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(S(,y +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (!& +4 "core" &,w g V\  +2 "manipulator"&r& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&&( +42 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(p& +4 "core" &,w g k o\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +98 "core" ' +2 "storage"(`& +3 "core" &,w p h\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"( - +2 "core" -' +4 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &,m a ^ \  +2 "manipulator"&@& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&,( +4 "core" ( +2 "manipulator"&U& +3 "core" & -  +2 "storage"(.& +4 "core" &,m j g \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&d& + "storage"(j' +7 "core" & n  + "manipulator"&b% +4 "core" % w  . +2 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&l& + "storage"(5 +6 "core" &ӏ%  >O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &ӏ%   >O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&o'? +104 "core" ' +2 "manipulator"&& +4 "core" &Ӑ& Y >N +2 "manipulator"&% +4 "core" %3 /  +2 "collection"'& +5 "core" & \ +3 "collection"'#& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'L(\\ +5 "core" & \ +6 & \ : +10 &GJv \ 1 +9 &}u} \ E +9 &*Z \ L +10 &R\ \ K +9 &X \ K +10 &qY \ K +9 &3U \ K +9 &U \ K +10 &U\ \ K +9 &zU \ K +9 &!;T \ K +10 &"U \ K +9 &$U \ \ K +10 &&U\ \ K +9 &(CZ \ K +9 &*U\ \ \ K +10 &+U\ \ K +9 &-U\ \ \ K +9 &/LU \ K +50 &1U \ K +4 &2T \ J + &4U\ \ K +2 &6SU \ K + &8R \ \ K + &9U \ K +7 &;U\ \ K +9 &=\\U \ \ K +10 &?V\ \ \ K +9 &@W\ \ \ L +10 &BZ\ \ \ L +9 &D`_\ \ \ L +9 &Fh\ \ \ N +10 &G}\ \ \ P +9 &I\ '\ \ S +10 &KI\ 2\ 1\ W +9 &M \ 2\ 2\ X +9 &N\ 3\ 2\ W +10 &P\ /\ 0\ Y +9 &RN\ .\ -\ X +9 &T \ .\ /\ Z +10 &U\ +\ (\ Z +9 &W\ *\ +\ [\ +9 &YK\ )\ )\ \\ +10 &[ \ (\ )\ \\ +9 &\\bG\ '\ (\ 3 +10 &\\\ '\ %\ M +5 ( +2 "collection"'#& +4 "core" &\\b\ %\ $\ M +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&w% +3 "core" % 3  H  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&% +4 "core" %  B  +2 "storage"(% +4 "core" % . . \  +2 "storage"(N. +3 "core" .(,y +2 "storage"(X& +4 "core" &,m - ) q\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +34 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +3 "core" &,{ \  =\ +2 "manipulator"&-& +4 "core" &ӭ   :1 +2 "manipulator"&% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&F( +163 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"({& +4 "core" &,{ I Q /\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +91 "core" ' +2 "storage"(%& +4 "core" &,{ W V\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +4 "storage"(A'r +294 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &,m # - \  +2 "manipulator"&& +3 "core" & L  +2 .tElbow.seek 4 +2 "manipulator"&?( +4 "core" ( + "manipulator"&v& +4 "core" & &  +2 "storage"()& +4 "core" &,m . / \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&1'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +3 "storage"(7' +7 "core" &  + "manipulator"& % +5 "core" % k D +2 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +4 .tElbow.seek PC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&c& +3 "core" &  H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" & N H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0' +99 "core" ' +2 "manipulator"&5& +4 "core" & H +2 "manipulator"&% +4 "core" %  % +2 "processing"%<& +4 "core" &$\ +2 "processing"%z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%*(^ +5 "core" &\  +9 &4z\ )w +9 &d}\ > +9 &yp\ N +10 &;S\ N +9 &T\ N +10 &W\ M +9 &U.\ M +9 &CX6\ N +10 &U5\ N +9 &V\ N +9 & S\ M +10 &"MT\ M +9 &$X\ M +10 &%T\ M +9 &'Y\ M +9 &)TU\ M +10 &+X\ N +9 &,W\ N +9 &.Q\ M +10 &0\\T\ M +9 &2X\ N +10 &3W\ M +9 &5X\ N +9 &7dX\ M +10 &9%Y\ N +9 &:X\ N +9 &<U\ N +10 &>k[\ N +9 &@-Z\ N +10 &A]\ N +9 &Ce\ P +9 &Eln\ P +10 &G)x\ R +9 &H\ S +9 &J\ S +10 &Li\ T +9 &N)\ T +10 &O\ T +9 &Q\ U +9 &Sn\ U +10 &U/\ U +9 &V\ U +9 &X\ U +10 &Zt\ U +9 &\\5\ V +10 &]|u\ ; +9 &^)p\ P +9 &^"\ 2 +3 ( + "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&q1 +103 "core" 1 +5 "manipulator"&% +3 "core" %   4 % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +91 "core" ' +2 "processing"%& +4 "core" &^!.\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&Q% +3 "core" %     +2 "storage"(]% +4 "core" % . . \  +2 "storage"(n. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(h(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (s& +2 "manipulator"&m& +6 "core" &,} - . P\ + &   X H +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&/( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'r +2 "core" ( + "manipulator"& & +5 "core" &  { H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  \ G H +3 .tForearm.seek PC + "manipulator"&Z' +95 "core" ' + .tHand.close +2 "manipulator"&t/ +62 "core" / +2 .tPC.seek :open +2 "processing"%[( +88 "core" ' +2 "storage"(B- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(V'1 +46 "core" ' +313 ( +2 "storage"(E& +3 "core" &,k 7 P \  +2 "manipulator"&8& +5 "core" & H + "manipulator"&i% +4 "core" %  # Y +2 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&:( +243 "core" ( + "manipulator"&& +4 "core" & ' +2 "storage"(& +3 "core" &,k 1 / \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&_' +92 "core" ' +2 .tHand.open + "manipulator"&e1 +56 "core" 1 +3 "storage"("- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(I' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(g' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(3- +2 "core" -' +3 "storage"(+& +3 "core" &,k Q Q >\  +2 "manipulator"&f& +4 "core" &  = ' +2 .tElbow.seek 4 +2 "manipulator"&}( +9 "core" ( + "manipulator"&H& +4 "core" &   b  +2 "storage"(4& +4 "core" &,k N N \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(R'" +49 "core" ' +2 "manipulator"&W& +3 "core" & .  +2 "storage"(a& +4 "core" &,k # \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&2'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(6' +19 "core" ' +2 "manipulator"&^% +3 "core" %J " +2 "storage"(>& +4 "core" &,k + # G\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&C'v +13 "core" ' + "manipulator"&P& +4 "core" & K  +2 "storage"(T& +4 "core" &,k ( ( \  +2 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +16 "core" ' + "storage"((% +4 "core" % % % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (!% +3 "core" %FL \  2\ Wc +3 "manipulator"&r% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (p& +3 "core" &,k 6 8\  +2 "collection"'`& +5 "core" &\\b\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&J% +3 "core" %   +2 "storage"(% +5 "core" % S J ,\  + "storage"( . +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(\ (,y +36 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &,| B 2 b\ +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&.( +9 "core" ( +2 "manipulator"&K& +3 "core" &  +2 "storage"(d& +4 "core" &,| F G A\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +95 "core" ' + "storage"(&& +4 "core" &,| W V\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +295 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" & e  +2 "storage"(& +4 "core" &,m / . \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&\\'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(,'u +28 "core" ' +2 "manipulator"&% +3 "core" %7   +2 "storage"(j& +4 "core" &,m 5 ( N\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&u'c +13 "core" ' +2 "manipulator"&=& +3 "core" & e  +2 "storage"( & +4 "core" &,m T J +\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&w' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&& +3 "core" & 2  +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&#(ӂ +151 "core" ( +2 "manipulator"&X& +4 "core" &ӌ(  $ Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &ӌ)  Ac +2 .tForearm.seek CC +2 "manipulator"&-'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'o( +447 "core" ( +3 "storage"(& +3 "core" &,m V Q ~\  +2 "storage"({& +3 "core" &,m W V \  +2 "manipulator"&S& +4 "core" &ӱ# ' <> +2 "manipulator"&%% +3 "core" % 7 !  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&;( +161 "core" ( +2 "manipulator"&k& +4 "core" & k  +2 "storage"(|& +3 "core" &,m a k u\  +2 .tElbow.reconfigure :limp +46 "manipulator"&$ ,(b +6 .tForearm.seek 4 +2 "manipulator"&'7 +96 "core" ' +2 .tElbow.hold + "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&)1 +58 "core" 1 +3 "manipulator"&% +3 "core" % 7 ) +2 "storage"($& +4 "core" &,m ^ h U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'c +13 "core" ' +2 "manipulator"&F& +3 "core" &   +2 "storage"(& +4 "core" &,m l k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +15 "core" ' +2 "storage"(1% +3 "core" % l p R\ +3 ."downElevator"SE.seek :down +3 "storage"(c' +99 (D% +4 "core" %E E F \ V^ +2 "manipulator"&?% +3 "core" % " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&<% +3 "core" %    #  +3 "storage"(7% +3 "core" % k k \  +2 "storage"( . +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(M(<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &<, S J h\ +2 "manipulator"&& +3 "core" & 6  +2 .tElbow.seek 5 +2 "manipulator"&z( +13 "core" ( +2 "manipulator"&& +3 "core" & h p +2 "storage"(Q& +4 "core" &<, ] g \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +93 "core" ' +2 "storage"(n& +3 "core" &<, I\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +292 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &<, c M\ +2 "manipulator"&& +4 "core" & p p +2 .tElbow.seek 5 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&t& +3 "core" &  p +2 "storage"(& +4 "core" &<, j m \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&B'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(*' +8 "core" &  p +2 "manipulator"&Y% +4 "core" % ϳ p +2 .tForearm.seek :retract +2 "manipulator"&E' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&8(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&i& +3 "core" &|. : E| +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &}- ~ D{ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 "manipulator"&& +3 "core" &ӣ& ( ?U +2 "manipulator"&/% +4 "core" %?   +2 "collection"'e& +4 "core" & \ +3 "collection"'"& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'3(\\ +3 "core" & \ +9 &A \ %g +9 &Yw \ 7 +10 &\ x \ K +9 &S \ K +9 &V \ K +10 &NU \ K +9 &U \ K +9 &U \ J +10 &U \ \ K +9 &UU \ K +48 & T \ K +5 &!U \ K +2 &#Y \ K +2 &%]T \ \ K + &'T \ \ K +2 &(U \ K +6 &*U \ K +9 &,eT \ K +10 &.'V \ K +9 &/U \ K +9 &1V \ K +10 &3nU \ K +9 &51U \ J +9 &6Y \ K +10 &8V \ J +9 &:vX \ K +10 &<7Y\ \ \ K +9 &=U\ \ \ K +9 &?V\ \ \ K +10 &A|X\ \ \ L +9 &C=\\\ \ \ L +9 &Dc\ \ \ M +10 &Fk\ \ \ \ N +9 &Hv\ \ \ P +10 &J+\ +\ %\ U +9 &K\ 3\ 3\ W +9 &M\ 2\ 0\ W +10 &Oh\ /\ 0\ X +9 &Q*\ .\ /\ X +9 &R\ -\ ,\ X +10 &T\ -\ -\ Y +9 &Vl\ ,\ ,\ Y +10 &X*\ )\ )\ [ +9 &Y\ (\ )\ [ +9 &[\ (\ +\ H +10 &\\4\ (\ )\ . +9 &\\d\ '\ &\ N +3 ( +2 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&+1 +53 "core" 1 +2 "manipulator"&f% +5 "core" % ? 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%4& +4 "core" &\ +2 "manipulator"&9% +3 "core" %  ^  +2 "storage"(W% +4 "core" % $ . h\  +2 "storage"(a. +3 "core" .(<- +2 "storage"(^& +3 "core" &<, . . g\ +2 "storage"(>& +4 "core" &<, . . ~\ +2 "manipulator"&V& +4 "core" &ӱ# 6 =G +2 "manipulator"&P% +3 "core" %  M  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&T( +164 "core" ( + "manipulator"&I& +4 "core" &   +2 "storage"((& +4 "core" &<, P G <\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +97 "core" ' +2 "storage"(_& +3 "core" &<, V Q b\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +299 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (r& +3 "core" &<, G R ?\ +2 "manipulator"&& +3 "core" & )  +2 .tElbow.seek 5 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&R& +4 "core" &   +2 "storage"(2& +3 "core" &<, T S d\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&p'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(J' +9 "core" &  s  + "manipulator"&% +4 "core" % Ϻ ` +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&6( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +3 "manipulator"&@& +3 "core" & a  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" & [  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +100 "core" ' +2 "manipulator"&d& +3 "core" & (  +2 "manipulator"&y% +4 "core" %\  _ +2 "processing"%&& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%h(^ +4 "core" &\ +8 &.\ #b +9 &V{\ 7 +10 &x\ K +9 &T\ N +10 &ZU'\ M +9 &Q3\ M +9 &Y9\ M +10 &R \ M +9 &bR\ M +9 &%U\ M +10 &W,\ M +9 &!S\ M +10 &#iT\ N +9 &%+U\ N +9 &&V\ N +10 &(T\ M +9 &*rR\ M +9 &,3T\ N +10 &-U\ M +9 &/U\ N +10 &1yW\ N +9 &3<S\ M +9 &4X\ M +10 &6Y\ M +9 &8U\ M +9 &:DU\ M +10 &<Z\ N +9 &=X\ N +10 &?U\ N +9 &AK[\ N +9 &C\ b\ O +10 &Df\ O +9 &Fn\ Q +9 &HF~\ R +10 &J\ S +9 &K\ S +10 &M\ T +9 &OG\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &VO\ T +10 &X\ U +9 &Y\ U +10 &[\ U +9 &]T\ F +9 &^w?n\ 's +10 &^,\ + +5 ( +2 "processing"%& +4 "core" &^\ + +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&x1 +52 "core" 1 +2 "manipulator"&% +4 "core" % \   u +47 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +94 "core" ' + "processing"%~& +4 "core" &^\\\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %   +2 "storage"(% +4 "core" % ' ' 2\  +2 "storage"(. +3 "core" .(<- +2 "storage"(j& +3 "core" &<, ' & *\ +3 "storage"(=& +4 "manipulator"& & +3 "core" &<, . - @\ +2 &   +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&b& +3 "core" &   5  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +2 "core" & M  +3 .tForearm.seek PC +2 "manipulator"&O' +89 "core" ' +2 .tHand.close +2 "manipulator"&\\/ +60 "core" / +2 .tPC.seek :open +2 "processing"%u( +96 "core" ' + "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +41 "core" ' +307 ( +2 "storage"('& +4 "core" &<, # +\ +2 "manipulator"&w& +4 "core" &   +2 "manipulator"&% +3 "core" %  Y +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&N( +238 "core" ( + "manipulator"&L& +5 "core" &  7 + "storage"(& +4 "core" &<, . . \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +99 "core" ' + .tHand.open +2 "manipulator"&S1 +56 "core" 1 +3 "storage"(%- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(k' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +4 "core" -' + "storage"(#& +4 "core" &<, 8 7 ;\ +2 "manipulator"&)& +3 "core" &  c 6 +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&$& +4 "core" &   + 6 +2 "storage"(F& +5 "core" &<, 5 9\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +58 "core" ' +2 "manipulator"&& +3 "core" & + 6 +2 "storage"(D& +4 "core" &<, . . \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&?'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&% +3 "core" %Ρ  +2 "storage"(<& +4 "core" &<, . . \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"& ' +15 "core" ' + "manipulator"&7& +4 "core" & 3 +2 "storage"( & +4 "core" &<, S T 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' + "storage"(A% +4 "core" % S Q\ +3 ."downElevator"SE.seek :down +48 "storage"(c' +55 (\ % +3 "core" %A - ^\ Va +2 "manipulator"&q% +3 "core" %>  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +109 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &<, 8 1 g\ +2 "collection"'Q& +4 "core" &\\f\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&n% +3 "core" %  &  +2 "storage"(v% +4 "core" % P I ;\  +2 "storage"(5. +3 "core" .(<- +2 "storage"(s& +3 "core" &<, Q J A\ +2 "storage"( & +4 "core" &<, H I 1\ +2 "manipulator"&& +3 "core" & 3 +2 .tElbow.seek 5 +2 "manipulator"&t( +4 "core" ( +2 "manipulator"&& +3 "core" & A 3 +2 "storage"(& +4 "core" &<, G F D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&G'O +96 "core" ' +2 "storage"(Y& +3 "core" &<, V U \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +299 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" & K 3 +2 "storage"(Z& +3 "core" &<, S P ]\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&m'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(/'u +30 "core" ' +2 "manipulator"&e% +3 "core" %Κ 0  +2 "storage"(0& +4 "core" &<, F B Y\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&*' +15 "core" ' + "manipulator"&E& +4 "core" & \ | 3 +2 "storage"(o& +4 "core" &<, S Q W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(f' +37 "core" ' + "manipulator"&4& +4 "core" & G 3 +2 "manipulator"&9% +4 "core" %K 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +151 "core" ( + "manipulator"&^& +4 "core" &ӌ( C Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &ӌ) f Aa +2 .tForearm.seek CC +2 "manipulator"&V'? +95 "core" ' + .tHand.close +2 "manipulator"&"/ +61 "core" / +2 .tCC.seek :open + "collection"'P( +448 "core" ( +2 "storage"(& +3 "core" &<, m n ^\ +2 "storage"(I& +4 "core" &<, [ L |\ +2 "manipulator"&(& +3 "core" &ӷ" . ;6 +2 "manipulator"&_% +4 "core" % F 0 +2 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&H( +161 "core" ( +2 "manipulator"&!& +4 "core" & m  +2 "storage"(r& +3 "core" &<, k k \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +96 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +54 "core" 1 +5 "manipulator"&C% +4 "core" % Λ ! +2 "storage"(`& +3 "core" &<, l k \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +28 "core" ' +3 "manipulator"&T& +3 "core" &  \  +2 "storage"(:& +4 "core" &<, \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +17 "core" ' +2 "storage"(p% +4 "core" % "\ +3 ."downElevator"SE.seek :down +4 "storage"(@' +98 (U% +3 "core" %D G < \ V_ +2 "manipulator"&}% +4 "core" %9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'y& +3 "core" & \ +2 "manipulator"&&% +4 "core" %    +2 "storage"(J% +3 "core" % \  +2 "storage"( . +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"([( +681 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (x& +2 "core" & B F \ +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&~& +3 "core" &  [  +2 "storage"(& +4 "core" & k k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'r +298 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & m j\ +2 "manipulator"&b& +4 "core" & x  +2 .tElbow.seek 3 +2 "manipulator"&.( +2 "core" ( +2 "manipulator"&K& +4 "core" &  j  +2 "storage"(\\& +3 "core" & i j \ +4 .tForearm.seek 3 + 300 counts + "manipulator"&,'ϡ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& +2 "storage"(h' +6 "core" &  s  +3 "manipulator"&% +3 "core" % ϕ  m +2 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &Ӕ# y <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &Ӕ# A <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'? +94 "core" ' +2 "manipulator"&& +3 "core" &Ӕ#  <9 +2 "manipulator"&% +4 "core" %C A > +2 "collection"'S& +5 "core" & \ +2 "collection"'%& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'-(\\ +5 "core" & \  +9 &5~ \ *z +9 &g~ \ > +9 &m \ L +10 &^U \ K +9 &!U \ J +10 &V \ K +9 &U \ K +9 &gU \ J +10 &'W \ K +9 &V \ K +9 & W \ K +10 &"oT \ J +9 &$/U \ K +10 &%U \ K +9 &'T \ K +9 &)uU \ K +10 &+8U \ K +9 &,U \ K +9 &.X \ K +10 &0}U \ K +9 &2@U \ K +10 &4U \ K +9 &5V \ J +9 &7V \ K +10 &9GV \ K +9 &; U \ K +9 &<U \ K +10 &>V \ K +9 &@OV \ K +10 &BX \ \ L +9 &C[\ \ \ L +9 &Eg\ \ \ M +10 &GL{\ \ \ O +9 &I\ \ \ R +9 &J\ -\ *\ W +10 &Lz\ .\ .\ W +9 &N9\ -\ -\ X +10 &O\ +\ ,\ X +9 &Q\ *\ +\ Y +55 &Sz\ )\ '\ Z +5 &U>\ (\ (\ Y +3 &V\ '\ )\ [\ +2 &X\ '\ '\ [ + &Z}\ (\ (\ \\ + &\\!y\ '\ &\ 0 + &\\0\ $\ &\ _ +6 ( +2 &\\p\ $\ %\ N +2 "collection"'%& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator" +55 "core" 1 +2 "manipulator"&)% +3 "core" % C  _ > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +93 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%F& +4 "core" &\ +2 "manipulator"&% +3 "core" %   \ +3 "storage"(% +3 "core" % . 0 \  +2 "storage"(D. +4 "core" .( + "storage"(& +4 "core" & - 0 v\ +2 "storage"(<& +3 "core" & + - w\ +2 "manipulator"&X& +5 "core" &Ӧ / 9' +2 "manipulator"&7% +3 "core" %  M \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&k& +4 "core" &  +2 "storage"(A& +3 "core" & H Q ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&N'7 +101 "core" ' +2 "storage"({& +3 "core" & T T M\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +296 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (q& +3 "core" & - 1 N\ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&1& +4 "core" &    +2 "storage"(?& +3 "core" & , ' \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(Q' +7 "core" & =  +2 "manipulator"&n% +4 "core" % Ϙ E +2 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&5( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&s& +4 "core" & S \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' +2 "manipulator"&& +3 "core" &  \ +2 "manipulator"&% +3 "core" % b z +3 "processing"%& +3 "core" &\ +3 "processing"%Y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%c(^ +3 "core" &\  +9 &4y\ *x +10 &d}\ > +9 &}s\ N +10 &@U\ N +9 &W\ N +9 &T\ N +10 &Y\ M +9 &IW\ M +9 & X\ M +10 &S\ M +9 & S\ M +10 &"QW\ M +9 &$S\ M +9 &%R\ M +10 &'T\ M +9 &)YR\ M +9 &+S-\ M +10 &,T6\ M +9 &.R-\ M +10 &0`T\ N +9 &2"W0\ N +9 &3U0\ N +10 &5V4\ N +9 &7hV \ N +9 &9+Z\ M +10 &:U2\ M +9 &<U7\ M +10 &>p[\ N +9 &@1X\ N +9 &AZ\ N +10 &Cc\ O +9 &Esg\ O +9 &G2n\ P +10 &H\ R +9 &J\ T +10 &Lo\ S +9 &N/\ T +9 &O\ T +10 &Q\ U +9 &Su\ T +9 &U5\ U +10 &V\ U +9 &X\ T +10 &Z{\ U +9 &\\<\ U +9 &]{s\ 8 +10 &^1\ G +9 &^\ * +3 ( + "processing"%Y& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&;1 +55 "core" 1 + "manipulator"&% +4 "core" %   * z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +94 "core" ' + "processing"%i& +4 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Z% +3 "core" % #  c 5 +2 "storage"(% +4 "core" % " * Y\  +2 "storage"(e. +3 "core" .( +2 "storage"(0& +51 "core" &  \\\ +3 "storage"(E& +2 "manipulator"&o& +5 "core" & n\ +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(4'r +39 "core" &   G \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&9( +3 "core" ( +2 "manipulator"&G& +4 "core" &   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &   \ +3 .tForearm.seek PC + "manipulator"&z' +96 "core" ' +2 .tHand.close + "manipulator"&m/ +62 "core" / +2 .tPC.seek :open +2 "processing"%*( +39 "core" ' +2 "storage"(/- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(^'1 +40 "core" ' +364 ( +2 "storage"(>& +3 "core" & 0 $ f\ +2 "manipulator"&+& +4 "core" &  i \ +2 "manipulator"&B% +3 "core" %  , C +3 .tForearm.seek :retract +2 "manipulator"&"' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&W( +240 "core" ( + "manipulator"&3& +4 "core" & X +2 "storage"(& +4 "core" & & $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&I'7 +93 "core" ' + .tHand.open +2 "manipulator"&(1 +59 "core" 1 +2 "storage"(_- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(!' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(r' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(V- +3 "core" -' +2 "storage"(a& +3 "core" & f h \ +2 "manipulator"&2& +4 "core" & & X +2 .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&`& +3 "core" &   ^ X +2 "storage"(T& +4 "core" & E E /\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:'7 +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(p'" +59 "core" ' +2 "manipulator"&8& +3 "core" & 2 X +2 "storage"(U& +4 "core" & * + :\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'u +20 "core" ' + .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +18 "core" ' +2 "manipulator"&y% +3 "core" %Έ j +2 "storage"(& +5 "core" & ' ' "\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&&'ϴ +13 "core" ' +2 "manipulator"&J& +4 "core" &  X +2 "storage"( & +3 "core" & / . =\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 450 counts +2 "manipulator"&f'7 +14 "core" ' +2 "storage"(g% +3 "core" % ( '\ +3 ."downElevator"SE.seek :down +4 "storage"(@' +98 (M% +4 "core" %WW J 6\ Xj + "manipulator"&x% +4 "core" %/ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" & - ) L\ +42 "collection"'& +10 "core" &\\r\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %    +2 "storage"(R% +3 "core" % ' " 1\  +2 "storage"(d. +4 "core" .( + "storage"(=& +4 "core" & ( "\ +2 "storage"( & +4 "core" & & ' \ +2 "manipulator"&b& +4 "core" &  X +2 .tElbow.seek 3 +2 "manipulator"&K( +4 "core" ( + "manipulator"&\\& +4 "core" & X +2 "storage"(6& +4 "core" & & '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&l'7 +95 "core" ' +2 "storage"(& +4 "core" & S Q Q\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & - X +2 "storage"(O& +3 "core" & & A\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&j'u +21 "core" ' +2 .tElbow.hold + "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('j +30 "core" ' + "manipulator"&S% +4 "core" %Ή  +2 "storage"(.& +3 "core" & . . \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 "Can"\ R_% +3 .tForearm.seek 3 + 320 counts + "manipulator"&h'ϵ +14 "core" ' +2 "manipulator"&'& +3 "core" & X +3 "storage"(P& +3 "core" & F 4 n\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&#'7 +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"()' +34 "core" ' +2 "manipulator"&F& +4 "core" &  X +2 "manipulator"&% +4 "core" %*  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&D(ӂ +151 "core" ( +2 "manipulator"&& +3 "core" &ӊ+ Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &ӊ+ Cp +3 .tForearm.seek CC +2 "manipulator"&%'? +91 "core" ' +2 .tHand.close + "manipulator"&X/ +60 "core" / +2 .tCC.seek :open + "collection"'7( +448 "core" ( + "storage"(L& +4 "core" & l k \ +2 "storage"(k& +4 "core" & k k \ +2 "manipulator"&A& +3 "core" &Ӫ& m ?P +2 "manipulator"&{% +4 "core" % F V Q +2 .tForearm.seek :retract +2 "manipulator"&w' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$( +166 "core" ( +2 "manipulator"&\ & +4 "core" &z Y  +2 "storage"(q& +4 "core" & k ` g\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +95 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&?1 +63 "core" 1 +2 "manipulator"&% +4 "core" % Ή    +2 "storage"(& +3 "core" & k m \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 320 counts + "manipulator"&n'ϵ +16 "core" ' +2 "manipulator"& & +3 "core" &z c  +2 "storage"(N& +44 "core" & p\ +9 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&|'7 +16 "core" ' +2 "storage"( % +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(s' +99 ( % +3 "core" % N Q W 1\ Wd +2 "manipulator"&% +5 "core" %5 ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&% +5 "core" %  O  + "storage"(Q% +5 "core" % k k \  + "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(u(,y +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &,v @ D y\ +2 "manipulator"&& +4 "core" &z   +2 .tElbow.seek 4 +2 "manipulator"&i( +37 "core" ( +2 "manipulator"&Z& +3 "core" & \   +3 "storage"(& +3 "core" &,v h b W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +94 "core" ' + "storage"(0& +4 "core" &,v \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'r +311 "core" ' + "storage"(E- +4 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (o& +3 "core" &,m 9 U \\\  +2 "manipulator"&G& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&t( +5 "core" ( +2 "manipulator"&& +3 "core" & M  +2 "storage"(m& +4 "core" &,m k k \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&/'c +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +2 "storage"(c' +7 "core" &  n  +2 "manipulator"&4% +4 "core" % ϥ | +2 .tForearm.seek :retract +2 "manipulator"&>' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&B& +3 "core" &ӎ! % ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &ӎ" $ ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'? +98 "core" ' +2 "manipulator"&& +3 "core" &ӎ" B ;2 +2 "manipulator"&9% +4 "core" %4  V 6 +2 "collection"'(& +4 "core" & \ +3 "collection"'_& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'V(\\ +4 "core" & \ +8 &; \ $e +9 &Yx \ 7 +10 &v \ K +9 &S \ K +9 &U \ K +10 &CU \ K +9 &U \ K +9 &Y \ K +10 &U \ K +9 &KU \ K +10 & U \ J +9 &!U \ K +9 &#V \ K +10 &%SU \ K +9 &'T \ K +9 &(V \ K +10 &*U\ \ K +9 &,[V \ K +10 &.T \ K +9 &/U \ K +9 &1V \ K +10 &3dU \ J +9 &5$U \ K +10 &6U \ K +9 &8U \ K +9 &:kV \ K +10 &<,Y \ K +9 &=U \ K +9 &?U\ \ \ K +10 &AsZ\ \ K +9 &C3^\ \ \ L +9 &Dd\ \ \ L +10 &Fl\ \ \ \ N +9 &Hk\ \ \ P +10 &J"\ +\ %\ T +9 &K\ 2\ 1\ V +9 &M\ 0\ 1\ X +10 &O^\ 0\ 0\ X +9 &Q\ -\ .\ X +9 &R\ +\ -\ X +10 &T\ )\ *\ Y +9 &Va\ *\ )\ Y +10 &X!\ '\ *\ Z +9 &Y\ &\ )\ [ +9 &[\ '\ &\ H +10 &\\7\ '\ '\ . +9 &\\`\ %\ '\ K +2 ( +2 "collection"'_& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&a1 +59 "core" 1 +2 "manipulator"&2% +4 "core" % 4  0 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +46 "manipulator"&`' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%T& +3 "core" &\ +2 "manipulator"&"% +4 "core" %  A  +2 "storage"(8% +4 "core" % ) ( @\  +2 "storage"(U. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(y(,y +29 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| , % Q\ +2 "manipulator"&^& +4 "core" &Ӭ 7 +2 "manipulator"&J% +4 "core" %  i  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&!& +3 "core" &  +2 "storage"(g& +4 "core" &,| F G :\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +96 "core" ' +2 "storage"(I& +4 "core" &,| T V "\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +295 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (x& +3 "core" &,m # ' #\  +2 "manipulator"&:& +3 "core" & 6  +3 .tElbow.seek 4 + "manipulator"&C( +4 "core" ( +2 "manipulator"&p& +3 "core" &  +2 "storage"(}& +4 "core" &,m / $ q\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&~'c +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" & m  +2 "manipulator"&% +3 "core" % v +2 .tForearm.seek :retract +2 "manipulator"&R' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&d( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&=& +4 "core" &  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&b' +92 "core" ' + "manipulator"&\\& +4 "core" &  5 +2 "manipulator"&6% +5 "core" %  W +2 "processing"%f& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(^ +3 "core" &\  +10 &2v\ )v +9 &c{\ = +9 &vq\ N +10 &:R\ M +9 &X\ M +10 &T\ N +9 &~V\ N +9 &AU\ M +10 &U\ N +9 &V\ M +10 & S\ M +9 &"IV\ M +9 &$\ V\ N +10 &%U\ M +9 &'V\ N +9 &)QU\ M +10 &+S\ M +9 &,U\ N +9 &.T\ M +10 &0YW\ M +9 &2X\ M +10 &3U\ N +9 &5U\ M +9 &7aS\ M +10 &9"Z\ N +9 &:W\ M +9 &<U6\ M +10 &>gY\ N +9 &@*U8\ N +10 &A` \ N +9 &Ce.\ O +9 &Eim!\ P +10 &G(x\ Q +9 &H\ T +9 &J\ T +10 &Lg\ S +9 &N&\ T +10 &O\ T +9 &Q\ U +9 &Sk)\ U +10 &U-\ U +9 &V\ U +9 &X\ T +10 &Zs\ U +9 &\\5\ U +10 &]|t\ ; +9 &^(k\ P +9 &^$\ 3 +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&H1 +58 "core" 1 +2 "manipulator"&% +4 "core" %    K W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 "processing"%& +3 "core" &^"\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&O% +3 "core" %  <  +2 "storage"(% +4 "core" % / . \  +2 "storage"(S. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(.(,y +26 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +50 ('& +2 "manipulator"&P& +4 "core" &,| / . \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  5 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&F( +2 "storage"('r +6 "core" ( +2 "manipulator"&l& +3 "core" &   g 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &K& +3 "core" & ) 5 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&j/ +65 "core" / +2 .tPC.seek :open + "processing"%h( +90 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +309 ( +2 "storage"(<& +4 "core" &,j T U \ +2 "manipulator"&#& +3 "core" & 5 +2 "manipulator"&,% +3 "core" %  C V +3 .tForearm.seek :retract + "manipulator"&X' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&-& +3 "core" &   +2 "storage"(L& +4 "core" &,j Q S ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&k' +94 "core" ' +2 .tHand.open + "manipulator"&A1 +54 "core" 1 +2 "storage"({- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(\ ' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(q' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +3 "core" -' +2 "storage"(D& +4 "core" &,j O K O\ +2 "manipulator"&?& +3 "core" & \ Y  +2 .tElbow.seek 4 +2 "manipulator"&( +20 "core" ( +2 "manipulator"&& +3 "core" &   .  +2 "storage"( & +4 "core" &,j M M \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&N' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +57 "core" ' +2 "manipulator"&w& +4 "core" & %  +2 "storage"($& +3 "core" &,j B 7 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& '7 +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&% +4 "core" %4 . +2 "storage"(& +3 "core" &,j . . %\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 297 counts + "manipulator"&n'` +15 "core" ' + "manipulator"&Q& +4 "core" &  +2 "storage"(v& +4 "core" &,j C 7 }\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +16 "core" ' + "storage"(|% +4 "core" % P 7 \ +3 ."downElevator"SE.seek :down +3 "storage"(s' +99 ([% +3 "core" %9N\ \ " (\ Vd +2 "manipulator"&;% +3 "core" % \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (Z& +3 "core" &,j # =\ +2 "collection"'& +4 "core" &\\b\ \ \ K +48 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&0% +4 "core" %  #  +2 "storage"(1% +4 "core" % G F 8\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(E(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" &,z K H Y\ +2 "manipulator"&G& +4 "core" & %  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&m& +3 "core" &  +2 "storage"(5& +4 "core" &,z I G G\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&]' +96 "core" ' +2 "storage"(4& +4 "core" &,z T M i\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'r +295 "core" ' +2 "storage"(e- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" & E  +2 "storage"(z& +4 "core" &,m / / _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Y'7 +23 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(9'u +29 "core" ' + "manipulator"&(% +5 "core" %3 + "storage"(t& +4 "core" &,m % & (\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts +2 "manipulator"&c'_ +14 "core" ' +2 "manipulator"&>& +4 "core" &  +2 "storage"(7& +3 "core" &,m Q S \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(2' +36 "core" ' +2 "manipulator"&_& +3 "core" & A  +2 "manipulator"&T% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&8(ӂ +160 "core" ( +2 "manipulator"&U& +3 "core" &Ӟ R 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &Ӟ w 9% +2 .tForearm.seek CC +2 "manipulator"&^'? +94 "core" ' +2 .tHand.close + "manipulator"&J/ +58 "core" / +2 .tCC.seek :open +2 "collection"'3( +447 "core" ( +2 "storage"(!& +3 "core" &,m m m (\  +2 "storage"(g& +4 "core" &,m m l V\  +2 "manipulator"&u& +3 "core" &ӡ } 8" +2 "manipulator"&I% +4 "core" % E 3 +2 .tForearm.seek :retract +2 "manipulator"&+' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +162 "core" ( + "manipulator"&M& +4 "core" & {  +2 "storage"(x& +3 "core" &,m g ] y\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&:'7 +98 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +52 "core" 1 +2 "manipulator"&&% +4 "core" % '  1 . +2 "storage"(& +3 "core" &,m k k \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 284 counts + "manipulator"&'S +15 "core" ' +42 "manipulator"& & +10 "core" &  R  +2 "storage"(W& +4 "core" &,m \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +17 "core" ' +2 "storage"(~% +3 "core" % W\ +3 ."downElevator"SE.seek :down +4 "storage"(=' +98 ( % +3 "core" %A K X `\ V` +2 "manipulator"&C% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'6& +3 "core" & \ +2 "manipulator"&f% +4 "core" %   Q  +2 "storage"(% +3 "core" % l m \  +2 "storage"(R. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(*(<- +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (H& +3 "core" &<, S K -\ +2 "manipulator"&& +4 "core" &  i  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&O& +4 "core" &   +2 "storage"(& +3 "core" &<+ ` ] A\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +102 "core" ' +2 "storage"(& +4 "core" &<+ 3\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''r +295 "core" ' +2 "storage"(P- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +3 "core" &<+ j a \  +2 "manipulator"&K& +3 "core" & x  +2 .tElbow.seek 5 +2 "manipulator"&b( +4 "core" ( +2 "manipulator"&j& +3 "core" & \ _  +2 "storage"(y& +5 "core" &<+ ] ` k\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(@' +7 "core" &   +2 "manipulator"&% +4 "core" % ϯ   @ +2 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&,& +4 "core" &Ӛ#  <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӛ" } <: +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'? +101 "core" ' + "manipulator"&L& +4 "core" &Ӛ#   <: +2 "manipulator"&F% +4 "core" %@   +3 "collection"'A& +4 "core" & \ +2 "collection"'{& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'%(\\ +5 "core" & \  +8 &4{ \ *z +9 &g| \ > +10 &l \ L +9 &WU \ K +10 &U \ K +9 &T \ K +9 &T \ K +10 &`T \ K +9 &!T \ K +9 &U \ K +10 & T \ K +9 &"gT \ K +10 &$)U \ K +9 &%U \ K +9 &'U \ K +10 &)qT \ J +9 &+1U \ K +9 &,U \ K +10 &.U \ K +9 &0wT \ K +10 &29U \ K +9 &3U \ K +9 &5T \ K +10 &7U \ K +9 &9AV \ K +9 &;U \ K +10 &<U \ J +9 &>W \ K +10 &@IV\ \ K +9 &B Z\  \ K +9 &C_\ \ \ L +10 &Eg\ \ \ M +9 &GFx\ \ \ \ O +9 &I\ \ \ Q +10 &J\ 0\ *\ W +9 &Ls\ 1\ 0\ X +10 &N3\ 0\ .\ X +9 &O\ -\ .\ W +9 &Q\ -\ -\ X +10 &St\ +\ +\ Z +9 &U6\ (\ )\ Z +9 &V\ )\ *\ Z +10 &X\ )\ *\ [\ +9 &Zw\ '\ '\ \\ +10 &\\y\ )\ '\ 2 +9 &\\0\ '\ (\ ^ +9 ( +2 "collection"'{& +3 "core" &\\e\ $\ $\ P +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&D1 +64 "core" 1 +2 "manipulator"&?% +4 "core" % @  %  +50 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +3 "core" &\ +2 "manipulator"& % +4 "core" %    +2 "storage"(w% +4 "core" % . . O\  +2 "storage"($. +3 "core" .(<- +2 "storage"(& +3 "core" &<+ - * |\  +2 "storage"(& +5 "core" &<+ ) , h\  + "manipulator"&& +4 "core" &Ӧ   :. +2 "manipulator"&\ % +4 "core" %  6  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Q( +156 "core" ( + "manipulator"&v& +4 "core" & 0 +2 "storage"(|& +4 "core" &<+ J I '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' + "storage"(k& +4 "core" &<+ F P 4\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +298 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &<+ A ( \  +2 "manipulator"&N& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" & V +2 "storage"( & +4 "core" &<+ S S d\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&n'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(0' +8 "core" & 7 +2 "manipulator"&% +3 "core" % ϴ  +3 .tForearm.seek :retract +2 "manipulator"&1' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&o& +3 "core" & ; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +4 "core" & ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&m' +93 "core" ' + "manipulator"&5& +5 "core" & ~ ; + "manipulator"&)% +4 "core" % O _ +2 "processing"%4& +5 "core" &\ +2 "processing"%s& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%.(^ +5 "core" &\  +8 &3z\ *x +10 &b}\ = +9 &ts\ N +9 &6R\ M +10 &S\ N +9 &R\ M +9 &{W\ N +10 &>U\ M +9 &W\ M +10 &W\ M +9 & X\ M +9 &"FR\ M +10 &$S\ M +9 &%Q\ M +9 &'W\ M +10 &)NR\ M +9 &+R\ M +10 &,T\ M +9 &.Q\ M +9 &0VS\ M +10 &2U\ M +9 &3V\ M +9 &5U\ N +10 &7]U\ N +9 &9 Y\ M +10 &:T\ M +9 &<U\ M +9 &>eZ\ N +10 &@(Z\ M +9 &A[\ N +9 &Cf\ O +10 &Egi\ P +9 &G%r\ Q +10 &H\ R +9 &J\ T +9 &Lc\ T +10 &N#\ T +9 &O\ T +9 &Q\ U +10 &Sh\ U +9 &U+\ T +10 &V\ U +9 &X\ U +9 &Zp\ U +10 &\\2\ U +9 &]~|\ 8 +9 &^2\ M +10 &^\ + +2 ( +2 "processing"%s& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +5 "core" %    _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +92 "core" ' +2 "processing"%B& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&z% +3 "core" %  \ O  +2 "storage"(% +4 "core" % 0 . \  +2 "storage"((. +2 "core" .(<- +2 "storage"(t& +4 "core" &<+ . . \  +2 "storage"(>& +3 "manipulator"&7& +8 "core" &<+ . . v\  + &   ; +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +52 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +5 .tElbow.seek PC + "manipulator"&_( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(T'r +3 "core" ( +2 "manipulator"&]& +3 "core" & ` ; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &   ; +2 .tForearm.seek PC +2 "manipulator"&i' +90 "core" ' +2 .tHand.close + "manipulator"&Y/ +59 "core" / +3 .tPC.seek :open +2 "processing"%c( +93 "core" ' +2 "storage"(9- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(U'1 +40 "core" ' +309 ( +2 "storage"(& +3 "core" &<+ ' % \  +2 "manipulator"&a& +4 "core" &  ; +2 "manipulator"&/% +3 "core" %  f +3 .tForearm.seek :retract + "manipulator"&J' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&"( +244 "core" ( +2 "manipulator"&V& +3 "core" &  M : +2 "storage"(!& +4 "core" &<+ " & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +98 "core" ' + .tHand.open +2 "manipulator"&u1 +161 "core" 1 +2 "storage"(I- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(^- +2 "core" -' +2 "storage"(8& +4 "core" &<+ M M \  +2 "manipulator"&}& +4 "core" &  a 9 +2 .tElbow.seek 5 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&& +3 "core" &   9 +2 "storage"( & +4 "core" &<+ L N g\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&W'O +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(~'" +57 "core" ' +2 "manipulator"&+& +4 "core" & d 9 +2 "storage"( & +3 "core" &<+ B 3 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&C'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +29 "core" ' + "manipulator"&6% +4 "core" %Θ ;  +2 "storage"(& +3 "core" &<+ ( ' C\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&f' +14 "core" ' + "manipulator"&& +4 "core" &  I  +2 "storage"(R& +4 "core" &<+ I G I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&2'O +16 "core" ' + "storage"(r% +4 "core" % J T N\ +3 ."downElevator"SE.seek :down +3 "storage"(=' +99 (E% +3 "core" %dQ L Y\ Xg +2 "manipulator"&H% +4 "core" %;  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" &<+ A . \  +2 "collection"'& +4 "core" &\\d\ \ \ P +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %  2  +2 "storage"(p% +4 "core" % T S "\  +2 "storage"(\\. +3 "core" .(<- +2 "storage"(P& +47 "core" &<+ Q I \  +5 "storage"(l& +4 "core" &<+ S S )\  +2 "manipulator"&K& +4 "core" & !  +2 .tElbow.seek 5 +2 "manipulator"&j( +19 "core" ( + "manipulator"&y& +4 "core" &  7  +2 "storage"(d& +4 "core" &<+ T T 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"(& +3 "core" &<+ Q F I\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &  +2 "storage"(& +3 "core" &<+ T T N\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&''΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(F'v +32 "core" ' +2 "manipulator"&A% +3 "core" %Μ  +2 "storage"(b& +5 "core" &<+ H L ]\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&@' +14 "core" ' + "manipulator"&<& +5 "core" &  H  + "storage"(3& +4 "core" &<+ J V h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(?' +37 "core" ' +2 "manipulator"&{& +3 "core" & S  +2 "manipulator"&% +4 "core" %@ ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w(ӂ +158 "core" ( +2 "manipulator"&$& +3 "core" &Ӑ# << +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ# << +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +447 "core" ( +2 "storage"(-& +4 "core" &<+ n m (\  +2 "storage"(v& +3 "core" &<+ m l w\  +2 "manipulator"&|& +4 "core" &ӫ " 8! +2 "manipulator"&k% +3 "core" % > 0 +3 .tForearm.seek :retract + "manipulator"&#' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&X( +163 "core" ( +2 "manipulator"&[& +4 "core" &  _  +2 "storage"(;& +3 "core" &<+ } Q\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&N'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&Z% +3 "core" % Ί C , +2 "storage"(& +4 "core" &<+ m E\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 297 counts +2 "manipulator"&'϶ +14 "core" ' +2 "manipulator"&Q& +3 "core" &  H  +2 "storage"(& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&q'O +16 "core" ' +2 "storage"(n% +43 "core" % \ +10 ."downElevator"SE.seek :down +4 "storage"(o' +99 (G% +3 "core" %G N > "\ Wb +2 "manipulator"&% +4 "core" %2 k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"')& +3 "core" & \ +2 "manipulator"&4% +4 "core" %  v  +2 "storage"(0% +4 "core" % \  +2 "storage"(1. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(h( +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & m i \ +2 "manipulator"&& +3 "core" &  I  +2 .tElbow.seek 3 +2 "manipulator"&B( +36 "core" ( +2 "manipulator"&z& +3 "core" &  & +2 "storage"(& +4 "core" & k k {\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&('7 +92 "core" ' + "storage"(t& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +300 "core" ' +2 "storage"(>- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +3 "core" & n i [\ +2 "manipulator"&]& +3 "core" &  N & +3 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&m& +3 "core" & \  I  +2 "storage"(Y& +4 "core" & k l \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&9'ϡ +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"(.' +8 "core" &    +2 "manipulator"&T% +3 "core" % ϙ  m +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&/& +3 "core" &ӏ  9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +4 "core" &ӏ   9' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'? +92 "core" ' +3 "manipulator"&!& +3 "core" &ӏ  R 9' +3 "manipulator"&_% +3 "core" %K ` +2 "collection"'u& +5 "core" & \ +2 "collection"'I& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'J(\\ +4 "core" & \ +5 & \ : +10 &MLw \ 1 +9 &x} \ E +9 &6Z \ L +10 &R \ K +9 &U \ K +9 &U \ J +10 &?U \ K +9 &U \ J +10 &U \ K +9 &U \ K +9 &!IU \ J +10 &#\ U \ K +9 &$T \ K +9 &&X \ K +10 &(PU \ K +9 &*T \ K +10 &+U \ K +9 &-U \ K +9 &/WU \ K +10 &1U \ K +9 &2T \ K +9 &4T \ K +10 &6_U \ K +9 &8"U \ K +10 &9T \ K +9 &;U \ K +9 &=hU \ K +10 &?*V \ K +9 &@V \ K +9 &BZ\ \ \ K +10 &Dl_\ \ \ L +9 &F,h\ \ \ M +10 &Gx\ \ \ O +9 &I\ #\ \ S +9 &KX\ .\ -\ V +10 &M\ -\ -\ W +9 &N\ -\ ,\ W +9 &P\ *\ +\ X +10 &RZ\ *\ (\ X +9 &T\ (\ &\ Y +10 &U\ (\ (\ Y +9 &W\ (\ '\ Z +9 &YZ\ %\ '\ [ +10 &[\ $\ $\ [ +9 &\\oE\ #\ '\ 1 +9 &\\\ '\ %\ N +6 ( +2 "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&^1 +2 "core" &\\g\ $\ #\ N +50 1 +3 "manipulator"&8% +3 "core" % K ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"& % +3 "core" %  \  +2 "storage"(+% +49 "core" % 3 A \  +5 "storage"( . +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(U( +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" & ' % ]\ +2 "manipulator"&& +5 "core" &Ӑ 9& + "manipulator"&M% +4 "core" %  \  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( +2 "manipulator"&R& +4 "core" &   +2 "storage"(r& +3 "core" & W W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&"'7 +95 "core" ' +2 "storage"(g& +4 "core" & G M "\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'r +305 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" & + \ +2 "manipulator"&W& +5 "core" &    + .tElbow.seek 3 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&~& +4 "core" & .  +2 "storage"(C& +3 "core" & A F ;\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  +2 "manipulator"&p% +3 "core" % ϟ  +3 .tForearm.seek :retract +2 "manipulator"&\\' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&:( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&P& +4 "core" & D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &  D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K' +93 "core" ' +2 "manipulator"&y& +3 "core" & W D +2 "manipulator"&d% +4 "core" % k A +2 "processing"%2& +5 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed + "processing"%=(^ +4 "core" &\  +9 &4y\ *x +9 &d}\ > +10 &|q\ N +9 &?Q\ M +9 &R\ M +10 &P\ M +9 &W\ M +10 &FU\ N +9 &U\ N +9 &U\ N +10 & T\ N +9 &"OW\ M +9 &$W\ M +10 &%T\ M +9 &'U\ N +10 &)WU\ M +9 &+W\ M +9 &,W\ N +10 &.T\ M +9 &0_R\ M +9 &2!T\ M +10 &3W\ M +9 &5U\ N +10 &7hR\ M +9 &9(Z\ N +9 &:W\ N +10 &<S\ M +9 &>nX\ N +10 &@1Y\ M +9 &AY\ N +9 &Cb\ O +10 &Epg\ P +9 &G1n\ P +9 &H~\ R +10 &J\ S +9 &Ll\ T +9 &N-\ T +10 &O\ T +9 &Q\ U +10 &Sp\ U +9 &U1\ U +9 &V\ U +10 &X\ T +9 &Zw\ U +9 &\\:\ U +10 &]|s\ 9 +9 &^,\ N +10 &^ \ . +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&`1 +55 "core" 1 +2 "manipulator"&% +3 "core" %    A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +99 "core" ' +3 "processing"%,& +4 "core" &^ \ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +3 "core" % \   +2 "storage"(L% +4 "core" % ) ( &\ +2 "storage"(A. +3 "core" .( +2 "storage"(b& +3 "core" & # & \ +3 "storage"(<& +2 "manipulator"&3& +5 "core" & # + ,\ +2 &   w D +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&{( +3 ."raiseStack"SE.seek :beamBreak +50 "storage"('r +4 "core" ( + "manipulator"&& +5 "core" & \  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &   D +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' + .tHand.close +2 "manipulator"&'/ +54 "core" / +2 .tPC.seek :open +2 "processing"%@( +104 "core" ' + "storage"(F- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'1 +47 "core" ' +293 ( + "storage"(& +4 "core" & 4 E N\ +2 "manipulator"&D& +3 "core" &  D +2 "manipulator"&% +4 "core" %   : +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +259 "core" ( +2 "manipulator"&%& +3 "core" & !  +2 "storage"(-& +4 "core" & # & (\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&v'7 +96 "core" ' +2 .tHand.open + "manipulator"&|1 +64 "core" 1 +3 "storage"(k- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(;' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(w& +4 "core" & J g 6\ +2 "manipulator"& & +4 "core" &  F  +2 .tElbow.seek 3 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&& +4 "core" &  &  +2 "storage"(Q& +3 "core" & D C\ +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(n'" +61 "core" ' +2 "manipulator"&#& +3 "core" & 0  +2 "storage"(G& +4 "core" & 0 # &\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&X'u +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +19 "core" ' +2 "manipulator"&% +3 "core" %΅ +2 "storage"()& +5 "core" & ' ' V\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&4'ϱ +14 "core" ' + "manipulator"&0& +4 "core" & !  +2 "storage"(1& +4 "core" & F F 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&?'7 +15 "core" ' +2 "storage"(q% +4 "core" % T T 7\ +3 ."downElevator"SE.seek :down +3 "storage"(o' +99 (*% +3 "core" %jR O m\ Xi +2 "manipulator"&% +5 "core" %*  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (z& +3 "core" & 0 A\ +2 "collection"'& +4 "core" &\\f\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&t% +4 "core" %    +2 "storage"( % +3 "core" % O S _\  +2 "storage"(5. +3 "core" .( +2 "storage"(>& +5 "core" & G F .\ +2 "storage"(s& +4 "core" & H G \ +2 "manipulator"&]& +4 "core" &  +2 .tElbow.seek 3 +46 "manipulator"&m( +5 "core" ( +2 "manipulator"&Y& +4 "core" &  '  +2 "storage"(& +4 "core" & F F :\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&e'7 +97 "core" ' + "storage"(T& +4 "core" & H Q 7\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +295 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & "  +2 "storage"(i& +5 "core" & % ( D\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&7'u +21 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(_'i +28 "core" ' +2 "manipulator"&u% +3 "core" %s +2 "storage"(& +4 "core" & I G \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&.'ϟ +15 "core" ' + "manipulator"&& +4 "core" & -  +2 "storage"(\ & +4 "core" & T V R\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&^'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(8' +35 "core" ' +2 "manipulator"&& +3 "core" & ]  +2 "manipulator"& % +5 "core" %1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +159 "core" ( +2 "manipulator"& & +3 "core" &Ӛ  ' 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &6& +2 "core" &Ӛ h 9) +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&M/ +64 "core" / +2 .tCC.seek :open +2 "collection"'V( +447 "core" ( + "storage"(R& +4 "core" & H N "\ +2 "storage"(r& +4 "core" & < 9 O\ +2 "manipulator"&h& +3 "core" &Ӡ  G 9# +2 "manipulator"&g% +4 "core" % 8 * 9 +2 .tForearm.seek :retract +2 "manipulator"&a' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&}( +161 "core" ( +2 "manipulator"&E& +4 "core" & \   +2 "storage"(H& +3 "core" & m m \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&W'u +97 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +64 "core" 1 +2 "manipulator"&f% +4 "core" % {   +2 "storage"(& +3 "core" & j m \ +2 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&p'ϧ +15 "core" ' + "manipulator"&& +4 "core" & u  +2 "storage"("& +3 "core" & k k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&x'7 +16 "core" ' + "storage"(O% +4 "core" % w\ +3 ."downElevator"SE.seek :down +3 "storage"(P' +100 (l% +2 "core" %|E F F \ Vb +2 "manipulator"&&% +44 "core" %&  +9 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +92 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'d& +3 "core" & \ +2 "manipulator"&2% +4 "core" % !  $ +2 "storage"(% +4 "core" % k k \  +2 "storage"(\\. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(c(,y +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +3 "core" &,x P \\ +\  +2 "manipulator"&& +4 "core" & P  +2 .tElbow.seek 4 +2 "manipulator"&,( +37 "core" ( +2 "manipulator"&& +3 "core" & C  +2 "storage"(L& +4 "core" &,x ` g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +93 "core" ' +2 "storage"(b& +4 "core" &,x \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &,m = W y\  +2 "manipulator"&& +4 "core" & ^  +2 .tElbow.seek 4 +2 "manipulator"&j( +4 "core" ( +2 "manipulator"&K& +3 "core" & \   +2 "storage"('& +4 "core" &,m m l \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&:'c +41 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(=' +8 "core" & s  + "manipulator"&% +4 "core" % g b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &}+ < Cs +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &}+  Cs +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'? +102 "core" ' +2 "manipulator"&-& +4 "core" &Ӥ%  >L +2 "manipulator"&{% +4 "core" %H  +2 "collection"'|& +4 "core" & \ +3 "collection"'k& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & a\  +10 &5~ e\ +{ +9 &g h\ > +9 &j h\ L +10 &aR b\ J +9 &"U _\ K +9 &T a\ K +10 &T `\ K +9 &hR \ K +10 &*V \ K +9 &T \ K +9 & T \ K +10 &"oX \ K +9 &$2U \ K +9 &%Y \ K +10 &'U \ K +9 &)yU \ J +10 &+:U \ K +9 &,T \ J +9 &.V \ K +10 &0U \ K +9 &2AX \ K +9 &4U \ K +10 &5Y \ K +9 &7V \ K +10 &9JV \ K +9 &; X \ K +9 &<U \ K +10 &>U \ K +9 &@QU \ K +9 &BV \ K +10 &C`\ \ \ L +9 &Eh\ \ \ M +10 &GQq\ \ \ \ N +9 &I \ \ \ Q +9 &J\ .\ *\ V +10 &L}\ /\ 1\ W +9 &N?\ .\ /\ W +9 &O\ .\ -\ X +10 &Q\ ,\ -\ X +9 &S\ *\ -\ X +9 &U@\ )\ +\ Y +10 &W\ (\ (\ Z +9 &X\ (\ (\ \\ +10 &Z\ (\ '\ [ +9 &\\$y\ '\ '\ . +9 &\\2\ &\ %\ _ +9 ( +2 &\\a\ $\ "\ K +2 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&w1 +58 "core" 1 + "manipulator"& % +4 "core" % H  5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%Q& +4 "core" &\ +2 "manipulator"&% +3 "core" % ! + +2 "storage"(#% +4 "core" % . - \  +2 "storage"(G. +3 "core" .(,y +2 "storage"(& +3 "core" &,m . - l\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +46 "storage"($(,y +6 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 ()& +2 "core" &,z & ( K\  +2 "manipulator"&0& +4 "core" &ӯ#  =A +2 "manipulator"&[% +3 "core" % ! % + +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&1( +163 "core" ( +2 "manipulator"&q& +4 "core" & M  +2 "storage"( & +3 "core" &,z J G \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +94 "core" ' +2 "storage"(;& +3 "core" &,z < H r\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,m 1 + /\  +2 "manipulator"&Z& +4 "core" & c  +2 .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&X& +3 "core" & X  +2 "storage"(4& +4 "core" &,m A 3 \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&z'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& + "storage"( ' +8 "core" & k  +2 "manipulator"&5% +3 "core" % [ | +3 .tForearm.seek :retract +2 "manipulator"&N' +91 "core" ' +3 .tElbow.seek PC + "manipulator"&>( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&s& +4 "core" & Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &  Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Y' +96 "core" ' +2 "manipulator"&& +3 "core" &  P +2 "manipulator"&?% +4 "core" %  G +2 "processing"%T& +4 "core" &\ +3 "processing"%o& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +6 &6\ #c +10 &Vz\ 7 +9 &v\ K +10 &R\ M +9 &jT\ N +9 &-R\ M +10 &W\ M +9 &U\ N +9 &rT\ N +10 &5UD\ M +9 &Q\ M +10 &!Q\ M +9 &#{W\ M +9 &%=W\ M +10 &&V\ N +9 &(U\ N +9 &*U\ N +10 &,EV\ M +9 &.Q\ M +10 &/Y\ M +9 &1T\ M +9 &3NT\ M +10 &5U\ M +9 &6T\ N +9 &8W\ N +10 &:TU\ N +9 &<T\ M +10 &=T,\ N +9 &?T\ M +9 &A\\Z\ N +10 &Cb\ O +9 &Dc\ O +9 &Ft\ Q +10 &HU\ S +9 &J\ T +10 &K\ S +9 &M\ T +9 &OX\ T +10 &Q\ U +9 &R\ T +9 &T\ U +10 &V_\ U +9 &X \ U +10 &Y\ U +9 &[\ U +9 &]e\ B +10 &^Du\ W +9 &^G\ 4 +6 ( + "processing"%o& +4 "core" &^&\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&(% +3 "core" %   ? G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +96 "core" ' + "processing"%i& +4 "core" &^&\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&!% +3 "core" %    t  +2 "storage"(u% +4 "core" % * ?\  +2 "storage"(. +2 "core" .(,y +2 "storage"(& +4 "core" &,m #\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(\ (,y +20 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "manipulator"& & +4 "core" &,{ ' & 2\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  , P +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +50 .tElbow.seek PC +3 "storage"(e'r +3 "manipulator"&m( +5 "core" ( + "manipulator"&B& +4 "core" &   1 P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &   R P +3 .tForearm.seek PC + "manipulator"&.' +92 "core" ' +2 .tHand.close + "manipulator"&_/ +53 "core" / +2 .tPC.seek :open +2 "processing"% ( +96 "core" ' + "storage"(6- +4 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'1 +46 "core" ' +304 ( + "storage"(9& +4 "core" &,j F G "\ +2 "manipulator"&M& +3 "core" & P +2 "manipulator"&+% +5 "core" % \  c +2 .tForearm.seek :retract +2 "manipulator"&J' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&R( +243 "core" ( + "manipulator"&r& +4 "core" & o > +2 "storage"(h& +4 "core" &,j * ( \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +93 "core" ' + .tHand.open +2 "manipulator"&E1 +61 "core" 1 +2 "storage"(H- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(I' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(C- +3 "core" -' +2 "storage"(f& +5 "core" &,j W L \ + "manipulator"&& +5 "core" & \  = +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&"& +4 "core" &   r = +2 "storage"(O& +4 "core" &,j O M \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(l'" +58 "core" ' +2 "manipulator"&&& +4 "core" & C = +2 "storage"(}& +3 "core" &,j . . Y\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&W'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(p' +28 "core" ' +2 "manipulator"&2% +4 "core" %H 7 +2 "storage"(& +3 "core" &,j - + _\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&\\'t +14 "core" ' + "manipulator"&8& +4 "core" &  C = +2 "storage"(x& +4 "core" &,j Q F I\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +15 "core" ' + "storage"(U% +4 "core" % J 5 t\ +3 ."downElevator"SE.seek :down +3 "storage"(`' +99 (% +4 "core" %CN $  \ We +2 "manipulator"&% +3 "core" % O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (b& +3 "core" &,j * @ '\ +2 "collection"'~& +4 "core" &\\a\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&y% +4 "core" %    +2 "storage"(<% +4 "core" % G F K\  +2 "storage"(3. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +47 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +3 "core" &,} P F 8\ +2 "manipulator"&'& +4 "core" & \ = +2 .tElbow.seek 4 +2 "manipulator"&F( +4 "core" ( + "manipulator"&S& +5 "core" & = + "storage"(& +4 "core" &,} I S O\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&,' +96 "core" ' +2 "storage"(A& +3 "core" &,} G Q \\\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & / = +2 "storage"(:& +3 "core" &,m . - Q\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&-'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(j'u +29 "core" ' + "manipulator"&=% +4 "core" %C L  +2 "storage"(& +4 "core" &,m - $ L\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts +2 "manipulator"&V'o +14 "core" ' + "manipulator"&w& +4 "core" & ~ = +2 "storage"( & +4 "core" &,m G G >\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&Q' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +45 "core" ' +2 "manipulator"&#& +4 "core" & = = +2 "manipulator"&G% +3 "core" % ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +150 "core" ( + "manipulator"&)& +4 "core" &y3  I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &z3  2 I +3 .tForearm.seek CC + "manipulator"&['? +93 "core" ' +2 .tHand.close + "manipulator"&%/ +64 "core" / +2 .tCC.seek :open +2 "collection"'q( +447 "core" ( +2 "storage"( & +3 "core" &,m G F \ +2 "storage"(c& +4 "core" &,m F < \ +2 "manipulator"&;& +3 "core" &ӳ) 8 Ac +2 "manipulator"&D% +4 "core" % 7 0 > +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +163 "core" ( +2 "manipulator"&& +3 "core" & W  +2 "storage"(Z& +4 "core" &,m ^ ] u\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&X'7 +96 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "manipulator"&t% +4 "core" % #  B & +2 "storage"(5& +4 "core" &,m j ` c\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 280 counts +2 "manipulator"&1'O +13 "core" ' +2 "manipulator"&v& +4 "core" & \ I  +2 "storage"(*& +4 "core" &,m \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +16 "core" ' + "storage"(s% +43 "core" % \ +10 ."downElevator"SE.seek :down +3 "storage"(]' +99 (n% +3 "core" %D j O T\ V_ +2 "manipulator"&% +4 "core" % B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [3..5] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'T& +3 "core" & U\ +2 "manipulator"& % +4 "core" %  p  +2 "storage"(N% +4 "core" %  t\  +2 "storage"(@. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ((& +2 "core" &<- G H \  +2 "manipulator"&i& +4 "core" &  {  +2 .tElbow.seek 5 +2 "manipulator"&!( +13 "core" ( + "manipulator"&u& +4 "core" &  z r +2 "storage"(& +4 "core" &<- k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' +2 "storage"(o& +3 "core" &<- \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (B& +3 "core" &<- i U D\  +2 "manipulator"&7& +4 "core" & r +2 .tElbow.seek 5 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&_& +3 "core" & . r +2 "storage"($& +4 "core" &<- l m \  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&6'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& +2 "storage"(' +7 "core" & R r +2 "manipulator"&e% +3 "core" % ϯ  #  +3 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&M(ӂ +155 "core" ( + ' +2 ."downElevator"SE.stop +2 "manipulator"&+& + "storage"(5 +7 "core" &z.  E| +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &z. s E| +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&r'? +94 "core" ' +2 "manipulator"&h& +4 "core" &ӗ) A_ +2 "manipulator"&m% +5 "core" %;  R +2 "collection"'E& +3 "core" & w\ +3 "collection"'H& +5 "core" & (\ +2 .tCC.seek :closed +2 "collection"'C(\\ +4 "core" & \  +9 &5x j\ *z +9 & g} h\ > +9 &l m\ L +10 &^O h\ K +9 & U e\ K +9 &T g\ K +10 &U h\ J +9 &eU g\ K +10 &'W c\ K +9 &Y \ K +9 & T f\ K +10 &"lX a\ K +9 &$/T \ K +9 &%Y \ K +10 &'U \ K +9 &)uU \ K +10 &+6Y \ K +9 &,U \ K +9 &.Y \ K +10 &0}U \ K +9 &2?S \ K +9 &4U \ K +10 &5T \ K +9 &7U \ K +9 &9GV \ K +10 &;T \ K +9 &<U \ K +10 &>V \ K +9 &@OV \ K +9 &BX \ K +10 &C^ \ \ L +9 &Ee\ \ \ M +10 &GMr\ \ \ N +9 &I\ \ \ R +9 &J\ /\ *\ V +10 &Lz\ 0\ /\ W +9 &N:\ -\ /\ X +9 &O\ .\ /\ X +10 &Q\ -\ +\ X +9 &S}\ *\ ,\ Y +10 &U;\ )\ *\ Z +9 &V\ (\ +\ [ +9 &X\ (\ (\ [ +10 &Z{\ %\ (\ \\ +9 &\\!z\ (\ '\ 0 +9 &\\0\ &\ &\ d +9 ( +2 &\\g\ #\ %\ P +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&f1 +55 "core" 1 + "manipulator"&% +5 "core" % ; R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%O& +4 "core" &5\ +2 "manipulator"&J% +4 "core" %  7  +2 "storage"(&% +4 "core" % . . s\  +49 "storage"(}. +3 "core" .(<- +2 "storage"(2& +4 "core" &<- - . `\  +2 "storage"(& +4 "core" &<- - . q\  +2 "manipulator"&^& +3 "core" &Ӱ$ 3 =F +2 "manipulator"&8% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&x( +164 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(U& +5 "core" &<- I T +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +92 "core" ' + "storage"(g& +4 "core" &<- I Q ^\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<- ) ? w\  +2 "manipulator"&a& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&l& +4 "core" &  +2 "storage"(W& +4 "core" &<- Q J 4\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&b'Ϲ +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(y' +7 "core" &  +2 "manipulator"&<% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&K& +3 "core" & 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +4 "core" &  4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&S' +91 "core" ' + "manipulator"&& +4 "core" & 3 4 +2 "manipulator"&P% +4 "core" %  5 n +2 "processing"%A& +4 "core" &R\ +2 "processing"%`& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (^ +5 "core" &\  +9 &2u\ )v +9 &b|\ = +9 &rq!\ M +10 &3T\ M +9 &W*\ N +10 &T\ M +9 &yW?\ M +9 &;V)\ M +10 &V\ M +9 &W9\ M +9 & WC\ M +10 &"CRX\ M +9 &$R\ M +10 &%RE\ M +9 &'R\ M +9 &)KQ"\ M +10 &+ R"\ M +9 &,S\ M +9 &.Q,\ M +10 &0RXC\ N +9 &2V\ N +10 &3U8\ N +9 &5T\ N +9 &7ZU\ N +10 &9Y\ M +9 &:Z\ N +9 &<X\ M +10 &>bU/\ N +9 &@%U\ M +10 &A[:\ N +9 &Cg\ O +9 &Edf\ P +10 &G"r7\ Q +9 &H\ S +9 &J\ S +10 &La$\ S +9 &N \ T +10 &O\ T +9 &Q-\ U +9 &Sd\ U +10 &U&\ U +9 &V\ U +9 &X\ U +10 &ZlC\ U +9 &\\.\ U +10 &]wL\ 8 +9 &^6"\ G +9 &^)\ * +3 ( +2 "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&d1 +55 "core" 1 +2 "manipulator"&L% +3 "core" %    n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 "processing"%& +4 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&:% +4 "core" %     +2 "storage"(|% +4 "core" % . - R\  +2 "storage"(=. +2 "core" .(<- +2 "storage"(& +4 "core" &<- - - R\  +2 "storage"(w& +3 "manipulator"& & +8 "core" &<- . - Q\  + &    4 +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&#( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(G'r +2 "core" ( + "manipulator"&,& +5 "core" &  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +51 &F& +3 "core" &  @ 4 +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + .tHand.close +2 "manipulator"&-/ +56 "core" / +2 .tPC.seek :open +2 "processing"%V( +49 "core" ' + "storage"(j- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'1 +40 "core" ' +358 ( + "storage"(0& +4 "core" &<- , %\  +2 "manipulator"&Q& +4 "core" & 4 +2 "manipulator"&{% +3 "core" %  ] +2 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&& +4 "core" &  ( +2 "storage"( & +3 "core" &<- . - v\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +93 "core" ' +2 .tHand.open + "manipulator"&;1 +55 "core" 1 +3 "storage"(D- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(Z' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"(k& +4 "core" &<- M M t\  +2 "manipulator"&& +3 "core" &  M ( +2 .tElbow.seek 5 +2 "manipulator"&t( +4 "core" ( + "manipulator"&5& +4 "core" &    ( +2 "storage"(v& +4 "core" &<- M N \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(s'" +58 "core" ' + "manipulator"&& +4 "core" & S ( +2 "storage"(n& +3 "core" &<- A E \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +30 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(X' +29 "core" ' + "manipulator"&1% +4 "core" % p \\ +2 "storage"(T& +3 "core" &<- ! & \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 286 counts +2 "manipulator"& 'ϫ +14 "core" ' + "manipulator"&N& +4 "core" & V  +2 "storage"(@& +4 "core" &<- G I \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' + "storage"(z% +4 "core" % I Q \ +3 ."downElevator"SE.seek :down +3 "storage"(]' +99 (% +4 "core" %_O\ \ * T\ Xg +2 "manipulator"&(% +3 "core" %- Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (u& +3 "core" &<- A 2\  +2 "collection"'& +4 "core" &\\g\ \ \ P +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&o% +3 "core" %  /  +2 "storage"(4% +3 "core" % F P *\  +2 "storage"(?. +4 "core" .(<- + "storage"( & +4 "core" &<- P I Q\  +2 "storage"(B& +4 "core" &<- G F =\  +2 "manipulator"&7& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&_( +15 "core" ( +2 "manipulator"&$& +3 "core" &   +2 "storage"(>& +44 "core" &<- F E \  +9 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&/'O +93 "core" ' + "storage"(e& +5 "core" &<- I P :\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +309 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&+& +3 "core" &   +2 "storage"(.& +4 "core" &<- G J .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(m'v +32 "core" ' +2 "manipulator"&E% +3 "core" %Λ +2 "storage"(Y& +4 "core" &<- ' & 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&9& +4 "core" &  +2 "storage"(q& +3 "core" &<- = I +\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(' +40 "core" ' + "manipulator"&O& +5 "core" & J  + "manipulator"&J% +4 "core" %K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&H(ӂ +159 "core" ( +2 "manipulator"&}& +6 "core" &ӌ* t Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &ӌ* 9 Bi +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&^/ +55 "core" / +2 .tCC.seek :open +2 "collection"'8( +447 "core" ( +2 "storage"(r& +3 "core" &<- [ N A\  +2 "storage"(& +4 "core" &<- < C \  +2 "manipulator"&U& +3 "core" &ӯ$ =F +2 "manipulator"&g% +4 "core" % O R +2 .tForearm.seek :retract +2 "manipulator"&M' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&"( +163 "core" ( +2 "manipulator"&& +3 "core" & q  +2 "storage"(& +4 "core" &<- k j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&a'΍ +99 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +62 "core" 1 +2 "manipulator"&\\% +3 "core" % Μ  ]  +2 "storage"(~& +5 "core" &<- j k \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&<' +25 "core" ' + "manipulator"&x& +4 "core" & 1  +2 "storage"(R& +3 "core" &<- \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +27 "core" ' + "storage"(b% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(K' +99 ('% +3 "core" %L U U ;\ Wb +2 "manipulator"&% +4 "core" %R - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +134 "core" ' +9 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'P& +3 "core" & ]\ +2 "manipulator"&A% +5 "core" %  %  + "storage"(y% +5 "core" % \  + "storage"(3. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" & k j \ +2 "manipulator"&L& +3 "core" & -  +2 .tElbow.seek 3 +2 "manipulator"&( +35 "core" ( + "manipulator"&:& +5 "core" &  o / + "storage"(|& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&='7 +91 "core" ' +2 "storage"(& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +297 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" & H d 4\ +2 "manipulator"&,& +4 "core" &  ` / +2 .tElbow.seek 3 +2 "manipulator"&F( +4 "core" ( + "manipulator"&S& +4 "core" &  / +2 "storage"(-& +4 "core" & k k \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&j'ϡ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(\ ' +6 "core" & ! / +3 "manipulator"&G% +3 "core" %  i +3 .tForearm.seek :retract + "manipulator"&0' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&Q(ӂ +147 "core" ( + "manipulator"&{& +4 "core" &x+ ^ Cs +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +6 "core" &x+ Cs +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"& & +4 "core" &y+  Cr +2 "manipulator"&#% +4 "core" %D _ +2 "collection"';& +4 "core" & p\ +3 "collection"'D& +5 "core" & %\ +2 .tCC.seek :closed +2 "collection"'[(\\ +3 "core" & p\ +9 &; q\ %g +9 &Yv m\ 7 +10 &w k\ K +9 &R b\ K +10 &U `\ K +9 &IU _\ K +9 & U \ K +10 &S h\ K +9 &U l\ K +9 &QS l\ K +10 & U h\ K +9 &!W m\ K +10 &#U k\ K +9 &%ZS g\ K +9 &'U l\ K +10 &(U h\ J +9 &*T g\ K +9 &,aT d\ K +10 &.$U f\ K +9 &/U k\ K +10 &1Y ~\ K +9 &3jU a\ K +9 &5-U `\ J +10 &6U _\ K +9 &8U \ K +9 &:rU \ K +10 &<3X \ K +9 &=U \ K +9 &?W \ K +10 &AyW\ \ K +9 &C:]\ \ \ L +10 &Dc\  \ L +9 &Fl\ \ \ N +9 &Hs\ \ \ P +10 &J'\ '\ #\ U +9 &K\ ,\ .\ V +10 &M\ +\ -\ X +9 &Oe\ )\ ,\ X +9 &Q'\ (\ (\ X +10 &R\ (\ (\ Y +9 &T\ '\ &\ X +9 &Vg\ (\ &\ Z +10 &X)\ '\ &\ Z +9 &Y\ '\ $\ [ +10 &[\ '\ &\ H +9 &\\2\ %\ &\ / +9 &\\b\ #\ $\ L +3 ( +2 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&k1 +63 "core" 1 +2 "manipulator"&% +3 "core" % D n _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%v& +4 "core" &\ +2 "manipulator"&%% +3 "core" %   +2 "storage"(% +5 "core" % F 3 f\  + "storage"(n. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"()( +13 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" & # & \ +2 "manipulator"&T& +51 "core" &Ӱ#  <; +4 "manipulator"&% +3 "core" %  #  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&N( +166 "core" ( +2 "manipulator"&@& +3 "core" &  +2 "storage"(z& +4 "core" & U P c\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' +2 "storage"(c& +4 "core" & F F D\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +292 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ((& +2 "core" & R G >\ +2 "manipulator"&*& +4 "core" & 7  +2 .tElbow.seek 3 +2 "manipulator"&t( +4 "core" ( + "manipulator"&s& +4 "core" &   +2 "storage"(& +3 "core" & F P B\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&u'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(o' +8 "core" & P  + "manipulator"&4% +5 "core" % ϛ . +2 .tForearm.seek :retract +2 "manipulator"&?' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&X( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"& & +3 "core" & ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &B& +2 "core" & ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&7' +92 "core" ' +2 "manipulator"&$& +3 "core" & ) +2 "manipulator"&>% +4 "core" %  o +2 "processing"%& +4 "core" &0\ +3 "processing"%e& +5 "core" &.\ +2 .tPC.seek :closed +2 "processing"%](^ +5 "core" &&\  +8 &2v#\ )v +9 &c{\ = +10 &mr(\ N +9 &.U)\ N +9 &U'\ M +10 &V(\ M +9 &tV)\ N +10 &6T\ N +9 &U\ M +9 &W\ M +10 & |U(\ N +9 &"?V\ M +9 &$T\ M +10 &%R\ M +9 &'U#\ N +10 &)FU&\ N +9 &+ U!\ M +9 &,Y\ M +10 &.U\ N +9 &0NV(\ N +9 &2X7\ M +10 &3W#\ M +9 &5U2\ N +10 &7VU\ N +9 &9W6\ N +9 &:W=\ N +10 &<T"\ M +9 &>^V4\ N +9 &@!Z\ M +10 &AY\ M +9 &Cd\ O +10 &Ebf\ O +9 &G n\ P +9 &H \ R +10 &J\ T +9 &L]0\ S +9 &N \ T +10 &O\ T +9 &Q5\ U +10 &Sa \ U +9 &U#\ U +9 &V\ U +10 &X\ T +9 &ZiG\ U +9 &\\+"\ U +10 &]{\ 5 +9 &^-r\ P +9 &^#\ 0 +3 ( +2 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&i% +4 "core" %     o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 "processing"%+& +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&.% +3 "core" % !   ) +2 "storage"(h% +4 "core" % * "\  +2 "storage"(E. +2 "core" .( +2 "storage"(Y& +4 "core" & & \ +2 "storage"(9& +3 "manipulator"&q& +8 "core" & ' ' #\ + &  ( +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&O( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(J'r +2 "core" ( +3 "manipulator"&/& +3 "core" &   ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +4 "core" &   ( +2 .tForearm.seek PC +2 "manipulator"&!' +94 "core" ' +2 .tHand.close +41 "manipulator"&/ +61 "core" / + .tPC.seek :open +2 "processing"%( +51 "core" ' + "storage"(m- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'1 +40 "core" ' +353 ( + "storage"(2& +4 "core" & S S \ +2 "manipulator"&f& +4 "core" & # ( +2 "manipulator"&6% +4 "core" %  N 4 +2 .tForearm.seek :retract +2 "manipulator"&^' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&&( +265 "core" ( + "manipulator"&C& +4 "core" &  +2 "storage"(r& +4 "core" & F Q C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +91 "core" ' +2 .tHand.open +2 "manipulator"&U1 +56 "core" 1 +2 "storage"(g- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(H& +3 "core" & g g \ +2 "manipulator"&W& +4 "core" &    +2 .tElbow.seek 3 +2 "manipulator"&\\( +2 "core" ( +3 "manipulator"&~& +3 "core" &     +2 "storage"(x& +4 "core" & X E g\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(b'" +57 "core" ' + "manipulator"&M& +4 "core" &  +2 "storage"('& +3 "core" & G F \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'u +19 "core" ' + .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(a' +31 "core" ' + "manipulator"&P% +4 "core" %΄  +2 "storage"(<& +4 "core" & ? 3 \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&A'ϰ +14 "core" ' +2 "manipulator"&y& +3 "core" &  +2 "storage"(3& +4 "core" & T I P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' +2 "storage"(I% +4 "core" % W T \ +3 ."downElevator"SE.seek :down +4 "storage"(K' +99 (% +3 "core" %PV\ !\  \ Xj +2 "manipulator"&d% +4 "core" %(  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (:& +3 "core" & ) ? (\ +2 "collection"'|& +4 "core" &\\a\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %   +2 "storage"(l% +3 "core" % T I C\  +2 "storage"(. +4 "core" .( +2 "storage"(w& +3 "core" & V T f\ +2 "storage"(`& +4 "core" & U T }\ +2 "manipulator"&,& +3 "core" & $  +3 .tElbow.seek 3 + "manipulator"&S( +4 "core" ( +2 "manipulator"&-& +3 "core" &   +2 "storage"(p& +4 "core" & Q G T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +103 "core" ' +2 "storage"(G& +43 "core" & < 8 M\ +10 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" &   +2 "storage"(& +5 "core" & Q S ,\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& 'u +25 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(#'i +29 "core" ' +2 "manipulator"&;% +3 "core" %΁ +2 "storage"(F& +4 "core" & G I n\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&\ 'ϭ +13 "core" ' + "manipulator"&0& +4 "core" &  F  +2 "storage"(8& +4 "core" & U V \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&k'7 +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&v& +5 "core" &  + "manipulator"&%% +4 "core" %H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +157 "core" ( +2 "manipulator"&D& +3 "core" &Ӑ' Z @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &Ӑ'  @W +3 .tForearm.seek CC +2 "manipulator"&T'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(@& +3 "core" & m k \ +3 "storage"(z& +3 "core" & g k Q\ +2 "manipulator"& & +4 "core" &ӫ# P << +2 "manipulator"&c% +3 "core" % O  +3 .tForearm.seek :retract +2 "manipulator"&Q' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&5( +156 "core" ( + "manipulator"&& +4 "core" &~ I +2 "storage"((& +3 "core" & j k \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'u +98 "core" ' +2 .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"& % +4 "core" % Ή  +2 "storage"(& +3 "core" & k k \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 320 counts +2 "manipulator"&4'ϵ +14 "core" ' +2 "manipulator"&N& +4 "core" &~ \  B +2 "storage"(& +3 "core" & z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z'7 +15 "core" ' +2 "storage"(u% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (B% +3 "core" %O R S b\ We +2 "manipulator"&t% +4 "core" %- +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'>& +4 "core" & \ +44 "manipulator"&% +8 "core" %   +2 "storage"(o% +5 "core" % h j \  + "storage"(?. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(V(,y +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,v H Q\  +2 "manipulator"&i& +3 "core" &~ +3 .tElbow.seek 4 + "manipulator"&+( +35 "core" ( + "manipulator"&.& +5 "core" &   + "storage"(h& +4 "core" &,v k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&E' +97 "core" ' +2 "storage"(Y& +3 "core" &,v \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +297 "core" ' +2 "storage"(q- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (9& +3 "core" &,m i a N\  +2 "manipulator"&/& +4 "core" &  3  +2 .tElbow.seek 4 +2 "manipulator"&_( +2 "core" ( +2 "manipulator"&7& +4 "core" &  R  +2 "storage"(& +3 "core" &,m h ] _\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&m'c +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(]' +6 "core" &  -  +3 "manipulator"&J% +3 "core" % o S +3 .tForearm.seek :retract + "manipulator"&2' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&6& +4 "core" &ӛ 8! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &ӛ 8! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&C'? +90 "core" ' +3 "manipulator"&r& +3 "core" &ӛ  8! +2 "manipulator"&O% +5 "core" %> + l +2 "collection"'U& +3 "core" & $\ +3 "collection"'g& +5 "core" & f\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & h\ +6 &; g\ %f +9 &Z{ e\ 7 +10 &x e\ K +9 &S c\ K +10 &Y h\ K +9 &JU s\ K +9 & X e\ K +10 &U \ K +9 &Y \ K +9 &SU l\ J +10 & U \ K +9 &!S \ K +9 &#U \ K +10 &%YW \ K +9 &'T o\ J +10 &(U \ K +9 &*S \ K +9 &,bU e\ K +10 &.$T \ K +9 &/U c\ K +10 &1T c\ K +9 &3jT c\ K +9 &5+X \ K +10 &6U ^\ K +9 &8T k\ K +9 &:rU q\ K +10 &<3T b\ K +9 &=U \\\ K +9 &?V \ K +10 &AzW i\ K +9 &C:^\  \ L +10 &Dh\ \ m\ M +9 &Fm\ \ \ N +9 &Hs\ \ \ P +10 &J(\ (\ "\ U +9 &K\ /\ /\ V +10 &M\ 0\ .\ X +9 &Of\ -\ .\ W +9 &Q%\ -\ +\ X +10 &R\ *\ *\ X +9 &T\ +\ +\ Y +9 &Vg\ (\ )\ Z +10 &X'\ &\ 'o\ Z +9 &Y\ &\ (c\ \\ +9 &[\ '\ '\ H +10 &\\2\ '\ &i\ 0 +9 &\\n\ #\ %\ K +3 ( +2 "collection"'g& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&H1 +59 "core" 1 +3 "manipulator"&W% +3 "core" % >  U l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%x& +3 "core" &+\ +2 "manipulator"&^% +4 "core" %  j  +2 "storage"(M% +3 "core" % - . v\  +2 "storage"('. +4 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(P(,y +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" &,} ( # 3\ +2 "manipulator"&}& +3 "core" &Ӥ  7 +2 "manipulator"&y% +5 "core" %  +  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&3( +163 "core" ( +2 "manipulator"&& +4 "core" & d  +2 "storage"(I& +4 "core" &,} I G B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +94 "core" ' + "storage"(& +4 "core" &,} P V E\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (d& +3 "core" &,m , "\  +2 "manipulator"&R& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&\\( +2 "core" ( +2 "manipulator"&b& +4 "core" &  +2 "storage"(& +4 "core" &,m * - P\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&A'c +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(' +8 "core" & A  +2 "manipulator"&l% +3 "core" % Ϗ +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&a( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"&w& +3 "core" & d +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &`& +3 "core" &  K d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,' +92 "core" ' +2 "manipulator"&-& +3 "core" & T c +3 "manipulator"&p% +3 "core" % s z +2 "processing"%& +4 "core" &\ +3 "processing"%G& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%K(^ +4 "core" &0\ +8 &64\ #c +9 &Uw2\ 6 +9 &{4\ K +10 &S1\ M +9 &bV/\ M +9 &$S0\ M +10 &R8\ M +9 &U7\ N +10 &kT-\ M +9 &,V'\ M +9 &R1\ M +10 &!T2\ M +9 &#rW4\ M +9 &%3V*\ N +10 &&U.\ M +9 &(V.\ N +10 &*zU*\ M +9 &,<X.\ M +9 &-T&\ M +10 &/T*\ M +9 &1U*\ N +9 &3CV(\ N +10 &5U$\ N +9 &6X\ M +10 &8Y \ M +9 &:LR%\ M +9 &<V%\ M +10 &=Y\ N +9 &?Y\ M +9 &ASZ!\ N +10 &Cb(\ O +9 &Dh'\ P +10 &Fp\ Q +9 &HL\ S +9 &J #\ T +10 &K\ T +9 &M&\ T +9 &OP\ T +10 &Q \ U +9 &R\ T +10 &T(\ U +9 &VV\ U +9 &X%\ T +10 &Y\ T +9 &[#\ U +9 &]\\#\ D +10 &^{>o%\ 'q +9 &^')\ + +6 ( +2 "processing"%G& +3 "core" &^%\ + +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&"1 +56 "core" 1 +2 "manipulator"&L% +4 "core" %  ! z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +92 "core" ' + "processing"%{& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %   !  +2 "storage"( % +4 "core" % - $ \  +2 "storage"(;. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(F(,y +20 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (0& +3 "core" &,z " * 6\ +3 "manipulator"&8& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & \  2 c +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(v'r +2 "manipulator"&%( +6 "core" ( +2 "manipulator"&& +3 "core" &   K c +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &  c +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"& / +56 "core" / +4 .tPC.seek :open +2 "processing"%\ ( +88 "core" ' + "storage"(#- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'1 +48 "core" ' +306 ( + "storage"(1& +4 "core" &,k 3 F _\ +2 "manipulator"&k& +3 "core" & 3 c +2 "manipulator"&j% +5 "core" %  6 C +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +244 "core" ( + "manipulator"&[& +4 "core" & O 3 +2 "storage"(@& +3 "core" &,k . - \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +94 "core" ' + .tHand.open +2 "manipulator"& 1 +64 "core" 1 +2 "storage"(c- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"((' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(T- +2 "core" -' +3 "storage"(n& +3 "core" &,k D C\ +2 "manipulator"&& +3 "core" &  3 +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +5 "core" &   5 3 + "storage"(N& +4 "core" &,k M M \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(u'" +58 "core" ' + "manipulator"&Q& +4 "core" & 3 +2 "storage"(B& +4 "core" &,k ' ' \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&t'7 +25 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(*' +29 "core" ' + "manipulator"&>% +5 "core" %;  + "storage"(& +5 "core" &,k + - c\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 304 counts + "manipulator"&4'g +14 "core" ' +2 "manipulator"&& +3 "core" &  i 3 +2 "storage"(o& +4 "core" &,k F P A\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +15 "core" ' +2 "storage"(Z% +3 "core" % I P W\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 ()% +3 "core" %M\ \  >\ We +2 "manipulator"&% +4 "core" % a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (.& +3 "core" &,k = " t\ +2 "collection"'h& +5 "core" &\\n\ \ )\ K + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&Y% +3 "core" %  p  +2 "storage"(s% +4 "core" % F B\  +2 "storage"($. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(q(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &,z ) 5 [\ +2 "manipulator"&/& +3 "core" & 3 +3 .tElbow.seek 4 + "manipulator"&7( +4 "core" ( +2 "manipulator"&& +4 "core" & 3 +2 "storage"(X& +3 "core" &,z G I \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +46 "manipulator"&' +66 "Can"\ O2 +33 "core" ' + "storage"(J& +4 "core" &,z T J T\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +297 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" & ! 3 +2 "storage"(!& +4 "core" &,m * - H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&e'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(r- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(O't +30 "core" ' + "manipulator"&U% +5 "core" %> 2 G + "storage"(_& +4 "core" &,m 4 J =\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts +2 "manipulator"&]'j +14 "core" ' +2 "manipulator"&2& +3 "core" & q 3 +2 "storage"(& +3 "core" &,m F P .\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(W' +35 "core" ' + "manipulator"&x& +4 "core" & ) 3 +2 "manipulator"&^% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&'(ӂ +153 "core" ( +2 "manipulator"&g& +3 "core" &ӛ" <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &ӛ"  V <> +2 .tForearm.seek CC +2 "manipulator"&}'? +95 "core" ' +2 .tHand.close + "manipulator"&y/ +56 "core" / +2 .tCC.seek :open +2 "collection"'C( +447 "core" ( +2 "storage"(& +3 "core" &,m m l \  +2 "storage"(I& +4 "core" &,m i k \  +2 "manipulator"&V& +4 "core" &ӥ"  ;4 +2 "manipulator"&% +3 "core" % @ : 1 +3 .tForearm.seek :retract + "manipulator"&f' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&~( +167 "core" ( + "manipulator"&& +4 "core" &  (  +2 "storage"(d& +4 "core" &,m k j ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&R'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&:% +3 "core" % 3  Q +2 "storage"(|& +4 "core" &,m \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 296 counts +2 "manipulator"&l'_ +14 "core" ' +2 "manipulator"&3& +3 "core" & \  m  +2 "storage"(&& +4 "core" &,m }\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(A% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(w' +98 (`% +3 "core" %I j N S\ Va +2 "manipulator"&\\% +4 "core" % L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +49 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'p& +4 "core" & \ +2 "manipulator"&% +4 "core" %  o  +2 "storage"(% +4 "core" % d | 4\  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" &<+ K S \  +2 "manipulator"&L& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&{( +4 "core" ( + "manipulator"&& +4 "core" &  m  +2 "storage"( & +4 "core" &<+ a k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&;'O +109 "core" ' +2 "storage"(G& +3 "core" &<+ ^\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +296 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<+ m j ^\  +2 "manipulator"&S& +4 "core" & =  +2 .tElbow.seek 5 +2 "manipulator"&,( +4 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(P& +3 "core" &<+ j ` X\  +4 .tForearm.seek 5 + 300 counts +2 "manipulator"&#'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(K' +8 "core" &  +2 "manipulator"&v% +3 "core" %  h T +3 .tForearm.seek :retract +2 "manipulator"&1' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&k(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&j& +4 "core" &Ӈ) A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӈ( ` A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&['? +93 "core" ' +2 "manipulator"&@& +3 "core" &ӈ)  7 A_ +3 "manipulator"&%% +5 "core" %? L K +2 "collection"' & +3 "core" & 8\ +3 "collection"'c& +5 "core" & 5\ +2 .tCC.seek :closed +2 "collection"'T(\\ +4 "core" & y\ +8 &; {\ $e +9 &Wu y\ 6 +10 &x w\ K +9 &S w\ K +10 &{T t\ K +9 &=T j\ K +9 &U j\ K +10 &W k\ K +9 &U p\ J +9 &EU o\ K +10 & T j\ J +9 &!U [\ K +10 &#S h\ K +9 &%MT k\ K +9 &'R \ K +10 &(T v\ K +9 &*T j\ J +9 &,UU l\ K +10 &.S [\ K +9 &/U d\ K +10 &1U l\ J +9 &3]T \ K +9 &5U n\ K +10 &6W o\ K +9 &8U o\ K +9 &:eU n\ K +10 &<&X m\ K +9 &=U o\ K +10 &?U d\ J +9 &AkW l\ L +9 &C-[ o\ L +10 &Db\ \ z\ L +9 &Fk\ \ v\ N +9 &Hc\ \ l\ Q +10 &J\ *\ n\ U +9 &K\ 0\ .u\ W +10 &M\ ,\ -m\ X +9 &OT\ +\ .r\ Y +9 &Q\ ,\ ,v\ X +10 &R\ )\ +t\ Y +9 &T\ )\ *j\ X +9 &VW\ )\ +v\ [ +10 &X\ (\ )j\ [ +9 &Y\ )\ )v\ [ +10 &[\ )\ )w\ I +9 &\\<\ (\ 'm\ *} +9 &\\n\ %\ '\ T +3 ( +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&n1 +53 "core" 1 +3 "manipulator"&% +3 "core" % ? / K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%N& +4 "core" &6\ +2 "manipulator"&% +4 "core" %  O  +2 "storage"(Q% +3 "core" % * " \  +2 "storage"(B. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(D(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (>& +3 "core" &<+ J 5\  +2 "manipulator"&& +4 "core" &Ӫ" > <= +2 "manipulator"&% +4 "core" %   +49 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +169 "core" ( +2 "manipulator"&o& +3 "core" &  +3 "storage"(Z& +3 "core" &<+ I Q \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +3 "storage"(z& +3 "core" &<+ M U T\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('r +299 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ " & \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&u& +4 "core" &   +2 "storage"(t& +3 "core" &<+ F F \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&.'Ϲ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(Y' +8 "core" & C  +2 "manipulator"&s% +4 "core" % Ϻ / +2 .tForearm.seek :retract +2 "manipulator"&$' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&9& +4 "core" & M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" & M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' + "manipulator"&X& +4 "core" & M +2 "manipulator"&?% +4 "core" % ' +2 "processing"%J& +3 "core" &\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(^ +3 "core" &;\ +9 &76\ $d +9 &Uw8\ 6 +10 &~{4\ K +9 &T7\ M +9 &bX4\ M +10 &%Q6\ M +9 &Y9\ M +10 &S7\ N +9 &jS5\ M +9 &-U8\ M +10 &U6\ N +9 &!V9\ M +9 &#rW6\ M +10 &%4W1\ M +9 &&W0\ M +10 &(W5\ N +9 &*zT6\ M +9 &,<S1\ M +10 &-R1\ M +9 &/T+\ M +9 &1U7\ M +10 &3DW,\ M +9 &5R,\ M +10 &6T*\ M +9 &8Y*\ M +9 &:KS*\ N +10 &<U0\ M +9 &=U%\ M +9 &?W)\ M +10 &AR\\+\ N +9 &C`+\ O +10 &De*\ P +9 &Fm*\ P +9 &HN)\ R +10 &J )\ T +9 &K)\ T +9 &M+\ T +10 &OO*\ T +9 &Q,\ T +10 &R+\ U +9 &T,\ U +9 &VV+\ U +10 &X)\ T +9 &Y-\ U +9 &[(\ U +10 &]\\)\ B +9 &^S|,\ G +9 &^)\ # +3 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&51 +62 "core" 1 + "manipulator"&i% +4 "core" %    O ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +95 "core" ' +3 "processing"%6& +3 "core" &^+\ # +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&!% +3 "core" % \   +2 "storage"(r% +4 "core" % 3 > \  +2 "storage"(U. +2 "core" .(<- +2 "storage"(_& +4 "core" &<+ ' ' )\  +2 "storage"(2& +4 "manipulator"&& +5 "core" &<+ & %\  + &  M +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&x( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(^'r +18 "core" ( + "manipulator"&& +4 "core" &   K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" & \  o +3 .tForearm.seek PC + "manipulator"&+' +90 "core" ' + .tHand.close +2 "manipulator"&e/ +56 "core" / +2 .tPC.seek :open +48 "processing"%]( +39 "core" ' + "storage"(O- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'1 +51 "core" ' +354 ( +2 "storage"(<& +4 "core" &<+ - , *\  +2 "manipulator"&H& +3 "core" & # +2 "manipulator"&m% +4 "core" %  = +2 .tForearm.seek :retract +2 "manipulator"&y' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&M( +239 "core" ( +2 "manipulator"&& +4 "core" & 7 +2 "storage"(& +3 "core" &<+ * $ A\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +95 "core" ' +2 .tHand.open + "manipulator"&V1 +64 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(d' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(}- +2 "core" -' +2 "storage"('& +4 "core" &<+ G O @\  +2 "manipulator"&& +3 "core" &   9 7 +3 .tElbow.seek 5 +2 "manipulator"&:( +2 "core" ( +2 "manipulator"&|& +4 "core" &   " 7 +2 "storage"(3& +4 "core" &<+ ^\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(A'" +60 "core" ' + "manipulator"&f& +4 "core" &  7 +2 "storage"(`& +3 "core" &<+ - . q\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&\\'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(R' +21 "core" ' + "manipulator"&p% +5 "core" %Ή  q + "storage"(l& +4 "core" &<+ ] )\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 296 counts +2 "manipulator"&W'ϵ +14 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(& +5 "core" &<+ % & 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 "storage"(% +4 "core" % G 4 W\ +3 ."downElevator"SE.seek :down +4 "storage"(w' +99 (q% +3 "core" %>Q\  J G\ Xf +2 "manipulator"&"% +4 "core" %9  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<+ . @ k\  +2 "collection"' & +4 "core" &\\n\ \ k\ T +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&G% +4 "core" %    +2 "storage"(b% +4 "core" % S I ]\  +2 "storage"(-. +2 "core" .(<- +2 "storage"(8& +4 "core" &<+ I G \  +2 "storage"(& +4 "core" &<+ F G #\  +2 "manipulator"&S& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"& ( +18 "core" ( +2 "manipulator"&P& +3 "core" &  +2 "storage"(a& +4 "core" &<+ F F (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +99 "core" ' +2 "storage"(v& +4 "core" &<+ U T\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +50 .tSE.seek :beamBreak +2 "storage"({'r +300 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" &   +2 "storage"(& +4 "core" &<+ G Q ?\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&0'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(@- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(%'w +28 "core" ' +2 "manipulator"& % +3 "core" %Ξ  +2 "storage"(,& +4 "core" &<+ + -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&K' +14 "core" ' +2 "manipulator"&1& +4 "core" & 9  +2 "storage"(C& +3 "core" &<+ W W \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +40 "core" ' + "manipulator"&N& +5 "core" & T  + "manipulator"&% +4 "core" %K i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B(ӂ +159 "core" ( +2 "manipulator"&>& +3 "core" &Ӑ%  + >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &c& +2 "core" &Ӑ% V >L +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open + "collection"'[( +447 "core" ( +2 "storage"(o& +4 "core" &<+ k k \  +2 "storage"(Z& +3 "core" &<+ g N -\  +2 "manipulator"&& +4 "core" &ӫ  N :1 +2 "manipulator"&z% +4 "core" % J l  +2 .tForearm.seek :retract +2 "manipulator"&k' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +158 "core" ( + "manipulator"&)& +4 "core" & 1 \ +2 "storage"(& +4 "core" &<+ j ` R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +57 "core" 1 +2 "manipulator"&4% +3 "core" % Ν  S I +2 "storage"(h& +4 "core" &<+ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&s' +14 "core" ' +2 "manipulator"&& +3 "core" &   \ +2 "storage"(& +4 "core" &<+ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +14 "core" ' +2 "storage"(.% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(9' +100 (/% +2 "core" %E Q H p\ V` +2 "manipulator"& % +4 "core" %B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'?& +3 "core" & o\ +2 "manipulator"&J% +4 "core" %  (  +2 "storage"(Y% +47 "core" % q  X\  +6 "storage"($. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\ ( +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" & k i \ +2 "manipulator"&i& +3 "core" &  \ +3 .tElbow.seek 3 + "manipulator"&6( +16 "core" ( + "manipulator"&!& +4 "core" &  m  +2 "storage"(r& +3 "core" & k m \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&U'7 +97 "core" ' +2 "storage"(_& +3 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +299 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & j m J\ +2 "manipulator"&& +3 "core" & 2  +2 .tElbow.seek 3 +2 "manipulator"&7( +4 "core" ( +2 "manipulator"&& +4 "core" &  x  +2 "storage"(e& +4 "core" & j _ s\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& +2 "storage"(F' +7 "core" &  ^  +2 "manipulator"&^% +4 "core" % ϕ   +2 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&m& +4 "core" &ә# M ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &ә" ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 "manipulator"&& +4 "core" &ә"   ;8 +3 "manipulator"&x% +3 "core" %D l +3 "collection"'V& +3 "core" & \ +3 "collection"'& +5 "core" & z\ +2 .tCC.seek :closed +2 "collection"'}(\\ +5 "core" & y\ +6 &A t\ $f +9 &Z{ x\ 8 +9 & t \ K +10 &R \ K +9 &X {\ K +9 &MT }\ K +10 &T \ J +9 &U }\ K +10 &X y\ K +9 &US ~\ K +9 & T |\ J +10 &!U y\ K +9 &#Y z\ K +9 &%]R y\ K +10 &' T }\ J +9 &(U z\ K +10 &*T w\ K +9 &,fU o\ J +9 &.'U j\ K +10 &/S i\ K +9 &1U g\ K +9 &3mW o\ K +10 &5/S j\ K +9 &6U i\ J +10 &8U n\ K +9 &:uT m\ K +9 &<7V i\ K +10 &=Y o\ K +9 &?V n\ K +9 &A|Y o\ K +10 &C=Y o\ L +9 &Dc\  o\ L +10 &Fl\ \ l\ N +9 &Hu\ \ n\ P +9 &J*\ %\ m\ U +10 &K\ -\ ,n\ V +9 &M\ ,\ +j\ X +9 &Oi\ +\ *s\ W +10 &Q(\ )\ (m\ X +9 &R\ (\ 'l\ X +10 &T\ %\ 'o\ Y +9 &Vj\ (\ &n\ Z +9 &X+\ &\ $n\ Z +10 &Y\ %\ %k\ \\ +9 &[\ $\ $m\ H +9 &\\3\ &\ %h\ - +10 &\\c\ $\ $m\ N +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&'1 +63 "core" 1 +2 "manipulator"&% +3 "core" % D  * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%3& +3 "core" &\ +2 "manipulator"&y% +4 "core" %   +2 "storage"(f% +4 "core" % & ' H\  +2 "storage"(`. +2 "core" .( +2 "storage"(p& +4 "core" & % ' \ \ +2 "storage"(g& +4 "core" & F E _\ +2 "manipulator"&l& +4 "core" &ӧ   :* +2 "manipulator"&% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +164 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & T T T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +48 "manipulator"&M'7 +94 "core" ' +2 "storage"(I& +3 "core" & C < \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(d'r +295 "core" ' + "storage"(q- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" & 0 . Q\ +2 "manipulator"&&& +4 "core" & >  +2 .tElbow.seek 3 +2 "manipulator"&:( +4 "core" ( + "manipulator"&A& +4 "core" &  +2 "storage"(\\& +3 "core" & ' ' V\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&W'ϡ +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(G' +8 "core" &  + "manipulator"&b% +4 "core" % Ϧ n +2 .tForearm.seek :retract +2 "manipulator"&-' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&R( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&8& +3 "core" & ) < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & I < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +90 "core" ' +4 "manipulator"&P& +5 "core" & < +2 "manipulator"&a% +3 "core" % b z +3 "processing"%& +3 "core" &;\ +3 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%w(^ +4 "core" &7\  +9 &3u7\ )w +10 &d}6\ > +9 &xq>\ N +9 &;T8\ N +10 &U3\ N +9 &S<\ M +9 &S9\ N +10 &CT6\ N +9 &U7\ M +10 &R8\ M +9 & R4\ M +9 &"LR7\ M +10 &$S4\ M +9 &%W6\ M +9 &'W9\ M +10 &)TW4\ M +9 &+V5\ M +9 &,X8\ M +10 &.U8\ M +9 &0[U3\ N +10 &2U7\ N +9 &3R1\ M +9 &5U/\ N +10 &7cU3\ N +9 &9%X5\ N +10 &:T7\ M +9 &<U1\ M +9 &>lZ6\ M +10 &@.W5\ M +9 &A]6\ N +9 &Cc0\ O +10 &Eof7\ O +9 &G.n2\ P +10 &H2\ R +9 &J/\ T +9 &Lj.\ S +10 &N*+\ T +9 &O)\ T +9 &Q*\ T +10 &So*\ T +9 &U/*\ U +9 &V*\ T +10 &X)\ T +9 &Zv/\ U +10 &\\7*\ U +9 &]|t,\ : +9 &^*u+\ N +10 &^+\ 0 +2 ( +2 "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&~1 +64 "core" 1 +2 "manipulator"&L% +3 "core" %   z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +91 "core" ' +2 "processing"%j& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %   \   +2 "storage"(@% +4 "core" % . - \  +2 "storage"( . +3 "core" .( + "storage"(,& +4 "core" & . . }\ +2 "storage"(1& +3 "manipulator"&C& +8 "core" & - . N\ + &   / < +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&N( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&=& +5 "core" & \  < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  & < +2 .tForearm.seek PC +2 "manipulator"&{' +93 "core" ' + .tHand.close +2 "manipulator"&0/ +56 "core" / +2 .tPC.seek :open +2 "processing"%K( +97 "core" ' +2 "storage"(%- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'1 +47 "core" ' +299 ( +2 "storage"(c& +43 "core" & S S 7\ +10 "manipulator"&n& +3 "core" &  < +2 "manipulator"&#% +5 "core" %   6 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Q( +246 "core" ( + "manipulator"&T& +4 "core" & ; U +2 "storage"(o& +3 "core" & G G \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Z'7 +99 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(z- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"()' +35 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(B& +5 "core" & e f \ + "manipulator"&t& +5 "core" &    U + .tElbow.seek 3 +2 "manipulator"&4( +4 "core" ( +2 "manipulator"&h& +3 "core" &  P U +2 "storage"(& +4 "core" & e e \ +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +57 "core" ' + "manipulator"&k& +4 "core" & U +2 "storage"(/& +4 "core" & . /\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'u +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&?% +3 "core" %Ή +2 "storage"(J& +4 "core" & . . l\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&s'ϵ +13 "core" ' + "manipulator"&Y& +4 "core" & ; U +2 "storage"(& +4 "core" & F F 3\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&$'7 +15 "core" ' +2 "storage"((% +3 "core" % I G Q\ +3 ."downElevator"SE.seek :down +4 "storage"(9' +98 (D% +4 "core" %DW M e\ Yk +2 "manipulator"&5% +3 "core" %3  | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (!& +3 "core" & - # F\ +2 "collection"'r& +5 "core" &\\e\ \ n\ N + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&_% +8 "core" %   +2 "storage"(u% +4 "core" % G I 3\  +2 "storage"(X. +8 "core" .( +2 "storage"(2& +3 "core" & G F #\ +2 "storage"(& +5 "core" & G F *\ + "manipulator"&& +4 "core" & U +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&e& +3 "core" &  U +2 "storage"(*& +5 "core" & P I H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&E'7 +96 "core" ' +2 "storage"(^& +4 "core" & S S *\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'r +295 "core" ' + "storage"(U- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &  U +2 "storage"(+& +3 "core" & & + \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +48 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'u +26 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(x'j +28 "core" ' +2 "manipulator"&V% +3 "core" %Ά +2 "storage"(7& +4 "core" & ' % \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&F'ϲ +13 "core" ' + "manipulator"&<& +5 "core" & U +2 "storage"([& +4 "core" & 3 F t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&''7 +16 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +36 "core" ' +2 "manipulator"&3& +4 "core" & U +2 "manipulator"&y% +3 "core" %' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&`(ӂ +151 "core" ( +3 "manipulator"&p& +4 "core" &ӑ& 3 ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ& ?Q +2 .tForearm.seek CC +2 "manipulator"&g'? +95 "core" ' +2 .tHand.close + "manipulator"&l/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(& +4 "core" & P S Q\ +2 "storage"(& +3 "core" & U T Z\ +2 "manipulator"&& +4 "core" &Ө#  <: +2 "manipulator"&H% +3 "core" % P I  +3 .tForearm.seek :retract + "manipulator"&I' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&|( +164 "core" ( +2 "manipulator"&q& +4 "core" & =  +2 "storage"("& +3 "core" & m l 0\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&&'u +96 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +65 "core" 1 +2 "manipulator"&% +3 "core" % |    +2 "storage"( & +4 "core" & k m \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&b'Ϩ +14 "core" ' +2 "manipulator"&& +3 "core" &  @  +2 "storage"(M& +4 "core" & k k o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&d'7 +16 "core" ' +2 "storage"(W% +3 "core" % m q \ +3 ."downElevator"SE.seek :down +4 "storage"(8' +98 (% +3 "core" %J C F B\ Vc +2 "manipulator"&:% +4 "core" %) " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'a& +3 "core" & 1\ +2 "manipulator"&% +4 "core" %   a  +2 "storage"(G% +4 "core" % \  +2 "storage"(-. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(](,y +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (~& +3 "core" &,x j m \  +2 "manipulator"&L& +49 "core" &  +3 .tElbow.seek 4 +2 "manipulator"&j( +29 "core" ( +2 "manipulator"&& +3 "core" & v  +2 "storage"(@& +4 "core" &,x \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +103 "core" ' + "storage"(,& +5 "core" &,x \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(v'r +299 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (1& +2 "core" &,m m l j\  +2 "manipulator"&=& +4 "core" & h  +2 .tElbow.seek 4 +2 "manipulator"& ( +25 "core" ( +2 "manipulator"&S& +3 "core" & 3  +2 "storage"(0& +4 "core" &,m g ] M\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&%'c +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&;& +2 "storage"(w' +7 "core" &   +2 "manipulator"&% +4 "core" % z +2 .tForearm.seek :retract +2 "manipulator"&c' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"&#& +5 "core" &Ӄ A 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +4 "core" &Ӄ D 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'? +94 "core" ' + "manipulator"&o& +4 "core" &Ӄ  - 7 +2 "manipulator"&N% +4 "core" %= [ T +2 "collection"'& +5 "core" & w\ +2 "collection"'z& +5 "core" & =\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  +9 &6~ }\ +{ +9 &g \ > +9 &l \ L +10 &_T {\ K +9 &"U \ J +10 &U \ K +9 &S \ K +9 &gS \ K +10 &)U z\ K +9 &U {\ J +9 & U \ J +10 &"pU \ J +9 &$1U {\ K +10 &%Y z\ K +9 &'Y x\ K +9 &)wS {\ K +10 &+9T {\ K +9 &,T |\ K +9 &.R z\ K +10 &0U o\ J +9 &2AU o\ K +10 &4Y k\ K +9 &5U s\ K +9 &7U n\ K +10 &9IY |\ K +9 &; U p\ J +9 &<U j\ K +10 &>Y o\ K +9 &@QW j\ K +10 &BY m\ K +9 &C] k\ L +9 &Ef\ \ j\ M +10 &GOr\ \ \ j\ N +9 &I \ \ m\ Q +9 &J\ +\ (l\ V +10 &L}\ 0\ .n\ V +9 &N>\ ,\ 0n\ W +10 &O\ -\ ,k\ X +9 &Q\ +\ .l\ X +9 &S\ '\ *l\ Y +10 &U=\ *\ (j\ Z +9 &V\ '\ (n\ Z +9 &X\ &\ (n\ [ +10 &Z\ (\ 'm\ [ +9 &\\"x\ %\ 'j\ / +10 &\\:\ %\ %o\ %r +9 &\\r\ #\ #u\ N +2 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&B1 +56 "core" 1 +2 "manipulator"&t% +4 "core" % = 0 T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &2\ +2 "manipulator"&% +4 "core" % ! 0 & +2 "storage"(k% +3 "core" % . - p\  +2 "storage"(/. +4 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(>(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &,y & , /\ +2 "manipulator"&J& +3 "core" &ӟ 3 +2 "manipulator"&Y% +4 "core" % ! & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&)& +3 "core" & <  +2 "storage"((& +4 "core" &,y I G B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +93 "core" ' +2 "storage"(Z& +4 "core" &,y M T N\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +50 .tSE.seek :beamBreak +3 "storage"('r +297 "core" ' + "storage"(D- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" &,m ' % \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&4( +4 "core" ( + "manipulator"&.& +4 "core" & b  +2 "storage"( & +3 "core" &,m . . \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&!'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& +2 "storage"(_' +8 "core" & J  + "manipulator"&% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&X( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&2& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + "manipulator"&e& +5 "core" & +2 "manipulator"&*% +3 "core" % 0 +2 "processing"%$& +5 "core" &C\ +2 "processing"%^& +6 "core" &B\ +2 .tPC.seek :closed +2 "processing"%9(^ +3 "core" &?\ +8 &6>\ $d +10 &Wy?\ 7 +9 &x>\ L +9 &R:\ M +10 &kTA\ M +9 &-R9\ M +9 &T6\ N +10 &U8\ N +9 &sS6\ M +10 &5S7\ M +9 &Q9\ M +9 &!S7\ M +10 &#zU@\ N +9 &%<T5\ N +9 &&U5\ N +10 &(U;\ N +9 &*R:\ M +10 &,EW5\ M +9 &.U5\ M +9 &/V2\ N +10 &1S:\ M +9 &3MR4\ M +9 &5Q5\ M +10 &6U3\ M +9 &8W7\ N +10 &:UR8\ M +9 &<V;\ M +9 &=Y7\ M +10 &?U5\ M +9 &A\\Y7\ N +9 &Ca8\ O +10 &Df8\ P +9 &Fp8\ Q +10 &HV8\ R +9 &J5\ S +9 &K7\ T +10 &M7\ T +9 &OY5\ T +9 &Q,\ U +10 &R+\ U +9 &T7\ U +10 &V`7\ T +9 &X 2\ U +9 &Y,\ U +10 &[)\ U +9 &]f)\ B +9 &^Cr*\ X +10 &^>)\ 3 +5 ( +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +3 "core" &^!)\ 3 +52 1 +2 "manipulator"&i% +3 "core" %   ^ 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +97 "core" ' +7 "processing"%m& +4 "core" &^!-\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&+% +4 "core" % ! ! ( +2 "storage"(% +4 "core" % ' '\  +2 "storage"(V. +2 "core" .(,y +2 "storage"(7& +4 "core" &,m % \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(<(,y +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +4 "core" &,}\  \ +2 "manipulator"&3& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &    +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(y'r +2 "manipulator"&E( +7 "core" ( + "manipulator"&& +4 "core" &   $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" & \  +2 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' + .tHand.close +2 "manipulator"&F/ +61 "core" / +2 .tPC.seek :open + "processing"%x( +88 "core" ' +2 "storage"(p- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +51 "core" ' +304 ( + "storage"('& +43 "core" &,j F E \ +10 "manipulator"&O& +3 "core" & + +2 "manipulator"&l% +5 "core" %  V B +2 .tForearm.seek :retract + "manipulator"&f' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&}( +240 "core" ( + "manipulator"&& +5 "core" & : ; + "storage"(& +4 "core" &,j F F 4\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +90 "core" ' +2 .tHand.open + "manipulator"&H1 +61 "core" 1 +2 "storage"(q- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +37 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(g' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(`- +3 "core" -' +2 "storage"(\\& +4 "core" &,j d d w\ +2 "manipulator"&& +4 "core" &   % ; +2 .tElbow.seek 4 +2 "manipulator"& ( +2 "core" ( +3 "manipulator"&& +3 "core" &   ) ; +2 "storage"(M& +4 "core" &,j e f \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&W' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(I'" +52 "core" ' + "manipulator"&& +4 "core" & P ; +2 "storage"(:& +4 "core" &,j ' ( \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&|'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(a' +19 "core" ' +2 "manipulator"&% +3 "core" %J  @ +3 "storage"(b& +3 "core" &,j ' ! \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&G'v +13 "core" ' +2 "manipulator"&-& +3 "core" & ; +2 "storage"(& +4 "core" &,j % $ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +15 "core" ' +2 "storage"(8% +3 "core" % 3 * K\ +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +98 (~% +4 "core" %1M E\  \ Xf +2 "manipulator"&L% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (@& +2 "core" &,j :  .\ +2 "collection"',& +4 "core" &\\q\ \ r\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&A% +3 "core" %   +2 "storage"(P% +4 "core" % 3 >\  +2 "storage"(C. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(1(,y +62 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +4 "core" &,z \\ N\ +2 "manipulator"&S& +3 "core" & ; +2 .tElbow.seek 4 +2 "manipulator"&0( +4 "core" ( + "manipulator"&R& +4 "core" & ; +2 "storage"(;& +5 "core" &,z $ & <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +91 "core" ' + "storage"(j& +4 "core" &,z V T T\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +297 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +42 "manipulator"&{& +11 "core" & ; +2 "storage"(v& +3 "core" &,m % '\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&%'7 +24 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +30 "core" ' +2 "manipulator"& % +3 "core" %5  +2 "storage"(w& +4 "core" &,m # /\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 298 counts +2 "manipulator"&c'a +13 "core" ' + "manipulator"&& +4 "core" & ; +2 "storage"(B& +3 "core" &,m , . P\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +46 "core" ' + "manipulator"&& +4 "core" &  ; +2 "manipulator"&k% +4 "core" % $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +148 "core" ( +2 "manipulator"&?& +3 "core" &* O Bk +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &* ' Bk +3 .tForearm.seek CC + "manipulator"&Y'? +96 "core" ' +2 .tHand.close + "manipulator"&T/ +58 "core" / +2 .tCC.seek :open +2 "collection"')( +447 "core" ( + "storage"((& +4 "core" &,m \\ N &\ +2 "storage"(]& +4 "core" &,m X g &\ +2 "manipulator"&Z& +3 "core" &ӭ# <= +2 "manipulator"&n% +4 "core" % 5 , # +2 .tForearm.seek :retract +2 "manipulator"&h' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&D( +164 "core" ( + "manipulator"&5& +4 "core" & w  +2 "storage"(& +4 "core" &,m f j U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&.'7 +97 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&s1 +52 "core" 1 +2 "manipulator"&r% +4 "core" % &  / +2 "storage"(& +3 "core" &,m ` g \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 283 counts +2 "manipulator"&'R +13 "core" ' +2 "manipulator"&Q& +4 "core" &  _  +2 "storage"(& +3 "core" &,m \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +21 "core" ' +2 "storage"(2% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (4% +3 "core" %? k l z\ V_ +2 "manipulator"&e% +4 "core" % V  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'$& +3 "core" & }\ +2 "manipulator"&_% +4 "core" %   *  +2 "storage"(u% +4 "core" % \  +2 "storage"(K. +2 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +349 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" &<* : = [\ +2 "manipulator"&m& +5 "core" & f  +2 .tElbow.seek 5 + "manipulator"&+( +13 "core" ( +2 "manipulator"&& +3 "core" & y v +2 "storage"(V& +4 "core" &<* q l \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +92 "core" ' + "storage"(^& +4 "core" &<* \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +292 "core" ' +2 "storage"(3- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<* e m \ +2 "manipulator"&6& +3 "core" & Y v +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&F& +3 "core" & v +2 "storage"(>& +4 "core" &<* ] ] w\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&p'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& +2 "storage"(9' +7 "core" & ? v +2 "manipulator"&y% +4 "core" % ϰ  +2 .tForearm.seek :retract +2 "manipulator"&'' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&l& +4 "core" &ӓ$ 0 =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӓ$ 5 =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + "manipulator"&& +4 "core" &ӓ$ ; =D +2 "manipulator"&E% +4 "core" %: U s +2 "collection"'H& +4 "core" & \ +3 "collection"'q& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'`(\\ +5 "core" & \ +8 &A \ %g +9 &Yw j\ 7 +11 &x y\ K +8 &S y\ K +9 &Y |\ K +10 &UU \ J +9 &U \ K +9 &Y \ K +10 &Y \ K +9 &]T \ J +10 & U \ K +9 &!W z\ K +9 &#T \ K +10 &%eU z\ J +9 &'&U |\ K +9 &(T }\ K +10 &*U z\ J +9 &,lU x\ K +10 &..Y w\ K +9 &/T w\ K +9 &1V t\ J +10 &3tV v\ K +9 &55T {\ K +9 &6V u\ K +10 &8T p\ K +9 &:|U t\ K +10 &<>Y y\ K +9 &>U p\ J +9 &?W j\ K +10 &AW r\ K +9 &CD^ l\ L +9 &Ec\ \ i\ L +10 &Fk\ \ j\ N +9 &H{\ \ j\ Q +10 &J2\ (\ o\ U +9 &K\ .\ ,j\ W +9 &M\ -\ .x\ W +10 &Op\ +\ .f\ W +9 &Q1\ +\ )u\ W +9 &R\ (\ +p\ Y +10 &T\ (\ )r\ X +9 &Vr\ (\ 's\ Y +10 &X1\ (\ 'j\ Z +9 &Y\ '\ &k\ [ +9 &[\ %\ 'n\ H +10 &\\1\ (\ 'm\ - +9 &\\g\ $\ &l\ P +2 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&\\1 +62 "core" 1 +3 "manipulator"&% +3 "core" % :  r s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%M& +4 "core" &=\ +2 "manipulator"&f% +4 "core" %   +2 "storage"(% +3 "core" % $ $ \  +2 "storage"(:. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" &<* @ $\  +2 "manipulator"&& +3 "core" &ӫ  - :, +2 "manipulator"&-% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&"& +4 "core" &  +2 "storage"(8& +4 "core" &<* T S [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +97 "core" ' +3 "storage"(& +4 "core" &<* S V\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(g'r +294 "core" ' +2 "storage"(~- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (L& +3 "core" &<* ' " N\  +2 "manipulator"&W& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&I& +3 "core" &  +2 "storage"(|& +4 "core" &<* F G D\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&@'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(A' +8 "core" & \\ + "manipulator"&P% +4 "core" % ϭ . +2 .tForearm.seek :retract +2 "manipulator"&C' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&=& +3 "core" & J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" & B J +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +94 "core" ' + "manipulator"&;& +4 "core" & o J +2 "manipulator"&d% +4 "core" % i +2 "processing"%j& +4 "core" &?\ +3 "processing"%\ & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%<(^ +5 "core" &F\ +7 &6D\ #b +10 &U}B\ 6 +9 &{B\ K +10 &T8\ M +9 &aR;\ M +9 &$T7\ M +10 &U6\ N +9 &U7\ M +9 &iP7\ M +10 &+W@\ M +9 &W<\ M +10 &!V>\ M +9 &#pU?\ N +9 &%2U<\ N +10 &&U4\ M +9 &(S@\ M +9 &*yQA\ M +10 &,;W8\ M +9 &-T9\ N +10 &/V:\ M +9 &1T7\ M +9 &3CS6\ M +10 &5T5\ N +9 &6V=\ N +9 &8W7\ N +10 &:JU5\ N +9 &< Y9\ M +10 &=Y4\ M +9 &?T:\ M +9 &ASY5\ M +10 &Ca9\ O +9 &De8\ O +9 &Fn:\ P +10 &HM8\ R +9 &J\ 8\ T +10 &K4\ T +9 &M4\ T +9 &ON7\ T +10 &Q7\ T +9 &R1\ T +9 &T4\ U +10 &VS4\ U +9 &X7\ T +10 &Y-\ U +9 &[5\ U +9 &][0\ B +10 &^P}2\ C +9 &^5\ U +9 &^"1\ 0 +3 ( +2 "processing"%\ & +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&&1 +52 "core" 1 +2 "manipulator"&% +4 "core" %   \ ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +89 "core" ' + "processing"%{& +4 "core" &^ )\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&v% +3 "core" %   1  +2 "storage"(N% +4 "core" % $ * I\  +2 "storage"( . +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(w(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &<*\ \  A\  +3 "manipulator"&B& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   # J +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&k( +6 "core" ( +2 "manipulator"&& +3 "core" &  J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &  J +3 .tForearm.seek PC + "manipulator"& ' +93 "core" ' +2 .tHand.close + "manipulator"&%/ +60 "core" / +2 .tPC.seek :open +2 "processing"%c( +88 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +42 "storage"(?'1 +49 "core" ' +269 ( +2 "storage"(J& +3 "core" &<* F F "\  +2 "manipulator"&t& +4 "core" & J +2 "manipulator"&o% +5 "core" %  4 +2 .tForearm.seek :retract +2 "manipulator"&T' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&/( +242 "core" ( +2 "manipulator"&& +3 "core" &  > +3 "storage"((& +3 "core" &<* # + E\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +90 "core" ' +2 .tHand.open + "manipulator"&Z1 +64 "core" 1 +3 "storage"(n- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(5' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +3 "core" -' +2 "storage"(z& +4 "core" &<* i g a\  +2 "manipulator"&s& +4 "core" &    > +2 .tElbow.seek 5 +2 "manipulator"&r( +4 "core" ( + "manipulator"&& +4 "core" &  - > +2 "storage"(Q& +3 "core" &<* f e \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(2'" +55 "core" ' +2 "manipulator"&h& +3 "core" &  > +2 "storage"(4& +4 "core" &<* ' ' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&e'΍ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +29 "core" ' + "manipulator"&% +5 "core" %Ξ X + "storage"($& +5 "core" &<* & !\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&_' +15 "core" ' + "manipulator"&u& +5 "core" & < + "storage"(K& +5 "core" &<* O F `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"(!% +4 "core" % J F \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (1% +3 "core" %`M\ \  %\ Wd +2 "manipulator"&i% +4 "core" %H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<* + # R\  +2 "collection"'V& +5 "core" &\\d\ \ q\ P + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&^% +3 "core" %    +2 "storage"( % +4 "core" % E F #\  +2 "storage"(*. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(3(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<+ M P\  +2 "manipulator"&6& +4 "core" & R < +2 .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&>& +3 "core" & < +2 "storage"(X& +4 "core" &<* F F &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +99 "core" ' + "storage"(y& +4 "core" &<* U V y\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +298 "core" ' +49 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +4 "core" & < +2 "storage"( & +3 "core" &<* E F Y\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&['΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(E'w +27 "core" ' +2 "manipulator"&H% +3 "core" %Μ O +2 "storage"(& +4 "core" &<* . . [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&9' +15 "core" ' + "manipulator"&'& +5 "core" & / ; + "storage"()& +5 "core" &<* F F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&M& +4 "core" & ; +2 "manipulator"&f% +4 "core" %L 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +149 "core" ( +2 "manipulator"&q& +3 "core" &x1  z H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &x1 h H +3 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + .tHand.close +2 "manipulator"&-/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"("& +4 "core" &<* N G \  +2 "storage"(8& +3 "core" &<* : 9 \  +2 "manipulator"&& +4 "core" &ӷ' @Z +2 "manipulator"&% +3 "core" % > U +3 .tForearm.seek :retract + "manipulator"&O' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&~& +3 "core" & c  +2 "storage"(L& +5 "core" &<* g j f\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&W'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +61 "core" 1 +2 "manipulator"&G% +4 "core" % Ν  9 +2 "storage"(,& +3 "core" &<* j j x\  +2 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&P' +15 "core" ' + "manipulator"&& +4 "core" &  O  +2 "storage"(}& +4 "core" &<* } \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&g'O +16 "core" ' + "storage"(@% +5 "core" % w\ +2 ."downElevator"SE.seek :down +4 "storage"(=' +98 (S% +3 "core" %E M [ `\ U_ +2 "manipulator"& % +3 "core" %A  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'d& +5 "core" & 8\ + "manipulator"&j% +4 "core" %    +2 "storage"(A% +4 "core" %  H\  +2 "storage"(C. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +49 .tSC.seek 3 +2 "storage"(x( +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +3 "core" & m j |\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&{( +33 "core" ( + "manipulator"&v& +4 "core" &  [ ( +2 "storage"(N& +4 "core" & j h b\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +94 "core" ' +2 "storage"(\ & +4 "core" & ~ .\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & H I F\ +2 "manipulator"&0& +4 "core" & 2 ( +3 .tElbow.seek 3 + "manipulator"&R( +3 "core" ( +2 "manipulator"&%& +3 "core" & M ( +2 "storage"(& +4 "core" & k k \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(<' +8 "core" & h ( +2 "manipulator"&% +4 "core" % ϗ q +2 .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&o& +6 "core" &ӌ* Bf + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӌ* Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +102 "core" ' +2 "manipulator"&(& +4 "core" &Ӥ%   >N +2 "manipulator"&k% +4 "core" %E b +2 "collection"'Z& +4 "core" & \ +2 "collection"'n& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'Y(\\ +5 "core" & \  +8 &4{ \ *z +9 &g| \ > +10 &l T\ L +9 &ZU \ J +9 &U p\ K +10 &Y i\ K +9 &R \ K +9 &bT \ J +10 &#W i\ K +9 &W K\ K +10 & X |\ K +9 &"iS x\ K +9 &$,T U\ J +10 &%U {\ J +9 &'U y\ K +9 &)pW y\ K +10 &+3S \ K +9 &,U ~\ J +10 &.U |\ K +9 &0yT {\ K +9 &2<T {\ J +10 &3U |\ K +9 &5Y \ K +9 &7U \ J +10 &9CU \ K +9 &;X \ K +10 &<T \ K +9 &>V y\ K +9 &@JY \ K +10 &B W \ K +9 &C] \ K +9 &Eg\ \  \ M +10 &GJr\ \ O\ N +9 &I\ \ w\ Q +10 &J\ +\ ' \ V +9 &Lw\ ,\ ,\ V +9 &N7\ '\ *p\ W +10 &O\ )\ *\ X +9 &Q\ '\ &Q\ X +9 &Sy\ %\ *\ Y +10 &U9\ (\ '\ Y +9 &V\ &\ &;\ Y +10 &X\ #\ &\ [ +9 &Z{\ $\ %w\ [ +9 &\\y\ %\ %\ . +10 &\\7\ #\ &t\ "j +9 ( + &\\m\ #\ #s\ K +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&z1 +61 "core" 1 +3 "manipulator"&s% +3 "core" % E  W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%Q& +3 "core" &D\ +2 "manipulator"&T% +4 "core" %  " +2 "storage"(h% +3 "core" % . - \  +2 "storage"(4. +3 "core" .( +2 "storage"(& +4 "core" & # + \\\ +2 "storage"(?& +3 "core" & $ - ?\ +2 "manipulator"&$& +4 "core" &Ӥ% >N +2 "manipulator"&u% +4 "core" %   " +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&5( +166 "core" ( + "manipulator"&K& +4 "core" & g  +2 "storage"(!& +4 "core" & E F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&/'7 +94 "core" ' + "storage"(]& +51 "core" & S M 3\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (i& +3 "core" & / . j\ +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&r( +4 "core" ( + "manipulator"&2& +4 "core" &  +2 "storage"(e& +4 "core" & ' '\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&_'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(^' +8 "core" & /  +2 "manipulator"& % +3 "core" % ϥ " +2 .tForearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&& +5 "core" & _ < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &  < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&>' +92 "core" ' +2 "manipulator"&X& +3 "core" & < +2 "manipulator"&% +4 "core" % +2 "processing"%y& +4 "core" &\ +3 "processing"%& +5 "core" &F\ +2 .tPC.seek :closed +2 "processing"%w(^ +3 "core" &L\ +8 &8M\ #c +9 &TxK\ 6 +10 &yD\ K +9 &RD\ M +9 &bU@\ M +10 &$S>\ M +9 &WF\ N +10 &U4\ M +9 &jU=\ M +9 &-X9\ M +10 &U@\ M +9 &!U7\ N +9 &#rU7\ M +10 &%4R7\ M +9 &&W;\ N +10 &(U;\ M +9 &*zVB\ M +9 &,;V>\ N +10 &-T@\ M +9 &/YA\ M +9 &1XB\ M +10 &3DWA\ M +9 &5U@\ N +10 &6XA\ M +9 &8Y>\ M +9 &:LR;\ M +10 &<V9\ M +9 &=W?\ N +9 &?TA\ M +10 &ASW;\ N +9 &C_<\ N +10 &DbA\ O +9 &Fm7\ P +9 &HO{=\ R +10 &J <\ S +9 &K<\ T +9 &M@\ T +10 &OP8\ T +9 &Q<\ T +10 &R;\ U +9 &T5\ U +9 &VW4\ T +10 &X3\ T +9 &Y4\ U +9 &[3\ T +10 &]]4\ B +9 &^P}2\ C +10 &^<\ U +9 &^-9\ 4 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&D1 +58 "core" 1 +2 "manipulator"&m% +3 "core" %   h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +91 "core" ' +2 "processing"%l& +4 "core" &^,\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"& % +4 "core" %  \ !  +2 "storage"(% +3 "core" % ! %\  +2 "storage"(H. +3 "core" .( +2 "storage"(& +4 "core" & ( '\ +2 "storage"('& +4 "manipulator"&)& +4 "core" & ' '\ + &   < +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(M'r +2 "manipulator"&f( +7 "core" ( + "manipulator"&U& +4 "core" &    < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &  ' v < +3 .tForearm.seek PC + "manipulator"&+' +93 "core" ' + .tHand.close +2 "manipulator"&[/ +56 "core" / +2 .tPC.seek :open +2 "processing"%9( +93 "core" ' + "storage"(E- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'1 +47 "core" ' +303 ( +2 "storage"(b& +3 "core" & I P T\ +2 "manipulator"&\\& +4 "core" &  < +2 "manipulator"&p% +49 "core" %  O +4 .tForearm.seek :retract +2 "manipulator"&-' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +248 "core" ( + "manipulator"&`& +5 "core" & C + "storage"("& +4 "core" & & '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&8'7 +96 "core" ' +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(L' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(:& +4 "core" & x G\ +2 "manipulator"&|& +3 "core" &  C +2 .tElbow.seek 3 +2 "manipulator"&G( +4 "core" ( + "manipulator"&,& +4 "core" &   I C +2 "storage"(& +4 "core" & d d s\ +3 .tForearm.seek 3 + 450 counts + "manipulator"&}'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(@'" +58 "core" ' + "manipulator"&O& +4 "core" & C +2 "storage"(S& +4 "core" & " + \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'u +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(W' +28 "core" ' +2 "manipulator"&d% +4 "core" %΅  +2 "storage"(j& +3 "core" & - #\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&P'ϱ +14 "core" ' + "manipulator"&A& +4 "core" & C +2 "storage"(C& +4 "core" & * > \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' + "storage"(g% +4 "core" % 3 E r\ +3 ."downElevator"SE.seek :down +3 "storage"(=' +99 (3% +3 "core" %gY L \ Yk +2 "manipulator"&&% +3 "core" %& K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (v& +3 "core" & :  5\ +2 "collection"'N& +3 "core" &\\m\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&\ % +3 "core" %    +2 "storage"(I% +4 "core" % G F #\  +2 "storage"(;. +3 "core" .( +2 "storage"(B& +3 "core" & P I @\ +2 "storage"(& +4 "core" & H G 9\ +2 "manipulator"&0& +4 "core" & C +2 .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&& +3 "core" & B C +2 "storage"(a& +4 "core" & I F B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&#'7 +97 "core" ' +2 "storage"(& +3 "core" & U T |\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +3 "core" & C +2 "storage"( & +5 "core" & ' ) C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +48 "manipulator"&'u +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"((- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(k'j +28 "core" ' + "manipulator"&Z% +4 "core" %w )  +2 "storage"(R& +4 "core" & % & *\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&<'ϣ +14 "core" ' +2 "manipulator"&J& +3 "core" & C +3 "storage"(& +4 "core" & P I 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&z'7 +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(s' +35 "core" ' + "manipulator"&Q& +4 "core" & C +2 "manipulator"&T% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +148 "core" ( +3 "manipulator"&& +3 "core" &z-   Du +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &z-  9 Du +2 .tForearm.seek CC +2 "manipulator"&?'? +96 "core" ' + .tHand.close +2 "manipulator"&$/ +53 "core" / +2 .tCC.seek :open +2 "collection"'u( +450 "core" ( + "storage"(& +5 "core" & k k \ +2 "storage"(K& +3 "core" & k j \ +2 "manipulator"&!& +4 "core" &Ӯ$ " =A +2 "manipulator"&]% +3 "core" % : Z +3 .tForearm.seek :retract +2 "manipulator"&t' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( + "manipulator"&1& +4 "core" & ;  +2 "storage"(i& +3 "core" & k g \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +94 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&e1 +55 "core" 1 +2 "manipulator"&% +5 "core" % r  $  + "storage"(V& +4 "core" & j j \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"& 'Ϟ +15 "core" ' + "manipulator"&5& +5 "core" & \ 9  + "storage"(/& +4 "core" & u\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' +2 "storage"(_% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (6% +3 "core" %M A 8 \ Wd +2 "manipulator"&r% +4 "core" % W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&y% +4 "core" %   n  +2 "storage"(^% +4 "core" % j k \  +2 "storage"(*. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(c(,y +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" &,x Q H \  +3 "manipulator"&m& +3 "core" & v  +2 .tElbow.seek 4 +2 "manipulator"&l( +49 "core" ( +3 "manipulator"& & +3 "core" &  M  +2 "storage"(& +4 "core" &,x q h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +93 "core" ' +2 "storage"(& +4 "core" &,x \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +296 "core" ' +2 "storage"()- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" &,m w c C\  +3 "manipulator"&U& +3 "core" & q  +3 .tElbow.seek 4 + "manipulator"&F( +8 "core" ( +2 "manipulator"&>& +3 "core" &  , z +2 "storage"([& +4 "core" &,m g j N\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&E'c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& +2 "storage"(w' +8 "core" & j z + "manipulator"&M% +4 "core" % e +2 .tForearm.seek :retract +2 "manipulator"&b' +99 "core" ' +2 .tElbow.seek CC + "manipulator"&\\(ӂ +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&p& +4 "core" &ӕ# " <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &ӕ# & <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&`'? +93 "core" ' +2 "manipulator"&"& +3 "core" &Ӗ# 1 <? +2 "manipulator"&f% +5 "core" %E G E + "collection"'& +4 "core" & \ +3 "collection"'& +4 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & \ +7 & \ : +9 &LMx \ 0 +10 &v} \ E +9 &.W \ K +9 &T \ K +10 &T \ K +9 &uU \ K +9 &7Y \ K +10 &S \ K +9 &U \ J +9 &}U \ K +10 &!?X \ K +9 &#R \ K +10 &$U \ J +9 &&U \ K +9 &(GY \ K +10 &* T \ K +9 &+R S\ K +9 &-T \ K +10 &/OX \ K +9 &1W U\ K +10 &2S I\ K +9 &4U \ J +9 &6WU \ K +10 &8Y \ K +9 &9U \ J +9 &;U \ J +10 &=_U \ K +9 &? X \ K +10 &@W \ K +9 &B[ \ L +9 &Dc` \ L +10 &F#i\ \ \ M +9 &Gy\ \ \ O +10 &I\ \ \ S +9 &KL\ /\ /\ W +9 &M \ 0\ /\ W +10 &N\ ,\ ,\ X +9 &P\ +\ ,\ Y +9 &RQ\ +\ +\ X +10 &T\ )\ +\ Y +9 &U\ (\ (\ Z +10 &W\ %\ '\ [ +9 &YO\ %\ &\ [ +9 &[\ '\ '\ [ +10 &\\dG\ )\ '\ 3 +9 &\\\ %\ '\ L +5 ( +2 "collection"'& +4 "core" &\\m\ "\ #\ L +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&:1 +64 "core" 1 +2 "manipulator"&|% +4 "core" % E = E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%-& +4 "core" &\ +2 "manipulator"&% +3 "core" %  h  +2 "storage"(O% +4 "core" % ' $ \  +2 "storage"(S. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(q(,y +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &,} # + D\ +3 "manipulator"&j& +3 "core" &ӯ P 9& +2 "manipulator"&A% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&C( +161 "core" ( +2 "manipulator"&~& +4 "core" &   +2 "storage"(g& +3 "core" &,} T T Z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(8& +4 "core" &,} O = @\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +295 "core" ' +48 "storage"(3- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &,m - . \ +2 "manipulator"&}& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&G( +4 "core" ( + "manipulator"&@& +4 "core" &   +2 "storage"( & +3 "core" &,m ' &\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&P'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& +3 "storage"(\ ' +5 "core" &  +3 "manipulator"&I% +3 "core" % _  +3 .tForearm.seek :retract +2 "manipulator"&;' +96 "core" ' + .tElbow.seek PC +2 "manipulator"&W( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&B& +3 "core" & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0' +101 "core" ' + "manipulator"&& +4 "core" & +2 "manipulator"&a% +4 "core" % ) +2 "processing"%& +4 "core" &E\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%=(^ +3 "core" &C\  +9 &4yE\ *x +9 &d}M\ > +10 &pD\ N +9 &DTC\ M +10 &UG\ N +9 &TC\ M +9 &UC\ M +10 &JUB\ N +9 & UB\ M +9 &R>\ M +10 & W?\ M +9 &"SU;\ M +10 &$T8\ M +9 &%U=\ M +9 &'U8\ M +10 &)[Q4\ M +9 &+W3\ M +9 &,V:\ N +10 &.T7\ M +9 &0cT;\ M +10 &2%R<\ M +9 &3W5\ M +9 &5V?\ N +10 &7kU=\ M +9 &9,TA\ N +9 &:W8\ N +10 &<X;\ M +9 &>sZ@\ M +10 &@4U@\ N +9 &A[@\ N +9 &Cd=\ O +10 &Etm8\ P +9 &G1v>\ Q +9 &H@\ S +10 &J@\ S +9 &Lq?\ S +10 &N18\ T +9 &O3\ T +9 &Q7\ U +10 &Sw8\ T +9 &U88\ T +9 &VA\ U +10 &X8\ T +9 &Z}:\ U +10 &\\>;\ U +9 &]{s5\ 8 +9 &^0>\ I +10 &^7\ * +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +3 "core" %   " * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 "processing"%o& +3 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +3 "core" %     +2 "storage"((% +4 "core" % ' ( \  +2 "storage"(Z. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(R(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (J& +3 "core" &,| ' , E\ +3 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Q'r +2 "manipulator"&T( +6 "core" ( +2 "manipulator"&#& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +4 "core" &  7 +2 .tForearm.seek PC +2 "manipulator"&{' +95 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%<( +85 "core" ' +2 "storage"(k- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +318 ( + "storage"(n& +4 "core" &,k 3 E ^\  +2 "manipulator"&z& +3 "core" & +2 "manipulator"&% +4 "core" %  6 +42 .tForearm.seek :retract +9 "manipulator"&$' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&h( +241 "core" ( + "manipulator"&Y& +5 "core" & D ? + "storage"(& +5 "core" &,k . - z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +96 "core" ' +2 .tHand.open +2 "manipulator"&!1 +54 "core" 1 +2 "storage"(]- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(i' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(4& +4 "core" &,k m #\  +2 "manipulator"&e& +3 "core" &   ? +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&V& +5 "core" &   ? + "storage"(5& +4 "core" &,k d d J\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&/' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(_'" +51 "core" ' +2 "manipulator"&t& +3 "core" & ? +2 "storage"(6& +4 "core" &,k ( - s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&r'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&% +4 "core" %K ? +2 "storage"(y& +4 "core" &,k - . #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"& 'w +14 "core" ' + "manipulator"&^& +4 "core" & V > +2 "storage"(*& +4 "core" &,k $ # \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&s' +16 "core" ' + "storage"(% +4 "core" % F F \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (x% +4 "core" %O   X\ Xg +2 "manipulator"&D% +4 "core" % @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &,k 7 - \  +2 "collection"'& +4 "core" &\\b\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %   +2 "storage"(2% +4 "core" % E F \  +2 "storage"(X. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"()(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,y H G -\ +2 "manipulator"&U& +4 "core" &  > +2 .tElbow.seek 4 +2 "manipulator"&>( +4 "core" ( +2 "manipulator"&[& +4 "core" & > +2 "storage"(.& +3 "core" &,y O F 4\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +92 "core" ' +2 "storage"(M& +3 "core" &,y 7 L \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'r +295 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" &  > +2 "storage"(+& +4 "core" &,m * (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +43 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&''7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(f'u +29 "core" ' + "manipulator"&% +4 "core" %. M  +2 "storage"(F& +4 "core" &,m % * R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 291 counts +2 "manipulator"&w'Z +14 "core" ' +2 "manipulator"&b& +3 "core" & > +2 "storage"(u& +5 "core" &,m 3 A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(|' +36 "core" ' +2 "manipulator"&-& +4 "core" & > +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +99 "core" ' + .tElbow.seek CC +2 "manipulator"&S(ӂ +148 "core" ( +2 "manipulator"&& +4 "core" &y- D{ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &y- ! D{ +2 .tForearm.seek CC +2 "manipulator"&j'? +96 "core" ' + .tHand.close +2 "manipulator"&A/ +58 "core" / +2 .tCC.seek :open + "collection"'`( +447 "core" ( +2 "storage"(~& +3 "core" &,m ; M \  +2 "storage"(g& +5 "core" &,m M S 8\  + "manipulator"&c& +4 "core" &Ӹ# << +2 "manipulator"&8% +4 "core" % *  +2 .tForearm.seek :retract +2 "manipulator"&\\' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&,( +163 "core" ( +2 "manipulator"&3& +3 "core" & H  +2 "storage"(&& +4 "core" &,m ` j w\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&}'7 +100 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +57 "core" 1 +2 "manipulator"&v% +4 "core" % 6  \ +2 "storage"(N& +3 "core" &,m \\ ] S\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 299 counts + "manipulator"&I'b +13 "core" ' + "manipulator"&C& +4 "core" & \ A  +2 "storage"(& +4 "core" &,m o y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&L' +16 "core" ' +2 "storage"(P% +3 "core" % w\ +3 ."downElevator"SE.seek :down +4 "storage"(B' +98 (% +3 "core" %C k m \ V_ +2 "manipulator"&G% +5 "core" % } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'a& +3 "core" & \ +2 "manipulator"&% +4 "core" %  3  +2 "storage"(\ % +4 "core" % f\  +2 "storage"(;. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(9(<- +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<, Q J \  +2 "manipulator"&& +4 "core" & a  +48 .tElbow.seek 5 +2 "manipulator"&o( +4 "core" ( + "manipulator"& & +4 "core" & C  +2 "storage"((& +4 "core" &<, j i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +101 "core" ' +2 "storage"(& +3 "core" &<, <\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'r +297 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (#& +3 "core" &<, a k \  +2 "manipulator"&%& +3 "core" & J  +2 .tElbow.seek 5 +2 "manipulator"&0( +4 "core" ( +2 "manipulator"&& +3 "core" &  ?  +2 "storage"(q& +4 "core" &<, j l \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&k'Ϲ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(=' +8 "core" & Y  + "manipulator"&Q% +4 "core" % ϳ   +2 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&z(ӂ +156 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +7 "core" &ӎ& ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &ӎ&  ?V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Y'? +100 "core" ' +3 "manipulator"&& +3 "core" &Ӗ% W >N +2 "manipulator"&T% +4 "core" %?  +2 "collection"'!& +5 "core" & \ +2 "collection"']& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'?(\\ +5 "core" & \ +6 &< \ %f +9 &Z| \ 8 +9 & u \ K +10 &R \ J +9 &U \ K +9 &QY \ K +10 &T \ K +9 &U \ J +9 &U \ K +10 &YX \ K +9 & S \ K +10 &!S \ K +9 &#T \ K +9 &%bU \ J +10 &'#U \ K +9 &(Y \ K +10 &*T \ K +9 &,iT \ K +9 &.,U \ J +10 &/U \ K +9 &1X \ K +9 &3qT \ K +10 &54U \ J +9 &6V \ K +9 &8Y \ K +10 &:zU \ J +9 &<<V \ J +10 &=U \ K +9 &?U \ K +9 &AW \ K +10 &CA_ \ L +9 &Eg\ \ M +9 &Fk\ \ \ M +10 &Hy\ \ \ P +9 &J/\ '\ !\ U +10 &K\ -\ /\ V +9 &M\ ,\ -\ W +9 &Om\ -\ .\ W +10 &Q/\ *\ *\ W +9 &R\ (\ *\ X +9 &T\ )\ +\ Y +10 &Vn\ *\ (\ Z +9 &X0\ )\ )\ Z +10 &Y\ %\ (\ [ +9 &[\ (\ '\ H +9 &\\/\ '\ (\ 0 +10 &\\c\ %\ %\ L +2 ( +2 "collection"']& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&41 +59 "core" 1 +2 "manipulator"&e% +4 "core" % ? ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%5& +3 "core" &\ +2 "manipulator"&$% +4 "core" %   +2 "storage"(t% +4 "core" % $ % ^\  +2 "storage"(6. +2 "core" .(<- +2 "storage"(& +4 "core" &<, $ # &\  +2 "storage"(y& +3 "core" &<, $ $ h\  +2 "manipulator"&& +5 "core" &Ӯ" ;6 + "manipulator"&^% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&*( +166 "core" ( + "manipulator"&1& +5 "core" & #  + "storage"(& +4 "core" &<, T T ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +91 "core" ' + "storage"(K& +4 "core" &<, P > 3\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +298 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +48 "storage"(#QK-0-\ b +5 (D& +3 "core" &<, G Q R\  +2 "manipulator"&/& +3 "core" & f  +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&_& +3 "core" & +  +2 "storage"(r& +4 "core" &<, T U x\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" & H  + "manipulator"&2% +4 "core" % ϱ w +2 .tForearm.seek :retract +2 "manipulator"&X' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&& +5 "core" & + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &U& +2 "core" & \ + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&[' +93 "core" ' +2 "manipulator"&.& +3 "core" & ) + +3 "manipulator"&s% +3 "core" % ] l +2 "processing"%M& +5 "core" &\ +2 "processing"%& +6 "core" &E\ +2 .tPC.seek :closed +3 "processing"%R(^ +2 "core" &E\ +7 &6G\ #b +10 &V|F\ 6 +9 &~zE\ K +9 &RC\ M +10 &dUC\ M +9 &&RF\ M +10 &U?\ M +9 &RC\ M +9 &mSB\ M +10 &-UA\ N +9 &T?\ M +9 &!T?\ M +10 &#uR:\ M +9 &%6U3\ M +9 &&U6\ M +10 &(RA\ M +9 &*|U7\ M +10 &,>V:\ M +9 &.R9\ M +9 &/W9\ M +10 &1V5\ N +9 &3GU7\ M +9 &5U3\ M +10 &6W4\ M +9 &8W7\ M +10 &:OS:\ M +9 &<Y7\ M +9 &=W9\ M +10 &?U?\ M +9 &AUV;\ N +10 &CaA\ O +9 &Dd7\ O +9 &Fq9\ P +10 &HO;\ R +9 &J>\ S +9 &K<\ S +10 &M4\ S +9 &OS5\ T +10 &Q4\ T +9 &R7\ T +9 &T5\ U +10 &VZ8\ T +9 &X8\ U +9 &Y8\ U +10 &[;\ U +9 &]`7\ B +9 &^Du8\ [ +10 &^65\ 2 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +4 "core" &^%4\ 2 +58 1 + "manipulator"&m% +4 "core" %    l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +92 "core" ' +2 "processing"%p& +3 "core" &^%4\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&+% +3 "core" %      +2 "storage"("% +4 "core" % . - \  +2 "storage"(. +3 "core" .(<- +2 "storage"(F& +4 "core" &<, . - Y\  +2 "storage"(b& +2 "manipulator"&u& +8 "core" &<, , (\  + &  + +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&-( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&7& +4 "core" &  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" & )  + +2 .tForearm.seek PC +2 "manipulator"&l' +93 "core" ' + .tHand.close +2 "manipulator"&'/ +58 "core" / +2 .tPC.seek :open + "processing"%w( +95 "core" ' + "storage"(f- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +306 ( + "storage"(d& +4 "core" &<, G G 4\  +2 "manipulator"&:& +3 "core" & + +2 "manipulator"&E% +4 "core" %  b D +2 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&O( +292 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(~& +3 "core" &<, F G +\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&g'O +95 "core" ' + .tHand.open +2 "manipulator"&c1 +55 "core" 1 +2 "storage"(8- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(3' +24 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(&' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(j- +3 "core" -' +2 "storage"(S& +3 "core" &<, s s +\  +2 "manipulator"& & +3 "core" &  \  +3 .tElbow.seek 5 +2 "manipulator"&v( +9 "core" ( + "manipulator"&N& +4 "core" &    +2 "storage"(C& +4 "core" &<, f e \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(P'" +52 "core" ' +2 "manipulator"&\\& +4 "core" & -  +2 "storage"(& +3 "core" &<, > ( \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&G'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(}' +19 "core" ' + "manipulator"&a% +4 "core" %Θ +2 "storage"(I& +4 "core" &<, ' * \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&\ & +3 "core" &  +3 "storage"(;& +3 "core" &<, I T ;\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +15 "core" ' +2 "storage"(L% +3 "core" % S T b\ +3 ."downElevator"SE.seek :down +3 "storage"(B' +99 ()% +4 "core" %@O ! %\ Wd +2 "manipulator"&% +5 "core" %B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &<, 8 2 \  +2 "collection"'(& +4 "core" &\\a\ \ \ L + "Can"&\ L 8 +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  9  +2 "storage"(@% +3 "core" % T S =\  +2 "storage"(. +3 "core" .(<- +2 "storage"(& +5 "core" &<, T T \  + "storage"(#& +4 "core" &<, T Q L\  +2 "manipulator"&%& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&( +9 "core" ( + "manipulator"&q& +4 "core" & +2 "storage"(W& +4 "core" &<, U T 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +94 "core" ' +2 "storage"(Q& +3 "core" &<, F Q F\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +296 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 9 +2 "storage"({& +3 "core" &<, S S 3\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&J'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +49 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(T'w +30 "core" ' + "manipulator"&0% +5 "core" %Ξ + "storage"(!& +4 "core" &<, S I K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&=' +14 "core" ' +2 "manipulator"&n& +3 "core" & +2 "storage"(`& +4 "core" &<, J Q U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(e' +42 "core" ' +2 "manipulator"&5& +4 "core" & & +2 "manipulator"&$% +4 "core" %J ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &ә" 9 ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &ә" ;4 +3 .tForearm.seek CC + "manipulator"&]'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'^( +447 "core" ( + "storage"(Y& +4 "core" &<, j j \  +2 "storage"(1& +3 "core" &<, f j V\  +3 "manipulator"&& +3 "core" &Ӯ  8 +2 "manipulator"&K% +4 "core" % 6 >  +2 .tForearm.seek :retract +2 "manipulator"&z' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&V( +162 "core" ( + "manipulator"&x& +5 "core" &  T  + "storage"(D& +4 "core" &<, l i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&/'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +53 "core" 1 +2 "manipulator"& % +4 "core" % ΐ   " +2 "storage"(& +4 "core" &<, _ g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts +2 "manipulator"&2'ϼ +13 "core" ' +2 "manipulator"&*& +4 "core" &  \  +2 "storage"(h& +3 "core" &<, B\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +16 "core" ' +2 "storage"( % +4 "core" %  C\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (U% +3 "core" %D P k l\ V_ +2 "manipulator"&% +4 "core" %9 n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'s& +3 "core" & \ +2 "manipulator"&M% +5 "core" % \  &  +3 "storage"(% +3 "core" % \  +2 "storage"(X. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(<( +678 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" & l k \ +2 "manipulator"&m& +5 "core" & J  +2 .tElbow.seek 3 + "manipulator"&p( +37 "core" ( + "manipulator"&+& +4 "core" &   0 +2 "storage"("& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +136 "core" ' +2 "storage"(F& +3 "core" & 6\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (b& +3 "core" & m k Y\ +2 "manipulator"&7& +3 "core" & R 0 +2 .tElbow.seek 3 +2 "manipulator"&>( +4 "core" ( + "manipulator"&[& +4 "core" & o 0 +2 "storage"('& +4 "core" & _ f w\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&f'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(R' +7 "core" & 0 + "manipulator"&% +5 "core" % Ϙ h +2 .tForearm.seek :retract + "manipulator"&d' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +155 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&E& + "storage"(5 +8 "core" &Ә  :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &Ә! :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 "manipulator"&~& +4 "core" &Ә! 4 :/ +2 "manipulator"&-% +4 "core" %? @  +2 "collection"'c& +4 "core" & \ +2 "collection"'8& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'j(\\ +5 "core" & \  +8 &4{ \ *z +9 & g| \ > +10 &l \ L +9 &XS \ K +9 &U \ K +10 &T \ K +9 &T \ K +10 &aW \ K +9 &"U \ K +9 &U \ K +10 & R \ K +9 &"jT \ J +9 &$+U \ K +10 &%Y \ K +9 &'T \ K +9 &)qU \ K +10 &+3X \ K +9 &,X \ K +10 &.U \ J +9 &0yV \ K +9 &2;X \ K +10 &3U \ J +9 &5U \ K +9 &7U \ J +10 &9CU \ K +9 &;U \ J +10 &<U \ K +9 &>T \ K +9 &@JV \ K +10 &B W \ K +9 &C] \ K +9 &Ef\  \ M +10 &GIr\ \ \ N +9 &I\ \ \ Q +10 &J\ )\ '\ V +9 &Lw\ -\ ,\ V +9 &N7\ +\ *\ W +10 &O\ (\ (\ X +12 &Q\ '\ '\ W +6 &Sy\ &\ &\ Y +10 &U:\ (\ %\ Y +9 &V\ $\ %\ Z +10 &X\ $\ &\ [ +9 &Zz\ %\ %\ [\ +9 &\\{\ #\ $\ / +10 &\\7\ $\ &\ !g +9 ( + &\\h\ $\ #\ I +2 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&S1 +62 "core" 1 +2 "manipulator"& % +4 "core" % ?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%C& +4 "core" &\ +2 "manipulator"&A% +4 "core" %    +2 "storage"(\\% +3 "core" % P R M\  +2 "storage"(. +4 "core" .( + "storage"(a& +4 "core" & S S 6\ +2 "storage"(I& +3 "core" & R R [\ +2 "manipulator"&& +4 "core" &ӥ 8" +2 "manipulator"&\ % +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&;( +162 "core" ( +2 "manipulator"&3& +4 "core" &  +2 "storage"(L& +3 "core" & U P n\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&O'7 +93 "core" ' +2 "storage"(g& +4 "core" & J F \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'r +295 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & ' # 8\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&P& +3 "core" &  +2 "storage"(G& +4 "core" & F I A\ +49 .tForearm.seek 3 + 300 counts +3 "manipulator"& 'ϡ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& +2 "storage"(' +8 "core" & -  + "manipulator"&@% +4 "core" % ϩ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&& +4 "core" & 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" & 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&%' +94 "core" ' + "manipulator"&q& +4 "core" &   0 +2 "manipulator"&W% +5 "core" % W V + "processing"%|& +4 "core" &\ +3 "processing"%Q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%B(^ +4 "core" &F\ +8 &6F\ $d +9 &Uv\ 6 +10 &y\ K +9 &Q\ M +10 &aV;\ M +9 &#S\ M +9 &S\ M +10 &T\ N +9 &iS6\ M +9 &+W\ M +10 &U5\ N +9 &!TB\ M +10 &#qR\ M +9 &%3WD\ M +9 &&V\ M +10 &(S\ M +9 &*yV@\ M +9 &,:VE\ N +10 &-T\ M +9 &/X?\ M +10 &1W@\ M +9 &3BU\ N +9 &5UB\ M +10 &6X\ M +9 &8Y3\ M +9 &:KR6\ M +10 &< T>\ N +9 &=W2\ N +10 &?T:\ M +9 &ARU7\ N +9 &C^5\ N +10 &Db3\ O +9 &FmB\ P +9 &HM}H\ R +10 &J\ ;\ T +9 &K4\ S +10 &MA\ T +9 &OO7\ T +9 &QF\ T +10 &RA\ T +9 &T?\ U +9 &VVI\ T +10 &X8\ T +9 &YA\ U +10 &[A\ U +9 &]\\5\ B +9 &^N|9\ F +10 &^<;\ : +2 ( +2 "processing"%Q& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&,1 +52 "core" 1 +2 "manipulator"&% +3 "core" %   V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +91 "core" ' + "processing"%& +4 "core" &^6\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&{% +3 "core" %   :  +2 "storage"(% +4 "core" % * \ +2 "storage"(0. +3 "core" .( +2 "storage"(!& +3 "core" &  \ +3 "storage"(n& +2 "manipulator"&`& +7 "core" & % + Q\ + &  5 0 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&5( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"($'r +2 "core" ( +2 "manipulator"& & +6 "core" &   0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &   0 +2 .tForearm.seek PC +2 "manipulator"&o' +97 "core" ' + .tHand.close +2 "manipulator"&J/ +56 "core" / +3 .tPC.seek :open + "processing"%=( +89 "core" ' +2 "storage"(T- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +313 ( +2 "storage"(y& +3 "core" & - +\ +2 "manipulator"&4& +4 "core" & 0 +2 "manipulator"&k% +3 "core" %  / +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&t( +246 "core" ( + "manipulator"&?& +4 "core" & K ? +2 "storage"(Y& +3 "core" & * . \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&1'7 +95 "core" ' +2 .tHand.open + "manipulator"&1 +111 "core" 1 +3 "storage"(K- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(x' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(D' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +4 "core" -' + "storage"(6& +4 "core" & e e \ +2 "manipulator"&r& +4 "core" &    ? +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" &   - ? +2 "storage"(*& +3 "core" & o r 8\ +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&h'7 +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +60 "core" ' +2 "manipulator"&z& +3 "core" & > ? +2 "storage"(U& +4 "core" & ( 3 !\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +26 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(/' +28 "core" ' +2 "manipulator"&s% +4 "core" %΅ +2 "storage"(2& +3 "core" & - - n\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&M'ϱ +16 "core" ' +2 "manipulator"&& +3 "core" & I ? +2 "storage"(X& +4 "core" & F F +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&e'7 +16 "core" ' +2 "storage"(i% +3 "core" % F F (\ +3 ."downElevator"SE.seek :down +4 "storage"(' +100 (9% +2 "core" %AT J ]\ Yk +2 "manipulator"&% +5 "core" %2  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +96 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (+& +3 "core" & 6 ;\ +2 "collection"'"& +3 "core" &\\j\ \ \ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&F% +3 "core" % \   +2 "storage"(_% +4 "core" % Q S `\  +2 "storage"(.. +3 "core" .( +2 "storage"(u& +3 "core" & I Q T\ +2 "storage"(b& +4 "core" & H F d\ +2 "manipulator"&7& +4 "core" & > +2 .tElbow.seek 3 +2 "manipulator"&[( +3 "core" ( + "manipulator"&'& +5 "core" & > + "storage"(& +4 "core" & S T X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&H'7 +93 "core" ' +2 "storage"(& +3 "core" & C P M\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" & ^ > +2 "storage"(l& +3 "core" & $ % <\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +19 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(-'i +29 "core" ' + "manipulator"&>% +4 "core" %΀   +2 "storage"(c& +3 "core" & F F I\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 311 counts + "manipulator"&R'Ϭ +14 "core" ' + "manipulator"&d& +43 "core" & ) > +9 "storage"(^& +4 "core" & F F +\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&S'7 +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"( ' +34 "core" ' +2 "manipulator"&C& +3 "core" & 7 > +2 "manipulator"&A% +4 "core" %) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +3 "manipulator"&a& +3 "core" &Ӓ" - ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &8& +3 "core" &Ӓ" N ;4 +2 .tForearm.seek CC +2 "manipulator"&I'? +101 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +447 "core" ( + "storage"(& +4 "core" & k k \ +2 "storage"(3& +3 "core" & K [ \ +2 "manipulator"&L& +4 "core" &ӣ  9# +2 "manipulator"&g% +3 "core" % C +3 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&N( +163 "core" ( +2 "manipulator"&)& +4 "core" &  +2 "storage"(& +3 "core" & g a \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'u +96 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&G1 +64 "core" 1 +3 "manipulator"&% +3 "core" % ~  J ! +2 "storage"((& +5 "core" & i j \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&@'Ϫ +14 "core" ' + "manipulator"&;& +5 "core" &  P  + "storage"(O& +4 "core" & m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&&'7 +17 "core" ' +2 "storage"( % +3 "core" % k k \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (#% +3 "core" %NH 9 < \ Vb +2 "manipulator"&v% +4 "core" %' o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q' +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'W& +3 "core" & \ +2 "manipulator"&|% +4 "core" %   +2 "storage"(% +3 "core" % h p \  +2 "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(w(,y +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &,v [ N #\ \ +2 "manipulator"&& +4 "core" &  )  +2 .tElbow.seek 4 +2 "manipulator"&( +28 "core" ( + "manipulator"&{& +4 "core" & W + +2 "storage"(& +4 "core" &,v j m \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&0' +94 "core" ' + "storage"(!& +4 "core" &,v d\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'r +297 "core" ' + "storage"(n- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +49 (Q& +4 "core" &,m ] ] %\  +2 "manipulator"& & +3 "core" &  + +3 .tElbow.seek 4 + "manipulator"&( +26 "core" ( +2 "manipulator"&%& +3 "core" & U  +2 "storage"(J& +4 "core" &,m j j \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&T'c +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(B' +8 "core" &   +2 "manipulator"&$% +3 "core" % \\ . +3 .tForearm.seek :retract +2 "manipulator"&y' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&4(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&k& +4 "core" &x/  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &x/ F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&?'? +93 "core" ' +2 "manipulator"&Y& +4 "core" &Ӟ(  Ac +2 "manipulator"&5% +4 "core" %L ? P +2 "collection"'& +4 "core" & \ +3 "collection"'K& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'(\\ +4 "core" & \ +5 & \ 9 +10 &MKu \ 1 +9 &x} \ E +9 &6Z \ K +10 &S \ K +9 &U \ J +9 &}U \ K +10 &?W \ K +9 &T \ K +10 &U \ J +9 &U \ K +9 &!GY \ K +10 &# Y \ K +9 &$U \ J +9 &&V \ J +10 &(OU \ K +9 &*X \ K +10 &+T \ K +9 &-U \ J +9 &/WW \ K +10 &1Y \ K +9 &2U \ J +9 &4U \ K +10 &6_X \ K +9 &8"U z\ J +10 &9U \ J +9 &;U \ K +9 &=gT \ K +10 &?*V \ J +9 &@X \ K +9 &B] \ K +10 &Dm`\ \ L +9 &F+l\ \ \ M +10 &Gz\ \ \ O +9 &I\ \ \ S +9 &KV\ /\ +\ V +10 &M\ 1\ /@\ W +9 &N\ ,\ -\ W +9 &P\ ,\ ,\ W +10 &RY\ ,\ ,\ X +9 &T\ *\ *\ X +10 &U\ (\ )\ Y +9 &W\ &\ &\ Z +9 &YY\ '\ '\ [ +10 &[\ '\ (\ [ +9 &\\jE\ '\ '\ 1 +9 &\\\ '\ '\ K +6 ( +2 "collection"'K& +3 "core" &\\b\ %\ %\ K +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&]1 +55 "core" 1 +2 "manipulator"&6% +4 "core" % L , P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&*% +3 "core" %  !  +2 "storage"(z% +5 "core" % - . W\  + "storage"(U. +4 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +3 "core" &,{ " $ 2\ +2 "manipulator"&2& +3 "core" &Ӵ% >M +2 "manipulator"&x% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +165 "core" ( + "manipulator"&X& +4 "core" &  +2 "storage"(i& +3 "core" &,{ S T o\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +98 "core" ' +2 "storage"(1& +4 "core" &,{ Q E 1\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +296 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,m / % )\ \ +2 "manipulator"&h& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(& +3 "core" &,m & %\ \ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&M'c +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +64 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(F' +9 "core" & Z  +2 "manipulator"&_% +3 "core" % u +3 .tForearm.seek :retract +2 "manipulator"&.' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&/( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&u& +4 "core" & 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" & T 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&7' +92 "core" ' + "manipulator"&'& +4 "core" & F 5 +2 "manipulator"&% +4 "core" %  +2 "processing"%e& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\  +9 &4x\ *x +9 &d{\ > +10 &yo\ N +9 &<R\ M +9 &Q\ M +10 &T\ N +9 &T\ M +10 &DQ\ M +9 &V\ M +9 &W\ M +10 & T5\ N +9 &"KT\ N +9 &$U\ M +10 &%P\ M +9 &'W\ M +10 &)ST\ N +9 &+T\ M +9 &,R\ M +10 &.T\ N +9 &0[T\ N +9 &2U\ N +10 &3T\ M +9 &5R=\ M +10 &7dRF\ M +9 &9&T\ M +9 &:U>\ M +10 &<UI\ M +9 &>kXE\ N +9 &@.TH\ M +10 &A]8\ N +9 &CdG\ O +10 &Emm?\ P +9 &G+vH\ Q +9 &H:\ T +10 &J9\ T +9 &LiH\ T +9 &N*H\ T +10 &O6\ T +9 &Q6\ T +10 &Sn\ U +9 &U0\ U +9 &V\ U +10 &XE\ T +9 &Zs4\ V +9 &\\8\ U +10 &]{s@\ : +9 &^*p\ L +10 &^(C\ 3 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&V1 +53 "core" 1 +2 "manipulator"&m% +3 "core" %   I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 "processing"%E& +3 "core" &^&D\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&l% +3 "core" % !   & +2 "storage"(~% +4 "core" % % !\ +2 "storage"(>. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(c(,y +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "manipulator"&^& +6 "core" &   5 + &,{ % ! V\ +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&C( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(A'r +2 "core" ( +2 "manipulator"&H& +4 "core" &   T 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &  5 +3 .tForearm.seek PC + "manipulator"&p' +94 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%R( +90 "core" ' + "storage"(-- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'1 +40 "core" ' +313 ( +2 "storage"(8& +3 "core" &,j 3 F g\ +2 "manipulator"&S& +3 "core" & E 5 +2 "manipulator"&f% +4 "core" %  } Q +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&\\( +244 "core" ( +2 "manipulator"&j& +4 "core" & / +2 "storage"(& +3 "core" &,j # ! 0\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +96 "core" ' +2 .tHand.open + "manipulator"&L1 +63 "core" 1 +9 "storage"(g- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"()' +32 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(I- +4 "core" -' + "storage"(& +4 "core" &,j T : ^\ +2 "manipulator"&G& +4 "core" & \  / +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&(& +4 "core" &  / +2 "storage"(;& +3 "core" &,j e e \ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +58 "core" ' +2 "manipulator"&:& +4 "core" & - / +2 "storage"(#& +3 "core" &,j . . *\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&v'7 +14 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&W% +3 "core" %E > +2 "storage"(@& +5 "core" &,j > * P\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&|'q +13 "core" ' +2 "manipulator"&& +4 "core" &  7 / +2 "storage"(& +3 "core" &,j G H &\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 "storage"(&% +3 "core" % T I \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (<% +4 "core" %dL ! %\ Wd +2 "manipulator"&,% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ({& +3 "core" &,j ? I \ +2 "collection"'& +5 "core" &\\a\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&!% +3 "core" %   +2 "storage"(P% +4 "core" % S T e\  +2 "storage"(q. +3 "core" .(,y +2 "storage"(n& +3 "core" &,j T T a\ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(Q(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &,| K G \ +2 "manipulator"&%& +4 "core" &  / +2 .tElbow.seek 4 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&}& +4 "core" & / +2 "storage"(Z& +3 "core" &,| T V ~\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +90 "core" ' + "storage"(& +4 "core" &,| E P h\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'r +295 "core" ' +2 "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&o& +3 "core" &  / +2 "storage"(`& +3 "core" &,m $ #\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&T'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(5- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +29 "core" ' +2 "manipulator"&% +3 "core" %F +2 "storage"(B& +3 "core" &,m * , 8\  +47 .tForearm.force -20 +3 "manipulator"&5 +4 .tForearm.seek 4 + 315 counts + "manipulator"&y'r +14 "core" ' +2 "manipulator"&\ & +3 "core" & / . +2 "storage"(]& +4 "core" &,m F F (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&*& +3 "core" &  . +2 "manipulator"&z% +4 "core" % * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +153 "core" ( +2 "manipulator"&s& +3 "core" &ӟ  , :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &ӟ  :1 +2 .tForearm.seek CC +2 "manipulator"&x'? +92 "core" ' + .tHand.close +2 "manipulator"&?/ +53 "core" / +2 .tCC.seek :open +2 "collection"'X( +446 "core" ( +2 "storage"(i& +3 "core" &,m k j \  +2 "storage"(w& +4 "core" &,m g j \  +2 "manipulator"&1& +5 "core" &Ӻ 7 + "manipulator"&4% +4 "core" % + +2 .tForearm.seek :retract +2 "manipulator"&r' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&9( +163 "core" ( + "manipulator"&& +4 "core" & \  F  +2 "storage"(h& +4 "core" &,m \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"& '7 +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&+1 +60 "core" 1 +2 "manipulator"&"% +5 "core" % !   1 + "storage"(_& +4 "core" &,m \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 278 counts +2 "manipulator"&'M +14 "core" ' + "manipulator"&t& +4 "core" &   +2 "storage"(D& +4 "core" &,m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&M' +27 "core" ' + "storage"(u% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(b' +99 ( % +3 "core" %D k k \ V` +2 "manipulator"&'% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'e& +4 "core" & \ +2 "manipulator"&F% +3 "core" % \  2  +2 "storage"(.% +4 "core" % \  +2 "storage"(=. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(V(<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" &<* F D X\  +2 "manipulator"&E& +3 "core" & i  +2 .tElbow.seek 5 +2 "manipulator"&l( +2 "core" ( +2 "manipulator"&~& +4 "core" & H  +2 "storage"(>& +4 "core" &<*  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' +2 "storage"(d& +3 "core" &<* \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +46 "storage"(^'r +22 "core" ' pX ~ { ]\ jb +3 !to:Slide::Error\ :@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positionip: velocityi: currentiX:pwmig:erri: inPressi~ : outPressi{ :deltaPressi] : voltagef13.251874324987728 z: @type2F: @tagic: mesg"6Storage Elevator overCurrent at down + 209 counts:@axisName"Storage Elevator:bt[ "2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/utils/puckmoves.rb:600:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:577:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"7/home/esp/esp2/lib/log.rb:442:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &ӑ% . >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&;'? +99 "core" ' +2 "manipulator"&:& +5 "core" &Ӓ% >L +2 "manipulator"&#% +3 "core" %H  +2 "collection"'W& +4 "core" & \ +3 "collection"'a& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'@(\\ +3 "core" & \ +9 &= \ $f +9 &Z{ \ 7 +10 &x \ K +9 &S \ K +9 &Y \ K +10 &KT \ K +9 & U \ K +10 &W \ K +9 &W \ K +9 &TV \ J +10 & U \ K +9 &!Y \ K +9 &#T \ K +10 &%\\T \ J +9 &'U \ K +10 &(X \ K +9 &*T \ K +9 &,dV \ J +10 &.%W \ K +9 &/U \ J +9 &1W \ K +10 &3kT \ K +9 &5-U \ K +10 &6X \ K +9 &8U \ J +9 &:sV \ K +10 &<5Y \ K +9 &=U \ J +9 &?W \ K +10 &A{X \ K +9 &C;[ <\ L +10 &Db\  \ L +9 &Fo\ \ \ N +9 &Hs\ \ \ P +10 &J)\ '\ \ U +9 &K\ -\ ,\ V +9 &M\ /\ +\ X +10 &Oe\ *\ ,\ X +9 &Q%\ ,\ +\ Y +10 &R\ +\ )\ X +9 &T\ +\ )\ Y +9 &Vg\ *\ )\ Z +10 &X$\ )\ )\ \\ +9 &Y\ '\ (\ \\ +9 &[\ *\ '\ H +10 &\\3\ (\ &\ / +9 &\\p\ &\ &\ M +2 ( +2 "collection"'a& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&% +4 "core" % H  N  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%&& +4 "core" &\ +2 "manipulator"&\\% +3 "core" %  6  +2 "storage"(3% +5 "core" % + % \  + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(<(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +3 "core" &<+\ \  \  +2 "manipulator"&O& +4 "core" &Ӭ! 7 ;2 +2 "manipulator"&% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +160 "core" ( +2 "manipulator"&v& +3 "core" &  +2 "storage"({& +51 "core" &<* S I )\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&|'O +93 "core" ' +3 "storage"(& +3 "core" &<* 9 < \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +298 "core" ' +2 "storage"(P- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (q& +3 "core" &<* 3 B m\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(%& +3 "core" &<* F F +\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&}'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(' +6 "core" &   +3 "manipulator"&% +3 "core" % ϱ * +3 .tForearm.seek :retract + "manipulator"&c' +94 "core" ' +3 .tElbow.seek PC + "manipulator"&N( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&& +4 "core" & N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &  N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&o' +92 "core" ' + "manipulator"&`& +4 "core" & N +2 "manipulator"&5% +4 "core" %  z +2 "processing"%& +3 "core" &\ +3 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (^ +4 "core" &\ +7 &=\ $d +10 &Wx\ 7 +9 &u\ K +9 &Q\ M +10 &kT\ N +9 &/Q\ M +10 &U\ N +9 &U\ N +9 &tS\ M +10 &6R\ M +9 &V\ M +9 &!R\ N +10 &#|U\ M +9 &%>R\ M +9 &'W\ M +10 &(U\ N +9 &*T\ M +10 &,FQ\ M +9 &. U\ M +9 &/V\ M +10 &1R\ M +9 &3NV\ M +10 &5U\ N +9 &6U\ N +9 &8V\ N +10 &:WQ1\ M +9 &<X\ N +9 &=V0\ N +10 &?T \ M +9 &A^W\ M +9 &Cb4\ O +10 &DdI\ O +9 &FnI\ Q +10 &HW\ R +9 &J7\ S +9 &K \ S +10 &M\ T +9 &OZ2\ T +10 &Q\ T +9 &R/\ T +9 &T8\ U +10 &Va\ T +9 &X!\ U +9 &Y7\ U +10 &[J\ U +9 &]hI\ B +9 &^@r9\ _ +10 &^0\ 0 +5 ( +2 "processing"%B& +4 "core" &^\ 0 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&]1 +60 "core" 1 + "manipulator"&*% +4 "core" %  z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +98 "core" ' +2 "processing"%$& +3 "core" &^K\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&J% +4 "core" %    ~ +2 "storage"(0% +3 "core" % $ ' \ \  +2 "storage"(T. +4 "core" .(<- + "storage"(y& +4 "core" &<* ' & "\  +2 "storage"(& +2 "manipulator"&s& +8 "core" &<* % &\  + &  N +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&2( +7 ."raiseStack"SE.seek :beamBreak + "storage"(6'r +3 "core" ( +2 "manipulator"&Y& +3 "core" &  * N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" & \  N +3 .tForearm.seek PC + "manipulator"&U' +89 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%i( +101 "core" ' +2 "storage"(w- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +47 ."raiseStack"SE.seek :place +5 "storage"(1'1 +46 "core" ' +248 ( + "storage"(4& +4 "core" &<* O F G\  +2 "manipulator"&& +4 "core" & ; N +2 "manipulator"&h% +4 "core" %  ! g +2 .tForearm.seek :retract +2 "manipulator"&x' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&K( +244 "core" ( +2 "manipulator"&+& +3 "core" & q 9 +2 "storage"("& +4 "core" &<* & % B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&_'O +97 "core" ' +2 .tHand.open + "manipulator"&t1 +64 "core" 1 +3 "storage"(D- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(r' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"('& +4 "core" &<* O _ K\  +2 "manipulator"&9& +4 "core" &   9 +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&e& +4 "core" &   : 9 +2 "storage"(& +3 "core" &<* "\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&F'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +55 "core" ' + "manipulator"&=& +4 "core" & G 9 +2 "storage"(& +3 "core" &<* J F Q\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&M'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +28 "core" ' +2 "manipulator"&m% +3 "core" %Ι +2 "storage"(E& +4 "core" &<* . - \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&~' +15 "core" ' + "manipulator"&>& +4 "core" &  6 +2 "storage"(d& +4 "core" &<* F F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +15 "core" ' +2 "storage"([% +4 "core" % F F &\ +3 ."downElevator"SE.seek :down +3 "storage"(7' +99 (% +3 "core" %]P\ \ * =\ Xh +2 "manipulator"&% +4 "core" %A +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<* / @\  +2 "collection"'& +4 "core" &\\m\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&l% +5 "core" %  Q  + "storage"(% +4 "core" % F F '\  +2 "storage"(A. +3 "core" .(<- +2 "storage"(H& +3 "core" &<* F F $\  +2 "storage"(8& +4 "core" &<* G F )\  +2 "manipulator"&S& +4 "core" & 6 +2 .tElbow.seek 5 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&j& +3 "core" & - 6 +2 "storage"(C& +4 "core" &<* F E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&L'O +92 "core" ' +2 "storage"(I& +4 "core" &<* T T u\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(/- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +42 "manipulator"&& +10 "core" & # 6 +2 "storage"((& +4 "core" &<* F I '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(:- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(#'w +38 "core" ' + "manipulator"&W% +5 "core" %Μ + "storage"(f& +4 "core" &<* $ $ $\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&g' +14 "core" ' +2 "manipulator"&& +3 "core" &  B 5 +2 "storage"(X& +4 "core" &<* E F %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&&& +4 "core" &  5 +2 "manipulator"&\\% +4 "core" %> C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( +2 "manipulator"&a& +5 "core" &Ӗ# <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &Ӗ# > <> +2 .tForearm.seek CC +2 "manipulator"&O'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"';( +450 "core" ( + "storage"(v& +4 "core" &<* j j \  +2 "storage"({& +4 "core" &<* H Z b\  +2 "manipulator"&V& +3 "core" &Ӱ  9$ +2 "manipulator"&G% +4 "core" % 8 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&)( +163 "core" ( +2 "manipulator"&P& +3 "core" &   +2 "storage"(q& +4 "core" &<* g a \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&%1 +63 "core" 1 +2 "manipulator"&Z% +3 "core" % {  > # +2 "storage"( & +4 "core" &<* o k 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 282 counts +2 "manipulator"&'ϧ +14 "core" ' + "manipulator"& & +4 "core" & \ >  +2 "storage"(|& +3 "core" &<* ~ H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +30 "core" ' + "storage"(}% +5 "core" % 7\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (k% +4 "core" %E j l \ Va +2 "manipulator"&n% +3 "core" %h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'5& +3 "core" & \ +2 "manipulator"&% +3 "core" %    +2 "storage"(% +4 "core" % o c\  +2 "storage"(c. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(R( +670 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" & m l \ +2 "manipulator"&*& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&$( +13 "core" ( +2 "manipulator"&J& +4 "core" &  P o +2 "storage"(0& +4 "core" & k k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&T'7 +93 "core" ' + "storage"(B& +4 "core" & g\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +300 "core" ' + "storage"(s- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & l j \ +2 "manipulator"&Y& +4 "core" &  b o +2 .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&o& +3 "core" &  t o +2 "storage"(& +4 "core" & j _ w\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&w'ϡ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&z& +2 "storage"(\ ' +6 "core" & s o +3 "manipulator"&4% +4 "core" %   V +2 .tForearm.seek :retract +2 "manipulator"&6' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&h& +4 "core" &ӟ  9 :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &ӟ  :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&+'? +104 "core" ' + "manipulator"&"& +5 "core" &ӟ! * :1 +2 "manipulator"&2% +4 "core" %9 h  +2 "collection"'t& +5 "core" & \ +2 "collection"'D& +4 "core" & \ +3 .tCC.seek :closed + "collection"' (\\ +5 "core" & \  +9 &3{ \ *y +10 &d~ \ = +9 &r \ K +9 &LU \ K +10 &Y \ J +9 &W \ K +9 &Y \ K +10 &UY \ J +9 &W \ K +10 &Y \ K +9 & Y \ J +9 &"]U \ J +10 &$U \ J +9 &%W \ K +9 &'Y \ K +10 &)eY \ K +9 &+(Y \ J +10 &,W \ K +9 &.Y \ K +9 &0mU \ K +10 &2/T \ K +9 &3U \ K +9 &5W \ J +10 &7vW \ J +9 &98W \ J +10 &:V \ K +9 &<Y \ K +9 &>}Z \ K +10 &@?U \ K +9 &AW \ K +9 &C\\ \ L +10 &Eg \ \ M +9 &G<q\ \ \ N +10 &H\ \ \ R +9 &J\ *\ '\ U +9 &Lg\ ,\ *\ X +10 &N*\ *\ *\ W +9 &O\ )\ '\ W +9 &Q\ '\ (\ X +10 &Sm\ '\ '\ X +9 &U*\ &\ %\ Z +10 &V\ $\ &\ Y +9 &X\ &\ &\ Z +9 &Zo\ %\ &\ Z +10 &\\v\ $\ &\ 7 +9 &\\(\ $\ $\ %n +9 &\\v\ #\ "\ Y +3 ( +2 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&'1 +54 "core" 1 +2 "manipulator"&9% +3 "core" % 9 3  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&x% +4 "core" %  )  +2 "storage"(=% +3 "core" % - , l\  +2 "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(1( +16 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +3 "core" & ' , ;\ +2 "manipulator"&E& +5 "core" &Ӡ   :0 + "manipulator"&u% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&>( +164 "core" ( +2 "manipulator"&d& +3 "core" & B  +2 "storage"([& +4 "core" & E E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&K'7 +89 "core" ' +10 "storage"(_& +3 "core" & S R \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +296 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & . . j\ +2 "manipulator"&F& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&.& +4 "core" &  \\  +2 "storage"(M& +4 "core" & - - k\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&~'ϡ +42 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(l' +6 "core" & T  +3 "manipulator"&% +3 "core" % ϲ I +3 .tForearm.seek :retract +2 "manipulator"&A' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&H& +3 "core" & 1 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" & 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +96 "core" ' +2 "manipulator"&j& +3 "core" &  2 +2 "manipulator"&C% +4 "core" % H z +2 "processing"%^& +4 "core" &\ +3 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed + "processing"%7(^ +4 "core" &\ +8 &=\ $d +9 &Vx\ 7 +9 &x\ L +10 &P\ M +9 &mW\ M +9 &0R\ M +10 &T\ M +9 &V\ M +10 &uT\ M +9 &8R\ M +9 &T\ M +10 &!Q\ M +9 &#}U\ M +9 &%@W\ M +10 &'U\ M +9 &(X\ M +10 &*U\ M +9 &,GU\ M +9 &.\ P\ M +10 &/U\ M +9 &1V\ M +9 &3PR\ M +10 &5U\ M +9 &6X\ M +10 &8W\ N +9 &:WU\ M +9 &<T\ N +10 &=V\ M +9 &?U\ M +9 &A]X\ N +10 &C_\ O +9 &Db\ O +11 &Fm\ P +8 &HZ~\ R +9 &J\ S +10 &K\ T +9 &M\ T +9 &O\\\ T +10 &Q\ T +9 &R\ T +10 &T\ U +9 &Vc\ T +9 &X#\ U +10 &Y\ V +9 &[\ T +9 &]i3\ B +10 &^<m9\ &p +9 &^'\ + +6 ( +2 "processing"%I& +3 "core" &^\ + +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&b1 +60 "core" 1 +2 "manipulator"&-% +3 "core" %    B z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +92 "core" ' +2 "processing"%& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&(% +4 "core" %    +2 "storage"(:% +4 "core" % & '\  +2 "storage"(W. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(f( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&X& +4 "core" & " & *\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  ) 2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(&'r + "manipulator"&\\( +6 "core" ( + "manipulator"&L& +4 "core" &  \ / 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &  2 +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +3 .tPC.seek :open + "processing"%g( +87 "core" ' +2 "storage"(#- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'1 +93 "core" ' +262 ( +2 "storage"(,& +4 "core" & ) 5 K\ +2 "manipulator"&& +3 "core" & % 2 +2 "manipulator"&% +4 "core" %  O & +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&3( +249 "core" ( +2 "manipulator"&@& +5 "core" & [ C + "storage"(v& +5 "core" & + ! \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&{'7 +100 "core" ' +2 .tHand.open + "manipulator"&V1 +55 "core" 1 +2 "storage"(G- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(P' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(q' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +3 "core" -' +2 "storage"(& +4 "core" & U @ _\ +2 "manipulator"&%& +4 "core" &    C +2 .tElbow.seek 3 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"& & +3 "core" &  \ C +2 "storage"( & +4 "core" & N X n\ +3 .tForearm.seek 3 + 450 counts + "manipulator"&|'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +58 "core" ' +2 "manipulator"&& +3 "core" & C +2 "storage"(k& +5 "core" & ( ' P\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&n'u +18 "core" ' +2 .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&% +3 "core" %Έ +2 "storage"(5& +4 "core" & % ' S\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&'ϴ +14 "core" ' +2 "manipulator"&& +3 "core" & C +3 "storage"(c& +3 "core" & ! & 2\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' +2 "storage"(!% +4 "core" % ( 4 \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (<% +3 "core" %dT J \ Xj +2 "manipulator"&]% +3 "core" %( ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +91 "core" ' +61 ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 (J& +3 "core" & ' ' Y\ +2 "collection"'0& +4 "core" &\\u\ \ \ Y +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&B% +4 "core" %   +2 "storage"( % +3 "core" % & %\  +2 "storage"(`. +4 "core" .( + "storage"(s& +4 "core" & # $\ +2 "storage"(& +4 "core" & * % 4\ +2 "manipulator"&Y& +3 "core" & B +2 .tElbow.seek 3 +2 "manipulator"&o( +4 "core" ( +2 "manipulator"&& +3 "core" & B +2 "storage"(N& +5 "core" & ) 0 \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&z'7 +93 "core" ' +2 "storage"(4& +3 "core" & I I <\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +296 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" & B +42 "storage"(U& +11 "core" & & !\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&y'u +20 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(2'i +30 "core" ' + "manipulator"&?% +4 "core" %y +2 "storage"(t& +3 "core" & - *\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&\ 'ϥ +14 "core" ' +2 "manipulator"&6& +3 "core" & / B +2 "storage"(;& +4 "core" & G J K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&''7 +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(9' +34 "core" ' +2 "manipulator"&& +3 "core" & \ B +2 "manipulator"&x% +5 "core" %& _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&=' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"&D& +4 "core" &Ӕ$ O =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &Ӕ$   =E +2 .tForearm.seek CC +2 "manipulator"&E'? +98 "core" ' +2 .tHand.close + "manipulator"&u/ +60 "core" / +2 .tCC.seek :open + "collection"'+( +450 "core" ( +2 "storage"(d& +4 "core" & V T (\ +2 "storage"([& +4 "core" & W T .\ +2 "manipulator"&R& +3 "core" &ӛ# <> +2 "manipulator"&_% +4 "core" % M  +2 .tForearm.seek :retract +2 "manipulator"&' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +160 "core" ( + "manipulator"&& +4 "core" &  ,  +2 "storage"(& +3 "core" & i j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&F'u +92 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +60 "core" 1 +2 "manipulator"&% +4 "core" % ~  9 +2 "storage"(& +4 "core" & g j \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +3 "manipulator"&'Ϫ +13 "core" ' +2 "manipulator"&>& +4 "core" &  Z  +2 "storage"(K& +4 "core" & j j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r'7 +17 "core" ' +2 "storage"(~% +4 "core" % o m C\ +2 ."downElevator"SE.seek :down +4 "storage"(H' +99 (8% +2 "core" %~H U V\ Vc +2 "manipulator"& % +4 "core" %(  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'C& +3 "core" & \ +2 "manipulator"&^% +3 "core" %   m  +2 "storage"(l% +4 "core" % } >\  +2 "storage"(A. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(i(,y +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +49 (b& +3 "core" &,y j k \ +2 "manipulator"&-& +3 "core" & |  +3 .tElbow.seek 4 + "manipulator"&( +26 "core" ( +2 "manipulator"&(& +3 "core" &  m % +2 "storage"(:& +5 "core" &,y ~ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +93 "core" ' +2 "storage"(I& +3 "core" &,y ~\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &,m m l \  +2 "manipulator"&p& +5 "core" &  % +2 .tElbow.seek 4 + "manipulator"&S( +22 "core" ( +2 "manipulator"&& +3 "core" &  b  +2 "storage"(1& +4 "core" &,m j i \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&#'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& +2 "storage"(7' +7 "core" &   +2 "manipulator"&&% +4 "core" % τ d +2 .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +5 "core" &Ӝ! B ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӝ" ;5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'? +96 "core" ' +2 "manipulator"&v& +5 "core" &Ӝ" , ;5 + "manipulator"&\\% +4 "core" %@ L 6 +2 "collection"'V& +4 "core" & \ +3 "collection"'G& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'O(\\ +4 "core" & \ +8 &; \ %f +9 &Z{ \ 8 +10 &\ u \ K +9 &R \ J +10 &U \ J +9 &PU \ J +9 &T \ J +10 &U \ J +9 &U \ J +9 &WU \ K +10 & X \ K +9 &!W \ K +10 &#X \ K +9 &%`W \ K +9 &'"R \ K +10 &(T \ K +9 &*T \ K +9 &,hS \ K +10 &.*T \ K +9 &/R \ K +10 &1S \ K +9 &3pT \ K +9 &53U \ J +10 &6V \ K +9 &8X \ K +9 &:xX \ K +10 &<:Y \ K +9 &=X \ K +10 &?T \ K +9 &AW \ K +9 &C@\\\ \ K +10 &Dd\ \ \ M +9 &Fk\ \ \ M +9 &Hx\ \ \ P +10 &J.\ '\ \ T +9 &K\ .\ 0\ W +10 &M\ /\ .\ X +9 &Ok\ -\ +\ W +9 &Q+\ +\ +\ X +10 &R\ *\ )\ Y +9 &T\ )\ *\ Y +9 &Vl\ (\ (\ Z +10 &X.\ (\ &\ Z +9 &Y\ (\ '\ [\ +10 &[\ '\ '\ H +9 &\\.\ (\ '\ 2 +9 &\\h\ $\ &\ M +3 ( + "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&%% +4 "core" % @ & 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +101 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"% & +3 "core" &\ +2 "manipulator"&% +3 "core" %  #  +2 "storage"(% +4 "core" % E E 1\  +2 "storage"(k. +3 "core" .(,y +2 "storage"(& +3 "core" &,m F F C\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(5(,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (a& +3 "core" &,{ $ > t\ +2 "manipulator"&& +3 "core" &ӯ 8" +2 "manipulator"&c% +4 "core" % \   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&P( +158 "core" ( +2 "manipulator"&!& +3 "core" &  +2 "storage"(3& +4 "core" &,{ T L r\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&{' +89 "core" ' +9 "storage"(q& +4 "core" &,{ 9 B \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(<'r +296 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &,m ! .\  +2 "manipulator"&Z& +4 "core" & R +2 .tElbow.seek 4 +2 "manipulator"&}( +4 "core" ( +2 "manipulator"&n& +3 "core" &  +2 "storage"(& +4 "core" &,m % &\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&J'c +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"( ' +7 "core" & * +2 "manipulator"&`% +4 "core" % ] +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&& +3 "core" & A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' + "manipulator"&N& +4 "core" & $ @ +2 "manipulator"&% +4 "core" % +2 "processing"%4& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%)(^ +3 "core" &\ +9 &7\ $d +9 &Vx\ 7 +10 &u\ K +9 &R\ L +9 &lT\ M +10 &.R\ M +9 &T\ M +9 &T\ M +10 &tT\ M +9 &7R\ M +10 &T\ M +9 &!T\ M +9 &#}T\ M +10 &%>V\ M +9 &'U\ M +9 &(U\ M +10 &*V\ M +9 &,GU\ M +10 &.T\ M +9 &/U\ N +9 &1U\ M +10 &3OW\ M +9 &5U\ M +9 &6V\ N +10 &8U\ M +9 &:UU\ N +10 &<V\ N +9 &=U\ M +9 &?S\ M +10 &A]V\ N +9 &Cb\ O +9 &De\ P +10 &Fp\ P +9 &HU\ S +10 &J\ S +9 &K\ T +9 &M\ T +10 &OY\ T +9 &Q\ T +9 &R\ T +10 &T\ U +9 &Va\ T +10 &X#\ T +9 &Y\ U +9 &[5\ T +10 &]g9\ B +9 &^>n:\ $k +9 &^*G\ / +6 ( +2 "processing"%& +4 "core" &^ \ / +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&*1 +63 "core" 1 + "manipulator"&T% +4 "core" %  \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +3 "processing"%U& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&"% +4 "core" %  \   +2 "storage"(?% +3 "core" % . - \  +2 "storage"(t. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(6(,y +12 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &,{ M U\ +2 "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &   @ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(x'r + "manipulator"&z( +7 "core" ( + "manipulator"&o& +4 "core" &   @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &   @ +2 .tForearm.seek PC +2 "manipulator"&y' +97 "core" ' +2 .tHand.close + "manipulator"&\ / +60 "core" / + .tPC.seek :open +2 "processing"%2( +88 "core" ' +2 "storage"(D- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +42 "storage"(m'1 +54 "core" ' +261 ( +2 "storage"('& +3 "core" &,k F I N\  +2 "manipulator"&w& +4 "core" &  @ +2 "manipulator"&u% +4 "core" %  n a +2 .tForearm.seek :retract +2 "manipulator"&=' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +260 "core" ( +2 "manipulator"&d& +3 "core" & y  +2 "storage"([& +4 "core" &,k F F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +91 "core" ' +3 .tHand.open + "manipulator"&_1 +60 "core" 1 +3 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(E' +59 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(M& +3 "core" &,k \  +2 "manipulator"&& +4 "core" & \   +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&>& +3 "core" &    +2 "storage"(K& +4 "core" &,k \  +3 .tForearm.seek 4 + 450 counts + "manipulator"&~' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +47 "core" ' +2 "manipulator"&8& +4 "core" & M  +2 "storage"( & +3 "core" &,k A 6 \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&e'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&F, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(C' +27 "core" ' +2 "manipulator"&^% +4 "core" %'  +2 "storage"(& +3 "core" &,k $ $\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 284 counts +2 "manipulator"&l'S +14 "core" ' + "manipulator"&A& +4 "core" &   +2 "storage"(9& +4 "core" &,k G F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +16 "core" ' +2 "storage"(H% +3 "core" % I G \ +3 ."downElevator"SE.seek :down +3 "storage"(f' +99 (b% +4 "core" %O ' %\ Xf +2 "manipulator"&-% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (:& +3 "core" &,k 2 6\  +2 "collection"'I& +4 "core" &\\b\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&.% +3 "core" %  A \ +2 "storage"(j% +4 "core" % P F 9\  +2 "storage"(X. +3 "core" .(,y +2 "storage"(L& +3 "core" &,k Q H \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(p(,y +46 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,u J J E\ +2 "manipulator"&1& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&/& +4 "core" &   +2 "storage"(&& +4 "core" &,u F F ;\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(W& +3 "core" &,u ; G k\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +41 "storage"('r +302 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" &  +2 "storage"(#& +4 "core" &,l $ $ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&v'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(S't +30 "core" ' +2 "manipulator"&7% +3 "core" %>  +2 "storage"(,& +4 "core" &,l * $ E\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts +2 "manipulator"&+'j +13 "core" ' + "manipulator"&& +4 "core" & i  +2 "storage"(%& +4 "core" &,l E F "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +41 "core" ' + "manipulator"&& +4 "core" & <  +2 "manipulator"&k% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +167 "core" ( + "manipulator"&a& +5 "core" &ӂ 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӂ 8 +2 .tForearm.seek CC +2 "manipulator"&c'? +98 "core" ' + .tHand.close +2 "manipulator"&@/ +59 "core" / +2 .tCC.seek :open +2 "collection"'!( +450 "core" ( + "storage"(3& +5 "core" &,l [ g "\ + "storage"(i& +4 "core" &,l : 8 c\ +2 "manipulator"&q& +4 "core" &Ӡ r 4 +2 "manipulator"&% +3 "core" % - a +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&]( +160 "core" ( + "manipulator"&|& +4 "core" &    +2 "storage"(Z& +4 "core" &,l ] g S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&n'7 +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&01 +63 "core" 1 +3 "manipulator"&B% +3 "core" % ) ( , +2 "storage"(`& +3 "core" &,l k k \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 286 counts +2 "manipulator"&P'U +13 "core" ' +2 "manipulator"&{& +3 "core" &   +2 "storage"(<& +4 "core" &,l ~ X\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&J' +21 "core" ' +2 "storage"(% +4 "core" % {\ +3 ."downElevator"SE.seek :down +3 "storage"(Y' +100 (}% +2 "core" %D k k \ V_ +2 "manipulator"&N% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'4& +3 "core" & \ +2 "manipulator"& % +5 "core" %  6  + "storage"(% +4 "core" % _ ^ \  +2 "storage"(g. +3 "core" .(,u +47 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(*(<- +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &<0 F E \  +2 "manipulator"&U& +4 "core" & f  +2 .tElbow.seek 5 +2 "manipulator"&"( +15 "core" ( +2 "manipulator"&?& +3 "core" &  9 q +2 "storage"(t& +4 "core" &<0 j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +100 "core" ' + "storage"(;& +5 "core" &<0 D\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($& +3 "core" & ] n +2 "collection"'& +4 "core" & \ +2 "collection"'& +6 "core" &  \ +2 .tCC.seek :closed +2 "collection"'M(\\ +5 "core" & \  +8 &3{ \ *z +10 &g} \ > +9 &n \ L +9 &XU \ J +10 &U \ K +9 &Y \ K +10 &W \ K +9 &_V \ K +9 & Y \ K +10 &U \ J +9 & T \ J +9 &"gT \ K +10 &$)X \ K +9 &%T \ K +9 &'T \ J +10 &)oT \ K +9 &+1W \ K +10 &,S \ K +9 &.U \ K +9 &0wY \ K +10 &29S \ K +9 &3U \ J +9 &5U \ K +10 &7R \ K +9 &9AU \ K +10 &;X \ K +9 &<S \ K +9 &>V \ K +10 &@IT \ K +9 &B\ X \ K +9 &C\\\ \ K +10 &Ee\ \ \ M +9 &GFw\ \ \ O +10 &I\ \ \ Q +9 &J\ +\ '\ W +9 &Lt\ .\ -\ W +10 &N4\ -\ ,\ W +9 &O\ ,\ ,\ X +9 &Q\ *\ +\ X +10 &St\ (\ +\ Z +9 &U7\ (\ '\ Y +10 &V\ (\ (\ Z +9 &X\ *\ '\ [\ +9 &Zv\ )\ &\ \\ +10 &\\z\ (\ (\ 0 +9 &\\8\ (\ %\ #m +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&1 +2 "core" &\\j\ %\ $\ O +57 1 +2 "manipulator"&>% +4 "core" % > ( n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%=& +3 "core" &\ +2 "manipulator"&8% +4 "core" %    +2 "storage"( % +3 "core" % # #\  +2 "storage"(^. +4 "core" .(<- + "storage"(& +4 "core" & +10 &zp\ N +9 &=O\ M +9 &Q\ M +10 &R\ M +9 &U\ M +9 &ET\ M +10 &Q\ M +9 &T\ M +10 & Q\ M +9 &"MS\ M +9 &$V\ M +10 &%R\ M +9 &'U\ M +9 &)UR\ M +10 &+U\ M +9 &,T\ M +10 &.S\ N +9 &0]R\ M +9 &2Q\ M +10 &3U\ M +9 &5T\ M +9 &7eR\ M +10 &9'S\ M +9 &:S\ M +10 &<R\ M +9 &>mT\ M +9 &@0T\ M +10 &A\\\ N +9 &Ce\ O +9 &Enh\ P +10 &G,q\ Q +9 &H\ S +10 &J\ S +9 &Lk\ S +9 &N+\ T +10 &O\ T +9 &Q\ U +10 &So\ U +9 &U2\ T +9 &V\ U +10 &X\ T +9 &Zu\ U +9 &\\7\ U +10 &]{t\ ; +9 &^%g\ T +9 &^'\ 2 +3 ( +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&F1 +62 "core" 1 +2 "manipulator"&(% +4 "core" %   8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"%& +3 "core" &^#\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&#% +3 "core" %    Q  +2 "storage"(V% +4 "core" % # * !\  +2 "storage"(7. +3 "core" .(<- +2 "storage"(,& +3 "core" & & \\\  +3 "collection"'t& +3 "core" &\\g\ \ \ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&;% +3 "core" %   +2 "storage"(% +4 "core" % F F $\  +2 "storage"(. +2 "core" .(<- +2 "storage"(o& +4 "core" &<, P F 1\  +2 "storage"($& +3 "core" &<, E D \  +3 "manipulator"&& +3 "core" & & +2 .tElbow.seek 5 +2 "manipulator"&5( +37 "core" ( + "manipulator"&D& +4 "core" &  C +2 "storage"(h& +4 "core" &<, G G -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +95 "core" ' +2 "storage"('& +4 "core" &<, P S h\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'r +298 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" &  C +2 "storage"(d& +4 "core" &<, # 4 ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +42 .tForearm.seek 5 +9 "manipulator"&'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(_'w +27 "core" ' +2 "manipulator"&% +4 "core" %Λ +2 "storage"(\ & +3 "core" &<, * $ 7\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&x' +14 "core" ' + "manipulator"&w& +4 "core" & h 1 +2 "storage"(!& +4 "core" &<, I S \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(>' +44 "core" ' + "manipulator"&=& +4 "core" & 1 +2 "manipulator"&8% +4 "core" %9 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^(ӂ +146 "core" ( +2 "manipulator"&& +4 "core" &z+  Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &z+ \  Cp +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&A/ +59 "core" / +2 .tCC.seek :open +2 "collection"'9( +450 "core" ( +2 "storage"([& +3 "core" &<, j k \  +2 "storage"(H& +4 "core" &<, ^ g \  +2 "manipulator"& & +3 "core" &ӯ# F <; +2 "manipulator"&E% +3 "core" % =  , +3 .tForearm.seek :retract +2 "manipulator"&u' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&K( +162 "core" ( +2 "manipulator"&-& +3 "core" &  7  +2 "storage"(~& +4 "core" &<, _ g q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&:1 +52 "core" 1 +2 "manipulator"&I% +4 "core" % Ζ  @ 6 +2 "storage"(.& +3 "core" &<, m k \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&X' +13 "core" ' +2 "manipulator"&& +4 "core" &  F  +2 "storage"(R& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&b'O +15 "core" ' +2 "storage"(l% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (1% +3 "core" %G k j \ V_ +2 "manipulator"&% +4 "core" %: Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'r& +3 "core" & \ +2 "manipulator"&W% +4 "core" %   #  +2 "storage"(j% +4 "core" %  D\  +2 "storage"(C. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(2( +677 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (F& +2 "core" & F F %\ +2 "manipulator"&(& +4 "core" & s  +2 .tElbow.seek 3 +47 "manipulator"&( +16 "core" ( +2 "manipulator"&#& +4 "core" & y  +2 "storage"(V& +3 "core" & ~ )\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&7'7 +96 "core" ' +2 "storage"(,& +4 "core" & T\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'r +296 "core" ' +3 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (f& +3 "core" & k j \ +2 "manipulator"&& +4 "core" &  =  +2 .tElbow.seek 3 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&/& +3 "core" &  m  +2 "storage"(v& +4 "core" & ] g n\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&S'ϡ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(6' +6 "core" & U  + "manipulator"&k% +4 "core" % ϙ u +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&\\& +4 "core" &Ӎ( 4 @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӎ' / @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&O'? +95 "core" ' +2 "manipulator"&3& +4 "core" &ӎ( u @W +2 "manipulator"&% +4 "core" %7 B +2 "collection"'q& +4 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'c(\\ +4 "core" & \ +8 &<  \ $f +9 &Z{ \ 7 +10 &w \ K +9 &R \ K +9 &Y \ K +10 &LT \ J +9 & T \ K +9 &W \ K +10 &W \ K +9 &TT \ J +9 & T \ J +10 &!T \ J +9 &#U \ K +10 &%[V \ K +9 &'Q \ K +9 &(T \ K +10 &*W \ K +9 &,cW \ K +9 &.&T \ J +10 &/T \ K +9 &1X \ K +10 &3lT \ J +9 &5-T \ K +9 &6S \ K +10 &8T \ K +9 &:sS \ K +9 &<5U \ K +10 &=X \ K +9 &?U \ K +10 &A{V \ K +9 &C;[ \ L +9 &Db \ L +10 &Fm\ \ \ N +9 &Hs\ \ \ \ P +10 &J'\ '\ \ U +9 &K\ *\ +\ W +9 &M\ )\ +\ X +10 &Od\ *\ *\ X +9 &Q&\ %\ (\ X +9 &R\ &\ '\ Y +10 &T\ %\ '\ Y +9 &Vh\ %\ %\ Z +10 &X&\ '\ &\ [\ +9 &Y\ &\ $\ \\ +9 &[\ %\ %\ I +10 &\\5\ %\ &\ / +9 &\\i\ #\ $\ P +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&G1 +53 "core" 1 +2 "manipulator"&0% +4 "core" % 7 k B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%`& +3 "core" &\ +2 "manipulator"&{% +3 "core" % \  t  +3 "storage"( % +3 "core" % F F \  +2 "storage"(}. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(a( +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" & ( = \ +2 "manipulator"&P& +3 "core" &ӱ! ;4 +2 "manipulator"&|% +4 "core" % \    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( +2 "manipulator"&g& +3 "core" & C  +2 "storage"(J& +4 "core" & Q S 8\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +92 "core" ' + "storage"(i& +4 "core" & ; C \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +295 "core" ' +3 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & $ " 8\ +2 "manipulator"&<& +4 "core" & n  +2 .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&& +3 "core" & ;  +2 "storage"(N& +4 "core" & & (\ +3 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϡ +30 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(;' +8 "core" & /  +2 "manipulator"&% +3 "core" % ϥ f +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&n( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +3 "manipulator"&o& +3 "core" & 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" & 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 "manipulator"&D& +3 "core" & " 3 +3 "manipulator"&h% +3 "core" % Y +2 "processing"%& +4 "core" &\ +2 "processing"%'& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%Y(^ +4 "core" &\ +8 &=\ #c +9 &Vz\ 7 +9 &w\ K +10 &R\ M +9 &fV\ N +10 &*R\ M +9 &U\ M +9 &Q\ M +10 &oT\ M +9 &2W\ M +9 &T\ M +10 &!T\ M +9 &#xS\ M +10 &%8U\ N +9 &&T\ M +9 &(U\ N +10 &*T\ M +9 &,AW\ M +9 &.T\ N +10 &/U\ M +9 &1W\ M +10 &3IV\ M +9 &5 T\ M +9 &6R\ M +10 &8T\ M +9 &:QR\ M +9 &<U\ M +10 &=U\ N +9 &?S\ M +10 &AXT\ N +9 &C^\ N +9 &Db\ O +10 &Fm\ P +9 &HS{\ R +9 &J\ T +10 &K\ T +9 &M\ T +10 &OT\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &V[\ U +9 &X\ T +10 &Y\ T +9 &[\ U +10 &]a\ C +9 &^Br\ _ +9 &^0\ 1 +6 ( +2 "processing"%'& +3 "core" &^%\ 1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&]1 +57 "core" 1 +2 "manipulator"&U% +4 "core" %   Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 "processing"%y& +4 "core" &^%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&d% +3 "core" % \     +2 "storage"(z% +4 "core" % - ' T\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\ ( +12 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" & ' % >\  +3 "manipulator"&!& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   3 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(='r +2 "manipulator"&8( +6 "core" ( +2 "manipulator"&)& +3 "core" &   9 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &5& +2 "core" &  3 +3 .tForearm.seek PC +2 "manipulator"&"' +90 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +3 .tPC.seek :open +2 "processing"%x( +90 "core" ' +2 "storage"(_- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +307 ( + "storage"(m& +4 "core" & F E &\  +2 "manipulator"&& +4 "core" & G 3 +2 "manipulator"&s% +49 "core" % \  G +5 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +247 "core" ( + "manipulator"&M& +4 "core" & < +2 "storage"([& +4 "core" & F H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&H'7 +93 "core" ' + .tHand.open +2 "manipulator"& 1 +56 "core" 1 +3 "storage"(E- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(-' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(~' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(^& +3 "core" & e f \  +2 "manipulator"&:& +4 "Can"1\ u!% +2 "core" &   < +2 .tElbow.seek 3 + "manipulator"&I( +3 "core" ( +2 "manipulator"&.& +4 "core" &    < +2 "storage"(& +4 "core" & e d 7\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(l'" +59 "core" ' +2 "manipulator"&u& +3 "core" & < +2 "storage"(1& +4 "core" & ( + 8\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +20 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&r% +5 "core" %· + "storage"(W& +4 "core" & , )\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&X'ϳ +14 "core" ' +2 "manipulator"&j& +3 "core" & < < +2 "storage"(C& +4 "core" & E F $\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&>'7 +16 "core" ' +2 "storage"(b% +3 "core" % H F J\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (*% +3 "core" %[ ? M\ Yk +2 "manipulator"&F% +4 "core" %, +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (#& +4 "core" & 4 ; \  +2 "collection"'V& +3 "core" &\\e\ \ \ P +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&,% +3 "core" %   +2 "storage"(e% +4 "core" % F E &\  +2 "storage"(&. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +2 "core" & H F \  +2 "manipulator"&& +4 "core" & a < +2 .tElbow.seek 3 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&v& +4 "core" &  < +2 "storage"(L& +3 "core" & E E +\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' + "storage"(k& +5 "core" & T S e\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(7- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &  < +2 "storage"(& +3 "core" & . . <\  +48 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&%'u +15 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('j +30 "core" ' + "manipulator"&q% +5 "core" %Ή  : + "storage"(Q& +4 "core" & I I '\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&6'ϵ +14 "core" ' +2 "manipulator"&& +3 "core" & < +2 "storage"(9& +4 "core" & P T L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&G'7 +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(0' +35 "core" ' + "manipulator"&`& +5 "core" &  < + "manipulator"&{% +4 "core" %*  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +159 "core" ( +2 "manipulator"&& +3 "core" &Ө Z 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &Ө 6 +2 .tForearm.seek CC +2 "manipulator"&P'? +92 "core" ' + .tHand.close + "manipulator"&|/ +54 "core" / +2 .tCC.seek :open + "collection"'O( +447 "core" ( +2 "storage"(g& +3 "core" & ` h P\  +2 "storage"(J& +4 "core" & g m k\  +2 "manipulator"&2& +4 "core" &Ө 2 6 +2 "manipulator"&i% +3 "core" % 5 : +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&@( +163 "core" ( + "manipulator"&p& +4 "core" &    +2 "storage"(T& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&<'u +94 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +54 "core" 1 +2 "manipulator"&?% +3 "core" % ΁  e 6 +2 "storage"(t& +4 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϭ +34 "core" ' + "manipulator"&& +4 "core" &  t  +2 "storage"(& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z'7 +30 "core" ' +2 "storage"( % +3 "core" %  O\ +3 ."downElevator"SE.seek :down +4 "storage"(o' +98 ($% +3 "core" %L : @ S\ Wd +2 "manipulator"&B% +4 "core" %3  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'h& +3 "core" & \ +2 "manipulator"&% +4 "core" %   z  +2 "storage"(;% +3 "core" % ~ \  +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(+(,y +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" &,y ^ j H\  +48 "manipulator"&U& +5 "core" & N  +2 .tElbow.seek 4 +2 "manipulator"&y( +32 "core" ( +2 "manipulator"&d& +3 "core" &  z # +2 "storage"(z& +4 "core" &,y \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"('& +4 "core" &,y }\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'r +297 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &,m j k \  +2 "manipulator"&5& +3 "core" & # +3 .tElbow.seek 4 + "manipulator"&( +25 "core" ( + "manipulator"&& +4 "core" &  N  +2 "storage"(a& +3 "core" &,m j h t\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&_'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(Y' +8 "core" & W  + "manipulator"&=% +4 "core" % X   +2 .tForearm.seek :retract +2 "manipulator"&m' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&s& +3 "core" &z- I Du +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +4 "core" &z- F Du +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&M'? +91 "core" ' +2 "manipulator"&[& +3 "core" &Ӆ* Bj +2 "manipulator"&8% +4 "core" %J X +2 "collection"' & +4 "core" & \ +3 "collection"'E& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +7 &; \ %f +9 &Xx \ 7 +10 &w \ J +9 &S \ K +9 &T \ K +10 &IU \ J +9 &\ U \ K +10 &W \ K +9 &V \ K +9 &PR \ K +10 & T \ J +9 &!T \ J +10 &#U \ K +9 &%XW \ K +9 &'R \ K +10 &(T \ J +9 &*T \ K +9 &,`W \ K +10 &."R \ K +9 &/T \ K +9 &1X \ K +10 &3iU \ J +9 &5*U \ K +10 &6S \ K +9 &8T \ K +9 &:pS \ K +10 &<2U \ K +9 &=X \ K +9 &?U \ K +10 &AxW \ K +9 &C9^ \ K +10 &De \ M +9 &Fk\ \ \ N +9 &Hp\ \ \ P +10 &J&\ $\ \ U +9 &K\ ,\ -\ V +9 &M\ -\ -\ W +10 &Oc\ *\ ,\ X +9 &Q&\ ,\ )\ W +10 &R\ )\ )\ Y +9 &T\ '\ (\ Z +9 &Ve\ (\ '\ Z +10 &X&\ '\ '\ Z +9 &Y\ (\ '\ [ +9 &[\ &\ &\ H +10 &\\7\ %\ '\ . +9 &\\d\ %\ %\ M +3 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&^1 +57 "core" 1 + "manipulator"&:% +4 "core" % J D X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +94 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&A% +4 "core" % \    +2 "storage"(u% +4 "core" % G J R\  +2 "storage"(1. +3 "core" .(,y +2 "storage"(r& +4 "core" &,m I J C\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(W(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| # "\ +2 "manipulator"&j& +3 "core" &Ӭ#  =C +2 "manipulator"&C% +4 "core" % \  %  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&-( +166 "core" ( +2 "manipulator"&b& +3 "core" & !  +2 "storage"( & +4 "core" &,| = 9 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&H' +99 "core" ' + "storage"(~& +51 "core" &,| g Z ^\ +4 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(*'r +295 "core" ' + "storage"(F- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &,m % & \  +2 "manipulator"&I& +3 "core" & s  +3 .tElbow.seek 4 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(#& +4 "core" &,m S P R\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&X'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"(e' +7 "core" &  /  + "manipulator"&&% +5 "core" % W ` +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&& +3 "core" &  A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" & A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&L' +95 "core" ' +2 "manipulator"&>& +3 "core" & A +2 "manipulator"&k% +4 "core" % ~ t +2 "processing"%& +4 "core" &\ +3 "processing"%\ & +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%K(^ +3 "core" &\ +6 &\ 8 +10 &CJs\ 0 +9 &qs}\ E +9 &[\ N +10 &U\ M +9 &R\ M +10 &]T\ M +9 & U\ M +9 &T\ M +10 &T\ M +9 &fU\ M +9 &!'R\ M +10 &"T\ M +9 &$Q\ M +10 &&mT\ M +9 &(0P\ M +9 &)T\ M +10 &+P\ M +9 &-uS\ M +9 &/6T\ N +10 &0U\ M +9 &2R\ M +10 &4}S\ M +9 &6?R\ M +9 &8U\ N +10 &9T\ M +9 &;W\ M +9 &=GV\ M +10 &? Y\ M +9 &@Y\ M +10 &B`\ O +9 &DJc\ O +9 &F p\ P +10 &G\ R +9 &I\ S +9 &KD\ T +10 &M\ T +9 &N\ T +10 &P\ U +9 &RI\ U +9 &T\ W +10 &U\ T +9 &W\ U +9 &YP\ U +10 &[\ U +9 &\\\ U +10 &^Fb\ %q +9 &^`\ 6 +9 ( +3 "processing"%\ & +2 "core" &^%\ 1 +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&(1 +60 "core" 1 +2 "manipulator"&7% +3 "core" %   t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +92 "core" ' +3 "processing"%& +3 "core" &^$\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&3% +3 "core" %    ?  +2 "storage"(q% +4 "core" % , * a\  +2 "storage"(Q. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (9& +3 "core" &,y 0 P _\ +3 "manipulator"&`& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &   . A +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"({'r +2 "manipulator"&( +6 "core" ( +2 "manipulator"&/& +4 "core" &   ! A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   A +2 .tForearm.seek PC +2 "manipulator"&%' +92 "core" ' +2 .tHand.close + "manipulator"&6/ +65 "core" / +2 .tPC.seek :open + "processing"%( +85 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +44 "core" ' +314 ( +2 "storage"(G& +4 "core" &,j ( 4 M\  +2 "manipulator"&S& +3 "core" & A +2 "manipulator"&|% +4 "core" %  + V +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&c( +245 "core" ( + "manipulator"&g& +5 "core" & 4 +2 "storage"(J& +3 "core" &,j ' ' \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&2' +93 "core" ' + .tHand.open +2 "manipulator"&i1 +58 "core" 1 +2 "storage"(p- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(T' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(P' +59 "core" ' + #tLights, camera, ACTION! +2 "storage"(}- +2 "core" -' +3 "storage"(N& +3 "core" &,j v n\  +2 "manipulator"&?& +4 "core" & \   4 +2 .tElbow.seek 4 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +3 "core" &  4 +2 "storage"(& +4 "core" &,j \  +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +49 "core" ' +2 "manipulator"&$& +3 "core" & 4 +2 "storage"(B& +4 "core" &,j ? * 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&@'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +21 "core" ' + "manipulator"&h% +5 "core" %>  + "storage"(& +4 "core" &,j ' % \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts +2 "manipulator"&;'j +14 "core" ' +2 "manipulator"&& +3 "core" & 4 +2 "storage"(0& +4 "core" &,j I Q \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&Z' +16 "core" ' +2 "storage"(o% +3 "core" % I P u\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (]% +3 "core" %uI % ' \ Wd +2 "manipulator"&U% +4 "core" % Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (z& +3 "core" &,j 0 : \  +2 "collection"''& +4 "core" &\\a\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %  #  +2 "storage"(D% +3 "core" % S S\  +2 "storage"(!. +3 "core" .(,y +2 "storage"()& +4 "core" &,j S O R\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(5(,y +28 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z G H \\\ +2 "manipulator"&a& +4 "core" &  4 +2 .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&& +4 "core" & 4 +2 "storage"(=& +3 "core" &,z I G '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +93 "core" ' +2 "storage"(& +3 "core" &,z F E #\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +295 "core" ' +10 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" & 4 +2 "storage"(_& +5 "core" &,m . ) O\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&['7 +18 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('t +30 "core" ' +2 "manipulator"&Y% +3 "core" %: ! +2 "storage"(m& +3 "core" &,m - -\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&O'f +14 "core" ' + "manipulator"&^& +4 "core" & 4 +2 "storage"(:& +3 "core" &,m F E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(A' +42 "core" ' +2 "manipulator"&u& +3 "core" &  4 +2 "manipulator"&1% +5 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&E(ӂ +164 "core" ( + "manipulator"&& +4 "core" &Ӌ 7 +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &j& +2 "core" &Ӌ 7 +3 .tForearm.seek CC + "manipulator"&C'? +98 "core" ' +2 .tHand.close + "manipulator"&M/ +65 "core" / +2 .tCC.seek :open + "collection"'b( +447 "core" ( +2 "storage"( & +3 "core" &,m l Q ]\ +2 "storage"(+& +4 "core" &,m ; = s\ +2 "manipulator"&~& +3 "core" &Ӟ  5 +2 "manipulator"&% +4 "core" % / * +3 .tForearm.seek :retract + "manipulator"&.' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&F( +159 "core" ( + "manipulator"&R& +4 "core" &  O  +2 "storage"(I& +4 "core" &,m i ` \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +59 "core" 1 +2 "manipulator"&,% +3 "core" % 4 K +2 "storage"(&& +4 "core" &,m j j \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 297 counts +2 "manipulator"&-'` +13 "core" ' +3 "manipulator"&H& +3 "core" &  +2 "storage"(*& +4 "core" &,m ~ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +16 "core" ' +2 "storage"(% +3 "core" % ~ \ +3 ."downElevator"SE.seek :down +4 "storage"(v' +98 (l% +3 "core" %C j j \ V` +2 "manipulator"&>% +3 "core" % + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +94 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&e% +4 "core" % !  % +2 "storage"(% +4 "core" % h i \  +2 "storage"(x. +3 "core" .(,| +2 .tSC.reconfigure :tight +48 "storage"($\ .\ 1~b +4 .tSC.seek 5 +2 "storage"(((<- +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<+ H Q\ +2 "manipulator"&& +4 "core" & r  +2 .tElbow.seek 5 +2 "manipulator"&3( +4 "core" ( +2 "manipulator"&q& +3 "core" &   +2 "storage"(Q& +5 "core" &<+ ` j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +95 "core" ' +2 "storage"(9& +3 "core" &<+  2\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +295 "core" ' +2 "storage"(/- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<+ h [ \ +2 "manipulator"&L& +4 "core" &  Z  +2 .tElbow.seek 5 +2 "manipulator"&6( +4 "core" ( +2 "manipulator"&W& +3 "core" &   +2 "storage"(& +3 "core" &<+ k m \ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&f'Ϲ +29 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& +2 "storage"({' +7 "core" &  +2 "manipulator"&G% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&S' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&|(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&%& +4 "core" &ӆ " 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &ӆ  3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'? +96 "core" ' +2 "manipulator"&& +3 "core" &ӆ W 3 +2 "manipulator"&i% +4 "core" %B 0 +2 "collection"'p& +5 "core" & \ +2 "collection"'}& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'N(\\ +5 "core" & \ +6 &; \ %g +10 &[x \ 8 +9 & s \ K +9 &Q \ K +10 &S \ K +9 &QT \ K +10 &W \ K +9 &R \ K +9 &T \ J +10 &YT \ K +9 & W \ K +9 &!R \ K +10 &#S  \ K +9 &%bT \ J +10 &'#T \ K +9 &(X \ K +9 &*T \ J +10 &,jT \ J +9 &.+U \ K +9 &/S \ K +10 &1U \ J +9 &3qU \ K +10 &53S \ K +9 &6U \ K +9 &8W \ K +10 &:zT \ J +9 &<;U \ K +9 &=W \ K +10 &?U \ K +9 &AW \ K +10 &CAZ \ L +9 &Eb \ L +9 &Fj\ \ \ N +10 &Hx\ \ \ Q +9 &J/\ )\ \ U +9 &K\ .\ +\ W +10 &M\ +\ ,\ X +9 &Ok\ )\ +\ X +10 &Q-\ *\ +\ X +9 &R\ (\ (\ Y +9 &T\ )\ (\ Y +10 &Vk\ '\ '\ [ +9 &X0\ '\ (\ Z +9 &Y\ '\ '\ [ +10 &[\ '\ (\ I +9 &\\1\ &\ )\ - +10 &\\e\ &\ %\ M +2 ( +2 "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&?1 +57 "core" 1 +2 "manipulator"&% +4 "core" % B  O 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +3 "core" &\ +3 "manipulator"&$% +3 "core" %   +2 "storage"(B% +3 "core" % # $\  +2 "storage"(h. +4 "core" .(<- + "storage"(& +4 "core" &<+ 2 = \ +2 "storage"(4& +4 "core" &<+ & $ 3\ +2 "manipulator"&& +3 "core" &Ӈ 3 +2 "manipulator"&0% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&T( +158 "core" ( +2 "manipulator"&o& +3 "core" & \\  +2 "storage"(c& +4 "core" &<+ F O P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&2'O +94 "core" ' +2 "storage"(P& +50 "core" &<+ 8 = n\ +4 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'r +299 "core" ' + "storage"(U- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &<+ E F !\ +2 "manipulator"&t& +4 "core" & Z  +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&@& +4 "core" & [  +2 "storage"(z& +4 "core" &<+ T S Z\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(D' +8 "core" &   + "manipulator"&!% +4 "core" % ϻ # +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&& +4 "core" & 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" & 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' + "manipulator"&=& +4 "core" & 2 +2 "manipulator"&Z% +4 "core" % w +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%(^ +4 "core" &\ +5 &\ 7 +9 &?Jt\ / +10 &hq}\ D +9 & ^\ M +9 &S\ M +10 &P\ M +9 &OT\ M +10 &V\ M +9 &T\ M +9 &Q\ M +10 &VT\ N +9 &!S\ M +10 &"S\ N +9 &$U\ M +9 &&_T\ M +10 &(!Q\ M +9 &)U\ M +9 &+T\ M +10 &-hU\ M +9 &/*T\ M +9 &0V\ M +10 &2U\ N +9 &4oS\ M +10 &60V\ N +9 &7T\ M +9 &9T\ M +10 &;vW\ N +9 &=:R\ M +10 &>Y\ N +9 &@W\ N +9 &B|Z\ N +10 &D;a\ O +9 &Ej\ P +9 &Gy\ Q +10 &It\ T +9 &K7\ S +9 &L\ S +10 &N\ T +9 &Py\ U +10 &R;\ U +9 &S\ U +9 &U\ T +10 &W\ U +9 &YD\ T +9 &[\ U +10 &\\\ U +9 &^=c\ $p +10 &^]\ / +9 ( + &^\ , +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&<1 +64 "core" 1 +2 "manipulator"&d% +3 "core" %    w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +94 "core" ' +2 "processing"%w& +4 "core" &^ \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&_% +3 "core" %     +2 "storage"( % +4 "core" % + - ^\  +2 "storage"(Y. +3 "core" .(<- +2 "storage"(m& +4 "core" &<+ * ! #\ +2 "storage"(^& +2 "manipulator"&:& +8 "core" &   < 2 + &<+ + ) \\\ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&u( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'r +2 "core" ( + "manipulator"&y& +5 "core" &   G 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &   2 +2 .tForearm.seek PC +2 "manipulator"&s' +96 "core" ' + .tHand.close +2 "manipulator"&[/ +63 "core" / +2 .tPC.seek :open + "processing"%O( +87 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +316 ( +2 "storage"(j& +3 "core" &<+ 6 4 d\ +2 "manipulator"&& +4 "core" & S 2 +2 "manipulator"&8% +44 "core" %  3 +10 .tForearm.seek :retract +2 "manipulator"&M' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&r( +245 "core" ( +2 "manipulator"&& +3 "core" & I  +3 "storage"( & +3 "core" &<+ - - 2\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +117 "core" ' +2 .tHand.open +2 "manipulator"&~1 +63 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(I' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(E& +3 "core" &<+ : T %\ +2 "manipulator"&V& +4 "core" &     +2 .tElbow.seek 5 +2 "manipulator"&,( +21 "core" ( +2 "manipulator"&&& +3 "core" &    +2 "storage"(H& +4 "core" &<+ M\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&*'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +54 "core" ' +2 "manipulator"&.& +4 "core" &  +2 "storage"(l& +3 "core" &<+ E F A\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&>'΍ +28 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&% +4 "core" %ΐ | +2 "storage"(e& +4 "core" &<+ . . c\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts +2 "manipulator"&-'ϼ +14 "core" ' +2 "manipulator"&& +3 "core" & }  +2 "storage"(x& +4 "core" &<+ H O .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +15 "core" ' +2 "storage"(X% +3 "core" % I G \ +3 ."downElevator"SE.seek :down +4 "storage"(v' +98 (5% +3 "core" %Q ' &\ Wf +2 "manipulator"&7% +4 "core" %> +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (q& +3 "core" &<+ - 7\ +2 "collection"'Q& +4 "core" &\\a\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&9% +4 "core" %   +2 "storage"(#% +3 "core" % O H @\  +2 "storage"(k. +3 "core" .(<- +2 "storage"(/& +4 "core" &<+ S S\ +2 "storage"(& +3 "core" &<+ Q R \ +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&W( +4 "core" ( + "manipulator"&& +4 "core" & G  +2 "storage"(\\& +3 "core" &<+ S I Z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +93 "core" ' +2 "storage"(G& +5 "core" &<+ Q k Y\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'r +306 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" & G  +2 "storage"(g& +3 "core" &<+ H F "\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +42 "manipulator"&`'΍ +34 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(i'w +29 "core" ' + "manipulator"&6% +5 "core" %Ε B + "storage"(p& +4 "core" &<+ $ ' \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&{' +16 "core" ' + "manipulator"&S& +4 "core" & 4  +2 "storage"(b& +3 "core" &<+ F F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(' +46 "core" ' +2 "manipulator"& & +3 "core" &  +2 "manipulator"&$% +4 "core" %J 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +159 "core" ( +2 "manipulator"&& +4 "core" &Ӓ$  U =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &Ӓ# / =F +2 .tForearm.seek CC +2 "manipulator"&4'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'0( +446 "core" ( +2 "storage"(J& +3 "core" &<+ Q H \ +3 "storage"(o& +3 "core" &<+ > : \ +2 "manipulator"&c& +4 "core" &Ӡ" % ;8 +2 "manipulator"&P% +3 "core" % P  +3 .tForearm.seek :retract + "manipulator"&|' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( + "manipulator"&U& +4 "core" &  $  +2 "storage"( & +4 "core" &<+ \\ \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&t'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +61 "core" 1 +3 "manipulator"&'% +3 "core" % Ό  L ( +2 "storage"(& +5 "core" &<+ j k \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 299 counts +2 "manipulator"&!'ϸ +14 "core" ' + "manipulator"&T& +4 "core" &   +2 "storage"(2& +4 "core" &<+ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&]'O +17 "core" ' +2 "storage"(;% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (a% +2 "core" %H H P ?\ Vb +2 "manipulator"& % +4 "core" %9 $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'Z& +3 "core" & \ +2 "manipulator"&% +3 "core" %   +3 "storage"(D% +3 "core" %  9\  +2 "storage"(. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" & G = #\ +2 "manipulator"&d& +4 "core" & e  +2 .tElbow.seek 3 +2 "manipulator"&w( +49 "core" ( +3 "manipulator"&_& +3 "core" & = ; +2 "storage"( & +4 "core" & j j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +88 "core" ' +2 "storage"(& +3 "core" & i\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(m'r +298 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (^& +2 "core" & ` j \ +2 "manipulator"&y& +4 "core" & % ; +2 .tElbow.seek 3 +2 "manipulator"&n( +4 "core" ( + "manipulator"&& +4 "core" &  U ; +2 "storage"([& +4 "core" & ] ] 5\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(' +8 "core" &  B ; +2 "manipulator"&1% +4 "core" % Ϙ +3 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&8& +3 "core" &ӓ#  <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &ӓ# ^ <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' +3 "manipulator"& & +3 "core" &ӓ#  <@ +2 "manipulator"&u% +5 "core" %H F +2 "collection"'~& +3 "core" & \ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'C(\\ +5 "core" & #\  +8 &4z \ *z +9 &g{ \ > +10 &k \ L +9 &YS \ K +10 &U \ J +9 &U  \ K +9 &R \ K +10 &bS \ J +9 &#U \ K +9 &W \ K +10 & R \ K +9 &"iS \ K +10 &$,T  \ J +9 &%T \ \ K +9 &'W \ K +10 &)rT \ J +9 &+4T \ J +9 &,U  \ K +10 &.S \ K +9 &0zU \ J +10 &2;U \ K +9 &3S \ K +9 &5T \ K +10 &7R \ K +9 &9CU \ K +9 &;W \ K +10 &<U \ J +9 &>V  \ K +10 &@LV  \ J +9 &B W  \ K +9 &C[ \ K +10 &Ef\ \ M +9 &GIp\ \ \ N +9 &I\ \  \ R +10 &J\ )\ &\ V +9 &Lu\ +\ * \ W +10 &N7\ *\ )\ W +9 &O\ (\ *\ X +9 &Q\ )\ &\ \ X +10 &Sz\ '\ &\ \ X +9 &U6\ '\ (\ Z +9 &V\ #\ % \ Z +10 &X\ $\ $\ [\ +9 &Zz\ %\ %\ \ [\ +10 &\\x\ &\ %\ \ 0 +9 &\\0\ $\ $\ \\ +9 ( +2 "collection"'& +3 "core" &\\b\ "\ # \ L +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&E1 +60 "core" 1 +2 "manipulator"&V% +4 "core" % H   F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%&& +4 "core" &\ +2 "manipulator"&H% +3 "core" %   +2 "storage"(.% +4 "core" % 3 # E\  +2 "storage"(l. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +7 "core" & , ( 9\  +2 "manipulator"&e& +4 "core" &Ө  :+ +2 "manipulator"&R% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&x& +3 "core" &   +2 "storage"(X& +3 "core" & T T m\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r'7 +94 "core" ' +2 "storage"(+& +3 "core" & = N \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +298 "core" ' +49 "storage"(5- +5 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +3 "core" & 3 % O\  +2 "manipulator"&*& +3 "core" & 0  +2 .tElbow.seek 3 +2 "manipulator"&,( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(>& +4 "core" & E E <\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&q'ϡ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(9' +7 "core" & J  +2 "manipulator"&#% +4 "core" %  A +2 .tForearm.seek :retract +2 "manipulator"&k' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&/& +3 "core" & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&L' +95 "core" ' +2 "manipulator"&& +3 "core" & J +2 "manipulator"&\\% +4 "core" % r +2 "processing"%A& +4 "core" &\ +3 "processing"%G& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%v(^ +4 "core" &\ +5 &\ 7 +10 &BJu\ / +9 &ip}\ D +9 &\ _\ N +10 &T\ M +9 &Q\ M +9 &QS\ M +10 &Q\ M +9 &S\ M +10 &U\ M +9 &YT\ M +9 &!U\ M +10 &"T\ M +9 &$R\ M +9 &&aT\ M +10 &("T\ N +9 &)S\ M +10 &+T\ M +9 &-iS\ M +9 &/+S\ M +10 &0R\ M +9 &2U\ N +9 &4rS\ M +10 &63U\ M +9 &7Q\ M +10 &9W\ M +9 &;xV\ N +9 &=;T\ M +10 &>S\ M +9 &@S\ N +9 &B]\ N +10 &D>b\ O +9 &Ei\ P +10 &Gs\ Q +9 &Iw\ T +9 &K8\ T +10 &L\ S +9 &N\ T +9 &P|\ T +10 &R>\ T +9 &S\ U +10 &U\ T +9 &W\ T +9 &YE\ U +10 &[\ U +9 &\\\ U +9 &^Ck\ - +10 &^T\ (p +9 &^2\ 0 +6 ( +2 "processing"%G& +3 "core" &^\ 0 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&F1 +60 "core" 1 +2 "manipulator"&% +4 "core" %   g r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +99 "core" ' +2 "processing"%%& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&g% +3 "core" % \     +2 "storage"(% +4 "core" % ) 2 \  +2 "storage"(6. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(p( +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (S& +2 "manipulator"&b& +4 "core" & % &\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   " +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& ( + "storage"($'r +6 "core" ( +3 "manipulator"&K& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&3' +91 "core" ' + .tHand.close +2 "manipulator"&`/ +56 "core" / +3 .tPC.seek :open + "processing"%{( +99 "core" ' + "storage"(i- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +303 ( +2 "storage"(}& +4 "core" & A 3 \  +2 "manipulator"&?& +4 "core" &  +2 "manipulator"&f% +3 "core" %  S a +44 .tForearm.seek :retract +9 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&B( +241 "core" ( +2 "manipulator"&N& +3 "core" & E +2 "storage"(J& +4 "core" & . - J\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&o'7 +93 "core" ' +2 .tHand.open + "manipulator"&c1 +58 "core" 1 +3 "storage"(P- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(U' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +58 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(4- +3 "core" -' +2 "storage"(h& +3 "core" & c\  +2 "manipulator"&z& +4 "core" & \  E +2 .tElbow.seek 3 +2 "manipulator"&'( +4 "core" ( + "manipulator"&& +4 "core" &   E +2 "storage"(T& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(;'" +51 "core" ' +2 "manipulator"&|& +3 "core" &  E +2 "storage"(a& +4 "core" & ( % 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'u +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(t' +19 "core" ' +2 "manipulator"&Z% +3 "core" %Ή O +2 "storage"(& +4 "core" & & & ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&!'ϵ +13 "core" ' +2 "manipulator"&D& +4 "core" &  E +2 "storage"(& +3 "core" & H G ,\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +17 "core" ' + "storage"(]% +4 "core" % I F \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ((% +3 "core" %G[ I k\ Wg +2 "manipulator"&<% +3 "core" %) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (_& +3 "core" & # =\  +2 "collection"' & +3 "core" &\\b\ \ \ L +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +3 "core" %   +3 "storage"(@% +3 "core" % F F ;\  +2 "storage"(=. +3 "core" .( +2 "storage"(:& +3 "core" & H F @\  +2 "storage"(^& +5 "core" & F F *\  + "manipulator"&y& +4 "core" & * E +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&[& +3 "core" & E +2 "storage"()& +4 "core" & E E #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&"'7 +89 "core" ' +2 "storage"(1& +4 "core" & E P \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'r +295 "core" ' +2 "storage"(Y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&8& +4 "core" & E +2 "storage"(s& +3 "core" & A 2 4\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&m'u +70 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(u'h +28 "core" ' +2 "manipulator"&~% +4 "core" %Ή +2 "storage"(n& +3 "core" & $ $ T\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ϵ +15 "core" ' +2 "manipulator"&j& +3 "core" & 7 E +3 "storage"(0& +3 "core" & T U u\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&E'7 +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(V' +34 "core" ' +2 "manipulator"&&& +4 "core" & E +2 "manipulator"&H% +3 "core" %8 \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +151 "core" ( +2 "manipulator"&& +3 "core" &Ӊ* Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӊ) Bf +2 .tForearm.seek CC +2 "manipulator"&e'? +96 "core" ' +2 .tHand.close + "manipulator"&R/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(x& +4 "core" & 8 8 I\  +2 "storage"(X& +4 "core" & G F \  +2 "manipulator"&& +3 "core" &ӫ$ T =E +2 "manipulator"&+% +4 "core" % E S $ +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&M( +163 "core" ( +2 "manipulator"&5& +3 "core" & J  +2 "storage"(7& +4 "core" & ] \\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'u +94 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +55 "core" 1 +2 "manipulator"&-% +4 "core" % Έ  2 +2 "storage"(Q& +3 "core" & ] \\ 0\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&#'ϴ +13 "core" ' +2 "manipulator"&& +4 "core" &  }  +2 "storage"(r& +3 "core" & k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&I'7 +15 "core" ' +2 "storage"(q% +3 "core" % ~ g \ +3 ."downElevator"SE.seek :down +4 "storage"(/' +98 (% +3 "core" %K 8 9 Y\ Wd +2 "manipulator"&,% +4 "core" %2 ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'\\& +4 "core" & \ +2 "manipulator"&A% +3 "core" %  a  +2 "storage"(9% +4 "core" % H\  +2 "storage"(k. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(O(,y +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" &,{ k i \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&%( +74 "core" ( +3 "manipulator"&g& +3 "core" & # +2 "storage"(& +4 "core" &,{ n c S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +93 "core" ' +2 "storage"(G& +3 "core" &,{ a\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'r +299 "core" ' +3 "storage"(b- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (K& +2 "core" &,m j g r\  +2 "manipulator"&W& +4 "core" & E # +2 .tElbow.seek 4 +2 "manipulator"&L( +26 "core" ( + "manipulator"&`& +4 "core" &   +2 "storage"(& +4 "core" &,m k k \\\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&i'c +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(v' +8 "core" & z  +2 "manipulator"&$% +4 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&}' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&f& +4 "core" &ӓ&  & ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &ӓ& ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'? +99 "core" ' +2 "manipulator"&J& +4 "core" &Ӕ& ?P +2 "manipulator"& % +3 "core" %I  +2 "collection"'c& +5 "core" & !\ +2 "collection"'P& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'4(\\ +5 "core" & \ +6 &< !\ $f +10 &Zz '\ 7 +9 &v #\ K +9 &R #\ K +10 &X \ K +9 &FT \ K +9 &W \ K +10 &T  \ J +9 &T  \ K +10 &NR  \ K +9 & T \ K +9 &!W \ K +10 &#S \ K +9 &%WS \ J +9 &'T \ K +10 &(S \ K +9 &*T \ K +10 &,]W \ K +9 &. U \ K +9 &/W \ K +10 &1U \ K +9 &3fS \ K +9 &5(T \ K +10 &6T \ K +9 &8T \ K +10 &:mS \ K +9 &<0T \ K +9 &=T \ K +10 &?V  \ K +9 &AuW  \ K +9 &C6Y  \ L +10 &Dd \ L +9 &Fm\ \ \ N +10 &Hp\ \ \ \ P +9 &J%\ &\ \ T +9 &K\ ,\ ,\ V +10 &M\ -\ -\ W +9 &Ob\ *\ +\ W +9 &Q!\ ,\ *\ X +10 &R\ (\ * \ X +9 &T\ (\ (\ \ Z +10 &V^\ )\ (\ \ [ +9 &X"\ '\ &\ [ +9 &Y\ %\ &\ \ \\ +10 &[\ (\ & \ H +9 &\\1\ '\ & \ 2 +9 &\\c\ %\ &\ K +3 ( +2 "collection"'P& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&h1 +54 "core" 1 +2 "manipulator"&z% +4 "core" % I M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%T& +3 "core" &\ +2 "manipulator"&% +4 "core" %   +2 "storage"(|% +4 "core" % A 4 \  +2 "storage"(a. +2 "core" .(,y +2 "storage"(Z& +4 "core" &,m 4 @ F\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,| % %\ +2 "manipulator"&D& +4 "core" &Ӯ" ;6 +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&U( +166 "core" ( +2 "manipulator"&]& +3 "core" &   +2 "storage"(B& +4 "core" &,| Q I \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&o' +96 "core" ' + "storage"( & +4 "core" &,| < G B\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('r +309 "core" ' +3 "storage"(<- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (2& +3 "core" &,m E P 0\  +2 "manipulator"&'& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&;( +3 "core" ( +2 "manipulator"& & +4 "core" &  8  +2 "storage"(!& +5 "core" &,m T S ]\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&_'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(@' +8 "core" & *  +2 "manipulator"&=% +3 "core" % t +3 .tForearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&^& +3 "core" & / D +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" & @ D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&[' +105 "core" ' +2 "manipulator"&)& +3 "core" & @ D +2 "manipulator"&% +4 "core" % R +2 "processing"%1& +5 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +5 &=\ $d +10 &Ww\ 7 +9 &u\ L +10 &O\ M +9 &uS\ M +9 &7R\ M +10 &T\ M +9 &Q\ M +9 &}R\ M +10 &?V\ M +9 & S\ M +10 &!R\ N +9 &#T\ M +9 &%GT\ M +10 &'T\ N +9 &(T\ M +9 &*T\ N +10 &,PT\ M +9 &.R\ M +10 &/U\ N +9 &1U\ N +9 &3WT\ M +10 &5T\ M +9 &6U\ M +9 &8S\ M +10 &:_Q\ M +9 && +3 "core" &,k E M n\  +2 "manipulator"&-& +4 "core" &   5 +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&& +3 "core" &  U 5 +2 "storage"(r& +4 "core" &,k 6 ? \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&q' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' +2 "manipulator"&& +3 "core" &  5 +2 "storage"(,& +4 "core" &,k G A \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&M'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\\' +29 "core" ' +2 "manipulator"&#% +3 "core" %>  +2 "storage"(A& +4 "core" &,k A 4 p\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts +2 "manipulator"&9'j +14 "core" ' +2 "manipulator"&k& +3 "core" & ) 4 +2 "storage"(V& +4 "core" &,k F I \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +15 "core" ' +2 "storage"(/% +3 "core" % J P 0\ +3 ."downElevator"SE.seek :down +3 "storage"(p' +99 (F% +4 "core" % J [ H\ Wc +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,k > & \  +2 "collection"'G& +4 "core" &\\b\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %    +2 "storage"(% +4 "core" % E F 9\  +2 "storage"(b. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(K(,y +30 "core" ( +2 .tSC.configure :limp +7 "storage"($\ 1b +3 (W& +3 "core" &,} + # K\ +2 "manipulator"&`& +3 "core" & 4 +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  4 +2 "storage"(\ & +4 "core" &,} E F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&$' +97 "core" ' + "storage"(%& +4 "core" &,} T P S\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'r +298 "core" ' +2 "storage"(f- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & 4 +2 "storage"(S& +3 "core" &,m - - \ +42 .tElbow.reconfigure :limp +10 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&i'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(c's +30 "core" ' + "manipulator"&L% +4 "core" %F . @ +2 "storage"(v& +4 "core" &,m 3 I \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&}'r +13 "core" ' + "manipulator"&& +4 "core" &  4 +2 "storage"(h& +4 "core" &,m I H >\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&z' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(T' +36 "core" ' + "manipulator"&& +5 "core" & 4 +2 "manipulator"&|% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +148 "core" ( +2 "manipulator"&P& +4 "core" &x-   Du +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x- Du +2 .tForearm.seek CC +2 "manipulator"&D'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'N( +447 "core" ( + "storage"(]& +4 "core" &,m M G ^\ +2 "storage"(B& +3 "core" &,m 8 B \ +2 "manipulator"&O& +4 "core" &Ӫ$ =C +2 "manipulator"& % +3 "core" % O  +3 .tForearm.seek :retract + "manipulator"&?' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( + "manipulator"&<& +4 "core" &  =  +2 "storage"(2& +3 "core" &,m \\ ] X\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&''7 +99 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&!1 +63 "core" 1 +2 "manipulator"& % +3 "core" % H    +2 "storage"(& +4 "core" &,m j j \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&='t +14 "core" ' +2 "manipulator"&U& +4 "core" &   +2 "storage"(o& +3 "core" &,m F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&(' +16 "core" ' +2 "storage"(_% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(^' +100 (y% +3 "core" %G R Q \ Va +2 "manipulator"&;% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +96 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&1% +3 "core" % \   +2 "storage"(@% +5 "core" % \  + "storage"(t. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"({(<- +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &<* W ; j\  +47 "manipulator"&Y& +5 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"& & +3 "core" & I  +2 "storage"(~& +3 "core" &<* \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n'O +90 "core" ' +2 "storage"(& +3 "core" &<* .\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +297 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" &<* l j \  +2 "manipulator"&w& +3 "core" & w  +2 .tElbow.seek 5 +2 "manipulator"&[( +4 "core" ( +2 "manipulator"&& +3 "core" & ?  +2 "storage"(& +3 "core" &<* \\ i 5\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& +2 "storage"(' +8 "core" &  + "manipulator"&"% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&E' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&R& +4 "core" &Ӎ > 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &Ӎ 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&x'? +97 "core" ' +2 "manipulator"&X& +3 "core" &Ӎ 7 +3 "manipulator"&H% +3 "core" %>  % 8 +3 "collection"'+& +3 "core" & #\ +3 "collection"'5& +5 "core" & &\ +2 .tCC.seek :closed +2 "collection"'l(\\ +4 "core" & $\  +8 &5~ &\ *z +10 & f~ '\ > +9 &l '\ L +10 &YS '\ K +9 &U \ K +9 &T \ K +10 &S \ K +9 &bT \ J +9 &#V \ K +10 &S \ K +9 & T \ K +10 &"iS \ K +9 &$+T \ K +9 &%X \ K +10 &'U \ J +9 &)pT \ K +9 &+4U \ J +10 &,U \ K +9 &.S \ K +10 &0yU \ K +9 &2;R \ K +9 &3U \ K +10 &5T \ K +9 &7T \ K +9 &9DU \ J +10 &;U \ K +9 &<U \ K +10 &>T \ K +9 &@JV \ K +9 &B W \ L +10 &C^ \ L +9 &Ec\ \ M +9 &GIr\ \ \ \ N +10 &I\ \ \ Q +9 &J\ *\ &\ V +10 &Lw\ .\ +\ W +9 &N6\ *\ , \ X +9 &O\ +\ *\ X +10 &Q\ )\ +\ Y +9 &Sy\ )\ )\ Y +9 &U:\ (\ &\ Y +10 &V\ &\ % \ Z +9 &X\ '\ &\ [ +10 &Zz\ '\ ' \ [\ +9 &\\z\ &\ '\ / +9 &\\8\ $\ & \ "j +9 ( +3 "collection"'5& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&>1 +3 "core" &\\m\ $\ &\ L +56 1 +2 "manipulator"&-% +4 "core" % >  8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%r& +3 "core" &\ +2 "manipulator"&.% +4 "core" %   +2 "storage"(% +4 "core" % 3 @ z\  +2 "storage"(,. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +3 "core" &<* J S\  +2 "manipulator"&A& +4 "core" &ӡ 5 +2 "manipulator"&k% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&V( +161 "core" ( + "manipulator"&7& +4 "core" &  +2 "storage"(/& +3 "core" &<* S U v\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +92 "core" ' +2 "storage"(& +4 "core" &<* : M K\  +2 .tSE.reconfigure :pick +49 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak + "storage"(e'r +299 "core" ' + "storage"(F- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* P H 3\  +2 "manipulator"&q& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(M& +3 "core" &<* E F #\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&9'Ϲ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(' +7 "core" & #  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&b' +96 "core" ' +3 .tElbow.seek PC + "manipulator"&\\( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&W& +4 "core" & \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +107 "core" ' +2 "manipulator"&\ & +3 "core" & > \ +2 "manipulator"&I% +4 "core" %  +2 "processing"%%& +4 "core" &\ +3 "processing"%p& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%j(^ +3 "core" &\  +9 &2v\ )w +9 &c|\ = +10 &sp\ N +9 &5R\ M +9 &T\ M +10 &R\ M +9 &{S\ M +10 &<T\ N +9 &T\ M +9 &T\ M +10 & Q\ M +9 &"ET\ M +10 &$T\ N +9 &%R\ M +9 &'T\ M +10 &)MQ\ M +9 &+T\ N +9 &,U\ M +10 &.S\ M +9 &0UV\ M +10 &2U\ M +9 &3T\ M +9 &5Q\ M +10 &7]U\ M +9 &9X\ M +9 &:V\ N +10 &<U\ N +9 &>dW\ N +9 &@(S\ M +10 &A]\ N +9 &Ce\ O +10 &Efg\ P +9 &G$p\ Q +9 &H\ S +10 &J\ S +9 &Lb\ T +9 &N"\ T +10 &O\ T +9 &Q\ T +10 &Sh\ T +9 &U(\ U +9 &V\ T +10 &X\ U +9 &Zn\ U +9 &\\1\ U +10 &]~u\ 9 +9 &^1\ P +10 &^\ - +2 ( +2 "processing"%p& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&*1 +60 "core" 1 + "manipulator"&g% +5 "core" %    + + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +92 "core" ' +2 "processing"%3& +3 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&S% +3 "core" %   \  " +2 "storage"( % +4 "core" % - . Y\  +2 "storage"(L. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(v(<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "manipulator"&h& +5 "core" &<+ R\ V\  + &    \ +4 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'r +3 "core" ( +2 "manipulator"&$& +3 "core" & \  \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &   . \ +2 .tForearm.seek PC +2 "manipulator"&6' +95 "core" ' +2 .tHand.close + "manipulator"&i/ +55 "core" / +2 .tPC.seek :open +2 "processing"%}( +93 "core" ' + "storage"(c- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(P'1 +47 "core" ' +303 ( +2 "storage"(& +3 "core" &<* H F \  +43 "manipulator"&z& +11 "core" &  \ +2 "manipulator"&J% +3 "core" %  0 +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&a( +242 "core" ( + "manipulator"&4& +4 "core" & L +2 "storage"(]& +4 "core" &<* S P J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +96 "core" ' +2 .tHand.open +2 "manipulator"&O1 +52 "core" 1 +2 "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(<' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(2' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(D- +2 "core" -' +3 "storage"(Z& +3 "core" &<* e d \  +2 "manipulator"&!& +5 "core" &  L +2 .tElbow.seek 5 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &  L +2 "storage"(U& +3 "core" &<* e d I\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&o'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(_'" +52 "core" ' +2 "manipulator"&?& +3 "core" & L +2 "storage"(y& +4 "core" &<* ' ! \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&;'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"('' +26 "core" ' +2 "manipulator"&% +3 "core" %Γ r +2 "storage"(1& +4 "core" &<* & & 0\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 306 counts + "manipulator"&='Ͽ +15 "core" ' + "manipulator"&@& +4 "core" &  ~ . +2 "storage"(t& +3 "core" &<* P G :\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&T'O +15 "core" ' +2 "storage"((% +4 "core" % I P E\ +3 ."downElevator"SE.seek :down +4 "storage"(^' +99 (K% +3 "core" %JO\ \ # ]\ Xg +2 "manipulator"&d% +4 "core" %F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &<* @ - \  +2 "collection"'~& +4 "core" &\\m\ \ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %    +2 "storage"( % +4 "core" % H F 3\  +2 "storage"(). +3 "core" .(<- +2 "storage"(0& +3 "core" &<* E H "\  +2 "storage"(& +4 "core" &<* I I 4\  +2 "manipulator"&w& +3 "core" & . +3 .tElbow.seek 5 +2 "manipulator"&( +22 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(:& +4 "core" &<* F F !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&8'O +91 "core" ' + "storage"("& +5 "core" &<* F ; }\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +298 "core" ' +2 "storage"(n- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" & >  +2 "storage"(m& +3 "core" &<* I F 6\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&&'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(H'w +27 "core" ' +2 "manipulator"&+% +3 "core" %Ζ  +2 "storage"([& +3 "core" &<* G E \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&E& +4 "core" &  2  +2 "storage"(N& +3 "core" &<* U V $\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(-' +36 "core" ' +2 "manipulator"&r& +3 "core" & d  +2 "manipulator"&.% +5 "core" %K r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,(ӂ +159 "core" ( +2 "manipulator"&5& +3 "core" &Ӗ# @ <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &Ӗ# 7 <= +2 .tForearm.seek CC +2 "manipulator"&A'? +98 "core" ' +2 .tHand.close + "manipulator"&k/ +60 "core" / +2 .tCC.seek :open + "collection"'x( +450 "core" ( +2 "storage"(7& +3 "core" &<* k l \  +2 "storage"(/& +4 "core" &<* h j \  +2 "manipulator"&{& +4 "core" &Ӡ" v ;3 +2 "manipulator"&% +3 "core" % ? 5 +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +164 "core" ( + "manipulator"&F& +4 "core" & i  +2 "storage"(& +3 "core" &<* o j \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&q'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&M1 +61 "core" 1 +2 "manipulator"&% +4 "core" % Ί  N K +2 "storage"(G& +3 "core" &<* \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 297 counts +2 "manipulator"&'϶ +15 "core" ' + "manipulator"&V& +3 "core" &   +3 "storage"(C& +3 "core" &<* /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +25 "core" ' +2 "storage"(9% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(W' +99 (`% +3 "core" %I O Z \ Wb +2 "manipulator"&Q% +4 "core" %R   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'I& +4 "core" & \ +2 "manipulator"&%% +4 "core" %   +2 "storage"(% +3 "core" %  n\  +2 "storage"(b. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(u( +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (*& +2 "core" & Y M ,\ +3 "manipulator"&g& +3 "core" & [  +48 .tElbow.seek 3 +3 "manipulator"&3( +36 "core" ( +2 "manipulator"&S& +3 "core" &  M ; +2 "storage"( & +4 "core" & m j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&L'7 +98 "core" ' + "storage"(p& +4 "core" & T\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'r +300 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($& +3 "core" & i Y g\ +2 "manipulator"&& +3 "core" & 5 ; +3 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&i& +4 "core" & ; +2 "storage"(& +4 "core" & j j \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&c'ϡ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(j' +8 "core" &  R ; + "manipulator"&|% +4 "core" % ϫ   +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&J& +3 "core" &ӊ M 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &ӊ $ 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'? +93 "core" ' +3 "manipulator"&]& +3 "core" &ӊ 8 +2 "manipulator"&% +4 "core" %: ; D +2 "collection"'O& +5 "core" & #\ +2 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'D(\\ +4 "core" & #\ +8 &A %\ $f +9 &Z{ &\ 7 +10 &v '\ K +9 &R $\ J +9 &U !\ K +10 &JS #\ K +9 & T %\ J +9 &T %\ K +10 &W "\ K +9 &ST \ J +10 & U \ K +9 &!V  \ K +9 &#W \ K +10 &%ZR \ K +9 &'S \ J +9 &(U \ K +10 &*R \ K +9 &,bS  \ K +10 &.$U \ K +9 &/X \ K +9 &1S \ K +10 &3jT \ K +9 &5,W \ K +10 &6T \ K +9 &8T \ J +9 &:rU \ K +10 &<4X \ K +9 &=S \ K +9 &?V \ K +10 &AzW \ K +9 &C:\\ \ L +10 &De  \ L +9 &Fk\ \  \ N +9 &Hq\ \ \ Q +10 &J)\ %\ \ T +9 &K\ )\ +\ X +9 &M\ +\ *\ W +10 &Od\ '\ )\ X +9 &Q&\ '\ (\ \ X +9 &R\ &\ '\ Y +10 &T\ '\ %\ X +9 &Vf\ #\ #\ Z +10 &X%\ &\ &\ [\ +9 &Y\ $\ %\ [\ +9 &[\ %\ %\ H +10 &\\5\ &\ & \ . +9 &\\a\ $\ " \ L +3 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&Z1 +54 "core" 1 +2 "manipulator"&!% +4 "core" % : D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%U& +3 "core" &\ +2 "manipulator"&% +4 "core" %   +2 "storage"(?% +4 "core" % A 5 a\  +2 "storage"(y. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (1& +2 "core" & ' ' g\ +2 "manipulator"&P& +4 "core" &Ӕ 6 +2 "manipulator"&@% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&t( +163 "core" ( + "manipulator"&<& +4 "core" &   +2 "storage"((& +3 "core" & T U S\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&a'7 +94 "core" ' + "storage"(B& +4 "core" & 9 8 \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +49 "storage"(2'r +295 "core" ' +2 "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (d& +3 "core" & & " =\ +2 "manipulator"&o& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&_& +4 "core" &  +2 "storage"(;& +4 "core" & > (\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&='ϡ +30 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(' +7 "core" &  +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&)' +89 "core" ' +3 .tElbow.seek PC +2 "manipulator"&'( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&0& +4 "core" &  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&w' +93 "core" ' + "manipulator"&& +4 "core" & / +2 "manipulator"&:% +4 "core" % : p +2 "processing"%T& +4 "core" &\ +3 "processing"%"& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%^(^ +3 "core" &\ +7 &8\ $d +9 &Wx\ 7 +10 &x\ L +9 &R\ M +9 &oT\ M +10 &2S\ M +9 &U\ M +10 &U\ N +9 &wT\ M +9 &9W\ M +10 &T\ M +9 &!R\ M +9 &#U\ M +10 &%BR\ M +9 &'U\ M +10 &(R\ M +9 &*U\ M +9 &,IX\ M +10 &. S\ M +9 &/U\ N +9 &1U\ M +10 &3QR\ M +9 &5U\ N +10 &6U\ M +9 &8W\ M +9 &:YU\ M +10 &<X\ M +9 &=V\ N +9 &?S\ M +10 &A`Y\ N +9 &C`\ O +10 &D`\ O +9 &Fm\ P +9 &H]{\ Q +10 &J\ S +9 &K\ S +9 &M\ T +10 &O^\ T +9 &Q\ T +10 &R\ T +9 &T\ U +9 &Vd\ T +10 &X&\ T +9 &Y\ U +9 &[\ U +10 &]j\ B +9 &^<l\ 'r +10 &^!\ + +2 ( +2 "processing"%"& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&Y% +4 "core" %   p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +3 "processing"%R& +3 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&m% +3 "core" %    @  +2 "storage"(X% +4 "core" % ' ' >\  +2 "storage"(+. +2 "core" .( +2 "storage"([& +4 "core" & ) $ -\ +2 "storage"(E& +3 "manipulator"&N& +8 "core" & = 1\ + &  / +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&r( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'r +3 "core" ( +2 "manipulator"&8& +3 "core" &  > / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &   + / +2 .tForearm.seek PC +2 "manipulator"&s' +92 "core" ' +2 .tHand.close + "manipulator"&&/ +57 "core" / + .tPC.seek :open +2 "processing"%( +101 "core" ' + "storage"(H- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +45 "core" ' +297 ( + "storage"(#& +4 "core" & H F \ +2 "manipulator"&>& +3 "core" & 5 / +2 "manipulator"&% +4 "core" %   : +2 .tForearm.seek :retract +2 "manipulator"&k' +95 "core" ' +9 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +260 "core" ( +2 "manipulator"&l& +3 "core" &   +2 "storage"(7& +4 "core" & & #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&/'7 +93 "core" ' +2 .tHand.open +2 "manipulator"&{1 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +3 "core" -' +2 "storage"(,& +3 "core" & \ +2 "manipulator"&M& +4 "core" &    +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&G& +4 "core" &  Z +2 "storage"(V& +3 "core" & ~ ~ :\ +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +62 "core" ' + "manipulator"&& +4 "core" & Z +2 "storage"(`& +4 "core" & I H J\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Q'u +22 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(q' +19 "core" ' +2 "manipulator"&% +4 "core" %΅ +2 "storage"(I& +3 "core" & H F T\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&%'ϱ +15 "core" ' + "manipulator"&& +5 "core" &  Z + "storage"(b& +4 "core" & G F :\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&-'7 +16 "core" ' + "storage"(e% +4 "core" % H F \ +3 ."downElevator"SE.seek :down +3 "storage"(W' +99 (v% +3 "core" %0V\ \  B\ Xj +2 "manipulator"&*% +4 "core" %- +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +95 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (S& +3 "core" & > # \ +2 "collection"' & +4 "core" &\\a\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&p% +3 "core" %  , ! +2 "storage"(% +4 "core" % S S \  +2 "storage"(\ . +3 "core" .( +2 "storage"(& +3 "core" & I S \ +2 "storage"($& +4 "core" & R F 2\ +2 "manipulator"&& +3 "core" & ] Z +3 .tElbow.seek 3 + "manipulator"&i( +4 "core" ( + "manipulator"&& +4 "core" & Z +2 "storage"(\\& +4 "core" & U T l\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&f'7 +93 "core" ' + "storage"(|& +4 "core" & N k N\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'r +297 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" & Z +2 "storage"(6& +4 "core" & A E ;\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&h'u +18 "core" ' + .tElbow.hold +2 "manipulator"&c, +42 "core" , +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +29 "core" ' +2 "manipulator"&O% +3 "core" %Έ P +2 "storage"(& +4 "core" & F H B\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts +2 "manipulator"&j'ϴ +13 "core" ' +2 "manipulator"&& +3 "core" & U Z +3 "storage"(x& +3 "core" & S T 4\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z'7 +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(!' +35 "core" ' + "manipulator"&U& +4 "core" & : Z +2 "manipulator"&% +4 "core" %, +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +156 "core" ( + "manipulator"& & +4 "core" &z. E~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &z. : E~ +2 .tForearm.seek CC +2 "manipulator"&P'? +95 "core" ' + .tHand.close +2 "manipulator"&@/ +55 "core" / + .tCC.seek :open +2 "collection"'4( +447 "core" ( + "storage"(<& +4 "core" & k k \ +2 "storage"((& +3 "core" & j j \ +3 "manipulator"&u& +3 "core" &Ӥ& 1 ?T +2 "manipulator"&B% +4 "core" % E > @ +2 .tForearm.seek :retract +2 "manipulator"&z' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( + "manipulator"&K& +5 "core" &  +2 "storage"(d& +4 "core" & k k \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&o'u +94 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +64 "core" 1 +2 "manipulator"& % +4 "core" % ΅   & +2 "storage"(~& +3 "core" & e t ,\ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 316 counts + "manipulator"& 'ϱ +25 "core" ' +2 "manipulator"&t& +3 "core" &  +2 "storage"(a& +4 "core" & p\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&2'7 +15 "core" ' +2 "storage"(=% +4 "core" %  W\ +2 ."downElevator"SE.seek :down +4 "storage"(0' +99 (% +3 "core" %J = < \ Ua +2 "manipulator"& % +10 "core" %@ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"':& +3 "core" & \ +2 "manipulator"&T% +4 "core" %    +2 "storage"(% +4 "core" % .\  +2 "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(}(,y +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z h _ @\  +2 "manipulator"&Y& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&R( +25 "core" ( +2 "manipulator"&m& +4 "core" &   +2 "storage"(X& +3 "core" &,z } s\  +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +98 "core" ' +2 "storage"([& +3 "core" &,z n\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +297 "core" ' +2 "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +3 "core" &,m j l \  +2 "manipulator"&8& +4 "core" & 4  +2 .tElbow.seek 4 +2 "manipulator"&( +17 "core" ( + "manipulator"&w& +4 "core" & K  +2 "storage"(&& +4 "core" &,m ` j n\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&H'c +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(^' +8 "core" &  + "manipulator"&.% +4 "core" % { k +2 .tForearm.seek :retract +2 "manipulator"&#' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&& +3 "core" &ӕ# <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &s& +3 "core" &ӕ# 2 <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&l'? +94 "core" ' +2 "manipulator"&7& +3 "core" &ӕ# V <9 +2 "manipulator"&r% +4 "core" %I y p +2 "collection"'{& +5 "core" & %\ +2 "collection"'& +6 "core" & $\ +2 .tCC.seek :closed +3 "collection"'A(\\ +3 "core" & (\ +6 & \ 8 +10 &JJv  \ 0 +9 &v} (\ E +9 &,W )\ K +10 &T \ K +9 &U (\ K +9 &sU '\ K +10 &5W (\ K +9 &S "\ K +10 &U $\ K +9 &{Y #\ K +9 &!=S %\ K +10 &"U \ K +9 &$W \ K +9 &&T \ J +10 &(EU "\ K +9 &*S \ K +10 &+T \ J +9 &-U \ K +9 &/LS \ K +10 &1T \ K +9 &2S \ K +9 &4U \ J +10 &6UU \ K +9 &8T \ \ K +10 &9U \ K +9 &;W  \ K +9 &=]S \ K +10 &?T \ K +9 &@W \ K +9 &BZ  \ K +10 &Da` \ L +9 &F!h\  \ M +10 &Gw\ \ \ O +9 &I\ \ \ S +9 &KL\ ,\ * \ V +10 &M \ *\ .\ W +9 &N\ ,\ ,\ W +9 &P\ ,\ ,\ X +10 &RN\ (\ )\ X +9 &T\ '\ ) \ Y +10 &U\ '\ (\ Y +9 &W\ '\ ( \ Z +9 &YN\ '\ (\ [\ +10 &[\ (\ '\ [\ +9 &\\cG\ '\ &\ 4 +9 &\\~\ $\ # \ J +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&,1 +3 "core" &\\j\ #\ #\ J +59 1 +3 "manipulator"&M% +3 "core" % I  p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%V& +4 "core" &\ +2 "manipulator"&k% +3 "core" %   +3 "storage"(% +3 "core" % F E (\  +2 "storage"(`. +3 "core" .(,y +2 "storage"(5& +3 "core" &,m I H &\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +22 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (I& +3 "core" &,| 6 . B\ +2 "manipulator"&F& +3 "core" &Ӫ 9$ +2 "manipulator"&% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&b( +163 "core" ( + "manipulator"&e& +4 "core" & &  +2 "storage"(& +4 "core" &,| < I \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +92 "core" ' +2 "storage"(& +3 "core" &,| > Q k\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +300 "core" ' +2 "storage"(*- +2 "core" -' +2 .tSE.configure :default +49 "storage"(#QK-0-\ b +5 (C& +3 "core" &,m 1  H\ \ +2 "manipulator"&& +4 "core" & H  +2 .tElbow.seek 4 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&Q& +3 "core" &  +2 "storage"(%& +5 "core" &,m H E \ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&S'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(' +6 "core" & i  +4 "manipulator"&\ % +3 "core" % \\  +3 .tForearm.seek :retract + "manipulator"&q' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&$& +5 "core" & ) p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & ; p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&\\& +4 "core" & k p +2 "manipulator"&-% +3 "core" % S U +3 "processing"%|& +4 "core" &\ +2 "processing"%W& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +9 &4y\ *x +9 &d{\ > +9 &o\ N +10 &BQ\ M +9 &S\ N +10 &Q\ M +9 &T\ M +9 &JU\ M +10 & T\ M +9 &U\ M +9 & T\ N +10 &"RS\ M +9 &$T\ N +10 &%R\ M +9 &'T\ N +9 &)ZS\ M +10 &+U\ M +9 &,T\ M +9 &.R\ M +10 &0bQ\ M +9 &2$U\ M +10 &3S\ M +9 &5U\ M +9 &7iT\ N +10 &9+U\ N +9 &:V\ N +9 &<T\ N +10 &>qW\ N +9 &@4R\ M +10 &A[\ N +9 &Cf\ O +9 &Erk\ P +10 &G1v\ Q +9 &H\ T +9 &J\ T +10 &Lp\ S +9 &N0\ T +9 &O\ T +10 &Q\ U +9 &Su\ T +10 &U5\ U +9 &V\ U +9 &X\ U +10 &Z|\ U +9 &\\>\ U +9 &]{p\ 8 +10 &^.\ W +9 &^'\ 2 +3 ( + "processing"%W& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&g1 +59 "core" 1 +2 "manipulator"&L% +4 "core" %  U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +2 "processing"%6& +3 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&]% +4 "core" %    +  +2 "storage"(O% +3 "core" % - - ~\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "manipulator"&U& +4 "core" &,{ & + V\ +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  p +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(f'r +18 "core" ( +2 "manipulator"&i& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &3& +2 "core" &  7 +3 .tForearm.seek PC +2 "manipulator"&h' +93 "core" ' + .tHand.close +2 "manipulator"&j/ +53 "core" / +3 .tPC.seek :open + "processing"%( +86 "core" ' +2 "storage"( - +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +49 "core" ' +310 ( +2 "storage"(Z& +3 "core" &,k E F !\  +2 "manipulator"&c& +4 "core" & +2 "manipulator"&@% +4 "core" %  K +2 .tForearm.seek :retract +2 "manipulator"&?' +89 "core" ' +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&D( +142 "Can"\ UA +98 "core" ( + "manipulator"&<& +4 "core" & C M +2 "storage"((& +4 "core" &,k " ) F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&u' +90 "core" ' + .tHand.open +2 "manipulator"&B1 +56 "core" 1 +2 "storage"(K- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(d' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' +2 "storage"(;& +3 "core" &,k d d b\  +2 "manipulator"& & +12 "core" &  L +2 .tElbow.seek 4 + "manipulator"&~( +4 "core" ( + "manipulator"&t& +4 "core" &   L +2 "storage"(a& +4 "core" &,k e d i\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(z'" +50 "core" ' + "manipulator"&& +4 "core" & & L +2 "storage"( & +4 "core" &,k # - e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +25 "core" ' +2 "manipulator"&T% +4 "core" %= L  +2 "storage"( & +4 "core" &,k * # G\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts +2 "manipulator"&'i +14 "core" ' + "manipulator"&)& +4 "core" &  L +2 "storage"(!& +3 "core" &,k ' 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&2' +16 "core" ' +2 "storage"(0% +3 "core" % F H \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %7L & & A\ Wd +2 "manipulator"&Y% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (X& +3 "core" &,k / 4 \  +2 "collection"'[& +3 "core" &\\i\ \ \ J +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&_% +4 "core" %   +2 "storage"(% +4 "core" % E E #\  +2 "storage"(E. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"("(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +4 "core" &,| O 7 \ +2 "manipulator"&w& +4 "core" & L +2 .tElbow.seek 4 +2 "manipulator"&&( +2 "core" ( +2 "manipulator"&'& +4 "core" & L +2 "storage"(n& +3 "core" &,| P F 3\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +99 "core" ' +2 "storage"(R& +4 "core" &,| S S e\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" & L +2 "storage"(N& +5 "core" &,m . . I\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +42 .tForearm.seek 4 +9 "manipulator"&H'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(r- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"({'s +30 "core" ' + "manipulator"&% +4 "core" %3 2 ? +2 "storage"(^& +4 "core" &,m ( $\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts +2 "manipulator"&#'_ +14 "core" ' +2 "manipulator"&4& +3 "core" &  L +2 "storage"(,& +5 "core" &,m F F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +21 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(V' +36 "core" ' +2 "manipulator"&k& +3 "core" & L +2 "manipulator"&% +4 "core" % E  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ( +3 "manipulator"&5& +4 "core" &ӏ& T ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &Ӑ& K ?U +3 .tForearm.seek CC + "manipulator"&F'? +98 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'l( +449 "core" ( +2 "storage"(e& +3 "core" &,m = 9 \  +2 "storage"(& +4 "core" &,m B ; r\  +2 "manipulator"&}& +4 "core" &ӯ" ;6 +2 "manipulator"&% +3 "core" % ;   +3 .tForearm.seek :retract + "manipulator"&>' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&G( +163 "core" ( + "manipulator"&*& +4 "core" & 9  +2 "storage"(C& +4 "core" &,m g i I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +99 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +56 "core" 1 +2 "manipulator"& % +4 "core" %  m ; +2 "storage"(p& +3 "core" &,m k j \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 271 counts +2 "manipulator"&\ 'F +15 "core" ' + "manipulator"&b& +4 "core" &  H  +2 "storage"(/& +4 "core" &,m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +17 "core" ' +2 "storage"(S% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"($' +99 (% +3 "core" %D j j \ V` +2 "manipulator"&9% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +97 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'-& +3 "core" & \ +2 "manipulator"&|% +4 "core" %   r +2 "storage"(% +4 "core" % 9\  +2 "storage"(q. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +346 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (g& +3 "core" &<+ [ N \ +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 5 +47 "manipulator"&6( +5 "core" ( +2 "manipulator"&]& +4 "core" &   +2 "storage"(O& +3 "core" &<+ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' +2 "storage"(W& +3 "core" &<+ :\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(x'r +296 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (i& +3 "core" &<+ j l \ +2 "manipulator"&3& +4 "core" & w  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&j& +4 "core" &  w  +2 "storage"(& +3 "core" &<+ _ g \ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +2 "storage"(' +8 "core" &  N  +2 "manipulator"&f% +4 "core" % Ϻ n | +2 .tForearm.seek :retract +2 "manipulator"&Z' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&c(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&@& +4 "core" &Ӄ+ M Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &Ӄ+ U Cn +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'? +95 "core" ' +2 "manipulator"&(& +4 "core" &ӣ% >N +2 "manipulator"&% +4 "core" %I L +2 "collection"'B& +4 "core" & '\ +3 "collection"'K& +5 "core" & "\ +2 .tCC.seek :closed +2 "collection"'y(\\ +5 "core" & #\ +7 &4 &\ $e +9 &Wt \ 6 +9 &w %\ J +10 &T "\ J +9 &xU  \ K +10 &:S \ K +9 &T \ K +9 &W \ K +10 &T "\ J +9 &BU \ K +9 & R \ K +10 &!T \ K +9 &#X %\ K +9 &%JT \ K +10 &' W "\ K +9 &(T %\ K +10 &*W !\ K +9 &,SU \ J +9 &.T \ K +10 &/T \ J +9 &1U \ K +9 &3[T \ J +10 &5T  \ K +9 &6T  \ K +10 &8W \ K +9 &:bT \ K +9 &<$W \ K +10 &=U \ K +9 &?Y \ K +9 &AiW \ K +10 &C*\\ \ L +9 &De \ M +10 &Fj\ \ \ N +9 &Hb\ \ \ P +9 &J\ '\ \ U +10 &K\ +\ + \ W +9 &M\ ,\ ,\ W +9 &OU\ *\ -\ X +10 &Q\ (\ +\ X +9 &R\ (\ '\ Y +10 &T\ '\ )\ Y +9 &VW\ '\ &\ Z +9 &X\ %\ (\ Z +10 &Y\ '\ %\ \\ +9 &[\ %\ '\ H +9 &\\7\ %\ %\ . +10 &\\}\ $\ &\ S +2 ( +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&;1 +54 "core" 1 +3 "manipulator"& % +3 "core" % I  ( L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%a& +3 "core" &\ +2 "manipulator"&?% +4 "core" %  \ +2 "storage"(% +4 "core" % , * \  +2 "storage"( . +2 "core" .(<- +2 "storage"(T& +4 "core" &<+ - - {\ +2 "storage"(1& +3 "core" &<+ # * P\ +2 "manipulator"& & +4 "core" &ӯ# K =B +2 "manipulator"&)% +3 "core" %   \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&!( +162 "core" ( +2 "manipulator"&d& +3 "core" &   +3 "storage"(0& +3 "core" &<+ F E &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&D'O +90 "core" ' + "storage"(u& +4 "core" &<+ C O ]\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +301 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +49 (Y& +5 "core" &<+ I F D\ +2 "manipulator"&=& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&~( +4 "core" ( +2 "manipulator"&z& +4 "core" & ,  +2 "storage"(& +4 "core" &<+ F F $\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(_' +8 "core" &   +2 "manipulator"&% +3 "core" % ϸ +3 .tForearm.seek :retract +2 "manipulator"&E' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:( +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&8& +3 "core" & 5 [ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &w& +2 "core" & O [ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'' +107 "core" ' +2 "manipulator"&n& +4 "core" & ( [ +2 "manipulator"&2% +3 "core" % H +3 "processing"%R& +3 "core" &\ +3 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\  +9 &5x\ *x +10 &e{\ > +9 &~n\ N +10 &AR\ M +9 &T\ M +9 &S\ M +10 &Q\ M +9 &HT\ M +9 & Q\ M +10 &T\ N +9 & U\ M +10 &"QQ\ M +9 &$U\ M +9 &%Q\ M +10 &'T\ M +9 &)YQ\ M +10 &+T\ N +9 &,U\ M +9 &.S\ M +10 &0`V\ M +9 &2"U\ M +9 &3Q\ M +10 &5U\ M +9 &7iR\ M +9 &9)V\ N +10 &:W\ M +9 &<R\ M +10 &>pU\ M +9 &@3U\ M +9 &A\\\ N +10 &Cc\ O +9 &Eqh\ P +9 &G1r\ P +10 &H\ S +9 &J\ S +10 &Ln\ S +9 &N.\ T +9 &O\ T +10 &Q\ U +9 &Ss\ T +9 &U4\ U +10 &V\ U +9 &X\ T +10 &Z{\ T +9 &\\;\ U +9 &]zq\ : +10 &^*u\ L +9 &^%\ 2 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&o1 +59 "core" 1 +2 "manipulator"&m% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%s& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&N% +3 "core" %      +2 "storage"(r% +4 "core" % ' '\  +2 "storage"(. +2 "core" .(<- +2 "storage"(^& +4 "core" &<+ ' '\ +2 "storage"(4& +3 "manipulator"&,& +8 "core" &<+ % '\ + &   [ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&k( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +16 "core" ( +2 "manipulator"&.& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&+' +95 "core" ' +2 .tHand.close + "manipulator"&H/ +56 "core" / +2 .tPC.seek :open +2 "processing"%#( +80 "core" ' + "storage"({- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +47 "core" ' +315 ( +2 "storage"(I& +4 "core" &<+ - *\ +2 "manipulator"&M& +4 "core" & +2 "manipulator"&7% +3 "core" %  C +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&`( +243 "core" ( +50 "manipulator"&A& +3 "core" & G +2 "storage"(e& +4 "core" &<+ + & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +103 "core" ' +2 .tHand.open + "manipulator"&}1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +3 "storage"(C' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(& +4 "core" &<+ e e u\ +2 "manipulator"&%& +4 "core" &    G +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&p& +4 "core" &   6 G +2 "storage"(b& +4 "core" &<+ S J f\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(S'" +57 "core" ' +2 "manipulator"&>& +3 "core" & G +2 "storage"(& +4 "core" &<+ ' % \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&9'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +29 "core" ' +2 "manipulator"&-% +3 "core" %Κ +2 "storage"(|& +5 "core" &<+ ' & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&\ ' +14 "core" ' +2 "manipulator"&& +3 "core" & > 7 +3 "storage"(q& +3 "core" &<+ F F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +15 "core" ' +2 "storage"(v% +3 "core" % F E \ +3 ."downElevator"SE.seek :down +4 "storage"($' +98 ("% +5 "core" %<O O C\ Wg +2 "manipulator"&g% +4 "core" %L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (]& +3 "core" &<+ 5 < r\ +2 "collection"'O& +3 "core" &\\w\ \ \ S +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&W% +3 "core" %   +3 "storage"(Q% +3 "core" % E F \  +2 "storage"(\\. +3 "core" .(<- +2 "storage"(U& +4 "core" &<+ P H 6\ +2 "storage"(i& +3 "core" &<+ H H "\ +2 "manipulator"&3& +5 "core" & 7 +2 .tElbow.seek 5 + "manipulator"&j( +21 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &<+ S S b\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&J'O +94 "core" ' +2 "storage"(f& +3 "core" &<+ T S X\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +306 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" &  +2 "storage"(h& +4 "core" &<+ $ % \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&x'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"((- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +42 "storage"('w +35 "core" ' + "manipulator"&B% +4 "core" %Β +2 "storage"(& +3 "core" &<+ J I \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts +2 "manipulator"&'Ͼ +16 "core" ' + "manipulator"&Z& +4 "core" & m  +2 "storage"(l& +4 "core" &<+ 2 A 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&;'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"( ' +44 "core" ' +2 "manipulator"&a& +3 "core" &   +2 "manipulator"&?% +4 "core" %K  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +154 "core" ( +2 "manipulator"&T& +4 "core" &y+ Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &y+ Co +2 .tForearm.seek CC +2 "manipulator"&K'? +94 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"')( +447 "core" ( + "storage"(<& +4 "core" &<+ k j \ +2 "storage"(d& +3 "core" &<+ j j \ +2 "manipulator"&0& +4 "core" &Ӷ" \ ;2 +2 "manipulator"&u% +4 "core" % N  +2 .tForearm.seek :retract +2 "manipulator"&c' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&t( +162 "core" ( +2 "manipulator"&& +3 "core" &  s  +2 "storage"(Y& +4 "core" &<+ l ` Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&='΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&X% +3 "core" % Λ   E +2 "storage"([& +4 "core" &<+ c n \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&!& +4 "core" &  M  +2 "storage"(D& +3 "core" &<+ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +16 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(8' +99 (w% +3 "core" %L P g \ Va +2 "manipulator"&~% +4 "core" %L j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'2& +5 "core" & \ + "manipulator"&R% +4 "core" %  T  +2 "storage"(_% +3 "core" % } )\  +2 "storage"(E. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" & G G \ +2 "manipulator"&m& +3 "core" & #  +2 .tElbow.seek 3 +2 "manipulator"&s( +15 "core" ( + "manipulator"&N& +4 "core" & B  +2 "storage"(r& +4 "core" & c t O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +8 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +95 "core" ' +47 "storage"(^& +5 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'r +297 "core" ' +2 "storage"(4- +4 "core" -'\ + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & O S o\ +2 "manipulator"&.& +3 "core" & s  +2 .tElbow.seek 3 +2 "manipulator"&&( +4 "core" ( + "manipulator"&'& +4 "core" & ,  +2 "storage"(H& +3 "core" & j l \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&{'ϡ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" &  4  + "manipulator"&% +4 "core" % ϛ r +2 .tForearm.seek :retract +2 "manipulator"&I' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&M(ӂ +158 "core" ( +2 "manipulator"&7& +2 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" &ӌ*  Bj +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +2 "core" &ӌ*  f Bj +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&A'? +99 "core" ' + "manipulator"&e& +4 "core" &Ӥ&  t ?R +2 "manipulator"&k% +4 "core" %C  +2 "collection"'}& +5 "core" & $\ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" &  \  +9 &4y &\ *z +10 & f} \ > +9 &k \ \ L +10 &YR \ K +9 &R \ K +9 &U \ K +10 &W \ K +9 &aW \ K +9 &#X \ K +10 &S \ K +9 & R \ K +10 &"iR \ K +9 &$+R \ K +9 &%S \ K +10 &'U \ J +9 &)qU \ K +9 &+3W \ K +10 &,X \ K +9 &.T \ J +10 &0yV \ K +9 &2;X \ K +9 &3U  \ J +10 &5U \ K +9 &7W \ K +9 &9CS \ K +10 &;T \ J +9 &<U \ K +10 &>Y \ K +9 &@LU \ J +9 &B W \ K +10 &C[ \ K +9 &Eg \ M +9 &GIp\ \ \ N +10 &I\ \ \ Q +9 &J\ '\ $\ V +10 &Lu\ *\ +\ W +9 &N7\ *\ )\ W +9 &O\ '\ '\ X +10 &Q\ "\ '\ W +9 &Sx\ %\ '\ Y +9 &U8\ $\ $\ Z +10 &V\ $\ #\ Z +9 &X\ #\ $\ [\ +10 &Zx\ $\ $\ \\ +9 &\\{\ $\ $\ / +9 &\\3\ #\ #\ b +9 ( +2 &\\`\ $\ $\ L +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +3 "manipulator"&%% +3 "core" % C z  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&b% +4 "core" %   +2 "storage"(>% +4 "core" % $ $ >\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(-( +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" & % # C\ +2 "manipulator"&|& +3 "core" &ӥ& ?Q +3 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&*( +166 "core" ( +2 "manipulator"&q& +4 "core" & T  +2 "storage"(v& +3 "core" & T P 8\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +95 "core" ' +2 "storage"(& +4 "core" & H Q U\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'r +294 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +4 "core" & $ / \ +2 "manipulator"&/& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&S& +50 "core" &  +4 "storage"(9& +3 "core" & 4 A \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&\ 'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& +2 "storage"(W' +8 "core" &  +2 "manipulator"&Q% +3 "core" % ϖ +3 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&U& +5 "core" & ) F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &  F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&3' +91 "core" ' +2 "manipulator"&& +3 "core" & 9 F +2 "manipulator"&% +4 "core" % _ +2 "processing"%V& +4 "core" &\ +3 "processing"%f& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%$(^ +3 "core" &\ +9 &7\ $d +9 &Vy\ 7 +10 &x\ L +9 &Q\ M +9 &hT\ N +10 &,R\ M +9 &U\ M +10 &T\ N +9 &rR\ M +9 &4T\ M +10 &U\ M +9 &!Q\ M +9 &#yT\ M +10 &%<V\ M +9 &&U\ M +10 &(U\ N +9 &*U\ M +9 &,CU\ M +10 &.S\ M +9 &/W\ M +9 &1V\ M +10 &3KR\ M +9 &5 U\ M +10 &6R\ M +9 &8W\ M +9 &:SU\ M +10 &<S\ M +9 &=R\ M +9 &?R\ M +10 &AZY\ N +9 &C`\ N +10 &Da\ O +9 &Fj\ P +9 &HVy\ R +10 &J\ T +9 &K\ S +9 &M\ T +10 &OX\ T +9 &Q\ T +10 &R\ T +9 &T\ U +9 &V_\ T +10 &X \ T +9 &Y\ U +9 &[\ U +10 &]e\ B +9 &^@p\ a +10 &^6\ 0 +5 ( +2 "processing"%f& +4 "core" &^\ 0 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&G1 +64 "core" 1 +2 "manipulator"&L% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + "processing"%@& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&h% +3 "core" %     +2 "storage"((% +4 "core" % @ 2\  +2 "storage"(B. +3 "core" .( +2 "storage"(& +3 "core" & % & A\ +3 "storage"(Z& +2 "manipulator"&l& +7 "core" & 2 A \ + &    F +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&a( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(?'r +2 "core" ( +3 "manipulator"&J& +3 "core" &   ; F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +4 "core" &  F +2 .tForearm.seek PC +2 "manipulator"&6' +93 "core" ' +2 .tHand.close + "manipulator"&x/ +55 "core" / +3 .tPC.seek :open +2 "processing"%( +99 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(T'1 +41 "core" ' +301 ( +2 "storage"(1& +3 "core" & 8 L \ +2 "manipulator"&;& +4 "core" & M F +2 "manipulator"& % +3 "core" %  N 1 +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +245 "core" ( + "manipulator"&y& +4 "core" & : +2 "storage"(<& +4 "core" & S O S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +42 "manipulator"&d'7 +101 "core" ' +2 .tHand.open + "manipulator"&01 +58 "core" 1 +2 "storage"(u- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Y' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"( & +3 "core" & v 0\ +2 "manipulator"&& +4 "core" &   : +2 .tElbow.seek 3 +2 "manipulator"&X( +9 "core" ( + "manipulator"&[& +4 "core" &   +2 "storage"(!& +4 "core" & -\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&D'7 +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +61 "core" ' + "manipulator"&c& +4 "core" &  +2 "storage"(w& +4 "core" & # $ .\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&~'u +22 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(=' +19 "core" ' +2 "manipulator"&2% +3 "core" %΅  +2 "storage"(& +4 "core" & % # \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 316 counts + "manipulator"&R'ϱ +15 "core" ' + "manipulator"&_& +4 "core" & J  +2 "storage"(E& +4 "core" & F F 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +15 "core" ' + "storage"(P% +4 "core" % Q R Q\ +3 ."downElevator"SE.seek :down +3 "storage"(8' +99 (% +3 "core" %L]\ \  <\ Xk +2 "manipulator"&o% +3 "core" %( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (N& +3 "core" & # = A\ +2 "collection"'r& +4 "core" &\\`\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&^% +3 "core" %  P  +2 "storage"(z% +4 "core" % F E \  +2 "storage"(n. +3 "core" .( +2 "storage"(4& +3 "core" & F I \ +2 "storage"(& +4 "core" & F E \ +2 "manipulator"&.& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&'( +9 "core" ( + "manipulator"&H& +4 "core" &  t  +2 "storage"(:& +4 "core" & S S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +95 "core" ' +2 "storage"(& +3 "core" & C > +\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(s'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" &  +2 "storage"(+& +4 "core" & $ #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&,'u +17 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(k'h +33 "core" ' +2 "manipulator"&&% +3 "core" %z  +2 "storage"(}& +3 "core" & - - \ +2 .tForearm.force -20 +2 "manipulator"&5 +43 .tForearm.seek 3 + 305 counts +9 "manipulator"&'Ϧ +13 "core" ' + "manipulator"&I& +5 "core" & %  + "storage"()& +4 "core" & E F &\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(%' +32 "core" ' + "manipulator"&& +4 "core" & i  +2 "manipulator"&b% +4 "core" %&  ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +3 "manipulator"&& +3 "core" &Ӑ% c >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &Ӑ% >M +2 .tForearm.seek CC +2 "manipulator"&|'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'A( +446 "core" ( +2 "storage"(q& +3 "core" & k _ \ +2 "storage"(v& +5 "core" & ` ] A\ + "manipulator"&& +4 "core" &Ӫ" L ;3 +2 "manipulator"&% +4 "core" % R n < +2 .tForearm.seek :retract +2 "manipulator"&M' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&p( +165 "core" ( +2 "manipulator"&"& +3 "core" &  f  +2 "storage"(g& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&/'u +98 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +62 "core" 1 +2 "manipulator"&]% +3 "core" % Έ ( +2 "storage"(O& +4 "core" &  ?\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&Q'ϴ +16 "core" ' + "manipulator"&*& +4 "core" & s  +2 "storage"(`& +4 "core" & ~ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +16 "core" ' +2 "storage"(\ % +3 "core" % w p\ +3 ."downElevator"SE.seek :down +4 "storage"(U' +98 (i% +3 "core" %8I C X U\ We +2 "manipulator"& % +4 "core" %:  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&V% +4 "core" %   +2 "storage"(W% +4 "core" % } \  +2 "storage"(\\. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(#(,y +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &,w M [ <\ +2 "manipulator"&L& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&@( +39 "core" ( +2 "manipulator"&h& +4 "core" & Q  +2 "storage"((& +3 "core" &,w o !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&B' +94 "core" ' +2 "storage"(f& +4 "core" &,w \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +3 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" &,m a j \  +2 "manipulator"&J& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&j( +4 "core" ( + "manipulator"&3& +4 "core" & z  +2 "storage"(x& +4 "core" &,m \\ \\\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"($' +7 "core" & a  + "manipulator"&?% +5 "core" % W \\ +2 .tForearm.seek :retract +2 "manipulator"&1' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +154 "core" ( +2 "manipulator"& & +4 "core" &Ӊ, $ A` +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +2 "manipulator"&6& + "storage"(5 +5 "core" &Ӊ) A` +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&y'? +98 "core" ' +3 "manipulator"&<& +3 "core" &Ӊ)  A` +2 "manipulator"&a% +4 "core" %B f  +2 "collection"'0& +4 "core" & '\ +3 "collection"'u& +5 "core" & +\ +2 .tCC.seek :closed +2 "collection"'K(\\ +5 "core" & !\ +5 &; \ %g +10 &[y \ 8 +9 & s \ K +10 &Q \ K +9 &W \ K +9 &QS \ K +10 &T \ J +9 &T \ J +9 &T \ J +10 &YU \ K +9 & W  \ K +10 &!W  \ K +9 &#S \ K +9 &%bT \ J +10 &'$S \ J +9 &(U \ K +10 &*R \ K +9 &,iS  \ K +9 &.+U \ K +10 &/W \ K +9 &1T \ J +9 &3qT \ K +10 &53W \ K +9 &6S  \ K +9 &8T \ K +10 &:xW \ K +9 &<<T \ J +10 &=T \ K +9 &?R \ K +9 &AU  \ K +10 &CAW \ L +9 &Ec \ L +9 &Fj\ \ \ N +10 &Hz~\ \ \  \ P +9 &J.\ &\ \ U +10 &K\ *\ ,\ W +9 &M\ ,\ +\ W +9 &Ok\ '\ * \ X +10 &Q,\ )\ (\ X +9 &R\ %\ '\ Y +9 &T\ '\ &\ \ Y +10 &Vj\ &\ %\ [\ +9 &X-\ $\ % \ [ +10 &Y\ $\ $ \ \\ +9 &[\ &\ %\ I +9 &\\2\ $\ $\ - +10 &\\e\ !\ "\ N +2 ( +2 "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"& 1 +64 "core" 1 + "manipulator"&% +4 "core" % B  A  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%!& +4 "core" &\ +2 "manipulator"& % +3 "core" %   +3 "storage"(c% +3 "core" % > E 0\ +2 "storage"(w. +4 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(T(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &,y % ' \ +2 "manipulator"&& +3 "core" &Ӫ" <? +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&_( +163 "core" ( +2 "manipulator"&E& +3 "core" &  +2 "storage"(P& +4 "core" &,y T S .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(d& +4 "core" &,y Q j \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Y'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &,m # , \  +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(~& +4 "core" &,m 3 = R\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&R'c +25 "core" ' +50 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& +2 "storage"(^' +8 "core" &  +2 "manipulator"&z% +3 "core" % l +3 .tForearm.seek :retract +2 "manipulator"&n' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&4& +3 "core" & U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&.' +89 "core" ' + "manipulator"&H& +4 "core" & +2 "manipulator"&:% +4 "core" %  ~ +2 "processing"% & +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%8(^ +3 "core" &\ +8 &<\ $d +10 &Vy\ 7 +9 &y\ L +9 &P\ M +10 &mT\ M +9 &1N\ M +9 &U\ M +10 &T\ M +9 &vT\ M +9 &8T\ M +10 &S\ M +9 &!S\ N +10 &#~T\ M +9 &%?T\ M +9 &'U\ M +10 &(U\ N +9 &*T\ M +10 &,GT\ M +9 &. R\ M +9 &/U\ N +10 &1U\ M +9 &3OV\ M +9 &5T\ M +10 &6U\ N +9 &8U\ M +10 &:VT\ N +9 &<U\ N +9 &=U\ M +10 &?R\ M +9 &A^V\ N +9 &Ca\ O +10 &De\ P +9 &Fp\ P +10 &HV\ S +9 &J\ T +9 &K\ S +10 &M\ T +9 &O\\\ T +9 &Q\ T +10 &R\ T +9 &T\ U +9 &Vb\ T +10 &X#\ U +9 &Y\ U +10 &[\ T +9 &]g\ C +9 &^<k\ &p +10 &^&\ + +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&t1 +3 "core" &^\ + +53 1 +2 "manipulator"&m% +3 "core" %    ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 "processing"%7& +3 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&+% +3 "core" % \ \   +2 "storage"(e% +4 "core" % 4 /\  +2 "storage"(&. +3 "core" .(,y +2 "storage"(}& +4 "core" &,m 3 E c\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(I(,y +20 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +2 "manipulator"&& +6 "core" &,} 9 ' C\ + &    +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&b( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&'& +3 "core" &  - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &   +3 .tForearm.seek PC + "manipulator"&,' +94 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%k( +98 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +51 "core" ' +297 ( + "storage"(& +4 "core" &,j I G \  +2 "manipulator"&{& +4 "core" &  +2 "manipulator"&% +3 "core" %   ? +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&F( +252 "core" ( +2 "manipulator"&q& +3 "core" &  +2 "storage"(v& +4 "core" &,j F F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +43 .tForearm.seek 4 + 450 counts +9 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"("- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(g' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(9& +4 "core" &,j e e \  +2 "manipulator"&]& +3 "core" &     +3 .tElbow.seek 4 + "manipulator"&O( +3 "core" ( +2 "manipulator"&*& +4 "core" &   7  +2 "storage"(`& +3 "core" &,j D 9 a\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(M'" +55 "core" ' +2 "manipulator"&i& +3 "core" & $  +2 "storage"( & +4 "core" &,j I F \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&p'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&V% +4 "core" %0 2  +2 "storage"(Q& +4 "core" &,j G I *\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 293 counts + "manipulator"&W'\\ +14 "core" ' +2 "manipulator"&\\& +3 "core" &  +2 "storage"(%& +5 "core" &,j F F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +16 "core" ' +2 "storage"(U% +4 "core" % S P S\ +3 ."downElevator"SE.seek :down +4 "storage"(-' +100 (G% +3 "core" %Q ' \ We +2 "manipulator"&L% +3 "core" %  % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ((& +3 "core" &,j 1 7 \  +2 "collection"'f& +4 "core" &\\g\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&S% +3 "core" %    +2 "storage"(% +5 "core" % F I /\  + "storage"(l. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(Z(,y +41 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (J& +2 "core" &,} ' % M\ +2 "manipulator"&3& +4 "core" & ]  +2 .tElbow.seek 4 +2 "manipulator"&x( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &,} F F #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +109 "core" ' +2 "storage"(@& +3 "core" &,} = Q \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +295 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" & !  +2 "storage"(& +3 "core" &,m & ( 5\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +26 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(0's +44 "core" ' +8 "manipulator"&j% +4 "core" %7  +2 "storage"($& +4 "core" &,m # $\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&1'c +14 "core" ' +2 "manipulator"&A& +3 "core" & s  +2 "storage"( & +5 "core" &,m F H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(!' +44 "core" ' +2 "manipulator"& & +3 "core" & S  +2 "manipulator"&c% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u(ӂ +158 "core" ( +3 "manipulator"&2& +3 "core" &Ӛ" ; <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &Ӛ" <@ +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&y/ +102 "core" / + .tCC.seek :open +2 "collection"'E( +447 "core" ( + "storage"(P& +4 "core" &,m k m \ +2 "storage"(#& +4 "core" &,m j j \ +2 "manipulator"&d& +3 "core" &Ӭ! :. +2 "manipulator"&;% +5 "core" % D * # +2 .tForearm.seek :retract +2 "manipulator"&[' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&o& +4 "core" & \\  +2 "storage"(D& +3 "core" &,m j j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +98 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +57 "core" 1 +2 "manipulator"&r% +4 "core" % 0 ?  +2 "storage"(z& +3 "core" &,m  W\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 293 counts +2 "manipulator"&_'\\ +13 "core" ' + "manipulator"&& +4 "core" & G  +2 "storage"(Y& +3 "core" &,m \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +16 "core" ' + "storage"(4% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (X% +3 "core" %L G O V\ Va +2 "manipulator"&H% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +3 "core" & \ +2 "manipulator"&^% +4 "core" % ! $ +2 "storage"(n% +4 "core" % s\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(t(<- +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +3 "core" &<, 4 &\  +2 "manipulator"&7& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&+( +4 "core" ( + "manipulator"&e& +5 "core" & 7  + "storage"(&& +4 "core" &<, i j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +106 "core" ' +2 "storage"(& +3 "core" &<, } \  +48 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ('& +3 "core" &<, q j g\  +2 "manipulator"&s& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&.( +4 "core" ( +2 "manipulator"&& +3 "core" & -  +2 "storage"(T& +4 "core" &<, ~ \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(8' +8 "core" &  +2 "manipulator"&% +4 "core" %  T < +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&& +3 "core" &Ә" / ;7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" &Ә" } ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&q'? +99 "core" ' +2 "manipulator"&v& +3 "core" &ә" 9 ;6 +2 "manipulator"&b% +4 "core" %; F & +3 "collection"'& +3 "core" & (\ +3 "collection"'"& +5 "core" & *\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & !\ +6 &; \ $e +9 &Wt \ 6 +10 &x )\ K +9 &R \ J +9 &}U \ K +10 &?W \ K +9 &S \ K +10 &S \ K +9 &T \ J +9 &HU \ J +10 & T \ K +9 &!W \ K +9 &#X  \ K +10 &%OR \ \ K +9 &'T \ \ J +10 &(U \ J +9 &*T \ K +9 &,WW \ K +10 &.W  \ K +9 &/R \ K +9 &1U \ J +10 &3`T  \ J +9 &5!T \ K +10 &6X \ \ K +9 &8T  \ J +9 &:gU \ K +10 &<)X \ K +9 &=S \ K +9 &?U  \ K +10 &AnZ \ K +9 &C0W \ K +10 &Dc  \ L +9 &Fk\ \ N +9 &Hh\ \  \ P +10 &J\ &\ \ U +9 &K\ -\ +\ V +9 &M\ (\ ( \ W +10 &OZ\ *\ +\ X +9 &Q\ (\ )\ X +10 &R\ )\ '\ X +9 &T\ &\ %\ Y +9 &V]\ '\ &\ Y +10 &X\ %\ &\ Z +9 &Y\ &\ $ \ [ +9 &[\ #\ '\ H +10 &\\:\ &\ &\ * +9 &\\k\ "\ #\ L +3 ( + "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&91 +60 "core" 1 +2 "manipulator"&]% +4 "core" % ; u & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%`& +4 "core" &\ +2 "manipulator"&>% +4 "core" %    +2 "storage"(i% +4 "core" % G @ \  +2 "storage"( . +2 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(V(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Q& +2 "core" &<, @ 7\  +2 "manipulator"&5& +4 "core" &ӫ v 9$ +2 "manipulator"&\\% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&%( +165 "core" ( + "manipulator"&g& +4 "core" &  +2 "storage"(U& +3 "core" &<, P I Y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +92 "core" ' +2 "storage"(& +3 "core" &<, j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +298 "core" ' +2 "storage"(G- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (L& +2 "core" &<, Q G -\  +2 "manipulator"&\ & +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&M& +3 "core" & C  +49 "storage"(p& +5 "core" &<, H L \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&W'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&(/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(S' +8 "core" & P  + "manipulator"&% +5 "core" % Ϻ +2 .tForearm.seek :retract +2 "manipulator"&l' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&J& +4 "core" & # = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" & ? < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +89 "core" ' +2 "manipulator"&& +4 "core" & / < +2 "manipulator"&C% +3 "core" % U w +3 "processing"%@& +3 "core" &\ +3 "processing"%-& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%I(^ +4 "core" &\ +8 &>\ #c +9 &V{\ 7 +10 &u\ K +9 &Q\ M +9 &lT\ M +10 &.Q\ M +9 &T\ M +9 &T\ M +10 &tR\ M +9 &6U\ M +10 &S\ M +9 &!S\ M +9 &#|T\ M +10 &%=T\ M +9 &&T\ M +9 &(T\ M +10 &*T\ M +9 &,EU\ M +10 &. P\ M +9 &/U\ M +9 &1U\ M +10 &3MV\ M +9 &5S\ M +9 &6U\ M +10 &8W\ M +9 &:UT\ M +10 &<R\ M +9 &=V\ N +9 &?U\ N +10 &A\\W\ N +9 &C_\ O +9 &Dc\ O +10 &Fo\ P +9 &HW\ R +10 &J\ S +9 &K\ T +9 &M\ T +10 &OX\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &Va\ T +10 &X \ U +9 &Y\ V +9 &[\ T +10 &]f\ B +9 &^Bs\ [ +9 &^<\ 2 +6 ( +2 "processing"%-& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&/1 +2 "core" &^%\ 2 +57 1 +2 "manipulator"&h% +3 "core" %  ? w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +2 "processing"%6& +3 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" % !   D % +2 "storage"(a% +5 "core" % - - \  + "storage"(j. +4 "core" .(<- + "storage"($& +4 "core" &<, , - s\  +2 "storage"(A& +3 "manipulator"& & +7 "core" &<, - - \  + &    < +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"& ( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(c'r +2 "core" ( + "manipulator"&?& +5 "core" &   * < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &   ( < +2 .tForearm.seek PC +2 "manipulator"&B' +92 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%1( +94 "core" ' +2 "storage"(0- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'1 +40 "core" ' +306 ( +2 "storage"(& +3 "core" &<, O H :\  +2 "manipulator"&& +4 "core" & < +2 "manipulator"&<% +3 "core" %  Z +3 .tForearm.seek :retract + "manipulator"&y' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&w( +243 "core" ( + "manipulator"&K& +4 "core" & F 2 +2 "storage"(P& +3 "core" &<, # # \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +159 "core" ' +2 .tHand.open + "manipulator"&d1 +53 "core" 1 +3 "storage"(;- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(D' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(u& +4 "core" &<, \  +2 "manipulator"&N& +4 "core" &   4 1 +2 .tElbow.seek 5 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&z& +3 "core" &  ' 1 +2 "storage"(& +4 "core" &<, e d \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +51 "core" ' +2 "manipulator"&[& +3 "core" & 1 +2 "storage"(X& +4 "core" &<, # # \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&H'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +20 "core" ' + "manipulator"& % +5 "core" %Β B +2 "storage"(^& +3 "core" &<, + ' P\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&_'Ͼ +14 "core" ' +2 "manipulator"&n& +3 "core" &   +2 "storage"(& +5 "core" &<, F F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +15 "core" ' +2 "storage"(R% +3 "core" % I S /\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (Z% +3 "core" %R & '\ Wf +2 "manipulator"&m% +4 "core" %E + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (e& +3 "core" &<, ; 4 \  +2 "collection"'&& +4 "core" &\\a\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" % " $ +2 "storage"(~% +4 "core" % E F #\  +2 "storage"(:. +3 "core" .(<- +2 "storage"(& +3 "core" &<, F H 5\  +2 "storage"('& +4 "core" &<, E F \  +2 "manipulator"&s& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&( +20 "core" ( +2 "manipulator"&T& +3 "core" & |  +2 "storage"(=& +4 "core" &<, T R e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(& +3 "core" &<, j j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +299 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(,& +4 "core" &<, S T \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&)'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(v- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(b'w +28 "core" ' + "manipulator"&% +4 "core" %Δ ( +2 "storage"(.& +4 "core" &<, F F K\  +2 .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 5 + 307 counts +9 "manipulator"&8' +16 "core" ' + "manipulator"&& +4 "core" & =  +2 "storage"(E& +4 "core" &<, k j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(]' +34 "core" ' +2 "manipulator"&`& +3 "core" & J  +2 "manipulator"&>% +5 "core" %K  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +157 "core" ( +2 "manipulator"&"& +5 "core" &Ӑ& i ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &Ӑ& 2 ?S +3 .tForearm.seek CC + "manipulator"&5'? +97 "core" ' +2 .tHand.close + "manipulator"&\\/ +55 "core" / +2 .tCC.seek :open +2 "collection"'q( +449 "core" ( +2 "storage"(g& +3 "core" &<, k k \  +2 "storage"(U& +4 "core" &<, j k \  +2 "manipulator"&t& +4 "core" &ӯ" ;4 +2 "manipulator"&% +3 "core" % ;  +3 .tForearm.seek :retract + "manipulator"&{' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&*( +164 "core" ( +2 "manipulator"&G& +4 "core" & H  +2 "storage"(L& +3 "core" &<,  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&\ '΍ +97 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +60 "core" 1 +3 "manipulator"&(% +3 "core" % Ύ u  +2 "storage"(f& +4 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&'Ϻ +15 "core" ' + "manipulator"&%& +4 "core" &  ,  +2 "storage"(F& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +15 "core" ' + "storage"(W% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(J' +99 (3% +3 "core" %H k k \ U` +2 "manipulator"&O% +4 "core" %; A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'C& +3 "core" &  \ +2 "manipulator"&@% +4 "core" %   B  +2 "storage"(S% +4 "core" % } 7\  +2 "storage"(l. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(k( +677 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "core" & E B\ +2 "manipulator"&h& +4 "core" & o  +2 .tElbow.seek 3 +2 "manipulator"&6( +35 "core" ( + "manipulator"&& +5 "core" &  P 6 + "storage"(a& +4 "core" &  J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&j'7 +96 "core" ' +2 "storage"($& +3 "core" & ]\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'r +297 "core" ' + "storage"(A- +49 "core" -' +4 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & j j \ +2 "manipulator"&?& +4 "core" &  # 6 +2 .tElbow.seek 3 +2 "manipulator"&x( +4 "core" ( + "manipulator"&& +4 "core" &  z 6 +2 "storage"(& +4 "core" & j j \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&0'ϡ +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(I' +7 "core" &  B 6 + "manipulator"&c% +5 "core" %  3 +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&<& +4 "core" &Ӑ# @ =G +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &Ӑ$ a =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&K'? +102 "core" ' +3 "manipulator"&P& +3 "core" &Ӑ%  T =G +2 "manipulator"& % +5 "core" %7  +2 "collection"'d& +3 "core" & -\ +3 "collection"';& +5 "core" & -\ +2 .tCC.seek :closed +3 "collection"'y(\\ +4 "core" & /\ +5 & ,\ 7 +10 &EKw /\ / +9 &tt} *\ D +9 &X %\ K +10 &S \ K +9 &T \ K +9 &gU \ J +10 &)U \ J +9 &T \ J +10 &T \ K +9 &nW \ K +9 &!0W \ K +10 &"W \ K +9 &$X \ K +9 &&vW #\ K +10 &(8X \ K +9 &)T \ K +10 &+R \ K +9 &-T #\ J +9 &/AU \ J +10 &1U \ K +9 &2W \ K +9 &4W \ K +10 &6HT \ \ K +9 &8\ S \ K +10 &9T \ J +9 &;T \ K +9 &=PW \ K +10 &?S \ K +9 &@V  \ K +9 &BY  \ K +10 &DU` \ L +9 &Fj \ M +10 &Gv\ \ \ O +9 &I\ \  \ S +9 &K>\ )\ '\ W +10 &L\ (\ (\ W +9 &N\ (\ (\ X +9 &P\ &\ &\ X +10 &RA\ '\ %\ X +9 &T\ $\ &\ Y +10 &U\ #\ $\ Z +9 &W\ #\ #\ Z +9 &YB\ #\ %\ [ +10 &[\ $\ #\ [ +9 &\\_S\ #\ #\ 0 +9 &\\\ #\ $\ ] +9 ( +2 &\\\ \ !\ Y +2 "collection"';& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&u% +4 "core" % 7  H  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%z& +3 "core" &\ +2 "manipulator"&% +4 "core" %   +2 "storage"([% +4 "core" % , - \  +2 "storage"(X. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +9 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +3 "core" & $ " w\  +2 "manipulator"&^& +4 "core" &Ӯ  9) +2 "manipulator"&n% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&o( +166 "core" ( + "manipulator"&& +5 "core" &  + "storage"(R& +4 "core" & G E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&w'7 +97 "core" ' + "storage"(#& +4 "core" & S S T\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +297 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +3 "core" & & "\  +2 "manipulator"&Y& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&r( +4 "core" ( +2 "manipulator"&4& +3 "core" &   +2 "storage"(H& +4 "core" & - - \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&e'ϡ +17 "core" ' + .tForearm.reconfigure :loose +49 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&_/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +3 "storage"(' +7 "core" &   +2 "manipulator"&~% +4 "core" % Ϡ = +2 .tForearm.seek :retract +2 "manipulator"&:' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"&& +4 "core" & , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" & $ , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&s' +94 "core" ' +2 "manipulator"&T& +3 "core" & , +2 "manipulator"&=% +4 "core" % +2 "processing"%!& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\ +7 &=\ $e +10 &Xz\ 7 +9 &x\ L +10 &Q\ M +9 &sT\ N +9 &6R\ M +10 &W\ M +9 &R\ M +9 &}O\ M +10 &=T\ N +9 & R\ M +10 &!Q\ M +9 &#U\ M +9 &%EU\ N +10 &'T\ M +9 &(R\ M +9 &*Q\ M +10 &,NV\ M +9 &.R\ M +10 &/R\ M +9 &1R\ M +9 &3VQ\ M +10 &5Q\ M +9 &6V\ M +9 &8W\ M +10 &:^U\ M +9 &<S\ N +10 &=U\ N +9 &?R\ M +9 &AfU\ M +10 &C$]\ O +9 &D`\ O +9 &Fl\ P +10 &Haz\ R +9 &J\ S +10 &K\ T +9 &M\ T +9 &Oa\ T +10 &Q!\ U +9 &R\ T +9 &T\ U +10 &Vi\ T +9 &X*\ U +10 &Y\ U +9 &[\ U +9 &]n\ B +10 &^9g\ %l +9 &^*\ . +5 ( +2 "processing"%& +4 "core" &^\ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&7% +3 "core" %    M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +2 "processing"%& +3 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&,% +3 "core" %     +2 "storage"(v% +4 "core" % " %\  +2 "storage"(. +3 "core" .( +2 "storage"(.& +3 "core" & ' '\  +3 "storage"(& +2 "manipulator"&E& +7 "core" & % ' !\  + &    , +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&`( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(>'r +2 "core" ( +3 "manipulator"&& +3 "core" & \  \\ , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & \ a , +3 .tForearm.seek PC + "manipulator"&+' +93 "core" ' +2 .tHand.close + "manipulator"&)/ +63 "core" / +3 .tPC.seek :open +2 "processing"%8( +88 "core" ' +2 "storage"(b- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'1 +44 "core" ' +312 ( +2 "storage"(Q& +3 "core" & - - y\  +2 "manipulator"&9& +4 "core" & 3 , +2 "manipulator"&% +3 "core" %  4 D +2 .tForearm.seek :retract +2 "manipulator"&\\' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&i( +246 "core" ( +2 "manipulator"&& +3 "core" & ? J +2 "storage"(g& +4 "core" & ( + C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&U'7 +96 "core" ' +2 .tHand.open + "manipulator"&t1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +51 .tSE.seek -0.26 Pucks below Top Plate + "storage"(G' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(L' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(5- +3 "core" -' +2 "storage"( & +3 "core" & d o \  +2 "manipulator"&p& +4 "core" &  < J +2 .tElbow.seek 3 +2 "manipulator"&(( +4 "core" ( +2 "manipulator"&f& +3 "core" &   J +2 "storage"(%& +4 "core" & h c \  +3 .tForearm.seek 3 + 450 counts + "manipulator"&F'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +58 "core" ' + "manipulator"&{& +4 "core" & J +2 "storage"(3& +4 "core" & * F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&O'u +24 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\ ' +28 "core" ' +2 "manipulator"&C% +4 "core" %· +2 "storage"(@& +3 "core" & ' & +\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϳ +13 "core" ' +2 "manipulator"&S& +4 "core" & ` J +2 "storage"(l& +4 "core" & % !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&]'7 +14 "core" ' +2 "storage"(|% +3 "core" % 2 ' q\ +3 ."downElevator"SE.seek :down +4 "storage"(J' +98 (V% +4 "core" %v[ J \ Yk +2 "manipulator"&/% +3 "core" %2 s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 6  1\  +2 "collection"'a& +4 "core" &\\\ \ \ Y +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&$% +4 "core" %  @  +2 "storage"(M% +3 "core" % $ *\  +2 "storage"(. +4 "core" .( +2 "storage"(A& +4 "core" & + ( '\  +2 "storage"( & +3 "core" & % &\  +2 "manipulator"&?& +3 "core" & J +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & J +2 "storage"(& +3 "core" & $ $ E\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +97 "core" ' +2 "storage"(c& +3 "core" & E F \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +305 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" & J +2 "storage"(B& +4 "core" & ! %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&-'u +18 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"( 'h +29 "core" ' + "manipulator"&x% +4 "core" %΂  +2 "storage"(d& +4 "core" & , ) ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&I'Ϯ +13 "core" ' + "manipulator"&& +4 "core" & J +2 "storage"(q& +4 "core" & # # 3\  +42 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(u' +34 "core" ' +2 "manipulator"&z& +3 "core" & 8 J +2 "manipulator"&% +4 "core" %. +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&X(ӂ +154 "core" ( + "manipulator"&;& +4 "core" &Ӑ% >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &Ӑ% S >M +2 .tForearm.seek CC +2 "manipulator"&^'? +99 "core" ' + .tHand.close +2 "manipulator"&n/ +54 "core" / +2 .tCC.seek :open +2 "collection"'K( +450 "core" ( + "storage"(& +4 "core" & k k \  +2 "storage"(R& +4 "core" & j j \  +2 "manipulator"&k& +3 "core" &Ө" @ ;5 +2 "manipulator"&#% +4 "core" % J +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&N( +162 "core" ( + "manipulator"&Z& +4 "core" &   +2 "storage"(m& +3 "core" & a 6\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Y'u +100 "core" ' + .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&H1 +60 "core" 1 +2 "manipulator"&_% +3 "core" % ΁  +2 "storage"(&& +4 "core" & j q X\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts +2 "manipulator"&~'ϭ +14 "core" ' +2 "manipulator"&o& +3 "core" &  m  +2 "storage"(w& +4 "core" & ~\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&D'7 +15 "core" ' +2 "storage"(e% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 ('% +3 "core" %Q L Q U\ We +2 "manipulator"&r% +3 "core" %1 g +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'=& +3 "core" & \ +2 "manipulator"&!% +5 "core" %   z  + "storage"(% +5 "core" %  I\  + "storage"(:. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(1(,y +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,z h _ i\ \ +2 "manipulator"&7& +4 "core" &  @  +2 .tElbow.seek 4 +2 "manipulator"&( +25 "core" ( + "manipulator"&,& +4 "core" & @  +2 "storage"(v& +3 "core" &,z n p \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(.& +3 "core" &,z \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,m i m W\  +2 "manipulator"&& +4 "core" &  W  +47 .tElbow.seek 4 +4 "manipulator"&( +17 "core" ( + "manipulator"&s& +4 "core" & ^  +2 "storage"()& +3 "core" &,m k k \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&b'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(' +8 "core" & g  +2 "manipulator"&>% +3 "core" % Y ' +3 .tForearm.seek :retract +2 "manipulator"&Q' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9(ӂ +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &y-  Dy +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &y-  Dy +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +2 "manipulator"&g& +3 "core" &ӥ% < >M +2 "manipulator"&`% +5 "core" %:  +2 "collection"'t& +3 "core" & /\ +3 "collection"'& +5 "core" & /\ +2 .tCC.seek :closed +2 "collection"'\\(\\ +4 "core" & +\ +7 &A ,\ $f +9 &[{ -\ 8 +10 & s *\ K +9 &T $\ K +9 &W *\ J +10 &RT (\ J +9 &T "\ J +10 &U #\ J +9 &R \ K +9 &ZR "\ K +10 & R "\ J +9 &!T &\ J +10 &#T '\ J +9 &%bR &\ K +9 &'$R &\ K +10 &(S #\ K +9 &*W \ K +9 &,jX #\ K +10 &.,W  \ K +9 &/V #\ J +9 &1T %\ J +10 &3rS "\ K +9 &54R \ K +10 &6S \ K +9 &8R \ K +9 &:zS \ K +10 &<<W \ K +9 &=W \ K +9 &?X \ K +10 &AY \ K +9 &CAZ  \ L +10 &Ec \ L +9 &Fj\ \  \ M +9 &Hy\ \ \ P +10 &J0\ %\ \ \ T +9 &K\ ,\ * \ V +9 &M\ *\ *\ W +10 &Ol\ '\ )\ X +9 &Q-\ )\ ( \ X +10 &R\ '\ (\ Y +9 &T\ '\ # \ Y +9 &Vl\ &\ #\ Z +10 &X-\ %\ %\ [ +9 &Y\ (\ %\ [ +9 &[\ &\ ( \ I +10 &\\2\ #\ &\ - +9 &\\t\ #\ $\ O +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&51 +63 "core" 1 +3 "manipulator"& % +3 "core" % :  > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%f& +5 "core" &\ + "manipulator"&%% +4 "core" %  Z  +2 "storage"({% +4 "core" % - - f\ +2 "storage"(3. +3 "core" .(,y +2 "storage"(C& +3 "core" &,m  9\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"("(,y +35 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" &,| #  <\ +2 "manipulator"&S& +4 "core" &ӱ# =A +2 "manipulator"&G% +3 "core" %  :  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&l( +166 "core" ( + "manipulator"&|& +4 "core" & j  +2 "storage"(i& +4 "core" &,| Q I \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&U' +89 "core" ' +2 "storage"(L& +4 "core" &,| L 7 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(V'r +298 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (F& +3 "core" &,m  $ r\  +2 "manipulator"&(& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&W( +4 "core" ( +2 "manipulator"&O& +3 "core" &   +2 "storage"(& +5 "core" &,m F H \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +53 "core" / +3 ."downElevator"SE.seek :down +50 "manipulator"&$& +4 "storage"(M' +8 "core" &  + "manipulator"&% +4 "core" % W @  +3 .tForearm.seek :retract + "manipulator"&\ ' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&A( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"& & +3 "core" & / +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" & / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&& +4 "core" &  / +2 "manipulator"&]% +4 "core" % 3 v +2 "processing"%c& +4 "core" &\ +3 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%*(^ +3 "core" &\  +9 &3y\ *x +10 &c{\ = +9 &xo\ N +10 &<O\ M +9 &R\ M +9 &R\ M +10 &T\ M +9 &BT\ M +9 &P\ M +14 &T\ M +5 & T\ N +11 &"KR\ M +8 &$ T\ M +9 &%O\ M +10 &'S\ M +9 &)SU\ M +9 &+T\ M +10 &,V\ M +9 &.R\ M +9 &0ZU\ M +10 &2T\ N +9 &3T\ M +10 &5Q\ M +9 &7bU\ M +9 &9#U\ N +10 &:U\ M +9 &<R\ M +10 &>iV\ N +9 &@+U\ N +9 &AZ\ N +10 &Cg\ O +9 &Ejf\ P +9 &G(v\ Q +10 &H\ S +9 &J\ T +9 &Lg\ T +10 &N'\ T +9 &O\ T +10 &Q\ U +9 &Sl\ U +9 &U-\ U +10 &V\ U +9 &X\ T +9 &Zt\ U +10 &\\4\ U +9 &]|s\ ; +10 &^(k\ O +9 &^&\ 2 +2 ( +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&h1 +53 "core" 1 +2 "manipulator"&j% +3 "core" %    v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +92 "core" ' + "processing"%B& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&P% +3 "core" %      +2 "storage"(x% +4 "core" % % &\  +2 "storage"(d. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +22 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (q& +2 "manipulator"&z& +4 "core" &,} ' % 7\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   / +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"& ( +6 "core" ( +2 "manipulator"&& +3 "core" &   / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +4 "core" &   ! / +2 .tForearm.seek PC +2 "manipulator"&-' +92 "core" ' + .tHand.close +2 "manipulator"&I/ +56 "core" / +2 .tPC.seek :open +2 "processing"% ( +93 "core" ' + "storage"(;- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'1 +48 "core" ' +304 ( +2 "storage"(& +3 "core" &,k E H \ +2 "manipulator"&0& +4 "core" & / +2 "manipulator"&n% +5 "core" %   c +2 .tForearm.seek :retract + "manipulator"&[' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&y( +244 "core" ( + "manipulator"&& +4 "core" &  4 +2 "storage"(R& +4 "core" &,k + ( 3\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +96 "core" ' + .tHand.open +2 "manipulator" +64 "core" 1 +2 "storage"(Z- +3 "core" -'1 +50 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(m' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +4 "core" -' + "storage"(H& +4 "core" &,k g g \ +2 "manipulator"&_& +4 "core" &   4 +2 .tElbow.seek 4 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&o& +4 "core" &  4 +2 "storage"(w& +3 "core" &,k e g \ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +55 "core" ' +2 "manipulator"&'& +3 "core" & 4 +2 "storage"(r& +4 "core" &,k ( - f\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&N'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(=' +29 "core" ' + "manipulator"&!% +4 "core" %I ; +2 "storage"(~& +3 "core" &,k ' ' /\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&'u +14 "core" ' +2 "manipulator"&:& +3 "core" & 2 4 +2 "storage"(u& +4 "core" &,k F F $\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +15 "core" ' +2 "storage"(% +3 "core" % E F \ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (% +3 "core" %P\ \  )\ We +2 "manipulator"&7% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (v& +3 "core" &,k @ Z\ +2 "collection"'.& +3 "core" &\\p\ \ \ O +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&4% +3 "core" %  #  +2 "storage"(T% +4 "core" % E H \  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,{ % ' P\ +2 "manipulator"&s& +4 "core" & 4 +2 .tElbow.seek 4 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&& +4 "core" &  4 +2 "storage"(}& +3 "core" &,{ H G "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +101 "core" ' + "storage"(& +4 "core" &,{ F P >\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&+& +3 "core" & 4 +2 "storage"(E& +4 "core" &,m . . W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&b'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(`- +4 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(t't +29 "core" ' + "manipulator"&% +4 "core" %H %  +2 "storage"(& +3 "core" &,m , * R\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 317 counts + "manipulator"&Q't +42 "core" ' +10 "manipulator"&K& +4 "core" & 4 +2 "storage"(5& +3 "core" &,m I P T\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +17 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(f' +47 "core" ' +2 "manipulator"&%& +4 "core" &  4 +2 "manipulator"&{% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +156 "core" ( +2 "manipulator"&& +3 "core" &ӗ   :1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &@& +2 "core" &ӗ  * :1 +3 .tForearm.seek CC + "manipulator"&S'? +96 "core" ' +2 .tHand.close + "manipulator"&G/ +60 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( + "storage"(|& +4 "core" &,m j k a\  +2 "storage"(i& +3 "core" &,m g M \  +2 "manipulator"&1& +4 "core" &Ӝ   :, +2 "manipulator"&L% +3 "core" % Q 6 +3 .tForearm.seek :retract + "manipulator"&9' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&p( +163 "core" ( +2 "manipulator"&/& +3 "core" & [  +2 "storage"(F& +5 "core" &,m ` j \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&('7 +93 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&a% +4 "core" % A  K X +2 "storage"($& +4 "core" &,m  ^\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +2 "manipulator"&'m +14 "core" ' + "manipulator"&l& +5 "core" & \   + "storage"(U& +4 "core" &,m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +15 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +100 (?% +3 "core" %G O j Q\ V_ +2 "manipulator"&W% +3 "core" % q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"']& +4 "core" & $\ +2 "manipulator"&c% +3 "core" %   ' " +3 "storage"(M% +3 "core" % N\  +2 "storage"(\ . +4 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(8(<- +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +3 "core" &<* K R \  +2 "manipulator"&j& +3 "core" & m  +3 .tElbow.seek 5 + "manipulator"&B( +13 "core" ( +2 "manipulator"&P& +4 "core" & { m +2 "storage"(x& +3 "core" &<* n q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&d'O +94 "core" ' +2 "storage"(J& +3 "core" &<* T\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +294 "core" ' +2 "storage"(z- +2 "core" -' +47 .tSE.configure :default +5 "storage"(#QK-0-\ b +3 (& +3 "core" &<* i k \  +2 "manipulator"&6& +5 "core" &  m + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&I& +3 "core" & y m +2 "storage"("& +4 "core" &<* \\ [\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;'Ϲ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&A/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(*' +8 "core" & d m + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&n& +5 "core" &Ӌ+ Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &ӌ+  Cm +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +3 "manipulator"&R& +4 "core" &Ӧ&  c ?S +2 "manipulator"& % +3 "core" %G  q +3 "collection"'#& +4 "core" & \ +2 "collection"'Z& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'[(\\ +4 "core" & ,\ +8 &< -\ %f +9 &Yw 0\ 7 +9 &v 1\ J +10 &R -\ J +9 &U 1\ J +10 &JT +\ J +9 & T ,\ J +9 &R $\ K +10 &R &\ J +9 &PR  \ K +9 & R \ K +10 &!R \ K +9 &#X !\ K +10 &%XU \ K +9 &'R $\ K +9 &(T &\ J +10 &*W #\ J +9 &,aT '\ J +9 &."S (\ K +10 &/R (\ K +9 &1T $\ K +9 &3hX $\ K +10 &5*W \ K +9 &6W \ K +10 &8W $\ K +9 &:qW !\ K +9 &<2V $\ K +10 &=W (\ K +9 &?S \ K +10 &AxT \ K +9 &C8\\ \ L +10 &Dc \ L +9 &Fr\ \ \ N +9 &Hr~\ \ \ P +9 &J&\ #\ %\ U +10 &K\ (\ +\ V +9 &M\ *\ *\ W +9 &Od\ (\ )\ W +10 &Q#\ '\ '\ X +9 &R\ '\ &\ Y +10 &T\ '\ &\ X +9 &Vd\ '\ %\ Z +9 &X%\ %\ $\ Z +10 &Y\ &\ ' \ [ +9 &[\ %\ $\ I +10 &\\0\ '\ & \ 2 +9 &\\l\ #\ %\ L +2 ( +2 "collection"'Z& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&X1 +58 "core" 1 + "manipulator"&H% +4 "core" % G B q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%o& +4 "core" &\ +2 "manipulator"&w% +3 "core" % !  ( +2 "storage"('% +4 "core" % - - <\  +2 "storage"(r. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(!(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (~& +3 "core" &<*\ \ 7\  +2 "manipulator"&2& +4 "core" &Ӱ% # >I +2 "manipulator"&:% +3 "core" % "  ( +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&u( +162 "core" ( + "manipulator"&m& +4 "core" &  +2 "storage"(& +4 "core" &<* P F ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&y'O +95 "core" ' +2 "storage"(k& +4 "core" &<* Q j s\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'r +306 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +3 "core" &<* ' & e\  +2 "manipulator"&e& +3 "core" & +  +2 .tElbow.seek 5 +2 "manipulator"&&( +4 "core" ( +2 "manipulator"&& +3 "core" & O  +2 "storage"(N& +4 "core" &<* F E ;\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&v'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +47 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(4' +8 "core" &  +2 "manipulator"&T% +3 "core" %  $ +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&& +3 "core" &  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" & S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&}& +3 "core" & +2 "manipulator"&D% +5 "core" % + "processing"%& +4 "core" &\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 &<\ $d +9 &Vx\ 7 +9 &w\ L +10 &P\ M +9 &nT\ M +9 &0Q\ M +10 &T\ M +9 &P\ M +10 &vR\ M +9 &8V\ M +9 &S\ M +10 &!T\ M +9 &#~T\ M +9 &%@V\ M +10 &'S\ M +9 &(T\ N +10 &*S\ M +9 &,GU\ N +9 &.\ R\ M +10 &/V\ M +9 &1W\ M +9 &3OT\ N +10 &5T\ M +9 &6Q\ M +10 &8R\ M +9 &:YP\ M +9 &<W\ M +10 &=W\ M +9 &?T\ M +10 &A`U\ M +9 &C`\ O +9 &Dc\ O +10 &Fm\ Q +9 &HZ}\ R +9 &J\ T +10 &K\ S +9 &M\ T +9 &O[\ T +10 &Q\ U +9 &R\ T +10 &T\ U +9 &Vc\ T +9 &X$\ U +10 &Y\ U +9 &[\ U +9 &]h\ B +10 &^Bs\ Y +9 &^ A\ 1 +6 ( +2 "processing"% & +3 "core" &^"\ 1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&Y1 +64 "core" 1 +2 "manipulator"&,% +3 "core" %   7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 "processing"%+& +3 "core" &^!\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&E% +3 "core" %  \   +2 "storage"(`% +4 "core" % , ) 2\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (K& +2 "manipulator"&5& +4 "core" &<* S\ &\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(%'r + "manipulator"&{( +6 "core" ( +2 "manipulator"&>& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" & \  +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&b/ +60 "core" / +2 .tPC.seek :open +2 "processing"%Q( +89 "core" ' + "storage"(t- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +168 "Can"\ YM +141 "core" ( + "storage"(@& +4 "core" &<* F Q F\  +2 "manipulator"& & +4 "core" & " +2 "manipulator"&g% +3 "core" %  S +3 .tForearm.seek :retract + "manipulator"&G' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&3( +241 "core" ( +2 "manipulator"&\\& +3 "core" & P Q +2 "storage"(|& +3 "core" &<* I I @\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +91 "core" ' +42 .tHand.open +9 "manipulator"&11 +52 "core" 1 +2 "storage"(L- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(F' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(S- +2 "core" -' +3 "storage"(C& +3 "core" &<* 6 5 \  +2 "manipulator"&& +4 "core" &   ' Q +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&$& +3 "core" &  Q +2 "storage"(l& +4 "core" &<* O J 6\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&U'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' + "manipulator"&9& +4 "core" &  Q +2 "storage"(?& +3 "core" &<* # $\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&W'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"((' +29 "core" ' + "manipulator"&]% +5 "core" %Β { + "storage"(c& +4 "core" &<* ' " \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&'Ͼ +14 "core" ' +2 "manipulator"&M& +3 "core" & 1 +2 "storage"(\ & +4 "core" &<* E E 6\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +15 "core" ' +2 "storage"(V% +3 "core" % I F \ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (% +3 "core" %R Y "\ We +2 "manipulator"&h% +4 "core" %J  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (P& +3 "core" &<* 8 : \  +2 "collection"'x& +4 "core" &\\j\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&J% +3 "core" % ! * +3 "storage"(O% +3 "core" % E F \  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(z(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<+ ? u\  +2 "manipulator"&6& +4 "core" & 1 +2 .tElbow.seek 5 +2 "manipulator"&I( +22 "core" ( + "manipulator"&"& +5 "core" &    + "storage"(A& +4 "core" &<) P H K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +94 "core" ' +2 "storage"(& +4 "core" &<) G < _\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(B'r +304 "core" ' +2 "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &  +2 "storage"(-& +3 "core" &<) P F T\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&q'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"( 'w +28 "core" ' + "manipulator"&#% +4 "core" %Ι M + "storage"(& +4 "core" &<) E F F\  +41 .tForearm.force -20 +9 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&*' +15 "core" ' + "manipulator"&& +4 "core" & ,  +2 "storage"(& +4 "core" &<) P G 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&X'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(H' +42 "core" ' +2 "manipulator"&o& +3 "core" & @  +2 "manipulator"&w% +5 "core" %I $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +176 "core" ( +2 "manipulator"&Z& +3 "core" &  / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" & & / +3 .tForearm.seek CC + "manipulator"&2'? +100 "core" ' + .tHand.close +2 "manipulator"&:/ +61 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( + "storage"(m& +4 "core" &<) k j \  +2 "storage"(& +4 "core" &<) j j \  +2 "manipulator"&8& +3 "core" &Ӕ , +2 "manipulator"&k% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&0' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&_( +157 "core" ( + "manipulator"&& +4 "core" &  t  +2 "storage"(7& +3 "core" &<) h b 5\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&e'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +57 "core" 1 +2 "manipulator"&% +3 "core" % Ν  C +2 "storage"(.& +4 "core" &<) } c\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&T' +15 "core" ' +2 "manipulator"&u& +5 "core" &  + "storage"(y& +4 "core" &<)  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +15 "core" ' +2 "storage"(v% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (s% +3 "core" %F k k i\ V` +2 "manipulator"&&% +4 "core" %J  w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [3..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'D& +3 "core" & \ +2 "manipulator"&% +4 "core" %  ? # +2 "storage"(4% +4 "core" %  -\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +671 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Y& +3 "core" & l f [\ +2 "manipulator"&,& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&+( +14 "core" ( +2 "manipulator"&E& +4 "core" &~  v +2 "storage"(`& +3 "core" & h c \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +90 "core" ' +2 "storage"( & +3 "core" & \\\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +47 "storage"(K'r +298 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (>& +3 "core" & a l \ +2 "manipulator"&)& +4 "core" &~ z v +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&b& +4 "core" &~  n v +2 "storage"(!& +3 "core" & _ ] \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&t'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" &~  v + "manipulator"&%% +4 "core" % Ϝ  , +2 .tForearm.seek :retract +2 "manipulator"&@' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&g& +4 "core" &Ӑ)  H Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ( Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'? +94 "core" ' +3 "manipulator"&|& +3 "core" &Ӑ) W Ab +2 "manipulator"&{% +4 "core" %3  q +2 "collection"'1& +4 "core" & \ +3 "collection"'L& +5 "core" & O\ +2 .tCC.seek :closed +3 "collection"'S(\\ +3 "core" & \ +6 & \ 9 +9 &LKu *\ 1 +10 &x~ ,\ E +9 &7Z ,\ K +10 &W 0\ K +9 &Y .\ K +9 &~Y -\ K +10 &@W +\ K +9 &X -\ J +9 &U (\ J +10 &U '\ J +9 &!IV '\ J +10 &# U "\ J +9 &$T %\ J +9 &&X &\ K +10 &(OX $\ K +9 &*W '\ K +9 &+X %\ K +10 &-W )\ K +9 &/XY $\ K +10 &1W $\ K +9 &2V !\ K +9 &4W "\ K +10 &6`W "\ K +9 &8"X #\ K +9 &9T  \ K +10 &;S  \ K +9 &=hY  \ K +10 &?*T '\ K +9 &@U \ J +9 &BZ !\ K +10 &Dm`  \ L +9 &F*h \ M +9 &Gx\ \ \ O +10 &I\ \ \ S +9 &KT\ '\ '\ W +10 &M\ '\ (\ W +9 &N\ &\ & \ W +9 &P\ &\ #\ X +10 &RX\ #\ $\ X +9 &T\ \ $\ Y +9 &U\ #\ #\ Z +10 &W\ #\ "\ [ +9 &YW\ #\ "\ [ +10 &[\ $\ "\ \\ +9 &\\nF\ #\ #\ 2 +9 &\\\ !\ #\ L +6 ( +2 "collection"'L& +3 "core" &\\a\ !\ \ L +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&C1 +61 "core" 1 +2 "manipulator"&G% +4 "core" % 3 & q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%$& +4 "core" &\ +2 "manipulator"&l% +4 "core" %   +2 "storage"(9% +3 "core" % $ $ \  +2 "storage"(?. +4 "core" .( + "storage"(]& +4 "core" & & ! N\ +2 "storage"(& +3 "core" & $ $ 2\ +2 "manipulator"&c& +4 "core" &ӱ# =A +2 "manipulator"&M% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\ ( +164 "core" ( + "manipulator"&/& +4 "core" & 6  +2 "storage"(V& +4 "core" & S S p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&3'7 +93 "core" ' + "storage"(i& +5 "core" & P j r\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" & ( > !\ +2 "manipulator"&U& +3 "core" & +  +3 .tElbow.seek 3 + "manipulator"&a( +4 "core" ( + "manipulator"&& +5 "core" &   + "storage"(W& +4 "core" & E F %\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&P'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +105 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(J' +7 "core" & F  +2 "manipulator"&O% +4 "core" % ϛ C +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&(( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &6& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&"' +101 "core" ' +2 "manipulator"&A& +3 "core" &  +3 "manipulator"&f% +3 "core" %  ? +2 "processing"%& +4 "core" &\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +7 &<\ $d +9 &Ww\ 7 +9 &v\ L +10 &P\ M +9 &mU\ M +9 &/Q\ M +10 &R\ N +9 &S\ M +10 &uR\ M +9 &6T\ N +9 &S\ M +10 &!R\ M +9 &#}U\ M +9 &%?T\ M +10 &'T\ N +9 &(S\ M +10 &*S\ M +9 &,HR\ M +9 &. R\ M +10 &/U\ M +9 &1U\ N +9 &3OT\ M +10 &5U\ M +9 &6T\ M +10 &8W\ M +9 &:WU\ M +9 &<W\ M +10 &=U\ N +9 &?S\ M +9 &A^S\ N +10 &C\\\ N +9 &D`\ O +10 &Fj\ P +9 &HZz\ R +9 &J\ S +10 &K\ T +9 &M\ T +9 &OZ\ T +10 &Q\ U +9 &R\ T +10 &T\ U +9 &Va\ U +9 &X$\ T +10 &Y\ T +9 &[\ T +9 &]g\ B +10 &^@p\ a +9 &^5\ 1 +6 ( + "processing"% & +4 "core" &^%\ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&p1 +61 "core" 1 +2 "manipulator"&j% +3 "core" %   ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +91 "core" ' + "processing"%n& +4 "core" &^$\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&-% +3 "core" %     +2 "storage"(R% +3 "core" % - - {\  +2 "storage"(#. +4 "core" .( + "storage"(& +4 "core" & - - P\ +2 "storage"(& +3 "manipulator"&& +8 "core" & - - u\ + &  (  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&o( +5 ."raiseStack"SE.seek :beamBreak + "storage"(w'r +3 "core" ( +2 "manipulator"&<& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &I& +3 "core" &   q  +2 .tForearm.seek PC +2 "manipulator"&B' +94 "core" ' +2 .tHand.close + "manipulator"&q/ +58 "core" / +2 .tPC.seek :open +2 "processing"%*( +92 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Z'1 +40 "core" ' +309 ( + "storage"(~& +5 "core" & G 4 /\ + "manipulator"&X& +4 "core" &  +2 "manipulator"&;% +3 "core" %  < +3 .tForearm.seek :retract + "manipulator"&:' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&'( +253 "core" ( +2 "manipulator"&[& +4 "core" & 2  +2 "storage"(m& +3 "core" & ) , ^\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' +2 .tHand.open + "manipulator"&81 +57 "core" 1 +2 "storage"(k- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +42 "storage"(' +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(7' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +3 "core" -' +2 "storage"(r& +4 "core" & <\ +2 "manipulator"&N& +4 "core" &   !  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&.& +4 "core" &   ,  +2 "storage"(u& +4 "core" & \ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&y'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(v'" +60 "core" ' + "manipulator"&0& +4 "core" &  +2 "storage"(s& +4 "core" & > 2 '\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&&'u +21 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(e' +19 "core" ' + "manipulator"&D% +4 "core" %Ή +2 "storage"(& +4 "core" & - . v\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&T'ϵ +13 "core" ' + "manipulator"&4& +5 "core" & -  +2 "storage"(& +3 "core" & F E 2\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&H'7 +16 "core" ' +2 "storage"(^% +3 "core" % U S _\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (z% +3 "core" %Z\  g\ Wi +2 "manipulator"&Y% +4 "core" %5  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +97 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +3 "core" & : Y Y\ +2 "collection"'`& +4 "core" &\\`\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %  w +2 "storage"(% +4 "core" % ; D q\  +2 "storage"(}. +2 "core" .( +2 "storage"(5& +4 "core" & 9 = R\ +2 "storage"(>& +3 "core" & M T 7\ +2 "manipulator"&)& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&b( +4 "core" ( + "manipulator"&!& +4 "core" &  +2 "storage"(=& +3 "core" & M G \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +88 "core" ' +2 "storage"(%& +3 "core" & k k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" & '  +2 "storage"(& +4 "core" & F F v\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&K'u +19 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(|- +4 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"({'i +30 "core" ' + "manipulator"&1% +4 "core" %Ά \ +2 "storage"(& +3 "core" & I I \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&'ϲ +14 "core" ' +2 "manipulator"&@& +3 "core" & $  +2 "storage"(& +4 "core" & 9 L \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +43 .tForearm.seek 3 + 450 counts +8 "manipulator"&C'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(G' +35 "core" ' + "manipulator"&$& +4 "core" & v  +2 "manipulator"&l% +4 "core" %8 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +156 "core" ( +2 "manipulator"&]& +3 "core" &Ӎ(   @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +3 "core" &Ӎ' @^ +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + .tHand.close +2 "manipulator"&c/ +54 "core" / +2 .tCC.seek :open +2 "collection"'M( +446 "core" ( +2 "storage"(\\& +4 "core" & 8 L l\ +2 "storage"(/& +3 "core" & S > \\\ +2 "manipulator"&V& +4 "core" &Ӭ# <? +2 "manipulator"&i% +3 "core" % :  +2 .tForearm.seek :retract +2 "manipulator"& ' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&& +4 "core" &  Y  +2 "storage"(h& +3 "core" & k j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&U'u +101 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +55 "core" 1 +2 "manipulator"&% +4 "core" % |  + +2 "storage"(x& +3 "core" & k k \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&O'Ϩ +13 "core" ' + "manipulator"&\ & +5 "core" &  5  + "storage"(3& +4 "core" & j j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&F'7 +16 "core" ' + "storage"(P% +4 "core" % r s b\ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (6% +2 "core" %}G 8 7 H\ Vb +2 "manipulator"&a% +4 "core" %& g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +89 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'f& +4 "core" & "\ +2 "manipulator"&% +3 "core" %   +2 "storage"(J% +5 "core" % ~ '\  + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(Q(,y +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (p& +3 "core" &,| h ^ o\ +2 "manipulator"&j& +3 "core" & O  +2 .tElbow.seek 4 +2 "manipulator"&n( +41 "core" ( + "manipulator"&-& +5 "core" & [  + "storage"(R& +4 "core" &,|  <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&#' +100 "core" ' +2 "storage"(& +3 "core" &,| 3\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &,m ^ ] E\  +2 "manipulator"&<& +4 "core" & 1  +2 .tElbow.seek 4 +2 "manipulator"&I( +48 "core" ( +4 "manipulator"&"& +3 "core" &    +2 "storage"(q& +4 "core" &,m j ` \  +3 .tForearm.seek 4 + 300 counts + "manipulator"& 'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(' +6 "core" & c  +3 "manipulator"&w% +5 "core" % σ R +2 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +159 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&;& + "storage"(5 +7 "core" &Ӌ+ Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &Ӌ+ Cq +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['? +102 "core" ' + "manipulator"&m& +4 "core" &ӎ, Cn +2 "manipulator"&o% +4 "core" %@   +2 "collection"'8& +5 "core" & ?\ +2 "collection"'k& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"':(\\ +4 "core" & \ +8 &< ,\ %g +10 &Yx -\ 7 +9 & x ,\ J +9 &S /\ J +10 &V ,\ J +9 &MU +\ J +9 &T *\ J +10 &U *\ J +9 &X \ J +9 &UU  \ J +10 & U  \ J +9 &!U "\ J +10 &#U %\ J +9 &%]S '\ K +9 &' R &\ J +10 &(S '\ K +9 &*S &\ K +9 &,eT (\ K +10 &.(U '\ J +9 &/Y %\ K +10 &1Y \ J +9 &3mT \ J +9 &5/U \ J +10 &6U $\ J +9 &8U !\ J +9 &:uV  \ J +10 &<7U "\ J +9 &=U \ K +10 &?Y "\ K +9 &A|Z !\ K +9 &C=\\ \ K +10 &Dc !\ L +9 &Fk\  \ N +9 &Hv\ \  \ P +10 &J+\ #\ \ T +9 &K\ )\ )\ V +10 &M\ *\ *\ Y +9 &Oh\ *\ )\ W +9 &Q(\ (\ '\ X +10 &R\ $\ '\ X +9 &T\ &\ $\ Y +9 &Vg\ $\ '\ Z +10 &X'\ %\ %\ [\ +9 &Y\ %\ &\ \\ +10 &[\ &\ %\ H +9 &\\2\ %\ &\ \ . +9 &\\p\ !\ $\ M +3 ( +2 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&21 +63 "core" 1 +2 "manipulator"&r% +4 "core" % @    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%.& +3 "core" &\ +2 "manipulator"&u% +4 "core" %   +2 "storage"(0% +4 "core" % $ # \  +2 "storage"(s. +2 "core" .(,y +2 "storage"(Z& +4 "core" &,m + ( -\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(D(,y +25 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| ! I\ +2 "manipulator"&4& +4 "core" &ӯ%  >M +2 "manipulator"&% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +166 "core" ( +2 "manipulator"&^& +4 "core" & $  +2 "storage"('& +4 "core" &,| S S R\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +101 "core" ' +2 "storage"(7& +4 "core" &,| P G P\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"(z'r +295 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &,m - ' 3\  +2 "manipulator"&& +3 "core" & -  +3 .tElbow.seek 4 + "manipulator"&v( +4 "core" ( + "manipulator"&&& +4 "core" & d  +2 "storage"(T& +4 "core" &,m $ $ $\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&E'c +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +3 "storage"(' +54 "core" & J  +3 "manipulator"&}% +3 "core" % ϑ +3 .tForearm.seek :retract +2 "manipulator"&e' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&5( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&>& +4 "core" & 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" & $ 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&!' +94 "core" ' +2 "manipulator"&=& +3 "core" & 2 +3 "manipulator"&H% +3 "core" % +2 "processing"%%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%_(^ +2 "core" &\ +7 &\ 7 +9 &DJu\ 0 +10 &rs|\ D +9 &\\\ N +9 &R\ M +10 &R\ M +9 &^R\ M +9 & R\ M +10 &R\ M +9 &S\ M +10 &fR\ M +9 &!(R\ M +9 &"R\ M +10 &$S\ M +9 &&nR\ M +9 &(0S\ M +10 &)R\ M +9 &+R\ M +10 &-vR\ M +9 &/7R\ M +9 &0S\ M +10 &2T\ M +9 &4|R\ M +9 &6=T\ N +10 &8T\ M +9 &9T\ M +10 &;W\ M +9 &=FT\ M +9 &?S\ M +10 &@Y\ M +9 &B^\ N +9 &DHb\ O +10 &Fp\ P +9 &G|\ R +10 &I\ S +9 &KC\ T +9 &M\ T +10 &N\ T +9 &P\ T +9 &RH\ U +10 &T \ U +9 &U\ T +10 &W\ V +9 &YQ\ T +9 &[\ T +10 &\\\ U +9 &^Ec\ 'x +9 &^`\ 7 +9 ( +2 &^%\ 3 +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&,1 +58 "core" 1 +3 "manipulator"&% +3 "core" %    2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +2 "processing"%& +3 "core" &^%\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&|% +3 "core" % %  9 +2 "storage"(1% +4 "core" % ' ' \  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(@(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "manipulator"&$& +4 "core" &,{ % Q \ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & \  2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(l'r + "manipulator"&( +6 "core" ( +2 "manipulator"&b& +3 "core" &  \ 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &   2 +3 .tForearm.seek PC +2 "manipulator"&K' +97 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%{( +88 "core" ' + "storage"(]- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +43 "core" ' +312 ( + "storage"(C& +4 "core" &,j I I 9\ +2 "manipulator"&t& +4 "core" &  2 +2 "manipulator"&c% +3 "core" %  K J +3 .tForearm.seek :retract + "manipulator"&9' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&S( +247 "core" ( +2 "manipulator"&\\& +4 "core" & J +2 "storage"(/& +3 "core" &,j G I \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +94 "core" ' + .tHand.open + "manipulator"&i1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(h' +76 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(W& +3 "core" &,j d d \ +3 "manipulator"&& +3 "core" &   J +2 .tElbow.seek 4 +2 "manipulator"&x( +4 "core" ( +2 "manipulator"&\ & +3 "core" &  k J +2 "storage"(3& +4 "core" &,j d f \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&P' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +59 "core" ' +2 "manipulator"&6& +3 "core" &  J +2 "storage"(a& +4 "core" &,j - ) a\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +21 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(f' +27 "core" ' +2 "manipulator"&% +3 "core" %E ? +2 "storage"(O& +4 "core" &,j & &\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&J'q +13 "core" ' + "manipulator"&& +4 "core" & B J +2 "storage"(G& +5 "core" &,j F E !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +16 "core" ' +2 "storage"(% +3 "core" % G I c\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +99 (p% +3 "core" %bQ % # \ Xf +2 "manipulator"&j% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (R& +3 "core" &,j  = 5\ +2 "collection"'& +3 "core" &\\m\ \ \ M +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  <  +2 "storage"(A% +4 "core" % E E #\  +2 "storage"(. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +3 "core" &,|   I\ +2 "manipulator"&"& +3 "core" & J +3 .tElbow.seek 4 + "manipulator"&q( +4 "core" ( + "manipulator"&(& +4 "core" & J +2 "storage"(d& +3 "core" &,| F I )\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +97 "core" ' + "storage"(n& +4 "core" &,| S S -\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +295 "core" ' +2 "storage"(;- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" & $ J +2 "storage"(& +3 "core" &,m / . .\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"& '7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(o't +29 "core" ' + "manipulator"&8% +4 "core" %J F +2 "storage"(& +3 "core" &,m % # D\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&~'v +15 "core" ' +2 "manipulator"&M& +43 "core" &  I +9 "storage"(2& +4 "core" &,m F E %\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&r' +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(.' +36 "core" ' + "manipulator"&u& +5 "core" & I + "manipulator"&0% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +154 "core" ( +2 "manipulator"&k& +3 "core" &Ӗ$ =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӗ$  =G +2 .tForearm.seek CC +2 "manipulator"&4'? +92 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +3 .tCC.seek :open + "collection"'[( +449 "core" ( +2 "storage"(^& +3 "core" &,m k j \ +2 "storage"('& +4 "core" &,m k j \ +2 "manipulator"&Q& +4 "core" &Ӭ! 4 :1 +2 "manipulator"&7% +3 "core" % O f ' +3 .tForearm.seek :retract + "manipulator"&X' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&N( +160 "core" ( +2 "manipulator"&Y& +3 "core" &  z  +2 "storage"(y& +4 "core" &,m m j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'7 +99 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +58 "core" 1 +2 "manipulator"&`% +4 "core" % / N > +2 "storage"( & +3 "core" &,m \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 292 counts +2 "manipulator"&}'[ +13 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &,m ~ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +20 "core" ' + "storage"(E% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(>' +99 ()% +3 "core" %uI Q j \ Va +2 "manipulator"&v% +4 "core" % J  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&=' +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'H& +3 "core" & %\ +2 "manipulator"&%% +4 "core" %  %  +2 "storage"(% +4 "core" % ~ $\  +2 "storage"(e. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(*(<- +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (,& +3 "core" &<, [ I \ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&|& +3 "core" &    +2 "storage"(1& +4 "core" &<,  -\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +92 "core" ' + "storage"(& +4 "core" &<, } \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +48 "core" &<, j i \ +4 "manipulator"&+& +5 "core" & o  +2 .tElbow.seek 5 + "manipulator"&!( +4 "core" ( +2 "manipulator"&& +4 "core" &  _  +2 "storage"(D& +4 "core" &<, t _ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&]'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +2 "storage"(_' +8 "core" &  b  +2 "manipulator"&l% +3 "core" % ϭ +3 .tForearm.seek :retract +2 "manipulator"&C' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&c& +3 "core" &x1 W H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &K& +3 "core" &y1 H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'? +102 "core" ' +3 "manipulator"&/& +3 "core" &Ӳ) T A_ +2 "manipulator"&% +4 "core" %I +2 "collection"'i& +4 "core" & \ +3 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'9(\\ +4 "core" & 9\ +8 &< T\ %f +9 &Z{ D\ 8 +9 & s \ K +10 &R *\ J +9 &U ,\ J +9 &RT 1\ J +10 &U 0\ J +9 &X -\ K +10 &X +\ K +9 &YX ,\ K +9 & X (\ J +10 &!T !\ J +9 &#S )\ K +9 &%aR %\ K +10 &'$S &\ J +9 &(U &\ J +10 &*U "\ J +9 &,iV &\ K +9 &.,X "\ J +10 &/T $\ J +9 &1U "\ J +9 &3rU (\ J +10 &54U '\ J +9 &6U &\ J +10 &8U '\ J +9 &:zU '\ J +9 &<;T %\ K +10 &=S #\ K +9 &?S &\ K +9 &AV #\ J +10 &CA[ &\ K +9 &Eb \ L +10 &Fj\  $\ M +9 &Hx\ \ !\ P +9 &J.\ $\ \ U +10 &K\ *\ ("\ V +9 &M\ '\ )#\ W +9 &Ol\ (\ '\ W +10 &Q-\ '\ ($\ X +9 &R\ '\ %$\ X +10 &T\ (\ %"\ Y +9 &Vm\ %\ $\ Z +9 &X/\ &\ &!\ Z +10 &Y\ %\ %\ [\ +9 &[\ %\ &\ H +9 &\\0\ %\ %\ . +10 &\\g\ %\ $ \ O +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&?1 +61 "core" 1 +2 "manipulator"&W% +4 "core" % I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%\ & +5 "core" &\ + "manipulator"&3% +4 "core" %    +2 "storage"(6% +4 "core" % , , \  +2 "storage"(a. +2 "core" .(<- +2 "storage"(L& +4 "core" &<, + - \ +2 "storage"(& +4 "core" &<, ! \ +2 "manipulator"&O& +3 "core" &ӳ' @^ +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&G( +163 "core" ( +2 "manipulator"&h& +5 "core" &   + "storage"(& +4 "core" &<, I S F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&S'O +98 "core" ' +2 "storage"(V& +3 "core" &<, N k v\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +308 "core" ' +2 "storage"(p- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (j& +2 "core" &<, H F *\ +2 "manipulator"&P& +4 "core" & A  +2 .tElbow.seek 5 +2 "manipulator"&x( +4 "core" ( + "manipulator"& & +4 "core" & 8  +2 "storage"(& +3 "core" &<, V T j\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&J'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" & ,  +50 "manipulator"&A% +4 "core" % ϴ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f( +110 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +146 "core" ( +2 "manipulator"&<& +3 "core" &  \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +4 "core" & [ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&(' +95 "core" ' +2 "manipulator"&d& +4 "core" & \ +2 "manipulator"&F% +4 "core" % y +2 "processing"%n& +5 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(^ +5 "core" &\ +5 &<\ $d +10 &Ww\ 7 +9 &s\ K +10 &Q\ M +9 &mS\ M +9 &0N\ M +10 &S\ M +9 &T\ N +9 &vR\ M +10 &6T\ N +9 &T\ M +10 &!U\ M +9 &#}T\ M +9 &%@Q\ M +10 &'T\ M +9 &(Q\ M +9 &*T\ M +10 &,HV\ M +9 &.\ S\ M +10 &/U\ N +9 &1U\ M +9 &3PR\ M +10 &5T\ M +9 &6R\ M +9 &8V\ N +10 &:WT\ M +9 &<R\ M +10 &=R\ M +9 &?U\ M +9 &A]X\ N +10 &C`\ O +9 &Dd\ O +9 &Fl\ P +10 &HX~\ R +9 &J\ T +10 &K\ T +9 &M\ T +9 &O\\\ T +10 &Q\ T +9 &R\ T +9 &T\ U +10 &Vc\ T +9 &X#\ U +10 &Y\ U +9 &[\ T +9 &]g\ C +10 &^<m\ &o +9 &^%\ + +5 ( +2 "processing"% & +4 "core" &^\ + +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&U1 +56 "core" 1 +4 "manipulator"&-% +6 "core" %   X y +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +92 "core" ' +2 "processing"%B& +3 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" % !  7 ' +2 "storage"(I% +4 "core" % - , G\  +2 "storage"(8. +2 "core" .(<- +2 "storage"(& +4 "core" &<, & . q\ +2 "storage"(M& +3 "manipulator"&2& +8 "core" &<, - - |\ + &   \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&u( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(0'r +2 "core" ( + "manipulator"&w& +5 "core" &  0 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &  $ \ +2 .tForearm.seek PC +2 "manipulator"&#' +95 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +3 .tPC.seek :open +2 "processing"%~( +92 "core" ' + "storage"(o- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'1 +40 "core" ' +309 ( +2 "storage"(& +3 "core" &<, F F &\ +2 "manipulator"&r& +4 "core" & \ +2 "manipulator"&m% +3 "core" %  1 Z +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&s( +240 "core" ( +2 "manipulator"&:& +3 "core" & L > +2 "storage"(^& +4 "core" &<, $ * \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&''O +105 "core" ' +2 .tHand.open + "manipulator"&Q1 +53 "core" 1 +2 "storage"(7- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Y' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +55 "core" ' +10 #tLights, camera, ACTION! + "storage"(4- +3 "core" -' +2 "storage"(Z& +4 "core" &<, d d L\ +2 "manipulator"&T& +5 "core" &   > +2 .tElbow.seek 5 + "manipulator"&`( +4 "core" ( +2 "manipulator"& & +3 "core" &    > +2 "storage"(& +5 "core" &<, X J m\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(E'" +58 "core" ' +2 "manipulator"&X& +4 "core" & > +2 "storage"()& +3 "core" &<, $ % 5\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&v'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&H% +3 "core" %Β h +2 "storage"(}& +4 "core" &<, % ! ?\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts +2 "manipulator"&%'Ͼ +14 "core" ' +2 "manipulator"&& +4 "core" & ! +2 "storage"(e& +3 "core" &<, G F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +15 "core" ' +2 "storage"(z% +4 "core" % K S a\ +2 ."downElevator"SE.seek :down +4 "storage"(>' +98 ( % +3 "core" %N & # 6\ Xf +2 "manipulator"&,% +4 "core" %N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (|& +3 "core" &<, = 5 \ +2 "collection"'1& +4 "core" &\\f\ \ \ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %    +2 "storage"(&% +3 "core" % E F $\  +2 "storage"(=. +4 "core" .(<- + "storage"($& +4 "core" &<, E E $\ +2 "storage"(b& +3 "core" &<, F H \ +2 "manipulator"&+& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +18 "core" ( + "manipulator"&D& +4 "core" &  +2 "storage"(5& +3 "core" &<, S R [\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +92 "core" ' +2 "storage"(l& +4 "core" &<, U L d\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&c& +3 "core" & j  +2 "storage"(K& +3 "core" &<, F F `\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('w +31 "core" ' + "manipulator"&i% +4 "core" %Π +2 "storage"(!& +3 "core" &<, G A \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&_' +15 "core" ' +2 "manipulator"&C& +8 "core" & :  +2 "storage"([& +4 "core" &<, P U /\ +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(W' +44 "core" ' +9 "manipulator"&\ & +3 "core" & -  +2 "manipulator"&3% +4 "core" %R W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +160 "core" ( +2 "manipulator"&L& +4 "core" &Ӗ$ 2 =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӗ# =F +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' + .tHand.close +2 "manipulator"&O/ +61 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( + "storage"(\\& +4 "core" &<, Q > G\ +2 "storage"(h& +4 "core" &<, 8 = \\\ +2 "manipulator"&& +3 "core" &Ӵ  H 9( +2 "manipulator"&V% +4 "core" % @ " +2 .tForearm.seek :retract +2 "manipulator"&t' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&p& +3 "core" &  -  +2 "storage"(j& +4 "core" &<, k j \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&P'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&R% +3 "core" %   T  +2 "storage"(& +4 "core" &<, k ` \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 286 counts +2 "manipulator"&A'ϫ +14 "core" ' +2 "manipulator"&G& +3 "core" & \\  +2 "storage"(S& +5 "core" &<, ~ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' + "storage"(J% +4 "core" % } \ +3 ."downElevator"SE.seek :down +3 "storage"(<' +100 ("% +3 "core" %J j Q c\ Va +2 "manipulator"&x% +3 "core" %:  K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +99 "core" ' +41 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'F& +4 "core" & +\ +2 "manipulator"&n% +4 "core" % \  F  +2 "storage"(% +3 "core" %  \  +2 "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"({( +680 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +3 "core" & j i \ +2 "manipulator"&-& +3 "core" & z  +3 .tElbow.seek 3 + "manipulator"&B( +35 "core" ( +2 "manipulator"&& +3 "core" & / +2 "storage"(I& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&8'7 +93 "core" ' +2 "storage"(& +3 "core" & #\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +299 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (M& +3 "core" & j m X\ +2 "manipulator"&w& +3 "core" & ' / +3 .tElbow.seek 3 +2 "manipulator"&q( +2 "core" ( +2 "manipulator"&(& +4 "core" &  [ / +2 "storage"( & +3 "core" & \\ \\ \ +3 .tForearm.seek 3 + 300 counts +47 "manipulator"&o'ϡ +36 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&;& +3 "storage"(@' +5 "core" & b / +3 "manipulator"&0% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +150 "core" ( + "manipulator"&m& +5 "core" ' + &Ӂ-  - Dv +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &#& +3 "core" &Ӂ- Dv +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'? +98 "core" ' +2 "manipulator"&^& +3 "core" &ӓ)  Ad +2 "manipulator"&u% +4 "core" %A +  +2 "collection"'Q& +5 "core" & \ +2 "collection"'7& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'4(\\ +5 "core" & \ +6 &< "\ $e +10 &Yx \ 7 +9 &x \ J +9 &R L\ K +10 &W 2\ K +9 &ES \ K +10 &R .\ K +9 &S /\ K +9 &R 0\ K +10 &NT ,\ J +9 & T /\ J +9 &!U /\ J +10 &#U ,\ J +9 &%VT -\ J +10 &'T ,\ J +9 &(U ,\ K +9 &*W &\ K +10 &,]W $\ K +9 &.S "\ K +9 &/S $\ K +10 &1U !\ J +9 &3fU \ J +10 &5'T $\ K +9 &6X \ K +9 &8R #\ K +10 &:mR #\ K +9 &<0T $\ J +9 &=U "\ K +10 &?W $\ K +9 &AtU &\ K +10 &C6] %\ K +9 &Dc (\ L +9 &Fk \ N +10 &Hm\ \ &\ P +9 &J$\ #\  \ T +9 &K\ (\ )"\ V +10 &M\ &\ '\ W +9 &Oa\ $\ % \ W +10 &Q!\ $\ $\ X +9 &R\ %\ $#\ Y +9 &T\ #\ !\ X +10 &V_\ !\ $\ [ +9 &X!\ #\ #\ [ +9 &Y\ #\ $\ [ +10 &[\ #\ #\ H +9 &\\1\ !\ !\ 4 +9 &\\l\ #\ #\ K +3 ( +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&Z1 +64 "core" 1 +2 "manipulator"&T% +3 "core" % A   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %   +2 "storage"(X% +3 "core" % F F \  +2 "storage"(). +4 "core" .( + "storage"(k& +4 "core" & H F \ \ +2 "storage"(H& +4 "core" & 3 F ]\ +2 "manipulator"&}& +3 "core" &Ӳ# =E +2 "manipulator"&Y% +4 "core" %  B  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( + "manipulator"&e& +4 "core" &  B  +2 "storage"(z& +4 "core" & I F 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&s'7 +89 "core" ' +2 "storage"('& +4 "core" & O = _\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(y'r +294 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" & ' " 4\ +2 "manipulator"&& +4 "core" & 6  +2 .tElbow.seek 3 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&E& +3 "core" &  +2 "storage"(v& +4 "core" & G H \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϡ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"(' +6 "core" &   +2 "manipulator"&&% +4 "core" % ϖ +2 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&$& +53 "core" & R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +3 "core" & [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&+' +93 "core" ' +2 "manipulator"&D& +4 "core" &   +2 "manipulator"&5% +5 "core" % A i +2 "processing"%.& +3 "core" &\ +3 "processing"%l& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%>(^ +3 "core" &\ +8 &=\ $d +10 &Vx\ 7 +9 &u\ L +9 &O\ M +10 &rS\ M +9 &4T\ M +9 &T\ M +10 &S\ M +9 &zR\ M +10 &;T\ M +9 &S\ M +9 &!U\ M +10 &#T\ M +9 &%DT\ M +9 &'T\ M +10 &(T\ M +9 &*T\ M +10 &,MT\ M +9 &.R\ M +9 &/U\ M +10 &1U\ M +9 &3TU\ M +9 &5T\ M +10 &6T\ N +9 &8U\ M +10 &:[T\ M +9 &<R\ M +9 &=U\ M +10 &?S\ M +9 &AcX\ M +9 &C"]\ N +10 &Da\ N +9 &Fm\ P +10 &H`z\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &Oa\ S +9 &Q \ T +10 &R\ T +9 &T\ U +10 &Vf\ T +9 &X)\ T +9 &Y\ T +10 &[\ T +9 &]m\ B +9 &^9l\ &o +10 &^&\ + +5 ( +2 "processing"%l& +3 "core" &^\ + +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&N1 +58 "core" 1 + "manipulator"&% +4 "core" %   \ i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 "processing"%c& +3 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&K% +3 "core" %   \   +2 "storage"(/% +4 "core" % + - j\  +2 "storage"(i. +3 "core" .( +2 "storage"(!& +3 "core" & - . L\ +3 "storage"(C& +2 "manipulator"&[& +5 "core" & ( - a\ +2 &   +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(\ 'r + "manipulator"&3( +7 "core" ( + "manipulator"&g& +4 "core" &   ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   ? +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%_( +95 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +45 "core" ' +305 ( +3 "storage"(& +3 "core" & F H \ +2 "manipulator"&?& +4 "core" & +2 "manipulator"&]% +3 "core" %  ? +3 .tForearm.seek :retract + "manipulator"&O' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&6( +255 "core" ( +2 "manipulator"&9& +3 "core" &  +2 "storage"(\\& +4 "core" & & $\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&h'7 +93 "core" ' +2 .tHand.open + "manipulator"&1 +65 "core" 1 +2 "storage"(V- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(j' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(a& +3 "core" & @\ +2 "manipulator"&& +4 "core" &     +2 .tElbow.seek 3 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(G& +49 "core" & \ +5 .tForearm.seek 3 + 450 counts +2 "manipulator"&S'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(J'" +51 "core" ' +2 "manipulator"&t& +3 "core" & \  +2 "storage"("& +4 "core" & E @ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&x'u +24 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(P' +19 "core" ' +2 "manipulator"&F% +4 "core" %΀  +2 "storage"(A& +3 "core" & ) c\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&n'Ϭ +13 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & F H \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&W'7 +15 "core" ' +2 "storage"(% +3 "core" % I G ?\ +3 ."downElevator"SE.seek :down +3 "storage"(<' +99 (*% +4 "core" %S\ "\  Z\ Wi +2 "manipulator"&U% +4 "core" %1  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +96 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 3 # 1\ +2 "collection"'I& +4 "core" &\\k\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %    +2 "storage"( % +4 "core" % H F %\  +2 "storage"(d. +2 "core" .( +3 "storage"(2& +3 "core" & E F \ +2 "storage"(M& +5 "core" & E E #\ + "manipulator"&w& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&(( +4 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(f& +4 "core" & F E #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&;'7 +95 "core" ' + "storage"(0& +4 "core" & G M ;\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +304 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &  +2 "storage"(#& +4 "core" & F E t\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'u +19 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(u'j +29 "core" ' + "manipulator"&Q% +4 "core" %΃  +2 "storage"(q& +3 "core" & E F 2\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&@'ϯ +15 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" & H F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z'7 +17 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(T' +36 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&% +4 "core" %8 , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +157 "core" ( +9 "manipulator"&k& +4 "core" &Ӑ'  @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &7& +3 "core" &Ӑ' @^ +2 .tForearm.seek CC +2 "manipulator"&H'? +96 "core" ' + .tHand.close +2 "manipulator"&}/ +55 "core" / +2 .tCC.seek :open + "collection"'Y( +447 "core" ( + "storage"(:& +5 "core" & g j \ + "storage"(e& +4 "core" & j j \ +2 "manipulator"&z& +3 "core" &Ӫ$ f =D +3 "manipulator"&'% +3 "core" % Q  +3 .tForearm.seek :retract + "manipulator"&r' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +165 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(,& +4 "core" & j k \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +94 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +60 "core" 1 +2 "manipulator"&|% +5 "core" % Ά  @ + "storage"(1& +4 "core" & \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&&'ϲ +13 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(s& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&y'7 +15 "core" ' +2 "storage"(%% +5 "core" % v\ +2 ."downElevator"SE.seek :down +4 "storage"($' +98 (`% +3 "core" %D g [ [\ Vb +2 "manipulator"&b% +4 "core" %. +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'5& +3 "core" & +\ +2 "manipulator"&.% +4 "core" %   +2 "storage"(% +4 "core" %  @\  +2 "storage"(=. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(~(,y +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &,w < W R\ +2 "manipulator"&& +3 "core" & i  +2 .tElbow.seek 4 +2 "manipulator"&c( +40 "core" ( +2 "manipulator"&K& +3 "core" &  %  +2 "storage"(/& +4 "core" &,w \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +93 "core" ' +2 "storage"(!& +3 "core" &,w |\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +300 "core" ' +2 "storage"([- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +3 "core" &,m  <\  +2 "manipulator"&g& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&+& +3 "core" &  +2 "storage"(& +4 "core" &,m \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(>' +8 "core" & :  +2 "manipulator"&\ % +50 "core" % u M +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&?(ӂ +104 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +46 "core" ( + "manipulator"&]& +4 "core" &y- F D{ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y- D{ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&9'? +92 "core" ' + "manipulator"&\\& +4 "core" &Ӕ) A` +2 "manipulator"&3% +5 "core" %@  N +2 "collection"'& +3 "core" & \ +3 "collection"'V& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +7 & K\ : +9 &KKv \ 0 +9 &u} )\ D +10 &)] K\ L +9 &R \ K +9 &T .\ K +10 &rU *\ K +9 &3X -\ K +9 &T +\ K +10 &T /\ K +9 &yX ,\ K +10 &!<S +\ K +9 &"T #\ J +9 &$T )\ K +10 &&X $\ K +9 &(EU #\ J +9 &*U "\ K +10 &+W !\ K +9 &-U (\ J +10 &/LU '\ K +9 &1S #\ K +9 &2T %\ J +10 &4T '\ K +9 &6TS '\ K +9 &8U \ K +10 &9Y #\ K +9 &;T "\ J +10 &=\\U #\ K +9 &?S $\ K +9 &@U \ K +10 &BZ \ L +9 &Dab #\ L +9 &Fm \ N +10 &Gv\ \ \ O +9 &I\ \ #\ S +10 &KM\ *\ &(\ U +9 &M \ )\ *\ X +9 &N\ (\ &\ W +10 &P\ '\ &\ X +9 &RM\ %\ $#\ X +9 &T\ %\ %&\ X +10 &U\ %\ #\ Y +9 &W\ $\ $\ Z +10 &YL\ #\ &\ [ +9 &[\ $\ $\ [\ +9 &\\fG\ $\ $$\ 1 +11 &\\\ #\ "(\ P +4 ( +2 "collection"'V& +3 "core" &\\f\ #\ "\ P +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&a1 +64 "core" 1 +2 "manipulator"&% +4 "core" % @  | N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%G& +4 "core" &\ +2 "manipulator"&O% +3 "core" %  K  +2 "storage"(t% +4 "core" % ' 4 -\  +2 "storage"(". +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(L(,y +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" &,} % + Y\ +2 "manipulator"&A& +4 "core" &Ӯ$ =F +2 "manipulator"&p% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" &,} T V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +88 "core" ' +2 "storage"(h& +3 "core" &,} 8 > n\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +297 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" &,m ! ! \  +2 "manipulator"&S& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&R( +4 "core" ( + "manipulator"&J& +4 "core" & O  +2 "storage"(x& +4 "core" &,m @ 2 h\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&n'c +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(' +8 "core" & p  + "manipulator"& % +4 "core" % ϐ +2 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&P( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&2& +4 "core" & " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +3 "manipulator"&w' +94 "core" ' +2 "manipulator"& & +4 "core" &  +2 "manipulator"&f% +5 "core" % W +2 "processing"%W& +3 "core" &\ +3 "processing"%0& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%<(^ +5 "core" &\ +6 &6\ #c +9 &Tx\ 6 +9 &x\ K +10 &Q\ M +9 &`T\ M +9 &"R\ M +10 &S\ M +9 &R\ M +9 &hQ\ M +10 &*T\ M +9 &S\ M +10 &!R\ M +9 &#pU\ M +9 &%2T\ M +10 &&T\ M +9 &(T\ M +9 &*xT\ M +10 &,:T\ M +9 &-R\ M +10 &/T\ M +9 &1T\ M +9 &3BU\ M +10 &5T\ M +9 &6T\ M +9 &8R\ M +10 &:IT\ M +9 &< R\ M +10 &=W\ M +9 &?U\ N +9 &AOY\ N +10 &Ca\ O +9 &De\ O +10 &Fp\ Q +9 &HK\ R +9 &J \ S +10 &K\ S +9 &M\ T +9 &ON\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &VU\ T +9 &X\ U +10 &Y\ T +9 &[\ U +9 &]Z\ F +10 &^z@{\ #i +9 &^0\ / +5 ( +2 "processing"%0& +4 "core" &^ \ / +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&-% +3 "core" %  - W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +95 "core" ' +2 "processing"%m& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&#% +4 "core" % !   . +2 "storage"(^% +4 "core" % - - o\  +2 "storage"(Q. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(q(,y +11 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&& +4 "core" &,{ K $ \ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&( +6 "core" ( + "manipulator"&;& +4 "core" &   & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &  / +2 .tForearm.seek PC +2 "manipulator"&B' +93 "core" ' +3 .tHand.close +2 "manipulator"& / +61 "core" / +2 .tPC.seek :open +2 "processing"%@( +88 "core" ' + "storage"(u- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'1 +43 "core" ' +314 ( +4 "storage"(7& +4 "core" &,j E E \  +2 "manipulator"&Z& +3 "core" & +2 "manipulator"&o% +5 "core" %  F P +3 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&X( +240 "core" ( + "manipulator"&4& +5 "core" & # 4 + "storage"(:& +5 "core" &,j - ) u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +96 "core" ' + .tHand.open +2 "manipulator"&z1 +53 "core" 1 +3 "storage"('- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +28 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(,' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +3 "core" -' +2 "storage"()& +3 "core" &,j 3 ,\  +2 "manipulator"&v& +4 "core" &   ! 3 +2 .tElbow.seek 4 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&1& +4 "core" &   ? 3 +2 "storage"(& +49 "core" &,j ( * L\  +5 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(%'" +52 "core" ' +2 "manipulator"&r& +3 "core" & 3 +2 "storage"(`& +4 "core" &,j % ( -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&b'7 +20 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +29 "core" ' +2 "manipulator"&5% +3 "core" %H 7 +2 "storage"(.& +4 "core" &,j I I H\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&&'t +13 "core" ' + "manipulator"&& +4 "core" & ! 3 +2 "storage"(=& +4 "core" &,j F F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&T' +16 "core" ' + "storage"(y% +4 "core" % I S l\ +3 ."downElevator"SE.seek :down +3 "storage"($' +99 ({% +3 "core" %HO\ \  \ Xf +2 "manipulator"&N% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (K& +3 "core" &,j < 4\  +2 "collection"'/& +4 "core" &\\e\ \ \ P +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&!% +3 "core" %  #  +2 "storage"(E% +4 "core" % F H \  +2 "storage"(D. +3 "core" .(,y +2 "storage"([& +3 "core" &,j F E \  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(l(,y +56 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +3 "core" &,w % + 1\ +2 "manipulator"&+& +4 "core" & " 3 +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 3 +2 "storage"(& +4 "core" &,w H H \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&\ ' +96 "core" ' +2 "storage"(c& +3 "core" &,w 9 B \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +295 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" & 3 +2 "storage"(& +4 "core" &,l " %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('s +29 "core" ' +2 "manipulator"&% +3 "core" %3 - +2 "storage"(>& +4 "core" &,l - /\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts +2 "manipulator"&'_ +13 "core" ' + "manipulator"&Y& +4 "core" & 3 +2 "storage"(a& +3 "core" &,l F E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(G' +36 "core" ' +2 "manipulator"&O& +3 "core" & H 3 +2 "manipulator"&t% +4 "core" % . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&"' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V(ӂ +155 "core" ( +2 "manipulator"&F& +4 "core" &Ӕ$  # =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &Ӕ$ =B +2 .tForearm.seek CC +2 "manipulator"&p'? +99 "core" ' + .tHand.close +2 "manipulator"&9/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "storage"(& +3 "core" &,l j j \ +2 "storage"(~& +4 "core" &,l Y F w\ +2 "manipulator"&h& +3 "core" &ө  :- +2 "manipulator"&?% +5 "core" % H 2 +2 .tForearm.seek :retract +2 "manipulator"&' +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&*( +166 "core" ( +2 "manipulator"&U& +3 "core" &  S  +2 "storage"(S& +4 "core" &,l ~ >\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&J'7 +96 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&I% +4 "core" % -  O +3 "storage"( & +3 "core" &,l n\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 290 counts +2 "manipulator"&'Y +15 "core" ' + "manipulator"&6& +4 "core" & I  +2 "storage"(j& +4 "core" &,l y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&n' +16 "core" ' +2 "storage"(2% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(M' +99 (R% +3 "core" %D j k }\ U^ +2 "manipulator"& % +3 "core" % n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'W& +3 "core" & +\ +2 "manipulator"&% +4 "core" %  n  +2 "storage"(d% +4 "core" % } \  +2 "storage"(_. +2 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +3 "core" &<, E A Z\  +2 "manipulator"&m& +4 "core" & A  +2 .tElbow.seek 5 +2 "manipulator"&#( +11 "core" ( + "manipulator"&^& +4 "core" & . t +2 "storage"(Q& +4 "core" &<, } n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&0'O +91 "core" ' + "storage"(& +4 "core" &<, X\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(;- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +3 "core" &<, a i \  +2 "manipulator"&w& +4 "core" & # t +2 .tElbow.seek 5 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&L& +4 "core" & o t +2 "storage"(u& +4 "core" &<, h i k\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&P'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +52 "core" / +50 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(' +8 "core" & t +2 "manipulator"&7% +4 "core" % ϸ w +2 .tForearm.seek :retract +2 "manipulator"&Z' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&B& +4 "core" &ӓ   9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &ӓ  7 9) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'? +101 "core" ' +2 "manipulator"&& +4 "core" &Ӕ  $ 9( +2 "manipulator"&z% +3 "core" %J +3 "collection"''& +3 "core" & \ +3 "collection"'H& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"')(\\ +4 "core" & \ +7 &;  \ %g +9 &Yw $\ 7 +10 &v (\ K +9 &U \ K +9 &T \ K +10 &LT )\ J +9 &U 0\ J +10 &W ,\ K +9 &X ,\ K +9 &RV +\ K +10 & R '\ K +9 &!R )\ K +9 &#T ,\ K +10 &%[R $\ K +9 &'R (\ K +10 &(S \ K +9 &*R \ K +9 &,cT $\ K +10 &.%T (\ K +9 &/T '\ K +9 &1T \ K +10 &3kR "\ K +9 &5-R \ K +10 &6S "\ K +9 &8U '\ J +9 &:tU (\ J +10 &<6U '\ J +9 &=U %\ J +9 &?V %\ K +10 &A{U  \ K +9 &C:Z (\ L +9 &Db \ L +10 &Fm\  !\ N +9 &Ht\ \ \ \ P +10 &J)\ \ $\ T +9 &K\ )\ (%\ V +9 &M\ $\ '&\ W +10 &Of\ '\ %\ W +9 &Q'\ &\ ##\ W +9 &R\ "\ %\ X +10 &T\ "\ &%\ X +9 &Vg\ %\ "'\ Z +10 &X)\ #\ #\ Z +9 &Y\ %\ &\ [ +9 &[\ '\ #\ H +10 &\\1\ $\ $\ 0 +9 &\\f\ \ #&\ M +2 ( +2 "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&v1 +54 "core" 1 +2 "manipulator"&1% +3 "core" % J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%}& +3 "core" &\ +2 "manipulator"&r% +4 "core" %  )  +2 "storage"(`% +5 "core" % E F \  + "storage"(k. +3 "core" .(<- +2 "storage"( & +3 "core" &<, E F +\  +3 "storage"(5& +3 "core" &<, H F .\  +2 "manipulator"&.& +3 "core" &ӥ 7 +2 "manipulator"&% +4 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&=( +162 "core" ( +2 "manipulator"&X& +3 "core" &   +2 "storage"(y& +3 "core" &<, 7 L \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +89 "core" ' +2 "storage"(,& +3 "core" &<, j k V\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +303 "core" ' +2 "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +3 "core" &<, F Q 9\  +2 "manipulator"&|& +3 "core" & G  +2 .tElbow.seek 5 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&b& +4 "core" &   +2 "storage"(K& +3 "core" &<, T S ^\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&&'Ϲ +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(E' +8 "core" &   +2 "manipulator"&D% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&[( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&g& +3 "core" & , +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &  , +2 .tForearm.reconfigure :tight +49 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&& +3 "core" &  Y + +2 "manipulator"&T% +4 "core" % I N +2 "processing"%c& +4 "core" &\ +3 "processing"%$& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%q(^ +5 "core" &\ +6 &6\ $d +9 &Uu\ 6 +10 &x\ K +9 &S\ M +9 &YT\ M +10 &R\ M +9 &V\ M +10 &T\ M +9 &aR\ M +9 &$Q\ M +10 &T\ M +9 &!U\ M +9 &#iT\ M +10 &%,Q\ M +9 &&U\ M +10 &(R\ M +9 &*qT\ M +9 &,4Q\ M +10 &-T\ M +9 &/U\ N +9 &1yT\ M +10 &3:T\ N +9 &4T\ M +10 &6U\ N +9 &8V\ M +9 &:DU\ M +10 &<W\ M +9 &=U\ N +9 &?R\ M +10 &AJY\ N +9 &C `\ O +10 &Dc\ O +9 &Fp\ Q +9 &HE~\ R +10 &J\ T +9 &K\ T +9 &M\ T +10 &OG\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &VM\ U +10 &X\ U +9 &Y\ U +9 &[\ T +10 &]S\ G +9 &^{G\ ] +10 &^6\ 2 +5 ( +2 "processing"%$& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"& 1 +3 "core" &^"\ 2 +53 1 +2 "manipulator"&% +4 "core" %   \  N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +90 "core" ' +2 "processing"%]& +3 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %    N  +2 "storage"(3% +4 "core" % $ & \  +2 "storage"(. +3 "core" .(<- +2 "storage"(>& +3 "core" &<, $ * \  +2 "storage"(Y& +3 "manipulator"&a& +8 "core" &<, # #\  + &    + +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&O( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(t'r +2 "core" ( +3 "manipulator"&\ & +3 "core" &    + +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" & & + +2 .tForearm.seek PC +2 "manipulator"&i' +93 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'1 +41 "core" ' +310 ( +2 "storage"(A& +4 "core" &<, H H 5\  +2 "manipulator"&& +3 "core" &  + +2 "manipulator"&\\% +4 "core" %   ? +2 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&"( +244 "core" ( +2 "manipulator"&& +3 "core" &   6 +2 "storage"(& +4 "core" &<, & $ U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +91 "core" ' +2 .tHand.open +2 "manipulator"&h1 +57 "core" 1 +3 "storage"(?- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(U' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(S' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(p- +3 "core" -' +2 "storage"(V& +3 "core" &<, W K \  +2 "manipulator"&& +4 "core" &  \  5 +2 .tElbow.seek 5 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"& & +4 "core" &   3 5 +2 "storage"(6& +3 "core" &<, R b o\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +4 "core" ' +42 .tSE.reconfigure :gently +10 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(2'" +59 "core" ' + "manipulator"&& +4 "core" & 5 +2 "storage"(R& +4 "core" &<, ) $ T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(J' +28 "core" ' +2 "manipulator"&W% +4 "core" %Η +2 "storage"(& +3 "core" &<, % * f\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&d& +4 "core" &  +2 "storage"(_& +4 "core" &<, F P \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +15 "core" ' + "storage"(n% +4 "core" % V S _\ +3 ."downElevator"SE.seek :down +3 "storage"(M' +99 (l% +4 "core" %bP ' [\ Xf +2 "manipulator"&-% +4 "core" %I  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (^& +3 "core" &<, 7 + p\  +3 "collection"'Q& +3 "core" &\\b\ \ #\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %   +2 "storage"(x% +3 "core" % S S e\  +2 "storage"(f. +3 "core" .(<- +2 "storage"(;& +4 "core" &<, H P A\  +2 "storage"((& +4 "core" &<, S U A\  +2 "manipulator"&w& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&L( +19 "core" ( + "manipulator"&u& +4 "core" & Y  +2 "storage"(8& +3 "core" &<, S T L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +94 "core" ' +2 "storage"(7& +3 "core" &<, k j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +298 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" & 2  +2 "storage"(4& +5 "core" &<, S T @\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(z'v +28 "core" ' + "manipulator"& % +4 "core" %Ε +2 "storage"('& +4 "core" &<, I S F\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&Z& +4 "core" &    +2 "storage"(& +3 "core" &<, j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&v'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(1' +38 "core" ' + "manipulator"&}& +4 "core" &  +2 "manipulator"&r% +4 "core" %M  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +161 "core" ( +2 "manipulator"& & +3 "core" &Ӕ#  =C +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &Ӕ$  =C +42 .tForearm.seek CC +9 "manipulator"&.'? +96 "core" ' +2 .tHand.close + "manipulator"&H/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( + "storage"(:& +4 "core" &<, j j \  +2 "storage"(X& +4 "core" &<, j j \  +2 "manipulator"&y& +3 "core" &ӭ% K :* +2 "manipulator"&,% +5 "core" % R 7 +2 .tForearm.seek :retract +2 "manipulator"&o' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( + "manipulator"&N& +5 "core" &   + "storage"(s& +4 "core" &<, j j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&|'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +63 "core" 1 +2 "manipulator"&/% +4 "core" % ΋  6 +2 "storage"(!& +4 "core" &<, \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 298 counts +2 "manipulator"&D'Ϸ +14 "core" ' + "manipulator"&=& +4 "core" &  V  +2 "storage"(e& +4 "core" &<, \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +15 "core" ' + "storage"(&% +4 "core" % )\ +3 ."downElevator"SE.seek :down +3 "storage"(g' +100 (+% +2 "core" %F j j \ V_ +2 "manipulator"&%% +4 "core" %8 o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +100 "core" ' +41 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'T& +4 "core" & ,\ +2 "manipulator"&c% +5 "core" %  } + "storage"(E% +5 "core" % X\  + "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(@( +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" & h j \ +2 "manipulator"&& +3 "core" & 5  +2 .tElbow.seek 3 +2 "manipulator"&]( +32 "core" ( + "manipulator"&& +4 "core" &w  D +2 "storage"(3& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +92 "core" ' +2 "storage"(>& +3 "core" & q\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +297 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" & a h >\ +2 "manipulator"&\ & +4 "core" &w V D +2 .tElbow.seek 3 +2 "manipulator"&( +24 "core" ( +3 "manipulator"&& +3 "core" &  Y  +2 "storage"(& +4 "core" & \\ g \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& +5 "storage"(q' +5 "core" &  +2 "manipulator"&t% +4 "core" %   } +2 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' +47 .tElbow.seek CC +4 "manipulator"&(ӂ +108 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +40 "core" ( + "manipulator"&\\& +4 "core" &ӄ(  Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &ӄ( _ Ae +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&& +3 "core" &Ӎ( q @\\ +3 "manipulator"&O% +3 "core" %G 0  +3 "collection"'h& +3 "core" & \ +3 "collection"'?& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'p(\\ +5 "core" & \ +6 &< \ $f +9 &Zz \ 7 +10 &v \ K +9 &R +\ K +9 &T '\ K +10 &HT '\ K +9 &\ S M\ K +9 &T \ J +10 &T \ K +9 &PW \ K +10 & T ,\ J +9 &!U +\ J +9 &#U )\ K +10 &%XR .\ K +9 &'R 1\ K +9 &(T 2\ K +10 &*W ,\ K +9 &,`S ,\ K +10 &.#U )\ J +9 &/U "\ K +9 &1X (\ K +10 &3iU $\ J +9 &5*U (\ K +10 &6S -\ K +9 &8T 2\ K +9 &:pW 3\ K +10 &<1T /\ K +9 &=U '\ K +9 &?T &\ K +10 &AwU !\ K +9 &C8[ "\ L +10 &Dc '\ L +9 &Fk\ %\ N +9 &Hp\ \ 0\ P +10 &J&\ \ $\ U +9 &K\ &\ %*\ V +9 &M\ $\ %/\ W +10 &Oc\ "\ &'\ X +9 &Q%\ #\ !'\ X +9 &R\ "\ "-\ X +10 &T\ !\ !0\ Y +9 &Vf\ \ !0\ Y +10 &X$\ \ /\ [ +9 &Y\ !\ #&\ [ +9 &[\ \ !1\ I +10 &\\2\ \ !.\ 0 +9 &\\b\ "\ !)\ L +2 ( +2 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&V1 +63 "core" 1 +3 "manipulator"&% +3 "core" % G   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%6& +4 "core" &\ +2 "manipulator"&9% +3 "core" %  ;  +2 "storage"(% +4 "core" % E F \  +2 "storage"(R. +3 "core" .( +2 "storage"(F& +3 "core" & E E \ +2 "storage"(U& +4 "core" & F F \ +2 "manipulator"&W& +4 "core" &ӯ# <: +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&d( +163 "core" ( +2 "manipulator"&_& +3 "core" & w  +2 "storage"("& +5 "core" & 8 < B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&n'7 +90 "core" ' +2 "storage"(~& +4 "core" & j k \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'r +304 "core" ' +2 "storage"(l- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (-& +3 "core" & D G \ +2 "manipulator"&j& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&I( +4 "core" ( + "manipulator"&2& +4 "core" &  +2 "storage"( & +3 "core" & H E "\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +3 "storage"(' +6 "core" &   + "manipulator"&x% +4 "core" % ϗ +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&;& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" & 3  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&w' +91 "core" ' +2 "manipulator"&u& +3 "core" &  +2 "manipulator"&8% +4 "core" % ~ +2 "processing"%G& +4 "core" &\ +3 "processing"%7& +55 "core" &\ +4 &\ + &\ + &\ + &\ + &\ + &\ +2 .tPC.seek :closed +3 "processing"%M(^ +2 "core" &\ +5 &\ 9 +10 &@Jt\ 0 +9 &nr}\ D +10 &]\ N +9 &S\ M +9 &O\ M +10 &XR\ M +9 &R\ M +9 &O\ M +10 &S\ N +9 &`S\ M +10 &!#T\ M +9 &"S\ M +9 &$W\ M +10 &&hS\ M +9 &(+O\ M +9 &)R\ M +10 &+P\ M +9 &-oS\ N +10 &/3T\ M +9 &0U\ M +9 &2T\ N +10 &4xR\ M +9 &6:W\ M +9 &7U\ M +10 &9T\ N +9 &;V\ N +10 &=CQ\ M +9 &?X\ M +9 &@R\ M +10 &BZ\ N +9 &DF^\ O +9 &Fh\ O +10 &Gu\ Q +9 &I\ S +10 &K?\ T +9 &M\ S +9 &N\ T +10 &P\ U +9 &RE\ T +9 &T\ U +10 &U\ U +9 &W\ U +10 &YM\ T +9 &[\ U +9 &\\\ U +10 &^Cc\ 'w +9 &^d\ 8 +9 ( +3 "processing"%7& +2 "core" &^#\ 1 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&*1 +22 "Can"\ S +38 "core" 1 +2 "manipulator"&m% +4 "core" %    ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +93 "core" ' +2 "processing"%B& +3 "core" &^%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&4% +3 "core" %    # # +3 "storage"(% +3 "core" % - . ^\  +2 "storage"( . +3 "core" .( +2 "storage"('& +4 "core" & - . ^\ +2 "storage"(Z& +2 "manipulator"&& +8 "core" & \   + & - - 4\ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&}( +5 ."raiseStack"SE.seek :beamBreak + "storage"(r'r +2 "core" ( +3 "manipulator"&<& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +2 "core" &   w  +3 .tForearm.seek PC + "manipulator"&#' +102 "core" ' +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +84 "core" ' +2 "storage"(z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +46 "core" ' +310 ( +2 "storage"(5& +4 "core" & M > \ +2 "manipulator"&v& +4 "core" &  +2 "manipulator"&P% +3 "core" %  " v +3 .tForearm.seek :retract +2 "manipulator"&H' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +238 "core" ( +2 "manipulator"&)& +3 "core" & @ 9 +2 "storage"(:& +4 "core" & N G !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&X'7 +93 "core" ' + .tHand.open +2 "manipulator"&y1 +61 "core" 1 +2 "storage"(,- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(N' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(s' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +3 "core" -' +2 "storage"(k& +5 "core" & e d \ + "manipulator"&K& +4 "core" &    8 +2 .tElbow.seek 3 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&!& +3 "core" &   G 8 +2 "storage"(=& +4 "core" & g r \ +3 .tForearm.seek 3 + 450 counts + "manipulator"&e'7 +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(&'" +57 "core" ' +2 "manipulator"&o& +3 "core" & 8 +2 "storage"(+& +4 "core" & F I ^\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +50 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&%'u +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(|' +28 "core" ' +2 "manipulator"&T% +3 "core" %Έ +2 "storage"(c& +5 "core" & # $ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&D'ϴ +23 "core" ' + "manipulator"&E& +4 "core" & 8 +2 "storage"(& +5 "core" & U S X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&1'7 +24 "core" ' +2 "storage"({% +3 "core" % T S ]\ +3 ."downElevator"SE.seek :down +3 "storage"(g' +99 (% +4 "core" %-R\ #\  s\ Xj +2 "manipulator"& % +4 "core" %' ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & @ Z \ +2 "collection"'3& +4 "core" &\\b\ \ -\ L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&>% +4 "core" %  6 \ f +2 "storage"(b% +4 "core" % 8 8 \  +2 "storage"(. +3 "core" .( +2 "storage"(Y& +3 "core" & > 9 |\ +2 "storage"($& +4 "core" & 8 8 Y\ +2 "manipulator"&\ & +4 "core" & 5 8 +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 8 8 +2 "storage"([& +3 "core" & 9 ; \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +92 "core" ' + "storage"(t& +4 "core" & G M F\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & r 8 +2 "storage"(\\& +4 "core" & E F '\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'u +24 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(O'j +30 "core" ' + "manipulator"&h% +4 "core" %΅ +2 "storage"(& +3 "core" & # $ Y\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&q'ϱ +15 "core" ' +2 "manipulator"&A& +3 "core" &  8 +2 "storage"(& +5 "core" & U S d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&V'7 +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&6& +4 "core" & 8 +2 "manipulator"&9% +4 "core" %8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +153 "core" ( + "manipulator"&F& +4 "core" &ӟ  :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &ӟ  8 :/ +3 .tForearm.seek CC +2 "manipulator"&U'? +92 "core" ' +2 .tHand.close + "manipulator"&W/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(& +50 "core" & k l \ +2 "storage"(_& +3 "core" & j j \ +3 "manipulator"&"& +3 "core" &Ӡ  _ :. +2 "manipulator"&~% +4 "core" % Q y 1 +2 .tForearm.seek :retract +2 "manipulator"&' +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +163 "core" ( +2 "manipulator"&l& +3 "core" &   +2 "storage"(-& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&j'u +91 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +52 "core" 1 +3 "manipulator"&^% +3 "core" % ΄ ' H +2 "storage"(Q& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&x'ϰ +13 "core" ' +2 "manipulator"&d& +3 "core" & }  +2 "storage"(n& +4 "core" & h\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&S'7 +15 "core" ' +2 "storage"(% +3 "core" %  \ +3 ."downElevator"SE.seek :down +4 "storage"(;' +98 ((% +3 "core" %L 8 7 N\ We +2 "manipulator"&I% +4 "core" %0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'8& +3 "core" & 9\ +2 "manipulator"&G% +4 "core" %  $ \ +2 "storage"(% +3 "core" % ~ -\  +2 "storage"(f. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &,x a i \ \ +2 "manipulator"&m& +3 "core" & b  +3 .tElbow.seek 4 + "manipulator"&B( +26 "core" ( + "manipulator"&4& +4 "core" & =  +2 "storage"(& +4 "core" &,x i l \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +97 "core" ' +2 "storage"('& +3 "core" &,x ~ ;\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +309 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +4 "core" &,m ^ j \  +2 "manipulator"&<& +4 "core" & )  +2 .tElbow.seek 4 +2 "manipulator"&L( +25 "core" ( +2 "manipulator"&w& +3 "core" &  q  +2 "storage"(& +4 "core" &,m _ l \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&z'c +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"(M' +7 "core" &   + "manipulator"&r% +5 "core" % i o f +2 .tForearm.seek :retract + "manipulator"&5' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&P& +5 "core" &ӌ- Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &Ӎ- j Du +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'? +101 "core" ' +2 "manipulator"&:& +3 "core" &ӎ+  D Ct +2 "manipulator"&}% +5 "core" %E   +2 "collection"'y& +3 "core" & \ +3 "collection"',& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'.(\\ +4 "core" & \ +7 &; \ $e +9 &Wu \ 6 +9 &x 5\ K +10 &R g\ K +9 &}X ,\ K +9 &@T +\ J +10 &T 8\ K +9 &X =\ K +10 &S 9\ K +9 &HU 9\ J +9 & U =\ K +10 &!R 2\ K +9 &#U 0\ J +9 &%OT 1\ K +10 &'W 7\ K +9 &(U 5\ J +10 &*T 6\ K +9 &,VY 3\ K +9 &.U )\ J +10 &/U 6\ K +9 &1U (\ J +9 &3_U )\ K +10 &5!R &\ K +9 &6U &\ J +10 &8V ,\ K +9 &:hU +\ J +9 &<)U .\ K +10 &=Y 1\ K +9 &?U (\ K +9 &AoV /\ K +10 &C/[ 2\ L +10 &Dc /\ L +9 &Fk\ *\ N +9 &Hh\ \ 3\ P +9 &J\ \ /\ T +10 &K\ '\ (4\ V +9 &M\ &\ (4\ W +9 &OY\ %\ &3\ X +10 &Q\ $\ $4\ W +9 &R\ #\ %4\ Y +10 &T\ $\ $3\ Y +9 &V\\\ #\ #4\ Z +9 &X\ $\ $3\ Z +10 &Y\ $\ #4\ [ +9 &[\ #\ #4\ H +9 &\\=\ #\ #4\ 'v +10 &\\_\ !\ "4\ I +2 ( +2 "collection"',& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&k1 +55 "core" 1 +2 "manipulator"&K% +3 "core" % E 0  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%=& +3 "core" &\ +2 "manipulator"&H% +4 "core" % "  5 ) +2 "storage"(o% +3 "core" % $ % 2\  +2 "storage"(+. +4 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +2 "core" &,z + " j\ +2 "manipulator"&T& +4 "core" &ӯ% 0 ?S +2 "manipulator"&c% +3 "core" % "  ) +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&E( +163 "core" ( + "manipulator"&& +4 "core" &  A  +2 "storage"(`& +4 "core" &,z S S V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&X' +97 "core" ' +2 "storage"({& +3 "core" &,z k P \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,m , # .\  +2 "manipulator"&e& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&/( +3 "core" ( + "manipulator"&&& +4 "core" & \\  +2 "storage"(%& +4 "core" &,m D E\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&D'c +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& +2 "storage"(>' +7 "core" &   +2 "manipulator"&b% +4 "core" % ϐ +2 .tForearm.seek :retract +2 "manipulator"&|' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +3 "manipulator"&Y& +4 "core" & - 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &  3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\ ' +91 "core" ' +2 "manipulator"&& +4 "core" & X 3 +2 "manipulator"&[% +3 "core" % 8 +2 "processing"%1& +4 "core" &\ +3 "processing"%t& +4 "core" &\ +3 .tPC.seek :closed + "processing"%g(^ +5 "core" &\  +9 &4x\ *x +52 &e{\ > +3 &n\ N + &CP\ M + &R\ M +2 &Q\ M + &P\ M +6 &IS\ N +9 & S\ M +9 &T\ M +10 & P\ M +9 &"RR\ M +9 &$T\ N +10 &%R\ M +9 &'S\ M +9 &)ZT\ M +10 &+S\ M +9 &,T\ M +10 &.R\ M +9 &0cQ\ M +9 &2$S\ M +10 &3R\ M +9 &5Q\ M +9 &7jT\ M +10 &9,R\ M +9 &:W\ M +10 &<V\ M +9 &>qW\ N +9 &@3U\ N +10 &A^\ N +9 &Cc\ O +10 &Erj\ P +9 &G2s\ Q +9 &H\ S +10 &J\ S +9 &Ln\ T +9 &N0\ T +10 &O\ T +9 &Q\ U +9 &St\ U +10 &U7\ T +9 &V\ T +10 &X\ T +9 &Z{\ U +9 &\\>\ U +10 &]{p\ 8 +9 &^0\ K +9 &^\ - +3 ( +2 "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +3 "core" %  \ % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 "processing"%a& +3 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&\\% +3 "core" %     +3 "storage"(% +3 "core" % E E !\  +2 "storage"(h. +4 "core" .(,y + "storage"(& +4 "core" &,m F E 0\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(A(,y +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "manipulator"&6& +4 "core" &,| = #\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & \  3 +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(9'r +3 "manipulator"&C( +5 "core" ( + "manipulator"&& +5 "core" &  _ 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &  \  3 +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&q/ +64 "core" / +2 .tPC.seek :open +2 "processing"%O( +83 "core" ' + "storage"(F- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'1 +46 "core" ' +319 ( +2 "storage"(V& +4 "core" &,j E E \  +2 "manipulator"&i& +3 "core" & 3 +2 "manipulator"&W% +4 "core" %  V +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&p( +246 "core" ( + "manipulator"&& +4 "core" & @ +2 "storage"(_& +3 "core" &,j # # \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +97 "core" ' + .tHand.open +2 "manipulator"&~1 +59 "core" 1 +2 "storage"(l- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(-' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(U' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(R- +3 "core" -' +2 "storage"( & +3 "core" &,j \  +2 "manipulator"&^& +4 "core" &  \  @ +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&d& +3 "core" &   @ +2 "storage"(n& +4 "core" &,j f h ?\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&(& +3 "core" & @ +2 "storage"(I& +5 "core" &,j F I T\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +43 .tForearm.seek 4 +9 "manipulator"& '7 +23 "core" ' +2 .tElbow.hold + "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +28 "core" ' +2 "manipulator"&G% +4 "core" %@  +2 "storage"(x& +4 "core" &,j I H C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 309 counts +2 "manipulator"&'l +14 "core" ' + "manipulator"&f& +4 "core" & " @ +2 "storage"(& +5 "core" &,j G H (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +15 "core" ' + "storage"(;% +4 "core" % I T Q\ +3 ."downElevator"SE.seek :down +3 "storage"(@' +99 (*% +3 "core" %N % &\ We +2 "manipulator"&m% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,j . 6 \  +2 "collection"''& +4 "core" &\\_\ \ 2\ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&2% +4 "core" %   +2 "storage"(u% +4 "core" % S R V\  +2 "storage"(. +2 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(Z(,y +35 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +2 "core" &,} 3 ' .\ +2 "manipulator"&w& +4 "core" &  @ +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&J& +5 "core" & @ + "storage"(0& +5 "core" &,} S S Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +92 "core" ' +2 "storage"(B& +4 "core" &,} 8 < 5\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +296 "core" ' +2 "storage"(P- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" & @ +2 "storage"(7& +3 "core" &,m * , D\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&z'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(:- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(}'t +29 "core" ' +2 "manipulator"&y% +4 "core" %(   +2 "storage"(M& +3 "core" &,m T S o\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 285 counts +2 "manipulator"&5'T +13 "core" ' +2 "manipulator"&& +3 "core" & O @ +2 "storage"(k& +4 "core" &,m < = \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&K' +21 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(=' +38 "core" ' + "manipulator"&H& +4 "core" & a @ +2 "manipulator"&o% +3 "core" % y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&,(ӂ +151 "core" ( +2 "manipulator"&N& +3 "core" &ӓ% >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &ӓ% L >O +2 .tForearm.seek CC +2 "manipulator"&c'? +95 "core" ' +2 .tHand.close + "manipulator"&)/ +57 "core" / +46 .tCC.seek :open +4 "collection"'( +450 "core" ( + "storage"(`& +4 "core" &,m j j \  +2 "storage"(& +3 "core" &,m j k \  +3 "manipulator"&{& +3 "core" &Ө# m <: +2 "manipulator"&v% +5 "core" % R F % +2 .tForearm.seek :retract +2 "manipulator"&!' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +164 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(e& +4 "core" &,m j h 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&&'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&3% +4 "core" % 0  W +2 "storage"(b& +3 "core" &,m \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 293 counts +2 "manipulator"&E'\\ +13 "core" ' +2 "manipulator"&X& +3 "core" &  r  +2 "storage"(s& +4 "core" &,m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&D' +17 "core" ' +2 "storage"(Y% +4 "core" % \\\ +3 ."downElevator"SE.seek :down +3 "storage"($' +99 (/% +3 "core" %H k j u\ V` +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'1& +3 "core" & C\ +2 "manipulator"&>% +4 "core" %  B  +2 "storage"(|% +4 "core" % s n >\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<- 2 A M\  +2 "manipulator"&a& +4 "core" &  s  +2 .tElbow.seek 5 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&& +5 "core" &  i  + "storage"(h& +4 "core" &<- \\ ] 0\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 "storage"(t& +3 "core" &<- } \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(6- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<- m i \  +2 "manipulator"&]& +3 "core" & ~  +3 .tElbow.seek 5 + "manipulator"&\ ( +4 "core" ( + "manipulator"&q& +4 "core" &  0  +2 "storage"( & +4 "core" &<- ] g 5\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&F'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(g' +8 "core" & I  +2 "manipulator"&9% +3 "core" % Ϭ u +3 .tForearm.seek :retract + "manipulator"&V' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +152 "core" ( +2 "manipulator"&W& +3 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +50 "core" &Ӎ& = ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +2 "core" &ӎ& ?P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' +3 "manipulator"&_& +3 "core" &ӎ& m ?P +2 "manipulator"&C% +4 "core" %F ^ r +2 "collection"'~& +5 "core" & \ +2 "collection"'l& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'R(\\ +4 "core" & \ +5 & \ 7 +9 &@Kw \ / +10 &ot} \ D +9 &Z \ K +9 &W 4\ K +10 &T +\ K +9 &aU >\ K +10 &#W 3\ K +9 &T .\ K +9 &T :\ J +10 &jU 8\ J +9 &!+U B\ K +9 &"W @\ K +10 &$W A\ K +9 &&qS C\ K +10 &(4U 6\ J +9 &)T =\ K +9 &+W =\ K +10 &-yR 2\ K +9 &/;U 6\ K +9 &0W 7\ K +10 &2R 0\ K +9 &4T .\ J +10 &6CU <\ K +9 &8S /\ K +9 &9U '\ J +10 &;U '\ K +9 &=KW 0\ K +9 &?U .\ J +10 &@V 2\ K +9 &BX 4\ K +10 &DQ^ .\ L +9 &Fh .\ M +9 &Gu\ \ 4\ O +10 &I\ \ 5\ S +9 &K:\ '\ &4\ V +9 &L\ (\ '2\ W +10 &N\ '\ (/\ W +9 &P{\ $\ $3\ X +10 &R=\ "\ $5\ X +9 &S\ #\ #5\ Y +9 &U\ $\ #1\ Y +10 &W~\ $\ #0\ Z +9 &Y<\ %\ %3\ [\ +9 &Z\ &\ $2\ [ +10 &\\\\O\ (\ &3\ 3 +9 &\\\ #\ $2\ Z +6 ( + "collection"'l& +4 "core" &\\v\ "\ "3\ Y +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 + .Hand.open + "manipulator"& 1 +62 "core" 1 +2 "manipulator"&^% +4 "core" % F r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +96 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%n& +4 "core" &\ +2 "manipulator"&% +3 "core" %  <  +2 "storage"((% +4 "core" % * '\  +2 "storage"(I. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(?(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +3 "core" &<- ? Z\  +2 "manipulator"&G& +4 "core" &Ӯ   :0 +2 "manipulator"&x% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&f( +164 "core" ( +3 "manipulator"&& +5 "core" & !  +2 "storage"(p& +3 "core" &<- H I /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +93 "core" ' +2 "storage"("& +4 "core" &<- D ? A\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'r +303 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +3 "core" &<- 1 3 ~\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&Q( +2 "core" ( +2 "manipulator"&& +4 "core" & &  +2 "storage"( & +4 "core" &<- J G L\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& +3 "storage"(2' +5 "core" &  +3 "manipulator"&u% +3 "core" % Ϲ +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&8( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&<& +3 "core" & 7 J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" & J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC + "manipulator"&J' +89 "core" ' +2 "manipulator"&0& +4 "core" &  J +2 "manipulator"&S% +3 "core" % 7 s +3 "processing"%B& +3 "core" &\ +3 "processing"%@& +6 "core" &\ +51 .tPC.seek :closed +6 "processing"%A(^ +2 "core" &\ +2 &\ + &\ +2 &\ + &\ + &\ + &\  +5 &3y\ *x +10 &b{\ = +9 &sp\ N +9 &5R\ M +10 &O\ M +9 &R\ M +9 &{R\ M +10 &<S\ N +9 &S\ M +10 &S\ M +9 & T\ M +9 &"FT\ M +10 &$T\ M +9 &%R\ M +9 &'S\ M +10 &)LS\ N +9 &+R\ M +10 &,T\ M +9 &.R\ M +9 &0UT\ M +10 &2R\ M +9 &3S\ M +9 &5U\ M +10 &7]T\ M +9 &9W\ M +10 &:V\ M +9 &<Q\ M +9 &>dW\ N +10 &@&U\ N +9 &A[\ N +9 &Cb\ O +10 &Egg\ O +9 &G$q\ Q +10 &H\ S +9 &J\ T +9 &Lc\ S +10 &N#\ T +9 &O\ T +9 &Q\ U +10 &Sh\ T +9 &U)\ U +10 &V\ T +9 &X\ T +9 &Zo\ U +10 &\\0\ U +9 &]|s\ = +9 &^%]\ X +10 &^&\ 3 +2 ( +2 "processing"%@& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&j1 +54 "core" 1 + "manipulator"&4% +5 "core" %   s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +92 "core" ' +2 "processing"%#& +3 "core" &^"\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&7% +3 "core" %    +2 "storage"(:% +4 "core" % ' '\  +2 "storage"(y. +3 "core" .(<- +2 "storage"(M& +3 "core" &<- ' '\  +3 "storage"(& +2 "manipulator"&k& +7 "core" &<- ' ' \  + &    J +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&H( +7 ."raiseStack"SE.seek :beamBreak + "storage"(o'r +3 "core" ( + "manipulator"&r& +5 "core" &   0 J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \  J +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 .tHand.close + "manipulator"&z/ +54 "core" / +2 .tPC.seek :open +2 "processing"%5( +97 "core" ' + "storage"(}- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'1 +50 "core" ' +300 ( +2 "storage"(T& +3 "core" &<- - , m\  +2 "manipulator"&K& +4 "core" & J +2 "manipulator"&L% +4 "core" %  4 +2 .tForearm.seek :retract +2 "manipulator"&)' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&+( +244 "core" ( +2 "manipulator"&.& +3 "core" &  C +2 "storage"(`& +4 "core" &<- - - J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +102 "core" ' +2 .tHand.open + "manipulator"&{1 +63 "core" 1 +2 "storage"(v- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(e' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +3 "core" -' +2 "storage"(,& +4 "core" &<- , ( .\  +2 "manipulator"&& +3 "core" &  \ C +3 .tElbow.seek 5 + "manipulator"&3( +4 "core" ( +2 "manipulator"&b& +3 "core" &   \\ C +2 "storage"(X& +4 "core" &<- ' ( "\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +58 "core" ' + "manipulator"&!& +4 "core" & C +2 "storage"(/& +3 "core" &<- $ & B\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +41 "manipulator"&'΍ +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(&' +28 "core" ' +2 "manipulator"&1% +3 "core" %ΐ } +2 "storage"(E& +4 "core" &<- ! & /\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts +2 "manipulator"&>'ϼ +15 "core" ' + "manipulator"&|& +4 "core" & U  +2 "storage"(& +4 "core" &<- E F 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&='O +16 "core" ' + "storage"(D% +4 "core" % I P 4\ +3 ."downElevator"SE.seek :down +3 "storage"($' +99 (Z% +3 "core" %mQ\ (\  /\ Xg +2 "manipulator"&% +4 "core" %M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<-  , ,\  +2 "collection"'h& +4 "core" &\\u\ \ 4\ Y +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&t% +3 "core" %   +2 "storage"(%% +4 "core" % E > \  +2 "storage"([. +2 "core" .(<- +2 "storage"(6& +4 "core" &<- H A L\  +2 "storage"(& +3 "core" &<- J I +\  +3 "manipulator"&]& +3 "core" & !  +2 .tElbow.seek 5 +2 "manipulator"&q( +19 "core" ( + "manipulator"& & +4 "core" & \\  +2 "storage"(& +4 "core" &<- H F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' +2 "storage"(9& +3 "core" &<- J F \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +308 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" &  +2 "storage"(& +3 "core" &<- - - H\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&F'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\ - +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(_'w +30 "core" ' + "manipulator"&C% +4 "core" %Ι +2 "storage"(~& +3 "core" &<- & a\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&g' +15 "core" ' +2 "manipulator"&V& +3 "core" & Y  +2 "storage"(& +4 "core" &<- R P \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(^' +36 "core" ' + "manipulator"&n& +4 "core" &  +2 "manipulator"&% +4 "core" %K ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +161 "core" ( + "manipulator"&l& +4 "core" &Ӛ"  2 << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &-& +3 "core" &Ӛ"  << +2 .tForearm.seek CC +2 "manipulator"&G'? +100 "core" ' +2 .tHand.close + "manipulator"&x/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( + "storage"(& +4 "core" &<- i j \  +2 "storage"(p& +50 "core" &<- m l \  +2 "manipulator"&& +5 "core" &Ӫ  3 :, + "manipulator"&"% +4 "core" % 1 +2 .tForearm.seek :retract +2 "manipulator"&i' +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&d( +162 "core" ( + "manipulator"&*& +4 "core" &  o  +2 "storage"(m& +4 "core" &<- \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +52 "core" 1 +3 "manipulator"&% +3 "core" % Ύ  8 * +2 "storage"('& +5 "core" &<- ~ #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&u'Ϻ +15 "core" ' +2 "manipulator"&f& +3 "core" &  S  +2 "storage"(;& +4 "core" &<- <\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +16 "core" ' +2 "storage"(% +4 "core" % | H\  +3 ."downElevator"SE.seek :down +3 "storage"(<' +100 (w% +2 "core" %iD k k \ V_ +2 "manipulator"&Q% +4 "core" %E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'S& +3 "core" & E\ +2 "manipulator"&B% +3 "core" %  T  +2 "storage"(2% +4 "core" % } '\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(O( +675 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (j& +3 "core" & F E \ +2 "manipulator"&4& +4 "core" &  ~  +2 .tElbow.seek 3 +2 "manipulator"&#( +14 "core" ( +2 "manipulator"&7& +3 "core" & , +2 "storage"(:& +4 "core" & a i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&y'7 +98 "core" ' + "storage"(M& +4 "core" & } w \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" & h k \ +2 "manipulator"&r& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&J& +3 "core" & +2 "storage"(z& +4 "core" & g ` \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&}'ϡ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(A' +8 "core" &   +2 "manipulator"&o% +3 "core" % Ϭ N +2 .tForearm.seek :retract +2 "manipulator"&T' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&K(ӂ +154 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&L& + "storage"(5 +6 "core" &Ӎ* m Bh +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &Ӎ* ( Bh +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek CC +4 "manipulator"&.'? +101 "core" ' +3 "manipulator"&`& +3 "core" &ӑ) Ad +2 "manipulator"&H% +5 "core" %N  +2 "collection"'{& +3 "core" & \ +3 "collection"'v& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'c(\\ +5 "core" & \ +6 &< \ $e +10 &Yy \ 7 +9 &u \ J +9 &S \ J +10 &U >\ J +9 &IU \ J +10 & T =\ J +9 &U \ J +9 &T \ J +10 &RT `\ J +9 & X '\ K +9 &!W <\ K +10 &#X B\ K +9 &%YV @\ K +10 &'W C\ J +9 &(U ?\ K +9 &*U <\ K +10 &,`X ?\ K +9 &.#T B\ K +9 &/U <\ J +10 &1U >\ J +9 &3iS =\ K +10 &5,T ?\ J +9 &6T ;\ J +9 &8U 6\ J +10 &:rU =\ J +9 &<4U +\ J +9 &=U *\ K +10 &?Y 3\ K +9 &AyU 3\ K +10 &C9[ 3\ K +9 &Dd 3\ L +9 &Fn 0\ N +10 &Hq\ \ /\ P +9 &J%\ \ *\ U +9 &K\ $\ &(\ W +10 &M\ $\ "2\ X +9 &Oc\ $\ "3\ X +10 &Q%\ \ "3\ X +9 &R\ !\ !.\ X +9 &T\ "\ 2\ Y +10 &Ve\ \ !4\ Z +9 &X$\ \ 3\ [ +9 &Y\ \ !-\ \\ +10 &[\ "\ !3\ H +9 &\\0\ !\ !0\ 2 +10 &\\k\ \ 2\ L +2 ( +2 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&,1 +55 "core" 1 + "manipulator"&% +4 "core" % N  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%X& +3 "core" &\ +2 "manipulator"&)% +5 "core" % \   +2 "storage"(!% +3 "core" % E E \  +2 "storage"(/. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(N( +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & " 3 x\  +2 "manipulator"&1& +4 "core" &ӳ# =B +2 "manipulator"&E% +3 "core" % \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&|( +163 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(+& +3 "core" & ; D \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&D'7 +92 "core" ' +2 "storage"(& +3 "core" & P = _\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +304 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ' ' r\  +2 "manipulator"&s& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&3( +2 "core" ( +2 "manipulator"&Y& +4 "core" & {  +2 "storage"(& +4 "core" & H H #\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(t' +8 "core" &  + "manipulator"&%% +4 "core" % Ϟ +2 .tForearm.seek :retract +2 "manipulator"&[' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&&( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&6& +3 "core" & Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & Y +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&]' +94 "core" ' +2 "manipulator"& & +3 "core" & ? Y +2 "manipulator"&% +4 "core" % o +2 "processing"%=& +4 "core" &\ +3 "processing"%9& +5 "core" &\ +2 .tPC.seek :closed + "processing"%$(^ +5 "core" &\  +9 &2u\ )v +9 &b{\ = +9 &mp\ M +10 &.Q\ M +9 &T\ M +57 &Q\ M +5 &tT\ M +2 &7T\ M + &R\ M +2 &R\ M + & }S\ M + &">R\ M +6 &$S\ M +10 &%R\ M +9 &'R\ M +9 &)GU\ M +10 &+ S\ M +9 &,T\ M +9 &.R\ M +10 &0OR\ M +9 &2T\ M +10 &3T\ M +9 &5S\ M +9 &7VS\ M +10 &9W\ M +9 &:U\ M +9 &<Q\ M +10 &>]V\ N +9 &@ U\ M +10 &AZ\ N +9 &Cb\ O +9 &Eab\ O +10 &G!k\ P +9 &H~\ R +9 &J\ T +10 &L[\ T +9 &N\ T +10 &O\ T +9 &Q\ U +9 &Sb\ T +10 &U!\ U +9 &V\ U +9 &X\ T +10 &Zi\ T +9 &\\*\ U +10 &]}u\ ; +9 &^/~\ K +9 &^\ - +3 ( +2 "processing"%9& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&a% +4 "core" %   ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%W& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %      +2 "storage"(\ % +5 "core" % # # 1\  + "storage"(C. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(~( +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (V& +3 "core" & - , ?\  +3 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &   & Y +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(n'r +2 "manipulator"&( +7 "core" ( +2 "manipulator"&& +3 "core" &  $ Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +4 "core" &    Y +2 .tForearm.seek PC +2 "manipulator"&\\' +96 "core" ' + .tHand.close +2 "manipulator"&F/ +56 "core" / +3 .tPC.seek :open +2 "processing"%g( +88 "core" ' +2 "storage"(_- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'1 +45 "core" ' +310 ( +2 "storage"(-& +3 "core" & D H \  +2 "manipulator"& & +4 "core" & Y +2 "manipulator"&% +4 "core" %  4 +2 .tForearm.seek :retract +2 "manipulator"&x' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&(( +244 "core" ( +2 "manipulator"&R& +3 "core" &  H +2 "storage"(& +5 "core" & F F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&p'7 +100 "core" ' + .tHand.open +2 "manipulator"&1 +57 "core" 1 +3 "storage"("- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(m' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(G- +4 "core" -' + "storage"(I& +4 "core" & y\  +2 "manipulator"& & +3 "core" & \  H +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&'& +3 "core" &    H +2 "storage"(f& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&;'7 +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' +2 "manipulator"&i& +3 "core" & 0 H +2 "storage"(w& +5 "core" & > ' O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Q'u +24 "core" ' +2 .tElbow.hold +49 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&S% +3 "core" %΅ +2 "storage"(u& +4 "core" & D = \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 316 counts + "manipulator"&B'ϱ +16 "core" ' + "manipulator"&2& +4 "core" & H +2 "storage"(& +4 "core" & S S i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&^'7 +15 "core" ' +2 "storage"(U% +3 "core" % S P <\ +3 ."downElevator"SE.seek :down +4 "storage"(<' +98 (?% +3 "core" %[\ "\  M\ Xj +2 "manipulator"&j% +4 "core" %6  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (7& +3 "core" & H F 3\  +2 "collection"':& +4 "core" &\\b\ \ 3\ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&M% +3 "core" %  :  +2 "storage"(% +3 "core" % I G n\ +2 "storage"(0. +4 "core" .( +2 "storage"(& +3 "core" & H H \ \  +2 "storage"(@& +4 "core" & E P "\  +2 "manipulator"&r& +3 "core" & u H +3 .tElbow.seek 3 + "manipulator"&J( +4 "core" ( + "manipulator"&z& +4 "core" &  H +2 "storage"(8& +4 "core" & H F 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&P'7 +96 "core" ' +2 "storage"(o& +3 "core" & = P =\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +299 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &  H +2 "storage"( & +3 "core" & S I \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&k'u +19 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(`'j +32 "core" ' + "manipulator"&H% +5 "core" %· $ + "storage"({& +4 "core" & @ 2 \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&A'ϳ +14 "core" ' +2 "manipulator"&T& +3 "core" &  H +2 "storage"(& +4 "core" & E F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&,'7 +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&X& +3 "core" & H +2 "manipulator"&)% +4 "core" %- +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/(ӂ +153 "core" ( + "manipulator"&v& +5 "core" &Ӗ# ] <= + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӗ# + <= +3 .tForearm.seek CC +2 "manipulator"&1'? +95 "core" ' +2 .tHand.close + "manipulator"&E/ +53 "core" / +2 .tCC.seek :open +2 "collection"'.( +446 "core" ( +2 "storage"(& +3 "core" & j j \  +2 "storage"(+& +5 "core" & j j \  + "manipulator"&O& +44 "core" &Ӯ  g 9% +9 "manipulator"&% +4 "core" % Q +2 .tForearm.seek :retract +2 "manipulator"&K' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&b( +164 "core" ( +2 "manipulator"&Z& +3 "core" &   +2 "storage"(& +4 "core" & c n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&s'u +94 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +52 "core" 1 +3 "manipulator"&>% +5 "core" % ΁  P 9 + "storage"(h& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&%'ϭ +14 "core" ' + "manipulator"&|& +4 "core" &   +2 "storage"(D& +3 "core" & k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&e'7 +16 "core" ' + "storage"(% +4 "core" % } \ +3 ."downElevator"SE.seek :down +3 "storage"(6' +100 (% +2 "core" %O F G ;\ Vd +2 "manipulator"&3% +4 "core" %+ 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" & D\ + "manipulator"&=% +4 "core" %  X  +2 "storage"(t% +5 "core" % V\  + "storage"([. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(5(,y +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,v _ h o\ +2 "manipulator"&a& +5 "core" & 6  +2 .tElbow.seek 4 + "manipulator"&W( +42 "core" ( +2 "manipulator"&& +3 "core" &  R  +2 "storage"(\ & +4 "core" &,v  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +99 "core" ' +2 "storage"(9& +4 "core" &,v .\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'r +293 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" &,m l f n\  +2 "manipulator"&q& +3 "core" & Q  +2 .tElbow.seek 4 +2 "manipulator"&]( +4 "core" ( + "manipulator"&F& +4 "core" &   +2 "storage"(N& +4 "core" &,m i m G\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&_'c +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"($' +8 "core" & G  +2 "manipulator"&n% +3 "core" % g N _ +3 .tForearm.seek :retract + "manipulator"&-' +91 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +156 "core" ( +2 "manipulator"&& +3 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &ӝ" ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &ӝ! ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'? +89 "core" ' +49 "manipulator"&& +3 "core" &ӝ" ;8 +2 "manipulator"&% +4 "core" %G = t +3 "collection"'& +3 "core" & \ +3 "collection"'"& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'G(\\ +4 "core" & \ +7 &A \ $f +9 &[{ \ 8 +10 & u \ K +9 &R /\ J +9 &U \ J +10 &SU 0\ J +9 &U K\ J +9 &U -\ J +10 &T "\ J +9 &ZU =\ K +10 & W C\ K +9 &!W ?\ K +9 &#X ?\ K +10 &%bW A\ K +9 &'%R ?\ J +9 &(T C\ K +10 &*W =\ K +9 &,iX >\ K +10 &.+S <\ K +9 &/S @\ K +9 &1T ?\ J +10 &3qU <\ K +9 &53X ?\ K +9 &6X 6\ K +10 &8S 3\ K +9 &:yS 3\ K +10 &<<U 5\ J +9 &=U 2\ J +9 &?U 0\ K +10 &AU 3\ K +9 &CBY 4\ K +9 &Ec 1\ M +10 &Fk 5\ N +9 &Hz\ \ \ (\ P +10 &J0\ !\ 3\ T +9 &K\ '\ &*\ X +9 &M\ &\ $+\ W +10 &Ok\ &\ &.\ X +9 &Q,\ #\ #3\ X +9 &R\ #\ #4\ Y +10 &T\ $\ #3\ [\ +9 &Vn\ #\ "3\ Z +10 &X,\ "\ "/\ [\ +9 &Y\ #\ !2\ \\ +9 &[\ %\ !2\ I +10 &\\3\ !\ #4\ 0 +9 &\\l\ !\ 5\ Q +2 ( +2 "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&I1 +63 "core" 1 +2 "manipulator"& % +4 "core" % G  Q t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +89 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%f& +3 "core" &\ +2 "manipulator"&x% +4 "core" %    +2 "storage"(i% +3 "core" % C 3 #\  +2 "storage"(w. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(l(,y +23 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &,{  0\ +2 "manipulator"&S& +4 "core" &ӟ!  ;6 +2 "manipulator"&u% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&2( +166 "core" ( + "manipulator"&& +5 "core" &  + "storage"((& +4 "core" &,{ S T C\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +93 "core" ' + "storage"(p& +4 "core" &,{ < N M\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +296 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &,m ! $ G\ \ +2 "manipulator"&;& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & U  +2 "storage"(Q& +4 "core" &,m D 3 \ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&B'c +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(M' +7 "core" &  +2 "manipulator"&% +4 "core" % v +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +93 "core" ' +2 "manipulator"&z& +3 "core" & +2 "manipulator"&8% +5 "core" % ~ + "processing"%^& +4 "core" &\ +3 "processing"%o& +4 "core" &\ +3 .tPC.seek :closed + "processing"%<(^ +4 "core" &\ +8 &=\ $d +9 &Uu\ 6 +10 &x\ K +9 &Q\ M +9 &dR\ M +10 &&R\ M +9 &S\ M +9 &S\ M +10 &kR\ M +9 &.V\ M +10 &R\ M +9 &!S\ M +57 &#tS\ M +5 &%6T\ M +2 &&T\ M + &(U\ M + &*|T\ M + &,>T\ M +2 &.S\ M +6 &/U\ M +9 &1T\ M +10 &3GT\ M +9 &5 T\ M +9 &6T\ M +10 &8U\ M +9 &:NT\ M +10 &<U\ M +9 &=R\ M +9 &?V\ N +10 &ATY\ N +9 &Ca\ O +9 &Dg\ O +10 &Fs\ Q +9 &HN\ R +10 &J \ S +9 &K\ S +9 &M\ T +10 &OR\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &VY\ T +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]^\ C +9 &^Hx\ U +9 &^ L\ 1 +6 ( +2 "processing"%o& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&d1 +3 "core" &^"\ 1 +60 1 + "manipulator"&4% +4 "core" %     ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +100 "core" ' +2 "processing"%L& +3 "core" &^"\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +3 "core" %   +2 "storage"(% +4 "core" % # $\  +2 "storage"(H. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"({(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (T& +2 "manipulator"&& +4 "core" &,| , + [\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  \  +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(X'r +2 "manipulator"&)( +6 "core" ( +2 "manipulator"&P& +3 "core" &   A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&#' +92 "core" ' +2 .tHand.close +2 "manipulator"&k/ +55 "core" / +2 .tPC.seek :open +2 "processing"%A( +93 "core" ' + "storage"(`- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'1 +40 "core" ' +309 ( +2 "storage"( & +3 "core" &,j S U k\ +2 "manipulator"&,& +4 "core" &  +2 "manipulator"&}% +4 "core" %   = +2 .tForearm.seek :retract +2 "manipulator"&E' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&!( +238 "core" ( + "manipulator"&c& +4 "core" & 2 +2 "storage"(& +4 "core" &,j S V s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +96 "core" ' + .tHand.open +2 "manipulator"&O1 +54 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Z' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(1- +3 "core" -' +2 "storage"(/& +3 "core" &,j M C z\ +2 "manipulator"&& +5 "core" &    2 + .tElbow.seek 4 +2 "manipulator"&>( +4 "core" ( +2 "manipulator"&h& +3 "core" &  2 +2 "storage"(|& +4 "core" &,j C L \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&K& +3 "core" & 2 +2 "storage"(& +4 "core" &,j I H U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&3'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +42 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +28 "core" ' +2 "manipulator"&% +3 "core" %K  +2 "storage"(%& +5 "core" &,j & ( \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&='w +14 "core" ' + "manipulator"&t& +4 "core" & , 2 +2 "storage"([& +4 "core" &,j H F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 "storage"(e% +4 "core" % I G /\ +3 ."downElevator"SE.seek :down +3 "storage"(6' +100 (~% +2 "core" %rL \  \ Wd +2 "manipulator"&% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,j : 5 G\ +2 "collection"'\ & +5 "core" &\\k\ \ ,\ Q + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&9% +4 "core" %  u " +2 "storage"(Y% +4 "core" % H F "\  +2 "storage"( . +2 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| / % L\ +2 "manipulator"&q& +4 "core" &  2 +2 .tElbow.seek 4 +2 "manipulator"&F( +4 "core" ( +2 "manipulator"&N& +3 "core" &  2 +2 "storage"(&& +4 "core" &,| E F ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +101 "core" ' + "storage"(n& +5 "core" &,| P C v\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +297 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 2 +2 "storage"(\\& +4 "core" &,m & ! ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&V'7 +13 "core" ' +2 .tElbow.hold + "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"('t +29 "core" ' +2 "manipulator"&% +4 "core" %? A +2 "storage"(& +4 "core" &,m ' !\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts +2 "manipulator"&$'k +15 "core" ' +2 "manipulator"&-& +3 "core" &  2 +2 "storage"(.& +4 "core" &,m I I H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"( ' +36 "core" ' +2 "manipulator"&f& +3 "core" & \ 2 +2 "manipulator"&x% +4 "core" % e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w(ӂ +157 "core" ( +2 "manipulator"&"& +3 "core" &Ӛ B 8! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &Ӛ  8! +3 .tForearm.seek CC + "manipulator"&S'? +100 "core" ' +2 .tHand.close + "manipulator"&u/ +55 "core" / +2 .tCC.seek :open +2 "collection"'R( +446 "core" ( + "storage"(& +4 "core" &,m j j \  +2 "storage"((& +3 "core" &,m j j \  +42 "manipulator"&5& +11 "core" &Ӝ 8 +2 "manipulator"&p% +3 "core" % 3 1 +3 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&'( +161 "core" ( +2 "manipulator"&?& +4 "core" & @  +2 "storage"(j& +3 "core" &,m k _ \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&;'7 +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +57 "core" 1 +3 "manipulator"&7% +3 "core" % C R : +2 "storage"(:& +3 "core" &,m  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 312 counts +2 "manipulator"&'o +13 "core" ' + "manipulator"&2& +4 "core" &  m  +2 "storage"(U& +4 "core" &,m  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +15 "core" ' + "storage"(B% +4 "core" % r\ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (@% +2 "core" %F j k \ V_ +2 "manipulator"&% +4 "core" % w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +97 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'8& +3 "core" & '\ +2 "manipulator"&^% +4 "core" % \   +2 "storage"(M% +4 "core" % ~ W\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(g(<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &<* J Q /\  +2 "manipulator"&4& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&L( +4 "core" ( + "manipulator"& & +4 "core" &  L  +2 "storage"(& +4 "core" &<*  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&o'O +94 "core" ' + "storage"(H& +4 "core" &<* \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +292 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P& +2 "core" &<* e k \  +3 "manipulator"&J& +3 "core" & +  +2 .tElbow.seek 5 +2 "manipulator"&r( +4 "core" ( + "manipulator"&k& +4 "core" & e  +2 "storage"(l& +3 "core" &<* j k \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&`'Ϲ +31 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +2 "storage"(<' +6 "core" &  +3 "manipulator"&X% +3 "core" %  r +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,(ӂ +153 "core" ( +2 "manipulator"&}& +3 "core" ' + &y.  E +3 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &#& +3 "core" &y. E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +46 "manipulator"&c'? +96 "core" ' +3 "manipulator"&& +4 "core" &z. i E +2 "manipulator"&)% +3 "core" %I * +3 "collection"'O& +3 "core" & \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'1(\\ +2 "core" & \ +7 &; \ %g +10 &Yv \ 7 +9 &v \ J +10 &T \ K +9 &X ;\ K +9 &LT \ J +10 & U 2\ K +9 &W &\ K +9 &S  \ K +10 &RS \ K +9 & T 7\ J +10 &!T A\ K +9 &#X @\ K +9 &%ZR D\ K +10 &'T D\ J +9 &(U B\ K +9 &*W ?\ K +10 &,cT =\ J +9 &.$U <\ K +10 &/S @\ K +9 &1U 5\ J +9 &3jU =\ K +10 &5,R >\ K +9 &6U @\ K +9 &8X ?\ K +10 &:sU 2\ J +9 &<4U 0\ K +10 &=X 7\ K +9 &?T .\ K +9 &AyV 2\ K +10 &C9\\ 3\ L +9 &Db 0\ L +9 &Fj 3\ M +10 &Hq\ \ /\ Q +9 &J(\ !\ 3\ U +10 &K\ %\ %3\ W +9 &M\ $\ %*\ W +9 &Oe\ $\ %0\ X +10 &Q&\ #\ $/\ X +9 &R\ %\ $4\ X +9 &T\ #\ #4\ Y +10 &Vg\ !\ #3\ Z +9 &X)\ #\ #3\ Z +10 &Y\ #\ #4\ [ +9 &[\ $\ $0\ I +9 &\\1\ "\ $0\ 0 +10 &\\e\ "\ $5\ M +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&/1 +58 "core" 1 + "manipulator"&% +4 "core" % I 2 * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%|& +3 "core" &\ +2 "manipulator"&E% +4 "core" %  z +2 "storage"(K% +3 "core" % F F \  +2 "storage"(. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(v(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" &<* J q\  +2 "manipulator"&& +4 "core" &Ӫ&  ?Q +2 "manipulator"&%% +3 "core" %  z +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&t( +156 "core" ( + "manipulator"&[& +4 "core" & +2 "storage"(!& +3 "core" &<* j k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +94 "core" ' +2 "storage"(+& +3 "core" &<* j k \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &<* G G }\  +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&>( +4 "core" ( + "manipulator"&& +4 "core" & & +2 "storage"(3& +4 "core" &<* H P \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"(9' +7 "core" & Y +2 "manipulator"&Y% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&& +3 "core" & N \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&N' +92 "core" ' +2 "manipulator"&&& +4 "core" &  \ +2 "manipulator"&% +4 "core" % ` +2 "processing"%n& +4 "core" &\ +3 "processing"%6& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%{(^ +3 "core" &\ +6 &<\ $d +10 &Ww\ 7 +9 &v\ L +9 &N\ M +10 &tT\ M +9 &5R\ M +9 &T\ M +10 &R\ M +9 &{R\ M +52 &=S\ M +3 &R\ M + &!R\ M + &#S\ M + &%ER\ M +2 &'S\ M +6 &(S\ M +9 &*S\ N +10 &,OT\ M +9 &.R\ M +9 &/U\ M +10 &1T\ M +9 &3UT\ M +9 &5S\ M +10 &6R\ M +9 &8T\ M +10 &:^U\ M +9 &<U\ M +9 &=R\ M +10 &?U\ N +9 &AdV\ N +9 &C#_\ O +10 &Dc\ O +9 &Fl\ P +10 &H^\ R +9 &J\ T +9 &K\ T +10 &M\ T +9 &Oa\ T +9 &Q!\ U +10 &R\ T +9 &T\ V +10 &Vj\ T +9 &X*\ T +9 &Y\ T +10 &[\ T +9 &]n\ B +9 &^;k\ %k +10 &^&\ - +5 ( +2 "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&b1 +4 "core" &^\ - +59 1 +2 "manipulator"&a% +3 "core" %     ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +91 "core" ' +2 "processing"%& +5 "core" &^\ - + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&\\% +3 "core" %    +3 "storage"(]% +3 "core" % $ #\  +2 "storage"(. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (-& +2 "manipulator"&.& +6 "core" &<* ^ 4 M\  + &   \ \ +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&f( +11 ."raiseStack"SE.seek :beamBreak +2 "storage"(x'r +2 "core" ( +3 "manipulator"&& +3 "core" &    \ +7 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &  \ +3 .tForearm.seek PC + "manipulator"&W' +94 "core" ' +2 .tHand.close + "manipulator"&V/ +61 "core" / +3 .tPC.seek :open +2 "processing"%$( +90 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'1 +44 "core" ' +313 ( + "storage"(*& +4 "core" &<) < 8 \  +2 "manipulator"&I& +3 "core" & [ \ +2 "manipulator"&_% +4 "core" %  ; M +2 .tForearm.seek :retract +2 "manipulator"&u' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&i( +238 "core" ( + "manipulator"&G& +4 "core" &  C +2 "storage"(& +3 "core" &<) H P "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +94 "core" ' +2 .tHand.open + "manipulator"&51 +53 "core" 1 +2 "storage"(p- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(?' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(j' +52 "core" ' +8 #tLights, camera, ACTION! +2 "storage"(S- +3 "core" -' +2 "storage"(w& +3 "core" &<) e d f\  +2 "manipulator"&Q& +4 "core" &   C +2 .tElbow.seek 5 +2 "manipulator"&7( +4 "core" ( +2 "manipulator"&:& +46 "core" &   C +2 "storage"(2& +3 "core" &<) e e c\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(B'" +58 "core" ' + "manipulator"& & +4 "core" & C +2 "storage"(@& +4 "core" &<) F H A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +30 "core" ' +2 .tElbow.hold + "manipulator"&', +50 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(;' +19 "core" ' +2 "manipulator"&8% +3 "core" %Έ S +2 "storage"(^& +4 "core" &<) ( & .\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 295 counts + "manipulator"&'ϴ +14 "core" ' +2 "manipulator"&M& +4 "core" &  +2 "storage"(& +4 "core" &<) E H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +15 "core" ' +2 "storage"(m% +4 "core" % F I \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %LQ\ &\ We +2 "manipulator"&d% +5 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &<) D S =\  +2 "collection"'& +4 "core" &\\a\ \ 2\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&H% +3 "core" %    +2 "storage"(% +3 "core" % I T _\  +2 "storage"(z. +3 "core" .(<- +2 "storage"(& +3 "core" &<) S S h\  +2 "storage"(P& +4 "core" &<) S S `\  +2 "manipulator"&J& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&k( +20 "core" ( + "manipulator"&l& +5 "core" &   + "storage"(0& +4 "core" &<) P I G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +99 "core" ' +2 "storage"(X& +3 "core" &<) ; M h\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +306 "core" ' +2 "storage"(o- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&}& +3 "core" &  +2 "storage"(#& +4 "core" &<) F G f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&T'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(r- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('w +29 "core" ' +2 "manipulator"&)% +3 "core" %Ύ +2 "storage"(O& +4 "core" &<) * - G\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&<'Ϻ +14 "core" ' +2 "manipulator"& & +4 "core" &  +2 "storage"(R& +3 "core" &<) S I H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +42 "core" ' +2 "manipulator"&|& +3 "core" &  +2 "manipulator"&E% +4 "core" %K F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +162 "core" ( +3 "manipulator"&& +3 "core" &Ӗ$ M =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &Ӗ$ =E +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&%/ +57 "core" / +2 .tCC.seek :open + "collection"'c( +446 "core" ( +2 "storage"([& +4 "core" &<) i i \  +2 "storage"(!& +3 "core" &<) j j \  +2 "manipulator"&g& +3 "core" &Ӱ  :+ +2 "manipulator"&+% +43 "core" % Q  +10 .tForearm.seek :retract +2 "manipulator"&,' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&h( +163 "core" ( +2 "manipulator"&~& +3 "core" &  +2 "storage"(D& +4 "core" &<) ~ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&31 +59 "core" 1 +2 "manipulator"&=% +5 "core" % Ί 8 + "storage"(\ & +4 "core" &<) ~ -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 297 counts +2 "manipulator"&Y'϶ +27 "core" ' + "manipulator"&t& +4 "core" & I  +2 "storage"(e& +4 "core" &<)  1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 "storage"(% +3 "core" % ~ \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (q% +2 "core" %D j Q t\ U^ +3 "manipulator"&>% +3 "core" %S k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +92 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +12383 "Can" 9y +60002  9t! +60001  :k" +60001 & :a;" +60001 R 9!Uђ* +60002 U 9#Fg0 +60001 e 9%9 +60001 } 9')  +60001 o 9)\ )" +60002 i :+\ ! +60001 ` 8, U +60001 T 9. ' +60001 S 90  +60002 K 92 0 +60001 8 94 # +60002 < 96C# +60001 = 98ْ) +60001 : 9:o' +60001 6 8b% +60001 1 9@R1! +60001 $ 9BBǒ% +60001  9D2]% +50028 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +7 #mEXIT @1689706801.87EDT @1689860117.27EDT = =mMAIN_scheduler =tMAIN @EDT1689860118.96 #"core_reset"Sent BREAK +2 #t@8367 select with ifg=0x10, ie=0xF5 + #@9025 receive with ifg=0x10, ie=0xFD + #@9632 receive with ifg=0x10, ie=0xFD + #@10264 receive with ifg=0x10, ie=0xFD + #@10596 receive with ifg=0x80, ie=0xFD #@7631 sendCRC with ifg=0x20, ie=0x7F + #@8077 sendCRC with ifg=0x20, ie=0x7F #@9669 sendCRC with ifg=0x08, ie=0x5F + #@9556 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can". 85. + . 85. + #tPolling Can every 10:00 +35 #Cleanly exited at 15:00:01EDT18-Jul-23 +3755 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +6 "sampler")&\ +6 "collection"'% +9 "core" %l (\  +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؼ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +4 "core" %ځ\ "\ p\ W +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1536 #-> 20.times {shuffle 3..5} +3 #Shuffling pucks in tube 3 of [3..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'2& +3 "core" & 6\ +2 .tHand.open +2 "manipulator"&31 +19 "core" 1 + "manipulator"&4% +4 "core" %    +2 "storage"(5% +4 "core" % , ( R\  + "storage"(6. +3 "core" .,<, +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(7( +678 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" & H P -\ +3 "manipulator"&9& +3 "core" & :  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&:( +42 "core" ( +2 "manipulator"&;& +4 "core" &  + +2 "storage"(<& +3 "core" & m i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&='7 +103 "core" ' + "storage"(>& +4 "core" & ~ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'r +301 "core" ' +3 "storage"(@- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (A& +2 "core" & e S \ +2 "manipulator"&B& +4 "core" & ~ + +2 .tElbow.seek 3 +2 "manipulator"&C( +4 "core" ( + "manipulator"&D& +4 "core" & 0 + +2 "storage"(E& +3 "core" & i i \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&F'ϡ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(I' +7 "core" & & + +2 "manipulator"&J% +4 "core" % ϥ @ +2 .tForearm.seek :retract +2 "manipulator"&K' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&L(ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&M& +4 "core" &Ӝ  \ :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &Ӝ  * :+ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'? +100 "core" ' +2 "manipulator"&P& +3 "core" &Ӝ! :+ +2 "manipulator"&Q% +4 "core" %@ +2 "collection"'R& +4 "core" & \ +2 "collection"'S& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'T(\\ +5 "core" & \  +8 &5 \ +{ +9 & d \ > +10 &u \ N +9 &QW \ M +9 &X \ M +10 &] \ M +9 &Y \ M +10 &Z\\ \ M +9 &Z \ M +9 &Y \ M +10 & \\ \ M +9 &"bW \ M +9 &$$Y \ M +10 &%] \ M +9 &'Y \ M +10 &)kY \ L +9 &+-Y \ L +9 &,\\ \ M +10 &.Z \ M +9 &0rZ \ M +9 &24W \ M +10 &3W \ L +9 &5X \ L +10 &7z\\ \ M +9 &9=V \ L +9 &:W \ L +10 &<[ \ L +9 &>W \ M +9 &@E] \ L +10 &B\\ \ M +9 &Cb \ N +10 &Ej \ N +9 &GAx \ P +9 &H\ \ \ T +10 &J\ \ E\ W +9 &Lq\ \ \ X +9 &N2\ \ \ X +10 &O\ \ <\ X +9 &Q\ \ ?\ X +45 &Su\ \ J\ Y + &U7\ \ H\ Y +2 &V\ \ D\ Z + &X\ \ H\ [\ + &Zv\ \ H\ \\ +6 &\\x\ \ K\ 1 +10 &\\*\ \ I\ S +9 ( +2 "collection"'S& +3 "core" &\\k\ \ H\ I +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&U1 +60 "core" 1 +2 "manipulator"&V% +4 "core" % @  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%X& +4 "core" &\ +2 "manipulator"&Y% +4 "core" %  V  +2 "storage"(Z% +4 "core" % ) '\  +2 "storage"([. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(\\( +9 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +3 "core" & + # \ +2 "manipulator"&^& +4 "core" &Ӟ v 9) +2 "manipulator"&_% +3 "core" %  ;  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&`( +162 "core" ( +2 "manipulator"&a& +4 "core" &   +2 "storage"(b& +3 "core" & E H\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&c'7 +95 "core" ' +2 "storage"(d& +3 "core" & I K \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +295 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & " G\ +2 "manipulator"&h& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&i( +4 "core" ( +2 "manipulator"&j& +3 "core" &   +2 "storage"(k& +3 "core" & % # 1\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&l'ϡ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(o' +8 "core" & .  + "manipulator"&p% +4 "core" % ϖ  +2 .tForearm.seek :retract +2 "manipulator"&q' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&r( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&s& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" & . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&u' +92 "core" ' +2 "manipulator"&v& +3 "core" & O +2 "manipulator"&w% +4 "core" % R +2 "processing"%x& +4 "core" &\ +3 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%z(^ +5 "core" &\ +6 &4\ #c +10 &U}\ 7 +9 &}\ L +9 &Z\ N +10 &^W\ N +9 & \\\ N +9 &]\ O +10 &Z\ N +9 &fW\ N +10 &(X\ N +9 &\\1\ N +9 &!Z>\ O +10 &#n[>\ N +9 &%0Y=\ N +9 &&]@\ N +10 &(\\=\ O +9 &*v\\>\ N +10 &,7\\>\ O +9 &-Z7\ N +9 &/]<\ N +10 &1}[3\ O +9 &3@[2\ N +9 &5\\2\ N +10 &6_2\ N +9 &8]0\ O +10 &:HY9\ N +9 &<\ ]2\ N +9 &=]2\ O +10 &?Y1\ N +9 &AP\\2\ N +9 &Ca3\ O +10 &Df0\ P +9 &Fn1\ Q +10 &HL2\ R +9 &J\ 2\ T +9 &K!\ T +10 &M\ T +9 &ON\ T +9 &Q\ U +10 &R\ U +9 &T\ V +10 &VU\ U +9 &X%\ U +9 &Y'\ U +10 &[(\ U +9 &]Z(\ E +9 &^y=m(\ 'q +10 &^(!\ * +5 ( +2 "processing"%y& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&{1 +2 "core" &^%\ * +62 1 + "manipulator"&|% +4 "core" %   R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 "processing"%~& +3 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %     +2 "storage"(% +4 "core" % + # 5\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +13 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +44 (& +2 "manipulator"&& +4 "core" & ! [\  +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +2 "manipulator"& ( +7 "core" ( +2 "manipulator"& & +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" & +3 .tForearm.seek PC + "manipulator"&' +90 "core" ' +3 .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +39 "core" ' +315 ( +2 "storage"(& +4 "core" & I H E\  +2 "manipulator"&& +4 "core" & * +2 "manipulator"&% +3 "core" %  [ T +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +237 "core" ( + "manipulator"&& +4 "core" &{ @ +2 "storage"(& +3 "core" & I G \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +91 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(!' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(#& +3 "core" & d d ?\  +2 "manipulator"&$& +4 "core" &{  @ +2 .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +4 "core" &{   @ +2 "storage"('& +3 "core" & W K \  +3 .tForearm.seek 3 + 450 counts + "manipulator"&('7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"()'" +56 "core" ' + "manipulator"&*& +4 "core" &{ @ +2 "storage"(+& +3 "core" &  ( P\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&,'u +23 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +28 "core" ' +2 "manipulator"&/% +4 "core" %Ή Q +2 "storage"(0& +3 "core" & & & H\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 320 counts + "manipulator"&1'ϵ +25 "core" ' + "manipulator"&2& +4 "core" &| $ ? +2 "storage"(3& +4 "core" & H H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&4'7 +19 "core" ' +2 "storage"(5% +3 "core" % F H\ +3 ."downElevator"SE.seek :down +4 "storage"(6' +98 (% +3 "core" %V K Y\ Xi +2 "manipulator"&8% +4 "core" %2 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" & / % 3\  +2 "collection"'<& +4 "core" &\\k F\ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&>% +3 "core" %  n  +2 "storage"(% +4 "core" % 3 6 l\  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(@( +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" & "  M\  +2 "manipulator"&B& +4 "core" &| e ? +2 .tElbow.seek 3 +36 "manipulator"&D( +10 "core" ( +2 "manipulator"&E& +3 "core" &|  \ ? +2 "storage"(G& +4 "core" & E H 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&H'7 +94 "core" ' + "storage"(J& +4 "core" & H H !\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +296 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &| n ? +2 "storage"(N& +3 "core" & - - Q\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&?'u +19 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Q'h +28 "core" ' + "manipulator"&R% +4 "core" %Έ +2 "storage"(C& +3 "core" & " # 9\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&I'ϴ +14 "core" ' + "manipulator"&K& +4 "core" &| * ? +2 "storage"(\ & +4 "core" & H H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&U'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(V' +36 "core" ' + "manipulator"&X& +4 "core" &| \ ? +2 "manipulator"&Y% +4 "core" %.  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +151 "core" ( +2 "manipulator"&S& +4 "core" &ӈ+  O Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &ӈ+ Ct +3 .tForearm.seek CC +2 "manipulator"&^'? +98 "core" ' +2 .tHand.close + "manipulator"&_/ +56 "core" / +2 .tCC.seek :open +2 "collection"'O( +447 "core" ( +2 "storage"(a& +3 "core" & H I {\  +2 "storage"(b& +4 "core" & O H 7\  +2 "manipulator"&7& +3 "core" &ӳ% " >I +2 "manipulator"&d% +4 "core" % $ ( +2 .tForearm.seek :retract +2 "manipulator"&L' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&W( +168 "core" ( + "manipulator"&f& +4 "core" &   +2 "storage"(g& +4 "core" & j i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&h'u +92 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +54 "core" 1 +2 "manipulator"&m% +4 "core" % } '  +2 "storage"(n& +3 "core" & j i \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&p'ϩ +14 "core" ' +2 "manipulator"&`& +4 "core" &  +2 "storage"(c& +3 "core" & _ \\ ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&e'7 +16 "core" ' + "storage"(l% +4 "core" % j l \ +3 ."downElevator"SE.seek :down +4 "storage"(s' +98 (t% +3 "core" %_O S R \ We +2 "manipulator"&i% +3 "core" %' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'w& +4 "core" & \ +2 "manipulator"&x% +4 "core" %   +2 "storage"(o% +3 "core" % u o B\  +2 "storage"(q. +37 "core" .( +10 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &,z ` ^ T\  +2 "manipulator"&|& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&~( +29 "core" ( + "manipulator"&& +5 "core" &   +2 "storage"(& +3 "core" &,z \\ \\ c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(y& +4 "core" &,z ~ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,m ` j \  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&u( +18 "core" ( +2 "manipulator"&& +3 "core" & =  +2 "storage"(\\& +4 "core" &,m t o \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(z' +8 "core" & @  + "manipulator"&% +4 "core" % d . 5 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &Ӛ" @ ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӛ! x ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' +2 "manipulator"&& +5 "core" &Ӛ"  E ;4 +2 "manipulator"& % +3 "core" %6 B  +2 "collection"'& +4 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'"(\\ +4 "core" & \ +5 & \ 9 +10 &JJz \ 0 +9 &zt \ E +9 &#b \ M +10 &\\ \ L +9 &Y \ L +9 &k_ \ L +10 &.Z \ L +9 &Y \ K +10 &Z \ L +9 &t\\ \ L +9 &!6[ &\ L +10 &"^ +\ L +9 &$Z )\ L +10 &&|Z 9\ L +9 &(=] =\ L +9 &*Z <\ K +10 &+Z 9\ K +9 &-Z 4\ L +9 &/FY <\ L +10 &1 Y <\ K +9 &2Z 2\ L +9 &4] '\ L +10 &6N\\ %\ L +9 &8Z %\ K +10 &9Z ,\ L +9 &;] )\ L +9 &=VX &\ L +10 &?X '\ L +9 &@[ %\ L +9 &Ba %\ L +10 &DYh &\ M +9 &Fn %\ N +10 &G '\ P +9 &I\ \ '\ T +9 &KD\ \ &\ W +10 &M\ \ 0\ X +9 &N\ \ )\ X +9 &P\ \ *\ Y +10 &RJ\ \ '\ X +9 &T\ \ \ Z +10 &U\ \ '\ Z +9 &W\ \ \ [ +9 &YH\ \ \ [ +10 &[ \ \ \ [\ +9 &\\aJ\ \ \ 6 +9 &\\v\ \ \ J +6 ( +2 "collection"'& +3 "core" &\\j\ \ \ J +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.04 + .Hand.open +2 "manipulator" +57 "core" 1 +2 "manipulator"&$% +3 "core" % 6 B  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%'& +4 "core" &>\ +2 "manipulator"&% +4 "core" %  \  +2 "storage"(*% +3 "core" % # #\  +2 "storage"(+. +4 "core" .(,y + "storage"(/& +4 "core" &,m # #\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(0(,y +35 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,|  \ +2 "manipulator"& & +4 "core" &ӫ $ 9# +2 "manipulator"&2% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&3( +156 "core" ( +2 "manipulator"&5& +3 "core" & +2 "storage"(& +3 "core" &,| S S Z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +87 "core" ' + "storage"(!& +4 "core" &,| O R Y\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +38 .tSE.seek :beamBreak +10 "storage"('r +297 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ((& +2 "core" &,m # #\  +2 "manipulator"&%& +4 "core" & $ +2 .tElbow.seek 4 +2 "manipulator"&)( +4 "core" ( + "manipulator"&,& +4 "core" & w +2 "storage"(1& +3 "core" &,m , , J\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&;'c +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&& +2 "storage"(' +8 "core" & J + "manipulator"&% +4 "core" % } > +2 .tForearm.seek :retract +2 "manipulator"&.' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&A( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( +2 "manipulator"&B& +4 "core" & x  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" & .  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +93 "core" ' + "manipulator"&4& +4 "core" &   +2 "manipulator"&J% +4 "core" %  f i +2 "processing"%6& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%-(^ +4 "core" &\  +9 &3y\ *x +10 &c\ > +9 &tu5\ N +9 &5W<\ N +10 &X>\ N +9 &W>\ N +9 &{Y=\ N +10 &>Y?\ N +9 &W?\ N +10 &Y>\ N +9 & Z?\ N +9 &"FW4\ N +12 &$Z3\ N +7 &%Y5\ N +9 &'Y2\ N +10 &)OX3\ M +9 &+Z9\ N +10 &,Z3\ N +9 &.W1\ M +9 &0VY3\ N +10 &2W1\ M +9 &3X2\ N +9 &5W1\ N +10 &7^Y0\ N +9 &9 \\/\ N +10 &:\\3\ N +9 &<Z3\ N +9 &>f\\,\ N +10 &@(Z$\ N +9 &Ab,\ O +9 &Ch \ P +10 &Egm \ P +9 &G${\ R +10 &H\ S +9 &J$\ T +9 &Le(\ S +10 &N#&\ U +9 &O'\ U +9 &Q&\ U +10 &Si$\ U +9 &U*'\ U +10 &V)\ U +9 &X&\ T +9 &Zp(\ U +10 &\\2'\ U +9 &]}x(\ : +9 &^.&\ L +10 &^  \ / +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&91 +53 "core" 1 +2 "manipulator"&=% +3 "core" %   i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +94 "core" ' +2 "processing"%N& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&P% +3 "core" %      +2 "storage"(R% +4 "core" % $ &\  +2 "storage"(C. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(K(,y +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "manipulator"&X& +6 "core" &,z\  S \  + &    +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(Y'r + "manipulator"&H( +18 "core" ( + "manipulator"&D& +4 "core" &   K < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &   > < +2 .tForearm.seek PC +2 "manipulator"&?' +90 "core" ' +2 .tHand.close + "manipulator"&I/ +64 "core" / +2 .tPC.seek :open +2 "processing"%Q( +77 "core" ' +2 "storage"(S- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'1 +42 "core" ' +324 ( +2 "storage"(U& +3 "core" &,j H H _\  +2 "manipulator"&F& +5 "core" & 2 ; + "manipulator"&_% +4 "core" %  Y Y +2 .tForearm.seek :retract +2 "manipulator"&Z' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&T( +243 "core" ( + "manipulator"&a& +4 "core" & # / +37 "storage"(b& +12 "core" &,j # " k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&7' +98 "core" ' +2 .tHand.open + "manipulator"&d1 +62 "core" 1 +3 "storage"(f- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(g' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +3 "core" -' +2 "storage"(k& +3 "core" &,j 5 2 U\  +2 "manipulator"&m& +4 "core" &   . +2 .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&`& +4 "core" &   . +2 "storage"(c& +3 "core" &,j 5 5 \  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(L'" +57 "core" ' +2 "manipulator"&t& +4 "core" & = . +2 "storage"(i& +3 "core" &,j # #\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&W'7 +24 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +28 "core" ' + "manipulator"&x% +4 "core" %7 +2 "storage"(p& +3 "core" &,j ! * I\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&o'c +13 "core" ' + "manipulator"&q& +4 "core" & . +2 "storage"(V& +4 "core" &,j # " ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&e' +16 "core" ' + "storage"(s% +4 "core" % H H \ +3 ."downElevator"SE.seek :down +4 "storage"(@' +98 ({% +4 "core" %VQ\ (\  \ Wf +2 "manipulator"&|% +3 "core" % ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,j 2 " >\  +2 "collection"'y& +4 "core" &\\i \ J +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&j% +3 "core" %  k { +2 "storage"(v% +4 "core" % G G \  +2 "storage"(. +3 "core" .(,y +2 "storage"( & +4 "core" &,j H H \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z - 4 O\ +2 "manipulator"&\\& +4 "core" & " . +2 .tElbow.seek 4 +2 "manipulator"&r( +4 "core" ( + "manipulator"&}& +5 "core" &  . + "storage"(& +4 "core" &,z E H %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&~' +93 "core" ' +2 "storage"(& +3 "core" &,z H O\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&& +6 "core" &  . +5 "storage"(& +8 "core" &,m  # ,\  +4 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(u't +29 "core" ' +2 "manipulator"&z% +3 "core" %:  +2 "storage"(& +3 "core" &,m #  X\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&O'f +14 "core" ' +2 "manipulator"&#& +4 "core" &  . +2 "storage"($& +47 "core" &,m 3 $ b\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +41 "core" ' +2 "manipulator"&*& +3 "core" &  . +2 "manipulator"&+% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"&& +4 "core" &ӑ" R ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӑ"  5 ;8 +2 .tForearm.seek CC +2 "manipulator"&2'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'5( +446 "core" ( +2 "storage"(& +3 "core" &,m R P A\  +2 "storage"( & +4 "core" &,m P E G\  +2 "manipulator"&!& +3 "core" &Ө 3 8! +2 "manipulator"&% +4 "core" % J  +2 .tForearm.seek :retract +2 "manipulator"&&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&8( +160 "core" ( +2 "manipulator"&(& +3 "core" &  +2 "storage"(%& +4 "core" &,m j l \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&,'7 +91 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +62 "core" 1 +2 "manipulator"&>% +4 "core" % ( a U +2 "storage"(& +3 "core" &,m ^ i c\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 285 counts + "manipulator"&3'T +14 "core" ' +2 "manipulator"&& +4 "core" &  E  +2 "storage"(& +3 "core" &,m ` \\ J\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +29 "core" ' + "storage"(B% +4 "core" % j ` |\ +3 ."downElevator"SE.seek :down +4 "storage"(E' +98 ()% +3 "core" %C F @ E\ Va +2 "manipulator"&4% +4 "core" % 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'6& +3 "core" & \ +2 "manipulator"&% +4 "core" %   +2 "storage"(.% +3 "core" % } #\  +2 "storage"(. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(9(<- +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &<, < I p\ +2 "manipulator"&N& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&P( +4 "core" ( + "manipulator"&R& +3 "core" & u  +2 "storage"(C& +4 "core" &<, \\ [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +90 "core" ' +2 "storage"(\ & +3 "core" &<, | D\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +292 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &<, h Z\ +2 "manipulator"&G& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&I( +4 "core" ( + "manipulator"&0& +4 "core" & -  +2 "storage"(S& +4 "core" &<, j i \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&A'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +63 "core" / +10 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(Y' +8 "core" &   +2 "manipulator"&U% +4 "core" % ϭ 9 +2 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&?& +5 "core" &ӏ% c >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &ӏ%  >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&b'? +93 "core" ' +2 "manipulator"&H& +3 "core" &ӏ% 2 >N +2 "manipulator"&d% +5 "core" %4 E v + "collection"'f& +4 "core" & \ +3 "collection"'[& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'k(\\ +4 "core" & \ +8 &5 \ $e +9 &W{ \ 7 +9 &{ \ K +10 &U \ L +9 &{V \ L +9 &>W \ K +10 &Y (\ K +9 &Y '\ K +10 &\\ 1\ L +9 &FY :\ K +9 & X 9\ K +10 &!\\ 9\ L +9 &#Z <\ K +9 &%NW ;\ K +10 &'W 4\ K +9 &(X 3\ K +10 &*X .\ K +9 &,UY 0\ L +9 &.Z &\ L +10 &/Z '\ L +9 &1\\ &\ L +9 &3]Z &\ L +10 &5Z #\ L +9 &6[ (\ L +10 &8Z (\ L +9 &:eU %\ L +9 &<'U '\ L +10 &=U '\ L +9 &?W !\ K +9 &AmY \ L +10 &C-^ %\ L +9 &Df  \ M +10 &Fm '\ N +9 &He  \ Q +9 &J\ \ #\ U +10 &K\ \ \ W +9 &M\ \ \ X +9 &OY\ \ \ X +10 &Q\ \ \ X +9 &R\ \  \ Y +10 &T\ \ \ Y +9 &VZ\ \ \ Z +9 &X\ \ \ [ +10 &Y\ \ \ [\ +9 &[\ \ \ H +9 &\\:\ \ \ )z +10 &\\\ \ \ V +2 ( +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&m1 +63 "core" 1 +3 "manipulator"&`% +3 "core" % 4  v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%Z& +3 "core" &@\ +2 "manipulator"&t% +4 "core" %   +2 "storage"(i% +4 "core" %   \  +2 "storage"(]. +3 "core" .(<- + "storage"(x& +4 "core" &<, % ! +\ +2 "storage"(p& +3 "core" &<, , , Y\ +2 "manipulator"&g& +4 "core" &Ӭ  ' :1 +2 "manipulator"&q% +4 "core" %  H  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&V( +164 "core" ( +2 "manipulator"&s& +3 "core" & S  +2 "storage"(T& +4 "core" &<, G H \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&7'O +94 "core" ' +2 "storage"(^& +3 "core" &<, H H \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +303 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &<, #  ]\ +2 "manipulator"&n& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&L( +4 "core" ( + "manipulator"&W& +4 "core" &  +2 "storage"(o& +3 "core" &<, % \ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(v' +8 "core" & -  +2 "manipulator"&% +3 "core" % ϻ +3 .tForearm.seek :retract + "manipulator"&w' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&& +4 "core" & Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" & B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&}' +92 "core" ' +2 "manipulator"&& +3 "core" & +2 "manipulator"&e% +4 "core" % ( +2 "processing"%& +4 "core" &\ +3 "processing"%@& +50 "core" &>\ +2 .tPC.seek :closed +2 "processing"%K(^ +5 "core" &>\ +6 &7<\ $d +10 &Ty2\ 6 +9 &~};\ K +9 &W:\ N +10 &_V2\ M +9 & U1\ N +10 &W1\ N +9 &X1\ M +9 &gU2\ M +10 &(Y4\ N +9 &[0\ N +10 &!W3\ M +9 &#nY3\ N +9 &%0[0\ N +10 &&X2\ N +9 &(X3\ N +9 &*v[2\ N +10 &,8W$\ N +9 &-W/\ M +9 &/Y.\ N +10 &1~[/\ N +9 &3@U%\ N +10 &5V\ N +9 &6X$\ N +9 &8]#\ N +10 &:IW!\ M +9 &< Z'\ N +9 &=Y!\ N +10 &?Y&\ N +9 &AO^'\ N +10 &Cd(\ O +9 &Dj&\ P +9 &Fp'\ P +10 &HH&\ S +9 &J'\ T +9 &K&\ T +10 &M'\ T +9 &OL&\ T +10 &Q &\ U +9 &R&\ U +9 &T\ U +10 &VS\ U +9 &X\ U +9 &Y\ U +10 &[\ U +9 &]Y\ E +10 &^x?x\ )x +9 &^&\ , +5 ( +2 "processing"%@& +4 "core" &^\ , +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&h1 +63 "core" 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%& +3 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %    +3 "storage"(% +3 "core" % ) V \  +2 "storage"(z. +3 "core" .(<- +2 "storage"(& +3 "core" &<, " e\ +3 "storage"(#& +2 "manipulator"&$& +7 "core" &<,  (\ + &  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&*( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(+'r +2 "core" ( +3 "manipulator"&~& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open + "processing"%O( +101 "core" ' + "storage"(u- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +295 ( +2 "storage"( & +3 "core" &<,   D\ +2 "manipulator"&'& +4 "core" &  +2 "manipulator"& % +3 "core" %   % +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&/( +243 "core" ( +2 "manipulator"&"& +3 "core" & V +2 "storage"(& +4 "core" &<, $ &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +94 "core" ' +2 .tHand.open + "manipulator"&!1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"((' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(%' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +3 "core" -' +2 "storage"(& +4 "core" &<, > > \ +2 "manipulator"&<& +3 "core" &  V +3 .tElbow.seek 5 + "manipulator"&>( +3 "core" ( +2 "manipulator"&& +3 "core" &    V +2 "storage"(& +4 "core" &<, ? > \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(B'" +57 "core" ' +2 "manipulator"&&& +4 "core" & > V +2 "storage"()& +3 "core" &<, $ # \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&4'΍ +29 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(,' +28 "core" ' +2 "manipulator"&3% +4 "core" %Ή + J +39 "storage"(6& +11 "core" &<, I \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 296 counts +2 "manipulator"&'ϵ +14 "core" ' +2 "manipulator"&.& +3 "core" & , * +2 "storage"(& +4 "core" &<, * & P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(;% +3 "core" % # * \ +3 ."downElevator"SE.seek :down +3 "storage"(E' +100 ( % +3 "core" %sN > [\ We +2 "manipulator"&=% +4 "core" %G ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (R& +3 "core" &<, , % f\ +2 "collection"'C& +3 "core" &\\z 4\ V +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&\ % +4 "core" %  h  +2 "storage"(1% +3 "core" % + $ S\  +2 "storage"(J. +4 "core" .(<- + "storage"(D& +4 "core" &<,   \ +2 "storage"(:& +3 "core" &<, " \ +2 "manipulator"&G& +4 "core" & D * +2 .tElbow.seek 5 +2 "manipulator"&0( +18 "core" ( + "manipulator"&S& +4 "core" & \ +2 "storage"(M& +4 "core" &<, # # \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +94 "core" ' + "storage"(U& +4 "core" &<, G G \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" & | \ +2 "storage"(a& +4 "core" &<, , , E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&X'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(H- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(d'w +28 "core" ' + "manipulator"&f% +4 "core" %Κ : +2 "storage"(I& +3 "core" &<, # # ^\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&Y' +15 "core" ' +2 "manipulator"&F& +3 "core" & l +2 "storage"(5& +4 "core" &<, " 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&m'O +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(`' +42 "core" ' +2 "manipulator"&Z& +3 "core" & z +2 "manipulator"&t% +4 "core" %N 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +155 "core" ( +2 "manipulator"&]& +4 "core" &ӂ-   . Du +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &ӂ- Du +2 .tForearm.seek CC +2 "manipulator"&p'? +95 "core" ' + .tHand.close +2 "manipulator"&g/ +64 "core" / +2 .tCC.seek :open + "collection"'q( +447 "core" ( +2 "storage"(b& +3 "core" &<, 9 = \ +2 "storage"(s& +4 "core" &<, A 9 \ +2 "manipulator"&T& +3 "core" &Ӷ$ ~ =A +2 "manipulator"&^% +4 "core" % O  +2 .tForearm.seek :retract +2 "manipulator"&_' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&c( +163 "core" ( +2 "manipulator"&|& +4 "core" &   +2 "storage"(l& +3 "core" &<, l j \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&n'΍ +101 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +40 "manipulator"&$&.,(\ #b +11 .tHand.open + "manipulator"&o1 +54 "core" 1 +3 "manipulator"&y% +3 "core" % Γ +2 "storage"(j& +4 "core" &<, k g r\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&'Ͽ +25 "core" ' +2 "manipulator"&V& +3 "core" & E  +2 "storage"(7& +5 "core" &<, ~ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +17 "core" ' + "storage"(% +4 "core" % g u m\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (\\% +3 "core" %D B O >\ V` +2 "manipulator"&L% +3 "core" %Y L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 3 of [3..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'e& +3 "core" & D\ +2 "manipulator"&% +4 "core" %    +2 "storage"(v% +4 "core" % o r \  +2 "storage"(w. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(Q( +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +2 "core" & G J ,\ +3 "manipulator"&& +3 "core" & Q  +2 .tElbow.seek 3 +2 "manipulator"&( +36 "core" ( +2 "manipulator"&& +3 "core" & <  +3 "storage"(& +3 "core" & f [ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&z'7 +99 "core" ' +2 "storage"(& +3 "core" & l \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +297 "core" ' +2 "storage"(#- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($& +2 "core" & Q F 3\ +3 "manipulator"&~& +5 "core" & l  +2 .tElbow.seek 3 + "manipulator"&r( +27 "core" ( +2 "manipulator"&}& +3 "core" & d +2 "storage"(& +4 "core" & ` i q\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&u'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(K' +8 "core" & = d + "manipulator"&+% +4 "core" % Ϟ  +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&'(ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"& & +3 "core" &ӏ& ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ& ^ ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'? +95 "core" ' +3 "manipulator"&& +4 "core" &ӏ& ?P +2 "manipulator"&*% +3 "core" %@ I ; +3 "collection"'!& +3 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'2(\\ +5 "core" & \ +6 &= \ $d +9 &Xz \ 7 +10 &x \ K +9 &X \ L +9 &U \ K +10 &?Z \ L +9 &X \ L +9 &T \ K +10 &Z \ K +9 &GU \ L +10 & X \ L +9 &!T \ K +9 &#U \ L +10 &%OW \ L +9 &'T \ K +9 &(W \ K +10 &*Y \ K +9 &,WZ $\ L +10 &.X !\ K +9 &/U \ K +9 &1Y 3\ L +10 &3aT 8\ K +9 &5"Y :\ K +9 &6U >\ K +10 &8V ;\ K +9 &:hZ 8\ K +10 &<*Z :\ K +9 &=Z :\ L +9 &?Y 3\ L +10 &ApV 5\ K +9 &C/] ;\ L +9 &De ;\ M +10 &Fp 9\ N +9 &Hh 6\ Q +10 &J\ \ 9\ U +9 &K\ \ 3\ X +9 &M\ \ 3\ Y +10 &O[\ \ $\ X +9 &Q\ \ 5\ Y +9 &R\ \ -\ Z +10 &T\ \ -\ Z +9 &V\\\ \ 4\ Z +10 &X\ \ .\ [ +9 &Y\ \ 6\ [ +9 &[\ \ \ I +10 &\\9\ \ $\ - +9 &\\e\ \ '\ M +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&<% +3 "core" % @ * ; +41 .tForearm.reconfigure :loose +11 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &@\ +2 "manipulator"&% +4 "core" %    +2 "storage"(&% +3 "core" % % "\  +2 "storage"(). +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" & !  \ +2 "manipulator"&6& +4 "core" &ӯ   :0 +2 "manipulator"&(% +4 "core" %  F  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&.( +165 "core" ( +2 "manipulator"&& +4 "core" & r  +2 "storage"(/& +3 "core" & H H \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&;'7 +89 "core" ' +2 "storage"( & +3 "core" & B N 7\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" & + "\ +2 "manipulator"&=& +3 "core" & :  +2 .tElbow.seek 3 +2 "manipulator"&>( +4 "core" ( + "manipulator"&B& +4 "core" &  +2 "storage"(4& +3 "core" & ! " &\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& +2 "storage"(\ ' +7 "core" & >  +2 "manipulator"&1% +4 "core" % ϻ V +2 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&D& +3 "core" &  2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" & b 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&G' +92 "core" ' + "manipulator"&S& +4 "core" & 2 +2 "manipulator"&M% +4 "core" %  Y +2 "processing"%& +4 "core" &\ +2 "processing"%U& +6 "core" & \ +2 .tPC.seek :closed + "processing"%E(^ +4 "core" &\  +9 &2w7\ )w +10 &d~=\ > +9 &ss>\ N +9 &6U?\ N +10 &Z=\ N +9 &V>\ N +9 &|V>\ N +10 &?T>\ M +9 &X>\ M +10 &W?\ M +9 & V>\ N +9 &"FU?\ N +10 &$ U<\ M +9 &%W9\ N +9 &'X5\ N +10 &)OV1\ M +9 &+Z2\ N +10 &,[1\ N +9 &.W3\ N +9 &0VU2\ N +10 &2U0\ N +9 &3Y1\ M +9 &5U1\ N +10 &7_U4\ M +9 &9 Z3\ N +10 &:Z1\ N +9 &<W2\ M +9 &>gZ2\ M +10 &@)Y2\ M +9 &A\\2\ N +9 &Cf2\ O +10 &Eij2\ O +9 &G'p1\ Q +10 &H1\ S +9 &J3\ T +9 &Le1\ S +10 &N"2\ U +9 &O1\ T +9 &Q.\ U +10 &Sj2\ T +9 &U&*\ V +10 &V\ U +9 &X*\ U +9 &Zo)\ U +10 &\\1-\ U +9 &]{u&\ > +9 &^"T"\ O +10 &^?\ ; +2 ( +2 "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&81 +56 "core" 1 +2 "manipulator"&N% +3 "core" %   S Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 "processing"%?& +4 "core" &^>'\ ; +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&a% +3 "core" %    *  +2 "storage"(H% +4 "core" % # #y\  +2 "storage"(f. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(I( +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (F& +2 "manipulator"&5& +6 "core" & V & \  + &   9 2 +3 .tElbow.reconfigure :tight +44 ."raiseStack"SE.reconfigure :place +12 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&Z( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(t'r +2 "core" ( +3 "manipulator"&-& +3 "core" &  = 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +3 "core" &   o 2 +2 .tForearm.seek PC +2 "manipulator"&P' +93 "core" ' +2 .tHand.close + "manipulator"&X/ +64 "core" / +2 .tPC.seek :open +2 "processing"%Y( +88 "core" ' + "storage"(d- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'1 +40 "core" ' +318 ( +2 "storage"(x& +3 "core" & % ! \  +2 "manipulator"&m& +4 "core" & ; 2 +2 "manipulator"&A% +4 "core" %  L 6 +2 .tForearm.seek :retract +2 "manipulator"&g' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&i( +257 "core" ( +2 "manipulator"&k& +4 "core" & n  +2 "storage"(b& +3 "core" &   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&s'7 +96 "core" ' +2 .tHand.open +2 "manipulator"&T1 +57 "core" 1 +2 "storage"(^- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(p- +2 "core" -' +2 "storage"([& +4 "core" & e n G\  +2 "manipulator"&o& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&y( +12 "core" ( + "manipulator"&j& +4 "core" &   r +2 "storage"(V& +4 "core" & c c B\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&7'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&_& +4 "core" & U r +2 "storage"(c& +4 "core" & % \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&\\'u +14 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(n' +19 "core" ' +2 "manipulator"&e% +3 "core" %Ή f / +2 "storage"(& +4 "core" & , , U\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 320 counts + "manipulator"&'ϵ +13 "core" ' +2 "manipulator"&v& +4 "core" & [ r +2 "storage"(w& +3 "core" & 2 # ;\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +17 "core" ' + "storage"({% +4 "core" % H H v\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (9% +3 "core" %'X G Z\ Xh +2 "manipulator"&h% +4 "core" %5  R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 2 0 -\  +2 "collection"'& +4 "core" &\\b =\ M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %    +2 "storage"(W% +4 "core" % G H \  +2 "storage"(. +3 "core" .( +48 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(#( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "core" & 1 #\  +2 "manipulator"&~& +4 "core" & r +2 .tElbow.seek 3 +2 "manipulator"&}( +4 "core" ( + "manipulator"&& +4 "core" &  r +2 "storage"( & +4 "core" & H H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +125 "core" ' +2 "storage"(+& +3 "core" & O R $\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(z- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & r +2 "storage"(& +4 "core" & 2 A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&@'u +19 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(*'l +30 "core" ' + "manipulator"&!% +4 "core" %Έ +2 "storage"(r& +4 "core" & # " d\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&K'ϴ +23 "core" ' +2 "manipulator"& & +4 "core" & I r +2 "storage"(q& +3 "core" & H H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +23 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(<' +35 "core" ' + "manipulator"&& +4 "core" & r +2 "manipulator"&% +4 "core" %'  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +160 "core" ( +3 "manipulator"&)& +3 "core" &ӕ& m ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &ӕ& 8 ?V +3 .tForearm.seek CC + "manipulator"&6'? +100 "core" ' +2 .tHand.close + "manipulator"&(/ +65 "core" / +2 .tCC.seek :open + "collection"'"( +447 "core" ( +2 "storage"(& +3 "core" & ; J \  +2 "storage"(/& +4 "core" & = < \  +2 "manipulator"&Q& +3 "core" &ӳ" ;8 +2 "manipulator"& % +3 "core" % < +3 .tForearm.seek :retract + "manipulator"&'' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" & L  +2 "storage"( & +4 "core" & m t @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&='u +94 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +54 "core" 1 +2 "manipulator"&R% +3 "core" % ΄  o * +2 "storage"(C& +4 "core" & f \\ Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&1'ϰ +24 "core" ' +2 "manipulator"&.& +4 "core" & ]  +2 "storage"(;& +3 "core" & ~\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 3 + 450 counts +2 "manipulator"&%'7 +15 "core" ' + "storage"(% +4 "core" % }\  +3 ."downElevator"SE.seek :down +4 "storage"(D' +98 (:% +3 "core" %ZF R R b\ Wc +2 "manipulator"&>% +4 "core" %? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +94 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [3..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'M& +3 "core" & \ +2 "manipulator"&% +4 "core" %  "  +2 "storage"(\ % +5 "core" % [ f \  +3 "storage"(J. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(O(,y +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &,w U C G\  +3 "manipulator"&N& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&?( +43 "core" ( + "manipulator"&a& +4 "core" & k  +2 "storage"(H& +4 "core" &,w _ f =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +94 "core" ' + "storage"(U& +4 "core" &,w ~ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'r +300 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (-& +3 "core" &,m M X /\  +2 "manipulator"&0& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&G( +2 "core" ( +2 "manipulator"&X& +4 "core" & o  +2 "storage"(& +4 "core" &,m j i \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&d'c +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(E' +7 "core" &  +2 "manipulator"&t% +4 "core" % ` 5 +2 .tForearm.seek :retract +2 "manipulator"&x' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +152 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&A& + "storage"(5 +7 "core" &ӏ% >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &ӏ%  >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&k'? +99 "core" ' +2 "manipulator"&b& +3 "core" &Ӕ% G =F +2 "manipulator"&Z% +4 "core" %8 I +2 "collection"'T& +5 "core" & \ +2 "collection"'^& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'p(\\ +5 "core" & \ +6 &C \ $f +10 &Y~ \ 8 +9 & w \ K +10 &W \ K +9 &Z \ K +9 &LX \ L +10 &W \ K +9 &T \ K +9 &X \ L +10 &UW \ K +9 & Y \ K +10 &!W \ K +9 &#Y $\ L +9 &%^V \ K +10 &'W <\ L +9 &(X \ K +9 &*X \ K +10 &,dY 9\ L +9 &.(X ?\ K +10 &/W 9\ K +9 &1U 4\ K +9 &3mX 4\ K +10 &50T 9\ K +9 &6Y 0\ K +9 &8Z ?\ K +10 &:uX 9\ K +9 &<8U 3\ K +10 &=X 8\ K +9 &?Y 4\ L +9 &A|Y 0\ L +10 &C=[ '\ L +9 &Dj ,\ M +9 &Fu +\ N +10 &Hv 3\ P +9 &J*\ \ 0\ U +9 &K\ \ (\ W +10 &M\ \ .\ W +9 &Oj\ \ !\ W +10 &Q*\ \ &\ X +9 &R\ \ 3\ Y +9 &T\ \ (\ X +10 &Vi\ \ '\ Z +9 &X+\ \ &\ Z +10 &Y\ \ &\ [\ +9 &[\ \ &\ H +9 &\\2\ \  \ . +10 &\\s\ \ +\ O +2 ( +2 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&[1 +60 "core" 1 +2 "manipulator"&o% +4 "core" % 8  \ & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +47 "processing"%g& +6 "core" &\ +2 "manipulator"&V% +4 "core" %  E  +2 "storage"(_% +4 "core" % # # \  +2 "storage"(c. +3 "core" .(,y +2 "storage"(e& +3 "core" &,m  \  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +19 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" &,{ ! # \ +2 "manipulator"&v& +3 "core" &ӯ  4 :+ +2 "manipulator"&w% +4 "core" %  A  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&|( +167 "core" ( +2 "manipulator"&{& +4 "core" & ]  +2 "storage"(i& +3 "core" &,{ G F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +94 "core" ' +2 "storage"(l& +4 "core" &,{ H I 6\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(9'r +298 "core" ' +2 "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +3 "core" &,m " % Y\ \ +2 "manipulator"&y& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&\\& +3 "core" &   +2 "storage"(& +4 "core" &,m , + `\ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(W' +7 "core" & &  +2 "manipulator"&n% +4 "core" % Ϝ f +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&$( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&~& +4 "core" & @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' + "manipulator"&`& +4 "core" & ? +2 "manipulator"&+% +4 "core" % a n +2 "processing"%& +4 "core" &\ +2 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%L(^ +5 "core" &\  +8 &0w\ *x +10 &b~\ = +9 &gu\ N +9 &*U;\ M +10 &Z!\ N +9 &U<\ N +9 &pV>\ M +10 &1Y>\ N +9 &W>\ N +10 &U>\ N +9 & wY7\ N +9 &"9U<\ N +10 &#T>\ M +9 &%U=\ M +9 &'Y9\ N +10 &)BZ1\ M +9 &+T.\ N +9 &,Z1\ M +10 &.T2\ M +9 &0IW2\ N +10 &2 W5\ N +9 &3T4\ M +9 &5Y1\ N +10 &7RY/\ M +9 &9Y2\ M +10 &:W-\ N +9 &<V1\ M +9 &>X[1\ N +10 &@V,\ N +9 &A]1\ N +9 &Ce2\ O +10 &E[j2\ P +9 &Gv2\ Q +10 &H1\ S +9 &J.\ S +9 &LX,\ S +10 &N"\ T +9 &O,\ T +9 &Q0\ U +10 &S\\)\ U +9 &U$\ U +10 &V%\ U +9 &X\ T +9 &Zd\ U +10 &\\&\ U +9 &]"\ 2 +9 &^4m\ 9 +10 ( + &^#\ * +2 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&z% +3 "core" %   n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +3 "processing"%& +3 "core" &^'\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %    +2 "storage"(!% +4 "core" % $ #\  +2 "storage"(r. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (q& +3 "core" &,|   R\ +41 "manipulator"&& +11 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &  ? +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&( +5 "core" ( +2 "manipulator"&}& +4 "core" & n ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   ? +2 .tForearm.seek PC +2 "manipulator"&@' +94 "core" ' + .tHand.close +2 "manipulator"&K/ +56 "core" / +2 .tPC.seek :open +2 "processing"%*( +94 "core" ' + "storage"()- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +44 "core" ' +305 ( + "storage"(& +4 "core" &,j $ " S\ +2 "manipulator"&u& +3 "core" & M ? +2 "manipulator"&(% +4 "core" %  6 W +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&2( +243 "core" ( +2 "manipulator"&& +4 "core" & 0  +2 "storage"(/& +3 "core" &,j " , V\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +99 "core" ' +2 .tHand.open + "manipulator"& 1 +65 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(6' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(4& +4 "core" &,j C >\ +2 "manipulator"&R& +3 "core" &     +2 .tElbow.seek 4 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&.& +3 "core" &   +2 "storage"(;& +4 "core" &,j d X \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(''" +56 "core" ' +2 "manipulator"&& +3 "core" & 9  +2 "storage"(:& +4 "core" &,j & !\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&>'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +27 "core" ' +2 "manipulator"&% +3 "core" %J _ : +2 "storage"(1& +5 "core" &,j  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&\ 'v +14 "core" ' + "manipulator"&J& +4 "core" &  +2 "storage"(<& +4 "core" &,j # " G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&%' +16 "core" ' + "storage"(D% +4 "core" % " " \ \ +3 ."downElevator"SE.seek :down +3 "storage"(#' +99 (8% +3 "core" %aL L <\ We +2 "manipulator"&N% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (H& +3 "core" &,j & #\ +2 "collection"'U& +4 "core" &\\r L\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&B% +49 "core" %  R  +3 "storage"(S% +4 "core" % G F \  +2 "storage"(F. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(-(,y +37 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +3 "core" &,z ! e\ +2 "manipulator"&X& +3 "core" &   +3 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&,& +4 "core" & V  +2 "storage"(& +3 "core" &,z A G F\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +93 "core" ' + "storage"(?& +4 "core" &,z G G $\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +298 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" &  +2 "storage"(5& +4 "core" &,m   \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&d'7 +89 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(T't +29 "core" ' + "manipulator"&G% +4 "core" %' 9 1 +2 "storage"(E& +4 "core" &,m , ( 6\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 284 counts +2 "manipulator"&x'S +14 "core" ' +2 "manipulator"&"& +3 "core" &  +2 "storage"([& +4 "core" &,m  "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&o' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(g' +41 "core" ' + "manipulator"&^& +4 "core" & P  +2 "manipulator"&V% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&c(ӂ +155 "core" ( +2 "manipulator"&e& +3 "core" &ӆ-  q Dz +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &Ӈ- G Dy +3 .tForearm.seek CC + "manipulator"&v'? +101 "core" ' + .tHand.close +2 "manipulator"&w/ +64 "core" / +2 .tCC.seek :open +2 "collection"'k( +446 "core" ( +2 "storage"({& +4 "core" &,m R O K\ +2 "storage"(i& +3 "core" &,m O H G\ +2 "manipulator"&O& +4 "core" &Ӷ%  >J +2 "manipulator"&l% +4 "core" % 1   +2 .tForearm.seek :retract +2 "manipulator"&m' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&j( +164 "core" ( +2 "manipulator"&h& +3 "core" &  +3 "storage"(7& +3 "core" &,m _ h t\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&y'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "manipulator"&% +3 "core" % ,  K +2 "storage"(& +4 "core" &,m l m \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 289 counts +2 "manipulator"&n'X +14 "core" ' + "manipulator"&|& +4 "core" &  +41 "storage"(s& +10 "core" &,m _ g B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&9' +15 "core" ' +2 "storage"(% +3 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(~' +100 (% +3 "core" %nC C = \ Va +2 "manipulator"&% +3 "core" % c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +90 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'+& +4 "core" & \ +2 "manipulator"&% +4 "core" %  #  +2 "storage"(W% +3 "core" % [ [ \ \  +2 "storage"(. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(Y(<- +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<, 4 , \  +2 "manipulator"&z& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  d  +2 "storage"(!& +4 "core" &<, f ^ ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +102 "core" ' +2 "storage"(I& +4 "core" &<, }\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +304 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &<, \\ g \  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&K& +4 "core" &  +2 "storage"(& +4 "core" &<, i k \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&)'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(L' +7 "core" & <  +2 "manipulator"&% +4 "core" % ϶  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&(& +3 "core" &Ӌ+ & Cq +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &Ӌ+ [ Cq +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&/& +3 "core" &ӌ+ Cp +2 "manipulator"&% +5 "core" %; A k +2 "collection"' & +4 "core" & \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'&(\\ +4 "core" & \  +8 &4| \ *z +10 & f \ > +9 &m \ L +10 &YU \ J +9 &Y \ K +9 &Y \ K +10 &W \ K +9 &_W \ K +9 &!Y \ K +10 &X \ L +9 & V \ K +10 &"gY \ K +9 &$)W \ K +9 &%Y \ K +10 &'X \ K +9 &)pX \ K +9 &+2Y %\ K +10 &,Y \ K +9 &.Y R\ K +10 &0xY +\ K +9 &29[ \ K +9 &3Y *\ K +10 &5Y ;\ K +9 &7X A\ K +9 &9AY 9\ K +10 &;Y 9\ K +9 &<X C\ K +10 &>Z C\ K +9 &@JY =\ K +9 &B \\ ?\ K +10 &C_ 3\ L +9 &Ek 1\ M +10 &GIu :\ N +9 &I\  @\ R +9 &J\ \ 5\ V +10 &Lw\ \ 9\ V +9 &N7\ \ 9\ W +9 &O\ \ B\ W +10 &Q\ \ <\ W +9 &Sy\ \ 7\ X +9 &U7\ \ 8\ Z +10 &V\ \ 7\ Z +9 &X\ \ "\ Z +10 &Zw\ \ 3\ \\ +9 &\\y\ \ .\ / +9 &\\7\ \ ,\ !g +10 ( + &\\l\ \ )\ L +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&41 +54 "core" 1 +2 "manipulator"&R% +4 "core" % ; M k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +49 "manipulator"&.' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%;& +4 "core" &\ +2 "manipulator"&% +3 "core" %   +3 "storage"(% +3 "core" % # " &\  +2 "storage"(:. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (1& +2 "core" &<, V\  +2 "manipulator"&3& +4 "core" &ӭ% P >O +2 "manipulator"&J% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&<( +163 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"(D& +3 "core" &<, H H \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +92 "core" ' +2 "storage"(Q& +4 "core" &<, H G R\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +297 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &<, ! \  +2 "manipulator"&& +4 "core" & /  +2 .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&'& +3 "core" & %  +2 "storage"(>& +4 "core" &<,  ! \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&\ 'Ϲ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&H/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(B' +6 "core" & 1  +3 "manipulator"&M% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&S' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&0& +3 "core" & Y ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" & ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&%' +90 "core" ' +2 "manipulator"&,& +3 "core" & ; +2 "manipulator"&% +4 "core" % j +2 "processing"%?& +4 "core" &\ +2 "processing"%#& +6 "core" &\ +2 .tPC.seek :closed + "processing"% (^ +5 "core" &\ +7 & .\ $c +9 &U}\ 7 +10 &{\ L +9 &U\ M +9 &hT7\ M +10 &+S\ M +9 &W5\ N +9 &W<\ M +10 &pW>\ M +9 &1U=\ N +10 &W?\ N +9 &!S@\ M +9 &#wT7\ N +10 &%9W<\ N +9 &&U6\ M +9 &(U=\ N +10 &*W3\ N +9 &,BZ0\ M +10 &.X1\ M +9 &/V3\ N +9 &1Z2\ M +10 &3JU5\ M +9 &5 U9\ M +9 &6Y1\ N +10 &8Y/\ N +9 &:QT1\ N +10 &<Z.\ N +9 &=Y2\ N +9 &?X/\ M +10 &AYY2\ N +9 &Cc2\ O +10 &Dg2\ P +9 &Fn2\ Q +9 &HS2\ R +10 &J.\ T +9 &K3\ T +9 &M0\ T +10 &OU-\ T +9 &Q,\ U +10 &R$\ T +9 &T#\ V +9 &V^ \ T +10 &X#\ U +9 &Y\ U +9 &[\ V +10 &]b#\ B +9 &^Fu\ U +9 &^A\ 3 +6 ( +2 "processing"%#& +4 "core" &^!\ 3 +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +4 .Hand.open + "manipulator"&=1 +58 "core" 1 +2 "manipulator"&a% +4 "core" %   j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +95 "core" ' +2 "processing"%P& +4 "core" &^"&\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&5% +4 "core" %   # +2 "storage"(Z% +4 "core" % # # \  +2 "storage"(G. +2 "core" .(<- +2 "storage"(E& +4 "core" &<, # " c\  +2 "storage"("& +3 "manipulator"&[& +5 "core" &<, # " \  +3 &   ; +49 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(^'r + "manipulator"&V( +6 "core" ( +2 "manipulator"&t& +3 "core" &   ; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &   ; +2 .tForearm.seek PC +2 "manipulator"&f' +94 "core" ' +2 .tHand.close + "manipulator"&d/ +53 "core" / +2 .tPC.seek :open +2 "processing"%x( +96 "core" ' + "storage"(T- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'1 +45 "core" ' +302 ( +2 "storage"(]& +3 "core" &<, " & <\  +2 "manipulator"&o& +4 "core" & a ; +2 "manipulator"&b% +3 "core" %  H Y +3 .tForearm.seek :retract + "manipulator"&w' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&_( +245 "core" ( +2 "manipulator"&p& +3 "core" & S F +2 "storage"({& +4 "core" &<, & & (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&i'O +92 "core" ' +2 .tHand.open + "manipulator"&O1 +58 "core" 1 +3 "storage"(l- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(h' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(7' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(v- +3 "core" -' +2 "storage"(c& +3 "core" &<, E K 3\  +2 "manipulator"&& +4 "core" &  F +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &    F +2 "storage"(|& +3 "core" &<, L J X\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&m& +4 "core" & + F +2 "storage"(& +4 "core" &<,  " \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&j'΍ +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(y' +19 "core" ' +2 "manipulator"&+% +3 "core" %΂ 1 E +2 "storage"(n& +3 "core" &<, N c\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 289 counts +2 "manipulator"&'Ϯ +13 "core" ' + "manipulator"&W& +4 "core" &  +2 "storage"(& +3 "core" &<, # # 7\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&g'O +31 "core" ' +2 "storage"(9% +4 "core" % * $ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(~' +99 (-% +3 "core" %EL\ & K ?\ Wd +2 "manipulator"&% +4 "core" %U W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<, + 6 /\  +2 "collection"'!& +3 "core" &\\k S\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&I% +3 "core" %  %  +3 "storage"(\\% +3 "core" % E G \  +46 "storage"(`. +4 "core" .(<- +2 "storage"(& +5 "core" &<, H G \  + "storage"(}& +4 "core" &<, G E \  +2 "manipulator"&& +4 "core" & H  +2 .tElbow.seek 5 +2 "manipulator"&K( +38 "core" ( + "manipulator"&& +4 "core" &  7 +2 "storage"($& +3 "core" &<, H H \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +89 "core" ' +2 "storage"(& +3 "core" &<, K R Q\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" & 7 +2 "storage"(@& +4 "core" &<,  ! !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&q'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('w +28 "core" ' +2 "manipulator"& % +3 "core" %Α . +2 "storage"( & +4 "core" &<,  b\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&L'Ͻ +13 "core" ' +2 "manipulator"&& +3 "core" & q ' +2 "storage"(k& +4 "core" &<, H H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&4'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(R' +47 "core" ' +2 "manipulator"&& +3 "core" & Y ' +2 "manipulator"&;% +4 "core" %A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ( +2 "manipulator"&:& +3 "core" &Ӗ"  ;4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &Ӗ" ;4 +2 .tForearm.seek CC +2 "manipulator"&3'? +91 "core" ' +2 .tHand.close + "manipulator"&J/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"( & +4 "core" &<, A 8 ~\  +2 "storage"(D& +3 "core" &<, = = \  +2 "manipulator"&Y& +4 "core" &ӫ * 8 +2 "manipulator"&Q% +4 "core" % S  ! +2 .tForearm.seek :retract +2 "manipulator"&u' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&.( +164 "core" ( + "manipulator"&8& +4 "core" &  +2 "storage"(N& +4 "core" &<, i i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&>1 +63 "core" 1 +2 "manipulator"&H% +3 "core" % ΅ l  +2 "storage"(U& +4 "core" &<, l k \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&M'ϱ +25 "core" ' +2 "manipulator"&<& +3 "core" &   +2 "storage"(2& +28 "core" &<, }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +43 "core" ' +8 "storage"(\ % +5 "core" % i i 5\ +2 ."downElevator"SE.seek :down +4 "storage"(0' +98 (X% +3 "core" %D : B \ U^ +2 "manipulator"&C% +4 "core" %9 / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +97 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &  \ +2 "manipulator"&?% +4 "core" %  0 +2 "storage"(B% +4 "core" % | \  +2 "storage"(S. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(*( +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" & g a e\ +2 "manipulator"&a& +3 "core" & o  +3 .tElbow.seek 3 + "manipulator"&P( +15 "core" ( + "manipulator"&5& +4 "core" &~ f | +2 "storage"(Z& +3 "core" & } \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&G'7 +92 "core" ' +2 "storage"(E& +4 "core" & }\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'r +275 "Can" E8* +23 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +3 "core" & ` g q\ +2 "manipulator"&t& +4 "core" &~ | +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&%& +4 "core" &~  z | +2 "storage"(d& +3 "core" & i j \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&T'ϡ +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"( ' +8 "core" &~ @ | +2 "manipulator"&^% +4 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&]' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&o(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&b& +3 "core" &Ӕ# =B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &Ӕ$ h =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&p'? +90 "core" ' +3 "manipulator"&{& +3 "core" &ӕ% =A +2 "manipulator"&V% +4 "core" %: . h +2 "collection"'O& +4 "core" & \ +3 "collection"'l& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'v(\\ +5 "core" & \ +6 &= \ %g +9 &[{ \ 8 +9 &v \ K +10 &U \ K +9 &W \ K +10 &TW \ K +9 &V \ L +9 &W \ K +10 &V \ K +9 &]V \ K +9 & V \ K +10 &!U \ K +9 &#W \ L +10 &%dS \ K +9 &''R \ K +9 &(W \ K +10 &*V \ K +9 &,mX \ K +9 &./V \ K +10 &/U \ K +9 &1W \ L +10 &3uW \ K +9 &56V \ K +9 &6W \ K +10 &8T ;\ K +9 &:|W \ K +9 &<>W 7\ K +10 &>Y \ K +9 &?W <\ K +10 &A[ 6\ K +9 &CD_ 6\ L +9 &Ee \ M +10 &Fp :\ N +9 &H| F\ Q +9 &J2\ \ \ U +10 &K\ \  \ W +9 &M\ \  \ X +10 &Om\ \ B\ Y +9 &Q0\ \ H\ X +9 &R\ \ J\ Y +10 &T\ \ I\ Y +9 &Vp\ \ H\ Z +9 &X1\ \ =\ [ +10 &Y\ \ G\ \\ +9 &[\ \ B\ I +10 &\\1\ \ E\ + +9 &\\q\ \ H\ N +2 ( +2 "collection"'l& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&c1 +57 "core" 1 +3 "manipulator"&% +3 "core" % :   h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%|& +5 "core" &\ + "manipulator"&w% +4 "core" %  '  +47 "storage"(m% +6 "core" %  \  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(+( +39 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +3 "core" & \ +2 "manipulator"&e& +4 "core" &ӭ 9) +2 "manipulator"&W% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&h& +3 "core" &  +2 "storage"(9& +4 "core" & F H \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&_'7 +95 "core" ' + "storage"(i& +4 "core" & R R B\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +295 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & % \ +2 "manipulator"&s& +3 "core" & -  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(j& +3 "core" & % # R\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(I' +8 "core" &   + "manipulator"&\\% +4 "core" % ϝ R +2 .tForearm.seek :retract +2 "manipulator"&`' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&& +4 "core" & 0 - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" & - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 "manipulator"&& +3 "core" & - +2 "manipulator"&$% +4 "core" % y +2 "processing"%g& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%~(^ +4 "core" &\  +8 &4y\ *x +10 &d~\ > +9 &s\ N +9 &CT\ M +10 &U\ M +9 &S\ M +9 &T\ N +10 &JV\ N +9 & W\ N +10 &W\ N +9 & Y7\ M +9 &"RY=\ N +10 &$W>\ M +9 &%S>\ N +9 &'W>\ N +10 &)ZW=\ N +9 &+W=\ N +10 &,Z=\ M +9 &.W>\ M +9 &0cY7\ M +10 &2%T<\ M +9 &3T<\ M +9 &5T8\ N +10 &7jW4\ N +9 &9,[=\ N +10 &:Y2\ N +9 &<U2\ M +9 &>sY4\ M +10 &@4V.\ N +9 &A^,\ N +9 &Cc2\ O +10 &Eug-\ O +9 &G4o3\ P +10 &H0\ R +9 &J1\ S +9 &Lp1\ T +10 &N01\ T +9 &O3\ T +9 &Q-\ U +10 &Su2\ U +9 &U84\ T +10 &V2\ U +9 &X/\ U +9 &Z}0\ U +10 &\\?2\ U +9 &]zs.\ 8 +9 &^00\ J +10 &^1\ , +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&z% +3 "core" %    y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +93 "core" ' +2 "processing"%(& +3 "core" &^ \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&@% +3 "core" %     +2 "storage"(/% +4 "core" % " # \  +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" & $ # +\ +3 "manipulator"&k& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  - +51 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&;( +6 "core" ( +2 "manipulator"& & +3 "core" &  - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &K& +3 "core" & + - +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&q/ +61 "core" / +2 .tPC.seek :open +2 "processing"%L( +84 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'1 +45 "core" ' +316 ( + "storage"(1& +5 "core" &  \ +2 "manipulator"&4& +3 "core" & 6 - +2 "manipulator"&)% +4 "core" %  T  +2 .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&&& +3 "core" &~ d I +2 "storage"( & +4 "core" &  %\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&D'7 +96 "core" ' +2 .tHand.open + "manipulator"&Y1 +61 "core" 1 +2 "storage"(Q- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(8' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(N' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(3- +3 "core" -' +2 "storage"(& +3 "core" & e e \ +2 "manipulator"&>& +4 "core" &~  I +2 .tElbow.seek 3 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&U& +3 "core" &~  I +2 "storage"(<& +4 "core" & c d "\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2'7 +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(u'" +58 "core" ' +2 "manipulator"&\ & +3 "core" &~ H I +3 "storage"(.& +3 "core" & #  \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&X'u +26 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&M% +4 "core" %Ή  +2 "storage"(& +3 "core" & " ! ^\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&?'ϵ +24 "core" ' +2 "manipulator"&B& +3 "core" &~ V I +2 "storage"(S& +4 "core" & $ " =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&R'7 +26 "core" ' +2 "storage"(6% +3 "core" % " \ +3 ."downElevator"SE.seek :down +4 "storage"(0' +98 (% +4 "core" %V\ *\ * [\ Xi +2 "manipulator"&=% +3 "core" %' 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (5& +3 "core" &  $ _\ +2 "collection"'Z& +4 "core" &\\r Z\ N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&E% +3 "core" %    +2 "storage"('% +3 "core" % F @ 5\  +2 "storage"(,. +3 "core" .( +2 "storage"("& +50 "core" & H G *\ +2 "storage"([& +3 "core" & H H\ +3 "manipulator"&t& +3 "core" &~ a I +2 .tElbow.seek 3 +2 "manipulator"&%( +4 "core" ( +2 "manipulator"&d& +3 "core" &~ F I +2 "storage"(F& +5 "core" & H G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&A'7 +95 "core" ' + "storage"(^& +4 "core" & F H \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +295 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &~ g I +2 "storage"(f& +3 "core" & $ & \\\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&#'u +21 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"({- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(V'l +28 "core" ' +2 "manipulator"&O% +3 "core" %Έ < +2 "storage"(& +4 "core" &   \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"& 'ϴ +22 "core" ' +2 "manipulator"&]& +3 "core" & , H +2 "storage"(& +4 "core" & & * +\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&c'7 +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +33 "core" ' +2 "manipulator"&|& +4 "core" &  H +2 "manipulator"&w% +3 "core" %3  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +155 "core" ( +2 "manipulator"&& +5 "core" &ӓ"   ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &ӓ" K ;4 +3 .tForearm.seek CC + "manipulator"&e'? +98 "core" ' + .tHand.close + "manipulator"&W/ +54 "core" / +2 .tCC.seek :open + "collection"'p( +447 "core" ( +2 "storage"(h& +3 "core" & E G .\ +2 "storage"(9& +4 "core" & I U -\ +2 "manipulator"&*& +4 "core" &Ӭ ' 8 +2 "manipulator"&i% +3 "core" % > < +3 .tForearm.seek :retract + "manipulator"&o' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&-& +4 "core" &  +2 "storage"(& +3 "core" & j l \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&s'u +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +61 "core" 1 +2 "manipulator"&% +4 "core" % ΃ Q  +2 "storage"(!& +4 "core" & j k \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&\\'ϯ +27 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(_& +4 "core" & g _ m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&7'7 +18 "core" ' + "storage"(% +5 "core" % p  \ +48 ."downElevator"SE.seek :down +3 "storage"(' +99 (}% +3 "core" %H F O .\ Vc +2 "manipulator"&% +4 "core" %/ b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'$& +3 "core" & \ +2 "manipulator"&g% +3 "core" %  B  +2 "storage"(I% +4 "core" % ` m W\  +2 "storage"(`. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(x(,y +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &,w ] ` \\\  +2 "manipulator"&z& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&(( +39 "core" ( +2 "manipulator"&@& +4 "core" & * +2 "storage"(/& +3 "core" &,w \\ ^ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +98 "core" ' +2 "storage"(& +4 "core" &,w }\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(k- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &,m g i \  +2 "manipulator"&K& +4 "core" & p +2 .tElbow.seek 4 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&q& +3 "core" & +  +2 "storage"(+& +4 "core" &,m l j \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& +2 "storage"(~' +8 "core" & c  + "manipulator"&% +4 "core" % r  +2 .tForearm.seek :retract +2 "manipulator"&1' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&)& +3 "core" &ӕ# =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӕ# =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&&'? +93 "core" ' +3 "manipulator"& & +3 "core" &ӕ% =D +2 "manipulator"&;% +4 "core" %= N F +2 "collection"'Y& +4 "core" & \ +3 "collection"'Q& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'3(\\ +3 "core" & \  +9 &5 \ +{ +10 & g~ \ > +9 &m \ L +9 &[W \ K +10 &V \ K +9 &W \ K +9 &U \ K +10 &bY \ K +9 &$W \ K +10 &V \ K +9 & V \ K +9 &"kU \ K +10 &$,Y \ K +9 &%W \ K +12 &'V \ K +7 &)tV \ J +9 &+4W \ K +10 &,W \ K +9 &.V \ K +9 &0{W \ K +10 &2<Y \ K +9 &3V \ K +9 &5W \ K +10 &7V \ K +9 &9EW \ K +10 &;V \ K +9 &<V \ J +9 &>W \ K +10 &@MT \ K +9 &BZ \ K +9 &C^ \ L +10 &Ei \ M +9 &GIu \ O +10 &I\ \ Q +9 &J\ \ \ V +9 &Lw\ \ \ W +10 &N8\ \ \ W +9 &O\ \ \ X +9 &Q\ \ \ X +10 &Sx\ \ \ Z +9 &U<\ \ \ Y +10 &V\ \ =\ Z +9 &X\ \ \ [\ +9 &Z|\ \ =\ [\ +10 &\\ y\ \ H\ / +9 &\\/\ \ I\ \\ +9 ( + &\\a\ \ G\ K +3 "collection"'Q& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&>% +4 "core" % = F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%<& +3 "core" &\ +2 "manipulator"&J% +4 "core" %    +2 "storage"(\ % +4 "core" % "  $\  +2 "storage"(.. +50 "core" .(,y +2 "storage"(:& +3 "core" &,m (  \  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(M(,y +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &,{ & ! /\ +2 "manipulator"&8& +3 "core" &Ӫ  :/ +2 "manipulator"&B% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&S( +162 "core" ( + "manipulator"&6& +4 "core" & 3  +2 "storage"(& +4 "core" &,{ H H \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&D' +92 "core" ' +2 "storage"(N& +4 "core" &,{ C E H\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &,m ! + %\  +2 "manipulator"&H& +4 "core" & '  +2 .tElbow.seek 4 +2 "manipulator"&u( +2 "core" ( +2 "manipulator"&X& +4 "core" &  +2 "storage"(?& +4 "core" &,m # " \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&5'c +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& +2 "storage"('' +8 "core" & U  +2 "manipulator"&,% +3 "core" % k Q j +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( + "manipulator"&[& +4 "core" & R  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" & a  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&d' +93 "core" ' +2 "manipulator"&F& +3 "core" & \\  +2 "manipulator"&R% +4 "core" % } +2 "processing"%^& +4 "core" &\ +3 "processing"%0& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(^ +4 "core" &\ +7 &6\ $d +9 &Uv\ 6 +10 &z\ K +9 &T\ M +9 &bW\ N +10 &$U\ N +9 &V\ N +9 &W\ N +10 &kW\ M +9 &-X\ M +9 &X \ M +10 &!W4\ M +9 &#sW>\ M +10 &%5X@\ M +9 &&Y=\ M +9 &(SE\ M +10 &*zS>\ N +9 &,<W<\ N +10 &-U=\ N +9 &/X=\ N +9 &1U=\ N +10 &3DW=\ N +9 &5V=\ N +9 &6S7\ M +10 &8U0\ M +9 &:NT2\ M +9 &<Z,\ N +10 &=X1\ N +9 &?U0\ M +10 &ATY/\ N +9 &Cd.\ O +9 &De0\ P +10 &Fp1\ Q +9 &HL2\ S +9 &J 2\ T +10 &K9\ T +9 &M3\ T +10 &OQ-\ T +9 &Q2\ T +9 &R/\ U +10 &T2\ W +9 &VX-\ T +9 &X1\ U +10 &Y0\ U +9 &[.\ U +10 &]\\0\ D +9 &^}@p/\ &q +9 &^&/\ , +6 ( +2 "processing"%0& +3 "core" &^.\ , +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&a1 +57 "core" 1 +2 "manipulator"&G% +3 "core" %  3 } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +97 "core" ' +3 "processing"%f& +3 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&{% +3 "core" %   # +2 "storage"(O% +4 "core" % ! $ N\  +2 "storage"(. +3 "core" .(,y +2 "storage"(]& +3 "core" &,m " ! \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "manipulator"&w& +4 "core" &,{  \ +5 ."raiseStack"SE.reconfigure :place +50 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(A'r +2 "manipulator"&%( +7 "core" ( +2 "manipulator"&P& +3 "core" &     +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 .tHand.close + "manipulator"&V/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +83 "core" ' +2 "storage"(n- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'1 +47 "core" ' +313 ( + "storage"(T& +4 "core" &,j # # 1\ +2 "manipulator"&W& +3 "core" & )  +2 "manipulator"&m% +4 "core" %  A +3 .tForearm.seek :retract + "manipulator"&v' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&h( +238 "core" ( + "manipulator"&9& +4 "core" & 5 +2 "storage"(*& +3 "core" &,j " + F\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +100 "core" ' +2 .tHand.open + "manipulator"&-1 +58 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(e' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(l' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(j- +3 "core" -' +2 "storage"(& +3 "core" &,j K K J\ +2 "manipulator"&!& +4 "core" & \  5 +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&_& +3 "core" &  5 +2 "storage"(& +4 "core" &,j > > \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&o' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' +2 "manipulator"&}& +4 "core" &  5 +2 "storage"(& +3 "core" &,j   `\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&s'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&\\, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"($' +28 "core" ' +2 "manipulator"&g% +5 "core" %I 8 1 + "storage"(I& +4 "core" &,j # #\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&`'u +14 "core" ' +2 "manipulator"&& +3 "core" & b 5 +2 "storage"(7& +4 "core" &,j H H \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"( % +3 "core" % H H \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (z% +3 "core" %M\ \  \ We +2 "manipulator"&@% +4 "core" % M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +89 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,j 1  P\ +2 "collection"'& +4 "core" &\\b \ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %  J  +2 "storage"(k% +4 "core" % E F \  +47 "storage"( . +4 "core" .(,y +2 "storage"(K& +4 "core" &,j H G \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(q(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &,| + $ +\ +2 "manipulator"&y& +4 "core" &  5 +2 .tElbow.seek 4 +2 "manipulator"&r( +4 "core" ( +2 "manipulator"&& +3 "core" & a 5 +2 "storage"((& +5 "core" &,| G H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +89 "core" ' +2 "storage"()& +3 "core" &,| B N V\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  5 +2 "storage"( & +4 "core" &,m  ) 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&;'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(~'s +33 "core" ' +2 "manipulator"&1% +3 "core" %- =  +2 "storage"(p& +3 "core" &,m # & %\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 290 counts + "manipulator"&'Y +14 "core" ' + "manipulator"&>& +4 "core" & ~ 5 +2 "storage"(<& +4 "core" &,m  4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&J' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(\ ' +42 "core" ' +2 "manipulator"&.& +3 "core" & ( 5 +2 "manipulator"&Q% +4 "core" % G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( + "manipulator"&8& +4 "core" &+  E Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &+  Co +3 .tForearm.seek CC +2 "manipulator"&&'? +95 "core" ' +2 .tHand.close + "manipulator"&6/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(x& +4 "core" &,m C = \  +2 "storage"(N& +3 "core" &,m N B O\  +2 "manipulator"&4& +4 "core" &Ӳ# 8 << +2 "manipulator"&U% +3 "core" % E   +3 .tForearm.seek :retract +2 "manipulator"&=' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&2( +163 "core" ( +2 "manipulator"&H& +3 "core" &   +3 "storage"(X& +3 "core" &,m l j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&?'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +64 "core" 1 +2 "manipulator"&,% +3 "core" % , n R +2 "storage"(S& +4 "core" &,m _ f\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 289 counts +2 "manipulator"&D'X +14 "core" ' +2 "manipulator"&& +3 "core" & 0  +2 "storage"(5& +3 "core" &,m ` \\ 6\  +42 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +29 "core" ' +2 "storage"(t% +4 "core" % } \ +3 ."downElevator"SE.seek :down +3 "storage"(u' +99 (F% +3 "core" %C < = v\ V_ +2 "manipulator"&R% +4 "core" % , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +89 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"''& +4 "core" & \ +2 "manipulator"&% +4 "core" %  J  +2 "storage"(L% +4 "core" % | L\  +2 "storage"(a. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(G(<- +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &<+ D : \ +2 "manipulator"&{& +4 "core" & '  +2 .tElbow.seek 5 +2 "manipulator"&O( +5 "core" ( + "manipulator"&& +4 "core" & &  +2 "storage"(]& +3 "core" &<+ r n I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +92 "core" ' +2 "storage"(|& +3 "core" &<+ } \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'r +299 "core" ' + "storage"(P- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &<+ k l \ +2 "manipulator"&d& +4 "core" & A  +2 .tElbow.seek 5 +2 "manipulator"&M( +2 "core" ( +2 "manipulator"&V& +4 "core" &  +2 "storage"(n& +3 "core" &<+ ] h ]\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&"'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& +2 "storage"(A' +7 "core" & v  +2 "manipulator"&T% +4 "core" % Ͼ ; +2 .tForearm.seek :retract +2 "manipulator"&W' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"& & +3 "core" &ӄ ! 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &ӄ 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&*'? +98 "core" ' +2 "manipulator"&%& +3 "core" &Ӆ - 7 +2 "manipulator"&-% +4 "core" %G 9 +2 "collection"'& +4 "core" & %\ +3 "collection"'j& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +7 &; \ %g +10 &[z \ 8 +9 &\ u \ K +10 &U \ K +9 &Y \ K +9 &OV \ K +10 &Y \ K +9 &V \ K +9 &T \ K +10 &WU \ K +9 & T \ K +10 &!U \ K +9 &#U \ K +9 &%^X \ K +10 &'!U \ K +9 &(U \ K +9 &*T \ K +10 &,fW \ K +9 &.)V \ K +10 &/U \ J +9 &1V \ K +9 &3nV \ K +10 &51U \ K +9 &6W \ K +9 &8V \ K +10 &:vY \ K +9 &<8W \ K +10 &=U \ K +9 &?V \ K +9 &AY \ K +10 &C?^ \ L +9 &Dd \ L +9 &Fk \ N +10 &Hw \ P +9 &J-\ \ \ U +10 &K\ \ \ V +9 &M\ \ \ W +9 &Om\ \ \ V +10 &Q+\ \ \ X +9 &R\ \ \ X +9 &T\ \ \ Y +10 &Vl\ \ M\ Z +9 &X-\ \ \ Z +10 &Y\ \ .\ [ +9 &[\ \ \ H +9 &\\2\ \ .\ / +10 &\\f\ \ 4\ N +2 ( +2 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&!1 +57 "core" 1 +2 "manipulator"&_% +3 "core" % G   9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +141 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%v& +4 "core" &\ +2 "manipulator"&}% +4 "core" %   X  +2 "storage"(% +4 "core" %  #\ +2 "storage"(g. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(I(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (c& +2 "core" &<+\ \ \ +3 "manipulator"&& +3 "core" &Ӗ = 5 +2 "manipulator"&7% +5 "core" %  .  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&e( +161 "core" ( +2 "manipulator"& & +3 "core" & "  +2 "storage"(h& +3 "core" &<+ G H \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +94 "core" ' +2 "storage"(l& +3 "core" &<+ N B f\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'r +299 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (o& +3 "core" &<+ !  \ +2 "manipulator"&& +3 "core" & ,  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&s& +4 "core" & ?  +2 "storage"(& +4 "core" &<+ 2 @ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&`'Ϲ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(k' +7 "core" &   +2 "manipulator"& % +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&$' +88 "core" ' +3 .tElbow.seek PC +2 "manipulator"&K( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&+& +3 "core" & 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +3 "core" & 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&& +3 "core" & K 8 +2 "manipulator"&(% +4 "core" % 4 l +2 "processing"%)& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +8 &6\ #c +9 &Tx\ 6 +9 &{\ K +10 &S\ M +9 &_X\ M +10 & V\ N +9 &V\ M +9 &S\ M +10 &hQ\ M +9 &)X\ M +9 &W\ M +10 &!V,\ M +9 &#nV*\ N +10 &%1W\ M +9 &&T8\ M +9 &(TH\ N +10 &*wUL\ M +9 &,9TB\ M +9 &-RE\ M +10 &/ZE\ M +9 &1~YA\ N +10 &3AW?\ M +9 &5TF\ M +9 &6U<\ M +10 &8XD\ N +9 &:JR=\ M +9 &<\ Z:\ N +10 &=W=\ M +9 &?W;\ M +10 &AO[:\ N +9 &C`4\ O +9 &Dd;\ O +10 &Fm6\ P +9 &HJ}9\ R +9 &J =\ S +10 &K3\ S +9 &M<\ T +10 &ON7\ T +9 &Q=\ T +9 &R5\ T +10 &T1\ U +9 &VT6\ T +9 &X1\ U +10 &Y9\ U +9 &[3\ U +10 &]Z;\ C +9 &^Fu3\ [ +9 &^6<\ 1 +6 ( + "processing"%& +4 "core" &^%9\ 1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&\\1 +54 "core" 1 +2 "manipulator"&/% +3 "core" %    l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 "processing"%& +3 "core" &^%<\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" %   | +2 "storage"(% +3 "core" %   \  +2 "storage"(1. +3 "core" .(<- +2 "storage"(p& +3 "core" &<+ ( ! M\ +3 "storage"(>& +2 "manipulator"&<& +7 "core" &<+  ) 8\ + &   7 +4 .tElbow.reconfigure :tight +48 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&.( +7 ."raiseStack"SE.seek :beamBreak + "storage"(Q'r +3 "core" ( +2 "manipulator"& & +4 "core" &  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &   7 +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' + .tHand.close +2 "manipulator"&;/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +102 "core" ' + "storage"(~- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +45 "core" ' +296 ( + "storage"(B& +4 "core" &<+ G 3 Q\ +2 "manipulator"&J& +4 "core" & ; 7 +2 "manipulator"&Y% +3 "core" %  D X +2 .tForearm.seek :retract +2 "manipulator"&6' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&:( +244 "core" ( +2 "manipulator"&3& +3 "core" &  % +2 "storage"(x& +4 "core" &<+ H H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&N'O +88 "core" ' +2 .tHand.open + "manipulator"&41 +58 "core" 1 +3 "storage"(U- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(H' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(X' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(&- +2 "core" -' +3 "storage"(& +3 "core" &<+ c e h\ +2 "manipulator"&E& +3 "core" &  % +3 .tElbow.seek 5 + "manipulator"&,( +4 "core" ( +2 "manipulator"&S& +3 "core" &  % +2 "storage"(& +4 "core" &<+ d d 6\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +52 "core" ' +2 "manipulator"&t& +4 "core" & > % +2 "storage"(2& +3 "core" &<+ " '\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&F'΍ +29 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +19 "core" ' + "manipulator"&D% +4 "core" %Γ S d +2 "storage"('& +3 "core" &<+ !  F\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&'Ͽ +14 "core" ' +2 "manipulator"&L& +3 "core" & J  +2 "storage"(a& +4 "core" &<+ F G \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +17 "core" ' + "storage"([% +4 "core" % G G \ +3 ."downElevator"SE.seek :down +3 "storage"(u' +100 (q% +2 "core" %nL\ \  M\ Xf +2 "manipulator"&f% +4 "core" %F  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +98 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<+ 6 + A\ +2 "collection"']& +4 "core" &\\f 4\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&|% +3 "core" %  H  +2 "storage"(Z% +5 "core" % O H '\  + "storage"(^. +42 "core" .(<- +9 "storage"(P& +4 "core" &<+ H G \ +2 "storage"(#& +4 "core" &<+ E G \ +2 "manipulator"&d& +3 "core" &  +3 .tElbow.seek 5 +2 "manipulator"&V( +20 "core" ( +2 "manipulator"&n& +4 "core" & ?  +2 "storage"(b& +3 "core" &<+ R R T\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +92 "core" ' +2 "storage"(T& +3 "core" &<+ E O \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'r +311 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & 7  +2 "storage"(9& +4 "core" &<+ H H \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&w'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(-'w +28 "core" ' + "manipulator"&M% +4 "core" %Ξ W +2 "storage"(& +3 "core" &<+ !  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&A' +23 "core" ' + "manipulator"&W& +4 "core" &   +2 "storage"(& +4 "core" &<+ R > /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&!'O +25 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(_' +44 "core" ' +2 "manipulator"&j& +3 "core" & 3  +2 "manipulator"&v% +4 "core" %J O z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +162 "core" ( + "manipulator"&g& +5 "core" &ӛ  :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +2 "core" &ӛ   :1 +3 .tForearm.seek CC + "manipulator"&'? +90 "core" ' +2 .tHand.close + "manipulator"&7/ +61 "core" / +2 .tCC.seek :open +2 "collection"'*( +446 "core" ( +2 "storage"( & +3 "core" &<+ i i \ +2 "storage"(h& +4 "core" &<+ J [ \ +2 "manipulator"&G& +4 "core" &ӛ  :1 +2 "manipulator"&l% +3 "core" % P , +2 .tForearm.seek :retract +2 "manipulator"&m' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +167 "core" ( + "manipulator"&@& +4 "core" & "  +2 "storage"(o& +4 "core" &<+ h ^ h\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +65 "core" 1 +2 "manipulator"&% +3 "core" % Η   ; +2 "storage"(& +4 "core" &<+ h g \\\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"& ' +23 "core" ' +2 "manipulator"&e& +3 "core" & 1  +2 "storage"(i& +4 "core" &<+ } \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z'O +18 "core" ' + "storage"(`% +43 "core" % } \ +10 ."downElevator"SE.seek :down +3 "storage"(+' +100 (y% +3 "core" %E T K ;\ V` +2 "manipulator"&% +3 "core" %N J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'(& +3 "core" & \ +2 "manipulator"&)% +4 "core" %  T  +2 "storage"(k% +4 "core" % Z \\ <\  +2 "storage"($. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (\\& +2 "core" & = ; \ +2 "manipulator"&/& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( + "manipulator"& & +4 "core" & ) t +2 "storage"(& +4 "core" & _ ^ k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&1'7 +95 "core" ' +2 "storage"(p& +3 "core" &  \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +292 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & j ` \ +2 "manipulator"& & +4 "core" &  t +2 .tElbow.seek 3 +2 "manipulator"&r( +4 "core" ( + "manipulator"&& +4 "core" & d t +2 "storage"(;& +4 "core" & f ^ X\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&~'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" & B t + "manipulator"&Q% +4 "core" % ϯ 7 +2 .tForearm.seek :retract +2 "manipulator"&B' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +154 "core" ( +2 "manipulator"&Y& +3 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +4 "core" &ӎ$ =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӎ# =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'? +94 "core" ' +2 "manipulator"&x& +3 "core" &ӎ$  =G +3 "manipulator"&.% +3 "core" %; o D +3 "collection"'4& +4 "core" & (\ +3 "collection"'U& +5 "core" & $\ +2 .tCC.seek :closed +2 "collection"'&(\\ +3 "core" & \ +9 &< \ $f +9 &Z| \ 7 +10 &x \ K +9 &T \ K +9 &U \ K +10 &FW \ K +9 & W \ K +10 &U \ J +9 &U \ K +9 &PU \ J +10 & U \ K +9 &!V \ K +9 &#Z \ K +10 &%XU \ J +9 &'U \ K +9 &(U \ J +10 &*U \ K +9 &,_U \ K +10 &. T \ K +9 &/U \ K +9 &1V \ K +10 &3gU \ K +9 &5)U \ K +10 &6T \ K +9 &8W \ K +9 &:nX \ K +10 &<0V \ K +9 &=V \ K +9 &?W \ K +10 &AwZ \ K +9 &C6] \ L +10 &Dd \ M +9 &Fl \ N +9 &Hn \ Q +10 &J$\ \ \ U +9 &K\ \ \ W +9 &M\ \ \ W +10 &Ob\ \ \ X +9 &Q#\ \ \ X +10 &R\ \ \ X +9 &T\ \ \ Y +9 &Vc\ \ \ Z +10 &X%\ \ \ Z +9 &Y\ \ \ [ +9 &[\ \ \ H +10 &\\7\ \ \ . +9 &\\o\ \ \ N +2 ( +2 "collection"'U& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&E% +4 "core" % ; . D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&6% +4 "core" %   +2 "storage"(t% +49 "core" % "  +\ +3 "storage"(2. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(D( +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 ('& +3 "core" &  & ]\ +2 "manipulator"&8& +4 "core" &Ӱ 9% +2 "manipulator"&L% +3 "core" %  z  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&a( +162 "core" ( +2 "manipulator"&H& +4 "core" & {  +2 "storage"([& +4 "core" & H F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&:'7 +93 "core" ' +2 "storage"(N& +4 "core" & C = \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(X'r +295 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" & + $ \ +2 "manipulator"&5& +5 "core" &   +2 .tElbow.seek 3 + "manipulator"&,( +4 "core" ( + "manipulator"&=& +4 "core" & e  +2 "storage"(F& +4 "core" & " " \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(|' +7 "core" & "  +2 "manipulator"&Z% +4 "core" % ϕ 3 +2 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&?( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&P& +3 "core" & ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" & * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d' +90 "core" ' +2 "manipulator"&n& +3 "core" & +2 "manipulator"&b% +4 "core" % c +2 "processing"%\ & +5 "core" &\ +2 "processing"%T& +5 "core" &\ +3 .tPC.seek :closed + "processing"%u(^ +5 "core" &\ +7 &6\ #c +10 &Tx\ 6 +9 &~z\ K +9 &T\ M +10 &]X\ N +9 & S\ M +9 &W\ M +10 &W\ M +9 &fU\ M +10 &'U\ N +9 &U\ N +9 &!U\ M +10 &#nR\ M +9 &%0S\ M +9 &&X\ M +10 &(X\ M +9 &*vW \ M +10 &,7WF\ N +9 &-TL\ N +9 &/WJ\ N +10 &1}WL\ N +9 &3?VH\ N +9 &5UL\ N +10 &6WG\ N +9 &8WN\ N +10 &:IRH\ M +9 &<\ YG\ M +9 &=TM\ M +10 &?WL\ M +9 &AOUN\ N +9 &C^H\ N +10 &DbM\ O +9 &FmH\ P +10 &HM{N\ Q +9 &J I\ S +9 &KJ\ S +10 &MA\ T +9 &OMA\ T +9 &Q =\ T +10 &R=\ T +9 &T@\ U +10 &VR>\ U +9 &X>\ U +9 &Y=\ U +10 &[=\ T +9 &]Y=\ C +9 &^Hv<\ V +10 &^;<\ 3 +5 ( +2 "processing"%T& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&R1 +3 "core" &^"A\ 3 +49 1 +2 "manipulator"&{% +3 "core" %   c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +91 "core" ' +2 "processing"% & +4 "core" &^"<\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&9% +3 "core" %     +2 "storage"(%% +4 "core" % " # \\\  +2 "storage"(M. +3 "core" .( +2 "storage"(& +3 "core" & # " A\ +2 "storage"(W& +3 "manipulator"&& +8 "core" & " ! =\ + &  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&j( +5 ."raiseStack"SE.seek :beamBreak +49 "storage"(v'r +3 "core" ( + "manipulator"&C& +5 "core" &  h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &   +3 .tForearm.seek PC + "manipulator"&O' +96 "core" ' + .tHand.close +2 "manipulator"&w/ +57 "core" / +2 .tPC.seek :open +2 "processing"%A( +93 "core" ' + "storage"(-- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(g'1 +47 "core" ' +306 ( +2 "storage"(c& +3 "core" & #  _\ +2 "manipulator"&!& +4 "core" & +2 "manipulator"&"% +4 "core" %  3 + +2 .tForearm.seek :retract +2 "manipulator"&7' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&}( +240 "core" ( +2 "manipulator"&& +3 "core" &  H +2 "storage"( & +4 "core" & " # \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&h'7 +100 "core" ' +2 .tHand.open + "manipulator"&G1 +63 "core" 1 +2 "storage"(l- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(o' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" & a c +\ +2 "manipulator"&& +4 "core" &   H +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &    H +2 "storage"(e& +5 "core" & V U %\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&i'7 +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(`'" +63 "core" ' + "manipulator"&m& +4 "core" & P H +2 "storage"(& +4 "core" & " # &\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&y'u +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' + "manipulator"& % +4 "core" %Ή [ +2 "storage"((& +4 "core" & # % \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&)'ϵ +25 "core" ' +2 "manipulator"&k& +3 "core" & M G +2 "storage"($& +4 "core" & " # [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&_'7 +16 "core" ' +2 "storage"(z% +3 "core" % " " z\ +3 ."downElevator"SE.seek :down +3 "storage"(+' +99 (I% +4 "core" %T > F\ Xi +2 "manipulator"&\\% +4 "core" %B J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" & "  \ +2 "collection"'& +4 "core" &\\p \ N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&p% +3 "core" %    +2 "storage"(s% +4 "core" % G G \  +2 "storage"(. +2 "core" .( +2 "storage"(<& +5 "core" & D E \ + "storage"(& +4 "core" & G A \ +2 "manipulator"& & +4 "core" &  G +2 .tElbow.seek 3 +47 "manipulator"&( +4 "core" ( +2 "manipulator"&;& +4 "core" & G +2 "storage"(K& +3 "core" & G ) D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +91 "core" ' +2 "storage"(Q& +3 "core" & K H }\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +311 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" & J G +2 "storage"(& +3 "core" & # " 3\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&>'u +18 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(x- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(.'l +45 "core" ' +2 "manipulator"&4% +3 "core" %΀ "  +2 "storage"(r& +3 "core" & # " R\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&'Ϭ +16 "core" ' + "manipulator"&B& +4 "core" & i G +2 "storage"(*& +4 "core" & " # D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(E' +36 "core" ' +2 "manipulator"&& +3 "core" & @ G +2 "manipulator"&6% +4 "core" %8 + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +154 "core" ( + "manipulator"&2& +4 "core" &ӎ(   q A_ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &ӎ( , A_ +2 .tForearm.seek CC +2 "manipulator"&8'? +95 "core" ' +2 .tHand.close + "manipulator"&L/ +58 "core" / +2 .tCC.seek :open +2 "collection"'3( +447 "core" ( + "storage"(H& +4 "core" & i f p\ +2 "storage"([& +3 "core" & V G t\ +2 "manipulator"&& +4 "core" &Ӫ$ < =C +2 "manipulator"&N% +3 "core" % M 3 ( +3 .tForearm.seek :retract +2 "manipulator"&J' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S( +165 "core" ( +2 "manipulator"&q& +3 "core" &  +2 "storage"(f& +4 "core" & k j ^\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&5'u +97 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&F1 +61 "core" 1 +2 "manipulator"&% +3 "core" % z  S  +2 "storage"(]& +4 "core" & [ [\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&Z'Ϧ +22 "core" ' +2 "manipulator"&a& +3 "core" &   +2 "storage"(:& +4 "core" & } \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&X'7 +27 "core" ' +2 "storage"(% +3 "core" % } \ +3 ."downElevator"SE.seek :down +3 "storage"(P' +99 (#% +3 "core" %I R R d\ Vc +2 "manipulator"&,% +42 "core" % +10 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +94 "core" ' + ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'b& +4 "core" & (\ +2 "manipulator"&\ % +4 "core" %  [  +2 "storage"(|% +5 "core" % [ [\  + "storage"(^. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +3 "core" &,w B = \ +2 "manipulator"&{& +4 "core" & C  +2 .tElbow.seek 4 +2 "manipulator"& ( +25 "core" ( + "manipulator"&9& +4 "core" &   +2 "storage"(%& +4 "core" &,w k i v\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&M' +94 "core" ' + "storage"(& +4 "core" &,w } \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (T& +3 "core" &,m [ f 7\  +2 "manipulator"&C& +3 "core" & @  +2 .tElbow.seek 4 +2 "manipulator"&V( +20 "core" ( +2 "manipulator"&d& +4 "core" &   +2 "storage"(w& +4 "core" &,m l i \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&?'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(u' +9 "core" & e  + "manipulator"&v% +4 "core" % _ : +2 .tForearm.seek :retract +2 "manipulator"&c' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&!(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&"& +4 "core" &Ӑ& 2 ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &Ӑ& a ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' + "manipulator"& & +4 "core" &ӑ& , ?S +2 "manipulator"&j% +4 "core" %: % Q +3 "collection"'G& +3 "core" & =\ +3 "collection"'l& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +6 & 3 \ %f +10 &Yx \ 7 +9 &x \ J +9 &U \ J +10 &W \ K +9 &CZ \ K +9 &V \ J +10 &W \ K +9 &T \ K +9 &LV \ K +10 & T \ K +9 &!U \ K +10 &#Z \ K +9 &%TV \ K +9 &'Y \ K +10 &(U \ J +9 &*V \ K +10 &,\\U \ K +9 &.T \ K +9 &/V \ K +10 &1V \ K +9 &3cY \ K +9 &5&V \ K +10 &6V \ K +9 &8Z \ K +9 &:lV \ K +10 &\ M +10 &6VK\ N +9 &8WJ\ N +10 &:KRK\ M +9 &< YI\ N +9 &=WJ\ M +10 &?VL\ M +9 &AP\\L\ N +9 &CbH\ O +10 &DcL\ O +9 &FpM\ Q +10 &HJM\ S +9 &J N\ T +9 &KM\ S +10 &MM\ T +9 &ONL\ T +9 &QL\ U +10 &RM\ T +9 &TH\ U +10 &VT=\ U +9 &X9\ U +9 &Y?\ U +10 &[?\ U +9 &][:\ D +9 &^}@p?\ &o +10 &^$>\ , +5 ( +2 "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&/1 +4 "core" &^5\ , +58 1 + "manipulator"&1% +4 "core" %   U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +3 "processing"%& +3 "core" &^9\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&x% +3 "core" %   +2 "storage"(4% +4 "core" %  \  +2 "storage"(r. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(B(,y +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (*& +2 "manipulator"&& +4 "core" &,y  k\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(6'r +2 "manipulator"&( +45 "core" ( +9 "manipulator"&& +4 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  9 +3 .tForearm.seek PC +2 "manipulator"&>' +90 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%.( +44 "core" ' + "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +40 "core" ' +358 ( +2 "storage"(& +3 "core" &,j F 2 e\ +2 "manipulator"&~& +4 "core" & 9 +2 "manipulator"&L% +4 "core" %  L G +2 .tForearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&&( +244 "core" ( +2 "manipulator"&H& +3 "core" &  G +3 "storage"([& +3 "core" &,j  ! S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' +2 .tHand.open +2 "manipulator"&N1 +56 "core" 1 +3 "storage"(q- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(f' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(8' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' +2 "storage"(F& +3 "core" &,j > > N\ +2 "manipulator"&& +4 "core" &   G +2 .tElbow.seek 4 +2 "manipulator"&]( +4 "core" ( + "manipulator"&a& +4 "core" &    G +2 "storage"(:& +4 "core" &,j = > \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(J'" +59 "core" ' + "manipulator"&#& +4 "core" & G +2 "storage"(,& +4 "core" &,j  " W\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&S'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(b' +28 "core" ' +2 "manipulator"&Z% +3 "core" %4  +2 "storage"(\ & +4 "core" &,j  " -\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 297 counts + "manipulator"&|'` +13 "core" ' +2 "manipulator"&^& +3 "core" &  G +2 "storage"(E& +4 "core" &,j # !\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +14 "core" ' + "storage"(P% +4 "core" % H ) W\ +3 ."downElevator"SE.seek :down +3 "storage"(D' +99 (R% +3 "core" %:N\ \ & 7\ We +2 "manipulator"&{% +4 "core" %  ) +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (%& +3 "core" &,j  1\ +2 "collection"'& +4 "core" &\\f %\ I +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&=% +3 "core" %  ;  +2 "storage"(n% +3 "core" % G E \  +2 "storage"(W. +3 "core" .(,y +2 "storage"(T& +4 "core" &,j G H \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(C(,y +23 "core" ( +47 .tSC.configure :limp +4 "storage"($\ 1b +2 (d& +3 "core" &,} H G \ +2 "manipulator"&w& +4 "core" & & F +2 .tElbow.seek 4 +2 "manipulator"&-( +4 "core" ( + "manipulator"&0& +4 "core" &  F +2 "storage"(v& +4 "core" &,} G G \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +98 "core" ' + "storage"(M& +4 "core" &,} O H G\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +298 "core" ' +2 "storage"(O- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & R F +2 "storage"(?& +4 "core" &,m # % \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& '7 +19 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(V't +30 "core" ' + "manipulator"&u% +5 "core" %- t  + "storage"(c& +4 "core" &,m + , V\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 290 counts +2 "manipulator"&3'Y +14 "core" ' +2 "manipulator"&& +3 "core" & m F +2 "storage"(& +4 "core" &,m " # 1\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +26 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(e' +44 "core" ' +2 "manipulator"&m& +3 "core" & = F +2 "manipulator"&% +4 "core" % d $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +153 "core" ( + "manipulator"&(& +4 "core" &Ӑ' A @X +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &Ӑ'  @X +3 .tForearm.seek CC +2 "manipulator"&k'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'z( +450 "core" ( + "storage"(}& +4 "core" &,m = < |\ \ +2 "storage"(& +3 "core" &,m = ; \ \ +2 "manipulator"&o& +4 "core" &Ӯ# <: +2 "manipulator"&!% +3 "core" % ; $  +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&\\( +164 "core" ( + "manipulator"&i& +4 "core" &  +2 "storage"(& +4 "core" &,m ] p 9\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&y'7 +92 "core" ' +2 .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&p% +3 "core" % ' T N +2 "storage"(& +4 "core" &,m \\ [ 3\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 284 counts +2 "manipulator"&$'S +14 "core" ' + "manipulator"&h& +4 "core" &  +2 "storage"(I& +3 "core" &,m l t \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +20 "core" ' +2 "storage"(% +3 "core" % }\ +49 ."downElevator"SE.seek :down +4 "storage"( ' +98 (`% +3 "core" %E B = \ V_ +2 "manipulator"&K% +4 "core" % H  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +97 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'Q& +3 "core" & \ +2 "manipulator"&s% +3 "core" %  b +2 "storage"(% +4 "core" % } \  +2 "storage"(A. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(/(<- +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" &<+ P I \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&x( +4 "core" ( + "manipulator"&4& +4 "core" &  +2 "storage"(r& +4 "core" &<+ | @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&+'O +90 "core" ' +2 "storage"(*& +3 "core" &<+ }\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<+ h _ \ \  +3 "manipulator"&;& +3 "core" & 9  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & 5  +2 "storage"(2& +3 "core" &<+ k k \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&<'Ϲ +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(6' +7 "core" & 5  +2 "manipulator"&% +4 "core" % ϲ ` +2 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +151 "core" ( + "manipulator"&>& +5 "core" ' + &z- Dw + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +4 "manipulator"&H& +3 "core" &z- ` Dw +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&['? +99 "core" ' +2 "manipulator"&& +3 "core" &Ӟ&  ?S +2 "manipulator"&N% +3 "core" %@ , +3 "collection"'q& +3 "core" & \ +3 "collection"'U& +5 "core" & \ +2 .tCC.seek :closed +4 "collection"'F(\\ +4 "core" & \ +5 & \ 9 +9 &GKu \ 1 +9 &x} \ E +10 &0Z \ K +9 &T \ K +9 &V \ K +10 &wY \ K +9 &9T \ K +10 &U \ K +9 &X \ K +9 &T \ K +10 &!BV \ J +9 &#W \ K +9 &$Y \ K +10 &&T \ K +9 &(JV \ J +10 &* W \ K +9 &+X \ K +9 &-U \ J +10 &/QW \ K +9 &1U \ K +10 &2U \ K +9 &4Y \ K +9 &6ZU \ J +10 &8W \ K +9 &9Y \ K +9 &;U \ J +10 &=aV \ K +9 &?#U \ K +9 &@W \ K +10 &B\\ \ K +9 &Dg_ \ L +10 &F%k \ M +9 &G| \ O +9 &I\ \ \ S +10 &KR\ \ \ U +9 &M\ \ \ V +9 &N\ \ \ X +10 &P\ \ \ W +9 &RS\ \ \ X +10 &T\ \ \ Y +9 &U\ \ \ Y +9 &W\ \ \ Z +10 &YT\ \ \ Z +9 &[\ \ \ [\ +9 &\\fE\ \ \ 0 +10 &\\ \ \ \ J +5 ( +2 "collection"'U& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&1 +3 "core" &\\h\ \ \ I +60 1 + "manipulator"&a% +4 "core" % @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%t& +4 "core" &\ +2 "manipulator"&#% +3 "core" %  k  +2 "storage"(,% +5 "core" % !  [\  +47 "storage"('. +5 "core" .(<- + "storage"(Z& +4 "core" &<+  ! x\  +2 "storage"(\ & +4 "core" &<+ # " )\  +2 "manipulator"&^& +4 "core" &Ӫ# A =G +2 "manipulator"&f% +4 "core" %  o  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&E( +162 "core" ( +2 "manipulator"&P& +3 "core" &   +2 "storage"(&& +4 "core" &<+ R R U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' +2 "storage"(8& +3 "core" &<+ D B \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(R'r +305 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<+  \  +2 "manipulator"&]& +3 "core" & a  +3 .tElbow.seek 5 + "manipulator"&J( +4 "core" ( + "manipulator"&S& +4 "core" & w  +2 "storage"(|& +3 "core" &<+ " " L\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&%'Ϲ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(n' +8 "core" &  +2 "manipulator"&W% +3 "core" % ϲ 4 +3 .tForearm.seek :retract + "manipulator"&b' +92 "core" ' +3 .tElbow.seek PC + "manipulator"&T( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&d& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&0' +99 "core" ' +2 "manipulator"&v& +3 "core" &  +2 "manipulator"&X% +4 "core" % 4 +2 "processing"%M& +4 "core" &\ +3 "processing"%D& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%B(^ +3 "core" &\  +9 &2u\ )w +10 &b}\ = +9 &wp\ N +9 &:R\ M +10 &U\ M +9 &Q\ M +10 &V\ M +9 &@U\ N +9 &U\ M +10 &U\ M +9 & V\ N +9 &"JU\ M +10 &$ U\ M +9 &%Q\ M +10 &'U\ M +9 &)QR\ M +9 &+U\ N +10 &,V\ M +9 &.Q \ M +9 &0YT"\ M +10 &2R(\ M +9 &3U\ N +10 &5U>\ M +9 &7aRI\ M +9 &9"TL\ N +10 &:WJ\ N +9 &<RI\ M +9 &>hZK\ N +10 &@+YK\ M +9 &AZH\ N +10 &CeJ\ O +9 &EjhJ\ P +9 &G(qM\ Q +10 &HJ\ S +9 &JO\ T +9 &LgM\ S +10 &N&K\ T +9 &OK\ T +10 &QK\ T +9 &SkL\ U +9 &U-?\ U +10 &V@\ U +9 &XC\ T +9 &ZsA\ U +10 &\\4A\ U +9 &]~v<\ 9 +10 &^2B\ J +9 &^B\ + +2 ( +2 "processing"%D& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&51 +57 "core" 1 + "manipulator"&9% +4 "core" %   + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +89 "core" ' +2 "processing"%& +4 "core" &^<\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&?% +3 "core" %    +2 "storage"(G% +4 "core" %   ?\  +2 "storage"(u. +2 "core" .(<- +2 "storage"(c& +4 "core" &<+ # % =\  +2 "storage"(& +3 "manipulator"&& +8 "core" &<+ ( * $\  + &  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&m( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"& & +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +48 &-& +4 "core" & +3 .tForearm.seek PC + "manipulator"&"' +95 "core" ' +2 .tHand.close + "manipulator"& / +60 "core" / +2 .tPC.seek :open + "processing"%3( +43 "core" ' +2 "storage"(V- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('1 +41 "core" ' +362 ( +2 "storage"(@& +3 "core" &<+ ) # \  +2 "manipulator"&7& +5 "core" & I +2 "manipulator"&j% +3 "core" %  C S +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&g( +240 "core" ( +2 "manipulator"&& +3 "core" & [ . +2 "storage"(}& +4 "core" &<+ " % \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +99 "core" ' + .tHand.open +2 "manipulator"&o1 +55 "core" 1 +2 "storage"(!- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +3 "core" -' +2 "storage"(l& +4 "core" &<+ 8 ; \  +2 "manipulator"&& +3 "core" &  - +2 .tElbow.seek 5 +2 "manipulator"&p( +4 "core" ( +2 "manipulator"&& +3 "core" &   - +2 "storage"(h& +3 "core" &<+ I W <\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' +2 "manipulator"&& +3 "core" & 9 - +3 "storage"(\\& +3 "core" &<+ & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&`'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +28 "core" ' +2 "manipulator"&$% +3 "core" %Ζ D p +2 "storage"(Q& +4 "core" &<+ # # m\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&s' +14 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(A& +5 "core" &<+ F E \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +15 "core" ' +2 "storage"( % +3 "core" % H F \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (C% +3 "core" %+J\ \ \ We +2 "manipulator"&1% +4 "core" %M 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (4& +3 "core" &<+ 5 " i\  +3 "collection"'r& +3 "core" &\\h \ I +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&*% +3 "core" %  p  +2 "storage"()% +4 "core" % F G \  +2 "storage"(_. +2 "core" .(<- +2 "storage"(& +4 "core" &<+ G F \  +2 "storage"(& +4 "core" &<+ G F \  +2 "manipulator"&;& +3 "core" & 2  +2 .tElbow.seek 5 +2 "manipulator"& ( +23 "core" ( + "manipulator"&2& +4 "core" & g  +2 "storage"(Y& +3 "core" &<+ I N ,\  +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' +2 "storage"(& +3 "core" &<+ A : x\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +299 "core" ' + "storage"(+- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" & q  +2 "storage"(H& +4 "core" &<+ H F \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +21 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(N'w +30 "core" ' +2 "manipulator"&q% +4 "core" %Ξ +2 "storage"(& +3 "core" &<+ & #\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts + "manipulator"&6' +15 "core" ' + "manipulator"&~& +4 "core" &   +2 "storage"(z& +3 "core" &<+ F F\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(a' +36 "core" ' + "manipulator"&t& +4 "core" & g  +2 "manipulator"&#% +4 "core" %N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +162 "core" ( +2 "manipulator"&U& +3 "core" &ӎ'  { @^ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &ӎ' e @^ +2 .tForearm.seek CC +2 "manipulator"&\ '? +99 "core" ' + .tHand.close +2 "manipulator"&^/ +58 "core" / +2 .tCC.seek :open + "collection"'f( +447 "core" ( +2 "storage"([& +3 "core" &<+ F E (\  +2 "storage"(P& +3 "core" &<+ E F \  +2 "manipulator"&&& +4 "core" &Ӷ" N ;6 +2 "manipulator"&8% +3 "core" % 9 1  +3 .tForearm.seek :retract + "manipulator"&L' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&:( +155 "core" ( +2 "manipulator"&{& +3 "core" & +2 "storage"(& +4 "core" &<+ k i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&]'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +60 "core" 1 +2 "manipulator"&% +3 "core" % ΀ +2 "storage"(=& +4 "core" &<+ k k \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 287 counts +2 "manipulator"&W'Ϭ +13 "core" ' +3 "manipulator"&E& +3 "core" & u +2 "storage"(& +4 "core" &<+ n ` S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +19 "core" ' +2 "storage"(%% +3 "core" % }\ +3 ."downElevator"SE.seek :down +4 "storage"(d' +98 (w% +3 "core" %E 8 < ^\ V` +2 "manipulator"&J% +3 "core" %A d % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +88 "core" ' +54 ' +8 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'X& +4 "core" & 9\ +2 "manipulator"&M% +3 "core" %   +2 "storage"(n% +4 "core" % q | '\  +2 "storage"(b. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(.( +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" & A O t\ +2 "manipulator"&9& +4 "core" & A +2 .tElbow.seek 3 +2 "manipulator"&( +36 "core" ( + "manipulator"&?& +4 "core" &z p 1 +2 "storage"(G& +4 "core" & ] ^ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&u'7 +91 "core" ' + "storage"(c& +4 "core" & r ]\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (D& +3 "core" & J X D\ +2 "manipulator"& & +3 "core" &z 5 1 +3 .tElbow.seek 3 +2 "manipulator"&-( +2 "core" ( +2 "manipulator"&0& +4 "core" &z  x 1 +2 "storage"( & +4 "core" & i i \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&V'ϡ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(B' +8 "core" &z 1 + "manipulator"&% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&@' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&j& +4 "core" &ӕ$ 7 =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &ӕ$ 2 =A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +3 "manipulator"&}& +3 "core" &Ӗ# <@ +2 "manipulator"&m% +4 "core" %E B H +2 "collection"'o& +4 "core" & =\ +3 "collection"'!& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'k(\\ +5 "core" & \ +6 &;  \ %f +9 &Z{ \ 8 +9 &u \ K +10 &R \ K +9 &T \ K +10 &TV  \ K +9 &U \ J +9 &V \ K +10 &T \ K +9 &\\U \ K +9 & T \ K +10 &!U \ K +9 &#Z \ K +10 &%eV \ J +9 &'&U \ K +9 &(T \ K +10 &*U \ K +9 &,kX \ K +10 &./U \ J +9 &/U \ K +9 &1U \ K +10 &3tU \ K +9 &56Y \ K +9 &6W \ K +10 &8Y \ K +9 &:|U \ K +9 &<>Y \ K +10 &>T \ K +9 &?V \ K +10 &AW \ K +9 &CD] \ L +9 &Ec \ L +10 &Fm \ N +9 &H| \ P +9 &J0\ \ \ U +10 &K\ \ \ W +9 &M\ \ \ Y +10 &On\ \ \ X +9 &Q.\ \ \ Y +9 &R\ \ \ Y +10 &T\ \ \ Z +9 &Vp\ \ \ Z +9 &X1\ \ \ Z +10 &Y\ \ \ [\ +9 &[\ \ \ I +10 &\\1\ \ \ 0 +9 &\\g\ \ \ O +2 ( +2 "collection"'!& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&l1 +61 "core" 1 + "manipulator"&% +4 "core" % E 1 H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%h& +3 "core" &\ +2 "manipulator"&% +4 "core" %  B  +2 "storage"(% +3 "core" % ' #\  +2 "storage"(\\. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"($( +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +3 "core" &  ,\ +2 "manipulator"&Q& +4 "core" &ө  * :- +2 "manipulator"&% +50 "core" %  0  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&i( +165 "core" ( +2 "manipulator"&A& +4 "core" &  +2 "storage"( & +4 "core" & F G \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&g'7 +98 "core" ' +2 "storage"(& +4 "core" & F O 5\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" & ! + \ +2 "manipulator"&I& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&& +3 "core" & U  +2 "storage"(`& +3 "core" & " $ H\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&s'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&r& +2 "storage"(*' +8 "core" &  + "manipulator"&)% +4 "core" % ϙ k +2 .tForearm.seek :retract +2 "manipulator"&_' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&& +3 "core" & > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & o > +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&;' +104 "core" ' +2 "manipulator"&2& +3 "core" & G > +3 "manipulator"&Y% +3 "core" % +2 "processing"%e& +5 "core" & \ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +5 "core" &\  +9 &2v\ )v +9 &b~\ = +10 &rr\ M +9 &3S\ M +9 &R\ M +10 &Q\ M +9 &yY\ M +9 &:U\ N +10 &U\ N +9 &U\ N +9 & V\ M +10 &"CS\ M +9 &$R\ M +10 &%R\ M +9 &'W\ M +9 &)KW\ M +10 &+W\ M +9 &,W\ N +10 &.T\ M +9 &0SW\ M +9 &2U\ N +10 &3T\ M +9 &5W\ M +9 &7ZU\ N +10 &9W\ N +9 &:W\ N +10 &<T\ M +9 &>bU\ N +9 &@%T\ M +10 &AY\ N +9 &Cb\ O +9 &Eee \ O +10 &G#n \ Q +9 &HB\ R +10 &JL\ T +9 &L`\ T +9 &N ,\ T +10 &OI\ T +9 &QE\ U +9 &SfI\ T +10 &U'J\ U +9 &VI\ U +10 &XD\ T +9 &ZmJ\ U +9 &\\/J\ U +10 &]|~P\ ; +9 &^,xC\ P +9 &^M\ / +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&K1 +53 "core" 1 +2 "manipulator"&% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +91 "core" ' +2 "processing"%>& +4 "core" &^D\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&H% +3 "core" %      +2 "storage"(% +4 "core" % $ f\  +2 "storage"(q. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" & T \  +2 "manipulator"&z& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &  > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(t'r +2 "manipulator"&#( +28 "core" ( +2 "manipulator"&& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &  +3 .tForearm.seek PC +47 "manipulator"&x' +96 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%6( +20 "core" ' +2 "storage"(N- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'1 +47 "core" ' +378 ( +2 "storage"(Z& +3 "core" & % *\  +2 "manipulator"&& +4 "core" & j +2 "manipulator"&<% +4 "core" %  X +2 .tForearm.seek :retract +2 "manipulator"&^' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&,( +259 "core" ( + "manipulator"&F& +4 "core" & k  +2 "storage"([& +4 "core" & F G \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&P'7 +94 "core" ' +2 .tHand.open + "manipulator"&&1 +58 "core" 1 +2 "storage"(8- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"({' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(\ - +3 "core" -' +2 "storage"('& +4 "core" & c ` #\  +2 "manipulator"&|& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&=& +4 "core" &    +2 "storage"(E& +3 "core" & d d\  +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(%'" +56 "core" ' + "manipulator"&L& +4 "core" & }  +2 "storage"(w& +4 "core" & & " I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&J'u +22 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(]' +29 "core" ' + "manipulator"&W% +4 "core" %Έ W +2 "storage"(X& +4 "core" & "  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&M'ϴ +25 "core" ' +2 "manipulator"&n& +3 "core" & U  +2 "storage"(b& +5 "core" & E F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&a'7 +18 "core" ' +2 "storage"(R% +3 "core" % J G 7\ +3 ."downElevator"SE.seek :down +3 "storage"(d' +99 (/% +3 "core" %HT\ $\  \ Xh +2 "manipulator"&5% +4 "core" %/ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +97 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (?& +3 "core" & C G S\  +2 "collection"'G& +4 "core" &\\f (\ O +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&c% +4 "core" %  p +2 "storage"(S% +3 "core" % N Q B\  +2 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" & G G )\  +3 "manipulator"& & +3 "core" & 2  +3 .tElbow.seek 3 + "manipulator"&0( +4 "core" ( +2 "manipulator"& & +3 "core" & -  +48 "storage"(T& +4 "core" & R S C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&O'7 +91 "core" ' +2 "storage"(& +3 "core" & R R \ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" &  +2 "storage"("& +4 "core" & " #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'u +19 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(m'l +28 "core" ' +2 "manipulator"&o% +3 "core" %u +2 "storage"(-& +4 "core" &  & G\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 300 counts + "manipulator"&B'ϡ +13 "core" ' +2 "manipulator"&@& +3 "core" &  +2 "storage"(f& +4 "core" & E G \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&l'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&h& +4 "core" &   +2 "manipulator"&% +4 "core" % ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +154 "core" ( +2 "manipulator"&!& +3 "core" &ӊ) A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &ӊ( A_ +2 .tForearm.seek CC +2 "manipulator"&Q'? +94 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +3 "storage"(A& +3 "core" & h h N\  +2 "storage"( & +4 "core" & ^ f ?\  +2 "manipulator"&.& +3 "core" &ө# X <@ +2 "manipulator"&% +4 "core" % C 9 ' +2 .tForearm.seek :retract +2 "manipulator"&7' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +164 "core" ( + "manipulator"&C& +4 "core" & \  +2 "storage"(1& +3 "core" & ^ \\ \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&I'u +98 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&`1 +64 "core" 1 +2 "manipulator"&4% +3 "core" % ΂ X +2 "storage"(r& +4 "core" & l j o\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&)'Ϯ +25 "core" ' + "manipulator"&i& +4 "core" &   +2 "storage"(g& +4 "core" & } \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' + "storage"(s% +4 "core" % | +\ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +3 "core" %L O C V\ We +2 "manipulator"&p% +3 "core" %9 Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +50 "manipulator"&2' +92 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ' +2 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'Y& +4 "core" & 3\ +2 "manipulator"&e% +4 "core" %    +2 "storage"(*% +4 "core" % | D\  +2 "storage"(_. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(3(,y +325 "Can"\ O; +29 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +3 "core" &,v A : \ +2 "manipulator"&& +5 "core" & #  +2 .tElbow.seek 4 + "manipulator"&>( +30 "core" ( + "manipulator"&H& +4 "core" & 8  +2 "storage"(& +4 "core" &,v _ p \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&q' +97 "core" ' +2 "storage"(& +3 "core" &,v } 0\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +309 "core" ' +3 "storage"(z- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,m ^ h !\  +3 "manipulator"& & +3 "core" &  6  +2 .tElbow.seek 4 +2 "manipulator"&;( +23 "core" ( + "manipulator"&$& +4 "core" &   +2 "storage"(& +3 "core" &,m j d \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&N'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"( ' +7 "core" & b  +2 "manipulator"&t% +4 "core" % } \\ +2 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&<& +4 "core" &ӑ# <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &ӑ# ) <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'? +101 "core" ' + "manipulator"&[& +4 "core" &ӑ# d <; +2 "manipulator"&#% +4 "core" %; N  +2 "collection"'&& +4 "core" & C\ +3 "collection"'8& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'\ (\\ +3 "core" & \ +8 &< \ %g +9 &Yv  \ 7 +10 &w \ K +9 &S \ J +9 &V \ K +10 &KV \ K +9 & U \ K +10 &X \ K +9 &T  \ K +9 &SU \ K +10 & X \ K +9 &!U \ K +9 &#Y \ K +10 &%[T \ K +9 &'T \ J +10 &(U \ K +9 &*U \ K +9 &,bY \ K +10 &.%U \ K +9 &/U \ K +9 &1U \ J +10 &3jV \ K +9 &5-U \ K +10 &6U \ K +9 &8U \ K +9 &:rY \ K +10 &<4V \ K +9 &=U \ K +9 &?V \ K +10 &A{W \ K +9 &C;_ \ L +10 &Dc \ L +9 &Fn \ N +9 &Hs \ P +10 &J)\ \ \ U +9 &K\ \ \ W +9 &M\ \ \ W +10 &Of\ \ \ X +9 &Q'\ \ \ X +10 &R\ \ \ Y +9 &T\ \ \ Z +9 &Vg\ \ \ Z +10 &X(\ \ \ Z +9 &Y\ \ \ [\ +9 &[\ \ \ H +10 &\\.\ \ \ 6 +9 &\\c\ \ \ \ J +3 ( + "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&'1 +63 "core" 1 +2 "manipulator"&|% +4 "core" % ; 6  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%E& +4 "core" &\ +2 "manipulator"&^% +4 "core" %  ]  +2 "storage"(L% +4 "core" %  " +\  +2 "storage"(w. +2 "core" .(,v +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(U(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &,w $ \ +48 "manipulator"&X& +5 "core" &Ӫ 8" +2 "manipulator"&{% +3 "core" %  k  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&n( +161 "core" ( +2 "manipulator"&b& +4 "core" & S  +2 "storage"(R& +3 "core" &,w G P M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&,' +98 "core" ' +2 "storage"(P& +3 "core" &,w D 8 ~\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(/- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (5& +2 "core" &,m %  &\  +2 "manipulator"&& +4 "core" & d  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&%& +4 "core" & 9  +2 "storage"(J& +3 "core" &,m ( # \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&?'c +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(c' +7 "core" & _  +2 "manipulator"&S% +3 "core" % ύ e +3 .tForearm.seek :retract +2 "manipulator"&v' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&]( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( + "manipulator"&D& +4 "core" & O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +96 "core" ' +2 "manipulator"&T& +4 "core" & +2 "manipulator"&a% +3 "core" %  s +3 "processing"%& +3 "core" &\ +2 "processing"%d& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +9 &>\ #c +9 &Vz\ 7 +10 &w\ K +9 &S\ N +9 &jU\ M +10 &+R\ M +9 &W\ M +10 &V\ M +9 &qT\ M +9 &3R\ M +10 &W\ M +9 &!T\ N +9 &#yU\ M +10 &%;R\ M +9 &&X\ M +10 &(W\ N +9 &*U\ M +9 &,CT\ M +10 &.V\ M +9 &/W\ N +9 &1V\ M +10 &3LT\ M +9 &5 U\ M +10 &6T\ N +9 &8V\ N +9 &:RU\ N +10 &<X\ M +9 &=X\ N +9 &?W\ N +10 &AZW\ N +9 &Cd\ O +10 &Dg\ P +9 &Fp\ Q +9 &HQ\ S +10 &J\ T +9 &K\ T +9 &M\ T +10 &OV\ T +9 &Q\ U +10 &R\ U +9 &T\ W +9 &V^\ T +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]c&\ C +9 &^?r\ $k +10 &^(;\ . +5 ( +2 "processing"%d& +4 "core" &^I\ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&:1 +63 "core" 1 +2 "manipulator"&9% +3 "core" %   s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +98 "core" ' +3 "processing"%j& +3 "core" &^C\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&"% +3 "core" % \   +3 "storage"(}% +3 "core" % " " N\  +2 "storage"(o. +3 "core" .(,y +2 "storage"(-& +3 "core" &,m  " \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(@(,y +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (f& +2 "manipulator"&h& +4 "core" &,z ]\ ;\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&O( +6 "core" ( +2 "manipulator"&0& +3 "core" &   +42 .tElbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +2 && +3 "core" &   +3 .tForearm.seek PC + "manipulator"&' +88 "core" ' +2 .tHand.close +2 "manipulator"&B/ +59 "core" / +2 .tPC.seek :open +2 "processing"%m( +48 "core" ' +2 "storage"(!- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('1 +49 "core" ' +345 ( +2 "storage"(l& +3 "core" &,j E ' C\  +2 "manipulator"&V& +5 "core" & G + "manipulator"&% +4 "core" %   h +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&k( +241 "core" ( +2 "manipulator"&A& +3 "core" & w @ +2 "storage"( & +4 "core" &,j   _\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +95 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +3 "storage"(C- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +4 "core" -' + "storage"(`& +4 "core" &,j c Y .\  +2 "manipulator"&4& +3 "core" &  @ +3 .tElbow.seek 4 + "manipulator"&r( +3 "core" ( +2 "manipulator"&i& +4 "core" &   @ +2 "storage"(g& +3 "core" &,j c c\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(7'" +56 "core" ' +2 "manipulator"&& +3 "core" & p @ +2 "storage"(p& +4 "core" &,j  B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +28 "core" ' +2 "manipulator"&)% +3 "core" %7  +2 "storage"(e& +5 "core" &,j  X\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&*'c +13 "core" ' +2 "manipulator"&_& +4 "core" & ^ @ +2 "storage"(& +3 "core" &,j G G \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +4 "core" % G G \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (K% +3 "core" %SN T $ ?\ Wd +2 "manipulator"&% +3 "core" % u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,j + + H\  +2 "collection"'& +3 "core" &\\] .\ J +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  0  +2 "storage"(2% +4 "core" % E E \  +2 "storage"(z. +2 "core" .(,y +2 "storage"(& +5 "core" &,j E D\  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +2 "core" &,{ "  l\ +3 "manipulator"&& +50 "core" & V @ +2 .tElbow.seek 4 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&+& +3 "core" & \ @ +2 "storage"(t& +5 "core" &,{ E E \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +97 "core" ' + "storage"(q& +4 "core" &,{ < < \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'r +300 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" & 8 @ +2 "storage"(N& +3 "core" &,m " " )\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&['7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(;'t +29 "core" ' + "manipulator"& % +4 "core" %/   +2 "storage"(Z& +3 "core" &,m "  |\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 292 counts +2 "manipulator"&'[ +13 "core" ' + "manipulator"&'& +4 "core" & E @ +2 "storage"(|& +4 "core" &,m 6 " '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&E' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(^' +42 "core" ' + "manipulator"&L& +4 "core" & 6 @ +2 "manipulator"&w% +4 "core" % ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&W(ӂ +156 "core" ( + "manipulator"&X& +4 "core" &ӓ% >I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +3 "core" &ӓ% >I +3 .tForearm.seek CC + "manipulator"&F'? +99 "core" ' + .tHand.close +2 "manipulator"&b/ +53 "core" / +2 .tCC.seek :open +2 "collection"'R( +449 "core" ( +2 "storage"(3& +3 "core" &,m D C \  +2 "storage"(P& +4 "core" &,m E E I\  +2 "manipulator"&& +3 "core" &Ө" 1 ;4 +2 "manipulator"&=% +4 "core" % ;   +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&5( +164 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(%& +3 "core" &,m l l \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&J'7 +91 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&G1 +59 "core" 1 +2 "manipulator"&S% +4 "core" % + k R +2 "storage"(n& +3 "core" &,m _ i B\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 288 counts + "manipulator"&,'W +14 "core" ' +2 "manipulator"&& +3 "core" & :  +2 "storage"(?& +4 "core" &,m ^ ^ N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +29 "core" ' + "storage"( % +4 "core" %  p %\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (T% +10 "core" %@ O R 3\ V_ +2 "manipulator"&a% +3 "core" % 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +40 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'c& +3 "core" & \ +2 "manipulator"&v% +3 "core" %     +2 "storage"(6% +4 "core" % ^ g \  +2 "storage"(:. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(9(<- +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" &<+ " T\  +2 "manipulator"&"& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&}( +4 "core" ( +2 "manipulator"&o& +4 "core" &  +2 "storage"(d& +3 "core" &<+ k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +95 "core" ' + "storage"(f& +4 "core" &<+   "\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'r +297 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ e i n\  +2 "manipulator"& & +3 "core" & f  +2 .tElbow.seek 5 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&U& +3 "core" & B  +2 "storage"(!& +4 "core" &<+ h h T\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&]'Ϲ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  z  +2 "manipulator"&l% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&V' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&& +4 "core" &ӌ 8 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &ӌ 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +104 "core" ' + "manipulator"&O& +4 "core" &ӌ 7 +2 "manipulator"&% +4 "core" %:  [ +3 "collection"'C& +4 "core" & \ +3 "collection"'\\& +5 "core" & G\ +2 .tCC.seek :closed +2 "collection"'`(\\ +5 "core" & \  +8 &3z \ *z +9 &g~ \ > +10 &o  \ L +9 &VU \ K +9 &T \ K +10 &U  \ K +9 &U  \ K +10 &]W \ K +9 & W \ K +9 &T  \ K +10 & U \ K +9 &"eT \ K +9 &$(U \ K +10 &%T \ K +9 &'U \ K +10 &)oT \ J +9 &+0U \ K +9 &,U \ J +10 &.U \ K +9 &0vV \ K +9 &27Y \ K +10 &3U \ K +9 &5S \ K +10 &7}U \ K +9 &9@U \ K +9 &;W \ K +10 &<U \ K +9 &>U \ K +9 &@HV \ K +10 &B X \ K +9 &C\\ \ L +10 &Ed \ M +9 &GEs \ O +9 &H \ Q +10 &J\ \ \ W +9 &Lr\ \ \ W +9 &N3\ \  \ W +10 &O\ \ \ X +9 &Q\ \  \ X +10 &Sp\ \ \ [ +9 &U6\ \ \ Y +9 &V\ \ \ Z +10 &X\ \ \ \\ +9 &Zs\ \ \ \\ +9 &\\z\ \ \ 1 +10 &\\2\ \ \ ` +9 ( +2 "collection"'\\& +3 "core" &\\b\ \ \ M +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&41 +61 "core" 1 +2 "manipulator"&i% +4 "core" % M  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %    +2 "storage"(p% +4 "core" %  ! *\  +2 "storage"(). +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +49 .tSC.seek 5 +3 "storage"(((<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (e& +3 "core" &<+ ?\ z\  +2 "manipulator"&_& +3 "core" &ӓ P 6 +2 "manipulator"&% +4 "core" %  s  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&1( +163 "core" ( +2 "manipulator"&& +4 "core" & )  +2 "storage"(k& +4 "core" &<+ G G '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&.'O +95 "core" ' +2 "storage"(Q& +4 "core" &<+ A = \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +305 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" &<+ * " \  +2 "manipulator"&r& +3 "core" & (  +2 .tElbow.seek 5 +2 "manipulator"&7( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(*& +4 "core" &<+ " " /\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(2' +8 "core" & )  + "manipulator"&z% +4 "core" %  > +2 .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&$& +3 "core" & S  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&+' +100 "core" ' + "manipulator"&& +4 "core" & \  +2 "manipulator"&t% +4 "core" % 3 +2 "processing"%q& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(^ +4 "core" &\ +8 &6\ #b +9 &Tx\ 6 +9 &y\ K +10 &U\ M +9 &cS\ M +10 &$V\ N +9 &V\ M +9 &U\ N +10 &lS\ M +9 &-U\ M +9 &Q\ M +10 &!T\ N +9 &#sT\ M +10 &%6W\ M +9 &&V\ M +9 &(W\ M +10 &*{U\ M +9 &,>S\ M +9 &-T\ M +10 &/T\ M +9 &1W\ M +10 &3FW\ M +9 &5U\ M +9 &6X\ M +10 &8X\ M +9 &:LT\ N +9 &<Y\ M +10 &=X\ M +9 &?Y\ N +10 &ATX\ N +9 &C`\ O +9 &Dc\ O +10 &Fp\ P +9 &HO\ R +12 &J \ S +7 &K\ T +9 &M\ T +10 &OQ\ T +9 &Q\ V +9 &R\ T +10 &T\ U +9 &VW\ U +9 &X\ U +10 &Y\ T +9 &[\ U +10 &]^\ C +9 &^Er,\ Y +9 &^<\ 5 +6 ( +2 "processing"%& +3 "core" &^-8\ 5 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&I1 +53 "core" 1 +2 "manipulator"&H% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +90 "core" ' +2 "processing"%~& +3 "core" &^-G\ 5 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&N% +4 "core" %    +2 "storage"(&% +3 "core" % " # 3\  +2 "storage"( . +4 "core" .(<- + "storage"(Z& +4 "core" &<+ " " D\  +2 "storage"('& +3 "manipulator"&|& +7 "core" &<+ " " J\  + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&L( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(w'r +2 "core" ( +3 "manipulator"&>& +3 "core" & |  +48 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &y& +2 "core" &   +3 .tForearm.seek PC +2 "manipulator"&<' +90 "core" ' + .tHand.close +2 "manipulator"&[/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +58 "core" ' + "storage"(;- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +47 "core" ' +337 ( +2 "storage"({& +3 "core" &<+ G H \  +2 "manipulator"&E& +4 "core" & 2  +2 "manipulator"&#% +3 "core" %  Y g +3 .tForearm.seek :retract +2 "manipulator"&b' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&8( +241 "core" ( +2 "manipulator"&\ & +3 "core" & G +2 "storage"(3& +4 "core" &<+  $ J\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +109 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(=- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(%' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(W& +4 "core" &<+ ? = \  +2 "manipulator"&G& +4 "core" &  G +2 .tElbow.seek 5 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&n& +3 "core" &   @ G +2 "storage"(& +5 "core" &<+ ' ( >\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&?'O +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +58 "core" ' + "manipulator"&/& +4 "core" & # G +2 "storage"(T& +4 "core" &<+  z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&a'΍ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(J' +28 "core" ' + "manipulator"&,% +4 "core" %Ή W _ +2 "storage"(c& +3 "core" &<+  ! B\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 296 counts +2 "manipulator"&v'ϵ +13 "core" ' + "manipulator"&6& +4 "core" & \\  +2 "storage"(:& +4 "core" &<+ G E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +16 "core" ' + "storage"(D% +4 "core" % G G \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ( % +4 "core" %rO\ \ $ \ Wb +2 "manipulator"&j% +5 "core" %8 R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (o& +3 "core" &<+ 1 1\  +2 "collection"'d& +3 "core" &\\b @\ M +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&f% +4 "core" %  V  +2 "storage"(M% +4 "core" % H F \  +2 "storage"(. +2 "core" .(<- +2 "storage"(0& +4 "core" &<+ E E \ \  +2 "storage"(& +4 "core" &<+ C E\  +2 "manipulator"& & +3 "core" & @  +2 .tElbow.seek 5 +2 "manipulator"&U( +15 "core" ( +2 "manipulator"&!& +3 "core" & = +47 "storage"(u& +5 "core" &<+ H E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' + "storage"(l& +4 "core" &<+ O E 1\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +307 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & d +2 "storage"(A& +4 "core" &<+ " " }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&h'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(B'x +30 "core" ' + "manipulator"&% +4 "core" %Μ . +2 "storage"(C& +3 "core" &<+ " " &\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&V& +3 "core" & c +2 "storage"(R& +3 "core" &<+ $ 6\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(i' +36 "core" ' +2 "manipulator"&& +3 "core" &  +2 "manipulator"&% +4 "core" %K S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +157 "core" ( +2 "manipulator"&\\& +3 "core" &Ә# h =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +3 "core" &Ә$ =C +2 .tForearm.seek CC +2 "manipulator"&_'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +450 "core" ( + "storage"(& +4 "core" &<+ E < }\  +2 "storage"(k& +3 "core" &<+ : E \  +2 "manipulator"&9& +4 "core" &Ӧ"  ;5 +2 "manipulator"&Q% +3 "core" % J ; +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&g( +160 "core" ( +2 "manipulator"&& +3 "core" & `  +2 "storage"(s& +4 "core" &<+ l k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&r'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +60 "core" 1 +2 "manipulator"&% +4 "core" % ΁ q  +2 "storage"(& +3 "core" &<+ k k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 288 counts + "manipulator"&z'ϭ +15 "core" ' +2 "manipulator"&1& +3 "core" &   +2 "storage"(.& +3 "core" &<+ [ ] o\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +16 "core" ' +2 "storage"(% +3 "core" % o _ ]\ +3 ."downElevator"SE.seek :down +4 "storage"($' +98 (% +3 "core" %J E 9 \ V` +2 "manipulator"&7% +3 "core" %8 j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +41 "manipulator"&' +102 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'t& +4 "core" & \ +2 "manipulator"&q% +3 "core" %  g +2 "storage"(2% +4 "core" %   \  +2 "storage"(Y. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(m( +681 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" & M X\ +2 "manipulator"&H& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&~( +14 "core" ( +2 "manipulator"&N& +3 "core" &   +2 "storage"(&& +4 "core" &   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +94 "core" ' +2 "storage"(Z& +3 "core" &   \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +297 "core" ' +2 "storage"('- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & g [ |\ +2 "manipulator"&>& +3 "core" & W  +2 .tElbow.seek 3 +2 "manipulator"&y( +4 "core" ( + "manipulator"&+& +4 "core" & P  +2 "storage"([& +4 "core" & e i 4\ +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&;'ϡ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(@' +7 "core" & 2  +2 "manipulator"&w% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&#& +4 "core" &Ӑ& P ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &Ӑ& ?S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&\ '? +97 "core" ' +3 "manipulator"&3& +3 "core" &ӑ& \\ ?R +2 "manipulator"&L% +4 "core" %A < & +2 "collection"'& +4 "core" & )\ +3 "collection"'=& +5 "core" & b\ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" & ,\ +8 &< ,\ $e +10 &Xy ,\ 7 +9 &x *\ K +9 &R '\ K +10 &T \ K +9 &BU \ K +9 &U \ K +10 &X \ K +9 &U \ K +10 &KU \ J +9 & U \ K +9 &!U \ K +10 &#U \ J +9 &%QU \ K +9 &'U \ K +10 &(T \ \ K +9 &*U \ J +9 &,YU \ \ K +10 &.U \ K +9 &/U \ K +10 &1U \ K +9 &3bU  \ K +9 &5$U \ K +10 &6V \ K +9 &8U \ J +10 &:jX \ K +9 &<+X \ K +9 &=U  \ K +10 &?V  \ K +9 &AqW \ K +9 &C2X \ L +10 &Dc \ L +9 &Fn \ \ N +10 &Hk  \ P +9 &J\ \  \ U +9 &K\ \  \ V +10 &M\ \ \ X +9 &O]\ \ \ \ X +9 &Q\ \ \  \ X +10 &R\ \ \ X +9 &T\ \ \ Z +10 &V]\ \ \  \ Z +9 &X\ \ \ [ +9 &Y\ \ \ [ +10 &[\ \ \ H +9 &\\9\ \ \ \ , +9 &\\o\ \ \ \ N +3 ( +2 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&W1 +63 "core" 1 +3 "manipulator"&G% +3 "core" % A & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%b& +4 "core" &\ +2 "manipulator"&% +3 "core" %  " +2 "storage"(/% +4 "core" % " " O\  +2 "storage"(T. +2 "core" .( +2 "storage"(X& +4 "core" & ! " 0\ +2 "storage"(,& +3 "core" & " " 9\ +2 "manipulator"&c& +4 "core" &ӯ! ;4 +2 "manipulator"&% +3 "core" %  " +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +50 .tElbow.seek 3 +2 "manipulator"&6( +164 "core" ( +2 "manipulator"&:& +3 "core" &  +3 "storage"(D& +3 "core" & * 5 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&8'7 +100 "core" ' + "storage"(P& +4 "core" & E D \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(%'r +305 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (j& +3 "core" &  & %\ +2 "manipulator"&?& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"& & +4 "core" & P  +2 "storage"(a& +3 "core" & # " #\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&v'ϡ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& +2 "storage"(f' +7 "core" & <  +2 "manipulator"&M% +3 "core" % Ϟ +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&J( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( + "manipulator"&0& +4 "core" & W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +94 "core" ' +2 "manipulator"&!& +4 "core" & ` +2 "manipulator"&u% +3 "core" % ? w +3 "processing"%^& +3 "core" &\ +3 "processing"%l& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\  +9 &3u\ )w +10 &d}\ > +9 &zq\ N +9 &>R\ M +10 &U\ N +9 &S\ M +9 &V\ N +10 &EU\ M +9 &T\ M +9 &W\ M +10 & V\ N +9 &"MU\ M +10 &$X\ M +9 &%T\ M +9 &'R\ M +10 &)UW\ M +9 &+W\ M +9 &,V\ M +10 &.Q\ M +9 &0\\U\ N +10 &2U\ M +9 &3S\ M +9 &5W\ M +10 &7dV\ N +9 &9&V\ N +10 &:V\ N +9 &<S\ M +9 &>lY\ N +10 &@/X\ M +9 &AX\ N +9 &C`\ O +10 &Eod\ O +9 &G-n\ Q +9 &H}\ R +10 &J\ S +9 &Lj\ T +10 &N)\ U +9 &O\ T +9 &Q\ U +10 &Sm\ V +9 &U0\ U +10 &V\ U +9 &X\ T +9 &Zu\ U +10 &\\8\ U +9 &]|t\ ; +9 &^'k\ Q +10 &^#\ 3 +2 ( +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&51 +57 "core" 1 + "manipulator"&"% +4 "core" %   w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +92 "core" ' +3 "processing"%& +3 "core" &^!<\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&A% +3 "core" %    +2 "storage"(O% +3 "core" % S V\  +2 "storage"(. +4 "core" .( + "storage"(C& +4 "core" &\ \ \ +2 "storage"(V& +2 "manipulator"&R& +6 "core" & % >\ +2 & q +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"('r +5 "core" ( +2 "manipulator"&& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &  +3 .tForearm.seek PC + "manipulator"&}' +95 "core" ' + .tHand.close +2 "manipulator"&h/ +55 "core" / +2 .tPC.seek :open + "processing"%( +101 "core" ' +3 "storage"(B- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'1 +50 "core" ' +338 ( + "storage"(e& +4 "core" & " " $\ +2 "manipulator"&4& +3 "core" & n +2 "manipulator"&]% +4 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&p( +238 "core" ( +2 "manipulator"&`& +3 "core" & Q E +2 "storage"(& +4 "core" & T \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&k'7 +94 "core" ' +2 .tHand.open + "manipulator"&91 +53 "core" 1 +3 "storage"(Q- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(s' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(_- +3 "core" -' +2 "storage"()& +3 "core" & f e 9\ +2 "manipulator"&*& +4 "core" &  D +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  D +2 "storage"(1& +4 "core" & b c \ +3 .tForearm.seek 3 + 450 counts + "manipulator"&.'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&& +4 "core" & D +2 "storage"(& +3 "core" & " $ -\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&7'u +25 "core" ' + .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +28 "core" ' +2 "manipulator"&t% +3 "core" %· +2 "storage"(z& +4 "core" & \  %\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&q'ϳ +13 "core" ' + "manipulator"&2& +4 "core" & ` D +2 "storage"(Y& +4 "core" & !  *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&i'7 +16 "core" ' + "storage"(K% +4 "core" % "  z\ +3 ."downElevator"SE.seek :down +3 "storage"($' +99 ((% +3 "core" %eW\ (\ ' w\ Xh +2 "manipulator"&I% +4 "core" %3 y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&H' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (N& +3 "core" & 4  \ +2 "collection"'&& +4 "core" &\\p A\ N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&Z% +3 "core" %  5  +2 "storage"(% +4 "core" %   \  +2 "storage"(. +2 "core" .( +2 "storage"('& +5 "core" &   \ +2 "storage"(& +3 "core" & " " :\ +2 "manipulator"&>& +3 "core" & L D +3 .tElbow.seek 3 + "manipulator"&+( +4 "core" ( +2 "manipulator"&[& +3 "core" &  D +2 "storage"(& +3 "core" &   ^\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&x'7 +91 "core" ' +2 "storage"(w& +3 "core" & D D \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +46 "storage"(~'r +297 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +4 "core" & P D +2 "storage"(<& +3 "core" & $ # +\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&|'u +21 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(L'n +33 "core" ' + "manipulator"&% +5 "core" %Έ , + "storage"(y& +4 "core" & " &\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&@'ϴ +16 "core" ' + "manipulator"&{& +4 "core" & 6 D +2 "storage"( & +4 "core" &   J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&W'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(G' +34 "core" ' +2 "manipulator"&b& +3 "core" & a D +2 "manipulator"&% +5 "core" %4 b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&T(ӂ +147 "core" ( + "manipulator"&=& +4 "core" &y+  Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &y+  Cq +2 .tForearm.seek CC +2 "manipulator"&,'? +93 "core" ' +2 .tHand.close + "manipulator"&c/ +63 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(\ & +4 "core" & L @ Q\ +2 "storage"(:& +3 "core" & > = \ +2 "manipulator"&D& +4 "core" &Ӫ# 0 <@ +2 "manipulator"&P% +3 "core" % M | . +3 .tForearm.seek :retract +2 "manipulator"&E' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&n( +155 "core" ( +2 "manipulator"& & +3 "core" & +2 "storage"(j& +4 "core" & k j \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&?'u +102 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&a1 +63 "core" 1 +2 "manipulator"&o% +4 "core" %  H +2 "storage"(d& +3 "core" & k i \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&M'ϫ +27 "core" ' +2 "manipulator"&6& +3 "core" & +2 "storage"(8& +4 "core" & m l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%'7 +27 "core" ' +2 "storage"(v% +3 "core" % k l \ +3 ."downElevator"SE.seek :down +3 "storage"(0' +99 (% +3 "core" %yI D F %\ Vb +2 "manipulator"&S% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'u& +3 "core" & I\ +2 "manipulator"&^% +4 "core" %   +2 "storage"(f% +3 "core" % ^ _ $\  +2 "storage"(. +4 "core" .( +46 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (5& +3 "core" &,y = > \ +2 "manipulator"&"& +4 "core" & D +2 .tElbow.seek 4 +2 "manipulator"&( +34 "core" ( + "manipulator"&A& +4 "core" &  +2 "storage"(O& +4 "core" &,y _ _ -\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(C& +5 "core" &,y p \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +300 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +2 "core" &,m Y f $\  +2 "manipulator"&& +5 "core" & +2 .tElbow.seek 4 +2 "manipulator"&U( +4 "core" ( + "manipulator"& & +4 "core" & % +2 "storage"(h& +3 "core" &,m l l \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&B'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(' +7 "core" & U +2 "manipulator"&% +4 "core" % π +2 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +152 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&]& + "storage"(5 +8 "core" &{+  Cs + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +2 "core" &{+ 8 Cs +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&`'? +91 "core" ' +3 "manipulator"&& +3 "core" &Ӎ+ N @a +2 "manipulator"&% +4 "core" %9 * B +2 "collection"'9& +4 "core" & b\ +3 "collection"'Q& +4 "core" & )\ +3 .tCC.seek :closed +2 "collection"'_(\\ +4 "core" & '\ +8 &A )\ $f +9 &Y{ '\ 7 +10 &w '\ K +9 &U $\ K +9 &X \ K +10 &LT \ K +9 & X \ K +9 &U \ K +10 &S \ K +9 &SU \ K +10 & T \ K +9 &!X \ K +9 &#U \ K +10 &%[W \ K +9 &'T \ J +9 &(U \ K +10 &*T \ K +9 &,cT \ K +9 &.%U \ K +10 &/U \ K +9 &1T \ K +10 &3kU \ \ K +9 &5.T  \ K +9 &6X  \ K +10 &8U  \ K +9 &:uU  \ J +9 &<6U \ K +10 &=U \ \ J +9 &?U \ K +10 &A{W \ K +9 &C<X \ L +9 &Dc  \ L +10 &Fm \ N +9 &Hu \ P +10 &J*\ \ \ \ U +9 &K\ \ \ V +9 &M\ \  \ X +10 &Og\ \ \ X +9 &Q)\ \  \ X +9 &R\ \ \ Y +10 &T\ \ \ \ Y +9 &Vh\ \  \ Z +9 &X)\ \ \ \  \ Z +10 &Y\ \ \ \  \ [\ +9 &[\ \  \ H +10 &\\/\ \  \ 2 +9 &\\n\ \  \ L +2 ( +2 "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&)1 +57 "core" 1 +2 "manipulator"&*% +3 "core" % 9 B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%1& +3 "core" &\ +2 "manipulator"&% +4 "core" %  W  +2 "storage"(% +4 "core" % $ # Q\  +2 "storage"(. +2 "core" .(,v +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(t(,y +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +3 "core" &,}\ \ \ +2 "manipulator"&z& +3 "core" &Ӭ# ? =B +2 "manipulator"&2% +4 "core" %  {  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +158 "core" ( +2 "manipulator"&Y& +4 "core" & K +2 "storage"(K& +3 "core" &,} / 4 \ +49 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +93 "core" ' +3 "storage"(k& +3 "core" &,} G F \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +298 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (I& +3 "core" &,m * X\  +2 "manipulator"&.& +3 "core" & c +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & +2 "storage"(7& +4 "core" &,m % ( 3\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&q'c +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&N/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"(Z' +7 "core" & { +2 "manipulator"&% +4 "core" % t M +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&'& +4 "core" & } > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&>' +99 "core" ' +2 "manipulator"&[& +3 "core" &  > +2 "manipulator"&% +4 "core" % ! 0 +2 "processing"%i& +4 "core" &\ +3 "processing"%w& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%$(^ +3 "core" &\ +9 &6\ #c +9 &Tv\ 6 +10 &~y\ K +9 &R\ M +9 &_Q\ M +10 &!O\ M +9 &V\ M +10 &R\ M +9 &gP\ M +9 &*T\ M +10 &T\ N +9 &!U\ M +9 &#oV\ M +10 &%0V\ N +9 &&T\ M +10 &(W\ N +9 &*wT\ M +9 &,9R\ M +10 &-Q\ M +9 &/W\ M +9 &1~T\ N +10 &3@T\ N +9 &5T\ M +10 &6T\ M +9 &8V\ N +9 &:JQ\ M +10 &<\ S\ N +9 &=V\ N +9 &?S\ N +10 &AO[\ N +9 &Cb\ O +10 &De\ P +9 &Fn\ Q +9 &HI\ S +10 &J \ S +9 &K\ T +9 &M\ T +10 &OL\ T +9 &Q \ U +10 &R\ U +9 &T\ U +9 &VR\ U +10 &X\ U +9 &Y\ U +10 &[\ U +9 &]Y\ C +9 &^Hx\ Y +10 &^;\ 4 +5 ( +2 "processing"%w& +4 "core" &^(\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&g1 +63 "core" 1 +2 "manipulator"&H% +3 "core" %   1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +3 "processing"%#& +3 "core" &^(\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&<% +3 "core" %    +2 "storage"(3% +3 "core" % # " ?\  +2 "storage"(. +3 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(y(,y +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +2 "manipulator"& & +6 "core" &,} V ( \ + &  > +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(b'r + "manipulator"&( +6 "core" ( +2 "manipulator"&x& +3 "core" &   > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +3 "core" & \  > +2 .tForearm.seek PC +2 "manipulator"&~' +97 "core" ' + .tHand.close +2 "manipulator"&|/ +61 "core" / +2 .tPC.seek :open + "processing"%@( +88 "core" ' +2 "storage"(=- +2 "core" -'r +49 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +39 "core" ' +272 ( + "storage"(X& +4 "core" &,i ) + 4\  +2 "manipulator"&W& +3 "core" & ' > +3 "manipulator"&;% +3 "core" %   , +2 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&/( +246 "core" ( + "manipulator"&F& +4 "core" & ( +2 "storage"(\ & +3 "core" &,i #  Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +97 "core" ' + .tHand.open +2 "manipulator"&D1 +64 "core" 1 +3 "storage"(P- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(j' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(,- +3 "core" -' +2 "storage"(T& +3 "core" &,i ` W\  +2 "manipulator"&a& +4 "core" &  ' +2 .tElbow.seek 4 +2 "manipulator"&o( +4 "core" ( +2 "manipulator"&d& +3 "core" &   ' +2 "storage"(6& +4 "core" &,i U J /\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(v'" +50 "core" ' +2 "manipulator"&E& +3 "core" & + ' +2 "storage"(& +4 "core" &,i #  L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&S'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +28 "core" ' +2 "manipulator"&M% +3 "core" %, +  +2 "storage"(u& +4 "core" &,i $ " Z\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 289 counts + "manipulator"&^'X +15 "core" ' + "manipulator"&f& +4 "core" & ' +2 "storage"(& +4 "core" &,i $  G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&G' +23 "core" ' +2 "storage"(%% +4 "core" % "  \ +3 ."downElevator"SE.seek :down +3 "storage"(0' +99 (m% +3 "core" %[N\ +\ ) (\ We +2 "manipulator"&5% +5 "core" %  ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (A& +3 "core" &,i *  B\  +2 "collection"'O& +3 "core" &\\m F\ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&C% +4 "core" %  N  +2 "storage"( % +3 "core" % ! " 6\  +2 "storage"(!. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(R(,y +39 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (l& +3 "core" &,z $ \ +2 "manipulator"&& +4 "core" & \ ' +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&h& +4 "core" & S ' +2 "storage"(J& +3 "core" &,z 2 % Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +90 "core" ' +2 "storage"(& +3 "core" &,z C F\ +3 .tSE.reconfigure :pick +48 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" & ; ' +2 "storage"(}& +4 "core" &,m &  N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&V'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"('t +29 "core" ' +2 "manipulator"&9% +4 "core" %D 2  +2 "storage"(U& +3 "core" &,m " " >\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 313 counts + "manipulator"&'p +13 "core" ' +2 "manipulator"&e& +3 "core" & ' +2 "storage"(& +4 "core" &,m % & 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(*' +42 "core" ' +2 "manipulator"&1& +4 "core" &  ' +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&Q& +3 "core" &Ӆ*  Bk +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &Ӆ* $ Bk +2 .tForearm.seek CC +2 "manipulator"&z'? +94 "core" ' +2 .tHand.close + "manipulator"&2/ +57 "core" / + .tCC.seek :open +2 "collection"'`( +450 "core" ( +2 "storage"(Y& +3 "core" &,m : : |\  +2 "storage"(K& +4 "core" &,m F B \  +2 "manipulator"&& +3 "core" &Ӯ$ P =B +2 "manipulator"&4% +4 "core" % 8  ; +2 .tForearm.seek :retract +2 "manipulator"&k' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&(& +3 "core" &   +2 "storage"(I& +3 "core" &,m e h Q\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&.'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +60 "core" 1 +2 "manipulator"&N% +4 "core" % % C , +2 "storage"(&& +4 "core" &,m j k \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 282 counts +3 "manipulator"&'Q +13 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(p& +4 "core" &,m q t {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&s' +15 "core" ' +2 "storage"(q% +3 "core" % t | \ +3 ."downElevator"SE.seek :down +3 "storage"('' +99 (% +3 "core" %J O D =\ Va +2 "manipulator"&% +4 "core" % F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&i% +5 "core" %    +2 "storage"(Z% +48 "core" % [ [\  +4 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (g& +3 "core" &<, !  \  +2 "manipulator"&H& +3 "core" & (  +2 .tElbow.seek 5 +2 "manipulator"&#( +4 "core" ( +2 "manipulator"&<& +3 "core" &   +2 "storage"(3& +4 "core" &<, j j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +97 "core" ' + "storage"(w& +4 "core" &<,  ~ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +295 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (x& +2 "core" &<, K d c\  +2 "manipulator"&+& +4 "core" & C  +2 .tElbow.seek 5 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&|& +4 "core" &    +2 "storage"(t& +4 "core" &<, [ [\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&='Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"($' +7 "core" &   +2 "manipulator"&b% +3 "core" %  c +3 .tForearm.seek :retract +2 "manipulator"&X' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&;& +4 "core" &ӟ" Z ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &ӟ" ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'? +99 "core" ' +2 "manipulator"&\ & +3 "core" &ӟ" ;2 +2 "manipulator"&% +4 "core" %C  +2 "collection"'D& +4 "core" & `\ +3 "collection"'P& +5 "core" & *\ +2 .tCC.seek :closed +2 "collection"',(\\ +6 "core" & (\ +5 & *\ : +9 &IKv (\ 0 +10 &}u~ +\ D +9 &)Z ,\ K +9 &R '\ K +10 &U '\ K +9 &oW -\ K +10 &3T %\ J +9 &T \ K +9 &X \ K +10 &xU \ K +9 &!:Y \ K +10 &"R \ K +9 &$T \ K +9 &&X \ K +10 &(BS \ K +9 &*U \ K +9 &+S \ K +10 &-U \ K +9 &/IY \ K +9 &1 U \ K +10 &2R \ K +9 &4U \ J +10 &6QU \ K +9 &8U \ K +9 &9X \ K +10 &;S \ K +9 &=ZU \ K +9 &?Y \ K +10 &@V \ K +9 &BY  \ K +10 &D`_ \ L +9 &Fk \ M +9 &Gy \ P +10 &I\ \  \ S +9 &KI\ \ \ V +9 &M \ \ \ W +10 &N\ \  \ W +9 &P\ \ \ X +10 &RJ\ \  \ Y +9 &T \ \ \ Y +9 &U\ \ \ \ Y +10 &W\ \  \ Z +9 &YJ\ \ \ \ [ +9 &[\ \  \ [ +10 &\\aD\ \ \ 1 +9 &\\%\ \  \ L +10 ( + &\\]\ \ \ I +2 "collection"'P& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&T1 +65 "core" 1 + "manipulator"&a% +4 "core" % C M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%6& +3 "core" &\ +2 "manipulator"&c% +3 "core" %    +2 "storage"(E% +4 "core" % 0 ) q\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(M(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (u& +3 "core" &<,\ \ % x\  +2 "manipulator"&L& +4 "core" &ӡ  0 :0 +2 "manipulator"&f% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +180 "core" ( +2 "manipulator"& & +3 "core" & 0 ' +48 "storage"(%& +5 "core" &<, D D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +90 "core" ' +2 "storage"(:& +4 "core" &<, G < w\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +299 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" &<, $ ! 5\  +2 "manipulator"&8& +4 "core" & ' +2 .tElbow.seek 5 +2 "manipulator"&o( +2 "core" ( +2 "manipulator"&v& +4 "core" & % ' +2 "storage"(S& +4 "core" &<, E E L\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&^'Ϲ +39 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +7 "storage"(C' +6 "core" & L ' +3 "manipulator"& % +4 "core" %  3 d +2 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&l& +4 "core" & f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & C  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&h' +89 "core" ' +2 "manipulator"&J& +3 "core" & b  +2 "manipulator"&G% +4 "core" %  y +2 "processing"%& +4 "core" &\ +3 "processing"%0& +5 "core" &!\ +2 .tPC.seek :closed +2 "processing"%y(^ +3 "core" & \ +9 &6\ #b +9 &Vz\ 7 +10 &v\ K +9 &S\ N +9 &cU\ N +10 &&R\ M +9 &W\ M +10 &V\ M +9 &kT\ N +9 &.T\ M +10 &R\ M +9 &!U\ M +9 &#sU\ N +10 &%6T\ M +9 &&V\ M +10 &(U\ N +9 &*|T\ M +9 &,>S\ M +10 &.Q\ M +9 &/V\ N +9 &1T\ M +10 &3FR\ M +9 &5U\ N +10 &6U\ M +9 &8S\ M +9 &:NR\ M +10 &<T\ N +9 &=U\ N +9 &?X\ M +10 &AUZ\ N +9 &C_\ O +10 &Dc\ O +9 &Fo\ P +9 &HP}\ R +10 &J\ S +9 &K\ S +9 &M\ T +10 &OQ\ T +9 &Q\ U +9 &R\ T +10 &T\ U +9 &VY\ T +10 &X\ T +9 &Y\ U +9 &[\ U +10 &]`\ B +9 &^Jy\ M +9 &^ N\ 7 +6 ( +2 "processing"%0& +3 "core" &^-\ 7 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&n1 +61 "core" 1 +2 "manipulator"&"% +3 "core" %   y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +3 "processing"%]& +3 "core" &^-\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&}% +3 "core" %  f  +2 "storage"(% +4 "core" % " " \  +2 "storage"(9. +3 "core" .(<- +2 "storage"(U& +3 "core" &<,   \  +3 "storage"(e& +2 "manipulator"&& +7 "core" &<, " " 6\  + & "  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&1( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"&-& +3 "core" &  H  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  1  +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + .tHand.close +2 "manipulator"&V/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +49 ."raiseStack"SE.seek :place +3 "storage"(Q'1 +41 "core" ' +265 ( +2 "storage"(\\& +3 "core" &<,  $ \  +2 "manipulator"&)& +4 "core" & Y  +2 "manipulator"&B% +4 "core" %  ^ +2 .tForearm.seek :retract +2 "manipulator"&2' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +240 "core" ( + "manipulator"&_& +4 "core" & g 0 +2 "storage"(Y& +4 "core" &<, $ " \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +102 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "storage"(4- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"((' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(I' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(z- +3 "core" -' +2 "storage"(& +4 "core" &<, 5 5\  +2 "manipulator"&7& +3 "core" &  a 0 +2 .tElbow.seek 5 +2 "manipulator"&N( +4 "core" ( +2 "manipulator"&&& +3 "core" &   0 +2 "storage"(& +4 "core" &<, A 7 R\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(q'" +56 "core" ' +2 "manipulator"&k& +3 "core" & V 0 +2 "storage"(& +3 "core" &<,  ! *\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +29 "core" ' + "manipulator"&% +4 "core" %Γ ! F +2 "storage"(i& +3 "core" &<,  ! \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&'Ͽ +20 "core" ' +2 "manipulator"&Z& +4 "core" & - +2 "storage"(*& +4 "core" &<, G G \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' + "storage"(s% +4 "core" % F F \ +3 ."downElevator"SE.seek :down +3 "storage"('' +99 (R% +3 "core" %lJ\ \ # *\ Wd +2 "manipulator"&g% +5 "core" %O ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +97 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (<& +3 "core" &<, 2 - \  +2 "collection"'3& +4 "core" &\\] <\ I +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&w% +3 "core" %  E +2 "storage"(% +3 "core" % G G \  +2 "storage"([. +4 "core" .(<- + "storage"( & +4 "core" &<, G G \  +2 "storage"(x& +4 "core" &<, F E \  +2 "manipulator"&+& +3 "core" & + - +2 .tElbow.seek 5 +2 "manipulator"&|( +4 "core" ( + "manipulator"&t& +4 "core" & O - +2 "storage"(r& +4 "core" &<, G G \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +91 "core" ' +2 "storage"(b& +3 "core" &<, J R _\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'r +296 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +49 "manipulator"&;& +3 "core" & T - +2 "storage"(~& +4 "core" &<,   d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&{'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\ - +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('v +29 "core" ' + "manipulator"&D% +5 "core" %Ξ + "storage"(>& +4 "core" &<, % # \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts + "manipulator"&$' +19 "core" ' + "manipulator"&X& +4 "core" & - , +2 "storage"(`& +4 "core" &<, G H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&T'O +17 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(a' +35 "core" ' + "manipulator"&6& +4 "core" & - , +2 "manipulator"&c% +4 "core" %M h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +147 "core" ( +2 "manipulator"&P& +4 "core" &Ӄ' l @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &Ӄ' S @W +2 .tForearm.seek CC +2 "manipulator"&L'? +98 "core" ' + .tHand.close +2 "manipulator"&f/ +56 "core" / +2 .tCC.seek :open +2 "collection"'F( +446 "core" ( +2 "storage"( & +3 "core" &<, D B \  +2 "storage"(%& +4 "core" &<, H R 0\  +2 "manipulator"&& +3 "core" &Ӷ  , 9$ +2 "manipulator"&W% +4 "core" % 2 _ +3 .tForearm.seek :retract + "manipulator"&:' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&d( +165 "core" ( +2 "manipulator"&m& +3 "core" &  +2 "storage"(5& +5 "core" &<, e h 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&8'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +62 "core" 1 +3 "manipulator"&A% +3 "core" % Ώ ; ; +2 "storage"(O& +3 "core" &<, i j \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"& 'ϻ +19 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(/& +3 "core" &<, ] [ )\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +17 "core" ' +2 "storage"(^% +3 "core" % n _ L\ +3 ."downElevator"SE.seek :down +4 "storage"(l' +98 (% +3 "core" %? : : \ V_ +2 "manipulator"&o% +3 "core" %Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'G& +3 "core" & R\ +2 "manipulator"&% +4 "core" %   +2 "storage"(C% +3 "core" % _ k ~\  +2 "storage"(!. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(@( +678 "core" ( +6 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +3 "core" & E E \ +2 "manipulator"&"& +3 "core" & 9  +3 .tElbow.seek 3 + "manipulator"&]( +36 "core" ( + "manipulator"&}& +4 "core" & 9 +2 "storage"(& +4 "core" & j k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&9'7 +92 "core" ' +2 "storage"(U& +3 "core" & i E\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +300 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +2 "core" & A X b\ +3 "manipulator"&-& +3 "core" & 9 9 +6 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&h& +3 "core" & 9 +2 "storage"(V& +4 "core" & i i f\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(y' +6 "core" & 9 +3 "manipulator"&% +3 "core" %  ? +3 .tForearm.seek :retract + "manipulator"&\\' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&B& +3 "core" &ӟ , 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӟ  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&_'? +93 "core" ' +2 "manipulator"&Y& +4 "core" &ӟ 8 +2 "manipulator"&1% +3 "core" %@ m p +3 "collection"'& +3 "core" & f\ +3 "collection"'4& +5 .tCC.seek :closed + "collection"'z(\\ +4 "core" & d\ +7 &A +\ %g +10 &Yw )\ 7 +9 & w $\ K +9 &R "\ K +10 &T *\ K +9 &RU #\ K +10 &X -\ K +9 &U +\ K +9 &S +\ K +10 &ZU +\ K +9 & T +\ J +9 &!U +\ K +10 &#U *\ K +9 &%bT +\ K +10 &'$U \ K +9 &(U  \ J +9 &*U \ K +10 &,kU \ J +9 &.,U \ K +9 &/T \ J +10 &1V \ K +9 &3sU \ J +10 &53V \ K +9 &6V \ K +9 &8Y \ K +10 &:zV \ K +9 &<;T \ K +9 &=U \ K +10 &?V \ J +9 &AW \ K +10 &CB_ \ L +9 &Ec \ L +9 &Fm \ N +10 &Hz \ P +9 &J0\ \ \ U +10 &K\ \ \ W +9 &M\ \  \ W +9 &Om\ \ \ X +10 &Q0\ \ \ W +9 &R\ \ \ \ X +9 &T\ \ \ Y +10 &Vo\ \ \ \ \ Z +9 &X.\ \ \ [ +9 &Y\ \  \ [\ +10 &[\ \ \ H +9 &\\0\ \ \ / +10 &\\f\ \  \ M +2 ( +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +3 "manipulator"&7% +3 "core" % @ p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&2% +4 "core" %  =  +2 "storage"(k% +3 "core" % $ " E\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(Q( +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  \  +3 "manipulator"&i& +3 "core" &ӟ f 8 +2 "manipulator"&(% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +160 "core" ( + "manipulator"&*& +4 "core" &   +2 "storage"(s& +4 "core" & G E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +92 "core" ' +50 "storage"(K& +3 "core" & G G \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +296 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & ! * \  +2 "manipulator"&p& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&N( +3 "core" ( +2 "manipulator"&q& +4 "core" & I  +2 "storage"(& +4 "core" &   E\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T\ N +9 &T\ M +9 &V\ M +10 & U\ M +9 &"HQ\ M +9 &$ T\ M +10 &%Q\ M +9 &'T\ N +10 &)OT\ M +9 &+V\ M +9 &,U\ N +10 &.R\ M +9 &0VT\ N +9 &2T\ N +10 &3T\ M +9 &5R\ M +10 &7_R\ M +9 &9!X\ M +9 &:W\ N +10 &<R\ M +9 &>gY\ M +9 &@(Y\ N +10 &AY\ N +9 &Cb\ O +10 &Eig\ O +9 &G(m\ P +9 &H\ R +10 &J\ T +9 &Ld\ T +9 &N&\ T +10 &O\ T +9 &Q\ U +10 &Sj\ T +9 &U+\ U +9 &V\ U +10 &X\ U +9 &Zq\ U +9 &\\2\ U +10 &]}v\ : +9 &^*y\ S +10 &^\ 0 +2 ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&H% +3 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +3 "processing"%;& +3 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&~% +3 "core" %   " +2 "storage"(\ % +4 "core" % " " ;\  +2 "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(>( +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (X& +2 "manipulator"&`& +4 "core" & P % 2\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  - +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(6'r +2 "manipulator"&c( +6 "core" ( +2 "manipulator"& & +4 "core" &   - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" & \ - +2 .tForearm.seek PC +2 "manipulator"&#' +96 "core" ' +2 .tHand.close + "manipulator"&{/ +58 "core" / +2 .tPC.seek :open +2 "processing"%$( +88 "core" ' + "storage"(P- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +306 ( +2 "storage"(u& +4 "core" & # " g\  +2 "manipulator"&T& +3 "core" & R - +2 "manipulator"&=% +4 "core" %  _ 3 +2 .tForearm.seek :retract +2 "manipulator"&f' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&E( +246 "core" ( + "manipulator"&,& +4 "core" &  K +2 "storage"( & +3 "core" & $ " 4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&%'7 +91 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(W- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(m' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(5' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(L- +3 "core" -' +2 "storage"(& +4 "core" & X ` \  +2 "manipulator"&S& +3 "core" &  K +3 .tElbow.seek 3 + "manipulator"&A( +4 "core" ( +2 "manipulator"&O& +3 "core" &   K +2 "storage"(& +5 "core" & P _ n\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&/'7 +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(^'" +57 "core" ' +2 "manipulator"&:& +3 "core" & # K +2 "storage"(& +3 "core" & $ % `\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&o'u +26 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +28 "core" ' +2 "manipulator"&G% +3 "core" %΁ +2 "storage"( & +4 "core" &   ^\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϭ +24 "core" ' + "manipulator"&C& +4 "core" & z K +2 "storage"(!& +4 "core" &   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a'7 +16 "core" ' + "storage"(j% +4 "core" % # ( b\ +3 ."downElevator"SE.seek :down +3 "storage"(l' +100 (M% +3 "core" %U ? \ Xh +2 "manipulator"&n% +4 "core" %3 : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (}& +3 "core" & % ! *\  +2 "collection"'& +4 "core" &\\b \ \ M +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&U% +3 "core" %  \  +2 "storage"(v% +3 "core" % " ! %\  +2 "storage"(J. +3 "core" .( +2 "storage"(& +4 "core" &   #\  +2 "storage"(e& +4 "core" & !  \  +2 "manipulator"&-& +3 "core" &  K +2 .tElbow.seek 3 +2 "manipulator"&h( +4 "core" ( +2 "manipulator"&V& +3 "core" &  K +2 "storage"(?& +4 "core" & "  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +96 "core" ' + "storage"(& +4 "core" & E E \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +297 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" & K +2 "storage"(& +48 "core" &  # G\  +3 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&0'u +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(1'n +30 "core" ' + "manipulator"&% +4 "core" %΅ b +2 "storage"( & +3 "core" & " # $\  +7 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&y'ϱ +14 "core" ' + "manipulator"&\\& +4 "core" & l K +2 "storage"(F& +4 "core" & G G \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(7' +35 "core" ' + "manipulator"&& +4 "core" & E K +2 "manipulator"&2% +3 "core" %. X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( +2 "manipulator"&4& +4 "core" &ӄ( : Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӄ( + Ae +2 .tForearm.seek CC +2 "manipulator"&i'? +99 "core" ' + .tHand.close +2 "manipulator"&(/ +61 "core" / +2 .tCC.seek :open + "collection"'_( +447 "core" ( +2 "storage"(*& +3 "core" & F E \  +2 "storage"(s& +4 "core" & G G \  +2 "manipulator"&@& +3 "core" &Ӫ# <? +2 "manipulator"&)% +3 "core" % :   +3 .tForearm.seek :retract + "manipulator"&K' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&&( +165 "core" ( + "manipulator"&R& +4 "core" &   +2 "storage"(g& +3 "core" & f h \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&p'u +98 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&<% +4 "core" % Έ +2 "storage"(3& +3 "core" & [ [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&'ϴ +14 "core" ' +2 "manipulator"&Z& +3 "core" &  +2 "storage"(& +4 "core" & k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&I'7 +16 "core" ' + "storage"(% +4 "core" % f ] I\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +100 (x% +2 "core" %dF G N \ Va +2 "manipulator"&N% +4 "core" %0  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +90 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'r& +4 "core" & \ +2 "manipulator"&% +3 "core" %  a  +2 "storage"(w% +3 "core" % p  \  +2 "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +47 "core" &,w _ \\ 6\  +4 "manipulator"&H& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&;( +44 "core" ( +2 "manipulator"&~& +3 "core" &   +2 "storage"(\ & +5 "core" &,w ~  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +87 "core" ' + "storage"(b& +4 "core" &,w   \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +297 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,m \\ ^ -\  +2 "manipulator"&|& +4 "core" & N  +2 .tElbow.seek 4 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&{& +3 "core" & r  +2 "storage"(Q& +4 "core" &,m i i \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&P'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&./ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"('' +5 "core" & +  +3 "manipulator"&6% +4 "core" % t  w +2 .tForearm.seek :retract +2 "manipulator"&u' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +156 "core" ( +2 "manipulator"&=& +2 "core" ' +2 &ӎ'  F @[ +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &#& +3 "core" &ӎ' R @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'? +93 "core" ' +2 "manipulator"& & +3 "core" &ӎ(  @[ +2 "manipulator"&c% +5 "core" %8 n + "collection"'& +4 "core" & 9\ +3 "collection"'W& +5 "core" & h\ +2 .tCC.seek :closed +2 "collection"'L(\\ +3 "core" & 2\  +9 &4y *\ *z +10 &\ g} *\ > +9 &i )\ L +10 &YQ +\ K +9 &X +\ K +9 &U *\ K +10 &S (\ K +9 &bS +\ J +9 &"U /\ K +10 &T +\ K +9 & R ,\ K +10 &"iT +\ K +9 &$+T *\ K +9 &%T +\ J +10 &'T &\ K +9 &)qT \ K +9 &+4U \ J +10 &,U \ K +9 &.T \ K +10 &0yU \ K +9 &2<T \ J +9 &3U \ K +10 &5U \ K +9 &7U  \ K +9 &9DU "\ J +10 &;U  \ K +9 &<U \ K +10 &>U  \ K +9 &@KV \ K +9 &B W \ K +10 &C\\ \ L +9 &Eh \ M +9 &GHr \ O +10 &I\ #\ Q +9 &J\ \ \ V +10 &Lv\ \  \ W +9 &N5\ \ \ X +9 &O\ \ \ X +10 &Q\ \ \ Y +9 &Sy\ \  \ Y +9 &U8\ \ \ Z +10 &V\ \  \ [ +9 &X\ \ \ \ [\ +10 &Zy\ \ \ \ [ +9 &\\y\ \ \ 0 +9 &\\/\ \ \ [ +10 ( + &\\a\ \ \ L + "collection"'W& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +3 "manipulator"&S% +3 "core" % 8 n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &-\ +2 "manipulator"&f% +3 "core" %  5 { +2 "storage"(:% +4 "core" % " " 0\  +2 "storage"(. +2 "core" .(,v +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &,z   $\ +2 "manipulator"& & +4 "core" &ӫ" <> +2 "manipulator"&m% +3 "core" %  { +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&C( +166 "core" ( +2 "manipulator"&!& +3 "core" &  +2 "storage"(j& +4 "core" &,z N D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&E' +91 "core" ' +2 "storage"(%& +3 "core" &,z Q M ]\ +3 .tSE.reconfigure :pick +49 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(5'r +298 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (n& +3 "core" &,m # " L\  +2 "manipulator"&/& +3 "core" & s  +2 .tElbow.seek 4 +2 "manipulator"&A( +4 "core" ( +2 "manipulator"&^& +3 "core" & O  +2 "storage"(o& +4 "core" &,m # $ \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(U' +8 "core" & \\  +2 "manipulator"&v% +3 "core" % ] 9 +3 .tForearm.seek :retract + "manipulator"&J' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&& +4 "core" & G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" & h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&-' +95 "core" ' + "manipulator"&V& +4 "core" & +2 "manipulator"&?% +4 "core" % ) +2 "processing"%a& +4 "core" &\ +2 "processing"%& +5 "core" &+\ +2 .tPC.seek :closed +2 "processing"%l(^ +5 "core" & \  +9 &3y \ *x +9 &c}\ \ > +9 &wq \ N +10 &<R \ M +9 &T\ N +10 &R\ M +9 &U\ M +9 &CR\ M +10 &T\ N +9 &T\ M +9 & R\ M +10 &"KV\ M +9 &$ U\ N +10 &%T\ M +9 &'R\ M +9 &)SU\ M +10 &+U\ N +9 &,U\ M +9 &.Q\ M +10 &0ZU\ N +9 &2T\ N +10 &3T\ M +9 &5W\ M +9 &7cW\ M +10 &9%X\ M +9 &:V\ N +9 &<R\ M +10 &>jY\ N +9 &@,V\ N +10 &A_\ N +9 &Cc\ O +9 &Elk\ P +10 &G)u\ Q +9 &H\ T +9 &J\ S +10 &Li\ S +9 &N)\ T +10 &O\ T +9 &Q\ U +9 &Sl\ U +10 &U.\ U +9 &V\ U +9 &X\ T +10 &Zr\ V +9 &\\7\ U +10 &]zs\ ; +9 &^'k\ T +9 &^'\ 3 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&d1 +63 "core" 1 + "manipulator"&"% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +89 "core" ' +2 "processing"%B& +4 "core" &^$\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %    +2 "storage"(Y% +3 "core" % " " 0\  +2 "storage"(. +3 "core" .(,y +2 "storage"( & +4 "core" &,m " ! 9\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(\\(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (F& +2 "manipulator"&& +4 "core" &,| "  '\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(2'r +2 "manipulator"&( +7 "core" ( + "manipulator"&h& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &  k +2 .tForearm.seek PC +2 "manipulator"&0' +95 "core" ' +2 .tHand.close + "manipulator"&y/ +58 "core" / +2 .tPC.seek :open +2 "processing"%4( +89 "core" ' +2 "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +49 "core" ' +307 ( +10 "storage"(& +3 "core" &,k ! 6 \ +2 "manipulator"&& +4 "core" & . +2 "manipulator"&(% +3 "core" %  k > +3 .tForearm.seek :retract + "manipulator"&k' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&z( +238 "core" ( +2 "manipulator"&*& +4 "core" &  0 +2 "storage"(s& +3 "core" &,k  ! \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +93 "core" ' +2 .tHand.open + "manipulator"&)1 +55 "core" 1 +3 "storage"(R- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(g' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(i' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &,k 8 * I\ +2 "manipulator"&<& +3 "core" &  / +3 .tElbow.seek 4 + "manipulator"&3( +4 "core" ( +2 "manipulator"&Z& +3 "core" &   / +2 "storage"(& +4 "core" &,k C > \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(K'" +58 "core" ' + "manipulator"&x& +4 "core" & / +2 "storage"(N& +3 "core" &,k  ! $\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&&'7 +17 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(r' +29 "core" ' + "manipulator"&% +4 "core" %G D  +2 "storage"(& +4 "core" &,k  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&w's +14 "core" ' +2 "manipulator"&[& +3 "core" & / +2 "storage"(7& +4 "core" &,k   \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +15 "core" ' +2 "storage"( % +3 "core" % ' C \ +3 ."downElevator"SE.seek :down +3 "storage"(>' +99 (% +3 "core" %vL\ \ % Q\ Vb +2 "manipulator"&H% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +92 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +3 "core" &,k  \ +2 "collection"'b& +4 "core" &\\b [\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&q% +4 "core" %   +2 "storage"(t% +4 "core" %  \  +2 "storage"(`. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +3 "core" &,}   I\ +2 "manipulator"&{& +3 "core" & B / +2 .tElbow.seek 4 +2 "manipulator"&Q( +4 "core" ( +2 "manipulator"&.& +3 "core" & G / +2 "storage"(& +4 "core" &,} ! ! <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&6' +94 "core" ' +2 "storage"(;& +3 "core" &,} Q G D\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +308 "core" ' + "storage"(=- +4 "core" -' +46 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" & ` / +2 "storage"(X& +3 "core" &,m E D !\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&P'7 +23 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('t +41 "core" ' +2 "manipulator"&+% +3 "core" %8 \\ +2 "storage"('& +4 "core" &,m % 6\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 301 counts + "manipulator"&u'd +13 "core" ' +2 "manipulator"&_& +3 "core" & \ / +2 "storage"(& +4 "core" &,m E D \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&S' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&f& +4 "core" & Q / +2 "manipulator"&:% +4 "core" % A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +152 "core" ( +3 "manipulator"&G& +3 "core" &Ӌ*  Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӌ*  Bj +2 .tForearm.seek CC +2 "manipulator"&m'? +93 "core" ' + .tHand.close +2 "manipulator"&,/ +55 "core" / +2 .tCC.seek :open + "collection"'!( +450 "core" ( +2 "storage"(j& +3 "core" &,m ? I H\ \ +2 "storage"(& +3 "core" &,m = < \ \ +2 "manipulator"&%& +4 "core" &Ӯ$ j =G +2 "manipulator"&T% +3 "core" % B ^ > +3 .tForearm.seek :retract +2 "manipulator"&O' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&M( +163 "core" ( +2 "manipulator"&n& +3 "core" &  +3 "storage"(/& +3 "core" &,m \\ p \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&^'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&}1 +57 "core" 1 +2 "manipulator"&% +4 "core" % +  +2 "storage"(v& +3 "core" &,m h b g\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 288 counts +3 "manipulator"&C'W +14 "core" ' + "manipulator"&E& +4 "core" & P  +2 "storage"(5& +3 "core" &,m ^ l _\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +25 "core" ' +2 "storage"(% +3 "core" % r ~ \ +3 ."downElevator"SE.seek :down +4 "storage"(e' +98 (A% +3 "core" %F : < n\ U] +2 "manipulator"&V% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +94 "core" ' +5 "Can"  F>mV +43 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'a& +4 "core" & d\ +2 "manipulator"&U% +4 "core" %   +2 "storage"(J% +3 "core" % h h \  +2 "storage"($. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(d(<- +392 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" &<* D D\  +2 "manipulator"&B& +4 "core" & o  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Y& +3 "core" &   +2 "storage"(& +5 "core" &<) i h q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +96 "core" ' +2 "storage"(& +3 "core" &<)  ~\ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (h& +3 "core" &<) U > \  +2 "manipulator"&]& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&-( +2 "core" ( +2 "manipulator"&y& +4 "core" &   +2 "storage"(& +3 "core" &<) [ [\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&1'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&9& +2 "storage"(l' +8 "core" &  + "manipulator"&2% +4 "core" % ϲ  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' + ( + "manipulator"&(& +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &x+ Cs + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +3 "core" &x+ Cs +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&*'? +94 "core" ' +2 "manipulator"&s& +3 "core" &ӌ) 2 A_ +2 "manipulator"&% +4 "core" %C N ] +2 "collection"')& +4 "core" & |\ +3 "collection"'R& +5 "core" & C\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & A\ +7 &< G\ $e +10 &Yx >\ 7 +9 &w @\ J +9 &T 8\ K +10 &~W 0\ K +9 &AT .\ K +9 &T *\ K +10 &W 5\ K +9 &U 3\ K +10 &IU 4\ K +9 & \ W 4\ K +9 &!T +\ K +10 &#T 0\ J +9 &%QS ,\ K +9 &'T /\ K +10 &(X )\ K +9 &*U -\ K +10 &,YT )\ K +9 &.S )\ K +9 &/T \ K +10 &1U )\ K +9 &3bU \ J +9 &5"U \ K +10 &6U \ K +9 &8U \ K +10 &:iU "\ K +9 &<+U $\ K +9 &=T \ J +10 &?U #\ K +9 &AqY  \ K +9 &C1[ \ L +10 &De '\ M +9 &Fj %\ N +10 &Hi "\ P +9 &J\ \ \ U +9 &K\ \ "\ X +10 &M\ \ \ X +9 &OY\ \ \ Y +9 &Q\ \ \ Y +10 &R\ \ \ Y +9 &T\ \  \ Y +10 &V\\\ \ !\ Z +9 &X\ \ #\ [\ +9 &Y\ \ !\ ] +10 &[\ \ \ I +9 &\\=\ \ \ (z +9 &\\\ \ \ "\ \\ +3 ( +2 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&<% +3 "core" % C G ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +3 "core" &,\ +2 "manipulator"&k% +4 "core" %  m  +2 "storage"(x% +4 "core" % N\  \\\  +2 "storage"(N. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +10 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &<* v\  +2 "manipulator"&& +4 "core" &Ӫ#  =A +2 "manipulator"&[% +3 "core" %  P  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&g( +164 "core" ( +2 "manipulator"&7& +3 "core" & T  +2 "storage"( & +4 "core" &<) # ! [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +148 "core" ' +2 "storage"(@& +3 "core" &<) & & Q\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +304 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &<)\ \ ' '\  +2 "manipulator"&& +3 "core" & a  +3 .tElbow.seek 5 +2 "manipulator"&3( +2 "core" ( +2 "manipulator"&K& +4 "core" &   +2 "storage"(&& +3 "core" &<)\ \  G\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&w'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(q' +7 "core" & T  +2 "manipulator"&t% +4 "core" % ϶ / +2 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&|& +3 "core" & ? , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" & b , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&.' +92 "core" ' + "manipulator"&& +4 "core" & j , +2 "manipulator"&I% +4 "core" %  T +2 "processing"%;& +4 "core" &,\ +2 "processing"%>& +6 "core" &\ +2 .tPC.seek :closed + "processing"%\\(^ +5 "core" & \ +7 &6\ #c +10 &Vx\ 7 +9 &t\ \ K +9 &S\ N +10 &ZS\ \ N +9 &R\ M +10 &S \ N +9 &T \ N +9 &cQ\ M +10 &%R \ M +9 &Q\ N +9 &!T\ N +10 &#kQ\ \ M +9 &%-R\ M +9 &&S\ M +10 &(R\ N +9 &*rT\ N +10 &,4U\ N +9 &-T\ N +9 &/V\ N +10 &1{R\ M +9 &3<R\ N +10 &4T\ M +9 &6U\ M +9 &8X\ N +10 &:DT\ N +9 &<S\ N +9 &=W\ M +10 &?U\ M +9 &AKY\ N +9 &C\ _\ O +10 &Dc\ P +9 &Fl\ P +10 &HF~\ R +9 &J\ T +9 &K\ T +10 &M\ T +9 &OH\ T +9 &Q\ U +10 &R\ T +9 &T\ U +10 &VP\ T +9 &X\ T +9 &Y\ U +10 &[\ U +9 &]U\ G +9 &^zD\ !c +10 &^*\ / +5 ( +2 "processing"%>& +4 "core" &^\ / +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&p1 +64 "core" 1 + "manipulator"&~% +4 "core" %    T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +90 "core" ' +3 "processing"%#& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&X% +4 "core" %    M  +2 "storage"(c% +3 "core" %\ \ ' -\  +2 "storage"(+. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"('(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +2 "manipulator"&& +4 "core" &<+\ \  +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  , +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(f'r +2 "manipulator"&:( +6 "core" ( +2 "manipulator"&6& +4 "core" &   , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &  , +2 .tForearm.seek PC +2 "manipulator"&D' +92 "core" ' + .tHand.close +2 "manipulator"&P/ +62 "core" / +2 .tPC.seek :open +2 "processing"%u( +85 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +49 "storage"(G'1 +40 "core" ' +270 ( +2 "storage"( & +3 "core" &<*\  t\  +2 "manipulator"&S& +5 "core" & V , +2 "manipulator"& % +3 "core" %  A N +2 .tForearm.seek :retract +2 "manipulator"&,' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +250 "core" ( +2 "manipulator"&L& +3 "core" & a & +2 "storage"(j& +4 "core" &<*\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +87 "core" ' + .tHand.open +2 "manipulator"&%1 +53 "core" 1 +2 "storage"(T- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(n' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(m- +3 "core" -' +2 "storage"(W& +3 "core" &<* 1 ) <\  +2 "manipulator"&}& +4 "core" &   & +2 .tElbow.seek 5 +2 "manipulator"&( +23 "core" ( + "manipulator"&v& +4 "core" &    +2 "storage"(E& +3 "core" &<* ( , Q\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&5'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&O& +3 "core" &  +2 "storage"(A& +4 "core" &<* \  e\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&V'΍ +26 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(^' +25 "core" ' +2 "manipulator"&a% +3 "core" %Κ  +2 "storage"(C& +4 "core" &<* > \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&U' +26 "core" ' + "manipulator"&J& +5 "core" &  + "storage"($& +4 "core" &<* " $ 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 "storage"(% +3 "core" % $ # 9\ +3 ."downElevator"SE.seek :down +4 "storage"(e' +98 ( % +4 "core" %bN\ )\ & H\ Xf +2 "manipulator"&"% +4 "core" %T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (Y& +3 "core" &<* Q\  \  +2 "collection"'& +4 "core" &\\ !\ \\ +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %  _  +2 "storage"(o% +4 "core" % " " )\  +2 "storage"(?. +2 "core" .(<- +2 "storage"(& +4 "core" &<* " " A\  +2 "storage"(h& +4 "core" &<* " " B\  +2 "manipulator"&]& +3 "core" & 0  +2 .tElbow.seek 5 +2 "manipulator"&y( +4 "core" ( + "manipulator"&& +4 "core" & c  +2 "storage"(8& +4 "core" &<* # " A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +93 "core" ' +2 "storage"(2& +3 "core" &<* $ " M\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +49 "core" & r  +2 "storage"(0& +4 "core" &<* " " @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&F'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(s- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"('v +29 "core" ' + "manipulator"&)% +4 "core" %Γ +2 "storage"(-& +3 "core" &<* ! " 5\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&l'Ͽ +14 "core" ' +2 "manipulator"&& +3 "core" & )  +2 "storage"(!& +4 "core" &<* # %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(<' +36 "core" ' + "manipulator"&& +5 "core" &  + "manipulator"&k% +4 "core" %K Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +160 "core" ( +2 "manipulator"&R& +4 "core" &Ӓ%  >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӓ% / >L +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' + .tHand.close +2 "manipulator"&[/ +59 "core" / +2 .tCC.seek :open +2 "collection"'*( +449 "core" ( +2 "storage"(7& +3 "core" &<* F E \  +2 "storage"( & +4 "core" &<* G G \  +2 "manipulator"&d& +3 "core" &Ӭ" 7 ;3 +2 "manipulator"&% +4 "core" % E 8 +2 .tForearm.seek :retract +2 "manipulator"&@' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Z( +164 "core" ( + "manipulator"&& +4 "core" & V  +2 "storage"(H& +4 "core" &<* i h }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&&1 +60 "core" 1 +2 "manipulator"&\ % +3 "core" % · ! +2 "storage"(b& +3 "core" &<* e [ (\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 294 counts +2 "manipulator"&t'ϳ +24 "core" ' +2 "manipulator"&g& +3 "core" &  +2 "storage"(z& +3 "core" &<* j ^ W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +26 "core" ' + "storage"(w% +4 "core" % ^ f \ +3 ."downElevator"SE.seek :down +3 "storage"(|' +100 ({% +2 "core" %I D F \ Va +2 "manipulator"&3% +4 "core" %M O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'I& +3 "core" & 6\ +2 "manipulator"&;% +4 "core" %  /  +2 "storage"(q% +3 "core" %   \  +2 "storage"(`. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(4( +682 "core" ( + .tSC.configure :limp +48 "storage"($\ 1b +3 (p& +2 "core" & C ; o\ +2 "manipulator"&~& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&#( +14 "core" ( +2 "manipulator"&X& +4 "core" &  +2 "storage"(c& +3 "core" & ~ n \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&+'7 +92 "core" ' +2 "storage"(>& +3 "core" &  ~ 3\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (6& +2 "core" & ^ Z\ +2 "manipulator"&Q& +4 "core" &  l  +2 .tElbow.seek 3 +2 "manipulator"&.( +4 "core" ( +2 "manipulator"&P& +3 "core" & *  +2 "storage"(& +4 "core" & ^ h \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(\\' +7 "core" & '  +2 "manipulator"&f% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"& & +4 "core" &Ӑ% >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &Ӑ% i >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'? +98 "core" ' +2 "manipulator"&j& +3 "core" &ӑ% E >H +3 "manipulator"&:% +3 "core" %@ j / +3 "collection"'%& +3 "core" & H\ +3 "collection"'T& +5 "core" & z\ +2 .tCC.seek :closed +2 "collection"'m(\\ +5 "core" & I\ +7 &A F\ %g +10 &Zx F\ 8 +9 & s @\ K +9 &Q H\ K +10 &R A\ K +9 &ST D\ J +10 &T 6\ J +9 &T ,\ K +9 &W 4\ K +10 &ZR 0\ K +9 & T /\ J +9 &!T 4\ J +10 &#T ;\ K +9 &%bW =\ K +10 &'$R 9\ K +9 &(R 4\ K +9 &*U 7\ J +10 &,jU 6\ K +9 &.,S 6\ K +9 &/T +\ J +10 &1U 4\ K +9 &3rT -\ K +10 &55U .\ J +9 &6U 4\ K +9 &8U 3\ J +10 &:zU .\ K +9 &<<W .\ K +9 &=R (\ K +10 &?U %\ K +9 &AT  \ K +10 &CCX $\ K +9 &Ed !\ M +9 &Fl #\ N +10 &Hx $\ Q +9 &J0\ \ \ U +9 &K\ \ "\ X +10 &M\ \  \ X +9 &Ol\ \ &\ X +10 &Q-\ \ \ X +9 &R\ \ #\ Y +9 &T\ \  \ Z +10 &Vl\ \ &\ [ +9 &X+\ \ \ \ $\ \\ +9 &Y\ \ "\ [\ +10 &[\ \ #\ H +9 &\\0\ \ \ '\ 0 +10 &\\p\ \ #\ O +2 ( +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&W1 +64 "core" 1 + "manipulator"&}% +4 "core" % @ Q / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%E& +3 "core" & \ +2 "manipulator"&,% +4 "core" %  J  +2 "storage"(O% +4 "core" % " " A\  +2 "storage"(A. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(G( +20 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &\ \  \  +2 "manipulator"&C& +5 "core" &ӭ  E :, + "manipulator"&n% +4 "core" %  V  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&J( +164 "core" ( +2 "manipulator"&$& +4 "core" &   +2 "storage"(& +3 "core" &   W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' +2 "storage"(& +52 "core" & D F\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &  ?\  +2 "manipulator"&5& +3 "core" & d  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & &  +2 "storage"(V& +4 "core" &  $ ,\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Y'ϡ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & +  +2 "manipulator"&o% +4 "core" % Ϸ _ +2 .tForearm.seek :retract +2 "manipulator"&?' +94 "core" ' +3 .tElbow.seek PC +2 "manipulator"&^( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&& +4 "core" & 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" & ! 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&]' +104 "core" ' + "manipulator"&& +4 "core" & 6 +2 "manipulator"&8% +4 "core" % J +2 "processing"%& +4 "core" &\ +2 "processing"%2& +6 "core" &\ +2 .tPC.seek :closed + "processing"%e(^ +5 "core" &\  +9 &4x\ *x +9 &d{ \ > +10 &p \ N +9 &BR\ M +9 &Q \ M +10 &R \ M +9 &W\ M +9 &JT\ M +10 & R \ M +9 &U \ N +10 & T\ M +9 &"RV\ M +9 &$U\ N +10 &%T\ M +9 &'T\ N +9 &)ZU\ M +10 &+U\ M +9 &,R\ M +10 &.T\ M +9 &0cW\ M +9 &2$T\ M +10 &3T\ M +9 &5W\ M +9 &7iU\ N +10 &9,W\ M +9 &:T\ M +10 &<R\ M +9 &>rU\ M +9 &@5U\ M +10 &AY\ N +9 &Cb\ O +9 &Euh\ O +10 &G2p\ Q +9 &H~\ R +10 &J\ S +9 &Lo\ T +9 &N0\ T +10 &O\ T +9 &Q\ U +9 &Sv\ T +10 &U6\ U +9 &V\ T +10 &X\ T +9 &Z|\ U +9 &\\>\ U +10 &]{q\ 7 +9 &^0\ J +9 &^\ + +3 ( +2 "processing"%2& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&M1 +63 "core" 1 +2 "manipulator"&B% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +2 "processing"%(& +3 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&0% +3 "core" %  \   +3 "storage"(s% +3 "core" % " " 1\  +2 "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(-( +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"&!& +6 "core" & % O v\  + &  m 6 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r + "manipulator"&k( +6 "core" ( +2 "manipulator"&9& +4 "core" &   6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &   , 6 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&F/ +61 "core" / +2 .tPC.seek :open +2 "processing"%l( +88 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'1 +41 "core" ' +313 ( +4 "storage"(& +3 "core" & " " +\  +2 "manipulator"&& +4 "core" & g 6 +2 "manipulator"&1% +3 "core" %  t : +3 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&x( +247 "core" ( +2 "manipulator"&& +3 "core" & 0 D +2 "storage"(7& +4 "core" & T \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +90 "core" ' + .tHand.open +2 "manipulator"&d1 +57 "core" 1 +3 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(H' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(N& +3 "core" & U X\  +2 "manipulator"&&& +4 "core" &  D +2 .tElbow.seek 3 +2 "manipulator"&\ ( +4 "core" ( +2 "manipulator"&b& +3 "core" &  D +2 "storage"(g& +4 "core" & f c '\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&z'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(w'" +51 "core" ' +2 "manipulator"&@& +4 "core" & c D +2 "storage"({& +4 "core" & $ O P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&3'u +19 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&t% +4 "core" %Ά  +2 "storage"(I& +3 "core" & !  E\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&;'ϲ +13 "core" ' + "manipulator"&q& +4 "core" &  D +2 "storage"(`& +4 "core" & ! 1 .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&<'7 +16 "core" ' + "storage"(i% +4 "core" % ' D \ +3 ."downElevator"SE.seek :down +3 "storage"(|' +100 ('% +2 "core" %T\ )\ ) o\ Xi +2 "manipulator"&p% +4 "core" %2 G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~' +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (X& +3 "core" & Y -\  +2 "collection"'c& +4 "core" &\\p _\ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&>% +4 "core" %    +2 "storage"(K% +4 "core" % " % \  +2 "storage"(. +2 "core" .( +2 "storage"(& +4 "core" &   \  +2 "storage"(6& +3 "core" & $ # -\  +2 "manipulator"&Q& +3 "core" & 3 D +2 .tElbow.seek 3 +2 "manipulator"&P( +4 "core" ( + "manipulator"&& +4 "core" & ! D +2 "storage"(r& +3 "core" &   0\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&='7 +117 "core" ' + "storage"(f& +4 "core" & ' D \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +295 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & 5 D +2 "storage"(D& +3 "core" &  & "\  +41 .tElbow.reconfigure :limp +10 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&_'u +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(:'m +30 "core" ' + "manipulator"&%% +4 "core" %Ή +2 "storage"(.& +4 "core" & " " [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&\\'ϵ +14 "core" ' +2 "manipulator"& & +4 "core" & M D +2 "storage"(*& +3 "core" &   ~\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&W'7 +18 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(}' +35 "core" ' + "manipulator"&E& +4 "core" & $ D +2 "manipulator"&,% +3 "core" %= & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&A(ӂ +151 "core" ( +2 "manipulator"&T& +4 "core" &ӎ(  z Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &ӎ( S Ab +2 .tForearm.seek CC +2 "manipulator"&C'? +96 "core" ' + .tHand.close +2 "manipulator"&n/ +62 "core" / +2 .tCC.seek :open +2 "collection"'L( +450 "core" ( + "storage"($& +4 "core" & J Z <\  +2 "storage"(& +3 "core" & ; 8 e\  +2 "manipulator"&4& +4 "core" &ӫ$ 1 =E +2 "manipulator"&% +3 "core" % B % 3 +3 .tForearm.seek :retract + "manipulator"&S' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&v( +163 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"("& +3 "core" & k _ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&5'u +99 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +62 "core" 1 +2 "manipulator"&U% +4 "core" % · + "storage"(& +4 "core" & j i \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts +2 "manipulator"&o'ϳ +22 "core" ' +2 "manipulator"&J& +3 "core" & &  +3 "storage"(& +3 "core" &   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&/'7 +16 "core" ' +2 "storage"(Y% +3 "core" % ~ ~ \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (h% +3 "core" % J G E \ We +2 "manipulator"&% +3 "core" %/ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'8& +3 "core" & 5\ +2 "manipulator"&% +4 "core" %    +2 "storage"(% +4 "core" %  ~ \  +2 "storage"(?. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(u(,y +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &,v \\ \\ \ \ +47 "manipulator"&B& +4 "core" &  6  +2 .tElbow.seek 4 +2 "manipulator"&(( +39 "core" ( +2 "manipulator"&0& +3 "core" & G  +2 "storage"(s& +4 "core" &,v  ~\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +92 "core" ' + "storage"(2& +4 "core" &,v   \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +310 "core" ' +3 "storage"(!- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (9& +3 "core" &,m i j \  +2 "manipulator"&y& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&]( +4 "core" ( +2 "manipulator"&F& +4 "core" &   +2 "storage"(G& +3 "core" &,m [ ^\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +37 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(e' +5 "core" & &  +3 "manipulator"&% +4 "core" % k [ +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&1& +4 "core" &ӊ* c Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӊ* Bj +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +3 "manipulator"&7& +3 "core" &Ӌ* A Bi +2 "manipulator"&k% +4 "core" %8 O b +2 "collection"'d& +4 "core" & I\ +3 "collection"'& +5 "core" & I\ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & I\ +6 & I\ : +10 &EJv I\ 1 +9 &}v} L\ E +9 &,Y J\ K +10 &W F\ J +9 &U ?\ K +9 &rW 8\ K +10 &5W 0\ K +9 &W 8\ K +9 &W 9\ K +10 &{W 4\ K +9 &!<U 6\ K +10 &"R 6\ K +9 &$R 5\ K +9 &&R ;\ K +10 &(FT 6\ J +9 &*X 8\ K +9 &+W 9\ K +10 &-W 8\ K +9 &/LW 5\ K +10 &1W 7\ K +9 &2W 6\ K +9 &4X 7\ K +10 &6TX 8\ K +9 &8X 2\ K +9 &9X 0\ K +10 &;R .\ K +9 &=^T +\ J +10 &?U #\ K +9 &@X #\ K +9 &B] #\ L +10 &Da] #\ L +9 &F i #\ M +10 &Gx "\ O +9 &I\ \ $\ S +9 &KL\ \ &\ V +10 &M \ \ +\ W +9 &N\ \ "\ W +9 &P\ \ "\ X +10 &RN\ \ $\ X +9 &T\ \ \ Y +9 &U\ \ \ Y +10 &W\ \ $\ Z +9 &YM\ \ \ !\ [\ +10 &[\ \ \ (\ [\ +9 &\\dF\ \ (\ 0 +9 &\\%\ \ \ \ %\ J +10 ( + &\\\\\ \ ,\ H +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&N1 +55 "core" 1 +2 "manipulator"&&% +4 "core" % 8 b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%g& +4 "core" &-\ +2 "manipulator"&[% +3 "core" %  Z  +2 "storage"(@% +4 "core" %   \  +2 "storage"({. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(t(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" &,y   \ +2 "manipulator"&R& +3 "core" &ӭ#  =G +2 "manipulator"&q% +4 "core" %  &  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +165 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(i& +4 "core" &,y G G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +92 "core" ' +2 "storage"( & +3 "core" &,y N D i\ +2 .tSE.reconfigure :pick +49 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak + "storage"(H'r +299 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &,m * #\  +2 "manipulator"&z& +4 "core" & `  +2 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&w& +3 "core" & E  +2 "storage"(3& +4 "core" &,m G G >\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&;'c +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& +2 "storage"(>' +7 "core" & "  +2 "manipulator"&K% +4 "core" % ς  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( +2 "manipulator"&& +3 "core" & \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Q' +94 "core" ' + "manipulator"&& +4 "core" & Q \ +2 "manipulator"&r% +4 "core" % 5 n +2 "processing"%<& +4 "core" & \ +3 "processing"%f& +5 "core" &+\ +2 .tPC.seek :closed +2 "processing"%|(^ +4 "core" &\  +9 &4y\ *x +9 &e{\ > +10 &|o\ N +9 &@Q\ M +9 &V\ M +10 &T\ M +9 &R \ M +9 &GV\ M +10 &U\ N +9 &T\ M +10 & W \ M +9 &"NT\ N +9 &$U \ M +10 &%Q\ M +9 &'T\ N +9 &)WT \ M +10 &+U \ M +9 &,U\ N +10 &.R\ M +9 &0_W\ M +9 &2!V\ M +10 &3T\ N +9 &5T\ M +9 &7gR\ M +10 &9)S\ M +9 &:T\ M +10 &<S\ M +9 &>nX\ N +9 &@1S \ M +10 &AZ\ N +9 &Cf\ O +9 &Eok\ P +10 &G.v\ Q +9 &H\ S +10 &J\ S +9 &Lm\ S +9 &N-\ T +10 &O\ T +9 &Q\ U +9 &Sr\ T +10 &U2\ U +9 &V\ U +10 &X\ T +9 &Zx\ U +9 &\\;\ U +10 &]zq\ : +9 &^(p\ Q +9 &^"\ 3 +3 ( +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&Z1 +60 "core" 1 +2 "manipulator"&~% +3 "core" %    n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +91 "core" ' +2 "processing"% & +3 "core" &^!\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&D% +4 "core" %    +2 "storage"(j% +3 "core" % " $ ^\  +2 "storage"(%. +3 "core" .(,y +2 "storage"(.& +3 "core" &,m # " a\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "manipulator"&E& +4 "core" &,|   L\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  \ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&,( + "storage"(='r +28 "core" ( +2 "manipulator"&P& +3 "core" &   $ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &   P $ +3 .tForearm.seek PC +2 "manipulator"&_' +94 "core" ' +2 .tHand.close +2 "manipulator"&\\/ +57 "core" / +2 .tPC.seek :open +2 "processing"%:( +71 "core" ' + "storage"(T- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'1 +48 "core" ' +326 ( +8 "storage"(W& +6 "core" &,j   \ +5 "manipulator"&& +8 "core" & ' $ +2 "manipulator"&n% +4 "core" %  Z , +2 .tForearm.seek :retract +2 "manipulator"&O' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&m( +249 "core" ( +2 "manipulator"&$& +3 "core" & 2 +2 "storage"(& +4 "core" &,j   -\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +93 "core" ' +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(C' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(A- +2 "core" -' +2 "storage"(V& +4 "core" &,j c d 4\ +2 "manipulator"&U& +4 "core" &  1 +2 .tElbow.seek 4 +2 "manipulator"&( +9 "core" ( + "manipulator"&J& +4 "core" &    +2 "storage"(& +4 "core" &,j Y U\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(S'" +51 "core" ' + "manipulator"&h& +4 "core" & Q  +2 "storage"(& +3 "core" &,j  \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&v'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +21 "core" ' + "manipulator"&% +4 "core" %' S  +2 "storage"(o& +4 "core" &,j % " i\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 284 counts +2 "manipulator"&'S +13 "core" ' + "manipulator"&?& +4 "core" &   +2 "storage"(}& +4 "core" &,j   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&/' +31 "core" ' +2 "storage"(% +3 "core" % " $ 3\ +3 ."downElevator"SE.seek :down +3 "storage"(-' +99 (M% +4 "core" %?I O \ Wd +2 "manipulator"&B% +3 "core" %\  ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +2 "core" &,j - /\ +2 "collection"'2& +4 "core" &\\] +\ H +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" % \  -  +2 "storage"(% +4 "core" % D E\  +2 "storage"(!. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(9(,y +32 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +2 "core" &,z @ 1 \ +2 "manipulator"&F& +4 "core" & 5  +2 .tElbow.seek 4 +2 "manipulator"&G( +8 "core" ( +2 "manipulator"&^& +4 "core" &  +2 "storage"( & +3 "core" &,z D E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +91 "core" ' +2 "storage"((& +4 "core" &,z C D \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'r +296 "core" ' +2 "storage"(1- +3 "core" -' +46 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &,m % # \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(d't +29 "core" ' + "manipulator"&]% +4 "core" %8 w % +2 "storage"(e& +3 "core" &,m ' %\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&'d +22 "core" ' +2 "manipulator"&L& +3 "core" &  +2 "storage"(N& +3 "core" &,m 6 A 5\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +21 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(g' +43 "core" ' +2 "manipulator"&[& +3 "core" & T  +2 "manipulator"&@% +4 "core" % W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&I& +4 "core" &ӑ% R >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &ӑ%  >I +2 .tForearm.seek CC +2 "manipulator"&q'? +92 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "storage"(i& +4 "core" &,m @ L \  +2 "storage"(u& +3 "core" &,m 9 : z\  +2 "manipulator"& & +3 "core" &ӫ!  :/ +2 "manipulator"&% +4 "core" % S Z A +2 .tForearm.seek :retract +2 "manipulator"&b' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&'( +162 "core" ( + "manipulator"&p& +4 "core" & 3  +2 "storage"(z& +3 "core" &,m \\ Z \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&w'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&X1 +63 "core" 1 +2 "manipulator"&c% +4 "core" % * R +2 "storage"(K& +3 "core" &,m f ] \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 287 counts +3 "manipulator"&`'V +13 "core" ' + "manipulator"&x& +4 "core" & #  +2 "storage"(H& +4 "core" &,m p k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +22 "core" ' +2 "storage"(% +3 "core" % p \ +3 ."downElevator"SE.seek :down +4 "storage"(6' +99 (\ % +3 "core" %D < 9 q\ U^ +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +90 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'<& +4 "core" & 7\ +2 "manipulator"&>% +4 "core" %  D  +2 "storage"(% +3 "core" % ^ ^ 4\  +2 "storage"(l. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(Z(<- +395 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" &<* F D \  +2 "manipulator"& & +4 "core" & !  +2 .tElbow.seek 5 +2 "manipulator"&D( +11 "core" ( +2 "manipulator"&j& +3 "core" &  +2 "storage"(%& +4 "core" &<* k a \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&.'O +104 "core" ' + "storage"(f& +4 "core" &<* |\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +290 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" &<* g _ y\  +2 "manipulator"&#& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&Q( +2 "core" ( +2 "manipulator"&\\& +4 "core" & L  +2 "storage"(t& +3 "core" &<* ^ ^ V\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&T'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"(|' +8 "core" &  +2 "manipulator"&=% +3 "core" % Ͼ F L +3 .tForearm.seek :retract + "manipulator"&W' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&n& +4 "core" &Ӛ" } << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +4 "core" &Ӛ" Y << +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'? +101 "core" ' +5 "manipulator"&& +4 "core" &Ӛ# ^ << +2 "manipulator"&,% +4 "core" %<  +2 "collection"'& +5 "core" & B\ +2 "collection"' & +5 "core" & {\ +2 .tCC.seek :closed +2 "collection"'A(\\ +3 "core" & I\ +9 &< Q\ $e +9 &Xy J\ 7 +10 &v L\ K +9 &R I\ K +9 &Y K\ K +10 &EY I\ K +9 &S A\ K +10 &S H\ K +9 &S J\ K +9 &NT B\ J +10 & T 9\ K +9 &!W =\ K +9 &#X ;\ K +10 &%UW <\ K +9 &'R 7\ K +10 &(S 7\ K +9 &*U 7\ J +9 &,^T @\ J +10 &.T <\ K +9 &/W 7\ K +9 &1T 8\ K +10 &3eT 7\ K +9 &5(U 7\ J +10 &6V 3\ K +9 &8X 5\ K +9 &:nU 0\ J +10 &<0U 5\ J +9 &=U .\ K +10 &?Y 3\ K +9 &AuW /\ K +9 &C6[ 3\ K +10 &Dc ,\ L +9 &Fk 5\ N +9 &Ho 7\ P +10 &J$\ \ 2\ T +9 &K\ \ ,\ V +9 &M\ \ $\ X +10 &Oa\ \ )\ W +9 &Q"\ \ #\ W +10 &R\ \  \ Y +9 &T\ \ %\ X +9 &Va\ \ *\ Z +10 &X"\ \ 2\ Z +9 &Y\ \ \ %\ [\ +9 &[\ \ \ H +10 &\\2\ \ "\ 1 +9 &\\b\ \ \ "\ L +3 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&V1 +63 "core" 1 +3 "manipulator"&U% +3 "core" % <  9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +3 "core" &-\ +2 "manipulator"&O% +5 "core" %  $  + "storage"(h% +4 "core" % " " K\  +2 "storage"(. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" &<*\ \  +2 "manipulator"&a& +3 "core" &Ӫ  :, +2 "manipulator"&?% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&}( +163 "core" ( + "manipulator"&"& +4 "core" & n  +2 "storage"(& +4 "core" &<* F E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +139 "core" ' +3 "storage"(4& +3 "core" &<* E D \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(C'r +298 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &<* 8 + \  +2 "manipulator"&Y& +4 "core" & ]  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&S& +3 "core" &   +2 "storage"(v& +4 "core" &<* D D t\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +2 "storage"(' +8 "core" & S  + "manipulator"&% +4 "core" % ϭ s +2 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&y& +3 "core" & U \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" & f \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&^' +94 "core" ' +2 "manipulator"& & +3 "core" & + \ +2 "manipulator"&/% +4 "core" % @ 4 +2 "processing"%(& +4 "core" &"\ +3 "processing"%-& +5 "core" &5\ +2 .tPC.seek :closed +2 "processing"% (^ +5 "core" &\ +6 & . \ $c +10 &Vy \ 7 +9 &v\ K +10 &Q\ M +9 &bU\ M +9 &$R\ M +10 &V\ M +9 &U\ N +9 &jT\ M +10 &-Q\ M +9 &T\ N +10 &!R\ M +9 &#rV\ M +9 &%3T \ N +10 &&R\ M +9 &(W \ M +9 &*yT\ N +10 &,<T\ M +9 &-Q\ M +10 &/U\ N +9 &1T\ M +9 &3CT\ N +10 &5S\ M +9 &6W\ M +9 &8W\ M +10 &:LP\ M +9 &<R\ M +10 &=R\ M +9 &?R\ M +9 &ATV\ M +10 &C`\ O +9 &Db\ O +9 &Fk\ P +10 &HN|\ R +9 &J \ S +10 &K\ S +9 &M\ T +9 &OO\ T +10 &Q\ U +9 &R\ T +9 &T\ U +10 &VW\ T +9 &X\ T +10 &Y\ U +9 &[\ U +9 &]]\ B +10 &^Ly\ J +9 &^L\ : +5 ( +2 "processing"%-& +4 "core" &^7\ : +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&51 +58 "core" 1 + "manipulator"&0% +4 "core" %  \  4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +90 "core" ' +3 "processing"%& +4 "core" &^7\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    +2 "storage"(k% +4 "core" % ! " \  +2 "storage"(]. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(e(<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +2 "manipulator"&N& +5 "core" &<*\ \  \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(['r +2 "manipulator"&@( +6 "core" ( +2 "manipulator"&& +3 "core" &   \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &   \ +3 .tForearm.seek PC + "manipulator"&)' +96 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' + "storage"(d- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +49 ."raiseStack"SE.seek :place +4 "storage"(I'1 +53 "core" ' +253 ( +2 "storage"(R& +3 "core" &<*  $ 5\  +2 "manipulator"&&& +3 "core" & 5 \ +2 "manipulator"&7% +4 "core" %  e 3 +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&{( +240 "core" ( + "manipulator"&& +4 "core" & } 7 +2 "storage"(i& +3 "core" &<*  c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&u'O +94 "core" ' + .tHand.open +2 "manipulator"& 1 +56 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +4 "core" -' + "storage"(& +5 "core" &<* 7 7 !\  + "manipulator"&X& +4 "core" &  6 +2 .tElbow.seek 5 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&K& +3 "core" &  & 6 +2 "storage"(x& +4 "core" &<* J F\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&H'O +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' +2 "manipulator"&b& +4 "core" & / 6 +2 "storage"(\ & +3 "core" &<*   4\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +28 "core" ' +2 "manipulator"&<% +4 "core" %Ν +2 "storage"(`& +3 "core" &<*   X\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 316 counts + "manipulator"&>' +16 "core" ' +2 "manipulator"&& +3 "core" & 4 +2 "storage"(l& +4 "core" &<* F E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +17 "core" ' + "storage"(;% +4 "core" % D D\ +3 ."downElevator"SE.seek :down +3 "storage"(6' +100 (9% +3 "core" %kO\ '\ * G\ We +2 "manipulator"&~% +3 "core" %H S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (j& +3 "core" &<* " " B\  +2 "collection"'%& +4 "core" &\\b ^\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&f% +3 "core" %  R  +2 "storage"(3% +4 "core" % ' 6\  +2 "storage"(r. +2 "core" .(<- +2 "storage"(E& +4 "core" &<* D E X\  +2 "storage"(P& +4 "core" &<* A ' w\  +2 "manipulator"&#& +3 "core" & 4 +2 .tElbow.seek 5 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&t& +4 "core" & W 4 +2 "storage"(& +4 "core" &<* D E !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +96 "core" ' + "storage"(=& +4 "core" &<* N I P\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +297 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +47 "manipulator"&n& +5 "core" & Q 4 +2 "storage"(_& +3 "core" &<* ! ! -\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&*'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(,'v +30 "core" ' + "manipulator"&Q% +4 "core" %Γ : +2 "storage"(& +3 "core" &<* " ! \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 306 counts + "manipulator"&|'Ͽ +24 "core" ' +2 "manipulator"&W& +3 "core" & 0 3 +3 "storage"(& +3 "core" &<* ( G L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(U' +43 "core" ' + "manipulator"&& +4 "core" & 3 +2 "manipulator"&O% +4 "core" %Y = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"& & +5 "core" &ӏ' $ @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &ӏ' J @\\ +2 .tForearm.seek CC +2 "manipulator"&a'? +95 "core" ' + .tHand.close +2 "manipulator"&?/ +61 "core" / +2 .tCC.seek :open + "collection"'$( +447 "core" ( + "storage"("& +4 "core" &<* D = \  +2 "storage"(& +3 "core" &<* < < f\  +3 "manipulator"&Z& +3 "core" &Ӭ#  <? +2 "manipulator"&% +4 "core" % @ "  +2 .tForearm.seek :retract +2 "manipulator"&4' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&J( +163 "core" ( + "manipulator"&M& +4 "core" & =  +2 "storage"(B& +3 "core" &<* ] f F\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Y'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&v1 +52 "core" 1 +2 "manipulator"&s% +3 "core" % { Y +2 "storage"(2& +4 "core" &<* i i \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 282 counts +2 "manipulator"&'ϧ +15 "core" ' +2 "manipulator"&}& +4 "core" & {  +2 "storage"(m& +4 "core" &<* ~ | \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&C'O +17 "core" ' + "storage"(% +4 "core" %  \ +3 ."downElevator"SE.seek :down +4 "storage"(y' +98 (F% +3 "core" %I A 9 v\ Va +2 "manipulator"&% +4 "core" %:  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'/& +3 "core" & A\ +3 "manipulator"&(% +3 "core" %    +3 "storage"(% +3 "core" % r { 8\  +2 "storage"(!. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(:( +678 "core" ( +46 .tSC.configure :limp +4 "storage"($\ 1b +2 (5& +3 "core" & D D\ +2 "manipulator"&0& +4 "core" &  =  +2 .tElbow.seek 3 +2 "manipulator"&( +37 "core" ( +2 "manipulator"&& +4 "core" & ( +2 "storage"(k& +3 "core" & ] [ ?\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&]'7 +93 "core" ' +2 "storage"(-& +3 "core" &   \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +297 "core" ' +2 "storage"(N- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & 8 L \ +2 "manipulator"&G& +3 "core" & + ( +2 .tElbow.seek 3 +2 "manipulator"&^( +9 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" & ; < \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&d'ϡ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"( ' +7 "core" & [  +2 "manipulator"&[% +4 "core" % ϙ ? +2 .tForearm.seek :retract +2 "manipulator"&R' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +150 "core" ( + "manipulator"&7& +4 "core" &ӄ) e Ad +2 ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &)& +3 "core" &ӄ( 7 Ad +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +3 "manipulator"&i& +4 "core" &Ӆ) Ac +2 "manipulator"&@% +3 "core" %B  f  +3 "collection"' & +3 "core" & \ +3 "collection"'& +5 "core" & U\ +2 .tCC.seek :closed +2 "collection"'q(\\ +4 "core" & Q\ +8 &; H\ %g +9 &Yv I\ 7 +10 &v @\ J +9 &U B\ J +9 &U H\ K +10 &KX A\ K +9 & W H\ K +9 &W A\ K +10 &T =\ K +9 &SS >\ K +10 & T D\ K +9 &!W A\ K +9 &#R 9\ K +10 &%[T -\ K +9 &'R 3\ K +9 &(T 7\ K +10 &*S ,\ K +9 &,cU +\ K +10 &.%S -\ K +9 &/T 0\ K +9 &1U 2\ J +10 &3kT 6\ K +9 &5-R 2\ K +9 &6U 3\ K +10 &8U A\ K +9 &:sT ;\ K +10 &<5U 6\ K +9 &=T +\ J +9 &?V 1\ L +10 &AzT 7\ K +9 &C;W 5\ L +10 &Dc 3\ L +9 &Fk 3\ N +9 &Hr @\ Q +10 &J*\ \ 5\ T +9 &K\ \ <\ W +9 &M\ \ :\ X +10 &Od\ \ >\ X +9 &Q&\ \ 4\ X +10 &R\ \ /\ Y +9 &T\ \ &\ Z +9 &Vf\ \ \ ,\ Z +10 &X(\ \ \ '\ Z +9 &Y\ \ ,\ [ +9 &[\ \ \ )\ I +10 &\\1\ \ ,\ 3 +9 &\\v\ \ -\ Q +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&X% +4 "core" % B d  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%x& +4 "core" &,\ +2 "manipulator"&% +4 "core" %  7  +2 "storage"(b% +4 "core" % " " @\  +2 "storage"(\ . +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(<( +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" & O 4\  +2 "manipulator"&I& +3 "core" &ӱ!  ;7 +2 "manipulator"&% +4 "core" %  Q  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&l( +165 "core" ( + "manipulator"&p& +4 "core" &  +2 "storage"(;& +4 "core" & D D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&{'7 +89 "core" ' +47 "storage"(u& +6 "core" & E D 4\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +296 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (~& +3 "core" &   <\  +2 "manipulator"&H& +3 "core" & s  +3 .tElbow.seek 3 + "manipulator"&c( +3 "core" ( +2 "manipulator"&& +4 "core" & +  +2 "storage"(& +4 "core" & $ # ,\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'ϡ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&j/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"(f' +8 "core" &   +2 "manipulator"&3% +3 "core" % Ϝ e +3 .tForearm.seek :retract + "manipulator"&r' +95 "core" ' +3 .tElbow.seek PC + "manipulator"&w( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&E& +3 "core" & 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" & . 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&#' +89 "core" ' + "manipulator"&t& +4 "core" & g 3 +2 "manipulator"&% +4 "core" % A x +2 "processing"%g& +4 "core" &\ +2 "processing"%=& +6 "core" &:\ +2 .tPC.seek :closed + "processing"%6(^ +5 "core" &"\  +9 &2u\ )v +9 &c| \ = +9 &pr\ M +10 &1Q\ M +9 &Q \ M +10 &R\ N +9 &wT\ M +9 &:Q\ M +10 &T\ N +9 &T\ M +10 & R\ M +9 &"AU\ M +9 &$Q \ M +10 &%T \ M +9 &'R\ M +9 &)JV \ M +10 &+ T \ M +9 &,W\ \ M +9 &.S \ M +10 &0RW\ M +9 &2U\ M +10 &3Q\ M +9 &5T\ N +9 &7XT\ N +10 &9V\ N +9 &:W\ M +9 &<T\ M +10 &>`W\ N +9 &@"V\ N +10 &AZ\ N +9 &C`\ N +9 &Edc\ O +10 &G#n\ P +9 &H~\ R +9 &J\ T +10 &L_\ S +9 &N \ T +10 &O\ T +9 &Q\ U +9 &Sc\ U +10 &U&\ T +9 &V\ U +9 &X\ \ U +10 &Zj\ U +9 &\\,\ U +10 &]}v\ \ ; +9 &^,w\ Q +9 &^!\ / +3 ( + "processing"%=& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&'1 +54 "core" 1 + "manipulator"& % +4 "core" %    x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +92 "core" ' +2 "processing"%n& +4 "core" &^!\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&_% +3 "core" %    +2 "storage"(% +3 "core" %\ \  v\  +3 "storage"(Q. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (W& +2 "manipulator"&& +4 "core" & H H\  +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &  3 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&O( +7 "core" ( + "manipulator"&+& +4 "core" & 0 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" & \  3 +3 .tForearm.seek PC + "manipulator"&D' +96 "core" ' + .tHand.close +2 "manipulator"&*/ +56 "core" / +2 .tPC.seek :open +2 "processing"%|( +92 "core" ' +2 "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +49 "core" ' +301 ( + "storage"(o& +4 "core" & " * :\  +2 "manipulator"&V& +4 "core" & . 3 +2 "manipulator"&T% +3 "core" %  = 8 +2 .tForearm.seek :retract +2 "manipulator"&?' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&h( +246 "core" ( +2 "manipulator"&A& +3 "core" & 9 B +2 "storage"("& +4 "core" & % b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +93 "core" ' + .tHand.open +2 "manipulator"&Z1 +59 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(B' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(a- +2 "core" -' +3 "storage"(& +3 "core" & V G U\  +2 "manipulator"&v& +4 "core" & \  B +2 .tElbow.seek 3 +2 "manipulator"&s( +4 "core" ( + "manipulator"&2& +4 "core" &   B +2 "storage"(}& +3 "core" & 5 6 <\  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&m'7 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +59 "core" ' + "manipulator"&4& +4 "core" & B +2 "storage"(F& +4 "core" &  ! 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +19 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +28 "core" ' +2 "manipulator"&/% +4 "core" %΁ ? +2 "storage"((& +3 "core" &   \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϭ +26 "core" ' +2 "manipulator"&& +4 "core" & J B +2 "storage"(!& +4 "core" &   6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&U'7 +17 "core" ' +2 "storage"(C% +3 "core" % $  1\ +3 ."downElevator"SE.seek :down +4 "storage"(y' +98 (e% +3 "core" %W\ \ & >\ Xj +2 "manipulator"&5% +4 "core" %0 X +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +93 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & ' # [\  +2 "collection"'k& +5 "core" &\\w r\ Q +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&-% +3 "core" %  T  +2 "storage"(S% +4 "core" %   y\  +2 "storage"( . +3 "core" .( +2 "storage"(N& +3 "core" & $ ! \  +2 "storage"(& +4 "core" &  ! \  +2 "manipulator"&G& +3 "core" & M B +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ' B +2 "storage"(8& +3 "core" & ! " \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&1'7 +92 "core" ' +2 "storage"([& +3 "core" & D D \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(]- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" & B +2 "storage"()& +49 "core" &   2\  +3 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&L'u +21 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(@'m +33 "core" ' +2 "manipulator"& % +3 "core" %Έ +2 "storage"(^& +4 "core" &  ! \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"& 'ϴ +13 "core" ' +2 "manipulator"&R& +4 "core" &  B +2 "storage"($& +3 "core" & ! " \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(X' +36 "core" ' +2 "manipulator"&x& +3 "core" & - B +2 "manipulator"&% +4 "core" %/ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &ӑ'  < @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &ӑ' c @X +2 .tForearm.seek CC +2 "manipulator"&I'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(p& +3 "core" & G F .\  +2 "storage"(;& +4 "core" & F D\  +2 "manipulator"&:& +3 "core" &Ӽ! S :- +2 "manipulator"&u% +4 "core" % 0 Z +2 .tForearm.seek :retract +2 "manipulator"&&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&K( +166 "core" ( + "manipulator"&9& +4 "core" &  +2 "storage"(~& +3 "core" & g d\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&H'u +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&j% +3 "core" % Ά k +2 "storage"(%& +4 "core" & ^ g \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&3'ϲ +25 "core" ' + "manipulator"&l& +4 "core" & 3  +2 "storage"({& +4 "core" & ^ ^ 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&z'7 +16 "core" ' +2 "storage"(>% +3 "core" % \\ _ V\ +3 ."downElevator"SE.seek :down +3 "storage"(E' +99 (P% +3 "core" %nH D E\ Wd +2 "manipulator"&c% +4 "core" %- V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +91 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" & w\ +2 "manipulator"&g% +4 "core" %    +2 "storage"(f% +3 "core" % ^ ] 7\  +2 "storage"(r. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +438 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &,z D U 8\  +47 "manipulator"& & +6 "core" &  + .tElbow.seek 4 +2 "manipulator"&n( +42 "core" ( +2 "manipulator"&_& +3 "core" &  +2 "storage"(& +4 "core" &,z ^ ] !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +96 "core" ' +2 "storage"(W& +3 "core" &,z   \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +300 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (+& +3 "core" &,m [ [\  +2 "manipulator"&\\& +3 "core" & #  +2 .tElbow.seek 4 +2 "manipulator"&#( +4 "core" ( + "manipulator"&*& +4 "core" &   +2 "storage"(<& +3 "core" &,m j k \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&,'c +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(6' +7 "core" &  +2 "manipulator"&% +4 "core" % W +2 .tForearm.seek :retract +2 "manipulator"&o' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&V(ӂ +151 "core" ( +2 "manipulator"&T& +3 "core" &Ӂ- Dv +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"&D& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &Ӂ- Dv +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'? +97 "core" ' +2 "manipulator"&"& +4 "core" &ӂ-  Du +2 "manipulator"&O% +3 "core" %B , +3 "collection"'Z& +3 "core" & \ +3 "collection"'& +5 "core" & ]\ +2 .tCC.seek :closed +2 "collection"'a(\\ +5 "core" & Z\ +6 &< W\ $f +9 &Xx N\ 7 +10 &t O\ K +9 &R R\ K +10 &S R\ K +9 &FT K\ K +9 & T K\ J +10 &T N\ K +9 &W F\ K +9 &OT M\ J +10 & T M\ K +9 &!R O\ K +10 &#U D\ J +9 &%VT A\ K +9 &'R /\ K +10 &(T 8\ J +9 &*U 3\ K +9 &,]X ,\ K +10 &.!T ?\ J +9 &/U 8\ K +10 &1T 4\ K +9 &3fU 3\ K +9 &5(W B\ K +10 &6U A\ J +9 &8U C\ K +9 &:nS C\ K +10 &<1U C\ J +9 &=U B\ K +10 &?U @\ K +9 &AuU B\ K +9 &C7] ;\ K +10 &Dc C\ M +9 &Fk C\ M +9 &Hn =\ P +10 &J%\ \ ?\ T +9 &K\ \ ?\ W +10 &M\ \ B\ W +9 &Oc\ \ ?\ W +9 &Q#\ \ D\ X +10 &R\ \ <\ X +9 &T\ \ C\ Y +9 &Vd\ \ ;\ Y +10 &X%\ \ =\ Z +9 &Y\ \ \ C\ [\ +10 &[\ \ \ A\ H +9 &\\1\ \ \ >\ 2 +9 &\\c\ \ @\ K +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&v% +4 "core" % B , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%}& +4 "core" &5\ +2 "manipulator"&?% +4 "core" %  P  +2 "storage"(4% +3 "core" % " ! 8\ +2 "storage"(F. +3 "core" .(,y +2 "storage"(/& +3 "core" &,m " " 9\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(((,y +34 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &,|\ \  \ +3 "manipulator"&M& +3 "core" &ӫ%  >L +2 "manipulator"&% +4 "core" %  ;  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&!( +168 "core" ( + "manipulator"&C& +4 "core" & {  +2 "storage"(h& +3 "core" &,| F E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +98 "core" ' + "storage"(B& +50 "core" &,| D C \ +4 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +295 "core" ' +2 "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +3 "core" &,m ' . \  +2 "manipulator"&s& +3 "core" & S  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" &,m #  +\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(S' +7 "core" & J  +2 "manipulator"& % +4 "core" % p  +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&N( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&& +3 "core" & " . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" & j . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&8& +4 "core" & A . +2 "manipulator"&U% +3 "core" % F V +3 "processing"%[& +3 "core" &A\ +3 "processing"%y& +5 "core" &@\ +2 .tPC.seek :closed +2 "processing"%J(^ +4 "core" &-\ +7 &6.\ #c +10 &Vz+\ 7 +9 &v%\ K +10 &R\ M +9 &gT\ M +9 &+N(\ M +10 &U\ M +9 &S!\ N +10 &pR\ M +9 &0U\ N +9 &T\ M +10 &!R\ M +9 &#wU\ M +9 &%9U\ M +10 &&T\ N +9 &(T\ M +10 &*~U\ N +9 &,BT\ M +9 &.T\ M +10 &/U\ N +9 &1T\ M +9 &3IT\ M +10 &5 T\ M +9 &6U\ M +9 &8U\ M +10 &:RQ\ M +9 &<W\ M +10 &=U\ N +9 &?U\ N +9 &AWY \ N +10 &Cb\ O +9 &De\ O +10 &Fo\ Q +9 &HR\ R +9 &J\ S +10 &K\ S +9 &M\ T +9 &OT\ T +10 &Q\ U +9 &R\ T +9 &T\ U +10 &V\\\ T +9 &X\ T +10 &Y \ U +9 &[\ \ U +9 &]c\ B +10 &^Bs\ _ +9 &^5\ 1 +5 ( +2 "processing"%y& +4 "core" &^% \ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&01 +61 "core" 1 +2 "manipulator"&]% +3 "core" %   V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +99 "core" ' +2 "processing"%)& +3 "core" &^$$\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&i% +4 "core" %   +2 "storage"( % +3 "core" % ! ! C\  +2 "storage"(^. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(R(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ($& +3 "core" &,{   \ + "manipulator"&x& +4 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  . +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&1( +6 "core" ( +2 "manipulator"&& +4 "core" & \ ( . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   3 . +2 .tForearm.seek PC +2 "manipulator"&L' +89 "core" ' + .tHand.close +2 "manipulator"& / +63 "core" / + .tPC.seek :open +2 "processing"%@( +91 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +49 "core" ' +302 ( +4 "storage"(& +3 "core" &,j - $ \ +2 "manipulator"&d& +5 "core" & i . +2 "manipulator"&% +3 "core" %   c +2 .tForearm.seek :retract +2 "manipulator"&b' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&q( +246 "core" ( + "manipulator"&p& +4 "core" & z + +2 "storage"(;& +4 "core" &,j # $ #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&:' +95 "core" ' +2 .tHand.open + "manipulator"&u1 +54 "core" 1 +2 "storage"(9- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(I' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(\ - +3 "core" -' +2 "storage"(& +4 "core" &,j ' ' 3\ +2 "manipulator"&j& +4 "core" &  + +2 .tElbow.seek 4 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&l& +3 "core" &   + + +2 "storage"({& +5 "core" &,j * ' $\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(&'" +57 "core" ' + "manipulator"&P& +4 "core" & > + +2 "storage"(c& +4 "core" &,j % % [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&K'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&g% +3 "core" %@ + +2 "storage"(3& +5 "core" &,j  ! \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 309 counts + "manipulator"&f'l +24 "core" ' +2 "manipulator"&r& +3 "core" & + +2 "storage"(X& +4 "core" &,j  ! O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&z' +24 "core" ' + "storage"(E% +5 "core" % 8 * =\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 ('% +3 "core" %YP\ %\ ) 6\ Xg +2 "manipulator"& % +4 "core" % ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,j # " M\ +2 "collection"'W& +4 "core" &\\b v\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  H  +2 "storage"(t% +4 "core" % D D\  +2 "storage"(. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(+(,y +21 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\\& +3 "core" &,} 8 ) ;\ +2 "manipulator"&*& +4 "core" & n + +2 .tElbow.seek 4 +2 "manipulator"&<( +4 "core" ( + "manipulator"&w& +4 "core" & + +2 "storage"(.& +3 "core" &,} D D A\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(n& +4 "core" &,} F D H\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'r +295 "core" ' + "storage"(T- +4 "core" -' +46 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" & + +2 "storage"(=& +4 "core" &,m "  .\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&,'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&", +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(Z't +29 "core" ' + "manipulator"&#% +4 "core" %+ :  +2 "storage"(6& +4 "core" &,m " r\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 288 counts +2 "manipulator"&o'W +14 "core" ' +2 "manipulator"&& +3 "core" & 4 + +2 "storage"(& +4 "core" &,m  ! \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(}' +36 "core" ' +2 "manipulator"&?& +3 "core" &  + +2 "manipulator"&4% +4 "core" % N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/(ӂ +155 "core" ( +3 "manipulator"&& +3 "core" &ӕ' J @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӗ'  @[ +2 .tForearm.seek CC +2 "manipulator"&M'? +98 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'A( +446 "core" ( +2 "storage"(C& +3 "core" &,m : < \ +2 "storage"(h& +4 "core" &,m : ; \ +2 "manipulator"&& +3 "core" &ӫ# T =F +2 "manipulator"&B% +3 "core" % F \\  +3 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&2( +163 "core" ( +2 "manipulator"&5& +3 "core" &  +2 "storage"(m& +4 "core" &,m i i \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&s'7 +100 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&k% +3 "core" % 3 (  +2 "storage"(-& +3 "core" &,m f ] \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 296 counts + "manipulator"& '_ +13 "core" ' +2 "manipulator"&!& +3 "core" & *  +2 "storage"(& +4 "core" &,m  t \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&e' +16 "core" ' +2 "storage"(% +3 "core" % ~ ~ \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (G% +3 "core" % A I = \ U^ +2 "manipulator"&% +3 "core" % d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +96 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'U& +3 "core" & N\ +2 "manipulator"&[% +3 "core" %  <  +3 "storage"(S% +3 "core" % ] e X\  +2 "storage"(Y. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(|(<- +400 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +3 "core" &<+ A 8 \  +2 "manipulator"&]& +4 "core" & 8  +2 .tElbow.seek 5 +2 "manipulator"&)( +14 "core" ( + "manipulator"&i& +4 "core" & D r +2 "storage"( & +3 "core" &<+ h f i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +95 "core" ' +2 "storage"(y& +4 "core" &<+ ~ 7\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +293 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<+ f Z \  +2 "manipulator"&& +4 "core" & # r +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"& & +4 "core" & r +2 "storage"((& +3 "core" &<+ _ [ L\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"(J' +7 "core" & _ r +2 "manipulator"&% +4 "core" % ϰ % +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&d(ӂ +154 "core" ( +2 ' + "manipulator"&& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &x, 3 Dw +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &x- K Dw +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&p'? +95 "core" ' +2 "manipulator"&;& +3 "core" &x-  Dw +2 "manipulator"&1% +4 "core" %D  ' +2 "collection"'u& +4 "core" & j\ +3 "collection"'9& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'\ (\\ +4 "core" & `\ +8 &< c\ $e +10 &Yx Y\ 7 +9 &v Z\ J +10 &T T\ J +9 &U M\ K +9 &DS T\ K +10 &T V\ J +9 &U Y\ J +9 &T V\ K +10 &LV M\ K +9 & R M\ K +10 &!T M\ J +9 &#U N\ J +9 &%TT M\ K +10 &'W O\ K +9 &(S S\ K +9 &*U F\ J +10 &,\\T :\ K +9 &.W 5\ K +10 &/W 7\ K +9 &1S 8\ K +9 &3dT :\ J +10 &5%U 8\ K +9 &6S @\ K +9 &8U C\ K +10 &:kX @\ K +9 &<-R C\ K +10 &=T C\ J +9 &?U B\ K +9 &AsV F\ K +10 &C3Z <\ L +9 &Dc B\ L +9 &Fj D\ N +10 &Hl C\ P +9 &J!\ \ D\ U +10 &K\ \ C\ V +9 &M\ \ D\ W +9 &O_\ \ @\ W +10 &Q!\ \ A\ W +9 &R\ \ G\ Y +9 &T\ \ E\ X +10 &V_\ \ A\ Z +9 &X\ \ A\ [ +10 &Y\ \ C\ [\ +9 &[\ \ C\ H +9 &\\4\ \ \ E\ 1 +10 &\\d\ \ \ 7\ K +2 ( +2 "collection"'9& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +3 "manipulator"&j% +3 "core" % D  ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%{& +4 "core" &.\ +2 "manipulator"&b% +3 "core" %  J  +2 "storage"(P% +4 "core" %  % \  +2 "storage"(c. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(g(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +3 "core" &<+\  J\  +2 "manipulator"&3& +4 "core" &Ӭ# E =C +2 "manipulator"&~% +3 "core" %  '  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&r( +165 "core" ( +2 "manipulator"&X& +3 "core" & 1  +2 "storage"(E& +4 "core" &<+ D D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&q'O +143 "core" ' +3 "storage"(:& +4 "core" &<+ A E \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +296 "core" ' +2 "storage"('- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &<+ $ * 1\  +2 "manipulator"&>& +4 "core" & u  +2 .tElbow.seek 5 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +3 "core" & (  +2 "storage"(K& +4 "core" &<+ " " \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&f'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(' +8 "core" & $  +2 "manipulator"&t% +4 "core" % ϴ _ +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&\\& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" & T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&w' +94 "core" ' + "manipulator"&.& +4 "core" &  +2 "manipulator"&z% +4 "core" % = { +2 "processing"%n& +4 "core" &0\ +3 "processing"%& +5 "core" &O\ +2 .tPC.seek :closed +2 "processing"%R(^ +3 "core" &1\  +9 &2v$\ )w +10 &e~*\ > +9 &wr/\ N +9 &<O*\ M +10 &T%\ M +9 &R\ M +10 &U"\ M +9 &CT\ M +9 &U\ M +10 &T\ M +9 & U\ M +9 &"IU\ N +10 &$ T \ M +9 &%T\ M +10 &'T\ M +9 &)QT\ N +9 &+T\ M +10 &,U\ M +9 &.S\ M +9 &0ZU\ M +10 &2R\ M +9 &3T\ M +10 &5T\ M +9 &7bR\ M +9 &9#W\ N +10 &:U\ M +9 &<Q\ M +9 &>iW\ N +10 &@,W\ M +9 &AY\ M +10 &Ce\ O +9 &Emg \ O +9 &G+p\ P +10 &H\ S +9 &J \ T +9 &Lg\ T +10 &N( \ T +9 &O\ T +10 &Q\ V +9 &Sn\ T +9 &U/ \ T +10 &V\ U +9 &X \ T +9 &Zt\ U +10 &\\5\ U +9 &]y~\ @ +10 &^ J \ A +9 ( + &^B\ = +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&H1 +55 "core" 1 +2 "manipulator"&_% +4 "core" %   { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +2 "processing"%D& +4 "core" &^A\ = +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&=% +4 "core" %    +2 "storage"(O% +3 "core" %\ \  "\  +2 "storage"(#. +3 "core" .(<- +2 "storage"(6& +4 "core" &<+\ \  '\  +2 "storage"(& +3 "manipulator"&& +8 "core" &<+\ \  "\  + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&?( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(4'r +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&Q' +90 "core" ' +2 .tHand.close + "manipulator"&,/ +61 "core" / +2 .tPC.seek :open +2 "processing"%o( +93 "core" ' + "storage"(Z- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +309 ( +2 "storage"( & +3 "core" &<+   @\  +2 "manipulator"&v& +43 "core" & . +9 "manipulator"&"% +5 "core" %  ^ Z +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&F( +239 "core" ( +2 "manipulator"&a& +4 "core" &   +2 "storage"(C& +3 "core" &<+ $  J\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +95 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(B- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(5' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(m' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(M- +3 "core" -' +2 "storage"(/& +4 "core" &<+ U U\  +2 "manipulator"&& +3 "core" &  c  +2 .tElbow.seek 5 +2 "manipulator"&k( +9 "core" ( +2 "manipulator"&-& +3 "core" &    +3 "storage"(!& +3 "core" &<+ V U X\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&V& +3 "core" & 3  +3 "storage"(G& +3 "core" &<+ % #\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +18 "core" ' +2 "manipulator"&U% +3 "core" %Γ J  +2 "storage"([& +4 "core" &<+ " % [\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 306 counts + "manipulator"& 'Ͽ +15 "core" ' + "manipulator"&S& +4 "core" &  +2 "storage"(Y& +4 "core" &<+ . E ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}'O +17 "core" ' +2 "storage"(e% +3 "core" % - D p\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (+% +4 "core" %O\ *\ + z\ Wf +2 "manipulator"&0% +5 "core" %M 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (i& +3 "core" &<+ % " ?\  +2 "collection"' & +4 "core" &\\b z\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&y% +4 "core" %   +2 "storage"(% +4 "core" % E D\  + "storage"(8. +3 "core" .(<- +2 "storage"(x& +4 "core" &<+ D D u\  +2 "storage"(& +4 "core" &<+ D D \  +2 "manipulator"&& +3 "core" & @  +2 .tElbow.seek 5 +2 "manipulator"& ( +9 "core" ( + "manipulator"&(& +4 "core" & +2 "storage"(N& +4 "core" &<+ D D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +92 "core" ' +2 "storage"(& +4 "core" &<+ D E\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"()'r +298 "core" ' + "storage"(^- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & +2 "storage"(L& +4 "core" &<+ E F \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +49 .tForearm.seek 5 + "manipulator"&$'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(1'u +27 "core" ' +2 "manipulator"&u% +3 "core" %Λ P  +2 "storage"(& +4 "core" &<+ D D \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&J' +16 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(A& +5 "core" &<+ G Q 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(j' +38 "core" ' + "manipulator"&{& +4 "core" & = +2 "manipulator"&b% +4 "core" %M H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +165 "core" ( + "manipulator"&9& +4 "core" &Ӊ! ' 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &Ӊ!  7 +2 .tForearm.seek CC +2 "manipulator"&3'? +101 "core" ' + .tHand.close +2 "manipulator"&~/ +58 "core" / +2 .tCC.seek :open +2 "collection"'p( +449 "core" ( +2 "storage"(X& +3 "core" &<+ E ; \  +2 "storage"(E& +4 "core" &<+ 9 9 \  +2 "manipulator"&|& +3 "core" &Ӵ K 1 +2 "manipulator"&d% +4 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&:' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&l( +160 "core" ( +2 "manipulator"&'& +3 "core" &   +2 "storage"( & +4 "core" &<+ e [ J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&>'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "Can" =AN +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&K1 +59 "core" 1 +2 "manipulator"&% +4 "core" % v 3  +2 "storage"(W& +3 "core" &<+ j j \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 277 counts +2 "manipulator"&t'Ϣ +24 "core" ' +2 "manipulator"&r& +3 "core" &   +2 "storage"(q& +4 "core" &<+ u o \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&I'O +18 "core" ' + "storage"(f% +4 "core" %   \ +3 ."downElevator"SE.seek :down +3 "storage"(\\' +99 (*% +3 "core" %D A 9 \ U^ +2 "manipulator"&%% +4 "core" %U  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +95 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'z& +3 "core" & O\ +2 "manipulator"&n% +3 "core" %    +2 "storage"(% +4 "core" % ~ ~ \  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(@( +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" & f \\ "\ +2 "manipulator"&_& +3 "core" &  +2 .tElbow.seek 3 +47 "manipulator"&D( +37 "core" ( +2 "manipulator"&=& +3 "core" & M / +2 "storage"(O& +4 "core" & k s 0\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&#'7 +93 "core" ' + "storage"(6& +4 "core" &   \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & 9 A ^\ +2 "manipulator"&& +4 "core" & 7 / +2 .tElbow.seek 3 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&w& +4 "core" & / +2 "storage"(,& +3 "core" & [ [\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Z'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(R' +8 "core" & Q / +2 "manipulator"&4% +3 "core" % ϡ R +3 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&"& +4 "core" &ӓ% >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &ӓ% >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&a'? +102 "core" ' +3 "manipulator"&C& +3 "core" &Ӕ% I >I +2 "manipulator"&?% +4 "core" %6 q " +2 "collection"'& +4 "core" & \ +3 "collection"'B& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'M(\\ +5 "core" & g\ +7 &< k\ $e +9 &Xx k\ 7 +9 &u i\ K +10 &R j\ J +9 &U _\ K +9 &DY V\ K +10 &T W\ K +9 &T U\ K +10 &T N\ K +9 &MT S\ J +9 & T S\ K +10 &!W X\ K +9 &#U Z\ J +9 &%TT P\ K +10 &'R S\ K +9 &(T L\ K +10 &*W S\ K +9 &,\\T O\ K +9 &.W P\ K +10 &/T V\ K +9 &1Y V\ K +9 &3dU N\ K +10 &5%W I\ K +9 &6U J\ K +10 &8X @\ K +9 &:lT E\ K +9 &<-X C\ K +10 &=T I\ J +9 &?U D\ K +9 &AtV C\ K +10 &C4Z D\ L +9 &Db I\ L +10 &Fk =\ N +9 &Hl D\ P +9 &J"\ \ B\ U +10 &K\ \ C\ W +9 &M\ \ E\ W +9 &O`\ \ C\ W +10 &Q!\ \ C\ X +9 &R\ \ F\ Y +10 &T\ \ \ B\ X +9 &Va\ \ G\ Z +9 &X"\ \ I\ Z +10 &Y\ \ H\ [\ +9 &[\ \ \ G\ H +9 &\\7\ \ \ A\ - +10 &\\m\ \ G\ L +2 ( +2 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&/1 +61 "core" 1 +2 "manipulator"&% +3 "core" % 6 " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%!& +4 "core" &1\ +2 "manipulator"&% +3 "core" %    +2 "storage"(V% +5 "core" %   l\  + "storage"(G. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(U( +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" & "  O\ +2 "manipulator"&& +4 "core" &Ӱ  > :- +2 "manipulator"&S% +3 "core" %  -  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +167 "core" ( +2 "manipulator"&5& +4 "core" & v  +2 "storage"(e& +3 "core" & D D J\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&F'7 +93 "core" ' +2 "storage"(h& +4 "core" & E I "\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(m'r +345 "core" ' + "storage"(+- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" & # $ !\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&k( +4 "core" ( + "manipulator"&& +4 "core" & ,  +2 "storage"(& +4 "core" &   \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϡ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(y' +8 "core" &  +2 "manipulator"&% +3 "core" %  4 +2 .tForearm.seek :retract +2 "manipulator"&8' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&x& +3 "core" & V ; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & c ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&(& +3 "core" &  ; +2 "manipulator"&N% +4 "core" %  w +2 "processing"%}& +4 "core" &O\ +3 "processing"%& +5 "core" &2\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &1\ +6 & ..\ #b +10 &V{.\ 6 +9 &y/\ K +9 &Q0\ M +10 &_T0\ N +9 &$Q1\ M +10 &U0\ M +9 &T+\ M +9 &iT0\ M +10 &+T+\ M +9 &U&\ M +9 &!T\ M +10 &#pU\ M +9 &%2T\ M +10 &&U\ M +9 &(W\ M +9 &*yT$\ M +10 &,;U$\ M +9 &-T$\ M +9 &/V%\ M +10 &1U\ N +9 &3CT\ M +10 &5T\ M +9 &6U$\ M +9 &8V\ M +10 &:KV\ M +9 &< V\ M +9 &=U\ M +10 &?S\ M +9 &ARX\ M +10 &Ca\ O +9 &Dc\ O +9 &Fj\ O +10 &HNz\ Q +9 &J \ S +9 &K\ T +10 &M\ U +9 &ON\ T +10 &Q \ T +9 &R\ U +9 &T \ U +10 &VV\ T +9 &X\ T +9 &Y\ T +10 &[\ T +9 &]\\\ B +10 &^Mx\ G +9 &^=\ ; +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&21 +64 "core" 1 + "manipulator"&]% +4 "core" %   w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' +2 "processing"%& +3 "core" &^63\ ; +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&L% +4 "core" %    +2 "storage"(;% +3 "core" % Q U\  +2 "storage"(u. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +7 "manipulator"&A& +4 "core" &\  O \ +5 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +3 "core" &  : +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&{( +2 "storage"(b'r +4 "core" ( +3 "manipulator"&7& +4 "core" &  : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &   : +3 .tForearm.seek PC + "manipulator"&)' +92 "core" ' +2 .tHand.close + "manipulator"&$/ +60 "core" / +2 .tPC.seek :open + "processing"%J( +93 "core" ' + "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'1 +44 "core" ' +308 ( +2 "storage"(`& +3 "core" &   0\ +2 "manipulator"&& +4 "core" & ^ : +2 "manipulator"&% +49 "core" %  ^ +4 .tForearm.seek :retract +2 "manipulator"&~' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&P( +245 "core" ( +2 "manipulator"&\ & +3 "core" &   +3 "storage"(X& +3 "core" & " $ ?\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&E'7 +89 "core" ' +2 .tHand.open + "manipulator"&|1 +61 "core" 1 +2 "storage"(d- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"('' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(3- +2 "core" -' +3 "storage"(c& +3 "core" & ] b \ +2 "manipulator"&K& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&( +21 "core" ( + "manipulator"&W& +4 "core" &    +2 "storage"(r& +4 "core" & X `\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&q'7 +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(f'" +51 "core" ' +2 "manipulator"&:& +3 "core" & Y  +2 "storage"(*& +5 "core" &  # E\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&%'u +21 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(>' +19 "core" ' +2 "manipulator"&z% +3 "core" %΀ = +2 "storage"(t& +5 "core" &   9\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&n'Ϭ +14 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &  ! \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&j'7 +16 "core" ' + "storage"(I% +4 "core" % " ' r\ +3 ."downElevator"SE.seek :down +4 "storage"(\\' +98 (g% +3 "core" %;U\ &\ ( 8\ Xh +2 "manipulator"&H% +4 "core" %/   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (=& +3 "core" &  ) X\ +2 "collection"'O& +4 "core" &\\j F\ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&6% +3 "core" %  %  +2 "storage"(&% +3 "core" % 5 " f\  +2 "storage"(.. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &   p\  +2 "manipulator"&& +4 "core" & 3  +2 .tElbow.seek 3 +2 "manipulator"&w( +4 "core" ( + "manipulator"&,& +4 "core" & ,  +2 "storage"(& +4 "core" & C D \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&T'7 +97 "core" ' +2 "storage"(4& +3 "core" & G E 3\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +303 "core" ' +2 "storage"(#- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &  +2 "storage"(Q& +3 "core" &  \  +46 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +19 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(C- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(?'l +27 "core" ' + "manipulator"&% +4 "core" %r  +2 "storage"(<& +3 "core" &   8\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 297 counts + "manipulator"&R'Ϟ +14 "core" ' + "manipulator"& & +4 "core" &   +2 "storage"(p& +4 "core" & D C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&/'7 +17 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +39 "core" ' +2 "manipulator"&!& +4 "core" &   +2 "manipulator"&% +3 "core" %) l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +165 "core" ( + "manipulator"&B& +4 "core" &ӈ  k :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &ӈ  w :- +2 .tForearm.seek CC +2 "manipulator"&'? +102 "core" ' +2 .tHand.close +2 "manipulator"&S/ +53 "core" / +2 .tCC.seek :open + "collection"'a( +450 "core" ( + "storage"(5& +4 "core" & G N B\  +2 "storage"(e& +3 "core" & D D\  +2 "manipulator"&@& +5 "core" &ӣ  6 + "manipulator"&h% +4 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&v' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&-( +161 "core" ( +2 "manipulator"&+& +4 "core" & "  +2 "storage"(0& +3 "core" & ^ \\\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&i% +4 "core" % ΅ / +2 "storage"( & +3 "core" & e \\ .\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&'ϱ +15 "core" ' + "manipulator"&Y& +4 "core" &   +2 "storage"(F& +4 "core" & f ] 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m'7 +16 "core" ' + "storage"( % +4 "core" % ] e -\ +3 ."downElevator"SE.seek :down +3 "storage"(x' +100 (% +2 "core" %iI G E\ Wd +2 "manipulator"&k% +4 "core" %8 [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'N& +3 "core" & \ +2 "manipulator"&}% +4 "core" %  R  +2 "storage"(y% +3 "core" % ^ [ \  +2 "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(o(,y +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +3 "core" &,{ [ J ?\  +47 "manipulator"&]& +4 "core" & '  +2 .tElbow.seek 4 +2 "manipulator"&( +44 "core" ( +2 "manipulator"&L& +3 "core" & 5  +2 "storage"(;& +4 "core" &,{ ^ e \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&u' +98 "core" ' +2 "storage"(& +3 "core" &,{   \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +3 "core" &,m H W \  +2 "manipulator"& & +3 "core" & V  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&$& +4 "core" & #  +2 "storage"(U& +4 "core" &,m [ [\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&1'c +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"(' +8 "core" &  + "manipulator"&b% +4 "core" % ϑ A +2 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +5 "core" &ӑ' 2 @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &ӑ' A @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&\ '? +93 "core" ' +3 "manipulator"&X& +3 "core" &ӑ( q @\\ +2 "manipulator"&{% +4 "core" %9 + O +2 "collection"'|& +4 "core" & \ +3 "collection"'d& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'3(\\ +5 "core" & k\ +7 &3 l\ $e +9 &Yx g\ 7 +9 &u l\ K +10 &T g\ J +9 &T j\ J +9 &BU b\ K +10 &T \\\ J +9 &T U\ K +10 &W V\ K +9 &IX W\ K +9 & T P\ J +10 &!T X\ K +9 &#W Z\ K +9 &%RR W\ K +10 &'T Q\ J +9 &(T Z\ K +10 &*R T\ K +9 &,ZU Z\ K +9 &.X X\ K +10 &/T V\ J +9 &1U X\ K +9 &3aR O\ K +10 &5$T W\ K +9 &6S J\ K +9 &8U P\ K +10 &:jS G\ K +9 &<-T M\ J +10 &=U I\ K +9 &?U ?\ J +9 &AqV D\ K +10 &C2] >\ L +9 &Df G\ M +10 &Fk :\ N +9 &Hj =\ P +9 &J\ \ H\ U +10 &K\ \ B\ V +9 &M\ \ B\ X +9 &O]\ \ ;\ X +10 &Q\ \ H\ W +9 &R\ \ >\ Y +9 &T\ \ C\ Y +10 &V^\ \ E\ Z +9 &X\ \ D\ [ +10 &Y\ \ H\ [ +9 &[\ \ \ C\ H +9 &\\8\ \ \ B\ - +10 &\\\\\ \ \ A\ I +2 ( +2 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&c1 +58 "core" 1 +2 "manipulator"&K% +4 "core" % 9 O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +89 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%r& +3 "core" &O\ +2 "manipulator"&~% +4 "core" %  .  +2 "storage"(:% +4 "core" % $ $ 5\  +2 "storage"(*. +2 "core" .(,y +2 "storage"(z& +4 "core" &,m #  \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(t(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &,|\ \  \ +2 "manipulator"&& +3 "core" &Ӯ" <? +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&'( +159 "core" ( + "manipulator"&I& +4 "core" & / +2 "storage"(P& +3 "core" &,| D D t\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +94 "core" ' + "storage"( & +51 "core" &,| D D \ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +298 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" &,m   `\ +2 "manipulator"&& +4 "core" & ) +2 .tElbow.seek 4 +2 "manipulator"&f( +4 "core" ( +2 "manipulator"&%& +3 "core" &  +2 "storage"(n& +4 "core" &,m E D\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&='c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& +2 "storage"(&' +7 "core" & , +2 "manipulator"&.% +4 "core" % v U +2 .tForearm.seek :retract +2 "manipulator"&>' +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( + "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" & R  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' + "manipulator"&j& +4 "core" & #  +2 "manipulator"&4% +4 "core" %  +2 "processing"%\\& +4 "core" &/\ +3 "processing"%& +5 "core" &N\ +2 .tPC.seek :closed +2 "processing"%l(^ +3 "core" &6\  +9 &3v4\ )w +10 &e}7\ > +9 &{p1\ N +9 &?T/\ M +10 &T0\ M +9 &S5\ M +9 &U(\ M +10 &GT\ M +9 & T'\ M +10 &T)\ M +9 & T&\ M +9 &"OT \ M +10 &$T(\ M +9 &%T'\ M +9 &'T\ M +10 &)VT\ M +9 &+T#\ M +10 &,U$\ M +9 &.R"\ M +9 &0^U%\ M +10 &2T%\ M +9 &3T%\ M +9 &5U$\ M +10 &7fQ\ M +9 &9'V\ M +10 &:W\ M +9 &<T\ M +9 &>lW \ N +10 &@/V\ M +9 &A[\ M +9 &Cg\ O +10 &Emj\ P +9 &G-v\ Q +10 &H\ S +9 &J\ S +9 &Lk\ S +10 &N+\ T +9 &O\ S +10 &Q\ U +9 &Sp\ T +9 &U2\ T +10 &V\ T +9 &X\ T +9 &Zw\ U +10 &\\9 \ U +9 &]{r\ 9 +9 &^)w\ \ S +10 &^" \ 0 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&_1 +61 "core" 1 + "manipulator"&#% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 "processing"%Q& +3 "core" &^ 4\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&C% +4 "core" %   +2 "storage"(% +4 "core" % % " ,\  +2 "storage"(<. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "manipulator"&!& +4 "core" &,| " " \ +3 &   I  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&T( +6 "core" ( +2 "manipulator"&w& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" & g  +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&R/ +55 "core" / +2 .tPC.seek :open + "processing"%?( +98 "core" ' + "storage"(B- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['1 +44 "core" ' +301 ( +47 "storage"(/& +5 "core" &,j  $ \ +2 "manipulator"&Z& +3 "core" &  +2 "manipulator"&S% +4 "core" %  k V +2 .tForearm.seek :retract +2 "manipulator"&V' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&M( +240 "core" ( +2 "manipulator"&5& +3 "core" & ; : +2 "storage"(e& +4 "core" &,j # " 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +93 "core" ' +2 .tHand.open +2 "manipulator"&h1 +62 "core" 1 +2 "storage"(+- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -1.22 Pucks below Top Plate +5 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(G- +2 "core" -' +2 "storage"(& +4 "core" &,j i Z :\ +2 "manipulator"&i& +4 "core" &  o : +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&Y& +3 "core" &    : +2 "storage"(F& +4 "core" &,j e d\ +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(v'" +60 "core" ' + "manipulator"&& +4 "core" & u : +2 "storage"(k& +3 "core" &,j $  \\\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&-'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +28 "core" ' +2 "manipulator"&}% +3 "core" %I  +2 "storage"(& +4 "core" &,j   =\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 318 counts + "manipulator"&y'u +15 "core" ' + "manipulator"&8& +4 "core" &  f : +2 "storage"(& +4 "core" &,j F D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +16 "core" ' +2 "storage"(x% +4 "core" % D D R\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (2% +3 "core" %mO\ \ % q\ We +2 "manipulator"&]% +4 "core" % A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" &,j *  X\ +2 "collection"'& +5 "core" &\\] t\ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  -  +2 "storage"((% +3 "core" % D D \  +2 "storage"(A. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(7(,y +21 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &,{ B 9 \ +2 "manipulator"&$& +3 "core" &  : +2 .tElbow.seek 4 +2 "manipulator"&U( +4 "core" ( + "manipulator"&s& +3 "core" & N : +3 "storage"(^& +3 "core" &,{ D D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&b' +93 "core" ' +2 "storage"(& +3 "core" &,{ C D \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +50 "manipulator"&)& +3 "core" &  : +2 "storage"(& +4 "core" &,m  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&1'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(|'t +30 "core" ' + "manipulator"&% +4 "core" %J   +2 "storage"(& +3 "core" &,m !  \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&`'v +16 "core" ' + "manipulator"&a& +4 "core" & : +2 "storage"(c& +4 "core" &,m D D i\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&K' +22 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(r' +42 "core" ' +2 "manipulator"&~& +3 "core" & : +2 "manipulator"&:% +4 "core" % K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +151 "core" ( +2 "manipulator"&d& +3 "core" &ӌ- Du +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &ӌ- } Du +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +446 "core" ( +2 "storage"(I& +3 "core" &,m D ; i\ +2 "storage"(P& +3 "core" &,m : C \ +2 "manipulator"&o& +5 "core" &Ӵ% >M + "manipulator"& % +4 "core" % 5 | & +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&W( +163 "core" ( + "manipulator"&H& +4 "core" & a  +2 "storage"(q& +3 "core" &,m i h a\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +65 "core" 1 +2 "manipulator"&O% +3 "core" % 2   +2 "storage"(6& +4 "core" &,m j i j\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 295 counts +2 "manipulator"&.'^ +14 "core" ' +2 "manipulator"&'& +3 "core" &  +2 "storage"(E& +4 "core" &,m q p U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +16 "core" ' +2 "storage"(=% +3 "core" % ~ ~ \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (,% +3 "core" %A : < \ U^ +2 "manipulator"&f% +3 "core" % Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'4& +3 "core" & W\ +2 "manipulator"&\\% +4 "core" %  5  +2 "storage"(&% +4 "core" % ^ ^ \  +2 "storage"(>. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(J(<- +346 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" &<* G E *\  +2 "manipulator"&#& +4 "core" & Z  +2 .tElbow.seek 5 +2 "manipulator"&Q( +4 "core" ( + "manipulator"&C& +4 "core" & 5  +2 "storage"(& +3 "core" &<* j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +111 "core" ' + "storage"(& +4 "core" &<* | 4\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'r +295 "core" ' +2 "storage"(!- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (w& +3 "core" &<* Z g l\  +2 "manipulator"&D& +3 "core" & 9  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&R& +4 "core" &  +2 "storage"(t& +4 "core" &<* e [\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&B'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"(l' +7 "core" &   +2 "manipulator"&% +4 "core" %   N +2 .tForearm.seek :retract +2 "manipulator"&/' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&S& +3 "core" &ӝ  i :+ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӝ  @ :+ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&5'? +93 "core" ' +2 "manipulator"&e& +3 "core" &ӝ  } :+ +2 "manipulator"&T% +4 "core" %D * t +2 "collection"'h& +4 "core" & \ +3 "collection"'+& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'G(\\ +5 "core" & b\  +7 &4{ m\ *z +10 & h{ m\ > +9 &l m\ L +10 &ZU m\ J +9 &U k\ K +9 &S h\ K +10 &T f\ K +9 &aU f\ K +10 &#T g\ K +9 &T ]\ K +9 & W \\\ K +10 &"iS Q\ K +9 &$,T P\ J +9 &%T U\ K +10 &'W W\ K +9 &)rU X\ J +10 &+3U X\ K +9 &,U Z\ J +9 &.U [\ K +10 &0zU U\ J +9 &2;U Y\ K +9 &3S U\ K +10 &5T Y\ K +9 &7S R\ K +9 &9CU V\ K +10 &;U X\ J +9 &<U V\ K +10 &>T P\ K +9 &@KU N\ K +9 &B W U\ K +10 &C^ \\\ L +9 &Ed R\ M +9 &GIr V\ N +10 &I\  O\ Q +9 &J\ \ J\ V +10 &Lv\ \ M\ W +9 &N5\ \ F\ X +9 &O\ \ 7\ X +10 &Q\ \ 9\ X +9 &Sy\ \ D\ Y +9 &U;\ \ E\ Y +10 &V\ \ :\ Z +9 &X\ \ ;\ Z +10 &Zy\ \ 9\ [ +9 &\\z\ \ 9\ / +9 &\\5\ \ B\ !f +10 ( + &\\b\ \ D\ K +2 "collection"'+& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&i% +4 "core" % D } t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%F& +4 "core" &3\ +2 "manipulator"&V% +3 "core" % \  3  +3 "storage"(% +3 "core" % !  |\  +2 "storage"(k. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(}(<- +53 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<*\ \  \  +2 "manipulator"&[& +3 "core" &ӟ 9) +2 "manipulator"&8% +4 "core" % \  K  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +160 "core" ( +2 "manipulator"&0& +3 "core" & +2 "storage"(x& +4 "core" &<* E G O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +93 "core" ' +3 "storage"(@& +4 "core" &<* F G #\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +305 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &<* " "\  +2 "manipulator"& & +4 "core" & 4 +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&v& +3 "core" & ( +2 "storage"(-& +4 "core" &<*  $ B\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&;'Ϲ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&y/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & N +2 "manipulator"&(% +4 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&A' +94 "core" ' +3 .tElbow.seek PC +2 "manipulator"&N( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"& & +5 "core" & - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" & Z - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&s' +100 "core" ' + "manipulator"&^& +4 "core" & - +2 "manipulator"&m% +4 "core" %  & +2 "processing"%& +4 "core" &6\ +3 "processing"%& +5 "core" &P\ +2 .tPC.seek :closed +2 "processing"% (^ +3 "core" &5\  +9 &2v4\ )v +10 &d{2\ = +9 &qr7\ N +9 &3T7\ M +10 &T2\ M +9 &R8\ M +10 &yT3\ M +9 &;T5\ M +9 &T6\ M +10 &T0\ M +9 & U5\ M +9 &"DT+\ M +10 &$T(\ M +9 &%S-\ M +10 &'T*\ M +9 &)LT&\ M +9 &+T"\ M +10 &,U#\ M +9 &.S\ M +9 &0UU\ M +10 &2U"\ M +9 &3U$\ M +10 &5U$\ M +9 &7\\U$\ M +9 &9W"\ M +10 &:W%\ M +9 &<U&\ M +9 &>dU%\ M +10 &@%W%\ M +9 &A\\%\ N +10 &Cc"\ O +9 &Eej%\ O +9 &G$r%\ P +10 &H \ R +9 &J\ S +9 &Lb\ S +10 &N"\ T +9 &O#\ S +10 &Q%\ T +9 &Sf\ T +9 &U)!\ T +10 &V\ T +9 &X\ T +9 &Zn\ T +10 &\\0\ T +9 &]~v\ 9 +10 &^0\ R +9 &^\ , +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&L% +4 "core" %   & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 "processing"%)& +3 "core" &^0\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" % # G 0 +2 "storage"({% +4 "core" % " " <\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (a& +3 "core" &<* \  +3 "manipulator"&c& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  t - +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(~'r + "manipulator"&:( +6 "core" ( +2 "manipulator"&b& +3 "core" &  - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" & p - +3 .tForearm.seek PC + "manipulator"&u' +92 "core" ' + .tHand.close +2 "manipulator"&1/ +53 "core" / +2 .tPC.seek :open +2 "processing"%`( +98 "core" ' +2 "storage"(|- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(d'1 +48 "core" ' +299 ( + "storage"(9& +4 "core" &<* G F 5\  +2 "manipulator"&K& +4 "core" &  - +2 "manipulator"&X% +3 "core" %  K Y +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&*( +256 "core" ( + "manipulator"&3& +4 "core" & ,  +2 "storage"(I& +3 "core" &<* E D \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +92 "core" ' +2 .tHand.open + "manipulator"&o1 +60 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(H' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(q' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(z& +4 "core" &<* K M D\  +2 "manipulator"&n& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&O( +7 "core" ( +2 "manipulator"&6& +3 "core" &  +2 "storage"('& +4 "core" &<* G F (\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&E'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(='" +57 "core" ' +2 "manipulator"&& +4 "core" & S +2 "storage"(,& +3 "core" &<* ! ! "\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&f'΍ +21 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&4% +4 "core" %Ν A +2 "storage"(\\& +5 "core" &<* % $ C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&.' +15 "core" ' + "manipulator"&&& +4 "core" & +2 "storage"(>& +4 "core" &<* D C N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +18 "core" ' + "storage"(g% +4 "core" % D D \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (7% +3 "core" %}P R J\ Vd +2 "manipulator"&_% +3 "core" %N +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +92 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" &<*  7 \  +2 "collection"'& +4 "core" &\\b @\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  Q  +2 "storage"(%% +3 "core" % E D p\  +2 "storage"(j. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(!(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (w& +3 "core" &<+\ $\ ( 3\  +2 "manipulator"&D& +3 "core" & a +2 .tElbow.seek 5 +2 "manipulator"&R( +4 "core" ( + "manipulator"&t& +4 "core" &  +2 "storage"(& +4 "core" &<* D D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +96 "core" ' + "storage"(& +4 "core" &<* D C\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'r +297 "core" ' + "storage"(<- +48 "core" -' +4 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" & : +2 "storage"(& +4 "core" &<* " " &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&p'΍ +15 "core" ' + .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(T't +29 "core" ' + "manipulator"&h% +4 "core" %Ο | < +2 "storage"(& +3 "core" &<* - & $\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&l' +14 "core" ' +2 "manipulator"&/& +4 "core" & +2 "storage"(\ & +4 "core" &<* D D a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +20 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(i' +41 "core" ' + "manipulator"&F& +4 "core" & O +2 "manipulator"&V% +4 "core" %U J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +159 "core" ( +2 "manipulator"&+& +4 "core" &ӑ' ? @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ' @\\ +2 .tForearm.seek CC +2 "manipulator"&['? +95 "core" ' +2 .tHand.close + "manipulator"&8/ +62 "core" / + .tCC.seek :open +2 "collection"'5( +446 "core" ( +2 "storage"(0& +4 "core" &<* ? J \  +2 "storage"(x& +3 "core" &<* : < \  +2 "manipulator"&J& +4 "core" &Ӷ" d ;7 +2 "manipulator"&@% +3 "core" % 7  8 +3 .tForearm.seek :retract + "manipulator"&Z' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Y( +163 "core" ( + "manipulator"&2& +4 "core" &  +2 "storage"(]& +3 "core" &<* [ e A\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&-1 +52 "core" 1 +3 "manipulator"&y% +3 "core" % Ή 2 +2 "storage"(& +3 "core" &<* \\ ^ h\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 296 counts + "manipulator"&('ϵ +16 "core" ' +2 "manipulator"&& +4 "core" & )  +2 "storage"(M& +3 "core" &<* r q 2\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"(;% +4 "core" %  t \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 ($% +3 "core" %C 9 9 w\ V_ +2 "manipulator"& % +3 "core" %C 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'m& +4 "core" & M\ +2 "manipulator"&% +4 "core" %   *  +2 "storage"(% +4 "core" % ] ] \  +2 "storage"(A. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +47 "storage"(?( +678 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & D C \ +2 "manipulator"&L& +4 "core" & ,  +2 .tElbow.seek 3 +2 "manipulator"&)( +14 "core" ( +2 "manipulator"&& +3 "core" & ) +2 "storage"({& +4 "core" & f ^ K\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +96 "core" ' +2 "storage"(& +3 "core" & { t \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +300 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" & Z f \ +2 "manipulator"&U& +4 "core" & / +2 .tElbow.seek 3 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&1& +3 "core" & +2 "storage"(}& +4 "core" & ^ d\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&|'ϡ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( ' +8 "core" & - + "manipulator"&~% +4 "core" % Ϙ  ^ +2 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&X& +3 "core" &Ӗ" 9 ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +2 "core" &Ӗ" r ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&3'? +101 "core" ' +2 "manipulator"&I& +4 "core" &Ӗ" ;8 +2 "manipulator"&:% +4 "core" %K - +2 "collection"'o& +4 "core" & \ +3 "collection"' & +5 "core" & e\ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & e\ +8 &= j\ $e +9 &Yy b\ 7 +10 &w l\ J +9 &R p\ K +10 &T g\ K +9 &HT l\ K +9 &\ R f\ K +10 &T j\ J +9 &T g\ K +10 &PR g\ K +9 & T f\ J +9 &!U k\ K +10 &#X ]\ K +9 &%XR [\ K +9 &'S [\ K +10 &(U S\ J +9 &*U O\ J +9 &,aU P\ J +10 &."U Y\ K +9 &/X U\ K +10 &1U U\ J +9 &3hU U\ K +9 &5*T U\ K +10 &6U [\ K +9 &8X Z\ K +9 &:pT _\ K +10 &<2X _\ K +9 &=T ^\ K +10 &?U ^\ K +9 &AxU U\ K +9 &C9^ [\ K +10 &Dc Z\ L +9 &Fp X\ N +9 &Hq Z\ P +10 &J%\ \ ]\ U +9 &K\ \ ^\ V +10 &M\ \ \\\ Y +9 &Ob\ \ Z\ X +9 &Q#\ \ V\ X +10 &R\ \ ]\ Z +9 &T\ \ I\ Y +10 &Vc\ \ \ G\ Z +9 &X%\ \ \ Q\ Z +9 &Y\ \ \ I\ \\ +10 &[\ \ P\ I +9 &\\/\ \ \ E\ 9 +9 &\\j\ \ D\ L +6 ( + "collection"' & +4 "core" &\\`\ \ O\ L +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&z1 +54 "core" 1 +2 "manipulator"&n% +4 "core" % K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%'& +4 "core" &0\ +2 "manipulator"&% +3 "core" %  *  +2 "storage"(% +4 "core" % % % %\  +2 "storage"(,. +3 "core" .( +2 "storage"(4& +3 "core" & % % \ +2 "storage"(d& +3 "core" & % %\ +2 "manipulator"&\\& +4 "core" &ӫ 9# +2 "manipulator"&&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&H( +158 "core" ( +2 "manipulator"&>& +3 "core" & n +2 "storage"(g& +4 "core" & D D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&*'7 +99 "core" ' +2 "storage"(P& +3 "core" & B 9 y\ +48 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(q'r +296 "core" ' + "storage"(7- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" & % $ +\ +2 "manipulator"&E& +4 "core" & + +2 .tElbow.seek 3 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&=& +3 "core" &  +2 "storage"(f& +3 "core" &   l\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & +2 "manipulator"&%% +4 "core" % ϙ +2 .tForearm.seek :retract +2 "manipulator"&j' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&w& +4 "core" & H K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" & 4 K +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&t' +94 "core" ' +2 "manipulator"&& +4 "core" & J +2 "manipulator"&r% +3 "core" % n +3 "processing"%& +3 "core" &;\ +3 "processing"%& +4 "core" &T\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &0\  +9 &2v0\ )v +9 &b~3\ = +9 &qs9\ M +10 &2T8\ M +9 &T9\ M +9 &S7\ M +10 &yT8\ M +9 &;T4\ M +10 &U7\ M +9 &T6\ M +9 & W2\ M +10 &"CU.\ M +9 &$U2\ M +9 &%S2\ M +10 &'S/\ M +9 &)JT0\ M +10 &+ V2\ M +9 &,U,\ M +9 &.S+\ M +10 &0RU&\ M +9 &2U!\ M +9 &3Q\ M +10 &5T\ M +9 &7ZU&\ M +9 &9T\ M +10 &:W\ M +9 &<R\ M +10 &>aW$\ N +9 &@$V$\ M +9 &A[&\ N +10 &Ca&\ N +9 &Efd\ O +10 &G$n!\ P +9 &H}%\ R +9 &J\ S +10 &L`\ S +9 &N \ T +9 &O%\ T +10 &Q\ T +9 &Se\ T +9 &U(\ T +10 &V\ T +9 &X\ T +10 &Zm\ T +9 &\\/\ T +9 &]w\ 7 +10 &^2\ N +9 &^\ - +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&W1 +57 "core" 1 +2 "manipulator"&#% +3 "core" %   n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<' +96 "core" ' +2 "processing"%S& +3 "core" &^5\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" % # e 4 +2 "storage"(e% +4 "core" % " ! 1\  +2 "storage"(h. +3 "core" .( +2 "storage"(& +3 "core" & " ! )\ +2 "storage"(/& +3 "manipulator"&\ & +5 "core" &  W\ +2 & J +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&F( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(V'r +2 "core" ( +3 "manipulator"&"& +3 "core" &   J J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" & \  J +2 .tForearm.seek PC +2 "manipulator"&Q' +95 "core" ' + .tHand.close +2 "manipulator"&p/ +53 "core" / +2 .tPC.seek :open +2 "processing"%l( +98 "core" ' +2 "storage"(T- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +41 "core" ' +305 ( +2 "storage"(& +3 "core" & !  \ +2 "manipulator"&& +4 "core" & m J +2 "manipulator"&B% +4 "core" %  M - +41 .tForearm.seek :retract +10 "manipulator"&8' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +245 "core" ( + "manipulator"&G& +4 "core" & ` N +2 "storage"(0& +3 "core" & %  U\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&x'7 +97 "core" ' +2 .tHand.open +2 "manipulator"&J1 +61 "core" 1 +3 "storage"(@- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(2' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(]' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"([- +2 "core" -' +2 "storage"(k& +5 "core" & U X\ + "manipulator"&-& +4 "core" &  N +2 .tElbow.seek 3 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&& +3 "core" & ^ N +2 "storage"(& +4 "core" & e d b\ +3 .tForearm.seek 3 + 450 counts + "manipulator"&M'7 +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(;'" +51 "core" ' +2 "manipulator"&Z& +4 "core" & M N +2 "storage"($& +3 "core" & % % D\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& 'u +25 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +18 "core" ' +2 "manipulator"&m% +3 "core" %Ή  +2 "storage"((& +5 "core" &   D\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ϵ +15 "core" ' +2 "manipulator"&& +3 "core" & t N +2 "storage"(A& +4 "core" &   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&i'7 +17 "core" ' + "storage"(% +4 "core" % * # 8\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +100 (!% +3 "core" %FR\ *\ ) \ Wf +2 "manipulator"&% +4 "core" %: k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & ! $ \ +2 "collection"'{& +4 "core" &\\` \ L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %  4  +2 "storage"(v% +3 "core" %   \  +2 "storage"(^. +3 "core" .( +2 "storage"(c& +3 "core" & A '\ +2 "storage"(b& +4 "core" & D @\ +2 "manipulator"&U& +3 "core" & X N +3 .tElbow.seek 3 + "manipulator"&1( +4 "core" ( + "manipulator"&}& +4 "core" & N +2 "storage"(N& +4 "core" &  " \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +98 "core" ' +2 "storage"(~& +3 "core" & F C\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" & $ N +2 "storage"(u& +3 "core" & % % <\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&a'u +48 "core" ' +4 .tElbow.hold + "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(I- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(:'m +30 "core" ' +2 "manipulator"&s% +3 "core" %z a  +2 "storage"(o& +3 "core" &  $ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"& 'Ϧ +18 "core" ' + "manipulator"&9& +4 "core" & % N +2 "storage"(5& +3 "core" & D D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&z'7 +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(n' +36 "core" ' +2 "manipulator"&'& +4 "core" &  N +2 "manipulator"&% +3 "core" %B J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&,(ӂ +150 "core" ( +2 "manipulator"&4& +4 "core" &Ӄ( P Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &Ӄ*  Bf +2 .tForearm.seek CC +2 "manipulator"&\\'? +97 "core" ' +2 .tHand.close + "manipulator"& / +56 "core" / +2 .tCC.seek :open +2 "collection"'&( +446 "core" ( +2 "storage"(3& +3 "core" & = I \ +2 "storage"(>& +4 "core" & ; ; \ +2 "manipulator"&g& +3 "core" &Ӫ# H <? +2 "manipulator"&P% +4 "core" % K 5  +2 .tForearm.seek :retract +2 "manipulator"&K' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&6( +165 "core" ( +2 "manipulator"&7& +3 "core" &   +2 "storage"(_& +4 "core" &  ~ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&E'u +96 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&f1 +60 "core" 1 +2 "manipulator"&C% +4 "core" % ΂ + "storage"(& +4 "core" & h h W\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&%'Ϯ +22 "core" ' +2 "manipulator"&H& +3 "core" & Z  +2 "storage"(*& +4 "core" & ~ ~\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&q'7 +24 "core" ' + "storage"(.% +4 "core" % t { \ +3 ."downElevator"SE.seek :down +3 "storage"(w' +100 (D% +2 "core" %J D D q\ Vc +2 "manipulator"&O% +4 "core" %6 ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'r& +5 "core" & \ + "manipulator"&% +4 "core" %  \\ v +2 "storage"(% +4 "core" % ~  \  +2 "storage"(j. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(`(,y +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &,y / 6 T\ +2 "manipulator"&#& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&S( +43 "core" ( + "manipulator"&& +4 "core" & P  +48 "storage"(e& +4 "core" &,y ~ ~ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&h' +90 "core" ' +2 "storage"(& +3 "core" &,y ~ ~ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +299 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,m [ f \ \  +2 "manipulator"&"& +4 "core" & !  +2 .tElbow.seek 4 +2 "manipulator"&R( +4 "core" ( + "manipulator"&t& +4 "core" &   +2 "storage"(p& +3 "core" &,m h i \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&T'c +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(' +8 "core" & q  +2 "manipulator"&V% +4 "core" % ϕ  +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&B& +3 "core" &ӎ 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &ӎ o 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'? +94 "core" ' +2 "manipulator"&0& +4 "core" &ӎ 8 +2 "manipulator"&F% +4 "core" %5 , n +2 "collection"'J& +4 "core" & C\ +3 "collection"'@& +5 "core" & o\ +2 .tCC.seek :closed +2 "collection"'[(\\ +4 "core" & q\ +7 &< m\ %g +10 &Yv j\ 7 +9 & v j\ J +9 &U j\ K +10 &Y o\ K +9 &MU l\ J +9 &U r\ K +10 &W u\ K +9 &S k\ K +10 &TU o\ K +9 & T m\ J +9 &!T l\ K +10 &#X m\ K +9 &%]T d\ J +9 &'U Y\ K +10 &(U U\ J +9 &*U X\ K +10 &,dT W\ K +9 &.&U Q\ K +9 &/T S\ K +10 &1U ^\ K +9 &3lX X\ K +10 &5/T a\ J +9 &6U _\ K +9 &8U ^\ K +10 &:tT `\ K +9 &<6U Y\ K +9 &=X \\\ K +10 &?U c\ K +9 &A|V Y\ K +9 &C;[ ]\ L +10 &Dc `\ M +9 &Fl X\ N +10 &Ht b\ P +9 &J)\ \ _\ U +9 &K\ \ _\ W +10 &M\ \ V\ X +9 &Oe\ \ b\ X +9 &Q)\ \ ]\ W +10 &R\ \ [\ X +9 &T\ \ Y\ X +10 &Vh\ \ Y\ Z +9 &X*\ \ \ X\ Z +9 &Y\ \ Y\ \\ +10 &[\ \ \ a\ H +9 &\\/\ \ X\ 2 +9 &\\n\ \ Y\ L +3 ( +2 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&k1 +54 "core" 1 +2 "manipulator"&-% +4 "core" % 5 + n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &O\ +2 "manipulator"&8% +4 "core" %  O  +2 "storage"(Z% +3 "core" % ! % D\  +2 "storage"($. +3 "core" .(,y +2 "storage"(m& +4 "core" &,m " # \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(((,y +38 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" &,| \  *\ +2 "manipulator"&& +4 "core" &ӥ . 5 +2 "manipulator"&A% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&2( +163 "core" ( +2 "manipulator"&& +3 "core" & &  +2 "storage"(& +4 "core" &,| D D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&x' +96 "core" ' + "storage"(]& +4 "core" &,| D D z\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +296 "core" ' +2 "storage"(- +51 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (M& +2 "core" &,m " ! ,\ +2 "manipulator"&y& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"& & +3 "core" &  +3 "storage"(& +3 "core" &,m # " 1\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(v' +8 "core" &  +3 "manipulator"&^% +3 "core" % φ +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&c( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&b& +4 "core" & ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" & @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +95 "core" ' + "manipulator"&N& +5 "core" &  + "manipulator"&i% +4 "core" % N [ +2 "processing"%~& +4 "core" &:\ +3 "processing"% & +6 "core" &1\ +2 .tPC.seek :closed +2 "processing"%Y(^ +5 "core" &:\ +6 &64\ #c +10 &Ux0\ 6 +9 &x4\ K +9 &U0\ M +10 &VU7\ M +9 &R-\ M +9 &U7\ M +10 &T8\ M +9 &^T7\ M +10 &U8\ M +9 &T8\ M +9 &!T7\ N +10 &#fT4\ M +9 &%'U1\ M +9 &&U/\ M +10 &(V0\ N +9 &*nT1\ M +10 &,0U1\ M +9 &-T4\ M +9 &/V*\ M +10 &1vT(\ M +9 &38U&\ M +10 &4T\ M +9 &6U \ N +9 &8~V\ M +10 &:>U$\ N +9 &<V\ M +9 &=W\ M +10 &?X\ M +9 &AGZ\ M +10 &Cc%\ O +9 &Dd"\ O +9 &Fr$\ Q +10 &HA&\ R +9 &I%\ T +9 &K\ T +10 &M\ T +9 &OC%\ T +9 &Q \ T +10 &R)\ T +9 &T#\ U +10 &VK\ T +9 &X \ U +9 &Y\ V +10 &[\ U +9 &]Q\ F +9 &^wD~\ #h +10 &^)\ 0 +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&L1 +2 "core" &^\ 0 +55 1 +2 "manipulator"&% +3 "core" %   [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +97 "core" ' +2 "processing"%u& +3 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&I% +3 "core" %  r # +2 "storage"(s% +3 "core" % ! ! :\  +2 "storage"(o. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(9(,y +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (5& +2 "manipulator"&'& +4 "core" &,~\ \  \ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"('r + "manipulator"&( +6 "core" ( +2 "manipulator"&1& +3 "core" & \  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&a' +97 "core" ' +2 .tHand.close + "manipulator"& / +55 "core" / +2 .tPC.seek :open +2 "processing"%:( +90 "core" ' +2 "storage"(4- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'1 +47 "core" ' +307 ( +2 "storage"(z& +3 "core" &,j D C \ ! +2 "manipulator"&|& +4 "core" & / +2 "manipulator"& % +3 "core" %  ' +48 .tForearm.seek :retract +3 "manipulator"&' +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +251 "core" ( +2 "manipulator"&3& +3 "core" & \ +2 "storage"(>& +4 "core" &,j @ D f\ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +96 "core" ' +2 .tHand.open + "manipulator"&P1 +53 "core" 1 +2 "storage"(7- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(_' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(f& +4 "core" &,j 8 F \ ! +2 "manipulator"&C& +4 "core" &  \ +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&H& +3 "core" &   \ +3 "storage"(*& +3 "core" &,j K K Q\ ! +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +15 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(K'" +57 "core" ' +2 "manipulator"&D& +3 "core" & Z \ +2 "storage"(O& +4 "core" &,j   \ ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6'7 +24 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +28 "core" ' +2 "manipulator"&%% +4 "core" %E R +2 "storage"(& +3 "core" &,j  ! 2\ ! +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&'q +25 "core" ' + "manipulator"&j& +4 "core" & ! \ +2 "storage"(n& +4 "core" &,j D D \ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&q' +16 "core" ' + "storage"(w% +4 "core" % D D \ +3 ."downElevator"SE.seek :down +3 "storage"(?' +99 (W% +3 "core" %eM\ *\ + 6\ Wd +2 "manipulator"&#% +3 "core" % R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (e& +2 "core" &,j  ) 9\ ! +3 "collection"'& +3 "core" &\\m c\ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&=% +3 "core" %  [ # +2 "storage"(% +4 "core" %   b\  +2 "storage"(\ . +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +59 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ("& +3 "core" &,z P 0\ +2 "manipulator"&t& +4 "core" & 3 \ +2 .tElbow.seek 4 +2 "manipulator"&p( +4 "core" ( + "manipulator"&& +4 "core" &  V \ +2 "storage"(<& +3 "core" &,z   a\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +93 "core" ' +2 "storage"(S& +4 "core" &,z E D \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(h'r +298 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" & g \ +2 "storage"(/& +4 "core" &,m % % L\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +47 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&T'7 +13 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(F- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(J't +33 "core" ' +2 "manipulator"&R% +4 "core" %D O H +2 "storage"(& +3 "core" &,m $ ! J\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&'p +22 "core" ' +3 "manipulator"&&& +4 "core" & \ +2 "storage"(k& +3 "core" &,m   {\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +21 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +42 "core" ' + "manipulator"&8& +4 "core" &  \ +2 "manipulator"&Z% +4 "core" % E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +157 "core" ( +2 "manipulator"&@& +3 "core" &ӡ  - :- +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +2 "core" &ӡ  $ :- +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close + "manipulator"&A/ +64 "core" / +2 .tCC.seek :open +2 "collection"'G( +449 "core" ( + "storage"(& +4 "core" &,m < ? \ +2 "storage"(& +3 "core" &,m 9 : o\ +2 "manipulator"&`& +4 "core" &ӡ! :- +2 "manipulator"&]% +3 "core" % N = 2 +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(M& +3 "core" &,m [ [\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&y'7 +93 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&{% +3 "core" % 8  l P +2 "storage"(& +4 "core" &,m f ^ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&^'d +14 "core" ' + "manipulator"&2& +4 "core" &  +2 "storage"(x& +4 "core" &,m q q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&!' +16 "core" ' + "storage"(% +4 "core" % t  \ +3 ."downElevator"SE.seek :down +3 "storage"(b' +99 (U% +4 "core" %D A D \ U] +2 "manipulator"&;% +4 "core" % X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'i& +3 "core" & v\ +2 "manipulator"&~% +4 "core" %  G  +2 "storage"(v% +4 "core" % ^ ^ \  +2 "storage"( . +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(l(<- +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +3 "core" &<,   \  +2 "manipulator"&& +4 "core" & *  +48 .tElbow.seek 5 +2 "manipulator"&u( +12 "core" ( +2 "manipulator"&I& +3 "core" & t +2 "storage"(s& +4 "core" &<, ] ] "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&o'O +96 "core" ' +2 "storage"( & +4 "core" &<, | \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(5'r +295 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (1& +2 "core" &<, ] ^ \  +2 "manipulator"&)& +4 "core" & \ +2 .tElbow.seek 5 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"& & +3 "core" & 3 +2 "storage"((& +4 "core" &<, i i \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&4'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& +2 "storage"(Y' +8 "core" & + "manipulator"&% +4 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"& & +3 "core" &ӓ% >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &ӓ% G >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&3'? +97 "core" ' +2 "manipulator"&>& +4 "core" &Ӕ%  >L +2 "manipulator"&% +4 "core" %5 +2 "collection"'P& +4 "core" & \ +3 "collection"'7& +5 "core" & .\ +2 .tCC.seek :closed +2 "collection"',(\\ +5 "core" &  \  +8 &4{ ]\ *z +9 & h{ v\ > +9 &m p\ L +10 &]T m\ K +9 & U r\ J +10 &U t\ K +9 &T v\ K +9 &eS t\ K +10 &'T z\ K +9 &T o\ J +9 & T l\ K +10 &"mW o\ K +9 &$/R p\ K +10 &%U l\ J +9 &'U r\ K +9 &)uW f\ K +10 &+7S k\ K +9 &,U d\ J +9 &.U _\ K +10 &0}T \\\ K +9 &2@U _\ J +10 &4U b\ J +9 &5U [\ K +9 &7T [\ K +10 &9FU c\ K +9 &;R ]\ K +9 &<T c\ K +10 &>X d\ K +9 &@NU e\ K +10 &BW f\ K +9 &C^ `\ L +9 &Ed e\ M +10 &GJv c\ O +10 &I\ d\ Q +8 &J\ \ b\ W +10 &Lw\ \ [\ X +9 &N5\ \ ^\ Y +10 &O\ \ \\\ X +9 &Q\ \ d\ Y +9 &Sx\ \ \\\ Z +10 &U:\ \ `\ Z +9 &V\ \ ]\ [\ +9 &X\ \ a\ [\ +10 &Zz\ \ ^\ \\ +9 &\\ |\ \ \ b\ 0 +10 &\\0\ \ f\ d +9 ( + &\\e\ \ ^\ O +2 "collection"'7& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&f1 +64 "core" 1 +2 "manipulator"&C% +3 "core" % 5 f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%*& +4 "core" &F\ +2 "manipulator"&% +3 "core" %   +3 "storage"(D% +3 "core" % " ! 7\  +2 "storage"(O. +3 "core" .(<- +2 "storage"(d& +3 "core" &<, $ " )\  +2 "storage"(%& +4 "core" &<, # % 1\  +2 "manipulator"&& +4 "core" &Ӭ! @ ;4 +2 "manipulator"&_% +3 "core" %  ^  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&j( +157 "core" ( +2 "manipulator"&n& +3 "core" & S +2 "storage"(w& +4 "core" &<, D D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +99 "core" ' + "storage"(g& +4 "core" &<, D D \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'r +306 "core" ' + "storage"(W- +4 "core" -' +2 .tSE.configure :default +48 "storage"(#QK-0-\ b +4 (#& +3 "core" &<, " # B\  +3 "manipulator"&.& +3 "core" & q +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&K& +4 "core" &  +2 "storage"(6& +4 "core" &<, # \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&e'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(=' +8 "core" & U + "manipulator"&% +4 "core" % ϰ n +2 .tForearm.seek :retract +2 "manipulator"&\ ' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +3 "manipulator"&"& +3 "core" & > - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &  - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 "manipulator"&<& +3 "core" & - +2 "manipulator"&q% +4 "core" %  r +2 "processing"%S& +4 "core" &\\\ +3 "processing"%?& +5 "core" &>\ +2 .tPC.seek :closed +2 "processing"%9(^ +4 "core" &=\ +7 &69\ #c +9 &Tv=\ 6 +10 &x<\ K +9 &Q:\ M +9 &_T0\ N +10 &#R8\ M +9 &U1\ M +9 &U:\ M +10 &hR0\ M +9 &*W7\ M +10 &S6\ M +9 &!U?\ M +9 &#pS4\ M +10 &%2U:\ M +9 &&T6\ M +9 &(V2\ M +10 &*xT.\ M +9 &,:U0\ M +10 &-S9\ M +9 &/W-\ M +9 &1U1\ M +10 &3CV/\ M +9 &5T0\ M +9 &6U4\ M +10 &8S)\ M +9 &:KU"\ M +10 &< W'\ M +9 &=U&\ N +9 &?U$\ N +10 &AQW\ N +9 &C_'\ O +9 &Db\ O +10 &Fp)\ P +9 &HK%\ R +10 &J\ &\ S +9 &K%\ S +9 &M&\ T +10 &ON%\ T +9 &Q&\ U +9 &R&\ T +10 &T&\ U +9 &VU\ T +10 &X#\ T +9 &Y\ T +9 &[\ T +10 &][\ C +9 &^Hx%\ V +9 &^>$\ 2 +6 ( +2 "processing"%?& +3 "core" &^$$\ 2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&E1 +61 "core" 1 + "manipulator"&% +4 "core" %   r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +95 "core" ' +2 "processing"%Q& +3 "core" &^$9\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&/% +3 "core" % % t & +2 "storage"(F% +4 "core" %\ \  L\  +2 "storage"(R. +3 "core" .(<- +2 "storage"(& +3 "core" &<, O 1\  +3 "storage"(&& +2 "manipulator"&k& +7 "core" &<,\ \  5\  +2 &  # - +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(8'r + "manipulator"&Z( +6 "core" ( +2 "manipulator"&V& +3 "core" &   - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &   - +3 .tForearm.seek PC + "manipulator"&h' +93 "core" ' +2 .tHand.close + "manipulator"&T/ +54 "core" / +2 .tPC.seek :open + "processing"%( +98 "core" ' + "storage"(J- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'1 +41 "core" ' +307 ( +2 "storage"(+& +3 "core" &<,  ! O\  +2 "manipulator"&-& +4 "core" & g - +2 "manipulator"&0% +3 "core" %  ] +2 .tForearm.seek :retract +2 "manipulator"&A' +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&$( +290 "core" ( +2 "manipulator"&[& +4 "core" & % 6 +2 "storage"(& +3 "core" &<, ! ! %\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' +2 .tHand.open + "manipulator"&`1 +57 "core" 1 +2 "storage"(]- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(M' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(m& +4 "core" &<, 5 O \  +2 "manipulator"&& +4 "core" & 5 +2 .tElbow.seek 5 +2 "manipulator"&{( +4 "core" ( + "manipulator"&& +4 "core" &   5 +2 "storage"(2& +4 "core" &<, | ~ c\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' + "manipulator"&& +4 "core" &  5 +2 "storage"(U& +3 "core" &<,  $ C\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&;'΍ +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +19 "core" ' +2 "manipulator"&i% +3 "core" %΁  n +2 "storage"(~& +4 "core" &<,  ! \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 288 counts + "manipulator"&^'ϭ +16 "core" ' +2 "manipulator"&v& +3 "core" & 3  +3 "storage"( & +3 "core" &<,  ! y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(!% +4 "core" % " \ +2 ."downElevator"SE.seek :down +4 "storage"(b' +99 (% +3 "core" %=M\ (\ * ;\ Wd +2 "manipulator"&L% +3 "core" %E ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (I& +4 "core" &<, 4  [\  +2 "collection"'s& +3 "core" &\\e \ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +4 "core" %  0  +2 "storage"( % +4 "core" % * # 4\  +2 "storage"(N. +2 "core" .(<- +2 "storage"('& +4 "core" &<,   p\  +2 "storage"(1& +4 "core" &<, A 6 Z\  +2 "manipulator"&)& +3 "core" & S  +2 .tElbow.seek 5 +2 "manipulator"& ( +19 "core" ( +2 "manipulator"&(& +3 "core" & 4  +2 "storage"(c& +4 "core" &<, @ C 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&X'O +94 "core" ' +2 "storage"(& +3 "core" &<, D C \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'r +299 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & %  +2 "storage"(a& +4 "core" &<, D C F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&5'΍ +27 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(>- +3 "core" -' +49 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('t +28 "core" ' + "manipulator"&P% +4 "core" %Η  _ +2 "storage"(}& +4 "core" &<,   L\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&Y' +25 "core" ' +2 "manipulator"&z& +3 "core" &  +2 "storage"(G& +4 "core" &<, G D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(C' +36 "core" ' +2 "manipulator"&*& +4 "core" &  +2 "manipulator"&% +3 "core" %R L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&O(ӂ +153 "core" ( +2 "manipulator"&d& +4 "core" &z- ? Dx +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &z- . Dx +2 .tForearm.seek CC +2 "manipulator"&%'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'_( +446 "core" ( +2 "storage"(3& +4 "core" &<, : < Z\  +2 "storage"(n& +3 "core" &<, > A y\  +2 "manipulator"&w& +4 "core" &Ӯ$ b =D +2 "manipulator"&g% +4 "core" % < H @ +2 .tForearm.seek :retract +2 "manipulator"&|' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&H( +163 "core" ( +2 "manipulator"&W& +3 "core" &  +2 "storage"(#& +4 "core" &<, [ Z \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&.'΍ +97 "core" ' +2 .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +53 "core" 1 +2 "manipulator"&% +3 "core" % Θ O  +2 "storage"(& +4 "core" &<, [ [ *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&' +23 "core" ' + "manipulator"&j& +4 "core" & @  +2 "storage"(& +4 "core" &<, | n x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\\'O +17 "core" ' +2 "storage"(e% +4 "core" % o _ \ +3 ."downElevator"SE.seek :down +4 "storage"("' +99 (t% +3 "core" %xI 8 C ^\ U_ +2 "manipulator"&% +4 "core" %T E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'q& +4 "core" & \ +2 "manipulator"&S% +3 "core" %   +2 "storage"(=% +4 "core" % [ ] \  +2 "storage"(\ . +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(:( +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +3 "core" & [ [ #\ +2 "manipulator"&& +3 "core" & 4  +2 .tElbow.seek 3 +2 "manipulator"&Q( +35 "core" ( +2 "manipulator"&/& +3 "core" &  +2 "storage"(F& +4 "core" & a j ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&R'7 +143 "core" ' +2 "storage"(& +4 "core" & q { \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'r +295 "core" ' +3 "storage"(&- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" & 8 T X\ +2 "manipulator"&V& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&p( +9 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(T& +3 "core" & ^ g\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&J'ϡ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(9' +8 "core" & "  +2 "manipulator"&8% +3 "core" % ϙ A +3 .tForearm.seek :retract +2 "manipulator"&+' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +146 "core" ( +2 "manipulator"&0& +3 "core" &y+  Cm + ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &h& +3 "core" &y+ T Cm +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['? +99 "core" ' +3 "manipulator"&& +3 "core" &y+ Cm +2 "manipulator"&Z% +5 "core" %B 9  +2 "collection"'`& +3 "core" & \ +3 "collection"']& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  +9 &3z s\ *z +9 &\ f~ d\ > +10 &p \ L +9 &YQ \ K +10 &S -\ K +9 &U v\ K +9 &T o\ J +10 &aT t\ K +9 &$V o\ J +9 &U y\ K +10 & T |\ J +9 &"iU y\ K +10 &$,T w\ J +9 &%U w\ K +9 &'T u\ K +10 &)qW y\ K +9 &+4U w\ J +9 &,U v\ K +10 &.U w\ K +9 &0yT n\ K +10 &2;U h\ K +9 &3U d\ K +9 &5W j\ K +10 &7T i\ K +9 &9CU I\ K +9 &;U K\ J +10 &<U `\ K +9 &>U e\ K +10 &@KW k\ K +9 &B W g\ K +9 &C^ b\ L +10 &Ee i\ M +9 &GHu d\ O +9 &I\  c\ R +10 &J\ \ d\ V +9 &Ls\ \ b\ X +10 &N4\ \ b\ X +9 &O\ \ c\ Y +9 &Q\ \ a\ Y +10 &Sv\ \ c\ Z +9 &U8\ \ \ a\ Z +9 &V\ \ `\ Z +10 &X\ \ \ a\ \\ +9 &Zy\ \ e\ [ +10 &\\{\ \ c\ 0 +9 &\\;\ \ d\ &t +9 &\\k\ \ d\ M +3 ( + "collection"']& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&m1 +64 "core" 1 + "manipulator"&% +4 "core" % B   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%2& +4 "core" &b\ +2 "manipulator"&A% +3 "core" % \  o  +2 "storage"(% +4 "core" % $  Z\  +2 "storage"(U. +3 "core" .( +2 "storage"(i& +4 "core" & " " ?\ +2 "storage"(~& +3 "core" &   \ +2 "manipulator"&@& +4 "core" &ӱ! Q ;5 +2 "manipulator"&v% +3 "core" % \  5  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&& +3 "core" & \  +2 "storage"(!& +3 "core" & D E (\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&$'7 +100 "core" ' +2 "storage"(& +3 "core" & E F \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (L& +3 "core" &  " I\ +2 "manipulator"&x& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&{( +4 "core" ( + "manipulator"&& +4 "core" & P  +2 "storage"(;& +3 "core" & % #\ +3 .tForearm.seek 3 + 300 counts +48 "manipulator"&I'ϡ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"( ' +8 "core" &   +2 "manipulator"& % +4 "core" % Ϝ +2 .tForearm.seek :retract +2 "manipulator"&N' +98 "core" ' + .tElbow.seek PC +2 "manipulator"&y( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +3 "manipulator"&'& +3 "core" &  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" & W 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&)' +92 "core" ' +2 "manipulator"&(& +4 "core" & T 8 +2 "manipulator"&c% +4 "core" % @ ~ +2 "processing"%& +4 "core" &J\ +3 "processing"%& +4 "core" &a\ +3 .tPC.seek :closed + "processing"%b(^ +4 "core" &N\  +9 &5xM\ *x +9 &d{B\ > +10 &o?\ N +9 &CRE\ M +9 &R=\ M +10 &R:\ M +9 &T3\ M +10 &JU0\ M +9 & T,\ M +9 &T;\ M +10 & S<\ M +9 &"RS2\ M +9 &$S<\ N +10 &%R>\ M +9 &'T@\ M +10 &)ZR6\ M +9 &+T7\ M +9 &,U6\ M +10 &.Q2\ M +9 &0bT:\ M +9 &2$T9\ M +10 &3T;\ M +9 &5U:\ N +9 &7jT=\ M +10 &9+W:\ N +9 &:V9\ M +10 &<Q7\ M +9 &>qW-\ N +9 &@4U1\ M +10 &AU)\ N +9 &C`)\ O +10 &Eug3\ O +9 &G4n'\ P +9 &H(\ R +10 &J&\ S +9 &Lp\ S +9 &N0&\ T +10 &O&\ T +9 &Q%\ U +10 &Su-\ T +9 &U65\ U +9 &V(\ T +10 &X'\ T +9 &Z|&\ U +9 &\\>&\ U +10 &]{q&\ 8 +9 &^0'\ I +10 &^*\ + +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&% +4 "core" %   ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +95 "core" ' +2 "processing"% & +3 "core" &^;\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&a% +3 "core" %   \ R  +2 "storage"(>% +4 "core" % ! ! 1\  +2 "storage"(P. +4 "core" .( +2 "storage"(}& +3 "core" &  ! \ +2 "storage"(z& +3 "manipulator"&G& +6 "core" & " !\ + &  8 +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&*( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +3 "core" ( +2 "manipulator"&X& +3 "core" &  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &  1 8 +3 .tForearm.seek PC + "manipulator"&u' +94 "core" ' +2 .tHand.close + "manipulator"&5/ +54 "core" / +2 .tPC.seek :open +2 "processing"%Y( +96 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'1 +44 "core" ' +304 ( +2 "storage"(7& +3 "core" &  # *\ +2 "manipulator"&f& +4 "core" &  8 +2 "manipulator"&4% +3 "core" %  Z S +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&D( +244 "core" ( +2 "manipulator"&,& +3 "core" &  1 9 +2 "storage"(3& +4 "core" & % " a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n'7 +93 "core" ' + .tHand.open +2 "manipulator"&w1 +108 "core" 1 +3 "storage"(g- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +3 "core" -' +2 "storage"(O& +3 "core" & d c ?\ +2 "manipulator"&6& +4 "core" & \  6 9 +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &    9 +2 "storage"(j& +4 "core" & b X\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(e'" +59 "core" ' + "manipulator"&|& +4 "core" & ) 9 +2 "storage"(t& +3 "core" &  ! A\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'u +21 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +28 "core" ' + "manipulator"&q% +4 "core" %΄ Y +2 "storage"(& +3 "core" & ! " W\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&S'ϰ +24 "core" ' + "manipulator"&=& +4 "core" & 9 +2 "storage"(\ & +4 "core" & D D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&C'7 +17 "core" ' +2 "storage"(\\% +4 "core" % D D \ +3 ."downElevator"SE.seek :down +3 "storage"("' +99 (l% +3 "core" %`Q\ \ ) \ Xg +2 "manipulator"&E% +4 "core" %/ V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (/& +3 "core" &  & (\ +2 "collection"'F& +3 "core" &\\k d\ M +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %   +2 "storage"(K% +3 "core" % ? 0 /\  +2 "storage"(<. +3 "core" .( +2 "storage"(&& +5 "core" & &  @\ +2 "storage"(k& +3 "core" &   g\ +2 "manipulator"&V& +4 "core" & 7 9 +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&T& +4 "core" & 9 +2 "storage"(r& +3 "core" &   B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&B'7 +105 "core" ' +2 "storage"(8& +4 "core" & C D \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'r +306 "core" ' +2 "storage"(R- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" &  9 +2 "storage"(h& +3 "core" & $ # L\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&?'u +27 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(Z'm +29 "core" ' +2 "manipulator"&`% +4 "core" %΀ +2 "storage"(p& +3 "core" & # " \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&9'Ϭ +23 "core" ' + "manipulator"&+& +49 "core" & 9 +4 "storage"(_& +3 "core" & D D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&m'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&2& +4 "core" & F 9 +2 "manipulator"&A% +4 "core" %' U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +152 "core" ( +2 "manipulator"&U& +3 "core" &Ӓ' A @] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +2 "core" &Ӓ' $ @] +3 .tForearm.seek CC + "manipulator"&~'? +97 "core" ' + .tHand.close +2 "manipulator"&@/ +63 "core" / + .tCC.seek :open +2 "collection"'v( +58 "Can"\ ND) +388 "core" ( +2 "storage"([& +3 "core" & Q Q \ +2 "storage"(& +4 "core" & G G 7\ +2 "manipulator"&!& +4 "core" &Ӱ# 9 <? +2 "manipulator"&% +3 "core" % = f # +3 .tForearm.seek :retract + "manipulator"&-' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( + "manipulator"&& +4 "core" & l  +2 "storage"(L& +4 "core" & [ [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&x'u +98 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +62 "core" 1 +2 "manipulator"&^% +4 "core" % ΄ +2 "storage"(s& +3 "core" & Z [\ +2 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"& 'ϰ +22 "core" ' +2 "manipulator"& & +3 "core" &  +2 "storage"($& +4 "core" & ^ ] ,\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&M'7 +17 "core" ' + "storage"(I% +5 "core" % k ^ M\ +2 ."downElevator"SE.seek :down +4 "storage"('' +98 (1% +3 "core" %L D E\ Ua +2 "manipulator"&{% +4 "core" %8  [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'c& +3 "core" & \ +2 "manipulator"&% +4 "core" %  T  +2 "storage"( % +4 "core" % ] ] \  +2 "storage"(N. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,x A 8 \  +2 "manipulator"&& +4 "core" & $  +2 .tElbow.seek 4 +2 "manipulator"& ( +28 "core" ( +2 "manipulator"&a& +3 "core" &    +2 "storage"(>& +4 "core" &,x i h _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&P' +94 "core" ' +2 "storage"(}& +4 "core" &,x k q \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (z& +47 "core" &,m ] [\  +4 "manipulator"&X& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"& ( +23 "core" ( +2 "manipulator"&)& +3 "core" &   +2 "storage"(5& +4 "core" &,m [ [\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(b' +8 "core" &   + "manipulator"&% +4 "core" % ϊ  +2 .tForearm.seek :retract +2 "manipulator"&7' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&f(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&4& +3 "core" &ӑ' @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &ӑ' C @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'? +101 "core" ' +3 "manipulator"&3& +3 "core" &ӑ( @X +2 "manipulator"&*% +4 "core" %A +2 "collection"'w& +5 "core" & \ +2 "collection"'g& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 &B \ $f +9 &Z| \ 7 +9 & x \ K +10 &S ^\ J +9 &V 9\ K +9 &NX n\ K +10 &T 3\ J +9 &U i\ K +10 &X p\ K +9 &WT u\ K +9 & U t\ J +10 &!U z\ K +9 &#X \ K +9 &%_R c\ K +10 &'"U w\ J +9 &(V z\ K +10 &*T w\ K +9 &,hV w\ J +9 &.)V w\ K +10 &/S v\ K +9 &1V u\ K +9 &3oX w\ K +10 &52U u\ J +9 &6V h\ K +10 &8T \ K +9 &:wU :\ K +9 &<9Y @\ K +10 &=U ]\ J +9 &?V b\ K +9 &AV d\ K +10 &C?[ h\ L +9 &Dc J\ L +10 &Fk H\ N +9 &Hw \ P +9 &J.\ \ 9\ T +10 &K\ \ H\ V +9 &M\ \ d\ W +9 &Oj\ \ g\ X +10 &Q-\ \ d\ W +9 &R\ \ c\ Y +10 &T\ \ C\ Z +9 &Vm\ \ \ H\ Y +9 &X,\ \ e\ Z +10 &Y\ \ $\ [ +9 &[\ \ ;\ H +9 &\\1\ \ \ G\ 1 +10 &\\_\ \ \ H\ I +2 ( +2 "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&%1 +61 "core" 1 +2 "manipulator"&O% +3 "core" % A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &G\ +2 "manipulator"&j% +4 "core" %  K  +2 "storage"(|% +3 "core" % % %\  +2 "storage"(t. +4 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(d(,y +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +3 "core" &,y   \ +2 "manipulator"&& +4 "core" &ӱ" 0 ;8 +2 "manipulator"&W% +3 "core" %  \\  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&=( +163 "core" ( + "manipulator"&\ & +4 "core" & V  +2 "storage"(\\& +3 "core" &,y D E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +119 "core" ' +2 "storage"(n& +3 "core" &,y 8 A y\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +298 "core" ' +2 "storage"(l- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (E& +2 "core" &,m  \  +2 "manipulator"&& +4 "core" & $  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&e& +3 "core" &   +2 "storage"(& +3 "core" &,m 2 \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&S'c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +55 "core" / +51 ."downElevator"SE.seek :down +3 "manipulator"&F& +3 "storage"(' +8 "core" &  + "manipulator"&K% +4 "core" % Ϗ F +2 .tForearm.seek :retract +2 "manipulator"&<' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&&& +4 "core" & A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" & " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&V' +94 "core" ' +2 "manipulator"&T& +4 "core" & +2 "manipulator"&r% +3 "core" % O b +3 "processing"%C& +4 "core" &P\ +3 "processing"%8& +5 "core" &P\ +2 .tPC.seek :closed +2 "processing"%"(^ +4 "core" &K\  +9 &2uE\ )w +10 &b|N\ = +9 &tpK\ N +9 &6TE\ M +10 &QG\ M +9 &RE\ M +9 &|TG\ M +10 &>T@\ M +9 &U?\ N +10 &U6\ M +9 & U<\ M +9 &"FT>\ M +10 &$U@\ N +10 &%TB\ M +11 &'TA\ M +7 &)NTB\ M +9 &+TA\ M +10 &,W=\ M +9 &.R8\ M +9 &0WT4\ M +10 &2UA\ M +9 &3T<\ N +9 &5TB\ M +10 &7^U:\ M +9 &9 T6\ M +10 &:W5\ N +9 &<T6\ M +9 &>fY;\ M +10 &@(XA\ M +9 &A]8\ N +9 &Cg8\ O +10 &EgjB\ P +9 &G%t<\ Q +10 &H5\ T +9 &J8\ S +9 &Ld7\ S +10 &N%*\ T +9 &O1\ T +9 &Q6\ T +10 &Si)\ T +9 &U*-\ U +10 &V*\ T +9 &X(\ T +9 &Zp,\ U +10 &\\2)\ U +9 &]{r/\ > +9 &^!Q*\ N +10 &^1,\ 9 +2 ( +2 "processing"%8& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&H1 +61 "core" 1 +2 "manipulator"&% +5 "core" %  | b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +92 "core" ' +2 "processing"%0& +3 "core" &^.-\ 9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&h% +3 "core" %    +2 "storage"(% +3 "core" % " " 4\  +2 "storage"(`. +4 "core" .(,y + "storage"(p& +4 "core" &,m   \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(+(,y +14 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (_& +2 "manipulator"&2& +6 "core" &,{\  N S\ + &  r +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&A( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'r +2 "core" ( +3 "manipulator"&& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &  D +2 .tForearm.seek PC +2 "manipulator"&?' +93 "core" ' + .tHand.close +2 "manipulator"&9/ +53 "core" / +2 .tPC.seek :open +2 "processing"%Z( +100 "core" ' + "storage"(U- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(i'1 +47 "core" ' +297 ( +2 "storage"(m& +3 "core" &,j C D {\  +2 "manipulator"&J& +4 "core" & +2 "manipulator"&@% +3 "core" %  > _ +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +252 "core" ( + "manipulator"&[& +4 "core" & = 4 +2 "storage"(& +4 "core" &,j % $ j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +95 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +10 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(L' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(~' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(]- +2 "core" -' +2 "storage"(;& +4 "core" &,j V U\  +2 "manipulator"&^& +3 "core" &  4 +3 .tElbow.seek 4 +2 "manipulator"&s( +24 "core" ( +2 "manipulator"& & +3 "core" &    +2 "storage"($& +4 "core" &,j U X\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&I' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(-'" +51 "core" ' +2 "manipulator"&1& +3 "core" & S  +2 "storage"({& +4 "core" &,j  $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(c' +19 "core" ' +2 "manipulator"&% +3 "core" %B Y +2 "storage"( & +5 "core" &,j " # -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"& 'n +15 "core" ' +2 "manipulator"&N& +4 "core" & =  +2 "storage"(& +4 "core" &,j D D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +15 "core" ' +2 "storage"('% +3 "core" % C C \ +3 ."downElevator"SE.seek :down +3 "storage"(:' +99 (% +3 "core" %FJ ! M\ Xe +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (>& +2 "core" &,j ) + S\  +2 "collection"'}& +4 "core" &\\] 3\ I +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %  a  +2 "storage"((% +4 "core" % D C \  +2 "storage"(G. +3 "core" .(,y +2 "storage"(z& +3 "core" &,j E D \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(X(,y +57 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ()& +3 "core" &,u $  *\ +2 "manipulator"&5& +3 "core" & T  +2 .tElbow.seek 4 +2 "manipulator"&y( +4 "core" ( + "manipulator"&o& +4 "core" & Z  +2 "storage"(& +4 "core" &,u D C \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +94 "core" ' + "storage"(P& +9 "core" &,u C 9 {\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'r +309 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &,l D D =\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&3'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(w- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"( 't +26 "core" ' + "manipulator"&b% +4 "core" %@  +2 "storage"(7& +3 "core" &,l D C \ +47 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 4 + 309 counts +2 "manipulator"&v'l +15 "core" ' +3 "manipulator"&%& +3 "core" & 3  +2 "storage"(O& +4 "core" &,l C F e\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +21 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(j' +42 "core" ' + "manipulator"&|& +5 "core" &  + "manipulator"&t% +4 "core" % W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +162 "core" ( +2 "manipulator"&& +4 "core" &Ӗ# \  - <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &Ӗ# G <? +2 .tForearm.seek CC +2 "manipulator"&,'? +93 "core" ' + .tHand.close +2 "manipulator"&\ / +54 "core" / +2 .tCC.seek :open +2 "collection"'\\( +446 "core" ( +2 "storage"(& +3 "core" &,l I [ &\ +3 "storage"(f& +3 "core" &,l ; ? \ +2 "manipulator"&n& +4 "core" &ө  :, +2 "manipulator"&6% +3 "core" % O 0 +2 .tForearm.seek :retract +2 "manipulator"&l' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&E( +164 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(e& +4 "core" &,l i i \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&F1 +53 "core" 1 +3 "manipulator"&K% +3 "core" % +  B +2 "storage"(=& +4 "core" &,l ] ] \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 288 counts +2 "manipulator"&D'W +15 "core" ' + "manipulator"&#& +4 "core" &  +2 "storage"(S& +3 "core" &,l { q \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +19 "core" ' + "storage"(k% +4 "core" % t r \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (T% +3 "core" %E 9 : n\ V` +2 "manipulator"&r% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & 3\ +2 "manipulator"&<% +5 "core" %  <  + "storage"(Y% +4 "core" % ] ^ \  +2 "storage"(H. +3 "core" .(,u +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +349 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +3 "core" &<* D E \  +2 "manipulator"&h& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&`& +4 "core" & Q  +2 "storage"(p& +3 "core" &<* h h r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&8'O +91 "core" ' +2 "storage"(2& +3 "core" &<* ~  \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(_'r +340 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (Q& +3 "core" &<* f Y G\  +2 "manipulator"&V& +3 "core" & C  +3 .tElbow.seek 5 + "manipulator"&9( +4 "core" ( +2 "manipulator"&d& +3 "core" & V  +3 "storage"(U& +3 "core" &<* [ [\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&.'Ϲ +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(B' +8 "core" & |  + "manipulator"&m% +5 "core" %   T +2 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&@(ӂ +154 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&?& + "storage"(5 +8 "core" &{- Dv + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &{- . Dv +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +102 "core" ' + "manipulator"&A& +4 "core" &Ө% >I +2 "manipulator"&% +4 "core" %@  $ +2 "collection"'& +4 "core" & \ +3 "collection"']& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"';(\\ +5 "core" & \  +9 &4{ \ *y +10 &f~ t\ > +9 &k \ L +10 &VU u\ K +9 &T \ K +9 &U \ K +10 &R *\ K +9 &_T \ J +10 &U Z\ K +9 &T s\ J +9 & U \ K +10 &"fT T\ K +9 &$(T t\ K +9 &%Y \ K +10 &'T k\ K +9 &)nW v\ K +9 &+0R y\ K +10 &,U \ K +9 &.S V\ K +10 &0vU w\ K +9 &27W |\ K +9 &3U z\ K +10 &5X x\ K +9 &7~T '\ K +9 &9?S  \ K +10 &;T %\ K +9 &<U "\ J +10 &>V G\ K +9 &@HU N\ K +9 &B\ W \ K +10 &C` >\ L +9 &Eg G\ M +9 &GFp \ N +10 &H\ K\ Q +9 &J\ \ \ V +10 &Lr\ \ ;\ W +9 &N3\ \ \ W +9 &O\ \  \ X +10 &Q\ \  \ Y +9 &St\ \ 5\ Y +10 &U6\ \ ?\ Y +9 &V\ \ >\ Z +9 &X\ \ >\ [ +10 &Zt\ \ \ \\ +9 &\\y\ \ \ 6\ 1 +9 &\\/\ \ C\ "i +10 ( + &\\p\ \ \ >\ U +2 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&^1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ? % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%$& +3 "core" &P\ +2 "manipulator"&1% +4 "core" %   +2 "storage"({% +4 "core" % # " '\  +2 "storage"(. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(i(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<* \\\  +2 "manipulator"&N& +3 "core" &Ӯ# E =C +2 "manipulator"&L% +4 "core" %  /  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&'& +3 "core" & )  +2 "storage"(& +4 "core" &<* D D x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&!'O +92 "core" ' +2 "storage"(~& +3 "core" &<* G G \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +305 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (I& +2 "core" &<* % ! \  +2 "manipulator"&s& +4 "core" & <  +2 .tElbow.seek 5 +2 "manipulator"&-( +4 "core" ( + "manipulator"&& +3 "core" & +  +2 "storage"(>& +4 "core" &<* # $ P\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +50 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"((' +8 "core" & _  + "manipulator"&G% +4 "core" % Ϯ / +2 .tForearm.seek :retract +2 "manipulator"&c' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&z( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&)& +4 "core" & & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" & j & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&o' +100 "core" ' + "manipulator"&& +4 "core" & [ & +2 "manipulator"&M% +4 "core" % 9 # +2 "processing"%P& +4 "core" &m\ +3 "processing"%:& +5 "core" &O\ +2 .tPC.seek :closed +2 "processing"%+(^ +5 "core" &P\ +6 &6J\ #b +9 &VyJ\ 6 +9 &xN\ K +10 &QJ\ M +9 &aSH\ M +9 &#RG\ M +10 &VL\ M +9 &TI\ M +10 &jTL\ M +9 &+TC\ M +9 &P6\ M +10 &!R9\ M +9 &#rU>\ M +10 &%3T:\ M +9 &&U<\ M +9 &(Q<\ M +10 &*yS;\ M +9 &,;UA\ M +9 &-RB\ M +10 &/UB\ N +9 &1S?\ M +9 &3CT>\ M +10 &5TA\ N +9 &6U6\ M +10 &8R3\ M +9 &:KP@\ M +9 &< RA\ M +10 &=W4\ M +9 &?W8\ N +9 &ARVA\ N +10 &C_;\ O +9 &Db4\ O +10 &FnB\ P +9 &HL}?\ R +9 &J ?\ S +10 &K=\ S +9 &M6\ T +9 &OO@\ T +10 &Q5\ U +9 &R5\ T +10 &T9\ V +9 &VX/\ T +9 &X(\ U +10 &Y(\ V +9 &[)\ U +9 &][4\ D +10 &^~Ao+\ $j +9 &^*%\ - +5 ( +2 "processing"%:& +4 "core" &^-\ - +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&x1 +55 "core" 1 +2 "manipulator"&a% +3 "core" %     # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +93 "core" ' + "processing"%& +4 "core" &^R\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %   +2 "storage"(w% +3 "core" % ! ! =\  +2 "storage"(b. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(7(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (%& +3 "core" &<* o\  +3 "manipulator"&O& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  d & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(|'r +2 "manipulator"&t( +9 "core" ( +2 "manipulator"& & +3 "core" & = # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &  # +3 .tForearm.seek PC + "manipulator"&4' +92 "core" ' + .tHand.close +2 "manipulator"&3/ +58 "core" / +2 .tPC.seek :open +2 "processing"%v( +89 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +308 ( +2 "storage"(W& +3 "core" &<* # * =\  +2 "manipulator"&& +4 "core" & t # +2 "manipulator"&*% +3 "core" %  H +2 .tForearm.seek :retract +2 "manipulator"&\ ' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&g( +246 "core" ( +2 "manipulator"&& +3 "core" & < +2 "storage"(& +4 "core" &<* " " $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +41 "manipulator"&f'O +120 "core" ' + .tHand.open +2 "manipulator"&n1 +58 "core" 1 +2 "storage"(6- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(e' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(,- +3 "core" -' +2 "storage"(q& +3 "core" &<* > @ \  +2 "manipulator"&F& +4 "core" & \  < +2 .tElbow.seek 5 +2 "manipulator"&K( +4 "core" ( +2 "manipulator"&=& +3 "core" &   < +2 "storage"(#& +3 "core" &<* D D\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&S'O +14 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(k'" +51 "core" ' + "manipulator"&l& +4 "core" &  < +2 "storage"(T& +4 "core" &<* $ Q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&r'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&% +3 "core" %Ί +2 "storage"(D& +5 "core" &<*\ \  L\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 297 counts +2 "manipulator"&<'϶ +21 "core" ' +2 "manipulator"&Y& +4 "core" &  +2 "storage"(H& +3 "core" &<*  $ *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +26 "core" ' +2 "storage"(&% +4 "core" % #  \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (X% +4 "core" %eL\ \ \ We +2 "manipulator"&0% +4 "core" %U < q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (`& +3 "core" &<* *  \  +2 "collection"'p& +4 "core" &\\p \ U +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&2% +4 "core" % \  V  +2 "storage"(/% +4 "core" % D C \  +2 "storage"(C. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (Q& +3 "core" &<+\ \  j\  +2 "manipulator"&V& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&d( +20 "core" ( +2 "manipulator"&U& +3 "core" &   +2 "storage"(R& +4 "core" &<* D D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"'O +89 "core" ' +2 "storage"(m& +3 "core" &<* D D \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(8- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" &  +2 "storage"([& +3 "core" &<*   j\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&_'΍ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"('t +31 "core" ' +2 "manipulator"&9% +47 "core" %Ξ ` v +4 "storage"(& +4 "core" &<* ! " \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&B' +16 "core" ' + "manipulator"&J& +4 "core" & *  +2 "storage"(\\& +4 "core" &<* C @ V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +40 "core" ' +2 "manipulator"&$& +3 "core" & @  +2 "manipulator"&1% +4 "core" %R . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +168 "core" ( +2 "manipulator"&]& +3 "core" &Ӌ P 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӌ ( 3 +2 .tForearm.seek CC +2 "manipulator"&N'? +90 "core" ' +2 .tHand.close + "manipulator"&L/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"('& +3 "core" &<* = I \  +2 "storage"(& +4 "core" &<* 9 ; \  +2 "manipulator"&& +3 "core" &ӣ F 0 +2 "manipulator"&~% +4 "core" % = 9 +2 .tForearm.seek :retract +2 "manipulator"&@' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +160 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(I& +4 "core" &<* f ] ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&s'΍ +91 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&>1 +54 "core" 1 +2 "manipulator"&}% +4 "core" % Μ & C +2 "storage"(& +3 "core" &<* h i \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&G' +25 "core" ' +2 "manipulator"&& +4 "core" & ,  +2 "storage"(!& +4 "core" &<* j p x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +18 "core" ' +2 "storage"( % +3 "core" % q j \ +3 ."downElevator"SE.seek :down +3 "storage"()' +99 (5% +3 "core" %F C 9 v\ V` +2 "manipulator"&-% +4 "core" %G M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'M& +3 "core" & S\ +2 "manipulator"&P% +4 "core" %  m  +2 "storage"((% +4 "core" %  ~ \  +2 "storage"(c. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(Z( +673 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" & U L !\ +2 "manipulator"&a& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +37 "core" ( +2 "manipulator"&& +3 "core" & S ; +2 "storage"(w& +4 "core" & r s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&b'7 +94 "core" ' +2 "storage"(:& +3 "core" & q { g\ +2 .tSE.reconfigure :pick +48 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(%'r +296 "core" ' +2 "storage"(O- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" & ; B \ +2 "manipulator"&y& +3 "core" & y ; +3 .tElbow.seek 3 + "manipulator"&o( +4 "core" ( +2 "manipulator"&3& +3 "core" & ' ; +2 "storage"(i& +4 "core" & I W 9\ +3 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϡ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(+' +8 "core" & ; + "manipulator"&|% +5 "core" % Ϙ p +2 .tForearm.seek :retract + "manipulator"&W' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +3 "manipulator"&*& +3 "core" &ӓ# 9 =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +2 "core" &ӓ# * =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' +2 "manipulator"&& +4 "core" &ӓ$ =G +2 "manipulator"&t% +4 "core" %H 9 v +2 "collection"'n& +4 "core" & C\ +3 "collection"'6& +5 "core" & B\ +2 .tCC.seek :closed +2 "collection"'\ (\\ +5 "core" & 3\  +7 &5x O\ *z +10 &g{ ,\ > +9 &k -\ L +10 &aT Z\ J +9 &"U \\\ K +9 &U Z\ J +10 &T ]\ K +9 &hW [\ K +9 &*T [\ K +10 &T \ K +9 & W \ K +10 &"pW ?\ K +9 &$2R R\ K +9 &%U '\ K +10 &'W Q\ K +9 &)xS F\ K +9 &+:U H\ K +10 &,W -\ K +9 &.T O\ J +10 &0U 0\ K +9 &2BW \ K +9 &4U #\ J +10 &5U L\ K +9 &7T -\ K +9 &9JU 0\ K +10 &; R L\ K +9 &<T Q\ J +10 &>U Q\ K +9 &@RU 4\ K +9 &BZ H\ L +10 &C] R\ L +9 &Eg T\ M +9 &GQp N\ N +10 &I\  G\ R +9 &J\ \ \ V +10 &L}\ \ C\ W +9 &N=\ \ L\ X +9 &O\ \ >\ X +10 &Q\ \ "\ X +9 &S\ \ F\ Y +9 &U@\ \ \ Y +10 &W\ \ \ Z +9 &X\ \ \ 5\ Z +10 &Z\ \ =\ [ +9 &\\#y\ \ \ C\ / +9 &\\1\ \ J\ c +10 ( + &\\a\ \ D\ K +2 "collection"'6& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&,1 +56 "core" 1 +2 "manipulator"&q% +3 "core" % H v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +89 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%=& +4 "core" &P\ +2 "manipulator"&#% +4 "core" %  #  +2 "storage"(l% +3 "core" % # \  +2 "storage"(T. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & & \ +2 "manipulator"&D& +4 "core" &Ӭ  o :. +2 "manipulator"&% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +165 "core" ( + "manipulator"&H& +4 "core" & %  +2 "storage"(&& +3 "core" & D D {\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&g'7 +95 "core" ' +2 "storage"(f& +3 "core" & D E d\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +300 "core" ' +2 "storage"(X- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +3 "core" & ! *\ +2 "manipulator"&S& +3 "core" & K  +2 .tElbow.seek 3 +2 "manipulator"&K( +4 "core" ( + "manipulator"&k& +3 "core" & :  +2 "storage"(r& +4 "core" & B C &\ +48 .tForearm.seek 3 + 300 counts +4 "manipulator"&<'ϡ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(2' +8 "core" &  +2 "manipulator"&/% +3 "core" %  9 +3 .tForearm.seek :retract +2 "manipulator"&C' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&Q& +4 "core" & ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" & C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U' +93 "core" ' +2 "manipulator"&R& +3 "core" & +2 "manipulator"&j% +4 "core" % 1 s +2 "processing"%m& +4 "core" &o\ +3 "processing"%& +5 "core" &Q\ +2 .tPC.seek :closed +2 "processing"%7(^ +3 "core" &T\ +8 &7X\ #c +9 &UwQ\ 6 +9 &yL\ K +10 &RQ\ M +9 &dTM\ M +10 &&RK\ M +9 &UP\ M +9 &UK\ M +10 &lRL\ M +9 &-UL\ M +9 &TK\ M +10 &!TO\ M +9 &#tTI\ M +10 &%5UF\ M +9 &&U=\ M +9 &(U@\ N +10 &*|T?\ M +9 &,>U<\ M +10 &.T@\ M +9 &/UB\ M +9 &1TA\ M +10 &3FTB\ M +9 &5TA\ M +9 &6UB\ M +10 &8RB\ M +9 &:MTB\ M +9 &<RA\ M +10 &=UB\ N +9 &?VA\ M +10 &AUSC\ M +9 &C]A\ N +9 &D_B\ O +10 &FiB\ P +9 &HRyB\ Q +9 &JB\ S +10 &KA\ S +9 &MA\ T +10 &OS<\ S +9 &QA\ T +9 &R;\ T +10 &TA\ U +9 &VX@\ T +9 &X6\ U +10 &Y:\ T +9 &[:\ T +10 &]^?\ B +9 &^O{9\ B +9 &^5\ T +10 &^9\ . +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&E1 +55 "core" 1 + "manipulator"&h% +4 "core" %     s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +92 "core" ' +2 "processing"%?& +3 "core" &^U\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&[% +3 "core" %    +3 "storage"(A% +3 "core" % " ! (\  +2 "storage"(9. +3 "core" .( +2 "storage"(& +3 "core" & $ " ,\ +3 "storage"(J& +2 "manipulator"&\\& +6 "core" & $ " *\ +2 & +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&$( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'r +3 "core" ( +2 "manipulator"&"& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &  +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&_/ +55 "core" / +2 .tPC.seek :open +2 "processing"%B( +95 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'1 +41 "core" ' +308 ( + "storage"( & +4 "core" & ! # M\ +2 "manipulator"&^& +4 "core" & K +2 "manipulator"&.% +3 "core" %   ( +2 .tForearm.seek :retract +2 "manipulator"&L' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&{( +241 "core" ( +2 "manipulator"&;& +4 "core" &  @ +2 "storage"('& +3 "core" & " ! /\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +93 "core" ' +41 .tHand.open +9 "manipulator"&1 +57 "core" 1 +2 "storage"(~- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(I' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(& +3 "core" & \ +2 "manipulator"&>& +4 "core" & q @ +2 .tElbow.seek 3 +2 "manipulator"&}( +4 "core" ( +2 "manipulator"&& +3 "core" & 3 @ +2 "storage"(& +4 "core" & m z \ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&!'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +51 "core" ' +2 "manipulator"&@& +4 "core" &  @ +2 "storage"(5& +4 "core" & % " Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&-'u +19 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +20 "core" ' +2 "manipulator"&M% +4 "core" %΀ B +2 "storage"(G& +4 "core" & " # 7\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&P'Ϭ +23 "core" ' +2 "manipulator"&(& +3 "core" & R @ +3 "storage"(c& +3 "core" &   \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' +2 "storage"(% +3 "core" %  * "\ +3 ."downElevator"SE.seek :down +4 "storage"()' +98 (% +3 "core" %W\ *\ ) \ Xh +2 "manipulator"&x% +4 "core" %B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & 6 #\ +3 "collection"'w& +3 "core" &\\a %\ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&:% +3 "core" %  4  +2 "storage"(% +4 "core" % D D \  +2 "storage"(. +3 "core" .( +2 "storage"(O& +3 "core" & B A $\ +2 "storage"( & +4 "core" & D A \ +2 "manipulator"&y& +4 "core" & b @ +2 .tElbow.seek 3 +2 "manipulator"&3( +3 "core" ( +2 "manipulator"&i& +3 "core" & : @ +2 "storage"(z& +4 "core" & D D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&u'7 +93 "core" ' +2 "storage"(|& +3 "core" & D D \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +305 "core" ' + "storage"(b- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" & & @ +2 "storage"(4& +4 "core" &  f\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&%'u +20 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(t'l +29 "core" ' +2 "manipulator"&n% +3 "core" %Ή +2 "storage"(o& +4 "core" &   *\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&+'ϵ +23 "core" ' +45 "manipulator"&W& +6 "core" & I @ +2 "storage"(& +4 "core" & G D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&,'7 +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(q' +34 "core" ' +2 "manipulator"&=& +3 "core" & * @ +2 "manipulator"&#% +4 "core" %- 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +157 "core" ( +2 "manipulator"&6& +4 "core" &ӎ  3 :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ   :- +2 .tForearm.seek CC +2 "manipulator"&D'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'( +446 "core" ( +2 "storage"(H& +3 "core" & D E \ +2 "storage"(&& +4 "core" & Q = )\ +2 "manipulator"&Z& +4 "core" &Ӟ 8 +2 "manipulator"&f% +3 "core" % S  +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&F( +162 "core" ( + "manipulator"&X& +4 "core" &  +2 "storage"(0& +4 "core" & Z Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&S'u +100 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +63 "core" 1 +2 "manipulator"&`% +4 "core" % Ά n +2 "storage"(p& +4 "core" & ^ [\ +5 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&/'ϲ +24 "core" ' +2 "manipulator"&Y& +3 "core" & %  +2 "storage"(g& +3 "core" & ] f B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&e'7 +16 "core" ' +2 "storage"(<% +3 "core" % r i t\ +3 ."downElevator"SE.seek :down +4 "storage"(Q' +98 (V% +3 "core" %xN D D\ Ua +2 "manipulator"&K% +3 "core" %- Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +91 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'j& +4 "core" & \ +2 "manipulator"&m% +4 "core" %   +2 "storage"(2% +4 "core" % ] ^ \  +2 "storage"(C. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(v(,y +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (E& +3 "core" &,x I = \  +2 "manipulator"&h& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&?( +28 "core" ( +2 "manipulator"&[& +3 "core" &   +2 "storage"(A& +4 "core" &,x h i @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&9' +94 "core" ' +2 "storage"(& +3 "core" &,x t ~ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +297 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +47 (& +5 "core" &,m Y T d\  +2 "manipulator"&"& +5 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&d( +21 "core" ( +2 "manipulator"&U& +3 "core" & %  +2 "storage"(_& +4 "core" &,m [ d\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(7' +8 "core" & $  +2 "manipulator"&1% +4 "core" % φ +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&^(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&.& +5 "core" &ӕ# <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӕ# 1 <> +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&;'? +98 "core" ' +2 "manipulator"&'& +4 "core" &Ӗ# <= +2 "manipulator"&$% +3 "core" %= + +3 "collection"'& +3 "core" & 4\ +3 "collection"'~& +5 "core" & 3\ +2 .tCC.seek :closed +2 "collection"'N(\\ +5 "core" & 7\ +5 &< 3\ $f +10 &Z{ 3\ 7 +9 &w X\ K +9 &R ?\ K +10 &T `\ K +9 &KU L\ K +10 & W K\ K +9 &S A\ K +9 &T U\ J +10 &SU Z\ K +9 & R Z\ K +9 &!T :\ J +10 &#U D\ K +9 &%[W C\ K +10 &'R S\ K +9 &(T I\ J +9 &*U H\ K +10 &,cS K\ K +9 &.&U T\ J +9 &/T X\ K +10 &1Y L\ K +9 &3kS S\ K +10 &5.T >\ J +9 &6U 5\ K +9 &8X J\ K +10 &:tU 3\ J +9 &<5U 0\ K +9 &=Y 2\ K +10 &?U H\ J +9 &AzW +\ K +10 &C<] 0\ K +9 &De /\ M +9 &Fl 1\ M +10 &Ht 2\ P +9 &J*\ \ *\ T +9 &K\ \ .\ V +10 &M\ \ '\ W +9 &Of\ \ /\ X +10 &Q(\ \ ,\ X +9 &R\ \ "\ X +9 &T\ \ '\ X +10 &Vh\ \  \ Z +9 &X+\ \  \ Y +9 &Y\ \ \ [\ +10 &[\ \ &\ H +9 &\\0\ \ !\ 0 +10 &\\c\ \ %\ L +2 ( +2 "collection"'~& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&L1 +54 "core" 1 + "manipulator"&% +4 "core" % =   + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &m\ +2 "manipulator"&% +4 "core" %   +2 "storage"(@% +4 "core" % " $ -\  +2 "storage"(5. +2 "core" .(,y +2 "storage"(M& +5 "core" &,m % $ \  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(G(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" &,{   G\ +2 "manipulator"&(& +4 "core" &ӥ  :. +2 "manipulator"&c% +3 "core" %  0  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +162 "core" ( + "manipulator"&& +5 "core" & a  +2 "storage"({& +3 "core" &,{ D D \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(I& +3 "core" &,{ H S (\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +315 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &,m E < \  +2 "manipulator"&}& +4 "core" & d  +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&-& +3 "core" &  +2 "storage"(& +3 "core" &,m C D\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&P'c +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tHand.close +4 "manipulator"&w/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(' +8 "core" & ;  + "manipulator"&% +4 "core" % ϋ " +2 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"& & +3 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" & d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&i' +94 "core" ' +2 "manipulator"&z& +3 "core" & q +3 "manipulator"&% +3 "core" % a } +2 "processing"%|& +4 "core" &P\ +3 "processing"%)& +5 "core" &l\ +2 .tPC.seek :closed + "processing"% (^ +5 "core" &N\  +9 &3vR\ )v +9 &d}S\ > +9 &|qT\ N +10 &@OK\ M +9 &SP\ M +9 &RM\ M +10 &UK\ M +9 &HTK\ M +10 &\ TN\ M +9 &TN\ M +9 & UL\ M +10 &"OTJ\ M +9 &$TK\ M +9 &%OI\ M +10 &'SJ\ M +9 &)XTI\ M +10 &+TC\ M +9 &,T:\ M +9 &.R;\ M +10 &0_T8\ M +9 &2!SA\ M +9 &3SC\ M +10 &5TC\ M +9 &7gT@\ M +10 &9*W?\ M +9 &:UA\ M +9 &<VD\ M +10 &>oVB\ M +9 &@1SD\ M +9 &AYC\ N +10 &CeB\ O +9 &EoiB\ P +10 &G-tB\ Q +9 &HC\ S +9 &JC\ S +10 &LmC\ S +9 &N-B\ T +9 &O8\ T +10 &QB\ U +9 &SrA\ T +10 &U3<\ U +9 &VA\ U +9 &XB\ T +10 &Zz8\ T +9 &\\;;\ U +9 &]zr5\ 9 +10 &^+y=\ M +9 &^ A\ / +2 ( +2 "processing"%)& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&a1 +64 "core" 1 + "manipulator"&b% +4 "core" %   } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +97 "core" ' + "processing"%4& +4 "core" &^5\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %   +2 "storage"(n% +4 "core" % % % >\  +2 "storage"(o. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(W(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" &,|   L\ +3 "manipulator"&=& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(#'r +2 "manipulator"&u( +7 "core" ( +2 "manipulator"&3& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&%' +97 "core" ' + .tHand.close +3 "manipulator"&+/ +52 "core" / +2 .tPC.seek :open +2 "processing"%t( +91 "core" ' + "storage"(6- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +310 ( +2 "storage"(,& +4 "core" &,k D D \  +2 "manipulator"& & +3 "core" & ! +2 "manipulator"&% +4 "core" %  = + +2 .tForearm.seek :retract +2 "manipulator"&l' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&\ ( +238 "core" ( +2 "manipulator"&H& +3 "core" & . 9 +2 "storage"(&& +6 "core" &,k D D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +111 "core" ' +2 .tHand.open + "manipulator"&f1 +110 "core" 1 +2 "storage"(X- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(D' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(T- +3 "core" -' +2 "storage"(r& +3 "core" &,k I F 8\  +2 "manipulator"&`& +4 "core" &  v 8 +2 .tElbow.seek 4 +2 "manipulator"&p( +4 "core" ( +2 "manipulator"&Y& +3 "core" &   8 +2 "storage"(g& +4 "core" &,k E D +\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&V& +4 "core" & 0 8 +2 "storage"(K& +3 "core" &,k $ " \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&F'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +28 "core" ' +2 "manipulator"&/% +3 "core" %D B +2 "storage"(m& +4 "core" &,k & % D\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 313 counts + "manipulator"&2'p +20 "core" ' + "manipulator"&C& +4 "core" &  8 +2 "storage"(q& +4 "core" &,k D C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&e' +22 "core" ' + "storage"(Q% +4 "core" % D D \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (E% +2 "core" %gM\ *\ + l\ Wc +2 "manipulator"&h% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (A& +3 "core" &,k $ " \  +2 "collection"'& +4 "core" &\\b A\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&k% +4 "core" %  #  +2 "storage"(R% +4 "core" % @ C #\  +2 "storage"(J. +2 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "core" &,|   O\  +2 "manipulator"&U& +4 "core" & P 8 +2 .tElbow.seek 4 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&& +3 "core" &  8 +2 "storage"(8& +3 "core" &,} ? 2 o\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +98 "core" ' + "storage"(?& +4 "core" &,} C C \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(9'r +297 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & p 8 +2 "storage"(\\& +4 "core" &,m   !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"($- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('t +29 "core" ' + "manipulator"&d% +4 "core" %J R  +2 "storage"(7& +3 "core" &,m % " q\  +2 .tForearm.force -20 +46 "manipulator"&5 +5 .tForearm.seek 4 + 319 counts +2 "manipulator"& 'v +25 "core" ' + "manipulator"&& +4 "core" & 8 +2 "storage"(L& +3 "core" &,m  0 W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&& +4 "core" & V 8 +2 "manipulator"&@% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +154 "core" ( +2 "manipulator"&~& +4 "core" &Ӎ( ? Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &Ӎ( X Aa +2 .tForearm.seek CC +2 "manipulator"&('? +97 "core" ' +2 .tHand.close + "manipulator"&c/ +58 "core" / +2 .tCC.seek :open +2 "collection"';( +446 "core" ( + "storage"(& +4 "core" &,m [ Z\  +2 "storage"({& +4 "core" &,m I Y W\  +2 "manipulator"&v& +3 "core" &Ө$ f =F +2 "manipulator"&I% +4 "core" % E T ; +2 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&>( +165 "core" ( + "manipulator"&x& +4 "core" & d  +2 "storage"(!& +3 "core" &,m h i \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&}'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&w% +3 "core" % 2 " +2 "storage"(:& +4 "core" &,m g e &\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 295 counts +2 "manipulator"&'^ +15 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(& +3 "core" &,m ~ ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(P% +4 "core" % t  \ +2 ."downElevator"SE.seek :down +5 "storage"( ' +99 (y% +3 "core" %A < I \ U] +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +97 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & 5\ +2 "manipulator"&|% +3 "core" %    +2 "storage"(% +4 "core" % \\ ]\  +2 "storage"(s. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(B(<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "core" &<* "  p\  +2 "manipulator"&b& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&& +3 "core" & ~  +2 "storage"(n& +4 "core" &<* h h y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&o'O +94 "core" ' +2 "storage"()& +3 "core" &<* t ~ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +4 "storage"(=- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (3& +2 "core" &<* ] [\  +3 "manipulator"&& +3 "core" & =  +2 .tElbow.seek 5 +2 "manipulator"&i( +4 "core" ( + "manipulator"&+& +4 "core" & h  +2 "storage"(G& +4 "core" &<* Z Z\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&6'Ϲ +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&*& +2 "storage"( ' +7 "core" & b  +2 "manipulator"&#% +4 "core" % ϭ  " +2 .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&& +3 "core" &Ә# 1 =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &Ә$ =E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'? +91 "core" ' +2 "manipulator"&&& +3 "core" &Ә% =E +2 "manipulator"&u% +4 "core" %E - z +2 "collection"'f& +4 "core" & I\ +3 "collection"'X& +5 "core" & E\ +2 .tCC.seek :closed +2 "collection"'l(\\ +5 "core" & G\ +5 &< ;\ %g +10 &Yv @\ 7 +9 &v @\ K +10 &R 9\ J +9 &U =\ J +9 &KU <\ K +10 & W F\ K +9 &W C\ K +9 &W =\ K +10 &SW :\ K +9 & X 2\ K +10 &!W <\ K +9 &#T :\ K +9 &%[R /\ K +10 &'R 6\ K +9 &(S (\ K +9 &*S $\ K +10 &,cT I\ K +9 &.&U .\ J +10 &/U J\ J +9 &1U V\ J +9 &3kU \\\ K +10 &5-W -\ K +9 &6S 0\ K +9 &8U 1\ J +10 &:sU 0\ K +9 &<5W 5\ K +10 &=T 1\ K +9 &?U 3\ K +9 &AzZ 1\ K +10 &C<\\ 4\ K +9 &Db 1\ L +9 &Fk 3\ N +10 &Ht 3\ P +9 &J&\ \ ,\ V +10 &K\ \ 3\ W +9 &M\ \ 1\ X +9 &Og\ \ 2\ W +10 &Q'\ \ 4\ X +9 &R\ \ 4\ X +9 &T\ \ 2\ Y +10 &Ve\ \ 3\ [ +9 &X(\ \ 2\ Z +10 &Y\ \ 3\ [\ +9 &[\ \ 3\ H +9 &\\1\ \ O\ / +10 &\\e\ \ \ *\ O +2 ( +2 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&T1 +61 "core" 1 +2 "manipulator"&r% +3 "core" % E  z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +101 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Y& +4 "core" &S\ +2 "manipulator"&g% +3 "core" %  R l +2 "storage"(V% +4 "core" %   y\  +2 "storage"(K. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" &<+\ \  w\  +2 "manipulator"&m& +3 "core" &ӥ! ; ;8 +2 "manipulator"&0% +4 "core" %   l +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&C( +161 "core" ( +2 "manipulator"&q& +3 "core" & .  +2 "storage"(Q& +4 "core" &<* F D g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\ 'O +91 "core" ' +2 "storage"(Z& +3 "core" &<* D D \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +297 "core" ' + "storage"(E- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (h& +2 "core" &<* * )\  +2 "manipulator"&<& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(F& +4 "core" &<*   \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&2'Ϲ +50 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(k' +8 "core" & "  + "manipulator"&R% +5 "core" % ϯ $ +2 .tForearm.seek :retract + "manipulator"&J' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&"& +3 "core" & R B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" & W B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +88 "core" ' +2 "manipulator"&8& +4 "core" & B +2 "manipulator"&e% +4 "core" % Z x +2 "processing"%?& +4 "core" &O\ +2 "processing"%& +5 "core" &O\ +2 .tPC.seek :closed +2 "processing"%W(^ +5 "core" &K\  +9 &2uX\ )v +9 &c{S\ = +10 &vpM\ M +9 &7RP\ M +10 &RT\ M +9 &OL\ M +9 &~TR\ M +10 &?TQ\ M +9 &TM\ M +10 &TL\ N +9 & TK\ M +9 &"HTJ\ M +10 &$\ TL\ M +9 &%TO\ M +9 &'TJ\ N +10 &)PSK\ M +9 &+UM\ M +9 &,UL\ M +10 &.S=\ M +9 &0VTD\ N +10 &2TJ\ M +9 &3T<\ M +9 &5U?\ N +10 &7`T?\ M +9 &9 W?\ N +9 &:VA\ M +10 &<WC\ M +9 &>gWD\ M +10 &@)SA\ M +9 &A\\B\ N +9 &CbB\ O +10 &EigA\ O +9 &G'pA\ Q +10 &HA\ S +9 &JC\ T +9 &LdB\ T +10 &N&B\ T +9 &OB\ T +9 &QC\ V +10 &SjB\ T +9 &U+C\ U +10 &VA\ U +9 &XB\ U +9 &Zq<\ U +10 &\\3?\ U +9 &]z{A\ = +9 &^(e8\ M +10 &^'>\ 3 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&S1 +58 "core" 1 +2 "manipulator"&[% +3 "core" %   x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +91 "core" ' +2 "processing"%& +3 "core" &^&5\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&\\% +3 "core" %  y  +2 "storage"($% +3 "core" % ! ! 2\  +2 "storage"(d. +4 "core" .(<- + "storage"(7& +4 "core" &<* " ! 9\  +2 "storage"(& +3 "manipulator"&L& +8 "core" &<*  ! \ \  + &  \ e B +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(@'r +2 "core" ( +3 "manipulator"&1& +3 "core" &  ; B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &  B +2 .tForearm.seek PC +2 "manipulator"&9' +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +3 .tPC.seek :open + "processing"% ( +95 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'1 +53 "core" ' +299 ( +2 "storage"(]& +3 "core" &<*  $ \  +2 "manipulator"&& +4 "core" & 4 A +2 "manipulator"&'% +3 "core" %  / +3 .tForearm.seek :retract + "manipulator"&c' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&5( +244 "core" ( + "manipulator"&N& +4 "core" & u 6 +2 "storage"(& +3 "core" &<*  # I\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +92 "core" ' +2 .tHand.open + "manipulator"&v1 +55 "core" 1 +2 "storage"(I- +48 "core" -'1 +5 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(x' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(!' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"((- +3 "core" -' +2 "storage"(M& +4 "core" &<* U T k\  +2 "manipulator"&& +4 "core" &  6 +2 .tElbow.seek 5 +2 "manipulator"&w( +4 "core" ( + "manipulator"&:& +4 "core" &  l 6 +2 "storage"(& +3 "core" &<* U T t\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(P'" +59 "core" ' +2 "manipulator"&^& +3 "core" & ( 6 +2 "storage"(y& +4 "core" &<* ! " M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +28 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(}' +28 "core" ' + "manipulator"&% +4 "core" %΁ E k +2 "storage"(|& +4 "core" &<*  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 288 counts +2 "manipulator"&'ϭ +14 "core" ' +2 "manipulator"&& +4 "core" & \\  +2 "storage"(s& +3 "core" &<* D C \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(% +4 "core" % D D \ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (% +2 "core" %`N\ \ $ \ Wd +2 "manipulator"&a% +4 "core" %M  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &<* + )\  +3 "collection"'n& +3 "core" &\\e 2\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&)% +3 "core" %  6  +2 "storage"(-% +4 "core" % D C \  +2 "storage"(z. +3 "core" .(<- + "storage"(=& +4 "core" &<* D C \  +2 "storage"(3& +4 "core" &<* D C \  +2 "manipulator"&& +3 "core" & %  +2 .tElbow.seek 5 +2 "manipulator"&+( +17 "core" ( +2 "manipulator"&G& +3 "core" &   +2 "storage"(O& +4 "core" &<* D C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&*'O +93 "core" ' + "storage"(#& +4 "core" &<* D C 9\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'r +298 "core" ' +2 "storage"(o- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(%& +3 "core" &<* D @ .\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(u't +32 "core" ' + "manipulator"&f% +4 "core" %Ρ c +2 "storage"(i& +3 "core" &<* %  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"& ' +15 "core" ' +2 "manipulator"&,& +3 "core" &  +2 "storage"(;& +4 "core" &<* C F +\  +46 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&T'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(r' +36 "core" ' +2 "manipulator"&Y& +3 "core" & Y  +2 "manipulator"&g% +4 "core" %O [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&K(ӂ +158 "core" ( +2 "manipulator"&X& +4 "core" &Ӕ' I @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &ӕ' @Z +3 .tForearm.seek CC + "manipulator"&m'? +93 "core" ' +2 .tHand.close + "manipulator"&0/ +53 "core" / +2 .tCC.seek :open +2 "collection"'H( +449 "core" ( +2 "storage"(q& +3 "core" &<* D D\  +2 "storage"(Q& +4 "core" &<* N Q \  +2 "manipulator"&B& +4 "core" &ӭ$ q =B +2 "manipulator"&Z% +3 "core" % O % . +3 .tForearm.seek :retract + "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&`( +162 "core" ( + "manipulator"&E& +4 "core" &  +2 "storage"(h& +3 "core" &<* ^ [\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&<'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&F1 +53 "core" 1 +2 "manipulator"&A% +4 "core" % ΅ 4 +2 "storage"(& +3 "core" &<* ^ h C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&R'ϱ +16 "core" ' +2 "manipulator"&C& +3 "core" & b  +3 "storage"(\ & +3 "core" &<* ^ ] ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +15 "core" ' + "storage"(2% +4 "core" % j ^ ]\ +3 ."downElevator"SE.seek :down +3 "storage"("' +100 (U% +3 "core" %F ; D \ V_ +2 "manipulator"&p% +3 "core" %H 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +95 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'e& +3 "core" & =\ +2 "manipulator"&?% +4 "core" % \  ~  +2 "storage"(k% +4 "core" % | ~ \  +2 "storage"(J. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(t( +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" & e ` 1\ +2 "manipulator"&[& +3 "core" & 5  +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&\\& +3 "core" & \\  +2 "storage"($& +4 "core" & a ^ k\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&d'7 +93 "core" ' + "storage"(7& +4 "core" & t q \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +298 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & V B \ +2 "manipulator"&1& +4 "core" &  +46 .tElbow.seek 3 +5 "manipulator"&_( +3 "core" ( +2 "manipulator"&& +3 "core" & N  +2 "storage"(& +4 "core" & d Z\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&j/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(W' +8 "core" &  >  + "manipulator"&@% +4 "core" % Ϣ G +2 .tForearm.seek :retract +2 "manipulator"&]' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&'& +3 "core" &Ӛ" ^ ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &Ӛ" \\ ;2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'? +100 "core" ' +3 "manipulator"&& +3 "core" &Ӛ" # ;2 +2 "manipulator"&% +4 "core" %5 +2 "collection"'v& +4 "core" & J\ +3 "collection"'I& +5 "core" & [\ +2 .tCC.seek :closed +2 "collection"'((\\ +5 "core" & Q\  +8 &4z O\ *y +9 &f~ K\ > +10 &j E\ L +9 &UU A\ J +9 &U <\ K +10 &Y >\ K +9 &R >\ K +9 &]W >\ K +10 &Y >\ K +9 &W a\ K +10 & X @\ J +9 &"fU =\ J +9 &$(U 9\ J +10 &%U 9\ J +9 &'U :\ J +9 &)nU .\ J +10 &+0U 6\ J +9 &,U 2\ J +9 &.V 4\ J +10 &0vU 4\ J +9 &28U +\ J +10 &3U 6\ J +9 &5V 4\ K +9 &7}W 1\ K +10 &9?X 1\ K +9 &;X 3\ K +9 &<X 2\ K +10 &>Y 1\ K +9 &@GT 6\ K +10 &BW 0\ K +9 &C] 2\ L +9 &Ee 7\ M +10 &GEp 4\ N +9 &H\  6\ Q +10 &J\ \ 3\ V +9 &Lr\ \ 0\ W +9 &N3\ \ 0\ W +10 &O\ \ 1\ W +9 &Q\ \ 5\ W +9 &Sv\ \ 2\ X +10 &U5\ \ \ 2\ Y +9 &V\ \ 2\ Z +10 &X\ \ \ /\ Z +9 &Zw\ \ \ /\ Z +9 &\\y\ \ )\ 0 +10 &\\0\ \ \ 0\ \\ +9 ( + &\\m\ \ 3\ L +2 "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&c1 +61 "core" 1 +3 "manipulator"&M% +3 "core" % C W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%:& +4 "core" &n\ +2 "manipulator"&% +4 "core" %  W  +2 "storage"(^% +3 "core" % % % \  +2 "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(~( +13 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &   \  +2 "manipulator"&|& +4 "core" &ӛ  f :1 +2 "manipulator"&x% +3 "core" %  I  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +154 "core" ( +2 "manipulator"&s& +3 "core" &  +2 "storage"(& +4 "core" & E D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&5'7 +96 "core" ' + "storage"({& +4 "core" & F E \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (a& +2 "core" & " \  +2 "manipulator"&& +5 "core" & W +2 .tElbow.seek 3 + "manipulator"&w( +4 "core" ( + "manipulator"&P& +4 "core" & 7 +2 "storage"( & +4 "core" &  $ X\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +3 "storage"()' +54 "core" &  + "manipulator"&-% +4 "core" % Ϙ  +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +3 "manipulator"&=& +4 "core" & p B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" & ' B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&G& +4 "core" &  B +2 "manipulator"&O% +3 "core" % L P +3 "processing"%& +3 "core" &R\ +3 "processing"%#& +5 "core" &N\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &O\ +7 &6U\ #b +9 &UwS\ 6 +10 &wK\ K +9 &TO\ M +9 &]SQ\ M +10 & RR\ M +9 &TM\ M +10 &TS\ M +9 &eSR\ M +9 &'TN\ M +10 &RL\ M +9 &!SK\ M +9 &#mTK\ M +10 &%/TK\ M +9 &&TO\ M +10 &(TM\ M +9 &*tTR\ M +9 &,6UP\ M +10 &-TJ\ M +9 &/UM\ M +9 &1|UK\ M +10 &3?VH\ M +9 &5TC\ M +10 &6U9\ M +9 &8UB\ M +9 &:ETC\ N +10 &<U;\ M +9 &=W;\ M +9 &?UB\ N +10 &ANV>\ M +9 &C ]=\ N +10 &D_B\ O +9 &FiB\ P +9 &HIx@\ R +10 &J?\ S +9 &KC\ T +9 &M?\ T +10 &OIA\ T +9 &Q ;\ T +10 &R@\ T +9 &TA\ U +9 &VRB\ T +10 &XB\ U +9 &YA\ T +9 &[C\ T +10 &]XA\ C +9 &^Gu8\ Y +10 &^ A>\ 1 +5 ( +2 "processing"%#& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&>1 +2 "core" &^%?\ 1 +52 1 + "manipulator"&b% +4 "core" %   P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +91 "core" ' + "processing"%& +4 "core" &^$.\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&%% +3 "core" %   4  +2 "storage"(&% +3 "core" % ! ! \  +2 "storage"(f. +4 "core" .( + "storage"(i& +4 "core" &  % *\  +2 "storage"(,& +3 "manipulator"&;& +8 "core" & % P 1\  + & \  B +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&Y( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'r +2 "core" ( + "manipulator"&*& +5 "core" &  B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &  Z B +2 .tForearm.seek PC +2 "manipulator"&4' +93 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +3 .tPC.seek :open + "processing"% ( +95 "core" ' +2 "storage"(u- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +45 "core" ' +304 ( + "storage"(/& +4 "core" & " ! d\  +2 "manipulator"&T& +3 "core" & B +2 "manipulator"&6% +4 "core" %  8 . +2 .tForearm.seek :retract +2 "manipulator"&0' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&V( +243 "core" ( +2 "manipulator"&l& +3 "core" & C +2 "storage"(q& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q'7 +97 "core" ' +2 .tHand.open + "manipulator"&B1 +64 "core" 1 +2 "storage"(Z- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(E' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +41 "storage"(h' +59 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(m- +2 "core" -' +2 "storage"(K& +4 "core" & \  +2 "manipulator"&F& +3 "core" &   " C +3 .tElbow.seek 3 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&& +3 "core" &  \ C +2 "storage"(C& +4 "core" & Y [\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\ '7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(2'" +58 "core" ' +2 "manipulator"& & +3 "core" & I C +2 "storage"(U& +4 "core" & % # F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&p'u +18 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +28 "core" ' +2 "manipulator"&e% +3 "core" %Έ :  +2 "storage"(?& +4 "core" & ! ! #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&R'ϴ +17 "core" ' + "manipulator"&k& +4 "core" & C +2 "storage"(J& +4 "core" &   7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&r'7 +17 "core" ' +2 "storage"(D% +4 "core" %   8\ +2 ."downElevator"SE.seek :down +4 "storage"("' +99 (% +2 "core" %=Y\ \  k\ Yi +2 "manipulator"&S% +4 "core" %=  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" &  * >\  +2 "collection"'$& +5 "core" &\\m 3\ L + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&7% +3 "core" %  "  +2 "storage"(% +5 "core" %   \  + "storage"(8. +4 "core" .( + "storage"(& +4 "core" &  2 X\  +2 "storage"(& +4 "core" &   w\  +2 "manipulator"&1& +3 "core" & f C +2 .tElbow.seek 3 +2 "manipulator"&( +49 "core" ( + "manipulator"&& +4 "core" &  C +2 "storage"(j& +4 "core" & ( " s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&.'7 +94 "core" ' +2 "storage"(@& +3 "core" & G F \ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" & 1 C +2 "storage"(9& +3 "core" &  % ,\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&L'u +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('m +29 "core" ' + "manipulator"&v% +4 "core" %Έ / +2 "storage"(_& +3 "core" & " ! \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&W'ϴ +16 "core" ' + "manipulator"&]& +3 "core" & \ C +3 "storage"(H& +3 "core" & $ G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&c'7 +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(M' +82 "core" ' + "manipulator"&:& +4 "core" & C +2 "manipulator"&% +4 "core" %B T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +157 "core" ( +3 "manipulator"&I& +3 "core" &Ӓ" ' ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӓ" \\ ;3 +2 .tForearm.seek CC +2 "manipulator"&|'? +98 "core" ' + .tHand.close +2 "manipulator"&x/ +53 "core" / +2 .tCC.seek :open + "collection"'N( +446 "core" ( +2 "storage"(s& +3 "core" & C C \  +3 "storage"(& +3 "core" & F G \  +2 "manipulator"&t& +3 "core" &Ӕ! . :1 +2 "manipulator"&{% +4 "core" % B D  +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(a& +4 "core" & [ ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +97 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&% +4 "core" % Ά Z +2 "storage"(n& +3 "core" & ] [\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&-'ϲ +21 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(5& +4 "core" & ] ] 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&!'7 +24 "core" ' + "storage"(% +4 "core" % h f #\ +3 ."downElevator"SE.seek :down +3 "storage"(=' +99 (3% +3 "core" %xI E H \ Vb +2 "manipulator"&w% +4 "core" %4 { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'O& +3 "core" & I\ +3 "manipulator"&% +3 "core" %   b  +2 "storage"()% +4 "core" % q t X\  +2 "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +3 "core" &,| _ \\\  +2 "manipulator"&b& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +38 "core" ( +2 "manipulator"&%& +3 "core" &   +2 "storage"(&& +4 "core" &,| r j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&f' +96 "core" ' +2 "storage"(i& +3 "core" &,| ~ { \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +300 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (#& +3 "core" &,m f [ \  +2 "manipulator"&*& +4 "core" & l  +2 .tElbow.seek 4 +2 "manipulator"&+( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &,m [ [\  +47 .tForearm.seek 4 + 300 counts +4 "manipulator"&u'c +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"( ' +8 "core" & #  + "manipulator"&g% +4 "core" % ϓ a +2 .tForearm.seek :retract +2 "manipulator"&/' +99 "core" ' +2 .tElbow.seek CC + "manipulator"&T(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&6& +3 "core" &Ӄ*  Bh +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &Ӄ* # Bh +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'? +93 "core" ' +3 "manipulator"&q& +3 "core" &ӆ)  Ae +2 "manipulator"&Y% +4 "core" %D 5 +2 "collection"'B& +4 "core" & O\ +3 "collection"'Z& +5 "core" & N\ +2 .tCC.seek :closed +2 "collection"'0(\\ +4 "core" & K\  +9 &6 G\ *z +9 &h K\ ? +10 &k B\ L +9 &bR >\ K +10 &$T =\ K +9 &T ?\ K +9 &T ?\ K +10 &jR >\ K +9 &,T 9\ K +9 &T 9\ J +10 & T 8\ J +9 &"sU <\ J +9 &$5T 6\ J +10 &%U 7\ J +9 &'T =\ K +10 &)zT 7\ K +9 &+<S 5\ K +9 &,R P\ K +10 &.S 9\ K +9 &0T /\ K +9 &2EU 0\ J +10 &4U '\ J +9 &5V )\ J +10 &7V /\ J +9 &9LU 6\ K +9 &;X 1\ K +10 &<X :\ K +9 &>Y 9\ K +10 &@SV 4\ K +10 &BX 2\ K +11 &C` 1\ L +7 &Ee 3\ M +9 &GRs 3\ N +9 &I \  0\ Q +10 &J\ \ 7\ U +9 &L\ \ 4\ W +9 &N@\ \ 2\ W +10 &P\ \ 0\ X +9 &Q\ \ 2\ W +10 &S\ \ 1\ X +9 &UD\ \ 1\ Y +9 &W\ \ 7\ Z +10 &X\ \ \ 3\ Z +9 &Z\ \ 3\ [ +10 &\\(y\ \ 3\ . +9 &\\2\ \ 3\ b +9 ( + &\\n\ \ \ 3\ N +3 "collection"'Z& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&m1 +52 "core" 1 +2 "manipulator"&K% +3 "core" % D h 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &g\ +2 "manipulator"&C% +3 "core" %  s  +2 "storage"( % +4 "core" % $ " /\  +2 "storage"(U. +3 "core" .(,y +2 "storage"(X& +3 "core" &,m % % Z\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(E(,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +3 "core" &,| N 6\ +2 "manipulator"&?& +3 "core" &Ӭ" - <? +2 "manipulator"&k% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&J( +163 "core" ( +2 "manipulator"&D& +3 "core" &  +2 "storage"(V& +4 "core" &,| D D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&Q' +94 "core" ' +2 "storage"(h& +3 "core" &,| C C \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(S- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +2 "core" &,m   \  +2 "manipulator"&A& +4 "core" & E  +2 .tElbow.seek 4 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&p& +3 "core" &  +2 "storage"(\\& +4 "core" &,m % % .\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&R'c +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&$/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&7& + "storage"(' +8 "core" & /  + "manipulator"&8% +4 "core" % X +2 .tForearm.seek :retract +2 "manipulator"&<' +143 "core" ' +4 .tElbow.seek PC +2 "manipulator"&( +105 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +132 "core" ( +2 "manipulator"&& +4 "core" & 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" & ^ 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&j& +4 "core" & & 1 +2 "manipulator"&r% +4 "core" %  R +2 "processing"%@& +5 "core" &\\\ +2 "processing"%"& +5 "core" &t\ +2 .tPC.seek :closed +2 "processing"%`(^ +5 "core" &K\  +8 &5x;\ *x +10 &d{K\ > +9 &nN\ M +10 &ERG\ M +9 &QI\ M +9 &RH\ M +10 &SJ\ M +9 &OTM\ M +9 &UL\ M +10 &TQ\ M +9 & SO\ M +10 &"WSJ\ M +9 &$RT\ M +9 &%RO\ M +10 &'QK\ M +9 &)]RJ\ M +9 &+ TV\ M +10 &,TK\ M +9 &.QI\ M +10 &0fSH\ M +9 &2(SL\ M +9 &3SJ\ M +10 &5TP\ M +9 &7nTM\ M +9 &9/UK\ M +10 &:WF\ M +9 &<T?\ M +9 &>uX=\ M +10 &@7W6\ M +9 &A]=\ N +10 &Ce?\ O +9 &Eui@\ P +9 &G4u<\ Q +10 &H5\ T +9 &J9\ S +9 &Lt=\ S +10 &N27\ T +9 &O7\ T +10 &QA\ U +9 &SwC\ U +9 &U;=\ T +10 &V=\ T +9 &XB\ U +9 &ZB\ U +10 &\\A;\ U +9 &]zsB\ 7 +10 &^.>\ P +9 &^ =\ 0 +2 ( +2 "processing"%"& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&[1 +54 "core" 1 +2 "manipulator"&d% +3 "core" %  \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +96 "core" ' +2 "processing"%9& +3 "core" &^ 8\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %   ,  +2 "storage"(v% +4 "core" % " $ \  +2 "storage"(_. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(](,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &,} 1 p\ +3 "manipulator"&:& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  f 1 +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&.( +6 "core" ( +2 "manipulator"&& +3 "core" &  1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  1 +3 .tForearm.seek PC + "manipulator"&L' +89 "core" ' +2 .tHand.close + "manipulator"&W/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +100 "core" ' +2 "storage"(I- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +49 "core" ' +298 ( +2 "storage"(c& +3 "core" &,k  , \ +2 "manipulator"&& +3 "core" & P 1 +2 "manipulator"&x% +4 "core" %  a +2 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&(( +245 "core" ( + "manipulator"&s& +4 "core" & , +2 "storage"(& +3 "core" &,k $  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +97 "core" ' +2 .tHand.open + "manipulator"&{1 +63 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(a' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +54 "core" ' +9 #tLights, camera, ACTION! +2 "storage"(y- +2 "core" -' +2 "storage"( & +4 "core" &,k & & \ +2 "manipulator"&& +3 "core" & o , +3 .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&& +3 "core" &   # , +2 "storage"(5& +4 "core" &,k ' '\ +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&3& +4 "core" & b , +2 "storage"(w& +4 "core" &,k & $ A\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +17 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +28 "core" ' + "manipulator"&-% +4 "core" %7 X  +2 "storage"(& +4 "core" &,k # ! B\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&)'c +14 "core" ' +2 "manipulator"&z& +4 "core" & ! , +2 "storage"(M& +3 "core" &,k   g\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&!' +15 "core" ' +2 "storage"(=% +3 "core" % $  \ +3 ."downElevator"SE.seek :down +3 "storage"(~' +99 (>% +3 "core" %ZN\ *\ ) v\ Wd +2 "manipulator"&b% +4 "core" % w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +89 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (&& +3 "core" &,k   ,\ +2 "collection"'i& +4 "core" &\\e <\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&P% +3 "core" %  E  +2 "storage"(G% +4 "core" % D D \  +2 "storage"(,. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(#(,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +3 "core" &,{  q\ +2 "manipulator"&& +4 "core" & l , +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&}& +4 "core" & [ , +2 "storage"(o& +3 "core" &,{ D D \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +98 "core" ' +2 "storage"(& +3 "core" &,{ E D\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +298 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" & ; , +2 "storage"(;& +4 "core" &,m $ % !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&u'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(B't +32 "core" ' + "manipulator"&+% +4 "core" %( ' + +2 "storage"( & +3 "core" &,m " $ 3\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 285 counts + "manipulator"&/'T +23 "core" ' +2 "manipulator"&N& +3 "core" & 9 , +2 "storage"(m& +3 "core" &,m  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +48 "Can"\ PG +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&C& +3 "core" &  , +2 "manipulator"& % +4 "core" % 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +150 "core" ( +2 "manipulator"&Z& +3 "core" &z. E~ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +2 "core" &z. E~ +3 .tForearm.seek CC +2 "manipulator"&?'? +95 "core" ' +2 .tHand.close + "manipulator"&k/ +60 "core" / +2 .tCC.seek :open + "collection"'l( +449 "core" ( +2 "storage"(D& +3 "core" &,m ; < \\\  +2 "storage"(V& +4 "core" &,m D D \  +2 "manipulator"& & +3 "core" &Ӹ# <@ +2 "manipulator"&h% +4 "core" % ( [ - +2 .tForearm.seek :retract +2 "manipulator"&T' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&F( +155 "core" ( +2 "manipulator"&S& +3 "core" & \ +2 "storage"(\ & +5 "core" &,m h h @\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&A'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +57 "core" 1 +2 "manipulator"&$% +4 "core" % 0 / +2 "storage"(7& +3 "core" &,m h h F\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 293 counts +2 "manipulator"&8'\\ +24 "core" ' +3 "manipulator"&J& +3 "core" & O \ +3 "storage"(Q& +3 "core" &,m ] ` P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +22 "core" ' + "storage"(R% +4 "core" % \\ ] >\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (1% +3 "core" %F F F #\ V` +2 "manipulator"&2% +5 "core" % 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'r& +3 "core" & O\ +2 "manipulator"&@% +5 "core" %  T  + "storage"(% +4 "core" % h h :\  +2 "storage"(<. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +2 "core" &<, C E\  +3 "manipulator"&d& +3 "core" & \ +2 .tElbow.seek 5 +2 "manipulator"&9( +13 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(v& +4 "core" &<, ` f 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&_'O +99 "core" ' +2 "storage"("& +3 "core" &<, q p S\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +292 "core" ' +2 "storage"(:- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<, S 7 O\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +47 "manipulator"&W& +5 "core" & -  +2 "storage"(E& +4 "core" &<, [ ]\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&I'Ϲ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"(`' +8 "core" & +  + "manipulator"&% +4 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&c' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&x& +3 "core" &ӓ  8 9$ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &ӓ  @ 9$ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&s'? +102 "core" ' +2 "manipulator"&& +4 "core" &ӓ  g 9$ +2 "manipulator"&.% +4 "core" %R +2 "collection"'{& +4 "core" & d\ +3 "collection"'& +5 "core" & R\ +2 .tCC.seek :closed +2 "collection"'y(\\ +5 "core" & Q\ +6 &< P\ $e +9 &Xx P\ 7 +10 &u T\ K +9 &R I\ J +9 &V I\ J +10 &GU F\ J +9 & U D\ J +9 &Y F\ K +10 &X 7\ K +9 &NX 3\ K +9 & W =\ J +10 &!T ?\ J +9 &#T =\ K +10 &%VR 8\ K +9 &'X ?\ K +9 &(X @\ J +10 &*T =\ J +9 &,^S 8\ K +9 &. T 7\ K +10 &/S ;\ K +9 &1T >\ K +10 &3fW ?\ K +9 &5(X @\ K +9 &6Y @\ K +10 &8X 7\ K +9 &:nX 3\ K +9 &<0X 2\ K +10 &=Y -\ K +9 &?Y 6\ K +10 &AuU ;\ K +9 &C6\\ 9\ K +9 &Dc 8\ L +10 &Fk 3\ M +9 &Ho 2\ P +10 &J%\ \ 2\ T +9 &K\ \ 1\ W +9 &M\ \ 3\ V +10 &Oa\ \ 1\ W +9 &Q#\ \ :\ W +9 &R\ \ >\ X +10 &T\ \ >\ X +9 &Vb\ \ 2\ Z +9 &X#\ \ 9\ Z +10 &Y\ \ 7\ [ +9 &[\ \ >\ H +10 &\\8\ \ :\ , +9 &\\j\ \ 3\ K +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"& 1 +54 "core" 1 +2 "manipulator"&% +4 "core" % R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%5& +4 "core" &q\ +2 "manipulator"&^% +4 "core" %  a " +2 "storage"(3% +3 "core" % ! ! :\  +2 "storage"(w. +4 "core" .(<- + "storage"(-& +4 "core" &<, $ $ #\  +2 "storage"(& +3 "core" &<, " ! \  +2 "manipulator"&& +5 "core" &ӟ b 7 + "manipulator"&z% +4 "core" %  " +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&a( +161 "core" ( + "manipulator"&M& +4 "core" &  +2 "storage"(=& +4 "core" &<, C , \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&('O +95 "core" ' +2 "storage"(t& +3 "core" &<, E C\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +305 "core" ' + "storage"(>- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (b& +3 "core" &<, * ! j\  +2 "manipulator"&& +3 "core" & d  +2 .tElbow.seek 5 +2 "manipulator"&n( +4 "core" ( + "manipulator"&& +3 "core" & J  +2 "storage"(& +4 "core" &<,   \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&&'Ϲ +34 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& + "storage"(P' +8 "core" &   +2 "manipulator"&G% +4 "core" %  > +2 .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' +47 .tElbow.seek PC +4 "manipulator"&O( +114 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +122 "core" ( +3 "manipulator"&*& +3 "core" &  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&}' +96 "core" ' +2 "manipulator"&o& +3 "core" & \\ 8 +3 "manipulator"&!% +3 "core" % d ) +2 "processing"%& +4 "core" &\ +3 "processing"%~& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%](^ +3 "core" &\  +9 &2u\ )v +10 &b{3\ = +9 &no \ M +9 &0OJ\ M +10 &QN\ M +9 &RR\ M +9 &uSL\ M +10 &7RQ\ M +9 &US\ M +10 &T\ M +9 & }TI\ M +9 &"?TJ\ M +10 &$UI\ M +9 &%RH\ M +9 &'RN\ M +10 &)GSI\ M +9 &+ SI\ M +10 &,TN\ M +9 &.QH\ M +9 &0PUV\ M +10 &2TP\ M +9 &3SK\ N +9 &5SQ\ M +10 &7WTF\ M +9 &9RH\ M +10 &:UF\ N +9 &<Q=\ M +9 &>^V;\ N +10 &@ V?\ N +9 &AZ=\ N +9 &Ca=\ O +10 &E`i@\ P +9 &G o?\ P +10 &HE\ T +9 &J8\ S +9 &L]5\ S +10 &N<\ T +9 &O>\ T +9 &Q7\ U +10 &SaB\ U +9 &U#>\ U +10 &V@\ T +9 &XA\ T +9 &Zi@\ U +10 &\\+A\ U +9 &]x9\ 6 +9 &^.y@\ S +10 &^<\ . +2 ( +2 "processing"%~& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&%% +3 "core" %   ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +94 "core" ' +2 "processing"%4& +3 "core" &^;\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&;% +3 "core" % \   +2 "storage"(Y% +4 "core" % " " !\  +2 "storage"(+. +3 "core" .(<- +2 "storage"( & +3 "core" &<, " $ \  +2 "storage"(N& +3 "manipulator"&m& +8 "core" &<, ! " (\  + &  a 8 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&C( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'r +2 "core" ( +2 "manipulator"&g& +4 "core" &  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  \  8 +2 .tForearm.seek PC +2 "manipulator"&f' +92 "core" ' + .tHand.close +2 "manipulator"&u/ +56 "core" / +2 .tPC.seek :open +2 "processing"%/( +102 "core" ' + "storage"(Z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +40 "core" ' +305 ( +2 "storage"(e& +3 "core" &<, $ %\  +2 "manipulator"&K& +4 "core" & ~ 8 +2 "manipulator"&q% +4 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&k' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&U( +247 "core" ( +2 "manipulator"&0& +3 "core" &  7 +2 "storage"(D& +4 "core" &<, " " \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&V'O +93 "core" ' + .tHand.open +2 "manipulator"& 1 +58 "core" 1 +2 "storage"(h- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(S' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\ ' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(?- +3 "core" -' +2 "storage"(X& +4 "core" &<, K K 1\  +2 "manipulator"&\\& +4 "core" &   6 +47 .tElbow.seek 5 +4 "manipulator"&$( +4 "core" ( + "manipulator"&7& +4 "core" &    6 +2 "storage"(J& +4 "core" &<, D D \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(R'" +59 "core" ' + "manipulator"&T& +4 "core" & D 6 +2 "storage"(1& +3 "core" &<, $ " ;\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&2'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +27 "core" ' +2 "manipulator"&r% +3 "core" %Θ } +2 "storage"(8& +3 "core" &<, Q C\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&@' +19 "core" ' +2 "manipulator"&& +3 "core" & # +2 "storage"(<& +4 "core" &<, 6 (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +23 "core" ' +2 "storage"(% +4 "core" % # , \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (#% +2 "core" %lM\ \ ( \ We +2 "manipulator"&[% +4 "core" %R $ ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +99 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<, ) + \  +2 "collection"'v& +3 "core" &\\k P\ K +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&"% +3 "core" %  l +2 "storage"(p% +4 "core" % D D \  +2 "storage"(j. +3 "core" .(<- +2 "storage"(:& +3 "core" &<, C D \  +2 "storage"(& +4 "core" &<, D D \  +2 "manipulator"&& +4 "core" & # +2 .tElbow.seek 5 +2 "manipulator"&W( +18 "core" ( +2 "manipulator"&E& +3 "core" &   +2 "storage"(& +4 "core" &<, C C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&''O +91 "core" ' +2 "storage"(& +3 "core" &<, C F p\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +297 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" & ^  +2 "storage"(L& +4 "core" &<, $ " "\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&H'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(.'t +30 "core" ' + "manipulator"&% +4 "core" %Ι +2 "storage"({& +3 "core" &<,   "\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&`' +15 "core" ' +2 "manipulator"&c& +3 "core" & <  +2 "storage"(l& +4 "core" &<, ,  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +42 "core" ' + "manipulator"&5& +4 "core" & d  +2 "manipulator"&^% +4 "core" %P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +46 "manipulator"&3' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&w(ӂ +156 "core" ( +2 "manipulator"&-& +4 "core" &Ӎ& ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӎ& h ?Q +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'z( +452 "core" ( + "storage"(s& +4 "core" &<, D D w\  +2 "storage"(M& +3 "core" &<, N Q F\  +2 "manipulator"&=& +4 "core" &ӷ   9' +2 "manipulator"&t% +3 "core" % 6 o  +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +162 "core" ( + "manipulator"&>& +4 "core" &   +2 "storage"(b& +4 "core" &<, h h B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&)% +3 "core" % Λ b  +2 "storage"(i& +4 "core" &<, h h N\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&G' +27 "core" ' +2 "manipulator"&a& +4 "core" & Y  +2 "storage"((& +3 "core" &<, ] ] (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +15 "core" ' +2 "storage"(&% +4 "core" % n _ ?\ +2 ."downElevator"SE.seek :down +5 "storage"(*' +99 (% +3 "core" %J A F \ U^ +2 "manipulator"&n% +4 "core" %H u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'!& +3 "core" & N\ +2 "manipulator"&% +4 "core" %   +2 "storage"(P% +4 "core" % i h 2\  +2 "storage"(,. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & B G \ +2 "manipulator"&%& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&4( +13 "core" ( +2 "manipulator"&;& +4 "core" & +  +2 "storage"(Y& +3 "core" & i j ]\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&+'7 +97 "core" ' + "storage"( & +4 "core" & ~ t \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(m'r +299 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" & = T \ +2 "manipulator"&g& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&}& +3 "core" & L  +3 "storage"(u& +3 "core" & [ Z\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Z'ϡ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +53 "core" / +49 ."downElevator"SE.seek :down +4 "manipulator"&6& +2 "storage"(]' +8 "core" &  + "manipulator"& % +4 "core" % Ϧ " +2 .tForearm.seek :retract +2 "manipulator"&e' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&K(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&q& +5 "core" &Ӡ  :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &f& +2 "core" &Ӡ  :- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'? +96 "core" ' +2 "manipulator"&D& +3 "core" &Ӡ  k :- +2 "manipulator"&C% +5 "core" %C 6 +2 "collection"' & +3 "core" & C\ +3 "collection"'h& +5 "core" & M\ +2 .tCC.seek :closed +2 "collection"'?(\\ +5 "core" & C\  +8 &3{ O\ *y +9 &f~ F\ > +10 &n O\ L +9 &OR R\ K +10 &T V\ K +9 &U U\ J +9 &T M\ J +10 &XT S\ J +9 &V F\ J +9 &U N\ J +10 & U G\ J +9 &"_S A\ K +10 &$!S :\ K +9 &%T ?\ K +9 &'S <\ K +10 &)hS >\ K +9 &++U @\ J +9 &,Y ?\ K +10 &.X @\ K +9 &0oY =\ K +10 &21X :\ K +9 &3Y ?\ K +9 &5Y ?\ K +10 &7wT 7\ K +9 &99U 8\ K +10 &:T =\ K +9 &<T 4\ K +9 &>T 5\ K +10 &@AT <\ K +9 &BX 8\ K +9 &C^ 7\ L +10 &Ef 6\ L +9 &G@s 2\ N +9 &H\  7\ Q +10 &J\ \ 2\ U +9 &Lm\ \ 2\ V +10 &N-\ \ 1\ W +9 &O\ \ 8\ W +9 &Q\ \ 5\ W +10 &So\ \ 1\ Y +9 &U1\ \ 8\ Y +9 &V\ \ ;\ Z +10 &X\ \ 9\ Z +9 &Zn\ \ \ 7\ \\ +10 &\\{\ \ <\ 2 +9 &\\-\ \ 7\ V +9 ( +3 "collection"'h& +2 "core" &\\]\ \ \ 4\ J +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&X1 +55 "core" 1 +2 "manipulator"&\\% +3 "core" % C  6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%7& +3 "core" &9\ +2 "manipulator"&J% +4 "core" %   +2 "storage"(T% +3 "core" % $ " '\  +2 "storage"(1. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(B( +21 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (S& +3 "core" &   \  +2 "manipulator"&r& +4 "core" &Ӡ   :- +2 "manipulator"&8% +3 "core" %  )  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( + "manipulator"&<& +4 "core" &   +2 "storage"(& +3 "core" & E F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&U'7 +94 "core" ' + "storage"(V& +4 "core" & = D\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(\ 'r +294 "core" ' +2 "storage"(#- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +2 "core" & $ ! 5\  +2 "manipulator"&Q& +4 "core" & J  +2 .tElbow.seek 3 +2 "manipulator"&$( +4 "core" ( + "manipulator"&R& +3 "core" &   +2 "storage"(2& +5 "core" &   \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& +2 "storage"("' +7 "core" &   +2 "manipulator"&p% +3 "core" % Ϝ [ +3 .tForearm.seek :retract + "manipulator"&j' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&A( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&:& +4 "core" & S H +2 .tElbow.reconfigure :loose +48 "manipulator"&$ &.,(#b +5 && +3 "core" & 8 H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +90 "core" ' +2 "manipulator"&E& +4 "core" & L H +3 "manipulator"&% +3 "core" % v +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &4x\ *x +9 &e{N\ > +10 &}n\ N +9 &?R\ M +9 &R\ M +10 &R\ M +9 &ST\ M +10 &HS\ M +9 &\ T\ M +9 &TF\ M +10 & T \ M +9 &"PS/\ M +9 &$T\ M +10 &%QQ\ M +9 &'RY\ M +10 &)XR\ M +9 &+S=\ M +9 &,SU\ M +10 &.Q\ M +9 &0`TO\ M +9 &2!TN\ M +10 &3TW\ M +9 &5TQ\ M +10 &7gTW\ M +9 &9*RY\ M +9 &:UR\ M +10 &<TX\ N +9 &>oUJ\ M +9 &@1WO\ M +10 &AXS\ N +9 &C_U\ O +10 &EscX\ O +9 &G0mE\ P +9 &H~D\ R +10 &JE\ S +9 &LmD\ S +9 &N-B\ T +10 &OC\ T +9 &QI\ U +10 &SqE\ U +9 &U4K\ T +9 &VH\ T +10 &XF\ U +9 &ZyD\ U +9 &\\:C\ U +10 &]zpJ\ : +9 &^'kP\ Q +10 &^#J\ 3 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&F1 +58 "core" 1 +2 "manipulator"&d% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +92 "core" ' +2 "processing"%x& +4 "core" &^ d\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&L% +4 "core" %   T  +2 "storage"(% +4 "core" % ! ! ;\  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"({( +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (c& +2 "manipulator"&l& +4 "core" &   X\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   H +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(5'r + "manipulator"&^( +7 "core" ( + "manipulator"&'& +4 "core" &   H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &  ' H +2 .tForearm.seek PC +2 "manipulator"&9' +90 "core" ' +2 .tHand.close + "manipulator"&H/ +64 "core" / +3 .tPC.seek :open +2 "processing"%`( +87 "core" ' + "storage"(.- +3 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'1 +41 "core" ' +315 ( +2 "storage"( & +4 "core" & & C \\\  +2 "manipulator"&& +3 "core" & K H +2 "manipulator"&I% +4 "core" %   O +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&3( +247 "core" ( + "manipulator"&y& +5 "core" & $ + "storage"(s& +4 "core" & " $ 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&M'7 +94 "core" ' + .tHand.open +2 "manipulator"&=1 +54 "core" 1 +3 "storage"(t- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(>' +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(b' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(w& +3 "core" & y ;\  +2 "manipulator"&& +3 "core" & Y $ +2 .tElbow.seek 3 +2 "manipulator"&)( +49 "core" ( +4 "manipulator"&i& +3 "core" &  \\ +2 "storage"(a& +4 "core" & i | \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&('7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(&'" +51 "core" ' +2 "manipulator"&& +4 "core" & ` \\ +2 "storage"(& +4 "core" & $ ! \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&n'u +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&!% +4 "core" %Έ +2 "storage"(& +3 "core" &   \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&G'ϴ +15 "core" ' +2 "manipulator"&P& +4 "core" & U \\ +2 "storage"(,& +3 "core" &  * I\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +19 "core" ' + "storage"(|% +4 "core" % D - \ +3 ."downElevator"SE.seek :down +3 "storage"(*' +99 ( % +3 "core" %W\ "\ ) \ Xi +2 "manipulator"&% +4 "core" %9 J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (;& +3 "core" & ' ) b\  +2 "collection"'Y& +3 "core" &\\] N\ J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %  ( \ i +2 "storage"(% +4 "core" % D C \  +2 "storage"(o. +3 "core" .( +2 "storage"(N& +3 "core" & C C \  +2 "storage"(~& +4 "core" & C = \  +2 "manipulator"&g& +3 "core" & \\ +2 .tElbow.seek 3 +2 "manipulator"&}( +4 "core" ( +2 "manipulator"&u& +3 "core" & \\ +2 "storage"(O& +4 "core" & F N \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&6'7 +92 "core" ' +2 "storage"( & +4 "core" & B C \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'r +299 "core" ' +3 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" & B \\ +2 "storage"(f& +3 "core" &   j\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&m'u +15 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(C'l +32 "core" ' + "manipulator"& % +4 "core" %΂  @ +2 "storage"(& +3 "core" & D D\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&]'Ϯ +16 "core" ' + "manipulator"&e& +4 "core" & \\ +2 "storage"(z& +3 "core" & D G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&X'7 +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(\\' +35 "core" ' +2 "manipulator"&7& +3 "core" & + \\ +2 "manipulator"&J% +3 "core" %9 H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +91 "core" ' +46 .tElbow.seek CC +4 "manipulator"&1(ӂ +170 "core" ( +2 "manipulator"&h& +3 "core" &Ӂ 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +3 "core" &Ӂ % 6 +2 .tForearm.seek CC +2 "manipulator"&r'? +97 "core" ' +2 .tHand.close +2 "manipulator"&8/ +57 "core" / +2 .tCC.seek :open +2 "collection"'0( +452 "core" ( +2 "storage"(<& +3 "core" & = J \  +2 "storage"(& +4 "core" & 8 9 y\  +2 "manipulator"&& +4 "core" &Ӎ r 4 +2 "manipulator"&V% +3 "core" % ' P +3 .tForearm.seek :retract +2 "manipulator"&K' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&k( +164 "core" ( + "manipulator"&#& +4 "core" &z G  +2 "storage"([& +4 "core" & j q &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Q'u +95 "core" ' +2 .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +54 "core" 1 +2 "manipulator"&% +3 "core" %  U +2 "storage"(v& +4 "core" & f a .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&p'ϫ +15 "core" ' +2 "manipulator"&& +3 "core" &z  +2 "storage"(U& +4 "core" & q q a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&\ '7 +18 "core" ' +2 "storage"(@% +4 "core" % q q v\ +2 ."downElevator"SE.seek :down +4 "storage"(:' +98 ($% +3 "core" %J E G \ Wc +2 "manipulator"&% +4 "core" %4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" & Q\ +2 "manipulator"&% +4 "core" %  h  +2 "storage"("% +4 "core" % a g \  +2 "storage"(j. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(/(,y +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &,v 7 : [\ \ +2 "manipulator"&d& +3 "core" &z ;  +3 .tElbow.seek 4 + "manipulator"&x( +35 "core" ( +2 "manipulator"&L& +3 "core" &  +2 "storage"(& +4 "core" &,v _ ] \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(& +4 "core" &,v m s 9\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'r +302 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &,m g k [\  +2 "manipulator"&W& +4 "core" &  P  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&H& +3 "core" &  +2 "storage"(B& +4 "core" &,m ^ ^ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&.'c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(' +54 "core" & M  + "manipulator"&5% +4 "core" % ϕ $ +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&I& +3 "core" &Ӎ , 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &9& +2 "core" &Ӎ K 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&y'? +102 "core" ' +2 "manipulator"&s& +3 "core" &Ӎ Q 4 +2 "manipulator"&^% +4 "core" %7 - % +2 "collection"'=& +4 "core" & M\ +3 "collection"'t& +4 "core" & R\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & T\  +9 &4z U\ *x +10 &g} V\ > +9 &n T\ L +10 &UR S\ K +9 &S O\ K +9 &U R\ J +10 &T D\ J +9 &^T =\ J +9 & U >\ K +10 &V 9\ K +9 & T ?\ K +10 &"eS B\ K +9 &$'S ?\ K +9 &%S A\ K +10 &'U ?\ J +9 &)nU >\ J +9 &+/U >\ K +10 &,X A\ K +9 &.T ?\ K +10 &0vV =\ J +9 &27U :\ K +9 &3Y =\ K +10 &5T :\ K +9 &7~U =\ J +9 &9?U 4\ K +10 &;W 3\ K +9 &<U 9\ J +10 &>W 4\ K +9 &@FU )\ K +9 &BW +\ L +10 &C] 3\ L +9 &Eg 2\ M +9 &GEr 0\ N +10 &H\  3\ Q +9 &J\ \ ,\ U +10 &Lq\ \ 2\ W +9 &N1\ \ 2\ X +9 &O\ \ 8\ X +10 &Q\ \ 2\ Y +9 &Sr\ \ ;\ Z +9 &U1\ \ =\ [ +10 &V\ \ ;\ [ +9 &X\ \ \ <\ [ +10 &Zs\ \ \ 4\ \\ +9 &\\x\ \ 3\ 5 +9 &\\'\ \ 4\ %m +10 ( + &\\z\ \ 4\ Z +2 "collection"'t& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&w1 +56 "core" 1 +2 "manipulator"&% +4 "core" % 7 % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%i& +4 "core" &\ +2 "manipulator"&a% +4 "core" % " . % +2 "storage"(% +3 "core" %   \  +2 "storage"(. +4 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(-(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +2 "core" &,z   *\ +3 "manipulator"&& +3 "core" &Ә [ 2 +2 "manipulator"&>% +4 "core" % " ' % +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&P( +163 "core" ( +2 "manipulator"&,& +3 "core" &  +2 "storage"(|& +3 "core" &,z $ & &\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +117 "core" ' +3 "storage"(M& +3 "core" &,z D D \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +296 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,m\ \  \ \ +2 "manipulator"&(& +3 "core" & A  +2 .tElbow.seek 4 +2 "manipulator"&)( +4 "core" ( + "manipulator"&&& +4 "core" & "  +2 "storage"(n& +3 "core" &,m ! \ \ +3 .tForearm.seek 4 + 300 counts + "manipulator"&G'c +43 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"( ' +8 "core" &  +2 "manipulator"&% +3 "core" % ] \\ a +3 .tForearm.seek :retract +2 "manipulator"&o' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&N& +3 "core" & f 1 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" & ] 1 +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&g' +93 "core" ' + "manipulator"&u& +4 "core" & 1 +2 "manipulator"&O% +4 "core" % 5 +2 "processing"%& +4 "core" &\ +3 "processing"% & +4 "core" &\ +3 .tPC.seek :closed + "processing"%*(^ +5 "core" &\ +7 &6\ #c +10 &Tw\ 6 +9 &x\ K +10 &O\ M +9 &bS\ M +9 &$Q\ M +10 &U\ M +9 &P\ M +9 &kR\ M +10 &-S;\ M +12 &R \ M +11 &!R\ M +5 &#sS\ M +9 &%5S \ M +10 &&T \ M +9 &(T \ M +10 &*|S \ M +9 &,>T\ M +9 &.S\ M +10 &/T\ M +9 &1Q5\ M +9 &3ESP\ M +10 &5TX\ M +9 &6TP\ M +9 &8UX\ M +10 &:MUX\ M +9 &<UW\ M +10 &=UV\ N +9 &?UX\ M +9 &ATUW\ M +10 &CbW\ O +9 &DcV\ O +9 &Fr \ Q +10 &HMP\ R +9 &J U\ S +10 &KW\ T +9 &MG\ T +9 &OQA\ T +10 &QR\ U +9 &R@\ T +9 &TE\ U +10 &VWD\ T +9 &XB\ U +10 &YH\ U +9 &[F\ U +9 &]\\J\ C +10 &^N|L\ D +9 &^O\ V +9 &^ E\ / +3 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&%% +3 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +89 "core" ' +2 "processing"%q& +4 "core" &^g\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&f% +4 "core" %   X  +2 "storage"(D% +3 "core" % G -\  +2 "storage"( . +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +27 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (e& +2 "manipulator"&z& +4 "core" &,w & P 4\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & 8 1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(7'r +2 "manipulator"&J( +8 "core" ( + "manipulator"&6& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &   1 +2 .tForearm.seek PC +2 "manipulator"&4' +96 "core" ' +2 .tHand.close + "manipulator"&m/ +61 "core" / +2 .tPC.seek :open +2 "processing"%]( +83 "core" ' +2 "storage"(C- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +41 "core" ' +320 ( +2 "storage"(h& +3 "core" &,j   1\  +2 "manipulator"&S& +4 "core" &  1 +2 "manipulator"&Z% +3 "core" %  U M +3 .tForearm.seek :retract +2 "manipulator"&8' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&T( +245 "core" ( + "manipulator"&?& +4 "core" &   +2 "storage"(<& +3 "core" &,j " $ )\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(V- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(#' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"([' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(r- +2 "core" -' +3 "storage"(1& +3 "core" &,j B C "\  +2 "manipulator"&2& +4 "core" &  G  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&v& +4 "core" &   4  +41 "storage"(& +11 "core" &,j C D \  +3 .tForearm.seek 4 + 450 counts + "manipulator"&U' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(@'" +52 "core" ' +2 "manipulator"&K& +4 "core" &   +2 "storage"($& +3 "core" &,j\  R :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +26 "core" ' +2 "manipulator"&% +4 "core" %: : +2 "storage"(p& +3 "core" &,j N\ ,\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&'f +15 "core" ' +2 "manipulator"&"& +3 "core" &  +2 "storage"(j& +4 "core" &,j $ # <\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +15 "core" ' +2 "storage"(\ % +3 "core" %  # \ +3 ."downElevator"SE.seek :down +4 "storage"(:' +98 ({% +4 "core" %hN\ \  #\ Xf +2 "manipulator"&F% +3 "core" % S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (L& +3 "core" &,j\  Z n\  +2 "collection"'& +5 "core" &\\{ :\ Z + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %  E  +2 "storage"(R% +4 "core" % $ $ 0\  +2 "storage"(E. +3 "core" .(,y +2 "storage"(l& +3 "core" &,j $  6\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"('(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &,{   \ +2 "manipulator"&H& +4 "core" & `  +2 .tElbow.seek 4 +2 "manipulator"&B( +4 "core" ( + "manipulator"&A& +4 "core" & [  +2 "storage"(_& +4 "core" &,{ $  /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&5' +94 "core" ' + "storage"(x& +4 "core" &,{ E F \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" & ,  +2 "storage"(9& +4 "core" &,m $ P >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&.'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(^'t +29 "core" ' +2 "manipulator"&=% +3 "core" %# G . +2 "storage"(& +4 "core" &,m   \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 280 counts +2 "manipulator"& 'O +15 "core" ' + "manipulator"&0& +4 "core" &  +2 "storage"(w& +3 "core" &,m $ ! 0\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(i' +36 "core" ' + "manipulator"&a& +4 "core" & Q  +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +42 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&t(ӂ +158 "core" ( +2 "manipulator"&!& +4 "core" &ӛ  ' :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӛ  :1 +2 .tForearm.seek CC +2 "manipulator"&>'? +94 "core" ' + .tHand.close +2 "manipulator"&y/ +61 "core" / +2 .tCC.seek :open +2 "collection"',( +452 "core" ( + "storage"(|& +4 "core" &,m \\ _\  +2 "storage"(/& +4 "core" &,m [ ]\  +2 "manipulator"&& +3 "core" &ӛ  = :1 +2 "manipulator"&M% +4 "core" % P W ; +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +163 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"((& +3 "core" &,m ] ] P\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&&'7 +91 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +60 "core" 1 +2 "manipulator"&Y% +4 "core" % C r J +2 "storage"(& +3 "core" &,m ] [ +\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 312 counts +2 "manipulator"&P'o +16 "core" ' +2 "manipulator"&3& +3 "core" & d  +2 "storage"(b& +4 "core" &,m | t t\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +25 "core" ' + "storage"(N% +4 "core" % ~  \ +3 ."downElevator"SE.seek :down +3 "storage"(~' +100 ()% +2 "core" %D C D \ V` +2 "manipulator"&u% +4 "core" %( > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & <\ +2 "manipulator"& % +3 "core" %   +2 "storage"(o% +4 "core" % ^ [\  +2 "storage"(`. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +3 "core" &<+   6\  +2 "manipulator"&q& +3 "core" & a  +3 .tElbow.seek 5 + "manipulator"&f( +10 "core" ( +2 "manipulator"&D& +3 "core" & w +2 "storage"( & +4 "core" &<* ] [ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +95 "core" ' +2 "storage"(e& +4 "core" &<* ~ m \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(z'r +291 "core" ' +2 "storage"(6- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (}& +3 "core" &<* f Y \  +2 "manipulator"&g& +3 "core" & J w +3 .tElbow.seek 5 + "manipulator"&m( +4 "core" ( +2 "manipulator"&-& +3 "core" & 1 w +2 "storage"(C& +4 "core" &<* [ Z\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +56 "core" / +5 ."downElevator"SE.seek :down +4 "manipulator"&*& +2 "storage"(7' +8 "core" &  w +2 "manipulator"&h% +3 "core" %  R +3 .tForearm.seek :retract +2 "manipulator"&S' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&4& +3 "core" &ӑ' @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &?& +2 "core" &ӑ' Z @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'? +103 "core" ' + "manipulator"&J& +4 "core" &Ӓ& 8 ?V +2 "manipulator"&% +72 "core" %M 2 +2 "collection"'V& +3 "core" & H\ +3 "collection"'r& +5 "core" & O\ +2 .tCC.seek :closed +3 "collection"'1(\\ +4 "core" & J\ +5 & O\ ; +10 &MKu R\ 1 +9 &v| ;\ E +9 &3W 9\ K +10 &R ;\ K +9 &X A\ K +9 &zW A\ K +10 &=V C\ K +9 &U >\ K +10 &T @\ J +9 &W A\ K +9 &!EW @\ K +10 &#U >\ K +9 &$R <\ K +10 &&W ?\ K +9 &(NW ;\ J +9 &*T >\ J +10 &+W @\ J +9 &-T @\ J +9 &/UU >\ J +10 &1U <\ K +9 &2U 7\ K +10 &4W 9\ K +9 &6\\W 9\ K +9 &8W 3\ K +10 &9W 8\ J +9 &;T =\ J +9 &=dT 4\ K +10 &?&T -\ K +9 &@U (\ K +9 &BX 1\ K +10 &Dia 5\ L +9 &F'h ,\ M +10 &Gw 2\ O +9 &I\ \ 8\ S +9 &KR\ \ 3\ W +10 &M\ \ 1\ W +9 &N\ \ 0\ W +10 &P\ \ =\ W +9 &RV\ \ 2\ X +9 &T\ \ >\ Y +10 &U\ \ 4\ Y +9 &W\ \ 3\ Z +9 &YV\ \ ;\ [ +10 &[\ \ ?\ [\ +9 &\\kF\ \ 2\ 1 +10 &\\\ \ :\ L +5 ( +2 "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&21 +2 "core" &\\b\ \ 0\ L +61 1 +2 "manipulator"&v% +4 "core" % M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%8& +3 "core" &\ +2 "manipulator"&K% +3 "core" % ! H  +2 "storage"($% +4 "core" % !  \  +2 "storage"(X. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(#(<- +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<+ \ \ \  +2 "manipulator"&p& +4 "core" &ӭ% # <; +2 "manipulator"&"% +4 "core" % "  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&j( +165 "core" ( +2 "manipulator"&\ & +4 "core" &   +2 "storage"(T& +3 "core" &<* D C \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + "storage"([& +4 "core" &<* C D \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'r +304 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" &<* " $ \  +2 "manipulator"&& +4 "core" & M  +2 .tElbow.seek 5 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(L& +4 "core" &<*   u\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(R' +7 "core" &  +2 "manipulator"&E% +4 "core" % Ϸ  +2 .tForearm.seek :retract +2 "manipulator"&Q' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +47 "manipulator"&W& +6 "core" & C N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" & S N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +92 "core" ' +2 "manipulator"&_& +4 "core" & N +2 "manipulator"&\\% +4 "core" % 7 G +2 "processing"%x& +4 "core" &\ +3 "processing"%:& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +6 &6\ #c +9 &V{\ 7 +10 &v\ K +9 &R\ M +10 &hT\ M +9 &*R\ M +9 &T\ M +10 &S\ M +9 &qO\ M +9 &3T\ M +10 &T\ M +9 &!R\ M +10 &#yU\ M +9 &%:T\ M +9 &&T\ M +10 &(T\ N +9 &*T\ M +9 &,BT\ M +10 &.S\ M +9 &/T4\ M +10 &1R \ M +9 &3KU\ M +9 &5 R\ M +10 &6U\ M +9 &8R\ M +9 &:RUS\ M +10 &<U \ N +9 &=T\ M +10 &?WQ\ M +9 &AZT=\ M +9 &C_=\ O +10 &Db\ \ O +9 &FnQ\ P +9 &HT|W\ R +10 &JY\ S +9 &K=\ S +10 &M=\ T +9 &OW/\ T +9 &QU\ T +10 &RM\ T +9 &TM\ U +9 &V^K\ T +10 &XL\ U +9 &YF\ U +10 &[J\ U +9 &]dG\ B +9 &^AsE\ a +10 &^0E\ 1 +5 ( +2 "processing"%:& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&k1 +4 "core" &^$C\ 1 +50 1 +2 "manipulator"&d% +3 "core" %    G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +91 "core" ' +2 "processing"%I& +3 "core" &^$F\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&9% +4 "core" %   E  +2 "storage"(% +3 "core" % ! \  +2 "storage"(=. +4 "core" .(<- + "storage"(& +4 "core" &<* ! ! \  +2 "storage"(0& +3 "manipulator"&w& +5 "core" &<*   \  +2 & \ z N +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(a'r + "manipulator"&( +19 "core" ( +2 "manipulator"&5& +3 "core" &   \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &   \ +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&./ +58 "core" / +2 .tPC.seek :open +2 "processing"% ( +76 "core" ' +2 "storage"(^- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'1 +47 "core" ' +321 ( + "storage"(& +4 "core" &<*  \  +2 "manipulator"&& +3 "core" & A \ +2 "manipulator"&s% +4 "core" %  C " +2 .tForearm.seek :retract +2 "manipulator"&y' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +239 "core" ( + "manipulator"&& +4 "core" & D 4 +2 "storage"(|& +4 "core" &<* D A k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&/'O +95 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(M- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"((' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(>- +3 "core" -' +2 "storage"(t& +3 "core" &<* b `\  +2 "manipulator"&;& +4 "core" & \ 1 4 +2 .tElbow.seek 5 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&& +3 "core" &   4 +2 "storage"(3& +52 "core" &<* ` Y \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(N'" +57 "core" ' +2 "manipulator"&& +3 "core" & 4 +2 "storage"()& +4 "core" &<* $ % P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&u'΍ +29 "core" ' +2 .tElbow.hold + "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(&' +28 "core" ' +2 "manipulator"&P% +3 "core" %Γ _ b +2 "storage"(& +4 "core" &<*  ! \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"& 'Ͽ +21 "core" ' +2 "manipulator"&o& +3 "core" &   +2 "storage"(`& +4 "core" &<* C D \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +23 "core" ' + "storage"(G% +4 "core" % C C \ +3 ."downElevator"SE.seek :down +3 "storage"(~' +99 ('% +3 "core" %tJ\ )\ ( B\ U` +2 "manipulator"&%% +4 "core" %E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +97 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (D& +3 "core" &<*  3 M\  +2 "collection"' & +3 "core" &\\a D\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&e% +3 "core" %  g x +2 "storage"(n% +4 "core" % D D x\  +2 "storage"(O. +3 "core" .(<- +2 "storage"(6& +3 "core" &<* D E b\  +2 "storage"(}& +4 "core" &<* G F\  +2 "manipulator"&g& +3 "core" & f  +3 .tElbow.seek 5 + "manipulator"&-( +22 "core" ( +2 "manipulator"&C& +4 "core" &  +2 "storage"(+& +4 "core" &<* D G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&*'O +92 "core" ' +2 "storage"(h& +3 "core" &<* C C =\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +304 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" & <  +2 "storage"(?& +4 "core" &<*  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&z'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(m't +29 "core" ' + "manipulator"&% +4 "core" %Ζ ] +2 "storage"(V& +4 "core" &<* " ! ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&7' +22 "core" ' +2 "manipulator"&S& +3 "core" &  +2 "storage"(,& +4 "core" &<* D D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(v' +36 "core" ' + "manipulator"&8& +4 "core" & (  +2 "manipulator"&K% +4 "core" %U q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +159 "core" ( +4 "manipulator"&r& +4 "core" &ӛ!  ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӛ" ;2 +2 .tForearm.seek CC +2 "manipulator"&p'? +103 "core" ' + .tHand.close +2 "manipulator"&"/ +62 "core" / +2 .tCC.seek :open +2 "collection"'<( +449 "core" ( + "storage"(\ & +4 "core" &<* : ; }\  +2 "storage"(T& +4 "core" &<* @ = {\  +2 "manipulator"&& +4 "core" &ӳ  7 +2 "manipulator"&[% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&Z' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +162 "core" ( + "manipulator"&F& +4 "core" & (  +2 "storage"(U& +4 "core" &<* i j n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +60 "core" 1 +2 "manipulator"&% +3 "core" % Ύ +2 "storage"(& +4 "core" &<* h g '\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 301 counts +2 "manipulator"&E'Ϻ +16 "core" ' + "manipulator"&j& +4 "core" &  +2 "storage"(& +4 "core" &<* z s S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +15 "core" ' + "storage"(% +4 "core" % ~ ~ \ +3 ."downElevator"SE.seek :down +3 "storage"(W' +99 (@% +3 "core" %E A 9 \ V_ +2 "manipulator"&H% +3 "core" %L l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +95 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'\\& +4 "core" & ;\ +2 "manipulator"&x% +3 "core" %  + ! +2 "storage"(R% +5 "core" % ^ e V\  + "storage"(Q. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(]( +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +2 "core" & 5 @ \ +3 "manipulator"&d& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&I( +13 "core" ( +2 "manipulator"&9& +3 "core" &  { +2 "storage"(& +4 "core" & j h >\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&='7 +96 "core" ' + "storage"(& +4 "core" & ~ ~ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'r +298 "core" ' +2 "storage"(w- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (:& +2 "core" & [ f\ +3 "manipulator"&5& +3 "core" &  { +2 .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( + "manipulator"&A& +4 "core" &  { +2 "storage"(.& +3 "core" & Z ] \ \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&^'ϡ +39 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& +2 "storage"(' +7 "core" &  { +2 "manipulator"&a% +48 "core" % Ϡ X o +4 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +101 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +56 "core" ( +2 "manipulator"&s& +3 "core" &ә" s ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ә! 9 ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 "manipulator"&|& +3 "core" &ә"  ;7 +3 "manipulator"&% +3 "core" %: Y +3 "collection"'& +4 "core" & F\ +2 "collection"'M& +5 "core" & `\ +3 .tCC.seek :closed + "collection"'>(\\ +4 "core" & F\  +9 &6} D\ *z +10 & i~ @\ ? +9 &j D\ L +9 &aR Q\ K +10 &#X Q\ K +9 &X X\ K +9 &W T\ K +10 &jW L\ J +9 &,T L\ J +10 &T P\ J +9 & T H\ J +9 &"rT F\ J +10 &$5T A\ J +9 &%U E\ J +9 &'X B\ K +10 &)zW D\ K +9 &+<R C\ K +10 &,S ?\ K +9 &.S ?\ K +9 &0T >\ K +10 &2DS A\ K +9 &4T ?\ K +9 &5T 8\ K +10 &7T B\ K +9 &9LS C\ K +10 &;R G\ K +9 &<W A\ K +9 &>Y B\ K +10 &@SZ =\ K +9 &BZ ?\ K +9 &C_ 5\ L +10 &Ee B\ L +9 &GRr >\ N +10 &I\ \  C\ Q +9 &J\ \ ;\ V +9 &L\ \ 7\ W +10 &N@\ \ >\ W +9 &P\ \ 6\ X +9 &Q\ \ 7\ X +10 &S\ \ 1\ Y +9 &UB\ \ \ *\ Y +10 &W\ \ 4\ Z +9 &X\ \ \ 4\ Z +9 &Z\ \ \ 5\ [\ +10 &\\(z\ \ \ 5\ . +9 &\\.\ \ ?\ ^ +9 ( + &\\r\ \ \ 3\ N +3 "collection"'M& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&t1 +53 "core" 1 + "manipulator"&;% +4 "core" % : = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%3& +3 "core" &\ +2 "manipulator"&y% +4 "core" %  g  +2 "storage"(% +3 "core" % ! ! 8\  +2 "storage"(). +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(!( +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &   Z\  +2 "manipulator"&P& +4 "core" &Ӣ  :. +2 "manipulator"&% +4 "core" %  <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +160 "core" ( + "manipulator"&o& +4 "core" & \ +2 "storage"(`& +4 "core" & C C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&G'7 +90 "core" ' +2 "storage"(/& +4 "core" & C C\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('r +295 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (%& +2 "core" &   s\  +3 "manipulator"&b& +3 "core" & A \ +2 .tElbow.seek 3 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&N& +3 "core" & } \ +2 "storage"(u& +4 "core" & % %\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϡ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +3 "storage"(e' +5 "core" & P \ +3 "manipulator"&n% +3 "core" % ϕ I +3 .tForearm.seek :retract + "manipulator"&O' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&&( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&6& +4 "core" & a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +47 "manipulator"&g' +96 "core" ' + "manipulator"&C& +4 "core" & U +2 "manipulator"&+% +4 "core" % ( } +2 "processing"%i& +4 "core" &\ +3 "processing"%h& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%~(^ +4 "core" &\  +9 &3y\ *x +9 &b|\ = +10 &tr\ N +9 &7Q\ M +10 &R\ M +9 &R\ M +9 &|T\ M +10 &=T\ N +9 &T\ M +9 &T\ M +10 & U\ M +9 &"FT\ M +9 &$ U\ M +10 &%S\ M +9 &'S\ M +10 &)OU\ M +9 &+T\ M +9 &,U\ M +10 &.R\ M +9 &0VU\ M +9 &2T\ M +10 &3P\ M +9 &5T\ M +10 &7_R\ M +9 &9U\ N +9 &:U\ M +10 &<Q\ M +9 &>fX\ M +9 &@(W\ M +10 &AY5\ N +9 &C_\ O +10 &Eie \ O +9 &G'n\ P +9 &H|\ R +10 &J3\ S +9 &Ld\ S +9 &N$\ T +10 &O.\ T +9 &Q\ \ U +10 &Sj\ T +9 &U,J\ T +9 &VV\ T +10 &X\ T +9 &Zp1\ U +10 &\\2R\ U +9 &]{rL\ > +9 &^"OG\ M +10 &^?C\ < +2 ( +2 "processing"%h& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&q% +3 "core" %   } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 "processing"%4& +3 "core" &^Il\ < +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&?% +4 "core" %     +2 "storage"(J% +4 "core" %\ &\  q\  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(V( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "manipulator"&,& +6 "core" &\ \ \  + &  +2 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&8( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(K'r +2 "core" ( + "manipulator"&*& +5 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" & \  +2 .tForearm.seek PC +2 "manipulator"&f' +93 "core" ' +2 .tHand.close +2 "manipulator"&z/ +59 "core" / +2 .tPC.seek :open + "processing"%7( +93 "core" ' + "storage"(m- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'1 +44 "core" ' +307 ( +2 "storage"(& +4 "core" &   \  +2 "manipulator"&2& +3 "core" &  +2 "manipulator"&% +4 "core" %  0 > +2 .tForearm.seek :retract +2 "manipulator"&"' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&$( +240 "core" ( +2 "manipulator"&1& +3 "core" & - , +2 "storage"(\ & +4 "core" &\ \  1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&T'7 +93 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +3 "storage"([- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(U' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(p- +4 "core" -' + "storage"(X& +4 "core" & T X C\  +2 "manipulator"&L& +4 "core" & X + +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   + +2 "storage"(j& +3 "core" & [ [\  +3 .tForearm.seek 3 + 450 counts +48 "manipulator"&'7 +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&Z& +4 "core" &  + +2 "storage"(@& +3 "core" &   \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&H'u +19 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +30 "core" ' + "manipulator"&\\% +4 "core" %} 1 +2 "storage"(x& +4 "core" &   0\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&E'ϩ +14 "core" ' +2 "manipulator"&R& +3 "core" & 1 + +2 "storage"(Q& +4 "core" & ! $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&v'7 +18 "core" ' +2 "storage"({% +4 "core" %  ( \ +3 ."downElevator"SE.seek :down +3 "storage"(W' +99 (#% +4 "core" %W\ \ \ Wg +2 "manipulator"&k% +4 "core" %9  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (9& +3 "core" &  0 z\  +2 "collection"'& +4 "core" &\\r K\ N +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %  ,  +2 "storage"(% +4 "core" % #  \  +2 "storage"(_. +2 "core" .( +2 "storage"(w& +5 "core" &  \  + "storage"(:& +4 "core" &   \  +2 "manipulator"&5& +4 "core" & w + +2 .tElbow.seek 3 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&.& +3 "core" & L + +2 "storage"(l& +5 "core" &   [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&c'7 +93 "core" ' +2 "storage"(a& +3 "core" & D D \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +295 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" & + +2 "storage"(s& +3 "core" &   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +18 "core" ' +2 .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('l +29 "core" ' + "manipulator"&% +4 "core" %Ά < \ +2 "storage"(B& +4 "core" & " # \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&'ϲ +14 "core" ' +2 "manipulator"&& +3 "core" & ? + +2 "storage"(<& +4 "core" &   y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t'7 +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(;' +35 "core" ' + "manipulator"&3& +4 "core" & & + +2 "manipulator"&y% +4 "core" %8 - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&)(ӂ +156 "core" ( +2 "manipulator"&M& +3 "core" &ӑ& ?R +46 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ& ?R +2 .tForearm.seek CC +2 "manipulator"&P'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( + "storage"(o& +4 "core" & > K \  +2 "storage"(`& +4 "core" & 9 9 \  +2 "manipulator"&]& +3 "core" &ӡ$ =B +2 "manipulator"&/% +4 "core" % O  * +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +160 "core" ( + "manipulator"&'& +4 "core" &  +2 "storage"(%& +4 "core" & f ^ p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&b'u +97 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&u1 +65 "core" 1 +2 "manipulator"&D% +3 "core" % ΂ +2 "storage"( & +4 "core" & i k \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +3 "manipulator"&n'Ϯ +16 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(G& +3 "core" & ~  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&('7 +17 "core" ' +2 "storage"( % +3 "core" % q ~ ^\  +3 ."downElevator"SE.seek :down +4 "storage"(6' +98 (}% +3 "core" %^H D G 7\ U_ +2 "manipulator"&Y% +3 "core" %/ 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +97 "core" ' +49 ' +2 ."downElevator"SE.stop +4 "storage"(5 +9 #tShuffling pucks in tube 4 of [3..5] +3 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'+& +3 "core" & `\ +2 "manipulator"&i% +4 "core" %   { +2 "storage"(e% +4 "core" % q q I\  +2 "storage"(O. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &,z \\ [\  +2 "manipulator"&q& +3 "core" & >  +2 .tElbow.seek 4 +2 "manipulator"&4( +29 "core" ( + "manipulator"&?& +4 "core" &  +2 "storage"(J& +3 "core" &,z s w \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(h& +4 "core" &,z q w *\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'r +299 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &,m = U\  +2 "manipulator"&-& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&g( +25 "core" ( +3 "manipulator"&z& +3 "core" & R +2 "storage"(!& +3 "core" &,m h i \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&m'c +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(~' +7 "core" &  +2 "manipulator"&K% +3 "core" % } +2 .tForearm.seek :retract +46 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2(ӂ +111 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +45 "core" ( +2 "manipulator"&& +3 "core" &ӛ! ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &ӛ! ( ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'? +94 "core" ' +2 "manipulator"&\ & +4 "core" &ӛ" A ;3 +2 "manipulator"&8% +4 "core" %7 4 @ +2 "collection"'& +4 "core" & R\ +3 "collection"'[& +5 "core" & Z\ +2 .tCC.seek :closed +2 "collection"'p(\\ +4 "core" & D\ +8 &A R\ $f +10 &Z{ R\ 7 +9 & w ]\ K +9 &V Q\ K +10 &Y [\ J +9 &NT S\ J +9 &T ]\ J +10 &U W\ J +9 &T P\ J +10 &WT S\ J +9 & S Q\ K +9 &!R S\ K +10 &#S G\ J +9 &%]R <\ K +9 &'R 9\ K +10 &(W >\ K +9 &*X >\ J +10 &,fU >\ J +9 &.(U ?\ J +9 &/U =\ J +10 &1U L\ J +9 &3nT G\ J +9 &51T F\ J +10 &6T J\ J +9 &8U M\ J +10 &:wU P\ J +9 &<9U C\ J +9 &=T L\ K +10 &?U E\ J +9 &A~W K\ K +10 &C?[ M\ K +9 &Db E\ L +9 &Fj C\ M +10 &Hv L\ P +9 &J*\ \ <\ U +9 &K\ \ ?\ V +10 &M\ \ K\ W +9 &Of\ \ I\ X +9 &Q&\ \ B\ Y +10 &R\ \ @\ Z +9 &T\ \ E\ X +10 &Vg\ \ D\ [ +9 &X)\ \ B\ [ +9 &Y\ \ <\ \\ +10 &[\ \ 7\ I +9 &\\1\ \ \ >\ 2 +9 &\\c\ \ ?\ L +3 ( +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&X1 +61 "core" 1 +2 "manipulator"&L% +3 "core" % 7 @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%j& +4 "core" &\ +2 "manipulator"&"% +3 "core" %  m  +2 "storage"(Z% +4 "core" % # \  +2 "storage"(@. +3 "core" .(,y +2 "storage"(r& +3 "core" &,m % % 2\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(F(,y +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (\\& +2 "core" &,|   1\ +2 "manipulator"&x& +4 "core" &Ӟ  :0 +2 "manipulator"&R% +3 "core" %  L  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&Q( +166 "core" ( + "manipulator"&$& +4 "core" & n  +2 "storage"({& +4 "core" &,| D D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +90 "core" ' +2 "storage"(U& +4 "core" &,| F D \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'r +295 "core" ' + "storage"(k- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,m "  \ \ +2 "manipulator"&& +4 "core" & M  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&H& +3 "core" & R  +2 "storage"(E& +4 "core" &,m " ! ,\ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&9'c +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" & 6  +2 "manipulator"&_% +4 "core" % ϑ 6 +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&w( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&:& +3 "core" & ) \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" & { \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +46 "manipulator"&.' +93 "core" ' +2 "manipulator"&l& +3 "core" &  \ +2 "manipulator"&v% +5 "core" % : q + "processing"%a& +4 "core" &\ +3 "processing"%W& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +6 &\ 4 +10 &>Hr\ / +9 &fq{\ D +9 &^\ N +10 &T\ M +9 &O\ M +10 &OR\ M +9 &R\ M +9 &T\ M +10 &S\ M +9 &VS\ M +9 &!R\ M +10 &"T\ M +9 &$T\ M +10 &&_R\ M +9 &( R\ M +9 &)S\ M +10 &+O\ M +9 &-gR\ M +9 &/)R\ M +10 &0T\ M +9 &2T\ N +10 &4oR\ M +9 &60U\ M +9 &7V\ M +10 &9U\ N +9 &;vU\ M +9 &=8Q\ M +10 &>W\ M +9 &@U\ N +10 &B|]\ N +9 &D<a\ O +9 &Em\ P +10 &Gy\ R +9 &It\ S +9 &K5\ T +10 &LQ\ S +9 &N=\ T +10 &Pz\ T +9 &R:7\ U +9 &S\ V +10 &U5\ T +9 &WV\ U +9 &YCV\ T +10 &[\ U +9 &\\L\ U +10 &^<cS\ %q +9 &^ d \ 1 +9 ( +3 "processing"%W& +2 "core" &^L\ + +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&d1 +59 "core" 1 +2 "manipulator"&=% +3 "core" %   q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +92 "core" ' +2 "processing"%s& +4 "core" &^o\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&|% +4 "core" %  \  +2 "storage"(% +4 "core" % " " \  +2 "storage"(B. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +26 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +3 "core" &,w   \ +3 "manipulator"&3& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" & X \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(y'r +2 "manipulator"&c( +6 "core" ( + "manipulator"&A& +4 "core" &  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &  S \ +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +97 "core" ' + "storage"(M- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'1 +53 "core" ' +297 ( + "storage"(& +5 "core" &,j D E\  + "manipulator"&^& +4 "core" & t \ +2 "manipulator"&% +4 "core" %  b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&>( +251 "core" ( + "manipulator"&o& +4 "core" & $ \ +2 "storage"(`& +4 "core" &,j C C 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&]' +96 "core" ' + .tHand.open +2 "manipulator"&/1 +57 "core" 1 +3 "storage"('- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +3 "core" -' +2 "storage"(u& +4 "core" &,j _ c\  +2 "manipulator"&D& +4 "core" & \ +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &  * \ +2 "storage"(G& +4 "core" &,j S E \  +2 .tForearm.seek 4 + 450 counts +48 "manipulator"& ' +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' +2 "manipulator"&}& +3 "core" & \ +2 "storage"(Y& +4 "core" &,j $ $ %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(n' +28 "core" ' +2 "manipulator"&+% +3 "core" %H  +2 "storage"(i& +4 "core" &,j  k\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 317 counts + "manipulator"&e't +16 "core" ' +2 "manipulator"&O& +3 "core" &  \ +2 "storage"(;& +4 "core" &,j C C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&(' +19 "core" ' +2 "storage"(6% +3 "core" % D F \ +3 ."downElevator"SE.seek :down +3 "storage"(V' +99 ( % +4 "core" %`M G s\ Wc +2 "manipulator"&q% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 (J& +2 "core" &,j 1  \  +2 "collection"'h& +4 "core" &\\a P\ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&N% +3 "core" %  #  +2 "storage"(C% +3 "core" % C C \  +2 "storage"(S. +4 "core" .(,y + "storage"(*& +4 "core" &,j D E \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(-(,y +26 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &,w 8 @ d\ +2 "manipulator"&!& +3 "core" & \ +3 .tElbow.seek 4 + "manipulator"&&( +4 "core" ( + "manipulator"& & +4 "core" &  \ +2 "storage"(K& +4 "core" &,w D D X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +96 "core" ' + "storage"(& +4 "core" &,w M C K\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +298 "core" ' +2 "storage"(m- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & o \ +2 "storage"(f& +3 "core" &,m   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&\ '7 +20 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(g's +30 "core" ' + "manipulator"&~% +4 "core" %K # +2 "storage"(& +3 "core" &,m  # \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&'w +15 "core" ' +2 "manipulator"&X& +3 "core" & \ +2 "storage"(L& +4 "core" &,m C B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&j' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"("' +42 "core" ' +2 "manipulator"&Z& +4 "core" & O \ +2 "manipulator"&@% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +92 "core" ' +5 .tElbow.seek CC + "manipulator"&[(ӂ +158 "core" ( +2 "manipulator"&\\& +3 "core" &Ӗ# =B +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &Ӗ$ I =B +2 .tForearm.seek CC +2 "manipulator"&R'? +93 "core" ' + .tHand.close +2 "manipulator"&1/ +53 "core" / +2 .tCC.seek :open +2 "collection"'$( +448 "core" ( +2 "storage"({& +4 "core" &,m 9 > \  +2 "storage"( & +3 "core" &,m 9 9 z\  +2 "manipulator"&U& +4 "core" &Ӣ" ;6 +2 "manipulator"&2% +3 "core" % B ' J +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&k( +163 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" &,m d `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&H'7 +91 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +3 "core" % J  K +2 "storage"(_& +3 "core" &,m h h P\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&Q'v +16 "core" ' + "manipulator"&T& +4 "core" & +  +2 "storage"(#& +4 "core" &,m q s #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&9' +19 "core" ' + "storage"(:% +4 "core" % p ` i\ +3 ."downElevator"SE.seek :down +4 "storage"(5' +100 (% +3 "core" %A D 9 r\ U] +2 "manipulator"&l% +3 "core" % 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'a& +4 "core" & g\ +2 "manipulator"&% +4 "core" %  u  +2 "storage"(% +3 "core" % { q e\  +2 "storage"(7. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(d(<- +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" &<0 ; B \  +3 "manipulator"&s& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(B& +3 "core" &<0 ] o \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +105 "core" ' + "storage"(<& +4 "core" &<0 r \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'r +293 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &Y O\ K +9 &@UY Q\ K +9 &BZ P\ K +10 &C] K\ L +9 &Ec M\ L +9 &GRq Q\ N +10 &I \  O\ Q +9 &J\ \ J\ V +10 &L\ \ F\ W +9 &N?\ \ J\ X +9 &P\ \ L\ X +10 &Q\ \ H\ X +9 &S\ \ L\ Y +9 &UC\ \ K\ Y +10 &W\ \ L\ [ +9 &X\ \ O\ Z +10 &Z\ \ G\ [\ +9 &\\&y\ \ N\ / +9 &\\.\ \ O\ [ +10 ( + &\\m\ \ \ @\ K +2 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&D1 +53 "core" 1 +2 "manipulator"&% +4 "core" % 8 9 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +3 "core" &\ +2 "manipulator"&}% +4 "core" %  6  +2 "storage"(Y% +3 "core" % ! " \  +2 "storage"(t. +4 "core" .(<- + "storage"(+& +4 "core" && +4 "core" & G \\\  +2 "manipulator"&& +4 "core" & \ n 2 +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&_& +4 "core" &  ~ 2 +2 "storage"(T& +3 "core" &<- C D \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +48 "storage"(:'" +52 "core" ' +2 "manipulator"&& +3 "core" & Y 2 +2 "storage"(& +4 "core" &<- "  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&l'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(H' +26 "core" ' +2 "manipulator"&a% +3 "core" %Β $ m +2 "storage"(Q& +3 "core" &<-\  P 4\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&'Ͼ +15 "core" ' +2 "manipulator"&& +4 "core" & f  +2 "storage"(7& +3 "core" &<- 0 " _\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +15 "core" ' +2 "storage"(9% +4 "core" % D D \ +3 ."downElevator"SE.seek :down +3 "storage"(5' +99 (-% +3 "core" %fO\ \  \ We +2 "manipulator"&=% +4 "core" %T  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<- 1 g\  +2 "collection"'B& +3 "core" &\\m W\ K +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&<% +4 "core" %  N  +2 "storage"(E% +4 "core" %  ' Q\  +2 "storage"(v. +3 "core" .(<- +2 "storage"(A& +3 "core" &<-   `\  +2 "storage"(I& +4 "core" &<- C ? O\  +2 "manipulator"&.& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&F( +21 "core" ( +2 "manipulator"&M& +3 "core" & [  +2 "storage"(0& +3 "core" &<- @ 4 \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +75 "Can"\ NI +22 "core" ' +2 "storage"(& +3 "core" &<- D C \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +299 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & O  +2 "storage"(& +3 "core" &<-   \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&o'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(/'s +29 "core" ' + "manipulator"&'% +9 "core" %Ρ N +2 "storage"(& +3 "core" &<- ! " \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&y' +16 "core" ' + "manipulator"&^& +4 "core" & ^  +2 "storage"($& +4 "core" &<- C D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&D'O +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +42 "core" ' + "manipulator"&& +4 "core" & <  +2 "manipulator"&}% +4 "core" %P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +155 "core" ( +2 "manipulator"&+& +4 "core" &ӊ)  : Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &ӊ)  Aa +2 .tForearm.seek CC +2 "manipulator"&)'? +96 "core" ' +4 .tHand.close +2 "manipulator"&i/ +52 "core" / +2 .tCC.seek :open +2 "collection"'O( +448 "core" ( +2 "storage"(`& +4 "core" &<- D B \  +2 "storage"(6& +4 "core" &<- E D \  +2 "manipulator"&>& +3 "core" &Ӱ# Y <; +2 "manipulator"&P% +4 "core" % 2 )  +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&G( +163 "core" ( +2 "manipulator"&q& +3 "core" &   +2 "storage"( & +4 "core" &<- f i :\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"& '΍ +94 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&e1 +63 "core" 1 +2 "manipulator"&h% +4 "core" % Ρ F . +2 "storage"(N& +3 "core" &<- i i c\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&S' +16 "core" ' +2 "manipulator"&;& +3 "core" & [  +2 "storage"(]& +4 "core" &<- o a u\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +17 "core" ' + "storage"(J% +4 "core" % s k \ +3 ."downElevator"SE.seek :down +3 "storage"(z' +100 (!% +2 "core" %H B C \ Va +2 "manipulator"&% +4 "core" %M S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K' +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'(& +3 "core" & ]\ +2 "manipulator"&% +4 "core" %    +2 "storage"(C% +3 "core" % ] \\\  +2 "storage"(n. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +678 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" & F B \ +2 "manipulator"&?& +4 "core" & b  +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&f& +3 "core" & 2 c +2 "storage"(& +4 "core" & ` g G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&~'7 +93 "core" ' + "storage"(& +4 "core" & p p \\\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +299 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" & f Z\ +2 "manipulator"&4& +4 "core" & % c +2 .tElbow.seek 3 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"& & +3 "core" & c +2 "storage"(\ & +4 "core" & [ ^\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'ϡ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& +3 "storage"(' +5 "core" & L c +3 "manipulator"&@% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&x' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&j(ӂ +158 "core" ( +46 "manipulator"&8& +5 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &Ӌ* C Bi +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &Ӌ* N Bi +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&p'? +100 "core" ' +2 "manipulator"&{& +3 "core" &Ӌ* Bi +2 "manipulator"&Z% +4 "core" %8 C ) +2 "collection"'U& +4 "core" & k\ +2 "collection"'2& +5 "core" & j\ +2 .tCC.seek :closed +2 "collection"'R(\\ +5 "core" & ]\  +8 &6} ]\ *z +9 & i~ `\ ? +10 &k Z\ L +9 &`T Q\ J +9 &"T Q\ J +10 &U N\ J +9 &T R\ J +9 &hT O\ J +10 &*V T\ J +9 &U ]\ J +10 & T ^\ J +9 &"pT ^\ J +9 &$1T X\ K +10 &%X ]\ K +9 &'X ^\ K +9 &)wX V\ K +10 &+9X ]\ K +9 &,S _\ K +10 &.S W\ K +9 &0U S\ J +9 &2AU N\ K +10 &4X O\ K +9 &5Y J\ K +9 &7S H\ K +10 &9JU P\ J +9 &; U L\ K +10 &<W P\ K +9 &>T R\ K +9 &@QV P\ K +10 &BZ P\ K +9 &C_ P\ L +9 &Ee R\ L +10 &GOs Q\ N +9 &I \  P\ Q +10 &J\ \ M\ V +9 &L}\ \ K\ V +9 &N<\ \ P\ X +10 &O\ \ P\ X +9 &Q\ \ P\ X +9 &S\ \ P\ X +10 &U?\ \ E\ Y +9 &V\ \ O\ Z +10 &X\ \ L\ Z +9 &Z\ \ \ \ P\ [\ +9 &\\$z\ \ \ I\ / +10 &\\-\ \ \ @\ [ +9 ( + &\\e\ \ G\ N +2 "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&[1 +52 "core" 1 +3 "manipulator"&% +3 "core" % 8   ] ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +91 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%T& +4 "core" &\ +2 "manipulator"&1% +4 "core" %   +2 "storage"(% +4 "core" % ! \  + "storage"(. +3 "core" .( +2 "storage"(\\& +4 "core" & ! !\ +2 "storage"(& +4 "core" &  ! \ +2 "manipulator"&a& +3 "core" &ӱ# =C +2 "manipulator"&Q% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +166 "core" ( +2 "manipulator"&7& +3 "core" &   +3 "storage"(9& +3 "core" & C C \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&r'7 +94 "core" ' +2 "storage"( & +3 "core" & C F\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +306 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +2 "core" &  ! \ +2 "manipulator"&#& +4 "core" & M  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&:& +3 "core" & ~  +2 "storage"(l& +4 "core" & % $ \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"(<' +7 "core" & #  +2 "manipulator"&E% +4 "core" % ϯ K +2 .tForearm.seek :retract +2 "manipulator"&v' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&H( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&A& +5 "core" & \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" & & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&.' +94 "core" ' +2 "manipulator"&M& +4 "core" &  \ +2 "manipulator"&0% +3 "core" % ] +3 "processing"%"& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%5(^ +54 "core" &\ +4 &\ + &\ + &\ +2 &\ + &\  + &3x\ )w +4 &bz\ = +10 &sn\ N +9 &6O\ M +10 &R\ M +9 &Q\ M +9 &|R\ M +10 &=R\ M +9 &R\ M +9 &R\ M +10 & P\ M +9 &"FR\ M +9 &$R\ M +10 &%R\ M +9 &'R\ M +10 &)MR\ M +9 &+S\ M +9 &,T\ M +10 &.R\ M +9 &0UR\ M +9 &2Q\ M +10 &3S\ M +9 &5R\ M +10 &7^Q\ M +9 &9U\ M +9 &:R\ M +10 &<U\ M +9 &>eV\ M +9 &@'R\ M +10 &AT\ N +9 &C`\ O +10 &Ehe\ O +9 &G'n\ P +9 &H}\ R +10 &J\ S +9 &Lc\ S +9 &N#\ T +10 &O\ T +9 &Q\ U +10 &Sh\ T +9 &U*\ T +9 &V\ T +10 &X\ T +9 &Zo\ U +9 &\\1 \ U +10 &]~t\ 9 +9 &^0\ Q +10 &^/\ * +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&k1 +55 "core" 1 +2 "manipulator"&s% +3 "core" %   W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +93 "core" ' +2 "processing"%3& +3 "core" &^L\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" % ! \  ' +2 "storage"(c% +4 "core" %   s\  +2 "storage"('. +2 "core" .( +2 "storage"(& +5 "core" &   \ +2 "storage"(^& +3 "manipulator"&$& +5 "core" &   \ + & n \ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'r +2 "core" ( +3 "manipulator"&& +3 "core" &  \ / \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +3 "core" &   \ +2 .tForearm.seek PC +2 "manipulator"&|' +91 "core" ' +2 .tHand.close + "manipulator"&o/ +58 "core" / +2 .tPC.seek :open +2 "processing"%y( +94 "core" ' + "storage"(/- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +45 "core" ' +308 ( + "storage"(%& +4 "core" &   a\ +2 "manipulator"&D& +3 "core" & ? \ +2 "manipulator"&w% +4 "core" %  + X +2 .tForearm.seek :retract +2 "manipulator"&i' +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +242 "core" ( +2 "manipulator"&u& +3 "core" & y G +2 "storage"(`& +4 "core" & R O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&6'7 +107 "core" ' +2 .tHand.open + "manipulator"&>1 +61 "core" 1 +2 "storage"(P- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"()- +3 "core" -' +2 "storage"(t& +4 "core" & 3 3 \ +2 "manipulator"&e& +3 "core" & \ G +2 .tElbow.seek 3 +2 "manipulator"&h( +4 "core" ( +2 "manipulator"&N& +3 "core" & E G +2 "storage"(;& +4 "core" & K K 5\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&]'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(J'" +58 "core" ' + "manipulator"&& +4 "core" &  G +2 "storage"(!& +4 "core" &  [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +29 "core" ' +48 .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"( ' +30 "core" ' +2 "manipulator"&(% +3 "core" %΂ ; +2 "storage"(S& +4 "core" &  Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&'Ϯ +15 "core" ' + "manipulator"&C& +4 "core" & # G +2 "storage"(n& +4 "core" & ! \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' + "storage"( % +4 "core" %  ! S\ +3 ."downElevator"SE.seek :down +3 "storage"(z' +99 (d% +3 "core" %KZ < \ Xh +2 "manipulator"&b% +4 "core" %< C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (f& +3 "core" & )  4\ +2 "collection"'& +4 "core" &\\f N\ N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %  R  +2 "storage"(% +4 "core" %   \  +2 "storage"(K. +3 "core" .( +2 "storage"(X& +3 "core" & 1  M\ +2 "storage"(V& +4 "core" &   :\ +2 "manipulator"&4& +4 "core" & | G +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&\ & +4 "core" & 8 G +2 "storage"(*& +3 "core" & 0 ' Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&m'7 +94 "core" ' +2 "storage"(@& +4 "core" & E G \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" & , G +2 "storage"(g& +4 "core" & !  S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&8'u +25 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"({'l +31 "core" ' + "manipulator"&Z% +4 "core" %΂ } + "storage"(U& +4 "core" & " ! 9\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 313 counts + "manipulator"&'Ϯ +15 "core" ' +2 "manipulator"&x& +3 "core" & ' G +2 "storage"(O& +4 "core" & D E ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&['7 +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&T& +3 "core" & e G +2 "manipulator"&1% +3 "core" %; 1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"&\\& +4 "core" &Ӗ# <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӗ#  <: +3 .tForearm.seek CC + "manipulator"&a'? +93 "core" ' +2 .tHand.close + "manipulator"&2/ +55 "core" / +2 .tCC.seek :open +2 "collection"'Q( +449 "core" ( + "storage"(p& +4 "core" & P Q \ +2 "storage"(7& +3 "core" & D C \ +2 "manipulator"&9& +43 "core" &ӣ  , :- +9 "manipulator"& % +4 "core" % M E 5 +2 .tForearm.seek :retract +2 "manipulator"&j' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&_( +162 "core" ( +2 "manipulator"&-& +4 "core" & A  +2 "storage"(=& +4 "core" & Z Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&#'u +101 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +56 "core" 1 +2 "manipulator"&% +4 "core" % · +2 "storage"(B& +3 "core" & Z [\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&E'ϳ +23 "core" ' +2 "manipulator"&& +4 "core" & g  +2 "storage"(r& +3 "core" & g g u\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +17 "core" ' +2 "storage"(% +3 "core" % e Z\ +3 ."downElevator"SE.seek :down +4 "storage"(A' +98 (I% +3 "core" %K G D\ U` +2 "manipulator"&% +4 "core" %8 = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M' +91 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'0& +3 "core" & l\ +2 "manipulator"&"% +5 "core" %  N  + "storage"(<% +4 "core" % s y b\  +2 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" &,w 7 - \ +2 "manipulator"&s& +4 "core" & q  +2 .tElbow.seek 4 +2 "manipulator"&3( +33 "core" ( + "manipulator"&& +4 "core" & h  +2 "storage"(c& +3 "core" &,w l w \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +92 "core" ' +2 "storage"(& +4 "core" &,w r w f\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'r +312 "core" ' + "storage"($- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" &,m ^ [\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&F( +22 "core" ( +2 "manipulator"&.& +4 "core" &  +2 "storage"(o& +3 "core" &,m \\ Z\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&/'c +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +3 "storage"(5' +5 "core" &  +3 "manipulator"&}% +4 "core" % ϔ +2 .tForearm.seek :retract +2 "manipulator"&%' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&w& +3 "core" &Ӑ' ` @[ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &Ӑ' ? @[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&u'? +97 "core" ' +5 "manipulator"&`& +4 "core" &Ӑ( b @[ +2 "manipulator"&% +3 "core" %C  - +3 "collection"'>& +3 "core" & `\ +3 "collection"'P& +6 "core" & j\ +2 .tCC.seek :closed +2 "collection"')(\\ +4 "core" & ^\  +9 &6~ ]\ *z +9 &i~ T\ ? +10 &j H\ L +9 &aR P\ K +9 &#W L\ K +10 &T [\ K +9 &R ^\ K +9 &iR _\ K +10 &+T `\ K +9 &T `\ J +10 & T _\ J +9 &"rU _\ J +9 &$4T ^\ J +10 &%U \\\ J +9 &'U _\ J +9 &)zT ^\ J +10 &+;U `\ K +9 &,W T\ K +10 &.W N\ K +9 &0T M\ K +9 &2DT P\ J +10 &4U H\ J +9 &5V P\ K +9 &7X I\ K +10 &9KT K\ K +9 &;U Q\ J +10 &<T Q\ K +9 &>X N\ K +9 &@ST J\ K +10 &BX Q\ K +9 &C_ P\ L +9 &Ee O\ M +10 &GRs Q\ N +9 &I\ \  L\ Q +10 &J\ \ Q\ V +9 &L|\ \ P\ X +9 &N;\ \ O\ Y +12 &O\ \ Q\ X +7 &Q\ \ K\ X +10 &S\ \ J\ Y +9 &U>\ \ R\ Z +9 &V\ \ N\ [ +10 &X\ \ O\ \\ +9 &Z\ \ P\ [\ +9 &\\$x\ \ N\ / +10 &\\2\ \ \ R\ c +9 ( + &\\a\ \ \ L\ M +2 "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&t1 +62 "core" 1 + "manipulator"&e% +4 "core" % C H - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%;& +3 "core" &\ +2 "manipulator"&i% +4 "core" %  _  +2 "storage"(% +4 "core" % % # \  +2 "storage"(!. +2 "core" .(,v +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(+(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &,}   \ +2 "manipulator"&(& +3 "core" &ӯ" . << +2 "manipulator"&S% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&C( +163 "core" ( +2 "manipulator"&n& +3 "core" & K  +2 "storage"(Y& +4 "core" &,} D D "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +99 "core" ' + "storage"(6& +4 "core" &,} < E \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"(]- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (d& +3 "core" &,m "  !\  +2 "manipulator"&b& +3 "core" & |  +2 .tElbow.seek 4 +2 "manipulator"&h( +4 "core" ( + "manipulator"&J& +4 "core" & X  +2 "storage"(& +4 "core" &,m D F 9\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +41 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & )  +2 "manipulator"&% +4 "core" % c S e +2 .tForearm.seek :retract +2 "manipulator"&K' +90 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&X& +4 "core" & S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" & 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&4' +108 "core" ' +2 "manipulator"&\ & +3 "core" &  +2 "manipulator"&*% +4 "core" % U H +2 "processing"%& +4 "core" &\ +3 "processing"%@& +5 "core" &\ +2 .tPC.seek :closed + "processing"%z(^ +5 "core" &\  +9 &2u\ )v +9 &by\ = +10 &tp\ N +9 &8O\ M +10 &R\ M +9 &Q\ M +9 &|T\ N +10 &@R\ M +9 &T\ M +9 &S\ N +10 & R\ M +9 &"HR\ M +9 &$ S\ M +56 &%Q\ M +5 &'P\ M +2 &)OR\ M + &+T\ M +3 &,S\ M + &.Q\ M + &0WS\ M +6 &2Q\ M +10 &3T\ N +9 &5T\ M +10 &7_U\ M +9 &9 U\ N +9 &:U\ M +10 &<Q\ M +9 &>gX\ M +9 &@)W\ M +10 &AY\ N +9 &Ce\ O +10 &Ehh\ P +9 &G'u\ Q +9 &H\ S +10 &J\ S +9 &Le\ S +9 &N%\ T +10 &O\ T +9 &Q\ U +10 &Sj\ T +9 &U*\ U +9 &V\ U +10 &X\ T +9 &Zq\ U +9 &\\2\ U +10 &]~u\ 9 +9 &^2\ M +10 &^ \ + +2 ( +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&G1 +65 "core" 1 + "manipulator"&?% +4 "core" %    H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +92 "core" ' +2 "processing"%L& +3 "core" &^i\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&g% +3 "core" %    +2 "storage"(&% +4 "core" % !  \  +2 "storage"(Z. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(U(,y +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (x& +2 "manipulator"&O& +4 "core" &,| H \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  V +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(T'r +2 "manipulator"&1( +6 "core" ( +2 "manipulator"&m& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &  0  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +3 .tHand.close + "manipulator"&8/ +54 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"({- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'1 +49 "core" ' +309 ( +2 "storage"(& +3 "core" &,j  \  +2 "manipulator"&[& +5 "core" & J  + "manipulator"&,% +4 "core" %  C D +2 .tForearm.seek :retract +2 "manipulator"&2' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +238 "core" ( +2 "manipulator"&R& +3 "core" &  ( +2 "storage"(p& +4 "core" &,j % # P\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +96 "core" ' +2 .tHand.open + "manipulator"&91 +65 "core" 1 +2 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(-' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(a- +2 "core" -' +2 "storage"(& +4 "core" &,j D B \  +2 "manipulator"&l& +3 "core" &  ( +3 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&B& +3 "core" &   ( +2 "storage"(& +4 "core" &,j C C \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' + "manipulator"&j& +4 "core" & e ( +2 "storage"(I& +4 "core" &,j   *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +50 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(#' +29 "core" ' + "manipulator"&0% +4 "core" %H X  +2 "storage"(E& +3 "core" &,j $ ) K\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&"'t +16 "core" ' + "manipulator"&<& +4 "core" & ( +2 "storage"(v& +4 "core" &,j D C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(% +3 "core" % D C \ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (% +4 "core" %bK\ %\  -\ Vb +2 "manipulator"&k% +4 "core" % o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,j 6 \  +2 "collection"'c& +5 "core" &\\` \ K\ M + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %  ^  +2 "storage"(:% +4 "core" % D C i\  +2 "storage"(M. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"($(,y +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,|   \ +2 "manipulator"&& +3 "core" & 8 ( +3 .tElbow.seek 4 + "manipulator"&.( +4 "core" ( +2 "manipulator"&o& +3 "core" & " ( +2 "storage"(H& +4 "core" &,| B E d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&W' +102 "core" ' + "storage"(}& +4 "core" &,| H F \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'r +298 "core" ' +2 "storage"('- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" & E ( +2 "storage"(|& +4 "core" &,m % $ /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&^'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"('t +29 "core" ' +2 "manipulator"&>% +3 "core" %3 U A +2 "storage"(F& +4 "core" &,m $  Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts +2 "manipulator"&5'_ +15 "core" ' +2 "manipulator"&%& +3 "core" & ( +2 "storage"(Q& +4 "core" &,m   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&t' +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(e' +36 "core" ' +2 "manipulator"&;& +3 "core" & E ( +2 "manipulator"&i% +3 "core" % @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!(ӂ +148 "core" ( + "manipulator"&P& +4 "core" &z- p Dx +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &z- d Dx +2 .tForearm.seek CC +2 "manipulator"&('? +95 "core" ' + .tHand.close +2 "manipulator"&S/ +55 "core" / + .tCC.seek :open +2 "collection"'u( +449 "core" ( +2 "storage"(n& +4 "core" &,m [ ]\  +2 "storage"(Y& +4 "core" &,m [ ^\  +2 "manipulator"&& +47 "core" &Ӻ" [ ;8 +5 "manipulator"&6% +3 "core" % , $  +3 .tForearm.seek :retract + "manipulator"&D' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&N( +155 "core" ( +2 "manipulator"&]& +4 "core" &  +2 "storage"(d& +4 "core" &,m \\ ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&b'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&f% +4 "core" % $ + - +2 "storage"(& +3 "core" &,m s j\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 281 counts + "manipulator"&'P +15 "core" ' + "manipulator"&C& +4 "core" &  +2 "storage"( & +4 "core" &,m ^ _ _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 "storage"(% +3 "core" % k j K\ +3 ."downElevator"SE.seek :down +3 "storage"(X' +99 (V% +3 "core" %D ; 9 r\ U\\ +2 "manipulator"&h% +3 "core" % h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'*& +4 "core" & j\ +2 "manipulator"&% +3 "core" %  )  +3 "storage"(% +3 "core" % t } t\  +2 "storage"(K. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(y(<- +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &<* C C \ +2 "manipulator"&?& +4 "core" & a +2 .tElbow.seek 5 +2 "manipulator"&L( +8 "core" ( + "manipulator"&g& +4 "core" & +2 "storage"(&& +3 "core" &<* n Z L\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Z'O +91 "core" ' +2 "storage"(@& +4 "core" &<* y  T\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'r +291 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &<* \\ Z \ +2 "manipulator"& & +4 "core" & b +2 .tElbow.seek 5 +2 "manipulator"&4( +4 "core" ( +2 "manipulator"&8& +4 "core" & H +2 "storage"(+& +3 "core" &<* ^ \\\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&{'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(z' +7 "core" & +2 "manipulator"&T% +4 "core" % Ϯ 7 +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&,& +3 "core" &Ӑ" I ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӑ  R :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'? +100 "core" ' +4 "manipulator"&p& +3 "core" &ӑ! H :1 +2 "manipulator"&1% +4 "core" %7 : * +2 "collection"'9& +4 "core" & ^\ +3 "collection"' & +5 "core" & l\ +3 .tCC.seek :closed +2 "collection"'a(\\ +5 "core" & _\ +7 &< ^\ %g +9 &Yv _\ 7 +9 &v ^\ K +10 &R Y\ J +9 &U M\ J +9 &LT P\ K +10 &W L\ K +9 &R P\ K +10 &R V\ K +9 &UU ^\ J +9 & U ^\ J +10 &!T _\ J +9 &#U ]\ K +9 &%\\V a\ K +10 &'V ^\ K +9 &(W `\ K +10 &*S T\ K +9 &,dS V\ K +9 &.'U Y\ J +10 &/T X\ K +9 &1X S\ K +10 &3lR R\ K +9 &5/T G\ J +9 &6U P\ K +10 &8X P\ K +9 &:tS K\ K +9 &<6S O\ K +10 &=U N\ J +9 &?U P\ K +10 &AzZ L\ L +9 &C=Y K\ K +9 &Dc Q\ L +10 &Fj K\ N +9 &Hu O\ P +9 &J*\ \ \ O\ U +10 &K\ \ I\ W +9 &M\ \ K\ W +9 &Of\ \ P\ X +10 &Q%\ \ P\ Y +9 &R\ \ K\ X +10 &T\ \ N\ Y +9 &Vi\ \ Q\ Z +9 &X$\ \ P\ \\ +10 &Y\ \ K\ \\ +9 &[\ \ K\ I +9 &\\/\ \ O\ 3 +10 &\\s\ \ M\ O +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&l% +4 "core" % 7 * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&2% +4 "core" %  y \ k +2 "storage"(j% +3 "core" % ! ! .\  +2 "storage"(I. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(\\(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (-& +3 "core" &<*\ \ & ?\  +2 "manipulator"&0& +3 "core" &Ӫ J 7 +2 "manipulator"&E% +4 "core" %  8 \ k +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&<( +162 "core" ( + "manipulator"&v& +4 "core" &  +2 "storage"(& +3 "core" &<* C C\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +94 "core" ' +2 "storage"(& +3 "core" &<* D C\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +297 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<* !  u\  +2 "manipulator"&k& +5 "core" & F  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & )  +2 "storage"(& +4 "core" &<* $ $ 1\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& +2 "storage"(' +7 "core" & <  +2 "manipulator"&:% +3 "core" % ϯ > +3 .tForearm.seek :retract + "manipulator"&M' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&#( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&& +4 "core" & X M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +2 "core" & * M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&o' +95 "core" ' + "manipulator"&H& +4 "core" & 5 M +2 "manipulator"&% +4 "core" % & o +2 "processing"%}& +4 "core" &\ +2 "processing"%A& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%U(^ +3 "core" &\  +9 &3s\ )w +10 &d{\ > +9 &zn\ N +9 &>O\ M +10 &R\ M +9 &Q\ M +10 &T\ M +9 &ES\ M +9 &S\ N +10 &R\ M +9 & R\ M +55 &"NT\ M +5 &$R\ M +3 &%Q\ M + &'T\ M +2 &)UR\ M + &+R\ N + &,R\ M +7 &.Q\ M +9 &0\\R\ N +10 &2S\ M +9 &3P\ M +9 &5T\ M +10 &7eQ\ M +9 &9'R\ M +10 &:R\ M +9 &<P\ M +9 &>mW\ M +10 &@/V\ M +9 &AX\ M +10 &Cc\ O +9 &Ene\ P +9 &G-o\ Q +10 &H\ S +9 &J\ T +9 &Lj\ T +10 &N)\ U +9 &O\ T +10 &Q\ U +9 &Sp\ T +9 &U/\ U +10 &V\ T +9 &X\ T +9 &Zv\ U +10 &\\7\ U +9 &]|s\ ; +9 &^'k\ Q +10 &^%\ 3 +2 ( +2 "processing"%A& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&_1 +64 "core" 1 +2 "manipulator"&s% +3 "core" %   o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +96 "core" ' +2 "processing"%w& +3 "core" &^!B\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&|% +3 "core" %  [  +2 "storage"(`% +4 "core" % " " \  +2 "storage"(>. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(F(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (%& +2 "manipulator"&Q& +4 "core" &<*\ \  "\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & e M +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(;'r + "manipulator"&i( +6 "core" ( +2 "manipulator"&W& +3 "core" & \  M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +2 "core" &   M +3 .tForearm.seek PC + "manipulator"&3' +89 "core" ' + .tHand.close +2 "manipulator"&^/ +57 "core" / +2 .tPC.seek :open +2 "processing"%5( +97 "core" ' +2 "storage"(P- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +300 ( +2 "storage"(q& +3 "core" &<* !  \  +2 "manipulator"&t& +4 "core" & I M +2 "manipulator"&/% +4 "core" %  ) ^ +2 .tForearm.seek :retract +2 "manipulator"&S' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( + "manipulator"&)& +4 "core" & 0 +2 "storage"(n& +3 "core" &<* $ # \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +91 "core" ' + .tHand.open +2 "manipulator"&1 +54 "core" 1 +3 "storage"(6- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(d' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"((- +2 "core" -' +3 "storage"(!& +3 "core" &<* b _ \  +2 "manipulator"&& +3 "core" &  / +3 .tElbow.seek 5 + "manipulator"&f( +4 "core" ( +2 "manipulator"&& +3 "core" &  / +2 "storage"(C& +4 "core" &<* W U 1\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"&D& +3 "core" & / / +2 "storage"(V& +3 "core" &<*  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&h'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , +47 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(b' +19 "core" ' + "manipulator"&*% +4 "core" %Δ H } +2 "storage"(& +4 "core" &<* G \\\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&& +4 "core" &  - +2 "storage"(K& +4 "core" &<*   9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +15 "core" ' + "storage"( % +4 "core" % !  \ +3 ."downElevator"SE.seek :down +3 "storage"(X' +100 ($% +2 "core" %^L\ (\ ) \ Vb +2 "manipulator"&G% +4 "core" %L O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (g& +3 "core" &<*  ) 8\  +2 "collection"'&& +4 "core" &\\r `\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&@% +4 "core" %  !  +2 "storage"(J% +3 "core" %   y\  +2 "storage"(\ . +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(O(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +3 "core" &<+\ \  \  +2 "manipulator"& & +5 "core" & W - +2 .tElbow.seek 5 + "manipulator"&8( +3 "core" ( +2 "manipulator"&+& +4 "core" & v - +2 "storage"( & +3 "core" &<)  / \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +90 "core" ' +2 "storage"(T& +3 "core" &<) D D \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +305 "core" ' +2 "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" & - +2 "storage"(& +3 "core" &<)  # -\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&x'΍ +20 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(p- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(1't +29 "core" ' +2 "manipulator"&9% +3 "core" %Ρ G +2 "storage"(4& +4 "core" &<) ! D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&z' +16 "core" ' +2 "manipulator"&& +4 "core" & - +2 "storage"(u& +3 "core" &<)   m\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(l' +43 "core" ' + "manipulator"&& +4 "core" & G - +2 "manipulator"&2% +4 "core" %M F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +146 "core" ( +2 "manipulator"& & +4 "core" &z+ \ v Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &z+ Cp +3 .tForearm.seek CC +2 "manipulator"&0'? +94 "core" ' +2 .tHand.close + "manipulator"&E/ +64 "core" / +2 .tCC.seek :open +2 "collection"'R( +449 "core" ( + "storage"(v& +4 "core" &<) M C 8\  +2 "storage"(& +3 "core" &<) M F \  +41 "manipulator"&y& +11 "core" &ӯ# G <; +2 "manipulator"&% +3 "core" % J 7  +3 .tForearm.seek :retract + "manipulator"&[' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&B( +165 "core" ( + "manipulator"&r& +4 "core" & O  +2 "storage"(& +4 "core" &<) ] f \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&k'΍ +98 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +5 "manipulator"&"% +4 "core" % Ε  +2 "storage"(c& +3 "core" &<) h g N\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&:' +22 "core" ' +2 "manipulator"&<& +3 "core" &   +2 "storage"(7& +5 "core" &<) ] [ Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +31 "core" ' + "storage"(% +4 "core" % ] ] \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +3 "core" %D C C \ V^ +2 "manipulator"&% +3 "core" %G B n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & ^\ +2 "manipulator"&}% +3 "core" %  5 +2 "storage"(% +4 "core" % ~  \  +2 "storage"(M. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" & = : -\ +2 "manipulator"&s& +4 "core" & [  +2 .tElbow.seek 3 +2 "manipulator"&w( +14 "core" ( +2 "manipulator"&|& +3 "core" &| A  +2 "storage"(`& +4 "core" & t q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&>'7 +91 "core" ' +2 "storage"(A& +3 "core" & q q \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'r +300 "core" ' + "storage"(Q- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" & J ] S\ +2 "manipulator"&.& +4 "core" &|   +2 .tElbow.seek 3 +2 "manipulator"&o( +3 "core" ( + "manipulator"&^& +4 "core" &|   +2 "storage"(\\& +4 "core" & [ Z\ +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&P'ϡ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(U' +8 "core" &|    + "manipulator"&;% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&q' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +154 "core" ( +2 "manipulator"&/& +3 "core" ' + &- = Dz +3 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +5 &3& +3 "core" &- ) Dz +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&)'? +143 "core" ' +3 "manipulator"&n& +4 "core" &Ӏ-  Dy +2 "manipulator"&i% +3 "core" %H S  +3 "collection"'& +4 "core" & `\ +2 "collection"'6& +5 "core" & l\ +2 .tCC.seek :closed +2 "collection"'((\\ +5 "core" & _\  +8 &4y `\ *z +9 & g~ `\ > +10 &j ]\ L +9 &[T `\ J +9 &T ]\ K +10 &X Y\ K +9 &R T\ K +9 &bR S\ K +10 &$T O\ K +9 &T P\ J +9 & T R\ K +10 &"jX [\ K +9 &$,W \\\ K +10 &%S a\ K +9 &'U ]\ J +9 &)rU ^\ K +10 &+4Y _\ K +9 &,X ]\ K +9 &.T ]\ K +10 &0{U `\ J +9 &2<U _\ K +10 &3X Z\ K +9 &5T ]\ K +9 &7U \\\ J +10 &9DV P\ K +9 &;X G\ K +9 &<X S\ K +10 &>U P\ K +9 &@LU O\ K +10 &B U J\ K +9 &CY K\ L +9 &Ed Q\ M +10 &GKp O\ N +9 &I\  Q\ Q +9 &J\ \ P\ V +10 &Lx\ \ M\ W +9 &N8\ \ L\ W +10 &O\ \ M\ X +9 &Q\ \ M\ W +9 &Sy\ \ R\ Y +10 &U;\ \ O\ Y +9 &V\ \ M\ Z +9 &X\ \ N\ Z +10 &Z|\ \ L\ [ +9 &\\ y\ \ O\ . +10 &\\7\ \ P\ !g +9 ( + &\\i\ \ \ P\ J +2 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&!1 +55 "core" 1 +2 "manipulator"&% +4 "core" % H 8  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%C& +4 "core" &\ +2 "manipulator"&S% +3 "core" %   +2 "storage"(D% +4 "core" % ! ! $\  +2 "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +9 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (*& +2 "core" &   \  +2 "manipulator"&& +4 "core" &Ӯ% >K +2 "manipulator"&]% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&K& +3 "core" &  +2 "storage"( & +4 "core" & D C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +94 "core" ' +2 "storage"(Y& +4 "core" & A E \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'r +294 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" & )  1\  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(h& +5 "core" & 2 )\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(@' +8 "core" &   +2 "manipulator"&J% +4 "core" % ϳ  +2 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&m& +4 "core" &  ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +4 "core" & M ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&+' +97 "core" ' + "manipulator"& & +4 "core" & ? +2 "manipulator"&e% +4 "core" % * +2 "processing"%T& +3 "core" &\ +3 "processing"%X& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(^ +3 "core" &\ +9 &=\ #c +9 &Vx\ 7 +10 &s\ K +9 &Q\ M +10 &jS\ M +9 &,Q\ M +9 &T\ M +10 &R\ M +9 &qR\ M +55 &3T\ M +5 &P\ M +3 &!R\ M + &#zS\ M +2 &%<S\ M + &&T\ M + &(T\ M +7 &*T\ M +9 &,CT\ M +10 &.R\ M +9 &/T\ M +10 &1T\ M +9 &3KS\ M +9 &5 R\ M +10 &6T\ N +9 &8T\ M +9 &:ST\ M +10 &<V\ M +9 &=T\ M +10 &?R\ M +9 &AZV\ N +9 &C\\\ N +10 &Dc\ O +9 &Fh\ P +9 &HWw\ Q +10 &J\ S +9 &K\ S +10 &M\ T +9 &OX\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &V^\ T +10 &X!\ T +9 &Y\ T +10 &[\ U +9 &]f\ A +9 &^Bq\ \\ +10 &^68\ 0 +5 ( +2 "processing"%X& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&N1 +4 "core" &^A\ 0 +57 1 + "manipulator"&?% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +97 "core" ' +2 "processing"%,& +3 "core" &^L\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %  v +2 "storage"(p% +4 "core" % $ % \  +2 "storage"(9. +3 "core" .( +2 "storage"(4& +3 "core" & $ # \  +3 "storage"(& +3 "manipulator"&u& +6 "core" & #  ,\  + & \ V ? +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'r +3 "core" ( +2 "manipulator"&~& +3 "core" & t ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &  * ? +2 .tForearm.seek PC +2 "manipulator"&L' +97 "core" ' + .tHand.close +2 "manipulator"&x/ +62 "core" / +2 .tPC.seek :open +2 "processing"%z( +86 "core" ' +2 "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +47 "core" ' +311 ( + "storage"(-& +4 "core" &  \  +2 "manipulator"&& +4 "core" & N ? +2 "manipulator"&{% +3 "core" %  P  +3 .tForearm.seek :retract + "manipulator"&E' +90 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&j( +246 "core" ( + "manipulator"&a& +4 "core" & 1 = +2 "storage"(v& +3 "core" & ! $ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +91 "core" ' + .tHand.open +2 "manipulator"&y1 +59 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(r' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(0- +3 "core" -' +2 "storage"(I& +4 "core" & X `\  +2 "manipulator"&& +3 "core" & 7 = +2 .tElbow.seek 3 +2 "manipulator"&"( +4 "core" ( +2 "manipulator"&c& +3 "core" &   = +2 "storage"(<& +4 "core" & b c 5\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&7'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +50 "core" ' +2 "manipulator"&[& +3 "core" &  = +2 "storage"(& +4 "core" & $ " \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'u +18 "core" ' +2 .tElbow.hold + "manipulator"&B, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +41 "storage"(k' +27 "core" ' +2 "manipulator"&:% +3 "core" %΄ ! +2 "storage"(& +4 "core" &  " \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&}'ϰ +15 "core" ' + "manipulator"&& +4 "core" &  = +2 "storage"(M& +4 "core" & # ( (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&l'7 +15 "core" ' + "storage"(=% +4 "core" % C D \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (O% +3 "core" %m ~\ VR +2 "manipulator"&_% +3 "core" %A - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +94 "core" ' +125 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (|& +3 "core" &  3 P\  +2 "collection"'`& +3 "core" &\\h N\ J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&A% +3 "core" %  K  +2 "storage"(% +4 "core" % 2 ) \  +2 "storage"(H. +3 "core" .( +2 "storage"(Q& +3 "core" &   g\  +2 "storage"(W& +3 "core" &   \  +2 "manipulator"&.& +4 "core" & D = +2 .tElbow.seek 3 +2 "manipulator"&^( +4 "core" ( + "manipulator"&\\& +4 "core" &  = +2 "storage"(#& +3 "core" &   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&''7 +94 "core" ' +2 "storage"(;& +3 "core" & D C \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'r +298 "core" ' +2 "storage"(>- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & \ = +2 "storage"(3& +4 "core" &   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&%'u +21 "core" ' + .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(n'l +27 "core" ' +2 "manipulator"&i% +3 "core" %Ή S +2 "storage"(& +4 "core" & # $ 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&U'ϵ +24 "core" ' +2 "manipulator"&q& +3 "core" & " = +2 "storage"(R& +5 "core" & D D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&!'7 +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&C& +4 "core" & = +2 "manipulator"&S% +3 "core" %> d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&V(ӂ +150 "core" ( + "manipulator"&6& +4 "core" &z.  E| +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &z.  L E| +2 .tForearm.seek CC +3 "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&]/ +57 "core" / +2 .tCC.seek :open + "collection"')( +449 "core" ( +2 "storage"(K& +3 "core" & F C\  +2 "storage"( & +4 "core" & D C\  +2 "manipulator"&& +3 "core" &ӷ# 9 <? +2 "manipulator"&Y% +3 "core" % 2 E 5 +3 .tForearm.seek :retract +2 "manipulator"&t' +101 "core" ' +41 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( + "manipulator"&$& +5 "core" & 5  + "storage"(G& +4 "core" & h h H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"& 'u +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +60 "core" 1 +3 "manipulator"&g% +4 "core" % Έ + "storage"(&& +4 "core" & ] ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&J'ϴ +21 "core" ' +2 "manipulator"&& +3 "core" & |  +2 "storage"(& +3 "core" & [ [\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d'7 +17 "core" ' +2 "storage"(% +3 "core" % ` j P\ +3 ."downElevator"SE.seek :down +4 "storage"(m' +98 ( % +3 "core" %Q D D\ Wc +2 "manipulator"&f% +4 "core" %0 . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'e& +3 "core" & X\ +2 "manipulator"&T% +4 "core" %  '  +2 "storage"(@% +3 "core" % ] ] \ \  +2 "storage"(\ . +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(5(,y +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &,z T A L\  +2 "manipulator"&?& +4 "core" & D  +2 .tElbow.seek 4 +2 "manipulator"&,( +37 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(p& +3 "core" &,z ] e \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&9' +94 "core" ' + "storage"(4& +4 "core" &,z   \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +299 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,m f Y\  +3 "manipulator"&~& +3 "core" & O  +2 .tElbow.seek 4 +2 "manipulator"&8( +9 "core" ( +2 "manipulator"&+& +3 "core" & ,  +2 "storage"(x& +4 "core" &,m h i T\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&1'c +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& +3 "storage"(F' +7 "core" &   +2 "manipulator"&2% +4 "core" % | ? +2 .tForearm.seek :retract +2 "manipulator"&-' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&{& +4 "core" &ӑ' ` @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &ӑ'  @^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&a'? +93 "core" ' +2 "manipulator"&v& +4 "core" &ӑ( @^ +2 "manipulator"&% +4 "core" %> u +2 "collection"'y& +4 "core" & s\ +3 "collection"'& +49 "core" & r\ +5 .tCC.seek :closed + "collection"'0(\\ +4 "core" & a\ +7 &A _\ $f +10 &Z| a\ 8 +9 & s P\ K +10 &R T\ J +9 &T O\ K +9 &QW O\ K +10 &W T\ K +9 &W N\ K +9 &W [\ K +10 &ZR _\ K +9 & T `\ J +10 &!Q b\ K +9 &#R a\ K +9 &%bQ _\ K +10 &'$R _\ K +9 &(R d\ K +9 &*R `\ K +10 &,jR a\ K +9 &.-T `\ J +10 &/T ]\ J +9 &1T ]\ K +9 &3rW P\ K +10 &54W T\ K +9 &6S M\ K +9 &8T P\ J +10 &:zT Y\ K +9 &<<W O\ K +10 &=W P\ K +9 &?U N\ J +9 &AV L\ K +10 &CBZ O\ K +9 &Eb I\ M +9 &Fk K\ M +10 &Hy K\ P +9 &J1\ \ N\ T +10 &K\ \ J\ W +9 &M\ \ M\ X +9 &Ol\ \ M\ X +10 &Q-\ \ N\ X +9 &R\ \ L\ Y +9 &T\ \ M\ Y +10 &Vn\ \ P\ Z +9 &X/\ \ O\ Z +10 &Y\ \ \ O\ [\ +9 &[\ \ \ G\ H +9 &\\0\ \ \ L\ 2 +10 &\\j\ \ G\ P +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&I1 +58 "core" 1 +2 "manipulator"&% +3 "core" % > u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%<& +4 "core" &\ +2 "manipulator"&E% +4 "core" %  c  +2 "storage"([% +3 "core" %  # E\  +2 "storage"(. +3 "core" .(,y +2 "storage"( & +4 "core" &,m  # A\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(:(,y +35 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,} \  \ +2 "manipulator"&r& +4 "core" &Ӯ# : =A +2 "manipulator"&% +3 "core" %  9  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&M( +163 "core" ( + "manipulator"&=& +4 "core" &  +2 "storage"(j& +3 "core" &,} F D \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(& +3 "core" &,} F D %\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +297 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +2 "core" &,m   <\  +2 "manipulator"&"& +4 "core" & :  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +3 "core" &   +2 "storage"(}& +4 "core" &,m % " I\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&k'c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&|/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&`& +3 "storage"(A' +5 "core" & 5  +3 "manipulator"&% +3 "core" % ϔ c +2 .tForearm.seek :retract +2 "manipulator"&H' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&W& +4 "core" & g C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" & C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\' +91 "core" ' +2 "manipulator"&#& +4 "core" & C +2 "manipulator"&l% +3 "core" % ? { +3 "processing"%;& +3 "core" &\ +3 "processing"%& +5 "core" & \ +2 .tPC.seek :closed +3 "processing"%B(^ +3 "core" &\ +6 &\ 7 +10 &AJs\ 0 +9 &os|\ D +9 &]\ N +10 &R\ M +9 &R\ M +9 &YR\ M +10 &R\ N +9 &R\ M +10 &R\ M +9 &bR\ M +9 &!#R\ M +10 &"R\ M +9 &$T\ N +9 &&jQ \ M +10 &(,R\ M +9 &)R\ M +10 &+Q\ M +9 &-qR\ M +9 &/3R\ M +10 &0S\ M +9 &2Q\ M +9 &4zR\ M +10 &6;T\ M +9 &7Q\ M +10 &9T\ M +56 &;R\ M +6 &=DQ\ M + &?U\ N + &@V\ N + &B]\ N + &DFa>\ O + &Fp=\ P +8 &GzB\ R +9 &I\ S +9 &K@\ T +10 &M\ T +9 &N\ T +10 &P\ T +9 &RF\ T +9 &T\ U +10 &U\ T +9 &W\ U +9 &YN\ T +10 &[ \ U +9 &\\\ U +10 &^Cc\ 'y +9 &^j\ 8 +9 ( +3 "processing"%& +2 "core" &^!\ 2 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&s1 +58 "core" 1 +2 "manipulator"&>% +3 "core" %    { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +91 "core" ' +3 "processing"%3& +3 "core" &^!9\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&o% +4 "core" %    +2 "storage"(i% +3 "core" % ! ! \  +2 "storage"(. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(q(,y +14 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (R& +2 "manipulator"&C& +4 "core" &,y G \ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  : C +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(S'r + "manipulator"&'( +6 "core" ( +2 "manipulator"&^& +4 "core" & / C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &  f C +2 .tForearm.seek PC +2 "manipulator"&%' +94 "core" ' + .tHand.close +2 "manipulator"&U/ +62 "core" / +2 .tPC.seek :open +2 "processing"%6( +86 "core" ' +2 "storage"(n- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'1 +49 "core" ' +309 ( + "storage"(!& +4 "core" &,j 7 * 1\  +2 "manipulator"&P& +3 "core" & < C +2 "manipulator"&]% +4 "core" %  2 Z +2 .tForearm.seek :retract +2 "manipulator"&D' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(( +243 "core" ( +2 "manipulator"&K& +3 "core" & _ +2 "storage"( & +3 "core" &,j  ! ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' + .tHand.open +2 "manipulator"&Y1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"($' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(G' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(V- +3 "core" -' +2 "storage"(h& +4 "core" &,j 6 7 Q\  +2 "manipulator"&g& +3 "core" &  K _ +2 .tElbow.seek 4 +2 "manipulator"&&( +4 "core" ( +2 "manipulator"&& +3 "core" & \  & _ +2 "storage"(& +4 "core" &,j C I f\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(t'" +58 "core" ' + "manipulator"& & +4 "core" & _ +2 "storage"(f& +4 "core" &,j   #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +13 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(e' +49 "core" ' +3 "manipulator"&J% +4 "core" %D ? +2 "storage"(T& +3 "core" &,j #  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&@'p +15 "core" ' +2 "manipulator"&\ & +3 "core" & C _ +2 "storage"(& +4 "core" &,j @ + &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +18 "core" ' +2 "storage"(m% +3 "core" % C C \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (N% +3 "core" %kN\ *\ ) \ We +3 "manipulator"&?% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (p& +3 "core" &,j 0 B\  +2 "collection"'4& +4 "core" &\\e I\ P +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %    +2 "storage"( % +4 "core" %  , +\  +2 "storage"(u. +2 "core" .(,y +2 "storage"(& +4 "core" &,j 5 ) p\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(~(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &,} !  \ +2 "manipulator"&x& +3 "core" & _ +3 .tElbow.seek 4 + "manipulator"&b( +4 "core" ( +2 "manipulator"&Z& +3 "core" & _ +2 "storage"(2& +4 "core" &,} 0 ? @\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&,' +95 "core" ' +2 "storage"(9& +4 "core" &,} C C \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"({'r +298 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" & _ +2 "storage"(1& +3 "core" &,m # " (\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&v'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(8't +32 "core" ' + "manipulator"&F% +4 "core" %J M +2 "storage"(-& +3 "core" &,m  # \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&)'v +14 "core" ' +2 "manipulator"&I& +3 "core" &  U _ +2 "storage"(& +4 "core" &,m   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +21 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(E' +42 "core" ' +2 "manipulator"&[& +3 "core" & a _ +2 "manipulator"&% +4 "core" % 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +144 "core" ( +2 "manipulator"&& +3 "core" &z+ Co +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &z+ e Co +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&a/ +64 "core" / +2 .tCC.seek :open +2 "collection"'=( +449 "core" ( + "storage"(j& +4 "core" &,m [ ]\  +2 "storage"(5& +3 "core" &,m ] ^\  +2 "manipulator"&& +4 "core" &ӽ! m :, +2 "manipulator"&% +3 "core" % ( G _ +42 .tForearm.seek :retract +9 "manipulator"&c' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&_( +168 "core" ( +2 "manipulator"&7& +3 "core" & b  +2 "storage"("& +4 "core" &,m h h 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +62 "core" 1 +2 "manipulator"&`% +4 "core" % :  " +2 "storage"(& +3 "core" &,m ^ ] \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&M'f +15 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(O& +5 "core" &,m t { f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +15 "core" ' +2 "storage"(W% +3 "core" %  ~ \ +3 ."downElevator"SE.seek :down +4 "storage"(.' +98 (% +3 "core" %A I X 5\ T[ +2 "manipulator"&#% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"';& +3 "core" & Q\ +2 "manipulator"&A% +4 "core" %  $  +2 "storage"(H% +4 "core" % o [\  +2 "storage"(z. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(s(<- +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (>& +2 "core" &<, 8 A [\  +2 "manipulator"&3& +4 "core" & 1  +2 .tElbow.seek 5 +2 "manipulator"&o( +2 "core" ( +2 "manipulator"&i& +4 "core" & +  +2 "storage"(& +4 "core" &<, h h 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"(R& +4 "core" &<, t { x\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +291 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (w& +3 "core" &<, d U M\  +2 "manipulator"&\\& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&U( +4 "core" ( +2 "manipulator"&:& +3 "core" &  +2 "storage"(n& +4 "core" &<, Z Z\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Q'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"(S' +7 "core" & l  +2 "manipulator"&!% +4 "core" % Ϲ Y +2 .tForearm.seek :retract +2 "manipulator"&P' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&%& +4 "core" &ӌ' L @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &ӌ' < @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +90 "core" ' +2 "manipulator"&'& +4 "core" &ӌ( _ @X +2 "manipulator"&Y% +48 "core" %8 h +5 "collection"'& +4 "core" & ^\ +3 "collection"'V& +5 "core" & q\ +2 .tCC.seek :closed +2 "collection"'h(\\ +4 "core" & _\  +9 &5y `\ *z +9 &i~ ^\ ? +9 &k ]\ L +10 &bR ^\ K +9 &$S O\ K +10 &U L\ J +9 &T U\ J +9 &jT \\\ K +10 &,W a\ K +9 &W _\ K +9 & V a\ K +10 &"rR d\ K +9 &$4R ]\ K +10 &%S ^\ K +9 &'S `\ K +9 &){T b\ J +10 &+=T c\ J +9 &,T b\ K +9 &.W b\ K +10 &0T _\ K +9 &2ET a\ J +10 &4U \\\ K +9 &5X M\ K +9 &7W P\ K +10 &9LR O\ K +9 &;T L\ J +9 &<T Q\ J +10 &>U K\ K +9 &@SX D\ K +10 &BW F\ K +9 &C] P\ L +9 &Ec Q\ M +10 &GRq D\ N +9 &I \  O\ Q +9 &J\ \ O\ V +10 &L\ \ Q\ W +9 &N@\ \ P\ W +10 &P\ \ P\ X +9 &Q\ \ O\ X +9 &S\ \ N\ Y +10 &UD\ \ Q\ Y +9 &W\ \ Q\ Z +9 &X\ \ P\ Z +10 &Z\ \ K\ [ +9 &\\(y\ \ H\ . +10 &\\.\ \ N\ \\ +9 ( + &\\b\ \ \ \ K\ L +2 "collection"'V& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&g1 +62 "core" 1 + "manipulator"&% +4 "core" % 8 h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%D& +3 "core" &\ +2 "manipulator"& % +4 "core" %  O  +2 "storage"(f% +3 "core" %   j\  +2 "storage"(*. +3 "core" .(<- +2 "storage"(J& +4 "core" &<,   \  +2 "storage"(T& +4 "core" &<,   a\  +2 "manipulator"&$& +3 "core" &Ӱ! Z ;4 +2 "manipulator"&\ % +4 "core" %  \\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +163 "core" ( + "manipulator"&m& +4 "core" & j  +2 "storage"((& +3 "core" &<, D D f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' +2 "storage"(G& +3 "core" &<, F B \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +298 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<, ' 3\  +2 "manipulator"&&& +4 "core" & h  +2 .tElbow.seek 5 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +3 "core" & C  +2 "storage"(@& +4 "core" &<, C D \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&p'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( ' +8 "core" &   + "manipulator"&u% +4 "core" % ϱ ' +2 .tForearm.seek :retract +2 "manipulator"&e' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&+& +4 "core" & _ K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +3 "core" & A K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +87 "core" ' +2 "manipulator"&2& +3 "core" & J K +2 "manipulator"&d% +4 "core" % 5 q +2 "processing"%9& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%q(^ +4 "core" &\  +9 &2u \ )w +9 &by\ = +10 &tn \ N +9 &6Q\ M +10 &R\ N +9 &Q\ M +9 &}Q\ M +10 &>R \ M +9 &S\ M +9 &T \ M +10 & R\ M +9 &"FR\ M +10 &$R\ M +9 &%O \ M +9 &'S \ M +10 &)NR\ M +9 &+T \ M +9 &,S\ M +10 &.Q \ M +9 &0VR\ M +10 &2P\ M +9 &3S\ M +9 &5O\ M +10 &7^S\ M +9 &9 R\ M +9 &:U\ N +10 &<S\ N +9 &>fU\ M +10 &@(R\ M +9 &AU\ N +9 &Cc\ O +56 &Ehf\ O +5 &G&p\ Q +3 &H\ R + &J\ S + &Ld\ S + &N$\ T +2 &O\ T +6 &Q\ U +10 &Si\ T +9 &U*\ U +9 &V\ U +10 &X\ T +9 &Zp\ U +10 &\\2\ U +9 &]{p\ > +9 &^#R\ Q +10 &^9\ 8 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"& 1 +56 "core" 1 + "manipulator"&% +4 "core" %    q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +100 "core" ' + "processing"%X& +4 "core" &^6\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&1% +3 "core" % \  [  +2 "storage"(y% +4 "core" % ! \  +2 "storage"(F. +3 "core" .(<- +2 "storage"(-& +3 "core" &<,  ! \  +3 "storage"(I& +2 "manipulator"&& +7 "core" &<, %  *\  +2 &  r K +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&[( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +17 "core" ( +2 "manipulator"&,& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +2 "core" & \  Z +3 .tForearm.seek PC +2 "manipulator"&{' +91 "core" ' +2 .tHand.close + "manipulator"&v/ +60 "core" / +2 .tPC.seek :open +2 "processing"%)( +82 "core" ' +2 "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +41 "core" ' +320 ( + "storage"(r& +4 "core" &<,   u\  +2 "manipulator"&<& +3 "core" &  +2 "manipulator"&% +4 "core" %  K / +2 .tForearm.seek :retract +2 "manipulator"&a' +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +239 "core" ( +2 "manipulator"&0& +4 "core" & 3 . +2 "storage"(j& +4 "core" &<,   R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +89 "core" ' +2 .tHand.open + "manipulator"&1 +65 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"("' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &<, c b \  +2 "manipulator"&|& +4 "core" & \ - +2 .tElbow.seek 5 +2 "manipulator"&`( +4 "core" ( + "manipulator"&& +4 "core" &   - +2 "storage"(& +3 "core" &<, ` b\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +56 "core" ' +2 "manipulator"&c& +4 "core" & + - +2 "storage"(& +3 "core" &<, #  9\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&#'΍ +23 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&;% +4 "core" %Λ +2 "storage"(A& +3 "core" &<, " ! \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts + "manipulator"&M' +43 "core" ' +9 "manipulator"&H& +5 "core" & < % + "storage"(z& +4 "core" &<, C C \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&E'O +15 "core" ' +2 "storage"(k% +3 "core" % D E\ +3 ."downElevator"SE.seek :down +4 "storage"(.' +98 (~% +3 "core" %nO\ $\ ( \ Xf +2 "manipulator"&>% +4 "core" %R e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3' +91 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (i& +3 "core" &<, 4 {\  +2 "collection"'& +5 "core" &\\b X\ L + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&R% +3 "core" %  =  +2 "storage"(}% +4 "core" % C C \  +2 "storage"(l. +3 "core" .(<- +2 "storage"(^& +3 "core" &<, D D \  +2 "storage"(w& +4 "core" &<, D C \  +2 "manipulator"&\\& +3 "core" & [ % +3 .tElbow.seek 5 +2 "manipulator"&:( +14 "core" ( +2 "manipulator"&n& +3 "core" &  \ +2 "storage"(/& +4 "core" &<, D C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +97 "core" ' + "storage"(!& +4 "core" &<, C : \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +296 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" & Z \ +2 "storage"(K& +4 "core" &<,   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&C'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(Y't +29 "core" ' +2 "manipulator"&U% +3 "core" %Π I  +2 "storage"(& +4 "core" &<, !  <\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&S' +15 "core" ' + "manipulator"&P& +4 "core" &  \ +2 "storage"(=& +4 "core" &<, D C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&D& +4 "core" & \ +2 "manipulator"& % +3 "core" %_ Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +158 "core" ( +2 "manipulator"&J& +4 "core" &ӗ" = ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &ӗ" ;4 +2 .tForearm.seek CC +2 "manipulator"&T'? +102 "core" ' +2 .tHand.close + "manipulator"&$/ +54 "core" / +2 .tCC.seek :open + "collection"'\ ( +449 "core" ( +2 "storage"( & +3 "core" &<, C B R\  +2 "storage"(m& +3 "core" &<, C F\  +2 "manipulator"&(& +3 "core" &Ӱ 8 +2 "manipulator"&G% +4 "core" % ) ` +2 .tForearm.seek :retract +2 "manipulator"&]' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&?& +3 "core" & '  +2 "storage"(& +4 "core" &<, g e 5\  +2 .tElbow.reconfigure :limp +42 "manipulator"&$ ,(b +10 .tForearm.seek 5 +2 "manipulator"&&'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&@1 +55 "core" 1 +2 "manipulator"&4% +5 "core" % Α % 8 + "storage"(& +4 "core" &<, \\ ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&u'Ͻ +15 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(& +3 "core" &<, q { }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&N'O +16 "core" ' +2 "storage"(p% +4 "core" % q q \ +3 ."downElevator"SE.seek :down +3 "storage"(+' +100 (x% +2 "core" %J C 8 u\ Va +2 "manipulator"&t% +4 "core" %L * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'d& +3 "core" & `\ +2 "manipulator"&9% +4 "core" %   +2 "storage"( % +4 "core" % k w (\  +2 "storage"(e. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(6( +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" & C G ?\ +2 "manipulator"&& +4 "core" & Q  +2 .tElbow.seek 3 +2 "manipulator"&X( +35 "core" ( + "manipulator"&1& +4 "core" & B 2 +2 "storage"(y& +3 "core" & i g D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&F'7 +92 "core" ' +2 "storage"(-& +3 "core" & w t ^\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & f Y\ +2 "manipulator"&,& +5 "core" &  2 +2 .tElbow.seek 3 + "manipulator"&b( +4 "core" ( +2 "manipulator"&Z& +3 "core" & 6 2 +2 "storage"(v& +4 "core" & Z d\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&8'ϡ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"(q' +7 "core" & i 2 +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&r' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&<(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +4 "core" &~  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &~ c 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'? +101 "core" ' +3 "manipulator"&j& +3 "core" &~ 6 +2 "manipulator"&[% +4 "core" %G d " +2 "collection"'& +4 "core" & j\ +3 "collection"'& +5 "core" & m\ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & d\  +9 &3z b\ *z +10 &\ g~ a\ > +9 &o _\ L +9 &ZT a\ J +10 &T ^\ K +9 &W a\ K +9 &R _\ K +10 &aR b\ K +9 &#T R\ K +10 &T X\ J +9 & T Y\ J +49 &"iU O\ K +4 &$+W G\ K + &%R K\ K + &'R Q\ K + &)rT ]\ J +3 &+3U \\\ K +7 &,S _\ K +9 &.T c\ J +9 &0yU d\ K +10 &2;R b\ K +9 &3T c\ J +9 &5U Y\ K +10 &7W X\ K +9 &9CS U\ K +10 &;T T\ J +9 &<T V\ K +9 &>Y S\ K +10 &@KU Q\ K +9 &B T U\ K +9 &CY S\ L +10 &Ed P\ M +9 &GIo Q\ N +10 &I\  M\ Q +9 &J\ \ E\ V +9 &Lv\ \ K\ W +10 &N6\ \ D\ X +9 &O\ \ J\ X +9 &Q\ \ O\ X +10 &Sy\ \ O\ Y +9 &U9\ \ L\ Y +10 &V\ \ L\ Z +9 &X\ \ M\ [\ +9 &Zy\ \ R\ [ +10 &\\x\ \ \ \ L\ 1 +9 &\\,\ \ \ H\ W +9 ( + &\\`\ \ G\ M +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&|% +3 "core" % G " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&a% +4 "core" % ! R $ +2 "storage"(c% +4 "core" %   U\  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(;( +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" & $ ! \ +2 "manipulator"&& +3 "core" &ӄ ! 5 +2 "manipulator"&7% +4 "core" % ! $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&H( +166 "core" ( +2 "manipulator"&z& +3 "core" &  +2 "storage"(k& +3 "core" & C C \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +93 "core" ' + "storage"(5& +4 "core" & 9 = \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +299 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &   \ +2 "manipulator"&O& +3 "core" & #  +3 .tElbow.seek 3 + "manipulator"&`( +4 "core" ( +2 "manipulator"&W& +3 "core" & -  +2 "storage"(#& +4 "core" & 7 ) J\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&i'ϡ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(R' +7 "core" &   +2 "manipulator"&}% +4 "core" % ϕ :  +2 .tForearm.seek :retract +2 "manipulator"&l' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&^& +3 "core" & = B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &w& +2 "core" & B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\\' +95 "core" ' + "manipulator"&n& +4 "core" & A +2 "manipulator"&/% +4 "core" % T s +2 "processing"%E& +4 "core" &\ +2 "processing"%!& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%.(^ +5 "core" &\ +7 &6\ #b +9 &Tv\ 6 +10 &x\ K +9 &S\ M +10 &_R\ M +9 &#N\ M +9 &S\ M +10 &R\ M +9 &gQ\ M +9 &*P\ M +10 &R\ M +9 &!Q\ M +10 &#oR\ M +9 &%2T\ M +9 &&R\ M +10 &(S\ \ M +9 &*wR \ M +9 &,8S\ \ N +10 &-Q \ M +9 &/T \ M +10 &1T\ M +9 &3AT \ M +9 &5P \ M +10 &6T\ M +9 &8U\ M +9 &:HR \ N +10 &<\ T\ N +9 &=S\ M +10 &?V\ M +9 &AQV\ M +9 &C\\\ N +10 &D_\ O +9 &Fh\ P +9 &HMx\ Q +10 &J \ S +9 &K\ T +10 &M\ T +9 &OM\ T +9 &Q\ T +10 &R\ T +9 &T\ U +9 &VU\ T +10 &X\ U +9 &Y\ U +10 &[\ U +9 &][\ B +9 &^Ly\ M +10 &^K\ 7 +5 ( +2 "processing"%!& +4 "core" &^6\ 7 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +46 "manipulator"&_1 +65 "core" 1 +2 "manipulator"&3% +3 "core" %  p s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 "processing"%%& +3 "core" &^6\ 7 +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&K% +4 "core" %  x  +2 "storage"('% +3 "core" % ! ^\  +2 "storage"(U. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +4 "core" & N w\ +3 "manipulator"&=& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &  A +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(D'r + "manipulator"& ( +7 "core" ( + "manipulator"&B& +4 "core" & \  A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &  A +3 .tForearm.seek PC + "manipulator"&o' +99 "core" ' +3 .tHand.close + "manipulator"&C/ +62 "core" / +2 .tPC.seek :open +2 "processing"%S( +80 "core" ' + "storage"(Y- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'1 +45 "core" ' +321 ( +5 "storage"(V& +4 "core" & ,  3\ +2 "manipulator"&g& +3 "core" & # A +2 "manipulator"&Q% +4 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&$' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&f( +245 "core" ( + "manipulator"&h& +4 "core" &  8 +2 "storage"( & +3 "core" & , C \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&m'7 +87 "core" ' +2 .tHand.open + "manipulator"&(1 +64 "core" 1 +3 "storage"(G- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(?' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(T- +3 "core" -' +2 "storage"(*& +4 "core" & V Z\ +2 "manipulator"&@& +3 "core" &  7 +3 .tElbow.seek 3 +2 "manipulator"&4( +8 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" & Z `\ +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(p'" +58 "core" ' + "manipulator"&]& +4 "core" & .  +2 "storage"(x& +4 "core" &   $\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&t'u +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(&' +27 "core" ' +2 "manipulator"&d% +4 "core" %Ή , \ +2 "storage"(9& +3 "core" & $ " 0\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&u'ϵ +17 "core" ' + "manipulator"& & +5 "core" &   + "storage"(e& +43 "core" & ,  \ +9 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +20 "core" ' + "storage"(N% +4 "core" % C C \ +3 ."downElevator"SE.seek :down +4 "storage"(+' +14 "Can"\ WLD' +84 "storage"(s% +4 "core" %KS\ *\ ) \ Xg +2 "manipulator"& % +4 "core" %; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (1& +3 "core" & '  L\ +2 "collection"'y& +3 "core" &\\` W\ M +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +4 "core" %  r +2 "storage"(% +3 "core" % E C b\  +2 "storage"(2. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(I( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & C 7 \  +2 "manipulator"&,& +4 "core" & G  +2 .tElbow.seek 3 +2 "manipulator"&Z( +14 "core" ( +2 "manipulator"&v& +3 "core" &  +2 "storage"(& +4 "core" & C C \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&L'7 +96 "core" ' +2 "storage"(& +4 "core" & C C \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(X'r +296 "core" ' +2 "storage"(F- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & +2 "storage"({& +4 "core" &  % Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'u +14 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(['l +27 "core" ' + "manipulator"&b% +4 "core" %} _ 5 +2 "storage"(& +3 "core" & C D z\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 308 counts + "manipulator"&q'ϩ +15 "core" ' +2 "manipulator"&r& +4 "core" & +2 "storage"(\ & +4 "core" & F D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(|' +39 "core" ' +2 "manipulator"&& +3 "core" & K +2 "manipulator"&a% +4 "core" %: +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&& +3 "core" &Ӑ% \ >I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &Ӑ% V >I +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&7/ +56 "core" / +2 .tCC.seek :open +2 "collection"'0( +449 "core" ( + "storage"(z& +4 "core" & F C +\  +2 "storage"(k& +3 "core" & F D\  +2 "manipulator"&6& +4 "core" &Ө   :1 +2 "manipulator"&5% +3 "core" % 2 G , +3 .tForearm.seek :retract +2 "manipulator"&<' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( +2 "manipulator"&~& +3 "core" &| 6  +2 "storage"(>& +43 "core" & h g F\  +9 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&O'u +98 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +57 "core" 1 +3 "manipulator"&M% +3 "core" % · P +2 "storage"(& +3 "core" & Z Z\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&}'ϳ +14 "core" ' +2 "manipulator"&H& +3 "core" &|  +2 "storage"( & +4 "core" & h i t\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&"'7 +18 "core" ' +2 "storage"(i% +4 "core" % ] \\\ +3 ."downElevator"SE.seek :down +3 "storage"(^' +100 (w% +3 "core" %^G D C )\ Wc +2 "manipulator"&`% +3 "core" %: $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'/& +3 "core" & C\ +2 "manipulator"&E% +4 "core" %   +2 "storage"(R% +3 "core" % [ [\  +2 "storage"(l. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"()(,y +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" &,x C 8 \ +2 "manipulator"&3& +3 "core" &| V  +3 .tElbow.seek 4 + "manipulator"&!( +38 "core" ( +2 "manipulator"&%& +3 "core" &   +2 "storage"(K& +4 "core" &,x _ f *\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +101 "core" ' +2 "storage"(U& +3 "core" &,x q { K\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +300 "core" ' +2 "storage"(=- +2 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (B& +2 "core" &,m [ Z\  +2 "manipulator"&:& +5 "core" & 1  +2 .tElbow.seek 4 + "manipulator"&\\( +4 "core" ( + "manipulator"&C& +4 "core" & C  +2 "storage"(;& +3 "core" &,m [ Z\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&Y'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(.' +8 "core" & R  + "manipulator"&D% +4 "core" % ϝ +2 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&g(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( +2 "manipulator"&Q& +3 "core" &Ӊ ( 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &Ӊ  4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&h'? +99 "core" ' +3 "manipulator"& & +3 "core" &Ӊ " 4 +2 "manipulator"& % +5 "core" %A P * +2 "collection"'(& +3 "core" & f\ +3 "collection"'G& +5 "core" & T\ +2 .tCC.seek :closed + "collection"'T(\\ +5 "core" & W\ +7 &< P\ %f +10 &[{ ]\ 8 +9 &\ s _\ K +9 &R a\ K +10 &W Z\ K +9 &OW U\ K +50 &R V\ K +2 &T _\ J + &T Z\ K + &WW S\ K + & R H\ K +2 &!R Q\ K +9 &#U G\ J +9 &%_T O\ K +9 &'!W S\ K +10 &(S b\ K +9 &*U `\ J +10 &,gU _\ K +9 &.)R V\ K +9 &/T ^\ J +10 &1U Z\ K +9 &3oR `\ K +9 &52T Z\ J +10 &6U X\ K +9 &8X f\ K +9 &:xT a\ J +10 &<9U V\ K +9 &=X W\ K +10 &?U \\\ J +9 &A~V T\ K +9 &C@W [\ K +10 &Dc [\ M +9 &Fk V\ M +10 &Hv M\ Q +9 &J/\ \ ]\ T +9 &K\ \ T\ X +10 &M\ \ E\ X +9 &Oj\ \ R\ X +9 &Q(\ \ R\ Y +10 &R\ \ Q\ Y +9 &T\ \ F\ Z +9 &Vl\ \ E\ Z +10 &X+\ \ Q\ [ +9 &Y\ \ P\ [ +10 &[\ \ R\ I +9 &\\0\ \ N\ 3 +9 &\\g\ \ \ N\ N +3 ( + "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&*1 +55 "core" 1 +2 "manipulator"&@% +3 "core" % A * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&$% +3 "core" %   +2 "storage"(]% +4 "core" % 2 ? 6\  +2 "storage"(x. +2 "core" .(,v +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(d(,y +21 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +3 "core" &,}   g\ +2 "manipulator"&9& +3 "core" &Ӊ Z 4 +2 "manipulator"&?% +4 "core" %  c  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +160 "core" ( +2 "manipulator"&e& +3 "core" & a  +2 "storage"(f& +4 "core" &,} F C ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&N' +100 "core" ' +2 "storage"(m& +4 "core" &,} D E \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +2 "core" &,m   D\ +2 "manipulator"& & +4 "core" & >  +2 .tElbow.seek 4 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&p& +4 "core" & >  +2 "storage"(t& +3 "core" &,m " $ \ +3 .tForearm.seek 4 + 300 counts + "manipulator"&u'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +2 "storage"(-' +7 "core" & C  +2 "manipulator"&% +3 "core" % a  +3 .tForearm.seek :retract + "manipulator"&2' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&& +4 "core" & 4 D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &,& +2 "core" & < D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&v' +95 "core" ' + "manipulator"&& +4 "core" & G D +2 "manipulator"&% +4 "core" % 5 q +2 "processing"%& +5 "core" &\ +2 "processing"%+& +6 "core" &!\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &2t\ )v +10 &c{\ = +9 &eo\ M +9 &&O\ M +10 &T\ M +9 &R\ M +9 &lT\ M +10 &.Q\ M +9 &T\ N +9 &S \ M +10 & sS \ N +9 &"6R\ M +10 &#R \ M +9 &%O\ M +9 &'|R\ M +10 &)=S\ \ N +9 &+R \ M +9 &,T \ M +10 &.Q\ M +9 &0GT\ M +10 &2T\ M +9 &3U \ M +9 &5S\ M +10 &7NR\ M +9 &9X \ M +9 &:X\ M +10 &<U \ M +9 &>UU\ \ N +10 &@U \ N +9 &A\\\ N +9 &Cf\ \ O +10 &EWg \ P +9 &Gu \ Q +10 &H \ S +9 &J\ T +9 &LT \ S +10 &N\ T +9 &O\ T +9 &Q\ U +10 &SY\ T +9 &U\ U +9 &V\ V +10 &X\ T +9 &Z`\ U +10 &\\"\ U +9 &]\ 5 +9 &^-l\ N +10 &^&\ 2 +2 ( +2 "processing"%+& +48 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +4 .Hand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +3 "core" %   q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' + "processing"%& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&{% +3 "core" % ! \  & +2 "storage"(j% +4 "core" %  \  +2 "storage"(b. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "manipulator"&\ & +4 "core" &,} P " \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  D +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&a( +7 "core" ( + "manipulator"&L& +4 "core" &  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &   D +2 .tForearm.seek PC +2 "manipulator"&X' +96 "core" ' +3 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%q( +83 "core" ' +2 "storage"([- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +49 "core" ' +312 ( +2 "storage"(A& +3 "core" &,j  - f\ +2 "manipulator"&& +4 "core" & X D +2 "manipulator"&8% +3 "core" %   = +3 .tForearm.seek :retract + "manipulator"&7' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&c( +242 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(z& +3 "core" &,j   T\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +95 "core" ' + .tHand.open +2 "manipulator"&61 +57 "core" 1 +2 "storage"(5- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(>' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &,j U Y\ +2 "manipulator"&#& +4 "core" &  P  +2 .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&& +3 "core" & B  +2 "storage"(H& +4 "core" &,j G Y \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(i'" +58 "core" ' +2 "manipulator"&<& +3 "core" & W  +2 "storage"(w& +3 "core" &,j   \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&`'7 +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(O' +29 "core" ' + "manipulator"&/% +4 "core" %6 K +2 "storage"(}& +4 "core" &,j %  7\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 299 counts +2 "manipulator"&E'b +13 "core" ' + "manipulator"&R& +4 "core" & S  +47 "storage"(l& +4 "core" &,j C D \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +20 "core" ' + "storage"("% +4 "core" % C C \ +3 ."downElevator"SE.seek :down +4 "storage"(^' +98 (I% +4 "core" %`O\ \ % ?\ Wd +2 "manipulator"&_% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (%& +3 "core" &,j % 1\ +2 "collection"'K& +4 "core" &\\c T\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&U% +3 "core" %  &  +2 "storage"(W% +4 "core" % @ C k\  +2 "storage"(n. +2 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(=(,y +21 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" &,} B > \ +2 "manipulator"&:& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&C( +4 "core" ( + "manipulator"&;& +4 "core" &  +2 "storage"(& +4 "core" &,} C D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(D& +4 "core" &,} C D h\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +295 "core" ' + "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" & X  +3 "storage"(o& +3 "core" &,m $  +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&P'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(\\'t +29 "core" ' +2 "manipulator"& % +3 "core" %6 ! * +2 "storage"((& +4 "core" &,m $ " #\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 299 counts +2 "manipulator"&.'b +15 "core" ' +2 "manipulator"&V& +3 "core" & ]  +2 "storage"(0& +3 "core" &,m   \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +17 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(@' +36 "core" ' +2 "manipulator"&& +3 "core" & m  +2 "manipulator"&$% +3 "core" % b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&x(ӂ +151 "core" ( +2 "manipulator"&G& +3 "core" &ӎ# . =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &ӎ$ =D +2 .tForearm.seek CC +2 "manipulator"&9'? +95 "core" ' +2 .tHand.close + "manipulator"&?/ +61 "core" / +2 .tCC.seek :open +2 "collection"'h( +449 "core" ( + "storage"(e& +4 "core" &,m \\ Z\ +2 "storage"(f& +4 "core" &,m Z Z\ +2 "manipulator"&)& +3 "core" &Ӡ"  ;2 +2 "manipulator"&m% +4 "core" % ? C +2 .tForearm.seek :retract +2 "manipulator"&g' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +154 "core" ( + "manipulator"&& +4 "core" & +45 "storage"(s& +7 "core" &,m ` e 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"& '7 +93 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +54 "core" 1 +3 "manipulator"&1% +3 "core" % 5 / W +2 "storage"(y& +4 "core" &,m j p \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 298 counts +2 "manipulator"&'a +16 "core" ' + "manipulator"& & +4 "core" &  r +2 "storage"(N& +4 "core" &,m q z :\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +17 "core" ' +2 "storage"(u% +4 "core" % ~ s \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (,% +2 "core" %C 9 C l\ U] +2 "manipulator"&4% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +57 "core" & S\ +2 "manipulator"&% +3 "core" %  5  +2 "storage"(-% +4 "core" % \\ ` B\  +2 "storage"(2. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(S(<- +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<+ C F '\  +2 "manipulator"&& +3 "core" & +2 .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( + "manipulator"&{& +4 "core" & +2 "storage"(j& +4 "core" &<+ h h >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +97 "core" ' + "storage"(+& +4 "core" &<+ r v o\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +296 "core" ' +2 "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (L& +2 "core" &<+ J Z F\  +2 "manipulator"&Z& +4 "core" & C +2 .tElbow.seek 5 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(d& +4 "core" &<+ Z \\\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&['Ϲ +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(' +8 "core" & +2 "manipulator"&% +3 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&A' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&8& +3 "core" &ӏ( m A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &ӏ( 0 A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +102 "core" ' +2 "manipulator"&z& +4 "core" &ӟ& ?P +2 "manipulator"&a% +3 "core" %6 ? +3 "collection"'6& +3 "core" & q\ +3 "collection"'5& +5 "core" & b\ +2 .tCC.seek :closed +4 "collection"'(\\ +4 "core" & e\ +5 & [\ ; +9 &KKu X\ 1 +9 &v| W\ E +10 &0X _\ K +49 &W T\ K +4 &S a\ K &xT `\ J + &:T _\ J +2 &T c\ J + &T R\ K +8 &W Q\ K +10 &!AW K\ K +9 &#X G\ K +9 &$X N\ K +10 &&X H\ J +9 &(JU R\ J +10 &* T V\ K +9 &+R V\ K +9 &-R ^\ K +10 &/QT ^\ K +9 &1T Z\ K +10 &2S U\ K +9 &4T [\ J +9 &6ZU b\ J +10 &8U l\ J +9 &9U `\ J +9 &;U a\ K +10 &=aX b\ K +9 &?#Y ^\ K +9 &@Z Y\ K +10 &BY _\ K +9 &Dfb Z\ L +10 &F%j ^\ M +9 &Gz a\ O +9 &I\ \ `\ S +10 &KP\ \ S\ V +9 &M\ \ ]\ W +9 &N\ \ [\ X +10 &P\ \ \\\ X +9 &RT\ \ X\ X +10 &T\ \ V\ Y +9 &U\ \ G\ Y +9 &W\ \ N\ Z +10 &YS\ \ N\ [ +9 &[\ \ N\ [ +9 &\\gD\ \ M\ 1 +10 &\\\ \ \ T\ J +5 ( +2 "collection"'5& +4 "core" &\\]\ \ O\ J +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&#% +4 "core" % 6 S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%H& +4 "core" &\ +2 "manipulator"&7% +4 "core" %  M  +2 "storage"(<% +3 "core" % ! $ \  +2 "storage"(w. +4 "core" .(<- + "storage"(/& +4 "core" &<+   \  +2 "storage"(& +4 "core" &<+  \  +2 "manipulator"&}& +3 "core" &ӭ# =B +2 "manipulator"&R% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&l( +167 "core" ( +2 "manipulator"&~& +3 "core" &  +2 "storage"(c& +3 "core" &<+ F F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +89 "core" ' +2 "storage"(k& +4 "core" &<+ = I \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +296 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &<+  \  +2 "manipulator"&_& +4 "core" & \\  +2 .tElbow.seek 5 +2 "manipulator"&M( +4 "core" ( + "manipulator"&i& +4 "core" &  +2 "storage"(`& +3 "core" &<+ C B \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'Ϲ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& +2 "storage"(U' +8 "core" &   + "manipulator"&W% +4 "core" %  & +2 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&B& +4 "core" & T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" & 9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&;' +93 "core" ' +2 "manipulator"&& +4 "core" & ' +2 "manipulator"&|% +3 "core" % F p +2 "processing"%D& +4 "core" &\ +3 "processing"%^& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &!\ +6 &<\ $d +10 &Wv\ 7 +9 &v\ L +10 &O \ M +9 &nT\ M +9 &0Q\ M +10 &T\ N +9 &R\ M +9 &vQ\ M +10 &8S\ M +9 &R\ N +10 &!Q\ M +9 &#~R\ M +9 &%?T\ N +10 &'R \ M +9 &(T \ M +9 &*R\ M +10 &,IQ\ M +9 &.\ R\ M +10 &/T\ \ M +9 &1R \ M +9 &3PR\ \ M +10 &5T\ \ M +9 &6T\ M +9 &8V\ M +10 &:WS \ N +9 &<T \ N +10 &=T \ M +9 &?S \ M +9 &A_W \ N +10 &C^ \ O +9 &Db\ O +9 &Fn \ Q +10 &HZ| \ R +9 &J\ \ S +10 &K \ T +9 &M\ \ T +9 &O[\ T +10 &Q\ U +9 &R \ U +9 &T\ V +10 &Vb\ U +9 &X%\ T +10 &Y\ U +9 &[\ U +9 &]h\ C +10 &^=j\ %l +9 &^%\ , +5 ( +2 "processing"%^& +4 "core" &^\ , +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +5 "manipulator"&3% +3 "core" %   p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +93 "core" ' +2 "processing"%Q& +3 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&o% +3 "core" %  \   +2 "storage"( % +4 "core" % $ $ \  +2 "storage"( . +3 "core" .(<- +2 "storage"((& +3 "core" &<+ $ $ \  +3 "storage"(V& +2 "manipulator"&0& +5 "core" &<+ $ $ ,\  +2 & \   +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +6 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"($'r +2 "core" ( +3 "manipulator"&& +3 "core" & \  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &  s +3 .tForearm.seek PC + "manipulator"&!' +93 "core" ' +2 .tHand.close + "manipulator"&P/ +53 "core" / +3 .tPC.seek :open +2 "processing"%.( +105 "core" ' +2 "storage"(\\- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(G'1 +47 "core" ' +290 ( +2 "storage"(J& +3 "core" &<+ D C S\  +2 "manipulator"&*& +4 "core" & M +2 "manipulator"&Y% +3 "core" %  @ \\ +3 .tForearm.seek :retract +2 "manipulator"&?' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&]( +245 "core" ( +2 "manipulator"&T& +3 "core" & c ? +2 "storage"(e& +3 "core" &<+   U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +94 "core" ' + .tHand.open +2 "manipulator"&)1 +53 "core" 1 +2 "storage"(m- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(s' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(9- +3 "core" -' +2 "storage"(x& +3 "core" &<+ c b /\  +2 "manipulator"&t& +4 "core" &  ? +2 .tElbow.seek 5 +2 "manipulator"&1( +8 "core" ( +2 "manipulator"&y& +4 "core" &  \   +2 "storage"( & +3 "core" &<+ c ^\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(u'" +49 "core" ' +2 "manipulator"&g& +3 "core" &   +2 "storage"(,& +4 "core" &<+ " # \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&4'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +21 "core" ' + "manipulator"&% +4 "core" %Ρ F +2 "storage"(@& +3 "core" &<+  6\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(-& +4 "core" &<+ D D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&2'O +17 "core" ' +2 "storage"(% +48 "core" % C C \ +4 ."downElevator"SE.seek :down +4 "storage"(' +99 (=% +2 "core" %^N\ \  q\ Xf +3 "manipulator"&% +3 "core" %O = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ({& +3 "core" &<+ - + &\  +2 "collection"'j& +4 "core" &\\\\\ P\ J +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&+% +4 "core" %  R  +2 "storage"(p% +4 "core" % F D \  +2 "storage"(. +3 "core" .(<- +2 "storage"(\ & +4 "core" &<+ C C \  +2 "storage"(L& +3 "core" &<+ C B \  +2 "manipulator"&Z& +4 "core" & 3  +2 .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&d& +3 "core" &  +2 "storage"(&& +4 "core" &<+ F F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +93 "core" ' +2 "storage"(& +4 "core" &<+ 9 8 `\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +307 "core" ' +2 "storage"(b- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" & K  +2 "storage"(X& +3 "core" &<+ D , &\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&r'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(a's +30 "core" ' + "manipulator"&6% +4 "core" %Δ +2 "storage"(v& +3 "core" &<+ !  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&A& +4 "core" & 8  +2 "storage"(h& +3 "core" &<+ D C \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(#' +36 "core" ' + "manipulator"&H& +4 "core" & )  +2 "manipulator"&7% +4 "core" %S b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&w(ӂ +153 "core" ( +2 "manipulator"&/& +3 "core" &Ӕ%  >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӕ% [ >K +2 .tForearm.seek CC +2 "manipulator"&5'? +95 "core" ' +2 .tHand.close + "manipulator"&}/ +63 "core" / +2 .tCC.seek :open + "collection"'R( +449 "core" ( +2 "storage"(& +3 "core" &<+ C 9 U\  +2 "storage"(~& +3 "core" &<+ C G \  +2 "manipulator"&c& +4 "core" &ӥ# ^ <: +2 "manipulator"&k% +3 "core" % Q Z  +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( +2 "manipulator"& & +3 "core" & n  +2 "storage"(I& +4 "core" &<+ [ ] (\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&_'΍ +97 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +45 .tHand.open +5 "manipulator"&`1 +59 "core" 1 +2 "manipulator"&%% +4 "core" % Ί $ - +2 "storage"(K& +3 "core" &<+ h h :\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 297 counts +2 "manipulator"&W'϶ +16 "core" ' + "manipulator"&l& +4 "core" & $  +2 "storage"("& +4 "core" &<+ o k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&>'O +16 "core" ' + "storage"(E% +4 "core" % ~ ~ }\ +3 ."downElevator"SE.seek :down +3 "storage"(B' +100 (:% +3 "core" %G I \\ 5\ V_ +2 "manipulator"&M% +3 "core" %@ = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'|& +3 "core" & p\ +2 "manipulator"&D% +4 "core" %    +2 "storage"(U% +4 "core" % q p "\  +2 "storage"(n. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(q( +678 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & E D c\ +2 "manipulator"&3& +4 "core" & <  +2 .tElbow.seek 3 +2 "manipulator"&Q( +35 "core" ( + "manipulator"&o& +4 "core" &z  ? +2 "storage"( & +4 "core" & [ Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +106 "core" ' +2 "storage"((& +3 "core" & w \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +294 "core" ' + "storage"(V- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^& +3 "core" & ^ f\ +2 "manipulator"&& +4 "core" &z ? +2 .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&;& +3 "core" &z H ? +2 "storage"(P& +4 "core" & h h H\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'ϡ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&'& +3 "storage"(' +7 "core" &z O ? +2 "manipulator"&$% +4 "core" % Ϧ  J +2 .tForearm.seek :retract +2 "manipulator"&J' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +153 "core" ( + "manipulator"&Y& +5 "core" &ӕ# m <9 ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +5 &!& +3 "core" &ӕ# ` <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&T'? +100 "core" ' +3 "manipulator"&e& +3 "core" &ӗ" m ;7 +2 "manipulator"&% +4 "core" %: 4 +2 "collection"')& +4 "core" & r\ +3 "collection"'m& +5 "core" & s\ +2 .tCC.seek :closed +2 "collection"'9(\\ +3 "core" & d\  +10 &4z b\ *z +9 &\ f} _\ > +9 &k _\ L +10 &ZR g\ K +9 &S `\ J +9 &U `\ K +10 &S W\ J +9 &cS \\\ J +10 &$U Y\ K +9 &R `\ K +9 & T b\ J +10 &"jU Y\ K +9 &$,V W\ K +9 &%W P\ K +10 &'R U\ K +9 &)sT U\ J +10 &+4U O\ K +9 &,W V\ K +9 &.T \\\ K +10 &0zS ^\ K +9 &2<T ^\ K +9 &3W X\ K +10 &5U k\ K +9 &7W g\ K +10 &9DU i\ K +9 &;T n\ J +9 &<U g\ K +10 &>U `\ K +9 &@KX j\ K +9 &B V e\ K +10 &C[ b\ K +9 &Eg g\ M +10 &GKr Y\ N +9 &I\  `\ R +54 &J\ \ b\ U +6 &Lu\ \ X\ X +2 &N8\ \ b\ W +2 &O\ \ \\\ X + &Q\ \ W\ Y + &Sy\ \ M\ Y + &U:\ \ W\ Y +8 &V\ \ W\ Z +9 &X\ \ Y\ [\ +10 &Zz\ \ ]\ [ +9 &\\z\ \ V\ / +9 &\\2\ \ U\ ` +9 ( +2 &\\m\ \ O\ K +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&x1 +63 "core" 1 + "manipulator"&t% +4 "core" % : v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&?% +3 "core" %  %  +3 "storage"(g% +3 "core" % # $ ;\  +2 "storage"(,. +3 "core" .( +2 "storage"(& +3 "core" & # $ (\ +2 "storage"(@& +4 "core" & $ # ,\ +2 "manipulator"&G& +4 "core" &Ө m 9& +2 "manipulator"&% +4 "core" %  O  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&-( +164 "core" ( + "manipulator"&& +4 "core" & r  +2 "storage"(& +4 "core" & C C \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&]'7 +92 "core" ' +2 "storage"(f& +3 "core" & D D \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +298 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  $ p\ +2 "manipulator"&N& +4 "core" & ?  +2 .tElbow.seek 3 +2 "manipulator"&1( +4 "core" ( + "manipulator"&u& +5 "core" & B  + "storage"(4& +4 "core" &  1 \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(+' +8 "core" & '  +2 "manipulator"&p% +4 "core" % ϟ 4 +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&\ & +5 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Z' +101 "core" ' +2 "manipulator"&d& +4 "core" & H +2 "manipulator"&&% +3 "core" %  = +3 "processing"%2& +3 "core" &!\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +9 &5v \ *x +9 &e{\ > +10 &m \ N +9 &GQ\ M +9 &R\ M +10 &Q\ M +9 &Q\ M +10 &MR\ N +9 &T\ M +9 &R\ M +10 & R\ N +9 &"WR\ M +9 &$R\ M +10 &%Q\ M +9 &'R \ M +9 &)^R \ M +10 &+ S \ M +9 &,U\ M +10 &.Q \ M +9 &0gR\ M +9 &2(S\ M +10 &3S \ N +9 &5S\ M +10 &7mT\ N +9 &90T\ \ M +9 &:R \ M +10 &<Q \ M +9 &>vW \ M +9 &@8W\ M +10 &AY \ N +9 &C_\ O +9 &Ezc\ \ O +10 &G7m \ P +9 &H{\ \ R +10 &J \ T +9 &Lt\ S +9 &N5 \ T +10 &O \ T +9 &Q\ U +9 &Sy \ T +10 &U:\ U +9 &V\ T +10 &X \ T +9 &Z\ U +9 &\\B\ U +10 &]zr\ 7 +9 &^-\ O +10 &^\ - +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +92 "core" ' +2 "processing"%8& +3 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&X% +3 "core" %  p  +2 "storage"(z% +4 "core" %  ! \  +47 "storage"(6. +6 "core" .( + "storage"(v& +4 "core" & ! ! -\ +3 "storage"(A& +2 "manipulator"&h& +5 "core" &   \ +2 &  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(H'r + "manipulator"&7( +6 "core" ( +2 "manipulator"&F& +4 "core" &  \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close +2 "manipulator"&r/ +54 "core" / +2 .tPC.seek :open + "processing"%( +91 "core" ' +2 "storage"(a- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/'1 +47 "core" ' +306 ( +2 "storage"(& +3 "core" & #  W\ +2 "manipulator"&& +4 "core" & _ +2 "manipulator"&[% +3 "core" %  * $ +3 .tForearm.seek :retract + "manipulator"&}' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&<( +242 "core" ( + "manipulator"&& +4 "core" & q H +2 "storage"(& +4 "core" & $ # 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&~'7 +106 "core" ' +2 .tHand.open + "manipulator"&c1 +55 "core" 1 +3 "storage"(k- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(I' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' + "storage"(w& +4 "core" & T U N\ +2 "manipulator"&`& +4 "core" &  H +2 .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&K& +3 "core" &  ! H +2 "storage"(l& +4 "core" & V Z \ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"'7 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(E'" +51 "core" ' +3 "manipulator"&& +11 "core" &  H +2 "storage"(& +4 "core" &   @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&:'u +22 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(_' +26 "core" ' +2 "manipulator"&|% +3 "core" %· R +2 "storage"(D& +4 "core" &   r\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts +2 "manipulator"&W'ϳ +17 "core" ' +2 "manipulator"&U& +3 "core" & ^ H +2 "storage"(n& +4 "core" &   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&#'7 +19 "core" ' +2 "storage"(>% +3 "core" %   l\ +3 ."downElevator"SE.seek :down +4 "storage"(B' +98 (S% +3 "core" %<V\ \ & v\ Wg +2 "manipulator"&% +4 "core" %: +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +61 ' +2 ."downElevator"SE.stop +40 "storage"(5 +10 (o& +3 "core" & !  \ +2 "collection"' & +5 "core" &\\m p\ K +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&(% +4 "core" %  8  +2 "storage"(i% +3 "core" %   \  +2 "storage"(. +4 "core" .( + "storage"(V& +4 "core" &   r\ +2 "storage"(^& +3 "core" &   p\ +2 "manipulator"&& +4 "core" & 6 H +2 .tElbow.seek 3 +2 "manipulator"&;( +4 "core" ( + "manipulator"&P& +4 "core" & H +2 "storage"(O& +3 "core" & 1 ( s\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&''7 +92 "core" ' +2 "storage"($& +3 "core" & C D \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +295 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" & Z H +2 "storage"(!& +4 "core" & $ % !\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&0'u +19 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('l +30 "core" ' + "manipulator"&)% +4 "core" %Έ U +2 "storage"(C& +4 "core" & " $ F\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&'ϴ +14 "core" ' +2 "manipulator"&J& +4 "core" & r H +2 "storage"(R& +3 "core" & ' / ;\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&x'7 +18 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(t' +35 "core" ' + "manipulator"& & +4 "core" & ! H +2 "manipulator"&?% +4 "core" %B  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,(ӂ +151 "core" ( + "manipulator"&& +4 "core" &Ӑ& ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &Ӑ& ?T +3 .tForearm.seek CC +2 "manipulator"&@'? +91 "core" ' +2 .tHand.close + "manipulator"&G/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +3 "storage"(T& +3 "core" & ] ]\ +2 "storage"(& +3 "core" & [ Z\ +2 "manipulator"&& +4 "core" &ӫ# % <9 +2 "manipulator"&f% +4 "core" % T G < +2 .tForearm.seek :retract +2 "manipulator"&*' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&y( +168 "core" ( + "manipulator"&=& +4 "core" &z   +2 "storage"(& +4 "core" & p { O\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&N'u +98 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&41 +64 "core" 1 +2 "manipulator"&{% +4 "core" % ΃ P +2 "storage"(j& +4 "core" & ] ] \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&p'ϯ +21 "core" ' + "manipulator"&-& +48 "core" &z  +9 "storage"(]& +3 "core" & Z ^\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&s'7 +16 "core" ' +2 "storage"(% +3 "core" % ] ]\ +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +98 (L% +3 "core" %`I C = >\ Va +2 "manipulator"&1% +4 "core" %3 ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +91 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'&& +3 "core" & x\ +2 "manipulator"&2% +4 "core" %  q  +2 "storage"(+% +4 "core" % h s ]\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(.(,y +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,w @ ? ^\ +2 "manipulator"&& +4 "core" &z   +2 .tElbow.seek 4 +2 "manipulator"&8( +42 "core" ( +2 "manipulator"&X& +3 "core" &  +2 "storage"(z& +4 "core" &,w [ \\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&6' +94 "core" ' +2 "storage"(& +3 "core" &,w q t V\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +298 "core" ' +2 "storage"(A- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (h& +4 "core" &,m ^ [\  +2 "manipulator"&F& +3 "core" & )  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Z& +3 "core" & k  +2 "storage"(r& +4 "core" &,m h h b\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&a'c +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"& / +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(' +7 "core" & F  +2 "manipulator"&H% +4 "core" % W . +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&[& +3 "core" &ӓ( Z @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӓ'  @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +91 "core" ' +2 "manipulator"&& +4 "core" &Ӕ( @W +2 "manipulator"&7% +4 "core" %D T w +2 "collection"'c& +4 "core" & q\ +3 "collection"'k& +5 "core" & \ +2 .tCC.seek :closed + "collection"'5(\\ +4 "core" & \  +9 &6} m\ +{ +9 &g} c\ > +10 &k g\ L +9 &_O \\\ K +10 &!R `\ K +9 &T b\ K +9 &W c\ K +10 &gQ k\ K +9 &*U `\ J +9 &T _\ K +10 & V a\ K +9 &"oQ c\ K +10 &$2T `\ J +9 &%T Z\ K +9 &'W a\ K +10 &)wR P\ K +9 &+9T T\ K +9 &,W Q\ K +10 &.T O\ J +9 &0T P\ K +10 &2AR Q\ K +9 &4T T\ J +9 &5U [\ K +10 &7R Y\ K +9 &9IU i\ K +9 &; R [\ K +10 &<T _\ K +9 &>W n\ K +10 &@QU b\ K +9 &BW g\ K +9 &C_ l\ L +10 &Ec h\ M +9 &GPp a\ N +9 &I \  _\ Q +10 &J\ \ b\ W +9 &L{\ \ ^\ W +10 &N=\ \ _\ W +9 &O\ \ e\ Y +9 &Q\ \ m\ X +10 &S~\ \ c\ Y +9 &U>\ \ `\ Z +9 &V\ \ b\ [ +10 &X\ \ b\ [\ +9 &Z~\ \ b\ \\ +10 &\\#z\ \ e\ 0 +9 &\\,\ \ _\ \\ +9 ( +3 "collection"'k& +2 "core" &\\e\ \ \ `\ N +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&w1 +59 "core" 1 + "manipulator"&`% +4 "core" % D  w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +47 .tForearm.seek :retract +4 "manipulator"&K' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%l& +3 "core" &\ +2 "manipulator"&}% +4 "core" %   +2 "storage"(% +4 "core" %  \  +2 "storage"(. +3 "core" .(,y +2 "storage"(/& +3 "core" &,m  "\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(|(,y +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (D& +2 "core" &,{   9\ +3 "manipulator"& & +3 "core" &Ӭ"  <? +2 "manipulator"&U% +3 "core" %   k  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&n( +163 "core" ( +2 "manipulator"&>& +3 "core" &   +2 "storage"(<& +4 "core" &,{ C D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&~' +96 "core" ' +2 "storage"(I& +3 "core" &,{ 6 A \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +2 "core" &,m   \  +2 "manipulator"&%& +4 "core" & H  +2 .tElbow.seek 4 +2 "manipulator"&E( +4 "core" ( + "manipulator"&:& +4 "core" &  +2 "storage"(W& +3 "core" &,m D C \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&o'c +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"((' +7 "core" & [  +2 "manipulator"&i% +3 "core" % h  +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&V( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&^& +3 "core" & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & [ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +100 "core" ' +2 "manipulator"&O& +3 "core" & 8 +2 "manipulator"&#% +4 "core" % + +2 "processing"%$& +4 "core" &\ +3 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed + "processing"%M(^ +4 "core" & \ +8 &<\ #c +10 &Vx\ 7 +9 &s\ K +9 &Q\ M +10 &lS \ M +9 &/P\ M +9 &R\ M +10 &R\ M +9 &uQ\ M +10 &7S\ M +9 &R \ M +9 &!Q\ M +10 &#~R\ M +9 &%@R\ M +9 &'T\ M +10 &(T \ M +9 &*R\ M +10 &,GU\ M +9 &. R\ M +9 &/T\ M +10 &1R\ M +9 &3QR\ L +9 &5S\ M +10 &6T \ M +9 &8T\ M +10 &:VS \ M +9 &<W\ M +9 &=T \ M +10 &?U\ \ N +9 &A]X\ \ N +9 &C`\ \ O +10 &De\ \ O +9 &Fr \ Q +10 &HV \ S +9 &J \ S +9 &K \ S +10 &M \ T +9 &OY\ T +9 &Q \ T +10 &R\ T +9 &T\ V +10 &Vb\ T +9 &X"\ \ U +9 &Y \ U +10 &[\ T +9 &]g\ B +9 &^Ap\ \\ +10 &^4\ 2 +5 ( +2 "processing"%B& +4 "core" &^ \ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&31 +62 "core" 1 +2 "manipulator"& % +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +89 "core" ' +2 "processing"%!& +3 "core" &^ \ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&e% +3 "core" %   \ C  +2 "storage"()% +4 "core" % !  \  +2 "storage"(C. +3 "core" .(,y +2 "storage"(J& +3 "core" &,m   \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +50 .tSC.seek 4 + "storage"(R(,y +29 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +4 "core" &,y   v\ +3 "manipulator"&?& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &   X +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(''r + "manipulator"&;( +6 "core" ( +2 "manipulator"&Q& +3 "core" & \  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +3 "core" &   ; +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' +2 "storage"(m- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +47 "core" ' +309 ( +2 "storage"(\\& +3 "core" &,j  C\ +2 "manipulator"&G& +4 "core" & ? +2 "manipulator"&g% +3 "core" %  9 F +3 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&T( +240 "core" ( + "manipulator"&& +4 "core" & % , +2 "storage"(& +4 "core" &,j ! $ 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +95 "core" ' +2 .tHand.open +2 "manipulator"&=1 +59 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +4 "core" -' + "storage"({& +4 "core" &,j ^ U\ +2 "manipulator"&j& +4 "core" &  T , +2 .tElbow.seek 4 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&]& +3 "core" &  , +2 "storage"(*& +4 "core" &,j X _ \ +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +52 "core" ' +2 "manipulator"&L& +3 "core" & F , +2 "storage"(1& +3 "core" &,j   _\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&N'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(p' +19 "core" ' + "manipulator"&2% +5 "core" %H F  + "storage"(+& +4 "core" &,j ! " \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 317 counts + "manipulator"&'t +14 "core" ' +2 "manipulator"&t& +4 "core" & g , +2 "storage"(s& +3 "core" &,j  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +17 "core" ' + "storage"(q% +4 "core" % ) # \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %KL\ \ $ s\ Vc +2 "manipulator"&X% +3 "core" % 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +141 "core" ' +11 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,j $ 6 -\ +2 "collection"'u& +4 "core" &\\f n\ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&d% +3 "core" %  +2 "storage"(A% +4 "core" % C C \  +2 "storage"(h. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(F(,y +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" &,{   {\ +2 "manipulator"&r& +3 "core" & A , +3 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&b& +4 "core" & } , +2 "storage"(H& +4 "core" &,{ C C \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&8' +95 "core" ' + "storage"(6& +4 "core" &,{ G D\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +299 "core" ' +3 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & s , +2 "storage"(a& +4 "core" &,m #  4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('t +28 "core" ' +2 "manipulator"&% +3 "core" %@ r  +2 "storage"(& +4 "core" &,m ! ! !\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 309 counts +2 "manipulator"&'l +23 "core" ' + "manipulator"&w& +4 "core" &  , +2 "storage"(`& +4 "core" &,m   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&k' +17 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(l' +41 "core" ' +2 "manipulator"&}& +3 "core" & 1 , +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&/(ӂ +150 "core" ( + "manipulator"&D& +4 "core" &z- 6 Dx +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &z- Dx +2 .tForearm.seek CC +2 "manipulator"&U'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'>( +452 "core" ( + "storage"(<& +4 "core" &,m > J h\  +2 "storage"(.& +3 "core" &,m 9 9 |\  +2 "manipulator"&I& +4 "core" &Ӷ# D << +2 "manipulator"&% +4 "core" % * }  +2 .tForearm.seek :retract +2 "manipulator"&K' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +165 "core" ( + "manipulator"&"& +4 "core" &  +2 "storage"(%& +3 "core" &,m ] ]\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&:'7 +91 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&_1 +63 "core" 1 +2 "manipulator"& % +4 "core" % 2 R +2 "storage"(i& +3 "core" &,m p ] `\  +42 .tForearm.force -20 +8 "manipulator"&5 +3 .tForearm.seek 4 + 295 counts +2 "manipulator"&n'^ +15 "core" ' +2 "manipulator"&~& +3 "core" &  +2 "storage"(S& +4 "core" &,m y ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +18 "core" ' +2 "storage"(^% +4 "core" % t { \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (E% +3 "core" %B < 9 k\ V_ +2 "manipulator"&O% +4 "core" % ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'$& +3 "core" & c\ +2 "manipulator"&(% +5 "core" %    + "storage"(% +4 "core" % ] ]\  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(3(<- +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &<. Z Y\ +3 "manipulator"&!& +3 "core" & 1  +2 .tElbow.seek 5 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&)& +4 "core" &   +2 "storage"(C& +3 "core" &<. ` ] \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +96 "core" ' + "storage"(B& +4 "core" &<. ~ ~ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +291 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Q& +2 "core" &<. G M \ +2 "manipulator"&0& +4 "core" & J  +2 .tElbow.seek 5 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&& +3 "core" & 7  +2 "storage"(|& +4 "core" &<. ] [\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&m'Ϲ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(M' +8 "core" & %  +2 "manipulator"&'% +3 "core" %  B +3 .tForearm.seek :retract + "manipulator"&\\' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&g& +4 "core" &ӕ# ! =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӕ# k =E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&& +4 "core" &ӕ$ e =E +2 "manipulator"&;% +3 "core" %4 N +3 "collection"'=& +3 "core" & v\ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'4(\\ +3 "core" & }\ +6 & \ : +10 &IKt x\ 0 +9 &~v{ s\ E +9 &,W j\ K +10 &U `\ K +9 &R `\ K +10 &tT j\ J +9 &5T g\ K +9 &W g\ K +10 &V h\ K +9 &{W h\ K +9 &!=W i\ K +10 &"U b\ K +9 &$R a\ K +10 &&R b\ K +9 &(ER ^\ K +9 &*T _\ J +10 &+T X\ J +9 &-T a\ K +9 &/MX _\ K +10 &1R X\ K +9 &2T l\ J +10 &4T ]\ K +9 &6UW ]\ K +9 &8S ]\ K +10 &9T j\ J +9 &;T l\ K +9 &=]W l\ K +10 &?R m\ K +9 &@T k\ K +10 &BX b\ L +9 &Db` i\ L +9 &F j c\ M +10 &Gx n\ O +9 &I\ \ j\ S +9 &KL\ \ o\ V +10 &M \ \ c\ W +9 &N\ \ c\ X +10 &P\ \ c\ W +9 &RM\ \ `\ X +9 &T \ \ g\ Y +10 &U\ \ c\ Z +9 &W\ \ \ i\ [ +9 &YN\ \ i\ [ +10 &[\ \ m\ [ +9 &\\dK\ \ h\ 6 +10 &\\w\ \ h\ L +5 ( +2 "collection"'& +3 "core" &\\l\ \ \ \ \\\ L +47 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.14 +4 .Hand.open + "manipulator"&{1 +59 "core" 1 +2 "manipulator"&j% +4 "core" % 4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%*& +4 "core" &"\ +2 "manipulator"&9% +4 "core" %  <  +2 "storage"(L% +3 "core" % #  8\  +2 "storage"(1. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(2(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &<,   \ +2 "manipulator"&x& +3 "core" &ө  :1 +2 "manipulator"&t% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&s( +164 "core" ( +2 "manipulator"&@& +4 "core" & B  +2 "storage"(q& +3 "core" &<, D D \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&T'O +94 "core" ' + "storage"(f& +4 "core" &<, F M \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +3 "core" &<,  1 \ +2 "manipulator"&& +3 "core" & %  +2 .tElbow.seek 5 +2 "manipulator"&-( +4 "core" ( + "manipulator"&y& +4 "core" & )  +2 "storage"(N& +3 "core" &<, C C \ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +3 "storage"(d' +7 "core" & J  +2 "manipulator"&A% +4 "core" %  @ +2 .tForearm.seek :retract +2 "manipulator"&h' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&p( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&Z& +5 "core" &  2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +3 "core" & L 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +95 "core" ' +2 "manipulator"&H& +3 "core" & L 2 +2 "manipulator"&\ % +4 "core" %  z +2 "processing"%6& +4 "core" &!\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed + "processing"%R(^ +5 "core" &!\  +9 &4x \ *x +9 &d|\ > +9 &~n\ N +10 &BR\ M +9 &Q\ M +10 &T \ M +9 &R \ M +9 &KR \ L +10 & R\ M +9 &R\ M +9 & T\ M +10 &"RP\ M +9 &$S\ M +10 &%Q\ M +9 &'U\ M +9 &)ZR\ M +10 &+T\ M +9 &,W\ M +9 &.R \ M +10 &0bS \ M +9 &2%T\ L +14 &3T\ M +5 &5T \ M +11 &7hT\ M +8 &9*U\ M +9 &:U\ \ N +9 &<T\ M +10 &>qV\ M +9 &@2U \ M +10 &AW\ N +9 &Cc \ O +9 &Esg\ O +10 &G2p\ P +9 &H \ R +9 &J\ S +10 &Ln \ S +9 &N/ \ T +10 &O\ \ S +9 &Q \ U +9 &Ss \ T +10 &U5\ T +9 &V \ U +9 &X\ T +10 &Zz\ U +9 &\\; \ U +10 &]xy\ ? +9 &^K\ B +9 &^ n\ 5 +10 ( + &^ \ . +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&&1 +57 "core" 1 +2 "manipulator"&z% +3 "core" %   z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%v& +3 "core" &^ \ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&a% +3 "core" %   C  +2 "storage"(c% +4 "core" % ! ! \  +46 "storage"(. +5 "core" .(<- +2 "storage"(& +4 "core" &<, \ +3 "storage"(w& +2 "manipulator"&`& +7 "core" &<,  " \ + & 2 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&}( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"&8& +4 "core" &  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & \ M 2 +2 .tForearm.seek PC +2 "manipulator"&[' +95 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'1 +43 "core" ' +310 ( +2 "storage"( & +3 "core" &<,   \ +2 "manipulator"&k& +3 "core" &  2 +2 "manipulator"&7% +4 "core" %  M c +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +252 "core" ( +2 "manipulator"&5& +3 "core" &  [ +2 "storage"(<& +4 "core" &<,   =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&.'O +96 "core" ' + .tHand.open +2 "manipulator"&I1 +64 "core" 1 +3 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(%' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +3 "core" -' +2 "storage"(/& +4 "core" &<, 3 4 P\ +2 "manipulator"&_& +3 "core" &  Z +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&i& +4 "core" &  ] Z +2 "storage"(~& +4 "core" &<, T Y h\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(^'" +52 "core" ' + "manipulator"&K& +4 "core" & ^ Z +2 "storage"(& +3 "core" &<,   \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&E'΍ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +19 "core" ' +2 "manipulator"&$% +3 "core" %Ύ w +2 "storage"(n& +4 "core" &<,\  \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&('Ϻ +16 "core" ' +2 "manipulator"&& +3 "core" & ? +3 "storage"(& +3 "core" &<, !  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +15 "core" ' +2 "storage"(o% +4 "core" % , @\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (F% +2 "core" %gN\ )\ ) h\ Wd +2 "manipulator"& % +4 "core" %N  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +48 ()& +3 "core" &<,   \ +2 "collection"'C& +5 "core" &\\k\ m\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&B% +4 "core" %    +2 "storage"(W% +4 "core" % ) 3 ;\  +2 "storage"(#. +2 "core" .(<- +3 "storage"(?& +3 "core" &<,  $ |\ +2 "storage"(Q& +4 "core" &<, # U \ +2 "manipulator"&0& +3 "core" & 3 ? +3 .tElbow.seek 5 + "manipulator"&( +22 "core" ( +2 "manipulator"&|& +3 "core" &   +2 "storage"(V& +4 "core" &<, C E [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Y'O +89 "core" ' +2 "storage"('& +4 "core" &<, G D \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +305 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" & Y  +2 "storage"(& +4 "core" &<,   \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(;'t +33 "core" ' +2 "manipulator"&=% +4 "core" %Π J +2 "storage"(P& +3 "core" &<, "  ]\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&M' +15 "core" ' +2 "manipulator"&\\& +3 "core" &   +2 "storage"(>& +4 "core" &<, )  #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&{'O +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(j' +36 "core" ' +2 "manipulator"&*& +3 "core" &  +2 "manipulator"&9% +4 "core" %R ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&1(ӂ +167 "core" ( +2 "manipulator"&& +4 "core" &ӎ 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &ӎ 7 6 +2 .tForearm.seek CC +2 "manipulator"&x'? +105 "core" ' + .tHand.close +2 "manipulator"&t/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +452 "core" ( + "storage"(@& +4 "core" &<, 9 : \ +2 "storage"(q& +3 "core" &<, 9 A a\ +2 "manipulator"&3& +4 "core" &ӡ < 3 +2 "manipulator"&f% +3 "core" % % 7 +3 .tForearm.seek :retract + "manipulator"&G' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&]( +160 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(X& +3 "core" &<, ] [\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +96 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +62 "core" 1 +2 "manipulator"&% +4 "core" % Έ  +2 "storage"(u& +3 "core" &<, h g B\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 295 counts +2 "manipulator"&A'ϴ +23 "core" ' +2 "manipulator"&s& +3 "core" &  +41 "storage"(T& +11 "core" &<, q r 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +16 "core" ' +2 "storage"(% +3 "core" % p p \ +3 ."downElevator"SE.seek :down +4 "storage"(Z' +98 (r% +3 "core" %J C A \ Va +2 "manipulator"&-% +4 "core" %Q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +89 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +14285 "Can" 9OYڒ& +60001  9QEp! +60001  8S.$ +60001  8U +60002  9W2$ +60001  8XȒ +60001  8Z^ +60002  8\\ +60001  9^+ +60001  8` % +60001  8bv +60002  8d_L +60001  8fG +60001  8h0x/ +60001  8j +60002  8l +60001  8m:- +60001  8oВ# +60001  9qf +60002  8s% +60001  9u +60001  8wx(" +60002  8ya" +60001  8{JT$ +60001  8}3* +60001  8% +60002  8 +60001  93 +60001  8B# +60002  8ؒ% +60001  8n# +60001  8/ +60001   8|! +60002 5 8e0 +60001 1 8Nƒ +60001 ) 87\\, +60002 + 8" +60001 & 8 È- +60001  8% +60001  8Ĵ' +60002  8J- +60001 \  9# +60001  8v$ +60001  8~ & +60002  7gǢ$ +60001  8P8% +60001  89Β +60002  8"d# +60001  8 & +60001  8ʐ- +60001  8& +60002  8˼ +60001  8R& +60001  8 +60002  8~ +60001 % 8k +60001  9UΪ +60001  9>@ +60002  8'֒ +60001 - 8l +60001 , 8# +60001 , 8ј +60002 ' 8. +60001 - 8ǴĒ$ +60001 . 9ɝZ +60002 ! 9ˆ +60001 , 8oԆ# +60001  8X! +60001  8Aղ, +60002 ) 8*H! +60001 ) 8ޒ! +60001  9t +60002  8\  +60001  8ؠ" +60001 ! 8ܷ6! +60002  8ޠ̒ +60001  8b +60001  9r% @EDT1689912325.92  8[ێ$ +60002  8D$! +60001  9-ܺ +60001  8P +60001  81 +60002  8|" +60001  8 +60001  8ߨ" +60001  8>" +60002  8Ԓ" +60001  8vj! +60001  8_ +60002  8H▒ +60001  81, +60001  8’ +60001  8X +60002  8 +60001  8儒 +60001  81 +60001  8氒 +60002  8\ F +60001  8 zܒ +60001  8cr+ +60002  9L+ +60001  85鞒 +60001  84 +60001 B 9ʒ% +60002 # 8` +60001  8 +60001  8쌒! +60002  9" +60001  9- +60001 7 8!}N +60001 : 8#g +60002 \  8%Pz( +60001  8'9 +60001  8)"( +60001  8+ < +60002  8,Ғ +60001  8.h( +60001  80 +60001  82 +60002  84*+ +60001  86$ +60001  78lV +60002  8:U' +60001  9( +60001  8@ +60002  8AD +60001  8Cڒ +60001  9Ep+ +60002  9G +60001   9I$ +60001  8K2 @1689956133.19EDT = =tMAIN =mMAIN_scheduler @EDT1689956134.99 #"core_reset"Sent BREAK +2 #t@59669 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +250 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +392 "Can"\ /~ + \ /~ + #tPolling Can every 10:00 +70 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +522 #-> ESP.ready! +3 #Powering core bus +545 .Gate.power :raw,:ON + "sampler") +55 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0XRESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +385 "Can" D', +  D', + #tPolling Can every 10:00 +71 #Cleanly exited at 12:48:41EDT21-Jul-23 +2511 #-> ESP.ready! +3 #Powering core bus +549 .Gate.power :raw,:ON +2 "sampler") +21 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted +2 "manipulator"&' +18 "core" ' + "manipulator"&% +4 "core" %  N +2 "processing"%& +2 "collection"'& +5 "core" &V\ +2 &\ \ \ +4 ."openPC"PC.home.seek :open +2 .tCC.home.seek :open +2 "processing"% ( +2 "collection"'!( +276 "core" ( +30 ( +2 "collection"'" +4 "core"  +2 "processing"%# +3 "core" V +2 "processing"%$ +3 "core"  +2 "processing"%% +3 "core" B +3 "collection"'&% +3 "core" %m\ \ \ +3 "processing"%'% +3 "core" %ػN\ +3 "sampler")(% +3 "core" %چ\ 9\ 7 \ J +3 "collection"')& +4 "core" &\ \ \  +2 "processing"%*& +3 "core" &W\  +3 "manipulator"&+% +3 "core" %  H N +3 "manipulator"&,& +3 "core" &    +2 "storage"(-& +5 "core" &,x v v \ +2 "storage"(.% +3 "core" % v u \ +2 "collection"'/9 +4 "core" 9c +2 "processing"%09 +3 "core" 9 +253 #t-> exir +203 #-> exit +7 #mEXIT @1690216325.46EDT @1690223026.10EDT = =mMAIN_scheduler =tMAIN @EDT1690223027.89 #"core_reset"Sent BREAK +2 #t@27654 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +212 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +386 "Can"? -- + ? -- + #tPolling Can every 10:00 +69 #Cleanly exited at 12:32:05EDT24-Jul-23 +1116 #-> ESP.ready! +3 #Powering core bus +547 .Gate.power :raw,:ON +2 "sampler") +39 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +4 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X access 6 +3 "storage"(1% +4 "core" % | \  +2 "manipulator"&2% +4 "core" %    +2 "manipulator"&3& +3 "core" &   +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(4( +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" & g j L\ +1836 #t-> access 5 +2 "storage"(6% +3 "core" % ~ (\  +3 "manipulator"&7% +4 "core" %    + "manipulator"&8& +3 "core" &   +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(9(  +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" & h l \ +1015 #t-> require 'shuffle.rb' +1450 #-> 10.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"';& +3 "core" &\ \ \  +2 .tHand.open +2 "manipulator"&<1 +59 "core" 1 +2 "manipulator"&=% +4 "core" %     +2 "storage"(>% +4 "core" % } \  + "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(@(<- +981 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &<+ X L D\  +2 "manipulator"&B& +4 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&C( +3 "core" ( +2 "manipulator"&D& +3 "core" &   +2 "storage"(E& +5 "core" &<+ | e\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&F'O +91 "core" ' +2 "storage"(G& +4 "core" &<+ { Q\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +294 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (J& +3 "core" &<+ q } =\  +2 "manipulator"&K& +3 "core" &   +3 .tElbow.seek 5 +34 "manipulator"&L( +12 "core" ( + "manipulator"&M& +4 "core" &  0  +2 "storage"(N& +4 "core" &<+ | &\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&O'Ϲ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R' +9 "core" &   + "manipulator"&S% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&T' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +155 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&V& + "storage"(5 +8 "core" &ӗ   9' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӗ   9' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'? +99 "core" ' +3 "manipulator"&Y& +3 "core" &ӗ   B 9' +3 "manipulator"&Z% +4 "core" %C \  (  +2 "collection"'[& +4 "core" &\ \ 5\  +2 "collection"'\\& +5 "core" &\ \ \  +3 .tCC.seek :closed + "collection"'](\\ +4 "core" &\ \ 5\  +9 &7~\ \ A\ +} +9 &i\ \ C\ @ +10 &sp\ \ H\ M +9 &7W\ \ H\ L +10 &W\ \ J\ M +9 &Z\ \ T\ M +9 &|X\ \ T\ M +10 &?\\\ \ N\ L +9 &\\\ \ S\ M +9 &\\\ \ N\ M +10 & \\\ \ S\ L +9 &"GZ\ \ T\ L +9 &$ Z\ \ T\ L +10 &%Z\ \ T\ M +9 &'X\ \ S\ L +10 &)OY\ \ S\ L +9 &+\\\ \ P\ M +9 &,[\ \ S\ M +10 &.W\ \ T\ L +9 &0WY\ \ [\ L +10 &2\\\ \ S\ M +9 &3\\\ \ ]\ M +9 &5[\ \ ]\ L +10 &7^]\ \ ]\ M +9 &9 [\ \ `\ M +9 &:V\ \ b\ L +10 &<\\\ \ V\ L +9 &>gY\ \ a\ L +10 &@*Z\ \ X\ L +9 &A`\ \ `\ L +10 &Cb\ \ \ b\ M +9 &Eik\ \ a\ N +9 &G'v\ \ _\ P +9 &H\ !\ c\ S +10 &J\ /\ ,c\ W +9 &LV\ 1\ 0c\ X +9 &N\ /\ -[\ X +10 &O\ +\ -[\ Y +9 &Q\ )\ *W\ Y +10 &SX\ '\ 'W\ Z +9 &U\ $\ 'a\ Y +9 &V\ $\ #\\\ [ +10 &X\ "\ !\\\ \\ +9 &Z[\ !\ !W\ [ +10 &[z\ \ !\\\ : +9 &\\,\ \ Z\ $m +9 &\\y\ \ \\\ Q +3 ( + "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&^1 +56 "core" 1 +2 "manipulator"&_% +5 "core" % C   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +3 "processing"%a& +4 "core" &\  +2 "manipulator"&b% +4 "core" %    + "storage"(c% +5 "core" % = = \ + "storage"(d. +3 "core" .(<- +2 "storage"(e& +4 "core" &<+ < T \  +2 "storage"(f& +4 "core" &<+ ; < z\  +2 "manipulator"&g& +4 "core" &Ӝ  8" +2 "manipulator"&h% +4 "core" %   @  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&i( +157 "core" ( +2 "manipulator"&j& +4 "core" &   +2 "storage"(k& +4 "core" &<+ ^ f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +93 "core" ' +2 "storage"(m& +4 "core" &<+ l k \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +307 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &<+ F O V\  +2 "manipulator"&q& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&s& +4 "core" &  +2 "storage"(t& +3 "core" &<+ ; : \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&u'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&v/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&w& + "storage"(x' +8 "core" &  + "manipulator"&y% +5 "core" %  \  +2 .tForearm.seek :retract + "manipulator"&z' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&{( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&|& +4 "core" &  \   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +3 "core" & \  B  +36 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&~' +89 "core" ' +2 "manipulator"&& +4 "core" &    +2 "manipulator"&% +4 "core" %  [ +2 "processing"%& +5 "core" &\  +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +6 &F\ $d +10 &yV\ 7 +9 &\ L +10 &Z\ N +9 &G\\\ N +9 &\ ]\ N +10 &]\ N +9 &\\\ N +9 &O_\ N +10 &^\ N +9 &Z\ N +10 &!^\ O +9 &#W]\ N +9 &%_\ N +10 &&]\ N +9 &(_\ N +9 &*`Z\ N +10 &,"^\ N +9 &-]\ N +10 &/_\ N +9 &1i\\\ N +9 &3+]\ N +10 &4\\\ M +9 &6`\ N +9 &8n^\ O +10 &:1Y\ N +9 &;\\\ O +10 &=]\ O +9 &?wZ\ N +9 &A8`\ O +10 &Be\ O +9 &Dh\ P +9 &Fxu\ Q +10 &H4\ S +9 &I\ T +10 &K\ T +9 &Mv\ T +9 &O7\ T +10 &P\ U +9 &R\ U +9 &Tz\ U +10 &V=\ U +9 &X\ U +10 &Y\ U +9 &[\ U +9 &]C\ N +10 &^wAy\ $k +9 &^0\ . +5 ( +2 "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +2 "core" &^ \ . +58 1 +2 "manipulator"&% +4 "core" %    [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"%& +4 "core" &^ \ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" %    +2 "storage"(\ % +4 "core" % G O <\ +2 "storage"( . +3 "core" .(<- +2 "storage"(& +3 "core" &<+ E N 9\  +3 "storage"(& +2 "manipulator"&& +5 "core" &<+ D E \  +3 &   9  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"& & +4 "core" &   <  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & - "   +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%( +92 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"( '1 +43 "core" ' +308 ( + "storage"(& +4 "core" &<+ > E U\  +2 "manipulator"&& +4 "core" &   +2 "manipulator"&"% +4 "core" %   M  +2 .tForearm.seek :retract + "manipulator"&#' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&$( +245 "core" ( +2 "manipulator"&%& +3 "core" &   b , +2 "storage"(&& +4 "core" &<+ B E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +91 "core" ' +2 .tHand.open + "manipulator"&(1 +56 "core" 1 +3 "storage"()- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(+' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' +2 "storage"(-& +4 "core" &<+ x \  + "manipulator"&.& +4 "core" &  , +2 .tElbow.seek 5 +2 "manipulator"&/( +4 "core" ( + "manipulator"&0& +4 "core" &   \\ , +2 "storage"(1& +4 "core" &<+  \\\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&2'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +58 "core" ' +2 "manipulator"&& +3 "core" &   , +2 "storage"(5& +4 "core" &<+ < < \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +44 "manipulator"&6'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +28 "core" ' + "manipulator"&4% +4 "core" %Λ    +2 "storage"(:& +3 "core" &<+ H E \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&;' +23 "core" ' + "manipulator"&<& +4 "core" &   2 , +2 "storage"(=& +4 "core" &<+ g ^ $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +23 "core" ' +2 "storage"(?% +4 "core" % ^ f\ +2 ."downElevator"SE.seek :down +4 "storage"(9' +99 (A% +3 "core" %IG  " X\ Va +2 "manipulator"&B% +3 "core" %D  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &<+ : S ;\  +3 "collection"'G& +4 "core" &\\y\ \ R\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %     +2 "storage"(% +3 "core" % ^ [ C\  +2 "storage"(I. +4 "core" .(<- + "storage"(J& +5 "core" &<+ \\ ^ -\  +2 "storage"(& +3 "core" &<+ [ [\  +2 "manipulator"&K& +5 "core" &   , + .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&N& +4 "core" &   , +2 "storage"(P& +3 "core" &<+ i h f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +92 "core" ' +2 "storage"(S& +4 "core" &<+ i e F\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'r +298 "core" ' +3 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &  , +2 "storage"(W& +5 "core" &<+ f ^ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&H'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(Z'v +33 "core" ' +2 "manipulator"&L% +4 "core" %Μ  +2 "storage"([& +4 "core" &<+ _ j P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&R' +24 "core" ' +2 "manipulator"&T& +4 "core" &   F , +2 "storage"( & +3 "core" &<+ k j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +21 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(_' +39 "core" ' +2 "manipulator"&a& +4 "core" & \ e , +2 "manipulator"&b% +3 "core" %J  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +156 "core" ( +5 "manipulator"&e& +4 "core" &Ӓ$  =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &Ӓ$ \ g =C +2 .tForearm.seek CC +2 "manipulator"&\\'? +94 "core" ' + .tHand.close +2 "manipulator"&g/ +61 "core" / +2 .tCC.seek :open + "collection"'h( +448 "core" ( +2 "storage"(X& +4 "core" &<+ r s l\  +2 "storage"(j& +4 "core" &<+ u l )\  + "manipulator"&k& +4 "core" &Ӭ \   9) +2 "manipulator"&m% +3 "core" % N  A +3 .tForearm.seek :retract + "manipulator"&U' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&`( +160 "core" ( +35 "manipulator"&o& +12 "core" & + "storage"(p& +5 "core" &<+ y y 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&q'΍ +97 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&t1 +56 "core" 1 +3 "manipulator"&v% +3 "core" % Η   +2 "storage"(w& +4 "core" &<+ } \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 310 counts + "manipulator"&y' +16 "core" ' + "manipulator"&i& +5 "core" &  + "storage"(l& +5 "core" &<+ _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +15 "core" ' +2 "storage"(u% +3 "core" % s\ +3 ."downElevator"SE.seek :down +4 "storage"(|' +98 (}% +3 "core" %@ _ [ \ T[ +2 "manipulator"&r% +5 "core" %T . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &\ \  \ +2 "manipulator"&% +3 "core" %   +3 "storage"(x% +3 "core" % ~\ +3 "storage"(z. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(!(K +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K f [ 4\  +3 "manipulator"&& +4 "core" & Y +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" & J +2 "storage"(\ & +4 "core" &K f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +92 "core" ' + "storage"(& +4 "core" &K k\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K  s m\  +2 "manipulator"& & +4 "core" & ) +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&~& +4 "core" & M +2 "storage"(& +3 "core" &K } \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" & _ + "manipulator"&% +5 "core" % ^ d +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&"& +4 "core" &Ӑ#  \ P <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ#  <; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'? +104 "core" ' + "manipulator"&&& +5 "core" &ӑ#   <: + "manipulator"&% +5 "core" %D  +2 "collection"'(& +3 "core" &\ \ H\ +3 "collection"')& +6 "core" &\ \ $\ +2 .tCC.seek :closed +2 "collection"',(\\ +4 "core" &\ \ H\  +8 &4}\ \ T\ *y +10 & e\ \ Q\ > +9 &u\ \ S\ M +9 &VU\ \ L\ L +10 &\\\ \ F\ L +9 &Z\ \ I\ L +10 &X\ \ J\ L +9 &^W\ \ G\ L +9 & \\\ \ P\ L +10 &Y\ \ W\ L +9 & X\ \ J\ L +9 &"gY\ \ Y\ K +10 &$&Y\ \ ^\ L +9 &%Z\ \ Y\ L +10 &'Y\ \ \\\ L +9 &)mX\ \ b\ L +9 &+0Y\ \ b\ L +10 &,X\ \ a\ K +9 &.Y\ \ _\ L +9 &0vY\ \ a\ L +10 &29X\ \ c\ K +9 &3Y\ \ Z\ L +10 &5X\ \ Z\ L +9 &7}\\\ \ g\ L +9 &9@Y\ \ e\ L +10 &;V\ \ h\ L +9 &<X\ \ l\ L +10 &>\\\ \ ^\ L +9 &@HY\ \ ]\ L +9 &B^\ \ \\\ L +10 &C_\ \ _\ L +44 &Ek\ \ d\ N +11 &GEx\ \ `\ O +3 &H\ !\ X\ R + &J\ .\ /_\ W + &Lr\ 1\ 0_\ X + &N5\ .\ 0h\ W +4 &O\ )\ ,b\ Y +10 &Q\ '\ *i\ X +9 &St\ %\ &k\ Z +9 &U6\ #\ "n\ Z +10 &V\ !\ #n\ Z +9 &X\ !\ !g\ [ +9 &Zw\ !\ m\ \\ +10 &\\y\ \ p\ 1 +9 &\\/\ \ f\ W +9 ( +2 &\\l\ \ a\ K +2 "collection"')& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&-1 +57 "core" 1 +3 "manipulator"&.% +3 "core" % D    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%1& +4 "core" &\ +2 "manipulator"&#% +4 "core" %    +2 "storage"(% +4 "core" % I @ \  + "storage"(5. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"( (K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &K # 6\  +2 "manipulator"&4& +5 "core" &Ӱ R 8 + "manipulator"&:% +4 "core" %  \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&<( +163 "core" ( + "manipulator"&=& +5 "core" &   + "storage"($& +4 "core" &K k i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&?' +102 "core" ' +2 "storage"('& +3 "core" &K p _ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +297 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &K [ h d\  +2 "manipulator"&2& +4 "core" & \   +2 .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&3& +4 "core" & \ 5  +2 "storage"(6& +4 "core" &K j h \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&;'h +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&G& + "storage"(' +6 "core" &   +3 "manipulator"&% +4 "core" % o \ v +2 .tForearm.seek :retract +2 "manipulator"&I' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&J& +4 "core" & \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +91 "core" ' + "manipulator"&N& +4 "core" &   +2 "manipulator"&P% +4 "core" %  ` +2 "processing"%>& +4 "core" &\ +2 "processing"%S& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(^ +4 "core" &\ +6 & .\ $c +10 &Uy\ 6 +9 &~\ K +9 &Z\ N +10 &^Z\ N +9 &!Y\ M +9 &]\ N +10 &\\\ N +9 &fZ\ N +10 &(\\\ N +9 &Z\ N +9 &![\ N +10 &#m\\\ N +9 &%/\\\ N +9 &&[\ N +10 &([\ N +9 &*uZ\ N +10 &,8[\ N +9 &-Y\ N +9 &/\\\ N +10 &1~X\ N +9 &3@Y\ N +9 &5Y\ M +10 &6\\\ N +9 &8\\\ N +9 &:GZ\ N +10 &< \\\ N +9 &=[\ N +10 &?\\\ N +9 &AO\\\ N +9 &Cc\ O +10 &Df\ O +9 &Fo\ P +10 &HL{\ R +9 &J \ T +9 &K\ T +10 &M\ T +9 &OL\ T +9 &Q\ T +10 &R\ T +9 &T\ U +9 &VT\ T +10 &X\ T +9 &Y\ T +10 &[\ U +9 &]Y\ D +9 &^Dt\ _ +10 &^?\ 1 +5 ( +2 "processing"%S& +4 "core" &^!\ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&71 +61 "core" 1 +2 "manipulator"&D% +4 "core" %    ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +96 "core" ' + "processing"%V& +5 "core" &^!\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&W% +3 "core" % ! %  G ' +3 "storage"(Y% +4 "core" % < < w\  + "storage"(L. +4 "core" .(K + "storage"([& +4 "core" &K : D \  +3 "storage"(T& +2 "manipulator"& & +44 "core" &K ? = \  +9 &  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&a( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'r +2 "core" ( +2 "manipulator"&Q& +5 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" & - / +3 .tForearm.seek PC +2 "manipulator"&C' +93 "core" ' +2 .tHand.close +2 "manipulator"&H/ +55 "core" / +2 .tPC.seek :open +2 "processing"%R( +94 "core" ' +2 "storage"(Z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'1 +46 "core" ' +301 ( +2 "storage"(f& +5 "core" &K K @ \  + "manipulator"&^& +5 "core" &  + "manipulator"&O% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&g' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&c( +239 "core" ( + "manipulator"&]& +4 "core" &    5 +2 "storage"(X& +4 "core" &K < ; y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +103 "core" ' +2 .tHand.open + "manipulator"&k1 +53 "core" 1 +3 "storage"(m- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(o' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(p- +3 "core" -' +2 "storage"(d& +3 "core" &K \  +2 "manipulator"&t& +5 "core" &   7 5 + .tElbow.seek 6 +2 "manipulator"&v( +4 "core" ( +2 "manipulator"&w& +4 "core" &   " 5 + "storage"(i& +5 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(u'" +51 "core" ' +2 "manipulator"&U& +4 "core" &  5 +2 "storage"(}& +4 "core" &K V [ /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&r'< +28 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(q' +28 "core" ' + "manipulator"&% +3 "core" %?  ` +3 "storage"(& +4 "core" &K R H \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 303 counts +2 "manipulator"&y'k +15 "core" ' +2 "manipulator"&x& +4 "core" &   ' 5 +2 "storage"(z& +4 "core" &K i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +15 "core" ' +2 "storage"(n% +4 "core" % i i \ +2 ."downElevator"SE.seek :down +4 "storage"(|' +99 (@% +3 "core" %2I F G [\ Va +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&' +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &K U ; \  +2 "collection"'\ & +5 "core" &\\k\ \ D\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %     +2 "storage"(s% +4 "core" % j i \  +2 "storage"(. +3 "core" .(K +2 "storage"(& +3 "core" &K j i \  +2 "storage"(& +4 "core" &K j i \  +2 "manipulator"& & +4 "core" &   5 +2 .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" &   ! 5 +2 "storage"({& +40 "core" &K j i \  +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +100 "core" ' +2 "storage"(& +4 "core" &K k i \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &  5 +2 "storage"(& +5 "core" &K e _ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('m +32 "core" ' + "manipulator"&(% +5 "core" %O   +2 "storage"(& +4 "core" &K i _ h\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&'{ +16 "core" ' + "manipulator"&& +4 "core" &   5 +2 "storage"(h& +3 "core" &K g ^\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&-' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(.' +35 "core" ' + "manipulator"&1& +4 "core" &  5 +2 "manipulator"&#% +4 "core" %  S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&5(ӂ +153 "core" ( + "manipulator"&)& +5 "core" &Ӝ    :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +4 "core" &Ӝ  :, +2 .tForearm.seek CC +2 "manipulator"&4'? +94 "core" ' + .tHand.close +2 "manipulator"&:/ +56 "core" / +2 .tCC.seek :open +2 "collection"'%( +447 "core" ( +2 "storage"(=& +3 "core" &K ` p '\  +2 "storage"($& +5 "core" &K f ^ `\  + "manipulator"&!& +4 "core" &ӣ   \\ 9% +2 "manipulator"&'% +4 "core" % O    +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&0( +163 "core" ( +2 "manipulator"&A& +3 "core" &    +2 "storage"(B& +4 "core" &K s \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&2'< +97 "core" ' +2 .tElbow.hold + "manipulator"&3, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +58 "core" 1 +2 "manipulator"&E% +3 "core" % 9   +2 "storage"(G& +5 "core" &K | 8\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 6 + 297 counts + "manipulator"&'e +16 "core" ' + "manipulator"&<& +4 "core" & T  +2 "storage"(?& +3 "core" &K w x \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +17 "core" ' +2 "storage"(;% +3 "core" % { | S\ +3 ."downElevator"SE.seek :down +4 "storage"(J' +98 (% +3 "core" %F ^ ^ 1\ V_ +2 "manipulator"&/% +5 "core" % 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'P& +4 "core" &\ \ (\ +2 "manipulator"&>% +4 "core" %    +2 "storage"(% +3 "core" % V\  +2 "storage"(I. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +356 "core" ( +9 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &[ [ [ (\  +2 "manipulator"&D& +4 "core" &  N  +2 .tElbow.seek 7 +2 "manipulator"&V(r +33 "core" ( + "manipulator"&W& +4 "core" &    +2 "storage"(Y& +4 "core" &[ w C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&L'= +94 "core" ' + "storage"([& +5 "core" &[ w\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +294 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (T& +3 "core" &[  | d\  +2 "manipulator"&Q& +3 "core" & \   +3 .tElbow.seek 7 + "manipulator"&M(r +20 "core" ( + "manipulator"&K& +4 "core" &q  O z +2 "storage"(H& +4 "core" &[ | \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&Z'ϧ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(9' +8 "core" &q 8 z + "manipulator"&b% +5 "core" % ϶ 1 +2 .tForearm.seek :retract +2 "manipulator"&f' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&^(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&O& +4 "core" &ӊ%   >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &ӊ%  >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'? +100 "core" ' +2 "manipulator"&X& +3 "core" &Ӌ&   >L +3 "manipulator"&a% +3 "core" %:  +3 "collection"'k& +4 "core" &\ \ 2\ +2 "collection"'m& +5 "core" &\ \ Y\ +3 .tCC.seek :closed + "collection"'p(\\ +4 "core" &\ \ T\ +8 &5\ \ X\ $e +9 &X}\ \ X\ 7 +9 &{\ \ U\ K +10 &Y\ \ X\ L +9 &{V\ \ Z\ K +9 &=X\ \ U\ K +10 &Z\ \ V\ L +9 &X\ \ R\ L +10 &Y\ \ S\ L +9 &DU\ \ H\ L +9 & Y\ \ P\ K +10 &!U\ \ U\ K +9 &#Z\ \ H\ K +9 &%LZ\ \ T\ L +10 &'X\ \ K\ L +9 &(U\ \ G\ K +10 &*U\ \ O\ L +9 &,TY\ \ H\ L +9 &.U\ \ F\ K +10 &/U\ \ J\ K +9 &1X\ \ H\ K +9 &3]Z\ \ H\ K +10 &5U\ \ J\ K +9 &6V\ \ S\ L +10 &8W\ \ P\ L +9 &:eU\ \ M\ K +9 &<'U\ \ P\ K +10 &=W\ \ K\ K +9 &?\\\ \ P\ L +9 &AlZ\ \ \ O\ L +10 &C-]\ \ I\ L +9 &Dh\ \ I\ M +10 &Fr\ \ ?\ O +9 &He\ \ F\ Q +9 &J\ -\ *K\ U +10 &K\ 3\ 3W\ W +9 &M\ /\ 1P\ X +9 &OW\ +\ .O\ X +10 &Q\ *\ *O\ Y +9 &R\ '\ *K\ Y +10 &T\ '\ &O\ Y +9 &VY\ #\ &O\ Z +9 &X\ "\ "M\ \\ +10 &Y\ "\ "P\ \\ +9 &[\ \ "O\ I +9 &\\9\ \ J\ - +10 &\\p\ \ I\ L +2 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&d1 +60 "core" 1 +2 "manipulator"&t% +4 "core" % :   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +102 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%i& +5 "core" &\ + "manipulator"&g% +4 "core" % \   +2 "storage"(U% +4 "core" % i _ \  +2 "storage"(}. +3 "core" .([ +2 "storage"(& +3 "core" &[ i i \  +2 "storage"(e& +4 "core" &[ h _ |\  +2 "manipulator"&& +4 "core" &ӱ   3 9& +2 "manipulator"&x% +4 "core" % \   ?  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&o(r +162 "core" ( +2 "manipulator"&z& +3 "core" &w    +3 "storage"(n& +4 "core" &[ [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&c'= +96 "core" ' + "storage"(j& +5 "core" &[ j _ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +311 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \\ Z\  +2 "manipulator"&l& +4 "core" &w    +2 .tElbow.seek 7 + "manipulator"&v(r +41 "core" ( +10 "manipulator"&u& +3 "core" &w   +2 "storage"(r& +5 "core" &[ j i \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&y'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&\ & + "storage"(' +8 "core" &w   +2 "manipulator"&s% +3 "core" % ϛ  F +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  ]  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' +2 "manipulator"&& +4 "core" &    +2 "manipulator"&{% +3 "core" %   +3 "processing"%_& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%|(^ +4 "core" &\ +8 &6\ #c +10 &Ty\ 6 +9 &~~\ K +9 &Y\ N +10 &ZY\ N +9 &U\ N +9 &]\ N +10 &Y\ N +9 &dY\ M +9 &$[\ N +10 &Y\ N +9 &!W\ N +10 &#j\\\ N +9 &%-Z\ N +9 &&W\ N +10 &(Y\ N +9 &*rW\ N +9 &,5Y\ N +10 &-X\ N +9 &/\\\ N +10 &1|V\ M +9 &3=Y\ N +9 &4[\ N +10 &6\\\ N +9 &8Z\ N +9 &:EX\ N +10 &<[\ N +9 &=Z\ N +10 &?Y\ N +9 &AMZ\ N +9 &C c\ O +10 &De\ O +9 &Fm\ Q +9 &HH}\ R +10 &J\ T +9 &K\ T +10 &M\ T +9 &OJ\ T +9 &Q\ U +10 &R\ U +9 &T\ V +9 &VP\ U +10 &X\ U +9 &Y\ U +10 &[\ U +9 &]U\ F +9 &^v=m\ 'r +10 &^.\ , +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&`1 +2 "core" &^\ , +58 1 +2 "manipulator"&% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 "processing"%"& +3 "core" &^\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" % #  1 +2 "storage"(&% +3 "core" % = U /\  +2 "storage"((. +3 "core" .([ +2 "storage"(& +4 "core" &[ L < g\  +2 "storage"(& +2 "manipulator"&h& +9 "core" &[ = @\  + & \   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&1( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(#'r +2 "core" ( + "manipulator"&& +6 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" & * 8   +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open + "processing"%( +96 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"()'1 +46 "core" ' +306 ( +2 "storage"(*& +4 "core" &[ i i \  +2 "manipulator"&-& +3 "core" &   +2 "manipulator"&% +5 "core" %   N +2 .tForearm.seek :retract + "manipulator"&:' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +249 "core" ( + "manipulator"&,& +4 "core" &}  \  + +2 "storage"(=& +3 "core" &[ ^ e 4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&$'= +95 "core" ' + .tHand.open + "manipulator"&!1 +62 "core" 1 +2 "storage"('- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +42 "core" ' +10 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(B' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +4 "core" -' +2 "storage"(5& +3 "core" &[ \  +3 "manipulator"&6& +4 "core" &}   + +2 .tElbow.seek 7 +2 "manipulator"&E(r +9 "core" ( + "manipulator"&G& +5 "core" &~    \ + "storage"(<& +4 "core" &[ c\  +3 .tForearm.seek 7 + 450 counts + "manipulator"&?'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(;'" +57 "core" ' +2 "manipulator"&& +4 "core" &~   \ +2 "storage"(& +3 "core" &[ h ^ T\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&/'{ +30 "core" ' +2 .tElbow.hold + "manipulator"&0, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(2' +28 "core" ' +2 "manipulator"&P% +18 "core" %Ύ 1 0 n +2 "storage"(& +3 "core" &[ G G \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&>'Ϻ +13 "core" ' +2 "manipulator"&& +3 "core" &~ = \ +2 "storage"(I& +5 "core" &[ h f `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&.'= +15 "core" ' +3 "storage"(+% +3 "core" % h f \ +3 ."downElevator"SE.seek :down +4 "storage"(J' +98 ( % +3 "core" %rJ D D\ Wc +2 "manipulator"&7% +5 "core" %7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (W& +3 "core" &[ U C ,\  +2 "collection"'Y& +4 "core" &\\n\ \ *\ L +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&[% +4 "core" %    +2 "storage"(3% +4 "core" % i k \  +2 "storage"(N. +3 "core" .([ +2 "storage"( & +4 "core" &[ i i \  +2 "storage"(T& +4 "core" &[ i h \  +2 "manipulator"&Q& +3 "core" &~  \ +3 .tElbow.seek 7 + "manipulator"&K(r +9 "core" ( +2 "manipulator"&H& +3 "core" &    +2 "storage"(8& +5 "core" &[ i k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&F'= +99 "core" ' + "storage"(b& +5 "core" &[ n } ?\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +297 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +4 "core" &   +2 "storage"(C& +4 "core" &[ h e \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&S'{ +29 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(a's +29 "core" ' + "manipulator"&k% +5 "core" %΍ 0 - | +2 "storage"(M& +4 "core" &[ G G .\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&9'Ϲ +14 "core" ' +2 "manipulator"&f& +3 "core" & T  +2 "storage"(%& +4 "core" &[ l k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&d'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(t' +36 "core" ' +2 "manipulator"&i& +3 "core" &  -  +2 "manipulator"&g% +4 "core" %2 \   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +193 "core" ( +10 "manipulator"&}& +4 "core" &Ӑ%  >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ%  ' >I +2 .tForearm.seek CC +2 "manipulator"&e'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'x( +450 "core" ( +2 "storage"(]& +4 "core" &[ [ ] M\  +2 "storage"(z& +3 "core" &[ _ ^ %\  +2 "manipulator"&n& +5 "core" &Ӹ  S 8! + "manipulator"&j% +4 "core" % 6    +3 .tForearm.seek :retract + "manipulator"&^' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&w(r +160 "core" ( + "manipulator"&@& +5 "core" &x     + "storage"(& +4 "core" &[ y h M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&l'{ +100 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +63 "core" 1 +2 "manipulator"& % +4 "core" % Ί  \  +3 "storage"(\ & +4 "core" &[ r \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&s'϶ +15 "core" ' +2 "manipulator"&o& +4 "core" &x  +2 "storage"(c& +4 "core" &[ i m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&\\'= +18 "core" ' +2 "storage"(y% +3 "core" % z y X\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %B [ [ #\ U^ +2 "manipulator"&v% +5 "core" %I P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'{& +4 "core" &\ \ \ +2 "manipulator"&_% +3 "core" %    +3 "storage"(% +4 "core" % m\  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(R(<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &<0 q  $\ +2 "manipulator"&& +3 "core" &x '  +3 .tElbow.seek 5 +2 "manipulator"&"( +21 "core" ( +2 "manipulator"&& +4 "core" &     +2 "storage"(&& +4 "core" &<0 /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&('O +93 "core" ' +2 "storage"(& +3 "core" &<0 o\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&W/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"([' +9 "core" &  + "manipulator"&3% +5 "core" % Ϲ   +2 .tForearm.seek :retract + "manipulator"&N' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&2( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"& & +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" & E  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +90 "core" ' +2 "manipulator"&H& +4 "core" &   +2 "manipulator"&8% +3 "core" %  Z +3 "processing"%.& +3 "core" &`\ +3 "processing"%b& +5 "core" &|\ +2 .tPC.seek :closed +2 "processing"%J(^ +5 "core" &\ +6 &5\ #c +9 &V}i\ 7 +10 &{\ K +9 &Z|\ N +9 &[XA\ M +10 &T=\ N +9 &\\=\ N +10 &W\ N +9 &bVi\ N +9 &%Y\ M +10 &Yz\ N +9 &![B\ N +9 &#jWw\ N +10 &%,W{\ N +9 &&WI\ N +49 &(Wx\ N +14 &*rWg\ N + &,4Wn\ N +2 &-Wr\ M + &/Zn\ N + &1zXr\ N + &3=Zr\ M +6 &4Vp\ M +10 &6Wk\ N +9 &8\\n\ N +9 &:FXm\ M +10 &<]g\ N +9 &=W \ M +9 &?Zj\ N +10 &AK^q\ N +9 &C do\ O +10 &Ddj\ O +9 &Fpi\ P +9 &HGo\ R +10 &Jf\ T +9 &Kq\ T +9 &Me\ T +10 &OIm\ T +9 &Q c\ U +10 &Rm\ T +9 &Tm\ U +9 &VPl\ T +10 &Xe\ U +9 &Yb\ U +9 &[d\ T +10 &]Un\ E +9 &^z@p]\ )w +9 &^[\ ) +3 ( +2 "processing"%b& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&01 +64 "core" 1 +2 "manipulator"&D% +3 "core" %    Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +89 "core" ' +2 "processing"%O& +3 "core" &^D\ ) +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&C% +4 "core" %     +2 "storage"(X% +3 "core" % [ [\  +2 "storage"(k. +4 "core" .(<- + "storage"(M& +5 "core" &% +3 "core" % y !\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (T% +3 "core" %iD m | \ U^ +2 "manipulator"&E% +4 "core" %> R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +92 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'8& +3 "core" &\ \ N\ +3 "manipulator"&.% +4 "core" %     +2 "storage"([% +3 "core" % r\ +2 "storage"(N. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +352 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (0& +3 "core" &K v P\ \ +2 "manipulator"&D& +5 "core" &   +2 .tElbow.seek 6 + "manipulator"&O( +8 "core" ( + "manipulator"&C& +4 "core" &    +2 "storage"(X& +3 "core" &K h h |\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&k' +95 "core" ' + "storage"(M& +3 "core" &K d\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(b'r +300 "core" ' + "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &K  \ \ +2 "manipulator"&F& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&Q& +4 "core" &   0  +2 "storage"(S& +4 "core" &K  \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +3 "storage"(J' +8 "core" & )  +2 "manipulator"&g% +4 "core" % ^ j +2 .tForearm.seek :retract +2 "manipulator"&d' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&Z& +4 "core" &Ӏ(   * @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &Ӏ'   q @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&p'? +102 "core" ' + "manipulator"&]& +5 "core" &Ӂ(   @[ +2 "manipulator"&i% +5 "core" %F  +2 "collection"'n& +4 "core" &\ \ P\ +2 "collection"'j& +6 "core" &\ \ V\ +2 .tCC.seek :closed +53 "collection"'e(\\ +6 "core" &\ \ X\ + &\ \ S\ + &\ \ X\ + &\ \ O\ + &\ \ K\ + &\ \ O\ + &\ \ M\  +3 &4{\ \ M\ *x +9 &f\ \ N\ > +10 &r\ \ S\ L +9 &RU\ \ N\ K +9 &Y\ \ I\ L +10 &W\ \ J\ L +9 &U\ \ J\ K +10 &YW\ \ J\ K +9 &Y\ \ K\ K +9 &X\ \ K\ K +10 & W\ \ K\ K +9 &"aW\ \ N\ K +9 &$#R\ \ M\ K +10 &%W\ \ O\ L +9 &'V\ \ K\ K +10 &)hV\ \ M\ L +9 &++V\ \ L\ K +9 &,Y\ \ O\ K +10 &.W\ \ K\ L +9 &0qV\ \ O\ K +9 &23X\ \ I\ K +10 &3W\ \ K\ K +9 &5T\ \ Q\ K +10 &7yY\ \ N\ K +9 &9:W\ \ O\ L +9 &:V\ \ Q\ K +10 &<Y\ \ M\ K +9 &>X\ \ P\ L +9 &@CW\ \ L\ K +10 &BX\ \ P\ K +9 &C]\ \ \ U\ L +10 &Ef\ \ N\ M +9 &G@v\ \ K\ O +9 &H\ !\ P\ R +10 &J\ 3\ 0K\ V +9 &Ln\ 2\ 3N\ W +9 &N.\ /\ 1L\ X +10 &O\ +\ -K\ Y +9 &Q\ )\ )I\ Y +10 &Sq\ %\ 'N\ Y +9 &U2\ %\ &H\ Y +9 &V\ #\ $K\ Z +10 &X\ #\ !L\ [ +9 &Zq\ #\ "P\ \\ +9 &\\y\ !\ I\ 1 +10 &\\.\ \ M\ X +9 ( + &\\n\ \ I\ K +2 "collection"'j& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&m1 +57 "core" 1 +2 "manipulator"&r% +3 "core" % F   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%o& +4 "core" &\ +2 "manipulator"&% +3 "core" %    +3 "storage"(^% +3 "core" % [ [\  +2 "storage"(. +4 "core" .(K +2 "storage"({& +4 "core" &K b \\ ]\ \ + "storage"(}& +5 "core" &K ^ d \ \ +2 "manipulator"&s& +4 "core" &ӭ  :/ + "manipulator"&@% +5 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +162 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(\\& +4 "core" &K k k u\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&U' +99 "core" ' +2 "storage"(z& +4 "core" &K l ^ C\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (`& +2 "core" &K g ] q\ \ +2 "manipulator"&c& +5 "core" &   + .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&y& +3 "core" &  \   +3 "storage"(v& +4 "core" &K k j \ \ +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"(' +8 "core" &  2  + "manipulator"&u% +5 "core" % r  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&l( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&h& +4 "core" &  ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&& +3 "core" &   +2 "manipulator"&q% +5 "core" %  +2 "processing"%t& +4 "core" &\ +2 "processing"%#& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +9 &2v\ )w +9 &d\ > +9 &uu\ N +10 &8V\ N +9 &Y\ N +9 &T\ M +10 &XJ\ M +9 &@Z\ N +10 &Y\ N +9 &V3\ M +9 & Y\ M +10 &"HV\ N +9 &$ ZC\ M +9 &%Ws\ M +10 &'Xn\ N +9 &)QUw\ M +10 &+Vc\ N +9 &,Yn\ N +9 &.Tv\ M +10 &0YUv\ M +9 &2Up\ M +10 &3Tv\ M +9 &5Uv\ M +9 &7bW{\ M +10 &9#]r\ M +9 &:Wo\ M +9 &<Yt\ M +10 &>hYv\ N +9 &@+\\r\ M +9 &A\\n\ M +10 &Ccm\ O +9 &Emgu\ O +10 &G+nr\ P +9 &H|n\ Q +9 &Jm\ S +10 &Lft\ T +9 &N(n\ T +9 &Om\ T +10 &Qn\ U +9 &Sls\ T +10 &U.o\ T +9 &Vn\ U +9 &Xn\ T +10 &Zsp\ U +52 &\\5r\ U +5 &]zuq\ > + &^"Tj\ O + &^0l\ 8 ( + &^-Z\ 8 + &^-`\ 8 +2 "processing"%#& +4 "core" &^-h\ 8 +2 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&w1 +55 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +96 "core" ' +2 "processing"%& +3 "core" &^-`\ 8 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %   S  +2 "storage"(~% +4 "core" % J \\ 6\  +2 "storage"(1. +3 "core" .(K +2 "storage"(!& +4 "core" &K e ^ \ \ +2 "storage"(*& +3 "manipulator"&x& +5 "core" &K [ [ \ \ +3 &   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(G'r + "manipulator"&<( +7 "core" ( + "manipulator"& & +4 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &  $ +3 .tForearm.seek PC +2 "manipulator"&"' +94 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open + "processing"%|( +87 "core" ' +2 "storage"(=- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +44 "core" ' +314 ( +2 "storage"(P& +3 "core" &K [ J E\ +3 "manipulator"&5& +3 "core" &  +2 "manipulator"&% +4 "core" %  7 / +2 .tForearm.seek :retract +2 "manipulator"&A' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +240 "core" ( + "manipulator"&4& +4 "core" &  r  +2 "storage"(I& +3 "core" &K _ i '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +94 "core" ' + .tHand.open +2 "manipulator"&R1 +62 "core" 1 +3 "storage"($- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(7- +3 "core" -' +2 "storage"(& +4 "core" &K \ +2 "manipulator"&/& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&W( +4 "core" ( +2 "manipulator"&Y& +3 "core" &   (  +2 "storage"(& +4 "core" &K \ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(>'" +49 "core" ' +2 "manipulator"&-& +4 "core" &   +2 "storage"(T& +4 "core" &K V E <\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&E'< +19 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +20 "core" ' +2 "manipulator"&8% +3 "core" %I   ^ +3 "storage"(3& +4 "core" &K ^ \\ (\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&.'u +13 "core" ' +2 "manipulator"&[& +3 "core" &    +2 "storage"(N& +5 "core" &K k g ^\ +47 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +16 "core" ' +2 "storage"(B% +3 "core" % ^ ^ \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 ()% +4 "core" %I D D\ Vb +2 "manipulator"&0% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" &K f [\ +3 "collection"'X& +3 "core" &\\n\ \ '\ K +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&M% +4 "core" %    +2 "storage"(;% +3 "core" % j f \  +3 "storage"(H. +3 "core" .(K +2 "storage"(%& +4 "core" &K k k \ +2 "storage"(f& +4 "core" &K k j \ + "manipulator"&F& +5 "core" &   +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( +2 "manipulator"&S& +4 "core" &    +2 "storage"(2& +3 "core" &K f j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +93 "core" ' +2 "storage"(g& +3 "core" &K a n K\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +310 "core" ' + "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +4 "core" &   +2 "storage"(V& +4 "core" &K i i x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&b'< +24 "core" ' +2 .tElbow.hold + "manipulator"&a, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(i'm +30 "core" ' +2 "manipulator"&n% +5 "core" %B   P + "storage"(K& +4 "core" &K [ [ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&J'n +14 "core" ' + "manipulator"&d& +4 "core" &   )  +2 "storage"(,& +4 "core" &K i g w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&m' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(r' +36 "core" ' + "manipulator"&o& +5 "core" &   + "manipulator"&% +5 "core" %  < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +161 "core" ( +2 "manipulator"&{& +3 "core" &Ӭ   6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &Ӭ \  6 +3 .tForearm.seek CC +2 "manipulator"&}'? +95 "core" ' +2 .tHand.close + "manipulator"&s/ +53 "core" / +2 .tCC.seek :open +2 "collection"'@( +451 "core" ( + "storage"(p& +3 "core" &K ~ )\ +3 "storage"(& +4 "core" &K s\ + "manipulator"&\\& +4 "core" &Ӭ   ~ 6 +2 "manipulator"&z% +4 "core" % ?     +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&\ ( +164 "core" ( +2 "manipulator"&& +4 "core" & e  + "storage"(`& +4 "core" &K i h l\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&c'< +137 "core" ' +5 .tElbow.hold + "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&v1 +59 "core" 1 +2 "manipulator"&_% +4 "core" % /   +2 "storage"(&& +3 "core" &K u $\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 287 counts +2 "manipulator"&u'[ +16 "core" ' + "manipulator"&& +5 "core" &  + "storage"(U& +5 "core" &K p \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(% +5 "core" % 7\ +2 ."downElevator"SE.seek :down +3 "storage"(h' +99 (% +3 "core" %B n | \ U] +2 "manipulator"& % +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'q& +3 "core" &\ \ ,\ +2 "manipulator"&t% +3 "core" %     +3 "storage"(% +4 "core" % .\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(9([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" &[ _ ] A\ +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 7 + "manipulator"&(r +36 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(~& +5 "core" &[ w \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&1'= +106 "core" ' + "storage"(!& +5 "core" &[ p\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +292 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +4 "core" &[ z h\ +2 "manipulator"& & +4 "core" & u +2 .tElbow.seek 7 +2 "manipulator"& (r +15 "core" ( +2 "manipulator"&& +3 "core" &u +3 "storage"(& +4 "core" &[ ~ | ~\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&='ϧ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&l/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& + "storage"(' +6 "core" &u  +3 "manipulator"&G% +3 "core" % ϯ = o +3 .tForearm.seek :retract + "manipulator"&P' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +20 "core" ( + "manipulator"&& +5 "core" &Ӈ   , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &Ӈ  , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'? +101 "core" ' +3 "manipulator"&I& +3 "core" &Ӈ    , +2 "manipulator"&<% +5 "core" %E \  +2 "collection"'R& +3 "core" &\ \ 3\ +3 "collection"'$& +5 "core" &\ \ X\ +2 .tCC.seek :closed +2 "collection"'7(\\ +5 "core" &\ \ \\\ +6 &<\ \ X\ $d +10 &Xy\ \ S\ 7 +9 &v\ \ W\ K +9 &T\ \ V\ L +10 &V\ \ P\ K +9 &CU\ \ L\ K +10 &U\ \ V\ K +9 &V\ \ N\ K +9 &V\ \ N\ K +10 &KV\ \ J\ K +9 & U\ \ M\ K +9 &!U\ \ O\ J +10 &#Y\ \ N\ K +9 &%TU\ \ N\ J +10 &'W\ \ K\ K +9 &(X\ \ M\ K +9 &*U\ \ I\ K +10 &,ZV\ \ P\ K +9 &.X\ \ R\ K +50 &/U\ \ N\ K +4 &1V\ \ L\ K +2 &3cU\ \ N\ K + &5$U\ \ N\ K + &6V\ \ R\ K + &8V\ \ O\ L +7 &:kV\ \ C\ K +9 &<-V\ \ M\ K +9 &=V\ \ L\ K +10 &?W\ \ R\ K +9 &AqX\ \ U\ L +10 &C3]\ \ N\ L +9 &Dc\ \ N\ L +9 &Fp\ \ O\ N +10 &Hj\ \ M\ Q +9 &J\ .\ )R\ U +9 &K\ 1\ 1P\ W +10 &M\ .\ 2R\ X +9 &O[\ *\ ,P\ Y +10 &Q\ *\ +M\ X +9 &R\ &\ 'P\ Y +9 &T\ %\ %G\ Y +10 &V_\ $\ $N\ Z +9 &X\ "\ #J\ \\ +9 &Y\ \ "N\ \\ +10 &[\ !\ "J\ I +9 &\\3\ \ K\ 1 +10 &\\]\ \ J\ G +2 ( + "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&/% +3 "core" % E   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&A% +3 "core" %   \ )  +3 "storage"(-% +4 "core" % k j \  + "storage"(T. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(8([ +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" &[   %\  +2 "manipulator"&'& +5 "core" &Ӈ    , + "manipulator"&[% +4 "core" %    #  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&N(r +158 "core" ( +2 "manipulator"&& +4 "core" &{    +2 "storage"(B& +4 "core" &[ r m \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +98 "core" ' + "storage"(+& +6 "core" &[ }\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +297 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &[ f Y \  +2 "manipulator"&& +5 "core" &{    + .tElbow.seek 7 +2 "manipulator"&W(r +3 "core" ( +2 "manipulator"&>& +4 "core" &{     + "storage"(E& +5 "core" &[ h j \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&C'ϧ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&X& + "storage"(M' +6 "core" &{    +2 "manipulator"&;% +5 "core" % ϳ ] +3 .tForearm.seek :retract + "manipulator"&H' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&%& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&F' +90 "core" ' +2 "manipulator"&S& +3 "core" &    +3 "manipulator"&2% +3 "core" % \  [ +3 "processing"%6& +3 "core" &\ +3 "processing"%g& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\ +5 &\ 3 +10 &<Gu\ 0 +9 &hs\ D +9 & a\ N +10 &X\ N +9 &V\ M +10 &PW\ N +9 &W\ M +9 &T\ M +10 &Z\ M +9 &YZ\\\ M +9 &!Zx\ M +10 &"Yy\ M +9 &$Zs\ M +10 &&aWv\ M +9 &(#Ys\ M +9 &)Wm\ N +10 &+Wt\ M +9 &-jUr\ M +9 &/*Yt\ N +10 &0Ww\ M +9 &2Yu\ N +10 &4rWq\ M +9 &62Yr\ N +9 &7Wo\ M +10 &9Vm\ M +9 &;xYn\ N +9 &=:Xn\ N +10 &>\\o\ M +9 &@\\o\ M +10 &B^m\ N +9 &D?en\ O +9 &Fll\ O +10 &Gvk\ P +9 &Ivm\ T +9 &K9k\ S +10 &Li\ S +9 &Nh\ T +10 &P}f\ T +9 &R=_\ U +9 &T`\ T +10 &U`\ T +9 &W_\ U +9 &YF^\ T +10 &[a\ T +9 &\\_\ U +10 &^Dkb\ - +9 &^T`\ (q +9 &^4\\\ . +6 ( + "processing"%g& +4 "core" &^^\ . +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&:1 +56 "core" 1 + "manipulator"&D% +48 "core" %    [ +7 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +91 "core" ' +2 "processing"%Z& +3 "core" &^N\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&V% +4 "core" %    +2 "storage"(]% +3 "core" % [ [ \ \  +3 "storage"(n. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(K([ +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (d& +2 "manipulator"&,& +6 "core" &[ 4 R 3\  + &   +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(o'r + "manipulator"&( +7 "core" ( + "manipulator"&L& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &  ]  +3 .tForearm.seek PC +2 "manipulator"&O' +91 "core" ' +3 .tHand.close + "manipulator"&b/ +57 "core" / +2 .tPC.seek :open +2 "processing"%J( +96 "core" ' +2 "storage"(i- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'1 +50 "core" ' +298 ( +2 "storage"(j& +4 "core" &[ h ^ }\  +2 "manipulator"&m& +5 "core" &   + "manipulator"&a% +4 "core" %  8 +2 .tForearm.seek :retract +2 "manipulator"&s' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&^(r +249 "core" ( +2 "manipulator"&e& +3 "core" &    +2 "storage"(p& +5 "core" &[ k k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +104 "core" ' +2 .tHand.open +2 "manipulator"&\\1 +58 "core" 1 +2 "storage"(z- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(}- +3 "core" -' +2 "storage"(& +4 "core" &[ \  +2 "manipulator"&v& +3 "core" &    +3 .tElbow.seek 7 + "manipulator"&_(r +22 "core" ( +2 "manipulator"&&& +3 "core" &x    +2 "storage"(& +5 "core" &[ \  +2 .tForearm.seek 7 + 450 counts + "manipulator"&U'= +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +55 "core" ' + "manipulator"&& +5 "core" &x   + "storage"(& +4 "core" &[ j k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"& '{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(c' +28 "core" ' +2 "manipulator"&q% +3 "core" %΋ 0 0 +2 "storage"(t& +4 "core" &[ Q R T\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&u'Ϸ +14 "core" ' +2 "manipulator"&& +3 "core" &x V  +3 "storage"(& +4 "core" &[ ] [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 7 + 450 counts +3 "manipulator"&r'= +15 "core" ' +2 "storage"(% +3 "core" % _ m _\ +4 ."downElevator"SE.seek :down +3 "storage"(h' +80 "Can"! Pp) +19 "storage"(% +3 "core" %pL O E 1\ Wc +3 "manipulator"&w% +3 "core" %@  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &[ ^ f \  +2 "collection"'~& +4 "core" &\\Y\ \ $\ G +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&!% +5 "core" %    + "storage"(y% +5 "core" % | r L\  + "storage"(. +4 "core" .([ +2 "storage"(*& +3 "core" &[   \  +2 "storage"(x& +4 "core" &[ | ~ \  +2 "manipulator"& & +4 "core" &x   +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( +2 "manipulator"&& +3 "core" &x    +3 "storage"(l& +4 "core" &[ t s 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&('= +89 "core" ' +2 "storage"(G& +3 "core" &[ q J\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &x  V  +2 "storage"(#& +4 "core" &[ _ j ~\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&"'{ +31 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(I'r +32 "core" ' + "manipulator"&<% +4 "core" %Ί / 1 +2 "storage"(R& +3 "core" &[ F F :\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&'϶ +14 "core" ' +2 "manipulator"&P& +4 "core" &x  +2 "storage"(@& +4 "core" &[ Z Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(/' +36 "core" ' +2 "manipulator"&& +3 "core" &x ,  +3 "manipulator"&A% +3 "core" %= +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +168 "core" ( +3 "manipulator"&$& +3 "core" &Ӌ    5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &Ӌ   5 +3 .tForearm.seek CC +2 "manipulator"&''? +101 "core" ' + .tHand.close +2 "manipulator"&[/ +61 "core" / +2 .tCC.seek :open + "collection"'4( +448 "core" ( + "storage"(& +5 "core" &[ ~  \  + "storage"(B& +4 "core" &[ o v \  +2 "manipulator"&9& +3 "core" &Ӎ   5 +2 "manipulator"&+% +6 "core" % )  +2 .tForearm.seek :retract + "manipulator"&5' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&Y(r +154 "core" ( +2 "manipulator"&)& +3 "core" &x   +2 "storage"(0& +5 "core" &[ y w +\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +97 "core" ' +47 .tElbow.hold +3 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +62 "core" 1 +3 "manipulator"&.% +4 "core" % ΁   +2 "storage"(X& +4 "core" &[ x u \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 306 counts + "manipulator"&;'ϭ +16 "core" ' + "manipulator"&N& +4 "core" &x +2 "storage"(& +4 "core" &[ f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +16 "core" ' + "storage"(C% +5 "core" % g\ +2 ."downElevator"SE.seek :down +3 "storage"(%' +99 (f% +3 "core" %F k _ \ U^ +2 "manipulator"&W% +5 "core" %= G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S' +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'2& +3 "core" &\ \ O\ +2 "manipulator"&6% +4 "core" % ! " ( +2 "storage"(M% +4 "core" % ~\  +2 "storage"(H. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(|(<- +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" &<0 ^ [ :\ +3 "manipulator"&D& +4 "core" &x  +2 .tElbow.seek 5 +2 "manipulator"&g( +33 "core" ( +2 "manipulator"&Z& +3 "core" &    +2 "storage"(V& +4 "core" &<0 m i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +101 "core" ' +2 "storage"(n& +4 "core" &<0 j\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'r +295 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (L& +3 "core" &<0 } <\ +3 "manipulator"&Q& +3 "core" & [  +3 .tElbow.seek 5 + "manipulator"&F( +4 "core" ( +2 "manipulator"&b& +4 "core" &  Z  +2 "storage"(8& +3 "core" &<0 t \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&i'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&?/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +6 "storage"( ' +3 "core" & K  + "manipulator"&o% +6 "core" % ϵ  +2 .tForearm.seek :retract +2 "manipulator"&j' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&a& +4 "core" &ӊ&  ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +45 "core" &ӊ&   ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&e'? +102 "core" ' +2 "manipulator"&p& +3 "core" &Ӌ&   ?S +2 "manipulator"&% +5 "core" %H   +2 "collection"'\\& +4 "core" &\ \ N\ +2 "collection"'z& +5 "core" &\ \ T\ +2 .tCC.seek :closed +3 "collection"'}(\\ +3 "core" &\ \ W\ +7 &\ \ S\ : +9 &ILx\ \ Q\ 0 +9 &~u~\ \ K\ E +10 &+Z\ \ T\ L +9 &U\ \ J\ J +9 &Y\ \ H\ K +10 &sV\ \ P\ K +9 &6U\ \ I\ J +10 &U\ \ F\ K +9 &U\ \ @\ K +9 &zV\ \ C\ K +10 &!=W\ \ G\ K +9 &"U\ \ E\ K +9 &$U\ \ J\ J +10 &&U\ \ D\ K +9 &(DU\ \ B\ K +10 &*U\ \ O\ K +9 &+U\ \ J\ K +9 &-Y\ \ O\ K +10 &/MV\ \ M\ K +9 &1U\ \ H\ K +10 &2U\ \ L\ K +55 &4U\ \ H\ K +3 &6TU\ \ M\ K +3 &8S\ \ N\ K +4 &9U\ \ R\ K + &;U\ \ Q\ K + &=\\W\ \ I\ K + &?W\ \ L\ K +6 &@V\ \ I\ K +10 &BW\ \ J\ K +10 &D`_\ \ R\ M +9 &F i\ \ G\ M +9 &G{\ \ B\ O +9 &I\ '\ I\ S +10 &KM\ 1\ /F\ V +9 &M \ /\ .J\ W +10 &N\ -\ +M\ W +9 &P\ )\ )C\ X +9 &RO\ %\ 'N\ X +10 &T \ &\ %D\ Y +9 &U\ #\ &C\ Y +9 &W\ #\ $S\ Z +10 &YN\ #\ "B\ [\ +9 &[\ \ "M\ [\ +10 &\\dF\ "\ !@\ 1 +9 &\\\ \ ">\ J +5 ( +3 "collection"'z& +3 "core" &\\Z\ \ K\ J +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +3 "manipulator"&v% +4 "core" % H    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%&& +4 "core" &\ +2 "manipulator"&% +4 "core" %    +2 "storage"(% +3 "core" % g h W\  +2 "storage"(. +4 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"({(<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &<) ] f =\ +2 "manipulator"&& +4 "core" &ӱ  :- +2 "manipulator"&t% +4 "core" %  \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +167 "core" ( + "manipulator"&& +5 "core" &   * y + "storage"(^& +4 "core" &<) u m \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' + "storage"(& +5 "core" &<) | \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +298 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<) g ^ O\ +3 "manipulator"&w& +4 "core" & \ W y +2 .tElbow.seek 5 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&& +4 "core" & 1 y +2 "storage"( & +3 "core" &<) k i \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(!' +8 "core" & I y + "manipulator"&y% +5 "core" % Ϲ ( +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&*& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &  \ d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +91 "core" ' + "manipulator"&& +5 "core" &  + "manipulator"&l% +5 "core" %  [ +2 "processing"%r& +4 "core" &\ +2 "processing"%G& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%h(^ +4 "core" &\  +9 &2v\ )v +10 &b~\ = +9 &zt\ N +9 &=V\ M +10 &Z3\ M +9 &Vv\ N +9 &Xz\ M +10 &E[r\ M +9 &Zp\ N +10 &Yn\ M +9 & Wo\ M +9 &"MUs\ M +10 &$Zn\ M +9 &%Xp\ N +9 &'Wn\ M +10 &)TYn\ N +9 &+Yt\ M +10 &,Zp\ N +9 &.Wn\ M +9 &0\\Yn\ N +10 &2!Wp\ M +9 &3Wo\ M +9 &5Wl\ M +10 &7eXi\ M +9 &9'Wm\ M +10 &:\\d\ M +9 &<Zg\ M +9 &>l[i\ N +10 &@0Wh\ M +9 &A`b\ N +9 &Cgb\ O +10 &Eoji\ O +9 &G-sc\ Q +10 &Hb\ R +9 &Ja\ T +9 &Lk`\ S +10 &N,_\ T +9 &Oa\ T +9 &Qa\ U +10 &Sqa\ T +9 &U2e\ T +9 &Vc\ T +10 &X_\ T +9 &Zwa\ U +10 &\\9`\ U +9 &]{ue\ : +9 &^)v_\ S +10 &^"a\ 1 +2 ( +2 "processing"%G& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&\ 1 +57 "core" 1 +2 "manipulator"&% +3 "core" %   ? [ +3 .tForearm.reconfigure :loose +49 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&1' +97 "core" ' + "processing"%& +5 "core" &^%A\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&#% +4 "core" % #  4 +2 "storage"( % +3 "core" % ] h C\  +3 "storage"(<. +3 "core" .(<- +2 "storage"(R& +3 "core" &<) Z e \ +3 "storage"(P& +2 "manipulator"&@& +6 "core" &<) ^ i d\ +2 &   +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&A( +7 "core" ( + "manipulator"&(& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & - 0 x +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +3 .tHand.close + "manipulator"&"/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(I- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'1 +48 "core" ' +310 ( +2 "storage"(3& +3 "core" &<) i _ K\ +3 "manipulator"&& +4 "core" &  + "manipulator"&=% +5 "core" % \  6 G +2 .tForearm.seek :retract + "manipulator"&[' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&-( +241 "core" ( +2 "manipulator"&7& +4 "core" &    +2 "storage"(& +4 "core" &<) ^ e 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +93 "core" ' +2 .tHand.open + "manipulator"&91 +54 "core" 1 +2 "storage"(+- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"()' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(0' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"('- +3 "core" -' +2 "storage"(T& +3 "core" &<) \ +3 "manipulator"&E& +4 "core" &   q  +2 .tElbow.seek 5 + "manipulator"&.( +4 "core" ( +2 "manipulator"&X& +3 "core" &   "  +2 "storage"(N& +4 "core" &<) \ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(C'" +49 "core" ' +2 "manipulator"&5& +4 "core" &   +2 "storage"(f& +3 "core" &<) [ \\ \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&W'΍ +26 "core" ' +2 .tElbow.hold + "manipulator"&Y, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&2% +3 "core" %Ι   p +2 "storage"(6& +4 "core" &<) ; @ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 312 counts + "manipulator"&;' +14 "core" ' +2 "manipulator"&M& +4 "core" &    +2 "storage"(H& +3 "core" &<) i i z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&/'O +16 "core" ' +2 "storage"( % +4 "core" % ^ g \ +2 ."downElevator"SE.seek :down +48 "storage"(%' +55 (K% +3 "core" %I O D \ U_ +2 "manipulator"&:% +4 "core" %J  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +107 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (Z& +3 "core" &<) S g \ +3 "collection"'V& +4 "core" &\\Z\ \ 2\ J +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&n% +5 "core" %   # + "storage"(>% +4 "core" % h a A\  +2 "storage"(S. +3 "core" .(<- +2 "storage"(,& +4 "core" &<) \\ ^ ,\ +2 "storage"(L& +4 "core" &<) [ ] \ + "manipulator"&Q& +5 "core" & \   + .tElbow.seek 5 +2 "manipulator"&b( +4 "core" ( + "manipulator"&8& +4 "core" &  \   +2 "storage"(?& +4 "core" &<) ^ \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +96 "core" ' +2 "storage"(o& +4 "core" &<) ~  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(g'r +305 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" &   +3 "storage"(d& +4 "core" &<) j i \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&i'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(p'w +29 "core" ' +2 "manipulator"&% +4 "core" %Θ  +2 "storage"(\\& +4 "core" &<) i i =\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"& ' +15 "core" ' +2 "manipulator"&j& +3 "core" &  &  +3 "storage"(4& +4 "core" &<) \\ [ a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(v' +36 "core" ' +2 "manipulator"&&& +3 "core" &   +2 "manipulator"&% +4 "core" %Q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +150 "core" ( +2 "manipulator"&z& +4 "core" &z'  # : @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &z(   V @W +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close + "manipulator"&t/ +62 "core" / +2 .tCC.seek :open + "collection"'e( +448 "core" ( + "storage"(& +4 "core" &<) n ~ W\ +2 "storage"(^& +3 "core" &<) ^ [ U\ +3 "manipulator"&|& +4 "core" &ӿ   ^ 6 + "manipulator"&% +5 "core" % /   @ +2 .tForearm.seek :retract + "manipulator"&m' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&s( +163 "core" ( +2 "manipulator"&U& +3 "core" &    +2 "storage"(& +4 "core" &<)  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&w'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +61 "core" 1 +5 "manipulator"&u% +3 "core" % ΃  +3 "storage"(~& +4 "core" &<) ~\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 290 counts +2 "manipulator"&y'ϯ +15 "core" ' + "manipulator"&& +4 "core" & ;  +2 "storage"(& +4 "core" &<) x \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&`'O +16 "core" ' + "storage"(% +4 "core" % x\ +3 ."downElevator"SE.seek :down +3 "storage"(*' +99 (x% +3 "core" %D  t \ V^ +2 "manipulator"&_% +4 "core" %D R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'l& +5 "core" &\ \ $\ +2 "manipulator"&r% +4 "core" %    +2 "storage"(!% +4 "core" % t\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(J(K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" &K \\ ] \  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 6 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&& +3 "core" &  u  +2 "storage"(#& +4 "core" &K v -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +107 "core" ' + "storage"(<& +4 "core" &K `\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +294 "core" ' + "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &K t \  +3 "manipulator"&(& +4 "core" &  4  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"& & +5 "core" &   I  + "storage"("& +4 "core" &K ~ \  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&I'h +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(h' +9 "core" &   + "manipulator"&% +5 "core" % s  +2 .tForearm.seek :retract +2 "manipulator"&3' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&=& +3 "core" &ӝ \  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӝ  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&7'? +93 "core" ' +2 "manipulator"&& +4 "core" &ӝ   8 +2 "manipulator"&A% +3 "core" %H  5 +4 "collection"'9& +3 "core" &\ \ c\ +3 "collection"'+& +5 "core" &\ \ 4\ +2 .tCC.seek :closed +2 "collection"''(\\ +5 "core" &\ \ ^\  +8 &4{\ \ ]\ *z +9 & g}\ \ \\\ > +9 &m\ \ a\ L +10 &]V\ \ d\ J +9 &W\ \ e\ K +10 &V\ \ c\ J +9 &U\ \ T\ K +9 &cX\ \ Q\ K +10 &%T\ \ T\ K +9 &V\ \ ]\ K +9 & Y\ \ P\ K +10 &"mV\ \ F\ J +9 &$.V\ \ N\ K +10 &%Z\ \ W\ K +9 &'U\ \ T\ J +9 &)tU\ \ R\ K +10 &+5Y\ \ R\ K +9 &,W\ \ Q\ K +9 &.Z\ \ T\ K +10 &0}W\ \ S\ J +9 &2>W\ \ J\ K +10 &3U\ \ U\ K +9 &5W\ \ S\ K +9 &7T\ \ a\ K +10 &9FW\ \ ]\ K +9 &;U\ \ Y\ K +9 &<W\ \ `\ K +10 &>Z\ \ b\ K +9 &@NW\ \ ]\ K +10 &BZ\ \ `\ K +9 &Ca\ \ V\ L +9 &Ek\ \ V\ M +10 &GMv\ \ `\ N +9 &I\ \ ]\ Q +9 &J\ 1\ /]\ U +10 &L|\ /\ 1W\ V +9 &N<\ .\ /_\ V +10 &O\ ,\ ,`\ X +9 &Q\ (\ *_\ W +9 &S~\ '\ &a\ X +51 &U>\ %\ $W\ Y +4 &V\ "\ $\\\ Y + &X\ %\ !a\ Z +2 &Z\ "\ !a\ Z + &\\$z\ "\ `\ . + &\\1\ \ !`\ ^ +5 ( +2 &\\n\ \ _\ K +2 "collection"'+& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&T1 +64 "core" 1 +2 "manipulator"&E% +5 "core" % H    5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X' +101 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%N& +4 "core" &\ +2 "manipulator"&[% +3 "core" %   u +3 "storage"(5% +4 "core" % h j c\  + "storage"(f. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(2(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &K : B \  +2 "manipulator"&$& +4 "core" &ӡ  8 +2 "manipulator"&M% +4 "core" %    u +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&H( +162 "core" ( +2 "manipulator"&)& +3 "core" &   +2 "storage"( & +5 "core" &K ~ ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +91 "core" ' +2 "storage"(B& +4 "core" &K n _ ~\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(0'r +297 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (:& +2 "core" &K ] g :\  +2 "manipulator"&& +5 "core" &   + .tElbow.seek 6 +2 "manipulator"&.( +4 "core" ( + "manipulator"&C& +5 "core" &    + "storage"(W& +4 "core" &K [ [\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&;'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(V' +9 "core" &  K  + "manipulator"&n% +5 "core" % z   0 +2 .tForearm.seek :retract + "manipulator"&>' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&S( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&,& +4 "core" &   , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +4 "core" & , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Q' +90 "core" ' +2 "manipulator"&8& +3 "core" & M , +3 "manipulator"&?% +4 "core" %  +2 "processing"%/& +3 "core" &<\ +3 "processing"%o& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%%(^ +5 "core" &\ +7 &5A\ $d +9 &Uwx\ 6 +10 &zt\ K +9 &Ro\ M +9 &fV\ M +10 &)Rs\ M +9 &Wp\ M +10 &Wp\ N +9 &nVo\ M +9 &0Zn\ M +10 &Wp\ N +9 &!Vm\ M +9 &#vYn\ M +10 &%7Wr\ N +9 &&Vo\ M +10 &(Wo\ N +9 &*~Wp\ M +9 &,@Wp\ M +10 &.Tj\ M +9 &/Yj\ N +9 &1To\ M +10 &3IVj\ M +9 &5\ Vo\ M +10 &6Yn\ M +9 &8Wl\ M +9 &:QSi\ M +10 &<Zo\ M +9 &=Wg\ N +9 &?Wn\ N +10 &AXYj\ M +9 &C]e\ N +10 &Dei\ O +9 &Fih\ O +9 &HUv`\ Q +10 &Je\ S +9 &Ki\ S +9 &Mb\ S +10 &OT`\ T +9 &Q]\ U +10 &R^\ T +9 &Tb\ U +9 &V[a\ T +10 &Xa\ T +9 &Yb\ U +10 &[`\ T +9 &]aa\ B +9 &^Hya\ Q +10 &^ T^\ 4 +5 ( +2 "processing"%o& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&Y1 +2 "core" &^(d\ 4 +52 1 +2 "manipulator"&D% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +91 "core" ' +2 "processing"%a& +3 "core" &^(a\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&d% +51 "core" %    +2 "storage"(F% +5 "core" % [ Z\  + "storage"(. +4 "core" .(K + "storage"(\\& +5 "core" &K @ K t\  +2 "storage"(j& +2 "manipulator"&4& +8 "core" &K W ? `\  + & h , +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&&( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" ( +3 "manipulator"&k& +3 "core" &  , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +3 "core" & - :  , +2 .tForearm.seek PC +2 "manipulator"&g' +97 "core" ' + .tHand.close +2 "manipulator"&i/ +56 "core" / +2 .tPC.seek :open +2 "processing"% ( +93 "core" ' + "storage"(p- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(z'1 +46 "core" ' +309 ( +2 "storage"(q& +4 "core" &K h h X\  +2 "manipulator"&& +4 "core" &  = , + "manipulator"&O% +6 "core" %   +2 .tForearm.seek :retract + "manipulator"&t' +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +243 "core" ( +2 "manipulator"&}& +3 "core" &   $ +2 "storage"(& +5 "core" &K [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +93 "core" ' +2 .tHand.open + "manipulator"&|1 +62 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(U' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &K p\  +2 "manipulator"& & +4 "core" &   ? $ +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&~& +4 "core" &   $ +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' +2 "manipulator"&m& +4 "core" &  $ +2 "storage"(x& +3 "core" &K f _ A\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&_'< +23 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +19 "core" ' + "manipulator"&l% +4 "core" %D    y +2 "storage"(r& +4 "core" &K W Z\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 308 counts + "manipulator"&y'p +14 "core" ' + "manipulator"&!& +5 "core" &   + $ + "storage"(& +5 "core" &K i k G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +15 "core" ' + "storage"(`% +5 "core" % _ k i\ +2 ."downElevator"SE.seek :down +3 "storage"(*' +99 ({% +3 "core" %J E D \ We +2 "manipulator"&\ % +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +46 "manipulator"&' +97 "core" ' +14 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K _ e "\  +2 "collection"'#& +4 "core" &\\n\ \ 6\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&<% +5 "core" %   H  + "storage"(% +5 "core" % j i \  + "storage"(. +3 "core" .(K +2 "storage"(P& +4 "core" &K j i \  +2 "storage"(@& +5 "core" &K i i \  + "manipulator"&(& +5 "core" & \  $ +2 .tElbow.seek 6 + "manipulator"& ( +5 "core" ( + "manipulator"&"& +4 "core" &   $ +2 "storage"(c& +3 "core" &K i h |\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&1' +96 "core" ' +2 "storage"(& +3 "core" &K m | 2\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +299 "core" ' +2 "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &  # +2 "storage"(& +14 "core" &K \\ ] '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&R'< +17 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(A'n +32 "core" ' +2 "manipulator"&9% +3 "core" %C  +2 "storage"(& +4 "core" &K k l x\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 307 counts + "manipulator"&h'o +16 "core" ' + "manipulator"&3& +5 "core" &  K # + "storage"(e& +4 "core" &K q b @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&T' +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(E' +47 "core" ' +2 "manipulator"&N& +4 "core" &  # +2 "manipulator"&[% +3 "core" %   U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&+(ӂ +158 "core" ( +2 "manipulator"&f& +3 "core" &Ӑ   9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &Ӑ \   9' +3 .tForearm.seek CC +2 "manipulator"&$'? +92 "core" ' +2 .tHand.close + "manipulator"&M/ +60 "core" / + .tCC.seek :open +2 "collection"'7( +448 "core" ( + "storage"()& +4 "core" &K |\  +2 "storage"( & +3 "core" &K | \  +2 "manipulator"&J& +4 "core" &ӧ   6 +2 "manipulator"&B% +4 "core" % Q   +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&X( +154 "core" ( +2 "manipulator"&K& +3 "core" &    +3 "storage"(:& +4 "core" &K ~ | \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +65 "core" 1 +2 "manipulator"&% +4 "core" % P   & + "storage"(Z& +5 "core" &K v u m\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +46 "manipulator"&n'| +16 "core" ' +2 "manipulator"&H& +4 "core" & ] +2 "storage"(-& +3 "core" &K .\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +17 "core" ' + "storage"(;% +5 "core" % q\ +2 ."downElevator"SE.seek :down +5 "storage"(,' +97 (L% +3 "core" %D u  \ V_ +3 "manipulator"&.% +4 "core" % N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +96 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'?& +5 "core" &\ \ [\ + "manipulator"&/% +4 "core" % \    +2 "storage"(V% +4 "core" % l\  +2 "storage"(>. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" &[ ` _ M\  +2 "manipulator"&D& +5 "core" & M +2 .tElbow.seek 7 + "manipulator"&a(r +15 "core" ( +2 "manipulator"&d& +4 "core" &x r  +2 "storage"(o& +3 "core" &[ n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'= +92 "core" ' +2 "storage"(& +3 "core" &[ g\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +292 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &[ | \  +2 "manipulator"&k& +5 "core" &x b  + .tElbow.seek 7 +2 "manipulator"&b(r +4 "core" ( + "manipulator"&Q& +4 "core" &x  +2 "storage"(i& +4 "core" &[ w s Y\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&p'ϧ +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(%' +9 "core" &x  + "manipulator"&% +5 "core" % ϧ % +2 .tForearm.seek :retract +2 "manipulator"&q' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&O& +4 "core" &Ӟ   ! :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &Ӟ   :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&}'? +93 "core" ' +2 "manipulator"&& +3 "core" &ӟ!   :* +3 "manipulator"&&% +4 "core" %:   Y +2 "collection"'|& +3 "core" &\ \ b\ +3 "collection"'& +6 "core" &\ \ _\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ d\ +7 &<\ \ d\ %g +10 &Yx\ \ d\ 7 +9 &y\ \ c\ J +9 &T\ \ \\\ K +10 &U\ \ c\ K +9 &JW\ \ c\ J +10 & V\ \ [\ K +9 &Z\ \ [\ K +9 &Y\ \ c\ K +10 &RU\ \ ^\ J +9 & T\ \ `\ K +9 &!W\ \ c\ K +10 &#Y\ \ b\ K +9 &%ZU\ \ Z\ J +10 &'U\ \ T\ K +9 &(X\ \ T\ K +9 &*S\ \ T\ K +10 &,bU\ \ V\ J +9 &.#U\ \ V\ K +9 &/U\ \ T\ J +10 &1V\ \ Y\ K +9 &3hU\ \ V\ K +13 &5+U\ \ T\ K +6 &6Y\ \ X\ K +9 &8U\ \ \\\ K +10 &:pY\ \ `\ K +9 &<3U\ \ `\ K +9 &=X\ \ b\ K +10 &?U\ \ `\ K +9 &AyW\ \ `\ K +10 &C9[\ \ \ a\ L +9 &Dc\ \ \ [\ L +9 &Fl\ \ a\ N +10 &Hq\ \ `\ P +9 &J'\ /\ *`\ U +9 &K\ 4\ 3`\ V +10 &M\ 0\ 0a\ W +9 &Oe\ ,\ -a\ W +10 &Q'\ +\ *a\ W +9 &R\ '\ (^\ X +9 &T\ %\ 'a\ X +10 &Vg\ %\ %`\ Y +9 &X'\ #\ "`\ Z +9 &Y\ #\ #`\ [ +10 &[\ "\ _\ H +9 &\\1\ \ !W\ 0 +10 &\\b\ \ !^\ K +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +6 "manipulator"& % +4 "core" % :   = Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +4 "core" &\\\ +2 "manipulator"&t% +3 "core" %     +2 "storage"(m% +5 "core" % j i \  + "storage"(x. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(l([ +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +3 "core" &[   d\  +3 "manipulator"&z& +3 "core" &ӣ  8 9& +2 "manipulator"&!% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +162 "core" ( +2 "manipulator"&U& +4 "core" &u    +2 "storage"(`& +4 "core" &[ _ ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' +2 "storage"(^& +3 "core" &[   d\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &[ K [ \  +2 "manipulator"&& +4 "core" &u   +3 .tElbow.seek 7 + "manipulator"&u(r +4 "core" ( +2 "manipulator"&& +4 "core" &u    +2 "storage"(_& +4 "core" &[ e [\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&#& + "storage"(<' +7 "core" &u T  +2 "manipulator"&% +4 "core" % ϯ \ \ j +2 .tForearm.seek :retract +2 "manipulator"&w' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&P& +3 "core" &  ,  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &@& +3 "core" &  @  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +101 "core" ' +2 "manipulator"&"& +3 "core" &  \ J  +2 "manipulator"&c% +4 "core" %  +2 "processing"%v& +5 "core" &Z\ +2 "processing"%& +5 "core" &d\ +2 .tPC.seek :closed +2 "processing"%*(^ +5 "core" &s\ +7 & -u\ $c +9 &V{o\ 7 +10 &yo\ K +9 &Up\ N +9 &YVn\ M +10 &Qn\ M +9 &Wn\ M +10 &Tp\ M +9 &aVp\ M +9 &#Uo\ M +10 &Uo\ M +9 &!Wo\ M +9 &#jTp\ M +10 &%*Xo\ N +9 &&Wo\ M +9 &(Xh\ M +10 &*rSg\ M +9 &,3Wk\ M +10 &-Yn\ M +9 &/Xi\ M +9 &1yTl\ M +10 &3<Xi\ M +9 &4Uh\ M +9 &6Wf\ M +10 &8X`\ N +9 &:CV_\ M +10 &<T_\ M +9 &=T_\ M +9 &?U_\ M +10 &AKU\\\ M +9 &C a`\ O +9 &Da_\ O +10 &Fn`\ P +9 &HG{a\ Q +10 &J`\ S +9 &K]\ S +9 &M\\\ T +10 &OIc\ S +9 &Q_\ U +9 &Ra\ T +10 &T^\ U +9 &VMb\ U +10 &X^\ T +9 &Ya\ T +9 &[^\ U +10 &]T_\ G +9 &^zE`\ _ +9 &^8a\ 0 +6 ( + "processing"%& +4 "core" &^^\ 0 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&s1 +53 "core" 1 +2 "manipulator"&% +4 "core" %    T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 "processing"%=& +4 "core" &^I\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %   ]  +2 "storage"(% +4 "core" % f h L\  +2 "storage"(9. +4 "core" .([ + "storage"(& +49 "core" &[ h ^ D\  +5 "storage"(3& +2 "manipulator"&e& +8 "core" &[ e [ \  + &  \ L  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&N( +4 ."raiseStack"SE.seek :beamBreak + "storage"(['r +3 "core" ( +2 "manipulator"&1& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   Q  +3 .tForearm.seek PC + "manipulator"&G' +96 "core" ' +2 .tHand.close + "manipulator"&R/ +56 "core" / +2 .tPC.seek :open + "processing"%h( +92 "core" ' + "storage"(A- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'1 +44 "core" ' +309 ( +2 "storage"(6& +4 "core" &[ ^ f J\  +2 "manipulator"&T& +19 "core" &   + "manipulator"&I% +4 "core" %  # +3 .tForearm.seek :retract + "manipulator"&M' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&5(r +248 "core" ( + "manipulator"&'& +4 "core" &}   / +2 "storage"()& +4 "core" &[ h ^ 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +105 "core" ' +2 .tHand.open + "manipulator"&J1 +57 "core" 1 +3 "storage"(B- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(K' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(:' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"(+& +4 "core" &[ U\  +2 "manipulator"&W& +4 "core" &}   / +2 .tElbow.seek 7 +2 "manipulator"&(r +9 "core" ( +2 "manipulator"&Z& +3 "core" &~   6  +2 "storage"(H& +5 "core" &[ i\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&-'= +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(;'" +53 "core" ' +2 "manipulator"&& +4 "core" &~   +2 "storage"(X& +3 "core" &[ [ [\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&L'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&., +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&?% +4 "core" %Ό 1 1 +2 "storage"(n& +4 "core" &[ O Q \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&/'ϸ +13 "core" ' +2 "manipulator"&V& +4 "core" &~     +2 "storage"(>& +4 "core" &[ [ ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'= +17 "core" ' +2 "storage"(0% +3 "core" % ~  \ +3 ."downElevator"SE.seek :down +4 "storage"(,' +99 (2% +3 "core" %L E G\ Vc +2 "manipulator"&Y% +4 "core" %:  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (d& +4 "core" &[ s e u\  +2 "collection"'o& +49 "core" &\\`\ \ Z\ K +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +6 "core" %  \  S x +2 "storage"(C% +4 "core" %   \  +2 "storage"(8. +3 "core" .([ +2 "storage"(j& +3 "core" &[  ~ \  +3 "storage"(4& +4 "core" &[   \  + "manipulator"&k& +5 "core" &~   +2 .tElbow.seek 7 + "manipulator"&Q(r +9 "core" ( +2 "manipulator"&i& +3 "core" &~  ^  +2 "storage"(S& +5 "core" &[   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&]'= +95 "core" ' + "storage"(& +4 "core" &[  ~ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +305 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&O& +3 "core" &~   +2 "storage"(g& +4 "core" &[ i h G\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&\\'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(&'r +29 "core" ' +2 "manipulator"&|% +3 "core" %Ό  ( +2 "storage"(b& +5 "core" &[ = = \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&%'ϸ +13 "core" ' + "manipulator"&q& +5 "core" &~ L  +2 "storage"(7& +3 "core" &[ ] [ )\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +16 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +40 "core" ' +2 "manipulator"&& +4 "core" &~ t  +2 "manipulator"&t% +4 "core" %/  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&x(ӂ +151 "core" ( +2 "manipulator"&& +3 "core" &~&   ?P +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &r& +3 "core" &~& , ?P +3 .tForearm.seek CC + "manipulator"&z'? +97 "core" ' +2 .tHand.close + "manipulator"&!/ +58 "core" / +2 .tCC.seek :open +2 "collection"'}( +447 "core" ( +2 "storage"(U& +4 "core" &[ ~ { \  +2 "storage"(`& +3 "core" &[ ~  \  +2 "manipulator"&& +4 "core" &ӻ   6 +2 "manipulator"&^% +3 "core" % .   +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&~(r +165 "core" ( + "manipulator"&{& +4 "core" &g \  \  +2 "storage"(\ & +4 "core" &[ z E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +102 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&_1 +55 "core" 1 +2 "manipulator"&y% +3 "core" % Ή   +3 "storage"(#& +4 "core" &[ | \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 314 counts + "manipulator"&'ϵ +14 "core" ' +2 "manipulator"&& +3 "core" &g "  +3 "storage"(& +4 "core" &[ m\  +45 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +18 "core" ' + "storage"(% +5 "core" % t\ +2 ."downElevator"SE.seek :down +4 "storage"(P' +98 (@% +3 "core" %E   \ U^ +2 "manipulator"&u% +4 "core" %* " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'c& +4 "core" &\ \ 4\ +2 "manipulator"&v% +4 "core" %   '  +2 "storage"(<% +3 "core" % l\  +2 "storage"(w. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +677 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +3 "core" &<+ v P\ +3 "manipulator"&& +3 "core" &g   +2 .tElbow.seek 5 +2 "manipulator"&=( +22 "core" ( + "manipulator"&& +4 "core" &     +2 "storage"(& +3 "core" &<+ h\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +97 "core" ' + "storage"(& +5 "core" &<+ `\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +3 "core" &<+ w  N\ +2 "manipulator"&1& +5 "core" &    + .tElbow.seek 5 +2 "manipulator"& ( +21 "core" ( +2 "manipulator"&(& +5 "core" &  ?  + "storage"(R& +5 "core" &<+ ~\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&A'Ϲ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(*' +6 "core" & U  +2 "manipulator"&[% +6 "core" %  L +2 .tForearm.seek :retract + "manipulator"&6' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&I& +5 "core" &Ӑ%  >J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +2 "core" &Ӑ%  >J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&''? +93 "core" ' +3 "manipulator"&)& +3 "core" &Ӑ%   >J +2 "manipulator"&N% +5 "core" %I  u 3 +2 "collection"'J& +4 "core" &\ \ D\ +2 "collection"'B& +6 "core" &\ \ <\ +2 .tCC.seek :closed +2 "collection"'$(\\ +4 "core" &\ \ ]\  +9 &5\ \ h\ +{ +10 & g~\ \ _\ > +9 &k\ \ h\ L +9 &[Q\ \ f\ K +10 &T\ \ g\ K +9 &U\ \ b\ K +10 &X\ \ \\\ K +9 &dT\ \ d\ J +9 &%W\ \ `\ K +10 &W\ \ g\ K +9 & S\ \ b\ K +9 &"lU\ \ d\ J +10 &$-U\ \ c\ K +9 &%Y\ \ e\ K +10 &'S\ \ g\ K +9 &)tT\ \ a\ J +9 &+6U\ \ V\ J +10 &,U\ \ a\ K +9 &.V\ \ _\ J +9 &0{V\ \ `\ K +10 &2<Y\ \ d\ K +9 &4U\ \ c\ J +10 &5W\ \ b\ K +9 &7T\ \ S\ J +9 &9EU\ \ U\ K +10 &;U\ \ W\ J +9 &<U\ \ V\ K +9 &>W\ \ T\ J +10 &@LW\ \ Y\ K +9 &BX\ \ `\ K +10 &C_\ \ [\ L +9 &Ef\ \ W\ M +9 &GKs\ \ V\ N +10 &I\ \ `\ R +9 &J\ /\ +Y\ V +9 &Lx\ .\ /[\ W +10 &N9\ +\ -[\ W +9 &O\ (\ ,[\ W +10 &Q\ &\ (_\ X +9 &S|\ %\ %X\ X +9 &U:\ $\ $_\ Z +10 &V\ !\ $a\ Z +9 &X\ #\ "Y\ [ +9 &Z~\ #\ !Y\ Z +10 &\\y\ #\ "W\ / +9 &\\4\ !\ !T\ !e +9 ( +3 "collection"'B& +2 "core" &\\m\ \ Z\ K +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&+1 +53 "core" 1 +2 "manipulator"&W% +4 "core" % I   3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +138 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%M& +4 "core" &j\ +2 "manipulator"&H% +4 "core" %     +2 "storage"(% +4 "core" % ^ h ,\  +2 "storage"(X. +3 "core" .(<- +2 "storage"(?& +4 "core" &<+ i _ Q\ + "storage"(f& +4 "core" &<+ e Z \ +3 "manipulator"&n& +4 "core" &Ӳ  9( +2 "manipulator"&V% +3 "core" %  \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&K( +163 "core" ( + "manipulator"&>& +5 "core" &   + "storage"(0& +4 "core" &<+ [ ^ I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +94 "core" ' +2 "storage"( & +4 "core" &<+   J\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(:'r +299 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" &<+ g \\\ +3 "manipulator"&-& +4 "core" & 3  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&;& +4 "core" &   +2 "storage"(L& +3 "core" &<+ i i \ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&d'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& + "storage"(' +6 "core" &   +3 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&C' +95 "core" ' +3 .tElbow.seek PC + "manipulator"&8( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&j& +3 "core" &  *  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&k' +100 "core" ' +2 "manipulator"&i& +3 "core" &   +3 "manipulator"&S% +4 "core" %  m +2 "processing"%E& +3 "core" &{\ +3 "processing"%& +6 "core" &q\ +2 .tPC.seek :closed +3 "processing"%,(^ +2 "core" &p\ +6 &o\ 6 +10 &@Hsp\ / +9 &hqn\ D +9 &\ `p\ M +10 &Wn\ M +9 &Uo\ M +9 &PUo\ M +10 &Vn\ M +9 &Yo\ M +9 &Wm\ M +10 &YVo\ M +9 &!Vo\ M +10 &"Wi\ M +9 &$Ym\ M +9 &&aWl\ M +10 &(#Wl\ M +9 &)Ul\ M +9 &+Vl\ M +10 &-iWm\ M +9 &/+Vb\ M +10 &0Uf\ M +9 &2Wd\ M +9 &4rU`\ M +10 &63Xa\ M +9 &7W`\ M +10 &9X^\ M +9 &;xZ`\ M +9 &=:W`\ M +10 &>[^\ M +9 &@Y`\ N +9 &B}c_\ N +10 &D>c`\ O +9 &Enb\ O +10 &G{e\ Q +9 &Iw`\ S +9 &K8b\ S +10 &La\ T +9 &N`\ T +9 &P|^\ T +10 &R=`\ T +9 &S`\ V +9 &Ua\ T +10 &W`\ T +9 &YD`\ U +10 &[a\ T +9 &\\a\ U +9 &^Bja\ , +10 &^\ _]\ +x +9 &_,\\\ , +5 ( +2 "processing"%& +4 "core" &_]\ , +2 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&.1 +56 "core" 1 +2 "manipulator"&D% +4 "core" %   * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +92 "core" ' +2 "processing"%O& +3 "core" &_:\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&g% +4 "core" %    +2 "storage"(% +4 "core" % [ [\  +2 "storage"(|. +3 "core" .(<- +2 "storage"(b& +4 "core" &<+ [ ]\ +2 "storage"(q& +2 "manipulator"&7& +7 "core" &<+ ^ \\ \ +2 &   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +51 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(t'r +2 "core" ( +3 "manipulator"&]& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" & 7 * R  +3 .tForearm.seek PC +2 "manipulator"&a' +95 "core" ' +2 .tHand.close + "manipulator"&\\/ +55 "core" / +2 .tPC.seek :open +2 "processing"%%( +94 "core" ' + "storage"(&- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +49 "core" ' +302 ( + "storage"(r& +4 "core" &<+ i i \ +2 "manipulator"&& +4 "core" &   +2 "manipulator"&p% +3 "core" %   . +3 .tForearm.seek :retract + "manipulator"&!' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&m( +244 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(U& +4 "core" &<+ h ^ ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +106 "core" ' + .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(^- +9 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"({' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\ ' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +3 "core" -' +2 "storage"(x& +4 "core" &<+ \ +2 "manipulator"&_& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&y( +4 "core" ( + "manipulator"&#& +5 "core" &    + "storage"(& +4 "core" &<+ ?\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(@& +5 "core" &<+ \\ _ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&~'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&u, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&c% +3 "core" %Γ   Z +2 "storage"(& +4 "core" &<+ W e =\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&v'Ͽ +16 "core" ' +2 "manipulator"&<& +3 "core" &  T  +2 "storage"(w& +4 "core" &<+ _ j N\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +16 "core" ' +2 "storage"(% +3 "core" % ^ ^ \ +3 ."downElevator"SE.seek :down +4 "storage"(P' +98 (l% +4 "core" %P D D\ We +2 "manipulator"&s% +3 "core" %P \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<+ i ^ O\ +2 "collection"'& +3 "core" &\\m\ \ W\ K +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" % \  +2 "storage"(% +3 "core" %  n \  +2 "storage"(". +4 "core" .(<- +2 "storage"(3& +4 "core" &<+ { q h\ +2 "storage"(e& +3 "core" &<+ ~  \ +2 "manipulator"&1& +49 "core" &   +4 .tElbow.seek 5 +2 "manipulator"&(( +15 "core" ( +2 "manipulator"&R& +4 "core" &    +2 "storage"(& +4 "core" &<+   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +113 "core" ' +2 "storage"([& +4 "core" &<+ k\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(='r +298 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &   +2 "storage"(G& +4 "core" &<+ ^ ^ x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(N'w +31 "core" ' + "manipulator"&J% +4 "core" %Ι  +2 "storage"( & +4 "core" &<+ i h I\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&*' +15 "core" ' +2 "manipulator"&6& +4 "core" &   +2 "storage"(}& +3 "core" &<+ ^ ] V\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(W' +43 "core" ' + "manipulator"&B& +4 "core" & 3  +2 "manipulator"&M% +5 "core" %T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&X& +4 "core" &ӎ#   <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &ӏ#  << +3 .tForearm.seek CC + "manipulator"&f'? +99 "core" ' + .tHand.close +2 "manipulator"&n/ +58 "core" / +2 .tCC.seek :open + "collection"'V( +448 "core" ( + "storage"('& +5 "core" &<+ _ m q\ + "storage"(>& +4 "core" &<+ q | 0\ +2 "manipulator"&0& +4 "core" &Ӱ  8 +2 "manipulator"& % +4 "core" % E   +2 .tForearm.seek :retract + "manipulator"&T' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Z( +161 "core" ( + "manipulator"&2& +4 "core" &  +2 "storage"(Y& +4 "core" &<+ { W\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&-'΍ +92 "core" ' +2 .tElbow.hold + "manipulator"&;, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&L1 +62 "core" 1 +2 "manipulator"&/% +5 "core" % Η \ 0  + "storage"(o& +4 "core" &<+ g h \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&K& +3 "core" & :  +2 "storage"(5& +5 "core" &<+ d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&:'O +16 "core" ' +2 "storage"(d% +3 "core" % d\ +3 ."downElevator"SE.seek :down +4 "storage"(j' +98 (4% +10 "core" %E k _ \ U^ +2 "manipulator"&% +5 "core" %M R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'S& +4 "core" &\ \ [\ +2 "manipulator"&E% +4 "core" %   #  +2 "storage"(% +4 "core" % o\  +2 "storage"(C. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(h(K +367 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +3 "core" &K ^ ] 7\  +2 "manipulator"&D& +5 "core" &   +2 .tElbow.seek 6 + "manipulator"&O( +4 "core" ( +2 "manipulator"&g& +4 "core" &   +2 "storage"(& +4 "core" &K u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +101 "core" ' +2 "storage"(b& +4 "core" &K ]\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(7'r +300 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K x v\  +2 "manipulator"&]& +3 "core" &  +3 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&k& +5 "core" & q  + "storage"(\\& +4 "core" &K s 9\  +4 .tForearm.seek 6 + 300 counts +2 "manipulator"&8'h +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(,' +7 "core" & "  +2 "manipulator"&t% +4 "core" % m  +2 .tForearm.seek :retract + "manipulator"&r' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +158 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&p& +5 "core" &ә  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &ә  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +22 "manipulator"&U& +3 "core" &ә   8 +3 "manipulator"&% +4 "core" %E   # +2 "collection"'& +3 "core" &\ \ [\ +3 "collection"'^& +5 "core" & \ e\ +2 .tCC.seek :closed +3 "collection"'z(\\ +4 "core" &\ f\ +5 &\ \ j\ : +10 &IKv\ \ _\ 0 +9 &~v}\ \ `\ D +9 &*Y\ \ [\ K +10 &S\ \ e\ K +9 &T\ \ d\ K +10 &qT\ \ _\ K +9 &3S\ \ ^\ K +9 &R\ \ _\ K +10 &W\ \ ^\ K +9 &zT\ \ c\ K +9 &!<S\ \ \\\ K +10 &"R\ \ f\ J +9 &$T\ \ \\\ K +10 &&S\ \ \\\ K +9 &(DT\ \ e\ K +9 &*W\ \ \\\ J +10 &+T\ \ ^\ K +9 &-T\ \ c\ K +9 &/LT\ \ [\ K +10 &1Y\ \ _\ K +9 &2Y\ \ _\ J +10 &4U\ \ Z\ J +9 &6TT\ \ V\ K +9 &8T\ \ \\\ K +10 &9T\ \ a\ K +9 &;T\ \ d\ J +9 &=\\W\ \ _\ J +10 &?V\ \ _\ J +9 &@X\ \ U\ J +10 &B\\\ \ V\ L +9 &D`b\ \ \ U\ L +9 &F k\ \ S\ M +10 &G}\ \ f\ O +9 &I\ )\ "c\ S +9 &KJ\ 3\ 2`\ V +10 &M \ 1\ 2`\ W +9 &N\ -\ .\\\ V +10 &P\ *\ )X\ W +9 &RM\ )\ '^\ X +9 &T \ &\ '_\ Y +10 &U\ %\ $a\ Y +9 &W\ #\ #_\ Z +9 &YM\ "\ #`\ [ +10 &[\ !\ "b\ [\ +9 &\\eG\ \ !_\ 1 +9 &\\\ \ a\ J +6 ( +2 "collection"'^& +4 "core" &\\]\ \ a\ J +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&x1 +56 "core" 1 + "manipulator"&_% +5 "core" % E   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &x\ +2 "manipulator"&!% +4 "core" %     +2 "storage"(% +3 "core" % i j \  +2 "storage"(@. +4 "core" .(K + "storage"(& +4 "core" &K h k e\  +46 "storage"(c& +7 "core" &K i i \  +2 "manipulator"&& +4 "core" &ө  6 +2 "manipulator"&{% +5 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&<( +162 "core" ( + "manipulator"&w& +5 "core" &    + "storage"(& +5 "core" &K ~  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +91 "core" ' +3 "storage"(`& +3 "core" &K | \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'r +296 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" &K [ g \  +2 "manipulator"&& +4 "core" & ^  +2 .tElbow.seek 6 +2 "manipulator"&y( +4 "core" ( + "manipulator"&& +4 "core" & \ A  +2 "storage"(~& +4 "core" &K k i \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&v'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +8 "core" &   + "manipulator"&% +5 "core" % _   + +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&3& +3 "core" &   n * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &  * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&1' +92 "core" ' +2 "manipulator"&R& +4 "core" & 7 ) +2 "manipulator"&% +3 "core" %  p +3 "processing"% & +3 "core" &\ +3 "processing"%[& +5 "core" &\ +3 .tPC.seek :closed +3 "processing"%P(^ +2 "core" &g\ +6 &o\ 7 +10 &JIv}\ 0 +9 &ys~q\ E +10 &[o\ M +9 &Vo\ M +9 &Ro\ M +10 &gUl\ M +9 &(Vo\ M +9 &Wo\ M +10 &Xo\ M +9 &mWo\ M +10 &!0Tn\ M +9 &"Wq\ M +9 &$Xp\ N +10 &&vVk\ M +9 &(8Um\ M +9 &)Vp\ M +10 &+Wo\ M +9 &-~Wm\ M +10 &/?Wo\ M +9 &1Wg\ M +9 &2V]\ M +10 &4Ul\ M +9 &6HWh\ M +9 &8\ Vd\ M +10 &9Yg\ M +9 &;Yc\ M +10 &=PTb\ M +9 &?YX\ N +9 &@Y[\ M +10 &B[_\ N +9 &DU``\ N +9 &Fka\ O +10 &Gr]\ P +9 &I`\ R +10 &KMZ\ S +9 &MZ\ S +9 &Nd\ T +10 &Pa\ T +9 &RR`\ T +9 &Tb\ T +10 &U`\ T +9 &Wa\ T +10 &YYa\ U +9 &[b\ T +9 &\\b\ U +10 &^I\\_\ $o +9 &^ba\ 4 +9 ( +2 "processing"%[& +3 "core" &^]\ . +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&u1 +62 "core" 1 +2 "manipulator"&% +3 "core" %   p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +97 "core" ' +3 "processing"%I& +4 "core" &^I\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&G% +3 "core" % #  2 3 +3 "storage"()% +4 "core" % e h\  +2 "storage"(J. +3 "core" .(K +2 "storage"( & +3 "core" &K [ [\  +3 "storage"(6& +3 "manipulator"&}& +6 "core" &K ^ [ \  + &  ) +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&B( +6 ."raiseStack"SE.seek :beamBreak + "storage"(M'r +2 "core" ( +3 "manipulator"& & +4 "core" &  ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" & 1 1  ) +2 .tForearm.seek PC +48 "manipulator"&=' +94 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%*( +52 "core" ' +2 "storage"(N- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +44 "core" ' +348 ( +2 "storage"(?& +3 "core" &K i i \  +3 "manipulator"&+& +4 "core" &  ) + "manipulator"&A% +4 "core" % { ? +3 .tForearm.seek :retract + "manipulator"&n' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&H( +244 "core" ( +2 "manipulator"&$& +4 "core" &    +2 "storage"('& +4 "core" &K [ e S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +93 "core" ' +2 .tHand.open + "manipulator"&01 +55 "core" 1 +3 "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(2' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(Y' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(& +4 "core" &K z u\  +2 "manipulator"&L& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&/( +4 "core" ( +2 "manipulator"&o& +4 "core" &    +2 "storage"(K& +3 "core" &K } G\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&5' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(d'" +49 "core" ' + "manipulator"&T& +5 "core" &   + "storage"(4& +4 "core" &K e [ )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +27 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(-' +20 "core" ' +2 "manipulator"&S% +4 "core" %J  +2 "storage"(E& +4 "core" &K S : w\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&'v +15 "core" ' +2 "manipulator"&& +4 "core" &  6  +2 "storage"(C& +3 "core" &K f ] *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +17 "core" ' +2 "storage"(:% +4 "core" % f h 4\ +2 ."downElevator"SE.seek :down +4 "storage"(j' +98 ( % +3 "core" %_T F C\ We +2 "manipulator"&.% +6 "core" % \ \ ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +96 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +3 "core" &K g t C\  +3 "collection"'& +4 "core" &\\]\ \ e\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&b% +4 "core" %   +2 "storage"(;% +3 "core" %  u a\  +2 "storage"(i. +3 "core" .(K +2 "storage"(q& +4 "core" &K  ~ \  +2 "storage"(& +4 "core" &K   \  +2 "manipulator"&]& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&k( +4 "core" ( +2 "manipulator"&\\& +4 "core" & \ d  +2 "storage"(&& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +46 "manipulator"&F' +95 "core" ' +2 "storage"(t& +4 "core" &K | \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'r +298 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&p& +3 "core" &   +2 "storage"(a& +4 "core" &K Z ]\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&7'< +23 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Q- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(U'm +32 "core" ' +2 "manipulator"&% +4 "core" %N   +2 "storage"(& +3 "core" &K \\ ]\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&,'z +16 "core" ' +2 "manipulator"&r& +3 "core" &  O  +5 "storage"(V& +10 "core" &K | \  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(_' +39 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&!% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +150 "core" ( +2 "manipulator"&& +3 "core" &{*   Bj +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &{* \  Bj +3 .tForearm.seek CC + "manipulator"&c'? +102 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'{( +448 "core" ( + "storage"(& +4 "core" &K m { &\  +2 "storage"(w& +3 "core" &K } I\  +3 "manipulator"&& +4 "core" &  9$ +2 "manipulator"&`% +3 "core" % 1  j +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&#( +167 "core" ( + "manipulator"&l& +4 "core" &     +2 "storage"(s& +3 "core" &K m\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +94 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +62 "core" 1 +2 "manipulator"&% +5 "core" % O 3  + "storage"(& +4 "core" &K S\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&'{ +23 "core" ' +2 "manipulator"&<& +4 "core" &  +2 "storage"(m& +3 "core" &K a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +15 "core" ' + "storage"(v% +5 "core" % j\ +2 ."downElevator"SE.seek :down +4 "storage"(3' +98 (e% +3 "core" %C m v %\ V` +2 "manipulator"&y% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +50 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +3 "core" &\ \ m\ +2 "manipulator"& % +5 "core" %    +2 "storage"(% +4 "core" % o\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(%([ +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +3 "core" &[ _ ] .\  +2 "manipulator"&& +5 "core" &   +2 .tElbow.seek 7 + "manipulator"&I(r +36 "core" ( + "manipulator"&G& +4 "core" &    +2 "storage"()& +4 "core" &[ e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&J'= +105 "core" ' + "storage"([& +5 "core" &[ [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +292 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &[ {\  +3 "manipulator"& & +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&((r +26 "core" ( +2 "manipulator"&1& +4 "core" &n / g + "storage"(& +4 "core" &[ x m \  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&N'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +6 "storage"(P' +2 "core" &n  L g +3 "manipulator"&M% +5 "core" % ϭ  / +2 .tForearm.seek :retract + "manipulator"&?' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&A& +4 "core" &Ӑ" \  ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &Ӑ"  ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'? +93 "core" ' +3 "manipulator"&'& +4 "core" &Ӑ"   ! ;7 +2 "manipulator"&B% +4 "core" %H  : +2 "collection"'0& +4 "core" &\ \ P\ +3 "collection"' & +5 "core" &\ \ L\ +2 .tCC.seek :closed +2 "collection"'f(\\ +4 "core" &\ \ o\ +8 &;\ \ o\ $e +9 &Yy\ \ z\ 7 +9 &v\ \ u\ J +10 &T\ \ x\ K +9 &Y\ \ q\ K +9 &CX\ \ v\ K +10 &X\ \ x\ K +9 &Y\ \ |\ K +10 &Y\ \ u\ K +9 &MT\ \ q\ J +9 & U\ \ u\ J +10 &!U\ \ p\ J +9 &#Y\ \ s\ K +9 &%TX\ \ o\ K +10 &'W\ \ k\ J +10 &(U\ \ r\ J +9 &*Y\ \ r\ J +9 &,\\V\ \ r\ J +9 &.U\ \ p\ K +10 &/T\ \ `\ K +9 &1U\ \ o\ K +9 &3dU\ \ o\ K +10 &5&Y\ \ r\ K +9 &6Y\ \ n\ K +10 &8U\ \ m\ K +9 &:lU\ \ o\ K +9 &<.Z\ \ o\ K +10 &=W\ \ n\ K +9 &?T\ \ o\ K +9 &AsU\ \ i\ K +10 &C3\\\ \ n\ L +9 &Df\ \ \ \ p\ L +10 &Fk\ \ a\ M +9 &Hl\ \ h\ P +9 &J#\ /\ *g\ T +10 &K\ 3\ 3d\ V +9 &M\ 0\ 0f\ W +9 &O`\ ,\ /f\ W +10 &Q!\ *\ +a\ W +9 &R\ '\ (`\ X +10 &T\ &\ (e\ Y +9 &Vb\ #\ %c\ Y +9 &X"\ "\ #h\ Z +10 &Y\ "\ "h\ Z +9 &[\ $\ !h\ G +9 &\\9\ \ "c\ *~ +10 &\\k\ \ e\ J +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&L% +4 "core" % H   : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +103 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%K& +4 "core" &Y\ +2 "manipulator"&n% +3 "core" %   { +3 "storage"(T% +4 "core" % ^ ^ \  +2 "storage"(4. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(S([ +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +3 "core" &[  $ %\  +2 "manipulator"&X& +4 "core" &ӭ 7 +2 "manipulator"&% +4 "core" %   { +2 .tElbow.reconfigure :tight +50 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&C(r +164 "core" ( + "manipulator"&2& +4 "core" &u  X  +2 "storage"(:& +4 "core" &[ { A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&H'= +90 "core" ' +3 "storage"(>& +4 "core" &[ | \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Y'r +297 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &[ Y \\\  +2 "manipulator"&5& +4 "core" &u   +2 .tElbow.seek 7 +2 "manipulator"&/(r +3 "core" ( +2 "manipulator"&d& +4 "core" &u    +2 "storage"(& +3 "core" &[ ^ ^ 5\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(b' +8 "core" &u   + "manipulator"&;% +5 "core" % ϵ  D +2 .tForearm.seek :retract +2 "manipulator"&i' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&q& +3 "core" &  \ H % +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&]' +103 "core" ' +2 "manipulator"&\\& +4 "core" &    % +2 "manipulator"&&% +4 "core" %  +2 "processing"%W& +4 "core" &e\ +2 "processing"%t& +6 "core" &f\ +2 .tPC.seek :closed +2 "processing"%j(^ +4 "core" &{\ +7 &5z\ #b +9 &T{l\ 6 +10 &{o\ K +9 &Vp\ N +10 &`Wn\ M +9 &#Tn\ M +9 &Wm\ M +10 &Uq\ M +9 &hUn\ M +9 &)Wp\ N +10 &Un\ M +9 &!Up\ N +10 &#pUm\ M +9 &%1Vn\ N +9 &&Un\ M +10 &(Uo\ M +9 &*xUp\ M +9 &,:Vn\ M +10 &-Ri\ M +9 &/Wi\ M +10 &1Ti\ M +9 &3BUg\ M +9 &5Uh\ M +10 &6Ug\ M +9 &8Wm\ M +9 &:KRg\ M +10 &< Wa\ M +9 &=Ta\ M +10 &?Y_\ M +9 &AQZ_\ N +9 &Cb^\ O +10 &Da_\ O +9 &Fld\ P +9 &HM{c\ R +10 &J b\ S +9 &K`\ S +10 &M`\ T +9 &OO[\ T +9 &Q[\ U +10 &Ra\ T +9 &T_\ U +9 &VUg\ T +10 &X^\ U +9 &Ya\ U +10 &[_\ U +9 &]\\]\ B +9 &^Mz]\ G +10 &^>\\\ < +2 ( +2 "processing"%t& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&Z1 +65 "core" 1 + "manipulator"&D% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +97 "core" ' + "processing"%p& +4 "core" &^@[\ < +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&a% +4 "core" % % 0 1  : +2 "storage"(Q% +4 "core" % < ; R\  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "manipulator"&V& +6 "core" &[ F k \  + & 0 . z $ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&!( +7 "core" ( + "manipulator"&F& +4 "core" & < 1 $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" & * 7 M $ +3 .tForearm.seek PC + "manipulator"&O' +141 "core" ' +3 .tHand.close + "manipulator"&7/ +54 "core" / +2 .tPC.seek :open +2 "processing"%,( +44 "core" ' +2 "storage"(U- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"('1 +38 "core" ' +361 ( +2 "storage"(^& +4 "core" &[ Z e \  +2 "manipulator"&x& +4 "core" &  $ +2 "manipulator"&8% +3 "core" %  }  +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +246 "core" ( +2 "manipulator"&z& +3 "core" &    +2 "storage"(& +4 "core" &[ [ Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&w'= +94 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(`- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(l' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(s' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(c- +3 "core" -' +2 "storage"(@& +4 "core" &[ x R\  +2 "manipulator"&~& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&(r +23 "core" ( +2 "manipulator"&& +4 "core" &|   +2 "storage"(<& +3 "core" &[ w \  +3 .tForearm.seek 7 + 450 counts + "manipulator"&m'= +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(v'" +58 "core" ' +2 "manipulator"&& +4 "core" &|  +2 "storage"(e& +3 "core" &[ f _ b\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&y'{ +28 "core" ' +2 .tElbow.hold + "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&% +4 "core" %Ώ 1 - m +2 "storage"(& +3 "core" &[ = M }\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&_'ϻ +26 "core" ' + "manipulator"& & +5 "core" &| + +2 "storage"(& +3 "core" &[ } ~ |\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' + "storage"(\ % +5 "core" % o ~ \ +2 ."downElevator"SE.seek :down +4 "storage"(3' +99 (h% +4 "core" %/K D F Q\ Vc +2 "manipulator"&u% +3 "core" %5 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (G& +3 "core" &[ ^ [ \  +3 "collection"')& +4 "core" &\\i\ \ :\ J +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&[% +4 "core" %    +2 "storage"(% +3 "core" % b n d\  +2 "storage"(R. +4 "core" .([ + "storage"(6& +4 "core" &[   \  +2 "storage"(}& +4 "core" &[ {  \  +2 "manipulator"& & +3 "core" &| +2 .tElbow.seek 7 +2 "manipulator"&1(r +4 "core" ( + "manipulator"&& +5 "core" &|   + "storage"("& +4 "core" &[ { q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'= +138 "core" ' +4 "storage"(M& +3 "core" &[  *\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'r +306 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" &|  +3 "storage"(=& +4 "core" &[ k i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"& '{ +29 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(B'r +29 "core" ' +2 "manipulator"&0% +3 "core" %΍  , +2 "storage"((& +5 "core" &[ ? L %\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&P'Ϲ +13 "core" ' + "manipulator"&?& +4 "core" &| S +2 "storage"({& +4 "core" &[ r { S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(L' +34 "core" ' +2 "manipulator"&K& +4 "core" &| +2 "manipulator"&n% +3 "core" %0 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +155 "core" ( +2 "manipulator"& & +3 "core" &ӄ&   ?P +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &E& +2 "core" &ӄ& R ?P +3 .tForearm.seek CC + "manipulator"&X'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'$( +451 "core" ( + "storage"(2& +4 "core" &[ { \  +2 "storage"(:& +3 "core" &[ |\  +2 "manipulator"&%& +4 "core" &Ӯ  \  9& +2 "manipulator"&>% +3 "core" % N   +3 .tForearm.seek :retract +2 "manipulator"&+' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&o(r +163 "core" ( +2 "manipulator"& & +4 "core" &l    +2 "storage"(.& +3 "core" &[ m\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&5'{ +99 "core" ' +2 .tElbow.hold + "manipulator"&d, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&g% +4 "core" % Ύ   +2 "storage"(& +4 "core" &[ i g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&;'Ϻ +16 "core" ' +2 "manipulator"&C& +4 "core" &l  +2 "storage"(H& +4 "core" &[ T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Y'= +15 "core" ' +2 "storage"(% +4 "core" % Z\ +2 ."downElevator"SE.seek :down +4 "storage"(q' +98 (% +3 "core" %J  ~ \ V` +2 "manipulator"&/% +4 "core" %= +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +102 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +44 #Loading generic puck from tube 5 into Collection Clamp +5 "collection"'&& +4 "core" & \ I\ +2 "manipulator"&W% +5 "core" %  V a +2 "storage"(b% +4 "core" % a\  + "storage"(i. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(*(<- +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" &<0 s } {\ +2 "manipulator"&D& +4 "core" &l .  +2 .tElbow.seek 5 +2 "manipulator"&p( +21 "core" ( +2 "manipulator"&a& +3 "core" &  +3 "storage"(Q& +4 "core" &<0 b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' +2 "storage"(t& +3 "core" &<0 Y\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +297 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &K + "manipulator"&!% +4 "core" %A F U +2 "collection"'& +5 "core" & ^\ +2 "collection"'`& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'c(\\ +5 "core" & \ }\  +9 &4{\ \ \ *x +9 &d}\ \ = +9 &p\ \ \ K +10 &PU\ \ t\ K +9 &X\ \ s\ K +10 &R\ \ r\ K +9 &W\ \ |\ K +9 &YU\ \ s\ K +10 &U\ \ u\ J +9 &S\ \ {\ K +9 & S\ \ x\ J +10 &"bT\ \ y\ J +9 &$$T\ \ z\ J +10 &%T\ \ y\ K +9 &'S\ \ {\ K +9 &)iS\ \ {\ K +10 &++X\ \ |\ K +9 &,Y\ \ r\ K +9 &.T\ \ o\ K +10 &0qS\ \ t\ K +9 &23S\ \ o\ K +10 &3S\ \ o\ K +9 &5T\ \ u\ K +9 &7yS\ \ p\ K +10 &9<U\ \ o\ J +9 &:U\ \ n\ J +9 &<U\ \ n\ J +10 &>V\ \ k\ K +9 &@CX\ \ k\ K +10 &BU\ \ n\ K +9 &C\\\ \ x\ L +9 &Eg\ \ n\ M +10 &G@p\ \ n\ N +9 &H\ \ m\ R +9 &J\ .\ +r\ V +10 &Lk\ -\ -p\ X +9 &N/\ (\ +g\ W +9 &O\ &\ *g\ X +10 &Q\ '\ &t\ Y +9 &So\ %\ %n\ Y +10 &U-\ &\ #h\ Z +9 &V\ "\ $`\ Z +9 &X\ !\ "n\ \\ +10 &Zq\ !\ !i\ [\ +9 &\\y\ !\ "c\ 3 +9 &\\+\ "\ !c\ Q +9 ( +3 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&@1 +2 "core" &\\i\ \ `\ J +60 1 +2 "manipulator"&~% +4 "core" % A   D U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &|\ +2 "manipulator"&<% +3 "core" %  \  \ +2 "storage"(% +4 "core" % i i \ +2 "storage"(e. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &<' D V >\ +2 "manipulator"&& +3 "core" &ӭ :, +2 "manipulator"&l% +5 "core" %   \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +49 .tElbow.seek 5 +3 "manipulator"& ( +163 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(\ & +5 "core" &<(   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +104 "core" ' +2 "storage"(w& +3 "core" &<( | \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(s'r +301 "core" ' + "storage"(h- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &<( i k q\ +2 "manipulator"&m& +4 "core" & \   +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&v& +4 "core" & \ 7  +2 "storage"(y& +4 "core" &<( ^ f -\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&_'Ϲ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&G/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"([' +9 "core" &   + "manipulator"&% +4 "core" % ϳ   +2 .tForearm.seek :retract +2 "manipulator"&R' +93 "core" ' +3 .tElbow.seek PC + "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&6& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &  _  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' + "manipulator"&& +4 "core" &    +2 "manipulator"&"% +5 "core" %   + "processing"%& +5 "core" &E\ +2 "processing"%M& +5 "core" &w\ +2 .tPC.seek :closed +2 "processing"%3(^ +5 "core" &F\ +6 &6u\ #b +10 &Uxq\ 6 +9 &yn\ K +9 &Vw\ M +10 &bTq\ M +9 &%Rp\ M +9 &Up\ M +10 &Tn\ M +9 &jTo\ M +10 &,Vm\ M +9 &Uo\ M +9 &!Un\ M +10 &#rVp\ M +9 &%4Wm\ M +9 &&Um\ M +10 &(Up\ M +9 &*zYl\ M +10 &,<Vl\ M +9 &-Uo\ M +9 &/Wp\ M +10 &1Th\ L +9 &3DUj\ M +9 &5Vi\ M +10 &6Vh\ M +9 &8Wh\ M +9 &:KUb\ M +10 &<T`\ M +9 &=V`\ M +10 &?Y_\ M +9 &ARYa\ N +10 &C`g\ N +9 &Dda\ O +9 &Fp`\ P +10 &HM^\ R +9 &J\ c\ T +9 &K`\ T +10 &Ma\ T +9 &OPb\ T +9 &Qa\ T +10 &Rb\ T +9 &Tb\ U +10 &VUa\ U +9 &X_\ T +9 &Y^\ T +10 &[`\ T +9 &]\\a\ B +9 &^N}`\ E +10 &^`\ V +9 &^a\ / +2 ( +2 "processing"%M& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator" +61 "core" 1 +2 "manipulator"&% +3 "core" %   G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +92 "core" ' +2 "processing"%A& +4 "core" &^H\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&=% +5 "core" %     + "storage"('% +4 "core" % e [\  +2 "storage"(0. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(((<- +18 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "manipulator"&{& +6 "core" &<, T Z _\  +2 &   +6 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&K( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(n'r +3 "core" ( + "manipulator"&9& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" & B +  +3 .tForearm.seek PC +2 "manipulator"&I' +92 "core" ' +3 .tHand.close + "manipulator"& / +54 "core" / +2 .tPC.seek :open +2 "processing"%P( +98 "core" ' +2 "storage"(B- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +8 ."raiseStack"SE.seek :place +3 "storage"( '1 +48 "core" ' +292 ( + "storage"(E& +4 "core" &<, ^ h 4\  +2 "manipulator"&& +4 "core" &  O  +2 "manipulator"&N% +3 "core" %    g 1 +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&T( +246 "core" ( +2 "manipulator"&f& +4 "core" &   , +2 "storage"(2& +3 "core" &<, ] [ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +90 "core" ' +2 .tHand.open + "manipulator"&%1 +16 "Can" QFp4 +39 "core" 1 +2 "storage"(>- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(.' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +3 "core" -' +2 "storage"(4& +4 "core" &<, \  +2 "manipulator"&& +4 "core" &   + + +2 .tElbow.seek 5 +2 "manipulator"&g( +2 "core" ( +2 "manipulator"&& +5 "core" &   + + "storage"(C& +5 "core" &<, M\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&H'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&+& +4 "core" &  + +2 "storage"(& +4 "core" &<, i h Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&/'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(5' +28 "core" ' +2 "manipulator"&&% +3 "core" %Η  +3 "storage"(;& +3 "core" &<, h i W\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 310 counts + "manipulator"&L' +13 "core" ' +2 "manipulator"&W& +3 "core" &  ; + +3 "storage"(b& +3 "core" &<, ] ^ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +15 "core" ' +2 "storage"(Y% +3 "core" % ^ _ L\ +3 ."downElevator"SE.seek :down +4 "storage"(q' +98 (% +4 "core" %N D D\ We +2 "manipulator"&Z% +4 "core" %J  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +4 "core" &<, ^ i A\  +2 "collection"'Q& +4 "core" &\\h\ \ 8\ J +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&t% +5 "core" % \   + "storage"(d% +5 "core" %  ~ w\  +2 "storage"(\\. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(V(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (F& +2 "core" &<, e i =\  +3 "manipulator"&k& +4 "core" &  + +2 .tElbow.seek 5 + "manipulator"&7( +4 "core" ( +2 "manipulator"&S& +4 "core" &   ( + + "storage"(-& +4 "core" &<,   \  +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +90 "core" ' +2 "storage"(& +3 "core" &<,   D\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +4 "core" &  + +2 "storage"(O& +4 "core" &<, ^ _ J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&r'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&U, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(!'w +32 "core" ' +2 "manipulator"&% +4 "core" %Ι   +2 "storage"(]& +4 "core" &<, h h s\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&j' +16 "core" ' + "manipulator"&^& +5 "core" &   + + "storage"($& +4 "core" &<,  ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&@'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(~' +41 "core" ' + "manipulator"&& +4 "core" &  + +2 "manipulator"&<% +4 "core" %K   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +155 "core" ( +2 "manipulator"&`& +3 "core" &ӟ    8! +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӟ   8! +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&l/ +62 "core" / +2 .tCC.seek :open +2 "collection"'z( +450 "core" ( +2 "storage"(& +4 "core" &<, ~ \  +2 "storage"(\ & +3 "core" &<, | \  +2 "manipulator"&*& +4 "core" &ӷ   5 +2 "manipulator"&w% +3 "core" % ; \  +3 .tForearm.seek :retract + "manipulator"&x' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&h& +4 "core" &  +2 "storage"(u& +3 "core" &<,  4\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&m'΍ +92 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +60 "core" 1 +2 "manipulator"&G% +4 "core" % Ί   % +2 "storage"()& +3 "core" &<, h h \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 297 counts +2 "manipulator"&'϶ +16 "core" ' +2 "manipulator"& & +4 "core" & @  +2 "storage"(& +4 "core" &<, j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +15 "core" ' + "storage"(_% +5 "core" % s\ +2 ."downElevator"SE.seek :down +4 "storage"(6' +99 (}% +3 "core" %D t { \ U^ +2 "manipulator"&% +4 "core" %I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'"& +4 "core" & \ x\ +2 "manipulator"&% +3 "core" %   +2 "storage"([% +5 "core" % [\  + "storage"(R. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(,(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +3 "core" &K l l \ \ +2 "manipulator"&& +4 "core" & E  +2 .tElbow.seek 6 +2 "manipulator"&A( +4 "core" ( +2 "manipulator"&=& +4 "core" &  +2 "storage"('& +3 "core" &K k\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +91 "core" ' +2 "storage"(M& +3 "core" &K \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +310 "core" ' + "storage"(?- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +3 "core" &K 2\ \ +2 "manipulator"&1& +3 "core" &  +3 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"& & +3 "core" & ^  +2 "storage"(& +4 "core" &K X\ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&B'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +2 "storage"(3' +9 "core" & 2  + "manipulator"&n% +5 "core" % a  +2 .tForearm.seek :retract + "manipulator"&E' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&N& +5 "core" &y)   A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &I& +2 "core" &y)   A_ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'? +91 "core" ' + "manipulator"&2& +5 "core" &Ӎ%   >K + "manipulator"&K% +5 "core" %G   E +2 "collection"'%& +4 "core" &\ \ \ +3 "collection"'>& +5 "core" & _\ +3 .tCC.seek :closed + "collection"'X(\\ +5 "core" & \ \ +7 &;\ \ $d +9 &Wv\ \ \ 6 +10 &x\ \ }\ K +9 &R\ \ \ J +9 &yU\ \ |\ J +10 &;U\ \ x\ J +9 &U\ \ {\ J +10 &X\ \ y\ K +9 &W\ \ z\ K +9 &BX\ \ r\ K +10 & W\ \ v\ J +9 &!T\ \ z\ J +10 &#T\ \ z\ K +9 &%KR\ \ |\ J +9 &' T\ \ {\ J +10 &(S\ \ s\ K +9 &*R\ \ s\ K +9 &,RR\ \ w\ K +10 &.T\ \ x\ J +9 &/U\ \ w\ J +10 &1T\ \ {\ K +9 &3ZS\ \ z\ K +9 &5U\ \ p\ J +10 &6T\ \ o\ K +9 &8U\ \ k\ J +9 &:cU\ \ s\ J +10 &<%U\ \ p\ J +9 &=U\ \ k\ J +10 &?V\ \ o\ J +9 &AjW\ \ q\ J +9 &C*]\ \ j\ K +10 &Dc\ \ o\ L +9 &Fk\ \ q\ N +9 &Hc\ \ j\ P +10 &J\ .\ 'k\ T +9 &K\ 2\ 3d\ W +10 &M\ 0\ 1m\ W +9 &OU\ -\ .k\ W +9 &Q\ (\ +d\ X +10 &R\ )\ (b\ X +9 &T\ $\ %c\ X +9 &VV\ $\ $c\ Z +10 &X\ $\ "_\ Z +9 &Y\ !\ $`\ [ +9 &[\ "\ "b\ G +10 &\\8\ "\ "r\ , +9 &\\\ \ g\ U +6 ( + "collection"'>& +4 "core" &\\}\ \ `\ U +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&41 +54 "core" 1 +3 "manipulator"&% +3 "core" % G    E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%C& +4 "core" &m\ +2 "manipulator"&% +4 "core" %    +2 "storage"(+% +3 "core" % [ [\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(&(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &K E D ;\  +3 "manipulator"& & +50 "core" &Ӱ \ < 9( +3 "manipulator"&W% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&b( +166 "core" ( + "manipulator"& & +5 "core" &    + "storage"(Y& +5 "core" &K ] ] ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +113 "core" ' +2 "storage"(:& +5 "core" &K | \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +305 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Z& +3 "core" &K f ^ \  +2 "manipulator"&H& +4 "core" &   (  +2 .tElbow.seek 6 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&& +3 "core" &  6  +2 "storage"(/& +4 "core" &K i j \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&Q& + "storage"(t' +7 "core" & \  r  +2 "manipulator"&d% +3 "core" % ] U +3 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&5( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&F& +5 "core" &  J + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &  + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&S' +90 "core" ' +2 "manipulator"&-& +4 "core" &   + +2 "manipulator"&i% +4 "core" %  ] +2 "processing"%& +4 "core" &#\ +2 "processing"%q& +5 "core" &B\ +3 .tPC.seek :closed + "processing"%((^ +4 "core" &r\ +8 &7x\ $c +9 &V{v\ 7 +10 &yG\ L +9 &Rl\ M +9 &sVo\ M +10 &7Po\ M +9 &Wo\ M +10 &Vo\ M +9 &|Vn\ M +9 &=Wo\ M +10 & Xo\ M +9 &!Uo\ M +9 &#Wn\ M +10 &%EWn\ M +9 &'Uk\ M +10 &(Wn\ M +9 &*Wo\ M +9 &,NYo\ M +10 &.Ul\ M +9 &/Wi\ M +9 &1To\ M +10 &3WUo\ M +9 &5Uj\ M +10 &6Wh\ M +9 &8Wb\ M +9 &:]Wi\ M +10 &<Ug\ M +9 &=Wa\ N +9 &?Xb\ M +10 &AeUa\ M +9 &C%^b\ N +10 &Dc`\ O +9 &Fic\ O +9 &Hcwa\ Q +10 &J_\ S +9 &K`\ S +9 &Mb\ S +10 &Oc`\ S +9 &Q#]\ T +10 &Rd\ U +9 &T_\ U +9 &Vjb\ T +10 &X+`\ T +9 &Y_\ T +9 &[`\ T +10 &]pa\ A +9 &^9h`\ %l +10 &^*^\ , +5 ( +2 "processing"%q& +3 "core" &^_\ , +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&o1 +52 "core" 1 +2 "manipulator"&D% +4 "core" %   \ ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%8& +4 "core" &^a\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&O% +4 "core" %    G  +2 "storage"(% +4 "core" % [ [\  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(](K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +5 "core" &K  L\  +2 "manipulator"&$& +3 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" & \  + +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +3 "manipulator"&<( +7 "core" ( + "manipulator"&|& +4 "core" &   + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +49 "core" &  + +4 .tForearm.seek PC + "manipulator"&p' +94 "core" ' +2 .tHand.close + "manipulator"&r/ +58 "core" / +2 .tPC.seek :open +2 "processing"%j( +44 "core" ' +2 "storage"(!- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +44 "core" ' +355 ( +2 "storage"(& +4 "core" &K ^ g :\  +2 "manipulator"&@& +3 "core" &  + +2 "manipulator"&U% +5 "core" %  4 +2 .tForearm.seek :retract + "manipulator"&l' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&c& +3 "core" &    +3 "storage"(& +4 "core" &K W Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +96 "core" ' +2 .tHand.open + "manipulator"&*1 +61 "core" 1 +3 "storage"(w- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(h' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(u' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(e& +4 "core" &K \  +2 "manipulator"&y& +3 "core" &    +3 .tElbow.seek 6 + "manipulator"&G( +4 "core" ( +2 "manipulator"&)& +3 "core" &   +2 "storage"( & +4 "core" &K o\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +50 "core" ' +2 "manipulator"&x& +4 "core" &   +2 "storage"(}& +3 "core" &K [ [ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +25 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(m' +18 "core" ' +2 "manipulator"&% +3 "core" %K   +3 "storage"("& +3 "core" &K < < \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&'w +15 "core" ' +2 "manipulator"&[& +3 "core" &   +2 "storage"(R& +4 "core" &K i i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +15 "core" ' + "storage"(s% +5 "core" % i h \ +2 ."downElevator"SE.seek :down +4 "storage"(6' +98 (V% +3 "core" %bM G E\ Wd +2 "manipulator"&#% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (=& +3 "core" &K g _ \  +3 "collection"''& +3 "core" &\\o\ \ r\ U +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&M% +4 "core" %  \   +2 "storage"(v% +4 "core" % h e i\  +2 "storage"(. +4 "core" .(K + "storage"(?& +4 "core" &K [ ` O\  +2 "storage"(9& +3 "core" &K j f U\  +2 "manipulator"&1& +5 "core" &    +2 .tElbow.seek 6 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(& +4 "core" &K j k \  +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +99 "core" ' + "storage"(n& +4 "core" &K ^ k R\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +298 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" & l  +3 "storage"(I& +4 "core" &K k k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&{'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(K'm +30 "core" ' +2 "manipulator"&%% +4 "core" %I 4 +2 "storage"( & +4 "core" &K i i |\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&3'u +15 "core" ' +2 "manipulator"&E& +3 "core" &    +3 "storage"(z& +4 "core" &K | ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +45 "core" ' +2 "manipulator"&C& +4 "core" &    +2 "manipulator"&% +3 "core" %  \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +148 "core" ( +2 "manipulator"&>& +3 "core" &Ӏ'   % @W +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &Ӏ(  E @W +2 .tForearm.seek CC +2 "manipulator"& '? +94 "core" ' + .tHand.close +2 "manipulator"&W/ +64 "core" / +2 .tCC.seek :open + "collection"'f( +451 "core" ( + "storage"( & +4 "core" &K ~  G\  +2 "storage"(Y& +4 "core" &K   \  +2 "manipulator"&,& +3 "core" &ӷ  \ ' 8 +2 "manipulator"&% +5 "core" % .     +2 .tForearm.seek :retract + "manipulator"&:' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(Z& +4 "core" &K g h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&H'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&/1 +55 "core" 1 +2 "manipulator"&L% +4 "core" % I   1 +2 "storage"(Q& +3 "core" &K w\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&d'u +15 "core" ' +2 "manipulator"&b& +3 "core" & q +3 "storage"(T& +4 "core" &K s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +17 "core" ' + "storage"(a% +4 "core" % s\ +3 ."downElevator"SE.seek :down +4 "storage"(F' +99 (k% +3 "core" %C  u \ V_ +2 "manipulator"&g% +5 "core" % @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +89 "core" ' +52 ' +8 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'i& +4 "core" & z\ +2 "manipulator"&% +8 "core" %     +3 "storage"(t% +4 "core" % ^\  +2 "storage"(\\. +8 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(P([ +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (o& +3 "core" &[ g i Z\  +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&8(r +16 "core" ( + "manipulator"&O& +4 "core" &n  c  +2 "storage"(& +3 "core" &[ i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +94 "core" ' + "storage"(q& +5 "core" &[ [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'r +294 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (|& +2 "core" &[ { \  +3 "manipulator"&7& +4 "core" &n  q  +2 .tElbow.seek 7 + "manipulator"&S(r +4 "core" ( +2 "manipulator"&r& +3 "core" &n R  +3 "storage"(&& +4 "core" &[ j h \  +2 .tForearm.seek 7 + 300 counts +3 "manipulator"&!'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"((' +6 "core" &n   +3 "manipulator"&% +3 "core" % Ϯ 2 +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&U& +4 "core" &y* t Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &y*  Bf +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&c'? +96 "core" ' +2 "manipulator"&& +4 "core" &y+    Bf +2 "manipulator"&<% +4 "core" %F \  m , +3 "collection"'*& +3 "core" & \ +3 "collection"'w& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & \  +9 &5x \ *z +9 & g{\ \ > +10 &k\ \ L +9 &^R\ \ |\ K +9 & W\ \ z\ K +10 &W\ \ \ J +9 &T\ \ x\ J +9 &fW\ \ \ J +10 &(V\ \ ~\ J +9 &U\ \ w\ J +9 & S\ \ q\ K +10 &"nX\ \ p\ K +9 &$/U \ w\ K +10 &%X\ \ x\ K +9 &'W\ \ t\ K +9 &)wW\ \ q\ J +10 &+9U\ \ u\ J +9 &,U\ \ p\ J +9 &.U\ \ o\ J +10 &0}X\ \ t\ K +9 &2@W\ \ p\ K +10 &4W\ \ q\ K +9 &5X\ q\ K +9 &7U\ \ y\ K +10 &9GT\ \ \ K +9 &; T\ \ {\ K +9 &<W\ \ \ K +10 &>Y\ \ w\ K +9 &@OZ\ \ z\ K +10 &BZ\ \ y\ K +9 &C]\ \ z\ L +9 &Ee\ \ v\ M +10 &GNp\ \ v\ N +9 &I\ "\ v\ Q +9 &J\ 3\ .w\ V +10 &L|\ 4\ 2v\ V +9 &N<\ .\ .w\ W +10 &O\ +\ ,z\ W +9 &Q\ (\ +\ X +9 &S~\ (\ &|\ X +10 &U?\ %\ 'u\ Y +9 &V\ &\ $z\ Z +9 &X\ #\ %x\ Z +10 &Z~\ #\ "y\ [\ +9 &\\$z\ #\ #\ / +10 &\\)\ #\ v\ Z +8 ( +2 &\\m\ !\ p\ O +2 "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&e1 +64 "core" 1 +3 "manipulator"&y% +4 "core" % F  , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"% & +5 "core" &a\ + "manipulator"&l% +5 "core" %    + "storage"(x% +5 "core" % i i n\  + "storage"(}. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" &[  " }\  +2 "manipulator"&`& +4 "core" &ӯ   F :0 +2 "manipulator"&[% +50 "core" %    +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&R(r +162 "core" ( +2 "manipulator"&h& +4 "core" &v    +2 "storage"(s& +4 "core" &[ r t }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +92 "core" ' +2 "storage"(\ & +4 "core" &[   \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'r +297 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (#& +3 "core" &[ ] ] \  +2 "manipulator"&& +3 "core" &v  +3 .tElbow.seek 7 + "manipulator"&G(r +4 "core" ( + "manipulator"&_& +5 "core" &v  +  + "storage"(& +84 "core" &[  ~\ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&='ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"(M' +7 "core" &v  D  +2 "manipulator"&v% +3 "core" % ϴ @ +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&m( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&?& +4 "core" &  U  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&1' +90 "core" ' +2 "manipulator"&& +4 "core" &    +2 "manipulator"&% +3 "core" %  ] +3 "processing"%~& +3 "core" &\ +3 "processing"%n& +6 "core" &\ +3 .tPC.seek :closed +2 "processing"%6(^ +3 "core" &\ +7 &\ 7 +9 &CJvE\ / +10 &kp~n\ D +9 & `p\ M +9 &U\ M +10 &Ti\ M +9 &SUx\ M +9 &Tq\ M +10 &Up\ M +9 &Vo\ M +10 &[Um\ M +9 &!Un\ M +9 &"Un\ M +10 &$Xn\ M +9 &&dUn\ M +9 &('Uo\ M +10 &)Uo\ M +9 &+Vn\ M +10 &-mWn\ M +9 &/.To\ M +9 &0Ui\ M +10 &2Vl\ M +9 &4uUo\ M +9 &67Vm\ M +10 &7Vl\ M +9 &9Vi\ M +10 &;{Yi\ M +9 &=>Tg\ M +9 &>Yh\ M +10 &@Zd\ M +9 &B`j\ N +9 &DBc`\ N +10 &Fk]\ P +9 &Gui\ P +10 &I{b\ S +9 &K;_\ S +9 &L`\ S +10 &N`\ S +9 &Pa\ T +9 &R@]\ T +10 &Tb\ U +9 &U^\ T +10 &Wg\ U +9 &YHa\ T +9 &[\ `\ T +10 &\\`\ U +9 &^@d`\ ({ +9 &^`e\ 8 +9 ( +3 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&1 +2 "core" &^$e\ 3 +62 1 + "manipulator"&% +4 "core" %    ' ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +90 "core" ' +2 "processing"%N& +3 "core" &^$`\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&I% +4 "core" %    D  +2 "storage"(2% +4 "core" % Z V \ +2 "storage"(%. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"( ([ +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (E& + "manipulator"&z& +5 "core" &[ ! ; \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(C'r + "manipulator"&( +7 "core" ( + "manipulator"&J& +3 "core" &    +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & + B  +42 .tForearm.seek PC +9 "manipulator"&A' +96 "core" ' + .tHand.close +2 "manipulator"&{/ +62 "core" / +2 .tPC.seek :open +2 "processing"%3( +41 "core" ' +2 "storage"(K- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'1 +47 "core" ' +356 ( + "storage"(;& +5 "core" &[ e [ #\  + "manipulator"&4& +5 "core" &   + "manipulator"&B% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&W' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&+(r +247 "core" ( +2 "manipulator"&X& +4 "core" &   < +2 "storage"( & +4 "core" &[ [ Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Y'= +94 "core" ' + .tHand.open +2 "manipulator"&,1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(Z' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +2 "core" -' +2 "storage"(& +5 "core" &[ d\  + "manipulator"&/& +4 "core" &  \  ; +2 .tElbow.seek 7 +2 "manipulator"&L(r +27 "core" ( +2 "manipulator"&Q& +4 "core" &|    y +2 "storage"(b& +79 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&T'= +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(a'" +62 "core" ' +2 "manipulator"&:& +3 "core" &|  y +3 "storage"(k& +4 "core" &[ i j K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&g'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(H' +19 "core" ' +2 "manipulator"&i% +3 "core" %΋ 0  7 +2 "storage"(d& +4 "core" &[ < < &\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 316 counts + "manipulator"&'Ϸ +14 "core" ' +2 "manipulator"&t& +4 "core" &| y +2 "storage"(\\& +3 "core" &[ k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 "storage"(.% +4 "core" % j f M\ +2 ."downElevator"SE.seek :down +4 "storage"(F' +99 (]% +3 "core" %HP C D\ Vc +2 "manipulator"&o% +3 "core" %;  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (O& +3 "core" &[ e ^ U\  +2 "collection"'& +5 "core" &\\g\ \ X\ O + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&q% +4 "core" %   +2 "storage"(% +3 "core" % k q \  +2 "storage"(-. +3 "core" .([ +2 "storage"($& +4 "core" &[ k a e\  +2 "storage"(|& +3 "core" &[ ^ ] \  +2 "manipulator"&7& +5 "core" &| I y + .tElbow.seek 7 +2 "manipulator"&r(r +3 "core" ( +2 "manipulator"&&& +4 "core" &|   y +3 "storage"(5& +4 "core" &[ [ e \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 7 + 450 counts +3 "manipulator"&'= +93 "core" ' +2 "storage"(& +4 "core" &[   \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'r +304 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" &|  y +3 "storage"(p& +4 "core" &[ j i \  + .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&^'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(<'r +28 "core" ' +2 "manipulator"&*% +3 "core" %΍ /  +2 "storage"(S& +5 "core" &[ T H +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&('Ϲ +14 "core" ' + "manipulator"&& +5 "core" &| $ y +2 "storage"(f& +3 "core" &[ ~  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&e'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(y' +35 "core" ' + "manipulator"& & +5 "core" &| R y + "manipulator"&l% +4 "core" %9   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&}(ӂ +175 "core" ( + "manipulator"&w& +5 "core" &ӈ   / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +3 "core" &ӈ    / +3 .tForearm.seek CC + "manipulator"&`'? +105 "core" ' + .tHand.close +2 "manipulator"&[/ +58 "core" / +2 .tCC.seek :open +2 "collection"'c( +446 "core" ( +2 "storage"(h& +4 "core" &[   \  +2 "storage"(s& +3 "core" &[ q | k\  +2 "manipulator"&P& +5 "core" &ӥ   , + "manipulator"&\ % +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&@' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&)(r +159 "core" ( + "manipulator"&V& +5 "core" &z  0  + "storage"(#& +4 "core" &[ r i -\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +99 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +3 "core" % Ό   +2 "storage"('& +5 "core" &[ z w 9\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&v'ϸ +14 "core" ' + "manipulator"&R& +4 "core" &z 0  +2 "storage"(& +3 "core" &[ g\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'= +15 "core" ' +2 "storage"(=% +4 "core" % W\ +2 ."downElevator"SE.seek :down +3 "storage"(?' +100 (9% +3 "core" %F   \ U^ +2 "manipulator"&G% +4 "core" %< G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +51 ' +2 ."downElevator"SE.stop +40 "storage"(5 +11 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & `\ +2 "manipulator"&~% +5 "core" %    + "storage"(M% +5 "core" % W\  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(j(<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<0 y q\ +3 "manipulator"&& +3 "core" &z \   +3 .tElbow.seek 5 +2 "manipulator"&N( +34 "core" ( + "manipulator"&I& +4 "core" &   (  +2 "storage"(2& +3 "core" &<0 \\\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +94 "core" ' + "storage"(n& +4 "core" &<0 ]\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(E'r +309 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (J& +3 "core" &<. o\ +2 "manipulator"& & +3 "core" &    +3 .tElbow.seek 5 + "manipulator"&1( +4 "core" ( +2 "manipulator"&{& +4 "core" &   ?  + "storage"(& +4 "core" &<. j\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&K'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&0& + "storage"(6' +8 "core" & _  +2 "manipulator"&C% +4 "core" % Ϯ D +2 .tForearm.seek :retract + "manipulator"&;' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&B& +6 "core" &ӌ%   >I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &ӌ%   >I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'? +93 "core" ' +3 "manipulator"& & +3 "core" &ӌ%    >I +2 "manipulator"&% +5 "core" %5   Z [ +2 "collection"',& +3 "core" & \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"' (\\ +5 "core" & \ +6 &C \ $f +10 &Z{ \ 7 +9 &w \ K +9 &U \ \ K +10 &Y \ \ J +9 &MU\ \ \ J +10 &U\ \ \ J +9 &S\ \ \ K +9 &W\ \ \ J +10 &VT\ \ \ J +9 & W\ \ \ K +9 &!U\ \ \ K +10 &#T\ \ \ J +9 &%^T\ \ \ J +10 &'R\ \ \ K +9 &(W\ \ \ J +9 &*R\ \ \ K +10 &,fR\ \ \ J +9 &.(U\ \ J +9 &/U\ \ \ J +10 &1Y\ \ \ K +9 &3nX\  \ J +10 &51U\ \ \ J +9 &6Y\ \ \ K +9 &8X\ \ \ K +10 &:vW\ \ \ J +9 &<7T\ \ \ K +9 &=S\ \ \ J +10 &?V\ \ \ J +9 &A~V\ \ \ J +10 &C=Z\ \ \ K +9 &Dc\ \ \ L +9 &Fo\ \ \ \ N +10 &Ht\ \ \ P +9 &J,\ )\ %\ T +9 &K\ ,\ -\ W +10 &M\ *\ +\ W +9 &Og\ +\ )|\ X +10 &Q*\ %\ (\ W +9 &R\ %\ &}\ Y +9 &T\ #\ $\ Z +10 &Vi\ $\ $\ Z +9 &X*\ $\ !\ Z +9 &Y\ !\ $\ [ +10 &[\ !\ #\ I +9 &\\-\ "\ !\ 7 +10 &\\k\ !\ \ O +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&/% +5 "core" % 5  \ [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Q& +5 "core" &\ +2 "manipulator"&b% +3 "core" %   F  +3 "storage"(>% +4 "core" % h f a\  + "storage"(:. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(k(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<, ^ ^ #\ +2 "manipulator"&i& +4 "core" &ӫ  :* +2 "manipulator"&+% +3 "core" %   d  +49 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&d( +158 "core" ( +2 "manipulator"&t& +3 "core" &   +3 "storage"(\\& +4 "core" &<, s k "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +96 "core" ' +2 "storage"(Y& +16 "core" &<, ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Z'r +298 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &<, [ g \ +2 "manipulator"&T& +5 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&L( +9 "core" ( +2 "manipulator"&a& +4 "core" &    + "storage"(g& +5 "core" &<, h i D\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(q' +8 "core" & X  + "manipulator"&% +5 "core" %  u +2 .tForearm.seek :retract + "manipulator"&-' +90 "core" ' +3 .tElbow.seek PC + "manipulator"&H( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&$& +3 "core" &    * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &  * +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7' +102 "core" ' + "manipulator"&&& +4 "core" &   } * +2 "manipulator"&5% +4 "core" %  +2 "processing"%& +5 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(^ +4 "core" &\ +7 &7\ $d +10 &Vy\ 7 +9 &w6\ K +9 &Qn\ M +10 &kUw\ M +9 &-Tt\ M +9 &Vn\ M +10 &Us\ M +10 &sTr\ M +13 &5Vv\ M +5 &Ut\ M +9 &!Tt\ M +10 &#{Uo\ M +9 &%=Uw\ M +9 &'Tu\ M +10 &(Um\ M +9 &*Tp\ M +9 &,EVm\ M +10 &.Tn\ M +9 &/Wj\ M +10 &1Tk\ M +9 &3MXn\ M +9 &5Um\ M +10 &6Vb\ M +9 &8Wd\ M +9 &:UVh\ M +10 &<Wm\ M +9 &=We\ M +10 &?Ti\ M +9 &A[Z`\ N +9 &C`g\ N +10 &De^\ O +9 &Fpa\ P +10 &HW`\ R +9 &J_\ S +9 &Ka\ S +10 &Ma\ T +9 &OZ^\ S +9 &Q]\ U +10 &R\\\ T +9 &T`\ U +9 &V^`\ U +10 &X a\ U +9 &Yb\ U +10 &[b\ T +9 &]fj\ B +9 &^?pa\ "e +10 &^.a\ / +5 ( +2 "processing"%& +4 "core" &^a\ / +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&D% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 "processing"%U& +4 "core" &^a\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&p% +4 "core" % !   - +2 "storage"(% +4 "core" % [ [\  + "storage"(*. +4 "core" .(<- + "storage"(S& +5 "core" &<, [ Z\ +2 "storage"(& +2 "manipulator"&f& +7 "core" &<, [ ]\ +2 &  * +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"& ( +7 ."raiseStack"SE.seek :beamBreak + "storage"(l'r +3 "core" ( +2 "manipulator"&& +4 "core" &  * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" & " , * +3 .tForearm.seek PC + "manipulator"&8' +93 "core" ' + .tHand.close +2 "manipulator"&^/ +55 "core" / +47 .tPC.seek :open +3 "processing"%(( +51 "core" ' + "storage"(<- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(w'1 +45 "core" ' +352 ( +2 "storage"("& +3 "core" &<, f _ \ +3 "manipulator"&e& +4 "core" & \ b * + "manipulator"&!% +4 "core" %  > ) +3 .tForearm.seek :retract +2 "manipulator"&[' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&x( +244 "core" ( +2 "manipulator"&& +4 "core" &   ! +2 "storage"(h& +3 "core" &<, [ [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +104 "core" ' +2 .tHand.open + "manipulator"&P1 +65 "core" 1 +2 "storage"(\ - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(V' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(#' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(`- +3 "core" -' +2 "storage"(}& +4 "core" &<, \ +2 "manipulator"&& +4 "core" &   ! +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&'& +4 "core" &  ! F ! +2 "storage"(R& +3 "core" &<, \ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +57 "core" ' + "manipulator"&@& +5 "core" &  ! + "storage"(9& +4 "core" &<, h h $\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&G'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&v% +4 "core" %Ξ   +2 "storage"(y& +4 "core" &<, Z [\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&~& +4 "core" & +  +2 "storage"(M& +3 "core" &<, s k s\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(u% +4 "core" % a o e\ +2 ."downElevator"SE.seek :down +4 "storage"(?' +99 ( % +3 "core" %iJ F D\ Wd +2 "manipulator"&% +4 "core" %N \ a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (I& +3 "core" &<, \\ [ \ +2 "collection"'2& +4 "core" &\\e\ \ ^\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&n% +4 "core" %    R  +2 "storage"(_% +4 "core" % [ ] #\  + "storage"(. +4 "core" .(<- + "storage"(z& +5 "core" &<, { o 7\ + "storage"(J& +4 "core" &<, { t 8\ +2 "manipulator"& & +4 "core" &  \\  +2 .tElbow.seek 5 +2 "manipulator"&{( +4 "core" ( + "manipulator"&& +5 "core" &     + "storage"(m& +4 "core" &<, { ~ d\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&0'O +95 "core" ' +2 "storage"(C& +3 "core" &<,  t e\ +3 .tSE.reconfigure :pick +48 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(N'r +297 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" &  L  +3 "storage"(A& +3 "core" &<, e i \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&E'΍ +16 "core" ' +2 .tElbow.hold + "manipulator"&K, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('x +29 "core" ' + "manipulator"&,% +4 "core" %Π   +2 "storage"(1& +4 "core" &<, ] ^\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&6' +15 "core" ' +2 "manipulator"&;& +4 "core" &   +2 "storage"(c& +4 "core" &<, j d {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(/' +41 "core" ' + "manipulator"&Q& +5 "core" &   + "manipulator"&b% +5 "core" %R \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +157 "core" ( + "manipulator"&& +4 "core" &ӟ   . 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӟ 8 +3 .tForearm.seek CC +2 "manipulator"&i'? +95 "core" ' +2 .tHand.close + "manipulator"&+/ +58 "core" / +2 .tCC.seek :open +2 "collection"'X( +450 "core" ( +2 "storage"(t& +4 "core" &<, | \ +2 "storage"(\\& +4 "core" &<,   \ + "manipulator"&j& +5 "core" &Ӡ   ! 8 +2 "manipulator"&Y% +4 "core" % M   +2 .tForearm.seek :retract + "manipulator"&4' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&W( +156 "core" ( + "manipulator"&]& +5 "core" &    \ + "storage"(o& +4 "core" &<, g g \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&T'΍ +98 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&g1 +63 "core" 1 +2 "manipulator"&O% +3 "core" % Ξ   +2 "storage"(& +4 "core" &<, y l p\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&d& +4 "core" & \ +2 "storage"(.& +3 "core" &<, h\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +15 "core" ' +2 "storage"(% +4 "core" % h\ +2 ."downElevator"SE.seek :down +3 "storage"($' +100 (|% +3 "core" %B ~ | \ U^ +2 "manipulator"&L% +4 "core" %J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'5& +4 "core" & \ +2 "manipulator"&% +5 "core" %    + "storage"(q% +51 "core" % e\  + "storage"(-. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(3(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K u ;\ +2 "manipulator"&D& +5 "core" &   \ +2 .tElbow.seek 6 + "manipulator"&U( +4 "core" ( +2 "manipulator"&p& +3 "core" &  \ +3 "storage"(& +4 "core" &K h\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +94 "core" ' + "storage"(S& +4 "core" &K G\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(f'r +303 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K  { t\ +3 "manipulator"&& +4 "core" &  ; \ +2 .tElbow.seek 6 + "manipulator"&r( +4 "core" ( +2 "manipulator"&7& +3 "core" & \ +2 "storage"(^& +5 "core" &K h h r\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&<'h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(F' +9 "core" & 5 \ + "manipulator"&l% +5 "core" % ^ 9 +2 .tForearm.seek :retract +2 "manipulator"&"' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&e(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&!& +4 "core" &ӓ#   <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &ӓ#    <: +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' +2 "manipulator"&h& +4 "core" &ӓ#   <: +2 "manipulator"& % +4 "core" %> \  c +2 "collection"'P& +4 "core" & u\ +3 "collection"'\ & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'`(\\ +5 "core" & \ +6 &< \ %g +10 &Yu \ 7 +9 &u \ K +9 &R \ J +10 &T\  \ K +9 &LR \ \ J +9 &T \ \ J +10 &Y \ \ K +9 &U\ \ \ K +10 &TR\ \ \ J +9 & T\ \ \ J +9 &!W\ \ \ K +10 &#V\ \ \ K +9 &%[W \ \ K +9 &'W\ \ \ J +10 &(S \ \ K +9 &*U\ \ \ K +10 &,cR\ \ \ K +9 &.%W\ \ \ K +9 &/U\  \ K +10 &1T\ \ \ J +9 &3lU\ \ \ J +9 &5.T \ \ J +10 &6X\ \ \ K +9 &8W\ \ \ K +10 &:sU\ \ \ K +9 &<5S\ \ \ K +9 &=W \ \ K +10 &?Y\ \ \ J +9 &A{W\ \ \ J +9 &C:Z\ \ \ L +10 &Db\ \ \ L +9 &Fk\ \ \ N +10 &Ht\ \ \ P +9 &J*\ -\ %\ T +9 &K\ /\ 1\ V +10 &M\ /\ /\ W +9 &Oh\ ,\ ,\ V +9 &Q&\ +\ )\ X +10 &R\ &\ '\ X +9 &T\ %\ &\ X +10 &Vh\ $\ $\ Y +9 &X)\ "\ $\ Z +9 &Y\ "\ #\ [\ +10 &[\ "\ $\ H +9 &\\0\ \ !\ / +9 &\\e\ "\ \ N +3 ( +2 "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&}1 +57 "core" 1 +2 "manipulator"&% +4 "core" % >   c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +89 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%R& +3 "core" &\ +3 "manipulator"&[% +4 "core" %    + "storage"(@% +4 "core" % i k s\  +2 "storage"(9. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(w(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (v& +2 "core" &K G C \  +2 "manipulator"&y& +5 "core" &ӱ  8 + "manipulator"&V% +4 "core" %   \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&~( +165 "core" ( +2 "manipulator"&M& +50 "core" & \   +3 "storage"(u& +4 "core" &K   T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +121 "core" ' +3 "storage"(s& +4 "core" &K | \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +296 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K ^ f W\  +2 "manipulator"&& +5 "core" &   + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&=& +3 "core" &     +2 "storage"(G& +4 "core" &K ^ g N\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&I'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&2& +2 "storage"(n' +9 "core" &   + "manipulator"&_% +5 "core" % k \  J +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&z& +3 "core" &  @ : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" & \  : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' + "manipulator"&& +5 "core" &    : +2 "manipulator"&m% +4 "core" % & +2 "processing"%& +3 "core" &\ +3 "processing"%C& +5 "core" &\ +3 .tPC.seek :closed + "processing"%?(^ +5 "core" &\  +9 &2v\ )v +10 &c}\ = +9 &spn\ M +9 &4Sw\ M +10 &TL\ M +9 &Tn\ M +10 &{U \ M +9 &=Vp\ M +9 &Vt\ M +10 &Ws\ M +9 & V{\ M +9 &"EUn\ M +10 &$Uo\ M +9 &%Tv\ M +10 &'Uw\ M +9 &)LXt\ M +9 &+Ut\ M +10 &,Vt\ M +9 &.To\ M +9 &0UUn\ M +10 &2Ts\ L +9 &3Uo\ M +10 &5Uq\ M +9 &7]Um\ M +9 &9Wi\ M +10 &:Wm\ M +9 &<Uk\ M +9 &>cYi\ M +10 &@&Yh\ M +9 &AZk\ N +10 &C_k\ N +9 &Efei\ O +9 &G&mk\ P +10 &Hzd\ Q +9 &Jd\ S +9 &Lb]\ S +10 &N!a\ T +9 &O`\ T +10 &Q_\ T +9 &Sf^\ T +9 &U)`\ T +10 &Va\ T +9 &X_\ T +9 &Zm_\ U +10 &\\/e\ U +9 &]zp]\ A +10 &^ J_\ A +9 &^na\ 5 +9 ( + &^b\ . +2 "processing"%C& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&)1 +54 "core" 1 +2 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +91 "core" ' +2 "processing"%B& +4 "core" &^H\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&A% +4 "core" %     +2 "storage"( % +4 "core" % [ [\  +2 "storage"(,. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(1(K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (;& +2 "manipulator"&c& +4 "core" &K 0  $\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Q'r +3 "manipulator"&b( +6 "core" ( +2 "manipulator"&0& +3 "core" &   : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +2 "core" &    : +3 .tForearm.seek PC +2 "manipulator"&N' +92 "core" ' + .tHand.close + "manipulator"&E/ +59 "core" / + .tPC.seek :open +48 "processing"%6( +45 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"('1 +43 "core" ' +356 ( + "storage"(& +5 "core" &K ^ ] \  + "manipulator"&& +5 "core" &  : + "manipulator"&K% +5 "core" % \ \  I +2 .tForearm.seek :retract + "manipulator"&+' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&>( +243 "core" ( +2 "manipulator"& & +3 "core" &   ' +3 "storage"(t& +4 "core" &K ] ^ 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +90 "core" ' +2 .tHand.open + "manipulator"&j1 +56 "core" 1 +3 "storage"(Y- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(o' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(i- +3 "core" -' +2 "storage"(:& +4 "core" &K \  +2 "manipulator"&g& +4 "core" &   P ' +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&& +4 "core" &   0 ' + "storage"(d& +5 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&4& +4 "core" &  ' +2 "storage"(|& +4 "core" &K e [ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&L'< +19 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(T' +19 "core" ' +2 "manipulator"&5% +4 "core" %N  +2 "storage"(& +3 "core" &K g ^ 7\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'z +16 "core" ' + "manipulator"&q& +5 "core" &    ' +2 "storage"(/& +4 "core" &K ^ ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +16 "core" ' +2 "storage"(Z% +4 "core" % f ^ \ +2 ."downElevator"SE.seek :down +4 "storage"($' +99 (k% +3 "core" %jQ D D\ Xf +2 "manipulator"&% +5 "core" % 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +88 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (p& +3 "core" &K Z Z \  +2 "collection"'& +5 "core" &\\e\ \ _\ N + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&S% +4 "core" %  %  +2 "storage"(a% +3 "core" % { q \  +2 "storage"(&. +3 "core" .(K +2 "storage"(& +5 "core" &K r | )\  + "storage"(& +4 "core" &K ^ p \  +2 "manipulator"&& +4 "core" &   1 ' +2 .tElbow.seek 6 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&^& +3 "core" &  ' +2 "storage"(H& +4 "core" &K ~ { a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +91 "core" ' +2 "storage"(l& +4 "core" &K u ~ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +49 .tSE.seek :beamBreak +3 "storage"(U'r +297 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" &  \ ' +3 "storage"(8& +4 "core" &K ^ _ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&f'< +18 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 'm +32 "core" ' +2 "manipulator"&P% +4 "core" %B  +2 "storage"(r& +4 "core" &K h ^ $\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&F'n +15 "core" ' +2 "manipulator"&"& +4 "core" &   X ' +2 "storage"(X& +4 "core" &K [ ] \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&}' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&R& +4 "core" &  < ' +2 "manipulator"&[% +4 "core" %  ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9(ӂ +151 "core" ( +2 "manipulator"&\ & +3 "core" &Ӌ&  ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +4 "core" &Ӌ&  Y ?T +3 .tForearm.seek CC + "manipulator"&y'? +96 "core" ' + .tHand.close +2 "manipulator"&V/ +64 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(M& +5 "core" &K z \  + "storage"(u& +4 "core" &K { \  +2 "manipulator"&3& +4 "core" &Ӳ!  :- +2 "manipulator"&e% +4 "core" % B    +2 .tForearm.seek :retract + "manipulator"&s' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&'( +165 "core" ( + "manipulator"& & +4 "core" &     +2 "storage"(& +4 "core" &K j h i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +101 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&G1 +60 "core" 1 +3 "manipulator"&% +4 "core" % I   + "storage"(2& +5 "core" &K g h V\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 313 counts + "manipulator"&_'u +17 "core" ' +2 "manipulator"&~& +4 "core" &  + "storage"(x& +5 "core" &K f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&#' +17 "core" ' +2 "storage"(I% +4 "core" % `\ +2 ."downElevator"SE.seek :down +3 "storage"(z' +100 (J% +3 "core" %J u ~ \ Va +2 "manipulator"&% +3 "core" % N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'m& +3 "core" & m\ +3 "manipulator"&% +4 "core" % !  \ $ +2 "storage"(n% +3 "core" % `\  +47 "storage"(. +5 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 7 + "storage"((([ +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ()& +3 "core" &[ ^ q 9\ +3 "manipulator"&& +5 "core" &  ^  +2 .tElbow.seek 7 + "manipulator"&B(r +15 "core" ( + "manipulator"&A& +4 "core" &s    +2 "storage"( & +4 "core" &[ c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&,'= +94 "core" ' + "storage"(C& +4 "core" &[ f\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +298 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &[ | y #\  +2 "manipulator"&{& +4 "core" &s  +2 .tElbow.seek 7 +2 "manipulator"& (r +3 "core" ( +2 "manipulator"&E& +3 "core" &s    +2 "storage"(w& +5 "core" &[ h j\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"(?' +8 "core" &s P  +2 "manipulator"&Q% +4 "core" %  H +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&K& +4 "core" &Ӎ   ! 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &Ӎ  5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +100 "core" ' +2 "manipulator"&t& +5 "core" &Ӎ   5 + "manipulator"&b% +5 "core" %<   \ +2 "collection"'j& +46 "core" & \ +2 "collection"'Y& +6 "core" & l\ +2 .tCC.seek :closed +2 "collection"'i(\\ +4 "core" & \  +9 &6y \ *z +9 &i~ \ ? +10 &k \ L +9 &eR \ J +9 &'U \ J +10 &X \ \ J +9 &S \ \ K +10 &lV\ \ J +9 &-T \ K +9 &R \ K +10 & W \ J +9 &"tR \ K +9 &$7W \ J +10 &%T \ K +9 &'X \ \ J +10 &)|R \ K +9 &+?W \ J +9 &-U \ \ J +10 &.W\ \ J +9 &0S \ K +9 &2FR \ K +10 &4 S \ \ J +9 &5U\  \ J +10 &7S \ \ K +9 &9OS \ \ J +9 &;T \ J +10 &<X |\ K +9 &>V \ ~\ K +9 &@UX\  \ K +10 &BZ\ \ ~\ K +9 &C]\ \ \ L +10 &Ed\ \ \ L +9 &GTr\ \ ~\ N +9 &I \ \ \ Q +10 &J\ 1\ +\ U +9 &L\ 2\ 1\ V +9 &NB\ ,\ -}\ W +10 &P\ +\ ,\ W +9 &Q\ (\ )\ W +10 &S\ '\ (~\ Y +9 &UE\ #\ '{\ Y +9 &W\ #\ %z\ Y +10 &X\ #\ #\ [ +9 &Z\ !\ #\ [ +9 &\\)z\ \ \ . +10 &\\/\ "\ "\ ] +9 ( + &\\b\ \ \ K +2 "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&:1 +60 "core" 1 +2 "manipulator"&g% +3 "core" % <   / \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%d& +3 "core" &\ +2 "manipulator"&+% +4 "core" %     +2 "storage"(4% +4 "core" % ^ [\  +2 "storage"(|. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(5([ +9 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[ !  S\  +3 "manipulator"&& +4 "core" &ӥ  2 +2 "manipulator"&q% +4 "core" %      +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&/(r +160 "core" ( +2 "manipulator"&]& +3 "core" &y    +3 "storage"(Z& +50 "core" &[ u k V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&>'= +104 "core" ' +2 "storage"(\\& +4 "core" &[ } \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +297 "core" ' + "storage"(k- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ Z [ \  +2 "manipulator"&.& +4 "core" &y   +2 .tElbow.seek 7 +2 "manipulator"&O(r +4 "core" ( + "manipulator"&& +5 "core" &y    + "storage"(L& +4 "core" &[ j a p\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(S' +9 "core" &y   +2 "manipulator"&a% +4 "core" % ϧ \ +2 .tForearm.seek :retract + "manipulator"&&' +89 "core" ' +3 .tElbow.seek PC + "manipulator"&T( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&& +3 "core" &   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + "manipulator"&^& +5 "core" & F  +2 "manipulator"&H% +4 "core" %  U +2 "processing"%-& +4 "core" &\ +2 "processing"%l& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%$(^ +4 "core" &\ +5 &\ 6 +10 &CHs\ / +9 &kq\ D +9 & ^\ M +10 &V\ M +9 &T\ M +9 &UU\ M +10 &T?\ M +9 &Tl\ M +10 &Vp\ M +9 &[Vj\ M +9 &!Uu\ M +10 &"Uq\ M +9 &$Wq\ N +9 &&eUv\ M +10 &('Tr\ M +9 &)Ut\ M +10 &+Uo\ M +9 &-mVj\ M +9 &//Up\ M +10 &0Uo\ M +9 &2Un\ M +9 &4tTo\ M +10 &66Wa\ M +9 &7Vl\ M +10 &9Vk\ M +9 &;{Xn\ M +9 &=<Vm\ N +10 &>Ym\ M +9 &@Xm\ N +9 &B_i\ N +10 &DBcm\ N +9 &Fkl\ O +10 &Gve\ Q +9 &Izi\ S +9 &K;a\ S +10 &Lc\ T +9 &Na\ T +9 &P`\ T +10 &R@h\ T +9 &Tc\ T +10 &U`\ T +9 &Wi\ T +9 &YG]\ U +10 &[ a\ T +9 &\\_\ U +9 &^Ch`\ + +10 &^g^\ ? +9 ( + &^3g\ 8 +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&W1 +54 "core" 1 +2 "manipulator"&D% +4 "core" %    : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' + "processing"%!& +4 "core" &^3a\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&8% +4 "core" %    + "storage"(h% +4 "core" % J ] )\  +2 "storage"(P. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(r([ +5 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ("& +2 "manipulator"&X& +5 "core" &[ 3 R i\  +2 & +   +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&R( +6 ."raiseStack"SE.seek :beamBreak + "storage"(['r +3 "core" ( +2 "manipulator"&& +4 "core" &   A  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" & . . ~  +2 .tForearm.seek PC +2 "manipulator"&U' +92 "core" ' +2 .tHand.close + "manipulator"&f/ +58 "core" / +2 .tPC.seek :open +2 "processing"%F( +137 "core" ' +9 "storage"( - +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(\ '1 +48 "core" ' +254 ( +2 "storage"(v& +4 "core" &[ ^ j ]\  +2 "manipulator"&}& +4 "core" &   +2 "manipulator"&<% +3 "core" %  . +3 .tForearm.seek :retract +2 "manipulator"&V' +88 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&@(r +249 "core" ( +2 "manipulator"&`& +3 "core" &{   7 +3 "storage"(M& +4 "core" &[ f ^ 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'= +93 "core" ' +2 .tHand.open + "manipulator"&31 +63 "core" 1 +3 "storage"(e- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +3 "core" -' +2 "storage"(9& +4 "core" &[ \  +2 "manipulator"&G& +4 "core" &{  7 +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( +2 "manipulator"&2& +3 "core" &{   7 +2 "storage"(~& +5 "core" &[ r\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&x'= +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(I'" +51 "core" ' + "manipulator"&s& +5 "core" &{  7 + "storage"(J& +4 "core" &[ ^ ^ +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +21 "core" ' + "manipulator"&_% +4 "core" %Ί 0 / f +2 "storage"(m& +4 "core" &[ D D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&'϶ +14 "core" ' + "manipulator"&n& +5 "core" &}   5 + "storage"(& +5 "core" &[ h j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' + "storage"(#% +5 "core" % e [ \ +2 ."downElevator"SE.seek :down +4 "storage"(z' +98 (1% +3 "core" %hQ C C\ Xf +3 "manipulator"&)% +5 "core" %A d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (A& +3 "core" &[ P \\ g\  +2 "collection"' & +5 "core" &\\b\ \ d\ K +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&C% +4 "core" %    +2 "storage"(=% +3 "core" % q p \  +2 "storage"(. +4 "core" .([ +2 "storage"(c& +4 "core" &[ q { g\  +2 "storage"(0& +4 "core" &[ ~ ~ \  + "manipulator"&{& +4 "core" &}  5 +2 .tElbow.seek 7 +2 "manipulator"&E(r +9 "core" ( + "manipulator"&w& +4 "core" &~     +2 "storage"(& +3 "core" &[ ~  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&%'= +90 "core" ' +2 "storage"(Q& +4 "core" &[ } i\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +352 "core" ' +3 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" &~    +3 "storage"(N& +3 "core" &[ j h ^\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&;'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(t- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(b's +28 "core" ' + "manipulator"& % +4 "core" %Ύ +  M +2 "storage"(j& +4 "core" &[ [ Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&?'Ϻ +14 "core" ' +2 "manipulator"&& +3 "core" &~   -  +2 "storage"(& +5 "core" &[ e ] \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&:'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(g' +45 "core" ' +2 "manipulator"&d& +4 "core" &~ \   +2 "manipulator"&+% +3 "core" %7 < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +154 "core" ( + "manipulator"&Y& +4 "core" &Ӓ"   ? ;5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӓ"    ;5 +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&q/ +64 "core" / +2 .tCC.seek :open +2 "collection"' ( +447 "core" ( +2 "storage"(]& +3 "core" &[ { a\  +2 "storage"(Z& +4 "core" &[ t | @\  +2 "manipulator"&(& +4 "core" &ӫ  \  8 +2 "manipulator"&% +3 "core" % Q   $  +3 .tForearm.seek :retract + "manipulator"&\\' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +162 "core" ( + "manipulator"&k& +4 "core" &u  9  +2 "storage"(& +4 "core" &[ j\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&.'{ +101 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&L1 +55 "core" 1 +2 "manipulator"&p% +4 "core" % Ό    +2 "storage"(& +4 "core" &[ | x 5\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 317 counts + "manipulator"&a'ϸ +16 "core" ' + "manipulator"&/& +4 "core" &v M  +2 "storage"(>& +4 "core" &[ \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&o'= +16 "core" ' +2 "storage"(% +4 "core" % h\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %}D }  \ U^ +2 "manipulator"&O% +4 "core" %7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'H& +3 "core" & \ +2 "manipulator"&-% +3 "core" %  '  +3 "storage"(S% +4 "core" % ]\  + "storage"(&. +4 "core" .([ +46 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(6(<- +678 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &<- z \ +2 "manipulator"&D& +3 "core" &v ~  +3 .tElbow.seek 5 + "manipulator"&!( +22 "core" ( +2 "manipulator"&8& +3 "core" &     +2 "storage"(h& +4 "core" &<- [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +92 "core" ' + "storage"(X& +5 "core" &<- \\\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +294 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &<- ~ u \ +3 "manipulator"&7& +4 "core" & \ }  +2 .tElbow.seek 5 + "manipulator"&( +10 "core" ( +2 "manipulator"&f& +4 "core" &   q  +2 "storage"(5& +4 "core" &<- x } I\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&T'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&*/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"($' +8 "core" &   + "manipulator"&[% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&v' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&}(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&<& +4 "core" &Ӑ#  <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &Ӑ#  B <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'? +101 "core" ' +2 "manipulator"&M& +4 "core" &ӑ#   I <: +2 "manipulator"&R% +3 "core" %G    +3 "collection"'3& +4 "core" & \ +2 "collection"'e& +6 "core" & }\ +2 .tCC.seek :closed +2 "collection"'y(\\ +5 "core" & \ +7 &< \ $f +9 &Xy \ 7 +10 &x \ J +9 &R \ J +9 &U \ J +10 &GX \ J +9 &S \ K +9 &X \ K +10 &X \ J +9 &QU\ \ J +9 & X \ J +10 &!R \ K +9 &#W \ J +10 &%WR \ K +9 &'Y \ J +9 &(X \ K +10 &*U \ K +9 &,_R \ K +10 &."X \ J +9 &/U \ J +9 &1Y \ K +10 &3gY\ \ K +9 &5)V \ K +9 &6T \ J +10 &8T \ K +9 &:nT \ K +9 &<1X \ \ J +10 &=U \ J +9 &?U \ \ K +10 &AvW \ K +9 &C7Z\ \ \ K +9 &Dc\ \ \ L +10 &Fn\ \ \ N +9 &Ho\ \ \ P +10 &J%\ )\ #\ T +9 &K\ -\ -\ V +9 &M\ )\ )\ W +10 &Oc\ '\ (\ W +9 &Q$\ '\ '\ W +9 &R\ #\ $\ X +10 &T\ #\ #\ X +9 &Vd\ #\ "\ Y +10 &X%\ !\ #\ Z +9 &Y\ !\ \ [\ +9 &[\ \ !\ G +10 &\\6\ !\ \ - +9 &\\c\ \ !\ L +2 ( +2 "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&91 +60 "core" 1 +3 "manipulator"&G% +4 "core" % G    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%~& +4 "core" &\ +2 "manipulator"&V% +3 "core" %  8  +2 "storage"(s% +4 "core" % h h e\  +2 "storage"(J. +3 "core" .(<- +2 "storage"(\ & +4 "core" &<- i i d\ +2 "storage"(_& +4 "core" &<- k j \ +2 "manipulator"&m& +3 "core" &ӯ g 8 +2 "manipulator"&n% +4 "core" %  n  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +181 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(#& +3 "core" &<- ~ { \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +112 "core" ' +3 "storage"(u& +5 "core" &<- | )\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &<- U > ,\ +2 "manipulator"&x& +5 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +19 "core" ( +2 "manipulator"&I& +3 "core" &   T  +3 "storage"(& +4 "core" &<- h i \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&A'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(C' +7 "core" &  D  +2 "manipulator"&=% +3 "core" % Ͻ Q +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +3 "manipulator"&c& +3 "core" &  + - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +2 "core" &  ` - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&{' +101 "core" ' + "manipulator"&w& +5 "core" &   - +2 "manipulator"&% +4 "core" %  +2 "processing"%& +3 "core" &\ +3 "processing"%Q& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%z(^ +5 "core" &\ +7 &8\ #a +9 &Uy\ 6 +9 &~x\ J +10 &Xp\ M +9 &_U\ M +9 &!T\ M +10 &Zb\ M +9 &Vw\ M +10 &gUl\ M +9 &)Wo\ M +9 &Ws\ M +10 &!Yn\ M +9 &#nVu\ M +9 &%0Vq\ M +10 &&Un\ M +9 &(Vu\ M +10 &*wUl\ M +9 &,8Yq\ M +9 &-Vo\ M +10 &/Wv\ M +9 &1~Tp\ M +9 &3AUp\ M +10 &5Wm\ M +9 &6Um\ M +10 &8Uo\ M +9 &:GVi\ M +9 &< Xi\ M +10 &=Wp\ M +9 &?Yj\ M +9 &ANZi\ N +10 &C`h\ N +9 &Dhh\ O +10 &Fpf\ P +9 &HIl\ R +9 &Jb\ S +10 &Kd\ S +9 &M`\ T +9 &OMa\ S +10 &Q g\ T +9 &R]\ T +10 &T`\ U +9 &VSa\ T +9 &X`\ T +10 &Yc\ T +9 &[b\ T +9 &]Xf\ D +10 &^|Apf\ $j +9 &^*i\ . +6 ( + "processing"%Q& +4 "core" &^g\ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&'1 +53 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +92 "core" ' + "processing"%K& +4 "core" &^G\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&N% +5 "core" % !  g + + "storage"(t% +4 "core" % Z Z\  +2 "storage"( . +3 "core" .(<- +2 "storage"(j& +3 "core" &<- [ Z\ +3 "storage"(& +3 "manipulator"&& +6 "core" &<- [ [\ +2 &  M , +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&d( +6 ."raiseStack"SE.seek :beamBreak + "storage"(+'r +4 "core" ( + "manipulator"&%& +4 "core" &  P , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &   , +2 .tForearm.seek PC +2 "manipulator"&B' +97 "core" ' +2 .tHand.close + "manipulator"&;/ +53 "core" / +3 .tPC.seek :open +2 "processing"%?( +96 "core" ' +2 "storage"(b- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Y'1 +49 "core" ' +298 ( + "storage"(& +3 "core" &<- f ^ \ +2 "manipulator"&:& +4 "core" &  & , +43 "manipulator"&% +11 "core" %  O  +2 .tForearm.seek :retract +2 "manipulator"&q' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&4( +245 "core" ( + "manipulator"&i& +4 "core" &   . +2 "storage"(]& +4 "core" &<- e r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Z'O +100 "core" ' + .tHand.open +2 "manipulator"&(1 +58 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(k' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(|& +4 "core" &<- } =\ +2 "manipulator"&L& +3 "core" &  ? . +3 .tElbow.seek 5 + "manipulator"&p( +4 "core" ( +2 "manipulator"&& +3 "core" &  \ . +3 "storage"(/& +4 "core" &<- y y \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +60 "core" ' +2 "manipulator"&\\& +3 "core" & \  u . +2 "storage"(& +5 "core" &<- ^ h g\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&O'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +28 "core" ' + "manipulator"&H% +5 "core" %ΐ   +2 "storage"(-& +4 "core" &<- f h 5\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts +2 "manipulator"&a'ϼ +13 "core" ' +2 "manipulator"&S& +3 "core" &  +3 "storage"(&& +4 "core" &<- ~ { \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +15 "core" ' +2 "storage"(o% +3 "core" % ~  \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (r% +3 "core" %L E > ^\ We +2 "manipulator"&W% +5 "core" %I   9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +94 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (8& +3 "core" &<- k u \ +2 "collection"'h& +5 "core" &\\a\ \ b\ L + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&X% +3 "core" % \ \ R  +2 "storage"(% +5 "core" %  ~ \  + "storage"(^. +3 "core" .(<- +2 "storage"(l& +4 "core" &<- { ~ \ +2 "storage"(& +4 "core" &<-  ~ \ +2 "manipulator"&7& +3 "core" &  "  +3 .tElbow.seek 5 +2 "manipulator"&f( +19 "core" ( +2 "manipulator"&5& +3 "core" & \ /  +2 "storage"(*& +5 "core" &<- |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +92 "core" ' + "storage"([& +4 "core" &<- { M\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +304 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" &   +3 "storage"(U& +4 "core" &<- ^ ] %\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +46 .tForearm.seek 5 +5 "manipulator"&"'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&T, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(M- +4 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(R'x +29 "core" ' +2 "manipulator"&3% +3 "core" %Ι   +2 "storage"(& +5 "core" &<- \\ _ B\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&$' +16 "core" ' +2 "manipulator"&v& +3 "core" &   +2 "storage"( & +4 "core" &<- t { \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(G' +36 "core" ' +2 "manipulator"&~& +4 "core" & -  +2 "manipulator"&V% +3 "core" %O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +157 "core" ( +3 "manipulator"&\ & +3 "core" &Ӂ)    Ab +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &Ӂ)  \  Ab +3 .tForearm.seek CC +2 "manipulator"&_'? +93 "core" ' +2 .tHand.close + "manipulator"&m/ +58 "core" / +2 .tCC.seek :open +2 "collection"'n( +447 "core" ( +2 "storage"(`& +3 "core" &<- |\ +2 "storage"(& +5 "core" &<- }\ + "manipulator"&#& +4 "core" &   , 8 +2 "manipulator"&}% +4 "core" % <   u +2 .tForearm.seek :retract +2 "manipulator"&u' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&2( +157 "core" ( +2 "manipulator"&1& +3 "core" &   +2 "storage"()& +5 "core" &<- ^\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&x'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +5 "core" % Η   +2 "storage"( & +4 "core" &<- V\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&=' +26 "core" ' + "manipulator"& & +4 "core" & +2 "storage"(@& +3 "core" &<- R\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +26 "core" ' +2 "storage"(A% +4 "core" % ]\ +2 ."downElevator"SE.seek :down +4 "storage"(c' +99 (0% +3 "core" %vF s q ~\ T] +2 "manipulator"&% +3 "core" %@  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +90 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" & r\ +2 "manipulator"&% +4 "core" %  \ |  +2 "storage"(C% +4 "core" % f\ +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(F(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &K u\ \ +2 "manipulator"&& +5 "core" &  + .tElbow.seek 6 +47 "manipulator"&K( +5 "core" ( +2 "manipulator"&N& +4 "core" & \  +2 "storage"(t& +4 "core" &K `\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 "storage"(j& +4 "core" &K a\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Q& +3 "core" &K l\ \ +2 "manipulator"&%& +3 "core" & +3 .tElbow.seek 6 + "manipulator"&E( +5 "core" ( + "manipulator"&{& +4 "core" & ? +2 "storage"(;& +4 "core" &K T\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&b'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&,& + "storage"(z' +6 "core" & +3 "manipulator"&+% +3 "core" % z [ +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +149 "core" ( +2 "manipulator"&& +4 "core" &z(   # @Y + ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&B& +5 "core" &z(   @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&i'? +92 "core" ' +2 "manipulator"&]& +5 "core" &Ӕ#  <? + "manipulator"&d% +4 "core" %>    > +3 "collection"'(& +3 "core" & \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & \ +6 & \ ; +9 &LKv \ 1 +9 &x} \ E +10 &7W \ K +9 &W \ K +10 &W \ \ K +9 &W \ J +9 &@R \ K +10 &U \ K +9 &R \ J +9 &T \ J +10 &!IW \ J +9 &# R \ J +10 &$S \ K +9 &&S \ J +9 &(QT \ \ J +10 &*W \ J +9 &+S \ K +9 &-X \ K +10 &/WW \ K +9 &1X \ J +10 &2S \ K +9 &4W \ K +9 &6`W \ K +10 &8"W \ K +9 &9S\ \ K +9 &;W \ J +10 &=hS \ K +9 &?+S \ J +9 &@W \ J +10 &BZ\ \ \ K +9 &Dmb\ \ \ L +10 &F+l\ \ \ M +9 &Gy\ \ \ O +9 &I\ $\ \ S +10 &KX\ 1\ 0\ V +9 &M\ /\ 1\ W +9 &N\ -\ ,\ W +10 &P\ +\ *\ X +9 &RY\ '\ (\ X +10 &T\ &\ %\ Y +9 &U\ $\ #\ Y +9 &W\ "\ $\ Y +10 &YY\ #\ \ [ +9 &[\ #\ "\ Z +10 &\\mE\ \ !\ 0 +9 &\\\ \ \ L +5 ( +2 "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&|1 +2 "core" &\\b\ \ \ L +54 1 +3 "manipulator"&L% +3 "core" % >   > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +101 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%/& +4 "core" &\ +2 "manipulator"&q% +3 "core" %    +2 "storage"(\\% +4 "core" % r j \  +2 "storage"(. +3 "core" .(K +2 "storage"(Y& +3 "core" &K ] ] H\ \ +2 "storage"(H& +5 "core" &K q q \ \ + "manipulator"&-& +5 "core" &ӯ  9$ +2 "manipulator"&k% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&S( +166 "core" ( + "manipulator"&&& +5 "core" &  K  + "storage"(o& +4 "core" &K |\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&4' +98 "core" ' +2 "storage"(Z& +3 "core" &K { ~ X\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +312 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +50 (W& +4 "core" &K  \ \ \ +2 "manipulator"&>& +5 "core" & H  + .tElbow.seek 6 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&& +4 "core" &  H  +2 "storage"(O& +3 "core" &K  ~ \ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&a'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&h& + "storage"(X' +8 "core" &  I  + "manipulator"&% +5 "core" % k \ S t +2 .tForearm.seek :retract +2 "manipulator"&^' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&.( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&l& +4 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \  : 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&7' +101 "core" ' +2 "manipulator"&5& +4 "core" &   9 +2 "manipulator"&*% +4 "core" % \ \   +2 "processing"%g& +4 "core" &\ +2 "processing"%[& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 &<v\ $e +10 &W}l\ 8 +9 &v\ L +9 &R \ M +10 &U\ M +9 &CS\ M +9 &Z\ M +10 &U\ M +9 &U\ M +10 &IV2\ M +9 & Rm\ M +9 &!Uq\ M +10 &#Wx\ M +9 &%QVo\ M +9 &'Un\ M +10 &(Vo\ M +9 &*Vp\ M +10 &,ZUn\ M +9 &.Uo\ M +9 &/Wn\ M +10 &1Tl\ M +9 &3bUo\ M +9 &5%Uo\ M +10 &6Um\ M +9 &8Wo\ M +10 &:hUm\ N +9 &<+Wi\ M +9 &=Xh\ M +10 &?Yj\ M +9 &ApYo\ N +9 &C1`k\ N +10 &Dcl\ O +9 &Fik\ P +10 &Hnvb\ Q +9 &J+j\ S +9 &Kn\ S +10 &Mo\ T +9 &Ooc\ S +9 &Q.c\ T +10 &Rh\ T +9 &T\\\ T +10 &Vt`\ T +9 &X6h\ T +9 &YZ\ U +10 &[e\ T +9 &]za\ B +9 &^?[\ Z +10 &^,_\ 1 +5 ( +2 "processing"%[& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&1 +3 "core" &^!]\ 1 +57 1 +2 "manipulator"&D% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +97 "core" ' +2 "processing"%<& +3 "core" &^!G\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&U% +4 "core" % !  [ + +2 "storage"(M% +3 "core" % [ ]\  +2 "storage"(3. +3 "core" .(K +2 "storage"(& +4 "core" &K ] [\ \ +2 "storage"(v& +4 "manipulator"& & +7 "core" &K ] ] \ \ + & W 9 +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&~( +4 ."raiseStack"SE.seek :beamBreak +4 "storage"(V'r +3 "core" ( + "manipulator"& & +4 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &   R 9 +2 .tForearm.seek PC +2 "manipulator"&!' +94 "core" ' +2 .tHand.close + "manipulator"&"/ +63 "core" / +2 .tPC.seek :open +2 "processing"%$( +91 "core" ' + "storage"(R- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(\ '1 +46 "core" ' +307 ( +2 "storage"(e& +4 "core" &K f ] !\ +2 "manipulator"&9& +3 "core" &  V 9 +2 "manipulator"&T% +5 "core" %  \ l , +2 .tForearm.seek :retract + "manipulator"&m' +19 "Can" Np/ +77 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&s( +245 "core" ( +3 "manipulator"&y& +5 "core" &    + "storage"(`& +5 "core" &K h h s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' +2 .tHand.open + "manipulator" +58 "core" 1 +3 "storage"(}- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"()' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(J& +4 "core" &K \ +2 "manipulator"&& +4 "core" &   E  +2 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"& & +5 "core" &   X  + "storage"( & +5 "core" &K \ +2 .tForearm.seek 6 + 450 counts + "manipulator"&@' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(A'" +58 "core" ' +2 "manipulator"&u& +3 "core" &   +2 "storage"(0& +5 "core" &K h i }\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(x' +29 "core" ' + "manipulator"&=% +5 "core" %N  + "storage"(& +5 "core" &K ^ h 1\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'z +16 "core" ' + "manipulator"&C& +5 "core" &  y  + "storage"(& +5 "core" &K ^ ^ 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +18 "core" ' + "storage"(% +5 "core" % ^ ^ C\ +2 ."downElevator"SE.seek :down +4 "storage"(c' +99 (6% +3 "core" %YP F D \ We +2 "manipulator"&'% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (N& +3 "core" &K ] \\\ +2 "collection"'t& +5 "core" &\\b\ \ ~\ L + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&j% +3 "core" %    +3 "storage"(I% +4 "core" % a k Q\  + "storage"(w. +4 "core" .(K + "storage"(& +5 "core" &K t | X\ +2 "storage"(Q& +3 "core" &K   \ +3 "manipulator"&%& +3 "core" & \   +2 .tElbow.seek 6 +2 "manipulator"&{( +4 "core" ( + "manipulator"&;& +5 "core" &   l  +2 "storage"(& +3 "core" &K  ~ @\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +93 "core" ' + "storage"(+& +5 "core" &K q \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   6  +2 "storage"(B& +4 "core" &K m { \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +42 "storage"(d'l +38 "core" ' +2 "manipulator"&(% +4 "core" %6   +2 "storage"(E& +3 "core" &K ^ [\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 294 counts +2 "manipulator"&z'b +15 "core" ' +6 "manipulator"&& +4 "core" & (  +2 "storage"(n& +4 "core" &K r ~ ;\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(L' +39 "core" ' +2 "manipulator"&/& +4 "core" &   +2 "manipulator"&q% +4 "core" %  H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( +2 "manipulator"&Y& +4 "core" &ӑ#  T <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӑ#   <= +3 .tForearm.seek CC + "manipulator"&H'? +93 "core" ' +2 .tHand.close + "manipulator"&-/ +63 "core" / +2 .tCC.seek :open + "collection"'k( +447 "core" ( +2 "storage"(i& +3 "core" &K t  -\ +3 "storage"(&& +3 "core" &K }  \ +2 "manipulator"&o& +5 "core" &ӱ   8 + "manipulator"&Z% +3 "core" % I  \   +3 .tForearm.seek :retract +2 "manipulator"&:' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +162 "core" ( +2 "manipulator"&r& +4 "core" & X  + "storage"(W& +5 "core" &K _\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&>'< +94 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +63 "core" 1 +2 "manipulator"&8% +4 "core" % M    +2 "storage"(h& +3 "core" &K R\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&'y +13 "core" ' +2 "manipulator"&S& +3 "core" & <  +3 "storage"(4& +4 "core" &K c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' + "storage"(a% +5 "core" % K\ +2 ."downElevator"SE.seek :down +4 "storage"(l' +98 (% +3 "core" %C q u \ V_ +2 "manipulator"&p% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'*& +4 "core" & \ +2 "manipulator"&g% +4 "core" %   _  +2 "storage"(X% +3 "core" % Z\  +2 "storage"(^. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(?([ +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ ~ q J\ \ +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&<(r +42 "core" ( +2 "manipulator"&U& +4 "core" &   +2 "storage"(M& +4 "core" &[ W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&3'= +104 "core" ' +3 "storage"(& +3 "core" &[ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +296 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (v& +2 "core" &[ { m \ +3 "manipulator"& & +4 "core" & M +2 .tElbow.seek 7 + "manipulator"&f(r +16 "core" ( +2 "manipulator"&7& +3 "core" &y i u +3 "storage"("& +4 "core" &[ a\ +2 .tForearm.seek 7 + 300 counts + "manipulator"&R'ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(' +9 "core" &y  u + "manipulator"&V% +5 "core" % Ϭ  Y , +2 .tForearm.seek :retract + "manipulator"&e' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9(ӂ +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&T& +4 "core" &Ӈ(    @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &Ӈ(  \ R @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&y'? +95 "core" ' +2 "manipulator"&`& +4 "core" &Ӎ&   ?R +2 "manipulator"&~% +4 "core" %4   +2 "collection"'#& +4 "core" & \ +2 "collection"'}& +5 "core" & J\ +3 .tCC.seek :closed + "collection"'_(\\ +4 "core" & X\ +8 &= \ $f +9 &Yy \ 7 +10 &x \ J +9 &R \ J +9 &U \ J +10 &LX \ J +9 & X \ K +10 &U \ K +9 &W \ J +9 &SW \ K +10 & U G\ K +9 &!W \ J +9 &#X \ K +10 &%[U \ K +9 &'R \ \ J +9 &(T \ J +10 &*W \ J +9 &,cS \ K +10 &.&R \ J +9 &/T \ J +9 &1Y \ K +10 &3kV \ K +9 &5.S \ J +10 &6T \ K +9 &8Y ;\ K +9 &:sW q\ K +10 &<5V \ K +9 &=S \ J +9 &?T \ K +10 &AzU \ K +9 &C<Z \ \ K +10 &Df\ \ \ L +9 &Fn\ \ \ N +9 &Ht\ \ \ P +10 &J+\ +\ $\ T +9 &K\ /\ /\ V +9 &M\ -\ /\ V +10 &Of\ *\ ,\ W +9 &Q(\ '\ *\ W +9 &R\ &\ (\ X +10 &T\ #\ &\ X +9 &Vi\ #\ $\ Y +10 &X*\ #\ !\ Y +9 &Y\ "\ #\ Z +9 &[\ "\ "\ G +10 &\\.\ \ \ 5 +9 &\\g\ \ \ J +2 ( +2 "collection"'}& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&J1 +64 "core" 1 +2 "manipulator"&% +3 "core" % 4   ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&m% +4 "core" %     +2 "storage"(u% +4 "core" % e h #\  + "storage"(0. +3 "core" .([ +2 "storage"(=& +4 "core" &[ ^ f -\ +2 "storage"(& +4 "core" &[ f ` \ +2 "manipulator"&\ & +4 "core" &Ӯ  :1 + "manipulator"&C% +5 "core" %    \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&1(r +164 "core" ( + "manipulator"&& +4 "core" &{   .  +2 "storage"(& +4 "core" &[ p $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&s'= +94 "core" ' + "storage"(& +4 "core" &[ ~\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'r +298 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &[ f _ 4\ +2 "manipulator"&@& +5 "core" &{   + .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&A& +4 "core" &{    +2 "storage"(& +4 "core" &[ f _ >\ +2 .tForearm.seek 7 + 300 counts +48 "manipulator"&'ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&t& +3 "storage"(j' +8 "core" &{ Y  +2 "manipulator"&I% +4 "core" % ϴ 5 +2 .tForearm.seek :retract +2 "manipulator"&w' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&& +6 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &   <  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&%' +94 "core" ' +2 "manipulator"&;& +4 "core" & \   +2 "manipulator"&% +5 "core" %  ] + "processing"%G& +5 "core" &\ +2 "processing"%+& +5 "core" &f\ +3 .tPC.seek :closed + "processing"%c(^ +5 "core" &\ +7 &5\ #c +10 &Ux9\ 6 +9 &{h\ K +9 &Rh\ M +10 &cU\ M +9 &&R\ \ M +10 &Vs\ M +9 &U\ M +9 &mUq\ M +10 &/V{\ M +9 &Ux\ M +9 &!Wq\ M +10 &#tUp\ M +9 &%6Ud\ M +10 &&Ua\ M +9 &(VI\ M +9 &*}Ur\ M +10 &,?V\ M +9 &.Uf\ M +9 &/Zm\ M +10 &1Tp\ M +9 &3GTo\ M +10 &5Wl\ M +9 &6Un\ M +9 &8Wf\ M +10 &:OUj\ M +9 &<Wn\ M +9 &=Vc\ M +10 &?Wh\ M +9 &ATXj\ N +10 &C_e\ N +9 &Del\ O +9 &Fks\ P +10 &HR{d\ Q +9 &Jj\ S +9 &Kg\ T +10 &Me\ S +9 &ORh\ T +10 &Qh\ T +9 &Rk\ T +9 &TY\ U +10 &VXd\ T +9 &Xd\ T +9 &Y`\ U +10 &[\\\ U +9 &]_\\\ B +10 &^Gua\ S +9 &^ L_\ 2 +5 ( +2 "processing"%+& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&21 +2 "core" &^%`\ 2 +53 1 +2 "manipulator"&% +4 "core" %   & ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +2 "processing"%& +3 "core" &^%X\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&B% +4 "core" %    +2 "storage"(]% +3 "core" % \\ [ \  +2 "storage"((. +3 "core" .([ +2 "storage"(E& +3 "core" &[ \\ ]\ +3 "storage"(& +3 "manipulator"&n& +6 "core" &[ [ Z\ +2 &  H  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(/'r +2 "manipulator"&q( +5 "core" ( +2 "manipulator"&,& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" & / 0 W  +3 .tForearm.seek PC +2 "manipulator"&K' +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%z( +93 "core" ' +2 "storage"(d- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Y'1 +41 "core" ' +308 ( +2 "storage"(& +3 "core" &[ i i \ +2 "manipulator"&|& +4 "core" &   +2 "manipulator"&b% +4 "core" %  d < +2 .tForearm.seek :retract +2 "manipulator"&-' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&\\(r +261 "core" ( +2 "manipulator"&& +3 "core" &}    +2 "storage"(i& +5 "core" &[ i h \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&&'= +95 "core" ' + .tHand.open +2 "manipulator"&o1 +102 "core" 1 +2 "storage"(Z- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(r' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(W' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +3 "core" -' +2 "storage"(& +5 "core" &[ Q\ + "manipulator"&O& +4 "core" &}   +2 .tElbow.seek 7 +2 "manipulator"&8(r +7 "core" ( + "manipulator"&h& +4 "core" &|    m +2 "storage"(S& +3 "core" &[ \ +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&4'= +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(a'" +53 "core" ' + "manipulator"&:& +4 "core" &|  m +2 "storage"(& +4 "core" &[ ` i I\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&p'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(>' +20 "core" ' +2 "manipulator"&*% +4 "core" %Ύ   6 +2 "storage"(g& +4 "core" &[ 9 ; {\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +14 "core" ' + "manipulator"&X& +5 "core" &|  + m + "storage"(^& +4 "core" &[ m | a\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&L'= +15 "core" ' + "storage"(% +5 "core" %  t \ +2 ."downElevator"SE.seek :down +4 "storage"(l' +99 (F% +3 "core" %`J < 9 [\ Wd +2 "manipulator"&% +5 "core" %3 X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +92 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (U& +3 "core" &[ o q l\ +2 "collection"'M& +5 "core" &\\]\ \ :\ J + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +3 "core" %  [  +3 "storage"(% +4 "core" % ~ ~\ \  + "storage"(5. +4 "core" .([ + "storage"( & +4 "core" &[  \ +2 "storage"(v& +4 "core" &[ ~ q Z\ +2 "manipulator"& & +3 "core" &|  m m +3 .tElbow.seek 7 + "manipulator"&7(r +4 "core" ( +2 "manipulator"&"& +4 "core" &|  b m +2 "storage"(.& +3 "core" &[ } \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&P'= +96 "core" ' +2 "storage"(V& +4 "core" &[ | \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +299 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" &| \  d m +2 "storage"(!& +4 "core" &[ k ^ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&['{ +29 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(`- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(~'r +34 "core" ' +2 "manipulator"&#% +4 "core" %Ή   &  +2 "storage"(f& +4 "core" &[ ; < h\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts +2 "manipulator"&'ϵ +13 "core" ' + "manipulator"&e& +50 "core" &| m +3 "storage"(k& +4 "core" &[ | o \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&J'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +86 "core" ' + "manipulator"& & +5 "core" &| m + "manipulator"&m% +4 "core" %5 p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0(ӂ +162 "core" ( +2 "manipulator"&=& +3 "core" &Ӛ"   8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &Ӛ"   8 +3 .tForearm.seek CC + "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&\ / +61 "core" / +2 .tCC.seek :open +2 "collection"'C( +447 "core" ( +2 "storage"(y& +3 "core" &[  ~ \ +3 "storage"(& +4 "core" &[ s q \ + "manipulator"&& +4 "core" &ӛ  \  8 +2 "manipulator"&% +4 "core" % 7  +2 .tForearm.seek :retract +2 "manipulator"&9' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"& (r +159 "core" ( + "manipulator"&6& +4 "core" &v    +2 "storage"('& +3 "core" &[ } 6\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&@'{ +96 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +3 "manipulator"&N% +3 "core" % }   +2 "storage"(t& +4 "core" &[ y l x\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 302 counts +2 "manipulator"&I'ϩ +15 "core" ' +2 "manipulator"&1& +5 "core" &v y  + "storage"(s& +5 "core" &[ a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&)'= +17 "core" ' +2 "storage"(% +3 "core" % Z\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (Q% +3 "core" %D   \ V` +2 "manipulator"&% +4 "core" %?  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +98 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&G% +4 "core" %  b  +2 "storage"(j% +3 "core" % :\  +2 "storage"(w. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"($(<- +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &<0 g h f\ +2 "manipulator"&& +3 "core" &v  +3 .tElbow.seek 5 + "manipulator"&( +23 "core" ( + "manipulator"&B& +4 "core" & j  +2 "storage"(]& +4 "core" &<0 [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +90 "core" ' +2 "storage"(E& +4 "core" &<0 j\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +49 (+& +4 "core" & +10 &j \ L +9 &^S 2\ K +10 &!W \ J +9 &T 8\ J +9 &T \ J +10 &hW \ J +9 &)S \ K +10 &R \ J +9 & T \ J +9 &"pX \ J +10 &$1R \ K +9 &%U \ K +9 &'W \ K +10 &)xW \ J +9 &+9W \ K +9 &,V \ K +10 &.R \ J +9 &0~T \ K +10 &2AW D\ K +9 &4X \ J +9 &5S 6\ K +10 &7R \ J +9 &9JV 3\ J +9 &; R 0\ K +10 &<V )\ K +9 &>S 6\ K +10 &@RT J\ J +9 &BW \ K +9 &C\\\ \ :\ K +10 &Ee\ \ r\ M +9 &GOq\ \ \ J\ N +9 &I\ \ L\ Q +10 &J\ +\ ' \ U +9 &L|\ *\ *w\ W +10 &N<\ '\ (\ W +9 &O\ &\ $M\ X +9 &Q\ $\ ${\ X +10 &S\ "\ #3\ X +11 &U@\ "\ "\ Y +12 &V\ \ E\ Z +5 &X\ \ #+\ [ +9 &Z\ !\ !O\ [ +10 &\\&z\ \ D\ . +9 &\\.\ \ \ _ +9 ( + &\\a\ \ 3\ M +3 "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&-1 +54 "core" 1 +3 "manipulator"&% +4 "core" % 7   7 V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%h& +4 "core" &\ +2 "manipulator"&S% +4 "core" % \   +2 "storage"(:% +3 "core" % q | *\  +2 "storage"(. +4 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(Y(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &<- h h u\ +2 "manipulator"&g& +4 "core" &ӟ   7 +2 "manipulator"&X% +4 "core" % \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&r( +160 "core" ( + "manipulator"&^& +4 "core" &     +2 "storage"(& +3 "core" &<- }\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\\'O +93 "core" ' +2 "storage"(&& +4 "core" &<- {\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +297 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<- e Y \ +2 "manipulator"&4& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&8( +4 "core" ( + "manipulator"&a& +4 "core" &   G  +2 "storage"(p& +3 "core" &<- i i \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +56 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&M& + "storage"(' +6 "core" &  \ $  +3 "manipulator"&% +3 "core" % Ϲ \  +3 .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"& & +4 "core" &   , , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &   , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' + "manipulator"&"& +4 "core" &  , +2 "manipulator"&.% +4 "core" %  3 m +2 "processing"%L& +4 "core" &\ +2 "processing"%V& +5 "core" &\ +3 .tPC.seek :closed + "processing"%l(^ +5 "core" &\  +8 &5w\ *x +10 &e|\ > +9 &n\ N +9 &HT\ M +10 &\ T\ M +9 &T\ M +9 &T\ M +10 &QT\ M +9 &U\ M +10 &T\ L +9 & T7\ M +9 &"XT\ M +10 &$UA\ M +9 &%Tl\ M +9 &'To\ M +10 &)`Tj\ M +9 &+#Ue\ M +10 &,Ui\ M +9 &.Se\ L +9 &0gUm\ M +10 &2*Tm\ M +9 &3S\ M +9 &5T\ M +10 &7rUA\ L +9 &91Wl\ M +10 &:VE\ M +9 &<RA\ M +9 &>wWl\ M +10 &@8We\ N +9 &A\\c\ N +9 &Cfi\ O +10 &Ezji\ O +9 &G8ro\ P +10 &H\ S +9 &J\ T +9 &Lu\\\ S +10 &N6f\ T +9 &Oq\ T +9 &Qh\ T +10 &Szh\ T +9 &U<a\ T +10 &Vc\ T +9 &Xl\ T +9 &Zn\ T +10 &\\CZ\ U +9 &]yr^\ 7 +9 &^-`\ N +10 &^a\ - +2 ( +2 "processing"%V& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&D% +4 "core" %   m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3' +97 "core" ' +2 "processing"%T& +5 "core" &^N\ - + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&!% +3 "core" % #  Z 4 +3 "storage"(`% +4 "core" % f g &\  + "storage"(#. +4 "core" .(<- + "storage"(f& +5 "core" &<- [ [\ +2 "storage"(e& +2 "manipulator"&k& +8 "core" &<- i h N\ + &  H , +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +3 "manipulator"& ( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'r +2 "core" ( +2 "manipulator"&P& +4 "core" &  , +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" & , / * , +2 .tForearm.seek PC +2 "manipulator"&<' +91 "core" ' +2 .tHand.close + "manipulator"&[/ +64 "core" / +3 .tPC.seek :open +2 "processing"%( +90 "core" ' +2 "storage"(~- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='1 +41 "core" ' +312 ( + "storage"(}& +4 "core" &<, [ ^ \ +2 "manipulator"&J& +3 "core" &  h , +2 "manipulator"&R% +5 "core" %  Q 6 +2 .tForearm.seek :retract + "manipulator"&\ ' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&u( +247 "core" ( + "manipulator"&_& +4 "core" &   7 +2 "storage"(y& +3 "core" &<, k ^ d\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + .tHand.open +2 "manipulator"&1 +54 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(6' +70 "core" ' +4 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"('' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(0& +4 "core" &<, G\ +2 "manipulator"&& +4 "core" &   7 +2 .tElbow.seek 5 + "manipulator"&N( +4 "core" ( +2 "manipulator"&t& +4 "core" &   Y 7 +2 "storage"(1& +3 "core" &<, |\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&s'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' +2 "manipulator"&9& +4 "core" & V 7 +2 "storage"(Q& +3 "core" &<, ^ [ a\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +27 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(@' +18 "core" ' +2 "manipulator"&% +3 "core" %Γ   +2 "storage"(I& +4 "core" &<, h ^ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 306 counts + "manipulator"&G'Ͽ +16 "core" ' + "manipulator"&j& +5 "core" & \   + +2 "storage"(w& +3 "core" &<, ~ ~ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"()% +5 "core" % ~ ~\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (?% +3 "core" %N D F \ Wc +3 "manipulator"&2% +3 "core" %K   7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (B& +3 "core" &<, [ Y\ +2 "collection"']& +5 "core" &\\`\ \ R\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&E% +4 "core" %    +2 "storage"(A% +3 "core" % { ~ \  +2 "storage"(;. +4 "core" .(<- +2 "storage"(n& +3 "core" &<, ~ { U\ +2 "storage"(+& +4 "core" &<,  t \ +2 "manipulator"&,& +3 "core" &  + +3 .tElbow.seek 5 + "manipulator"&%( +17 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"(x& +4 "core" &<, ~ t \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +95 "core" ' + "storage"(/& +4 "core" &<, } \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &  +2 "storage"(K& +4 "core" &<, u ~ y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate + "storage"(q'v +31 "core" ' + "manipulator"&o% +5 "core" %·  + "storage"({& +4 "core" &<, Z \\ -\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 294 counts +2 "manipulator"&c'ϳ +16 "core" ' + "manipulator"&& +4 "core" & i +2 "storage"(C& +3 "core" &<, p ~ U\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +58 "core" ' +5 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +42 "core" ' +2 "manipulator"&h& +4 "core" & V +2 "manipulator"&S% +4 "core" %K   n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( +3 "manipulator"&Z& +4 "core" &Ӗ!   :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &Ӗ!  :0 +3 .tForearm.seek CC +2 "manipulator"&g'? +95 "core" ' + .tHand.close +2 "manipulator"&X/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(^& +4 "core" &<, } \ +2 "storage"(& +3 "core" &<, | \ +2 "manipulator"&$& +4 "core" &ӝ  9) +2 "manipulator"&&% +4 "core" % R  +2 .tForearm.seek :retract +2 "manipulator"&|' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&O( +154 "core" ( + "manipulator"&F& +5 "core" &   + "storage"(& +5 "core" &<, j\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&4'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +59 "core" 1 +2 "manipulator"&U% +3 "core" % Ο   +3 "storage"(M& +3 "core" &<, X\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&' +21 "core" ' +2 "manipulator"&r& +4 "core" & : +2 "storage"(\\& +3 "core" &<, g\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +15 "core" ' +2 "storage"(% +4 "core" % ]\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (v% +3 "core" %D ~  \ T\\ +2 "manipulator"&8% +3 "core" %Y  L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'.& +4 "core" & J\ +2 "manipulator"&L% +4 "core" %  \   +2 "storage"(% +4 "core" % \\\  +2 "storage"(5. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(z(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K ` d \  +2 "manipulator"&D& +5 "core" &  +2 .tElbow.seek 6 + "manipulator"&T( +8 "core" ( +2 "manipulator"&!& +4 "core" &    +2 "storage"(`& +4 "core" &K X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&#' +97 "core" ' +2 "storage"(f& +3 "core" &K R\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +310 "core" ' + "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +3 "core" &K s v -\  +2 "manipulator"&P& +4 "core" & b  +2 .tElbow.seek 6 + "manipulator"&7( +4 "core" ( +47 "manipulator"& & +5 "core" & \    +2 "storage"([& +5 "core" &K g h \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&~'h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& +2 "storage"(l' +7 "core" & \    +2 "manipulator"&m% +4 "core" % ` t +3 .tForearm.seek :retract + "manipulator"&}' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&J(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&R& +4 "core" &ӛ \  8! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &ӛ  w 8! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&_'? +99 "core" ' +3 "manipulator"&y& +4 "core" &ӛ   8! +2 "manipulator"& % +3 "core" %E \  +3 "collection"'& +3 "core" & '\ +3 "collection"'& +6 "core" & )\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & C\ +6 &; F\ %g +10 &Zv 7\ 7 +9 &w 1\ K +9 &T E\ K +10 &Y T\ K +9 &LV E\ K +9 &S 4\ J +10 &T R\ J +9 &W f\ J +10 &TR H\ K +9 & T 3\ K +9 &!R `\ J +10 &#U *\ J +9 &%]W h\ J +9 &'R 8\ K +10 &(W C\ J +9 &*W Q\ K +10 &,dU =\ K +9 &.'S U\ J +9 &/U K\ J +10 &1T B\ K +9 &3lX \ K +9 &5.U 1\ K +10 &6R 0\ J +9 &8R '\ K +10 &:tR *\ K +9 &<7S 5\ J +9 &=T 2\ J +10 &?Y $\ K +9 &A{Z \ K +9 &C=Z\ \ =\ K +10 &Dh\ \ 3\ M +9 &Fk\ \ J\ M +10 &Ht\ \ 1\ P +9 &J,\ *\ #&\ T +9 &K\ 1\ 0+\ V +10 &M\ ,\ /+\ W +9 &Og\ *\ +1\ W +9 &Q'\ *\ ),\ X +10 &R\ $\ %.\ X +9 &T\ $\ #.\ Y +10 &Vh\ #\ "2\ Z +9 &X*\ !\ !,\ Z +9 &Y\ "\ ,\ [\ +10 &[\ #\ "<\ H +9 &\\1\ !\ .\ 0 +9 &\\k\ \ "\ L +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&\ 1 +60 "core" 1 +2 "manipulator"&0% +3 "core" % E    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%t& +4 "core" &\ +2 "manipulator"&1% +3 "core" %   f  +3 "storage"(9% +4 "core" % h h [\  + "storage"(Q. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(=(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K 3  '\  +2 "manipulator"&I& +4 "core" &ӭ M 6 +2 "manipulator"&j% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&w( +159 "core" ( +2 "manipulator"&6& +3 "core" &  f  +3 "storage"()& +3 "core" &K ~  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&u' +98 "core" ' + "storage"(& +5 "core" &K q 3\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''r +308 "core" ' + "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &K X f\  +2 "manipulator"&s& +5 "core" & \   + .tElbow.seek 6 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(& +4 "core" &K g h W\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&B'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(E' +8 "core" &  \ m  + "manipulator"&A% +4 "core" % c M | +49 .tForearm.seek :retract +2 "manipulator"&@' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&;( +110 "core" ' + ."downElevator"SE.stop + "storage"(5 +148 "core" ( +2 "manipulator"&n& +3 "core" &  I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +3 "core" &  W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,' +92 "core" ' +2 "manipulator"&& +4 "core" &    +2 "manipulator"&x% +3 "core" %   ] +3 "processing"%& +3 "core" &\ +3 "processing"%/& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &2v\ )v +9 &c}\ = +10 &zp\ M +9 &<R\ M +9 &U\ M +10 &R\ M +9 &T\ M +10 &ET\ M +9 &S\ M +9 &U\ M +10 & T\ M +9 &"LW\ M +9 &$U\ M +10 &%T\ M +9 &'R\ M +10 &)UT\ M +9 &+U\ M +9 &,X\ M +10 &.Tm\ L +9 &0\\Ud\ M +9 &2 Ts\ L +10 &3T6\ M +9 &5SF\ M +10 &7eT\ M +9 &9'W\ M +9 &:Y\ M +10 &<U\ M +9 &>kX\ M +9 &@-W\ M +10 &AV\ M +9 &C`9\ N +10 &Eog\ O +9 &G/l\ O +9 &H}\ R +10 &J4\ T +9 &Lk0\ S +9 &N*\ T +10 &Oi\ S +9 &Qd\ T +10 &Sm\ U +9 &U0\ T +9 &V\ T +10 &Xe\ T +9 &ZuJ\ U +9 &\\7E\ U +10 &]|qY\ 9 +9 &^)uW\ Q +10 &^"\\\ 1 +2 ( +2 "processing"%/& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&% +4 "core" %    ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +97 "core" ' +2 "processing"%b& +4 "core" &^!M\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&K% +4 "core" % %   E @ +2 "storage"(i% +4 "core" % Z ]\  +2 "storage"(o. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"({(K +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" &K   \  + "manipulator"&C& +4 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(h'r + "manipulator"&S( +5 "core" ( +2 "manipulator"& & +4 "core" &   ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" & - # P +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +3 .tPC.seek :open +2 "processing"%c( +95 "core" ' + "storage"(q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(Z'1 +52 "core" ' +296 ( +2 "storage"(*& +3 "core" &K h h `\  +3 "manipulator"&-& +3 "core" &  a +2 "manipulator"&d% +5 "core" %  ( 3 +2 .tForearm.seek :retract + "manipulator"&X' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&:( +240 "core" ( +2 "manipulator"&H& +3 "core" &   / +2 "storage"(^& +4 "core" &K Z \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&$1 +61 "core" 1 +2 "storage"(&- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +50 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(& +3 "core" &K \  +3 "manipulator"&p& +4 "core" &  \  . +2 .tElbow.seek 6 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&M& +4 "core" &    . +2 "storage"(r& +3 "core" &K \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' +2 "manipulator"&|& +3 "core" &  z . +3 "storage"(v& +4 "core" &K a g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&8'< +18 "core" ' +2 .tElbow.hold + "manipulator"&O, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(4' +18 "core" ' +2 "manipulator"&.% +4 "core" %O  +2 "storage"(L& +3 "core" &K \\ ^ \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&'{ +15 "core" ' +2 "manipulator"&& +4 "core" &  D . +2 "storage"(5& +4 "core" &K ^ f &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(W% +4 "core" % f ]\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (Y% +3 "core" %dP D D z\ Vc +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (!& +3 "core" &K ^ ^ .\  +2 "collection"'`& +4 "core" &\\k\ \ \\\ L +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&f% +4 "core" %   ~  + "storage"(a% +5 "core" % s o \  + "storage"(". +3 "core" .(K +2 "storage"(k& +3 "core" &K k ^ >\  +2 "storage"(e& +4 "core" &K q p \  +2 "manipulator"&P& +4 "core" &  H . +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( +2 "manipulator"&[& +4 "core" &  ( . +2 "storage"(>& +4 "core" &K ~  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +93 "core" ' +2 "storage"(m& +4 "core" &K q q \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +295 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" &  . +3 "storage"(<& +4 "core" &K g f n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&V'< +24 "core" ' + .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 'l +29 "core" ' +2 "manipulator"&% +3 "core" %N   x +2 "storage"(7& +4 "core" &K h h b\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&l'z +27 "core" ' +2 "manipulator"&}& +4 "core" &  t . + "storage"(& +5 "core" &K t { 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\ ' +16 "core" ' +49 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(0' +42 "core" ' +2 "manipulator"&t& +3 "core" & f . +2 "manipulator"&1% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +149 "core" ( +2 "manipulator"&& +5 "core" &z-   Dx + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &z-   Dx +3 .tForearm.seek CC + "manipulator"&I'? +102 "core" ' +2 .tHand.close + "manipulator"&j/ +53 "core" / +2 .tCC.seek :open +2 "collection"'_( +447 "core" ( + "storage"(6& +5 "core" &K  %\  + "storage"()& +5 "core" &K h j {\  + "manipulator"&z& +4 "core" & \ 6 :, +2 "manipulator"&% +4 "core" % + \ q +2 .tForearm.seek :retract +2 "manipulator"&J' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +164 "core" ( + "manipulator"&?& +4 "core" &  J  +2 "storage"(2& +4 "core" &K T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&s'< +95 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&G% +4 "core" % L    +2 "storage"(]& +3 "core" &K W\  +2 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&A'x +25 "core" ' +2 "manipulator"&w& +3 "core" &  +2 "storage"(u& +4 "core" &K y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'' +25 "core" ' +2 "storage"(B% +4 "core" % P\ +2 ."downElevator"SE.seek :down +3 "storage"(n' +100 (+% +3 "core" %I s m V\ V` +2 "manipulator"&N% +3 "core" % \  u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +42 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'x& +3 "core" & 8\ +3 "manipulator"&% +4 "core" %   +2 "storage"(E% +3 "core" % H\  +2 "storage"(@. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &[ u W\ +3 "manipulator"&& +4 "core" &  '  +2 .tElbow.seek 7 + "manipulator"&b(r +36 "core" ( +2 "manipulator"&K& +3 "core" &r  < +2 "storage"(i& +5 "core" &[ X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&o'= +95 "core" ' +2 "storage"(/& +3 "core" &[ <\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(C- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +4 "core" &[ z\  +2 "manipulator"&%& +4 "core" &s  # ; +3 .tElbow.seek 7 +2 "manipulator"&,(r +3 "core" ( +2 "manipulator"&& +4 "core" &s  ; +46 "storage"(=& +6 "core" &[ v k /\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&q'ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& + "storage"(' +6 "core" &s ; +3 "manipulator"&h% +3 "core" % ϶ ? +3 .tForearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +153 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&d& + "storage"(5 +8 "core" &Ӑ%  G =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӑ$   Q =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'? +105 "core" ' +2 "manipulator"&^& +4 "core" &Ӑ$  U =C +2 "manipulator"&S% +3 "core" %@   +3 "collection"'$& +4 "core" & N\ +2 "collection"'&& +5 "core" & @\ +3 .tCC.seek :closed +2 "collection"'X(\\ +4 "core" & D\  +8 &5y C\ *y +10 & g A\ > +9 &j G\ L +9 &\\T I\ K +10 &X >\ J +9 &S 6\ J +10 &R :\ K +9 &eV =\ J +9 &&Y 8\ K +10 &U 0\ K +9 & U 9\ K +9 &"mS 7\ J +10 &$.X 4\ J +9 &%T .\ K +10 &'W <\ J +9 &)tW @\ K +9 &+7V ;\ J +10 &,U <\ J +9 &.X 6\ K +9 &0|W 1\ K +10 &2?R &\ J +9 &4T 0\ K +10 &5X Z\ J +9 &7S >\ K +9 &9FX 7\ K +10 &;V 1\ K +9 &<X 8\ J +9 &>T 8\ K +10 &@NY 9\ K +9 &BZ /\ K +10 &C\\ 5\ K +9 &Ee\ \ 4\ L +9 &GMs\ \ .\ N +10 &I\ \ +\ Q +9 &J\ -\ *+\ U +9 &Ly\ .\ .7\ W +10 &N:\ +\ +1\ W +9 &O\ '\ ):\ X +10 &Q\ &\ )7\ W +9 &S}\ %\ %/\ X +9 &U=\ #\ #=\ Y +10 &V\ $\ #?\ Y +9 &X\ #\ #6\ Z +9 &Z~\ \ !2\ Z +10 &\\"z\ \ "4\ . +9 &\\/\ \ ;\ ] +9 ( +3 "collection"'&& +3 "core" &\\k\ \ :\ K +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&g1 +54 "core" 1 +2 "manipulator"&% +4 "core" % @   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +90 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%M& +4 "core" &\ +2 "manipulator"&r% +3 "core" %    +2 "storage"(|% +4 "core" % ] h `\  +2 "storage"(v. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(Z([ +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +3 "core" &[  2 \  +2 "manipulator"&L& +4 "core" &Ӯ \  9% +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&5(r +164 "core" ( + "manipulator"&F& +5 "core" &j    + "storage"(W& +5 "core" &[ p p |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&:'= +95 "core" ' +2 "storage"(& +4 "core" &[  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ g ^ <\  +2 "manipulator"&\\& +3 "core" &j {  +2 .tElbow.seek 7 +2 "manipulator"&U(r +4 "core" ( + "manipulator"&& +4 "core" &j   +2 "storage"(8& +4 "core" &[ h h l\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&`& +2 "storage"(f' +8 "core" &j  + "manipulator"&a% +4 "core" % Ϝ  +2 .tForearm.seek :retract +48 "manipulator"&"' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4( +113 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +126 "core" ( +2 "manipulator"&k& +4 "core" &    " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" & \ p " +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +97 "core" ' +2 "manipulator"&[& +4 "core" &   ) " +2 "manipulator"&>% +4 "core" %   +2 "processing"%& +4 "core" &\ +2 "processing"%m& +5 "core" & \ +3 .tPC.seek :closed + "processing"% (^ +4 "core" &\  +9 &4{\ *x +9 &e~\ > +10 &p\ M +9 &@U\ M +9 &T\ M +10 &T\ M +9 &T\ M +9 &IU\ M +10 & V\ M +9 &U\ M +10 & U\ M +9 &"QU\ M +9 &$U\ M +10 &%T\ M +9 &'T\ M +9 &)ZU\ M +10 &+V\ M +9 &,U\ M +10 &.T\ L +9 &0`U/\ M +9 &2#T\ M +10 &3T\ M +9 &5T\ M +9 &7jU\ M +10 &9*Z\ M +9 &:WT\ N +9 &<U\ M +10 &>pX\ M +9 &@2S\ M +10 &A\\\ N +9 &Cb\ N +9 &Etg\ O +10 &G1p\ P +9 &H<\ R +9 &J\ S +10 &Lo\ S +9 &N.\ T +10 &O\ S +9 &Q2\ T +9 &Ss\ T +10 &U5\ T +9 &V\ T +10 &X\ T +9 &Z{\ T +9 &\\</\ U +10 &]yp\ 9 +9 &^*u\ O +9 &^"c\ 2 +3 ( + "processing"%m& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&O1 +59 "core" 1 + "manipulator"&D% +5 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +92 "core" ' +2 "processing"%R& +4 "core" &^!T\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&<% +5 "core" %    + "storage"(y% +4 "core" % \\ ^\  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(7([ +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +5 "core" &[  % z\  +2 "manipulator"&& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  2 ! +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(t'r +2 "manipulator"&1( +7 "core" ( + "manipulator"&3& +4 "core" & & - P ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & 0 / ` ! +2 .tForearm.seek PC +2 "manipulator"&T' +96 "core" ' +2 .tHand.close + "manipulator"&V/ +53 "core" / +3 .tPC.seek :open + "processing"%l( +96 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +46 "core" ' +302 ( +2 "storage"(& +3 "core" &[ ^ \\\  +3 "manipulator"&\ & +4 "core" &  ! + "manipulator"&~% +4 "core" %  B +3 .tForearm.seek :retract + "manipulator"&j' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&9(r +264 "core" ( +2 "manipulator"&& +3 "core" &|    +2 "storage"(6& +5 "core" &[ i i m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&)'= +94 "core" ' +2 .tHand.open + "manipulator"&z1 +61 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(?' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(2' +98 "core" ' +4 #tLights, camera, ACTION! + "storage"(I- +3 "core" -' +2 "storage"(Q& +4 "core" &[ \  +2 "manipulator"&& +4 "core" &|  R  +2 .tElbow.seek 7 + "manipulator"&G(r +4 "core" ( +2 "manipulator"&]& +4 "core" &|    +2 "storage"(w& +3 "core" &[ \  +3 .tForearm.seek 7 + 450 counts + "manipulator"&u'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(B'" +52 "core" ' + "manipulator"&J& +4 "core" &|    +2 "storage"(+& +4 "core" &[ e ^ 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&N'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(s' +19 "core" ' +2 "manipulator"&x% +3 "core" %Ώ 1 0 +2 "storage"(A& +4 "core" &[ D = \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 320 counts + "manipulator"&'ϻ +25 "core" ' +2 "manipulator"&E& +3 "core" &| E  +3 "storage"(@& +4 "core" &[ n ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&0'= +18 "core" ' +2 "storage"('% +3 "core" % } t I\ +3 ."downElevator"SE.seek :down +4 "storage"(n' +98 ({% +3 "core" %rN U E O\ We +3 "manipulator"& % +4 "core" %A   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (K& +4 "core" &[ ` f *\  +2 "collection"'i& +4 "core" &\\k\ \ 8\ K +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&/% +3 "core" %   " +3 "storage"(% +4 "core" % { t \\\  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(C([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &[ B D \  +3 "manipulator"&%& +4 "core" &| \   +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( + "manipulator"&=& +4 "core" &| \   +2 "storage"(;& +4 "core" &[ { u \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&('= +90 "core" ' +2 "storage"(h& +3 "core" &[ | \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +305 "core" ' +2 "storage"(o- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" &|   +2 "storage"(& +4 "core" &[ [ ^ 2\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +27 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(^- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(S'r +30 "core" ' +2 "manipulator"&,% +4 "core" %Ώ  q " + "storage"($& +5 "core" &[ V J 5\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&'ϻ +13 "core" ' + "manipulator"&*& +4 "core" &| L  +2 "storage"(_& +4 "core" &[ ] ] &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +46 "manipulator"&g'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +41 "core" ' + "manipulator"&M& +4 "core" &|  b  +2 "manipulator"&r% +4 "core" %: " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +154 "core" ( +2 "manipulator"&&& +5 "core" &ӎ(  @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +4 "core" &ӎ( m @^ +2 .tForearm.seek CC +2 "manipulator"&L'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'H( +450 "core" ( +2 "storage"(F& +4 "core" &[ | \  +2 "storage"(W& +4 "core" &[ |\  + "manipulator"&& +5 "core" &ӻ!   :1 + "manipulator"&% +4 "core" % 6    +2 .tForearm.seek :retract +2 "manipulator"&-' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&p(r +176 "core" ( +2 "manipulator"&Y& +3 "core" &f  / +2 "storage"(& +4 "core" &[ a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&\\'{ +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&81 +56 "core" 1 +2 "manipulator"&!% +3 "core" % {   +3 "storage"(`& +4 "core" &[ g g z\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 300 counts + "manipulator"&a'ϧ +20 "core" ' +2 "manipulator"&5& +3 "core" & O  +3 "storage"(:& +4 "core" &[ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +26 "core" ' + "storage"(% +4 "core" % W\ +3 ."downElevator"SE.seek :down +3 "storage"(k' +99 (e% +3 "core" %I ~ t \ U_ +2 "manipulator"&U% +4 "core" %,   o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'>& +3 "core" & 7\ +3 "manipulator"&% +4 "core" %  \   +2 "storage"(f% +4 "core" % U\  + "storage"(". +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(c(<- +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +2 "core" &<- l \ +3 "manipulator"&D& +4 "core" &  \ P  +2 .tElbow.seek 5 + "manipulator"&R( +33 "core" ( +2 "manipulator"&<& +3 "core" &   +3 "storage"(y& +4 "core" &<- [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +90 "core" ' + "storage"(m& +4 "core" &<- `\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +291 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &<- r u "\ +2 "manipulator"& & +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&P( +49 "core" ( +4 "manipulator"&V& +4 "core" & |  +2 "storage"(Z& +3 "core" &<- { 3\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"( ' +8 "core" & X  +2 "manipulator"&t% +4 "core" %  K +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&~& +5 "core" &Ӌ)   A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &Ӌ)  A_ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +2 "manipulator"&6& +4 "core" &ӌ(  R @^ +2 "manipulator"&1% +3 "core" %C  V +3 "collection"'z& +3 "core" & H\ +3 "collection"'& +6 "core" & F\ +2 .tCC.seek :closed + "collection"'j(\\ +5 "core" & M\ +6 &; W\ $f +10 &Yx J\ 7 +9 &v H\ J +9 &U G\ K +10 &W G\ K +9 &GU A\ K +9 &\ R A\ J +10 &U E\ J +9 &W >\ J +10 &QT :\ J +9 & W =\ J +9 &!R <\ J +10 &#T :\ J +9 &%WW 2\ K +9 &'U <\ K +10 &(U ;\ K +9 &*R 7\ J +10 &,_S :\ K +9 &."R ;\ J +9 &/T >\ J +10 &1X A\ K +9 &3gW 6\ K +9 &5*S 5\ J +10 &6T @\ K +9 &8X A\ J +10 &:oU @\ J +9 &<2U @\ J +9 &=X 7\ K +10 &?Y :\ J +9 &AxU 8\ J +9 &C8\\ A\ K +10 &De\ =\ L +9 &Fk\ \ <\ M +10 &Hp\ \ <\ P +9 &J&\ &\ :\ T +9 &K\ (\ *,\ V +10 &M\ '\ *6\ W +9 &Ob\ $\ %6\ W +9 &Q#\ %\ $5\ W +10 &R\ #\ "3\ X +9 &T\ !\ $4\ X +10 &Ve\ \ #6\ Y +9 &X"\ \ ;\ [ +9 &Y\ !\ ?\ [ +10 &[\ !\ @\ H +9 &\\1\ \ 8\ 1 +9 &\\i\ \ 1\ M +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&I1 +54 "core" 1 + "manipulator"&Q% +4 "core" % C   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%]& +4 "core" &\ + "manipulator"&w% +5 "core" %    + "storage"(J% +4 "core" % ] e 5\  +2 "storage"(+. +3 "core" .(<- +2 "storage"(& +3 "core" &<- ] ^ \ +2 "storage"(x& +4 "core" &<- ^ f '\ +2 "manipulator"&?& +5 "core" &ӯ# \  <; +2 "manipulator"&A% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&E( +165 "core" ( + "manipulator"&@& +4 "core" &   +  +2 "storage"('& +4 "core" &<- { \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +89 "core" ' +2 "storage"()& +3 "core" &<- | \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +296 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &<- f [ 4\ +2 "manipulator"&u& +4 "core" &   F  +2 .tElbow.seek 5 + "manipulator"&G( +4 "core" ( +2 "manipulator"&B& +4 "core" &   +2 "storage"(N& +3 "core" &<- i h \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&K'Ϲ +38 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +65 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(/' +5 "core" &   +5 "manipulator"&% +4 "core" % H +2 .tForearm.seek :retract +2 "manipulator"&' +142 "core" ' +4 .tElbow.seek PC + "manipulator"&s( +110 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +127 "core" ( +2 "manipulator"& & +3 "core" &   & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &  & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&=' +93 "core" ' +2 "manipulator"&;& +4 "core" &   & +2 "manipulator"&0% +4 "core" %  ~ B +2 "processing"%h& +4 "core" &\ +2 "processing"%n& +6 "core" &>\ +2 .tPC.seek :closed +2 "processing"%7(^ +4 "core" &\ +8 &6\ $d +9 &Wx\ 7 +10 &v\ K +9 &Q\ L +9 &qU\ M +10 &4R\ M +9 &U\ M +9 &U\ M +10 &{T\ M +9 &=V\ M +10 &W\ M +9 &!T\ M +9 &#U\ M +10 &%DV\ M +9 &'T\ M +9 &(U\ M +10 &*T\ L +9 &,LU\ M +10 &.T\ M +9 &/V\ M +9 &1S\ M +10 &3US\ M +9 &5R\ M +9 &6T\ M +10 &8V\ M +9 &:]U\ M +10 &<W\ M +9 &=U\ M +9 &?V\ M +10 &AbZ\ N +9 &C!c\ O +9 &De\ O +10 &Fn\ P +9 &H]~\ R +10 &J\ S +9 &K\ S +9 &M\ S +10 &O`\ T +9 &Q"D\ T +10 &RC\ T +9 &T\ T +9 &Vf\ T +10 &X(A\ T +9 &Y\ U +9 &[\ T +10 &]mk\ B +9 &^:mp\ &n +9 &^&n\ , +6 ( +2 "processing"%n& +3 "core" &^g\ , +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +3 "core" %   ^ B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +97 "core" ' +2 "processing"%d& +3 "core" &^Q\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +3 "core" %  '  +3 "storage"(^% +4 "core" % ^ ^ \  + "storage"(,. +3 "core" .(<- +3 "storage"($& +4 "core" &<- \\ ]\ +2 "storage"(*& +2 "manipulator"&_& +8 "core" &<- ] \\\ + &    & +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&M( +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(r'r +3 "core" ( +2 "manipulator"&(& +3 "core" &  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \  & +3 .tForearm.seek PC + "manipulator"&b' +93 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +3 .tPC.seek :open + "processing"%( +100 "core" ' +2 "storage"(S- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(&'1 +51 "core" ' +293 ( +2 "storage"(.& +4 "core" &<, i j g\ +2 "manipulator"&g& +4 "core" &  i & + "manipulator"&q% +4 "core" %   L +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&|( +245 "core" ( +2 "manipulator"&X& +3 "core" &    +2 "storage"(F& +4 "core" &<, [ [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +96 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(Y' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(L- +4 "core" -' + "storage"(v& +5 "core" &<, \ + "manipulator"&8& +49 "core" &    +5 .tElbow.seek 5 + "manipulator"&!( +9 "core" ( +2 "manipulator"&`& +4 "core" &   -  +2 "storage"(5& +3 "core" &<, E\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&:'O +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&-& +3 "core" &  A  +3 "storage"(e& +4 "core" &<, i i \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&U'΍ +16 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(\\' +28 "core" ' +2 "manipulator"&a% +4 "core" %Ο  Q  +2 "storage"(>& +4 "core" &<, ` ^\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&f& +5 "core" & .  + "storage"("& +5 "core" &<, ~ ~ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' + "storage"(% +5 "core" %  t \ +2 ."downElevator"SE.seek :down +4 "storage"(k' +98 (C% +3 "core" %dL B C o\ Wd +2 "manipulator"&O% +4 "core" %M  & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +95 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (<& +3 "core" &<, f ] "\ +2 "collection"'y& +4 "core" &\\a\ \ :\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&m% +4 "core" % "   $ +2 "storage"(% +3 "core" % { ~ U\  +2 "storage"([. +3 "core" .(<- +2 "storage"(& +4 "core" &<, | s p\ +2 "storage"(3& +3 "core" &<, ~ o \ +3 "manipulator"& & +4 "core" & \  +2 .tElbow.seek 5 + "manipulator"&V( +9 "core" ( + "manipulator"&Z& +5 "core" & \  a \ + "storage"(4& +5 "core" &<, r s C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&#'O +94 "core" ' +2 "storage"(t& +4 "core" &<, }\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" &  \ +2 "storage"(T& +4 "core" &<, q q G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&}'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate + "storage"(1'w +33 "core" ' +2 "manipulator"&z% +3 "core" %Θ U  +2 "storage"(P& +4 "core" &<, ~ q .\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 311 counts + "manipulator"& ' +13 "core" ' +2 "manipulator"&& +4 "core" & \ +2 "storage"(H& +4 "core" &<,  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&I'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(Q' +39 "core" ' + "manipulator"&]& +4 "core" & S \ +2 "manipulator"&w% +4 "core" %M \  o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract +2 "manipulator"&J' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&+(ӂ +159 "core" ( +3 "manipulator"&& +4 "core" &Ӑ"  ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &Ӑ"  ;8 +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + .tHand.close + "manipulator"&?/ +57 "core" / +2 .tCC.seek :open + "collection"'A( +448 "core" ( + "storage"(& +4 "core" &<, ~ \ +2 "storage"(@& +3 "core" &<, |\ +3 "manipulator"&'& +3 "core" &Ӷ    6 +2 "manipulator"&)% +5 "core" % @ 7 +2 .tForearm.seek :retract + "manipulator"&\ ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +161 "core" ( + "manipulator"&{& +4 "core" &  x  +2 "storage"( & +4 "core" &<, Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&u'΍ +93 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +57 "core" 1 +2 "manipulator"&% +3 "core" % Ε     +3 "storage"(i& +4 "core" &<, R\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 308 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&E& +4 "core" &  +2 "storage"(9& +3 "core" &<, ^\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&2'O +16 "core" ' + "storage"(K% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (%% +3 "core" %G r q u\ Wb +2 "manipulator"&G% +5 "core" %E Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'0& +3 "core" & 9\ +2 "manipulator"&h% +3 "core" %   ^  +2 "storage"(/% +5 "core" % X\  + "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(l(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K l T C\  +3 "manipulator"&& +4 "core" &  \ l  +2 .tElbow.seek 6 + "manipulator"&d( +3 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(^& +4 "core" &K R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&,' +102 "core" ' +2 "storage"($& +3 "core" &K \\\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'r +295 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &K i i -\  +3 "manipulator"&(& +4 "core" & J  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&=& +4 "core" &  +2 "storage"(& +4 "core" &K ~ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&S'h +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +59 "core" / +5 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"(7' +9 "core" &  + "manipulator"&r% +5 "core" % l  B Y +2 .tForearm.seek :retract +2 "manipulator"&.' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&q& +4 "core" &Ӝ   ) 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &Ӝ \  9% +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'? +96 "core" ' + "manipulator"&F& +5 "core" &Ӝ    9% + "manipulator"&M% +5 "core" %C  +2 "collection"'& +3 "core" & V\ +3 "collection"'& +5 "core" & V\ +2 .tCC.seek :closed +4 "collection"'L(\\ +2 "core" & O\ +7 &C V\ $e +10 &Yx N\ 7 +9 & w N\ J +9 &R S\ J +10 &U N\ J +9 &MX ?\ K +9 &U H\ K +10 &W E\ J +9 &W C\ K +10 &UU A\ K +9 & W J\ J +9 &!W B\ J +10 &#S >\ K +9 &%]U 7\ K +9 &'!R >\ J +10 &(W ?\ K +9 &*T C\ J +9 &,fU I\ J +10 &.'X :\ K +9 &/V /\ K +10 &1Y 7\ J +9 &3nT 9\ J +9 &50U @\ J +10 &6Y >\ K +9 &8V @\ K +10 &:vX A\ J +9 &<7T E\ K +9 &=W ;\ K +10 &?T A\ J +9 &A}W <\ K +9 &C>]\ >\ K +10 &Dg\ \ A\ L +9 &Fk\ \ B\ M +10 &Hw\ \ 9\ O +9 &J,\ (\ "8\ T +9 &K\ ,\ -=\ V +10 &M\ +\ -=\ W +9 &Oh\ (\ *@\ W +9 &Q(\ '\ %4\ X +10 &R\ %\ $9\ X +9 &T\ !\ #7\ Y +10 &Vj\ !\ #4\ Y +9 &X*\ "\ "4\ Z +9 &Y\ \ 4\ [ +10 &[\ \ 5\ H +9 &\\/\ \ :\ 3 +9 &\\h\ \ 8\ N +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&v1 +53 !to:SignalException :@checkpoint: omitted: mesg"1Hand could not finish opening because\ SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +4 !o: EOFError: mesg"end of file reached:@timestampu: Time b:bt[,"(eval):4:in `sysreadRaw'"(eval):4:in `sysread'"3/home/esp/esp2/lib/schedule.rb:308:in `unsync'"(eval):4:in `sysread'"8/home/esp/esp2/lib/reprompt.rb:44:in `origReadline'"4/home/esp/esp2/lib/reprompt.rb:44:in `readline'"0/home/esp/esp2/lib/prompter.rb:19:in `call'"6/home/esp/esp2/lib/prompter.rb:19:in `callKbdPrc'"9/home/esp/esp2/lib/prompter.rb:37:in `claimKeyboard'"5/home/esp/esp2/lib/rmutex.rb:99:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:72:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'"9/home/esp/esp2/lib/prompter.rb:37:in `claimKeyboard'"4/home/esp/esp2/lib/reprompt.rb:41:in `readline'"=/opt/mbari/lib/ruby/1.8/irb/input-method.rb:97:in `gets'"7/opt/mbari/lib/ruby/1.8/irb.rb:148:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:147:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `call'"?/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `buf_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:101:in `getc'":/opt/mbari/lib/ruby/1.8/irb/slex.rb:206:in `match_io'"6/opt/mbari/lib/ruby/1.8/irb/slex.rb:76:in `match'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:284:in `token'"9/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:260:in `lex'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:231:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:204:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Waiting to Resume from Checkpoint "Hand could not finish opening because\ SIGHUP" +2 ."Qmail"BadNews.email "end of file reached",Subject: "EOFError in MAIN" +5 "core" 1 +603 #"uploadLog"upsync +10598 "Can" R rp' +60001  Rjp( +60002  RFp% @1690289004.79EDT = =tMAIN =mMAIN_scheduler @EDT1690289006.65 #"core_reset"Sent BREAK +2 #t@62387 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +254 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +400 "Can"P d:ZO + P d:ZO + #tPolling Can every 10:00 +17 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +698 #-> ESP.ready! +3 #Powering core bus +569 .Gate.power :raw,:ON +2 "sampler") +41 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1491 #-> 10.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'1& +3 "core" &\ \ \  +2 .tHand.open +2 "manipulator"&21 +63 "core" 1 +2 "manipulator"&3% +4 "core" %    =  + "storage"(4% +4 "core" % \ $ +2 "storage"(5. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(6(<- +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<+ 7 C U\  +2 "manipulator"&8& +4 "core" &   + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&9( +22 "core" ( +3 "manipulator"&:& +4 "core" &   e  + "storage"(;& +5 "core" &<+ \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +124 "core" ' +2 "storage"(=& +3 "core" &<+ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +299 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &<+ R\  +2 "manipulator"&A& +4 "core" &   j  +2 .tElbow.seek 5 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&C& +4 "core" & 1  + "storage"(D& +4 "core" &<+ /\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'Ϲ +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&F/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"(H' +8 "core" & ^  +2 "manipulator"&I% +4 "core" %  k +2 .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&K(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&L& +4 "core" &ӏ!    :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &ӏ!    :1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'? +39 "core" ' } P +3 !to:Slide::Error\ :@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @sourcei+:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi} : outPressi :deltaPressiP : voltagef12.304402552773688: @type2F: @tagiS: mesg"*Forearm speedErr at home + 685 counts:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"0/home/esp/esp2/utils/misc.rb:98:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"5/home/esp/esp2/utils/puckmoves.rb:493:in `clamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/puckmoves.rb:491:in `clamp'"4/home/esp/esp2/utils/puckmoves.rb:399:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):3:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" Arm.PC + "manipulator"&d& +4 "core" &Ӊ  - +2 "manipulator"&e% +3 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +35 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :PC +2 "manipulator"&g( +349 "core" ( +2 "manipulator"&h& +4 "core" & \  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" & S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&j' +89 "core" ' +2 "manipulator"&k& +3 "core" &  I +3 "manipulator"&l% +3 "core" % k i +602 #t-> PC.close +2 "manipulator"&m& +3 "core" & \  +2 "manipulator"&n% +4 "core" % X i +2 "processing"%o& +3 "core" &>\  +3 "processing"%p& +4 "core" &\  +3 .tPC.seek :closed + "processing"%q(^ +5 "core" &A\  +9 &6v9\ *y +10 &e:\ ? +9 &dv@\ O +9 &(YD\ N +10 &[>\ N +9 &Z?\ N +9 &m]?\ N +10 &/_7\ N +9 &ZB\ N +10 &]@\ N +9 & uZ>\ N +9 &"6\\C\ O +10 &#\\>\ N +9 &%]9\ N +9 &'}\\>\ N +10 &)>\\7\ O +9 &+\\:\ N +10 &,];\ N +9 &.[@\ N +9 &0H]?\ N +10 &2 Z5\ N +9 &3^9\ N +9 &5[?\ N +10 &7Q[=\ N +9 &9_9\ N +10 &:^7\ N +9 &<Y8\ N +9 &>V_9\ O +10 &@]<\ N +9 &A]8\ N +9 &Cf:\ O +10 &E[h5\ P +9 &Gr>\ Q +10 &H7\ R +9 &J7\ T +9 &LW6\ T +10 &N7\ T +9 &O<\ U +9 &Q9\ U +10 &S]4\ T +9 &U6\ U +10 &V=\ U +9 &X8\ U +9 &Zc6\ U +10 &\\&7\ U +9 &]3\ 4 +9 &^2k5\ B +9 ( +3 "processing"%p& +3 "core" &^0\ / +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.50 + "processing"%r& +4 "core" &^6\ / +404 #t-> Hand.open +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3639 #-> PC.unloadPuck 1,2 + "processing"%s& +3 "core" &^1\ / +3 #tStoring 2 puck in Processing Clamp to tube 1 + !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1440 #-> PC.unloadPuck 1,5 +2 "processing"%t& +3 "core" &^6\ / +3 #tStoring 5 puck in Processing Clamp to tube 1 + !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):8:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):8:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +9383 #-> PC.open +2 .PC.seek :open +2 "processing"%u( +459 "core" ( +2 "processing"%v& +3 "core" &\ +385 #t-> Hand.open + !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +558 #-> Arm.home +2 "manipulator"&w& +3 "core" & h +2 "manipulator"&x% +4 "core" %  +2137 #t-> PC.unloadPuck 5,1 + "processing"%y& +5 "core" &\ + !to:Puck::Error: mesg"#Processing Clamp is NOT CLOSED:bt[ "7/home/esp/esp2/utils/puckmoves.rb:54:in `contains'"6/home/esp/esp2/utils/puckmoves.rb:419:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +747 #-> PC.close +2 "manipulator"&z& +46 "core" & 0 +3 "manipulator"&{% +3 "core" %   +3 "processing"%|& +4 "core" &\ +2 "processing"%}& +5 "core" &\ +2 .tPC.seek :closed + "processing"%~(^ +5 "core" &\  +8 &2v\ )v +10 &b~\ = +9 &ks\ M +10 &,W\ M +9 &Y\ M +9 &Z\ N +10 &r[F\ M +9 &3XF\ N +9 &[\ M +10 &WC\ N +9 & z[\ M +10 &"<X\ M +9 &#\\\ N +9 &%Z\ M +10 &'\\B\ N +9 &)DZF\ M +9 &+[\ N +10 &,Z\ N +9 &.X\ N +10 &0LV\ M +9 &2Y\ M +9 &3Z\ M +10 &5W\ M +9 &7TV\ M +9 &9Y\ N +10 &:Z\ N +9 &<Y5\ N +10 &>[Z\ N +9 &@W5\ M +9 &A\\C\ M +10 &CeH\ N +9 &E`f\ O +9 &Gn\ P +10 &H{\ Q +9 &J\ S +9 &LZ\ S +10 &N\ T +9 &O\ T +10 &Q\ U +9 &S_\ T +9 &U \ U +10 &V\ U +9 &X\ T +9 &Zf\ U +10 &\\(\ U +9 &]}\ 4 +10 &^-l\ N +9 &^#5\ 1 +2 ( +2 "processing"%}& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 + "processing"%& +3 "core" &^!\ 1 +206 #t-> PC.unloadPuck 5,1 +2 "processing"%& +3 "core" &^!\ 1 +2 #tStoring 1 puck in Processing Clamp to tube 5 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +945 #-> PC.unloadPuck 1 +2 "processing"%& +3 "core" &^!\ 1 +2 !to:Puck::Error: mesg"4Specify puck type in Processing Clamp to unload:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:426:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):15:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +979 #-> PC.unloadPuck 1,1 +2 "processing"%& +3 "core" &^!\ 1 +3 #tStoring 1 puck in Processing Clamp to tube 1 + !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2450 #-> PC.unloadPuck 5,2 + "processing"%& +4 "core" &^!\ 1 +2 #tStoring 2 puck in Processing Clamp to tube 5 + !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +381 #-> PC.unloadPuck 5,1 + "processing"%& +4 "core" &^!\ 1 +2 #tStoring 1 puck in Processing Clamp to tube 5 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):18:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):18:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4731 #-> PC.unloadPuck :5,1 +2 !o:SyntaxError: mesg"compile error\ (ESP):19: syntax error, unexpected tINTEGER, expecting tSTRING_CONTENT or tSTRING_DBEG or tSTRING_DVAR or tSTRING_END\ PC.unloadPuck :5,1\ ^:bt["(ESP):19:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2287 #-> PC.unloadPuck :sh1,1 + "processing"%& +4 "core" &^!H\ 1 +2 #tStoring 1 puck in Processing Clamp to tube sh1 + !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):20:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):20:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1094 #-> PC.unloadPuck :sh1,5 +2 "processing"%& +3 "core" &^! \ 1 +2 #tStoring 5 puck in Processing Clamp to tube sh1 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +590 #-> Hand.open +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 5:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +930 #-> Arm.home +3 "manipulator"& & +3 "core" &   N +2 "manipulator"&\ % +4 "core" %  ^  +707 #t-> PC.open + .PC.seek :open +2 "processing"%( +458 "core" ( +2 "processing"% & +3 "core" &\ @1690290845.11EDT = =tMAIN =mMAIN_scheduler @EDT1690290846.93 #"core_reset"Sent BREAK +2 #t@45764 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +211 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +252 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +398 "Can" /A +  /A #tPolling Can every 10:00 +18 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +595 #-> ESP.ready! +3 #Powering core bus +562 .Gate.power :raw,:ON +2 "sampler") +32 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X Hand.open +2 .Hand.open + "manipulator"&11 +61 "core" 1 +3041 #t-> access 6 +3 "storage"(2% +2 "core" % \  +3 "manipulator"&3% +4 "core" %   V \ X + "manipulator"&4& +4 "core" & \ " +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(5( +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" & ~ e\ +1934 #t-> access 4 +2 "storage"(7% +4 "core" % s\  +2 "manipulator"&8% +4 "core" %  L \ X + "manipulator"&9& +4 "core" &  " +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(:(C +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &E o ` \ +1295 #t-> access 5 +3 "storage"(<% +3 "core" % \  +2 "manipulator"&=% +4 "core" %  \ X + "manipulator"&>& +4 "core" & " +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(?(  +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" & a k \ +2402 #t-> require 'shuffle.rb' +1146 #-> 10.times {shuffle 5..7} +3 #Shuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'A& +3 "core" &\ \ \  +2 "manipulator"&B% +4 "core" %    \ X +2 "storage"(C% +3 "core" % }\  +2 "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(E(<- +982 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &<, _ j \ +3 "manipulator"&G& +3 "core" & 7 " +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&H( +9 "core" ( +2 "manipulator"&I& +3 "core" &   +2 "storage"(J& +4 "core" &<, \ +3 .tForearm.seek 5 + 450 counts + "manipulator"&K'O +94 "core" ' +2 "storage"(L& +4 "core" &<, } R\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +293 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (O& +3 "core" &<, } 1\ +2 "manipulator"&P& +3 "core" &    +3 .tElbow.seek 5 + "manipulator"&Q( +10 "core" ( +2 "manipulator"&R& +3 "core" &   2 +2 "storage"(S& +4 "core" &<, \ +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&T'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +53 "core" / +7 ."downElevator"SE.seek :down +45 "manipulator"&V& +2 "storage"(W' +8 "core" &  + "manipulator"&X% +5 "core" % ϸ  +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&[& +4 "core" &Ӊ$   w =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &Ӊ$   =E +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'? +102 "core" ' +4 "manipulator"&^& +8 "core" &Ӊ%   $ =E +4 "manipulator"&_% +6 "core" %E    +6 "collection"'`& +8 "core" &\ \ \  +6 "collection"'a& +10 "core" &\ \ \  +4 &\ \ \  +5 .tCC.seek :closed +5 "collection"'b(\\ +7 "core" &\ \ \  +4 &\ \ \ @ +7 &Kz\ \ \ 2 +10 &[x\ \ \ G +9 &\ [\ \ \ M +8 &W\ \ \ L +11 &Z\ \ \ L +9 &PW\ \ \ M +8 &X\ \ \ L +11 &X\ \ \ L +8 &[\ \ \ L +10 &YZ\ \ \ L +10 &!X\ \ \ M +8 &"X\ \ \ L +11 &$Y\ \ \ L +7 &&aZ\ \ \ L +9 &(#Z\ \ \ L +10 &)X\ \ \ L +9 &+W\ \ \ L +10 &-iX\ \ \ L +9 &/,T\ \ \ L +9 &0W\ \ \ L +10 &2W\ \ \ L +9 &4qW\ \ \ L +9 &63X\ \ \ L +10 &7Y\ \ \ L +9 &9X\ \ \ L +10 &;yX\ \ \ L +9 &=:Y\ \ \ M +9 &>W\ \ \ L +10 &@X\ \ \ L +9 &BZ\ \ \ M +9 &DAc\ \ \ M +10 &En\ \ \ N +9 &G{\ \ \ P +10 &It\ 2\ +\ T +9 &K+\ <\ :\ W +9 &L\ <\ ;\ X +10 &N\ 8\ <\ Y +9 &Pl\ ;\ ;\ Y +9 &R-\ 7\ 8\ Y +10 &S\ 6\ 8\ [ +9 &U\ 5\ 5\ Z +10 &Wp\ 5\ 5\ Z +9 &Y.\ 4\ 4\ \\ +9 &Z\ 5\ 1\ ] +10 &\\SV\ 0\ 3\ 2 +9 &\\\ /\ 1\ ] +9 ( +3 "collection"'a& +2 "core" &\\\ /\ ,\ Z +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&c1 +59 "core" 1 +2 "manipulator"&d% +4 "core" % E   %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%f& +3 "core" &\ +3 "manipulator"&g% +3 "core" %    Z  +2 "storage"(h% +5 "core" % k k \  + "storage"(i. +3 "core" .(<- +2 "storage"(j& +4 "core" &<, k l \ +2 "storage"(k& +4 "core" &<, k k \ +2 "manipulator"&l& +3 "core" &Ӱ   e 8 +2 "manipulator"&m% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&n( +164 "core" ( +2 "manipulator"&o& +3 "core" & \  !  +2 "storage"(p& +5 "core" &<, k k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +92 "core" ' +2 "storage"(r& +3 "core" &<, m r <\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +298 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &<, j k \ +2 "manipulator"&v& +4 "core" &  3  +2 .tElbow.seek 5 +2 "manipulator"&w( +2 "core" ( +2 "manipulator"&x& +5 "core" &  (  + "storage"(y& +4 "core" &<, j j \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&z'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&|& +3 "storage"(}' +8 "core" &   J  + "manipulator"&~% +4 "core" % ϶    +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&& +3 "core" &   O +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +90 "core" ' +2 "manipulator"&& +4 "core" &  \ N +2 "manipulator"&% +3 "core" %  \ G m +3 "processing"%& +3 "core" &\ +3 "processing"% & +6 "core" &\ +39 .tPC.seek :closed +10 "processing"%(^ +5 "core" &\ + &\ + &\ + &\ + &\ + &\  +4 &4y\ *y +9 &d\ > +9 &Qt\ O +10 &X\ N +9 &Z\ N +9 &T\ M +10 &[Y\ N +9 &W\ N +9 &Y\ N +10 &W\ N +9 & cZ\ N +10 &"%\\\ N +9 &#W\ N +9 &%W\ M +10 &'kW\ N +9 &).X\ M +9 &*X\ N +10 &,[\ N +9 &.sZ\ N +10 &05Z\ N +9 &1Y\ M +9 &3W\ M +10 &5{Y\ N +9 &7=U\ N +9 &8X\ N +10 &:Y\ M +9 &<Y\ N +10 &>DX\ N +9 &@Y\ N +9 &A^\ N +10 &Cf\ P +9 &EFj\ P +9 &Gp\ Q +10 &H\ T +9 &J\ T +10 &LC\ T +9 &N\ T +9 &O\ T +10 &Q\ U +9 &SH\ U +9 &U\ U +10 &V\ T +9 &X\ U +10 &ZO\ U +9 &\\\ U +9 &]\ < +10 &^*\ !` +9 &^ \ / +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"& 1 +57 "core" 1 +2 "manipulator"& % +4 "core" %    m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 "processing"%& +3 "core" &^\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % )  \ !U +2 "storage"(% +4 "core" % V U\  +2 "storage"(. +3 "core" .(<- +2 "storage"(\ & +3 "core" &<, O S B\ +3 "storage"(& +2 "manipulator"&& +6 "core" &<, V U *\ +2 &   R +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r + "manipulator"&( +7 "core" ( + "manipulator"&& +5 "core" & : ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" & 2 ; p +3 .tForearm.seek PC + "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open + "processing"%"( +87 "core" ' +2 "storage"(#- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'1 +47 "core" ' +308 ( + "storage"(%& +5 "core" &<, j l \ +2 "manipulator"&&& +3 "core" &  +2 "manipulator"&'% +4 "core" %  T +2 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&)( +239 "core" ( +2 "manipulator"&*& +4 "core" &   + +2 "storage"(+& +3 "core" &<, k l \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +94 "core" ' + .tHand.open +2 "manipulator"&-1 +64 "core" 1 +2 "storage"(.- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(0' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +4 "core" -' +2 "storage"(2& +4 "core" &<, A\ + "manipulator"&3& +4 "core" &   % + +2 .tElbow.seek 5 +2 "manipulator"&4( +4 "core" ( + "manipulator"&& +5 "core" &   + + "storage"(6& +4 "core" &<, ~\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&7'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(8'" +51 "core" ' +2 "manipulator"&9& +3 "core" &  + +2 "storage"(5& +4 "core" &<, < B\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&;'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(=' +28 "core" ' +2 "manipulator"&>% +3 "core" %Ρ   c +36 "storage"(:& +11 "core" &<, H L F\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&@' +16 "core" ' + "manipulator"&A& +5 "core" &   * +2 "storage"(B& +3 "core" &<, k m V\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +15 "core" ' + "storage"(D% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +4 "storage"(?' +98 (F% +4 "core" %jM A 4 \ Wd +2 "manipulator"&G% +5 "core" %T \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (J& +3 "core" &<, L D\ +3 "collection"'L& +3 "core" &\\~\ #\ #\ Z +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %    +2 "storage"(% +4 "core" % l k \  +2 "storage"(N. +3 "core" .(<- +2 "storage"(O& +4 "core" &<, m m d\ +2 "storage"(& +4 "core" &<, j m J\ + "manipulator"&P& +5 "core" &  [ * + .tElbow.seek 5 +2 "manipulator"&R( +4 "core" ( +2 "manipulator"&S& +4 "core" &   O * + "storage"(U& +5 "core" &<, i l \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +93 "core" ' +2 "storage"(X& +3 "core" &<, g ` \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +297 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" &  \  * +2 "storage"(\\& +4 "core" &<, k j r\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&M'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(_'t +29 "core" ' +2 "manipulator"&Q% +3 "core" %Ι   x +2 "storage"(`& +4 "core" &<, O A \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&W' +15 "core" ' + "manipulator"&Y& +3 "core" &    * +2 "storage"(!& +4 "core" &<, j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +16 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(d' +37 "core" ' + "manipulator"&f& +5 "core" &    * + "manipulator"&g% +5 "core" %O   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +151 "core" ( + "manipulator"&j& +4 "core" &ӊ#  ( <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &ӊ# ' = <: +3 .tForearm.seek CC +2 "manipulator"&k'? +97 "core" ' + .tHand.close +2 "manipulator"&l/ +53 "core" / +2 .tCC.seek :open +2 "collection"'m( +450 "core" ( +2 "storage"(]& +4 "core" &<, ~ F\ +2 "storage"(o& +3 "core" &<,  \ +2 "manipulator"&p& +4 "core" &Ӭ   7 +2 "manipulator"&r% +3 "core" % L    +3 .tForearm.seek :retract +2 "manipulator"&Z' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&e( +165 "core" ( +2 "manipulator"&t& +3 "core" &    +3 "storage"(u& +3 "core" &<, 6\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&v'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +36 "manipulator"&$&.,(\ #b +11 .tHand.open +2 "manipulator"&y1 +52 "core" 1 +3 "manipulator"&{% +4 "core" % Ν   ( +2 "storage"(|& +4 "core" &<, D\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&~' +15 "core" ' +2 "manipulator"&n& +4 "core" & _  +2 "storage"(q& +4 "core" &<, \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&s'O +18 "core" ' +2 "storage"(z% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %E  r L\ V` +2 "manipulator"&w% +6 "core" %J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &\ \ \ +2 "manipulator"&% +3 "core" %     +3 "storage"(}% +3 "core" % )\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K r\ +2 "manipulator"& & +3 "core" &    +3 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &K ~ { s\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(\ & +4 "core" &K \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" &K  0\ +2 "manipulator"&& +3 "core" &  $  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &  \  +2 "storage"(& +4 "core" &K ;\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&#'h +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" & 6  +2 "manipulator"&% +4 "core" % b @ +2 .tForearm.seek :retract +2 "manipulator"&%' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&'& +6 "core" &ӂ&   & ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӂ&   ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&*'? +99 "core" ' + "manipulator"&+& +5 "core" &ӄ%   >O +2 "manipulator"&% +4 "core" %<   # +2 "collection"'-& +3 "core" &\ \ \ \ +3 "collection"'.& +6 "core" &\ \ \ \ +3 .tCC.seek :closed + "collection"'1(\\ +6 "core" &\ \ \ \ +7 &>\ \ \ \ $e +9 &W|\ \ \ 7 +9 &{\ \ \ K +10 &Y\ \ \ L +9 &U\ \ \ L +9 &AU\ \ \ L +10 &U\ \ \ L +9 &[\ \ \ L +9 &X\ \ \ L +10 &JW\ \ \ K +9 & Y\ \ \ L +10 &!Z\ \ \ K +9 &#Y\ \ \ K +9 &%QT\ \ \ L +10 &'V\ \ \ K +9 &(W\ \ \ K +9 &*V\ \ \ K +10 &,YZ\ \ \ L +9 &.W\ \ \ L +10 &/T\ \ \ L +9 &1Z\ \ \ L +9 &3aX\ \ \ L +10 &5#U\ \ \ L +9 &6Z\ \ E\ L +9 &8Y\ \ \ L +10 &:iU\ \ \ L +9 &<+Z\ \ \ L +10 &=X\ \ \ L +9 &?U\ \ \ L +9 &AqZ\ \ \ L +10 &C2^\ \ \ L +9 &Dg\ \ \ M +10 &Fn\ \ \ N +9 &Hk\ $\ \ P +9 &J"\ :\ 2\ T +10 &K\ >\ =\ W +9 &M\ ?\ >\ X +9 &O^\ <\ ;\ X +10 &Q\ 8\ ;\ X +9 &R\ 7\ 6\ Y +9 &T\ 7\ 6\ Y +10 &V`\ 3\ 6R\ Z +9 &X \ 5\ 3\ Z +10 &Y\ 3\ 4\ [ +9 &[\ 1\ 2F\ H +9 &\\6\ 1\ 2\ - +10 &\\p\ 0\ 1\ P +2 ( +2 "collection"'.& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open + "manipulator"&21 +63 "core" 1 + "manipulator"&3% +40 "core" % <  M # +9 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +104 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%6& +3 "core" &\ +3 "manipulator"&(% +4 "core" % \    +2 "storage"(9% +3 "core" % g l %\  +2 "storage"(5. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" &K S Q \ +3 "manipulator"&$& +3 "core" &Ӱ   # 9# +2 "manipulator"&/% +5 "core" % \    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&A( +165 "core" ( + "manipulator"&B& +5 "core" &  B  +2 "storage"(D& +3 "core" &K ~ @\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +91 "core" ' +3 "storage"(,& +3 "core" &K  5\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'r +299 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (G& +2 "core" &K k k \ +3 "manipulator"&7& +4 "core" & H  +2 .tElbow.seek 6 + "manipulator"&4( +4 "core" ( +2 "manipulator"&8& +3 "core" &  +2 "storage"(;& +4 "core" &K ^ ] 1\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&J'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&@/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"(' +8 "core" & 2  + "manipulator"&% +5 "core" % t  V +2 .tForearm.seek :retract +2 "manipulator"&N' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&O& +4 "core" &   8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&P' +101 "core" ' + "manipulator"&S& +4 "core" &    8 +2 "manipulator"&U% +4 "core" %  \ ' + +2 "processing"%C& +4 "core" &\ +2 "processing"%X& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%?(^ +3 "core" &\ +6 &\ 7 +10 &AJu\ / +9 &hp\ D +9 &a\ N +10 &Z\ N +9 &W\ M +9 &OY\ M +10 &U\ M +9 &Z\ N +9 &Z\ N +10 &VW\ N +9 &!U\ N +10 &"U\ N +9 &$U\ M +9 &&_W\ M +10 &(!V\ M +9 &)U\ N +9 &+Y\ M +10 &-gW\ M +9 &/(Z\ N +10 &0X\ M +9 &2Z\ N +9 &4oU\ M +10 &61W\ M +9 &7Y\ N +10 &9Z\ M +9 &;wY\ M +9 &=9W\ M +10 &>Y\ M +9 &@X\ M +9 &B}\\\ N +10 &D<c\ O +9 &Eh\ O +10 &Gr\ Q +9 &Ix\ R +9 &K6\ T +10 &L\ T +9 &N\ T +9 &Pz\ T +10 &R<\ T +9 &S\ V +9 &U\ T +10 &W\ U +9 &YB\ U +10 &[\ U +9 &\\\ U +9 &^Ai\ + +10 &^g\ ? +9 ( + &^4\ 7 +2 "processing"%X& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&<1 +52 "core" 1 +2 "manipulator"&I% +3 "core" %    + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K' +94 "core" ' +2 "processing"%[& +3 "core" &^.\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&\\% +3 "core" % #   7 +3 "storage"(^% +3 "core" % 8 8 <\  +2 "storage"(Q. +4 "core" .(K + "storage"(`& +5 "core" &K 9 8 8\ +2 "storage"(Y& +2 "manipulator"&!& +7 "core" &K 9 ; e\ +2 &   H 7 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&f( +7 ."raiseStack"SE.seek :beamBreak + "storage"(g'r +3 "core" ( +37 "manipulator"&V& +13 "core" & 3 ? 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" & < =  7 +3 .tForearm.seek PC + "manipulator"&H' +95 "core" ' +2 .tHand.close + "manipulator"&M/ +58 "core" / +2 .tPC.seek :open +2 "processing"%W( +50 "core" ' +2 "storage"(_- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'1 +45 "core" ' +351 ( +2 "storage"(a& +3 "core" &K m ` \ +3 "manipulator"&c& +4 "core" &  7 +2 "manipulator"&T% +4 "core" %   ; +2 .tForearm.seek :retract + "manipulator"&l' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&h( +246 "core" ( + "manipulator"&b& +4 "core" &   t 7 +2 "storage"(]& +3 "core" &K k j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +92 "core" ' +2 .tHand.open + "manipulator"&p1 +60 "core" 1 +2 "storage"(r- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(t' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(u' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(k- +3 "core" -' +2 "storage"(i& +3 "core" &K \ +2 "manipulator"&y& +5 "core" &   7 +2 .tElbow.seek 6 + "manipulator"&{( +4 "core" ( + "manipulator"&|& +5 "core" &  $ R 7 + "storage"(n& +4 "core" &K \ +3 .tForearm.seek 6 + 450 counts + "manipulator"&q' +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(z'" +50 "core" ' +2 "manipulator"&Z& +4 "core" &  \  7 +2 "storage"(& +3 "core" &K Z F z\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&w'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(v' +18 "core" ' +2 "manipulator"&% +3 "core" %F   +3 "storage"(~& +4 "core" &K k m \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&'r +15 "core" ' +2 "manipulator"&}& +3 "core" & \  d 7 +2 "storage"(& +5 "core" &K g ` \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +16 "core" ' +2 "storage"(s% +4 "core" % k j \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (E% +3 "core" %T 3 E v\ Xi +2 "manipulator"& % +5 "core" % \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K k l \ +2 "collection"'& +4 "core" &\\s\ $\ %\ P +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&\ % +4 "core" %    +2 "storage"(x% +4 "core" % \\ \\ \ + "storage"(. +3 "core" .(K +2 "storage"(& +3 "core" &K i ] >\ +3 "storage"(& +3 "core" &K f \\ *\ +2 "manipulator"&& +4 "core" &   7 +2 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +5 "core" &   W 7 + "storage"(& +5 "core" &K f ` \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(& +3 "core" &K b j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +342 "core" ' +10 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&'& +3 "core" & \ \  7 +2 "storage"(& +3 "core" &K k k \\\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"& '< +22 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('i +29 "core" ' +2 "manipulator"&-% +3 "core" %8   +2 "storage"( & +5 "core" &K k N o\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"&'d +15 "core" ' +2 "manipulator"&%& +4 "core" & \  6 +2 "storage"(m& +4 "core" &K m m `\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&2' +16 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(3' +37 "core" ' + "manipulator"&.& +4 "core" &    6 +2 "manipulator"&6% +4 "core" %  E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9(ӂ +149 "core" ( +2 "manipulator"&5& +4 "core" &Ӄ$   =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &Ӄ%   =F +2 .tForearm.seek CC +3 "manipulator"&$'? +95 "core" ' +2 .tHand.close + "manipulator"&// +58 "core" / +2 .tCC.seek :open +2 "collection"'*( +447 "core" ( +2 "storage"(B& +3 "core" &K  ;\ +3 "storage"(D& +4 "core" &K ~ \ + "manipulator"& & +4 "core" &ӹ   6 +2 "manipulator"&,% +4 "core" % <   V  +2 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +165 "core" ( + "manipulator"&F& +5 "core" &    + "storage"(G& +4 "core" &K ~ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&7'< +97 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&;1 +61 "core" 1 +2 "manipulator"&@% +3 "core" % 4   \ +2 "storage"(L& +4 "core" &K x w \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 292 counts +2 "manipulator"&'` +15 "core" ' +2 "manipulator"&A& +4 "core" &    +2 "storage"()& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +15 "core" ' +2 "storage"(J% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(O' +99 (% +3 "core" %E } g\ V` +2 "manipulator"&4% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S' +90 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'U& +3 "core" &\ \ \ \ \ +3 "manipulator"&C% +3 "core" %     +2 "storage"(% +4 "core" % x\  +2 "storage"(N. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"("([ +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &[ u ` \  +2 "manipulator"&I& +4 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&[(r +37 "core" ( +2 "manipulator"&\\& +3 "core" &    +3 "storage"(^& +39 "core" &[ \  +10 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Q'= +96 "core" ' + "storage"(`& +5 "core" &[ C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(!'r +299 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &[ /\  +2 "manipulator"&V& +5 "core" & U  + .tElbow.seek 7 +2 "manipulator"&R(r +27 "core" ( +2 "manipulator"&P& +3 "core" &w / c +2 "storage"(M& +4 "core" &[ .\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&_'ϧ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&K& + "storage"(?' +8 "core" &w , c + "manipulator"&g% +5 "core" % ϩ +2 .tForearm.seek :retract +2 "manipulator"&a' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&T& +4 "core" &{&   a ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &{&   u ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'? +99 "core" ' +2 "manipulator"&]& +4 "core" &Ӟ!   E :0 +2 "manipulator"&f% +4 "core" %;    +2 "collection"'p& +4 "core" &\ \ \ +2 "collection"'r& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'k(\\ +5 "core" &\ \ \ \ +6 &<\ \ \ %f +10 &Z~\ \ \ \ 7 +9 &z\ \ \ \ K +10 &X\ \ \ L +9 &X\ \ \ K +9 &JZ\ \ \ K +10 & Y\ \ \ K +9 &W\ \ \ L +9 &W\ \ \ K +10 &RU\ \ \ K +9 & S\ \ \ K +10 &!Y\ \ \ K +9 &#Y\ \ I\ L +9 &%ZV\ \ y\ K +10 &'T\ \ y\ K +9 &(T\ \ y\ K +9 &*Y\ \ |\ K +10 &,aX\ \ ~\ L +9 &.$W\ \ i\ K +10 &/T\ \ s\ K +9 &1Z\ \ N\ K +9 &3iX\ \ \ L +10 &5,V\ \ \ K +9 &6T\ \ T\ K +9 &8Y\ \ \ K +10 &:rY\ \ \ K +9 &<3X\ \ \ L +10 &=X\ \ \ K +9 &?U\ \ G\ K +9 &AzU\ \ \ K +10 &C<[\ \ \ K +9 &De\ \ \ M +9 &Fo\ \ \ N +10 &Hs\ $\ \ P +9 &J)\ :\ 4\ U +10 &K\ @\ @_\ V +9 &M\ @\ ?N\ W +9 &Og\ =\ =n\ W +10 &Q(\ 8\ 9x\ W +9 &R\ 7\ 8\ Y +9 &T\ 6\ 7R\ Y +10 &Vh\ 6\ 7w\ Z +9 &X)\ 4\ 4\ Z +10 &Y\ 4\ 3\ [ +9 &[\ 1\ 3\ I +9 &\\2\ 2\ 4x\ - +10 &\\g\ 0\ 0~\ M +2 ( +2 "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&i1 +58 "core" 1 +3 "manipulator"&y% +4 "core" % ;     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%n& +3 "core" &\ +2 "manipulator"&l% +4 "core" %   # +2 "storage"(Z% +4 "core" % j j \  +2 "storage"(. +3 "core" .([ +2 "storage"(& +3 "core" &[ k j \  +2 "storage"(~& +4 "core" &[ j j \  +2 "manipulator"&j& +4 "core" &ӭ   + 8! +2 "manipulator"&}% +4 "core" %   w # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +160 "core" ( +2 "manipulator"&t& +3 "core" &p   S  +3 "storage"(s& +3 "core" &[ j j \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'= +96 "core" ' +2 "storage"(o& +4 "core" &[ j\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'r +296 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &[ i n \  +2 "manipulator"&q& +4 "core" &p    +2 .tElbow.seek 7 + "manipulator"&{(r +4 "core" ( +2 "manipulator"&z& +3 "core" &p   +2 "storage"(w& +4 "core" &[ \\ _ R\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +11 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(\ ' +9 "core" &p    + "manipulator"&x% +5 "core" % ϩ  +2 .tForearm.seek :retract + "manipulator"&v' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +3 "manipulator"&& +4 "core" &   T  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&& +4 "core" &   l  +2 "manipulator"&% +3 "core" %  e % +3 "processing"%d& +3 "core" &\ +3 "processing"%& +5 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\ +7 &6\ $e +9 &X}\ 7 +10 &{\ L +9 &T\ N +9 &iW\ N +10 &-Q\ M +9 &Y\ N +10 &X\ N +9 &rT\ M +9 &4W\ M +10 &Z\ N +9 &!S\ M +9 &#yU\ N +10 &%;Y\ N +9 &&W\ N +10 &(Y\ M +9 &*U\ M +9 &,DW\ M +10 &.X\ N +9 &/X\ N +9 &1U\ N +10 &3LV\ M +9 &5R\ M +10 &6X\ M +9 &8Z\ M +9 &:TT\ M +10 &<W\ M +9 &=Z\ N +9 &?Y\ N +10 &A[W\ N +9 &C`\ O +10 &De\ O +9 &Fp\ P +9 &HW{\ R +10 &J\ S +9 &K\ T +9 &M\ T +10 &OX\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &V`\ T +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]e\ B +9 &^Bu\ ] +10 &^5\ 2 +5 ( +2 "processing"%& +3 "core" &^%\ 2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&e1 +55 "core" 1 +2 "manipulator"& % +3 "core" %   + % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 "processing"%'& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" % !   ) +2 "storage"(+% +3 "core" % [ g %\  +2 "storage"(-. +4 "core" .([ + "storage"( & +5 "core" &[ M = \  +2 "storage"(%& +2 "manipulator"&m& +8 "core" &[ g [ G\  + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&.( +6 ."raiseStack"SE.seek :beamBreak + "storage"(6'r +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & = < k  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close +2 "manipulator"& / +60 "core" / +3 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +47 "core" ' +308 ( + "storage"(:& +4 "core" &[ h l d\  +2 "manipulator"&2& +3 "core" &   $  +2 "manipulator"&#% +4 "core" %   + # +3 .tForearm.seek :retract + "manipulator"&/' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&((r +247 "core" ( +2 "manipulator"&1& +4 "core" &p   R +2 "storage"(B& +4 "core" &[ k j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&D'= +98 "core" ' +2 .tHand.open + "manipulator"& 1 +58 "core" 1 +2 "storage"(,- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(F' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(G' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"(9& +3 "core" &[ \  +2 "manipulator"&;& +4 "core" &p   R +40 .tElbow.seek 7 +10 "manipulator"&@(r +3 "core" ( +2 "manipulator"&L& +4 "core" &p   R +2 "storage"(A& +3 "core" &[ \  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&)'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(J'" +50 "core" ' + "manipulator"&&& +5 "core" &p    R + "storage"(& +5 "core" &[ k l I\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&4'{ +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(7' +28 "core" ' +2 "manipulator"&U% +3 "core" %|   ( ; +2 "storage"(& +4 "core" &[ 8 8 m\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 301 counts +2 "manipulator"&C'Ϩ +14 "core" ' +2 "manipulator"&& +3 "core" &   / +3 "storage"(N& +3 "core" &[ j k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&3'= +15 "core" ' +2 "storage"(0% +3 "core" % k j \ +3 ."downElevator"SE.seek :down +4 "storage"(O' +99 (>% +3 "core" %hQ I F \ Xg +2 "manipulator"&<% +5 "core" %-   . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\\& +3 "core" &[ k ` `\  +2 "collection"'^& +3 "core" &\\c\ %\ &x\ M +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&`% +4 "core" %    +2 "storage"(8% +4 "core" % ] \\ \  +2 "storage"(S. +3 "core" .([ +2 "storage"(Y& +4 "core" &[ f \\ !\  +2 "storage"(X& +4 "core" &[ ` j X\  + "manipulator"&V& +4 "core" &   p / +3 .tElbow.seek 7 + "manipulator"&P(r +20 "core" ( + "manipulator"&M& +5 "core" &z    + "storage"(=& +4 "core" &[ j k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&K'= +94 "core" ' + "storage"(g& +5 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +299 "core" ' +2 "storage"(Q- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" &z   ;  +2 "storage"(H& +4 "core" &[ k n \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&!'{ +26 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(f'p +33 "core" ' + "manipulator"&p% +4 "core" %΋   b +2 "storage"(R& +3 "core" &[ j k \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&?'Ϸ +15 "core" ' +2 "manipulator"&a& +4 "core" &z  +2 "storage"(*& +4 "core" &[ } [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&i'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(y' +41 "core" ' +2 "manipulator"&n& +3 "core" &z C  +3 "manipulator"&l% +4 "core" %< +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( +2 "manipulator"&& +4 "core" &z%   M >O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &z%   c >O +3 .tForearm.seek CC + "manipulator"&~'? +97 "core" ' +2 .tHand.close +2 "manipulator"&j/ +57 "core" / +10 .tCC.seek :open + "collection"'}( +447 "core" ( +2 "storage"(b& +3 "core" &[ K\  +2 "storage"(t& +5 "core" &[ o\  + "manipulator"&s& +4 "core" &Ӵ   7 +2 "manipulator"&o% +3 "core" % B   +3 .tForearm.seek :retract + "manipulator"&c' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&|(r +163 "core" ( +2 "manipulator"&E& +4 "core" &i   *  +2 "storage"( & +3 "core" &[ { \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&q'{ +95 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&w1 +56 "core" 1 +2 "manipulator"&% +4 "core" % ΄    +2 "storage"(& +3 "core" &[ v \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 309 counts + "manipulator"&x'ϰ +17 "core" ' +2 "manipulator"&& +4 "core" &i  + "storage"(h& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'= +16 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %D } w\ V` +2 "manipulator"&{% +6 "core" %; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&d% +4 "core" % #    / +2 "storage"(\ % +4 "core" % \  +2 "storage"(v. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(W(<- +668 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +3 "core" &<, s a\ +2 "manipulator"& & +5 "core" &i   ,  +2 .tElbow.seek 5 + "manipulator"&'( +23 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(+& +4 "core" &<, v >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +96 "core" ' +2 "storage"( & +3 "core" &<, \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(m'r +298 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<, H\ +2 "manipulator"&& +4 "core" &  M  +2 .tElbow.seek 5 +2 "manipulator"&( +10 "core" ( +2 "manipulator"&& +4 "core" &   e  +2 "storage"( & +4 "core" &<, w x p\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" & [  + "manipulator"&6% +4 "core" % ϯ H +3 .tForearm.seek :retract + "manipulator"&:' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2(ӂ +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&#& +4 "core" &ӄ#   F <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӄ#  J <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&1'? +93 "core" ' + "manipulator"&B& +5 "core" &Ӆ#   <? +2 "manipulator"&.% +3 "core" %9  @ +3 "collection"' & +43 "core" &\ \ \ \ +10 "collection"',& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'$(\\ +4 "core" &\ \ \ \ \  +8 &4{\ \ \ *y +10 &\ f\ \ \ > +9 &q\ \ \ L +9 &XT\ \ \ \ K +10 &W\ \ \ \ K +9 &W\ \ \ K +10 &W\ \ \ K +9 &`U\ \ \ \ K +9 &!Y\ \ \ K +10 &V\ \ \ L +9 & V\ \ T\ K +9 &"gW\ \ \ K +10 &$)W\ \ }\ K +9 &%Z\ \ \ K +10 &'V\ \ B\ K +9 &)oV\ \ x\ K +9 &+1V\ \ \ \ \ K +10 &,W\ \ K\ L +9 &.W\ \ \ K +9 &0wW\ \ \ K +10 &2:S\ \ i\ K +11 &3W\ \ {\ K +8 &5V\ \ \ L +9 &7V\ \ \ K +9 &9AW\ \ \ K +10 &;V\ \ \ \ L +9 &<V\ \ \ K +9 &>W\ \ \ K +10 &@JU\ \ \ K +9 &B X\ \ \ K +10 &C[\ \ \ K +9 &Eh\ \ \ M +9 &GIs\ \ \ N +10 &I\ )\ #\ Q +9 &J\ ;\ 7\ V +9 &Lv\ ;\ <\ V +10 &N6\ 8\ :\ W +9 &O\ 9\ ;\ X +10 &Q\ 6\ 7\ X +9 &Sx\ 2\ 4\ Y +9 &U9\ 3\ 3\ Y +10 &V\ 4\ 3\ Z +9 &X\ 3\ 2\ [ +9 &Z{\ 2\ 0\ Z +10 &\\z\ 2\ 1\ . +9 &\\3\ /\ 3\ ^ +9 ( +3 &\\`\ /\ .\ J +2 "collection"',& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&91 +58 "core" 1 +2 "manipulator"&;% +4 "core" % 9  % < @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%L& +3 "core" &\ +3 "manipulator"&A% +4 "core" %      +2 "storage"(&% +4 "core" % g l 5\  + "storage"(. +4 "core" .(<- + "storage"(5& +5 "core" &<, m m \ + "storage"(F& +5 "core" &<, \\ \\ P\ + "manipulator"&U& +4 "core" &ӯ   7 +2 "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +164 "core" ( + "manipulator"&N& +4 "core" &   b  +2 "storage"(0& +4 "core" &<, h q i\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&('O +94 "core" ' +2 "storage"(D& +4 "core" &<, B\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'r +297 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &<, i k \ +2 "manipulator"&)& +4 "core" &  P  +2 .tElbow.seek 5 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&J& +4 "core" &    +2 "storage"(4& +3 "core" &<, \\ \\\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&\\'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&C/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"(`' +8 "core" &  <  +2 "manipulator"&8% +4 "core" % ϵ  s +2 .tForearm.seek :retract +2 "manipulator"&S' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&7( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&Y& +3 "core" &   U  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &   a  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&V' +100 "core" ' +2 "manipulator"&M& +4 "core" &   +2 "manipulator"&=% +3 "core" %    +3 "processing"%3& +3 "core" &\ +3 "processing"%g& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%O(^ +2 "core" &\ +7 &\ 6 +9 &AIx\ / +10 &fp\ D +9 &c\ N +9 &X\ M +10 &W\ M +9 &MY\ M +10 &X\ M +9 &Y\ M +9 &Z\ N +10 &TX\ N +9 &!X\ N +9 &"T\ M +10 &$U\ M +9 &&]U\ M +10 &(T\ M +9 &)U\ M +9 &+W\ N +10 &-dW\ N +9 &/&X\ N +9 &0R\ M +10 &2Y\ M +9 &4nS\ M +10 &6.Y\ N +9 &7V\ M +9 &9Y\ M +10 &;t[\ N +9 &=7X\ M +9 &>Y\ M +10 &@[\ M +9 &Bz_\ N +10 &D:c\ O +9 &En\ P +9 &G{\ R +10 &It\ S +9 &K4\ T +10 &L\ T +9 &N\ T +9 &Py\ T +10 &R:\ T +9 &S\ U +9 &U\ T +10 &W\ U +9 &YA\ U +9 &[\ U +10 &\\\ U +49 &^?i\ , +10 &^g\ ? +3 ( + &^3\ 8 +2 &^4\ 8 + &^4\ 8 +3 &^3\ 8 + &^4\ 8 +2 "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&1 +4 "core" &^4\ 8 +54 1 +2 "manipulator"&I% +4 "core" %  f  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +2 "processing"%T& +4 "core" &^4\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&H% +5 "core" % # .  K 4 + "storage"(]% +4 "core" % K V \  +2 "storage"(p. +3 "core" .(<- +2 "storage"(R& +4 "core" &<, M V J\ +2 "storage"(a& +2 "manipulator"&*& +8 "core" &<, 9 8 y\ + & + 9  +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&n( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'r +2 "core" ( +3 "manipulator"&K& +3 "core" & 0 0 {  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" & : 0  +2 .tForearm.seek PC +2 "manipulator"&[' +92 "core" ' + .tHand.close +2 "manipulator"&!/ +53 "core" / +2 .tPC.seek :open +2 "processing"%?( +100 "core" ' +2 "storage"(f- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +295 ( +2 "storage"(r& +3 "core" &<, m ` \ +2 "manipulator"&i& +4 "core" &    +2 "manipulator"&_% +4 "core" %   U +2 .tForearm.seek :retract +2 "manipulator"&j' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Z( +247 "core" ( +2 "manipulator"&k& +3 "core" &   ( +3 "storage"(b& +3 "core" &<, ] g e\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +106 "core" ' + .tHand.open +2 "manipulator"&s1 +64 "core" 1 +3 "storage"(o- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(E' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(~- +3 "core" -' +2 "storage"(& +3 "core" &<, R\ +3 "manipulator"&w& +4 "core" &   ( +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &   ( +2 "storage"(& +3 "core" &<, *\ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' + "manipulator"&c& +5 "core" &   ( + "storage"(& +5 "core" &<, k k \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&{'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(q' +18 "core" ' +2 "manipulator"&% +3 "core" %Ι  \  +3 "storage"(x& +4 "core" &<, k k \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&d' +13 "core" ' +2 "manipulator"&\ & +4 "core" &  & +2 "storage"(v& +3 "core" &<, \\ \\ \ +42 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +16 "core" ' +2 "storage"(u% +4 "core" % k _ \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 ("% +4 "core" %fN S I F\ We +2 "manipulator"&e% +4 "core" %I   ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<, i _ }\ +2 "collection"'+& +4 "core" &\\_\ $\ $\ J +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +3 "core" % !  ( +3 "storage"(z% +3 "core" % _ i v\  +2 "storage"(. +4 "core" .(<- + "storage"(%& +5 "core" &<, _ j \ + "storage"(& +4 "core" &<, f \\ y\ +2 "manipulator"&& +4 "core" &  $ & +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"& & +4 "core" &   Q & +2 "storage"(& +3 "core" &<, j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(6& +3 "core" &<, ~ (\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(''r +306 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" &   p & +3 "storage"(& +4 "core" &<, \\ \\ >\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&m'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(.'u +30 "core" ' +2 "manipulator"& % +4 "core" %Λ    +2 "storage"(& +4 "core" &<, g k S\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&:& +3 "core" &   & +3 "storage"(}& +4 "core" &<, ` h \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(;' +36 "core" ' +2 "manipulator"&L& +3 "core" &    & +2 "manipulator"&A% +5 "core" %N   < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&5& +4 "core" &Ӏ%   Q >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +4 "core" &Ӏ%   7 >I +2 .tForearm.seek CC +2 "manipulator"&F'? +98 "core" ' +2 .tHand.close + "manipulator"&U/ +60 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(1& +4 "core" &<,  \ + "storage"(N& +5 "core" &<, ~ 6\ + "manipulator"&0& +4 "core" &Ӯ   8 +2 "manipulator"&D% +4 "core" % 5    +2 .tForearm.seek :retract +2 "manipulator"&2' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&/( +162 "core" ( +2 "manipulator"&>& +4 "core" &    +2 "storage"(<& +4 "core" &<, x w V\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&)'΍ +135 "core" ' +8 .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +59 "core" 1 +3 "manipulator"&C% +3 "core" % v    +2 "storage"(^& +4 "core" &<, x \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 277 counts +2 "manipulator"&8'Ϣ +16 "core" ' + "manipulator"&& +5 "core" &   + "storage"((& +5 "core" &<, \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +16 "core" ' +2 "storage"(\\% +4 "core" % [\ +2 ."downElevator"SE.seek :down +4 "storage"(Y' +99 (X% +3 "core" %C ~ \ V` +2 "manipulator"&@% +3 "core" %5 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'=& +3 "core" &\ \ \ +2 "manipulator"&3% +4 "core" % !  ) +3 "storage"(`% +4 "core" % \  + "storage"(S. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K j e |\  +2 "manipulator"&I& +3 "core" &  !  +3 .tElbow.seek 6 + "manipulator"&T( +4 "core" ( +2 "manipulator"&H& +3 "core" &   s  +3 "storage"(]& +4 "core" &K y { W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&p' +91 "core" ' + "storage"(R& +5 "core" &K (\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'r +291 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" &K r\  +2 "manipulator"&K& +4 "core" &  "  +2 .tElbow.seek 6 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&V& +3 "core" & >  +2 "storage"(!& +5 "core" &K x 0\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&f'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(O' +8 "core" & x  +2 "manipulator"&l% +4 "core" % _ +2 .tForearm.seek :retract +2 "manipulator"&r' +97 "core" ' +2 .tElbow.seek CC +3 "manipulator"&i(ӂ +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +20 "core" ( + "manipulator"&_& +4 "core" &ӌ   / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &ӌ ! e / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&k'? +92 "core" ' + "manipulator"&b& +5 "core" &ӌ   < / +2 "manipulator"&n% +4 "core" %7  O B +2 "collection"'s& +3 "core" &\ \ \ +3 "collection"'o& +6 "core" &\ \ \ \ +3 .tCC.seek :closed +2 "collection"'~(\\ +5 "core" &\ \ \ +6 &<\ \ \ $f +10 &Y{\ \ \ 7 +9 &y\ \ \ J +10 &V\ \ \ \ K +9 &Y\ \ \ K +9 &FW\ \ \ \ J +10 &W\ \ \ \ K +9 &V\ \ \ K +9 &Y\ \ \ K +10 &MU\ \ \ K +9 & U\ \ \ K +10 &!Y\ \ \ K +9 &#W\ \ \ K +9 &%UU\ \ \ K +10 &'U\ \ \ J +9 &(W\ \ \ K +9 &*U\ \ \ K +10 &,^V\ \ \ J +55 &.W\ \ \ K +4 &/V\ \ \ K +3 &1W\ \ \ K +2 &3dU\ \ \ \ K + &5&V\ \ \ K +2 &6V\ \ \ K + &8U\ \ \ K +7 &:mR\ \ \ K +9 &<.T\ \ \ K +10 &=S\ \ \ K +9 &?W\ \ \ K +9 &AtX\ \ \ K +10 &C6\\\ \ \ K +9 &Dc\ \ \ L +9 &Fm\ \ \ N +10 &Hp\ #\ \ O +9 &J%\ :\ 0\ T +10 &K\ ?\ >\ W +9 &M\ :\ <\ X +9 &Oa\ ;\ :\ W +10 &Q"\ 9\ 9\ X +9 &R\ 7\ 7\ X +9 &T\ 5\ 6\ Y +10 &Vc\ 4\ 4\ Y +9 &X#\ 3\ 3\ Z +10 &Y\ 4\ 1\ [\ +9 &[\ 1\ 3\ H +9 &\\3\ 0\ 3\ 0 +10 &\\c\ -\ /\ K +2 ( +2 "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +3 "manipulator"&w% +3 "core" % 7  # B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%j& +3 "core" &\ +2 "manipulator"&% +3 "core" % %   ? +3 "storage"(c% +3 "core" % k k \  +2 "storage"(. +4 "core" .(K + "storage"(& +5 "core" &K m j \  + "storage"(x& +5 "core" &K m l \  + "manipulator"&& +5 "core" &ӌ   / + "manipulator"&\ % +4 "core" % %  \ _ > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&v( +163 "core" ( +2 "manipulator"&E& +3 "core" &   h  +3 "storage"(u& +4 "core" &K j f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +95 "core" ' + "storage"(t& +5 "core" &K  "\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +3 "core" &K g k \  +2 "manipulator"&h& +4 "core" &   (  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   j  +3 "storage"({& +4 "core" &K g ` o\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&d'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"( ' +9 "core" &   + "manipulator"&z% +4 "core" % z \  +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&q( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&%& +3 "core" &   S 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &   I 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' +2 "manipulator"& & +4 "core" &   0 +2 "manipulator"&% +3 "core" %   0 k +3 "processing"%y& +3 "core" &\ +3 "processing"%6& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 &/\ #b +9 &Ty\ 6 +10 &y\ K +9 &U\ M +9 &_X\ N +10 &#Q\ M +9 &W\ M +10 &Y\ M +9 &hW\ M +9 &)W\ N +10 &V\ M +9 &!R\ M +9 &#pT\ M +10 &%2Y\ M +9 &&W\ M +9 &(T\ M +10 &*xW\ M +9 &,:W\ M +10 &-R\ M +9 &/W\ N +9 &1T\ M +10 &3AV\ N +9 &5U\ M +9 &6U\ M +10 &8Y\ M +9 &:IU\ N +10 &< W\ N +9 &=W\ M +9 &?V\ M +10 &AQX\ N +9 &C]\ N +10 &Dd\ O +9 &Fk\ P +9 &HNv\ Q +10 &J\ \ S +9 &K\ T +9 &M\ T +10 &ON\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &VT\ U +10 &X\ U +9 &Y\ U +9 &[\ T +10 &]Z\ E +9 &^z?s\ &o +9 &^&\ , +6 ( +2 "processing"%6& +3 "core" &^\ , +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&|1 +61 "core" 1 +2 "manipulator"& % +4 "core" %   3 k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +138 "core" ' +4 "processing"%#& +5 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +3 "core" % %   7 : +3 "storage"(B% +4 "core" % k j \  + "storage"( . +4 "core" .(K + "storage"(& +4 "core" &K k j \  +3 "storage"(:& +3 "manipulator"&}& +6 "core" &K k k \  +2 &   0 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&L( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(A'r +21 "core" ( +2 "manipulator"&& +3 "core" & * / +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & . * - +2 .tForearm.seek PC +2 "manipulator"&'' +96 "core" ' +2 .tHand.close +2 "manipulator"&m/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +76 "core" ' + "storage"(.- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +48 "core" ' +320 ( +2 "storage"(,& +5 "core" &K j m \  + "manipulator"&9& +5 "core" &   Y + "manipulator"&% +4 "core" %     / +3 .tForearm.seek :retract + "manipulator"&U' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&&( +239 "core" ( +2 "manipulator"&$& +4 "core" &    + +2 "storage"(1& +4 "core" &K a h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&N' +96 "core" ' +2 .tHand.open +2 "manipulator"&01 +54 "core" 1 +2 "storage"(D- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(>' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(<' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +4 "core" -' + "storage"(& +5 "core" &K \  + "manipulator"&4& +4 "core" &   + +2 .tElbow.seek 6 +2 "manipulator"&C( +4 "core" ( + "manipulator"&^& +4 "core" &   a + +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\\'" +51 "core" ' +2 "manipulator"&2& +3 "core" &  9 + +2 "storage"(X& +4 "core" &K _ k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&@'< +19 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"()' +21 "core" ' + "manipulator"&=% +5 "core" %.  & +2 "storage"(8& +3 "core" &K k k \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 286 counts +2 "manipulator"&3'Z +15 "core" ' + "manipulator"&`& +4 "core" &  ! * +2 "storage"(S& +3 "core" &K ] _ P\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +19 "core" ' + "storage"(G% +4 "core" % _ j \ +3 ."downElevator"SE.seek :down +4 "storage"(Y' +99 (W% +3 "core" %EN S R \ Wd +2 "manipulator"&% +50 "core" %    +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +13 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (H& +4 "core" &K h _ h\  + "collection"']& +5 "core" &\\b\ #\ $\ K + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&R% +4 "core" %     +2 "storage"(J% +3 "core" % k l \  +2 "storage"(M. +4 "core" .(K + "storage"(*& +5 "core" &K j _ \  + "storage"(a& +5 "core" &K g _ \  +2 "manipulator"&K& +3 "core" &   * +3 .tElbow.seek 6 +2 "manipulator"&V( +2 "core" ( +2 "manipulator"&!& +5 "core" &   Q * + "storage"(7& +5 "core" &K j k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +95 "core" ' +2 "storage"(l& +3 "core" &K  B\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +295 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" &   3 * +3 "storage"(g& +4 "core" &K ` m \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&['< +19 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(n'j +33 "core" ' +2 "manipulator"&s% +3 "core" %M   A  +2 "storage"(P& +4 "core" &K g \\\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&O'y +15 "core" ' +2 "manipulator"&r& +4 "core" &    * +2 "storage"(& +4 "core" &K \\ \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(w' +36 "core" ' +2 "manipulator"&j& +4 "core" & ( * +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( + "manipulator"&& +4 "core" &Ӓ!   D :, +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &Ӓ! ( \ c :, +3 .tForearm.seek CC + "manipulator"&x'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +447 "core" ( +2 "storage"(k& +4 "core" &K L\  +2 "storage"(E& +3 "core" &K \  +2 "manipulator"&u& +5 "core" &Ө  7 + "manipulator"&t% +4 "core" % Q   S +3 .tForearm.seek :retract + "manipulator"&i' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&"& +4 "core" &    +2 "storage"(e& +3 "core" &K u 2\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&h'< +97 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&{1 +64 "core" 1 +2 "manipulator"&% +3 "core" % 9   ( +2 "storage"(+& +43 "core" &K { ?\  +10 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 297 counts + "manipulator"&z'e +15 "core" ' +2 "manipulator"&v& +3 "core" &   +2 "storage"(Z& +5 "core" &K ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +16 "core" ' +2 "storage"(d% +4 "core" % 4\ +3 ."downElevator"SE.seek :down +4 "storage"(%' +99 (% +3 "core" %F | I\ V` +2 "manipulator"&% +3 "core" % ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +98 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +3 "core" &\ \ \ \ \ +3 "manipulator"&y% +4 "core" % #    2 +2 "storage"( % +3 "core" % m\  +2 "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(?([ +118 "Can" ]5 +233 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" &[ _ h \ +3 "manipulator"& & +4 "core" &   Z  +2 .tElbow.seek 7 + "manipulator"&6(r +36 "core" ( +2 "manipulator"&#& +3 "core" &   >  +2 "storage"(& +4 "core" &[ :\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'= +96 "core" ' +2 "storage"( & +3 "core" &[ \  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (:& +3 "core" &[ | z o\  +2 "manipulator"&& +5 "core" &   + .tElbow.seek 7 +2 "manipulator"&(r +22 "core" ( + "manipulator"&& +4 "core" &v  ) n +2 "storage"(m& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&.'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +3 "storage"(' +8 "core" &v - n + "manipulator"&A% +5 "core" % ϰ 9 +2 .tForearm.seek :retract + "manipulator"&,' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9(ӂ +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&& +3 "core" &Ӎ   9( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &Ӎ   9( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'? +95 "core" ' +3 "manipulator"&1& +3 "core" &ӎ  6 9' +3 "manipulator"&L% +3 "core" %I   ; 5 +3 "collection"'0& +3 "core" &\ \ \ +3 "collection"'D& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'F(\\ +5 "core" &\ \ \ +7 &=\ \ \ \ $f +9 &Yz\ \ \ \ \ 7 +10 &x\ \ \ \ J +9 &U\ \ \ K +10 &Y\ \ \ K +9 &IU\ \ \ \ K +9 & U\ \ \ J +10 &U\ \ \ \ K +9 &U\ \ \ K +9 &QT\ \ \ \ K +10 & U\ \ \ K +9 &!U\ \ \ \ J +9 &#W\ \ \ K +10 &%YT\ \ \ \ K +9 &'T\ \ \ K +10 &(T\ \ \ K +9 &*T\ \ \ \ \ J +9 &,`U\ \ \ K +10 &.#U\ \ \ K +9 &/U\ \ \ K +9 &1Y\ \ \ K +10 &3hU\ \ \ \ K +9 &5+U\ \ \ K +10 &6U\ \ \ K +9 &8S\ \ \ \ K +9 &:pU\ \ \ K +10 &<2V\ \ \ K +9 &=V\ \ \ K +9 &?V\ \ \ K +10 &AyW\ \ \ K +9 &C:Z\ \ \ K +10 &Db\ \ \ M +9 &Fj\ \ \ M +9 &Hq\ #\ \ P +10 &J(\ 8\ 1\ T +9 &K\ @\ <\ V +10 &M\ <\ <\ W +9 &Od\ :\ ;\ X +9 &Q&\ 9\ :\ X +10 &R\ 8\ :\ Y +9 &T\ 6\ 6\ Y +9 &Vf\ 5\ 4\ Z +10 &X%\ 2\ 4\ [ +9 &Y\ 3\ 1\ [\ +9 &[\ 4\ 3\ I +10 &\\3\ 1\ 1\ / +9 &\\e\ /\ 1\ M +47 ( +7 &\\a\ .\ 1\ M +2 &\\a\ *\ +\ M +2 &\\a\ )\ )\ M +2 &\\b\ (\ )\ M + &\\b\ &\ &\ M + &\\a\ &\ &\ M +2 "collection"'D& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&1 +3 "core" &\\b\ %\ '\ M +59 1 + "manipulator"&4% +4 "core" % I   @ 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +104 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +4 "core" &\  +2 "manipulator"&U% +3 "core" %    | +2 "storage"(2% +4 "core" % j k \  +2 "storage"(X. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(=([ +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" &[ F E L\  +3 "manipulator"&5& +3 "core" &ө   5 +2 "manipulator"&`% +4 "core" %    K | +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&S(r +164 "core" ( + "manipulator"&>& +4 "core" &s   +2 "storage"(G& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&&'= +93 "core" ' +2 "storage"(N& +3 "core" &[  8\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +299 "core" ' + "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ j k \  +2 "manipulator"&(& +4 "core" &s     +2 .tElbow.seek 7 +2 "manipulator"&C(r +3 "core" ( +2 "manipulator"&\\& +4 "core" &s    +2 "storage"(@& +4 "core" &[ m l k\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&3'ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&]& + "storage"(R' +7 "core" &s (  +2 "manipulator"&J% +4 "core" % Ϫ K +2 .tForearm.seek :retract +2 "manipulator"&M' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&*& +3 "core" &   u " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +2 "core" &  ` " +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&K' +100 "core" ' +2 "manipulator"&!& +4 "core" &  " +2 "manipulator"&7% +3 "core" %    +3 "processing"%l& +3 "core" &\  +3 "processing"%;& +5 "core" &\  +2 .tPC.seek :closed +4 "processing"%Y(^ +2 "core" &\  +7 &\ = +9 &NJu\ 1 +9 &u}\ F +10 &)]\ N +9 &U\ M +9 &Y\ M +10 &qX\ M +9 &3W\ M +10 &V\ M +9 &Y\ M +9 &yW\ M +10 &!;T\ M +9 &"T\ M +9 &$Y\ M +10 &&V\ N +9 &(CU\ M +10 &*R\ M +9 &+X\ M +9 &-U\ N +10 &/KW\ M +9 &1R\ M +9 &2V\ M +10 &4U\ M +9 &6SY\ M +10 &8W\ M +9 &9T\ M +9 &;Z\ M +10 &=[Y\ M +9 &?Z\ M +9 &@Y\ N +10 &B`\ N +9 &D_c\ O +10 &Fi\ P +9 &Gu\ Q +9 &I\ S +10 &KY\ S +9 &M\ T +10 &N\ T +9 &P\ T +9 &R_\ T +10 &T\ U +9 &U\ T +9 &W\ T +10 &Yf\ T +9 &[(\ T +9 &\\\ U +10 &^NUx\ (x +9 &^\\\ 7 +9 ( +2 &^&\ 3 +2 "processing"%;& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&/1 +62 "core" 1 +2 "manipulator"&I% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +92 "core" ' +3 "processing"%_& +3 "core" &^%\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&g% +50 "core" % #   T / +3 "storage"(b% +5 "core" % Q j \  + "storage"(s. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(P([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "manipulator"&& +5 "core" &[ ? 9 U\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   " +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&j( +3 "storage"('r +4 "core" ( +3 "manipulator"&Q& +4 "core" &  n " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" & < 4 . " +2 .tForearm.seek PC +2 "manipulator"&T' +94 "core" ' +2 .tHand.close + "manipulator"&[/ +55 "core" / +2 .tPC.seek :open + "processing"%O( +99 "core" ' +2 "storage"(n- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +308 ( + "storage"(o& +4 "core" &[ f k r\  +2 "manipulator"&& +4 "core" &   " +2 "manipulator"&f% +3 "core" %  - 7 +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&c(r +261 "core" ( +2 "manipulator"&~& +4 "core" &z  W  +2 "storage"(k& +4 "core" &[ j j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'= +96 "core" ' +3 .tHand.open + "manipulator"&u1 +62 "core" 1 +2 "storage"(t- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"("' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(e' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +3 "core" -' +2 "storage"(& +4 "core" &[ W\  +2 "manipulator"&{& +3 "core" &z   |  +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( +2 "manipulator"&+& +3 "core" &z   M  +3 "storage"(v& +3 "core" &[ \  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Z'= +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(d'" +52 "core" ' + "manipulator"&i& +4 "core" &z  f  +2 "storage"(& +4 "core" &[ j _ ~\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +19 "core" ' + "manipulator"&% +5 "core" %Ύ   + "storage"(z& +5 "core" &[ Q l 3\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&y'Ϻ +13 "core" ' +2 "manipulator"& & +3 "core" &z  _  +2 "storage"(& +5 "core" &[ l j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +15 "core" ' +2 "storage"( % +3 "core" % g i \ +3 ."downElevator"SE.seek :down +4 "storage"(%' +98 (% +5 "core" %bO I F n\ Xf +2 "manipulator"&|% +49 "core" %=   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +11 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (#& +3 "core" &[ j m \  +2 "collection"'& +5 "core" &\\a\ "\ #\ M + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"& % +4 "core" % !  ) +2 "storage"(% +3 "core" % g ` [\  +2 "storage"( . +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(}([ +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &[ D F A\  +2 "manipulator"&& +4 "core" &z  9  +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&m& +4 "core" &z    +2 "storage"(q& +3 "core" &[ k j f\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&-'= +107 "core" ' + "storage"(A& +5 "core" &[ ~ A\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'r +297 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &z 2  +3 "storage"('& +4 "core" &[ } \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(L'o +31 "core" ' + "manipulator"&0% +5 "core" %΍    y + "storage"(& +3 "core" &[ k l _\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&'Ϲ +16 "core" ' + "manipulator"&,& +4 "core" &z L  +2 "storage"(\ & +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(4' +46 "core" ' + "manipulator"&& +5 "core" &z   + "manipulator"&U% +4 "core" %; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D(ӂ +153 "core" ( +2 "manipulator"&X& +4 "core" &ӊ$   =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &Ӌ$  ' =B +2 .tForearm.seek CC + "manipulator"&5'? +96 "core" ' +2 .tHand.close + "manipulator"&`/ +54 "core" / +2 .tCC.seek :open + "collection"'$( +448 "core" ( + "storage"(>& +4 "core" &[ } $\  +2 "storage"(G& +3 "core" &[ p\  +2 "manipulator"&?& +5 "core" &   p 5 + "manipulator"&N% +4 "core" % .   & +3 .tForearm.seek :retract + "manipulator"&9' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&^(r +156 "core" ( + "manipulator"&W& +4 "core" &w    +2 "storage"(& +4 "core" &[ w x \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&('{ +94 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +47 "manipulator"&@1 +62 "core" 1 +2 "manipulator"&H% +5 "core" % y    + "storage"(]& +5 "core" &[ t a\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 298 counts +2 "manipulator"&J'ϥ +15 "core" ' + "manipulator"&S& +4 "core" &w  +2 "storage"(&& +4 "core" &[ n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&<'= +16 "core" ' +2 "storage"(3% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(*' +99 (a% +3 "core" %F } \ V` +2 "manipulator"&C% +4 "core" %3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'7& +4 "core" &\ \ \ +2 "manipulator"&l% +4 "core" %    +2 "storage"(R% +4 "core" % \  +2 "storage"(M. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" & +9 &l\ \ \ L +10 &YU\ \ \ J +9 &U\ \ \ K +9 &U\ \ \ K +10 &R\ \ \ \ K +9 &`S\ \ \ K +9 &!T\ \ \ K +10 &U\ \ \ K +9 & U\ \ \ J +10 &"hU\ \ \ \ K +9 &$)S\ \ \ K +9 &%U\ \ \ \ K +10 &'S\ \ \ K +9 &)pT\ \ \ K +9 &+3U\ \ \ J +10 &,U\ \ \ K +9 &.U\ \ \ \ K +10 &0wY\ \ \ K +9 &2:U\ \ \ \ K +9 &3S\ \ \ K +10 &5T\ \ \ K +9 &7T\ \ \ \ \ J +9 &9AV\ \ \ K +10 &;U\ \ \ K +9 &<T\ \ \ J +10 &>V\ \ \ \ K +9 &@IU\ \ \ \ K +9 &B V\ \ ?\ K +10 &C]\ \ \ L +9 &Ec\ \ \ M +10 &GIp\ \ \ N +9 &I\ )\ "\ Q +9 &J\ <\ 6\ V +10 &Lu\ =\ :\ W +51 &N4\ 8\ 9\ X +3 &O\ 5\ 9\ Y +2 &Q\ 6\ 7\ X + &Sw\ 3\ 5\ Y + &U5\ 0\ 6:\ Z + &V\ 1\ 3G\ [\ +6 &X\ 0\ 2\ [\ +10 &Zx\ 1\ 1A\ [ +9 &\\z\ 0\ 0\ / +9 &\\1\ .\ 0\ ] +9 ( +3 "collection"'t& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&1 +2 "core" &\\n\ -\ .\ M +56 1 + "manipulator"&{% +4 "core" % 7  # g  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%v& +4 "core" &\ +2 "manipulator"&% +3 "core" %    &  +2 "storage"(i% +5 "core" % j l \  + "storage"(. +3 "core" .(<- +2 "storage"(& +3 "core" &<. j l \ +2 "storage"(& +4 "core" &<. j j \ +2 "manipulator"&z& +4 "core" &Ӥ   G 5 +2 "manipulator"& % +3 "core" %   >  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&"& +3 "core" &   ^  +3 "storage"( & +4 "core" &<. i j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +95 "core" ' + "storage"(E& +5 "core" &<. \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &<. ^ h \ +2 "manipulator"&Z& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&d& +4 "core" &   !  +2 "storage"(& +3 "core" &<. \\ _ G\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&y'Ϲ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"( ' +8 "core" &  #  + "manipulator"&% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&h( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&:& +4 "core" &   C ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&m' +93 "core" ' +2 "manipulator"&q& +4 "core" &   @ ( +2 "manipulator"&w% +3 "core" %   < F +3 "processing"%A& +4 "core" &\ +2 "processing"%%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%P(^ +5 "core" &\ +6 &6\ $d +10 &Vz\ 7 +9 &z\ L +9 &U\ M +10 &fV\ N +9 &)T\ M +9 &T\ M +10 &U\ N +9 &oT\ M +10 &1Y\ M +9 &V\ N +9 &!U\ M +10 &#xT\ M +9 &%:Y\ M +9 &&V\ M +10 &(W\ N +9 &*V\ M +10 &,AY\ M +9 &.U\ N +9 &/W\ M +10 &1T\ M +9 &3JW\ M +9 &5 T\ M +10 &6U\ M +9 &8Y\ M +10 &:PV\ N +9 &<Y\ M +9 &=W\ N +10 &?Y\ M +9 &AY[\ M +9 &C`\ O +10 &De\ O +9 &Fn\ P +10 &HR\ R +9 &J\ T +9 &K\ S +10 &M\ T +9 &OT\ T +9 &Q\ U +10 &R\ T +9 &T\ U +10 &V[\ U +9 &X\ T +9 &Y\ U +10 &[\ T +9 &]a\ C +9 &^Bt\ _ +10 &^4\ 1 +5 ( +2 "processing"%%& +4 "core" &^"\ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"& % +4 "core" %   I F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +92 "core" ' + "processing"%& +5 "core" &^"\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&'% +4 "core" %     +2 "storage"(1% +3 "core" % j l \  +49 "storage"(0. +4 "core" .(<- +2 "storage"(& +4 "core" &<. k k \ +2 "storage"(,& +4 "manipulator"&\ & +4 "core" &<. j j \ +2 &   ( +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +6 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&U( +5 "core" ( +2 "manipulator"&-& +4 "core" &  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & (  . ( +3 .tForearm.seek PC +2 "manipulator"&6' +93 "core" ' + .tHand.close +2 "manipulator"&/ +57 "core" / +3 .tPC.seek :open + "processing"%( +91 "core" ' +2 "storage"(L- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +48 "core" ' +308 ( + "storage"(8& +4 "core" &<- i \\ F\ +2 "manipulator"&& +3 "core" &   ( +2 "manipulator"&.% +4 "core" %  ( F +2 .tForearm.seek :retract +2 "manipulator"&`' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&2( +245 "core" ( +2 "manipulator"&F& +4 "core" &   ( + "storage"(>& +5 "core" &<- k j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +109 "core" ' + .tHand.open +2 "manipulator"&?1 +57 "core" 1 +3 "storage"(N- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' +2 "storage"(D& +4 "core" &<- \ + "manipulator"&@& +4 "core" &   ( +2 .tElbow.seek 5 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&]& +4 "core" &   ( +2 "storage"(S& +4 "core" &<- \ +3 .tForearm.seek 5 + 450 counts + "manipulator"&&'O +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +59 "core" ' +2 "manipulator"&9& +3 "core" &  ( +3 "storage"(^& +4 "core" &<- j j \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&a'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"((' +28 "core" ' + "manipulator"&7% +4 "core" %Ε   y +2 "storage"(J& +4 "core" &<- k j \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 308 counts + "manipulator"&l' +25 "core" ' + "manipulator"&R& +4 "core" &  G ' +2 "storage"(M& +4 "core" &<- ] ` i\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +27 "core" ' +2 "storage"(<% +3 "core" % c ^ \ +3 ."downElevator"SE.seek :down +4 "storage"(*' +99 (}% +3 "core" %qP F E A\ Wf +3 "manipulator"&/% +4 "core" %5   ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +88 "core" ' +64 ' +46 ."downElevator"SE.stop +3 "storage"(5 +3 (g& +3 "core" &<- l j \ +2 "collection"';& +4 "core" &\\m\ \ #\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&s% +5 "core" %     +2 "storage"(\\% +3 "core" % j i \  +2 "storage"(!. +4 "core" .(<- + "storage"(& +5 "core" &<- i j \ + "storage"(Q& +5 "core" &<- i j \ +2 "manipulator"&V& +3 "core" &   ' +3 .tElbow.seek 5 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&=& +4 "core" &  ' +2 "storage"()& +3 "core" &<- i j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +95 "core" ' + "storage"(& +5 "core" &<- k m R\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +295 "core" ' +2 "storage"(b- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&f& +3 "core" &   ' +2 "storage"(T& +4 "core" &<- j j \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&r'΍ +14 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(j'u +30 "core" ' +2 "manipulator"&u% +3 "core" %Π   3 . +2 "storage"(K& +5 "core" &<- m k \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&Y' +14 "core" ' +2 "manipulator"&o& +4 "core" &   ' +2 "storage"($& +3 "core" &<- k ` v\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"({' +44 "core" ' +2 "manipulator"&v& +4 "core" &  ' +2 "manipulator"&% +4 "core" %F \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( + "manipulator"&& +4 "core" &Ӑ"    ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &Ӑ"  ) ;5 +3 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&z/ +53 "core" / +2 .tCC.seek :open + "collection"' ( +448 "core" ( +2 "storage"(~& +3 "core" &<-  \ +2 "storage"("& +4 "core" &<-  _\ +2 "manipulator"& & +3 "core" &Ӥ  x 8! +2 "manipulator"&E% +4 "core" % O   ? +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&+( +165 "core" ( + "manipulator"&& +5 "core" &    + "storage"(|& +4 "core" &<- { A\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&Z'΍ +102 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&#% +4 "core" % Ύ   9 + "storage"(& +5 "core" &<- x W\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&'Ϻ +15 "core" ' +2 "manipulator"&& +47 "core" & C  +5 "storage"(c& +3 "core" &<- z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +16 "core" ' +2 "storage"(y% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(:' +99 (% +3 "core" %F ~ O\ Va +2 "manipulator"&% +4 "core" %L  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'w& +3 "core" &\ \ \ +2 "manipulator"&A% +3 "core" %     +3 "storage"( % +4 "core" % \  +2 "storage"( . +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(O(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K j k \  +2 "manipulator"& & +4 "core" &   .  +2 .tElbow.seek 6 + "manipulator"&( +5 "core" ( + "manipulator"&'& +4 "core" &     +2 "storage"(1& +3 "core" &K j\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +102 "core" ' + "storage"(%& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +303 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &K  w\  +2 "manipulator"&-& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&m& +4 "core" &  r  +2 "storage"(& +4 "core" &K w\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&L'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(P' +8 "core" &   +2 "manipulator"&% +4 "core" % j \  1 +2 .tForearm.seek :retract +2 "manipulator"&8' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&.& +4 "core" &Ӎ"   ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &Ӎ"   ;2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'? +93 "core" ' + "manipulator"&>& +5 "core" &Ӎ"   9 ;2 + "manipulator"&U% +5 "core" %; \ ` c +2 "collection"'?& +5 "core" &\ \ \ +2 "collection"'N& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'5(\\ +5 "core" &\ \ \ +7 &=\ \ \ %g +9 &Zv\ \ \ 7 +10 &\ w\ \ \ K +9 &R\ \ \ \ J +10 &U\ \ \ J +9 &NT\ \ \ K +9 &W\ \ \ \ K +10 &U\ \ \ \ J +9 &U\ \ \ \ J +9 &VU\ \ \ \ K +10 & W\ \ \ \ \ K +9 &!R\ \ \ \ K +10 &#S\ \ \ K +9 &%_T\ \ \ \ J +9 &' T\ \ \ \ K +10 &(W\ \ \ \ K +9 &*W\ \ \ K +9 &,fT\ \ \ \ \ K +10 &.(T\ \ \ \ K +9 &/W\ \ \ \ K +10 &1S\ \ \ K +9 &3nT\ \ \ K +9 &50W\ \ \ \ K +10 &6U\ \ \ \ J +9 &8U\ \ \ K +9 &:uX\ \ \ \ K +10 &<9U\ \ \ \ J +9 &=U\ \ \ \ K +10 &?Y\ \ \ K +9 &A~U\ \ \ \ K +9 &C?Y\ \ \ K +10 &Da\ \ \ L +9 &Fi\ \ \ M +9 &Hx\ \ \ P +10 &J.\ 7\ /\ T +9 &K\ ;\ ;\ W +10 &M\ ;\ :\ W +9 &Oj\ 8\ 7\ W +9 &Q+\ 6\ 9\ X +10 &R\ 7\ 5\ X +9 &T\ 4\ 4\ Y +9 &Vm\ 3\ 3\ Y +10 &X+\ 2\ 4\ Z +9 &Y\ 0\ 3\ Z +10 &[\ 1\ 1\ H +9 &\\0\ 1\ 1\ / +9 &\\b\ -\ /\ J +3 ( + "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&D1 +62 "core" 1 +2 "manipulator"&@% +4 "core" % ;   c +46 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%S& +3 "core" &\ +3 "manipulator"&`% +4 "core" % #   Z 4 +2 "storage"(9% +4 "core" % k k \  + "storage"(^. +4 "core" .(K +2 "storage"(X& +4 "core" &K k m \  +2 "storage"(7& +3 "core" &K m l \  +3 "manipulator"&J& +5 "core" &ӫ  7 + "manipulator"&W% +4 "core" % # \  4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&R( +163 "core" ( + "manipulator"&M& +4 "core" &  P  +2 "storage"(<& +3 "core" &K w p \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +94 "core" ' + "storage"(G& +5 "core" &K ~ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(}- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &K l j g\  +2 "manipulator"&&& +3 "core" &   1  +3 .tElbow.seek 6 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&3& +4 "core" &   t  +2 "storage"(a& +3 "core" &K k m \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&l'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& +2 "storage"(;' +9 "core" &  @  + "manipulator"&s% +4 "core" % ϟ  L +2 .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&& +4 "core" & I 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &   # 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&V' +94 "core" ' +2 "manipulator"&=& +3 "core" &  6 +3 "manipulator"&)% +4 "core" % \   +2 "processing"%4& +3 "core" &\ +3 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%*(^ +2 "core" &\ +6 &\ 6 +10 &@Ht\ / +9 &hp~\ D +10 & _\ N +9 &U\ M +9 &T\ M +10 &PT\ M +9 &V\ M +9 &U\ M +10 &U\ M +9 &WV\ N +9 &!U\ M +10 &"W\ M +9 &$W\ M +10 &&`U\ M +9 &(!U\ N +9 &)T\ M +10 &+U\ M +9 &-gU\ N +9 &/+U\ M +10 &0T\ M +9 &2V\ M +10 &4pT\ M +9 &62W\ M +9 &7U\ M +10 &9S\ M +9 &;xY\ M +9 &=;W\ M +10 &>Y\ N +9 &@W\ N +10 &B~]\ N +9 &D>_\ O +9 &Fg\ O +10 &Gs\ P +9 &Ix\ S +10 &K8\ S +9 &L\ T +9 &N\ T +10 &P|\ T +9 &R<\ U +9 &S\ U +10 &U\ T +9 &W\ U +9 &YB\ U +10 &[\ T +9 &\\\ U +10 &^Ck\ - +9 &^U\ )t +9 &^>\ 4 +6 ( + "processing"%& +4 "core" &^&\ 4 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&C1 +52 "core" 1 +2 "manipulator"&I% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +94 "core" ' +2 "processing"%f& +4 "core" &^&\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&T% +4 "core" % % \  ; +2 "storage"(k% +4 "core" % k i \  +2 "storage"(u. +3 "core" .(K +2 "storage"(K& +3 "core" &K j j \  +3 "storage"(o& +2 "manipulator"&$& +7 "core" &K k k \  + &   z 6 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +51 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&v( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&p& +4 "core" &   O 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" & 4 / Y 6 +3 .tForearm.seek PC +2 "manipulator"&_' +95 "core" ' +2 .tHand.close + "manipulator"&r/ +64 "core" / +2 .tPC.seek :open +2 "processing"%Y( +85 "core" ' +2 "storage"(j- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"('1 +49 "core" ' +309 ( +2 "storage"(t& +3 "core" &K \\ \\ \  +3 "manipulator"&& +4 "core" &  < 6 + "manipulator"&n% +4 "core" %    8 +2 .tForearm.seek :retract +2 "manipulator"&z' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&i( +247 "core" ( + "manipulator"&x& +5 "core" &   1 + "storage"(~& +4 "core" &K l j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +101 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "storage"(E- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &K \  +3 "manipulator"&& +4 "core" &   k 0 +2 .tElbow.seek 6 + "manipulator"&#( +4 "core" ( +2 "manipulator"&& +3 "core" &   0 +2 "storage"(& +4 "core" &K \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&c' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +50 "core" ' + "manipulator"&& +5 "core" & # 0 + "storage"(& +4 "core" &K l k \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&+'< +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(Z' +29 "core" ' +2 "manipulator"&w% +4 "core" %D   + "storage"(A& +5 "core" &K k k d\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&'p +15 "core" ' + "manipulator"& & +4 "core" &  0 +2 "storage"( & +5 "core" &K h ` 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&{' +16 "core" ' +2 "storage"(e% +4 "core" % o W\ +3 ."downElevator"SE.seek :down +4 "storage"(:' +99 (% +4 "core" %lP R H n\ Xg +2 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ('& +3 "core" &K ^ u |\  +2 "collection"'1& +4 "core" &\\\\\ %\ %\ J +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&%% +3 "core" %  &  +3 "storage"(d% +4 "core" % ` k @\  + "storage"(q. +3 "core" .(K +2 "storage"(,& +48 "core" &K a ^ ]\  +4 "storage"(\ & +4 "core" &K  d !\  +2 "manipulator"&-& +4 "core" &    0 +2 .tElbow.seek 6 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&& +3 "core" &   \ 0 +3 "storage"(h& +3 "core" &K ~ }\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +94 "core" ' +2 "storage"(& +4 "core" &K R\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" &   ( 0 +2 "storage"(6& +4 "core" &K ] _ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +19 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(>- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(U'k +33 "core" ' +2 "manipulator"&?% +3 "core" %3   +2 "storage"(& +4 "core" &K k j \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 291 counts +2 "manipulator"&P'_ +16 "core" ' +2 "manipulator"&8& +4 "core" &   . 0 + "storage"( & +5 "core" &K j _ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&D' +16 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(@' +37 "core" ' + "manipulator"&N& +3 "core" & V 0 +3 "manipulator"&S% +3 "core" % h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&9(ӂ +155 "core" ( +2 "manipulator"&^& +4 "core" &Ӊ&  \ = ?V + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &X& +3 "core" &Ӊ&    ?V +3 .tForearm.seek CC + "manipulator"&7'? +99 "core" ' + .tHand.close +2 "manipulator"&J/ +53 "core" / +2 .tCC.seek :open + "collection"'W( +448 "core" ( +2 "storage"(F& +3 "core" &K \  +2 "storage"(M& +4 "core" &K r\  +2 "manipulator"&<& +4 "core" &ӯ!   :0 +2 "manipulator"&G% +4 "core" % K    +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&]( +157 "core" ( + "manipulator"&}& +5 "core" &  + "storage"(/& +4 "core" &K \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&&'< +96 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&a1 +56 "core" 1 +2 "manipulator"&g% +4 "core" % 3   ?  +2 "storage"((& +3 "core" &K \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 291 counts +2 "manipulator"&s'_ +14 "core" ' +2 "manipulator"&R& +5 "core" & ( + "storage"(2& +5 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +17 "core" ' +2 "storage"(l% +3 "core" % )\ +49 ."downElevator"SE.seek :down +3 "storage"(' +100 (Q% +3 "core" %K d n \ Vb +2 "manipulator"&H% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +93 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"')& +3 "core" &\ \ \ +2 "manipulator"&4% +4 "core" %    ,  +2 "storage"(;% +5 "core" % \  +2 "storage"(\\. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &[ v p v\ +2 "manipulator"&I& +5 "core" &  + .tElbow.seek 7 +2 "manipulator"&f(r +15 "core" ( +2 "manipulator"&T& +3 "core" &l  \   +3 "storage"(k& +3 "core" &[ J\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'= +93 "core" ' +2 "storage"(K& +4 "core" &[ $\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +296 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" &[ G\ +2 "manipulator"&p& +3 "core" &l  +2 .tElbow.seek 7 +2 "manipulator"&[(r +3 "core" ( +2 "manipulator"&V& +3 "core" &l e  +2 "storage"(r& +5 "core" &[ w { ,\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&j'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&!/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(*' +8 "core" &l   + "manipulator"&% +5 "core" % ϫ +2 .tForearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&n& +3 "core" &ӓ!   U :+ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &ӓ!   :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&x'? +105 "core" ' + "manipulator"&~& +5 "core" &ӓ!   :+ +2 "manipulator"&v% +4 "core" %E   +2 "collection"' & +5 "core" &\ \ \ +2 "collection"'E& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'(\\ +4 "core" &\ \ \ +8 &<\ \ \ $f +10 &Yy\ \ \ 7 +9 &v\ \ \ J +9 &R\ \ \ J +10 &U\ \ \ J +9 &GU\ \ \ \ \ K +9 & W\ \ \ \ K +10 &W\ \ \ \ K +9 &W\ \ \ \ K +10 &QR\ \ \ J +9 & T\ \ \ \ J +9 &!U\ \ \ \ J +10 &#T\ \ \ \ K +9 &%WS\ \ \ \ \ K +9 &'R\ \ \ \ K +10 &(R\ \ \ K +9 &*R\ \ \ \ K +10 &,_R\ \ \ \ K +9 &."U\ \ \ \ J +9 &/T\ \ \ \ \ J +10 &1U\ \ \ \ J +9 &3gU\ \ \ \ \ K +9 &5)W\ \ \ K +10 &6X\ \ \ K +9 &8R\ \ \ \ K +10 &:oR\ \ \ \ K +9 &<1S\ \ \ K +9 &=U\ \ \ J +10 &?U\ \ \ \ K +9 &AwY\ \ \ K +9 &C9X\ \ \ K +10 &Dd\ \ \ L +9 &Fh\ \ \ M +10 &Hp\ "\ \ P +9 &J&\ 9\ 2\ T +9 &K\ @\ ?\ V +10 &M\ :\ =\ W +9 &Ob\ <\ <\ X +9 &Q%\ 8\ 9\ W +10 &R\ 4\ 7\ X +9 &T\ 5\ 7\ Y +10 &Vf\ 5\ 5\ Y +9 &X%\ 2\ 2\ Z +9 &Y\ 3\ 2\ [ +10 &[\ 3\ 3\ H +9 &\\3\ 2\ 1\ 0 +9 &\\b\ /\ 0\ L +3 ( + "collection"'E& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&1 +56 "core" 1 +3 "manipulator"&% +3 "core" % F   y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&z% +4 "core" % !    & +2 "storage"(% +4 "core" % _ g \  +46 "storage"(. +6 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" &[ I T ;\ +2 "manipulator"&A& +5 "core" &ӫ   V 6 + "manipulator"&% +5 "core" % !  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"& (r +160 "core" ( +2 "manipulator"& & +3 "core" &l  \\  +3 "storage"(e& +4 "core" &[ k j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&i'= +98 "core" ' +2 "storage"("& +5 "core" &[ @\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +307 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ l ` \ +2 "manipulator"&c& +4 "core" &l   ?  +2 .tElbow.seek 7 +2 "manipulator"&#(r +4 "core" ( +2 "manipulator"&y& +4 "core" &l  4  + "storage"(+& +5 "core" &[ f i 9\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"(%' +9 "core" &l   J  + "manipulator"&d% +4 "core" % Ϝ   +3 .tForearm.seek :retract + "manipulator"&q' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&,& +5 "core" &  (  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-' +98 "core" ' +2 "manipulator"&& +4 "core" &     +2 "manipulator"&h% +4 "core" % \  ' 0 +2 "processing"%{& +4 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed + "processing"%:(^ +5 "core" &\  +9 &4z\ *x +9 &e}\ > +9 &o\ N +10 &FQ\ M +9 &U\ M +9 &Q\ M +10 &T\ M +9 &MW\ M +10 &U\ N +9 &U\ M +9 & W\ M +10 &"UU\ M +9 &$R\ M +9 &%U\ M +10 &'Q\ M +9 &)]U\ M +10 &+ W\ M +9 &,U\ M +9 &.U\ N +10 &0eU\ M +9 &2'T\ M +9 &3U\ M +10 &5U\ M +9 &7mT\ M +10 &9.V\ N +9 &:W\ N +9 &<U\ M +10 &>uU\ M +9 &@7T\ M +9 &AY\ M +10 &Cd\ O +9 &Exi\ O +10 &G7n\ P +9 &H\ R +9 &J\ T +10 &Ls\ S +9 &N4\ T +9 &O\ T +10 &Q\ U +9 &Sw\ U +10 &U:\ T +9 &V\ T +9 &X\ T +10 &Z\ T +9 &\\@\ U +9 &]{r\ 7 +10 &^-\ R +9 &^\ . +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +58 "core" 1 + "manipulator"& % +4 "core" %   S 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +94 "core" ' +2 "processing"%.& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&6% +4 "core" % #   3 +2 "storage"(>% +4 "core" % j j \  +2 "storage"(?. +3 "core" .([ +2 "storage"(& +3 "core" &[ l k \ +3 "storage"(8& +2 "manipulator"& & +6 "core" &[ k k \ +3 &    +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(N'r + "manipulator"&S( +44 "core" ( +10 "manipulator"&B& +3 "core" & < #  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" & \   +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%P( +47 "core" ' +2 "storage"(U- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'1 +48 "core" ' +349 ( + "storage"(X& +4 "core" &[ j j \ +2 "manipulator"&D& +3 "core" &   9  +2 "manipulator"&L% +5 "core" %   6 < +2 .tForearm.seek :retract + "manipulator"&J' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&`(r +249 "core" ( +2 "manipulator"&5& +3 "core" &   =  +2 "storage"(F& +5 "core" &[ j j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&M'= +96 "core" ' +2 .tHand.open + "manipulator"&<1 +58 "core" 1 +2 "storage"(G- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(}' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(7- +3 "core" -' +2 "storage"(9& +3 "core" &[ \ +2 "manipulator"&a& +4 "core" &  *  +2 .tElbow.seek 7 +2 "manipulator"&g(r +24 "core" ( +2 "manipulator"&(& +3 "core" &{   [  +2 "storage"(R& +4 "core" &[ \ \ +3 .tForearm.seek 7 + 450 counts + "manipulator"&2'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(l'" +50 "core" ' + "manipulator"&& +5 "core" &{    + "storage"(]& +4 "core" &[ j j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&Q'{ +22 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(&' +20 "core" ' + "manipulator"&s% +5 "core" %΋ B +2 "storage"()& +3 "core" &[ j j k\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&4'Ϸ +13 "core" ' +2 "manipulator"&;& +4 "core" &{  +2 "storage"(\\& +4 "core" &[ i j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'= +15 "core" ' +2 "storage"(% +3 "core" % j j `\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (O% +3 "core" %{N T S 2\ Xe +2 "manipulator"&C% +5 "core" %:    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (T& +2 "core" &[ _ j \ +3 "collection"'k& +4 "core" &\\b\ #\ "\ L +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&K% +5 "core" %   # + "storage"(3% +4 "core" % g a \  +2 "storage"(=. +3 "core" .([ +2 "storage"($& +3 "core" &[ ~ e 8\ +2 "storage"(& +5 "core" &[ o w [\ + "manipulator"&p& +4 "core" &{     +2 .tElbow.seek 7 +2 "manipulator"&V(r +47 "core" ( +4 "manipulator"&r& +4 "core" &{  .  +2 "storage"(!& +4 "core" &[  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&b'= +93 "core" ' +2 "storage"(& +4 "core" &[ l\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'r +298 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &{    +2 "storage"(_& +4 "core" &[ j j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&o'{ +25 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(~- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(v'o +33 "core" ' + "manipulator"&[% +4 "core" %Ύ   c +2 "storage"( & +3 "core" &[ ] \\ 5\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&*'Ϻ +15 "core" ' + "manipulator"&t& +4 "core" &{  +2 "storage"(W& +4 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +38 "core" ' +2 "manipulator"&& +3 "core" &{  +2 "manipulator"&z% +5 "core" %5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +161 "core" ( +2 "manipulator"&E& +5 "core" &ӓ   y 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &ӓ   5 +3 .tForearm.seek CC + "manipulator"&A'? +95 "core" ' +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open + "collection"'x( +448 "core" ( + "storage"( & +5 "core" &[ K\ +2 "storage"(e& +4 "core" &[ ;\ + "manipulator"&& +5 "core" &ӣ   3 + "manipulator"&"% +4 "core" % ;   +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +163 "core" ( +2 "manipulator"&& +4 "core" &v   <  +2 "storage"(& +3 "core" &[ r\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&c'{ +99 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&+1 +62 "core" 1 +2 "manipulator"&'% +5 "core" % Ώ   + "storage"(1& +4 "core" &[ Y\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&d'ϻ +15 "core" ' +2 "manipulator"& & +3 "core" &v   +2 "storage"(i& +4 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&|'= +17 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(,' +100 (\ % +3 "core" %I n r \ Va +2 "manipulator"&#% +4 "core" %<  +41 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'h& +3 "core" &\ \ \ +2 "manipulator"&{% +5 "core" % #   1 +2 "storage"(%% +4 "core" % \  + "storage"(q. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(Y(<- +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<0 x \\ \ +2 "manipulator"& & +4 "core" &v   %  +2 .tElbow.seek 5 +2 "manipulator"&.( +24 "core" ( +2 "manipulator"&6& +3 "core" &    \ +2 "storage"(>& +5 "core" &<0 { y D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +93 "core" ' +2 "storage"(& +3 "core" &<0 \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(8'r +293 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<. y \ +2 "manipulator"&B& +4 "core" &  \ +2 .tElbow.seek 5 +2 "manipulator"&m( +13 "core" ( +2 "manipulator"&-& +5 "core" &  '  + "storage"(& +4 "core" &<. { i\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&U'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&0& + "storage"(:' +7 "core" & $  +2 "manipulator"&N% +4 "core" % ϭ ) +2 .tForearm.seek :retract + "manipulator"&X' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D(ӂ +154 "core" ( +2 "manipulator"&L& +4 "core" &ӏ"   ;2 ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ!   :1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&5'? +106 "core" ' +2 "manipulator"&F& +3 "core" &Ӑ!    :1 +3 "manipulator"&S% +3 "core" %M   # +3 "collection"'<& +4 "core" &\ \ \ +2 "collection"'G& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'7(\\ +5 "core" &\ \ \ +7 &<\ \ \ %f +9 &Z{\ \ \ 7 +10 & v\ \ \ K +9 &Q\ \ \ \ J +10 &T\ \ \ J +9 &NT\ \ \ K +9 &W\ \ \ K +10 &W\ \ \ K +9 &W\ \ \ \ \ K +9 &VV\ \ \ \ K +10 & V\ \ \ \ \ K +9 &!W\ \ \ \ \ K +10 &#W\ \ \ \ K +9 &%_V\ \ \ \ \ J +9 &'!T\ \ \ \ \ J +10 &(T\ \ \ K +9 &*W\ \ \ \ K +9 &,fW\ \ \ K +10 &.(W\ \ \ \ \ K +9 &/W\ \ \ \ K +10 &1S\ \ \ \ K +9 &3oT\ \ \ \ J +9 &51T\ \ \ \ J +10 &6U\ \ \ \ K +9 &8W\ \ \ \ K +9 &:vS\ \ \ \ K +10 &<8S\ \ \ \ K +9 &=T\ \ \ \ J +10 &?U\ \ \ J +9 &A~U\ \ \ \ K +9 &C@Y\ \ \ \ K +10 &Dd\ \ \ M +9 &Fh\ \ \ M +9 &Hx\ !\ \ P +10 &J.\ 5\ 1\ T +9 &K\ :\ :\ W +10 &M\ :\ 9\ W +9 &Oi\ 7\ 7\ X +9 &Q,\ 5\ 5\ W +10 &R\ 5\ 5\ X +9 &T\ 3\ 6\ Y +9 &Vk\ 2\ 2\ Z +10 &X-\ 1\ 2\ Z +9 &Y\ 1\ 0\ [\ +10 &[\ 0\ /\ H +9 &\\1\ .\ 1\ / +9 &\\i\ +\ -\ L +3 ( + "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&91 +56 "core" 1 +2 "manipulator"&a% +5 "core" % M   ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%(& +3 "core" &\ +2 "manipulator"&R% +5 "core" %     + "storage"(% +4 "core" % \\ \\\  +2 "storage"(]. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(^(<- +8 "core" ( +45 .tSC.configure :limp +6 "storage"($\ 1b +3 (s& +2 "core" &<. j j \  +3 "manipulator"&)& +3 "core" &Ӫ   7 +2 "manipulator"&}% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&;( +163 "core" ( + "manipulator"&\\& +5 "core" &  \   + "storage"(& +5 "core" &<. ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +93 "core" ' + "storage"(M& +5 "core" &<. \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +297 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (C& +2 "core" &<. = : \  +3 "manipulator"&2& +4 "core" &  \   +2 .tElbow.seek 5 + "manipulator"&g( +4 "core" ( + "manipulator"&l& +5 "core" &  (  + "storage"(Q& +4 "core" &<. j j \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&T'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&k& + "storage"(K' +8 "core" &  >  +2 "manipulator"&3% +3 "core" % \  X +3 .tForearm.seek :retract +2 "manipulator"&=' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&&( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&$& +4 "core" &  !  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&p' +98 "core" ' +2 "manipulator"&r& +4 "core" &   $ +2 "manipulator"&!% +3 "core" %  " +3 "processing"%@& +3 "core" &\ +3 "processing"%& +5 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +4 "core" &\ +8 &6\ #c +9 &U|\ 7 +10 &y\ K +9 &T\ N +10 &bU\ N +9 &%R\ M +9 &V\ N +10 &T\ M +9 &kQ\ M +9 &.S\ M +10 &U\ N +9 &!T\ N +10 &#sU\ M +9 &%5S\ M +9 &&W\ M +10 &(V\ M +9 &*|R\ M +9 &,<U\ N +10 &-U\ M +9 &/S\ M +10 &1T\ M +9 &3EU\ M +9 &5T\ M +10 &6U\ N +9 &8V\ M +9 &:MR\ M +10 &<X\ N +9 &=W\ M +10 &?T\ M +9 &AUW\ M +9 &Ca\ O +10 &De\ O +9 &Fn\ P +9 &HN~\ R +10 &J \ S +9 &K\ S +10 &M\ T +9 &OS\ S +9 &Q\ U +10 &R\ T +9 &T\ U +9 &VX\ T +10 &X\ T +9 &Y\ T +10 &[\ U +9 &]_\ B +9 &^Hz\ R +10 &^V\ 3 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&H1 +4 "core" &^"\ 2 +60 1 + "manipulator"&I% +3 "core" %   U " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' +3 "processing"%n& +3 "core" &^"\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&_% +4 "core" % !  \  - +2 "storage"(~% +3 "core" % j j \  +2 "storage"([. +4 "core" .(<- +2 "storage"( & +4 "core" &<. j g \  +2 "storage"(t& +3 "manipulator"&W& +5 "core" &<. j i \  +3 &    +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'r +2 "core" ( + "manipulator"&b& +6 "core" & \  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +2 "core" & 1 : a +42 .tForearm.seek PC +10 "manipulator"&f' +98 "core" ' +2 .tHand.close + "manipulator"&o/ +64 "core" / +2 .tPC.seek :open +2 "processing"%*( +36 "core" ' +2 "storage"(v- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'1 +46 "core" ' +361 ( +2 "storage"(w& +4 "core" &<, j k \  +2 "manipulator"&& +3 "core" &    +3 "manipulator"&j% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +240 "core" ( + "manipulator"&& +5 "core" &   / + "storage"( & +5 "core" &<, j j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +94 "core" ' +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"("- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(A- +3 "core" -' +2 "storage"(& +3 "core" &<, \  +3 "manipulator"&+& +4 "core" &   / +2 .tElbow.seek 5 + "manipulator"&'( +4 "core" ( +2 "manipulator"&1& +4 "core" &   [ / + "storage"( & +4 "core" &<, \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&& +4 "core" &    / +2 "storage"(\ & +3 "core" &<, j m \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&#'΍ +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(c' +29 "core" ' +2 "manipulator"&d% +3 "core" %Γ  +2 "storage"(h& +4 "core" &<, j k \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&{'Ͽ +16 "core" ' + "manipulator"&%& +4 "core" &  \  . +2 "storage"(q& +4 "core" &<, \\ i <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"(|% +5 "core" % l i \ +2 ."downElevator"SE.seek :down +3 "storage"(,' +100 (% +3 "core" %WN R P P\ We +3 "manipulator"&% +3 "core" %L   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (6& +3 "core" &<, b r t\  +3 "collection"'>& +3 "core" &\\b\ #\ "\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" % !   M ' +3 "storage"(y% +3 "core" % i f Z\  +2 "storage"(. +3 "core" .(<- +2 "storage"( & +4 "core" &<, l ` \  +2 "storage"(& +4 "core" &<, j j \  +2 "manipulator"&B& +3 "core" &   = . +3 .tElbow.seek 5 + "manipulator"&-( +4 "core" ( +2 "manipulator"&& +4 "core" &   V . +2 "storage"(Z& +3 "core" &<, ^ g O\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 5 + 450 counts +9 "manipulator"&0'O +98 "core" ' + "storage"(N& +5 "core" &<, ~ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'r +300 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &   . +2 "storage"(& +3 "core" &<, ` ] p\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&8'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(S'u +32 "core" ' + "manipulator"&m% +4 "core" %Ύ   U  +2 "storage"(<& +4 "core" &<, _ j \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&:'Ϻ +16 "core" ' + "manipulator"&X& +4 "core" &  ' - +2 "storage"(x& +3 "core" &<,  >\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(a' +43 "core" ' +2 "manipulator"&(& +3 "core" &    - +2 "manipulator"&R% +4 "core" %M   ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +156 "core" ( + "manipulator"&G& +4 "core" &ӗ   M 8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &ӗ  8 +2 .tForearm.seek CC +2 "manipulator"&)'? +106 "core" ' +2 .tHand.close + "manipulator"&}/ +58 "core" / +2 .tCC.seek :open +2 "collection"'5( +447 "core" ( +2 "storage"(\\& +3 "core" &<, \  +3 "storage"(& +4 "core" &<, \  + "manipulator"&Y& +4 "core" &Ӫ   5 +2 "manipulator"&M% +4 "core" % 6   +2 .tForearm.seek :retract +2 "manipulator"&D' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&J( +162 "core" ( +2 "manipulator"&O& +4 "core" &  h  +2 "storage"(C& +5 "core" &<, | | a\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&2'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&Q1 +63 "core" 1 +2 "manipulator"&4% +3 "core" % Ζ    * +2 "storage"(k& +4 "core" &<, \  +2 .tForearm.force -20 +4 "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&3' +24 "core" ' +2 "manipulator"&;& +4 "core" &   +2 "storage"(`& +3 "core" &<, T\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +15 "core" ' +2 "storage"(T% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"($' +99 (% +3 "core" %L h } Q\ Va +2 "manipulator"&g% +5 "core" %M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +92 "core" ' +48 ' +40 ."downElevator"SE.stop +9 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'!& +4 "core" &\ \ \ +2 "manipulator"&@% +4 "core" % !   W * +2 "storage"(K% +3 "core" % \  +3 "storage"(=. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(P(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &K i k \ +2 "manipulator"&I& +5 "core" &     +2 .tElbow.seek 6 + "manipulator"&n( +5 "core" ( + "manipulator"&_& +4 "core" &   +2 "storage"(~& +3 "core" &K \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +98 "core" ' +2 "storage"(& +3 "core" &K \ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +298 "core" ' + "storage"(t- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &K ~ w \  +2 "manipulator"&b& +3 "core" &  +3 .tElbow.seek 6 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&p& +3 "core" & &  +2 "storage"(o& +4 "core" &K \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&v'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&u& + "storage"(' +7 "core" & +  +2 "manipulator"&z% +3 "core" % ~ +3 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&j& +4 "core" &Ӑ   | 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &Ӑ   8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + "manipulator"& & +4 "core" &Ӑ  Z 8 +2 "manipulator"&% +3 "core" %3 \   r +4 "collection"'& +4 "core" &\ \ \ +2 "collection"'"& +6 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'A(\\ +4 "core" &\ \ \ +5 &\ \ \ 8 +10 &JKt\ \ \ 0 +11 &v|\ \ \ E +10 &-Z\ \ \ K +7 &R\ \ \ \ K +9 &R\ \ \ \ \ K +10 &tR\ \ \ K +9 &6W\ \ \ K +9 &X\ \ \ \ K +10 &W\ \ \ J +9 &}U\ \ \ J +10 &!>R\ \ \ \ \ K +9 &#R\ \ \ \ K +9 &$T\ \ \ \ \ J +10 &&W\ \ \ K +9 &(GW\ \ \ \ \ K +9 &*\ R\ \ \ \ J +10 &+S\ \ \ J +9 &-T\ \ \ \ J +10 &/PT\ \ \ J +9 &1R\ \ \ K +9 &2T\ \ \ \ J +10 &4T\ \ \ \ \ J +9 &6XU\ \ \ J +9 &8S\ \ \ K +10 &9T\ \ \ \ J +9 &;T\ \ \ J +10 &=`T\ \ \ J +9 &?!T\ \ \ \ K +9 &@Y\ \ \ \ K +10 &BU\ \ \ K +9 &Dd`\ \ \ L +9 &F!h\ \ \ M +10 &Gs\ \ \ N +9 &I\ .\ (\ R +10 &KN\ ;\ 8\ V +9 &M \ :\ ;\ W +9 &N\ 8\ 9\ W +10 &P\ 8\ 8\ X +9 &RM\ 5\ 5\ Y +9 &T\ 3\ 6\ Y +10 &U\ 1\ 4\ Z +9 &W\ 1\ 0\ Z +10 &YM\ 3\ 0\ \\ +9 &[\ 0\ 1\ [ +9 &\\eF\ 1\ 1\ 2 +10 &\\\ .\ 0\ M +5 ( +2 "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +3 "core" &\\b\ -\ /\ M +50 1 +2 "manipulator"&+% +3 "core" % 3   I r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"% & +3 "core" &\ +2 "manipulator"&% +5 "core" %     + "storage"(% +4 "core" % i \\ -\  +2 "storage"(\ . +3 "core" .(K +2 "storage"(E& +4 "core" &K ` \\ Y\  + "storage"(d& +4 "core" &K i _ L\  +2 "manipulator"&h& +4 "core" &Ө   n 4 +2 "manipulator"&% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&%( +207 "core" ( +5 "manipulator"&q& +3 "core" &    +2 "storage"(|& +5 "core" &K t o \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +99 "core" ' +2 "storage"(e& +4 "core" &K  %\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &K j k \  +2 "manipulator"&i& +4 "core" &   8  +2 .tElbow.seek 6 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&& +3 "core" &     +2 "storage"(#& +5 "core" &K ` g ?\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&{'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&>& +2 "storage"(' +8 "core" &  :  +2 "manipulator"&y% +4 "core" % { / +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"& & +4 "core" & ) * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &    * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B' +94 "core" ' +2 "manipulator"&& +4 "core" &   - * +2 "manipulator"&Z% +3 "core" %   = L +3 "processing"%& +4 "core" &\ +2 "processing"%N& +5 "core" &\ +3 .tPC.seek :closed + "processing"%,(^ +5 "core" &\ +7 &7\ $d +9 &Wx\ 7 +10 &v\ K +9 &Q\ M +10 &nU\ M +9 &0T\ M +9 &V\ M +10 &U\ M +9 &wR\ M +9 &9U\ M +10 &U\ M +10 &!W\ M +9 &#~V\ M +9 &%AW\ M +9 &'U\ M +10 &(V\ M +9 &*U\ N +10 &,IU\ M +9 &.\ T\ M +9 &/V\ N +10 &1S\ M +9 &3QU\ M +9 &5T\ M +10 &6U\ M +9 &8W\ M +9 &:XR\ M +10 &<Y\ M +9 &=W\ N +10 &?V\ M +9 &A_T\ N +9 &C_\ N +10 &D_\ O +9 &Fh\ O +10 &H]u\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &O^\ S +9 &Q\ T +10 &R\ T +9 &T\ U +9 &Vd\ T +10 &X$\ U +9 &Y\ T +10 &[\ T +9 &]j\ B +9 &^<o\ &n +10 &^#\ * +5 ( +2 "processing"%N& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&1 +2 "core" &^\ * +55 1 + "manipulator"& % +4 "core" %   ~ L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +93 "core" ' +3 "processing"%L& +3 "core" &^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" % #  0 1 +3 "storage"(F% +4 "core" % j j \  + "storage"(m. +4 "core" .(K + "storage"(<& +4 "core" &K j j \  +3 "storage"(X& +2 "manipulator"&x& +8 "core" &K j j \  + &   S * +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&(( +7 ."raiseStack"SE.seek :beamBreak + "storage"(R'r +3 "core" ( +2 "manipulator"&0& +4 "core" &   M * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &   * +3 .tForearm.seek PC +6 "manipulator"&.' +94 "core" ' + .tHand.close +2 "manipulator"&8/ +59 "core" / +2 .tPC.seek :open +2 "processing"%:( +91 "core" ' +2 "storage"(S- +50 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(G'1 +49 "core" ' +256 ( + "storage"(s& +5 "core" &K e \\ #\  + "manipulator"&9& +5 "core" &   * + "manipulator"&U% +5 "core" %    Z +2 .tForearm.seek :retract + "manipulator"&}' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +246 "core" ( + "manipulator"&7& +5 "core" &   M  + "storage"(\\& +5 "core" &K j j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&Y1 +65 "core" 1 +2 "storage"(M- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(O' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(C' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"()- +3 "core" -' +2 "storage"(]& +3 "core" &K g\  +3 "manipulator"&Q& +3 "core" &    +3 .tElbow.seek 6 +2 "manipulator"&4( +8 "core" ( + "manipulator"&k& +5 "core" &   r  + "storage"(;& +4 "core" &K \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&`' +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(T'" +57 "core" ' +2 "manipulator"&D& +4 "core" &   '  +2 "storage"(& +3 "core" &K j l \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&g'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(2' +29 "core" ' +2 "manipulator"&3% +3 "core" %J   ,  +2 "storage"(a& +5 "core" &K ` i \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&!'v +13 "core" ' +2 "manipulator"&@& +3 "core" & \ m  +3 "storage"(K& +3 "core" &K g j y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +15 "core" ' +2 "storage"(/% +4 "core" % ` k \ +3 ."downElevator"SE.seek :down +4 "storage"($' +99 (^% +3 "core" %OR S S 5\ Wf +2 "manipulator"&H% +4 "core" %  H +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (_& +3 "core" &K k i \  +3 "collection"'~& +3 "core" &\\b\ #\ #\ M +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %    -  +2 "storage"(l% +4 "core" % ~ \  +2 "storage"(r. +3 "core" .(K +2 "storage"(t& +4 "core" &K ~ \  + "storage"(W& +4 "core" &K  \  +2 "manipulator"&b& +4 "core" &   2  +2 .tElbow.seek 6 +2 "manipulator"&p( +9 "core" ( + "manipulator"&o& +4 "core" &   F +2 "storage"(&& +3 "core" &K ~ *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&u' +94 "core" ' + "storage"(z& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'r +298 "core" ' +9 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" & \  +3 "storage"(f& +4 "core" &K  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +19 "core" ' + .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('k +31 "core" ' +2 "manipulator"&% +3 "core" %, \  )  +2 "storage"(V& +4 "core" &K } p \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 284 counts +2 "manipulator"&'X +16 "core" ' + "manipulator"&w& +4 "core" &  +2 "storage"(5& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(+' +47 "core" ' + "manipulator"& & +4 "core" & S +2 "manipulator"&% +4 "core" % \ 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +157 "core" ( +2 "manipulator"&E& +5 "core" &ӗ   8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &ӗ   8 +3 .tForearm.seek CC + "manipulator"&h'? +96 "core" ' + .tHand.close +2 "manipulator"&"/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(& +4 "core" &K F\  + "storage"(q& +4 "core" &K .\  +2 "manipulator"&|& +4 "core" &ӧ   & 6 +2 "manipulator"&% +3 "core" % A  Y  +3 .tForearm.seek :retract + "manipulator"&e' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&1( +155 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &K y \\\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&i'< +100 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator" +55 "core" 1 +2 "manipulator"&6% +4 "core" % E   +2 "storage"(>& +3 "core" &K \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 309 counts +2 "manipulator"&y'q +24 "core" ' +2 "manipulator"&%& +4 "core" & w +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"({% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (% +3 "core" %N | F\ Vb +2 "manipulator"&'% +4 "core" %  9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'Z& +3 "core" &\ \ \ +2 "manipulator"&% +5 "core" %      + "storage"(% +5 "core" % x\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +45 "storage"($\ .\ 1~b +7 .tSC.seek 7 +2 "storage"(*([ +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ ^ t \  +2 "manipulator"& & +3 "core" &    +3 .tElbow.seek 7 +2 "manipulator"&L(r +15 "core" ( + "manipulator"&& +5 "core" &p    + "storage"(F& +4 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&m'= +107 "core" ' + "storage"(<& +5 "core" &[ v\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +294 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N& +3 "core" &[ v n 5\  +2 "manipulator"&0& +4 "core" &p  +2 .tElbow.seek 7 + "manipulator"&-(r +3 "core" ( +3 "manipulator"&B& +4 "core" &p  +2 "storage"(8& +3 "core" &[ { C\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&S'ϧ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +3 "storage"(,' +8 "core" &p !  +2 "manipulator"&R% +3 "core" % ϱ  I +3 .tForearm.seek :retract + "manipulator"&s' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&U& +3 "core" &ӌ$   =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +2 "core" &ӌ$   =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&7'? +97 "core" ' +3 "manipulator"&\\& +3 "core" &Ӎ#   = <@ +2 "manipulator"&(% +5 "core" %H   @ +2 "collection"'Y& +3 "core" &\ \ \ +3 "collection"'M& +5 "core" &\ \ \ \ +2 .tCC.seek :closed +2 "collection"')(\\ +5 "core" &\ \ \ +8 &B\ \ \ $e +9 &Yy\ \ \ 7 +9 & v\ \ \ J +10 &R\ \ \ J +9 &S\ \ \ \ K +9 &LQ\ \ \ \ K +10 &Q\ \ \ K +9 &R\ \ \ \ K +10 &W\ \ \ J +9 &VT\ \ \ J +9 & R\ \ \ K +10 &!W\ \ \  \ K +9 &#U\ \ \ K +9 &%]U\ \ \ \ J +10 &'S\ \ \ \ J +9 &(T\ \ \ \ J +10 &*V\ \ \ \ K +9 &,eW\ \ \ K +9 &.'W\ \ \ K +10 &/U\ \ \ \ K +9 &1R\ \ \ K +9 &3mR\ \ \ K +10 &50T\ \ \ J +9 &6R\ \ \ \ K +10 &8R\ \ \ K +9 &:uR\ \ \ \ K +9 &<7R\ \ \ \ K +10 &=W\ \ \ \ \ K +9 &?W\ \ \ \ K +9 &A}W\ \ \  \ K +10 &C?W\ \  \ K +9 &Db\ \ \ L +10 &Fi\ \ \ N +9 &Hv}\ !\ \ P +9 &J+\ 7\ 2\ T +10 &K\ =\ >\ W +9 &M\ ;\ =\ X +9 &Oh\ :\ 9\ W +10 &Q*\ 7\ 9\ W +9 &R\ 6\ 7 \ X +10 &T\ 4\ 6\ Y +9 &Vj\ 2\ 2\ Y +9 &X,\ 5\ 3\ Y +10 &Y\ 0\ 3\ \\ +9 &[\ 1\ 1\ \ H +9 &\\1\ 0\ 2\ \ . +10 &\\t\ /\ 0\ \ P +2 ( +2 "collection"'M& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&]1 +63 "core" 1 +2 "manipulator"&Q% +4 "core" % H   @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%;& +3 "core" &\ +2 "manipulator"&}% +4 "core" %    W  +2 "storage"(D% +3 "core" % j j \  +2 "storage"(. +4 "core" .([ + "storage"(G& +5 "core" &[ j j \  + "storage"(3& +4 "core" &[ m l \  +2 "manipulator"&a& +3 "core" &Ӱ   8 +3 "manipulator"&@% +4 "core" %    3  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&O(r +162 "core" ( + "manipulator"&K& +4 "core" &q    +2 "storage"(/& +4 "core" &[ j i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +94 "core" ' +47 "storage"(& +6 "core" &[ ~ $\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(C'r +298 "core" ' + "storage"(^- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &[ _ \\ \  +2 "manipulator"&`& +4 "core" &q   +  +2 .tElbow.seek 7 +2 "manipulator"&4(r +4 "core" ( +2 "manipulator"&T& +3 "core" &q     +3 "storage"(g& +4 "core" &[ j j \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&_'ϧ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&!/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +3 "storage"(' +8 "core" &q  !  +2 "manipulator"&l% +4 "core" % Ϝ  +2 .tForearm.seek :retract +2 "manipulator"&r' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&2( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&t& +3 "core" &   d # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" & , # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&b' +97 "core" ' +2 "manipulator"&o& +3 "core" &   ' # +2 "manipulator"&&% +5 "core" %   M  +2 "processing"%=& +3 "core" &\ +3 "processing"%z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%$(^ +5 "core" &\  +8 &5v\ *x +9 & e~\ > +10 &n\ N +9 &PT\ M +10 &U\ M +9 &T\ M +9 &R\ M +10 &XU\ M +9 &U\ M +9 &R\ M +10 & U\ M +9 &"_U\ N +10 &$"U\ M +9 &%T\ M +9 &'T\ N +10 &)iU\ M +9 &+*U\ M +9 &,U\ N +10 &.T\ M +9 &0pU\ M +10 &22U\ M +9 &3T\ M +9 &5U\ M +10 &7xT\ M +9 &99W\ N +9 &:W\ M +10 &<R\ M +9 &>W\ M +10 &@BT\ M +9 &B]\ N +9 &Cc\ O +10 &Ed\ O +9 &GBo\ P +9 &H\ R +10 &J\ S +9 &L~\ S +10 &N?\ T +9 &P\ T +9 &Q\ U +10 &S\ T +9 &UD\ U +9 &W\ T +10 &X\ T +9 &Z\ U +10 &\\K\ U +9 &]zs\ 4 +9 &^*{\ K +10 &^\ / +2 ( +2 "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&J1 +57 "core" 1 +2 "manipulator"&I% +4 "core" %   >  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' +3 "processing"%j& +3 "core" &^\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&f% +4 "core" % !  ( B . +2 "storage"( % +3 "core" % j i \  +3 "storage"(. +3 "core" .([ +2 "storage"(V& +3 "core" &[ g [\  +2 "storage"(w& +3 "manipulator"&5& +7 "core" &[ j j \  +2 &   D # +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"& ( +6 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( +2 "manipulator"&u& +4 "core" &   P # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &  * ( # +2 .tForearm.seek PC +2 "manipulator"&n' +96 "core" ' + .tHand.close +2 "manipulator"& / +64 "core" / +2 .tPC.seek :open + "processing"%( +89 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'1 +47 "core" ' +309 ( + "storage"(d& +4 "core" &[ l j \  +2 "manipulator"&& +4 "core" &   # +2 "manipulator"&v% +51 "core" %   $ 5 +2 .tForearm.seek :retract + "manipulator"&"' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +245 "core" ( +2 "manipulator"&A& +3 "core" &j   c +2 "storage"(& +4 "core" &[ l k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'= +109 "core" ' + .tHand.open +2 "manipulator"&|1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +3 "core" -' +2 "storage"(\ & +4 "core" &[ 4\  +2 "manipulator"&#& +3 "core" &j   c +3 .tElbow.seek 7 +2 "manipulator"&6(r +3 "core" ( +2 "manipulator"&>& +3 "core" &j   { c +2 "storage"(%& +4 "core" &[ !\  +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"({'" +50 "core" ' +2 "manipulator"&e& +3 "core" &j    c +3 "storage"(& +4 "core" &[ l k \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&''{ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +19 "core" ' +2 "manipulator"&Z% +4 "core" %k 0 2 C +2 "storage"(y& +3 "core" &[ I S [\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 284 counts +2 "manipulator"&'ϗ +21 "core" ' +2 "manipulator"&& +4 "core" &  : ! +2 "storage"(& +4 "core" &[ f l "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&+'= +16 "core" ' +2 "storage"(% +3 "core" % ^ \\ 3\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (P% +4 "core" %qO F E %\ Wf +2 "manipulator"&% +4 "core" %F   + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &[ u c \  +3 "collection"'F& +3 "core" &\\q\ "\ !\ P +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&<% +4 "core" %    +2 "storage"(% +3 "core" % l j \  +2 "storage"(. +3 "core" .([ +2 "storage"(X& +3 "core" &[ j j \  +3 "storage"(N& +4 "core" &[ ] g x\  +2 "manipulator"&0& +3 "core" &   . ! +2 .tElbow.seek 7 +2 "manipulator"&B(r +19 "core" ( +2 "manipulator"&8& +3 "core" &n  4  +2 "storage"(c& +4 "core" &[ f _ O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +98 "core" ' + "storage"(R& +5 "core" &[ ~ +\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +306 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" &n    +2 "storage"(.& +4 "core" &[ j k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +41 "manipulator"&x'{ +34 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(('o +29 "core" ' +2 "manipulator"&Y% +3 "core" %΍    +2 "storage"(-& +5 "core" &[ 8 8 j\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&,'Ϲ +13 "core" ' +2 "manipulator"&s& +4 "core" &n  i  +2 "storage"(& +3 "core" &[ m t a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&]'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(Q' +35 "core" ' +2 "manipulator"&;& +3 "core" &n   +2 "manipulator"&}% +5 "core" %5 \  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ( +3 "manipulator"&M& +3 "core" &{&  ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &{&  ' ?V +3 .tForearm.seek CC + "manipulator"&3'? +95 "core" ' + .tHand.close +2 "manipulator"&a/ +56 "core" / +2 .tCC.seek :open + "collection"'@( +448 "core" ( + "storage"(7& +5 "core" &[  \  +2 "storage"(K& +3 "core" &[ ~ \  +2 "manipulator"&/& +4 "core" &ӻ   7 +2 "manipulator"&% +3 "core" % F   t  +3 .tForearm.seek :retract +2 "manipulator"&9' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&k(r +165 "core" ( +2 "manipulator"&^& +3 "core" &|   +3 "storage"(H& +3 "core" &[ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&`'{ +95 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&g1 +60 "core" 1 +3 "manipulator"&!% +3 "core" % v    +2 "storage"(~& +5 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 295 counts +2 "manipulator"&l'Ϣ +23 "core" ' +7 "manipulator"&O& +3 "core" &| 3  +3 "storage"(& +4 "core" &[ T\  +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&C'= +27 "core" ' +2 "storage"(_% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(t' +73 "Can"  \ BG% +25 "storage"(W% +3 "core" %J r ~ D\ Vb +3 "manipulator"&4% +4 "core" %/ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'&& +3 "core" &\ \ \ +3 "manipulator"&=% +4 "core" %    $  +2 "storage"(% +4 "core" % \  + "storage"(r. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(:(<- +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +3 "core" &<- \ +2 "manipulator"&I& +4 "core" &|  (  +2 .tElbow.seek 5 +2 "manipulator"&j( +71 "core" ( +2 "manipulator"&f& +3 "core" &  0  +2 "storage"( & +5 "core" &<- \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(V& +5 "core" &<- #\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +297 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (5& +2 "core" &<- \ +3 "manipulator"&u& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&p( +20 "core" ( + "manipulator"&b& +3 "core" &   u  +3 "storage"( & +4 "core" &<- x w c\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"($' +9 "core" & 4  + "manipulator"&% +4 "core" %  l +3 .tForearm.seek :retract + "manipulator"&d' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&v& +4 "core" &Ӄ   3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &Ӄ   3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'? +105 "core" ' +3 "manipulator"&& +3 "core" &Ӄ    3 +2 "manipulator"& % +5 "core" %E  = +2 "collection"'|& +3 "core" &\ \ \ +3 "collection"'& +6 "core" &\ \ #\ +2 .tCC.seek :closed +2 "collection"'h(\\ +5 "core" &\ \ !\ +7 &A\ \ &\ $f +9 &Zz\ \ #\ 8 +9 &s\ \ \ K +10 &Q\ \ \ J +9 &R\ \ \ K +9 &TW\ \ \ K +10 &T\ \ \ \ K +9 &R\ \ \ \ J +9 &T\ \ \ J +10 &\\W\ \ \ K +9 & T\ \ \ \ K +10 &!R\ \ \ J +9 &#T\ \ \ J +9 &%eV\ \ \ J +10 &'&R\ \ \ \ \ K +9 &(V\ \ \ \ K +10 &*T\ \ \ K +9 &,lV\ \ \ K +9 &.-T\ \ \ \ K +10 &/V\ \ \ \ J +9 &1T\ \ \ J +9 &3uT\ \ \ \ J +10 &56R\ \ \ K +9 &6R\ \ \ \ J +10 &8T\ \ \ \ J +9 &:}T\ \ \ J +9 &<>W\ \ \ \ \ K +10 &>W\ \ \ \ J +9 &?U\ \ \  \ J +9 &AU\ \ \ \ K +10 &CE[\ \ \ \ \ K +9 &Ec\ \ \ \ L +10 &Fm\ \ \ N +9 &H}\ !\ \ P +9 &J2\ 7\ 1\ T +10 &K\ 9\ ; \ V +9 &M\ :\ ; \ W +9 &Om\ 8\ 7 \ X +10 &Q-\ 5\ 6\ Y +9 &R\ 4\ 4 \ X +10 &T\ 2\ 5 \ X +9 &Vo\ 2\ 2\ Z +9 &X-\ 2\ 2\ [ +10 &Y\ 0\ / \ [ +9 &[\ 0\ 1 \ I +9 &\\1\ 0\ 1\ - +10 &\\u\ -\ + \ O +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&\ 1 +59 "core" 1 +2 "manipulator"&#% +3 "core" % E   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%>& +3 "core" &\ +3 "manipulator"&%% +4 "core" %     + "storage"(e% +5 "core" % k m \  + "storage"(. +3 "core" .(<- +2 "storage"(Z& +3 "core" &<- ` g y\ +2 "storage"(y& +4 "core" &<- \\ f ]\ +2 "manipulator"&E& +4 "core" &Ӆ   & 3 +2 "manipulator"&% +4 "core" %    V  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( + "manipulator"&& +4 "core" &  L  +2 "storage"(& +4 "core" &<- g i m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 "storage"(q& +4 "core" &<- } %\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +49 "core" &<- i j \ +3 "manipulator"&& +5 "core" &  2  + .tElbow.seek 5 +2 "manipulator"&6( +4 "core" ( +2 "manipulator"&{& +4 "core" &    + "storage"('& +5 "core" &<- j k \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& +2 "storage"(<' +9 "core" &   #  + "manipulator"&% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&i( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&X& +4 "core" &   1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +2 "core" &   1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&0' +98 "core" ' +2 "manipulator"&8& +4 "core" &  ? 1 +2 "manipulator"&c% +3 "core" %  0 1 +3 "processing"%+& +3 "core" &\ +3 "processing"%R& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"% (^ +3 "core" &\ +5 &\ 7 +10 &@Jv\ / +9 &iq}\ D +9 & _\ M +10 &S\ M +9 &S\ M +10 &ST\ M +9 &T\ M +9 &T\ M +10 &U\ M +9 &ZU\ M +9 &!T\ M +10 &"T\ M +9 &$V\ N +10 &&bT\ M +9 &(%T\ M +9 &)T\ M +10 &+T\ M +9 &-jU\ M +9 &/,T\ M +10 &0T\ M +9 &2U\ M +10 &4rT\ M +9 &63V\ M +9 &7U\ M +10 &9S\ M +9 &;yX\ M +9 &=<S\ M +10 &>W\ N +9 &@W\ N +10 &B~`\ N +9 &D?a\ O +9 &Em\ P +10 &Gy\ Q +9 &Iw\ S +9 &K8\ T +10 &L\ T +9 &N\ S +10 &P~\ T +9 &R>\ T +9 &S\ U +10 &U\ T +9 &W\ T +9 &YF\ T +10 &[\ T +9 &\\\ U +9 &^Ah\ + +10 &^r\ ? +9 ( + &^%\ 4 +2 "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&11 +54 "core" 1 + "manipulator"& % +4 "core" %   ? 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +94 "core" ' + "processing"%U& +4 "core" &^&\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&.% +3 "core" % # )  = 2 +3 "storage"(\\% +4 "core" % < 8 d\  + "storage"(Y. +4 "core" .(<- + "storage"(-& +4 "core" &<- 8 8 '\ +3 "storage"(s& +2 "manipulator"&& +7 "core" &<- 8 8 \ + &  8 1 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&;( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'r +20 "core" ( +2 "manipulator"&?& +3 "core" & 2 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &B& +2 "core" & . 3 @ +3 .tForearm.seek PC +2 "manipulator"&L' +91 "core" ' +2 .tHand.close + "manipulator"&x/ +53 "core" / +3 .tPC.seek :open +2 "processing"%,( +82 "core" ' +2 "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(M'1 +42 "core" ' +318 ( + "storage"(G& +5 "core" &<, ` l \ + "manipulator"&]& +5 "core" & \  + "manipulator"&S% +4 "core" %   * +2 .tForearm.seek :retract +2 "manipulator"&a' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&D( +239 "core" ( +41 "manipulator"&)& +12 "core" &   + +2 "storage"(7& +4 "core" &<, j j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +100 "core" ' +2 .tHand.open + "manipulator"&/1 +53 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(^' +29 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(H' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +3 "core" -' +2 "storage"(& +4 "core" &<, \ +2 "manipulator"&g& +4 "core" &   3 + +2 .tElbow.seek 5 +2 "manipulator"&!( +4 "core" ( + "manipulator"&~& +4 "core" & 1  : + +2 "storage"(O& +4 "core" &<, +\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +57 "core" ' +2 "manipulator"&9& +3 "core" & \ + +2 "storage"(W& +4 "core" &<, j l \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&4'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(`' +29 "core" ' +2 "manipulator"&l% +4 "core" %Λ   +2 "storage"(&& +4 "core" &<, j j \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&=' +13 "core" ' +2 "manipulator"&& +3 "core" &   * +2 "storage"(r& +5 "core" &<, j ` \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +15 "core" ' +2 "storage"(C% +3 "core" % j m \ +3 ."downElevator"SE.seek :down +4 "storage"(t' +98 (*% +3 "core" %O F H 1\ We +2 "manipulator"&J% +5 "core" %M   * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (f& +3 "core" &<, h X ,\ +2 "collection"' & +4 "core" &\\q\ "\ !\ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&V% +4 "core" % #  y 4 +2 "storage"(T% +4 "core" % _ l \  +2 "storage"(o. +3 "core" .(<- +2 "storage"(w& +4 "core" &<, m ` \ +2 "storage"(5& +4 "core" &<, ] \\ R\ + "manipulator"&u& +5 "core" &  S * +2 .tElbow.seek 5 + "manipulator"&b( +4 "core" ( + "manipulator"& & +5 "core" &   M * + "storage"(2& +4 "core" &<, \\ \\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +95 "core" ' + "storage"(& +5 "core" &<, ~ (\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +295 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" &   " * +2 "storage"(n& +4 "core" &<, ` l \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&z'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +41 "storage"(p'v +35 "core" ' +2 "manipulator"& % +3 "core" %Θ   : +2 "storage"(|& +5 "core" &<, [ \\\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&$' +15 "core" ' +2 "manipulator"&d& +3 "core" &  8 ) +2 "storage"(@& +5 "core" &<, k o \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +16 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(#' +35 "core" ' +2 "manipulator"&>& +3 "core" &   ) +3 "manipulator"&%% +3 "core" %O   7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( +2 "manipulator"&Z& +4 "core" &ӏ"   , ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &ӏ" \  ;5 +2 .tForearm.seek CC +2 "manipulator"&'? +103 "core" ' +2 .tHand.close + "manipulator"&E/ +63 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(A& +4 "core" &<, w w \ +2 "storage"(& +4 "core" &<, w x \ +2 "manipulator"&& +3 "core" &ӳ    6 +3 "manipulator"&q% +4 "core" % @    +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&"( +156 "core" ( + "manipulator"&P& +5 "core" &   / + "storage"(& +5 "core" &<, { x \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +91 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&'1 +58 "core" 1 +2 "manipulator"&% +4 "core" % Δ   +2 "storage"(F& +4 "core" &<, \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&& +4 "core" & q +2 "storage"(& +4 "core" &<, \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +15 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(X' +98 (N% +3 "core" %G  \ V_ +2 "manipulator"&6% +5 "core" %Q \   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'c& +4 "core" &\ \ \ +2 "manipulator"&+% +4 "core" %   " +2 "storage"(<% +3 "core" % \  +2 "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" &K k i \  +3 "manipulator"& & +3 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&.& +3 "core" &   +3 "storage"(\\& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +91 "core" ' +46 "storage"(-& +7 "core" &K B\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' + "storage"(s- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (R& +3 "core" &K ~ \  +3 "manipulator"&?& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&0& +3 "core" &   ' +3 "storage"(x& +4 "core" &K w w \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&('h +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&m& + "storage"( ' +8 "core" &  o +2 "manipulator"&}% +4 "core" % Ϗ " +2 .tForearm.seek :retract +2 "manipulator"&G' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&](ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&S& +3 "core" &Ӡ  \ c 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &Ӡ  a 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'? +93 "core" ' +2 "manipulator"&7& +4 "core" &ӡ   ! 5 +2 "manipulator"&;% +4 "core" %I  \  j +2 "collection"'/& +4 "core" &\ \ \ +2 "collection"'& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'3(\\ +4 "core" &\ \ \ +8 &A\ \ &\ $f +9 &Z{\ \ \ 8 +9 &s\ \ #\ K +10 &S\ \  \ J +9 &T\ \  \ J +9 &TV\ \ #\ K +10 &U\ \ !\ K +9 &W\ \ \ J +10 &V\ \ \ K +9 &\\T\ \ \ K +9 & Q\ \ \ \ \ J +10 &!Q\ \ \ \ J +9 &#S\ \ \  \ J +9 &%eV\ \ \ \ J +10 &''Q\ \ \ J +9 &(S\ \  \ J +10 &*T\ \ \ K +9 &,mR\ \ \ J +9 &./T\ \ \ J +10 &/V\ \ \ J +9 &1T\ \ \ J +10 &3tW\ \ \ K +9 &56U\ \ \ K +9 &6R\ \  \ J +10 &8T\ \ \ J +9 &:|V\ \ \ \ J +9 &<=R\ \ \ K +10 &>V\ \ \ J +9 &?S\ \ \ \ K +10 &AS\ \ \ K +9 &CC\\\ \ \ \ L +9 &Ec\ \ \ L +10 &Fl\ \ \ M +9 &H}|\ \ \ P +9 &J5\ 5\ - \ S +10 &K\ :\ :\ V +9 &M\ ;\ ;\ W +9 &Oo\ 7\ 8\ W +10 &Q1\ 6\ 9\ W +9 &R\ 4\ 6\ X +10 &T\ 2\ 4\ Y +9 &Vr\ 1\ 2\ Y +9 &X1\ 1\ 2\ Z +10 &Y\ 1\ 2\ [ +9 &[\ .\ /\ H +9 &\\1\ /\ 2\ , +10 &\\e\ /\ /\ M +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&g% +4 "core" % I   Y j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%O& +4 "core" &\ + "manipulator"&a% +5 "core" %  ?  + "storage"(9% +4 "core" % ] _ Z\  +2 "storage"(W. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(M(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" &K & $ \  +2 "manipulator"&&& +4 "core" &ӡ   4 5 +2 "manipulator"&% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&^( +160 "core" ( +2 "manipulator"&r& +3 "core" &    +3 "storage"(C& +4 "core" &K } +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&D' +97 "core" ' + "storage"(K& +4 "core" &K g\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +306 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &K a i s\  +2 "manipulator"&& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&_& +52 "core" &  E  + "storage"(4& +4 "core" &K \\ ] V\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&f'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&=/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(V' +6 "core" &   +3 "manipulator"&T% +3 "core" % y +3 .tForearm.seek :retract +2 "manipulator"&o' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&`( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&w& +4 "core" &   * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &   * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&u' +100 "core" ' + "manipulator"& & +5 "core" &   * + "manipulator"&2% +5 "core" %   +2 "processing"%Q& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%t(^ +5 "core" &\ +6 &7\ #c +10 &V|\ 7 +9 &x\ K +9 &R\ M +10 &lT\ M +9 &.R\ M +10 &U\ M +9 &S\ M +9 &sU\ M +10 &5V\ M +9 &T\ M +9 &!T\ M +10 &#zU\ M +9 &%<U\ M +9 &&U\ M +10 &(V\ M +9 &*U\ M +10 &,DU\ M +9 &.T\ M +9 &/V\ M +10 &1T\ M +9 &3NT\ M +10 &5T\ L +9 &6U\ M +9 &8V\ M +10 &:US\ M +9 &<W\ N +9 &=V\ M +10 &?X\ M +9 &A[W\ N +10 &C`\ N +9 &D_\ N +9 &Fi\ P +10 &HZt\ Q +9 &J\ T +9 &K\ S +10 &M\ T +9 &OZ\ S +10 &Q\ T +9 &R\ T +9 &T\ U +10 &Va\ T +9 &X!\ T +9 &Y\ U +10 &[\ T +9 &]g\ A +10 &^@r\ a +9 &^6\ 1 +5 ( +2 "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&k1 +3 "core" &^"\ 1 +52 1 + "manipulator"&I% +4 "core" %  :  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + "processing"%v& +4 "core" &^"\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&n% +4 "core" % !   , +2 "storage"(% +3 "core" % j i \  +2 "storage"( . +4 "core" .(K + "storage"(|& +5 "core" &K j j \  +2 "storage"(d& +2 "manipulator"&@& +7 "core" &K i g \  +2 &   * +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&>( +4 ."raiseStack"SE.seek :beamBreak +4 "storage"(%'r +2 "core" ( +3 "manipulator"&[& +3 "core" &   ) * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +2 "core" & / 3 > * +3 .tForearm.seek PC +2 "manipulator"&j' +94 "core" ' +2 .tHand.close + "manipulator"&z/ +64 "core" / +3 .tPC.seek :open + "processing"%$( +90 "core" ' + "storage"(p- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(Z'1 +47 "core" ' +308 ( + "storage"(y& +4 "core" &K a p }\  +2 "manipulator"&\ & +4 "core" &    * +2 "manipulator"&% +3 "core" %    & +3 .tForearm.seek :retract + "manipulator"&E' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&e( +244 "core" ( +2 "manipulator"&h& +4 "core" &   v / + "storage"(A& +5 "core" &K l i m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +42 "manipulator"&' +98 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(q- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(P' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &K \\\  +2 "manipulator"&'& +4 "core" &   / +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&F& +4 "core" & )   / +2 "storage"(& +3 "core" &K a\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' + "manipulator"&& +5 "core" &    / + "storage"(N& +4 "core" &K j l \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&6'< +19 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +28 "core" ' +2 "manipulator"&c% +4 "core" %O  +2 "storage"(+& +5 "core" &K j k \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&'{ +14 "core" ' + "manipulator"&<& +5 "core" &   ! / + "storage"(& +5 "core" &K ` ] d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +16 "core" ' +2 "storage"(% +3 "core" % m m z\ +3 ."downElevator"SE.seek :down +4 "storage"(X' +98 (:% +3 "core" %T I S a\ Xf +2 "manipulator"&1% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (.& +3 "core" &K f _ A\  +2 "collection"'\\& +4 "core" &\\b\ !\ "\ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&-% +4 "core" % !  ) +2 "storage"({% +3 "core" % \\ f _\  +2 "storage"(8. +3 "core" .(K +2 "storage"(s& +4 "core" &K ] ` J\  +2 "storage"(R& +3 "core" &K f \\ \  +3 "manipulator"&?& +4 "core" &   / +2 .tElbow.seek 6 + "manipulator"&0( +4 "core" ( +2 "manipulator"&x& +4 "core" &   F / +2 "storage"(i& +4 "core" &K r _ n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +98 "core" ' +2 "storage"(}& +3 "core" &K ~ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'r +299 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &  / +2 "storage"(L& +5 "core" &K s ~ G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +23 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(;'k +31 "core" ' + "manipulator"&/% +4 "core" %B   8 +2 "storage"(B& +3 "core" &K j ` \  +2 .tForearm.force -20 +2 "manipulator"&5 +41 .tForearm.seek 6 + 306 counts +9 "manipulator"& 'n +22 "core" ' +2 "manipulator"&G& +4 "core" &  L . +2 "storage"(& +4 "core" &K q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(g' +39 "core" ' +2 "manipulator"&O& +4 "core" &  . +2 "manipulator"&a% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +157 "core" ( +2 "manipulator"&& +3 "core" &ӎ   g 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &ӎ   4 +3 .tForearm.seek CC + "manipulator"&&'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"')( +450 "core" ( +2 "storage"(r& +3 "core" &K w w u\  +3 "storage"(C& +4 "core" &K x \  + "manipulator"&& +5 "core" &ӫ  @ 0 + "manipulator"&K% +4 "core" % D     +2 .tForearm.seek :retract +2 "manipulator"&]' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&~( +160 "core" ( +2 "manipulator"&*& +4 "core" &  4  +2 "storage"(J& +3 "core" &K \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +64 "core" 1 +2 "manipulator"&=% +3 "core" % <  7 +2 "storage"( & +5 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&T'h +23 "core" ' +2 "manipulator"&^& +4 "core" &  +2 "storage"(D& +3 "core" &K $\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +26 "core" ' +2 "storage"(f% +4 "core" % 2\ +2 ."downElevator"SE.seek :down +4 "storage"(w' +99 (5% +3 "core" %F t o 6\ T] +2 "manipulator"&!% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'2& +4 "core" &\ \ \ +2 "manipulator"&Q% +4 "core" % !    . +2 "storage"(V% +3 "core" % \  +2 "storage"(o. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(,([ +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (k& +2 "core" &[ ` ] g\  +3 "manipulator"&I& +3 "core" &   <  +2 .tElbow.seek 7 +2 "manipulator"&v(r +36 "core" ( +2 "manipulator"&n& +4 "core" &    +2 "storage"(& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& '= +99 "core" ' + "storage"(|& +4 "core" &[ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +297 "core" ' +47 "storage"(d- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ } G\  +3 "manipulator"&[& +3 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&b(r +23 "core" ( +2 "manipulator"&u& +3 "core" &x  L c +3 "storage"(z& +3 "core" &[ x V\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&p'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(t' +8 "core" &x c +2 "manipulator"&%% +4 "core" % Ϡ +2 .tForearm.seek :retract +2 "manipulator"&y' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&\ (ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &z$   =B + ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &j& +3 "core" &z$   - =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&h'? +93 "core" ' +3 "manipulator"&A& +4 "core" &z%   . =B +2 "manipulator"&>% +3 "core" %> \  ` +3 "collection"'& +4 "core" &\ \ \ +2 "collection"'q& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'E(\\ +4 "core" &\ \  \  +9 &5x\ \ \ *y +9 & g}\ \ \ > +10 &j\ \ \ K +9 &YT\ \  \ K +9 &W\ \ \  \ K +10 &U\ \ \ K +9 &U\ \  \ J +9 &cS\ \ \ J +10 &$S\ \ \ K +9 &W\ \ \ J +10 & R\ \ \ \ K +9 &"iU\ \ \ K +9 &$,V\ \ \ J +10 &%R\ \ \ \ K +9 &'U\ \ \ K +10 &)rU\ \ \ K +9 &+5R\ \ \ \ J +9 &,T\ \ \ J +10 &.W\ \ \ K +9 &0{W\ \ \ J +9 &2=T\ \ \ J +10 &3W\ \ \ J +9 &5T\ \ \ J +9 &7T\ \ \ J +10 &9DS\ \ \ K +9 &;V\ \ \ K +10 &<U\ \ \ K +10 &>R\ \ \ K +8 &@MR\ \ \ \ J +10 &BT\ \ \ \ J +9 &CZ\ \ \ L +9 &Eb\ \  \ L +10 &GJr\ \ \ N +9 &I\ (\ !\ Q +10 &J\ :\ 7\ U +9 &Lw\ =\ <\ V +9 &N6\ 9\ 9\ X +10 &O\ 8\ 9\ W +9 &Q\ 7\ 6\ X +9 &Sy\ 5\ 6 \ Y +10 &U;\ 4\ 5\ Y +9 &V\ 5\ 4\ Z +10 &X\ 2\ 2\ Z +9 &Z|\ 2\ 3\ Z +9 &\\z\ 0\ 1\ - +10 &\\8\ 0\ , \ "h +9 &\\d\ -\ /\ G +2 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +5 "core" % >   T ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%F& +3 "core" &\ +2 "manipulator"&% +5 "core" % ! \  , +2 "storage"(% +4 "core" % _ \\ _\  + "storage"(N. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(c([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" &[ H H \  +2 "manipulator"&+& +4 "core" &Ӥ  7 +2 "manipulator"&<% +4 "core" % "   , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +156 "core" ( +2 "manipulator"&P& +4 "core" &s   +2 "storage"(& +4 "core" &[ ~ )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&e'= +94 "core" ' + "storage"(& +4 "core" &[  a\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +306 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &[ ` i \  +2 "manipulator"&& +4 "core" &s  \  +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&& +4 "core" &s    + "storage"(6& +5 "core" &[ \\ f @\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +16 "core" ' +48 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(-' +8 "core" &s \ ( +2 "manipulator"&{% +5 "core" % ϫ    +2 .tForearm.seek :retract + "manipulator"&8' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&s& +4 "core" &  \   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +90 "core" ' + "manipulator"&x& +4 "core" &    +2 "manipulator"&i% +5 "core" %   m +2 "processing"%#& +3 "core" &\ +3 "processing"%}& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%X(^ +3 "core" &\ +6 &\ 6 +9 &>Hs\ / +10 &gq}\ D +9 &]\ N +10 &S\ M +9 &T\ M +9 &PR\ M +10 &S\ M +9 &T\ M +9 &U\ M +10 &XT\ M +9 &!T\ M +10 &"T\ M +9 &$V\ M +9 &&`T\ M +10 &(#T\ M +9 &)T\ M +9 &+T\ M +10 &-iT\ M +9 &/+U\ M +10 &0T\ M +9 &2Y\ M +9 &4pR\ M +10 &62U\ M +9 &7U\ M +9 &9V\ M +10 &;vW\ N +9 &=:U\ M +10 &>X\ N +9 &@W\ M +9 &B~\\\ N +10 &D=b\ O +9 &Ej\ O +9 &Gt\ Q +10 &Iw\ S +9 &K8\ S +10 &L\ T +9 &N\ T +9 &P|\ T +10 &R<\ T +9 &S\ T +9 &U\ T +10 &W\ U +9 &YD\ T +10 &[\ T +9 &\\\ U +9 &^Cl\ - +10 &^N\ (p +9 &^2\ . +5 ( +2 "processing"%}& +4 "core" &^ \ . +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&"1 +56 "core" 1 +2 "manipulator"& % +3 "core" %   9 m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +101 "core" ' + "processing"%S& +5 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&L% +3 "core" %    +3 "storage"(7% +4 "core" % _ \\ 4\  + "storage"(/. +3 "core" .([ +2 "storage"(B& +3 "core" &[ _ i F\  +3 "storage"(G& +2 "manipulator"&& +8 "core" &[ h i S\  + &    +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(O'r + "manipulator"&a( +7 "core" ( + "manipulator"&m& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&U' +90 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"% ( +88 "core" ' +2 "storage"(;- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +312 ( +2 "storage"(l& +3 "core" &[ i ^ L\  +2 "manipulator"&& +6 "core" & \  + "manipulator"&(% +4 "core" %   S +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&9(r +249 "core" ( + "manipulator"&3& +5 "core" &  { / + "storage"(r& +4 "core" &[ _ i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&C'= +96 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(K- +48 "core" -'1 +4 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +29 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(J' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +3 "storage"(W& +4 "core" &[ 6\  +2 "manipulator"&4& +4 "core" &  / +2 .tElbow.seek 7 + "manipulator"&=(r +14 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(^& +3 "core" &[ \  +3 .tForearm.seek 7 + 450 counts + "manipulator"&D'= +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(f'" +51 "core" ' + "manipulator"&]& +5 "core" &  , +2 "storage"(5& +3 "core" &[ ` ] p\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&!'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&2% +4 "core" %Ί   (  +2 "storage"(T& +3 "core" &[ H ; }\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&Q'϶ +24 "core" ' +2 "manipulator"&V& +3 "core" & +3 "storage"(o& +4 "core" &[ v k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&g'= +18 "core" ' +2 "storage"(H% +4 "core" % n (\ +2 ."downElevator"SE.seek :down +4 "storage"(w' +99 (M% +3 "core" %[Q T S g\ Xg +2 "manipulator"&k% +4 "core" %;   , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +96 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (n& +3 "core" &[ j _ R\  +2 "collection"'& +4 "core" &\\d\ "\ \ G +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&|% +3 "core" % !    & +3 "storage"(_% +3 "core" % _ f \  +2 "storage"( . +3 "core" .([ +2 "storage"(d& +4 "core" &[ v k \  +2 "storage"(& +3 "core" &[ | F\  +2 "manipulator"&[& +5 "core" &   +2 .tElbow.seek 7 + "manipulator"&u(r +7 "core" ( +2 "manipulator"&z& +3 "core" &}  / +3 "storage"(`& +3 "core" &[ ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +97 "core" ' + "storage"(%& +4 "core" &[ ,\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +303 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" &}  F +2 "storage"(j& +4 "core" &[ } \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&@'{ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(>'o +32 "core" ' +2 "manipulator"&% +4 "core" %Ό    ; +2 "storage"(b& +3 "core" &[ l i \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 317 counts +2 "manipulator"&t'ϸ +14 "core" ' +2 "manipulator"&y& +3 "core" &} +2 "storage"()& +4 "core" &[  0\  +49 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +40 "core" ' + "manipulator"&F& +5 "core" &} T + "manipulator"&% +4 "core" %6 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&N(ӂ +151 "core" ( +2 "manipulator"&q& +3 "core" &y&    ?V +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &y&   \\ ?V +3 .tForearm.seek CC + "manipulator"&+'? +95 "core" ' +2 .tHand.close + "manipulator"&- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'1 +44 "core" ' +312 ( +2 "storage"(Z& +4 "core" &<, m l \ + "manipulator"&& +5 "core" &    2 + "manipulator"&p% +4 "core" %    Z +2 .tForearm.seek :retract +2 "manipulator"&<' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&E& +3 "core" &   5 ! +3 "storage"(P& +4 "core" &<, i j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 .tHand.open + "manipulator"&,1 +63 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(:' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(1' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(+- +50 "core" -' +2 "storage"(N& +6 "core" &<, w\ +2 "manipulator"&6& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&.( +3 "core" ( +3 "manipulator"&\\& +4 "core" &   u  + "storage"(& +5 "core" &<, \ +2 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +56 "core" ' +2 "manipulator"&\ & +4 "core" &   \  +2 "storage"(R& +3 "core" &<, k l \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&i% +3 "core" %Ζ   7 +2 "storage"({& +4 "core" &<, j j \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"&#' +16 "core" ' +2 "manipulator"&-& +3 "core" & \    +2 "storage"(8& +5 "core" &<, g ] v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"(% +4 "core" % b ] \ +3 ."downElevator"SE.seek :down +4 "storage"(s' +98 (c% +3 "core" %xK H H \ Wf +2 "manipulator"&"% +5 "core" %N    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +3 "core" &<, l g t\ +3 "collection"'7& +3 "core" &\\r\ \ "\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&B% +3 "core" %    ,  +2 "storage"(% +4 "core" % [ \\ &\  +2 "storage"(x. +3 "core" .(<- +2 "storage"(G& +4 "core" &<, g ^ I\ +2 "storage"(& +3 "core" &<, f k |\ +2 "manipulator"&m& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&& +3 "core" &     +2 "storage"(& +4 "core" &<, ] _ q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +93 "core" ' +2 "storage"(O& +4 "core" &<, ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +297 "core" ' + "storage"(/- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" &     +2 "storage"(U& +5 "core" &<, g l \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&}'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(r- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(a'v +29 "core" ' +2 "manipulator"&% +3 "core" %Έ  +2 "storage"(0& +4 "core" &<, j j \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 295 counts +2 "manipulator"&X'ϴ +16 "core" ' + "manipulator"&l& +5 "core" &  + "storage"(h& +4 "core" &<, ` \\ f\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(W' +36 "core" ' +2 "manipulator"& & +43 "core" &   +9 "manipulator"&^% +3 "core" %H ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &ӎ   x 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &ӎ   9) +2 .tForearm.seek CC +2 "manipulator"&K'? +97 "core" ' +2 .tHand.close + "manipulator"&T/ +59 "core" / +2 .tCC.seek :open +2 "collection"'*( +447 "core" ( +2 "storage"(3& +3 "core" &<,  d\ +3 "storage"(o& +4 "core" &<, j\ + "manipulator"&H& +4 "core" &ӟ   7 +2 "manipulator"&C% +4 "core" % L   +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&4( +162 "core" ( + "manipulator"&M& +4 "core" &  *  +2 "storage"(k& +4 "core" &<, \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&D'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&!1 +64 "core" 1 +2 "manipulator"&n% +4 "core" % ΍   +2 "storage"(& +4 "core" &<, \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&_'Ϲ +21 "core" ' +2 "manipulator"&V& +3 "core" &  +2 "storage"(9& +4 "core" &<, \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&J'O +25 "core" ' +2 "storage"(Q% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(d' +99 (% +3 "core" %F ~ <\ Va +2 "manipulator"&=% +4 "core" %K   +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&z' +89 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'`& +4 "core" &\ \ \ +2 "manipulator"&g% +3 "core" %     +3 "storage"(|% +4 "core" % Z\  + "storage"( . +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (~& +2 "core" &K \ +3 "manipulator"&I& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&j& +4 "core" &  D  + "storage"(A& +5 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(b& +3 "core" &K 8\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +297 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &K } 1\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&u( +4 "core" ( + "manipulator"&[& +4 "core" & \  f  +2 "storage"(@& +4 "core" &K w v \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&>'h +49 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(w' +8 "core" & .  + "manipulator"&% +5 "core" % ` +2 .tForearm.seek :retract + "manipulator"&Z' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&p& +3 "core" &Ӌ%   >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &Ӌ%   >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&E'? +100 "core" ' +2 "manipulator"&P& +3 "core" &ӌ%   >J +3 "manipulator"&F% +3 "core" %<    +3 "collection"',& +3 "core" &\ \ 0\ +3 "collection"'& +6 "core" &\ \ .\ +3 .tCC.seek :closed +3 "collection"'+(\\ +2 "core" &\ \ #\ +7 &\ \ (\ 9 +9 &KKu\ \ "\ 0 +10 &v}\ \ \ D +9 &-Z\ \ '\ K +9 &V\ \ \ K +10 &V\ \ &\ K +9 &uR\ \ \ K +9 &7U\ \ &\ K +10 &R\ \ "\ J +9 &T\ \ "\ J +10 &}W\ \ !\ K +9 &!?U\ \ %\ K +9 &#R\ \ #\ J +10 &$T\ \ \ J +9 &&W\ \  \ K +9 &(GU\ \ \ "\ K +10 &*\ V\ \ \ J +9 &+R\ \  \ J +10 &-T\ \ \ J +9 &/OS\ \ \ K +9 &1W\ \ \ K +10 &2U\ \ \ \ K +9 &4S\ \ \ K +10 &6XX\ \ \ J +9 &8S\ \ \ \ K +9 &9W\ \  \ J +10 &;T\ \ \ J +9 &=_W\ \ \ K +9 &?"W\ \ \ J +10 &@U\ \ \ J +9 &BV\ \  \ J +9 &Dc^\ \ \ L +10 &F"g\ \ \ M +9 &Gx\ \ \ O +10 &I\ ,\ $\ R +9 &KM\ 9\ 9\ V +9 &M \ 8\ :\ W +10 &N\ 7\ 8\ W +9 &P\ 7\ 8\ X +10 &RM\ 3\ 6\ Y +9 &T\ 2\ 1\ Y +9 &U\ 1\ 2\ Y +10 &W\ 3\ 2\ Y +9 &YN\ 0\ 0\ [ +9 &[\ 0\ 1\ [ +10 &\\eK\ /\ 1\ 6 +9 &\\ }\ .\ ,\ P +5 ( +2 "collection"'& +4 "core" &\\e\ +\ -\ P +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&<1 +57 "core" 1 +3 "manipulator"&N% +3 "core" % <  Q  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%\\& +3 "core" &\ +3 "manipulator"&% +4 "core" %    -  + "storage"(\ % +5 "core" % _ i \  + "storage"(R. +3 "core" .(K +2 "storage"(q& +4 "core" &K l ` g\ +2 "storage"(:& +4 "core" &K _ i }\ +2 "manipulator"&i& +3 "core" &ӫ  H :+ +2 "manipulator"&{% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&-( +157 "core" ( + "manipulator"&8& +5 "core" &  + "storage"(& +5 "core" &K } \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +99 "core" ' +2 "storage"(& +3 "core" &K  \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(1'r +298 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +3 "core" &K ` j U\ +2 "manipulator"&e& +3 "core" &  6 +3 .tElbow.seek 6 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&& +3 "core" &   ; +2 "storage"(& +5 "core" &K j j \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&#'h +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&L/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& +2 "storage"(B' +8 "core" &    +2 "manipulator"&% +4 "core" % j   +2 .tForearm.seek :retract +2 "manipulator"&x' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&G& +50 "core" &    - +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  \  - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&m' +96 "core" ' + "manipulator"&& +5 "core" &   - +2 "manipulator"&% +3 "core" %  r +3 "processing"%& +3 "core" &\ +3 "processing"%O& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%s(^ +3 "core" &\ +7 &<\ #c +10 &V|\ 7 +9 &y\ L +9 &Q\ M +10 &iS\ M +9 &+Q\ M +9 &T\ M +10 &R\ M +9 &qT\ M +10 &2T\ N +9 &T\ M +9 &!T\ M +10 &#xU\ N +9 &%<T\ M +9 &&S\ M +10 &(T\ M +9 &*S\ M +10 &,CT\ M +9 &.S\ M +9 &/V\ M +10 &1R\ M +9 &3LS\ M +9 &5R\ M +10 &6T\ M +9 &8U\ M +9 &:TW\ M +10 &<U\ N +9 &=U\ M +10 &?W\ M +9 &AZV\ N +9 &C\\\ N +10 &Da\ O +9 &Fh\ O +10 &HXu\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &OY\ S +9 &Q\ T +10 &R\ T +9 &T\ U +10 &V^\ T +9 &X \ T +9 &Y\ U +10 &[\ U +9 &]e\ B +9 &^Ar\ _ +10 &^6\ 0 +5 ( +2 "processing"%O& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&'1 +3 "core" &^\ 0 +54 1 +2 "manipulator"& % +3 "core" %   r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +94 "core" ' +2 "processing"%(& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&U% +4 "core" % & D +2 "storage"(r% +3 "core" % i j \  +3 "storage"(. +3 "core" .(K +2 "storage"(0& +4 "core" &K j j \ +2 "storage"(l& +2 "manipulator"&h& +7 "core" &K g i \ +2 & - , +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"& ( +2 "storage"(^'r +6 "core" ( +2 "manipulator"&Y& +3 "core" &   , +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" & / 1 , +2 .tForearm.seek PC +2 "manipulator"&S' +96 "core" ' +2 .tHand.close + "manipulator"&}/ +59 "core" / +3 .tPC.seek :open +2 "processing"%X( +90 "core" ' +2 "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +306 ( + "storage"(2& +4 "core" &K h _ \ +2 "manipulator"&&& +4 "core" &   , +2 "manipulator"&;% +4 "core" %    9 +2 .tForearm.seek :retract +2 "manipulator"&T' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&]( +246 "core" ( +2 "manipulator"&& +3 "core" &   4 +2 "storage"(3& +4 "core" &K j i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +98 "core" ' + .tHand.open +2 "manipulator"&H1 +61 "core" 1 +2 "storage"(C- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(k' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(5& +3 "core" &K \ +3 "manipulator"&!& +3 "core" &   4 +3 .tElbow.seek 6 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&& +3 "core" &   \\ 4 +3 "storage"(V& +42 "core" &K \ +11 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Q'" +52 "core" ' +2 "manipulator"&& +3 "core" &   4 +2 "storage"(& +5 "core" &K j i \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&='< +21 "core" ' +2 .tElbow.hold + "manipulator"&4, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(D' +21 "core" ' +2 "manipulator"&_% +3 "core" %C  Q +2 "storage"(`& +5 "core" &K f [ +\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&g'o +15 "core" ' + "manipulator"&|& +5 "core" &   U 4 + "storage"( & +5 "core" &K \\ i _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +15 "core" ' + "storage"(J% +5 "core" % ` k I\ +2 ."downElevator"SE.seek :down +4 "storage"(d' +98 ($% +3 "core" %bP E D \ We +2 "manipulator"&~% +4 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +87 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (j& +3 "core" &K _ j z\ +3 "collection"'A& +4 "core" &\\e\ #\ !\ P +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&b% +4 "core" %      +2 "storage"(f% +3 "core" % g ] m\  +2 "storage"(z. +4 "core" .(K +2 "storage"()& +4 "core" &K i ` P\ +2 "storage"(y& +4 "core" &K o k \ + "manipulator"&& +4 "core" &   4 +2 .tElbow.seek 6 +2 "manipulator"&[( +4 "core" ( +2 "manipulator"&@& +3 "core" &   4 +2 "storage"(& +4 "core" &K w ~ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +93 "core" ' + "storage"(& +5 "core" &K ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +3 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" &    4 +2 "storage"(v& +4 "core" &K j j l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&%'< +18 "core" ' +2 .tElbow.hold + "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(F'k +30 "core" ' + "manipulator"&,% +4 "core" %0    +2 "storage"(u& +4 "core" &K ` m Y\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 288 counts + "manipulator"&w'\\ +16 "core" ' +2 "manipulator"&Z& +4 "core" &   Y 4 +2 "storage"(*& +3 "core" &K } \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&<' +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(N' +36 "core" ' +2 "manipulator"&\\& +3 "core" &  ) 4 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +153 "core" ( +8 "manipulator"&q& +5 "core" &ӓ   5\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӓ   _ 5\ +3 .tForearm.seek CC + "manipulator"&:'? +104 "core" ' + .tHand.close +2 "manipulator"&i/ +58 "core" / +2 .tCC.seek :open +2 "collection"'{( +450 "core" ( + "storage"(E& +5 "core" &K ~ \ + "storage"(8& +5 "core" &K ~ \ + "manipulator"&& +4 "core" &ӧ   3 +2 "manipulator"&% +4 "core" % 9   +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&6( +165 "core" ( + "manipulator"&c& +5 "core" &    + "storage"("& +5 "core" &K w w v\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&e'< +96 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&L% +5 "core" % 0 \  + "storage"(7& +4 "core" &K y ~\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 288 counts +2 "manipulator"&'\\ +15 "core" ' +2 "manipulator"&-& +3 "core" &   +3 "storage"(& +4 "core" &K x\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +15 "core" ' +2 "storage"(#% +3 "core" % ?\ +3 ."downElevator"SE.seek :down +4 "storage"(G' +98 (% +3 "core" %F ~\ Wa +3 "manipulator"&.% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +3 "core" &\ \ #\ +2 "manipulator"&% +3 "core" %      +2 "storage"(B% +5 "core" % \  + "storage"(x. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(t([ +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +3 "core" &[ v h B\  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&((r +43 "core" ( +2 "manipulator"&U& +4 "core" &|  b  +2 "storage"(r& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +91 "core" ' + "storage"(0& +5 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +308 "core" ' + "storage"(l- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &[ v w o\  +2 "manipulator"&Y& +3 "core" &|  =  +3 .tElbow.seek 7 +2 "manipulator"&?(r +3 "core" ( +2 "manipulator"&m& +3 "core" &|  +2 "storage"(}& +4 "core" &[ s y 0\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&a'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&/& +2 "storage"(s' +8 "core" &| 7  + "manipulator"&^% +49 "core" % Ϝ 6 +4 .tForearm.seek :retract +2 "manipulator"&2' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +104 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +53 "core" ( +2 "manipulator"&;& +3 "core" &ӏ   l 8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &Ӑ   7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 "manipulator"&3& +3 "core" &Ӑ   7 +2 "manipulator"& % +5 "core" %>  +2 "collection"'H& +3 "core" &\ \ 0\ +3 "collection"'C& +6 "core" &\ \ 0\ +2 .tCC.seek :closed +2 "collection"'K(\\ +5 "core" &\ \ -\ +7 &>\ \ *\ $f +10 &Yx\ \ +\ 7 +9 &v\ \ *\ J +9 &T\ \ +\ K +10 &V\ \ '\ K +9 &GR\ \ *\ J +9 & R\ \ +\ J +10 &T\ \ (\ J +9 &T\ \ #\ K +10 &OR\ \ $\ J +9 & U\ \ "\ J +9 &!W\ \ !\ J +10 &#R\ \ \ J +9 &%WR\ \  \ J +9 &'R\ \ &\ J +10 &(T\ \ #\ J +9 &*T\ \ "\ K +10 &,^U\ \ '\ K +9 &.!R\ \ &\ J +9 &/W\ \ "\ J +10 &1U\ \ #\ J +9 &3gW\ \ %\ J +9 &5(R\ \ \ K +10 &6U\ \ \ K +9 &8V\ \ !\ K +10 &:nU\ \ \ K +9 &<0U\ \ \ K +9 &=S\ \ \ J +10 &?T\ \ \ K +9 &AvY\ \ \ K +9 &C8[\ \ \ \ K +10 &Da\ \ \ L +9 &Fk\ \ \ M +10 &Ho~\ \ \ P +9 &J&\ 4\ -\ T +9 &K\ >\ ;\ V +10 &M\ 8\ 9\ W +9 &Oa\ 8\ 9\ W +9 &Q"\ 7\ 6\ X +10 &R\ 6\ 5 \ X +9 &T\ 6\ 3\ \ Y +10 &Vd\ 1\ 1\ Y +9 &X#\ 1\ 1 \ Z +9 &Y\ 2\ 2\ [ +10 &[\ /\ 1\ \ H +9 &\\3\ /\ / \ 1 +9 &\\g\ .\ .\ \ I +3 ( + "collection"'C& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&51 +62 "core" 1 +2 "manipulator"&!% +4 "core" % >  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%V& +4 "core" &\ +2 "manipulator"&T% +3 "core" % #   ! 2 +3 "storage"(% +3 "core" % i ` u\  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (_& +3 "core" &[ I H ;\  +2 "manipulator"&M& +4 "core" &Ө  \  4 +2 "manipulator"&`% +4 "core" % # \  2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&|(r +163 "core" ( + "manipulator"& & +4 "core" &w     +2 "storage"(J& +4 "core" &[ k i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&]'= +94 "core" ' + "storage"(o& +4 "core" &[ ~ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +295 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &[ i j \  +2 "manipulator"&9& +4 "core" &w     +2 .tElbow.seek 7 +2 "manipulator"&n(r +3 "core" ( +2 "manipulator"&Q& +4 "core" &w   S  +2 "storage"(=& +3 "core" &[ i _ \  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&j'ϧ +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& +2 "storage"(b' +7 "core" &w   H  +2 "manipulator"&f% +3 "core" % Ϭ   u +3 .tForearm.seek :retract + "manipulator"&z' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&D( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +3 "manipulator"&)& +4 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +3 "manipulator"&' +91 "core" ' +2 "manipulator"&@& +4 "core" &  b  +2 "manipulator"&% +3 "core" %   5 k +3 "processing"%W& +4 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed + "processing"%d(^ +6 "core" &\ +6 &6\ $d +9 &Ww\ 7 +9 &t\ K +10 &Q\ M +9 &pT\ M +9 &3R\ M +10 &U\ M +9 &S\ M +9 &yT\ M +10 &;U\ M +9 &T\ M +10 &!T\ M +9 &#U\ M +9 &%BU\ M +10 &'T\ M +9 &(U\ M +10 &*T\ M +9 &,JR\ M +9 &. T\ M +10 &/U\ M +9 &1R\ M +9 &3QS\ M +10 &5T\ M +9 &6U\ M +9 &8V\ N +10 &:YT\ M +9 &<S\ M +10 &=U\ N +9 &?U\ N +9 &A`W\ N +10 &C!^\ N +9 &De\ O +9 &Fl\ P +10 &H]|\ Q +9 &J\ S +10 &K\ T +9 &M\ T +9 &O_\ S +10 &Q\ T +9 &R\ T +9 &T\ U +10 &Ve\ T +9 &X%\ U +10 &Y\ U +9 &[\ U +9 &]k\ B +10 &^=n\ %l +9 &^&\ . +5 ( +2 "processing"%& +4 "core" &^\ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&41 +56 "core" 1 +2 "manipulator"&I% +4 "core" %   k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"%p& +3 "core" &^\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&v% +4 "core" %    P  +2 "storage"(P% +3 "core" % j j \  +2 "storage"(,. +4 "core" .([ + "storage"(u& +5 "core" &[ i i \  +2 "storage"(Z& +5 "manipulator"&*& +4 "core" &[ i f r\  + & &  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&\\( +2 "storage"('r +7 "core" ( +2 "manipulator"& & +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" & 0 0 O  +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close +2 "manipulator"&%/ +55 "core" / +2 .tPC.seek :open +2 "processing"%w( +94 "core" ' +2 "storage"(F- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(q'1 +45 "core" ' +304 ( +2 "storage"(& +3 "core" &[ h _ \  +3 "manipulator"&<& +4 "core" &    + "manipulator"&>% +6 "core" %   3 +2 .tForearm.seek :retract + "manipulator"&i' +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&\ (r +251 "core" ( +2 "manipulator"&+& +3 "core" &y    @ +2 "storage"(E& +4 "core" &[ g i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&8'= +91 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(c' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"("' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' +2 "storage"(R& +4 "core" &[ ~  n\  + "manipulator"&& +4 "core" &y   x @ +2 .tElbow.seek 7 +2 "manipulator"&L(r +4 "core" ( +2 "manipulator"&7& +3 "core" &y   @ +3 "storage"(-& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts + "manipulator"&'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +50 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(#'" +51 "core" ' + "manipulator"&& +5 "core" &y   @ + "storage"(& +5 "core" &[ j j \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&.'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(e' +19 "core" ' +2 "manipulator"&% +5 "core" %Ύ  * 7 + "storage"(& +4 "core" &[ ? S B\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +14 "core" ' + "manipulator"&B& +5 "core" &z   r ? +2 "storage"(x& +3 "core" &[ k l o\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&N'= +15 "core" ' + "storage"(1% +5 "core" % h \\ i\ +2 ."downElevator"SE.seek :down +4 "storage"(G' +99 ( % +3 "core" %`K P E 2\ Wd +3 "manipulator"&'% +3 "core" %;   ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (U& +3 "core" &[ X t ]\  +2 "collection"'r& +5 "core" &\\g\ #\ #\ \ I +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&0% +4 "core" % !  R + +2 "storage"(% +3 "core" % f \\\  +3 "storage"(. +3 "core" .([ +2 "storage"(l& +4 "core" &[ \\ \\\  +2 "storage"(h& +3 "core" &[ j ` E\  +3 "manipulator"&Y& +4 "core" &z  ? +2 .tElbow.seek 7 + "manipulator"&m(r +4 "core" ( +2 "manipulator"&}& +3 "core" &z    ? +2 "storage"(& +5 "core" &[ j _ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&/'= +94 "core" ' +2 "storage"(^& +3 "core" &[ ~ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" &z   ? +2 "storage"(;& +4 "core" &[ f \\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +8 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&S'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 'n +33 "core" ' +2 "manipulator"&H% +4 "core" %Ό   1 ' + "storage"(?& +4 "core" &[ M G <\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&s'ϸ +14 "core" ' +2 "manipulator"&2& +3 "core" &z   ? +3 "storage"({& +3 "core" &[ u ~ w\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&5'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(!' +36 "core" ' +2 "manipulator"&V& +3 "core" &z   ) ? +3 "manipulator"&T% +4 "core" %7    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( +2 "manipulator"&C& +4 "core" &Ӡ    7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &Ӡ   7 +3 .tForearm.seek CC +47 "manipulator"&M'? +93 "core" ' + .tHand.close +2 "manipulator"&`/ +58 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"( & +4 "core" &[  V\  +2 "storage"(J& +4 "core" &[ | \  +2 "manipulator"&t& +3 "core" &Ӣ   7 +2 "manipulator"&o% +5 "core" % F   +2 .tForearm.seek :retract +2 "manipulator"&&' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +165 "core" ( + "manipulator"&$& +4 "core" &u  v  +2 "storage"(~& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&9'{ +95 "core" ' +2 .tElbow.hold + "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&=1 +60 "core" 1 +2 "manipulator"&g% +5 "core" % ΄   \ + "storage"(A& +3 "core" &[ \  +3 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 309 counts +2 "manipulator"&f'ϰ +15 "core" ' +2 "manipulator"&|& +3 "core" &u "  +2 "storage"(]& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&k'= +17 "core" ' + "storage"(j% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"()' +98 (y% +3 "core" %F ~ 1\ V` +2 "manipulator"&n% +4 "core" %:  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&W% +4 "core" %      +2 "storage"(b% +4 "core" % \  +2 "storage"(z. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(X(<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" &<0 u ~ ^\ +2 "manipulator"&I& +3 "core" &u \   +3 .tElbow.seek 5 +2 "manipulator"&p( +37 "core" ( +2 "manipulator"&v& +4 "core" &     + "storage"(P& +5 "core" &<0 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +93 "core" ' +2 "storage"(u& +3 "core" &<0 "\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Z'r +298 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<.  ~ d\ +2 "manipulator"& & +6 "core" & :  + .tElbow.seek 5 +2 "manipulator"&[( +4 "core" ( +2 "manipulator"&& +3 "core" &  P  +2 "storage"(%& +5 "core" &<. w w \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&F'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(d' +8 "core" &  + "manipulator"&% +5 "core" % ϭ i +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +46 "manipulator"&<(ӂ +112 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +40 "core" ( +2 "manipulator"&>& +3 "core" &ӂ$   @ =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &ӂ$   =F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&+'? +92 "core" ' +3 "manipulator"&E& +4 "core" &Ӄ$    =E +2 "manipulator"&\\% +3 "core" %4 \   ~ +3 "collection"'& +3 "core" &\ \ <\ +3 "collection"'& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"':(\\ +5 "core" &\ \ \ +6 &<\ \ \ $f +10 &Yx\ \ )\ 7 +9 &v\ \ )\ J +9 &U\ \ /\ K +10 &U\ \ ,\ K +9 &IR\ \ *\ J +10 & T\ \ \ J +9 &T\ \ %\ K +9 &U\ \ +\ J +10 &QW\ \ &\ J +9 & R\ \ #\ J +9 &!T\ \ "\ J +10 &#V\ \ \ K +9 &%YW\ \ !\ J +10 &'W\ \  \ J +9 &(R\ \ %\ J +9 &*Q\ \ $\ K +10 &,`U\ \ $\ K +9 &.#S\ \ \ J +9 &/S\ \ #\ K +10 &1W\ \ !\ J +9 &3gS\ \  \ K +10 &5*R\ \ !\ K +9 &6S\ \ $\ J +9 &8T\ \ )\ J +10 &:qV\ \ '\ J +9 &<3R\ \ $\ J +9 &=U\ \ '\ J +10 &?U\ \ %\ K +9 &AxT\ \ '\ K +10 &C9X\ \ \ K +9 &Dd\ \ $\ L +9 &Fm\ \ \ M +10 &Hr\ \ "\ O +9 &J(\ 5\ ,\ T +9 &K\ 8\ 8"\ V +10 &M\ 8\ 8$\ W +9 &Oc\ 5\ 6\ W +10 &Q$\ 3\ 4#\ X +9 &R\ 2\ 2 \ X +9 &T\ 0\ /\ Y +10 &Vh\ 0\ 0\ X +9 &X%\ .\ 1#\ Z +9 &Y\ .\ /\ [ +10 &[\ /\ -\ G +9 &\\7\ -\ -\ , +10 &\\c\ +\ .\ M +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&R1 +56 "core" 1 +2 "manipulator"&% +4 "core" % 4   ? ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +89 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%-& +3 "core" &\ +2 "manipulator"&i% +4 "core" %     +2 "storage"(% +3 "core" % l j \  +2 "storage"(. +4 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(q(<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &<( j f 3\  +2 "manipulator"&& +4 "core" &Ӭ   8 +2 "manipulator"&% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&B( +164 "core" ( +2 "manipulator"&x& +3 "core" &    +2 "storage"(1& +5 "core" &<(  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +98 "core" ' +2 "storage"(8& +4 "core" &<( v\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"("'r +296 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &<( C Z `\  +2 "manipulator"&& +4 "core" &   %  +2 .tElbow.seek 5 +2 "manipulator"&L( +4 "core" ( + "manipulator"&#& +4 "core" &    +2 "storage"(.& +4 "core" &<( i i \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&U'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&r& + "storage"(0' +8 "core" &  L  + "manipulator"&% +4 "core" % ϵ  / +3 .tForearm.seek :retract + "manipulator"&' +87 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&l& +3 "core" &  \  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Y' +104 "core" ' + "manipulator"&}& +5 "core" &   + "manipulator"&% +50 "core" %  M +4 "processing"%N& +4 "core" &\ +2 "processing"%^& +5 "core" &\ +3 .tPC.seek :closed + "processing"%G(^ +5 "core" &\  +9 &3u\ )v +9 &cy\ = +10 &yn\ N +9 &;R\ M +10 &S\ M +9 &S\ M +9 &T\ M +10 &ES\ M +9 &T\ M +9 &T\ M +10 & U\ M +9 &"LV\ M +10 &$T\ M +9 &%T\ M +9 &'T\ M +10 &)ST\ M +9 &+T\ N +9 &,T\ M +10 &.S\ M +9 &0\\T\ M +10 &2T\ M +9 &3S\ M +9 &5T\ M +10 &7eT\ M +9 &9&V\ M +9 &:W\ M +10 &<W\ M +9 &>kW\ M +10 &@.W\ M +9 &A[\ N +9 &Ce\ O +10 &Enh\ O +9 &G,q\ P +9 &H\ S +10 &J\ S +9 &Li\ S +10 &N*\ T +9 &O\ T +9 &Q\ T +10 &Sn\ T +9 &U0\ T +9 &V\ U +10 &X\ T +9 &Zv\ T +10 &\\7\ U +9 &]zr\ ; +9 &^%b\ R +10 &^&\ 3 +2 ( +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&61 +56 "core" 1 + "manipulator"& % +5 "core" %    M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 "processing"%O& +3 "core" &^"\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&;% +4 "core" % &   4 F +2 "storage"(3% +3 "core" % i i \  +3 "storage"(H. +3 "core" .(<- +2 "storage"(?& +3 "core" &<( j j \  +3 "storage"(2& +2 "manipulator"&{& +7 "core" &<( j i \  + &   c +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&V( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'r +2 "core" ( +2 "manipulator"&/& +5 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" & #  D +3 .tForearm.seek PC +2 "manipulator"&(' +95 "core" ' +2 .tHand.close + "manipulator"&S/ +62 "core" / +2 .tPC.seek :open +2 "processing"%s( +88 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'1 +50 "core" ' +305 ( +2 "storage"(_& +4 "core" &<( i g \  +2 "manipulator"&5& +4 "core" &   ' +2 "manipulator"&a% +4 "core" %  8 ) +2 .tForearm.seek :retract +2 "manipulator"&`' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +240 "core" ( +2 "manipulator"&K& +3 "core" &    . +2 "storage"( & +5 "core" &<( j i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +93 "core" ' +2 .tHand.open + "manipulator"&t1 +58 "core" 1 +3 "storage"(o- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"($' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(~' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(M- +4 "core" -' + "storage"(& +4 "core" &<( <\  +2 "manipulator"&=& +4 "core" &   h . +2 .tElbow.seek 5 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&A& +3 "core" &    . +2 "storage"(|& +4 "core" &<( \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&]'O +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(j'" +58 "core" ' + "manipulator"&&& +4 "core" &   . +2 "storage"(y& +3 "core" &<( m m \  +47 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&n'΍ +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +19 "core" ' + "manipulator"&% +4 "core" %Μ   +2 "storage"(f& +4 "core" &<( e T k\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&W' +14 "core" ' + "manipulator"&b& +4 "core" & \ - +2 "storage"(z& +4 "core" &<( i j z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +15 "core" ' + "storage"(k% +5 "core" % k q G\ +2 ."downElevator"SE.seek :down +3 "storage"()' +99 (% +4 "core" %[Q H T D\ Xe +2 "manipulator"&4% +5 "core" %E   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +96 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (v& +3 "core" &<( n _ [\  +3 "collection"'P& +3 "core" &\\`\ !\ "+\ M +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&u% +4 "core" % \   +2 "storage"(Q% +3 "core" % }\  +2 "storage"(@. +4 "core" .(<- + "storage"(*& +5 "core" &<( ~ \  +2 "storage"(& +3 "core" &<( ~ \  +2 "manipulator"& & +5 "core" &  - + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&%& +4 "core" &   u - + "storage"(D& +5 "core" &<( ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + "storage"(& +5 "core" &<( ~ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +298 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" &   ( - +3 "storage"(>& +3 "core" &<( q m \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&F'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(E'v +33 "core" ' +2 "manipulator"&\\% +4 "core" %Μ  y +2 "storage"(& +4 "core" &<( j v N\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&d' +15 "core" ' + "manipulator"&& +4 "core" &   - +2 "storage"(& +3 "core" &<( ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +38 "core" ' +2 "manipulator"&-& +3 "core" &  \ - +2 "manipulator"&i% +5 "core" %P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&& +4 "core" &Ӗ   8 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &Ӗ  : 5 +3 .tForearm.seek CC + "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +41 "collection"'+( +433 "Can" D0 +25 "core" ( + "storage"(x& +5 "core" &<( y 7\  + "storage"(1& +4 "core" &<(  |\  +2 "manipulator"&X& +4 "core" &ӗ   F 5 +2 "manipulator"&8% +3 "core" % S \ /  +3 .tForearm.seek :retract + "manipulator"&<' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&7( +162 "core" ( + "manipulator"& & +5 "core" &    + "storage"('& +5 "core" &<( \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +94 "core" ' +2 .tElbow.hold + "manipulator"&#, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&.1 +64 "core" 1 +2 "manipulator"&% +3 "core" % ΋    +2 "storage"(r& +5 "core" &<( \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 298 counts + "manipulator"&'Ϸ +24 "core" ' +2 "manipulator"&B& +4 "core" &   +2 "storage"(\ & +4 "core" &<( \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +19 "core" ' +2 "storage"(U% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(l' +98 (h% +3 "core" %C ~ \ V_ +2 "manipulator"&L% +4 "core" %O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" &\ \ 2\ +2 "manipulator"&N% +3 "core" %    +3 "storage"(0% +3 "core" % \  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(w(K +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &K ^ h }\  +2 "manipulator"& & +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&;& +3 "core" &  )  +3 "storage"(3& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +102 "core" ' +2 "storage"(?& +3 "core" &K \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +291 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &K x x F\  +2 "manipulator"&/& +4 "core" & )  +2 .tElbow.seek 6 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&Y& +3 "core" &  )  +2 "storage"(S& +4 "core" &K { \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(G' +8 "core" & H  + "manipulator"&T% +5 "core" % π +2 .tForearm.seek :retract +2 "manipulator"&_' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&5(ӂ +157 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&a& +5 "core" &ӕ   ~ 7 +2 .tElbow.reconfigure :loose +38 "manipulator"&$ &.,(#b +13 &(& +3 "core" &ӕ \\ 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&K'? +99 "core" ' +3 "manipulator"& & +3 "core" &ӕ   7 +3 "manipulator"&V% +3 "core" %:    +3 "collection"'t& +3 "core" &\ \ \ +3 "collection"'o& +6 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'M(\\ +4 "core" &\ \ \ +5 &\ \ \ 9 +9 &FKu\ \ \ \ 0 +10 &|w}\ \ 0\ E +9 &*[\ \ =\ K +9 &V\ \ A\ J +10 &S\ \ B\ K +9 &rW\ \ 4\ J +10 &4R\ \ :\ J +9 &T\ \ A\ J +9 &V\ \ =\ J +10 &yW\ \ A\ K +9 &!;T\ \ =\ K +9 &"T\ \ +\ K +10 &$R\ \ )\ J +9 &&S\ \ )\ K +10 &(CU\ \ 1\ K +9 &*R\ \ .\ J +9 &+R\ \ '\ K +10 &-W\ \ /\ K +9 &/KU\ \ +\ K +9 &1R\ \ %\ J +10 &2S\ \ +\ J +9 &4W\ \ 1\ K +10 &6SV\ \ 3\ K +9 &8R\ \ 4\ K +10 &9W\ \ *\ J +9 &;R\ \ 3\ K +9 &=\\W\ \ 4\ J +9 &?T\ \ .\ J +10 &@X\ \ /\ K +9 &BT\ \ -\ K +10 &D`]\ \ \ ,\ L +9 &Fg\ \ 0\ M +9 &Gu\ \ 1\ N +10 &I\ +\ !-\ R +9 &KJ\ 7\ 82\ V +9 &M\ \ 8\ 8)\ V +10 &N\ 7\ 7.\ W +9 &P\ 6\ 7&\ X +10 &RM\ 4\ 52\ X +9 &T \ 3\ 40\ X +9 &U\ 3\ 1'\ X +10 &W\ 0\ 1-\ Y +9 &YM\ 1\ /$\ Z +9 &[\ 1\ 1*\ Z +10 &\\cH\ 1\ 1%\ 3 +9 &\\x\ -\ -0\ J +6 ( + "collection"'o& +4 "core" &\\]\ +\ ,(\ J +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&=% +4 "core" % :    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%|& +5 "core" &\ + "manipulator"&`% +4 "core" %     +2 "storage"(&% +4 "core" % h f j\  +2 "storage"(y. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(C(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +4 "core" &K H E '\  +2 "manipulator"&& +3 "core" &Ӧ   5 +2 "manipulator"&f% +37 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&b( +154 "core" ( + "manipulator"&z& +4 "core" &  2 +2 "storage"(& +3 "core" &K } \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +94 "core" ' + "storage"(J& +5 "core" &K  F\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &K ^ ] \  +2 "manipulator"&]& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&g( +8 "core" ( +2 "manipulator"&j& +4 "core" &   X + "storage"(n& +4 "core" &K  t \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&W'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +3 "storage"(u' +8 "core" & ' + "manipulator"&Q% +5 "core" % ϊ  = +2 .tForearm.seek :retract + "manipulator"&@' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&9( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&*& +5 "core" &  ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +94 "core" ' +2 "manipulator"&%& +3 "core" &  x ' +2 "manipulator"&D% +5 "core" %  R +2 "processing"%!& +3 "core" &\ \ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +53 "processing"%)(^ +4 "core" &\ +2 &\ + &\ + &\ +2 &\ + &\ + &\ 7 +6 &@Ju\ 0 +9 &os{\ D +10 &]\ N +9 &R\ M +9 &R\ L +10 &ZR\ M +9 &R\ M +10 &S\ M +9 &T\ M +9 &bT\ M +10 &!$S\ M +9 &"R\ M +9 &$U\ M +10 &&jS\ M +9 &(-S\ M +10 &)S\ M +9 &+S\ M +9 &-sT\ M +10 &/4W\ M +9 &0S\ M +9 &2T\ M +10 &4|R\ L +9 &6<U\ M +10 &7U\ M +9 &9U\ M +9 &;V\ N +10 &=DT\ M +9 &?W\ M +9 &@X\ M +10 &BZ\ N +9 &DH`\ N +10 &Fj\ O +9 &Gp\ P +9 &I\ R +10 &KB\ S +9 &M\ T +9 &N\ S +10 &P\ T +9 &RE\ U +10 &T\ U +9 &U\ T +9 &W\ U +10 &YM\ U +9 &[\ U +9 &\\\ U +10 &^Cb\ &t +9 &^d\ 7 +9 ( +3 "processing"%& +2 "core" &^"\ 1 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +56 "core" 1 + "manipulator"&I% +4 "core" %   $ R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +2 "processing"%Z& +3 "core" &^"\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&>% +3 "core" % &   D +3 "storage"([% +3 "core" % i j \  +2 "storage"(\\. +4 "core" .(K + "storage"(& +4 "core" &K j i \  +3 "storage"(& +2 "manipulator"&& +5 "core" &K j j \  +3 &   ' +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&-( +2 "storage"(i'r +6 "core" ( +2 "manipulator"&& +4 "core" &  ? ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & / . ^ ' +3 .tForearm.seek PC + "manipulator"&p' +93 "core" ' +2 .tHand.close +2 "manipulator"&F/ +63 "core" / +2 .tPC.seek :open +2 "processing"%d( +89 "core" ' +2 "storage"(E- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +307 ( +2 "storage"(c& +5 "core" &K \\ ` R\  + "manipulator"&R& +4 "core" &  ' ' +2 "manipulator"&% +4 "core" %   . X +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +246 "core" ( + "manipulator"&:& +4 "core" &   +2 "storage"(x& +3 "core" &K \\ _ -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +91 "core" ' + .tHand.open +2 "manipulator"&X1 +59 "core" 1 +2 "storage"(8- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"('' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(& +4 "core" &K \  + "manipulator"&.& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&( +10 "core" ( +2 "manipulator"&r& +3 "core" &   v  +2 "storage"(B& +4 "core" &K 7\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(U'" +63 "core" ' +2 "manipulator"&<& +3 "core" &     +3 "storage"(h& +4 "core" &K \\ \\ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +41 "manipulator"&L'< +26 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +20 "core" ' + "manipulator"&% +4 "core" %8  +2 "storage"(& +4 "core" &K ^ g D\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 296 counts + "manipulator"&N'd +14 "core" ' + "manipulator"&0& +5 "core" & \   + "storage"(& +5 "core" &K  x R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +18 "core" ' +2 "storage"("% +4 "core" % ~ $\ +2 ."downElevator"SE.seek :down +4 "storage"(l' +99 (q% +4 "core" %(N O S M\ We +2 "manipulator"&6% +4 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (;& +4 "core" &K u n \  +2 "collection"'3& +3 "core" &\\\\\ \ #.\ J +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&?% +3 "core" %     +3 "storage"(#% +3 "core" % }\  +2 "storage"(}. +3 "core" .(K +2 "storage"(2& +4 "core" &K }\  +2 "storage"(^& +4 "core" &K } \  +2 "manipulator"&/& +3 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&Y( +10 "core" ( + "manipulator"&S& +4 "core" &  \  +2 "storage"(e& +4 "core" &K ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(T& +5 "core" &K ~ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(O'r +310 "core" ' + "storage"(H- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" &    +2 "storage"({& +4 "core" &K | p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&('< +18 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 'k +30 "core" ' +2 "manipulator"&V% +4 "core" %;   +2 "storage"(t& +4 "core" &K ` ] P\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&G'g +15 "core" ' +2 "manipulator"&_& +3 "core" &   h +2 "storage"(+& +4 "core" &K } \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(=' +43 "core" ' + "manipulator"&|& +5 "core" & r + "manipulator"&`% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +154 "core" ( +2 "manipulator"&o& +3 "core" &Ӑ#  . <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +4 "core" &Ӑ#   <9 +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&f/ +64 "core" / +2 .tCC.seek :open +2 "collection"'K( +447 "core" ( + "storage"(z& +4 "core" &K ~ K\  +2 "storage"(& +47 "core" &K N\  +5 "manipulator"&w& +3 "core" &ӭ   8 +2 "manipulator"&J% +5 "core" % D   # +2 .tForearm.seek :retract +2 "manipulator"&5' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&A( +161 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(4& +3 "core" &K \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&]'< +95 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&n1 +52 "core" 1 +3 "manipulator"&v% +3 "core" % 8  q 7 +2 "storage"(P& +4 "core" &K \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 296 counts +2 "manipulator"&Q'd +16 "core" ' +2 "manipulator"&b& +4 "core" & :  + "storage"(k& +5 "core" &K >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +15 "core" ' + "storage"(W% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(*' +99 (% +3 "core" %K ~ 8\ Wc +2 "manipulator"&g% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'D& +3 "core" &\ \ =\ +2 "manipulator"&!% +4 "core" %     +2 "storage"(u% +3 "core" % \  +3 "storage"(@. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(s([ +347 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ ~ ?\ +2 "manipulator"&I& +4 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&Z(r +36 "core" ( + "manipulator"&>& +4 "core" &    +2 "storage"([& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +94 "core" ' + "storage"(& +5 "core" &[ J\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[  \ +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 7 + "manipulator"&(r +19 "core" ( + "manipulator"& & +4 "core" &v  P  +2 "storage"(F& +4 "core" &[ z t\ +3 .tForearm.seek 7 + 300 counts + "manipulator"&E'ϧ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +3 "storage"()' +8 "core" &v  + "manipulator"&i% +4 "core" % ϶ ; +2 .tForearm.seek :retract +2 "manipulator"&c' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&R(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +4 "core" &ә   8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &ә   z 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +46 "manipulator"&:'? +103 "core" ' + "manipulator"&x& +5 "core" &Ӛ   7 + "manipulator"&-% +5 "core" %C  > +2 "collection"'X& +3 "core" &\ \ \ +3 "collection"'8& +6 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'(\\ +4 "core" &\ \ \ +5 &\ \ 9\ 9 +10 &JKu\ \ *\ 0 +9 &v}\ \ $\ E +9 &-Y\ \ '\ K +10 &R\ \ \ K +9 &X\ \ 0\ J +9 &vR\ \  \ J +10 &9T\ \ :\ J +9 &U\ \ @\ K +10 &R\ \ A\ J +9 &}R\ \ @\ K +9 &!?U\ \ D\ K +10 &#V\ \ D\ J +9 &$W\ \ A\ K +9 &&U\ \ <\ K +10 &(GU\ \ 9\ K +9 &*\ R\ \ 4\ J +10 &+Q\ \ 5\ J +9 &-T\ \ 5\ J +9 &/PR\ \ 7\ J +10 &1T\ \ 7\ J +9 &2R\ \ 4\ J +9 &4S\ \ &\ K +10 &6WW\ \ &\ J +9 &8T\ \ 7\ J +10 &9R\ \ <\ K +9 &;V\ \ 2\ J +9 &=_R\ \ 8\ K +10 &?"W\ \ )\ J +9 &@U\ \ -\ J +9 &BZ\ \ -\ K +10 &Dd]\ \ 2\ L +9 &F#f\ \ )\ M +10 &Gu\ \ 1\ O +9 &I\ +\ $3\ R +9 &KN\ :\ 74\ V +10 &M\ ;\ <3\ V +9 &N\ 9\ 93\ W +9 &P\ 7\ 8.\ X +10 &RQ\ 5\ 4-\ X +9 &T\ 4\ 44\ X +10 &U\ 2\ 14\ X +9 &W\ 3\ 33\ Z +9 &YQ\ 0\ /4\ Z +10 &[\ /\ /3\ Z +9 &\\dE\ 0\ 03\ 2 +9 &\\~\ /\ .1\ J +6 ( + "collection"'8& +4 "core" &\\_\ -\ -,\ J +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&.% +4 "core" % C   B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%B& +3 "core" &"\ +2 "manipulator"&% +4 "core" %     +2 "storage"(<% +4 "core" % \\ e \  +2 "storage"(h. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &[ P D :\  +2 "manipulator"&& +5 "core" &ӣ  = 6 + "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&0(r +162 "core" ( +2 "manipulator"&& +3 "core" &z    +3 "storage"(& +3 "core" &[ ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'= +93 "core" ' +2 "storage"(1& +3 "core" &[  f\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(''r +306 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (6& +2 "core" &[ h j q\  +3 "manipulator"&\ & +4 "core" &z  !  +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( + "manipulator"&U& +5 "core" &z   + "storage"(L& +4 "core" &[ i h X\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&;'ϧ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& +2 "storage"(?' +8 "core" &z  r  +2 "manipulator"&#% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&2& +3 "core" &    +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&/' +101 "core" ' +2 "manipulator"&S& +4 "core" &   +2 "manipulator"&e% +3 "core" %   +3 "processing"%& +3 "core" &\ +3 "processing"%T& +5 "core" &"\ +2 .tPC.seek :closed +2 "processing"%l(^ +5 "core" &\  +8 &3u\ )v +10 &d}\ > +9 &{o\ N +9 &?Q\ M +57 &R\ M +4 &S\ M +3 &T\ N +2 &GT\ M + &T\ M + &T\ N + & T\ M +6 &"NT \ M +10 &$Q\ M +9 &%S\ M +9 &'U\ M +10 &)VU\ M +9 &+T\ M +10 &,R\ M +9 &.S \ M +9 &0^U\ M +10 &2!S\ M +9 &3R\ M +9 &5T\ M +10 &7fV\ M +9 &9'U\ N +10 &:U\ M +9 &<R\ M +9 &>nT\ M +10 &@0S\ M +9 &AX\ M +10 &Cb \ O +9 &Ere\ O +9 &G.p\ Q +10 &H\ \ R +9 &J\ S +9 &Ll\ S +10 &N,\ T +9 &O\ T +9 &Q\ U +10 &So\ U +9 &U0\ U +10 &V\ T +9 &X\ U +9 &Zw\ U +10 &\\:\ U +9 &]zs\ ; +9 &^%g\ U +10 &^)\ 3 +2 ( +2 "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&71 +56 "core" 1 +2 "manipulator"& % +4 "core" %  0  : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +91 "core" ' +2 "processing"%a& +4 "core" &^$\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&{% +4 "core" %    /  + "storage"(m% +5 "core" % i j \  + "storage"(V. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(t([ +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "manipulator"&+& +3 "core" &[ $ !\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(|'r + "manipulator"&`( +7 "core" ( + "manipulator"&& +5 "core" & *  )  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &    +3 .tForearm.seek PC + "manipulator"&O' +93 "core" ' +2 .tHand.close + "manipulator"&(/ +56 "core" / +3 .tPC.seek :open +2 "processing"%G( +90 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(o'1 +40 "core" ' +312 ( + "storage"($& +4 "core" &[ j l \  +2 "manipulator"&& +4 "core" &    +2 "manipulator"& % +4 "core" %     * +2 .tForearm.seek :retract + "manipulator"&f' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&&(r +249 "core" ( + "manipulator"&M& +5 "core" &   " + "storage"(z& +4 "core" &[ i j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +98 "core" ' + .tHand.open +2 "manipulator"&w1 +56 "core" 1 +2 "storage"(J- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(4' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(y& +3 "core" &[ \  +3 "manipulator"&n& +4 "core" &  2 " + .tElbow.seek 7 +2 "manipulator"&v(r +30 "core" ( + "manipulator"&P& +4 "core" &{   I h +2 "storage"(b& +4 "core" &[ I\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&k'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +51 "core" ' +2 "manipulator"&5& +3 "core" &{    h +2 "storage"(& +4 "core" &[ l _ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&g'{ +25 "core" ' +41 .tElbow.hold +9 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(]' +20 "core" ' + "manipulator"&D% +8 "core" %Ή  0 +2 "storage"(!& +5 "core" &[ O i W\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 314 counts + "manipulator"&Q'ϵ +15 "core" ' +2 "manipulator"&u& +3 "core" &{ h +3 "storage"(@& +3 "core" &[ ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&='= +15 "core" ' +2 "storage"(~% +3 "core" % } \ +3 ."downElevator"SE.seek :down +4 "storage"(*' +98 (C% +3 "core" %iO R R M\ We +2 "manipulator"&% +5 "core" %;   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (>& +4 "core" &[ v u 3\  +2 "collection"'[& +4 "core" &\\^\ !\ "2\ J +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %      +2 "storage"(j% +4 "core" % ~\  +2 "storage"(%. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[ H R \  +3 "manipulator"&& +4 "core" &{   h +2 .tElbow.seek 7 + "manipulator"& (r +4 "core" ( +2 "manipulator"&F& +4 "core" &{  h +2 "storage"(9& +3 "core" &[ }\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&,'= +93 "core" ' +2 "storage"(i& +3 "core" &[ ~ *\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +305 "core" ' +2 "storage"(\\- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &{    h +2 "storage"(p& +4 "core" &[ \\ \\ 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(x'n +27 "core" ' +2 "manipulator"&-% +3 "core" %Ώ  w Q +2 "storage"(X& +5 "core" &[ i _ N\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 320 counts +2 "manipulator"&)'ϻ +16 "core" ' +2 "manipulator"&c& +3 "core" &{ < h +2 "storage"(K& +4 "core" &[  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(.' +46 "core" ' + "manipulator"&B& +5 "core" &{ \  h h + "manipulator"&% +4 "core" %A   ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +163 "core" ( +3 "manipulator"&8& +4 "core" &Ӡ   $ 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӡ   5 +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"':( +447 "core" ( +2 "storage"(& +49 "core" &[  \  +3 "storage"(& +3 "core" &[  ~\  +2 "manipulator"&s& +5 "core" &ӫ   V 3 + "manipulator"&1% +4 "core" % 9   o  +3 .tForearm.seek :retract + "manipulator"&R' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&r(r +164 "core" ( +2 "manipulator"&q& +4 "core" &r    +2 "storage"(6& +3 "core" &[ \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&\ '{ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +57 "core" 1 +3 "manipulator"&N% +4 "core" % Έ     +2 "storage"(3& +3 "core" &[ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&#'ϴ +15 "core" ' +2 "manipulator"&0& +4 "core" &r K  +2 "storage"("& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&''= +17 "core" ' + "storage"(;% +4 "core" % n\ +3 ."downElevator"SE.seek :down +3 "storage"(2' +99 (^% +3 "core" %C ~ \ V` +2 "manipulator"&% +5 "core" %; H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +88 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'e& +3 "core" &\ \ B\ +2 "manipulator"&% +4 "core" %      +2 "storage"(?% +4 "core" % \  +2 "storage"(}. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(d(<- +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<- }\ +2 "manipulator"& & +4 "core" &r   +2 .tElbow.seek 5 +2 "manipulator"&a( +24 "core" ( +2 "manipulator"&{& +4 "core" &  0  +2 "storage"(m& +4 "core" &<- \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +94 "core" ' + "storage"(T& +4 "core" &<- \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +297 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<- \ +2 "manipulator"&Y& +4 "core" &   |  +2 .tElbow.seek 5 +2 "manipulator"&/( +18 "core" ( +2 "manipulator"&(& +3 "core" &  ]  +3 "storage"(& +4 "core" &<- v w \ +2 .tForearm.seek 5 + 300 counts + "manipulator"& 'Ϲ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(l' +8 "core" & A  +2 "manipulator"&|% +4 "core" % ϭ Z +2 .tForearm.seek :retract +2 "manipulator"&$' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +21 "core" ( +2 "manipulator"& & +3 "core" &ӌ   * +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &ӌ   * +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&M'? +100 "core" ' +2 "manipulator"&z& +3 "core" &ӌ \  * +3 "manipulator"&`% +3 "core" %D  \ 6 +3 "collection"'w& +3 "core" &\ \ \ +3 "collection"'J& +6 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'(\\ +4 "core" &\ \ \ +5 &\ \ \ : +10 &ONw\ \ \ 0 +9 &v}\ \ \ E +9 &2Z\ \ \ K +10 &R\ \ \ K +9 &S\ \ \ J +9 &{T\ \ \ J +10 &=W\ \ <\ J +9 &S\ \ $\ J +9 &T\ \ &\ J +10 &X\ \ \ J +9 &!ET\ \ 0\ J +10 &#W\ \ )\ J +9 &$T\ \ N\ K +9 &&U\ \ &\ K +10 &(MR\ \ 9\ J +9 &*R\ \ ?\ K +10 &+U\ \ B\ K +9 &-T\ \ D\ J +9 &/UU\ \ B\ J +10 &1X\ \ ?\ K +9 &2V\ \ B\ K +9 &4T\ \ ;\ J +10 &6[T\ \ 8\ K +9 &8X\ \ <\ J +10 &9S\ \ 9\ K +9 &;X\ \ $\ J +9 &=cT\ \ ,\ K +10 &?%X\ \ 8\ K +9 &@Y\ \ 4\ K +9 &BZ\ \ *\ K +10 &Dj^\ \ *\ K +9 &F(j\ \ /\ M +9 &Gu\ \ 4\ O +10 &I\ *\ $)\ S +9 &KT\ 6\ 4(\ V +10 &M\ 6\ 8'\ W +9 &N\ 4\ 5%\ W +9 &P\ 3\ 6&\ X +10 &RU\ 0\ 0(\ X +9 &T\ /\ 15\ Y +9 &U\ 0\ 0(\ Y +10 &W\ /\ /*\ Y +9 &YU\ .\ ,'\ [ +10 &[\ -\ -'\ [ +9 &\\lF\ .\ -%\ 0 +9 &\\\ ,\ +,\ L +6 ( + "collection"'J& +5 "core" &\\m\ )\ +%\ L +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&y1 +57 "core" 1 + "manipulator"&n% +5 "core" % D   , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +89 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%P& +3 "core" &\ +3 "manipulator"&b% +4 "core" %   0  +2 "storage"(5% +4 "core" % \\ \\ \  + "storage"(. +4 "core" .(<- + "storage"(o& +4 "core" &<- _ _ \ +2 "storage"(& +4 "core" &<- \\ \\ \ +2 "manipulator"&D& +5 "core" &ӌ  * +2 "manipulator"&!% +4 "core" %    m  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&u( +163 "core" ( + "manipulator"&@& +5 "core" &  J  + "storage"(&& +4 "core" &<- } \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +93 "core" ' +2 "storage"(& +3 "core" &<- ~\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +297 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" &<- f R \ +2 "manipulator"&& +3 "core" &     +3 .tElbow.seek 5 +2 "manipulator"&v( +21 "core" ( + "manipulator"&W& +5 "core" &  \  + "storage"(g& +4 "core" &<- j j \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&>'Ϲ +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(' +8 "core" &    + "manipulator"&j% +5 "core" %   n +2 .tForearm.seek :retract + "manipulator"&%' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&]( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( + "manipulator"&& +3 "core" &  Q  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&F' +101 "core" ' + "manipulator"&9& +4 "core" &  \ h +2 "manipulator"&=% +4 "core" %   7 +2 "processing"%i& +3 "core" &2\ +3 "processing"%*& +6 "core" &0\ +2 .tPC.seek :closed +2 "processing"%t(^ +3 "core" &\ +8 & .\ $c +9 &Uv\ 6 +9 &x\ K +10 &O\ M +9 &cT\ M +10 &&R\ M +9 &U\ M +9 &T\ M +10 &kT\ M +9 &-U\ M +50 &U\ M +4 &!T\ M +2 &#sU\ M +2 &%5U\ M + &&T\ M + &(U\ M +6 &*|T \ M +9 &,>U\ \ M +9 &.T\ M +10 &/V\ M +9 &1R\ M +10 &3GT\ M +9 &5 T\ M +9 &6U \ M +10 &8U\ M +9 &:MU\ M +9 &<W\ M +10 &=V\ M +9 &?R\ M +10 &AUZ\ M +9 &C`\ O +9 &Db\ O +10 &Fo\ P +9 &HP}\ R +10 &J \ S +9 &K\ S +9 &M\ T +10 &OR\ T +9 &Q\ T +9 &R\ T +10 &T \ U +9 &VX \ T +9 &X \ T +10 &Y\ U +9 &[\ U +10 &]^\ B +9 &^N}\ \ E +9 &^\ U +10 &^\ \ / +2 ( +2 "processing"%*& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&A1 +55 "core" 1 + "manipulator"&I% +5 "core" %    9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +93 "core" ' + "processing"%& +5 "core" &^ \ / + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&p% +4 "core" % #   Y 1 +2 "storage"(% +4 "core" % i j \  +2 "storage"(-. +3 "core" .(<- +2 "storage"(X& +4 "core" &<- i i \ +2 "storage"(c& +4 "manipulator"&K& +6 "core" &<- j j \ + &  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(B'r +3 "manipulator"&( +6 "core" ( +2 "manipulator"&,& +3 "core" & ) 1 U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" & 2 2 +3 .tForearm.seek PC + "manipulator"&Z' +95 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 .tPC.seek :open + "processing"%)( +85 "core" ' +2 "storage"(x- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +52 "core" ' +310 ( + "storage"( & +4 "core" &<, i j \ +2 "manipulator"&& +3 "core" &  +2 "manipulator"&E% +4 "core" %    +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&<( +240 "core" ( + "manipulator"&& +5 "core" &   g # +2 "storage"(& +3 "core" &<, j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 .tHand.open +2 "manipulator"&s1 +54 "core" 1 +2 "storage"(1- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(6' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(h& +3 "core" &<, \ +3 "manipulator"&L& +4 "core" &   ! # +2 .tElbow.seek 5 + "manipulator"&N( +4 "core" ( +2 "manipulator"&3& +3 "core" &  # +2 "storage"(0& +4 "core" &<, \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(;'" +60 "core" ' +2 "manipulator"&R& +3 "core" &    # +2 "storage"(^& +5 "core" &<, i i \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +45 "storage"(\ ' +24 "core" ' + "manipulator"&e% +4 "core" %Λ   e +2 "storage"(#& +4 "core" &<, l m \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts + "manipulator"&' +14 "core" ' + "manipulator"&?& +4 "core" &  " +3 "storage"(}& +3 "core" &<, \\ _ q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +16 "core" ' +2 "storage"('% +4 "core" % ` l e\ +2 ."downElevator"SE.seek :down +4 "storage"(2' +99 (% +3 "core" %DQ H S 6\ Xf +2 "manipulator"&7% +5 "core" %O  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ({& +3 "core" &<, j h a\ +3 "collection"'m& +3 "core" &\\k\ \ !*\ L +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&T% +46 "core" %    +2 "storage"(U% +4 "core" % s n %\  +2 "storage"(S. +3 "core" .(<- +2 "storage"(+& +4 "core" &<, _ j X\ +2 "storage"(& +3 "core" &<, ] ^ G\ +2 "manipulator"&Y& +4 "core" &  " +2 .tElbow.seek 5 +2 "manipulator"&(( +4 "core" ( +2 "manipulator"&& +4 "core" &    " +2 "storage"(& +4 "core" &<, j k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&H'O +94 "core" ' +2 "storage"(|& +3 "core" &<, ~ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(a'r +295 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"& & +7 "core" &    " +4 "storage"(O& +9 "core" &<, l m \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&_'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(z'v +30 "core" ' +2 "manipulator"&`% +4 "core" %Θ   + "storage"(w& +5 "core" &<, l j \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts + "manipulator"&l' +16 "core" ' + "manipulator"&$& +4 "core" &   " +2 "storage"(:& +4 "core" &<, f ` R\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(n' +41 "core" ' + "manipulator"&P& +5 "core" &   " +2 "manipulator"&b% +3 "core" %I  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( +2 "manipulator"&o& +5 "core" &ӑ!   :+ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӑ!   :+ +3 .tForearm.seek CC + "manipulator"&J'? +92 "core" ' +2 .tHand.close + "manipulator"&D/ +55 "core" / +2 .tCC.seek :open +2 "collection"'!( +447 "core" ( +2 "storage"(M& +4 "core" &<, b\ + "storage"(@& +5 "core" &<, \ + "manipulator"&&& +4 "core" &ӝ \  8 +2 "manipulator"&% +3 "core" % >   0 +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +40 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&f( +163 "core" ( + "manipulator"&C& +5 "core" &    + "storage"(k& +5 "core" &<, \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&g1 +56 "core" 1 +3 "manipulator"&Q% +4 "core" % z   +2 "storage"([& +4 "core" &<, \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 281 counts +2 "manipulator"&j'Ϧ +15 "core" ' +2 "manipulator"&u& +3 "core" &  +2 "storage"(~& +5 "core" &<, l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +15 "core" ' +2 "storage"(>% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %@ }\ V_ +2 "manipulator"&v% +5 "core" %; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'=& +3 "core" &\ \ @\ +2 "manipulator"&i% +5 "core" %      + "storage"(% +5 "core" % \  +2 "storage"(%. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(G(K +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &K t >\ +2 "manipulator"&I& +3 "core" &    +3 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&p& +3 "core" &     +2 "storage"(& +5 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +103 "core" ' +2 "storage"(X& +3 "core" &K \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'r +294 "core" ' +2 "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (*& +3 "core" &K y w B\ +2 "manipulator"&,& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&F& +4 "core" & k  +2 "storage"(& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&x'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(t' +8 "core" &  +2 "manipulator"&B% +3 "core" % e z +3 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&E& +3 "core" &ӈ$   =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &ӈ$   =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&& +4 "core" &Ӊ%   < =D +2 "manipulator"&% +3 "core" %/   : +3 "collection"'s& +3 "core" &\ \ \ +50 "collection"'1& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &\ \ \ +7 &<\ \ \ $f +9 &Z{\ \ !\ 7 +10 &v\ \ \ K +9 &U\ \ 5\ J +9 &S\ \ \ K +10 &MQ\ \  \ J +9 &T\ \ +\ J +9 &W\ \ 9\ K +10 &U\ \ <\ K +9 &UW\ \ =\ J +10 & R\ \ 7\ J +9 &!T\ \ 7\ J +9 &#W\ \ 9\ J +10 &%]Q\ \ 9\ J +9 &'S\ \ 9\ J +9 &(W\ \ ;\ K +10 &*U\ \ :\ K +9 &,cU\ \ 8\ K +10 &.%W\ \ 7\ K +9 &/W\ \ *\ J +9 &1U\ \ 5\ J +10 &3lW\ \ )\ K +9 &5/W\ \ /\ J +10 &6S\ \ 9\ K +9 &8W\ \ 9\ K +9 &:tU\ \ :\ K +10 &<7R\ \ #\ J +9 &=T\ \ 5\ J +9 &?X\ \ 9\ J +10 &A|U\ \ -\ J +9 &C=X\ \ -\ K +10 &Db\ \ \ /\ L +9 &Fk\ \ 7\ M +9 &Hv{\ \ :\ O +10 &J+\ /\ *4\ T +9 &K\ 8\ 78\ V +9 &M\ 8\ 7-\ W +10 &Oh\ 6\ 58\ W +9 &Q(\ 4\ 58\ X +10 &R\ 3\ 4;\ X +9 &T\ /\ 15\ X +9 &Vi\ /\ 0+\ Y +10 &X+\ /\ 07\ Y +9 &Y\ /\ /9\ Z +9 &[\ /\ 01\ H +10 &\\3\ 0\ -<\ , +9 &\\c\ ,\ ,6\ M +3 ( + "collection"'1& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&h1 +53 "core" 1 +2 "manipulator"&L% +4 "core" % / !  E : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%0& +4 "core" & \ +2 "manipulator"&% +4 "core" % "  & + "storage"(R% +5 "core" % _ h \  +2 "storage"(^. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(8(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &K G D \  +2 "manipulator"&e& +3 "core" &Ӭ  8! +3 "manipulator"&#% +4 "core" % "  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&?( +162 "core" ( + "manipulator"&}& +4 "core" &   0  +2 "storage"('& +4 "core" &K } \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&<' +90 "core" ' +4 "storage"(& +4 "core" &K  +\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +2 "core" &K g _ t\  +3 "manipulator"&"& +4 "core" &  z  +2 .tElbow.seek 6 + "manipulator"&N( +4 "core" ( +2 "manipulator"&;& +4 "core" &   G  + "storage"(& +4 "core" &K | N\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&m& +2 "storage"(\ ' +9 "core" & P  + "manipulator"&T% +4 "core" % τ  < +2 .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&+& +3 "core" &  \   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Y' +95 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&% +4 "core" %  j +2 "processing"%.& +4 "core" &\ +2 "processing"%|& +5 "core" &2\ +3 .tPC.seek :closed +2 "processing"%2(^ +4 "core" &\  +8 &5w \ *x +10 &d|"\ > +9 &m!\ N +9 &HR!\ M +10 &\ T!\ M +9 &R"\ M +9 &S"\ M +10 &QS!\ M +9 &T!\ M +10 &T\ M +9 & T!\ M +9 &"XT\ M +10 &$T\ M +9 &%T\ M +9 &'S\ M +10 &)`T\ M +9 &+#U\ M +10 &,U\ M +9 &.S\ M +9 &0iT\ M +10 &2+S \ M +9 &3Q\ M +9 &5T \ M +10 &7pT \ M +9 &91U \ M +10 &:W \ N +9 &<T\ M +55 &>xT \ M +5 &@8V\ N +3 &AW\ N + &C_\ N +2 &Eze\ O + &G9k\ P + &H~\ R +7 &J\ S +9 &Lu\ S +10 &N6\ T +9 &O\ T +9 &Q\ T +10 &Sz\ T +9 &U<\ T +10 &V\ T +9 &X\ T +9 &Z\ U +10 &\\C\ U +9 &]{r\ 5 +9 &^2\ H +10 &^\ + +2 ( +2 "processing"%|& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&r1 +62 "core" 1 +2 "manipulator"& % +4 "core" %   j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +95 "core" ' +2 "processing"% & +3 "core" &^ \ + +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&O% +4 "core" % #   0 1 +2 "storage"(/% +4 "core" % i j \  +2 "storage"(`. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(w(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 ($& + "manipulator"&:& +5 "core" &K M # \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(P'r + "manipulator"&b( +7 "core" ( + "manipulator"&H& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &    +3 .tForearm.seek PC +2 "manipulator"&a' +95 "core" ' +2 .tHand.close + "manipulator"&_/ +61 "core" / +2 .tPC.seek :open +2 "processing"%l( +90 "core" ' + "storage"(z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'1 +40 "core" ' +313 ( +2 "storage"(& +3 "core" &K j l \  +2 "manipulator"&y& +6 "core" &     + "manipulator"& % +5 "core" %   ) +2 .tForearm.seek :retract + "manipulator"&D' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&5( +248 "core" ( +2 "manipulator"&& +4 "core" &   - 0 +2 "storage"(M& +4 "core" &K j i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +95 "core" ' +2 .tHand.open + "manipulator"&&1 +60 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(C' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(k- +3 "core" -' +2 "storage"(& +3 "core" &K 7\  +2 "manipulator"&g& +5 "core" &   0 +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&[& +5 "core" &   6 0 + "storage"(u& +4 "core" &K j\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&~' +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(>'" +57 "core" ' + "manipulator"&& +3 "core" &   0 +3 "storage"(& +4 "core" &K i _ x\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&v'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +47 "manipulator"&=% +5 "core" %:   +2 "storage"(i& +4 "core" &K i j \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 298 counts + "manipulator"&j'f +16 "core" ' + "manipulator"&& +5 "core" & \  v 0 + "storage"(%& +5 "core" &K ` j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +16 "core" ' +2 "storage"(4% +4 "core" % k o \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (d% +3 "core" %fN O R L\ We +2 "manipulator"&A% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (p& +3 "core" &K _ g >\  +2 "collection"'& +4 "core" &\\`\ !\ !8\ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&X% +3 "core" % !    % +2 "storage"(W% +5 "core" % i f \  + "storage"(9. +4 "core" .(K + "storage"(K& +4 "core" &K \\ \\ \  +2 "storage"(*& +4 "core" &K _ \\ \  +2 "manipulator"&,& +4 "core" &    0 +2 .tElbow.seek 6 + "manipulator"&F( +4 "core" ( +2 "manipulator"&& +3 "core" &   0 +2 "storage"(]& +5 "core" &K g _ F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +93 "core" ' +2 "storage"(B& +4 "core" &K ~ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" &  0 +3 "storage"(Z& +3 "core" &K } d v\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&c'< +22 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('k +31 "core" ' + "manipulator"&s% +4 "core" %;  A +2 "storage"( & +3 "core" &K l ` k\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&t'g +16 "core" ' + "manipulator"& & +4 "core" &  W 0 +2 "storage"(!& +3 "core" &K }\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(L' +36 "core" ' +2 "manipulator"&0& +4 "core" &   # 0 +2 "manipulator"&% +3 "core" % \  e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&^(ӂ +153 "core" ( + "manipulator"&1& +5 "core" &Ӗ   , 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +4 "core" &Ӗ & 8 +2 .tForearm.seek CC +2 "manipulator"&e'? +100 "core" ' +2 .tHand.close + "manipulator"&#/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(}& +5 "core" &K  \  +2 "storage"('& +3 "core" &K ~ +\  +2 "manipulator"&G& +4 "core" &ә   7 +2 "manipulator"&% +4 "core" % :   - +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +40 "manipulator"&3( +170 "core" ( + "manipulator"&& +5 "core" &    +2 "storage"(7& +3 "core" &K w w U\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&"'< +94 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&{% +5 "core" % G t = + "storage"(m& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 311 counts + "manipulator"&T's +16 "core" ' +2 "manipulator"&?& +3 "core" &  +2 "storage"(<& +5 "core" &K >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +15 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(+' +98 (% +3 "core" %C } I\ V` +2 "manipulator"&N% +5 "core" % & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +4 "core" &\ \ \ +2 "manipulator"&.% +4 "core" %      +2 "storage"(\ % +4 "core" % \  +2 "storage"(U. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"()([ +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (r& +2 "core" &[ p Z\ +3 "manipulator"& & +4 "core" &     +2 .tElbow.seek 7 + "manipulator"& (r +37 "core" ( +2 "manipulator"&O& +4 "core" &    +2 "storage"(/& +3 "core" &[ \ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&`'= +94 "core" ' + "storage"(|& +4 "core" &[ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'r +292 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &[ ~ w\ \ +2 "manipulator"&(& +4 "core" &  0  +3 .tElbow.seek 7 +2 "manipulator"&Y(r +21 "core" ( +2 "manipulator"&_& +3 "core" &y 9  +2 "storage"(8& +5 "core" &[ \ \ +2 .tForearm.seek 7 + 300 counts + "manipulator"&z'ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&V& + "storage"(2' +7 "core" &y  +2 "manipulator"&P% +4 "core" % ϴ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"& & +4 "core" &ә   ~ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &ә   ? 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' +2 "manipulator"&M& +5 "core" &ә  4 + "manipulator"&b% +5 "core" %; \  +2 "collection"'&& +4 "core" &\ \ \ +2 "collection"'& +6 "core" &\ \ \ +2 .tCC.seek :closed +50 "collection"'k(\\ +7 "core" &\ \ \ + &\ \ \ + &\ \ \ \ +2 &\ \  \ + &\ \  \ +2 &\ \ \ + &\ \ \ 9 +6 &JKu\ \ \ 0 +9 &v|\ \ \ D +10 &-\\\ \ \ K +9 &T\ \ \ K +9 &S\ \ \ J +10 &tW\ \ *\ K +9 &7U\ \ #\ J +10 &U\ \ $\ J +9 &W\ \ 7\ J +9 &}W\ \ \ J +10 &!?Q\ \ 5\ J +9 &#R\ \ 0\ J +9 &$T\ \ U\ J +10 &&W\ \ #\ J +9 &(FW\ \ G\ K +10 &* T\ \ E\ J +9 &+R\ \ L\ K +9 &-T\ \ J\ K +10 &/OR\ \ M\ J +9 &1R\ \ K\ K +10 &2W\ \ O\ J +9 &4X\ \ I\ J +9 &6WT\ \ O\ J +10 &8W\ \ L\ J +9 &9R\ \ L\ J +9 &;T\ \ P\ J +10 &=^U\ \ K\ K +9 &?!R\ \ K\ J +10 &@S\ \ J\ K +9 &BY\ \ M\ K +9 &Dd]\ \ \ I\ K +10 &F"g\ \ K\ M +9 &Gu\ \ I\ O +9 &I\ +\ $K\ R +10 &KM\ :\ 7L\ V +9 &M\ 7\ ;C\ V +10 &N\ 8\ 8G\ W +9 &P\ 7\ 7H\ W +9 &RP\ 6\ 4?\ X +10 &T\ 1\ 4;\ X +9 &U\ 2\ 3H\ Y +9 &W\ 0\ 1B\ Y +10 &YQ\ /\ 1H\ Z +9 &[\ 1\ /D\ [ +9 &\\eE\ .\ 29\ 1 +10 &\\\ /\ .4\ N +5 ( +2 "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&1 +3 "core" &\\g\ +\ *8\ N +49 1 +2 "manipulator"&g% +3 "core" % ;   , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%u& +4 "core" &1\ +2 "manipulator"&D% +4 "core" % #  0 +2 "storage"(% +3 "core" % ` m \  +3 "storage"(. +3 "core" .([ +2 "storage"(=& +4 "core" &[ g l t\ \ + "storage"(o& +5 "core" &[ l i \ \ + "manipulator"&J& +5 "core" &Ӡ   3 + "manipulator"&i% +5 "core" % #  s 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +161 "core" ( + "manipulator"&%& +4 "core" &q   +2 "storage"(5& +3 "core" &[ ] a \ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&4'= +105 "core" ' + "storage"(@& +5 "core" &[  o\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +295 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &[ [ g L\ \ +2 "manipulator"&A& +4 "core" &q n  +2 .tElbow.seek 7 +2 "manipulator"&Q(r +3 "core" ( +2 "manipulator"&>& +3 "core" &q   +3 "storage"(v& +4 "core" &[ q ~ I\ \ +2 .tForearm.seek 7 + 300 counts + "manipulator"&j'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(X' +7 "core" &q   $  +2 "manipulator"&W% +3 "core" % ϧ   : +3 .tForearm.seek :retract + "manipulator"&9' +94 "core" ' +3 .tElbow.seek PC + "manipulator"&( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&K& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" & !   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,' +99 "core" ' +2 "manipulator"&& +3 "core" &    +3 "manipulator"&]% +4 "core" % . +2 "processing"%n& +4 "core" &\ +2 "processing"%B& +5 "core" &3\ +3 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +8 &2v!\ )w +10 &c|\ = +9 &xn\ M +9 &:N!\ M +10 &T#\ M +9 &S#\ M +9 &T!\ M +10 &CS!\ M +9 &U"\ M +10 &T\ M +9 & T!\ M +9 &"JT#\ M +10 &$ T"\ M +9 &%S!\ M +9 &'S!\ M +10 &)RT \ M +9 &+T\ M +10 &,U\ M +9 &.S\ M +9 &0[T\ M +10 &2S\ L +9 &3S\ M +9 &5S\ M +10 &7cT\ M +9 &9%V\ M +10 &:W\ M +9 &<U\ M +9 &>iW \ M +10 &@,W\ M +9 &AY\ \ N +10 &C`\ O +9 &Elh\ O +9 &G,n\ P +10 &H\ R +9 &J\ S +9 &Lh\ S +10 &N&\ U +9 &O\ T +9 &Q\ T +10 &Sk\ U +9 &U-\ U +10 &V\ T +9 &X\ T +9 &Zp\ V +52 &\\5\ U +5 &]zr\ < + &^#Z\ Z + &^+\ 4 + ( + &^+\ 4 + &^+\ 4 +2 "processing"%B& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&f1 +4 "core" &^+\ 4 +54 1 +2 "manipulator"&I% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +94 "core" ' +2 "processing"%E& +3 "core" &^+#\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&Z% +4 "core" % % 2 2  = +2 "storage"(% +4 "core" % S e w\  +2 "storage"(s. +3 "core" .([ +2 "storage"( & +3 "core" &[ _ g \ \ +3 "storage"( & +2 "manipulator"&!& +6 "core" &[ i i \ \ +3 & )  7  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&0( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" ( +3 "manipulator"&\\& +3 "core" & 9 - \  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +3 "core" & . / P  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&c/ +65 "core" / +2 .tPC.seek :open + "processing"%t( +87 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +40 "core" ' +320 ( + "storage"(q& +4 "core" &[ i i \ \ +2 "manipulator"&h& +4 "core" &   +2 "manipulator"&x% +4 "core" %   * +2 .tForearm.seek :retract +2 "manipulator"&#' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&R(r +248 "core" ( +2 "manipulator"&& +3 "core" &~   e 9 +2 "storage"(}& +5 "core" &[ Z e "\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&''= +93 "core" ' +2 .tHand.open + "manipulator"&G1 +61 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(e' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(7- +3 "core" -' +2 "storage"(^& +4 "core" &[  \ \ +2 "manipulator"&& +4 "core" &~   , 9 +2 .tElbow.seek 7 +2 "manipulator"&{(r +9 "core" ( +2 "manipulator"&m& +3 "core" &    +3 "storage"(?& +4 "core" &[ q\ \ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&<'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&& +3 "core" &    +2 "storage"(& +5 "core" &[ i j \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&N'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"("' +28 "core" ' +2 "manipulator"&% +4 "core" %Έ   \ +2 "storage"(.& +3 "core" &[ 8 = }\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&T'ϴ +14 "core" ' + "manipulator"&\ & +5 "core" &   E  + "storage"(U& +4 "core" &[ | :\ \ +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&L'= +16 "core" ' + "storage"(6% +5 "core" % | \ +2 ."downElevator"SE.seek :down +4 "storage"(+' +98 (w% +3 "core" %{Q R I G\ Wf +2 "manipulator"&r% +4 "core" %6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" &[ h Y 4\ \ +3 "collection"'/& +4 "core" &\\g\ !\ "I\ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&|% +5 "core" %    + "storage"(;% +4 "core" % h g {\  +2 "storage"(. +3 "core" .([ +2 "storage"(:& +4 "core" &[ r e <\ \ +2 "storage"(H& +4 "core" &[  | ^\ \ +2 "manipulator"&(& +3 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&_(r +10 "core" ( + "manipulator"&8& +5 "core" &   ;  + "storage"(S& +5 "core" &[ } \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&V'= +93 "core" ' +2 "storage"(P& +4 "core" &[ ~ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +308 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &    +3 "storage"(a& +4 "core" &[ i j \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&$'{ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(M- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(b'o +29 "core" ' +2 "manipulator"&Y% +4 "core" %Ί    5 + "storage"(&& +4 "core" &[ j j \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&2'϶ +14 "core" ' +2 "manipulator"&& +3 "core" &    +2 "storage"(& +5 "core" &[ i j \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(g' +36 "core" ' +2 "manipulator"&u& +3 "core" & 4  +3 "manipulator"&D% +3 "core" %4 ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( +2 "manipulator"&=& +4 "core" &x(    @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &x(  @W +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&J/ +62 "core" / +2 .tCC.seek :open +2 "collection"'i( +450 "core" ( +2 "storage"(& +3 "core" &[ } '\ \ +2 "storage"(%& +5 "core" &[ $\ \ + "manipulator"&5& +4 "core" &Ӱ   ~ 8 +2 "manipulator"&@% +4 "core" % 1   T +2 .tForearm.seek :retract +2 "manipulator"&y' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&[(r +163 "core" ( +2 "manipulator"&~& +4 "core" &p   S  +2 "storage"(d& +3 "core" &[ \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&A'{ +133 "core" ' +8 .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +52 "core" 1 +3 "manipulator"&p% +5 "core" % ΍     + "storage"(& +5 "core" &[ \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&W'Ϲ +14 "core" ' +2 "manipulator"&& +4 "core" &p #  +2 "storage"(4& +3 "core" &[ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&C'= +15 "core" ' +2 "storage"(j% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(K' +99 (*% +3 "core" %E | \ U_ +2 "manipulator"&Q% +3 "core" %> +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"']& +3 "core" &\ \ \ +3 "manipulator"&n% +4 "core" % !  , +2 "storage"(X% +4 "core" % \  +2 "storage"(9. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(l(<- +665 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &<0 } 0\ +2 "manipulator"&I& +4 "core" &p    +2 .tElbow.seek 5 +2 "manipulator"&E( +23 "core" ( +2 "manipulator"&Z& +3 "core" &    ' +2 "storage"(& +4 "core" &<0 o\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +96 "core" ' +2 "storage"( & +3 "core" &<0 \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +299 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &<. J\ +2 "manipulator"&\\& +5 "core" &   ' + .tElbow.seek 5 +2 "manipulator"&F( +5 "core" ( +2 "manipulator"&,& +3 "core" &  | ' +2 "storage"(c& +4 "core" &<. \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +3 "storage"(' +8 "core" &  ' + "manipulator"&% +4 "core" %   F +3 .tForearm.seek :retract + "manipulator"&q' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +149 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&x& +2 "storage"(5 +7 "core" &ӏ# \  <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ# " - <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 "manipulator"&}& +3 "core" &Ӑ"   ;8 +2 "manipulator"&0% +5 "core" %;  r e +2 "collection"'G& +3 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'7(\\ +5 "core" &\ \ \  +8 &6x\ \ \ *z +9 & i~\ \ \ ? +10 &j\ \ \ K +9 &cT\ \ \ J +10 &'T\ \ \ \ J +9 &W\ \ \ J +9 &Q\ \  \ J +10 &lT\ \  \ J +9 &.W\ \ \ J +9 &Q\ \  \ J +10 & T\ \ \ J +9 &"tW\ \  \ J +10 &$5W\ \ \ K +9 &%U\ \ \ K +9 &'R\ \ \ J +10 &)|R\ \ \ J +9 &+=R\ \ \ K +9 &-W\ \ 3\ J +10 &.R\ \ ;\ J +49 &0U\ \ \ J +4 &2EW\ \ H\ J + &4S\ \ _\ K +2 &5W\ \  \ J + &7R\ \ >\ K + &9MW\ \ (\ J +7 &;R\ \ @\ K +10 &<R\ \ M\ J +9 &>U\ \ O\ J +10 &@UY\ \ H\ J +9 &BU\ \ N\ J +9 &CZ\ \ L\ K +10 &Eb\ \ N\ L +9 &GTn\ \ L\ N +9 &I \ #\ L\ Q +10 &J\ 7\ 2J\ V +9 &L\ 9\ 7K\ W +10 &N?\ 5\ 5N\ X +9 &P\ 5\ 4J\ W +9 &Q\ 2\ 2P\ Y +10 &S\ 1\ 2N\ Z +9 &UD\ 0\ 2I\ X +9 &W\ /\ /H\ [ +10 &X\ /\ /I\ Z +9 &Z\ /\ .K\ [\ +10 &\\#z\ +\ -J\ / +9 &\\4\ *\ -M\ !e +9 ( + &\\a\ +\ +H\ M +3 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&^1 +53 "core" 1 +3 "manipulator"&% +3 "core" % ;   K e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%?& +4 "core" &(\ +2 "manipulator"&#% +3 "core" %     +3 "storage"(% +4 "core" % m _ \  + "storage"(. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(1(<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<. j j y\ +2 "manipulator"&.& +5 "core" &Ӯ \  J 7 + "manipulator"&e% +5 "core" %   H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&\ ( +166 "core" ( + "manipulator"&U& +4 "core" &   /  +2 "storage"(R& +3 "core" &<. } \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +94 "core" ' + "storage"('& +4 "core" &<. } \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (w& +3 "core" &<. h j \ +2 "manipulator"&r& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&& +3 "core" &  ;  +3 "storage"(N& +4 "core" &<. _ i \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&T'Ϲ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(|' +9 "core" &   g  + "manipulator"&;% +4 "core" %  $ +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek PC +2 "manipulator"&"( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&:& +3 "core" &   A  +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&(' +99 "core" ' + "manipulator"&8& +5 "core" &    + "manipulator"&S% +5 "core" %   +2 "processing"%L& +4 "core" &'\ +3 "processing"%P& +4 "core" &?\ +3 .tPC.seek :closed + "processing"%+(^ +5 "core" &'\  +9 &2v%\ )w +9 &c|\ = +10 &gp\ N +9 &)T\ M +9 &R\ N +10 &S\ M +9 &pT\ M +9 &1T\ M +10 &T\ M +9 &R\ M +10 & wU\ M +9 &"8T\ N +9 &#U\ M +10 &%T\ M +9 &'U\ M +9 &)BW\ M +10 &+U\ M +9 &,U\ M +10 &.T\ M +9 &0JV\ M +9 &2 S\ M +10 &3S\ M +9 &5R\ M +9 &7QT\ M +10 &9W\ N +9 &:W\ M +10 &<R\ M +9 &>XW \ N +9 &@U \ M +10 &AZ\ N +9 &Cc \ O +9 &E[g\ O +10 &Gr\ Q +9 &H\ S +10 &J\ T +9 &LW \ S +9 &N\ T +10 &O\ T +9 &Q\ U +9 &S[\ U +10 &U\ U +9 &V\ U +10 &X \ T +9 &Zb\ U +9 &\\% \ U +10 &]|\ \ 4 +9 &^+c \ !_ +9 &^%\ 1 +3 ( + "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&31 +62 "core" 1 +2 "manipulator"& % +4 "core" %  \   +47 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +100 "core" ' +2 "processing"% & +4 "core" &^% \ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&a% +4 "core" % \    +2 "storage"(M% +4 "core" % j l \  +2 "storage"(Y. +3 "core" .(<- +2 "storage"(&& +4 "core" &<. _ l \ +2 "storage"(& +4 "manipulator"&& +5 "core" &<. k l w\ + &    +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&u( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(D'r +3 "core" ( +2 "manipulator"&V& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &    +3 .tForearm.seek PC + "manipulator"& ' +92 "core" ' +3 .tHand.close + "manipulator"&$/ +60 "core" / +2 .tPC.seek :open +2 "processing"%2( +91 "core" ' +2 "storage"(b- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(='1 +43 "core" ' +313 ( +2 "storage"(o& +3 "core" &<, g ^ L\ +2 "manipulator"&& +5 "core" &  "  + "manipulator"&z% +4 "core" %    F +2 .tForearm.seek :retract +2 "manipulator"&J' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +246 "core" ( +2 "manipulator"&k& +3 "core" &  \   +2 "storage"(& +4 "core" &<, _ k Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +92 "core" ' + .tHand.open +2 "manipulator"&51 +56 "core" 1 +2 "storage"(@- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(d' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &<,  \ +2 "manipulator"&v& +3 "core" &   S  +3 .tElbow.seek 5 + "manipulator"&p( +4 "core" ( +2 "manipulator"&& +3 "core" &   3  +2 "storage"(& +92 "core" &<, z { \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(j'" +56 "core" ' +2 "manipulator"&y& +3 "core" &  E  +2 "storage"(*& +4 "core" &<, k h w\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&Q'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +29 "core" ' +2 "manipulator"&]% +4 "core" %΢   + "storage"(n& +5 "core" &<, _ i T\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 321 counts +2 "manipulator"&W' +22 "core" ' +2 "manipulator"&X& +4 "core" &   5  +2 "storage"(9& +3 "core" &<, }\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&g'O +16 "core" ' +2 "storage"(C% +4 "core" % |\ +2 ."downElevator"SE.seek :down +43 "storage"(K' +60 ()% +3 "core" %I = < \ U` +2 "manipulator"&f% +4 "core" %W  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +100 "core" ' +98 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Z& +3 "core" &<, h t T\ +2 "collection"'& +5 "core" &\\`\ \ !H\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %  - +2 "storage"(>% +4 "core" % ~ \  +2 "storage"(. +3 "core" .(<- +2 "storage"(!& +4 "core" &<, } \ +2 "storage"(B& +4 "core" &<, ~ \ + "manipulator"&\\& +5 "core" &   +2 .tElbow.seek 5 + "manipulator"&,( +4 "core" ( +2 "manipulator"&c& +4 "core" & \  f  +2 "storage"(& +3 "core" &<, ~ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&-'O +91 "core" ' +2 "storage"(& +3 "core" &<, d\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +298 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" &   +2 "storage"(& +3 "core" &<, z g\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"& '΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(0'v +32 "core" ' + "manipulator"&G% +5 "core" %Ν \  + "storage"(F& +4 "core" &<, { ;\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +23 "core" ' +2 "manipulator"&q& +4 "core" &  +2 "storage"(i& +3 "core" &<, } \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +31 "core" ' +2 "manipulator"&?& +4 "core" &   +2 "manipulator"&#% +3 "core" %N  y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( +2 "manipulator"&& +3 "core" &ӏ   % 9) +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ \ < 9) +3 .tForearm.seek CC + "manipulator"&.'? +97 "core" ' +2 .tHand.close + "manipulator"&e/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(U& +4 "core" &<, | :\ +2 "storage"(R& +3 "core" &<, } \ +3 "manipulator"&l& +4 "core" &Ӥ   Y 7 + "manipulator"&'% +5 "core" % N ] +2 .tForearm.seek :retract + "manipulator"&h' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&m( +161 "core" ( +2 "manipulator"&<& +4 "core" &  n  +2 "storage"(w& +3 "core" &<, \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&r'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&N1 +105 "core" 1 +6 "manipulator"&O% +3 "core" % ΋   +3 "storage"(/& +4 "core" &<, o\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 298 counts +2 "manipulator"&;'Ϸ +23 "core" ' + "manipulator"&\ & +5 "core" & 5  + "storage"(6& +6 "core" &<, \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' + "storage"(T% +5 "core" % l\ +3 ."downElevator"SE.seek :down +4 "storage"(:' +99 (H% +3 "core" %L ~ \ Vb +2 "manipulator"&{% +5 "core" %H ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +96 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'S& +3 "core" &\ \ \ +2 "manipulator"&L% +5 "core" % #  3 + "storage"(|% +5 "core" % _\  + "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(t(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (3& +3 "core" &K  %\ +3 "manipulator"& & +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"& & +5 "core" &  $  + "storage"(a& +5 "core" &K d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +94 "core" ' + "storage"(Y& +5 "core" &K A\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +309 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K {\ +2 "manipulator"&V& +4 "core" & W  +2 .tElbow.seek 6 +2 "manipulator"&_( +4 "core" ( +2 "manipulator"&(& +3 "core" & |  +2 "storage"($& +4 "core" &K w\ +4 .tForearm.seek 6 + 300 counts + "manipulator"&b'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&`& +2 "storage"(+' +9 "core" & B  + "manipulator"&D% +4 "core" % m - +2 .tForearm.seek :retract +2 "manipulator"&o' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&z& + "storage"(5 +8 "core" &z%   , >I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &z%  8 >I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&k'? +101 "core" ' + "manipulator"&& +5 "core" &ә!   % :* +3 "manipulator"&u% +4 "core" %7 l  +2 "collection"'5& +4 "core" &\ \ \ +2 "collection"'@& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'(\\ +4 "core" &\ \ \ +8 &B\ \ \ $e +9 &Yx\ \ \ 7 +9 &s\ \ \ J +10 &R\ \ \ J +9 &U\ \ \ J +10 &JW\ \  \ J +9 & R\ \ \ K +9 &W\ \  \ J +10 &W\ \  \ K +9 &QU\ \ \ \ K +9 & W\ \  \ J +10 &!V\ \  \ K +9 &#U\ \  \ K +10 &%YU\ \ \ K +9 &'Q\ \ \ J +9 &(R\ \ \ K +10 &*T\ \ \ K +9 &,bR\ \  \ J +9 &.$U\ \ \ J +10 &/W\ \ \ K +9 &1U\ \ \ K +10 &3jR\ \ \ J +9 &5,T\ \ 2\ J +9 &6W\ \ 1\ K +10 &8U\ \ /\ K +9 &:rR\ \ \ J +10 &<4T\ \ \ J +9 &=W\ \ \ K +9 &?V\ \ E\ K +10 &AzU\ \ \ J +9 &C9\\\ \ b\ K +9 &D^\ \ Y\ L +10 &Fk\ \  \ M +9 &Hr|\ \ 5\ P +9 &J)\ .\ )I\ T +10 &K\ 8\ 7I\ U +9 &M\ 6\ 6N\ V +10 &Od\ 7\ 5P\ W +50 &Q&\ 2\ 3I\ W +4 &R\ 3\ 3N\ X +2 &T\ 2\ 2H\ Y + &Vg\ 0\ 0O\ Y + &X'\ 0\ 0I\ Z + &Y\ /\ .M\ Z +6 &[\ 0\ /N\ G +10 &\\1\ ,\ /J\ 1 +9 &\\d\ +\ -L\ K +2 ( +2 "collection"'@& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +3 "manipulator"&v% +3 "core" % 7    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%J& +4 "core" &2\ +2 "manipulator"&% +3 "core" %   I  +2 "storage"(=% +5 "core" % r m X\  + "storage"(y. +4 "core" .(K + "storage"(*& +5 "core" &K \\ [ B\ +2 "storage"(~& +3 "core" &K [ [\ +3 "manipulator"&]& +4 "core" &ӧ   8 + "manipulator"&n% +5 "core" %   C  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +160 "core" ( + "manipulator"&X& +4 "core" &  R  +2 "storage"(9& +4 "core" &K ~ (\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +91 "core" ' +2 "storage"(%& +3 "core" &K } \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(d'r +310 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &K k l L\ +2 "manipulator"&4& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&p( +16 "core" ( +2 "manipulator"&j& +3 "core" &    \ R +3 "storage"(Q& +4 "core" &K }\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&W'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"( ' +8 "core" &  $ C + "manipulator"&A% +5 "core" % u   +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +107 "core" ( +2 "manipulator"&!& +4 "core" &  7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +100 "core" ' +2 "manipulator"&c& +4 "core" &   +2 "manipulator"&% +4 "core" %    +2 "processing"%g& +4 "core" &A\ +2 "processing"%& +6 "core" &5\ +2 .tPC.seek :closed +2 "processing"%K(^ +5 "core" &6\ +5 &/\ 8 +10 &>Hr2\ 0 +9 &ls}4\ D +10 &]2\ N +9 &S3\ M +9 &R%\ M +10 &VR'\ M +9 &R&\ M +9 &T+\ M +10 &T1\ M +9 &]T\ M +10 &!T!\ N +9 &"T#\ M +9 &$T-\ M +10 &&eS.\ M +9 &((S(\ M +9 &)T(\ M +10 &+S&\ M +9 &-nT'\ M +9 &/0S#\ M +10 &0T,\ M +9 &2T'\ M +10 &4wR$\ M +9 &69T-\ M +9 &7T.\ M +10 &9U+\ M +9 &;}V\ M +9 &=@V(\ M +10 &?W\ M +9 &@Y\ M +10 &B\\&\ N +9 &DD^'\ N +9 &Ff#\ O +10 &Gr'\ P +9 &I~ \ R +9 &K=$\ S +10 &L'\ S +9 &N\ T +10 &P\ T +9 &RA\ U +9 &T\ U +10 &U\ T +9 &W\ U +9 &YI\ U +10 &[ \ U +9 &\\\ U +10 &^Be\ 'y +9 &^j\ 9 +9 ( + &^"\ 2 +3 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&[1 +60 "core" 1 +2 "manipulator"&I% +4 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s' +98 "core" ' +2 "processing"%x& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +3 "core" % (  !R +3 "storage"(}% +3 "core" % \\ f\  +2 "storage"(G. +49 "core" .(K +4 "storage"(F& +3 "core" &K [ \\ 8\ +3 "storage"(q& +3 "manipulator"&i& +5 "core" &K f _ +\ +3 &  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(?'r + "manipulator"&#( +6 "core" ( +2 "manipulator"&-& +4 "core" & / / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" & 1 1 +2 .tForearm.seek PC +2 "manipulator"&E' +94 "core" ' +2 .tHand.close +2 "manipulator"& / +61 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' + "storage"(0- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +314 ( +2 "storage"(& +4 "core" &K ~\ \ +2 "manipulator"&^& +4 "core" &   +2 "manipulator"&% +4 "core" %  1 +2 .tForearm.seek :retract + "manipulator"&e' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +240 "core" ( +2 "manipulator"&7& +3 "core" &   \  +3 "storage"(U& +4 "core" &K ~ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +103 "core" ' + .tHand.open +2 "manipulator"&l1 +64 "core" 1 +3 "storage"('- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(<' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(w' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +4 "core" -' +2 "storage"(& +4 "core" &K \ \ + "manipulator"&N& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&O( +10 "core" ( +2 "manipulator"&/& +3 "core" &   +2 "storage"(\ & +4 "core" &K (\ \ +3 .tForearm.seek 6 + 450 counts + "manipulator"&6' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(h'" +51 "core" ' +2 "manipulator"&T& +3 "core" &  ` +3 "storage"(m& +4 "core" &K i ` !\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&H'< +18 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +20 "core" ' + "manipulator"&S% +4 "core" %I  / +2 "storage"(L& +4 "core" &K i l |\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&;'u +23 "core" ' +2 "manipulator"&|& +3 "core" &  T +2 "storage"(& +5 "core" &K l j f\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +24 "core" ' +2 "storage"(% +4 "core" % i i \ +2 ."downElevator"SE.seek :down +4 "storage"(:' +99 (1% +3 "core" %DQ F H d\ We +3 "manipulator"&3% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +42 ( & +10 "core" &K { +\ \ +2 "collection"'a& +4 "core" &\\b\ "\ !J\ K +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&Y% +3 "core" %    +2 "storage"(% +4 "core" % ~ \  +2 "storage"(8. +3 "core" .(K +2 "storage"(& +4 "core" &K ~\ \ +2 "storage"(& +3 "core" &K | Q\ \ +3 "manipulator"&V& +3 "core" &    +3 .tElbow.seek 6 + "manipulator"&(( +9 "core" ( + "manipulator"&$& +4 "core" &   +2 "storage"("& +3 "core" &K | 2\ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +94 "core" ' + "storage"(D& +4 "core" &K ~  \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +298 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" &   +2 "storage"( & +5 "core" &K | @\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(u'k +31 "core" ' +2 "manipulator"&5% +4 "core" %.  + "storage"(_& +4 "core" &K k ` \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 286 counts +2 "manipulator"&+'Z +16 "core" ' + "manipulator"&o& +5 "core" &   +2 "storage"(& +4 "core" &K H\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +3 "manipulator"&' +18 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(v' +37 "core" ' + "manipulator"&J& +4 "core" & X +2 "manipulator"&% +4 "core" % $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +155 "core" ( +2 "manipulator"&@& +5 "core" &Ӑ  1 9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &Ӑ    9) +3 .tForearm.seek CC + "manipulator"&~'? +91 "core" ' +2 .tHand.close + "manipulator"&]/ +3 "Can" U s' +60 "core" / +2 .tCC.seek :open +2 "collection"'n( +446 "core" ( +2 "storage"(k& +3 "core" &K  m\ \ +3 "storage"(X& +4 "core" &K  ]\ \ +2 "manipulator"&9& +4 "core" &Ӷ  ! 4 +2 "manipulator"&%% +3 "core" % /   +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +162 "core" ( +2 "manipulator"&)& +3 "core" &    +2 "storage"(f& +4 "core" &K v w f\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&4'< +97 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +60 "core" 1 +2 "manipulator"&Z% +5 "core" % O    +2 "storage"(& +4 "core" &K {\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&A'{ +22 "core" ' +2 "manipulator"&& +47 "core" &  +5 "storage"(C& +4 "core" &K \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&d' +16 "core" ' +2 "storage"(W% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(!' +98 (B% +3 "core" %F | (\ Va +2 "manipulator"&p% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +96 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&g% +4 "core" %   +2 "storage"( % +3 "core" % |\ +2 "storage"(>. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(2([ +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +3 "core" &[ m t Y\ \ +2 "manipulator"&I& +3 "core" &  +3 .tElbow.seek 7 + "manipulator"&x(r +33 "core" ( +2 "manipulator"&& +4 "core" & V \ +2 "storage"(}& +4 "core" &[ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&G'= +107 "core" ' +2 "storage"(& +3 "core" &[ %\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(F'r +296 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (i& +3 "core" &[ u ~ D\ \ +2 "manipulator"&-& +3 "core" & \ +2 .tElbow.seek 7 +2 "manipulator"&,(r +15 "core" ( + "manipulator"&\\& +4 "core" &{ F  +2 "storage"( & +4 "core" &[ l\ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&0'ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +3 "storage"(K' +8 "core" &{  + "manipulator"&?% +4 "core" % ϓ < J +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&^(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&& +4 "core" &ӓ   d 8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &ӓ   8" +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&7'? +102 "core" ' +2 "manipulator"&U& +3 "core" &ӓ   j 8" +3 "manipulator"&#% +3 "core" %B    +3 "collection"'l& +3 "core" &\ \ \ +3 "collection"''& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'.(\\ +3 "core" &\ \ \ +8 &<\ \ \ $f +9 &Xx\ \ \ 7 +9 &t\ \ \ K +10 &T\ \ \ K +9 &W\ \ \ J +10 &IR\ \ \ K +9 & W\ \  \ J +9 &R\ \ \ J +10 &T\ \ \ J +9 &RV\ \  \ J +9 & Q\ \ \ K +10 &!V\ \ \ J +9 &#W\ \  \ K +10 &%YT\ \  \ K +9 &'Q\ \ \ \ J +9 &(T\ \ \ J +10 &*V\ \ \ J +9 &,aW\ \ \ K +9 &.#U\ \ \ K +10 &/R\ \ \ J +9 &1U\ \ \ J +10 &3iR\ \  \ K +9 &5,R\ \ \ J +9 &6T\ \  \ J +10 &8W\ \ \ K +9 &:qU\ \ \ K +9 &<4R\ \ \ J +10 &=T\ \ \ J +9 &?X\ \ 6\ J +10 &AyW\ \ \ J +9 &C:Y\ \ 6\ K +9 &Dc\ \ \ L +10 &Fk\ \ 8\ M +9 &Hs~\ \ \ O +9 &J&\ 1\ )8\ U +10 &K\ ;\ 7:\ V +9 &M\ 7\ 9<\ W +10 &Oc\ 6\ 8:\ X +9 &Q%\ 5\ 36\ X +9 &R\ 5\ 4?\ Y +10 &T\ 0\ 3_\ Y +9 &Vd\ 2\ 3D\ Z +9 &X%\ 0\ 0:\ Z +10 &Y\ /\ /8\ \\ +9 &[\ -\ /\ H +10 &\\0\ /\ 1J\ 1 +9 &\\d\ ,\ +_\ L +2 ( +2 "collection"''& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +3 "manipulator"&N% +3 "core" % B   )  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%/& +4 "core" &6\ +2 "manipulator"&\ % +3 "core" %   `  +3 "storage"(T% +4 "core" % e [ \  + "storage"(m. +4 "core" .([ +2 "storage"(& +4 "core" &[ i _ n\ \ +2 "storage"(S& +4 "core" &[ f h 2\ \ +2 "manipulator"&L& +4 "core" &Ӫ  5 +2 "manipulator"&<% +4 "core" %    T  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&|(r +162 "core" ( + "manipulator"&& +4 "core" &u   +2 "storage"(& +5 "core" &[ } \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +93 "core" ' + "storage"(R& +5 "core" &[ ~ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(w'r +296 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (3& +3 "core" &[ ^ ] B\ \ +2 "manipulator"&6& +4 "core" &u  k  +2 .tElbow.seek 7 +2 "manipulator"&O(r +3 "core" ( +2 "manipulator"&h& +4 "core" &u  i  + "storage"(H& +5 "core" &[ [ [\ \ +2 .tForearm.seek 7 + 300 counts + "manipulator"&;'ϧ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(a' +8 "core" &u s  + "manipulator"&Y% +4 "core" % Ͼ  +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&& +3 "core" &  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&V' +92 "core" ' +2 "manipulator"&$& +4 "core" &  W +2 "manipulator"&"% +4 "core" %  - i +2 "processing"%& +4 "core" &?\ +3 "processing"%D& +5 "core" &4\ +2 .tPC.seek :closed +3 "processing"%:(^ +4 "core" &5\ +5 &:\ 8 +10 &DJs;\ 1 +9 &ts{5\ E +9 &Y7\ M +10 &R6\ M +9 &R9\ M +10 &cR4\ M +9 &%S0\ M +9 &S4\ M +10 &S0\ M +9 &kS5\ M +9 &!-T-\ M +10 &"T+\ M +9 &$U2\ M +10 &&sT*\ M +9 &(5T*\ M +9 &)T)\ M +10 &+T+\ M +9 &-{S/\ M +9 &/=T/\ M +10 &1R/\ M +9 &2T/\ M +10 &4U/\ M +9 &6FT/\ M +9 &8T/\ M +10 &9T/\ M +9 &;U/\ M +9 &=MT'\ M +10 &?W,\ M +9 &@W.\ M +10 &B^/\ N +9 &DP]0\ O +9 &Fi+\ O +10 &Gu*\ Q +9 &I(\ S +9 &KJ*\ S +10 &M *\ T +9 &N'\ T +10 &P!\ T +9 &RO!\ T +9 &T+\ U +10 &U)\ T +9 &W \ U +9 &YW'\ T +15 &[!\ T +4 &\\(\ U +11 &^H^(\ #l +8 &^Z\ 0 +9 ( + &^\ - +2 "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&{1 +58 "core" 1 + "manipulator"& % +5 "core" %    ) i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +96 "core" ' +3 "processing"%z& +4 "core" &^.\ - + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"& % +3 "core" % &   \ I +3 "storage"(% +3 "core" % k j \  +2 "storage"(5. +3 "core" .([ +2 "storage"(_& +3 "core" &[ i i \ \ +3 "storage"(o& +3 "manipulator"&& +5 "core" &[ i i \ \ +2 &  +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +51 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(J'r +3 "manipulator"&( +7 "core" ( + "manipulator"&`& +4 "core" & ( 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" & 8 ) +3 .tForearm.seek PC + "manipulator"&P' +96 "core" ' + .tHand.close +2 "manipulator"&&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%+( +85 "core" ' +2 "storage"(u- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'1 +47 "core" ' +311 ( +2 "storage"(*& +3 "core" &[ _ l g\ \ +2 "manipulator"&& +5 "core" &  + "manipulator"&b% +4 "core" %  & +2 .tForearm.seek :retract +2 "manipulator"&]' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&=(r +240 "core" ( + "manipulator"&& +4 "core" &m   0 R +2 "storage"(k& +4 "core" &[ l l \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&X'= +94 "core" ' + .tHand.open +2 "manipulator"&91 +59 "core" 1 +3 "storage"(%- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"()' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(f' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +4 "core" -' +2 "storage"(y& +4 "core" &[ K\ \ +2 "manipulator"&Q& +3 "core" &m   { R +3 .tElbow.seek 7 +2 "manipulator"&Z(r +3 "core" ( +2 "manipulator"&& +3 "core" &m   f R +3 "storage"(& +4 "core" &[ `\ \ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&C'= +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(W'" +51 "core" ' +2 "manipulator"&& +3 "core" &m  R +2 "storage"(& +5 "core" &[ k j \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&B'{ +31 "core" ' + .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(4' +29 "core" ' +2 "manipulator"&% +3 "core" %Ί . . ? +3 "storage"(A& +4 "core" &[ B ; \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&g'϶ +21 "core" ' +2 "manipulator"& & +3 "core" &z M E +3 "storage"(>& +4 "core" &[ ` \\ N\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&v'= +24 "core" ' +2 "storage"(d% +4 "core" % a q r\ +2 ."downElevator"SE.seek :down +4 "storage"(!' +99 (t% +4 "core" %`O G H \ We +2 "manipulator"&[% +3 "core" %1  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +95 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &[ ^ _ !\ \ +2 "collection"'}& +4 "core" &\\b\ \ !\ L +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +3 "core" %     +2 "storage"(j% +5 "core" % [ \\ J\  + "storage"(c. +3 "core" .([ +2 "storage"(q& +4 "core" &[ m ` ^\ \ +2 "storage"(i& +42 "core" &[ k b \ \ \ +10 "manipulator"&-& +4 "core" &z   E +2 .tElbow.seek 7 +2 "manipulator"&\\(r +3 "core" ( +2 "manipulator"& & +4 "core" &z  E +2 "storage"(& +4 "core" &[ ` o f\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&s'= +95 "core" ' +2 "storage"(?& +3 "core" &[  @\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(x'r +298 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &z   E +3 "storage"(E& +4 "core" &[ j _ \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&F'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(#'o +28 "core" ' + "manipulator"&l% +4 "core" %Ί  W < +2 "storage"(,& +3 "core" &[ j i \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&K'϶ +14 "core" ' +2 "manipulator"&& +4 "core" &{ ^ D + "storage"(n& +5 "core" &[ ^ h A\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(N' +45 "core" ' +2 "manipulator"&'& +4 "core" &{ ] D +2 "manipulator"&/% +3 "core" %5   { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +148 "core" ( +2 "manipulator"&m& +4 "core" &y( \  @Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &y(   A @Z +3 .tForearm.seek CC + "manipulator"&S'? +97 "core" ' +2 .tHand.close + "manipulator"&L/ +63 "core" / +2 .tCC.seek :open + "collection"'<( +447 "core" ( +2 "storage"(7& +3 "core" &[  \ \ +3 "storage"(& +4 "core" &[  \ \ + "manipulator"&& +5 "core" &ӷ   8 + "manipulator"&R% +4 "core" % >    +2 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&e(r +165 "core" ( +2 "manipulator"&1& +4 "core" &u   h  +2 "storage"(3& +4 "core" &[ { \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&6'{ +98 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&H1 +61 "core" 1 +2 "manipulator"&r% +5 "core" % Ί   + "storage"( & +3 "core" &[ { >\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&Y'϶ +15 "core" ' + "manipulator"&|& +4 "core" &u  +2 "storage"(& +3 "core" &[ 1\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +15 "core" ' +2 "storage"(;% +4 "core" % \ +2 ."downElevator"SE.seek :down +43 "storage"(' +60 (% +3 "core" % J r  :\ Wb +2 "manipulator"&O% +5 "core" %: y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +95 "core" ' +91 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'"& +3 "core" &\ \ \ +3 "manipulator"&% +4 "core" % \  r  +2 "storage"(a% +3 "core" % d\  +2 "storage"(. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" && +4 "core" &   +2 "storage"(d& +5 "core" &<' } \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +91 "core" ' +2 "storage"(X& +3 "core" &<' } \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(f'r +298 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +3 "core" &<' i _ s\ +2 "manipulator"&C& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&W& +4 "core" &  w +2 "storage"(B& +3 "core" &<' i j d\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&g'Ϲ +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&}& + "storage"(' +8 "core" &   V + "manipulator"&j% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&c' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&q& +3 "core" &  N  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +2 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-' +97 "core" ' +2 "manipulator"& & +3 "core" &    +3 "manipulator"&% +3 "core" %  & +3 "processing"%v& +3 "core" &\ +3 "processing"%?& +5 "core" &J\ +2 .tPC.seek :closed +2 "processing"%!(^ +5 "core" &\ +6 &6\ #c +9 &Uv*\ 6 +10 &w7\ K +9 &P5\ M +9 &dT4\ M +10 &&R:\ M +9 &U7\ M +10 &T9\ N +9 &mS5\ M +9 &.T4\ M +10 &T5\ M +9 &!Q5\ M +9 &#uU1\ M +10 &%6U4\ M +9 &&T6\ M +10 &(T0\ M +9 &*|T.\ M +9 &,>T*\ M +10 &.U0\ M +9 &/V+\ M +9 &1S+\ M +10 &3GS)\ M +9 &5\ S+\ M +10 &6U/\ M +9 &8U*\ M +9 &:NU.\ M +10 &<S/\ M +9 &=U.\ N +9 &?U,\ M +10 &AUU/\ N +9 &C_0\ N +10 &Dd-\ O +9 &Fl.\ P +9 &HP~+\ R +10 &J(\ S +9 &K.\ S +9 &M/\ T +10 &OR+\ T +9 &Q/\ U +9 &R(\ T +10 &T$\ U +9 &VY(\ T +10 &X$\ V +9 &Y*\ T +9 &[)\ U +10 &]_&\ C +9 &^H(\ W +9 &^=%\ 5 +6 ( +2 "processing"%?& +3 "core" &^,\ 5 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&p1 +53 "core" 1 +2 "manipulator"&I% +3 "core" %   & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +94 "core" ' +2 "processing"%& +5 "core" &^,#\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&E% +4 "core" % #  0 / +2 "storage"(U% +3 "core" % i i \  +2 "storage"(l. +3 "core" .(<- +2 "storage"(,& +3 "core" &<' X P 4\ +3 "storage"(& +3 "manipulator"&n& +5 "core" &<' i i {\ +3 &    +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&'( +2 "storage"(/'r +7 "core" ( +49 "manipulator"&s& +3 "core" & 2 :  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\\& +3 "core" & . -  +2 .tForearm.seek PC +2 "manipulator"&x' +94 "core" ' +2 .tHand.close + "manipulator"&F/ +65 "core" / +2 .tPC.seek :open + "processing"%K( +37 "core" ' + "storage"(#- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'1 +45 "core" ' +366 ( +3 "storage"(& +5 "core" &<' l l \ + "manipulator"&& +4 "core" &   +2 "manipulator"&0% +4 "core" % \  2 +2 .tForearm.seek :retract +2 "manipulator"&L' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&\ ( +246 "core" ( + "manipulator"&.& +5 "core" &     + "storage"(7& +4 "core" &<' k l \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +112 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(R- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(3' +59 "core" ' + #tLights, camera, ACTION! +2 "storage"(S- +3 "core" -' +2 "storage"(T& +3 "core" &<' \ +2 "manipulator"&H& +5 "core" &     + .tElbow.seek 5 +2 "manipulator"&r( +4 "core" ( + "manipulator"& & +5 "core" &    + "storage"(|& +5 "core" &<' ,\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +60 "core" ' + "manipulator"&^& +4 "core" &    +2 "storage"(& +4 "core" &<' j j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&O'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(6' +19 "core" ' + "manipulator"&Y% +5 "core" %Θ   + "storage"("& +5 "core" &<' j j \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&' +27 "core" ' +2 "manipulator"&a& +3 "core" & \   +3 "storage"(& +4 "core" &<' [ [ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +15 "core" ' +2 "storage"(w% +4 "core" % j _ z\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (2% +4 "core" %P R R V\ We +2 "manipulator"&{% +5 "core" %O    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &<' ^ s \ +2 "collection"'& +4 "core" &\\b\ !\ @\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&_% +4 "core" % \   +2 "storage"(h% +4 "core" % }\  +2 "storage"($. +3 "core" .(<- +2 "storage"(o& +3 "core" &<' }\ +2 "storage"(& +5 "core" &<' }\ + "manipulator"&`& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&V( +3 "core" ( +46 "manipulator"&&& +5 "core" &    +3 "storage"(8& +3 "core" &<' } \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +92 "core" ' +2 "storage"(J& +3 "core" &<'  )\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'r +298 "core" ' + "storage"(5- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &    +2 "storage"(P& +3 "core" &<'  \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&D'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('u +29 "core" ' + "manipulator"&(% +4 "core" %Α   +2 "storage"(9& +3 "core" &<' b _ <\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&:'Ͻ +15 "core" ' +2 "manipulator"&*& +4 "core" & \ C  +2 "storage"(<& +3 "core" &<' ~ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(Q' +35 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&]% +4 "core" %K  u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ( + "manipulator"&%& +4 "core" &x&    ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &x&    ?T +2 .tForearm.seek CC +2 "manipulator"&A'? +95 "core" ' + .tHand.close +2 "manipulator"&)/ +58 "core" / + .tCC.seek :open +2 "collection"'( +450 "core" ( +3 "storage"(>& +4 "core" &<' w \ +2 "storage"(d& +3 "core" &<' |  \ +2 "manipulator"&& +5 "core" &ө   9# + "manipulator"&X% +4 "core" % 8   S  +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&t& +3 "core" &  ]  +3 "storage"([& +4 "core" &<' \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&C'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&B1 +62 "core" 1 +2 "manipulator"&% +4 "core" % Θ \ * +2 "storage"(}& +4 "core" &<' j\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +3 "manipulator"&j' +15 "core" ' +2 "manipulator"& & +4 "core" &  +2 "storage"(=& +3 "core" &<' \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +15 "core" ' +2 "storage"(g% +4 "core" % w\ +2 ."downElevator"SE.seek :down +4 "storage"(q' +98 (i% +3 "core" %F }\ T] +2 "manipulator"&Z% +5 "core" %H u +2 .tForearm.reconfigure :loose +45 "manipulator"&#Q@2^d^b +7 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +2 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&v% +4 "core" % #  5 +2 "storage"(% +3 "core" % \  +3 "storage"(c. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(+(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" &K q k\ \ +2 "manipulator"&I& +5 "core" &   + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&E& +5 "core" &   + "storage"(U& +4 "core" &K q\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +93 "core" ' +2 "storage"(,& +4 "core" &K \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" &K  F\ \ +2 "manipulator"&s& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&-& +3 "core" &   D  +2 "storage"(F& +4 "core" &K v y O\ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&#'h +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&G& + "storage"(!' +7 "core" &  +2 "manipulator"&/% +4 "core" % ] +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&0& +3 "core" &ӎ    3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &ӎ   3 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&.'? +96 "core" ' + "manipulator"&7& +5 "core" &ӎ   3 + "manipulator"&'% +5 "core" %F   < +2 "collection"'& +3 "core" &\  #\ +3 "collection"'R& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'S(\\ +5 "core" &\ \ #\ +8 &<\ \ .\ $e +9 &Xx\ \ 1\ 7 +9 &v\ \ 0\ J +10 &U\ \ 0\ K +9 &W\ \ 1\ J +9 &GR\ \ 0\ J +10 & T\ \ '\ J +9 &W\ \ 1\ J +10 &W\ \ /\ K +9 &NT\ \ -\ K +9 & R\ \ -\ J +10 &!R\ \ $\ J +9 &#T\ \ \ J +9 &%WW\ \ $\ J +10 &'R\ \ \ J +9 &(T\ \ "\ J +10 &*T\ \ "\ K +9 &,_R\ \ \ J +9 &.!T\ \ \ J +10 &/W\ \ \ K +9 &1V\ \ \ K +9 &3gR\ \ \ J +10 &5)T\ \  \ J +9 &6W\ \  \ K +10 &8T\ \ \ K +9 &:oR\ \ \ J +9 &<1T\ \ \ J +10 &=W\ \ \ K +9 &?V\ \ \ K +9 &AwU\ \ \ J +10 &C8Y\ \ \ K +9 &Dc\ \ \ L +10 &Fm\ \ \ \ M +9 &Hp{\ \ \ O +9 &J&\ /\ (\ T +10 &K\ 7\ 6\ V +9 &M\ 6\ 6H\ V +9 &Oa\ 3\ 4\ W +10 &Q#\ 3\ 3D\ W +9 &R\ /\ 3\ X +10 &T\ 1\ 0\ Y +9 &Vd\ /\ /\ Y +9 &X$\ -\ 0\ Z +10 &Y\ 0\ -\ Z +9 &[\ .\ . \ H +9 &\\/\ 0\ -I\ 6 +10 &\\d\ *\ -@\ G +5 ( +2 "collection"'R& +4 "core" &\\Z\ +\ ,=\ G +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&T1 +57 "core" 1 +3 "manipulator"&H% +4 "core" % F   ] < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +99 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"% & +3 "core" &\ +3 "manipulator"&|% +4 "core" %    + "storage"(^% +4 "core" % }\  +2 "storage"(. +3 "core" .(K +2 "storage"(Y& +4 "core" &K } \ \ +2 "storage"(m& +4 "core" &K | )\ \ +2 "manipulator"&"& +3 "core" &ӏ   3 +2 "manipulator"&1% +49 "core" %    +5 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&a( +164 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(w& +6 "core" &K  4\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +90 "core" ' +2 "storage"(& +4 "core" &K l { \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(3'r +298 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &K w Y\ \ +2 "manipulator"&& +5 "core" &   +2 .tElbow.seek 6 + "manipulator"&r( +4 "core" ( +2 "manipulator"&;& +3 "core" &  3  +2 "storage"(O& +5 "core" &K } \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(_' +8 "core" &  F  + "manipulator"&h% +5 "core" % i \ \ d +2 .tForearm.seek :retract + "manipulator"&$' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&6( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&o& +4 "core" &    1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&`' +93 "core" ' + "manipulator"&&& +5 "core" &   $ 1 + "manipulator"&8% +5 "core" %    +2 "processing"%N& +4 "core" &\ +2 "processing"%J& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 &6'\ #b +9 &V{\ 6 +10 &z\ K +9 &Q \ M +10 &UT5\ M +9 &R7\ M +9 &V:\ M +10 &U=\ M +9 &^T=\ M +9 & U:\ M +10 &UB\ M +9 &!T=\ M +10 &#fU9\ M +9 &%'U7\ M +9 &&U9\ M +10 &(U7\ M +9 &*nU4\ M +9 &,0U6\ M +10 &-U<\ M +9 &/W1\ M +9 &1vR3\ M +10 &38T0\ M +9 &4R.\ M +10 &6U/\ M +9 &8|W,\ M +9 &:?W+\ M +10 &<V,\ M +9 &=S+\ M +9 &?X+\ M +10 &AFW,\ M +9 &C\\+\ N +10 &D`0\ O +9 &Fg3\ O +9 &HDs)\ Q +10 &I,\ S +9 &K,\ T +9 &M,\ T +10 &OD,\ S +9 &Q.\ T +10 &R0\ T +9 &T2\ U +9 &VJ+\ T +10 &X\ 0\ U +9 &Y,\ T +9 &[/\ U +10 &]O/\ I +9 &^~M,\ b +10 &^"-\ . +2 ( +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&e1 +52 "core" 1 +2 "manipulator"& % +3 "core" %   W  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +92 "core" ' +2 "processing"%b& +3 "core" &^"\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&P% +4 "core" % #   8 +2 "storage"(k% +3 "core" % i k \  +2 "storage"((. +4 "core" .(K +2 "storage"(9& +4 "core" &K l l \ \ +2 "storage"(*& +5 "manipulator"&<& +2 "core" &K l l \ \ +2 &   1 +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(]'r +2 "core" ( +3 "manipulator"&M& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &   v 1 +2 .tForearm.seek PC +2 "manipulator"&z' +93 "core" ' + .tHand.close +2 "manipulator"&D/ +102 "core" / +3 .tPC.seek :open +2 "processing"%:( +50 "core" ' +2 "storage"(%- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +344 ( + "storage"(@& +4 "core" &K m +\ +2 "manipulator"&y& +3 "core" &   1 +3 "manipulator"&u% +4 "core" % \  T +2 .tForearm.seek :retract +2 "manipulator"&)' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +246 "core" ( +2 "manipulator"&~& +4 "core" &   2  +2 "storage"(>& +4 "core" &K _ i S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +91 "core" ' +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "storage"(X- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(t' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"([' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(A- +3 "core" -' +2 "storage"(& +3 "core" &K "\ +2 "manipulator"&B& +4 "core" &  ;  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&}& +3 "core" &   {  +2 "storage"( & +4 "core" &K }\ +3 .tForearm.seek 6 + 450 counts + "manipulator"&=' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(g'" +51 "core" ' +2 "manipulator"&& +3 "core" &    +2 "storage"(i& +4 "core" &K _ j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&Z'< +19 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(C' +19 "core" ' +2 "manipulator"&% +4 "core" %7    +2 "storage"(j& +3 "core" &K i _ .\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 295 counts +2 "manipulator"&v'c +15 "core" ' +2 "manipulator"&& +3 "core" &     +3 "storage"(c& +4 "core" &K h u w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +18 "core" ' +2 "storage"(f% +4 "core" % }\ +2 ."downElevator"SE.seek :down +4 "storage"(q' +99 (% +3 "core" %VT C E =\ Xg +2 "manipulator"&p% +3 "core" %  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +3 "core" &K ^ i d\ +2 "collection"'U& +4 "core" &\\Z\ \ \ G +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&,% +3 "core" % !   ' +3 "storage"(W% +3 "core" % } \  +2 "storage"( . +3 "core" .(K +2 "storage"(n& +4 "core" &K } \ +2 "storage"(?& +3 "core" &K ~ \ +2 "manipulator"&s& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&F& +3 "core" &     +3 "storage"(4& +4 "core" &K } \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +96 "core" ' +2 "storage"(/& +4 "core" &K } ;\ +2 .tSE.reconfigure :pick +49 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" &   +3 "storage"(x& +4 "core" &K \\ [ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +16 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(''j +33 "core" ' +2 "manipulator"&% +3 "core" %P  +2 "storage"(\\& +5 "core" &K k j \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&!'| +23 "core" ' + "manipulator"&& +5 "core" &  ^  +2 "storage"(& +3 "core" &K s d \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(H' +37 "core" ' +2 "manipulator"& & +3 "core" &  9  +2 "manipulator"&|% +5 "core" % \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( +2 "manipulator"&Y& +3 "core" &ӕ   9' +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &ӕ $ 9' +3 .tForearm.seek CC + "manipulator"&m'? +97 "core" ' +2 .tHand.close + "manipulator"&"/ +61 "core" / +2 .tCC.seek :open +2 "collection"'1( +450 "core" ( +2 "storage"(.& +3 "core" &K  \ +2 "storage"(& +4 "core" &K  \ +2 "manipulator"&w& +3 "core" &ӡ   z 8 +2 "manipulator"&% +5 "core" % ?   N # +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&L( +155 "core" ( +2 "manipulator"&2& +3 "core" &   " +2 "storage"({& +5 "core" &K x \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +93 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&O1 +57 "core" 1 +3 "manipulator"&% +4 "core" % J  ! > +2 "storage"(& +3 "core" &K \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&h'v +16 "core" ' +3 "manipulator"&a& +4 "core" & 2 + "storage"(\ & +5 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +106 "core" ' +2 "storage"( % +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(o' +99 (% +3 "core" %G } \ V_ +2 "manipulator"&r% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'8& +3 "core" &\ \ \ +2 "manipulator"&N% +5 "core" %     +44 "storage"(_% +7 "core" % \  +2 "storage"($. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(K([ +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (e& +2 "core" &[  \ \ +3 "manipulator"& & +4 "core" & \ +2 .tElbow.seek 7 +2 "manipulator"&b(r +15 "core" ( + "manipulator"&P& +4 "core" &u \ :  +2 "storage"(k& +3 "core" &[ t\ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&('= +95 "core" ' +2 "storage"(9& +3 "core" &[ \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +297 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &[ } \ \ +2 "manipulator"&M& +4 "core" &u   +2 .tElbow.seek 7 +2 "manipulator"&V(r +3 "core" ( +2 "manipulator"&`& +3 "core" &u   +2 "storage"(D& +4 "core" &[ v x 7\ \ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&%'ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&6/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +3 "storage"(' +8 "core" &u  + "manipulator"&]% +4 "core" % ϳ +3 .tForearm.seek :retract + "manipulator"&@' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&y(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&u& +4 "core" &ә   c 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &ә   7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'? +103 "core" ' +2 "manipulator"&>& +4 "core" &ә   7 +2 "manipulator"&% +3 "core" %M    +3 "collection"'& +3 "core" &\ \ \ +3 "collection"'X& +6 "core" &\ \ 9\ +2 .tCC.seek :closed +3 "collection"'A(\\ +4 "core" &\ \ 0\ +5 &\ \ 1\ ; +9 &LKu\ /\ 0 +10 &v{\  +\ E +9 &/W\ \ -\ K +10 &Q\ \ 2\ K +9 &R\ \ 1\ K +9 &wW\ \ -\ K +10 &9T\ \ 1\ K +9 &T\ \ +\ K +9 &Q\ \ 0\ J +10 &T\ \ ,\ J +9 &!AW\ \ *\ K +10 &#T\ \ 2\ K +9 &$W\ \ .\ J +9 &&W\ \ )\ K +10 &(IU\ \ .\ K +9 &* Q\ \ -\ J +9 &+Q\ \ %\ J +10 &-S\ \ '\ J +9 &/QS\ \ +\ K +10 &1U\ \ '\ K +9 &2Q\ \ \ K +9 &4W\ \ \ K +10 &6YU\ \ \ K +9 &8R\ \ \ J +9 &9T\ \ \ J +10 &;V\ \ \ K +9 &=aT\ \ \ K +10 &?#R\ \ !\ K +9 &@W\ \ \ K +9 &BY\ \  \ K +10 &Dg\\\ \ \ K +9 &F$f\ \ \ #\ M +10 &Gv\ \ !\ O +9 &I\ +\ #\ S +9 &KP\ 6\ 9#\ V +10 &M\ 8\ 9\ V +9 &N\ 8\ 6\ W +9 &P\ 8\ 7 \ W +10 &RQ\ 3\ 4\ X +9 &T\ 2\ 2\ Y +9 &U\ 1\ 3\ Z +10 &W\ 1\ 2\ [ +9 &YS\ 0\ 0\ Z +10 &[\ 1\ 0\ Z +9 &\\fD\ 0\ 2\ 1 +9 &\\\ -\ /C\ K +6 ( + "collection"'X& +4 "core" &\\b\ +\ ,\ K +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&B% +4 "core" % M   0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"% & +3 "core" &\ +2 "manipulator"&)% +4 "core" %   # +2 "storage"(% +3 "core" % m m \  +2 "storage"(i. +4 "core" .([ + "storage"(& +5 "core" &[ i ^ \ \ + "storage"(j& +4 "core" &[ l l \ \ +2 "manipulator"&& +5 "core" &Ӝ  7 + "manipulator"&% +4 "core" %    # +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&c(r +161 "core" ( +2 "manipulator"&t& +4 "core" &u    +2 "storage"(f& +3 "core" &[ ~ \ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 7 + 450 counts + "manipulator"&'= +92 "core" ' + "storage"(d& +5 "core" &[  \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(['r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &[ [ \\ 2\ \ +3 "manipulator"&=& +3 "core" &u   +3 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&g& +4 "core" &u \  \\  +2 "storage"(Z& +3 "core" &[ [ [\ \ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&v'ϧ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& +2 "storage"(,' +8 "core" &u   +2 "manipulator"&W% +3 "core" % ϛ  +3 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&C( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&n& +5 "core" &  \   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&s' +92 "core" ' +2 "manipulator"&F& +4 "core" &    +2 "manipulator"&4% +4 "core" % ` +2 "processing"%Q& +4 "core" &\ +2 "processing"%/& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%q(^ +5 "core" &\ +6 &7\ $d +10 &Uw\ 6 +9 &z\ K +9 &R\ M +10 &kT \ M +9 &-Q\ M +9 &U0\ M +10 &S\ M +9 &rT^\ M +10 &4UJ\ M +9 &Q\ M +9 &!T:\ M +10 &#zTA\ M +9 &%=W;\ M +9 &&T9\ M +10 &(U9\ M +9 &*T7\ M +10 &,EQ4\ M +9 &.T4\ M +9 &/U4\ M +10 &1R4\ M +9 &3LT8\ M +9 &5T5\ M +10 &6T5\ M +9 &8S.\ M +10 &:TU,\ M +9 &<T*\ M +9 &=W1\ M +10 &?W5\ M +9 &A[W,\ N +10 &C]+\ N +9 &Db*\ O +9 &Fj.\ P +10 &HXz$\ Q +9 &J$\ S +9 &K,\ T +10 &M+\ T +9 &OX+\ T +9 &Q/\ T +10 &R/\ T +9 &T/\ U +10 &V`-\ T +9 &X /\ U +9 &Y-\ U +10 &[.\ U +9 &]d+\ B +9 &^Cr0\ Y +10 &^?-\ 3 +5 ( +2 "processing"%/& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +4 "core" &^%)\ 3 +48 1 +2 "manipulator"&I% +3 "core" %    ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +92 "core" ' +2 "processing"%0& +3 "core" &^%/\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&x% +4 "core" % !    , +2 "storage"(7% +4 "core" % i i \  +2 "storage"(. +3 "core" .([ +2 "storage"(\\& +3 "core" &[ i h \ \ +2 "storage"(& +3 "manipulator"&& +8 "core" &[ h h m\ \ + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"& ( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'r +2 "core" ( +3 "manipulator"&G& +3 "core" &   W  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &-& +2 "core" & 1 1  +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%!( +97 "core" ' +2 "storage"('- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Y'1 +47 "core" ' +299 ( +2 "storage"(R& +3 "core" &[ f \\ \ \ +2 "manipulator"&T& +5 "core" &   + "manipulator"&#% +5 "core" %  \  I +2 .tForearm.seek :retract + "manipulator"&"' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&^(r +251 "core" ( + "manipulator"&S& +5 "core" &y   ? + "storage"(.& +5 "core" &[ ` g m\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +95 "core" ' +2 .tHand.open + "manipulator"&w1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(2' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"({' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(m- +3 "core" -' +2 "storage"(& +4 "core" &[ \ \ +2 "manipulator"&O& +4 "core" &y  \ ? +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&& +3 "core" &y   C ? +3 "storage"(a& +3 "core" &[ \ \ +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\ '= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +60 "core" ' + "manipulator"& & +5 "core" &y    ? + "storage"(L& +4 "core" &[ j j \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +19 "core" ' +2 "manipulator"&h% +4 "core" %Ώ   F +2 "storage"(8& +3 "core" &[ i j \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&N'ϻ +20 "core" ' +2 "manipulator"&_& +3 "core" &z  A > +2 "storage"(H& +5 "core" &[ ~ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&$'= +27 "core" ' +2 "storage"(3% +4 "core" % s \ +2 ."downElevator"SE.seek :down +4 "storage"(o' +99 (+% +3 "core" %O F E '\ We +3 "manipulator"&e% +3 "core" %,   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (P& +3 "core" &[ U ] \ \ +2 "collection"'k& +5 "core" &\\b\ "\ "\ K + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&9% +3 "core" % "  M - +3 "storage"(;% +3 "core" % v m (\  +2 "storage"(&. +3 "core" .([ +2 "storage"(<& +3 "core" &[ Z [ \ \ +2 "storage"(J& +5 "core" &[ h e \ \ + "manipulator"&M& +4 "core" &z   " > +2 .tElbow.seek 7 +2 "manipulator"&`(r +3 "core" ( +2 "manipulator"&D& +4 "core" &z   > +2 "storage"(6& +3 "core" &[ ^ k \ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&5'= +96 "core" ' +2 "storage"(]& +3 "core" &[ | \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +299 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" &z  > +2 "storage"(z& +43 "core" &[ \\ ] F\ \ +9 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&*'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(>- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('n +29 "core" ' +2 "manipulator"&% +3 "core" %΍  2 +2 "storage"(V& +5 "core" &[ P Y \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts + "manipulator"&'Ϲ +23 "core" ' + "manipulator"&@& +4 "core" &z    > +2 "storage"(1& +4 "core" &[ ~ "\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +27 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(B' +41 "core" ' +2 "manipulator"& & +3 "core" &z  > +2 "manipulator"&)% +5 "core" %&   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +152 "core" ( +2 "manipulator"&& +3 "core" &Ӊ&  (  ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &j& +2 "core" &Ӊ&  ?R +3 .tForearm.seek CC +2 "manipulator"&X'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(~& +5 "core" &[ |\ \ + "storage"(t& +4 "core" &[ } \ \ +2 "manipulator"&f& +4 "core" &Ӫ  p :1 +2 "manipulator"&y% +3 "core" % G  E  +3 .tForearm.seek :retract + "manipulator"&d' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 + "manipulator"&}(r +156 "core" ( +2 "manipulator"&& +4 "core" &v   +2 "storage"(p& +3 "core" &[ }\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&='{ +94 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Z1 +60 "core" 1 +2 "manipulator"&E% +5 "core" % z    + "storage"(U& +4 "core" &[ f\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 299 counts +2 "manipulator"&W'Ϧ +15 "core" ' +2 "manipulator"&c& +3 "core" &v S +3 "storage"(& +4 "core" &[ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&['= +18 "core" ' + "storage"(v% +5 "core" % $\ +2 ."downElevator"SE.seek :down +4 "storage"(n' +98 (?% +3 "core" %E |\ Va +2 "manipulator"&% +5 "core" %<   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +24197 "Can" :" 0 +10287 #t-> exit +6 #mEXIT @1690293961.24EDT @1690401132.94EDT = =tMAIN =mMAIN_scheduler @EDT1690401134.73 #"core_reset"Sent BREAK +2 #t@43236 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +250 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +389 "Can"N !/ + N !/ + #tPolling Can every 10:00 +20 #Cleanly exited at 10:06:01EDT25-Jul-23 +563 #-> ESP.ready! +2 #Powering core bus +548 .Gate.power :raw,:ON + "sampler") +27 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X CTD.status + !o:NameError: mesg"uninitialized constant CTD: name:CTD:bt["(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +53237 "Can" :.,! +13178 #t-> exit +6 #mEXIT @1690401877.47EDT @1690481677.65EDT = =tMAIN =mMAIN_scheduler @EDT1690481679.33 #"core_reset"Sent BREAK +2 #t@59985 receive with ifg=0x10, ie=0xFD + #@60620 receive with ifg=0x10, ie=0xFD #@61274 receive with ifg=0x10, ie=0xFD + #@61910 receive with ifg=0x10, ie=0xFD + #@62543 receive with ifg=0x10, ie=0xFD + #@63175 receive with ifg=0x10, ie=0xFD #@63808 receive with ifg=0x10, ie=0xFD + #@64140 receive with ifg=0x80, ie=0xFD #@29744 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +285 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can" 8N& +  8N& + #tPolling Can every 10:00 +19 #Cleanly exited at 16:04:37EDT26-Jul-23 +469 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %k E\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %عm\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ځ\ \  u\ Q +2 .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +1089 #-> 10.times {shuffle 5..7} +3 #Shuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'3& +3 "core" & \  +2 .tHand.open +2 "manipulator"&41 +53 "core" 1 +2 "manipulator"&5% +3 "core" %   = n +3 "storage"(6% +3 "core" % r\  +2 "storage"(7. +3 "core" .,,{ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(8(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &<, r Z k\ +2 "manipulator"&:& +4 "core" & ^ ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&<& +4 "core" & B ' +2 "storage"(=& +4 "core" &<, y e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +90 "core" ' +2 "storage"(?& +3 "core" &<, K\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(@'r +298 "core" ' +3 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &<, ~\ +2 "manipulator"&C& +5 "core" &  ' + .tElbow.seek 5 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&E& +4 "core" &    ' +2 "storage"(F& +4 "core" &<, r u k\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&G'Ϲ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&I& +3 "storage"(J' +7 "core" & 3 ' +2 "manipulator"&K% +4 "core" %  | +2 .tForearm.seek :retract +2 "manipulator"&L' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&N& +4 "core" &ӏ%   C >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &ӏ%  \ >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'? +92 "core" ' +2 "manipulator"&Q& +4 "core" &Ӑ&   >I +2 "manipulator"&R% +4 "core" %@ W b +2 "collection"'S& +4 "core" & [\  +2 "collection"'T& +6 "core" & c\  +2 .tCC.seek :closed +2 "collection"'U(\\ +4 "core" & X\  +8 &I \ %h +10 &Z~ \ 9 +9 &y )\ L +44 &Z &\ M +12 &lZ k\ L + &-X (\ M + &Z E\ M + &Z \ M + &s\\ 8\ M +6 &6Y \ L +9 &W \ L +9 &!Y 6\ L +10 &#{] n\ M +9 &%>[ \ L +9 &'X $\ L +10 &(X \ L +9 &*W '\ L +10 &,F] \ L +9 &.Z A\ M +9 &/Y \ L +10 &1\\ `\ L +9 &3MZ <\ M +9 &5Z 2\ L +10 &6X (\ L +9 &8\\ .\ L +10 &:U[ +\ M +9 &<Y E\ L +9 &=[ /\ L +10 &?] )\ L +9 &A]Z I\ M +9 &Cb R\ M +10 &Dg ]\ N +9 &Fp Z\ O +10 &HW N\ Q +9 &J\ \ J\ U +9 &K\ \ V\ X +10 &M\ \ 4\ X +9 &OL\ \ K\ X +9 &Q \ \ 4\ Y +10 &R\ \ I\ Y +9 &T\ \ M\ Z +10 &VN\ \ N\ Z +9 &X\ \ \ C\ Z +9 &Y\ \ \ F\ [ +10 &[\ \ K\ I +9 &\\9\ \ \ '\ , +9 &\\\ \ \ A\ [ +4 ( +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&V1 +57 "core" 1 +2 "manipulator"&W% +3 "core" % @    b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X' +88 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%Y& +3 "core" &]\  +2 "manipulator"&Z% +4 "core" %   !  +2 "storage"([% +4 "core" % ; < h\  +2 "storage"(\\. +3 "core" .(<- +2 "storage"(]& +3 "core" &<, ; ? \ +3 "storage"(^& +4 "core" &<, = = \ +2 "manipulator"&_& +3 "core" &Ӵ \  9% +2 "manipulator"&`% +4 "core" %      +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&a( +165 "core" ( + "manipulator"&b& +4 "core" &    +2 "storage"(c& +3 "core" &<, l j \ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +93 "core" ' + "storage"(e& +4 "core" &<, ^ f f\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +298 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &<, \\ g\ +2 "manipulator"&i& +3 "core" &   +3 .tElbow.seek 5 + "manipulator"&j( +4 "core" ( + "manipulator"&k& +5 "core" &    +2 "storage"(l& +4 "core" &<, _ j g\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&m'Ϲ +42 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(p' +8 "core" &  i  +2 "manipulator"&q% +4 "core" % Ͻ  C +2 .tForearm.seek :retract +2 "manipulator"&r' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&s( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&t& +5 "core" &  o  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&v' +90 "core" ' +2 "manipulator"&w& +4 "core" &    +2 "manipulator"&x% +3 "core" %  _ +3 "processing"%y& +3 "core" &v\  +3 "processing"%z& +7 "core" &l\  +2 .tPC.seek :closed +2 "processing"%{(^ +4 "core" &t\  +8 &6su\ *x +9 &c~p\ > +10 &\\vc\ O +9 &Z_\ O +9 &Za\ O +10 &[[\ N +9 &dZ^\ O +9 &&]l\ O +10 &X`\ O +9 &Zb\ N +10 & m[b\ N +9 &"/Za\ N +9 &#[^\ N +10 &%Ze\ N +9 &'uZ`\ N +9 &)7Za\ N +10 &*[Q\ N +9 &,ZS\ O +10 &.}XP\ N +9 &0>Z\\\ O +9 &2ZS\ O +10 &3\\R\ N +9 &5ZQ\ O +9 &7GWJ\ N +10 &9]S\ O +9 &:]_\ O +10 &<ZP\ N +9 &>N]O\ O +9 &@^Q\ O +10 &Ac[\ O +9 &CjY\ P +9 &EPiS\ Q +10 &GuS\ R +9 &HR\ T +10 &JN\ T +9 &LMJ\ T +9 &N H\ U +10 &OE\ U +9 &QH\ V +9 &SPA\ V +10 &UJ\ V +9 &VA\ U +10 &X?\ V +9 &ZYA\ V +9 &\\@\ V +10 &]@\ 5 +9 &^8sB\ : +9 ( +2 &^;\ ) +2 "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&|1 +64 "core" 1 +2 "manipulator"&}% +4 "core" %    _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +96 "core" ' + "processing"%& +4 "core" &^\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +39 "core" % !  . +10 "storage"(% +4 "core" % O Q Y\ + "storage"(. +3 "core" .(<- +2 "storage"(& +3 "core" &<, E D\ +3 "storage"(& +3 "manipulator"&& +7 "core" &<, R Q G\ + & \   +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"& ( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'r +2 "core" ( +2 "manipulator"& & +5 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & + 0 /  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' + "storage"(- +3 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"('1 +42 "core" ' +306 ( + "storage"(& +4 "core" &<, M H %\ +2 "manipulator"&& +3 "core" &   +2 "manipulator"&% +4 "core" %   # +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +246 "core" ( + "manipulator"&& +4 "core" &   - +2 "storage"(& +3 "core" &<, F E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +99 "core" ' + .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "storage"(!- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"($- +3 "core" -' +2 "storage"(%& +4 "core" &<, V U \ +2 "manipulator"&&& +3 "core" &  - +3 .tElbow.seek 5 + "manipulator"&'( +4 "core" ( +2 "manipulator"&(& +4 "core" &   - +2 "storage"()& +4 "core" &<, { m n\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(+'" +57 "core" ' +2 "manipulator"&,& +4 "core" &  - +2 "storage"(-& +4 "core" &<, 9 < n\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&.'΍ +26 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +28 "core" ' +3 "manipulator"&1% +4 "core" %Ρ   + "storage"(2& +4 "core" &<, G E \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"&3' +27 "core" ' + "manipulator"&4& +4 "core" &   , +2 "storage"(5& +4 "core" &<, [ [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +19 "core" ' +2 "storage"(7% +4 "core" % i h (\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (9% +3 "core" %L % T\ Vc +2 "manipulator"&:% +3 "core" %G  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 (=& +2 "core" &<, Q [ .\ +3 "collection"'?& +3 "core" &\\ :\ [ +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %    +2 "storage"(% +3 "core" % e ^ \  +2 "storage"(. +3 "core" .(<- +2 "storage"(A& +4 "core" &<, [ e\ + "storage"(B& +39 "core" &<, Z e\ +9 "manipulator"&C& +4 "core" &  , +2 .tElbow.seek 5 +2 "manipulator"&E( +4 "core" ( + "manipulator"&F& +4 "core" &   , +2 "storage"(H& +3 "core" &<, ^ h &\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +90 "core" ' +3 "storage"(K& +4 "core" &<, i ^ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +295 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" &  , +3 "storage"(O& +3 "core" &<, N D 5\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&@'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Q- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(R'r +29 "core" ' + "manipulator"&S% +5 "core" %Ξ   + "storage"(D& +4 "core" &<, G H \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&J' +15 "core" ' + "manipulator"&L& +4 "core" & \   , +2 "storage"(\ & +3 "core" &<, Z J I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(W' +35 "core" ' + "manipulator"&Y& +3 "core" &  , +3 "manipulator"&Z% +4 "core" %I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&\\(ӂ +159 "core" ( +2 "manipulator"&]& +4 "core" &ӕ   6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &ӕ  s 6 +2 .tForearm.seek CC +2 "manipulator"&T'? +99 "core" ' + .tHand.close +2 "manipulator"&_/ +63 "core" / +2 .tCC.seek :open + "collection"'`( +452 "core" ( + "storage"(P& +4 "core" &<,   D\ +2 "storage"(b& +3 "core" &<,   \ +3 "manipulator"&c& +4 "core" &Ӛ  5\ + "manipulator"&e% +4 "core" % 0   +2 .tForearm.seek :retract +2 "manipulator"&M' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&X( +163 "core" ( +2 "manipulator"&g& +4 "core" &   @  + "storage"(h& +4 "core" &<, h h \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&i'΍ +94 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +60 "core" 1 +2 "manipulator"&n% +4 "core" % Η   \ +2 "storage"(o& +4 "core" &<, i l \\\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&q' +14 "core" ' +2 "manipulator"&a& +4 "core" & O  +2 "storage"(d& +4 "core" &<, q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +15 "core" ' +2 "storage"(m% +3 "core" % r\ +4 ."downElevator"SE.seek :down +3 "storage"(t' +99 (u% +2 "core" %A r \ V^ +2 "manipulator"&j% +5 "core" %A L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'x& +4 "core" & \ +2 "manipulator"&y% +38 "core" %    +11 "storage"(p% +4 "core" % q\  + "storage"(r. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +3 "core" &K t | 7\ +2 "manipulator"&}& +3 "core" &   +3 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +5 "core" &    + "storage"(z& +5 "core" &K 2\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +102 "core" ' + "storage"(& +4 "core" &K u\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K n v 7\ +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&v& +4 "core" & Z  + "storage"(& +5 "core" &K n { 4\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& + "storage"({' +8 "core" & X  +2 "manipulator"& % +4 "core" % ^ ] +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &Ӑ"    ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӑ"   / ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&& +4 "core" &ӑ"   ;4 +2 "manipulator"& % +4 "core" %4   _ +2 "collection"' & +4 "core" & R\ +3 "collection"'!& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'$(\\ +3 "core" & ^\ +9 &< \ $f +10 &W| \ 7 +9 &| !\ K +9 &W \ L +10 &~W !\ L +9 &@W  \ L +9 &Y \ K +10 &Y M\ K +9 &X \ K +9 &IY S\ K +10 & \ X x\ L +9 &!\\ |\ L +10 &#] y\ L +9 &%PZ }\ L +9 &'\\ x\ L +10 &(\\ "\ L +9 &*\\ \\\ L +9 &,X\\ f\ L +10 &.Y c\ L +9 &/W h\ K +10 &1\\ j\ L +9 &3`\\ e\ L +9 &5#\\ g\ K +10 &6Y f\ K +9 &8X M\ K +9 &:hW L\ L +10 &<*U \ L +9 &=Z \ K +10 &?Y L\ K +9 &ApZ \ L +9 &C2^ (\ L +10 &Dh \ M +9 &Fq (\ O +9 &Hi 4\ Q +10 &J!\  :\ T +9 &K\ \ \ 4\ X +10 &M\ \ 2\ X +9 &O\\\ \ -\ X +9 &Q\ \ \ \ X +10 &R\ \ I\ Y +9 &T\ \ ?\ Z +9 &V^\ \ \ Z +10 &X\ \ \ [ +9 &Y\ \ 0\ [\ +10 &[\ \ 4\ H +9 &\\9\ \ 2\ , +9 &\\{\ \ 2\ W +3 ( + "collection"'!& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&%1 +55 "core" 1 +2 "manipulator"&&% +3 "core" % 4   2 _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%)& +3 "core" &o\ +2 "manipulator"&% +4 "core" %  \   +2 "storage"(,% +4 "core" % [ [\  + "storage"(-. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (1& +2 "core" &K # ! \  +2 "manipulator"&2& +4 "core" &ӭ  7 +2 "manipulator"&"% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&4( +164 "core" ( + "manipulator"&5& +4 "core" &    +2 "storage"(7& +3 "core" &K k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +102 "core" ' + "storage"(& +4 "core" &K |\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +49 .tSE.seek :beamBreak + "storage"(#'r +301 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &K i \\ n\  +3 "manipulator"&*& +4 "core" &   M  +2 .tElbow.seek 6 + "manipulator"&'( +5 "core" ( + "manipulator"&+& +4 "core" &     +2 "storage"(.& +4 "core" &K f ^ w\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&3'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +3 "storage"(' +8 "core" &  I  + "manipulator"&% +4 "core" % k   R u +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +3 .tElbow.seek PC +2 "manipulator"&0( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&A& +3 "core" & \  S 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &  6 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&C' +99 "core" ' + "manipulator"&F& +3 "core" &   6 +3 "manipulator"&H% +4 "core" %  < % +2 "processing"%6& +4 "core" &R\ +2 "processing"%K& +6 "core" &n\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &k\ +7 &j\ 6 +9 &AIvo\ 0 +10 &kqo\ D +9 &ej\ O +9 &Wo\ N +10 &X`\ N +9 &PY]\ N +9 &V]\ N +10 &Y_\ N +9 &[\\\ N +10 &WZS\ O +9 &!YV\ N +9 &"ZU\ N +10 &$ZS\ O +9 &&`Y^\ N +9 &(!Z[\ O +10 &)Y`\ N +9 &+V_\ N +10 &-hZU\ N +9 &/)Z_\ O +9 &0WS\ N +10 &2ZM\ N +9 &4qWW\ N +9 &63ZM\ N +10 &7YO\ N +9 &9ZI\ N +10 &;w]H\ O +9 &=;YE\ N +9 &>^Q\ N +10 &@]D\ N +9 &B`F\ O +9 &D?bG\ O +10 &EkB\ P +9 &GwD\ Q +10 &IzL\ S +9 &K9D\ T +9 &LD\ T +10 &NQ\ U +9 &P{E\ V +9 &R=E\ U +10 &SH\ V +9 &UE\ U +10 &WJ\ V +9 &YE;\ U +9 &[<\ V +10 &\\@\ W +9 &^?e-\ (z +9 &^n3\ ; +10 ( + &^%4\ 3 +2 "processing"%K& +4 #tProcessing Clamp onSpring/offSpring for 14/25 samples, on/off torque 1.54 +3 "core" &^%9\ 3 + .tHand.open + "manipulator"&/1 +58 "core" 1 +2 "manipulator"&<% +4 "core" %    % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +91 "core" ' +2 "processing"%N& +3 "core" &^%A\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&O% +4 "core" %      +2 "storage"(Q% +3 "core" % D D e\  +2 "storage"(S. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(D(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +5 "manipulator"&\ & +2 "core" &K m\  2\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  6 +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&Y( +2 "storage"(Z'r +6 "core" ( + "manipulator"&I& +4 "core" &  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" & 2 / r 6 +2 .tForearm.seek PC +2 "manipulator"&;' +92 "core" ' + .tHand.close + "manipulator"&@/ +58 "core" / +2 .tPC.seek :open +2 "processing"%J( +97 "core" ' + "storage"(R- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(]'1 +46 "core" ' +300 ( + "storage"(^& +4 "core" &K k k \  +2 "manipulator"&V& +4 "core" &  6 + "manipulator"&G% +4 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&_' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&[( +246 "core" ( +9 "manipulator"&U& +4 "core" &  , +2 "storage"(P& +4 "core" &K [ [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&b' +105 "core" ' +2 .tHand.open + "manipulator"&c1 +59 "core" 1 +3 "storage"(e- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(g' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(h' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(T- +3 "core" -' +2 "storage"(\\& +4 "core" &K \  +2 "manipulator"&l& +4 "core" &   ! , +2 .tElbow.seek 6 +2 "manipulator"&n( +4 "core" ( + "manipulator"&o& +4 "core" &   , +2 "storage"(a& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(m'" +52 "core" ' +2 "manipulator"&M& +4 "core" &  , + "storage"(u& +4 "core" &K = Q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&j'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +19 "core" ' +2 "manipulator"&x% +4 "core" %B   + "storage"(q& +3 "core" &K F N 4\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&W'n +14 "core" ' + "manipulator"&y& +5 "core" &   l , + "storage"(p& +4 "core" &K ^ i Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +15 "core" ' + "storage"(f% +5 "core" % _ i m\ +2 ."downElevator"SE.seek :down +4 "storage"(t' +99 (8% +3 "core" %:F % 6 E\ Vc +3 "manipulator"&|% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K W Z .\  +2 "collection"'z& +4 "core" &\\x \ W +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %    +2 "storage"(k% +4 "core" % i j \  +2 "storage"(w. +3 "core" .(K +2 "storage"(& +4 "core" &K k i \  +2 "storage"(& +3 "core" &K i i \  +2 "manipulator"& & +4 "core" & \ " , +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&& +3 "core" &   , +2 "storage"(s& +3 "core" &K j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +94 "core" ' + "storage"( & +4 "core" &K [ ^ H\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  , +2 "storage"(& +3 "core" &K h _ 2\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +19 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"( 'f +33 "core" ' + "manipulator"& % +4 "core" %I  + "storage"(& +4 "core" &K i _ O\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 313 counts + "manipulator"&{'u +14 "core" ' +2 "manipulator"&& +3 "core" &  \ f , +2 "storage"(`& +4 "core" &K ^ _ P\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +40 .tForearm.seek 6 + 450 counts +9 "manipulator"&%' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(&' +38 "core" ' +2 "manipulator"&)& +3 "core" &  , +2 "manipulator"&% +5 "core" %  n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +151 "core" ( +2 "manipulator"&!& +3 "core" &~&   ?Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &~&   ?Q +3 .tForearm.seek CC +2 "manipulator"&2'? +92 "core" ' +2 .tHand.close + "manipulator"&"/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(5& +3 "core" &K |\  +2 "storage"(7& +4 "core" &K | S\  +2 "manipulator"& & +4 "core" &ӭ   8" +2 "manipulator"&% +4 "core" % J  +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&(( +163 "core" ( + "manipulator"&9& +4 "core" &    +2 "storage"(:& +3 "core" &K s m \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&*'< +94 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&.1 +61 "core" 1 +3 "manipulator"&=% +4 "core" % G   2 + "storage"(?& +3 "core" &K t\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&'s +13 "core" ' +2 "manipulator"&4& +3 "core" &  +2 "storage"(& +5 "core" &K v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&#' +16 "core" ' +2 "storage"(3% +3 "core" % y\ +3 ."downElevator"SE.seek :down +4 "storage"(A' +98 (B% +3 "core" %D t ~ n\ V_ +2 "manipulator"&'% +4 "core" % O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'H& +3 "core" & z\ +2 "manipulator"&6% +4 "core" %    +2 "storage"(% +4 "core" % j\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +3 "core" &[ w  O\ +2 "manipulator"&<& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&N(r +32 "core" ( +2 "manipulator"&O& +3 "core" &    +3 "storage"(Q& +4 "core" &[ x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&S'= +90 "core" ' +2 "storage"(K& +3 "core" &[ n\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +296 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &[ u \ +2 "manipulator"&E& +4 "core" & \ \ c  +2 .tElbow.seek 7 +2 "manipulator"&C(r +25 "core" ( +3 "manipulator"&@& +4 "core" &z   J j + "storage"(& +4 "core" &[ ~ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&R'ϧ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&>& +2 "storage"(' +50 "core" &z 0 j +3 "manipulator"&Z% +4 "core" %  W +2 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&G& +3 "core" &ӏ%  >H +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &ӏ%  \  >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'? +104 "core" ' +2 "manipulator"&P& +3 "core" &Ӡ"   ;7 +2 "manipulator"&Y% +5 "core" %<  +2 "collection"'c& +4 "core" &  \ +2 "collection"'e& +6 "core" & -\ +2 .tCC.seek :closed +2 "collection"'T(\\ +4 "core" & c\ +8 &= 7\ $e +9 &Vx \ 6 +9 &| \ K +10 &X g\ K +9 &{U  \ K +10 &<Z \ K +9 &Z W\ K +9 &X s\ L +10 &X p\ K +9 &DV z\ K +9 & Y h\ K +10 &!X i\ L +9 &#Y c\ L +10 &%LX e\ K +9 &'V c\ K +9 &(Z c\ K +10 &*Z b\ K +9 &,TY c\ K +9 &.U f\ K +10 &/W d\ L +9 &1X b\ K +10 &3\\U [\ K +9 &5X a\ L +9 &6X Y\ K +10 &8U U\ K +9 &:cY S\ L +9 &<&W R\ K +10 &=Y \ K +9 &?X F\ L +10 &AlY \ K +9 &C-\\ 0\ L +9 &Dd \ L +10 &Fp F\ N +9 &He ^\ P +9 &J\  ]\ U +10 &K\ \ _\ W +9 &M\ \ \\\ W +10 &OY\ \ \ <\ W +9 &Q\ \ \ 4\ X +9 &R\ \ O\ X +10 &T\ \ \ R\ X +9 &V[\ \ O\ Y +9 &X\ \ \ Q\ Z +10 &Y\ \ S\ [\ +9 &[\ \ S\ H +10 &\\<\ \ 9\ (x +9 &\\\ \ \ U +2 ( +2 "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 + .Hand.open + "manipulator"&\\1 +62 "core" 1 +2 "manipulator"&l% +4 "core" % <   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%a& +4 "core" &C\ +2 "manipulator"&_% +4 "core" %      +2 "storage"(M% +4 "core" % [ [\  + "storage"(u. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(x([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &[  Y\  +2 "manipulator"&]& +4 "core" &ӭ  ! :* + "manipulator"&y% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&p(r +164 "core" ( +2 "manipulator"&g& +4 "core" &o    + "storage"(f& +4 "core" &[ i k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&['= +96 "core" ' + "storage"(b& +4 "core" &[ ^ l }\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'r +296 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &[ ; T Z\  +2 "manipulator"&d& +4 "core" &o   +2 .tElbow.seek 7 +2 "manipulator"&n(r +3 "core" ( +2 "manipulator"&m& +4 "core" &o   d  + "storage"(j& +4 "core" &[ \\ [\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&W'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&z& + "storage"(' +8 "core" &o   J  + "manipulator"&k% +4 "core" % ϡ  +2 .tForearm.seek :retract +2 "manipulator"&w' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&i( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&& +3 "core" &  \  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' +2 "manipulator"&& +3 "core" &   +3 "manipulator"&s% +4 "core" %  % +2 "processing"%r& +3 "core" &C\ +50 "processing"% & +6 "core" &^\ +3 .tPC.seek :closed + "processing"%t(^ +4 "core" &S\ +7 &7T\ $d +9 &U}Z\ 7 +10 &}N\ L +9 &WM\ N +9 &aYQ\ N +10 &$UR\ N +9 &]R\ N +10 &YN\ N +9 &iWS\ N +9 &+YR\ N +10 &YR\ N +9 &!XV\ N +9 &#rYS\ N +10 &%4ZT\ N +9 &&ZE\ N +10 &(\\R\ N +9 &*yYK\ N +9 &,;YH\ N +10 &-XA\ N +9 &/ZG\ N +9 &1UC\ N +10 &3DW@\ N +9 &5UB\ N +10 &6X@\ M +9 &8YB\ N +9 &:MW@\ M +10 &< Z@\ N +9 &=YE\ N +9 &?YA\ N +10 &ARZ@\ N +9 &C`@\ O +10 &DfA\ P +9 &Fm:\ P +9 &HNE\ R +10 &J A\ T +9 &K3\ T +9 &M3\ T +10 &OO=\ U +9 &Q?\ U +10 &R2\ U +9 &T5\ V +9 &VX3\ T +10 &X1\ U +9 &Y2\ U +9 &[,\ U +10 &]]1\ B +9 &^P}3\ E +10 &^6\ V +9 &^3\ 0 +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&X1 +54 "core" 1 +2 "manipulator"&}% +4 "core" %    % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 "processing"%& +3 "core" &^4\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +5 "core" % # H 1 + "storage"(% +4 "core" % D > \  +2 "storage"( . +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +19 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "manipulator"&`& +5 "core" &[ A C O\  +2 &  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +6 "manipulator"&)( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&~& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +3 "core" &  ' { +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%{( +89 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'1 +47 "core" ' +308 ( +2 "storage"(1& +3 "core" &[ d [ A\  +3 "manipulator"&%& +4 "core" &  +2 "manipulator"&% +4 "core" %  \  L +2 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&,(r +246 "core" ( + "manipulator"&$& +4 "core" &m   = +2 "storage"(5& +4 "core" &[ _ \\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +94 "core" ' + .tHand.open +2 "manipulator"& 1 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(9' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +3 "core" -' +2 "storage"(-& +4 "core" &[ Z U N\  +2 "manipulator"&.& +3 "core" &m  = +3 .tElbow.seek 7 + "manipulator"&=(r +4 "core" ( +2 "manipulator"&?& +4 "core" &m  = + "storage"(4& +4 "core" &[ W Z I\  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(3'" +58 "core" ' +2 "manipulator"&& +4 "core" &m = +2 "storage"(B& +4 "core" &[ H ? \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&''{ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +40 "storage"(#QK-0-\ b +11 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(*' +28 "core" ' + "manipulator"&H% +4 "core" %Ύ 1 1 - +2 "storage"(6& +4 "core" &[ G E \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +23 "core" ' + "manipulator"&& +4 "core" &~   , +2 "storage"(& +3 "core" &[ i i \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&&'= +15 "core" ' + "storage"(#% +4 "core" % i i \ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (D% +4 "core" %7L   `\ Wd +2 "manipulator"&/% +3 "core" %A q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +94 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" &[ M F \  +3 "collection"'Q& +4 "core" &\\{ \ U +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&K% +4 "core" %    +2 "storage"(+% +4 "core" % [ [\  +2 "storage"(F. +3 "core" .([ +2 "storage"(\ & +3 "core" &[ ] e\  +2 "storage"(I& +5 "core" &[ e [ \  + "manipulator"&E& +4 "core" &~   , +2 .tElbow.seek 7 +2 "manipulator"&@(r +9 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"(0& +4 "core" &[ [ f <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&>'= +98 "core" ' +2 "storage"(Z& +4 "core" &[ g ^ k\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +298 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &  O  +2 "storage"(G& +4 "core" &[ ? = \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&;'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(Y'k +33 "core" ' + "manipulator"&C% +4 "core" %Ώ  T  +2 "storage"(c& +4 "core" &[ G E \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 320 counts +2 "manipulator"&'ϻ +13 "core" ' + "manipulator"&^& +5 "core" &    + "storage"(& +4 "core" &[ h f 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(l' +40 "core" ' + "manipulator"&a& +4 "core" &    +2 "manipulator"&_% +4 "core" %3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u(ӂ +159 "core" ( +2 "manipulator"&e& +3 "core" &ӕ   5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &ӕ  5 +2 .tForearm.seek CC +2 "manipulator"&]'? +99 "core" ' +2 .tHand.close + "manipulator"&y/ +55 "core" / +2 .tCC.seek :open +2 "collection"'U( +448 "core" ( +2 "storage"(g& +3 "core" &[   \  +2 "storage"(f& +3 "core" &[   U\  +3 "manipulator"&& +3 "core" &Ӝ \  4 +2 "manipulator"&b% +3 "core" % 0   +3 .tForearm.seek :retract +2 "manipulator"&V' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&o(r +162 "core" ( + "manipulator"&8& +4 "core" &{     +2 "storage"(|& +4 "core" &[ l h j\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&d'{ +134 "core" ' +9 .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +57 "core" 1 +4 "manipulator"&% +4 "core" % t  + "storage"(z& +5 "core" &[ h h r\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 293 counts + "manipulator"&k'Ϡ +15 "core" ' +2 "manipulator"&p& +3 "core" &{   +2 "storage"([& +5 "core" &[ r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'= +18 "core" ' +2 "storage"(W% +4 "core" % d\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %A   \ U] +3 "manipulator"&n% +4 "core" %= + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'s& +3 "core" & s\ +2 "manipulator"&r% +4 "core" %  \ .  +2 "storage"(% +4 "core" % s\  + "storage"(w. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(J(<- +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" &<. e ^ $\ +3 "manipulator"&}& +4 "core" &{ y  +2 .tElbow.seek 5 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(& +4 "core" &<. u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' +2 "storage"( & +3 "core" &<. X\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &<. z\ +2 "manipulator"&v& +4 "core" &  z +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" &   J +2 "storage"(x& +4 "core" &<. ~ x C\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(t' +8 "core" & ) + "manipulator"&% +4 "core" % Ͽ C +2 .tForearm.seek :retract +2 "manipulator"&1' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&& +3 "core" &ӈ#   <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӈ#  ' <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'? +95 "core" ' +3 "manipulator"&5& +4 "core" &Ӊ#   9 <> + "manipulator"&)% +4 "core" %;   / +2 "collection"' & +5 "core" & [\ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'2(\\ +3 "core" & .\ +9 &<  \ %f +10 &Y~ \ 8 +9 &v  \ K +9 &W n\ K +10 &W v\ K +9 &HW z\ K +9 &\ W {\ K +10 &W z\ K +9 &W z\ K +10 &QU {\ K +9 & W z\ K +9 &!W {\ K +10 &#Y {\ L +9 &%YV {\ K +10 &'W w\ K +9 &(W q\ K +9 &*W g\ K +10 &,`W d\ K +9 &.#T f\ K +9 &/U b\ K +10 &1W f\ K +9 &3hW h\ K +10 &5*W g\ K +9 &6X g\ L +9 &8W L\ K +10 &:pX M\ K +9 &<2W c\ K +9 &=W f\ K +10 &?Y M\ L +9 &AyX K\ K +10 &C9] "\ L +9 &Dc ^\ L +9 &Fr e\ O +10 &Hr e\ P +9 &J&\   \ U +9 &K\ \ T\ W +10 &M\ \ a\ X +9 &Oc\ \ f\ X +10 &Q%\ \ g\ X +9 &R\ \ d\ Y +9 &T\ \ a\ Y +10 &Vf\ \ g\ Z +9 &X&\ \ ]\ Z +9 &Y\ \ d\ [ +10 &[\ \ `\ I +9 &\\3\ \ S\ 1 +9 &\\s \ T\ N +3 ( +45 "collection"'& +13 "core" &\\s \ W\ N + &\\s R\ N + &\\s X\ N + &\\s \ N + &\\s H\ N + &\\s Q\ N +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&-1 +59 "core" 1 + "manipulator"&.% +4 "core" % ;   < / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%4& +4 "core" &_\ +2 "manipulator"&"% +4 "core" %     +2 "storage"(% +4 "core" % [ [\  + "storage"(B. +3 "core" .(<- +2 "storage"(!& +4 "core" &<. e ^\ +2 "storage"(9& +4 "core" &<. [ [\ +2 "manipulator"&H& +4 "core" &ӫ    8 +2 "manipulator"&6% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +163 "core" ( +2 "manipulator"&& +3 "core" & \  i  +2 "storage"(,& +5 "core" &<. k a \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +93 "core" ' +3 "storage"(#& +4 "core" &<.   \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &<. [ f\ +2 "manipulator"&/& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&3& +4 "core" &   1  + "storage"('& +4 "core" &<. h h (\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +3 "storage"(K' +7 "core" &   +2 "manipulator"&+% +4 "core" % ϯ  +2 .tForearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( +2 "manipulator"&\ & +3 "core" &  / +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &   L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&E' +98 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&0% +3 "core" %   +3 "processing"%&& +4 "core" &_\ +2 "processing"%Z& +5 "core" &E\ +2 .tPC.seek :closed +2 "processing"%A(^ +5 "core" &X\  +9 &3zY\ *y +9 &cc\ > +10 &tZ\ N +9 &AYY\ N +9 &YX\ N +10 &UX\ N +9 &YV\ M +9 &JXU\ N +10 & [P\ N +9 &VT\ N +9 & XM\ N +10 &"R[S\ N +9 &$Y\\\ M +10 &%XW\ N +9 &'WN\ N +9 &)[XR\ M +10 &+ZQ\ N +9 &,WR\ N +9 &.US\ N +10 &0cWT\ M +9 &2%WU\ M +10 &3WR\ M +9 &5ZR\ N +9 &7jVP\ N +10 &9+]O\ N +9 &:YR\ N +9 &<\\I\ N +10 &>rZF\ N +9 &@4WL\ N +10 &A_L\ N +9 &CeA\ O +9 &EsmF\ P +10 &G1tA\ Q +9 &HB\ S +9 &JF\ T +10 &LqA\ S +9 &N/A\ U +10 &OA\ T +9 &QG\ V +9 &St@\ U +10 &U6@\ U +9 &V?\ U +9 &X@\ T +10 &Z|D\ U +9 &\\>@\ U +10 &]|sA\ 8 +9 &^/A\ L +9 &^A\ , +3 ( + "processing"%Z& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&(1 +64 "core" 1 + "manipulator"&<% +5 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +92 "core" ' +2 "processing"%L& +4 "core" &^!\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&G% +4 "core" %     +2 "storage"(P% +3 "core" % [ [\  +3 "storage"(C. +2 "core" .(<- +2 "storage"(c& +3 "core" &<. W I 1\ +3 "storage"(^& +3 "manipulator"&& +7 "core" &<. [ [\ + &  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +46 "manipulator"&a( +12 ."raiseStack"SE.seek :beamBreak + "storage"(_'r +3 "core" ( +2 "manipulator"&>& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &  D +3 .tForearm.seek PC + "manipulator"&N' +96 "core" ' + .tHand.close +2 "manipulator"&;/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' +2 "storage"(Y- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'1 +48 "core" ' +299 ( + "storage"(q& +3 "core" &<- ] [ \ +3 "manipulator"&\\& +4 "core" &  +2 "manipulator"&R% +4 "core" %  ! +2 .tForearm.seek :retract +2 "manipulator"&y' +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&M( +238 "core" ( +2 "manipulator"&T& +4 "core" &   & ) +2 "storage"(g& +4 "core" &<- h i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +93 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(b- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(8' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +3 "core" -' +2 "storage"(u& +4 "core" &<- | ~ B\ +2 "manipulator"&j& +3 "core" & \  ) +3 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&z& +3 "core" &   C ) +2 "storage"(p& +4 "core" &<- { !\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&['O +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +58 "core" ' +2 "manipulator"&V& +3 "core" &  ) +2 "storage"(& +4 "core" &<- ^ h 3\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&n'΍ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(d' +28 "core" ' +2 "manipulator"&s% +4 "core" %Ο    ~ +2 "storage"(k& +4 "core" &<- = < ~\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&r' +26 "core" ' +2 "manipulator"&& +3 "core" &   ' +2 "storage"(w& +4 "core" &<- j k ~\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +20 "core" ' +2 "storage"(h% +3 "core" % f ^ \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +4 "core" %PF D D\ Wc +2 "manipulator"&X% +3 "core" %H \ g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" &<- ? T U\ +2 "collection"'& +4 "core" &\\s \ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +4 "core" %    +2 "storage"(m% +3 "core" % i k \  +2 "storage"(. +3 "core" .(<- +2 "storage"(& +4 "core" &<- j k \ +2 "storage"(~& +3 "core" &<- i i \ +2 "manipulator"&v& +44 "core" &  ' +9 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&x& +3 "core" &   ' +3 "storage"(i& +4 "core" &<- k i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 "storage"(& +4 "core" &<- n a !\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  ' +2 "storage"(& +4 "core" &<- \\ ^ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&`'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(5- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"()'q +34 "core" ' +2 "manipulator"& % +3 "core" %Π \  +3 "storage"( & +4 "core" &<- = N 7\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&t' +16 "core" ' + "manipulator"&1& +4 "core" &   Q & +2 "storage"(U& +4 "core" &<- _ i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(.' +42 "core" ' + "manipulator"&4& +4 "core" &   : & +2 "manipulator"&"% +3 "core" %G  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&B(ӂ +154 "core" ( +3 "manipulator"&!& +3 "core" &ӛ   ! 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӛ \  7 +3 .tForearm.seek CC +2 "manipulator"&9'? +93 "core" ' +2 .tHand.close + "manipulator"&H/ +54 "core" / +2 .tCC.seek :open + "collection"'6( +449 "core" ( + "storage"($& +4 "core" &<- |\ +2 "storage"(& +4 "core" &<- \ + "manipulator"&,& +4 "core" &Ӝ   7 +2 "manipulator"&#% +3 "core" % S  C +3 .tForearm.seek :retract +2 "manipulator"&%' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&?( +162 "core" ( + "manipulator"&& +4 "core" &     +2 "storage"(D& +3 "core" &<- y $\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&/'΍ +100 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +60 "core" 1 +2 "manipulator"&O% +4 "core" % Δ  \  +2 "storage"(Q& +4 "core" &<- h l y\ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 307 counts + "manipulator"&+' +13 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(7& +3 "core" &<- ]\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +16 "core" ' +2 "storage"(% +3 "core" % U\ +3 ."downElevator"SE.seek :down +3 "storage"(\ ' +99 (I% +10 "core" %B ~ t \ V_ +2 "manipulator"&=% +4 "core" %B > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +42 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'0& +4 "core" & z\ +2 "manipulator"&&% +4 "core" %  7  +2 "storage"(K% +4 "core" % j\  + "storage"(*. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"({(K +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +3 "core" &K v _\ \ +2 "manipulator"&<& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&L( +4 "core" ( + "manipulator"&G& +4 "core" &     +2 "storage"(P& +4 "core" &K f\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +94 "core" ' + "storage"(c& +4 "core" &K \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +293 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^& +2 "core" &K } \ \ +2 "manipulator"&>& +5 "core" &    +2 .tElbow.seek 6 + "manipulator"&@( +4 "core" ( +2 "manipulator"&E& +4 "core" & J  + "storage"(;& +4 "core" &K k h o\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&F'h +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(A' +8 "core" &  + "manipulator"&_% +4 "core" % x  +2 .tForearm.seek :retract +2 "manipulator"&q' +98 "core" ' + .tElbow.seek CC +2 "manipulator"&\\(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&R& +4 "core" &ӌ&  % ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &ӌ&  ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'? +94 "core" ' + "manipulator"&g& +5 "core" &Ӎ&   ?T +2 "manipulator"&a% +3 "core" %5   i +3 "collection"'& +4 "core" & \ +2 "collection"'b& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'](\\ +4 "core" & \  +9 &4y ]\ *x +9 &e ]\ = +9 &r x\ L +10 &PU v\ K +9 &U {\ K +10 &W |\ K +9 &V {\ K +9 &YT z\ J +10 &W x\ K +9 &V z\ J +9 & U m\ K +10 &"aW v\ J +9 &$!W n\ K +10 &%X j\ K +9 &'T l\ K +9 &)hU n\ K +10 &+*T d\ K +9 &,W b\ K +9 &.W `\ J +10 &0pW d\ K +9 &22W b\ K +10 &3Z e\ K +9 &5V c\ K +9 &7wU c\ K +10 &9:V b\ K +9 &:V e\ K +9 &<Z c\ K +10 &>W b\ K +9 &@CV _\ J +10 &BY b\ K +9 &C\\ c\ K +9 &Eh `\ M +10 &G@r a\ N +9 &H d\ Q +9 &J\  e\ U +10 &Ln\ \ f\ V +9 &N0\ \ b\ V +10 &O\ \ d\ X +9 &Q\ \ [\ X +9 &Sr\ \ ,\ X +10 &U2\ \ [\ Y +9 &V\ \ a\ Y +9 &X\ \ Z\ Z +10 &Zt\ \ Z\ Z +9 &\\x\ \ S\ 2 +10 &\\)\ \ R\ O +9 ( + &\\g\ \ V\ I +3 "collection"'b& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.12 + .Hand.open + "manipulator"&u1 +54 "core" 1 + "manipulator"&j% +4 "core" % 5   H i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%p& +3 "core" &O\ +3 "manipulator"&y% +4 "core" %   \  ! + "storage"(V% +4 "core" % [ [\  +2 "storage"(. +3 "core" .(K +2 "storage"(e& +4 "core" &K [ [\ \ + "storage"(s& +49 "core" &K [ [\ \ +5 "manipulator"&k& +5 "core" &ӭ"   ;4 + "manipulator"&8% +5 "core" %   ' ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +161 "core" ( +2 "manipulator"&w& +3 "core" &   +2 "storage"(h& +4 "core" &K Z ] $\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +93 "core" ' +2 "storage"(f& +3 "core" &K ~  \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(|'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (X& +2 "core" &K k i \ \ +2 "manipulator"&[& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&W& +4 "core" &   +2 "storage"(n& +3 "core" &K _ ^ Q\ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&r'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"( ' +8 "core" & +2 "manipulator"&m% +4 "core" % w N +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&d( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&& +4 "core" & \   0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &~& +2 "core" &  0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&v' +99 "core" ' +2 "manipulator"&x& +3 "core" &  \\ 0 +3 "manipulator"&i% +4 "core" %   ; +2 "processing"%l& +4 "core" &L\ +2 "processing"%& +5 "core" &_\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &Z\ +8 &5]\ $d +9 &UwZ\ 6 +9 &~{Z\ K +10 &V\\\ N +9 &`YY\ N +10 &"UX\ N +9 &ZZ\ N +9 &ZT\ M +10 &iVQ\ M +9 &+WS\ M +9 &WS\ M +10 &!VS\ M +9 &#pUW\ N +10 &%2VO\ N +9 &&UU\ M +9 &(WR\ N +10 &*xYK\ N +9 &,:UU\ N +9 &-UR\ M +10 &/XW\ M +9 &1ST\ M +10 &3DUR\ M +9 &5WQ\ N +9 &6YR\ N +10 &8Y[\ N +9 &:JT\\\ N +9 &< WR\ N +10 &=VK\ N +9 &?WP\ M +10 &ASXK\ M +9 &C_Q\ O +9 &D`I\ O +10 &FkP\ P +9 &HPxO\ Q +9 &J L\ T +10 &KR\ T +9 &MP\ T +10 &OMF\ U +9 &QA\ U +9 &RE\ U +10 &TC\ U +9 &VUE\ U +9 &XA\ U +10 &YC\ U +9 &[@\ T +10 &][B\ C +9 &^M}I\ G +9 &^M\ T +10 &^J\ . +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&o1 +63 "core" 1 +2 "manipulator"&}% +4 "core" %   / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 "processing"%& +4 "core" &^H\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +3 "core" % !   $ +2 "storage"(5% +4 "core" % ^ [\  +2 "storage"( . +3 "core" .(K +2 "storage"( & +4 "core" &K [ e\ \ +2 "storage"(1& +2 "manipulator"&U& +8 "core" &K [ [\ \ + &  0 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&4( +5 ."raiseStack"SE.seek :beamBreak + "storage"("'r +3 "core" ( +2 "manipulator"&& +3 "core" &  0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   0 +3 .tForearm.seek PC +42 "manipulator"&' +99 "core" ' +3 .tHand.close + "manipulator"&`/ +60 "core" / +2 .tPC.seek :open +2 "processing"%t( +46 "core" ' +2 "storage"()- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(!'1 +46 "core" ' +349 ( +2 "storage"(& +4 "core" &K ^ _ y\ \ +2 "manipulator"&-& +4 "core" &  0 +2 "manipulator"& % +4 "core" %   E +2 .tForearm.seek :retract +2 "manipulator"&H' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +245 "core" ( + "manipulator"&2& +4 "core" &    +2 "storage"($& +3 "core" &K j ^ V\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +102 "core" ' + .tHand.open + "manipulator"&,1 +62 "core" 1 +2 "storage"(#- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(D' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(9- +3 "core" -' +2 "storage"(B& +4 "core" &K \ \ +2 "manipulator"&'& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&O( +5 "core" ( + "manipulator"&Q& +4 "core" &     +2 "storage"(& +4 "core" &K \ \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' +2 "manipulator"&%& +4 "core" &   +2 "storage"(I& +4 "core" &K h i 8\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&='< +19 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(/' +19 "core" ' +2 "manipulator"&0% +4 "core" %:  +2 "storage"(&& +4 "core" &K [ [ \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 298 counts + "manipulator"&+'f +13 "core" ' +2 "manipulator"&K& +3 "core" &    +2 "storage"(*& +5 "core" &K i k \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +17 "core" ' + "storage"(:% +4 "core" % g j =\ +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +99 (J% +3 "core" %5P O C \ Wd +2 "manipulator"&(% +4 "core" % ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (G& +3 "core" &K e \\ 8\ \ +3 "collection"'P& +3 "core" &\\f _\ I +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&c% +4 "core" %    + "storage"(3% +4 "core" % ] f /\  +2 "storage"(. +3 "core" .(K +2 "storage"(& +3 "core" &K ] ^ \ \ +3 "storage"(^& +4 "core" &K ] f &\ \ + "manipulator"&>& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&;& +3 "core" & \   +3 "storage"(Y& +4 "core" &K ^ ^ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +48 "manipulator"&S' +98 "core" ' +2 "storage"(_& +4 "core" &K   \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +298 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" &   +2 "storage"(N& +4 "core" &K ^ ] R\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&Z'< +18 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(a'g +32 "core" ' +2 "manipulator"&% +3 "core" %7  +2 "storage"(@& +4 "core" &K \\ f \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 295 counts + "manipulator"&A'c +14 "core" ' +2 "manipulator"&q& +4 "core" &  i  +2 "storage"(6& +4 "core" &K   z\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&u' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(j' +38 "core" ' +2 "manipulator"&p& +3 "core" & \   +2 "manipulator"&y% +4 "core" %  X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&e& +4 "core" &~%    >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &~%  I >N +2 .tForearm.seek CC +3 "manipulator"&b'? +95 "core" ' +2 .tHand.close + "manipulator"&k/ +63 "core" / +2 .tCC.seek :open +2 "collection"'8( +451 "core" ( +2 "storage"(T& +3 "core" &K } \ \ +2 "storage"(w& +4 "core" &K |\ \ +2 "manipulator"&h& +4 "core" &ӵ \ \  7 + "manipulator"&f% +4 "core" % *    +3 .tForearm.seek :retract + "manipulator"&\\' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&z( +155 "core" ( +2 "manipulator"&& +3 "core" & \    +2 "storage"(X& +4 "core" &K y m \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&['< +97 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +64 "core" 1 +2 "manipulator"&% +4 "core" % 7   + "storage"(& +4 "core" &K x y F\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 295 counts +2 "manipulator"&m'c +13 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(M& +4 "core" &K c\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +15 "core" ' +2 "storage"(r% +3 "core" % Y\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (~% +3 "core" %E ~  \ V` +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +92 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +46 #tShuffling pucks in tube 7 of [5..7] +5 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'i& +3 "core" & u\ +2 "manipulator"&l% +5 "core" %  $  +2 "storage"( % +4 "core" % n\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (o& +3 "core" &[ [ Q\  +2 "manipulator"&}& +4 "core" & . +2 .tElbow.seek 7 +2 "manipulator"&(r +28 "core" ( + "manipulator"&& +4 "core" &f     +2 "storage"(5& +4 "core" &[ l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +98 "core" ' +2 "storage"( & +3 "core" &[ T\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &[ v )\  +3 "manipulator"&& +4 "core" &f  w  +2 .tElbow.seek 7 +2 "manipulator"&(r +15 "core" ( +2 "manipulator"&v& +3 "core" &\   % ] +3 "storage"(`& +4 "core" &[ ~ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&)'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(' +8 "core" &  U 5 + "manipulator"&"% +5 "core" % Ϻ  R +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +153 "core" ( +2 "manipulator"& & +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &ӎ#    <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ#  <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&2'? +105 "core" ' +2 "manipulator"&$& +3 "core" &Ӡ!    :- +3 "manipulator"&4% +4 "core" %K   +2 "collection"',& +4 "core" & [\ +2 "collection"'#& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'9(\\ +4 "core" & 6\  +9 &1w \ *x +10 &d~ h\ = +9 &q l\ K +10 &HV q\ K +9 &\ T s\ K +9 &W {\ K +10 &U |\ J +9 &RU {\ J +9 &W z\ K +10 &U w\ K +9 & U z\ J +10 &"YV z\ K +9 &$Y x\ K +9 &%U z\ K +10 &'V m\ J +9 &)aU y\ K +9 &+#Y e\ K +10 &,T h\ K +9 &.U e\ J +10 &0iV d\ K +9 &2+T e\ K +9 &3V e\ J +10 &5W c\ K +9 &7pZ b\ K +9 &94W g\ J +10 &:V g\ K +9 &<Y e\ K +10 &>xT f\ K +9 &@;U c\ K +9 &A[ b\ L +10 &C\\ f\ L +9 &E|f f\ M +9 &G9p e\ N +10 &H e\ Q +9 &J\ \ b\ U +10 &Lh\ \ \ b\ V +9 &N'\ \ c\ W +9 &O\ \ a\ W +10 &Q\ \ `\ W +9 &Sj\ \ c\ X +9 &U+\ \ `\ Y +10 &V\ \ \ b\ Y +9 &X\ \ \\\ Z +10 &Zk\ \ a\ [ +9 &\\x\ \ a\ 5 +9 &\\)\ \ ]\ #h +9 ( +3 "collection"'#& +2 "core" &\\~\ \ T\ V +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&B1 +55 "core" 1 +3 "manipulator"&'% +3 "core" % K    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +95 "core" ' +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +3 "core" &^\ +3 "manipulator"&H% +4 "core" % \ \   + "storage"(%% +3 "core" % [ Z\  +3 "storage"(I. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(0([ +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +3 "core" &[ $ % K\  +2 "manipulator"&!& +5 "core" &ӡ  \  :, + "manipulator"&K% +4 "core" % \  \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +51 .tElbow.seek 7 +2 "manipulator"&*(r +166 "core" ( +2 "manipulator"&& +3 "core" &n     +2 "storage"(:& +4 "core" &[ ^ ^ R\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +90 "core" ' +2 "storage"(& +4 "core" &[ b o \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +298 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" &[ h h 6\  +2 "manipulator"&7& +4 "core" &n   +2 .tElbow.seek 7 +2 "manipulator"&O(r +4 "core" ( +2 "manipulator"&& +4 "core" &n    +2 "storage"(=& +4 "core" &[ j i \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&+'ϧ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +60 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&P& +2 "storage"(c' +6 "core" &n  R  +2 "manipulator"&3% +3 "core" % ϰ C +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&/( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&& +3 "core" &    +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &  f  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&>' +92 "core" ' +2 "manipulator"&;& +3 "core" &    +3 "manipulator"&Y% +4 "core" %  < +2 "processing"%.& +3 "core" &X\ +3 "processing"%_& +5 "core" &b\ +3 .tPC.seek :closed + "processing"%\ (^ +5 "core" &c\ +7 &6n\ $d +9 &V{e\ 7 +9 &~yn\ K +10 &Uf\ N +9 &iVc\ M +10 &,TY\ M +9 &ZW\ N +9 &YR\ N +10 &pX]\ N +9 &2YV\ N +9 &YO\ N +10 &!YN\ N +9 &#xZV\ N +10 &%:ZY\ N +9 &&WP\ N +9 &(WS\ M +10 &*UL\ N +9 &,BUR\ N +9 &.TQ\ M +10 &/WU\ N +9 &1US\ N +10 &3KVP\ M +9 &5 W]\ M +9 &6UX\ M +10 &8ZZ\ N +9 &:RXV\ N +9 &<UY\ N +10 &=UO\ N +9 &?WP\ M +10 &AZWP\ N +9 &C_M\ O +9 &DcI\ O +10 &FkO\ P +9 &HVyN\ R +9 &JH\ S +10 &KH\ T +9 &MK\ T +10 &OVG\ T +9 &QA\ U +9 &R@\ U +10 &TN\ U +9 &V^A\ T +9 &X@\ U +10 &YG\ U +9 &[L\ U +10 &]cH\ B +9 &^J{H\ L +9 &^MF\ 9 +6 ( + "processing"%_& +4 "core" &^.E\ 9 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&?1 +61 "core" 1 +2 "manipulator"&<% +4 "core" %   < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +102 "core" ' +3 "processing"%R& +3 "core" &^--\ 9 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&N% +4 "core" %    +2 "storage"(g% +4 "core" % : : V\  + "storage"(. +3 "core" .([ +2 "storage"(@& +4 "core" &[ < < M\  +2 "storage"(q& +3 "manipulator"&6& +7 "core" &[ ; = e\  + &   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&p( +7 ."raiseStack"SE.seek :beamBreak + "storage"(y'r +2 "core" ( +3 "manipulator"&S& +3 "core" &   2  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &  ?  +3 .tForearm.seek PC +2 "manipulator"&L' +94 "core" ' + .tHand.close + "manipulator"&Z/ +58 "core" / +2 .tPC.seek :open +42 "processing"%A( +56 "core" ' +2 "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(e'1 +46 "core" ' +353 ( + "storage"(s& +4 "core" &[ [ [\  +2 "manipulator"&u& +4 "core" &   +2 "manipulator"&F% +4 "core" %  f  +2 .tForearm.seek :retract +2 "manipulator"&k' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&V(r +246 "core" ( + "manipulator"&]& +3 "core" &    +3 "storage"(T& +4 "core" &[ h g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +97 "core" ' + .tHand.open +2 "manipulator"&h1 +61 "core" 1 +3 "storage"(f- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +37 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(X' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(b- +3 "core" -' +2 "storage"(& +4 "core" &[ h m F\  +2 "manipulator"&n& +4 "core" & f  +2 .tElbow.seek 7 +2 "manipulator"&(r +23 "core" ( +2 "manipulator"&& +3 "core" &z    +2 "storage"(& +5 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&M'= +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(r'" +57 "core" ' +2 "manipulator"&\\& +4 "core" &z   +2 "storage"(~& +4 "core" &[ J W \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +26 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"([' +18 "core" ' +2 "manipulator"&i% +3 "core" %Ή     +3 "storage"(m& +4 "core" &[ F @ y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 314 counts +2 "manipulator"&j'ϵ +27 "core" ' + "manipulator"&l& +4 "core" &z z  +2 "storage"( & +3 "core" &[ h h p\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +19 "core" ' + "storage"(|% +4 "core" % i h \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ({% +3 "core" %bM D C S\ Wd +2 "manipulator"&o% +4 "core" %@  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +95 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &[ ] [ %\  +2 "collection"'5& +4 "core" &\\} a\ V +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"& % +4 "core" % \  :  +2 "storage"(W% +3 "core" % ^ ^ \  +2 "storage"(x. +3 "core" .([ +2 "storage"(U& +4 "core" &[ ^ ^ \  +2 "storage"(1& +3 "core" &[ ^ ^ \  +2 "manipulator"&& +4 "core" &z   +2 .tElbow.seek 7 +2 "manipulator"&v(r +4 "core" ( + "manipulator"&`& +4 "core" &z   0  +2 "storage"(d& +3 "core" &[ [ ] \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +92 "core" ' +2 "storage"("& +4 "core" &[ ] ^ e\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +49 .tSE.seek :beamBreak +3 "storage"('r +299 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +4 "core" &z  C  +2 "storage"(& +4 "core" &[ ^ [ A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +28 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"($- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(4'l +29 "core" ' +2 "manipulator"&% +4 "core" %΍  G  +2 "storage"(,& +3 "core" &[ H G .\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&'Ϲ +14 "core" ' + "manipulator"&& +4 "core" &z     +2 "storage"(8& +4 "core" &[ i g w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"('' +35 "core" ' +2 "manipulator"&& +4 "core" &z p  + "manipulator"&H% +4 "core" %8  } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&I(ӂ +158 "core" ( + "manipulator"&#& +4 "core" &Ӛ  8" +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &Ӛ  8" +3 .tForearm.seek CC +2 "manipulator"&!'? +103 "core" ' + .tHand.close +2 "manipulator"&K/ +59 "core" / +2 .tCC.seek :open +2 "collection"'2( +448 "core" ( +2 "storage"(& +4 "core" &[   \  +2 "storage"(:& +4 "core" &[ ~ | \  + "manipulator"&& +4 "core" &Ӭ   l 6 +2 "manipulator"&% +4 "core" % 2  2 +2 .tForearm.seek :retract +2 "manipulator"&-' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&Q(r +163 "core" ( + "manipulator"&J& +3 "core" &w  \ 1  +3 "storage"((& +3 "core" &[ h r \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&7'{ +103 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&=1 +54 "core" 1 +2 "manipulator"&G% +4 "core" % ΁   + "storage"(P& +4 "core" &[ ~ /\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 306 counts +2 "manipulator"&3'ϭ +13 "core" ' + "manipulator"&*& +4 "core" &w `  +2 "storage"(& +4 "core" &[ q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'= +17 "core" ' +2 "storage"(+% +3 "core" % t\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (^% +3 "core" %D r j G\ V` +2 "manipulator"&O% +5 "core" %3 ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +91 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'Y& +3 "core" & u\ +3 "manipulator"&.% +4 "core" %    +2 "storage"(c% +4 "core" % w\  + "storage"(. +50 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(t(<- +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &<0 x )\ +2 "manipulator"&<& +4 "core" &w   +2 .tElbow.seek 5 +2 "manipulator"&R( +24 "core" ( + "manipulator"&N& +4 "core" &    +2 "storage"(g& +4 "core" &<0 u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +94 "core" ' + "storage"(& +5 "core" &<0 U\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +311 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" &<. Y\ +2 "manipulator"&S& +5 "core" &  w  +2 .tElbow.seek 5 +2 "manipulator"&E( +12 "core" ( +2 "manipulator"&>& +4 "core" &   _ + "storage"(Z& +4 "core" &<. r\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&a'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +6 "storage"(\ ' +4 "core" & V + "manipulator"&y% +4 "core" %  N +2 .tForearm.seek :retract +2 "manipulator"&s' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u(ӂ +151 "core" ( +2 "manipulator"&F& +2 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" &x&   ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +3 "core" &x& \  ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'? +103 "core" ' +2 "manipulator"&T& +5 "core" &x&   ?P + "manipulator"&p% +5 "core" %H   +2 "collection"'h& +4 "core" & \ +2 "collection"'f& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'b(\\ +4 "core" & \ +7 &A \ $f +10 &Y| \ 7 +9 &x \ K +9 &S \\\ J +10 &W s\ J +9 &KU s\ J +9 & V z\ K +10 &Y t\ K +9 &Y z\ K +10 &SU |\ K +9 & T |\ K +9 &!S z\ K +10 &#T {\ K +9 &%\\U {\ J +9 &'U y\ J +10 &(V z\ J +9 &*U w\ J +10 &,dV s\ J +9 &.&V s\ J +9 &/U P\ J +10 &1W K\ K +9 &3kY e\ K +9 &5-T K\ K +10 &6U &\ K +9 &8T !\ K +10 &:rT  \ K +9 &<4T D\ K +9 &=T _\ K +10 &?W g\ K +9 &AzY e\ K +9 &C;[ f\ K +10 &Db K\ L +9 &Fk H\ M +10 &Hr J\ P +9 &J)\ .\ T +9 &K\ \ F\ W +10 &M\ \ `\ V +9 &Of\ \ $\ W +9 &Q(\ \ =\ W +10 &R\ \ 8\ X +9 &T\ \ A\ Y +10 &Vh\ \ H\ Y +9 &X&\ \  \ [ +9 &Y\ \ <\ Z +10 &[\ \ \ H +9 &\\0\ \ R\ 0 +9 &\\m\ \ G\ L +3 ( +2 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +3 "manipulator"&n% +4 "core" % H   ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &^\ + "manipulator"&% +4 "core" %   :  +2 "storage"(\\% +3 "core" % [ [\  +2 "storage"(~. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(e(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" &<. V I ?\ +2 "manipulator"&m& +4 "core" &ӭ 8 + "manipulator"&% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&l( +161 "core" ( + "manipulator"& & +4 "core" &    +2 "storage"(|& +49 "core" &<. ^ ^ :\ +5 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +94 "core" ' +3 "storage"(w& +3 "core" &<.   \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +297 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (o& +2 "core" &<. 6 7 w\ +3 "manipulator"&M& +4 "core" &  u  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&r& +3 "core" &   i  +2 "storage"(& +4 "core" &<. [ Z\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&5& + "storage"( ' +8 "core" &   +2 "manipulator"&W% +4 "core" % \  ) +2 .tForearm.seek :retract +2 "manipulator"&x' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&U& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" & \   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + "manipulator"&`& +4 "core" &    +2 "manipulator"&d% +4 "core" %   +2 "processing"%& +3 "core" &Z\ +3 "processing"%"& +5 "core" &Z\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &k\ +7 & .q\ $c +10 &U}o\ 7 +9 &}j\ L +9 &Tn\ M +10 &[Uh\ M +9 &Wb\ M +9 &Ug\ N +10 &Yb\ M +9 &cSh\ M +10 &%WY\ M +9 &Y^\ N +9 &!Wd\ N +10 &#kU`\ M +9 &%-XV\ M +9 &&Z^\ M +10 &(U_\ M +9 &*tW^\ M +10 &,5Za\ M +9 &-U_\ M +9 &/XZ\ M +10 &1{UU\ M +9 &3=U]\ M +9 &4SZ\ M +10 &6Ta\ M +9 &8UR\ M +10 &:ET_\ M +9 &<XX\ M +9 &=ZR\ N +10 &?[_\ M +9 &AMY]\ M +9 &C e]\ O +10 &De[\ O +9 &FpR\ Q +10 &HGH\ R +9 &JX\ T +9 &KT\ T +10 &MT\ T +9 &OIE\ T +9 &Q H\ U +10 &RI\ T +9 &TN\ U +10 &VPA\ T +9 &XH\ U +9 &YC\ U +10 &[A\ U +9 &]TQ\ G +9 &^{EO\ a +10 &^4N\ 2 +5 ( +2 "processing"%"& +3 "core" &^!E\ 2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&z1 +58 "core" 1 +2 "manipulator"&}% +3 "core" %      +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +3 "processing"% & +3 "core" &^!C\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +3 "core" % %   A ; +3 "storage"($% +3 "core" % : I v\  +2 "storage"(. +3 "core" .(<- +2 "storage"(,& +4 "core" &<. : : {\ +2 "storage"(& +3 "manipulator"&8& +6 "core" &<. ; ? K\ +2 &   +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&H( +7 "core" ( +2 "manipulator"& & +4 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +2 "core" &  #  +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open + "processing"%( +86 "core" ' + "storage"(4- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +47 "storage"(#'1 +47 "core" ' +99 "Can" ] OO" +166 "core" ( +2 "storage"(&& +4 "core" &<- f g 7\ + "manipulator"&B& +5 "core" & \ ,  + "manipulator"&)% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&%( +246 "core" ( +2 "manipulator"&9& +3 "core" &    % +2 "storage"(& +4 "core" &<- [ Z \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +96 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"((' +60 "core" ' +2 #tLights, camera, ACTION! + "storage"(!- +3 "core" -' +2 "storage"(I& +4 "core" &<- \ +2 "manipulator"&=& +4 "core" &  % +2 .tElbow.seek 5 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&P& +4 "core" &   ? % +2 "storage"(*& +4 "core" &<- \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(+'" +57 "core" ' + "manipulator"&-& +4 "core" & ! % +2 "storage"(^& +3 "core" &<- _ [ .\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&O'΍ +17 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(7' +27 "core" ' +2 "manipulator"&Y% +3 "core" %Η   /  +3 "storage"(3& +4 "core" &<- _ i x\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&.' +24 "core" ' +2 "manipulator"&c& +4 "core" &  % +2 "storage"(& +4 "core" &<- k _ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +17 "core" ' + "storage"(D% +4 "core" % _ o #\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (0% +3 "core" %oL D D\ Vb +2 "manipulator"&?% +4 "core" %Y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +94 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (N& +3 "core" &<- ] I e\ +2 "collection"'g& +4 "core" &\\m "\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" % !  & +2 "storage"(% +4 "core" % i h \  +2 "storage"(;. +3 "core" .(<- +2 "storage"(6& +4 "core" &<- i i \ + "storage"(q& +5 "core" &<- i i \ + "manipulator"&S& +4 "core" &  % +2 .tElbow.seek 5 +2 "manipulator"&>( +4 "core" ( + "manipulator"&Z& +4 "core" &   % +2 "storage"(/& +3 "core" &<- i i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +96 "core" ' +2 "storage"(y& +4 "core" &<- | r 1\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +299 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +49 "manipulator"&F& +4 "core" &  G % +2 "storage"(L& +4 "core" &<- i f \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&@'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(T- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(p'r +31 "core" ' +2 "manipulator"&h% +4 "core" %Γ  +2 "storage"(E& +4 "core" &<- j j _\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 306 counts + "manipulator"&\ 'Ͽ +14 "core" ' +3 "manipulator"&s& +4 "core" &   $ + "storage"(2& +4 "core" &<-  ~ s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(n' +38 "core" ' +2 "manipulator"&& +4 "core" & ] $ +2 "manipulator"&% +3 "core" %9 \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +154 "core" ( +2 "manipulator"&f& +4 "core" &ӏ!   :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &ӏ  O :0 +3 .tForearm.seek CC +2 "manipulator"&m'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"']( +448 "core" ( +2 "storage"( & +3 "core" &<-  \ +2 "storage"(|& +4 "core" &<- ~ \ +2 "manipulator"&t& +4 "core" &ө  7 + "manipulator"&u% +4 "core" % L    +2 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&k( +162 "core" ( +2 "manipulator"&{& +4 "core" &   d  +2 "storage"(o& +4 "core" &<- t\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&M'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&j% +5 "core" % Ό   + "storage"(5& +4 "core" &<- u\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 299 counts + "manipulator"&W'ϸ +16 "core" ' + "manipulator"&l& +4 "core" & P  +2 "storage"(V& +4 "core" &<- ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +16 "core" ' + "storage"(% +4 "core" % R\ +3 ."downElevator"SE.seek :down +3 "storage"(U' +99 (1% +2 "core" %D  n \ U_ +2 "manipulator"&% +5 "core" %E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +95 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'d& +4 "core" & z\ +2 "manipulator"&% +4 "core" % \  R  +2 "storage"( % +4 "core" % \  +2 "storage"(x. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(A(K +389 "core" ( +13 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" &K } Z\ \ +3 "manipulator"&}& +4 "core" & :  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" & 1  +2 "storage"($& +4 "core" &K `\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(,& +4 "core" &K C\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +2 "core" &K |\ \ +3 "manipulator"& & +4 "core" & \\  +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &K h k \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&4'h +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(' +8 "core" &  + "manipulator"&% +5 "core" % ` V q +2 .tForearm.seek :retract + "manipulator"&&' +98 "core" ' +2 .tElbow.seek CC + "manipulator"&B(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&)& +3 "core" &Ӑ!  S :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӑ!  :/ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'? +92 "core" ' +2 "manipulator"&& +4 "core" &ӑ!   $ :. +2 "manipulator"&H% +3 "core" %= \  5 +3 "collection"'& +4 "core" & <\ +2 "collection"'& +5 "core" & Y\ +2 .tCC.seek :closed +3 "collection"'!(\\ +4 "core" & \ +7 &; \ $f +9 &Xy 5\ 7 +10 &x \ J +9 &T \ J +9 &W d\ J +10 &IU S\ J +9 & U \ J +9 &U ^\ J +10 &Y n\ K +9 &PS 2\ K +9 & S J\ J +10 &!U u\ J +9 &#V z\ J +10 &%YT 1\ J +9 &'X L\ J +9 &(U u\ J +10 &*U x\ J +9 &,aW z\ J +9 &.#V z\ J +10 &/U {\ J +9 &1Z z\ K +10 &3iT w\ J +9 &5)T \ K +9 &6T ,\ K +10 &8Y L\ K +9 &:pZ @\ K +9 &<3Y C\ J +10 &=V A\ J +9 &?Z <\ K +10 &AwZ E\ K +9 &C7^ #\ L +9 &Db *\ L +10 &Fk J\ M +9 &Hr \ O +10 &J( \ T +9 &K\ \ :\ V +9 &M\ \ Q\ W +10 &Od\ \ \ W +9 &Q%\ \ \ W +9 &R\ \ G\ W +10 &T\ \ @\ Y +9 &Vg\ \ ?\ Y +10 &X'\ \ \ Y +9 &Y\ \ I\ [ +9 &[\ \ \ G +10 &\\1\ \ 4\ 1 +9 &\\h\ \ \ J +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&I1 +53 "core" 1 +2 "manipulator"&=% +3 "core" % =   ; 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%P& +4 "core" &S\ +2 "manipulator"&*% +4 "core" %     +2 "storage"(-% +3 "core" % g h r\  +2 "storage"(^. +3 "core" .(K +2 "storage"(#& +4 "core" &K i h _\ \ +2 "storage"(Y& +4 "core" &K f h X\ \ + "manipulator"&3& +4 "core" &ӭ   6 +2 "manipulator"&J% +4 "core" %  s  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&c( +159 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(D& +4 "core" &K ^ ] \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +95 "core" ' + "storage"(:& +4 "core" &K  ~ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +49 .tSE.seek :beamBreak +5 "storage"(('r +296 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" &K g _ n\ \ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&G( +4 "core" ( + "manipulator"&+& +5 "core" &    + "storage"(O& +4 "core" &K k i \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&.'h +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&g& +2 "storage"(' +8 "core" &  + "manipulator"&% +4 "core" % z  +2 .tForearm.seek :retract +2 "manipulator"&;' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&7( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&6& +4 "core" &  7 & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +3 "core" &  G & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +92 "core" ' +2 "manipulator"&Z& +4 "core" &   & +2 "manipulator"&/% +4 "core" %  p +2 "processing"%'& +4 "core" &m\ +2 "processing"%y& +5 "core" &W\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &q\  +9 &2vp\ )v +9 &c|l\ = +10 &vsp\ N +9 &9Ti\ M +9 &Yh\ M +10 &Uo\ N +9 &}Wl\ N +10 &?Vk\ N +9 &Xj\ N +9 &Vi\ N +10 & WT\ N +9 &"HV_\ M +9 &$\ U`\ M +10 &%T`\ M +9 &'S`\ M +10 &)PT[\ M +9 &+Ua\ M +9 &,TY\ M +10 &.R_\ M +9 &0XTZ\ M +9 &2U^\ M +10 &3R`\ M +9 &5Ua\ M +10 &7`T`\ M +9 &9!Z\\\ N +9 &:YY\ N +10 &<Y_\ M +9 &>g\\a\ N +10 &@)YX\ N +9 &A]V\ N +9 &Ca`\ N +10 &Ekh`\ O +9 &G)pa\ P +9 &HyX\ Q +10 &J`\ S +9 &Lg_\ S +9 &N%a\ T +10 &OW\ T +9 &QW\ U +10 &SjY\ U +9 &U,O\ U +9 &VV\ U +10 &XR\ T +9 &ZqS\ U +9 &\\4Q\ U +10 &]zsL\ > +9 &^"PD\ M +10 &^CP\ = +2 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&Q1 +63 "core" 1 +2 "manipulator"&<% +3 "core" %    p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' +2 "processing"%F& +4 "core" &^B3\ = + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&L% +4 "core" %   *  +2 "storage"(T% +3 "core" % 9 : h\  +2 "storage"(h. +3 "core" .(K +2 "storage"(E& +4 "core" &K 9 ; _\ \ +2 "storage"(s& +2 "manipulator"&2& +9 "core" &K 9 : R\ \ + &   & +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&C& +5 "core" &  O & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" & 0 0 _ & +3 .tForearm.seek PC +2 "manipulator"&R' +91 "core" ' +2 .tHand.close + "manipulator"&@/ +61 "core" / +3 .tPC.seek :open +2 "processing"%\ ( +94 "core" ' + "storage"(p- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'1 +43 "core" ' +307 ( +2 "storage"(i& +4 "core" &K h ^ O\ \ +2 "manipulator"&& +3 "core" &  & +2 "manipulator"&a% +4 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&' +133 "core" ' +10 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\\( +246 "core" ( + "manipulator"&b& +5 "core" &    + "storage"( & +4 "core" &K [ [\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&|' +94 "core" ' +2 .tHand.open + "manipulator"&t1 +53 "core" 1 +2 "storage"(u- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"({' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(o' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(m- +3 "core" -' +2 "storage"(~& +4 "core" &K \ \ +2 "manipulator"&& +4 "core" &  \   +2 .tElbow.seek 6 +2 "manipulator"&j( +4 "core" ( + "manipulator"&5& +4 "core" &  \  +2 "storage"(l& +4 "core" &K K\ \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +55 "core" ' +2 "manipulator"&w& +4 "core" &  :  +2 "storage"(1& +4 "core" &K j k Q\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +19 "core" ' + "manipulator"&d% +5 "core" %B  + "storage"(& +4 "core" &K ^ h :\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&W'n +14 "core" ' + "manipulator"& & +4 "core" & @  +2 "storage"(x& +3 "core" &K i i y\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +16 "core" ' + "storage"(X% +4 "core" % i k \ +2 ."downElevator"SE.seek :down +4 "storage"(U' +99 (e% +3 "core" %XM G G\ Wd +2 "manipulator"&z% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +93 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K e [ \ \ +2 "collection"'$& +3 "core" &\\g \ J +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&,% +4 "core" %   v  +2 "storage"(r% +4 "core" % ` f \  + "storage"(`. +3 "core" .(K +2 "storage"(& +4 "core" &K ^ ^ \ \ +2 "storage"(8& +3 "core" &K ^ ^ \ \ +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"([& +4 "core" &K ^ ^\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +101 "core" ' +2 "storage"(& +3 "core" &K   U\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & s  +2 "storage"(& +4 "core" &K o ^ :\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&"'< +23 "core" ' + .tElbow.hold +48 "manipulator"&4, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(H'f +31 "core" ' +2 "manipulator"&% +3 "core" %G   % +2 "storage"(v& +4 "core" &K ] _\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 311 counts + "manipulator"&'s +15 "core" ' +2 "manipulator"&&& +4 "core" &   \\  +2 "storage"(]& +4 "core" &K  ~ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(=' +45 "core" ' +2 "manipulator"&P& +4 "core" &  f  +2 "manipulator"&*% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^(ӂ +153 "core" ( +2 "manipulator"&#& +4 "core" &Ӑ  8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &Ӑ \ 8" +2 .tForearm.seek CC +2 "manipulator"&3'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'J( +448 "core" ( +2 "storage"(9& +3 "core" &K | \ \ +2 "storage"(& +4 "core" &K } \ \ +2 "manipulator"&D& +4 "core" &Ӣ   6 +2 "manipulator"&:% +3 "core" % O    +3 .tForearm.seek :retract + "manipulator"&B' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&K( +164 "core" ( +2 "manipulator"&0& +3 "core" &   l  +2 "storage"(?& +4 "core" &K m\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +54 "core" 1 +2 "manipulator"&N% +4 "core" % 7    +2 "storage"(g& +4 "core" &K `\ \ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 295 counts + "manipulator"&'c +14 "core" ' +2 "manipulator"&c& +4 "core" & E  + "storage"(%& +4 "core" &K ^\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&(' +16 "core" ' +2 "storage"(.% +4 "core" % r\ +2 ."downElevator"SE.seek :down +3 "storage"(6' +99 (q% +3 "core" %F  \ \ V_ +2 "manipulator"&G% +5 "core" % p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'/& +4 "core" & =\ + "manipulator"&'% +4 "core" %    +2 "storage"(% +4 "core" % p\  +2 "storage"(;. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Q& +2 "core" &[ f \\ \  +2 "manipulator"&<& +4 "core" & w  +2 .tElbow.seek 7 +2 "manipulator"&F(r +34 "core" ( + "manipulator"&L& +5 "core" &    + "storage"(T& +47 "core" &[ j\  +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&h'= +99 "core" ' + "storage"(E& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'r +292 "core" ' +3 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" &[  8\  +2 "manipulator"&C& +4 "core" & O  +2 .tElbow.seek 7 +2 "manipulator"&>(r +21 "core" ( +2 "manipulator"&S& +3 "core" &p % x +2 "storage"(@& +4 "core" &[ h g o\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&p'ϧ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&_& +2 "storage"(' +5 "core" &p Z x +2 "manipulator"&% +4 "core" % Ϡ +3 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&a& +5 "core" ' + &y%    >I + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &R& +3 "core" &y%   4 >I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'? +92 "core" ' +3 "manipulator"& & +3 "core" &ӄ$   P ;> +3 "manipulator"&% +4 "core" %9  C 6 +2 "collection"'t& +4 "core" & @\ +2 "collection"'u& +5 "core" & :\ +3 .tCC.seek :closed + "collection"'m(\\ +5 "core" & 8\ +6 &B W\ $e +9 &Yy U\ 7 +10 &w \ J +9 &T +\ J +9 &T Y\ K +10 &GS \ K +9 & S \ K +9 &W /\ K +10 &W K\ K +9 &PY K\ K +10 & W M\ J +9 &!S 3\ K +9 &#T ?\ J +10 &%WR J\ K +9 &'R #\ K +9 &(S F\ K +10 &*X N\ J +9 &,aU P\ J +10 &.#V O\ J +9 &/S 0\ K +9 &1T \ K +10 &3iT \ J +9 &5*U :\ J +9 &6U %\ J +10 &8V B\ J +9 &:qU G\ J +10 &<2Y #\ K +9 &=Y :\ J +9 &?W \ K +10 &AxZ @\ K +9 &C:Z \ K +9 &De -\ L +10 &Fk ;\ M +9 &Hp !\ P +10 &J' C\ T +9 &K\ \ F\ W +9 &M\ \ %\ V +10 &Od\ \ *\ W +9 &Q#\ \ F\ X +9 &R\ \ D\ X +10 &T\ \ !\ Y +9 &Ve\ \ ;\ Y +10 &X$\ \ I\ Z +9 &Y\ \ A\ Z +9 &[\ \ \ H +10 &\\0\ \ >\ 4 +9 &\\m\ \ C\ K +2 ( +2 "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&~1 +59 "core" 1 +2 "manipulator"&% +4 "core" % 9   J 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%l& +4 "core" &o\ +2 "manipulator"&% +4 "core" %    +2 "storage"(w% +4 "core" % h e ,\  + "storage"(1. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(d([ +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[   \  +2 "manipulator"&f& +3 "core" &ө \  + 7 +3 "manipulator"& % +4 "core" %   '  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&x(r +164 "core" ( +2 "manipulator"&{& +4 "core" &x     +2 "storage"(X& +4 "core" &[ k a \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +96 "core" ' +2 "storage"(|& +3 "core" &[ t w \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +298 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +50 "core" &[ k k \  +3 "manipulator"&V& +4 "core" &x    +2 .tElbow.seek 7 +2 "manipulator"&j(r +3 "core" ( +2 "manipulator"&& +4 "core" &x   %  +2 "storage"(& +4 "core" &[ ] f `\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +3 "storage"(,' +7 "core" &x   +2 "manipulator"&r% +4 "core" % Ϝ  C +2 .tForearm.seek :retract +2 "manipulator"&`' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&M( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&& +4 "core" &  . & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &  & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' +2 "manipulator"&& +3 "core" &   & +3 "manipulator"&[% +4 "core" %  b +2 "processing"%n& +4 "core" &Z\ +2 "processing"%& +5 "core" &p\ +2 .tPC.seek :closed +2 "processing"%U(^ +5 "core" &q\ +7 & .o\ $c +9 &Uyo\ 6 +9 &{o\ K +10 &Tn\ M +9 &]Uo\ M +10 & Pe\ M +9 &Wn\ M +9 &To\ M +10 &eRh\ M +9 &'Wh\ M +9 &Vo\ N +10 &!Ud\ N +9 &#mUg\ M +10 &%/T\\\ M +9 &&Wc\ M +9 &(Ua\ N +10 &*uU^\ M +9 &,7T_\ M +9 &-Ra\ M +10 &/Y_\ M +9 &1}Tc\ M +10 &3@Va\ M +9 &5Ua\ M +9 &6X\\\ M +11 &8Wa\ N +10 &:FU`\ N +7 &< T`\ M +10 &=TV\ M +9 &?VZ\ M +10 &ANY`\ N +9 &C a[\ O +9 &Db^\ O +10 &FkZ\ P +9 &HKz`\ Q +9 &J_\ S +10 &KO\ S +9 &MR\ T +10 &OJK\ T +9 &Q\ M\ U +9 &R\\\ T +10 &TN\ U +9 &VRQ\ T +9 &X[\ U +10 &YS\ U +9 &[S\ T +10 &]VS\ G +9 &^|ES\ _ +9 &^8Q\ 2 +6 ( + "processing"%& +4 "core" &^%O\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&k1 +61 "core" 1 +2 "manipulator"&}% +4 "core" %    b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 "processing"%)& +4 "core" &^%4\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" % !  ) +2 "storage"(% +4 "core" % : 9 j\  +2 "storage"(. +3 "core" .([ +2 "storage"(v& +4 "core" &[ ; : |\  +2 "storage"(&& +4 "manipulator"&]& +6 "core" &[ : : Z\  + &  & +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(P'r + "manipulator"&*( +7 "core" ( +2 "manipulator"& & +4 "core" &  & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & 0 / x & +3 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' +2 .tHand.close + "manipulator"&"/ +55 "core" / +3 .tPC.seek :open + "processing"%( +99 "core" ' +2 "storage"(H- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'1 +46 "core" ' +296 ( + "storage"(Y& +4 "core" &[ ] [ \  +2 "manipulator"&I& +4 "core" &  & + "manipulator"&4% +4 "core" %   E ) +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&-(r +248 "core" ( +9 "manipulator"&!& +4 "core" &   ! +2 "storage"(9& +4 "core" &[ [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +99 "core" ' + .tHand.open +2 "manipulator"&D1 +55 "core" 1 +2 "storage"(:- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(0' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(?' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(3- +3 "core" -' +2 "storage"(^& +4 "core" &[ W\  +2 "manipulator"&O& +4 "core" & \  ! +2 .tElbow.seek 7 +2 "manipulator"&N(r +8 "core" ( +2 "manipulator"&g& +3 "core" &   )  +3 "storage"(c& +4 "core" &[ T\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&%'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +49 "core" ' +2 "manipulator"&B& +4 "core" &   +2 "storage"(q& +4 "core" &[ ^ [ .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&G'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&/% +3 "core" %Ύ \  u & +3 "storage"('& +4 "core" &[ G G &\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&'Ϻ +25 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(;& +4 "core" &[ e h h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&='= +16 "core" ' +2 "storage"((% +4 "core" % f ^ a\ +2 ."downElevator"SE.seek :down +4 "storage"(6' +98 (A% +3 "core" %HR D D\ Xg +2 "manipulator"&Q% +5 "core" %A  d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +4 (L& +2 "core" &[ e [ 7\  +3 "collection"'T& +4 "core" &\\m +\ K +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&E% +3 "core" %  \ \ @  +3 "storage"(+% +4 "core" % ^ ^ \  + "storage"(Z. +4 "core" .([ +2 "storage"(2& +3 "core" &[ ` ^ )\  +2 "storage"(s& +4 "core" &[ ] ] \  +2 "manipulator"&C& +3 "core" &    +3 .tElbow.seek 7 + "manipulator"&S(r +9 "core" ( +2 "manipulator"&@& +4 "core" &  + "storage"(7& +5 "core" &[ \\ ] 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&_'= +93 "core" ' +2 "storage"(& +3 "core" &[ ~  \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +299 "core" ' +2 "storage"(h- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" &  +3 "storage"(R& +4 "core" &[ ^ ^ ,\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&y'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +42 "storage"('k +40 "core" ' + "manipulator"&t% +4 "core" %Ύ  h 1 +2 "storage"(>& +4 "core" &[ M ? \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +13 "core" ' +2 "manipulator"&i& +3 "core" &  U +3 "storage"(J& +4 "core" &[   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&~'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +38 "core" ' +2 "manipulator"&l& +3 "core" &  \ O +2 "manipulator"&% +5 "core" %4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&1(ӂ +154 "core" ( +3 "manipulator"&u& +4 "core" &Ӎ$   \\ =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӎ$ \  d =E +3 .tForearm.seek CC +2 "manipulator"&f'? +98 "core" ' +2 .tHand.close + "manipulator"& / +56 "core" / +2 .tCC.seek :open +2 "collection"'b( +448 "core" ( +2 "storage"({& +4 "core" &[ | \  +2 "storage"(X& +4 "core" &[ | R\  + "manipulator"&& +4 "core" &ӭ  9% +2 "manipulator"&|% +3 "core" % E    +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&5(r +164 "core" ( +2 "manipulator"&e& +3 "core" &r    +2 "storage"(z& +4 "core" &[ m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&V'{ +101 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&W% +4 "core" % ΋    +2 "storage"($& +4 "core" &[ m x \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 316 counts + "manipulator"&r'Ϸ +14 "core" ' +2 "manipulator"&x& +3 "core" &r C  +3 "storage"(\\& +3 "core" &[ [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&o'= +15 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (8% +3 "core" %H u r \ V` +2 "manipulator"&j% +5 "core" %5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'[& +3 "core" & /\ +3 "manipulator"&n% +4 "core" %    + "storage"(,% +5 "core" % \\\  + "storage"(`. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(\ (<- +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (k& +2 "core" &<. q a 2\ +2 "manipulator"&}& +5 "core" &r   =  + .tElbow.seek 5 +2 "manipulator"&)( +22 "core" ( + "manipulator"&& +4 "core" &   9  +2 "storage"(& +4 "core" &<. `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"(v& +4 "core" &<. d\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]& +3 "core" &<. ~ \ +2 "manipulator"& & +4 "core" & C  +2 .tElbow.seek 5 +2 "manipulator"&( +14 "core" ( +2 "manipulator"& & +3 "core" & &  +2 "storage"("& +4 "core" &<. j\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&H'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(U' +6 "core" &   +2 "manipulator"&P% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&4& +4 "core" &Ӑ   9# +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӑ   2 9# +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&!'? +100 "core" ' +2 "manipulator"&9& +4 "core" &ӑ   & 8" +2 "manipulator"&*% +3 "core" %F \   +3 "collection"'D& +3 "core" & H\ +3 "collection"':& +5 "core" & G\ +3 .tCC.seek :closed + "collection"'3(\\ +4 "core" & 8\ +9 &A ;\ $f +9 &Z| [\ 7 +9 &x C\ K +10 &R b\ J +9 &S ;\ K +9 &KT 5\ K +10 & S 4\ K +9 &S R\ J +10 &V \\\ J +9 &ST E\ K +9 & S <\ J +10 &!U I\ J +9 &#Y M\ J +9 &%[U N\ J +10 &'T T\ J +9 &(Y N\ K +10 &*W S\ J +9 &,cT K\ K +9 &.%T N\ K +10 &/X J\ K +9 &1Y (\ K +9 &3jV G\ K +10 &5-T M\ K +9 &6T 5\ K +10 &8U 2\ J +9 &:tU 1\ J +9 &<5T 1\ K +10 &=S 1\ K +9 &?U L\ J +9 &A|V 1\ J +10 &C;Z *\ K +9 &Db ,\ L +10 &Fj (\ M +9 &Hs D\ P +9 &J( '\ U +10 &K\ \ \ V +9 &M\ \ "\ W +9 &Of\ \ \ W +10 &Q(\ \ \ W +9 &R\ \ \ X +10 &T\ \ !\ X +9 &Vg\ \ B\ Z +9 &X)\ \ )\ Z +10 &Y\ \  \ [ +9 &[\ \ \ H +9 &\\1\ \ #\ / +10 &\\k\ \ \ K +2 ( +2 "collection"':& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&^1 +62 "core" 1 +2 "manipulator"&O% +4 "core" % F    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%c& +4 "core" &o\ + "manipulator"&% +4 "core" %     +2 "storage"(B% +4 "core" % ^ [\  +2 "storage"(q. +3 "core" .(<- +2 "storage"(/& +4 "core" &<. ^ d\ + "storage"(#& +4 "core" &<. [ [\ +2 "manipulator"&'& +4 "core" &ӫ   " 5 +2 "manipulator"&0% +3 "core" %   \ /  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&;& +4 "core" &  +2 "storage"((& +4 "core" &<. ^ ^ (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +93 "core" ' +2 "storage"(& +4 "core" &<. ~  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'r +299 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &<. g ^ 9\ +2 "manipulator"&%& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&.& +4 "core" &   + "storage"(G& +4 "core" &<. i i }\ +2 .tForearm.seek 5 + 300 counts +49 "manipulator"&'Ϲ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +2 "storage"(E' +5 "core" & +3 "manipulator"&+% +3 "core" % Ͽ  +3 .tForearm.seek :retract +2 "manipulator"&Z' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&2& +4 "core" &   @ $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &  c $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C' +92 "core" ' +2 "manipulator"&@& +4 "core" &    $ +2 "manipulator"&7% +4 "core" %  e +2 "processing"%=& +3 "core" &l\ +3 "processing"%& +5 "core" &W\ +3 .tPC.seek :closed + "processing"%6(^ +4 "core" &p\  +9 &2vq\ )v +9 &c{o\ = +10 &qrs\ N +9 &3Uo\ M +9 &Vk\ M +10 &Tn\ M +9 &zUn\ M +10 &;Vo\ M +9 &Rn\ M +9 &Vo\ M +10 & Wj\ M +9 &"CUm\ M +9 &$Ye\ M +10 &%Ud\ M +9 &'U_\ N +10 &)LUa\ M +9 &+ U_\ M +9 &,Xa\ M +10 &.Ud\ M +9 &0SU`\ M +9 &2TZ\ M +10 &3T`\ M +9 &5T`\ M +10 &7[Ub\ M +9 &9T`\ M +9 &:W`\ N +10 &<Ua\ M +9 &>cU]\ M +9 &@&Va\ M +10 &A^`\ N +9 &Cfa\ O +10 &Eeha\ O +9 &G#t`\ Q +9 &Ha\ S +10 &J^\ S +9 &Lb_\ S +9 &N a\ T +10 &O^\ T +9 &Q^\ U +10 &Sf\\\ T +9 &U&^\ U +9 &V`\ U +10 &XT\ T +9 &ZlR\ U +10 &\\/W\ U +9 &]xW\ 8 +9 &^6S\ G +10 &^M\ * +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 + .Hand.open + "manipulator"&K1 +54 "core" 1 +2 "manipulator"&<% +4 "core" %     e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +91 "core" ' + "processing"%a& +3 "core" &^7\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&R% +4 "core" %    +2 "storage"( % +4 "core" % e Z\  +2 "storage"(t. +2 "core" .(<- +2 "storage"(>& +4 "core" &<. Z Z \ +2 "storage"(i& +3 "manipulator"&J& +4 "core" &<. [ Z\ +2 &  \  $ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&l( +2 "storage"('r +5 "core" ( +2 "manipulator"&_& +4 "core" &  \\ $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" & ^ $ +2 .tForearm.seek PC +2 "manipulator"&F' +91 "core" ' +2 .tHand.close + "manipulator"&y/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +96 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'1 +48 "core" ' +298 ( + "storage"(& +4 "core" &<- j i \ +2 "manipulator"&~& +4 "core" & \ $ + "manipulator"&p% +4 "core" %   B # +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&w( +244 "core" ( +2 "manipulator"&m& +3 "core" &   ! +2 "storage"({& +4 "core" &<- _ [ D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +91 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +10 "storage"(|- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(e' +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(1& +3 "core" &<- h l \ +2 "manipulator"&& +5 "core" &   S ! +2 .tElbow.seek 5 + "manipulator"&W( +5 "core" ( + "manipulator"&$& +4 "core" &   ! +2 "storage"(x& +4 "core" &<- [ Y\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +57 "core" ' +2 "manipulator"&& +4 "core" & \ ! +2 "storage"(8& +4 "core" &<- [ e #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&j'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(V' +28 "core" ' +2 "manipulator"&[% +3 "core" %Θ   +2 "storage"(n& +4 "core" &<- ^ e ;\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 311 counts + "manipulator"&r' +14 "core" ' +2 "manipulator"&,& +3 "core" &  \ .  +3 "storage"(`& +4 "core" &<- j i x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(o% +4 "core" % ^ f \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (d% +3 "core" %>N D D\ Wd +2 "manipulator"&k% +3 "core" %I \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +96 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<- [ ] \ +2 "collection"'& +4 "core" &\\l 1\ K +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&v% +3 "core" %  t  +2 "storage"(% +4 "core" % m s d\  +2 "storage"(. +3 "core" .(<- +2 "storage"(&& +4 "core" &<- s q n\ +2 "storage"(]& +4 "core" &<- u r 1\ + "manipulator"& & +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&"& +4 "core" &  \\  +2 "storage"(M& +3 "core" &<- l t \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"(P& +4 "core" &<- { ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" &    +2 "storage"( & +4 "core" &<- ^ ` V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(*'r +33 "core" ' + "manipulator"&D% +4 "core" %Π  +2 "storage"(& +4 "core" &<- ^ [ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&U' +13 "core" ' +2 "manipulator"&Y& +4 "core" &  6  +41 "storage"(b& +12 "core" &<- ~  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(O' +40 "core" ' + "manipulator"&c& +4 "core" & X  +2 "manipulator"&% +3 "core" %F \ ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&q(ӂ +158 "core" ( +2 "manipulator"&/& +4 "core" &ӓ!   - :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &ӓ!   :1 +3 .tForearm.seek CC +2 "manipulator"&#'? +98 "core" ' +2 .tHand.close + "manipulator"&'/ +63 "core" / +2 .tCC.seek :open +2 "collection"'0( +448 "core" ( + "storage"(!& +4 "core" &<- | &\ +2 "storage"(;& +3 "core" &<- |\ +2 "manipulator"&(& +4 "core" &ӫ    7 +2 "manipulator"&% +4 "core" % H  +2 .tForearm.seek :retract +2 "manipulator"&I' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&g( +163 "core" ( +2 "manipulator"&A& +3 "core" &     +2 "storage"(Q& +5 "core" &<- T\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&%'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&G1 +63 "core" 1 +3 "manipulator"&L% +4 "core" % Ρ    + "storage"(T& +4 "core" &<- i\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"&+' +26 "core" ' + "manipulator"&& +4 "core" & m  +2 "storage"(-& +4 "core" &<- V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +16 "core" ' + "storage"(% +4 "core" % M\ +2 ."downElevator"SE.seek :down +4 "storage"(2' +99 (s% +3 "core" %B t  \ V_ +2 "manipulator"&N% +4 "core" %L C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +89 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'7& +3 "core" & 3\ +3 "manipulator"&=% +3 "core" %  \ '  +3 "storage"(E% +3 "core" % b\  +2 "storage"(Z. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" &K \\ ] O\  +3 "manipulator"&<& +3 "core" & 9  +3 .tElbow.seek 6 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&R& +4 "core" &  e  + "storage"( & +4 "core" &K c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&t' +105 "core" ' +2 "storage"(>& +4 "core" &K t\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +300 "core" ' + "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K  { ;\  +48 "manipulator"&_& +5 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&S( +4 "core" ( +2 "manipulator"&C& +3 "core" & 5  +2 "storage"(y& +4 "core" &K H\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&h& + "storage"(6' +7 "core" & P  +2 "manipulator"&% +3 "core" % ` G r +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +152 "core" ( +2 "manipulator"&p& +5 "core" ' + &y)   V Ab + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &F& +3 "core" &y)   Ab +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'? +93 "core" ' +2 "manipulator"&{& +4 "core" &z)   Aa +2 "manipulator"&l% +3 "core" %A   4 +3 "collection"'& +4 "core" & ?\ +2 "collection"'|& +5 "core" & L\ +3 .tCC.seek :closed + "collection"'f(\\ +4 "core" & >\  +9 &5y ?\ *y +9 & g~ =\ > +9 &j ?\ L +10 &\\S =\ K +9 &S Y\ K +10 &X B\ K +9 &U 7\ K +9 &eR 2\ J +10 &'V 8\ J +9 &S 8\ K +9 & R 4\ J +10 &"mU I\ J +9 &$.X 3\ K +10 &%W K\ K +9 &'T ^\ K +9 &)uR 7\ J +10 &+7T Q\ J +9 &,X ^\ K +9 &.W 9\ K +10 &0|Y O\ K +9 &2?X 5\ J +9 &4U J\ J +10 &5U Y\ J +9 &7Y ;\ K +10 &9FY 1\ K +9 &;W 2\ K +9 &<U 0\ K +10 &>T )\ K +9 &@NT .\ K +10 &BU I\ K +9 &C\\ 6\ L +9 &Ed *\ L +13 &GLr -\ N +6 &I ,\ Q +9 &J\  "\ U +10 &Lz\ \  \ V +9 &N;\ \ ?\ V +9 &O\ \ $\ W +10 &Q\ \ "\ W +9 &S}\ \  \ X +10 &U<\ \ !\ Y +9 &V\ \ \ Y +9 &X\ \ \ Z +10 &Z~\ \ \ Z +9 &\\#z\ \ \ . +9 &\\0\ \ !\ ^ +10 ( + &\\m\ !\ M +2 "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&11 +57 "core" 1 +2 "manipulator"&% +4 "core" % A   * 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +3 "core" &Z\ +2 "manipulator"&x% +4 "core" %    +2 "storage"(% +4 "core" % ^ ^ 0\  + "storage"(8. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(u(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" &K   n\  +2 "manipulator"&n& +4 "core" &ӭ!    :. +2 "manipulator"&,% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&e( +161 "core" ( +2 "manipulator"&`& +3 "core" & \   +2 "storage"(o& +4 "core" &K q r \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&w' +91 "core" ' +2 "storage"(X& +3 "core" &K  ~ E\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +294 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (k& +2 "core" &K i [ \  +2 "manipulator"&\\& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&W( +4 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(j& +4 "core" &K i h \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&r'h +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +52 "manipulator"&& +2 "storage"(v' +8 "core" &  +2 "manipulator"&% +4 "core" % u  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&V( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +3 "manipulator"&&& +4 "core" &  ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +2 "core" & k ' +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' +2 "manipulator"&"& +4 "core" &   ' +2 "manipulator"&M% +3 "core" % \   +3 "processing"%& +3 "core" &Y\ +3 "processing"%P& +5 "core" &p\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &p\ +7 &6o\ $d +9 &Wyo\ 7 +9 &yo\ L +10 &Tl\ M +9 &vXn\ M +9 &8Uo\ M +10 &Up\ M +9 &Rn\ M +9 &Rm\ M +10 &?Wo\ N +9 & Vn\ N +10 &!Un\ M +9 &#To\ M +9 &%HYn\ M +10 &' Ul\ N +9 &(Vd\ N +10 &*Ub\ M +9 &,PRa\ M +9 &.Va\ M +10 &/Vh\ N +9 &1Td\ M +9 &3XUb\ M +10 &5Q_\ M +9 &6Ua\ M +9 &8Y`\ M +10 &:`W`\ M +9 & +2 .tForearm.seek :retract +2 "manipulator"&'' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&B( +245 "core" ( +2 "manipulator"&3& +3 "core" &    +2 "storage"(!& +4 "core" &K ^ ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +93 "core" ' + .tHand.open +2 "manipulator"&(1 +59 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +26 "core" ' +2 .tSE.reconfigure :seal +48 "storage"(#QK-0-\ b +6 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(#- +3 "core" -' +2 "storage"(q& +4 "core" &K J\  +2 "manipulator"&G& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&L( +9 "core" ( +2 "manipulator"&T& +4 "core" &     + "storage"(& +4 "core" &K \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&I& +4 "core" &   %  +2 "storage"(s& +4 "core" &K h ] ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&N'< +21 "core" ' +2 .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(%' +19 "core" ' +2 "manipulator"&7% +4 "core" %=   + "storage"(=& +4 "core" &K > : \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 301 counts + "manipulator"&+'i +14 "core" ' + "manipulator"&E& +4 "core" &    +2 "storage"(Z& +4 "core" &K h i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&O' +16 "core" ' + "storage"(?% +4 "core" % h f ^\ +3 ."downElevator"SE.seek :down +3 "storage"(2' +99 (\ % +3 "core" %fL F D %\ We +2 "manipulator"&K% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (R& +3 "core" &K g R -\  +2 "collection"' & +4 "core" &\\l $\ M +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&>% +4 "core" %    +2 "storage"(.% +4 "core" % ^ \\\  + "storage"(@. +3 "core" .(K +2 "storage"(J& +4 "core" &K ^ ] \  +2 "storage"(& +3 "core" &K ^ ] \  +2 "manipulator"&_& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&C( +9 "core" ( + "manipulator"&y& +4 "core" &   \ +2 "storage"(& +4 "core" &K ^ ] a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +97 "core" ' +2 "storage"(& +4 "core" &K  ~ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +302 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" &  \ +2 "storage"(F& +4 "core" &K ^ [ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&i'< +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(l'g +31 "core" ' + "manipulator"&% +4 "core" %5  +2 "storage"(S& +3 "core" &K i i k\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 293 counts + "manipulator"&6'a +16 "core" ' +2 "manipulator"&& +3 "core" &   \ +2 "storage"(0& +4 "core" &K ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&1' +60 "core" ' +6 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"& & +5 "core" & \ + "manipulator"&x% +5 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&8(ӂ +154 "core" ( +2 "manipulator"&|& +4 "core" &ӓ"   ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &ӓ"  > ;6 +2 .tForearm.seek CC +2 "manipulator"&n'? +92 "core" ' +2 .tHand.close + "manipulator"&,/ +55 "core" / +2 .tCC.seek :open +2 "collection"'m( +448 "core" ( +2 "storage"(`& +4 "core" &K | \  +2 "storage"(o& +4 "core" &K | &\  + "manipulator"&& +4 "core" &ӹ \  6 +2 "manipulator"&X% +4 "core" % E   +2 .tForearm.seek :retract +2 "manipulator"&~' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&$( +165 "core" ( +2 "manipulator"&d& +4 "core" &     +2 "storage"(k& +3 "core" &K i h \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&\\'< +96 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&j1 +58 "core" 1 +2 "manipulator"&% +4 "core" % @    + "storage"(& +4 "core" &K ^\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 304 counts + "manipulator"&'l +15 "core" ' +2 "manipulator"&e& +4 "core" &  +2 "storage"(w& +4 "core" &K W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +17 "core" ' + "storage"(r% +4 "core" % ]\ +2 ."downElevator"SE.seek :down +4 "storage"(&' +99 (]% +3 "core" %G q \ V_ +2 "manipulator"&W% +4 "core" % 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'M& +4 "core" & ;\ +2 "manipulator"&% +3 "core" %  \ s  +3 "storage"(v% +4 "core" % h\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &[ g _ +\  +2 "manipulator"&}& +4 "core" & \   +2 .tElbow.seek 7 +2 "manipulator"&4(r +35 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(9& +4 "core" &[ Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'= +93 "core" ' +2 "storage"(& +3 "core" &[ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +296 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" &[  A\  +2 "manipulator"&& +3 "core" & +3 .tElbow.seek 7 +3 "manipulator"& (r +17 "core" ( + "manipulator"& & +4 "core" &v ' ~ +47 "storage"(& +5 "core" &[ k r \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&*'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +8 "core" &v N ~ +2 "manipulator"&c% +4 "core" % Ϣ 5 +2 .tForearm.seek :retract +2 "manipulator"&:' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&H& +5 "core" &Ӆ%   >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &)& +2 "core" &Ӆ%  >N +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&3'? +94 "core" ' + "manipulator"&!& +4 "core" &ӆ%   O >M +2 "manipulator"&% +4 "core" %7  S +2 "collection"'(& +3 "core" & O\ +3 "collection"'& +6 "core" & N\ +2 .tCC.seek :closed +2 "collection"''(\\ +5 "core" & K\  +8 &6} C\ +{ +9 & h~ @\ > +9 &k <\ K +10 &]S @\ K +9 & Y @\ J +9 &S >\ K +10 &W ?\ J +9 &hT ?\ J +9 &(Y 8\ K +10 &U 8\ K +9 & R >\ J +10 &"oS ;\ J +9 &$1U >\ J +9 &%Y ,\ K +10 &'V 2\ K +9 &)wR &\ J +9 &+9S ,\ J +10 &,U .\ J +9 &.Y 2\ J +10 &0}S 2\ K +9 &2?X .\ K +9 &4Y 0\ K +10 &5W :\ K +9 &7S 6\ K +9 &9HX 7\ K +10 &;\ U 3\ K +9 &<S :\ J +10 &>U 2\ J +9 &@PT 2\ K +9 &BU 0\ K +10 &C\\ 2\ K +9 &Ee -\ L +9 &GNp 1\ N +10 &I 2\ Q +9 &J\ \ 2\ U +10 &L{\ \ 2\ W +9 &N<\ \ 4\ W +9 &O\ \ .\ W +10 &Q\ \ 2\ X +9 &S\ \ $\ X +9 &U?\ \ -\ Y +10 &V\ \ -\ Z +9 &X\ \ !\ Z +10 &Z\ \ !\ Z +9 &\\"w\ \ *\ . +9 &\\7\ \  \ "j +9 ( +3 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.13 + .Hand.open + "manipulator" +2 "core" &\\`\ \ \ L +56 1 +2 "manipulator"&q% +4 "core" % 7    S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +99 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%T& +3 "core" &T\ +3 "manipulator"&% +4 "core" % \   +2 "storage"(I% +4 "core" % h h o\  + "storage"(s. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(/([ +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &[  ! K\  +2 "manipulator"&=& +4 "core" &ӧ  :, +2 "manipulator"&E% +4 "core" %  \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&A(r +163 "core" ( +2 "manipulator"&Z& +4 "core" &r    + "storage"(?& +4 "core" &[ ~  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'= +90 "core" ' +2 "storage"(;& +4 "core" &[  ~ B\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +299 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &[ e Z \  +3 "manipulator"&-& +4 "core" &r  ?  +2 .tElbow.seek 7 + "manipulator"&L(r +3 "core" ( +2 "manipulator"&& +4 "core" &r   3  +2 "storage"(N& +4 "core" &[ { n 5\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&+'ϧ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(>' +8 "core" &r    +2 "manipulator"&.% +4 "core" % ϛ   b +2 .tForearm.seek :retract +49 "manipulator"&@' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%( +104 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +133 "core" ( + "manipulator"&J& +4 "core" &  7 # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  H # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&_' +96 "core" ' +2 "manipulator"&y& +3 "core" &   # +3 "manipulator"&% +3 "core" %   +3 "processing"%O& +4 "core" &p\ +2 "processing"%& +5 "core" &X\ +2 .tPC.seek :closed +2 "processing"%2(^ +4 "core" &w\  +9 &3yx\ )w +9 &d}w\ > +10 &}pp\ N +9 &ATo\ M +9 &Vq\ N +10 &Tn\ M +9 &Wo\ M +9 &HVr\ M +10 & Vn\ N +9 &Sn\ M +10 & Yn\ M +9 &"PWm\ M +9 &$Ys\ M +10 &%Wl\ M +9 &'Wk\ M +9 &)XWn\ M +10 &+Vh\ N +9 &,Wh\ N +10 &.Th\ M +9 &0`R_\ M +9 &2#Q_\ M +10 &3Tb\ M +9 &5Va\ M +9 &7gU_\ N +10 &9)Xe\ N +9 &:Tc\ M +10 &<T`\ N +9 &>nY_\ N +9 &@1Ta\ N +10 &A]a\ N +9 &Cbe\ O +9 &Erh`\ O +10 &G0pa\ Q +9 &H^\ R +10 &Jb\ T +9 &Lna\ S +9 &N.`\ T +10 &O`\ T +9 &Qa\ U +9 &Sra\ U +10 &U3a\ U +9 &Va\ U +10 &X\\\ U +9 &Zy_\ U +9 &\\<_\ U +10 &]zs^\ : +9 &^(x`\ U +9 &^,Z\ 5 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&g1 +60 "core" 1 +2 "manipulator"&<% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +93 "core" ' +2 "processing"%p& +4 "core" &^(U\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&F% +3 "core" % !  ' +3 "storage"({% +4 "core" % [ [ \  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(S([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&0& +4 "core" &[ O @ \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & z # +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"( 'r + "manipulator"&x( +6 "core" ( +2 "manipulator"&h& +4 "core" &  # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" & / 1 - # +3 .tForearm.seek PC +2 "manipulator"&a' +93 "core" ' +2 .tHand.close + "manipulator"&i/ +57 "core" / +2 .tPC.seek :open +2 "processing"%6( +91 "core" ' + "storage"(l- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'1 +47 "core" ' +310 ( + "storage"([& +4 "core" &[ ] ] \  +2 "manipulator"&1& +4 "core" &  k # + "manipulator"&% +4 "core" %   ~ 4 +2 .tForearm.seek :retract +2 "manipulator"&,' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +246 "core" ( +2 "manipulator"&f& +3 "core" &x    8 +2 "storage"(`& +4 "core" &[ j k m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&o'= +94 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(X- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(d' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +42 "storage"(k' +61 "core" ' +2 #tLights, camera, ACTION! + "storage"(n- +3 "core" -' +2 "storage"(8& +4 "core" &[ \  +2 "manipulator"&j& +4 "core" &x   8 +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&& +4 "core" &x    8 +2 "storage"(e& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(r'" +52 "core" ' + "manipulator"&~& +4 "core" &x \  8 +2 "storage"(]& +3 "core" &[ \\ [ \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&W'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\\' +18 "core" ' + "manipulator"&M% +4 "core" %Ή / 0 g \ +2 "storage"(& +4 "core" &[ F D \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts +2 "manipulator"&'ϵ +22 "core" ' + "manipulator"&v& +4 "core" &z  6 +2 "storage"(& +4 "core" &[ ] f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +22 "core" ' + "storage"(z% +4 "core" % i h B\ +3 ."downElevator"SE.seek :down +3 "storage"(&' +99 (u% +3 "core" %mM F E\ Wd +2 "manipulator"&5% +4 "core" %B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &[ \\ [\  +2 "collection"'9& +4 "core" &\\` A\ L +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %    k  +2 "storage"(% +4 "core" % ^ ] \  +2 "storage"(". +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(Y([ +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" &[ A 6 L\  +2 "manipulator"&& +4 "core" &{  5 +2 .tElbow.seek 7 + "manipulator"& (r +5 "core" ( + "manipulator"&& +4 "core" &{  \ 5 +2 "storage"(V& +4 "core" &[ \\ ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +94 "core" ' + "storage"(c& +4 "core" &[ q\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +297 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&H& +3 "core" &{ E 5 +3 "storage"()& +3 "core" &[ h h +\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&P'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('l +28 "core" ' +2 "manipulator"&(% +4 "core" %΍   s  + "storage"( & +4 "core" &[ 9 D W\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&'Ϲ +14 "core" ' +2 "manipulator"&:& +4 "core" &{   r 5 + "storage"(m& +4 "core" &[ ^ ^ !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 7 + 450 counts +3 "manipulator"&#'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(q' +41 "core" ' +2 "manipulator"&T& +4 "core" &{  r 5 +2 "manipulator"&% +3 "core" %7 \  < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +150 "core" ( +2 "manipulator"&& +3 "core" &ӎ"   O <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &ӎ# M <9 +3 .tForearm.seek CC + "manipulator"&='? +98 "core" ' + .tHand.close +2 "manipulator"&E/ +55 "core" / + .tCC.seek :open +2 "collection"'3( +448 "core" ( +2 "storage"(Z& +4 "core" &[ | t \  +2 "storage"(?& +4 "core" &[  ~ \  + "manipulator"&& +4 "core" &ӭ   , 7 +2 "manipulator"&;% +3 "core" % ?   +3 .tForearm.seek :retract +2 "manipulator"&^' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&G(r +160 "core" ( +2 "manipulator"&\ & +3 "core" &|    +2 "storage"(K& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&-'{ +97 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&N1 +64 "core" 1 +2 "manipulator"&R% +4 "core" % z   +2 "storage"( & +3 "core" &[ $\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 299 counts + "manipulator"&.'Ϧ +16 "core" ' +2 "manipulator"&A& +3 "core" &|  +3 "storage"(B& +3 "core" &[ ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Q'= +15 "core" ' +2 "storage"(+% +4 "core" % b\ +2 ."downElevator"SE.seek :down +3 "storage"(J' +99 (% +3 "core" %G   \ V_ +2 "manipulator"&L% +4 "core" %, = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & <\ +2 "manipulator"&O% +4 "core" %    +2 "storage"(>% +3 "core" % V\  +2 "storage"(@. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(U(<- +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +2 "core" &\ +2 "manipulator"&C& +3 "core" &   +3 .tElbow.seek 5 +47 "manipulator"&_( +21 "core" ( +2 "manipulator"&i& +4 "core" &  + "storage"(/& +4 "core" &<. k k \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&l'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& + "storage"(2' +6 "core" &   +3 "manipulator"& % +4 "core" %  m +2 .tForearm.seek :retract +2 "manipulator"&[' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +5 "core" &ӕ } 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +2 "core" &ӕ  F 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'? +101 "core" ' +2 "manipulator"&`& +4 "core" &ӕ    5 +2 "manipulator"&x% +3 "core" %7    +3 "collection"'& +4 "core" & Q\ +3 "collection"'X& +4 "core" & ^\ +3 .tCC.seek :closed + "collection"',(\\ +4 "core" & R\  +9 &5x U\ *z +10 & h| U\ > +9 &k H\ K +9 &]R E\ K +10 & X @\ J +9 &S ?\ K +9 &R @\ K +10 &gV A\ J +9 &(Y @\ K +10 &U @\ K +9 & R >\ J +9 &"nS :\ K +10 &$1X >\ J +9 &%T :\ K +9 &'X ?\ J +10 &)xU 7\ J +9 &+9W 8\ J +10 &,X 9\ J +9 &.U .\ J +9 &0U ,\ J +10 &2@Y 2\ K +9 &4Y 3\ K +9 &5V 2\ K +10 &7R 0\ J +9 &9GT 5\ K +10 &;\ R 5\ K +9 &<S 9\ J +9 &>V 5\ J +10 &@PZ 1\ J +9 &BW 4\ J +9 &C] 9\ L +10 &Ed 7\ L +9 &GNq 4\ N +10 &I 1\ Q +9 &J\ 5\ U +9 &L|\ \ 6\ V +10 &N<\ \ 3\ W +9 &O\ \ 2\ X +9 &Q\ \ 6\ W +10 &S\ \ 2\ X +9 &U?\ \ 1\ Y +10 &W\ \ 1\ Y +9 &X\ \ 0\ Z +9 &Z\ .\ Z +10 &\\#x\ \ 0\ . +9 &\\/\ \ ,\ _ +9 ( +2 &\\` \ \ K +2 "collection"'X& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.13 + .Hand.open + "manipulator"&n1 +60 "core" 1 +2 "manipulator"&8% +3 "core" % 7   H  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &o\ + "manipulator"&e% +4 "core" % !   $ +2 "storage"(~% +4 "core" % h h J\  +2 "storage"(]. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(|(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &<- \\ ] )\ +2 "manipulator"&& +3 "core" &Ӟ \  ; 4 +2 "manipulator"&d% +3 "core" % !  \  $ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&v( +162 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(z& +4 "core" &<- t { q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +99 "core" ' + "storage"(o& +4 "core" &<- q ~ Z\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +297 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" &<- Z f I\ +2 "manipulator"&w& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&r& +4 "core" &   _  + "storage"(W& +4 "core" &<- i i ~\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&9& + "storage"(' +54 "core" & ,  +4 "manipulator"&% +4 "core" % Ϯ m +2 .tForearm.seek :retract +2 "manipulator"&"' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\\( +112 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +125 "core" ( +2 "manipulator"&b& +4 "core" &  q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&V& +4 "core" &    +2 "manipulator"&% +3 "core" %  = i +3 "processing"%c& +3 "core" &B\ +3 "processing"%&& +5 "core" &\ +3 .tPC.seek :closed + "processing"%S(^ +5 "core" &@\ +6 &5[\ $d +10 &Uwp\ 6 +9 &zo\ K +9 &Rp\ M +10 &aUu\ M +9 &#Rt\ M +10 &Un\ M +9 &Us\ M +9 &hTu\ M +10 &*Uv\ M +9 &Rm\ M +9 &!Sp\ M +10 &#pUm\ M +9 &%3Wo\ M +10 &&Uo\ M +9 &(Uk\ M +9 &*yTm\ M +10 &,;Vk\ M +9 &-Uk\ M +9 &/Vl\ M +10 &1Sa\ M +9 &3BTa\ M +10 &5Sa\ M +9 &6T`\ M +9 &8Wa\ M +10 &:JRa\ M +9 &< Ya\ M +9 &=Vd\ N +10 &?Vg\ N +9 &AQYe\ N +10 &C`c\ N +9 &Dcj\ O +9 &Fq^\ P +10 &HL}c\ R +9 &J\ ^\ S +9 &K`\ T +10 &M\\\ T +9 &OO`\ T +10 &Q^\ T +9 &R^\ T +9 &T_\ U +10 &VU]\ T +9 &X\\\ T +9 &Y_\ U +10 &[]\ U +9 &]\\a\ B +10 &^Lza\ J +9 &^H]\ < +5 ( +2 "processing"%&& +4 "core" &^B[\ < +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&$1 +52 "core" 1 +2 "manipulator"&}% +4 "core" %   - i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +95 "core" ' +2 "processing"%H& +4 "core" &^BC\ < + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&)% +4 "core" %    +2 "storage"(!% +4 "core" % ^ [\  + "storage"((. +4 "core" .(<- + "storage"( & +4 "core" &<- \\ V &\ +3 "storage"(:& +2 "manipulator"&m& +8 "core" &<- ^ [\ + & :  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&T( +5 ."raiseStack"SE.seek :beamBreak + "storage"('r +4 "core" ( + "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  A  +2 .tForearm.seek PC +2 "manipulator"&4' +91 "core" ' +2 .tHand.close + "manipulator"&P/ +53 "core" / +3 .tPC.seek :open +2 "processing"%( +100 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +50 "core" ' +297 ( +2 "storage"(7& +3 "core" &<, [ Z\ +3 "manipulator"&#& +4 "core" & %  + "manipulator"&*% +4 "core" %   < +2 .tForearm.seek :retract +2 "manipulator"&E' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&I( +254 "core" ( + "manipulator"&'& +4 "core" &    S +2 "storage"(Z& +4 "core" &<, \\ ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +100 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "storage"(;- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(\ ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(K' +55 "core" ' +4 #tLights, camera, ACTION! + "storage"(=- +3 "core" -' +2 "storage"(s& +4 "core" &<, Y Z\ +2 "manipulator"&N& +4 "core" &   D S +2 .tElbow.seek 5 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"& & +4 "core" &  @ S + "storage"(A& +4 "core" &<, e f\ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(+'" +58 "core" ' +2 "manipulator"&^& +4 "core" & \  , S +2 "storage"(& +4 "core" &<, _ f K\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&L'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(-' +29 "core" ' +2 "manipulator"&% +4 "core" %Π   + "storage"(O& +5 "core" &<, _ \\\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&.' +15 "core" ' +2 "manipulator"&>& +4 "core" &    R +2 "storage"(@& +3 "core" &<, \\ ]\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +15 "core" ' +2 "storage"(Q% +4 "core" % ^ ^ a\ +3 ."downElevator"SE.seek :down +3 "storage"(J' +99 (Y% +2 "core" %iL D E\ Wd +3 "manipulator"&g% +4 "core" %O  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (F& +3 "core" &<, T i \ +2 "collection"'{& +3 "core" &\\a .\ K +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %    +2 "storage"(% +4 "core" % ^ ]\  + "storage"(y. +3 "core" .(<- +2 "storage"(0& +4 "core" &<, ] [\ +2 "storage"(h& +4 "core" &<, \\ ]\ + "manipulator"&C& +4 "core" &  Q +2 .tElbow.seek 5 +2 "manipulator"&i( +4 "core" ( + "manipulator"&/& +3 "core" &   Q +3 "storage"(%& +3 "core" &<, ^ f \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +93 "core" ' +2 "storage"( & +3 "core" &<, t { \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   Q +2 "storage"(a& +4 "core" &<, h i A\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(`- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(x'r +28 "core" ' +2 "manipulator"&_% +3 "core" %Λ  +2 "storage"(& +4 "core" &<, f h n\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts + "manipulator"&2' +14 "core" ' +2 "manipulator"&[& +4 "core" &   b Q +2 "storage"(3& +3 "core" &<, a j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(8' +49 "core" ' +4 "manipulator"&& +4 "core" &  4 Q +2 "manipulator"&e% +4 "core" %A  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +152 "core" ( +2 "manipulator"&X& +4 "core" &ӎ#   <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &ӎ# H <@ +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&d/ +53 "core" / +2 .tCC.seek :open +2 "collection"'f( +448 "core" ( +2 "storage"(& +3 "core" &<, | \ \ +3 "storage"(z& +4 "core" &<, z \ + "manipulator"&U& +3 "core" &Ӯ  8 +3 "manipulator"&o% +4 "core" % =    +2 .tForearm.seek :retract +2 "manipulator"&1' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&j( +163 "core" ( + "manipulator"&u& +4 "core" &     +2 "storage"(5& +3 "core" &<,  p A\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&w'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +54 "core" 1 +3 "manipulator"& % +4 "core" % Λ     + "storage"(9& +4 "core" &<, c\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&v& +5 "core" & &  + "storage"(& +4 "core" &<, [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&k'O +17 "core" ' + "storage"(% +5 "core" % \\\ +2 ."downElevator"SE.seek :down +4 "storage"(b' +99 (% +3 "core" %C } | \ V` +2 "manipulator"&% +4 "core" %D * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & ?\ +2 "manipulator"&c% +5 "core" %    + "storage"(% +4 "core" % [\  +2 "storage"(". +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(6(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "core" &K p ~ 5\ \ +2 "manipulator"&}& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&H( +3 "core" ( +2 "manipulator"&)& +4 "core" &    +2 "storage"(!& +3 "core" &K e\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +96 "core" ' +2 "storage"( & +4 "core" &K Q\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +293 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &K r } U\ \ +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(P& +4 "core" &K k u !\ \ +2 .tForearm.seek 6 + 300 counts +48 "manipulator"&'h +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&D& +2 "storage"(S' +6 "core" &   +2 "manipulator"&% +3 "core" % q +3 .tForearm.seek :retract +2 "manipulator"&7' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +153 "core" ( +2 "manipulator"&*& +2 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +3 "core" &x*    Bl +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +3 "core" &x*  Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&''? +98 "core" ' + "manipulator"&Z& +3 "core" &Ӭ"   ;8 +3 "manipulator"&T% +4 "core" %? \  +2 "collection"'& +5 "core" & ]\ +2 "collection"';& +5 "core" & R\ +3 .tCC.seek :closed + "collection"'=(\\ +5 "core" & T\ +6 & Q\ ; +9 &MKv N\ 1 +10 &x} B\ E +9 &8V C\ K +9 &V ?\ K +10 &V A\ K +9 &X ?\ J +9 &AX A\ J +10 &R B\ K +9 &R ?\ J +10 &T A\ J +9 &!HU B\ K +9 &# W ?\ K +10 &$U @\ K +9 &&R =\ J +9 &(SU ;\ J +10 &*W @\ J +9 &+W @\ K +10 &-V >\ K +9 &/YS >\ K +9 &1W <\ J +10 &2U 4\ J +9 &4Y 2\ K +9 &6`V 6\ K +10 &8"X 8\ K +9 &9W 7\ K +10 &;U ;\ K +9 &=jR :\ J +9 &?,U :\ J +10 &@Y 5\ K +9 &BW >\ K +10 &Dna =\ L +9 &F,h 5\ M +9 &Gu :\ N +10 &I ?\ S +9 &KW\ ;\ V +9 &M\ \ 2\ V +10 &N\ \ 5\ W +9 &P\ \ 4\ X +9 &RZ \ 3\ X +10 &T\ \ 2\ Y +9 &U\ \ 1\ Y +10 &W\ 5\ Y +9 &YZ\ \ 2\ [ +9 &[\ \ 6\ [ +10 &\\oD\ \ 3\ 1 +9 &\\ \ 7\ Q +5 ( +3 "collection"';& +3 "core" &\\k -\ Q +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&s1 +59 "core" 1 +3 "manipulator"&N% +4 "core" % ?   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%A& +4 "core" &n\ +2 "manipulator"&E% +4 "core" %    +2 "storage"(^% +4 "core" % h h D\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &K ; : \ \ +2 "manipulator"&O& +4 "core" &Ӭ"  ;8 +2 "manipulator"&\ % +4 "core" %   (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&>( +156 "core" ( + "manipulator"&@& +4 "core" & \  A  +2 "storage"(Q& +4 "core" &K ~ ~\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +94 "core" ' + "storage"(?& +4 "core" &K ~  N\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +302 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &K f ^ e\ \ +2 "manipulator"&B& +3 "core" &   +3 .tElbow.seek 6 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&+& +4 "core" &   W  +2 "storage"(L& +3 "core" &K f ` )\ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&F'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&{& + "storage"(' +8 "core" &   +2 "manipulator"&% +4 "core" % t @ +2 .tForearm.seek :retract + "manipulator"&y' +93 "core" ' +48 .tElbow.seek PC +4 "manipulator"&-( +111 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +129 "core" ( +3 "manipulator"&0& +4 "core" &  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &  - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&C' +102 "core" ' + "manipulator"&/& +4 "core" &   - +2 "manipulator"&%% +4 "core" %  +2 "processing"%q& +3 "core" &X\ +3 "processing"% & +5 "core" &a\ +3 .tPC.seek :closed + "processing"%J(^ +5 "core" &J\ +7 &6K\ #b +9 &Txn\ 6 +10 &yn\ K +9 &Wp\ M +9 &VUv\ M +10 &Ts\ M +9 &Uq\ M +9 &Vx\ M +10 &`Um\ M +9 &"Vu\ M +9 &Uv\ M +10 &!Uo\ M +9 &#hVs\ M +10 &%*Up\ M +9 &&Vu\ M +9 &(Vp\ M +10 &*pUn\ M +9 &,2Wl\ M +9 &-Un\ M +10 &/Wc\ M +9 &1xTg\ M +10 &39Xl\ M +9 &4Uo\ M +9 &6Yj\ M +10 &8Xg\ M +9 &:@V`\ M +9 &<Za\ M +10 &=W`\ M +9 &?Y`\ M +10 &AIUa\ M +9 &C`a\ N +9 &Dbb\ O +10 &Fhe\ O +9 &HFx^\ Q +10 &Jg\ S +9 &Kg\ S +9 &Md\ S +10 &OEa\ T +9 &Qb\ T +9 &Re\ T +10 &Tj\ U +9 &VJ^\ U +9 &X d\ T +10 &Yj\ U +9 &[f\ T +10 &]S`\ D +9 &^wApc\ (v +9 &^#\\\ ) +6 ( + "processing"% & +4 "core" &^]\ ) +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&G1 +61 "core" 1 +2 "manipulator"&<% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"%& +4 "core" &^W\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&a% +4 "core" % %    > +2 "storage"(`% +3 "core" % ^ ]\  +3 "storage"(_. +2 "core" .(K +2 "storage"(& +4 "core" &K [ ]\ \ +2 "storage"([& +3 "manipulator"&3& +7 "core" &K [ ]\ \ + &  , +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak + "storage"(e'r +2 "core" ( +3 "manipulator"&t& +3 "core" & \  , +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" & o , +2 .tForearm.seek PC +2 "manipulator"&p' +92 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%2( +98 "core" ' + "storage"(x- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(X'1 +40 "core" ' +254 "Can" [oO$ +51 "core" ( +2 "storage"(M& +4 "core" &K ^ [ $\ \ + "manipulator"&n& +5 "core" &   , + "manipulator"&l% +4 "core" % ! R +2 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&~( +243 "core" ( +2 "manipulator"&,& +3 "core" &   # +2 "storage"(& +4 "core" &K [ \\\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +91 "core" ' +2 .tHand.open + "manipulator"&U1 +61 "core" 1 +2 "storage"(o- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(5' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(]& +4 "core" &K Q\ \ +2 "manipulator"&W& +44 "core" &  # +10 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( +2 "manipulator"&9& +4 "core" &    # +2 "storage"(v& +4 "core" &K \ \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' + "manipulator"&1& +5 "core" &  # + "storage"(& +4 "core" &K \\ [\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +29 "core" ' + "manipulator"&% +4 "core" %A  +2 "storage"(& +4 "core" &K Z [\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&c'm +14 "core" ' + "manipulator"&& +4 "core" &   \\ # +2 "storage"("& +3 "core" &K ^ ] \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&8' +15 "core" ' +2 "storage"(k% +4 "core" % ^ a <\ +3 ."downElevator"SE.seek :down +4 "storage"(b' +99 (|% +3 "core" %eR D D\ Wf +2 "manipulator"&$% +4 "core" %  o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 ()& +3 "core" &K d V $\ \ +3 "collection"'!& +4 "core" &\\j B\ Q +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %   [  +2 "storage"(r% +3 "core" % h h [\  +2 "storage"(V. +3 "core" .(K +2 "storage"(:& +3 "core" &K h i \\\ \ +3 "storage"(&& +4 "core" &K j i \ \ +2 "manipulator"&& +4 "core" &  r # +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&P& +4 "core" &   # +2 "storage"(\\& +4 "core" &K h i \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&D' +105 "core" ' +2 "storage"(& +4 "core" &K t q \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(H'r +311 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" &  # +2 "storage"(4& +4 "core" &K i i [\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&m'< +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(T'g +30 "core" ' +2 "manipulator"&% +4 "core" %I  + "storage"( & +4 "core" &K [ Z \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&S'u +14 "core" ' +2 "manipulator"&7& +4 "core" &  N # + "storage"(f& +4 "core" &K i h 0\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&s' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(N' +35 "core" ' +2 "manipulator"&A& +4 "core" & \   # + "manipulator"&E% +3 "core" % : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +43 .tForearm.seek :retract +9 "manipulator"&^' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +166 "core" ( +2 "manipulator"&;& +5 "core" &Ӈ   : 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӈ   0 +3 .tForearm.seek CC +2 "manipulator"&O'? +104 "core" ' +2 .tHand.close + "manipulator"&\ / +63 "core" / +2 .tCC.seek :open +2 "collection"''( +448 "core" ( + "storage"(@& +3 "core" &K q \ \ +3 "storage"(Q& +4 "core" &K q \ \ +2 "manipulator"&6& +4 "core" &ӟ   - + "manipulator"&?% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&#' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +163 "core" ( +2 "manipulator"&Y& +3 "core" &     +2 "storage"(g& +5 "core" &K x x ?\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&B'< +96 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&L1 +56 "core" 1 +2 "manipulator"&.% +4 "core" % L   .  +2 "storage"({& +3 "core" &K S\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 316 counts + "manipulator"&'x +16 "core" ' +2 "manipulator"&>& +3 "core" &  +2 "storage"(I& +5 "core" &K |\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&K' +15 "core" ' +2 "storage"(F% +3 "core" % W\ +3 ."downElevator"SE.seek :down +4 "storage"(0' +98 (h% +3 "core" %F | t \ V_ +2 "manipulator"&R% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'%& +4 "core" & ?\ +2 "manipulator"&q% +3 "core" % " O 2 +3 "storage"(% +4 "core" % b\  +2 "storage"(y. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &[ \\ e \  +3 "manipulator"&<& +4 "core" &  3  +2 .tElbow.seek 7 +2 "manipulator"&(r +33 "core" ( +2 "manipulator"&a& +3 "core" &h  O +3 "storage"(`& +4 "core" &[ `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&_'= +93 "core" ' +2 "storage"(& +4 "core" &[ O\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +293 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" &[ o D\  +2 "manipulator"&t& +4 "core" &h  / O +2 .tElbow.seek 7 +2 "manipulator"&i(r +4 "core" ( +2 "manipulator"&C& +4 "core" &h \   O + "storage"(& +4 "core" &[ } \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&x'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +55 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(J' +8 "core" &h   O +2 "manipulator"&e% +4 "core" % Ͻ  U +2 .tForearm.seek :retract +2 "manipulator"&M' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&l& +4 "core" &ә   8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &ә  } 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'? +103 "core" ' +3 "manipulator"&& +3 "core" &ә   8 +2 "manipulator"&% +4 "core" %4    \ +3 "collection"'U& +4 "core" & J\ +2 "collection"'o& +6 "core" & V\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & P\  +8 &4z P\ *z +10 & g~ V\ > +9 &i I\ K +9 &]T D\ J +10 &R B\ K +9 &W @\ J +10 &V A\ K +9 &fT B\ J +9 &(U >\ J +10 &W ?\ J +9 & W @\ J +9 &"nS B\ J +10 &$1T =\ J +9 &%W @\ K +10 &'W =\ K +9 &)vR =\ J +9 &+8R >\ J +10 &,T <\ J +9 &.W 5\ J +10 &0}S 4\ K +9 &2@X :\ J +9 &4X 7\ J +10 &5S 7\ K +9 &7W 2\ K +9 &9GU 4\ K +10 &;\ R +\ J +9 &<S *\ K +9 &>X 5\ J +10 &@OT 0\ K +9 &BU 4\ K +10 &C] ;\ K +9 &Ec :\ L +9 &GMo 2\ N +10 &I <\ Q +9 &J\  <\ U +10 &Lz\ \ 6\ W +9 &N:\ \ 3\ W +9 &O\ \ 6\ X +10 &Q\ \ 5\ X +9 &S~\ \ 3\ X +9 &U<\ \ 3\ Y +10 &V\ \ ;\ Z +9 &X\ \ 6\ Z +9 &Z\ \ 1\ Z +10 &\\#z\ \ 1\ . +9 &\\2\ \ 4\ b +9 ( +3 "collection"'o& +3 "core" &\\\\\ \ 2\ J +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&]1 +59 "core" 1 +2 "manipulator"&W% +4 "core" % 4    \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%9& +4 "core" & \ +2 "manipulator"&v% +4 "core" %    +2 "storage"(1% +3 "core" % i i \  +2 "storage"(. +3 "core" .([ +2 "storage"(X& +4 "core" &[ i i \  +2 "storage"(u& +4 "core" &[ h h l\  +2 "manipulator"&& +4 "core" &ө  6 + "manipulator"&% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +163 "core" ( + "manipulator"&"& +5 "core" &v     + "storage"(k& +4 "core" &[ ~ } \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&~'= +100 "core" ' +2 "storage"(z& +3 "core" &[ } &\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'r +307 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &[ [ \\\  +2 "manipulator"&& +4 "core" &v \   +2 .tElbow.seek 7 +2 "manipulator"& (r +4 "core" ( + "manipulator"&& +4 "core" &v    +2 "storage"(& +4 "core" &[ ` f `\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&c'ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"( ' +8 "core" &v  + "manipulator"&r% +4 "core" % Ϲ   +2 .tForearm.seek :retract +2 "manipulator"&V' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&:& +4 "core" &  Y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &&& +3 "core" &   &  +2 .tForearm.reconfigure :tight +48 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&P& +4 "core" &    +2 "manipulator"&\\% +3 "core" %  N V +3 "processing"%8& +3 "core" &X\ +3 "processing"%& +6 "core" &w\ +2 .tPC.seek :closed + "processing"%b(^ +5 "core" &}\ +6 &7q\ $d +10 &Wz}\ 7 +9 &zo\ L +10 &Uj\ M +9 &vWo\ M +9 &9Tm\ M +10 &Xk\ M +9 &Wv\ M +9 &Wr\ M +10 &BWn\ M +9 & Wo\ M +10 &!Vk\ M +9 &#Wn\ M +9 &%JWn\ M +10 &' Yo\ M +9 &(Wn\ M +9 &*Ui\ M +10 &,QVm\ M +9 &.Uo\ M +10 &/Wi\ M +9 &1Tb\ M +9 &3ZTf\ M +10 &5Wb\ M +9 &6V`\ M +9 &8W`\ M +10 &:aW]\ M +9 && +4 "core" &[ N\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&I'= +4 "core" ' +43 .tSE.reconfigure :gently +9 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(F'" +50 "core" ' + "manipulator"&#& +4 "core" &z  r +2 "storage"(h& +3 "core" &[ i h Z\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&R'{ +30 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +27 "core" ' + "manipulator"&%% +4 "core" %΋  \\ +2 "storage"(q& +3 "core" &[ D D \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&'Ϸ +27 "core" ' +2 "manipulator"&& +4 "core" &z r +2 "storage"(y& +4 "core" &[ s j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&N'= +18 "core" ' +2 "storage"(K% +5 "core" % ~ u \ +2 ."downElevator"SE.seek :down +3 "storage"(0' +99 (% +3 "core" %oJ C N\ Vc +2 "manipulator"&G% +4 "core" %H  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +88 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (a& +3 "core" &[ h ] @\  +2 "collection"'`& +4 "core" &\\\\ N\ J +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +4 "core" %  K  + "storage"(+% +4 "core" % u r \  +2 "storage"(/. +3 "core" .([ +2 "storage"(3& +4 "core" &[ u ~ \  +2 "storage"([& +3 "core" &[  } \  +2 "manipulator"&t& +4 "core" &z  C r +2 .tElbow.seek 7 +2 "manipulator"&C(r +3 "core" ( +2 "manipulator"&& +4 "core" &z  \ r + "storage"(-& +4 "core" &[  ~\ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' + "storage"(e& +4 "core" &[ | 5\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" &z v r +2 "storage"(p& +4 "core" &[ \\ ^ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"& '{ +30 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('l +33 "core" ' + "manipulator"&U% +4 "core" %Ύ  : +2 "storage"(i& +4 "core" &[ D C \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&J'Ϻ +13 "core" ' +2 "manipulator"&M& +4 "core" &z C r + "storage"('& +3 "core" &[ ] ^ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&]'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(W' +35 "core" ' +2 "manipulator"&9& +4 "core" &z  r + "manipulator"&v% +4 "core" %6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ( +2 "manipulator"&X& +3 "core" &Ӌ%  & >I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +43 "core" &Ӌ%  >I +10 .tForearm.seek CC + "manipulator"&u'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(,& +4 "core" &[ q \ \  +2 "storage"("& +4 "core" &[ z\  + "manipulator"&k& +4 "core" &ө  :+ +2 "manipulator"&z% +4 "core" % C  B  +2 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&d(r +164 "core" ( +2 "manipulator"&|& +4 "core" &r   +2 "storage"($& +3 "core" &[ ]\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +101 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&)% +3 "core" % Ί   +2 "storage"(!& +4 "core" &[ h k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 315 counts + "manipulator"&r'϶ +13 "core" ' +2 "manipulator"&& +4 "core" &r   +2 "storage"(~& +4 "core" &[ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&5'= +15 "core" ' +2 "storage"(c% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(:' +99 (&% +3 "core" %F | u \ V_ +2 "manipulator"& % +3 "core" %3  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +92 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'\\& +4 "core" & =\ +2 "manipulator"&8% +4 "core" %   +2 "storage"( % +4 "core" % _\  +2 "storage"(V. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(2(<- +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (j& +3 "core" &<0 m s B\ +2 "manipulator"&}& +4 "core" &r 1  +2 .tElbow.seek 5 +2 "manipulator"&*( +34 "core" ( +2 "manipulator"&4& +3 "core" &  +3 "storage"(Z& +4 "core" &<0 Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' +2 "storage"( & +4 "core" &<0 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &<. x  \ +2 "manipulator"&D& +4 "core" & Q  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(m& +3 "core" &<. E\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&T'Ϲ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(b' +8 "core" &   + "manipulator"&E% +4 "core" % ϼ 5 +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +47 .tElbow.seek CC +4 "manipulator"&s(ӂ +107 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +44 "core" ( +2 "manipulator"&& +4 "core" &ӑ!    :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &ӑ!   :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&='? +99 "core" ' +2 "manipulator"&@& +3 "core" &ӑ!   :1 +3 "manipulator"&A% +4 "core" %G  8 +2 "collection"'6& +3 "core" & <\ +3 "collection"'?& +5 "core" & 6\ +3 .tCC.seek :closed + "collection"'O(\\ +5 "core" & 8\ +6 & D\ 9 +9 &KKv O\ 0 +9 &v} X\ D +10 &/W R\ K +9 &W T\ K +10 &V L\ K +9 &wW Q\ J +9 &9R L\ J +10 &R B\ J +9 &T ;\ J +9 &X 7\ J +10 &!AS 9\ J +9 &#R =\ K +10 &$U ?\ K +9 &&R >\ J +9 &(HW =\ K +10 &*\ U >\ K +9 &+U >\ K +9 &-S :\ J +10 &/PT >\ K +9 &1S 7\ J +10 &2U 9\ J +9 &4Y ?\ K +9 &6XV ;\ K +10 &8R ?\ J +9 &9U 5\ J +9 &;S +\ K +10 &=aW :\ J +9 &?#U ;\ J +10 &@Y 6\ K +9 &BZ <\ K +9 &Dd^ 2\ L +10 &F#j 5\ M +9 &Gx 2\ O +9 &I 2\ S +10 &KO\ \ 6\ V +9 &M\ \ 4\ W +10 &N\ \ 1\ V +9 &P\ \ ;\ W +9 &RQ\ \ 2\ X +10 &T \ 7\ Y +9 &U\ \ 1\ Y +9 &W\  ?\ Y +10 &YP\ \ ?\ [\ +9 &[\  <\ [ +10 &\\gE 5\ 1 +9 &\\ \ ;\ L +5 ( +3 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 + .Hand.open + "manipulator"&1 +3 "core" &\\b :\ L +52 1 +3 "manipulator"&L% +4 "core" % F    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%>& +4 "core" &_\ +2 "manipulator"&\ % +4 "core" %  U  + "storage"(#% +4 "core" % h g ?\  +2 "storage"(h. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(;(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" &<( \\ J 6\  +2 "manipulator"&%& +4 "core" &ө    7 +2 "manipulator"&q% +4 "core" %   r  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&y& +4 "core" &   +2 "storage"(^& +4 "core" &<( j ` S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +93 "core" ' +2 "storage"(K& +4 "core" &<( ~  I\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &<( ] f \  +2 "manipulator"&I& +3 "core" &   +3 .tElbow.seek 5 + "manipulator"&.( +3 "core" ( +2 "manipulator"&F& +3 "core" & \ 6  +3 "storage"(R& +4 "core" &<( h h n\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(' +8 "core" &   +2 "manipulator"&+% +4 "core" % Ϸ - +2 .tForearm.seek :retract +2 "manipulator"&/' +87 "core" ' + .tElbow.seek PC +2 "manipulator"&B( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&3& +4 "core" &  t 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" & z 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&t' +101 "core" ' +2 "manipulator"&& +3 "core" &   4 +49 "manipulator"&-% +5 "core" %  +3 "processing"%N& +4 "core" &;\ +2 "processing"%e& +5 "core" &p\ +3 .tPC.seek :closed + "processing"%0(^ +5 "core" &o\ +7 & -o\ $c +9 &Txo\ 6 +10 &yn\ K +9 &Un\ M +9 &bUn\ M +10 &%Ro\ M +9 &Wn\ M +9 &Um\ M +10 &jTh\ M +9 &+Vh\ M +10 &Un\ M +9 &!Vm\ M +9 &#rUi\ M +10 &%4Vh\ M +9 &&Ub\ M +9 &(Vh\ M +10 &*zUa\ M +9 &,<Vf\ M +10 &-U[\ M +9 &/V]\ M +9 &1T_\ M +10 &3DUU\ M +9 &5T^\ M +9 &6U`\ M +10 &8W^\ M +9 &:LU`\ M +10 &< Wb\ M +9 &=WY\ N +9 &?W`\ M +10 &ASWc\ M +9 &C`a\ O +10 &Dc_\ O +9 &Fp^\ P +9 &HM`\ R +10 &J _\ S +9 &Kb\ S +9 &MZ\ T +10 &OP`\ T +9 &Q\\\ T +10 &R_\ U +9 &TZ\ U +9 &VX]\ T +10 &X_\ U +9 &Y_\ U +9 &[_\ T +10 &][`\ D +9 &^y>p_\ 's +9 &^'V\ , +6 ( +2 "processing"%e& +4 "core" &^Z\ , +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"& 1 +62 "core" 1 + "manipulator"&<% +3 "core" %  \ a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +92 "core" ' +2 "processing"%l& +4 "core" &^3\ , + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&p% +3 "core" %      +2 "storage"(% +4 "core" % [ d\  +2 "storage"(U. +3 "core" .(<- +2 "storage"(i& +4 "core" &<( d Z\  +2 "storage"(M& +3 "manipulator"&'& +7 "core" &<( d f\  + &   K 4 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&9( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'r +2 "core" ( +3 "manipulator"&& +3 "core" &    4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &C& +2 "core" &  4 +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close +2 "manipulator"& / +56 "core" / +2 .tPC.seek :open + "processing"%J( +97 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +45 "core" ' +300 ( +2 "storage"(o& +4 "core" &<( i h ~\  +2 "manipulator"&]& +3 "core" &  3 4 +2 "manipulator"&x% +4 "core" % \  5 +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&1( +244 "core" ( +2 "manipulator"&& +3 "core" &    6 +2 "storage"(,& +4 "core" &<( _ ^\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"'O +97 "core" ' +2 .tHand.open + "manipulator"&k1 +63 "core" 1 +3 "storage"(z- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(|' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"($' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +3 "core" -' +2 "storage"(& +3 "core" &<( q\  +3 "manipulator"&& +4 "core" & d 6 +2 .tElbow.seek 5 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&!& +4 "core" &   6 + "storage"(& +4 "core" &<( } k\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&~'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(c'" +58 "core" ' + "manipulator"&n& +51 "core" & B 6 +3 "storage"(&& +3 "core" &<( \\ ^ /\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&\\% +3 "core" %Ν   +2 "storage"(8& +5 "core" &<( _ ^\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 316 counts + "manipulator"&r' +25 "core" ' + "manipulator"& & +5 "core" &   [ / + "storage"(V& +4 "core" &<( ] ^ Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&W'O +25 "core" ' +2 "storage"(5% +3 "core" % ] ^ \ +3 ."downElevator"SE.seek :down +3 "storage"(:' +99 (% +3 "core" %vP E D\ Xf +2 "manipulator"&j% +5 "core" %E \  b y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (4& +3 "core" &<( d [ \  +2 "collection"'Z& +3 "core" &\\` @\ L +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %    +2 "storage"(% +4 "core" % ] \\ \  + "storage"(P. +3 "core" .(<- +2 "storage"(f& +4 "core" &<( \\ e \  +2 "storage"(7& +4 "core" &<( Z \\\  +2 "manipulator"&D& +4 "core" & \ \ / +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&m& +3 "core" &  / +3 "storage"(w& +3 "core" &<( Y [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +93 "core" ' + "storage"(E& +4 "core" &<( ~ ~ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +307 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  q / +2 "storage"(& +4 "core" &<( i h U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&T'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(@- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(A'r +29 "core" ' +2 "manipulator"&6% +4 "core" %Π   z +2 "storage"(& +3 "core" &<( ] ]\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&b' +14 "core" ' +2 "manipulator"&& +4 "core" &   . +2 "storage"(& +4 "core" &<( ] \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(L' +41 "core" ' +2 "manipulator"&>& +3 "core" & B . +2 "manipulator"&\ % +4 "core" %@ | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +179 "core" ( +3 "manipulator"&?& +3 "core" &ӈ   " Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &ӈ  Y Q +3 .tForearm.seek CC + "manipulator"&%'? +101 "core" ' + .tHand.close +2 "manipulator"&q/ +53 "core" / +9 .tCC.seek :open +2 "collection"'=( +447 "core" ( +2 "storage"(y& +4 "core" &<( u  \  +2 "storage"(^& +4 "core" &<( } u \  + "manipulator"&2& +5 "core" &ӈ   l Q + "manipulator"&K% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&s' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&{( +152 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"(G& +4 "core" &<( l \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&I'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +54 "core" 1 +2 "manipulator"&a% +3 "core" % Η   +2 "storage"(`& +4 "core" &<(  5\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 310 counts + "manipulator"&+' +25 "core" ' +2 "manipulator"&& +3 "core" & j  +3 "storage"(Q& +4 "core" &<( f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +15 "core" ' + "storage"(% +4 "core" % a\ +3 ."downElevator"SE.seek :down +3 "storage"(3' +99 ([% +2 "core" %D ~ ~ \ V_ +2 "manipulator"&.% +5 "core" %F # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +40 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'-& +3 "core" & Z\ +2 "manipulator"&N% +5 "core" %  , z + "storage"(% +5 "core" % e\  + "storage"(/. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(S(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K t F\  +2 "manipulator"&<& +4 "core" & Q  +2 .tElbow.seek 6 +2 "manipulator"&l( +4 "core" ( + "manipulator"&p& +3 "core" &  +2 "storage"(& +4 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +91 "core" ' + "storage"(i& +4 "core" &K p\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +295 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &K  R\  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 6 + "manipulator"&C( +4 "core" ( +2 "manipulator"&t& +4 "core" & 2  + "storage"( & +4 "core" &K } { >\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&_& + "storage"(0' +8 "core" & I  + "manipulator"&v% +5 "core" % a / +2 .tForearm.seek :retract +2 "manipulator"&o' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&](ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&x& +49 "core" &Ӗ  8 +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӗ  $ 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&,& +4 "core" &Ӗ \ / 8 +3 "manipulator"&9% +4 "core" %C  u +2 "collection"'k& +4 "core" & g\ +2 "collection"'z& +6 "core" & g\ +2 .tCC.seek :closed + "collection"'u(\\ +4 "core" & R\ +8 &: [\ $f +9 &Z{ S\ 7 +10 &v \\\ K +9 &T \\\ J +9 &R X\ K +10 &NR L\ J +9 &U T\ J +9 &W D\ J +10 &R D\ J +9 &UR L\ K +10 & Q ;\ J +9 &!R C\ K +9 &#W H\ J +10 &%]R F\ K +9 &' W >\ J +9 &(S @\ K +10 &*T J\ K +9 &,fR @\ J +10 &.'R >\ K +9 &/W >\ J +9 &1X ?\ K +10 &3lU ?\ K +9 &5/W >\ J +9 &6S ?\ K +10 &8S J\ J +9 &:vU J\ J +10 &<7W C\ K +9 &=U H\ K +9 &?S C\ J +10 &A}V B\ K +9 &C=^ C\ K +9 &Dc 7\ L +10 &Fm ;\ N +9 &Hv <\ P +10 &J, B\ T +9 &K\ \ B\ W +9 &M \ 7\ W +10 &Oh\ \ @\ W +9 &Q*\ \ <\ W +9 &R \ 7\ X +10 &T\ \ >\ Y +9 &Vi \ 9\ Z +10 &X*\ \ 9\ Z +9 &Y\  ;\ Z +9 &[\ \ ?\ H +10 &\\-\ \ @\ 6 +9 &\\c \ :\ J +2 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +3 "core" % C  \ f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &_\ +2 "manipulator"&% +3 "core" %   +2 "storage"(n% +4 "core" % \\ ^ \  +2 "storage"(&. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(X(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +3 "core" &K H E \  +2 "manipulator"&\\& +4 "core" &Ӥ % 6 + "manipulator"&8% +4 "core" % o  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +168 "core" ( + "manipulator"&V& +4 "core" &  H  +2 "storage"(1& +3 "core" &K  ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +92 "core" ' +2 "storage"(5& +3 "core" &K { B\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +313 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &K t ~ >\  +2 "manipulator"&~& +4 "core" &  V  +2 .tElbow.seek 6 +2 "manipulator"&)( +11 "core" ( +2 "manipulator"&c& +3 "core" &   +2 "storage"( & +4 "core" &K | L\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&r'h +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&Z& + "storage"( ' +8 "core" & S  +2 "manipulator"&% +4 "core" % ^  +2 .tForearm.seek :retract + "manipulator"&P' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&& +3 "core" &   " + +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &  Q + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&D' +99 "core" ' + "manipulator"&m& +4 "core" &   + +2 "manipulator"&w% +3 "core" %   +3 "processing"%W& +4 "core" &f\ +2 "processing"%E& +52 "core" &{\ +5 &\ +3 &k\ + &g\ + &p\ +2 &w\ + &s\ +3 .tPC.seek :closed +2 "processing"%:(^ +3 "core" &i\ +4 &i\ 6 +9 &@Gvo\ 0 +10 &ls~r\ D +9 &_u\ M +9 &Tp\ M +10 &To\ M +9 &XVm\ M +9 &Tf\ M +10 &Un\ L +9 &Un\ M +10 &_Ui\ M +9 &!!Tl\ M +9 &"Tf\ M +10 &$Um\ M +9 &&hUn\ M +9 &(+Tg\ L +10 &)Ul\ M +9 &+Ui\ M +10 &-pUa\ M +9 &/2Tg\ M +9 &0Rd\ M +10 &2Tj\ M +9 &4xRc\ M +9 &6:Ue\ M +10 &7Ub\ L +9 &9Va\ M +10 &;~Wa\ M +9 &=@VV\ M +9 &?ZV\ M +10 &@X_\ M +9 &BYZ\ N +9 &DE_X\ N +10 &Fha\ O +9 &Gta\ P +10 &Ia\ R +9 &K?a\ S +9 &M\\\ S +10 &N`\ T +9 &Pe\ T +9 &RCa\ T +10 &Ta\ U +9 &UW\ S +10 &WZ\ T +9 &YL]\ T +9 &[ b\ U +10 &\\c\ U +9 &^Bca\ &v +9 &^fa\ 6 +10 ( + &^ c\ 0 +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&d1 +55 "core" 1 + "manipulator"&}% +4 "core" %   (  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +100 "core" ' + "processing"%& +4 "core" &^Y\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %    +2 "storage"(@% +4 "core" % ] j \  +2 "storage"(6. +3 "core" .(K +2 "storage"(& +4 "core" &K ] g t\  +2 "storage"(& +2 "manipulator"&& +6 "core" &K ] e p\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  + +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(>'r + "manipulator"&\ ( +7 "core" ( + "manipulator"&(& +4 "core" &   6 + +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  ; + +3 .tForearm.seek PC +2 "manipulator"&*' +90 "core" ' +3 .tHand.close + "manipulator"&T/ +53 "core" / + .tPC.seek :open +2 "processing"%b( +98 "core" ' +2 "storage"(A- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'1 +42 "core" ' +302 ( +2 "storage"(Y& +4 "core" &K q { Y\  +2 "manipulator"&& +4 "core" &  + + "manipulator"&H% +4 "core" % \ p 0 +2 .tForearm.seek :retract +2 "manipulator"&q' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&#( +244 "core" ( +2 "manipulator"&O& +3 "core" &    +2 "storage"(y& +4 "core" &K t ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&^' +91 "core" ' +2 .tHand.open + "manipulator"&21 +64 "core" 1 +3 "storage"(K- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(G' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +3 "core" -' +2 "storage"(h& +4 "core" &K K\  +2 "manipulator"&R& +3 "core" &   Q  +3 .tElbow.seek 6 + "manipulator"&a( +4 "core" ( +2 "manipulator"&`& +3 "core" &    +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&s& +4 "core" &   + "storage"([& +4 "core" &K f h 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +49 .tForearm.seek 6 +3 "manipulator"&.'< +18 "core" ' + .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(I' +19 "core" ' +2 "manipulator"&-% +3 "core" %F  +2 "storage"(N& +4 "core" &K ] [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +3 "manipulator"&+'r +13 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(/& +4 "core" &K ` ] ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +15 "core" ' +2 "storage"(g% +3 "core" % \\ ]\ +3 ."downElevator"SE.seek :down +4 "storage"(3' +98 (;% +4 "core" %ZM D D \ We +2 "manipulator"& % +4 "core" %  _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +93 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (p& +3 "core" &K X h\  +2 "collection"'& +4 "core" &\\] A\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&i% +4 "core" %    +2 "storage"(F% +3 "core" % i o !\  +2 "storage"(. +3 "core" .(K +2 "storage"('& +4 "core" &K p Z !\  +2 "storage"(M& +3 "core" &K k p }\  +2 "manipulator"&& +5 "core" &  a  + .tElbow.seek 6 +2 "manipulator"&t( +4 "core" ( +2 "manipulator"& & +4 "core" & \   + "storage"(B& +4 "core" &K h j d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&_' +94 "core" ' + "storage"(v& +4 "core" &K { \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +295 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" &   +2 "storage"(e& +4 "core" &K ] [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(C- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(,'f +30 "core" ' + "manipulator"&9% +4 "core" %M  +2 "storage"(k& +4 "core" &K a [ P\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&0'y +16 "core" ' +2 "manipulator"&o& +3 "core" &   +2 "storage"(=& +4 "core" &K _ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&& +4 "core" &   + "manipulator"&% +4 "core" %  \ ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +154 "core" ( + "manipulator"&z& +4 "core" &ӕ \  ( 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &ӕ  5 +2 .tForearm.seek CC +2 "manipulator"&\\'? +103 "core" ' + .tHand.close + "manipulator"&8/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(V& +48 "core" &K { \  +5 "storage"(1& +4 "core" &K |\  + "manipulator"&S& +4 "core" &Ӣ \  3 +2 "manipulator"&5% +4 "core" % *   +2 .tForearm.seek :retract +2 "manipulator"&]' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&!( +160 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(j& +5 "core" &K _\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&~'< +95 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +63 "core" 1 +3 "manipulator"&4% +4 "core" % G  " +2 "storage"(Z& +4 "core" &K J\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&'s +16 "core" ' + "manipulator"& & +5 "core" &   + "storage"("& +4 "core" &K W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&$' +16 "core" ' + "storage"(r% +5 "core" % a\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (7% +3 "core" %C ~ t \ V_ +2 "manipulator"&)% +3 "core" % ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'w& +3 "core" & V\ +2 "manipulator"&W% +4 "core" %  \    +2 "storage"( % +4 "core" % i\  +2 "storage"(P. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(J([ +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &[ \\ Z\  +2 "manipulator"&}& +3 "core" & W  +3 .tElbow.seek 7 + "manipulator"&(r +36 "core" ( +2 "manipulator"&& +3 "core" &  \   +2 "storage"(@& +5 "core" &[ b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&6'= +94 "core" ' +2 "storage"(& +3 "core" &[ K\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +292 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &[ z \  +2 "manipulator"&(& +4 "core" & '  +2 .tElbow.seek 7 +2 "manipulator"&(r +26 "core" ( +2 "manipulator"&D& +4 "core" &q A j + "storage"(T& +4 "core" &[ k k \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&A'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(:' +8 "core" &q ; j + "manipulator"&>% +4 "core" % ϡ  +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +3 "manipulator"&H& +2 "core" ' +2 &x%   >K + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &*& +3 "core" &x% \ 7 >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek CC +4 "manipulator"&O'? +100 "core" ' +2 "manipulator"&y& +5 "core" &x%   >K +2 "manipulator"&\ % +4 "core" %H  \ +2 "collection"'2& +3 "core" & O\ +3 "collection"'K& +5 "core" & \\\ +3 .tCC.seek :closed + "collection"'%(\\ +4 "core" & N\  +9 &4y O\ *z +10 & g} \\\ > +9 &n _\ L +9 &\\R [\ K +10 &W W\ J +9 &S ^\ K +10 &V `\ J +9 &eR T\ J +9 &'U U\ J +10 &W P\ K +9 & T D\ K +9 &"mR N\ J +10 &$/T M\ J +9 &%W ?\ K +10 &'U ?\ K +9 &)uR K\ J +9 &+7R Q\ J +10 &,T O\ J +9 &.W P\ J +9 &0|U A\ J +10 &2?U L\ J +9 &3X ?\ K +10 &5X @\ K +9 &7W I\ K +9 &9EU O\ K +10 &;V R\ K +9 &<W J\ J +9 &>U N\ J +10 &@MX J\ K +9 &BZ K\ K +10 &C\\ K\ K +9 &Ed @\ M +9 &GLo J\ N +10 &I D\ Q +9 &J\  C\ U +9 &Ly\ \ =\ V +10 &N8\ \ B\ X +9 &O\ \ @\ Y +10 &Q\ \ ?\ W +9 &Sz\ \ ?\ Y +9 &U;\ \ =\ Y +10 &V\ \ <\ Z +9 &X\ \ :\ Z +9 &Z|\ \ @\ [\ +10 &\\"y\ \ C\ / +9 &\\/\ \ B\ _ +9 ( +3 "collection"'K& +2 "core" &\\a\ \ C\ M +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&h1 +62 "core" 1 +2 "manipulator"&R% +4 "core" % H   ! \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +4 "core" &|\ +2 "manipulator"&q% +4 "core" %  \    +2 "storage"(s% +4 "core" % i k \  + "storage"([. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(?([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +3 "core" &[ ! \  +2 "manipulator"&N& +5 "core" &ө \ B 7 + "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +163 "core" ( +2 "manipulator"&/& +4 "core" &{    + "storage"(g& +4 "core" &[ } ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&#'= +94 "core" ' +2 "storage"(^& +4 "core" &[ | \ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'r +298 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &[ g ^ =\  +2 "manipulator"&Q& +4 "core" &{   g  +2 .tElbow.seek 7 +2 "manipulator"&a(r +3 "core" ( +2 "manipulator"&& +3 "core" &{   +2 "storage"(.& +3 "core" &[ q w 2\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&p'ϧ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(i' +8 "core" &{ k  +2 "manipulator"&F% +4 "core" % ϳ  K +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&I( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&'& +3 "core" &  : $ +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &   $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"& & +3 "core" &   # +2 "manipulator"&B% +5 "core" % \  +2 "processing"%L& +4 "core" &|\ +2 "processing"%v& +5 "core" &f\ +2 .tPC.seek :closed +2 "processing"%3(^ +4 "core" &z\  +9 &2v\ )w +9 &c}\ = +10 &vqp\ N +9 &:Tr\ M +52 &TB\ M +4 &Vw\ M + &To\ L + &BTo\ M + &Tq\ L + &Uo\ M +6 & Tr\ M +9 &"IWo\ M +9 &$ Um\ M +10 &%Tl\ L +9 &'Tp\ M +10 &)STn\ L +9 &+Uk\ M +9 &,Ta\ M +10 &.Sn\ M +9 &0ZTp\ M +9 &2Vd\ M +10 &3Rb\ M +9 &5Ta\ L +9 &7bUe\ M +10 &9$Wf\ M +9 &:Wg\ M +10 &<U\\\ M +9 &>iXf\ M +9 &@*W]\ M +10 &A[a\ N +9 &Cbo\ N +9 &Elge\ O +10 &G*p[\ P +9 &H]\ R +10 &Jf\ S +9 &Lg_\ S +9 &N'Y\ T +10 &OZ\ S +9 &Q\\\ U +10 &Sk[\ T +9 &U-_\ T +9 &VW\ T +10 &Xe\ T +9 &Zq`\ U +9 &\\5i\ T +10 &]{rb\ ; +9 &^(k^\ P +9 &^#V\ 2 +3 ( + "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&{1 +57 "core" 1 +2 "manipulator"&<% +4 "core" %  \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +96 "core" ' +2 "processing"%x& +3 "core" &^!e\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&e% +4 "core" %   2  +2 "storage"(C% +3 "core" % f ] ;\  +3 "storage"(9. +3 "core" .([ +2 "storage"(k& +4 "core" &[ e h B\  +2 "storage"(o& +2 "manipulator"&=& +5 "core" &[ h h >\  +3 &  # +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +5 .tElbow.seek PC +2 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( +2 "manipulator"&_& +3 "core" &  $ # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +2 "core" & o # +3 .tForearm.seek PC +2 "manipulator"&l' +94 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +3 .tPC.seek :open +2 "processing"%0( +100 "core" ' +2 "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'1 +41 "core" ' +303 ( + "storage"(|& +4 "core" &[ ] [ "\  +2 "manipulator"&& +3 "core" &  # +3 "manipulator"&% +4 "core" %   ?  +2 .tForearm.seek :retract + "manipulator"&8' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&n(r +246 "core" ( + "manipulator"&u& +3 "core" &j   ^ +2 "storage"(V& +4 "core" &[ [ ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&1'= +98 "core" ' +2 .tHand.open + "manipulator"&S1 +60 "core" 1 +2 "storage"(5- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(j' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(\\- +3 "core" -' +2 "storage"(&& +3 "core" &[ v\  +3 "manipulator"& & +3 "core" &k   ] +3 .tElbow.seek 7 +2 "manipulator"&4(r +4 "core" ( + "manipulator"&Z& +4 "core" &k E ] +2 "storage"( & +4 "core" &[ | e\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(r'" +49 "core" ' +2 "manipulator"&]& +3 "core" &k  ] +2 "storage"(7& +4 "core" &[ ; S F\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&)'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +50 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(~' +23 "core" ' +2 "manipulator"&w% +4 "core" %·  / F +2 "storage"(W& +4 "core" &[ C D \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 312 counts + "manipulator"&'ϳ +14 "core" ' + "manipulator"& & +4 "core" &   # D +2 "storage"(P& +4 "core" &[ \\ ` >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +16 "core" ' + "storage"($% +4 "core" % i k \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (X% +3 "core" %hP D F\ We +2 "manipulator"&d% +4 "core" %. \  % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &[ Z \\ \  +2 "collection"'@& +4 "core" &\\` A\ M +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" % \  \  +2 "storage"(c% +3 "core" % { q w\  +3 "storage"(m. +2 "core" .([ +2 "storage"(& +4 "core" &[ ~  \  +2 "storage"(& +4 "core" &[ ~ { \  +2 "manipulator"&(& +4 "core" & \ w D + .tElbow.seek 7 +2 "manipulator"&D(r +31 "core" ( +2 "manipulator"&T& +3 "core" &s   q +2 "storage"(f& +4 "core" &[ ~ ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' +2 "storage"(>& +4 "core" &[ |\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +304 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" &s  A q +2 "storage"(*& +4 "core" &[ k i \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&E'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(y'm +30 "core" ' + "manipulator"&\ % +4 "core" %Ό   !  +2 "storage"(2& +4 "core" &[ T ? A\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&:'ϸ +14 "core" ' +2 "manipulator"&Y& +4 "core" &s  ( q +2 "storage"(& +4 "core" &[ z ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(R' +44 "core" ' +2 "manipulator"&& +3 "core" &s  > q +3 "manipulator"&q% +4 "core" %3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +165 "core" ( +2 "manipulator"&K& +4 "core" &ӧ   5\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &ӧ   5\ +2 .tForearm.seek CC +2 "manipulator"&N'? +104 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'O( +449 "core" ( + "storage"(/& +4 "core" &[ r \  +2 "storage"(g& +4 "core" &[ p \  + "manipulator"&J& +4 "core" &ӧ  5\ +2 "manipulator"&^% +4 "core" % B   +2 .tForearm.seek :retract +42 "manipulator"&' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&`(r +161 "core" ( +2 "manipulator"&;& +4 "core" &z    +2 "storage"( & +4 "core" &[ -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&Q'{ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&.1 +53 "core" 1 +2 "manipulator"&+% +3 "core" % ~    +3 "storage"(& +4 "core" &[ E\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 303 counts + "manipulator"&F'Ϫ +15 "core" ' +2 "manipulator"&& +4 "core" &z  +2 "storage"(#& +4 "core" &[ v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&G'= +17 "core" ' + "storage"(p% +4 "core" % M\ +3 ."downElevator"SE.seek :down +3 "storage"('' +99 (M% +3 "core" %I t } \ V` +2 "manipulator"&a% +3 "core" %5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'B& +3 "core" & P\ +3 "manipulator"&L% +4 "core" %  \ \\  +2 "storage"(i% +4 "core" % W\  + "storage"(. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(b(<- +669 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &<0 z -\ +2 "manipulator"&<& +4 "core" &z \ R  +2 .tElbow.seek 5 +2 "manipulator"&x( +37 "core" ( + "manipulator"&e& +4 "core" &   .  +2 "storage"(C& +4 "core" &<0 T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +94 "core" ' +2 "storage"(k& +4 "core" &<0 Y\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +299 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &<. g s ;\ +2 "manipulator"&_& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&t( +6 "core" ( +2 "manipulator"&& +3 "core" &  &  +3 "storage"(& +4 "core" &<. W\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&,'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +6 "storage"(3' +3 "core" & 8  +2 "manipulator"&% +4 "core" % ϴ 9 +2 .tForearm.seek :retract +2 "manipulator"&|' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&& +4 "core" &ӧ  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &ӧ   0 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'? +92 "core" ' +3 "manipulator"&V& +4 "core" &ӧ   3 +2 "manipulator"&% +4 "core" %F  Z +46 "collection"'S& +6 "core" & K\ +3 "collection"'5& +5 "core" & a\ +2 .tCC.seek :closed +2 "collection"'\\(\\ +4 "core" & R\  +9 &6x [\ *z +10 &j} U\ ? +9 &k _\ L +9 &eR ^\ J +10 &'T ]\ J +9 &W ^\ K +10 &T Z\ K +9 &mV ]\ J +9 &.X ]\ K +10 &U X\ K +9 & W P\ J +9 &"uW S\ J +10 &$7R Q\ J +9 &%T L\ J +10 &'W L\ J +9 &)}R N\ J +9 &+@T L\ J +10 &,V L\ K +9 &.W Q\ J +10 &0S Q\ K +9 &2FR P\ K +9 &4 S O\ J +10 &5T M\ J +9 &7W P\ K +9 &9NW P\ K +10 &;R O\ J +9 &<U Q\ J +10 &>Y P\ K +9 &@WX K\ J +9 &BU P\ J +10 &C\\ Q\ L +9 &Ec G\ L +9 &GTq H\ N +10 &I K\ Q +9 &J\ O\ V +10 &L\ \ E\ W +9 &N@\ \ B\ X +9 &P\ \ A\ W +10 &Q\ \ D\ X +9 &S \ A\ X +9 &UE\  B\ Y +10 &W\ C\ Y +9 &X \ >\ [ +9 &Z 9\ Z +10 &\\)y\ \ =\ . +9 &\\. \ F\ _ +9 ( +3 "collection"'5& +2 "core" &\\k B\ L +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&&1 +56 "core" 1 + "manipulator"& % +4 "core" % F   Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&8% +3 "core" %     +2 "storage"(]% +4 "core" % h h ~\  +2 "storage"(7. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(z(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<. ^ h\ +2 "manipulator"&w& +4 "core" &ӧ   3 + "manipulator"&W% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +162 "core" ( + "manipulator"&P& +4 "core" &    +2 "storage"($& +4 "core" &<. k s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +105 "core" ' + "storage"(1& +3 "core" &<. ~ ~ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +298 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &<. ] ] \ +2 "manipulator"&d& +4 "core" &  h  +2 .tElbow.seek 5 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&r& +3 "core" &  &  +2 "storage"()& +4 "core" &<. i h \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& + "storage"(' +8 "core" & e  +2 "manipulator"&c% +4 "core" % ϭ 5 +2 .tForearm.seek :retract +2 "manipulator"&m' +86 "core" ' +3 .tElbow.seek PC +2 "manipulator"&~( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&& +4 "core" &    0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  " 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +99 "core" ' +2 "manipulator"&T& +4 "core" &  0 +2 "manipulator"&f% +4 "core" %  j p +2 "processing"%& +4 "core" &\ +2 "processing"%>& +5 "core" &F\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &f\ +8 &6\ #c +10 &Vz9\ 7 +9 &wi\ K +10 &Qh\ M +9 &oT \ M +9 &0Rj\ M +10 &U\ M +9 &S\ M +9 &wT\ M +10 &:U\ L +9 &Uk\ M +10 &!Tn\ M +9 &#~S\ M +9 &%@Ue\ M +10 &'Th\ L +9 &(U\ M +9 &*Th\ M +10 &,HSo\ M +9 &.\ Sn\ M +10 &/Us\ M +9 &1R5\ M +9 &3QSp\ M +10 &5Q\ M +49 &6T4\ M +7 &8U\\\ M + &:YUm\ M + &<W]\ M + &=V\\\ M + &?Yo\ M +5 &A^Y^\ N +10 &C`n\ N +9 &De`\ O +9 &Fpa\ P +10 &HZm\ R +9 &J^\ S +10 &K]\ S +9 &Ma\ S +9 &O]a\ S +10 &Qk\ T +9 &Rc\ T +9 &Tb\ T +10 &Vc_\ T +9 &X$f\ T +10 &Yk\ U +9 &[d\ U +9 &]ic\ B +10 &^Bsc\ Z +9 &^6b\ 1 +5 ( +3 "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&!1 +3 "core" &^%`\ 1 +56 1 +2 "manipulator"&}% +3 "core" %    @ p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +92 "core" ' + "processing"%H& +3 "core" &^%H\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&*% +4 "core" % ! b % +2 "storage"(% +4 "core" % S Y M\  +2 "storage"(\ . +3 "core" .(<- +2 "storage"(2& +3 "core" &<. V I <\ +3 "storage"(Y& +3 "manipulator"&& +7 "core" &<. E J U\ + &   0 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(q'r +2 "core" ( +3 "manipulator"&& +4 "core" &  H 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" & - ( S 0 +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&E/ +53 "core" / +2 .tPC.seek :open +2 "processing"%:( +99 "core" ' +2 "storage"(y- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(K'1 +40 "core" ' +302 ( + "storage"(-& +4 "core" &<, h ^ \ +2 "manipulator"&h& +4 "core" &  F 0 + "manipulator"&A% +4 "core" %  7  +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&s( +245 "core" ( + "manipulator"&%& +4 "core" &  k  +2 "storage"(/& +4 "core" &<, [ Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +94 "core" ' + .tHand.open +2 "manipulator"&J1 +56 "core" 1 +3 "storage"(^- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(N' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(;' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"([& +3 "core" &<, e e /\ +2 "manipulator"&.& +5 "core" & \   + .tElbow.seek 5 +2 "manipulator"&+( +4 "core" ( +2 "manipulator"&& +4 "core" &     + "storage"(& +4 "core" &<, ` Y\ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(p'" +57 "core" ' + "manipulator"&& +4 "core" &  U  +2 "storage"(M& +4 "core" &<, h i [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&a'΍ +17 "core" ' + .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +27 "core" ' +2 "manipulator"&B% +4 "core" %Ξ  R  +2 "storage"(L& +50 "core" &<, [ ^ \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&F' +25 "core" ' + "manipulator"&i& +4 "core" &  +2 "storage"(& +4 "core" &<, \\ ^ I\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&R'O +16 "core" ' + "storage"(G% +4 "core" % a m z\ +3 ."downElevator"SE.seek :down +4 "storage"('' +99 (?% +4 "core" %CJ C D\ U_ +2 "manipulator"&{% +4 "core" %O  u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (e& +3 "core" &<, X p \ +2 "collection"'C& +4 "core" &\\j 9\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&k% +4 "core" %    :  +2 "storage"(% +4 "core" % [ ] \  +2 "storage"( . +3 "core" .(<- +2 "storage"(o& +4 "core" &<, Z Y\ +2 "storage"(=& +4 "core" &<, j ^ C\ + "manipulator"&_& +4 "core" &  w  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(I& +3 "core" &<, Z ] \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +95 "core" ' +2 "storage"(& +4 "core" &<, ~ ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +306 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(l& +4 "core" &<, ^ e 9\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&v'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(V- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('s +29 "core" ' +2 "manipulator"&S% +3 "core" %Ν  T +2 "storage"(t& +3 "core" &<, ] ^ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 316 counts + "manipulator"&3' +15 "core" ' + "manipulator"&|& +4 "core" &  #  +2 "storage"(O& +4 "core" &<, e ] \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +35 "core" ' + "manipulator"& & +3 "core" &  +3 "manipulator"&8% +4 "core" %E ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +158 "core" ( + "manipulator"&5& +4 "core" &ӝ   6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӝ  6 +3 .tForearm.seek CC +2 "manipulator"&w'? +97 "core" ' + .tHand.close +2 "manipulator"&W/ +55 "core" / +2 .tCC.seek :open + "collection"'u( +448 "core" ( +2 "storage"(P& +3 "core" &<, ~ ~ \ +2 "storage"($& +4 "core" &<, | ~ \ +2 "manipulator"&b& +4 "core" &ӝ   6 + "manipulator"&1% +5 "core" % P   +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Z( +160 "core" ( +42 "manipulator"&X& +10 "core" &  b  +3 "storage"("& +3 "core" &<, g g r\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&d'΍ +95 "core" ' +6 .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +64 "core" 1 +2 "manipulator"&% +4 "core" % ΍   +2 "storage"(@& +4 "core" &<, y \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 300 counts + "manipulator"&c'Ϲ +16 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(n& +4 "core" &<, _\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&j'O +16 "core" ' + "storage"(% +4 "core" % K\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %D u { \ U^ +2 "manipulator"&4% +3 "core" %> S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'f& +3 "core" & O\ +2 "manipulator"&% +4 "core" %   l  +2 "storage"(% +4 "core" % Q\  +2 "storage"(m. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(0(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (!& +2 "core" &K _ g \  +2 "manipulator"&}& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&*& +4 "core" &   !  +2 "storage"(& +4 "core" &K V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +94 "core" ' +2 "storage"(2& +4 "core" &K 3\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &K q u =\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&D( +4 "core" ( + "manipulator"&(& +4 "core" &  +2 "storage"(E& +4 "core" &K y $\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&y'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& +2 "storage"(' +7 "core" & B  + "manipulator"&q% +4 "core" % φ O +2 .tForearm.seek :retract +2 "manipulator"&-' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&A& +4 "core" &Ӑ   :* + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӑ!   :* +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'? +101 "core" ' +2 "manipulator"&/& +4 "core" &Ӑ!  q :* +2 "manipulator"&% +3 "core" %F +3 "collection"'J& +4 "core" & ^\ +2 "collection"'^& +6 "core" & j\ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" & Q\  +49 &7| O\ +{ +6 &g} Q\ > + &k V\ L +2 &dR `\ K +2 &&U `\ K &R e\ K +4 &U \\\ J +10 &mR _\ J +9 &/U ^\ J +9 &W _\ J +10 & R `\ J +9 &"tR S\ K +10 &$6U Q\ K +9 &%R Q\ J +9 &'R O\ K +10 &)|U P\ K +9 &+?R Q\ J +9 &-S K\ K +10 &.U K\ K +9 &0S M\ J +10 &2GT P\ J +9 &4X N\ K +9 &5U R\ K +10 &7W M\ J +9 &9NW M\ K +10 &;U L\ K +9 &<R P\ J +9 &>S N\ K +10 &@VY P\ K +9 &BX P\ K +9 &C\\ P\ K +10 &Ed M\ M +9 &GTp L\ N +9 &I K\ Q +10 &J K\ U +9 &L \ O\ W +10 &NB\ \ Q\ W +9 &P\ \ P\ W +9 &Q\  M\ W +10 &S\ M\ X +9 &UF\ D\ X +9 &W\  E\ Y +10 &X\ \ K\ Z +9 &Z\ \ C\ Z +10 &\\+{\ \ >\ - +9 &\\- \ D\ Z +9 ( + &\\`\ \ C\ L +3 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&[1 +61 "core" 1 +2 "manipulator"&.% +3 "core" % F  \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" % !   % +3 "storage"(% +4 "core" % h h g\  + "storage"(M. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(B(K +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +3 "core" &K   T\  +2 "manipulator"&K& +3 "core" &ӧ  6 +2 "manipulator"&N% +5 "core" % !   % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&i( +162 "core" ( + "manipulator"&& +4 "core" & \  ;  +2 "storage"(s& +4 "core" &K o { b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +99 "core" ' + "storage"(g& +4 "core" &K | \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +298 "core" ' +2 "storage"(#- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (?& +2 "core" &K ` n ]\  +3 "manipulator"&{& +4 "core" & \   +2 .tElbow.seek 6 + "manipulator"&+( +3 "core" ( +2 "manipulator"&p& +4 "core" & \ :  +2 "storage"(a& +4 "core" &K ~ ~ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&e'h +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& + "storage"(k' +8 "core" & \ \   +2 "manipulator"&% +4 "core" % h  x +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&o& +4 "core" &   3 , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &  , +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&_' +105 "core" ' +2 "manipulator"&& +3 "core" &  F + +3 "manipulator"&I% +4 "core" % \  +2 "processing"%R& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%'(^ +4 "core" &\  +9 &4y\ *x +9 &e}\ > +9 &o\ N +10 &DQ\ M +9 &T\ M +9 &W\ M +10 &W\ M +9 &MR_\ M +10 &S\ M +9 &T;\ L +9 & U\ M +10 &"TY\ M +9 &$U\ L +10 &%TX\ L +9 &'To\ L +9 &)]Uq\ M +10 &+To\ M +9 &,U\ L +9 &.T\ L +10 &0eU\ M +9 &2'W?\ M +9 &3V2\ M +10 &5W?\ M +9 &7mW\ M +10 &90VX\ L +9 &:Wi\ M +9 &<U\ M +10 &>uXm\ M +9 &@7W\ M +10 &AY[\ M +9 &Cb\ N +9 &Eve\ O +10 &G6m\ P +9 &H{i\ Q +9 &JD\ S +10 &Ls\ S +9 &N3b\ S +9 &OI\ S +10 &Qn\ T +9 &Sxl\ T +10 &U8]\ T +9 &Vd\ T +9 &Xu\ T +10 &Z~f\ T +9 &\\@g\ T +9 &]{re\ 7 +53 &^-b\ S +4 &^b\ . + ( + &^ e\ . + &^ `\ . + &^ f\ . + &^ Z\ . +2 "processing"%& +4 "core" &^ T\ . +2 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&`1 +61 "core" 1 +2 "manipulator"&<% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' +2 "processing"%& +3 "core" &^ H\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&l% +4 "core" % # \  5 +2 "storage"(V% +3 "core" % ] [ \  +2 "storage"(S. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(t(K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (|& + "manipulator"&O& +6 "core" &K R 2 \  +2 & \  + +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +6 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"( 'r +3 "manipulator"&8( +7 "core" ( + "manipulator"&U& +4 "core" &   ! + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & , + g + +2 .tForearm.seek PC +2 "manipulator"&x' +95 "core" ' +3 .tHand.close + "manipulator"&v/ +53 "core" / +2 .tPC.seek :open + "processing"%3( +93 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +47 "core" ' +302 ( +2 "storage"(& +3 "core" &K h g A\  +3 "manipulator"&&& +4 "core" &  + + "manipulator"&,% +4 "core" %   " +2 .tForearm.seek :retract +2 "manipulator"&W' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&]( +245 "core" ( +2 "manipulator"&\\& +3 "core" &   * +2 "storage"(P& +4 "core" &K Z Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +95 "core" ' + .tHand.open +2 "manipulator"&b1 +64 "core" 1 +2 "storage"(1- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(X' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(w' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(7& +4 "core" &K \  +2 "manipulator"&)& +3 "core" &   v * +3 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&@& +4 "core" &    * + "storage"( & +4 "core" &K k\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&& +4 "core" &  * + "storage"(& +4 "core" &K Z ] +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&4'< +19 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(d' +18 "core" ' + "manipulator"&f% +5 "core" %5  + "storage"(& +4 "core" &K i j g\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 293 counts +47 "manipulator"&c'a +18 "core" ' + "manipulator"&& +4 "core" &   \\ * +2 "storage"(m& +4 "core" &K ~ z \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +16 "core" ' + "storage"(j% +4 "core" % } ~ \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (z% +3 "core" %cN G G \ Wc +3 "manipulator"&!% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (*& +3 "core" &K \\ [\  +3 "collection"'& +4 "core" &\\a _\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&2% +5 "core" %    $  + "storage"(r% +4 "core" % ] ] *\  +2 "storage"(T. +3 "core" .(K +2 "storage"(Y& +4 "core" &K ] ] R\  +2 "storage"(>& +4 "core" &K { m \  + "manipulator"&& +4 "core" &  * +2 .tElbow.seek 6 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&E& +3 "core" &   * +3 "storage"(~& +4 "core" &K ~ { .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +94 "core" ' + "storage"(q& +4 "core" &K ~ ~\ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +296 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" &  * +2 "storage"(& +4 "core" &K ] ]\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +22 "core" ' +2 .tElbow.hold + "manipulator"&y, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(/- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('f +31 "core" ' + "manipulator"&J% +4 "core" %B  +2 "storage"(D& +3 "core" &K j i L\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 306 counts + "manipulator"&'n +24 "core" ' +2 "manipulator"&-& +4 "core" &  u * +2 "storage"(u& +4 "core" &K o ] \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +24 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(.' +35 "core" ' +2 "manipulator"&& +4 "core" &   * +2 "manipulator"&% +4 "core" % l ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +155 "core" ( +3 "manipulator"&^& +4 "core" &ӗ   2 9$ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &ӗ  9$ +3 .tForearm.seek CC + "manipulator"&K'? +101 "core" ' + .tHand.close + "manipulator"&N/ +57 "core" / +2 .tCC.seek :open +2 "collection"'%( +448 "core" ( + "storage"(& +3 "core" &K  ~ \  +3 "storage"(s& +3 "core" &K t p \  +2 "manipulator"&0& +4 "core" &Ӡ   8 +2 "manipulator"&g% +4 "core" % ? \  +2 .tForearm.seek :retract +2 "manipulator"&h' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( + "manipulator"&#& +4 "core" &    +2 "storage"(?& +4 "core" &K [\  +49 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&{'< +101 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&a1 +60 "core" 1 +2 "manipulator"&F% +4 "core" % C   +2 "storage"(C& +4 "core" &K 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&'o +14 "core" ' + "manipulator"&i& +5 "core" &  + "storage"(G& +4 "core" &K )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&;' +16 "core" ' +2 "storage"(e% +4 "core" % I\ +2 ."downElevator"SE.seek :down +4 "storage"(o' +98 (=% +3 "core" %D ~ { \ U^ +2 "manipulator"&+% +5 "core" % 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'I& +3 "core" & i\ +2 "manipulator"&R% +4 "core" %  \ z  +2 "storage"(k% +4 "core" % a\  +2 "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(:([ +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &[ ` q o\  +2 "manipulator"&<& +4 "core" & 7  +2 .tElbow.seek 7 +2 "manipulator"&(r +34 "core" ( + "manipulator"&l& +4 "core" &  &  +2 "storage"(V& +4 "core" &[ T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&S'= +97 "core" ' +2 "storage"(& +4 "core" &[ P\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +296 "core" ' + "storage"(O- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" &[ } ~ {\  +2 "manipulator"&& +4 "core" & b  +2 .tElbow.seek 7 +2 "manipulator"&_(r +17 "core" ( +2 "manipulator"&v& +4 "core" &x 3  + "storage"(B& +6 "core" &[ h f \  +5 .tForearm.seek 7 + 300 counts +4 "manipulator"&'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&9& + "storage"('' +8 "core" &x t  +2 "manipulator"& % +4 "core" % ϣ r +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +152 "core" ( +3 "manipulator"&,& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &%   ( >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &%  >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\\'? +98 "core" ' +2 "manipulator"&P& +3 "core" &Ӏ%   6 >I +3 "manipulator"&8% +4 "core" %B   +2 "collection"'b& +4 "core" & r\ +2 "collection"'1& +5 "core" & a\ +2 .tCC.seek :closed +2 "collection"'"(\\ +4 "core" & b\ +7 &A `\ $f +10 &[{ O\ 7 +9 &v Q\ K +9 &T O\ J +10 &R Y\ K +9 &MW \\\ J +9 &R c\ K +51 &S b\ J +3 &R _\ J + &UR _\ K + & Q ^\ J +2 &!Q ^\ J +2 &#U ^\ J +6 &%^W \\\ J +9 &'W \\\ K +10 &(U S\ K +9 &*T M\ K +10 &,fR P\ J +9 &.(T J\ J +9 &/W L\ J +10 &1R M\ K +9 &3nR O\ J +9 &50U P\ J +10 &6X R\ K +9 &8U P\ K +10 &:vR P\ J +9 &<8T N\ J +9 &=X M\ K +10 &?X G\ J +9 &A~V O\ J +10 &C?Z L\ K +9 &De G\ L +9 &Fm N\ M +10 &Hv Q\ P +9 &J- M\ T +9 &K\ \ P\ V +10 &M\ \ N\ W +9 &Oh\ \ L\ W +9 &Q)\ \ M\ X +10 &R\ \ P\ X +9 &T\ \ M\ Y +10 &Vl\ \ I\ Y +9 &X*\ \ E\ Z +9 &Y\ \ >\ [ +10 &[\ \ <\ H +9 &\\-\ \ ?\ 3 +10 &\\a\ \ >\ I +2 ( + "collection"'1& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&71 +52 "core" 1 +3 "manipulator"&)% +3 "core" % B    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&W% +4 "core" %     + "storage"(% +4 "core" % i g y\  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(f([ +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[ #  \  +2 "manipulator"&5& +4 "core" &Ӫ \  8 +2 "manipulator"&X% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +164 "core" ( + "manipulator"&m& +4 "core" &t  g  +2 "storage"(j& +4 "core" &[ ~ } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&]'= +91 "core" ' + "storage"($& +4 "core" &[ | T\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'r +298 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &[ ` \\ Z\  +2 "manipulator"&n& +4 "core" &t 2  +2 .tElbow.seek 7 + "manipulator"&(r +3 "core" ( +2 "manipulator"&& +4 "core" &t  #  +2 "storage"(4& +4 "core" &[ { s 3\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&c'ϧ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(2' +8 "core" &t d  + "manipulator"&r% +4 "core" % ϩ s { +3 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&d( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&Y& +5 "core" &  O  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" & \\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&E& +3 "core" &  \ U  +3 "manipulator"&~% +4 "core" %   e s +2 "processing"% & +4 "core" &\ +2 "processing"%q& +5 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +4 "core" &\  +9 &2v\ )v +9 &c|\ = +10 &wp\ M +9 &9R\ M +9 &R\ M +10 &U\ M +9 &V\ M +10 &CT\ L +9 &T\ M +9 &R\ M +10 & U\ M +9 &"JU\ M +9 &$ R\ M +10 &%Tl\ M +9 &'R\ M +10 &)RT\ M +9 &+W\ M +9 &,U\ M +10 &.U\ M +9 &0[T\ L +9 &2S\ M +10 &3V\ M +9 &5R\ M +10 &7bT\ M +9 &9"Y5\ M +9 &:W\ M +10 &<U\ M +9 &>hW\ M +9 &@)V\ N +11 &AZ\ M +13 &Cd\ N +5 &Elf\ O +9 &G*o\ P +9 &H~g\ R +10 &Jm\ S +9 &Lg \ S +9 &N'q\ T +10 &Ot\ T +9 &Qo\ T +10 &Skj\ T +9 &U.l\ T +9 &Vj\ T +10 &Xl\ T +9 &Zrt\ U +10 &\\4j\ U +9 &]ypd\ > +9 &^!Mg\ F +10 &^9l\ ; +2 ( +2 "processing"%q& +50 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +4 .Hand.open + "manipulator"&Z1 +55 "core" 1 +2 "manipulator"&}% +4 "core" %   s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +2 "processing"%A& +3 "core" &^6j\ ; +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %  7  +2 "storage"(/% +4 "core" % Z [\  +2 "storage"(J. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(D([ +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +3 "manipulator"&u& +4 "core" &[ 0 , \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  G  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r + "manipulator"&( +7 "core" ( + "manipulator"&6& +4 "core" &  =  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" & 4 * ~  +3 .tForearm.seek PC + "manipulator"&H' +95 "core" ' +2 .tHand.close + "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'1 +39 "core" ' +176 "Can" Z?P{& +136 "core" ( +2 "storage"(L& +4 "core" &[ h ^ d\  +2 "manipulator"&[& +4 "core" &   +2 "manipulator"&y% +3 "core" %   W 7 +3 .tForearm.seek :retract + "manipulator"&N' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +247 "core" ( +2 "manipulator"& & +3 "core" &y   W +2 "storage"(& +4 "core" &[ Z \\ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&s'= +90 "core" ' +2 .tHand.open + "manipulator"&01 +55 "core" 1 +2 "storage"(g- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(#' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(?' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +3 "core" -' +2 "storage"(M& +3 "core" &[ $\  +3 "manipulator"&a& +4 "core" &y    W +2 .tElbow.seek 7 + "manipulator"&F(r +4 "core" ( +2 "manipulator"&C& +4 "core" &y   + W + "storage"(i& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&G'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(e'" +50 "core" ' + "manipulator"&h& +4 "core" &y \  W +2 "storage"(=& +4 "core" &[ e ^ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&+'{ +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"({' +20 "core" ' +2 "manipulator"&I% +3 "core" %Ύ   d  +2 "storage"(R& +4 "core" &[ G E \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +25 "core" ' +2 "manipulator"&k& +43 "core" &z  f V +9 "storage"( & +5 "core" &[ ] ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&.'= +15 "core" ' +2 "storage"(;% +4 "core" % ] \\ \ +2 ."downElevator"SE.seek :down +4 "storage"(o' +98 (t% +4 "core" %4J D E\ Vb +2 "manipulator"&`% +4 "core" %F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (l& +3 "core" &[ [ ] "\  +3 "collection"'V& +4 "core" &\\] c\ I +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %  e  +2 "storage"(p% +4 "core" % o ^ \  + "storage"(. +3 "core" .([ +2 "storage"(O& +4 "core" &[ o p \  +2 "storage"(U& +3 "core" &[ ] n x\  +3 "manipulator"&& +4 "core" &z  Y V +2 .tElbow.seek 7 +2 "manipulator"&v(r +3 "core" ( +2 "manipulator"&B& +4 "core" &z \ # V + "storage"(Q& +4 "core" &[ k q \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'= +98 "core" ' +2 "storage"( & +3 "core" &[ ~ ~ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &z  V +2 "storage"(x& +4 "core" &[ Z ] \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&|'{ +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(8'm +29 "core" ' + "manipulator"&b% +4 "core" %Ί 9 +2 "storage"(_& +3 "core" &[ B : \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&''϶ +14 "core" ' + "manipulator"&& +4 "core" & m Q +2 "storage"(%& +4 "core" &[ f i .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"()' +35 "core" ' + "manipulator"& & +4 "core" & \  \\ Q +2 "manipulator"&W% +3 "core" %6 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&1& +4 "core" &ӏ   & 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ  7 +3 .tForearm.seek CC +2 "manipulator"&5'? +100 "core" ' + .tHand.close +2 "manipulator"&X/ +59 "core" / +2 .tCC.seek :open +2 "collection"'\\( +448 "core" ( +2 "storage"(m& +4 "core" &[  \  +2 "storage"(j& +4 "core" &[ t } m\  + "manipulator"&:& +3 "core" &ө  4 +2 "manipulator"&$% +4 "core" % A   +2 .tForearm.seek :retract +2 "manipulator"&&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&@(r +162 "core" ( + "manipulator"&z& +4 "core" &x     +2 "storage"(!& +3 "core" &[ k l \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +47 .tForearm.seek 7 +5 "manipulator"&n'{ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&41 +64 "core" 1 +3 "manipulator"&*% +4 "core" % Ή  *  + "storage"(& +4 "core" &[ `\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 314 counts + "manipulator"&r'ϵ +14 "core" ' +2 "manipulator"&& +3 "core" &x Z  +3 "storage"(]& +4 "core" &[ c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&w'= +15 "core" ' +2 "storage"(c% +3 "core" % e\ +3 ."downElevator"SE.seek :down +4 "storage"(Y' +98 (>% +3 "core" %G ~ ~ \ V_ +2 "manipulator"&% +4 "core" %3 M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'~& +3 "core" & b\ +2 "manipulator"& % +4 "core" %  \ ~  +2 "storage"(2% +3 "core" % e\ +2 "storage"(T. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(3(<- +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &<0 w | q\ +3 "manipulator"&}& +4 "core" &x  5  +2 .tElbow.seek 5 + "manipulator"&A( +37 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(/& +4 "core" &<0 \\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&J'O +96 "core" ' +2 "storage"(q& +4 "core" &<0 (\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +312 "core" ' + "storage"(u- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +52 "core" &<. {\ +2 "manipulator"&(& +4 "core" &  J  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & -  +2 "storage"(f& +3 "core" &<. }\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"(' +8 "core" & C  +2 "manipulator"&% +4 "core" % ϶ < +2 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&y& +4 "core" &ӊ [ 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &H& +2 "core" &ӊ   1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +100 "core" ' +2 "manipulator"&& +4 "core" &ӊ  j 1 +2 "manipulator"&% +4 "core" %=  +2 "collection"'0& +3 "core" & l\ +3 "collection"'g& +5 "core" & j\ +2 .tCC.seek :closed +2 "collection"'K(\\ +4 "core" & d\  +9 &4y d\ *y +9 & g~ ^\ > +9 &n _\ L +10 &ZV W\ K +9 &U V\ K +9 &X W\ J +10 &R R\ J +9 &dT _\ J +10 &#W a\ K +9 &W `\ K +9 & U _\ K +10 &"jU ^\ K +9 &$-R X\ J +51 &%T `\ J +3 &'U a\ J +2 &)sW `\ J + &+4X S\ K + &,V T\ K + &.R S\ J +7 &0{U Q\ J +9 &2<X F\ K +9 &3W N\ K +10 &5T M\ K +9 &7W O\ J +10 &9DT P\ K +9 &;R M\ J +9 &<U O\ J +10 &>Y P\ K +9 &@LY J\ K +9 &BZ P\ J +10 &C\\ Q\ K +9 &Ed K\ M +10 &GKn K\ N +9 &I R\ Q +9 &J\ P\ U +10 &Lv\ \ G\ W +9 &N5\ \ N\ X +9 &O \ L\ W +10 &Q P\ Y +9 &Sx K\ Y +10 &U8 E\ Z +9 &V D\ Z +9 &X D\ Z +10 &Z{ C\ [ +9 &\\y H\ . +10 &\\; \ ;\ %s +9 &\\e C\ N +2 ( +2 "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&M1 +53 "core" 1 +2 "manipulator"&a% +4 "core" % =   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%i& +3 "core" & \ +2 "manipulator"&N% +4 "core" %   J  +2 "storage"(h% +4 "core" % h h L\  +2 "storage"(=. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(I(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (R& +3 "core" &<. g ^ F\ +2 "manipulator"&^& +5 "core" &Ӓ  0 + "manipulator"&k% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +157 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(& +4 "core" &<. [ ] (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +98 "core" ' +2 "storage"(s& +3 "core" &<. ~ { \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'r +298 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (t& +3 "core" &<. 7 7 z\ +2 "manipulator"&`& +3 "core" &   5  +3 .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&e& +4 "core" &   + "storage"(+& +4 "core" &<. Z ]\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +6 "storage"(' +3 "core" & \   +2 "manipulator"&p% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&{( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&O& +4 "core" &  * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" & " * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&B& +4 "core" &   d * +2 "manipulator"&Q% +3 "core" %  T +3 "processing"%.& +4 "core" &\ +2 "processing"% & +5 "core" &\ +3 .tPC.seek :closed + "processing"%o(^ +5 "core" &\  +8 &2u\ )v +9 &b~\ = +10 &tq\ M +9 &4T\ M +9 &S\ M +10 &S\ L +9 &{T\ M +9 &>T\ M +10 &T\ M +9 &W\ M +10 & T\ M +9 &"GT\ L +9 &$U\ M +10 &%S\ M +9 &'Q\ M +10 &)NT\ M +9 &+R\ M +9 &,V\ M +10 &.R\ M +9 &0VT\ M +9 &2V\ M +10 &3R\ L +9 &5T\ M +10 &7_T\ L +9 &9V\ M +9 &:V\ M +10 &<R\ M +9 &>dW\ M +9 &@&W\ M +10 &A]\ N +9 &Cb\ O +10 &Egh\ O +9 &G&p\ P +9 &H\ S +10 &J\ S +9 &La\ T +9 &N!\ U +10 &O\ T +9 &Qe\ U +10 &Sgi\ T +9 &U)j\ T +9 &Vr\ T +10 &Xl\ T +9 &Znk\ U +9 &\\0r\ U +10 &]yq\ 7 +9 &^.i\ P +9 &^i\ / +3 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +5 "manipulator"&<% +4 "core" %    T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +96 "core" ' +2 "processing"%,& +4 "core" &^q\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&x% +4 "core" % %  B +2 "storage"(P% +3 "core" % _ ^\  +2 "storage"(b. +4 "core" .(<- +2 "storage"(_& +4 "core" &<. ^ ^ \ \ +2 "storage"(& +2 "manipulator"&%& +8 "core" &<. ] J 8\ + &  J * +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"& ( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(W'r +2 "core" ( +3 "manipulator"&9& +3 "core" &  * +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" & / 0 V * +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&|/ +58 "core" / +2 .tPC.seek :open +2 "processing"%'( +95 "core" ' + "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +53 "core" ' +294 ( + "storage"(& +3 "core" &<- i i }\ +3 "manipulator"&7& +4 "core" & u * + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&X' +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&"& +4 "core" &   , +2 "storage"(m& +4 "core" &<- Z Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +90 "core" ' +2 .tHand.open + "manipulator"&:1 +56 "core" 1 +2 "storage"($- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(z' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(!' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +3 "core" -' +2 "storage"(& +5 "core" &<- \ + "manipulator"&4& +4 "core" &  , +2 .tElbow.seek 5 +2 "manipulator"&*( +4 "core" ( + "manipulator"&& +4 "core" &    , +2 "storage"(& +4 "core" &<- y y \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(c'" +50 "core" ' +2 "manipulator"&&& +4 "core" &  , + "storage"(>& +4 "core" &<- [ Z \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(n' +29 "core" ' + "manipulator"&r% +5 "core" %Π    + "storage"(~& +4 "core" &<- [ Z\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"& ' +23 "core" ' +2 "manipulator"&2& +3 "core" &    ' +2 "storage"(T& +4 "core" &<- [ ^ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&)'O +14 "core" ' +2 "storage"(w% +50 "core" % e ] \ +3 ."downElevator"SE.seek :down +4 "storage"(Y' +98 (D% +3 "core" %^O E E\ We +2 "manipulator"&Z% +4 "core" %m  ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<- f _ 1\ +2 "collection"'/& +4 "core" &\\f :\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&q% +3 "core" %     +3 "storage"(% +4 "core" % [ \\\  + "storage"(E. +3 "core" .(<- +2 "storage"(u& +4 "core" &<- [ [\ +2 "storage"(6& +3 "core" &<- ^ \\\ +2 "manipulator"&(& +4 "core" &  i ' +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&f& +4 "core" &  Y ' +2 "storage"(d& +3 "core" &<- [ \\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +93 "core" ' +2 "storage"(& +3 "core" &<- q r +\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +299 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" &  I ' +2 "storage"(H& +4 "core" &<- g ] L\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&-'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('s +28 "core" ' + "manipulator"&% +4 "core" %Π   +2 "storage"(0& +4 "core" &<- h h 8\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&L& +4 "core" &   H ' +2 "storage"(\\& +4 "core" &<- ~  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(a' +35 "core" ' + "manipulator"&i& +4 "core" &  ' +2 "manipulator"&N% +4 "core" %E R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&=(ӂ +158 "core" ( + "manipulator"&g& +3 "core" &ә   4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &ә   4 +3 .tForearm.seek CC +2 "manipulator"&^'? +95 "core" ' + .tHand.close +2 "manipulator"&k/ +59 "core" / +2 .tCC.seek :open +2 "collection"' ( +448 "core" ( +2 "storage"( & +4 "core" &<- | \ + "storage"(& +4 "core" &<- { \ +2 "manipulator"&3& +4 "core" &ә  + 4 + "manipulator"&s% +4 "core" % < \ \ H  +2 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&C( +160 "core" ( +2 "manipulator"&G& +3 "core" &  6  +3 "storage"(t& +4 "core" &<- w t <\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&`'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +46 "manipulator"&$&.,(\ #b +6 .tHand.open +2 "manipulator"&+1 +61 "core" 1 +3 "manipulator"&l% +4 "core" % Λ   +2 "storage"(V& +4 "core" &<- 6\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&p' +14 "core" ' + "manipulator"&#& +4 "core" & .  +2 "storage"(;& +3 "core" &<- \\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +17 "core" ' +2 "storage"(% +3 "core" % \\\ +4 ."downElevator"SE.seek :down +3 "storage"(O' +98 (U% +3 "core" %? r v \ V^ +2 "manipulator"&F% +5 "core" %E a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +91 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'Q& +4 "core" & b\  +2 "manipulator"&.% +4 "core" %   &  +2 "storage"(% +4 "core" % \  + "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K f Z \  +2 "manipulator"&<& +3 "core" & 9  +3 .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&x& +3 "core" &   +2 "storage"(P& +4 "core" &K d\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +93 "core" ' + "storage"(b& +4 "core" &K I\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +300 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K | q W\  +2 "manipulator"&9& +4 "core" & "  +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&& +4 "core" & "  +2 "storage"(|& +4 "core" &K { 6\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&8'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(o' +8 "core" & L  +2 "manipulator"&W% +4 "core" % m % +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +4 "core" &Ӕ   9# +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӕ   9# +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'? +102 "core" ' +2 "manipulator"&m& +3 "core" &ӕ   8" +2 "manipulator"& % +5 "core" %A  + "collection"':& +4 "core" & m\  +3 "collection"'$& +5 "core" & b\  +2 .tCC.seek :closed +2 "collection"'5(\\ +3 "core" & `\  +8 &C `\ %g +9 &[x c\ 8 +10 &s R\ K +9 &O Q\ K +10 &S Q\ J +9 &`R [\ J +9 &"T _\ J +10 &W _\ J +9 &V ]\ K +9 &gT d\ K +10 & )U _\ K +9 &!Q _\ J +10 &#S b\ J +9 &%qT ^\ J +9 &'2W `\ J +10 &(W `\ K +9 &*U [\ J +9 &,wR O\ K +10 &.:W X\ J +9 &/R L\ J +10 &1T N\ K +9 &3X Q\ J +9 &5AU Q\ J +10 &7S Q\ K +9 &8W P\ J +9 &:R Q\ K +10 & W P\ J +10 &?T I\ K +9 &AT N\ K +9 &CPZ O\ K +10 &Ee N\ L +48 &Fm R\ N +6 &H L\ O +2 &J> M\ T + &K\ R\ V + &M \ Q\ W + &Oz\ R\ W +6 &Q:\ N\ X +10 &R P\ X +9 &T N\ Z +9 &V| J\ Y +10 &X;\ \ L\ Z +9 &Y\ \ C\ [ +10 &[\  R\ I +9 &\\&\ \ H\ / +9 &\\r L\ U +3 ( + "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&4% +4 "core" % A   e  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +3 "core" &\ +2 "manipulator"&X% +5 "core" % !  $ + "storage"(&% +5 "core" % [ ^\  + "storage"(>. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(r(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" &K   D\  +2 "manipulator"&1& +3 "core" &ӧ   6 +2 "manipulator"&z% +4 "core" % !  $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&2( +166 "core" ( + "manipulator"&T& +4 "core" &     +2 "storage"(w& +3 "core" &K ] ] D\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(j& +4 "core" &K p q G\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'r +299 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (D& +2 "core" &K ] e d\  +3 "manipulator"&Z& +4 "core" & N  +2 .tElbow.seek 6 + "manipulator"&*( +4 "core" ( +2 "manipulator"&c& +4 "core" &  q  + "storage"(& +4 "core" &K d Z\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(q' +9 "core" &  + "manipulator"&% +4 "core" % ~ +2 .tForearm.seek :retract +2 "manipulator"&E' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&u& +5 "core" &   Q 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &6& +2 "core" &  Z 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +101 "core" ' + "manipulator"&f& +4 "core" &   * 0 +2 "manipulator"&d% +4 "core" %  +2 "processing"%)& +3 "core" &\ +3 "processing"%& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%Y(^ +4 "core" &\  +9 &5w\ *x +9 &d{\ > +10 &o\ N +9 &CR\ M +9 &T\ M +10 &Q\ M +9 &T\ M +10 &KT\ M +9 & R\ M +9 &T\ M +10 & T\ M +9 &"ST\ M +9 &$U\ M +10 &%T\ M +10 &'T\ M +9 &)[T\ M +9 &+U\ M +9 &,U\ L +10 &.S\ M +9 &0aT\ M +9 &2$S\ M +10 &3R\ M +9 &5T\ M +10 &7kT\ M +9 &9,V\ M +9 &:W\ M +10 &<R\ M +9 &>pW\ N +9 &@2U\ N +10 &AW\ N +9 &C^\ N +10 &Ete\ O +9 &G3k\ P +9 &Hw\ Q +10 &J\ S +9 &Lo\ S +9 &N/\ T +10 &O\ T +9 &Q\ T +10 &St\ T +9 &U7\ T +9 &V\ T +10 &X\ T +9 &Z{\ U +9 &\\=\ U +10 &]|r@\ 6 +9 &^1\ K +10 &^i\ + +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&@1 +58 "core" 1 + "manipulator"&}% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +95 "core" ' +47 "processing"%y& +7 "core" &^t\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&H% +4 "core" % % 1 ? +2 "storage"(% +4 "core" % ] Y\  +2 "storage"(. +3 "core" .(K +2 "storage"(0& +4 "core" &K I V `\  +2 "storage"(L& +2 "manipulator"&\\& +8 "core" &K W J 4\  + &  P 0 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(i'r + "manipulator"&N( +7 "core" ( +2 "manipulator"&\ & +4 "core" &   0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  0 +3 .tForearm.seek PC +2 "manipulator"&A' +95 "core" ' +2 .tHand.close + "manipulator"&-/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'1 +44 "core" ' +310 ( +3 "storage"(R& +3 "core" &K d f\  +2 "manipulator"&M& +4 "core" &   0 +2 "manipulator"&% +4 "core" %    = ( +2 .tForearm.seek :retract +2 "manipulator"&k' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&h( +243 "core" ( + "manipulator"&K& +4 "core" &    +2 "storage"( & +4 "core" &K f g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' +2 .tHand.open + "manipulator"&31 +54 "core" 1 +2 "storage"(s- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(G' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(t' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' +2 "storage"(=& +3 "core" &K \  +2 "manipulator"&+& +4 "core" & D  +2 .tElbow.seek 6 +2 "manipulator"&l( +10 "core" ( + "manipulator"&V& +4 "core" &   U  +2 "storage"(#& +4 "core" &K r\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' + "manipulator"&[& +4 "core" &   \\  +2 "storage"(C& +4 "core" &K h g /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&U'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(`' +28 "core" ' + "manipulator"&p% +4 "core" %K  U  +2 "storage"(Q& +4 "core" &K e f 9\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 315 counts + "manipulator"&.'w +15 "core" ' +2 "manipulator"&& +4 "core" &  6  +2 "storage"(& +4 "core" &K i i e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +17 "core" ' + "storage"(?% +4 "core" % j e M\ +2 ."downElevator"SE.seek :down +4 "storage"(O' +99 (I% +3 "core" %?T D D @\ Xf +2 "manipulator"&% +5 "core" %  +47 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +88 "core" ' +15 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (x& +3 "core" &K [ c )\  +2 "collection"'P& +4 "core" &\\o I\ U +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&b% +3 "core" %   \ *  +3 "storage"(e% +4 "core" % j ^ 1\  + "storage"(B. +3 "core" .(K +2 "storage"(%& +4 "core" &K ] ^ \  +2 "storage"(& +3 "core" &K \\ Y\  +3 "manipulator"&9& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&|& +3 "core" &   , +3 "storage"({& +4 "core" &K Y \\ 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +90 "core" ' +2 "storage"(W& +4 "core" &K s { }\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +309 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" &K ] ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&_'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"( 'f +31 "core" ' + "manipulator"&:% +4 "core" %5  +2 "storage"(v& +3 "core" &K f g +\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 293 counts + "manipulator"&o'a +15 "core" ' + "manipulator"&& +4 "core" & +2 "storage"( & +3 "core" &K ~ ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(4' +39 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&X% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +157 "core" ( + "manipulator"&$& +3 "core" &Ӓ"    ;7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &Ӓ"  ;7 +3 .tForearm.seek CC +2 "manipulator"&1'? +91 "core" ' + .tHand.close +2 "manipulator"&z/ +58 "core" / +2 .tCC.seek :open + "collection"'"( +451 "core" ( +2 "storage"(T& +3 "core" &K } \  +3 "storage"(w& +4 "core" &K  \  + "manipulator"&& +4 "core" &Ӵ \  7 +2 "manipulator"&j% +4 "core" % E    +2 .tForearm.seek :retract +2 "manipulator"&7' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( + "manipulator"&]& +4 "core" &    +2 "storage"(D& +4 "core" &K j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&Z'< +97 "core" ' + .tElbow.hold +2 "manipulator"&c, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % :  7 +2 "storage"(/& +4 "core" &K "\  +41 .tForearm.force -20 +9 "manipulator"&5 +3 .tForearm.seek 6 + 298 counts +2 "manipulator"&'f +14 "core" ' +2 "manipulator"&2& +4 "core" & V  +2 "storage"(& +4 "core" &K U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&!' +15 "core" ' +2 "storage"( % +4 "core" % E\ +3 ."downElevator"SE.seek :down +4 "storage"(u' +98 (6% +3 "core" %@F | t \ U_ +3 "manipulator"&*% +4 "core" % Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +91 "core" ' +75 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'d& +3 "core" & ^\ +2 "manipulator"&)% +4 "core" %   X  +2 "storage"(q% +4 "core" % m\  +2 "storage"(E. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"('([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &[ f \\ $\  +2 "manipulator"&}& +4 "core" & 2  +2 .tElbow.seek 7 + "manipulator"&y(r +36 "core" ( + "manipulator"&& +4 "core" &   w  +2 "storage"(H& +3 "core" &[ _\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +91 "core" ' + "storage"(& +5 "core" &[ [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +296 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +2 "core" &[ y\  +3 "manipulator"&\ & +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&(r +22 "core" ( + "manipulator"&(& +4 "core" &w j +2 "storage"(-& +4 "core" &[ o l \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(Y' +8 "core" &w _ j + "manipulator"&i% +5 "core" % Ϟ F +2 .tForearm.seek :retract +2 "manipulator"&R' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&& +3 "core" &ӎ%  >L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" &ӎ%    >L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&K'? +94 "core" ' +3 "manipulator"& & +4 "core" &ӎ%   >L + "manipulator"&N% +4 "core" %;  4 +2 "collection"'3& +4 "core" & b\ +3 "collection"'s& +5 "core" & e\ +2 .tCC.seek :closed +2 "collection"'^(\\ +5 "core" & ^\  +8 &5y ^\ *z +10 & h{ c\ > +9 &k _\ K +9 &`R ^\ K +10 &"U T\ K +9 &U P\ K +10 &R U\ J +9 &iV V\ J +9 &+X ^\ J +10 &W S\ J +9 & R a\ J +9 &"qR `\ J +10 &$2W `\ K +9 &%U c\ J +10 &'R b\ J +9 &)yR `\ J +9 &+;V a\ J +10 &,W a\ K +9 &.U ]\ J +9 &0T b\ K +10 &2BU d\ K +9 &4S c\ J +9 &5X X\ K +10 &7U H\ J +9 &9LT J\ J +10 &; U K\ K +9 &<R K\ J +9 &>Y K\ K +10 &@RW O\ K +9 &BT M\ K +10 &C[ P\ K +9 &Eg P\ M +9 &GQn P\ N +10 &I R\ Q +9 &J L\ U +9 &L}\ \ L\ V +10 &N>\ \ L\ W +9 &O\ \ L\ X +9 &Q\ \ L\ X +10 &S\ \ O\ X +9 &UA\ \ E\ X +10 &V\ \ L\ Z +9 &X\ \ Q\ Z +9 &Z\ \ G\ Z +10 &\\$y\ \ J\ / +9 &\\0\ \ J\ ^ +9 ( +2 &\\e\ \ D\ J +2 "collection"'s& +51 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open +2 "manipulator"&=1 +55 "core" 1 + "manipulator"&+% +4 "core" % ;   1 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%#& +4 "core" &\ +2 "manipulator"&k% +3 "core" % !  E , +3 "storage"([% +4 "core" % i j {\  +2 "storage"(C. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(g([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" &[ ( #\  +2 "manipulator"&Q& +4 "core" &Ӭ   a :. +2 "manipulator"&G% +4 "core" % !  x , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +164 "core" ( +2 "manipulator"&& +3 "core" &s    +3 "storage"(?& +4 "core" &[ p ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'= +101 "core" ' +2 "storage"(& +4 "core" &[ { I\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'r +298 "core" ' +2 "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &[ q q 1\  +2 "manipulator"&;& +3 "core" &s I  +3 .tElbow.seek 7 +2 "manipulator"&l(r +3 "core" ( +2 "manipulator"&& +4 "core" &s /  + "storage"(U& +4 "core" &[ q q .\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&.'ϧ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(b' +5 "core" &s H  +4 "manipulator"&e% +4 "core" % Ϫ r { +2 .tForearm.seek :retract +2 "manipulator"&B' +90 "core" ' +7 .tElbow.seek PC +2 "manipulator"&`( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&%& +4 "core" &   )  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&9' +91 "core" ' +2 "manipulator"&|& +4 "core" &    +2 "manipulator"&{% +4 "core" % K d +2 "processing"%W& +4 "core" &\ +2 "processing"%a& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%O(^ +3 "core" &\ +6 &\ : +9 &LKs\ 0 +10 &{s{\ E +9 &"Z\ M +9 &S\ M +10 &R\ M +9 &iR\ M +10 &+Q\ M +9 &S\ M +9 &T\ M +10 &pS\ M +9 &!2T\ M +9 &"T\ M +10 &$U\ M +9 &&xR\ M +10 &(:T\ M +9 &)T\ M +9 &+T\ M +10 &-V\ M +9 &/BT\ M +9 &1R\ M +10 &2T\ M +9 &4R\ M +10 &6KT\ M +9 &8 T\ M +9 &9T\ M +10 &;V\ M +9 &=RR\ M +9 &?Y\ M +10 &@V\ N +9 &BY\ N +10 &DV^\ N +9 &Fh\ O +9 &Gu\ Q +10 &I\ S +9 &KO\ S +9 &M\ S +10 &N\ T +9 &P\ T +10 &RS\ U +9 &T\ U +9 &U\ T +10 &W\ U +9 &Y[\ U +9 &[\ T +10 &\\\ U +9 &^J[\ %p +10 &^ai\ 4 +9 ( + &^s\ / +2 "processing"%a& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&F1 +59 "core" 1 +2 "manipulator"&<% +4 "core" %   d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +3 "processing"%& +3 "core" &^V\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +3 "core" %    " +2 "storage"(m% +4 "core" % ^ ^ \  +47 "storage"(:. +6 "core" .([ +2 "storage"(v& +3 "core" &[ _ ^ \  +3 "storage"(& +2 "manipulator"& & +5 "core" &[ ^ ^ \  +3 &  \ N  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"('r + "manipulator"&X( +7 "core" ( + "manipulator"&S& +5 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &    +3 .tForearm.seek PC +2 "manipulator"&,' +95 "core" ' +2 .tHand.close + "manipulator"&_/ +55 "core" / +2 .tPC.seek :open +2 "processing"%o( +96 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"($'1 +44 "core" ' +300 ( +2 "storage"(~& +4 "core" &[ f ^ <\  +2 "manipulator"&& +4 "core" &   + "manipulator"&8% +4 "core" % k  +2 .tForearm.seek :retract +2 "manipulator"&z' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&&(r +249 "core" ( +2 "manipulator"&5& +4 "core" &}   ( + "storage"(T& +3 "core" &[ j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +97 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(j- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(D' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +3 "core" -' +2 "storage"(>& +3 "core" &[ 4\  +3 "manipulator"&& +4 "core" &}  ( + .tElbow.seek 7 +2 "manipulator"&(r +9 "core" ( +2 "manipulator"&/& +3 "core" &~     +2 "storage"(2& +5 "core" &[ z z e\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +51 "core" ' +2 "manipulator"&7& +3 "core" &~  +2 "storage"(6& +4 "core" &[ g h '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&*'{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Z' +20 "core" ' +2 "manipulator"&% +4 "core" %Ύ  C +2 "storage"(d& +4 "core" &[ Q Q J\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&)'Ϻ +25 "core" ' +2 "manipulator"&4& +3 "core" &~  +2 "storage"(q& +4 "core" &[ ^ i @\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&E'= +16 "core" ' +2 "storage"(!% +3 "core" % ] Z\ +4 ."downElevator"SE.seek :down +3 "storage"(u' +98 (r% +4 "core" %N E F\ We +2 "manipulator"&@% +3 "core" %9 u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +93 "core" ' +58 ' + ."downElevator"SE.stop +46 "storage"(5 +5 (& +3 "core" &[ j i ;\  +3 "collection"'H& +4 "core" &\\c M\ J +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %  _ # +2 "storage"(c% +4 "core" % l j J\  +2 "storage"(f. +3 "core" .([ +2 "storage"(L& +4 "core" &[ ] ^ \  + "storage"(\\& +5 "core" &[ ^ ] +\  + "manipulator"&\ & +5 "core" &~   W  + .tElbow.seek 7 +2 "manipulator"&((r +10 "core" ( + "manipulator"&-& +5 "core" &~     + "storage"(n& +4 "core" &[ x s \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&J'= +99 "core" ' +2 "storage"(i& +3 "core" &[ y t #\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &~  &  +2 "storage"(A& +4 "core" &[  ~ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&0'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(N'n +28 "core" ' +2 "manipulator"&3% +3 "core" %Ά   I +2 "storage"(& +4 "core" &[ g g M\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 311 counts + "manipulator"&Y'ϲ +14 "core" ' +2 "manipulator"&R& +3 "core" &  +3 "storage"("& +4 "core" &[ | '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&='= +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(+' +43 "core" ' + "manipulator"&#& +5 "core" &   + "manipulator"&k% +4 "core" %= +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +157 "core" ( +3 "manipulator"&s& +4 "core" &Ӎ#  <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &Ӎ#  - <= +2 .tForearm.seek CC +2 "manipulator"&Q'? +97 "core" ' + .tHand.close + "manipulator"&G/ +60 "core" / +2 .tCC.seek :open +2 "collection"'K( +448 "core" ( + "storage"(& +4 "core" &[ ~ } \  +2 "storage"(?& +4 "core" &[ ~ ~ \  + "manipulator"&'& +4 "core" &Ӽ  6 +2 "manipulator"&% +4 "core" % 8    +2 .tForearm.seek :retract +2 "manipulator"&M' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&V(r +163 "core" ( +2 "manipulator"&I& +3 "core" &r   0  +3 "storage"(& +4 "core" &[ u t -\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&;'{ +100 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&U1 +57 "core" 1 +2 "manipulator"&x% +4 "core" % ΋    + "storage"(P& +4 "core" &[ u t k\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 316 counts + "manipulator"&e'Ϸ +15 "core" ' + "manipulator"&& +4 "core" &r m  +49 "storage"(h& +4 "core" &[ l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'= +16 "core" ' + "storage"(.% +5 "core" % s\ +2 ."downElevator"SE.seek :down +4 "storage"(%' +99 (% +3 "core" %E { q 4\ V_ +2 "manipulator"&l% +4 "core" %3 B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|' +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'{& +3 "core" & ^\ +3 "manipulator"&W% +4 "core" % !  ) + "storage"(b% +5 "core" % K\  + "storage"(B. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +667 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &<- w  Z\ +2 "manipulator"&<& +4 "core" &r   +2 .tElbow.seek 5 +2 "manipulator"&( +23 "core" ( + "manipulator"&& +5 "core" &    + "storage"(m& +3 "core" &<- N\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +91 "core" ' + "storage"(a& +4 "core" &<- D\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +293 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &<-  U\ +2 "manipulator"&S& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +16 "core" ( +3 "manipulator"&9& +3 "core" &   S  +2 "storage"(_& +4 "core" &<- s t ;\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(O' +8 "core" &   + "manipulator"&% +4 "core" % ϲ > +2 .tForearm.seek :retract +2 "manipulator"&~' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&8& +3 "core" &~$  =F +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &~$ \  =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&5'? +92 "core" ' +2 "manipulator"&T& +4 "core" &Ӊ#  \  <; +2 "manipulator"&X% +4 "core" %: \  G +2 "collection"'& +4 "core" & \\\ +2 "collection"'j& +5 "core" & i\ +3 .tCC.seek :closed +2 "collection"'1(\\ +4 "core" & ^\  +9 &6} a\ +{ +9 & g} `\ > +10 &i _\ K +9 &^R T\ K +9 & U W\ K +10 &R T\ J +9 &V L\ J +10 &gV W\ J +9 &)X S\ J +9 &W \\\ J +10 & R _\ J +9 &"oW _\ J +9 &$1W `\ J +10 &%W c\ J +9 &'X c\ J +10 &)wR c\ J +9 &+9W `\ J +9 &,W W\ K +10 &.U V\ J +9 &0~S ]\ K +9 &2@V N\ K +10 &4T K\ J +9 &5S G\ K +10 &7U Q\ K +9 &9JR K\ J +9 &;\ W R\ K +10 &<U R\ J +9 &>U P\ J +9 &@PY Q\ K +10 &BW P\ K +9 &C\\ M\ K +10 &Eg I\ M +9 &GPp J\ M +9 &I G\ Q +10 &J G\ U +9 &L|\ \ J\ V +9 &N= B\ W +10 &O B\ W +9 &Q\  N\ W +10 &S N\ X +9 &U? J\ Y +9 &V L\ Y +10 &X L\ Z +9 &Z N\ Z +9 &\\%z J\ . +10 &\\- B\ ^ +9 ( + &\\e B\ N +2 "collection"'j& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&>1 +57 "core" 1 +3 "manipulator"&% +4 "core" % :   G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +5 "manipulator"&/' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%z& +4 "core" &\ +2 "manipulator"&2% +4 "core" %    +2 "storage"(7% +4 "core" % [ e :\  + "storage"(6. +3 "core" .(<- +2 "storage"($& +4 "core" &<- h h @\ +2 "storage"(& +4 "core" &<- ^ e ;\ +2 "manipulator"&d& +4 "core" &ӯ 7 + "manipulator"&]% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&4( +165 "core" ( +2 "manipulator"&q& +3 "core" &    +2 "storage"(!& +4 "core" &<- | m [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +93 "core" ' +2 "storage"(w& +4 "core" &<- |\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(D'r +297 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (@& +2 "core" &<- Y e ,\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(*& +4 "core" &<- e ] \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&)'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(H' +8 "core" &  |  + "manipulator"&% +4 "core" % ϻ +2 .tForearm.seek :retract +2 "manipulator"&c' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&L& +4 "core" &  u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &  7  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\ ' +94 "core" ' + "manipulator"&-& +4 "core" &    +2 "manipulator"&n% +3 "core" %  F u +3 "processing"%E& +3 "core" &\ +3 "processing"%i& +5 "core" &\ \ +3 .tPC.seek :closed + "processing"%u(^ +4 "core" &\  +9 &2u\ )w +9 &c{\ = +10 &vn\ N +9 &8Q\ M +9 &R\ M +10 &R\ L +9 &S\ M +9 &CT\ L +10 &T\ M +9 &T\ L +10 & T\ M +9 &"JT\ M +9 &$ W\ M +10 &%S\ M +9 &'R\ M +9 &)RS\ M +10 &+R\ M +9 &,T\ M +10 &.Q\ M +9 &0ZT\ M +9 &2Q\ M +10 &3R\ L +9 &5T\ M +10 &7cT\ L +9 &9#V\ M +9 &:V\ M +10 &<U\ M +9 &>gW\ N +9 &@*U\ M +10 &A]\ N +9 &Cb\ O +9 &Elg\ O +10 &G(s\ Q +9 &H\ R +10 &J\ S +9 &Lf\ S +9 &N(\ S +10 &O\ S +9 &Q\ U +9 &Sk\ T +10 &U-\ T +9 &VA\ T +10 &X\ T +9 &Zs\ T +9 &\\4l\ U +10 &]{rD\ ; +9 &^'k4\ T +9 &^(g\ 3 +3 ( + "processing"%i& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&}% +4 "core" %   E u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"%& +4 "core" &^$s\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&A% +4 "core" % (  B !N +2 "storage"( % +4 "core" % H V _\  +2 "storage"(3. +2 "core" .(<- +2 "storage"(& +4 "core" &<- V I \ +2 "storage"(R& +3 "manipulator"&"& +6 "core" &<- ; < \ +2 &  .  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +50 "manipulator"&#( +8 ."raiseStack"SE.seek :beamBreak + "storage"(k'r +3 "core" ( +2 "manipulator"&J& +4 "core" &   /  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" & . . h  +3 .tForearm.seek PC + "manipulator"&y' +97 "core" ' + .tHand.close +2 "manipulator"&0/ +62 "core" / +2 .tPC.seek :open +2 "processing"%Y( +86 "core" ' + "storage"(N- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(s'1 +42 "core" ' +317 ( + "storage"(p& +4 "core" &<, h h w\ +2 "manipulator"&=& +4 "core" &   +2 "manipulator"&% +4 "core" % v + +2 .tForearm.seek :retract +2 "manipulator"&G' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&[( +244 "core" ( +2 "manipulator"&^& +3 "core" &   ' +2 "storage"(& +4 "core" &<, g g q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&?'O +102 "core" ' +2 .tHand.open + "manipulator"&'1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(I' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(Q- +3 "core" -' +2 "storage"(C& +4 "core" &<, E\ +2 "manipulator"&U& +3 "core" &  ' +3 .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&P& +4 "core" &   ' + "storage"(& +4 "core" &<, { m t\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +58 "core" ' +2 "manipulator"&M& +4 "core" &  \ \ ' +2 "storage"(& +4 "core" &<, h h H\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&V'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(;' +28 "core" ' + "manipulator"&{% +4 "core" %Ο   +2 "storage"(W& +4 "core" &<, d f\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&e' +15 "core" ' +2 "manipulator"&b& +4 "core" &   { & +2 "storage"(B& +4 "core" &<, ] ] )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +15 "core" ' +2 "storage"(t% +4 "core" % j s Y\ +2 ."downElevator"SE.seek :down +4 "storage"(%' +99 (g% +3 "core" %4N D C\ We +2 "manipulator"&F% +3 "core" %L  o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +96 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<, e _ \ +3 "collection"'m& +3 "core" &\\e _\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&a% +4 "core" % #  5 + "storage"(% +4 "core" % e ] #\  +2 "storage"(|. +3 "core" .(<- +2 "storage"(& +4 "core" &<, f ^ .\ +2 "storage"( & +43 "core" &<, e ] !\ +9 "manipulator"&S& +4 "core" &  & +2 .tElbow.seek 5 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&_& +4 "core" &  m & +2 "storage"(`& +3 "core" &<, ] \\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +94 "core" ' +2 "storage"(& +4 "core" &<, ~ ~ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(:- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" & \  & +2 "storage"(,& +4 "core" &<, h h \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(T- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(X's +28 "core" ' + "manipulator"&% +4 "core" %Π   +2 "storage"(& +4 "core" &<, i j r\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&O' +14 "core" ' +2 "manipulator"&~& +3 "core" &   & +3 "storage"(K& +4 "core" &<, e h h\ +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +46 "core" ' +2 "manipulator"&j& +4 "core" &  M & + "manipulator"&z% +4 "core" %D \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +99 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +155 "core" ( +2 "manipulator"&6& +4 "core" &ӓ   7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &ӓ   7 +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' + .tHand.close +2 "manipulator"&d/ +61 "core" / +2 .tCC.seek :open +2 "collection"']( +448 "core" ( + "storage"(5& +4 "core" &<, z H\ +2 "storage"(q& +4 "core" &<, q \ + "manipulator"&!& +4 "core" &ӧ  5 +2 "manipulator"&w% +4 "core" % F   +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&/( +161 "core" ( +2 "manipulator"&r& +4 "core" &    +2 "storage"(@& +4 "core" &<, l h \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +101 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +60 "core" 1 +3 "manipulator"&Z% +4 "core" % Λ    + "storage"(& +4 "core" &<, j h \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&4& +3 "core" &  +2 "storage"(&& +4 "core" &<, Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +15 "core" ' +2 "storage"()% +3 "core" % a\ +3 ."downElevator"SE.seek :down +43 "storage"(L' +59 (\\% +3 "core" %KL n ~ \ Va +2 "manipulator"&% +5 "core" %9 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +90 "core" ' +97 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'n& +3 "core" & ^\ +2 "manipulator"&E% +4 "core" %   <  +2 "storage"(H% +4 "core" % R\  +2 "storage"(c. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(o(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K _ g E\  +2 "manipulator"&}& +4 "core" & \  Z  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&A& +4 "core" &   +2 "storage"( & +4 "core" &K d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +105 "core" ' + "storage"(i& +4 "core" &K J\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &K  =\  +2 "manipulator"&J& +4 "core" & h  +2 .tElbow.seek 6 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&\ & +3 "core" &  +2 "storage"(0& +4 "core" &K h g s\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&f'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(u' +7 "core" &   +2 "manipulator"&k% +4 "core" % p  t +2 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&=(ӂ +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &ӑ! \  :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &ӑ!   :, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'? +104 "core" ' + "manipulator"&& +4 "core" &ӑ!   :, +2 "manipulator"&#% +4 "core" %I \  +3 "collection"''& +4 "core" & i\ +2 "collection"'& +6 "core" & j\ +2 .tCC.seek :closed +2 "collection"'Q(\\ +5 "core" & W\ +6 &; \\\ %g +10 &Yv U\ 7 +9 & v _\ J +9 &T U\ J +10 &T U\ J +9 &QR K\ J +10 &R Q\ J +9 &R P\ J +9 &R O\ J +10 &YR Q\ J +9 & Q [\ J +9 &!W [\ J +10 &#W _\ J +9 &%`T `\ K +10 &'#U a\ J +9 &(R ^\ J +9 &*Q ]\ J +10 &,iQ c\ J +9 &.+S a\ J +9 &/R ^\ J +10 &1U Z\ J +9 &3pV R\ K +10 &54R P\ J +9 &6W ]\ J +9 &8W H\ K +10 &:yU R\ J +9 &<;R T\ J +9 &=T Q\ J +10 &?W G\ K +9 &AT T\ J +9 &CAZ M\ K +10 &Ee Q\ L +9 &Fp J\ N +10 &Hz~ I\ O +9 &J/ M\ T +9 &K K\ W +10 &M O\ W +9 &Ok P\ W +10 &Q. \ N\ W +9 &R\ \ K\ X +9 &T \ P\ Y +10 &Vm U\ Y +9 &X/\  T\ Y +9 &Y\ \ I\ [ +10 &[\ \ J\ H +9 &\\/\ \ K\ 0 +9 &\\h\ \ C\ J +3 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&C1 +59 "core" 1 +2 "manipulator"&U% +4 "core" % I   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&G% +4 "core" % \   +2 "storage"(M% +3 "core" % [ ^ \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +48 "storage"($\ .\ 1~b +6 .tSC.seek 6 + "storage"({(K +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" &K D F \  +2 "manipulator"&W& +5 "core" &Ӫ e 6 + "manipulator"&b% +4 "core" % \     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&I( +160 "core" ( +2 "manipulator"&B& +4 "core" & X  +2 "storage"(t& +4 "core" &K ~ { \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +93 "core" ' +2 "storage"(?& +4 "core" &K | \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +310 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &K | p y\  +2 "manipulator"&h& +4 "core" &  ]  +2 .tElbow.seek 6 +2 "manipulator"&x( +4 "core" ( +2 "manipulator"&.& +4 "core" & m  + "storage"(V& +4 "core" &K ~ ~\ \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&e'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&m& + "storage"(a' +7 "core" &  +  +2 "manipulator"&% +4 "core" % \\ \  b 6 +2 .tForearm.seek :retract +2 "manipulator"&|' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&;( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&& +4 "core" &  k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&S' +94 "core" ' + "manipulator"&_& +5 "core" &   T  + "manipulator"&`% +4 "core" %  > +2 "processing"%+& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%%(^ +4 "core" &\  +9 &4y\ *x +9 &d~\ > +10 &o\ M +9 &BT\ M +9 &T\ M +10 &R\ M +9 &T\ M +10 &JT\ M +9 & T\ M +9 &S\ M +10 & T\ M +9 &"RS\ M +9 &$T\ M +10 &%S\ M +9 &'T\ M +10 &)ZT\ M +9 &+U\ M +9 &,U\ M +10 &.S\ M +9 &0aT\ M +9 &2$S\ M +10 &3S\ M +9 &5T\ M +10 &7kS\ M +9 &9,U\ M +9 &:V\ M +10 &<T\ N +9 &>qW\ M +9 &@3R\ M +10 &AY\ N +9 &Ca\ O +10 &Eue\ O +9 &G3k\ P +9 &Hx\ Q +10 &J\ S +9 &Lo\ S +9 &N0\ T +10 &O\ T +9 &Q\ T +10 &St\ T +9 &U5\ U +9 &V\ T +10 &X\ T +9 &Zz\ U +9 &\\=\ U +10 &]{p\ 8 +9 &^0\ H +9 &^\ + +3 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&l1 +60 "core" 1 +2 "manipulator"&<% +4 "core" %     > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +91 "core" ' +2 "processing"%8& +3 "core" &^w\ + +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&,% +4 "core" %     +2 "storage"(T% +4 "core" % i h =\  + "storage"(. +3 "core" .(K +2 "storage"(& +3 "core" &K e ] \  +3 "storage"(~& +3 "manipulator"&K& +6 "core" &K ^ f %\  +2 &    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&j( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'r +2 "core" ( +3 "manipulator"& & +3 "core" &    +71 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&v/ +63 "core" / +2 .tPC.seek :open +2 "processing"%O( +18 "core" ' + "storage"(X- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(6'1 +44 "core" ' +382 ( +2 "storage"($& +4 "core" &K Z Z \  +2 "manipulator"&>& +4 "core" &  )  + "manipulator"& % +4 "core" %  W  +2 .tForearm.seek :retract +2 "manipulator"&d' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&2( +245 "core" ( + "manipulator"&1& +3 "core" & \  ( +3 "storage"(5& +3 "core" &K Z Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +99 "core" ' + .tHand.open + "manipulator"&!1 +59 "core" 1 +2 "storage"(w- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(r' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(@' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(7& +4 "core" &K \  +2 "manipulator"&*& +4 "core" &  ( +2 .tElbow.seek 6 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&& +4 "core" &   ( +2 "storage"(4& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"()'" +51 "core" ' + "manipulator"&& +4 "core" & \ ( +2 "storage"(\\& +4 "core" &K T Y t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&% +3 "core" %F  Z +3 "storage"(& +4 "core" &K J V N\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&n'r +14 "core" ' +2 "manipulator"&E& +3 "core" &  : ( +2 "storage"(H& +4 "core" &K h h g\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&c' +15 "core" ' +2 "storage"(D% +4 "core" % f _ 9\ +3 ."downElevator"SE.seek :down +3 "storage"(L' +98 (% +3 "core" %O E E\ We +2 "manipulator"&% +4 "core" % \ P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +94 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (A& +3 "core" &K ^ f C\  +2 "collection"' & +4 "core" &\\d b\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&i% +3 "core" %   i  +3 "storage"( % +4 "core" % \\ ^ 5\  + "storage"(-. +4 "core" .(K +2 "storage"("& +4 "core" &K Z [\  + "storage"(R& +4 "core" &K ^ \\\  +2 "manipulator"&J& +3 "core" &  ( +3 .tElbow.seek 6 + "manipulator"&\ ( +4 "core" ( +2 "manipulator"&0& +43 "core" &   d ( +9 "storage"(N& +4 "core" &K j p \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(k& +4 "core" &K q q |\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  ( +2 "storage"(y& +4 "core" &K h h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(#'g +29 "core" ' +2 "manipulator"&(% +3 "core" %D  +2 "storage"('& +3 "core" &K e ] \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&u'p +14 "core" ' +2 "manipulator"&p& +3 "core" &   [ ( +2 "storage"(]& +4 "core" &K ] ] -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&C' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(U' +45 "core" ' + "manipulator"&& +4 "core" &  4 ( +2 "manipulator"&G% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&& +3 "core" &ӌ&  \ ?Q +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &ӌ&   ?Q +3 .tForearm.seek CC +2 "manipulator"&W'? +97 "core" ' + .tHand.close +2 "manipulator"&b/ +58 "core" / +2 .tCC.seek :open +2 "collection"'^( +447 "core" ( +2 "storage"(B& +4 "core" &K } \  +2 "storage"(t& +4 "core" &K | \  + "manipulator"&o& +4 "core" &Ӯ!   :/ +2 "manipulator"&?% +4 "core" % B 7  +2 .tForearm.seek :retract +2 "manipulator"&=' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&P( +162 "core" ( + "manipulator"&g& +4 "core" &   +2 "storage"(F& +4 "core" &K Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&h'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&V1 +62 "core" 1 +3 "manipulator"&% +4 "core" % E  0  + "storage"(m& +4 "core" &K T\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 309 counts + "manipulator"&'q +15 "core" ' + "manipulator"&I& +4 "core" & <  +2 "storage"([& +3 "core" &K Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(e% +4 "core" % @\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 ( % +3 "core" %F t | \ V_ +2 "manipulator"&x% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +43 .tForearm.seek :retract +9 "manipulator"&_' +94 "core" ' + ' + ."downElevator"SE.stop +3 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'`& +4 "core" & c\ +2 "manipulator"&+% +4 "core" % ! ` * +2 "storage"(a% +3 "core" % `\  +2 "storage"(|. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(Y([ +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" &[ v -\ +2 "manipulator"&<& +4 "core" &  %  +2 .tElbow.seek 7 +2 "manipulator"&8(r +13 "core" ( + "manipulator"&,& +4 "core" &r   } +2 "storage"(T& +4 "core" &[ W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +91 "core" ' +2 "storage"(& +4 "core" &[ (\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +298 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ ~ z #\ +3 "manipulator"& & +4 "core" &r S } +2 .tElbow.seek 7 +2 "manipulator"&9(r +3 "core" ( +2 "manipulator"&S& +4 "core" &r x } + "storage"(v& +4 "core" &[ v 3\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&X'ϧ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(%' +8 "core" &r } +2 "manipulator"&z% +4 "core" % ϝ M +2 .tForearm.seek :retract +2 "manipulator"&$' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"& & +3 "core" &z)  Aa +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z)   Aa +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'? +92 "core" ' +2 "manipulator"&5& +4 "core" &Ӛ$    =A +2 "manipulator"&j% +4 "core" %?  O +2 "collection"'!& +3 "core" & \\\ +4 "collection"'w& +6 "core" & Z\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & g\ +6 &; _\ $f +9 &[{ `\ 7 +10 &\ v X\ K +9 &T U\ J +9 &S Y\ J +10 &QT R\ J +9 &U N\ K +9 &U L\ K +10 &U C\ K +9 &YQ P\ J +9 & W K\ J +10 &!U Y\ J +9 &#W W\ J +10 &%`W a\ J +9 &'"W Y\ J +9 &(R `\ J +10 &*R W\ J +9 &,hR U\ J +9 &.*T \\\ J +10 &/W T\ J +9 &1X Q\ K +10 &3pU R\ J +9 &51R V\ K +9 &6R O\ J +10 &8R T\ J +9 &:xT O\ J +10 &<9U C\ K +9 &=R N\ J +9 &?T I\ K +10 &AZ M\ K +9 &C@\\ H\ K +9 &De A\ L +10 &Fk D\ M +9 &Hx R\ P +10 &J. O\ T +9 &K\ \ N\ V +9 &M\ \ N\ W +10 &Oi\ \ Q\ X +9 &Q,\ \ Q\ W +9 &R\ \ Q\ X +10 &T\ \ Q\ Y +9 &Vn\ \ U\ Y +10 &X,\ \ S\ Z +9 &Y\ \ K\ Z +9 &[\ \ R\ H +10 &\\/\ \ P\ 1 +9 &\\l\ \ U\ K +2 ( +2 "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&71 +56 "core" 1 +3 "manipulator"&*% +4 "core" % ?    O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%4& +4 "core" &\ +2 "manipulator"&d% +3 "core" %   % # +3 "storage"(% +4 "core" % [ ]\  + "storage"(\\. +3 "core" .([ +2 "storage"(& +4 "core" &[ ] \\\ +2 "storage"(& +4 "core" &[ Z ]\ +2 "manipulator"&6& +4 "core" &Ӭ%   :/ + "manipulator"&E% +4 "core" %  d # +2 .tElbow.reconfigure :tight +48 "manipulator"&$&.,(\ #b +6 .tElbow.seek 7 + "manipulator"&H(r +157 "core" ( +2 "manipulator"&r& +3 "core" &q   + +2 "storage"(D& +4 "core" &[ p ^ |\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&2'= +92 "core" ' + "storage"(q& +5 "core" &[  u \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(@'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ [ e ,\ +2 "manipulator"&&& +4 "core" &q 3 +2 .tElbow.seek 7 +2 "manipulator"&Z(r +4 "core" ( +2 "manipulator"&)& +4 "core" &q   + "storage"(& +3 "core" &[ j i x\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&A'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +6 "storage"(i' +3 "core" &q  +2 "manipulator"& % +5 "core" % ϣ  \ +2 .tForearm.seek :retract +2 "manipulator"&-' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( + "manipulator"&"& +5 "core" &  \ f \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&J' +92 "core" ' +2 "manipulator"&0& +3 "core" &    \ +3 "manipulator"&N% +3 "core" %  J +3 "processing"%c& +4 "core" &\ +2 "processing"%k& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%L(^ +4 "core" &\  +10 &5x\ *y +9 &\ ey\ > +9 &n\ M +10 &QP\ M +9 &S\ M +9 &R\ M +10 &T\ M +9 &YT\ M +10 &T\ M +9 &S\ M +9 & T\ M +10 &"aT\ M +9 &$"T\ M +9 &%S\ M +10 &'T\ M +9 &)iU\ M +10 &+,T\ M +9 &,T\ M +9 &.R\ M +10 &0qT\ M +9 &24S\ M +9 &3R\ M +10 &5W\ M +9 &7yT\ M +10 &9:U\ M +9 &:U\ N +9 &<U\ M +10 &>Y\ M +9 &@BW\ M +9 &B[\ N +10 &Cb\ O +9 &Ef\ O +10 &GAp\ P +9 &H\ R +9 &J\ S +10 &L~\ S +9 &N>\ T +9 &P\ T +10 &Q\ U +9 &S\ T +10 &UD\ U +9 &W\ T +9 &X\ T +10 &Z\ U +9 &\\L\ U +9 &]zr\ 3 +10 &^*z2\ L +9 &^!\ 0 +3 ( +2 "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&/1 +52 "core" 1 +2 "manipulator"&}% +4 "core" %    F J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3' +93 "core" ' +2 "processing"%& +3 "core" &^ 2\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&y% +3 "core" % !  - +3 "storage"(% +4 "core" % ] [\  + "storage"((. +3 "core" .([ +2 "storage"('& +4 "core" &[ [ Z\ +2 "storage"(p& +2 "manipulator"&]& +7 "core" &[ _ ^\ +2 &   X \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(G'r +3 "core" ( + "manipulator"&& +5 "core" &  \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &   V \ +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +42 "processing"%u( +56 "core" ' +2 "storage"(#- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +348 ( +2 "storage"(s& +3 "core" &[ k k \ +2 "manipulator"&C& +4 "core" &  Z \ +2 "manipulator"&f% +4 "core" % @ " +2 .tForearm.seek :retract +2 "manipulator"&b' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&M(r +242 "core" ( + "manipulator"&Q& +4 "core" &~   5 7 +2 "storage"(B& +4 "core" &[ j i |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'= +91 "core" ' + .tHand.open +2 "manipulator"&o1 +63 "core" 1 +2 "storage"(?- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(g' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(F' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(W- +3 "core" -' +2 "storage"(& +3 "core" &[  o\ +3 "manipulator"&V& +4 "core" &~  7 +2 .tElbow.seek 7 + "manipulator"&(r +10 "core" ( + "manipulator"&m& +4 "core" &    +2 "storage"(I& +4 "core" &[ { \ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&['= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(e'" +62 "core" ' +2 "manipulator"&=& +3 "core" & \   +3 "storage"( & +4 "core" &[ h ^ -\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&x'{ +23 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +18 "core" ' + "manipulator"&`% +5 "core" %Ώ   N + "storage"(& +5 "core" &[ ? : \\\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 320 counts +2 "manipulator"&+'ϻ +25 "core" ' + "manipulator"&a& +3 "core" &  h  +3 "storage"(|& +4 "core" &[ ] e 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'= +16 "core" ' + "storage"(% +4 "core" % ] f \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 ({% +3 "core" %nN D F\ Wd +2 "manipulator"&l% +4 "core" %@  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +96 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (,& +3 "core" &[ S i \ +2 "collection"'T& +4 "core" &\\k b\ K +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" % !  $ +2 "storage"(.% +4 "core" % f ^ 3\  +2 "storage"(_. +3 "core" .([ +2 "storage"(~& +4 "core" &[ _ ] \ +2 "storage"(& +3 "core" &[ ^ ^ \ +2 "manipulator"& & +4 "core" &   O  +2 .tElbow.seek 7 +2 "manipulator"&S(r +10 "core" ( +2 "manipulator"&v& +3 "core" &   # +3 "storage"(;& +4 "core" &[ ^ ] \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&:'= +108 "core" ' + "storage"(z& +4 "core" &[ |\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +44 .tSE.seek :beamBreak +8 "storage"(8'r +307 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  * +3 "storage"(& +4 "core" &[ h h E\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&K'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(5- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(j'n +29 "core" ' + "manipulator"&!% +4 "core" %΍    +2 "storage"(9& +4 "core" &[ D : \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&%'Ϲ +14 "core" ' + "manipulator"&$& +3 "core" &  +3 "storage"(^& +4 "core" &[ ] ] >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(*' +41 "core" ' + "manipulator"&4& +4 "core" & 4 +2 "manipulator"&d% +4 "core" %5 ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +155 "core" ( +2 "manipulator"&& +4 "core" &ӌ&  p ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &ӌ&   M ?S +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&6/ +55 "core" / +2 .tCC.seek :open +2 "collection"'E( +448 "core" ( + "storage"(1& +3 "core" &[ z A\ +3 "storage"(r& +4 "core" &[ { V\ + "manipulator"&D& +4 "core" &ӭ"  \  ;2 +2 "manipulator"&q% +4 "core" % E   +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +162 "core" ( +2 "manipulator"&& +4 "core" &{  a  + "storage"(& +4 "core" &[ n x x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&&'{ +96 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&n% +4 "core" % |  \ ) +2 "storage"( & +3 "core" &[ ~ "\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 301 counts + "manipulator"& 'Ϩ +14 "core" ' +3 "manipulator"&H& +4 "core" &{ b  + "storage"(2& +4 "core" &[ a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'= +15 "core" ' +2 "storage"(A% +4 "core" % Q\ +3 ."downElevator"SE.seek :down +3 "storage"("' +98 (R% +3 "core" %? u ~ \ U^ +2 "manipulator"&Z% +4 "core" %, +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +92 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'N& +3 "core" & ]\ +2 "manipulator"&c% +4 "core" % # m 2 +2 "storage"(i% +4 "core" % f\  +45 "storage"(-. +7 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(O(<- +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" &<0 P m o\ +2 "manipulator"&}& +4 "core" &{ \   +2 .tElbow.seek 5 +2 "manipulator"&( +26 "core" ( + "manipulator"&y& +4 "core" &    +2 "storage"(& +3 "core" &<0 _\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +94 "core" ' + "storage"('& +5 "core" &<0 J\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'r +297 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" &<0 q\ +2 "manipulator"&& +3 "core" &  J  +3 .tElbow.seek 5 + "manipulator"&\ ( +22 "core" ( +2 "manipulator"&J& +4 "core" &  `  +2 "storage"(& +4 "core" &<0 g j \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&#'Ϲ +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& +6 "storage"(L' +3 "core" & Q  +2 "manipulator"&G% +4 "core" %  M +2 .tForearm.seek :retract +2 "manipulator"&s' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&f& +4 "core" &Ә    7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ә  7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'? +99 "core" ' +3 "manipulator"&B& +3 "core" &Ә   B 7 +2 "manipulator"&% +5 "core" %;    +2 "collection"'o& +4 "core" & i\ +2 "collection"'?& +6 "core" & f\ +2 .tCC.seek :closed + "collection"'W(\\ +5 "core" & W\  +8 &4z _\ *z +10 & h~ [\ > +9 &i e\ K +10 &_T d\ J +9 &!X Y\ J +9 &X X\ K +10 &T W\ J +9 &gQ ^\ J +9 &)S X\ J +10 &R M\ J +9 & R O\ J +10 &"oS C\ J +9 &$1R J\ J +9 &%S U\ J +10 &'R R\ J +9 &)wR T\ J +9 &+9R X\ J +10 &,R _\ J +9 &.T [\ J +10 &0~W T\ K +9 &2BS _\ J +9 &4Y Z\ K +10 &5V a\ J +9 &7R \\\ K +9 &9HV `\ K +10 &; R U\ J +9 &<W S\ J +10 &>X X\ K +9 &@PW S\ K +9 &BT N\ J +10 &C\\ O\ K +9 &Ed W\ L +9 &GNp R\ N +10 &I N\ Q +9 &J S\ U +10 &L| S\ V +9 &N< O\ W +9 &O M\ X +10 &Q L\ X +9 &S~ U\ X +9 &U@ T\ X +10 &V Q\ Z +9 &X N\ Z +10 &Z Q\ Z +9 &\\!x N\ / +9 &\\2 M\ _ +10 ( + &\\\\ P\ I +2 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&V% +4 "core" % ;    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +95 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%I& +4 "core" &\ + "manipulator"&b% +4 "core" %      +2 "storage"(=% +5 "core" % k i \  +2 "storage"( . +2 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(`(<- +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<( I W *\ +2 "manipulator"&& +4 "core" &ӡ   v 5 + "manipulator"&g% +4 "core" %    o  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&a( +161 "core" ( +2 "manipulator"&|& +4 "core" &   +2 "storage"(& +50 "core" &<(  ~ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&M'O +95 "core" ' +2 "storage"(t& +3 "core" &<( | \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +310 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +3 "core" &<( i g {\ +2 "manipulator"&[& +4 "core" & \   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&e& +4 "core" &    +2 "storage"(x& +4 "core" &<( j h a\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&+'Ϲ +35 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&T& + "storage"(' +8 "core" &  I  +2 "manipulator"&.% +4 "core" % ϶ \   d +2 .tForearm.seek :retract +2 "manipulator"&_' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&h( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&~& +4 "core" &  B ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 "manipulator"&v& +4 "core" &   ( +2 "manipulator"&;% +4 "core" %  ' +2 "processing"%U& +3 "core" &\ +3 "processing"%z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +6 &;\ #c +10 &Vy\ 7 +9 &u\ L +10 &O\ M +9 &qR\ M +9 &2T\ M +10 &S\ M +9 &U\ M +9 &yS\ M +10 &;T\ M +9 &S\ L +10 &!S\ M +9 &#T\ M +9 &%BT\ M +10 &'R\ M +9 &(V\ M +9 &*T\ M +10 &,KS\ M +9 &.R\ L +10 &/T\ M +9 &1Q\ M +9 &3RU\ M +10 &5R\ L +9 &6T\ M +9 &8U\ M +10 &:ZS\ M +9 &<U\ N +10 &=U\ M +9 &?W\ M +9 &A`W\ N +10 &C _\ N +9 &Dc\ O +9 &Fo\ P +10 &HZ}\ R +9 &J\ S +10 &K\ S +9 &M\ T +9 &O_\ S +10 &Q\ T +9 &R\ T +9 &T\ T +10 &Vc\ U +9 &X&\ T +10 &Y\ T +9 &[\ T +9 &]j\ B +10 &^;j\ &n +9 &^(\ + +5 ( +3 "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&P1 +3 "core" &^\ + +58 1 +2 "manipulator"&<% +4 "core" %   ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + "processing"% & +4 "core" &^r\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % !  + +2 "storage"(5% +4 "core" % Y Z\  +2 "storage"(!. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(9(<- +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "manipulator"&^& +4 "core" &<- 7 R \  +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" & \  ( +2 "Can" UQ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&4( +2 "storage"(d'r +6 "core" ( +2 "manipulator"&:& +4 "core" &   0  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &   4  +3 .tForearm.seek PC +2 "manipulator"&8' +93 "core" ' +2 .tHand.close + "manipulator"&K/ +61 "core" / +2 .tPC.seek :open +2 "processing"%%( +91 "core" ' +10 "storage"(j- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"('1 +48 "core" ' +293 ( +2 "storage"(w& +4 "core" &<- i f \\\  +2 "manipulator"&7& +4 "core" & \   + "manipulator"&X% +4 "core" %  2 +2 .tForearm.seek :retract +2 "manipulator"&6' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +245 "core" ( + "manipulator"&& +4 "core" &   % +2 "storage"(1& +4 "core" &<- _ ^ 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +95 "core" ' +2 .tHand.open + "manipulator"&D1 +55 "core" 1 +2 "storage"(q- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(\\& +3 "core" &<- \  +3 "manipulator"&& +4 "core" &   % +2 .tElbow.seek 5 + "manipulator"&n( +4 "core" ( +2 "manipulator"& & +4 "core" &   " % + "storage"(H& +4 "core" &<- \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&2'O +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(A'" +58 "core" ' + "manipulator"&>& +4 "core" & \ ( % +2 "storage"(R& +4 "core" &<- g a F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&Z'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(&' +27 "core" ' +2 "manipulator"&N% +3 "core" %Ι +2 "storage"(c& +4 "core" &<- i i k\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 312 counts +2 "manipulator"& ' +24 "core" ' + "manipulator"&i& +4 "core" &   > $ +2 "storage"(-& +4 "core" &<- r q +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +16 "core" ' + "storage"(@% +5 "core" % r q '\ +2 ."downElevator"SE.seek :down +4 "storage"("' +99 (Y% +3 "core" %L F N '\ Vc +2 "manipulator"&/% +4 "core" %O  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (y& +4 "core" &<- g S \  +2 "collection"'& +4 "core" &\\] e\ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&'% +4 "core" %  V  +2 "storage"()% +3 "core" % a p m\  +2 "storage"(0. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(p(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" &<- _ f ?\  +2 "manipulator"&& +4 "core" &  P $ +2 .tElbow.seek 5 + "manipulator"&J( +5 "core" ( + "manipulator"&& +3 "core" &   $ +3 "storage"(& +4 "core" &<- ^ k K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +94 "core" ' +2 "storage"(G& +43 "core" &<- r \  +10 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +301 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +4 "core" & \   $ +2 "storage"(& +3 "core" &<- k q x\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&]'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&#, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('r +27 "core" ' +2 "manipulator"&o% +3 "core" %Ρ   +3 "storage"(\ & +4 "core" &<- r t \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&L' +27 "core" ' +2 "manipulator"&s& +4 "core" & < $ +2 "storage"(E& +4 "core" &<- { \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(V' +36 "core" ' +2 "manipulator"&I& +3 "core" &  $ +3 "manipulator"&b% +3 "core" %G  ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ( +2 "manipulator"&?& +3 "core" &Ә#   9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ә#  ? 9' +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&g/ +58 "core" / +2 .tCC.seek :open + "collection"'Q( +448 "core" ( +2 "storage"(|& +4 "core" &<- z *\  + "storage"(& +4 "core" &<- | \  +2 "manipulator"&O& +4 "core" &Ә!  y 9' +2 "manipulator"&C% +3 "core" % S  & = +3 .tForearm.seek :retract + "manipulator"&t' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&m( +153 "core" ( +2 "manipulator"&{& +3 "core" &   +2 "storage"(l& +4 "core" &<- { X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&['΍ +94 "core" ' +2 .tElbow.hold + "manipulator"&e, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&x1 +62 "core" 1 +2 "manipulator"&,% +4 "core" % ΐ   \ +2 "storage"(T& +4 "core" &<- ^\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts +2 "manipulator"&.'ϼ +14 "core" ' + "manipulator"&a& +4 "core" &  +2 "storage"(M& +4 "core" &<- \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +15 "core" ' +2 "storage"(+% +4 "core" % Q\ +3 ."downElevator"SE.seek :down +3 "storage"(~' +98 (% +3 "core" %F t ~ \ V` +2 "manipulator"&% +4 "core" %A T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"';& +3 "core" & Y\ +2 "manipulator"&U% +48 "core" %    +5 "storage"(% +5 "core" % 6\  + "storage"(_. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(u(K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &K Z f !\  +2 "manipulator"&<& +4 "core" & \ +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(5& +4 "core" &K u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +94 "core" ' +2 "storage"(z& +4 "core" &K c\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +297 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &K } v <\  +2 "manipulator"&S& +4 "core" & \  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&K& +4 "core" &   r + "storage"(`& +4 "core" &K w k \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&j'h +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +8 "core" & : + "manipulator"&d% +4 "core" % \\ % +2 .tForearm.seek :retract +2 "manipulator"&w' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7(ӂ +157 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&X& +4 "core" &Ӓ  ; 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &Ӓ   7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 "manipulator"&1& +3 "core" &Ӓ   7 +3 "manipulator"&4% +4 "core" %3  d +2 "collection"'D& +4 "core" & m\ +2 "collection"'q& +6 "core" & _\ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & e\ +7 &B `\ $e +9 &Yy X\ 7 +10 &v ]\ J +9 &T ^\ K +10 &U _\ K +9 &KQ ]\ J +9 & R W\ J +10 &R N\ J +9 &R Q\ J +9 &TT S\ J +10 & U M\ K +9 &!T Q\ K +10 &#U U\ K +9 &%ZT V\ K +9 &'R ^\ J +10 &(W _\ J +9 &*W a\ J +9 &,cW [\ J +10 &.%S X\ J +9 &/T [\ J +10 &1V `\ K +9 &3kR ^\ J +9 &5.T U\ J +10 &6X `\ J +9 &8S V\ J +9 &:tU ^\ J +10 &<5W [\ J +9 &=W X\ J +10 &?S ]\ K +9 &A{T O\ J +9 &C;Y N\ K +10 &De L\ L +9 &Fk M\ M +9 &Hs} \\\ P +10 &J* V\ T +9 &K R\ V +10 &M Q\ W +9 &Of R\ W +9 &Q& P\ X +10 &R R\ X +9 &T V\ Y +9 &Vg U\ Y +10 &X( U\ Z +9 &Y U\ [\ +9 &[ T\ G +10 &\\0\ S\ 2 +9 &\\d S\ K +3 ( + "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&\\1 +56 "core" 1 +2 "manipulator"&% +4 "core" % 3   d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%H& +3 "core" &\ +3 "manipulator"&6% +4 "core" %     +2 "storage"(>% +4 "core" % i h _\  + "storage"(R. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" &K D C\  +2 "manipulator"&c& +4 "core" &ӧ  4 +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&i( +163 "core" ( +3 "manipulator"&-& +3 "core" &    +2 "storage"(@& +4 "core" &K s | c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(r& +3 "core" &K ~  \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &K [ ] &\  +2 "manipulator"&2& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&n( +4 "core" ( + "manipulator"&A& +4 "core" &   +2 "storage"(Z& +4 "core" &K i i m\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&y'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('' +5 "core" & 6  +3 "manipulator"&)% +5 "core" % c +2 .tForearm.seek :retract +2 "manipulator"&0' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&&( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&k& +4 "core" &  = # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  f # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 "manipulator"&& +3 "core" &  E # +2 "manipulator"&*% +4 "core" %  +2 "processing"%G& +4 "core" &\ +2 "processing"%"& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(^ +4 "core" &\ +8 &6\ #b +10 &Tx\ 6 +9 &v\ K +9 &Q\ M +10 &gQ\ M +9 &*Q\ L +9 &T\ M +10 &U\ M +9 &pR\ L +10 &1S\ M +9 &R\ L +9 &!R\ M +10 &#vR\ M +9 &%8T\ M +9 &&S\ L +10 &(T\ M +9 &*R\ M +10 &,AT\ M +9 &.Q\ M +9 &/T\ M +10 &1Q\ M +9 &3IQ\ M +9 &5 R\ L +10 &6T\ M +9 &8S\ M +10 &:PT\ M +9 &<U\ M +9 &=U\ M +10 &?U\ M +9 &AWV\ M +9 &C\\\ N +10 &D`\ N +9 &Fh\ O +10 &HUs\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &OT\ T +9 &Q\ T +10 &R\ T +9 &T\ T +10 &VZ\ T +9 &X\ T +9 &Y\ U +10 &[\ U +9 &]a\ B +9 &^Et\ W +10 &^>\ 3 +5 ( +2 "processing"%"& +3 "core" &^%\ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&}% +4 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +92 "core" ' +2 "processing"%f& +4 "core" &^%\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" % \ P ) +2 "storage"(B% +4 "core" % h ^ <\  +2 "storage"(o. +3 "core" .(K +2 "storage"(\ & +3 "core" &K e Z \  +3 "storage"(s& +5 "manipulator"&E& +3 "core" &K h h 0\  + & \ C # +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +2 "manipulator"&I( +7 ."raiseStack"SE.seek :beamBreak + "storage"(b'r +3 "core" ( +2 "manipulator"&3& +4 "core" & | # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" & '  $ # +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&]/ +57 "core" / +2 .tPC.seek :open +2 "processing"%L( +96 "core" ' + "storage"(- +3 "core" -'r +42 ."raiseStack"SE.configure :default +10 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(?'1 +45 "core" ' +255 ( + "storage"(& +4 "core" &K _ i y\  +2 "manipulator"&& +3 "core" & \  : # +2 "manipulator"&#% +4 "core" %  \  A ' +3 .tForearm.seek :retract + "manipulator"&g' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&=( +246 "core" ( +2 "manipulator"&W& +4 "core" &  % 0 + "storage"(|& +5 "core" &K ^ ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +91 "core" ' +2 .tHand.open + "manipulator"&O1 +54 "core" 1 +2 "storage"(C- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"({' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"( & +4 "core" &K W\  +2 "manipulator"&x& +3 "core" &  \  / +3 .tElbow.seek 6 + "manipulator"&,( +5 "core" ( + "manipulator"&T& +4 "core" &    / +2 "storage"(a& +3 "core" &K 8\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(+'" +52 "core" ' + "manipulator"&t& +4 "core" & d / +2 "storage"(& +4 "core" &K _ ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"([' +22 "core" ' + "manipulator"&;% +5 "core" %B  + "storage"(U& +4 "core" &K ^ \\\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&.'n +14 "core" ' + "manipulator"&V& +4 "core" &   / +2 "storage"(& +3 "core" &K ] ` \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +16 "core" ' + "storage"(F% +4 "core" % [ [\ +2 ."downElevator"SE.seek :down +4 "storage"(~' +99 (p% +3 "core" %PN D M\ We +2 "manipulator"&P% +3 "core" % & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +93 "core" ' +58 ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K i h ]\  +2 "collection"'5& +3 "core" &\\a M\ K +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&z% +3 "core" % \  `  +3 "storage"(e% +4 "core" %   \  + "storage"(v. +3 "core" .(K +2 "storage"(^& +4 "core" &K   \  +2 "storage"(:& +3 "core" &K ~  \  +2 "manipulator"&S& +3 "core" &  / +3 .tElbow.seek 6 + "manipulator"&K( +5 "core" ( + "manipulator"&`& +3 "core" &   / +2 "storage"(h& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +100 "core" ' + "storage"(d& +4 "core" &K ~ ~\ \ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +299 "core" ' + "storage"(!- +44 "core" -' +9 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&X& +3 "core" &  / +2 "storage"(8& +4 "core" &K \\ e U\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&$'< +14 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(4'e +33 "core" ' + "manipulator"&D% +4 "core" %H \   +2 "storage"( & +4 "core" &K ` k u\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&'t +16 "core" ' +2 "manipulator"&w& +3 "core" & N / +2 "storage"(Q& +4 "core" &K p \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +40 "core" ' +2 "manipulator"&H& +4 "core" &  C / + "manipulator"&6% +5 "core" %  ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +151 "core" ( + "manipulator"&q& +4 "core" &ӓ"  ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &ӓ"   ;2 +2 .tForearm.seek CC +3 "manipulator"&c'? +99 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(-& +4 "core" &K } \  + "storage"(@& +4 "core" &K r\  +2 "manipulator"&u& +4 "core" &ӣ   8" +2 "manipulator"&r% +3 "core" % K  +3 .tForearm.seek :retract + "manipulator"&7' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +161 "core" ( +2 "manipulator"&Y& +4 "core" &    +2 "storage"(/& +4 "core" &K @\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&2'< +98 "core" ' + .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Z1 +59 "core" 1 +2 "manipulator"& % +4 "core" % A    +2 "storage"(& +3 "core" &K T\  +2 .tForearm.force -20 +3 "manipulator"&5 +2 .tForearm.seek 6 + 305 counts +2 "manipulator"&)'m +14 "core" ' +2 "manipulator"&i& +3 "core" & M  +3 "storage"(& +4 "core" &K Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(y% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(k' +99 (% +3 "core" %D ~ ~ \ V_ +2 "manipulator"&n% +3 "core" % 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'*& +4 "core" & c\ +2 "manipulator"&G% +4 "core" % !  | . +2 "storage"('% +3 "core" % R\  +2 "storage"(0. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +46 .tSC.seek 7 +5 "storage"(%([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ g _ E\  +2 "manipulator"&}& +4 "core" &  5  +2 .tElbow.seek 7 +2 "manipulator"&f(r +36 "core" ( +2 "manipulator"&& +3 "core" &   l  +3 "storage"(B& +4 "core" &[ `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&o'= +97 "core" ' + "storage"(\ & +4 "core" &[ K\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +303 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (s& +3 "core" &[ { \  +2 "manipulator"&3& +4 "core" &  q  +2 .tElbow.seek 7 +2 "manipulator"&J(r +16 "core" ( +2 "manipulator"&& +3 "core" &w    +3 "storage"(]& +4 "core" &[ i l \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& +2 "storage"(9' +6 "core" &w N  +2 "manipulator"&b% +4 "core" % Ϻ ( +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&#& +5 "core" &Ӂ$  =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӂ$ !  =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&W'? +94 "core" ' +2 "manipulator"&|& +4 "core" &Ӊ#  <? +2 "manipulator"&I% +4 "core" %7  P +2 "collection"'O& +3 "core" & j\ +3 "collection"'C& +5 "core" & r\ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & b\  +9 &4y ^\ *z +14 & h} `\ > +4 &k g\ L +12 &]S c\ J +7 &R e\ K +9 &U g\ K +10 &Q b\ J +9 &eQ i\ J +9 &'T d\ J +10 &W Y\ J +9 & Q Z\ J +10 &"lR R\ K +9 &$.T Q\ K +9 &%W R\ J +10 &'W ^\ K +9 &)uU ^\ J +9 &+8R `\ J +10 &,U a\ K +9 &.R e\ J +10 &0~U Z\ J +9 &2?W `\ J +9 &4R _\ K +10 &5S _\ J +9 &7R j\ K +9 &9FW h\ K +10 &;U g\ K +9 &<W _\ J +10 &>W ]\ K +9 &@OW V\ J +9 &BU N\ J +10 &C[ [\ K +9 &Ee T\ M +9 &GMn M\ N +10 &I U\ Q +9 &J P\ V +10 &Lz X\ V +9 &N: V\ W +9 &O \ S\ W +10 &Q V\ X +9 &S} S\ X +10 &U= \ [\ Y +9 &V W\ Z +9 &X S\ Z +10 &Z~\ \ U\ Z +9 &\\!y\ \ V\ / +9 &\\,\ \ U\ \\ +9 ( +3 "collection"'C& +3 "core" &\\b \ U\ M +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"& 1 +53 "core" 1 +2 "manipulator"&x% +5 "core" % 7  \ P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +99 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%a& +4 "core" &\ +2 "manipulator"&g% +3 "core" %    +3 "storage"(t% +4 "core" % ] \\ \  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(;([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +3 "core" &[   \  +2 "manipulator"&?& +4 "core" &Ө  A 8 + "manipulator"&V% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +161 "core" ( + "manipulator"&{& +4 "core" &t  +2 "storage"(F& +4 "core" &[ } p Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +50 "manipulator"&='= +90 "core" ' +2 "storage"(& +3 "core" &[ | P\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(l'r +298 "core" ' + "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (P& +2 "core" &[ d ^\  +3 "manipulator"&M& +4 "core" &t K  +2 .tElbow.seek 7 +2 "manipulator"&,(r +3 "core" ( +2 "manipulator"&+& +3 "core" &t  +2 "storage"(& +4 "core" &[ ^ o <\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&5& +6 "storage"(z' +3 "core" &t  +2 "manipulator"&e% +5 "core" % Ϩ ` +2 .tForearm.seek :retract +2 "manipulator"&v' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&^& +4 "core" &  : \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &   G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&S' +99 "core" ' + "manipulator"&`& +4 "core" &   \ +2 "manipulator"&h% +3 "core" %    ! +3 "processing"%_& +4 "core" &\ +2 "processing"%d& +5 "core" &\ +3 .tPC.seek :closed + "processing"%~(^ +4 "core" &\ +8 &<\ #c +10 &V{\ 7 +9 &y\ L +10 &R\ M +9 &nS\ M +9 &0O\ M +10 &R\ M +9 &S\ M +9 &vR\ M +10 &8T\ M +9 &R\ M +10 &!S\ M +9 &#~R\ M +9 &%@T\ M +10 &'R\ M +9 &(T\ M +9 &*Q\ M +10 &,IT\ L +9 &.\ S\ M +10 &/W\ M +9 &1R\ L +9 &3PR\ M +10 &5U\ M +9 &6V\ M +9 &8U\ M +10 &:WW\ M +9 &<U\ M +9 &=U\ M +10 &?U\ M +9 &A_W\ M +10 &C`\ N +9 &Db\ N +9 &Fj\ P +10 &H[z\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &O\\\ S +10 &Q\ T +9 &R\ T +9 &T\ U +10 &Vb\ T +9 &X"\ U +10 &Y\ U +9 &[\ U +9 &]h\ B +10 &^<m\ 'r +9 &^"\ * +5 ( +3 "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&m1 +3 "core" &^\ * +51 1 +2 "manipulator"&<% +3 "core" %   ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +93 "core" ' +3 "processing"%X& +4 "core" &^E\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&8% +3 "core" % !  ' +3 "storage"(1% +4 "core" % [ Z\  +2 "storage"(D. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"( ([ +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (w& +2 "manipulator"&Q& +6 "core" &[ N ) j\  + &  \ +5 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&H( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(6'r +2 "core" ( +2 "manipulator"&& +5 "core" &  \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &K& +2 "core" &   # \ +3 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' +2 .tHand.close + "manipulator"&$/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +99 "core" ' +2 "storage"(4- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +44 ."raiseStack"SE.seek :place +9 "storage"(q'1 +47 "core" ' +250 ( + "storage"(N& +4 "core" &[ h h _\  +2 "manipulator"&\\& +4 "core" & \  j \ +2 "manipulator"&j% +4 "core" %   / G +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&>(r +249 "core" ( +2 "manipulator"&& +4 "core" &~    4 + "storage"(-& +5 "core" &[ [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'= +93 "core" ' +2 .tHand.open + "manipulator"&u1 +59 "core" 1 +3 "storage"(r- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Y' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +4 "core" -' +2 "storage"(R& +4 "core" &[ \  + "manipulator"&Z& +4 "core" &~ @ 4 +2 .tElbow.seek 7 +2 "manipulator"& (r +10 "core" ( + "manipulator"&& +4 "core" &~    +2 "storage"(i& +4 "core" &[  Z\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +50 "core" ' + "manipulator"&7& +4 "core" &~   +2 "storage"(& +3 "core" &[ [ ^ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&n'{ +28 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(2' +18 "core" ' + "manipulator"&*% +5 "core" %Ό +  5 + "storage"(G& +4 "core" &[ E D \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 317 counts + "manipulator"&)'ϸ +26 "core" ' +2 "manipulator"&'& +3 "core" &~    +3 "storage"(0& +4 "core" &[ ] ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +25 "core" ' + "storage"(% +4 "core" % i h g\ +2 ."downElevator"SE.seek :down +4 "storage"(k' +99 (% +3 "core" %XR C D \ Wf +2 "manipulator"&% +4 "core" %@ ` n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &[ \\ O \  +2 "collection"'B& +3 "core" &\\b X\ M +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&\ % +3 "core" %   t  +3 "storage"(A% +4 "core" %  ~ r\  + "storage"(. +3 "core" .([ +2 "storage"(E& +3 "core" &[  ~ \  +3 "storage"(s& +4 "core" &[ { ~ s\  + "manipulator"&3& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&(r +10 "core" ( + "manipulator"&]& +4 "core" &  #  +2 "storage"(&& +4 "core" &[ ~ ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&('= +98 "core" ' +2 "storage"(b& +4 "core" &[ q \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +295 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +47 "storage"(#QK-0-\ b +6 "manipulator"&#& +3 "core" & S  +2 "storage"(& +4 "core" &[ i i >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&"'{ +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(I'n +30 "core" ' + "manipulator"&O% +4 "core" %Ύ  r & +2 "storage"(J& +4 "core" &[ E D \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&9'Ϻ +27 "core" ' +2 "manipulator"&& +4 "core" &    + "storage"(& +5 "core" &[ ] \\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(x' +35 "core" ' + "manipulator"&a& +5 "core" & J  + "manipulator"&g% +4 "core" %- . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +169 "core" ( +2 "manipulator"&C& +3 "core" &Ӎ   , ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &Ӎ   ) +3 .tForearm.seek CC + "manipulator"&?'? +102 "core" ' + .tHand.close + "manipulator"&V/ +55 "core" / +2 .tCC.seek :open +2 "collection"'W( +448 "core" ( + "storage"({& +4 "core" &[ ~\  +2 "storage"(F& +3 "core" &[ }\  +3 "manipulator"&%& +4 "core" &Ӎ  ) + "manipulator"&% +4 "core" % & \  +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&T(r +160 "core" ( + "manipulator"&p& +4 "core" &t    +2 "storage"(P& +4 "core" &[ ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&M'{ +95 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +3 "manipulator"&.% +4 "core" % ΍    + "storage"(5& +4 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&e'Ϲ +13 "core" ' +3 "manipulator"&& +3 "core" &t g  +2 "storage"(=& +5 "core" &[ f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&l'= +16 "core" ' + "storage"(% +4 "core" % /\ +3 ."downElevator"SE.seek :down +3 "storage"(^' +98 (:% +3 "core" %G ~ s \ V` +2 "manipulator"&,% +4 "core" %4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +94 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +38723 "Can" :YQ @1690484861.20EDT = =mMAIN_scheduler =tMAIN @EDT1690484862.99 #"core_reset"Sent BREAK +2 #t@11615 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +296 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +388 "Can"a ;"Y8 + a ;"Y8 + #tPolling Can every 10:00 +37 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +575 #-> ESP.ready! +2 #Powering core bus +552 .Gate.power :raw,:ON +2 "sampler") +47 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +6 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1207 #-> 10.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'1& +3 "core" & \ b\  +2 .tHand.open + "manipulator"&21 +62 "core" 1 + "manipulator"&3% +4 "core" %     +2 "storage"(4% +3 "core" % \  +2 "storage"(5. +3 "core" .(,y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(6(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +4 "core" &<+ G [ K\ +2 "manipulator"&8& +3 "core" &  K 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&9( +3 "core" ( +2 "manipulator"&:& +3 "core" &   L 2 +2 "storage"(;& +4 "core" &<* l k \ +3 .tForearm.seek 5 + 450 counts + "manipulator"&<'O +94 "core" ' +2 "storage"(=& +3 "core" &<* \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +292 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &<* i ^ g\ +3 "manipulator"&A& +3 "core" &    2 +2 .tElbow.seek 5 +2 "manipulator"&B( +2 "core" ( +2 "manipulator"&C& +5 "core" &   i 2 + "storage"(D& +4 "core" &<* k g j\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'Ϲ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(H' +8 "core" & t 2 +2 "manipulator"&I% +3 "core" %  8 +3 .tForearm.seek :retract + "manipulator"&J' +94 "core" ' +3 .tElbow.seek CC +35 "manipulator"&K(ӂ +115 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +41 "core" ( +2 "manipulator"&L& +3 "core" &ӄ&   K ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &Ӆ'   ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'? +93 "core" ' +2 "manipulator"&O& +4 "core" &ӈ'  ?Q +2 "manipulator"&P% +4 "core" %8   O +2 "collection"'Q& +4 "core" &\ \ !\  +3 "collection"'R& +4 "core" &\  d\  +3 .tCC.seek :closed + "collection"'S(\\ +4 "core" &\  _\  +9 &I\  k\ %i +9 &~Z\ \ `\ 9 +9 &{\ \ g\ L +10 &Y\ \ f\ L +9 &eZ\ \ ^\ M +9 &(Z\ \ \ L +10 &W\ \ \ L +9 &W\ ~\ L +10 &n\\\  \ L +9 &0\\\ \ \ L +9 &[\ \ \ L +10 &!Y\ \ \ L +9 &#vW\ \ \ L +9 &%9Z\ \ \ L +10 &&Z\ \ \ L +9 &(V\ \ \ L +10 &*Z\ \ \ L +9 &,@Y\ \ \ L +9 &.Z\ \ \ L +10 &/Y\ \ \ L +9 &1Z\ \ \ M +9 &3HY\ \ \ L +10 &5\ [\ \ \ L +9 &6Y\ \ \ L +13 &8V\ \ \ L +6 &:OZ\  l\ M +10 &<W\ \ p\ L +9 &=Y\ \ \ M +9 &?Z\ \ j\ M +9 &AXZ\ \ \ L +10 &C]\ \ \ M +9 &Dg\ \ \ \ M +10 &Fr\ \ \ O +9 &HP\ \ \ R +9 &J\ .\ $\ V +10 &K\ 1\ 0\ W +9 &M\ 0\ -\ X +9 &OE\ 0\ +\ X +10 &Q\ +\ *\ Y +9 &R\ (\ 'f\ X +10 &T\ &\ &v\ Z +9 &VI\ &\ $\ Z +9 &X \ %\ "\ Z +10 &Y\ %\ !\ [ +9 &[\ #\ e\ H +9 &\\9\ "\ \ , +10 &\\y\ \ \ R +5 ( +2 "collection"'R& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&T1 +3 "core" &\\n\ \ \ R +53 1 + "manipulator"&U% +4 "core" % 8   O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%W& +4 "core" &\  +2 "manipulator"&X% +3 "core" %     +2 "storage"(Y% +4 "core" % T S [\  +2 "storage"(Z. +3 "core" .(<- +2 "storage"([& +3 "core" &<* G L \ +2 "storage"(\\& +3 "core" &<* S Q ;\ +3 "manipulator"&]& +5 "core" &Ӯ   :+ +2 "manipulator"&^% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&_( +166 "core" ( + "manipulator"&`& +4 "core" &   Z  +2 "storage"(a& +4 "core" &<* F F %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +93 "core" ' + "storage"(c& +4 "core" &<* j _ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'r +296 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" &<* G Q 8\ +2 "manipulator"&g& +4 "core" &    +2 .tElbow.seek 5 +6 "manipulator"&h( +4 "core" ( + "manipulator"&i& +4 "core" &    +2 "storage"(j& +3 "core" &<* K T :\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&k'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(n' +8 "core" &  B  +2 "manipulator"&o% +4 "core" % ϸ 3 +2 .tForearm.seek :retract + "manipulator"&p' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&q( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&r& +4 "core" &  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &   ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&t' +98 "core" ' + "manipulator"&u& +4 "core" &   , ' +2 "manipulator"&v% +4 "core" %   +2 "processing"%w& +4 "core" &K\  +3 "processing"%x& +5 "core" &\  +2 .tPC.seek :closed + "processing"%y(^ +5 "core" &H\  +8 &5x'\ *y +9 &eL\ ? +10 &[uM\ O +9 &WE\ N +10 &YG\ N +9 &YF\ N +9 &d[E\ N +10 &%ZI\ O +9 &\\H\ O +9 &[I\ O +10 & lZE\ N +9 &"-ZG\ O +10 &#Z?\ N +9 &%Z@\ O +38 &'tZC\ N +11 &)6\\A\ N + &*[7\ O + &,\\@\ N +2 &.}W8\ N +3 &0=ZB\ O +10 &2Y:\ N +9 &3Y8\ N +9 &5Y;\ N +10 &7GY5\ N +9 &9]5\ O +9 &:\\7\ O +10 &<W7\ N +9 &>M_8\ O +10 &@\\;\ N +9 &A`=\ N +9 &Ci:\ P +10 &EPnA\ P +9 &GuC\ R +9 &HC\ S +10 &JC\ T +9 &LLB\ T +10 &N B\ U +9 &O@\ U +9 &Q@\ U +10 &SR=\ U +9 &UA\ U +9 &V>\ U +10 &X8\ U +9 &ZY@\ U +10 &\\8\ V +9 &]>\ 4 +9 &^6o=\ ; +14 ( +3 "processing"%x& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&z1 +4 "core" &^?\ + + &^A\ + +56 1 +2 "manipulator"&{% +3 "core" %   < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +95 "core" ' +2 "processing"%}& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&~% +4 "core" % % d > +2 "storage"(% +3 "core" % P T \  +2 "storage"(. +3 "core" .(<- +2 "storage"(& +4 "core" &<* F B d\ +2 "storage"(& +3 "manipulator"&& +8 "core" &<* > % \ + &  K ' +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&& +4 "core" &   ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  + / ' +2 .tForearm.seek PC + "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&\ / +57 "core" / +2 .tPC.seek :open + "processing"% ( +98 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +7 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +46 "core" ' +294 ( +2 "storage"(& +4 "core" &<* P = p\ +2 "manipulator"&& +3 "core" &  p ' +2 "manipulator"&% +4 "core" %   u H +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +245 "core" ( +2 "manipulator"&& +3 "core" &   2 +2 "storage"(& +4 "core" &<* J U \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +122 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +2 "core" -' +2 "storage"(#& +4 "core" &<* i h \ +2 "manipulator"&$& +4 "core" &   1 +2 .tElbow.seek 5 + "manipulator"&%( +4 "core" ( + "manipulator"&&& +4 "core" &   1 +2 "storage"('& +3 "core" &<* g f \ +3 .tForearm.seek 5 + 450 counts + "manipulator"&('O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"()'" +58 "core" ' + "manipulator"&*& +4 "core" &   1 +2 "storage"(+& +3 "core" &<* G F P\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&,'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(.' +28 "core" ' + "manipulator"&/% +4 "core" %Ρ   +2 "storage"(0& +4 "core" &<* F G &\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&1' +14 "core" ' + "manipulator"&2& +4 "core" &  1 +2 "storage"(3& +3 "core" &<* K R `\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +36 "manipulator"&4'O +23 "core" ' +2 "storage"(5% +3 "core" % F F G\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (7% +3 "core" %"R % !\ Wf +2 "manipulator"&8% +4 "core" %M   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +95 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" &<* Q U q\ +2 "collection"'=& +4 "core" &\\m\ \ \ R +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +5 "core" % !  a ) + "storage"(% +4 "core" % U V\  +2 "storage"(?. +3 "core" .(<- +2 "storage"(& +4 "core" &<* W U\ +2 "storage"(@& +3 "core" &<* W S Z\ +2 "manipulator"&A& +4 "core" &  g 1 +2 .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&D& +4 "core" & !  1 +2 "storage"(F& +3 "core" &<* W V \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&G'O +97 "core" ' +2 "storage"(I& +3 "core" &<* l m \ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'r +297 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" & \ \  1 +2 "storage"(L& +3 "core" &<* P J T\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&E'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(O- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(P'r +28 "core" ' +2 "manipulator"&Q% +4 "core" %Ρ   +2 "storage"(B& +3 "core" &<* T 7 *\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&H' +14 "core" ' +2 "manipulator"&J& +3 "core" &   / 1 +2 "storage"(!& +4 "core" &<* T V `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&T'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(U' +35 "core" ' +2 "manipulator"&W& +3 "core" &   0 1 +2 "manipulator"&X% +4 "core" %C   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&Z(ӂ +151 "core" ( +2 "manipulator"&[& +3 "core" &ӎ$   L =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &ӎ%  w =B +7 .tForearm.seek CC + "manipulator"&R'? +102 "core" ' +2 .tHand.close + "manipulator"&]/ +53 "core" / +2 .tCC.seek :open +2 "collection"'^( +451 "core" ( + "storage"(N& +4 "core" &<* m k =\ +2 "storage"(`& +4 "core" &<* l k Z\ +2 "manipulator"&a& +3 "core" &ӫ    9% +2 "manipulator"&c% +5 "core" % D   +2 .tForearm.seek :retract + "manipulator"&K' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&V( +164 "core" ( +2 "manipulator"&e& +4 "core" &   "  +2 "storage"(f& +3 "core" &<* k k \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&g'΍ +100 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +58 "core" 1 +2 "manipulator"&l% +5 "core" % Η   + "storage"(m& +4 "core" &<* k k \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&o' +37 "core" ' +9 "manipulator"&_& +4 "core" & \  +2 "storage"(b& +4 "core" &<* \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +15 "core" ' +2 "storage"(k% +3 "core" % #\ +3 ."downElevator"SE.seek :down +4 "storage"(r' +98 (s% +3 "core" %H l k \ Va +2 "manipulator"&h% +4 "core" %@ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +92 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'v& +3 "core" & \ +2 "manipulator"&w% +4 "core" %   \  ! +2 "storage"(n% +5 "core" % \  +2 "storage"(p. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" &K m m \ +2 "manipulator"&{& +4 "core" & \ \   +2 .tElbow.seek 6 +2 "manipulator"&}( +2 "core" ( +2 "manipulator"&~& +4 "core" &   z  +2 "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +96 "core" ' + "storage"(& +4 "core" &K } t\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K j ` \ +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&t& +4 "core" &   *  +2 "storage"(\ & +3 "core" &K n a \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(y' +8 "core" & ?  +2 "manipulator"&% +4 "core" % _ \ 5 +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&& +3 "core" &ӗ   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӗ    7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 "manipulator"&& +3 "core" &ӗ   0 7 +2 "manipulator"&% +4 "core" %5   > J +2 "collection"'& +4 "core" & \ +3 "collection"' & +5 "core" & ^\ +2 .tCC.seek :closed + "collection"'"(\\ +4 "core" & \  +9 &3} \ *y +9 &e i\ > +10 &u \ M +9 &NS \ \ L +10 &V\ \ \ L +9 &Y\ \ \ K +9 &X\ \ K +10 &WW\ \ \ K +9 &X \ L +9 &Y b\ K +10 & Y\ \ \ K +9 &"^Y \ L +9 &$ [ \ \ L +10 &%V\ \ \ L +9 &'U \ L +10 &)gW \ \ K +9 &+)Y \ \ K +9 &,X\ \ K +11 &.Y\  \ L +8 &0nZ \ \ L +10 &20U\ \ \ L +9 &3X \ \ K +9 &5X \ L +10 &7v[ \ \ L +9 &98W\ \ \ L +9 &:V\ \ \ L +10 &<W\ \ \ K +9 &>~Y \ \ L +9 &@@Z\ \ \ L +10 &BZ\ \ \ L +9 &C_\ \ \ M +10 &Eh\ \ \ N +9 &G<{\ \ \ P +9 &H\ \ \ R +10 &J\ +\ '\ W +9 &Lj\ /\ ,\ X +9 &N+\ +\ ,\ X +10 &O\ (\ (\ X +9 &Q\ $\ (\ Y +10 &Sk\ $\ %\ Z +9 &U.\ $\ #\ Z +9 &V\ "\ \ Z +10 &X\ \ \ [ +9 &Zo\ \ !\ \\ +9 &\\y\ !\ \ 3 +10 &\\*\ \ \ !c +9 ( +2 "collection"' & +3 "core" &\\\ \ \ Y +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator" +57 "core" 1 +2 "manipulator"& % +4 "core" % 5 !  < J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%&& +4 "core" &F\ +2 "manipulator"&'% +3 "core" % !   X * +2 "storage"(*% +4 "core" % 4 * e\  +2 "storage"(+. +38 "core" .(K +11 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(/(K +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +8 "core" &K F B F\  +2 "manipulator"&0& +4 "core" &Ӧ   5 +2 "manipulator"&2% +4 "core" % "  J * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&3( +160 "core" ( +2 "manipulator"&& +3 "core" &   m +2 "storage"(5& +4 "core" &K G I p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +102 "core" ' +2 "storage"(& +4 "core" &K R k }\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(7- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &K 2 @ x\  +2 "manipulator"&(& +4 "core" &   _ +2 .tElbow.seek 6 + "manipulator"&%( +4 "core" ( +2 "manipulator"&)& +3 "core" &    +2 "storage"(,& +4 "core" &K P H ?\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&1'h +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(' +8 "core" &   p + "manipulator"&% +4 "core" % i \ \  p +2 .tForearm.seek :retract +2 "manipulator"&?' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&.( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &  .  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +96 "core" ' + "manipulator"&D& +4 "core" &   [  +2 "manipulator"&F% +5 "core" %   ! + "processing"%4& +4 "core" &G\ +2 "processing"%I& +5 "core" &G\ +3 .tPC.seek :closed + "processing"%(^ +4 "core" &H\ +7 &BN\ $f +10 &X}M\ 8 +9 &zF\ M +9 &UH\ N +10 &xWO\ N +9 &;UG\ N +10 &XH\ N +9 &XL\ N +9 &WF\ N +10 &BXM\ N +9 & WC\ N +9 &!VC\ N +10 &#YA\ N +9 &%JWB\ N +10 &' W?\ N +9 &(XB\ N +9 &*Y:\ N +10 &,RX7\ N +9 &.W8\ N +9 &/Y6\ N +10 &1U9\ N +9 &3]U9\ M +10 &5V7\ N +9 &6W8\ N +9 &8Y=\ N +10 &:cXA\ N +9 &<$ZB\ N +10 &=YB\ O +9 &?YB\ N +11 &AiY5\ O +8 &C*bC\ O +9 &DdA\ P +9 &FjA\ P +10 &Hiv=\ Q +9 &J#<\ T +9 &K:\ T +10 &M;\ T +9 &OiB\ T +10 &Q(B\ U +9 &R@\ U +9 &TB\ U +10 &VnB\ U +9 &X/A\ U +9 &Y<\ U +10 &[;\ U +9 &]u8\ B +10 &^:s?\ $k +9 &^+A\ - +5 ( +2 "processing"%I& +4 "core" &^:\ - +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&-1 +59 "core" 1 +2 "manipulator"&:% +4 "core" %  % : ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<' +96 "core" ' +2 "processing"%>& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&L% +4 "core" % & (  F +2 "storage"(O% +4 "core" % , & i\  +2 "storage"(Q. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(B(K +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (J& +2 "manipulator"&!& +5 "core" &K * 1 %\  +2 &  , O  +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&W( +7 ."raiseStack"SE.seek :beamBreak + "storage"(X'r +2 "core" ( +3 "manipulator"&G& +4 "core" & +  /  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +4 "core" & = 3 i  +2 .tForearm.seek PC +38 "manipulator"&9' +103 "core" ' + .tHand.close + "manipulator"&E/ +57 "core" / +2 .tPC.seek :open + "processing"%H( +51 "core" ' +2 "storage"(P- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['1 +49 "core" ' +342 ( +2 "storage"(\\& +3 "core" &K 6 * n\  +2 "manipulator"&T& +4 "core" &    +2 "manipulator"&M% +4 "core" %  * ( +2 .tForearm.seek :retract +2 "manipulator"&]' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Y( +244 "core" ( +2 "manipulator"&S& +3 "core" &   + 2 +2 "storage"(N& +4 "core" &K 0 / }\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +91 "core" ' + .tHand.open + "manipulator"&a1 +62 "core" 1 +3 "storage"(c- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(e' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(f' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +2 "core" -' +3 "storage"(Z& +3 "core" &K )\  +2 "manipulator"&j& +5 "core" &    1 +2 .tElbow.seek 6 + "manipulator"&l( +4 "core" ( +2 "manipulator"&m& +3 "core" &    1 +2 "storage"(_& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&b' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(k'" +51 "core" ' +2 "manipulator"&K& +3 "core" &  1 +2 "storage"(s& +4 "core" &K - * K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&h'< +19 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +19 "core" ' +2 "manipulator"&v% +3 "core" %B   J +2 "storage"(w& +5 "core" &K / . G\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts + "manipulator"&o'n +14 "core" ' + "manipulator"&n& +4 "core" &   1 +2 "storage"(p& +4 "core" &K R J l\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +16 "core" ' +2 "storage"(d% +3 "core" % J G $\ +3 ."downElevator"SE.seek :down +3 "storage"(r' +99 (6% +3 "core" %!U K \ Wg +2 "manipulator"&z% +4 "core" % \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" &K E = \  +2 "collection"'& +4 "core" &\\\ \ \ Y +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %     +2 "storage"(i% +3 "core" % S I [\  +2 "storage"(u. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K G +\  +2 "manipulator"&& +4 "core" &   1 +2 .tElbow.seek 6 + "manipulator"&t( +4 "core" ( + "manipulator"&\ & +4 "core" &   [ 1 +2 "storage"(q& +3 "core" &K R H \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&|' +94 "core" ' + "storage"(& +4 "core" &K M ; P\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +306 "core" ' + "storage"(- +3 "core" -' +38 .tSE.configure :default +9 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & ! 1 +2 "storage"(& +3 "core" &K F ? B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&x'< +24 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('e +29 "core" ' +2 "manipulator"&% +3 "core" %E   +2 "storage"( & +4 "core" &K & " \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&y'q +14 "core" ' + "manipulator"&& +5 "core" &   = 1 + "storage"(^& +4 "core" &K H H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"( ' +35 "core" ' +2 "manipulator"&&& +3 "core" &   ` 1 +2 "manipulator"&'% +4 "core" % \ \ \ +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&+(ӂ +156 "core" ( +3 "manipulator"& & +3 "core" &ӏ#   f <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ#   < <@ +2 .tForearm.seek CC + "manipulator"&0'? +98 "core" ' +2 .tHand.close + "manipulator"&2/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"(& +4 "core" &K _ a M\  +2 "storage"(5& +4 "core" &K a ^ S\  +2 "manipulator"& & +3 "core" &ө   9& +2 "manipulator"&% +4 "core" % F   +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&$( +159 "core" ( +2 "manipulator"&7& +4 "core" &   3 +2 "storage"(8& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&('< +94 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&,1 +61 "core" 1 +2 "manipulator"&;% +4 "core" % >   +2 "storage"(=& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts + "manipulator"&'j +14 "core" ' +2 "manipulator"&3& +3 "core" &  +2 "storage"(& +4 "core" &K  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +17 "core" ' +2 "storage"(1% +3 "core" %  I\ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (@% +3 "core" %)J k m\ Wc +2 "manipulator"&%% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'F& +3 "core" & \ +3 "manipulator"&4% +3 "core" %    .  +3 "storage"(% +3 "core" % \  +2 "storage"(?. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"( ([ +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (-& +3 "core" &[ k j e\ +2 "manipulator"&:& +4 "core" &   / +2 .tElbow.seek 7 + "manipulator"&>(r +14 "core" ( + "manipulator"&L& +4 "core" &l   =  +2 "storage"(O& +8 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +39 .tForearm.seek 7 + 450 counts +9 "manipulator"&Q'= +94 "core" ' +2 "storage"(I& +5 "core" &[ z ?\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +296 "core" ' +3 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &[ l m M\ +2 "manipulator"&C& +4 "core" &l T  +2 .tElbow.seek 7 +2 "manipulator"&A(r +3 "core" ( +2 "manipulator"&E& +3 "core" &l  =  +2 "storage"(/& +5 "core" &[ k j \ +7 .tForearm.seek 7 + 300 counts + "manipulator"&P'ϧ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(' +7 "core" &l V  +2 "manipulator"&X% +4 "core" % Ϸ 4 +2 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&M& +4 "core" &Ӑ#   <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &Ӑ#   <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'? +99 "core" ' +2 "manipulator"&N& +3 "core" &ӑ"   w ;8 +2 "manipulator"&W% +4 "core" %F     +2 "collection"'a& +4 "core" & 2\ +3 "collection"'c& +10 "core" & \ +2 .tCC.seek :closed +2 "collection"'R(\\ +5 "core" & [\ +7 &< `\ %f +9 &Y} ^\ 7 +10 &{\ a\ L +9 &W\ `\ L +9 &Y g\ L +10 &HU\ \ h\ K +9 & W\ \ g\ K +9 &X\  ]\ L +10 &T\ \ n\ K +9 &OU\ \ f\ L +9 & W\ \ g\ L +10 &!T\ e\ K +9 &#W\ \ c\ L +10 &%YT\ \ `\ K +9 &'U\ \ \ L +9 &(Z\ \ \ K +10 &*Y \ \ L +9 &,_X\ \ \ L +9 &."Y \ K +10 &/T \ \ L +9 &1Z \ \ K +10 &3gU \ L +9 &5)X\ \ L +9 &6T\ \ \ K +10 &8V \ \ K +9 &:pZ\  \ K +9 &<2U\ \ \ K +10 &=V \ \ K +9 &?Z\ \ \ L +10 &AwY\ \ \ L +9 &C9\\\ \ \ L +9 &Dg\ \ \ M +10 &Fl\ \ \ N +9 &Hp\ \ \ Q +10 &J&\ *\ %\ U +9 &K\ .\ 1\ X +9 &M\ -\ .\ X +10 &Od\ *\ ,\ X +9 &Q#\ (\ )\ Y +9 &R\ '\ &\ Y +10 &T\ %\ '\ Z +9 &Ve\ %\ #\ Z +9 &X%\ !\ "\ [ +10 &Y\ \ \ [ +9 &[\ #\ !\ I +10 &\\=\ \ \ 'v +9 &\\u\ \ \ O +2 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&Z1 +60 "core" 1 +2 "manipulator"&j% +4 "core" % F   +  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +90 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%_& +4 "core" &\ +2 "manipulator"&]% +3 "core" %     +3 "storage"(K% +3 "core" % H J \  +2 "storage"(s. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(v([ +10 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" &[\ \ \  +2 "manipulator"&[& +4 "core" &ӭ   8 +2 "manipulator"&n% +3 "core" %    !  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&p(r +163 "core" ( + "manipulator"&e& +4 "core" &x   4  +2 "storage"(d& +4 "core" &[ E < \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Y'= +104 "core" ' +2 "storage"(`& +3 "core" &[ j k \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'r +295 "core" ' +2 "storage"(6- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &[ O V ?\  +2 "manipulator"&b& +4 "core" &x    +2 .tElbow.seek 7 + "manipulator"&l(r +3 "core" ( +2 "manipulator"&k& +4 "core" &x  \ \  +2 "storage"(h& +3 "core" &[ S T e\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&~'ϧ +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +108 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &x  9  +2 "manipulator"&i% +4 "core" % Ϟ  " +2 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&g( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\ ' +99 "core" ' +2 "manipulator"&q& +3 "core" &    +3 "manipulator"&U% +3 "core" % (  +3 "processing"%& +3 "core" &C\ +3 "processing"%r& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%B(^ +4 "core" &#\  +10 &3{D\ )w +9 &d}F\ > +10 &yqO\ N +9 &<QD\ N +9 &YE\ N +10 &TE\ M +9 &WJ\ N +9 &DSA\ N +10 &ZF\ N +9 &V@\ M +10 & U?\ M +9 &"MUB\ M +9 &$WB\ M +10 &%U9\ M +9 &'W:\ N +9 &)TZ8\ N +10 &+U7\ N +9 &,U@\ N +10 &.T8\ N +9 &0]V6\ M +9 &2WC\ N +10 &3W4\ M +9 &5T4\ N +9 &7dU9\ N +10 &9&W8\ N +9 &:Y9\ N +10 &<U@\ N +9 &>lY:\ N +9 &@.V;\ N +10 &A\\9\ N +9 &Cc:\ O +9 &Emi@\ P +10 &G-r<\ Q +9 &H9\ R +10 &J9\ T +9 &Lj:\ T +9 &N+5\ T +10 &O8\ T +9 &Q3\ U +9 &So8\ U +10 &U/:\ U +9 &V7\ U +10 &X4\ U +9 &Zv:\ U +9 &\\76\ U +10 &]zr6\ < +9 &^%b<\ Q +9 &^+9\ 5 +3 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&V1 +62 "core" 1 + "manipulator"&{% +4 "core" %    <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 "processing"%& +3 "core" &^(\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" % ! 9 # k . +2 "storage"(% +5 "core" % ' '\  + "storage"(. +4 "core" .([ + "storage"( & +4 "core" &[ ( '\  +2 "storage"(& +3 "manipulator"&^& +7 "core" &[ ( '\  + & /  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&&( +4 ."raiseStack"SE.seek :beamBreak + "storage"(''r +3 "core" ( +2 "manipulator"&|& +3 "core" & -  c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" & P / @ +2 .tForearm.seek PC +2 "manipulator"&}' +96 "core" ' + .tHand.close + "manipulator"&x/ +59 "core" / +3 .tPC.seek :open + "processing"%y( +92 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( '1 +47 "core" ' +309 ( +2 "storage"(& +3 "core" &[ Q S 9\  +2 "manipulator"&#& +4 "core" & \  +2 "manipulator"&% +4 "core" %   = +2 .tForearm.seek :retract +2 "manipulator"&2' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&*(r +245 "core" ( +2 "manipulator"&"& +3 "core" &l $ 9 Z +2 "storage"(& +3 "core" &[ P G 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&5'= +97 "core" ' + .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(7' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(8' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(0- +3 "core" -' +2 "storage"(+& +3 "core" &[ h f y\  +2 "manipulator"&,& +4 "core" &l  0 Z +2 .tElbow.seek 7 +47 "manipulator"&;(r +4 "core" ( +2 "manipulator"&=& +3 "core" &l   z Z +3 "storage"(3& +3 "core" &[ g h \  +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(1'" +58 "core" ' +2 "manipulator"&& +4 "core" &l  Z +2 "storage"(@& +3 "core" &[ F I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&%'{ +33 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"((' +29 "core" ' +2 "manipulator"&F% +3 "core" %Έ ? ? C +2 "storage"(4& +5 "core" &[ & ( \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 313 counts + "manipulator"&'ϴ +13 "core" ' + "manipulator"&& +4 "core" &m \  Y +2 "storage"(?& +4 "core" &[ T T L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +17 "core" ' +2 "storage"(% +4 "core" % V U\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +4 "core" %MS\ " \ Xi +2 "manipulator"&-% +4 "core" %?    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +7 (L& +3 "core" &[ R P ^\  +2 "collection"'O& +4 "core" &\\s\ \ \ O +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&I% +4 "core" %  N  +2 "storage"()% +4 "core" % F F #\  +2 "storage"(D. +3 "core" .([ +2 "storage"(J& +3 "core" &[ F F )\  +2 "storage"(G& +4 "core" &[ 6 A }\  +2 "manipulator"&C& +3 "core" &m    Y +2 .tElbow.seek 7 +2 "manipulator"&E(r +3 "core" ( +2 "manipulator"&/& +3 "core" &m    Y +2 "storage"(.& +4 "core" &[ F G N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&<'= +91 "core" ' + "storage"(X& +4 "core" &[ ` L L\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +298 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&M& +4 "core" &m   o Y +2 "storage"(9& +3 "core" &[ J U G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&!'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&P, +2 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(W'm +32 "core" ' +2 "manipulator"&a% +3 "core" %΋ > 4 +2 "storage"(A& +4 "core" &[ . - #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&'Ϸ +14 "core" ' + "manipulator"&\\& +4 "core" &n   g X +2 "storage"(& +4 "core" &[ N g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Z'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(j' +43 "core" ' +2 "manipulator"&_& +3 "core" &n I X +3 "manipulator"&]% +3 "core" %F \ + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&s(ӂ +150 "core" ( +2 "manipulator"&c& +3 "core" &}*   - Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +4 "core" &}*  ~ Bj +2 .tForearm.seek CC + "manipulator"&['? +92 "core" ' + .tHand.close +2 "manipulator"&n/ +55 "core" / +9 .tCC.seek :open +2 "collection"'S( +446 "core" ( +2 "storage"(e& +3 "core" &[ k i \  +2 "storage"(d& +4 "core" &[ k k \  +2 "manipulator"& & +4 "core" &   9' +2 "manipulator"&`% +5 "core" % I   \ +2 .tForearm.seek :retract + "manipulator"&T' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&m(r +163 "core" ( + "manipulator"&6& +4 "core" &v     +2 "storage"(z& +3 "core" &[ X\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&b'{ +96 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&h1 +61 "core" 1 +2 "manipulator"&o% +5 "core" % }   / + "storage"(& +9 "core" &[ p p .\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 302 counts +2 "manipulator"&i'ϩ +14 "core" ' +2 "manipulator"&p& +3 "core" &v e  +2 "storage"(Y& +4 "core" &[ d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&f'= +15 "core" ' + "storage"(~% +5 "core" % v \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %E k k \ V` +2 "manipulator"&l% +4 "core" %* +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q' +91 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'U& +3 "core" & \ +2 "manipulator"&% +4 "core" %    +2 "storage"(% +4 "core" % \  +2 "storage"(u. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(H(<- +667 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +7 "core" &<. t ^ V\ +3 "manipulator"&{& +3 "core" &v  \   +2 .tElbow.seek 5 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(& +3 "core" &<. ~ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' + "storage"( & +4 "core" &<. } \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &<. k g \ +2 "manipulator"&|& +3 "core" &   +3 .tElbow.seek 5 +2 "manipulator"&t( +2 "core" ( +2 "manipulator"&\ & +4 "core" &  +2 "storage"(x& +4 "core" &<. w m C\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(B' +8 "core" &  +2 "manipulator"&'% +3 "core" %  P +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&& +4 "core" &ӌ   ' 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &ӌ   3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'? +94 "core" ' +3 "manipulator"&& +3 "core" &ӌ   3 +2 "manipulator"&&% +4 "core" %3   +2 "collection"' & +48 "core" &  \ +10 "collection"'& +5 "core" & Z\ +2 .tCC.seek :closed +3 "collection"'0(\\ +3 "core" & ^\ +6 & [\ 7 +9 &AJx `\ 0 +10 &tu l\ D +9 &Z g\ L +10 &R\ m\ J +9 &Z\  f\ L +9 &gV \ a\ K +10 &(W\ \ K +9 &V\ \ h\ L +9 &W\ f\ K +10 &mW \ h\ L +9 &!1U\ \ e\ K +10 &"V\ \ b\ K +9 &$V\ h\ L +9 &&wV\ g\ K +10 &(8X\ \ \ K +9 &)S\ \ a\ K +9 &+U\ g\ K +10 &-~W\  e\ K +9 &/AT\ m\ K +10 &1V\ a\ K +9 &2T\ l\ K +9 &4W \ \ K +10 &6IT \ h\ K +9 &8\ W\ \ d\ K +9 &9Y h\ K +10 &;V c\ K +9 &=OW\ \ `\ L +10 &?W\  i\ K +9 &@Z\ \ c\ K +9 &BZ\ \ e\ L +10 &DU`\ \ f\ L +9 &Fk\ \ g\ N +9 &G~\ \ b\ P +10 &I\ !\ \ S +9 &K>\ -\ -\ W +10 &L\ -\ -e\ X +9 &N\ *\ ,h\ X +9 &P\ )\ )j\ X +10 &R@\ &\ %`\ Y +9 &S\ $\ %_\ Z +9 &U\ #\ #c\ Z +10 &W\ #\ $\ [\ +9 &YB\ \ \ [\ +10 &[\ \ \ \\ +9 &\\\\M\ \ \ 9 +9 &\\\ \ \ Z +6 ( +2 "collection"'& +3 "core" &\\~\ \ \ Z +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.18 + .Hand.open + "manipulator"&+1 +54 "core" 1 +2 "manipulator"&,% +4 "core" % 3  % F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%=& +4 "core" &\ +2 "manipulator"&3% +3 "core" % !   % +2 "storage"(% +4 "core" % M Q n\  +2 "storage"(@. +3 "core" .(<- +2 "storage"( & +3 "core" &<. I G 4\ +2 "storage"(7& +4 "core" &<. I F E\ +2 "manipulator"&F& +4 "core" &Ӝ   Y 1 +2 "manipulator"&4% +4 "core" % !   * % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +162 "core" ( + "manipulator"&?& +5 "core" &    + "storage"(& +4 "core" &<. S Q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +98 "core" ' +2 "storage"(5& +4 "core" &<. j k \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +299 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &<. G P >\ +2 "manipulator"&& +5 "core" &  \ L  + .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&1& +4 "core" &     +2 "storage"(%& +3 "core" &<. J P )\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&L'Ϲ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(I' +8 "core" &    +2 "manipulator"&)% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&(' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&D( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&J& +4 "core" &   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &   j 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C' +91 "core" ' +2 "manipulator"&/& +3 "core" &   L 7 +2 "manipulator"&.% +4 "core" %   l d +2 "processing"% & +4 "core" &\ +3 "processing"%X& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\ +8 & .\ #b +9 &U}\ 7 +9 &x\ K +10 &S\ N +9 &XR>\ N +9 &P\ M +10 &Y\ N +9 &V\ N +9 &aT@\ M +10 &"WD\ N +9 &W\ M +10 &!SB\ M +9 &#hX\ N +9 &%+X\ M +10 &&T\ N +9 &(T>\ M +14 &*qUK\ M +5 &,3U\ M +9 &-S;\ N +10 &/YF\ N +9 &1xT>\ N +9 &3;WD\ M +10 &4V@\ M +9 &6SG\ N +9 &8Y\ N +10 &:BX\ N +9 &<V\ N +10 &=TA\ N +9 &?WD\ M +9 &AIY9\ N +10 &Cc?\ O +9 &Dg?\ P +10 &Fn3\ P +9 &HC\ S +9 &JA\ T +10 &KF\ S +9 &M<\ T +9 &OG<\ T +10 &Q;\ U +9 &R=\ U +9 &T;\ U +10 &VM6\ U +9 &X6\ U +10 &Y<\ U +9 &[@\ U +9 &]R<\ H +10 &^{G:\ \\ +9 &^ L:\ 3 +6 ( + "processing"%X& +4 "core" &^!C\ 3 +43 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +9 .Hand.open + "manipulator"&$1 +61 "core" 1 + "manipulator"&:% +4 "core" %   "  d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q' +91 "core" ' +2 "processing"%M& +4 "core" &^ D\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&9% +4 "core" %  \ 7  +2 "storage"(N% +9 "core" % % '\  +2 "storage"(a. +3 "core" .(<- +2 "storage"(A& +3 "core" &<. # $ \ +3 "storage"(\\& +2 "manipulator"&& +6 "core" &<. $ & \ +2 &   J 7 +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(_'r +2 "manipulator"&]( +6 "core" ( + "manipulator"&<& +4 "core" & ,  ! 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" & ? > 7 +3 .tForearm.seek PC + "manipulator"&>' +94 "core" ' + .tHand.close + "manipulator"&!/ +56 "core" / +2 .tPC.seek :open + "processing"%( +95 "core" ' + "storage"(W- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'1 +48 "core" ' +300 ( + "storage"(w& +4 "core" &<- G F F\ +2 "manipulator"&Z& +3 "core" &  7 +2 "manipulator"&P% +4 "core" %   . +2 .tForearm.seek :retract +2 "manipulator"&n' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&K( +245 "core" ( +2 "manipulator"&R& +3 "core" & $   +2 "storage"(e& +4 "core" &<- > 2 D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&d'O +109 "core" ' +2 .tHand.open + "manipulator"& 1 +55 "core" 1 +3 "storage"(`- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(6' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(z' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +2 "core" -' +3 "storage"(s& +3 "core" &<- n d \ +2 "manipulator"&h& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&o( +10 "core" ( +2 "manipulator"&& +3 "core" &  $ 4  +2 "storage"(p& +4 "core" &<- o r N\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&Y'O +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(~'" +57 "core" ' + "manipulator"&T& +4 "core" &     +2 "storage"(& +4 "core" &<- ' 4\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&l'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(b' +27 "core" ' + "manipulator"&U% +4 "core" %Ρ   y +2 "storage"(& +4 "core" &<- 2 C N\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&i' +26 "core" ' +2 "manipulator"&& +3 "core" &   g  +2 "storage"(u& +4 "core" &<- T U z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +41 "manipulator"&j'O +33 "core" ' +2 "storage"(f% +4 "core" % U S ;\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (v% +3 "core" %TO\ \ q\ Xg +2 "manipulator"&V% +4 "core" %N  ' p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +96 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<- Q F G\ +2 "collection"'& +4 "core" &\\}\ \ \ Z +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %     +2 "storage"(k% +4 "core" % ; 9 \  +2 "storage"(q. +2 "core" .(<- +2 "storage"(& +4 "core" &<- 9 8 \ +2 "storage"(^& +3 "core" &<- 8 8 9\ +2 "manipulator"&|& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&\ ( +9 "core" ( +2 "manipulator"&x& +5 "core" &  \ + "storage"(g& +4 "core" &<- < 9 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +92 "core" ' +2 "storage"('& +3 "core" &<- Q H \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &   +2 "storage"(}& +3 "core" &<- F F 6\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&r'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(&'s +29 "core" ' + "manipulator"& % +4 "core" %Ι  +2 "storage"(t& +4 "core" &<- I G \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&B' +13 "core" ' +2 "manipulator"&& +3 "core" &  3 +2 "storage"(S& +4 "core" &<- F P >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(,' +35 "core" ' +2 "manipulator"&=& +4 "core" &   S +2 "manipulator"&3% +3 "core" %<   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&@(ӂ +156 "core" ( +2 "manipulator"& & +4 "core" &Ӕ!   @ :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &ӕ!  :* +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&F/ +63 "core" / +2 .tCC.seek :open + "collection"'4( +448 "core" ( +2 "storage"("& +4 "core" &<- g ` \ +2 "storage"(?& +3 "core" &<- ` m \ +2 "manipulator"&& +4 "core" &ө   7 +2 "manipulator"&5% +3 "core" % 1    +3 .tForearm.seek :retract + "manipulator"&#' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&2( +164 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(-& +4 "core" &<- s\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +94 "core" ' + .tElbow.hold +41 "manipulator"&1, +11 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +61 "core" 1 +2 "manipulator"&% +3 "core" % Μ   H  +2 "storage"(O& +4 "core" &<- \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&)' +13 "core" ' +2 "manipulator"&& +3 "core" & I  +3 "storage"(*& +3 "core" &<- \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&8'O +15 "core" ' + "storage"(L% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(J' +99 (G% +3 "core" %I k k \ Va +2 "manipulator"&;% +5 "core" %H B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'.& +3 "core" & \ +2 "manipulator"& % +4 "core" %      +2 "storage"(I% +4 "core" % ;\  +2 "storage"((. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(y(K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +2 "core" &K l k \  +2 "manipulator"&:& +4 "core" &   4  +2 .tElbow.seek 6 +2 "manipulator"&M( +2 "core" ( +2 "manipulator"&9& +4 "core" &   Q  +2 "storage"(N& +4 "core" &K a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&X' +97 "core" ' +2 "storage"(a& +4 "core" &K ~ l\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +296 "core" ' + "storage"(\\- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K j h \  +2 "manipulator"&<& +4 "core" &   A  +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&C& +3 "core" &  \ "  +2 "storage"(!& +4 "core" &K k j \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&W'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(' +8 "core" & 1  +2 "manipulator"&_% +3 "core" % ` $ +3 .tForearm.seek :retract + "manipulator"&w' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&P& +4 "core" &ӌ&   ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" &ӌ&  \\ ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&R'? +94 "core" ' +2 "manipulator"&e& +3 "core" &Ӎ& %  K ?Q +2 "manipulator"&]% +4 "core" %5   c N +2 "collection"' & +5 "core" & p\ +2 "collection"'`& +6 "core" & /\ +2 .tCC.seek :closed + "collection"'[(\\ +5 "core" & d\ +7 &< r\ $f +9 &Z} c\ 7 +10 &x\ \ ^\ K +9 &U\ \ a\ J +10 &W\ \ `\ K +9 &FV\ \ j\ K +9 & U\ l\ J +10 &U \ c\ K +9 &U\ a\ J +9 &MV\ \ l\ K +10 & U\ \ m\ K +9 &!T\ \ n\ J +10 &#V\ \ b\ K +9 &%VU\ \ a\ K +9 &'V\ \ a\ J +10 &(U \ b\ K +9 &*U\ \ a\ K +9 &,^W\ \ f\ K +10 &. U\ \ g\ K +9 &/U\ \ k\ J +10 &1V\ a\ K +9 &3eU\ \ l\ K +9 &5'V\ \ m\ K +10 &6U\ \ i\ K +9 &8U\ \ l\ K +9 &:nV \ a\ K +51 &<0U\ \ i\ K +3 &=U\  \\\ K + &?W\ \ \ K +2 &AvW\ \ d\ K + &C7]\ \ m\ K + &Dd\ \ _\ M +7 &Fp\ \ m\ N +9 &Hn\ \ o\ P +10 &J$\ '\ !k\ U +9 &K\ 0\ .\ X +10 &M\ -\ .\ X +13 &Oa\ *\ ,\ X +5 &Q \ )\ 'i\ Y +10 &R\ &\ &i\ Y +9 &T\ #\ $\ Z +9 &Vb\ "\ $\ Z +10 &X%\ "\ "}\ Z +9 &Y\ \ "n\ \\ +10 &[\ !\ a\ I +9 &\\2\ !\ !\ 3 +9 &\\h\ \ \ O +3 ( +2 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&s1 +57 "core" 1 +2 "manipulator"&h% +3 "core" % 5   4 N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%p& +3 "core" &\ +3 "manipulator"&n% +3 "core" %    w # +2 "storage"(T% +4 "core" % S P U\  +2 "storage"(. +3 "core" .(K +2 "storage"(U& +3 "core" &K F F W\  +2 "storage"(c& +4 "core" &K I O K\  +2 "manipulator"&& +4 "core" &Ӯ   M :0 +2 "manipulator"&6% +3 "core" %    ? # +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&u& +3 "core" &    +2 "storage"(K& +4 "core" &K : 8 {\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +105 "core" ' +2 "storage"(f& +4 "core" &K \\ f 7\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +311 "core" ' +2 "storage"(Y- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &K Y N t\  +2 "manipulator"&V& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&o( +3 "core" ( +2 "manipulator"&~& +4 "core" &   +2 "storage"(l& +4 "core" &K l k \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&i'h +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( ' +8 "core" &    + "manipulator"&k% +4 "core" % k   f q +2 .tForearm.seek :retract +2 "manipulator"&q' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&b( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&& +5 "core" &   r + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &  = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&|' +93 "core" ' + "manipulator"&x& +4 "core" &   - +2 "manipulator"&g% +5 "core" %   7 _ +2 "processing"%j& +3 "core" &\ +3 "processing"%'& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\ +7 &6\ #c +14 &Ux\ 6 +5 &y\ K +9 &S\ M +10 &^S\ N +9 & T\ N +9 &W\ N +10 &S\ M +9 &fS\ N +10 &(T\ N +9 &U\ N +9 &!Q\ M +10 &#nX\ N +9 &%0W\ N +9 &&S\ M +10 &(T\ M +9 &*wV\ M +10 &,9S\ M +9 &-T\ M +9 &/Y\ N +10 &1T\ M +9 &3AT\ M +9 &5U\ N +10 &6R\ M +9 &8W\ M +10 &:IU\ M +9 &< W/\ M +9 &=V\ M +10 &?W\ N +9 &APY\ N +9 &C^\ O +10 &Db\ O +9 &Fj\ P +10 &HMw4\ Q +9 &J H\ S +9 &K\ S +10 &M\ T +9 &OL\ T +9 &Q \ U +10 &R\ T +9 &T5\ U +10 &VS\ U +9 &X\ U +9 &Y6\ U +10 &[=\ U +9 &]YG\ D +9 &^Es:\ Z +10 &^7\ 2 +5 ( +2 "processing"%'& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&m1 +4 "core" &^%\ 2 +60 1 +2 "manipulator"&{% +4 "core" %   ; _ +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 "processing"%& +4 "core" &^%\ 2 +50 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&}% +4 "core" %   ,  +2 "storage"(% +4 "core" % F F 1\  +2 "storage"( . +3 "core" .(K +2 "storage"(t& +4 "core" &K F H :\  +2 "storage"(& +3 "manipulator"&S& +5 "core" &K F I \  +2 &   +4 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&=( +4 ."raiseStack"SE.seek :beamBreak + "storage"(3'r +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" & ,  [ +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&r/ +58 "core" / +3 .tPC.seek :open + "processing"%B( +96 "core" ' +2 "storage"(&- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( '1 +40 "core" ' +310 ( + "storage"(7& +4 "core" &K 9 L ^\  +2 "manipulator"&+& +3 "core" &  \ / +2 "manipulator"&% +4 "core" %  I ' +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +249 "core" ( +2 "manipulator"&0& +4 "core" &   N +2 "storage"("& +3 "core" &K F H f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?' +94 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(5- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(-' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(@& +4 "core" &K \  +2 "manipulator"&%& +3 "core" &   N +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&O& +3 "core" &   } N +2 "storage"(& +4 "core" &K \  +7 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(L'" +50 "core" ' +2 "manipulator"&#& +3 "core" & 6 N +2 "storage"(G& +4 "core" &K F F \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&2'< +22 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +18 "core" ' +2 "manipulator"&.% +3 "core" %>   +2 "storage"( & +4 "core" &K Q J \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts + "manipulator"&)'j +25 "core" ' + "manipulator"&I& +4 "core" & \   N +2 "storage"((& +4 "core" &K Q j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +22 "core" ' +2 "storage"(8% +4 "core" % k Q \ +2 ."downElevator"SE.seek :down +3 "storage"(J' +100 (H% +3 "core" %YP !  \ Wf +2 "manipulator"&$% +4 "core" %  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +43 .tForearm.seek :retract +8 "manipulator"&:' +92 "core" ' +14 ' + ."downElevator"SE.stop + "storage"(5 +3 (9& +3 "core" &K A O F\  +2 "collection"'N& +4 "core" &\\f\ \ \ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&a% +9 "core" %    +2 "storage"(1% +3 "core" % 8 8 s\  +2 "storage"(/. +3 "core" .(K +2 "storage"(\\& +4 "core" &K Q J P\  +2 "storage"(& +4 "core" &K 9 < \  +2 "manipulator"&<& +5 "core" &   N +2 .tElbow.seek 6 + "manipulator"&C( +4 "core" ( + "manipulator"&!& +4 "core" &   } N +2 "storage"(D& +4 "core" &K E B 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +93 "core" ' +2 "storage"(_& +4 "core" &K k j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'r +299 "core" ' +2 "storage"(X- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" & \  N +2 "storage"(>& +4 "core" &K Q I 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&A'< +18 "core" ' + .tElbow.hold +2 "manipulator"&W, +8 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(]'g +29 "core" ' + "manipulator"& % +4 "core" %M  J +2 "storage"(E& +3 "core" &K T S U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&'y +14 "core" ' +2 "manipulator"&w& +3 "core" &    N +2 "storage"(4& +4 "core" &K B 9 \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(h' +35 "core" ' +2 "manipulator"&p& +3 "core" & \  N +2 "manipulator"&n% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +162 "core" ( +2 "manipulator"&U& +3 "core" &Ӌ   h 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &Ӌ   4 +2 .tForearm.seek CC +2 "manipulator"&`'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'6( +448 "core" ( +2 "storage"(R& +3 "core" &K j k \  +2 "storage"(u& +3 "core" &K \\ \\ K\  +2 "manipulator"&K& +4 "core" &Ө  0 +2 "manipulator"&f% +4 "core" % F  p +2 .tForearm.seek :retract +2 "manipulator"&Z' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&Y& +3 "core" &    +2 "storage"(v& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&V'< +94 "core" ' + .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&l1 +57 "core" 1 +2 "manipulator"&% +4 "core" % I   ?  +2 "storage"(& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +47 .tForearm.seek 6 + 313 counts +10 "manipulator"&k'u +13 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(d& +3 "core" &K | I\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +15 "core" ' +2 "storage"(i% +3 "core" % w x \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (^% +2 "core" %F k k \ Va +2 "manipulator"&o% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'g& +3 "core" & \ +2 "manipulator"&j% +4 "core" %     +2 "storage"( % +4 "core" % \  +2 "storage"(q. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +2 "core" &[ k l \ +2 "manipulator"&{& +4 "core" &  \ *  +2 .tElbow.seek 7 +2 "manipulator"&(r +33 "core" ( +2 "manipulator"&}& +4 "core" &   4  +2 "storage"('& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +94 "core" ' +2 "storage"( & +4 "core" &[ x w f\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'r +294 "core" ' +2 "storage"(S- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ d k :\ +2 "manipulator"&& +3 "core" &   h  +2 .tElbow.seek 7 +2 "manipulator"&\ (r +21 "core" ( + "manipulator"&|& +4 "core" &u  g | +2 "storage"(r& +3 "core" &[ } f\ +3 .tForearm.seek 7 + 300 counts + "manipulator"&&'ϧ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &u ( | + "manipulator"&3% +4 "core" % ϡ +2 .tForearm.seek :retract +2 "manipulator"&7' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&+(ӂ +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" &%   >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%   >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'? +94 "core" ' + "manipulator"&"& +4 "core" &ӎ#   <@ +2 "manipulator"&=% +5 "core" %2   A > +2 "collection"'& +5 "core" & &\ +2 "collection"'5& +6 "core" & p\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" & l\ +7 &<\ p\ %g +9 &[z h\ 8 +10 & t\ \ k\ K +9 &T\ \ g\ K +9 &V\ \ ^\ K +10 &QY\ \ r\ K +9 &U\ \ j\ K +9 &T\ \ f\ K +10 &U\  ^\ K +9 &ZT\ \ \ K +9 & U \ \ K +10 &!T\ \ \ K +9 &#U\ \ g\ K +10 &%bR\ \ \ K +9 &'$T \ \ K +9 &(Y\ \ \ K +10 &*U\ \ h\ K +9 &,jT\ \ f\ K +10 &.+V\ b\ K +9 &/U\ \ \ K +9 &1V\ \ n\ J +10 &3qV\ \ i\ K +9 &53U\ \ g\ K +9 &6V\ ]\ K +10 &8T\ \ e\ K +9 &:yV\ \ g\ K +9 &<<V \ d\ K +10 &=U\ \ h\ K +9 &?W\ \ h\ K +10 &AW\ \ \\\ K +9 &CB]\ \ g\ L +9 &Ec\ \ q\ L +10 &Fk\ \ ^\ M +9 &H{\ \ j\ P +9 &J1\ .\ %i\ T +10 &K\ 3\ 2r\ V +13 &M\ -\ /Y\ W +6 &Om\ +\ .b\ X +9 &Q-\ *\ *h\ X +9 &R\ (\ (y\ X +10 &T\ &\ (`\ Z +9 &Vm\ %\ "c\ Z +9 &X-\ $\ ${\ [\ +10 &Y\ \ "\ [ +9 &[\ "\ \ H +10 &\\0\ \ !\ . +9 &\\p\ \ !`\ N +2 ( +2 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +45 "manipulator"&@1 +66 "core" 1 +2 "manipulator"&%% +3 "core" % 2   > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&F% +3 "core" % !   t & +2 "storage"(#% +4 "core" % P F $\  +2 "storage"(G. +3 "core" .([ +2 "storage"(.& +3 "core" &[ P R Y\ +2 "storage"( & +4 "core" &[ F H \ +2 "manipulator"& & +4 "core" &Ӯ   8 +2 "manipulator"&I% +3 "core" % !   & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&((r +161 "core" ( +2 "manipulator"&& +4 "core" &x   o  +2 "storage"(8& +4 "core" &[ k k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +96 "core" ' +2 "storage"(?& +4 "core" &[ j k \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +300 "core" ' +2 "storage"(H- +8 "core" -' +4 .tSE.configure :default +6 "storage"(#QK-0-\ b +7 ($& +6 "core" &[ T T '\ +4 "manipulator"&*& +8 "core" &x    +4 .tElbow.seek 7 +2 "manipulator"&(r +8 "core" ( +2 "manipulator"&L& +8 "core" &x >  +4 "storage"(2& +8 "core" &[ S P N\ +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&)'ϧ +24 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tHand.close +3 "manipulator"&9/ +65 "core" / +7 ."downElevator"SE.seek :down +6 "manipulator"&N& +4 "storage"(a' +15 "core" &x  e  +5 "manipulator"&1% +9 "core" % ϫ I +4 .tForearm.seek :retract +3 "manipulator"&' +91 "core" ' +4 .tElbow.seek PC +3 "manipulator"&/( +148 "core" ' +8 ."downElevator"SE.stop +5 "storage"(5 +81 "core" ( + "manipulator"&\\& +5 "core" &   z \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&<' +90 "core" ' +2 "manipulator"&!& +4 "core" &   3 +2 "manipulator"&D% +4 "core" %   _ ^ +2 "processing"%_& +4 "core" &\ +3 "processing"%,& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(^ +4 "core" &\  +8 &3w\ )w +10 &d}\ > +9 &yp\ N +9 &=Q\ M +10 &X\ M +9 &U\ M +10 &X\ M +9 &DW\ M +9 &Y\ N +10 &V\ M +9 & U\ M +9 &"KU\ N +10 &$ V\ N +9 &%R\ M +9 &'W\ M +10 &)TW\ M +9 &+Y\ M +10 &,X\ M +9 &.R\ M +9 &0\\R\ M +10 &2V\ M +9 &3T\ N +10 &5T\ M +9 &7dW\ M +9 &9%Z\ N +10 &:W\ N +9 &<S\ N +9 &>kZ\ N +10 &@,X\ N +9 &AZ\ N +12 &Cd\ O +7 &Emh\ P +9 &G-n\ P +10 &H\ S +9 &J\ T +9 &Li\ T +10 &N+\ T +9 &O\ T +10 &Q\ U +9 &Sn \ U +9 &U/ \ U +10 &V3\ U +9 &X6\ U +9 &Zu5\ U +10 &\\76\ U +9 &]|uF\ : +10 &^'k6\ S +9 &^%4\ 3 +2 ( +2 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&;1 +61 "core" 1 +2 "manipulator"&:% +4 "core" %  $ \\ ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +97 "core" ' +2 "processing"%P& +4 "core" &^"\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&>% +3 "core" % &   | L +3 "storage"(e% +3 "core" % F F \  +2 "storage"( . +3 "core" .([ +2 "storage"(E& +3 "core" &[ F E \ +3 "storage"(w& +2 "manipulator"&4& +54 "core" &[ O I 3\ +2 &  7 +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&p( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(n'r +3 "core" ( +2 "manipulator"&Q& +3 "core" &  ' , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" & 2 ; +3 .tForearm.seek PC + "manipulator"&M' +96 "core" ' + .tHand.close + "manipulator"&A/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' +2 "storage"(]- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'1 +46 "core" ' +300 ( +2 "storage"(c& +3 "core" &[ M H M\ +2 "manipulator"&s& +4 "core" &  ' +2 "manipulator"&W% +4 "core" %  '  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&T(r +250 "core" ( +2 "manipulator"&[& +3 "core" &   , +2 "storage"(R& +4 "core" &[ T S Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'= +95 "core" ' + .tHand.open + "manipulator"&K1 +53 "core" 1 +2 "storage"(f- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(Y' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(v' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(`- +3 "core" -' +2 "storage"(& +4 "core" &[ s u 8\ +2 "manipulator"&l& +4 "core" &   , +2 .tElbow.seek 7 + "manipulator"&(r +9 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &[ \ +3 .tForearm.seek 7 + 450 counts + "manipulator"&d'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(i'" +51 "core" ' +2 "manipulator"&Z& +3 "core" & \   +2 "storage"(^& +5 "core" &[ E F O\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +26 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(V' +19 "core" ' +2 "manipulator"&g% +3 "core" %΍ > > +2 "storage"(j& +4 "core" &[ ' % \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&k'Ϲ +14 "core" ' + "manipulator"& & +4 "core" &  X  +3 "storage"(q& +3 "core" &[ j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&h'= +16 "core" ' +2 "storage"(z% +3 "core" % j k \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (y% +3 "core" %P #\ We +2 "manipulator"&m% +4 "core" %8 \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (}& +3 "core" &[ G F /\ +2 "collection"''& +4 "core" &\\f\ \ +\ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"& % +4 "core" %   \ +2 "storage"(~% +50 "core" % < 9 \  +2 "storage"(x. +3 "core" .([ +2 "storage"(S& +4 "core" &[ [ f $\ +2 "storage"(& +4 "core" &[ j j }\ +2 "manipulator"&& +4 "core" & \   +2 .tElbow.seek 7 + "manipulator"&|(r +9 "core" ( + "manipulator"&r& +4 "core" &    +2 "storage"(b& +4 "core" &[ Q j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +96 "core" ' +2 "storage"(3& +4 "core" &[ k j \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default + "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   2  +3 "storage"(& +3 "core" &[ 8 < l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&t'{ +29 "core" ' + .tElbow.hold + "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(='n +32 "core" ' + "manipulator"&% +4 "core" %Ό    +2 "storage"(\ & +4 "core" &[ , ' )\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&'ϸ +13 "core" ' +2 "manipulator"&7& +3 "core" & H  +3 "storage"(6& +3 "core" &[ < 9 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&@'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(%' +35 "core" ' + "manipulator"&5& +4 "core" & x  +2 "manipulator"&% +4 "core" %:  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&#(ӂ +153 "core" ( +2 "manipulator"&G& +4 "core" &ӌ%   >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &ӌ%   >L +2 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' +2 .tHand.close + "manipulator"& / +57 "core" / +2 .tCC.seek :open + "collection"'I( +448 "core" ( +2 "storage"(0& +3 "core" &[ \\ ] B\ +2 "storage"(& +4 "core" &[ [ [ \ +2 "manipulator"&8& +3 "core" &ӯ   9) +2 "manipulator"&?% +4 "core" % K   q  +2 .tForearm.seek :retract +2 "manipulator"&+' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&O(r +162 "core" ( +2 "manipulator"&H& +3 "core" &n '  +2 "storage"($& +5 "core" &[ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&*'{ +97 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&21 +61 "core" 1 +2 "manipulator"&9% +4 "core" % Ύ   7 +2 "storage"(N& +3 "core" &[ n k \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 319 counts +2 "manipulator"&1'Ϻ +13 "core" ' +2 "manipulator"&(& +3 "core" &n   +2 "storage"(& +4 "core" &[ N\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&-'= +57 "core" ' +8 "storage"()% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(\\' +99 (% +3 "core" %H f j \ Wb +2 "manipulator"&% +4 "core" %6  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'D& +3 "core" & \ +2 "manipulator"&_% +5 "core" %     +2 "storage"(a% +3 "core" % R\  +2 "storage"(. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(B(<- +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (;& +3 "core" &<* ] ` Y\ +2 "manipulator"&:& +4 "core" &n   +2 .tElbow.seek 5 +2 "manipulator"&P( +22 "core" ( +2 "manipulator"&>& +3 "core" &   ,  +2 "storage"(e& +4 "core" &<* \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' + "storage"(E& +4 "core" &<* w w e\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'r +299 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &<* k k \ +2 "manipulator"&Q& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&<& +3 "core" &     +2 "storage"(A& +4 "core" &<* ~ "\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&]'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +3 "storage"(J' +5 "core" & u  +3 "manipulator"&n% +4 "core" % ϸ   +2 .tForearm.seek :retract +2 "manipulator"&c' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&s(ӂ +90 "Can"T N'% +62 "core" ( + "manipulator"&W& +5 "core" ' + &ӌ$   =E +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&M& +4 "core" &Ӎ$   =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&['? +101 "core" ' +2 "manipulator"&R& +4 "core" &Ӎ%   B =D +3 "manipulator"&p% +4 "core" %A     +2 "collection"'K& +4 "core" &\ ;\ +3 "collection"'f& +5 "core" & {\ +2 .tCC.seek :closed +2 "collection"'`(\\ +4 "core" & |\ +7 &; \ %g +9 &Yv ~\ 7 +9 &w |\ K +10 &S \ }\ K +9 &T\ \ }\ K +9 &MU \ x\ K +10 &U\ \ q\ J +9 &U\ \ z\ K +9 &S\ ~\ K +10 &UU\ \ |\ K +9 & W\ \ u\ K +10 &!R\ \ s\ K +9 &#U\  x\ K +9 &%]W\ \ y\ K +10 &' T\ \ v\ J +9 &(T\ x\ K +9 &*R\ \ y\ K +10 &,eU\ \ s\ K +9 &.&Y\ \ w\ K +10 &/U\ \ u\ K +9 &1T\ \ w\ K +9 &3mU\ \ q\ K +10 &5/U\ \ r\ K +9 &6S \ u\ K +14 &8U\ \ u\ K +5 &:uU\ \ p\ K +9 &<6X\ \ o\ K +10 &=U\ \ u\ K +9 &?U\ \ o\ K +9 &A|V\ \ o\ K +10 &C>\\\ \ j\ K +9 &Dc\ \ v\ L +9 &Fk\ \ \ y\ N +10 &Hu\ \ s\ P +9 &J+\ +\ $l\ U +10 &K\ -\ /m\ W +9 &M\ +\ .n\ W +9 &Oi\ +\ *l\ W +10 &Q*\ '\ 'k\ X +9 &R\ &\ 'r\ X +9 &T\ $\ $k\ X +10 &Vm\ $\ "k\ Y +9 &X+\ !\ !k\ Z +10 &Y\ \ "o\ Z +9 &[\ !\ !w\ H +9 &\\0\ \ n\ / +10 &\\k\ \ q\ L +2 ( +2 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&l% +3 "core" % A   :  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &\ +48 "manipulator"&% +5 "core" %  {  +2 "storage"(Z% +4 "core" % = 9 \\\  +2 "storage"(^. +2 "core" .(<- +2 "storage"(g& +4 "core" &<* I <\ +2 "storage"(j& +5 "core" &<* : > \ + "manipulator"&U& +5 "core" &ӯ    8" + "manipulator"& % +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&q( +160 "core" ( +2 "manipulator"&Y& +4 "core" &  m  +2 "storage"(z& +3 "core" &<* k m \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&T'O +91 "core" ' +2 "storage"(u& +3 "core" &<* l l \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'r +297 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +2 "core" &<* e a q\ +2 "manipulator"&d& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&i& +4 "core" &    +2 "storage"(& +4 "core" &<* k i \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&k'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"( ' +8 "core" & \   +2 "manipulator"&~% +3 "core" % ϶ \ +3 .tForearm.seek :retract + "manipulator"&V' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&x( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&S& +4 "core" &   f ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \  ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&r& +3 "core" &    ' +3 "manipulator"&b% +3 "core" %  5  +2 "processing"%h& +4 "core" &\ +3 "processing"%3& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\  +9 &2v\ )w +9 &d~\ > +10 &up\ N +9 &8O\ M +10 &Q\ M +9 &T\ M +9 &~Q\ M +10 &@V\ M +9 &W\ M +9 &R\ M +10 & R\ M +9 &"HU\ M +10 &$ U\ N +9 &%T\ N +9 &'T\ N +10 &)OT\ N +9 &+U\ N +9 &,U\ M +10 &.Q\ M +9 &0XR\ M +10 &2Q\ M +9 &3S\ N +9 &5T\ M +10 &7`R\ M +9 &9!T\ N +9 &:W\ N +10 &<T\ N +9 &>hZ\ M +10 &@*U\ M +9 &A[\ N +9 &Cg\ O +10 &Eif\ P +9 &G'q\ Q +9 &H\ S +10 &J\ S +9 &Lf\ S +10 &N&\ T +9 &O\ T +9 &Q\ U +13 &Sj\ U +6 &U,\ U +9 &V\ U +10 &X\ U +9 &Zs\ T +10 &\\3\ U +9 &]}v\ : +9 &^/\ J +10 &^\ - +2 ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&o1 +62 "core" 1 +2 "manipulator"&{% +3 "core" %    m  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 "processing"%& +3 "core" &^3\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % %   0 > +2 "storage"("% +3 "core" % E F #\  +2 "storage"(. +3 "core" .(<- +2 "storage"(\ & +4 "core" &<* D ? \ +2 "storage"(7& +4 "manipulator"&6& +5 "core" &<* I P S\ + &   S ' +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&5( +7 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +43 "manipulator"&& +11 "core" &  & C ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &   6 ' +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close + "manipulator"&t/ +60 "core" / +3 .tPC.seek :open + "processing"%( +46 "core" ' + "storage"(=- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(G'1 +46 "core" ' +353 ( +2 "storage"(.& +3 "core" &<* ; 8 \ +2 "manipulator"&@& +4 "core" &   ; ' +2 "manipulator"&&% +4 "core" %    % +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&F( +246 "core" ( +2 "manipulator"&& +4 "core" &   7 +2 "storage"(0& +3 "core" &<* V O l\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +104 "core" ' + .tHand.open + "manipulator"&81 +56 "core" 1 +2 "storage"(?- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(H' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"($' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +2 "core" -' +2 "storage"(#& +4 "core" &<* @\ +2 "manipulator"&2& +3 "core" &    7 +3 .tElbow.seek 5 + "manipulator"&9( +4 "core" ( +2 "manipulator"&N& +3 "core" & %  4 7 +2 "storage"((& +4 "core" &<* \ +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"()'" +52 "core" ' + "manipulator"&+& +4 "core" &   @ 7 +2 "storage"(O& +4 "core" &<* G E \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(*' +18 "core" ' +2 "manipulator"&1% +3 "core" %Ρ  c +2 "storage"(D& +3 "core" &<* I F \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&_' +26 "core" ' +2 "manipulator"&a& +3 "core" &  ) +2 "storage"(& +4 "core" &<* E F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +16 "core" ' +2 "storage"(-% +3 "core" % E F \ +3 ."downElevator"SE.seek :down +3 "storage"(\\' +99 (% +3 "core" %CQ # ,\ Xg +2 "manipulator"&;% +4 "core" %[ \ \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (>& +3 "core" &<* Q F R\ +2 "collection"'e& +3 "core" &\\k\ \ k\ L +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&E% +3 "core" % !  ' +2 "storage"(L% +4 "core" % 9 < \\\  +2 "storage"(!. +3 "core" .(<- +2 "storage"(w& +4 "core" &<* = G &\ +2 "storage"(4& +3 "core" &<* 8 8 v\ +2 "manipulator"&Q& +4 "core" & \   ) +2 .tElbow.seek 5 +2 "manipulator"&<( +3 "core" ( +48 "manipulator"&A& +4 "core" & \  ) +3 "storage"(/& +3 "core" &<* 8 8 *\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&X'O +93 "core" ' +2 "storage"(n& +4 "core" &<* k j \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +299 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" &   ) +2 "storage"(M& +4 "core" &<* C E B\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&,'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(p's +30 "core" ' +2 "manipulator"&K% +3 "core" %Ν   +2 "storage"(C& +4 "core" &<* T S h\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&J' +14 "core" ' +2 "manipulator"&c& +3 "core" &   ) +2 "storage"(I& +4 "core" &<* k k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(l' +35 "core" ' +2 "manipulator"&& +3 "core" & \ ) +2 "manipulator"&% +4 "core" %A   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +151 "core" ( +2 "manipulator"&^& +4 "core" &ӎ$   h =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &ӏ$  : =B +2 .tForearm.seek CC +2 "manipulator"&j'? +99 "core" ' + .tHand.close + "manipulator"&U/ +62 "core" / +2 .tCC.seek :open + "collection"' ( +448 "core" ( +2 "storage"([& +3 "core" &<* \\ ` P\ +2 "storage"(Y& +4 "core" &<* \\ ] \ +2 "manipulator"&z& +4 "core" &ӯ   8" +2 "manipulator"&u% +3 "core" % B   +3 .tForearm.seek :retract + "manipulator"&s' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +156 "core" ( + "manipulator"&y& +4 "core" &   * +2 "storage"(m& +4 "core" &<* ~ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&d'΍ +98 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&}% +3 "core" % Π  \  +2 "storage"('& +4 "core" &<* \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&~' +14 "core" ' +3 "manipulator"&q& +3 "core" & +2 "storage"(T& +4 "core" &<* Y\ +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +15 "core" ' +2 "storage"(k% +4 "core" % y \ +3 ."downElevator"SE.seek :down +3 "storage"(S' +99 (% +4 "core" %D k k \ U_ +2 "manipulator"&% +3 "core" %F  ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract +2 "manipulator"&r' +92 "core" ' + ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'b& +4 "core" & y\ +2 "manipulator"&h% +4 "core" % "   9 $ +2 "storage"( % +4 "core" %  g\  +2 "storage"(V. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (o& +3 "core" &K S S <\  +2 "manipulator"&{& +5 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"("& +4 "core" &K } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(\ & +4 "core" &K x w G\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'r +297 "core" ' +2 "storage"(6- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &K \  +2 "manipulator"&& +3 "core" &   c +2 .tElbow.seek 6 +2 "manipulator"&|( +2 "core" ( +2 "manipulator"&& +4 "core" &   f +2 "storage"(t& +4 "core" &K f\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&='h +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +6 "core" & j +3 "manipulator"&% +3 "core" % ϟ   +3 .tForearm.seek :retract + "manipulator"&.' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&&& +3 "core" &Ӊ   E 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӊ   G 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 "manipulator"&0& +5 "core" &Ӊ  ! 2 + "manipulator"&5% +4 "core" %6  4 b +2 "collection"'8& +5 "core" & ;\ +2 "collection"'?& +5 "core" &\ z\ +2 .tCC.seek :closed +4 "collection"' (\\ +2 "core" &\ \ z\ +7 &< ~\ %f +10 &Z{ \ 8 +9 & s\ \ |\ K +9 &S\  |\ K +10 &Y\ \ \ K +9 &RT\  {\ J +10 &U\ \ \ K +9 &W\ \ \ K +9 &S \ \ K +10 &YU\ \ \ K +11 & W\ \ \ K +7 &!S\ \ y\ K +10 &#U\ \ }\ J +9 &%aT\ \ \ K +10 &'#W\ \ |\ K +9 &(S\ \ z\ K +9 &*T\ \ y\ J +10 &,iU\  x\ K +9 &.+Y \ z\ K +9 &/T\ \ y\ J +10 &1V\ \ x\ K +9 &3pX\ \ v\ K +10 &53T \ y\ K +9 &6T\ \ x\ K +9 &8U \ {\ K +10 &:xY\ \ |\ K +9 &<<U\ \ {\ J +9 &=V\ \ w\ K +10 &?W\ \ u\ J +9 &AZ\ \ o\ K +10 &CA[\ \ t\ L +9 &Eb\ \ n\ L +9 &Fm\ \ w\ N +10 &Hz\ \ k\ P +9 &J1\ +\ %s\ T +10 &K\ 1\ 1y\ W +9 &M\ -\ .p\ W +9 &Ol\ -\ ,m\ W +10 &Q-\ (\ *t\ X +9 &R\ '\ &u\ X +9 &T\ %\ &w\ Z +10 &Vo\ '\ %n\ Y +9 &X,\ "\ !r\ [\ +9 &Y\ $\ "o\ [\ +10 &[\ !\ "p\ I +9 &\\2\ !\ #o\ , +10 &\\d\ \ i\ N +2 ( +2 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open + "manipulator" +64 "core" 1 +2 "manipulator"&2% +4 "core" % 6   b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%(& +3 "core" &\ +2 "manipulator"& % +4 "core" %    ! +2 "storage"(+% +4 "core" % 9 = \  + "storage"(O. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(1(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (D& +49 "core" &K F P 0\  +5 "manipulator"&G& +4 "core" &Ӗ   \\ 0 +2 "manipulator"&a% +3 "core" %    U ! +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +160 "core" ( +2 "manipulator"&H& +3 "core" &    +2 "storage"(-& +5 "core" &K l k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F' +97 "core" ' +2 "storage"(& +5 "core" &K j l o\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +312 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &K b v \  +2 "manipulator"&& +4 "core" &   $  +2 .tElbow.seek 6 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&)& +3 "core" &   T  +2 "storage"(& +4 "core" &K j j \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&_'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(E' +8 "core" &     + "manipulator"&L% +4 "core" % b \ N +2 .tForearm.seek :retract +2 "manipulator"&!' +90 "core" ' +3 .tElbow.seek PC + "manipulator"&*( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&w& +3 "core" &   i ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &   e ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +91 "core" ' +2 "manipulator"&A& +3 "core" &   : ) +2 "manipulator"&/% +4 "core" %   > k +2 "processing"%%& +5 "core" &\ +2 "processing"%n& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\\(^ +4 "core" &\  +10 &1v\ )w +9 &d~\ > +9 &wq\ N +10 &:Q\ M +9 &R\ M +9 &R\ M +10 &R\ M +9 &BV\ M +10 &U\ N +9 &U\ N +9 & U\ M +10 &"JR\ M +9 &$ W\ M +9 &%T\ N +10 &'T\ M +9 &)RR\ M +10 &+U\ N +9 &,U\ M +9 &.Q\ M +10 &0ZR\ M +10 &2T\ N +8 &3T\ M +10 &5Q\ M +9 &7bW\ M +10 &9$Y\ M +9 &:X\ M +9 &<W\ N +10 &>iX\ N +9 &@,T\ M +9 &AX\ N +10 &C`\ O +9 &Elg\ O +10 &G-k\ P +9 &H{\ R +9 &J\ S +10 &Lh\ S +9 &N(\ T +9 &O\ T +10 &Q\ U +9 &Sm\ T +10 &U.\ U +9 &V\ U +9 &X\ T +10 &Zt\ U +9 &\\5\ U +9 &]|u\ ; +10 &^'k\ Q +9 &^)\ 2 +2 ( +2 "processing"%n& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&:% +4 "core" %   F k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 "processing"%W& +4 "core" &^&\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&M% +4 "core" %     +2 "storage"(R% +3 "core" % G I "\  +2 "storage"(K. +4 "core" .(K + "storage"(C& +4 "core" &K F H $\  +2 "storage"(c& +3 "manipulator"&I& +8 "core" &K E E \  + &   0 ) +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +3 "manipulator"&X& +3 "core" &  h ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &   U ) +2 .tForearm.seek PC +2 "manipulator"&P' +144 "core" ' +2 .tHand.close + "manipulator"&,/ +60 "core" / +2 .tPC.seek :open + "processing"%J( +45 "core" ' + "storage"(p- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(^'1 +40 "core" ' +357 ( +2 "storage"(g& +4 "core" &K j j \  +2 "manipulator"&& +4 "core" &  ) +2 "manipulator"&]% +3 "core" %   2 +3 .tForearm.seek :retract + "manipulator"&U' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&f( +245 "core" ( +2 "manipulator"&`& +3 "core" &   ] 0 +3 "storage"([& +3 "core" &K j j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Y' +94 "core" ' +2 .tHand.open + "manipulator"&z1 +60 "core" 1 +2 "storage"(u- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(y' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(m' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +4 "core" -' + "storage"(Z& +4 "core" &K G\  +2 "manipulator"&& +4 "core" &   h 0 +2 .tElbow.seek 6 + "manipulator"&}( +4 "core" ( +2 "manipulator"&'& +3 "core" &  # # 0 +2 "storage"(q& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(k'" +52 "core" ' + "manipulator"&s& +4 "core" &   4 0 +2 "storage"(& +4 "core" &K P S )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(d' +19 "core" ' + "manipulator"&b% +4 "core" %O   Q +2 "storage"(h& +4 "core" &K F F 4\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&~'{ +14 "core" ' + "manipulator"& & +4 "core" &    0 +2 "storage"(V& +5 "core" &K S T i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&l' +15 "core" ' +2 "storage"(v% +4 "core" % T T 5\ +3 ."downElevator"SE.seek :down +3 "storage"(S' +99 (B% +3 "core" %'O ' (\ Wf +2 "manipulator"&o% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K F P 9\  +2 "collection"'"& +3 "core" &\\e\ \ g\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&\ % +4 "core" % !   p , +2 "storage"(i% +4 "core" % 8 < \  +2 "storage"(r. +2 "core" .(K +2 "storage"(6& +4 "core" &K ; 9 \  +2 "storage"(7& +3 "core" &K : B \  +2 "manipulator"&& +4 "core" &   / +2 .tElbow.seek 6 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&t& +3 "core" &    +2 "storage"(x& +4 "core" &K X C :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +46 "manipulator"&' +95 "core" ' +2 "storage"(& +5 "core" &K j j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" &    +2 "storage"(& +4 "core" &K R P L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&3'< +22 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(0- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(5'f +33 "core" ' +2 "manipulator"&8% +4 "core" %?   +2 "storage"(|& +3 "core" &K G F \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 303 counts + "manipulator"&'k +14 "core" ' +2 "manipulator"&.& +3 "core" &   d  +2 "storage"( & +4 "core" &K 8 9 R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(2' +35 "core" ' +2 "manipulator"&(& +3 "core" &   %  +2 "manipulator"& % +5 "core" %   + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +153 "core" ( + "manipulator"&?& +4 "core" &Ӊ&  * ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &ӊ%   s >O +2 .tForearm.seek CC +2 "manipulator"&G'? +99 "core" ' +2 .tHand.close + "manipulator"&a/ +62 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "storage"(H& +4 "core" &K l g b\  +2 "storage"(-& +4 "core" &K h j W\  +2 "manipulator"&& +3 "core" &Ӫ   :/ +2 "manipulator"&% +5 "core" % 0   g +2 .tForearm.seek :retract + "manipulator"&@' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&N( +162 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(;& +3 "core" &K |\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'< +96 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&>% +4 "core" % C    +2 "storage"(e& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&L'o +14 "core" ' + "manipulator"&& +4 "core" & a  +2 "storage"(F& +3 "core" &K  z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&$' +15 "core" ' +2 "storage"(_% +4 "core" %  8\ +2 ."downElevator"SE.seek :down +3 "storage"(w' +100 (4% +2 "core" %C k l \ V` +2 "manipulator"&9% +5 "core" % M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +49 #Loading generic puck from tube 7 into Collection Clamp + "collection"'/& +3 "core" & \ <\ +2 "manipulator"&%% +4 "core" % ! & +2 "storage"(E% +4 "core" % \  +2 "storage"(!. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ ` ] ]\ \ +2 "manipulator"&:& +4 "core" &   2  +2 .tElbow.seek 7 +2 "manipulator"&W(r +33 "core" ( +2 "manipulator"&M& +4 "core" &   !  +2 "storage"(R& +4 "core" &[ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&K'= +96 "core" ' +2 "storage"(C& +3 "core" &[ w w \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +293 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +2 "core" &[ _ g h\ \ +3 "manipulator"&X& +3 "core" & \   +2 .tElbow.seek 7 +2 "manipulator"&<(r +19 "core" ( +2 "manipulator"&Q& +4 "core" &t     +2 "storage"(,& +4 "core" &[ } =\ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&p'ϧ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(\\' +8 "core" &t ?  +2 "manipulator"&% +3 "core" % ϡ ! +2 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&]& +3 "core" &x+   J Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &x+  g Co +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&`'? +101 "core" ' +2 "manipulator"&[& +4 "core" &ӭ# %  D <: +2 "manipulator"&% +4 "core" %A   +2 "collection"'z& +4 "core" &\ ?\ +3 "collection"'u& +5 "core" &\ \ \ +2 .tCC.seek :closed + "collection"'j(\\ +5 "core" & \ +7 &<\ \ l\ $e +9 &Yy\ \ 7 +10 &u \ z\ K +9 &S\ \ \ K +10 &Y\ \ \ K +9 &CT\ \ t\ J +9 &U\ \ |\ K +10 &X\ \ x\ K +9 &X\ \ z\ K +9 &IT\ \ x\ K +10 & T \ x\ K +9 &!W\ \ }\ K +10 &#X\ \ z\ K +9 &%RR\ \ r\ K +9 &'T\ \ }\ J +10 &(T\ \ z\ K +9 &*X\ \ z\ K +10 &,ZT\ \ ~\ K +9 &.U\ \ ~\ J +9 &/U\ \ ~\ K +10 &1U\ \ s\ K +9 &3aY\ \ \ K +9 &5$U\ \ R\ K +10 &6T\ \ |\ K +9 &8U\ \ \ K +9 &:iY\ \ \ K +10 &<-U\ \ \ J +9 &=U\ \ N\ K +10 &?U\ \ F\ J +9 &AqW\ \  \ K +9 &C2Z\ \ x\ L +10 &Db\ \ \ L +9 &Fj\ \ w\ M +9 &Hj\ \ ~\ P +10 &J!\ -\ (\ T +9 &K\ 2\ 2s\ V +10 &M\ 1\ 1w\ W +9 &O_\ ,\ .|\ W +9 &Q\ +\ ,S\ X +10 &R\ *\ )j\ X +9 &T\ (\ '\ Y +9 &Va\ &\ %\ Y +10 &X!\ &\ $\ Z +9 &Y\ $\ "z\ [ +10 &[\ !\ "\ G +9 &\\2\ "\ "x\ 3 +9 &\\o\ \ \ L +3 ( + "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&Z1 +54 "core" 1 +2 "manipulator"&% +4 "core" % A   + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%q& +3 "core" &\ +2 "manipulator"&U% +3 "core" %    ,  +3 "storage"(s% +3 "core" % I T _\  +2 "storage"(. +3 "core" .([ +2 "storage"(b& +3 "core" &[ I T X\ \ +3 "storage"(h& +3 "core" &[ R K 1\ \ +2 "manipulator"&^& +3 "core" &Ӯ#   <9 +2 "manipulator"& % +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&V(r +164 "core" ( +2 "manipulator"&y& +49 "core" &x   !  +5 "storage"(v& +3 "core" &[ k k \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&f'= +96 "core" ' +2 "storage"(Y& +3 "core" &[ k k ]\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +299 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (o& +2 "core" &[ R V ~\ \ +2 "manipulator"&T& +4 "core" &x   #  +2 .tElbow.seek 7 +2 "manipulator"&}(r +3 "core" ( +2 "manipulator"&k& +3 "core" &x \  ^  +2 "storage"(& +5 "core" &[ E E Q\ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&~'ϧ +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(\ ' +8 "core" &x    +2 "manipulator"&i% +4 "core" %  ~ +2 .tForearm.seek :retract +2 "manipulator"&r' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&d( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&6& +3 "core" &   K  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&t& +3 "core" &    +2 "manipulator"&x% +4 "core" %   ,  +2 "processing"%l& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%S(^ +4 "core" &\ +12 &0\ #b +5 &Uv\ 6 +9 &x\ K +10 &R\ M +10 &]U\ M +8 & O\ M +10 &V\ M +9 &T\ N +10 &eT\ M +9 &'W\ M +9 &T\ M +10 &!Q\ M +9 &#lU\ N +10 &%/U\ M +9 &&S\ M +9 &(W\ M +10 &*tU\ N +9 &,7U\ M +9 &-W\ M +10 &/V\ M +9 &1~P\ M +9 &3?T\ M +10 &5T\ N +9 &6T\ M +10 &8X\ M +9 &:GW\ M +9 &<T\ N +10 &=V\ N +9 &?T\ M +9 &AOW\ M +10 &C `\ O +9 &Dc\ O +10 &Fk\ P +9 &HI\ R +9 &J\ S +10 &K\ S +9 &M\ T +9 &OK\ T +10 &Q \ T +9 &R\ T +10 &T\ U +9 &VR\ T +9 &X\ U +10 &Y\ U +9 &[\ U +10 &]X\ D +9 &^~Du\ !b +9 &^1\ 0 +6 ( +2 "processing"%& +3 "core" &^!\ 0 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&{% +3 "core" %   \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +3 "processing"%&& +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +3 "core" % % '  F ? +2 "storage"(0% +4 "core" % I I "\  +2 "storage"(8. +2 "core" .([ +2 "storage"(|& +4 "core" &[ G H 1\ \ +2 "storage"(.& +3 "manipulator"& & +7 "core" &[ I H *\ \ + &  M  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(( +4 ."raiseStack"SE.seek :beamBreak + "storage"( 'r +3 "core" ( +2 "manipulator"&& +3 "core" & '  +  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 2 < &  +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&3/ +58 "core" / +2 .tPC.seek :open + "processing"%( +98 "core" ' +2 "storage"(5- +2 "core" -'r +3 ."raiseStack"SE.configure :default +42 "storage"(#QK-0-\ b +11 ."raiseStack"SE.seek :place + "storage"(?'1 +49 "core" ' +251 ( + "storage"(D& +4 "core" &[ j l \ \ +2 "manipulator"&#& +4 "core" &   !  +2 "manipulator"&=% +4 "core" %   . +2 .tForearm.seek :retract +2 "manipulator"&a' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&+(r +248 "core" ( + "manipulator"& & +4 "core" &   0 3 +2 "storage"(H& +4 "core" &[ ; E l\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&-'= +105 "core" ' + .tHand.open + "manipulator"&1 +65 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(;' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +3 "core" -' +2 "storage"(O& +3 "core" &[ d d <\ \ +2 "manipulator"&& +3 "core" &   3 +3 .tElbow.seek 7 + "manipulator"&>(r +32 "core" ( +2 "manipulator"&e& +3 "core" &|   [ X +2 "storage"(& +4 "core" &[ s r +\ \ +3 .tForearm.seek 7 + 450 counts + "manipulator"&F'= +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(_'" +52 "core" ' +2 "manipulator"&@& +4 "core" &|  . X +2 "storage"(4& +3 "core" &[ H O \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&9'{ +32 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +19 "core" ' +2 "manipulator"&L% +3 "core" %Ί ; = h +2 "storage"(2& +4 "core" &[ % ! $\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&/'϶ +14 "core" ' + "manipulator"&%& +4 "core" &|  X +2 "storage"(E& +4 "core" &[ G E 2\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&!'= +14 "core" ' +2 "storage"($% +4 "core" % Q k \ +3 ."downElevator"SE.seek :down +3 "storage"(w' +100 (1% +3 "core" %R - - Z\ Xg +2 "manipulator"&% +5 "core" %?   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (M& +4 "core" &[ Y E \ \ +2 "collection"'R& +3 "core" &\\n\ \ \ L +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&C% +3 "core" %   1  +2 "storage"()% +4 "core" % j j \  +2 "storage"(A. +3 "core" .([ + "storage"(c& +4 "core" &[ j j \ \ +2 "storage"(n& +5 "core" &[ j k \ \ + "manipulator"&X& +4 "core" &|   X +7 .tElbow.seek 7 + "manipulator"&Q(r +5 "core" ( + "manipulator"&,& +4 "core" &|   X +2 "storage"(*& +4 "core" &[ j k \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& '= +96 "core" ' +2 "storage"(& +3 "core" &[ i _ j\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'r +298 "core" ' +2 "storage"(K- +2 "core" -' +42 .tSE.configure :default +9 "storage"(#QK-0-\ b +3 "manipulator"&]& +4 "core" &|  X +2 "storage"(P& +3 "core" &[ i f y\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&I'{ +30 "core" ' +2 .tElbow.hold + "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"('x +31 "core" ' + "manipulator"&z% +4 "core" %Ώ (  3 +2 "storage"(<& +3 "core" &[ K S c\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 320 counts + "manipulator"&\\'ϻ +13 "core" ' +2 "manipulator"&g& +3 "core" &| q X +2 "storage"(& +4 "core" &[ \\ ] )\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Z'= +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(' +46 "core" ' +2 "manipulator"&q& +3 "core" &|  \ m X +2 "manipulator"&U% +4 "core" %@  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +161 "core" ( +2 "manipulator"&b& +4 "core" &ӏ#  & =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &ӏ$   - =E +3 .tForearm.seek CC + "manipulator"&^'? +98 "core" ' + .tHand.close + "manipulator"&u/ +62 "core" / +2 .tCC.seek :open + "collection"' ( +448 "core" ( +2 "storage"(`& +3 "core" &[ [ \\ $\ \ +2 "storage"(y& +4 "core" &[ [ \\\ \ +2 "manipulator"&v& +4 "core" &   6 +2 "manipulator"&% +3 "core" % 5   +2 .tForearm.seek :retract +2 "manipulator"&Y' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&'(r +164 "core" ( + "manipulator"&B& +4 "core" &t    +2 "storage"(o& +4 "core" &[ ~ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&T'{ +96 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +3 "core" % y  8 +7 "storage"("& +3 "core" &[ \ \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 298 counts + "manipulator"&i'ϥ +14 "core" ' + "manipulator"&V& +4 "core" &t   +2 "storage"(f& +4 "core" &[ { 3\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&m'= +16 "core" ' +2 "storage"(~% +3 "core" % w w ]\ +3 ."downElevator"SE.seek :down +3 "storage"(6' +99 (7% +3 "core" %G i k \ Va +2 "manipulator"&}% +4 "core" %'  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'x& +3 "core" & \ +2 "manipulator"&l% +4 "core" %  \ "  +2 "storage"(\ % +4 "core" % \  +2 "storage"(r. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +45 "storage"(J(<- +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<- j s C\ +2 "manipulator"&{& +4 "core" &t   +2 .tElbow.seek 5 +2 "manipulator"&&( +36 "core" ( +2 "manipulator"&& +3 "core" &     +2 "storage"(0& +4 "core" &<- \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&8'O +93 "core" ' + "storage"(|& +5 "core" &<- | '\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +8 "core" &<-  ]\ +2 "manipulator"&& +3 "core" & E  +3 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(3& +3 "core" &<- ~ +\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&5'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(S' +8 "core" &  +2 "manipulator"& % +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&D' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&#(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&=& +4 "core" &Ӟ   ? 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӟ   8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '? +100 "core" ' +2 "manipulator"&H& +4 "core" &Ӟ   8 +2 "manipulator"&(% +4 "core" %B   +7 "collection"'& +4 "core" &\ \ +3 "collection"'& +5 "core" &\  \ +3 .tCC.seek :closed + "collection"'G(\\ +4 "core" & \ +8 &< \ $e +10 &Yx \ \ 7 +9 &u\ \ \ K +9 &S\ \ \ J +10 &U\ \ \ J +9 &IU\ \ \ K +10 & X\ \ \ K +9 &W\ \ \ K +9 &W\ \ \ K +10 &QW\ \ \ K +9 & R\ \ \ K +9 &!R\ \ \ K +10 &#T\ \ \ K +9 &%YR\ \ \ K +10 &'R\ \ \ K +9 &(R\ \ \ K +9 &*R\ \ \ K +10 &,aR\ \ \ K +9 &.#R\ \ \ K +9 &/S\ \ \ K +10 &1T\ \ \ K +9 &3jT\ \ \ J +10 &5,U\ \ \ J +9 &6U\ \ \ K +9 &8X\ \ \ K +10 &:qS\ \ \ K +9 &<3R\ \ \ K +9 &=T\ \ \ J +10 &?V\ \ \ K +9 &AyT\ \ \ K +10 &C9Z\ \ \ L +9 &Db\ \ \ L +9 &Fj\ \ \ \ M +10 &Hq\ \ \ P +9 &J(\ ,\ %\ T +9 &K\ 0\ 1\ V +10 &M\ .\ 0\ W +9 &Oe\ +\ ,\ W +10 &Q'\ (\ (\ W +9 &R\ &\ '\ X +9 &T\ %\ '\ Y +10 &Vg\ #\ $\ Y +9 &X&\ "\ #\ Z +9 &Y\ !\ #\ Z +10 &[\ "\ \ H +9 &\\/\ !\ !\ 4 +9 &\\i\ "\ \ J +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&O1 +61 "core" 1 + "manipulator"&% +4 "core" % B  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%e& +3 "core" &\ +2 "manipulator"&% +4 "core" %     +2 "storage"(@% +3 "core" % = 8 Y\  +2 "storage"(4. +4 "core" .(<- + "storage"(?& +4 "core" &<- ? F '\ +2 "storage"(L& +4 "core" &<- O J +\ +2 "manipulator"&2& +4 "core" &Ӟ  8 +2 "manipulator"&% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&%( +161 "core" ( +2 "manipulator"&E& +4 "core" &   9  +2 "storage"($& +3 "core" &<- j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +104 "core" ' + "storage"(-& +4 "core" &<- _ i \ +2 .tSE.reconfigure :pick +49 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak + "storage"(;'r +298 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<- 9 Q 0\ +2 "manipulator"&F& +4 "core" & \    +2 .tElbow.seek 5 +2 "manipulator"&>( +4 "core" ( + "manipulator"&_& +4 "core" &    +2 "storage"(9& +4 "core" &<- Y f \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&/'Ϲ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&M/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(C' +8 "core" &   !  +2 "manipulator"&)% +4 "core" % ϲ    v +2 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' +3 .tElbow.seek PC + "manipulator"&( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&c& +3 "core" &   W 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &    0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&X' +91 "core" ' +2 "manipulator"&,& +3 "core" &   0 +3 "manipulator"&*% +3 "core" %   Z +3 "processing"%!& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%w(^ +3 "core" &\  +9 &2v\ )v +9 &c}\ = +10 &tp\ M +9 &6P\ M +10 &T\ M +9 &S\ M +9 &|Q\ M +10 &=T\ M +9 &T\ M +9 &R\ M +10 & U\ N +9 &"FT\ M +10 &$V\ M +9 &%Q\ M +9 &'T\ M +14 &)LU\ N +5 &+U\ M +9 &,U\ M +10 &.R\ M +9 &0UU\ M +10 &2T\ M +9 &3T\ M +9 &5T\ M +10 &7]U\ M +9 &9T\ M +9 &:Y\ M +10 &<W\ M +9 &>eZ\ M +10 &@'T\ M +9 &AZ\ N +9 &Cf\ O +10 &Ehh\ O +9 &G%r\ Q +9 &H\ R +10 &J\ S +9 &Lc\ S +10 &N$\ T +9 &O\ T +9 &Q\ T +10 &Si\ T +9 &U*\ T +9 &V\ U +10 &X\ U +9 &Zn\ U +10 &\\2\ T +9 &]zs\ A +9 &^ I\ D +9 ( +2 &^H\ > +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&N1 +63 "core" 1 +2 "manipulator"&:% +3 "core" %   b Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K' +100 "core" ' +3 "processing"%]& +4 "core" &^G\ > +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&P% +3 "core" %   ` p +2 "storage"([% +4 "core" % D E -\  +2 "storage"(z. +3 "core" .(<- +2 "storage"(<& +3 "core" &<- G F \ +3 "storage"(g& +2 "manipulator"&& +8 "core" &<- O F =\ + &   = 0 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&q( +4 ."raiseStack"SE.seek :beamBreak + "storage"(U'r +3 "core" ( +2 "manipulator"& & +3 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &   0 +2 .tForearm.seek PC +2 "manipulator"&W' +89 "core" ' +2 .tHand.close + "manipulator"&I/ +56 "core" / +2 .tPC.seek :open +2 "processing"%\\( +101 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(b'1 +42 "core" ' +300 ( +2 "storage"(h& +3 "core" &<- D > \ +2 "manipulator"&Z& +4 "core" &   0 +2 "manipulator"&p% +3 "core" %   \  I +3 .tForearm.seek :retract +41 "manipulator"&u' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&s( +245 "core" ( + "manipulator"&j& +4 "core" &  J = +2 "storage"(`& +4 "core" &<- G I \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +97 "core" ' +2 .tHand.open + "manipulator"&v1 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(B' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(o' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +2 "core" -' +3 "storage"(& +3 "core" &<- \ +2 "manipulator"&& +4 "core" &  7 < +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&"& +4 "core" &   ] < +2 "storage"(V& +4 "core" &<- e l \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(~'" +51 "core" ' + "manipulator"&Y& +4 "core" &   < +2 "storage"(7& +4 "core" &<- I Q 0\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&}'΍ +26 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(T' +20 "core" ' + "manipulator"&x% +4 "core" %Ώ   { +2 "storage"(l& +4 "core" &<- H G 6\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&i'ϻ +26 "core" ' + "manipulator"&\ & +4 "core" &  & +2 "storage"(r& +4 "core" &<- G F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +19 "core" ' +2 "storage"(m% +3 "core" % O B ;\ +3 ."downElevator"SE.seek :down +3 "storage"(6' +99 (% +4 "core" %M - - {\ We +2 "manipulator"&% +4 "core" %Z   T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<- P H Y\ +2 "collection"'0& +4 "core" &\\h\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&|% +3 "core" %    ! +3 "storage"(k% +3 "core" % f O \  +2 "storage"(t. +3 "core" .(<- +2 "storage"( & +4 "core" &<- P Z \ +2 "storage"(.& +3 "core" &<- g i C\ +2 "manipulator"&& +4 "core" &   & +2 .tElbow.seek 5 +2 "manipulator"&( +15 "core" ( + "manipulator"&3& +4 "core" &   S \ +2 "storage"(d& +4 "core" &<- j j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' +2 "storage"( & +4 "core" &<- _ ] v\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +297 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &  % \ +2 "storage"(& +3 "core" &<- ` h h\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +48 .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(H- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(('r +29 "core" ' +2 "manipulator"&% +3 "core" %ΐ   +2 "storage"(& +5 "core" &<- S P U\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 303 counts + "manipulator"&S'ϼ +14 "core" ' +2 "manipulator"&D& +4 "core" &   \ +2 "storage"( & +4 "core" &<- k j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&e& +3 "core" &  t \ +2 "manipulator"&% +4 "core" %B \ e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +156 "core" ( +2 "manipulator"&?& +4 "core" &ӈ'   @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &ӈ(  @W +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&2/ +55 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "storage"( & +4 "core" &<- ` l x\ +2 "storage"(E& +3 "core" &<- ] g d\ +2 "manipulator"&$& +8 "core" &ӧ"   ;8 +3 "manipulator"&-% +3 "core" % @   }  +3 .tForearm.seek :retract + "manipulator"&#' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&a( +164 "core" ( + "manipulator"&1& +4 "core" &  n  +2 "storage"(& +3 "core" &<- 2\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&F'΍ +93 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&91 +61 "core" 1 +2 "manipulator"&M% +4 "core" % Λ  R +2 "storage"(R& +4 "core" &<-  !\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 314 counts +2 "manipulator"&)' +13 "core" ' +2 "manipulator"&%& +3 "core" &   +2 "storage"(+& +4 "core" &<- y x\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +19 "core" ' +2 "storage"(/% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(c' +99 (n% +3 "core" %J k h \ Wb +2 "manipulator"&>% +4 "core" %G J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +89 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'*& +4 "core" & \ +2 "manipulator"&!% +3 "core" %      +2 "storage"(C% +4 "core" % z \  +2 "storage"(A. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +3 "core" &K k j U\  +2 "manipulator"&:& +5 "core" &   )  + .tElbow.seek 6 +2 "manipulator"&]( +4 "core" ( + "manipulator"&P& +47 "core" &   2  +6 "storage"([& +3 "core" &K } &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&z' +96 "core" ' +2 "storage"(& +3 "core" &K \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'r +300 "core" ' +2 "storage"(- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &K  t\  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&X& +3 "core" &   +2 "storage"(I& +4 "core" &K x g\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +2 "storage"(w' +8 "core" &   +2 "manipulator"&U% +4 "core" % k +2 .tForearm.seek :retract + "manipulator"&h' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +6 "manipulator"&p& +3 "core" &ӑ   9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӑ   9( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&j'? +99 "core" ' +3 "manipulator"&`& +3 "core" &ӑ   / 9( +2 "manipulator"&q% +4 "core" %F   +2 "collection"'v& +4 "core" & \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed + "collection"'^(\\ +4 "core" &\ \ +9 &;\ \ $f +9 &Z{\ \ 7 +9 &v \ \ K +10 &R\ \ \ J +9 &S\ \ \ K +9 &HU\ \ \ J +10 &\ U\ \ \ J +9 &T\ \ \ J +9 &T\ \ \ J +10 &PU\ \ \ J +9 & T \ \ J +10 &!T \ \ J +9 &#T\ \ \ J +9 &%WR\ \ \ K +10 &'T\ \ \ J +9 &(U\ \ \ K +9 &*W\ \ \ J +10 &,`T \ \ K +9 &."W\ \ \ K +10 &/W\ \ \ K +9 &1S\ \ \ K +9 &3iU\ \ \ J +10 &5*U\ \ \ K +9 &6X\ \ \ K +9 &8X\ \ \ K +10 &:pR\ \ \ K +9 &<3T\ \ \ J +10 &=T\ \ \ J +9 &?V\ \ \ K +9 &AwZ\ \ \ K +10 &C8Z\ \ :\ K +9 &Db\ \ \ L +10 &Fk\ \ \ N +9 &Hp~\ \ \ P +9 &J(\ ,\ #\ T +10 &K\ /\ 1\ V +9 &M\ ,\ /\ V +9 &Oc\ *\ -\ W +10 &Q$\ (\ *\ X +9 &R\ '\ (\ X +9 &T\ &\ %?\ X +10 &Ve\ $\ %D\ Y +9 &X'\ "\ $\ Y +10 &Y\ %\ !\ Z +9 &[\ #\ #\ H +9 &\\1\ \ !\ 2 +10 &\\b\ \ \ L +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +3 "core" % F   l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%V& +4 "core" &\ +2 "manipulator"&u% +3 "core" % \    +2 "storage"(Y% +4 "core" % k j \  +2 "storage"(7. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(x(K +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" &K ' % \  +2 "manipulator"&b& +3 "core" &ӫ  6 +2 "manipulator"&B% +4 "core" % \ \ G  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\ ( +163 "core" ( +2 "manipulator"&r& +5 "core" & R  + "storage"(m& +4 "core" &K j _ z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +90 "core" ' +2 "storage"(y& +3 "core" &K l i r\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak + "storage"(o'r +301 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +50 "storage"(#QK-0-\ b +3 (& +3 "core" &K N [ #\  +2 "manipulator"&f& +4 "core" &   "  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&~& +4 "core" &   ,  +2 "storage"(}& +4 "core" &K k j \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&i'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(|' +8 "core" &   +2 "manipulator"&k% +3 "core" % _   } +3 .tForearm.seek :retract + "manipulator"&t' +96 "core" ' + .tElbow.seek PC +2 "manipulator"&T( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +3 "manipulator"& & +4 "core" &   ' : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &   : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&3& +4 "core" & \  : +2 "manipulator"&d% +4 "core" %   B +2 "processing"%& +4 "core" &\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +7 "processing"%6(^ +3 "core" &\ +5 &\ 5 +9 &=Gu\ 0 +10 &ep~\ D +9 &_\ N +9 &T\ M +10 &S\ M +9 &NT\ M +9 &T\ M +10 &W\ M +9 &U\ M +9 &UW\ M +10 &!T\ M +9 &"T\ M +10 &$W\ M +9 &&]T\ M +9 &(T\ N +10 &)T\ M +9 &+T\ M +9 &-eW\ M +10 &/'T\ M +9 &0U\ M +10 &2T\ M +9 &4nS\ M +9 &6/U\ M +10 &7U\ N +9 &9U\ M +9 &;uT\ M +10 &=7S\ M +9 &>Z\ N +10 &@W\ N +9 &B{]\ N +9 &D;_\ O +10 &Eg\ O +9 &Gu\ Q +10 &Iv\ R +9 &K4\ T +9 &L\ T +10 &N\ T +9 &Py\ T +9 &R9\ U +10 &S\ U +9 &U\ T +9 &W\ U +10 &YA\ U +9 &[\ U +10 &\\\ U +9 &^>h\ )} +9 &^h\ 9 +9 ( +2 &^"\ 2 +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&'1 +57 "core" 1 +2 "manipulator"&{% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +92 "core" ' +2 "processing"%=& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" % !    . +2 "storage"(H% +4 "core" % G E 8\  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "manipulator"& & +4 "core" &K A 5 \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   ? : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(e'r +3 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &  , : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 9 - " : +2 .tForearm.seek PC + "manipulator"&&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%S( +84 "core" ' + "storage"((- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'1 +41 "core" ' +317 ( +2 "storage"(L& +3 "core" &K L ; P\  +2 "manipulator"&O& +5 "core" &   : + "manipulator"&5% +4 "core" %   % +2 .tForearm.seek :retract +2 "manipulator"&2' +139 "core" ' +4 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&@( +245 "core" ( +2 "manipulator"&G& +3 "core" &   j 7 +2 "storage"( & +4 "core" &K I F w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +91 "core" ' +2 .tHand.open + "manipulator"&$1 +63 "core" 1 +2 "storage"(-- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +25 "core" ' +2 .tSE.reconfigure :seal + "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(4& +4 "core" &K \  +2 "manipulator"&9& +9 "core" &   7 +2 .tElbow.seek 6 + "manipulator"&M( +4 "core" ( +2 "manipulator"&R& +3 "core" &  . 7 +3 "storage"(%& +3 "core" &K \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&+' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(/'" +61 "core" ' +2 "manipulator"&#& +4 "core" & \  7 +2 "storage"(n& +4 "core" &K S S S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&>'< +24 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(F' +19 "core" ' +2 "manipulator"&*% +3 "core" %L   +2 "storage"()& +5 "core" &K Q H 8\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&!'x +14 "core" ' + "manipulator"&C& +4 "core" &   ( 7 +2 "storage"(A& +5 "core" &K A 8 F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' + "storage"(;% +4 "core" % N = \ \ +3 ."downElevator"SE.seek :down +3 "storage"(c' +99 (J% +3 "core" %O , *\ Xg +2 "manipulator"&N% +4 "core" %   2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +94 "core" ' +58 ' + ."downElevator"SE.stop +6 "storage"(5 +3 (P& +3 "core" &K T Y g\  +2 "collection"'[& +4 "core" &\\a\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   }  +2 "storage"(_% +4 "core" % j j \  +2 "storage"(,. +3 "core" .(K +2 "storage"(& +3 "core" &K j j \  +3 "storage"(g& +3 "core" &K Z f G\  +2 "manipulator"& & +4 "core" &  ^ 7 +2 .tElbow.seek 6 + "manipulator"&X( +4 "core" ( +2 "manipulator"&I& +3 "core" &    7 +2 "storage"(& +4 "core" &K j j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&K' +90 "core" ' + "storage"(U& +4 "core" &K _ \\ n\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'r +298 "core" ' + "storage"(z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +4 "core" &    7 +2 "storage"(W& +4 "core" &K i j d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&<'< +18 "core" ' + .tElbow.hold +46 "manipulator"&, +11 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(q'f +31 "core" ' +2 "manipulator"&v% +4 "core" %G   3 +2 "storage"(Q& +3 "core" &K O Z \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&w's +14 "core" ' +2 "manipulator"&h& +3 "core" & \  } 7 +2 "storage"(& +5 "core" &K _ i m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +30 "core" ' +2 "manipulator"&V& +3 "core" &  q 7 +2 "manipulator"&u% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +178 "core" ( +2 "manipulator"&& +4 "core" &Ӂ    G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &Ӂ   D G +3 .tForearm.seek CC + "manipulator"&b'? +105 "core" ' + .tHand.close + "manipulator"&B/ +52 "core" / +2 .tCC.seek :open +2 "collection"'j( +447 "core" ( +2 "storage"(r& +3 "core" &K m m R\  +2 "storage"(m& +4 "core" &K j j \  +2 "manipulator"&& +3 "core" &Ӂ   G +2 "manipulator"&y% +4 "core" %    } +2 .tForearm.seek :retract +2 "manipulator"&Z' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&"( +150 "core" ( +2 "manipulator"&& +3 "core" &   A  +2 "storage"(& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&f'< +100 "core" ' + .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +56 "core" 1 +2 "manipulator"&% +5 "core" % D  0 + "storage"(0& +5 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&k'p +14 "core" ' +2 "manipulator"&\ & +3 "core" &   +2 "storage"(s& +4 "core" &K >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +14 "core" ' +2 "storage"(i% +4 "core" % | \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +100 (.% +3 "core" %F g ` \ Va +2 "manipulator"&% +3 "core" % \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'d& +3 "core" & \ +2 "manipulator"&% +4 "core" %    &  +2 "storage"(|% +4 "core" % w w \  +2 "storage"(t. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(\\([ +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ('& +3 "core" &[ j h K\  +2 "manipulator"&{& +4 "core" &     +2 .tElbow.seek 7 +2 "manipulator"&=(r +50 "core" ( +2 "manipulator"&& +4 "core" &z     +2 "storage"(H& +48 "core" &[ { v l\  +5 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +93 "core" ' + "storage"( & +4 "core" &[ !\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +298 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ ~ \  +2 "manipulator"&& +4 "core" &z \ \ 8  +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( + "manipulator"&& +4 "core" &z    +2 "storage"(x& +3 "core" &[ ~ \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&('ϧ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&T/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(6' +8 "core" &z  + "manipulator"&e% +4 "core" % Ϝ  +2 .tForearm.seek :retract +2 "manipulator"&L' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&O(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +2 "manipulator"&5& +4 "core" &{&   ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &{&   ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&G'? +96 "core" ' +3 "manipulator"& & +3 "core" &ӎ#  9 <= +2 "manipulator"&% +4 "core" %:   I +2 "collection"'$& +4 "core" & \ \ +3 "collection"'-& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'(\\ +2 "core" &\ \ +7 &; \ \ $f +9 &Yx \ 7 +10 &v\ \ \ J +9 &T\ \ \ J +9 &U\ \ \ K +10 &IY\ \ \ K +9 & R\ \ \ K +10 &X\ \ \ K +9 &W\ \ \ K +9 &QR\ \ \ K +10 & R\ \ \ K +9 &!R\ \ \ K +9 &#T\ \ \ K +10 &%YR\ \ \ K +10 &'R\ \ \ K +11 &(S\ \ \ K +7 &*R\ \ \ K +9 &,aS\ \ \ K +10 &.#S\ \ \ K +9 &/U\ \ \ J +9 &1V\ \ \ J +10 &3iU\ \ \ K +9 &5+Y\  \ K +10 &6X\ \ \ K +9 &8S\ \ \ K +9 &:rT\ \ \ J +10 &<4U\ \ \ J +9 &=U\ \ \ K +9 &?Y\ \ \ K +10 &AxU\ \ \ K +9 &C9Z\ \ \ K +10 &Dc\ \ \ L +9 &Fk\ \ \ M +9 &Hp\ \ \ P +10 &J(\ /\ (\ T +9 &K\ 3\ 6\ W +9 &M\ 0\ 2\ X +10 &Oe\ -\ -\ W +9 &Q%\ ,\ -\ X +10 &R\ *\ +\ X +9 &T\ &\ '\ Y +9 &Vf\ &\ &\ Y +10 &X'\ &\ '\ Z +9 &Y\ "\ #\ [ +9 &[\ #\ #\ G +10 &\\5\ "\ #\ . +9 &\\d\ \ \ L +3 ( + "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&41 +57 "core" 1 +3 "manipulator"&9% +3 "core" % :   i I +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%%& +3 "core" &\ +2 "manipulator"&2% +4 "core" %     +2 "storage"(#% +4 "core" % B ; \  +2 "storage"(n. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(*([ +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &[ " *\  +2 "manipulator"&)& +4 "core" &ӫ  X 8 +2 "manipulator"&C% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&1(r +163 "core" ( + "manipulator"&A& +4 "core" &x  #  +2 "storage"(;& +5 "core" &[ j j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&@'= +94 "core" ' + "storage"(E& +4 "core" &[ j l \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +50 (N& +4 "core" &[ j i \  +2 "manipulator"&+& +4 "core" &x   %  +2 .tElbow.seek 7 +2 "manipulator"&M(r +4 "core" ( + "manipulator"&/& +5 "core" &x   + "storage"(>& +4 "core" &[ _ l \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&P'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&!/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +3 "storage"(' +6 "core" &x   +2 "manipulator"&_% +4 "core" % ϡ ' +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" &  ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &  ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +100 "core" ' + "manipulator"&I& +4 "core" &   ) +2 "manipulator"&% +4 "core" %   +2 "processing"%& +4 "core" &\ +3 "processing"%U& +4 "core" &\ +3 .tPC.seek :closed + "processing"%c(^ +5 "core" &\  +9 &4y\ *x +9 &e|\ > +10 &|n\ N +9 &@O\ M +9 &T\ N +10 &S\ M +9 &S\ N +9 &GS\ M +10 & V\ M +9 &U\ M +10 & T\ N +9 &"OS\ M +9 &$R\ M +10 &%Q\ M +9 &'T\ N +9 &)VT\ N +10 &+T\ M +9 &,W\ M +10 &.T\ N +9 &0^T\ N +9 &2"S\ M +10 &3R\ M +9 &5Q\ M +9 &7fT\ N +10 &9(U\ N +9 &:X\ M +10 &<R\ N +9 &>oY\ M +9 &@1U\ M +10 &A\\\ N +9 &Cc\ O +9 &Eqg\ O +10 &G.n\ Q +13 &H\ R +6 &J\ S +9 &Ll\ T +9 &N,\ T +10 &O\ T +9 &Q\ U +9 &Sq\ U +10 &U3\ U +9 &V\ U +10 &X\ U +9 &Zy\ U +9 &\\;\ U +10 &]{s\ 9 +9 &^*t\ M +9 &^"\ 0 +3 ( +2 "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&a1 +59 "core" 1 +2 "manipulator"&:% +3 "core" %   _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +97 "core" ' +2 "processing"%p& +3 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&W% +4 "core" % %   @ +2 "storage"(`% +4 "core" % E F \  +2 "storage"(v. +2 "core" .([ +2 "storage"(Q& +4 "core" &[ O H 1\  +2 "storage"(h& +3 "manipulator"&& +8 "core" &[ H R \  + &    ) +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&V( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(u'r +2 "core" ( + "manipulator"&K& +5 "core" &   ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" & # * I ) +2 .tForearm.seek PC +2 "manipulator"&]' +95 "core" ' +2 .tHand.close + "manipulator"&1 +57 "core" 1 +2 "manipulator"&!% +4 "core" % ΃   +2 "storage"([& +3 "core" &[ } \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 308 counts + "manipulator"&_'ϯ +15 "core" ' + "manipulator"&1& +4 "core" &l   +2 "storage"(@& +4 "core" &[ w w \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +14 "core" ' +2 "storage"(P% +3 "core" % w w \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (g% +3 "core" %F j l }\ Va +2 "manipulator"&M% +4 "core" %. +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +92 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&% +4 "core" %      +2 "storage"(% +4 "core" % v z \  +2 "storage"(F. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(S(<- +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (a& +4 "core" &<. | _\ +2 "manipulator"&:& +3 "core" &l   6  +2 .tElbow.seek 5 +2 "manipulator"&p( +30 "core" ( +2 "manipulator"&W& +3 "core" &  '  +2 "storage"(`& +4 "core" &<. `\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +93 "core" ' +47 "storage"(Q& +6 "core" &<. \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(U'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &<. s q L\ +2 "manipulator"&K& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"& & +3 "core" & )  +2 "storage"(<& +5 "core" &<. ~ \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&q'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"(c' +8 "core" &  + "manipulator"&u% +4 "core" % ϶  +2 .tForearm.seek :retract +2 "manipulator"&l' +91 "core" ' +6 .tElbow.seek CC +2 "manipulator"&(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +5 "core" &ӏ$  L =B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &ӏ$   5 =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&^'? +94 "core" ' +2 "manipulator"&r& +4 "core" &Ӑ%   D =A +2 "manipulator"&V% +4 "core" %<  y , +2 "collection"'& +4 "core" & \ +3 "collection"'y& +5 "core" &\ \ +2 .tCC.seek :closed + "collection"'b(\\ +4 "core" & \ \  +9 &6~\ \ \ +{ +10 &g~\ \ \ > +9 &l\ \ \ L +9 &`S\ \ \ K +10 &"S\ \ \ K +9 &U\ \ \ J +10 &T\ \ \ J +9 &iT\ \ \ J +9 &+V\ \ \ J +10 &U\ \ \ J +9 & U\ \ \ J +9 &"qT\ \ \ J +10 &$3T\ \ \ J +9 &%U\ \ \ J +10 &'T\ \ \ K +9 &)yT\ \ \ J +9 &+;U\ \ \ J +10 &,U\ \ \ J +9 &.U\ \ \ K +9 &0Y\ \ \ K +10 &2BS\ \ \ K +9 &4U\ \ \ K +10 &5Y\ \ \ K +9 &7T\ \ \ K +9 &9KU\ \ \ J +10 &; U\ \ \ K +9 &<Y\ \ \ K +9 &>T\ \ \ K +10 &@RU\ \ \ K +9 &BY\ \ \ K +10 &C]\ \ \ L +9 &Ed\ \ \ M +9 &GPq\ \ \ N +10 &I\ \ \ R +9 &J\ 0\ -\ V +9 &L{\ 1\ /\ X +10 &N>\ -\ /\ W +9 &O\ +\ *\ X +10 &Q\ )\ (\ Y +9 &S\ &\ (\ Y +9 &U@\ #\ %\ Y +10 &W\ $\ $\ Z +9 &X\ "\ $\ [ +9 &Z\ "\ "\ [ +10 &\\!x\ !\ #\ 0 +9 &\\0\ \ "\ c +9 ( +2 &\\v\ \ !\ Q + "collection"'y& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.18 + .Hand.open + "manipulator"&71 +58 "core" 1 +2 "manipulator"&}% +4 "core" % <   d , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%\ & +4 "core" &\ +2 "manipulator"&B% +3 "core" %   ! +2 "storage"(Z% +4 "core" % S O ^\  +2 "storage"(.. +3 "core" .(<- +2 "storage"(& +3 "core" &<. S S ]\ +2 "storage"(d& +3 "core" &<. I I K\ +2 "manipulator"&& +5 "core" &Ӱ   * 8! + "manipulator"&|% +4 "core" %   A ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&t( +164 "core" ( +2 "manipulator"&& +4 "core" &  Y  +2 "storage"(o& +4 "core" &<. j j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Y'O +93 "core" ' +2 "storage"(m& +3 "core" &<. g _ {\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +8 ('& +3 "core" &<. I P (\ +2 "manipulator"&s& +4 "core" &     +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&i& +3 "core" &    +2 "storage"(& +4 "core" &<. = 9 \ +2 .tForearm.seek 5 + 300 counts +49 "manipulator"&'Ϲ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"( ' +8 "core" & \   +2 "manipulator"&~% +3 "core" %  9 +3 .tForearm.seek :retract + "manipulator"&3' +92 "core" ' +4 .tElbow.seek PC +2 "manipulator"&f( +156 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +97 "core" ( +3 "manipulator"& & +9 "core" &  +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 && +7 "core" &  +6 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek PC +4 "manipulator"&' +96 "core" ' +3 "manipulator"&x& +9 "core" &    +4 "manipulator"&T% +6 "core" %    Q +6 "processing"%& +6 "core" &\ +6 "processing"%e& +11 "core" &\ +7 .tPC.seek :closed +2 "processing"% (^ +10 "core" &\ +4 &\ +2 &\ 8 +8 &FJs\ 0 +9 &ts|\ E +8 &Z\ M +11 &S\ M +8 &R\ M +10 &`R\ M +10 &#T\ M +8 &T\ M +11 &V\ M +9 &hT\ M +8 &!*Q\ M +11 &"T\ M +8 &$R\ M +11 &&pS\ M +9 &(3Q\ M +8 &)T\ N +11 &+S\ M +9 &-xT\ M +10 &/;Q\ M +9 &0S\ M +8 &2T\ M +11 &4P\ M +11 &6CT\ M +8 &8T\ M +8 &9S\ N +10 &;W\ N +10 &=KR\ M +8 &? Y\ N +10 &@W\ N +15 &B]\ N +10 &DMb\ O +7 &F n\ P +7 &Gz\ Q +6 &I\ S +9 &KH\ S +10 &M\ \ S +9 &N\ T +9 &P\ T +10 &RM\ T +9 &T\ U +10 &U\ T +9 &W\ U +9 &YS\ U +10 &[\ V +9 &\\\ U +9 &^G`\ "k +10 &^ j\ 4 +9 ( + &^\ - +2 "processing"%e& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&"1 +63 "core" 1 +2 "manipulator"&{% +4 "core" %   n Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + "processing"%5& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&&% +4 "core" %    U  +2 "storage"( % +4 "core" % H F \  +2 "storage"($. +3 "core" .(<- +2 "storage"(& +4 "core" &<. E E 2\ +2 "storage"(L& +2 "manipulator"&j& +8 "core" &<. S P ?\ + &  t +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&8( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&%& +5 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &   +2 .tForearm.seek PC + "manipulator"&=' +95 "core" ' +2 .tHand.close + "manipulator"&D/ +59 "core" / +2 .tPC.seek :open +2 "processing"%6( +94 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(-'1 +51 "core" ' +300 ( + "storage"(?& +4 "core" &<- E H #\ +2 "manipulator"&4& +3 "core" &    +2 "manipulator"&(% +4 "core" %     +2 .tForearm.seek :retract +2 "manipulator"&C' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +240 "core" ( +2 "manipulator"&& +3 "core" &   { < +2 "storage"(A& +4 "core" &<- I I \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +93 "core" ' + .tHand.open +2 "manipulator"&\\1 +61 "core" 1 +10 "storage"(E- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(N' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +3 "core" -' +2 "storage"(n& +3 "core" &<- n d q\ +3 "manipulator"&>& +3 "core" &   S < +2 .tElbow.seek 5 +2 "manipulator"&!( +4 "core" ( +2 "manipulator"&[& +3 "core" &   < +2 "storage"(1& +4 "core" &<- d d \ +3 .tForearm.seek 5 + 450 counts + "manipulator"&@'O +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(P'" +59 "core" ' + "manipulator"&O& +5 "core" &  \  < + "storage"(g& +4 "core" &<- H I \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&M'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(+' +28 "core" ' +2 "manipulator"&% +4 "core" %Ρ   t +2 "storage"(& +3 "core" &<- I H \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&_' +14 "core" ' +2 "manipulator"&& +3 "core" &  ! 8 +2 "storage"(F& +4 "core" &<- = 9 t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +18 "core" ' + "storage"(% +4 "core" % = O m\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (*% +3 "core" %(P & & \ Xg +2 "manipulator"&a% +4 "core" %J    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &<- P H /\ +2 "collection"'`& +4 "core" &\\v\ \ \ Q +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&Q% +5 "core" %     + "storage"(/% +4 "core" % 8 7 \  +2 "storage"(I. +2 "core" .(<- +2 "storage"(& +4 "core" &<- = 9 I\ +2 "storage"(h& +4 "core" &<- P Y \ +2 "manipulator"&K& +3 "core" &    8 +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&<& +4 "core" & \   8 +2 "storage"(,& +4 "core" &<- < L a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z'O +94 "core" ' +2 "storage"(u& +3 "core" &<- j i \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'r +298 "core" ' +2 "storage"(v- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &  8 +2 "storage"(]& +3 "core" &<- S R \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&U'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(r- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(V's +29 "core" ' + "manipulator"&% +4 "core" %Δ   +2 "storage"(X& +3 "core" &<- F H \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&c' +14 "core" ' +2 "manipulator"&l& +4 "core" &  _ + +42 "storage"(G& +10 "core" &<- E B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&7'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(}' +35 "core" ' +2 "manipulator"&\ & +4 "core" &   . + +2 "manipulator"&B% +3 "core" %9  e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&.(ӂ +153 "core" ( +2 "manipulator"&& +3 "core" &ӗ \  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &ӗ   + 8 +2 .tForearm.seek CC +2 "manipulator"&y'? +100 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'|( +447 "core" ( +2 "storage"(^& +3 "core" &<- ` k T\ +2 "storage"(& +5 "core" &<- \\ [ \ + "manipulator"&o& +4 "core" &Ӝ   7 +2 "manipulator"&m% +4 "core" % 4   +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&0( +162 "core" ( +2 "manipulator"&& +3 "core" &   i  +2 "storage"('& +4 "core" &<- \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&s'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +3 "manipulator"&k% +3 "core" % ΁    +2 "storage"(H& +5 "core" &<- \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 288 counts + "manipulator"&~'ϭ +14 "core" ' +3 "manipulator"&t& +3 "core" &  +2 "storage"(Y& +4 "core" &<- w w d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(% +3 "core" % y e\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (% +3 "core" %D i _ \ V` +2 "manipulator"&% +4 "core" %5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'T& +3 "core" & \ +2 "manipulator"&% +4 "core" %     +2 "storage"( % +4 "core" % u 7\  +2 "storage"(3. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(w(K +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" &K _ \\ i\ +2 "manipulator"&{& +4 "core" &   $  +2 .tElbow.seek 6 + "manipulator"&5( +4 "core" ( + "manipulator"&&& +9 "core" &  $  +2 "storage"( & +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&$' +93 "core" ' +2 "storage"(& +4 "core" &K | \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +299 "core" ' +2 "storage"(j- +2 "core" -'\ +3 .tSE.configure :default + "storage"(#QK-0-\ b +3 (L& +49 "core" &K } \ +4 "manipulator"&%& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&2( +2 "core" ( +2 "manipulator"&& +4 "core" &  f  +2 "storage"(D& +3 "core" &K ~ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( ' +8 "core" &   +2 "manipulator"&% +3 "core" % \\ e +3 .tForearm.seek :retract + "manipulator"&?' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&4(ӂ +104 "Can"? QO +47 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&(& +4 "core" &Ӎ$   - =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &Ӎ$   =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 "manipulator"&A& +4 "core" &Ӎ$  3 =D +2 "manipulator"&8% +4 "core" %E   ; f +2 "collection"'\\& +4 "core" & \ +3 "collection"'E& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"')(\\ +5 "core" & \ +6 &A \ $f +9 &[{ \ 8 +9 &v\ \ K +10 &T\ \ \ K +9 &X\ \ \ K +9 &UW\ \ \ J +10 &U\ \ \ J +9 &U\ \ \ J +10 &S\ \ \ K +9 &^S\ \ \ J +9 & U \ \ J +10 &!X\ \ \ K +9 &#U\  \ K +9 &%eR\ \ \ K +10 &''R\ \ \ K +9 &(R\ \ \ K +10 &*R\ \ \ J +9 &,lS\ \ K +9 &..T\ \ \ K +10 &/T\ \ \ J +9 &1U\ \ \ J +9 &3uU\ \ \ J +10 &57U\ \ \ J +9 &6U\ \ \ J +10 &8U \ \ J +9 &:}U\ \ \ J +9 &T\ \ \ J +9 &?U\ \ \ J +9 &AV\ \ \ K +10 &CEZ\ \ \ K +9 &Eb\ \ \ L +10 &Fj\ \ \ M +9 &H|\ \ \ P +9 &J3\ ,\ %\ T +10 &K\ 1\ 1\ W +9 &M\ /\ -\ W +9 &Oq\ *\ -\ W +10 &Q1\ *\ *\ X +9 &R\ $\ '\ X +10 &T\ %\ &\ Y +9 &Vs\ %\ %\ Y +9 &X3\ $\ #\ Z +10 &Y\ !\ #\ [ +9 &[\ "\ !\ G +9 &\\/\ \ "\ 0 +10 &\\f\ \ \ N +2 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&n1 +61 "core" 1 +2 "manipulator"&>% +4 "core" % E   f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%1& +3 "core" &\ +2 "manipulator"&C% +4 "core" % !  ) +2 "storage"(O% +3 "core" % I S `\  +2 "storage"(g. +4 "core" .(K + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K % &\  +2 "manipulator"&-& +4 "core" &ӭ!   9$ +2 "manipulator"&% +4 "core" % ! \ ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&F( +164 "core" ( +2 "manipulator"&J& +3 "core" &   6  +2 "storage"(& +4 "core" &K i i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +100 "core" ' +2 "storage"(;& +3 "core" &K i j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'r +311 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" &K S I \  +2 "manipulator"&@& +3 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&P& +3 "core" &    +3 "storage"(M& +3 "core" &K j j \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&W'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +54 "core" / +51 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(Q' +8 "core" &  E  +2 "manipulator"&/% +4 "core" % h & +2 .tForearm.seek :retract +2 "manipulator"&I' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&& +4 "core" &  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &    3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +89 "core" ' +2 "manipulator"&<& +3 "core" &  \  3 +2 "manipulator"&,% +4 "core" % i +2 "processing"%9& +4 "core" &\ +3 "processing"%u& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\ +7 &6\ $d +10 &Vu\ 6 +9 &~y\ K +10 &P\ M +9 &eS\ M +9 &'R\ M +10 &U\ N +9 &T\ M +9 &mT\ M +10 &/W\ M +9 &T\ M +10 &!P\ M +9 &#uU\ M +9 &%6T\ N +14 &&U\ M +5 &(V\ N +9 &*~U\ M +10 &,?U\ M +9 &.T\ M +10 &/V\ M +9 &1S\ M +9 &3HS\ M +10 &5 S\ M +9 &6T\ M +9 &8U\ N +10 &:OT\ M +9 &<U\ M +10 &=V\ N +9 &?S\ M +9 &AVT\ N +10 &C\\\ N +9 &Dc\ O +9 &Fh\ P +10 &HTx\ Q +9 &J\ T +10 &K\ T +9 &M\ T +9 &OS\ T +10 &Q\ T +9 &R\ T +9 &T\ U +10 &VY\ U +9 &X\ U +10 &Y\ U +9 &[\ U +9 &]a\ B +10 &^Hy\ R +9 &^ S\ 4 +5 ( +2 "processing"%u& +4 "core" &^'\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&R1 +53 "core" 1 +2 "manipulator"&:% +3 "core" %    h i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v' +90 "core" ' +2 "processing"%& +3 "core" &^'\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&]% +4 "core" %   @  +2 "storage"(r% +4 "core" % H H \  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(X(K +6 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +4 (l& +7 "manipulator"&G& +4 "core" &K G G (\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   3 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(\ 'r + "manipulator"&B( +6 "core" ( +2 "manipulator"&z& +3 "core" &    3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & 2 1 3 +2 .tForearm.seek PC +2 "manipulator"&p' +92 "core" ' +2 .tHand.close + "manipulator"&U/ +61 "core" / +3 .tPC.seek :open + "processing"%c( +88 "core" ' +2 "storage"(V- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +40 "core" ' +320 ( +2 "storage"(d& +3 "core" &K R P e\  +2 "manipulator"&7& +4 "core" &   3 +2 "manipulator"&q% +4 "core" %   \  ) +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Z( +249 "core" ( + "manipulator"&b& +4 "core" &   ; +2 "storage"(^& +3 "core" &K I E \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' + .tHand.open + "manipulator"&o1 +62 "core" 1 +42 "storage"(m- +11 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"('' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +3 "core" -' +2 "storage"(.& +3 "core" &K X\  +2 "manipulator"&& +4 "core" &  ; +2 .tElbow.seek 6 + "manipulator"&k( +4 "core" ( +2 "manipulator"&H& +3 "core" &   ; +2 "storage"(t& +4 "core" &K ~ ~ m\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&Y' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +63 "core" ' + "manipulator"&& +4 "core" &   " ; +2 "storage"(& +4 "core" &K @ F |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +26 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(s' +20 "core" ' +2 "manipulator"&T% +4 "core" %A   +2 "storage"(& +4 "core" &K H H 3\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&~'m +15 "core" ' + "manipulator"& & +4 "core" &   ; +2 "storage"(3& +4 "core" &K 7 8 y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&}' +16 "core" ' + "storage"(% +4 "core" % i i D\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (S% +3 "core" %RT # - F\ Xg +2 "manipulator"&"% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (&& +3 "core" &K Z U \  +2 "collection"' & +5 "core" &\\e\ \ \ N + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %    %  +2 "storage"(i% +4 "core" % [ Q\  +2 "storage"(x. +3 "core" .(K +2 "storage"(j& +4 "core" &K P j \\\  +2 "storage"(L& +3 "core" &K g ] :\  +2 "manipulator"&%& +4 "core" &   : +2 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&D& +4 "core" &   t : +2 "storage"(f& +4 "core" &K j j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +100 "core" ' +2 "storage"(& +4 "core" &K _ h k\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'r +299 "core" ' +2 "storage"($- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" &    : +2 "storage"(=& +4 "core" &K j i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&e'< +25 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(8'g +29 "core" ' +2 "manipulator"&\\% +3 "core" %B \\ +2 "storage"(2& +4 "core" &K H S Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts + "manipulator"& 'n +16 "core" ' + "manipulator"&?& +4 "core" &   : +2 "storage"(|& +49 "core" &K j j V\  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&n' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(>' +35 "core" ' +2 "manipulator"&1& +3 "core" &   R : +2 "manipulator"&C% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +151 "core" ( +2 "manipulator"&E& +4 "core" &Ӎ% #  >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӎ%   >O +2 .tForearm.seek CC + "manipulator"&-'? +94 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(J& +4 "core" &K f k @\  +2 "storage"(& +4 "core" &K \\ f E\  +2 "manipulator"&w& +3 "core" &ӳ   9) +2 "manipulator"&;% +4 "core" % C    +2 .tForearm.seek :retract +2 "manipulator"&4' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&[( +157 "core" ( + "manipulator"&*& +4 "core" &   +2 "storage"(a& +4 "core" &K _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&@'< +101 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +58 "core" 1 +2 "manipulator"&_% +3 "core" % G   +2 "storage"(`& +4 "core" &K ~ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&/'s +16 "core" ' +2 "manipulator"&F& +3 "core" & +2 "storage"(#& +4 "core" &K w w \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +15 "core" ' + "storage"(W% +4 "core" % w y 1\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (h% +3 "core" %O g \\ s\ Wd +2 "manipulator"&!% +3 "core" % Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"',& +3 "core" &\ \ \ +2 "manipulator"&9% +4 "core" %      +2 "storage"(Q% +5 "core" % w w \  +2 "storage"(I. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(6([ +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +2 "core" &[ _ \\ g\ +2 "manipulator"&:& +4 "core" & L +2 .tElbow.seek 7 + "manipulator"&(r +28 "core" ( +2 "manipulator"&]& +3 "core" &g     +2 "storage"(r& +4 "core" &[ { \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +94 "core" ' + "storage"(l& +4 "core" &[ j\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'r +299 "core" ' +2 "storage"(G- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &[ l\ +48 "manipulator"& & +5 "core" &g r  +3 .tElbow.seek 7 + "manipulator"&K(r +31 "core" ( +2 "manipulator"&U& +3 "core" & V  +2 "storage"(& +4 "core" &[ w v [\ +3 .tForearm.seek 7 + 300 counts + "manipulator"&V'ϧ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +5 "storage"(' +5 "core" & M  +2 "manipulator"&\ % +5 "core" % ϧ +2 .tForearm.seek :retract + "manipulator"&d' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&7(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&q& +4 "core" &ӎ   - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &ӎ   - +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'? +93 "core" ' +4 "manipulator"&^& +4 "core" &ӎ - +2 "manipulator"&B% +5 "core" %B   N +2 "collection"'o& +3 "core" & \ +3 "collection"'m& +6 "core" & \ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &\  \ +8 &; \ \ %g +9 &Zu \  \ 7 +9 &v\ \ \ K +10 &U\ \ \ K +9 &W\ \  \ K +9 &LX\ \ \ J +10 &U\ \ \ J +9 &X\ \  \ K +10 &U\ \ \ K +9 &SR\ \  \ K +9 & R\ \  \ K +10 &!W\ \ \ J +9 &#U\ \ \ J +9 &%[W\ \ \ K +10 &'W\ \ \ J +9 &(T\ \  \ J +9 &*W\ \ \ K +10 &,dW\ \ \ J +9 &.&U\ \ \ J +10 &/X\ \ \ K +9 &1Y\ \  \ K +9 &3kS\ \ \ K +10 &5-T\ \ \ K +9 &6R\ \  \ J +9 &8U\ \  \ J +10 &:tT\ \ \ J +9 &<6U\ \ \ J +10 &=T\ \  \ K +14 &?T\ \  \ K +4 &A|W\ \ \ J +10 &C;[\ \ \ K +9 &Db\ \  \ L +9 &Fj\ \ \ \ M +10 &Hs\ \ \ P +9 &J)\ /\ )\ T +10 &K\ 3\ 3\ V +9 &M\ 0\ 1 \ W +9 &Of\ ,\ .\ W +10 &Q(\ *\ , \ W +9 &R\ (\ *\ W +10 &T\ )\ '\ Y +9 &Vg\ &\ &\ \ Z +9 &X)\ $\ %\ Z +10 &Y\ $\ #\ [\ +9 &[\ $\ $\ \ H +9 &\\2\ "\ "\ / +10 &\\e\ \ #\ M +2 ( +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&y1 +58 "core" 1 + "manipulator"&.% +4 "core" % B   N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%H& +4 "core" &\ +2 "manipulator"&t% +3 "core" %    ~  +2 "storage"(% +4 "core" % j j \  +2 "storage"(. +3 "core" .([ +2 "storage"(T& +3 "core" &[ X P A\ +3 "storage"(& +3 "core" &[ i f 0\ +2 "manipulator"&& +4 "core" &ӏ   - +2 "manipulator"& % +4 "core" %    c  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +159 "core" ( +2 "manipulator"&3& +4 "core" &r   >  +2 "storage"(& +4 "core" &[ _ i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Z'= +96 "core" ' +2 "storage"(& +3 "core" &[ _ \\ m\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +297 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &[ D G Z\ +2 "manipulator"&Y& +3 "core" &r     +2 .tElbow.seek 7 +2 "manipulator"&k(r +3 "core" ( +2 "manipulator"&& +3 "core" &r     +2 "storage"(& +4 "core" &[ j j \\\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&&'ϧ +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(' +8 "core" &r     +2 "manipulator"&i% +49 "core" %  - +4 .tForearm.seek :retract +2 "manipulator"&x' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +108 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +129 "core" ( +2 "manipulator"&j& +3 "core" & \   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&%' +92 "core" ' +2 "manipulator"&D& +3 "core" &   +2 "manipulator"&f% +4 "core" %   9 +2 "processing"%}& +5 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +9 &3v\ )w +9 &d}\ > +10 &yn\ N +9 &;T\ M +9 &S\ N +10 &R\ M +9 &T\ M +10 &BS\ N +9 &U\ M +9 &Q\ M +10 & V\ M +9 &"KS\ M +9 &$ V\ M +10 &%T\ M +9 &'U\ M +10 &)RU\ N +9 &+T\ M +9 &,U\ N +10 &.S\ M +9 &0[Q\ M +9 &2S\ M +10 &3O\ M +9 &5T\ M +10 &7cT\ M +9 &9%S\ M +9 &:T\ N +10 &<W\ M +9 &>jY\ N +9 &@,W\ N +10 &AZ\ N +9 &Cc\ O +10 &Emh\ O +9 &G+n\ Q +9 &H\ R +10 &J\ T +9 &Lh\ T +9 &N(\ T +10 &O\ T +9 &Q\ T +10 &Sm\ U +9 &U0\ T +9 &V\ U +10 &X\ U +9 &Zu\ U +9 &\\6\ U +10 &]|u\ : +9 &^*s\ N +9 &^&\ 1 +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&01 +56 "core" 1 +2 "manipulator"&{% +4 "core" %   = 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +97 "core" ' +2 "processing"%(& +3 "core" &^&\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&=% +3 "core" % %  \  ; +2 "storage"(A% +4 "core" % G I ,\  +2 "storage"(\\. +3 "core" .([ +2 "storage"(2& +3 "core" &[ H H \ +3 "storage"(?& +2 "manipulator"&|& +7 "core" &[ F H \ + & *  P  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&1( +6 ."raiseStack"SE.seek :beamBreak + "storage"(C'r +3 "core" ( +2 "manipulator"&& +3 "core" &  X  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 1 0  +2 .tForearm.seek PC +2 "manipulator"&5' +92 "core" ' + .tHand.close + "manipulator"&e/ +57 "core" / +3 .tPC.seek :open +2 "processing"% ( +96 "core" ' +2 "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'1 +46 "core" ' +301 ( + "storage"(& +4 "core" &[ P j X\ +2 "manipulator"&n& +4 "core" &   3  +2 "manipulator"&% +3 "core" %   + 8 +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&O(r +249 "core" ( +2 "manipulator"&)& +3 "core" &  ,  +2 "storage"(J& +4 "core" &[ < 9 |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +91 "core" ' +2 .tHand.open + "manipulator"&w1 +55 "core" 1 +2 "storage"(;- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(*' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(a' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +53 "core" -' +5 "storage"(g& +3 "core" &[ ` Y\ +2 "manipulator"&M& +4 "core" &  l  +2 .tElbow.seek 7 +2 "manipulator"&_(r +20 "core" ( + "manipulator"&`& +4 "core" &{   O  +2 "storage"(F& +4 "core" &[ c d \ +3 .tForearm.seek 7 + 450 counts + "manipulator"&#'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(W'" +54 "core" ' + "manipulator"&4& +4 "core" &{     +2 "storage"(h& +4 "core" &[ P F \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&!'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(@' +18 "core" ' +2 "manipulator"&,% +3 "core" %Έ   9 +2 "storage"(9& +4 "core" &[ # #\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts + "manipulator"&/'ϴ +14 "core" ' +2 "manipulator"&Q& +3 "core" &{  +2 "storage"(I& +4 "core" &[ j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&>'= +16 "core" ' +2 "storage"(N% +3 "core" % j i \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (X% +3 "core" %>L 3 &\ Wd +2 "manipulator"&R% +3 "core" %> T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (]& +4 "core" &[ 8 S H\ +2 "collection"'r& +3 "core" &\\a\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&l% +4 "core" %      +2 "storage"(P% +3 "core" % i i \  +2 "storage"(<. +4 "core" .([ + "storage"(G& +4 "core" &[ j j \ +2 "storage"(z& +37 "core" &[ l l \ +2 "manipulator"& & +3 "core" &{   $  +2 .tElbow.seek 7 +2 "manipulator"&U(r +3 "core" ( +2 "manipulator"&& +3 "core" &{    +2 "storage"(+& +4 "core" &[ i j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&v'= +96 "core" ' + "storage"(\ & +4 "core" &[ ` h [\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +4 "core" &{  3  +2 "storage"(p& +3 "core" &[ j j \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&u'{ +27 "core" ' + .tElbow.hold + "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(^- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(B'o +32 "core" ' + "manipulator"&K% +4 "core" %΍  :  +2 "storage"(o& +4 "core" &[ S I >\ +2 .tForearm.force -20 "manipulator"&5 +4 .tForearm.seek 7 + 318 counts + "manipulator"&'Ϲ +13 "core" ' +2 "manipulator"&d& +3 "core" &{  z  +2 "storage"(& +4 "core" &[ j _ /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&y'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(.' +38 "core" ' +2 "manipulator"&H& +3 "core" &{  J  +48 "manipulator"&t% +5 "core" %4 \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ( +2 "manipulator"&T& +4 "core" &ӑ   ] 9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ  e 9& +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close + "manipulator"&m/ +59 "core" / +2 .tCC.seek :open + "collection"' ( +448 "core" ( + "storage"(b& +4 "core" &[ ~ =\ +2 "storage"(3& +3 "core" &[ ~ !\ +3 "manipulator"&& +3 "core" &ӝ   7 +2 "manipulator"&% +4 "core" % O  f  +2 .tForearm.seek :retract +2 "manipulator"&7' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +158 "core" ( + "manipulator"&S& +4 "core" & Q +2 "storage"("& +4 "core" &[ w w b\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&Y'{ +92 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&~% +3 "core" % Ώ    +2 "storage"( & +4 "core" &[  z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&i'ϻ +27 "core" ' +2 "manipulator"&& +5 "core" & + "storage"(Z& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&''= +24 "core" ' +2 "storage"(&% +4 "core" % | y p\ +2 ."downElevator"SE.seek :down +4 "storage"(j' +100 (L% +3 "core" %F j j \ V` +2 "manipulator"&k% +4 "core" %F   p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'f& +3 "core" & \ \ +2 "manipulator"&}% +4 "core" %      +2 "storage"(% +5 "core" % w v }\  + "storage"(x. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(c(<- +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" && +4 "core" &\ +3 "processing"%\ & +4 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +9 &4y\ *x +9 &d|\ > +10 &n\ N +9 &CQ\ M +9 &T\ N +10 &R\ M +9 &R\ M +9 &KT\ M +10 & T\ M +9 &Q\ M +10 & V\ M +9 &"ST\ M +9 &$R\ M +10 &%U\ M +9 &'T\ M +9 &)\\Q\ M +10 &+T\ M +9 &,R\ M +10 &.S\ M +9 &0cQ\ M +9 &2%U\ M +10 &3R\ M +9 &5T\ N +9 &7kS\ M +10 &9-W\ M +9 &:X\ N +10 &<U\ N +9 &>qX\ N +9 &@4T\ N +10 &A]\ N +9 &Ce\ O +10 &Esh\ P +9 &G3s\ Q +9 &H\ T +10 &J\ S +9 &Lq\ S +9 &N/\ U +10 &O\ T +9 &Q\ U +9 &Su\ U +10 &U7\ U +9 &V\ U +10 &X\ T +9 &Z}\ U +9 &\\>\ U +10 &]|u\ 8 +9 &^-\ K +9 &^\ , +3 ( +2 "processing"%\ & +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&[1 +53 "core" 1 +2 "manipulator"&:% +3 "core" %    G  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 "processing"%q& +3 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&p% +4 "core" % %   3 @ +2 "storage"(^% +4 "core" % H H \  +2 "storage"(K. +3 "core" .(<- +2 "storage"(o& +3 "core" &<) E O /\ +2 "storage"(d& +3 "manipulator"&& +5 "core" &<) I F O\ +2 &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&H( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(t'r +2 "core" ( +3 "manipulator"&v& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" & . 0 m +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&u/ +58 "core" / +3 .tPC.seek :open + "processing"%( +96 "core" ' + "storage"(B- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'1 +40 "core" ' +309 ( + "storage"(& +4 "core" &<) k j \ +2 "manipulator"&y& +3 "core" & +2 "manipulator"&V% +4 "core" %   ; +2 .tForearm.seek :retract +2 "manipulator"&m' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +241 "core" ( +2 "manipulator"&& +3 "core" &   " +2 "storage"(b& +4 "core" &<) < = \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +92 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(S' +37 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"("' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &<) } ~ d\ +2 "manipulator"&& +4 "core" &   " +2 .tElbow.seek 5 +2 "manipulator"&~( +48 "core" ( +5 "manipulator"& & +4 "core" &   " +2 "storage"(& +3 "core" &<) !\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&Z'O +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(&'" +58 "core" ' +2 "manipulator"&7& +3 "core" &    " +2 "storage"(L& +4 "core" &<) S S d\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&k'΍ +24 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +28 "core" ' +2 "manipulator"&f% +5 "core" %Π   + "storage"(i& +4 "core" &<) S S ]\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&}' +13 "core" ' +2 "manipulator"&& +3 "core" &    ! +2 "storage"(x& +4 "core" &<) j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +15 "core" ' + "storage"('% +4 "core" % j j \ +3 ."downElevator"SE.seek :down +3 "storage"(j' +99 (6% +3 "core" %dL " # ?\ Wd +2 "manipulator"&0% +4 "core" %I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +99 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (=& +3 "core" &<) e V 4\ +2 "collection"'A& +5 "core" &\\b\ \ \ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&2% +3 "core" % \   +3 "storage"(% +3 "core" % i ^ ^\  +2 "storage"(D. +3 "core" .(<- + "storage"(|& +4 "core" &<) i f U\ +2 "storage"(& +5 "core" &<) j i z\ + "manipulator"&& +4 "core" &   % ! +2 .tElbow.seek 5 +2 "manipulator"&%( +2 "core" ( +2 "manipulator"&e& +4 "core" &  \ # ! +2 "storage"(s& +3 "core" &<) m m \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&$'O +92 "core" ' +2 "storage"(C& +4 "core" &<) _ i \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('r +297 "core" ' +3 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   ' ! +2 "storage"(5& +3 "core" &<) i j 4\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&?'΍ +23 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(1's +29 "core" ' +2 "manipulator"&w% +3 "core" %Ρ   \\ +2 "storage"(& +4 "core" &<) H H F\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"& ' +14 "core" ' + "manipulator"&& +4 "core" &    ! +2 "storage"( & +3 "core" &<) L Z T\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(g' +35 "core" ' + "manipulator"&`& +4 "core" &   ! +2 "manipulator"&F% +3 "core" %F  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +89 "core" ' +4 .tElbow.seek CC +2 "manipulator"&h(ӂ +171 "core" ( + "manipulator"&;& +4 "core" &ӎ   ? + +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &ӎ   ^ + +2 .tForearm.seek CC +2 "manipulator"&,'? +98 "core" ' + .tHand.close + "manipulator"&9/ +53 "core" / + .tCC.seek :open +2 "collection"')( +450 "core" ( +2 "storage"(I& +4 "core" &<) k _ \ +2 "storage"(N& +3 "core" &<) ] f l\ +2 "manipulator"&c& +4 "core" &ӎ   + +2 "manipulator"&% +3 "core" % ) \ Q +3 .tForearm.seek :retract + "manipulator"&n' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&M( +158 "core" ( +2 "manipulator"&X& +3 "core" &   +2 "storage"(R& +4 "core" &<) N\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&#'΍ +97 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&!1 +54 "core" 1 +2 "manipulator"&/% +3 "core" % Π    +2 "storage"(r& +5 "core" &<) ~ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&P' +16 "core" ' +2 "manipulator"&Q& +4 "core" &  +2 "storage"(O& +4 "core" &<) x w \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +15 "core" ' + "storage"(]% +4 "core" % | \ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (G% +3 "core" %J l j \ Wb +2 "manipulator"&z% +4 "core" %Q ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'+& +3 "core" &\ \ \ +2 "manipulator"&>% +4 "core" %      +2 "storage"(l% +4 "core" % w <\  +2 "storage"(<. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"( (K +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +3 "core" &K l k |\  +2 "manipulator"&:& +3 "core" &     +3 .tElbow.seek 6 + "manipulator"&q( +4 "core" ( + "manipulator"&p& +4 "core" &    +2 "storage"(^& +4 "core" &K | | \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&K' +94 "core" ' + "storage"(o& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +309 "core" ' + "storage"(d- +4 "core" -'\ + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &K { \  +2 "manipulator"&v& +4 "core" & L  +2 .tElbow.seek 6 + "manipulator"&U( +4 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(u& +3 "core" &K w w \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&B'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&@/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +49 "storage"(' +8 "core" & :  +2 "manipulator"&t% +3 "core" % \\  +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.seek CC + "manipulator"&y(ӂ +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&V& +3 "core" &ӗ   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӗ   7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 "manipulator"&b& +4 "core" &ӗ  \ 4 7 +2 "manipulator"&H% +4 "core" %< \  6 +2 "collection"'& +4 "core" &\ \ +3 "collection"'& +5 "core" &\ \ \ \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  \  +8 &6y\ \ \ *z +10 & i~\  \ \ ? +9 &l\ \ \ L +10 &aR\ \ \ \ K +9 &#S\ \ \ K +9 &R\ \ \ \ K +10 &R\ \ \ K +9 &iW\ \  \ K +9 &+Y\ \  \ K +10 &W\ \ \ K +9 & R\ \ \ J +10 &"qS\ \  \ K +9 &$3R\ \ \ K +9 &%S\ \ \ K +10 &'S\ \ \ K +9 &){R\ \ \ J +9 &+<U\ \ \ J +10 &,U\ \ \ J +9 &.T\ \ \ J +10 &0U\ \ \ J +9 &2EU\ \ \ J +9 &4U\ \ \ J +10 &5U\ \ \ J +9 &7U\ \ \ \ J +9 &9MU\ \  \ J +10 &;T\ \ \ J +9 &<X\ \ \ K +10 &>Y\ \ \ J +9 &@SU\ \ \ K +9 &BZ\ \ \ K +10 &C\\\ \ \ L +9 &Ec\ \ \ M +9 &GRn\ \ \ N +10 &I \ \ \ \ Q +9 &J\ 2\ .\ U +10 &L\ 2\ 4\ V +9 &N?\ 0\ / \ W +9 &P\ -\ . \ X +10 &Q\ +\ ,\ X +9 &S\ &\ *\ X +9 &UD\ (\ (\ \ X +10 &W\ %\ '\ Y +9 &X\ %\ %\ Z +10 &Z\ $\ $\ Z +9 &\\'y\ $\ $\ . +9 &\\+\ "\ #\ ] +9 ( +2 &\\d\ \ !\ N +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.14 + .Hand.open + "manipulator"&1 +52 "core" 1 +3 "manipulator"&% +4 "core" % <   c 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +3 "core" &\ +2 "manipulator"&% +4 "core" %     +2 "storage"(7% +4 "core" % Z e ,\  +2 "storage"(L. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(T(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" &K # < b\  +2 "manipulator"&f& +3 "core" &ӫ   4 +2 "manipulator"&i% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +160 "core" ( + "manipulator"&x& +4 "core" &   +2 "storage"(& +4 "core" &K m l \  +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'' +92 "core" ' +2 "storage"(3& +4 "core" &K i ` \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +297 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &K ` h \  +7 "manipulator"&Z& +3 "core" &   )  +2 .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&&& +4 "core" &    +2 "storage"(k& +3 "core" &K j j \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&='h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(2' +7 "core" &  P  +2 "manipulator"&% +3 "core" % n m +3 .tForearm.seek :retract + "manipulator"&D' +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&|& +3 "core" &  7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +53 "core" & 7 +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 "manipulator"&e& +3 "core" & , 7 +2 "manipulator"&s% +4 "core" % \ ] +2 "processing"%.& +4 "core" &\ +3 "processing"%C& +5 "core" &\ +2 .tPC.seek :closed + "processing"%j(^ +5 "core" &\  +9 &4y\ )w +10 &e|\ > +9 &n\ N +9 &BQ\ M +10 &T\ N +9 &R\ M +9 &T\ M +10 &HT\ N +9 & T\ M +10 &T\ M +9 & R\ M +9 &"PT\ N +10 &$U\ M +9 &%T\ M +9 &'Q\ M +10 &)YT\ M +9 &+R\ M +10 &,U\ M +9 &.S\ M +9 &0aQ\ M +10 &2#S\ M +9 &3R\ M +9 &5T\ M +10 &7jQ\ M +9 &9+V\ M +10 &:T\ M +9 &<T\ M +9 &>pX\ N +10 &@2W\ N +9 &AU\ M +9 &Ca\ O +10 &Eue\ O +9 &G2k\ P +10 &Hy\ R +9 &J\ S +9 &Lo\ S +10 &N/\ T +9 &O\ T +9 &Q\ U +10 &Ss\ U +9 &U5\ U +10 &V\ T +9 &X\ T +9 &Z{\ U +10 &\\=\ U +9 &]{s\ 8 +9 &^0\ F +9 ( +2 &^\ + +2 "processing"%C& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&{% +4 "core" %   F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +93 "core" ' + "processing"%& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&5% +4 "core" % !   ] , +2 "storage"(J% +3 "core" % S S c\  +2 "storage"(w. +4 "core" .(K + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (& +2 "manipulator"& & +5 "core" &K _ 8\  +2 &   * 7 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&`( +2 "storage"(F'r +7 "core" ( + "manipulator"&$& +4 "core" &  & 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &   P 7 +2 .tForearm.seek PC + "manipulator"&(' +96 "core" ' +2 .tHand.close + "manipulator"&?/ +58 "core" / +2 .tPC.seek :open + "processing"% ( +90 "core" ' +2 "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'1 +39 "core" ' +315 ( +3 "storage"(*& +3 "core" &K B O ;\  +2 "manipulator"&& +4 "core" &   7 +2 "manipulator"&8% +3 "core" %  0 +3 .tForearm.seek :retract + "manipulator"&9' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&4( +246 "core" ( + "manipulator"&-& +4 "core" &   C 4 +2 "storage"(I& +4 "core" &K S O ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&N' +93 "core" ' +2 .tHand.open + "manipulator"&c1 +55 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(X' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(R' +50 "core" ' + #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(h& +4 "core" &K J\  +2 "manipulator"&!& +4 "core" &   4 +2 .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&r& +43 "core" &   w 4 +10 "storage"(Q& +4 "core" &K ?\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(]'" +48 "core" ' + "manipulator"&n& +4 "core" &   4 +2 "storage"(G& +4 "core" &K R H 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&z'< +18 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(#' +19 "core" ' + "manipulator"&+% +4 "core" %P   ` +2 "storage"(>& +3 "core" &K ; < e\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&P'| +15 "core" ' + "manipulator"&l& +4 "core" &  f 4 +2 "storage"(<& +4 "core" &K j j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +15 "core" ' +2 "storage"(a% +4 "core" % j i \ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (E% +4 "core" %oM * ,\ We +3 "manipulator"&[% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (p& +2 "core" &K H W ;\  +2 "collection"'^& +4 "core" &\\e\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&o% +4 "core" %   "  +2 "storage"(W% +3 "core" % j j \  +2 "storage"(. +4 "core" .(K +2 "storage"(d& +3 "core" &K j j \  +2 "storage"(\ & +5 "core" &K i i \  + "manipulator"&v& +4 "core" &    4 +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&u& +3 "core" &   4 +2 "storage"(@& +4 "core" &K i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +114 "core" ' + "storage"(t& +4 "core" &K _ l \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +298 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  4 +2 "storage"(V& +4 "core" &K i i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +23 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(H'f +31 "core" ' +2 "manipulator"&% +3 "core" %C   +2 "storage"(U& +4 "core" &K j i \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts + "manipulator"&'o +14 "core" ' + "manipulator"&& +4 "core" & 7 4 +2 "storage"()& +4 "core" &K j l n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +35 "core" ' +2 "manipulator"& & +3 "core" & \ ? 4 +3 "manipulator"&% +3 "core" %  ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +89 "core" ' + .tElbow.seek CC +41 "manipulator"&L(ӂ +165 "core" ( +2 "manipulator"&& +4 "core" &Ӑ$   C =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &Ӑ$   q =D +2 .tForearm.seek CC + "manipulator"&f'? +100 "core" ' +2 .tHand.close + "manipulator"&i/ +55 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(x& +4 "core" &K _ g X\  +2 "storage"(& +4 "core" &K ^ i S\  +2 "manipulator"& & +3 "core" &Ӻ   7 +2 "manipulator"&3% +4 "core" % -   +3 .tForearm.seek :retract + "manipulator"&y' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&m( +164 "core" ( +2 "manipulator"&6& +3 "core" &    +3 "storage"(0& +3 "core" &K ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&Z'< +98 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&k1 +58 "core" 1 +3 "manipulator"&}% +3 "core" % P   +2 "storage"(A& +4 "core" &K  <\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&'| +13 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"('& +4 "core" &K v w h\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&"' +16 "core" ' +2 "storage"(=% +3 "core" % z x K\ +3 ."downElevator"SE.seek :down +3 "storage"(|' +99 (% +3 "core" %D i _ \ U_ +2 "manipulator"&~% +5 "core" % a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'s& +3 "core" & \ +2 "manipulator"&.% +4 "core" % #  / +2 "storage"(2% +4 "core" % y \  +2 "storage"(D. +2 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ f Y -\  +2 "manipulator"&{& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&(r +15 "core" ( +2 "manipulator"&5& +3 "core" &h    +2 "storage"(J& +4 "core" &[ ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +96 "core" ' + "storage"(& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +299 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &[ w 7\  +2 "manipulator"&%& +3 "core" &h   +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&?& +3 "core" &h F  +2 "storage"(T& +4 "core" &[ w w w\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&1'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(j' +53 "core" &h   +3 "manipulator"&F% +4 "core" % Ϻ 3 +2 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +106 "core" ' + ."downElevator"SE.stop + "storage"(5 +51 "core" ( +2 "manipulator"&8& +4 "core" &ӎ$   v =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &ӎ$   =F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'? +98 "core" ' +3 "manipulator"&I& +3 "core" &ӎ%   $ =F +3 "manipulator"&`% +3 "core" %H    +3 "collection"'c& +3 "core" &\ \ $\ +3 "collection"'& +5 "core" &\ \ #\ +2 .tCC.seek :closed +2 "collection"',(\\ +4 "core" &\ \ !\  +9 &5x\ \  \ *z +13 &h{ \ \ > +5 &l\ \ \ L +10 &aR\ \ \ K +9 &#R\ \ \ K +9 &S\ \ "\ K +10 &R\ \ $\ J +9 &jT\ \  \ J +10 &+T\ \  \ K +9 &R\ \ \ K +9 & W\ \ \ K +10 &"qU\ \ \ K +9 &$3R\ \ \ K +9 &%T\ \ \ J +10 &'U\ \ \ J +9 &){U\ \ \ J +10 &+;X\ \ !\ K +9 &,W\ \ \ J +9 &.U\ \ \ J +10 &0U\ \  \ J +9 &2BX\ \ \ K +9 &4X\ \ \ J +10 &5U\ \ \ J +9 &7U\ \  \ J +10 &9LU\ \ \ J +9 &;T\ \ \ J +9 &<X\ \ \ K +10 &>X\ \  \ K +9 &@SX\ \ \ K +9 &BY\ \ \ K +10 &C\\\ \  \ K +9 &Ed\ \ \  \ M +10 &GRn\ \  \ N +9 &I\ \ #\  \ Q +9 &J\ 3\ . \ U +10 &L~\ 2\ 4 \ W +9 &N?\ /\ 2 \ W +9 &O\ -\ 1\ X +10 &Q\ +\ .\ W +9 &S\ '\ + \ X +10 &UB\ &\ (\ Y +9 &W\ &\ & \ Y +9 &X\ '\ %\ [ +10 &Z\ #\ %\ Z +9 &\\$w\ #\ %\ . +9 &\\3\ \ #\ b +9 ( +2 &\\b\ \ !\ L +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&h1 +59 "core" 1 +2 "manipulator"&!% +3 "core" % H     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +98 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%9& +4 "core" &\  +2 "manipulator"&Q% +4 "core" % \   w  +2 "storage"(n% +4 "core" % i i \  +2 "storage"(G. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(;([ +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &[ + & '\  +2 "manipulator"&>& +4 "core" &Ӯ   9& +2 "manipulator"&X% +3 "core" % \    +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&l(r +163 "core" ( +2 "manipulator"&<& +3 "core" &s    +2 "storage"(a& +5 "core" &[ \\ \\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&4'= +92 "core" ' +2 "storage"(N& +4 "core" &[ _ j \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +297 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" &[ h ] \  +2 "manipulator"&O& +4 "core" &s \   +2 .tElbow.seek 7 +2 "manipulator"&/(r +3 "core" ( +2 "manipulator"&]& +3 "core" &s  e  +2 "storage"(z& +4 "core" &[ l l \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&p'ϧ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +5 "storage"(o' +5 "core" &s $  +2 "manipulator"&W% +3 "core" % ϝ  +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&#( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&d& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &   +3 .tForearm.reconfigure :tight +48 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC + "manipulator"&v' +102 "core" ' + "manipulator"&u& +4 "core" &    +2 "manipulator"&@% +4 "core" %   > +2 "processing"%g& +4 "core" &\  +3 "processing"%t& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%_(^ +4 "core" &\  +7 &B\ $f +10 &Xy\ 8 +9 &u\ L +9 &Q\ M +10 &T\ M +9 &FR\ M +9 &T\ N +10 &S\ M +9 &T\ M +10 &MT\ N +9 & T\ M +9 &!U\ M +10 &#U\ M +9 &%VT\ M +9 &'V\ M +10 &(T\ M +9 &*T\ M +13 &,_P\ M +6 &. R\ M +9 &/V\ M +10 &1S\ M +9 &3fS\ M +9 &5(S\ M +10 &6U\ M +9 &8U\ M +9 &:nQ\ M +10 &<1U\ M +9 &=V\ N +10 &?W\ M +9 &AuZ\ N +9 &C5b\ N +10 &Dc\ O +9 &Fm\ P +10 &Hq}\ R +9 &J.\ S +9 &K\ T +10 &M\ T +9 &Oq\ T +9 &Q1\ U +10 &R\ T +9 &T\ U +9 &Vy\ T +10 &X:\ U +9 &Y\ U +10 &[\ U +9 &]~\ C +9 &^=\ [ +10 &^-\ 2 +5 ( +2 "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&M1 +4 "core" &^"\ 2 +55 1 + "manipulator"&:% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K' +96 "core" ' +2 "processing"%& +3 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&V% +3 "core" % %   ; 9 +2 "storage"(b% +4 "core" % O R P\  +2 "storage"(. +3 "core" .([ +2 "storage"(U& +3 "core" &[ H O #\  +3 "storage"(& +2 "manipulator"&)& +8 "core" &[ H F ?\  + & 9  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"& ( +6 ."raiseStack"SE.seek :beamBreak + "storage"('r +7 "core" ( +3 "manipulator"&& +3 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & 0 9  +2 .tForearm.seek PC +2 "manipulator"&q' +94 "core" ' +2 .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' + "storage"(H- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +312 ( +2 "storage"(& +4 "core" &[ k l \  +2 "manipulator"&S& +3 "core" &   #  +2 "manipulator"&B% +4 "core" %     : +2 .tForearm.seek :retract +2 "manipulator"&i' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&7(r +249 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(x& +3 "core" &[ _ l \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +96 "core" ' +2 .tHand.open + "manipulator"& 1 +57 "core" 1 +3 "storage"(3- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(6' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(0' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(f- +2 "core" -' +2 "storage"(L& +4 "core" &[ 4\  +2 "manipulator"&k& +3 "core" &   +3 .tElbow.seek 7 + "manipulator"&}(r +27 "core" ( +2 "manipulator"&A& +3 "core" &x    d +2 "storage"(& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&''= +3 "core" ' +42 .tSE.reconfigure :gently +10 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(='" +57 "core" ' + "manipulator"&y& +4 "core" &x   d +2 "storage"(& +4 "core" &[ @ H e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&~'{ +26 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Z' +28 "core" ' +2 "manipulator"&s% +3 "core" %Ώ / / Z +2 "storage"(.& +4 "core" &[ # #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&'ϻ +14 "core" ' + "manipulator"&2& +4 "core" &x  o d +2 "storage"(D& +3 "core" &[ g h \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +16 "core" ' + "storage"("% +4 "core" % j i \ +3 ."downElevator"SE.seek :down +3 "storage"(|' +99 (% +3 "core" %N & 2\ We +2 "manipulator"&% +4 "core" %D   % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (5& +3 "core" &[ = U P\  +2 "collection"'J& +4 "core" &\\b\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %     +2 "storage"(&% +4 "core" % i j \  +2 "storage"(e. +2 "core" .([ +2 "storage"(C& +4 "core" &[ j j \  +2 "storage"($& +4 "core" &[ \\ f v\  +2 "manipulator"&%& +4 "core" &x  d +2 .tElbow.seek 7 + "manipulator"&?(r +3 "core" ( +2 "manipulator"&T& +4 "core" &x   d +2 "storage"(Y& +4 "core" &[ i j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&\\'= +94 "core" ' + "storage"(F& +4 "core" &[ \\ h \  +2 .tSE.reconfigure :pick +7 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(w- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &x   d +2 "storage"(8& +4 "core" &[ i i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&('{ +30 "core" ' +2 .tElbow.hold + "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +3 .tSE.seek 0.13 Pucks below Top Plate + "storage"(`'R +29 "core" ' +2 "manipulator"&c% +3 "core" %Ό  +2 "storage"(& +4 "core" &[ H ( n\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&j'ϸ +14 "core" ' + "manipulator"&*& +4 "core" &x   d +2 "storage"(& +4 "core" &[ j j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'= +16 "core" ' +2 .tSE.seek 1.13 Pucks below Top Plate + "storage"(!' +42 "core" ' + "manipulator"&9& +4 "core" &x   d +2 "manipulator"&Q% +4 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&G(ӂ +158 "core" ( + "manipulator"&& +4 "core" &&   ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &Ӏ&  + ?Q +42 .tForearm.seek CC +9 "manipulator"&>'? +96 "core" ' +2 .tHand.close + "manipulator"&X/ +61 "core" / +7 .tCC.seek :open + "collection"'-( +452 "core" ( +2 "storage"(<& +4 "core" &[ m a :\  +2 "storage"(a& +3 "core" &[ f i I\  +3 "manipulator"&& +3 "core" &Ӵ   8 +2 "manipulator"&N% +4 "core" % K   +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&r(r +163 "core" ( + "manipulator"&E& +4 "core" &w   +2 "storage"([& +4 "core" &[  +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&O'{ +100 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +64 "core" 1 +2 "manipulator"&P% +4 "core" % Ύ   Z +2 "storage"(^& +4 "core" &[ | \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&W'Ϻ +18 "core" ' + "manipulator"&l& +4 "core" &w   +2 "storage"(4& +3 "core" &[ s\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&R'= +15 "core" ' +2 "storage"(p% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(d' +99 (\ % +3 "core" %F k l \ V` +2 "manipulator"&/% +4 "core" %@ 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +94 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'@& +3 "core" &  \ +2 "manipulator"&g% +4 "core" %    # +2 "storage"(o% +4 "core" % v w b\  +2 "storage"(. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (M& +3 "core" &<0 l i *\ +2 "manipulator"&:& +4 "core" &w   +2 .tElbow.seek 5 + "manipulator"&( +36 "core" ( + "manipulator"&V& +4 "core" &   4 \ +2 "storage"(b& +4 "core" &<0   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + "storage"(U& +4 "core" &<0 \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'r +309 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +4 "core" &<. j k \ +2 "manipulator"&& +4 "core" &  & \ +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( +2 "manipulator"&v& +3 "core" &  / \ +2 "storage"(& +4 "core" &<. } \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&H'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +2 "storage"(_' +8 "core" &  \ +2 "manipulator"&% +3 "core" % Ͻ +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +47 .tElbow.seek CC +3 "manipulator"&S(ӂ +106 "core" ' + ."downElevator"SE.stop + "storage"(5 +44 "core" ( + "manipulator"&B& +4 "core" &x(   @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &x'  \ C @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&x& +4 "core" &ӑ#   h <@ +2 "manipulator"& % +4 "core" %6   - +2 "collection"' & +5 "core" &\ \ #\ +2 "collection"'3& +6 "core" & \ +\ +2 .tCC.seek :closed +3 "collection"'f(\\ +2 "core" & -\ +6 & \ -\ : +10 &IMx\ +\ 0 +9 &v}\ \ ,\ E +10 &.W\ \ )\ K +9 &W\ \ +\ J +9 &T\ \ *\ J +10 &vT\ \ *\ J +9 &7W\ \ #\ K +9 &W\ \ "\ J +10 &T\ \ "\ J +9 &~U\ \  \ J +9 &!?W\ \  \ K +10 &#W\ \ $\ J +9 &$T\ \ !\ J +10 &&W\ \ %\ J +9 &(GT\ \ !\ J +9 &*\ T\ \ %\ J +10 &+R\ \ %\ K +9 &-S\ \ #\ K +9 &/OX\ \ '\ K +10 &1W\ \ #\ K +9 &2W\ \ &\ K +10 &4X\ \ #\ K +9 &6WY\ \ #\ K +9 &8W\ \ \ K +10 &9W\ \ \ J +9 &;U\ \ \ J +9 &=^Y\ \ \ K +10 &?!X\ \ \ J +9 &@U\ \ \ K +10 &B\\\ \ \ K +9 &Dc`\ \ \ L +9 &F!h\ \ \ \ M +10 &Gu\ \ \ O +9 &I\ &\ \ S +10 &KN\ 1\ 1\ V +9 &M\ 0\ 1\ V +9 &N\ ,\ /\ W +10 &P\ *\ ,\ X +9 &RP\ '\ (\ X +9 &T\ '\ '\ Y +10 &U\ &\ %\ Y +9 &W\ !\ $\ Y +9 &YQ\ #\ $\ Z +10 &[\ "\ "\ [ +9 &\\hE\ !\ !\ 1 +10 &\\\ !\ "\ K +5 ( +2 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 + .Hand.open + "manipulator"&L1 +3 "core" &\\m\ \  \ K +51 1 + "manipulator"&k% +4 "core" % 6    - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%A& +3 "core" &\ +2 "manipulator"&% +4 "core" % !   ; + +2 "storage"(y% +3 "core" % : F \  +2 "storage"(. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &<) D E B\ +2 "manipulator"&s& +4 "core" &ӯ  8" +2 "manipulator"&.% +4 "core" % !   + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&2( +165 "core" ( + "manipulator"&D& +4 "core" &  $  +2 "storage"(7& +4 "core" &<) j i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"'O +101 "core" ' +2 "storage"(& +3 "core" &<) g k \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<) R U k\ +2 "manipulator"&'& +4 "core" &     +2 .tElbow.seek 5 + "manipulator"&}( +3 "core" ( +2 "manipulator"&=& +4 "core" &    +2 "storage"(~& +3 "core" &<) < U %\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&5'Ϲ +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +2 "storage"(' +8 "core" &  W  +2 "manipulator"&&% +3 "core" %  c +3 .tForearm.seek :retract + "manipulator"&e' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&Z( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&C& +3 "core" &  1 / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &  \  / +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&%' +95 "core" ' +2 "manipulator"&T& +3 "core" &  ! / +48 "manipulator"&Y% +6 "core" %    6 +2 "processing"%& +5 "core" &\ +2 "processing"%F& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%|(^ +5 "core" &\  +8 &2v\ )w +10 &b{\ = +9 &uo\ N +9 &7Q\ M +10 &O\ M +9 &S\ M +9 &}T\ M +10 &?U\ M +9 &T\ N +14 &T\ M +5 & Q\ M +9 &"GS\ M +10 &$\ Q\ M +9 &%R\ M +9 &'U\ M +10 &)NS\ N +9 &+T\ M +10 &,V\ M +9 &.S\ M +9 &0WU\ M +10 &2S\ M +9 &3S\ M +9 &5T\ N +10 &7_S\ M +9 &9!W\ M +10 &:X\ M +9 &<W\ N +9 &>gW\ M +10 &@)U\ M +9 &A\\\ N +9 &Cb\ O +10 &Ejg\ O +9 &G'p\ Q +10 &H\ S +9 &J\ S +9 &Lf\ S +10 &N$\ T +9 &O\ T +9 &Q\ U +10 &Si\ U +9 &U,\ T +10 &V\ U +9 &X\ U +9 &Zq\ U +10 &\\3\ U +9 &]zr\ ? +9 &^J\ E +10 &^n\ 6 +9 ( +2 "processing"%F& +3 "core" &^ \ 0 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&m1 +59 "core" 1 +2 "manipulator"&{% +3 "core" %   5 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +96 "core" ' + "processing"% & +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&8% +4 "core" %    O  +2 "storage"(I% +4 "core" % S S T\  +2 "storage"(c. +3 "core" .(<- +2 "storage"(& +4 "core" &<) S R [\ +2 "storage"(*& +2 "manipulator"&& +8 "core" &<) F H c\ + &   / +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&9( +5 ."raiseStack"SE.seek :beamBreak + "storage"(Q'r +3 "core" ( +2 "manipulator"&\\& +3 "core" &   / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &   m / +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&(/ +58 "core" / +2 .tPC.seek :open +2 "processing"%j( +97 "core" ' +2 "storage"(`- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +39 "core" ' +308 ( + "storage"(+& +4 "core" &<) 8 < `\ +2 "manipulator"&h& +3 "core" &   / +2 "manipulator"&1% +4 "core" %   E +2 .tForearm.seek :retract +2 "manipulator"&X' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&n( +244 "core" ( + "manipulator"&,& +4 "core" &   - +2 "storage"(<& +4 "core" &<) S S ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&a'O +93 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +3 "storage"(N- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(E' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"([' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +3 "core" -' +2 "storage"(G& +3 "core" &<) j A\ +2 "manipulator"&z& +4 "core" &  I - +2 .tElbow.seek 5 +2 "manipulator"&P( +4 "core" ( + "manipulator"&^& +4 "core" &   - +2 "storage"(l& +3 "core" &<) W\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&4'O +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(p'" +58 "core" ' +2 "manipulator"&& +44 "core" & \  - +9 "storage"(\ & +4 "core" &<) = C \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&/'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(O' +29 "core" ' + "manipulator"&@% +4 "core" %Μ   / +2 "storage"(g& +3 "core" &<) = C \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&W' +13 "core" ' +2 "manipulator"&o& +3 "core" & \  ) +2 "storage"(& +4 "core" &<) i i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&!'O +16 "core" ' +2 "storage"(R% +3 "core" % g k \ +3 ."downElevator"SE.seek :down +3 "storage"(d' +99 (;% +3 "core" %xN # 7\ We +2 "manipulator"&M% +4 "core" %G   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (V& +3 "core" &<) Y H ?\ +2 "collection"'b& +4 "core" &\\l\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&U% +4 "core" %     +2 "storage"(]% +4 "core" % i i \  +2 "storage"(u. +3 "core" .(<- + "storage"(& +5 "core" &<) j i \ +2 "storage"(t& +3 "core" &<) p ~ \ +2 "manipulator"&& +4 "core" &   ) +2 .tElbow.seek 5 +2 "manipulator"&v( +4 "core" ( + "manipulator"&& +4 "core" &  ( ) +2 "storage"(#& +4 "core" &<) i i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +93 "core" ' +2 "storage"(& +3 "core" &<) ^ h P\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +306 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" &   ) +2 "storage"(B& +4 "core" &<) ; 7 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&H'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(x- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 's +29 "core" ' + "manipulator"& % +4 "core" %Ξ   +2 "storage"( & +4 "core" &<) K R _\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&_' +13 "core" ' +2 "manipulator"&& +8 "core" &  v ) +2 "storage"(-& +4 "core" &<) j P #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +14 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(k' +35 "core" ' +2 "manipulator"&A& +3 "core" &  ) +2 "manipulator"&% +4 "core" %F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&3& +4 "core" &ӏ#   9 <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &ӏ#   <? +2 .tForearm.seek CC +2 "manipulator"&s'? +96 "core" ' + .tHand.close + "manipulator"&./ +63 "core" / +9 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(D& +4 "core" &<) } \ +2 "storage"(7& +4 "core" &<) } \ +2 "manipulator"& & +4 "core" &ӫ   9# +2 "manipulator"&% +4 "core" % :   +2 .tForearm.seek :retract +2 "manipulator"&S' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&i( +154 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &<) v w \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&''΍ +95 "core" ' + .tElbow.hold + "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +64 "core" 1 +2 "manipulator"&% +3 "core" % Ό  M +2 "storage"(J& +4 "core" &<) l i D\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 299 counts + "manipulator"&&'ϸ +14 "core" ' +3 "manipulator"&2& +3 "core" &  +2 "storage"("& +4 "core" &<) \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +19 "core" ' + "storage"(5% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 ($% +3 "core" %H _ k \ V` +2 "manipulator"&}% +5 "core" %O 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +93 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'Y& +4 "core" & \ +2 "manipulator"&% +3 "core" % !  & +3 "storage"(% +3 "core" % v v \  +2 "storage"(e. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +2 "core" &K ` \\ 8\ +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&8& +4 "core" &   +2 "storage"(I& +4 "core" &K  w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&c' +93 "core" ' +2 "storage"(& +3 "core" &K \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &K  q a\ +2 "manipulator"&\\& +4 "core" &  : +2 .tElbow.seek 6 + "manipulator"&?( +4 "core" ( +2 "manipulator"&%& +3 "core" &  k +2 "storage"((& +4 "core" &K  \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&`'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(|' +8 "core" & ` +2 "manipulator"&Q% +3 "core" % k +3 .tForearm.seek :retract + "manipulator"&+' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +46 "manipulator"&1& +6 "core" &ӌ&   ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӌ&   ?P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'? +93 "core" ' +2 "manipulator"&<& +4 "core" &ӌ'   O ?P +2 "manipulator"&9% +4 "core" %4 \ 8 n +2 "collection"'& +4 "core" & %\ +3 "collection"'N& +4 "core" &\ K\ +3 .tCC.seek :closed + "collection"'>(\\ +4 "core" &\ \ \ +8 &A \ %\ $e +9 &Yx\ \ *\ 7 +9 & v\ '\ J +10 &R\ \ 0\ J +9 &U\ \ .\ J +9 &NT\ \ 1\ J +10 &R\ \ +\ K +9 &W\ \ -\ J +9 &T\ \ 0\ J +10 &UW\  \ K +9 & U\ \ "\ K +10 &!R\ \ #\ J +9 &#T\ \ )\ J +9 &%]W\ \ \ K +10 &'U\ \ \ K +9 &(Q\ \ \ K +9 &*U\ \ \ J +10 &,eR\ \ '\ K +9 &.(R\ \ '\ J +10 &/U\ \  \ K +9 &1W\ \ \ K +9 &3lW\ \ "\ K +10 &5.W\ \ \ K +9 &6W\ \ \ J +9 &8T\ \ '\ J +10 &:uT\ \ 0\ J +9 &<8U\ \ &\ J +10 &=X\ \ &\ J +9 &?V\ \ %\ J +9 &A|V\ \ %\ K +10 &C>Z\ \ '\ K +9 &De\ \  \ L +9 &Fj\ \ $\ N +10 &Hw\ \ %\ O +9 &J,\ ,\ &&\ T +10 &K\ 4\ 3%\ V +9 &M\ 1\ 2$\ W +9 &Oh\ ,\ /'\ W +10 &Q)\ -\ -'\ X +9 &R\ )\ *%\ X +9 &T\ )\ (&\ X +10 &Vi\ %\ &'\ Z +9 &X+\ #\ %%\ Z +10 &Y\ $\ $%\ [ +12 &[\ !\ ")\ H +6 &\\1\ !\ ##\ . +10 &\\e\ \ !&\ N +2 ( +2 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&G1 +64 "core" 1 +2 "manipulator"&z% +3 "core" % 4   B n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%l& +4 "core" &\ +2 "manipulator"&X% +4 "core" %  \    +2 "storage"(% +3 "core" % < M \  +2 "storage"(\ . +4 "core" .(K + "storage"(& +4 "core" &K < 8 v\ +2 "storage"(E& +4 "core" &K < 8 8\ +2 "manipulator"&@& +3 "core" &Ӯ! = :. +2 "manipulator"&g% +4 "core" %    <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&o( +168 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(n& +4 "core" &K i i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +96 "core" ' + "storage"(a& +4 "core" &K [ h\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +298 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &K i k \ +2 "manipulator"&4& +4 "core" & _  +2 .tElbow.seek 6 + "manipulator"&P( +4 "core" ( +2 "manipulator"&p& +3 "core" &   i  +2 "storage"(/& +4 "core" &K k j \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&W'h +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(U' +7 "core" &   E  +2 "manipulator"&]% +5 "core" % `   +2 .tForearm.seek :retract + "manipulator"&u' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&O( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&& +4 "core" &  \  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &  ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" &   ' +2 "manipulator"&#% +3 "core" % 9 +3 "processing"%!& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%d(^ +4 "core" &\ +55 &< \ $d +9 &Vx\ 7 + &x\ K + &R\ M + &tS\ M + &6Q\ M + &U\ N +5 &S\ M +10 &}S\ M +9 &>T\ M +9 & U\ M +10 &!R\ M +9 &#T\ N +9 &%GR\ M +10 &'T\ M +9 &(U\ M +10 &*S\ M +9 &,MT\ N +9 &.S\ M +10 &/T\ N +9 &1R\ M +9 &3WR\ M +10 &5R\ M +9 &6S\ M +10 &8Q\ M +9 &:^V\ M +9 &< R\ M +10 &=R\ N +9 &?V\ M +9 &AeS\ N +10 &C&\\\ N +9 &Db\ O +10 &Fg\ P +9 &Hbs\ Q +9 &J\ S +10 &K\ S +9 &M\ T +9 &Oa\ T +10 &Q"\ U +9 &R\ T +10 &T\ U +9 &Vj\ T +9 &X*\ U +10 &Y\ U +9 &[\ U +9 &]p\ B +10 &^:m\ &n +9 &^%\ - +6 ( + "processing"%& +4 "core" &^\ - +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&r1 +64 "core" 1 +3 "manipulator"&:% +8 "core" %   W 9 +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +3 "manipulator"&' +93 "core" ' +4 "processing"%)& +6 "core" &^\ - +5 #tImaging generic puck in Processing Clamp while storing it to tube 6 +3 "manipulator"&B% +6 "core" %     +5 "storage"(x% +8 "core" % > = \  +3 "storage"( . +6 "core" .(K +4 "storage"( & +6 "core" &K ; B \ +6 "storage"(& +4 "manipulator"&-& +12 "core" &K = = \ +3 &    ' +6 ."raiseStack"SE.reconfigure :place +8 .tElbow.reconfigure :tight +6 "storage"(#]kK-0-\ b +10 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +6 .tElbow.seek PC +4 "storage"(A'r +4 "manipulator"&( +12 "core" ( +4 "manipulator"&K& +6 "core" & ! ' +6 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +9 &v& +8 "core" &  \  ' +4 .tForearm.seek PC +3 "manipulator"&' +96 "core" ' +2 .tHand.close +3 "manipulator"&H/ +56 "core" / +4 .tPC.seek :open +3 "processing"%_( +55 "core" ' +4 "storage"( - +5 "core" -'r +5 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(3'1 +47 "core" ' +328 ( +2 "storage"(6& +3 "core" &K L ; i\ +2 "manipulator"&L& +3 "core" & ' +2 "manipulator"&q% +4 "core" %   3 +2 .tForearm.seek :retract +2 "manipulator"&.' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&y( +244 "core" ( + "manipulator"&f& +4 "core" &   , +2 "storage"(D& +3 "core" &K X e #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&7' +88 "core" ' +2 .tHand.open + "manipulator"& 1 +52 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +3 "core" -' +2 "storage"(& +3 "core" &K \ +2 "manipulator"&~& +4 "core" &   + +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&J& +4 "core" &   + +2 "storage"(2& +3 "core" &K \ +3 .tForearm.seek 6 + 450 counts + "manipulator"&"' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(5'" +52 "core" ' +2 "manipulator"&S& +3 "core" &  + +2 "storage"($& +4 "core" &K H A \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&}'< +19 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +46 .tElbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"('' +26 "core" ' + "manipulator"&Y% +5 "core" %A  + "storage"(&& +5 "core" &K @ D b\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&'m +15 "core" ' +2 "manipulator"&& +3 "core" &  " + +2 "storage"(e& +4 "core" &K i i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +16 "core" ' +2 "storage"(0% +3 "core" % j j \ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 (% +3 "core" %YR ! ) \ Wf +2 "manipulator"&m% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (8& +4 "core" &K 8 S 7\ +2 "collection"'I& +4 "core" &\\e\ \ (\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   +2 "storage"(=% +3 "core" % i _ \  +2 "storage"(T. +4 "core" .(K + "storage"(& +4 "core" &K i i \ +2 "storage"(*& +4 "core" &K \\ \\ Z\ +2 "manipulator"&\\& +3 "core" &  + +2 .tElbow.seek 6 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&(& +4 "core" &   + +2 "storage"(Z& +4 "core" &K i i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&w' +93 "core" ' +2 "storage"(Q& +3 "core" &K f ^ T\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" &    + +2 "storage"(F& +3 "core" &K i j \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&`'< +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(<'f +30 "core" ' +2 "manipulator"&9% +3 "core" %3   +2 "storage"(& +4 "core" &K < < A\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 291 counts + "manipulator"&|'_ +16 "core" ' + "manipulator"&+& +4 "core" & \  ] + +2 "storage"(& +4 "core" &K j i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 450 counts + "manipulator"&G' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(z' +39 "core" ' +2 "manipulator"&l& +4 "core" &  + +2 "manipulator"&X% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&\ (ӂ +155 "core" ( + "manipulator"&& +4 "core" &Ӑ"  ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &Ӑ" \  ;5 +2 .tForearm.seek CC +2 "manipulator"&E'? +98 "core" ' +2 .tHand.close + "manipulator"&@/ +62 "core" / +2 .tCC.seek :open + "collection"'g( +448 "core" ( +2 "storage"(,& +4 "core" &K _ i Q\ +2 "storage"(& +3 "core" &K g k ^\ +2 "manipulator"&n& +4 "core" &ӭ   7 +2 "manipulator"&a% +3 "core" % @   +42 .tForearm.seek :retract +14 "manipulator"&h' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&^( +165 "core" ( +2 "manipulator"&;& +4 "core" &  t  +2 "storage"(M& +3 "core" &K  \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&4'< +93 "core" ' + .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +64 "core" 1 +2 "manipulator"&V% +4 "core" % E   ) +2 "storage"(b& +4 "core" &K } \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&]'q +14 "core" ' + "manipulator"&o& +4 "core" &   +2 "storage"(R& +9 "core" &K x v A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&[' +15 "core" ' +2 "storage"(W% +3 "core" % x z ?\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (t% +3 "core" %G i ^ T\ V` +2 "manipulator"&P% +4 "core" % S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'#& +3 "core" & \ (\ +2 "manipulator"&!% +4 "core" %    +2 "storage"(U% +4 "core" % x v\  +2 "storage"(u. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(j([ +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "core" &[ j j a\  +2 "manipulator"&:& +4 "core" &   3  +2 .tElbow.seek 7 +2 "manipulator"&)(r +35 "core" ( +2 "manipulator"&B& +3 "core" &  w  +2 "storage"(& +4 "core" &[ u s \  +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&x'= +92 "core" ' +2 "storage"( & +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +302 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" &[ { 2\  +2 "manipulator"&K& +4 "core" & a  +3 .tElbow.seek 7 + "manipulator"&v(r +22 "core" ( +2 "manipulator"&& +3 "core" &t  ( p +2 "storage"(H& +5 "core" &[ >\  +2 .tForearm.seek 7 + 300 counts + "manipulator"& 'ϧ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(d' +8 "core" &t  p + "manipulator"&A% +4 "core" % Ϟ Z +2 .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&L(ӂ +83 "Can"5 N +70 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&q& +4 "core" &Ӝ  ) 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӝ   6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'? +100 "core" ' +3 "manipulator"&D& +3 "core" &Ӝ  ? 6 +48 "manipulator"&% +4 "core" %I   ! +3 "collection"' & +4 "core" &\ \ 7\ +2 "collection"'& +6 "core" & @\ +2 .tCC.seek :closed + "collection"'s(\\ +4 "core" &\ \ G\ +8 &< \ "\ %g +9 &Yu\ \ ;\ 7 +9 &v\ \ 4\ K +10 &U\ \ ?\ K +9 &X\ \ ;\ K +9 &LU\ \ <\ K +10 &W\ \ =\ J +9 &R\ \ >\ K +10 &V\ \ >\ J +9 &VT\ \ 4\ J +9 & T\ \ @\ J +10 &!X\ \ <\ K +9 &#U\ \ 4\ K +9 &%^R\ \ 3\ J +10 &' T\ \ +\ J +9 &(W\ \ 3\ K +10 &*T\ \ 4\ K +9 &,fR\ \ )\ J +9 &.(U\ \ (\ J +10 &/X\ \ ,\ K +9 &1Y\ \ )\ J +9 &3nU\ \ *\ J +10 &5/X\ \ (\ J +9 &6T\ \ .\ J +10 &8T\ \ *\ J +9 &:uT\ \ 1\ K +9 &<8S\ \ -\ J +10 &=U\ \ 1\ J +9 &?U\ \ 1\ J +9 &A|Z\ \ ,\ K +10 &C>\\\ \ 2\ K +9 &De\ \ ,\ L +10 &Fm\ \ /\ M +9 &Hs\ \ 2\ Q +9 &J+\ 0\ +4\ T +10 &K\ 6\ 5-\ W +9 &M\ 4\ 33\ X +9 &Og\ /\ /+\ X +10 &Q(\ +\ .1\ X +9 &R\ *\ ),\ X +10 &T\ )\ +,\ Z +9 &Vh\ '\ (2\ Z +9 &X)\ (\ '2\ Z +10 &Y\ $\ #1\ [\ +9 &[\ $\ $&\ H +9 &\\/\ #\ #&\ 1 +10 &\\r\ #\ !(\ O +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&~% +3 "core" % I   ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%2& +4 "core" &\ +2 "manipulator"&.% +3 "core" %   N  +2 "storage"(S% +4 "core" % i j \  +2 "storage"($. +3 "core" .([ +2 "storage"(3& +3 "core" &[ i i \  +2 "storage"(Y& +3 "core" &[ i i \  +2 "manipulator"&& +5 "core" &ӥ \  5 + "manipulator"&&% +5 "core" %   *  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +154 "core" ( + "manipulator"&e& +4 "core" &v  \ W +2 "storage"(0& +4 "core" &[ l l \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&y'= +92 "core" ' +2 "storage"(7& +3 "core" &[ l l \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +308 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &[ I c y\  +2 "manipulator"&m& +4 "core" &v   +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&5& +3 "core" &v  i +2 "storage"(}& +3 "core" &[ _ j \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&8/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(' +8 "core" &v + "manipulator"&=% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&T' +94 "core" ' +3 .tElbow.seek PC + "manipulator"&'( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( + "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &  4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\\' +91 "core" ' + "manipulator"&(& +4 "core" &   _  +2 "manipulator"&Z% +4 "core" %  b +2 "processing"%k& +4 "core" &\ +3 "processing"%Q& +5 "core" &\ +2 .tPC.seek :closed + "processing"%C(^ +5 "core" &\ +7 &<\ $d +9 &Wv\ 7 +10 &w\ L +9 &R\ N +9 &sR\ M +10 &6Q\ M +9 &U\ M +9 &S\ N +10 &|R\ M +9 &=T\ M +10 &U\ M +9 &!S\ M +9 &#T\ M +10 &%FP\ M +9 &'T\ M +9 &(U\ M +10 &*Q\ M +9 &,NS\ M +10 &.S\ M +9 &/U\ N +9 &1R\ M +10 &3VT\ M +9 &5S\ M +9 &6T\ M +10 &8W\ M +9 &:]T\ M +10 &<R\ M +9 &=R\ M +9 &?T\ M +57 &AcW\ N +5 &C#_\ O +3 &Db\ O +2 &Fj\ P + &Haw\ Q + &J\ T + &K\ T +5 &M\ T +10 &Ob\ T +9 &Q"\ T +9 &R\ U +10 &T\ U +9 &Vg\ U +10 &X*\ T +9 &Y\ U +9 &[\ U +10 &]n\ B +9 &^<p\ &p +9 &^'\ , +6 ( +2 "processing"%Q& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&i1 +2 "core" &^\ , +62 1 +2 "manipulator"&{% +3 "core" %   Q b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +92 "core" ' +2 "processing"%1& +3 "core" &^\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&F% +3 "core" %     +2 "storage"(?% +4 "core" % R R \  +2 "storage"(9. +2 "core" .([ +2 "storage"(& +4 "core" &[ S S Y\  +2 "storage"(+& +3 "manipulator"&& +7 "core" &[ S S S\  +2 &    +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(l'r +2 "manipulator"&X( +22 "core" ( +2 "manipulator"&w& +3 "core" &  G  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &   ^  +2 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' + .tHand.close + "manipulator"&`/ +55 "core" / +2 .tPC.seek :open +2 "processing"%|( +76 "core" ' + "storage"(<- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +46 "core" ' +323 ( + "storage"(N& +4 "core" &[ i i \  +2 "manipulator"&G& +4 "core" &   +2 "manipulator"&% +3 "core" %   . +2 .tForearm.seek :retract +2 "manipulator"&@' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +247 "core" ( + "manipulator"&>& +4 "core" &l   \ M +2 "storage"(,& +3 "core" &[ K Y l\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +93 "core" ' +2 .tHand.open + "manipulator"&n1 +56 "core" 1 +3 "storage"(a- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(;' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(M' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +3 "core" -' +2 "storage"(\ & +3 "core" &[ \  +2 "manipulator"&/& +4 "core" &l   M +2 .tElbow.seek 7 + "manipulator"&V(r +3 "core" ( +2 "manipulator"&b& +4 "core" &l    M +2 "storage"(o& +3 "core" &[ \  +3 .tForearm.seek 7 + 450 counts + "manipulator"&R'= +11 "core" ' +7 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(W'" +60 "core" ' +2 "manipulator"&h& +3 "core" &l  M +2 "storage"(t& +5 "core" &[ S R L\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&P'{ +31 "core" ' +2 .tElbow.hold + "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(4' +28 "core" ' +2 "manipulator"&#% +3 "core" %΍ 2 / +2 "storage"(!& +4 "core" &[  ( \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +48 "manipulator"&]'Ϲ +15 "core" ' +2 "manipulator"&U& +4 "core" &o  V J +2 "storage"(u& +4 "core" &[ i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&z'= +17 "core" ' +2 "storage"([% +3 "core" % i i \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +4 "core" %1N ) \ Vd +2 "manipulator"&r% +3 "core" %I  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (B& +2 "core" &[ [ O l\  +2 "collection"'& +4 "core" &\\q\ \ 2\ O +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"& % +3 "core" %    \  +2 "storage"(p% +4 "core" % i i \  +2 "storage"(. +3 "core" .([ +2 "storage"(& +3 "core" &[ i h P\  +2 "storage"(-& +4 "core" &[ i f y\  +2 "manipulator"&K& +4 "core" &o  J +2 .tElbow.seek 7 +2 "manipulator"&(r +2 "core" ( +2 "manipulator"&H& +4 "core" &o   J +2 "storage"(O& +5 "core" &[ i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +90 "core" ' +2 "storage"(A& +3 "core" &[ i j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'r +296 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" &o   J +2 "storage"(& +4 "core" &[ R R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"& '{ +30 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 "storage"(D- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"('m +30 "core" ' + "manipulator"&v% +4 "core" %΍ 9 2  +2 "storage"( & +4 "core" &[ # *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&d'Ϲ +13 "core" ' +2 "manipulator"&6& +3 "core" &o   U J +2 "storage"(g& +4 "core" &[ i o \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(~' +34 "core" ' + "manipulator"&2& +30 "core" &o    J + "manipulator"&.% +4 "core" %B S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&$(ӂ +152 "core" ( +2 "manipulator"&3& +3 "core" &ӆ#   << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &ӆ#   << +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'&( +447 "core" ( +2 "storage"(f& +3 "core" &[ r n Y\  +2 "storage"(e& +3 "core" &[ ] [ `\  +2 "manipulator"&0& +4 "core" &ӹ   5 +2 "manipulator"&7% +3 "core" % 0  +3 .tForearm.seek :retract + "manipulator"&L' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&J(r +156 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"("& +43 "core" &[ ~ \  +10 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&m'{ +95 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +60 "core" 1 +7 "manipulator"&8% +4 "core" % ·  " +2 "storage"(I& +3 "core" &[  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts + "manipulator"&='ϳ +13 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(y& +3 "core" &[ v v [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +15 "core" ' + "storage"(% +4 "core" % z x S\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (*% +3 "core" %I h k P\ Va +2 "manipulator"&% +4 "core" %7 X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'Z& +3 "core" & \ ?\ +2 "manipulator"&k% +4 "core" %    +2 "storage"(% +4 "core" % v w 4\  +2 "storage"(T. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(_(<- +668 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" &<0 ~ =\ +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&1( +23 "core" ( + "manipulator"&F& +5 "core" &  R  + "storage"(?& +4 "core" &<0 \ +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +94 "core" ' + "storage"(& +4 "core" &<0 { M\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +298 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<. }\ +2 "manipulator"&w& +4 "core" & 0  +2 .tElbow.seek 5 + "manipulator"&%( +18 "core" ( +2 "manipulator"&\\& +5 "core" & e  + "storage"(`& +4 "core" &<.  "\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&<'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(C' +8 "core" & 9  +2 "manipulator"&l% +3 "core" % ϰ ( +3 .tForearm.seek :retract + "manipulator"&N' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&G(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &ә   8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &ә   b 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&>'? +93 "core" ' +2 "manipulator"&,& +3 "core" &ә"   8 +3 "manipulator"&X% +4 "core" %8   1 : +2 "collection"'n& +5 "core" &\  \ +2 "collection"'a& +5 "core" & \ +2 .tCC.seek :closed + "collection"'E(\\ +4 "core" &\ \ \  +9 &5y\  \ *z +10 & hz\ \ \ > +9 &k\ \ \ L +10 &_Q\ \ \ K +9 &!W\ \ \ K +9 &U\ \ =\ K +51 &Q\ \ \ J +3 &fQ\ \ 1\ K +2 &(X\ \ 9\ K + &W\ \ )\ K + & V\ \ &\ J + &"oR\ \ \ K +7 &$2Q\ \ 4\ J +9 &%T\ \ #\ J +10 &'S\ \ ;\ K +9 &)xW\ \ B\ J +9 &+9Q\ \ @\ K +10 &,W\ \ ?\ J +9 &.T\ \ @\ J +10 &0X\ \ D\ K +9 &2AW\ \ @\ K +9 &4X\ \ ?\ K +10 &5V\ \ ;\ K +9 &7W\ \ B\ K +9 &9IX\ \ 9\ K +10 &; W\ \ 6\ J +9 &<T\ \ /\ J +10 &>X\ \ 6\ K +9 &@QR\ \ 9\ K +9 &BT\ \ 5\ K +10 &C\\\ \ 6\ K +9 &Ed\ \ 9\ M +9 &GNn\ \ =\ N +10 &I\ "\ ;\ Q +12 &J\ 3\ .;\ U +7 &L|\ 2\ 32\ V +9 &N=\ /\ /4\ W +9 &O\ .\ -2\ W +10 &Q\ +\ +8\ X +9 &S\ '\ '1\ X +9 &U?\ (\ &0\ Y +10 &V\ &\ &(\ Z +9 &X\ $\ #,\ Z +10 &Z\ #\ $-\ [ +9 &\\"w\ $\ #*\ . +9 &\\5\ "\ $&\ !g +9 ( +2 &\\`\ !\ &\ K +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&\ 1 +59 "core" 1 +2 "manipulator"&/% +3 "core" % 8   I : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%o& +3 "core" &&\ +2 "manipulator"&@% +4 "core" % !   x & +2 "storage"(h% +4 "core" % X K K\  +2 "storage"(t. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (#& +4 "core" &<. J G \ +2 "manipulator"&!& +4 "core" &Ӣ   h 7 +2 "manipulator"&;% +3 "core" % !  m & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +159 "core" ( +2 "manipulator"&u& +4 "core" &    +2 "storage"(& +3 "core" &<. k l \ +8 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' +2 "storage"([& +3 "core" &<. m ` \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'r +296 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<. H P 5\ +2 "manipulator"&r& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&V( +4 "core" ( + "manipulator"&W& +4 "core" &  6  +2 "storage"(P& +4 "core" &<. < = ~\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&B'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( ' +7 "core" &  D  +2 "manipulator"&p% +5 "core" % ϯ [ +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&4( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&& +4 "core" &  L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &  L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +97 "core" ' +2 "manipulator"&H& +4 "core" &    L +2 "manipulator"&O% +3 "core" %   +3 "processing"%z& +8 "core" &*\ +3 "processing"%A& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +8 &6\ #c +9 &Vy\ 7 +10 &t\ K +9 &Q\ M +10 &lR\ M +9 &-Q\ M +9 &T\ N +10 &S\ M +9 &rS\ N +9 &5T\ M +10 &T\ N +9 &!R\ M +10 &#zU\ N +9 &%>T \ M +9 &&T \ M +10 &(V\ M +9 &*T\ M +9 &,DT\ N +10 &.S\ M +9 &/U \ N +10 &1R\ \ M +9 &3NR\ \ M +9 &5R\ \ M +10 &6T\ M +9 &8T \ N +9 &:UT \ M +10 &<S\ N +9 &=U\ M +10 &?T\ M +9 &A[W\ N +9 &C_\ O +10 &Dc\ O +9 &Fl\ P +9 &HU \ S +10 &J \ S +9 &K\ T +9 &M \ T +10 &O[ \ S +9 &Q\ T +10 &R\ T +9 &T \ U +9 &Va\ \ T +10 &X!\ U +9 &Y\ T +10 &[\ U +9 &]g \ B +9 &^=q\ (t +10 &^\ \ * +2 ( +2 "processing"%A& +60 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +4 .Hand.open + "manipulator"&^1 +3 "core" &^\ * + &^\ \ * + &^\ * + &^\ * &^\ * + &^\ * +55 1 +2 "manipulator"&:% +4 "core" %   -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +94 "core" ' +2 "processing"%q& +3 "core" &^\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % #  / +2 "storage"(D% +3 "core" % ? E \  +2 "storage"(v. +4 "core" .(<- + "storage"( & +5 "core" &<. H E $\ +2 "storage"(6& +2 "manipulator"&g& +7 "core" &<. = < \ + &  z K +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&2( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'r +2 "core" ( +3 "manipulator"&& +3 "core" &   K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &    K +2 .tForearm.seek PC +2 "manipulator"&)' +96 "core" ' +2 .tHand.close + "manipulator"& / +54 "core" / +2 .tPC.seek :open +2 "processing"%d( +97 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +52 "core" ' +295 ( +2 "storage"(Y& +3 "core" &<- l i \ +2 "manipulator"&& +4 "core" &    K +2 "manipulator"& % +3 "core" %      +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&S( +245 "core" ( +2 "manipulator"&s& +4 "core" &  & 9 +2 "storage"(f& +3 "core" &<- f i k\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +93 "core" ' + .tHand.open +2 "manipulator"&01 +56 "core" 1 +3 "storage"(7- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"("' +50 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"($& +4 "core" &<- z  d\ +2 "manipulator"&}& +4 "core" &   9 +2 .tElbow.seek 5 + "manipulator"&8( +4 "core" ( +2 "manipulator"&I& +3 "core" &    9 +2 "storage"(& +5 "core" &<- | F\ +2 .tForearm.seek 5 + 450 counts + "manipulator"&y'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +7 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&L& +3 "core" &  9 +2 "storage"(*& +4 "core" &<- S > G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(m' +28 "core" ' + "manipulator"&Z% +5 "core" %Κ   + "storage"(k& +4 "core" &<- O Q 9\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&=' +15 "core" ' + "manipulator"&& +4 "core" &  0 +2 "storage"(T& +3 "core" &<- i j \ +3 .tForearm.reconfigure :tight +45 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +16 "core" ' + "storage"(% +4 "core" % l j \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (j% +4 "core" %#L "  \ We +2 "manipulator"&i% +4 "core" %F   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (F& +3 "core" &<- j i {\ +2 "collection"'?& +4 "core" &\\`\ \ &\ K +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %   +2 "storage"(5% +4 "core" % l l \  +2 "storage"((. +3 "core" .(<- +2 "storage"(+& +4 "core" &<- _ l \ +2 "storage"(& +3 "core" &<- j g \ +2 "manipulator"&w& +4 "core" &  0 +2 .tElbow.seek 5 +2 "manipulator"&\\( +2 "core" ( +3 "manipulator"&`& +3 "core" &  \ g 0 +2 "storage"('& +4 "core" &<- k k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +96 "core" ' +2 "storage"(l& +4 "core" &<- ^ \\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'r +297 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +7 "core" &   0 +2 "storage"( & +4 "core" &<- i j \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&Q'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(,- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(X'r +27 "core" ' +2 "manipulator"&n% +3 "core" %Ρ  W +2 "storage"(%& +4 "core" &<- ; I O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&C' +14 "core" ' + "manipulator"&N& +4 "core" &  0 +2 "storage"(&& +4 "core" &<- i _ z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\ 'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(/' +33 "core" ' +2 "manipulator"&o& +3 "core" &  0 +2 "manipulator"&@% +4 "core" %K \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&t(ӂ +155 "core" ( +2 "manipulator"&a& +3 "core" &ӓ" \  ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &ӓ"   ;5 +2 .tForearm.seek CC + "manipulator"&!'? +96 "core" ' +2 .tHand.close + "manipulator"&;/ +53 "core" / +2 .tCC.seek :open +2 "collection"'>( +450 "core" ( +2 "storage"(u& +3 "core" &<- [ [\ +2 "storage"(& +4 "core" &<- k _ *\ +2 "manipulator"&_& +3 "core" &Ӣ    9& +2 "manipulator"&[% +4 "core" % R  f  +2 .tForearm.seek :retract +2 "manipulator"&G' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&b( +156 "core" ( +2 "manipulator"&R& +4 "core" &    +2 "storage"(& +3 "core" &<- }\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&r'΍ +97 "core" ' +9 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +64 "core" 1 +2 "manipulator"&]% +3 "core" % Η  +2 "storage"(& +4 "core" &<- }\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&p' +13 "core" ' +2 "manipulator"&U& +3 "core" & +2 "storage"(& +4 "core" &<-  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&M'O +16 "core" ' +2 "storage"(B% +3 "core" % y  \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (-% +4 "core" %I l l \ Va +2 "manipulator"&V% +3 "core" %J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +94 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'O& +3 "core" &\ \ \ \ +2 "manipulator"&z% +3 "core" % !   ' +3 "storage"( % +3 "core" %  \  +2 "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(|(K +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +3 "core" &K u e q\  +2 "manipulator"&:& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&q( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(D& +4 "core" &K  Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +92 "core" ' +2 "storage"(A& +4 "core" &K z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +294 "core" ' + "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" &K w \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&K& +3 "core" & r +2 "storage"( & +4 "core" &K } \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&4/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +2 "storage"(' +8 "core" & * +2 "manipulator"&.% +3 "core" % s b +3 .tForearm.seek :retract + "manipulator"&Y' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"& & +9 "core" &Ӌ(  @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &ӌ( \ * @[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&s'? +94 "core" ' + "manipulator"&f& +4 "core" &ӌ(  A @[ +2 "manipulator"&2% +5 "core" %6  + r +2 "collection"'0& +3 "core" & \ \ +3 "collection"'7& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &\ \ \ +7 &B\ \ \ %g +10 &[x \ \ 8 +9 &s\ \ \ K +10 &Q\ \ \ J +9 &S\ \ \ K +9 &TR\ \ \ J +10 &T\ \ \ J +9 &S\ \ *\ K +9 &R\ \ \ J +10 &ZS\ \ *\ K +9 & Q\ \ \ K +10 &!W\ \ \ K +9 &#U\ \ +\ K +9 &%dQ\ \ 8\ J +10 &'&S\ \ 8\ J +9 &(W\ \ 9\ J +9 &*R\ \ ?\ K +10 &,kW\ \ 7\ J +9 &.-U\ \ ?\ J +9 &/T\ \ 9\ J +49 &1U\ \ <\ J +6 &3tT\ \ 9\ J +2 &56U\ \ 8\ J + &6U\ \ :\ J + &8T\ \ H\ J + &:zX\ \ H\ K +6 &<=X\ \ I\ K +10 &=W\ \ @\ K +9 &?X\ \ A\ K +9 &AY\ \ 4\ K +10 &CEZ\ \ 7\ K +9 &Ee\ \ \ A\ L +9 &Fj\ \ ?\ M +10 &H}\ \ F\ O +9 &J3\ /\ '=\ T +10 &K\ 4\ 4F\ V +9 &M\ 2\ 3A\ W +9 &Oo\ .\ 08\ W +10 &Q0\ *\ +-\ W +9 &R\ +\ *9\ X +9 &T\ (\ 'I\ Y +10 &Vq\ (\ (2\ Y +9 &X1\ &\ %.\ Z +10 &Y\ $\ $8\ [ +9 &[\ $\ $E\ H +9 &\\0\ #\ %;\ . +10 &\\d\ #\ !1\ N +2 ( +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&$1 +54 "core" 1 +2 "manipulator"&}% +4 "core" % 6   ) r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +94 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &,\ +2 "manipulator"&% +3 "core" %    # +3 "storage"(L% +3 "core" % C = \  +2 "storage"(*. +4 "core" .(K + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(Z(K +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" &K   \  +2 "manipulator"&3& +3 "core" &Ӯ#  <9 +2 "manipulator"&% +4 "core" %    # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&T( +155 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &K i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +100 "core" ' + "storage"(e& +4 "core" &K _ h z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +298 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +4 "core" &K C F A\  +2 "manipulator"&y& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&8( +4 "core" ( +2 "manipulator"&& +3 "core" & \   +2 "storage"(& +3 "core" &K i i \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&F'h +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +3 "storage"(' +8 "core" &   + "manipulator"&5% +4 "core" % f 8 ~ +2 .tForearm.seek :retract +2 "manipulator"&(' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&+& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &     +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w' +102 "core" ' +2 "manipulator"&`& +4 "core" &  ,  +2 "manipulator"&'% +3 "core" % J +3 "processing"%~& +3 "core" &\ +3 "processing"%l& +6 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +8 &2v\ )w +9 &b|\ = +10 &so\ N +9 &6R!\ M +9 &R!\ M +10 &R \ M +9 &{T\ M +10 &=T\ M +9 &T\ M +9 &Q\ M +10 & T\ M +9 &"FO\ M +9 &$T\ M +10 &%S\ M +9 &'T\ M +10 &)MT\ M +9 &+S\ M +9 &,U\ N +10 &.S\ M +9 &0VT\ M +10 &2S\ M +9 &3R\ M +9 &5T\ L +10 &7]T \ M +9 &9U\ M +9 &:W\ N +10 &<T\ \ M +9 &>eT\ M +9 &@'S\ M +10 &AZ\ N +9 &C^ \ N +10 &Eie\ O +9 &G(j\ P +9 &H}\ R +10 &J \ S +9 &Ld\ S +9 &N$\ T +10 &O\ S +9 &Q\ \ T +10 &Si \ T +9 &U*\ T +9 &V\ T +10 &X\ T +9 &Zo\ U +9 &\\1 \ U +10 &]{q\ > +9 &^"S\ R +10 &^- \ 6 +7 ( +3 "processing"%l& +2 "core" &^(\ 6 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&J1 +61 "core" 1 +2 "manipulator"&{% +3 "core" %    F +49 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +93 "core" ' +2 "processing"%& +3 "core" &^(\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +4 "core" %   !  +2 "storage"(,% +4 "core" % H H \  +2 "storage"(n. +3 "core" .(K +2 "storage"(%& +3 "core" &K O R 5\  +3 "storage"(N& +2 "manipulator"&&& +7 "core" &K J R T\  + &    +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&o( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(@'r +2 "core" ( +3 "manipulator"&c& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &   t  +2 .tForearm.seek PC +2 "manipulator"&1' +95 "core" ' +3 .tHand.close + "manipulator"&Q/ +57 "core" / +2 .tPC.seek :open +2 "processing"%C( +94 "core" ' +2 "storage"(X- +2 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(a'1 +51 "core" ' +299 ( +3 "storage"(#& +3 "core" &K = = \  +2 "manipulator"&\ & +4 "core" &    +2 "manipulator"&<% +4 "core" %   & +2 .tForearm.seek :retract +2 "manipulator"&;' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +6 "manipulator"&h( +246 "core" ( + "manipulator"&E& +4 "core" &   ( ( +2 "storage"(u& +3 "core" &K R S N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +90 "core" ' + .tHand.open +2 "manipulator"&_1 +53 "core" 1 +2 "storage"([- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(!- +2 "core" -' +3 "storage"(t& +3 "core" &K \  +2 "manipulator"&P& +4 "core" &   ( +2 .tElbow.seek 6 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&& +4 "core" &   ; ( +2 "storage"(U& +3 "core" &K %\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(B'" +51 "core" ' + "manipulator"&G& +4 "core" &  ( +2 "storage"(-& +3 "core" &K < > P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&V'< +19 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +17 "core" ' +2 "manipulator"&O% +4 "core" %A \  +2 "storage"(z& +4 "core" &K H E &\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&p'm +13 "core" ' +2 "manipulator"& & +3 "core" &  y ' +2 "storage"(& +4 "core" &K i i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +15 "core" ' + "storage"(M% +4 "core" % h h }\ +3 ."downElevator"SE.seek :down +49 "storage"(' +53 (% +3 "core" %I F E \ Wc +2 "manipulator"&^% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +96 "core" ' +103 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K R [ 2\  +2 "collection"'D& +4 "core" &\\e\ \ =\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&A% +4 "core" % ! \ . ' +2 "storage"(W% +4 "core" % h h F\  +2 "storage"(H. +3 "core" .(K +2 "storage"(g& +4 "core" &K ^ \\ C\  +2 "storage"(6& +3 "core" &K \\ \\ \  +2 "manipulator"&& +4 "core" &  ' +2 .tElbow.seek 6 +2 "manipulator"&K( +2 "core" ( +2 "manipulator"& & +4 "core" &   . ' +2 "storage"(4& +5 "core" &K i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&x' +96 "core" ' +2 "storage"(.& +3 "core" &K \\ h \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +297 "core" ' +2 "storage"(v- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  \  ' +2 "storage"()& +4 "core" &K _ i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(2'g +33 "core" ' +2 "manipulator"&0% +3 "core" %L \   +2 "storage"(& +4 "core" &K Q P O\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&'x +16 "core" ' + "manipulator"&Y& +4 "core" &  ' +2 "storage"(>& +5 "core" &K _ i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(}' +35 "core" ' +2 "manipulator"&& +3 "core" &  ' +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&*(ӂ +154 "core" ( +2 "manipulator"&7& +4 "core" &ӏ"    ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &ӏ"   9 ;2 +2 .tForearm.seek CC +3 "manipulator"&3'? +93 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / +2 .tCC.seek :open + "collection"'s( +447 "core" ( +2 "storage"(& +3 "core" &K p ` 7\  +2 "storage"(& +4 "core" &K ^ \\ O\  +2 "manipulator"&|& +3 "core" &Ӯ   6 +2 "manipulator"&e% +4 "core" % N  w  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&I( +164 "core" ( + "manipulator"&j& +5 "core" &   1  + "storage"(i& +4 "core" &K   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&y'< +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +108 "core" 1 +5 "manipulator"&=% +4 "core" % A / +2 "storage"(?& +4 "core" &K  } +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&5'm +14 "core" ' + "manipulator"&T& +5 "core" &  $  + "storage"(S& +5 "core" &K z p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&"' +16 "core" ' + "storage"(F% +4 "core" % { =\ +3 ."downElevator"SE.seek :down +3 "storage"(+' +99 (% +3 "core" %E i f ~\ Va +2 "manipulator"&8% +4 "core" % ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"''& +4 "core" & \ +2 "manipulator"&~% +3 "core" %    +2 "storage"(% +4 "core" % w H\  +2 "storage"((. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(d([ +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +2 "core" &[ _ \\ d\ +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&l(r +20 "core" ( +2 "manipulator"&& +3 "core" &f   +2 "storage"( & +4 "core" &[ u v \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&,'= +91 "core" ' +2 "storage"(n& +3 "core" &[ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +291 "core" ' +2 "storage"(N- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &[ ~ u |\ +2 "manipulator"&c& +4 "core" &f  +2 .tElbow.seek 7 +2 "manipulator"&\\(r +31 "core" ( +2 "manipulator"&w& +5 "core" &  \ U  + "storage"(Q& +4 "core" &[ } \ +3 .tForearm.seek 7 + 300 counts + "manipulator"&X'ϧ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"(' +8 "core" & t  +2 "manipulator"&@% +4 "core" % ϸ  F +2 .tForearm.seek :retract + "manipulator"&#' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&\ (ӂ +151 "core" ( +2 ' + "manipulator"&<& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &ӏ   9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &ӏ  9 9' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&E'? +100 "core" ' +2 "manipulator"&u& +4 "core" &ӏ   K 9' +2 "manipulator"&o% +5 "core" %>   + "collection"'_& +4 "core" & \ \ +3 "collection"'[& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'!(\\ +4 "core" &\ \ \  +8 &6}\ \  \ +{ +10 &g}\ \ \ > +9 &k\ \  \ L +9 &bR\ \ \ K +10 &$R\ \ \ K +9 &R\ \ \ J +10 &R\ \ \ K +9 &jR\ \ \ K +9 &,T\ \ \ K +10 &R\ \ 5\ J +9 & R\ \ \ K +9 &"qW\ \ \ K +10 &$4W\ \ ,\ K +9 &%V\ \ \ K +9 &'R\ \ 0\ K +10 &)zR\ \ .\ K +9 &+<W\ \ \ K +10 &,U\ \ \ K +9 &.R\ \ g\ K +9 &0R\ \ 7\ K +10 &2ET\ \ \ J +9 &4X\ \ \ K +9 &5W\ \ j\ K +10 &7W\ \ /\ K +9 &9KX\ \ I\ K +10 &; W\ \ J\ K +9 &<W\ \ I\ K +9 &>X\ \ L\ K +10 &@TS\ \ L\ K +9 &BT\ \ J\ K +10 &C[\ \ K\ L +9 &Ec\ \ J\ L +9 &GRn\ \ K\ N +10 &I\ \ "\ L\ Q +9 &J\ 5\ 1K\ V +9 &L\ 3\ 5K\ W +10 &N>\ 2\ 3L\ X +9 &P\ -\ /I\ W +51 &Q\ -\ -K\ X +4 &S\ *\ )E\ X +2 &UC\ (\ (J\ Y + &W\ %\ &J\ Z + &X\ $\ &K\ Z + &Z\ %\ %J\ Z +6 &\\(z\ %\ &I\ . +9 &\\+\ #\ %F\ _ +9 ( +3 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&t1 +4 "core" &\\q\ #\ !G\ N +53 1 +2 "manipulator"&P% +4 "core" % >   q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%U& +4 "core" &\ +2 "manipulator"&;% +3 "core" %     +3 "storage"(G% +3 "core" % 8 ; o\  +3 "storage"(-. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(O([ +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (z& +3 "core" &[ & " C\  +2 "manipulator"&a& +4 "core" &Ӭ   5\ +2 "manipulator"& % +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +161 "core" ( + "manipulator"&R& +5 "core" &x  "  + "storage"(M& +4 "core" &[ i i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'= +98 "core" ' +2 "storage"(& +5 "core" &[ l l \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &[ M Q 5\  +2 "manipulator"&& +4 "core" &x   +2 .tElbow.seek 7 +2 "manipulator"&](r +3 "core" ( +2 "manipulator"&B& +8 "core" &x 3  +2 "storage"(V& +3 "core" &[ f h \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&p'ϧ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(A' +8 "core" &x t  + "manipulator"&W% +4 "core" % ϥ  +2 .tForearm.seek :retract +2 "manipulator"&H' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&r( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&g& +3 "core" &  A / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &6& +3 "core" & ! / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 "manipulator"& & +3 "core" &   / +2 "manipulator"&4% +4 "core" %   +2 "processing"%/& +4 "core" &6\ +2 "processing"%.& +5 "core" &$\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +9 &6\ $d +9 &Wy"\ 7 +10 &x \ L +9 &O\ M +10 &oS \ M +9 &1R \ M +9 &T!\ M +10 &S!\ N +9 &xS \ M +9 &9T"\ M +10 &U\ M +9 &!S \ M +10 &#~U!\ N +9 &%BT \ M +9 &'T!\ M +10 &(T!\ M +9 &*T\ M +9 &,JU\ M +10 &. R\ M +9 &/T\ M +10 &1R\ M +9 &3RS\ M +9 &5S\ M +10 &6T\ M +9 &8T\ M +9 &:ZQ\ M +10 &<U\ N +9 &=U \ M +10 &?R\ M +9 &AaT\ M +9 &C^ \ O +10 &Da \ O +9 &Fk\ P +9 &H\\z \ R +10 &J \ S +9 &K\ T +10 &M\ T +9 &O] \ T +9 &Q\ T +10 &R \ T +9 &T\ U +9 &Ve\ T +10 &X&\ T +9 &Y\ T +14 &[\ U +5 &]k\ B +9 &^;k\ %l +10 &^*\ , +5 ( +2 "processing"%.& +4 "core" &^\ , +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&b1 +57 "core" 1 +2 "manipulator"&:% +3 "core" %    5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +97 "core" ' +2 "processing"% & +3 "core" &^\ , +51 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&)% +3 "core" % !  & +2 "storage"(f% +4 "core" % R R D\  +2 "storage"(0. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" &[ l \  +3 "manipulator"&>& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  / +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&( +7 "core" ( + "manipulator"&x& +4 "core" &  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &  ) / +2 .tForearm.seek PC +2 "manipulator"&q' +93 "core" ' +2 .tHand.close + "manipulator"& / +57 "core" / +2 .tPC.seek :open + "processing"%( +95 "core" ' + "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(7'1 +40 "core" ' +313 ( +2 "storage"(k& +4 "core" &[ _ e \  +2 "manipulator"&$& +3 "core" &  / +2 "manipulator"&% +4 "core" %  $ +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&L(r +250 "core" ( +2 "manipulator"&& +3 "core" &}  - ; +2 "storage"(& +4 "core" &[ = = \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +94 "core" ' +2 .tHand.open + "manipulator"&|1 +55 "core" 1 +2 "storage"(e- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(j' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(i' +55 "core" ' + #tLights, camera, ACTION! + "storage"(3- +4 "core" -' + "storage"(*& +4 "core" &[ c e 1\  +2 "manipulator"&& +3 "core" &~  : +3 .tElbow.seek 7 + "manipulator"&=(r +10 "core" ( + "manipulator"&?& +5 "core" &~    + "storage"(T& +4 "core" &[ e c )\  +3 .tForearm.seek 7 + 450 counts + "manipulator"&S'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(F'" +57 "core" ' + "manipulator"&& +4 "core" &~   +2 "storage"(I& +3 "core" &[ R R 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +30 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +28 "core" ' +2 "manipulator"&'% +3 "core" %Έ . . ~ +2 "storage"(~& +4 "core" &[ # " :\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts + "manipulator"&5'ϴ +14 "core" ' +2 "manipulator"&& +3 "core" &~  A  +2 "storage"((& +5 "core" &[ i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&}'= +17 "core" ' +2 "storage"("% +4 "core" % _ f \ +3 ."downElevator"SE.seek :down +3 "storage"(+' +145 (Z% +5 "core" %G   \\\ Wc +2 "manipulator"&J% +4 "core" %C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +15 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &[ ; < W\  +2 "collection"' & +3 "core" &\\q\ \ J\ N +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&n% +3 "core" %    +2 "storage"(% +4 "core" % i i \  +2 "storage"(`. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(N([ +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" &[  Y\  +2 "manipulator"&c& +3 "core" &~   +3 .tElbow.seek 7 + "manipulator"&w(r +9 "core" ( + "manipulator"&Q& +4 "core" &    +2 "storage"(m& +4 "core" &[ i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'= +97 "core" ' + "storage"(@& +4 "core" &[ i f \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'r +296 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" &    +2 "storage"(1& +3 "core" &[ < : \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&%'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(u- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(o'o +30 "core" ' +2 "manipulator"&_% +4 "core" %Ώ Z  +2 "storage"(\\& +3 "core" &[ G ) I\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&'ϻ +14 "core" ' + "manipulator"&#& +4 "core" &   4  +2 "storage"(s& +4 "core" &[ i i y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(P' +35 "core" ' +2 "manipulator"&U& +4 "core" &    +2 "manipulator"&;% +4 "core" %7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +148 "core" ( +2 "manipulator"&[& +3 "core" &|&    ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &|& n ?R +2 .tForearm.seek CC +2 "manipulator"&a'? +94 "core" ' + .tHand.close + "manipulator"& / +56 "core" / + .tCC.seek :open +2 "collection"'E( +447 "core" ( +2 "storage"(R& +4 "core" &[ r j }\  +2 "storage"(M& +4 "core" &[  r ^\  +2 "manipulator"&d& +3 "core" &Ӳ  Y 8 +2 "manipulator"&% +3 "core" % ?   } +3 .tForearm.seek :retract + "manipulator"&\ ' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +161 "core" ( + "manipulator"&& +4 "core" &t $  +2 "storage"(^& +4 "core" &[ z y W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +100 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +46 "manipulator"&$&.,(\ #b +6 .tHand.open + "manipulator"&V1 +62 "core" 1 +2 "manipulator"&% +4 "core" % Ά   +2 "storage"(D& +4 "core" &[ } \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 311 counts +2 "manipulator"&W'ϲ +13 "core" ' + "manipulator"&& +4 "core" &u X  +2 "storage"(h& +4 "core" &[ {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +17 "core" ' +2 "storage"(p% +3 "core" % `\ +3 ."downElevator"SE.seek :down +3 "storage"(g' +99 (6% +3 "core" %F k l \ Wb +2 "manipulator"&]% +4 "core" %5 ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'4& +3 "core" &\ \ \ +2 "manipulator"&/% +5 "core" %    + "storage"(A% +5 "core" % x j\  + "storage"(H. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(C(<- +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (b& +3 "core" &<0  2\ +2 "manipulator"&:& +4 "core" &u   +2 .tElbow.seek 5 +2 "manipulator"& ( +35 "core" ( + "manipulator"&)& +4 "core" & q  +2 "storage"(.& +4 "core" &<0 x y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&f'O +98 "core" ' + "storage"(0& +4 "core" &<0 `\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'r +299 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" &<.  q\ +2 "manipulator"&K& +5 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(O& +3 "core" &<. t v @\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&2'Ϲ +42 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"(' +8 "core" &  \ ;  +2 "manipulator"&% +4 "core" %   I +2 .tForearm.seek :retract +2 "manipulator"&k' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&& +4 "core" &ӏ#   ) << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &ӏ#   << +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 "manipulator"&& +3 "core" &ӏ#   << +2 "manipulator"&% +4 "core" %7  q +2 "collection"'|& +4 "core" & \ \ +3 "collection"'e& +5 "core" &\ \ \ +2 .tCC.seek :closed + "collection"'3(\\ +4 "core" &\ \ \ +9 &B \ \ $e +9 &Yx \ \ 7 +9 &v\ \ \ J +10 &R\ \ \ K +9 &W\ \ \ J +9 &MT\ \ \ J +10 &W\ \ \ \ J +9 &R\ \  \ K +10 &W\ \  \ J +9 &UT\ \  \ J +9 & S\ \ \ J +10 &!W\ \ \ K +9 &#U\ \ \ K +9 &%\\V\ \ \ \ J +10 &'T\ \ \ J +9 &(T\ \ \ J +10 &*V\ \ \ K +9 &,dU\ \ \ K +9 &.&R\ \ \ K +10 &/R\ \ \ J +9 &1T\ \ \ K +9 &3kR\ \ \ K +10 &5-R\ \ \ K +9 &6R\ \ \ K +10 &8R\ \ \ K +9 &:tR\ \ \ K +9 &<6R\ \ \ K +10 &=R\ \ M\ J +9 &?U\ \ 3\ J +14 &A{U\ \ 3\ K +5 &C;\\\ \ .\ L +9 &Da\ \ \ L +51 &Fm\ \ _\ M +4 &Hs\ \  \ P + &J*\ /\ )D\ T +2 &K\ 3\ 1\ V + &M\ 0\ /@\ W + &Of\ .\ .+\ X +6 &Q'\ *\ ,H\ X +9 &R\ (\ '%\ Y +10 &T\ '\ '\ Y +9 &Vj\ %\ %>\ Y +9 &X)\ #\ &J\ Z +10 &Y\ $\ $J\ [ +9 &[\ #\ #K\ H +9 &\\0\ $\ #K\ 1 +10 &\\c\ #\ !$\ L +2 ( +2 "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&*1 +55 "core" 1 +3 "manipulator"&% +3 "core" % 7    q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%T& +3 "core" &'\ +2 "manipulator"&% +4 "core" %  B  +2 "storage"(% +4 "core" % @ J t\  +2 "storage"(I. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(7(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &<. F P -\ +2 "manipulator"&~& +4 "core" &Ӯ   7 8 +2 "manipulator"&j% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +165 "core" ( +2 "manipulator"&(& +3 "core" &    +2 "storage"("& +4 "core" &<. k j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +94 "core" ' +2 "storage"(& +3 "core" &<. i \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'r +292 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" &<. Y K 9\ +2 "manipulator"&J& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&=( +4 "core" ( + "manipulator"&F& +4 "core" & 9  +2 "storage"(& +3 "core" &<. i i \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&5'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +6 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(n' +8 "core" &   + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&y( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&&& +4 "core" &   ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +4 "core" &  ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +91 "core" ' +2 "manipulator"&m& +4 "core" &   ! +2 "manipulator"&@% +4 "core" % \  c +2 "processing"%}& +4 "core" &:\ +3 "processing"%+& +5 "core" &$\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &&\ +8 &6'\ #c +9 &Wy!\ 7 +9 &t!\ K +10 &P\ M +9 &fT#\ M +9 &(Q\ M +10 &T\ M +9 &R\ M +9 &nU\ M +10 &0S\ M +9 &S\ M +10 &!R\ M +9 &#vR\ M +9 &%8S\ M +10 &&T\ M +9 &(U\ M +10 &*R\ M +9 &,@V\ M +9 &.S\ M +10 &/T\ M +9 &1R\ L +9 &3HR\ M +10 &5 R\ L +9 &6T\ M +9 &8T\ M +10 &:PT\ M +9 &<U\ M +10 &=S\ M +9 &?W\ M +9 &AVY\ N +10 &C_\ O +9 &De\ O +9 &Fp\ P +10 &HQ\ R +9 &J\ S +10 &K\ S +9 &M\ T +9 &OU\ S +10 &Q \ T +9 &R\ T +9 &T\ U +10 &V\\\ T +9 &X\ T +10 &Y\ T +9 &[\ T +9 &]` \ B +10 &^Du\ \\ +9 &^?\ 2 +5 ( +2 "processing"%+& +9 "core" &^%\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&81 +62 "core" 1 +2 "manipulator"&{% +3 "core" %    ^ c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +96 "core" ' +5 "processing"%<& +3 "core" &^%\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&1% +3 "core" % &   { C +2 "storage"(u% +4 "core" % G F 4\  +2 "storage"(_. +3 "core" .(<- +2 "storage"(\\& +3 "core" &<. E E \ +3 "storage"(#& +2 "manipulator"&s& +7 "core" &<. E H \ + &   ! +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&U( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(;'r +2 "core" ( +3 "manipulator"&9& +4 "core" &   X ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" & : / ! +3 .tForearm.seek PC + "manipulator"&l' +94 "core" ' +2 .tHand.close + "manipulator"&%/ +52 "core" / +3 .tPC.seek :open + "processing"%( +100 "core" ' +2 "storage"([- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +2 "storage"(o'1 +46 "core" ' +296 ( +2 "storage"(z& +3 "core" &<- m l \ +2 "manipulator"&t& +5 "core" &   ! + "manipulator"&X% +5 "core" %  $ +2 .tForearm.seek :retract + "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&G( +245 "core" ( +2 "manipulator"&!& +3 "core" &   5 +2 "storage"(R& +4 "core" &<- h j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +97 "core" ' +2 .tHand.open + "manipulator"&d1 +61 "core" 1 +3 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +35 "core" ' +2 .tSE.reconfigure :seal + "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(a- +3 "core" -' +2 "storage"(-& +4 "core" &<- \ +2 "manipulator"&V& +3 "core" &  5 +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&D& +3 "core" &   C 5 +2 "storage"(& +4 "core" &<- d Y Y\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +16 "core" ' +7 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(p'" +59 "core" ' +2 "manipulator"&\ & +3 "core" & \  . 5 +2 "storage"(& +4 "core" &<- = < \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&6'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 "manipulator"&4% +3 "core" %Ρ   +2 "storage"(/& +4 "core" &<- E I \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&W' +14 "core" ' + "manipulator"&A& +4 "core" &  + 3 +2 "storage"(H& +4 "core" &<- _ \\ Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&P'O +15 "core" ' +2 "storage"(% +3 "core" % j _ \ +3 ."downElevator"SE.seek :down +3 "storage"(g' +99 (N% +3 "core" %iO $ ) \ Xf +2 "manipulator"&b% +4 "core" %M   +49 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +94 "core" ' +10 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ()& +3 "core" &<- T = c\ +2 "collection"'.& +4 "core" &\\a\ \ :\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&0% +4 "core" % !   $ +2 "storage"(B% +4 "core" % i i \  +7 "storage"( . +2 "core" .(<- +2 "storage"(>& +4 "core" &<- i i \ +2 "storage"(x& +4 "core" &<- i i \ +2 "manipulator"&K& +4 "core" &   3 +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( +2 "manipulator"&O& +3 "core" & \  3 +2 "storage"(r& +4 "core" &<- h i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +95 "core" ' +2 "storage"(& +5 "core" &<- _ f y\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +307 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  3 +2 "storage"(q& +3 "core" &<- 7 ; \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&Y'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&2, +2 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('s +29 "core" ' +2 "manipulator"&|% +4 "core" %Ν  +2 "storage"(& +3 "core" &<- O H >\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&' +16 "core" ' + "manipulator"&k& +4 "core" &  \ m 2 +2 "storage"(E& +3 "core" &<- i k ~\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&*'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&T& +4 "core" &   2 +2 "manipulator"&% +3 "core" %P R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +153 "core" ( + "manipulator"&e& +4 "core" &ӎ$  =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &ӏ$ \ % =A +2 .tForearm.seek CC + "manipulator"&~'? +101 "core" ' + .tHand.close + "manipulator"&j/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"((& +4 "core" &<-  8\ +2 "storage"("& +3 "core" &<- s \ +2 "manipulator"&C& +4 "core" &ӥ!  \  :+ +2 "manipulator"&% +3 "core" % H  +7 .tForearm.seek :retract +2 "manipulator"&$' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&?( +157 "core" ( +2 "manipulator"&S& +4 "core" & \ v  +2 "storage"(Z& +3 "core" &<- v v -\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&J'΍ +96 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % Γ   +2 "storage"( & +3 "core" &<-  y g\ +42 .tForearm.force -20 +14 "manipulator"&5 +3 .tForearm.seek 5 + 306 counts + "manipulator"&'Ͽ +15 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(L& +4 "core" &<- r\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&i'O +15 "core" ' + "storage"(5% +4 "core" % ~\ +3 ."downElevator"SE.seek :down +3 "storage"(&' +99 (c% +3 "core" %D h _ \ U_ +2 "manipulator"&=% +4 "core" %I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +97 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'@& +3 "core" &\ \ +2 "manipulator"&}% +4 "core" %  D  +2 "storage"(n% +5 "core" % c\  + "storage"(`. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" &K { \ +2 "manipulator"&{& +4 "core" & G  +2 .tElbow.seek 6 +2 "manipulator"&<( +2 "core" ( +2 "manipulator"&1& +4 "core" & e  +2 "storage"(u& +4 "core" &K d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&_' +89 "core" ' +2 "storage"(+& +3 "core" &K s\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'r +296 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &K v  J\ +2 "manipulator"&9& +4 "core" & #  +2 .tElbow.seek 6 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&Q& +3 "core" &  +2 "storage"(%& +4 "core" &K } \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&['h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(' +7 "core" & 5  +2 "manipulator"&;% +4 "core" % u ; +2 .tForearm.seek :retract +2 "manipulator"&z' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&t(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&X& +4 "core" &&   t ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" && \  ?P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&!'? +98 "core" ' + "manipulator"&R& +4 "core" &ӓ#    << +2 "manipulator"&U% +4 "core" %<  +2 "collection"'d& +5 "core" &\  \ +2 "collection"'& +5 "core" &\ \ +2 .tCC.seek :closed +2 "collection"'a(\\ +3 "core" & \ \ +8 &<\ \ \ $f +10 &Z{\ \ \ 7 +9 &v\ \ \ K +9 &T\ \ \ \ K +10 &W\ \ \ K +9 &KW\ \ \ J +10 & T\ \ \ J +9 &W\ \ \ K +9 &T\ \ \ K +10 &SR\ \ \ \ J +9 & Q\ \ \ K +9 &!R\ \ \ J +10 &#U\ \ \ J +9 &%[R\ \  \ J +10 &'R\ \ \ \ K +9 &(W\ \ \ J +9 &*Q\ \ \ K +10 &,bW\ \ \ J +9 &.#R\ \ \ K +9 &/W\ \ \ K +10 &1Y\ \ \ K +9 &3jW\ \ \ K +10 &5,U\ \ \ K +9 &6S\ \ \ K +9 &8R\ \ B\ J +10 &:qR\ \ \ K +9 &<4R\ \ \ \ K +9 &=S\ \ \ J +10 &?U\ \ \ J +9 &AzW\ \ ,\ K +10 &C:\\\ \ 5\ K +9 &Db\ \ \ L +9 &Fr\ \ +\ N +10 &Ht|\ \ \ O +9 &J'\ .\ )@\ U +9 &K\ 4\ 34\ W +10 &M\ 0\ 17\ X +9 &Oe\ .\ / \ W +10 &Q&\ +\ -*\ W +9 &R\ (\ +.\ X +9 &T\ (\ (1\ Y +10 &Vg\ &\ &3\ Y +9 &X&\ $\ &6\ Z +9 &Y\ #\ #R\ \\ +10 &[\ %\ &Z\ H +9 &\\1\ #\ &Z\ 0 +10 &\\w\ "\ "\ Q +2 ( +2 "collection"'& +55 "core" &\\v\ \ m\ Q +2 &\\v\ \ l\ Q + &\\v\ \ 1\ Q + &\\v\ \ E\ Q + &\\v\ \ W\ Q + &\\v\ \ Y\ Q +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&-1 +60 "core" 1 +2 "manipulator"&V% +4 "core" % <   L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +3 "core" &B\ +2 "manipulator"& % +4 "core" %  \  # +2 "storage"(\ % +4 "core" % = = \  +2 "storage"(. +4 "core" .(K + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(o(K +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" &K  $ '\  +2 "manipulator"&/& +4 "core" &ӭ  8" +2 "manipulator"&% +4 "core" %    # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&A( +163 "core" ( + "manipulator"&H& +4 "core" &    +2 "storage"(& +4 "core" &K i h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&G' +104 "core" ' +2 "storage"(M& +3 "core" &K h k !\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'r +309 "core" ' + "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" &K f [ \  +2 "manipulator"&h& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&p& +4 "core" &   Y  +2 "storage"(6& +3 "core" &K i i \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&W'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&)/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +3 "storage"(0' +7 "core" &  O  +2 "manipulator"&B% +4 "core" % d   z +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&>& +4 "core" &  C ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" & ? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +91 "core" ' +2 "manipulator"&O& +4 "core" &   ? +2 "manipulator"&r% +3 "core" %   o +3 "processing"%& +3 "core" &C\ +3 "processing"%P& +5 "core" &1\ +2 .tPC.seek :closed + "processing"%g(^ +4 "core" &3\ +8 &=9\ #c +9 &Wy8\ 7 +10 &v3\ L +9 &R4\ M +9 &oR5\ M +10 &1R4\ M +9 &T4\ M +10 &S,\ M +9 &yS1\ L +9 &9T3\ M +10 &T-\ M +9 &!R2\ M +9 &#T3\ M +10 &%AT)\ M +9 &'T+\ M +10 &(T\ M +9 &*S \ M +9 &,IT'\ M +10 &. R \ M +9 &/U \ M +9 &1R"\ M +10 &3RS-\ M +9 &5R \ M +10 &6T&\ M +9 &8U!\ M +9 &:YT(\ M +10 &<U(\ N +9 &=U \ M +9 &?W+\ M +10 &A`X\ M +9 &C \\&\ N +10 &Da-\ O +9 &Fh-\ P +9 &H^s*\ Q +10 &J$\ T +9 &K(\ S +9 &M)\ T +10 &O^ \ S +9 &Q)\ T +10 &R"\ T +9 &T!\ U +9 &Vd&\ T +10 &X%)\ T +9 &Y\ T +9 &[\ T +10 &]i(\ B +9 &^<n \ &p +10 &^% \ - +5 ( +2 "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&]1 +2 "core" &^\ - +50 1 +2 "manipulator"&:% +3 "core" %    3 o +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +95 "core" ' +3 "processing"%& +3 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&q% +4 "core" % !   ) +48 "storage"(% +6 "core" % P J Y\  +2 "storage"(|. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" &K n\  $\  +3 "manipulator"&E& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &    ? +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&T( +2 "storage"('r +5 "core" ( +3 "manipulator"&v& +3 "core" &   + ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  % ? +2 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' +6 .tHand.close +2 "manipulator"&Y/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(e'1 +40 "core" ' +313 ( +2 "storage"('& +9 "core" &K O D X\  + "manipulator"&*& +5 "core" & \  ? + "manipulator"&2% +4 "core" %  \  > +2 .tForearm.seek :retract +2 "manipulator"&j' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&3& +3 "core" &   5 +2 "storage"((& +4 "core" &K E O \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +100 "core" ' +2 .tHand.open + "manipulator"&C1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(S' +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Z' +56 "core" ' + #tLights, camera, ACTION! + "storage"(~- +4 "core" -' + "storage"(I& +4 "core" &K \  +2 "manipulator"&& +3 "core" &  # 5 +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &   5 +2 "storage"(& +3 "core" &K \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&L' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(5'" +51 "core" ' +2 "manipulator"&$& +3 "core" &  5 +2 "storage"(c& +4 "core" &K R > \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&?'< +25 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(J' +19 "core" ' + "manipulator"&@% +4 "core" %L    +2 "storage"(}& +3 "core" &K H F .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&'x +27 "core" ' + "manipulator"&n& +4 "core" &  @ 5 +2 "storage"(`& +4 "core" &K I T 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +14 "core" ' +2 "storage"(i% +3 "core" % \\ ^ M\ +3 ."downElevator"SE.seek :down +3 "storage"(&' +99 (7% +3 "core" %lP $ \ Wf +2 "manipulator"&8% +4 "core" %   +47 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +95 "core" ' +4 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (1& +3 "core" &K E : f\  +2 "collection"'u& +4 "core" &\\u\ \ \ \ Q +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&+% +4 "core" % !  \  $ +2 "storage"(F% +4 "core" % T [ \  +2 "storage"(m. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(s(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +2 "core" &K\ \  \  +2 "manipulator"&9& +4 "core" &  ' 5 +2 .tElbow.seek 6 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&%& +3 "core" &   5 +3 "storage"(y& +3 "core" &K i h L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&,' +96 "core" ' +2 "storage"(;& +3 "core" &K i h \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +296 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +4 "core" &  5 +2 "storage"(l& +3 "core" &K E J H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&\\'< +17 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(U'g +29 "core" ' +2 "manipulator"&d% +3 "core" %J   +2 "storage"(w& +4 "core" &K O D P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&'v +14 "core" ' + "manipulator"&z& +4 "core" &  \  5 +2 "storage"(& +3 "core" &K I T \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&-' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(V' +35 "core" ' + "manipulator"&& +4 "core" &  5 +2 "manipulator"& % +4 "core" % \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +161 "core" ( +2 "manipulator"&& +3 "core" &Ӯ   R 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &Ӯ | 1 +3 .tForearm.seek CC + "manipulator"&/'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'!( +447 "core" ( +2 "storage"(H& +4 "core" &K | \  +2 "storage"(& +3 "core" &K s \  +2 "manipulator"&& +4 "core" &Ӯ  1 +2 "manipulator"&M% +4 "core" % :  - +2 .tForearm.seek :retract + "manipulator"&t' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&D( +161 "core" ( +2 "manipulator"&N& +3 "core" &    +2 "storage"(b& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&h'< +95 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +97 "core" 1 +10 "manipulator"&)% +4 "core" % *  +2 "storage"(.& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 282 counts + "manipulator"&B'V +15 "core" ' + "manipulator"&A& +4 "core" &  +2 "storage"(G& +4 "core" &K x A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +16 "core" ' + "storage"(W% +4 "core" % e\ +3 ."downElevator"SE.seek :down +3 "storage"(>' +99 (x% +3 "core" %eF [ [ )\ V` +2 "manipulator"&% +4 "core" % H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +8 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'r& +3 "core" & \ \ +2 "manipulator"&% +4 "core" %    +2 "storage"(0% +3 "core" % h\  +2 "storage"( . +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (]& +3 "core" &[ f j T\  +2 "manipulator"&:& +4 "core" & \   +2 .tElbow.seek 7 + "manipulator"&(r +34 "core" ( +2 "manipulator"&q& +3 "core" & X  +2 "storage"(& +5 "core" &[ z y O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&P'= +94 "core" ' +2 "storage"(|& +3 "core" &[ t\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +293 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &[ p l \  +2 "manipulator"& & +3 "core" &  <  +3 .tElbow.seek 7 + "manipulator"&K(r +21 "core" ( +2 "manipulator"&Y& +3 "core" &q w +2 "storage"(o& +4 "core" &[ }\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(g' +8 "core" &q # w +2 "manipulator"&% +3 "core" %  W +3 .tForearm.seek :retract + "manipulator"&'' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&2& +4 "core" &ӌ&   F ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &ӌ&   o ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'? +94 "core" ' +2 "manipulator"&(& +3 "core" &Ӎ&   ?Q +3 "manipulator"&T% +4 "core" %E  3 E +2 "collection"'C& +4 "core" &\ \ $\ +3 "collection"'& +4 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'~(\\ +4 "core" &\ \ '\  +9 &5x\ \ %\ *z +10 &hy\ \ .\ > +9 &k\ \ #\ L +9 &bQ\ \ '\ J +10 &$S\ \ "\ J +9 &T\ \ %\ J +9 &W\ \ "\ K +10 &iT\ \ "\ K +9 &,R\ \ \ J +10 &T\ \  \ J +9 & W\ \ \ J +9 &"qR\ \ \ \ K +10 &$4V\ \ \ J +9 &%R\ \ \ K +9 &'U\ \ \ K +10 &)zQ\ \ \ J +9 &+<T\ \ \ J +13 &,W\ \ \ K +6 &.U\ \ \ K +9 &0W\ \ \ K +10 &2CW\ \ \ K +9 &4U\ \ \ K +9 &5W\ \ \ K +10 &7W\ \ \ K +9 &9LX\ \ \ J +10 &;T\ \ \ J +9 &<W\ \ \ K +9 &>W\ \ \ J +10 &@TU\ \ \ J +9 &BU\ \ \ J +9 &C\\\ \ \ L +10 &Ec\ \ \ \ L +9 &GQn\ \ \ N +10 &I\ \ "\ \ Q +9 &J\ 4\ 1\ V +9 &L\ 3\ 5\ V +10 &N>\ 3\ 3\ W +9 &P\ -\ /\ W +51 &Q\ -\ .\ W +4 &S\ )\ *D\ X +2 &UB\ *\ 'M\ X + &W\ (\ &\ Z + &X\ %\ &D\ [\ + &Z\ '\ %I\ Z +6 &\\&z\ #\ $\ - +9 &\\3\ !\ $>\ d +9 ( +3 "collection"'& +3 "core" &\\`\ !\ "\ K +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&I1 +58 "core" 1 +2 "manipulator"&% +5 "core" % E   V E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &7\ +2 "manipulator"&j% +4 "core" %    N  +2 "storage"($% +4 "core" % h h 3\  +2 "storage"(c. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(@([ +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &[   L\  +2 "manipulator"&e& +4 "core" &ӯ! & :/ +2 "manipulator"&n% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&`(r +163 "core" ( +2 "manipulator"&S& +4 "core" &j     +2 "storage"(i& +4 "core" &[ l k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +96 "core" ' +2 "storage"("& +3 "core" &[ m\  +3 .tSE.reconfigure :pick + "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +298 "core" ' +2 "storage"(7- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &[ j l \  +2 "manipulator"&L& +4 "core" &j   +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&5& +3 "core" &j   N  +2 "storage"(?& +4 "core" &[ l l \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(+' +8 "core" &j L  +2 "manipulator"&F% +3 "core" % ϝ  +3 .tForearm.seek :retract + "manipulator"&m' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&#& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&%' +103 "core" ' + "manipulator"&y& +4 "core" &   +2 "manipulator"&;% +5 "core" %  +2 "processing"%& +3 "core" &\ +3 "processing"%&& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &_\  +10 &3u%\ )w +9 &e{2\ > +10 &|o9\ N +9 &AN5\ M +9 &R4\ M +10 &Q4\ M +9 &R4\ M +9 &HS5\ M +10 &\ S5\ M +9 &T3\ M +10 & T2\ M +9 &"OS4\ M +9 &$T1\ M +10 &%S*\ M +9 &'T2\ M +9 &)WT1\ M +10 &+T%\ N +9 &,T)\ M +9 &.S)\ M +10 &0_T,\ M +9 &2"R*\ M +10 &3S*\ M +9 &5T*\ M +9 &7hS*\ M +10 &9)U.\ M +9 &:R.\ M +9 &<Q)\ M +10 &>oX*\ M +9 &@1S(\ M +10 &AW)\ N +9 &C`,\ O +9 &Ere.\ O +10 &G/p.\ Q +9 &H}*\ R +9 &J)\ T +10 &Ll.\ T +9 &N-+\ T +10 &O)\ T +9 &Q+\ T +9 &Sq%\ U +10 &U4)\ T +9 &V)\ T +10 &X)\ T +9 &Zx'\ U +9 &\\;%\ U +10 &]{s*\ 8 +9 &^/!\ L +9 &^!\ , +3 ( +2 "processing"%&& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&=1 +57 "core" 1 + "manipulator"&{% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +96 "core" ' +2 "processing"%X& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +49 "manipulator"&l% +3 "core" % %  = +2 "storage"(R% +5 "core" % < : \  + "storage"(d. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(w([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &[ p *\  +3 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"& ( +7 "core" ( + "manipulator"&,& +4 "core" & 0 ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &  D +2 .tForearm.seek PC +2 "manipulator"&<' +90 "core" ' +2 .tHand.close + "manipulator"&\\/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(U- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +46 "core" ' +310 ( +3 "storage"(4& +3 "core" &[ _ i \  +7 "manipulator"&-& +3 "core" &  +2 "manipulator"&[% +4 "core" %   B +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&\ (r +248 "core" ( +5 "manipulator"&a& +8 "core" &p    R +7 "storage"(H& +7 "core" &[ < ; X\  +6 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +3 "manipulator"&'= +93 "core" ' +5 .tHand.open +3 "manipulator"&1 +64 "core" 1 +4 "storage"(M- +7 "core" -'1 +5 .tSE.seek -0.26 Pucks below Top Plate +3 "storage"(N' +27 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +5 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(b' +54 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(/- +5 "core" -' +5 "storage"(& +7 "core" &[ \  +4 "manipulator"&6& +9 "core" &p   R +4 .tElbow.seek 7 +2 "manipulator"&)(r +7 "core" ( +2 "manipulator"&.& +7 "core" &p R +4 "storage"(A& +8 "core" &[ B\  +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&G'= +6 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +5 .tSE.seek -0.51 Pucks below Top Plate +3 "storage"(W'" +58 "core" ' +4 "manipulator"&t& +6 "core" &p  R +4 "storage"(x& +8 "core" &[ < < u\  +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&'{ +32 "core" ' +2 .tElbow.hold +4 "manipulator"&D, +5 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +8 .tSE.seek -0.32 Pucks below Top Plate +4 "storage"(h' +31 "core" ' +4 "manipulator"&r% +7 "core" %} / 1 t +4 "storage"(B& +8 "core" &[ 1 # I\  +11 .tForearm.force -20 +4 "manipulator"&5 +11 .tForearm.seek 7 + 302 counts +6 "manipulator"&'ϩ +17 "core" ' +3 "manipulator"&0& +8 "core" &  6 +6 "storage"( & +12 "core" &[ f ^ o\  +9 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +9 .tForearm.seek 7 + 450 counts +2 "manipulator"&V'= +19 "core" ' +2 "storage"(^% +4 "core" % k k \ +3 ."downElevator"SE.seek :down +3 "storage"(>' +100 (s% +47 "core" %NI 6 # c\ Wd +4 "manipulator"&]% +4 "core" %6  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +89 "core" ' +16 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (q& +3 "core" &[ S ; \  +2 "collection"'& +4 "core" &\\`\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&|% +4 "core" %    +2 "storage"(p% +4 "core" % i j \  +2 "storage"(O. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(E([ +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +3 "core" &[  \  +2 "manipulator"& & +4 "core" &   6 +2 .tElbow.seek 7 +2 "manipulator"&Y(r +21 "core" ( +2 "manipulator"&o& +4 "core" &v \ w  +2 "storage"(& +5 "core" &[ _ k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&f'= +95 "core" ' + "storage"(& +4 "core" &[ _ l i\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +307 "core" ' +2 "storage"(P- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" &v   +2 "storage"( & +4 "core" &[ S H T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&k'{ +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"((- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(T's +30 "core" ' +2 "manipulator"&C% +4 "core" %Ύ  +2 "storage"(K& +3 "core" &[ G G $\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&g'Ϻ +14 "core" ' +2 "manipulator"&'& +3 "core" &v   +2 "storage"(!& +9 "core" &[ k j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&I'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +35 "core" ' +2 "manipulator"&& +4 "core" &v >  +2 "manipulator"&j% +3 "core" %5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +153 "core" ( + "manipulator"&& +4 "core" &y*   Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &y*  % Bh +3 .tForearm.seek CC + "manipulator"&e'? +96 "core" ' + .tHand.close + "manipulator"&n/ +59 "core" / +2 .tCC.seek :open + "collection"'3( +447 "core" ( +2 "storage"(S& +5 "core" &[ o  \  + "storage"(i& +4 "core" &[ { p _\  +2 "manipulator"&& +3 "core" &ӷ!  U :* +2 "manipulator"&"% +4 "core" % <  \\  +3 .tForearm.seek :retract + "manipulator"&*' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"& (r +164 "core" ( +2 "manipulator"&7& +3 "core" &q  \ !  +2 "storage"(8& +4 "core" &[ ~ 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&L'{ +94 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +43 .tHand.open +8 "manipulator"&?1 +61 "core" 1 +2 "manipulator"&1% +4 "core" %    $ +2 "storage"(u& +4 "core" &[ F\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 304 counts + "manipulator"&F'ϫ +15 "core" ' +2 "manipulator"&`& +3 "core" &q .  +2 "storage"(& +4 "core" &[ f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Z'= +18 "core" ' + "storage"(% +4 "core" % q\ +3 ."downElevator"SE.seek :down +3 "storage"(#' +99 (9% +3 "core" %@ q ^ \ V_ +2 "manipulator"&% +3 "core" %: +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +88 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"';& +4 "core" &\ \ +2 "manipulator"&% +3 "core" %    +2 "storage"(+% +5 "core" % z m \  + "storage"(m. +4 "core" .([ +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (=& +4 "core" &    +2 "collection"'& +4 "core" &\ \ +3 "collection"'M& +6 "core" &\ )\ +2 .tCC.seek :closed +3 "collection"'/(\\ +2 "core" & -\ +6 &\ '\ ; +13 &MMv\ \ )\ 1 +6 &x|\ \ -\ E +9 &9X .\ K +10 &T\ \ .\ K +9 &R\ \ +\ K +10 &R\ \ ,\ K +9 &CV\ \ 0\ J +9 &R\ \ .\ K +10 &V\ \ 2\ K +9 &U\ \ 0\ K +9 &!KQ\ \ '\ J +10 &# R\ \ (\ J +9 &$V\ \ -\ K +10 &&T\ \ *\ K +9 &(RV\ \ %\ J +9 &*R\ \ &\ K +10 &+V\ \ %\ J +9 &-T\ \ &\ J +10 &/[U\ \ \ J +9 &1T\ \ \ J +9 &2R\ \ \ K +10 &4Q\ \ \ K +9 &6bV\ \ \ K +9 &8$W\ \ \ K +10 &9W\ \ \ J +9 &;T\ \ \ J +9 &=iW\ \ \ K +10 &?,W\ \ \ K +9 &@R\ \ \ K +10 &BU\ \ \ K +9 &Do_\ \ \ L +54 &F,g\ \ \ \ M +7 &Gt\ \ \ O +2 &I\ )\ !\ S +3 &KW\ 5\ 3\ W + &M\ 1\ 3\ W + &N\ 0\ /\ W + &P\ ,\ ,\ Y +6 &R[\ *\ * \ X +9 &T\ '\ (\ [ +10 &U\ '\ '\ Z +9 &W\ %\ '\ [ +10 &YX\ $\ $\ \\ +9 &[\ #\ $\ [\ +9 &\\oE\ $\ $\ 2 +10 &\\ \ !\ $\ P +5 ( +2 "collection"'M& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&1 +4 "core" &\\r\ \ "\ P +53 1 +2 "manipulator"&% +4 "core" % >     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%.& +4 "core" &\ +2 "manipulator"&A% +4 "core" %   H  +2 "storage"(t% +4 "core" % I W c\  +2 "storage"(x. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &<) E F \ +2 "manipulator"&r& +4 "core" &Ӯ  8 +2 "manipulator"&B% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&\ ( +157 "core" ( + "manipulator"&& +5 "core" &   +2 "storage"(0& +4 "core" &<) k j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +98 "core" ' +2 "storage"(b& +4 "core" &<) j k \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'r +310 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &<) f [ +\ +2 "manipulator"&W& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&s( +9 "core" ( +2 "manipulator"&]& +3 "core" &  \  \ +2 "storage"(& +4 "core" &<) \\ [ \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(|' +7 "core" &  \ +2 "manipulator"&p% +4 "core" % ϱ +2 .tForearm.seek :retract +2 "manipulator"&O' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&v& +4 "core" &  J & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &   & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&o' +93 "core" ' + "manipulator"&& +4 "core" &   & +2 "manipulator"&V% +4 "core" %  8 +2 "processing"%& +4 "core" &\ +3 "processing"%>& +5 "core" &\ +2 .tPC.seek :closed + "processing"%w(^ +5 "core" &\  +8 &2u*\ )w +10 &b}\ = +9 &lp\ N +9 &/Q \ M +10 &R\ M +9 &Q.\ M +9 &vR<\ M +10 &8R\ M +9 &Se\ M +10 &S$\ M +9 & ~S7\ M +9 &"@R5\ M +10 &$T;\ M +9 &%R8\ M +9 &'R6\ M +10 &)GR6\ M +9 &+ S5\ M +10 &,T4\ M +9 &.Q9\ M +9 &0OR5\ M +10 &2R4\ M +9 &3R3\ M +9 &5R7\ M +10 &7XR2\ M +9 &9U3\ M +10 &:U2\ M +9 &<V*\ M +9 &>]U)\ N +10 &@U)\ N +9 &A\\)\ N +9 &Ce4\ O +10 &E`g+\ O +9 &Gp)\ Q +10 &H*\ S +9 &J+\ T +9 &L\\#\ S +10 &N(\ T +9 &O-\ T +9 &Q,\ T +10 &Sa-\ T +9 &U"+\ U +10 &V,\ T +9 &X*\ T +9 &Zg+\ U +10 &\\*+\ U +9 &]v,\ : +9 &^2,\ P +10 &^.\ , +2 ( +2 "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&D1 +53 "core" 1 +2 "manipulator"&:% +3 "core" %   Y 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +92 "core" ' +46 "processing"%2& +8 "core" &^6\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +5 "core" %     +2 "storage"((% +8 "core" % O Q U\  +2 "storage"(C. +3 "core" .(<- +2 "storage"(K& +3 "core" &<) E E \ +3 "storage"('& +2 "manipulator"&!& +7 "core" &<) H R A\ +2 & \   & +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&j( +6 "core" ( +2 "manipulator"&f& +4 "core" &  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & F & +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&k/ +54 "core" / +3 .tPC.seek :open + "processing"%g( +97 "core" ' +2 "storage"(T- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +46 "core" ' +304 ( +2 "storage"(}& +3 "core" &<) f [ /\ +2 "manipulator"&I& +4 "core" &   & +2 "manipulator"&% +3 "core" %  * +3 .tForearm.seek :retract + "manipulator"&n' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&$( +247 "core" ( + "manipulator"&~& +4 "core" &  , +2 "storage"(S& +4 "core" &<) j i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&i'O +104 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"("- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +28 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(8' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(e- +3 "core" -' +2 "storage"(c& +3 "core" &<) | \ +2 "manipulator"&?& +4 "core" &   ; , +2 .tElbow.seek 5 +2 "manipulator"&1( +4 "core" ( + "manipulator"&u& +4 "core" &   S , +2 "storage"(`& +4 "core" &<) ~ K\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' +2 "manipulator"&*& +3 "core" &  , +2 "storage"( & +4 "core" &<) H S >\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&9'΍ +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(L' +23 "core" ' + "manipulator"&;% +4 "core" %Μ   +2 "storage"(& +4 "core" &<) H H \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&F' +20 "core" ' + "manipulator"&+& +4 "core" &  . ) +2 "storage"(m& +4 "core" &<) i i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +36 "core" ' +2 "storage"(Z% +3 "core" % ] f [\ +3 ."downElevator"SE.seek :down +3 "storage"(#' +99 (E% +3 "core" %pL   \ We +2 "manipulator"&=% +4 "core" %t  +49 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +90 "core" ' +15 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (l& +2 "core" &<) G O '\ +3 "collection"'&& +3 "core" &\\q\ \ \ P +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&d% +3 "core" % #  5 +2 "storage"(5% +5 "core" % Z \\\  +2 "storage"(y. +2 "core" .(<- +2 "storage"(& +5 "core" &<) [ [\ + "storage"(,& +4 "core" &<) J \\ :\ +2 "manipulator"&Q& +4 "core" &   ) +2 .tElbow.seek 5 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&@& +3 "core" &  ) +2 "storage"(J& +4 "core" &<) _ f \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +92 "core" ' +2 "storage"(& +4 "core" &<) h j \ +2 .tSE.reconfigure :pick +7 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +305 "core" ' +2 "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +4 "core" &  ) +2 "storage"(<& +4 "core" &<) I R L\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&z'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(H- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 's +29 "core" ' + "manipulator"&% +4 "core" %ΐ  +2 "storage"(%& +3 "core" &<) I R @\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&'ϼ +16 "core" ' + "manipulator"&4& +4 "core" &  ' +2 "storage"(3& +3 "core" &<) i i d\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +35 "core" ' +2 "manipulator"&.& +8 "core" &  ' +2 "manipulator"&A% +4 "core" %Q _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +151 "core" ( + "manipulator"&M& +4 "core" &z*   \ Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &z*  \  Bh +2 .tForearm.seek CC +2 "manipulator"&r'? +90 "core" ' +2 .tHand.close + "manipulator"&B/ +55 "core" / +2 .tCC.seek :open + "collection"'a( +448 "core" ( + "storage"(& +4 "core" &<) } g O\ +2 "storage"(0& +3 "core" &<) q | $\ +2 "manipulator"&& +5 "core" &ӱ!    :1 + "manipulator"&b% +5 "core" % 9  \   +2 .tForearm.seek :retract + "manipulator"&-' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&6( +156 "core" ( +2 "manipulator"&G& +3 "core" &    +2 "storage"()& +5 "core" &<) } \\\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&W'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +3 "manipulator"&q% +3 "core" % Ύ    +2 "storage"(& +4 "core" &<) y { \ +41 .tForearm.force -20 +9 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&p'Ϻ +16 "core" ' + "manipulator"&\ & +4 "core" & +2 "storage"( & +5 "core" &<) n\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +19 "core" ' + "storage"(% +4 "core" % g\ +3 ."downElevator"SE.seek :down +3 "storage"(v' +99 ( % +3 "core" %D k ^ \ V` +2 "manipulator"&s% +5 "core" %T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'V& +3 "core" &\ \ )\ +2 "manipulator"&% +4 "core" %    +2 "storage"(|% +4 "core" % w v v\  +2 "storage"(O. +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" &K  \ +2 "manipulator"&:& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&2( +4 "core" ( + "manipulator"&>& +4 "core" &    +2 "storage"( & +4 "core" &K ~ ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&(' +95 "core" ' +2 "storage"(C& +3 "core" &K { H\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +299 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &K | o /\ +2 "manipulator"&f& +4 "core" &  T +2 .tElbow.seek 6 + "manipulator"&Y( +4 "core" ( +2 "manipulator"&o& +3 "core" &  +2 "storage"(k& +4 "core" &K ~ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&T'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(w' +7 "core" &  +2 "manipulator"&% +4 "core" % s +2 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&& +3 "core" &Ӑ$  =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ$   =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'? +101 "core" ' +2 "manipulator"&S& +3 "core" &ӑ%   < =F +2 "manipulator"&j% +4 "core" %@  g  +2 "collection"'& +4 "core" &\ 9\ +3 "collection"'"& +5 "core" & \  \ +2 .tCC.seek :closed +2 "collection"'e(\\ +5 "core" &\ \ /\  +8 &6{ \ '\ +{ +9 &g|\ \ )\ > +10 &i\ \ $\ L +9 &_Q\ \ *\ K +10 &"Q\ \ %\ J +9 &R\ \ .\ J +9 &R\ \ +\ K +10 &hU\ \ &\ J +9 &*U\ \ ,\ J +9 &W\ \ -\ J +10 & Q\ \ .\ K +9 &"oV\ \ 1\ J +10 &$0Q\ \ -\ K +9 &%R\ \ .\ K +9 &'Q\ \ %\ J +10 &)yT\ \ )\ J +9 &+:V\ \ #\ J +9 &,T\ \ -\ J +10 &.W\ \ (\ K +9 &0W\ \ "\ J +10 &2BT\ \ \ J +9 &4W\ \ \ K +9 &5W\ \ \ K +10 &7W\ \ \ J +9 &9JT\ \ \ J +9 &; W\ \ \ K +10 &<W\ \ \ J +9 &>T\ \ \ J +10 &@QS\ \ \ K +9 &BU\ \ \ J +9 &C[\ \ \ L +10 &Ec\ \ \ \ L +9 &GOq\ \ \ N +9 &I \ \ \ Q +10 &J\ 2\ -\ U +9 &L|\ 3\ 6\ V +10 &N<\ 0\ 1\ W +9 &O\ /\ /\ X +9 &Q\ +\ -\ X +10 &S\ )\ +\ X +9 &U@\ )\ (\ X +9 &W\ &\ &\ Y +10 &X\ &\ %\ Z +9 &Z\ $\ $\ [ +10 &\\"w\ $\ '\ . +9 &\\2\ "\ #\ a +9 ( +3 "collection"'"& +2 "core" &\\m\ !\ "\ K +47 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +5 .Hand.open + "manipulator"&c1 +53 "core" 1 +2 "manipulator"&?% +4 "core" % @    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%`& +4 "core" &\ +2 "manipulator"&n% +3 "core" %     +2 "storage"(*% +4 "core" % < < z\  +2 "storage"( . +3 "core" .(K +2 "storage"(;& +3 "core" &K 8 < .\ +2 "storage"(& +4 "core" &K = > W\ +2 "manipulator"&& +4 "core" &Ӯ    9) +2 "manipulator"&+% +3 "core" %   !  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&m( +161 "core" ( +2 "manipulator"&7& +4 "core" &    +2 "storage"(Z& +3 "core" &K j i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&$' +96 "core" ' +2 "storage"(i& +3 "core" &K c \\ A\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +299 "core" ' + "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &K V > \ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&1( +4 "core" ( + "manipulator"&& +4 "core" &  \ e  +2 "storage"(9& +3 "core" &K h h |\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&F'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(d' +13 "core" &  :  +2 "manipulator"&5% +4 "core" % π \  c +2 .tForearm.seek :retract + "manipulator"&y' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&& +4 "core" &    S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &   S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +100 "core" ' +2 "manipulator"&@& +3 "core" &  S +2 "manipulator"&J% +4 "core" %   +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%#(^ +4 "core" &\  +9 &2u\ )u +10 &b|\ = +9 &lo\ N +9 &0O\ M +10 &R\ M +9 &R\ L +10 &uR\ M +9 &7R\ M +9 &S,\ M +10 &T\ M +9 & |T\ M +9 &">R2\ M +10 &$T\ M +9 &%R\ M +10 &'T&\ N +9 &)GR2\ M +9 &+ S7\ M +10 &,T9\ M +9 &.R5\ M +9 &0OR2\ M +10 &2R3\ M +9 &3R5\ M +10 &5R4\ M +9 &7XR4\ M +9 &9T4\ M +10 &:U5\ M +9 &<T5\ M +10 &>^U2\ M +9 &@ R3\ M +9 &AY5\ N +10 &C^0\ N +9 &Eae4\ O +9 &G!l0\ P +10 &H{4\ Q +9 &J5\ S +9 &L\\1\ S +10 &N5\ T +9 &O/\ S +10 &Q4\ U +9 &Sa2\ T +9 &U#&\ T +10 &V0\ T +9 &X/\ T +10 &Zh(\ U +9 &\\*)\ U +9 &]~t*\ : +10 &^5-\ I +9 &^!\ * +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&{% +4 "core" %   %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +93 "core" ' + "processing"%[& +4 "core" &^"\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&<% +4 "core" %     +2 "storage"(H% +4 "core" % = 8 J\  +2 "storage"(. +2 "core" .(K +2 "storage"(%& +4 "core" &K 7 ; @\ +3 "storage"(4& +2 "manipulator"&3& +52 "core" &K 7 ; L\ +5 &   S +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(.'r +2 "manipulator"&A( +23 "core" ( + "manipulator"&_& +4 "core" &   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &   \ +2 .tForearm.seek PC +2 "manipulator"&X' +95 "core" ' + .tHand.close + "manipulator"&z/ +54 "core" / +2 .tPC.seek :open + "processing"%( +78 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(M'1 +49 "core" ' +318 ( + "storage"(N& +4 "core" &K @ H \ +2 "manipulator"&& +4 "core" &   \ +2 "manipulator"&U% +3 "core" %     +3 .tForearm.seek :retract + "manipulator"&B' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&t( +240 "core" ( +2 "manipulator"&/& +3 "core" &    4 +2 "storage"(& +4 "core" &K D O w\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +101 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(b- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(G' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"()' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(r- +4 "core" -' + "storage"(x& +4 "core" &K \ +2 "manipulator"&& +4 "core" &    4 +2 .tElbow.seek 6 + "manipulator"&q( +4 "core" ( + "manipulator"&& +4 "core" &   w 4 +2 "storage"(\ & +5 "core" &K \ +2 .tForearm.seek 6 + 450 counts + "manipulator"& ' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +52 "core" ' + "manipulator"&-& +4 "core" &  4 +2 "storage"( & +3 "core" &K H R \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&6'< +18 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(W' +19 "core" ' +2 "manipulator"&V% +4 "core" %E  +2 "storage"(p& +4 "core" &K G E (\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&'q +26 "core" ' + "manipulator"&|& +4 "core" &  - 4 +2 "storage"(O& +4 "core" &K [ [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts + "manipulator"&' +22 "core" ' +2 "storage"(^% +3 "core" % ^ \\ \ +3 ."downElevator"SE.seek :down +3 "storage"(v' +99 (% +3 "core" %9J " " ;\ We +2 "manipulator"&D% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (>& +4 "core" &K T = F\ +2 "collection"' & +3 "core" &\\m\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&C% +48 "core" %    +9 "storage"(]% +5 "core" % i k \  + "storage"(. +4 "core" .(K + "storage"('& +5 "core" &K h i p\ + "storage"(!& +4 "core" &K i i \ +2 "manipulator"&f& +4 "core" &  4 +2 .tElbow.seek 6 +2 "manipulator"&o( +3 "core" ( +2 "manipulator"&k& +3 "core" &  & 4 +2 "storage"(h& +4 "core" &K _ h X\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&P' +105 "core" ' +2 "storage"(& +4 "core" &K f h w\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +299 "core" ' +2 "storage"((- +7 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  4 +2 "storage"(& +4 "core" &K \\ ] \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&K'< +23 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(S- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(j'f +31 "core" ' +2 "manipulator"&% +4 "core" %F  +2 "storage"(Y& +3 "core" &K i _ e\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&w'r +24 "core" ' + "manipulator"&}& +4 "core" & 4 +2 "storage"(a& +5 "core" &K _ g Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&c' +23 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(?' +36 "core" ' +2 "manipulator"&"& +4 "core" &  4 +2 "manipulator"&`% +3 "core" %  { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +146 "core" ( +3 "manipulator"& & +3 "core" &}(    @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &}(   @Y +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'+( +447 "core" ( +2 "storage"(~& +3 "core" &K p ~ \ +2 "storage"(7& +4 "core" &K s s M\ +2 "manipulator"&Z& +4 "core" &Ӻ  8 +2 "manipulator"&i% +3 "core" % 3   +3 .tForearm.seek :retract + "manipulator"&I' +104 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&u( +164 "core" ( +2 "manipulator"&E& +4 "core" & @  +2 "storage"(=& +3 "core" &K w\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +90 "core" ' + .tElbow.hold +2 "manipulator"&, +62 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +53 "core" 1 +3 "manipulator"&l% +4 "core" % F 0 " +2 "storage"(&& +4 "core" &K } \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&5'r +18 "core" ' + "manipulator"&m& +4 "core" &  _  +2 "storage"($& +3 "core" &K ^\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 6 + 450 counts +9 "manipulator"&8' +17 "core" ' + "storage"(F% +4 "core" % h\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (,% +3 "core" %M ^ g F\ Wb +2 "manipulator"&1% +4 "core" % q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'J& +3 "core" &\ \ \ +2 "manipulator"&% +4 "core" %     +2 "storage"(d% +4 "core" % \  +6 "storage"(y. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(g([ +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ Z S ?\  +2 "manipulator"&{& +3 "core" &    +3 .tElbow.seek 7 + "manipulator"&[(r +35 "core" ( +2 "manipulator"&<& +3 "core" &  I  +2 "storage"(H& +5 "core" &[ i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +96 "core" ' +2 "storage"(%& +3 "core" &[ p\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +293 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ { \  +2 "manipulator"&_& +4 "core" & A  +2 .tElbow.seek 7 +2 "manipulator"&\\(r +19 "core" ( + "manipulator"&Q& +4 "core" &t ~ +2 "storage"(z& +3 "core" &[ ~ \  +3 .tForearm.seek 7 + 300 counts + "manipulator"& 'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&L/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(#' +7 "core" &t J ~ +2 "manipulator"&.% +4 "core" % ϡ  +2 .tForearm.seek :retract +2 "manipulator"&N' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&U& +3 "core" &y)  A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &y)   A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'? +101 "core" ' +3 "manipulator"&& +3 "core" &ӡ"   ;8 +3 "manipulator"&A% +3 "core" %;  +3 "collection"'& +3 "core" &\ \ 8\ +3 "collection"'b& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'r(\\ +3 "core" & \ <\  +9 &7{ \ 4\ +{ +10 &i}\ \ 5\ ? +9 &j\ \ 4\ K +9 &fR\ \ 1\ K +10 &)V\ \ 1\ J +9 &R\ \ ,\ K +10 &T\ \ /\ K +9 &oQ\ \ -\ J +9 &0R\ \ /\ K +10 &T\ \ +\ K +9 & Q\ \ 2\ J +9 &"wR\ \ '\ J +10 &$:S\ \ -\ J +9 &%U\ \ )\ K +10 &'V\ \ (\ K +9 &)T\ \ *\ J +9 &+AS\ \ ,\ J +10 &-W\ \ )\ J +9 &.R\ \ &\ K +9 &0W\ \ %\ J +10 &2HX\ \ &\ J +9 &4 T\ \ %\ J +10 &5X\ \ 1\ K +9 &7U\ \ 4\ K +9 &9PW\ \ 3\ J +10 &;Q\ \ 4\ K +9 &<V\ \ 0\ J +9 &>S\ \ 5\ K +10 &@XY\ \ ,\ J +9 &BV\ \ #\ K +10 &C^\ \ '\ L +9 &Eb\ \ \ %\ L +9 &GVn\ \ \ N +10 &I\ "\ *\ Q +9 &J\ 6\ 2*\ U +9 &L\ 5\ 6 \ V +10 &NC\ 0\ /(\ W +9 &P\ /\ /,\ W +10 &Q\ *\ -\ W +9 &S\ )\ *\ X +9 &UG\ )\ &*\ Y +10 &W\ &\ (+\ Z +9 &X\ '\ %+\ Z +9 &Z\ #\ $+\ [ +10 &\\-z\ $\ $*\ . +9 &\\)\ %\ $\ [ +9 ( +3 "collection"'b& +2 "core" &\\p\ !\ !)\ N +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&x1 +55 "core" 1 +2 "manipulator"&% +3 "core" % ;   E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%\ & +49 "core" &\ +5 "manipulator"&B% +8 "core" %    r  +2 "storage"(-% +4 "core" % I W !\  +2 "storage"( . +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(V([ +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" &[   8\  +2 "manipulator"&M& +4 "core" &Ӥ"   { ;5 +2 "manipulator"&|% +4 "core" %   l  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&O(r +166 "core" ( + "manipulator"&G& +4 "core" &i    +2 "storage"(^& +4 "core" &[ j i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'= +92 "core" ' +2 "storage"(0& +4 "core" &[ _ l \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +4 "core" &[ i T \  +2 "manipulator"& & +3 "core" &i   +2 .tElbow.seek 7 +2 "manipulator"&q(r +3 "core" ( +2 "manipulator"&& +3 "core" &i     +2 "storage"(6& +4 "core" &[ i i \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(C' +7 "core" &i `  +2 "manipulator"&W% +4 "core" % ϵ   +2 .tForearm.seek :retract +2 "manipulator"&]' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&'& +5 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f' +94 "core" ' +2 "manipulator"&k& +4 "core" &     +2 "manipulator"&h% +5 "core" %  F +2 "processing"%& +3 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed + "processing"%v(^ +4 "core" &\ +7 &=\ $d +10 &Xv\ 7 +9 &v\ L +9 &O\ M +10 &|S\ M +9 &>Q\ M +9 &S$\ M +10 &T\ M +9 &R\ M +10 &ES\ M +9 & S\ N +9 &!R \ M +10 &#S\ M +9 &%MR<\ M +9 &'S\ N +10 &(T3\ M +9 &*T$\ M +10 &,VT\ M +9 &.RW\ M +9 &/T!\ M +10 &1R>\ M +9 &3]RB\ M +9 &5RH\ M +10 &6T?\ M +9 &8V>\ M +10 &:eT<\ M +9 &<&R6\ N +9 &=U@\ M +10 &?R8\ M +9 &AmUA\ M +9 &C+`>\ O +10 &D`;\ O +9 &Fk<\ P +10 &HiyB\ Q +9 &J&A\ S +9 &K4\ S +10 &M1\ T +9 &Ok2\ S +9 &Q)9\ U +10 &R9\ T +9 &T/\ U +10 &Vp0\ T +9 &X23\ T +9 &Y2\ U +10 &[3\ T +9 &]v.\ B +9 &^>})\ \\ +10 &^.-\ 1 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&s1 +4 "core" &^"*\ 1 +49 1 +2 "manipulator"&:% +3 "core" %    F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +93 "core" ' +2 "processing"%& +4 "core" &^".\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" % !  ! ( +2 "storage"(S% +3 "core" % G D \  +2 "storage"(. +3 "core" .([ +2 "storage"(Y& +4 "core" &[ G D\  +2 "storage"(}& +3 "manipulator"&a& +8 "core" &[ H F\  + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +51 .tElbow.seek PC +3 "manipulator"&"( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(`'r +2 "core" ( +3 "manipulator"&P& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" & !  (  +2 .tForearm.seek PC +2 "manipulator"&2' +92 "core" ' + .tHand.close + "manipulator"&K/ +60 "core" / +2 .tPC.seek :open +2 "processing"%w( +96 "core" ' + "storage"(j- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( '1 +46 "core" ' +305 ( +2 "storage"(;& +3 "core" &[ J Z $\  +2 "manipulator"&c& +4 "core" &   +2 "manipulator"&T% +5 "core" %  H +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&n(r +245 "core" ( +2 "manipulator"&e& +3 "core" &l   b +3 "storage"(~& +3 "core" &[ = = \  +3 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +92 "core" ' +2 .tHand.open + "manipulator"&Z1 +60 "core" 1 +3 "storage"(i- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(E' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(=' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(*& +4 "core" &[ [\  +2 "manipulator"&9& +4 "core" &l   b +2 .tElbow.seek 7 +2 "manipulator"&l(r +2 "core" ( +2 "manipulator"&&& +4 "core" &l   ] b +2 "storage"(m& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&$'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(I'" +50 "core" ' +2 "manipulator"&F& +3 "core" &l  b +3 "storage"(u& +3 "core" &[ D =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&,'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +21 "core" ' + "manipulator"&J% +4 "core" %p 2 1 ) +2 "storage"(& +3 "core" &[  @\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 289 counts + "manipulator"&5'Ϝ +14 "core" ' + "manipulator"&d& +4 "core" &   : 6 +2 "storage"(y& +4 "core" &[ W Z 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +15 "core" ' +2 "storage"(8% +4 "core" % _ h ;\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %MO   [\ Xf +2 "manipulator"&% +4 "core" %5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (<& +2 "core" &[ [ O n\  +2 "collection"'H& +5 "core" &\\p\ \ *\ N + #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&%% +4 "core" % !  ' +2 "storage"(% +4 "core" % \\ e \  +2 "storage"(@. +2 "core" .([ +2 "storage"(3& +4 "core" &[ f [ \  +2 "storage"(& +50 "core" &[ f h %\  +2 "manipulator"&_& +5 "core" &  6 +2 .tElbow.seek 7 + "manipulator"&Q(r +22 "core" ( +2 "manipulator"&z& +3 "core" &q    +2 "storage"(L& +4 "core" &[ i _ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&R'= +94 "core" ' +2 "storage"(.& +3 "core" &[ l p\  +7 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['r +301 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +4 "core" &q \ P  +2 "storage"(X& +3 "core" &[ i i u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&4'{ +30 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(A'n +31 "core" ' +2 "manipulator"&% +3 "core" %Ί Q +2 "storage"(\\& +4 "core" &[ G G \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&#'϶ +14 "core" ' + "manipulator"&N& +4 "core" &q c  +2 "storage"(+& +4 "core" &[ k e /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&x'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +39 "core" ' +2 "manipulator"&\ & +4 "core" &q ;  +2 "manipulator"&b% +3 "core" %= ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +172 "core" ( +2 "manipulator"& & +5 "core" &ӌ    . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &ӌ   . +2 .tForearm.seek CC +2 "manipulator"&M'? +103 "core" ' +2 .tHand.close + "manipulator"&|/ +61 "core" / +2 .tCC.seek :open +2 "collection"'/( +447 "core" ( + "storage"(G& +4 "core" &[ ^ \\ ,\  +2 "storage"(^& +4 "core" &[ Z [ "\  +2 "manipulator"&g& +3 "core" &Ӎ  X - +2 "manipulator"&0% +4 "core" %    / +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +158 "core" ( +2 "manipulator"&& +3 "core" &t \   +2 "storage"(D& +4 "core" &[ ~ *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"& '{ +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&61 +61 "core" 1 +2 "manipulator"&>% +4 "core" % ·   +2 "storage"( & +3 "core" &[ ~ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts + "manipulator"&W'ϳ +21 "core" ' +2 "manipulator"&O& +4 "core" &t  +2 "storage"(t& +4 "core" &[ l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&)'= +24 "core" ' +2 "storage"(% +3 "core" % u\ +3 ."downElevator"SE.seek :down +43 "storage"('' +59 (!% +3 "core" %A [ ] *\ V_ +2 "manipulator"&q% +4 "core" %. 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +94 "core" ' +103 ' + ."downElevator"SE.stop + "storage"(5 +21761 #t-> exit +5 #mEXIT @1690487736.65EDT @1691676969.86EDT = =mMAIN_scheduler =tMAIN @EDT1691676971.65 #"core_reset"Sent BREAK +2 #t@12106 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +293 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +384 "Can" \ 9 - +2  \ 9 - + #tPolling Can every 10:00 +55 #Cleanly exited at 15:55:36EDT27-Jul-23 +587 #-> ESP.ready! +2 #Powering core bus +563 .Gate.power :raw,:ON + "sampler") +41 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +3951 #-> 10.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'1& +3 "core" &\ \ \  +2 .tHand.open +2 "manipulator"&21 +58 "core" 1 +2 "manipulator"&3% +4 "core" %   /  + "storage"(4% +4 "core" % \  +2 "storage"(5. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(6(<- +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &<+ \  r\ } +2 "manipulator"&8& +4 "core" &   U 6 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&9( +4 "core" ( +2 "manipulator"&:& +4 "core" &  7 6 + "storage"(;& +4 "core" &<+ l\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&<'O +93 "core" ' +2 "storage"(=& +4 "core" &<+ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +300 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (@& +3 "core" &<+ `\  +2 "manipulator"&A& +3 "core" &  u 6 +2 .tElbow.seek 5 +2 "manipulator"&B( +4 "core" ( + "manipulator"&C& +4 "core" &   N 6 +2 "storage"(D& +3 "core" &<+ \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +75 "core" / +3 ."downElevator"SE.seek :down +37 "manipulator"&G& +10 "storage"(H' +8 "core" & v 6 + "manipulator"&I% +5 "core" % ϴ  E +2 .tForearm.seek :retract + "manipulator"&J' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&K(ӂ +147 "core" ( + "manipulator"&L& +5 "core" &z& &  N >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +3 "manipulator"&M& + ."downElevator"SE.stop +5 "storage"(5 +3 "core" &z&    >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'? +100 "core" ' +2 "manipulator"&O& +3 "core" &z& %  >N +3 "manipulator"&P% +4 "core" %D   * +2 "collection"'Q& +3 "core" &\ \ \ \  +3 "collection"'R& +5 "core" &\ \ \  +2 .tCC.seek :closed +2 "collection"'S(\\ +5 "core" &\ \ \  +7 &I\ \ \ \ %i +10 &xW}\ \ \ \ \ 9 +9 &y\ \ \ \ N +9 &S\ \ \ O +10 &OS\ \ \ O +9 &U\ \ \ O +9 &V\ \ \ O +10 &W\ \ \ O +9 &XV\ \ \ \ O +9 &V\ \ \ O +10 &U\ \ \ \ O +9 &!T\ \ \ \ O +10 &#^V\ \ \ O +9 &%!S\ \ \ O +9 &&T\ \ \ \ O +10 &(U\ \ \ \ \ O +9 &*hT\ \ \ \ O +10 &,)S\ \ \ \ \ O +9 &-S\ \ \ \ \ O +9 &/R\ \ \ N +10 &1oT\ \ \ \ \ O +9 &33S\ \ \ N +9 &4U\ \ \ z\ O +10 &6R\ \ \ \ O +9 &8xT\ \ \ \ \ O +9 &:;T\ \ \ \ N +10 &;S\ \ \ x\ O +9 &=W\ \ \ \ O +10 &?S\ \ \ N +9 &ABT\ \ \ O +9 &CY\ \ \ O +10 &Db\ \ \ P +9 &Fh\ \ \ R +10 &H;~\ \ \ T +9 &I\ 0\ *\ X +9 &K\ 6\ 3\ Z +10 &Ml\ 0\ 1\ [\ +9 &O.\ -\ 1\ [\ +9 &P\ -\ ,\ \\ +10 &R\ &\ *\ \\ +9 &Tn\ (\ &\ ] +10 &V-\ %\ %\ ^ +9 &W\ %\ "\ ^ +9 &Y\ !\ "\ ~` +10 &[o\ \ \ L +9 &\\>\ \ \ 0 +9 &\\|\ \ \ S +6 ( + "collection"'R& +4 "core" &\\k\ \ \ S +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&T1 +56 "core" 1 +2 "manipulator"&U% +3 "core" % D  % Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +105 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%W& +4 "core" &\ z +2 "manipulator"&X% +4 "core" % \ $  /  +2 "storage"(Y% +4 "core" % \ z +2 "storage"(Z. +2 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"([(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +3 "core" &<+ q l D\ k +2 "manipulator"&]& +3 "core" &Ӱ    7 +2 "manipulator"&^% +4 "core" % \ #  b  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&_( +164 "core" ( +2 "manipulator"&`& +3 "core" &  7  +3 "storage"(a& +4 "core" &<* r r R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +93 "core" ' +2 "storage"(c& +3 "core" &<* x u @\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'r +294 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &<* u\ z +2 "manipulator"&g& +3 "core" &   J  +3 .tElbow.seek 5 + "manipulator"&h( +3 "core" ( +2 "manipulator"&i& +5 "core" &   ?  + "storage"(j& +4 "core" &<* \ | +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&k'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +72 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& +2 "storage"(n' +7 "core" &   +2 "manipulator"&o% +3 "core" % ϲ  , +3 .tForearm.seek :retract + "manipulator"&p' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&q( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +3 "manipulator"&r& +4 "core" &   2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &   2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t' +99 "core" ' +2 "manipulator"&u& +3 "core" &   K 2 +3 "manipulator"&v% +3 "core" %   +36 "processing"%w& +11 "core" &\  +3 "processing"%x& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%y(^ +5 "core" &\  +7 &C\ x$f +10 &sS{\ m8 +9 &|}\ lM +9 &nZ\ rR +10 &1W\ sQ +9 &S\ tQ +9 &Y\ sR +10 &wX\ sQ +9 &:T\ tQ +10 &Z\ sQ +9 &Z\ rQ +9 &!~X\ sR +10 &#AW\ sQ +9 &%U\ sQ +9 &&Y\ \ sQ +10 &(\\\ rQ +9 &*IY(\ sQ +10 &, W/\ sQ +9 &-T0\ sQ +9 &/Y0\ sR +10 &1RU-\ sQ +9 &3U&\ sQ +9 &4T,\ tQ +10 &6W%\ sQ +9 &8ZX$\ rQ +10 &:W)\ sQ +9 &;V-\ sR +9 &=Y-\ rQ +10 &?aW.\ sQ +9 &A!\\(\ rR +9 &B`.\ rS +10 &Dc/\ qS +9 &F`n/\ oT +10 &H)\ kV +9 &I+\ jW +9 &K-\ iW +10 &M^/\ iX +9 &O.\ iX +9 &P.\ iX +10 &R+\ hX +9 &Tc.\ fY +9 &V'(\ iX +10 &W*\ gX +9 &Y.\ hY +10 &[m.\ gX +9 &]+0\ fZ +9 &^Mj.\ pN +10 &^M%\ t8 +5 ( +2 "processing"%x& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&z1 +2 "core" &^0,\ v8 +61 1 +2 "manipulator"&{% +3 "core" %  & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|' +91 "core" ' +2 "processing"%}& +3 "core" &^0\ r8 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&~% +4 "core" %     +2 "storage"(% +3 "core" % \ r +2 "storage"(. +3 "core" .(<- +2 "storage"(& +3 "core" &<* \ r +3 "storage"(& +2 "manipulator"&& +8 "core" &<* \ r + &   N 2 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +3 "core" ( +2 "manipulator"&& +3 "core" &   2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" & '  _ 2 +3 .tForearm.seek PC + "manipulator"&\ ' +96 "core" ' +2 .tHand.close + "manipulator"&/ +69 "core" / +2 .tPC.seek :open + "processing"% ( +82 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +49 "core" ' +314 ( +2 "storage"(& +3 "core" &<* h\ { +2 "manipulator"&& +4 "core" &   U 2 +2 "manipulator"&% +3 "core" %    % +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&& +3 "core" &  & W + +2 "storage"(& +4 "core" &<* v\ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +3 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"("- +3 "core" -' +2 "storage"(#& +3 "core" &<*   \ / +2 "manipulator"&$& +5 "core" &   + + .tElbow.seek 5 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +3 "core" & * *  + +3 "storage"('& +3 "core" &<*  \ - +3 .tForearm.seek 5 + 450 counts + "manipulator"&('O +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"()'" +59 "core" ' +2 "manipulator"&*& +3 "core" &    + +3 "storage"(+& +3 "core" &<* N\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&,'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(.' +65 "core" ' +2 "manipulator"&/% +3 "core" %Ξ   +3 "storage"(0& +4 "core" &<* \ s + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&1' +25 "core" ' +2 "manipulator"&2& +4 "core" &   : * +2 "storage"(3& +4 "core" &<* W\ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +15 "core" ' +2 "storage"(5% +3 "core" % o\ { +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (7% +3 "core" %B C\ tYo +2 "manipulator"&8% +5 "core" %D   U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" &<* h\ z +2 "collection"'=& +5 "core" &\\j\ \ \ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +3 "core" %      +3 "storage"(% +3 "core" % \ { +2 "storage"(. +3 "core" .(<- +2 "storage"(?& +3 "core" &<* \ { +3 "storage"(@& +4 "core" &<* \ | + "manipulator"&A& +4 "core" &   * +2 .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&D& +4 "core" &    * +2 "storage"(F& +3 "core" &<* \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +93 "core" ' +2 "storage"(I& +4 "core" &<* ] a e\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +297 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &   * +2 "storage"(L& +4 "core" &<* \ y +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&M'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(P'r +28 "core" ' + "manipulator"&Q% +4 "core" %Ρ    +2 "storage"(B& +3 "core" &<* V\ x +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&H' +23 "core" ' + "manipulator"&J& +4 "core" &   L * +2 "storage"(!& +4 "core" &<* \ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&T'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(U' +45 "core" ' +2 "manipulator"&W& +3 "core" &   ^ * +3 "manipulator"&X% +4 "core" %P  6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&Z(ӂ +156 "core" ( +2 "manipulator"&R& +4 "core" &ӑ# !  <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &ӑ# "  ? <= +2 .tForearm.seek CC +2 "manipulator"&]'? +99 "core" ' + .tHand.close + "manipulator"&^/ +76 "core" / +2 .tCC.seek :open + "collection"'N( +451 "core" ( +2 "storage"(`& +3 "core" &<* \  +2 "storage"(a& +4 "core" &<* '\  +2 "manipulator"&6& +3 "core" &ӹ  %  7 +2 "manipulator"&c% +5 "core" % 5   P +2 .tForearm.seek :retract + "manipulator"&K' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&V( +165 "core" ( +2 "manipulator"&e& +3 "core" &   @  +2 "storage"(f& +5 "core" &<* 0\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&g'΍ +102 "core" ' +36 .tElbow.hold +9 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +60 "core" 1 +3 "manipulator"&l% +4 "core" % Γ   K +2 "storage"(m& +3 "core" &<* \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&o'Ͽ +26 "core" ' +2 "manipulator"&_& +3 "core" & q  +3 "storage"(b& +4 "core" &<* 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +15 "core" ' +2 "storage"(k% +3 "core" % R\ +3 ."downElevator"SE.seek :down +4 "storage"(r' +99 (s% +3 "core" %C? U\ Xj +2 "manipulator"&h% +3 "core" %M ; +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'v& +5 "core" &\ \ \ + "manipulator"&w% +4 "core" %     +2 "storage"(n% +5 "core" % \  + "storage"(p. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" &K Q\ +2 "manipulator"&{& +5 "core" &   n  + .tElbow.seek 6 +2 "manipulator"&}( +4 "core" ( +2 "manipulator"&~& +3 "core" &   U  +2 "storage"(& +4 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +98 "core" ' +2 "storage"(& +4 "core" &K \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \ +2 "manipulator"&& +4 "core" & x  +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( +2 "manipulator"&t& +3 "core" &   U  +2 "storage"(& +4 "core" &K \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&|& + "storage"(y' +8 "core" & w  + "manipulator"&% +5 "core" % e \  0  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +5 "core" &Ӊ(    @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &Ӊ(  ' a @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' + "manipulator"&& +4 "core" &ӊ(  % < @[ +2 "manipulator"&% +4 "core" %< %  : +2 "collection"'& +4 "core" &\ \ \ +3 "collection"' & +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'"(\\ +4 "core" &\ \ \  +9 &1y\ \ \ *y +10 &b}\ \ \ > +9 &es\ \ \ O +9 &&T\ \ \ O +10 &U\ \ |\ N +9 &T\ \ \ N +9 &mU\ \ \ O +10 &0S\ \ \ z\ N +9 &U\ \ |\ N +10 &W\ \ \ O +9 & vW\ \ \ N +9 &"7V\ \ \ O +10 &#W\ \ \ ~\ N +9 &%S\ \ \ O +9 &'}T\ \ \ O +10 &)@Q\ \ \ N +9 &+T\ \ \ N +10 &,V\ \ \ N +9 &.U\ \ \ N +9 &0HU\ \ \ N +10 &2\ U\ \ \ N +9 &3U\ \ \ N +10 &5U\ \ \ \ N +9 &7PU\ \ \ N +9 &9T\ \ \ O +10 &:U\ \ \ N +9 &<T\ \ \ N +9 &>XQ\ \ \ N +10 &@Q\ \ \ \ \ N +9 &AT\ \ \ N +9 &C\\\ \ \ O +10 &E\\a\ \ \ P +9 &Gp\ \ \ Q +10 &H\ "\ \ T +9 &J\ 3\ .\ Y +9 &LF\ 4\ 3\ Z +10 &N\ 0\ /\ Z +9 &O\ -\ .\ [ +9 &Q\ *\ +\ [ +10 &SF\ (\ (\ ] +9 &U \ %\ $\ \\ +10 &V\ $\ "\ ^ +9 &X\ #\ !\ ^ +9 &ZG\ \ "\ _ +10 &[{\ \ |\ C +9 &\\&\ \ \ )y +9 &\\x\ \ \ X +3 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +37 .Hand.open +9 "manipulator" +63 "core" 1 +3 "manipulator"&$% +4 "core" % < % + { : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%'& +4 "core" &\ t +2 "manipulator"& % +4 "core" %    J  +2 "storage"(*% +3 "core" % \ s +2 "storage"(+. +4 "core" .(K + "storage"(& +5 "core" &K \ s + "storage"(& +4 "core" &K \ s +2 "manipulator"&/& +4 "core" &ӳ"   4 ;2 +2 "manipulator"&0% +3 "core" %      +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&2( +162 "core" ( +2 "manipulator"&3& +3 "core" &   3  +2 "storage"(& +3 "core" &K \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&5' +96 "core" ' + "storage"(& +3 "core" &K \  q\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +310 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" &K o\ x +2 "manipulator"&8& +4 "core" &   j  +2 .tElbow.seek 6 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&)& +3 "core" &   +2 "storage"(,& +3 "core" &K \ { +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&;'h +45 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +72 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(' +8 "core" &   Y  +2 "manipulator"&% +4 "core" % o   G +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&?& +4 "core" &   1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &  ~ 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +90 "core" ' + "manipulator"&D& +4 "core" &   D 1 +2 "manipulator"&F% +4 "core" %  m h +2 "processing"%4& +5 "core" &D\ } +2 "processing"%I& +5 "core" & \ ~ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ ~ +7 &5\ x$c +9 &S~\ k7 +10 &z}\ jL +9 &[\ pR +9 &CT)\ qQ +10 &O\ rQ +9 &U-\ qR +9 &U\ pR +10 &KS\ pQ +9 & U\ qQ +10 &W\ pQ +9 &!W\ oQ +9 &#RU\ qR +10 &%U\ qQ +9 &&W-\ pR +9 &(V\ pR +10 &*[U,\ qQ +9 &,T2\ rQ +10 &-V\ qQ +9 &/W-\ pR +9 &1dR\ qQ +10 &3&U,\ qQ +9 &4S+\ qQ +9 &6U(\ qQ +10 &8lV"\ qQ +9 &:-T%\ qQ +10 &;W\ pR +9 &=W"\ pQ +9 &?sT'\ qQ +10 &A5Y(\ pQ +9 &B_\ oR +9 &D`\ oS +10 &Fwg'\ mS +9 &H3w"\ kU +10 &I$\ iW +9 &K$\ gW +9 &Mq&\ gX +10 &O3"\ gW +9 &P"\ fX +9 &R\ gX +10 &Tv!\ eY +9 &V:*\ fX +10 &W&\ eX +9 &Y$\ eX +9 &[ \ fX +10 &]?!\ eQ +9 &^yF} \ j"g +9 &^6"\ s2 +6 ( +2 "processing"%I& +3 "core" &^"\ u2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&-1 +52 "core" 1 + "manipulator"&:% +4 "core" %   $ P h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' +2 "processing"%>& +4 "core" &^"\ r2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&L% +4 "core" %    O  +2 "storage"(O% +3 "core" % \ r +3 "storage"(Q. +3 "core" .(K + "storage"(B& +4 "core" &K \ r +2 "storage"(J& +3 "manipulator"&!& +8 "core" &K \ q + &   1 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&W( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(X'r +3 "core" ( +38 "manipulator"&G& +12 "core" &   1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +4 "core" &   1 +2 .tForearm.seek PC +2 "manipulator"&9' +94 "core" ' + .tHand.close +2 "manipulator"&M/ +73 "core" / +2 .tPC.seek :open +2 "processing"%H( +35 "core" ' + "storage"(P- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'1 +40 "core" ' +369 ( +3 "storage"(\\& +3 "core" &K `\ v +2 "manipulator"&T& +3 "core" &   1 +3 "manipulator"&E% +3 "core" % \ g 2 +3 .tForearm.seek :retract + "manipulator"&^' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&Y( +250 "core" ( +2 "manipulator"&S& +3 "core" & $ " ' O +3 "storage"(`& +4 "core" &K \ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts + "manipulator"&a' +92 "core" ' + .tHand.open +2 "manipulator"&61 +58 "core" 1 +2 "storage"(c- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(e' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(f' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"(Z& +4 "core" &K  '\ 0 +2 "manipulator"&j& +4 "core" & $  / O +2 .tElbow.seek 6 + "manipulator"&l( +4 "core" ( + "manipulator"&m& +4 "core" & ) ( Y O +2 "storage"(_& +3 "core" &K\ 0 +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&b' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(K'" +57 "core" ' +2 "manipulator"&k& +4 "core" &   O +2 "storage"(s& +3 "core" &K \ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&h'< +24 "core" ' +2 .tElbow.hold + "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +19 "core" ' +2 "manipulator"&v% +4 "core" %D  $  +2 "storage"(w& +3 "core" &K \ s +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&o'p +15 "core" ' + "manipulator"&n& +5 "core" &   0 N +2 "storage"(p& +3 "core" &K \ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&U' +16 "core" ' + "storage"(d% +4 "core" % ?\ v +3 ."downElevator"SE.seek :down +3 "storage"(r' +99 ([% +3 "core" %H ?\ o[s +2 "manipulator"&z% +4 "core" %  _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" &K 0\ w +2 "collection"'& +4 "core" &\\u\ \ \ X +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %   p  +3 "storage"(i% +3 "core" % \ x +2 "storage"(u. +3 "core" .(K +2 "storage"(& +3 "core" &K K\ x +2 "storage"(& +4 "core" &K B\ x +2 "manipulator"&& +4 "core" &   N +2 .tElbow.seek 6 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +3 "core" & %  T N +3 "storage"(q& +3 "core" &K P\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&|' +94 "core" ' +2 "storage"(& +4 "core" &K\ \  q\ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +304 "core" ' +9 "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   N +2 "storage"(\ & +5 "core" &K a\ x + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&x'< +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('e +29 "core" ' +2 "manipulator"&% +3 "core" %K   +2 "storage"( & +3 "core" &K \ t +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&y'w +14 "core" ' +2 "manipulator"&& +3 "core" &   N +3 "storage"(N& +4 "core" &K \ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&#' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"($' +50 "core" ' +2 "manipulator"& & +3 "core" & \  s N +2 "manipulator"&'% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&*(ӂ +151 "core" ( +2 "manipulator"&+& +5 "core" &&   7 ?V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &&   ?V +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&// +77 "core" / +2 .tCC.seek :open +2 "collection"'0( +450 "core" ( +2 "storage"(& +3 "core" &K \  +3 "storage"(3& +4 "core" &K 6\  + "manipulator"&& +4 "core" &Ӻ    8 +2 "manipulator"&% +3 "core" % 0    +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&&( +165 "core" ( + "manipulator"&7& +4 "core" &   O  +2 "storage"((& +4 "core" &K 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&8'< +97 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +57 "core" 1 +2 "manipulator"&1% +3 "core" % J   ? +2 "storage"(=& +4 "core" &K }\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 314 counts +2 "manipulator"&'v +14 "core" ' +2 "manipulator"&2& +3 "core" &    +2 "storage"(5& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(;% +3 "core" % \ \ +3 ."downElevator"SE.seek :down +3 "storage"(?' +99 (@% +3 "core" %c; \ Xi +2 "manipulator"&%% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +92 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'F& +4 "core" &\ \ \ +2 "manipulator"&4% +3 "core" %     +3 "storage"(% +3 "core" % |\  +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"( ([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +2 "core" &[ \ \ +2 "manipulator"&:& +5 "core" & \ Y  + .tElbow.seek 7 +2 "manipulator"&>(r +46 "core" ( +2 "manipulator"&L& +4 "core" &{   L  +2 "storage"(O& +40 "core" &[ \ \ +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Q'= +94 "core" ' +2 "storage"(B& +3 "core" &[ \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +297 "core" ' +2 "storage"(J- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &[ \ \ +2 "manipulator"&G& +4 "core" &{  \ :  +2 .tElbow.seek 7 +2 "manipulator"&C(r +3 "core" ( +2 "manipulator"&A& +3 "core" &{ C  +2 "storage"(M& +4 "core" &[ \ \ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&P'ϧ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&./ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&<& + "storage"(' +8 "core" &{    + "manipulator"&X% +4 "core" % ϝ 8 +2 .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +154 "core" ( +2 "manipulator"&E& +4 "core" ' + &Ӆ% & T >H +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &9& +3 "core" &Ӆ%    >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'? +94 "core" ' + "manipulator"&`& +4 "core" &ӆ%   =G +2 "manipulator"&W% +4 "core" %7   a P +2 "collection"'6& +4 "core" &\ \ \ +2 "collection"'c& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'](\\ +5 "core" &\ \ \ +8 & -\ \ \ $c +9 &Ux\ \ \ 7 +9 &~x\ \ \ L +10 &V\ \ }\ O +9 &ZR\ \ \ N +10 &S\ \ \ N +9 &R\ \ \ N +9 &R\ \ \ N +10 &aQ\ \ {\ N +9 &"T\ \ \ N +9 &S\ \ \ N +10 &!S\ \ \ N +9 &#hT\ \ \ N +10 &%+R\ \ \ N +9 &&R\ \ \ N +9 &(R\ \ \ N +10 &*qR\ \ \ N +9 &,4S\ \ \ N +9 &-R\ \ \ N +10 &/R\ \ \ M +9 &1yR\ \ \ N +10 &3;R\ \ \ N +9 &4S\ \ \ N +9 &6R\ \ \ N +10 &8Q\ \ \ N +9 &:CR\ \ \ N +9 &<R\ \ \ N +10 &=V\ \ \ N +9 &?R\ \ \ N +10 &ALS\ \ \ N +9 &C W\ \ \ \ N +9 &D`\ \ \ P +10 &Fi\ \ \ Q +9 &HD\ \ \ S +9 &I\ .\ '\ W +10 &K\ 4\ 3\ Z +9 &Mt\ 2\ 0\ [ +10 &O6\ -\ -\ [ +9 &P\ ,\ *\ \\ +9 &R\ &\ '\ \\ +10 &Tv\ (\ %\ ] +9 &V6\ #\ $~\ ] +10 &W\ $\ #\ ^ +9 &Y\ "\ !\ _ +9 &[w\ \ #\ L +10 &\\9\ \ \ 0 +9 &\\\ \ w\ U +5 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&Z1 +3 "core" &\\|\ \ {\ U +59 1 +2 "manipulator"&j% +3 "core" % 7  # P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%_& +3 "core" &\ t +2 "manipulator"&^% +5 "core" %     +2 "storage"(k% +3 "core" % \ t +2 "storage"(s. +3 "core" .([ +2 "storage"(v& +3 "core" &[ \ t\ +3 "storage"(w& +3 "core" &[ \ t\ +2 "manipulator"&R& +3 "core" &ӭ  # + 8 +3 "manipulator"&n% +4 "core" %    Y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&p(r +163 "core" ( + "manipulator"&e& +3 "core" &z    +3 "storage"(d& +4 "core" &[ \ z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Y'= +96 "core" ' +2 "storage"(a& +3 "core" &[ b 0\ }\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +297 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &[ \ s\ +2 "manipulator"&b& +4 "core" &z    +2 .tElbow.seek 7 + "manipulator"&l(r +4 "core" ( +2 "manipulator"&K& +3 "core" &z   A  +2 "storage"(h& +4 "core" &[ v\ w\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&o'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +66 "core" / +10 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +8 "core" &z   Q  +2 "manipulator"&i% +4 "core" % Ϲ   +2 .tForearm.seek :retract +2 "manipulator"&u' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&& +3 "core" &   # +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   o # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&& +4 "core" &   n # +2 "manipulator"&q% +4 "core" % \ k +2 "processing"%U& +5 "core" &\ ~ +2 "processing"%& +5 "core" &\ ~ +2 .tPC.seek :closed +2 "processing"%r(^ +5 "core" &\ ~ +7 & -\ x$c +9 &Tz\ l8 +9 &{x\ jL +10 &U\ oQ +9 &MT\ qQ +10 &Q\ qQ +9 &T\ qQ +9 &U\ qQ +10 &UT\ qQ +9 &V\ qQ +9 &V\ pQ +10 &!U\ qQ +9 &#]T+\ qQ +10 &% T\ qQ +9 &&U1\ pQ +9 &(U\ qQ +10 &*eT\ qQ +9 &,'U2\ qQ +9 &-T,\ qQ +10 &/V'\ qQ +9 &1nR1\ rQ +10 &30T*\ qQ +9 &4U)\ qQ +9 &6R$\ qQ +10 &8vU#\ qQ +9 &:8T'\ qQ +9 &;U0\ pQ +10 &=T'\ qQ +9 &?}W5\ qQ +10 &A?U%\ qQ +9 &B_*\ oR +9 &D_(\ oR +10 &F}i3\ nT +9 &H:y4\ kV +9 &I(\ iW +10 &K'\ gX +9 &Mz&\ gX +10 &O<$\ gX +9 &P(\ fX +9 &R'\ gX +10 &T~3\ dY +9 &VC+\ fX +9 &X&\ eX +10 &Y-\ eX +9 &[+\ eX +10 &]I(\ eM +9 &^}P-\ c#l +9 &^ !\ w- +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&V1 +58 "core" 1 + "manipulator"&{% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 "processing"%& +4 "core" &^\ r- +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&\ % +5 "core" % #   I 8 + "storage"(% +5 "core" % \ q + "storage"(. +4 "core" .([ + "storage"( & +4 "core" &[ \ p\ +2 "storage"(& +3 "manipulator"&N& +5 "core" &[ \ q\ +3 &   @ # +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(''r +2 "core" ( +3 "manipulator"&|& +3 "core" &   # +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &   # +2 .tForearm.seek PC +2 "manipulator"&}' +94 "core" ' + .tHand.close +2 "manipulator"&x/ +67 "core" / +3 .tPC.seek :open + "processing"%y( +83 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +44 "core" ' +320 ( +2 "storage"(& +3 "core" &[ ^\ u\ +3 "manipulator"&#& +4 "core" &   # +2 "manipulator"&% +3 "core" %   F " +2 .tForearm.seek :retract +2 "manipulator"&/' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"& (r +249 "core" ( +2 "manipulator"&"& +4 "core" &v &  = I + "storage"(& +4 "core" &[ \ s\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&3'= +93 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"((' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(*& +3 "core" &[ \ %\ +2 "manipulator"&,& +4 "core" &v   " I +2 .tElbow.seek 7 +2 "manipulator"&1(r +50 "core" ( +2 "manipulator"&=& +4 "core" &v   Y I +2 "storage"(2& +3 "core" &[ \ %\ +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&5'= +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +57 "core" ' +2 "manipulator"&& +3 "core" &v   s I +3 "storage"(@& +4 "core" &[ I\ u\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&%'{ +31 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +22 "core" ' +2 "manipulator"&F% +3 "core" %Ή ? @ +2 "storage"(4& +4 "core" &[ K Z q\ e\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts +2 "manipulator"&'ϵ +13 "core" ' + "manipulator"&& +5 "core" &w    H + "storage"(& +4 "core" &[ 1\ x\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&$'= +19 "core" ' +2 "storage"(% +4 "core" % g\ x +2 ."downElevator"SE.seek :down +4 "storage"(?' +98 ( % +3 "core" %F i\ mZr +3 "manipulator"&-% +3 "core" %@   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (L& +4 "core" &[ P\ v\ +2 "collection"'O& +4 "core" &\\{\ \ \ U +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&B% +4 "core" % "   % +2 "storage"()% +3 "core" % o\ w +2 "storage"(D. +3 "core" .([ +2 "storage"(J& +3 "core" &[ v\ w\ +3 "storage"(I& +4 "core" &[ _\ w\ + "manipulator"&G& +4 "core" &w  c H +2 .tElbow.seek 7 +2 "manipulator"&A(r +3 "core" ( +2 "manipulator"&M& +3 "core" &w   W H +3 "storage"(.& +4 "core" &[ \ w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&<'= +103 "core" ' +2 "storage"(X& +3 "core" &[ \  \ }\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +297 "core" ' +3 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" &w   H +2 "storage"(9& +4 "core" &[ P\ v\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&!'{ +32 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(W'n +30 "core" ' +2 "manipulator"&6% +3 "core" %Ύ @ @ +2 "storage"(C& +4 "core" &[ W o \ h\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +13 "core" ' + "manipulator"&\\& +5 "core" &x   2 G + "storage"(0& +4 "core" &[ L\ x\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Z'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(j' +36 "core" ' +2 "manipulator"&_& +3 "core" &x   G +2 "manipulator"&^% +5 "core" %:  z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&s(ӂ +153 "core" ( +2 "manipulator"&v& +5 "core" &ӊ& ' $ 6 ?U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &ӊ& ; g ?U +2 .tForearm.seek CC +2 "manipulator"&w'? +94 "core" ' +2 .tHand.close + "manipulator"&R/ +66 "core" / +40 .tCC.seek :open +10 "collection"'n( +451 "core" ( +2 "storage"(S& +3 "core" &[ \ \ +3 "storage"(e& +3 "core" &[ d\ \ +2 "manipulator"&d& +4 "core" &   8 +2 "manipulator"&a% +4 "core" % D   +2 .tForearm.seek :retract +2 "manipulator"&T' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&m(r +166 "core" ( +2 "manipulator"&[& +4 "core" &i \  X  +2 "storage"(z& +3 "core" &[ O\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&b'{ +102 "core" ' +2 .tElbow.hold + "manipulator"&K, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +55 "core" 1 +2 "manipulator"&~% +3 "core" % ΋   1 +2 "storage"(& +4 "core" &[ \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 316 counts +2 "manipulator"&i'Ϸ +26 "core" ' +2 "manipulator"&p& +4 "core" &i  %  +2 "storage"(Y& +3 "core" &[ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&f'= +17 "core" ' +2 "storage"(o% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %? \ Yl +2 "manipulator"&l% +5 "core" %5  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'q& +3 "core" &\ \ \ +2 "manipulator"&U% +4 "core" % \  S  +2 "storage"(% +4 "core" % \  +2 "storage"(u. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(H(<- +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &<0 >\ +2 "manipulator"&{& +5 "core" &i {  + .tElbow.seek 5 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&\ & +3 "core" &   +2 "storage"(& +4 "core" &<0 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' + "storage"( & +4 "core" &<0 #\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<- \ +3 "manipulator"&|& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +4 "core" &   c +2 "storage"(x& +3 "core" &<- e\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&g/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(r' +7 "core" & + "manipulator"&'% +5 "core" % ϲ v +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &Ә  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &Ә    8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'? +94 "core" ' +2 "manipulator"&& +5 "core" &ә   O 8 + "manipulator"& % +5 "core" %>   4 +2 "collection"'& +4 "core" &\ \ \ +48 "collection"'& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'(\\ +3 "core" &\ \ \  +10 &1w\ \ \ *x +9 &c}\ \ \ > +9 &kp\ \ \ O +10 &.Q\ \ \ N +9 &Q\ \ \ N +9 &S\ \ \ M +10 &vQ\ \ \ M +9 &8Q\ \ \ M +10 &S\ \ \ M +9 &R\ \ \ M +9 & ~R\ \ z\ M +10 &"@R\ \ {\ M +9 &$R\ \ |\ N +9 &%T\ \ ~\ N +10 &'Q\ \ v\ M +9 &)HQ\ \ |\ M +10 &+\ Q\ \ |\ M +9 &,U\ \ ~\ N +9 &.P\ \ \ M +10 &0PR\ \ \ M +9 &2R\ \ \ M +9 &3S\ \ \ M +10 &5Q\ \ \ N +9 &7WP\ \ \ N +10 &9P\ \ \ M +9 &:R\ \ \ N +9 &<S\ \ \ N +10 &>_P\ \ \ N +9 &@!Q\ \ \ N +9 &AQ\ \ \ N +10 &CX\ \ \ N +9 &Ea`\ \ \ P +10 &Gk\ \ \ Q +9 &H\ \ \ T +9 &J\ 0\ +\ Y +10 &LK\ 2\ 0\ Z +9 &N \ -\ .\ [ +9 &O\ +\ -\ [ +10 &Q\ )\ (\ [ +9 &SN\ (\ &\ \\ +10 &U\ "\ #\ \\ +9 &V\ #\ !\ ] +9 &X\ !\ "\ ^ +10 &ZM\ \ \ _ +9 &[|\ \ \ ? +9 &\\+\ \ \ (x +10 &\\k\ \ \ S +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&*1 +57 "core" 1 + "manipulator"&,% +5 "core" % > ' 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%=& +5 "core" &0\ v + "manipulator"&2% +4 "core" % !   * $ +2 "storage"(% +4 "core" % >\ v +2 "storage"(@. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(+(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<- \ s +2 "manipulator"&F& +3 "core" &Ӟ   7 +2 "manipulator"&4% +4 "core" % !  $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"( & +4 "core" &<- \  \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +100 "core" ' +2 "storage"(3& +3 "core" &<- \\ p f\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &<- W\ u +2 "manipulator"&5& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&;& +4 "core" &  0  +2 "storage"(%& +3 "core" &<- 6\ x +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +68 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&O& + "storage"(B' +8 "core" &    + "manipulator"&)% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&J& +4 "core" &  ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &   ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&G' +101 "core" ' +2 "manipulator"&M& +3 "core" &   V ( +2 "manipulator"&.% +5 "core" %  { [ +2 "processing"%$& +3 "core" &T\ +3 "processing"%X& +6 "core" &/\ +2 .tPC.seek :closed +2 "processing"%?(^ +5 "core" &\ +6 & .-\ z$c +9 &Tz\ m8 +10 &{x\ lL +9 &T\ sQ +9 &KR\ sQ +10 &P\ tQ +9 &W\ sQ +10 &U\ sQ +9 &TT\ sQ +9 &V\ sQ +10 &T\ sQ +9 &!T\ sQ +10 &#\\S\ tQ +9 &%T\ sQ +9 &&X\ rQ +10 &(U\ sQ +9 &*dT\ sQ +9 &,'T\ sP +10 &-S\ rQ +9 &/T\ sQ +9 &1lR\ tQ +10 &3.U\ sQ +9 &4U\ sQ +10 &6W\ rQ +9 &8tS\ sQ +9 &:6R\ sQ +10 &;U0\ sQ +9 &=W\ sQ +9 &?{U3\ sQ +10 &A=W\ rQ +9 &B^\ rR +10 &Dd4\ qS +9 &F|k5\ oS +9 &H7~\ kV +10 &I1\ iV +9 &K)\ jX +10 &Mx\ iX +9 &O:\ hW +9 &P4\ gY +10 &R4\ iX +9 &T|4\ eY +9 &V@-\ hX +10 &X4\ gX +9 &Y,\ gY +10 &[,\ gY +9 &]G6\ gN +9 &^S7\ f$o +10 &^2\ y+ +2 ( +2 "processing"%X& +44 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +9 .Hand.open +2 "manipulator"&&1 +62 "core" 1 +2 "manipulator"&:% +3 "core" %  & ' ' [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +2 "processing"%E& +4 "core" &^`\ u+ +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&9% +4 "core" % #  a 7 +2 "storage"(`% +4 "core" % b\ t +2 "storage"(6. +3 "core" .(<- +2 "storage"(C& +3 "core" &<- M\ t +3 "storage"(\\& +2 "manipulator"&0& +7 "core" &<- >\ t +2 &    ( + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +3 "manipulator"&_( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(^'r +2 "core" ( + "manipulator"&<& +5 "core" &    ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" &  ( +3 .tForearm.seek PC + "manipulator"&>' +93 "core" ' +2 .tHand.close + "manipulator"&!/ +66 "core" / +2 .tPC.seek :open + "processing"%( +88 "core" ' +2 "storage"(W- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(v'1 +46 "core" ' +307 ( + "storage"(c& +4 "core" &<,\  &\ | +2 "manipulator"&Z& +4 "core" & \ S ( +2 "manipulator"&P% +4 "core" %    G +2 .tForearm.seek :retract +2 "manipulator"&R' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&k( +246 "core" ( + "manipulator"&]& +4 "core" &  3 +2 "storage"(S& +3 "core" &<, \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +94 "core" ' + .tHand.open +2 "manipulator"&d1 +55 "core" 1 +2 "storage"(a- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"([' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(w- +3 "core" -' +2 "storage"(s& +3 "core" &<, ^\ * +2 "manipulator"&h& +5 "core" &   2 + .tElbow.seek 5 +2 "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" & & 2 +2 "storage"(p& +4 "core" &<, C\ * +3 .tForearm.seek 5 + 450 counts + "manipulator"&Y'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(o'" +61 "core" ' +2 "manipulator"&T& +3 "core" &   i 2 +3 "storage"(& +3 "core" &<, \ z +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&l'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(b' +29 "core" ' + "manipulator"&q% +4 "core" %Ρ   +2 "storage"(i& +3 "core" &<, &\ t +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&U' +23 "core" ' +2 "manipulator"&& +3 "core" & q 1 +2 "storage"(u& +4 "core" &<,\ \ $\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +41 "manipulator"&j'O +21 "core" ' +2 "storage"(f% +4 "core" %\ \  h\ } +3 ."downElevator"SE.seek :down +4 "storage"(' +99 ( % +3 "core" %#I \ rZr +2 "manipulator"&V% +9 "core" %X  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +2 "core" &<, \ } +3 "collection"'& +4 "core" &\\i\ \ \ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %   \\  +2 "storage"(K% +3 "core" %\ \  z\ ~ +2 "storage"(. +4 "core" .(<- + "storage"(N& +5 "core" &<,\ \  ]\  + "storage"(& +5 "core" &<,\ \  N\  +2 "manipulator"&|& +4 "core" &    1 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&x& +5 "core" &  6 1 + "storage"(g& +4 "core" &<,\ \  o\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' +2 "storage"('& +3 "core" &<, q \\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   P 1 +2 "storage"(}& +3 "core" &<, ?\ z +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 'r +29 "core" ' +2 "manipulator"&% +3 "core" %Π   +2 "storage"(t& +4 "core" &<, \ w +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&r' +27 "core" ' + "manipulator"&& +4 "core" &   \ 1 +2 "storage"(n& +4 "core" &<, F E )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(,' +35 "core" ' +2 "manipulator"&=& +4 "core" &  V 1 + "manipulator"&2% +5 "core" %[ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +151 "core" ( +3 "manipulator"&& +4 "core" &ӌ&  b ?P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &ӌ&   ?P +3 .tForearm.seek CC + "manipulator"&F'? +100 "core" ' +2 .tHand.close + "manipulator"&4/ +76 "core" / + .tCC.seek :open +2 "collection"'"( +451 "core" ( + "storage"(& +4 "core" &<, ,\ +2 "storage"( & +4 "core" &<, t q p\ +2 "manipulator"&H& +3 "core" &Ӳ! #  ? :* +2 "manipulator"&3% +5 "core" % A   +2 .tForearm.seek :retract + "manipulator"&#' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&/( +162 "core" ( +2 "manipulator"& & +3 "core" &   r  +2 "storage"(-& +4 "core" &<, \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&5'΍ +97 "core" ' +2 .tElbow.hold + "manipulator"&;, +44 "core" , +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +60 "core" 1 +3 "manipulator"&L% +3 "core" % ~ !  t +2 "storage"(O& +4 "core" &<, \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 285 counts +2 "manipulator"&)'Ϫ +13 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(& +5 "core" &<, \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +18 "core" ' +2 "storage"(% +3 "core" % 7\ +3 ."downElevator"SE.seek :down +3 "storage"(J' +99 (I% +3 "core" %XC !\ Yl +2 "manipulator"&1% +4 "core" %6 D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +88 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'.& +3 "core" &\ \ \ +3 "manipulator"&$% +3 "core" %     +2 "storage"(B% +4 "core" % a\  +2 "storage"(D. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(y(K +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &K q\ +2 "manipulator"&:& +4 "core" &  N  +2 .tElbow.seek 6 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&E& +4 "core" &    +2 "storage"(9& +3 "core" &K \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +90 "core" ' +2 "storage"(6& +3 "core" &K w\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'r +299 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" &K \ +2 "manipulator"&<& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&G& +4 "core" &  O  +2 "storage"(!& +3 "core" &K \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&W'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(?' +8 "core" & i  +2 "manipulator"&^% +4 "core" % l S +2 .tForearm.seek :retract +2 "manipulator"&c' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +153 "core" ( +2 "manipulator"&P& +3 "core" &y' ! ' U ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &y&   ?V +2 ' + ."downElevator"SE.stop +4 .tForearm.reconfigure :tight +2 "storage"(5 +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'? +92 "core" ' +2 "manipulator"&S& +3 "core" &y&  &  ?V +3 "manipulator"&_% +3 "core" %J   R 9 +3 "collection"'d& +4 "core" &\ \ \ +2 "collection"'a& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'w(\\ +5 "core" &\ \ \  +9 &0x\ \ \ *y +9 &b}\ \ \ > +9 &hp\ \ \ N +10 &+Q\ \ \ M +9 &P\ \ \ N +10 &P\ \ \ N +9 &pR\ \ \ N +9 &2Q\ \ \ N +10 &Q\ \ \ M +9 &Q\ \ \ M +9 & xO\ \ \ N +10 &";T\ \ \ M +9 &#P\ \ \ M +10 &%U\ \ \ N +9 &'Q\ \ v\ N +9 &)BN\ \ }\ N +10 &+T\ \ \ M +9 &,T\ \ }\ N +9 &.R\ \ w\ N +10 &0KO\ \ |\ M +9 &2 Q\ \ \ M +10 &3T\ \ }\ N +9 &5S\ \ \ M +9 &7SR\ \ \ M +10 &9T\ \ \ N +9 &:S\ \ \ M +9 &<S\ \ \ N +49 &>YR\ \ \ N +4 &@Q\ \ \ M +3 &AP\ \ \ N +2 &CW\ \ \ \ N + &E]_\ \ \ O + &Gj\ \ \ Q +6 &H\ \ \ T +9 &J\ 0\ +\ X +10 &LF\ 3\ 1\ Z +9 &N\ .\ .\ Z +10 &O\ -\ ,\ [ +9 &Q\ (\ )\ [ +9 &SI\ %\ '\ \\ +10 &U \ &\ #\ \\ +9 &V\ "\ #\ ] +9 &X\ #\ #\ ^ +10 &ZI\ \ \ ^ +9 &[z\ \ !\ C +10 &\\&\ \ \ (w +9 &\\{\ \ \ [ +2 ( +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&s1 +63 "core" 1 +2 "manipulator"&h% +4 "core" % J   9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%p& +5 "core" &\ t +2 "manipulator"&R% +3 "core" %    L  +2 "storage"(T% +5 "core" % h\ t + "storage"(. +4 "core" .(K + "storage"(v& +5 "core" &K P\ t + "storage"(q& +4 "core" &K G\ t +2 "manipulator"&i& +4 "core" &ӭ #  8" +2 "manipulator"&[% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +166 "core" ( + "manipulator"&u& +4 "core" &    +2 "storage"(k& +3 "core" &K \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +108 "core" ' +2 "storage"(e& +3 "core" &K e o U\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +298 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K 8\ v +2 "manipulator"&V& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&o& +4 "core" &    + "storage"(l& +4 "core" &K \ z +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&U'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +76 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"( ' +8 "core" &   >  + "manipulator"&K% +4 "core" % q   +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&N& +4 "core" &   6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&|' +91 "core" ' + "manipulator"&x& +4 "core" &   | 6 +2 "manipulator"&g% +3 "core" %   e +3 "processing"%j& +3 "core" &\ } +3 "processing"%'& +5 "core" &X\ } +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ ~ +8 &1v\ m*y +9 &a}2\ j? +9 &cr2\ jP +10 &"Q\ qQ +9 &R\ qQ +9 &O\ qQ +10 &iS\ pQ +9 &+R+\ qQ +10 &U6\ pQ +9 &R\ pQ +9 & qT\ pQ +10 &"3Q\ qQ +9 &#R\ pQ +9 &%U\ qQ +10 &'yR\ qQ +9 &);S\ qQ +9 &*T\ qQ +10 &,W\ pQ +9 &.R\ pP +10 &0CR\ qQ +9 &2T\ pQ +9 &3T\ pQ +10 &5R\ qQ +9 &7LQ\ pP +9 &9 T\ qQ +10 &:W\ pQ +9 &<S\ pQ +10 &>SU\ oQ +9 &@T\ pQ +9 &AU\ pQ +10 &C_\ nR +9 &EVb\ mR +10 &Gi\ mT +9 &Hz\ jU +9 &J\ gV +10 &LQ\ gW +9 &N\ fX +9 &O\ hX +10 &Q3\ dY +9 &SV4\ fX +9 &U\ dX +10 &V\ fX +9 &X\ fX +10 &Z]\ dX +9 &\\4\ dY +9 &]z\ j7 +10 &^1j4\ lH +9 &^":\ v1 +2 ( +2 "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&m1 +58 "core" 1 +2 "manipulator"&{% +3 "core" %   e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 "processing"%& +3 "core" &^"7\ q1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&}% +52 "core" % !   ~ , +3 "storage"(% +3 "core" % \ o +2 "storage"(. +4 "core" .(K + "storage"(t& +5 "core" &K \ p +2 "storage"(& +2 "manipulator"&n& +6 "core" &K C\ q +2 &  6 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(='r +2 "manipulator"&2( +5 "core" ( +2 "manipulator"&& +4 "core" &   k 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   z 6 +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +67 "core" / +2 .tPC.seek :open +2 "processing"%r( +81 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +319 ( +2 "storage"(7& +4 "core" &K P\ y +2 "manipulator"&*& +3 "core" &   6 +3 "manipulator"&% +4 "core" %   0 +2 .tForearm.seek :retract + "manipulator"&4' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +256 "core" ( + "manipulator"&& +4 "core" &   [ +2 "storage"(& +4 "core" &K 0\ x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 .tHand.open + "manipulator"&H1 +54 "core" 1 +3 "storage"(3- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(-' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(@& +4 "core" &K   W\ 1 +2 "manipulator"&%& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&L( +4 "core" ( +2 "manipulator"&O& +4 "core" & %  D + "storage"(& +4 "core" &K   \ 0 +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' +2 "manipulator"&#& +4 "core" &   G +2 "storage"(/& +4 "core" &K \ w + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&I'< +18 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(5' +19 "core" ' +2 "manipulator"&.% +4 "core" %O  " +2 "storage"()& +4 "core" &K \ s + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&$'{ +17 "core" ' + "manipulator"&B& +5 "core" &   z + "storage"(D& +4 "core" &K \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&,' +17 "core" ' +2 "storage"((% +3 "core" % \ y +3 ."downElevator"SE.seek :down +4 "storage"(J' +98 (+% +3 "core" %@N \ p[s +2 "manipulator"&&% +5 "core" %  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +42 "manipulator"&:' +102 "core" ' +10 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +3 "core" &K A\ x +3 "collection"'9& +4 "core" &\\y\ \ \ [ +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&6% +3 "core" %     +2 "storage"(;% +5 "core" % v\ z + "storage"(M. +4 "core" .(K + "storage"(0& +5 "core" &K N\ z + "storage"(\\& +5 "core" &K i\ z +2 "manipulator"&<& +3 "core" & \ K +3 .tElbow.seek 6 + "manipulator"&G( +4 "core" ( +2 "manipulator"&!& +3 "core" &   0 +3 "storage"(8& +3 "core" &K K\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +106 "core" ' +2 "storage"(^& +4 "core" &K ` \\ X\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +9 .tSE.seek :beamBreak + "storage"(X'r +303 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" &  G +2 "storage"(>& +4 "core" &K \ | +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&C'< +24 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(_'g +32 "core" ' +2 "manipulator"&d% +3 "core" %J   +2 "storage"(A& +5 "core" &K h\ y + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&?'v +13 "core" ' +2 "manipulator"&c& +3 "core" &  < +2 "storage"("& +4 "core" &K\ \  #\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&s' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(h' +45 "core" ' +2 "manipulator"&p& +3 "core" &   +2 "manipulator"&R% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&a& +4 "core" &ӎ"   ` ;6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &ӎ"  ;6 +3 .tForearm.seek CC +2 "manipulator"&q'? +95 "core" ' +2 .tHand.close + "manipulator"&i/ +66 "core" / +2 .tCC.seek :open + "collection"'[( +448 "core" ( +2 "storage"(]& +3 "core" &K \ +2 "storage"(u& +4 "core" &K \ +2 "manipulator"&k& +3 "core" &Ӯ  ! h 7 +2 "manipulator"&e% +5 "core" % M     +2 .tForearm.seek :retract + "manipulator"&Z' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&Y& +4 "core" &     + "storage"( & +4 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&V'< +92 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +60 "core" 1 +2 "manipulator"&\ % +5 "core" % ?   : % +2 "storage"(& +3 "core" &K Z\ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 303 counts +41 "manipulator"&K'k +21 "core" ' + "manipulator"&& +5 "core" &   +2 "storage"(f& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +16 "core" ' +2 "storage"(U% +4 "core" % \ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(N' +99 (% +2 "core" %m? \ Yk +2 "manipulator"&~% +4 "core" % g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +91 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'g& +3 "core" &\ \ \ +2 "manipulator"&j% +4 "core" %  w  +2 "storage"( % +3 "core" % U\  +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" &[ \ +2 "manipulator"&{& +4 "core" &   P  +2 .tElbow.seek 7 +2 "manipulator"&(r +43 "core" ( +2 "manipulator"&}& +3 "core" &}   +3 "storage"('& +4 "core" &[ }\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +103 "core" ' +2 "storage"(& +4 "core" &[ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'r +297 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" &[ s\ +2 "manipulator"&& +4 "core" &} I  +2 .tElbow.seek 7 +2 "manipulator"&(r +8 "core" ( +2 "manipulator"&|& +3 "core" &| B q +2 "storage"(& +4 "core" &[ B\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"& 'ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &| 1 q + "manipulator"&=% +5 "core" % ϰ \ 3 +2 .tForearm.seek :retract +7 "manipulator"&7' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&& +3 "core" &Ӑ"  } <9 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &Ӑ#   <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&& +3 "core" &Ӑ#  <9 +3 "manipulator"&2% +3 "core" %>   c +2 "collection"'H& +5 "core" &\ \ \ +2 "collection"'3& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'F(\\ +5 "core" &\ \ \ +7 &;\ \ \ %f +9 &Wy\ \ \ 8 +9 &s\ \ \ L +10 &O\ \ \ M +9 &}S\ \ \ M +9 &>S\ \ \ N +10 &Q\ \ \ M +9 &O\ \ \ M +10 &O\ \ \ M +9 &FO\ \ \ N +9 & Q\ \ \ N +10 &!Q\ \ \ N +9 &#R\ \ \ N +9 &%NP\ \ \ N +10 &'R\ \ \ M +9 &(T\ \ \ M +10 &*S\ \ \ M +9 &,VR\ \ \ N +9 &.N\ \ \ M +10 &/S\ \ \ M +9 &1R\ \ \ N +9 &3`N\ \ \ M +10 &5!T\ \ \ M +9 &6T\ \ \ M +9 &8S\ \ \ M +10 &:gT\ \ \ M +9 &<(Q\ \ \ N +10 &=Q\ \ \ N +9 &?R\ \ \ N +9 &AnR\ \ \ N +10 &C1U\ \ \ \ M +9 &D`\ \ \ \ O +10 &Fe\ \ \ P +9 &Hh~\ \ \ R +9 &J\ .\ &\ W +10 &K\ 1\ 2\ Y +9 &M\ /\ /\ [ +9 &O[\ +\ -\ Z +10 &Q\ (\ )\ [\ +9 &R\ '\ &\ [ +9 &T\ %\ %\ \\ +10 &VZ\ "\ $\ ] +9 &X\ \ !\ ] +10 &Y\ #\ !\ ^ +9 &[\ \ \ K +9 &\\;\ !\ \ , +10 &\\e\ \ \ O +2 ( +2 "collection"'3& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&@1 +63 "core" 1 +5 "manipulator"&%% +3 "core" % >   < c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &Y\ x +2 "manipulator"&4% +3 "core" % !   \ & +3 "storage"(#% +3 "core" % #\ w +2 "storage"(/. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(.([ +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ()& +3 "core" &[ k j k\ k +2 "manipulator"&& +3 "core" &ӭ   8 +2 "manipulator"&B% +5 "core" % !  \ & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&D(r +164 "core" ( +2 "manipulator"& & +3 "core" &w    +2 "storage"((& +5 "core" &[\ \  \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +96 "core" ' +2 "storage"( & +3 "core" &[ w \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +297 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &[ T\ z +2 "manipulator"&& +3 "core" &w    +3 .tElbow.seek 7 +2 "manipulator"&L(r +3 "core" ( +2 "manipulator"&& +3 "core" &w  *  +2 "storage"(I& +4 "core" &[\ \  D\ } +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&E'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&$/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"(6' +8 "core" &w   +2 "manipulator"&;% +4 "core" % Ͻ  +2 .tForearm.seek :retract +2 "manipulator"&M' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&5( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&0& +4 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &  _ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&<' +102 "core" ' +2 "manipulator"&!& +4 "core" &  9 +2 "manipulator"&8% +4 "core" %   D +2 "processing"%,& +3 "core" &\ +3 "processing"%^& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(^ +5 "core" &\  +8 &0v\ s*y +10 &ax\ p> +9 &Wp\ pP +9 &Q-\ vP +10 &T\ vQ +9 &R-\ vP +10 &\\V\ uQ +9 &T6\ vQ +9 &V\ vP +10 &W\ vQ +9 & dU\ vQ +9 &"'S\ wP +10 &#S\ vP +9 &%T\ vQ +10 &'mU\ vP +9 &).U\ uQ +9 &*S\ uQ +10 &,Q\ vP +9 &.uP\ wP +9 &07R\ vP +10 &1Q\ vP +9 &3O\ wP +10 &5}R\ wP +9 &7?O\ wP +9 &9S\ vP +10 &:R\ wQ +9 &<Q\ wP +9 &>GT\ uP +10 &@ T\ vP +9 &AW\ vQ +10 &C_\ sR +9 &EHb\ sS +9 &G j\ rS +10 &H\ oV +9 &J\ mW +9 &LD\ nW +10 &N\ lX +9 &O\ lW +10 &Q\ jX +9 &SJ\ kX +9 &U\ \ kX +10 &V\ lX +9 &X1\ lX +9 &ZP\ jX +10 &\\2\ jY +9 &]3\ m: +10 &^/t5\ qU +9 &^(\ z3 +2 ( +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&11 +55 "core" 1 +2 "manipulator"&:% +3 "core" %    B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +93 "core" ' + "processing"%P& +4 "core" &^$c\ v3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&>% +3 "core" %     +2 "storage"(S% +4 "core" % 2\ u +2 "storage"(d. +3 "core" .([ +2 .tSC.reconfigure :tight +49 "storage"($\ .\ 1~b +4 .tSC.seek 7 +2 "storage"(A([ +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (c& +2 "manipulator"&"& +3 "core" &[ ` t H\ p +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(p'r +3 "manipulator"&R( +6 "core" ( +2 "manipulator"&Q& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" & ! - = +2 .tForearm.seek PC +2 "manipulator"&X' +94 "core" ' +3 .tHand.close + "manipulator"&C/ +68 "core" / +2 .tPC.seek :open +2 "processing"%?( +77 "core" ' +2 "storage"(_- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'1 +45 "core" ' +375 ( +2 "storage"(v& +3 "core" &[ \ y +3 "manipulator"&s& +3 "core" &   ]  +2 "manipulator"&W% +4 "core" %   7 +2 .tForearm.seek :retract +2 "manipulator"&i' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&T(r +248 "core" ( + "manipulator"&w& +4 "core" &   X  +2 "storage"(]& +3 "core" &[ w\ y +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'= +94 "core" ' + .tHand.open +2 "manipulator"&k1 +61 "core" 1 +2 "storage"(e- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Y' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +3 "core" -' +2 "storage"(& +3 "core" &[ \ ( +3 "manipulator"&l& +4 "core" &   h  + .tElbow.seek 7 +2 "manipulator"&\ (r +28 "core" ( + "manipulator"&& +4 "core" &u   g +2 "storage"(& +3 "core" &[ \ ( +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&f'= +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(U'" +58 "core" ' +2 "manipulator"&Z& +3 "core" &u   g +3 "storage"(& +4 "core" &[\ \  g\ } + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +29 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(V' +26 "core" ' + "manipulator"&g% +5 "core" %Ό ? ;  + "storage"(K& +4 "core" &[ \ n +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&j'ϸ +14 "core" ' +2 "manipulator"& & +3 "core" &u a g +2 "storage"(& +4 "core" &[ j\ ~ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'= +18 "core" ' + "storage"(z% +3 "core" % _ Z N\  +3 ."downElevator"SE.seek :down +4 "storage"(N' +99 (y% +4 "core" %I ^\ tZs +2 "manipulator"&m% +5 "core" %<  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (}& +4 "core" &[ \ ~ +2 "collection"''& +3 "core" &\\c\ \ \ O +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %      +2 "storage"(o% +4 "core" % | ` d\  +2 "storage"(x. +2 "core" .([ +2 "storage"(& +5 "core" &[ ^ \  + "storage"(n& +4 "core" &[ M I \  +2 "manipulator"&& +4 "core" &u   g +2 .tElbow.seek 7 +2 "manipulator"&|(r +4 "core" ( +2 "manipulator"&& +4 "core" &u   G g + "storage"(b& +4 "core" &[ ^ i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' + "storage"(=& +4 "core" &[ v u F\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &u  E g +2 "storage"(& +3 "core" &[ F\ | +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&t'{ +30 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(2'n +29 "core" ' + "manipulator"&H% +4 "core" %Έ  ' R +2 "storage"(& +3 "core" &[ \ s +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 313 counts + "manipulator"&'ϴ +13 "core" ' +2 "manipulator"&7& +4 "core" &u  g +2 "storage"([& +3 "core" &[ q q :\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'= +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(%' +41 "core" ' +2 "manipulator"&& +3 "core" &u   g +3 "manipulator"&4% +4 "core" %9  | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/(ӂ +140 "Can"\ X# +11 "core" ( +2 "manipulator"&3& +4 "core" &{&   ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &{&   ` ?P +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&B/ +60 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"( & +4 "core" &[ *\  +2 "storage"((& +4 "core" &[ ]\  +2 "manipulator"&& +3 "core" &   5\ +2 "manipulator"& % +5 "core" % +  "  +2 .tForearm.seek :retract + "manipulator"&*' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&O(r +161 "core" ( +2 "manipulator"&+& +3 "core" &z    +3 "storage"(&& +4 "core" &[ z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&I1 +62 "core" 1 +2 "manipulator"&$% +4 "core" % ΃   V +2 "storage"(9& +3 "core" &[ \  +2 .tForearm.force -20 +3 "manipulator"&5 +2 .tForearm.seek 7 + 308 counts +2 "manipulator"&;'ϯ +49 "core" ' +3 "manipulator"&D& +3 "core" &z   +3 "storage"(& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&-'= +17 "core" ' +2 "storage"(E% +3 "core" % }\ +4 ."downElevator"SE.seek :down +3 "storage"(0' +99 (\\% +3 "core" %e; \ Xj +2 "manipulator"&L% +4 "core" %6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +93 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'8& +3 "core" &\ \ \ +2 "manipulator"&,% +4 "core" % !  ' +2 "storage"(6% +4 "core" % B\  +2 "storage"(M. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(r(<- +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" &<0 x T\ +2 "manipulator"&:& +3 "core" &z   Z  +3 .tElbow.seek 5 + "manipulator"&P( +26 "core" ( + "manipulator"&>& +4 "core" &   h  +2 "storage"(S& +3 "core" &<0 C\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +94 "core" ' + "storage"(^& +4 "core" &<0  >\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'r +297 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &<. x\ +2 "manipulator"&G& +3 "core" &   +3 .tElbow.seek 5 +2 "manipulator"&<( +18 "core" ( +3 "manipulator"&C& +3 "core" &  R  +2 "storage"(.& +4 "core" &<. \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&_'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&5/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&`& +2 "storage"(J' +6 "core" & F  +3 "manipulator"&p% +3 "core" %  Y +3 .tForearm.seek :retract +2 "manipulator"&v' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&W& +3 "core" &Ӎ"   ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &ӎ"   * ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&w'? +92 "core" ' +2 "manipulator"&]& +5 "core" &ӎ"   ;2 +2 "manipulator"&R% +3 "core" %G  ] +3 "collection"'k& +3 "core" &\ \ \ +3 "collection"'e& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'q(\\ +5 "core" &\ \ \ +6 &;\ \ \ %g +9 &Xw\ \ 8 +10 &s\ \ \ L +9 &O\ \ \ M +10 &zQ\ \ \ M +9 &=P\ \ \ M +9 &Q\ \ \ M +10 &S\ \ \ M +9 &R\ \ \ M +9 &DO\ \ \ M +10 & N\ \ \ M +9 &!S\ \ \ M +10 &#R\ \ \ N +9 &%LP\ \ \ M +9 &'N\ \ \ M +10 &(Q\ \ \ N +9 &*P\ \ \ M +9 &,TT\ \ \ M +10 &.Q\ \ \ M +9 &/N\ \ \ M +10 &1O\ \ \ M +9 &3\\N\ \ \ M +9 &5N\ \ \ M +10 &6S\ \ \ M +9 &8N\ \ \ M +9 &:dT\ \ \ M +10 &<&R\ \ \ M +9 &=R\ \ \ N +10 &?R\ \ \ N +9 &AkQ\ \ \ N +9 &C-W\ \ \ N +10 &D^\ \ \ \ O +9 &Fh\ \ \ \ P +9 &Hdz\ \ \ S +10 &J\ *\ &\ W +9 &K\ /\ /\ Z +10 &M\ /\ ,\ Z +9 &OU\ *\ +\ [ +9 &Q\ '\ *\ [ +10 &R\ %\ %\ [ +9 &T\ $\ $\ \\ +9 &VW\ "\ "\ ] +10 &X\ \ !\ ^ +9 &Y\ \ \ _ +10 &[\ \ \ K +9 &\\7\ \ !\ - +9 &\\\ \ \ W +3 ( + "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&l% +50 "core" % G    ] +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &\ t +2 "manipulator"&% +3 "core" %     +3 "storage"(Z% +3 "core" % \ s +2 "storage"(. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(a(<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +3 "core" &<' U\ s +2 "manipulator"&K& +58 "core" &ӫ   7 +2 "manipulator"&Y% +4 "core" %    )  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"& ( +160 "core" ( +2 "manipulator"&& +3 "core" &   I  +3 "storage"(z& +4 "core" &<' \ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&T'O +93 "core" ' +2 "storage"(u& +3 "core" &<' \  V\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +298 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +3 "core" &<' K\ r +2 "manipulator"&f& +4 "core" & \    +2 .tElbow.seek 5 + "manipulator"&\ ( +4 "core" ( +2 "manipulator"&U& +3 "core" &   w  +3 "storage"(& +4 "core" &<' S\ v +2 .tForearm.seek 5 + 300 counts + "manipulator"&j'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +77 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"(' +8 "core" &   + "manipulator"&o% +4 "core" % ϻ  +2 .tForearm.seek :retract +2 "manipulator"&x' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&V( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"&& +4 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +4 "core" &   & 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 "manipulator"&& +3 "core" &   _ 0 +2 "manipulator"&b% +5 "core" %  I f +2 "processing"%h& +4 "core" &\ } +2 "processing"%=& +5 "core" &\ | +2 .tPC.seek :closed +2 "processing"%N(^ +5 "core" &\ { +8 &/s\ m*y +10 &b}\ i? +9 &]q\ kP +10 &Q\ qQ +9 &P\ qQ +9 &Q\ qQ +10 &dU\ pP +9 &&R\ pP +9 &U\ pQ +10 &U\ pQ +9 & kU\ oQ +10 &"-R.\ qQ +9 &#P5\ qP +9 &%R6\ qP +10 &'sT\ pQ +9 &)5Q\ qQ +9 &*Q-\ qP +10 &,R\ pP +9 &.|O\ qP +10 &0>R\ pP +9 &2S\ qP +9 &3T\ oP +10 &5R\ pP +9 &7FS\ pP +10 &9R\ pQ +9 &:U\ pQ +9 &<U\ oP +10 &>NT\ pP +9 &@R\ pP +9 &AY\ oQ +10 &Cc\ mR +9 &ENf\ mS +9 &G m\ lT +10 &H\ hU +9 &J\ gW +10 &LK\ gW +9 &N \ fX +9 &O\ gX +10 &Q\ dX +9 &SO\ eX +9 &U\ dX +10 &V\ eX +9 &X\ eX +10 &ZW\ cX +9 &\\\ cY +9 &]\ g8 +10 &^+d\ l!` +9 &^+\ t5 +2 ( +2 "processing"%=& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&~1 +59 "core" 1 + "manipulator"&{% +4 "core" %   $ y f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 "processing"%& +4 "core" &^&\ p5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" % ! \ ] * + "storage"(% +4 "core" % \ o +2 "storage"(H. +3 "core" .(<- +2 "storage"(& +3 "core" &<' w\ o +3 "storage"(7& +48 "manipulator"&[& +8 "core" &<' \ p +3 &  K 0 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r + "manipulator"&4( +7 "core" ( + "manipulator"&& +5 "core" & & E 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" & / " 3 0 +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + .tHand.close +2 "manipulator"&t/ +72 "core" / +2 .tPC.seek :open + "processing"%( +74 "core" ' +2 "storage"(2- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +41 "core" ' +333 ( + "storage"()& +4 "core" &<' \ u +2 "manipulator"&@& +3 "core" & 6 0 +2 "manipulator"& % +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&B' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +246 "core" ( +2 "manipulator"&F& +3 "core" &   5 +2 "storage"( & +5 "core" &<' F\ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +102 "core" ' +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(+' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(&' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(/& +3 "core" &<' W\  +3 "manipulator"&I& +4 "core" &   Q 5 + .tElbow.seek 5 +2 "manipulator"&$( +4 "core" ( + "manipulator"&9& +4 "core" &   5 +2 "storage"(D& +4 "core" &<'  , h\ / +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(E'" +59 "core" ' +2 "manipulator"&*& +4 "core" &    5 +2 "storage"(\\& +3 "core" &<' \ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&L'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +27 "core" ' +2 "manipulator"&8% +4 "core" %Ρ   +2 "storage"(;& +4 "core" &<' \ q + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&,' +27 "core" ' +2 "manipulator"&6& +3 "core" &  \  5 +3 "storage"(M& +4 "core" &<' v\ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +24 "core" ' +2 "storage"(-% +4 "core" % c\ w +2 ."downElevator"SE.seek :down +4 "storage"(0' +99 (A% +3 "core" %K } \ k[t +3 "manipulator"&1% +3 "core" %Q   t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (>& +3 "core" &<' G\ v +2 "collection"'S& +3 "core" &\\~\ \ ~\ W +3 #tStoring generic puck in Collection Clamp to tube 5 +47 "manipulator"&^% +5 "core" %  U  +2 "storage"(% +3 "core" % U\ x +2 "storage"(!. +3 "core" .(<- +2 "storage"("& +3 "core" &<' `\ x +2 "storage"(Q& +4 "core" &<' m\ x +3 "manipulator"&G& +4 "core" &   5 +2 .tElbow.seek 5 + "manipulator"&C( +4 "core" ( +2 "manipulator"&.& +3 "core" &   5 +2 "storage"(5& +5 "core" &<' f\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +93 "core" ' +2 "storage"(p& +3 "core" &<'\  7\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +295 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" & n 5 +3 "storage"(X& +3 "core" &<' ^\ v +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&c'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(R'r +30 "core" ' +2 "manipulator"&k% +3 "core" %Θ   +2 "storage"(<& +4 "core" &<' &\ u +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&J' +13 "core" ' + "manipulator"&v& +4 "core" &  \  4 +2 "storage"(& +4 "core" &<' 7\ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(l' +41 "core" ' + "manipulator"&e& +4 "core" & 6 4 +2 "manipulator"&% +3 "core" %@  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +148 "core" ( +2 "manipulator"&& +3 "core" &z*   Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &z*  D Bl +2 .tForearm.seek CC +2 "manipulator"&K'? +98 "core" ' +2 .tHand.close + "manipulator"&Y/ +53 "core" / +2 .tCC.seek :open +2 "collection"'w( +447 "core" ( +2 "storage"(& +3 "core" &<' ,\ +3 "storage"(z& +4 "core" &<' }\ + "manipulator"&r& +4 "core" &ӹ!   :- +2 "manipulator"&u% +4 "core" % $    +2 .tForearm.seek :retract +2 "manipulator"&s' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&i( +162 "core" ( +2 "manipulator"&y& +3 "core" &   H  +2 "storage"(m& +4 "core" &<' \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&f'΍ +98 "core" ' +2 .tElbow.hold + "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&}% +3 "core" % Μ   +2 "storage"('& +4 "core" &<' F\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 315 counts +2 "manipulator"&o' +24 "core" ' + "manipulator"& & +4 "core" &  A  +2 "storage"(T& +4 "core" &<' \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 5 + 450 counts +9 "manipulator"& 'O +16 "core" ' + "storage"(j% +4 "core" % K\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (n% +3 "core" %pC \ Yl +2 "manipulator"&\ % +3 "core" %R M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'b& +3 "core" &\ \ +3 "manipulator"&h% +4 "core" %   \   +2 "storage"(% +3 "core" % \  +2 "storage"(x. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(?(K +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" &K x \  +2 "manipulator"&{& +5 "core" & \ \   +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &   <  +2 "storage"(& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +93 "core" ' +2 "storage"(& +3 "core" &K \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +297 "core" ' +2 "storage"(7- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" &K {\  +2 "manipulator"&& +4 "core" & ^  +2 .tElbow.seek 6 + "manipulator"&|( +3 "core" ( +2 "manipulator"&& +4 "core" & D  +2 "storage"(t& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&2'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(N' +8 "core" & h  +2 "manipulator"&% +4 "core" % p b +2 .tForearm.seek :retract +2 "manipulator"&)' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"& & +5 "core" &y)    A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y)   A_ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'? +100 "core" ' + "manipulator"& & +5 "core" &y)   j A_ +2 "manipulator"&4% +3 "core" %G    +2 "collection"'& +5 "core" &\ \ \ +2 "collection"' & +5 "core" & \ \ +3 .tCC.seek :closed +2 "collection"'(\\ +3 "core" &\ \ \ +8 &8\  \ %g +9 &Vs \ 7 +9 &u\ \ \ L +10 &Q\ \ \ N +9 &vQ\ \ \ M +9 &8N\ \ \ M +10 &N\ \ \ M +9 &M\ \ \ M +10 &~R\ \ \ M +9 &@R\ \ \ M +9 & P\ \ \ M +10 &!N\ \ \ M +9 &#Q\ \ \ N +9 &%HO\ \ \ M +10 &'\ R\ \ \ M +9 &(Q\ \ \ N +10 &*O\ \ \ M +9 &,QN\ \ \ M +9 &.Q\ \ \ N +10 &/Q\ \ \ M +9 &1O\ \ \ M +9 &3XR\ \ \ M +10 &5R\ \ \ M +9 &6Q\ \ \ N +10 &8P\ \ \ M +9 &:`N\ \ \ M +9 &<#M\ \ \ M +10 &=Q\ \ \ N +9 &?Q\ \ \ N +9 &AiO\ \ \ M +10 &C)W\ \ \ N +9 &D]\ \ \ O +10 &Fi\ \ \ P +9 &Ha}\ \ \ R +9 &J\ )\ #\ W +10 &K\ 2\ 0\ Z +9 &M\ .\ /\ Z +9 &OQ\ *\ +\ [ +10 &Q\ '\ )\ [ +9 &R\ %\ &\ \\ +10 &T\ %\ $\ \\ +9 &VR\ #\ !\ ] +9 &X\ $\ !\ ^ +10 &Y\ \ !\ ^ +9 &[\ \ \ L +9 &\\8\ \ !\ + +10 &\\\ \ \ X +5 ( +2 "collection"' & +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&/1 +4 "core" &\\u\ \ \ X +55 1 + "manipulator"&I% +5 "core" % F   `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +98 "core" ' +50 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%D& +4 "core" &\ y + "manipulator"&B% +5 "core" %    +2 "storage"(*% +4 "core" % U\ y + "storage"(\\. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(3(K +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &K ` j z\ l +2 "manipulator"&;& +4 "core" &Ӱ   9( +2 "manipulator"&+% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&6( +169 "core" ( +2 "manipulator"&M& +3 "core" &   >  +2 "storage"(-& +4 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&#' +99 "core" ' +3 "storage"((& +4 "core" &K \ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +295 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &K e\ u +2 "manipulator"&& +5 "core" &   )  + .tElbow.seek 6 +2 "manipulator"&$( +18 "core" ( +2 "manipulator"&E& +3 "core" &     +2 "storage"(L& +4 "core" &K \ y +3 .tForearm.seek 6 + 300 counts + "manipulator"&,'h +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(^' +8 "core" & O  + "manipulator"&% +4 "core" % c   L +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&"& +4 "core" &   ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &  ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&G' +98 "core" ' + "manipulator"&.& +5 "core" &   ) + "manipulator"&5% +5 "core" %   f + "processing"%%& +5 "core" &\ +2 "processing"%p& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%0(^ +5 "core" &\  +8 &1v\ p*x +9 &`{\ m> +10 &bo\ mP +9 & T\ sQ +10 &Q\ tQ +9 &R\ tQ +9 &gQ\ tP +10 &)O\ uP +9 &P\ uQ +10 &S\ tQ +9 & oQ\ tP +9 &"1O\ uP +10 &#Q\ uP +9 &%O%\ uP +9 &'vQ-\ sQ +10 &)9U\ sP +9 &*Q(\ sQ +10 &,T.\ tQ +9 &.N\ tP +9 &0@T3\ sQ +10 &2P\ tP +9 &3S5\ sP +9 &5P\ tQ +10 &7HQ\ tQ +9 &9\ T\ sQ +10 &:Q\ tP +9 &<R\ tP +9 &>PV\ sQ +10 &@Q\ tP +9 &AU\ tP +9 &C]\ rR +10 &ET`\ rR +9 &Gj\ oS +10 &Hu\ nT +9 &J\ jW +9 &LO\ kV +10 &N \ hX +9 &O\ iX +9 &Q\ hX +10 &SR\ iX +9 &U\ hX +9 &V\ iX +10 &X\ iX +9 &ZZ\ gX +10 &\\\ gY +9 &]\ k9 +9 &^.u\ lR +10 &^(\ w3 +2 ( +2 "processing"%p& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&O1 +61 "core" 1 +2 "manipulator"&:% +4 "core" %  % 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +97 "core" ' +3 "processing"%W& +3 "core" &^%\ u3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&X% +3 "core" %      +2 "storage"(]% +4 "core" % 7\ u +2 "storage"(k. +3 "core" .(K +2 "storage"(<& +4 "core" &K $\ t +2 "storage"(v& +3 "manipulator"&& +8 "core" &K *\ u + &   ) +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +49 "storage"(#]kK-0-\ b +5 .tElbow.seek PC +4 "manipulator"&e( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"&`& +3 "core" &   \ ) +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &  { ) +2 .tForearm.seek PC +2 "manipulator"&P' +94 "core" ' +2 .tHand.close + "manipulator"&c/ +75 "core" / +2 .tPC.seek :open +2 "processing"%J( +79 "core" ' + "storage"(R- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +326 ( +2 "storage"(g& +3 "core" &K H\ w +3 "manipulator"&& +4 "core" &   Q ) + "manipulator"&_% +5 "core" %   ^ 4 +2 .tForearm.seek :retract +2 "manipulator"&Y' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +246 "core" ( +2 "manipulator"&q& +4 "core" &    - +2 "storage"(& +4 "core" &K F\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +94 "core" ' + .tHand.open + "manipulator"&r1 +57 "core" 1 +3 "storage"(u- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(y' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(m' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +3 "core" -' +2 "storage"(Z& +3 "core" &K \ . +3 "manipulator"&& +3 "core" &   - +2 .tElbow.seek 6 +2 "manipulator"&}( +4 "core" ( +2 "manipulator"&'& +3 "core" &  $  - +2 "storage"( & +4 "core" &K\ 0 +3 .tForearm.seek 6 + 450 counts + "manipulator"&T' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(s'" +58 "core" ' + "manipulator"&j& +5 "core" &   ] - + "storage"(i& +4 "core" &K U\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&n'< +19 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(f' +18 "core" ' +2 "manipulator"&b% +3 "core" %F  ) +2 "storage"(o& +4 "core" &K @\ u +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&h'r +13 "core" ' +2 "manipulator"&& +4 "core" & \  / , +2 "storage"(x& +3 "core" &K \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +15 "core" ' +2 "storage"( % +4 "core" %\ ]\ { +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (a% +2 "core" %M \ p[t +2 "manipulator"&~% +5 "core" %  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K 1\ x +3 "collection"'& +3 "core" &\\t\ \ \ X +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %    N  +2 "storage"(U% +4 "core" % \ z +2 "storage"(. +3 "core" .(K +2 "storage"(7& +48 "core" &K \ z +5 "storage"([& +4 "core" &K \ z + "manipulator"&& +4 "core" &  , +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&t& +4 "core" &   ( , +2 "storage"(V& +4 "core" &K \ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(& +3 "core" &K\ \  E\ ~ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(H- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &   s , +2 "storage"(& +3 "core" &K v\ u +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&='< +19 "core" ' + .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(4'e +29 "core" ' +2 "manipulator"&% +3 "core" %L   +2 "storage"(|& +5 "core" &K g\ u + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&N'x +13 "core" ' +2 "manipulator"&)& +3 "core" &   3 , +2 "storage"(w& +4 "core" &K \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&/' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(I' +36 "core" ' +2 "manipulator"&D& +3 "core" &  $ , +2 "manipulator"& % +4 "core" % \  W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&*(ӂ +150 "core" ( +2 "manipulator"&\\& +3 "core" &ӌ%   } >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &ӌ% ] >N +2 .tForearm.seek CC +2 "manipulator"&;'? +96 "core" ' +2 .tHand.close + "manipulator"&+/ +57 "core" / +2 .tCC.seek :open + "collection"'F( +451 "core" ( +2 "storage"(M& +4 "core" &K \  +2 "storage"(-& +3 "core" &K \  +2 "manipulator"&?& +5 "core" &ӱ   9) + "manipulator"&(% +4 "core" % M    +2 .tForearm.seek :retract +2 "manipulator"&@' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&9( +167 "core" ( + "manipulator"&A& +4 "core" &   r  +2 "storage"(1& +4 "core" &K X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +100 "core" ' +2 .tElbow.hold + "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&L1 +60 "core" 1 +2 "manipulator"&>% +4 "core" % N  \  +2 "storage"(S& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&'z +25 "core" ' +2 "manipulator"&6& +3 "core" & 9  +2 "storage"(#& +4 "core" &K 0\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&&' +16 "core" ' +2 "storage"(,% +3 "core" % 4\ +50 ."downElevator"SE.seek :down +4 "storage"("' +99 (Q% +3 "core" %]F A\ Yl +2 "manipulator"&$% +4 "core" % z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +90 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'5& +3 "core" & \ +3 "manipulator"&%% +4 "core" %     + "storage"(^% +5 "core" %  \  + "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &[ U\ +2 "manipulator"&:& +3 "core" &   +3 .tElbow.seek 7 + "manipulator"&W(r +37 "core" ( + "manipulator"&X& +4 "core" &    +2 "storage"(]& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&k'= +98 "core" ' +2 "storage"(p& +3 "core" &[\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(<'r +293 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &[ a\ +2 "manipulator"&`& +4 "core" &    +3 .tElbow.seek 7 + "manipulator"&C(r +26 "core" ( + "manipulator"&G& +4 "core" &m  ~ i +2 "storage"(c& +3 "core" &[ \ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&R'ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(0' +8 "core" &m M i +2 "manipulator"&% +4 "core" % ϩ   +2 .tForearm.seek :retract +2 "manipulator"&g' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&_& +4 "core" &Ӕ!   :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &Ӕ!   :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&q'? +101 "core" ' +3 "manipulator"&& +4 "core" &Ӕ"   y :/ +2 "manipulator"&e% +3 "core" %G l +3 "collection"'r& +3 "core" &\ \ \ +3 "collection"'u& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'K(\\ +5 "core" &\ \ +7 &3\ \ $c +9 &Uw \ 7 +9 &s\  \ K +10 &Q\ \ \ M +9 &eP\ \ \ M +9 &'Q\ \ \ M +10 &Q\ \ \ M +9 &O\ \ \ M +10 &lS\ \ \ M +9 &.Q\ \ \ M +9 &O\ \ \ M +10 &!P\ \ \ M +9 &#tQ\ \ \ M +10 &%7P\ \ \ M +9 &&Q\ \ \ M +9 &(Q\ \ \ M +10 &*|O\ \ \ M +9 &,>P\ \ \ M +9 &.O\ \ \ M +10 &/P\ \ \ M +9 &1Q\ \ \ L +10 &3FQ \ \ M +9 &5Q\ \ \ M +9 &6P\ \ \ M +10 &8Q\ \ \ M +9 &:NQ\ \ \ M +9 &<P\ \ \ M +10 &=P\ \ \ M +9 &?Q\ \ \ M +10 &AVR\ \ \ M +9 &CU\ \ \ N +9 &D\\\ \ \ N +10 &Fe\ \ \ P +9 &HN|\ \ \ R +9 &J\ ,\ %\ W +10 &K\ /\ 1\ Z +9 &M~\ -\ .\ Z +9 &O@\ )\ +\ Z +10 &Q\ $\ %\ [ +9 &R\ $\ #\ [\ +10 &T\ "\ #\ \\ +9 &VA\ \ \ \\ +9 &X\ \ \ ] +10 &Y\ \ \ ^ +9 &[\ \ \ K +9 &\\6\ \ \ 0 +10 &\\\ \ \ \ T +5 ( +2 "collection"'u& +4 "core" &\\y\ \ \ T +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&Z1 +63 "core" 1 +2 "manipulator"&% +4 "core" % G   e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +90 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"% & +4 "core" &\ w + "manipulator"&Y% +4 "core" %      +2 "storage"(j% +4 "core" % \ w +46 "storage"(i. +7 "core" .([ + "storage"(b& +5 "core" &[ #\ x + "storage"(o& +5 "core" &[ \ x + "manipulator"&& +5 "core" &Ӭ   7 + "manipulator"&% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&x(r +163 "core" ( +2 "manipulator"&y& +4 "core" &s  \   +2 "storage"( & +3 "core" &[\ \ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +98 "core" ' +2 "storage"(z& +4 "core" &[ o d e\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(m'r +294 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &[ \ w +2 "manipulator"&T& +4 "core" &s \ \   +2 .tElbow.seek 7 +2 "manipulator"&}(r +3 "core" ( +2 "manipulator"&s& +3 "core" &s  \   +3 "storage"(n& +4 "core" &[ \ { +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&h'ϧ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &s   $  +2 "manipulator"&U% +4 "core" % ϩ   : y +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +3 .tElbow.seek PC +2 "manipulator"&f( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&7& +4 "core" &   `  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &  \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' + "manipulator"&t& +5 "core" &   o  + "manipulator"&V% +5 "core" % \ \  f +2 "processing"%l& +4 "core" &\ } +2 "processing"%& +4 "core" &\ ~ +3 .tPC.seek :closed + "processing"%(^ +6 "core" &\ ~ +6 & -\ x$c +10 &Ty\ k7 +9 &{w\ kL +10 &R\ qQ +9 &EN\ qP +9 &Q\ rP +10 &S\ qQ +9 &S\ qP +9 &MN\ rP +10 &S\ qQ +9 &O\ rP +10 &!O\ rP +9 &#TO\ rQ +9 &%N\ sP +10 &&Q\ qP +9 &(O\ rQ +9 &*]N\ rP +10 &,Q\ rP +9 &-S\ qP +10 &/U\ qQ +9 &1eO\ rP +9 &3(O\ sP +10 &4P\ rQ +9 &6Q\ rQ +9 &8lQ\ rQ +10 &:.M\ rQ +9 &;Q\ qQ +10 &=O\ rP +9 &?sR\ qQ +9 &A6P\ sQ +10 &B[\ pR +9 &D]\ pS +9 &Fvd\ oS +10 &H2y\ kU +9 &I\ iW +10 &K\ gW +9 &Mo\ gX +9 &O1\ gX +10 &P\ fY +9 &R\ gX +9 &Tu\ eY +10 &V9\ gX +9 &W\ fX +10 &Y\ fX +9 &[~\ fX +9 &]?\ eQ +10 &^wD{\ k$l +9 &^8\ s2 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&\ 1 +2 "core" &^"\ u2 +56 1 + "manipulator"&{% +4 "core" %   f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +97 "core" ' +2 "processing"% & +3 "core" &^"\ q2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" % #  4 +2 "storage"( % +3 "core" % j\ q +2 "storage"(. +3 "core" .([ +2 "storage"(|& +3 "core" &[ \ q +3 "storage"()& +3 "manipulator"&w& +6 "core" &[ \ q +2 & \   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&D( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'r +2 "core" ( +3 "manipulator"&& +3 "core" &  \ 3  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +51 && +2 "core" & ? > h  +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&=/ +67 "core" / +2 .tPC.seek :open +2 "processing"%N( +40 "core" ' + "storage"(4- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'1 +51 "core" ' +353 ( +2 "storage"(8& +3 "core" &[ J\ x +2 "manipulator"&/& +4 "core" & \ \   +2 "manipulator"&2% +4 "core" % \   = +2 .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&B(r +251 "core" ( +2 "manipulator"&& +3 "core" &   |  +2 "storage"(M& +5 "core" &[ N\ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&-'= +94 "core" ' +2 .tHand.open + "manipulator"&?1 +63 "core" 1 +2 "storage"((- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(1' +60 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +3 "core" -' +2 "storage"(*& +3 "core" &[ `\ $ +3 "manipulator"&L& +3 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&>(r +28 "core" ( + "manipulator"&S& +5 "core" &x   J ] + "storage"(6& +4 "core" &[ N\ O +3 .tForearm.seek 7 + 450 counts + "manipulator"&#'= +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(,'" +54 "core" ' +2 "manipulator"&@& +4 "core" &x  P ] +2 "storage"(9& +3 "core" &[ %\ x +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&Q'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&$, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 "manipulator"&% +4 "core" %΍ - :  +2 "storage"(5& +4 "core" &[ #\ m +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&%'Ϲ +14 "core" ' + "manipulator"&^& +4 "core" &x   ] +2 "storage"(& +4 "core" &[ \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&I'= +16 "core" ' + "storage"(&% +5 "core" % \  \ | +2 ."downElevator"SE.seek :down +3 "storage"("' +99 (3% +4 "core" %#I p\ pZr +2 "manipulator"&O% +4 "core" %A   ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +94 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (X& +4 "core" &[ \ z +2 "collection"']& +3 "core" &\\x\ \ \ T +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&p% +3 "core" %  \ \   +2 "storage"(E% +5 "core" % \ { + "storage"(.. +4 "core" .([ + "storage"(& +4 "core" &[ \ { +2 "storage"(v& +4 "core" &[ \ { +2 "manipulator"&`& +4 "core" &x  + ] +2 .tElbow.seek 7 + "manipulator"&G(r +4 "core" ( +2 "manipulator"&c& +3 "core" &x    ] +2 "storage"(!& +48 "core" &[ \ { +6 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&d'= +92 "core" ' +2 "storage"(& +3 "core" &[ Y p \\\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(W'r +294 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +4 "core" &x \  ] +2 "storage"(P& +3 "core" &[ /\ x +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&<'{ +27 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(e'n +30 "core" ' +2 "manipulator"&C% +3 "core" %Ώ   +2 "storage"(r& +3 "core" &[ /\ o +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&0'ϻ +14 "core" ' +2 "manipulator"&g& +3 "core" &x  I ] +2 "storage"(F& +4 "core" &[\ \  \ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Z'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +41 "core" ' + "manipulator"& & +5 "core" &x   ] + "manipulator"&Y% +5 "core" %8 U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&i(ӂ +159 "core" ( +3 "manipulator"&u& +3 "core" &Ӑ"   [ ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &ӑ"  I ;7 +2 .tForearm.seek CC +2 "manipulator"&o'? +99 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(q& +3 "core" &[ ,\ +3 "storage"(y& +4 "core" &[ \ + "manipulator"& & +4 "core" &Ӳ   7 +2 "manipulator"&z% +4 "core" % @   +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&'(r +162 "core" ( +2 "manipulator"&a& +3 "core" &y    +2 "storage"(~& +5 "core" &[ K\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +3 "manipulator"&T'{ +95 "core" ' +2 .tElbow.hold + "manipulator"&s, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&n1 +58 "core" 1 +2 "manipulator"&% +3 "core" % ΄    +2 "storage"(& +4 "core" &[ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 309 counts +2 "manipulator"&U'ϰ +14 "core" ' + "manipulator"&x& +4 "core" &y  +2 "storage"(& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&m'= +17 "core" ' +2 "storage"(h% +3 "core" % "\ +3 ."downElevator"SE.seek :down +4 "storage"(7' +99 ([% +3 "core" %3A e\ Xk +2 "manipulator"&}% +4 "core" %/ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +130 "core" ' +10 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'V& +3 "core" & \ +3 "manipulator"&l% +3 "core" %     +2 "storage"(% +5 "core" % B\  + "storage"(. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(J(<- +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" &<0 (\ +2 "manipulator"&{& +4 "core" &y   h  +2 .tElbow.seek 5 +2 "manipulator"& ( +24 "core" ( +2 "manipulator"&& +4 "core" &   }  +2 "storage"( & +3 "core" &<0 ]\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(|& +3 "core" &<0  9\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" &<. \ +2 "manipulator"&& +4 "core" &     +2 .tElbow.seek 5 +2 "manipulator"&( +18 "core" ( +2 "manipulator"&& +4 "core" & X  +2 "storage"(=& +3 "core" &<. u\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&4'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(' +8 "core" &   + "manipulator"& % +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&8' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&2& +3 "core" &ӏ$   =B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӑ$   <A +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +102 "core" ' +2 "manipulator"&M& +4 "core" &ӑ# & #  <@ +3 "manipulator"&D% +3 "core" %=   w  +3 "collection"'?& +3 "core" & \ \ +3 "collection"'(& +5 "core" &\ \ +2 .tCC.seek :closed +2 "collection"';(\\ +5 "core" &\ \ \ +6 & 2 \ $e +9 &Uu\ \ 7 +10 &t\  \ L +9 &O\  \ M +9 &aP\ \ \ N +10 &%P \ \ M +9 &Q\ \ \ M +9 &P\ \ \ M +10 &jQ\ \ \ M +9 &+Q\ \ \ N +10 &O\ \ \ M +9 &!Q\ \ \ M +9 &#sQ\  \ M +10 &%6O\ \ \ M +9 &&Q\ \ \ M +9 &(Q\ \ \ M +10 &*|P\ \ \ M +9 &,>P\ \ \ M +10 &-O\ \ \ M +9 &/Q\ \ \ M +9 &1Q\ \ M +10 &3DQ\ \ \ M +9 &5Q\ \ \ M +9 &6N\ \ \ M +10 &8Q\ \ \ M +9 &:LQ \ \ M +10 &<P\ \ \ M +9 &=N\ \ \ M +9 &?R\ \ \ M +10 &ATR\ \ \ M +9 &CU\ \ \ M +9 &D]\ \ \ O +10 &Fg\ \ \ P +9 &HNx\ \ \ R +10 &J\ (\ "\ V +9 &K\ ,\ -\ Z +9 &M}\ )\ ,\ Z +10 &O>\ $\ (\ Z +9 &P\ %\ $\ [\ +9 &R\ "\ "\ [\ +10 &T\ !\ \ \\ +9 &V@\ \ \ \\ +10 &W\ \ \ ^ +9 &Y\ \ \ ^ +9 &[\ \ \ L +10 &\\8\ \ \ / +9 &\\\ \ \ V +5 ( +2 "collection"'(& +4 "core" &\\x\ \ \ V +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&*1 +54 "core" 1 +2 "manipulator"&L% +4 "core" % =    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%S& +4 "core" &\ w +2 "manipulator"&6% +3 "core" %    +3 "storage"(@% +4 "core" % :\ u + "storage"(9. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(\\(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<* w\ t +2 "manipulator"&A& +50 "core" &ӭ   h 9$ +4 "manipulator"&5% +3 "core" %    ]  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&^( +161 "core" ( + "manipulator"&& +5 "core" &    + "storage"(&& +4 "core" &<* \  \ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +90 "core" ' + "storage"(-& +5 "core" &<* o o N\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'r +297 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &<* Z\ u +2 "manipulator"&#& +4 "core" &  `  +2 .tElbow.seek 5 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&,& +4 "core" &   [  + "storage"(Q& +4 "core" &<* i\ y +3 .tForearm.seek 5 + 300 counts + "manipulator"&%'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&]& + "storage"(p' +8 "core" &     + "manipulator"&E% +5 "core" % ϯ   ~ +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&.( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&& +4 "core" &   q & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &  " & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&`' +93 "core" ' + "manipulator"&c& +5 "core" &  & + "manipulator"&!% +5 "core" %   9 M +2 "processing"%I& +4 "core" &\ ~ +2 "processing"%& +5 "core" &\ ~ +3 .tPC.seek :closed + "processing"%"(^ +5 "core" &\  +7 & -\ z$c +9 &Tz\ l8 +9 &{v\ lL +10 &T\ rQ +9 &MN\ sQ +9 &M\ tP +10 &R\ sQ +9 &R\ sQ +10 &UQ\ tQ +9 &O\ tP +9 &T\ sQ +10 &!Q\ sP +9 &#^O\ sP +9 &% S\ sP +10 &&T\ rP +9 &(P\ sP +9 &*fN\ tP +10 &,(O\ tP +9 &-N\ sP +10 &/T\ rP +9 &1oL\ sP +9 &30Q\ sP +10 &4R\ sP +9 &6Q\ sQ +10 &8uR\ rQ +9 &:8S\ sP +9 &;Q\ sQ +10 &=T\ sP +9 &?~Q\ sP +9 &A@R\ sP +10 &B]\ pR +9 &D_\ pS +10 &F}g\ nS +13 &H9y\ kV +5 &I\ gV +10 &K\ iW +9 &My\ iX +9 &O:\ iX +10 &P\ hX +9 &R\ hX +10 &T}\ fY +9 &VA\ hX +9 &X\ gY +10 &Y\ gX +9 &[\ fX +9 &]G\ eN +10 &^~N\ g!f +9 &^-\ v1 +6 ( + "processing"%& +4 "core" &^%\ u1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&$1 +62 "core" 1 +2 "manipulator"&:% +3 "core" %   x M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +94 "core" ' +2 "processing"%_& +4 "core" &^%\ s1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&P% +5 "core" % !   & + "storage"(% +4 "core" % \ s +2 "storage"(C. +3 "core" .(<- +2 "storage"(r& +3 "core" &<* \ s +3 "storage"(g& +2 "manipulator"&F& +8 "core" &<* \ s + &   1 & +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak + "storage"(Y'r +2 "core" ( +3 "manipulator"&d& +3 "core" &   & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +4 "core" & .  h & +2 .tForearm.seek PC +2 "manipulator"&W' +92 "core" ' +50 .tHand.close + "manipulator"&% +4 "core" %R 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'!& +46 "core" & \ +6 "manipulator"&I% +3 "core" %  6  +3 "storage"(p% +3 "core" % c\  +2 "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(N(K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "core" &K K\ +2 "manipulator"&:& +4 "core" & , +2 .tElbow.seek 6 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&P& +4 "core" & u +2 "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&C' +94 "core" ' + "storage"(r& +4 "core" &K p\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(F- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (g& +2 "core" &K \ +3 "manipulator"&d& +4 "core" &   e +2 .tElbow.seek 6 + "manipulator"&G( +4 "core" ( +2 "manipulator"&`& +3 "core" &   +2 "storage"(<& +5 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&e'h +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +3 "storage"("' +6 "core" & +2 "manipulator"&Y% +3 "core" % k   +3 .tForearm.seek :retract + "manipulator"&b' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&R& +4 "core" &ӈ  ( 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӈ   / 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'? +99 "core" ' +2 "manipulator"&q& +3 "core" &ӈ   2 +2 "manipulator"& % +5 "core" %7 \  + "collection"' & +5 "core" & \ +2 "collection"'z& +6 "core" & \ +2 .tCC.seek :closed + "collection"'o(\\ +4 "core" &\ \ +8 &2 \ $d +9 &Vu \ 7 +9 &t\ \ \ L +10 &O\ \ \ M +9 &eP\  \ M +10 &'O\ \ \ M +9 &Q \ \ M +9 &N\ \ \ M +10 &nP \ \ L +9 &.P \ \ M +9 &O\ \ L +10 &!Q\ \ \ M +9 &#uO\ \ \ M +10 &%7O\ \ \ M +9 &&N \ \ M +9 &(P\ \ \ M +10 &*}S\  \ M +9 &,@P\ \ \ L +9 &.P\ \ \ M +10 &/Q\ \ \ L +9 &1Q\ \ \ M +10 &3GO\ \ M +9 &5 Q\  \ M +9 &6Q\  \ L +10 &8P \ \ M +9 &:OP \ \ M +9 &<R \ \ M +10 &=Q\ \ \ M +9 &?T\ \ \ M +10 &AVR\ \ \ M +9 &CV\ \ \ N +9 &D]\ \ \ N +10 &Fe\ \ \ P +9 &HO{\ \ \ R +9 &J\ &\ "\ V +10 &K\ ,\ -\ Y +9 &M\ (\ -\ Z +10 &OA\ $\ '\ Z +9 &Q\ #\ $\ [ +9 &R\ #\ "\ [\ +10 &T\ \ \ [ +9 &VA\ \ \ \\ +10 &X\ \ \ ] +9 &Y\ \ \ ^ +9 &[\ \ \ K +10 &\\9\ \ \ 3 +9 &\\|\ \ \ S +5 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&i1 +3 "core" &\\r\ \ \ S +53 1 +2 "manipulator"&n% +3 "core" % >   F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%x& +3 "core" &\ x +3 "manipulator"&% +4 "core" %     +2 "storage"(% +4 "core" % V\ x + "storage"([. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(u(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" &K p G\ m +2 "manipulator"&l& +3 "core" &ӝ    0 +2 "manipulator"&a% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +48 "manipulator"&( +166 "core" ( + "manipulator"&& +4 "core" &   F  +3 "storage"(m& +4 "core" &K\ \  U\ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +94 "core" ' +3 "storage"(y& +3 "core" &K W a X\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +295 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &K \ v +2 "manipulator"&& +3 "core" &    +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&h& +4 "core" &   :  + "storage"(}& +5 "core" &K \ x +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +5 "storage"(|' +3 "core" & i  +3 "manipulator"&s% +5 "core" % z  +2 .tForearm.seek :retract + "manipulator"&t' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&T( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&)& +3 "core" &   0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" & \ - 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&=& +4 "core" &   0 +2 "manipulator"&f% +4 "core" % \    +2 "processing"%& +4 "core" &\ } +3 "processing"% & +5 "core" &\ } +2 .tPC.seek :closed +2 "processing"%7(^ +4 "core" &\ } +7 & -\ w#a +9 &Sv\ k7 +10 &|u\ jL +9 &SN\ pP +10 &GQ\ pP +9 &\ K\ qP +9 &Q\ qQ +10 &O\ qP +9 &OM\ rP +9 &Q'\ qP +10 &S\ qQ +9 &!Q\ qQ +10 &#WP\ rP +9 &%O\ rP +9 &&R\ pQ +10 &(T\ pP +9 &*_N\ qP +9 &,!O\ qP +10 &-O\ qP +9 &/SB\ pQ +10 &1gN\ qP +9 &3)L\ qP +9 &4Q\ qP +10 &6P\ qQ +9 &8nQ\ qQ +9 &:1M\ qP +10 &;R\ pQ +9 &=R\ pQ +10 &?wQ\ pP +9 &A7S0\ qQ +9 &BX\ oQ +10 &DZ\ oR +9 &Fxe\ mS +9 &H5q\ kU +10 &I\ gW +9 &K\ fX +10 &Mr\ gX +9 &O3\ gX +9 &P\ eX +10 &R\ gX +9 &Tv\ dY +9 &V;\ fX +10 &W\ eY +9 &Y\ eX +10 &[\ eX +9 &]A\ dO +9 &^yJ\ h` +10 &^ O\ p5 +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&'1 +2 "core" &^&\ s5 +56 1 + "manipulator"&{% +3 "core" %    K  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +3 "processing"%2& +3 "core" &^&\ r5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" % % \  A +2 "storage"(M% +4 "core" % \ q +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(?(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "manipulator"&& +4 "core" &K J u c\ m +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   0 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(S'r + "manipulator"&6( +7 "core" ( + "manipulator"&H& +4 "core" &   i 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & ? > H 0 +3 .tForearm.seek PC + "manipulator"& ' +95 "core" ' +2 .tHand.close +41 "manipulator"&/ +75 "core" / +2 .tPC.seek :open + "processing"%( +35 "core" ' +2 "storage"(D- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('1 +47 "core" ' +362 ( +2 "storage"(& +3 "core" &K \  !\ { +3 "manipulator"&*& +3 "core" & \  K 0 +2 "manipulator"&4% +4 "core" %    U % +2 .tForearm.seek :retract +2 "manipulator"&5' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&@( +254 "core" ( + "manipulator"&;& +4 "core" &   : I +2 "storage"(& +4 "core" &K \ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +101 "core" ' +3 .tHand.open + "manipulator"&J1 +61 "core" 1 +2 "storage"(-- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(3' +35 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(O' +107 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +3 "core" -' +2 "storage"(9& +4 "core" &K 6 6 [\ 5 +2 "manipulator"&Q& +3 "core" &   l I +2 .tElbow.seek 6 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&]& +4 "core" &   2 I +2 "storage"(^& +3 "core" &K 8 7 \ 5 +3 .tForearm.seek 6 + 450 counts + "manipulator"&B' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(%'" +59 "core" ' +2 "manipulator"&/& +4 "core" &   I +2 "storage"(v& +3 "core" &K \ y +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&>'< +25 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(#' +19 "core" ' +2 "manipulator"&E% +3 "core" %C   +2 "storage"(!& +4 "core" &K \ s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&L'o +13 "core" ' +2 "manipulator"&I& +3 "core" &   F H +2 "storage"(p& +4 "core" &K `\ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' + "storage"(1% +5 "core" % \ | +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (\\% +3 "core" %I \ qZr +2 "manipulator"&$% +5 "core" % \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (P& +3 "core" &K \ z +2 "collection"'& +3 "core" &\\r\ \ \ S +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&r% +4 "core" %   $  +2 "storage"(,% +3 "core" % \ | +2 "storage"(c. +4 "core" .(K + "storage"(F& +5 "core" &K \ | +2 "storage"(g& +3 "core" &K \ \ } +2 "manipulator"&d& +4 "core" &  % H +2 .tElbow.seek 6 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&<& +4 "core" &   H +2 "storage"(.& +3 "core" &K \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +93 "core" ' +2 "storage"(Y& +43 "core" &K\ \  S\ ~ +10 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +299 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" &  \ H +2 "storage"(W& +5 "core" &K <\ y + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +25 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(q- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"( 'f +29 "core" ' +2 "manipulator"&G% +4 "core" %E   +2 "storage"( & +3 "core" &K \ v +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 309 counts +2 "manipulator"&"'q +14 "core" ' + "manipulator"&b& +4 "core" &  H +2 "storage"(& +3 "core" &K\  ?\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(n' +37 "core" ' + "manipulator"&x& +4 "core" &  ( G +2 "manipulator"&% +4 "core" %  @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +153 "core" ( + "manipulator"&z& +4 "core" &ӟ   5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &ӟ   5 +2 .tForearm.seek CC +2 "manipulator"&l'? +92 "core" ' + .tHand.close +2 "manipulator"&a/ +54 "core" / +2 .tCC.seek :open +2 "collection"'K( +447 "core" ( +2 "storage"(& +3 "core" &K \  +2 "storage"(m& +4 "core" &K X\  +2 "manipulator"&N& +4 "core" &Ӡ  P 5 +2 "manipulator"&Z% +3 "core" % <   ! +3 .tForearm.seek :retract + "manipulator"&y' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( + "manipulator"&& +4 "core" &  N  +2 "storage"(\ & +5 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +91 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +52 "core" 1 +3 "manipulator"&U% +4 "core" % G    3 + "storage"( & +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&s's +13 "core" ' +3 "manipulator"&& +4 "core" &  + "storage"(j& +5 "core" &K R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +16 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"()' +99 (w% +3 "core" %^D \ Ym +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&=' +91 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'f& +3 "core" & \ +2 "manipulator"&% +51 "core" %   ;  +2 "storage"(|% +3 "core" % \  +3 "storage"(t. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(0([ +346 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +3 "core" &[ `\ \ +2 "manipulator"&{& +5 "core" &     + .tElbow.seek 7 +2 "manipulator"&2(r +14 "core" ( +2 "manipulator"&& +3 "core" &n     +2 "storage"(M& +4 "core" &[ Z\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +95 "core" ' +2 "storage"( & +4 "core" &[ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'r +309 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &[ i\ \ +2 "manipulator"&& +4 "core" &n k  +2 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( +2 "manipulator"&& +3 "core" &n \  +2 "storage"(u& +4 "core" &[ K\ \ +3 .tForearm.seek 7 + 300 counts + "manipulator"&D'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&T/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(7' +6 "core" &n   +3 "manipulator"&S% +4 "core" % Ϣ +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&*(ӂ +157 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&4& +5 "core" &ӏ   9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӏ   ~ 9% +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&;'? +95 "core" ' +2 "manipulator"&& +5 "core" &ӏ   9% + "manipulator"&6% +5 "core" %E   D & +2 "collection"'J& +3 "core" & \ +3 "collection"'-& +6 "core" &\ \ +2 .tCC.seek :closed +2 "collection"'5(\\ +3 "core" & \ +7 & \ < +9 &JJs \ 2 +10 &}tx \ F +9 &(T \ M +9 &O\ \ M +10 &Q\ \ \ M +9 &pO \ \ M +9 &2N\  \ M +10 &P\  \ M +9 &S\  \ M +10 &xP \ \ M +9 &!9O\ \ \ M +9 &"P \ \ M +10 &$P \ M +9 &&P \ \ L +9 &(AQ\  \ M +10 &*O \ \ M +9 &+R \ M +10 &-P\ \ \ M +9 &/IO\ \ \ M +9 &1 P \ \ M +10 &2O\ \ \ M +9 &4P\  \ M +9 &6RQ\ \ M +10 &8T\  \ M +9 &9Q\ \ \ M +10 &;O\ \ \ M +9 &=ZQ \ \ M +9 &?T \ \ M +10 &@P\ \ \ M +9 &BS\ \ \ M +9 &D^Y\ \ \ N +10 &Fb\ \ \ O +9 &Gs\ \ \ Q +10 &I\ #\ \ U +9 &KB\ .\ .\ Z +9 &M\ ,\ ,\ [ +10 &N\ '\ )\ Z +9 &P\ %\ &\ [\ +9 &RI\ #\ "\ [ +10 &T\ \ \ ] +9 &U\ \ !\ ] +10 &W\ \ \ ^ +9 &YE\ \ \ _ +9 &[\ \ \ _ +10 &\\bK\ \ \ 5 +9 &\\ |\ \ \ O +5 ( +2 "collection"'-& +4 "core" &\\m\ \ \ O +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&A1 +60 "core" 1 +3 "manipulator"&9% +3 "core" % E   & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q' +98 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%]& +4 "core" &\ y +2 "manipulator"&^% +4 "core" % !   \\ * +2 "storage"(/% +3 "core" % _\ z +2 "storage"(v. +4 "core" .([ + "storage"((& +4 "core" &[ z\ y\ +2 "storage"(3& +3 "core" &[ X\ y\ +3 "manipulator"&E& +3 "core" &ӫ   5 +2 "manipulator"&!% +4 "core" % !  * +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&I(r +161 "core" ( + "manipulator"&p& +3 "core" &z     +3 "storage"(1& +4 "core" &[ \ \ +50 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'= +102 "core" ' +2 "storage"(&& +4 "core" &[ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(O'r +296 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &[ P\ |\ +3 "manipulator"&B& +3 "core" &z   &  +2 .tElbow.seek 7 +2 "manipulator"&X(r +4 "core" ( + "manipulator"&%& +5 "core" &z  B  + "storage"(>& +4 "core" &[\ \  H\ ~\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&P'ϧ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(r' +8 "core" &z  \ e  +2 "manipulator"&,% +4 "core" % ϧ  \ * | +2 .tForearm.seek :retract +2 "manipulator"&c' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&F& +3 "core" &  x  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&d' +102 "core" ' + "manipulator"&<& +5 "core" &    + "manipulator"&.% +5 "core" %   W + "processing"%& +5 "core" &\ +2 "processing"%Y& +5 "core" &O\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +8 & .-\ ~$c +10 &T{\ q7 +9 &|x>\ pL +9 &Q>\ wP +10 &OQ#\ xP +9 &NE\ xP +10 &R"\ wP +9 &O2\ wP +9 &VO\ wP +10 &O-\ wP +9 &L\ xP +9 &!O\ wP +10 &#^OM\ xP +9 &% R\ wP +10 &&R\ wP +9 &(S\ wP +9 &*eQ,\ wQ +10 &,(QI\ wP +9 &-P\ wP +9 &/S\ wP +10 &1pN*\ yP +9 &32O\ xP +10 &4Q!\ xP +9 &6O4\ xP +9 &8wQ6\ wP +10 &:9P4\ xP +9 &;RA\ wQ +9 &=Q\ wP +10 &?P2\ wP +9 &A@R\ wP +10 &BZ-\ vQ +9 &D\\I\ uR +9 &F~e\ tS +10 &H;u\ qU +9 &I0\ nW +9 &K8\ nW +10 &M|\ mV +9 &O<.\ lW +10 &P:\ kX +9 &Rj\ lW +9 &TT\ kX +10 &VCU\ lX +9 &X\ lW +9 &Yi\ lW +10 &[=\ lX +9 &]H'\ kO +10 &^{F \ o c +9 &^<:\ x3 +5 ( +2 "processing"%Y& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&+1 +2 "core" &^%Q\ y3 +59 1 + "manipulator"&:% +5 "core" %  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +97 "core" ' +2 "processing"%R& +5 "core" &^%[\ s3 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&W% +3 "core" % (  \ e !O +3 "storage"(q% +4 "core" % h\ t + "storage"(G. +4 "core" .([ + "storage"( & +4 "core" &[ q\ t\ +2 "storage"(b& +2 "manipulator"&& +7 "core" &[ \ s\ +2 & \  J  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&x( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" ( +3 "manipulator"&k& +3 "core" & $ >   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" & 1 ; 2  +2 .tForearm.seek PC +2 "manipulator"&_' +92 "core" ' +2 .tHand.close + "manipulator"&/ +77 "core" / +2 .tPC.seek :open + "processing"%"( +78 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(z'1 +88 "core" ' +283 ( + "storage"(V& +5 "core" &[ \  \\\ {\ + "manipulator"&i& +5 "core" &  '  + "manipulator"&e% +4 "core" %  B +3 .tForearm.seek :retract + "manipulator"&a' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +246 "core" ( +2 "manipulator"&o& +3 "core" &j   : _ +3 "storage"(& +3 "core" &[ ,\ x\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&m'= +94 "core" ' +2 .tHand.open + "manipulator"&N1 +64 "core" 1 +3 "storage"(Z- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\ ' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(l- +3 "core" -' +2 "storage"([& +3 "core" &[   <\ 1\ +2 "manipulator"&}& +5 "core" &j   _ + .tElbow.seek 7 +2 "manipulator"&U(r +4 "core" ( + "manipulator"& & +5 "core" &j   _ + "storage"(& +4 "core" &[ 6 5 \ 5\ +3 .tForearm.seek 7 + 450 counts + "manipulator"&j'= +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&y& +3 "core" &j    _ +3 "storage"(w& +3 "core" &[ n\ {\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +30 "core" ' +2 "manipulator"&s% +3 "core" %j ? > +2 "storage"(f& +4 "core" &[ I\ m\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 283 counts +2 "manipulator"&'ϖ +14 "core" ' +2 "manipulator"&n& +3 "core" &   ! +3 "storage"(|& +3 "core" &[\ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'= +15 "core" ' +2 "storage"(~% +3 "core" % [ p >\ +3 ."downElevator"SE.seek :down +4 "storage"()' +98 (?% +3 "core" %UM ;\ t[s +2 "manipulator"&'% +4 "core" %6  + +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &[ \ }\ +3 "collection"'M& +3 "core" &\\m\ \ \ O +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"& % +4 "core" %    W  +2 "storage"(h% +3 "core" %\ \  e\  +2 "storage"(=. +3 "core" .([ +2 "storage"(& +3 "core" &[\  y\ \ +2 "storage"(H& +5 "core" &[\ \  s\ \ + "manipulator"&& +4 "core" &   ! +2 .tElbow.seek 7 +2 "manipulator"&(r +18 "core" ( + "manipulator"&u& +4 "core" &t   7  +2 "storage"(T& +4 "core" &[ G G \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +91 "core" ' + "storage"(S& +4 "core" &[ t v \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" &t d  +42 "storage"( & +11 "core" &[\ \  8\ }\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&8'{ +29 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(6'h +27 "core" ' +2 "manipulator"&% +4 "core" %΍ , G +2 "storage"(J& +4 "core" &[ Q\ r\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 318 counts +2 "manipulator"&7'Ϲ +13 "core" ' +2 "manipulator"&& +3 "core" &t   +2 "storage"(K& +5 "core" &[ o o\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&A'= +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(9' +37 "core" ' +2 "manipulator"&]& +3 "core" &t X  +3 "manipulator"&^% +3 "core" %B  g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +174 "core" ( +3 "manipulator"&-& +3 "core" &y %  P / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &y   / +3 .tForearm.seek CC + "manipulator"&3'? +101 "core" ' + .tHand.close +2 "manipulator"&E/ +62 "core" / +2 .tCC.seek :open +2 "collection"'!( +447 "core" ( +2 "storage"(;& +3 "core" &[ -\ \ +3 "storage"(p& +3 "core" &[ ?\ \ +2 "manipulator"&1& +5 "core" &Ӛ   # * + "manipulator"&*% +4 "core" % &   +3 .tForearm.seek :retract + "manipulator"&&' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&Q(r +159 "core" ( + "manipulator"&\\& +5 "core" &v   k  + "storage"($& +4 "core" &[ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&B'{ +95 "core" ' +2 .tElbow.hold + "manipulator"&%, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +61 "core" 1 +2 "manipulator"&L% +3 "core" % Ί   c +2 "storage"(& +4 "core" &[ D\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 315 counts +2 "manipulator"&,'϶ +14 "core" ' +2 "manipulator"&I& +3 "core" &v  +3 "storage"(@& +4 "core" &[\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&O'= +17 "core" ' + "storage"(P% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(F' +99 (g% +3 "core" %]D {\ Xj +2 "manipulator"&X% +4 "core" %4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +97 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'.& +5 "core" & \ +2 "manipulator"&% +3 "core" % \   +2 "storage"(r% +5 "core" % |\  + "storage"(c. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +49 (+& +3 "core" &<- 3\ +2 "manipulator"&:& +5 "core" &v r  +2 .tElbow.seek 5 + "manipulator"&R( +25 "core" ( +2 "manipulator"&W& +4 "core" &    +2 "storage"(q& +4 "core" &<- 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +92 "core" ' +2 "storage"(Y& +3 "core" &<- :\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +299 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<- #\ +2 "manipulator"&k& +4 "core" &   >  +2 .tElbow.seek 5 +2 "manipulator"&`( +23 "core" ( +2 "manipulator"&d& +4 "core" &  W  +2 "storage"(& +4 "core" &<- U\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +2 "storage"(' +9 "core" &   + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&V' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&i(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&e& +3 "core" &ӑ#   <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &ӑ#   ) <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'? +102 "core" ' + "manipulator"&& +5 "core" &Ӓ#   Z <= + "manipulator"&x% +5 "core" %<  ! +2 "collection"'N& +4 "core" & \ +2 "collection"'Z& +5 "core" & ^\ +3 .tCC.seek :closed + "collection"'l(\\ +4 "core" & `\ +7 &9 b\ %g +10 &Xv g\ 8 +9 &r k\ L +10 &Q\ f\ M +9 &{P l\ M +9 &=P g\ M +10 &S \ \ M +9 &P\  i\ M +9 &S \ M +10 &EP \ M +9 & N \ \ M +10 &!P \ M +9 &#T\ \ M +9 &%NO \ \ L +10 &'O\ \ \ M +9 &(R \ M +9 &*O\ \ L +10 &,UQ \ M +9 &.N \ \ M +10 &/P \ \ M +9 &1O\  \ M +9 &3\\P \ M +10 &5P\ \ M +9 &6O \ M +9 &8Q \ M +10 &:eQ \ \ M +9 &<'N \ M +10 &=P\ \ M +9 &?O\ \ M +9 &AlQ\ \ \ M +10 &C-T\ \ \ M +9 &D]\ \ \ O +9 &Fd\ \ \ P +10 &Hd}\ \ \ S +9 &J\ *\ $\ V +10 &K\ *\ ,\ Z +9 &M\ )\ )\ Z +9 &OW\ #\ $\ Z +10 &Q\ "\ #\ [ +9 &R\ \ !\ [\ +9 &T\ \ \ \\ +10 &VW\ \ \ \\ +9 &X\ \ \ ^ +10 &Y\ \ \ ^ +9 &[\ \ \ K +9 &\\8\ \ \ / +10 &\\\ \ \ [ +5 ( +2 "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&[1 +2 "core" &\\\ \ \ [ +54 1 +2 "manipulator"&}% +4 "core" % <   $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &)\ w + "manipulator"&a% +5 "core" %    + "storage"(y% +5 "core" % 8\ x + "storage"(w. +3 "core" .(<- +2 "storage"(z& +3 "core" &<- 7\ w +3 "storage"(s& +3 "core" &<- \ w +2 "manipulator"&f& +3 "core" &Ӱ   , 8 +2 "manipulator"&% +5 "core" %   m  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&n( +164 "core" ( +2 "manipulator"&|& +3 "core" &    +2 "storage"(~& +4 "core" &<- \  %\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' +2 "storage"(m& +4 "core" &<- \  /\ | +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +49 "storage"(\ 'r +296 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &<- -\ p +2 "manipulator"&j& +5 "core" &    +6 .tElbow.seek 5 +2 "manipulator"&U( +4 "core" ( + "manipulator"&& +5 "core" &  4  +6 "storage"(& +4 "core" &<- A\ t +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&M& + "storage"( ' +8 "core" &   B  +2 "manipulator"&h% +4 "core" % \  +2 .tForearm.seek :retract +2 "manipulator"&=' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&& +4 "core" &   ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &H& +2 "core" &  % ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&u& +3 "core" &   r ) +3 "manipulator"&T% +3 "core" %  ^ +2 "processing"%t& +5 "core" &*\ | +2 "processing"%S& +5 "core" &\ } +2 .tPC.seek :closed +2 "processing"%)(^ +4 "core" &*\ } +9 &/s,\ n*y +10 &b|)\ j? +9 &^n-\ kP +9 &N)\ qP +10 &N)\ qP +9 &O&\ rP +9 &eQ'\ qP +10 &&Q"\ rP +9 &N&\ qP +10 &P\ qQ +9 & lQ \ qP +9 &".O\ qP +10 &#Q\ qP +9 &%P\ qP +10 &'sQ\ qQ +9 &)6Q\ qP +9 &*N\ rP +10 &,Q\ qP +9 &.}L\ rP +9 &0>P\ qP +10 &2N\ rP +9 &3N\ qP +10 &5N\ rP +9 &7GP\ qP +9 &9Q\ qP +10 &:Q\ qQ +9 &<O\ qQ +9 &>MQ\ qQ +10 &@Q\ qQ +9 &AX\ nQ +10 &C`\ nR +9 &EOb\ nS +9 &Gk%\ lT +10 &H\ gV +9 &J0\ hW +9 &LK\ fW +10 &N \ fW +9 &O\ hW +10 &Q\ fX +9 &SQ\ fX +9 &U/\ cX +10 &V\ fX +9 &X\ fX +9 &ZW\ fX +10 &\\\ dX +9 &]\ g: +9 &^,q#\ kW +10 &^.\ t4 +2 ( +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&{% +5 "core" %   % N ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +3 "processing"%4& +3 "core" &^-\ o4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"& % +3 "core" % !  . +2 "storage"(% +5 "core" % \ o + "storage"(. +4 "core" .(<- + "storage"(J& +5 "core" &<- \ o +2 "storage"(& +3 "manipulator"&K& +4 "core" &<- \ o +3 &   9 ( +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(]'r +3 "manipulator"&^( +5 "core" ( +2 "manipulator"&& +3 "core" &  +  ( +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & > ? j ( +2 .tForearm.seek PC +2 "manipulator"&2' +96 "core" ' +2 .tHand.close + "manipulator"&8/ +74 "core" / +2 .tPC.seek :open + "processing"%7( +73 "core" ' + "storage"(6- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'1 +42 "core" ' +333 ( + "storage"((& +3 "core" &<+ F\ v +3 "manipulator"&A& +4 "core" &   Q ( + "manipulator"&D% +5 "core" % \   L  +2 .tForearm.seek :retract + "manipulator"&E' +98 "core" ' +9 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&/( +245 "core" ( + "manipulator"&5& +4 "core" & !  =  +2 "storage"(;& +3 "core" &<+ \ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +90 "core" ' +2 .tHand.open + "manipulator"&11 +55 "core" 1 +2 "storage"(*- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(\\' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"($' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +3 "core" -' +2 "storage"(v& +4 "core" &<+ l\ + +2 "manipulator"&>& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&& +3 "core" &  $  +2 "storage"(I& +4 "core" &<+ \ * +3 .tForearm.seek 5 + 450 counts + "manipulator"&@'O +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(P'" +60 "core" ' + "manipulator"&&& +5 "core" &   o  +2 "storage"(g& +4 "core" &<+ l\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&X'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(B' +20 "core" ' +2 "manipulator"&.% +4 "core" %Δ   +2 "storage"(& +3 "core" &<+ \ t +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&,' +25 "core" ' + "manipulator"&r& +5 "core" &    +2 "storage"(c& +3 "core" &<+ \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +21 "core" ' +2 "storage"(O% +3 "core" % s\ y +3 ."downElevator"SE.seek :down +4 "storage"(F' +98 (0% +3 "core" %OJ \ qZo +2 "manipulator"&+% +4 "core" %S   ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +91 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &<+ 3\ w +2 "collection"'q& +4 "core" &\\\ \ \ [ +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&Y% +3 "core" %   O  +2 "storage"(%% +5 "core" % \ z + "storage"(<. +3 "core" .(<- +2 "storage"(b& +3 "core" &<+ \ z +2 "storage"(& +5 "core" &<+ ~\ y + "manipulator"&k& +4 "core" &   ,  +2 .tElbow.seek 5 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&& +4 "core" &   d  +2 "storage"(#& +4 "core" &<+ @\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&C'O +31 "Can"\ T M +64 "core" ' + "storage"(& +5 "core" &<+ \ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +298 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" &   *  +3 "storage"(_& +3 "core" &<+ I\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +19 "core" ' +2 .tElbow.hold + "manipulator"& , +49 "core" , +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(x's +29 "core" ' +2 "manipulator"&N% +4 "core" %Ε  +2 "storage"(`& +4 "core" &<+ s\ y + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&V& +4 "core" &   2  +2 "storage"(!& +3 "core" &<+ s\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(}' +36 "core" ' + "manipulator"&& +5 "core" &    + "manipulator"&a% +5 "core" %G   J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&w(ӂ +153 "core" ( +2 "manipulator"&z& +3 "core" &ӑ   k 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &ӑ  h 9( +3 .tForearm.seek CC + "manipulator"&s'? +100 "core" ' + .tHand.close +2 "manipulator"&f/ +61 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "storage"(o& +5 "core" &<+ \ + "storage"(|& +4 "core" &<+ @\ +2 "manipulator"&~& +3 "core" &Ӭ  u 6 +2 "manipulator"&m% +5 "core" % =   +2 .tForearm.seek :retract + "manipulator"&i' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +162 "core" ( +2 "manipulator"&?& +3 "core" &     +2 "storage"('& +4 "core" &<+ %\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&j'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +5 "core" % ΁    +2 "storage"(M& +3 "core" &<+ k\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 288 counts +2 "manipulator"&h'ϭ +15 "core" ' + "manipulator"&n& +4 "core" &  +2 "storage"(& +4 "core" &<+\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\ 'O +17 "core" ' +2 "storage"(% +3 "core" % %\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (H% +3 "core" %A \ Xg +2 "manipulator"&U% +5 "core" %9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'T& +3 "core" & \ +2 "manipulator"&t% +5 "core" %     +2 "storage"( % +3 "core" % \  +2 "storage"(=. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"("(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K ]\ \ +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&4( +4 "core" ( +2 "manipulator"& & +3 "core" &   }  +2 "storage"(& +5 "core" &K R\ \ +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' + "storage"(S& +4 "core" &K T\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'r +297 "core" ' + "storage"(- +4 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &K n\ \ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  !  +3 "storage"(8& +4 "core" &K \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&6'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"()' +8 "core" & S  + "manipulator"&]% +5 "core" % ~ +2 .tForearm.seek :retract + "manipulator"&(' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&D& +3 "core" &Ӎ"   ;6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &Ӎ"   ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&5'? +104 "core" ' + "manipulator"&;& +5 "core" &Ӎ" %  P ;6 + "manipulator"&^% +5 "core" %B   A  +2 "collection"'1& +4 "core" & \ +2 "collection"'*& +6 "core" & t\ +2 .tCC.seek :closed +2 "collection"'3(\\ +4 "core" & \ +6 & 1 \ $e +10 &Wv \ 7 +9 &t k\ L +10 &P f\ M +9 &gO m\ M +9 &(R \ h\ M +10 &O \ M +9 &O \ L +9 &oO \ M +10 &2P \ L +9 &O \ M +10 &!O \ M +9 &#vS\ \ M +9 &%9O \ M +10 &&M j\ M +9 &(O z\ M +9 &*N \ L +10 &,AP \ M +9 &.O \ M +10 &/S \ M +9 &1Q \ \ M +9 &3IP \ \ M +10 &5 O \ M +9 &6N \ M +9 &8P \ \ M +10 &:PP \ \ M +9 &<O \ M +10 &=O \ L +9 &?Q \ M +9 &AXQ \ \ M +10 &CT\ \ \ N +9 &D\\\ \ \ N +9 &Fg\ \ \ P +10 &HQz\ \ \ R +9 &J\ %\ \ V +10 &K\ ,\ +\ Z +9 &M\ (\ *\ Z +9 &OB\ %\ '\ Z +10 &Q\ %\ "\ [ +9 &R\ \ !\ [\ +9 &T\ \ !\ \\ +10 &VB\ \ \ ] +9 &X\ \ \ ] +10 &Y\ \ \ ^ +9 &[\ \ \ K +9 &\\8\ \ \ 3 +10 &\\s\ \ \ P +5 ( +2 "collection"'*& +4 "core" &\\j\ \ \ P +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&v1 +63 "core" 1 +3 "manipulator"&>% +3 "core" % B   A  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%I& +4 "core" &\ z +2 "manipulator"&E% +3 "core" %      +3 "storage"(&% +3 "core" % \ z +2 "storage"(g. +3 "core" .(K +2 "storage"(.& +3 "core" &K t\ z\ +3 "storage"(& +3 "core" &K \ z\ +3 "manipulator"&-& +4 "core" &ӭ   7 + "manipulator"&r% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&\\( +161 "core" ( + "manipulator"&c& +4 "core" &   1  +2 "storage"(O& +4 "core" &K ] H f\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +94 "core" ' + "storage"(p& +4 "core" &K p o \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'r +295 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &K N\ x\ +2 "manipulator"&@& +3 "core" & \   +2 .tElbow.seek 6 +2 "manipulator"&L( +50 "core" ( +3 "manipulator"&P& +4 "core" & \ + +2 "storage"(X& +4 "core" &K \ |\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&,'h +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&q& + "storage"(Y' +6 "core" & \ \ \ +3 "manipulator"&%% +4 "core" % p \   +2 .tForearm.seek :retract +2 "manipulator"&B' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&<( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&b& +4 "core" &   ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   [ ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&k' +104 "core" ' +2 "manipulator"&& +4 "core" &  | ' +2 "manipulator"&#% +3 "core" % \  +3 "processing"%9& +3 "core" &8\ +3 "processing"%& +5 "core" &8\ +2 .tPC.seek :closed +4 "processing"%F(^ +3 "core" &8\ +5 &8\ 3 +10 &9Gt7\ q1 +9 &\\n{6\ nE +10 &`7\ sP +9 &M5\ wP +9 &zQ7\ vP +10 &=O6\ wP +9 &N6\ vP +9 &P6\ wP +10 &Q6\ vP +9 &CP5\ vP +10 &!O6\ wP +9 &"O7\ vP +9 &$Q5\ vP +10 &&LO3\ vP +9 &( P7\ vP +9 &)O*\ wQ +10 &+O*\ wP +9 &-TQ4\ wP +10 &/P)\ wP +9 &0N0\ uP +9 &2O)\ vP +10 &4]N-\ vP +9 &6S,\ vP +9 &7N*\ vP +10 &9Q)\ vP +9 &;bQ.\ vQ +10 &=%Q)\ vP +9 &>U)\ uP +9 &@R"\ vQ +10 &BjW&\ uQ +9 &D*Y!\ tQ +9 &E`%\ tR +10 &Gi\ rS +9 &Ie{'\ nU +10 &K#\ lV +9 &L-\ mW +9 &N%\ kX +10 &Pg)\ lW +9 &R)(\ kW +9 &S+\ jX +10 &U'\ kX +9 &Wm)\ jX +10 &Y0*\ lX +9 &Z&\ kX +9 &\\&\ iX +10 &^3bo)\ p/ +9 &^f,\ r; +9 ( +3 "processing"%& +2 "core" &^')\ z5 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&Q1 +55 "core" 1 +2 "manipulator"&:% +3 "core" %    r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +91 "core" ' +2 "processing"%e& +4 "core" &^&\ t5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&_% +4 "core" % #   8 3 +2 "storage"(% +3 "core" % \ s +3 "storage"(N. +2 "core" .(K +2 "storage"(`& +5 "core" &K \ s\ +2 "storage"(V& +2 "manipulator"&!& +5 "core" &K \ t\ +3 &   Q & +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +3 "manipulator"&a( +5 "core" ( +2 "manipulator"&C& +3 "core" & . 7 a & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" & - # & +2 .tForearm.seek PC +2 "manipulator"&R' +95 "core" ' +2 .tHand.close + "manipulator"& / +66 "core" / +2 .tPC.seek :open + "processing"%( +82 "core" ' +2 "storage"(x- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'1 +53 "core" ' +309 ( +2 "storage"(Z& +3 "core" &K o r 7\ \ +2 "manipulator"&[& +5 "core" & \  & +2 "manipulator"& % +3 "core" %    +3 .tForearm.seek :retract + "manipulator"&f' +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&y( +245 "core" ( +2 "manipulator"&l& +3 "core" &   V / +2 "storage"(o& +4 "core" &K \  \ ~\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +51 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +93 "core" ' +2 .tHand.open + "manipulator"&~1 +54 "core" 1 +2 "storage"(m- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(?' +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"('' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +3 "core" -' +2 "storage"(w& +4 "core" &K 6 6 9\ 5\ +2 "manipulator"&& +3 "core" &   i / +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&M& +3 "core" & %  W / +3 "storage"(n& +3 "core" &K N M \ 9\ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' +2 "manipulator"&i& +3 "core" &  / +3 "storage"(H& +4 "core" &K ]\ z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&U'< +22 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +25 "core" ' + "manipulator"&T% +5 "core" %N  +2 "storage"(h& +3 "core" &K \ w\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&t'z +27 "core" ' + "manipulator"& & +5 "core" &   , . + "storage"(=& +5 "core" &K e\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +18 "core" ' + "storage"(\ % +5 "core" % e X z\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +2 "core" %/J \ tZp +3 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &K \ }\ +3 "collection"'& +3 "core" &\\k\ \ \ P +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&S% +3 "core" %     +3 "storage"(% +3 "core" % 6\  +2 "storage"(u. +3 "core" .(K +2 "storage"(& +4 "core" &K >\ \ +2 "storage"(K& +3 "core" &K\ \ \ \ +3 "manipulator"&& +4 "core" &   . +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&8& +4 "core" &   J . +2 "storage"(& +4 "core" &K L\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(]& +4 "core" &K r u \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(4'r +299 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" & \ \  . +2 "storage"(2& +3 "core" &K 3\ |\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&J'< +22 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(^'f +30 "core" ' + "manipulator"&% +4 "core" %L \  4 +2 "storage"(1& +44 "core" &K n\ y\ +9 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 316 counts + "manipulator"&)'x +14 "core" ' +2 "manipulator"&(& +3 "core" &  \ G . +2 "storage"(& +5 "core" &K ` W 0\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(>' +36 "core" ' +2 "manipulator"&I& +3 "core" & < . +2 "manipulator"&E% +5 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +168 "core" ( +2 "manipulator"&.& +3 "core" &ӊ   . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &ӊ  . +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&-/ +63 "core" / +2 .tCC.seek :open + "collection"'r( +447 "core" ( +2 "storage"(5& +3 "core" &K p\ \ +2 "storage"(c& +4 "core" &K \ \ +2 "manipulator"&O& +3 "core" &Ӛ   o , +3 "manipulator"&p% +4 "core" % K   +2 .tForearm.seek :retract +2 "manipulator"&A' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&0& +3 "core" &    +3 "storage"(+& +4 "core" &K \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&@'< +98 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&X1 +60 "core" 1 +2 "manipulator"&W% +4 "core" % A   n +2 "storage"(q& +3 "core" &K b\ \ +3 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 305 counts +2 "manipulator"&%'m +14 "core" ' +2 "manipulator"&\\& +4 "core" &  +2 "storage"(/& +3 "core" &K\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +15 "core" ' +2 "storage"(,% +4 "core" % x\ +2 ."downElevator"SE.seek :down +3 "storage"(b' +100 (% +2 "core" %pD \ Yk +2 "manipulator"&L% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'#& +3 "core" & \ +2 "manipulator"&9% +5 "core" %  \    + "storage"(Y% +5 "core" %\  + "storage"(B. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(7([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +3 "core" &[ H\ +2 "manipulator"&:& +3 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&e(r +38 "core" ( + "manipulator"&_& +5 "core" &   Z  + "storage"(& +4 "core" &[ d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&N'= +94 "core" ' +2 "storage"(`& +4 "core" &[ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +47 "storage"(V'r +298 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \ +2 "manipulator"&C& +5 "core" & $  + .tElbow.seek 7 +2 "manipulator"&d(r +25 "core" ( +2 "manipulator"&k& +3 "core" &l u s +3 "storage"( & +4 "core" &[ x\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&x'ϧ +12 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& +10 &ck8\ pO +9 &!P4\ vP +9 &N7\ vP +10 &N7\ wP +9 &iP4\ uP +9 &+O8\ vP +10 &O8\ vP +9 &O4\ vP +10 & qP8\ uP +9 &"3O5\ vP +9 &#O4\ vP +10 &%N6\ vP +9 &'yO6\ uP +9 &):Q6\ uP +10 &*O0\ tP +9 &,Q3\ uP +10 &.O4\ uP +9 &0BO5\ uP +9 &2N*\ vP +10 &3N*\ vP +9 &5O(\ vP +9 &7KN*\ uP +10 &9 Q*\ uP +9 &:Q)\ uP +10 &<O)\ uP +9 &>QR(\ uP +9 &@N)\ vP +10 &AV)\ tP +9 &C\\(\ sR +9 &ET`*\ rR +10 &Gh+\ qS +9 &H{.\ mV +10 &J~,\ mW +9 &LN-\ kW +9 &N*\ kW +10 &O)\ kW +9 &Q,\ iX +9 &SS*\ kX +10 &U)\ hX +9 &V*\ kX +10 &X*\ jX +9 &Z['\ iX +9 &\\*\ iX +10 &]{*\ m6 +9 &^/g*\ pL +9 &^")\ z2 +3 ( + "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"& 1 +65 "core" 1 + "manipulator"&{% +4 "core" %   } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%D& +5 "core" &^!\ u2 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&2% +3 "core" %    #  +3 "storage"(;% +4 "core" % 3\ u + "storage"(. +3 "core" .([ +2 "storage"(1& +3 "core" &[ Q\ t +3 "storage"((& +2 "manipulator"&& +8 "core" &[ ?\ u + &  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(I'r + "manipulator"&E( +7 "core" ( + "manipulator"&& +3 "core" &  * < +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 .tForearm.seek PC + "manipulator"&4' +94 "core" ' +2 .tHand.close + "manipulator"&J/ +69 "core" / +3 .tPC.seek :open + "processing"%)( +81 "core" ' +2 "storage"(^- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(.'1 +41 "core" ' +325 ( + "storage"(*& +4 "core" &[ \ z +2 "manipulator"&v& +3 "core" &   3 +2 "manipulator"&6% +5 "core" % \   +2 .tForearm.seek :retract + "manipulator"&-' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&&(r +247 "core" ( +2 "manipulator"&3& +3 "core" &   K ' +3 "storage"(5& +3 "core" &[ \ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'= +97 "core" ' + .tHand.open +2 "manipulator"&O1 +58 "core" 1 +2 "storage"(p- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +44 "core" ' +10 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -1.22 Pucks below Top Plate + "storage"(+' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(g& +3 "core" &[ \ ( +2 "manipulator"&X& +5 "core" &   O ' +2 .tElbow.seek 7 + "manipulator"&W(r +10 "core" ( +2 "manipulator"&q& +3 "core" &    +3 "storage"(\\& +3 "core" &[  ?\ + +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&/'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(,'" +57 "core" ' +2 "manipulator"&A& +3 "core" & \  =  +3 "storage"(& +3 "core" &[ 8\ | +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&L'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(@' +27 "core" ' +2 "manipulator"&#% +4 "core" %Ί  ( +2 "storage"(9& +3 "core" &[ 1\ n +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&%'϶ +13 "core" ' +2 "manipulator"&Y& +3 "core" &    +2 "storage"(B& +4 "core" &[\ \  V\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&>'= +16 "core" ' +2 "storage"($% +4 "core" % C\ } +2 ."downElevator"SE.seek :down +3 "storage"(b' +100 ("% +3 "core" %N #\ q[s +2 "manipulator"&Q% +3 "core" %?   J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (_& +3 "core" &[ V\ } +2 "collection"'& +5 "core" &\\r\ \ \ Y + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&`% +3 "core" %    <  +3 "storage"(P% +3 "core" %\ \  h\  +2 "storage"(. +3 "core" .([ +2 "storage"(!& +3 "core" &[\ \  G\ ~ +2 "storage"(& +4 "core" &[\ \  S\ ~ +2 "manipulator"&C& +4 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&k(r +16 "core" ( + "manipulator"& & +3 "core" &|   <  +3 "storage"(<& +3 "core" &[\  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&G'= +95 "core" ' +2 "storage"(& +3 "core" &[ p s \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +300 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &| 5  +2 "storage"(R& +5 "core" &[\  L\ ~ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&V'{ +28 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(d'o +28 "core" ' +2 "manipulator"&a% +4 "core" %Ύ  +2 "storage"(~& +3 "core" &[ \\\ q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&F'Ϻ +13 "core" ' +2 "manipulator"&Z& +3 "core" &|   9  +2 "storage"(r& +4 "core" &[ \  r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +38 "manipulator"&w'= +27 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +46 "core" ' +2 "manipulator"&n& +3 "core" &|     +2 "manipulator"&f% +5 "core" %<   ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +160 "core" ( +2 "manipulator"&m& +4 "core" &Ӑ %  O 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &Ӑ    7 +2 .tForearm.seek CC +2 "manipulator"&h'? +95 "core" ' +2 .tHand.close + "manipulator"&z/ +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +447 "core" ( +2 "storage"(l& +3 "core" &[ t\ +3 "storage"(=& +4 "core" &[ \ + "manipulator"&\ & +5 "core" &Ӫ    4 + "manipulator"&|% +4 "core" % @   +2 .tForearm.seek :retract +2 "manipulator"&[' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&M(r +164 "core" ( +2 "manipulator"&& +3 "core" &u   1  +3 "storage"(& +4 "core" &[ >\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +102 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&U1 +53 "core" 1 +2 "manipulator"& % +4 "core" % Έ   s +2 "storage"(& +3 "core" &[ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&'ϴ +14 "core" ' +2 "manipulator"&?& +3 "core" &u L  +3 "storage"(y& +4 "core" &[\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&''= +16 "core" ' +2 "storage"(t% +4 "core" %\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (K% +2 "core" %IC \ Xi +3 "manipulator"&% +3 "core" %1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +96 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & )\ +2 "manipulator"&}% +4 "core" %    +2 "storage"(S% +4 "core" % p\  +2 "storage"(u. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<. \ +2 "manipulator"&{& +3 "core" &u  +3 .tElbow.seek 5 + "manipulator"&D( +35 "core" ( +2 "manipulator"&2& +4 "core" & J + "storage"(;& +4 "core" &<.\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' +2 "storage"(1& +3 "core" &<.  \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(]'r +299 "core" ' +2 "storage"((- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<. x\ +2 "manipulator"&& +5 "core" &  D + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +48 "manipulator"&& +5 "core" & + "storage"(J& +5 "core" &<.\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&^'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +8 "core" & 5 +2 "manipulator"&I% +4 "core" % ϱ +2 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&v(ӂ +156 "core" ' + ( + ."downElevator"SE.stop +3 "manipulator"&6& + "storage"(5 +8 "core" &Ӓ#   <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +2 "core" &Ӓ#   F <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&3'? +100 "core" ' +2 "manipulator"&5& +3 "core" &ӓ#   <> +2 "manipulator"&E% +4 "core" %D    +2 "collection"'O& +5 "core" & }\ +2 "collection"'p& +5 "core" & }\ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & ~\  +8 &4x |\ +{ +10 & cy x\ > +9 &k {\ N +9 &NN }\ M +10 &O {\ L +9 &O w\ M +9 &N x\ L +10 &WO u\ M +9 &T x\ M +9 &O v\ L +10 & O\ l\ M +9 &"^R\ l\ M +10 &$"O `\ L +9 &%P\ t\ M +9 &'N j\ M +10 &)gO k\ M +9 &+)R l\ M +9 &,N\ n\ M +10 &.O o\ M +9 &0oN l\ M +10 &21O m\ M +9 &3Q\ o\ L +9 &5Q\ k\ M +10 &7wO o\ M +9 &98T o\ M +9 &:O n\ M +10 &<N o\ M +9 &>P n\ M +10 &@AQ n\ M +9 &BU t\ M +9 &CY\ \ z\ N +10 &E_\ \ k\ O +9 &G>k\ \ l\ P +9 &H\ \ u\ S +10 &J\ +\ &l\ Y +9 &Lh\ *\ +t\ Z +10 &N+\ &\ %w\ Z +9 &O\ #\ $j\ [ +9 &Q\ !\ !u\ [ +10 &Sj\ \ !s\ \\ +9 &U+\ \ k\ \\ +9 &V\ \ o\ ] +10 &X\ \ u\ ^ +9 &Zk\ \ t\ ^ +10 &\\{\ \ u\ 7 +9 &\\'\ \ t\ %n +9 ( + &\\y\ \ \ \\ +3 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open +2 "manipulator"&g1 +56 "core" 1 +3 "manipulator"&X% +3 "core" % D   &  +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%q& +5 "core" &1\ w + "manipulator"&\\% +5 "core" %   w  + "storage"(A% +4 "core" % S\ u +2 "storage"(. +3 "core" .(<- +2 "storage"(.& +3 "core" &<. 7\ v +2 "storage"(#& +5 "core" &<. \ v + "manipulator"&9& +4 "core" &ӱ  8 +2 "manipulator"&0% +4 "core" %    _  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Y( +163 "core" ( +2 "manipulator"&B& +4 "core" &   C  + "storage"($& +5 "core" &<.\ \  <\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +93 "core" ' +2 "storage"(c& +4 "core" &<. e o \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +298 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &<. \ v +2 "manipulator"&/& +3 "core" &   /  +3 .tElbow.seek 5 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&,& +4 "core" &    + "storage"(L& +4 "core" &<. \ y +3 .tForearm.seek 5 + 300 counts + "manipulator"&%'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(`' +8 "core" & \   + "manipulator"&P% +5 "core" % ϴ   +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +48 "manipulator"&@( +113 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +143 "core" ( +2 "manipulator"&!& +5 "core" &   \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   - \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&C' +90 "core" ' +2 "manipulator"& & +3 "core" &  \  \ +3 "manipulator"&<% +3 "core" %    ^ +3 "processing"%>& +3 "core" &\  +3 "processing"%& +6 "core" &7\ ~ +2 .tPC.seek :closed +3 "processing"%b(^ +4 "core" &;\  +5 &6\ ~4 +10 &2Gr3\ m1 +9 &Voy7\ kE +9 &]7\ pP +10 &N@\ tP +9 &sM4\ sP +9 &6N4\ sP +10 &N;\ rP +9 &M:\ sP +10 &{O?\ sP +9 &<OA\ sP +9 & N@\ sP +10 &"M7\ sP +9 &$O9\ sP +9 &&DO6\ tP +10 &(Q4\ sP +9 &)N3\ tP +10 &+N:\ sP +9 &-LN;\ sP +9 &/N7\ sP +10 &0M6\ tP +9 &2O7\ sP +9 &4UM6\ sP +10 &6N:\ sP +9 &7M7\ sP +10 &9O7\ sP +9 &;\\P6\ sP +9 &=L4\ sP +10 &>S3\ rP +9 &@T0\ rP +9 &BbW,\ qQ +10 &D _)\ oR +9 &Ed/\ oS +10 &Gr4\ lU +9 &I[+\ iV +9 &K)\ iW +10 &L*\ iW +9 &N+\ gX +9 &P_+\ gX +10 &R ,\ gX +9 &S)\ fX +10 &U)\ gX +9 &We)\ gX +9 &Y()\ hX +10 &Z)\ fX +9 &\\,\ eY +9 &^1gp)\ m- +10 &^a)\ o8 +9 ( + &^"-\ w2 +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&:% +4 "core" %   I ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +91 "core" ' + "processing"% & +5 "core" &^")\ u2 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&R% +3 "core" %     +2 "storage"(o% +5 "core" % M\ s + "storage"(a. +3 "core" .(<- +2 "storage"(~& +3 "core" &<. [\ s +3 "storage"(Z& +2 "manipulator"&r& +6 "core" &<. \ s +2 &   \ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&n( +4 ."raiseStack"SE.seek :beamBreak + "storage"(f'r +4 "core" ( +2 "manipulator"&G& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &   B +3 .tForearm.seek PC +2 "manipulator"&e' +92 "core" ' +2 .tHand.close + "manipulator"&V/ +70 "core" / +2 .tPC.seek :open +2 "processing"%F( +80 "core" ' +2 "storage"(d- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'1 +55 "core" ' +312 ( +2 "storage"(T& +4 "core" &<, 0\ w + "manipulator"&w& +4 "core" &  +2 "manipulator"&x% +3 "core" %     . +3 .tForearm.seek :retract +2 "manipulator"&z' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&i( +239 "core" ( + "manipulator"&s& +4 "core" &    3 +2 "storage"(l& +4 "core" &<, Y\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&='O +94 "core" ' +2 .tHand.open + "manipulator"&\ 1 +61 "core" 1 +2 "storage"(|- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(H& +3 "core" &<, M\ . +2 "manipulator"&U& +4 "core" &   3 +2 .tElbow.seek 5 +46 "manipulator"& ( +8 "core" ( +2 "manipulator"&& +4 "core" &   3 +2 "storage"(?& +3 "core" &<, o\ , +3 .tForearm.seek 5 + 450 counts + "manipulator"&y'O +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(t'" +51 "core" ' + "manipulator"&[& +5 "core" &  3 + "storage"(K& +5 "core" &<, j\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 "manipulator"&% +3 "core" %Ι   y +2 "storage"(}& +5 "core" &<, \ o + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&' +25 "core" ' +2 "manipulator"&S& +3 "core" &    1 +3 "storage"(u& +3 "core" &<, \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +23 "core" ' +2 "storage"('% +3 "core" % _\ x +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (7% +3 "core" %PN *\ n[t +2 "manipulator"& % +5 "core" %K   n z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +92 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (2& +2 "core" &<, \ x +3 "collection"';& +4 "core" &\\x\ \ l\ \\ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&1% +3 "core" %    +3 "storage"(% +4 "core" % \ z + "storage"(8. +3 "core" .(<- +2 "storage"((& +4 "core" &<, z\ z +2 "storage"(& +4 "core" &<, <\ z + "manipulator"&& +4 "core" &   " 1 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&J& +3 "core" &   1 +3 "storage"(j& +4 "core" &<, U\ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' + "storage"(I& +4 "core" &<, ] ;\ ~ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" &  1 +2 "storage"(4& +4 "core" &<, b\ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&]'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(5- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(E's +27 "core" ' +2 "manipulator"&% +3 "core" %Π   _ +2 "storage"(O& +5 "core" &<, y\ y + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&*& +3 "core" &   N 1 +2 "storage"( & +5 "core" &<, \ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(X' +36 "core" ' +2 "manipulator"&q& +3 "core" &  6 1 +2 "manipulator"&\\% +5 "core" %Q   ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +41 "manipulator"&A' +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( +2 "manipulator"&p& +4 "core" &y. 2 < ( E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &z. ,   E~ +3 .tForearm.seek CC +2 "manipulator"&#'? +93 "core" ' + .tHand.close +2 "manipulator"&9/ +61 "core" / +2 .tCC.seek :open + "collection"'0( +451 "core" ( + "storage"(3& +4 "core" &<, :\ +2 "storage"(B& +4 "core" &<, .\ +2 "manipulator"&$& +4 "core" &ӯ%   \\ >I +2 "manipulator"&c% +3 "core" % E   c / +3 .tForearm.seek :retract + "manipulator"&v' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&-( +166 "core" ( +2 "manipulator"&"& +3 "core" &   "  +2 "storage"(Q& +4 "core" &<, 6\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&/'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +53 "core" 1 +2 "manipulator"&_% +5 "core" % Ρ   + "storage"(& +5 "core" &<, Z\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&P' +14 "core" ' + "manipulator"&Y& +5 "core" &   + "storage"(&& +4 "core" &<, @\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&+'O +16 "core" ' + "storage"(%% +5 "core" %\ +2 ."downElevator"SE.seek :down +3 "storage"(!' +99 (% +3 "core" %sD \ Yj +2 "manipulator"&W% +3 "core" %I  0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'<& +3 "core" & j\ +2 "manipulator"&>% +4 "core" %     +3 "storage"(`% +4 "core" % $ \  + "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"()(K +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K *\ +2 "manipulator"&:& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&R& +5 "core" &     + "storage"(o& +4 "core" &K x\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&a' +94 "core" ' + "storage"(~& +4 "core" &K  J\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +309 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K 0\ +2 "manipulator"&G& +3 "core" & 3  +3 .tElbow.seek 6 + "manipulator"&k( +4 "core" ( +2 "manipulator"&C& +3 "core" & K  +2 "storage"(V& +5 "core" &K Y\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&d'h +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +54 "core" / +50 ."downElevator"SE.seek :down +5 "manipulator"&N& + "storage"(b' +7 "core" & d  +2 "manipulator"&f% +3 "core" % _ Q p +3 .tForearm.seek :retract +2 "manipulator"&T' +98 "core" ' +2 .tElbow.seek CC + "manipulator"&w(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&x& +4 "core" &ӝ  6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &ӝ \  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&s'? +97 "core" ' +2 "manipulator"&l& +3 "core" &ӝ  % $ 6 +3 "manipulator"&n% +3 "core" %F   +3 "collection"'\ & +3 "core" & ~\ +3 "collection"'|& +5 "core" & <\ +2 .tCC.seek :closed +2 "collection"'h(\\ +5 "core" & y\  +8 &2u \ *z +9 &d{ \ > +10 &k \ N +9 &GO }\ M +9 & S }\ M +10 &N \ M +9 &N \ L +9 &ON s\ M +10 &T w\ M +9 &N y\ M +10 & N x\ M +9 &"XO {\ L +9 &$O z\ L +10 &%P w\ M +9 &'R p\ M +9 &)_M t\ M +10 &+!N o\ M +9 &,N w\ M +10 &.O n\ M +9 &0gS k\ M +9 &2(R o\ M +10 &3P o\ L +9 &5O m\ M +9 &7oN s\ M +10 &92P m\ L +9 &:O o\ M +10 &<R n\ M +9 &>wO o\ M +9 &@9P j\ M +10 &AU k\ M +9 &CY\ \ n\ M +9 &Eyb\ \ k\ O +10 &G6j\ \ o\ P +9 &H\ \ o\ T +10 &J\ *\ %o\ X +9 &La\ ,\ +n\ Z +9 &N!\ &\ (o\ Z +10 &O\ %\ %l\ [ +9 &Q\ !\ !o\ [ +9 &Sd\ \ "n\ [ +10 &U"\ \ j\ ] +9 &V\ \ j\ ] +10 &X\ \ m\ _ +9 &Zb\ \ x\ _ +9 &\\z\ \ k\ : +10 &\\&\ \ k\ )x +9 &\\{\ \ n\ \\ +2 ( +2 "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&H1 +60 "core" 1 +2 "manipulator"&U% +3 "core" % F   C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +3 "core" &>\ { +2 "manipulator"&?% +5 "core" % \  7  + "storage"([% +4 "core" % \ { +2 "storage"(K. +3 "core" .(K +2 "storage"(m& +4 "core" &K \ { +2 "storage"(& +3 "core" &K \ { +3 "manipulator"&& +4 "core" &ӥ  5 + "manipulator"&}% +4 "core" % \    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&S( +161 "core" ( + "manipulator"&u& +3 "core" &  g  +3 "storage"('& +3 "core" &K a a x\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&i' +93 "core" ' +2 "storage"(=& +3 "core" &K o o \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( & +2 "core" &K g\ u +3 "manipulator"&y& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&t& +4 "core" &   "  +2 "storage"(& +4 "core" &K U\ y +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&;& + "storage"(1' +8 "core" &     + "manipulator"&% +4 "core" % w   " +2 .tForearm.seek :retract +2 "manipulator"&8' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&(& +5 "core" &   ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  6 ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +3 "manipulator"&' +91 "core" ' +2 "manipulator"&J& +4 "core" &    ( +2 "manipulator"&j% +5 "core" %   % i +2 "processing"%& +3 "core" &G\ +3 "processing"%I& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +4 "core" &8\  +8 &0v>\ p*y +10 &aw@\ m> +9 &emA\ mP +10 &$Q;\ tP +9 &M@\ uP +9 &L9\ uP +10 &kN7\ sP +9 &-O7\ tP +9 &N6\ tP +10 &O6\ tP +9 & rO4\ tP +10 &"4N6\ sP +9 &#O7\ tP +9 &%N=\ tP +10 &'yO8\ tQ +9 &)=O3\ tP +9 &*N5\ tP +10 &,O?\ tP +9 &.M;\ tP +10 &0DN;\ tP +9 &2L@\ tP +9 &3N9\ tP +10 &5L8\ tP +9 &7MN9\ tP +9 &9P;\ sP +10 &:Q:\ tP +9 &<L3\ tP +10 &>SR4\ sQ +9 &@Q;\ tQ +9 &AR7\ tQ +10 &CY7\ qQ +9 &EX]6\ qR +9 &Gg4\ pS +10 &Hu5\ mU +9 &J<\ jW +10 &LQ8\ jW +9 &N7\ kW +9 &O4\ jW +10 &Q7\ gX +9 &SW7\ jX +9 &U0\ hX +10 &V)\ iW +9 &X.\ hX +10 &Z]6\ gX +9 &\\ /\ hX +9 &]}2\ k7 +10 &^)`*\ p ^ +9 &^+(\ w5 +2 ( +2 "processing"%I& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&M1 +52 "core" 1 + "manipulator"&{% +5 "core" %   j i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 "processing"%6& +4 "core" &^&+\ s5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&4% +3 "core" %    h  +2 "storage"(5% +4 "core" % \\\ s +2 "storage"(. +4 "core" .(K + "storage"(O& +4 "core" &K f\ t +2 "storage"(*& +3 "manipulator"& & +8 "core" &K j\ t + &   ( +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&q( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(\\'r +2 "core" ( +3 "manipulator"&& +4 "core" &   J ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & ' ( +2 .tForearm.seek PC +2 "manipulator"&D' +92 "core" ' +2 .tHand.close + "manipulator"&]/ +69 "core" / +2 .tPC.seek :open +2 "processing"%( +85 "core" ' +2 "storage"(E- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'1 +55 "core" ' +307 ( +2 "storage"(g& +4 "core" &K 9\ y +2 "manipulator"&.& +3 "core" &   = ( +3 "manipulator"&^% +4 "core" %  U J +2 .tForearm.seek :retract + "manipulator"&9' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&A( +244 "core" ( + "manipulator"&& +4 "core" &   3 " +2 "storage"(3& +3 "core" &K 6\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +94 "core" ' + .tHand.open +2 "manipulator"&$1 +61 "core" 1 +2 "storage"(c- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(#- +3 "core" -' +2 "storage"(& +3 "core" &K   P\ 2 +2 "manipulator"&L& +5 "core" &   ! +2 .tElbow.seek 6 + "manipulator"&_( +4 "core" ( + "manipulator"&& +5 "core" &   ! + "storage"(Y& +4 "core" &K  \ 1 +3 .tForearm.seek 6 + 450 counts + "manipulator"&&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +51 .tSE.seek -0.51 Pucks below Top Plate + "storage"(%'" +50 "core" ' + "manipulator"&v& +4 "core" &   C ! +2 "storage"(& +4 "core" &K _\ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&W'< +25 "core" ' +2 .tElbow.hold + "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(/' +26 "core" ' +2 "manipulator"&<% +4 "core" %F   + "storage"(P& +5 "core" &K [\ u + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&>'r +14 "core" ' +2 "manipulator"&`& +3 "core" & ! +3 "storage"(& +4 "core" &K \  i\ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +15 "core" ' +2 "storage"(+% +3 "core" %\ \  \ } +3 ."downElevator"SE.seek :down +3 "storage"(!' +100 (% +3 "core" %L q\ qZq +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +88 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (R& +4 "core" &K e\ { +2 "collection"'o& +4 "core" &\\y\ \ !\ \\ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&~% +5 "core" %    Q  +2 "storage"(,% +3 "core" %\ \  f\ } +2 "storage"( . +4 "core" .(K + "storage"(r& +4 "core" &K\ \ *\ } +2 "storage"(& +3 "core" &K\ \  a\ } +3 "manipulator"&G& +3 "core" &  ! +2 .tElbow.seek 6 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&V& +3 "core" &   z ! +2 "storage"(@& +4 "core" &K Q\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&N' +95 "core" ' + "storage"(f& +5 "core" &K [ o P\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"( 'r +299 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" &   ! +2 "storage"(e& +3 "core" &K 8\ z +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Z'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(n'i +29 "core" ' +2 "manipulator"&\ % +4 "core" %F   B + "storage"(k& +4 "core" &K K\ y +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&b'r +13 "core" ' + "manipulator"&T& +4 "core" &    ! +2 "storage"(0& +3 "core" &K\ \  Q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(U' +36 "core" ' +2 "manipulator"&& +3 "core" &  k ! +3 "manipulator"&?% +4 "core" %  # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +160 "core" ( +2 "manipulator"&|& +3 "core" &Ӧ   z 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &Ӧ   7 +3 .tForearm.seek CC +42 "manipulator"&'? +103 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'}( +447 "core" ( +2 "storage"(s& +3 "core" &K \ +2 "storage"(u& +4 "core" &K v\ +2 "manipulator"&'& +4 "core" &ӧ  | 7 +2 "manipulator"&=% +4 "core" % H   z +3 .tForearm.seek :retract + "manipulator"&w' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&z( +163 "core" ( +2 "manipulator"&7& +4 "core" &   8  +2 "storage"( & +3 "core" &K \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&y'< +101 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&2% +3 "core" % K    +2 "storage"(;& +5 "core" &K \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&'w +14 "core" ' +2 "manipulator"&S& +3 "core" &  +2 "storage"(i& +4 "core" &K !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"(% +3 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"((' +100 (% +3 "core" %g? \ Xi +2 "manipulator"& % +3 "core" % m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'j& +3 "core" & 7\ +2 "manipulator"&% +5 "core" %   \   + "storage"(1% +5 "core" % \\\  + "storage"(8. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(F([ +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &[ 5\ +2 "manipulator"&{& +3 "core" &    +3 .tElbow.seek 7 + "manipulator"&6(r +37 "core" ( + "manipulator"&4& +4 "core" &    +2 "storage"(5& +3 "core" &[ =\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +94 "core" ' + "storage"(O& +3 "core" &[\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &[ \ +3 "manipulator"&& +3 "core" &    +3 .tElbow.seek 7 +2 "manipulator"&(r +22 "core" ( +2 "manipulator"&& +4 "core" &|   l + "storage"(]& +4 "core" &[ \ +3 .tForearm.seek 7 + 300 counts + "manipulator"&E'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +8 "core" &| B l + "manipulator"&\\% +5 "core" % ϣ ; +2 .tForearm.seek :retract + "manipulator"&g' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.(ӂ +152 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +52 "core" ( +2 "manipulator"&^& +4 "core" &ӏ   Z 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &ӏ   8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&3& +5 "core" &ӏ   + 8 + "manipulator"&q% +5 "core" %G   X +2 "collection"'$& +3 "core" & \ +3 "collection"'c& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'#(\\ +5 "core" & x\ +7 &> y\ %g +9 &Xu |\ 8 +10 &q |\ L +9 &N \ M +10 &N \ M +9 &HR F\ M +9 &\ R |\ M +10 &P |\ M +9 &L \ L +9 &PO v\ M +10 & P y\ M +9 &!N w\ M +10 &#S x\ M +9 &%XO w\ M +9 &'M x\ L +10 &(O w\ L +9 &*O u\ L +9 &,`R w\ M +10 &.!Q u\ M +9 &/O k\ L +10 &1S k\ M +9 &3hN p\ M +9 &5*R l\ M +10 &6R m\ M +9 &8R y\ M +9 &:pR \ M +10 &<2Q \ M +9 &=N \ M +10 &?O p\ M +9 &AxO \ w\ M +9 &C9T ~\ M +10 &D_\ \ v\ N +9 &Fd\ \ u\ O +9 &Ho}\ \ \ R +10 &J&\ '\ \ V +9 &K\ *\ +}\ Y +10 &M\ )\ )|\ Y +9 &Oa\ %\ $\ Z +9 &Q"\ #\ #x\ Z +10 &R\ "\ !x\ [\ +9 &T\ \ u\ \\ +9 &Vc\ \ \ \\ +10 &X!\ \ {\ ] +9 &Y\ \ {\ ^ +10 &[\ \ \ K +9 &\\6\ \ \ / +9 &\\k\ \ {\ N +3 ( + "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&L% +5 "core" % G   M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%Y& +3 "core" &?\ { +2 "manipulator"&9% +5 "core" %     + "storage"(v% +4 "core" % \ { +2 "storage"(. +3 "core" .([ +2 "storage"(p& +3 "core" &[ \ { +2 "storage"("& +5 "core" &[ \ { + "manipulator"&<& +4 "core" &Ө   5 +2 "manipulator"&P% +3 "core" %    ~  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&`(r +163 "core" ( +2 "manipulator"&& +3 "core" &s   `  +2 "storage"(+& +4 "core" &[ l a t\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&A'= +96 "core" ' + "storage"(B& +4 "core" &[ x &\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +301 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ Y e 5\ +2 "manipulator"&&& +3 "core" &s   +3 .tElbow.seek 7 + "manipulator"&_(r +4 "core" ( +2 "manipulator"&%& +4 "core" &s    + "storage"(W& +4 "core" &[ n k \ +3 .tForearm.seek 7 + 300 counts + "manipulator"&>'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +4 "storage"(~' +4 "core" &s    +3 "manipulator"&,% +4 "core" % Ϯ  +2 .tForearm.seek :retract +2 "manipulator"&/' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&r& +3 "core" & \   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +99 "core" ' +2 "manipulator"&V& +3 "core" &   g  +3 "manipulator"&@% +3 "core" %   H +3 "processing"%X& +4 "core" &E\ +2 "processing"%f& +5 "core" &\ +52 .tPC.seek :closed +5 "processing"%!(^ +2 "core" &E\  +2 &A\  + &?\  +2 &A\  + &G\  + &=\ + &=\ 5 +6 &<Gs8\ l0 +10 &^ny:\ lE +9 &\\7\ qQ +9 &P5\ tP +10 &zN4\ tP +9 &<N-\ tP +10 &N2\ tP +9 &K2\ tP +9 &O9\ tP +10 &DQ?\ sP +9 &!N9\ tP +9 &"O=\ sP +10 &$Q;\ sP +9 &&MO:\ tP +10 &( O5\ tQ +9 &)N7\ uP +9 &+O7\ tQ +10 &-UO7\ tP +9 &/O8\ sP +9 &0N7\ tP +10 &2O;\ tP +9 &4]L5\ sP +9 &6O8\ sP +10 &7N4\ sP +9 &9Q4\ sP +10 &;dR=\ sP +9 &=&M8\ tP +9 &>O:\ sQ +10 &@Q8\ rQ +9 &BjY8\ qQ +9 &D)]5\ pR +11 &Eb7\ pS +8 &Go4\ mT +10 &Ic6\ jV +9 &K#}5\ kW +9 &L6\ jV +10 &N)\ iX +9 &Pg*\ iX +10 &R)+\ gX +9 &S2\ fX +9 &U+\ hX +10 &Wm)\ hX +9 &Y0)\ hX +9 &Z)\ gX +10 &\\*\ fY +9 &^/`n(\ n6 +9 &^=)\ t* +6 ( +2 "processing"%f& +3 "core" &^%\ x* +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&-1 +56 "core" 1 + "manipulator"&:% +5 "core" %    C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +98 "core" ' +2 "processing"%x& +3 "core" &^(\ w* +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&e% +4 "core" % %  { = +2 "storage"(l% +4 "core" % #\ x +2 "storage"(\ . +3 "core" .([ +2 "storage"(k& +3 "core" &[ O\ w +3 "storage"(T& +2 "manipulator"&0& +7 "core" &[ L\ w +2 &   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +7 ."raiseStack"SE.seek :beamBreak + "storage"(?'r +3 "core" ( +2 "manipulator"&N& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &  x  +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 .tHand.close + "manipulator"&Z/ +75 "core" / +2 .tPC.seek :open + "processing"%b( +77 "core" ' +2 "storage"(n- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'1 +41 "core" ' +326 ( +2 "storage"(m& +4 "core" &[ b a v\ +2 "manipulator"&H& +3 "core" &   +2 "manipulator"&d% +4 "core" %    0 +3 .tForearm.seek :retract + "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&[(r +251 "core" ( +2 "manipulator"&h& +3 "core" &y   ( U +2 "storage"(s& +4 "core" &[ o o \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&u'= +91 "core" ' + .tHand.open +2 "manipulator"&'1 +57 "core" 1 +2 "storage"(=- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(7' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(K& +3 "core" &[ i\ 0 +2 "manipulator"&& +5 "core" &y   U + .tElbow.seek 7 +2 "manipulator"&2(r +4 "core" ( + "manipulator"&;& +5 "core" &y  v U + "storage"(S& +4 "core" &[\ 0 +3 .tForearm.seek 7 + 450 counts + "manipulator"&i'= +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' +2 "manipulator"&w& +3 "core" &y  \ * U +2 "storage"(& +5 "core" &[ ^\ z + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +41 "manipulator"& '{ +36 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +25 "core" ' +2 "manipulator"&j% +3 "core" %p  + ?  +2 "storage"(& +4 "core" &[ i\ p +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 289 counts + "manipulator"&'Ϝ +14 "core" ' +2 "manipulator"&1& +3 "core" &   . +2 "storage"(8& +5 "core" &[\  \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'= +18 "core" ' +2 "storage"(% +4 "core" % W e \ +2 ."downElevator"SE.seek :down +4 "storage"((' +99 ()% +3 "core" %J b\ sZr +3 "manipulator"&M% +3 "core" %0   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (4& +4 "core" &[ \ \ z +2 "collection"'5& +4 "core" &\\l\ \ }\ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&O% +5 "core" %      + "storage"(t% +4 "core" %\ \  W\ } +2 "storage"(J. +3 "core" .([ +2 "storage"(*& +3 "core" &[\ \  ?\ } +3 "storage"(I& +4 "core" &[\ \  ?\ } + "manipulator"&& +5 "core" &  $ . +2 .tElbow.seek 7 + "manipulator"&(r +18 "core" ( +2 "manipulator"&]& +3 "core" &s   B  +3 "storage"(& +3 "core" &[\ \  4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +94 "core" ' +2 "storage"(\\& +3 "core" &[ p s (\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &s   q  +2 "storage"(E& +4 "core" &[ ?\ | +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&^'{ +25 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(3'n +34 "core" ' +2 "manipulator"&q% +3 "core" %Ώ  -  +2 "storage"($& +4 "core" &[ \ q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&'ϻ +13 "core" ' +2 "manipulator"&g& +3 "core" &s   T  +2 "storage"(}& +4 "core" &[ \  M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(L' +49 "core" ' + "manipulator"&Y& +4 "core" &s j  +2 "manipulator"&9% +4 "core" %C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +160 "core" ( +2 "manipulator"&p& +3 "core" &ӎ$   Y =F +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &ӎ$   8 =F +3 .tForearm.seek CC + "manipulator"&"'? +96 "core" ' +2 .tHand.close + "manipulator"&% +4 "core" %  3\ +2 ."downElevator"SE.seek :down +4 "storage"(r' +99 (% +3 "core" %C A\ Xi +2 "manipulator"&_% +4 "core" %@   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'@& +4 "core" & \ +2 "manipulator"&X% +4 "core" %      +2 "storage"(~% +4 "core" % H\  +2 "storage"(/. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +3 "core" &K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӌ%   >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek CC +3 "manipulator"&h'? +100 "core" ' +3 "manipulator"&s& +3 "core" &ӌ%   >K +2 "manipulator"&% +5 "core" %G   Y  +2 "collection"''& +3 "core" & \ +3 "collection"'=& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & \ +6 & \ : +9 &GJt \ 1 +10 &yty \ E +9 &W \ N +9 &O \ M +10 &P \ M +9 &hR \ M +9 &,N \ L +10 &N \ M +9 &R \ M +10 &rP \ L +9 &!3P \ M +9 &"M \ M +10 &$O \ L +9 &&yP \ M +9 &(;N \ M +10 &)N \ M +9 &+Q \ M +10 &-O \ L +9 &/CO \ M +9 &1O \ L +10 &2O \ M +9 &4O \ L +9 &6JQ \ M +10 &8 O \ M +9 &9N \ M +10 &;O \ M +9 &=SN \ M +9 &?P \ M +10 &@P \ M +9 &BR\ >\ M +9 &DW[\  D\ N +10 &Fb\ \ \ O +9 &Gp\ \ \ \ Q +10 &I\ "\ \ U +9 &K>\ )\ *\ Y +9 &L\ &\ )\ Z +10 &N\ $\ %\ Z +9 &P~\ \ "\ [ +9 &R@\ \ h\ [ +10 &T\ \ \ \\ +9 &U\ \ \ \\ +9 &W\ \ g\ ] +10 &Y>\ \ ~\ _ +9 &[\ \ \ _ +10 &\\_M\ \ y\ 6 +9 &\\\ \ j\ X +5 ( +2 "collection"'=& +4 "core" &\\\ \ k\ X +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&K1 +61 "core" 1 + "manipulator"&% +4 "core" % G   =  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%S& +4 "core" &\ s +2 "manipulator"&% +3 "core" % "   g ( +3 "storage"(w% +3 "core" % \ t +2 "storage"(. +3 "core" .(<- +2 "storage"(|& +4 "core" &<. `\ s +2 "storage"(7& +3 "core" &<. \ t +3 "manipulator"&j& +4 "core" &Ӱ  N 9' +2 "manipulator"&% +4 "core" % "  \ = ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&1( +162 "core" ( +2 "manipulator"&8& +3 "core" &   M  +3 "storage"([& +3 "core" &<. \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +101 "core" ' +2 "storage"(u& +3 "core" &<. \  8\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &<. \ u +2 "manipulator"&i& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&& +3 "core" &   3  +2 "storage"( & +5 "core" &<. O\ x +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +5 "storage"(O' +6 "core" &   2  + "manipulator"&t% +5 "core" % Ϯ   +2 .tForearm.seek :retract + "manipulator"&y' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&*& +3 "core" &   m  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &   (  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +106 "core" ' +2 "manipulator"&]& +3 "core" & \  H  +3 "manipulator"&% +3 "core" % \  ' +2 "processing"%U& +5 "core" &\  +2 "processing"%\\& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%((^ +5 "core" &\ ~ +8 &2u\ o*y +9 &bv\ l> +10 &dk\ mP +9 &#O\ rP +10 &N\ sP +9 &N4\ uP +9 &iOD\ sP +10 &+O\ uP +9 &N\ uP +9 &N.\ tP +10 & rP\ tP +9 &"5N\ uP +10 &#O\ tP +9 &%N\ tP +9 &'{O8\ tP +57 &)<O7\ tP +6 &*NB\ qP + &,P>\ rP + &.N<\ rP +2 &0CNH\ qP + &2LK\ rP + &3M7\ rP +6 &5L\ tP +10 &7LN/\ tP +9 &9O2\ sP +9 &:PC\ tP +10 &<PH\ tQ +9 &>SR8\ rP +10 &@N\ tP +9 &AX\ rQ +9 &C_\ qR +10 &EUb\ pR +9 &Gj\ oT +9 &H~2\ kV +10 &J~\ kW +9 &LQ\ jV +11 &NA\ gX +10 &OF\ hX +9 &QL\ fX +8 &SV5\ hX +9 &UG\ hX +9 &VJ\ iX +10 &X;\ hX +9 &Z]H\ hX +10 &\\I\ hX +9 &]yJ\ k5 +9 &^3l:\ nF +9 ( +3 "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&z1 +2 "core" &^E\ y/ +53 1 + "manipulator"&{% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"% & +4 "core" &^\ t/ +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&E% +4 "core" % #   Q / +2 "storage"(% +4 "core" % [\ r +2 "storage"(q. +3 "core" .(<- +2 "storage"($& +3 "core" &<. \ s +3 "storage"(g& +2 "manipulator"&}& +5 "core" &<. \ s +2 &   +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&Y( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'r +3 "core" ( +2 "manipulator"&& +3 "core" &   X  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 4 ( C  +2 .tForearm.seek PC +2 "manipulator"&6' +97 "core" ' +2 .tHand.close + "manipulator"&^/ +66 "core" / +3 .tPC.seek :open +2 "processing"%( +82 "core" ' +2 "storage"(3- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'1 +47 "core" ' +313 ( +2 "storage"(c& +3 "core" &<, M\ v +3 "manipulator"&& +4 "core" &  \   + "manipulator"&D% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&<' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&v( +244 "core" ( + "manipulator"&#& +4 "core" &   A & +2 "storage"(& +4 "core" &<, \ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +103 "core" ' +2 .tHand.open + "manipulator"&+1 +54 "core" 1 +2 "storage"(B- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(& +3 "core" &<, X\ * +2 "manipulator"&W& +5 "core" &   & + .tElbow.seek 5 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&o& +3 "core" &   & +2 "storage"(`& +5 "core" &<, \ , +2 .tForearm.seek 5 + 450 counts + "manipulator"&A'O +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(>'" +58 "core" ' + "manipulator"&.& +4 "core" &   & +2 "storage"(& +4 "core" &<, d\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&_'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(&' +25 "core" ' +2 "manipulator"&@% +48 "core" %Δ & +4 "storage"(X& +5 "core" &<, \ v +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&,' +24 "core" ' +2 "manipulator"&~& +4 "core" &    % +2 "storage"(/& +3 "core" &<, \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +26 "core" ' +2 "storage"(Q% +4 "core" % |\ z +2 ."downElevator"SE.seek :down +4 "storage"(r' +99 (F% +2 "core" %I M\ pZr +3 "manipulator"&-% +3 "core" %C  4 | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +96 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (e& +3 "core" &<, L\ | +2 "collection"'l& +3 "core" &\\\ \ z\ X +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&k% +3 "core" %   +3 "storage"(%% +3 "core" %\ \  ^\ ~ +2 "storage"(V. +3 "core" .(<- +2 "storage"(0& +4 "core" &<,\ \  C\ ~ +2 "storage"(T& +3 "core" &<,\  "\ } +3 "manipulator"&N& +4 "core" &   % +2 .tElbow.seek 5 + "manipulator"&G( +4 "core" ( +2 "manipulator"&Z& +3 "core" &   * % +3 "storage"( & +4 "core" &<,\ \  A\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +88 "core" ' +2 "storage"(?& +3 "core" &<, b k \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +297 "core" ' +2 "storage"(\ - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" &    % +2 "storage"( & +4 "core" &<, D\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&f'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(C- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(s's +29 "core" ' + "manipulator"&% +5 "core" %Ί    +2 "storage"('& +4 "core" &<, \ y + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 297 counts +2 "manipulator"&!'϶ +14 "core" ' +2 "manipulator"&m& +3 "core" &  A % +2 "storage"(P& +3 "core" &<,\  [\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +14 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&S& +4 "core" &  \ * % +2 "manipulator"&% +4 "core" %:   " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&=& +4 "core" &Ӑ"   m ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &Ӑ"   ;7 +3 .tForearm.seek CC +2 "manipulator"&7'? +95 "core" ' +2 .tHand.close + "manipulator"&j/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(h& +5 "core" &<, e\ + "storage"(8& +4 "core" &<, \ +2 "manipulator"&[& +3 "core" &ө   8 +3 "manipulator"&u% +4 "core" % P    +2 .tForearm.seek :retract + "manipulator"&H' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +42 "manipulator"&;( +170 "core" ( +2 "manipulator"&)& +3 "core" &   4  +3 "storage"(M& +3 "core" &<, @\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&i'΍ +97 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +62 "core" 1 +4 "manipulator"&4% +4 "core" % Ώ   + "storage"(5& +4 "core" &<, \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 302 counts + "manipulator"&t'ϻ +14 "core" ' +2 "manipulator"&1& +3 "core" & \  +2 "storage"(& +4 "core" &<, 9\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +15 "core" ' + "storage"(% +5 "core" % k\ +2 ."downElevator"SE.seek :down +4 "storage"(*' +98 (I% +3 "core" %|? S\ Yk +2 "manipulator"&2% +5 "core" %@ 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & \ +3 "manipulator"&U% +4 "core" %   \   +2 "storage"(O% +3 "core" % 1\  +2 "storage"(y. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(b(K +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (z& +2 "core" &K 6\  +2 "manipulator"&{& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&E& +3 "core" &     +2 "storage"(& +5 "core" &K \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&q' +96 "core" ' +2 "storage"($& +4 "core" &K   \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'r +295 "core" ' + "storage"(g- +4 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" &K o\  +2 "manipulator"&& +4 "core" & 9  +2 .tElbow.seek 6 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +4 "core" & Q  +2 "storage"(^& +3 "core" &K \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&3'h +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"((' +9 "core" & G  + "manipulator"&9% +5 "core" % ψ  +2 .tForearm.seek :retract + "manipulator"&c' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&D& +4 "core" &ӓ"   ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &ӓ"   D ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'? +100 "core" ' +2 "manipulator"&& +3 "core" &Ӕ!   :1 +2 "manipulator"&Y% +5 "core" %A   + "collection"'+& +5 "core" & \ +2 "collection"'B& +6 "core" & \ +2 .tCC.seek :closed +52 "collection"'"(\\ +5 "core" & \ + & \ + & \ + & \ +2 & \ + & \ + & \ ; +6 &KHr \ 1 +10 &|tx \ E +9 &#W \ N +9 &R \ M +10 &P \ L +9 &mO \ L +10 &/N \ L +9 &O \ L +9 &O \ M +10 &tR \ M +9 &!6R \ M +9 &"R \ M +10 &$R \ M +9 &&|R \ M +10 &(>Q \ M +9 &*Q \ M +9 &+Q \ M +10 &-R \ M +9 &/FN \ M +9 &1 P \ L +10 &2P \ M +9 &4S \ M +9 &6NO \ M +10 &8S \ M +9 &9O \ M +10 &;O \ L +9 &=VP \ M +9 &?S \ M +10 &@Q \ M +9 &BV \ M +9 &D[Y\ \ \ N +10 &Fc\ \ \ O +9 &Gr\ \ \ Q +10 &I\ \ \ U +9 &KC\ )\ )\ Y +9 &M\ )\ +\ Z +10 &N\ %\ &\ Y +9 &P\ #\ %\ [ +9 &RE\ \ !\ [ +10 &T\ \ \ \\ +9 &U\ \ \ \\ +10 &W\ \ \ ] +9 &YD\ \ ;\ ^ +9 &[\ \ t\ ^ +10 &\\bN\ \ S\ 7 +9 &\\ \ \ }\ ] +6 ( +3 "collection"'B& +3 "core" &\\\ \ \ ] +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&W% +3 "core" % A   < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%`& +4 "core" &\ s +2 "manipulator"&<% +4 "core" % !  V ' +2 "storage"(.% +4 "core" % L\ t +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(@(K +2 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" &K \\ ] &\ f +2 "manipulator"&& +3 "core" &Ӯ   7 +2 "manipulator"&X% +5 "core" % ! 9 ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&~( +162 "core" ( +2 "manipulator"&/& +3 "core" &    +2 "storage"(v& +5 "core" &K \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +3 "storage"(Q& +4 "core" &K t \ } +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &K r\ u +2 "manipulator"&-& +4 "core" &   <  +2 .tElbow.seek 6 +2 "manipulator"&R( +4 "core" ( + "manipulator"&>& +4 "core" &  \ 5  +2 "storage"(_& +3 "core" &K 1\ w +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&,'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&l& + "storage"(k' +8 "core" &   3  + "manipulator"&%% +5 "core" % l  +2 .tForearm.seek :retract + "manipulator"&V' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&0& +3 "core" &   \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +3 "core" & \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&N' +93 "core" ' + "manipulator"&Z& +5 "core" &   @ \ + "manipulator"& % +4 "core" %   g > +3 "processing"%L& +4 "core" &\ { +2 "processing"%?& +5 "core" &\ | +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &\ | +9 &/r\ m*y +9 &by\ i? +9 &dl\ jP +10 &%I\ rP +9 &M\ pP +9 &L\ qP +10 &jN\ pP +9 &,O\ oP +10 &O\ pP +9 &Q\ pP +9 & rO\ pP +10 &"4N\ pP +9 &#K\ qP +9 &%M\ pP +10 &'zO\ pP +9 &)<Q\ pP +10 &*O\ pP +9 &,N\ pP +9 &.N\ qP +10 &0EK\ qP +9 &2L\ qP +9 &3M\ qP +10 &5L\ qP +9 &7MN\ qP +10 &9PA\ pP +9 &:Q8\ pQ +9 &<OI\ pQ +10 &>SQB\ pQ +9 &@PI\ oQ +9 &AO\ pP +10 &C[C\ mR +9 &EW_8\ mR +56 &Gg\ lS +6 &Hs\ gU +3 &J2\ dW + &LQ \ dW + &N\ cX + &O\ dW + &Q\ bX +6 &SV\ cX +10 &U\ eX +9 &V\ fX +9 &X\ \ eX +10 &Z^\ dX +9 &\\\ dX +9 &]w\ h7 +10 &^2h\ kD +8 ( +2 &^\ u0 +2 "processing"%?& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&:% +3 "core" %   4 > +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +3 "processing"%d& +4 "core" &^\ s0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +4 "core" %     +2 "storage"(C% +3 "core" % \ s +2 "storage"(. +4 "core" .(K + "storage"('& +5 "core" &K \ s +2 "storage"(m& +2 "manipulator"&P& +7 "core" &K \ r +2 &   \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&S( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&a& +3 "core" &   k \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +3 "core" &   $ \ +2 .tForearm.seek PC +2 "manipulator"&x' +96 "core" ' +2 .tHand.close + "manipulator"&f/ +66 "core" / +2 .tPC.seek :open + "processing"%!( +87 "core" ' +2 "storage"(s- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='1 +42 "core" ' +318 ( +2 "storage"(|& +3 "core" &K \ u +3 "manipulator"&K& +3 "core" & \  D \ +2 "manipulator"&n% +5 "core" %    D  +2 .tForearm.seek :retract + "manipulator"&j' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&w( +240 "core" ( + "manipulator"&& +4 "core" &   * +2 "storage"(h& +3 "core" &K \ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&8' +95 "core" ' + .tHand.open +2 "manipulator"&[1 +53 "core" 1 +2 "storage"(u- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(7' +33 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"()' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(M- +3 "core" -' +2 "storage"(& +4 "core" &K ' 4 \ 4 +2 "manipulator"& & +3 "core" &   * +2 .tElbow.seek 6 +2 "manipulator"&4( +4 "core" ( +2 "manipulator"&5& +3 "core" &   * +3 "storage"(1& +4 "core" &K  \ 4 +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&H& +4 "core" &   & * +2 "storage"(I& +4 "core" &K "\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&2'< +24 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +20 "core" ' +2 "manipulator"&% +3 "core" %I   +3 "storage"(U& +4 "core" &K \ p +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&t'u +14 "core" ' +47 "manipulator"&O& +6 "core" &   * + "storage"(y& +5 "core" &K \ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"( % +3 "core" % \ y +3 ."downElevator"SE.seek :down +3 "storage"(*' +64 "Can"\ [  +36 "storage"(% +3 "core" %\ N r \ l[u +3 "manipulator"&z% +4 "core" %  \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &K \ x +3 "collection"'& +3 "core" &\\\ \ 8\ ] +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&$% +3 "core" %     +3 "storage"(% +3 "core" % \ z +2 "storage"(]. +4 "core" .(K + "storage"(g& +4 "core" &K \ z +2 "storage"(\\& +4 "core" &K \ y +2 "manipulator"&& +3 "core" &   * +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&^& +4 "core" &   ! * + "storage"(J& +5 "core" &K \ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(9& +3 "core" &K\ \  l\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +294 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&D& +2 "core" &   - * +3 "storage"(6& +4 "core" &K \ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&}'< +18 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Y'i +30 "core" ' +2 "manipulator"&+% +3 "core" %? \  +2 "storage"(& +4 "core" &K N\ x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 303 counts +2 "manipulator"&('k +13 "core" ' +2 "manipulator"&c& +4 "core" &   z * + "storage"(& +5 "core" &K\  .\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(W' +34 "core" ' +2 "manipulator"&`& +4 "core" &   % * +2 "manipulator"&<% +3 "core" %   O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"&B& +5 "core" &ӏ%  >I + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &ӏ%   >I +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&X/ +56 "core" / +2 .tCC.seek :open +2 "collection"'#( +450 "core" ( +2 "storage"(/& +3 "core" &K <\  +2 "storage"(v& +5 "core" &K \  + "manipulator"&b& +4 "core" &Ӫ!   :. +2 "manipulator"&Q% +3 "core" % P  +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&o( +165 "core" ( + "manipulator"&A& +5 "core" &    + "storage"(F& +3 "core" &K \  +3 .tElbow.reconfigure :limp +42 "manipulator"&$ ,(b +10 .tForearm.seek 6 +2 "manipulator"&-'< +94 "core" ' + .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&_1 +63 "core" 1 +3 "manipulator"&e% +3 "core" % N  k 3 +2 "storage"(l& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&%'z +14 "core" ' +2 "manipulator"&~& +3 "core" &  +3 "storage"(& +4 "core" &K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(,% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(0' +99 (T% +2 "core" %eF \ Zm +3 "manipulator"&R% +4 "core" % I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"' & +5 "core" & \ + "manipulator"&L% +4 "core" %    A  +2 "storage"(k% +5 "core" %  "\  + "storage"(V. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ /\ +2 "manipulator"&:& +3 "core" &   :  +3 .tElbow.seek 7 +2 "manipulator"&d(r +34 "core" ( +2 "manipulator"& & +3 "core" &     +2 "storage"(C& +5 "core" &[\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +94 "core" ' +2 "storage"('& +3 "core" &[   \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(?'r +309 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (P& +3 "core" &[ \ \ +2 "manipulator"&a& +3 "core" & J  +2 .tElbow.seek 7 +2 "manipulator"&G(r +25 "core" ( + "manipulator"&N& +3 "core" &o  * b +3 "storage"(f& +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts + "manipulator"&s'ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(r' +9 "core" &o  b + "manipulator"&% +4 "core" % ϱ R +2 .tForearm.seek :retract +2 "manipulator"&|' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&n& +5 "core" &ӑ#   <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +4 "core" &ӑ# * 8 <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&h& +3 "core" &ӑ#    <; +2 "manipulator"&S% +5 "core" %D  \ $ ^ + "collection"'[& +4 "core" & \ +3 "collection"'u& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'M(\\ +4 "core" & \  +9 &4x \ +{ +9 &ey \ ? +10 &j \ N +9 &QO \ M +10 &R \ M +9 &R \ M +9 &Q \ M +10 &YO \ M +9 &N \ M +10 &L \ M +50 & Q \ M +4 &"aR \ M + &$$R \ L + &%P \ L + &'O \ L + &)jN \ L +7 &++R \ M +9 &,Q \ M +10 &.P \ M +9 &0rO \ L +10 &22S \ M +9 &3N \ M +9 &5N \ M +10 &7yN \ M +9 &9;N \ M +10 &:N \ M +9 &<R \ M +9 &>S \ M +10 &@CS \ M +9 &BO \ M +9 &CV\ \ M +10 &Ea\ \ \ O +9 &GBj\ \ \ P +10 &H\ \ \ S +9 &J\ +\ &\ X +9 &Lm\ +\ )\ Y +10 &N,\ %\ '\ Z +9 &O\ "\ #\ Z +9 &Q\ "\ $O\ [ +10 &Sn\ \ !\ [ +9 &U.\ \ |\ \\ +9 &V\ \ \ ] +10 &X\ \ \ ^ +9 &Zl\ \ \ _ +10 &\\z\ \ \ 6 +9 &\\'\ \ \ "f +9 ( + &\\\ \ \ ] +3 "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"& % +4 "core" % D  ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%1& +4 "core" &\ u + "manipulator"&j% +5 "core" % "  8 $ + "storage"(H% +4 "core" % \ v +2 "storage"(I. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +3 "core" &[ h ] \ k +2 "manipulator"&=& +4 "core" &Ӯ   A 8 +2 "manipulator"&O% +3 "core" % !   v $ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&7(r +162 "core" ( +2 "manipulator"&y& +3 "core" &g  6  +2 "storage"( & +4 "core" &[ 3\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&w'= +100 "core" ' +2 "storage"(8& +3 "core" &[ L \\ N\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"()'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &[ \ w +2 "manipulator"&& +4 "core" &g   /  +2 .tElbow.seek 7 +2 "manipulator"&4(r +12 "core" ( + "manipulator"&& +5 "core" &i  + "storage"(2& +5 "core" &[ W\ z +2 .tForearm.seek 7 + 300 counts + "manipulator"&E'ϧ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"($' +8 "core" &i  + "manipulator"&% +5 "core" % ϡ  +2 .tForearm.seek :retract + "manipulator"&]' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&i( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&g& +4 "core" &  1 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &  % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' +2 "manipulator"&^& +4 "core" &   +2 "manipulator"&J% +3 "core" %   +3 "processing"%& +3 "core" &\ +3 "processing"%9& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%*(^ +3 "core" &\ +8 &4\ z$c +9 &Sw\ n7 +10 &|v\ mL +9 &|S\ tQ +10 &@O\ uP +9 &M\ uP +9 &O\ uP +10 &O\ uP +9 &JN\ uO +9 &\ P\ tP +10 &O\ tP +9 &!N\ tP +10 &#PN\ uP +9 &%O\ tP +9 &&Q\ tP +10 &(Q\ tP +9 &*YO\ uP +9 &,P\ tP +10 &-O\ tO +9 &/R\ tP +10 &1bM\ uO +9 &3"O\ tP +9 &4N\ uO +10 &6O\ tP +9 &8iO\ uP +9 &:+O\ uP +10 &;RG\ tP +9 &=Q8\ tP +10 &?oRG\ tP +9 &A0R8\ tQ +9 &B\\H\ sQ +10 &D\\7\ rR +9 &Fpf8\ pS +9 &H.v\ nT +10 &I0\ kV +9 &K\ jV +10 &Ml\ jW +9 &O-\ jW +9 &P\ iX +10 &R\ kW +9 &Tq\ hX +9 &V5\ jW +10 &W\ gW +9 &Y\ hX +10 &[z\ iX +9 &]:\ hT +9 &^{@b\ q%m +10 &^0\ v0 +5 ( +2 "processing"%9& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open +47 "manipulator"&;1 +5 "core" &^ \ x0 +51 1 + "manipulator"&{% +4 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +99 "core" ' +2 "processing"%D& +3 "core" &^\ w0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&6% +3 "core" %    +3 "storage"(% +3 "core" % \ w +2 "storage"(+. +3 "core" .([ +2 "storage"(& +4 "core" &[ ;\ w +2 "storage"(c& +4 "manipulator"&& +5 "core" &[ O\ w + &   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "manipulator"&`( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(<'r +2 "core" ( +3 "manipulator"&& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   +3 .tForearm.seek PC + "manipulator"& ' +92 "core" ' +2 .tHand.close + "manipulator"&}/ +65 "core" / +2 .tPC.seek :open +2 "processing"%(( +88 "core" ' +2 "storage"(Y- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(B'1 +44 "core" ' +315 ( + "storage"(p& +4 "core" &[ ?\ v +2 "manipulator"&& +3 "core" &  ! +2 "manipulator"&3% +5 "core" %    2  +2 .tForearm.seek :retract + "manipulator"&X' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&.(r +249 "core" ( +2 "manipulator"&"& +3 "core" &|    P +2 "storage"(/& +4 "core" &[ n\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&v'= +93 "core" ' + .tHand.open +2 "manipulator"&b1 +53 "core" 1 +3 "storage"(Q- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(F' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +5 "core" &[  A\ , + "manipulator"&_& +4 "core" &|   P +2 .tElbow.seek 7 +2 "manipulator"&e(r +2 "core" ( +2 "manipulator"&l& +5 "core" &|   P + "storage"(~& +4 "core" &[ /\ 0 +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(,'" +52 "core" ' +2 "manipulator"&& +3 "core" &|   B P +2 "storage"(T& +4 "core" &[ ,\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&R'{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(-' +27 "core" ' +2 "manipulator"& % +4 "core" %΀ < 8 !  +2 "storage"(L& +3 "core" &[ j a x\ l +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 305 counts +2 "manipulator"&%'Ϭ +23 "core" ' + "manipulator"&k& +4 "core" &   8 +2 "storage"(V& +4 "core" &[ Z\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&W'= +43 "core" ' +9 "storage"(% +3 "core" % w\ { +3 ."downElevator"SE.seek :down +4 "storage"(0' +99 (@% +3 "core" %Q Z\ n[t +3 "manipulator"&% +3 "core" %:  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &[ U\ x +2 "collection"'C& +5 "core" &\\\ \ \ ] + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&'% +3 "core" %   1  +3 "storage"(>% +3 "core" % \ { +2 "storage"(Z. +4 "core" .([ + "storage"(m& +4 "core" &[ S\ { +2 "storage"(P& +4 "core" &[ \ z +2 "manipulator"&a& +4 "core" & \  8 +2 .tElbow.seek 7 + "manipulator"&N(r +20 "core" ( +2 "manipulator"&f& +4 "core" &x   J  +2 "storage"(&& +3 "core" &[ o\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\ '= +93 "core" ' +2 "storage"(& +3 "core" &[ e W 4\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(d'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &x     +2 "storage"(x& +5 "core" &[ #\ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&?'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(S'o +27 "core" ' +2 "manipulator"&[% +3 "core" %Ύ  \ C +2 "storage"(G& +4 "core" &[ 2\ q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&r'Ϻ +15 "core" ' + "manipulator"&|& +3 "core" &x     +3 "storage"(#& +3 "core" &[ b\ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +38 "core" ' + "manipulator"&1& +4 "core" &x  3  +2 "manipulator"&j% +4 "core" %6 & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +157 "core" ( +2 "manipulator"&u& +4 "core" &Ӓ!   :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &Ӓ!   :+ +3 .tForearm.seek CC +2 "manipulator"&='? +92 "core" ' +2 .tHand.close + "manipulator"&O/ +60 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(y& +3 "core" &[ T\  +2 "storage"( & +5 "core" &[ Y\  + "manipulator"&& +4 "core" &Ӯ   6 +2 "manipulator"&8% +3 "core" % L   k +3 .tForearm.seek :retract + "manipulator"&K' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&5(r +161 "core" ( +2 "manipulator"&& +4 "core" &p    +2 "storage"(z& +4 "core" &[ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +96 "core" ' +2 .tElbow.hold + "manipulator"&, +44 "core" , +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&21 +53 "core" 1 +3 "manipulator"&t% +4 "core" % ΍   + "storage"(& +5 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&'Ϲ +14 "core" ' +2 "manipulator"&7& +3 "core" &p  +3 "storage"(w& +5 "core" &[ #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&)'= +17 "core" ' + "storage"(E% +5 "core" %  V\ +2 ."downElevator"SE.seek :down +3 "storage"(g' +99 (\\% +3 "core" %D \ Xj +2 "manipulator"&4% +5 "core" %6 I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'J& +3 "core" & \ +3 "manipulator"&% +4 "core" %     +2 "storage"($% +3 "core" % \  +2 "storage"(]. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(!(<- +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &<. \ +2 "manipulator"&{& +8 "core" &p   !  +3 .tElbow.seek 5 + "manipulator"&9( +23 "core" ( +2 "manipulator"&D& +3 "core" &   +2 "storage"(6& +5 "core" &<. \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' +2 "storage"(+& +3 "core" &<. 2\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<- -\ +2 "manipulator"&& +3 "core" &   &  +3 .tElbow.seek 5 + "manipulator"&( +11 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(}& +3 "core" &<- X\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&Y'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&i/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&q& + "storage"(*' +8 "core" & 4 + "manipulator"&<% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&p' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&3& +5 "core" &ӕ! . :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӕ!  W :+ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'? +101 "core" ' +2 "manipulator"&/& +4 "core" &Ӗ!   :* +3 "manipulator"&`% +3 "core" %G   N  +2 "collection"'b& +5 "core" & \ +2 "collection"'Q& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & \ +6 & \ : +9 &JKs \ 0 +9 &vry \ E +10 &T \ M +9 &N \ L +9 &P \ M +10 &eR \ L +9 &'O \ L +10 &N \ M +9 &M \ M +9 &lR \ M +10 &!-O \ M +9 &"N \ L +9 &$R \ M +10 &&tR \ M +9 &(7R \ L +10 &)O \ L +9 &+M \ M +9 &-|M \ M +10 &/>N \ M +9 &1N \ M +9 &2N C\ M +10 &4O \ L +9 &6GP \ L +10 &8 O \ L +9 &9O \ L +9 &;N \ L +10 &=OO \ L +9 &?O \ M +57 &@R \ M +4 &BR \ M +2 &DRY \ N +2 &F`\ \ \ O + &Gr\ \ \ Q +2 &I\ \ \ U &K:\ *\ (\ Y +7 &L\ (\ '\ Z +9 &N\ "\ $\ Z +10 &P{\ !\ \ [ +9 &R=\ \ \ [ +10 &S\ \ \ \\ +9 &U\ \ \ \\ +9 &W}\ \ \ ] +10 &Y;\ \ \ ^ +9 &Z\ \ \ ^ +9 &\\^U\ \ \ 1 +10 &\\\ \ \ ] +9 ( + &\\s\ \ \ Y +2 "collection"'Q& +5 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.20 + .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&_% +5 "core" % G   ,  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%~& +3 "core" &\ y +3 "manipulator"&X% +3 "core" %     +2 "storage"(% +4 "core" % \ y +2 "storage"(T. +3 "core" .(<- +2 "storage"( & +4 "core" &<- l\ y +2 "storage"(L& +3 "core" &<- l\ y +2 "manipulator"&B& +5 "core" &ө   7 + "manipulator"&A% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&k( +160 "core" ( +2 "manipulator"&V& +3 "core" &   S  +2 "storage"(& +4 "core" &<- | \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&.'O +100 "core" ' +2 "storage"(v& +4 "core" &<- d X T\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +296 "core" ' + "storage"(@- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<- Y\ } +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&,& +3 "core" &   E  +2 "storage"(R& +5 "core" &<-\ \  S\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&%'Ϲ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&C& + "storage"('' +8 "core" &  ,  + "manipulator"&>% +5 "core" % ϵ  # +2 .tForearm.seek :retract + "manipulator"&-' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&m& +4 "core" &   ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" & \   ! +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&a' +101 "core" ' +2 "manipulator"&f& +4 "core" &  ` ! +2 "manipulator"&&% +3 "core" % & +3 "processing"%W& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%0(^ +4 "core" &\ +7 &-\ }#a +10 &Sv\ q7 +9 &}u\ pL +9 &Q\ vP +10 &PN\ wP +9 &Q\ wO +10 &Q\ wP +9 &R\ vP +9 &XL\ xP +10 &O\ vO +9 &O\ wP +9 &!M\ xP +10 &#`M\ xP +9 &%#O\ wO +10 &&P\ wO +9 &(Q\ vP +9 &*hR\ vP +10 &,*O\ wP +9 &-L\ wP +9 &/O\ vO +10 &1qM\ wO +9 &32Q\ wP +10 &4Q\ wO +9 &6O\ wP +9 &8wQ\ wP +10 &::O\ wP +9 &;Q\ vP +9 &=Q\ wO +10 &?~R\ vP +9 &A@S\ vP +10 &CZ\ uQ +9 &D`\ sR +9 &Fh\ sS +10 &H:|\ oU +9 &I\ nV +9 &K\ mV +10 &M|\ mW +9 &O>\ \ mV +10 &P\ lW +9 &R\ \ lW +9 &T\ jX +10 &VE\ jW +9 &X\ jW +9 &Y\ jW +10 &[\ kW +9 &]K\ jK +10 &^yJ\ l^ +9 &^ Q\ v4 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&o1 +2 "core" &^+\ x4 +53 1 +2 "manipulator"&:% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 "processing"%n& +3 "core" &^+\ t4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&x% +50 "core" %     " +4 "storage"(h% +5 "core" % \ s + "storage"([. +4 "core" .(<- + "storage"(G& +4 "core" &<- }\ t +3 "storage"(|& +2 "manipulator"&#& +8 "core" &<- \ t + &  \  ! +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&1( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'r +2 "core" ( + "manipulator"&\ & +6 "core" &   i ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" & = $  ! +3 .tForearm.seek PC +2 "manipulator"&d' +97 "core" ' +2 .tHand.close + "manipulator"&?/ +66 "core" / +2 .tPC.seek :open + "processing"%r( +84 "core" ' + "storage"(S- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'1 +51 "core" ' +312 ( +2 "storage"(U& +4 "core" &<, \ z + "manipulator"&& +4 "core" & \  ! +2 "manipulator"&s% +3 "core" % \  +3 .tForearm.seek :retract +2 "manipulator"&O' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&H( +243 "core" ( + "manipulator"&M& +5 "core" &   " 2 + "storage"(y& +5 "core" &<, \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(8- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(=- +3 "core" -' +3 "storage"(I& +4 "core" &<, g\ ) + "manipulator"&2& +5 "core" &  1 +2 .tElbow.seek 5 + "manipulator"&t( +4 "core" ( +2 "manipulator"&& +3 "core" &   z 1 +3 "storage"(7& +4 "core" &<, \ + +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(E'" +59 "core" ' + "manipulator"&K& +4 "core" &   1 +2 "storage"(\\& +4 "core" &<, M\ } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&4'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&J% +3 "core" %Ρ   +2 "storage"(& +5 "core" &<, \ v + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&' +25 "core" ' +2 "manipulator"&$& +3 "core" &   X 0 +2 "storage"(]& +5 "core" &<, \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +18 "core" ' +2 "storage"()% +4 "core" % \\ b ~\  +2 ."downElevator"SE.seek :down +3 "storage"(g' +100 (% +3 "core" %H o\ rZr +3 "manipulator"&;% +3 "core" %G  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +135 "core" ' +16 ' + ."downElevator"SE.stop + "storage"(5 +4 (D& +3 "core" &<, \ z +2 "collection"'6& +3 "core" &\\s\ \ \ Y +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&+% +4 "core" % !  ( +2 "storage"(% +4 "core" % X\ | +2 "storage"(^. +3 "core" .(<- +2 "storage"(c& +4 "core" &<, ?\ | +2 "storage"(& +3 "core" &<, \ | +3 "manipulator"&& +3 "core" &   0 +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&}& +3 "core" &   5 0 +2 "storage"(i& +4 "core" &<, /\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&q'O +99 "core" ' + "storage"(<& +5 "core" &<, o Z ]\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &  \  0 +2 "storage"( & +3 "core" &<, 0\ z +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(`'s +29 "core" ' +2 "manipulator"&b% +3 "core" %Λ   +2 "storage"(& +3 "core" &<, 5\ x +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&*' +25 "core" ' +2 "manipulator"&p& +3 "core" &   2 / +2 "storage"(& +5 "core" &<,\ \  \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(_' +36 "core" ' + "manipulator"&~& +5 "core" &  / + "manipulator"&X% +4 "core" %G  E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +153 "core" ( +2 "manipulator"& & +3 "core" &Ӓ#   } <: +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &Ӓ#   <: +2 .tForearm.seek CC +2 "manipulator"&L'? +100 "core" ' +2 .tHand.close + "manipulator"&B/ +63 "core" / +2 .tCC.seek :open + "collection"'A( +447 "core" ( +2 "storage"("& +3 "core" &<, .\ +3 "storage"(V& +4 "core" &<, \ + "manipulator"&& +4 "core" &ӳ   7 +2 "manipulator"&v% +3 "core" % 8  +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&l( +161 "core" ( +2 "manipulator"&@& +3 "core" &   f  +2 "storage"(& +4 "core" &<, ,\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +53 "core" 1 +2 "manipulator"& % +3 "core" % Θ   4 +2 "storage"(C& +4 "core" &<, \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&>' +62 "core" ' +2 "manipulator"&k& +3 "core" &  +2 "storage"(.& +5 "core" &<,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +16 "core" ' +2 "storage"(%% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(m' +99 (P% +3 "core" %{? \ Yk +2 "manipulator"&e% +3 "core" %F  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'&& +3 "core" & \ +2 "manipulator"&W% +5 "core" %   %  + "storage"('% +5 "core" %\  + "storage"(-. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(((K +363 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" &K ;\  +2 "manipulator"&:& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&x& +4 "core" &  M  +2 "storage"(& +4 "core" &K  4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +106 "core" ' + "storage"([& +4 "core" &K  \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +306 "core" ' +2 "storage"(#- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &K L\  +2 "manipulator"&\ & +3 "core" &   +3 .tElbow.seek 6 + "manipulator"&N( +4 "core" ( +2 "manipulator"&a& +4 "core" &  F  +2 "storage"(?& +4 "core" &K\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&S'h +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(0' +8 "core" &  + "manipulator"&j% +5 "core" % o > +2 .tForearm.seek :retract + "manipulator"&U' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&s& +4 "core" &Ӛ   , 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &Ӛ  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&M'? +98 "core" ' +3 "manipulator"&y& +3 "core" &Ӛ   I 8 +3 "manipulator"&1% +3 "core" %H  +2 "collection"'& +5 "core" & \ +2 "collection"'8& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'=(\\ +5 "core" & \ +6 &> \ $f +9 &Xw \ 7 +10 &t \ L +9 &M \ M +9 &~O \ M +10 &AM \ L +9 &P \ L +10 &R \ M +9 &P \ M +9 &IM \ L +10 & \ M \ M +9 &!O \ M +9 &#L \ L +10 &%QN \ L +9 &'Q \ L +10 &(O \ L +9 &*R \ L +9 &,XR \ M +10 &.Q \ M +9 &/O \ L +9 &1S \ M +10 &3aR \ L +9 &5#O \ L +10 &6Q \ L +9 &8N \ M +9 &:iN \ L +10 &<+O \ L +9 &=R \ M +10 &?R \ M +9 &ApS \ M +9 &C2T \ M +10 &D_\ \ \ N +9 &Fc\ \ \ O +10 &Hh{\ \ \ R +11 &J\ $\ \ V +7 &K\ )\ (\ Y +9 &M\ &\ '\ Z +10 &O[\ #\ #\ Y +9 &Q\ \ !\ [ +10 &R\ \ !\ [\ +9 &T\ \ \ \\ +9 &V[\ \ \ \\ +10 &X\ \ \ ] +9 &Y\ \ \ ^ +9 &[\ \ \ K +10 &\\=\ \ \ (z +9 &\\\ \ \ ^ +2 ( +2 "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&I1 +60 "core" 1 +2 "manipulator"&2% +52 "core" % H   / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%7& +5 "core" &\ x + "manipulator"&O% +5 "core" %   g  + "storage"(K% +4 "core" % _\ x +2 "storage"(\\. +3 "core" .(K +2 "storage"(u& +3 "core" &K !\ x +2 "storage"(J& +5 "core" &K \ x + "manipulator"&& +4 "core" &ӥ   6 +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&$( +166 "core" ( +2 "manipulator"&]& +3 "core" &    +2 "storage"()& +4 "core" &K\  =\ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +92 "core" ' +2 "storage"( & +3 "core" &K [ b q\  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'r +295 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &K S\ w +2 "manipulator"&w& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&t( +4 "core" ( + "manipulator"&E& +4 "core" &   \  +2 "storage"(4& +3 "core" &K L\ x +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&D'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +5 "storage"(+' +6 "core" &   1  +2 "manipulator"&% +4 "core" % e  \ ) +2 .tForearm.seek :retract + "manipulator"&^' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&c& +4 "core" &   1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 "manipulator"&}& +4 "core" &   1 +2 "manipulator"&i% +4 "core" % \   < +2 "processing"% & +3 "core" &\ { +3 "processing"%<& +6 "core" &\ | +2 .tPC.seek :closed +3 "processing"%g(^ +2 "core" &\ | +8 &4\ u$d +9 &Tu\ k7 +9 &}u\ hL +10 &Q\ oP +9 &ON\ pP +9 &L\ qP +10 &Q\ pP +9 &O\ pP +10 &YL\ pP +9 &O\ pP +9 &N\ qP +10 &!N \ pP +9 &#`N\ pP +9 &%"N\ pP +10 &&P\ pP +9 &(P\ pP +9 &*hO\ pP +10 &,)O\ pP +9 &-N\ pP +10 &/P\ oP +9 &1pL\ pP +9 &32M\ qP +10 &4L\ pP +9 &6N\ pO +10 &8wO\ pP +9 &:9N\ pP +9 &;M\ qP +10 &=P\ pQ +9 &?P\ pP +9 &AAN\ pP +10 &CV\ oQ +9 &D\\\ nR +10 &Fb\ mR +9 &H?o\ jT +9 &I\ gV +10 &K\ fV +9 &M|\ fW +9 &O<\ fX +10 &P\ dX +9 &R\ eW +10 &T\ cX +9 &VC\ eX +9 &XG\ dX +10 &Y\ dX +9 &[C\ dX +9 &]H=\ bP +10 &^}Dv?\ i!e +9 &^>>\ p3 +6 ( + "processing"%<& +4 "core" &^"\ s3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&51 +57 "core" 1 + "manipulator"&{% +4 "core" %   3 < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +3 "processing"%3& +3 "core" &^"\ s3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +3 "core" %     +3 "storage"(/% +4 "core" % \ s + "storage"(b. +3 "core" .(K +2 "storage"(& +3 "core" &K \ s +3 "storage"(p& +2 "manipulator"&& +7 "core" &K \ s +2 &   1 +49 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&~( +3 ."raiseStack"SE.seek :beamBreak +5 "storage"(X'r +2 "core" ( +3 "manipulator"&q& +3 "core" &   1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  . 1 +3 .tForearm.seek PC +2 "manipulator"&9' +92 "core" ' +2 .tHand.close + "manipulator"&/ +72 "core" / +2 .tPC.seek :open +2 "processing"%*( +80 "core" ' +2 "storage"(`- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +49 "core" ' +317 ( +2 "storage"(Q& +3 "core" &K T\ y +3 "manipulator"&& +3 "core" &    1 +2 "manipulator"&Y% +5 "core" %   ) +2 .tForearm.seek :retract + "manipulator"&B' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&& +3 "core" &   & - +2 "storage"("& +4 "core" &K O\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&V' +96 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(v- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(L- +2 "core" -' +2 "storage"(T& +5 "core" &K  \ 2 + "manipulator"&R& +4 "core" &   , +2 .tElbow.seek 6 +2 "manipulator"& ( +9 "core" ( + "manipulator"&C& +4 "core" &    +2 "storage"(k& +3 "core" &K   \ 1 +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +17 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(%'" +51 "core" ' +2 "manipulator"&& +3 "core" &   )  +2 "storage"(P& +4 "core" &K C\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&e'< +24 "core" ' +2 .tElbow.hold + "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&&% +4 "core" %L   A +2 "storage"(W& +3 "core" &K V\ p +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&>'x +13 "core" ' +2 "manipulator"&'& +3 "core" &   &  +3 "storage"(-& +3 "core" &K >\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +15 "core" ' +2 "storage"(F% +3 "core" % \ w +3 ."downElevator"SE.seek :down +4 "storage"(m' +99 (!% +2 "core" %I \ pZq +2 "manipulator"&o% +5 "core" %   " +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +89 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (x& +3 "core" &K \\\ w +3 "collection"'& +4 "core" &\\\ \ \ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&[% +4 "core" %     +2 "storage"(,% +3 "core" % \ y +2 "storage"(f. +43 "core" .(K +9 "storage"(#& +3 "core" &K q\ z +3 "storage"(|& +3 "core" &K \ z +2 "manipulator"&\ & +5 "core" &   .  +2 .tElbow.seek 6 + "manipulator"&a( +10 "core" ( + "manipulator"&?& +4 "core" &   '  +2 "storage"(Z& +4 "core" &K \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(j& +5 "core" &K i\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(n'r +310 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &  #  +3 "storage"(d& +4 "core" &K R\ w + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&G'< +18 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(1'h +33 "core" ' + "manipulator"&% +5 "core" %>   3 + "storage"(N& +4 "core" &K \ x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts +2 "manipulator"&0'j +14 "core" ' +2 "manipulator"&U& +3 "core" &  L  +2 "storage"(A& +5 "core" &K \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(2' +37 "core" ' + "manipulator"&8& +5 "core" &    + "manipulator"&7% +5 "core" % E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +156 "core" ( + "manipulator"&\\& +4 "core" &Ӑ"    ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +4 "core" &Ӑ"   g ;6 +2 .tForearm.seek CC +2 "manipulator"&J'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(M& +4 "core" &K 6\  +2 "storage"(]& +3 "core" &K \  +2 "manipulator"&)& +4 "core" &ө   8 +2 "manipulator"& % +4 "core" % S    +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&& +3 "core" &   $  +2 "storage"(;& +5 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&w'< +97 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +63 "core" 1 +3 "manipulator"&% +4 "core" % J   \  + "storage"(6& +4 "core" &K y\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&'v +14 "core" ' + "manipulator"&$& +5 "core" &  + "storage"(H& +5 "core" &K )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +15 "core" ' + "storage"(D% +51 "core" %\ +2 ."downElevator"SE.seek :down +4 "storage"(c' +100 (% +3 "core" %D \ Yk +2 "manipulator"&t% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +96 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'i& +3 "core" & \ +2 "manipulator"& % +5 "core" % !    ) +2 "storage"(+% +4 "core" % \  + "storage"(^. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(r([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &[ {\ +2 "manipulator"&{& +4 "core" & (  +2 .tElbow.seek 7 + "manipulator"&3(r +35 "core" ( +2 "manipulator"& & +3 "core" &     +2 "storage"(/& +4 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&b'= +99 "core" ' + "storage"(& +5 "core" &[\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(p- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &[ \ +2 "manipulator"&q& +4 "core" &  m  +2 .tElbow.seek 7 +2 "manipulator"&(r +19 "core" ( +2 "manipulator"&& +3 "core" &{   Y  +2 "storage"(& +4 "core" &[ \ +3 .tForearm.seek 7 + 300 counts + "manipulator"&`'ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(g' +8 "core" &{   + "manipulator"&X% +4 "core" % Ϻ B +3 .tForearm.seek :retract + "manipulator"&Q' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&Y& +3 "core" &Ӛ   8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &Ӛ  b 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 "manipulator"&"& +3 "core" &Ӛ   8 +3 "manipulator"&~% +4 "core" %A    +2 "collection"'& +3 "core" & \ +3 "collection"'v& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'L(\\ +5 "core" & \ +7 &9 \ %g +9 &Wr \ 7 +9 &s \ L +10 &M \ M +9 &|O \ M +10 &@N \ L +9 &R \ M +9 &O \ M +10 &M \ L +9 &HO \ L +9 & L \ M +10 &!P \ M +9 &#L \ L +10 &%PN \ L +9 &'Q \ M +9 &(P \ M +10 &*L \ M +9 &,XR \ L +9 &.O \ L +10 &/R \ M +9 &1R \ M +10 &3_Q \ M +9 &5"O \ L +9 &6R \ M +10 &8N \ L +9 &:gP \ M +9 &<)Q \ M +10 &=L \ L +9 &?O \ M +9 &AoS \ M +10 &C/W \ M +9 &DZ\ \ \ N +10 &Fg\ \ \ O +9 &Hg|\ \ \ R +9 &J\ #\ \ V +10 &K\ *\ )\ Y +9 &M\ &\ '\ Z +10 &OY\ '\ %\ Z +9 &Q\ "\ \ Z +9 &R\ \ \ [\ +10 &T\ \ \ \\ +9 &VZ\ \ \ \\ +9 &X\ \ \ ] +10 &Y\ \ \ ^ +9 &[\ \ \ K +10 &\\;\ \ \ + +9 &\\`\ \ \ N +2 ( +2 "collection"'v& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&T1 +63 "core" 1 +3 "manipulator"&R% +3 "core" % A    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%k& +3 "core" &\ | +2 "manipulator"&B% +5 "core" %    N  + "storage"(% +50 "core" % ?\ | +4 "storage"(P. +4 "core" .([ + "storage"( & +5 "core" &[ \ | + "storage"(&& +4 "core" &[ \ | +2 "manipulator"&W& +3 "core" &ӧ   6 +2 "manipulator"&'% +5 "core" %   " 5  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&@(r +155 "core" ( + "manipulator"&-& +5 "core" &w   D + "storage"(F& +5 "core" &[ e o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +102 "core" ' + "storage"(V& +4 "core" &[ 9\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &[\  \ ~ +2 "manipulator"&.& +4 "core" &w z +2 .tElbow.seek 7 +2 "manipulator"& (r +4 "core" ( + "manipulator"&%& +4 "core" &w   h +2 "storage"(e& +3 "core" &[ W T\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&>'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"([' +8 "core" &w   + "manipulator"&,% +5 "core" % ϣ    +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +3 .tElbow.seek PC + "manipulator"&f( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&#& +3 "core" &   * +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &   + * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\ ' +102 "core" ' +2 "manipulator"&?& +3 "core" &   * +3 "manipulator"&Z% +4 "core" %   +2 "processing"%_& +3 "core" &\ +3 "processing"%j& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%m(^ +4 "core" &\ +7 & .\ {$c +9 &Ty\ n7 +10 &|v\ nL +9 &O\ uP +10 &OO\ vP +9 &M\ wP +9 &R\ uP +10 &O\ uP +9 &YN\ uO +9 &P\ uP +10 &O\ uP +9 &!N\ vP +10 &#`N\ uP +9 &%!L\ vP +9 &&O\ uP +10 &(P\ uP +9 &*hN\ uP +9 &,*O\ uP +10 &-N\ vP +9 &/S\ tP +10 &1pL\ vP +9 &32Q\ uP +9 &4L\ uP +10 &6N\ vP +9 &8wR\ uP +9 &:9N\ uP +10 &;P\ uP +9 &=Q\ vP +10 &?~Q\ uP +9 &A?Q\ uQ +9 &CY\ tQ +10 &D_\ rR +9 &Fe\ qS +9 &H<s\ nU +10 &I\ kV +9 &K\ mV +10 &M|\ kV +9 &O=\ kW +9 &P\ jX +10 &R\ kW +9 &T\ hX +9 &VC\ jX +10 &X\ iW +9 &Y\ iW +10 &[\ jX +9 &]I5\ hN +9 &^{G7\ l` +10 &^ B@\ v3 +5 ( +2 "processing"%j& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&l1 +3 "core" &^"\ y3 +61 1 +2 "manipulator"&:% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +99 "core" ' +3 "processing"%s& +4 "core" &^"\ w3 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&d% +3 "core" % &   / K +2 "storage"(y% +5 "core" % \ x + "storage"(. +4 "core" .([ + "storage"(N& +4 "core" &[ M\ w +2 "storage"(U& +3 "manipulator"&A& +8 "core" &[ 2\ w + &   V * +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&8( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(7'r +2 "core" ( + "manipulator"&& +6 "core" &   w * +41 .tElbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +3 &a& +3 "core" &   2 * +3 .tForearm.seek PC +2 "manipulator"&n' +91 "core" ' +2 .tHand.close + "manipulator"&G/ +63 "core" / +2 .tPC.seek :open +2 "processing"%0( +47 "core" ' +2 "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'1 +47 "core" ' +352 ( +2 "storage"(u& +3 "core" &[ o o (\ +3 "manipulator"&I& +4 "core" &   8 * +2 "manipulator"&S% +3 "core" %  h : +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&O(r +245 "core" ( + "manipulator"&=& +5 "core" &t    M + "storage"(M& +4 "core" &[\ \  H\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&]'= +94 "core" ' +2 .tHand.open + "manipulator"&)1 +61 "core" 1 +3 "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(;' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -' +2 "storage"(K& +3 "core" &[   \ 2 +3 "manipulator"&4& +4 "core" &t   M +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( + "manipulator"&6& +5 "core" &t   M + "storage"($& +4 "core" &[   *\ 2 +3 .tForearm.seek 7 + 450 counts + "manipulator"&H'= +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(D'" +52 "core" ' +2 "manipulator"&& +4 "core" &t  ( M + "storage"(& +5 "core" &[ =\ | + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +20 "core" ' +2 "manipulator"&% +3 "core" %x 3 :  +3 "storage"(i& +4 "core" &[ F\ o +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 297 counts +2 "manipulator"& 'Ϥ +14 "core" ' + "manipulator"&+& +4 "core" &  X & +2 "storage"(^& +3 "core" &[\ \  S\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&2'= +19 "core" ' + "storage"(z% +5 "core" % a W !\ +2 ."downElevator"SE.seek :down +3 "storage"(c' +99 ((% +3 "core" %I i\ vZp +2 "manipulator"&5% +5 "core" %G   D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +93 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &[ \ ~ +2 "collection"'/& +4 "core" &\\b\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +3 "core" % !  ) +2 "storage"(E% +4 "core" % H H\  +2 "storage"(}. +3 "core" .([ +2 "storage"(p& +3 "core" &[ I O \ +2 "storage"(<& +3 "core" &[ G ^ M\  +3 "manipulator"&q& +4 "core" &  " & +2 .tElbow.seek 7 + "manipulator"&(r +18 "core" ( +2 "manipulator"&& +3 "core" &s     +47 "storage"(& +6 "core" &[ n o \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +97 "core" ' +2 "storage"(X& +4 "core" &[ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'r +296 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" &s   +2 "storage"(9& +5 "core" &[ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +30 "core" ' +2 .tElbow.hold + "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"("- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(~'n +29 "core" ' +2 "manipulator"&% +4 "core" %Ό   e +2 "storage"(& +3 "core" &[ {\ t +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 317 counts +2 "manipulator"&g'ϸ +13 "core" ' +2 "manipulator"&Q& +3 "core" &s m  +2 "storage"(& +4 "core" &[ n\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&T'= +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(R' +42 "core" ' +2 "manipulator"&k& +4 "core" &s Z  +2 "manipulator"&B% +4 "core" %=  , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&v(ӂ +164 "core" ( +2 "manipulator"&P& +4 "core" &ӭ   w 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӭ \  3 +2 .tForearm.seek CC +2 "manipulator"&&'? +91 "core" ' + .tHand.close +2 "manipulator"&W/ +62 "core" / +2 .tCC.seek :open +2 "collection"''( +447 "core" ( +2 "storage"(& +4 "core" &[ N\ + "storage"(-& +5 "core" &[ \ + "manipulator"&F& +4 "core" &ӭ   3 +2 "manipulator"&V% +3 "core" % S   J +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&C(r +162 "core" ( +2 "manipulator"&!& +3 "core" &z     +2 "storage"(o& +4 "core" &[ n\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&.'{ +92 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&e1 +56 "core" 1 +2 "manipulator"&x% +4 "core" % Ώ   " +2 "storage"(& +4 "core" &[ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&,'ϻ +13 "core" ' +3 "manipulator"&@& +3 "core" &z  +2 "storage"(& +5 "core" &[\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +15 "core" ' +2 "storage"(>% +3 "core" % t\ +3 ."downElevator"SE.seek :down +4 "storage"(#' +98 (|% +3 "core" %C \ Yj +2 "manipulator"& % +4 "core" %4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +41 "manipulator"&?' +98 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'Z& +3 "core" & \ +3 "manipulator"&_% +3 "core" %    \  +2 "storage"([% +5 "core" % ~\  + "storage"(. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(*(<- +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (l& +3 "core" &<. w\ +2 "manipulator"&:& +5 "core" &z  /  +2 .tElbow.seek 5 + "manipulator"&s( +27 "core" ( + "manipulator"&d& +4 "core" &     +2 "storage"(y& +4 "core" &<. :\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&j'O +94 "core" ' + "storage"(& +5 "core" &<. \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +298 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" &<- [\ +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&a( +23 "core" ( +2 "manipulator"&\ & +4 "core" &    +2 "storage"(G& +4 "core" &<- G\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&1'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&h& + "storage"(m' +8 "core" &  + "manipulator"&7% +4 "core" % ϴ  +2 .tForearm.seek :retract +2 "manipulator"&u' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&I(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&S& +3 "core" &Ӑ"  ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &Ӑ" \  ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&='? +99 "core" ' +2 "manipulator"&M& +4 "core" &Ӝ!   % :+ +3 "manipulator"&8% +4 "core" %6   B +2 "collection"')& +3 "core" & \ +3 "collection"' & +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'J(\\ +4 "core" & \ +6 & \ ; +9 &FIr \ 1 +9 &xuy \ E +10 & V \ M +9 &Q \ M +9 &R \ M +10 &hP \ M +9 &+L \ L +10 &L \ M +9 &Q \ M +9 &pP \ M +10 &!3Q \ L +9 &"R \ M +9 &$P \ M +10 &&yM \ L +9 &(;O \ L +10 &)Q \ L +9 &+L \ L +9 &-O \ L +10 &/BN \ M +9 &1M \ L +9 &2O \ L +10 &4O \ L +9 &6JN \ M +10 &8 N \ M +9 &9N \ L +9 &;N \ L +10 &=SO \ L +9 &?R \ M +9 &@R \ M +10 &BP \ M +9 &DW[ \ N +10 &Fd\  \ O +9 &Go\ \ \ Q +9 &I\ \ \ U +10 &K?\ %\ &\ Y +9 &L\ %\ $\ Z +9 &N\ !\ #\ Z +10 &P\ \ \ Z +9 &RB\ \ \ Z +10 &T\ \ \ \\ +9 &U\ \ \ \\ +9 &W\ \ \ \\ +10 &Y?\ \ \ ^ +9 &[\ \ \ ] +9 &\\`Q\ \ \ 2 +10 &\\\ \ \ \\ +8 ( +2 &\\y\ \ \ Z +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&K1 +55 "core" 1 +3 "manipulator"&4% +3 "core" % 6   n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%$& +4 "core" &\ v + "manipulator"&% +4 "core" %    [ ! +2 "storage"(% +3 "core" % U\ w +2 "storage"(. +3 "core" .(<- +2 "storage"(& +3 "core" &<- V\ w +2 "storage"(\\& +5 "core" &<- W\ w +2 "manipulator"&i& +4 "core" &ӫ   % 8 + "manipulator"&+% +5 "core" %    k ! +2 .tElbow.reconfigure :tight +38 "manipulator"&$&.,(\ #b +15 .tElbow.seek 5 + "manipulator"&^( +163 "core" ( +2 "manipulator"&& +4 "core" &  S  +2 "storage"(z& +4 "core" &<-\ \  g\ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&O'O +101 "core" ' + "storage"(]& +5 "core" &<- o o h\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(;'r +299 "core" ' + "storage"((- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" &<- f\ y +2 "manipulator"&H& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&D& +5 "core" & \   + "storage"(& +5 "core" &<- \ | +2 .tForearm.seek 5 + 300 counts + "manipulator"& 'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(' +8 "core" &   +  +2 "manipulator"&E% +4 "core" % ϯ K +2 .tForearm.seek :retract +2 "manipulator"&}' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&p& +3 "core" &   w +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &   , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&q' +91 "core" ' + "manipulator"&& +4 "core" &    +2 "manipulator"&% +4 "core" %   $ k +2 "processing"%2& +3 "core" &\ +3 "processing"%X& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%c(^ +4 "core" &\ +8 & -\ {$c +9 &Ux\ o7 +9 &|v\ mL +10 &O\ tP +9 &NN\ uP +10 &N\ vO +9 &T\ tP +9 &O\ uP +10 &WL\ uP +9 &O\ uO +9 &O\ uP +10 &!N\ uO +9 &#_N\ uP +10 &% Q\ tP +9 &&P\ uP +9 &(P\ tP +10 &*gL\ vP +9 &,)P\ uP +9 &-N\ uP +10 &/S\ tP +9 &1pL\ vO +10 &31N\ uP +9 &4Q\ uO +9 &6O\ uP +10 &8wN\ uP +9 &:9N\ uP +9 &;Q\ tP +10 &=Q\ uP +9 &?Q\ uP +10 &A?R\ tP +9 &BZ\ sQ +9 &D]\ rR +10 &F}h\ pS +9 &H9y\ mU +9 &I\ kV +10 &K\ kV +9 &M{\ kW +10 &O=\ jV +9 &P\ iX +9 &R\ jW +10 &T~\ gX +9 &VB\ jX +9 &X\ hX +10 &Y\ hW +9 &[\ iX +10 &]I\ hN +9 &^|I\ k\\ +9 &^Q\ s3 +6 ( + "processing"%X& +4 "core" &^%\ x3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&t1 +57 "core" 1 +2 "manipulator"&{% +3 "core" %   N k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +90 "core" ' +3 "processing"%Y& +3 "core" &^%\ t3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&9% +3 "core" %     +2 "storage"("% +5 "core" % \ t + "storage"(. +4 "core" .(<- + "storage"(& +3 "core" &<- \ t +3 "storage"(Q& +2 "manipulator"&& +7 "core" &<- \ t + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&k( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'r +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   d +3 .tForearm.seek PC +2 "manipulator"&3' +91 "core" ' + .tHand.close +2 "manipulator"&/ +73 "core" / +2 .tPC.seek :open +42 "processing"%g( +43 "core" ' +2 "storage"(~- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(P'1 +53 "core" ' +354 ( +2 "storage"( & +3 "core" &<, '\ z +2 "manipulator"&T& +5 "core" & \  + "manipulator"&`% +5 "core" %   % J +2 .tForearm.seek :retract + "manipulator"&W' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +250 "core" ( + "manipulator"&L& +3 "core" &  m  +3 "storage"(& +3 "core" &<, \ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +90 "core" ' +2 .tHand.open + "manipulator"&F1 +55 "core" 1 +3 "storage"(V- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(!' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(o' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(v& +3 "core" &<,  j\ + +3 "manipulator"&e& +3 "core" &   a  +2 .tElbow.seek 5 +2 "manipulator"&x( +14 "core" ( + "manipulator"&& +4 "core" &   $ ~ +2 "storage"(@& +4 "core" &<,  7\ + +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(>'" +59 "core" ' + "manipulator"&& +4 "core" &    ~ +2 "storage"(|& +4 "core" &<,\ \  f\ } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"& '΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +19 "core" ' +2 "manipulator"&Z% +3 "core" %Ύ   +2 "storage"(_& +5 "core" &<, \ x + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 301 counts + "manipulator"&,'Ϻ +27 "core" ' +2 "manipulator"&[& +3 "core" &  [ ~ +2 "storage"(& +4 "core" &<,\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&R'O +17 "core" ' +2 "storage"(% +3 "core" % d ` )\  +3 ."downElevator"SE.seek :down +4 "storage"(#' +98 (r% +3 "core" %YL \ t[r +3 "manipulator"&l% +4 "core" %P \ = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (d& +3 "core" &<, h\ | +2 "collection"'y& +4 "core" &\\y\ \ \ Z +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %   (  +2 "storage"(%% +4 "core" %\ \  Y\ ~ +2 "storage"(?. +3 "core" .(<- +2 "storage"(A& +3 "core" &<,\ \  3\ ~ +2 "storage"(U& +5 "core" &<, \  \ | + "manipulator"&& +4 "core" &    ~ +2 .tElbow.seek 5 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&G& +4 "core" & \   ~ +2 "storage"(f& +3 "core" &<,\ \  A\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +94 "core" ' +2 "storage"(7& +3 "core" &<, s v \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +44 .tSE.seek :beamBreak +9 "storage"(s'r +296 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &   ~ +2 "storage"(n& +5 "core" &<, =\ { + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&N'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(M- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(8's +30 "core" ' +2 "manipulator"&)% +3 "core" %Ρ   +2 "storage"(a& +3 "core" &<, t\ { +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&m' +14 "core" ' + "manipulator"&u& +5 "core" &  < ~ + "storage"('& +4 "core" &<, n d W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(4' +37 "core" ' + "manipulator"&$& +5 "core" &  4 ~ + "manipulator"&% +5 "core" %L  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( +2 "manipulator"&& +4 "core" &y(   @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &y(  d @X +3 .tForearm.seek CC +2 "manipulator"& '? +94 "core" ' +2 .tHand.close +2 "manipulator"&i/ +52 "core" / +2 .tCC.seek :open +2 "collection"'+( +447 "core" ( +2 "storage"(=& +3 "core" &<, \ +2 "storage"(& +3 "core" &<, \ +2 "manipulator"&z& +5 "core" &Ӫ   9' + "manipulator"&]% +4 "core" % 7    +2 .tForearm.seek :retract +2 "manipulator"&I' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&6( +163 "core" ( +2 "manipulator"&(& +3 "core" &   5  +2 "storage"(5& +4 "core" &<, 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&H'΍ +94 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"& % +4 "core" % Π     +2 "storage"(/& +3 "core" &<, |\ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&E' +19 "core" ' + "manipulator"&^& +5 "core" &   + "storage"(O& +4 "core" &<, .\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&;'O +22 "core" ' +2 "storage"( % +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(p' +98 (<% +3 "core" %C >\ Yk +2 "manipulator"&% +4 "core" %H  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & \ +3 "manipulator"&2% +4 "core" %    M  +2 "storage"(% +4 "core" %\  +48 "storage"(}. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(0(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "core" &K @\  +2 "manipulator"&{& +5 "core" &   + .tElbow.seek 6 +2 "manipulator"&Y( +4 "core" ( +2 "manipulator"&9& +3 "core" &  J  +3 "storage"("& +4 "core" &K  [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(& +4 "core" &K  '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +309 "core" ' +2 "storage"(Q- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &K 5\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&q& +4 "core" &  +2 "storage"(& +3 "core" &K \  +4 .tForearm.seek 6 + 300 counts + "manipulator"&~'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(c' +8 "core" & -  + "manipulator"&B% +4 "core" % \\  +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&`& +3 "core" &ӏ"  ;6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &ӏ"   ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&L'? +99 "core" ' +2 "manipulator"&& +3 "core" &Ӑ"   I ;5 +3 "manipulator"&k% +4 "core" %?    +2 "collection"'F& +4 "core" & \ +2 "collection"'V& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'&(\\ +3 "core" & \ +6 & \ : +10 &IKs \ 1 +9 &{tx \ E +9 &#V \ N +10 &Q \ \ L +9 &O \ L +10 &lL \ M +9 &/L \ L +9 &N \ L +10 &M \ M +9 &uN \ L +9 &!7O \ L +10 &"R \ M +9 &$P \ M +10 &&|M \ M +9 &(>Q \ M +9 &*O \ M +10 &+L \ L +9 &-O \ M +10 &/EQ \ M +9 &1 O \ L +9 &2R \ M +10 &4M \ M +9 &6NM \ M +9 &8N \ M +10 &9M \ M +9 &;M \ L +9 &=VO \ \ M +10 &?R \ M +9 &@S \ M +10 &BR \ M +9 &D[Y \ N +9 &Fd\ \ \ O +10 &Gr\ \ \ \ Q +9 &I\ \ \ U +10 &KC\ (\ %\ Y +9 &M\ $\ &\ \ Z +9 &N\ !\ $ \ Z +10 &P\ \ "\ Z +9 &RD\ \ \ [\ +9 &T\ \ \ [ +10 &U\ \ \ ] +9 &W\ \ \ ] +9 &YC\ \ \ ^ +10 &[\ \ \ ^ +9 &\\aM\ \ \ 7 +10 &\\ v\ \ \ N +5 ( +2 "collection"'V& +3 "core" &\\d\ \ \ N +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&v1 +57 "core" 1 +2 "manipulator"&e% +4 "core" % ?     +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%@& +3 "core" &\ | +2 "manipulator"&W% +5 "core" %     + "storage"(% +4 "core" % p\ | +2 "storage"(|. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(Z(K +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +2 "core" &K t\ o +3 "manipulator"&_& +4 "core" &Ӭ   7 + "manipulator"&!% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&[( +163 "core" ( +2 "manipulator"&& +3 "core" &   ,  +46 "storage"(& +7 "core" &K n k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(-& +3 "core" &K /\  +4 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +298 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &K p\ { +2 "manipulator"&& +5 "core" &    +2 .tElbow.seek 6 + "manipulator"&x( +4 "core" ( + "manipulator"&>& +5 "core" &     + "storage"( & +4 "core" &K\ \  K\ ~ +3 .tForearm.seek 6 + 300 counts + "manipulator"&d'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&y& + "storage"(' +8 "core" &   +2 "manipulator"&%% +4 "core" % o  Q +2 .tForearm.seek :retract + "manipulator"&?' +95 "core" ' +3 .tElbow.seek PC + "manipulator"&.( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&A& +3 "core" &  ) 4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &   4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +105 "core" ' +2 "manipulator"&G& +3 "core" &  I 4 +3 "manipulator"&f% +4 "core" %  \ : +2 "processing"%R& +3 "core" &\ +3 "processing"%7& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%#(^ +4 "core" &\  +9 &2u\ v)w +9 &ay\ s> +9 &em\ tO +10 &%N\ {P +9 &Q\ zP +9 &Q\ zP +10 &lO\ {O +9 &.N\ zO +9 &O\ {O +10 &O\ {P +9 & sS\ zP +10 &"5M\ {P +9 &#N\ zP +9 &%N\ {O +10 &'|P\ zO +9 &)=O\ zP +9 &*R\ zP +10 &,S\ zP +9 &.Q\ zP +10 &0ER\ zP +9 &2O\ yP +13 &3K\ {P +6 &5Q\ xO +9 &7NN\ yO +9 &9T\ yP +10 &:P\ zP +9 &<Q\ zO +10 &>UR\ zP +9 &@Q\ zO +10 &AT\ zP +9 &C]\ wQ +9 &EX_\ wQ +9 &Gg\ vS +10 &Hs\ tT +9 &J\ pU +10 &LT\ qU +9 &N\ oV +9 &O\ pV +10 &Q\ oW +9 &SX\ oW +9 &U\ nW +10 &V\ oW +9 &X\ oW +10 &Z_\ nW +9 &\\!\ nW +9 &]y\ s6 +10 &^0h\ uI +9 &^"\ 2 +2 ( +2 "processing"%7& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&C1 +63 "core" 1 + "manipulator"&:% +5 "core" %  W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j' +92 "core" ' +2 "processing"%S& +3 "core" &^"\ y2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&n% +4 "core" % !   * + "storage"(M% +5 "core" % \ x + "storage"(). +3 "core" .(K +2 "storage"(a& +3 "core" &K U\ x +3 "storage"(u& +2 "manipulator"&'& +7 "core" &K +\ x +2 &   M 4 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&$( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&h& +3 "core" &  4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &   U 4 +2 .tForearm.seek PC +2 "manipulator"&s' +95 "core" ' +2 .tHand.close + "manipulator"&N/ +54 "core" / +2 .tPC.seek :open + "processing"%m( +98 "core" ' + "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +50 "storage"('1 +42 "core" ' +259 ( + "storage"(\\& +4 "core" &K\ \  W\ ~ +2 "manipulator"&K& +4 "core" &    4 +2 "manipulator"&1% +3 "core" %   $ # +3 .tForearm.seek :retract + "manipulator"&i' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +246 "core" ( + "manipulator"&J& +4 "core" &  0 , +2 "storage"(=& +3 "core" &K Y\ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + .tHand.open +2 "manipulator"&z1 +62 "core" 1 +3 "storage"(]- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"((' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(5' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(& +3 "core" &K j l \ > +2 "manipulator"&& +5 "core" &   , +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( +2 "manipulator"&/& +3 "core" &   O , +2 "storage"(^& +5 "core" &K w p \ = +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +52 "core" ' + "manipulator"&I& +5 "core" &   , + "storage"(<& +4 "core" &K X\ } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' +2 .tElbow.hold + "manipulator"&6, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(H' +21 "core" ' + "manipulator"&E% +5 "core" %?   + "storage"(& +4 "core" &K N\ | +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 303 counts +2 "manipulator"&2'k +14 "core" ' +2 "manipulator"&& +3 "core" &  \ N , +2 "storage"(4& +4 "core" &K a X ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&}' +16 "core" ' +2 "storage"(;% +3 "core" % o n \ +3 ."downElevator"SE.seek :down +4 "storage"(p' +98 (*% +3 "core" %PL \ v[s +2 "manipulator"&t% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +89 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (9& +4 "core" &K \  +2 "collection"'"& +3 "core" &\\c\ \ \ N +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  \   +2 "storage"(D% +3 "core" % o o \  +2 "storage"(. +4 "core" .(K + "storage"(Q& +5 "core" &K k n \  + "storage"(X& +4 "core" &K ` ` T\  +2 "manipulator"&& +3 "core" & \  , +3 .tElbow.seek 6 + "manipulator"&q( +4 "core" ( +2 "manipulator"&& +3 "core" &   , +2 "storage"(w& +4 "core" &K d k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&b' +93 "core" ' + "storage"(B& +4 "core" &K :\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Y'r +300 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +42 "manipulator"&`& +11 "core" &   C , +2 "storage"(3& +3 "core" &K o n "\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' +2 .tElbow.hold + "manipulator"&~, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(k'h +35 "core" ' +2 "manipulator"&F% +4 "core" %;  \  + "storage"(& +5 "core" &K C\ | + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&c'g +16 "core" ' + "manipulator"& & +5 "core" &   , +2 "storage"(+& +3 "core" &K o d P\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(e' +47 "core" ' + "manipulator"&@& +5 "core" & \  % , + "manipulator"&W% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +140 "core" ' +2 .tElbow.seek CC + "manipulator"&|(ӂ +161 "core" ( +2 "manipulator"&V& +4 "core" &Ө #  8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &Ө   8 +3 .tForearm.seek CC +2 "manipulator"&_'? +94 "core" ' + .tHand.close +2 "manipulator"&!/ +56 "core" / +2 .tCC.seek :open +2 "collection"'L( +447 "core" ( + "storage"(& +4 "core" &K K\  +2 "storage"(& +4 "core" &K \  +2 "manipulator"&0& +3 "core" &Ө  2 8 +2 "manipulator"&T% +5 "core" % K   ( +2 .tForearm.seek :retract + "manipulator"&-' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&r& +4 "core" &    +2 "storage"(l& +3 "core" &K \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +63 "core" 1 +2 "manipulator"&,% +3 "core" % F  0 < +2 "storage"(y& +5 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&%'r +16 "core" ' + "manipulator"&[& +4 "core" &   +2 "storage"(& +3 "core" &K\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +16 "core" ' + "storage"(d% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(A' +100 (U% +2 "core" %sC c\ Yk +3 "manipulator"&x% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'f& +3 "core" &  \ +2 "manipulator"&R% +3 "core" %    " +3 "storage"(% +4 "core" % v\  + "storage"(?. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(g([ +352 "core" ( +45 .tSC.configure :limp +6 "storage"($\ 1b +3 (C& +2 "core" &[ ^\  +3 "manipulator"&:& +4 "core" & \    +2 .tElbow.seek 7 + "manipulator"&S(r +82 "core" ( +2 "manipulator"&n& +4 "core" &~   +2 "storage"(M& +4 "core" &[  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&)'= +95 "core" ' + "storage"(a& +4 "core" &[ #\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'r +296 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &[ W\  +2 "manipulator"&h& +5 "core" &~    +2 .tElbow.seek 7 + "manipulator"&\ (r +17 "core" ( + "manipulator"&& +4 "core" &v   F +2 "storage"(N& +3 "core" &[ >\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&8'ϧ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(#' +8 "core" &v b F + "manipulator"&% +4 "core" % ϛ +2 .tForearm.seek :retract +2 "manipulator"&\\' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&K(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&1& +3 "core" &ӎ#  x <; +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &ӎ#   <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&J'? +103 "core" ' +3 "manipulator"&=& +4 "core" &ӎ#   ! <; +2 "manipulator"&$% +3 "core" %9  K +3 "collection"'z& +3 "core" & \ +3 "collection"']& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" & \ +7 &9 \ %f +9 &Vu \ 7 +10 &t \ L +9 &L \ M +9 &tN \ M +10 &7M \ L +9 &O \ M +9 &P \ M +10 &}M \ L +9 &?N \ L +10 & L \ M +9 &!R \ L +9 &#O \ L +10 &%FQ \ M +9 &'O  \ M +9 &(L  \ L +10 &*N \ L +9 &,NR \ M +10 &.Q  \ L +9 &/O \ L +9 &1P \ L +10 &3US \ M +9 &5N \ L +10 &6O \ M +9 &8R \ M +9 &:^R \ M +10 &< O \ \ M +9 &=M \ \ M +9 &?N \ M +10 &AgQ \ \ L +9 &C'T \ M +9 &D_  \ N +10 &Fc\ \  \ O +9 &H^{\ \ \ \ R +10 &J\ "\ \ V +9 &K\ '\ ' \ Y +9 &M\ &\ &\ Z +10 &OO\ !\ %\ Z +9 &Q\ !\ \ [ +10 &R\ \ \ [ +9 &T\ \ \ \\ +9 &VP\ \ \ \\ +10 &X\ \  \ \\ +9 &Y\ \ \ ^ +9 &[\ \ \ K +10 &\\A\ \  \ 'x +9 &\\|\ \ \ Z +2 ( +2 "collection"']& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&1 +60 "core" 1 + "manipulator"&% +4 "core" % 9   O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +97 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%^& +4 "core" &\ { +2 "manipulator"&i% +3 "core" % \  ,  +2 "storage"(I% +4 "core" % \ { +2 "storage"(<. +3 "core" .([ +2 "storage"(E& +4 "core" &[ \ { +2 "storage"(& +4 "core" &[ \ { +2 "manipulator"&& +3 "core" &Ӭ   8 +2 "manipulator"&% +4 "core" % \   \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&4(r +162 "core" ( + "manipulator"&(& +4 "core" &s    +2 "storage"(;& +4 "core" &[ e l B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +100 "core" ' +2 "storage"(& +3 "core" &[ s t &\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +50 .tSE.seek :beamBreak +4 "storage"(5'r +311 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" &[ s\ z +2 "manipulator"&O& +4 "core" &s   Z  +2 .tElbow.seek 7 +2 "manipulator"& (r +4 "core" ( + "manipulator"& & +5 "core" &s  \ Q  + "storage"(& +4 "core" &[ \ | +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&9'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"(' +7 "core" &s   ?  +2 "manipulator"&D% +4 "core" % ϣ    +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +3 .tElbow.seek PC + "manipulator"&H( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&Q& +5 "core" &   $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &    $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' +2 "manipulator"&& +3 "core" & $ +3 "manipulator"&w% +3 "core" %  +2 "processing"%}& +5 "core" &\ +2 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%p(^ +4 "core" &\ +7 &-\ {#b +9 &Uw\ o7 +10 &|s\ oL +9 &R\ tP +10 &KM\ vP +9 &L\ wP +9 &Q\ uP +10 &N\ vP +9 &UM\ vO +9 &O\ uP +10 &L\ vP +9 &!M\ vO +10 &#]M\ vO +9 &%N\ uP +9 &&R\ uP +10 &(N\ vP +9 &*eM\ vO +9 &,&O\ uP +10 &-Q\ vP +9 &/R\ uP +10 &1mJ\ vO +9 &3.N\ uP +9 &4N\ vP +10 &6N\ vO +9 &8uO\ uO +9 &:6N\ vP +10 &;P\ uP +9 &=S\ tP +10 &?{P\ uP +9 &A<P\ uP +9 &BW\ tQ +10 &D]\ sR +9 &Fzd\ rS +9 &H8u\ nT +10 &I\ kW +9 &K\ lV +10 &Mv\ kW +9 &O9\ kW +9 &P\ jX +10 &R\ jW +9 &T|\ hX +9 &V?\ jW +10 &X\ iW +9 &Y\ iW +10 &[\ iW +9 &]D\ gP +9 &^|Fy\ n!c +10 &^7\ v3 +5 ( +2 "processing"%B& +4 "core" &^%\ x3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&61 +63 "core" 1 + "manipulator"&{% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 "processing"%`& +3 "core" &^%\ s3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&3% +3 "core" % !    - +3 "storage"(% +3 "core" % \ s +2 "storage"(F. +3 "core" .([ +2 "storage"(& +3 "core" &[ $\ s +3 "storage"( & +2 "manipulator"&+& +8 "core" &[ \ s + &   $ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&@( +4 "storage"(W'r +4 "core" ( +2 "manipulator"&b& +4 "core" &   ( $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" & +  j $ +2 .tForearm.seek PC +2 "manipulator"&Y' +93 "core" ' + .tHand.close +2 "manipulator"&/ +77 "core" / +2 .tPC.seek :open + "processing"%c( +79 "core" ' + "storage"(k- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'1 +44 "core" ' +324 ( + "storage"(V& +4 "core" &[ Y n H\  +2 "manipulator"&P& +3 "core" & \  $ +3 "manipulator"&~% +3 "core" %  @ +3 .tForearm.seek :retract + "manipulator"&!' +134 "core" ' +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +246 "core" ( +2 "manipulator"&&& +3 "core" &   { @ +2 "storage"(& +4 "core" &[ \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +103 "core" ' +2 .tHand.open +2 "manipulator"&01 +54 "core" 1 +2 "storage"(T- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(r' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +23 "Can"\ [ y +29 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(|& +3 "core" &[   \ 1 +3 "manipulator"& & +3 "core" &  1 @ +2 .tElbow.seek 7 +2 "manipulator"&,(r +8 "core" ( + "manipulator"&y& +4 "core" &    +2 "storage"([& +3 "core" &[   \ 1 +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(d'" +51 "core" ' + "manipulator"&-& +4 "core" &   ,  +2 "storage"(U& +3 "core" &[ O\ { +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&x'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' + "manipulator"&f% +4 "core" %Ώ 1 6  +2 "storage"(R& +5 "core" &[ \ n + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&%'ϻ +25 "core" ' +2 "manipulator"&& +3 "core" & [  +3 "storage"(?& +3 "core" &[\ \  F\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&e'= +18 "core" ' + "storage"(o% +4 "core" %\ \  J\ } +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (Z% +3 "core" %I "\ q[r +2 "manipulator"&C% +4 "core" %9    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (n& +3 "core" &[ \ z +2 "collection"'M& +4 "core" &\\z\ \ \ Z +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&a% +3 "core" %      +2 "storage"(>% +4 "core" % \ | +2 "storage"(G. +3 "core" .([ +2 "storage"(u& +3 "core" &[ \ | +2 "storage"('& +5 "core" &[ \ | + "manipulator"&h& +4 "core" &   &  +2 .tElbow.seek 7 +2 "manipulator"&(r +23 "core" ( +2 "manipulator"&N& +3 "core" &|   ~ +3 "storage"(.& +4 "core" &[\ \ \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&j'= +93 "core" ' +2 "storage"(& +3 "core" &[ s f b\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +296 "core" ' + "storage"()- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" &| \  ' ~ +2 "storage"(s& +3 "core" &[ l\ { +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&7'{ +29 "core" ' +2 .tElbow.hold +41 "manipulator"&8, +10 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"($'o +29 "core" ' +2 "manipulator"&\ % +4 "core" %·  D +2 "storage"(z& +4 "core" &[ \ s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&#'ϳ +14 "core" ' + "manipulator"&\\& +4 "core" &| ~ +2 "storage"(L& +3 "core" &[ \ `\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +37 "core" ' + "manipulator"&^& +5 "core" &| x ~ + "manipulator"&i% +4 "core" %C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<(ӂ +159 "core" ( +3 "manipulator"&E& +3 "core" &Ӑ!    :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &Ӑ!   v :0 +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(J& +3 "core" &[ >\  +3 "storage"((& +4 "core" &[ k\  + "manipulator"&;& +4 "core" &ӣ   8 +2 "manipulator"&% +4 "core" % D   +2 .tForearm.seek :retract +2 "manipulator"&K' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&/(r +153 "core" ( +2 "manipulator"&*& +4 "core" &x   +2 "storage"(t& +3 "core" &[ \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&O'{ +98 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&2% +4 "core" %     +2 "storage"("& +3 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 304 counts +2 "manipulator"&D'ϫ +14 "core" ' +2 "manipulator"&4& +4 "core" &x m +2 "storage"(& +3 "core" &[ I\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&5'= +15 "core" ' + "storage"(9% +4 "core" %  F\ +3 ."downElevator"SE.seek :down +4 "storage"(Q' +98 (X% +3 "core" %B G\ Xj +2 "manipulator"& % +4 "core" %7 M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'w& +3 "core" & \ +2 "manipulator"&}% +4 "core" %      +2 "storage"(% +3 "core" % "\  +2 "storage"(. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(m(<- +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &<0 #\ +2 "manipulator"&{& +3 "core" &x  [ +3 .tElbow.seek 5 + "manipulator"&`( +32 "core" ( + "manipulator"&3& +5 "core" &    + "storage"(& +47 "core" &<0 \ +6 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +92 "core" ' +2 "storage"(& +4 "core" &<0  a\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(B'r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &<- a\ +3 "manipulator"&b& +4 "core" &     +2 .tElbow.seek 5 + "manipulator"&q( +8 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"(& +3 "core" &<- \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&k'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(p' +9 "core" &  + "manipulator"&W% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&V' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&P(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&~& +4 "core" &Ӛ   8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &Ӛ   o 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&&'? +94 "core" ' +3 "manipulator"&& +3 "core" &Ӛ   & 8 +3 "manipulator"&@% +4 "core" %@   u 3 +2 "collection"'0& +3 "core" & !\ +3 "collection"'T& +5 "core" & %\ +2 .tCC.seek :closed +2 "collection"'_(\\ +4 "core" & \ +8 &; \ %f +10 &Wx \ 8 +9 &q \ L +9 &N \ L +10 &~O \ M +9 &@P  \ M +10 &N \ M +9 &R \ L +9 &N \ M +10 &IL \ L +9 & O \ L +9 &!R \ M +10 &#P \ M +9 &%QL \ L +10 &'O \ L +9 &(R \ M +9 &*Q \ L +10 &,XN \ M +9 &.M \ L +9 &/O \ M +10 &1R \ M +9 &3`R  \ M +10 &5!Q \ M +9 &6P \ L +9 &8P \ L +10 &:iP \ \ L +9 &<*R \ \ M +9 &=M  \ L +10 &?Q  \ M +9 &ApO \ M +10 &C1T \ M +9 &D_ \ N +9 &Ff \  \ P +10 &Hh|\ \ \ \ R +9 &J\ #\ \ V +10 &K\ )\ ( \ Y +9 &M\ !\ $\ \ Z +9 &OZ\ \ \ Z +10 &Q\ \  \ [ +9 &R\ \ \ [ +9 &T\ \ \ \\ +10 &V\\\ \ \ \\ +9 &X\ \  \ ] +9 &Y\ \  \ ] +10 &[\ \  \ K +9 &\\@\ \  \ 'v +10 &\\\\\ \  \ K +2 ( +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&|1 +57 "core" 1 +2 "manipulator"& % +3 "core" % @   3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%[& +3 "core" &\ } +3 "manipulator"&!% +4 "core" %    N " + "storage"(-% +5 "core" %\  \ } + "storage"(U. +4 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(f(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +3 "core" &<) \\\ { +2 "manipulator"&R& +3 "core" &ӡ   7 +2 "manipulator"&r% +5 "core" %  \  M " +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +159 "core" ( +2 "manipulator"&?& +4 "core" &     + "storage"(o& +5 "core" &<) q r P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +98 "core" ' + "storage"(& +4 "core" &<) M\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'r +303 "core" ' + "storage"(Z- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +50 (C& +4 "core" &<) `\ +2 "manipulator"&& +4 "core" & i  +2 .tElbow.seek 5 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&d& +3 "core" &    +3 "storage"(x& +3 "core" &<) \  \ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&%'Ϲ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +4 "storage"(a' +7 "core" &  7  + "manipulator"&>% +5 "core" %  Z +2 .tForearm.seek :retract +2 "manipulator"&G' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&u& +4 "core" &   4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &   4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&h' +99 "core" ' + "manipulator"&N& +5 "core" &   4 +2 "manipulator"&.% +4 "core" % \  ) +2 "processing"%e& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%A(^ +4 "core" &\ +8 &4\ ~#b +10 &Ty\ q7 +9 &|w\ pL +9 &N\ xP +10 &QN\ yP +9 &O\ xP +9 &R\ xP +10 &M\ yP +9 &YM\ yP +10 &S\ wP +9 &O\ xP +9 &!M\ xO +10 &#aN\ xP +9 &%"Q\ xP +9 &&O\ xP +10 &(O\ xP +9 &*hQ\ xP +10 &,+O\ xP +9 &-M\ xP +9 &/O\ xP +10 &1rL\ yO +9 &34N\ xO +9 &4M\ xO +10 &6O\ wP +9 &8yN\ xP +10 &:;N\ xP +9 &;P\ xP +9 &=P\ xP +10 &?Q\ wP +9 &A@R\ wQ +9 &CY\ vQ +10 &D\\\ uR +9 &F~i\ sS +10 &H;x\ pU +9 &I\ mV +9 &K\ mV +10 &M{\ mW +9 &O>\ mW +9 &P\ lX +10 &R\ mW +9 &T\ kX +10 &VD\ nX +9 &X\ mX +9 &Y\ mX +10 &[\ lX +9 &]I\ kN +9 &^|I\ n^ +10 &^ I\ x3 +5 ( +2 "processing"%& +4 "core" &^!\ |3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&:% +4 "core" %   E ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +93 "core" ' +2 "processing"%1& +3 "core" &^!\ y3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&s% +4 "core" % #   v / +2 "storage"(=% +3 "core" % v\ y +2 "storage"(\ . +4 "core" .(<- + "storage"(z& +4 "core" &<) F\ y +2 "storage"(\\& +3 "manipulator"&L& +7 "core" &<) u\ y + &   A 4 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&^( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(i'r +2 "core" ( +2 "manipulator"&j& +4 "core" &   0 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & .  e 4 +2 .tForearm.seek PC +2 "manipulator"&S' +104 "core" ' +2 .tHand.close + "manipulator"&7/ +58 "core" / +3 .tPC.seek :open + "processing"%#( +86 "core" ' +2 "storage"($- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'1 +42 "core" ' +315 ( + "storage"(]& +4 "core" &<) 4\ +2 "manipulator"&& +4 "core" & g 4 +2 "manipulator"&8% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&I( +242 "core" ( +10 "manipulator"& & +3 "core" &  ) , +2 "storage"(J& +4 "core" &<) x { ?\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +90 "core" ' +2 .tHand.open + "manipulator"&;1 +56 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(t' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(<& +3 "core" &<) O O ]\ 9 +3 "manipulator"&& +3 "core" &   , +2 .tElbow.seek 5 +2 "manipulator"&2( +4 "core" ( +2 "manipulator"&"& +3 "core" &   , +2 "storage"(4& +4 "core" &<) 5 F T\ 9 +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +49 "core" ' +2 "manipulator"&K& +3 "core" &    , +3 "storage"(X& +3 "core" &<)\ \ A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"& '΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +29 "core" ' + "manipulator"&w% +4 "core" %Θ    +2 "storage"(}& +4 "core" &<) \ R\ ~ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&D' +27 "core" ' + "manipulator"&& +4 "core" &  ` , +2 "storage"(& +4 "core" &<) { | x\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +15 "core" ' +2 "storage"(5% +3 "core" %  m\ +3 ."downElevator"SE.seek :down +4 "storage"(Q' +98 (g% +3 "core" %eG 1\ xZq +2 "manipulator"&6% +5 "core" %J   2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +90 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (3& +3 "core" &<)\ " t\ +2 "collection"'& +4 "core" &\\_\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %      +2 "storage"( % +4 "core" % o o\  +2 "storage"(. +3 "core" .(<- +2 "storage"( & +3 "core" &<) o n\ +2 "storage"(+& +4 "core" &<) o n\ +2 "manipulator"&b& +3 "core" &  , +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   , +2 "storage"(H& +4 "core" &<) n o \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 "storage"(W& +3 "core" &<) \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'r +295 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" &   A , +2 "storage"(Y& +4 "core" &<) \ \ ~ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&B'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +48 "storage"(@'s +30 "core" ' +2 "manipulator"&0% +3 "core" %Π   +2 "storage"(q& +4 "core" &<) \  \ } +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&p' +14 "core" ' +2 "manipulator"&V& +3 "core" &   \\ , +3 "storage"(& +3 "core" &<) D \\ L\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +39 "core" ' +2 "manipulator"&[& +4 "core" &  , +2 "manipulator"&!% +4 "core" %I  \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +166 "core" ( +3 "manipulator"&T& +3 "core" &ӊ   = 0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &ӊ   0 +2 .tForearm.seek CC +2 "manipulator"&R'? +101 "core" ' +2 .tHand.close + "manipulator"&r/ +64 "core" / +2 .tCC.seek :open +2 "collection"'&( +450 "core" ( +2 "storage"(?& +3 "core" &<) \ +2 "storage"(o& +4 "core" &<) P\ +2 "manipulator"&m& +3 "core" &ӊ   0 +3 "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&P' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&y( +160 "core" ( +2 "manipulator"&Z& +3 "core" &    +3 "storage"(C& +4 "core" &<) \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +96 "core" ' +2 .tElbow.hold + "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&x1 +60 "core" 1 +2 "manipulator"&n% +4 "core" % Θ    +2 "storage"(M& +4 "core" &<) \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&>' +24 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &<) H\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&l'O +20 "core" ' +2 "storage"(%% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(u' +98 ('% +3 "core" %> M\ Yj +2 "manipulator"&,% +5 "core" %W   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +96 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'.& +5 "core" & \ +2 "manipulator"&e% +3 "core" % \   +3 "storage"(a% +4 "core" % U\  + "storage"(G. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(c(K +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &K >\  +2 "manipulator"&:& +4 "core" & V  +2 .tElbow.seek 6 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&s& +4 "core" & k  +2 "storage"(=& +3 "core" &K 4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +93 "core" ' +4 "storage"(z& +3 "core" &K \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(L'r +294 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &K H\ +2 "manipulator"&j& +5 "core" & .  + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&h& +5 "core" &  + "storage"(7& +4 "core" &K ,\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&$'h +16 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(A' +8 "core" & 4  +2 "manipulator"&i% +4 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&]' +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&8& +3 "core" &Ӏ(   \\ @[ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &Ӂ(   b @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +91 "core" ' +2 "manipulator"&J& +3 "core" &Ә%   \\ =C +2 "manipulator"&^% +5 "core" %7   I +2 "collection"';& +3 "core" & \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & $\  +8 &2v \ *y +9 &cz  \ > +10 &yl \ N +9 &>O "\ M +9 &R \ M +10 &R \ L +9 &N \ L +10 &FR \ M +9 &S \ M +9 &P \ M +10 & L \ M +9 &"OQ \ L +9 &$M \ M +10 &%N \ L +9 &'O \ L +9 &)WO \ L +10 &+R \ M +9 &,P \ M +10 &.O \ L +9 &0^N \ M +9 &2 M \ M +10 &3N \ M +9 &5N \ M +9 &7fN \ M +10 &9(N \ M +9 &:M \ M +10 &<M \ M +9 &>nN \ M +9 &@0N \ M +10 &AQ \ M +9 &CW \ M +9 &Eq^\  \ N +10 &G.k\ \ \ P +9 &H\ \ \ R +10 &J\ $\ \ X +9 &LZ\ %\ '\ Y +9 &N\ $\ $\ Z +10 &O\ !\ "\ Z +9 &Q\ \ \ Z +9 &S\\\ \ \ [\ +10 &U\ \ \ \\ +9 &V\ \ \ ] +10 &X\ \ \ ] +9 &Z^\ \ \ ] +9 &\\z\ \ \ < +10 &\\'\ \ \ )y +9 &\\p\ \ \ V +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&<1 +53 "core" 1 +2 "manipulator"&% +4 "core" % 7   I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%4& +4 "core" &\ z + "manipulator"&% +5 "core" %    ~  + "storage"(K% +4 "core" % \ { +2 "storage"(X. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(w(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &K l\ t +2 "manipulator"&E& +3 "core" &ӯ!   :, +2 "manipulator"&% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&*( +165 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"(5& +4 "core" &K n o !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +94 "core" ' + "storage"((& +4 "core" &K \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'r +295 "core" ' + "storage"(g- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" &K $\ y +2 "manipulator"&& +3 "core" &    +3 .tElbow.seek 6 + "manipulator"&2( +61 "core" ( +3 "manipulator"&9& +3 "core" &    +2 "storage"( & +5 "core" &K '\ | +2 .tForearm.seek 6 + 300 counts + "manipulator"&D'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +6 "core" & ^  +3 "manipulator"& % +3 "core" % g  a +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&O( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +68 "core" ( +2 "manipulator"& & +4 "core" &  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &   7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&b' +92 "core" ' +2 "manipulator"&& +3 "core" &   7 +2 "manipulator"&H% +5 "core" %  \  c +2 "processing"%& +4 "core" &\ +2 "processing"%W& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%Q(^ +5 "core" &\ +7 &4\ ~$c +10 &Su\ q7 +9 &{s\ pK +9 &O\ vP +10 &PN\ wP +9 &L\ xP +10 &S\ vP +9 &O\ wP +9 &YM\ xP +10 &N\ wP +9 &N\ wP +9 &!N\ wP +10 &#aN\ xP +9 &%$N\ wO +10 &&Q\ wP +9 &(Q\ wP +9 &*hO\ xP +10 &,+O\ wP +9 &-N\ xP +9 &/S\ vP +10 &1qL\ wP +9 &33L\ xP +9 &4M\ xO +10 &6O\ wP +9 &8zO\ xO +10 &::N\ wP +9 &;Q\ wP +9 &=P\ wP +10 &?Q\ vP +9 &ABN\ wP +10 &CY\ uQ +9 &DX\ uQ +9 &Fb\ sS +10 &H?n\ qT +9 &I\ mV +9 &K\ mV +10 &M|\ mW +9 &O>\ lW +10 &P\ lX +9 &R\ lW +9 &T\ jX +10 &VD\ kW +9 &X\ jX +9 &Y\ kX +10 &[\ lX +9 &]J\ jL +9 &^yH\ m` +10 &^ P\ v3 +5 ( +2 "processing"%W& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&/1 +3 "core" &^!\ z3 +49 1 +2 "manipulator"&{% +3 "core" %   c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +95 "core" ' + "processing"%~& +5 "core" &^!\ u3 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&Y% +3 "core" % '    E +3 "storage"(% +3 "core" % X\ u +2 "storage"(0. +3 "core" .(K +2 "storage"(q& +3 "core" &K e\ u +3 "storage"(V& +2 "manipulator"&& +7 "core" &K 3\ u + &   ? 7 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&[( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'r +2 "core" ( + "manipulator"&& +6 "core" & . 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & = 4  7 +2 .tForearm.seek PC +2 "manipulator"&`' +92 "core" ' + .tHand.close +2 "manipulator"&B/ +67 "core" / +3 .tPC.seek :open + "processing"%p( +86 "core" ' +2 "storage"(@- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'1 +45 "core" ' +315 ( + "storage"(v& +5 "core" &K u z \ \ + "manipulator"&|& +4 "core" &    7 +2 "manipulator"&k% +3 "core" %   I +3 .tForearm.seek :retract + "manipulator"&r' +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&-( +246 "core" ( + "manipulator"&_& +4 "core" &  . , +2 "storage"(?& +4 "core" &K\  )\ }\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 6 + 450 counts +3 "manipulator"&o' +100 "core" ' +2 .tHand.open + "manipulator"&m1 +58 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Z' +27 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(C' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +4 "core" -' +2 "storage"(U& +3 "core" &K ; 1 \ 9\ +3 "manipulator"&x& +4 "core" &   + +2 .tElbow.seek 6 + "manipulator"&n( +4 "core" ( +2 "manipulator"&M& +4 "core" &   l + +2 "storage"(& +3 "core" &K 5 6\ 8\ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(%'" +50 "core" ' +2 "manipulator"&P& +4 "core" &   2 + + "storage"('& +5 "core" &K g\ |\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&,'< +19 "core" ' +2 .tElbow.hold + "manipulator"&y, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +21 "core" ' + "manipulator"&.% +4 "core" %9   +2 "storage"(>& +5 "core" &K U\ x\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 297 counts + "manipulator"&e'e +14 "core" ' +2 "manipulator"&a& +3 "core" &   + +2 "storage"(G& +4 "core" &K\ *\ ~\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 "storage"(l% +3 "core" % h\ ~ +3 ."downElevator"SE.seek :down +4 "storage"(u' +98 (f% +3 "core" %KJ \ uZq +2 "manipulator"&% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +2 "core" &K q\ {\ +3 "collection"'=& +4 "core" &\\m\ \ \ V +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&z% +4 "core" %   .  +2 "storage"(d% +3 "core" %\ \  a\ ~ +2 "storage"(N. +3 "core" .(K +2 "storage"(\\& +3 "core" &K\ \  \ ~\ +3 "storage"(& +4 "core" &K\ \  \ ~\ + "manipulator"&j& +5 "core" &   + +2 .tElbow.seek 6 + "manipulator"&h( +4 "core" ( +2 "manipulator"&7& +3 "core" &  + +3 "storage"(& +4 "core" &K\ \  :\ ~\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +102 "core" ' +2 "storage"(i& +3 "core" &K q r u\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'r +295 "core" ' +3 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" &   A + +2 "storage"(S& +4 "core" &K \ |\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&L'< +21 "core" ' +2 .tElbow.hold + "manipulator"&$, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(^'h +29 "core" ' + "manipulator"&;% +4 "core" %B   - +2 "storage"(& +4 "core" &K \ x\ +2 .tForearm.force -20 +45 "manipulator"&5 +6 .tForearm.seek 6 + 306 counts +2 "manipulator"&A'n +16 "core" ' + "manipulator"&]& +4 "core" &  + +2 "storage"(&& +3 "core" &K >\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&<' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&4& +4 "core" &  \ + +2 "manipulator"&% +4 "core" % r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +146 "core" ( +2 "manipulator"&& +4 "core" &x(   T @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &x(   ^ @^ +2 .tForearm.seek CC +2 "manipulator"&E'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"' ( +447 "core" ( + "storage"(& +5 "core" &K \ \ + "storage"(5& +4 "core" &K \ \ +2 "manipulator"&c& +4 "core" &Ӷ   8 +2 "manipulator"&(% +4 "core" % 1  D  +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&"( +163 "core" ( +2 "manipulator"&g& +3 "core" &  +3 "storage"(6& +4 "core" &K\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +58 "core" 1 +2 "manipulator"&3% +4 "core" % C  \  +2 "storage"(& +4 "core" &K " r\ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"& 'o +16 "core" ' + "manipulator"&*& +5 "core" & V  + "storage"(I& +4 "core" &K\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&t' +15 "core" ' + "storage"(D% +5 "core" %  =\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (+% +3 "core" %C =\ Yl +2 "manipulator"&2% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'H& +3 "core" &  \ +2 "manipulator"&% +3 "core" %  \  +3 "storage"(% +3 "core" %\  +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(#([ +376 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" &[ J\ +2 "manipulator"&{& +4 "core" &  H  +2 .tElbow.seek 7 +2 "manipulator"&~(r +29 "core" ( +2 "manipulator"&Y& +3 "core" &g   3 +3 "storage"(& +4 "core" &[  $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&0'= +93 "core" ' +2 "storage"(q& +4 "core" &[ "\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +344 "core" ' +3 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &[ ?\ +2 "manipulator"&& +5 "core" &g   3 +2 .tElbow.seek 7 + "manipulator"&(r +12 "core" ( +2 "manipulator"&b& +4 "core" &h    "| + "storage"(B& +4 "core" &[ \ +3 .tForearm.seek 7 + 300 counts + "manipulator"&@'ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(Q' +8 "core" &h   - "| + "manipulator"&!% +5 "core" % ϰ  Y +2 .tForearm.seek :retract +2 "manipulator"&v' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&|(ӂ +153 "core" ( +2 "manipulator"&k& +3 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +2 "core" &Ӓ"   3 ;2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &Ӓ"   ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&_'? +104 "core" ' +2 "manipulator"&?& +4 "core" &ӝ \  3 9' +3 "manipulator"&[% +4 "core" %8   +2 "collection"'m& +3 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'R(\\ +5 "core" & \ +5 &; \ %f +10 &Wx \ 7 +9 &t  \ L +10 &L \ M +9 &Q  \ M +9 &DR \ L +10 &R  \ L +9 &M \ L +9 &O \ L +10 &LR \ L +9 & Q \ M +10 &!O \ L +9 &#O \ L +9 &%SP \ M +10 &'L \ L +9 &(N \ L +9 &*O \ L +10 &,[Q \ M +9 &.L \ L +10 &/R \ M +9 &1Q \ M +9 &3dN \ L +10 &5&O \ L +9 &6S \ M +9 &8Q  \ M +10 &:lN \ L +9 && +3 "core" &[\ \  ]\ } +2 "manipulator"&T& +5 "core" &ӭ   7 + "manipulator"&a% +4 "core" %  \  W  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&G(r +165 "core" ( + "manipulator"&Z& +4 "core" &f   ( +2 "storage"(l& +4 "core" &[ n n \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&-'= +92 "core" ' +2 "storage"(o& +3 "core" &[ k\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +296 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ )\ { +3 "manipulator"&& +4 "core" &f   ? + .tElbow.seek 7 +2 "manipulator"&n(r +29 "core" ( +2 "manipulator"&%& +3 "core" &     +2 "storage"(,& +5 "core" &[\ X\ } +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&s'ϧ +50 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&e/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(z' +9 "core" & \ w  + "manipulator"&d% +5 "core" % ϻ    +2 .tForearm.seek :retract + "manipulator"&N' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&\\& +5 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&j' +90 "core" ' +2 "manipulator"&7& +3 "core" &    +2 "manipulator"&% +5 "core" %   ` d +2 "processing"% & +4 "core" &\ +2 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%u(^ +4 "core" &\  +8 &0r\ u*x +10 &ax\ r> +9 &ek\ sO +10 &$N\ yP +9 &M\ zP +9 &O\ yP +10 &jQ\ yP +9 &.M\ yO +9 &N\ yP +10 &M\ zP +9 & sO\ yP +10 &"6O\ yO +9 &#O\ yP +9 &%L\ yO +10 &'{O\ xP +9 &)=O\ yP +9 &*Q\ wP +10 &,P\ yP +9 &.L\ yP +10 &0EN\ yP +9 &2O\ yP +9 &3O\ yO +10 &5L\ yO +9 &7MN\ yP +9 &9R\ xP +10 &:O\ yP +9 &<O\ xO +10 &>SQ\ xP +9 &@Q\ xP +9 &AU\ wP +10 &C\\\ vR +9 &EW_\ vR +9 &Gh\ tT +10 &Hw\ qU +9 &J\ oW +10 &LQ\ nV +9 &N\ nW +9 &O\ oW +10 &Q\ lX +9 &SV\ nX +9 &U\ mX +10 &V\ mX +9 &X\ mX +10 &Z[\ lY +9 &\\\ lX +9 &]~\ o7 +10 &^)`\ u ^ +9 &^'\ |4 +2 ( +2 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&y1 +60 "core" 1 + "manipulator"&:% +5 "core" %   4 d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +90 "core" ' +2 "processing"%8& +4 "core" &^&\ y4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&S% +4 "core" %   G  +2 "storage"(J% +4 "core" % \ y +2 "storage"(;. +2 "core" .([ +2 "storage"(& +5 "core" &[ \ x +2 "storage"(]& +2 "manipulator"&&& +7 "core" &[ /\ x +2 &    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&4( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&)& +4 "core" &  L  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" & / A  +2 .tForearm.seek PC +2 "manipulator"&1' +93 "core" ' +2 .tHand.close + "manipulator"&L/ +70 "core" / +3 .tPC.seek :open +2 "processing"%A( +85 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'1 +52 "core" ' +308 ( +2 "storage"(}& +3 "core" &[\ \  C\ } +2 "manipulator"&<& +4 "core" &  \   +2 "manipulator"&$% +3 "core" %    +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&K(r +248 "core" ( + "manipulator"&& +4 "core" &|    ] +2 "storage"(& +3 "core" &[ \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&5'= +95 "core" ' + .tHand.open +2 "manipulator"&c1 +61 "core" 1 +2 "storage"((- +49 "core" -'1 +4 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(g' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(6' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(E- +2 "core" -' +3 "storage"(X& +3 "core" &[ \ ( +3 "manipulator"& & +4 "core" &}  \\ +2 .tElbow.seek 7 + "manipulator"&3(r +6 "core" ( + "manipulator"&& +4 "core" &}   T Q +2 "storage"(*& +3 "core" &[ U\ - +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&I'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(D'" +59 "core" ' +2 "manipulator"&& +3 "core" &}    Q +2 "storage"(+& +5 "core" &[\ _\ ~ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&2'{ +32 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +27 "core" ' + "manipulator"&H% +4 "core" %l 1 9 +2 "storage"(& +4 "core" &[ {\ p +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 285 counts + "manipulator"& 'Ϙ +14 "core" ' +2 "manipulator"&& +3 "core" &  `  +2 "storage"(& +5 "core" &[ d n T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +18 "core" ' +2 "storage"(t% +3 "core" % q o \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +100 (w% +3 "core" %G \ wZr +2 "manipulator"&/% +3 "core" %K  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (Y& +3 "core" &[ \  +2 "collection"'& +4 "core" &\\c\ \ \ O +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&q% +3 "core" %     +3 "storage"(9% +4 "core" % a ` &\  + "storage"(. +4 "core" .([ + "storage"(V& +4 "core" &[ k n \ +2 "storage"(W& +3 "core" &[ d a x\ +3 "manipulator"&& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&b(r +19 "core" ( + "manipulator"&B& +5 "core" &|     + "storage"(O& +4 "core" &[ o n \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&F'= +97 "core" ' +2 "storage"(!& +3 "core" &[ I\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +295 "core" ' +3 "storage"(0- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" &|   +2 "storage"(`& +4 "core" &[ t *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +26 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(['^ +29 "core" ' +2 "manipulator"&% +3 "core" %Ύ   +2 "storage"(m& +4 "core" &[ \\\ u +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 319 counts + "manipulator"&Q'Ϻ +15 "core" ' + "manipulator"&v& +4 "core" &|   +2 "storage"( & +49 "core" &[ l J\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&U'= +19 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(x' +45 "core" ' +2 "manipulator"&& +4 "core" &| 6  +2 "manipulator"&r% +4 "core" %C S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +159 "core" ( + "manipulator"&& +4 "core" &ӎ%    >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &ӎ%   : >K +2 .tForearm.seek CC +2 "manipulator"&T'? +95 "core" ' + .tHand.close +2 "manipulator"&a/ +58 "core" / +2 .tCC.seek :open + "collection"'_( +450 "core" ( +2 "storage"(Z& +3 "core" &[ 9\ +3 "storage"(l& +4 "core" &[ q\ +2 "manipulator"&#& +3 "core" &Ӫ!   :/ +2 "manipulator"&o% +5 "core" % O   +2 .tForearm.seek :retract + "manipulator"&|' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&M(r +163 "core" ( + "manipulator"&f& +4 "core" &w   "  +2 "storage"(& +3 "core" &[ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +100 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&,1 +55 "core" 1 +2 "manipulator"&e% +5 "core" % ·  \  + "storage"(=& +5 "core" &[ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&d'ϳ +14 "core" ' + "manipulator"&G& +4 "core" &w  +2 "storage"(-& +3 "core" &[\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&C'= +15 "core" ' +2 "storage"(s% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(\\' +99 (% +3 "core" %F |\ Yl +2 "manipulator"&n% +4 "core" %6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +31037 "Can"\ :q +60002 \ :r) +60001 \ ;m;# +60001 \ :iѕ +16375 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +6 #mEXIT @1691681947.43EDT @1691947079.43EDT = =tMAIN =mMAIN_scheduler @EDT1691947081.14 #"core_reset"Sent BREAK +2 #t@44040 select with ifg=0x10, ie=0xF5 #@44673 receive with ifg=0x10, ie=0xFD + #@45306 receive with ifg=0x10, ie=0xFD + #@45939 receive with ifg=0x10, ie=0xFD + #@46266 receive with ifg=0x80, ie=0xFD #@38025 sendCRC with ifg=0x20, ie=0x7F + #@38471 sendCRC with ifg=0x20, ie=0x7F + #@40063 sendCRC with ifg=0x08, ie=0x5F #@25037 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +288 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can"\ 9)9 + \ 9)9 + #tPolling Can every 10:00 +71 #Cleanly exited at 11:39:07EDT10-Aug-23 +494 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %j  \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +78 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڄ\ ;\ : {\ I +2 .tSS.configure :default +3 "sampler")#.0X access 3 +2 "storage"(2% +3 "core" % &\  +2 "manipulator"&3% +3 "core" %    +3 "manipulator"&4& +4 "core" &w     +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(5([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &[ ~\ +342 #t-> access 4 +2 "storage"(7% +3 "core" % l\  +2 "manipulator"&8% +3 "core" %   \   +2 "manipulator"&9& +4 "core" &w     +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(:(C +1921 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &F \ +226 #t-> exit +6 #mEXIT @1691947129.13EDT @1691972555.93EDT = =tMAIN =mMAIN_scheduler @EDT1691972557.62 #"core_reset"Sent BREAK + #t@55731 receive with ifg=0x10, ie=0xFD + #@56366 receive with ifg=0x10, ie=0xFD + #@57022 receive with ifg=0x10, ie=0xFD + #@57657 receive with ifg=0x10, ie=0xFD + #@58289 receive with ifg=0x10, ie=0xFD #@58922 receive with ifg=0x10, ie=0xFD + #@59555 receive with ifg=0x10, ie=0xFD + #@59881 receive with ifg=0x80, ie=0xFD #@111 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +282 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can"#\ 8c 0, + #\ 8c 0, + #tPolling Can every 10:00 +2 #Cleanly exited at 13:18:49EDT13-Aug-23 +932 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %j !\ +3 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڄ\ )\ % {\ I +2 .tSS.configure :default +2 "sampler")#.0X Puck.count +2 "storage"(2% +3 "core" % s\  +3 .tSE.seek :down + "storage"(3' +4 "core" ' + .tSE.stop +2 "storage"(5 +2 .tHand.open + "manipulator"&41 +25 "core" 1 +2 "manipulator"&5% +4 "core" %    %  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(6(C +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &F )\ +2 "manipulator"&8& +4 "core" &w K  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&9( +50 "core" ( +2 "manipulator"&:& +3 "core" &    +2 "storage"(;& +4 "core" &F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&<' +94 "core" ' +2 "storage"(=& +3 "core" &F\ +3 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +276 "core" ' +2 "storage"(?- +2 "core" -'r +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (@% +3 "core" %p  r O\ +2 ."downElevator"SE.seek :down +4 "storage"(A' +98 (B% +3 "core" % J \ Zn +2 "manipulator"&C% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +93 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(E(  +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &  \  +2 "manipulator"&G& +4 "core" &  \   +2 .tElbow.seek 2 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&I& +3 "core" &   "  +2 "storage"(J& +4 "core" &  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&K'S +102 "core" ' +2 "storage"(L& +3 "core" &  d\  +3 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +279 "core" ' + "storage"(N- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (O% +3 "core" %h { r \ +3 ."downElevator"SE.seek :down +3 "storage"(P' +99 (Q% +4 "core" %Y o o F\ ~[t +2 "manipulator"&R% +3 "core" %G \ \  8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +95 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(T( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (U& +3 "core" & M\ +2 "manipulator"&V& +5 "core" &   J  + .tElbow.seek 3 +2 "manipulator"&W( +34 "core" ( +2 "manipulator"&X& +3 "core" &   ? ' +2 "storage"(Y& +44 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z'7 +93 "core" ' +2 "storage"([& +3 "core" &  Y\ +3 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +274 "core" ' +2 "storage"(]- +3 "core" -'r +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^% +3 "core" %x h\ +2 ."downElevator"SE.seek :down +4 "storage"(_' +99 (`% +3 "core" %kG v k\ Ym +2 "manipulator"&a% +3 "core" %G \  i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +94 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(c(,y +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &,z _\  +3 "manipulator"&e& +4 "core" & \  ' +2 .tElbow.seek 4 + "manipulator"&f( +30 "core" ( + "manipulator"&g& +4 "core" &   +2 "storage"(h& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +92 "core" ' +2 "storage"(j& +3 "core" &,z .\  +3 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +276 "core" ' + "storage"(l- +4 "core" -'r + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m% +3 "core" %v H\ +2 ."downElevator"SE.seek :down +4 "storage"(n' +99 (o% +2 "core" %[F \ Ym +2 "manipulator"&p% +4 "core" % \ 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +93 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(r(<- +345 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" &<+ \ +2 "manipulator"&t& +4 "core" &  - +2 .tElbow.seek 5 +2 "manipulator"&u( +13 "core" ( +2 "manipulator"&v& +3 "core" &    +2 "storage"(w& +4 "core" &<* \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +94 "core" ' +2 "storage"(y& +3 "core" &<* \  +3 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +324 "core" ' +2 "storage"({- +4 "core" -'U + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (|% +2 "core" % [ \ +4 ."downElevator"SE.seek :down +4 "storage"(}' +99 (~% +3 "core" %o< \ Yj +2 "manipulator"&% +4 "core" %a  r j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +42 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K q p \  +2 "manipulator"&& +3 "core" &     +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   j  +2 "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +94 "core" ' + "storage"( & +4 "core" &K \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +318 "core" ' +2 "storage"(- +3 "core" -'J +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +2 "core" % G \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %A M\ Yl +2 "manipulator"&% +36 "core" %  o +10 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ \  +2 "manipulator"&& +4 "core" &   $  +2 .tElbow.seek 7 +2 "manipulator"&(r +33 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"(& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +95 "core" ' + "storage"(& +4 "core" &[  o\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +313 "core" ' +2 "storage"(!- +3 "core" -'P +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("% +2 "core" % Q +\ +3 ."downElevator"SE.seek :down +4 "storage"(#' +98 ($% +3 "core" %; _\ Xj +2 "manipulator"&%% +3 "core" %8   k x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +90 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +1624 #t-> require 'shuffle.rb' +18822 #-> 20.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"''& +3 "core" &  \ +3 "manipulator"&(% +4 "core" %     +2 "storage"()% +3 "core" % C\  +2 "storage"(*. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(+(<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +2 "core" &<0 "\ +3 "manipulator"&-& +3 "core" &   E  +2 .tElbow.seek 5 +2 "manipulator"&.( +33 "core" ( + "manipulator"&/& +4 "core" &   8 +2 "storage"(0& +4 "core" &<0 p\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&1'O +92 "core" ' +2 "storage"(2& +3 "core" &<0 \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +299 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &<. \ +2 "manipulator"&8& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&:( +4 "core" ( +2 "manipulator"&;& +3 "core" &  B +2 "storage"(=& +4 "core" &<. \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&3'Ϲ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +70 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +8 "core" & " + "manipulator"&?% +4 "core" % Ϸ _ +2 .tForearm.seek :retract +2 "manipulator"&@' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&C& +3 "core" &Ӊ&   >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &Ӊ%   >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'? +93 "core" ' +3 "manipulator"&A& +3 "core" &ӊ%   >M +2 "manipulator"&6% +3 "core" %C   ) +3 "collection"'F& +3 "core" & \ +3 "collection"'G& +5 "core" & !\ +2 .tCC.seek :closed +2 "collection"'I(\\ +4 "core" & \ +8 &;  \ %g +10 &Vy \ 8 +9 &}w \ L +9 &W \ O +10 &jU \ O +9 &,V \ O +9 &U \ O +10 &U \ O +9 &rW \ O +10 &4W \ O +9 &U \ O +9 &!V \ O +10 &#yY \ O +9 &%<T \ O +39 &&U \ O +9 &(U \ O + &*T \ O + &,CW \ O + &.T \ O +5 &/T \ O +10 &1S \ O +9 &3NS \ N +9 &5T \ O +10 &6T \ O +9 &8T \ O +10 &:TX \ O +9 &<R \ O +9 &=T \ N +10 &?U \ O +9 &A]X \ O +9 &CZ \ O +10 &Da \ P +9 &Fs \ R +10 &HT \ U +9 &J\ \ \ \ Y +9 &K\ \ \ [ +10 &M\ \ \ \\ +9 &OG\ \ \ \\ +9 &Q\ \ \ \\ +10 &R\ \ \ ] +9 &T\ \ \ \ ] +10 &VJ\ \ \ L\ ] +9 &X\ \ \ \ ^ +9 &Y\ \ T\ _ +10 &[\ \ R\ }M +9 &\\:\ \ #\ , +9 &\\\ \ \ [ +6 ( + "collection"'G& +4 "core" &\\~ \ \ [ +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&J1 +52 "core" 1 +3 "manipulator"&L% +4 "core" % C   * ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%D& +4 "core" &\ t +2 "manipulator"&N% +3 "core" %    7  +3 "storage"(O% +4 "core" % I\ t + "storage"(Q. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(R(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &<* W\ q +2 "manipulator"&K& +4 "core" &ӯ   9( +2 "manipulator"&P% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&E( +163 "core" ( +2 "manipulator"&U& +4 "core" &     +2 "storage"(V& +4 "core" &<* i\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&X'O +104 "core" ' +2 "storage"(Y& +4 "core" &<*\ \  =\ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +296 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &<* &\ t +2 "manipulator"&]& +3 "core" & \   +3 .tElbow.seek 5 + "manipulator"&^( +3 "core" ( +2 "manipulator"&`& +4 "core" &    +2 "storage"(a& +3 "core" &<* t\ w +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&\\'Ϲ +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(T' +8 "core" &  \ (  +2 "manipulator"&d% +3 "core" %   w +3 .tForearm.seek :retract + "manipulator"&e' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +2 "manipulator"&h& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&W' +90 "core" ' +2 "manipulator"&b& +3 "core" &   r +2 "manipulator"&l% +5 "core" %  e [ + "processing"%m& +5 "core" &\ | +2 "processing"%o& +5 "core" &\ | +2 .tPC.seek :closed +2 "processing"%p(^ +4 "core" &\ | +9 &2s\ k)w +10 &_}\ g> +9 &Xs\ hQ +9 &R\ oR +10 &Q\ oR +9 &T\ nQ +9 &\\U\ nQ +10 &S\ nR +9 &S\ oR +10 &T\ nQ +9 & dU\ nQ +9 &"&T\ nQ +10 &#U\ oQ +9 &%S\ oR +9 &'kS\ oR +10 &)-S\ nR +9 &*W\ nR +10 &,X\ nR +9 &.sT\ nR +9 &05R\ oR +10 &1U\ nR +9 &3S\ nR +9 &5|S\ oQ +10 &7>R\ nQ +9 &8Y\ nR +10 &:T\ nR +9 &<T\ oQ +9 &>DZ\ mR +10 &@U\ nR +9 &A^\ mR +9 &Cb7\ lS +10 &EFd;\ kT +9 &Gu=\ hV +10 &H<\ eW +9 &J?\ dX +9 &LC;\ eX +10 &N@\ cY +9 &O?\ cY +9 &Q;\ cY +10 &SI=\ cY +9 &U 8\ aY +10 &V=\ cY +9 &X;\ cX +9 &ZN=\ bZ +10 &\\;\ bY +9 &]9\ e= +9 &^-y;\ iX +10 &^)9\ s3 +2 ( +2 "processing"%o& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&k1 +59 "core" 1 +2 "manipulator"&i% +3 "core" %     [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +92 "core" ' +2 "processing"%c& +3 "core" &^&9\ o3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&s% +3 "core" %    \\  +45 "storage"(t% +5 "core" % \ o + "storage"(v. +3 "core" .(<- +2 "storage"(w& +3 "core" &<* \ o +3 "storage"(y& +2 "manipulator"&f& +7 "core" &<* {\ n +2 &    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +4 "manipulator"&q( +4 ."raiseStack"SE.seek :beamBreak + "storage"({'r +3 "core" ( +2 "manipulator"&|& +3 "core" &  \ F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &~& +2 "core" & \ \ % +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&z/ +75 "core" / +2 .tPC.seek :open +2 "processing"%x( +76 "core" ' +2 "storage"(}- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'1 +45 "core" ' +323 ( + "storage"(& +4 "core" &<* \ y +2 "manipulator"&& +3 "core" &   +2 "manipulator"&% +4 "core" %     +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +239 "core" ( + "manipulator"&u& +4 "core" &  * & +2 "storage"(& +3 "core" &<* <\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +98 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +3 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(& +4 "core" &<*  B\ , +2 "manipulator"&& +3 "core" &   % +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   % +2 "storage"(& +4 "core" &<*  \ + +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +59 "core" ' + "manipulator"&& +3 "core" & b % +3 "storage"(& +4 "core" &<* \ w + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&!'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"($' +28 "core" ' + "manipulator"&%% +4 "core" %Μ  !  +2 "storage"( & +3 "core" &<* Y\ u +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&#& +3 "core" &   % +3 "storage"('& +4 "core" &<* \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +15 "core" ' +2 "storage"()% +3 "core" % \ y +3 ."downElevator"SE.seek :down +3 "storage"(*' +100 (% +3 "core" %J \ k[u +2 "manipulator"&,% +3 "core" %I   = +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (/& +3 "core" &<* 4\ x +2 "collection"'0& +4 "core" &\\} \ [ +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&2% +3 "core" %      +2 "storage"(% +4 "core" % {\ x +2 "storage"(&. +3 "core" .(<- +2 "storage"(5& +3 "core" &<* m\ y +2 "storage"(7& +3 "core" &<* -\ y +37 "manipulator"&8& +11 "core" &   % +2 .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&=& +4 "core" &    % +2 "storage"(& +3 "core" &<* \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' + "storage"(?& +4 "core" &<* ?\ z +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'r +297 "core" ' + "storage"(1- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" &   ? % +2 "storage"(>& +3 "core" &<* \ t +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&4'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(6'r +29 "core" ' +2 "manipulator"&F% +3 "core" %Ο   +2 "storage"(:& +3 "core" &<* v\ q +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&' +14 "core" ' + "manipulator"&@& +4 "core" & \  ' % +2 "storage"(\ & +4 "core" &<* U\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(L' +35 "core" ' +2 "manipulator"&D& +4 "core" &    % +2 "manipulator"&N% +3 "core" %C  \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&Q(ӂ +156 "core" ( + "manipulator"&G& +5 "core" &Ӓ!   :+ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &Ӓ! :+ +2 .tForearm.seek CC +3 "manipulator"&K'? +96 "core" ' + .tHand.close + "manipulator"&P/ +69 "core" / +2 .tCC.seek :open +2 "collection"'<( +452 "core" ( +2 "storage"(U& +4 "core" &<* \ +2 "storage"(V& +4 "core" &<* ]\ + "manipulator"&+& +4 "core" &Ӭ   6 +2 "manipulator"&Y% +3 "core" % M   } +2 .tForearm.seek :retract +2 "manipulator"&B' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&9( +162 "core" ( + "manipulator"&H& +4 "core" &     +2 "storage"(S& +3 "core" &<* \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&]'΍ +98 "core" ' +2 .tElbow.hold + "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&a1 +61 "core" 1 +2 "manipulator"&Z% +3 "core" % Ρ   0 +2 "storage"(_& +4 "core" &<* v\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&d' +14 "core" ' + "manipulator"&E& +4 "core" &   +2 "storage"(X& +3 "core" &<* \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&['O +15 "core" ' +2 "storage"(\\% +3 "core" % @\ +3 ."downElevator"SE.seek :down +4 "storage"(h' +98 (j% +3 "core" %rA \ Xk +2 "manipulator"&^% +3 "core" %G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'l& +3 "core" & \ +2 "manipulator"&m% +3 "core" %   %  +45 "storage"(T% +4 "core" % 3\  +2 "storage"(e. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" &K _\ +3 "manipulator"&i& +3 "core" &   \\  +3 .tElbow.seek 6 + "manipulator"&c( +4 "core" ( +2 "manipulator"&s& +3 "core" &   +3 "storage"(o& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&t' +95 "core" ' +2 "storage"(v& +3 "core" &K \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'r +299 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &K \ +3 "manipulator"&|& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&~( +4 "core" ( +2 "manipulator"&W& +4 "core" & \   + "storage"(z& +4 "core" &K \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&}'h +14 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(p' +8 "core" &   + "manipulator"&{% +4 "core" % _ c | +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ( + "manipulator"&& +2 ."downElevator"SE.stop +6 "storage"(5 +2 "core" &y+   Ct +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y+   Ct +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'? +99 "core" ' +2 "manipulator"&& +3 "core" &Ӯ#   3 <? +3 "manipulator"&q% +4 "core" %F \  I +2 "collection"'& +3 "core" & \ +3 "collection"'& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"' (\\ +3 "core" & \ +8 & , \ #a +9 &V} \ 8 +10 &x \ L +9 &W \ O +9 &^T \ N +10 &W \ N +9 &U \ O +10 &U \ N +9 &dU \ O +9 &'T \ N +10 &W \ N +9 &!U \ O +9 &#lV \ O +10 &%/S \ N +9 &&R \ N +10 &(W \ N +9 &*uV \ N +9 &,7R \ N +10 &-U \ N +9 &/U \ N +9 &1|S \ O +10 &3?R \ N +9 &5Q \ N +10 &6T %\ N +9 &8Q \ N +9 &:GW "\ N +10 &< R $\ N +9 &=Q '\ N +9 &?U '\ N +10 &ANT &\ O +9 &CV %\ O +10 &Db  \ P +9 &Fh $\ Q +9 &HH} '\ T +10 &I\ \ P\ W +9 &K\ \ \ [ +9 &My\ \ \ [ +10 &O9\ \ \ [ +9 &P\ \ \ \ [ +10 &R\ \ \ \ \\ +9 &T{\ \ \ ] +9 &V;\ \ \ ] +10 &W\ \ \ ^ +9 &Y\ \ \ ^ +9 &[{\ \ \ L +10 &\\:\ \ \ 2 +9 &\\u\ \ \ N +5 ( +2 "collection"'& +4 "core" &\\n \ \ N +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % F   M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &\ x + "manipulator"& % +4 "core" %    x  +2 "storage"(% +3 "core" % \ w +2 "storage"(. +4 "core" .(K + "storage"(r& +4 "core" &K R\ w +2 "storage"(%& +3 "core" &K :\ w +2 "manipulator"& & +5 "core" &Ӱ#   + <= + "manipulator"&#% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +163 "core" ( +2 "manipulator"&'& +3 "core" &     +2 "storage"()& +5 "core" &K :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +92 "core" ' + "storage"(& +4 "core" &K \\ j \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +38 "storage"(- +10 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &K M\ v +2 "manipulator"&& +3 "core" & \    +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" &    + "storage"(!& +4 "core" &K \ y +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +70 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&0& + "storage"(2' +8 "core" &  E  + "manipulator"&% +5 "core" % u  S +2 .tForearm.seek :retract + "manipulator"&&' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&$( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( +2 "manipulator"&5& +3 "core" &   = 1 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" & \ 1 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&8' +101 "core" ' + "manipulator"&=& +5 "core" &   1 + "manipulator"&% +4 "core" %    +2 "processing"%(& +4 "core" &\ } +3 "processing"%?& +5 "core" &\ | +2 .tPC.seek :closed +2 "processing"%*(^ +3 "core" &\ | +8 & -\ v$d +9 &Ux\ i8 +10 &{w\ hL +9 &W\ nR +9 &MR\ pQ +10 &P\ pQ +9 &U\ oR +9 &U\ oQ +10 &UQ\ pQ +9 &W\ oQ +10 &U6\ oR +9 &!T8\ oR +9 &#\\U\ oR +10 &%T\ oQ +9 &&R\ pQ +9 &(V\ oQ +10 &*dT\ oR +9 &,'TD\ oQ +10 &-Q?\ oQ +9 &/W\ nQ +9 &1mQ5\ oQ +10 &3/S9\ oQ +9 &4R7\ pQ +9 &6S<\ oQ +10 &8uU<\ nQ +9 &:8P=\ pQ +10 &;W=\ nQ +9 &=W9\ nQ +9 &?}S;\ oQ +10 &A>S<\ oR +9 &CY7\ nR +10 &D`7\ mS +9 &Fg8\ kS +9 &H;v8\ hV +10 &I2\ eX +9 &K2\ eX +9 &My1\ eX +10 &O<1\ eX +9 &P2\ cY +9 &R2\ eY +10 &T~;\ cY +9 &VB=\ eY +10 &X<\ cX +9 &Y<\ bY +9 &[<\ cY +10 &]I=\ bM +9 &^Q;\ b#l +9 &^ =\ u, +3 ( +2 "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&"1 +62 "core" 1 +2 "manipulator"&-% +4 "core" %   i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +94 "core" ' + "processing"%C& +4 "core" &^\ u, +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&>% +3 "core" %    {  +3 "storage"(A% +4 "core" % \ t + "storage"(F. +3 "core" .(K +2 "storage"(:& +3 "core" &K =\ u +3 "storage"(@& +2 "manipulator"&\ & +7 "core" &K g\ v +2 &   1 + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&D( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(N'r +2 "core" ( + "manipulator"&& +6 "core" &   T 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &  Y 1 +3 .tForearm.seek PC + "manipulator"&.' +93 "core" ' +2 .tHand.close + "manipulator"&4/ +69 "core" / +3 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(6- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(G'1 +48 "core" ' +313 ( + "storage"(M& +4 "core" &K m\ y +2 "manipulator"&J& +4 "core" &  1 + "manipulator"&3% +4 "core" %  ( +2 .tForearm.seek :retract +2 "manipulator"&P' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&O( +245 "core" ( +2 "manipulator"&I& +4 "core" &   ( + "storage"(U& +4 "core" &K M\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&V' +97 "core" ' +38 .tHand.open +9 "manipulator"&+1 +61 "core" 1 +2 "storage"(Y- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(H' +37 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(S' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(K- +2 "core" -' +3 "storage"(Q& +4 "core" &K  \ 1 + "manipulator"&a& +4 "core" &   ( +2 .tElbow.seek 6 +2 "manipulator"&Z( +4 "core" ( +2 "manipulator"&_& +3 "core" &   ] ( +2 "storage"(E& +4 "core" &K   \ 2 +3 .tForearm.seek 6 + 450 counts + "manipulator"&X' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\\'" +50 "core" ' +2 "manipulator"&B& +3 "core" &  \ _ ( +2 "storage"(j& +5 "core" &K L\ t + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&^'< +24 "core" ' + .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(]' +25 "core" ' +2 "manipulator"&l% +4 "core" %B    + "storage"(m& +5 "core" &K \ s + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&d'n +13 "core" ' +2 "manipulator"&L& +3 "core" & \   ( +2 "storage"(T& +4 "core" &K w\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&e' +16 "core" ' + "storage"([% +4 "core" % %\ { +3 ."downElevator"SE.seek :down +3 "storage"(h' +100 (R% +3 "core" %,J \ n[t +2 "manipulator"&k% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +3 "core" &K ^\ y +2 "collection"'o& +3 "core" &\\o \ N +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&v% +4 "core" %    '  +2 "storage"(`% +3 "core" % \ { +2 "storage"(b. +3 "core" .(K +2 "storage"(y& +3 "core" &K \ { +3 "storage"(f& +3 "core" &K \ { +2 "manipulator"&|& +4 "core" &   ( +2 .tElbow.seek 6 +2 "manipulator"&W( +4 "core" ( + "manipulator"&z& +4 "core" &    ( +2 "storage"(g& +4 "core" &K \ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +92 "core" ' +2 "storage"({& +4 "core" &K v \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'r +302 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  ( +2 "storage"(& +4 "core" &K \ { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&w'< +19 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(q'i +27 "core" ' +2 "manipulator"&% +3 "core" %E   +2 "storage"(~& +4 "core" &K i\ x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts +2 "manipulator"&p'q +14 "core" ' +2 "manipulator"&& +3 "core" &   ( +2 "storage"(<& +4 "core" &K X\ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&& +4 "core" &  \ \ ( +2 "manipulator"& % +40 "core" %  +10 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&r& +3 "core" &Ӆ&   ?T +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &Ӆ&  U ?T +8 .tForearm.seek CC + "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"& / +66 "core" / +2 .tCC.seek :open +2 "collection"'#( +448 "core" ( +2 "storage"(u& +3 "core" &K B\ +2 "storage"('& +5 "core" &K j\ + "manipulator"&)& +4 "core" &Ӿ"  8 +2 "manipulator"&% +3 "core" % 5   +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&& +3 "core" & \  ,  +2 "storage"(,& +4 "core" &K 3\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +99 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&!1 +59 "core" 1 +2 "manipulator"&/% +4 "core" % M   +2 "storage"(0& +4 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +3 "manipulator"&'y +14 "core" ' + "manipulator"&& +4 "core" & \  +2 "storage"( & +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(% +4 "core" % q\ +3 ."downElevator"SE.seek :down +3 "storage"(5' +100 (7% +2 "core" %nB \ Ym +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&(% +5 "core" %     +2 "storage"(2% +4 "core" % \  +2 "storage"(&. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(x([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "core" &[ p p T\  +2 "manipulator"&-& +5 "core" &   + .tElbow.seek 7 +2 "manipulator"&C(r +34 "core" ( +2 "manipulator"&>& +3 "core" & \   +2 "storage"(A& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'= +94 "core" ' +2 "storage"(:& +3 "core" &[\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'r +299 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &[ f\  +2 "manipulator"&& +3 "core" &  X +3 .tElbow.seek 7 +2 "manipulator"&;(r +16 "core" ( +2 "manipulator"&8& +4 "core" &z  T  + "storage"(4& +4 "core" &[ w\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&6'ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&1& + "storage"(*' +7 "core" &z >  +2 "manipulator"&N% +3 "core" % Ͽ +3 .tForearm.seek :retract +2 "manipulator"&M' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&J(ӂ +149 "core" ' +9 ."downElevator"SE.stop +2 "storage"(5 +37 "core" ( + "manipulator"&3& +3 "core" &ӌ&   ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +3 "core" &ӌ&   ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&I'? +99 "core" ' +2 "manipulator"&U& +3 "core" &Ӎ%   >O +2 "manipulator"&D% +4 "core" %A     +2 "collection"'+& +5 "core" & \ +2 "collection"'Y& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'P(\\ +5 "core" & \  +8 &2v \ *y +10 &b{ \ > +9 &yp \ O +9 &<P \ N +10 &S \ N +9 &T \ N +10 &R \ N +9 &CR \ N +9 &U \ N +10 &R \ N +9 & R \ N +9 &"KR \ N +10 &$ R \ \ N +9 &%T \ N +10 &'P \ N +9 &)TR \ N +9 &+R +\ N +10 &,S !\ N +9 &.S  \ N +9 &0\\Q $\ N +10 &2R &\ N +9 &3S \ N +9 &5S \ N +10 &7eT $\ N +9 &9'R \ N +10 &:Q \ M +9 &<R \ N +9 &>mR \ N +10 &@/R \ N +9 &AU \ N +10 &CY \ O +9 &Eoc \ P +9 &G,m \ Q +10 &H \ U +9 &J\ \ \ Y +9 &LY\ \ \ Z +10 &N\ \ \ [\ +9 &O\ \ \ \ \\ +9 &Q\ \ \ \ \ [ +10 &SX\ \ \ ] +9 &U\ \ \ \\ +10 &V\ \ \ }_ +9 &X\ \ \ ~_ +9 &ZY\ \ \ ~_ +10 &[{\ \ \ = +9 &\\&\ \ \ )y +9 &\\y\ \ \ W +3 ( + "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&K1 +61 "core" 1 +3 "manipulator"&Q% +3 "core" % A    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%_& +4 "core" &\ t + "manipulator"&E% +4 "core" %     +2 "storage"(B% +3 "core" % Y\ t +2 "storage"(j. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(l([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +3 "core" &[ X \\ \ f +3 "manipulator"&m& +4 "core" &Ӯ  T :. + "manipulator"&L% +4 "core" %    t  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&T(r +161 "core" ( + "manipulator"&H& +4 "core" &w    +2 "storage"([& +3 "core" &[ \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&O'= +94 "core" ' + "storage"(V& +4 "core" &[ _ \ } +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'r +22 "core" ' ` <  b +3 !to:Slide::Error\ :@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positioni`: velocityi: currenti :pwmig:erri: inPressi : outPressi< :deltaPressi : voltagef12.166945508100147+: @type2F: @tagiX: mesg"6Storage Elevator overCurrent at down + 193 counts:@axisName"Storage Elevator:bt[ "2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/utils/puckmoves.rb:600:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:577:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:25:in `shuffle'"!(ESP):4:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"W7\ oQ +10 &@W8\ oQ +9 &Ba]=\ nR +9 &D `<\ mS +10 &Eh8\ lS +9 &Gr4\ jU +10 &I[2\ gW +9 &K5\ eX +9 &L1\ eX +10 &N2\ dX +9 &P]1\ dY +9 &R 1\ cX +10 &S3\ bY +9 &U<\ dX +10 &Wf<\ dX +9 &Y(<\ dX +9 &Z=\ dX +10 &\\=\ cY +9 &^2hr9\ j- +9 &^c<\ l9 +10 ( + &^,:\ t4 +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&<1 +63 "core" 1 +3 "manipulator"&% +3 "core" %    M ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 "processing"%n& +3 "core" &^,\ o4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&W% +4 "core" %    Q # +2 "storage"(c% +3 "core" % \ n +2 "storage"(w. +4 "core" .([ + "storage"(p& +4 "core" &[ I\ n +2 "storage"(q& +3 "manipulator"&r& +8 "core" &[ \ n + &  $  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +3 "storage"(%'r +2 "manipulator"&( +6 "core" ( +2 "manipulator"&}& +3 "core" & 1 /  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & > ?  +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"& / +73 "core" / +2 .tPC.seek :open +2 "processing"%u( +79 "core" ' + "storage"('- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'1 +40 "core" ' +327 ( +2 "storage"(& +3 "core" &[ <\ v +2 "manipulator"&& +4 "core" &   >  +2 "manipulator"&,% +3 "core" %    " 4 +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +248 "core" ( +2 "manipulator"&!& +3 "core" &   > ! +2 "storage"(/& +4 "core" &[ \ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&0'= +93 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(7- +3 "core" -' +2 "storage"(& +3 "core" &[  3\ ) +2 "manipulator"&& +4 "core" &  O ! +2 .tElbow.seek 7 +2 "manipulator"&(r +26 "core" ( + "manipulator"&& +5 "core" &v   K q + "storage"(& +4 "core" &[ \\\ + +3 .tForearm.seek 7 + 450 counts + "manipulator"&('= +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(2'" +58 "core" ' +9 "manipulator"&&& +5 "core" &v   k q + "storage"(& +4 "core" &[ \ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +28 "core" ' +2 "manipulator"&"% +4 "core" %΅  , + +2 "storage"(-& +3 "core" &[ j j \ j +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 310 counts +2 "manipulator"&>'ϱ +13 "core" ' +2 "manipulator"&A& +3 "core" &v  q +2 "storage"(:& +4 "core" &[ \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +17 "core" ' +2 "storage"(=% +4 "core" % l\ { +2 ."downElevator"SE.seek :down +4 "storage"(\ ' +99 (@% +3 "core" %J \ p[t +2 "manipulator"&% +3 "core" %7   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (4& +3 "core" &[ .\ z +2 "collection"'$& +5 "core" &\\v \ W +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&1% +4 "core" %     +2 "storage"(N% +3 "core" % C\ | +2 "storage"(C. +4 "core" .([ + "storage"(F& +5 "core" &[ \ | + "storage"(?& +4 "core" &[ 1\ | +2 "manipulator"&3& +3 "core" &v  q +3 .tElbow.seek 7 + "manipulator"&6(r +4 "core" ( +2 "manipulator"&.& +4 "core" &v   @ q +2 "storage"(;& +3 "core" &[ W\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'= +91 "core" ' +2 "storage"(D& +3 "core" &[ c d \ ~ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +297 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &v \  q +2 "storage"(#& +4 "core" &[ \ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&K'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(E'o +30 "core" ' + "manipulator"&B% +3 "core" %Ό '  +2 "storage"(j& +4 "core" &[ | | O\ k +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&Y'ϸ +13 "core" ' +2 "manipulator"&G& +4 "core" &v  a q + "storage"(m& +3 "core" &[ \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&L'= +17 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(I' +35 "core" ' +3 "manipulator"&H& +3 "core" &v  q +2 "manipulator"&[% +4 "core" %9   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&V(ӂ +158 "core" ( + "manipulator"&J& +3 "core" &ӏ#   6 <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &ӏ#  0 <? +2 .tForearm.seek CC +2 "manipulator"&k'? +97 "core" ' +2 .tHand.close + "manipulator"&X/ +72 "core" / +2 .tCC.seek :open +2 "collection"'\\( +452 "core" ( +9 "storage"(^& +4 "core" &[ }\  + "storage"(s& +4 "core" &[ R\  +2 "manipulator"&a& +4 "core" &ӭ   8! +2 "manipulator"&T% +4 "core" % L   +2 .tForearm.seek :retract +2 "manipulator"&O' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&R(r +163 "core" ( +2 "manipulator"&v& +4 "core" &v   9  +2 "storage"(`& +3 "core" &[ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&b'{ +101 "core" ' +2 .tElbow.hold + "manipulator"&y, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&f1 +56 "core" 1 +2 "manipulator"&z% +4 "core" % ΍   } +2 "storage"(g& +4 "core" &[ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&{'Ϲ +14 "core" ' + "manipulator"&Z& +3 "core" &v   +3 "storage"(d& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&o'= +15 "core" ' +2 "storage"(|% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(i' +99 (t% +2 "core" %xC \ Yl +2 "manipulator"&]% +5 "core" %6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&% +3 "core" %    +3 "storage"(e% +3 "core" % \  +2 "storage"(h. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &<0 W\ +2 "manipulator"&& +4 "core" &v  "  +2 .tElbow.seek 5 +2 "manipulator"&n( +37 "core" ( +2 "manipulator"&W& +3 "core" &   +2 "storage"(c& +4 "core" &<0 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +92 "core" ' +2 "storage"(~& +4 "core" &<0  +\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +308 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &<. \ +2 "manipulator"&}& +4 "core" &   Q +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&& +4 "core" &   \ + "storage"( & +4 "core" &<. D\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&''Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(' +8 "core" &  H +2 "manipulator"&%% +4 "core" %  k +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( +2 "manipulator"&,& +4 "core" &y% #  >N + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +3 "manipulator"&& +46 "core" &z%   >M +9 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&!'? +102 "core" ' +2 "manipulator"&/& +3 "core" &z%   >M +2 "manipulator"&% +5 "core" %I   +2 "collection"'& +4 "core" & \ +2 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'7(\\ +5 "core" & \ +7 & - \ $d +9 &Vy \ 7 +9 &w \ L +10 &R \ N +9 &^Q \ N +9 &T \ N +10 &R \ N +9 &U \ N +10 &fU \ N +9 &)R \ M +9 &Q \ N +10 &!U \ N +9 &#nQ \ N +9 &%1Q \ M +10 &&R \ M +9 &(R \ \ N +10 &*vT \ N +9 &,8U  \ N +9 &-O *\ N +10 &/P *\ N +9 &1~O \ N +9 &3AQ `\ M +10 &5R \ M +9 &6R \ N +9 &8U \ N +10 &:HQ &\ N +9 &<\ O &\ N +10 &=O 3\ N +9 &?R \ M +9 &AQR $\ M +10 &CW &\ N +9 &D] $\ O +10 &Fj %\ Q +9 &HI} &\ S +9 &I\ \ &\ W +10 &K\ \ \ &\ Z +9 &Mx\ \ \ [ +9 &O:\ \ 4\ [ +10 &P\ \ &\ [\ +9 &R\ \ $\ \\ +10 &T{\ \ 6\ \\ +9 &V<\ \ &\ ] +9 &W\ \ %\ ^ +10 &Y\ \ %\ _ +9 &[z\ \ "\ ~L +9 &\\7\ \ \ 0 +10 &\\ \ \  \ S +5 ( +2 "collection"' & +4 "core" &\\s #\ S +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +3 "core" % I   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &\ t +6 "manipulator"&% +4 "core" %   +2 "storage"(&% +3 "core" % R\ u +7 "storage"(. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"()(<- +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<. D\ p +2 "manipulator"&"& +4 "core" &Ӱ   7 +2 "manipulator"&-% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&A( +163 "core" ( + "manipulator"&:& +4 "core" &     +2 "storage"(& +3 "core" &<. \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +102 "core" ' + "storage"(0& +4 "core" &<. p s 7\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<. `\ | +2 "manipulator"&(& +4 "core" &   Z  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&2& +4 "core" &   b  +2 "storage"(& +3 "core" &<.\ \  F\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&4'Ϲ +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(1' +8 "core" &     +2 "manipulator"&N% +3 "core" % ϻ   } +3 .tForearm.seek :retract + "manipulator"&C' +98 "core" ' + .tElbow.seek PC +2 "manipulator"& ( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&F& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" & \   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&3' +97 "core" ' +2 "manipulator"&.& +3 "core" &     +3 "manipulator"&;% +4 "core" %   U +2 "processing"%& +3 "core" &\ +3 "processing"%D& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%\ (^ +3 "core" &\ +51 & -\ x$c +5 &Tz\ i8 &{y\ hL + &{U\ oQ + &=R\ pQ + &P\ qQ +5 &V\ oQ +10 &T\ sQ +9 &HQ\ sP +10 & U\ rQ +9 &R\ sP +9 &!R\ rQ +10 &#OU\ rQ +9 &%U\ rQ +9 &&S\ rQ +10 &(U\ rQ +9 &*VR\ rQ +10 &,T\ rQ + "Can"$\ [!] +8 "core" &-R\ rP +9 &/U\ rQ +10 &1`O\ tP +9 &3!R\ sQ +9 &4R \ sQ +10 &6Q=\ sQ +9 &8gS?\ sQ +10 &:)R?\ sQ +9 &;U9\ rQ +9 &=W;\ qQ +10 &?oU<\ rQ +9 &A1V<\ rQ +9 &B_;\ pR +10 &D_=\ pR +9 &Fnj9\ nT +10 &H+}?\ kV +9 &I=\ iW +9 &K=\ hW +10 &Mk8\ gX +9 &O-:\ gX +9 &P<\ fY +10 &R8\ gX +9 &To8\ eY +10 &V3;\ iX +9 &W9\ fX +9 &Y:\ fY +10 &[x:\ gY +9 &]94\ fS +9 &^wBj;\ n(v +10 &^09\ v0 +5 ( +2 "processing"%D& +4 "core" &^=\ x0 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&51 +53 "core" 1 +2 "manipulator"&8% +3 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 "processing"%M& +4 "core" &^\ s0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&#% +4 "core" %     +2 "storage"(_% +3 "core" % \ s +3 "storage"(B. +3 "core" .(<- +2 "storage"(j& +4 "core" &<. \ s +2 "storage"(G& +2 "manipulator"&m& +5 "core" &<. \ s +2 &    +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&H( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(['r +2 "core" ( +4 "manipulator"&U& +3 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &   +3 .tForearm.seek PC + "manipulator"&+' +93 "core" ' + .tHand.close +2 "manipulator"&K/ +72 "core" / +2 .tPC.seek :open +2 "processing"%Y( +80 "core" ' + "storage"(E- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'1 +42 "core" ' +324 ( + "storage"(S& +4 "core" &<, \ z +2 "manipulator"&L& +3 "core" &    +2 "manipulator"&Q% +4 "core" %   @ +2 .tForearm.seek :retract +2 "manipulator"&X' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&x( +254 "core" ( +2 "manipulator"&P& +3 "core" &    < +2 "storage"(^& +5 "core" &<, |\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&s'O +99 "core" ' +2 .tHand.open + "manipulator"&a1 +57 "core" 1 +2 "storage"(T- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(v' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(`' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(k- +3 "core" -' +2 "storage"(V& +4 "core" &<,  a\ ) +2 "manipulator"&f& +3 "core" &   < +3 .tElbow.seek 5 + "manipulator"&z( +22 "core" ( +2 "manipulator"&g& +3 "core" &   H  +2 "storage"(Z& +4 "core" &<,  C\ * +3 .tForearm.seek 5 + 450 counts + "manipulator"&d'O +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(|'" +58 "core" ' + "manipulator"&O& +4 "core" &   0  +2 "storage"(t& +3 "core" &<, \ { +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&]'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&R, +43 "core" , +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(b' +23 "core" ' +2 "manipulator"&% +4 "core" %Κ   +2 "storage"(& +3 "core" &<, \ t +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&{' +13 "core" ' +2 "manipulator"&e& +4 "core" & \    +2 "storage"(h& +3 "core" &<, q\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +15 "core" ' +2 "storage"(o% +3 "core" % \  *\ | +3 ."downElevator"SE.seek :down +3 "storage"(i' +100 (l% +2 "core" %K ;\ q[s +3 "manipulator"&<% +4 "core" %F   5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &<, a\ | +2 "collection"'c& +4 "core" &\\r \ S +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&~% +3 "core" %   B  +3 "storage"(y% +4 "core" %\ \  x\  + "storage"(. +3 "core" .(<- +2 "storage"(q& +3 "core" &<,\ \  i\ ~ +3 "storage"(r& +4 "core" &<,\ \  i\  + "manipulator"&}& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" &   %  +2 "storage"(9& +3 "core" &<,\ \  t\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +92 "core" ' +2 "storage"(%& +3 "core" &<, ` S o\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +312 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &   .  +2 "storage"(& +3 "core" &<, W\ x +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&p'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(/'t +30 "core" ' + "manipulator"&% +5 "core" %Ν   S + "storage"(& +4 "core" &<, \ v +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&& +4 "core" &    + "storage"(\\& +4 "core" &<, \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&& +4 "core" &  <  +2 "manipulator"&% +3 "core" %G \  Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ( +2 "manipulator"& & +3 "core" &x%  G >O +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &x%   t >O +3 .tForearm.seek CC + "manipulator"&"'? +100 "core" ' +2 .tHand.close +2 "manipulator"&-/ +56 "core" / + .tCC.seek :open +2 "collection"'!( +452 "core" ( +2 "storage"(:& +4 "core" &<, u\ +2 "storage"(& +3 "core" &<, i\ +2 "manipulator"&& +4 "core" &ӻ   5 +2 "manipulator"&0% +3 "core" % -   E +50 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&@& +3 "core" &   +3 "storage"(& +3 "core" &<, j\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&('΍ +93 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&>% +3 "core" % Κ   +2 "storage"($& +4 "core" &<, \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&N' +14 "core" ' +2 "manipulator"&A& +4 "core" & y  +2 "storage"(=& +3 "core" &<, \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' +2 "storage"(4% +4 "core" % 3\  +2 ."downElevator"SE.seek :down +3 "storage"(F' +100 (?% +2 "core" %A \ Yk +2 "manipulator"&% +5 "core" %W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +96 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"';& +3 "core" & \ +2 "manipulator"&% +4 "core" % \   +2 "storage"(1% +3 "core" % \  +2 "storage"(C. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(u(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +2 "core" &K J\ \ +2 "manipulator"&8& +5 "core" &  + .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&#& +4 "core" &  +2 "storage"(_& +3 "core" &K ! "\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +90 "core" ' +2 "storage"(j& +3 "core" &K V\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +299 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &K x\ +2 "manipulator"&U& +3 "core" &  $  +3 .tElbow.seek 6 + "manipulator"&6( +4 "core" ( +2 "manipulator"&3& +3 "core" &  9  +2 "storage"(K& +5 "core" &K \ +2 .tForearm.seek 6 + 300 counts + "manipulator"&E'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"& / +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"(\ ' +8 "core" & )  +2 "manipulator"&[% +3 "core" % ^ +3 .tForearm.seek :retract + "manipulator"&S' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&L(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&Q& +3 "core" &Ӓ"   ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &Ӓ"   ;2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&P'? +101 "core" ' +2 "manipulator"&^& +3 "core" &Ӓ"    ;2 +46 "manipulator"&H% +7 "core" %<  +3 "collection"'a& +3 "core" & \ +3 "collection"'T& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'k(\\ +5 "core" & \ +7 &3 \ $c +9 &Uv \ 7 +10 &~u \ K +9 &T \ N +9 &]N \ M +10 &S \ N +9 &T  \ M +9 &R  \ N +10 &dR \ M +9 &&P #\ M +10 &O \ M +9 &!P \ M +9 &#lP \ M +10 &%/N \ M +9 &&T \ M +9 &(R \ N +10 &*tR \ M +9 &,6P \ M +9 &-O \ M +10 &/Q 4\ M +9 &1|U \ M +10 &3>S 9\ M +9 &5T 2\ M +9 &6T ,\ M +10 &8T &\ M +9 &:FU  \ M +10 &<R &\ N +9 &=S !\ M +9 &?Q \ M +10 &AMP +\ N +9 &CT 5\ N +9 &D^ 4\ O +10 &Fh &\ P +9 &HF~ "\ S +10 &I\  &\ W +9 &K\ \ %\ Y +9 &Mu\ \ \ $\ [ +10 &O9\ \ 2\ Z +9 &P\ \ \ \ $\ \\ +9 &R\ \ $\ [\ +10 &Tw\ \ "\ ] +9 &V6\ \ "\ ^ +9 &W\ \ \ ] +10 &Y\ \ $\ _ +9 &[y\ \ \ K +10 &\\;\ \ \ 1 +9 &\\{\ \ \ S +5 ( +2 "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&V1 +2 "core" &\\u \ \ S +62 1 +2 "manipulator"&f% +4 "core" % <   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%X& +4 "core" &\ v +2 "manipulator"&Z% +4 "core" %    +2 "storage"(O% +3 "core" % W\ v +2 "storage"(t. +4 "core" .(K + "storage"(J& +5 "core" &K Y\ v + "storage"(v& +4 "core" &K c\ v +2 "manipulator"&& +3 "core" &Ӯ   7 +2 "manipulator"&% +4 "core" %   u  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&e( +161 "core" ( + "manipulator"&h& +3 "core" &   A  +3 "storage"(x& +3 "core" &K \  &\ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&o' +92 "core" ' + "storage"(s& +3 "core" &K s t 9\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +301 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &K \ { +2 "manipulator"&d& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&z( +4 "core" ( + "manipulator"&|& +4 "core" &   $  +2 "storage"(]& +3 "core" &K\ \  _\ } +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&{'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& +2 "storage"(~' +8 "core" & ?  + "manipulator"&y% +4 "core" % ]  +3 .tForearm.seek :retract + "manipulator"&b' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&q& +3 "core" &   H % +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &  C % +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +99 "core" ' +2 "manipulator"& & +3 "core" &    % +2 "manipulator"&9% +4 "core" %    +2 "processing"%I& +3 "core" &\ { +3 "processing"%%& +5 "core" &\ { +2 .tPC.seek :closed +3 "processing"%i(^ +3 "core" &\ { +6 & -\ s$c +10 &Ty\ h8 +9 &|x\ gL +9 &T\ nQ +10 &OR\ nQ +9 &R\ oP +10 &S\ nQ +9 &V\ mQ +9 &XQ\ oP +10 &T\ nQ +9 &R/\ nQ +9 &!Q7\ nP +10 &#`R\ oP +9 &%!R\ oQ +10 &&V\ nQ +9 &(S\ nP +9 &*gR\ nQ +10 &,)U\ nQ +9 &-P\ oQ +10 &/R\ nQ +9 &1pN\ oP +9 &32Q\ oP +10 &4O\ oQ +9 &6Q\ oQ +9 &8wQ\ oQ +10 &:9R\ nQ +9 &;T:\ nQ +44 &=U:\ kQ +13 &?~S9\ kQ + &A@R?\ kQ &C[=\ jR + &D]=\ iR + &Fd9\ gS +6 &H<s>\ fU +9 &I<\ fW +10 &K>\ dX +9 &M{<\ dX +9 &O><\ cW +10 &P<\ cX +9 &R=\ bX +9 &T;\ aY +10 &VC;\ cX +9 &X;\ bX +10 &Y9\ bX +9 &[9\ bY +9 &]H=\ aN +10 &^R;\ `$n +9 &^5\ t* +2 ( +2 "processing"%%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&R1 +63 "core" 1 + "manipulator"&% +4 "core" %   P  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +96 "core" ' +2 "processing"%,& +4 "core" &^\ s* +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" % #   2 +2 "storage"( % +3 "core" % \ r +3 "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K \ r +2 "storage"(& +2 "manipulator"&\\& +7 "core" &K \ s + &   % +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"& & +3 "core" &  % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   / % +3 .tForearm.seek PC + "manipulator"&n' +94 "core" ' +2 .tHand.close + "manipulator"&p/ +76 "core" / +3 .tPC.seek :open +2 "processing"%( +78 "core" ' +2 "storage"( - +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/'1 +49 "core" ' +319 ( + "storage"(& +3 "core" &K e\ w +2 "manipulator"&& +4 "core" &  c % +2 "manipulator"&'% +4 "core" %   +  +2 .tForearm.seek :retract +2 "manipulator"&-' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&&( +256 "core" ( + "manipulator"&7& +4 "core" &   1 R +2 "storage"(:& +3 "core" &K U\ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' +2 .tHand.open + "manipulator"&1 +62 "core" 1 +3 "storage"(0- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(& +3 "core" &K   |\ 3 +3 "manipulator"&& +4 "core" &   , R + .tElbow.seek 6 +2 "manipulator"&>( +5 "core" ( +2 "manipulator"&$& +4 "core" &   & F +2 "storage"(A& +4 "core" &K   T\ 3 +2 .tForearm.seek 6 + 450 counts + "manipulator"&=' +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +58 "core" ' + "manipulator"&& +4 "core" &  \  F +2 "storage"(?& +4 "core" &K 4\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"((' +27 "core" ' +2 "manipulator"&;% +3 "core" %<  +3 "storage"(N& +4 "core" &K "\ t +2 .tForearm.force -20 + "manipulator"&5 +50 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +13 "core" ' +2 "manipulator"&1& +4 "core" &   * F +2 "storage"(C& +3 "core" &K \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +4 "core" % \ z +2 ."downElevator"SE.seek :down +3 "storage"(F' +100 ()% +2 "core" %J \ o[t +3 "manipulator"&5% +3 "core" %   W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (#& +2 "core" &K /\ w +3 "collection"'_& +4 "core" &\\t '\ S +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&j% +4 "core" %    /  +2 "storage"(2% +3 "core" % w\ z +2 "storage"(.. +4 "core" .(K + "storage"(m& +5 "core" &K \ z + "storage"(D& +4 "core" &K \ z +2 "manipulator"&U& +3 "core" &   H F +3 .tElbow.seek 6 + "manipulator"&3( +10 "core" ( + "manipulator"&K& +3 "core" &   . " +2 "storage"( & +4 "core" &K \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +98 "core" ' +2 "storage"([& +4 "core" &K \  h\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(M'r +295 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &  " +2 "storage"(+& +4 "core" &K O\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&G'< +18 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(H'h +30 "core" ' +2 "manipulator"&6% +3 "core" %3  % +2 "storage"(a& +3 "core" &K 1\ x +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 291 counts +2 "manipulator"&\ '_ +13 "core" ' + "manipulator"&S& +3 "core" &   " +3 "storage"(!& +4 "core" &K\ \  6\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(f' +34 "core" ' + "manipulator"&X& +5 "core" &  " + "manipulator"&Z% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&t(ӂ +164 "core" ( + "manipulator"&T& +4 "core" &ӊ   r 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &ӊ  3 +3 .tForearm.seek CC + "manipulator"&v'? +98 "core" ' + .tHand.close +2 "manipulator"&/ +73 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( + "storage"(P& +4 "core" &K -\  +2 "storage"(h& +3 "core" &K \  +3 "manipulator"&x& +3 "core" &ӡ  w 0 +2 "manipulator"&s% +4 "core" % ,   +2 .tForearm.seek :retract +2 "manipulator"&L' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&g( +161 "core" ( + "manipulator"&l& +4 "core" &   +2 "storage"(<& +50 "core" &K K\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&d'< +97 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&]1 +53 "core" 1 +3 "manipulator"&W% +3 "core" % >   o  +2 "storage"(c& +4 "core" &K c\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts +2 "manipulator"&y'j +13 "core" ' +2 "manipulator"&e& +3 "core" &  +2 "storage"(o& +4 "core" &K z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +15 "core" ' +2 "storage"({% +3 "core" %  ^\ +3 ."downElevator"SE.seek :down +4 "storage"(q' +98 (r% +3 "core" %oE \ Yl +2 "manipulator"&z% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'9& +3 "core" & \ +2 "manipulator"&I% +5 "core" %      + "storage"(~% +5 "core" % \  + "storage"(b. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(Y([ +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +2 "core" &[ \ +2 "manipulator"&& +4 "core" &     +2 .tElbow.seek 7 +2 "manipulator"&,(r +34 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"( & +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +95 "core" ' + "storage"(%& +4 "core" &[ r\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' +2 "storage"(\\- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ f\ +3 "manipulator"& & +4 "core" &  A  +2 .tElbow.seek 7 +2 "manipulator"&(r +19 "core" ( + "manipulator"&}& +4 "core" &v l +2 "storage"(p& +4 "core" &[ \\\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"& 'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&w& + "storage"(i' +8 "core" &v + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&'& +4 "core" &ӎ#  <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &ӎ#   ` <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&7'? +97 "core" ' +3 "manipulator"&:& +4 "core" &ӏ"   ;8 +2 "manipulator"&% +3 "core" %F   +3 "collection"'& +3 "core" & \ +3 "collection"'0& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'"(\\ +3 "core" & \  +9 &4{ \ +{ +10 &e| \ ? +9 &m \ N +9 &KO \ M +10 & T \ M +9 &T \ M +50 &R \ M +3 &RQ \ N +2 &T \ N +2 &R \ N + & Q \ \ N +2 &"[Q \ M +6 &$O \ M +9 &%O \ M +10 &'S \ M +9 &)cT 0\ M +9 &+$R  \ N +10 &,Q \ M +9 &.T  \ M +10 &0kT  \ M +9 &2,R \ N +9 &3R \ \ N +10 &5R \ M +9 &7sP +\ M +9 &95P N\ M +10 &:T \ M +9 &<R \ N +10 &>{S j\ M +9 &@=O T\ M +9 &AQ &\ N +10 &CU \ N +9 &E_  \ O +9 &G;n $\ Q +10 &H &\ T +9 &J\ \ &\ X +10 &Lf\ \ $\ Z +9 &N(\ \ #\ Z +9 &O\ \ &\ Z +10 &Q\ \ \ [ +9 &Sh\ \ &\ \\ +9 &U*\ \ &\ \\ +10 &V\ \ $\ ] +9 &X\ \ M\ ^ +10 &Zi\ \ $\ ^ +9 &\\ z\ \ $\ 8 +9 &\\(\ \ &\ &q +10 &\\ \ #\ Y +2 ( +2 "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % F   $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +98 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%A& +4 "core" &\ v +2 "manipulator"&-% +17 "core" % \ n  +2 "storage"(% +3 "core" % @\ v +2 "storage"(?. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(;([ +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +3 "core" &[ j j \ j +3 "manipulator"&N& +4 "core" &ӭ   7 + "manipulator"&@% +4 "core" % \    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&1(r +161 "core" ( + "manipulator"&C& +4 "core" &y    +2 "storage"(&& +4 "core" &[\ \ \ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +89 "core" ' +2 "storage"(& +3 "core" &[ 7\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (5& +2 "core" &[ \ r +3 "manipulator"&=& +4 "core" &y   X  + .tElbow.seek 7 +2 "manipulator"&>(r +3 "core" ( +2 "manipulator"&4& +3 "core" &y   W  +2 "storage"(& +4 "core" &[ f\ u +3 .tForearm.seek 7 + 300 counts + "manipulator"&#'ϧ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +75 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&_& + "storage"(j' +7 "core" &y    +2 "manipulator"&2% +3 "core" % ϸ   . +3 .tForearm.seek :retract + "manipulator"&.' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&(( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +3 "manipulator"&m& +4 "core" &   S * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &   * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&U' +94 "core" ' +2 "manipulator"&K& +3 "core" &   Q * +3 "manipulator"& % +4 "core" %   U 2 +2 "processing"%& +4 "core" &\ z +2 "processing"%[& +5 "core" &\ z +2 .tPC.seek :closed +2 "processing"%F(^ +3 "core" &\ x\ +10 &.r\ j*y +9 &b{\ f? +9 &Xp\ gQ +10 &P\ nQ +9 &P\ nP +9 &N\ oP +10 &^S\ nQ +9 &"R\ nP +10 &R\ nP +9 &R4\ nQ +9 & gUI\ lQ +10 &")P9\ nQ +9 &#T\ mQ +9 &%O\ nQ +10 &'oT\ mQ +9 &)1U\ mQ +10 &*T\ mQ +9 &,U\ mQ +9 &.wQ\ mQ +10 &0:Q\ mP +9 &1R\ mP +9 &3P\ mP +10 &5Q\ mQ +9 &7AO\ nQ +10 &9U\ mQ +9 &:T6\ mQ +9 &<Q\ nQ +10 &>IV7\ lQ +9 &@ Q9\ mQ +9 &AU8\ lQ +10 &Ca8\ kR +9 &EJb=\ iS +10 &G j=\ iT +9 &H~>\ dU +9 &J=\ cW +10 &LFA\ dW +9 &N>\ bX +10 &O;\ cW +9 &Q:\ aY +9 &SK9\ aX +10 &U ;\ `X +9 &V<\ bX +9 &X=\ aX +10 &ZQ7\ `Y +9 &\\8\ `Y +9 &]=\ d; +10 &^/}9\ hX +9 &^$=\ s3 +2 ( +2 "processing"%[& +44 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +9 .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&8% +4 "core" %    2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +93 "core" ' +2 "processing"%Q& +3 "core" &^"\ o3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&+% +4 "core" %   (  +2 "storage"(^% +3 "core" % g\ o +2 "storage"(6. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(a([ +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (S& +2 "manipulator"&!& +5 "core" &[ z [ -\ m +2 &   5 ) +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&X( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(Z'r +2 "core" ( + "manipulator"&*& +5 "core" &   ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &  9 o) +4 .tForearm.seek PC +2 "manipulator"&M' +2 "core" ' _ I b +5 !"raiseStack"o:Slide::Error\ :@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positioni_: velocityi: currenti:pwmig:erri: inPressi: outPressi :deltaPressiI : voltagef12.112944526264114": @type2F: @tagi_: mesg"6Storage Elevator overCurrent at down + 192 counts:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/utils/puckmoves.rb:600:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:577:in `raiseStack'"6/home/esp/esp2/utils/puckmoves.rb:438:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:437:in `unload'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 + #Retry #1 of 4 +3 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 ."raiseStack"SE.home.seek :down +2 "storage"(G' +60 "core" ' +3 "storage"(\ & +3 "core" &[ q X [\ h +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +5 ."raiseStack"SE.seek :beamBreak +2 "core" ' +2 "storage"(H'r + .tHand.close +5 "manipulator"&T/ +66 "core" / +2 .tPC.seek :open + "processing"%J( +203 "core" ' + "storage"(V- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(E'1 +47 "core" ' +196 ( +2 "storage"(& +3 "core" &[ '\ v +3 "manipulator"&O& +4 "core" &   ) + "manipulator"&k% +4 "core" %    8 +2 .tForearm.seek :retract +2 "manipulator"&P' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&h(r +247 "core" ( + "manipulator"&x& +4 "core" &n \  T +2 "storage"(s& +3 "core" &[ \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&l'= +96 "core" ' +2 .tHand.open + "manipulator"&<1 +61 "core" 1 +3 "storage"(v- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(t' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(]' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(W- +3 "core" -' +2 "storage"(c& +4 "core" &[ \ & +2 "manipulator"&e& +3 "core" &n   T +2 .tElbow.seek 7 +2 "manipulator"&o(r +3 "core" ( +2 "manipulator"&{& +3 "core" &n   3 T +3 "storage"(L& +4 "core" &[ \ & +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&r'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(z'" +60 "core" ' +2 "manipulator"&g& +3 "core" &n  * T +3 "storage"(d& +4 "core" &[ V\ s +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&9'{ +23 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +47 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +26 "core" ' +2 "manipulator"&~% +3 "core" %΃    H +2 "storage"(b& +4 "core" &[ a l V\ l +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 308 counts +2 "manipulator"&f'ϯ +25 "core" ' +2 "manipulator"&`& +3 "core" &    + +2 "storage"(q& +5 "core" &[ \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'= +17 "core" ' + "storage"(R% +4 "core" % k\ x +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %J s N\ l[u +3 "manipulator"& % +4 "core" %7   * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +92 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +3 "core" &[ &\ u +2 "collection"' & +5 "core" &\\ P\ Y + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&\\% +3 "core" %    >  +3 "storage"(% +4 "core" % C\ w + "storage"( . +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(}([ +2 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +2 "core" &[ ` ^ \ g +3 "manipulator"&& +4 "core" & \  + +2 .tElbow.seek 7 + "manipulator"&w(r +20 "core" ( + "manipulator"&& +4 "core" &r     +2 "storage"(,& +3 "core" &[ N\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +97 "core" ' +2 "storage"('& +3 "core" &[ h \ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &r   e  +2 "storage"(:& +4 "core" &[ \ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(i'r +29 "core" ' +2 "manipulator"&% +4 "core" %Ί \ \   + "storage"(& +4 "core" &[ s y 4\ k +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&'϶ +14 "core" ' +2 "manipulator"&& +3 "core" &r    +2 "storage"(A& +3 "core" &[ \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&0'= +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(-' +37 "core" ' +2 "manipulator"&& +4 "core" &r   +2 "manipulator"&?% +3 "core" %A  5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&N(ӂ +161 "core" ( +2 "manipulator"&@& +4 "core" &Ӛ !  y 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &Ӛ  M 6 +2 .tForearm.seek CC +2 "manipulator"&C'? +105 "core" ' + .tHand.close +2 "manipulator"&&/ +72 "core" / +2 .tCC.seek :open + "collection"'Y( +452 "core" ( +2 "storage"(& +3 "core" &[ >\  +2 "storage"(& +4 "core" &[ \\\  +2 "manipulator"&$& +50 "core" &ӭ   4 +3 "manipulator"&)% +4 "core" %    q +2 .tForearm.seek :retract + "manipulator"&5' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&=(r +164 "core" ( + "manipulator"&4& +3 "core" &u  t  +3 "storage"(& +3 "core" &[ ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&'{ +98 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&21 +61 "core" 1 +3 "manipulator"&1% +4 "core" % Ώ   +2 "storage"(& +4 "core" &[ g\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&'ϻ +28 "core" ' + "manipulator"&#& +4 "core" &u  +2 "storage"(m& +4 "core" &[ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'= +16 "core" ' + "storage"(>% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(K' +100 ( % +2 "core" %RC B\ Yl +3 "manipulator"&% +4 "core" %1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +89 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'.& +3 "core" & \ +2 "manipulator"&% +4 "core" %    +2 "storage"(% +4 "core" % x\  +2 "storage"(8. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(Q(<- +675 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &<0 u s\ +2 "manipulator"&^& +4 "core" &u \  +2 .tElbow.seek 5 +2 "manipulator"&6( +39 "core" ( + "manipulator"&[& +4 "core" &  L  +2 "storage"(!& +3 "core" &<0 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&S'O +93 "core" ' +2 "storage"(*& +3 "core" &<0 w\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'r +297 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &<- \ +2 "manipulator"&U& +4 "core" & \\  +3 .tElbow.seek 5 + "manipulator"&T( +4 "core" ( +2 "manipulator"&;& +4 "core" &   2  +2 "storage"((& +4 "core" &<- k\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&B'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&G& + "storage"(F' +8 "core" & .  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&O' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&k(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&H& +4 "core" &Ӓ" \  ;6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &Ӓ"  ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&x'? +141 "core" ' +3 "manipulator"&s& +5 "core" &ӓ"   ;5 + "manipulator"&X% +5 "core" %B   Q # +2 "collection"'<& +4 "core" & \ +2 "collection"'v& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'W(\\ +3 "core" & \ +8 &3 \ $d +9 &Uv \ 7 +10 &v \ L +9 &P \ M +9 &_R \ M +10 & R \ M +9 &T \ M +10 &Q \ M +9 &fR \ M +9 &)O \ M +10 &Q \ M +9 &!O \ M +9 &#nR \ M +10 &%1N \ M +9 &&R \ M +10 &(S  \ M +9 &*vQ \ M +9 &,9O \ M +10 &-Q \ M +9 &/O \ M +9 &1~Q  \ M +10 &3@R \ M +9 &5Q \ M +10 &6P \ M +9 &8S \ M +9 &:HR \ M +10 &< N \ M +9 &=Q \ M +9 &?O \ M +10 &AOR \ N +9 &CW \ N +10 &D] \ N +9 &Fh \ P +9 &HI} \ S +10 &I\ \ +\ W +9 &K\ \  \ Y +9 &Mx\ \ \ Z +10 &O;\ \ \ Z +9 &P\ \ \ [ +10 &R\ \ h\ [ +9 &T{\ \ \ \\ +9 &V;\ \ \ ] +10 &W\ \ L\ ^ +9 &Y\ \ \ _ +9 &[{\ \ .\ K +10 &\\9 \ \ 0 +9 &\\  \ V +6 ( + "collection"'v& +4 "core" &\\y "\ V +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&c1 +62 "core" 1 +2 "manipulator"&e% +4 "core" % B   - # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%L& +4 "core" &\ s + "manipulator"&P% +4 "core" %     +2 "storage"(g% +4 "core" % \ s +2 "storage"(d. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(E(<- +22 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "core" &<- I\ q +2 "manipulator"&~& +4 "core" &ӱ  @ 7 +2 "manipulator"&b% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&`( +162 "core" ( +2 "manipulator"&q& +3 "core" &   P  +2 "storage"(h& +3 "core" &<- |\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +102 "core" ' +2 "storage"(l& +3 "core" &<- o \\ P\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'r +296 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<- p\ | +2 "manipulator"& & +3 "core" &  \ #  +3 .tElbow.seek 5 + "manipulator"&o( +4 "core" ( +2 "manipulator"&z& +4 "core" &  +2 "storage"(9& +4 "core" &<-\ \  R\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&|'Ϲ +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(\\' +7 "core" &  \   +2 "manipulator"&% +3 "core" % Ϸ +3 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&y( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +3 "manipulator"&p& +3 "core" & \  $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' +2 "manipulator"&,& +4 "core" &  + "manipulator"&u% +5 "core" %  h + "processing"%'& +4 "core" &\  +3 "processing"%& +5 "core" &\ ~ +2 .tPC.seek :closed +2 "processing"%a(^ +3 "core" &\  +8 & -\ y#b +9 &Ty\ l8 +10 &|v\ kL +9 &T\ qQ +9 &NO\ rP +10 &O\ sP +9 &T\ rQ +9 &R\ sP +10 &VN\ sP +9 &R\ qQ +51 &T\ oQ +3 &!Q\ pQ + &#^N\ pP +2 &% P\ pP + &&Q\ pQ +3 &(Q\ pQ +5 &*eP\ pQ +9 &,(Q\ sP +10 &-P\ rP +9 &/U\ qQ +9 &1nR\ qP +10 &3/S\ qQ +9 &4Q\ sP +9 &6Q\ rP +10 &8tS\ rQ +9 &:8P\ rP +10 &;S\ qQ +9 &=U*\ qQ +9 &?}Q\ rQ +10 &A?T\ rQ +9 &B]\ oR +9 &D]C\ oS +10 &F|j\ nT +9 &H9|F\ jV +10 &I>\ gW +9 &K@\ gW +9 &My=\ gX +10 &O<=\ gW +9 &PB\ fX +9 &R?\ gX +10 &T~A\ dY +9 &VAB\ fX +10 &X=\ fX +9 &Y>\ fX +9 &[<\ fY +10 &]G<\ eN +9 &^}M?\ f!f +9 &^+<\ u2 +6 ( + "processing"%& +4 "core" &^"B\ v2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&I1 +63 "core" 1 +2 "manipulator"&%% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + "processing"% & +4 "core" &^"3\ q2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&:% +4 "core" %   # +2 "storage"(% +4 "core" % S\ q +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" &<- \ p +2 "manipulator"&A& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" &  # +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&?( +6 "core" ( +2 "manipulator"&& +4 "core" &   P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" & - : +2 .tForearm.seek PC +2 "manipulator"&n' +92 "core" ' + .tHand.close +2 "manipulator"&/ +73 "core" / +3 .tPC.seek :open +2 "processing"%( +79 "core" ' +2 "storage"(i- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'1 +43 "core" ' +323 ( +2 "storage"(7& +3 "core" &<, ~\ v +2 "manipulator"&0& +3 "core" &   ? +2 "manipulator"&% +5 "core" %   -  +2 .tForearm.seek :retract + "manipulator"&&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&/( +240 "core" ( +2 "manipulator"&"& +4 "core" &   R - + "storage"(& +4 "core" &<, \ s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + .tHand.open +2 "manipulator"&$1 +56 "core" 1 +2 "storage"()- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(4' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(C- +4 "core" -' +2 "storage"(N& +3 "core" &<, \  +2 "manipulator"&2& +4 "core" &   , +2 .tElbow.seek 5 +2 "manipulator"&1( +4 "core" ( +2 "manipulator"&& +4 "core" &    , + "storage"(#& +4 "core" &<, X\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(>'" +57 "core" ' +2 "manipulator"&5& +3 "core" &   , +3 "storage"( & +3 "core" &<, 9\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +50 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&.% +5 "core" %Ρ   y + "storage"(& +3 "core" &<, 3\ q +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&' +26 "core" ' +2 "manipulator"&& +3 "core" & \  ; + +3 "storage"(8& +3 "core" &<, \ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +15 "core" ' +2 "storage"(D% +4 "core" % \ y +3 ."downElevator"SE.seek :down +4 "storage"(K' +99 (}% +3 "core" %J U\ nZs +2 "manipulator"&+% +5 "core" %I   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +95 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ([& +3 "core" &<, a\ y +3 "collection"'!& +3 "core" &\\y e\ V +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&*% +3 "core" %   2  +2 "storage"(_% +4 "core" % L\ | +2 "storage"(j. +3 "core" .(<- +2 "storage"(Z& +3 "core" &<, .\ | +2 "storage"(\ & +4 "core" &<, i\ | +2 "manipulator"&U& +4 "core" &   - + +2 .tElbow.seek 5 +2 "manipulator"&;( +4 "core" ( + "manipulator"&(& +4 "core" &  + +2 "storage"(V& +3 "core" &<, \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +90 "core" ' +2 "storage"(& +4 "core" &<, \  (\ { +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'r +300 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" &   9 + +2 "storage"(M& +3 "core" &<, \ v +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&3'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(s't +28 "core" ' + "manipulator"&X% +4 "core" %Ν  & +2 "storage"(<& +3 "core" &<, \ w +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&F' +13 "core" ' +2 "manipulator"&O& +3 "core" &   \ * +2 "storage"(Y& +4 "core" &<, 1\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(e' +35 "core" ' +2 "manipulator"&L& +3 "core" &  \  * +2 "manipulator"&P% +4 "core" %G   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&d(ӂ +153 "core" ( + "manipulator"&v& +4 "core" &ӗ   Q 9$ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &ӗ   ) 9$ +2 .tForearm.seek CC +2 "manipulator"&~'? +92 "core" ' + .tHand.close +2 "manipulator"&b/ +58 "core" / +2 .tCC.seek :open + "collection"'x( +452 "core" ( +2 "storage"(q& +4 "core" &<, 1\  +2 "storage"(h& +3 "core" &<, s\  +3 "manipulator"&Q& +4 "core" &Ӫ   6 + "manipulator"&l% +48 "core" % Q   +6 .tForearm.seek :retract + "manipulator"&k' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&{( +162 "core" ( +2 "manipulator"&r& +4 "core" &     + "storage"(& +4 "core" &<, 0\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +93 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&91 +53 "core" 1 +3 "manipulator"&f% +4 "core" % Β    + "storage"( & +4 "core" &<, L\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts +2 "manipulator"&'Ͼ +14 "core" ' +2 "manipulator"&`& +3 "core" &  +2 "storage"(R& +4 "core" &<, \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&]'O +16 "core" ' +2 "storage"(|% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(p' +100 (% +3 "core" %7A \ Xk +2 "manipulator"&o% +3 "core" %@ K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'u& +3 "core" & \ +2 "manipulator"&'% +4 "core" %    5  +2 "storage"(\\% +4 "core" % T\  +2 "storage"( . +2 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(J(K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" &K :\ +2 "manipulator"&%& +4 "core" & \ )  + .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&:& +4 "core" &   ,  +2 "storage"(& +3 "core" &K s\ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +98 "core" ' +2 "storage"(& +3 "core" &K \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \ +2 "manipulator"&w& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & j  + "storage"(E& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&i'h +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(a' +5 "core" & 5  +3 "manipulator"&% +3 "core" % z " +3 .tForearm.seek :retract + "manipulator"&7' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0(ӂ +155 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +8 "core" &ӎ#   <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &ӎ#   <; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'? +99 "core" ' +2 "manipulator"&& +48 "core" &ӏ# %  d <: +5 "manipulator"&?% +5 "core" %C   } +2 "collection"'$& +3 "core" & \ +3 "collection"')& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'C(\\ +5 "core" & \ +7 & + \ $d +9 &Vs \ 7 +10 &u \ L +9 &P \ M +9 &aN \ M +10 &"R \ M +9 &O \ M +10 &Q \ M +9 &hQ \ M +9 &*N \ M +10 &P \ M +9 &!N \ M +9 &#pQ \ M +10 &%3Q \ M +9 &&Q \ M +10 &(Q \ M +9 &*yQ \ M +9 &,;Q \ M +10 &-P \ M +9 &/R \ M +9 &1Q \ M +10 &3BS \ M +9 &5Q \ M +10 &6S \ M +9 &8Q \ M +9 &:JS \ M +10 &< P \ M +9 &=Q \ N +9 &?Q \ M +10 &ART \ M +9 &CX  \ N +10 &D_  \ O +9 &Fe  \ P +9 &HK} (\ R +10 &J\  '\ V +9 &K\ \ %\ Z +9 &M{\ \ \ $\ Z +10 &O<\ \ \ Z +9 &P\ \ \ \\ +10 &R\ \ X\ [ +9 &Tz\ \ Q\ ] +9 &V<\ \ \ ] +10 &W\ \ !\ ~_ +9 &Y\ \ $\ ~_ +9 &[\ \ &\ K +10 &\\5\ \ \ 0 +9 &\\ \ \ !\ W +6 ( + "collection"')& +4 "core" &\\ "\ W +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&N1 +59 "core" 1 +3 "manipulator"&2% +3 "core" % C   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%#& +3 "core" &\ s +2 "manipulator"&&% +5 "core" %     + "storage"(5% +4 "core" % \ s +2 "storage"( . +3 "core" .(K +2 "storage"(@& +4 "core" &K \ s +2 "storage"(4& +3 "core" &K \ s +3 "manipulator"&.& +4 "core" &Ӯ  ~ 8 + "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&8& +3 "core" &   +2 "storage"(/& +3 "core" &K \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&D' +100 "core" ' +2 "storage"(& +3 "core" &K ;\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +315 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &K \ x +2 "manipulator"&+& +3 "core" & \ (  +3 .tElbow.seek 6 + "manipulator"&1( +4 "core" ( +2 "manipulator"&>& +3 "core" &   +2 "storage"(& +3 "core" &K \ z +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&['h +41 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +67 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&!& +3 "storage"(*' +7 "core" &   1  +2 "manipulator"&_% +3 "core" % π  D +3 .tForearm.seek :retract + "manipulator"&j' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&Z& +3 "core" &   T 0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &  0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&U' +104 "core" ' + "manipulator"&(& +4 "core" &    0 +2 "manipulator"&V% +4 "core" %  4 s +2 "processing"%-& +3 "core" &\ } +3 "processing"%& +5 "core" &\ | +2 .tPC.seek :closed +2 "processing"%K(^ +5 "core" &\ | +8 &0u\ l*y +10 &`y\ h> +9 &Rp\ jP +9 &R\ pQ +10 &O\ pP +9 &O\ pP +9 &XU\ oP +10 &O\ pQ +9 &U\ pQ +9 &U\ nP +10 & _Q\ oQ +9 &"#O\ pP +10 &#T\ oQ +9 &%Q\ oP +9 &'hR\ pP +10 &)*R\ pP +9 &*T\ oQ +9 &,U\ oP +10 &.pN \ pP +9 &02R\ oP +10 &1Q\ pQ +9 &3R\ \ oQ +9 &5yL\ qP +10 &7:R\ pP +9 &8W\ oQ +10 &:S\ pQ +9 &<P\ pQ +49 &>AV\ lQ +6 &@Q\ mQ +3 &AS\ mQ + &C\\\ kR + &EE^\ kR + &Ge\ iS +5 &Hv\ fU +9 &J~\ eW +9 &L?\ eW +10 &M\ eX +9 &O\ eW +9 &Q;\ dX +10 &SE@\ dX +9 &U=\ cX +9 &VE\ dW +10 &X@\ cX +9 &ZI9\ cY +10 &\\ =\ cY +9 &]<\ dB +9 &^*y=\ jU +10 &^*:\ t4 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&=1 +56 "core" 1 +2 "manipulator"&^% +3 "core" %    5 s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S' +100 "core" ' +2 "processing"%H& +3 "core" &^(\ s4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&M% +4 "core" %    +2 "storage"(T% +4 "core" % \ r +2 "storage"(X. +3 "core" .(K +2 "storage"(<& +3 "core" &K `\ r +3 "storage"(O& +3 "manipulator"&Y& +4 "core" &K m\ r +2 &   ) 0 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&L( +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(P'r +2 "core" ( +3 "manipulator"&G& +3 "core" &   H 0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &  z 0 +2 .tForearm.seek PC +2 "manipulator"&6' +92 "core" ' +2 .tHand.close + "manipulator"&3/ +75 "core" / +2 .tPC.seek :open +2 "processing"%F( +82 "core" ' +2 "storage"(s- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'1 +42 "core" ' +319 ( + "storage"(t& +5 "core" &K +\ s + "manipulator"&c& +5 "core" & \  0 + "manipulator"&B% +4 "core" %   $  +2 .tForearm.seek :retract +2 "manipulator"&b' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&g( +244 "core" ( +2 "manipulator"&W& +3 "core" &    +2 "storage"(q& +4 "core" &K W\ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&h' +101 "core" ' + .tHand.open + "manipulator"&Q1 +62 "core" 1 +2 "storage"(l- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(r' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +4 "core" -' + "storage"(d& +5 "core" &K  \ + +2 "manipulator"&9& +3 "core" &   D  +2 .tElbow.seek 6 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"& & +3 "core" &    +3 "storage"(`& +3 "core" &K \ , +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(|'" +50 "core" ' +2 "manipulator"&k& +4 "core" &  \   + "storage"(& +3 "core" &K Z\ q +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&o'< +17 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +33 "core" ' +2 "manipulator"&u% +3 "core" %G   q +2 "storage"('& +3 "core" &K L\ q +3 .tForearm.force -20 + "manipulator"&5 +49 .tForearm.seek 6 + 311 counts +3 "manipulator"&'s +16 "core" ' + "manipulator"&\\& +5 "core" &  \  + "storage"( & +5 "core" &K \ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +15 "core" ' + "storage"(]% +4 "core" % u\ w +3 ."downElevator"SE.seek :down +4 "storage"(p' +99 (% +3 "core" % O s \ l[t +2 "manipulator"&I% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (:& +3 "core" &K \ u +2 "collection"'& +4 "core" &\\~ x\ W +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %      +2 "storage"(z% +3 "core" % \ x +2 "storage"(,. +3 "core" .(K +2 "storage"(A& +3 "core" &K \ w +3 "storage"(& +4 "core" &K 3\ x +2 "manipulator"&w& +3 "core" & \   +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&E& +5 "core" &     + "storage"(y& +3 "core" &K ;\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +99 "core" ' +2 "storage"(& +3 "core" &K m\ z +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +296 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  4  +2 "storage"(n& +3 "core" &K G\ r +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +13 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('l +30 "core" ' +2 "manipulator"&?% +4 "core" %O   ' % + "storage"($& +4 "core" &K <\ t +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&a'{ +14 "core" ' +2 "manipulator"&7& +4 "core" &   a  + "storage"(x& +4 "core" &K \ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +16 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(2' +38 "core" ' +2 "manipulator"&#& +3 "core" &    +3 "manipulator"&&% +4 "core" %  E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +95 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +158 "core" ( + "manipulator"&@& +3 "core" &Ӗ   8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &Ӗ  8 +3 .tForearm.seek CC + "manipulator"&4'? +98 "core" ' + .tHand.close +2 "manipulator"&./ +66 "core" / +2 .tCC.seek :open + "collection"'( +452 "core" ( +2 "storage"("& +3 "core" &K \ +2 "storage"(8& +4 "core" &K =\ +2 "manipulator"&/& +4 "core" &Ӭ   5 + "manipulator"&% +4 "core" % E   +2 .tForearm.seek :retract +2 "manipulator"&0' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +160 "core" ( +2 "manipulator"&m& +4 "core" &    +2 "storage"(}& +47 "core" &K \ +6 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&+'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +64 "core" 1 +3 "manipulator"&% +4 "core" % E   & ( +2 "storage"(!& +4 "core" &K a\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&_'q +15 "core" ' + "manipulator"&& +3 "core" & `  +2 "storage"(D& +4 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"([% +4 "core" % b\ +2 ."downElevator"SE.seek :down +3 "storage"(Z' +100 (\ % +2 "core" %D \ Yl +3 "manipulator"&1% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +96 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'V& +3 "core" & \ +3 "manipulator"&-% +3 "core" %    +2 "storage"(*% +5 "core" % \  + "storage"(j. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" &[ \ +2 "manipulator"&^& +5 "core" & \  A  + .tElbow.seek 7 +2 "manipulator"&H(r +36 "core" ( +2 "manipulator"&M& +4 "core" & N  +2 "storage"(T& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&X'= +92 "core" ' +2 "storage"(<& +3 "core" &[ e\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +301 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (O& +3 "core" &[ B\ +2 "manipulator"&G& +3 "core" &  }  +2 .tElbow.seek 7 +2 "manipulator"&;(r +18 "core" ( +2 "manipulator"&U& +3 "core" &y   U  +2 "storage"(3& +4 "core" &[ \ +3 .tForearm.seek 7 + 300 counts + "manipulator"&s'ϧ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(K' +8 "core" &y [  +2 "manipulator"&P% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&t' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&c(ӂ +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&B& +3 "core" &x+   Cr +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" &y+   Cq +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&W'? +93 "core" ' +2 "manipulator"&q& +4 "core" &Ӯ#   << +2 "manipulator"&L% +3 "core" %8  ; +3 "collection"'Q& +3 "core" & \ +3 "collection"'l& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'~(\\ +4 "core" & \  +9 &1w \ *y +9 &d{ \ > +10 &qm \ N +9 &4Q \ M +10 &Q \ M +9 &Q \ M +51 &{O \ M +3 &=P \ M + &T \ M + &O \ M + & Q \ M +3 &"DP \ M +6 &$Q \ M +9 &%Q \ M +9 &'O \ M +10 &)LP \ M +9 &+O \ M +9 &,T \ M +10 &.Q \ M +9 &0TQ \ M +10 &2Q \ M +9 &3R \ M +9 &5Q  \ M +10 &7]Q *\ M +9 &9Q ,\ M +9 &:Q \ M +10 &<Q \ M +9 &>dU \ M +10 &@&P \ M +9 &AR \ M +9 &CV \ M +10 &Ega \ \ O +9 &G%k \ P +10 &H \ T +9 &J\ \ \ X +9 &LO\ \  \ Z +10 &N\ \ \ Z +9 &O\ \ \ [ +9 &Q\ \ \ [\ +10 &SQ\ \ \ \ \\ +9 &U\ \ \ \\ +9 &V\ \ \ ^ +10 &X\ \ \ ^ +9 &ZR\ \ %\ ^ +10 &[y\ \  \ C +9 &\\#\ \ \ , +9 &\\\ \ \ [ +3 ( + "collection"'l& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&d1 +58 "core" 1 +3 "manipulator"&9% +3 "core" % 8   6 ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%`& +3 "core" &\ r +2 "manipulator"&b% +4 "core" %   e  +2 "storage"(k% +4 "core" % \ q +2 "storage"(. +3 "core" .([ +2 "storage"(u& +3 "core" &[ `\ q +2 "storage"('& +4 "core" &[ [\ q +2 "manipulator"&v& +4 "core" &ӱ# ] <9 +2 "manipulator"&r% +4 "core" %   1  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&\\(r +164 "core" ( +2 "manipulator"& & +3 "core" &y   A  +2 "storage"(]& +4 "core" &[ f\ y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&g'= +94 "core" ' +2 "storage"(h& +3 "core" &[ \\\ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \ p +2 "manipulator"&I& +4 "core" &y   &  +2 .tElbow.seek 7 + "manipulator"&f(r +4 "core" ( +2 "manipulator"&|& +4 "core" &y   (  +2 "storage"(o& +3 "core" &[ Z\ t +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &y \    +2 "manipulator"&z% +3 "core" % Ϫ   +3 .tForearm.seek :retract + "manipulator"&,' +91 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( +3 "manipulator"&A& +3 "core" &   Q  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&w' +99 "core" ' +2 "manipulator"&E& +3 "core" &     +2 "manipulator"&y% +4 "core" %   & +2 "processing"%e& +3 "core" &\ | +3 "processing"%& +5 "core" &\ | +2 .tPC.seek :closed +3 "processing"%p(^ +3 "core" &\ | +6 &\ {4 +10 &<Hu\ i1 +9 &_n|\ gE +9 &a\ lQ +10 &O\ oQ +9 &{O\ oP +9 &=Q\ oP +10 &O\ pP +9 &O\ pQ +9 &T\ nQ +10 &DR\ oQ +9 &!S\ nP +10 &"R\ oQ +9 &$S\ oQ +9 &&MT \ oP +10 &(O\ nQ +9 &)S\ oP +9 &+T \ oP +10 &-UO7\ pP +9 &/O\ pP +10 &0N\ pP +9 &2S\ oP +9 &4]P\ oP +10 &6O\ oP +9 &7N \ oP +10 &9P\ oP +9 &;eR\ nP +9 &='O\ oP +10 &>T\ oQ +9 &@T\ nQ +9 &BkY\ nQ +10 &D+\\\ mR +9 &Ee\ lS +10 &Go\ iU +9 &Id\ fV +9 &K$\ eW +10 &LA\ fW +9 &NA\ dW +9 &Pg=\ cX +10 &R);\ cX +9 &S>\ cX +9 &U:\ dX +10 &Wo9\ cX +9 &Y1:\ dX +10 &Z<\ cX +9 &\\<\ bY +9 &^._m;\ j5 +10 &^N;\ m0 +5 ( +2 "processing"%& +3 "core" &^<\ t0 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&{1 +61 "core" 1 + "manipulator"&%% +53 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"%& +3 "core" &^:\ n0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&n% +3 "core" % %  4 > +3 "storage"(% +3 "core" % \ n +2 "storage"(?. +4 "core" .([ + "storage"($& +4 "core" &[ i\ m +2 "storage"(7& +3 "manipulator"&x& +5 "core" &[ \ m +3 &  \ 4  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(#'r + "manipulator"&&( +7 "core" ( + "manipulator"&& +5 "core" &   <  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & (  0  +3 .tForearm.seek PC + "manipulator"& ' +92 "core" ' +3 .tHand.close + "manipulator"&/ +65 "core" / +2 .tPC.seek :open +2 "processing"%a( +90 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(@'1 +46 "core" ' +308 ( +2 "storage"()& +4 "core" &[ .\ t +2 "manipulator"&N& +3 "core" &    +2 "manipulator"&i% +5 "core" %    9 +2 .tForearm.seek :retract + "manipulator"&.' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&5(r +247 "core" ( + "manipulator"&C& +4 "core" &  Z 0 +2 "storage"("& +3 "core" &[ \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&8'= +94 "core" ' + .tHand.open +2 "manipulator"&/1 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(m' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(}' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +3 "core" -' +2 "storage"( & +3 "core" &[ \ +3 "manipulator"&& +3 "core" & \  0 +2 .tElbow.seek 7 +2 "manipulator"&(r +29 "core" ( +2 "manipulator"&!& +3 "core" &p   S h +2 "storage"(& +4 "core" &[ R\ K +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'= +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(['" +52 "core" ' +2 "manipulator"&0& +4 "core" &p  h +2 "storage"(\ & +3 "core" &[ Y\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&1'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(+' +27 "core" ' +2 "manipulator"&V% +3 "core" %΋ ; = w +2 "storage"(-& +4 "core" &[ ^ _ -\ f +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&_'Ϸ +13 "core" ' + "manipulator"&*& +5 "core" &p   a h + "storage"(j& +4 "core" &[ *\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&2'= +19 "core" ' + "storage"(% +4 "core" % \ x +50 ."downElevator"SE.seek :down +3 "storage"(Z' +99 (J% +3 "core" %I }\ kZr +3 "manipulator"&=% +3 "core" %:  4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (M& +4 "core" &[ B\ v +2 "collection"'T& +3 "core" &\\ r\ [ +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&<% +3 "core" %  \   +3 "storage"(>% +3 "core" % \ y +2 "storage"((. +3 "core" .([ +2 "storage"(Y& +4 "core" &[ "\ x +2 "storage"(O& +3 "core" &[ `\ y +3 "manipulator"&G& +4 "core" &p  h +2 .tElbow.seek 7 + "manipulator"&U(r +4 "core" ( + "manipulator"&3& +5 "core" &p  T h + "storage"(& +5 "core" &[ 2\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&S'= +103 "core" ' +2 "storage"(P& +4 "core" &[ N\ { +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(H'r +295 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" &p   h +2 "storage"(6& +4 "core" &[ :\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +31 "core" ' +2 .tElbow.hold + "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(q- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(L'o +30 "core" ' + "manipulator"&Q% +4 "core" %Ό *  $ +2 "storage"(;& +3 "core" &[ m n }\ j +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&K'ϸ +13 "core" ' +2 "manipulator"&t& +3 "core" &p  h +3 "storage"(& +4 "core" &[ ^\ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&d'= +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(9' +40 "core" ' +2 "manipulator"&`& +3 "core" &p \  \ h +3 "manipulator"&b% +4 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&u& +4 "core" &ӎ$   =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &ӎ$  F =G +2 .tForearm.seek CC +2 "manipulator"&l'? +96 "core" ' + .tHand.close + "manipulator"&v/ +60 "core" / +2 .tCC.seek :open +2 "collection"'r( +451 "core" ( +2 "storage"(W& +3 "core" &[ \ +2 "storage"( & +4 "core" &[ U\ +2 "manipulator"&]& +4 "core" &Ӭ   9) +2 "manipulator"&h% +3 "core" % K   { +3 .tForearm.seek :retract + "manipulator"&c' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"& (r +165 "core" ( +2 "manipulator"&R& +3 "core" &t k  +2 "storage"(& +5 "core" &[ @\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&I'{ +91 "core" ' +2 .tElbow.hold + "manipulator"&|, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +47 .tHand.open +5 "manipulator"&o1 +58 "core" 1 +2 "manipulator"&:% +3 "core" % Ή   ?  +2 "storage"(& +4 "core" &[ 8\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts +2 "manipulator"&z'ϵ +13 "core" ' +2 "manipulator"&\\& +3 "core" &t   +3 "storage"(g& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +17 "core" ' +2 "storage"(% +4 "core" % '\ +2 ."downElevator"SE.seek :down +4 "storage"(A' +98 (% +3 "core" %? \ Xi +2 "manipulator"&f% +5 "core" %4  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'y& +4 "core" & \ +2 "manipulator"&e% +5 "core" % \  J  + "storage"(% +4 "core" % V\  +2 "storage"(,. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(F(<- +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +2 "core" &<* \ +2 "manipulator"&%& +4 "core" &t U  +2 .tElbow.seek 5 +2 "manipulator"&( +37 "core" ( +2 "manipulator"&& +3 "core" & \  +3 "storage"(n& +4 "core" &<* 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +6 "manipulator"&'O +93 "core" ' + "storage"(?& +3 "core" &<*  ;\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +296 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" &<* \ +2 "manipulator"&& +4 "core" &  5  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&w& +5 "core" &  + "storage"(& +4 "core" &<* \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(p' +8 "core" & 7  +2 "manipulator"&#% +4 "core" %  \ 2 +2 .tForearm.seek :retract + "manipulator"&)' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&N(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&i& +3 "core" &Ӑ   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӑ  7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'? +98 "core" ' +3 "manipulator"&"& +3 "core" &Ӑ  j 7 +2 "manipulator"&&% +4 "core" %: \ J +2 "collection"'/& +4 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'4(\\ +3 "core" & \ +8 &3 \ $e +9 &Wx \ 7 +9 &u \ L +10 &Q \ M +9 &dO \ M +9 &&Q \ M +10 &T \ M +9 &Q \ L +10 &lQ \ M +9 &.O \ M +9 &O \ M +10 &!T \ M +9 &#uR \ L +10 &%6Q \ M +9 &&Q \ L +9 &(Q \ M +10 &*|N \ M +9 &,>Q \ M +9 &-S \ M +10 &/Q \ L +9 &1R \ M +9 &3GQ \ L +10 &5Q \ M +9 &6Q '\ M +10 &8U \ M +9 &:NQ  \ M +9 &<O \ M +10 &=Q \ \ L +9 &?R \ \ M +9 &AVQ \ M +10 &CW \ M +9 &D] ,\ N +10 &Fe +\ O +9 &HN| .\ R +9 &J\ \ \ V +49 &K\ \ \ '\ Y +6 &M~\ \ \ \ Z +2 &O@\ \ \ Z +2 &Q\ \ \ Z + &R\ \ \ Z + &T}\ \ \ ] +5 &V>\ \ \ ] +9 &W\ \ \ ] +10 &Y\ \ '\ _ +9 &[~\ \ \ K +10 &\\7\ \ +\ 1 +9 &\\ \ \ Z +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"& 1 +3 "core" &\\  \ Z +61 1 +2 "manipulator"&% +3 "core" % :  l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%!& +5 "core" &\ v + "manipulator"&% +4 "core" % \   +2 "storage"(0% +4 "core" % [\ u +2 "storage"(\ . +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(@(<- +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" &<.  u\ o +2 "manipulator"&-& +4 "core" &ӫ   3 +2 "manipulator"&m% +4 "core" % \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&*( +162 "core" ( +2 "manipulator"&j& +3 "core" &   [  +2 "storage"(& +4 "core" &<. \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +93 "core" ' +2 "storage"(8& +3 "core" &<. \ y\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +296 "core" ' + "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &<. (\ o +2 "manipulator"&=& +3 "core" &   ,  +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&[& +3 "core" &  H  +2 "storage"(1& +5 "core" &<. \ s +2 .tForearm.seek 5 + 300 counts + "manipulator"&_'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +77 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(<' +8 "core" &  T  +2 "manipulator"&>% +3 "core" %   H +3 .tForearm.seek :retract + "manipulator"&(' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&+( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&Y& +3 "core" &   g  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&G' +102 "core" ' +2 "manipulator"&3& +3 "core" &    +3 "manipulator"&% +4 "core" %   \ +2 "processing"%2& +3 "core" &\ | +3 "processing"%P& +5 "core" &\ | +2 .tPC.seek :closed +2 "processing"%Z(^ +3 "core" &\ | +8 & .\ u#b +9 &T{\ h8 +10 &|v\ hL +9 &S\ nQ +9 &OO\ pP +10 &O\ oP +9 &R\ oP +9 &O\ pP +10 &WM\ pP +9 &S\ oP +10 &R\ oP +9 &!R\ oP +9 &#^Q\ pP +10 &% N\ pP +9 &&T\ oP +10 &(T\ oP +9 &*fO\ oP +9 &,(S \ oP +10 &-RC\ oP +9 &/RI\ oP +9 &1oK\ qP +10 &31Q\ pP +9 &4P\ pP +10 &6R\ nP +9 &8uS\ oQ +9 &:7Q\ oQ +10 &;P.\ nP +9 &=O\ pP +9 &?~R\ oP +10 &A>U\ nQ +9 &B\\\ mR +9 &D_C\ mR +10 &F}h\ kS +9 &H:y\ hU +10 &I\ eV +9 &K\ eW +9 &M{A\ dW +10 &O;G\ cW +9 &P\ dX +9 &R@\ cW +10 &T~B\ bY +9 &VC?\ dW +10 &XG\ bX +9 &YB\ bX +9 &[=\ bX +10 &]H9\ aM +9 &^P;\ a#l +9 &^7\ u, +3 ( + "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&^% +3 "core" %  U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +91 "core" ' + "processing"%B& +50 "core" &^\ p, +5 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&6% +5 "core" %     + "storage"(q% +5 "core" % \ p + "storage"(Q. +3 "core" .(<- +2 "storage"(;& +3 "core" &<. \\\ o +3 "storage"(t& +4 "manipulator"&& +3 "core" &<. \ o +2 &   S  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(`'r +3 "manipulator"&b( +5 "core" ( + "manipulator"&S& +5 "core" &  H  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &   I  +3 .tForearm.seek PC + "manipulator"&H' +90 "core" ' +3 .tHand.close + "manipulator"&/ +74 "core" / +2 .tPC.seek :open +2 "processing"%K( +79 "core" ' +2 "storage"(L- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'1 +47 "core" ' +317 ( +2 "storage"('& +5 "core" &<+ \ v + "manipulator"&d& +4 "core" &    +2 "manipulator"&s% +3 "core" %    % S +3 .tForearm.seek :retract + "manipulator"&v' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&k( +245 "core" ( +2 "manipulator"&~& +3 "core" &   ] , +2 "storage"(W& +4 "core" &<+ =\ q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +94 "core" ' +2 .tHand.open + "manipulator"&]1 +56 "core" 1 +3 "storage"(h- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +3 "core" -' +2 "storage"(& +4 "core" &<+ \  +2 "manipulator"&o& +3 "core" &  E + +3 .tElbow.seek 5 + "manipulator"&:( +4 "core" ( +2 "manipulator"&& +4 "core" &    + + "storage"(\\& +4 "core" &<+ w\ 0 +3 .tForearm.seek 5 + 450 counts + "manipulator"&g'O +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' + "manipulator"&c& +4 "core" &   6 + +2 "storage"(& +3 "core" &<+ -\ t +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(I' +20 "core" ' + "manipulator"&y% +5 "core" %Μ   + "storage"(z& +4 "core" &<+ p $\ m +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&e' +23 "core" ' +2 "manipulator"&& +3 "core" &  z + +2 "storage"(,& +5 "core" &<+ z\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +24 "core" ' +2 "storage"(% +3 "core" % ?\ v +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (% +3 "core" %J p k \ k[s +3 "manipulator"&{% +3 "core" %.  ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tForearm.seek :retract + "manipulator"&%' +87 "core" ' +17 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<+ R\ v +2 "collection"'n& +4 "core" &\\ \ Z +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&?% +3 "core" %   3  +2 "storage"(|% +4 "core" % \\\ x +2 "storage"(E. +3 "core" .(<- +2 "storage"(7& +4 "core" &<+ @\ x +2 "storage"(x& +3 "core" &<+ S\ x +2 "manipulator"&& +4 "core" &  ? + +2 .tElbow.seek 5 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&& +4 "core" &    + +2 "storage"( & +4 "core" &<+ Z\ x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +90 "core" ' +2 "storage"(#& +3 "core" &<+ K\ z +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" &  + +2 "storage"( & +3 "core" &<+ \ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&$'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(&'t +29 "core" ' + "manipulator"&/% +4 "core" %Έ    +2 "storage"(& +3 "core" &<+ E\ u +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 295 counts +2 "manipulator"&p'ϴ +14 "core" ' + "manipulator"&)& +4 "core" &    * +2 "storage"(r& +3 "core" &<+ \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&!& +3 "core" &   0 * +3 "manipulator"&% +3 "core" %:    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +150 "core" ( + "manipulator"&& +3 "core" &x-   U Dv +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &x- , Dv +3 .tForearm.seek CC +2 "manipulator"&-'? +93 "core" ' +2 .tHand.close + "manipulator"&m/ +69 "core" / +2 .tCC.seek :open + "collection"'C( +452 "core" ( +2 "storage"(j& +4 "core" &<+ K\ +2 "storage"(& +3 "core" &<+ s\ +2 "manipulator"&F& +4 "core" &   :. +2 "manipulator"&8% +4 "core" % @   +2 .tForearm.seek :retract +2 "manipulator"&N' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&.( +164 "core" ( +2 "manipulator"&D& +4 "core" &   (  + "storage"(J& +4 "core" &<+ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&='΍ +100 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&11 +52 "core" 1 +3 "manipulator"&M% +4 "core" % Λ    + "storage"(T& +4 "core" &<+ \ +2 .tForearm.force -20 + "manipulator"&5 +49 .tForearm.seek 5 + 314 counts +4 "manipulator"&>' +25 "core" ' + "manipulator"&*& +3 "core" &  +3 "storage"(5& +3 "core" &<+ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}'O +17 "core" ' + "storage"(_% +4 "core" % \ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(Y' +99 (O% +3 "core" %s@ \ Yk +2 "manipulator"&% +4 "core" %O & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3' +92 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&2% +4 "core" %     +2 "storage"(<% +3 "core" % k\  +2 "storage"((. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(a(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K n $\  +2 "manipulator"&^& +3 "core" & \   +2 .tElbow.seek 6 +2 "manipulator"&B( +4 "core" ( + "manipulator"&P& +4 "core" &    +2 "storage"(6& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&q' +92 "core" ' +2 "storage"(Q& +3 "core" &K /\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +297 "core" ' +2 "storage"(t- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K g\  +2 "manipulator"&S& +3 "core" &  q  +3 .tElbow.seek 6 + "manipulator"&U( +4 "core" ( +2 "manipulator"&G& +3 "core" &  >  +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&L'h +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& +2 "storage"(Z' +7 "core" & '  +2 "manipulator"&`% +3 "core" % d +3 .tForearm.seek :retract + "manipulator"&'' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&s& +4 "core" &Ӎ!   :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &Ӎ   :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&~'? +97 "core" ' +2 "manipulator"&W& +4 "core" &Ӎ! #  V :0 +2 "manipulator"&b% +3 "core" %E    # +3 "collection"']& +3 "core" & \ +3 "collection"'h& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'l(\\ +2 "core" & \ +7 &2 \ $e +10 &Wx \ 7 +9 &u \ L +10 &O \ M +9 &hO \ M +9 &*O \ M +10 &O \ M +9 &N \ M +10 &pP \ M +9 &1S \ M +9 &P \ L +10 &!O \ M +9 &#xO \ M +9 &%:O \ M +10 &&R \ M +9 &(O \ M +9 &*R \ M +10 &,BO \ M +9 &.O \ M +10 &/S \ M +9 &1Q \ M +9 &3IN \ M +10 &5 P \ M +9 &6P \ M +9 &8T \ M +10 &:QQ \ M +9 &<O \ M +10 &=S \ M +9 &?Q \ M +9 &AZQ \ M +10 &CU \ M +9 &D\\ \ N +9 &Ff  \ P +10 &HQz \ R +9 &J\   \ V +10 &K\ \ \ Y +9 &M\ \ \ Y +9 &OB\ \ \ \ Z +10 &Q\ \ \ [\ +9 &R\ \ \ [\ +9 &T\ \ \ ] +10 &VC\ \ \ ] +9 &X\ \ \ ] +10 &Y\ \ \ ^ +9 &[\ \ \ ~L +9 &\\8\ \ \ 4 +10 &\\x\ \ \ W +5 ( +2 "collection"'h& +4 "core" &\\s \ W +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +47 .Hand.open +4 "manipulator"&1 +64 "core" 1 +2 "manipulator"&o% +3 "core" % E  %  # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%\\& +4 "core" &\ v +2 "manipulator"&v% +4 "core" %     +2 "storage"(c% +4 "core" % ]\ w +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(y(K +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" &K ` _ \ q +2 "manipulator"&u& +4 "core" &Ӯ   6 +2 "manipulator"&R% +5 "core" %    f  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +164 "core" ( +2 "manipulator"&,& +3 "core" &    +3 "storage"(& +4 "core" &K\ f\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +90 "core" ' +2 "storage"( & +3 "core" &K s r \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &K Z\ v +2 "manipulator"&g& +3 "core" &    +3 .tElbow.seek 6 + "manipulator"&:( +4 "core" ( +2 "manipulator"&& +3 "core" &   )  +2 "storage"( & +4 "core" &K }\ x +3 .tForearm.seek 6 + 300 counts + "manipulator"&e'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&n& + "storage"(?' +8 "core" & {  + "manipulator"&|% +5 "core" % b . +2 .tForearm.seek :retract + "manipulator"&E' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +68 "core" ( + "manipulator"&7& +4 "core" &  W  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &  \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +46 "Can"\ Q! +46 "core" ' + "manipulator"&& +5 "core" &   |  + "manipulator"& % +4 "core" %   { +2 "processing"%#& +4 "core" &\ ~ +3 "processing"%9& +5 "core" &\ ~ +2 .tPC.seek :closed +2 "processing"%A(^ +3 "core" &\  +9 &4\ y$c +9 &S{\ j7 +10 &|x\ jL +9 &R\ qP +10 &KQ\ rP +9 & N\ sP +9 &Q\ rP +10 &R\ rP +9 &SP\ rP +9 &R\ rP +10 &Q\ rP +9 &!L\ sP +10 &#[P\ qP +9 &%Q\ qP +9 &&R\ rP +10 &(R\ rP +9 &*bQ\ qP +9 &,$R\ qP +10 &-P:\ rP +9 &/R\ rP +10 &1kO\ sP +9 &3.O\ rP +9 &4O6\ rO +10 &6P7\ qP +9 &8rR\ rP +9 &:4Q8\ rP +10 &;OB\ rP +9 &=T\ qP +10 &?yS7\ rQ +9 &A<R9\ rP +9 &BY\ pQ +10 &D\\\ pR +9 &F{c\ nS +9 &H:p9\ kT +10 &I\ gV +9 &KH\ hW +10 &Mx\ gV +9 &O9H\ fW +9 &P\ fX +10 &R\ fW +9 &T{@\ dX +9 &V?G\ gW +10 &X9\ fW +9 &Y\ fX +10 &[\ eX +9 &]D:\ eP +9 &^{Ez?\ k"f +10 &^6J\ s2 +5 ( +2 "processing"%9& +3 "core" &^"=\ v2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&f1 +54 "core" 1 +2 "manipulator"&%% +3 "core" %  $ { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"%i& +3 "core" &^"\ u2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +3 "core" %  q  +2 "storage"("% +4 "core" % U\ u +2 "storage"(/. +48 "core" .(K +5 "storage"(& +4 "core" &K _\ u +2 "storage"()& +3 "manipulator"&r& +8 "core" &K I\ u + &    +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(!'r + "manipulator"&( +7 "core" ( + "manipulator"&& +3 "core" &   y  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&' +88 "core" ' +2 .tHand.close + "manipulator"&$/ +71 "core" / +3 .tPC.seek :open + "processing"%p( +86 "core" ' +2 "storage"(&- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +49 "core" ' +308 ( + "storage"(V& +4 "core" &K \ } +2 "manipulator"& & +4 "core" &   (  + "manipulator"&% +5 "core" %    - I +2 .tForearm.seek :retract + "manipulator"&m' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&0( +251 "core" ( +2 "manipulator"&4& +4 "core" &    + "storage"(j& +4 "core" &K \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' + .tHand.open +2 "manipulator"&F1 +59 "core" 1 +2 "storage"(8- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(D' +35 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(J' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(-- +3 "core" -' +2 "storage"(\ & +4 "core" &K   2\ / +2 "manipulator"&1& +3 "core" &   +3 .tElbow.seek 6 + "manipulator"&M( +13 "core" ( +2 "manipulator"&T& +3 "core" &   S  +2 "storage"(*& +4 "core" &K   e\ 1 +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +60 "core" ' +2 "manipulator"&N& +3 "core" &   )  +2 "storage"(.& +4 "core" &K %\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&O'< +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(=' +19 "core" ' + "manipulator"&% +3 "core" %F   +3 "storage"(>& +4 "core" &K S\ r + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&2'r +15 "core" ' + "manipulator"&<& +4 "core" &  9  +2 "storage"((& +3 "core" &K \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +17 "core" ' +2 "storage"(}% +3 "core" % \ z +3 ."downElevator"SE.seek :down +4 "storage"(Y' +98 (@% +3 "core" %I \ p[t +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +50 (P& +3 "core" &K \ | +3 "collection"'6& +4 "core" &\\s \ W +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&Q% +4 "core" %    A  +2 "storage"([% +4 "core" % \ | +2 "storage"(3. +3 "core" .(K +2 "storage"(t& +3 "core" &K s\ | +2 "storage"(& +4 "core" &K %\ | +2 "manipulator"&S& +3 "core" &    +3 .tElbow.seek 6 + "manipulator"&G( +4 "core" ( +2 "manipulator"&& +3 "core" &  \ 3  +3 "storage"(+& +4 "core" &K 6\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +94 "core" ' + "storage"(`& +4 "core" &K f a <\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'r +295 "core" ' +3 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &     +3 "storage"(H& +3 "core" &K _\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&;'< +21 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(b'f +30 "core" ' + "manipulator"&]% +4 "core" %G  \ +2 "storage"(U& +3 "core" &K \ z +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 311 counts + "manipulator"&Z's +15 "core" ' + "manipulator"&'& +4 "core" &    +2 "storage"(C& +3 "core" &K\ \  e\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(o' +34 "core" ' + "manipulator"&h& +4 "core" & e  +2 "manipulator"&\\% +3 "core" % 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +154 "core" ( + "manipulator"&& +4 "core" &{&   f ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &{&   ? ?S +2 .tForearm.seek CC +3 "manipulator"&u'? +96 "core" ' + .tHand.close + "manipulator"&R/ +55 "core" / +2 .tCC.seek :open +2 "collection"'~( +452 "core" ( + "storage"(,& +4 "core" &K I\  +2 "storage"(& +3 "core" &K /\  +3 "manipulator"&a& +4 "core" &ӳ   8 + "manipulator"& % +3 "core" % I    +3 .tForearm.seek :retract + "manipulator"&d' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +156 "core" ( +2 "manipulator"&& +4 "core" &  5 \ + "storage"({& +4 "core" &K I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&g'< +94 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +55 "core" 1 +2 "manipulator"&% +5 "core" % E   ) + "storage"(n& +4 "core" &K :\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&|'q +14 "core" ' +2 "manipulator"&& +4 "core" & \ +2 "storage"(k& +51 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +17 "core" ' + "storage"(e% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(7' +98 (x% +3 "core" %WC H\ Yl +3 "manipulator"&:% +3 "core" % b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"' & +3 "core" & \ +3 "manipulator"&#% +3 "core" %    7  +2 "storage"(?% +4 "core" % w\  +2 "storage"(E. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(K([ +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &[ n\ \ +2 "manipulator"&%& +4 "core" &  @ \ +2 .tElbow.seek 7 +2 "manipulator"&i(r +14 "core" ( + "manipulator"& & +4 "core" &o    +2 "storage"("& +4 "core" &[ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&/'= +94 "core" ' + "storage"(9& +4 "core" &[ -\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &[ w\ \ +2 "manipulator"&& +3 "core" &o  +2 .tElbow.seek 7 +2 "manipulator"&w(r +3 "core" ( +2 "manipulator"&& +4 "core" &o  m  +2 "storage"($& +4 "core" &[ \\\ \ +3 .tForearm.seek 7 + 300 counts + "manipulator"&&'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(A' +8 "core" &o  + "manipulator"&!% +4 "core" % Ϩ +2 .tForearm.seek :retract +2 "manipulator"&V' +97 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &x*   Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x*   Bi +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'? +97 "core" ' +2 "manipulator"&j& +4 "core" &x*   9 Bi +2 "manipulator"&% +4 "core" %G   N +3 "collection"'F& +4 "core" & \ +2 "collection"'8& +5 "core" & \ +3 .tCC.seek :closed + "collection"'-(\\ +5 "core" & \ +8 & , \ $d +9 &Uu \ 7 +9 &t \ L +10 &O \ M +9 &dP \ M +9 &'O \ M +10 &O \ L +9 &P \ M +10 &mO \ M +9 &0O \ L +9 &O \ M +10 &!P \ M +9 &#vQ \ L +9 &%6O \ M +10 &&P \ M +9 &(O \ L +10 &*|O \ M +9 &,?O \ M +9 &.O \ L +10 &/P \ M +9 &1Q \ M +9 &3GP \ M +10 &5 Q \ M +9 &6Q \ M +10 &8P \ M +9 &:PP \ L +9 &<O \ M +10 &=P \ M +9 &?Q \ M +9 &AWQ \ M +10 &CU \ M +9 &D\\ \ N +10 &Fd \ P +9 &HN| \ S +9 &J\ \ \ V +10 &K\ \ \ Z +9 &M\ \ \ Z +9 &O@\ \ \ Z +10 &Q\ \ \ \ [ +9 &R\ \ \ [ +10 &T\ \ \ \\ +9 &VA\ \ \ \\ +9 &X\ \ \ ] +10 &Y\ \ \ }^ +9 &[\ \ \ }K +9 &\\7\ \ \ 0 +10 &\\\ \ \ W +5 ( +2 "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&\ 1 +3 "core" &\\} \ W +55 1 +2 "manipulator"&1% +3 "core" % F "  A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +5 "manipulator"&T' +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%m& +3 "core" &\ t +3 "manipulator"&*% +4 "core" %     + "storage"(N% +4 "core" % \ s +2 "storage"(.. +3 "core" .([ +2 "storage"(& +3 "core" &[ U\ s\ +3 "storage"(& +3 "core" &[ \ s\ +2 "manipulator"&>& +5 "core" &Ӯ"   u ;3 + "manipulator"&<% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&((r +189 "core" ( +2 "manipulator"&D& +3 "core" &   k  +2 "storage"(}& +5 "core" &[ \ y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&0'= +102 "core" ' +3 "storage"(& +4 "core" &[\  Q\ |\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'r +295 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \ r\ +2 "manipulator"&5& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&M(r +25 "core" ( +2 "manipulator"&_& +3 "core" &x   % _ +2 "storage"(O& +3 "core" &[ i\ u\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&2'ϧ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +74 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&=& + "storage"(6' +8 "core" &x [ _ + "manipulator"&Q% +4 "core" % Ϫ  +3 .tForearm.seek :retract +2 "manipulator"&[' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( + "manipulator"&t& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&S' +90 "core" ' + "manipulator"&& +5 "core" &   [ + "manipulator"&+% +4 "core" %   \\ ] +2 "processing"%& +5 "core" &\ | +2 "processing"%`& +5 "core" &\ | +3 .tPC.seek :closed +3 "processing"%Y(^ +2 "core" &\ { +6 &\ |3 +10 &9Fu\ j1 +9 &_p{\ gE +10 &`\ lQ +9 &R\ pP +9 &~R\ oP +10 &BO\ pO +9 &R\ oP +9 &P\ pP +10 &R\ oP +9 &GQ\ pP +10 &!\ L\ qP +9 &"Q\ pP +9 &$R\ oP +10 &&PN\ pP +9 &(Q\ oP +9 &)Q\ nQ +10 &+Q;\ pP +9 &-XQ\ pP +10 &/Q\ oP +9 &0O>\ pP +9 &2O5\ pP +10 &4bOB\ pO +9 &6"R?\ pP +9 &7P\ pP +10 &9Q\ pP +9 &;hSH\ oP +9 &=)R\ oP +10 &>Q\ oP +9 &@Q\ oP +10 &BmW\ \ nQ +9 &D,_\ mR +9 &EdH\ lS +10 &GnH\ jT +9 &IfJ\ fV +10 &K'\ fW +9 &LE\ fW +9 &N\ dW +10 &Pk\ cW +9 &R,A\ cX +9 &S?\ bX +10 &U\ cX +9 &Wp<\ cX +10 &Y3\ dX +9 &Z\ cX +9 &\\\ cY +10 &^/^n>\ j7 +9 &^?@\ q ) +5 ( +2 "processing"%`& +5 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&1 +2 "core" &^<\ u) +53 1 + "manipulator"&^% +4 "core" %    * ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +95 "core" ' +2 "processing"%s& +3 "core" &^6\ r) +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&H% +3 "core" % %   P : +3 "storage"(W% +4 "core" % \ q + "storage"(]. +3 "core" .([ +2 "storage"(U& +3 "core" &[ \ p\ +3 "storage"('& +2 "manipulator"&C& +7 "core" &[ \ q\ + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +49 "manipulator"&h( +9 ."raiseStack"SE.seek :beamBreak +2 "storage"(\\'r +2 "core" ( +3 "manipulator"&X& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &    +3 .tForearm.seek PC + "manipulator"&B' +95 "core" ' + .tHand.close + "manipulator"&;/ +66 "core" / +2 .tPC.seek :open +2 "processing"%Z( +87 "core" ' +2 "storage"(b- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +308 ( + "storage"(z& +5 "core" &[ \ u\ + "manipulator"&& +4 "core" &   ( +2 "manipulator"&L% +3 "core" %   % ) +3 .tForearm.seek :retract +2 "manipulator"&R' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&v(r +241 "core" ( +2 "manipulator"&l& +3 "core" &x   ; L +3 "storage"(,& +4 "core" &[ \ s\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +96 "core" ' + .tHand.open +2 "manipulator"&a1 +56 "core" 1 +2 "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"({' +65 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +3 "core" -' +2 "storage"(c& +3 "core" &[ \ %\ +3 "manipulator"& & +4 "core" &x  L +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&n& +4 "core" &x   L + "storage"(& +4 "core" &[ i\ %\ +3 .tForearm.seek 7 + 450 counts + "manipulator"&k'= +10 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(e'" +58 "core" ' +2 "manipulator"&d& +4 "core" &x    L +2 "storage"(x& +3 "core" &[ #\ v\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&:'{ +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +75 "core" ' +2 "manipulator"&|% +3 "core" %z : 0 * +2 "storage"( & +4 "core" &[ ` _ +\ g\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 299 counts + "manipulator"&#'Ϧ +13 "core" ' +2 "manipulator"&?& +3 "core" &    , +2 "storage"(E& +4 "core" &[ r\ u\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&o'= +17 "core" ' +4 "storage"(% +8 "core" % l\ w +6 ."downElevator"SE.seek :down +5 "storage"(7' +99 (y% +3 "core" %J Y\ l[s +2 "manipulator"&f% +4 "core" %6 \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +89 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &[ \ x\ +3 "collection"'"& +3 "core" &\\| \ W +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&9% +3 "core" %    &  +2 "storage"(% +4 "core" % \ y +2 "storage"(. +3 "core" .([ +2 "storage"()& +3 "core" &[ r\ y\ +2 "storage"(r& +50 "core" &[ g\ y\ +4 "manipulator"&& +3 "core" &   , +3 .tElbow.seek 7 + "manipulator"&(r +19 "core" ( + "manipulator"&$& +4 "core" &t   T  +2 "storage"(I& +4 "core" &[ t\ {\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +94 "core" ' +2 "storage"(!& +3 "core" &[\  \ |\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +307 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &t \  @  +2 "storage"(& +4 "core" &[ /\ u\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +30 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('` +30 "core" ' +2 "manipulator"&F% +3 "core" %Ί . 7  +2 "storage"(w& +4 "core" &[ n l X\ k\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 315 counts + "manipulator"&A'϶ +14 "core" ' +2 "manipulator"&V& +3 "core" &t C  +3 "storage"(~& +4 "core" &[\ \ B\ ~\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\ '= +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(1' +39 "core" ' +2 "manipulator"&8& +3 "core" &t  ]  +3 "manipulator"&m% +3 "core" %C  A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +156 "core" ( + "manipulator"&.& +4 "core" &ӌ%   Z >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ%  7 >J +3 .tForearm.seek CC + "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&>/ +61 "core" / +2 .tCC.seek :open + "collection"'<( +449 "core" ( +2 "storage"(4& +4 "core" &[ <\ \ +2 "storage"(D& +4 "core" &[ f\ \ + "manipulator"&}& +4 "core" &Ӻ   8 +2 "manipulator"& % +3 "core" % ;   i +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&T(r +161 "core" ( +2 "manipulator"&@& +3 "core" &x     +3 "storage"(& +4 "core" &[ \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&5'{ +99 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +60 "core" 1 +2 "manipulator"&P% +4 "core" % ΍  $ +2 "storage"(=& +3 "core" &[ \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&Q'Ϲ +13 "core" ' +2 "manipulator"&(& +3 "core" &x %  +2 "storage"(0& +4 "core" &[ !\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&J'= +16 "core" ' +2 "storage"(2% +4 "core" %\ +2 ."downElevator"SE.seek :down +4 "storage"(t' +98 (% +10 "core" %$C w\ Xj +2 "manipulator"&M% +4 "core" %7 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +82 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'+& +5 "core" & \ + "manipulator"&% +4 "core" %      +2 "storage"(6% +4 "core" % \  +2 "storage"([. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(p(<- +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<0 s r F\ +3 "manipulator"&^& +3 "core" &x     +3 .tElbow.seek 5 + "manipulator"&s( +36 "core" ( +2 "manipulator"&H& +3 "core" &   #  +2 "storage"(W& +4 "core" &<0 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&]'O +94 "core" ' +2 "storage"(U& +3 "core" &<0 '\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +297 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" &<- \ +2 "manipulator"&X& +3 "core" &  +3 .tElbow.seek 5 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&S& +3 "core" &   +  +2 "storage"(;& +4 "core" &<- \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&3'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(Y' +9 "core" &   + "manipulator"&\\% +4 "core" % Ϯ * +2 .tForearm.seek :retract +2 "manipulator"&z' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&L& +3 "core" &ӓ"   ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &ӓ"  i ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'? +93 "core" ' +3 "manipulator"&,& +3 "core" &ӓ"   E ;4 +2 "manipulator"&h% +4 "core" %;   I 9 +2 "collection"'a& +4 "core" & \ +3 "collection"' & +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'u(\\ +4 "core" & \  +9 &5y \ +{ +9 &fz \ ? +9 &j \ M +10 &[P \ M +9 &O \ M +9 &S \ M +10 &N \ M +9 &eO \ L +10 &'Q \ L +9 &O \ M +9 & R \ M +10 &"lR \ M +9 &$.M \ M +9 &%N \ M +10 &'O \ L +9 &)tP \ M +10 &+6R \ M +12 &,S \ M +7 &.P \ L +9 &0|O \ M +9 &2?O \ L +9 &4Q \ M +10 &5N \ M +9 &7Q \ M +10 &9ET \ M +9 &; O \ L +9 &<P \ M +10 &>O \ M +9 &@NP \ M +9 &BO \ M +10 &CV \ N +9 &E` \ O +10 &GMh \ P +9 &I \ T +9 &J\ \ \ X +10 &Lu\ \ \ Z +9 &N8\ \ \ \ Z +9 &O\ \ \ \ \ [\ +10 &Q\ \ \ [ +9 &Sx\ \ \ \\ +10 &U8\ \ \ \\ +9 &V\ \ \ ] +9 &X\ \ \ }` +10 &Zx\ \ \ ^ +9 &\\{ \ \ 2 +9 &\\/\ \ \ b +10 ( + &\\r \ Q +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + .Hand.open + "manipulator"&c1 +60 "core" 1 +2 "manipulator"& % +3 "core" % ;   9 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%R& +5 "core" &\ x + "manipulator"&% +4 "core" % \    +2 "storage"(d% +3 "core" % H\ y +2 "storage"(x. +3 "core" .(<0 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +51 .tSC.seek 5 +2 "storage"((<- +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<. \ w +2 "manipulator"&|& +4 "core" &Ӭ  8 +2 "manipulator"& % +4 "core" % \   Y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&?( +160 "core" ( +2 "manipulator"&E& +4 "core" &    +2 "storage"(v& +3 "core" &<. c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + "storage"(& +4 "core" &<. ^ D\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'r +295 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &<. ~\ r +2 "manipulator"&f& +3 "core" &  \  +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&e& +4 "core" &   '  +2 "storage"(:& +4 "core" &<. K\ t +2 .tForearm.seek 5 + 300 counts + "manipulator"&#'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(9' +6 "core" &   +3 "manipulator"&% +3 "core" % ϱ   $ +3 .tForearm.seek :retract +2 "manipulator"&g' +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&)& +3 "core" &   > 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &  0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&$& +5 "core" &    0 + "manipulator"&I% +4 "core" % \   +2 "processing"%o& +4 "core" &\ { +3 "processing"%!& +5 "core" &\ { +2 .tPC.seek :closed + "processing"%7(^ +4 "core" &\ { +7 &4\ t$d +10 &Ty\ h7 +9 &|w\ gL +9 &P\ nQ +10 &MO\ oP +9 &O\ oP +10 &P\ nQ +9 &P\ nP +9 &UQ\ nP +10 &Q\ oP +9 &M\ oP +9 &!O\ oQ +10 &#]O\ oP +9 &%Q\ oP +10 &&Q\ nP +9 &(R\ mP +9 &*dO\ nQ +10 &,'P\ nP +9 &-O\ nP +9 &/N\ nP +10 &1mN\ oP +9 &30P\ nP +10 &4N0\ oP +9 &6OH\ nP +9 &8vP\ nP +10 &:7O;\ oP +9 &;N\ oP +9 &=N3\ oP +10 &?}OF\ oP +9 &A>PG\ nQ +10 &BZ\ lR +9 &D^H\ kR +9 &F}gI\ jS +10 &H9|J\ eU +9 &II\ dV +9 &K\ dW +10 &My\ dW +9 &O<\ cW +10 &P8\ bX +9 &R\ bW +9 &T~1\ `X +10 &VA\ cX +9 &XF\ aX +9 &Y6\ bX +10 &[?\ bX +9 &]GI\ aO +10 &^|HB\ e` +9 &^@B\ o4 +5 ( +2 "processing"%!& +4 "core" &^(B\ q4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&%% +3 "core" %  $  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +92 "core" ' +3 "processing"%& +3 "core" &^(7\ s4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %     +2 "storage"(j% +4 "core" % \ r +2 "storage"(F. +3 "core" .(<- +2 "storage"(w& +3 "core" &<. @\ r +3 "storage"(V& +2 "manipulator"&~& +7 "core" &<. \ r + &   0 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&8( +4 ."raiseStack"SE.seek :beamBreak +4 "storage"(m'r +2 "core" ( +2 "manipulator"&& +3 "core" &   y 0 +50 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 && +3 "core" &   0 +3 .tForearm.seek PC + "manipulator"&i' +94 "core" ' +2 .tHand.close + "manipulator"&/ +71 "core" / +2 .tPC.seek :open + "processing"%A( +35 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(.'1 +46 "core" ' +361 ( +2 "storage"(& +3 "core" &<+ q\ { +2 "manipulator"&\ & +5 "core" &   0 + "manipulator"&&% +4 "core" %  \  G +2 .tForearm.seek :retract +2 "manipulator"&>' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&*( +243 "core" ( +2 "manipulator"&-& +3 "core" &   2 +2 "storage"(4& +4 "core" &<+ f\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +110 "core" ' +2 .tHand.open +2 "manipulator"&}1 +62 "core" 1 +2 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(N& +3 "core" &<+ !\ ( +2 "manipulator"&O& +4 "core" &   2 +2 .tElbow.seek 5 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&=& +4 "core" &   2 +2 "storage"((& +3 "core" &<+ \ ( +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(2'" +57 "core" ' +2 "manipulator"&& +3 "core" &  \  2 +2 "storage"(& +4 "core" &<+ \ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&M'΍ +17 "core" ' +2 .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(5' +18 "core" ' +2 "manipulator"&Q% +4 "core" %Ρ    +2 "storage"(1& +3 "core" &<+ H\ u +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&+' +14 "core" ' +2 "manipulator"&& +3 "core" &   1 +3 "storage"(6& +3 "core" &<+ m\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&['O +16 "core" ' +2 "storage"(J% +3 "core" % \ z +3 ."downElevator"SE.seek :down +3 "storage"(t' +100 (K% +3 "core" %I \ m[s +3 "manipulator"&% +4 "core" %L   & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (H& +3 "core" &<+ 9\ x +3 "collection"'W& +4 "core" &\\s \ Q + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&U% +3 "core" %    +2 "storage"(_% +4 "core" % \ z +2 "storage"(. +3 "core" .(<- +2 "storage"('& +4 "core" &<+ \ z + "storage"(`& +4 "core" &<+ \ z +2 "manipulator"&X& +3 "core" &   1 +3 .tElbow.seek 5 + "manipulator"&S( +4 "core" ( + "manipulator"&;& +4 "core" &  C 1 +50 "storage"(b& +4 "core" &<+ \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +93 "core" ' +2 "storage"(\\& +3 "core" &<+ | \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(s'r +295 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &   1 +3 "storage"(B& +4 "core" &<+ \ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&C'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(h's +30 "core" ' +2 "manipulator"&a% +3 "core" %Ο   T +2 "storage"(G& +4 "core" &<+ \ s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&Y' +13 "core" ' + "manipulator"&z& +3 "core" &    1 +2 "storage"(<& +5 "core" &<+ \ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"( ' +43 "core" ' +2 "manipulator"&R& +3 "core" &   & 1 +2 "manipulator"&% +5 "core" %E   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&x(ӂ +147 "core" ( + "manipulator"& & +4 "core" &z%   >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z% \  E >O +2 .tForearm.seek CC +2 "manipulator"&|'? +95 "core" ' +2 .tHand.close + "manipulator"& / +53 "core" / +2 .tCC.seek :open +2 "collection"'l( +451 "core" ( +3 "storage"(E& +4 "core" &<+ ^\  +2 "storage"(v& +3 "core" &<+ \  +2 "manipulator"&p& +4 "core" &ӱ r 7 +2 "manipulator"&% +4 "core" % ? E +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&n( +164 "core" ( + "manipulator"&k& +4 "core" &   +2 "storage"(y& +3 "core" &<+ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&f'΍ +101 "core" ' +2 .tElbow.hold + "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +63 "core" 1 +2 "manipulator"& % +4 "core" % Ν   v +2 "storage"("& +4 "core" &<+ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&?& +5 "core" &   + "storage"(& +4 "core" &<+ @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +16 "core" ' +2 "storage"(#% +4 "core" % G\ +2 ."downElevator"SE.seek :down +4 "storage"()' +98 (r% +3 "core" %> $\ Xi +2 "manipulator"&% +4 "core" %K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +42 "manipulator"&$' +102 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ' +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'I& +4 "core" & \ +2 "manipulator"&o% +3 "core" % \  *  +3 "storage"(9% +3 "core" %\  +2 "storage"(g. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(Z(K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K \  +2 "manipulator"&%& +3 "core" & 2  +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(j& +3 "core" &K M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F' +93 "core" ' +2 "storage"(w& +3 "core" &K \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +311 "core" ' +2 "storage"(~- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" &K \  +2 "manipulator"&& +3 "core" &  f  +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &K \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(7' +9 "core" &  + "manipulator"&m% +3 "core" % b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&&& +4 "core" &Ӝ   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &Ӝ \  7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&-'? +94 "core" ' +2 "manipulator"&4& +3 "core" &Ӝ   | 7 +3 "manipulator"&8% +4 "core" %A    +2 "collection"'}& +4 "core" &  \ +3 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & \ +8 &? \ $f +9 &Xx \ 8 +10 &r \ L +9 &Q \ M +9 &|N \ M +10 &>O \ M +9 &R \ M +9 &N \ M +10 &O \ L +9 &FO \ M +10 & O \ L +9 &!P \ M +9 &#O \ M +10 &%NN \ M +9 &'R \ M +9 &(O \ L +10 &*O \ M +9 &,VR \ M +10 &.N \ M +9 &/O \ M +9 &1P \ L +10 &3^P \ M +9 &5!O \ L +9 &6P \ M +10 &8P \ M +9 &:fN \ M +10 &<(O \ M +9 &=N \ M +9 &?P \ M +10 &AnQ \ M +9 &C.U \ M +9 &D] \ O +10 &Fd \ P +9 &Hf{ \ R +10 &J\ \ \ W +9 &K\ \ \ Z +9 &M\ \ \ Z +10 &OQ\ \ \ \ \\ +9 &Q\ \ \ \ \\ +9 &R\ \ \ \\ +10 &T\ \ \ \\ +9 &VV\ \ \ ] +10 &X\ \ \ ^ +9 &Y\ \ \ }` +9 &[\ \ \ |M +10 &\\;\ \ \ + +9 &\\\ \ \ \\ +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 +2 .Hand.open + "manipulator"&N1 +62 "core" 1 +3 "manipulator"&O% +4 "core" % A     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&=' +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%>& +3 "core" &\ t +2 "manipulator"&(% +4 "core" %    j # +2 "storage"(% +4 "core" % s\ r +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(Q(K +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +2 "core" &K P S )\ h +48 "manipulator"&.& +6 "core" &ӟ   7 +2 "manipulator"&% +4 "core" %    # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&6( +155 "core" ( +2 "manipulator"&@& +3 "core" &    +2 "storage"(J& +4 "core" &K \ y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +93 "core" ' +2 "storage"(D& +3 "core" &K\ \  Z\ } +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \ s +2 "manipulator"&0& +4 "core" & \  \  +2 .tElbow.seek 6 + "manipulator"&P( +12 "core" ( +2 "manipulator"&2& +3 "core" &   0 2 +2 "storage"(M& +5 "core" &K X\ u +2 .tForearm.seek 6 + 300 counts + "manipulator"&+'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(U' +8 "core" &   : 2 +2 "manipulator"&_% +3 "core" % o \  +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&5( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( +2 "manipulator"&'& +3 "core" &   > \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &   \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&X' +90 "core" ' +2 "manipulator"&;& +4 "core" &   \ +2 "manipulator"&b% +3 "core" %   < ` +3 "processing"%[& +4 "core" &\ | +2 "processing"%\\& +4 "core" &\ } +3 .tPC.seek :closed + "processing"%t(^ +5 "core" &\ | +9 &/t\ m*y +9 &c|\ i? +9 &en\ jP +10 &%N\ qP +9 &O\ qP +10 &O\ qP +9 &mQ\ qP +9 &/P\ qP +10 &Q\ qP +9 &Q\ pP +9 & tQ\ pP +10 &"6P\ pP +9 &#Q\ pP +9 &%P\ qP +10 &'}Q\ pP +9 &)>P\ pP +10 &+Q\ pP +9 &,Q\ pP +9 &.O\ qP +10 &0GO\ qP +9 &2 M\ qP +9 &3O\ qP +14 &5L\ qP +5 &7NN\ nP +11 &9R\ oP +8 &:R\ oP +9 &<Q\ pP +10 &>UT/\ oP +9 &@R<\ pP +9 &AQ\ pP +10 &C[F\ nR +9 &EY` \ lR +10 &Gg\ lS +9 &HsA\ iT +9 &J\ gV +10 &LS!\ fV +9 &N\ eX +9 &OB\ eW +10 &Q\ dX +9 &SX\ eX +10 &U\ dX +9 &V\ eX +9 &X\ eW +10 &Z_\ cX +9 &\\ \ dX +9 &]v6\ h8 +10 &^,mG\ jV +9 &^)\ s2 +2 ( +2 "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&T1 +60 "core" 1 +2 "manipulator"&^% +3 "core" %   > ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +91 "core" ' +2 "processing"%L& +4 "core" &^&?\ p2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&B% +3 "core" %    ^  +3 "storage"(,% +3 "core" % \ \ p +2 "storage"(a. +3 "core" .(K +2 "storage"(G& +3 "core" &K d\ p +3 "storage"(z& +3 "manipulator"&<& +3 "core" &K \ p +3 &   \ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(R'r +3 "manipulator"&( +5 "core" ( +2 "manipulator"&q& +3 "core" &   9 \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &   : \ +3 .tForearm.seek PC +2 "manipulator"&s' +93 "core" ' +50 .tHand.close +2 "manipulator"&C/ +72 "core" / +2 .tPC.seek :open + "processing"%Y( +28 "core" ' + "storage"(h- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( '1 +46 "core" ' +370 ( +2 "storage"(& +3 "core" &K ^\ { +2 "manipulator"&c& +4 "core" &  \ +2 "manipulator"&3% +3 "core" %   ) +3 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&d( +238 "core" ( +2 "manipulator"&u& +3 "core" &   ) , +2 "storage"(E& +4 "core" &K _\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +91 "core" ' +2 .tHand.open + "manipulator"&p1 +64 "core" 1 +3 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(k' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +3 "core" -' +2 "storage"(x& +3 "core" &K  2\ ) +3 "manipulator"&:& +3 "core" &   , +2 .tElbow.seek 6 +2 "manipulator"& ( +9 "core" ( +2 "manipulator"&"& +3 "core" &    +2 "storage"(?& +3 "core" &K b\ ( +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(#'" +57 "core" ' +2 "manipulator"&& +51 "core" &  0  +2 "storage"(r& +3 "core" &K a\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' +2 .tElbow.hold + "manipulator"&n, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(f' +27 "core" ' +2 "manipulator"&I% +3 "core" %A   F +2 "storage"(& +4 "core" &K \ t +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&o'm +14 "core" ' +2 "manipulator"&9& +4 "core" &    +2 "storage"(g& +3 "core" &K t\ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 "storage"({% +3 "core" % O\ z +3 ."downElevator"SE.seek :down +4 "storage"()' +98 (% +3 "core" %L \ n[u +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K Y\ x +2 "collection"'j& +3 "core" &\\x \ \\ +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&w% +3 "core" %    +  +3 "storage"(e% +4 "core" % }\ z + "storage"($. +3 "core" .(K +2 "storage"(~& +3 "core" &K \ z +2 "storage"(V& +4 "core" &K 4\ z +2 "manipulator"&& +3 "core" &     +3 .tElbow.seek 6 + "manipulator"&( +9 "core" ( +2 "manipulator"&& +3 "core" &   X  +3 "storage"(& +4 "core" &K \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&/' +140 "core" ' +4 "storage"(m& +4 "core" &K\ \  `\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(F- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" &  T  +2 "storage"(i& +4 "core" &K W\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&!'< +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +3 "core" -' +2 .tSE.seek 0.13 Pucks below Top Plate +2 "storage"(8'R +29 "core" ' +2 "manipulator"&}% +4 "core" %F   + "storage"(& +3 "core" &K \ u +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&7'r +15 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(l& +4 "core" &K \ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&N' +16 "core" ' +2 .tSE.seek 1.13 Pucks below Top Plate +2 "storage"(O' +36 "core" ' +2 "manipulator"&>& +3 "core" &   :  +3 "manipulator"&(% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( +2 "manipulator"& & +3 "core" &Ӑ&   T ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &Ӑ&   ?P +4 .tForearm.seek CC + "manipulator"&.'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'-( +449 "core" ( + "storage"(@& +3 "core" &K \  +2 "storage"(J& +4 "core" &K \  +2 "manipulator"&Z& +3 "core" &Ӳ   :. +2 "manipulator"&D% +4 "core" % S   +2 .tForearm.seek :retract +2 "manipulator"&\ ' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&=( +164 "core" ( +2 "manipulator"&K& +4 "core" & (  +2 "storage"(& +3 "core" &K \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&0'< +92 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +62 "core" 1 +2 "manipulator"&H% +3 "core" % E   z ( +2 "storage"(W& +4 "core" &K z\  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 6 + 309 counts + "manipulator"&_'q +14 "core" ' +2 "manipulator"&6& +4 "core" & c  +2 "storage"(*& +3 "core" &K 0\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"(+% +3 "core" % _\ +3 ."downElevator"SE.seek :down +4 "storage"('' +98 (`% +3 "core" %^F \ Zn +2 "manipulator"&P% +4 "core" % F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'b& +3 "core" & \ +46 "manipulator"&[% +7 "core" %     \ +2 "storage"(U% +5 "core" % \  + "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(A([ +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (T& +3 "core" &[ 3\ +3 "manipulator"&^& +3 "core" &   !  +2 .tElbow.seek 7 +2 "manipulator"&L(r +36 "core" ( + "manipulator"&B& +5 "core" &   + "storage"(,& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&a'= +94 "core" ' +2 "storage"(G& +3 "core" &[ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +300 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" &[ \ +2 "manipulator"&q& +4 "core" & +2 .tElbow.seek 7 +2 "manipulator"&S(r +15 "core" ( + "manipulator"&X& +3 "core" &{  C z +3 "storage"(C& +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts + "manipulator"&h'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +2 "storage"(t' +8 "core" &{ ^ z + "manipulator"&R% +3 "core" % Ϡ +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +152 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&3& + "storage"(5 +7 "core" &x(   @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &x(   @] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&u'? +94 "core" ' +2 "manipulator"&E& +4 "core" &Ә#   , <= +3 "manipulator"&% +4 "core" %@   ; X +2 "collection"'p& +3 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'|(\\ +4 "core" & \ +6 & \ ; +9 &KHr \ 1 +9 &|ty \ E +10 &$W \ N +9 &O \ L +9 &Q \ M +10 &mR \ M +9 &/N \ M +9 &O \ M +10 &P \ M +9 &uT \ M +10 &!7N \ M +9 &"N \ M +9 &$O \ L +10 &&}P \ M +9 &(?R \ M +9 &*N \ M +10 &+N \ M +9 &-P \ L +10 &/GQ \ M +9 &1 T \ M +9 &2N \ M +10 &4O \ M +9 &6OR \ M +9 &8O \ M +10 &9Q \ M +9 &;R \ M +10 &=WT \ M +9 &?N \ M +9 &@Q \ M +10 &BU \ M +9 &D[[ \ N +9 &Fe \ O +10 &Gq \ Q +9 &I\  \ U +10 &KC\ \ \ Y +9 &M\ \ \ Z +9 &N\ \ \ \ Z +10 &P\ \ \ \ Z +9 &RF\ \ \ [ +9 &T\ \ \ \\ +10 &U\ \ \ \\ +9 &W\ \ \ ] +10 &YD\ \ \ ^ +9 &[\ \ \ ^ +9 &\\bO\ \ \ 5 +10 &\\ \ \ \ Z +5 ( +2 "collection"'& +3 "core" &\\x \ Z +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&x1 +62 "core" 1 +2 "manipulator"&:% +4 "core" % @   X X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%?& +3 "core" &\ s +3 "manipulator"& % +4 "core" %     + "storage"(% +4 "core" % \ s +2 "storage"(r. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"( ([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" &[ l m \ k +2 "manipulator"&I& +4 "core" &Ӭ   _ 9) +2 "manipulator"&% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +49 "manipulator"&9(r +166 "core" ( +2 "manipulator"&g& +4 "core" &r   5  +2 "storage"(d& +3 "core" &[ _\ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&{'= +95 "core" ' +2 "storage"(v& +3 "core" &[ c M\ ~ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \ t +2 "manipulator"&& +4 "core" &r   +2 .tElbow.seek 7 +2 "manipulator"& (r +4 "core" ( + "manipulator"&#& +4 "core" &r  [  +2 "storage"(& +3 "core" &[ J\ w +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&j& + "storage"(w' +8 "core" &r   + "manipulator"&e% +4 "core" %  \  +2 .tForearm.seek :retract +2 "manipulator"&$' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&f( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&~& +3 "core" &  5  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' +2 "manipulator"&& +3 "core" &    +2 "manipulator"&% +4 "core" %   +2 "processing"% & +3 "core" &\ } +3 "processing"%m& +5 "core" &\ ~ +3 .tPC.seek :closed + "processing"%)(^ +5 "core" &\ ~ +6 & .\ x$c +10 &T{\ j7 +9 &|x\ iL +10 &Q\ qQ +9 &NP\ rP +9 &M\ rP +10 &Q\ qP +9 &O\ rP +9 &VO\ rP +10 &Q\ rP +9 &P\ rP +10 &!O\ qP +9 &#_O\ pP +9 &% R\ qP +10 &&Q\ qP +9 &(Q\ qP +9 &*fO\ rP +10 &,(Q\ qP +9 &-O\ rP +10 &/O\ rP +9 &1oN\ rP +9 &31R\ qP +10 &4L\ rP +9 &6O\ qP +9 &8wP\ qP +10 &:9O\ rP +9 &;R\ qP +10 &=R\ qP +9 &?}T \ qP +9 &A>R\ qQ +10 &CZ\ pQ +9 &D`\ nR +9 &F~f\ mS +10 &H;s\ kU +9 &I\ fV +10 &K\ fV +9 &Mz\ gW +9 &O;\ fW +10 &P\ eX +9 &R\ fW +9 &T\ dX +10 &VB\ gX +9 &X\ eW +10 &Y\ eX +9 &[\ eX +9 &]H5\ cL +10 &^Q\ d"j +9 &^#\ \ v. +2 ( +2 "processing"%m& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&n1 +60 "core" 1 +2 "manipulator"&%% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +92 "core" ' +3 "processing"%&& +3 "core" &^ \ p. +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&i% +3 "core" %     +2 "storage"(4% +4 "core" % \ p +2 "storage"(}. +3 "core" .([ +2 "storage"(& +3 "core" &[ \ p +3 "storage"(& +2 "manipulator"&l& +5 "core" &[ _\ p +2 &   Q  +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(>'r +2 "manipulator"&(( +6 "core" ( +2 "manipulator"&/& +3 "core" &   F  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &    +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&!/ +65 "core" / +2 .tPC.seek :open +2 "processing"%7( +84 "core" ' + "storage"(8- +51 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"( '1 +49 "core" ' +265 ( +2 "storage"(1& +3 "core" &[ \ u +2 "manipulator"&N& +4 "core" &   5  +2 "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +261 "core" ( +2 "manipulator"&& +3 "core" &z   j  +2 "storage"(@& +4 "core" &[ \ x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&J'= +102 "core" ' +2 .tHand.open +2 "manipulator"&Z1 +57 "core" 1 +2 "storage"(D- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(K' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +4 "core" -' +2 "storage"(& +3 "core" &[ \ ) +2 "manipulator"&M& +4 "core" &z     +2 .tElbow.seek 7 +2 "manipulator"&H(r +3 "core" ( +2 "manipulator"&W& +3 "core" &z   +2 "storage"(6& +4 "core" &[  /\ + +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&*'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(+'" +58 "core" ' + "manipulator"&\ & +5 "core" &z r  + "storage"(`& +4 "core" &[ |\ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&P'{ +33 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(0' +22 "core" ' +2 "manipulator"&b% +3 "core" %΋   u +2 "storage"(_& +4 "core" &[ X K K\ g +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&['Ϸ +14 "core" ' +2 "manipulator"&O& +3 "core" &z   ,  +3 "storage"(U& +3 "core" &[ \ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 "storage"(% +3 "core" % ~\ y +3 ."downElevator"SE.seek :down +4 "storage"('' +98 (Q% +3 "core" %O I\ n[t +2 "manipulator"&T% +4 "core" %>   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +96 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (B& +3 "core" &[ B\ { +2 "collection"',& +4 "core" &\\x \ Z +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&G% +4 "core" %   /  + "storage"(2% +4 "core" %\ \  ^\ } +2 "storage"(;. +3 "core" .([ +2 "storage"(<& +3 "core" &[\ \  b\ } +2 "storage"(\\& +4 "core" &[\ \  b\ } +2 "manipulator"&q& +4 "core" &z     +2 .tElbow.seek 7 + "manipulator"&X(r +4 "core" ( +2 "manipulator"&C& +4 "core" &z  6  +2 "storage"(5& +3 "core" &[\ \  `\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&]'= +92 "core" ' +2 "storage"(R& +3 "core" &[\ \  Y\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +296 "core" ' +42 "storage"(a- +10 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &z   )  +3 "storage"(s& +3 "core" &[ <\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&z'{ +26 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(E- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('n +27 "core" ' +2 "manipulator"&p% +3 "core" %Ύ   9  +2 "storage"(S& +4 "core" &[ \ n +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&t'Ϻ +13 "core" ' + "manipulator"&& +4 "core" &z f  +2 "storage"(-& +4 "core" &[\ \ C\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&x'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(:' +40 "core" ' + "manipulator"&?& +4 "core" &z  Y  +2 "manipulator"& % +4 "core" %8 } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &Ӊ%   >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &ӊ%   >I +2 .tForearm.seek CC +2 "manipulator"&I'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'u( +449 "core" ( +2 "storage"(g& +4 "core" &[ \ + "storage"(d& +3 "core" &[ \ +3 "manipulator"&A& +4 "core" &Ӱ   9# + "manipulator"&c% +4 "core" % B    +2 .tForearm.seek :retract +2 "manipulator"&v' +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&"(r +162 "core" ( +2 "manipulator"&& +4 "core" &n   5  +2 "storage"(& +3 "core" &[ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&'{ +97 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +3 "manipulator"&o% +4 "core" % Ώ  s +2 "storage"(j& +4 "core" &[ g\ + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 7 + 320 counts + "manipulator"&e'ϻ +14 "core" ' + "manipulator"&9& +4 "core" &n 8  +2 "storage"({& +3 "core" &[\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&y'= +16 "core" ' + "storage"(% +4 "core" %\ +2 ."downElevator"SE.seek :down +4 "storage"(~' +99 (V% +3 "core" %A .\ Yk +2 "manipulator"& % +3 "core" %8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"& % +4 "core" %    #  +2 "storage"(w% +4 "core" % ~\  +2 "storage"($. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +46 .tSC.seek 5 +5 "storage"(Y(<- +670 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +3 "core" &% +4 "core" % ϸ  +2 .tForearm.seek :retract +2 "manipulator"&1' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&N(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&& +3 "core" &ӛ   6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӛ  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +102 "core" ' +2 "manipulator"&@& +3 "core" &ӛ   6 +3 "manipulator"&(% +3 "core" %D   +3 "collection"'Z& +4 "core" & \ +2 "collection"'D& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'.(\\ +5 "core" & \ +7 &; \ $f +9 &Vu \ 7 +9 &u \ L +10 &R \ M +9 &zO \ M +10 &;R \ M +9 &O \ L +9 &O \ M +10 &R \ M +9 &DR \ M +9 & N \ M +10 &!M \ M +9 &#P \ L +10 &%MN \ L +9 &'O \ M +9 &(R \ M +10 &*R \ M +9 &,TR \ M +9 &.N \ M +10 &/O \ L +9 &1Q \ M +10 &3\\S \ M +9 &5N \ M +9 &6O \ M +10 &8S \ M +9 &:dO \ M +9 &<'P \ L +10 &=O \ M +9 &?O \ M +10 &AlQ \ M +9 &C-T \ M +9 &D_ \ N +10 &Fg \ P +9 &Hb} \ S +9 &J\ \ \ W +10 &K\ \ \ Z +9 &M\ \ \ [ +10 &OU\ \ \ Z +9 &Q\ \ \ [\ +9 &R\ \ \ [ +10 &T\ \ \ ] +9 &VT\ \ \ ] +9 &X\ \ \ ^ +10 &Y\ \ \ ~_ +9 &[\ \ \ L +9 &\\?\ \ \ ({ +10 &\\ \ _ +2 ( +2 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +3 "manipulator"&M% +3 "core" % D   '  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%6& +3 "core" &\ p +3 "manipulator"&% +3 "core" %     +2 "storage"(\ % +4 "core" %  1\ p +2 "storage"(`. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(b(<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &<( ~ }\ o +2 "manipulator"&_& +4 "core" &ӛ   A 6 +2 "manipulator"&O% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&K( +161 "core" ( + "manipulator"&U& +4 "core" &  /  +2 "storage"(& +4 "core" &<( G\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +51 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 "storage"(J& +3 "core" &<( 3\ z +4 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &<( p \ m +2 "manipulator"&*& +4 "core" &   :  +2 .tElbow.seek 5 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&+& +3 "core" &     +3 "storage"(P& +4 "core" &<( i\ q +2 .tForearm.seek 5 + 300 counts + "manipulator"&['Ϲ +39 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +75 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(G' +8 "core" &  \   +2 "manipulator"&2% +3 "core" %   L +3 .tForearm.seek :retract + "manipulator"&;' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&<& +4 "core" &  D , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &    , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&q' +93 "core" ' +2 "manipulator"&C& +3 "core" &   , , +2 "manipulator"&5% +4 "core" %   R 0 +2 "processing"%& +4 "core" &\ w +3 "processing"%R& +5 "core" &\ x +2 .tPC.seek :closed +2 "processing"%'(^ +3 "core" &\ x +7 & .\ q$d +10 &Uy\ e8 +9 &}t\ dL +9 &Q\ kQ +10 &EP\ kP +9 &O\ lQ +9 &P\ lQ +10 &O\ kP +9 &MK\ lP +10 &M\ kQ +9 &Q\ kQ +9 &!O\ kP +10 &#UL\ lP +9 &%L\ lP +10 &&S\ kP +9 &(S\ kQ +9 &*]O\ lP +10 &,N\ lP +9 &-L\ mP +9 &/S\ kP +10 &1fO\ kP +9 &3'O\ lP +9 &4N\ lP +10 &6Q\ kP +9 &8lP\ kQ +10 &:/O\ kP +9 &;P\ kP +9 &=R\ kQ +10 &?uN\ jP +9 &A7Q\ kP +9 &B]\ hR +10 &D_\ hR +9 &Fug\ gS +10 &H0z\ cV +9 &I\ aV +9 &K\ aW +10 &Mq\ `W +9 &O4\ aW +9 &P\ ^X +10 &R\ _W +9 &Tu\ ]Y +10 &V9\ `X +9 &W\ _X +9 &Y\ _X +10 &[~\ _X +9 &]?\ ]Q +9 &^xEx\ d#i +10 &^7\ m2 +5 ( +2 "processing"%R& +4 "core" &^"\ o2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&=1 +55 "core" 1 +2 "manipulator"&^% +3 "core" %   = 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +93 "core" ' +2 "processing"%3& +3 "core" &^#\ m2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&s% +3 "core" %    # +2 "storage"(E% +4 "core" % K\ m +2 "storage"(p. +3 "core" .(<- +2 "storage"(S& +3 "core" &<(  j\ m +3 "storage"(& +2 "manipulator"&-& +6 "core" &<( s "\ m +2 &  + , +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(?'r +3 "manipulator"& ( +5 "core" ( + "manipulator"&]& +4 "core" &   6 , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" & / 9 ( , +3 .tForearm.seek PC + "manipulator"&L' +98 "core" ' + .tHand.close +2 "manipulator"&z/ +75 "core" / +2 .tPC.seek :open + "processing"%t( +72 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +43 "core" ' +332 ( +3 "storage"(k& +3 "core" &<( \ q +2 "manipulator"&x& +5 "core" &   ; , + "manipulator"&h% +4 "core" %  a +2 .tForearm.seek :retract +2 "manipulator"&' +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&|& +3 "core" &   . +3 "storage"(g& +3 "core" &<( \ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&d'O +93 "core" ' +2 .tHand.open + "manipulator"&A1 +56 "core" 1 +3 "storage"(c- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(I- +3 "core" -' +2 "storage"(r& +3 "core" &<( 2\  +3 "manipulator"&& +3 "core" & \\ . +2 .tElbow.seek 5 +2 "manipulator"&o( +4 "core" ( + "manipulator"&j& +4 "core" & e . +2 "storage"(9& +4 "core" &<( v\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' +2 "manipulator"&v& +3 "core" &   F . +2 "storage"(V& +4 "core" &<( g\ t +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&% +3 "core" %Ξ  a +2 "storage"( & +4 "core" &<( \ p +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&e' +22 "core" ' + "manipulator"&w& +5 "core" & \  J . + "storage"($& +4 "core" &<( r\ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +24 "core" ' +2 "storage"(y% +3 "core" % \ u +3 ."downElevator"SE.seek :down +4 "storage"(~' +98 ( % +4 "core" %J l k \ i[t +2 "manipulator"&n% +3 "core" %D  \   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +91 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (i& +3 "core" &<( ?\ s +2 "collection"'4& +4 "core" &\\ \ _ +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %    + "storage"(#% +4 "core" % 4\ u +2 "storage"(. +2 "core" .(<- +2 "storage"(l& +5 "core" &<( \ t + "storage"(m& +4 "core" &<( =\ u +2 "manipulator"&/& +3 "core" &   @ . +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&!& +4 "core" &   1 . +2 "storage"(f& +3 "core" &<( \ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +90 "core" ' + "storage"(>& +3 "core" &<( _\ y +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +296 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   . +2 "storage"(& +4 "core" &<( 4\ s +42 .tElbow.reconfigure :limp +9 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(@- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(('s +30 "core" ' +2 "manipulator"&Z% +4 "core" %Ώ  + "storage"(& +4 "core" &<( u\ r +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&)'ϻ +14 "core" ' +2 "manipulator"&1& +4 "core" &   - + "storage"(u& +4 "core" &<( \ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(M' +45 "core" ' + "manipulator"&6& +4 "core" &   + - +2 "manipulator"&% +3 "core" %?  % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&`(ӂ +153 "core" ( +2 "manipulator"&D& +5 "core" &ӏ%  . >I + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӏ%   >I +2 .tForearm.seek CC +2 "manipulator"&_'? +102 "core" ' + .tHand.close +2 "manipulator"&O/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "storage"(U& +3 "core" &<( J\ +3 "storage"(& +4 "core" &<( Z\ + "manipulator"&Y& +4 "core" &Ӯ!   6 :* +2 "manipulator"&N% +4 "core" % 4   +2 .tForearm.seek :retract +2 "manipulator"&J' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&W( +162 "core" ( +2 "manipulator"&Q& +3 "core" &     +2 "storage"(T& +5 "core" &<( R\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&*'΍ +100 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +56 "core" 1 +2 "manipulator"&B% +3 "core" % Ξ    +2 "storage"(,& +4 "core" &<( \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts +2 "manipulator"&2' +14 "core" ' +2 "manipulator"&K& +3 "core" &   +2 "storage"(& +3 "core" &<( R\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +2 "storage"([% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(<' +99 (\\% +3 "core" %yC \ Yk +2 "manipulator"&H% +4 "core" %G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'5& +3 "core" & \ +2 "manipulator"&% +4 "core" %    +2 "storage"(G% +4 "core" % \  +2 "storage"(;. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(7(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" &K f\ +46 "manipulator"&^& +7 "core" & \    +2 .tElbow.seek 6 +2 "manipulator"&3( +4 "core" ( +2 "manipulator"&s& +3 "core" &    +2 "storage"(E& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&p' +95 "core" ' + "storage"(S& +4 "core" &K\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +306 "core" ' +3 "storage"(-- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &K *\ +2 "manipulator"&]& +3 "core" & N  +3 .tElbow.seek 6 + "manipulator"&X( +4 "core" ( +2 "manipulator"&q& +4 "core" &  E  + "storage"(z& +4 "core" &K \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&a& + "storage"('' +8 "core" &  + "manipulator"&?% +4 "core" % e . +2 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +158 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&h& +3 "core" &Ә   9' +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &Ә   c 9' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&|'? +100 "core" ' +2 "manipulator"&g& +5 "core" &Ә   9' + "manipulator"& % +5 "core" %E  h  + "collection"'A& +5 "core" & \ \ +2 "collection"'c& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'I(\\ +3 "core" & \ +9 &? \ $f +9 &Xx \ 8 +10 &r \ L +9 &P \ L +10 &|P \ M +9 &>R \ M +9 &R \ M +10 &N \ M +9 &L \ M +9 &FN \ M +10 & M \ M +9 &!M \ M +10 &#M \ M +9 &%OL \ L +9 &'O \ M +10 &(M \ M +9 &*R \ M +10 &,VR \ M +9 &.R \ M +9 &/R \ M +10 &1R \ M +9 &3^N \ M +9 &5 N \ M +10 &6O \ L +9 &8P \ M +9 &:fR \ M +10 &<(N \ M +9 &=O \ L +10 &?P \ M +9 &AmS \ M +9 &C/T \ M +10 &D\\ \ N +9 &Fe \ O +9 &Hez \ R +10 &J\ \ \ V +9 &K\ \ \ Y +9 &M\ \ \ Z +10 &OW\ \ \ Z +9 &Q\ \ \ [ +10 &R\ \ \ [ +9 &T\ \ \ \\ +9 &VW\ \ \ ] +10 &X\ \ \ ] +9 &Y\ \ \ _ +9 &[ \ \ ~L +10 &\\< \ + +9 &\\^ \ M +3 ( + "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&r1 +58 "core" 1 +2 "manipulator"&% +3 "core" % E     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%9& +4 "core" &\ { +2 "manipulator"&% +3 "core" %     +3 "storage"(v% +3 "core" % \ z +2 "storage"(V. +3 "core" .(K +2 "storage"(& +4 "core" &K \ z +2 "storage"(& +3 "core" &K \ x +2 "manipulator"& & +5 "core" &ө   k 7 + "manipulator"&% +4 "core" %    m  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&w( +162 "core" ( +2 "manipulator"&$& +3 "core" &   +2 "storage"(y& +4 "core" &K l o \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +111 "core" ' +2 "storage"(d& +3 "core" &K x \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"( - +50 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" &K }\ z +2 "manipulator"&{& +4 "core" &    +7 .tElbow.seek 6 +2 "manipulator"&o( +3 "core" ( +2 "manipulator"&& +8 "core" &     +2 "storage"( & +4 "core" &K h\ | +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&e'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&4& + "storage"(' +7 "core" &  +2 "manipulator"&#% +3 "core" % \\ E +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&l& +3 "core" &    3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &   3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&/' +99 "core" ' +2 "manipulator"&!& +3 "core" &   U 3 +2 "manipulator"&f% +4 "core" %  +2 "processing"%:& +5 "core" &\ +2 "processing"%>& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%~(^ +5 "core" &\  +8 &1w\ s*x +10 &ay\ p> +9 &_l\ qO +9 &Q\ wP +10 &N\ xP +9 &N\ xO +10 &dP\ vP +9 &&P\ xP +9 &O\ xP +10 &O\ xP +9 & mO\ wP +9 &"/O\ xP +10 &#P\ xP +9 &%L\ yP +10 &'uO\ xP +9 &)7P\ wP +9 &*O\ xP +10 &,N\ xP +9 &.}O\ wP +9 &0?O\ wP +10 &2L\ xP +9 &3N\ xO +10 &5N\ xP +9 &7GL\ xP +9 &9Q\ wP +10 &:Q\ xP +9 &<P\ wP +10 &>MR\ wP +9 &@Q\ wQ +9 &AT\ wP +10 &CZ\ uR +9 &EP_\ tR +9 &Gg\ sS +10 &Hu\ pT +9 &J\ mV +9 &LK~\ nV +10 &N \ mW +9 &O\ lW +10 &Q\ jX +9 &SP\ lX +9 &U\ kX +10 &V\ kX +9 &X\ lW +9 &ZX\ kX +10 &\\\ kX +9 &]~\ o8 +10 &^+b\ s\\ +9 &^*\ z4 +2 ( +2 "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&"1 +54 "core" 1 + "manipulator"&%% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +92 "core" ' +2 "processing"%& +3 "core" &^+\ u4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %    " +2 "storage"(@% +4 "core" % R\ t +2 "storage"(Z. +3 "core" .(K +2 "storage"(& +3 "core" &K E\ t +3 "storage"(1& +2 "manipulator"&u& +7 "core" &K J\ t + &   ` 3 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&6( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&F& +3 "core" &   3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  ,  3 +3 .tForearm.seek PC + "manipulator"&&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +69 "core" / +3 .tPC.seek :open +2 "processing"%)( +82 "core" ' +2 "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'1 +57 "core" ' +303 ( + "storage"( & +3 "core" &K \  \ | +2 "manipulator"&& +4 "core" &  3 +2 "manipulator"&8% +3 "core" %   1 +3 .tForearm.seek :retract + "manipulator"&O' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +49 "manipulator"&\ ( +245 "core" ( +2 "manipulator"&.& +3 "core" &   " +3 "storage"(U& +4 "core" &K @\ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' +2 .tHand.open + "manipulator"&Y1 +56 "core" 1 +2 "storage"(N- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Q' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(T' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(`& +3 "core" &K   @\ 1 +2 "manipulator"&P& +5 "core" &   " + .tElbow.seek 6 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&,& +3 "core" & !  H " +2 "storage"(K& +4 "core" &K \ 0 +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(['" +58 "core" ' +2 "manipulator"&J& +3 "core" &    " +3 "storage"(\\& +4 "core" &K z\ { + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&H'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(*' +28 "core" ' +2 "manipulator"&5% +3 "core" %E    +2 "storage"(& +5 "core" &K \ y + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&2'q +14 "core" ' +2 "manipulator"&G& +3 "core" &   " +3 "storage"(;& +4 "core" &K\ \  &\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +15 "core" ' +2 "storage"(% +3 "core" % p |\  +3 ."downElevator"SE.seek :down +4 "storage"(<' +98 (b% +3 "core" %RJ K\ t[r +2 "manipulator"&=% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +3 "core" &K \ { +2 "collection"'E& +3 "core" &\\] \ M +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&S% +3 "core" %  \   +3 "storage"(+% +4 "core" %\ \  Q\ ~ + "storage"(C. +3 "core" .(K +2 "storage"(-& +3 "core" &K\ \  M\ ~ +3 "storage"(R& +3 "core" &K\ \  M\ ~ +2 "manipulator"&]& +4 "core" &   1 " +2 .tElbow.seek 6 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&z& +4 "core" &   - " + "storage"(0& +3 "core" &K\ \  W\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +93 "core" ' +2 "storage"(?& +3 "core" &K o o \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'r +294 "core" ' +3 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" &   4 " +2 "storage"(L& +3 "core" &K \ z +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(g- +49 "core" -' +4 .tSE.seek 0.15 Pucks below Top Plate + "storage"( 'f +29 "core" ' +2 "manipulator"&X% +3 "core" %L  % +3 "storage"(A& +4 "core" &K \ x + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&''x +13 "core" ' +2 "manipulator"&k& +4 "core" &  M " + "storage"(& +4 "core" &K\ \ W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&r' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&9& +3 "core" & \  " +3 "manipulator"&% +4 "core" %  _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&V(ӂ +153 "core" ( +2 "manipulator"&& +4 "core" &Ӂ&   ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӂ&   L ?S +2 .tForearm.seek CC +2 "manipulator"&c'? +94 "core" ' +2 .tHand.close + "manipulator"& / +60 "core" / +2 .tCC.seek :open + "collection"'( +449 "core" ( + "storage"(|& +4 "core" &K \ +2 "storage"($& +3 "core" &K q\ +2 "manipulator"&y& +4 "core" &ӭ#   9' +2 "manipulator"&d% +4 "core" % E    +2 .tForearm.seek :retract + "manipulator"&x' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&j( +165 "core" ( +2 "manipulator"& & +3 "core" &  \ U  +3 "storage"(n& +3 "core" &K \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&{'< +94 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&i% +3 "core" % A   $ 1 +2 "storage"(4& +4 "core" &K Z\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 305 counts + "manipulator"&#'m +13 "core" ' +2 "manipulator"&w& +4 "core" &   +2 "storage"(& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"(e% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(l' +98 (m% +3 "core" %fF \ Ym +2 "manipulator"&o% +4 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +90 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'f& +3 "core" &  \ +2 "manipulator"&:% +4 "core" %     +2 "storage"(% +4 "core" % s\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(t([ +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ("& +3 "core" &[ \ +2 "manipulator"&%& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&(r +36 "core" ( + "manipulator"&& +5 "core" &    + "storage"(@& +3 "core" &[ m\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +47 "manipulator"&Z'= +97 "core" ' +2 "storage"(& +4 "core" &[ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(u'r +293 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (>& +2 "core" &[ D\ +3 "manipulator"&F& +3 "core" & F  +2 .tElbow.seek 7 +2 "manipulator"&(r +18 "core" ( +2 "manipulator"&/& +4 "core" &y  s + "storage"(& +4 "core" &[ \ +3 .tForearm.seek 7 + 300 counts + "manipulator"&('ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&}& +2 "storage"(~' +8 "core" &y  s + "manipulator"&% +4 "core" % ϟ +3 .tForearm.seek :retract + "manipulator"& ' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&8& +4 "core" &Ӓ$   =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &Ӓ$   =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&.'? +99 "core" ' +3 "manipulator"&U& +3 "core" &ӓ#   <@ +2 "manipulator"&6% +4 "core" %B    +2 "collection"'Y& +5 "core" &  \ +2 "collection"'N& +5 "core" & \ +3 .tCC.seek :closed + "collection"'_(\\ +5 "core" & \ +7 &:  \ %f +10 &Vu  \ 7 +9 &t \ L +9 &M \ \ M +10 &rM \ M +9 &4O \ M +10 &R  \ M +9 &O \ L +9 &{O \ L +10 &<O \ M +9 &L \ M +9 &!O \ L +10 &#P \ M +9 &%DQ \ M +10 &'M \ M +9 &(N \ L +9 &*O \ L +10 &,LO \ M +9 &.Q \ M +9 &/N \ L +10 &1P \ M +9 &3UP \ L +9 &5O \ M +10 &6O \ L +9 &8O \ M +10 &:]O \ L +9 &<O \ M +9 &=R \ M +10 &?O \ M +9 &AcT \ M +10 &C#T \ N +9 &D\\ \ N +9 &Fg \ P +10 &HZ{ \ S +9 &J\ \ \ W +9 &K\ \ \ Y +10 &M\ \ \ Z +9 &OM\ \ \ Z +9 &Q \ \ \ [\ +10 &R\ \ \ [\ +9 &T\ \ \ \\ +10 &VM\ \ \ ] +9 &X \ \ \ ] +9 &Y\ \ \ _ +10 &[ \ \ K +9 &\\< \ *} +9 &\\ \ \ _ +6 ( +2 "collection"'N& +4 "core" &\\ \ _ +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&`1 +57 "core" 1 + "manipulator"&P% +4 "core" % B   L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%K& +4 "core" &\ t +2 "manipulator"&O% +3 "core" %     +2 "storage"(J% +4 "core" % s\ s +2 "storage"(\\. +3 "core" .([ +2 "storage"(5& +3 "core" &[ \ s +2 "storage"(D& +4 "core" &[ \ s +2 "manipulator"&& +4 "core" &ӯ   9$ +2 "manipulator"&G% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&Q(r +157 "core" ( + "manipulator"&;& +5 "core" &|  & + "storage"(& +4 "core" &[ s\ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\ '= +91 "core" ' + "storage"(& +4 "core" &[ m\ | +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +295 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &[  D\ q +2 "manipulator"&& +3 "core" &| \  +3 .tElbow.seek 7 + "manipulator"&B(r +4 "core" ( +2 "manipulator"&[& +3 "core" &|   o +2 "storage"(H& +52 "core" &[ \ s +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&s'ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +3 "storage"(S' +8 "Can"\ R". +2 "core" &|   + "manipulator"&+% +4 "core" %   , +2 .tForearm.seek :retract +2 "manipulator"&C' +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&-& +3 "core" &  & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &    & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&]' +90 "core" ' + "manipulator"&z& +4 "core" &  \  & +2 "manipulator"&0% +3 "core" %  v +3 "processing"%M& +3 "core" &\ } +3 "processing"%?& +5 "core" &\ } +2 .tPC.seek :closed +2 "processing"%<(^ +4 "core" &\ | +7 & .\ w$c +9 &Ty\ i7 +10 &|x\ iL +9 &O\ pP +9 &OO\ qP +10 &L\ qP +9 &P\ pP +10 &N\ pP +9 &XJ\ rP +9 &O\ qP +10 &Q\ oP +9 &!N\ pP +9 &#^N\ pQ +10 &%!O\ pP +9 &&O\ pP +10 &(N\ pP +9 &*fO\ pQ +9 &,)O\ pP +10 &-P\ pP +9 &/P\ pP +9 &1pL\ oP +10 &32N\ pP +9 &4M\ qP +10 &6O\ pP +9 &8xP\ pP +9 &::O\ pP +10 &;R\ oP +9 &=Q\ pP +9 &?N\ pP +10 &AAO\ pP +9 &BY\ nR +10 &D\\\ nR +9 &Fe\ lS +9 &H=w\ hT +10 &I\ eW +9 &K\ fW +9 &M}\ fV +10 &O>\ eW +9 &P\ dX +10 &R\ eW +9 &T\ cY +9 &VC\ eX +10 &X\ dX +9 &Y\ dX +9 &[\ dY +10 &]I\ cN +9 &^{G\ f a +10 &^4\ q4 +5 ( +2 "processing"%?& +3 "core" &^,\ r4 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&W1 +55 "core" 1 + "manipulator"&^% +4 "core" %   . v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +95 "core" ' +2 "processing"%h& +3 "core" &^,\ m4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&L% +3 "core" % #   < 1 +2 "storage"(g% +4 "core" % \ m +2 "storage"(X. +3 "core" .([ +2 "storage"(A& +4 "core" &[ \ m +2 "storage"(k& +2 "manipulator"&& +8 "core" &[ | l \ m + &   $ & +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +3 "manipulator"&9( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&a& +6 "core" &   & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" & = 4 ] & +3 .tForearm.seek PC + "manipulator"&3' +95 "core" ' + .tHand.close +2 "manipulator"&/ +77 "core" / +2 .tPC.seek :open +2 "processing"%'( +73 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +49 "core" ' +320 ( + "storage"(& +4 "core" &[ A\ u +2 "manipulator"&r& +3 "core" &   & +3 "manipulator"&% +4 "core" %   & +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&v(r +249 "core" ( +2 "manipulator"&I& +3 "core" &x  ! ` R +2 "storage"(|& +4 "core" &[ @\ q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&$'= +93 "core" ' +9 .tHand.open + "manipulator"&y1 +57 "core" 1 +2 "storage"(d- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(n' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(c- +3 "core" -' +2 "storage"(V& +4 "core" &[ -\ # +2 "manipulator"& & +3 "core" &x   R +2 .tElbow.seek 7 +2 "manipulator"&i(r +4 "core" ( +2 "manipulator"&4& +3 "core" &x    R +2 "storage"(w& +4 "core" &[ g\ $ +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(e'" +51 "core" ' +2 "manipulator"&x& +4 "core" &x  R +2 "storage"(m& +3 "core" &[ G\ q +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&o'{ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"({' +24 "core" ' +2 "manipulator"&f% +4 "core" %q 3 1  +2 "storage"(:& +3 "core" &[ ` `\ g +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 290 counts + "manipulator"&#'ϝ +15 "core" ' + "manipulator"&& +4 "core" &   & +2 "storage"(& +4 "core" &[ a\ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +18 "core" ' + "storage"(% +4 "core" % J\ w +3 ."downElevator"SE.seek :down +3 "storage"(l' +99 (7% +3 "core" %G s \ lZr +2 "manipulator"&"% +3 "core" %%   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &[ o\ u +3 "collection"'@& +4 "core" &\\ \ _ +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +3 "core" %      +3 "storage"(% +3 "core" % o\ w +3 "storage"(!. +2 "core" .([ +2 "storage"(1& +5 "core" &[ U\ v + "storage"(>& +4 "core" &[ Z\ w +2 "manipulator"&F& +3 "core" & \  & +3 .tElbow.seek 7 + "manipulator"&/(r +19 "core" ( +2 "manipulator"&& +3 "core" &k   .  +2 "storage"(& +4 "core" &[ y\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&}'= +96 "core" ' +2 "storage"(& +3 "core" &[\  \ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +301 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" &k   N  +2 "storage"(&& +4 "core" &[ 7\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&u'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(6'g +30 "core" ' +2 "manipulator"&Y% +3 "core" %΍ = 3 +2 "storage"(& +4 "core" &[ k k \ i +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&~'Ϲ +61 "core" ' +2 "manipulator"& & +3 "core" &k   Z  +2 "storage"(& +4 "core" &[ Y\ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&`'= +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(P' +37 "core" ' + "manipulator"&K& +4 "core" &k     +2 "manipulator"&O% +4 "core" %C N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +89 "core" ' +7 .tElbow.seek CC + "manipulator"&\\(ӂ +158 "core" ( +2 "manipulator"&5& +4 "core" &Ӕ"   ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &Ӕ"   ;7 +3 .tForearm.seek CC + "manipulator"&N'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'G( +449 "core" ( + "storage"(.& +4 "core" &[ G\ +2 "storage"(;& +4 "core" &[ p\ + "manipulator"&& +4 "core" &Ӱ   8 +2 "manipulator"&% +3 "core" % D   +3 .tForearm.seek :retract + "manipulator"&' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&,(r +162 "core" ( + "manipulator"&b& +4 "core" &z p  +2 "storage"(=& +3 "core" &[ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +95 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&H1 +58 "core" 1 +2 "manipulator"&2% +4 "core" % Ώ  \  +2 "storage"(E& +3 "core" &[ s\ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 320 counts + "manipulator"&+'ϻ +14 "core" ' +2 "manipulator"&Q& +3 "core" &z +  +3 "storage"(\ & +4 "core" &[\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&T'= +17 "core" ' +2 "storage"(s% +4 "core" %\ +2 ."downElevator"SE.seek :down +4 "storage"(-' +98 (R% +3 "core" %? \ Xi +2 "manipulator"&B% +4 "core" %6  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +98 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'0& +3 "core" & \ +2 "manipulator"&M% +4 "core" % \  0  +2 "storage"(S% +4 "core" % V\  +2 "storage"(C. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"()(<- +665 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &<0 \ +2 "manipulator"&^& +4 "core" &z  +2 .tElbow.seek 5 + "manipulator"&h( +38 "core" ( +2 "manipulator"&L& +3 "core" &   +2 "storage"(g& +4 "core" &<0  M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +93 "core" ' + "storage"(A& +4 "core" &<0\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(k- +4 "core" -' +49 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (?& +3 "core" &<- ^\ +2 "manipulator"&a& +3 "core" & D  +2 .tElbow.seek 5 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&]& +4 "core" &  q  +2 "storage"(& +4 "core" &<- \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(<' +9 "core" & N  + "manipulator"&% +4 "core" %  8 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&r(ӂ +151 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +3 "core" &}$   . =E +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &~$ 7 =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&I'? +91 "core" ' +2 "manipulator"&|& +3 "core" &Ӊ#  m <9 +3 "manipulator"&9% +3 "core" %;  Z E +3 "collection"'y& +4 "core" & \ +2 "collection"'d& +5 "core" & *\ +2 .tCC.seek :closed +2 "collection"'c(\\ +4 "core" & \  +9 &3t \ *z +9 &dx \ > +9 &k \ N +10 &KO  \ M +9 &O \ L +10 &O  \ M +9 &N \ L +9 &UO \ L +10 &Q \ M +9 &N \ M +9 & O  \ L +10 &"\\O \ M +9 &$Q \ M +10 &%R \ M +9 &'O \ L +9 &)eO \ L +10 &+&O \ M +9 &,R \ M +9 &.R \ M +10 &0lN \ M +9 &2.O \ M +9 &3R \ M +10 &5O \ L +9 &7tQ \ M +10 &96O \ M +9 &:O \ M +9 &<R \ M +10 &>|N \ M +9 &@>P \ M +10 &AO \ M +9 &CV \ N +9 &E~] \ O +10 &G;h \ P +9 &H \ S +9 &J\ \ \ \ X +10 &Lf\ \ \ \ Z +9 &N)\ \ \ Y +9 &O\ \ \ Z +10 &Q\ \ \ Z +9 &Si\ \ \ [ +10 &U(\ \ \ \\ +9 &V\ \ \ ] +9 &X \ ^ +10 &Zj \ ^ +9 &\\z\ \ \ 6 +9 &\\( \ "f +10 ( + &\\y \ [ +2 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&V1 +63 "core" 1 +2 "manipulator"& % +3 "core" % ;   ; E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%w& +4 "core" &\ s +2 "manipulator"& % +4 "core" %     + "storage"(x% +4 "core" % K\ t +2 "storage"(m. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(f(<- +2 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<- x\ p +2 "manipulator"&:& +5 "core" &Ӯ   7 + "manipulator"&% +4 "core" %   }  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +163 "core" ( +2 "manipulator"&& +4 "core" &    + "storage"(& +4 "core" &<- \ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +91 "core" ' +2 "storage"($& +3 "core" &<- s q\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'r +296 "core" ' + "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &<- ?\ s +2 "manipulator"&& +4 "core" &   -  +2 .tElbow.seek 5 + "manipulator"&i( +4 "core" ( +2 "manipulator"&e& +3 "core" &     +3 "storage"(o& +3 "core" &<- Y\ v +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +50 "manipulator"&#/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +3 "storage"(' +8 "core" &   + "manipulator"&% +4 "core" %  % +2 .tForearm.seek :retract +2 "manipulator"&!' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&1& +4 "core" &  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &    5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&F' +94 "core" ' +2 "manipulator"&& +3 "core" &   5 +3 "manipulator"&% +3 "core" %   w n +3 "processing"%& +3 "core" &\ } +3 "processing"%& +5 "core" &\ } +2 .tPC.seek :closed +3 "processing"%l(^ +4 "core" &\ ~ +6 &\ }3 +9 &;Fs\ l1 +9 &^n|\ hE +10 &_\ nP +9 &O\ qP +9 &zN\ qP +10 &=N\ rP +9 &N\ rP +9 &N\ qP +10 &O\ qP +9 &EO\ qP +10 &!O\ rP +9 &"O\ qP +9 &$P\ qQ +10 &&MO\ rP +9 &(O\ qP +9 &)O\ qP +10 &+O\ qP +9 &-TP\ qP +10 &/N\ rP +9 &0N\ qP +9 &2O\ qP +10 &4^M\ rP +9 &6N\ rP +9 &7N\ qP +10 &9P\ qP +9 &;cQ\ pQ +10 &=&P\ qP +9 &>T\ oP +9 &@R\ pQ +10 &BkX\ oQ +9 &D)_\ mR +10 &Eg\ mS +9 &Gv\ jU +9 &Ic\ gV +10 &K#\ gW +9 &L\ hV +9 &N\ eW +10 &Ph\ fW +9 &R(\ eX +9 &S\ dX +10 &U\ fW +9 &Wm\ eX +10 &Y0\ eX +9 &Z\ dX +9 &\\\ dY +10 &^/ar\ k2 +9 &^]\ n6 +9 ( +3 "processing"%& +2 "core" &^%\ u2 +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.66 + .Hand.open + "manipulator"&j1 +57 "core" 1 +2 "manipulator"&%% +4 "core" %   n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +96 "core" ' +2 "processing"%8& +3 "core" &^%\ o2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&&% +3 "core" % %   2 @ +3 "storage"(U% +4 "core" % C\ m + "storage"(Y. +3 "core" .(<- +2 "storage"(& +3 "core" &<- \ n +3 "storage"( & +2 "manipulator"&& +5 "core" &<- \ n +3 &  5 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(K'r +2 "manipulator"&O( +6 "core" ( +2 "manipulator"&}& +3 "core" & $ < , 5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" & 3 = b 5 +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&u/ +66 "core" / +3 .tPC.seek :open + "processing"%~( +85 "core" ' + "storage"(6- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +53 "core" ' +307 ( +2 "storage"(D& +3 "core" &<, {\ w +2 "manipulator"&`& +4 "core" &  5 +2 "manipulator"&(% +3 "core" %   E +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&J( +245 "core" ( + "manipulator"&_& +3 "core" &   = % +3 "storage"(.& +3 "core" &<, p\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +94 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +43 "storage"(b' +31 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(\\& +4 "core" &<, i\ # +2 "manipulator"&H& +3 "core" &    % +2 .tElbow.seek 5 +2 "manipulator"&2( +4 "core" ( +2 "manipulator"&E& +4 "core" &  " % + "storage"(Q& +4 "core" &<, i\ # +3 .tForearm.seek 5 + 450 counts + "manipulator"&\ 'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(s'" +57 "core" ' +2 "manipulator"&& +4 "core" &   % +2 "storage"(R& +3 "core" &<, \ \ w +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&B'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +26 "core" ' + "manipulator"&0% +5 "core" %Ξ   e + "storage"(+& +3 "core" &<, 1\ p +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&M' +15 "core" ' +2 "manipulator"&S& +4 "core" &   v $ + "storage"(C& +5 "core" &<, x\ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +15 "core" ' +2 "storage"(T% +3 "core" % \ y +3 ."downElevator"SE.seek :down +3 "storage"(-' +100 (t% +3 "core" %,O  =\ k[s +2 "manipulator"&W% +3 "core" %P  \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (L& +3 "core" &<, -\ v +2 "collection"'g& +5 "core" &\\x \ [ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&A% +3 "core" %  \  - ! +3 "storage"([% +3 "core" % 8\ x +2 "storage"(z. +3 "core" .(<- +2 "storage"(k& +4 "core" &<, q\ x +2 "storage"(?& +4 "core" &<, _\ x + "manipulator"&a& +4 "core" &   $ +2 .tElbow.seek 5 +2 "manipulator"&]( +4 "core" ( + "manipulator"&& +4 "core" &  \ 3 $ +2 "storage"(*& +3 "core" &<, W\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +92 "core" ' +2 "storage"(& +4 "core" &<, x\ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'r +295 "core" ' +3 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   $ +2 "storage"(3& +3 "core" &<, [\ v +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(9's +30 "core" ' + "manipulator"&y% +3 "core" %Ι   . +2 "storage"(q& +4 "core" &<, I\ w +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 312 counts + "manipulator"&<' +13 "core" ' +2 "manipulator"&& +3 "core" &   $ # +2 "storage"(G& +4 "core" &<, >\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 5 + 450 counts +3 "manipulator"&V'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +36 "core" ' +2 "manipulator"&w& +3 "core" &  # +3 "manipulator"& % +3 "core" %G   * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&m(ӂ +151 "core" ( +2 "manipulator"&d& +5 "core" &Ӎ#   z <> + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӎ# \  <> +3 .tForearm.seek CC + "manipulator"&:'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'I( +451 "core" ( +2 "storage"(& +4 "core" &<, \ +2 "storage"(& +3 "core" &<, \ +2 "manipulator"&)& +4 "core" &Ӯ  M 8 +2 "manipulator"&$% +4 "core" % 6   , +2 .tForearm.seek :retract + "manipulator"&r' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&4( +162 "core" ( +2 "manipulator"&7& +3 "core" &    +2 "storage"("& +4 "core" &<, \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +94 "core" ' +2 .tElbow.hold + "manipulator"&e, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&o1 +64 "core" 1 +2 "manipulator"&#% +4 "core" % ΂    +2 "storage"(@& +3 "core" &<, 0\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 289 counts +3 "manipulator"&'Ϯ +13 "core" ' + "manipulator"& & +4 "core" & 0  +2 "storage"(v& +3 "core" &<, O\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +16 "core" ' + "storage"(% +4 "core" % B\ +3 ."downElevator"SE.seek :down +4 "storage"(1' +99 (>% +3 "core" %kD <\ Yl +2 "manipulator"&i% +3 "core" %: 1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&% +5 "core" %   $  + "storage"(% +4 "core" % q\  +2 "storage"(!. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"('(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (j& +3 "core" &K \ +2 "manipulator"&%& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&&& +3 "core" &     +2 "storage"(U& +4 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Y' +94 "core" ' +2 "storage"(& +4 "core" &K i\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +307 "core" ' + "storage"( - +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K ~\ +2 "manipulator"&}& +3 "core" & 1  +3 .tElbow.seek 6 + "manipulator"&/( +51 "core" ( +2 "manipulator"&F& +3 "core" &  +3 "storage"(u& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&6'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&Z& + "storage"(l' +7 "core" & P  +2 "manipulator"&K% +3 "core" % a  +3 .tForearm.seek :retract + "manipulator"&D' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&`(ӂ +156 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&(& +3 "core" &Ӑ$  d =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӑ$   =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&_'? +98 "core" ' +3 "manipulator"&.& +3 "core" &ӑ$   F =E +3 "manipulator"&O% +4 "core" %H  [  +2 "collection"'& +3 "core" & $\ +3 "collection"'& +5 "core" & !\ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & \ +7 &? \ $f +9 &Xx \ 8 +10 &r \ \ L +9 &O \ M +10 &{O \ L +9 &<O \ M +9 &N \ L +10 &N \ L +9 &O \ M +9 &DR  \ M +10 & Q \ M +9 &!L  \ M +10 &#N \ M +9 &%MN \ L +9 &'N \ L +10 &(N \ M +9 &*Q \ M +9 &,TR \ M +10 &.N \ M +9 &/O \ L +10 &1Q \ M +9 &3]O \ L +9 &5O \ M +10 &6N \ M +9 &8O \ M +9 &:cR \ M +10 &<'O \ L +9 &=P \ M +10 &?N \ M +9 &AlP \ M +9 &C,U \ M +10 &D\\ \ N +9 &Fd \ P +9 &Hcz \ S +10 &J\ \ \ V +9 &K\ \ \ Y +10 &M\ \ \ Z +9 &OS\ \ \ \ [ +9 &Q\ \ \ [ +10 &R\ \ \ [ +9 &T\ \ \ \\ +9 &VT\ \ \ ] +10 &X\  \ ] +9 &Y\ \ \ ~_ +10 &[ \ K +9 &\\7 \ - +9 &\\ \ [ +6 ( + "collection"'& +4 "core" &\\ \ [ +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&N1 +53 "core" 1 +2 "manipulator"&\\% +3 "core" % H    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%E& +4 "core" &\ s +7 "manipulator"&Q% +4 "core" %     +2 "storage"(% +3 "core" % 5\ q +7 "storage"(R. +3 "core" .(K +2 "storage"(5& +3 "core" &K o\ r +2 "storage"(0& +4 "core" &K Q\ q +2 "manipulator"&+& +4 "core" &Ӱ   9& +2 "manipulator"&S% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&b( +165 "core" ( + "manipulator"&C& +4 "core" &   D  +2 "storage"(T& +3 "core" &K \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +97 "core" ' +2 "storage"(;& +4 "core" &K\  s\ | +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +300 "core" ' +2 "storage"(t- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (W& +3 "core" &K +\ t +2 "manipulator"&\ & +3 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&s& +4 "core" &  n  +2 "storage"(B& +4 "core" &K V\ v +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&L'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&g& +2 "storage"(A' +7 "core" &    +2 "manipulator"&[% +4 "core" % _   _ +2 .tForearm.seek :retract + "manipulator"&z' +137 "core" ' +4 .tElbow.seek PC + "manipulator"&( +115 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +141 "core" ( +2 "manipulator"&k& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&a' +91 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&*% +4 "core" %  5 h +2 "processing"%P& +5 "core" &\ { +2 "processing"%& +5 "core" &\ z +2 .tPC.seek :closed +2 "processing"%-(^ +4 "core" &\ { +9 &1v\ j*x +9 &ax\ g> +10 &Yl\ iO +9 &P\ nP +9 &N\ oP +10 &N\ oP +9 &_O\ nP +9 & O\ oP +10 &O\ oP +9 &N\ oP +10 & eQ\ nP +9 &"'O\ oP +9 &#O\ oP +10 &%J\ pP +9 &'nO\ nP +9 &)/O\ nP +10 &*O\ oP +9 &,R\ nP +10 &.vN\ oP +9 &07O\ nP +9 &1N\ oP +10 &3N\ oP +9 &5L\ oO +9 &7@N\ nP +10 &9Q\ nP +9 &:P\ oQ +10 &<O\ oP +9 &>GT\ nP +9 &@ N\ nP +10 &AP\ nQ +9 &CY\ lQ +9 &EK]\ kR +10 &G\ g\ jS +9 &Ht\ gT +10 &J\ dW +9 &LD~\ eW +9 &N\ cW +10 &O\ eW +9 &Q\ aX +9 &SI\ dX +10 &U\ \ aX +9 &V\ cX +10 &X\ cX +9 &ZQ\ bX +9 &\\\ aX +10 &]\ c= +9 &^1\ dS +9 &^\ t/ +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&,1 +53 "core" 1 +2 "manipulator"&^% +4 "core" %    y h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +91 "core" ' +2 "processing"%& +3 "core" &^\ q/ +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&3% +4 "core" %     +2 "storage"(|% +3 "core" % $\ p +2 "storage"(y. +4 "core" .(K +2 "storage"(q& +4 "core" &K \ p +2 "storage"(& +4 "manipulator"&G& +4 "core" &K \ p +2 &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b + .tElbow.seek PC +5 "manipulator"&w( +3 ."raiseStack"SE.seek :beamBreak +4 "storage"( 'r +3 "core" ( + "manipulator"&p& +4 "core" &   Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &   D +3 .tForearm.seek PC + "manipulator"&h' +94 "core" ' +2 .tHand.close + "manipulator"&/ +69 "core" / +3 .tPC.seek :open + "processing"%<( +85 "core" ' + "storage"(9- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(d'1 +46 "core" ' +312 ( +2 "storage"(& +3 "core" &K 1\ t +2 "manipulator"&V& +4 "core" &    +2 "manipulator"& % +4 "core" %   # +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&x( +240 "core" ( + "manipulator"&c& +4 "core" &   3 9 +2 "storage"(& +3 "core" &K \ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +103 "core" ' +2 .tHand.open + "manipulator"&)1 +64 "core" 1 +2 "storage"($- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"("' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' +2 "storage"(m& +3 "core" &K =\ & +2 "manipulator"&o& +50 "core" &  9 +4 .tElbow.seek 6 +2 "manipulator"&#( +4 "core" ( +2 "manipulator"&@& +4 "core" & \  9 + "storage"( & +4 "core" &K M\ $ +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' + "manipulator"&r& +4 "core" & \  8 9 +2 "storage"(>& +4 "core" &K |\ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&i'< +19 "core" ' + .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +17 "core" ' +2 "manipulator"&% +3 "core" %C   / +2 "storage"(& +4 "core" &K S\ o +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&'o +13 "core" ' +2 "manipulator"&& +3 "core" &   9 +2 "storage"(!& +4 "core" &K \ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +17 "core" ' +2 "storage"(n% +4 "core" % .\ v +2 ."downElevator"SE.seek :down +4 "storage"(1' +99 (f% +2 "core" %J n k\ k[s +2 "manipulator"&j% +5 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (&& +3 "core" &K 8\ t +3 "collection"'U& +3 "core" &\\ \ [ +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +3 "core" %     +3 "storage"(e% +3 "core" % N\ v +2 "storage"(. +3 "core" .(K +2 "storage"( & +3 "core" &K ;\ v +3 "storage"(& +4 "core" &K \ v +2 "manipulator"&}& +4 "core" &  M 9 +2 .tElbow.seek 6 + "manipulator"&F( +4 "core" ( + "manipulator"&u& +4 "core" &    9 +2 "storage"({& +4 "core" &K M\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +93 "core" ' +2 "storage"(K& +4 "core" &K W\ z +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(8'r +295 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" & ! 8 +2 "storage"(& +4 "core" &K %\ t +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(O'g +29 "core" ' +2 "manipulator"&% +3 "core" %@  +2 "storage"(/& +3 "core" &K \ s +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&l'l +14 "core" ' + "manipulator"&D& +4 "core" &  8 +2 "storage"(I& +4 "core" &K 4\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(\\' +34 "core" ' +2 "manipulator"&E& +3 "core" &   Y 8 +3 "manipulator"&Q% +4 "core" % \   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +151 "core" ( +2 "manipulator"&5& +4 "core" &ӗ   W 9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӗ  ? 9& +2 .tForearm.seek CC +2 "manipulator"&0'? +100 "core" ' +2 .tHand.close + "manipulator"&+/ +61 "core" / +2 .tCC.seek :open +2 "collection"'S( +451 "core" ( +2 "storage"(_& +3 "core" &K \ +3 "storage"(C& +4 "core" &K \ + "manipulator"&T& +4 "core" &ӫ  \ s 6 +2 "manipulator"&;% +3 "core" % E   Y +3 .tForearm.seek :retract + "manipulator"&`' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&H( +160 "core" ( +2 "manipulator"&t& +3 "core" &  w  +2 "storage"(W& +4 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&\ '< +96 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&B1 +63 "core" 1 +2 "manipulator"&M% +4 "core" % I    * +2 "storage"(g& +4 "core" &K s\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&['u +14 "core" ' +2 "manipulator"&b& +3 "core" &  +2 "storage"(J& +5 "core" &K 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&=' +16 "core" ' +2 "storage"(L% +3 "core" %\ +3 ."downElevator"SE.seek :down +4 "storage"(k' +98 (?% +3 "core" %C \ Zm +2 "manipulator"&2% +5 "core" % I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'*& +3 "core" & \ +2 "manipulator"&P% +5 "core" %  \    + "storage"(A% +5 "core" % \  + "storage"(z. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(~([ +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &[ w\ +2 "manipulator"&^& +3 "core" &     +3 .tElbow.seek 7 + "manipulator"&(r +33 "core" ( +2 "manipulator"&3& +3 "core" &   '  +2 "storage"(|& +4 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&y'= +93 "core" ' +2 "storage"(q& +3 "core" &[ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ C\ +2 "manipulator"&p& +3 "core" &   (  +3 .tElbow.seek 7 + "manipulator"&](r +19 "core" ( + "manipulator"&a& +3 "core" &y    +3 "storage"(& +4 "core" &[ s\ +2 .tForearm.seek 7 + 300 counts + "manipulator"&9'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(-' +9 "core" &y 0  + "manipulator"& % +4 "core" % Ϫ +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"& & +3 "core" &ӑ!   :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &ӑ!   :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&c'? +100 "core" ' +2 "manipulator"&& +3 "core" &ӡ   / 8 +3 "manipulator"&w% +4 "core" %@    +2 "collection"')& +3 "core" & \ +3 "collection"'$& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"':(\\ +5 "core" & \ +6 &1 \ $d +9 &Vu  \ 7 +10 &r \ K +9 &N  \ L +9 &jO  \ M +10 &,P \ M +9 &M \ L +9 &O \ L +10 &rR \ M +9 &4Q  \ M +10 &M  \ L +9 &!P \ L +9 &#zR \ M +10 &%<O \ M +9 &&L \ L +9 &(O \ L +10 &*R \ M +9 &,DQ \ M +10 &.M \ L +9 &/P \ L +9 &1P \ L +10 &3LR \ M +9 &5N \ L +9 &6O \ M +10 &8R \ M +9 &:TS \ M +10 &<Q \ M +9 &=O \ L +9 &?S \ M +10 &A\\O \ M +9 &CS \ M +9 &D` \ N +10 &Ff \ P +9 &HU{ \ R +10 &J \ \ \ \ V +9 &K\ \ \ Z +9 &M\ \ \ Z +10 &OE\ \ \ Z +9 &Q\ \ \ [\ +9 &R\ \ \ [\ +10 &T\ \ \ \\ +9 &VE\ \ \ ] +10 &X \ \ ] +9 &Y\ \ \ _ +9 &[\ \ \ L +10 &\\9 \ . +9 &\\ \ Y +5 ( +2 "collection"'$& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&m1 +2 "core" &\\ \ Y +56 1 +3 "manipulator"&o% +4 "core" % @  . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%@& +3 "core" &\ s +3 "manipulator"& % +3 "core" %     +3 "storage"(r% +4 "core" % \ s +2 "storage"(>. +3 "core" .([ +2 "storage"(d& +4 "core" &[ \ s + "storage"(& +5 "core" &[ \ s + "manipulator"&& +4 "core" &Ӫ   7 +2 "manipulator"&7% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +162 "core" ( +2 "manipulator"&!& +4 "core" &{  /  + "storage"(n& +4 "core" &[ \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&x'= +95 "core" ' +2 "storage"(& +3 "core" &[ ^ /\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +298 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &[ G\ t +2 "manipulator"&v& +4 "core" &{    +2 .tElbow.seek 7 +2 "manipulator"&#(r +3 "core" ( +2 "manipulator"&& +3 "core" &{    +2 "storage"(i& +4 "core" &[ a\ w +3 .tForearm.seek 7 + 300 counts + "manipulator"&&'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& + "storage"(' +9 "core" &{ <  + "manipulator"&e% +4 "core" % ϣ  k +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"& & +5 "core" &    + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &    +50 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&}' +94 "core" ' +2 "manipulator"&u& +3 "core" &   \  +3 "manipulator"&{% +3 "core" %   N 1 +3 "processing"% & +4 "core" &\ z +2 "processing"%K& +5 "core" &\ z +2 .tPC.seek :closed +2 "processing"%1(^ +5 "core" &\ z +7 & .\ t$c +9 &Su\ g7 +10 &|v\ fL +9 &Q\ mP +9 &LN\ nP +10 &L\ oP +9 &O\ nP +9 &O\ nP +10 &VO\ mP +9 &O\ nP +10 &P\ nP +9 &!P\ mP +9 &#^O\ nP +10 &% Q\ nP +9 &&S\ mP +9 &(Q\ nP +10 &*dO\ nP +9 &,&P\ mP +10 &-N\ mP +9 &/Q\ mP +9 &1mL\ oP +10 &30N\ oP +9 &4L\ oP +9 &6O\ nP +10 &8vP\ nP +9 &:9N\ mO +10 &;R\ nP +9 &=M\ oP +9 &?|Q\ mP +10 &A>S\ mP +9 &BY\ kQ +9 &DZ\ lR +10 &F}g\ iS +9 &H:w\ gT +10 &I\ dV +9 &K\ cW +9 &My\ bW +10 &O:\ bW +9 &P\ aX +9 &R\ bW +10 &T}\ `X +9 &V@\ bX +10 &X\ aW +9 &Y\ aX +9 &[\ aX +10 &]F\ `O +9 &^{G\ d!d +9 &^7\ o3 +6 ( + "processing"%K& +4 "core" &^%\ p3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&41 +58 "core" 1 + "manipulator"&%% +4 "core" %    < 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +2 "processing"%(& +3 "core" &^%\ o3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" %    # +2 "storage"(.% +4 "core" % \ n +2 "storage"(. +3 "core" .([ +2 "storage"(/& +4 "core" &[ \ n +2 "storage"(D& +3 "manipulator"&I& +5 "core" &[ \ n +2 &   4  + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&E( +7 ."raiseStack"SE.seek :beamBreak + "storage"(Q'r +2 "core" ( +4 "manipulator"&Z& +3 "core" &  r  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &   P  +3 .tForearm.seek PC + "manipulator"&8' +94 "core" ' +2 .tHand.close + "manipulator"&/ +69 "core" / +3 .tPC.seek :open + "processing"%l( +82 "core" ' + "storage"(O- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +41 "core" ' +319 ( +2 "storage"(& +3 "core" &[ O\ u +2 "manipulator"&N& +5 "core" &   + "manipulator"&6% +4 "core" %    6 +2 .tForearm.seek :retract +2 "manipulator"&+' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +246 "core" ( +2 "manipulator"&& +4 "core" &   = +2 "storage"(_& +3 "core" &[ \ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&C'= +96 "core" ' +2 .tHand.open + "manipulator"&T1 +53 "core" 1 +2 "storage"(;- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(t' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(W' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(0- +4 "core" -' +2 "storage"(R& +4 "core" &[ a\ - + "manipulator"&B& +4 "core" &  E = +2 .tElbow.seek 7 +2 "manipulator"&M(r +22 "core" ( +2 "manipulator"&g& +4 "core" &|    + "storage"(b& +4 "core" &[\ / +3 .tForearm.seek 7 + 450 counts + "manipulator"&J'= +49 "core" ' +6 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(L'" +51 "core" ' + "manipulator"&`& +4 "core" &|  )  +2 "storage"(?& +4 "core" &[ \ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&2'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(\ ' +26 "core" ' +2 "manipulator"&*% +3 "core" %΍   m +2 "storage"(P& +5 "core" &[ k l \ i + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&['Ϲ +14 "core" ' +2 "manipulator"&A& +3 "core" &|    +3 "storage"(z& +3 "core" &[ N\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +18 "core" ' +2 "storage"(=% +3 "core" % \ y +3 ."downElevator"SE.seek :down +4 "storage"(k' +98 ('% +3 "core" %"L u v\ l[t +2 "manipulator"&,% +4 "core" %?    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (3& +3 "core" &[ +\ w +2 "collection"'|& +3 "core" &\\ \ Y +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&q% +4 "core" %     +2 "storage"(s% +3 "core" % O\ x +2 "storage"(. +4 "core" .([ + "storage"(& +4 "core" &[ \ x +2 "storage"(& +3 "core" &[ >\ x +3 "manipulator"&p& +3 "core" &| \   +2 .tElbow.seek 7 +2 "manipulator"&a(r +4 "core" ( +2 "manipulator"&& +3 "core" &|     +2 "storage"(& +4 "core" &[ =\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&X'= +92 "core" ' +6 "storage"( & +3 "core" &[\ \  \\\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &|     +2 "storage"(h& +5 "core" &[ |\ v + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&G'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(w'p +29 "core" ' +2 "manipulator"&)% +3 "core" %΍   < +2 "storage"(]& +5 "core" &[ n n g\ j + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&-'Ϲ +13 "core" ' +2 "manipulator"&& +3 "core" &|    +2 "storage"(S& +3 "core" &[ T\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&m'= +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(o' +46 "core" ' +2 "manipulator"&@& +3 "core" &| -  +2 "manipulator"& % +5 "core" %5  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +159 "core" ( +2 "manipulator"&d& +4 "core" &Ә!  $ l :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +43 "core" &Ә!   :* +10 .tForearm.seek CC + "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'7( +449 "core" ( + "storage"(c& +4 "core" &[ #\ +2 "storage"(!& +3 "core" &[ \ +2 "manipulator"&n& +4 "core" &Ӫ  ^ 7 +2 "manipulator"&% +4 "core" % Q   +2 .tForearm.seek :retract +2 "manipulator"&V' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +164 "core" ( + "manipulator"&f& +4 "core" &{  +2 "storage"(j& +5 "core" &[ T\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&v'{ +100 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&i1 +59 "core" 1 +2 "manipulator"&% +5 "core" % ΋    + "storage"(U& +3 "core" &[ G\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&e'Ϸ +13 "core" ' +2 "manipulator"&& +4 "core" &{  + "storage"(x& +4 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'= +15 "core" ' +2 "storage"(&% +4 "core" %  \ +2 ."downElevator"SE.seek :down +4 "storage"( ' +98 (% +3 "core" %A \ Yk +2 "manipulator"&#% +5 "core" %4 , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +97 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'{& +5 "core" & #\  + "manipulator"& % +4 "core" % \    +2 "storage"(% +3 "core" %\  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(<(<- +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +2 "core" &<0 a\ +2 "manipulator"&%& +4 "core" &{ .  +2 .tElbow.seek 5 +2 "manipulator"&(( +25 "core" ( +2 "manipulator"&& +3 "core" &  '  +2 "storage"(.& +4 "core" &<0 k\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + "storage"(/& +3 "core" &<0 R\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +296 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &<- \ +2 "manipulator"&Z& +4 "core" &    + .tElbow.seek 5 +2 "manipulator"&F( +22 "core" ( +2 "manipulator"&}& +3 "core" &  (  +3 "storage"(& +4 "core" &<- )\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&O'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(1' +8 "core" & X  +2 "manipulator"&Q% +3 "core" % ϻ +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +4 .tElbow.seek CC + "manipulator"&N(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&6& +3 "core" &x(   X @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &8& +2 "core" &x(   @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' +2 "manipulator"&_& +5 "core" &x(   @W + "manipulator"&E% +5 "core" %I    +2 "collection"'T& +4 "core" & \  +2 "collection"';& +5 "core" & \  +2 .tCC.seek :closed +2 "collection"'0(\\ +4 "core" & \  +9 &4x \ +| +10 & ey \ ? +9 &k \ N +9 &VL  \ M +10 &R \ M +9 &N  \ M +9 &N  \ L +10 &_N \ L +9 &!Q \ L +10 &O \ L +9 & O \ L +9 &"fO  \ M +10 &$(R \ M +9 &%S \ M +9 &'N \ M +10 &)oO \ L +9 &+/R \ M +10 &,N \ L +9 &.O \ M +9 &0vR \ M +10 &29O \ L +9 &3P \ M +9 &5R \ M +10 &7~M \ M +9 &9AO \ L +10 &;O \ M +9 &<R \ M +9 &>T \ M +10 &@IQ \ L +9 &B\ Q \ M +9 &CV \ M +10 &E` \ O +9 &GEi \ P +10 &H \ T +9 &J\ \ \ X +9 &Lp\ \ \ Z +10 &N2\ \ \ \ Z +9 &O\ \ \ Z +9 &Q\ \ \ [\ +10 &Sq\ \ \ \\ +9 &U3\ \ \ \\ +10 &V\ \ \ ] +9 &X \ \ ^ +9 &Zr\  \ ~^ +10 &\\{ \ \ 3 +9 &\\, \ \ \\ +9 ( +2 &\\a \ P +2 "collection"';& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open + "manipulator"&R1 +63 "core" 1 +2 "manipulator"&B% +3 "core" % I    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%b& +4 "core" &\ y +2 "manipulator"&+% +3 "core" %     +2 "storage"(`% +4 "core" % \ y +2 "storage"(?. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "core" &<- )\ v +2 "manipulator"&*& +4 "core" &Ӯ   6 8! +2 "manipulator"&P% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&A( +164 "core" ( +2 "manipulator"&z& +3 "core" &  i  +2 "storage"(& +3 "core" &<- o [ W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&='O +100 "core" ' + "storage"(C& +5 "core" &<- 3\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +299 "core" ' + "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &<- S\ y +2 "manipulator"&J& +3 "core" &  )  +3 .tElbow.seek 5 + "manipulator"&M( +4 "core" ( + "manipulator"&L& +4 "core" & T  +2 "storage"(2& +3 "core" &<- O\ | +3 .tForearm.seek 5 + 300 counts + "manipulator"&['Ϲ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +5 "storage"(q' +3 "core" &  +  +3 "manipulator"&s% +4 "core" % Ϻ  < } +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ ( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&& +3 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &     +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&p' +92 "core" ' +2 "manipulator"&& +3 "core" &     +49 "manipulator"&% +5 "core" %   9 e +3 "processing"%\\& +3 "core" &\ +3 "processing"% & +5 "core" &\ +3 .tPC.seek :closed + "processing"%k(^ +5 "core" &\ +7 & .\ }#a +10 &T{\ n7 +9 &|x\ mL +10 &O\ uP +9 &NN\ vP +9 &L\ vO +10 &T\ uP +9 &O\ vP +9 &VM\ vP +10 &P\ uP +9 &O\ uO +9 &!O\ uP +10 &#_O\ uO +9 &%O\ uP +10 &&P\ uP +9 &(T\ tP +9 &*eO\ uP +10 &,(Q\ uP +9 &-R\ uP +9 &/Q\ uP +10 &1oO\ uO +9 &31O\ uO +10 &4N\ uO +9 &6O\ uP +9 &8uT\ tP +10 &:9O\ uO +9 &;Q\ uP +9 &=Q\ uP +10 &?}R\ uP +9 &A>S\ uP +10 &BZ\ sQ +9 &Da\ qR +9 &F}j\ pS +10 &H9z\ mU +9 &I\ kV +9 &K\ kV +10 &My\ jW +9 &O;\ jW +10 &P\ iX +9 &R\ iX +9 &T\ hX +10 &VC\ jW +9 &X\ hX +9 &Y\ hX +10 &[\ gW +9 &]F\ gN +10 &^R\ g#m +9 &^\ {+ +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&H1 +57 "core" 1 +2 "manipulator"&^% +3 "core" %   e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +95 "core" ' +2 "processing"% & +3 "core" &^\ u+ +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&h% +3 "core" % %   - > +3 "storage"(% +3 "core" % $\ u +2 "storage"(). +4 "core" .(<- + "storage"(]& +4 "core" &<- \ u +2 "storage"(& +2 "manipulator"&S& +7 "core" &<- ^\ u +2 &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&@( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'r +2 "core" ( +3 "manipulator"&X& +3 "core" &   w  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &  \  +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&G/ +75 "core" / +2 .tPC.seek :open +2 "processing"%-( +79 "core" ' + "storage"(w- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'1 +41 "core" ' +323 ( +2 "storage"(m& +3 "core" &<, V\ z +2 "manipulator"&$& +4 "core" &   3  +2 "manipulator"&9% +3 "core" %   7 +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&r( +245 "core" ( +2 "manipulator"&:& +3 "core" &   \ ) +2 "storage"(c& +4 "core" &<, G\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&!'O +96 "core" ' + .tHand.open +2 "manipulator"&n1 +53 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(f' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(j' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(>& +3 "core" &<,  \ ) +2 "manipulator"&i& +5 "core" &  ) + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&U& +3 "core" &   P ) +3 "storage"(& +3 "core" &<, 2\ * +3 .tForearm.seek 5 + 450 counts + "manipulator"&x'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(&'" +51 "core" ' +2 "manipulator"&V& +3 "core" &   6 ) +2 "storage"(& +53 "core" &<, \ y + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&#'΍ +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(v' +20 "core" ' + "manipulator"&{% +5 "core" %Ρ   + "storage"( & +4 "core" &<, %\ v +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&e' +14 "core" ' +2 "manipulator"&& +3 "core" &   ' +2 "storage"(& +4 "core" &<, \  :\ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&o'O +15 "core" ' + "storage"("% +5 "core" %\  /\ | +2 ."downElevator"SE.seek :down +4 "storage"( ' +98 (~% +3 "core" %EG \ sZq +2 "manipulator"&4% +6 "core" %L   " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<, \ z +2 "collection"'.& +4 "core" &\\a \ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&/% +4 "core" %     +2 "storage"(% +3 "core" % A\ } +2 "storage"(u. +3 "core" .(<- +2 "storage"(D& +4 "core" &<, \ | +2 "storage"(K& +3 "core" &<,\  \ { +2 "manipulator"&Z& +4 "core" &   ' +2 .tElbow.seek 5 +2 "manipulator"&}( +4 "core" ( +2 "manipulator"&& +4 "core" &    ' + "storage"(& +4 "core" &<,\ \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Y'O +95 "core" ' +2 "storage"(Q& +4 "core" &<, o o \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" &    ' +2 "storage"(8& +4 "core" &<, [\ | +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&I'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(_- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(E's +29 "core" ' +2 "manipulator"&T% +3 "core" %Μ  +2 "storage"(F& +4 "core" &<, U\ } +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&1' +13 "core" ' + "manipulator"&& +4 "core" &  l & +2 "storage"(7& +4 "core" &<,\ \ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(B' +48 "core" ' + "manipulator"&b& +4 "core" & + & +2 "manipulator"&+% +4 "core" %H  ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&?(ӂ +155 "core" ( +2 "manipulator"&;& +3 "core" &Ӓ#   + <? +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &Ӓ#  = <? +3 .tForearm.seek CC + "manipulator"&*'? +95 "core" ' + .tHand.close +2 "manipulator"&P/ +64 "core" / +42 .tCC.seek :open +9 "collection"'( +448 "core" ( +2 "storage"(z& +4 "core" &<, \ + "storage"(& +4 "core" &<, \ +2 "manipulator"&<& +4 "core" &Ӳ   8 +2 "manipulator"&C% +4 "core" % R   +2 .tForearm.seek :retract +2 "manipulator"&N' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&g( +155 "core" ( +2 "manipulator"&'& +4 "core" &   C +2 "storage"(,& +3 "core" &<, L\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&J'΍ +102 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +54 "core" 1 +2 "manipulator"&3% +4 "core" % Ι  ( +2 "storage"(|& +3 "core" &<, \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&s' +24 "core" ' +2 "manipulator"&A& +3 "core" &  +3 "storage"(=& +4 "core" &<, \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +15 "core" ' + "storage"([% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %z@ \ Yj +2 "manipulator"&M% +3 "core" %Z \  k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&\\% +3 "core" %    +2 "storage"(q% +5 "core" % \  + "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(l(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +2 "core" &K I\  +2 "manipulator"&^& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&h& +4 "core" &   +2 "storage"(& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&)' +94 "core" ' +2 "storage"(]& +4 "core" &K\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'r +296 "core" ' +2 "storage"(- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K \  +2 "manipulator"&X& +4 "core" & , +2 .tElbow.seek 6 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&p& +3 "core" &  +2 "storage"(G& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&w'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(k' +8 "core" & +2 "manipulator"& % +4 "core" % l  +2 .tForearm.seek :retract + "manipulator"&m' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&9& +3 "core" &ӎ#   <9 +47 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ#   Q <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&:'? +92 "core" ' + "manipulator"&c& +5 "core" &ӎ#   = <9 + "manipulator"&@% +9 "core" %@   H +3 "collection"'n& +4 "core" & \ +2 "collection"'& +10 "core" & \ +2 .tCC.seek :closed +3 "collection"'(\\ +4 "core" & \ +5 &  \ 9 +10 &HIp \ 1 +9 &zuy \ E +9 &!W \ N +10 &R \ \ M +9 &T \ M +10 &jN \ M +9 &-O \ L +9 &N \ L +10 &O \ L +9 &sP \ L +9 &!5P \ L +10 &"P \ L +9 &$P \ L +10 &&yT \ M +9 &(<N \ M +9 &)M \ M +10 &+N \ L +9 &-R \ M +9 &/EP \ L +10 &1P \ M +9 &2R \ M +10 &4O \ L +9 &6MO \ L +9 &8P \ M +10 &9R \ M +9 &;M \ M +9 &=TN \ M +10 &?P \ L +9 &@Q \ M +10 &BS \ M +9 &DWZ \ N +9 &Fb \ O +10 &Gp \ Q +9 &I\  \ U +9 &KA\ \ \ Y +10 &L\ \ \ Z +9 &N\ \ \ Z +10 &P\ \ \ [ +9 &RC\ \ \ [ +9 &T\ \ \ \\ +10 &U\ \ \ \\ +9 &W\ \ \ ] +9 &YA\ \ \ ^ +10 &[\  \ ^ +9 &\\`O\  \ 6 +10 &\\ \ \ ] +5 ( +2 "collection"'& +3 "core" &\\ \ ] +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&>1 +62 "core" 1 +3 "manipulator"&i% +4 "core" % @   { H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ t +2 "manipulator"&% +3 "core" %     +3 "storage"(V% +4 "core" % q\ t + "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(d(K +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +2 "core" &K \ q +2 "manipulator"& & +5 "core" &ӭ   g 7 + "manipulator"&f% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +167 "core" ( + "manipulator"&& +5 "core" &    + "storage"("& +3 "core" &K \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +94 "core" ' +2 "storage"(!& +4 "core" &K ^ [\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +295 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &K '\ s +2 "manipulator"&x& +3 "core" &     +3 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&&& +4 "core" &   3  +2 "storage"(#& +3 "core" &K W\ u +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&e/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +2 "storage"(/' +9 "core" &     + "manipulator"&% +4 "core" % a    +2 .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&D& +3 "core" & % & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &   & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek PC +2 "manipulator"&Z' +91 "core" ' + "manipulator"&& +5 "core" &   & + "manipulator"&% +4 "core" %   ` +2 "processing"%o& +5 "core" &\ { +2 "processing"%Q& +5 "core" &\ | +53 .tPC.seek :closed +4 "processing"% (^ +4 "core" &\ { + &\ { + &\ { + &\ { +2 &\ { + &\ { + &\ {3 +5 &6Ft\ g1 +10 &]qy\ gE +9 &_\ lQ +9 &N\ oP +10 &|N\ pP +9 &?M\ pP +9 &M\ oP +10 &R\ oP +9 &O\ oP +10 &GO\ pP +9 &! N\ oP +9 &"M\ pO +10 &$P\ nP +9 &&ON\ pP +9 &(O\ pP +10 &)O\ pO +9 &+O\ oP +10 &-VO\ oP +9 &/O\ oP +9 &0M\ oO +10 &2N\ oO +9 &4`M\ pO +9 &6!O\ oP +10 &7L\ oP +9 &9P\ oP +10 &;fQ\ oP +9 &=(O\ oP +9 &>R\ nP +10 &@N\ oP +9 &BlV\ nQ +9 &D-Y\ mQ +10 &E`\ lR +9 &Gl\ jS +10 &Ie}\ gV +9 &K%\ eV +9 &L\ dW +10 &N\ cW +9 &Pi\ dW +9 &R*\ cW +10 &S\ cX +9 &U\ cW +10 &Wp\ cW +9 &Y2\ cW +9 &Z\ cX +10 &\\\ aY +9 &^.^m\ j7 +9 &^>\ q ( +6 ( + "processing"%Q& +4 "core" &^\ u( +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&%% +3 "core" %   ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 "processing"%6& +3 "core" &^\ r( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&8% +3 "core" % %   x @ +2 "storage"(_% +4 "core" % \ p +2 "storage"(T. +3 "core" .(K +2 "storage"(F& +3 "core" &K \ p +3 "storage"(& +3 "manipulator"&7& +5 "core" &K \ p +2 &  h & +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(b'r + "manipulator"&+( +5 "core" ( +2 "manipulator"&Y& +3 "core" &   C & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &   i & +3 .tForearm.seek PC + "manipulator"&(' +92 "core" ' +2 .tHand.close + "manipulator"&I/ +67 "core" / +2 .tPC.seek :open +2 "processing"%1( +82 "core" ' +2 "storage"(E- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'1 +41 "core" ' +320 ( + "storage"(t& +3 "core" &K \ t +3 "manipulator"&R& +4 "core" & \  & + "manipulator"&O% +3 "core" %   , +3 .tForearm.seek :retract +2 "manipulator"&P' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&`( +247 "core" ( +2 "manipulator"&0& +3 "core" &     +2 "storage"(z& +4 "core" &K w\ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' + .tHand.open + "manipulator"&<1 +58 "core" 1 +3 "storage"(C- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"('' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(*- +4 "core" -' + "storage"(?& +4 "core" &K <\ & +2 "manipulator"&2& +4 "core" &  &  +2 .tElbow.seek 6 +2 "manipulator"&3( +17 "core" ( + "manipulator"&|& +5 "core" &  \   + "storage"(A& +4 "core" &K \ ( +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(['" +59 "core" ' +2 "manipulator"&N& +3 "core" &   )  +2 "storage"(& +4 "core" &K \ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +43 "manipulator"&M'< +25 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(J' +19 "core" ' +2 "manipulator"&% +4 "core" %@   B +2 "storage"(\\& +4 "core" &K \ s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts +2 "manipulator"&s'l +13 "core" ' +2 "manipulator"&q& +4 "core" & \  >  +2 "storage"(& +3 "core" &K \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +17 "core" ' +2 "storage"(W% +3 "core" % }\ z +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (5% +3 "core" %M t\ o[t +2 "manipulator"&H% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +91 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (h& +2 "core" &K a\ v +3 "collection"'& +4 "core" &\\ \ ] + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&]% +3 "core" %     +3 "storage"(L% +4 "core" % :\ x + "storage"(. +4 "core" .(K + "storage"(& +4 "core" &K J\ x +2 "storage"( & +3 "core" &K E\ y +3 "manipulator"&X& +4 "core" &   %  +2 .tElbow.seek 6 + "manipulator"&p( +4 "core" ( +2 "manipulator"&G& +4 "core" &    + "storage"(\ & +4 "core" &K X\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&y' +98 "core" ' +2 "storage"( & +3 "core" &K P\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +302 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&9& +3 "core" & 1  +2 "storage"(S& +3 "core" &K &\ z +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&w'< +18 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(a- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(c'g +34 "core" ' +2 "manipulator"&@% +3 "core" %8   ! +2 "storage"(n& +4 "core" &K k\ t +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"&k'd +13 "core" ' +2 "manipulator"&m& +4 "core" &     + "storage"(& +4 "core" &K A\ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(i' +46 "core" ' + "manipulator"&& +4 "core" & b  +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +159 "core" ( +3 "manipulator"&& +3 "core" &Ӑ!   :. +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &Ӑ!   k :. +2 .tForearm.seek CC +2 "manipulator"& '? +93 "core" ' + .tHand.close +2 "manipulator"&f/ +59 "core" / +2 .tCC.seek :open +2 "collection"':( +448 "core" ( +2 "storage"(& +3 "core" &K \  +2 "storage"("& +44 "core" &K \  +9 "manipulator"&l& +4 "core" &ӱ  ? 6 +2 "manipulator"&!% +4 "core" % G   +2 .tForearm.seek :retract +2 "manipulator"&$' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&U( +160 "core" ( +2 "manipulator"&~& +3 "core" &    +3 "storage"(4& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&x'< +98 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +60 "core" 1 +3 "manipulator"&e% +3 "core" % I  +2 "storage"(.& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 313 counts + "manipulator"&'u +14 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(r& +4 "core" &K l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&j' +16 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(D' +98 (K% +3 "core" %{D \ Yk +2 "manipulator"&% +5 "core" % 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&o% +4 "core" %   \   +2 "storage"(/% +4 "core" % \  +2 "storage"(u. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(-([ +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ d o \  +2 "manipulator"&%& +5 "core" &   '  + .tElbow.seek 7 +2 "manipulator"&6(r +34 "core" ( +2 "manipulator"&8& +3 "core" &  +2 "storage"(_& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&T'= +94 "core" ' +2 "storage"(F& +4 "core" &[ :\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &[ \  +2 "manipulator"&Y& +4 "core" & +3 .tElbow.seek 7 + "manipulator"&}(r +13 "core" ( +2 "manipulator"&Z& +3 "core" &w P  +2 "storage"(I& +4 "core" &[ p\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&E'ϧ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( ' +8 "core" &w *  + "manipulator"&b% +4 "core" % ϟ +2 .tForearm.seek :retract +2 "manipulator"&t' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&R(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&O& +4 "core" &ӊ   4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &ӊ  < 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +47 "manipulator"&0'? +97 "core" ' +2 "manipulator"&z& +5 "core" &ӊ   4 +2 "manipulator"&+% +4 "core" %,   = +2 "collection"'<& +4 "core" & \ +3 "collection"'C& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'*(\\ +3 "core" & \  +10 &4y  \ *z +9 &f{  \ ? +9 &k \ N +10 &PN \ M +9 &P \ L +9 &N  \ M +10 &M \ L +9 &ZN \ L +10 &O \ M +9 &M \ M +9 & M \ L +10 &"bP \ L +9 &$$O \ L +9 &%T \ M +10 &'Q \ M +9 &)jO \ L +10 &++R \ M +9 &,P \ M +9 &.O \ L +10 &0qS \ M +9 &23O \ M +9 &3O \ M +10 &5O \ M +9 &7yN \ M +10 &9<N \ L +9 &:O \ M +9 &<R \ L +10 &>Q \ L +9 &@DQ \ L +9 &BR \ M +10 &CW \ M +9 &E` \ O +10 &GAj \ P +9 &H \ T +9 &J\ \ \ X +10 &Lm\ \ \ Y +9 &N,\ \ \ Z +9 &O\ \ \ Z +10 &Q\ \ \ [ +9 &So\ \ \ [\ +10 &U.\ \ \ \\ +9 &V\ \ \ ] +9 &X\ \ \ ] +10 &Zn\ \ \ ^ +9 &\\z\  \ 5 +9 &\\$ \ %n +10 ( + &\\ \ \ "d +2 "collection"'C& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&?1 +60 "core" 1 +2 "manipulator"&2% +3 "core" % ,   V = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%A& +5 "core" &\ s + "manipulator"&P% +4 "core" %     +2 "storage"(N% +3 "core" % \ s +3 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(;([ +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +3 "core" &[ / 3 g\ d +2 "manipulator"&& +3 "core" &ӣ 0 +2 "manipulator"&\\% +4 "core" %    S  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&q(r +164 "core" ( +2 "manipulator"&& +3 "core" &p     +2 "storage"(`& +4 "core" &[ '\ x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&W'= +92 "core" ' +2 "storage"(& +3 "core" &[ \ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'r +308 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &[ E\ q +4 "manipulator"&=& +8 "core" &p    +4 .tElbow.seek 7 +4 "manipulator"&3(r +5 "core" ( +2 "manipulator"&[& +3 "core" &p    +2 "storage"(M& +4 "core" &[ H\ t +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&s'ϧ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(]' +8 "core" &p  3  + "manipulator"&L% +4 "core" % ϣ T +2 .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +3 "manipulator"&& +3 "core" &   % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &   % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X' +99 "core" ' +2 "manipulator"&G& +4 "core" &  \ A % + "manipulator"&\ % +5 "core" %   0 + "processing"%B& +5 "core" &\ z +2 "processing"% & +5 "core" &\ z +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ y +9 &2u\ j*x +9 &ay\ g> +10 &ck\ hO +9 &"N\ oP +9 &N\ oP +10 &L\ pO +9 &iO\ nP +9 &,O\ oO +57 &O\ nP +5 &N\ kP + & pS\ jP +3 &"2N\ lP + &#O\ lP + &%N\ lP + &'yP\ lP +6 &);P\ mP +10 &*O\ nP +9 &,P\ oP +10 &.Q\ nP +9 &0CN\ nP +9 &2L\ oP +10 &3M\ oO +9 &5M\ oP +10 &7KL\ oP +9 &9 Q\ nP +9 &:P\ nP +10 &<P\ nP +9 &>RR\ nP +9 &@Q\ oP +10 &AW\ nQ +9 &C]\ kQ +10 &ET_\ jR +9 &Gk\ iS +9 &Hy\ fV +10 &J\ dW +9 &LN\ dW +9 &N\ cW +10 &O\ eW +9 &Q\ bX +10 &SS\ cX +9 &U\ bW +9 &V\ cX +10 &X\ bX +9 &Z[\ bX +9 &\\\ bX +10 &]~\ e8 +9 &^+c\ j ] +9 &^'\ r3 +3 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&g1 +60 "core" 1 +2 "manipulator"&^% +3 "core" %    O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +92 "core" ' +2 "processing"%9& +3 "core" &^"\ m3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&S% +3 "core" % #    1 +3 "storage"(a% +3 "core" % k m \ l +2 "storage"(@. +3 "core" .([ +2 "storage"(n& +4 "core" &[ i j \ l +3 "storage"(m& +3 "manipulator"&& +5 "core" &[ j j \ l +2 &   % +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&( +7 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +3 "manipulator"&y& +4 "core" &   1 % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" & . @  % +2 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' +2 .tHand.close + "manipulator"&w/ +70 "core" / +2 .tPC.seek :open +2 "processing"%k( +85 "core" ' +2 "storage"(c- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +313 ( +2 "storage"({& +3 "core" &[ Y\ v +2 "manipulator"&>& +4 "core" &   , % +2 "manipulator"&% +4 "core" %  \  F +2 .tForearm.seek :retract +2 "manipulator"&f' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&V(r +251 "core" ( +2 "manipulator"&& +3 "core" &   U ( +2 "storage"(& +5 "core" &[ i\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'= +92 "core" ' + .tHand.open +2 "manipulator"&l1 +61 "core" 1 +2 "storage"(!- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(~' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(4' +60 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(& +4 "core" &[ 4\ ! +2 "manipulator"&#& +8 "core" &    ( +2 .tElbow.seek 7 +2 "manipulator"&e(r +29 "core" ( + "manipulator"&.& +4 "core" &q  r +2 "storage"(& +3 "core" &[ \ " +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&r'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&$& +3 "core" &q \  r +2 "storage"(K& +4 "core" &[ ?\ s +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +46 "storage"(x' +32 "core" ' +2 "manipulator"&% +3 "core" %Ή 9 < A +2 "storage"(o& +5 "core" &[ 2 0 +\ d + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts +2 "manipulator"&'ϵ +14 "core" ' +2 "manipulator"&/& +3 "core" &q  k r +3 "storage"(u& +4 "core" &[ ~\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts + "manipulator"&i'= +18 "core" ' +2 "storage"(j% +3 "core" % q\ v +3 ."downElevator"SE.seek :down +4 "storage"(D' +98 (d% +3 "core" %IJ ^ i H\ k[t +2 "manipulator"&% +4 "core" %< \   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +96 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (8& +3 "core" &[ |\ w +3 "collection"'_& +3 "core" &\\ \ "d +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&F% +3 "core" % \     +3 "storage"(&% +4 "core" % \ z + "storage"(. +4 "core" .([ + "storage"(& +4 "core" &[ \ z +2 "storage"(7& +3 "core" &[ \ z +3 "manipulator"&Y& +4 "core" &q   / r +2 .tElbow.seek 7 + "manipulator"&Z(r +4 "core" ( +2 "manipulator"&I& +3 "core" &q    r +3 "storage"(v& +4 "core" &[ \ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +92 "core" ' +2 "storage"(b& +3 "core" &[ N\ y +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +294 "core" ' +3 "storage"(T- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" &q   r +2 "storage"((& +4 "core" &[ P\ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&Q'{ +28 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(z'p +29 "core" ' + "manipulator"&+% +5 "core" %΋ 0 2 n + "storage"(<& +4 "core" &[ J F 4\ h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"& 'Ϸ +14 "core" ' +2 "manipulator"&t& +3 "core" &q  ] r +2 "storage"(:& +4 "core" &[ \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(2' +36 "core" ' +2 "manipulator"&A& +3 "core" &q  3 r +3 "manipulator"&P% +4 "core" %C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +170 "core" ( +2 "manipulator"&C& +3 "core" &ӊ   2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &ӊ   2 +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 .tHand.close + "manipulator"&\\/ +58 "core" / +2 .tCC.seek :open +2 "collection"'0( +448 "core" ( +2 "storage"(& +3 "core" &[ 4\  +2 "storage"(`& +3 "core" &[ A\  +2 "manipulator"&-& +4 "core" &ӊ   2 +2 "manipulator"&% +3 "core" % )   +3 .tForearm.seek :retract + "manipulator"&R' +98 "core" ' +47 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&|(r +162 "core" ( + "manipulator"&5& +4 "core" &u \  *  +2 "storage"(H& +3 "core" &[ \ \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&='{ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&M1 +64 "core" 1 +3 "manipulator"&h% +3 "core" % ·   v +2 "storage"(& +4 "core" &[ ^\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&L'ϳ +14 "core" ' +2 "manipulator"&q& +3 "core" &u H  +2 "storage"(W& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&,'= +16 "core" ' +2 "storage"(s% +3 "core" % e\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 ( % +3 "core" %hD \ Yl +2 "manipulator"&3% +4 "core" %7 V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'\ & +3 "core" & \ +2 "manipulator"&B% +3 "core" %     +2 "storage"(]% +5 "core" % \  + "storage"(J. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(1(<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +3 "core" &<0 \ +2 "manipulator"&^& +4 "core" &u    +2 .tElbow.seek 5 + "manipulator"&9( +38 "core" ( +2 "manipulator"&S& +4 "core" &     +2 "storage"(a& +3 "core" &<0 `\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +93 "core" ' +2 "storage"(n& +3 "core" &<0 ?\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" &<. b\ +2 "manipulator"&y& +4 "core" & )  +3 .tElbow.seek 5 + "manipulator"&p( +4 "core" ( +2 "manipulator"&X& +3 "core" &  ;  +2 "storage"(w& +3 "core" &<. \ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&c'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& +2 "storage"(' +8 "core" & D  + "manipulator"&% +5 "core" % ϴ L +2 .tForearm.seek :retract + "manipulator"&{' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +153 "core" ( + "manipulator"&& +4 "core" &%   >H + ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +5 & & +3 "core" &%   u >H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 "manipulator"&& +3 "core" &Ӏ$   e =G +2 "manipulator"&% +3 "core" %9   6 +3 "collection"'l& +3 "core" & \ +3 "collection"'!& +53 "core" &  \ +3 .tCC.seek :closed +2 "collection"' (\\ +4 "core" & \ +4 &  \ ; +10 &HIr \ 1 +9 &vsy \ \ E +9 &W \ M +10 &M \ L +9 &Q \ M +9 &eQ \ M +10 &'M \ M +9 &L \ L +10 &O \ L +9 &oO \ L +9 &!/R \ M +10 &"P \ M +9 &$N \ L +9 &&vO \ L +10 &(7S \ M +9 &)R \ L +10 &+M \ M +9 &-~M \ L +9 &/@O \ L +10 &1P \ L +9 &2R \ M +9 &4N \ M +10 &6GS \ M +9 &8 T \ M +10 &9R \ M +9 &;O \ L +9 &=OR \ M +10 &?R \ M +9 &@O \ L +9 &BS \ M +10 &DT\\ \ N +9 &Fd \ O +10 &Go \ Q +9 &I\  \ U +9 &K=\ \ \ X +10 &L\ \ \ Y +9 &N\ \ \ Z +9 &P\ \ \ Z +10 &R>\ \ \ [ +9 &S\ \ \ [ +10 &U\ \ \ \\ +9 &W}\ \ ] +9 &Y<\ \ \ ^ +10 &Z\ \ \ ^ +9 &\\]P\ \ 6 +9 &\\ \ \ _ +6 ( + "collection"'!& +4 "core" &\\ \ _ +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"&#% +5 "core" % 9    6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%.& +3 "core" &\ r +3 "manipulator"&% +3 "core" %     +2 "storage"($% +5 "core" % F\ r + "storage"(K. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" &<- \ n +2 "manipulator"&& +3 "core" &ӫ   8 +2 "manipulator"&o% +4 "core" %    n  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&/( +156 "core" ( + "manipulator"&u& +4 "core" &  Z +2 "storage"(V& +3 "core" &<- \ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +98 "core" ' +3 "storage"("& +2 "Can"\ R#% +3 "core" &<- \ { +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +299 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (d& +2 "core" &<- \ v +2 "manipulator"&& +4 "core" &  6 +2 .tElbow.seek 5 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(& +4 "core" &<- \ z +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&_& + "storage"(F' +8 "core" & \ y + "manipulator"&&% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&x' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&& +4 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Y' +93 "core" ' +2 "manipulator"&I& +3 "core" &    +2 "manipulator"&v% +4 "core" %   9 K +2 "processing"%i& +4 "core" &\ { +3 "processing"%b& +4 "core" &\ { +2 .tPC.seek :closed +2 "processing"%D(^ +5 "core" &\ { +9 &/s\ k*y +9 &bz\ g? +10 &jl\ iP +9 &+N\ pP +10 &N\ nP +9 &L\ oP +9 &rO\ oP +10 &3Q\ nP +9 &O\ oP +9 &R\ nP +10 & zO\ oP +9 &";R\ nP +10 &#O\ oP +9 &%N\ oO +9 &'O\ nP +10 &)DO\ nP +9 &+Q\ nP +9 &,P\ oP +10 &.Q\ nP +9 &0LN\ oP +10 &2P\ oP +9 &3P\ oP +9 &5Q\ oP +10 &7UN\ oO +9 &9P\ nP +9 &:Q\ mP +10 &<O\ nP +9 &>\\R\ nP +10 &@R\ nP +52 &AY\ jQ +4 &C]\ iR + &E\\b\ hR + &Gm\ fT + &H}\ cV + &J\ cV +5 &LW\ cW +10 &N\ cW +9 &O\ eW +9 &Q\ bX +10 &S]\ cX +9 &U\ bX +9 &V\ cX +10 &X\ cX +9 &Zc\ bX +10 &\\%\ bX +9 &]t\ g; +9 &^1\ dU +10 &^\ t/ +2 ( +2 "processing"%b& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&U1 +63 "core" 1 +2 "manipulator"&%% +4 "core" %    U K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +2 "processing"%O& +4 "core" &^\ q/ +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&(% +3 "core" %    j  +3 "storage"(}% +3 "core" % \ q +2 "storage"(+. +3 "core" .(<- +2 "storage"(<& +3 "core" &<- %\ q +3 "storage"(t& +3 "manipulator"&:& +6 "core" &<- S\ q + &    +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(A'r + "manipulator"&P( +7 "core" ( + "manipulator"&& +3 "core" &   X  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &   U  +2 .tForearm.seek PC +2 "manipulator"&6' +95 "core" ' + .tHand.close +2 "manipulator"&Q/ +69 "core" / +2 .tPC.seek :open + "processing"% ( +81 "core" ' +2 "storage"(z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'1 +42 "core" ' +323 ( +2 "storage"('& +4 "core" &<, 9\ s + "manipulator"&?& +4 "core" &    +2 "manipulator"&E% +4 "core" %      +2 .tForearm.seek :retract +2 "manipulator"&\\' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&N( +245 "core" ( + "manipulator"&*& +4 "core" &   = +2 "storage"(& +3 "core" &<, K\ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +91 "core" ' + .tHand.open +2 "manipulator"&-1 +62 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(5' +58 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(& +3 "core" &<, 2\  +2 "manipulator"&M& +4 "core" &  \  = +2 .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&& +4 "core" &   E = +2 "storage"(q& +3 "core" &<, R\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&W'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(s'" +60 "core" ' +2 "manipulator"&R& +4 "core" &    = + "storage"( & +4 "core" &<, s\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&3'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(=' +22 "core" ' + "manipulator"&\ % +4 "core" %΋   h +2 "storage"(B& +4 "core" &<, k\ o +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 298 counts +48 "manipulator"&L'Ϸ +15 "core" ' + "manipulator"&]& +4 "core" & & ' +2 "storage"(J& +3 "core" &<, r\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +16 "core" ' + "storage"(,% +4 "core" % |\ w +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (;% +4 "core" %H 3\ mZq +2 "manipulator"&g% +4 "core" %A    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (S& +3 "core" &<, 7\ u +3 "collection"'a& +4 "core" &\\ \ _ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&n% +3 "core" %     +3 "storage"([% +3 "core" % ^\ v +2 "storage"(G. +3 "core" .(<- +2 "storage"(& +3 "core" &<, n\ w +2 "storage"( & +4 "core" &<, \\\ v +2 "manipulator"&y& +4 "core" &   C ' +2 .tElbow.seek 5 + "manipulator"&X( +24 "core" ( +2 "manipulator"&w& +3 "core" &  \   +3 "storage"(& +4 "core" &<, d\ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +93 "core" ' +2 "storage"(& +3 "core" &<, \ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +305 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" &  \  +2 "storage"( & +4 "core" &<, \ v + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&m'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('s +30 "core" ' + "manipulator"&l% +4 "core" %΅    +2 "storage"(p& +3 "core" &<, $\ w +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&'ϱ +13 "core" ' +2 "manipulator"&{& +3 "core" &    +2 "storage"(0& +4 "core" &<, ,\ | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(#' +36 "core" ' +2 "manipulator"&.& +3 "core" & l  +3 "manipulator"&% +4 "core" %6 \ Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&K(ӂ +158 "core" ( + "manipulator"&!& +3 "core" &ӏ#   Q <; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &~& +2 "core" &ӏ#  J <; +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close + "manipulator"&o/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "storage"(u& +3 "core" &<, \ +2 "storage"(V& +4 "core" &<, \ +2 "manipulator"&1& +4 "core" &ӭ  n 8 +2 "manipulator"&"% +3 "core" % 6   { & +3 .tForearm.seek :retract + "manipulator"&>' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&f( +165 "core" ( +2 "manipulator"&r& +3 "core" &   !  +2 "storage"(d& +45 "core" &<, \ +9 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&8% +3 "core" % Λ   +2 "storage"(_& +4 "core" &<, }\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&&' +22 "core" ' + "manipulator"&/& +5 "core" & "  + "storage"(j& +4 "core" &<, \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +20 "core" ' + "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (7% +2 "core" %lA \ Yk +3 "manipulator"&e% +4 "core" %Q A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +96 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'v& +3 "core" & \ +2 "manipulator"&i% +5 "core" % !    , +2 "storage"(F% +4 "core" % .\  + "storage"(x. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(k(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &K \ +2 "manipulator"&%& +4 "core" &   <  +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&(& +3 "core" &    +2 "storage"(}& +4 "core" &K [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&+' +94 "core" ' +2 "storage"(<& +3 "core" &K \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +297 "core" ' +2 "storage"(t- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &K <\ +2 "manipulator"&& +3 "core" &  e  +3 .tElbow.seek 6 + "manipulator"&Z( +4 "core" ( +2 "manipulator"&Y& +3 "core" &    +2 "storage"(Q& +4 "core" &K 4\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&z'h +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +4 "storage"(D' +4 "core" & >  +2 "manipulator"&A% +5 "core" % c " +2 .tForearm.seek :retract +2 "manipulator"&'' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&E& +3 "core" &ӄ&   ?Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &ӄ&   ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&*'? +95 "core" ' +2 "manipulator"&& +3 "core" &ӥ   ) :0 +3 "manipulator"&P% +3 "core" %I    +3 "collection"'-& +3 "core" & #\ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'H(\\ +5 "core" & \ +6 &? \ %g +10 &Xu  \ 8 +9 &p \ L +9 &L \ M +10 &M \ M +9 &DL \ M +10 &M \ M +51 &Q \ M +3 &Q \ M +2 &LQ  \ M + & P \ M + &!O \ M + &#M \ M +6 &%TL \ M +10 &'L \ L +9 &(O \ M +9 &*O \ M +10 &,\\L \ M +9 &.L \ L +9 &/N \ M +10 &1R \ M +9 &3dR \ M +10 &5&R \ M +9 &6N \ M +9 &8M \ M +10 &:mO \ L +9 &<.L \ M +9 &=M \ M +10 &?N \ M +9 &AuQ \ L +10 &C4U \ M +9 &D\\ \ N +9 &Ff \ P +10 &Hly \ R +9 &J!\ \ \ W +9 &K\ \ \ Y +10 &M\ \ \ Z +9 &O\\\ \ \ Z +10 &Q\ \ \ [\ +9 &R\ \ \ \\ +9 &T\ \ \ \\ +10 &V[\ \ \ ] +9 &X\ \ \ ^ +9 &Y\ \ \ ^ +10 &[ \ \ ~L +9 &\\3\ \ \ 2 +10 &\\z \ V +2 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.30 + .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&M% +4 "core" % I   1  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%q& +5 "core" &\ s + "manipulator"&\\% +5 "core" % !   $ + "storage"(R% +4 "core" % \ s +2 "storage"( . +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(\ (K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &K M S ^\ h +2 "manipulator"&B& +4 "core" &ӫ   C :* +2 "manipulator"&% +3 "core" % !   $ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&]( +163 "core" ( +2 "manipulator"&J& +4 "core" &   L  +2 "storage"(,& +4 "core" &K \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +99 "core" ' +2 "storage"(`& +3 "core" &K e p z\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'r +296 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &K ?\ v +2 "manipulator"&W& +4 "core" &  \   +2 .tElbow.seek 6 +2 "manipulator"&h( +4 "core" ( + "manipulator"&s& +4 "core" &   F  +2 "storage"(3& +3 "core" &K }\ x +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&L'h +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&a& +3 "storage"(n' +8 "core" &    + "manipulator"&[% +4 "core" % ^ \ ( +2 .tForearm.seek :retract +2 "manipulator"&G' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&=( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&& +3 "core" &   ] * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +4 "core" &    * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&y' +103 "core" ' +2 "manipulator"&w& +3 "core" &  \ r * +3 "manipulator"&% +3 "core" %  +2 "processing"%2& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%(^ +4 "core" &\ +5 &\ 3 +10 &1Fu\ n1 +9 &Xpz\ lE +9 &_\ qQ +10 &O\ tP +9 &xM\ tP +10 &<M\ uO +9 &N\ tP +9 &Q\ tP +10 &R\ tP +9 &CM\ uP +9 &!N\ tP +10 &"P\ tP +9 &$N\ uP +10 &&LN\ uO +9 &( O\ tP +9 &)N\ uO +10 &+O\ tP +9 &-SN\ uP +9 &/O\ uO +10 &0M\ tP +9 &2Q\ rP +10 &4\\O\ tO +9 &6O\ tP +9 &7P\ tP +10 &9R\ sP +9 &;cO\ tP +9 &=%O\ tP +10 &>R\ sP +9 &@Q\ tP +10 &BhU\ sQ +9 &D(Y\ rQ +9 &E`\ qR +10 &Gm\ oS +9 &Ib{\ lV +9 &K!\ jW +10 &L\ kW +9 &N\ hX +10 &Pe\ iW +9 &R&\ hW +9 &S\ hX +10 &U\ iX +9 &Wl\ hX +9 &Y0\ iW +10 &Z\ hX +9 &\\\ gX +10 &^,^n\ o6 +9 &^E\ t+ +5 ( +2 "processing"%& +51 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.63 +4 .Hand.open + "manipulator"&|1 +2 "core" &^\ y+ +62 1 + "manipulator"&^% +3 "core" %    7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@' +94 "core" ' +2 "processing"%& +4 "core" &^\ s+ +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"& % +4 "core" % #   3 +2 "storage"(% +3 "core" % \ s +2 "storage"(l. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(p(K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ({& +2 "manipulator"&0& +4 "core" &K O x ,\ r +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   * +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(.'r + "manipulator"&( +6 "core" ( +2 "manipulator"&)& +3 "core" &   * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &   = * +3 .tForearm.seek PC + "manipulator"&9' +95 "core" ' + .tHand.close +2 "manipulator"&m/ +66 "core" / +2 .tPC.seek :open + "processing"%( +82 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'1 +52 "core" ' +309 ( +2 "storage"(~& +3 "core" &K &\ w +2 "manipulator"&& +3 "core" &   D * +3 "manipulator"&c% +4 "core" %   H  +2 .tForearm.seek :retract +2 "manipulator"&o' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&$( +243 "core" ( + "manipulator"& & +4 "core" &    +2 "storage"(u& +3 "core" &K I\ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&V' +95 "core" ' + .tHand.open +2 "manipulator"&11 +58 "core" 1 +3 "storage"("- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(r' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(d' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(K& +4 "core" &K  M\ , + "manipulator"&& +4 "core" & \   +2 .tElbow.seek 6 +2 "manipulator"&8( +9 "core" ( + "manipulator"&_& +4 "core" &  2  +2 "storage"(/& +3 "core" &K  %\ + +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +59 "core" ' +2 "manipulator"&>& +4 "core" &   #  + "storage"(7& +4 "core" &K \ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&e'< +21 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&v% +4 "core" %F   K +2 "storage"(&& +3 "core" &K H\ u +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&i'r +14 "core" ' + "manipulator"&F& +45 "core" &  .  +8 "storage"(x& +5 "core" &K \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +15 "core" ' + "storage"(4% +5 "core" % f\ { +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %N U\ p[s +2 "manipulator"&U% +5 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 ((& +3 "core" &K ~\ x +3 "collection"'}& +4 "core" &\\n \ V +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&<% +4 "core" %      +2 "storage"(% +3 "core" % \ z +2 "storage"(I. +4 "core" .(K + "storage"(t& +5 "core" &K \ z + "storage"(:& +4 "core" &K \ { +2 "manipulator"&& +3 "core" &    +3 .tElbow.seek 6 + "manipulator"&Y( +9 "core" ( +2 "manipulator"&Q& +3 "core" &   +3 "storage"(& +74 "core" &K\ \  N\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +107 "core" ' +2 "storage"(A& +3 "core" &K J \\ ]\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +295 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" &   *  +2 "storage"(6& +4 "core" &K &\ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&b'< +19 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(P'h +30 "core" ' + "manipulator"&-% +3 "core" %K   "  +2 "storage"(Z& +4 "core" &K G\ x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&D'w +15 "core" ' + "manipulator"&'& +4 "core" & t  +2 "storage"(& +4 "core" &K @\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(M' +34 "core" ' +2 "manipulator"&q& +4 "core" & M  +2 "manipulator"&\\% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +151 "core" ( + "manipulator"&& +4 "core" &{%   B >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &{%  R >L +2 .tForearm.seek CC +2 "manipulator"&B'? +97 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"'*( +451 "core" ( +3 "storage"(J& +3 "core" &K b\  +2 "storage"(,& +3 "core" &K V\  +3 "manipulator"&k& +3 "core" &ӽ    5\ +2 "manipulator"&`% +4 "core" % , \  +2 .tForearm.seek :retract +2 "manipulator"&?' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&;& +3 "core" &    +2 "storage"(g& +4 "core" &K 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +43 .tForearm.seek 6 +9 "manipulator"&W'< +97 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&31 +60 "core" 1 +2 "manipulator"&S% +5 "core" % C    + "storage"(a& +4 "core" &K 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&['o +13 "core" ' +2 "manipulator"&]& +4 "core" & H  + "storage"(N& +4 "core" &K D\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&5' +16 "core" ' +2 "storage"(L% +3 "core" %\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ( % +3 "core" %D \ Yl +2 "manipulator"&h% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +3 "core" & \ +3 "manipulator"&2% +3 "core" %    +2 "storage"(n% +5 "core" % q\  + "storage"(G. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"( ([ +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (|& +3 "core" &[ O\ +2 "manipulator"&^& +4 "core" &     +2 .tElbow.seek 7 +2 "manipulator"&(r +34 "core" ( +2 "manipulator"& & +3 "core" &   $  +2 "storage"(& +4 "core" &[ f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&l'= +97 "core" ' +2 "storage"(& +3 "core" &[ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +298 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &[ *\  +2 "manipulator"&X& +5 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&y(r +20 "core" ( +2 "manipulator"&m& +3 "core" &r  9 y +2 "storage"(\ & +3 "core" &[ \  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"(' +8 "core" &r > y +2 "manipulator"&.% +3 "core" %  ~ +3 .tForearm.seek :retract +2 "manipulator"&~' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&c& +4 "core" &ӑ!   9 :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &ӑ  :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +93 "core" ' +2 "manipulator"&u& +4 "core" &ӑ!   z :+ +2 "manipulator"&% +3 "core" %G   1 +3 "collection"'1& +3 "core" & #\ +3 "collection"'"& +5 "core" & (\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +6 &1 \ $e +9 &Vs \ 7 +10 &s \ L +9 &M \ L +9 &gO \ L +10 &)N \ L +9 &N \ L +9 &L \ M +10 &oL \ L +9 &0N \ M +10 &Q \ L +9 &!O \ L +9 &#uQ  \ M +10 &%8L \ M +51 &&L \ M +3 &(L \ M +2 &*~K \ M + &,@L \ M + &.L \ M + &/M \ M +6 &1O  \ L +10 &3HO \ M +9 &5\ Q \ M +10 &6L \ M +9 &8N \ \ L +9 &:PO \ M +10 &<R \ M +9 &=M  \ M +9 &?O \ L +10 &AXQ \ M +9 &CS \ M +9 &D_ \ O +10 &Fc \ O +9 &HO~ \ R +10 &J\ \  \ V +9 &K\ \ \ Z +9 &M~\ \ \ Z +10 &O?\ \ \ \ [ +9 &Q\ \ \ \ Z +9 &R\ \ \ ] +10 &T~\ \ \ ] +9 &V@\ \ \ ] +10 &X\ \ \ ] +9 &Y\ \ \ _ +9 &[\ \ \ L +10 &\\7\ \ \ 2 +9 &\\\ \ \ \ Z +5 ( +2 "collection"'"& +4 "core" &\\x \ Z +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 +2 .Hand.open + "manipulator"&K1 +60 "core" 1 + "manipulator"&% +4 "core" % G   a 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%/& +3 "core" &\ t +2 "manipulator"&o% +4 "core" %     +2 "storage"(>% +4 "core" % _\ t +2 "storage"(7. +3 "core" .([ +2 "storage"(v& +3 "core" &[ {\ t +2 "storage"(&& +5 "core" &[ o\ t + "manipulator"&!& +4 "core" &ө   X 6 +2 "manipulator"&F% +3 "core" %    Q  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&r(r +162 "core" ( + "manipulator"&x& +3 "core" &u  8  +3 "storage"(4& +4 "core" &[ m\ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&$'= +94 "core" ' + "storage"(V& +4 "core" &[ ^ I\ ~ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'r +295 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (U& +2 "core" &[ y\ u +2 "manipulator"&j& +4 "core" &u    +2 .tElbow.seek 7 +2 "manipulator"&8(r +3 "core" ( +2 "manipulator"&& +4 "core" &u  t  +2 "storage"(e& +3 "core" &[ I\ w +3 .tForearm.seek 7 + 300 counts + "manipulator"&('ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(<' +8 "core" &u  l  +2 "manipulator"&% +3 "core" % Ͻ  \ S +3 .tForearm.seek :retract + "manipulator"&I' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&t& +3 "core" &  \  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' +2 "manipulator"&Q& +3 "core" &   +2 "manipulator"&% +4 "core" %   +2 "processing"%#& +4 "core" &\ { +3 "processing"%A& +5 "core" &\ z +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ { +7 &4\ u$c +9 &Tu\ h7 +9 &|u\ gL +10 &S\ mP +9 &NL\ oP +9 &L\ oP +10 &P\ oP +9 &M\ oP +9 &WM\ oP +10 &O\ oP +9 &O\ nP +10 &!K\ oP +9 &#_N\ mP +9 &%!O\ oP +10 &&O\ nP +9 &(P\ nP +10 &*gN\ oP +9 &,)O\ nP +9 &-N\ oP +10 &/O\ oP +9 &1pL\ oP +9 &33M\ oO +10 &4M\ oP +9 &6N\ mP +9 &8xO\ nP +10 &:;N\ nO +9 &;P\ nP +10 &=O\ nP +9 &?~M\ nP +9 &A@R\ mP +10 &CY\ lQ +9 &DZ\ lR +10 &Fg\ jS +9 &H=u\ gT +9 &I\ dV +10 &K\ dV +9 &M{\ dW +9 &O=\ cW +10 &P\ bX +9 &R\ cW +9 &T\ aX +10 &VD\ bW +9 &X\ aW +10 &Y\ bX +9 &[\ aX +9 &]I\ aL +10 &^|O\ `#k +9 &^ \ s- +2 ( +2 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&f1 +58 "core" 1 + "manipulator"&%% +4 "core" %    =  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tForearm.seek :retract +4 "manipulator"&+' +93 "core" ' +2 "processing"%E& +4 "core" &^\ q- +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&6% +4 "core" % $   ( +2 "storage"(% +3 "core" % k\ q +2 "storage"(-. +3 "core" .([ +2 "storage"(Z& +3 "core" &[ P\ q +3 "storage"('& +2 "manipulator"&& +6 "core" &[ w\ r +2 &  \ b +5 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(q'r + "manipulator"&\\( +7 "core" ( + "manipulator"&T& +5 "core" &   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &   % +3 .tForearm.seek PC +2 "manipulator"&O' +93 "core" ' +2 .tHand.close +2 "manipulator"&b/ +66 "core" / +2 .tPC.seek :open +2 "processing"%D( +82 "core" ' + "storage"(P- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +54 "core" ' +307 ( +2 "storage"(C& +4 "core" &[ <\ v + "manipulator"&& +4 "core" &   +2 "manipulator"&z% +4 "core" %     : +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&R(r +253 "core" ( + "manipulator"&H& +3 "core" &z   l \ +3 "storage"(J& +4 "core" &[ \ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&,'= +91 "core" ' +2 .tHand.open + "manipulator"&k1 +61 "core" 1 +3 "storage"(`- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(;' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(g' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(B- +3 "core" -' +2 "storage"( & +3 "core" &[ |\ + +3 "manipulator"&3& +3 "core" &z   Q \ +2 .tElbow.seek 7 +2 "manipulator"&S(r +4 "core" ( + "manipulator"&a& +4 "core" &z   \ +2 "storage"(]& +4 "core" &[  J\ , +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&N'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(L'" +50 "core" ' +2 "manipulator"&?& +3 "core" &z   $ \ +2 "storage"( & +4 "core" &[ k\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&h'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(W' +26 "core" ' +2 "manipulator"&% +3 "core" %΍ '  / +2 "storage"(2& +4 "core" &[ o m 7\ k +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts + "manipulator"&['Ϲ +14 "core" ' +2 "manipulator"&n& +3 "core" &z 8 \ +3 "storage"(G& +3 "core" &[ \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&M'= +18 "core" ' + "storage"(5% +5 "core" % Q\ { +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (p% +10 "core" %<? \ oZq +2 "manipulator"&|% +5 "core" %=   b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &[ \ y +3 "collection"'& +4 "core" &\\x \ \ Z +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %  \    +2 "storage"(s% +4 "core" % \ { +2 "storage"(w. +3 "core" .([ +2 "storage"(0& +4 "core" &[ \ { +2 "storage"()& +3 "core" &[ \ { +2 "manipulator"&X& +3 "core" &z   \ +3 .tElbow.seek 7 + "manipulator"&m(r +4 "core" ( +2 "manipulator"&\ & +4 "core" &z   ( \ +2 "storage"(=& +3 "core" &[ \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'= +94 "core" ' +2 "storage"(.& +4 "core" &[ m :\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(l- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +3 "core" &z \   \ +2 "storage"(9& +4 "core" &[ Z\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&{'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(u- +4 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +28 "core" ' +2 "manipulator"&1% +4 "core" %Ύ     +2 "storage"(y& +4 "core" &[ \ o +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +14 "core" ' + "manipulator"&~& +4 "core" &z E \ +2 "storage"(*& +4 "core" &[ \  \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&/& +3 "core" &z  6 \ +3 "manipulator"&o% +4 "core" %5  \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +153 "core" ( +2 "manipulator"&v& +3 "core" &Ӎ!   I :- +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +3 "core" &ӎ!   :, +2 .tForearm.seek CC +2 "manipulator"&&'? +94 "core" ' +2 .tHand.close + "manipulator"&!/ +56 "core" / +2 .tCC.seek :open +2 "collection"'F( +451 "core" ( +2 "storage"( & +3 "core" &[ \  +2 "storage"(x& +4 "core" &[ (\  +2 "manipulator"&4& +4 "core" &Ӵ   u 5 +2 "manipulator"&V% +4 "core" % F   +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&_(r +161 "core" ( +2 "manipulator"&& +4 "core" &q   .  +2 "storage"(U& +4 "core" &[ 2\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&j'{ +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&e1 +59 "core" 1 +2 "manipulator"&i% +48 "core" % Έ    +6 "storage"(}& +3 "core" &[ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 313 counts + "manipulator"&'ϴ +14 "core" ' +2 "manipulator"&r& +4 "core" &q  +2 "storage"($& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'= +18 "core" ' +2 "storage"((% +3 "core" % "\ +3 ."downElevator"SE.seek :down +3 "storage"(t' +100 (:% +2 "core" %n@ \ Yk +2 "manipulator"&8% +4 "core" %; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q' +97 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" &  \ +2 "manipulator"&#% +5 "core" %  +2 "storage"(<% +4 "core" %\  + "storage"(I. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +669 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &<0 s\ +2 "manipulator"&%& +4 "core" &q Z  +2 .tElbow.seek 5 +2 "manipulator"&A( +23 "core" ( +2 "manipulator"&E& +4 "core" &   + "storage"(6& +5 "core" &<0 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' + "storage"(-& +4 "core" &<0 9\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +298 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &<. ;\ +2 "manipulator"&T& +4 "core" & V  + .tElbow.seek 5 +2 "manipulator"&Y( +23 "core" ( +2 "manipulator"&& +3 "core" & P +3 "storage"(b& +4 "core" &<. 3\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&P'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&+& +2 "storage"(' +6 "core" & m +3 "manipulator"&q% +3 "core" % ϯ 0 +3 .tForearm.seek :retract + "manipulator"&C' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( +2 "manipulator"&z& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &ӊ%   K >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &ӊ%   >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'? +93 "core" ' +2 "manipulator"&J& +5 "core" &Ӌ%   8 >M +2 "manipulator"&\\% +3 "core" %8   8 +2 "collection"'k& +5 "core" & *\ +2 "collection"'`& +5 "core" & )\ +2 .tCC.seek :closed +3 "collection"'B(\\ +4 "core" & (\ +6 & (\ 7 +9 &9Hr \ 0 +9 &ery \ E +10 &\ T \ M +9 &N \ M +9 &R \ M +10 &RM \ M +9 &M \ M +9 &N \ M +10 &O \ L +9 &ZN \ M +10 &!N \ L +9 &"Q \ M +9 &$N \ L +10 &&aR \ M +9 &($N \ M +9 &)L \ M +10 &+L \ L +9 &-jP \ M +10 &/,M \ M +9 &0N \ L +9 &2O \ M +10 &4rR \ M +9 &64N \ M +9 &7O  \ L +10 &9P \ M +9 &;zR \ \ M +10 &=<M \ M +9 &>N  \ L +9 &@O  \ M +10 &BU \ M +9 &D@Z \ N +9 &Ed \ O +10 &Gq \ Q +9 &Is\  \ U +10 &K(\ \ \ Y +9 &L\ \ \ Z +9 &N\ \ \ [ +10 &Pj\ \ \ Z +9 &R*\ \ \ [\ +9 &S\ \ \ ] +10 &U\ \ \ ] +9 &Wh\ \ \ ^ +10 &Y)\ \ \ ^ +56 &Z\ \ \ _ +6 &\\S[\ \ \ / +2 &\\% \ [ +2 ( + &\\r \ S + &\\q \ S + &\\q \ S + &\\r \ S +2 "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"& 1 +2 "core" &\\r \ S +53 1 +2 "manipulator"&3% +3 "core" % 8   U 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%]& +3 "core" &\ w +3 "manipulator"&% +3 "core" %     +2 "storage"(?% +4 "core" % [\ w +2 "storage"( . +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &<* \ u +2 "manipulator"&& +4 "core" &Ӯ   :* +2 "manipulator"&n% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&G( +162 "core" ( +2 "manipulator"&;& +3 "core" &   +3 "storage"(5& +96 "core" &<* o o \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +96 "core" ' + "storage"(,& +4 "core" &<* [ ` e\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +300 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &<* \ s +2 "manipulator"&N& +3 "core" &     +3 .tElbow.seek 5 + "manipulator"&S( +4 "core" ( +2 "manipulator"&L& +4 "core" &    +2 "storage"(h& +4 "core" &<* ]\ v +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&['Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  ?  +2 "manipulator"&s% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&0& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &)& +2 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X' +99 "core" ' +2 "manipulator"&\ & +4 "core" &   +2 "manipulator"&=% +4 "core" %   % +2 "processing"%M& +4 "core" &\ { +3 "processing"%.& +5 "core" &\ { +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ { +8 &2v\ k)w +9 &ay\ h> +10 &dk\ hO +9 &#M\ pP +10 &K\ qP +9 &K\ pP +9 &jM\ pP +10 &-N\ oO +9 &N\ pP +9 &Q\ oP +10 & rM\ pP +9 &"5N\ pO +10 &#O\ oP +9 &%L\ oP +9 &'zO\ pP +10 &);R\ oP +9 &*O\ oP +9 &,R\ oP +10 &.L\ pP +9 &0DN\ oP +10 &2P\ oP +9 &3P\ oP +9 &5O\ pP +10 &7LP\ oP +9 &9 O\ oP +9 &:O\ oP +10 &<O\ pP +9 &>TR\ oP +10 &@R\ oP +9 &AU\ nQ +9 &C^\ mR +10 &EVb\ lR +9 &Gn\ iT +9 &H\ fV +10 &J\ dV +9 &LQ\ fV +10 &N\ eW +9 &O\ eW +9 &Q\ cX +10 &ST\ cX +9 &U\ cX +9 &V\ bX +10 &X\ dX +9 &Z[\ bX +10 &\\\ cX +9 &]\ f8 +9 &^*h\ j\\ +10 &^%\ t4 +2 ( +2 "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&^% +3 "core" %   5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +93 "core" ' + "processing"%c& +4 "core" &^&\ q4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&9% +50 "core" %    k  +4 "storage"(u% +4 "core" % u\ r +2 "storage"(1. +3 "core" .(<- +2 "storage"(y& +3 "core" &<* D\ r +3 "storage"(~& +2 "manipulator"&*& +7 "core" &<* O\ r + &   +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&/( +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(o'r +2 "core" ( +3 "manipulator"&@& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&{/ +71 "core" / +2 .tPC.seek :open + "processing"%( +83 "core" ' + "storage"(- +3 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'1 +53 "core" ' +307 ( + "storage"("& +4 "core" &<* \ x +2 "manipulator"&K& +4 "core" &    +2 "manipulator"&% +4 "core" %    + @ +2 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&>( +239 "core" ( + "manipulator"&& +4 "core" &   . +2 "storage"( & +3 "core" &<* \ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +92 "core" ' +2 .tHand.open + "manipulator"&41 +53 "core" 1 +3 "storage"(V- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(U' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(7& +4 "core" &<* n\ & +2 "manipulator"&e& +3 "core" &   ? - +2 .tElbow.seek 5 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&}& +3 "core" &   J - +2 "storage"(r& +4 "core" &<* \ & +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(('" +58 "core" ' +2 "manipulator"&& +3 "core" &   - +3 "storage"(_& +3 "core" &<* c\ w +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&:'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(j' +29 "core" ' + "manipulator"&% +4 "core" %Π h +2 "storage"(& +4 "core" &<* Y\ s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&#' +25 "core" ' +2 "manipulator"&<& +4 "core" & \  | , +2 "storage"(I& +3 "core" &<* ~\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +2 "storage"(d% +3 "core" % r\ z +3 ."downElevator"SE.seek :down +4 "storage"(t' +98 ( % +3 "core" %N :\ n[s +2 "manipulator"&f% +4 "core" %H   : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +133 "core" ' +19 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &<* 2\ w +3 "collection"'6& +4 "core" &\\q \ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&-% +4 "core" % !  & +2 "storage"(% +3 "core" % \ y +2 "storage"(Q. +4 "core" .(<- + "storage"('& +5 "core" &<* \ z + "storage"(& +4 "core" &<* a\ y +2 "manipulator"&T& +4 "core" & \  , +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&b& +3 "core" &   2 , +2 "storage"(& +5 "core" &<* \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&+'O +92 "core" ' + "storage"(q& +4 "core" &<* c ] g\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(A'r +299 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" &   , +2 "storage"(O& +3 "core" &<* G\ z +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Z'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(\\'t +29 "core" ' +2 "manipulator"&k% +3 "core" %Α \ ( +2 "storage"(Y& +4 "core" &<* Y\ x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&'Ͻ +14 "core" ' +2 "manipulator"&C& +4 "core" &  + +2 "storage"(F& +3 "core" &<*\ \ )\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(3' +47 "core" ' +2 "manipulator"&]& +3 "core" &   C + +3 "manipulator"&% +4 "core" %< \  = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +160 "core" ( +2 "manipulator"&`& +3 "core" &Ӛ   } 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &Ӛ   6 +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&n/ +62 "core" / +2 .tCC.seek :open +2 "collection"'H( +451 "core" ( +2 "storage"(;& +3 "core" &<* \ +2 "storage"(5& +4 "core" &<* \ +2 "manipulator"&& +3 "core" &ӡ   5 +2 "manipulator"&% +5 "core" % G   F  +2 .tForearm.seek :retract + "manipulator"&,' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&a( +157 "core" ( +2 "manipulator"&p& +3 "core" & \  +3 "storage"(|& +4 "core" &<* \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&N'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +57 "core" 1 +2 "manipulator"& % +5 "core" % Ξ   I + "storage"(& +3 "core" &<* \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&s' +67 "core" ' +10 "manipulator"&G& +3 "core" & L  +2 "storage"(R& +4 "core" &<* \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +24 "core" ' +2 "storage"([% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(0' +100 ()% +2 "core" %D Q\ Yk +2 "manipulator"&S% +5 "core" %= \  H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +96 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'=& +4 "core" & "\ +2 "manipulator"&M% +5 "core" %   +2 "storage"(% +4 "core" % n\  +2 "storage"(w. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(D(K +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K \  +2 "manipulator"&^& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&c( +4 "core" ( +2 "manipulator"&9& +3 "core" &   +3 "storage"(.& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&u' +92 "core" ' +2 "storage"(1& +3 "core" &K l\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +313 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &K N\  +2 "manipulator"&@& +3 "core" & c  +3 .tElbow.seek 6 + "manipulator"&m( +4 "core" ( +2 "manipulator"&X& +3 "core" &  @  +2 "storage"({& +4 "core" &K \ \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&l& + "storage"(' +8 "core" & 6  + "manipulator"&o% +4 "core" % t ! +2 .tForearm.seek :retract +2 "manipulator"&"' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&K(ӂ +157 "core" ( +3 "manipulator"&& +2 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +3 "core" &ӏ   9$ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ   9$ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +101 "core" ' + "manipulator"& & +4 "core" &ӏ   T 9$ +2 "manipulator"&/% +4 "core" %C    +2 "collection"'4& +4 "core" & 4\ +2 "collection"'V& +5 "core" & &\ +2 .tCC.seek :closed +2 "collection"'&(\\ +5 "core" &  \ +7 & 1 \ $e +9 &Vu \ 7 +10 &s \ L +9 &Q \ M +9 &fN \ L +10 &(O \ L +9 &O \ L +9 &N \ L +10 &nO \ L +9 &0N \ L +10 &N \ L +9 &!O  \ L +9 &#tS \ M +10 &%7L \ M +9 &&M \ M +9 &(M \ M +10 &*}R \ M +9 &,?R \ M +10 &.R \ M +9 &/R \ \ M +9 &1S \ M +10 &3GR \ M +9 &5 R \ M +9 &6N \ M +10 &8N  \ M +9 &:PO \ L +10 &<O \ \ M +9 &=R  \ M +9 &?N \ M +10 &AWQ  \ M +9 &CT \ M +9 &D^ \ N +10 &Fd \ P +9 &HPx  \ R +10 &J\ \ \ \ V +9 &K\ \  \ Y +9 &M\ \ \ Z +10 &O@\ \ \ \ Z +9 &Q\ \ \ [ +9 &R\ \ \ [\ +10 &T\ \  \ \\ +9 &V@\ \ \ ] +10 &X\ \ \ ] +9 &Y\ \ \ ^ +9 &[\ \ \ L +10 &\\;\ \ \ , +9 &\\\ \ W +5 ( +2 "collection"'V& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&71 +2 "core" &\\ \ W +53 1 +48 "manipulator"&e% +6 "core" % C    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%r& +5 "core" &\ s + "manipulator"&!% +4 "core" %    +2 "storage"(% +4 "core" % \ s +2 "storage"(_. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +3 "core" &K 8 /\ c +2 "manipulator"&& +4 "core" &Ӭ   k 5 +2 "manipulator"&% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&<( +162 "core" ( +2 "manipulator"&I& +4 "core" &  +  + "storage"(d& +4 "core" &K \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +105 "core" ' +2 "storage"(x& +4 "core" &K 3\ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(U'r +301 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &K j\ x +2 "manipulator"&$& +4 "core" &   .  +2 .tElbow.seek 6 +2 "manipulator"&i( +13 "core" ( +2 "manipulator"&(& +3 "core" &  \ i  +2 "storage"(:& +4 "core" &K \ z +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&E'h +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&6& + "storage"(-' +8 "core" &   *  + "manipulator"&% +5 "core" % e   * s +2 .tForearm.seek :retract + "manipulator"&Q' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&j( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&'& +5 "core" & \   = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" & \ \  = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T' +103 "core" ' +2 "manipulator"&b& +3 "core" & T = +2 "manipulator"&% +4 "core" % I +2 "processing"%& +4 "core" &\ ~ +3 "processing"%q& +5 "core" &\ ~ +3 .tPC.seek :closed + "processing"%t(^ +5 "core" &\ } +6 & -\ x$c +10 &Ty\ j7 +9 &}v\ jL +9 &N\ rP +10 &TL\ sP +9 &I\ tO +10 &O\ rP +9 &L\ rP +9 &]L\ rO +10 &O\ qP +9 &Q\ qP +9 &!M\ rO +10 &#eN\ rO +9 &%&N\ rP +10 &&R\ qP +9 &(O\ sP +9 &*lQ\ rP +10 &,.L\ rP +9 &-M\ rO +9 &/O\ rP +10 &1tO\ rP +9 &36P\ rP +10 &4P\ rO +9 &6N\ qP +9 &8|Q\ qP +10 &:>L\ sP +9 &<O\ rP +9 &=O\ rO +10 &?Q\ rP +9 &ADQ\ rP +10 &CU\ pQ +9 &D[\ pQ +9 &Fb\ nR +10 &HAn\ lT +9 &I\ hV +9 &K\ hW +10 &M\ hW +9 &O@\ gW +10 &Q\ fX +9 &R\ gX +9 &T\ dX +10 &VH\ gW +9 &X\ \ fW +9 &Y\ eX +10 &[\ fX +9 &]M\ eL +9 &^P\ d#k +10 &^\ x* +2 ( +2 "processing"%q& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&81 +54 "core" 1 +2 "manipulator"&%% +3 "core" %    3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%z& +3 "core" &^\ r* +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&O% +4 "core" % !   & + "storage"(J% +4 "core" % F\ q +2 "storage"(k. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +48 .tSC.seek 6 +4 "storage"(Y(K +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +2 "manipulator"&F& +5 "core" &K & P _\ l +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   = +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(]'r + "manipulator"&( +27 "core" ( +2 "manipulator"&+& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&A' +95 "core" ' + .tHand.close + "manipulator"&Z/ +68 "core" / +2 .tPC.seek :open + "processing"%( +61 "core" ' + "storage"(\\- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(`'1 +44 "core" ' +338 ( +3 "storage"(2& +3 "core" &K _\ s +2 "manipulator"& & +4 "core" &  +2 "manipulator"&P% +3 "core" %     +3 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&?( +240 "core" ( + "manipulator"&B& +4 "core" &   ' +2 "storage"(;& +3 "core" &K p\ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&5' +104 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(p' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(|' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"( & +5 "core" &K x\ - + "manipulator"&h& +4 "core" &   & +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&& +4 "core" &   M & + "storage"(G& +4 "core" &K P\ - +3 .tForearm.seek 6 + 450 counts + "manipulator"&R' +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(,'" +52 "core" ' +2 "manipulator"&[& +3 "core" & \  & +2 "storage"(a& +5 "core" &K F\ t + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&)'< +19 "core" ' +2 .tElbow.hold + "manipulator"&S, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(N' +29 "core" ' +2 "manipulator"&=% +4 "core" %B   , + "storage"(s& +4 "core" &K E\ s +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&M'n +14 "core" ' +2 "manipulator"&& +3 "core" &    & +2 "storage"(w& +4 "core" &K y\ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&3' +16 "core" ' +2 "storage"(g% +3 "core" % [\ w +3 ."downElevator"SE.seek :down +3 "storage"(0' +100 (% +3 "core" %K p n h\ k[u +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +88 "core" ' +62 ' +9 ."downElevator"SE.stop + "storage"(5 +3 (9& +3 "core" &K }\ x +2 "collection"'.& +4 "core" &\\~ \ W +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&1% +3 "core" %     +2 "storage"(L% +4 "core" % A\ y +2 "storage"(\ . +4 "core" .(K + "storage"(*& +4 "core" &K \ y +2 "storage"(~& +4 "core" &K \ y +2 "manipulator"&@& +3 "core" &  \  & +3 .tElbow.seek 6 + "manipulator"&X( +4 "core" ( +2 "manipulator"&{& +3 "core" &   & +3 "storage"(W& +3 "core" &K \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&l' +102 "core" ' + "storage"(o& +4 "core" &K \  I\ | +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(c'r +305 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  \  & +2 "storage"(& +4 "core" &K \ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&y'< +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(/'h +30 "core" ' + "manipulator"&m% +5 "core" %C  F + "storage"(4& +3 "core" &K \ u +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 307 counts + "manipulator"&'o +13 "core" ' +2 "manipulator"&"& +3 "core" &  & +3 "storage"(H& +4 "core" &K g\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(e' +35 "core" ' +2 "manipulator"&V& +3 "core" &  & +2 "manipulator"&r% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&_& +3 "core" &Ӛ #  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &Ӛ   6 +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( +3 "storage"(I& +4 "core" &K \  + "storage"(d& +4 "core" &K T\  +2 "manipulator"&D& +3 "core" &ӣ  5\ +2 "manipulator"&x% +4 "core" % L   +2 .tForearm.seek :retract +2 "manipulator"&K' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&}( +164 "core" ( + "manipulator"& & +4 "core" & n  +2 "storage"(f& +3 "core" &K \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&$'< +93 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&:1 +60 "core" 1 +2 "manipulator"&#% +4 "core" % G    ' +2 "storage"(6& +3 "core" &K \  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 311 counts + "manipulator"&'s +13 "core" ' +2 "manipulator"&<& +50 "core" & >  +2 "storage"(>& +4 "core" &K ~\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +15 "core" ' +2 "storage"(E% +3 "core" % 7\ +3 ."downElevator"SE.seek :down +4 "storage"('' +98 (% +3 "core" %? +\ Yk +2 "manipulator"&i% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +4 "core" & )\ +2 "manipulator"&% +3 "core" %  \   +2 "storage"(-% +4 "core" % {\  +2 "storage"(Q. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &[ \ +2 "manipulator"&%& +4 "core" &   _  +2 .tElbow.seek 7 +2 "manipulator"&z(r +21 "core" ( +2 "manipulator"&O& +3 "core" &h   +2 "storage"(J& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&k'= +94 "core" ' +2 "storage"(q& +3 "core" &[ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +297 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &[ \ +2 "manipulator"&& +5 "core" &h + .tElbow.seek 7 +2 "manipulator"&T(r +3 "core" ( +2 "manipulator"&Z& +3 "core" &h a +3 "storage"(& +4 "core" &[ A\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&\\'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(t' +8 "core" &h 1 + "manipulator"&]% +4 "core" % ϣ +2 .tForearm.seek :retract +2 "manipulator"&2' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ( +3 "manipulator"&P& +4 "core" ' + &Ӊ#   <? + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &A& +3 "core" &Ӊ#  , G <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'? +100 "core" ' +2 "manipulator"&;& +4 "core" &ӊ#  # <> +2 "manipulator"&% +5 "core" %8  f  + "collection"'& +5 "core" & ,\ +2 "collection"'& +5 "core" & 1\ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & (\  +8 &4y ,\ +{ +10 & cy \ > +9 &j \ M +9 &PK \ M +10 &P \ M +9 &O \ L +9 &O \ L +10 &YN \ L +9 &S \ M +10 &L \ M +9 & L \ L +9 &"`N \ M +10 &$!O \ M +9 &%N \ M +9 &'M \ M +10 &)hL \ M +9 &++L \ L +10 &,N \ M +9 &.Q \ \ M +9 &0pR \ \ M +10 &22R \ M +9 &3T \ M +9 &5N \ M +10 &7yO \ L +9 &9;P \ L +10 &:O \ \ M +9 &<P  \ M +9 &>O \ M +10 &@BR \ M +9 &BT \ M +9 &CV \ M +10 &E^ \ O +9 &G@k \ P +10 &H\  \ S +9 &J\ \  \ Y +9 &Lj\ \ \ Z +10 &N+\ \  \ Z +9 &O\ \ \ Z +9 &Q\ \ \ [ +10 &So\ \ \ [ +9 &U-\ \ \ \\ +10 &V\ \ \ ] +9 &X\ \ \ ^ +9 &Zk\ \ \ _ +10 &\\|\ \ \ 3 +9 &\\.\ \ \ "f +9 ( +3 "collection"'& +2 "core" &\\t \ \ S +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + .Hand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&h% +3 "core" % 8  $ &  +3 .tForearm.reconfigure :loose +50 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%G& +3 "core" &\ u +2 "manipulator"&n% +4 "core" %     +2 "storage"([% +4 "core" % V\ t +2 "storage"(a. +3 "core" .([ +2 "storage"(=& +4 "core" &[ w\ u +2 "storage"(s& +3 "core" &[ \ s +2 "manipulator"&`& +4 "core" &Ӯ   7 +2 "manipulator"&% +3 "core" %    {  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&w(r +153 "core" ( +2 "manipulator"&p& +3 "core" &z   +2 "storage"(g& +5 "core" &[ 2\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +96 "core" ' +2 "storage"(5& +3 "core" &[ q p 1\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ #\ v +2 "manipulator"&R& +4 "core" &z   +2 .tElbow.seek 7 +2 "manipulator"& (r +3 "core" ( +2 "manipulator"&,& +3 "core" &z  \  +2 "storage"()& +4 "core" &[ {\ y +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&M'ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&.& + "storage"(1' +8 "core" &z \ ! + "manipulator"&L% +4 "core" % ϵ  ! +2 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&\ ( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&*& +5 "core" &   .  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&@' +91 "core" ' +2 "manipulator"&{& +3 "core" &   u  +2 "manipulator"&W% +4 "core" %   A m +2 "processing"%3& +4 "core" &\  +3 "processing"%o& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%0(^ +4 "core" &\  +9 &1v\ n*y +9 &bv\ k> +9 &fk\ lP +10 &&N\ rP +9 &L\ sO +10 &L\ sO +9 &mN\ sP +9 &/O\ sP +10 &Q\ rP +9 &L\ sP +9 & vN\ sO +10 &"7N\ sP +9 &#M\ sP +10 &%N\ sO +9 &'}N\ sP +9 &)?L\ tP +10 &+N\ rP +9 &,R\ rP +10 &.L\ sO +9 &0GN\ sP +9 &2 K\ sP +10 &3J\ sP +9 &5J\ sP +9 &7PL\ sO +10 &9P\ sP +9 &:N\ sP +9 &<O\ sP +10 &>VQ\ rP +9 &@P\ rP +10 &AU\ qP +9 &C\\\ oR +9 &EX]\ oR +10 &Gk\ mS +9 &H}\ jV +9 &J\ hW +10 &LT\ hV +9 &N\ hW +10 &O\ gW +9 &Q\ fX +9 &SX\ gX +10 &U\ fW +9 &V\ gW +9 &X\ gX +10 &Z^\ dX +14 &\\!\ eX +5 &]x\ h7 +11 &^,a\ m[ +7 &^'\ v3 +3 ( + "processing"%o& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&S1 +63 "core" 1 +2 "manipulator"&^% +3 "core" %   ' m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +96 "core" ' + "processing"%& +3 "core" &^!\ q3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +3 "core" % %   u A +2 "storage"( % +4 "core" % \ q +2 "storage"(m. +3 "core" .([ +2 "storage"(4& +3 "core" &[ \ p +3 "storage"("& +5 "manipulator"&H& +3 "core" &[ \ p + &   ,  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +50 "storage"(#]kK-0-\ b +2 "manipulator"&V( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'r +2 "core" ( +3 "manipulator"&l& +3 "core" &    +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" & 0 :  +2 .tForearm.seek PC +2 "manipulator"&c' +94 "core" ' +3 .tHand.close + "manipulator"&y/ +67 "core" / +2 .tPC.seek :open + "processing"%( +84 "core" ' + "storage"(/- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'1 +39 "core" ' +319 ( +4 "storage"(v& +5 "core" &[ (\ { +2 "manipulator"&7& +3 "core" & \    +2 "manipulator"&% +4 "core" %   $ +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&!(r +249 "core" ( +2 "manipulator"&&& +3 "core" &   5 ) +2 "storage"(I& +4 "core" &[ }\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&d'= +94 "core" ' +2 .tHand.open + "manipulator"&D1 +61 "core" 1 +2 "storage"(x- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(f' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &[ r\ & +3 "manipulator"&:& +3 "core" &   [ ) +2 .tElbow.seek 7 +2 "manipulator"&#(r +23 "core" ( +2 "manipulator"&6& +4 "core" &|  &  + "storage"(<& +4 "core" &[  w\ * +3 .tForearm.seek 7 + 450 counts + "manipulator"&>'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(E'" +51 "core" ' +2 "manipulator"&K& +3 "core" &|   $  +3 "storage"(& +3 "core" &[ \ w +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&}'{ +27 "core" ' +2 .tElbow.hold + "manipulator"&i, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"($' +21 "core" ' +2 "manipulator"&% +3 "core" %Ύ   = +2 "storage"(& +3 "core" &[ n n \ k +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +13 "core" ' + "manipulator"&-& +4 "core" &| +  +2 "storage"(Q& +3 "core" &[ w\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&e'= +18 "core" ' +2 "storage"(U% +3 "core" % \ { +3 ."downElevator"SE.seek :down +4 "storage"('' +98 (Y% +3 "core" %M @\ p[s +3 "manipulator"&8% +3 "core" %8  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +89 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (O& +3 "core" &[ \ z +2 "collection"'J& +3 "core" &\\s \ S +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&q% +3 "core" %    (  +2 "storage"((% +4 "core" % \ | +2 "storage"(b. +3 "core" .([ +2 "storage"(F& +3 "core" &[ n\ { +2 "storage"(+& +49 "core" &[ \ { +4 "manipulator"&& +4 "core" &|     +2 .tElbow.seek 7 +2 "manipulator"&Z(r +3 "core" ( +2 "manipulator"&& +3 "core" &|   *  +3 "storage"(j& +3 "core" &[ \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +95 "core" ' + "storage"(]& +5 "core" &[ \\ q r\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +305 "core" ' + "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" &|   +2 "storage"(A& +4 "core" &[ F\ z +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&C'{ +30 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +29 "core" ' +2 "manipulator"&% +3 "core" %Έ   q +2 "storage"(T& +4 "core" &[ u p \ k +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&t'ϴ +14 "core" ' +2 "manipulator"&2& +4 "core" &| E  + "storage"(& +4 "core" &[ \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(h' +36 "core" ' +2 "manipulator"&& +3 "core" &| 0  +3 "manipulator"&G% +4 "core" %: V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +156 "core" ( +2 "manipulator"&a& +4 "core" &Ӎ%   ~ >J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &ӎ% \ g >I +3 .tForearm.seek CC + "manipulator"&s'? +93 "core" ' + .tHand.close +2 "manipulator"&`/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "storage"(B& +4 "core" &[ D\ +2 "storage"(p& +4 "core" &[ \ + "manipulator"&g& +4 "core" &Ӻ   8 +2 "manipulator"&5% +3 "core" % O  O \ +3 .tForearm.seek :retract + "manipulator"& ' +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +164 "core" ( +2 "manipulator"&& +4 "core" &| & ~ + "storage"(& +4 "core" &[ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&R'{ +92 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +53 "core" 1 +2 "manipulator"&9% +3 "core" % ·   # +2 "storage"(.& +4 "core" &[ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +3 "manipulator"&L'ϳ +14 "core" ' +2 "manipulator"&w& +4 "core" &| K ~ + "storage"(?& +3 "core" &[ k\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&|'= +16 "core" ' +2 "storage"(M% +4 "core" % 5\ +2 ."downElevator"SE.seek :down +43 "storage"(*' +59 (~% +3 "core" %I K\ Yn +2 "manipulator"& % +4 "core" %4   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +88 "core" ' +100 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'W& +5 "core" & \ + "manipulator"&3% +5 "core" %  }  + "storage"(1% +4 "core" % \  +2 "storage"(N. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" &<. >\ +2 "manipulator"&^& +4 "core" &|  K ~ +2 .tElbow.seek 5 + "manipulator"&( +39 "core" ( +2 "manipulator"&& +4 "core" &  H  +2 "storage"( & +4 "core" &<. \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +123 "core" ' +2 "storage"(4& +3 "core" &<.\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +297 "core" ' +3 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &<. f\ +2 "manipulator"&l& +3 "core" &  +3 .tElbow.seek 5 + "manipulator"&X( +4 "core" ( +2 "manipulator"&@& +3 "core" &  I  +2 "storage"(y& +28 "core" &<. a\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&/'Ϲ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&u& +3 "storage"(0' +8 "core" & 1  + "manipulator"&r% +4 "core" %  ~ +2 .tForearm.seek :retract +2 "manipulator"&v' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&& +3 "core" &Ӓ   p 8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" &Ӓ   8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&&'? +95 "core" ' +2 "manipulator"&I& +3 "core" &Ӓ   . 8 +3 "manipulator"&V% +3 "core" %6   2 8 +3 "collection"'D& +3 "core" & \ +3 "collection"'x& +5 "core" & 7\ +3 .tCC.seek :closed + "collection"'(\\ +4 "core" & +\ +9 &: +\ %g +9 &Xv -\ 8 +9 &p ,\ L +10 &M .\ M +9 &N \ M +9 &CM \ L +10 &O \ M +9 &P \ M +10 &L \ M +9 &JM \ M +9 & Q \ M +10 &!O \ M +9 &#M \ M +9 &%SL \ L +10 &'O \ L +9 &(O \ L +10 &*M \ M +9 &,[M \ L +9 &.O \ M +10 &/Q \ \ L +9 &1P \ M +9 &3bR \ M +10 &5$R \ M +9 &6R  \ M +10 &8R  \ M +9 &:jR \ M +9 &<,R \ M +10 &=R \ M +9 &?N \ M +9 &AsQ  \ L +10 &C3T \ M +9 &D^ \ N +10 &Fc \ O +9 &Hi{ \ R +9 &J \ \  \ V +10 &K\ \  \ Y +9 &M\ \  \ Z +9 &O[\ \  \ Z +10 &Q\ \  \ [ +9 &R\ \ \ [ +10 &T\ \ \ \\ +9 &V[\ \ \ ] +9 &X\ \ \ ] +10 &Y\ \ \ ^ +9 &[\ \ \ L +9 &\\9\ \ \ - +10 &\\j\  \ N +2 ( +2 "collection"'x& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +3 "manipulator"&:% +4 "core" % 6   8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%6& +3 "core" &\ w +2 "manipulator"&<% +4 "core" % !   ' +2 "storage"(K% +4 "core" % W\ v +2 "storage"(. +3 "core" .(<- +47 "storage"(_& +6 "core" &<. V\ v +2 "storage"(& +4 "core" &<. W\ w +2 "manipulator"&& +4 "core" &Ӭ   4 +2 "manipulator"& % +3 "core" % !   ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&-( +156 "core" ( +2 "manipulator"&Q& +3 "core" &  +2 "storage"(U& +4 "core" &<. \ | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&!'O +92 "core" ' +2 "storage"(d& +3 "core" &<. q s O\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +296 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &<. \ r +2 "manipulator"&>& +3 "core" &   +3 .tElbow.seek 5 + "manipulator"&#( +3 "core" ( +2 "manipulator"&E& +4 "core" &   +2 "storage"(}& +3 "core" &<. H\ y +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +2 "storage"(q' +9 "core" &   " + "manipulator"&(% +4 "core" %  b +2 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&F& +4 "core" &   . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +3 "core" & \  . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 "manipulator"&& +3 "core" &    . +3 "manipulator"&j% +3 "core" %   j 6 +3 "processing"%e& +4 "core" &\ ~ +2 "processing"%]& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%'(^ +4 "core" &\ ~ +9 &1v\ n*y +9 &bv\ l> +10 &el\ lP +9 &&L\ tP +10 &L\ rP +9 &J\ tO +9 &lM\ sP +10 &/L\ sP +9 &Q\ rP +9 &M\ sP +10 & tR\ rP +9 &"6N\ sP +10 &#N\ sP +9 &%L\ tP +9 &'}O\ sP +10 &)?N\ sP +9 &+Q\ rP +9 &,O\ sP +10 &.P\ sP +9 &0GN\ sP +10 &2 O\ sP +9 &3O\ sP +9 &5O\ rP +10 &7OL\ sP +9 &9O\ sP +9 &:O\ rP +10 &<O\ sP +9 &>UT\ rP +10 &@Q\ rQ +9 &AU\ qQ +9 &C]\ oR +10 &EWb\ nR +9 &Gk\ mT +9 &H\ hV +10 &J\ hW +9 &LR~\ iW +10 &N\ fX +9 &O\ hX +9 &Q\ gX +10 &SW\ fX +9 &U\ fX +9 &V\ gX +10 &X\ fX +9 &Z_\ fX +10 &\\ \ fX +9 &]}\ j8 +9 &^,b\ m\\ +10 &^+\ u5 +2 ( +2 "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&i1 +64 "core" 1 + "manipulator"&%% +4 "core" %  $ ? 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +95 "core" ' +2 "processing"%P& +3 "core" &^&\ r5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&A% +4 "core" % #   x 5 + "storage"(;% +5 "core" % \ r +2 "storage"(. +2 "core" .(<- +2 "storage"(T& +5 "core" &<. \ q +2 "storage"(2& +2 "manipulator"&& +5 "core" &<. \ q +3 &   # . +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&G( +6 "core" ( +2 "manipulator"&& +3 "core" & : . . +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" & + # = . +43 .tForearm.seek PC +10 "manipulator"&z' +93 "core" ' +3 .tHand.close + "manipulator"&C/ +65 "core" / +2 .tPC.seek :open +2 "processing"%t( +38 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(a'1 +41 "core" ' +365 ( + "storage"(=& +4 "core" &<, 3\ x +2 "manipulator"& & +4 "core" & \  . +2 "manipulator"&\\% +4 "core" % \  & +2 .tForearm.seek :retract +2 "manipulator"&`' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&n( +245 "core" ( + "manipulator"&& +4 "core" &   J  +2 "storage"(B& +4 "core" &<, %\ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +92 "core" ' +2 .tHand.open + "manipulator"&g1 +55 "core" 1 +3 "storage"(5- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +4 "core" -' +2 "storage"([& +4 "core" &<, F\ & + "manipulator"&)& +4 "core" &   \\  +2 .tElbow.seek 5 +2 "manipulator"&9( +18 "core" ( + "manipulator"&.& +4 "core" &   "  +2 "storage"(w& +4 "core" &<, P\ * +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(M'" +57 "core" ' +2 "manipulator"& & +3 "core" &   !  +2 "storage"(~& +4 "core" &<, |\ { +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(R' +18 "core" ' +2 "manipulator"&L% +3 "core" %Δ   +2 "storage"(W& +5 "core" &<, |\ w + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&3' +25 "core" ' +2 "manipulator"&1& +3 "core" &  -  +2 "storage"(N& +4 "core" &<,\ \  a\ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +15 "core" ' +2 "storage"(|% +3 "core" % 0\ } +3 ."downElevator"SE.seek :down +3 "storage"(*' +99 (% +3 "core" %J \ sZq +3 "manipulator"&S% +3 "core" %Y  i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +96 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &<, \ ~ +3 "collection"' & +3 "core" &\\k \ N +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&4% +3 "core" %     +2 "storage"(,% +4 "core" % ] E Z\  +2 "storage"({. +3 "core" .(<- +2 "storage"("& +3 "core" &<, \\ ?\  +2 "storage"(H& +3 "core" &<, h\ +2 "manipulator"&l& +4 "core" & \   +3 .tElbow.seek 5 + "manipulator"&@( +4 "core" ( +2 "manipulator"&y& +3 "core" &   S  +2 "storage"(\ & +4 "core" &<, G E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +43 .tForearm.seek 5 + 450 counts +9 "manipulator"&u'O +104 "core" ' +2 "storage"(r& +4 "core" &<, x ~ T\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +301 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  =  +2 "storage"(c& +5 "core" &<, \ \ } + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&o'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(V't +30 "core" ' +2 "manipulator"&D% +3 "core" %΋ \  +2 "storage"(X& +3 "core" &<, ]\ z +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 298 counts + "manipulator"&0'Ϸ +14 "core" ' + "manipulator"&v& +4 "core" &  /  +2 "storage"(& +3 "core" &<,\ \  `\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(:' +35 "core" ' +2 "manipulator"&6& +3 "core" &  +2 "manipulator"&<% +5 "core" %< +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( + "manipulator"&_& +5 "core" &Ӎ"   R ;6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &Ӎ"   ;6 +2 .tForearm.seek CC +3 "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"' ( +448 "core" ( + "storage"(&& +4 "core" &<, 8\ +2 "storage"(Q& +3 "core" &<, y\ +2 "manipulator"&U& +4 "core" &ӫ    7 +2 "manipulator"&d% +3 "core" % P   m  +3 .tForearm.seek :retract + "manipulator"&7' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&Y& +4 "core" &   +2 "storage"(8& +4 "core" &<, \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&>'΍ +98 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&}1 +56 "core" 1 +3 "manipulator"&O% +3 "core" % Π   & +2 "storage"(J& +3 "core" &<, \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&(' +13 "core" ' +2 "manipulator"&-& +3 "core" & N  +2 "storage"(!& +4 "core" &<, t\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +15 "core" ' +2 "storage"(% +3 "core" % \\\ +3 ."downElevator"SE.seek :down +4 "storage"(F' +98 (+% +3 "core" %G \ Yl +2 "manipulator"&#% +4 "core" %N  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop +41 "storage"(5 +11 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'j& +3 "core" & \ +3 "manipulator"&e% +3 "core" %    +2 "storage"(q% +4 "core" % \  +2 "storage"($. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" &K [\ +2 "manipulator"&%& +4 "core" &   3  +2 .tElbow.seek 6 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&A& +3 "core" &   \  +3 "storage"(;& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(]& +4 "core" &K\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +295 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K e\ +3 "manipulator"&& +4 "core" & )  +2 .tElbow.seek 6 + "manipulator"&Z( +4 "core" ( +2 "manipulator"&& +3 "core" &  9  +3 "storage"(C& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"('' +9 "core" &  + "manipulator"&% +4 "core" % l +2 .tForearm.seek :retract +2 "manipulator"&=' +89 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +157 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&\\& + "storage"(5 +8 "core" &ӎ$   =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &ӎ$  0 =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 "manipulator"&B& +3 "core" &ӏ#   v <@ +2 "manipulator"&G% +4 "core" %C    +2 "collection"'g& +5 "core" & -\ +2 "collection"'5& +5 "core" & 7\ +2 .tCC.seek :closed +2 "collection"'s(\\ +5 "core" & -\  +8 &4y /\ *z +9 &fz \ ? +9 &k #\ N +10 &NN !\ M +9 &R \ M +10 &R \ M +9 &R \ L +9 &WN \ L +10 &T \ M +9 &M \ M +9 & M \ L +10 &"^N \ M +9 &$ Q \ M +10 &%R \ M +9 &'Q \ M +9 &)gQ \ L +10 &+)O \ L +9 &,N \ L +9 &.N \ L +10 &0nO \ M +9 &20R \ M +10 &3M \ M +9 &5O \ L +9 &7vO \ M +10 &98S \ M +9 &:M \ M +9 &<M \ M +10 &>~M \ M +9 &@AO \ L +10 &BQ \ M +9 &CW \ N +9 &E^ \ O +10 &G=i \ P +9 &H  \ S +9 &J\ \ \ X +10 &Li\ \ \ \ Y +9 &N)\ \ \ Z +10 &O\ \ \ \ Z +9 &Q\ \ \ [ +9 &Sk\ \ \ [ +10 &U+\ \ \ \ \\ +9 &V\ \ \ ] +10 &X\ \  \ ] +9 &Zk \ \ ^ +9 &\\{\ \ \ 5 +10 &\\) \ \ S +9 ( + &\\i \ M +2 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&[1 +63 "core" 1 +3 "manipulator"&)% +3 "core" % C   P  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%w& +3 "core" &\ x +2 "manipulator"&`% +5 "core" %     + "storage"( % +4 "core" % O\ x +2 "storage"(~. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(a(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +2 "core" &K c } U\ m +3 "manipulator"&W& +3 "core" &Ӭ   9# +2 "manipulator"&% +3 "core" %     +48 "Can"\ T#. +5 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&1( +163 "core" ( + "manipulator"&N& +4 "core" &    +2 "storage"(|& +3 "core" &K\ \  ^\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +94 "core" ' +2 "storage"(p& +3 "core" &K s w Q\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &K\ \  x\ ~ +2 "manipulator"&?& +4 "core" &  j  +2 .tElbow.seek 6 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&M& +4 "core" &  :  +2 "storage"( & +3 "core" &K D E \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(4' +7 "core" & 2  +2 "manipulator"&,% +3 "core" % ] +3 .tForearm.seek :retract + "manipulator"&{' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&R( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&"& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l' +89 "core" ' +2 "manipulator"&y& +4 "core" &  k + "manipulator"&\ % +5 "core" %  M f +2 "processing"%h& +3 "core" &\ +3 "processing"%r& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%*(^ +4 "core" &\ +7 &5\ z$c +9 &Tv\ n7 +10 &}s\ mL +9 &P\ uP +10 &SM\ vP +9 &J\ vP +9 &R\ tP +10 &N\ uP +9 &[P\ uP +9 &M\ vP +10 &M\ vO +9 &!N\ uP +10 &#cL\ vP +9 &%&M\ uO +9 &&N\ uP +10 &(R\ uP +9 &*lM\ vO +9 &,.N\ uO +10 &-M\ uP +9 &/R\ tP +10 &1tJ\ vO +9 &35M\ vP +9 &4N\ tP +10 &6M\ uO +9 &8{M\ vP +9 &:=N\ uP +10 &;R\ tP +9 &=P\ uP +10 &?O\ tP +9 &AEQ\ tP +9 &CW\ sQ +10 &D[\ sQ +9 &Fc\ qR +9 &HAn\ nT +10 &I\ kV +9 &K\ jV +10 &M\ jW +9 &O?\ jW +9 &Q\ hW +10 &R\ iW +9 &T\ gX +9 &VE\ hX +10 &X\ iW +9 &Y\ iX +10 &[\ hW +9 &]J\ fM +9 &^O\ g"h +10 &^#\ y. +2 ( +2 "processing"%r& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&^% +3 "core" %    ~ f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +96 "core" ' +2 "processing"%& +4 "core" &^\ u. +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&c% +4 "core" % #   2 / + "storage"(I% +4 "core" % n\ t +2 "storage"(D. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(X(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +2 "manipulator"&& +4 "core" &K m 0 ]\ o +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   Z +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(6'r +3 "manipulator"&<( +5 "core" ( + "manipulator"&u& +5 "core" &   ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &  = +3 .tForearm.seek PC + "manipulator"&' +135 "core" ' +9 .tHand.close +2 "manipulator"&o/ +55 "core" / +2 .tPC.seek :open +2 "processing"%0( +49 "core" ' + "storage"(V- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(_'1 +54 "core" ' +340 ( + "storage"(x& +4 "core" &K p\ z +2 "manipulator"&& +3 "core" &    +2 "manipulator"&/% +4 "core" %  \  < +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&K( +238 "core" ( +2 "manipulator"&& +3 "core" &    + +3 "storage"(&& +4 "core" &K f\ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Q' +93 "core" ' +2 .tHand.open + "manipulator"&U1 +61 "core" 1 +3 "storage"(d- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Y' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(8' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &K [\ 0 +2 "manipulator"&}& +4 "core" &   * +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&J& +4 "core" &   U * + "storage"(-& +4 "core" &K   \ / +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' +2 "manipulator"&7& +4 "core" &   * +2 "storage"(+& +4 "core" &K n\ z + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&#'< +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(>' +26 "core" ' + "manipulator"&j% +4 "core" %?   # +2 "storage"((& +4 "core" &K z\ w + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 303 counts + "manipulator"&:'k +15 "core" ' + "manipulator"&e& +4 "core" &   * +2 "storage"(q& +3 "core" &K \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +16 "core" ' + "storage"(f% +4 "core" %\ \  y\ } +3 ."downElevator"SE.seek :down +3 "storage"(F' +99 (% +3 "core" %K \ qZr +2 "manipulator"&i% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +93 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (A& +3 "core" &K \ z +3 "collection"';& +4 "core" &\\i  \ M + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&]% +3 "core" %    7  +2 "storage"(E% +4 "core" % \ | +2 "storage"(. +3 "core" .(K +2 "storage"(2& +3 "core" &K \ | +3 "storage"(& +3 "core" &K \ | +2 "manipulator"&& +4 "core" &    * +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&C& +4 "core" &  * + "storage"(b& +4 "core" &K \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts + "manipulator"&k' +135 "core" ' +4 "storage"(& +5 "core" &K T V\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &   D * +3 "storage"(z& +4 "core" &K 3\ y + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&T'< +19 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(B- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(G'h +30 "core" ' + "manipulator"&g% +4 "core" %>   . +2 "storage"(Z& +3 "core" &K \ { +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 302 counts + "manipulator"&''j +15 "core" ' + "manipulator"&=& +4 "core" &  v * +2 "storage"( & +3 "core" &K \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"()' +37 "core" ' +2 "manipulator"&w& +3 "core" &  ? * +2 "manipulator"&`% +4 "core" %  q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&~(ӂ +176 "core" ( +3 "manipulator"&5& +3 "core" &u\    !w +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &u\ !w +3 .tForearm.seek CC + "manipulator"&W'? +102 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'( +452 "core" ( + "storage"(N& +3 "core" &K `\  +2 "storage"(|& +4 "core" &K 6\  +2 "manipulator"&& +4 "core" &w\   !u +2 "manipulator"&p% +3 "core" %    o +3 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&.( +147 "core" ( + "manipulator"&& +3 "core" &  +2 "storage"(S& +4 "core" &K U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&?'< +95 "core" ' + .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +54 "core" 1 +3 "manipulator"&3% +4 "core" % 5   + "storage"( & +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 293 counts +2 "manipulator"&,'a +13 "core" ' +2 "manipulator"&1& +3 "core" & +2 "storage"(n& +4 "core" &K n\  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +15 "core" ' +2 "storage"(% +3 "core" %  g\ +3 ."downElevator"SE.seek :down +3 "storage"("' +99 (H% +3 "core" %F \ Yl +2 "manipulator"&9% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +45 "collection"'\ & +7 "core" &  \ +2 "manipulator"&h% +3 "core" %    +3 "storage"(4% +3 "core" % O\  +2 "storage"({. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(t([ +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ \ +2 "manipulator"&^& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&(r +15 "core" ( +2 "manipulator"&c& +3 "core" &f \    +3 "storage"(I& +4 "core" &[ p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&D'= +94 "core" ' +2 "storage"(r& +3 "core" &[ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +299 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (u& +3 "core" &[ b\ +2 "manipulator"&@& +4 "core" &f \ 9  +2 .tElbow.seek 7 + "manipulator"&l(r +11 "core" ( + "manipulator"&o& +4 "core" &h Q  +3 "storage"(a& +3 "core" &[ (\ +3 .tForearm.seek 7 + 300 counts + "manipulator"&V'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&m& + "storage"(*' +8 "core" &h  + "manipulator"&6% +5 "core" % Ϩ +2 .tForearm.seek :retract + "manipulator"&x' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&/& +3 "core" &ӧ  5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӧ   5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +95 "core" ' +2 "manipulator"&&& +5 "core" &Ө   _ 5 + "manipulator"&<% +4 "core" %E  h 4 +2 "collection"'U& +4 "core" & 4\ +3 "collection"'d& +5 "core" & ,\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & .\ +6 &; ,\ $e +10 &Vu -\ 7 +9 &s )\ K +10 &N (\ L +9 &mO &\ M +9 &/Q \ M +10 &R \ L +9 &O \ L +9 &uM \ M +10 &7L \ M +9 &Q \ M +10 &!P \ M +9 &#}M \ M +9 &%@K \ L +10 &'N \ L +9 &(N \ L +9 &*Q \ M +10 &,GR \ M +9 &.P \ M +10 &/O \ L +9 &1O \ L +9 &3PO \ L +10 &5O \ L +9 &6O \ M +9 &8R \ M +10 &:WS \ M +9 &<R \ L +10 &=O  \ L +9 &?O \ M +9 &A_R  \ M +10 &C!T  \ M +9 &D_  \ N +9 &Ff \ O +10 &HX{  \ R +9 &J\ \ \ V +10 &K\ \ \ Y +9 &M\ \ \ Z +9 &OI\ \ \ \ Z +10 &Q\ \ \ \ Z +9 &R\ \ \ [\ +9 &T\ \ \ [ +10 &VH\ \ \ ] +9 &X \ \ \ ] +10 &Y\ \ \ _ +9 &[\ \ \ K +9 &\\:\ \ \ - +10 &\\\ \ \ Z +5 ( +2 "collection"'d& +3 "core" &\\  \ Z +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + .Hand.open + "manipulator"&1 +60 "core" 1 +3 "manipulator"&}% +3 "core" % E   0 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%-& +3 "core" &\ q +2 "manipulator"&% +4 "core" %     +2 "storage"(7% +3 "core" % \ q +2 "storage"(+. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(j([ +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" &[ h h\ a +3 "manipulator"&_& +4 "core" &Ө   ~ 5 + "manipulator"&e% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +49 .tElbow.seek 7 +4 "manipulator"&q(r +154 "core" ( +2 "manipulator"&Y& +3 "core" &t   \ +3 "storage"(f& +4 "core" &[ \ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'= +93 "core" ' +3 "storage"(Q& +3 "core" &[ \ z +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +295 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +3 "core" &[ \ q +2 "manipulator"&!& +4 "core" &t   C +2 .tElbow.seek 7 + "manipulator"&O(r +4 "core" ( +2 "manipulator"&& +4 "core" &t   7 +2 "storage"(#& +3 "core" &[ L\ t +3 .tForearm.seek 7 + 300 counts + "manipulator"&:'ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(]' +8 "core" &t  +2 "manipulator"&E% +3 "core" % ϴ   +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&2& +4 "core" &   Z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  0  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 "manipulator"&C& +3 "core" &    +2 "manipulator"&b% +4 "core" % \  +2 "processing"%$& +5 "core" &\ | +2 "processing"%& +5 "core" &\ | +2 .tPC.seek :closed +2 "processing"%F(^ +4 "core" &\ | +7 & .\ v#b +9 &Uy\ i8 +10 &|s\ hL +9 &O\ nP +10 &UM\ pP +9 &I\ qP +9 &M\ pP +10 &N\ qP +9 &]M\ qP +9 &Q\ oP +10 &M\ pP +9 &!L\ qP +9 &#eQ\ pP +10 &%(M\ pO +9 &&O\ oP +10 &(O\ pP +9 &*lN\ pP +9 &,.O\ pP +10 &-N\ pP +9 &/R\ oP +9 &1vL\ qO +10 &38M\ pO +9 &4M\ pO +10 &6N\ pP +9 &8|Q\ oP +9 &:?N\ qP +10 &<P\ pP +9 &=O\ pP +10 &?P\ pP +9 &AEQ\ pP +9 &CX\ nQ +10 &D_\ lR +9 &Fe\ kS +9 &H?v\ iU +10 &I\ eV +9 &K\ dV +9 &M\ eW +10 &OA\ dW +9 &Q\ cX +10 &R\ eX +9 &T\ bY +9 &VH\ eX +10 &X\ \ cX +9 &Y\ bX +9 &[\ dX +10 &]M\ bM +9 &^P\ b#k +10 &^\ u* +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&%% +3 "core" %   k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 "processing"%\\& +4 "core" &^\ p* +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&z% +3 "core" %     +2 "storage"(B% +4 "core" % \ p +2 "storage"(g. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(Z([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "manipulator"& & +4 "core" &[ Y w c\ o +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &    +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&w( +2 "storage"(`'r +6 "core" ( +2 "manipulator"&k& +3 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  B  +3 .tForearm.seek PC + "manipulator"&P' +95 "core" ' +2 .tHand.close +49 "manipulator"&T/ +74 "core" / +2 .tPC.seek :open +2 "processing"%'( +34 "core" ' + "storage"(G- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +40 "core" ' +368 ( +2 "storage"(L& +4 "core" &[ \ r +2 "manipulator"&[& +3 "core" &   $  +2 "manipulator"&% +5 "core" %     +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"& (r +246 "core" ( +2 "manipulator"&s& +3 "core" &x   U +2 "storage"(N& +4 "core" &[ \ n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&|'= +94 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +3 "storage"(p- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(S' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(W- +3 "core" -' +2 "storage"(~& +3 "core" &[ e\ & +3 "manipulator"& & +4 "core" &x   Y U +2 .tElbow.seek 7 +2 "manipulator"&3(r +3 "core" ( +2 "manipulator"& & +4 "core" &x    U + "storage"(1& +4 "core" &[ Z\ % +3 .tForearm.seek 7 + 450 counts + "manipulator"&n'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +52 "core" ' +2 "manipulator"& & +3 "core" &x   U +2 "storage"(H& +4 "core" &[ f\ s +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&9'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&., +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +20 "core" ' + "manipulator"&,% +4 "core" %΋ ; 3  +2 "storage"()& +3 "core" &[ 2 7 D\ c +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&\ 'Ϸ +14 "core" ' + "manipulator"&h& +4 "core" &y \  q T +2 "storage"(4& +3 "core" &[ Z\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&{'= +17 "core" ' +2 "storage"(% +3 "core" % U\ u +3 ."downElevator"SE.seek :down +3 "storage"("' +99 (X% +3 "core" %I k k \ iZr +2 "manipulator"&% +4 "core" %=   3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (c& +3 "core" &[ .\ t +2 "collection"'I& +4 "core" &\\ \ Z +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&r% +4 "core" %    (  +2 "storage"(M% +3 "core" % W\ v +2 "storage"(y. +4 "core" .([ + "storage"(& +5 "core" &[ T\ v + "storage"(u& +4 "core" &[ H\ v +2 "manipulator"&@& +3 "core" &y   * T +3 .tElbow.seek 7 + "manipulator"&o(r +4 "core" ( + "manipulator"&a& +4 "core" &y \  * T +2 "storage"(R& +3 "core" &[ n\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&m'= +91 "core" ' + "storage"(6& +52 "core" &[ q\ x +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" &y   T +2 "storage"(& +4 "core" &[ \ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&v'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(<'b +30 "core" ' + "manipulator"&U% +3 "core" %΋ / : +3 "storage"(l& +4 "core" &[ j j \ i +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&*'Ϸ +14 "core" ' + "manipulator"&x& +4 "core" &y   T +2 "storage"(& +5 "core" &[ v\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(}' +36 "core" ' +2 "manipulator"&-& +4 "core" &y \   T +2 "manipulator"&% +3 "core" %;   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&+(ӂ +154 "core" ( +2 "manipulator"&d& +3 "core" &Ӓ"   ;3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +4 "core" &Ӓ"  ;3 +2 .tForearm.seek CC +2 "manipulator"&_'? +96 "core" ' +2 .tHand.close + "manipulator"&e/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(Y& +4 "core" &[ \  + "storage"(f& +4 "core" &[ F\  +2 "manipulator"&t& +4 "core" &ӵ   6 +2 "manipulator"&Q% +3 "core" % 2   +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&J(r +160 "core" ( +2 "manipulator"&& +3 "core" &x    +3 "storage"(i& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&!'{ +101 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +59 "core" 1 +2 "manipulator"&A% +3 "core" % ·  & +2 "storage"(;& +4 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 312 counts +2 "manipulator"&E'ϳ +14 "core" ' +2 "manipulator"&q& +3 "core" &x b  +3 "storage"(K& +4 "core" &[ !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&8'= +17 "core" ' + "storage"(:% +4 "core" % w\ +3 ."downElevator"SE.seek :down +3 "storage"(2' +99 (% +3 "core" %cA \ Yk +2 "manipulator"&O% +3 "core" %5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'b& +2 "core" & (\ +46 "manipulator"&$% +7 "core" %  \   +2 "storage"(]% +5 "core" % \ \  + "storage"(. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(0(<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<0 \ +2 "manipulator"&%& +3 "core" &x    +2 .tElbow.seek 5 +2 "manipulator"&\\( +38 "core" ( +2 "manipulator"&z& +3 "core" &   %  +2 "storage"(B& +4 "core" &<0 l\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&g'O +95 "core" ' +2 "storage"(& +4 "core" &<0 m\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +299 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" &<. \ +3 "manipulator"&& +3 "core" & v  +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&T& +3 "core" &  +2 "storage"(j& +4 "core" &<. \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&G'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&>/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(F' +8 "core" &   +2 "manipulator"&`% +4 "core" % ϯ  +2 .tForearm.seek :retract + "manipulator"&L' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&& +3 "core" &y)   A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &y)   A_ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&s'? +93 "core" ' +2 "manipulator"&N& +3 "core" &ӈ&   >P +3 "manipulator"&w% +3 "core" %C  N +2 "collection"'& +4 "core" & R\ +3 "collection"'p& +5 "core" & .\ +2 .tCC.seek :closed + "collection"'W(\\ +4 "core" & +\  +9 &5x -\ +| +9 & fy *\ ? +10 &g -\ M +9 &YK *\ L +10 &R )\ M +9 &L "\ M +9 &L \ M +10 &`Q \ M +9 &"R \ M +9 &O \ M +10 & N \ L +9 &"hR \ M +10 &$*Q \ M +9 &%O \ M +9 &'L \ M +10 &)qK \ L +9 &+3N  \ L +9 &,N \ L +10 &.M \ M +9 &0yO \ L +10 &2;O  \ L +9 &3O \ L +9 &5O \ L +10 &7N \ L +9 &9BO \ M +9 &;R \ M +10 &<R \ M +9 &>R \ M +10 &@JN \ M +9 &B O \ L +9 &CV \ N +10 &E] \ O +9 &GGj  \ P +9 &I\   \ T +10 &J\ \ \ X +9 &Ls\ \  \ Y +10 &N3\ \ \ Z +9 &O\ \ \ Z +9 &Q\ \ \ \ Z +10 &Ss\ \ \ \\ +9 &U6\ \ \ \\ +9 &V\ \ \ ] +10 &X\ \ \ ^ +9 &Zu\ \ \ ^ +10 &\\z\ \ \ 4 +9 &\\) \ Y +9 ( + &\\b \ \ P +2 "collection"'p& +5 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&~1 +60 "core" 1 +2 "manipulator"& % +3 "core" % C   N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%1& +3 "core" &\ x +2 "manipulator"&% +4 "core" %    # +2 "storage"( % +4 "core" % X\ w +2 "storage"(H. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(,(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &<- \ u +2 "manipulator"&5& +4 "core" &Ӭ   :, +2 "manipulator"&h% +3 "core" %    ` # +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&4( +154 "core" ( +3 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &<- \  '\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +102 "core" ' + "storage"(|& +4 "core" &<- o n \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +295 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<- l\ t +2 "manipulator"&n& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&3( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(9& +4 "core" &<- '\ x +3 .tForearm.seek 5 + 300 counts + "manipulator"&\ 'Ϲ +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&I& + "storage"(r' +8 "core" & 1 + "manipulator"&M% +4 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&y' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&& +3 "core" &  / +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &  c / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&@' +99 "core" ' +2 "manipulator"&a& +3 "core" &   / +3 "manipulator"&R% +3 "core" %  +2 "processing"%{& +5 "core" &\ ~ +2 "processing"%6& +5 "core" &\ ~ +2 .tPC.seek :closed +2 "processing"%"(^ +4 "core" &\ ~ +9 &1v\ n*x +9 &ax\ k> +10 &bm\ lO +9 & M\ qP +9 &L\ sP +10 &L\ sO +9 &hN\ rP +9 &+N\ rO +10 &N\ rP +9 &Q\ rP +10 & qN\ rO +9 &"2O\ qP +9 &#M\ sP +10 &%N\ rO +9 &'xN\ qP +9 &);O\ rO +10 &*N\ rP +9 &,R\ qP +10 &.J\ sP +9 &0CN\ rO +9 &2M\ rO +10 &3M\ rO +9 &5O\ rP +9 &7KM\ rO +10 &9 R\ qP +9 &:O\ rP +10 &<N\ sP +9 &>RQ\ rP +9 &@Q\ qP +10 &AU\ pP +9 &C^\ oR +9 &ESb\ mR +10 &Gl\ lS +9 &H\ hV +10 &J\ hW +9 &LN\ gW +9 &N\ gW +10 &O\ gW +9 &Q\ eX +9 &SS\ fX +10 &U\ fW +9 &V\ fW +10 &X\ fW +9 &ZZ\ eX +9 &\\\ fX +10 &]{\ i6 +9 &^2i\ lE +9 ( +2 "processing"%6& +3 "core" &^!\ w1 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&.1 +58 "core" 1 +2 "manipulator"&^% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +97 "core" ' +2 "processing"%/& +3 "core" &^"\ t1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % "   " +2 "storage"(&% +3 "core" % \ t +2 "storage"(U. +4 "core" .(<- + "storage"(l& +4 "core" &<- T\ t +2 "storage"(x& +3 "manipulator"&& +8 "core" &<- G\ t + & 5 / +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&-( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&m& +3 "core" &   / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &    / +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&v/ +55 "core" / +3 .tPC.seek :open +2 "processing"%*( +101 "core" ' +2 "storage"(<- +3 "core" -'r +49 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(d'1 +52 "core" ' +243 ( + "storage"((& +4 "core" &<, \  \ | +2 "manipulator"&& +4 "core" &  \  / +2 "manipulator"&V% +3 "core" %   7 5 +3 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&7( +243 "core" ( +2 "manipulator"&& +3 "core" &   0 +2 "storage"(Y& +5 "core" &<, i\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&f'O +91 "core" ' +2 .tHand.open + "manipulator"&t1 +61 "core" 1 +2 "storage"(Q- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(i' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(+& +4 "core" &<, \\\ +2 "manipulator"&#& +3 "core" &  \  0 +3 .tElbow.seek 5 + "manipulator"&A( +4 "core" ( +2 "manipulator"&;& +3 "core" &  0 +2 "storage"(q& +4 "core" &<, \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&K'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(:'" +53 "core" ' + "manipulator"&& +4 "core" &   0 +2 "storage"(& +3 "core" &<, \ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&O'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&J, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(!' +26 "core" ' +2 "manipulator"&b% +4 "core" %Ο   +2 "storage"($& +46 "core" &<, \ { +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&E' +14 "core" ' + "manipulator"&}& +3 "core" &  D - +2 "storage"(]& +4 "core" &<,\ \  G\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' + "storage"(8% +4 "core" % \ } +3 ."downElevator"SE.seek :down +3 "storage"(2' +99 (Z% +3 "core" %Q ?\ q\\u +2 "manipulator"&% +3 "core" %L \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (z& +3 "core" &<, \ | +3 "collection"'B& +4 "core" &\\b  \ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +3 "core" %    +3 "storage"(% +3 "core" %\ \  Q\ ~ +2 "storage"(C. +3 "core" .(<- +2 "storage"( & +4 "core" &<,\ \  @\ } +2 "storage"(k& +4 "core" &<,\ \  \ ~ + "manipulator"&& +4 "core" &   - +2 .tElbow.seek 5 +2 "manipulator"&T( +4 "core" ( + "manipulator"&j& +4 "core" &   - +2 "storage"(>& +3 "core" &<,\ \  Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +104 "core" ' +2 "storage"(`& +3 "core" &<, v r \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +294 "core" ' +3 "storage"(g- +49 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   - +2 "storage"(P& +5 "core" &<, b\ { + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&='΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(w't +29 "core" ' +2 "manipulator"&% +3 "core" %Α   a +2 "storage"(& +4 "core" &<, 9\ t +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&F'Ͻ +13 "core" ' +2 "manipulator"&L& +4 "core" &   - + "storage"(& +4 "core" &<, \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"( ' +49 "core" ' + "manipulator"&1& +3 "core" &    - +7 "manipulator"&% +4 "core" %G   % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +156 "core" ( +2 "manipulator"&p& +4 "core" &Ӡ   n 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &ӡ   6 +3 .tForearm.seek CC + "manipulator"&5'? +96 "core" ' +2 .tHand.close + "manipulator"&h/ +65 "core" / +2 .tCC.seek :open + "collection"'s( +448 "core" ( +2 "storage"(& +3 "core" &<, \ +2 "storage"(& +4 "core" &<, ^\ +2 "manipulator"&0& +3 "core" &ӡ   6 +2 "manipulator"&|% +4 "core" % N \  +3 .tForearm.seek :retract + "manipulator"&[' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +162 "core" ( + "manipulator"&X& +4 "core" & \ f  +2 "storage"(& +3 "core" &<, \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&n'΍ +93 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +59 "core" 1 +2 "manipulator"&c% +3 "core" % Ε  t +2 "storage"(I& +4 "core" &<, G\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&M' +13 "core" ' +3 "manipulator"&4& +3 "core" & ]  +2 "storage"( & +4 "core" &<, v\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&S'O +15 "core" ' +2 "storage"(\ % +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (u% +3 "core" %tF \ Yk +2 "manipulator"&3% +4 "core" %I ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +88 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'R& +3 "core" & '\ +2 "manipulator"&{% +4 "core" %    \  +2 "storage"(r% +4 "core" % g\  +2 "storage"(y. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +45 "storage"('(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +3 "core" &K p\ +2 "manipulator"&^& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&& +4 "core" &     +2 "storage"(&& +3 "core" &K z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +93 "core" ' +2 "storage"(l& +3 "core" &K\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" &K ~\ +2 "manipulator"&m& +3 "core" &   +3 .tElbow.seek 6 + "manipulator"&o( +3 "core" ( +2 "manipulator"&@& +5 "core" & g  + "storage"(v& +4 "core" &K \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&<'h +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&?/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&D& +3 "storage"("' +8 "core" & ,  + "manipulator"&(% +4 "core" % l 4 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ( +3 "manipulator"&V& +2 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +2 "core" &y&   ?T +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y&   ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +95 "core" ' +2 "manipulator"&Y& +3 "core" &y&   s ?T +2 "manipulator"&-% +5 "core" %I    + "collection"'t& +5 "core" & \ +2 "collection"'Q& +5 "core" & 8\ +3 .tCC.seek :closed + "collection"'_(\\ +5 "core" & -\ +8 &; .\ %g +9 &Yu -\ 8 +9 &p *\ L +10 &N *\ L +9 &O -\ M +9 &AQ \ M +10 &N \ L +9 &R \ M +10 &L \ M +9 &JN \ L +9 & N \ L +10 &!N \ L +9 &#O \ L +9 &%RN \ L +10 &'N \ L +9 &(N \ L +10 &*N \ L +9 &,YM \ M +9 &.N \ L +10 &/N \ L +9 &1O \ M +9 &3aQ \ M +10 &5$O  \ L +9 &6O \ \ M +10 &8R \ M +9 &:iM \ M +9 &<+M \ M +10 &=N \ L +9 &?O \ M +9 &AqN \ M +10 &C1T  \ M +9 &D\\ \ N +10 &Fc  \ P +9 &Hjy \ R +9 &J \ \ \ V +10 &K\ \ \ Y +9 &M\ \ \ Z +9 &OX\ \  \ [ +10 &Q\ \ \ \ Z +9 &R\ \  \ ] +10 &T\ \  \ ] +9 &VW\ \  \ ^ +9 &X\ \ \ ^ +10 &Y\ \ \ ~_ +9 &[\ \ \ K +9 &\\;\ \ \ *~ +10 &\\}\ \  \ [ +2 ( +2 "collection"'Q& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&+1 +56 "core" 1 +2 "manipulator"&#% +3 "core" % I   ^  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%q& +3 "core" &\ u +2 "manipulator"&e% +4 "core" %    v  +2 "storage"(% +4 "core" % \ u +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(b(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &K J c c\ i +2 "manipulator"&& +3 "core" &ӥ   9( +2 "manipulator"&$% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&}( +166 "core" ( +2 "manipulator"&]& +3 "core" &     +2 "storage"(8& +3 "core" &K H\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +49 "manipulator"&7' +102 "core" ' +2 "storage"(f& +4 "core" &K ^ Z\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(i'r +294 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &K J\ u +3 "manipulator"&K& +4 "core" &   2  +2 .tElbow.seek 6 + "manipulator"&A( +4 "core" ( + "manipulator"&:& +5 "core" &   + "storage"(O& +4 "core" &K b\ w +3 .tForearm.seek 6 + 300 counts + "manipulator"&z'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +5 "storage"(' +3 "core" &   +2 "manipulator"&% +5 "core" % p   +2 .tForearm.seek :retract +2 "manipulator"&C' +89 "core" ' +3 .tElbow.seek PC +2 "manipulator"&!( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +71 "core" ( + "manipulator"& & +5 "core" &   ^  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &   b  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +90 "core" ' +2 "manipulator"&j& +3 "core" &    +3 "manipulator"&>% +3 "core" %   f +2 "processing"%& +5 "core" &\ } +2 "processing"%`& +5 "core" &\ | +2 .tPC.seek :closed +2 "processing"%2(^ +4 "core" &\ } +8 &1v\ l*x +10 &ax\ i> +9 &dk\ kO +10 &"N\ qP +9 &M\ qP +9 &O\ qO +10 &kN\ qO +9 &,N\ qP +9 &Q\ qP +10 &M\ qO +9 & rN\ qP +10 &"3Q\ qP +9 &#O\ qP +9 &%P\ qP +10 &'zM\ rP +9 &)<N\ qP +10 &*L\ qP +9 &,O\ qO +9 &.M\ qP +10 &0CQ\ qP +9 &2K\ rP +9 &3L\ rO +10 &5O\ qP +9 &7MN\ qO +9 &9O\ pP +10 &:N\ rP +9 &<O\ qP +10 &>TQ\ pP +9 &@Q\ pP +9 &AT\ pP +10 &CY\ nQ +9 &EV`\ nR +9 &Ge\ mS +10 &Hu\ iT +9 &J~\ gV +10 &LQ~\ gV +9 &N\ fW +9 &O\ fW +10 &Q\ dX +9 &SU\ fX +9 &U\ eW +10 &V\ eW +9 &X\ eW +10 &Z]\ dX +9 &\\\ dX +9 &]y\ h6 +10 &^5j\ j= +9 ( + &^\ v- +2 "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&J1 +62 "core" 1 +2 "manipulator"&%% +3 "core" %   f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +92 "core" ' +3 "processing"%& +3 "core" &^\ t- +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&P% +3 "core" %     +2 "storage"(N% +4 "core" % \ s +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +2 "manipulator"&& +4 "core" &K U p \ p +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(1'r +2 "manipulator"&( +7 "core" ( + "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &   u  +3 .tForearm.seek PC + "manipulator"&\\' +93 "core" ' +2 .tHand.close + "manipulator"&=/ +74 "core" / +2 .tPC.seek :open +2 "processing"%F( +77 "core" ' +2 "storage"(w- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +44 ."raiseStack"SE.seek :place +9 "storage"(p'1 +54 "core" ' +266 ( + "storage"()& +4 "core" &K G\ { +2 "manipulator"&~& +3 "core" &    +3 "manipulator"&G% +4 "core" %  \ ) +2 .tForearm.seek :retract +2 "manipulator"&h' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +255 "core" ( +2 "manipulator"&W& +3 "core" & \   \ +3 "storage"(& +4 "core" &K t\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&01 +54 "core" 1 +2 "storage"(|- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(X' +35 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +3 "core" -' +2 "storage"(H& +3 "core" &K   \ 0 +2 "manipulator"&9& +4 "core" &   \ +2 .tElbow.seek 6 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&I& +3 "core" &   \ +2 "storage"(4& +4 "core" &K\ 0 +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\ '" +51 "core" ' +2 "manipulator"&[& +3 "core" &   \ +2 "storage"(u& +4 "core" &K (\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&3'< +20 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(n' +26 "core" ' + "manipulator"&R% +5 "core" %F  \  + "storage"({& +4 "core" &K \ s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&M'r +14 "core" ' + "manipulator"&r& +4 "core" & 5 \ +2 "storage"(y& +4 "core" &K \ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +16 "core" ' + "storage"(S% +5 "core" % '\ z +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (,% +2 "core" %L t \ l[u +3 "manipulator"&.% +4 "core" %  \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +89 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K \ y +2 "collection"'&& +3 "core" &\\x \ [ +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&l% +4 "core" %  \   + "storage"(% +4 "core" % \ { +2 "storage"(a. +3 "core" .(K +2 "storage"(& +4 "core" &K \ { +2 "storage"(x& +3 "core" &K \ { +2 "manipulator"&m& +4 "core" &   \ +2 .tElbow.seek 6 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&v& +3 "core" &   ` \ +3 "storage"(?& +4 "core" &K \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&D' +92 "core" ' + "storage"((& +5 "core" &K ` \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +299 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +43 "manipulator"&V& +11 "core" & \  \ +2 "storage"(& +64 "core" &K \ { + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&6'< +19 "core" ' +2 .tElbow.hold + "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(-'i +30 "core" ' + "manipulator"&t% +4 "core" %<  +2 "storage"(o& +3 "core" &K \ y +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 300 counts + "manipulator"&"'h +15 "core" ' + "manipulator"&& +4 "core" &   \ +2 "storage"(s& +3 "core" &K\ \ \ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(#' +35 "core" ' +2 "manipulator"&q& +4 "core" & \  \ +2 "manipulator"&e% +3 "core" %  S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&Q& +4 "core" &ӎ#   B <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &ӎ#  g <= +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&$/ +54 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(]& +3 "core" &K \  +2 "storage"(8& +3 "core" &K f\  +3 "manipulator"&'& +4 "core" &ӭ   8 +2 "manipulator"&% +4 "core" % G   +2 .tForearm.seek :retract + "manipulator"&f' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&;( +161 "core" ( + "manipulator"&Z& +3 "core" &    +2 "storage"(& +4 "core" &K O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&K'< +95 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +56 "core" 1 +3 "manipulator"&E% +3 "core" % E   j  +2 "storage"(B& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts +2 "manipulator"&'q +13 "core" ' +3 "manipulator"&}& +4 "core" &  \  + "storage"(7& +4 "core" &K ;\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +18 "core" ' + "storage"(z% +3 "core" %  =\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (k% +3 "core" %? \ Xi +2 "manipulator"&A% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'>& +4 "core" & \ +2 "manipulator"&% +4 "core" %  \   +2 "storage"(% +3 "core" % [\  +2 "storage"(C. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(*([ +347 "core" ( +48 .tSC.configure :limp +4 "storage"($\ 1b +2 (J& +3 "core" &[ \ +2 "manipulator"&%& +4 "core" &   %  +2 .tElbow.seek 7 +2 "manipulator"&(r +30 "core" ( +2 "manipulator"&P& +4 "core" &h   = +2 "storage"(N& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +96 "core" ' +2 "storage"(`& +3 "core" &[  ,\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +297 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \ +2 "manipulator"&T& +3 "core" &i   @ < +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&=& +3 "core" &i   P < +2 "storage"(b& +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&w'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +2 "storage"(2' +9 "core" &i ` < + "manipulator"&1% +4 "core" %  Z +2 .tForearm.seek :retract +2 "manipulator"&)' +99 "core" ' +2 .tElbow.seek CC + "manipulator"&~(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&G& +3 "core" &ӎ"    ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &ӎ"  ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&W'? +98 "core" ' +3 "manipulator"&& +3 "core" &ӏ"   ; ;6 +3 "manipulator"&% +3 "core" %?  5  +2 "collection"'0& +4 "core" & #\ +3 "collection"'|& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'5(\\ +3 "core" & \ +6 & (\ ; +10 &MIq *\ 1 +9 &{sy (\ E +9 & T (\ N +10 &L ,\ M +9 &N -\ M +9 &jN \ L +10 &,N \ L +9 &L \ M +10 &L \ M +9 &qL \ M +9 &!3M \ M +10 &"L \ L +9 &$O \ M +9 &&yR \ M +10 &(;Q \ M +9 &)Q \ L +10 &+M \ L +9 &-O \ L +9 &/CN \ M +10 &1N \ L +9 &2O \ \ L +9 &4O  \ M +10 &6KR  \ M +9 &8 R \ M +10 &9M \ M +9 &;L \ M +9 &=SM \ M +10 &?N \ M +9 &@O \ L +9 &BR  \ M +10 &DWX \ N +9 &Fc  \ O +10 &Gs \ Q +9 &I\ \ \ \ U +9 &K?\ \  \ Y +10 &L\ \ \ Z +9 &N\ \ \ Z +9 &P\ \ \ \ Z +10 &RA\ \ \ [\ +9 &T\ \ \ \\ +9 &U\ \ \ [ +10 &W\ \ \ ] +9 &YA\ \ \ ^ +10 &[\ \ \ ^ +9 &\\`P\ \ \ 3 +9 &\\\ \ ] +10 ( + &\\y\  \ [ +2 "collection"'|& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&H1 +54 "core" 1 +2 "manipulator"&9% +3 "core" % ?    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%4& +3 "core" &\ u +2 "manipulator"&h% +5 "core" %     + "storage"([% +4 "core" % @\ u +2 "storage"(u. +2 "core" .([ +2 "storage"(R& +5 "core" &[ X\ u + "storage"({& +4 "core" &[ S\ u +2 "manipulator"&p& +3 "core" &ӫ   ~ 7 +3 "manipulator"&r% +4 "core" %   j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&y(r +163 "core" ( +2 "manipulator"&X& +4 "core" &i     + "storage"(S& +4 "core" &[ )\ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& '= +100 "core" ' +2 "storage"(& +3 "core" &[\ <\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +51 .tSE.seek :beamBreak +3 "storage"('r +298 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (.& +2 "core" &[ [\ r +2 "manipulator"& & +4 "core" &i     +3 .tElbow.seek 7 + "manipulator"&c(r +4 "core" ( +2 "manipulator"&\ & +3 "core" &i   +3 "storage"(3& +4 "core" &[ O\ v +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&M'ϧ +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(l' +9 "core" &i   + "manipulator"&% +4 "core" % ϻ   " +3 .tForearm.seek :retract + "manipulator"&n' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&& +4 "core" &   W & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" & \  & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&m' +95 "core" ' + "manipulator"&v& +5 "core" &   H & + "manipulator"&?% +4 "core" %   ?  +2 "processing"% & +4 "core" &\ z +3 "processing"%(& +5 "core" &\ z +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ z +9 & .\ u$c +10 &Tt\ h7 +9 &}s\ gL +9 &M\ nP +10 &IM\ oP +9 & K\ oO +9 &O\ nP +10 &L\ nP +9 &PO\ nP +10 &N\ oP +9 &M\ oP +9 &!M\ nP +10 &#YN\ nP +9 &%Q\ nP +10 &&O\ nP +9 &(O\ nP +9 &*aM\ nP +10 &,"Q\ lP +9 &-M\ oP +9 &/O\ oP +10 &1iN\ nP +9 &3+K\ oP +9 &4J\ oP +10 &6M\ nP +9 &8pQ\ mP +10 &:3L\ nP +9 &;O\ nP +9 &=O\ nP +10 &?yP\ nP +9 &A:Q\ nP +9 &B[\ lQ +10 &D[\ lR +9 &Fxd\ jS +10 &H5r\ gU +9 &I\ cV +9 &K\ dW +10 &Mu\ cV +9 &O5\ cW +9 &P\ bX +10 &R\ bW +9 &Ty\ aX +10 &V<\ bW +9 &W\ bW +9 &Y\ aW +10 &[\ aX +9 &]B\ _O +9 &^yJ\ d_ +10 &^ Q\ m3 +5 ( +2 "processing"%(& +4 "core" &^!\ r3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"& 1 +58 "core" 1 +2 "manipulator"&^% +4 "core" %    >  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +95 "core" ' +2 "processing"%V& +3 "core" &^"\ p3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +3 "core" % !    ( +3 "storage"(Y% +3 "core" % \ p +2 "storage"(t. +3 "core" .([ +2 "storage"(o& +3 "core" &[ @\ o +3 "storage"(& +3 "manipulator"&s& +6 "core" &[ "\ o +2 &   & & +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&q( +4 ."raiseStack"SE.seek :beamBreak + "storage"(e'r +2 "core" ( +3 "manipulator"&D& +3 "core" &   & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &   & +3 .tForearm.seek PC +2 "manipulator"&/' +95 "core" ' + .tHand.close +2 "manipulator"&6/ +53 "core" / +2 .tPC.seek :open + "processing"%"( +101 "core" ' +2 "storage"(-- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'1 +41 "core" ' +303 ( +2 "storage"(d& +3 "core" &[ \ s +2 "manipulator"&+& +4 "core" & \  & +2 "manipulator"&<% +3 "core" %      +3 .tForearm.seek :retract + "manipulator"&$' +134 "core" ' +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +263 "core" ( +2 "manipulator"&_& +3 "core" &}   @ g +2 "storage"(]& +5 "core" &[ %\ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&8'= +98 "core" ' +2 .tHand.open +2 "manipulator"&'1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(Z' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &[ \ ) +2 "manipulator"&O& +4 "core" &}  \  g +2 .tElbow.seek 7 +2 "manipulator"&E(r +11 "core" ( +2 "manipulator"&B& +4 "core" &z   $ F + "storage"(}& +5 "core" &[  "\ + +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(z'" +61 "core" ' + "manipulator"&f& +4 "core" &z  n F +2 "storage"(k& +3 "core" &[ \ y +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&A'{ +31 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(K' +21 "core" ' + "manipulator"&>% +4 "core" %Ύ " + ~ +2 "storage"(& +4 "core" &[ j g 8\ i + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&'Ϻ +13 "core" ' +2 "manipulator"&& +3 "core" &z   N F +2 "storage"(C& +4 "core" &[ u\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&#'= +18 "core" ' +2 "storage"(i% +3 "core" % 9\ z +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (% +3 "core" %J \ nZq +2 "manipulator"&J% +4 "core" %>    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (P& +3 "core" &[ U\ y +2 "collection"'N& +4 "core" &\\y \ [ +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&`% +4 "core" %      + "storage"(:% +4 "core" % \ { +2 "storage"(j. +3 "core" .([ +2 "storage"(& +3 "core" &[ \ { +2 "storage"(& +4 "core" &[ \ { +2 "manipulator"&T& +4 "core" &z   F +2 .tElbow.seek 7 +2 "manipulator"&=(r +4 "core" ( +2 "manipulator"&b& +4 "core" &z  + F + "storage"(!& +4 "core" &[ \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&g'= +93 "core" ' +2 "storage"(1& +3 "core" &[\ \  I\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" &z \   F +2 "storage"(\\& +4 "core" &[ 6\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&L'{ +28 "core" ' + .tElbow.hold +42 "manipulator"&w, +11 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('k +30 "core" ' +2 "manipulator"&0% +4 "core" %Ή  ' + "storage"(& +4 "core" &[ \ n +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts +2 "manipulator"&2'ϵ +14 "core" ' +2 "manipulator"&)& +4 "core" &z  F F + "storage"(& +4 "core" &[ \  6\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&H'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(9' +35 "core" ' + "manipulator"&4& +4 "core" &z " F +2 "manipulator"&h% +3 "core" %>  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u(ӂ +159 "core" ( +2 "manipulator"&R& +3 "core" &ӑ!   } :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &ӑ!   :- +2 .tForearm.seek CC +2 "manipulator"&|'? +93 "core" ' +2 .tHand.close + "manipulator"&p/ +56 "core" / +2 .tCC.seek :open +2 "collection"'r( +448 "core" ( +2 "storage"(W& +4 "core" &[ \\\ +2 "storage"(X& +3 "core" &[ \ +2 "manipulator"&S& +4 "core" &Ӫ  7 +2 "manipulator"&% +3 "core" % K   c +3 .tForearm.seek :retract + "manipulator"&~' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&I(r +162 "core" ( +2 "manipulator"&,& +3 "core" &t  W  +2 "storage"(.& +4 "core" &[ 3\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"& '{ +104 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&31 +53 "core" 1 +2 "manipulator"&% +3 "core" % ΂   _ +2 "storage"(&& +4 "core" &[ i\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 307 counts +2 "manipulator"&'Ϯ +14 "core" ' +2 "manipulator"&y& +3 "core" &t Z  +2 "storage"( & +4 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +16 "core" ' +2 "storage"(M% +3 "core" % *\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (x% +3 "core" %? v\ Xj +2 "manipulator"&c% +4 "core" %4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +96 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'?& +4 "core" & !\ +2 "manipulator"& % +3 "core" %      +3 "storage"(l% +3 "core" % r\  +2 "storage"(n. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(F(<- +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &<0 h b\ +2 "manipulator"&^& +4 "core" &t     +2 .tElbow.seek 5 +2 "manipulator"&V( +33 "core" ( +2 "manipulator"&& +4 "core" &   0 + "storage"(Y& +50 "core" &<0 R\ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&t'O +131 "core" ' +2 "storage"(o& +4 "core" &<0 \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('r +296 "core" ' +3 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<- +\ +2 "manipulator"&D& +4 "core" & ; +2 .tElbow.seek 5 + "manipulator"&@( +4 "core" ( +2 "manipulator"&m& +3 "core" & 1 +2 "storage"(6& +4 "core" &<- \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&-'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(' +9 "core" & Q +2 "manipulator"&e% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&d' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&+(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&<& +3 "core" &Ӓ"  1 ;3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &Ӓ"   ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&_'? +95 "core" ' +2 "manipulator"&]& +3 "core" &ӓ"   ;2 +2 "manipulator"&q% +5 "core" %A   2 + "collection"''& +5 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +6 &? \ %g +9 &Xu <\ 8 +10 &r \ L +9 &L \ L +9 &O -\ M +10 &CQ +\ M +9 &R 0\ M +9 &R +\ L +10 &O (\ L +9 &KM \ M +10 & L \ L +9 &!N \ M +9 &#Q \ M +10 &%UN \ L +9 &'R \ M +9 &(R \ M +10 &*Q \ L +9 &,\\O \ L +10 &.N \ L +9 &/R \ M +9 &1N \ M +10 &3cN \ M +9 &5%M \ M +9 &6O !\ L +10 &8O \ L +9 &:kO $\ M +10 &<,P \ M +9 &=O \ L +9 &?P  \ M +10 &AsS \ M +9 &C4U \ M +10 &D_ \ N +9 &Fd \ P +9 &Hl{  \ R +10 &J!\ \ \ \ V +9 &K\ \ \ Y +9 &M\ \ \ Z +10 &O\\\ \ \ Z +9 &Q\ \ \ [\ +9 &R\ \ \ [ +10 &T\ \ \ \\ +9 &V\\\ \ \ ] +10 &X\ \ \ ] +9 &Y\ \ \ ^ +9 &[\ \ \ L +10 &\\6\ \ \ / +9 &\\e\ \ \ P +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +3 "manipulator"&O% +4 "core" % A   m 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%$& +4 "core" &\ x + "manipulator"&}% +4 "core" %     +2 "storage"(f% +4 "core" % \ x +2 "storage"(k. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(Q(<- +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +2 "core" &<. I\ v +2 "manipulator"&& +5 "core" &ӭ   7 + "manipulator"&Z% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( + "manipulator"&C& +4 "core" &   ^  +2 "storage"(i& +3 "core" &<. \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' +2 "storage"(8& +3 "core" &<. ~ w C\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +50 "core" &<. N\ y +3 "manipulator"&7& +5 "core" &   ,  + .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&z& +4 "core" &    +2 "storage"(A& +4 "core" &<. \ z +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"(`' +9 "core" &  [  + "manipulator"&:% +5 "core" % Ϸ X +2 .tForearm.seek :retract + "manipulator"&j' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&K( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +3 "manipulator"&& +3 "core" &  6  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +104 "core" ' +2 "manipulator"&b& +3 "core" & \  7  +3 "manipulator"&!% +4 "core" %    & +2 "processing"%#& +3 "core" &\ +3 "processing"%1& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"% (^ +5 "core" &\  +6 & .\ y$c +9 &Sv\ m7 +10 &}v\ kL +9 &Q\ rP +9 &PL\ tO +10 &L\ tP +9 &Q\ sP +10 &O\ sP +9 &XO\ sO +9 &O\ sO +10 &N\ sO +9 &!N\ sO +9 &#_O\ rP +10 &%!Q\ sP +9 &&R\ sO +10 &(O\ sP +9 &*gP\ sP +9 &,)Q\ sP +10 &-P\ sP +9 &/R\ sP +9 &1oJ\ tP +10 &31P\ sP +9 &4P\ sO +9 &6O\ rO +10 &8xO\ sO +9 &:9N\ sP +10 &;S\ sP +9 &=O\ sP +9 &?~P\ rP +10 &A?S\ rP +9 &BY\ qQ +10 &D]\ pR +9 &F~g\ oS +9 &H:~\ jU +10 &I\ iV +9 &K\ hW +9 &M{\ iW +10 &O<\ fW +9 &P\ gW +9 &R\ hX +10 &T\ eX +9 &VC\ gW +10 &X\ fW +9 &Y\ fW +9 &[\ eW +10 &]H\ eM +9 &^Q\ d#l +9 &^ \ w- +3 ( +2 "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&;1 +54 "core" 1 +2 "manipulator"&%% +3 "core" %   2 & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 "processing"%G& +3 "core" &^\ z- +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&\\% +3 "core" % \  @  +3 "storage"(% +3 "core" % ~\ y +2 "storage"(0. +3 "core" .(<- +2 "storage"(& +3 "core" &<. \ y +3 "storage"()& +2 "manipulator"&& +7 "core" &<. \ z +2 &   r  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&4( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'r +2 "core" ( +2 "manipulator"&g& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' + .tHand.close +2 "manipulator"&L/ +56 "core" / +3 .tPC.seek :open +2 "processing"%2( +101 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'1 +47 "core" ' +296 ( + "storage"({& +4 "core" &<+ \ \\\ | +2 "manipulator"&H& +3 "core" &     +2 "manipulator"&w% +4 "core" %     ) +2 .tForearm.seek :retract +2 "manipulator"&p' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&[( +251 "core" ( +2 "manipulator"&5& +51 "core" &  \ a +2 "storage"(W& +4 "core" &<+\ \  Z\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&X'O +91 "core" ' +2 .tHand.open + "manipulator"&S1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(,' +37 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(.' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +3 "core" -' +2 "storage"(u& +4 "core" &<+  *\ ) +2 "manipulator"&3& +3 "core" &   / +3 .tElbow.seek 5 + "manipulator"&( +12 "core" ( +2 "manipulator"&&& +3 "core" &    +2 "storage"(y& +5 "core" &<+ i\ ( +2 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(M'" +58 "core" ' +2 "manipulator"&~& +4 "core" &   + "storage"(x& +4 "core" &<+\ \  \ } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&c'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +29 "core" ' + "manipulator"&?% +4 "core" %Ώ    +2 "storage"(& +3 "core" &<+ {\ { +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 302 counts +2 "manipulator"& 'ϻ +24 "core" ' +2 "manipulator"&l& +3 "core" &  1  +2 "storage"(n& +4 "core" &<+ Y a c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +21 "core" ' + "storage"(% +5 "core" % o S 3\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (*% +3 "core" %bI \ t[r +2 "manipulator"& % +4 "core" %\\    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<+ \ } +2 "collection"'Y& +4 "core" &\\b \ P +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&o% +4 "core" %    +2 "storage"(\ % +4 "core" %\ \  I\  +2 "storage"(v. +3 "core" .(<- +2 "storage"(s& +4 "core" &<+ _\  + "storage"(& +4 "core" &<+ c \\ \  +2 "manipulator"&D& +4 "core" &     +2 .tElbow.seek 5 + "manipulator"&m( +4 "core" ( +2 "manipulator"&6& +3 "core" &    +3 "storage"(a& +4 "core" &<+ ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&U'O +93 "core" ' +2 "storage"(e& +3 "core" &<+ o o &\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +304 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" & \   +2 "storage"(/& +3 "core" &<+ $\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&('΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(q'u +74 "core" ' +4 "manipulator"&'% +4 "core" %Μ  +2 "storage"(@& +4 "core" &<+ ^\ { +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&' +25 "core" ' + "manipulator"&d& +5 "core" &   + "storage"(r& +4 "core" &<+ a | K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +25 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(O' +35 "core" ' +2 "manipulator"&$& +3 "core" &     +2 "manipulator"&}% +4 "core" %C   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +159 "core" ( +2 "manipulator"&& +3 "core" &ӑ   k :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &ӑ   :1 +3 .tForearm.seek CC + "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&Z/ +62 "core" / +2 .tCC.seek :open +2 "collection"'_( +448 "core" ( + "storage"(C& +4 "core" &<+ 3\  +2 "storage"(i& +4 "core" &<+ 0\  +2 "manipulator"&F& +3 "core" &ӯ \   6 +2 "manipulator"&8% +4 "core" % 2   0 & +2 .tForearm.seek :retract +2 "manipulator"&+' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&B( +162 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(J& +4 "core" &<+ j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&7'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&A1 +54 "core" 1 +2 "manipulator"&P% +5 "core" % ΄   + "storage"(N& +4 "core" &<+ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 291 counts +2 "manipulator"&:'ϰ +13 "core" ' +3 "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &<+\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +18 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +3 "core" %_C d\ Xi +2 "manipulator"&E% +4 "core" %< +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +91 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'!& +3 "core" & \ +2 "manipulator"&#% +4 "core" %  O  +2 "storage"(`% +4 "core" % \ \  +2 "storage"(j. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"("(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &K +\  +2 "manipulator"&%& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&\\& +4 "core" & g  +2 "storage"(& +3 "core" &K \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&0' +93 "core" ' + "storage"(& +50 "core" &K \  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (1& +3 "core" &K n\  +2 "manipulator"&g& +3 "core" & N  +2 .tElbow.seek 6 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&T& +4 "core" &  +2 "storage"(L& +3 "core" &K %\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"( ' +7 "core" &   +2 "manipulator"&h% +3 "core" % p +3 .tForearm.seek :retract + "manipulator"&{' +149 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +97 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +57 "core" ( +2 "manipulator"&w& +3 "core" &Ӌ%    >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӌ%   z >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&5'? +98 "core" ' +2 "manipulator"&4& +3 "core" &Ӣ"   J ;4 +2 "manipulator"&W% +5 "core" %@   + "collection"'S& +5 "core" & \ +2 "collection"'& +5 "core" & D\ +3 .tCC.seek :closed + "collection"'|(\\ +5 "core" & U\ +6 &; $\ %g +9 &Wr '\ 7 +10 &t /\ L +9 &R )\ M +9 &xR )\ M +10 &:R '\ M +9 &Q 1\ M +9 &Q \ M +10 &Q "\ M +9 &BR \ M +10 & Q \ L +9 &!O \ L +9 &#O \ L +10 &%KN \ L +9 &' N \ L +9 &(N \ M +10 &*Q \ L +9 &,SO \ L +10 &.O \ L +9 &/O \ L +9 &1P \ M +10 &3ZR \ M +9 &5M \ M +9 &6O &\ L +10 &8O &\ M +9 &:aR %\ M +10 &<$M \ M +9 &=N \ M +9 &?O \ L +10 &AjP \ M +9 &C*T \ M +10 &D\\ \ N +9 &Fe \ P +9 &Hcy \ R +10 &J\ \ \ W +9 &K\ \  \ Y +9 &M\ \ \ Z +10 &OS\ \ \ \ \ Z +9 &Q\ \ \  \ [\ +9 &R\ \ \ [ +10 &T\ \ \ \\ +9 &VR\ \ \ ] +10 &X\ \ \ ^ +9 &Y\ \ \ _ +9 &[\ \ \ ~L +10 &\\>\ \ \ * +9 &\\~\ \ \ [ +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&u1 +63 "core" 1 +2 "manipulator"&3% +4 "core" % @   ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%&& +4 "core" &\ u +2 "manipulator"&y% +3 "core" %     +2 "storage"(~% +3 "core" % P\ t +2 "storage"(x. +4 "core" .(K + "storage"(R& +4 "core" &K G\ u +2 "storage"(?& +4 "core" &K \ t +2 "manipulator"&& +3 "core" &ӱ   9% +2 "manipulator"&,% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&l( +162 "core" ( + "manipulator"&n& +4 "core" &   %  +2 "storage"(& +3 "core" &K Z\ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&[' +95 "core" ' + "storage"(X& +4 "core" &K W a D\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +295 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K >\ u +2 "manipulator"& & +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&M& +4 "core" &     +2 "storage"(c& +4 "core" &K `\ w +2 .tForearm.seek 6 + 300 counts + "manipulator"& 'h +51 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& + "storage"(o' +8 "core" &   /  + "manipulator"&\ % +5 "core" % `    +2 .tForearm.seek :retract +2 "manipulator"&v' +91 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +3 "manipulator"&s& +3 "core" &  \   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&D' +92 "core" ' +2 "manipulator"&6& +4 "core" &  A  +2 "manipulator"&a% +3 "core" %  d +3 "processing"%9& +3 "core" &\ | +3 "processing"%e& +5 "core" &\ } +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ } +6 & -\ w$c +10 &Tt\ j7 +9 &}u\ iL +9 &Q\ pP +10 &NM\ qP +9 &N\ qO +9 &O\ pO +10 &N\ qO +9 &WL\ pO +10 &N\ pO +9 &N\ qP +9 &!P\ pP +10 &#^L\ rP +9 &%!M\ qO +9 &&O\ qP +10 &(R\ pP +9 &*gM\ qO +10 &,(O\ qP +9 &-O\ qP +9 &/R\ oP +10 &1nJ\ qP +9 &30J\ qP +9 &4J\ rO +10 &6N\ qP +9 &8vQ\ pP +10 &:9M\ qO +9 &;O\ qP +9 &=O\ qP +10 &?~O\ pP +9 &A?R\ pP +10 &BY\ nQ +9 &DZ\ nQ +9 &F~c\ lR +10 &H;n\ jT +9 &I\ fV +9 &K\ fV +10 &Mz\ fW +9 &O;\ eW +9 &P\ dX +10 &R\ fW +9 &T~\ bX +10 &VB\ dW +9 &X\ dX +9 &Y\ dX +10 &[\ eW +9 &]G\ cM +9 &^Q\ c"j +10 &^ \ v- +2 ( +2 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&I1 +55 "core" 1 + "manipulator"&^% +4 "core" %   g d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +90 "core" ' +2 "processing"%<& +3 "core" &^\ t- +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&/% +4 "core" %    +2 "storage"(]% +3 "core" % )\ s +2 "storage"('. +3 "core" .(K +2 "storage"(@& +3 "core" &K \ s +3 "storage"(d& +2 "manipulator"&r& +8 "core" &K \ s + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&$( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'r +2 "core" ( +3 "manipulator"&U& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &   [  +2 .tForearm.seek PC +2 "manipulator"&V' +93 "core" ' + .tHand.close +2 "manipulator"&(/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' +2 "storage"(q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +305 ( +2 "storage"(>& +3 "core" &K\ \  [\ } +2 "manipulator"&& +4 "core" &    +2 "manipulator"&-% +3 "core" %    D +3 .tForearm.seek :retract + "manipulator"&Z' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&f( +245 "core" ( +2 "manipulator"&& +3 "core" &   0 ' +2 "storage"(C& +3 "core" &K \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +94 "core" ' +2 .tHand.open + "manipulator"&F1 +64 "core" 1 +2 "storage"(8- +43 "core" -'1 +11 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +27 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(J' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(k& +4 "core" &K c\ . +2 "manipulator"&A& +3 "core" &   c & +3 .tElbow.seek 6 + "manipulator"&P( +4 "core" ( +2 "manipulator"&N& +4 "core" &   c & +2 "storage"(& +3 "core" &K \ - +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&+& +5 "core" &   & + "storage"(& +4 "core" &K y\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&E'< +22 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(7' +27 "core" ' +2 "manipulator"&!% +3 "core" %J  7 +2 "storage"(#& +4 "core" &K X\ r +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&:'v +14 "core" ' +2 "manipulator"&`& +3 "core" &   & +3 "storage"(j& +4 "core" &K \ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +15 "core" ' +2 "storage"(% +3 "core" % \ y +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (Q% +3 "core" %L \ o[u +2 "manipulator"&;% +4 "core" %  \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" &K \ w +3 "collection"'& +4 "core" &\\x \ [ + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %     +2 "storage"(z% +4 "core" % P\ x +2 "storage"(b. +3 "core" .(K +2 "storage"()& +3 "core" &K L\ y +2 "storage"(1& +4 "core" &K g\ y +2 "manipulator"&g& +3 "core" & \  & +3 .tElbow.seek 6 + "manipulator"&T( +4 "core" ( +2 "manipulator"&L& +4 "core" &    & + "storage"(K& +4 "core" &K 0\ y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(h& +3 "core" &K I\ ~ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +294 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   & +2 "storage"(& +4 "core" &K J\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&w'< +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(4- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(W'i +30 "core" ' + "manipulator"&S% +3 "core" %6   & +2 "storage"(=& +4 "core" &K f\ t +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 294 counts +2 "manipulator"& 'b +15 "core" ' + "manipulator"&{& +4 "core" &   & +2 "storage"(_& +3 "core" &K \ y +49 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&u' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(3' +37 "core" ' + "manipulator"&&& +4 "core" &  5 & +2 "manipulator"&y% +4 "core" % A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&x(ӂ +156 "core" ( +3 "manipulator"&R& +4 "core" &Ӓ"   D ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӓ"   > ;2 +2 .tForearm.seek CC +2 "manipulator"&?'? +99 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"',( +448 "core" ( +2 "storage"(5& +3 "core" &K Z\  +2 "storage"(n& +4 "core" &K \  +2 "manipulator"&& +4 "core" &ө   8 +2 "manipulator"&X% +3 "core" % C   +3 .tForearm.seek :retract + "manipulator"&H' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&p( +154 "core" ( +2 "manipulator"&*& +3 "core" &  A \ +2 "storage"( & +4 "core" &K I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"& '< +97 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +59 "core" 1 +2 "manipulator"&% +3 "core" % 4  K  +2 "storage"(Y& +4 "core" &K _\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 292 counts + "manipulator"&\ '` +15 "core" ' +2 "manipulator"&l& +4 "core" &  \ +2 "storage"([& +4 "core" &K C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +15 "core" ' +2 "storage"( % +4 "core" %\ +2 ."downElevator"SE.seek :down +4 "storage"(s' +98 (% +3 "core" %D \ Yl +2 "manipulator"&% +4 "core" % > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +102 "core" ' +42 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'a& +3 "core" & 1\ +2 "manipulator"&9% +5 "core" %  [ + "storage"(o% +5 "core" %\  + "storage"(v. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(2([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +2 "core" &[ 1\ +3 "manipulator"&^& +3 "core" & D \ +2 .tElbow.seek 7 +2 "manipulator"&<(r +15 "core" ( + "manipulator"&/& +4 "core" &u   +2 "storage"(]& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&''= +91 "core" ' +2 "storage"(@& +3 "core" &[ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +298 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +2 "core" &[ \ +2 "manipulator"&U& +3 "core" &u  +49 .tElbow.seek 7 +3 "manipulator"&m(r +3 "core" ( +2 "manipulator"&D& +4 "core" &u  +2 "storage"((& +4 "core" &[ d\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&q'ϧ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&t& +2 "storage"(' +8 "core" &u  + "manipulator"&}% +5 "core" % Ϝ +2 .tForearm.seek :retract + "manipulator"&>' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&-& +3 "core" &Ӌ   4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &Ӌ 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +3 "manipulator"&C& +3 "core" &ӌ \  4 +2 "manipulator"&$% +4 "core" %9   Y +2 "collection"'F& +5 "core" & \ +2 "collection"'8& +5 "core" & \ +3 .tCC.seek :closed + "collection"'Z(\\ +5 "core" & '\ +7 &? $\ $f +11 &Xw &\ 7 +7 &t 7\ L +10 &P .\ M +9 &O )\ L +10 &@R +\ M +9 &Q )\ L +9 &M %\ M +10 &Q !\ M +9 &HP $\ M +9 & L \ L +10 &!N \ L +9 &#R \ M +10 &%PO \ M +9 &'L \ L +9 &(N \ L +10 &*Q "\ M +9 &,XQ \ M +9 &.L \ L +10 &/N \ L +9 &1O $\ L +10 &3`R \ M +9 &5#N \ L +9 &6P $\ L +10 &8O \ L +9 &:hR "\ M +9 &<+Q \ L +10 &=M \ M +9 &?N \ M +10 &ApO \ M +9 &C2T \ M +9 &D_ \ N +10 &Ff \ O +9 &Hh{ \ R +9 &J\ \ \ \ V +10 &K\ \ \ Y +9 &M\ \ \ Z +10 &OZ\ \ \ \ Z +9 &Q\ \ \ Z +9 &R\ \ \ [\ +10 &T\ \ \ \\ +9 &V[\ \ \ \\ +10 &X\ \ \ ] +9 &Y\ \ \ ^ +9 &[\ \ \ K +10 &\\:\ \ \ , +9 &\\i\ \ \ N +2 ( +2 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 +2 .Hand.open + "manipulator"&1 +61 "Can"\ Q$K# +2 "core" 1 +2 "manipulator"&k% +3 "core" % 9  8 Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%N& +3 "core" &\ y +2 "manipulator"&% +4 "core" %    +2 "storage"(+% +3 "core" % 1\ y +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(!([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +2 "core" &[ j j \ j +2 "manipulator"&& +4 "core" &Ӣ  | 1 +2 "manipulator"&`% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&j(r +161 "core" ( +2 "manipulator"&& +3 "core" &|   R  +2 "storage"(& +4 "core" &[ \  c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&f'= +94 "core" ' +2 "storage"(i& +3 "core" &[ r o 4\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'r +300 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &[ V\ y +2 "manipulator"&& +4 "core" &|     +2 .tElbow.seek 7 +2 "manipulator"&P(r +3 "core" ( +2 "manipulator"&& +3 "core" &|    +2 "storage"(E& +3 "core" &[ \ { +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&:'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +49 "storage"(' +8 "core" &|  [  +3 "manipulator"&z% +3 "core" % ϩ  +3 .tForearm.seek :retract + "manipulator"&b' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&7( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +3 "manipulator"&)& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&g' +97 "core" ' +2 "manipulator"&L& +3 "core" &    +3 "manipulator"&K% +4 "core" %   % +2 "processing"%O& +3 "core" &\ ~ +3 "processing"%h& +5 "core" &\ } +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ } +8 &3t\ l*x +10 &`x\ i> +9 &ij\ jO +10 &'L\ qP +9 &N\ qP +9 &L\ qO +10 &oN\ qP +9 &1L\ rP +9 &K\ rP +10 &M\ qO +9 & wN\ qP +10 &"9L\ rP +9 &#N\ qO +9 &%N\ pP +10 &'~Q\ pP +9 &)BN\ qO +9 &+N\ pP +10 &,R\ oP +9 &.L\ qO +10 &0IN\ qP +9 &2 N\ qP +9 &3L\ pO +10 &5J\ qP +9 &7RM\ qO +9 &9O\ pP +10 &:R\ pP +9 &<N\ pP +10 &>YQ\ pP +9 &@Q\ pP +9 &AT\ oP +10 &C]\ mQ +9 &E[`\ mR +9 &Gk\ kS +10 &Hx\ hU +9 &J\ eV +10 &LV~\ gV +9 &N\ fW +9 &O\ fV +10 &Q\ cX +9 &SZ\ dX +9 &U\ dW +10 &V\ eX +9 &X\ eW +10 &Zb\ cX +9 &\\$\ cX +9 &]w\ h9 +10 &^-p\ jU +9 &^)\ t2 +2 ( +2 "processing"%h& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&B1 +58 "core" 1 +2 "manipulator"&%% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +97 "core" ' +2 "processing"%& +3 "core" &^#\ s2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" % #    5 +2 "storage"(4% +4 "core" % \ r +2 "storage"(S. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(=([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ({& +2 "manipulator"&_& +4 "core" &[ y [ ,\ n +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(&'r + "manipulator"&y( +6 "core" ( +2 "manipulator"&& +3 "core" &  U +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &  + + +3 .tForearm.seek PC + "manipulator"&G' +93 "core" ' + .tHand.close +2 "manipulator"&w/ +58 "core" / + .tPC.seek :open +2 "processing"% ( +90 "core" ' +2 "storage"(W- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'1 +41 "core" ' +311 ( + "storage"(& +4 "core" &[ H\ ~ +2 "manipulator"&u& +3 "core" & \  +2 "manipulator"&% +5 "core" %    N +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&~(r +245 "core" ( + "manipulator"&|& +3 "core" &x   Z K +2 "storage"(5& +4 "core" &[ o\ x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&n'= +101 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(X- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +48 "storage"(*' +28 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(x& +3 "core" &[ d\ & +3 "manipulator"&c& +3 "core" &x  H K +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&Y& +4 "core" &x    K +2 "storage"(l& +3 "core" &[ \ ' +3 .tForearm.seek 7 + 450 counts + "manipulator"&['= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +59 "core" ' + "manipulator"&H& +4 "core" &x    K +2 "storage"(& +4 "core" &[ 3\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +18 "core" ' +2 "manipulator"&a% +3 "core" %΍ / 9 , +2 "storage"(9& +5 "core" &[ j l \ j + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&\ 'Ϲ +13 "core" ' + "manipulator"&o& +4 "core" &y  c J +2 "storage"(v& +4 "core" &[ \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&3'= +18 "core" ' +2 "storage"(.% +4 "core" % >\ z +2 ."downElevator"SE.seek :down +4 "storage"(s' +98 ("% +3 "core" %FI \ p[r +2 "manipulator"&I% +4 "core" %F   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (/& +3 "core" &[ \ x +2 "collection"']& +3 "core" &\\k '\ N +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&@% +3 "core" %   \   +2 "storage"(M% +4 "core" % \ { +2 "storage"(6. +3 "core" .([ +2 "storage"(d& +4 "core" &[ \ z +2 "storage"(e& +3 "core" &[ \ { +2 "manipulator"&U& +4 "core" &y   6 J +2 .tElbow.seek 7 +2 "manipulator"&D(r +4 "core" ( +2 "manipulator"&(& +3 "core" &y   J +2 "storage"( & +3 "core" &[ \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'= +97 "core" ' + "storage"(}& +4 "core" &[ \  +\ } +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'r +297 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&-& +3 "core" &y   J +2 "storage"(V& +3 "core" &[ \ u +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&r'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(C- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"($'Z +29 "core" ' +2 "manipulator"&F% +3 "core" %΍ 9 = ' +2 "storage"(m& +4 "core" &[ n o U\ k +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&'Ϲ +13 "core" ' +2 "manipulator"&>& +3 "core" &y  \ J +2 "storage"(,& +5 "core" &[ \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +43 .tForearm.seek 7 + 450 counts +9 "manipulator"&'= +15 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(k' +37 "core" ' +2 "manipulator"&N& +3 "core" &y  J +2 "manipulator"&% +5 "core" %4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( +2 "manipulator"&8& +3 "core" &ӓ   6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &ӓ   6 +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&`/ +60 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( + "storage"(& +3 "core" &[ )\  +2 "storage"(& +5 "core" &[ \  + "manipulator"&2& +4 "core" &Ӧ  L 4 +2 "manipulator"&i% +4 "core" % J   ^  +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&A(r +161 "core" ( +2 "manipulator"&Q& +3 "core" &|   +3 "storage"(;& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +92 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +61 "core" 1 +3 "manipulator"&\\% +3 "core" % ·     +2 "storage"(& +4 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&z'ϳ +15 "core" ' + "manipulator"&j& +4 "core" &|    +2 "storage"(f& +5 "core" &[ s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&J'= +15 "core" ' +2 "storage"(:% +3 "core" % #\ +3 ."downElevator"SE.seek :down +3 "storage"()' +100 (1% +3 "core" %@B o\ Yl +2 "manipulator"&P% +3 "core" %5  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +91 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'K& +3 "core" & \ +2 "manipulator"&O% +5 "core" %    .  + "storage"(% +4 "core" % g\  +2 "storage"(b. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +2 "core" && +3 "manipulator"&,& +8 "core" &<- \ s +2 &   8 9 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&N( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( + "manipulator"&t& +4 "core" &   \\ 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &  9 +2 .tForearm.seek PC +2 "manipulator"&<' +98 "core" ' +2 .tHand.close + "manipulator"&r/ +61 "core" / +3 .tPC.seek :open +2 "processing"%( +87 "core" ' +2 "storage"($- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +43 "core" ' +314 ( + "storage"(#& +4 "core" &<, $\ w +2 "manipulator"&& +3 "core" &  \  9 +3 "manipulator"&q% +3 "core" %   ( +3 .tForearm.seek :retract + "manipulator"&`' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&+( +244 "core" ( + "manipulator"&Z& +4 "core" &   H 4 +2 "storage"(& +3 "core" &<, |\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' +2 .tHand.open + "manipulator"&21 +53 "core" 1 +3 "storage"(i- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Q' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(;' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &<, q\ % +2 "manipulator"&E& +49 "core" &  \  3 +6 .tElbow.seek 5 + "manipulator"&\\( +5 "core" ( + "manipulator"&& +4 "core" &   3 +2 "storage"(j& +3 "core" &<, \ $ +3 .tForearm.seek 5 + 450 counts + "manipulator"&f'O +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(:'" +56 "core" ' +2 "manipulator"&& +3 "core" &   3 +2 "storage"(1& +4 "core" &<, \ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&P'΍ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +31 "core" ' + "manipulator"&K% +4 "core" %Α   +2 "storage"(z& +3 "core" &<, g\ t +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 304 counts +2 "manipulator"&O'Ͻ +26 "core" ' + "manipulator"&& +4 "core" &  ) +2 "storage"(b& +4 "core" &<,\ \  7\ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +17 "core" ' +2 "storage"(J% +3 "core" %\ \  h\ } +3 ."downElevator"SE.seek :down +3 "storage"()' +100 (=% +2 "core" %6P \ p[u +3 "manipulator"&B% +3 "core" %G  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +96 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<, l\ ~ +2 "collection"'4& +4 "core" &\\k "\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&h% +3 "core" %   8  +2 "storage"(% +4 "core" %\ \  &\  +2 "storage"(L. +3 "core" .(<- +2 "storage"(_& +4 "core" &<,\ \  :\  +2 "storage"(& +3 "core" &<,\ \ T\  +3 "manipulator"&T& +4 "core" &  ) +2 .tElbow.seek 5 + "manipulator"&w( +4 "core" ( +2 "manipulator"&!& +4 "core" &  S ) + "storage"(7& +4 "core" &<,\ \  L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&0'O +92 "core" ' + "storage"(&& +4 "core" &<, q t \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +3 "storage"(S- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & \  ) +2 "storage"(G& +3 "core" &<, )\ z +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&{'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(5- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(y'u +28 "core" ' +2 "manipulator"&% +4 "core" %Ζ   C + "storage"(g& +3 "core" &<, ]\ z +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&& +3 "core" &   ) +3 "storage"(& +4 "core" &<, q\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +18 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(x' +35 "core" ' +2 "manipulator"&Y& +3 "core" &  " ) +2 "manipulator"&l% +4 "core" %U  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tForearm.seek :retract +2 "manipulator"&H' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +167 "core" ( +2 "manipulator"&R& +3 "core" &Ӆ   m 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &Ӆ   1 +3 .tForearm.seek CC + "manipulator"&9'? +100 "core" ' +2 .tHand.close + "manipulator"&X/ +61 "core" / +2 .tCC.seek :open +2 "collection"'o( +447 "core" ( +2 "storage"(|& +3 "core" &<, \ +2 "storage"(*& +4 "core" &<, s\ +2 "manipulator"&.& +3 "core" &ӏ   / +3 "manipulator"&n% +3 "core" %    +3 .tForearm.seek :retract + "manipulator"&u' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&c( +162 "core" ( + "manipulator"&"& +4 "core" &  e  +2 "storage"(I& +3 "core" &<, C\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&['΍ +100 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&/% +4 "core" % Ρ  \  + "storage"(]& +4 "core" &<, 9\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"&M' +24 "core" ' +2 "manipulator"&v& +3 "core" & <  +2 "storage"(~& +3 "core" &<, )\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +14 "core" ' +2 "storage"(\ % +4 "core" %\ +3 ."downElevator"SE.seek :down +4 "storage"(d' +99 (e% +3 "core" %E \ Yk +2 "manipulator"&% +4 "core" %I Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +96 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"' & +3 "core" & 7\ +2 "manipulator"&3% +4 "core" % \    +2 "storage"(@% +4 "core" %\  +2 "storage"(6. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" &K q\  +2 "manipulator"&^& +3 "core" & P  +2 .tElbow.seek 6 +2 "manipulator"&-( +4 "core" ( + "manipulator"&V& +4 "core" & L  +3 "storage"(C& +3 "core" &K 9\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F' +89 "core" ' +2 "storage"(m& +4 "core" &K\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +297 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &K A\  +2 "manipulator"&t& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&U& +4 "core" &  +2 "storage"(r& +3 "core" &K \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&$'h +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +57 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&'& + "storage"(s' +7 "core" &   +2 "manipulator"&% +3 "core" % g  +3 .tForearm.seek :retract + "manipulator"&#' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&q& +5 "core" &ӕ!   j :* +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &ӕ!   :* +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Z'? +101 "core" ' +2 "manipulator"&& +3 "core" &Ӗ   9) +3 "manipulator"&N% +3 "core" %F   +3 "collection"'2& +4 "core" & \ +2 "collection"'i& +6 "core" & \ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +5 & (\ ; +10 &EIr "\ 1 +9 &sry 7\ E +9 &U :\ M +10 &N 7\ M +9 &R 9\ M +9 &bR 4\ M +10 &#P +\ M +9 &O 5\ L +10 &R ,\ M +9 &jN 7\ M +9 &!,Q (\ M +10 &"Q (\ M +9 &$Q &\ L +9 &&sN  \ L +10 &(5O &\ L +9 &)O #\ L +10 &+Q \ M +9 &-{O \ L +9 &/=O #\ L +10 &0O &\ L +9 &2O \ M +9 &4R &\ M +10 &6DN $\ M +9 &8O %\ L +10 &9O $\ M +9 &;Q (\ M +9 &=LR '\ M +10 &?M $\ M +9 &@O &\ M +9 &BQ \ M +10 &DQY &\ N +9 &Fb $\ O +10 &Gm \ Q +9 &I\   \ T +9 &K9\ \ \ Y +10 &L\ \ \ Z +9 &N\ \ \ \ Y +9 &Py\ \ \ [ +10 &R<\ \ \ Z +9 &S\ \ \ \\ +10 &U\ \ \ \\ +9 &Wz\ \ \ ] +9 &Y9\ \ \ ^ +10 &Z\ \ \ ^ +9 &\\]R\ \ \ 2 +9 &\\\ \ \ X +6 ( + "collection"'i& +4 "core" &\\s \ \ W +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.18 + .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&E% +4 "core" % F   T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ u +2 "manipulator"&j% +3 "core" %    \ +3 "storage"(% +4 "core" % {\ u + "storage"(1. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(8(K +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +3 "core" &K e J \ i +2 "manipulator"&K& +4 "core" &ӫ  7 +2 "manipulator"&z% +3 "core" %    j \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +155 "core" ( +2 "manipulator"&b& +3 "core" &   , +2 "storage"(J& +4 "core" &K \ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +100 "core" ' +2 "storage"(& +3 "core" &K\ \ \ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +296 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &K O\ s +2 "manipulator"&f& +3 "core" &   +3 .tElbow.seek 6 + "manipulator"&\\( +4 "core" ( +2 "manipulator"&:& +3 "core" &   = +2 "storage"(P& +4 "core" &K \ v +3 .tForearm.seek 6 + 300 counts + "manipulator"&O'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&4& + "storage"(h' +7 "core" &    +2 "manipulator"&% +4 "core" % ϊ   | +2 .tForearm.seek :retract +2 "manipulator"&L' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&_& +53 "core" &     + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +90 "core" ' +2 "manipulator"&!& +3 "core" &   !  +2 "manipulator"&7% +5 "core" %   ` +2 "processing"%k& +4 "core" &\ } +2 "processing"%&& +5 "core" &\ } +3 .tPC.seek :closed + "processing"%)(^ +5 "core" &\ } +6 &\ }4 +9 &9Hq\ l0 +9 &]oy\ iD +10 &^\ nP +9 &N\ qP +9 &zM\ rO +10 &;P\ qP +9 &P\ qO +10 &M\ rO +9 &N\ pO +9 &DN\ rO +10 &!N\ rO +9 &"N\ rO +9 &$R\ qP +10 &&LK\ rO +9 &( M\ qP +10 &)P\ qP +9 &+P\ qO +9 &-TN\ qO +10 &/N\ qO +9 &0L\ qO +9 &2Q\ qP +10 &4[M\ rP +9 &6L\ rO +10 &7M\ qP +9 &9Q\ qP +9 &;bR\ pP +10 &=&N\ qO +9 &>Q\ qP +9 &@Q\ qP +10 &BjT\ pP +9 &D)Y\ oQ +10 &Ea\ nR +9 &Gm\ kS +9 &Ic{\ iU +10 &K"\ gV +9 &L\ gW +9 &N\ fW +10 &Pe\ fW +9 &R&\ eW +10 &S\ eX +9 &U\ eW +9 &Wl\ eX +10 &Y.\ eX +9 &Z\ eX +9 &\\\ dX +10 &^,_n\ k6 +9 &^E\ r+ +6 ( + "processing"%&& +4 "core" &^\ w+ +2 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&A1 +52 "core" 1 +2 "manipulator"&%% +3 "core" %   U ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +96 "core" ' +2 "processing"%& +3 "core" &^\ r+ +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&G% +4 "core" % #   | 4 +2 "storage"(5% +3 "core" % f\ r +2 "storage"(. +4 "core" .(K + "storage"(g& +4 "core" &K @\ r +2 "storage"(& +2 "manipulator"&& +7 "core" &K W\ s + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&Y( +5 ."raiseStack"SE.seek :beamBreak +4 "storage"(l'r +2 "core" ( + "manipulator"&0& +5 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &    +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 .tHand.close +2 "manipulator"&{/ +62 "core" / +2 .tPC.seek :open + "processing"%( +92 "core" ' + "storage"(y- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'1 +45 "core" ' +305 ( +2 "storage"(a& +3 "core" &K \ v +3 "manipulator"&?& +3 "core" &    +2 "manipulator"&W% +4 "core" %   V  +2 .tForearm.seek :retract +2 "manipulator"&X' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&H( +244 "core" ( +2 "manipulator"&& +3 "core" &   C 0 +2 "storage"(|& +4 "core" &K (\ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +96 "core" ' +2 .tHand.open + "manipulator"&.1 +55 "core" 1 +3 "storage"(n- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(I' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +3 "core" -' +2 "storage"(& +3 "core" &K   w\ / +3 "manipulator"&& +4 "core" &  0 +2 .tElbow.seek 6 + "manipulator"&/( +4 "core" ( +2 "manipulator"&]& +3 "core" &   e 0 +2 "storage"(v& +44 "core" &K \ . +11 .tForearm.seek 6 + 450 counts + "manipulator"&~' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\ '" +50 "core" ' + "manipulator"&u& +5 "core" &    0 + "storage"(e& +4 "core" &K P\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"([' +24 "core" ' +2 "manipulator"& % +4 "core" %D   Q +2 "storage"(3& +3 "core" &K U\ t +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&M'p +13 "core" ' +2 "manipulator"&@& +3 "core" &    0 +3 "storage"(6& +3 "core" &K \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +15 "core" ' +2 "storage"( % +4 "core" % \ y +2 ."downElevator"SE.seek :down +3 "storage"(d' +100 (% +3 "core" %N p u \ k\\v +3 "manipulator"&p% +3 "core" %  : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (V& +3 "core" &K \ w +2 "collection"'C& +4 "core" &\\s \ W +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&m% +3 "core" %    +2 "storage"( % +4 "core" % 5\ x +2 "storage"((. +3 "core" .(K +2 "storage"(,& +3 "core" &K \ y +2 "storage"(>& +4 "core" &K X\ y +2 "manipulator"&t& +3 "core" &   0 +2 .tElbow.seek 6 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&r& +3 "core" &   0 +3 "storage"( & +3 "core" &K M\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'' +103 "core" ' + "storage"(& +5 "core" &K c ^\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(-'r +298 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" &   0 +2 "storage"(<& +3 "core" &K }\ v +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&}'< +21 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(N'f +29 "core" ' +2 "manipulator"&D% +3 "core" %N  & +2 "storage"(2& +4 "core" &K g\ v +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&s'z +13 "core" ' +4 "manipulator"&#& +4 "core" &   9 / +2 "storage"(o& +4 "core" &K \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(E' +35 "core" ' + "manipulator"&& +4 "core" &   / +2 "manipulator"&j% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +149 "core" ( +9 "manipulator"&i& +3 "core" &ӊ%    >J +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &ӊ% \  >J +4 .tForearm.seek CC + "manipulator"&K'? +97 "core" ' + .tHand.close + "manipulator"&z/ +54 "core" / +2 .tCC.seek :open + "collection"'Z( +448 "core" ( +2 "storage"(b& +3 "core" &K \  +2 "storage"(J& +4 "core" &K A\  +2 "manipulator"& & +3 "core" &ӻ   7 +3 "manipulator"&% +4 "core" % C +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&`( +165 "core" ( +2 "manipulator"&=& +3 "core" &    +2 "storage"(B& +4 "core" &K I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&f'< +96 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&P1 +61 "core" 1 +2 "manipulator"&% +5 "core" % M   * + "storage"(4& +3 "core" &K j\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&'y +13 "core" ' +2 "manipulator"&& +3 "core" & B  +2 "storage"(+& +4 "core" &K S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&;' +16 "core" ' +2 "storage"(O% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (\\% +3 "core" %aF $\ Yl +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'7& +3 "core" & 8\ +2 "manipulator"&k% +3 "core" %   +  +2 "storage"(h% +5 "core" % l\  + "storage"(L. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &[ i @\  +2 "manipulator"&%& +4 "core" &   <  +2 .tElbow.seek 7 +2 "manipulator"&(r +23 "core" ( +2 "manipulator"&G& +3 "core" &g    +2 "storage"(5& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +94 "core" ' +2 "storage"(g& +3 "core" &[ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +7 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &[ L\  +2 "manipulator"&0& +8 "core" &g  +3 .tElbow.seek 7 +2 "manipulator"&w(r +22 "core" ( +2 "manipulator"&T& +4 "core" &h   [ # + "storage"({& +4 "core" &[ \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&y'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&S& + "storage"()' +8 "core" &i    "~ + "manipulator"&l% +50 "core" % ϡ  F +4 .tForearm.seek :retract + "manipulator"&a' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +113 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +36 "core" ( +2 "manipulator"&W& +3 "core" &Ӎ%   >H +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӎ%   >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' +2 "manipulator"&|& +3 "core" &ӎ%   =G +2 "manipulator"&Y% +5 "core" %>    +2 "collection"'.& +4 "core" & \ +2 "collection"'n& +5 "core" & 3\ +2 .tCC.seek :closed +2 "collection"'9(\\ +5 "core" & \ +7 &; \ %g +10 &Ws \ 7 +9 &s \ L +9 &M 0\ M +10 &L 5\ M +9 &BM 7\ M +9 &M 6\ M +10 &L 0\ M +9 &Q 4\ M +9 &JQ 9\ M +10 & Q 8\ L +9 &!N -\ L +10 &#O (\ L +9 &%SN \ L +9 &'Q $\ M +10 &(M %\ L +9 &*O #\ L +9 &,[O %\ L +10 &.O &\ L +9 &/Q $\ M +10 &1O '\ L +9 &3cO $\ L +9 &5$P %\ M +10 &6R &\ M +9 &8Q (\ M +10 &:jM $\ M +9 &<,L &\ M +9 &=L %\ M +10 &?M $\ M +9 &AsP \ L +9 &C2T \ M +10 &D[ \ N +9 &Fe \ O +10 &Hi| \ R +9 &J \ \ \ \ V +9 &K\ \ \ Z +10 &M\ \ \ Z +9 &O\\\ \ \ Z +9 &Q\ \ \ \ \ Z +10 &R\ \ \ [\ +9 &T\ \ \ \\ +10 &V\\\ \ \ \\ +9 &X\ \ \ ] +9 &Y\ \ \ ^ +10 &[\ \ \ K +9 &\\9\ \ \ - +9 &\\d\ \ \ P +3 ( + "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +3 "core" % >    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%v& +4 "core" &\ x +2 "manipulator"&X% +4 "core" %     +2 "storage"(u% +4 "core" % $\ w +2 "storage"(e. +3 "core" .([ +2 "storage"(R& +3 "core" &[ !\ x +2 "storage"( & +4 "core" &[ \ w +2 "manipulator"&"& +3 "core" &ӯ   9& +2 "manipulator"&3% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&@(r +162 "core" ( +2 "manipulator"&6& +3 "core" &x  *  +2 "storage"( & +4 "core" &[\  '\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&H'= +96 "core" ' + "storage"(*& +5 "core" &[ t A\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +302 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &[ \ z +2 "manipulator"&~& +4 "core" &x    +2 .tElbow.seek 7 +2 "manipulator"&/(r +3 "core" ( +2 "manipulator"&\ & +4 "core" &x  '  +2 "storage"(& +3 "core" &[ \  \ } +3 .tForearm.seek 7 + 300 counts + "manipulator"&M'ϧ +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&C& + "storage"(m' +8 "core" &x  C  + "manipulator"& % +4 "core" % Ϩ  o +2 .tForearm.seek :retract +2 "manipulator"&(' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&[( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&,& +5 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &     +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t' +97 "core" ' + "manipulator"&r& +4 "core" &     +2 "manipulator"& % +52 "core" %     +3 "processing"%x& +4 "core" &\ ~ +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%d(^ +4 "core" &\  +8 & .\ z$c +10 &Ts\ k7 +9 &}t\ kL +9 &O\ qP +10 &QM\ sO +9 &K\ sO +10 &Q\ rP +9 &L\ sP +9 &YJ\ tO +10 &N\ sP +9 &N\ sP +9 &!L\ sO +10 &#aN\ rO +9 &%#L\ rO +10 &&O\ sO +9 &(O\ rP +9 &*gN\ rP +10 &,+N\ sO +9 &-M\ sO +9 &/R\ rP +10 &1qJ\ tO +9 &33L\ sO +10 &4P\ rO +9 &6N\ sO +9 &8xL\ sP +10 &::K\ sP +9 &;N\ sP +9 &=O\ rO +10 &?P\ qP +9 &AAQ\ qP +10 &BZ\ pQ +9 &D_\ oR +9 &Fe\ mR +10 &H<u\ jT +9 &I\ hV +9 &K\ hV +10 &M|\ hW +9 &O=\ gW +10 &P\ fX +9 &R\ fW +9 &T\ dX +10 &VC\ gX +9 &X\ gX +9 &Y\ eX +10 &[\ eX +9 &]J\ eM +9 &^N\ f!f +10 &^(\ v/ +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&c1 +61 "core" 1 +2 "manipulator"&^% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +92 "core" ' +2 "processing"%q& +4 "core" &^ \ v/ +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&<% +4 "core" %     +2 "storage"(% +3 "core" % #\ u +2 "storage"(D. +4 "core" .([ + "storage"(2& +4 "core" &[ /\ u +2 "storage"(#& +3 "manipulator"&o& +8 "core" &[ \ u + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak + "storage"(j'r +3 "core" ( +2 "manipulator"&'& +3 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" & 0  +3 .tForearm.seek PC + "manipulator"&-' +95 "core" ' +2 .tHand.close +2 "manipulator"&}/ +55 "core" / +2 .tPC.seek :open +2 "processing"%s( +94 "core" ' +2 "storage"(N- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'1 +52 "core" ' +298 ( +3 "storage"(Q& +3 "core" &[ Q\ x +2 "manipulator"&& +4 "core" &   )  +2 "manipulator"&$% +4 "core" %    A +2 .tForearm.seek :retract + "manipulator"&z' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +251 "core" ( +2 "manipulator"&& +3 "core" &~   B +2 "storage"(b& +3 "core" &[ .\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&J'= +96 "core" ' + .tHand.open +2 "manipulator"& 1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(B' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(1& +4 "core" &[ G\ ' + "manipulator"&P& +4 "core" &~ q B +2 .tElbow.seek 7 +2 "manipulator"&(r +9 "core" ( + "manipulator"&4& +4 "core" &    +2 "storage"(& +3 "core" &[ B\ % +3 .tForearm.seek 7 + 450 counts + "manipulator"&+'= +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(O'" +52 "core" ' +2 "manipulator"&& +3 "core" &    +2 "storage"(\\& +50 "core" &[ P\ z +4 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(f' +21 "core" ' + "manipulator"&7% +5 "core" %΍ 0 / + "storage"(k& +4 "core" &[ k k \ j +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts + "manipulator"&'Ϲ +14 "core" ' +2 "manipulator"&h& +4 "core" &  \ :  + "storage"(L& +5 "core" &[ \\\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'= +15 "core" ' +2 "storage"(;% +3 "core" %\  !\ | +3 ."downElevator"SE.seek :down +4 "storage"(_' +98 (8% +4 "core" %J e\ qZq +2 "manipulator"&A% +3 "core" %<   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (G& +3 "core" &[ E\ { +3 "collection"'5& +3 "core" &\\b  \ P +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&g% +3 "core" %    <  +3 "storage"(:% +3 "core" %\ V\ } +2 "storage"(!. +4 "core" .([ + "storage"(& +4 "core" &[ j\ | +2 "storage"(&& +3 "core" &[ \ | +2 "manipulator"&0& +3 "core" &     +3 .tElbow.seek 7 + "manipulator"&T(r +9 "core" ( +2 "manipulator"&{& +3 "core" &    +2 "storage"(& +5 "core" &[ \  \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&S'= +93 "core" ' +2 "storage"(l& +3 "core" &[ s \\ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  \   +3 "storage"(W& +4 "core" &[ !\ z + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(Y'p +29 "core" ' +2 "manipulator"&.% +3 "core" %Ώ   +2 "storage"(w& +3 "core" &[ +\ o +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&)'ϻ +14 "core" ' + "manipulator"&a& +4 "core" &  Y  +2 "storage"(Z& +4 "core" &[ 0\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +38 "core" ' + "manipulator"&v& +4 "core" &   c  +2 "manipulator"&X% +3 "core" %4  j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&e(ӂ +159 "core" ( +2 "manipulator"&R& +3 "core" &Ӑ   C 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 & & +3 "core" &Ӑ   8 +2 .tForearm.seek CC + "manipulator"&n'? +100 "core" ' + .tHand.close +2 "manipulator"&"/ +64 "core" / +2 .tCC.seek :open +42 "collection"'3( +458 "core" ( + "storage"(& +4 "core" &[ V\  +2 "storage"(6& +3 "core" &[ ,\  +3 "manipulator"& & +4 "core" &ӣ   5 + "manipulator"&*% +4 "core" % 0   +3 .tForearm.seek :retract + "manipulator"&?' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&](r +161 "core" ( +2 "manipulator"&& +3 "core" &s     +3 "storage"(p& +4 "core" &[ m\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&~'{ +100 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&V% +3 "core" % ΋   = +2 "storage"(C& +4 "core" &[ ]\  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 7 + 316 counts + "manipulator"& 'Ϸ +28 "core" ' +2 "manipulator"&@& +3 "core" &s l  +2 "storage"(H& +4 "core" &[  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&I'= +15 "core" ' +2 "storage"(M% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(,' +100 (>% +3 "core" %n@ \ Yk +2 "manipulator"&/% +3 "core" %e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +3 "core" & F\ +2 "manipulator"&x% +4 "core" %     " +2 "storage"(m% +4 "core" % \  +2 "storage"((. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" &<0 Y\ +2 "manipulator"&^& +4 "core" &s     +2 .tElbow.seek 5 +2 "manipulator"&q( +34 "core" ( +2 "manipulator"&<& +3 "core" &    +2 "storage"(& +4 "core" &<0 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&D'O +98 "core" ' + "storage"(2& +4 "core" &<0 #\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (#& +2 "core" &<- \ +2 "manipulator"&'& +4 "core" &  '  +3 .tElbow.seek 5 + "manipulator"&U( +4 "core" ( + "manipulator"&t& +4 "core" &  S  +2 "storage"(}& +4 "core" &<- \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&N'Ϲ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +3 "storage"(d' +7 "core" & f  +2 "manipulator"&j% +4 "core" %  k +2 .tForearm.seek :retract + "manipulator"&Q' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&$& +3 "core" &Ӑ! :/ +48 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &-& +3 "core" &Ӑ!   :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + "manipulator"&b& +5 "core" &ӑ!   ! :. + "manipulator"&% +5 "core" %6    +2 "collection"' & +4 "core" &  \ +2 "collection"'& +5 "core" & \ \ +3 .tCC.seek :closed + "collection"'K(\\ +5 "core" & \ +7 &: \ %g +9 &Yu \ 8 +10 &s \ L +9 &M \ M +10 &L ,\ M +9 &BN '\ L +9 &N 8\ L +10 &N =\ L +9 &N :\ L +9 &JN :\ L +10 & N :\ L +9 &!N 7\ L +9 &#O 8\ M +10 &%QQ (\ M +9 &'Q -\ M +10 &(Q .\ M +9 &*Q '\ L +9 &,ZO $\ L +10 &.N $\ L +9 &/N $\ M +10 &1R $\ M +9 &3aR #\ M +9 &5#N &\ M +10 &6O (\ M +9 &8R &\ M +9 &:iM %\ M +10 &<+M %\ M +9 &=N '\ L +9 &?O %\ M +10 &AqN &\ M +9 &C1T %\ M +10 &D[ &\ N +9 &Fc #\ O +9 &Hh| &\ R +10 &J\ \ %\ W +9 &K\ \ \ Y +9 &M\ \ \ Z +10 &O[\ \ \ Z +9 &Q\ \ \ Z +10 &R\ \ \ [\ +9 &T\ \ \ \\ +9 &V[\ \ \ \\ +10 &X\ \ \ ^ +9 &Y\ \  \ ^ +9 &[\ \ \ K +10 &\\=\ \ \ ){ +9 &\\j\ \ \ N +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&11 +53 "core" 1 +2 "manipulator"&P% +4 "core" % 6   /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &\ z + "manipulator"&z% +4 "core" % \ \   +2 "storage"(% +4 "core" % ^\ z +2 "storage"(\\. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(i(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &<* N\ v +2 "manipulator"&7& +3 "core" &Ӭ  T 6 +2 "manipulator"&k% +5 "core" % \  G  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&h( +161 "core" ( + "manipulator"&L& +4 "core" &     +2 "storage"(& +3 "core" &<* [ l \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&;'O +90 "core" ' +2 "storage"(J& +3 "core" &<* g X z\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'r +299 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (A& +3 "core" &<* \ w +2 "manipulator"&+& +3 "core" &   9  +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&O& +4 "core" & \  r  +2 "storage"(& +3 "core" &<* [\ { +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&G'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&5& +3 "storage"(g' +8 "core" &   + "manipulator"&:% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&!' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&f( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&& +4 "core" &  0 . +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &    . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0' +98 "core" ' +2 "manipulator"&{& +4 "core" &   . +2 "manipulator"&% +3 "core" %   +2 "processing"%E& +5 "core" &\ +2 "processing"%l& +5 "core" &\ +2 .tPC.seek :closed +53 "processing"%_(^ +5 "core" &\ +2 &\ + &\ + &\ + &\ + &\ + &\  +4 &1v\ n*x +9 &ay\ n> +10 &]l\ oO +9 &L\ vP +10 &J\ uP +9 &J\ vO +9 &cO\ uP +10 &%M\ vP +9 &L\ wP +9 &L\ vP +10 & kM\ vP +9 &".N\ vO +10 &#N\ uP +9 &%O\ uO +9 &'sN\ uP +10 &)5Q\ uP +9 &*L\ vP +9 &,M\ vP +10 &.|M\ vO +9 &0<Q\ tP +10 &1J\ vP +9 &3L\ vO +9 &5L\ vO +10 &7FM\ wO +9 &9S\ tP +9 &:N\ tP +10 &<N\ uP +9 &>LS\ tP +10 &@P\ uP +9 &AU\ tP +9 &C^\ rR +10 &EMb\ rR +9 &G m\ oT +9 &H\ kV +10 &J\ kW +9 &LJ\ kV +10 &N\ \ jW +9 &O\ kW +9 &Q\ iX +10 &SM\ jX +9 &U\ hW +9 &V\ iW +10 &X\ gY +9 &ZU\ iX +10 &\\\ iX +9 &]\ k9 +9 &^+u\ n!a +10 &^-\ w6 +2 ( +2 "processing"%l& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&`1 +61 "core" 1 +2 "manipulator"&%% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 "processing"%& +3 "core" &^&\ v6 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +4 "core" %     +2 "storage"(|% +3 "core" % %\ u +2 "storage"(.. +3 "core" .(<- +2 "storage"(w& +3 "core" &<* \ u +3 "storage"(a& +2 "manipulator"&Z& +7 "core" &<* \ u + &   . +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&v( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(X'r +2 "core" ( +3 "manipulator"&S& +3 "core" &   . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +2 "core" & Q . +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%)( +94 "core" ' +2 "storage"(Y- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'1 +41 "core" ' +306 ( +2 "storage"( & +4 "core" &<* O\ { +2 "manipulator"&& +3 "core" & \   . +2 "manipulator"&y% +4 "core" % c  +2 .tForearm.seek :retract +2 "manipulator"&"' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&u( +251 "core" ( +2 "manipulator"&9& +4 "core" &   + "storage"(& +4 "core" &<* \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +94 "core" ' +2 .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "storage"(*- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(p' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(n- +3 "core" -' +2 "storage"(e& +3 "core" &<* 9\  +3 "manipulator"&& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&V( +9 "core" ( +2 "manipulator"&C& +3 "core" & \    +2 "storage"(@& +4 "core" &<* \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&H'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(M'" +57 "core" ' +2 "manipulator"&?& +3 "core" &    +2 "storage"(>& +3 "core" &<* X\ | +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&/'΍ +67 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(~' +21 "core" ' +2 "manipulator"& % +4 "core" %Ό   " +2 "storage"(x& +4 "core" &<* F\ w + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 299 counts + "manipulator"& 'ϸ +14 "core" ' +2 "manipulator"&m& +3 "core" &  v  +2 "storage"((& +4 "core" &<* \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(I% +3 "core" %\ \  w\ } +3 ."downElevator"SE.seek :down +4 "storage"(,' +98 (% +3 "core" %FI \ s[r +2 "manipulator"&c% +5 "core" %C    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (<& +3 "core" &<* \ ~ +2 "collection"'& +4 "core" &\\m \ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&2% +4 "core" % \  I  +2 "storage"(\ % +3 "core" % H H \  +2 "storage"(r. +4 "core" .(<- +2 "storage"(o& +3 "core" &<* S S [\ +2 "storage"(#& +4 "core" &<* _ H G\ +2 "manipulator"&'& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&t( +4 "core" ( + "manipulator"&}& +4 "core" &  \ v  +2 "storage"([& +4 "core" &<* ` } s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +100 "core" ' +2 "storage"(j& +3 "core" &<* X _ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +296 "core" ' + "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" &     +3 "storage"(& +4 "core" &<* o\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&N'΍ +15 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(U- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(b'u +30 "core" ' + "manipulator"&% +4 "core" %Ρ   ( +2 "storage"( & +4 "core" &<* H\ { + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&d' +13 "core" ' +2 "manipulator"&Q& +3 "core" & G  +2 "storage"(3& +4 "core" &<* c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&1'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(P' +36 "core" ' +2 "manipulator"&& +3 "core" &   +2 "manipulator"&z% +5 "core" %K  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&\\(ӂ +159 "core" ( +2 "manipulator"&& +3 "core" &Ӓ!   y :* +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &ӓ   n 9) +2 .tForearm.seek CC +3 "manipulator"&7'? +93 "core" ' + .tHand.close +2 "manipulator"&k/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(L& +3 "core" &<* /\ +2 "storage"(& +44 "core" &<* i\ +9 "manipulator"&& +5 "core" &Ӷ   5 + "manipulator"&J% +4 "core" % 4   +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&4( +162 "core" ( + "manipulator"&8& +4 "core" &  \ 4  +2 "storage"(A& +5 "core" &<* \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&+'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&O, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" %    ( +2 "storage"(5& +3 "core" &<* \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 286 counts +2 "manipulator"&:'ϫ +14 "core" ' +2 "manipulator"&h& +4 "core" &   + "storage"(;& +4 "core" &<* \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +18 "core" ' +2 "storage"(G% +4 "core" %  !\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (&% +3 "core" %; \ Xi +2 "manipulator"&% +4 "core" %? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" & ?\ + "manipulator"&E% +5 "core" %   -  +3 "storage"(g% +3 "core" % |\  +2 "storage"(!. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(s(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &K \ +2 "manipulator"&%& +3 "core" &   +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&W& +3 "core" &   t  +2 "storage"(|& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +97 "core" ' + "storage"(w& +5 "core" &K ;\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +311 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &K d\ +2 "manipulator"&S& +3 "core" &  B  +3 .tElbow.seek 6 + "manipulator"&T( +3 "core" ( +2 "manipulator"&0& +3 "core" &    +2 "storage"(& +5 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Y'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(_' +9 "core" & O  + "manipulator"&X% +4 "core" % q  +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&y& +4 "core" &Ӕ   u 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӕ   7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +47 "manipulator"&9'? +104 "core" ' +2 "manipulator"&& +4 "core" &Ӕ   7 +2 "manipulator"&v% +4 "core" %E   +2 "collection"' & +4 "core" & \ +2 "collection"'*& +5 "core" & \ +3 .tCC.seek :closed + "collection"'n(\\ +5 "core" & \ +7 &: \ $e +9 &Vu \ 7 +10 &q (\ K +9 &M -\ M +10 &mL =\ M +9 &/L "\ M +9 &M (\ M +10 &M 7\ M +9 &vL 9\ L +9 &7O :\ M +10 &Q ;\ M +9 &!P 0\ M +10 &#~N 5\ L +9 &%?Q ,\ M +9 &'L '\ M +10 &(L #\ M +9 &*Q %\ M +9 &,GQ (\ M +10 &.\ Q '\ L +9 &/O &\ M +10 &1R #\ M +9 &3OM &\ M +9 &5O \ L +10 &6P #\ M +9 &8R )\ M +9 &:WN $\ M +10 &<M '\ M +9 &=O $\ L +10 &?O %\ L +9 &A^O %\ M +9 &C T %\ M +10 &D_ (\ O +9 &Fc (\ O +9 &HXz )\ R +10 &J\ \ &\ V +9 &K\ \ '\ Y +10 &M\ \ %\ Z +9 &OH\ \ $\ Z +9 &Q \ \ \ '\ Z +10 &R\ \ \ [ +9 &T\ \ %\ \\ +9 &VJ\ \ '\ \\ +10 &X\ \ !\ ] +9 &Y\ \  \ ] +10 &[\ \ \ K +9 &\\8\ \ \ - +9 &\\\ \ \ W +6 ( + "collection"'*& +4 "core" &\\s\  \ W +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&e1 +54 "core" 1 +2 "manipulator"&% +3 "core" % E   7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%@& +4 "core" &\ u +2 "manipulator"&"% +4 "core" %     +2 "storage"(?% +3 "core" % P\ t +2 "storage"(>. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(R(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K g _ \ j +2 "manipulator"& & +3 "core" &ӧ   } 5 +2 "manipulator"&x% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&m( +163 "core" ( +2 "manipulator"&(& +3 "core" &   "  +2 "storage"(I& +5 "core" &K \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&u' +90 "core" ' + "storage"(6& +4 "core" &K s _ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +312 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (c& +2 "core" &K ]\ y +3 "manipulator"&H& +4 "core" & \   + .tElbow.seek 6 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&M& +3 "core" &    +2 "storage"(/& +4 "core" &K v\ | +3 .tForearm.seek 6 + 300 counts + "manipulator"& 'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& . +2 "storage"(h& +4 "core" &K   \ / +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(G'" +50 "core" ' +2 "manipulator"&& +3 "core" &    . +2 "storage"(&& +4 "core" &K P\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +20 "core" ' +2 .tElbow.hold +48 "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(+' +26 "core" ' + "manipulator"&% +3 "core" %G \  +3 "storage"(:& +3 "core" &K {\ s +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&E's +15 "core" ' +2 "manipulator"&g& +3 "core" &  G . +2 "storage"(!& +4 "core" &K j\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +15 "core" ' +2 "storage"(B% +3 "core" % ^\ y +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (i% +2 "core" %O 5\ nZs +3 "manipulator"&`% +3 "core" %   % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +96 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &K \ { +3 "collection"'|& +3 "core" &\\r 4\ W +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&w% +3 "core" %     +2 "storage"(O% +4 "core" %\ \  L\ } +2 "storage"({. +3 "core" .(K +2 "storage"(a& +3 "core" &K\ \  P\ } +2 "storage"(l& +4 "core" &K\ \  X\ } +2 "manipulator"&S& +4 "core" &   . +2 .tElbow.seek 6 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&& +4 "core" &    . +2 "storage"(f& +3 "core" &K\ \  X\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' +2 "storage"(X& +3 "core" &K\ \  2\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" &  " . +2 "storage"(& +3 "core" &K \ v +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&Z'< +24 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +29 "core" ' +2 "manipulator"&v% +3 "core" %B * +2 "storage"( & +4 "core" &K c\ t +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&_'n +15 "core" ' + "manipulator"& & +4 "core" &   . +2 "storage"(& +4 "core" &K i\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&@& +3 "core" &   . +3 "manipulator"&"% +4 "core" % \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&>(ӂ +150 "core" ( +2 "manipulator"&*& +3 "core" &(  @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӏ(   @ @[ +2 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' +2 .tHand.close + "manipulator"&x/ +63 "core" / +2 .tCC.seek :open + "collection"'9( +448 "core" ( +2 "storage"((& +3 "core" &K U\  +2 "storage"(I& +3 "core" &K j\  +2 "manipulator"&s& +4 "core" &Ӥ"   ;7 +42 "manipulator"&6% +12 "core" % Q   +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&C( +162 "core" ( +2 "manipulator"&& +3 "core" &     +2 "storage"(c& +3 "core" &K \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&H'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +59 "core" 1 +3 "manipulator"&<% +3 "core" % < \  +2 "storage"(& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&\ 'h +16 "core" ' +2 "manipulator"&m& +3 "core" &   +2 "storage"(u& +4 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&p' +17 "core" ' +2 "storage"( % +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(o' +98 (#% +3 "core" %F )\ Yl +2 "manipulator"&V% +5 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'[& +3 "core" & F\ +2 "manipulator"&% +5 "core" %     + "storage"(2% +5 "core" % \  + "storage"(~. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"()([ +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" &[ N\ +2 "manipulator"&^& +4 "core" &   $  +2 .tElbow.seek 7 +2 "manipulator"&$(r +35 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(U& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +98 "core" ' +2 "storage"(j& +3 "core" &[ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +296 "core" ' +2 "storage"(3- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &[ \ +3 "manipulator"&t& +4 "core" & ^  +2 .tElbow.seek 7 +2 "manipulator"&'(r +16 "core" ( +2 "manipulator"&N& +4 "core" &y + "storage"(R& +4 "core" &[ <\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&b'ϧ +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"(,' +8 "core" &y S + "manipulator"&% +3 "core" % ϥ B ~ +3 .tForearm.seek :retract +2 "manipulator"&=' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&-& +3 "core" &ӎ$ \  : =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &ӎ$   =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&K'? +102 "core" ' +2 "manipulator"&L& +49 "core" &Ө!    :+ +4 "manipulator"&z% +4 "core" %5    +2 "collection"'& +5 "core" & /\ +2 "collection"'J& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'7(\\ +2 "core" & "\ +7 & 9\ ; +9 &MIr =\ 1 +10 &ux <\ E +9 &(V 9\ M +9 &L :\ L +10 &O >\ L +9 &oQ >\ M +9 &1P 3\ M +10 &L 8\ L +9 &N *\ L +10 &wR /\ M +9 &!9O +\ M +9 &"K %\ L +10 &$L #\ M +9 &&Q $\ L +9 &(AM %\ M +10 &*P %\ M +9 &+L '\ L +10 &-M '\ M +9 &/IR '\ M +9 &1 P '\ M +10 &2L &\ M +9 &4L %\ L +9 &6RO '\ L +10 &8O &\ L +9 &9R &\ M +10 &;M #\ L +9 &=ZO \ L +9 &?N \ L +10 &@R \ M +9 &BQ %\ L +9 &D^Z \ N +10 &F` \ O +9 &Gs \ Q +10 &I\ \ \ U +9 &KF\ \ \ Y +9 &M\ \ \ Z +10 &N\ \ \ Z +9 &P\ \ \ Z +9 &RI\ \ \ \ Z +10 &T\ \ \ \\ +9 &U\ \ \ [ +10 &W\ \ \ ] +9 &YG\ \ \ ^ +9 &[\ \ \ \ ] +10 &\\dO\ \ \ 2 +9 &\\\ \ \ Y +9 ( +2 &\\\ \ \ W + "collection"'J& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&\\1 +54 "core" 1 +2 "manipulator"&% +4 "core" % 5   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +89 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%k& +3 "core" &\ t +3 "manipulator"&h% +4 "core" %     + "storage"(% +5 "core" % h\ t + "storage"(&. +3 "core" .([ +2 "storage"(& +3 "core" &[ \ s +2 "storage"(& +4 "core" &[ \ s +2 "manipulator"&:& +4 "core" &ӭ   9& +2 "manipulator"&8% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&g(r +156 "core" ( +2 "manipulator"&!& +4 "core" &n \  % +2 "storage"(B& +4 "core" &[ \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +94 "core" ' +2 "storage"(& +4 "core" &[\ \  j\ } +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +295 "core" ' + "storage"(i- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +3 "core" &[ \ s +2 "manipulator"&;& +3 "core" &n   5 +3 .tElbow.seek 7 + "manipulator"&(r +3 "core" ( +2 "manipulator"&G& +3 "core" &n    +2 "storage"(& +3 "core" &[ f\ v +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&E'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(w' +6 "core" &n    +3 "manipulator"&O% +3 "core" % Ϟ    +3 .tForearm.seek :retract + "manipulator"&{' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&+( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&a& +3 "core" &   V  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &  %  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +100 "core" ' + "manipulator"&& +4 "core" &    +2 "manipulator"&f% +4 "core" %    +2 "processing"%P& +4 "core" &\ x +3 "processing"%X& +4 "core" &\ x +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\ x +8 &1v\ h*x +9 &ax\ e> +10 &ck\ fO +9 &"L\ mP +9 &L\ lP +10 &J\ mP +9 &iM\ mP +9 &+Q\ kP +10 &N\ lP +9 &L\ mP +9 & qN\ lP +10 &"3O\ lP +9 &#N\ lP +10 &%Q\ lP +9 &'yN\ lP +9 &);N\ lP +10 &*Q\ kP +9 &,O\ lP +9 &.M\ mO +10 &0CN\ lP +9 &2K\ mP +10 &3L\ mO +9 &5L\ mP +9 &7LL\ mO +10 &9 O\ lP +9 &:O\ kP +9 &<N\ lP +52 &>QQ\ hP + &@Q\ iQ +3 &AT\ hQ + &C\\\ gR +2 &ET_\ fR +3 &Gj\ dS +4 &Hy\ aU +10 &J\ bW +9 &LN\ bW +9 &N\ `W +10 &O\ aW +9 &Q\ _W +9 &SU\ _W +10 &U\ _X +9 &V\ `X +10 &X\ aW +9 &Z\\\ `X +9 &\\\ _X +10 &]\ c9 +9 &^-p\ fS +9 &^(\ o1 +3 ( + "processing"%X& +5 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&41 +61 "core" 1 +2 "manipulator"&%% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +96 "core" ' +2 "processing"%y& +4 "core" &^&\ n1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +5 "core" % !   \ . + "storage"(T% +4 "core" % 5\ n +2 "storage"(v. +4 "core" .([ + "storage"( & +5 "core" &[ \ m +2 "storage"( & +3 "manipulator"&& +8 "core" &[ \ m + &     +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&@( +7 ."raiseStack"SE.seek :beamBreak + "storage"("'r +2 "core" ( +3 "manipulator"&& +3 "core" &    +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" & ; 2  +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&Z/ +61 "core" / +2 .tPC.seek :open +2 "processing"%_( +93 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'1 +50 "core" ' +301 ( +2 "storage"(& +3 "core" &[ M\ u +2 "manipulator"&e& +5 "core" &    + "manipulator"&Y% +3 "core" %   ? +3 .tForearm.seek :retract + "manipulator"&x' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&?(r +246 "core" ( + "manipulator"&n& +5 "core" &    & + "storage"((& +3 "core" &[ E\ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&I'= +103 "core" ' +2 .tHand.open + "manipulator"&s1 +60 "core" 1 +2 "storage"(6- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(c' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(>& +3 "core" &[ \  +2 "manipulator"&/& +4 "core" &  & +2 .tElbow.seek 7 +2 "manipulator"&<(r +29 "core" ( + "manipulator"&& +4 "core" &y o +2 "storage"(m& +3 "core" &[ ~ | i\  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +58 "core" ' +2 "manipulator"&& +3 "core" &y _ o +3 "storage"(#& +4 "core" &[ |\ y + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&V'{ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(H' +20 "core" ' + "manipulator"&[% +4 "core" %Ό 9 - \ +2 "storage"(& +3 "core" &[ J G 0\ h +2 .tForearm.force -20 +2 "manipulator"&5 +50 .tForearm.seek 7 + 317 counts +2 "manipulator"&\ 'ϸ +14 "core" ' + "manipulator"&2& +5 "core" &y \ \ 7 o + "storage"(~& +4 "core" &[ \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +18 "core" ' +2 "storage"(p% +3 "core" % \ y +3 ."downElevator"SE.seek :down +4 "storage"(o' +98 ( % +4 "core" % O ~ 0\ k[t +2 "manipulator"&]% +3 "core" %C   " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &[ <\ x +3 "collection"'U& +4 "core" &\\ \ W +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&j% +4 "core" %      +2 "storage"(M% +3 "core" % l\ y +2 "storage"(}. +4 "core" .([ + "storage"(3& +4 "core" &[ w\ z +2 "storage"(F& +3 "core" &[ \ z +2 "manipulator"&t& +5 "core" &y   \ o + .tElbow.seek 7 +2 "manipulator"&N(r +4 "core" ( +2 "manipulator"&R& +3 "core" &y    o +2 "storage"(r& +4 "core" &[ \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&D'= +93 "core" ' +2 "storage"(& +3 "core" &[ \\ \ ~ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&-& +3 "core" &y  o +2 "storage"(q& +4 "core" &[ d\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&Q'{ +28 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"(''a +33 "core" ' +2 "manipulator"&z% +3 "core" %Ό   +2 "storage"(& +3 "core" &[ q \ l +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 317 counts +2 "manipulator"&,'ϸ +14 "core" ' + "manipulator"&=& +4 "core" &y  i o +2 "storage"(9& +3 "core" &[ d\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +41 "core" ' +2 "manipulator"&k& +3 "core" &y o +2 "manipulator"&h% +4 "core" %=  H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&&(ӂ +158 "core" ( +2 "manipulator"&& +3 "core" &ӈ&   ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӈ& %  I ?U +2 .tForearm.seek CC +2 "manipulator"&:'? +95 "core" ' + .tHand.close + "manipulator"&J/ +65 "core" / +2 .tCC.seek :open + "collection"'8( +448 "core" ( +2 "storage"(K& +3 "core" &[ \ +2 "storage"(!& +4 "core" &[ \ +2 "manipulator"&B& +3 "core" &Ө"   [ ;5 +2 "manipulator"&% +4 "core" % P    +2 .tForearm.seek :retract +2 "manipulator"&1' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&5(r +163 "core" ( +2 "manipulator"&i& +3 "core" &q  -  +42 "storage"(`& +11 "core" &[ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&;'{ +100 "core" ' +2 .tElbow.hold + "manipulator"&G, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "manipulator"&W% +4 "core" % Ώ   / +2 "storage"(|& +4 "core" &[ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&O'ϻ +13 "core" ' +2 "manipulator"&g& +3 "core" &q Y  +2 "storage"(& +4 "core" &[ q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&A'= +16 "core" ' +2 "storage"(E% +3 "core" % T\ +3 ."downElevator"SE.seek :down +4 "storage"(a' +98 (l% +3 "core" %@ \ Yk +2 "manipulator"&% +4 "core" %; N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'f& +3 "core" & ?\ +3 "manipulator"&P% +3 "core" %      +2 "storage"(w% +5 "core" % \  +3 "storage"({. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(d(<- +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (4& +3 "core" &<0 \ +2 "manipulator"&%& +4 "core" &q     +2 .tElbow.seek 5 +2 "manipulator"&y( +23 "core" ( +2 "manipulator"&& +4 "core" &   \  +2 "storage"(T& +3 "core" &<0 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&v'O +107 "core" ' + "storage"(X& +5 "core" &<0 g\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +297 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &<. V\ +2 "manipulator"&& +3 "core" & M  +3 .tElbow.seek 5 +2 "manipulator"&0( +22 "core" ( +2 "manipulator"&S& +3 "core" & a  +2 "storage"(Z& +5 "core" &<. <\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&.& + "storage"(' +8 "core" &  #  + "manipulator"&"% +4 "core" % Ϻ y +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&e(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&Y& +3 "core" &Ӂ$  v =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӂ$   =F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&n'? +94 "core" ' +2 "manipulator"&(& +4 "core" &Ӂ$   m =F +2 "manipulator"&@% +3 "core" %:   M +2 "collection"'s& +5 "core" & \ +2 "collection"'6& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"' (\\ +5 "core" & \ +7 &@ \ %g +9 &Xv \ 8 +10 &r \ L +9 &L \ M +56 &P \ M +4 &EL -\ M + &L \ M +3 &Q \ M + &O $\ M + &NN <\ L +3 & P ;\ M +6 &!Q <\ M +9 &#P <\ M +10 &%VL 8\ L +9 &'N 7\ L +10 &(Q *\ M +7 "Can"\ N$/ +3 "core" &*O ,\ M +8 &,^L "\ L +10 &. N #\ L +9 &/N (\ L +9 &1R (\ M +10 &3fM +\ L +9 &5(O )\ L +10 &6O )\ L +9 &8O &\ L +9 &:mM +\ M +10 &<0L '\ L +9 &=N *\ M +9 &?S )\ M +10 &AuR (\ M +9 &C5V %\ M +10 &D^ (\ N +9 &Fc (\ O +9 &Hnz )\ R +10 &J#\ \ &\ V +9 &K\ \ )\ Y +9 &M\ \ (\ Z +10 &O`\ \ \  \ Y +9 &Q\ \ &\ [ +10 &R\ \ \ [\ +9 &T\ \ \ \\ +9 &V`\ \ \ \\ +10 &X \ \ ] +9 &Y\ \ \ ^ +9 &[\ \ \ K +10 &\\5\ \ \ / +9 &\\o \ \ P +2 ( +2 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&>1 +56 "core" 1 + "manipulator"&/% +5 "core" % :   M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ w +2 "manipulator"&m% +3 "core" %     +3 "storage"(% +4 "core" % \ v +2 "storage"(#. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(*(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" &<( #\ r +2 "manipulator"&& +5 "core" &Ӭ   8 + "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&2( +162 "core" ( +2 "manipulator"&~& +3 "core" &    +2 "storage"(?& +5 "core" &<) Q\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&p'O +94 "core" ' +2 "storage"(I& +3 "core" &<) r q .\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'r +298 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &<) J\ u +2 "manipulator"&]& +4 "core" &     +2 .tElbow.seek 5 + "manipulator"&<( +4 "core" ( +2 "manipulator"& & +4 "core" &   + "storage"(V& +4 "core" &<) j\ y +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&U& + "storage"(j' +8 "core" &   6  + "manipulator"&M% +5 "core" % ϭ q +2 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&H( +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +68 "core" ( + "manipulator"&3& +3 "core" &  ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &   \ ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC + "manipulator"&t' +91 "core" ' +2 "manipulator"&R& +3 "core" &   ( +2 "manipulator"&r% +4 "core" % \  \\ +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%o(^ +3 "core" &\  +9 &0u\ o*y +10 &ax\ l> +9 &bk\ mO +9 &"M\ tO +10 &J\ uP +9 &N\ sP +9 &gM\ tP +10 &)O\ sP +9 &M\ tP +10 &K\ uO +9 & pN\ sO +9 &"2N\ tO +10 &#O\ sO +9 &%L\ tO +9 &'xM\ tO +10 &):N\ tO +9 &*N\ sO +10 &,Q\ sP +9 &.J\ tO +9 &0BN\ sO +10 &2K\ uO +9 &3L\ tO +9 &5O\ sP +10 &7JO\ sO +9 &9 O\ sO +10 &:O\ tO +9 &<M\ sP +9 &>PS\ sP +10 &@O\ sP +9 &AV\ sP +9 &C]\ pR +10 &ER`\ pR +9 &Gl\ nS +10 &H\ jV +9 &J\ iV +9 &LO\ iV +10 &N\ hW +9 &O\ hV +9 &Q\ fX +10 &SS\ gW +9 &U\ gW +10 &V\ hX +9 &X\ hW +9 &ZZ\ gX +10 &\\\ gX +9 &]\ j9 +9 &^-v\ mV +10 &^ \ x1 +2 ( +64 "processing"%& +6 "core" &^"\ v1 + &^"\ u1 + &^"\ w1 + &^"\ u1 + &^"\ v1 + &^"\ u1 + &^"\ v1 +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&C1 +61 "core" 1 +2 "manipulator"&^% +3 "core" %   6 \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + "processing"%-& +4 "core" &^"\ t1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&q% +3 "core" % !   - +2 "storage"(L% +4 "core" % \ s +2 "storage"(z. +4 "core" .(<- + "storage"(& +4 "core" &<) \ s +2 "storage"(=& +3 "manipulator"&9& +7 "core" &<) \ s +2 & ( +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&k( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'r +2 "core" ( +4 "manipulator"&D& +3 "core" &   ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +2 "core" &  ( ^ ( +3 .tForearm.seek PC + "manipulator"&$' +96 "core" ' +2 .tHand.close + "manipulator"&Q/ +61 "core" / +2 .tPC.seek :open + "processing"%,( +92 "core" ' + "storage"('- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +53 "core" ' +303 ( +2 "storage"(& +3 "core" &<) f\ x +2 "manipulator"&\\& +3 "core" &   0 ( +2 "manipulator"&b% +5 "core" %   "  +2 .tForearm.seek :retract + "manipulator"&J' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +245 "core" ( + "manipulator"&7& +3 "core" &  F B +3 "storage"(K& +3 "core" &<) h\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&!'O +101 "core" ' +2 .tHand.open + "manipulator"&B1 +56 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(`' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' +2 "storage"(&& +3 "core" &<) f f -\  +2 "manipulator"&& +4 "core" & B +2 .tElbow.seek 5 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&|& +3 "core" &  B +3 "storage"(g& +4 "core" &<) d ] j\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(E'" +51 "core" ' +2 "manipulator"&1& +3 "core" &    B +3 "storage"(l& +3 "core" &<) U\ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +27 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(;' +18 "core" ' +2 "manipulator"&f% +3 "core" %Ά  +2 "storage"(P& +4 "core" &<) \ s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 293 counts +2 "manipulator"&O'ϲ +14 "core" ' +2 "manipulator"&w& +3 "core" &   ) +2 "storage"({& +5 "core" &<) +\ | +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' + "storage"(A% +5 "core" %\ \  f\ } +2 ."downElevator"SE.seek :down +4 "storage"(a' +98 ()% +4 "core" %DK \ o[s +2 "manipulator"&4% +3 "core" %A  \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<) g\ z +3 "collection"'T& +4 "core" &\\l 6\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&X% +3 "core" %     +3 "storage"(G% +4 "core" % \ { + "storage"(. +4 "core" .(<- + "storage"(& +4 "core" &<) \ { +2 "storage"( & +4 "core" &<) \ { +2 "manipulator"&& +3 "core" &   ) +2 .tElbow.seek 5 +2 "manipulator"&S( +20 "core" ( +2 "manipulator"&Z& +3 "core" &  \ "  +2 "storage"(+& +4 "core" &<) \ | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +93 "core" ' +2 "storage"("& +3 "core" &<) \\ p S\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +305 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" &   +2 "storage"(& +3 "core" &<) \ z +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"((- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(@'v +30 "core" ' + "manipulator"&s% +5 "core" %΅   @ + "storage"(0& +4 "core" &<) \  A\ | +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&'ϱ +14 "core" ' +2 "manipulator"&& +3 "core" &    +2 "storage"(8& +4 "core" &<) >\ | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&>'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(/' +47 "core" ' +2 "manipulator"&& +3 "core" & L  +2 "manipulator"&m% +4 "core" %8 U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +151 "core" ( +2 "manipulator"&6& +3 "core" &y)   Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &y)  Ad +3 .tForearm.seek CC + "manipulator"&'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'n( +451 "core" ( + "storage"(~& +3 "core" &<) \  +3 "storage"(?& +3 "core" &<) \  +2 "manipulator"&d& +4 "core" &Ӷ   9' +2 "manipulator"&I% +3 "core" % )     +3 .tForearm.seek :retract + "manipulator"&e' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&x( +162 "core" ( +2 "manipulator"& & +3 "core" & H  +2 "storage"(u& +4 "core" &<) \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&]'΍ +96 "core" ' +8 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +63 "core" 1 +2 "manipulator"&\ % +5 "core" % Ο    +2 "storage"(U& +3 "core" &<) \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&M' +28 "core" ' + "manipulator"&2& +5 "core" & '  +2 "storage"(p& +4 "core" &<) l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +15 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(3' +99 (F% +3 "core" %{? 4\ Xi +2 "manipulator"&<% +5 "core" %A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'r& +3 "core" & =\ +2 "manipulator"&% +4 "core" %     +2 "storage"(j% +4 "core" % [\  +2 "storage"(}. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(_(K +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &K d g \  +2 "manipulator"&^& +3 "core" &     +3 .tElbow.seek 6 + "manipulator"&-( +4 "core" ( + "manipulator"&q& +4 "core" & Y  +2 "storage"(L& +3 "core" &K q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +88 "core" ' + "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &K 0\  +2 "manipulator"&D& +3 "core" &  +3 .tElbow.seek 6 + "manipulator"&N( +4 "core" ( +2 "manipulator"&t& +4 "core" & )  +2 "storage"(Q& +3 "core" &K \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&''h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(o' +8 "core" &  +2 "manipulator"&h% +3 "core" % m a | +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&b& +4 "core" &Ӓ!   :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &Ӓ!  u :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&7'? +93 "core" ' +2 "manipulator"&K& +4 "core" &Ӓ!    :. +2 "manipulator"&k% +3 "core" %C   6 +3 "collection"'B& +3 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"':(\\ +5 "core" & \ +6 &; \ %g +10 &Xu \ 8 +9 &o \ L +9 &L \ M +10 &~L *\ L +9 &@N \ L +9 &Q \ M +10 &Q \ L +9 &L 7\ M +10 &HQ <\ L +9 & L <\ M +9 &!Q ;\ L +10 &#L =\ M +9 &%PK ?\ L +9 &'N >\ L +10 &(Q 0\ M +9 &*O +\ M +10 &,XQ '\ L +9 &.N .\ L +9 &/R (\ M +48 &1Q #\ M +5 &3_Q )\ M +2 &5!Q $\ M +2 &6M '\ M + &8Q (\ M +3 &:gL (\ M +5 &<)L (\ M +9 &=Q '\ M +10 &?Q (\ M +9 &AoR $\ M +9 &C1R &\ M +10 &D^ %\ N +9 &Fb '\ O +10 &Hhy $\ R +9 &J\ \ %\ V +9 &K\ \ '\ Y +10 &M\ \ &\ Z +9 &OW\ \ #\ Z +9 &Q\ \ %\ \\ +10 &R\ \ $\ [\ +9 &T\ \ )\ ] +10 &VV\ \ &\ ] +9 &X\ \ &\ ^ +9 &Y\ \ $\ ^ +10 &[\ \ %\ L +9 &\\7\ \  \ 1 +9 &\\}\ \ $\ Y +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.30 +2 .Hand.open + "manipulator"&&1 +59 "core" 1 +2 "manipulator"&% +5 "core" % C    6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%g& +3 "core" &\ t +2 "manipulator"&J% +4 "core" %   6  +2 "storage"(1% +4 "core" % d\ t +2 "storage"(l. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(f(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K 3 A z\ d +2 "manipulator"&P& +4 "core" &ӭ   ^ 6 +2 "manipulator"&w% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&i( +162 "core" ( +2 "manipulator"&{& +3 "core" &    +3 "storage"(& +3 "core" &K \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&A' +99 "core" ' + "storage"(!& +4 "core" &K m f l\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +295 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &K (\ u +2 "manipulator"&& +4 "core" &   F  +2 .tElbow.seek 6 +2 "manipulator"&W( +2 "core" ( +2 "manipulator"&E& +4 "core" &     +2 "storage"(& +3 "core" &K `\ w +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&O'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +5 "storage"(X' +6 "core" &  f  + "manipulator"&G% +4 "core" % v  ! +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&;( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&& +3 "core" &   } " +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &    " +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&Z& +3 "core" &   ! +2 "manipulator"&+% +4 "core" %   g +2 "processing"%& +4 "core" &\ } +3 "processing"%"& +4 "core" &\ } +3 .tPC.seek :closed + "processing"%a(^ +5 "core" &\ ~ +8 &1v\ m*x +9 &`y\ j> +10 &el\ kO +9 &$N\ rP +10 &J\ sP +9 &M\ sP +9 &lJ\ sO +10 &.L\ sO +9 &L\ rP +9 &L\ sP +10 & sP\ qP +9 &"6Q\ qO +10 &#O\ rO +9 &%N\ rO +9 &'{Q\ rP +10 &)=Q\ rP +9 &+Q\ rO +9 &,N\ sP +10 &.K\ sP +9 &0EQ\ rP +10 &2N\ sP +9 &3J\ rO +9 &5K\ sP +10 &7NL\ rO +9 &9P\ qP +9 &:Q\ rP +10 &<N\ rP +9 &>TT\ qP +10 &@P\ qP +9 &AR\ qP +9 &C[\ oQ +10 &EW_\ nR +9 &Ge\ mR +9 &Hu\ jT +10 &J\ gV +9 &LR\ hV +10 &N\ gW +9 &O\ hW +9 &Q\ fX +10 &SW\ gW +9 &U\ eW +9 &V\ fX +10 &X\ fX +9 &Z^\ fX +10 &\\\ dX +9 &]}\ i6 +9 &^+c\ m ] +10 &^&\ u3 +2 ( +2 "processing"%"& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&51 +58 "core" 1 +2 "manipulator"&%% +3 "core" %  2 g +49 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +89 "core" ' +2 "processing"%Y& +3 "core" &^!\ r3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +3 "core" %   f  +3 "storage"((% +3 "core" % \ q +2 "storage"(s. +3 "core" .(K +2 "storage"(0& +4 "core" &K \ q +2 "storage"(& +4 "manipulator"&8& +5 "core" &K C\ p + &    ! +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&m( +5 "core" ( +2 "manipulator"&.& +4 "core" & )   ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &  + ! +2 .tForearm.seek PC +2 "manipulator"&y' +95 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +3 .tPC.seek :open +2 "processing"%( +90 "core" ' +2 "storage"(@- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(6'1 +41 "core" ' +315 ( +2 "storage"([& +3 "core" &K \ x +2 "manipulator"&>& +3 "core" &   $ ! +2 "manipulator"&% +4 "core" %     +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +244 "core" ( +2 "manipulator"& & +3 "core" &    5 +2 "storage"(~& +4 "core" &K W\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&?' +105 "core" ' +2 .tHand.open + "manipulator"&d1 +54 "core" 1 +2 "storage"(I- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(u' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(#& +4 "core" &K [\ , +2 "manipulator"&V& +3 "core" &   5 +2 .tElbow.seek 6 +2 "manipulator"&\ ( +4 "core" ( + "manipulator"&U& +4 "core" &   q 5 +2 "storage"(2& +3 "core" &K  ,\ , +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&p' +8 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' +2 "manipulator"&e& +3 "core" &    5 +2 "storage"(F& +4 "core" &K Z\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&<'< +19 "core" ' +2 .tElbow.hold + "manipulator"&x, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(]' +28 "core" ' +2 "manipulator"&r% +4 "core" %G   !  +2 "storage"(& +3 "core" &K y\ t +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&M's +14 "core" ' +2 "manipulator"&j& +3 "core" &  ) 5 +2 "storage"(}& +4 "core" &K `\ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&/' +16 "core" ' +2 "storage"(c% +3 "core" % \ y +3 ."downElevator"SE.seek :down +50 "storage"(3' +53 (*% +3 "core" %F &\ oZo +2 "manipulator"&C% +3 "core" %  \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +108 ' + ."downElevator"SE.stop + "storage"(5 +3 (q& +3 "core" &K `\ x +3 "collection"'L& +4 "core" &\\r '\ Y + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %     +2 "storage"( % +4 "core" % \ y +2 "storage"(R. +3 "core" .(K +2 "storage"(9& +3 "core" &K m\ z +3 "storage"(=& +3 "core" &K Y\ z +2 "manipulator"&D& +4 "core" &  5 +2 .tElbow.seek 6 + "manipulator"&t( +4 "core" ( +2 "manipulator"&Q& +3 "core" &  5 +2 "storage"(H& +3 "core" &K \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(h& +4 "core" &K X\ { +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +295 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &  5 +3 "storage"($& +4 "core" &K V\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(K- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(k'g +30 "core" ' +2 "manipulator"&B% +3 "core" %M  \  +2 "storage"(N& +4 "core" &K D\ s +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 317 counts + "manipulator"&o'y +16 "core" ' + "manipulator"&& +5 "core" &  v 5 + "storage"(n& +4 "core" &K q\ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&g& +3 "core" &   5 +2 "manipulator"&J% +5 "core" %   & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +165 "core" ( +2 "manipulator"&& +4 "core" &Ӎ   + + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӎ  + +2 .tForearm.seek CC +3 "manipulator"&P'? +103 "core" ' +2 .tHand.close + "manipulator"&w/ +65 "core" / +2 .tCC.seek :open + "collection"'7( +451 "core" ( +2 "storage"({& +3 "core" &K \  +2 "storage"(& +3 "core" &K E\  +2 "manipulator"&_& +5 "core" &ӎ   + + "manipulator"&!% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&\\' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&|( +159 "core" ( +6 "manipulator"&)& +4 "core" & %  +2 "storage"(4& +4 "core" &K ?\  +2 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +97 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +9 "manipulator"&% +5 "core" % B    + "storage"(T& +4 "core" &K \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&G'n +16 "core" ' + "manipulator"&i& +5 "core" &  + "storage"(A& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +16 "core" ' + "storage"(O% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 ( % +3 "core" %sB \ Xj +2 "manipulator"&W% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'+& +3 "core" & F\ +3 "manipulator"&% +4 "core" %   O  +2 "storage"(X% +4 "core" % [\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(,([ +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &[ o\  +2 "manipulator"&%& +4 "core" &     +2 .tElbow.seek 7 + "manipulator"&"(r +32 "core" ( + "manipulator"&Y& +4 "core" &h  \  H +2 "storage"(& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&('= +96 "core" ' +2 "storage"(s& +3 "core" &[ 9\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &[ Q\  +2 "manipulator"&.& +3 "core" &h \  H +3 .tElbow.seek 7 +2 "manipulator"&S(r +3 "core" ( +2 "manipulator"&& +3 "core" &h   ! H +2 "storage"( & +5 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&@'ϧ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"(a' +8 "core" &h  E H +2 "manipulator"&% +3 "core" % ϵ y +3 .tForearm.seek :retract + "manipulator"&[' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&>(ӂ +154 "core" ( +2 "manipulator"&& +4 "core" &Ӑ   b 9) + ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &y& +3 "core" &Ӑ   9) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +96 "core" ' +2 "manipulator"&~& +3 "core" &ӑ   ` 9( +2 "manipulator"&m% +5 "core" %B    +2 "collection"'d& +4 "core" &  \ +2 "collection"'I& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & \ +8 &3 \ $e +9 &Vt \ 7 +10 &r \ L +9 &O \ M +9 &fL \ L +10 &(N \ L +9 &N \ L +9 &Q 4\ M +10 &nQ  \ L +9 &0N .\ L +9 &N >\ L +10 &!Q ;\ M +9 &#uO >\ M +10 &%7L ?\ M +9 &&L ?\ L +9 &(N 9\ L +10 &*}L ,\ M +9 &,?Q -\ M +10 &.N *\ M +9 &/O %\ L +9 &1N %\ M +10 &3GM (\ M +9 &5\ N '\ L +9 &6N *\ L +10 &8O /\ L +9 &:OM %\ M +10 &<M (\ M +9 &=N '\ M +9 &?M )\ M +10 &AWN )\ M +9 &CR *\ M +9 &D] '\ N +10 &Fe %\ O +9 &HPy %\ R +10 &J\ \ &\ V +9 &K\ \ &\ Y +9 &M\ \ &\ Z +10 &OA\ \ &\ Z +9 &Q\ \ \ %\ [ +9 &R\ \ &\ [ +10 &T\ \ #\ \\ +51 &V@\ \ (\ ] +5 &X\ \ )\ ] + &Y\ \ &\ |_ &[\ \ \ K + &\\9\ \ %\ . + &\\\ \ \ Y +2 ( +2 "collection"'I& +4 "core" &\\\ \ \ Y +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator" +60 "core" 1 +3 "manipulator"&V% +3 "core" % B   "  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%2& +5 "core" &\ t + "manipulator"&% +4 "core" %     +2 "storage"(e% +4 "core" % \ s +2 "storage"(F. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 7 + "storage"(r([ +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &[ , 1 \ d +2 "manipulator"&& +4 "core" &Ӫ   ~ 6 +2 "manipulator"&j% +4 "core" %    k  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"& (r +154 "core" ( +2 "manipulator"&}& +3 "core" &s   +2 "storage"(c& +4 "core" &[ \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +98 "core" ' + "storage"(?& +4 "core" &[ \ ~ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'r +295 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &[ X\ t +2 "manipulator"&p& +3 "core" &s   + +3 .tElbow.seek 7 + "manipulator"&\ (r +4 "core" ( +2 "manipulator"&& +3 "core" &s    +2 "storage"(<& +5 "core" &[ h\ w +2 .tForearm.seek 7 + 300 counts + "manipulator"&M'ϧ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(L' +8 "core" &s   +2 "manipulator"&% +4 "core" % Ϝ    +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&R( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&9& +4 "core" & A  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &     +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&D' +100 "core" ' + "manipulator"&Q& +4 "core" &     +2 "manipulator"&H% +4 "core" %    +2 "processing"%/& +4 "core" &\ z +3 "processing"%h& +4 "core" & \ z +3 .tPC.seek :closed + "processing"%3(^ +5 "core" &\ y +9 &0q\ j*x +9 &av\ f> +10 &ek\ gO +9 &$N\ mP +9 &L\ nP +10 &J\ mP +9 &jN\ lP +10 &-L\ nP +9 &K\ nP +9 &L\ mP +10 & sN\ mP +9 &"4Q\ mP +10 &#N\ mP +9 &%L\ nO +9 &'zN\ mP +10 &)=M\ mP +9 &*N\ mP +9 &,M\ nP +10 &.K\ nP +9 &0EL\ mP +10 &2N\ mP +9 &3J\ nP +9 &5L\ mO +10 &7LL\ nP +9 &9O\ mP +9 &:O\ nP +10 &<N\ lP +9 &>TP\ lP +9 &@O\ lP +10 &AU\ kQ +9 &C[\ kQ +10 &EV_\ jR +9 &Gj\ gS +9 &Hy\ dV +10 &J\ cW +9 &LQ\ cV +9 &N\ bX +10 &O\ bW +9 &Q\ aX +10 &SU\ bX +9 &U\ `X +9 &V\ aX +10 &X\ aW +9 &Z\\\ aX +9 &\\\ aX +10 &]w\ e7 +9 &^-f\ gY +10 &^&\ q4 +2 ( +2 "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&x1 +55 "core" 1 +2 "manipulator"&^% +3 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +97 "core" ' +2 "processing"%b& +4 "core" &^(\ n4 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&$% +49 "core" % #   1 +5 "storage"(K% +4 "core" % \ m +2 "storage"(B. +3 "core" .([ +2 "storage"(N& +3 "core" &[ \ m +3 "storage"(& +2 "manipulator"&n& +7 "core" &[ #\ m +2 &   +  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&g( +2 "storage"(J'r +5 "core" ( +3 "manipulator"&& +3 "core" &  (  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" & / :  +3 .tForearm.seek PC + "manipulator"&-' +95 "core" ' +3 .tHand.close + "manipulator"&/ +73 "core" / +2 .tPC.seek :open +2 "processing"%o( +80 "core" ' +2 "storage"(k- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +320 ( +2 "storage"(& +4 "core" &[ \ t + "manipulator"&&& +3 "core" &     +2 "manipulator"&'% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&w' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&1(r +251 "core" ( + "manipulator"&:& +5 "core" &~   [ A + "storage"({& +4 "core" &[ \ p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +94 "core" ' + .tHand.open +2 "manipulator"&_1 +59 "core" 1 +4 "storage"(!- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"()' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(4' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(P- +3 "core" -' +2 "storage"(l& +3 "core" &[ M\ # +2 "manipulator"&& +5 "core" &~   A + .tElbow.seek 7 +2 "manipulator"&(r +8 "core" ( +2 "manipulator"&T& +3 "core" &~  9  +2 "storage"(i& +4 "core" &[ d\ % +3 .tForearm.seek 7 + 450 counts + "manipulator"&A'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(O'" +50 "core" ' +2 "manipulator"&\\& +3 "core" &~    +2 "storage"( & +4 "core" &[ _\ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&W'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +23 "core" ' +2 "manipulator"&+% +3 "core" %΍ 0 2 +2 "storage"(G& +4 "core" &[ ^ ] )\ f +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&'Ϲ +13 "core" ' + "manipulator"&X& +4 "core" &   `  +2 "storage"(& +4 "core" &[ g\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +17 "core" ' +2 "storage"(`% +3 "core" % u\ w +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (f% +3 "core" %J q n #\ l[s +2 "manipulator"&5% +4 "core" %H  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +133 "core" ' +20 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Y& +3 "core" &[ 1\ t +2 "collection"'& +4 "core" &\\ &\ Y +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&s% +3 "core" %   " +2 "storage"(E% +5 "core" % b\ w + "storage"(Z. +3 "core" .([ +2 "storage"(& +4 "core" &[ ;\ w +2 "storage"(8& +3 "core" &[ ^\ w +3 "manipulator"&.& +4 "core" & \   +2 .tElbow.seek 7 + "manipulator"&(r +9 "core" ( +2 "manipulator"& & +4 "core" &    + "storage"(;& +5 "core" &[ _\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&v'= +101 "core" ' +2 "storage"(& +3 "core" &[ b\ ~ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +305 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   ,  +2 "storage"(y& +3 "core" &[ J\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&0'{ +32 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(m'g +29 "core" ' +2 "manipulator"&d% +3 "core" %΋  ' T +2 "storage"(S& +4 "core" &[ j l \ k +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&a'Ϸ +13 "core" ' +2 "manipulator"&[& +3 "core" &   :  +2 "storage"(7& +4 "core" &[ e\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&#'= +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(V' +39 "core" ' +2 "manipulator"&2& +4 "core" & \  z  +2 "manipulator"&% +3 "core" %G  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +98 "core" ' +2 .tElbow.seek CC + "manipulator"&F(ӂ +155 "core" ( +2 "manipulator"&I& +4 "core" &Ӌ(   l @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &Ӌ(  @W +2 .tForearm.seek CC + "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&j/ +61 "core" / +2 .tCC.seek :open + "collection"' ( +451 "core" ( +2 "storage"(}& +3 "core" &[ \  +2 "storage"(c& +4 "core" &[ b\  +2 "manipulator"&,& +3 "core" &   8 +2 "manipulator"&?% +4 "core" % D   +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&U(r +162 "core" ( + "manipulator"&*& +4 "core" &s  \ ~  +2 "storage"(C& +3 "core" &[ \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&p'{ +96 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +63 "core" 1 +3 "manipulator"&]% +4 "core" % ΂  \  + "storage"(q& +4 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 307 counts +2 "manipulator"&'Ϯ +54 "core" ' +9 "manipulator"& & +4 "core" &s @  + "storage"(& +5 "core" &[ ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&u'= +17 "core" ' + "storage"(M% +5 "core" % ,\ +2 ."downElevator"SE.seek :down +4 "storage"(9' +98 (=% +3 "core" %H u\ Yl +2 "manipulator"&\ % +5 "core" %4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q' +97 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'H& +3 "core" & ?\ +2 "manipulator"&/% +4 "core" % \    +2 "storage"(L% +3 "core" %\  +2 "storage"( . +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" &<0 W\ +2 "manipulator"&^& +3 "core" &s   +3 .tElbow.seek 5 + "manipulator"&b( +35 "core" ( + "manipulator"&$& +4 "core" &   +2 "storage"(h& +3 "core" &<0 L\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&K'O +93 "core" ' +2 "storage"(B& +3 "core" &<0 !\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" &<- \ +2 "manipulator"&& +3 "core" &  } +3 .tElbow.seek 5 + "manipulator"&t( +5 "core" ( +2 "manipulator"&D& +4 "core" &  / + "storage"(& +3 "core" &<- 6\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&k'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&z& + "storage"(3' +8 "core" & + "manipulator"&J% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +149 "core" ( +2 "manipulator"&'& +3 "core" &z&   % ?R +2 ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +6 &-& +2 "core" &z&  U ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'? +94 "core" ' +2 "manipulator"&{& +4 "core" &z&   K ?R +2 "manipulator"&g% +3 "core" %A    : +2 "collection"'_& +5 "core" & \ +2 "collection"'!& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'P(\\ +5 "core" & \ +7 &2 \ $d +9 &Uq \ 6 +10 &s \ K +9 &M \ M +9 &\\O \ M +10 & N \ L +9 &Q \ M +10 &Q =\ M +9 &eO  \ M +9 &'L 1\ M +10 &L *\ L +9 &!N "\ L +10 &#mQ 8\ M +9 &%/N >\ M +9 &&L ;\ L +10 &(N 6\ L +9 &*uQ 4\ M +9 &,7O 2\ M +10 &-K ?\ M +9 &/R )\ M +9 &1}Q *\ M +10 &3>O '\ M +9 &5N &\ L +10 &6O $\ L +9 &8O #\ L +9 &:FR )\ M +10 &< L (\ M +9 &=L (\ L +9 &?O )\ M +10 &AON '\ M +9 &CS %\ M +10 &DZ )\ N +9 &Fc &\ O +9 &HIy *\ Q +10 &I\ \ )\ V +9 &K\ \ *\ Y +9 &Mx\ \ &\ Y +10 &O8\ \ (\ Z +9 &P\ \ %\ Z +10 &R\ \ "\ [\ +9 &Ty\ \ &\ \\ +9 &V;\ \ \ \\ +10 &W\ \ $\ ] +9 &Y\ \ !\ ^ +9 &[z\ \ \ K +10 &\\9\ \ \ 0 +9 &\\ \ #\ T +6 ( + "collection"'!& +4 "core" &\\x \ \ T +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&l1 +63 "core" 1 +48 "manipulator"&% +6 "core" % A   : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%i& +5 "core" &\ \ u + "manipulator"&w% +4 "core" %     +2 "storage"(\\% +4 "core" % ?\ s +2 "storage"( . +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(+(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &<- \ s +2 "manipulator"&& +3 "core" &Ӯ   8 +2 "manipulator"&X% +5 "core" %    B  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +165 "core" ( +2 "manipulator"&)& +3 "core" &   (  +2 "storage"(`& +5 "core" &<- W\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&1'O +94 "core" ' +3 "storage"(& +3 "core" &<- c c\ ~ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +301 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" &<- \ s +2 "manipulator"&A& +3 "core" &     +3 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&O& +4 "core" &    +2 "storage"(W& +3 "core" &<- _\ v +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(s' +8 "core" &  Q  + "manipulator"&E% +4 "core" % ϱ i +2 .tForearm.seek :retract +2 "manipulator"&Z' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&& +4 "core" &   J & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &   & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&.' +100 "core" ' +2 "manipulator"& & +4 "core" & \  Z & +2 "manipulator"&;% +3 "core" %   +3 "processing"%& +3 "core" &\  +3 "processing"%& +5 "core" &\ ~ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ ~ +9 &/r\ o*y +10 &bx\ j? +9 &gk\ lP +9 &(L\ sP +10 &J\ tP +9 &J\ sP +9 &oL\ sP +10 &2M\ rO +9 &M\ sO +10 &M\ tO +9 & wO\ sP +9 &"9P\ rP +10 &#Q\ rP +9 &%K\ tP +9 &'L\ sP +10 &)BL\ tO +9 &+Q\ sP +10 &,N\ sO +9 &.L\ sO +9 &0IN\ sP +10 &2 M\ sP +9 &3L\ sO +9 &5O\ rP +10 &7RK\ sO +9 &9O\ rP +10 &:O\ rP +9 &<Q\ rP +9 &>YP\ rP +10 &@P\ rP +9 &AU\ rP +9 &C]\ pR +10 &EZb\ nR +9 &Gm\ lT +10 &H\ gV +9 &J\ iV +9 &LU~\ iV +10 &N\ gW +9 &O\ hW +9 &Q\ fW +10 &S[\ hW +9 &U\ fX +10 &V\ gX +9 &X\ gW +9 &Zb\ eX +10 &\\#\ dX +9 &]y\ j9 +9 &^/y\ kR +10 &^&\ w2 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&|1 +58 "core" 1 +2 "manipulator"&%% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +93 "core" ' +2 "processing"%& +3 "core" &^%\ n2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&y% +4 "core" % #  " 7 +2 "storage"(~% +3 "core" % \ o +2 "storage"(d. +3 "core" .(<- +2 "storage"(S& +3 "core" &<- )\ o +51 "storage"([& +2 "manipulator"&7& +8 "core" &<- G\ o + &  ' & +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&2( +6 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +3 "manipulator"&v& +4 "core" &    & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  ( ' & +2 .tForearm.seek PC +2 "manipulator"&"' +92 "core" ' +2 .tHand.close + "manipulator"&0/ +59 "core" / +2 .tPC.seek :open +2 "processing"%a( +97 "core" ' + "storage"(m- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(I'1 +43 "core" ' +307 ( +2 "storage"(6& +3 "core" &<, g\ w +2 "manipulator"&#& +4 "core" &    & +2 "manipulator"&@% +4 "core" %     +2 .tForearm.seek :retract +2 "manipulator"&j' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&e( +246 "core" ( +2 "manipulator"&& +3 "core" &   J L +2 "storage"(}& +4 "core" &<, F\ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +93 "core" ' + .tHand.open +2 "manipulator"&,1 +61 "core" 1 +3 "storage"(?- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(C' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(F& +3 "core" &<, T\  +2 "manipulator"&<& +4 "core" & L +2 .tElbow.seek 5 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&q& +3 "core" &  > L +2 "storage"( & +3 "core" &<, \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(M'" +58 "core" ' + "manipulator"&>& +4 "core" &    L +2 "storage"(U& +3 "core" &<, h\ v +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&='΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&\ , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(p' +26 "core" ' + "manipulator"&H% +5 "core" %Λ   " + "storage"(/& +3 "core" &<, \ s +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +23 "core" ' +2 "manipulator"&L& +3 "core" &  \ - = +3 "storage"( & +4 "core" &<, \ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&V'O +25 "core" ' + "storage"(u% +4 "core" % @\ v +2 ."downElevator"SE.seek :down +4 "storage"(9' +99 (r% +2 "core" %L i l \ k[t +2 "manipulator"&x% +5 "core" %K  l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +92 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 ($& +3 "core" &<, \ w +2 "collection"'h& +3 "core" &\\w )\ T +3 #tStoring generic puck in Collection Clamp to tube 5 +48 "manipulator"&B% +4 "core" %   \ * \ +2 "storage"(% +4 "core" % 0\ y +2 "storage"(Q. +3 "core" .(<- +2 "storage"(& +3 "core" &<, U\ x +3 "storage"(n& +4 "core" &<, >\ x + "manipulator"&& +5 "core" &  = + .tElbow.seek 5 +2 "manipulator"&D( +17 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(R& +5 "core" &<, o\ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z'O +96 "core" ' +2 "storage"(J& +3 "core" &<,\ \  X\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +295 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&'& +2 "core" &    +3 "storage"(-& +3 "core" &<, d\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&N'΍ +14 "core" ' +2 .tElbow.hold + "manipulator"&k, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(g'v +29 "core" ' + "manipulator"&_% +5 "core" %Ρ   $ 1 + "storage"(t& +3 "core" &<, |\ v +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&3' +26 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"( & +4 "core" &<, t\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +20 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(' +42 "core" ' + "manipulator"&!& +3 "core" &  +2 "manipulator"&i% +4 "core" %K $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&\\(ӂ +164 "core" ( +2 "manipulator"& & +3 "core" &Ӡ   7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +2 "core" &Ӡ "  7 +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&X/ +59 "core" / +2 .tCC.seek :open +2 "collection"':( +447 "core" ( +2 "storage"()& +3 "core" &<, Y\ +3 "storage"(`& +4 "core" &<, 4\ + "manipulator"&& +3 "core" &Ӣ    6 +2 "manipulator"&% +4 "core" % N    , +2 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&T( +160 "core" ( + "manipulator"&f& +5 "core" &    + "storage"(5& +4 "core" &<, \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&A'΍ +92 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +60 "core" 1 +2 "manipulator"&Y% +5 "core" % Η    + "storage"(& +4 "core" &<, \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&E' +13 "core" ' +3 "manipulator"&& +4 "core" & =  + "storage"(1& +4 "core" &<, Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +43 .tForearm.seek 5 + 450 counts +9 "manipulator"&4'O +15 "core" ' +2 "storage"(% +3 "core" %\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (8% +3 "core" %D \ Yk +2 "manipulator"&% +5 "core" %@ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +74 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"';& +3 "core" & >\ +3 "manipulator"&% +3 "core" %      +2 "storage"(s% +4 "core" % ]\  +2 "storage"(Z. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(o(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (|& +3 "core" &K P\ +2 "manipulator"&%& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&y& +3 "core" &    +3 "storage"(~& +3 "core" &K ^\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&d' +93 "core" ' + "storage"(S& +4 "core" &K\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +296 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K *\ +2 "manipulator"&v& +3 "core" &  +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&.& +3 "core" & ]  +2 "storage"(0& +3 "core" &K \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&m'h +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&(& + "storage"(' +8 "core" & =  + "manipulator"&% +4 "core" % r +2 .tForearm.seek :retract +2 "manipulator"&6' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&@& +3 "core" &ӥ    4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &ӥ  \ 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&}& +3 "core" &ӥ  4 +2 "manipulator"&2% +5 "core" %5   S +2 "collection"',& +4 "core" &  \ +2 "collection"'?& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & \ +7 &@ \ $f +9 &Xw \ 8 +10 &p \ L +9 &L \ L +9 &M \ L +10 &FN \ L +9 &O \ M +10 &L [\ L +9 &Q /\ L +9 &ML \ L +10 & M ;\ L +9 &!Q <\ L +9 &#R 9\ M +10 &%UO <\ L +9 &'N ?\ L +10 &(Q >\ L +9 &*Q ;\ M +9 &,]O ;\ L +10 &. N ;\ L +9 &/Q 4\ L +9 &1N /\ L +10 &3eO )\ L +9 &5&Q /\ M +10 &6P 2\ M +9 &8Q +\ L +9 &:mO '\ L +10 &% +4 "core" % \ s + "storage"(U. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(H(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" &K B O O\ e +2 "manipulator"&I& +4 "core" &Ӧ   4 +2 "manipulator"&L% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +164 "core" ( + "manipulator"&*& +3 "core" &   #  +2 "storage"(u& +4 "core" &K e\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&e' +99 "core" ' +2 "storage"(c& +3 "core" &K Q\ z +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +313 "core" ' +2 "storage"(r- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" &K g\ u +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&]( +4 "core" ( +2 "manipulator"&M& +3 "core" &    +2 "storage"(=& +4 "core" &K m\ w +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&h& + "storage"(B' +7 "core" &     +2 "manipulator"&p% +3 "core" % m  J ~ +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&Q( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&& +4 "core" &   ] 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &   2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 "manipulator"&& +3 "core" &   A 2 +3 "manipulator"&R% +3 "core" %    +2 "processing"%V& +5 "core" &\ y +2 "processing"%J& +5 "core" &\ y +2 .tPC.seek :closed +2 "processing"%9(^ +3 "core" &\ y +8 & .\ q$c +9 &Su\ f7 +9 &|u\ eL +10 &Q\ lP +9 &OM\ mP +9 &J\ mP +10 &O\ lP +9 &P\ lP +10 &YJ\ mP +9 &M\ mP +9 &O\ lP +10 &!M\ lP +9 &#aL\ mP +9 &%#N\ mP +10 &&Q\ lP +9 &(N\ lO +10 &*iM\ lP +9 &,+L\ mP +9 &-N\ mP +10 &/Q\ kP +9 &1qJ\ mP +9 &34M\ mO +10 &4O\ lP +9 &6L\ mO +9 &8zN\ mO +10 &:;M\ mP +9 &;N\ lP +10 &=L\ mP +9 &?O\ lP +9 &ABO\ kP +10 &CW\ kQ +9 &DZ\ jQ +10 &F`\ iR +9 &H?m\ fT +9 &I\ bV +10 &K\ bV +9 &M}\ aV +9 &O>\ aW +10 &P\ `X +9 &R\ aW +10 &T\ _X +9 &VE\ aW +9 &X\ `W +10 &Y\ _W +9 &[\ `X +9 &]K\ _M +10 &^}J\ a_ +9 &^3\ o2 +5 ( +2 "processing"%J& +4 "core" &^"\ q2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&\ 1 +53 "core" 1 + "manipulator"&^% +4 "core" %      +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +97 "core" ' +2 "processing"%'& +3 "core" &^!\ n2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&-% +3 "core" % %  ; +2 "storage"({% +4 "core" % \ n +2 "storage"(_. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(t(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"& & +4 "core" &K T 9 d\ k +47 ."raiseStack"SE.reconfigure :place +10 "storage"(#]kK-0-\ b +3 "core" &    2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&!( +2 "storage"(i'r +6 "core" ( +2 "manipulator"&z& +3 "core" &   2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &  )  2 +2 .tForearm.seek PC +2 "manipulator"&b' +99 "core" ' + .tHand.close +2 "manipulator"&N/ +61 "core" / +2 .tPC.seek :open + "processing"%3( +89 "core" ' + "storage"(g- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +45 "core" ' +342 ( + "storage"(G& +4 "core" &K\  \ | +2 "manipulator"&l& +4 "core" &    2 +2 "manipulator"&k% +4 "core" %  a +2 .tForearm.seek :retract +2 "manipulator"&X' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&w( +242 "core" ( + "manipulator"&P& +4 "core" &   0 H +2 "storage"()& +5 "core" &K ]\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +114 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(f' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(5' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(\\& +5 "core" &K S\ # + "manipulator"&W& +4 "core" &   % H +2 .tElbow.seek 6 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&& +3 "core" &   H +2 "storage"(& +4 "core" &K ,\ # +3 .tForearm.seek 6 + 450 counts + "manipulator"&1' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&&& +3 "core" &   , H +2 "storage"(8& +4 "core" &K r\ t +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&T'< +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +19 "core" ' +2 "manipulator"&E% +3 "core" %M  b +2 "storage"(;& +4 "core" &K b\ n +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&'y +16 "core" ' +2 "manipulator"&& +4 "core" &   H +2 "storage"(s& +4 "core" &K \ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +16 "core" ' +2 "storage"(4% +3 "core" % 5\ v +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (+% +3 "core" %J r 9\ l[t +2 "manipulator"&|% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (y& +3 "core" &K \ u +2 "collection"'~& +3 "core" &\\ /\ _ +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&S% +3 "core" %    "  +42 "storage"(O% +11 "core" % T\ w +2 "storage"( . +3 "core" .(K +2 "storage"([& +3 "core" &K 6\ w +2 "storage"(& +5 "core" &K \ w + "manipulator"&v& +4 "core" &   H +2 .tElbow.seek 6 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&0& +3 "core" &  H +3 "storage"(& +4 "core" &K \ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +100 "core" ' +2 "storage"(& +3 "core" &K S\ x +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +302 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" &   H +2 "storage"("& +4 "core" &K #\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&7'< +15 "core" ' + .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(2'h +28 "core" ' + "manipulator"&,% +5 "core" %O  &  + "storage"(& +3 "core" &K J\ u +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&'{ +16 "core" ' + "manipulator"&6& +4 "core" &   " H +2 "storage"(:& +3 "core" &K \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&F' +26 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(<' +37 "core" ' +2 "manipulator"& & +4 "core" &   H +2 "manipulator"&?% +4 "core" %'   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +154 "core" ( +2 "manipulator"&U& +4 "core" &Ӣ    6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &Ӣ \ ^ 6 +3 .tForearm.seek CC + "manipulator"&I'? +93 "core" ' +2 .tHand.close + "manipulator"&L/ +54 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( +2 "storage"(*& +4 "core" &K \  + "storage"(u& +4 "core" &K \  +2 "manipulator"&o& +3 "core" &Ӣ   ? 6 +2 "manipulator"&c% +5 "core" % Q  V C +2 .tForearm.seek :retract + "manipulator"&#' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&q( +156 "core" ( +2 "manipulator"&r& +3 "core" &  \ }  +2 "storage"(x& +3 "core" &K '\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'< +97 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&=1 +57 "core" 1 +2 "manipulator"&$% +3 "core" % A    \ +2 "storage"(h& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 305 counts + "manipulator"&p'm +15 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(e& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +42 "manipulator"&C' +22 "core" ' +2 "storage"(% +4 "core" % 3\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (n% +3 "core" %_> \ Xj +2 "manipulator"&]% +5 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'R& +3 "core" & \ +2 "manipulator"&V% +4 "core" %     +2 "storage"(B% +4 "core" % ^\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(a([ +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" &[ m d *\  +3 "manipulator"&^& +3 "core" &    +3 .tElbow.seek 7 + "manipulator"&'(r +19 "core" ( +2 "manipulator"&-& +4 "core" &i   Z  + "storage"({& +4 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&_'= +94 "core" ' +2 "storage"(J& +4 "core" &[ .\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (z& +2 "core" &[ c\  +2 "manipulator"&D& +4 "core" &i   +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&N& +3 "core" &i L  +2 "storage"(H& +4 "core" &[ \  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&g'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&K& + "storage"(9' +8 "core" &i   + "manipulator"&i% +4 "core" % ϳ +2 .tForearm.seek :retract +2 "manipulator"&G' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&l(ӂ +158 "core" ( +2 "manipulator"&k& +3 "core" ' + &ӊ&   ?R +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &b& +3 "core" &ӊ&   ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'? +101 "core" ' +5 "manipulator"&)& +3 "core" &ӌ&   ?P +2 "manipulator"&!% +5 "core" %E    + "collection"'& +5 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +8 &3 \ $d +9 &Up \ 6 +10 &s \ K +9 &O \ M +9 &cL \ L +10 &%N \ L +9 &M \ M +9 &P \ L +10 &jL \ M +9 &-L \ L +10 &M ;\ L +9 &!Q ;\ M +9 &#qO <\ M +10 &%5K ?\ L +9 &&N >\ L +9 &(Q @\ M +10 &*zO @\ M +9 &,=K 9\ L +10 &-L 1\ L +9 &/Q 3\ M +9 &1M 3\ L +10 &3DO 1\ M +9 &5P +\ M +9 &6O (\ L +10 &8R (\ M +9 &:MM &\ L +10 &<N '\ L +9 &=L ,\ M +9 &?M +\ M +10 &ATR &\ M +9 &CV %\ M +9 &D] $\ N +10 &Fe %\ O +9 &HNx )\ Q +10 &J\ \ &\ V +9 &K\ \ '\ Y +9 &M{\ \ '\ Z +10 &O>\ \ %\ Z +9 &P\ \ \  \ Z +9 &R\ \ \ (\ [\ +10 &T~\ \ (\ \\ +9 &V<\ \ '\ ] +10 &W\ \ (\ ] +9 &Y\ \  \ {_ +9 &[~\ \ \ ~K +10 &\\9\ \ \ . +9 &\\\ \  \ X +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&\\1 +2 "core" &\\~\ \ \ X +60 1 +2 "manipulator"&W% +5 "core" % E   B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &\ u +47 "manipulator"&X% +6 "core" %    +2 "storage"(&% +5 "core" % \ u + "storage"(8. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(E([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (;& +2 "core" &[ ] ` \ g +3 "manipulator"& & +4 "core" &Ӯ!   :. + "manipulator"&% +5 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&s(r +164 "core" ( + "manipulator"&f& +5 "core" &s    + "storage"(4& +4 "core" &[ W\ | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +92 "core" ' +3 "storage"(`& +4 "core" &[ e\ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(5'r +297 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &[ \ s +2 "manipulator"&1& +4 "core" &s   &  +2 .tElbow.seek 7 +2 "manipulator"&Y(r +3 "core" ( +2 "manipulator"&& +3 "core" &s   7  +2 "storage"(T& +4 "core" &[ \ w +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&~& + "storage"(S' +8 "core" &s    + "manipulator"&O% +4 "core" % ϥ  +2 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +68 "core" ( + "manipulator"&[& +5 "core" &  \ ' ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &    ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&v' +101 "core" ' +2 "manipulator"&0& +4 "core" &   ' + "manipulator"&% +5 "core" %   @  +2 "processing"%Z& +3 "core" &\ \ y +3 "processing"%& +6 "core" &\ y +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ y +6 & .\ q#b +9 &Vv\ f7 +9 &|s\ dL +10 &N\ lP +9 &PL\ mP +9 &J\ nO +10 &O\ lP +9 &P\ lP +10 &YL\ mP +9 &Q\ lP +9 &L\ mO +10 &!L\ lP +9 &#aN\ lP +9 &%#P\ lP +10 &&L\ lP +9 &(N\ lP +10 &*jL\ mO +9 &,+N\ lP +9 &-L\ mO +10 &/O\ lP +9 &1qJ\ nP +9 &33K\ mP +10 &4J\ nO +9 &6M\ kP +10 &8yL\ mP +9 &:;L\ lP +9 &;M\ mP +10 &=N\ mP +9 &?O\ lP +9 &ABP\ lP +10 &CZ\ jQ +9 &DZ\ kR +10 &Fd\ hS +9 &H=s\ fU +9 &I\ aV +10 &K\ bV +9 &M}\ aV +9 &O>\ aW +10 &P\ `W +9 &R\ aW +10 &T\ _X +9 &VE\ aW +9 &X\ `W +10 &Y\ _X +9 &[\ `X +9 &]J\ ]N +10 &^M\ ` c +9 &^+\ n3 +6 ( + "processing"%& +4 "core" &^"\ o3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&%% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +99 "core" ' +2 "processing"%@& +4 "core" &^"\ n3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&"% +4 "core" % #  & 6 +2 "storage"(}% +3 "core" % <\ n +2 "storage"(,. +3 "core" .([ +2 "storage"(& +3 "core" &[ \ o +3 "storage"(6& +5 "manipulator"&:& +4 "core" &[ C\ n + &   ' +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +51 "manipulator"& ( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(?'r +2 "core" ( +3 "manipulator"&(& +3 "core" &  ' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" & - ) ' +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close + "manipulator"&7/ +62 "core" / +2 .tPC.seek :open + "processing"%( +88 "core" ' +2 "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(U'1 +47 "core" ' +312 ( +2 "storage"(/& +3 "core" &[ \ v +2 "manipulator"&F& +4 "core" &    ' +2 "manipulator"&m% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&j(r +251 "core" ( + "manipulator"&& +3 "core" &|    L +3 "storage"(*& +3 "core" &[ \ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&u'= +95 "core" ' + .tHand.open +2 "manipulator"&o1 +59 "core" 1 +3 "storage"(c- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(r' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(x' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(I- +3 "core" -' +2 "storage"(>& +4 "core" &[ \  +2 "manipulator"&=& +3 "core" &} N K +2 .tElbow.seek 7 +2 "manipulator"&$(r +9 "core" ( +2 "manipulator"&h& +3 "core" &~ w * +2 "storage"( & +5 "core" &[ \  +2 .tForearm.seek 7 + 450 counts + "manipulator"&e'= +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' +2 "manipulator"&#& +3 "core" &~    * +2 "storage"(n& +4 "core" &[ \ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&q'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&p% +4 "core" %· / : + "storage"(R& +4 "core" &[ S ] \ \ e +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&V'ϳ +14 "core" ' +2 "manipulator"&B& +3 "core" &~  n * +2 "storage"(& +4 "core" &[ Z\ u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&<'= +17 "core" ' +2 "storage"(C% +4 "core" % _\ w +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (t% +2 "core" %O q o $\ k[s +2 "manipulator"&\ % +5 "core" %A    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (-& +4 "core" &[ |\ v +2 "collection"'{& +4 "core" &\\~ 2\ X +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&J% +5 "core" %      + "storage"(M% +4 "core" % \ x +2 "storage"(. +3 "core" .([ +2 "storage"( & +4 "core" &[ \ x + "storage"(z& +4 "core" &[ %\ x +2 "manipulator"&D& +52 "core" &~   * + .tElbow.seek 7 +2 "manipulator"&N(r +10 "core" ( +2 "manipulator"&H& +3 "core" &    +2 "storage"(Q& +5 "core" &[ F\ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'= +93 "core" ' +2 "storage"(i& +3 "core" &[ W\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''r +296 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" &  $  +2 "storage"(b& +3 "core" &[ '\ v +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +30 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(!'p +30 "core" ' + "manipulator"&% +4 "core" %΍   1 +2 "storage"(& +4 "core" &[ a l G\ g +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&9'Ϲ +14 "core" ' +2 "manipulator"&G& +4 "core" &   + "storage"(& +4 "core" &[ \ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(W' +39 "core" ' +2 "manipulator"&& +3 "core" &    +3 "manipulator"&X% +4 "core" %4    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +153 "core" ( +2 "manipulator"&8& +3 "core" &ӌ#   a << +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +3 "core" &ӌ#  << +2 .tForearm.seek CC +2 "manipulator"& '? +96 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'P( +447 "core" ( +2 "storage"(f& +4 "core" &[ d\  +2 "storage"(4& +3 "core" &[ 9\  +2 "manipulator"&a& +4 "core" &Ӳ  p 7 +2 "manipulator"&`% +3 "core" % B   w  +3 .tForearm.seek :retract + "manipulator"&l' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +164 "core" ( +2 "manipulator"&+& +4 "core" &o     + "storage"(|& +4 "core" &[ _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&1'{ +94 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +65 "core" 1 +2 "manipulator"&y% +3 "core" % Ύ   5 +2 "storage"(~& +3 "core" &[ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&O'Ϻ +13 "core" ' +2 "manipulator"&s& +3 "core" &o c  +2 "storage"(w& +4 "core" &[ % e\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&5'= +16 "core" ' +2 "storage"(% +3 "core" %  \ +3 ."downElevator"SE.seek :down +4 "storage"([' +98 (% +10 "core" %k? ]\ Yl +2 "manipulator"&Y% +5 "core" %: +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +92 "core" ' +42 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +2 "core" & ;\ +3 "manipulator"&Z% +3 "core" %  1  +2 "storage"(S% +5 "core" % \  + "storage"(A. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(3(<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &T $\ M +9 &D] (\ N +10 &Fc )\ O +9 &Hu &\ R +10 &J*\ \ (\ V +9 &K\ \ &\ Y +9 &M\ \ &\ Y +10 &Of\ \ &\ Z +9 &Q%\ \ \ #\ [ +9 &R\ \ )\ [\ +10 &T\ \ '\ \\ +9 &Ve\ \ %\ ] +10 &X#\ \ &\ ^ +9 &Y\ \ %\ ^ +9 &[\ \ &\ K +10 &\\2\ \ \ 0 +9 &\\s\ \ "\ P +2 ( +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.30 +2 .Hand.open + "manipulator"&>1 +63 "core" 1 +2 "manipulator"&=% +3 "core" % 9   B Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"% & +3 "core" &\ v +2 "manipulator"&L% +4 "core" %    +2 "storage"(#% +4 "core" % #\ u +2 "storage"(n. +3 "core" .(<- +2 "storage"(U& +4 "core" &<- \ u +48 "storage"(p& +6 "core" &<- \ u +2 "manipulator"&R& +3 "core" &ӭ   7 +3 "manipulator"&r% +4 "core" %  j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&B( +161 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(C& +9 "core" &<- \  \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +6 "manipulator"&j'O +93 "core" ' +2 "storage"(u& +4 "core" &<- h Y \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +295 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &<- j\ r +2 "manipulator"&e& +4 "core" & \   +2 .tElbow.seek 5 + "manipulator"&$( +4 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"(q& +4 "core" &<- \ w +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&-'Ϲ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(J' +8 "core" &   +2 "manipulator"&M% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&' +101 "core" ' +3 .tElbow.seek PC + "manipulator"&( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +108 "core" ( +2 "manipulator"& & +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&D' +98 "core" ' +2 "manipulator"&H& +3 "core" & 9 +2 "manipulator"&Q% +4 "core" % N +2 "processing"%<& +4 "core" &\ +3 "processing"%i& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 &-\ |#b +9 &Uw\ o7 +9 &}u\ mL +10 &P\ uP +9 &MJ\ vP +10 &P\ uO +9 &M\ vP +9 &L\ vO +10 &VL\ vO +9 &N\ uO +9 &Q\ tP +10 &!K\ vP +9 &#]Q\ uP +10 &%O\ uP +9 &&M\ vO +9 &(O\ uP +10 &*eQ\ uP +9 &,&Q\ uP +9 &-N\ uO +10 &/R\ tP +9 &1nO\ uO +10 &3/P\ uP +9 &4N\ vP +9 &6L\ vO +10 &8vN\ uO +9 &:8M\ tO +9 &;N\ uP +10 &=P\ tP +9 &?}O\ tP +10 &A?Q\ uP +9 &B\\\ rQ +9 &D]\ rR +10 &F{k\ oS +9 &H8y\ mU +9 &I\ kV +10 &K\ kW +9 &My\ iW +10 &O;\ jV +9 &P\ iX +9 &R\ iW +10 &T}\ gX +9 &V@\ iX +9 &X\ hX +10 &Y\ iW +9 &[\ iW +10 &]F\ hN +9 &^}O\ f#m +9 &^5\ w9 +3 ( + "processing"%i& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&]1 +58 "core" 1 +2 "manipulator"&^% +3 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +94 "core" ' +2 "processing"%k& +3 "core" &^.\ q9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&b% +3 "core" % #   0 +2 "storage"()% +4 "core" % K\ o +2 "storage"(. +3 "core" .(<- +2 "storage"(& +3 "core" &<- h\ p +3 "storage"(G& +2 "manipulator"&& +7 "core" &<- \ p + & # +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +7 ."raiseStack"SE.seek :beamBreak + "storage"(X'r +2 "core" ( +4 "manipulator"&K& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" & : /  +3 .tForearm.seek PC +42 "manipulator"&'' +103 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%9( +49 "core" ' + "storage"(!- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +45 "core" ' +353 ( + "storage"(;& +4 "core" &<, n\ z +2 "manipulator"&\\& +4 "core" &   ( +2 "manipulator"&g% +3 "core" %    " $ +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +240 "core" ( + "manipulator"&& +4 "core" &   0 ; +2 "storage"(f& +3 "core" &<, -\ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +94 "core" ' + .tHand.open +2 "manipulator"&a1 +53 "core" 1 +2 "storage"(`- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(+' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(&& +3 "core" &<, c h F\  +2 "manipulator"&T& +5 "core" & ~ ; + .tElbow.seek 5 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&~& +3 "core" & ; +2 "storage"(s& +5 "core" &<, Y b\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&w'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&l& +3 "core" &   9 ; +2 "storage"(& +4 "core" &<, \ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&Y'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(1' +21 "core" ' +2 "manipulator"&% +4 "core" %Ι   + "storage"(Z& +4 "core" &<, \ s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&O' +22 "core" ' +2 "manipulator"&S& +4 "core" &  | 7 + "storage"(A& +5 "core" &<, s\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +16 "core" ' +2 "storage"(5% +4 "core" % x\ z +2 ."downElevator"SE.seek :down +3 "storage"([' +100 (E% +2 "core" %L Z\ pZr +3 "manipulator"&% +4 "core" %G  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 ("& +3 "core" &<, \ { +2 "collection"'}& +5 "core" &\\n \ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +3 "core" %      +2 "storage"(% +4 "core" % \ | +2 "storage"(0. +3 "core" .(<- + "storage"(:& +5 "core" &<, '\ | + "storage"(6& +3 "core" &<, \ | +3 "manipulator"&(& +3 "core" &    7 +3 .tElbow.seek 5 + "manipulator"&v( +4 "core" ( +2 "manipulator"&7& +3 "core" &   K 7 +2 "storage"(2& +4 "core" &<, \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&d'O +144 "core" ' +2 "storage"(?& +3 "core" &<, ] _ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +305 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &    6 +2 "storage"(& +4 "core" &<, J\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"( 'v +28 "core" ' +2 "manipulator"&o% +4 "core" %Ρ   + "storage"(.& +5 "core" &<, X\ x + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&/& +3 "core" &  6 +2 "storage"(P& +4 "core" &<,\ \ \ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(=' +36 "core" ' +2 "manipulator"& & +4 "core" &  m 6 +2 "manipulator"&L% +3 "core" %K  h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&n(ӂ +153 "core" ( +2 "manipulator"&c& +4 "core" &ӏ$   ' =G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &ӏ$  =G +2 .tForearm.seek CC +2 "manipulator"&p'? +97 "core" ' + .tHand.close + "manipulator"&R/ +57 "core" / +2 .tCC.seek :open +2 "collection"'r( +450 "core" ( +2 "storage"(& +3 "core" &<, q\ +2 "storage"(& +3 "core" &<, I\ +3 "manipulator"&C& +4 "core" &ӫ!  :+ + "manipulator"&u% +4 "core" % Q   +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&h( +154 "core" ( + "manipulator"&t& +4 "core" &  ~ +2 "storage"(\ & +5 "core" &<, \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&e'΍ +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&q1 +53 "core" 1 +2 "manipulator"&V% +4 "core" % Ο   +2 "storage"({& +3 "core" &<, \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&M' +14 "core" ' +2 "manipulator"&B& +3 "core" & +3 "storage"(j& +4 "core" &<, \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +15 "core" ' + "storage"(-% +4 "core" % \ \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +100 (z% +2 "core" %oG \ Ym +2 "manipulator"&$% +5 "core" %I  : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +97 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +48 #Loading generic puck from tube 6 into Collection Clamp + "collection"'Q& +3 "core" & L\ +2 "manipulator"&<% +5 "core" %  +2 "storage"(J% +3 "core" %\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" &K \ \ +2 "manipulator"&^& +3 "core" & @ +3 .tElbow.seek 6 + "manipulator"&k( +7 "core" ( + "manipulator"&b& +4 "core" &  +2 "storage"()& +3 "core" &K (\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +91 "core" ' +2 "storage"(& +3 "core" &K  S\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +312 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +3 "core" &K :\ \ +2 "manipulator"&K& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&D& +3 "core" &   n  +3 "storage"(& +3 "core" &K \ \ +4 .tForearm.seek 6 + 300 counts + "manipulator"&!'h +49 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(' +8 "core" &    +2 "manipulator"&X% +3 "core" % d  9 Q +3 .tForearm.seek :retract + "manipulator"&;' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +148 "core" ( + "manipulator"&g& +4 "core" &y&   ?R +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&'& + "storage"(5 +6 "core" &y&   ?R + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +3 "manipulator"&f& +3 "core" &{&   ?P +2 "manipulator"&% +4 "core" %6  0 +2 "collection"'a& +5 "core" &  \ +2 "collection"'`& +5 "core" & \ +3 .tCC.seek :closed + "collection"' (\\ +5 "core" & \  +9 &5z \ *z +10 &fz \ ? +3 "Can"\ U%w+ +6 "core" &g \ N +10 &UN \ L +9 &R \ L +9 &M \ M +10 &Q \ L +9 &\\L /\ L +9 &P \ L +10 &Q 1\ M +9 & P =\ M +10 &"cP @\ M +9 &$&L 9\ L +9 &%N ?\ L +10 &'N ?\ L +9 &)lR <\ L +9 &+.M ?\ L +10 &,O >\ L +9 &.R 3\ L +10 &0sO )\ M +9 &26R -\ L +9 &3N +\ M +10 &5Q &\ M +9 &7|M %\ L +9 &9>P $\ L +10 &:R (\ M +9 &<Q %\ M +10 &>N &\ L +9 &@EP (\ M +9 &BR  \ M +10 &CV &\ M +9 &E^ '\ O +9 &GDi #\ P +10 &H\  '\ R +9 &J\ \ '\ W +10 &Lp\ \ %\ X +9 &N/\ \ '\ Z +9 &O\ \ )\ Z +10 &Q\ \ \ \ &\ Z +9 &Sq\ \ &\ [\ +10 &U1\ \ &\ \\ +9 &V\ \ $\ \\ +9 &X\ \ &\ ^ +10 &Zo\ \ &\ ^ +9 &\\|\ \ "\ 1 +9 &\\0\ \ )\ !f +10 ( + &\\r\ \  \ Q +2 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&&1 +57 "core" 1 +2 "manipulator"&T% +3 "core" % 6   d 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%s& +3 "core" &\ u +2 "manipulator"&% +4 "core" %     +2 "storage"(l% +4 "core" % R\ v +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" &K z\ p\ +2 "manipulator"&8& +4 "core" &ӫ   8 +2 "manipulator"&S% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +50 .tElbow.seek 6 +2 "manipulator"&+( +163 "core" ( + "manipulator"&A& +4 "core" &    +2 "storage"(5& +4 "core" &K\ \  W\ }\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +98 "core" ' +3 "storage"(4& +3 "core" &K q k\ ~\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +306 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \\\ t\ +2 "manipulator"&w& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&y( +4 "core" ( + "manipulator"&& +4 "core" &   #  +2 "storage"(Y& +3 "core" &K c\ w\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&"'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&}& + "storage"(' +8 "core" &   J  + "manipulator"&% +5 "core" % i  5 +2 .tForearm.seek :retract + "manipulator"&0' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&1( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&:& +4 "core" &   0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &   0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&(' +99 "core" ' +2 "manipulator"&7& +3 "core" &  X 0 +3 "manipulator"&2% +3 "core" %  X +3 "processing"%W& +3 "core" &\ +3 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%[(^ +4 "core" &\ +5 &\ 4 +10 &4Gr\ n0 +9 &Woy\ lE +9 &\\\ qP +10 &M\ tP +9 &vO\ tP +10 &8N\ uP +9 &K\ uO +9 &L\ tO +10 &M\ tO +9 &@L\ tP +9 &!L\ tP +10 &"L\ uP +9 &$Q\ sP +10 &&HN\ tP +9 &(\ K\ sP +9 &)L\ uO +10 &+L\ sO +9 &-QN\ tO +9 &/Q\ sP +10 &0O\ tO +9 &2L\ tP +10 &4XM\ tP +9 &6Q\ sO +9 &7L\ uO +10 &9Q\ sP +9 &;`R\ rP +9 &="Q\ sP +10 &>S\ sP +9 &@Q\ sO +11 &BfT\ qP +8 &D&X\ oQ +9 &Eb\ pR +10 &Gj\ oS +9 &I`\ jU +9 &K\ jV +10 &L\ kV +9 &N\ hW +9 &Pc\ hW +10 &R#\ gX +9 &S\ gW +10 &U\ hX +9 &Wj\ gW +9 &Y,\ hW +10 &Z\ hW +9 &\\\ fX +10 &^+_n\ n6 +9 &^N\ r- +5 ( +2 "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&1 +2 "core" &^\ x, +59 1 + "manipulator"&%% +4 "core" %  M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +100 "core" ' +2 "processing"%m& +4 "core" &^\ w, +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +5 "core" % \   + "storage"(*% +4 "core" % W\ w +2 "storage"(o. +3 "core" .(K +2 "storage"(.& +3 "core" &K K\ w\ +3 "storage"(/& +2 "manipulator"&P& +5 "core" &K F\ w\ +3 & \  0 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"( 'r + "manipulator"&L( +7 "core" ( + "manipulator"&d& +3 "core" &   w 0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &   0 +3 .tForearm.seek PC + "manipulator"&@' +94 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(c'1 +41 "core" ' +362 ( +2 "storage"(U& +4 "core" &K \ z + "manipulator"&>& +5 "core" &   0 + "manipulator"& % +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&R' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&#( +248 "core" ( +2 "manipulator"&I& +3 "core" &   2 C +2 "storage"(& +4 "core" &K }\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&C1 +63 "core" 1 +3 "storage"(u- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(t' +36 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(\ ' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(p- +3 "core" -' +2 "storage"(n& +3 "core" &K \ - +2 "manipulator"&q& +5 "core" &   B + .tElbow.seek 6 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&{& +3 "core" &   V B +2 "storage"(B& +4 "core" &K \ , +3 .tForearm.seek 6 + 450 counts + "manipulator"&j' +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(-'" +58 "core" ' +2 "manipulator"&F& +3 "core" &    B +2 "storage"(z& +4 "core" &K k\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&$'< +26 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(e' +28 "core" ' +2 "manipulator"&M% +4 "core" %I  + "storage"(Q& +4 "core" &K C\ u +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&='u +14 "core" ' +2 "manipulator"&<& +4 "core" &    B + "storage"(J& +5 "core" &K \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(x% +4 "core" % \  \ | +2 ."downElevator"SE.seek :down +3 "storage"( ' +100 (3% +3 "core" %J J\ mZs +3 "manipulator"&]% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (b& +2 "core" &K k\ w +2 "collection"')& +5 "core" &\\r %\ Q + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %      +3 "storage"(% +4 "core" % \ y + "storage"(H. +3 "core" .(K +2 "storage"(G& +3 "core" &K S\ x +2 "storage"(i& +5 "core" &K 2\ z + "manipulator"&K& +4 "core" &    B +2 .tElbow.seek 6 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&& +4 "core" &  $ B + "storage"(& +4 "core" &K \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&_' +121 "core" ' +2 "storage"(X& +3 "core" &K c K\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +48 "storage"(k'r +312 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" &   B +2 "storage"('& +4 "core" &K s\ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +31 "core" ' +2 "manipulator"&a% +3 "core" %@    +2 "storage"(N& +4 "core" &K \ x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts +2 "manipulator"&'l +15 "core" ' + "manipulator"&;& +4 "core" &  e B +2 "storage"(r& +3 "core" &K\  1\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&&' +16 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(T' +37 "core" ' + "manipulator"&s& +4 "core" &  B +2 "manipulator"&% +4 "core" % \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +162 "core" ( +2 "manipulator"&`& +4 "core" &Ӂ   3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &ӂ   3 +2 .tForearm.seek CC +2 "manipulator"&8'? +102 "core" ' + .tHand.close +2 "manipulator"&S/ +61 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( +2 "storage"(A& +3 "core" &K #\ +2 "storage"(5& +3 "core" &K \ +2 "manipulator"&& +4 "core" &Ӟ    / +2 "manipulator"&4% +3 "core" % *  +3 .tForearm.seek :retract + "manipulator"&\\' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&~( +163 "core" ( +2 "manipulator"&E& +3 "core" &  S  +2 "storage"(& +4 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&w'< +93 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +64 "core" 1 +2 "manipulator"&O% +5 "core" % D   8 + "storage"(}& +4 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 308 counts +2 "manipulator"&'p +15 "core" ' +2 "manipulator"&+& +3 "core" & n  +2 "storage"(& +4 "core" &K v\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&|' +18 "core" ' + "storage"("% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(:' +99 (6% +3 "core" %@ R\ Yk +2 "manipulator"&y% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'2& +5 "core" & \ + "manipulator"&W% +4 "core" %  >  +2 "storage"(% +3 "core" % \  +2 "storage"(0. +47 "core" .(K +6 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(9([ +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[ X\ +3 "manipulator"&%& +4 "core" &    +2 .tElbow.seek 7 + "manipulator"&m(r +33 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(*& +3 "core" &[ p\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&o'= +100 "core" ' +2 "storage"(?& +4 "core" &[ @\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +300 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" &[ W\ +3 "manipulator"&d& +3 "core" &     +3 .tElbow.seek 7 + "manipulator"&v(r +32 "core" ( + "manipulator"&(& +4 "core" &s   ` +2 "storage"(& +3 "core" &[ \ +3 .tForearm.seek 7 + 300 counts + "manipulator"& 'ϧ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&,& + "storage"([' +8 "core" &s D ` + "manipulator"& % +5 "core" % Ϣ  + .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&>(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"& & +4 "core" &Ӑ \ O 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &Ӑ   7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&I'? +104 "core" ' +2 "manipulator"&& +3 "core" &Ӑ   7 +2 "manipulator"&L% +4 "core" %A   +2 "collection"'C& +5 "core" &  \ +2 "collection"'u& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'p(\\ +5 "core" & \ +7 &? \ %g +9 &Zx \ 8 +10 &r \ M +9 &O \ M +9 &P \ M +10 &GL \ L +9 & N \ L +10 &Q \ L +9 &L \ L +9 &ON \ L +10 & L 6\ L +9 &!N 9\ L +9 &#R 7\ L +10 &%WL ;\ L +9 &'N ;\ L +9 &(R ;\ L +10 &*L =\ L +9 &,^L ?\ M +10 &.!Q >\ L +9 &/R 2\ M +9 &1R .\ L +10 &3fN 6\ M +9 &5)R +\ L +10 &6N )\ M +9 &8Q $\ M +9 &:nO  \ M +10 &<1N  \ L +9 &=O !\ L +9 &?S '\ M +10 &AvT "\ M +9 &C6W &\ M +10 &D^ &\ N +9 &Fg (\ O +9 &Ho{ .\ R +10 &J$\ \ '\ V +9 &K\ \ %\ Y +9 &M\ \ %\ Y +10 &O_\ \ &\ Z +9 &Q!\ \ #\ Z +10 &R\ \ \ %\ [ +9 &T\ \ (\ [ +9 &Vb\ \ $\ \\ +10 &X!\ \ &\ ] +9 &Y\ \  \ ^ +9 &[\ \ %\ K +10 &\\4\ \ "\ / +9 &\\k\ \ "\ O +2 ( +2 "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&n1 +53 "core" 1 +2 "manipulator"&q% +3 "core" % A   4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%R& +3 "core" &\ y +2 "manipulator"&B% +4 "core" %     +2 "storage"(F% +4 "core" % +\ y +2 "storage"(z. +3 "core" .([ + "storage"(c& +4 "core" &[ \ y +2 "storage"(M& +3 "core" &[ 4\ x +3 "manipulator"&Q& +4 "core" &Ӧ   4 + "manipulator"&<% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&t(r +163 "core" ( + "manipulator"&J& +4 "core" &z    +2 "storage"(x& +4 "core" &[ \ D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&#'= +142 "core" ' +3 "storage"(& +3 "core" &[ o o T\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\ 'r +303 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &[ \ | +2 "manipulator"&j& +4 "core" &z   (  +2 .tElbow.seek 7 +2 "manipulator"&V(r +4 "core" ( + "manipulator"&-& +4 "core" &z  m  +2 "storage"($& +4 "core" &[\ \  r\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&b'ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&)& + "storage"(' +8 "core" &z X  + "manipulator"&% +4 "core" % B +3 .tForearm.seek :retract + "manipulator"&H' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&G& +5 "core" &   + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &   + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&K' +103 "core" ' +2 "manipulator"&& +3 "core" &   +2 "manipulator"&% +5 "core" %   + "processing"%& +5 "core" &\ +2 "processing"%X& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +9 &1q\ q)w +9 &ax\ m> +10 &[k\ nO +9 &L\ uO +10 &O\ tO +9 &J\ uP +9 &`R\ tP +10 &#P\ uO +9 &L\ vP +9 &K\ uO +10 & hO\ tP +9 &")P\ tP +10 &#N\ tO +9 &%L\ uP +9 &'qQ\ tO +10 &)3N\ tO +9 &*Q\ tP +9 &,R\ sP +10 &.yO\ tO +9 &0;N\ uO +10 &1O\ tO +9 &3K\ uP +9 &5M\ uP +10 &7CJ\ vO +9 &9O\ tP +10 &:P\ tP +9 &<N\ tO +9 &>JP\ tP +10 &@ N\ tP +9 &AS\ sP +9 &C_\ rQ +10 &EL]\ pR +9 &G\ h\ pS +9 &Hy\ lU +10 &J\ iV +9 &LG\ jV +10 &N\ jW +9 &O\ jV +9 &Q\ hX +10 &SL\ iW +9 &U \ hW +9 &V\ iW +10 &X\ hW +9 &ZS\ gX +10 &\\\ hX +9 &]\ j< +9 &^4\ iN +10 &^\ z. +2 ( +2 "processing"%X& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&h1 +52 "core" 1 +2 "manipulator"&^% +3 "core" %    c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 "processing"%g& +4 "core" &^\ w. +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&'% +4 "core" %    + "storage"(f% +4 "core" % 4\ x +2 "storage"(a. +3 "core" .([ +2 "storage"(N& +3 "core" &[ \ w +3 "storage"(;& +3 "manipulator"&r& +5 "core" &[ Z\ x +2 &   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&s( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&_& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &   +3 .tForearm.seek PC + "manipulator"&k' +91 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +105 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +50 "core" ' +292 ( +2 "storage"(Z& +4 "core" &[ \ y + "manipulator"&&& +44 "core" &   +10 "manipulator"&!% +3 "core" %  ) +3 .tForearm.seek :retract + "manipulator"&S' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&l(r +240 "core" ( +2 "manipulator"& & +3 "core" &p   O Y +2 "storage"(A& +5 "core" &[ T\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&5'= +103 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(4- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(E' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' +2 "storage"(& +3 "core" &[ | \  +2 "manipulator"&Y& +4 "core" &q X +2 .tElbow.seek 7 +2 "manipulator"&O(r +2 "core" ( +3 "manipulator"&}& +3 "core" &q { X +2 "storage"(+& +3 "core" &[ \  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"("'" +57 "core" ' + "manipulator"&\\& +4 "core" &q  * X +2 "storage"(6& +3 "core" &[ \ { +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&y'{ +32 "core" ' +2 .tElbow.hold + "manipulator"&~, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(w' +20 "core" ' + "manipulator"&2% +4 "core" %Ύ ; 1 +2 "storage"(& +3 "core" &[ V I \ h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&W'Ϻ +13 "core" ' +2 "manipulator"&& +3 "core" &r   W +3 "storage"(0& +4 "core" &[ \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts + "manipulator"&T'= +18 "core" ' +2 "storage"(|% +3 "core" % 8\ z +3 ."downElevator"SE.seek :down +4 "storage"(:' +98 (% +4 "core" %KJ M\ p[r +2 "manipulator"&% +4 "core" %>   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +88 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &[ H\ { +2 "collection"'*& +4 "core" &\\l \ O +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&?% +3 "core" %    -  +2 "storage"(% +4 "core" % v\ | +2 "storage"(7. +3 "core" .([ +2 "storage"(/& +3 "core" &[ Y\ { +2 "storage"(P& +4 "core" &[ \ | +2 "manipulator"&d& +3 "core" &r \  W +3 .tElbow.seek 7 +2 "manipulator"&((r +3 "core" ( +2 "manipulator"&& +3 "core" &r   4 W +3 "storage"(1& +4 "core" &[ \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&,'= +92 "core" ' +2 "storage"( & +4 "core" &[ r z\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +300 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &r   , W +2 "storage"(@& +3 "core" &[ 9\ y +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +42 "manipulator"&#Q@2^d^b +10 .tForearm.seek 7 + "manipulator"&.'{ +30 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(L'o +29 "core" ' +2 "manipulator"&v% +3 "core" %Ά 0 . +2 "storage"(C& +4 "core" &[ o \ l +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 311 counts + "manipulator"&['ϲ +14 "core" ' +2 "manipulator"&U& +3 "core" &s  \ V +3 "storage"(& +4 "core" &[\ \  ~\ ~ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&n'= +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(q' +37 "core" ' + "manipulator"&R& +4 "core" &s    V +2 "manipulator"&B% +3 "core" %; \ ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&z(ӂ +151 "core" ( +3 "manipulator"&c& +4 "core" &Ӝ    9& + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &Ӝ   V 9& +3 .tForearm.seek CC + "manipulator"&Q'? +101 "core" ' + .tHand.close + "manipulator"&u/ +65 "core" / +2 .tCC.seek :open + "collection"'<( +451 "core" ( +2 "storage"(I& +3 "core" &[ m\ +2 "storage"(J& +4 "core" &[ t\ +2 "manipulator"&x& +3 "core" &ӡ   8! +2 "manipulator"&>% +5 "core" % C   +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&{(r +162 "core" ( +2 "manipulator"&3& +3 "core" &y     +2 "storage"(]& +4 "core" &[ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&j'{ +94 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&$1 +63 "core" 1 +2 "manipulator"&=% +5 "core" % u  \  + "storage"()& +3 "core" &[ \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 294 counts +3 "manipulator"&'ϡ +13 "core" ' +2 "manipulator"&t& +3 "core" &y ]  +2 "storage"(#& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&\ '= +16 "core" ' +2 "storage"(b% +3 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(G' +99 (i% +3 "core" %tE \ Yl +2 "manipulator"&V% +4 "core" %, +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & ;\ +3 "manipulator"&% +4 "core" %  \    +2 "storage"(% +3 "core" % \  +2 "storage"(H. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +3 "core" &O \ M +10 &Q \ L +9 &R \ L +9 &R \ M +10 &FQ \ M +9 & Q \ L +9 &!R \ L +10 &#L !\ L +9 &%NK 8\ M +10 &'P 8\ L +9 &(Q ;\ L +9 &*L 8\ L +10 &,WN =\ L +9 &.O @\ L +9 &/R @\ M +10 &1Q :\ M +9 &3_M 0\ L +10 &5!O -\ L +9 &6N ,\ M +9 &8R :\ L +10 &:gO )\ L +9 &<(S !\ M +10 &=Q \ M +9 &?S \ L +9 &AoO %\ L +10 &C.W &\ M +9 &DZ '\ N +9 &Fe &\ O +10 &Hg{ &\ R +9 &J\ \ \ &\ V +10 &K\ \ &\ Y +9 &M\ \ "\ Y +9 &OX\ \ \ $\ Z +10 &Q\ \ \ &\ Z +9 &R\ \ #\ [\ +9 &T\ \ #\ [ +10 &VX\ \ #\ \\ +9 &X\ \  \ \\ +9 &Y\ \ \ ] +10 &[\ \ '\ K +9 &\\8\ \ $\ . +10 &\\u\ \  \ R +2 ( +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&Y% +4 "core" % 4   w W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%+& +4 "core" &\ t +2 "manipulator"&S% +4 "core" %    ,  +2 "storage"(\\% +3 "core" % \ u +2 "storage"(6. +3 "core" .(<- +2 "storage"(2& +3 "core" &<- _\ t +2 "storage"(& +4 "core" &<- J\ t +2 "manipulator"&`& +3 "core" &Ӫ   j 8! +2 "manipulator"&% +5 "core" %    q  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&0( +166 "core" ( +2 "manipulator"&E& +4 "core" &    +2 "storage"(|& +3 "core" &<- ]\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +93 "core" ' +2 "storage"(5& +3 "core" &<- b [ j\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +301 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +51 (& +3 "core" &<- \ z +2 "manipulator"&& +5 "core" &   + .tElbow.seek 5 +2 "manipulator"&O( +4 "core" ( + "manipulator"&"& +5 "core" &    + "storage"(y& +4 "core" &<- \ z +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&W'Ϲ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&*& + "storage"(?' +7 "core" &   +2 "manipulator"&% +4 "core" %  \  +2 .tForearm.seek :retract +2 "manipulator"&w' +87 "core" ' +2 .tElbow.seek PC + "manipulator"&7( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +3 "manipulator"&/& +3 "core" &   M ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &   ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d' +102 "core" ' +2 "manipulator"&& +3 "core" &  i ' +2 "manipulator"&1% +5 "core" %\  & +2 "processing"%T& +3 "core" &\ +3 "processing"% & +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%:(^ +4 "core" &\  +9 &/s\ o*y +9 &cy\ k? +10 &am\ lP +9 &$G\ tO +10 &L\ sO +9 &L\ sO +9 &iO\ sP +10 &+Q\ qP +9 &P\ sP +9 &O\ sP +10 & qN\ tP +9 &"3L\ tP +10 &#L\ sP +9 &%K\ tP +9 &'yL\ tP +10 &)<L\ sO +9 &*Q\ sP +9 &,N\ sO +10 &.L\ tO +9 &0CP\ rP +10 &2J\ tO +9 &3L\ sO +9 &5O\ sP +10 &7LO\ sO +9 &9 O\ sP +9 &:Q\ sP +10 &<L\ sP +9 &>RN\ sP +10 &@P\ rP +9 &AU\ qP +9 &C_\ oR +10 &ETd\ nR +9 &Gk\ mS +9 &H~\ jU +10 &J\ gV +9 &LO\ hV +10 &N\ fW +9 &O\ hV +9 &Q\ fX +10 &ST\ hX +9 &U\ gW +9 &V\ gX +10 &X\ dX +9 &Z[\ fX +10 &\\\ fX +9 &]\ i8 +9 &^,m\ m _ +10 &^+\ u6 +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&~1 +62 "core" 1 + "manipulator"&%% +4 "core" %   O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' +2 "processing"% & +3 "core" &^&\ s6 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&@% +4 "core" %      +2 "storage"(% +3 "core" % \ q +2 "storage"(v. +3 "core" .(<- +2 "storage"(C& +3 "core" &<- \ q +3 "storage"(U& +2 "manipulator"&& +7 "core" &<- \ q +2 &   ' +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&R( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'r +2 "core" ( +2 "manipulator"&,& +6 "core" &   ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &  o ' +2 .tForearm.seek PC +2 "manipulator"&m' +95 "core" ' +2 .tHand.close + "manipulator"&./ +57 "core" / +2 .tPC.seek :open +2 "processing"%[( +97 "core" ' +2 "storage"(L- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'1 +47 "core" ' +302 ( +2 "storage"(M& +3 "core" &<, 1\ w +2 "manipulator"&n& +4 "core" &  ' +2 "manipulator"& % +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&u' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&F( +243 "core" ( +42 "manipulator"&p& +11 "core" &    1 +2 "storage"(I& +4 "core" &<, \ u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&J'O +94 "core" ' +2 .tHand.open + "manipulator"&x1 +57 "core" 1 +2 "storage"(>- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(3' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(]' +59 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(Q- +3 "core" -' +2 "storage"(z& +3 "core" &<, h f R\  +3 "manipulator"&$& +4 "core" & 1 +2 .tElbow.seek 5 + "manipulator"&=( +4 "core" ( +2 "manipulator"&)& +3 "core" & 1 +2 "storage"(t& +4 "core" &<, [ f (\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&#'O +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(b'" +52 "core" ' +2 "manipulator"&& +4 "core" &   # 1 + "storage"(i& +4 "core" &<, m\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&V'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +17 "core" ' +2 "manipulator"&% +3 "core" %Η   +3 "storage"(& +3 "core" &<, Q\ o +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 310 counts + "manipulator"&' +26 "core" ' + "manipulator"&& +4 "core" &  j ' +2 "storage"(H& +3 "core" &<, b\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&q'O +16 "core" ' +2 "storage"(\ % +3 "core" % \ z +3 ."downElevator"SE.seek :down +4 "storage"(G' +98 (9% +3 "core" %O \ nZr +2 "manipulator"&h% +5 "core" %T   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 ('& +3 "core" &<, \ y +2 "collection"'f& +4 "core" &\\s (\ R +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&N% +4 "core" %   /  + "storage"(-% +4 "core" % \ { +2 "storage"(. +3 "core" .(<- +2 "storage"(;& +4 "core" &<, i\ { +2 "storage"(X& +4 "core" &<, \ { + "manipulator"&_& +4 "core" &   " ' +2 .tElbow.seek 5 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&& +3 "core" &  & ' +2 "storage"(e& +5 "core" &<, \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' +2 "storage"(& +4 "core" &<, \  >\ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +305 "core" ' +3 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" &   3 ' +2 "storage"(k& +4 "core" &<, i\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&r'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(A- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(s'v +76 "core" ' +2 "manipulator"&% +4 "core" %Ε    +2 "storage"(D& +3 "core" &<, l\ v +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 308 counts + "manipulator"& ' +16 "core" ' +2 "manipulator"&Z& +3 "core" &  ' +2 "storage"(<& +4 "core" &<, w\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(Y' +36 "core" ' +2 "manipulator"&+& +3 "core" &    ' +3 "manipulator"&S% +3 "core" %K   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6(ӂ +153 "core" ( + "manipulator"&2& +4 "core" &ӓ#   % <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &ӓ#   <; +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&`/ +55 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "storage"( & +4 "core" &<, \ +2 "storage"(E& +3 "core" &<, \ +3 "manipulator"&|& +4 "core" &Ӧ   $ 9( + "manipulator"&5% +4 "core" % L   ` # +2 .tForearm.seek :retract +2 "manipulator"&&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&}( +156 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(& +4 "core" &<, +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +102 "core" ' + .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +59 "core" 1 +2 "manipulator"&% +4 "core" % Ε   B +2 "storage"(*& +3 "core" &<, +\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&0& +3 "core" & +3 "storage"(l& +4 "core" &<, c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +20 "core" ' + "storage"(W% +4 "core" % S\ +2 ."downElevator"SE.seek :down +3 "storage"(/' +100 (P% +2 "core" %p? \ Xj +2 "manipulator"&O% +4 "core" %J  } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'1& +3 "core" & @\ +2 "manipulator"&T% +5 "core" %    >  +2 "storage"(?% +3 "core" % \ \  +2 "storage"(w. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +2 "core" &K \ +2 "manipulator"&%& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&@& +4 "core" &  / +2 "storage"(& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +96 "core" ' +2 "storage"(C& +48 "core" &K A\ +5 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(U- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K U\ +2 "manipulator"&,& +3 "core" &    +3 .tElbow.seek 6 + "manipulator"&(( +4 "core" ( +2 "manipulator"&d& +3 "core" &   f +2 "storage"(.& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&L'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&o& + "storage"(:' +8 "core" & +2 "manipulator"&B% +4 "core" % a +2 .tForearm.seek :retract + "manipulator"&M' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"& & +3 "core" &ӑ"   g ;7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &ӑ"   ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&p'? +99 "core" ' +2 "manipulator"&I& +3 "core" &ӑ"   < ;7 +3 "manipulator"&R% +3 "core" %A    +3 "collection"'x& +3 "core" & \ +3 "collection"'>& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'Q(\\ +5 "core" & \ +7 &; \ %g +9 &Xv \ 8 +9 &q \ L +10 &M \ L +9 &}N \ L +10 &?N \ L +9 &Q \ M +9 &Q \ L +10 &L \ M +9 &GM \ L +9 & N \ L +10 &!M ?\ M +9 &#L \ L +10 &%ON \ L +9 &'R \ M +9 &(Q 3\ L +10 &*N 5\ L +9 &,VR =\ M +9 &.Q =\ L +10 &/O ;\ L +9 &1O >\ L +10 &3_O ;\ L +9 &5!O 7\ L +9 &6O 5\ L +10 &8P 0\ L +9 &:fO ,\ M +9 &<'Q *\ M +10 &=O *\ L +9 &?P +\ L +10 &AnP "\ M +9 &C0T $\ M +9 &D^ &\ N +10 &Fg (\ P +9 &Hhz  \ Q +9 &J\ \ \ V +10 &K\ \ &\ Y +9 &M\ \ (\ Z +10 &OW\ \ &\ Z +9 &Q\ \ #\ [ +9 &R\ \ #\ [\ +10 &T\ \ \ \\ +9 &VY\ \ (\ \\ +9 &X\ \ &\ ] +10 &Y\ \ (\ ] +9 &[\ \ &\ ~K +10 &\\=\ \ &\ )} +9 &\\_\ \ $\ M +2 ( +2 "collection"'>& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&z1 +63 "core" 1 +2 "manipulator"&$% +3 "core" % A   )  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +99 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%t& +3 "core" &\ y +2 "manipulator"&u% +4 "core" %     +2 "storage"(% +3 "core" % \ y +2 "storage"(i. +4 "core" .(K + "storage"(& +5 "core" &K \ x + "storage"(& +3 "core" &K \ y +2 "manipulator"&c& +5 "core" &Ӯ   7 + "manipulator"&3% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +166 "core" ( + "manipulator"&H& +5 "core" &   7  + "storage"(\ & +4 "core" &K\ \  b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F' +103 "core" ' +2 "storage"(J& +3 "core" &K v \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'r +296 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &K y\ z +2 "manipulator"&#& +3 "core" &   *  +3 .tElbow.seek 6 + "manipulator"&=( +4 "core" ( + "manipulator"&b& +4 "core" &    +2 "storage"(V& +3 "core" &K\ \  F\ } +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&''h +59 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&f& +3 "storage"(N' +8 "core" & \   + "manipulator"&-% +5 "core" % _   } +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&;& +3 "core" &    # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &  # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&_' +91 "core" ' +2 "manipulator"&& +3 "core" & # +2 "manipulator"&e% +5 "core" %  Z +2 "processing"%q& +4 "core" &\ +2 "processing"%& +4 "core" &\ +3 .tPC.seek :closed + "processing"%G(^ +6 "core" &\ +6 &5\ ~$c +10 &Rx\ p7 +9 &|w\ oL +9 &R\ wP +10 &PN\ xP +9 &J\ yO +9 &O\ xP +10 &O\ xP +9 &YN\ wO +10 &O\ wO +9 &O\ wO +9 &!N\ wO +10 &#`O\ xP +9 &%"Q\ wP +10 &&R\ wP +9 &(R\ wP +9 &*hQ\ wP +10 &,*N\ xP +9 &-L\ xP +9 &/S\ vP +10 &1qJ\ xO +9 &33N\ wO +9 &4Q\ wO +10 &6N\ wO +9 &8xR\ wP +10 &::M\ xP +9 &;P\ wO +9 &=O\ vP +10 &?S\ vP +9 &ABQ\ vP +10 &CW\ uQ +9 &DZ\ vQ +9 &Fa\ tR +10 &H?n\ qS +9 &I\ mU +9 &K\ lV +10 &M{\ kW +9 &O>\ mV +10 &P\ kW +9 &R\ lW +9 &T\ jX +10 &VD\ kW +9 &X\ kW +9 &Y\ jX +10 &[\ jX +9 &]I\ jN +9 &^|H\ m] +10 &^P\ v4 +5 ( +2 "processing"%& +4 "core" &^'\ z4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&{1 +59 "core" 1 +2 "manipulator"&^% +3 "core" %   B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +95 "core" ' +2 "processing"%!& +4 "core" &^&\ u4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&k% +4 "core" % #   1 +2 "storage"(A% +3 "core" % \\\ t +2 "storage"(. +4 "core" .(K + "storage"(D& +5 "core" &K m\ t +2 "storage"(Z& +2 "manipulator"&<& +7 "core" &K [\ t + &    " +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&+( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(S'r +3 "core" ( + "manipulator"&& +4 "core" & * " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &   " +2 .tForearm.seek PC +2 "manipulator"&g' +95 "core" ' + .tHand.close +2 "manipulator"&r/ +53 "core" / +3 .tPC.seek :open + "processing"% ( +100 "core" ' +2 "storage"(s- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'1 +41 "core" ' +306 ( + "storage"(4& +3 "core" &K\  >\ { +3 "manipulator"&& +4 "core" &    " + "manipulator"&% +4 "core" %  5 +2 .tForearm.seek :retract +2 "manipulator"&`' +88 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\\( +245 "core" ( + "manipulator"&8& +3 "core" &  6 +2 "storage"( & +4 "core" &K n\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&E' +95 "core" ' + .tHand.open + "manipulator"&|1 +57 "core" 1 +43 "storage"(5- +11 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +34 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(6& +3 "core" &K   \ / +3 "manipulator"&y& +4 "core" &  6 +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&*& +4 "core" &   s 6 + "storage"(0& +4 "core" &K \ . +3 .tForearm.seek 6 + 450 counts + "manipulator"&l' +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(W'" +56 "core" ' +2 "manipulator"&&& +3 "core" &   3 6 +2 "storage"(P& +3 "core" &K |\ | +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&O'< +18 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +21 "core" ' +2 "manipulator"&1% +3 "core" %>    +2 "storage"(& +5 "core" &K ,\ x + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts +2 "manipulator"&T'j +16 "core" ' +2 "manipulator"&?& +4 "core" & \  y 6 + "storage"(w& +5 "core" &K \  $\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +15 "core" ' +2 "storage"(% +4 "core" % E\ } +2 ."downElevator"SE.seek :down +4 "storage"(/' +98 (% +3 "core" %KI P\ tZr +2 "manipulator"&~% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +94 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (@& +3 "core" &K @\ { +2 "collection"'& +4 "core" &\\] 7\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&C% +4 "core" %    +  +2 "storage"("% +3 "core" %\ \  S\ ~ +3 "storage"(. +3 "core" .(K +2 "storage"(U& +3 "core" &K\ \  H\ } +2 "storage"( & +3 "core" &K\ \  ;\ ~ +2 "manipulator"&,& +4 "core" &    6 +2 .tElbow.seek 6 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&.& +4 "core" &   6 +2 "storage"(7& +4 "core" &K\ \  D\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&o' +100 "core" ' +2 "storage"(B& +4 "core" &K w\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  # 6 +2 "storage"(m& +4 "core" &K c\ | +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +24 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(R'f +29 "core" ' +2 "manipulator"&x% +3 "core" %A    +2 "storage"((& +3 "core" &K N\ x +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&:'m +15 "core" ' +2 "manipulator"&M& +3 "core" & { 6 +2 "storage"(& +51 "core" &K\ \  o\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"($' +46 "core" ' +2 "manipulator"&t& +3 "core" &  ` 6 +3 "manipulator"&u% +3 "core" %  G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +148 "core" ( +2 "manipulator"&>& +4 "core" &|&    ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &|& \ C ?V +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + .tHand.close +2 "manipulator"&c/ +62 "core" / +2 .tCC.seek :open +2 "collection"'3( +447 "core" ( +2 "storage"(p& +3 "core" &K \ +3 "storage"(H& +4 "core" &K \ + "manipulator"&\ & +4 "core" &Ӽ   7 +2 "manipulator"&J% +4 "core" % :   +2 .tForearm.seek :retract +2 "manipulator"&n' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&)( +163 "core" ( +2 "manipulator"&9& +3 "core" &  \ y  +2 "storage"(h& +4 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&#'< +94 "core" ' +2 .tElbow.hold + "manipulator"&b, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&V1 +64 "core" 1 +2 "manipulator"&% +4 "core" % I  H ; +2 "storage"(f& +3 "core" &K \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&-'u +14 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(F& +3 "core" &K I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +15 "core" ' +2 "storage"('% +3 "core" % >\ +3 ."downElevator"SE.seek :down +4 "storage"(;' +98 (X% +3 "core" %vA >\ Yj +2 "manipulator"&=% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'e& +3 "core" & \ +2 "manipulator"&q% +3 "core" %   Q  +2 "storage"(N% +5 "core" % \  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"([([ +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &[ I\ +2 "manipulator"&^& +3 "core" &     +3 .tElbow.seek 7 + "manipulator"&!(r +49 "core" ( +2 "manipulator"&k& +3 "core" &z   +2 "storage"(A& +4 "core" &[ {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +94 "core" ' +2 "storage"(D& +3 "core" &[ J\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(<- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (Z& +2 "core" &[ \ +49 "manipulator"&& +4 "core" &z  "  +2 .tElbow.seek 7 +2 "manipulator"&K(r +3 "core" ( +2 "manipulator"&_& +4 "core" &z X  +2 "storage"(r& +3 "core" &[ \ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&s'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +3 "storage"(G' +8 "core" &z  + "manipulator"&S% +5 "core" % Ϝ +2 .tForearm.seek :retract + "manipulator"&4' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" &ӓ#  << +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &ӓ#   << +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&8'? +94 "core" ' +3 "manipulator"& & +4 "core" &Ӕ#  " <; +2 "manipulator"&+% +3 "core" %H   a +2 "collection"'|& +5 "core" & \ +2 "collection"'5& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'`(\\ +4 "core" & \ +8 &9 \ %f +10 &Wx \ 8 +9 &p \ L +10 &M \ M +9 &}Q \ L +9 &@N \ L +10 &Q \ M +9 &O \ M +9 &Q \ L +10 &GN \ L +9 & Q \ L +10 &!L \ M +9 &#Q \ L +9 &%OL $\ L +10 &'N !\ L +9 &(Q \ L +9 &*L \ M +10 &,VO 2\ M +9 &.L 8\ M +10 &/Q :\ L +9 &1O :\ L +9 &3^Q 9\ M +10 &5 O 4\ M +9 &6M 3\ L +9 &8O 9\ L +10 &:fN 2\ M +9 &<)R (\ L +10 &=R &\ M +9 &?P \ M +9 &AnN "\ M +10 &C/Q *\ M +9 &D_ \ N +9 &Fc \ O +10 &Hh{ \ Q +9 &J\ \ \ %\ V +10 &K\ \ %\ Z +9 &M\ \ %\ Z +9 &OW\ \ %\ Z +10 &Q\ \ \ #\ Z +9 &R\ \ \ !\ [ +9 &T\ \ '\ \\ +10 &VT\ \  \ ^ +9 &X\ \ $\ ^ +10 &Y\ \ ,\ ^ +9 &[\ \ (\ K +9 &\\=\ \ '\ *~ +10 &\\k\ \  \ N +2 ( +2 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&6% +4 "core" % H   k a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%*& +3 "core" &\ v +2 "manipulator"&0% +4 "core" %     +2 "storage"(&% +3 "core" % \ u +2 "storage"(P. +3 "core" .([ +2 "storage"(1& +3 "core" &[ 9\ v +2 "storage"(& +4 "core" &[ 9\ v +2 "manipulator"&2& +4 "core" &ӭ  O 8" +2 "manipulator"&?% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&w(r +163 "core" ( +2 "manipulator"&& +3 "core" &t    +2 "storage"(& +4 "core" &[ \ \ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +96 "core" ' +2 "storage"(E& +3 "core" &[ e o q\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &[ m\ x +2 "manipulator"&l& +3 "core" &t     +3 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&W& +3 "core" &t     +2 "storage"(O& +4 "core" &[ \ { +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&T'ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(C' +8 "core" &t   + "manipulator"&"% +52 "core" % ϧ  +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +117 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +121 "core" ( + "manipulator"&U& +4 "core" &     +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,' +94 "core" ' +2 "manipulator"&.& +4 "core" &    +2 "manipulator"&7% +4 "core" %    ? +2 "processing"%Y& +3 "core" &\  +3 "processing"%B& +5 "core" &\  +3 .tPC.seek :closed + "processing"%/(^ +4 "core" &\ ~ +8 &5\ w$d +9 &Tu\ l7 +10 &}v\ jL +9 &O\ qP +9 &RN\ sP +10 &K\ sO +9 &O\ rP +9 &N\ sP +10 &[O\ rP +9 &N\ sO +10 &N\ rP +9 &!N\ rP +9 &#cM\ sP +10 &%%O\ rP +9 &&N\ rO +10 &(O\ rP +9 &*kL\ sP +9 &,-O\ rP +10 &-Q\ qP +9 &/N\ sP +9 &1tL\ rO +10 &36M\ sO +9 &4P\ rP +9 &6P\ rP +10 &8{Q\ rP +9 &:=L\ sP +10 &;O\ sP +9 &=N\ sP +9 &?P\ sP +10 &ADQ\ rP +9 &CZ\ pQ +9 &DZ\ pR +10 &Fc\ nS +9 &H@t\ kT +10 &I\ gW +9 &K\ gV +9 &M~\ gW +10 &OA\ gV +9 &Q\ eW +9 &R\ gW +10 &T\ eX +9 &VF\ eW +10 &X\ fW +9 &Y\ fW +9 &[\ fX +10 &]M\ eL +9 &^P\ d#k +9 &^\ w+ +3 ( +2 "processing"%B& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&}1 +58 "core" 1 +2 "manipulator"&%% +3 "core" %    g ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +96 "core" ' +2 "processing"% & +4 "core" &^\ x+ +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&m% +4 "core" % \   C  + "storage"(I% +4 "core" % S\ x +2 "storage"(x. +3 "core" .([ +2 "storage"((& +3 "core" &[ Y\ x +3 "storage"(M& +2 "manipulator"&& +8 "core" &[ _\ x + &  3  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&t( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(u'r +3 "core" ( +2 "manipulator"&o& +4 "core" &  \ -  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &    +3 .tForearm.seek PC + "manipulator"& ' +92 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +3 .tPC.seek :open +2 "processing"%:( +101 "core" ' +2 "storage"(R- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'1 +39 "core" ' +303 ( + "storage"(& +4 "core" &[ G\ { +2 "manipulator"&z& +5 "core" &     + "manipulator"&L% +3 "core" %   3 +3 .tForearm.seek :retract + "manipulator"&c' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +260 "core" ( +2 "manipulator"&Q& +4 "core" &z    + "storage"(p& +3 "core" &[\ \  B\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&H'= +91 "core" ' + .tHand.open +2 "manipulator"&\ 1 +59 "core" 1 +2 "storage"(J- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(h' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +44 "core" -' +9 "storage"(i& +5 "core" &[ 3\ % + "manipulator"&V& +4 "core" &z    +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&f& +5 "core" &z   + "storage"(& +4 "core" &[ 2\ % +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'= +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(''" +58 "core" ' +2 "manipulator"&n& +3 "core" &z     +3 "storage"(X& +4 "core" &[ r\ { + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&='{ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(#' +18 "core" ' +2 "manipulator"&e% +3 "core" %΋ +  9 +2 "storage"(q& +3 "core" &[ k j \ i +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&-'Ϸ +13 "core" ' + "manipulator"&N& +4 "core" &z Q  +2 "storage"(& +4 "core" &[ \ | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&$'= +17 "core" ' +2 "storage"(]% +4 "core" % \ | +3 ."downElevator"SE.seek :down +3 "storage"(;' +99 (% +3 "core" %J )\ sZq +2 "manipulator"&{% +4 "core" %=    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +93 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (k& +3 "core" &[ \ { +2 "collection"'A& +4 "core" &\\n (\ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&D% +5 "core" % !    % + "storage"(b% +4 "core" % d\ | +2 "storage"(. +2 "core" .([ +2 "storage"(<& +4 "core" &[ B\ | +2 "storage"(Z& +4 "core" &[ \ | +2 "manipulator"&& +4 "core" &z     +2 .tElbow.seek 7 + "manipulator"&_(r +4 "core" ( + "manipulator"&r& +4 "core" &z   \  +2 "storage"(j& +4 "core" &[ \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&a'= +97 "core" ' +2 "storage"(S& +3 "core" &[ o o\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &z \   +2 "storage"(g& +3 "core" &[ P\ { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +27 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(+'p +29 "core" ' + "manipulator"&|% +4 "core" %Ύ    +2 "storage"(K& +3 "core" &[ \ o +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&G'Ϻ +13 "core" ' +2 "manipulator"&4& +3 "core" &z   +2 "storage"(3& +4 "core" &[\ /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(6' +36 "core" ' +2 "manipulator"&*& +3 "core" &z     +42 "manipulator"&0% +12 "core" %: ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&P(ӂ +159 "core" ( +2 "manipulator"&1& +4 "core" &ӑ   j 8" +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 && +3 "core" &ӑ   8" +3 .tForearm.seek CC + "manipulator"&2'? +96 "core" ' +2 .tHand.close + "manipulator"&5/ +60 "core" / +2 .tCC.seek :open + "collection"'?( +448 "core" ( +2 "storage"(8& +3 "core" &[ /\ +2 "storage"(& +3 "core" &[ W\ +2 "manipulator"&& +5 "core" &ӯ   4 + "manipulator"&E% +4 "core" % E   +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&y(r +162 "core" ( +2 "manipulator"&& +3 "core" &y     +2 "storage"(~& +4 "core" &[ =\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&l'{ +99 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +58 "core" 1 +3 "manipulator"&@% +4 "core" % Ώ   +2 "storage"(& +4 "core" &[ \ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 320 counts + "manipulator"&"'ϻ +14 "core" ' + "manipulator"&w& +4 "core" &y  +2 "storage"(\\& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +16 "core" ' + "storage"(T% +4 "core" % )\ +3 ."downElevator"SE.seek :down +3 "storage"(U' +99 ( % +3 "core" %o@ \ Xj +2 "manipulator"&% +4 "core" %< : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'7& +3 "core" & .\ +3 "manipulator"&Y% +4 "core" %     +2 "storage"(C% +4 "core" % \  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +2 "core" & + "collection"'\ & +5 "core" &  \ +2 "collection"'J& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 &; \ $e +9 &Vu \ 7 +10 &r \ L +9 &N \ M +9 &tQ \ L +10 &5L \ M +9 &Q \ L +9 &Q \ M +10 &{O \ M +9 &>K \ L +10 & M \ L +9 &!Q \ M +9 &#P W\ M +10 &%FL /\ L +9 &'L 4\ L +9 &(N =\ L +10 &*P <\ L +9 &,NL :\ L +10 &.M 4\ L +9 &/Q :\ M +9 &1M :\ L +10 &3VO =\ L +9 &5O <\ L +9 &6O 5\ L +10 &8R 7\ M +10 &:]L /\ M +9 &<Q 5\ M +9 &=O .\ M +9 &?O )\ L +10 &AeS *\ M +9 &C'S \ M +9 &D^ %\ N +10 &Fb "\ O +9 &H^y +\ R +10 &J\ \ )\ V +9 &K\ \  \ Z +9 &M\ \  \ Y +10 &OK\ \ #\ [\ +9 &Q \ \ \  \ [ +9 &R\ \ &\ \\ +10 &T\ \ &\ [ +9 &VN\ \ #\ ] +10 &X \ \ #\ ^ +9 &Y\ \ %\ _ +9 &[\ \ &\ M +10 &\\8\ \ '\ . +9 &\\\ \ $\ X +5 ( +2 "collection"'J& +4 "core" &\\~ \ #\ X +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.34 +2 .Hand.open + "manipulator"&c1 +60 "core" 1 +3 "manipulator"&i% +3 "core" % 3   m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%f& +4 "core" &\ r + "manipulator"&% +4 "core" %     +2 "storage"(n% +3 "core" % \ r +2 "storage"(X. +4 "core" .(<- + "storage"(>& +4 "core" &<- \ r +2 "storage"(9& +4 "core" &<- \ s +2 "manipulator"&e& +3 "core" &ӫ  6 +2 "manipulator"&q% +5 "core" %    h  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&N( +164 "core" ( +2 "manipulator"&& +3 "core" &   0  +2 "storage"(]& +3 "core" &<- V\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' +2 "storage"(H& +3 "core" &<- k\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'r +296 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &<- \ y +2 "manipulator"&F& +3 "core" &    +3 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&'& +3 "core" &    +3 "storage"(=& +3 "core" &<- =\ | +3 .tForearm.seek 5 + 300 counts + "manipulator"&-'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&A& + "storage"(D' +8 "core" & +  + "manipulator"&b% +5 "core" % ϳ    + .tForearm.seek :retract +2 "manipulator"&#' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&<& +3 "core" &   f / +2 .tElbow.reconfigure :loose +50 "manipulator"&$ &.,(#b +5 &Z& +3 "core" &   / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&r& +3 "core" &   / +2 "manipulator"&j% +5 "core" %   @ U +2 "processing"%$& +3 "core" &\ | +3 "processing"%S& +5 "core" &\ | +2 .tPC.seek :closed +2 "processing"%;(^ +5 "core" &\ | +8 &2u\ k*y +9 &aw\ h> +10 &ck\ iO +9 &"L\ pP +9 &L\ pP +10 &J\ qP +9 &iN\ oP +10 &*P\ oP +9 &L\ pO +9 &L\ oP +10 & rN\ oO +9 &"3N\ pP +9 &#L\ pP +10 &%L\ pO +9 &'yN\ oP +10 &);L\ pP +9 &*N\ oO +9 &,O\ oP +10 &.P\ oP +9 &0CL\ pP +9 &2J\ qP +10 &3J\ qP +9 &5O\ oP +10 &7KP\ pP +9 &9 M\ pP +9 &:O\ oP +10 &<M\ pP +9 &>SP\ pP +9 &@P\ nP +10 &AV\ nQ +9 &C^\ lR +10 &ES`\ kR +9 &Gk\ jS +9 &H}\ gU +10 &J\ eV +9 &LP\ eV +9 &N\ dW +10 &O\ eV +9 &Q\ cX +10 &ST\ dX +9 &U\ cW +9 &V\ cW +10 &X\ dW +9 &Z\\\ bX +9 &\\\ bX +10 &]y\ g6 +9 &^6m\ g> +9 ( +3 "processing"%S& +2 "core" &^\ u, +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&)1 +53 "core" 1 +2 "manipulator"&^% +3 "core" %    U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + "processing"%& +4 "core" &^\ q, +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&g% +5 "core" %    i " + "storage"( % +4 "core" % p\ p +2 "storage"(|. +3 "core" .(<- +2 "storage"(K& +3 "core" &<- \ p +2 "storage"(4& +3 "manipulator"&3& +7 "core" &<- "\ p + &   / +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&*( +8 ."raiseStack"SE.seek :beamBreak + "storage"(0'r +2 "core" ( +2 "manipulator"&a& +6 "core" &  1 / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &  ' ~ / +3 .tForearm.seek PC + "manipulator"&!' +95 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%G( +99 "core" ' +2 "storage"(+- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +42 "core" ' +303 ( + "storage"(& +3 "core" &<, \ u +3 "manipulator"&& +3 "core" &   ) / +2 "manipulator"&s% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&5' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&&( +244 "core" ( +2 "manipulator"&`& +3 "core" &   q 0 +3 "storage"(8& +4 "core" &<, H\ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(E- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(~' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(2- +3 "core" -' +2 "storage"(P& +3 "core" &<, \  +3 "manipulator"&O& +4 "core" &  / 0 + .tElbow.seek 5 +2 "manipulator"&@( +4 "core" ( + "manipulator"&& +5 "core" &  H 0 + "storage"(w& +4 "core" &<, :\  +39 .tForearm.seek 5 + 450 counts +13 "manipulator"&\\'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(T'" +58 "core" ' + "manipulator"&& +4 "core" &   * 0 +2 "storage"( & +4 "core" &<, g\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(l' +27 "core" ' +2 "manipulator"&7% +4 "core" %Μ  \  +2 "storage"("& +4 "core" &<, &\ t + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&Y' +13 "core" ' +2 "manipulator"&C& +3 "core" &   ( 0 +2 "storage"(& +4 "core" &<, g\ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +16 "core" ' +2 "storage"(% +3 "core" % ;\ z +3 ."downElevator"SE.seek :down +4 "storage"(U' +98 ([% +3 "core" %kI \ m[s +2 "manipulator"&}% +4 "core" %G  + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (m& +4 "core" &<, G\ w +2 "collection"'I& +3 "core" &\\} '\ X +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&(% +3 "core" %      +3 "storage"(W% +3 "core" % \ y +2 "storage"(.. +3 "core" .(<- +2 "storage"(M& +4 "core" &<, \ y +2 "storage"(& +4 "core" &<, $\ y + "manipulator"&o& +4 "core" &    0 +2 .tElbow.seek 5 +2 "manipulator"&,( +4 "core" ( + "manipulator"&& +5 "core" &   0 + "storage"(& +3 "core" &<, V\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +97 "core" ' + "storage"(u& +4 "core" &<, \ y +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' +3 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &   0 +2 "storage"( & +3 "core" &<, D\ s +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&B'΍ +14 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(p- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(t'v +30 "core" ' + "manipulator"&\ % +4 "core" %Ν   - +2 "storage"(d& +3 "core" &<, B\ w +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&/' +13 "core" ' +2 "manipulator"&& +3 "core" &  ; 0 +2 "storage"(?& +4 "core" &<, \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(i' +36 "core" ' +2 "manipulator"&f& +3 "core" &   0 +2 "manipulator"&% +4 "core" %H  r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +154 "core" ( + "manipulator"&>& +44 "core" &ӏ$    =F +10 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &ӏ$ \  =F +2 .tForearm.seek CC +2 "manipulator"&9'? +103 "core" ' +2 .tHand.close + "manipulator"&e/ +64 "core" / +2 .tCC.seek :open +2 "collection"'q( +450 "core" ( +2 "storage"(Q& +3 "core" &<, p\ +3 "storage"(& +4 "core" &<, o\ + "manipulator"&]& +4 "core" &ө   :, +2 "manipulator"&H% +4 "core" % 8   +2 .tForearm.seek :retract +2 "manipulator"&z' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&V( +165 "core" ( + "manipulator"&& +4 "core" &     +2 "storage"({& +3 "core" &<, E\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&F'΍ +99 "core" ' +2 .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&=1 +56 "core" 1 +2 "manipulator"&k% +3 "core" % Μ   +2 "storage"(A& +4 "core" &<, \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&b' +15 "core" ' +2 "manipulator"&N& +3 "core" & E  +2 "storage"(& +4 "core" &<, w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +16 "core" ' +2 "storage"(-% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(<' +99 (% +3 "core" %xG \ Yl +2 "manipulator"&Z% +4 "core" %K S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'j& +3 "core" & ,\ +2 "manipulator"&$% +4 "core" %  \   +2 "storage"(D% +4 "core" % \  +2 "storage"(#. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(:(K +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &K \ +2 "manipulator"&^& +3 "core" &     +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&g& +3 "core" &    +2 "storage"( & +4 "core" &K S\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&|' +91 "core" ' + "storage"(K& +4 "core" &K\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'r +295 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &K \ +2 "manipulator"&a& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&& +4 "core" & j  +2 "storage"(& +3 "core" &K \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&+'h +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(;' +9 "core" &  + "manipulator"&0% +4 "core" % k +2 .tForearm.seek :retract +48 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +110 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +41 "core" ( +2 "manipulator"&s& +3 "core" &Ӆ&   ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &Ӆ&   ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&`'? +94 "core" ' +2 "manipulator"&8& +5 "core" &ӓ$  " =E + "manipulator"&*% +5 "core" %D   n 9 +2 "collection"'& +4 "core" & \ +2 "collection"'E& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'2(\\ +4 "core" & \ +8 &3 \ #c +10 &Vu \ 7 +9 &p \ K +9 &L \ M +10 &jO \ M +9 &,L \ M +9 &Q \ L +10 &L \ M +9 &sQ \ L +10 &5L \ L +9 &N \ L +9 &!Q \ M +10 &#zO \ M +9 &%=J 6\ L +9 &&L \ M +10 &(P \ L +9 &*P )\ M +10 &,DO \ M +9 &.P 7\ L +9 &/L >\ M +10 &1M :\ L +9 &3MN =\ L +9 &5L :\ M +10 &6L ;\ L +9 &8O ;\ L +10 &:TR 4\ M +9 &<Q ?\ L +9 &=M 2\ M +10 &?N 0\ L +9 &A\\O 4\ M +9 &CV .\ M +10 &DZ \ N +9 &Fe 6\ O +10 &HVy 4\ Q +9 &J \ \ \ V +9 &K\ \ )\ Y +10 &M\ \ -\ Z +9 &OE\ \ 0\ Z +9 &Q\ \ \ *\ [ +10 &R\ \ \ [ +9 &T\ \ $\ \\ +10 &VH\ \ (\ \\ +9 &X\ \ &\ ] +9 &Y\ \ '\ ^ +10 &[\ \ /\ K +9 &\\:\ \ /\ - +9 &\\{\ \ ,\ V +6 ( + "collection"'E& +4 "core" &\\l\ \ *\ V +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&P1 +60 "core" 1 + "manipulator"&O% +4 "core" % D   h 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%w& +4 "core" &\ v +2 "manipulator"&5% +3 "core" %     +2 "storage"(% +4 "core" % ^\ w +2 "storage"( . +3 "core" .(K +2 "storage"(1& +3 "core" &K \ v +2 "storage"(& +4 "core" &K \ u +2 "manipulator"&7& +4 "core" &Ӯ   :* +2 "manipulator"&"% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&C( +166 "core" ( +2 "manipulator"&& +3 "core" & \    +2 "storage"(&& +4 "core" &K\  d\ ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(& +3 "core" &K g c %\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +296 "core" ' + "storage"([- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &K \ u +2 "manipulator"&\\& +3 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&T& +3 "core" &     +2 "storage"(& +4 "core" &K ]\ x +3 .tForearm.seek 6 + 300 counts + "manipulator"&m'h +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&I& + "storage"((' +8 "core" &   + "manipulator"&W% +4 "core" % n  ; +2 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&l( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&M& +5 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&o' +91 "core" ' +2 "manipulator"&& +3 "core" &  x +3 "manipulator"&% +4 "core" % 5 r +49 "processing"%6& +5 "core" &\ +2 "processing"%u& +6 "core" &\ ~ +2 .tPC.seek :closed +2 "processing"%U(^ +4 "core" &\ \ +9 &/s\ o*x +9 &bx\ l> +9 &cl\ mP +10 &%N\ sO +9 &M\ sO +9 &Q\ sP +10 &iO\ sP +9 &-N\ sO +10 &Q\ sP +9 &P\ rO +9 & sO\ sO +10 &"5O\ sO +9 &#R\ sP +9 &%L\ tO +10 &'{N\ sO +9 &)=N\ tO +10 &*Q\ sP +9 &,R\ sO +9 &.L\ tO +10 &0EN\ sO +9 &2P\ rP +9 &3N\ tO +10 &5K\ tP +9 &7MP\ sO +10 &9 R\ rP +9 &:N\ sP +9 &<M\ sP +10 &>TO\ sP +9 &@P\ sO +9 &AS\ sP +10 &CY\ qQ +9 &EW_\ oQ +10 &Ge\ oS +9 &Hv\ lT +9 &J\ hV +10 &LQ\ iV +9 &N\ hW +9 &O\ iV +10 &Q\ gX +9 &SW\ gW +10 &U\ fW +9 &V\ gW +9 &X\ gW +10 &Z]\ fX +9 &\\ \ eW +9 &]}\ j6 +10 &^2j\ mD +9 ( + &^\ x0 +2 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&y1 +57 "core" 1 +2 "manipulator"&%% +3 "core" %   r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +96 "core" ' + "processing"%L& +4 "core" &^\ r0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"& % +4 "core" % %  @ 9 +2 "storage"(p% +4 "core" % \ q +2 "storage"(\ . +3 "core" .(K +2 "storage"(d& +3 "core" &K 3\ q +3 "storage"(& +3 "manipulator"&?& +6 "core" &K \ r +2 &  # +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&f( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( + "manipulator"&v& +3 "core" &   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &   = +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 .tHand.close +2 "manipulator"&B/ +52 "core" / +2 .tPC.seek :open +2 "processing"%/( +100 "core" ' +2 "storage"(t- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'1 +46 "core" ' +301 ( +2 "storage"(c& +3 "core" &K ^\ | +2 "manipulator"&J& +4 "core" &   ! +2 "manipulator"&R% +3 "core" %    & +3 .tForearm.seek :retract + "manipulator"&e' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&n( +245 "core" ( +2 "manipulator"&& +4 "core" &   0  + "storage"(Q& +4 "core" &K i\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&]1 +63 "core" 1 +2 "storage"(H- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"({' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +3 "core" -' +2 "storage"(X& +3 "core" &K W\ $ +3 "manipulator"&=& +4 "core" &   W  + .tElbow.seek 6 +2 "manipulator"&k( +9 "core" ( +2 "manipulator"&A& +3 "core" &   +  +2 "storage"(N& +3 "core" &K j\ ' +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(-'" +57 "core" ' +2 "manipulator"&z& +3 "core" &   ;  +2 "storage"(& +4 "core" &K \ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +51 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&Z'< +23 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(F' +20 "core" ' + "manipulator"&j% +4 "core" %F   1 +2 "storage"($& +3 "core" &K \ s +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&b'r +26 "core" ' +2 "manipulator"&D& +3 "core" &  ;  +3 "storage"(#& +4 "core" &K y\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +20 "core" ' +2 "storage"(h% +4 "core" % \ { +2 ."downElevator"SE.seek :down +4 "storage"(<' +98 ( % +4 "core" %I \ qZr +2 "manipulator"&)% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +90 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (g& +3 "core" &K \ z +2 "collection"' & +3 "core" &\\l ;\ V +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&K% +4 "core" %     +2 "storage"('% +3 "core" % \ | +2 "storage"(r. +4 "core" .(K + "storage"(4& +4 "core" &K \ | +2 "storage"(S& +3 "core" &K C\ | +3 "manipulator"&a& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +9 "core" ( + "manipulator"&& +3 "core" &   +3 "storage"(& +4 "core" &K \ \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(0& +3 "core" &K a ` )\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &    +2 "storage"(s& +4 "core" &K A\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&!'< +18 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(8- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(*'f +29 "core" ' +2 "manipulator"&% +3 "core" %L     +2 "storage"(_& +3 "core" &K \ v +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&;'x +23 "core" ' +2 "manipulator"&& +3 "core" &  ( +2 "storage"(q& +4 "core" &K \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&P' +29 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(O' +39 "core" ' +2 "manipulator"&w& +3 "core" &  E +2 "manipulator"&5% +3 "core" % \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +150 "core" ( +2 "manipulator"&1& +3 "core" &z&   o ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &z&  # ?T +2 .tForearm.seek CC +2 "manipulator"&E'? +92 "core" ' + .tHand.close + "manipulator"&7/ +62 "core" / +2 .tCC.seek :open + "collection"'"( +448 "core" ( +8 "storage"(`& +5 "core" &K \ + "storage"(& +4 "core" &K \ +2 "manipulator"&&& +4 "core" &ӿ   6 +2 "manipulator"&% +3 "core" % @   +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&[& +3 "core" &   Q  +2 "storage"(}& +4 "core" &K L\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&\\'< +97 "core" ' +2 .tElbow.hold + "manipulator"&T, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&Y% +4 "core" % A    +2 "storage"(I& +3 "core" &K \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&W'm +13 "core" ' +2 "manipulator"&C& +4 "core" &   +2 "storage"(& +4 "core" &K T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&~' +15 "core" ' +2 "storage"(m% +4 "core" %  5\ +2 ."downElevator"SE.seek :down +4 "storage"(M' +98 (% +3 "core" %D \ Yk +2 "manipulator"&@% +4 "core" % \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&6% +5 "core" %      +2 "storage"((% +3 "core" % y\  +2 "storage"(.. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(G([ +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" &[ \ \  +2 "manipulator"&%& +3 "core" &    +3 .tElbow.seek 7 + "manipulator"&L(r +32 "core" ( +2 "manipulator"& & +3 "core" &n  0 / +2 "storage"(p& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\ '= +94 "core" ' +2 "storage"(d& +3 "core" &[ _\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'r +297 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (?& +2 "core" &[ $\  +3 "manipulator"&v& +3 "core" &n \ / +2 .tElbow.seek 7 +2 "manipulator"&,(r +4 "core" ( + "manipulator"&o& +4 "core" &n    / +2 "storage"(B& +3 "core" &[ _\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&t'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(U' +8 "core" &n H / +2 "manipulator"&% +3 "core" % Ϣ  @ +3 .tForearm.seek :retract + "manipulator"&c' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +142 "Can"\ F& $ +4 "core" ( +2 "manipulator"&R& +3 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +2 "core" &x*   e Bg +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 & & +49 "core" &x*  Bg +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 "manipulator"&Q& +4 "core" &ӛ$   =D +2 "manipulator"&f% +3 "core" %7   7 +3 "collection"']& +3 "core" & \ +3 "collection"'H& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'9(\\ +5 "core" & \ +6 &@ \ %g +9 &Wr \ 7 +9 &s \ L +10 &O \ M +9 &yL \ M +10 &<Q \ L +9 &L \ M +9 &O \ M +10 &L \ L +9 &CM \ M +9 & P \ L +10 &!Q \ M +9 &#P \ M +10 &%LK X\ L +9 &'M  \ L +9 &(Q 9\ M +10 &*O 4\ M +9 &,SO =\ M +10 &.K 4\ L +9 &/N :\ L +9 &1N .\ M +10 &3\\L 0\ L +9 &5O 7\ L +9 &6N <\ L +10 &8R 9\ M +9 &:cR 0\ M +9 &<%O '\ M +10 &=L \ M +9 &?R \ M +10 &AkR "\ M +9 &C,U #\ M +9 &D] *\ N +10 &Fe 0\ O +9 &Hd{ ,\ R +9 &J\ \ \ 4\ V +10 &K\ \ +\ Y +9 &M\ \ &\ Y +10 &OU\ \ (\ Z +9 &Q\ \ 3\ Z +9 &R\ \ $\ [\ +10 &T\ \ 3\ \\ +9 &VW\ \ '\ \\ +9 &X\ \ 2\ ] +10 &Y\ \ 0\ ^ +9 &[\ \ /\ K +10 &\\@\ \ .\ 'v +9 &\\u\ \ \ X +2 ( +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&X1 +63 "core" 1 +3 "manipulator"&=% +3 "core" % 7   T 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%N& +4 "core" &\ u + "manipulator"&e% +4 "core" %     +2 "storage"(z% +3 "core" % @\ v +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(>([ +2 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ ] ] \ f +2 "manipulator"&j& +5 "core" &ӯ!   c :0 + "manipulator"&$% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&D(r +165 "core" ( +2 "manipulator"&#& +3 "core" &o   +2 "storage"(n& +3 "core" &[\  |\ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'= +94 "core" ' +2 "storage"(& +4 "core" &[ [ p U\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +296 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &[ \ v +2 "manipulator"&& +4 "core" &o $  +2 .tElbow.seek 7 +2 "manipulator"&k(r +3 "core" ( +2 "manipulator"&-& +4 "core" &o  x  + "storage"(Z& +4 "core" &[ \ x +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&b'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(K' +8 "core" &o  B  +2 "manipulator"&'% +3 "core" % Ϣ  +3 .tForearm.seek :retract + "manipulator"&r' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&F( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&4& +3 "core" &   O 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &   1 +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&a' +103 "core" ' +2 "manipulator"&& +3 "core" &   1 +2 "manipulator"&% +4 "core" %    +2 "processing"%i& +3 "core" &\ { +3 "processing"%0& +5 "core" &\ \ { +2 .tPC.seek :closed +2 "processing"%<(^ +3 "core" &\ { +54 &/q\ h*y +3 &bu\ e> + &Wk\ fP + &N\ lP + &L\ lP + &L\ mP +5 &]Q\ lP +9 & N\ nP +9 &M\ oO +10 &L\ oP +9 & fN\ nP +9 &"'Q\ nP +10 &#N\ oP +9 &%N\ oO +10 &'nO\ oP +9 &)1N\ oO +9 &*N\ nP +10 &,N\ oP +9 &.vN\ oP +9 &07R\ nP +10 &1K\ oP +9 &3M\ oO +10 &5}O\ nP +9 &7AM\ oO +9 &9P\ nP +10 &:N\ oP +9 &<N\ oP +9 &>GO\ oP +10 &@Q\ mP +9 &AT\ nQ +10 &C[\ lQ +9 &EIa\ kR +9 &G g\ jS +10 &H\ eU +9 &J\ dV +9 &LE~\ eV +10 &N\ dW +9 &O\ dV +10 &Q\ bX +9 &SI\ bX +9 &U\ \ bX +10 &V\ bX +9 &X\ cW +9 &ZO\ aX +10 &\\\ aX +9 &]\ c= +10 &^1\ eR +9 &^\ t. +2 ( +2 "processing"%0& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&V1 +59 "core" 1 +2 "manipulator"&^% +3 "core" %   5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|' +97 "core" ' +2 "processing"%3& +3 "core" &^\ r. +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&s% +3 "core" % #   0 +3 "storage"(8% +3 "core" % 6\ q +2 "storage"(. +4 "core" .([ + "storage"(_& +4 "core" &[ -\ q +2 "storage"(& +4 "manipulator"&q& +5 "core" &[ e\ q +2 &   1 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&w( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(5'r +2 "core" ( + "manipulator"&& +5 "core" &   \ 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &    1 +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&!/ +63 "core" / +2 .tPC.seek :open +2 "processing"%;( +90 "core" ' +2 "storage"(*- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(1'1 +43 "core" ' +313 ( + "storage"(& +5 "core" &[ \ u + "manipulator"&P& +4 "core" &    1 +2 "manipulator"&+% +3 "core" %    ! +3 .tForearm.seek :retract + "manipulator"&7' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +246 "core" ( +2 "manipulator"&2& +3 "core" &u    T +2 "storage"(`& +5 "core" &[ \ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +95 "core" ' + .tHand.open + "manipulator"&&1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"([' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(}' +57 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(E- +2 "core" -' +3 "storage"( & +4 "core" &[ \  + "manipulator"&& +4 "core" &u   T +2 .tElbow.seek 7 +2 "manipulator"&Y(r +4 "core" ( + "manipulator"&I& +4 "core" &u T +2 "storage"(C& +3 "core" &[ O\  +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(m'" +58 "core" ' +2 "manipulator"&& +4 "core" &u    T + "storage"(& +4 "core" &[ 6\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&@'{ +30 "core" ' +2 .tElbow.hold + "manipulator"&, +45 "core" , +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(\\' +21 "core" ' +2 "manipulator"&% +3 "core" % 9 / 2 +3 "storage"(6& +4 "core" &[ ] U U\ h + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 304 counts + "manipulator"&W'ϫ +14 "core" ' +2 "manipulator"&(& +4 "core" &   C +2 "storage"(.& +3 "core" &[ \ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&O'= +17 "core" ' +2 "storage"(~% +3 "core" % G\ x +3 ."downElevator"SE.seek :down +4 "storage"(M' +98 (:% +3 "core" %'E \ oZp +2 "manipulator"&y% +4 "core" %:    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +95 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +3 "core" &[ _\ w +3 "collection"'p& +3 "core" &\\q 8\ X +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&d% +4 "core" %    "  +2 "storage"(T% +3 "core" % e\ x +2 "storage"(. +3 "core" .([ +2 "storage"(& +3 "core" &[ \ x +3 "storage"(?& +4 "core" &[ <\ x +2 "manipulator"&v& +3 "core" &   G C +2 .tElbow.seek 7 +2 "manipulator"&o(r +33 "core" ( +2 "manipulator"&B& +3 "core" &j   l +2 "storage"(l& +4 "core" &[ \ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&x'= +94 "core" ' +2 "storage"(& +3 "core" &[ ^ %\ ~ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +296 "core" ' + "storage"(\ - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" &j   l +2 "storage"(u& +3 "core" &[ \ x +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&t'{ +30 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(Q'o +32 "core" ' +2 "manipulator"&f% +4 "core" %Ύ < 3  + "storage"(]& +4 "core" &[ j l l\ g +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 319 counts + "manipulator"&U'Ϻ +14 "core" ' +2 "manipulator"&c& +3 "core" &j r l +2 "storage"("& +4 "core" &[ \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&X'= +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(=' +36 "core" ' +2 "manipulator"&N& +3 "core" &j x l +3 "manipulator"&e% +4 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +163 "core" ( +2 "manipulator"&H& +3 "core" &Ӛ   # 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӛ \  8 +2 .tForearm.seek CC +2 "manipulator"&j'? +99 "core" ' +2 .tHand.close + "manipulator"&$/ +54 "core" / + .tCC.seek :open +2 "collection"'( +451 "core" ( + "storage"(#& +3 "core" &[ <\  +3 "storage"(n& +4 "core" &[ \  + "manipulator"&G& +3 "core" &ӟ   7 +3 "manipulator"&% +4 "core" % 3  8 +42 .tForearm.seek :retract +8 "manipulator"&J' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&A(r +187 "core" ( +2 "manipulator"& & +3 "core" &     +2 "storage"()& +4 "core" &[ v\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&'{ +96 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Z1 +64 "core" 1 +2 "manipulator"&g% +4 "core" % Ό    +2 "storage"( & +3 "core" &[ \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&''ϸ +27 "core" ' +2 "manipulator"&D& +3 "core" & b  +3 "storage"(h& +4 "core" &[ V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&{'= +25 "core" ' + "storage"(b% +5 "core" % s\ +2 ."downElevator"SE.seek :down +3 "storage"(4' +99 (S% +3 "core" %pD \ Ym +2 "manipulator"&k% +4 "core" %@   o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +52691 "Can"\ \ =&! +51883 #t-> exit +6 #mEXIT @1691979082.88EDT @1692189446.31EDT = =mMAIN_scheduler =tMAIN @EDT1692189447.96 #"core_reset"Sent BREAK +2 #t@33456 select with ifg=0x10, ie=0xF5 #@34089 receive with ifg=0x10, ie=0xFD + #@34721 receive with ifg=0x10, ie=0xFD + #@35354 receive with ifg=0x10, ie=0xFD + #@35681 receive with ifg=0x80, ie=0xFD #@29554 sendCRC with ifg=0x20, ie=0x7F + #@30000 sendCRC with ifg=0x20, ie=0x7F #@31592 sendCRC with ifg=0x08, ie=0x5F + #@39690 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +280 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +355 "Can"\ ?ȶ' + \ ?ȶ' + #tPolling Can every 10:00 +35 #Cleanly exited at 22:11:22EDT13-Aug-23 +457 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %j \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +4 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڄ\ 5\ 4 \ I +2 .tSS.configure :default +3 "sampler")#.0X access 2 +3 "storage"(2% +3 "core" % W\ | +2 "manipulator"&3% +3 "core" %    ?  +3 "manipulator"&4& +4 "core" &   0  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(5(K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &K t s \ +1480 #t-> access 5 +3 "storage"(7% +3 "core" % \  +2 "manipulator"&8% +3 "core" %     +2 "manipulator"&9& +4 "core" &    +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(:(  +1299 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" & '\ +4583 #t-> require 'shuffle.rb' +1113 #-> 2.time {shuffle 5..7} +738 #-> 2.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'<& +3 "core" & \ +2 .tHand.open +2 "manipulator"&=1 +16 "core" 1 +2 "manipulator"&>% +3 "core" %     +3 "storage"(?% +3 "core" % \  +2 "storage"(@. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(A(<- +987 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" &<, X\ | +3 "manipulator"&C& +4 "core" & \    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&D( +42 "core" ( +2 "manipulator"&E& +3 "core" &   p \ +3 "storage"(F& +4 "core" &<, 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +93 "core" ' +2 "storage"(H& +4 "core" &<, ?\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'r +299 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (K& +3 "core" &<, +\  +2 "manipulator"&L& +3 "core" &  \ +3 .tElbow.seek 5 + "manipulator"&M( +4 "core" ( +2 "manipulator"&N& +3 "core" &    \ +2 "storage"(O& +5 "core" &<, \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&P'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&R& + "storage"(S' +41 "core" &  z \ +9 "manipulator"&T% +5 "core" % Ϲ  2 +2 .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V(ӂ +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&W& +3 "core" &ӎ#   <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" &ӎ#   <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Y'? +89 "core" ' +2 "manipulator"&Z& +3 "core" &ӏ#   t << +2 "manipulator"&[% +5 "core" %?   F W +2 "collection"'\\& +3 "core" & \ +3 "collection"']& +5 "core" & \ +3 .tCC.seek :closed + "collection"'^(\\ +5 "core" & \ +6 &A \ %g +10 &Vx \ 8 +9 &x \ M +10 &U \ O +9 &rV \ N +9 &5T \ N +10 &W \ O +9 &S \ O +9 &zV \ N +10 &<S \ N +9 &U \ O +10 &!U \ O +9 &#X \ O +9 &%CS \ O +10 &'Q \ N +9 &(R \ O +9 &*S \ O +10 &,JU \ O +9 &. O \ O +10 &/T \ N +9 &1Q \ O +9 &3ST \ O +10 &5P \ N +9 &6Q \ N +9 &8P \ O +10 &:\\U \ N +9 &<U \ O +10 &=R \ O +9 &?Q \ N +9 &AdS \ N +10 &C%X \ O +9 &D` \ P +10 &Fo \ R +9 &H[\ \ \ T +9 &J\ \ \ Y +10 &K\ \ \ [ +9 &M\ \ \ [ +9 &OM\ \ \ \\ +10 &Q\ \ \ [ +9 &R\ \ \ \\ +9 &T\ \ \ ] +10 &VO\ \ \ ^ +9 &X\ \ \ ~^ +10 &Y\ \ \ z_ +9 &[\ \ \ xM +9 &\\B\ \  \ ~&u +10 &\\\ \ 0\ Y +2 ( +2 "collection"']& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&_1 +59 "core" 1 +2 "manipulator"&`% +4 "core" % ? &  W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%b& +3 "core" &\ m +3 "manipulator"&c% +4 "core" %     +2 "storage"(d% +4 "core" % \ m +2 "storage"(e. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(f(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +3 "core" &<, = = \ _ +2 "manipulator"&h& +4 "core" &ӯ   R 8 +2 "manipulator"&i% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&j( +165 "core" ( +2 "manipulator"&k& +3 "core" &   E  +2 "storage"(l& +4 "core" &<, S\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +93 "core" ' +2 "storage"(n& +4 "core" &<, 0\ x +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +300 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (q& +2 "core" &<, \ r +3 "manipulator"&r& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&s( +4 "core" ( +2 "manipulator"&t& +3 "core" &  (  +2 "storage"(u& +4 "core" &<, \ t +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&v'Ϲ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +65 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&x& + "storage"(y' +6 "core" &    +3 "manipulator"&z% +3 "core" %    +3 .tForearm.seek :retract + "manipulator"&{' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&|( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&}& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &  5  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +90 "core" ' +2 "manipulator"&& +4 "core" &  \   +2 "manipulator"&% +4 "core" %   x +2 "processing"%& +3 "core" &\ w +3 "processing"%& +42 "core" &\ v +10 &\ w + &\ w + &\ w + &\ w + &\ x +3 .tPC.seek :closed + "processing"%(^ +3 "core" &\ x +5 &\ w3 +9 &8Gp\ e0 +9 &Wm|\ bE +10 &c\ gR +9 &U\ iR +9 &nS\ kQ +10 &0T\ jQ +9 &Q\ jQ +10 &U\ iQ +9 &uV\ jR +9 &9U\ jQ +10 & U\ jQ +9 &"U\ iQ +9 &$~V\ iQ +10 &&AS\ jQ +9 &(U\ iQ +10 &)T\ iQ +9 &+T\ iQ +9 &-HV\ iQ +10 &/\ U\ iQ +9 &0T\ jQ +9 &2U\ jQ +10 &4RS\ jQ +9 &6T\ jQ +10 &7T\ jQ +9 &9V\ hQ +9 &;YW\ iQ +10 &=U\ iQ +9 &>X\ iQ +9 &@X\ iR +10 &B^_\ hR +9 &De\ fS +10 &Ek\ eT +9 &Gy\ bV +9 &IX\ `W +10 &K\ _X +9 &L\ ^W +9 &N\ ^W +10 &P]\ ^X +9 &R\ ]Y +10 &S\ \\Y +9 &U\ _Y +9 &Wd\ ^X +10 &Y&\ ^X +9 &Z\ ]Y +9 &\\\ [Y +10 &^9mr\ d&w +9 &^!j\ d6 +9 ( +3 "processing"%& +2 "core" &^\ p/ +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +3 "core" %   x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 "processing"% & +3 "core" &^\ l/ +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %     +2 "storage"(% +3 "core" % j j \ k +3 "storage"(. +3 "core" .(<- +2 "storage"(& +4 "core" &<, j j \ l +2 "storage"(& +2 "manipulator"&& +7 "core" &<, s ~ o\ l +2 &   z  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&& +3 "core" &   '  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   =  +3 .tForearm.seek PC + "manipulator"&' +93 "core" ' +9 .tHand.close +2 "manipulator"&/ +75 "core" / +2 .tPC.seek :open +2 "processing"%( +73 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +44 "core" ' +327 ( + "storage"( & +4 "core" &<, -\ n +2 "manipulator"&!& +3 "core" &  O  +2 "manipulator"&"% +4 "core" %   I ! +2 .tForearm.seek :retract +2 "manipulator"&#' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&$( +247 "core" ( +2 "manipulator"&%& +3 "core" &   $ / +2 "storage"(&& +4 "core" &<, k m u\ l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +93 "core" ' +2 .tHand.open + "manipulator"&(1 +63 "core" 1 +3 "storage"()- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(+' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(-& +4 "core" &<, h\  +2 "manipulator"&.& +4 "core" & V / +2 .tElbow.seek 5 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&0& +3 "core" & / +3 "storage"(1& +3 "core" &<, u\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(3'" +58 "core" ' + "manipulator"&4& +4 "core" &   9 / +2 "storage"(& +3 "core" &<, I\ o +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&6'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(8' +28 "core" ' + "manipulator"&9% +46 "core" %Κ   . +3 "storage"(5& +4 "core" &<, j j \ l +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&;' +14 "core" ' + "manipulator"&<& +5 "core" &    , +2 "storage"(=& +3 "core" &<, y\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +15 "core" ' + "storage"(?% +5 "core" % ;\ s +2 ."downElevator"SE.seek :down +4 "storage"(@' +98 (:% +3 "core" %I [ ^\ fZs +2 "manipulator"&B% +5 "core" %O  8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +3 "core" &<, N\ r +2 "collection"'F& +5 "core" &\\ \ Y + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&H% +3 "core" %     +3 "storage"(% +3 "core" % \ s +2 "storage"(. +3 "core" .(<- +2 "storage"(J& +3 "core" &<, d\ t +3 "storage"(K& +3 "core" &<, \ t +2 "manipulator"&L& +4 "core" &   , +2 .tElbow.seek 5 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&O& +5 "core" &   o , + "storage"(Q& +4 "core" &<, ~\ t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +95 "core" ' +2 "storage"(T& +4 "core" &<, f\ w +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +296 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &  , +2 "storage"(W& +4 "core" &<, *\ o +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&X'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(['u +28 "core" ' +2 "manipulator"&\\% +3 "core" %Κ   P +2 "storage"(M& +5 "core" &<, R\ q + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"&S' +15 "core" ' +2 "manipulator"&U& +3 "core" &   , +2 "storage"(\ & +4 "core" &<, \ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&_'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(`' +38 "core" ' + "manipulator"&b& +4 "core" &  - , +2 "manipulator"&c% +4 "core" %L  # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +153 "core" ( + "manipulator"&]& +4 "core" &Ӑ"   ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &Ӑ"  v ;6 +2 .tForearm.seek CC + "manipulator"&h'? +99 "core" ' + .tHand.close +2 "manipulator"&i/ +55 "core" / +2 .tCC.seek :open + "collection"'Y( +452 "core" ( + "storage"(k& +4 "core" &<, '\  +2 "storage"(l& +3 "core" &<, } { K\  +2 "manipulator"&A& +5 "core" &Ө   8 + "manipulator"&n% +4 "core" % O   +2 .tForearm.seek :retract +2 "manipulator"&V' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&a( +161 "core" ( +2 "manipulator"&p& +3 "core" &    +2 "storage"(q& +4 "core" &<, J\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&r'΍ +96 "core" ' +2 .tElbow.hold + "manipulator"&t, +39 "core" , +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&u1 +55 "core" 1 +2 "manipulator"&w% +5 "core" % ΃   2 + "storage"(x& +4 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 290 counts + "manipulator"&z'ϯ +16 "core" ' + "manipulator"&j& +4 "core" &  +2 "storage"(m& +4 "core" &<, `\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&o'O +17 "core" ' +2 "storage"(v% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(}' +98 (~% +3 "core" %B \ Yl +3 "manipulator"&s% +4 "core" %F n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&% +4 "core" %      +2 "storage"(y% +5 "core" % \  + "storage"({. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K s ?\ +2 "manipulator"& & +3 "core" &    +3 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +4 "core" &     +2 "storage"(& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(& +4 "core" &K b\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K 8\ +2 "manipulator"&& +4 "core" & \  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &   p  +2 "storage"(& +4 "core" &K /\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(' +8 "core" & -  +2 "manipulator"&% +4 "core" % x H +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&"& +3 "core" &~%   >I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &~%   o >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'? +96 "core" ' +2 "manipulator"&&& +4 "core" &Ӏ%   =G +2 "manipulator"&% +4 "core" %H    +2 "collection"'(& +3 "core" & \ +3 "collection"')& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"',(\\ +5 "core" & \ +7 & , \ #b +9 &U| \ 7 +9 &~x \ L +10 &U \ N +9 &VS \ N +9 &V \ N +10 &S \ N +9 &T \ N +10 &_S \ N +9 & R \ N +9 &P \ N +10 &!S \ N +9 &#eU \ O +9 &%)R \ N +10 &&T \ N +9 &(U \ N +10 &*oR \ N +9 &,0S \ N +9 &-R \ N +10 &/S \ N +9 &1vR \ N +9 &38R \ N +10 &4P \ N +9 &6R \ N +10 &8~R ,\ N +9 &:@S &\ N +9 &<R "\ N +10 &=S %\ N +9 &?U %\ N +9 &AIT $\ N +10 &C Z %\ O +9 &D_ &\ O +10 &Fj %\ Q +9 &HC~\ \ '\ S +9 &I\ \  \ W +10 &K\ \ %\ Z +9 &Mr\ \ \ [ +9 &O5\ \ \ Z +10 &P\ \ \ [ +9 &R\ \ \ [ +10 &Tt\ \ \ ] +9 &V6\ \ \ ] +9 &W\ \ \ }] +10 &Y\ \ \ y_ +9 &[v\ \ \ zK +9 &\\A\ \ \ ){ +10 &\\\ \ \ Z +5 ( +2 "collection"')& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&-1 +4 "core" &\\{\ \ \ \ \ Z +57 1 +38 "manipulator"&.% +11 "core" % H    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%1& +3 "core" &\ o +2 "manipulator"&#% +4 "core" %      +2 "storage"(4% +4 "core" % \ o +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &K 6 = \ c +2 "manipulator"&*& +4 "core" &Ӫ   8 +2 "manipulator"&5% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&<( +167 "core" ( +2 "manipulator"&=& +3 "core" &     +3 "storage"($& +4 "core" &K ~\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&?' +93 "core" ' +3 "storage"('& +3 "core" &K f\ z +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(+'r +295 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (2& +2 "core" &K $\ o +2 "manipulator"&B& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&/( +14 "core" ( +2 "manipulator"&3& +3 "core" &  v  +2 "storage"(6& +4 "core" &K \ q +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&;'h +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(H' +8 "core" &   +2 "manipulator"&% +4 "core" % n  \ +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&J& +5 "core" &  @ . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" & \  . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&L' +93 "core" ' +2 "manipulator"&O& +3 "core" &   . +3 "manipulator"&Q% +4 "core" %   W T +2 "processing"%>& +3 "core" &\ w +3 "processing"%T& +5 "core" &\ w +2 .tPC.seek :closed +2 "processing"%@(^ +4 "core" &\ w\ +9 &.s\ g*y +9 &a}\ b? +10 &\\r\ cQ +9 &P\ kQ +10 &T\ jR +9 &Q\ kQ +9 &aU\ jQ +10 &#S\ jQ +9 &R\ jQ +9 &R\ jQ +10 & hT\ jR +9 &",R\ iQ +9 &#T\ jQ +10 &%R\ jQ +9 &'qT\ jQ +10 &)3R\ kQ +9 &*T\ jQ +9 &,T\ iQ +10 &.zQ\ iQ +9 &0<S\ iQ +9 &1Q\ jQ +10 &3P\ jQ +9 &5O\ kQ +10 &7EQ\ iQ +9 &9W\ iQ +9 &:T\ iQ +10 &<S\ jQ +9 &>MU\ iQ +9 &@T\ jQ +10 &AW\ hQ +9 &C\\\ hR +10 &ENa\ fS +9 &G g\ fT +9 &Hx\ bV +10 &J\ _W +9 &LJ\ `W +9 &N \ _X +10 &O\ _X +9 &Q\ ]X +10 &SO\ _X +9 &U\ ]Y +9 &V\ ]X +10 &X\ _X +9 &ZW\ ^X +9 &\\\ ]Y +10 &]\ _< +9 &^- \ bU +10 &^#\ o3 +2 ( +2 "processing"%T& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&71 +59 "core" 1 + "manipulator"&C% +4 "core" %  $ X T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +90 "core" ' +3 "processing"%I& +3 "core" &^"\ l3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&W% +4 "core" %     +2 "storage"(Z% +3 "core" % l ~ h\ m +2 "storage"(\\. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(M(K +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (U& +2 "manipulator"&\ & +4 "core" &K K 8 s\ g +7 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   . +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +48 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&b( + "storage"(c'r +11 "core" ( +2 "manipulator"&R& +4 "core" &  \ 3 w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &   , w +3 .tForearm.seek PC +2 "manipulator"&D' +95 "core" ' + .tHand.close +2 "manipulator"&X/ +66 "core" / +2 .tPC.seek :open + "processing"%S( +75 "core" ' +2 "storage"([- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'1 +43 "core" ' +325 ( +2 "storage"(g& +4 "core" &K \ p + "manipulator"&_& +5 "core" & \  w + "manipulator"&P% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&i' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&d( +242 "core" ( + "manipulator"&^& +5 "core" &   p . + "storage"(k& +4 "core" &K l ~ v\ m +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +93 "core" ' + .tHand.open +2 "manipulator"&A1 +54 "core" 1 +3 "storage"(n- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(q' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(e& +3 "core" &K  h\ + +2 "manipulator"&u& +4 "core" &   . +2 .tElbow.seek 6 +2 "manipulator"&w( +4 "core" ( +2 "manipulator"&x& +3 "core" &   e . +2 "storage"(j& +4 "core" &K  W\ + +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(v'" +55 "core" ' +2 "manipulator"&V& +3 "core" & \  . +2 "storage"(~& +4 "core" &K J\ q +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&s'< +26 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +29 "core" ' +2 "manipulator"&% +3 "core" %H   +2 "storage"(& +4 "core" &K } o ^\ m +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&z't +15 "core" ' + "manipulator"&y& +4 "core" &   . +2 "storage"({& +4 "core" &K \ u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&`' +15 "core" ' +2 "storage"(o% +4 "core" % \ u +3 ."downElevator"SE.seek :down +4 "storage"(}' +99 (f% +3 "core" %H [ U `\ g[u +3 "manipulator"&% +4 "core" %  \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K \ r +2 "collection"'& +4 "core" &\\{ }\ Z +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   \   +2 "storage"(t% +4 "core" % \ t +2 "storage"(. +3 "core" .(K +2 "storage"(& +3 "core" &K \ t +2 "storage"(& +4 "core" &K h\ t +2 "manipulator"&& +3 "core" &   . +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" &   D . + "storage"(|& +4 "core" &K \ t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +106 "core" ' +10 "storage"(& +3 "core" &K ,\ w +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +297 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &  2 . +2 "storage"(& +4 "core" &K 1\ p +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('e +30 "core" ' +2 "manipulator"&(% +4 "core" %M   7 +2 "storage"(& +4 "core" &K S\ s + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&'y +16 "core" ' + "manipulator"& & +4 "core" &    . +2 "storage"(Y& +3 "core" &K \ w +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(.' +42 "core" ' +2 "manipulator"&)& +3 "core" &  . +2 "manipulator"&1% +4 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +152 "core" ( +2 "manipulator"&& +3 "core" &ӏ#  S <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &9& +3 "core" &ӏ# - \ d <9 +2 .tForearm.seek CC +2 "manipulator"&*'? +97 "core" ' +2 .tHand.close + "manipulator"&5/ +63 "core" / +2 .tCC.seek :open + "collection"'%( +452 "core" ( +2 "storage"(=& +3 "core" &K D\  +2 "storage"($& +4 "core" &K r ~ W\  +2 "manipulator"& & +3 "core" &ӳ   7 +3 "manipulator"&'% +4 "core" % =   +2 .tForearm.seek :retract +2 "manipulator"&!' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&0( +160 "core" ( +2 "manipulator"&:& +3 "core" & \   +3 "storage"(2& +4 "core" &K o\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&B'< +97 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +60 "core" 1 +3 "manipulator"&E% +3 "core" % ;   F  +2 "storage"(F& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +3 "manipulator"&'g +15 "core" ' +2 "manipulator"&<& +3 "core" & +  +3 "storage"(?& +4 "core" &K /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +17 "core" ' +2 "storage"(;% +3 "core" % ,\ +3 ."downElevator"SE.seek :down +3 "storage"(J' +100 (K% +3 "core" %q? f\ Yl +2 "manipulator"&/% +3 "core" % U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'Q& +3 "core" & \ +2 "manipulator"&>% +5 "core" %    V  + "storage"(H% +4 "core" % i\  +2 "storage"(. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (7& +2 "core" &[ i\ +2 "manipulator"&C& +5 "core" &   9  +39 .tElbow.seek 7 +9 "manipulator"&I(r +35 "core" ( +2 "manipulator"&W& +4 "core" &     +2 "storage"(Z& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&\\'= +92 "core" ' +2 "storage"(T& +4 "core" &[ }\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(U'r +311 "core" ' +2 "storage"(\ - +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &[ 4\ +2 "manipulator"&N& +3 "core" &    +3 .tElbow.seek 7 +2 "manipulator"&L(r +19 "core" ( + "manipulator"&X& +4 "core" &u  x  +2 "storage"(& +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&['ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(@' +9 "core" &u /  + "manipulator"&c% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&g' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&P& +3 "core" &Ӑ"   ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &Ӑ"   ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'? +94 "core" ' +3 "manipulator"&k& +3 "core" &Ӑ"   ;2 +3 "manipulator"&b% +3 "core" %B w 5 +3 "collection"'A& +3 "core" & \ +3 "collection"'n& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'h(\\ +5 "core" & \ +7 & , \ $c +9 &Vz \ 7 +10 &w \ L +9 &R \ N +9 &_Q \ M +10 & R \ N +9 &Q \ N +10 &R \ M +9 &fR \ N +9 &'U \ N +10 &Q \ M +9 &!R \ N +9 &#mQ \ N +10 &%0Q \ N +9 &&T \ N +10 &(R \ M +9 &*vR \ N +9 &,8U \ N +10 &-O \ N +9 &/Q Y\ M +9 &1~Q L\ N +10 &3?S Z\ N +9 &5Q (\ M +10 &6R %\ N +9 &8T "\ N +9 &:IR $\ M +10 &<\ Q &\ N +9 &=T &\ N +9 &?P \ N +10 &APR I\ N +9 &CW &\ N +10 &D` \ P +9 &Fi .\ Q +9 &HI~\  \ S +10 &I\ \ \ W +9 &K\ \ \ Z +9 &My\ \ \ Z +10 &O;\ \ \ Z +9 &P\ \ \ [\ +10 &R\ \ \ \\ +9 &T{\ \ \ \\ +9 &V;\ \ \ ] +10 &W\ \ \ }^ +9 &Y\ \ \ z_ +9 &[{\ \ \ zL +10 &\\9\ \ \ 0 +9 &\\\ \ \ S +5 ( +2 "collection"'n& +4 "core" &\\h\ \ \ S +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&e1 +59 "core" 1 +3 "manipulator"&u% +3 "core" % B   5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%j& +3 "core" &\ t +2 "manipulator"&i% +4 "core" %     +2 "storage"(V% +4 "core" % L\ t +2 "storage"(~. +3 "core" .([ +2 "storage"(]& +4 "core" &[ 1\ t + "storage"(& +5 "core" &[ Q\ t + "manipulator"&& +5 "core" &ӭ   7 + "manipulator"&p% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&y(r +163 "core" ( +2 "manipulator"&{& +3 "core" &v     +2 "storage"(o& +4 "core" &[ \ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'= +91 "core" ' +2 "storage"(l& +4 "core" &[ \  \ { +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(q'r +296 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ k\ p +2 "manipulator"&m& +3 "core" &v  3  +3 .tElbow.seek 7 + "manipulator"&w(r +4 "core" ( + "manipulator"&v& +5 "core" &v    + "storage"(s& +4 "core" &[ \ s +40 .tForearm.seek 7 + 300 counts +10 "manipulator"&'ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&z/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(' +8 "core" &v    + "manipulator"&t% +5 "core" % ϫ  +2 .tForearm.seek :retract + "manipulator"&r' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&& +3 "core" &   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +89 "core" ' +2 "manipulator"&& +3 "core" & \   +3 "manipulator"&|% +3 "core" % \  V +3 "processing"%`& +3 "core" &\ { +3 "processing"%& +5 "core" &\ { +2 .tPC.seek :closed +2 "processing"%}(^ +5 "core" &\ z +8 &/r\ j*y +9 &b{\ f? +10 &cp\ fQ +9 &#R\ nQ +10 &P\ nP +9 &N\ nQ +9 &jP\ nQ +10 &-Q\ nP +9 &R\ mP +9 &Q\ mQ +10 & qU\ mQ +9 &"5R\ mP +10 &#R\ lQ +9 &%T\ lQ +9 &'zT\ mQ +10 &)<P\ mQ +9 &*R\ mP +9 &,R\ mP +10 &.P\ mP +9 &0EQ\ mP +10 &2R\ mQ +9 &3Q\ mQ +9 &5M\ oP +10 &7MO\ mP +9 &9 V\ mQ +9 &:Q\ nP +10 &<R\ mQ +9 &>TR\ mQ +10 &@S\ mP +9 &AV\ lQ +9 &Ca\ jR +10 &EV`\ jS +9 &Gk\ hT +9 &H\ dV +10 &J\ bW +9 &LQ\ cW +10 &N\ bW +9 &O\ bW +9 &Q\ `Y +10 &SV\ aX +9 &U\ `X +9 &V\ bX +10 &X\ bX +9 &Z]\ _Y +10 &\\\ _Y +9 &]y\ e7 +9 &^0g\ hJ +10 &^'\ r4 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&a1 +52 "core" 1 +2 "manipulator"& % +4 "core" %  7 V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 "processing"%"& +3 "core" &^'\ m4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %    h  +2 "storage"(&% +4 "core" % \ n +2 "storage"((. +3 "core" .([ +2 "storage"(& +3 "core" &[ \ l +3 "storage"( & +2 "manipulator"&Y& +7 "core" &[ "\ m + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&)( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'r +2 "core" ( + "manipulator"& & +6 "core" &  \ _ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   +3 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' + .tHand.close +2 "manipulator"&/ +67 "core" / +3 .tPC.seek :open + "processing"%( +84 "core" ' +2 "storage"(- +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +318 ( +2 "storage"(9& +3 "core" &[ \ s +2 "manipulator"&-& +5 "core" &   . + "manipulator"&% +4 "core" %  \  - +2 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&#(r +247 "core" ( +2 "manipulator"&,& +3 "core" &w  8 A +2 "storage"(=& +4 "core" &[ \ r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&$'= +95 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "storage"('- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(:' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(2' +57 "core" ' +49 #tLights, camera, ACTION! + "storage"(*- +3 "core" -' +2 "storage"(4& +4 "core" &[ \ & +2 "manipulator"&6& +4 "core" &x    @ +2 .tElbow.seek 7 +2 "manipulator"&E(r +3 "core" ( +2 "manipulator"&F& +3 "core" &x   N @ +3 "storage"(<& +4 "core" &[ \ & +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(;'" +58 "core" ' +2 "manipulator"&!& +4 "core" &x   G @ +2 "storage"(K& +3 "core" &[ \ r +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&/'{ +28 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(B' +28 "core" ' +2 "manipulator"&Q% +3 "core" %Ή > > +3 "storage"(& +4 "core" &[ ^ ] G\ e + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 314 counts +2 "manipulator"&>'ϵ +14 "core" ' +2 "manipulator"&H& +3 "core" &x   @ +3 "storage"(& +3 "core" &[ P\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&.'= +18 "core" ' +2 "storage"(+% +4 "core" % !\ x +2 ."downElevator"SE.seek :down +4 "storage"(J' +99 (M% +3 "core" %I j l \ i[t +2 "manipulator"&7% +3 "core" %>   , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +96 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &[ d\ t +3 "collection"'Z& +4 "core" &\\h \ S +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&T% +4 "core" %      +2 "storage"(3% +4 "core" % O\ v +2 "storage"(O. +3 "core" .([ +2 "storage"(\ & +4 "core" &[ 2\ v +2 "storage"(R& +3 "core" &[ "\ v +2 "manipulator"&N& +3 "core" &x \  @ +3 .tElbow.seek 7 +2 "manipulator"&X(r +3 "core" ( +2 "manipulator"&& +4 "core" &x   5 @ +2 "storage"(8& +3 "core" &[ \\\ u +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&G'= +94 "core" ' +2 "storage"(c& +4 "core" &[ 1\ z +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'r +296 "core" ' +2 "storage"(\\- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" &x   @ +3 "storage"(D& +3 "core" &[ \ r +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&U'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(k- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(b'o +27 "core" ' +2 "manipulator"&A% +4 "core" %΋  * @ +2 "storage"(L& +4 "core" &[ k n l\ k + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&@'Ϸ +14 "core" ' + "manipulator"&g& +4 "core" &y   A ? +2 "storage"(%& +4 "core" &[ \ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&e'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(u' +41 "core" ' + "manipulator"&j& +4 "core" &y  Y ? +2 "manipulator"&i% +4 "core" %9    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&~(ӂ +151 "core" ( +2 "manipulator"&]& +3 "core" &ӑ#   <: +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +42 "core" &ӑ#  " t <: +10 .tForearm.seek CC + "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'p( +451 "core" ( +2 "storage"(^& +4 "core" &[ w q \ +2 "storage"({& +3 "core" &[ o m \ +3 "manipulator"&o& +4 "core" &ӹ   C 6 + "manipulator"&l% +5 "core" % 7   +2 .tForearm.seek :retract + "manipulator"&_' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&x(r +168 "core" ( + "manipulator"&f& +5 "core" &z    + "storage"(& +4 "core" &[ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&m'{ +99 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&s1 +53 "core" 1 +2 "manipulator"&z% +4 "core" % ΍   3 +2 "storage"(& +3 "core" &[ )\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +3 "manipulator"&t'Ϲ +13 "core" ' +2 "manipulator"&y& +3 "core" &z  +2 "storage"(d& +5 "core" &[ \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'= +18 "core" ' +2 "storage"(% +4 "core" % V\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %\\E 3\ Zo +2 "manipulator"&w% +3 "core" %F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'|& +3 "core" & \ +2 "manipulator"&`% +3 "core" % \   +3 "storage"(% +3 "core" % z\  +2 "storage"(r. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(S(<- +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& +2 "storage"(T' +8 "core" & @  +2 "manipulator"&3% +3 "core" %  \ 3 +3 .tForearm.seek :retract + "manipulator"&O' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&B( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&\ & +4 "core" &   Y 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &R& +2 "core" &  3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&N' +99 "core" ' +2 "manipulator"&& +4 "core" &    3 +2 "manipulator"&8% +3 "core" %   H +3 "processing"%.& +3 "core" &\ t +3 "processing"%c& +5 "core" &\ u +2 .tPC.seek :closed +2 "processing"%J(^ +4 "core" &\ t +9 &0v\ d*y +10 &`x\ `> +9 &`p\ aP +9 &N\ gQ +10 &O\ gP +9 &O\ gP +10 &fR\ gQ +9 &(S\ gQ +9 &T\ gQ +10 &T\ gQ +9 & nO\ hQ +9 &"0O\ fQ +10 &#O\ gQ +9 &%N\ hQ +10 &'uT\ gQ +9 &)9Q\ gP +9 &*Q\ gQ +10 &,T\ gQ +9 &.N\ hP +9 &0@P\ gQ +10 &2P\ gQ +9 &3M\ hP +10 &5N\ hP +9 &7HR\ gQ +9 &9 R\ gQ +10 &:P\ gP +9 &<P\ gP +9 &>PR\ gQ +10 &@P\ gQ +9 &AW\ fQ +52 &C^\ aS +2 &EQ`\ bS +3 &Gk\ _T + &H\ [V + &J\ ZW + &LL\ ZX +6 &N\ ZX +9 &O\ \\X +10 &Q\ ZX +9 &SS\ [X +9 &U\ ZX +10 &V\ [X +9 &X\ [X +9 &ZY\ YY +10 &\\\ YY +9 &]}\ ^6 +10 &^7p\ _< +9 ( + &^\ n* +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&01 +57 "core" 1 +2 "manipulator"&C% +3 "core" %   K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +92 "core" ' +2 "processing"%P& +3 "core" &^\ o* +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&D% +4 "core" %     +2 "storage"(k% +4 "core" % \ n +2 "storage"(A. +3 "core" .(<- +2 "storage"(L& +3 "core" &<. \ n +3 "storage"(g& +3 "manipulator"&%& +6 "core" &<. \ n +2 &   3 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&j( +5 ."raiseStack"SE.seek :beamBreak + "storage"(i'r +3 "core" ( +2 "manipulator"&G& +3 "core" &   3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &   i 3 +2 .tForearm.seek PC +2 "manipulator"&I' +93 "core" ' +2 .tHand.close + "manipulator"&U/ +67 "core" / +3 .tPC.seek :open +2 "processing"%@( +85 "core" ' +2 "storage"(b- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'1 +41 "core" ' +317 ( + "storage"(n& +4 "core" &<+ \ p +2 "manipulator"&e& +4 "core" &   3 +2 "manipulator"&[% +3 "core" %   % +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&V( +244 "core" ( +2 "manipulator"&h& +4 "core" &   5 +2 "storage"(^& +3 "core" &<+ m \ l +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +90 "core" ' +2 .tHand.open + "manipulator"&o1 +58 "core" 1 +2 "storage"(l- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(f' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(~& +3 "core" &<+ \  +2 "manipulator"&s& +5 "core" & O 5 + .tElbow.seek 5 +2 "manipulator"&z( +4 "core" ( + "manipulator"&& +5 "core" & U 5 + "storage"(y& +5 "core" &<+ z )\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&d'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +52 "core" ' +2 "manipulator"&_& +3 "core" &   5 +2 "storage"(& +4 "core" &<+ n\ n +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&w'΍ +26 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(m' +20 "core" ' +2 "manipulator"&t% +3 "core" %Θ    +3 "storage"(|& +4 "core" &<+ W h T\ i +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&`' +53 "core" ' +9 "manipulator"&& +3 "core" &    - +3 "storage"(r& +3 "core" &<+ \ s +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&u'O +16 "core" ' + "storage"(q% +5 "core" % 5\ s +2 ."downElevator"SE.seek :down +5 "storage"(' +97 (% +3 "core" %FN \\ Y \ f\\u +3 "manipulator"&a% +4 "core" %H  / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<+ J\ s +3 "collection"'&& +4 "core" &\\y \ U +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %    5  +2 "storage"(v% +4 "core" % S\ u +2 "storage"(. +3 "core" .(<- +2 "storage"( & +4 "core" &<+ b\ u +2 "storage"(& +3 "core" &<+ Z\ u +2 "manipulator"& & +5 "core" &   - +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   G - +2 "storage"(& +5 "core" &<+ @\ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' +2 "storage"(1& +3 "core" &<+ ;\ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +298 "core" ' +2 "storage"((- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & \ \  - +2 "storage"( & +4 "core" &<+ ;\ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Y'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"()'v +29 "core" ' + "manipulator"&% +4 "core" %Ρ   +2 "storage"( & +3 "core" &<+ H\ p +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&}' +14 "core" ' +2 "manipulator"&9& +4 "core" &    - +2 "storage"(p& +3 "core" &<+ =\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(4' +44 "core" ' +2 "manipulator"&F& +3 "core" &   0 - +2 "manipulator"&<% +5 "core" %L \ 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +165 "core" ( +2 "manipulator"&'& +3 "core" &Ӈ   / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +4 "core" &Ӈ   p / +2 .tForearm.seek CC + "manipulator"&Q'? +102 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"',( +448 "core" ( +2 "storage"(& +3 "core" &<+ r r {\ +2 "storage"(+& +4 "core" &<+ c e x\ +2 "manipulator"&S& +4 "core" &ӈ   2 / +2 "manipulator"&$% +4 "core" % (   +2 .tForearm.seek :retract +2 "manipulator"&-' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +157 "core" ( +2 "manipulator"&M& +4 "core" &    +2 "storage"(7& +3 "core" &<+ G\ +42 .tElbow.reconfigure :limp +10 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&?'΍ +97 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&/1 +53 "core" 1 +3 "manipulator"&>% +4 "core" % Ζ   ! +2 "storage"(Z& +4 "core" &<+ "\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&3' +15 "core" ' +2 "manipulator"&H& +3 "core" & =  +3 "storage"(#& +4 "core" &<+ *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +15 "core" ' +2 "storage"(W% +3 "core" % -\ +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +99 (R% +3 "core" %H s \\\ Zn +2 "manipulator"&E% +4 "core" %H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'8& +3 "core" & \ +2 "manipulator"&.% +4 "core" %      +2 "storage"(T% +5 "core" % \  + "storage"(O. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +3 "core" &K W\ +2 "manipulator"&C& +4 "core" &   K  +2 .tElbow.seek 6 + "manipulator"&P( +4 "core" ( +2 "manipulator"&D& +4 "core" &  W  +2 "storage"(k& +4 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +95 "core" ' +2 "storage"(L& +4 "core" &K c\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'r +299 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" &K w\ +2 "manipulator"&G& +4 "core" & X  +2 .tElbow.seek 6 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&N& +4 "core" &   +2 "storage"(U& +3 "core" &K i\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&b'h +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(J' +8 "core" & $  +2 "manipulator"&i% +3 "core" %  B +3 .tForearm.seek :retract +2 "manipulator"&n' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&[& +4 "core" &ӎ  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &ӎ   8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&h'? +96 "core" ' + "manipulator"&^& +5 "core" &ӏ   L 8 + "manipulator"&j% +5 "core" %H \  ; 0 +2 "collection"'o& +3 "core" & \ +3 "collection"'l& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & \ +8 &@ \ $f +9 &Wx \ 8 +9 &r \ L +10 &N \ M +9 &qN \ M +10 &2R \ N +9 &Q \ N +9 &Q \ N +50 &xQ \ N +4 &;N \ M +3 &L \ M + &!N \ M + &#N \ N + &%BO \ N +6 &'P \ N +9 &(P \ N +10 &*Q \ M +9 &,KN \ M +9 &. L \ M +10 &/N \ M +9 &1S \ N +10 &3SQ \ M +9 &5P \ M +9 &6Q \ N +10 &8R \ M +9 &:[R \ M +9 &<R \ M +10 &=R \ M +9 &?N \ M +10 &AcQ \ M +9 &C$U \ N +9 &D_ \ O +10 &Fh \ P +9 &H\\z\  \ R +9 &J\ \ M\ W +10 &K\ \ \ Z +9 &M\ \ \ Z +10 &OL\ \ \ [ +9 &Q\ \ \ [ +9 &R\ \ \ \\ +10 &T\ \ #\ \\ +9 &VM\ \ \ ] +9 &X \ \ %\ ~^ +10 &Y\ \ \ |_ +9 &[\ \ "\ zL +10 &\\;\ \ '\ *~ +9 &\\\ \ !\ Y +5 ( +2 "collection"'l& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&~1 +4 "core" &\\\ \ #\ Y +57 1 +2 "manipulator"&s% +5 "core" % H   0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%y& +4 "core" &\ o + "manipulator"&% +5 "core" %     + "storage"(_% +5 "core" % +\ o + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(t(K +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" &K g j \ l +2 "manipulator"&|& +3 "core" &Ӧ   5 +2 "manipulator"&f% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +163 "core" ( + "manipulator"&r& +5 "core" &     + "storage"(q& +4 "core" &K I\ u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&V' +91 "core" ' + "storage"({& +4 "core" &K J\ y +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" &K { ~ r\ l +2 "manipulator"&d& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&z( +3 "core" ( +3 "manipulator"&& +3 "core" &   (  +2 "storage"(w& +4 "core" &K O\ p +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(' +8 "core" &  "  +2 "manipulator"&v% +4 "core" % τ  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +3 "manipulator"& & +3 "core" &  " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   " +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +91 "core" ' + "manipulator"&& +5 "core" &   " + "manipulator"&% +5 "core" %    ` +2 "processing"%u& +3 "core" &\ w +3 "processing"%1& +5 "core" &\ w +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ u +9 &0v\ e*y +9 &a|\ b? +9 &]o\ cQ +10 &P\ jQ +9 &P\ jQ +10 &N\ kQ +9 &dQ\ jQ +9 &'N\ kP +10 &P\ jP +9 &O\ jP +9 & lS\ iQ +10 &".Q\ jQ +9 &#O\ jP +9 &%O\ jP +10 &'uT\ iP +9 &)7O\ jP +10 &*S\ iQ +9 &,T\ iP +9 &.}M\ jP +10 &0?O\ jP +9 &2O\ jQ +10 &3O\ jQ +9 &5N\ jP +9 &7HN\ kP +10 &9R\ jQ +9 &:N\ jP +9 &<O\ jP +10 &>NT\ iQ +9 &@T\ iQ +10 &AV\ iQ +9 &C[\ gR +9 &EQ_\ eR +10 &Gf\ eS +9 &Hu\ cU +9 &J\ `W +10 &LL\ _W +9 &N \ ^X +9 &O\ _W +10 &Q\ ]X +9 &SP\ ^X +10 &U\ \\X +9 &V\ ^X +9 &X\ \\X +10 &ZW\ ]Y +9 &\\\ \\Y +9 &]{\ `7 +10 &^3k\ cE +9 ( + &^\ o0 +2 "processing"%1& +51 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +4 .Hand.open + "manipulator"&x1 +57 "core" 1 +2 "manipulator"& % +4 "core" %    ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +2 "processing"%& +3 "core" &^\ l0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"& % +4 "core" %     +2 "storage"(=% +4 "core" % j l \ k +2 "storage"(. +3 "core" .(K +2 "storage"( & +3 "core" &K l j \ j +3 "storage"(9& +2 "manipulator"&p& +6 "core" &K m k \ k +3 &   | " +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(F'r + "manipulator"&<( +7 "core" ( + "manipulator"&& +5 "core" &  J " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   " +3 .tForearm.seek PC + "manipulator"&"' +95 "core" ' +2 .tHand.close +2 "manipulator"&Y/ +65 "core" / +2 .tPC.seek :open +2 "processing"%}( +81 "core" ' + "storage"()- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +45 "core" ' +317 ( +2 "storage"(:& +4 "core" &K -\ u +2 "manipulator"&5& +3 "core" & \  " +2 "manipulator"&% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&!( +246 "core" ( +2 "manipulator"&*& +3 "core" &   > . +2 "storage"(& +5 "core" &K 7\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +101 "core" ' +2 .tHand.open +2 "manipulator"&S1 +62 "core" 1 +2 "storage"($- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(7' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(Q- +4 "core" -' +2 "storage"(K& +3 "core" &K  \ / +2 "manipulator"&/& +4 "core" &   . +2 .tElbow.seek 6 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&Z& +5 "core" &   . + "storage"(H& +4 "core" &K   \ / +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(W'" +57 "core" ' +2 "manipulator"&-& +4 "core" &   . +2 "storage"(R& +3 "core" &K \ q +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&E'< +23 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +28 "core" ' +2 "manipulator"&8% +4 "core" %M  +2 "storage"(.& +3 "core" &K \ m +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&3'y +23 "core" ' +2 "manipulator"&T& +4 "core" &    . + "storage"(O& +5 "core" &K 3\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +48 "manipulator"&4' +16 "core" ' +2 "storage"(2% +4 "core" % 3\ s +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +99 (% +3 "core" %J L Y e\ g[u +2 "manipulator"&0% +5 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +97 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (D& +3 "core" &K `\ s +2 "collection"'k& +4 "core" &\\ \ Y +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&L% +4 "core" %    P +2 "storage"(;% +4 "core" % \ v +2 "storage"(. +3 "core" .(K +2 "storage"(%& +3 "core" &K =\ w +2 "storage"(c& +5 "core" &K O\ w + "manipulator"&G& +5 "core" &   . + .tElbow.seek 6 +2 "manipulator"&N( +4 "core" ( +2 "manipulator"&U& +3 "core" &  j . +2 "storage"(B& +5 "core" &K N\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +90 "core" ' +2 "storage"(i& +3 "core" &K \ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +295 "core" ' + "storage"(A- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" &   . +3 "storage"(I& +3 "core" &K #\ n +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&g'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(j'f +30 "core" ' +2 "manipulator"&o% +3 "core" %P   +2 "storage"(X& +5 "core" &K r [\ l + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&J'| +15 "core" ' +2 "manipulator"&n& +4 "core" &  . + "storage"(,& +5 "core" &K \ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(s' +36 "core" ' + "manipulator"&y& +4 "core" &    . +2 "manipulator"&% +4 "core" %  L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"&l& +4 "core" &Ӎ&   T ?U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +4 "core" &ӎ&   I ?T +2 .tForearm.seek CC +2 "manipulator"&|'? +92 "core" ' +2 .tHand.close + "manipulator"&f/ +58 "core" / +2 .tCC.seek :open +2 "collection"'h( +451 "core" ( +2 "storage"(r& +3 "core" &K J\ +2 "storage"(q& +4 "core" &K o q ?\ +2 "manipulator"&& +4 "core" &Ӷ!   O :, +2 "manipulator"&{% +4 "core" % S   t  +2 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +167 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(a& +3 "core" &K D\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&d'< +97 "core" ' + .tElbow.hold +2 "manipulator"&, +51 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&w1 +59 "core" 1 +2 "manipulator"&`% +3 "core" % B     +3 "storage"(&& +4 "core" &K j\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&v'n +16 "core" ' + "manipulator"&& +5 "core" &  + "storage"(V& +5 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +18 "core" ' + "storage"(% +5 "core" % g\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +98 (% +3 "core" %lD \ Ym +2 "manipulator"&z% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&u% +4 "core" %    4  +3 "storage"(% +4 "core" % \  + "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(@([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" &[ o k \ +2 "manipulator"& & +4 "core" &    +2 .tElbow.seek 7 + "manipulator"&1(r +34 "core" ( + "manipulator"&& +4 "core" &h   H +2 "storage"( & +3 "core" &[ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&='= +95 "core" ' +2 "storage"(& +3 "core" &[ a\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +297 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &[ u r u\ +2 "manipulator"&& +4 "core" &h H +3 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"& & +3 "core" &h  H +2 "storage"(Y& +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&)'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&(& + "storage"(' +8 "core" &h  $ H + "manipulator"&F% +5 "core" % Ϥ  +2 .tForearm.seek :retract + "manipulator"&:' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +146 "core" ( +2 "manipulator"&& +4 "core" &ӏ#   G <? + ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &"& +3 "core" &ӏ#   q <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&*'? +47 "Can"\ Eˆ*' +44 "core" ' +3 "manipulator"&& +3 "core" &Ӑ#   W <> +3 "manipulator"&<% +5 "core" %H  \ \ ` +2 "collection"'S& +3 "core" & \ +3 "collection"'$& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'Q(\\ +5 "core" & \  +8 &2v \ )w +9 &c{ \ > +10 &lm \ N +9 &0N \ M +9 &Q \ M +10 &N \ M +9 &vP \ M +9 &9M \ M +10 &Q \ M +9 &Q \ M +10 & ~P \ M +9 &"@O \ M +9 &$M \ M +10 &%Q \ M +9 &'M \ M +9 &)HP \ M +10 &+\ R \ M +9 &,O \ M +9 &.R \ M +10 &0PQ  \ M +9 &2N \ M +10 &3S \ M +9 &5Q \ M +9 &7XO \ M +10 &9O \ M +9 &:Q \ M +10 &<P \ M +50 &>`R  \ M +4 &@"R \ M +2 &AT \ M + &CU \ N + &Eca \ O + &G k \ Q +6 &H\ \ \ T +10 &J\ \ \ X +9 &LJ\ \ \ Z +9 &N\ \ \ (\ [\ +10 &O\ \ \ [ +9 &Q\ \ P\ [ +9 &SO\ \ \ [ +10 &U \ \ %\ ] +9 &V\ \ I\ ] +10 &X\ \ J\ }^ +9 &ZN\ \ \ |^ +9 &[|\ \ \ ? +10 &\\-\ \ R\ (y +9 &\\n\ \ &\ V +2 ( +2 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&K1 +59 "core" 1 +3 "manipulator"&/% +3 "core" % H   J ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%H& +4 "core" &\ p + "manipulator"&% +5 "core" %     + "storage"(-% +5 "core" % \ p + "storage"(R. +3 "core" .([ +2 "storage"('& +5 "core" &[ \ p + "storage"(8& +5 "core" &[ \ p + "manipulator"&.& +5 "core" &ӭ   [ 8! + "manipulator"&M% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&T(r +162 "core" ( + "manipulator"&O& +5 "core" &q   d  + "storage"(!& +4 "core" &[ @\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&+'= +88 "core" ' +2 "storage"(2& +3 "core" &[ \ ^\ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(7'r +294 "core" ' +2 "storage"(#- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &[ 5\ r +2 "manipulator"&0& +3 "core" &q   k  +3 .tElbow.seek 7 +2 "manipulator"&>(r +3 "core" ( +2 "manipulator"&W& +3 "core" &q    +2 "storage"(E& +4 "core" &[ 7\ u +3 .tForearm.seek 7 + 300 counts + "manipulator"&3'ϧ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(L' +8 "core" &q   Q  +2 "manipulator"&;% +4 "core" % Ϟ   +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&%& +3 "core" &   . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &   & . +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +94 "core" ' +2 "manipulator"&U& +4 "core" &   - +2 "manipulator"&B% +4 "core" %    +2 "processing"%4& +5 "core" &\ w +2 "processing"%i& +5 "core" &\ w +2 .tPC.seek :closed +2 "processing"%\ (^ +5 "core" &\ w +6 & .\ p#a +9 &Tw\ c7 +9 &|v\ bL +10 &Q\ jQ +9 &LL\ lP +9 &K\ lP +10 &Q\ jQ +9 &N\ kP +10 &SL\ kQ +9 &N\ kP +9 &N\ kQ +10 &!Q\ jP +9 &#[R\ iQ +9 &%R\ jP +10 &&T\ iQ +9 &(S\ jP +10 &*dM\ kP +9 &,&P\ kP +9 &-Q\ jQ +10 &/Q\ jQ +9 &1lL\ kP +9 &3.L\ kP +10 &4K\ lP +9 &6Q\ jP +10 &8tR\ jP +9 &:6L\ kP +9 &;P\ kP +10 &=N\ kQ +9 &?|N\ kP +9 &A=Q\ iQ +10 &BY\ hR +9 &D]\ gR +10 &F|e\ fS +9 &H7v\ cV +9 &I\ ^W +10 &K\ _W +9 &Mx\ ^W +9 &O;\ ^W +10 &P\ ^X +9 &R\ ^X +10 &T{\ [Y +9 &V@\ _X +9 &X\ ]Y +10 &Y\ ]Y +9 &[\ ]Y +9 &]D\ \\R +10 &^{?j\ e)x +9 &^+\ m. +6 ( + "processing"%i& +4 "core" &^ \ \ o. +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&61 +60 "core" 1 + "manipulator"&C% +4 "core" %   *  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A' +92 "core" ' +2 "processing"%[& +3 "core" &^ \ o. +51 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&I% +4 "core" %     +2 "storage"(^% +4 "core" % \ m +2 "storage"(o. +3 "core" .([ +2 "storage"(X& +3 "core" &[ \ m +3 "storage"(n& +4 "manipulator"&,& +5 "core" &[ \ m + &   - +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&y( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +20 "core" ( +2 "manipulator"&\\& +3 "core" &  q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +2 "core" &    +3 .tForearm.seek PC + "manipulator"&P' +95 "core" ' +3 .tHand.close + "manipulator"&g/ +76 "core" / +2 .tPC.seek :open +2 "processing"%J( +56 "core" ' +2 "storage"(j- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'1 +49 "core" ' +341 ( +2 "storage"(]& +4 "core" &[ Y\ s +2 "manipulator"&~& +4 "core" &  \  + "manipulator"&b% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&_(r +244 "core" ( +2 "manipulator"&& +3 "core" &y    E +2 "storage"(r& +4 "core" &[ A\ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'= +103 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +3 "storage"({- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(a' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +4 "core" -' + "storage"(& +5 "core" &[ T\ ' + "manipulator"&w& +4 "core" &y   % E +2 .tElbow.seek 7 +2 "manipulator"&`(r +4 "core" ( + "manipulator"&&& +5 "core" &y   L E + "storage"(& +4 "core" &[ '\ ) +3 .tForearm.seek 7 + 450 counts + "manipulator"&V'= +48 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' +2 "manipulator"&e& +3 "core" &y   0 E +3 "storage"(& +4 "core" &[ |\ t + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +32 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(d' +21 "core" ' +2 "manipulator"&% +3 "core" %· > > +2 "storage"(v& +4 "core" &[ 0 -\ d +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 312 counts + "manipulator"&u'ϳ +13 "core" ' +2 "manipulator"&& +3 "core" &z    D +3 "storage"(& +4 "core" &[ \ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&s'= +15 "core" ' +2 "storage"(% +3 "core" % a\ u +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (t% +4 "core" %L j V \ h[t +2 "manipulator"&x% +4 "core" %@  \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +3 "manipulator"& ' +96 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &[ \ r +2 "collection"' & +5 "core" &\\m -\ V + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +4 "core" %   M  +2 "storage"(% +3 "core" % \ u +2 "storage"(. +3 "core" .([ +2 "storage"(9& +5 "core" &[ .\ u + "storage"(p& +5 "core" &[ '\ u + "manipulator"&& +4 "core" &z \  , D +2 .tElbow.seek 7 +2 "manipulator"& (r +4 "core" ( +2 "manipulator"&Y& +3 "core" &z    D +3 "storage"(m& +3 "core" &[ !\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&('= +93 "core" ' +2 "storage"(F& +3 "core" &[ \ y +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(1'r +296 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &z    D +3 "storage"("& +3 "core" &[ \ p +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"& '{ +29 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(<'p +28 "core" ' +2 "manipulator"&S% +3 "core" %Ώ \   +2 "storage"(& +4 "core" &[ n k\ k +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&'ϻ +13 "core" ' +2 "manipulator"&:& +3 "core" &{   $ C +3 "storage"(h& +4 "core" &[ \ y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'= +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(/' +36 "core" ' + "manipulator"&H& +4 "core" &{ \  C +2 "manipulator"&% +4 "core" %<  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +149 "core" ( +2 "manipulator"&'& +4 "core" &ӆ%   n >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &Ӈ%   K >J +3 .tForearm.seek CC +2 "manipulator"&8'? +97 "core" ' + .tHand.close +2 "manipulator"&./ +58 "core" / + .tCC.seek :open +2 "collection"'M( +451 "core" ( +2 "storage"(*& +4 "core" &[ o p C\ +2 "storage"(O& +3 "core" &[ l d U\ +2 "manipulator"&!& +4 "core" &Ӯ   * 9# +2 "manipulator"&2% +3 "core" % P   +3 .tForearm.seek :retract + "manipulator"&5' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&Z(r +163 "core" ( +2 "manipulator"&#& +3 "core" &x  +2 "storage"(& +4 "core" &[ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&0'{ +102 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&E1 +60 "core" 1 +3 "manipulator"&D% +3 "core" % ΃  U +3 "storage"(k& +3 "core" &[ j\ +2 .tForearm.force -20 +2 "manipulator"&5 +49 .tForearm.seek 7 + 308 counts +3 "manipulator"&;'ϯ +14 "core" ' + "manipulator"&T& +5 "core" &x  + "storage"(+& +5 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +16 "core" ' +2 "storage"(3% +4 "core" % c\ +2 ."downElevator"SE.seek :down +4 "storage"(%' +99 (c% +3 "core" %v@ x $\ Yk +2 "manipulator"&>% +3 "core" %4  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +52859 "Can"\ ;ͣ* +60002 \ :ϡV( +60001 \ ;џ) +60001 \ ;ӝ% +38809 !to: EOFError: mesg"end of file reached:@timestampu: Time :bt[,"(eval):4:in `sysreadRaw'"(eval):4:in `sysread'"3/home/esp/esp2/lib/schedule.rb:308:in `unsync'"(eval):4:in `sysread'"8/home/esp/esp2/lib/reprompt.rb:44:in `origReadline'"4/home/esp/esp2/lib/reprompt.rb:44:in `readline'"0/home/esp/esp2/lib/prompter.rb:19:in `call'"6/home/esp/esp2/lib/prompter.rb:19:in `callKbdPrc'"9/home/esp/esp2/lib/prompter.rb:37:in `claimKeyboard'"5/home/esp/esp2/lib/rmutex.rb:99:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:72:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'"9/home/esp/esp2/lib/prompter.rb:37:in `claimKeyboard'"4/home/esp/esp2/lib/reprompt.rb:41:in `readline'"=/opt/mbari/lib/ruby/1.8/irb/input-method.rb:97:in `gets'"7/opt/mbari/lib/ruby/1.8/irb.rb:148:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:147:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `call'"?/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `buf_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:101:in `getc'":/opt/mbari/lib/ruby/1.8/irb/slex.rb:206:in `match_io'"6/opt/mbari/lib/ruby/1.8/irb/slex.rb:76:in `match'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:284:in `token'"9/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:260:in `lex'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:231:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:204:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +3 #Waiting to Resume from Checkpoint "Storing generic puck in Collection Clamp to tube 7" +2 ."Qmail"BadNews.email "end of file reached",Subject: "EOFError in MAIN" +4 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +2054 #"uploadLog"upsync +6 #mEXIT @1692192863.34EDT @1692192886.06EDT = =tMAIN =mMAIN_scheduler @EDT1692192887.74 #"core_reset"Sent BREAK + #t@57958 select with ifg=0x10, ie=0xF5 + #@58591 receive with ifg=0x10, ie=0xFD + #@59223 receive with ifg=0x10, ie=0xFD + #@59856 receive with ifg=0x10, ie=0xFD + #@60183 receive with ifg=0x80, ie=0xFD #@528 sendCRC with ifg=0x20, ie=0x7F + #@974 sendCRC with ifg=0x20, ie=0x7F + #@2566 sendCRC with ifg=0x08, ie=0x5F #@47514 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +358 "Can"\ 9% + \ 9% #tPolling Can every 10:00 +6 #Cleanly exited at 09:34:23EDT16-Aug-23 +515 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %j \ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڄ\ 4\ / s\ I +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +369 #-> access 2 +3 "storage"(2% +3 "core" % x t ,\  +2 "manipulator"&3% +3 "core" %    !  +3 "manipulator"&4& +3 "core" &x  \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(5(K +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &K g p\ +57367 "Can"\ <U +60001 \ <'U3 +60001 \ </U# +56676 #t-> 2.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'7& +3 "core" & \ +2 .tHand.open +2 "manipulator"&81 +17 "core" 1 +2 "manipulator"&9% +3 "core" %     +3 "storage"(:% +3 "core" % \  +2 "storage"(;. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(<(<- +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" && +3 "core" &x N  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&?( +40 "core" ( +2 "manipulator"&@& +4 "core" &  \ +2 "storage"(A& +3 "core" &R \ O +10 &$Q -\ N +9 &%Q -\ O +10 &'Q -\ O +9 &)GR .\ N +9 &+ Q .\ N +10 &,T )\ O +9 &.P \ O +9 &0OQ \ N +10 &2R \ O +9 &3U \ O +10 &5U \ O +9 &7VU \ O +9 &9Q \ O +10 &:P \ O +9 &<P \ O +9 &>^P \ O +10 &@!Q \ \ N +9 &AT \ O +10 &CY  \ P +9 &Eab \ P +9 &Gn\ \ R +10 &H\ \ \ U +9 &J\ \ \ Z +9 &LK\ \ \ [ +10 &N \ \ \ [ +9 &O\ \ \ [ +10 &Q\ \ \ ~\\ +9 &SM\ \ \ ~] +9 &U\ \ \ \ |] +10 &V\ \ \ z^ +9 &X\ \ \ z^ +9 &ZL\ \ \ \ v` +10 &[{\ \ \ \ @ +9 &\\.\ \ \ {'v +9 &\\p\ \ \ T +3 ( +2 "collection"'X& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&Z1 +62 "core" 1 +2 "manipulator"&[% +3 "core" % H   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%]& +4 "core" &\ p + "manipulator"&^% +4 "core" %     +2 "storage"(_% +4 "core" % z\ p +2 "storage"(`. +3 "core" .(<- +2 "storage"(a& +4 "core" &<- \ o +2 "storage"(b& +4 "core" &<- n\ p +2 "manipulator"&c& +4 "core" &ӫ   6 +2 "manipulator"&d% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&e( +161 "core" ( +2 "manipulator"&f& +3 "core" &   1  +2 "storage"(g& +4 "core" &<- @\ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +93 "core" ' + "storage"(i& +3 "core" &<- R\ x +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +300 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &<- s\ q +2 "manipulator"&m& +3 "core" &    +3 .tElbow.seek 5 + "manipulator"&n( +4 "core" ( +2 "manipulator"&o& +3 "core" &   +2 "storage"(p& +3 "core" &<- ]\ v +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&q'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&s& + "storage"(t' +8 "core" &  {  + "manipulator"&u% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&v' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&x& +4 "core" &  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &    ( +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&z' +36 "Can" \ SEHU- +56 "core" ' + "manipulator"&{& +4 "core" &   \ ( +2 "manipulator"&|% +4 "core" %   7 ^ +2 "processing"%}& +4 "core" &%\ w +2 "processing"%~& +5 "core" &)\ w +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ w +9 &0t\ e*y +9 &a}\ b? +9 &ar\ cQ +10 &!O\ jQ +9 &R!\ jQ +9 &P\ jQ +10 &fR\ jQ +9 &(S\ jQ +10 &S\ iQ +10 &P\ jQ +8 & oT\ jQ +10 &"1R\ \ jQ +9 &#R \ jQ +9 &%R\ iQ +10 &'xR\ jQ +9 &)9R \ jQ +10 &*S\ jQ +9 &,S \ iQ +9 &.Q\ jQ +10 &0AR \ iQ +9 &2P\ jQ +9 &3O\ kQ +10 &5O\ jP +9 &7IQ\ jQ +10 &9 T\ iQ +9 &:S\ iQ +9 &<R\ jQ +10 &>QR\ jQ +9 &@T\ iQ +9 &AW\ iR +10 &C`\ gS +9 &ERd\ fS +10 &Gm\ cT +9 &H\ aW +9 &J\ ^X +10 &LO\ _W +9 &N\ ^X +9 &O\ _X +10 &Q\ ]Y +9 &ST\ ^X +10 &U\ ]X +9 &V\ ^X +9 &X\ ^X +10 &Z[\ \\Y +9 &\\\ \\Y +9 &]|\ a7 +10 &^4k\ d@ +9 ( + &^ \ p/ +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +3 "core" %   * ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +45 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + "processing"%& +5 "core" &^ \ l/ + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %  \   +2 "storage"(% +4 "core" % ` i \\\ k +2 "storage"( . +3 "core" .(<- +2 "storage"( & +3 "core" &<- l l \ k +3 "storage"( & +3 "manipulator"&& +5 "core" &<- i k \ k +2 &   c ( +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&( +7 "core" ( + "manipulator"&& +3 "core" &  ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &   ( +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 .tHand.close + "manipulator"&/ +68 "core" / +2 .tPC.seek :open +2 "processing"%( +73 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +325 ( +2 "storage"(& +4 "core" &<, >\ x +2 "manipulator"&& +3 "core" & \  ( +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +243 "core" ( +2 "manipulator"& & +3 "core" &    +2 "storage"(!& +4 "core" &<, A\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"'O +89 "core" ' +2 .tHand.open + "manipulator" +57 "core" 1 +2 "storage"($- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +27 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(&' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"('- +3 "core" -' +2 "storage"((& +4 "core" &<, 0\  +2 "manipulator"&)& +3 "core" & ;  +2 .tElbow.seek 5 +2 "manipulator"&*( +4 "core" ( + "manipulator"&+& +4 "core" &  @  +2 "storage"(,& +3 "core" &<, :\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(.'" +58 "core" ' +2 "manipulator"&/& +3 "core" & \    +2 "storage"(0& +4 "core" &<, \ p +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&1'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(3' +27 "core" ' +2 "manipulator"&4% +3 "core" %Η   +3 "storage"(& +4 "core" &<, k\ p + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&6' +14 "core" ' +2 "manipulator"&7& +3 "core" &   "  +2 "storage"(8& +4 "core" &<, :\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +16 "core" ' +2 "storage"(:% +3 "core" % V\ u +3 ."downElevator"SE.seek :down +3 "storage"(;' +99 (5% +3 "core" %"J M L L\ g[u +2 "manipulator"&=% +3 "core" %K    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +90 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (@& +3 "core" &<, \ s +3 "collection"'A& +3 "core" &\\p \ \ T +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&C% +3 "core" %      +44 "storage"(% +4 "core" % \ t +2 "storage"(. +3 "core" .(<- +2 "storage"(E& +4 "core" &<, q\ t + "storage"(F& +4 "core" &<, e\ t +2 "manipulator"&G& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&I( +4 "core" ( +2 "manipulator"&J& +3 "core" &   &  +2 "storage"(L& +5 "core" &<, ~\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +97 "core" ' +2 "storage"(O& +3 "core" &<, B\ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'r +301 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" &   .  +2 "storage"(S& +4 "core" &<, \ s +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&D'΍ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(V'v +30 "core" ' + "manipulator"&W% +4 "core" %Ι   +2 "storage"(H& +3 "core" &<, \ n +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 312 counts +2 "manipulator"&N' +16 "core" ' + "manipulator"&P& +3 "core" & \   +3 "storage"(\ & +3 "core" &<, r\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"([' +47 "core" ' + "manipulator"&]& +4 "core" &    +2 "manipulator"&^% +3 "core" %I    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&`(ӂ +155 "core" ( +2 "manipulator"&a& +3 "core" &Ӑ"  ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" &Ӑ"   ;5 +3 .tForearm.seek CC + "manipulator"&b'? +100 "core" ' + .tHand.close +2 "manipulator"&c/ +64 "core" / +2 .tCC.seek :open + "collection"'d( +450 "core" ( +2 "storage"(T& +3 "core" &<, a V \  +2 "storage"(f& +4 "core" &<, \  M\  +2 "manipulator"&g& +3 "core" &ӧ   8 +2 "manipulator"&i% +5 "core" % G   +2 .tForearm.seek :retract + "manipulator"&Q' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&\\( +163 "core" ( +2 "manipulator"&k& +4 "core" &    +2 "storage"(l& +3 "core" &<, q\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&m'΍ +100 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&p1 +58 "core" 1 +2 "manipulator"&r% +4 "core" % Η   ' +2 "storage"(s& +3 "core" &<, >\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 310 counts +3 "manipulator"&u' +13 "core" ' +2 "manipulator"&e& +4 "core" &   + "storage"(h& +4 "core" &<, J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&j'O +16 "core" ' +2 "storage"(q% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(x' +100 (y% +3 "core" %jD r e \ Zn +2 "manipulator"&n% +3 "core" %I   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +133 "core" ' +10 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'|& +3 "core" & -\ +3 "manipulator"&}% +3 "core" %     +2 "storage"(t% +4 "core" % X\  +3 "storage"(v. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K e b n\ +2 "manipulator"&& +5 "core" &  "  + .tElbow.seek 6 +2 "manipulator"&~( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &K a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +101 "core" ' + "storage"( & +4 "core" &K n\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +310 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K m y $\ +2 "manipulator"&& +4 "core" & \    +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&z& +4 "core" &   +2 "storage"(& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +8 "core" &  + "manipulator"&% +5 "core" % e N +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +8 "core" &Ӑ   9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ   9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +97 "core" ' +3 "manipulator"&!& +3 "core" &ӑ #  9( +2 "manipulator"&% +5 "core" %=  N  + "collection"'#& +5 "core" & \ +2 "collection"'$& +5 "core" & r\ +2 .tCC.seek :closed +2 "collection"''(\\ +5 "core" & \  +9 &1y ,\ *x +9 &a~ +\ > +9 &ep -\ N +10 &&R (\ N +9 &R \ N +9 &Q \ N +10 &lR \ N +9 &.Q \ N +9 &U \ N +10 &R \ N +9 & tP \ N +10 &"6T \ N +9 &#T  \ N +9 &%T \ N +10 &'}O \ N +9 &)>T  \ N +9 &+R \ N +10 &,T \ N +9 &.S \ N +10 &0GP \ N +9 &2T \ N +9 &3R \ O +10 &5Q \ N +9 &7NO \ N +9 &9O \ N +10 &:R \ O +9 &<Q \ N +10 &>VT \ N +9 &@T \ N +9 &AU \ N +10 &CX \ O +9 &EXb \ P +10 &Gm \ R +9 &H\ \ \ \ T +9 &J\ \ \ Y +10 &LA\ \ \ [\ +9 &N\ \ \ \\ +9 &O\ \ \ ~[ +10 &Q\ \ \ ~\\ +9 &SC\ \ \ {] +9 &U\ \ \ {] +10 &V\ \ \ y^ +9 &X\ \ \ x^ +10 &ZD\ \ \ v_ +9 &[{\ \ \ D +9 &\\#\ \ \ , +10 &\\\ \ \ \ \ ^ +2 ( +2 "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&(1 +53 "core" 1 +2 "manipulator"&)% +3 "core" % =    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%,& +3 "core" &%\ j +2 "manipulator"&% +3 "core" %     +3 "storage"(/% +4 "core" % i j \ j + "storage"(0. +4 "core" .(K + "storage"(4& +4 "core" &K j j \ j +2 "storage"(& +3 "core" &K j j \ j +2 "manipulator"&& +4 "core" &ӭ   V 5 +2 "manipulator"&7% +4 "core" %    ^  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&8( +166 "core" ( + "manipulator"&%& +4 "core" &  <  +2 "storage"(:& +3 "core" &K \ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +37 "storage"("& +11 "core" &K Y\ t +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'r +304 "core" ' + "storage"(5- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &K 2\ o +2 "manipulator"&-& +4 "core" & \   +2 .tElbow.seek 6 +2 "manipulator"&*( +4 "core" ( + "manipulator"&.& +4 "core" &  \ s  +2 "storage"(1& +4 "core" &K _\ r +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&6'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&A& +2 "storage"(C' +8 "core" &   "  +2 "manipulator"&3% +3 "core" % p   ) +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&E& +3 "core" &  . ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" &   # ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +90 "core" ' + "manipulator"&J& +4 "core" &    ( +2 "manipulator"&L% +4 "core" %    a +2 "processing"%9& +4 "core" &%\ s +3 "processing"%O& +5 "core" &\ s +2 .tPC.seek :closed +2 "processing"%;(^ +3 "core" &\ s +8 & .\ m#b +9 &Sz\ _8 +10 &{w\ ^L +9 &P\ fQ +9 &IO\ gQ +10 & M\ gP +9 &R \ fQ +9 &R\ gQ +10 &QQ \ gQ +9 &R\ fQ +10 &O\ gQ +9 &!O \ gP +9 &#ZP\ \ fP +10 &%P\ \ gQ +9 &&T\ fQ +9 &(O\ eQ +10 &*aP\ fQ +9 &,#T\ fQ +10 &-M\ gQ +9 &/O\ gQ +9 &1jK\ hP +10 &3+O\ gQ +9 &4O\ gQ +10 &6M\ gQ +9 &8qO\ gQ +9 &:4N\ gP +10 &;Q\ fQ +9 &=N\ gQ +9 &?yQ\ fQ +10 &A;Q\ fQ +9 &BW\ eR +9 &D\\\ dR +10 &Fyb\ cS +9 &H7o\ `U +10 &I\ ]W +9 &K\ \\X +9 &Mu\ \\X +10 &O7\ ZW +9 &P\ ZY +9 &R\ [X +10 &Tx\ YY +9 &V<\ \\Y +10 &W\ ZX +9 &Y\ YY +9 &[\ YY +10 &]B\ XR +9 &^{Cr\ `#i +9 &^8\ g2 +6 ( + "processing"%O& +4 "core" &^&\ j2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&21 +53 "core" 1 + "manipulator"&>% +4 "core" %    a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +91 "core" ' +3 "processing"%R& +3 "core" &^&\ f2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&S% +3 "core" %    +3 "storage"(U% +4 "core" % Y \\ \ f + "storage"(W. +3 "core" .(K +2 "storage"(H& +5 "core" &K ] ]\ e +2 "storage"(P& +2 "manipulator"&\ & +7 "core" &K O O G\ f + &   0 ( +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&]( +7 ."raiseStack"SE.seek :beamBreak + "storage"(^'r +3 "core" ( +2 "manipulator"&M& +4 "core" &   $ ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &  $  ( +2 .tForearm.seek PC +2 "manipulator"&?' +92 "core" ' +2 .tHand.close + "manipulator"&D/ +72 "core" / +2 .tPC.seek :open +2 "processing"%N( +86 "core" ' + "storage"(V- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'1 +40 "core" ' +317 ( +2 "storage"(X& +3 "core" &K &\ q +2 "manipulator"&Z& +4 "core" &  ( +2 "manipulator"&K% +3 "core" % 3 & +3 .tForearm.seek :retract + "manipulator"&c' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&_( +246 "core" ( +2 "manipulator"&Y& +3 "core" &     +38 "storage"(T& +12 "core" &K )\ q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&f' +95 "core" ' +3 .tHand.open + "manipulator"&g1 +62 "core" 1 +2 "storage"(i- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(k' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(b- +3 "core" -' +2 "storage"(`& +3 "core" &K e\ ( +3 "manipulator"&p& +4 "core" &     +2 .tElbow.seek 6 + "manipulator"&r( +4 "core" ( +2 "manipulator"&s& +3 "core" &    +3 "storage"(e& +4 "core" &K c\ ( +2 .tForearm.seek 6 + 450 counts + "manipulator"&h' +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(q'" +59 "core" ' +2 "manipulator"&Q& +3 "core" &   \  +2 "storage"(y& +4 "core" &K j i M\ j +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&n'< +20 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(m' +19 "core" ' +2 "manipulator"&|% +3 "core" %O   +2 "storage"(u& +5 "core" &K U K g\ h + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&}'{ +14 "core" ' +2 "manipulator"&t& +3 "core" &  \ .  +3 "storage"(v& +3 "core" &K \ n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +15 "core" ' +2 "storage"(j% +4 "core" % L\ o +3 ."downElevator"SE.seek :down +4 "storage"(x' +99 (<% +4 "core" %G \\ D \ d[t +2 "manipulator"&% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K _ q \ m +2 "collection"'& +4 "core" &\\ \ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"& % +3 "core" %   \   +2 "storage"(o% +4 "core" % L\ o +2 "storage"({. +3 "core" .(K +2 "storage"( & +4 "core" &K a\ p + "storage"(& +4 "core" &K \ o +2 "manipulator"&& +3 "core" & \    +3 .tElbow.seek 6 +2 "manipulator"&z( +2 "core" ( +2 "manipulator"&& +3 "core" &   .  +3 "storage"(w& +4 "core" &K "\ n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(& +3 "core" &K \ r +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +303 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &     +2 "storage"(& +4 "core" &K C\ o +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('f +30 "core" ' +2 "manipulator"&% +4 "core" %J  c + "storage"(#& +4 "core" &K j q \ l +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&'v +15 "core" ' + "manipulator"&& +5 "core" & \  j  + "storage"(d& +4 "core" &K p\ r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&(' +40 "core" ' +10 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"()' +35 "core" ' + "manipulator"&,& +4 "core" &     +2 "manipulator"&% +4 "core" %  - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0(ӂ +153 "core" ( +2 "manipulator"&4& +3 "core" &ӈ$   =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӈ$   =A +3 .tForearm.seek CC + "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&$/ +57 "core" / +2 .tCC.seek :open + "collection"'7( +450 "core" ( +2 "storage"( & +3 "core" &K t t \ +2 "storage"(%& +4 "core" &K b b 7\ +2 "manipulator"&:& +3 "core" &Ө   8! +2 "manipulator"&"% +5 "core" % L    +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&+( +161 "core" ( +2 "manipulator"&5& +3 "core" &    +3 "storage"(=& +4 "core" &K "\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&-'< +95 "core" ' +2 .tElbow.hold +2 "manipulator"&., +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&11 +60 "core" 1 +2 "manipulator"&@% +4 "core" % B  "  +2 "storage"(A& +3 "core" &K \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 306 counts +3 "manipulator"&3'n +14 "core" ' +2 "manipulator"&8& +3 "core" & 7  +2 "storage"(& +5 "core" &K a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +15 "core" ' +2 "storage"(6% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(E' +99 (F% +2 "core" %D n o \ Ym +3 "manipulator"&*% +4 "core" % - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'L& +3 "core" & #\ +2 "manipulator"&9% +4 "core" %    ,  +2 "storage"(C% +4 "core" % 7\  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +2 "core" &[ \ z +2 "manipulator"&>& +4 "core" &   $  +2 .tElbow.seek 7 +2 "manipulator"&R(r +34 "core" ( + "manipulator"&S& +4 "core" &   ~  +2 "storage"(U& +3 "core" &[ x\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&W'= +95 "core" ' + "storage"(H& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +296 "core" ' +2 "storage"(P- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (O& +3 "core" &[ | h W\  +2 "manipulator"&M& +3 "core" &    +3 .tElbow.seek 7 +2 "manipulator"&I(r +18 "core" ( +2 "manipulator"&G& +3 "core" &{   +3 "storage"(D& +3 "core" &[ S\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&V'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(;' +45 "core" &{ 5  +10 "manipulator"&^% +4 "core" % ϛ +2 .tForearm.seek :retract + "manipulator"&X' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&Z(ӂ +106 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +50 "core" ( +2 "manipulator"&K& +3 "core" &ӎ#  W <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &?& +2 "core" &ӎ#   <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Y'? +100 "core" ' +2 "manipulator"&T& +5 "core" &ӏ#   <> + "manipulator"&]% +5 "core" %C    +2 "collection"'g& +3 "core" & 8\ +3 "collection"'i& +5 "core" & 9\ +3 .tCC.seek :closed + "collection"'b(\\ +4 "core" & ,\ +8 &4 ,\ $c +9 &Tx \ 7 +10 &~u \ K +9 &R \ N +9 &VO \ N +10 &Q \ N +9 &T \ N +9 &Q \ N +10 &]T \ N +9 &!P \ M +10 &Q  \ N +9 &!Q \ M +9 &#eR \ N +10 &%)P \ M +9 &&Q  \ N +9 &(Q  \ N +10 &*nN \ N +9 &,1Q \ M +10 &-Q \ N +9 &/Q \ M +9 &1uQ \ N +10 &38Q \ N +9 &4R \ M +9 &6R \ N +10 &8}Q \ N +9 &:@Q \ N +10 &<S \ N +9 &=Q \ N +9 &?Q \ M +10 &AGR \ N +9 &CU \ O +10 &D] \ O +9 &Fe \ P +9 &H?}\ \ \ T +10 &I\ \ \ W +9 &K\ \ \ Z +9 &Mp\ \ \ [ +10 &O2\ \ \ [ +9 &P\ \ \ }\\ +9 &R\ \ \ ~\\ +10 &Tr\ \ \ |] +9 &V3\ \ \ {] +10 &W\ \ \ x_ +9 &Y\ \ \ u_ +9 &[q\ \ \ tL +10 &\\H\ \ \ #l +9 &\\*"\ \ \ \ n){ +9 &]e\ \ \ P +3 ( +2 "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&`1 +56 "core" 1 +2 "manipulator"&p% +3 "core" % C    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s' +100 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%e& +4 "core" &\ s +2 "manipulator"&c% +3 "core" % \  b  +2 "storage"(Q% +4 "core" % \ s +2 "storage"(y. +3 "core" .([ +2 "storage"(|& +3 "core" &[ \ s +2 "storage"(u& +4 "core" &[ \ s +2 "manipulator"&a& +3 "core" &ӭ!   8 +2 "manipulator"&t% +5 "core" % \ \  X  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&v(r +162 "core" ( +2 "manipulator"&k& +3 "core" &v    +3 "storage"(j& +4 "core" &[ j\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&_'= +104 "core" ' +2 "storage"(f& +3 "core" &[ R\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'r +295 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \ r +2 "manipulator"&h& +4 "core" &v   $  +2 .tElbow.seek 7 +2 "manipulator"&r(r +3 "core" ( +2 "manipulator"&q& +3 "core" &v    +2 "storage"(n& +4 "core" &[ n\ u +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&}'ϧ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"( ' +7 "core" &v    +2 "manipulator"&o% +4 "core" % ϣ  \ +2 .tForearm.seek :retract +2 "manipulator"&m' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +3 "manipulator"& & +4 "core" &  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"&& +3 "core" &   +3 "manipulator"&w% +4 "core" %    +2 "processing"%[& +3 "core" &\ w +3 "processing"%& +5 "core" &,\ w +2 .tPC.seek :closed + "processing"%x(^ +5 "core" &\ w +9 &2u\ e*x +49 &`v\ `> +2 &am \ `P + &N\ hQ +2 &N\ \ hQ +2 &O\ gQ + &gQ\ gQ +8 &)R \ hQ +10 &Q\ jQ +9 &P\ jP +10 & pO \ jP +9 &"2O \ jP +9 &#R \ iQ +10 &%L\ kP +9 &'xO\ iP +9 &):N\ jP +10 &*R\ iQ +9 &,R\ iQ +10 &.N\ iQ +9 &0AM\ kQ +9 &2N\ jQ +10 &3N\ jQ +9 &5N\ jQ +9 &7JL\ kP +10 &9 S\ iQ +9 &:R\ iQ +9 &<Q\ iQ +10 &>QT\ iQ +9 &@O\ jQ +10 &AU\ iQ +9 &C_\ gS +9 &ER`\ fS +10 &Gk\ eT +9 &Hz\ aV +9 &J\ _W +10 &LN\ `W +9 &N\ ^X +10 &O\ ^W +9 &Q\ \\Y +9 &SS\ ]X +10 &U\ \\X +9 &V\ ^Y +10 &X\ ^Y +9 &ZZ\ ]Y +9 &\\\ \\X +10 &]~\ `9 +9 &^,q\ cX +9 &^(\ m4 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&\\1 +55 "core" 1 +2 "manipulator"&% +4 "core" %   k  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +100 "core" ' + "processing"%& +4 "core" &^-\ o4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +4 "core" %   +2 "storage"(!% +4 "core" % J\ o +2 "storage"(. +2 "core" .([ +3 "storage"(#& +3 "core" &[ $\ o +3 "storage"(& +2 "manipulator"&d& +6 "core" &[ H\ o +2 &   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(,'r + "manipulator"&( +7 "core" ( + "manipulator"&& +4 "core" &   w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &  J +3 .tForearm.seek PC + "manipulator"&~' +91 "core" ' +2 .tHand.close + "manipulator"& / +74 "core" / + .tPC.seek :open +2 "processing"%( +78 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +49 "core" ' +320 ( + "storage"(& +4 "core" &[ \ t +2 "manipulator"&(& +3 "core" &    +2 "manipulator"&% +4 "core" % \   ; +2 .tForearm.seek :retract +2 "manipulator"&$' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&/(r +239 "core" ( +2 "manipulator"&'& +3 "core" &o   > L +2 "storage"( & +4 "core" &[ \ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&%'= +93 "core" ' +2 .tHand.open + "manipulator"&:1 +53 "core" 1 +3 "storage"("- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(5' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +57 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(0& +3 "core" &[ .\  +2 "manipulator"&1& +4 "core" &o  g L +2 .tElbow.seek 7 +2 "manipulator"&@(r +3 "core" ( +2 "manipulator"&A& +3 "core" &o    L +2 "storage"(8& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(6'" +49 "core" ' +2 "manipulator"&& +3 "core" &o    L +3 "storage"(F& +4 "core" &[ S\ s + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&*'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(-' +24 "core" ' +2 "manipulator"&L% +3 "core" %΀ 2 / +2 "storage"(9& +5 "core" &[ ; < {\ c + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 305 counts +2 "manipulator"&3'Ϭ +14 "core" ' +2 "manipulator"&C& +41 "core" &   0 +10 "storage"(& +5 "core" &[ \ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&)'= +16 "core" ' + "storage"(&% +5 "core" % \ v +2 ."downElevator"SE.seek :down +4 "storage"(E' +98 ( % +3 "core" %L U \\ \ h[t +2 "manipulator"&2% +5 "core" %9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (S& +3 "core" &[ a\ s +2 "collection"'U& +3 "core" &]c \ \ P +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&H% +3 "core" %      +2 "storage"(.% +5 "core" % :\ u + "storage"(J. +3 "core" .([ +2 "storage"(P& +4 "core" &[ \ u +2 "storage"(O& +3 "core" &[ \ u +2 "manipulator"&M& +4 "core" &   0 +2 .tElbow.seek 7 +2 "manipulator"&G(r +21 "core" ( +2 "manipulator"&D& +4 "core" &r     +2 "storage"(& +3 "core" &[ \ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&B'= +101 "core" ' + "storage"(^& +5 "core" &[ \ y +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +296 "core" ' +2 "storage"(W- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" &r   #  +2 "storage"(K& +3 "core" &[ } Q\ p +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&?'{ +26 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(T- +3 "core" -' +2 .tSE.seek 0.13 Pucks below Top Plate +2 "storage"(]'W +29 "core" ' + "manipulator"&g% +3 "core" %΍   +2 "storage"(I& +4 "core" &[ j k \ j +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&;'Ϲ +14 "core" ' +2 "manipulator"&X& +3 "core" &r   +2 "storage"(7& +4 "core" &[ \ | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&`'= +17 "core" ' +3 .tSE.seek 1.13 Pucks below Top Plate + "storage"(p' +34 "core" ' +2 "manipulator"&e& +3 "core" &r   +3 "manipulator"&c% +4 "core" %8 c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&y(ӂ +157 "core" ( +2 "manipulator"&|& +3 "core" &{-   E Dx +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &i& +3 "core" &{-   Dx +3 .tForearm.seek CC + "manipulator"&u'? +95 "core" ' + .tHand.close + "manipulator"&a/ +58 "core" / +2 .tCC.seek :open +2 "collection"'t( +450 "core" ( + "storage"(Y& +5 "core" &[ t p\ ~ + "storage"(k& +3 "core" &[ \  [\ ~ +2 "manipulator"&j& +4 "core" &ӯ$   =D +2 "manipulator"&f% +3 "core" % M    +3 .tForearm.seek :retract + "manipulator"&Z' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&s(r +165 "core" ( + "manipulator"&<& +4 "core" &t  Z  +2 "storage"(& +4 "core" &[ g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&h'{ +100 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&n1 +56 "core" 1 +2 "manipulator"&% +4 "core" % Ύ   + "storage"(& +43 "core" &[ p p\  +10 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&o'Ϻ +14 "core" ' + "manipulator"&v& +4 "core" &t   +2 "storage"(_& +4 "core" &[ >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&l'= +18 "core" ' + "storage"(}% +5 "core" % 3\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +100 (% +3 "core" %KB o d \ Yk +2 "manipulator"&r% +4 "core" %3 g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'w& +3 "core" & \ +2 "manipulator"&[% +4 "core" %    +2 "storage"( % +3 "core" % \  +3 "storage"(m. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(N(<- +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +3 "core" &<0 \ +2 "manipulator"&& +3 "core" &t   \\  +3 .tElbow.seek 5 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&& +4 "core" &    \ + "storage"(!& +4 "core" &<0 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +92 "core" ' +2 "storage"(#& +3 "core" &<0 ~\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &<. z o k\ +2 "manipulator"&& +4 "core" &  \ +2 .tElbow.seek 5 +3 "manipulator"&z( +7 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"( & +3 "core" &<. O\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(x' +8 "core" &  G +2 "manipulator"&,% +4 "core" % ϲ E +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&((ӂ +149 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +8 "core" &|'  a >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &|&  [ >O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&''? +100 "core" ' +3 "manipulator"& & +3 "core" &ӛ!  ' :0 +3 "manipulator"&% +4 "core" %:   +2 "collection"':& +3 "core" & (\ +3 "collection"'"& +5 "core" & ,\ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & *\ +6 & ,\ 5 +10 &?Hs "\ 0 +9 &fp| \ D +10 &_ \ N +9 &P \ N +9 &T \ N +10 &NS \ M +9 &P \ M +10 &N \ N +9 &O \ N +9 &VP \ M +10 &!P \ N +9 &"S \ N +9 &$S \ N +10 &&]S \ N +9 &(T  \ N +9 &)S \ M +10 &+O \ M +9 &-fQ \ M +10 &/&T \ N +9 &0O \ N +9 &2O \ N +10 &4mO  \ N +9 &6/O  \ N +9 &7Q \ M +10 &9Q \ M +9 &;vP  \ M +10 &=8Q \ M +9 &>O \ N +9 &@O \ N +10 &B|R  \ N +9 &D;\\ \ O +9 &Ec \ P +10 &Gs  \ R +9 &In\ \  \ V +10 &K%\ \ \ Y +9 &L\ \  \ [ +9 &N\ \ \ Z +10 &Pd\ \  \ \\ +9 &R'\ \ \ \ [ +9 &S\ \ \ \\ +10 &U\ \ \ \\ +9 &Wg\ \ \ \ }] +10 &Y%\ \ \ z_ +9 &Z\ \ \ |^ +9 &\\T_\ \ \ / +10 &\\\ \ \ W +5 ( +2 "collection"'"& +3 "core" &\\y\ \ \ V +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&01 +54 "core" 1 +2 "manipulator"&1% +3 "core" % :  $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%8& +43 "core" &'\ o +10 "manipulator"&$% +3 "core" %     +3 "storage"(% +3 "core" % \ n +2 "storage"(F. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(L(<- +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (4& +3 "core" &<. _ g \ j +2 "manipulator"&9& +4 "core" &ӥ  9& +3 "manipulator"&C% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&5( +162 "core" ( + "manipulator"&& +5 "core" &     + "storage"(&& +4 "core" &<. \ u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +91 "core" ' +2 "storage"(%& +3 "core" &<. \ w +4 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +299 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &<. K c \ j +2 "manipulator"&2& +3 "core" &     +3 .tElbow.seek 5 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&6& +4 "core" &   "  + "storage"(*& +4 "core" &<. \ n +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&3'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(H' +8 "core" &     +2 "manipulator"&.% +3 "core" % ϯ   +3 .tForearm.seek :retract + "manipulator"&J' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&-( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&P& +3 "core" &   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&M' +99 "core" ' +2 "manipulator"&D& +3 "core" &   9  +2 "manipulator"&% +4 "core" %   J  +2 "processing"%)& +4 "core" &\ s +3 "processing"%^& +5 "core" &$\ s +2 .tPC.seek :closed +2 "processing"%E(^ +4 "core" &\ s +8 &1u\ b*x +10 &aw\ _> +9 &al\ `P +10 &"L \ gP +9 &N\ gQ +9 &J\ \ gP +10 &gN\ fP +9 &(Q\ fQ +9 &P\ gP +10 &O\ gP +9 & nQ\ fQ +10 &"1L\ gP +9 &#O\ fP +9 &%M\ gP +10 &'vR\ eQ +9 &)9Q\ fP +9 &*O\ fP +10 &,R\ fQ +9 &.J\ gP +10 &0AM \ fP +9 &2N\ gQ +9 &3O\ fP +10 &5N\ fQ +9 &7IJ\ gP +9 &9 O\ fP +10 &:Q\ eQ +9 &<P\ eQ +10 &>PR\ eQ +9 &@R\ eQ +9 &AT\ eQ +11 &C`\ bS +9 &EQ_\ aS +8 &Gj\ ^T +10 &H\ \\V +9 &J\ [X +10 &LM\ [W +9 &N\ ZW +9 &O\ ZX +10 &Q\ XY +9 &SR\ ZX +9 &U\ YX +10 &V\ YY +9 &X\ ZX +10 &ZY\ YY +9 &\\\ XY +9 &]\ Y< +10 &^/\ ]Q +9 &^"\ k0 +2 ( +2 "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&+1 +59 "core" 1 +2 "manipulator"&>% +3 "core" %  \   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +102 "core" ' +2 "processing"%\ & +3 "core" &^ \ l0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&K% +3 "core" % \    +3 "storage"(T% +4 "core" % i j \ l + "storage"(g. +4 "core" .(<- + "storage"(I& +4 "core" &<. _ i z\ l +2 "storage"(X& +3 "manipulator"&7& +8 "core" &<. [ \\ 5\ l + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&e( +7 ."raiseStack"SE.seek :beamBreak + "storage"(c'r +3 "core" ( +2 "manipulator"&B& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" & \  ;  +43 .tForearm.seek PC +10 "manipulator"&R' +93 "core" ' +2 .tHand.close +2 "manipulator"&?/ +71 "core" / +2 .tPC.seek :open +2 "processing"%;( +34 "core" ' +2 "storage"(]- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(|'1 +41 "core" ' +368 ( +2 "storage"(i& +3 "core" &<+ 6\ n +3 "manipulator"&`& +3 "core" &   '  +2 "manipulator"&V% +4 "core" % \  ' +2 .tForearm.seek :retract +2 "manipulator"&a' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Q( +246 "core" ( +2 "manipulator"&b& +3 "core" &    +2 "storage"(Y& +4 "core" &<+ j i \ j +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&k'O +96 "core" ' + .tHand.open +2 "manipulator"&j1 +64 "core" 1 +2 "storage"(f- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(<' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +3 "core" -' +2 "storage"(y& +3 "core" &<+ 1 < j\  +3 "manipulator"&n& +4 "core" & s  + .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"(v& +3 "core" &<+ J ? A\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&_'O +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +78 "core" ' +2 "manipulator"&Z& +3 "core" &    +2 "storage"(s& +5 "core" &<+ \ p + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +17 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +20 "core" ' + "manipulator"&o% +4 "core" %΋    +2 "storage"(w& +3 "core" &<+ { _\ m +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 298 counts +2 "manipulator"&['Ϸ +13 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(m& +4 "core" &<+ C\ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +16 "core" ' +2 "storage"(l% +4 "core" % \ s +2 ."downElevator"SE.seek :down +3 "storage"( ' +100 (% +3 "core" %G Z g `\ hZr +2 "manipulator"&\\% +5 "core" %H   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<+ \ q +3 "collection"'!& +3 "core" &\\x $\ V +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&#% +3 "core" %    +3 "storage"(q% +4 "core" % \ s + "storage"(. +3 "core" .(<- +2 "storage"(& +3 "core" &<+ \ s +3 "storage"(d& +4 "core" &<+ \ s + "manipulator"&& +4 "core" &  \   +2 .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"({& +3 "core" &<+ \ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +48 "manipulator"&'O +93 "core" ' +2 "storage"(,& +3 "core" &<+ t\ w +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   % +2 "storage"(~& +3 "core" &<+ \ r +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('v +30 "core" ' +2 "manipulator"&:% +3 "core" %Ρ    +2 "storage"(z& +3 "core" &<+ F\ m +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&x' +14 "core" ' + "manipulator"&& +4 "core" &   ` +2 "storage"(t& +3 "core" &<+ \ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(1' +39 "core" ' +2 "manipulator"&8& +3 "core" & +3 "manipulator"&"% +4 "core" %Q & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&F& +3 "core" &z(  @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +2 "core" &z(  \  @^ +3 .tForearm.seek CC +2 "manipulator"&9'? +96 "core" ' + .tHand.close +2 "manipulator"&C/ +58 "core" / +2 .tCC.seek :open + "collection"''( +447 "core" ( +2 "storage"(& +3 "core" &<+ k a \ +2 "storage"(&& +4 "core" &<+ n d \ +2 "manipulator"&N& +3 "core" &ӫ!   z :- +2 "manipulator"&%% +5 "core" % +    +2 .tForearm.seek :retract + "manipulator"&(' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&A( +164 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"( & +4 "core" &<+ {\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&2'΍ +98 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&*1 +53 "core" 1 +2 "manipulator"&S% +5 "core" % Ε   + "storage"(U& +3 "core" &<+ \ +2 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&.' +15 "core" ' +2 "manipulator"&5& +3 "core" & 0  +2 "storage"(/& +4 "core" &<+ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&='O +16 "core" ' +2 "storage"(3% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(P' +98 (O% +3 "core" %B s o `\ Yk +2 "manipulator"&@% +4 "core" %J U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +92 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +50 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +2 "core" & \ +3 "manipulator"&)% +3 "core" %    +3 "storage"(H% +3 "core" % /\  +2 "storage"(J. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (+& +2 "core" &K i m\ +3 "manipulator"&>& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&K& +3 "core" &   +2 "storage"(T& +4 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +91 "core" ' +2 "storage"(^& +4 "core" &K \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'r +300 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &K 4\ +2 "manipulator"&B& +4 "core" & 5  +2 .tElbow.seek 6 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&M& +3 "core" &  H  +3 "storage"(?& +3 "core" &K #\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&]'h +35 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&W& + "storage"(E' +8 "core" & u  + "manipulator"&c% +4 "core" % Ϙ 0 +2 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&V& +4 "core" &Ӓ!   k :* +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &Ӓ!   :* +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&b'? +100 "core" ' +2 "manipulator"&Y& +3 "core" &ӓ  % 9) +2 "manipulator"&e% +5 "core" %H  + "collection"'j& +5 "core" & 9\ +2 "collection"'f& +5 "core" & +\ +3 .tCC.seek :closed + "collection"'u(\\ +4 "core" & ,\ +7 &: (\ %g +10 &Wv ,\ 8 +9 &r *\ L +9 &R &\ N +10 &}N ,\ M +9 &>R (\ N +9 &P \ N +10 &R \ M +9 &R \ M +10 &FN \ N +9 & O \ N +9 &!O \ N +10 &#N \ M +9 &%OQ \ M +9 &'N \ M +10 &(N \ N +9 &*P \ N +10 &,VQ \ N +9 &.R  \ M +9 &/R \ M +10 &1R \ N +9 &3^P \ N +9 &5!R \ M +10 &6R \ N +9 &8Q \ \ N +10 &:fQ \ N +9 &<(P \ N +9 &=M \ M +10 &?R \ N +9 &AnQ \ N +9 &C0T \ N +10 &D] \ O +9 &Ff \ \ P +10 &Hg{\ \ \ S +9 &J\ \ \ W +9 &K\ \ \ Z +10 &M\ \ \ [ +9 &OY\ \  \ Z +9 &Q\ \ \ \\ +10 &R\ \ \ \\ +9 &T\ \ \ \\ +10 &VX\ \ \ }] +9 &X\ \ \ |^ +9 &Y\ \  \ z` +10 &[\ \ \ zL +9 &\\9\ \ \ - +9 &\\x\ \ \ \ \ T +3 ( + "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&y1 +63 "core" 1 +3 "manipulator"&n% +3 "core" % H   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +3 "core" &\ l +2 "manipulator"&v% +3 "core" %   E  +3 "storage"(Z% +3 "core" % \\ [ O\ l +2 "storage"(s. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(|(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (o& +3 "core" &K , . *\ ^ +2 "manipulator"&w& +4 "core" &Ӭ   s 6 +2 "manipulator"&<% +3 "core" %  \  U  +3 .tElbow.reconfigure :tight +48 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +2 "manipulator"& ( +154 "core" ( +2 "manipulator"&m& +3 "core" &   +2 "storage"(l& +4 "core" &K R\ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +91 "core" ' +2 "storage"(k& +4 "core" &K 4\ v +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +302 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +2 "core" &K \ p +2 "manipulator"&_& +5 "core" &   + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&}& +3 "core" &  +2 "storage"(& +3 "core" &K \ s +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&['h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(#' +8 "core" &  \\ +2 "manipulator"&q% +3 "core" % π   +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&h( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&& +3 "core" &   % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +3 "core" &    % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + "manipulator"& & +5 "core" &  % + "manipulator"&{% +4 "core" %    +2 "processing"%p& +4 "core" &\ w +3 "processing"%,& +5 "core" &1\ w +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\ w +8 & -\ r#b +10 &Uw\ c8 +9 &}s\ bL +9 &Q\ iQ +10 &SM \ jP +9 &O\ iP +10 &P \ jQ +9 &K \ kP +9 &[O\ jP +10 &Q\ \ jP +9 &P\ hP +9 &!K\ jP +10 &#cQ\ iP +9 &%%L\ kP +10 &&Q\ \ iP +9 &(L \ jP +9 &*kL\ kP +10 &,-M \ kP +9 &-K\ \ jP +9 &/N \ kQ +10 &1sL \ jP +9 &35P \ iP +9 &4M \ jP +10 &6K\ kP +9 &8zO\ jQ +10 &:=J\ jP +9 &;R\ iQ +9 &=O\ jQ +10 &?M\ kP +9 &AEO\ jP +10 &CW\ hQ +9 &DZ\ hR +9 &Fc\ eS +10 &HAp\ cT +9 &I\ `W +9 &K\ `W +10 &M\ _W +9 &OA\ _W +10 &Q\ ]X +9 &R\ ^W +9 &T\ \\Y +10 &VF\ \\X +9 &X\ [Y +9 &Y\ ]X +10 &[\ \\X +9 &]M\ [K +9 &^{I\ __ +10 &^ O\ h3 +5 ( +2 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&r1 +4 "core" &^%\ l3 +51 1 +2 "manipulator"&% +3 "core" %    j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 "processing"%& +3 "core" &^%\ g3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&~% +3 "core" %    #  +3 "storage"( % +3 "core" % ] ^ \ \ g +2 "storage"(:. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(z(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "manipulator"&t& +3 "core" &K\ \ \\ n\ b +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & \  % +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(8'r + "manipulator"&"( +6 "core" ( +2 "manipulator"&& +4 "core" & *  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & *  - % +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +9 .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tPC.seek :open +2 "processing"%x( +67 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(F'1 +41 "core" ' +336 ( + "storage"(4& +4 "core" &K ~ W\ n +2 "manipulator"&0& +4 "core" &    % +2 "manipulator"&% +4 "core" %    \ +2 .tForearm.seek :retract +2 "manipulator"&C' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&$( +246 "core" ( +2 "manipulator"&& +4 "core" &    + "storage"(& +4 "core" &K z\ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +96 "core" ' +2 .tHand.open + "manipulator"&N1 +53 "core" 1 +2 "storage"(%- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(9- +3 "core" -' +2 "storage"(& +4 "core" &K S\ & + "manipulator"&*& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&U& +3 "core" &   6  +3 "storage"(5& +4 "core" &K \ % +2 .tForearm.seek 6 + 450 counts + "manipulator"&/' +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +57 "core" ' +2 "manipulator"&(& +3 "core" &     +3 "storage"(O& +4 "core" &K U\ o + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&@'< +19 "core" ' + .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(2' +28 "core" ' + "manipulator"&% +3 "core" %A   +3 "storage"(.& +4 "core" &K \ n + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&1'm +13 "core" ' +2 "manipulator"&)& +4 "core" &  P  +2 "storage"(H& +4 "core" &K b\ s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +16 "core" ' +2 "storage"(=% +4 "core" % \ s +2 ."downElevator"SE.seek :down +3 "storage"(P' +100 (L% +2 "core" %"I B \\ "\ d[u +3 "manipulator"&+% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (K& +3 "core" &K u x L\ o +2 "collection"'T& +4 "core" &\\y  \ T +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&^% +4 "core" %      +2 "storage"(6% +4 "core" % \ r +2 "storage"(D. +3 "core" .(K + "storage"(7& +5 "core" &K \ q + "storage"(X& +4 "core" &K \ q +2 "manipulator"&B& +3 "core" &   +3 .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&?& +4 "core" &  "  + "storage"(-& +3 "core" &K \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +95 "core" ' +8 "storage"(c& +4 "core" &K V\ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'r +297 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &     +2 "storage"(R& +4 "core" &K \ o +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&I'< +19 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(e'g +29 "core" ' +2 "manipulator"&j% +4 "core" %F   +2 "storage"(G& +4 "core" &K s \ l + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&E'r +14 "core" ' +2 "manipulator"&i& +4 "core" &  r  +2 "storage"('& +3 "core" &K '\ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +18 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(n' +36 "core" ' +2 "manipulator"&& +3 "core" & e  +2 "manipulator"&v% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&s(ӂ +164 "core" ( +2 "manipulator"&f& +3 "core" &Ӌ   B 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +3 "core" &Ӌ  \ 3 +2 .tForearm.seek CC +2 "manipulator"&w'? +105 "core" ' +2 .tHand.close + "manipulator"&\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts +3 "manipulator"&q'l +16 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(Q& +3 "core" &K A\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"([% +3 "core" % t\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (d% +3 "core" %qB s _\ Yl +2 "manipulator"&% +3 "core" % w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'{& +50 "core" & \ +2 "manipulator"&p% +5 "core" %    3  + "storage"(#% +4 "core" % \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(;([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" &[ \ +2 "manipulator"&& +3 "core" &     +3 .tElbow.seek 7 + "manipulator"&(r +45 "core" ( + "manipulator"&~& +4 "core" &     +2 "storage"( & +4 "core" &[ t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&:'= +94 "core" ' + "storage"(,& +4 "core" &[ $\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" &[ _ l {\ +2 "manipulator"&& +3 "core" & =  +3 .tElbow.seek 7 +2 "manipulator"&(r +19 "core" ( +2 "manipulator"&& +3 "core" &v  # } +2 "storage"(|& +4 "core" &[ >\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"( ' +8 "core" &v  \\ } + "manipulator"&8% +4 "core" % Ϟ h j +2 .tForearm.seek :retract +2 "manipulator"&4' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&0(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&& +4 "core" &Ӕ  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӕ  w 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' + "manipulator"&& +4 "core" &Ӕ   6 +2 "manipulator"&"% +4 "core" %?   e +2 "collection"'N& +3 "core" & 2\ +3 "collection"'%& +5 "core" & +\ +2 .tCC.seek :closed +2 "collection"'9(\\ +5 "core" & +\ +7 & 3 +\ $d +9 &Ut ,\ 7 +10 &~r -\ K +9 &R  \ N +9 &]L \ M +10 &Q \ N +9 &P \ N +9 &O \ M +10 &dQ \ M +9 &&R \ M +10 &Q \ M +9 &!P \ N +9 &#lO \ M +10 &%/L \ M +9 &&Q \ M +9 &(P \ N +10 &*tO \ M +9 &,5P \ N +10 &-O \ N +9 &/P \ M +9 &1|N \ M +10 &3>M  \ M +9 &5M  \ M +9 &6R \ M +10 &8R \ M +9 &:EQ \ N +10 &<O \ M +9 &=M \ M +9 &?M \ M +10 &AMR \ N +9 &CU \ N +9 &D[ \ O +10 &Ff \ P +9 &HG~\ \ \ R +10 &I\ \  \ W +9 &K\ \ \ Z +9 &Mv\ \  \ Z +10 &O8\ \  \ Z +13 &P\ \ \ [\ +5 &R\ \  \ \\ +11 &Tw\ \ \ ] +8 &V8\ \ \ ] +10 &W\ \  \ ~^ +9 &Y\ \  \ {_ +9 &[x\ \ \ |L +10 &\\<\ \ \ 2 +9 &\\\ \ \ U +5 ( +2 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 +2 .Hand.open + "manipulator"&1 +3 "core" &\\y\ \ \ U +51 1 +2 "manipulator"&*% +3 "core" % ?  . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%5& +3 "core" & \ q +3 "manipulator"&C% +4 "core" % \     +2 "storage"((% +3 "core" % \ q +2 "storage"(O. +3 "core" .([ +2 "storage"(& +3 "core" &[  (\ q +2 "storage"(.& +4 "core" &[ -\ p +2 "manipulator"&F& +4 "core" &ӧ  A 4 +2 "manipulator"&)% +4 "core" % \   8  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&H(r +160 "core" ( +2 "manipulator"&& +3 "core" &u   +49 "storage"(=& +5 "core" &[ _\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&$'= +95 "core" ' + "storage"(&& +5 "core" &[ \ u +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"( 'r +301 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (+& +2 "core" &[ 1\ o +3 "manipulator"&/& +4 "core" &u     + .tElbow.seek 7 +2 "manipulator"&S(r +4 "core" ( +2 "manipulator"&3& +3 "core" &u     +2 "storage"(@& +5 "core" &[ \ r +2 .tForearm.seek 7 + 300 counts + "manipulator"&1'ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&T& + "storage"(^' +8 "core" &u  +  + "manipulator"&6% +5 "core" % Ϲ  +2 .tForearm.seek :retract + "manipulator"&D' +98 "core" ' + .tElbow.seek PC +2 "manipulator"&2( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&7& +4 "core" &   J & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &    & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B' +100 "core" ' +2 "manipulator"&?& +3 "core" &   A & +2 "manipulator"&-% +5 "core" %     +2 "processing"%J& +4 "core" &'\ p +2 "processing"%c& +5 "core" &/\ q +2 .tPC.seek :closed + "processing"%P(^ +5 "core" &\ q +9 &1t\ _*x +9 &`x\ [> +10 &dk\ ]P +9 &#L\ eP +9 &J \ eQ +10 &M\ eQ +9 &iM\ dP +9 &*P\ dQ +10 &O\ dQ +9 &N\ dQ +10 & qL\ dP +9 &"3N\ dP +9 &#L\ eQ +10 &%K\ eP +9 &'yN\ eP +9 &):O\ dQ +10 &*Q\ eP +9 &,R\ eQ +10 &.N\ fQ +9 &0CO\ eP +9 &2O\ eP +10 &3O \ eP +9 &5M\ eQ +9 &7LJ\ fP +10 &9 Q\ dQ +9 &:O\ eQ +10 &<L\ fP +9 &>SO \ dP +9 &@O\ dP +10 &AR\ dQ +9 &C^\ bR +9 &ET_\ aS +10 &Gh\ _T +9 &H}\ [V +10 &J \ ZW +9 &LO}\ ZW +9 &N \ YX +10 &O\ ZX +9 &Q \ XX +9 &SR \ XY +10 &U\ \ XX +9 &V \ XX +10 &X \ YX +9 &ZY\ VY +9 &\\ \ WY +10 &]\ \ Z8 +9 &^/s\ ]Q +9 &^'\ h3 +3 ( +2 "processing"%c& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&A1 +64 "core" 1 +2 "manipulator"&>% +3 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +96 "core" ' +3 "processing"%V& +4 "core" &^%\ e3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&R% +4 "core" % #  3 +2 "storage"(Y% +3 "core" % O Q b\ f +2 "storage"(j. +4 "core" .([ + "storage"(G& +5 "core" &[ O R `\ e +2 "storage"(i& +2 "manipulator"&'& +6 "core" &[ O Y v\ e +2 &    & +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r + "manipulator"&v( +5 "core" ( +2 "manipulator"&W& +3 "core" & * 1 + & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" & / . & +2 .tForearm.seek PC +2 "manipulator"&\ ' +95 "core" ' + .tHand.close +2 "manipulator"&I/ +73 "core" / +2 .tPC.seek :open +2 "processing"%E( +73 "core" ' +2 "storage"(e- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +48 "storage"(f'1 +48 "core" ' +279 ( +2 "storage"(o& +3 "core" &[ O\ o +3 "manipulator"&y& +4 "core" &   - & + "manipulator"&]% +4 "core" %  + +3 .tForearm.seek :retract + "manipulator"&<' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&Z(r +246 "core" ( +2 "manipulator"&u& +3 "core" &~   u ; +2 "storage"(m& +3 "core" &[ j j \ k +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&l'= +94 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(k- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(w- +4 "core" -' + "storage"(s& +5 "core" &[ \  + "manipulator"&& +4 "core" &  : +2 .tElbow.seek 7 +2 "manipulator"&(r +9 "core" ( + "manipulator"&!& +5 "core" & \  + "storage"( & +4 "core" &[ ;\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Q'= +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(['" +49 "core" ' +2 "manipulator"&`& +3 "core" & \   +3 "storage"(d& +3 "core" &[ k } e\ m +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(_' +23 "core" ' +2 "manipulator"&q% +3 "core" %Ώ / 3  +3 "storage"(n& +4 "core" &[ 9 9 \ ^ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&{'ϻ +14 "core" ' +2 "manipulator"&p& +3 "core" &  o  +2 "storage"(#& +5 "core" &[ \ n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 "storage"(% +3 "core" % x\ p +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (z% +3 "core" %I @ \\ B\ c[u +2 "manipulator"&r% +4 "core" %5   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" &[  y 4\ o +3 "collection"' & +4 "core" &\\x\ \ U + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&,% +3 "core" %     +2 "storage"(}% +4 "core" % \ q +2 "storage"( . +3 "core" .([ +2 "storage"(t& +4 "core" &[ &\ o + "storage"(& +4 "core" &[ $\ p +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 7 + "manipulator"&(r +11 "core" ( +2 "manipulator"&|& +4 "core" &    + "storage"(h& +4 "core" &[ 3\ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +94 "core" ' +2 "storage"(8& +3 "core" &[ -\ s +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +50 "core" &    +2 "storage"(& +4 "core" &[ l k \ k +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"("'n +30 "core" ' +2 "manipulator"&N% +3 "core" %΋  # +2 "storage"(& +4 "core" &[ < : o\ c +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"& 'Ϸ +14 "core" ' + "manipulator"&4& +4 "core" &  T +2 "storage"(b& +3 "core" &[  8\ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(*' +49 "core" ' + "manipulator"&5& +4 "core" &   +2 "manipulator"&C% +3 "core" %9   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +167 "core" ( + "manipulator"&& +4 "core" &Ӊ    - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &Ӊ   S - +2 .tForearm.seek CC +2 "manipulator"&%'? +99 "core" ' +2 .tHand.close +2 "manipulator"&F/ +62 "core" / +2 .tCC.seek :open +2 "collection"')( +449 "core" ( +2 "storage"(& +3 "core" &[\ \  J\ } +3 "storage"(& +4 "core" &[ \ | + "manipulator"&=& +4 "core" &ӑ    , +2 "manipulator"&0% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&U(r +160 "core" ( +2 "manipulator"&L& +3 "core" &s  \ S  +2 "storage"(+& +4 "core" &[ d\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&/'{ +94 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&@1 +64 "core" 1 +2 "manipulator"&K% +3 "core" % ΄   +2 "storage"(T& +4 "core" &[ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 309 counts +3 "manipulator"&6'ϰ +16 "core" ' + "manipulator"&H& +4 "core" &s e  +2 "storage"($& +3 "core" &[ D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +15 "core" ' +2 "storage"(1% +3 "core" % &\ +3 ."downElevator"SE.seek :down +5 "storage"(7' +98 (X% +3 "core" %bE r o J\ Zm +2 "manipulator"&S% +4 "core" %: +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +89 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +1737 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'-& +3 "core" & _\ +3 "manipulator"&J& +3 "core" &s    +2 "manipulator"&^% +3 "core" %    V  +3 .tElbow.seek FlushPuck::Garage + "manipulator"&D(- +172 "core" ( + "manipulator"&x& +3 "core" &-   0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +47 &A& +5 "core" &-  0 +2 .tForearm.seek :garage +2 "manipulator"&>'w +100 "core" ' +2 .tHand.close + "manipulator"&V/ +57 "core" / + "manipulator"&R& +4 "core" &-    0 +2 "manipulator"&Y% +3 "core" % ρ   +3 .tForearm.seek :retract +2 "manipulator"&j' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&c(ӂ +283 "core" ( +2 "manipulator"&G& +3 "core" &Ӟ   + 8" +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &Ӟ   : 8" +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&''? +99 "core" ' + "manipulator"&W& +3 "core" &Ӟ   8" +3 "manipulator"&M% +4 "core" %C   +2 "collection"'B& +4 "core" & \ +2 "collection"'I& +5 "core" & \ +2 .tCC.seek :closed + "collection"'e(\\ +5 "core" & \  +9 &1v \ *x +10 &cy \ > +9 &om \ N +9 &2N \ N +10 &P \ N +9 &N \ M +10 &yP \ M +9 &;L \ M +9 &R \ N +10 &N \ M +9 & M \ M +9 &"CL \ M +10 &$M \ M +9 &%Q \ N +9 &'O \ M +10 &)LN \ M +9 &+ O \ N +10 &,O \ N +9 &.O \ N +9 &0RP \ N +10 &2N \ M +9 &3R \ N +10 &5O \ M +9 &7[O \ M +9 &9Q \ M +10 &:Q \ M +9 &<Q \ M +9 &>bR \ N +10 &@%O \ M +9 &AT \ N +10 &C_ \ O +9 &E]t\ \ \ R +9 &G\ \ \ W +10 &H\ '\ $\ Z +9 &J\ #\ #\ Z +9 &LK\ "\ !\ ~[\ +10 &N \ \ \ |\\ +9 &O\ \ \ }\\ +9 &Q\ \ \ z\\ +10 &SL\ \ \ y] +9 &U \ \ \ x^ +10 &V\ \ \ v_ +9 &X\ \ \ t` +9 &ZK\ \ \ q` +10 &[y\ \ \ |F +9 &\\"\ \ \ ~. +9 &\\\ \ \ \ #f +3 ( + "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.47 +2 "collection"'2& +3 "core" &\\\ \ \ #f +2 .tHand.open + "manipulator"&g1 +62 "core" 1 + "manipulator"&P% +4 "core" % C   M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +385 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%o& +3 "core" &1\ c +2 "manipulator"&y& +4 "core" &Ӡ   8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&](ӂ +21 "core" ( +2 "manipulator"&\ & +3 "core" &Ӄ  B # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &Ӄ   t # +2 .tForearm.seek CC +2 "manipulator"&m'? +103 "core" ' +2 .tHand.close + "manipulator"&v/ +63 "core" / + .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "manipulator"&k& +4 "core" &Ӄ   # + "manipulator"&w% +4 "core" %  w +2 .tForearm.seek :retract +2 "manipulator"&s' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&( +346 "core" ( +2 "manipulator"&!& +3 "core" & \  G  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&<' +90 "core" ' +2 "manipulator"&`& +3 "core" &    +3 "manipulator"&d% +4 "core" % l b + "processing"%q& +4 "core" &2\ +3 "processing"%f& +4 "core" &!\ +2 .tPC.seek :closed +2 "processing"%n(^ +5 "core" & \ +7 & -!\ #b +9 &Tz!\ y8 +10 &}u!\ zL +9 &Q \ P +9 &UO%\ P +10 &O&\ P +9 &T&\ P +9 &R!\ O +10 &]N(\ P +9 &N*\ P +10 &R'\ P +9 &!Q%\ O +9 &#eO"\ P +10 &%(O'\ O +9 &&P,\ O +9 &(P&\ O +10 &*nO(\ O +9 &,.T#\ P +9 &-N)\ O +10 &/Q"\ P +9 &1uO"\ P +10 &38Q+\ O +9 &4M(\ O +9 &6O&\ O +10 &8}R"\ P +9 &:@L(\ O +10 &<Q(\ P +9 &=S(\ O +9 &?Q*\ P +10 &AFR)\ P +9 &C_$\ ~Q +9 &De(\ |S +10 &F~|*\ wU +9 &H="\ vV +10 &I(\ vV +9 &K*\ uV +9 &M(\ uW +10 &OA$\ vW +9 &Q(\ tX +9 &R(\ tW +10 &T#\ rX +9 &VH'\ tX +10 &X\ )\ sW +9 &Y(\ sX +9 &[)\ sX +10 &]M(\ rK +9 &^{I'\ u` +9 &^ Q&\ 5 +6 ( + "processing"%f& +4 "core" &^&)\ 5 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 "processing"%p& +3 "core" &^&7\ 5 +2 .tHand.open +3 "manipulator" +62 "core" 1 +2 "manipulator"&% +50 "core" %    a b +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 "collection"'Z& +3 "core" & \ +476 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&l& +3 "core" &    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&z& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &    +3 .tForearm.seek PC + "manipulator"&Q' +97 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open + "processing"%[( +458 "core" ( +2 "manipulator"&& +3 "core" & \  a  +2 "manipulator"&{% +4 "core" % ] L +2 .tForearm.seek :retract + "manipulator"&~' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"& (- +125 "core" ( + "manipulator"&,& +3 "core" &-   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +2 "core" &- 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"& 'w +92 "core" ' +2 .tHand.open + "manipulator"&_1 +55 "core" 1 +2 "manipulator"&t% +3 "core" % w  - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +764 #t-> exit +6 #mEXIT @1692195854.82EDT @1692196518.75EDT = =tMAIN =mMAIN_scheduler @EDT1692196520.45 #"core_reset"Sent BREAK + #t@61554 sendCRC with ifg=0x20, ie=0x7F + #@63389 sendCRC with ifg=0x08, ie=0x5F + #@22740 idle with ifg=0x84, ie=0x75 + #@23410 select with ifg=0x10, ie=0xF5 + #@24042 receive with ifg=0x10, ie=0xFD #@24674 receive with ifg=0x10, ie=0xFD + #@25306 receive with ifg=0x10, ie=0xFD + #@25633 receive with ifg=0x80, ie=0xFD #@55125 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +283 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can"\ :?|+ + \ :?|+ + #tPolling Can every 10:00 +6 #Cleanly exited at 10:24:14EDT16-Aug-23 +504 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %j E\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڄ\ 2\ 1 s\ I +2 .tSS.configure :default +2 "sampler")#.0X access 5 +3 "storage"(2% +3 "core" % r s \  +2 "manipulator"&3% +4 "core" %    +2 "manipulator"&4& +4 "core" &-    +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(5(  +1638 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &  D\  +1111 #t-> access 6 +3 "storage"(7% +3 "core" % M\  +2 "manipulator"&8% +3 "core" %    +3 "manipulator"&9& +3 "core" &-    +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 3 + "storage"(:( +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" & \ } +3968 #t-> access 4 +3 "storage"(<% +3 "core" % \  +2 "manipulator"&=% +3 "core" %     +2 "manipulator"&>& +4 "core" &-   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(?(C +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &D o p \ +235 #t-> exit +6 #mEXIT @1692196624.05EDT @1692295492.13EDT = =mMAIN_scheduler =tMAIN @EDT1692295493.80 #"core_reset"Sent BREAK + #t@6680 receive with ifg=0x10, ie=0xFD + #@7315 receive with ifg=0x10, ie=0xFD + #@7971 receive with ifg=0x10, ie=0xFD + #@8605 receive with ifg=0x10, ie=0xFD + #@9238 receive with ifg=0x10, ie=0xFD #@9871 receive with ifg=0x10, ie=0xFD + #@10503 receive with ifg=0x10, ie=0xFD #@10829 receive with ifg=0x80, ie=0xFD + #@43898 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +280 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +362 "Can"\ 9*d\\#y' + \ 9*d\\#y' + #tPolling Can every 10:00 +2 #Cleanly exited at 10:37:04EDT16-Aug-23 +499 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +4 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %j \ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڄ\ 4\ 1 s\ I +2 .tSS.configure :default +2 "sampler")#.0X access 5 +8 "storage"(2% +3 "core" % d\ { +2 "manipulator"&3% +4 "core" %    .  +2 "manipulator"&4& +3 "core" &-    +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(5(  +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" & o r \ +2052 #t-> access 6 +2 "storage"(7% +3 "core" % v\  +2 "manipulator"&8% +4 "core" %  _  +2 "manipulator"&9& +4 "core" &- f +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(:( +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" & N\ } +2213 #t-> require 'shuffle.rb' +912 #-> 20.times {shuffle 5..7} +3 #Shuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'<& +3 "core" & \ +2 .tHand.open +2 "manipulator"&=1 +23 "core" 1 +2 "manipulator"&>% +4 "core" %     +2 "storage"(?% +4 "core" % \  + "storage"(@. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(A(<- +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" &<* \ x +2 "manipulator"&C& +4 "core" &- \ T +2 "manipulator"&D% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&E( +171 "core" ( +2 "manipulator"&F& +3 "core" &    ) +2 "storage"(G& +4 "core" &<* \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&H'O +94 "core" ' +3 "storage"(I& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(J'r +301 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &<* k U 0\  +2 "manipulator"&M& +4 "core" &   ) +2 .tElbow.seek 5 +2 "manipulator"&N( +16 "core" ( +2 "manipulator"&O& +4 "core" &    +2 "storage"(P& +3 "core" &<* O\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&Q'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(T' +8 "core" &  +2 "manipulator"&U% +5 "core" % ϯ c +2 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&X& +3 "core" &ӑ#  Z <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &ӑ#   \\ <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +35 "manipulator"&Z'? +101 "core" ' +2 "manipulator"&[& +4 "core" &ӑ#   ' <9 +2 "manipulator"&\\% +4 "core" %A  v / +2 "collection"']& +4 "core" & \ +2 "collection"'^& +5 "core" & \ +3 .tCC.seek :closed + "collection"'_(\\ +6 "core" & \ +6 &; \ %h +10 &Wy \ 8 +9 &v  \ M +9 &S \ O +10 &bQ \ O +9 &$T \ O +9 &S \ O +10 &Q \ O +9 &kS \ O +10 &,R \ O +9 &R  \ O +9 &!R  \ O +10 &#rW \ O +9 &%5R  \ O +9 &&R  \ N +10 &(T \ O +9 &*{R \ \ O +10 &,=R \ O +9 &-Q \ \ O +9 &/U \ O +10 &1R  \ O +9 &3DP \ O +9 &5R  \ O +10 &6R \ O +9 &8R \ O +10 &:MR  \ O +9 &<Q \ O +9 &=P \ O +10 &?R \ O +10 &AST \ O +8 &C[\   \ P +10 &D`\ \ \ Q +9 &Fi\ \ \ \ R +10 &HM\ \ \ T +9 &J\ $\ \ Y +9 &K\ +\ * \ [\ +10 &M{\ %\ & \ }\\ +9 &O=\ %\ $\ |\\ +9 &P\ \ \ {\\ +10 &R\ \ \ |] +9 &T\ \ \ z\\ +10 &VA\ \ \ w^ +9 &X\ \ \ w^ +9 &Y\ \ \ t_ +10 &[\ \ \ sM +9 &\\;\ \ \ + +9 &\\\ \ \ V +6 ( + "collection"'^& +4 "core" &\\~\ \ \ V +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&`1 +58 "core" 1 +3 "manipulator"&a% +4 "core" % A   C / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%c& +3 "core" &#\ k +3 "manipulator"&d% +4 "core" %     + "storage"(e% +4 "core" % m j I\ k +2 "storage"(f. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(g(<- +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +3 "core" &<+\ \  \ W +2 "manipulator"&i& +4 "core" &ӫ   8 +3 "manipulator"&j% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&k( +161 "core" ( +2 "manipulator"&l& +4 "core" &   +2 "storage"(m& +4 "core" &<* O\ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +97 "core" ' + "storage"(o& +4 "core" &<* +\ p +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'r +300 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &<* h l \ i +3 "manipulator"&s& +4 "core" &    + .tElbow.seek 5 +2 "manipulator"&t( +4 "core" ( +2 "manipulator"&u& +4 "core" &     + "storage"(v& +5 "core" &<* f i R\ l +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&w'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(z' +8 "core" & |  + "manipulator"&{% +5 "core" % \ v +2 .tForearm.seek :retract + "manipulator"&|' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&~& +3 "core" &   1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  % 1 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + "manipulator"&& +5 "core" &    1 + "manipulator"&% +5 "core" %    \\ +2 "processing"%& +4 "core" &&\ r +2 "processing"%& +5 "core" & \ s +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ s +6 & + \ l$d +10 &Tv\ ^7 +9 &zw\ ]L +9 &T\ dR +10 &IO\ fR +9 & L\ eQ +10 &P\ eR +9 &O\ fQ +9 &RO\ eQ +10 &U\ eR +10 &O\ fQ +8 &!Q\ eQ +10 &#YP\ eR +9 &%T\ eQ +9 &&T\ eR +10 &(R\ dR +9 &*bO\ dQ +10 &,$R\ eQ +9 &-T\ dR +9 &/S\ eR +10 &1iO\ fR +9 &3+Q\ eR +9 &4O\ fQ +10 &6S\ dR +9 &8rR\ eQ +10 &:5P\ fQ +9 &;U\ eR +9 &=R\ eR +10 &?zR\ eQ +9 &A:U\ dR +9 &BX\ dR +10 &D\\ \ cS +39 &Fzf\ ]T +10 &H7s\ [V + &I \ XW + &K\ WY + &Mw\ WX +4 &O7\ TY +9 &P\ XY +10 &R\ YY +9 &Tz\ WZ +10 &V?\ YX +9 &W\ XY +9 &Y\ XY +10 &[ \ XY +9 &]E\ VO +9 &^}N \ W!g +10 &^)\ i3 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"& 1 +57 "core" 1 +2 "manipulator"& % +4 "core" %  # [ \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 "processing"%& +3 "core" &^" \ h3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %     +2 "storage"(% +4 "core" % _ ` \ g +2 "storage"(. +3 "core" .(<- +2 "storage"(& +4 "core" &<* \\ ^\ g +2 "storage"(& +4 "manipulator"&& +5 "core" &<* ] ] \ f +2 &   0 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&& +6 "core" &   0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   V 0 +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&/ +69 "core" / +5 .tPC.seek :open +4 "processing"%( +77 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +43 "core" ' +322 ( + "storage"(!& +4 "core" &<* t a\ l +2 "manipulator"&"& +3 "core" &    0 +2 "manipulator"&#% +5 "core" % \   ? +2 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&%( +253 "core" ( + "manipulator"&&& +5 "core" &\   # !u + "storage"('& +4 "core" &<* W E M\ g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&('O +105 "core" ' + .tHand.open +2 "manipulator"&)1 +58 "core" 1 +2 "storage"(*- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(-- +2 "core" -' +3 "storage"(.& +3 "core" &<* 9\ " +2 "manipulator"&/& +5 "core" &\   !t +2 .tElbow.seek 5 + "manipulator"&0( +4 "core" ( + "manipulator"&1& +5 "core" &\   !t + "storage"(2& +4 "core" &<* t\ " +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(4'" +50 "core" ' +2 "manipulator"&& +4 "core" &\   !t +2 "storage"(6& +3 "core" &<* J d Q\ j +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&7'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +21 "core" ' +2 "manipulator"&5% +3 "core" %Π   +2 "storage"(;& +4 "core" &<* O @ 6\ d +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&<' +13 "core" ' +2 "manipulator"&=& +3 "core" &\  ( !t +2 "storage"(>& +5 "core" &<* )\ m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +15 "core" ' +2 "storage"(@% +3 "core" % r \ l +3 ."downElevator"SE.seek :down +3 "storage"(:' +99 (B% +3 "core" %$N < ; \ aZs +37 "manipulator"&C% +11 "core" %P   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +91 "core" ' +21 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (F& +3 "core" &<* _ j \ l +2 "collection"'G& +4 "core" &\\{\ \ \ V +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&I% +4 "core" %    2  +2 "storage"(% +3 "core" % \ n +2 "storage"(. +3 "core" .(<- +2 "storage"(K& +5 "core" &<* \ n + "storage"(L& +4 "core" &<* \ n +2 "manipulator"&M& +4 "core" &\   !s +2 .tElbow.seek 5 + "manipulator"&O( +4 "core" ( +2 "manipulator"&P& +4 "core" &\    !s +2 "storage"(R& +4 "core" &<* \ m +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +100 "core" ' +2 "storage"(U& +4 "core" &<* \ p +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +299 "core" ' +3 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" &\ \ " !s +2 "storage"(Y& +4 "core" &<* b h a\ i +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&J'΍ +13 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(['k +30 "core" ' +2 "manipulator"&\\% +4 "core" %Ι   ' +2 "storage"(]& +3 "core" &<* l s r\ j +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&T' +15 "core" ' + "manipulator"&V& +5 "core" &\   W !s + "storage"(\ & +4 "core" &<* \ n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&`'O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(a' +36 "core" ' + "manipulator"&c& +4 "core" &\  !s +2 "manipulator"&d% +4 "core" %B  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +154 "core" ( +2 "manipulator"&^& +3 "core" &ӓ$   \\ =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &h& +2 "core" &ӓ%   =E +3 .tForearm.seek CC + "manipulator"&i'? +97 "core" ' + .tHand.close +2 "manipulator"&j/ +56 "core" / +2 .tCC.seek :open +2 "collection"'Z( +452 "core" ( +2 "storage"(l& +3 "core" &<* \ } +2 "storage"(m& +4 "core" &<* \ | +2 "manipulator"&A& +4 "core" &ӣ"   , ;5 +2 "manipulator"&o% +3 "core" % M   +3 .tForearm.seek :retract + "manipulator"&W' +103 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&b( +163 "core" ( +2 "manipulator"&q& +4 "core" & }  +2 "storage"(r& +4 "core" &<* \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&s'΍ +93 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +54 "core" 1 +2 "manipulator"&x% +3 "core" % ·    +2 "storage"(y& +4 "core" &<* h\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 294 counts +2 "manipulator"&{'ϳ +14 "core" ' +2 "manipulator"&k& +3 "core" &    +2 "storage"(n& +4 "core" &<* \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&p'O +58 "core" ' +2 "storage"(w% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(~' +99 (% +3 "core" %}? b l W\ Xk +2 "manipulator"&t% +5 "core" %= D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&% +4 "core" %    +3 "storage"(z% +4 "core" % \  +2 "storage"(|. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &K \ 9\ ~ +2 "manipulator"& & +5 "core" &     + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &     +2 "storage"(& +5 "core" &K @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +90 "core" ' +2 "storage"(& +3 "core" &K \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K t z \ +3 "manipulator"&& +3 "core" & =  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &K R\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(' +8 "core" & *  + "manipulator"&% +4 "core" % a  +2 .tForearm.seek :retract +2 "manipulator"&!' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&#& +5 "core" &ӎ#   <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ#   <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'? +103 "core" ' +2 "manipulator"&'& +4 "core" &ӏ#   <= +2 "manipulator"&% +4 "core" %=    +2 "collection"')& +4 "core" & \ +3 "collection"'*& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'-(\\ +4 "core" & \ +5 & \ 6 +10 &7Gu \ 1 +9 &aq| \ E +9 &^ \ O +10 &O \ N +9 &T \ N +10 &IP \ O +9 & O \ N +9 &N \ N +10 &Q \ N +9 &QU \ O +9 &!O \ N +10 &"Q \ O +9 &$S \ O +10 &&YT \ O +9 &(S \ O +9 &)O \ N +10 &+N \ N +9 &-aP \ O +9 &/#O \ O +10 &0S \ N +9 &2Q \ N +10 &4iS \ O +9 &6,N \ N +9 &7Q \ O +10 &9Q \ O +9 &;rO \ N +9 &=3R \ O +10 &>S \ O +9 &@T \ N +10 &BwV \ O +9 &D7^\ \ \ P +9 &Ei\ \ \ Q +10 &G\ \ \ T +9 &If\ \ \ X +9 &K\ &\ %\ |[\ +10 &L\ #\ #\ {[ +9 &N\ \ \ {[ +10 &Pb\ \ \ z\\ +9 &R"\ \ \ x] +9 &S\ \ \ w] +10 &U\ \ \ v^ +9 &Wc\ \ \ u^ +9 &Y \ \ \ r` +10 &Z\ \ \ r` +9 &\\Sb\ \ \ w0 +10 &\\\ \ \ }\\ +9 ( + &\\\ \ \ Y +2 "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.22 + .Hand.open + "manipulator"&.1 +63 "core" 1 + "manipulator"&/% +4 "core" % =   '  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%2& +3 "core" &!\ h +2 "manipulator"&$% +5 "core" %     + "storage"(% +4 "core" % i Y \ h +2 "storage"(6. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(5(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &K V h\ [ +39 "manipulator"& & +12 "core" &ӫ   8! + "manipulator"&=% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&>( +160 "core" ( +2 "manipulator"&+& +3 "core" &     +2 "storage"(@& +5 "core" &K 1\ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +100 "core" ' +2 "storage"((& +4 "core" &K s\ q +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +303 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &K | h 4\ m +2 "manipulator"&3& +5 "core" &    + .tElbow.seek 6 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&4& +4 "core" &   +2 "storage"(7& +3 "core" &K \ o +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&<'h +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&G& + "storage"(I' +8 "core" & X  + "manipulator"&% +4 "core" % { \  +3 .tForearm.seek :retract + "manipulator"&9' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&K& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&M' +92 "core" ' + "manipulator"&P& +4 "core" &  ! +2 "manipulator"&R% +4 "core" %    +2 "processing"%U& +4 "core" &\ s +3 "processing"%?& +5 "core" &#\ r +2 .tPC.seek :closed + "processing"%:(^ +5 "core" & \ r +9 &/v\ a+z +9 &a{\ ]? +9 &ap\ ^Q +10 & P\ eQ +9 &Q \ eQ +9 &O \ eQ +10 &iQ \ eP +9 &)P\ eQ +10 &O\ fQ +9 &Q \ fQ +9 & pQ \ fQ +10 &"2P\ eQ +9 &#U\ dQ +9 &%P\ fQ +10 &'wR\ eQ +9 &)9P\ eQ +10 &*R\ eQ +9 &,R\ eQ +9 &.O\ fQ +10 &0AP\ fQ +9 &2O\ fP +9 &3O\ fQ +10 &5M\ fQ +9 &7JO\ eQ +10 &9 R\ eQ +9 &:Q\ dQ +9 &<Q\ eQ +10 &>QS\ eQ +9 &@S\ eQ +9 &AS\ eR +10 &C\\\ bR +9 &ET`\ bS +10 &Gk\ `T +9 &Hw\ ]V +9 &J\ YX +10 &LO\ ZW +9 &N\ XX +9 &O\ ZX +10 &Q\ XX +9 &SS\ XY +10 &U\ XY +9 &V\ XY +9 &X\ XY +10 &ZX\ WZ +9 &\\\ WY +9 &]\ [8 +10 &^-e\ `Y +9 &^+\ i6 +2 ( +2 "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&81 +58 "core" 1 + "manipulator"&D% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +2 "processing"%X& +4 "core" &^(\ e6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&Y% +4 "core" %    [  +2 "storage"(N% +3 "core" % Y N R\ d +2 "storage"(\\. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(](K +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +4 "core" &K\ \  \ _ +2 "manipulator"&\ & +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +3 "core" &   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(c'r + "manipulator"&d( +28 "core" ( +2 "manipulator"&S& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" & \   +2 .tForearm.seek PC +2 "manipulator"&E' +96 "core" ' +2 .tHand.close + "manipulator"&J/ +74 "core" / +2 .tPC.seek :open + "processing"%T( +51 "core" ' + "storage"([- +3 "core" -'r +38 ."raiseStack"SE.configure :default +11 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'1 +52 "core" ' +298 ( +2 "storage"(h& +4 "core" &K ;\ p +2 "manipulator"&`& +3 "core" &     +2 "manipulator"&Q% +5 "core" %     +2 .tForearm.seek :retract +2 "manipulator"&j' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&e( +247 "core" ( +2 "manipulator"&_& +3 "core" &   = +3 "storage"(l& +4 "core" &K \ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +95 "core" ' +2 .tHand.open + "manipulator"&A1 +53 "core" 1 +2 "storage"(o- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(r' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(i- +3 "core" -' +2 "storage"(f& +3 "core" &K y \  +2 "manipulator"&v& +4 "core" & 8 = +2 .tElbow.seek 6 +2 "manipulator"&x( +4 "core" ( + "manipulator"&y& +4 "core" &  t = +2 "storage"(k& +3 "core" &K \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(w'" +60 "core" ' +2 "manipulator"&W& +3 "core" &    = +2 "storage"(& +4 "core" &K E H \ h +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&t'< +23 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +25 "core" ' + "manipulator"&{% +5 "core" %F   + "storage"(& +4 "core" &K 9 3 8\ d +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&'r +14 "core" ' +2 "manipulator"&z& +3 "core" &   = +3 "storage"(|& +3 "core" &K \ m +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +15 "core" ' +2 "storage"(p% +3 "core" % I\ n +3 ."downElevator"SE.seek :down +4 "storage"(~' +99 (g% +3 "core" %G 0 -\ a[u +2 "manipulator"& % +4 "core" %    +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" &K [ ^ 0\ k +3 "collection"'& +3 "core" &\\\ \ \ Y +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %    +2 "storage"(u% +3 "core" % \ n +2 "storage"(. +3 "core" .(K +2 "storage"(& +5 "core" &K \ n + "storage"(& +4 "core" &K \ n +2 "manipulator"&& +4 "core" &   < +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   < +2 "storage"(}& +4 "core" &K \ n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +97 "core" ' +2 "storage"(& +3 "core" &K 3\ p +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" &   - < +3 "storage"(& +4 "core" &K J d ;\ i + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +38 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('l +30 "core" ' + "manipulator"&)% +4 "core" %P   . +2 "storage"(& +3 "core" &K k j \ j +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&'| +16 "core" ' + "manipulator"&!& +5 "core" &   F < + "storage"(Z& +5 "core" &K \ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&.' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(/' +45 "core" ' +2 "manipulator"&2& +3 "core" &   N < +2 "manipulator"&$% +4 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&6(ӂ +151 "core" ( +2 "manipulator"&*& +3 "core" &ӆ(   g @Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &ӆ(   b @Z +3 .tForearm.seek CC + "manipulator"& '? +97 "core" ' + .tHand.close +2 "manipulator"&=/ +63 "core" / + .tCC.seek :open +2 "collection"'&( +452 "core" ( +2 "storage"(+& +4 "core" &K z\ } + "storage"(@& +5 "core" &K \ N\ } + "manipulator"& & +4 "core" &Ӳ!  Z :. +2 "manipulator"&(% +3 "core" % 8  A +3 .tForearm.seek :retract + "manipulator"&"' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&1( +156 "core" ( + "manipulator"&B& +4 "core" & \  , +2 "storage"(C& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&3'< +94 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +57 "core" 1 +2 "manipulator"&F% +3 "core" % F  \ o  +2 "storage"(G& +4 "core" &K W\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 310 counts + "manipulator"&'r +13 "core" ' +3 "manipulator"&>& +3 "core" & = +2 "storage"(%& +4 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +17 "core" ' +2 "storage"(<% +4 "core" % S\ +2 ."downElevator"SE.seek :down +3 "storage"(K' +100 (L% +2 "core" %g? p t 4\ Ym +3 "manipulator"&0% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +91 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'R& +3 "core" & \ +2 "manipulator"&U% +4 "core" %    +2 "storage"(I% +4 "core" % \  +2 "storage"(9. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &[ b\ { +3 "manipulator"&D& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&X(r +16 "core" ( +2 "manipulator"&Y& +3 "core" &q  g  +2 "storage"(N& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&\\'= +94 "core" ' +2 "storage"(?& +4 "core" &[ ^\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'r +296 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +40 "core" &[ (\  +10 "manipulator"&O& +4 "core" &q N  +2 .tElbow.seek 7 + "manipulator"&M(r +4 "core" ( +2 "manipulator"&J& +3 "core" &q 5  +3 "storage"(5& +3 "core" &[ \  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&['ϧ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +3 "storage"(:' +8 "core" &q  + "manipulator"&c% +5 "core" % Ϥ B +2 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&`(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&Q& +3 "core" &Ӆ   ( 3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &Ӆ    3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&_'? +92 "core" ' +3 "manipulator"&l& +3 "core" &Ӆ   3 +3 "manipulator"&d% +4 "core" %G   B +2 "collection"'A& +4 "core" & \ +2 "collection"'o& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'i(\\ +4 "core" & \  +9 &1v \ *x +10 &b{ \ > +9 &lm \ N +9 &.L \ N +10 &P \ N +9 &Q $\ N +9 &tP )\ N +10 &7O !\ N +9 &R +\ N +10 &P 1\ N +9 & }Q ,\ N +9 &"@O -\ M +10 &$Q +\ N +9 &%Q '\ N +10 &'P (\ N +9 &)GO (\ N +9 &+ Q &\ N +10 &,P (\ N +9 &.O $\ N +9 &0NO '\ N +10 &2O '\ N +9 &3Q \ N +9 &5Q "\ N +10 &7VQ  \ N +9 &9Q \ N +10 &:Q \ N +9 &<Q \ N +9 &>^T \ N +10 &@ Q \ N +9 &AS \ N +9 &CV\ \ O +10 &Ea`\ \ \ P +9 &Gk\ \ \ \ Q +10 &H\ \ \ U +9 &J\ $\ "\ Y +9 &LI\ &\ '\ [ +10 &N \ "\ $\ [ +9 &O\ \ !\ \\ +9 &Q\ \  \ \\ +10 &SM\ \ \ }\\ +9 &U \ \ \ \ {] +10 &V\ \  \ y^ +9 &X\ \ \ y^ +9 &ZJ\ \  \ v` +10 &[{\ \ \ B +9 &\\+\ \  \ |)y +9 &\\n\ \  \ T +3 ( + "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&f1 +58 "core" 1 +2 "manipulator"&v% +3 "core" % G   B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%k& +3 "core" &\ m +2 "manipulator"&j% +5 "core" %   + "storage"(W% +4 "core" % \ n +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"({([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +3 "core" &[ = ; \ _ +2 "manipulator"&& +3 "core" &ӈ   3 +2 "manipulator"&z% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&q(r +162 "core" ( +2 "manipulator"&|& +4 "core" &q   #  +2 "storage"(p& +3 "core" &[ o\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&e'= +93 "core" ' +2 "storage"(m& +3 "core" &[ \ w +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +295 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &[ m l V\ l +2 "manipulator"&n& +4 "core" &q    +2 .tElbow.seek 7 +2 "manipulator"&x(r +3 "core" ( +2 "manipulator"&w& +3 "core" &q    +2 "storage"(t& +4 "core" &[ \ p +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" &q  >  + "manipulator"&u% +5 "core" % ϴ L +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&s( +163 "core" ' +9 ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&& +3 "core" &   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' +2 "manipulator"&& +3 "core" & \ +2 "manipulator"&}% +5 "core" % } +2 "processing"%a& +3 "core" &\ w +3 "processing"%& +5 "core" &\ v +3 .tPC.seek :closed + "processing"%~(^ +5 "core" &\ w +6 &4\ p$c +10 &Tx\ c7 +9 &zx\ aL +10 &T\ hR +9 &JO\ jQ +9 & N\ iQ +10 &R\ iQ +9 &N\ jQ +9 &TN\ jP +10 &P\ hQ +9 &O\ jQ +10 &!O\ jQ +9 &#[S\ jQ +9 &%P\ jP +10 &&O\ jQ +9 &(R\ iQ +9 &*cN\ jQ +10 &,&P\ iP +9 &-O\ iQ +10 &/T\ iQ +9 &1kJ\ jQ +9 &3-L\ kQ +10 &4L\ jP +9 &6N\ iQ +9 &8sN\ jQ +10 &:5N\ iQ +9 &;P\ iQ +10 &=O\ iP +9 &?yQ\ iQ +9 &A:R\ iR +10 &B[\ gR +9 &D\\\ gR +9 &Fyi\ eT +10 &H6v\ aV +9 &I\ ]X +9 &K\ _X +10 &Mv\ ]X +9 &O7\ ^X +10 &P\ \\X +9 &R\ ]X +9 &Tz\ \\Y +10 &V>\ \\X +9 &X\ [X +10 &Y\ \\Y +9 &[\ [Y +9 &]D\ ZO +10 &^{K\ ^] +9 &^ P\ h4 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&b1 +4 "core" &^&\ l4 +49 1 +2 "manipulator"& % +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%#& +5 "core" &^&\ g4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %   ~  +2 "storage"('% +3 "core" % ] ^ \ f +2 "storage"(). +3 "core" .([ +2 "storage"(& +3 "core" &[ ^ _ \ f +3 "storage"(!& +2 "manipulator"&Z& +7 "core" &[ \\ ]\ g +2 &   0 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +5 .tElbow.seek PC + "manipulator"&2( +3 ."raiseStack"SE.seek :beamBreak +4 "storage"($'r +2 "core" ( +3 "manipulator"& & +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   +3 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + .tHand.close +2 "manipulator"&/ +76 "core" / +2 .tPC.seek :open +2 "processing"%( +69 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'1 +44 "core" ' +329 ( +2 "storage"(;& +3 "core" &[ [\ o +2 "manipulator"&.& +4 "core" &  % +2 "manipulator"&% +4 "core" %   a +2 .tForearm.seek :retract +2 "manipulator"&=' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +241 "core" ( + "manipulator"&-& +4 "core" &{  a +2 "storage"(+& +4 "core" &[ l m \ k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&@'= +94 "core" ' +2 .tHand.open + "manipulator"& 1 +62 "core" 1 +3 "storage"((- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(B' +66 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(C' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(6& +4 "core" &[ +\  +2 "manipulator"&7& +4 "core" &{   a +2 .tElbow.seek 7 + "manipulator"&F(r +4 "core" ( +2 "manipulator"&G& +3 "core" &{   a +2 "storage"(>& +4 "core" &[ \  +3 .tForearm.seek 7 + 450 counts + "manipulator"&%'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +50 "core" ' +9 "manipulator"&"& +5 "core" &{   = a + "storage"(L& +5 "core" &[ _ \\ r\ l + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&0'{ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(3' +27 "core" ' + "manipulator"&% +4 "core" %Ώ 9 0 ) +2 "storage"(R& +5 "core" &[ 7 , )\ ] + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&U'ϻ +13 "core" ' +3 "manipulator"&I& +4 "core" &|  ` +2 "storage"(9& +4 "core" &[ \ o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&/'= +15 "core" ' +2 "storage"(,% +4 "core" % \ p +2 ."downElevator"SE.seek :down +4 "storage"(K' +99 (]% +3 "core" %H Y C \ d[t +2 "manipulator"&8% +4 "core" %8    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Y& +3 "core" &[ i } M\ m +2 "collection"'N& +4 "core" &\\m\ \ \ T +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&?% +4 "core" %      +2 "storage"(4% +3 "core" % q\ p +2 "storage"(P. +3 "core" .([ +2 "storage"(\ & +4 "core" &[ ~ :\ o +2 "storage"(S& +3 "core" &[  {\ p +2 "manipulator"&O& +4 "core" &} \  _ +2 .tElbow.seek 7 + "manipulator"&J(r +14 "core" ( +2 "manipulator"&5& +3 "core" &}   U  +2 "storage"(& +4 "core" &[ R\ r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&H'= +96 "core" ' +2 "storage"(c& +4 "core" &[ 0\ u +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +308 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &}   +2 "storage"(E& +4 "core" &[ J\ s +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&V'{ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(d'p +28 "core" ' +2 "manipulator"&M% +4 "core" %Ύ   T J +2 "storage"(A& +3 "core" &[ \\ ] \ g +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&:'Ϻ +14 "core" ' +2 "manipulator"&h& +4 "core" &}   +2 "storage"(&& +3 "core" &[ w\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&f'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(v' +45 "core" ' +2 "manipulator"&k& +3 "core" &}   2  +3 "manipulator"&j% +4 "core" %7  \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +163 "core" ( +3 "manipulator"&o& +3 "core" &Ӊ   g 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &Ӊ   6 +3 .tForearm.seek CC + "manipulator"&'? +104 "core" ' + .tHand.close +2 "manipulator"&z/ +59 "core" / +2 .tCC.seek :open +2 "collection"'_( +452 "core" ( +2 "storage"(|& +4 "core" &[\ \  g\ } + "storage"(p& +4 "core" &[ \  .\ | +2 "manipulator"&& +4 "core" &ӝ   3 +2 "manipulator"&m% +3 "core" % %   +3 .tForearm.seek :retract + "manipulator"&`' +150 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&y(r +162 "core" ( +2 "manipulator"&g& +3 "core" &s    +2 "storage"( & +5 "core" &[ w\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&n'{ +99 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&t1 +52 "core" 1 +2 "manipulator"&% +4 "core" % ΍    +2 "storage"(& +3 "core" &[ a ` T\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&u'Ϲ +14 "core" ' +2 "manipulator"&q& +3 "core" &s  +3 "storage"(e& +4 "core" &[ !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&r'= +16 "core" ' +2 "storage"(% +4 "core" % ]\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +2 "core" %k? _ y \ Yl +3 "manipulator"&x% +4 "core" %; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'}& +3 "core" & \ +2 "manipulator"&a% +5 "core" %     +2 "storage"(% +3 "core" % \  +2 "storage"(. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(T(<- +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" &<0 o k \ +2 "manipulator"& & +3 "core" &s  ?  +2 .tElbow.seek 5 +2 "manipulator"&#( +24 "core" ( +2 "manipulator"&& +3 "core" &     +2 "storage"('& +3 "core" &<0 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +96 "core" ' + "storage"(& +5 "core" &<0 \\\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +301 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<. o z 1\ +2 "manipulator"& & +3 "core" &   +3 .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&& +3 "core" &  H  +2 "storage"(& +4 "core" &<. I\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(~' +8 "core" &   +2 "manipulator"&$% +4 "core" % Ϸ  +2 .tForearm.seek :retract +2 "manipulator"&;' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" &ӌ& \ x ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӌ&   ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&-'? +95 "core" ' +3 "manipulator"&+& +4 "core" &ӏ%   >O +2 "manipulator"&2% +4 "core" %3   ` +2 "collection"' & +3 "core" & \ +3 "collection"'(& +5 "core" & 1\ +3 .tCC.seek :closed + "collection"' (\\ +5 "core" & \ +6 & +\ 5 +10 &9Gr \ 0 +9 &apz \ E +9 &X ,\ N +10 &O /\ N +9 &O -\ N +9 &JP \ N +10 & M \ N +9 &M -\ N +10 &O +\ M +9 &RQ %\ N +9 &!N $\ N +10 &"O *\ N +9 &$S #\ N +9 &&[P (\ M +10 &(Q  \ N +44 &)L  \ N +10 &+N \ N +2 &-aR \ N + &/#O  \ N + &0O \ N + &2O \ N +6 &4jO \ N +10 &6,P \ N +9 &7O '\ N +9 &9O $\ M +10 &;rO "\ N +9 &=5O %\ M +10 &>P #\ N +9 &@P '\ N +9 &ByT $\ N +10 &D8Y $\ O +9 &Eh\ \ \ Q +10 &Gn\ \ \ &\ R +9 &Ik\ \ !\ V +9 &K!\ '\ $'\ Z +10 &L\ $\ $$\ Z +9 &N\ \ "$\ ~[ +9 &Pa\ \ $\ ~\\ +10 &R#\ \ '\ }\\ +9 &S\ \ '\ |\\ +10 &U\ \ '\ z] +9 &Wc\ \ (\ x^ +9 &Y!\ \ $\ v_ +10 &Z\ \ '\ t` +9 &\\Q]\ \ '\ / +9 &\\\ \ (\ V +10 ( + &\\s\ \ '\ R +2 "collection"'(& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&=1 +58 "core" 1 +2 "manipulator"&6% +4 "core" % 3   H ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%G& +3 "core" &\ j +2 "manipulator"&>% +4 "core" %     +2 "storage"("% +3 "core" % _ i \ k +3 "storage"(L. +2 "core" .(<0 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(*(<- +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<. P Q J\ f +3 "manipulator"&R& +3 "core" &Ӯ   :0 +2 "manipulator"&B% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&I( +162 "core" ( +2 "manipulator"&9& +4 "core" &   +2 "storage"(,& +3 "core" &<. '\ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(@& +4 "core" &<. j\ w +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'r +298 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +7 (8& +8 "core" &<. u\ u +4 "manipulator"&%& +4 "core" & \ '  +2 .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&<& +4 "core" &  _  + "storage"(0& +5 "core" &<. \ u +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Y'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& +2 "storage"(?' +9 "core" & \   + "manipulator"&4% +4 "core" % Ͽ    +3 .tForearm.seek :retract + "manipulator"&P' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&3( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&\ & +5 "core" &   5 : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &    : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&O' +100 "core" ' +2 "manipulator"&5& +4 "core" &   f : +2 "manipulator"&% +4 "core" %  H +2 "processing"%/& +5 "core" &\ p +2 "processing"%c& +5 "core" &\ q +2 .tPC.seek :closed +2 "processing"%K(^ +4 "core" &\ q +7 & -\ k$c +9 &Uv\ ]8 +9 &|r\ \\L +10 &N\ dQ +9 &TN\ eQ +10 &J\ eP +9 &N\ dQ +9 &N\ dQ +10 &\\L\ dQ +9 &N\ dP +9 &O\ dQ +10 &!N\ eQ +9 &#cQ\ dQ +10 &%&O\ eQ +9 &&Q\ dQ +9 &(O\ dQ +10 &*lN\ dQ +9 &,-N\ dQ +9 &-N\ dQ +10 &/O\ cQ +9 &1tO\ dQ +10 &36P\ cQ +9 &4O\ dP +9 &6M\ eQ +10 &8|Q\ dQ +9 &:>L\ eQ +9 &<O\ dQ +10 &=N\ dP +9 &?O\ cQ +10 &ADP\ dQ +9 &CU\ cR +10 &DZ\ bR +9 &Fd\ `T +9 &HAq\ ]U +9 &I\ ZW +10 &K\ YX +9 &M\ YX +10 &OA\ XX +9 &Q\ WY +9 &R\ WY +10 &T\ UZ +9 &VG\ XY +9 &X \ VY +10 &Y\ UY +9 &[\ WY +10 &]M\ UL +9 &^|J\ Y^ +9 &^W\ a7 +6 ( + "processing"%c& +4 "core" &^.\ f7 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&11 +64 "core" 1 +2 "manipulator"&D% +4 "core" %    R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +93 "core" ' +41 "processing"%Q& +12 "core" &^.\ e7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&E% +5 "core" %   *  +2 "storage"(l% +4 "core" % \\ [\ e + "storage"(M. +4 "core" .(<- + "storage"(A& +5 "core" &<. \\ \\\ f +2 "storage"(h& +2 "manipulator"&&& +8 "core" &<. ] \\\ e + & # : +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&k( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'r +2 "core" ( + "manipulator"&H& +6 "core" &   : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +2 "core" &   : +3 .tForearm.seek PC + "manipulator"&X' +94 "core" ' +2 .tHand.close +2 "manipulator"&V/ +68 "core" / +2 .tPC.seek :open +2 "processing"%:( +84 "core" ' +2 "storage"(d- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'1 +46 "core" ' +312 ( +2 "storage"(^& +3 "core" &<+ t \ l +2 "manipulator"&f& +5 "core" &    : + "manipulator"&[% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&z' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&W( +259 "core" ( +2 "manipulator"&i& +3 "core" &   a  +2 "storage"(|& +4 "core" &<+ _ i z\ l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +90 "core" ' +2 .tHand.open + "manipulator"&1 +56 "core" 1 +3 "storage"(m- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(g' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +3 "storage"(& +3 "core" &<+ L\  +7 "manipulator"&t& +4 "core" & #  +2 .tElbow.seek 5 +2 "manipulator"&( +10 "core" ( + "manipulator"&& +5 "core" &   } + "storage"(q& +4 "core" &<+ /\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +59 "core" ' + "manipulator"&`& +4 "core" &   ( } +2 "storage"(& +3 "core" &<+ b\ p +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&x'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(n' +23 "core" ' + "manipulator"&}% +4 "core" %Ό    +2 "storage"(u& +4 "core" &<+ l \ l +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 299 counts + "manipulator"&a'ϸ +14 "core" ' +2 "manipulator"&& +3 "core" &  } +3 "storage"(& +4 "core" &<+ 2\ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +15 "core" ' +2 "storage"(r% +3 "core" % \ r +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ({% +3 "core" %D H G \ hZr +2 "manipulator"&b% +4 "core" %G  x +41 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +16 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<+ s \ p +3 "collection"''& +3 "core" &\\s\ \ (\ R +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %      +2 "storage"(w% +3 "core" % p\ r +3 "storage"(. +3 "core" .(<- +2 "storage"(!& +3 "core" &<+ \ s +3 "storage"(& +4 "core" &<+ k\ r +2 "manipulator"& & +4 "core" &    } +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   } +2 "storage"(s& +5 "core" &<+ \ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +107 "core" ' + "storage"($& +5 "core" &<+ B\ x +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'r +300 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  E } +3 "storage"(& +4 "core" &<+ \ u + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&Z'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(2'k +34 "core" ' + "manipulator"& % +5 "core" %Κ \  + "storage"(& +3 "core" &<+ ~ \ m +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&~' +14 "core" ' +2 "manipulator"&;& +3 "core" &  Z } +3 "storage"(_& +3 "core" &<+ \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(6' +48 "core" ' + "manipulator"&G& +4 "core" &  } +2 "manipulator"&>% +4 "core" %G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +167 "core" ( +2 "manipulator"&(& +3 "core" &ӊ   8 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӊ  % E 6 +3 .tForearm.seek CC + "manipulator"&R'? +106 "core" ' + .tHand.close +2 "manipulator"&B/ +53 "core" / +2 .tCC.seek :open + "collection"'-( +452 "core" ( +2 "storage"(9& +3 "core" &<+ ^ C\ ~ +2 "storage"(,& +5 "core" &<+ \ \ | + "manipulator"&T& +4 "core" &ӟ   3 +2 "manipulator"&@% +4 "core" % !  +2 .tForearm.seek :retract +2 "manipulator"&.' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&7( +163 "core" ( +2 "manipulator"&]& +3 "core" &     +3 "storage"(8& +4 "core" &<+ P\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&%'΍ +101 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&01 +52 "core" 1 +2 "manipulator"&U% +5 "core" % Η   ) + "storage"(N& +4 "core" &<+ o e\ +2 .tForearm.force -20 +45 "manipulator"&5 +8 .tForearm.seek 5 + 310 counts + "manipulator"&4' +14 "core" ' + "manipulator"&I& +4 "core" & l  +2 "storage"(& +3 "core" &<+ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&C'O +15 "core" ' +2 "storage"(Y% +4 "core" % H\ +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +100 (S% +3 "core" %r? b a S\ Yl +2 "manipulator"&F% +4 "core" %G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" & ,\ +2 "manipulator"&/% +4 "core" %  \ M  +2 "storage"(?% +4 "core" % \  +2 "storage"(P. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +356 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" &K f\ w +2 "manipulator"&D& +4 "core" &  \   +2 .tElbow.seek 6 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&c& +5 "core" &   + "storage"(E& +4 "core" &K 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&l' +95 "core" ' + "storage"(M& +4 "core" &K \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +298 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &K e m \  +2 "manipulator"&H& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&J( +3 "core" ( +2 "manipulator"&O& +4 "core" &   +2 "storage"(V& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&d'h +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(K' +5 "core" &   +4 "manipulator"&j% +4 "core" % j +2 .tForearm.seek :retract + "manipulator"&^' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&[& +5 "core" &ӌ%   >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &ӌ%   >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&i'? +100 "core" ' +2 "manipulator"&|& +3 "core" &ӌ%   >M +2 "manipulator"&k% +5 "core" %B     +2 "collection"'& +4 "core" & \ +2 "collection"'m& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"' (\\ +5 "core" & \ +7 &3 \ $d +9 &Ts \ 7 +9 &s \ L +10 &Q  \ N +9 &\\O $\ M +9 &O \ N +10 &Q  \ N +9 &Q &\ N +10 &cQ +\ N +9 &%M ,\ N +9 &L +\ N +10 &!L +\ N +9 &#lN '\ M +9 &%.N "\ M +10 &&N .\ M +9 &(O &\ N +10 &*sQ !\ N +9 &,4Q )\ N +9 &-N !\ N +10 &/R \ N +9 &1{N \ N +9 &3=N '\ N +10 &4M \ N +9 &6O  \ N +10 &8R "\ N +9 &:EO &\ N +9 &<Q $\ N +10 &=N #\ N +9 &?O %\ N +9 &AMP '\ N +10 &C V %\ O +9 &D`\ $\ P +10 &Fh\ \ &\ Q +9 &H@\ \ '\ U +9 &I\ &\ (\ Y +10 &K\ &\ $"\ {[ +9 &Ms\ \ "(\ |[ +9 &O5\ \ '\ {[ +10 &P\ \ $\ z] +9 &R\ \ '\ z\\ +10 &Tv\ \ #\ x] +9 &V4\ \ #\ v^ +9 &W\ \ '\ t_ +10 &Y\ \ )\ r` +9 &[u\ \ &\ qM +9 &\\;\ \ #\ ~1 +10 &\\\ \ &\ X +5 ( +2 "collection"'m& +4 "core" &\\~\ \ &\ X +48 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 +4 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&t% +5 "core" % B    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%q& +4 "core" & \ k +2 "manipulator"&z% +4 "core" %    +2 "storage"(`% +3 "core" % i k \ k +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(o(K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (}& +3 "core" &K\ \  5\ X +2 "manipulator"&u& +5 "core" &ӭ   :, + "manipulator"&% +58 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" &   Z  +2 "storage"(r& +3 "core" &K \ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +92 "core" ' +2 "storage"(p& +5 "core" &K 5\ t +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +296 "core" ' + "storage"({- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" &K i l v\ j +2 "manipulator"&e& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   m  +2 "storage"(x& +5 "core" &K \ n +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&'& + "storage"(' +8 "core" &     +2 "manipulator"&w% +4 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&n' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&!& +3 "core" &   ' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +103 "core" ' + "manipulator"&& +4 "core" & \  % +2 "manipulator"&s% +5 "core" %   $ + "processing"%$& +5 "core" &\ p +2 "processing"%v& +5 "core" &\ p +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ p +6 &5\ h$d +9 &Tx\ [8 +10 &|r\ [L +9 &L\ cQ +9 &SK\ cP +10 &J\ dP +9 &Q\ cQ +9 &M\ cP +10 &ZL\ cQ +9 &O\ cP +10 &N\ cQ +9 &!L\ dQ +9 &#cM\ dP +10 &%$N\ cQ +9 &&L\ cQ +9 &(N\ cQ +10 &*iP\ bQ +9 &,,N\ cQ +10 &-O\ bQ +9 &/N\ cQ +9 &1rL\ cQ +10 &35L\ cP +9 &4O\ bQ +9 &6O\ cQ +10 &8zQ\ cQ +9 &:<J\ dQ +10 &;N\ cQ +9 &=P\ bQ +9 &?O\ bQ +10 &ADO\ bQ +9 &CW\ aR +10 &DW\ aS +9 &Fb\ _S +9 &H?q\ [U +10 &I\ XW +9 &K\ XW +9 &M}\ WX +10 &O>\ VX +9 &P\ VY +9 &R\ VY +10 &T\ TY +9 &VF\ WX +10 &X\ UY +9 &Y\ UY +9 &[\ VY +10 &]K\ SL +9 &^{J\ W^ +9 &^O\ a3 +6 ( + "processing"%v& +4 "core" &^%\ d3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&y1 +57 "core" 1 +2 "manipulator"& % +3 "core" %  $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +94 "core" ' +2 "processing"%& +4 "core" &^%\ f3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %    S  +2 "storage"(+% +4 "core" % Y [ \ e +47 "storage"( . +5 "core" .(K +2 "storage"(& +4 "core" &K Y P K\ f +2 "storage"(;& +2 "manipulator"&_& +8 "core" &K X O T\ e + &   _ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&G( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(>'r +2 "core" ( +3 "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &     +2 .tForearm.seek PC +2 "manipulator"&#' +93 "core" ' +2 .tHand.close + "manipulator"&Z/ +68 "core" / +2 .tPC.seek :open + "processing"%~( +88 "core" ' +2 "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('1 +42 "core" ' +312 ( +2 "storage"(& +3 "core" &K i ` ,\ j +2 "manipulator"&=& +5 "core" &     + "manipulator"&% +5 "core" % \   0 +2 .tForearm.seek :retract + "manipulator"&B' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&"( +252 "core" ( +2 "manipulator"& & +3 "core" &   / +2 "storage"(9& +5 "core" &K ] ] D\ g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +106 "core" ' +2 .tHand.open + "manipulator"&T1 +61 "core" 1 +2 "storage"(@- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(8' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(R- +3 "core" -' +2 "storage"(L& +3 "core" &K ;\  +3 "manipulator"&0& +4 "core" &  ` +2 .tElbow.seek 6 + "manipulator"&U( +4 "core" ( +2 "manipulator"&N& +3 "core" &  9 +2 "storage"(I& +5 "core" &K \  +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +49 "core" ' +2 "manipulator"&.& +4 "core" & \  +2 "storage"(S& +3 "core" &K I K D\ h +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&F'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(%' +19 "core" ' +2 "manipulator"&% +4 "core" %E   y +2 "storage"(4& +3 "core" &K j j \ j +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 309 counts +2 "manipulator"&/'q +14 "core" ' +2 "manipulator"&?& +3 "core" & 8 +2 "storage"(P& +5 "core" &K #\ m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +15 "core" ' +2 "storage"(C% +3 "core" % \ n +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +98 (*% +3 "core" %I F 8 k\ a[u +2 "manipulator"&1% +4 "core" %   1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +91 "core" ' +61 ' +2 ."downElevator"SE.stop +47 "storage"(5 +4 (c& +4 "core" &K l \ o +2 "collection"'E& +4 "core" &\\~\ \ '\ X +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&M% +4 "core" %      +2 "storage"(<% +3 "core" % \ r +3 "storage"(5. +3 "core" .(K +2 "storage"(&& +3 "core" &K \ q +2 "storage"(h& +5 "core" &K \ r + "manipulator"&H& +5 "core" &    + .tElbow.seek 6 +2 "manipulator"&O( +4 "core" ( +2 "manipulator"&V& +4 "core" &  " + "storage"(3& +5 "core" &K G\ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +92 "core" ' +2 "storage"(j& +4 "core" &K \ s +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Q'r +294 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" &  \ +3 "storage"(X& +4 "core" &K j j 9\ j + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&A'< +21 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(k'l +30 "core" ' + "manipulator"&% +5 "core" %F ( + "storage"(J& +4 "core" &K k j c\ j +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 310 counts +2 "manipulator"&K'r +14 "core" ' +2 "manipulator"&^& +4 "core" &   X +2 "storage"(-& +3 "core" &K \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(t' +43 "core" ' + "manipulator"&m& +4 "core" & 1 +2 "manipulator"&q% +4 "core" % 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&`(ӂ +156 "core" ( +2 "manipulator"&& +3 "core" &ӌ&   [ ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +3 "core" &ӌ&   ?S +2 .tForearm.seek CC +2 "manipulator"&u'? +91 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'i( +452 "core" ( + "storage"(& +4 "core" &K k \  +2 "storage"(r& +4 "core" &K \ y\  +2 "manipulator"&& +4 "core" &Ӱ E :/ + "manipulator"&p% +5 "core" % J  - +2 .tForearm.seek :retract + "manipulator"&f' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&{& +3 "core" &  `  +2 "storage"(b& +4 "core" &K 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&e'< +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&x1 +56 "core" 1 +2 "manipulator"&% +3 "core" % L  \  +2 "storage"('& +5 "core" &K J\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&w'x +16 "core" ' + "manipulator"&& +4 "core" &  +41 "storage"(W& +12 "core" &K g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +17 "core" ' +2 "storage"(a% +3 "core" % u\ +3 ."downElevator"SE.seek :down +3 "storage"(!' +100 (% +3 "core" %`? W e ?\ Zm +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'s& +3 "core" & +\ +2 "manipulator"&$% +5 "core" %  Z  + "storage"(% +4 "core" % c\  +2 "storage"(n. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(:([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +2 "core" &[ `\ z +3 "manipulator"& & +4 "core" &  i  +2 .tElbow.seek 7 + "manipulator"&(r +14 "core" ( +2 "manipulator"&& +4 "core" &n   e  +2 "storage"(+& +3 "core" &[ z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& '= +104 "core" ' +2 "storage"(v& +3 "core" &[ N\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (;& +7 "core" &[ \  +3 "manipulator"&& +4 "core" &n 0  + .tElbow.seek 7 +8 "manipulator"&(r +4 "core" ( +2 "manipulator"& & +3 "core" &n )  +2 "storage"(Z& +5 "core" &[ 0\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&2'ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&)& +3 "storage"(' +8 "core" &n \   + "manipulator"&>% +5 "core" % ϛ  8 +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&& +5 "core" &ӝ   I 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &ӝ    6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +92 "core" ' +2 "manipulator"&9& +4 "core" &ӝ   + 6 +2 "manipulator"&G% +3 "core" %D   W 4 +3 "collection"'T& +3 "core" & \ +3 "collection"'@& +5 "core" & \ +3 .tCC.seek :closed + "collection"'R(\\ +4 "core" & \ +8 &1 /\ $c +9 &Vs \ 7 +9 &~q K\ K +10 &Q \ N +9 &]L \ M +9 &Q +\ M +10 &Q +\ N +9 &O '\ M +10 &dM -\ M +9 &%M \ N +9 &O +\ M +10 &!O &\ M +9 &#kO &\ N +9 &%-O "\ N +10 &&O \ N +9 &(Q \ M +10 &*tQ \ M +9 &,6Q \ M +9 &-Q \ M +10 &/M \ M +9 &1{N \ N +9 &3=O  \ N +10 &5M \ M +9 &6N %\ N +10 &8R $\ M +9 &:ER $\ N +9 &<O \ M +10 &=N \ M +9 &?M \ N +9 &AMQ &\ N +10 &CR \ N +9 &DZ\  \ O +10 &Ff\ \ "\ P +9 &HF}\ \ \ S +9 &I\ \ \ W +10 &K\ #\ &\ Z +9 &Mr\ $\ " \ }\\ +9 &O5\ \  \ ~[ +10 &P\ \ \ ~[ +9 &R\ \ \ y] +10 &Tt\ \ \ y^ +9 &V7\ \ \ y] +9 &W\ \ \ w_ +10 &Y\ \ \ v_ +9 &[v\ \ \ uM +9 &\\:\ \ \ 1 +10 &\\\ \ \ Z +5 ( +2 "collection"'@& +4 "core" &\\|\ \ \ Z +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 + .Hand.open +2 "manipulator"&L1 +56 "core" 1 +2 "manipulator"&0% +3 "core" % D  $ 4 +3 .tForearm.reconfigure :loose +50 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%I& +3 "core" & \ k +2 "manipulator"&B% +5 "core" %     + "storage"(.% +5 "core" % l m \ k + "storage"(S. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +9 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (4& +2 "core" &[\ \  \ W +3 "manipulator"&(& +3 "core" &Ӥ   5 +2 "manipulator"&?% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&P(r +160 "core" ( + "manipulator"&]& +4 "core" &q     +2 "storage"(C& +4 "core" &[ \ q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'= +95 "core" ' +3 "storage"(,& +3 "core" &[ g\ r +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +307 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &[ L H \ h +2 "manipulator"&& +4 "core" &q   4  +2 .tElbow.seek 7 +2 "manipulator"&U(r +3 "core" ( +2 "manipulator"&Y& +3 "core" &q    +2 "storage"(F& +4 "core" &[ m j d\ k +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&/'ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(E' +8 "core" &q   $  +2 "manipulator"&M% +4 "core" % ϵ \  +2 .tForearm.seek :retract +2 "manipulator"&<' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&5( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&&& +3 "core" &    & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &h& +2 "core" &    % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&H' +89 "core" ' +2 "manipulator"&V& +4 "core" &  _ % +2 "manipulator"&3% +3 "core" %  & W +3 "processing"%6& +3 "core" &\ r +3 "processing"%j& +5 "core" &\ r +2 .tPC.seek :closed +2 "processing"%\ (^ +5 "core" &\ r +8 &0u\ a+z +9 &`v\ \\> +10 &am\ ^P +9 & N\ eQ +9 &L\ eQ +10 &L\ fP +9 &gL\ fQ +10 &)N\ eQ +9 &J\ gP +9 &L\ fP +10 & oP\ eQ +9 &"1Q\ eQ +9 &#P\ dP +10 &%M\ fP +9 &'wQ\ dQ +10 &):L\ fP +9 &*N\ fQ +9 &,Q\ eQ +10 &.M\ eQ +9 &0BL\ eP +10 &2M\ fQ +9 &3J\ gP +9 &5O\ eQ +10 &7JO\ eP +9 &9 Q\ dQ +9 &:L\ fQ +10 &<L\ fQ +9 &>QN\ fQ +9 &@O\ eQ +10 &AU\ dQ +9 &C[\ cR +10 &ER\\\ bS +9 &Gj\ `T +9 &H{\ YV +10 &J\ ZX +9 &LN~\ ZW +9 &N\ YX +10 &O\ ZX +9 &Q\ XY +10 &SR\ XY +9 &U\ XX +9 &V\ XX +10 &X\ YX +9 &ZY\ WY +10 &\\\ VY +9 &]\ [: +9 &^+p\ ^W +10 &^*\ i4 +2 ( +2 "processing"%j& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&71 +54 "core" 1 +2 "manipulator"&D% +3 "core" %   = W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +94 "core" ' +3 "processing"%[& +4 "core" &^(\ d4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&X% +4 "core" %   " ) +2 "storage"(|% +3 "core" % 0 8\ c +2 "storage"(. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(J([ +49 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +4 (^& +2 "manipulator"&-& +5 "core" &[ < a \ b +2 &   % +5 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&m( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(q'r +2 "core" ( +3 "manipulator"&\\& +5 "core" &   > % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &O& +3 "core" &  S % +2 .tForearm.seek PC +2 "manipulator"&Q' +94 "core" ' +2 .tHand.close + "manipulator"&A/ +66 "core" / +2 .tPC.seek :open +2 "processing"%K( +84 "core" ' +2 "storage"(k- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +41 "core" ' +320 ( +2 "storage"(}& +3 "core" &[ k p /\ j +3 "manipulator"&& +3 "core" &   / % +2 "manipulator"&d% +5 "core" %   \   +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&z(r +247 "core" ( +2 "manipulator"& & +4 "core" &}  F @ +2 "storage"(& +3 "core" &[ [ [ {\ i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&r'= +98 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(p- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"({' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(b' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +4 "core" -' +2 "storage"(`& +3 "core" &[ \  +2 "manipulator"&x& +4 "core" &} @ +2 .tElbow.seek 7 +2 "manipulator"&(r +9 "core" ( + "manipulator"&'& +4 "core" &~   +2 "storage"(& +3 "core" &[ A\  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&W'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(a'" +60 "core" ' +2 "manipulator"&f& +3 "core" &~   0  +2 "storage"(& +4 "core" &[ !\ m +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(e' +26 "core" ' +2 "manipulator"&w% +3 "core" %Ί , =  +2 "storage"(s& +5 "core" &[ 9 7 0\ ] + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&$'϶ +14 "core" ' + "manipulator"&& +4 "core" &~   o  +2 "storage"(n& +4 "core" &[ \ m +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&t'= +16 "core" ' + "storage"(g% +4 "core" % 6\ n +3 ."downElevator"SE.seek :down +3 "storage"(!' +100 (o% +3 "core" %J 2 ? \ a[u +3 "manipulator"&y% +3 "core" %0    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +46 "core" &[ m }\ p +6 "collection"'+& +5 "core" &\\z\ \ \ Z +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&v% +4 "core" %     +2 "storage"(% +4 "core" % \ s +2 "storage"(. +3 "core" .([ +2 "storage"(_& +4 "core" &[ ]\ r +2 "storage"(;& +3 "core" &[ \ r +2 "manipulator"&& +5 "core" &~  \  +2 .tElbow.seek 7 + "manipulator"& (r +10 "core" ( +2 "manipulator"&Z& +4 "core" &~   +2 "storage"(& +4 "core" &[ \ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&)'= +91 "core" ' +2 "storage"(>& +4 "core" &[ 8\ t +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &~  #  +2 "storage"(#& +4 "core" &[ &\ n +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +26 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(G'p +29 "core" ' + "manipulator"&T% +4 "core" %Ύ   t 7 +2 "storage"(& +3 "core" &[ \\ \\ \ f +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +14 "core" ' +2 "manipulator"&& +3 "core" &~  4  +2 "storage"(i& +5 "core" &[ \ n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&L'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(0' +41 "core" ' + "manipulator"&@& +5 "core" &~    +2 "manipulator"&I% +3 "core" %6 \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.(ӂ +156 "core" ( + "manipulator"&S& +5 "core" &ӓ$   F =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &ӓ$   K =C +2 .tForearm.seek CC +2 "manipulator"&('? +97 "core" ' + .tHand.close +2 "manipulator"&?/ +63 "core" / + .tCC.seek :open +2 "collection"' ( +452 "core" ( +2 "storage"(]& +4 "core" &[ V ^ <\  + "storage"(C& +5 "core" &[\  g\ ~ + "manipulator"&:& +4 "core" &ӭ   9) +2 "manipulator"&,% +3 "core" % D   +3 .tForearm.seek :retract + "manipulator"&=' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&N(r +165 "core" ( + "manipulator"&*& +4 "core" &g    +2 "storage"(1& +3 "core" &[ w\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +102 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&F1 +60 "core" 1 +2 "manipulator"&%% +3 "core" % Ό   s k +3 "storage"(c& +3 "core" &[ l d ~\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&M'ϸ +14 "core" ' + "manipulator"&P& +4 "core" &g  +2 "storage"("& +50 "core" &[ K\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&8'= +17 "core" ' +2 "storage"(/% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(&' +99 (h% +3 "core" %A s o \ Yk +2 "manipulator"&U% +3 "core" %6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'3& +3 "core" & \ +3 "manipulator"&6% +3 "core" %    +  +2 "storage"(E% +4 "core" % \  +2 "storage"(<. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(~(<- +491 "Can" \ ^-A\\U( +183 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<+ j n \ +3 "manipulator"&D& +4 "core" &g \  0  +2 .tElbow.seek 5 + "manipulator"&[( +31 "core" ( +2 "manipulator"&X& +3 "core" &    \ +3 "storage"(|& +4 "core" &<+ A\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(j& +3 "core" &<+ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +297 "core" ' +2 "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +2 "core" &<+ w 6\ +3 "manipulator"&O& +4 "core" & \ +2 .tElbow.seek 5 + "manipulator"&H( +4 "core" ( +2 "manipulator"&A& +4 "core" & \ +2 "storage"(& +3 "core" &<+ y 9\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&k'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +3 "storage"(\ ' +8 "core" & R \ +2 "manipulator"&q% +4 "core" % ϻ +2 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&d& + "storage"(5 +8 "core" &Ӝ    8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &Ӝ  % 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +90 "core" ' +3 "manipulator"&& +3 "core" &ӝ   8 +3 "manipulator"&m% +3 "core" %A  ` +3 "collection"'& +3 "core" & \ +3 "collection"'p& +6 "core" & \ +3 .tCC.seek :closed + "collection"'u(\\ +5 "core" & \ +8 &2 "\ $d +9 &Vs '\ 7 +10 &s M\ L +9 &O \ M +9 &`O \ M +10 &"Q /\ M +9 &O 1\ M +9 &L 1\ M +10 &hO ,\ M +9 &+L ,\ M +10 &N +\ M +9 &!P .\ M +9 &#pO +\ M +10 &%2N +\ M +9 &&L +\ M +9 &(O "\ M +10 &*wN  \ N +9 &,:O $\ M +10 &-O &\ M +9 &/L &\ M +9 &1R *\ M +10 &3AO %\ N +9 &5P \ N +9 &6P \ N +10 &8O  \ M +9 &:JN \ M +10 &< Q &\ M +9 &=O #\ N +9 &?O &\ M +10 &ARN &\ M +9 &CT &\ N +9 &D[\ #\ O +10 &Fe\ \ &\ P +9 &HKv\ \ %\ R +10 &J\ !\ '\ V +9 &K\ '\ &(\ Z +9 &Mz\ $\ $'\ Z +10 &O;\ "\ #\ [ +9 &P\ \ &\ [ +9 &R\ \ '\ }\\ +10 &T|\ \ '\ }\\ +9 &V<\ \ #\ {] +10 &W\ \ '\ y^ +9 &Y\ \ '\ w_ +9 &[|\ \ \ vL +10 &\\8\ \ #\ 2 +9 &\\x\ \ \ R +5 ( +2 "collection"'p& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&`1 +4 "core" &\\g\ \ $\ R +57 1 +4 "manipulator"&x% +4 "core" % A   ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract +3 "manipulator"&'' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +3 "core" &\ m +2 "manipulator"&% +5 "core" %     + "storage"(f% +5 "core" % \ m + "storage"(. +4 "core" .(<- + "storage"(& +5 "core" &<+ q  T\ m + "storage"(w& +5 "core" &<+ \ m + "manipulator"&s& +4 "core" &Ӟ   8 +2 "manipulator"&{% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +164 "core" ( + "manipulator"&n& +5 "core" &    + "storage"(g& +4 "core" &<+ v\ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z'O +94 "core" ' + "storage"(r& +5 "core" &<+ g\ y +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +297 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &<+ { ` 6\ m +2 "manipulator"&W& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&a& +3 "core" &  \ O  +2 "storage"(& +5 "core" &<+ >\ p +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&$'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(+' +9 "core" & \   + "manipulator"&v% +5 "core" % ϰ  > +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&_& +3 "core" &  k * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &   ( * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + "manipulator"&Z& +4 "core" &   1 ) +2 "manipulator"&% +4 "core" % i b +2 "processing"%t& +3 "core" &\ w +3 "processing"%>& +5 "core" &\ w +2 .tPC.seek :closed +2 "processing"%!(^ +5 "core" &\ w +8 &0u\ e*y +10 &ax\ b> +9 &`l\ dO +9 &L\ kP +10 &M\ kP +9 &I\ kP +10 &dO\ jP +9 &&O\ iP +9 &N\ jP +10 &O\ jP +9 & kO\ jQ +9 &".N\ jP +10 &#K\ kP +9 &%K\ kP +10 &'tP\ jP +9 &)6P\ iP +9 &*O\ jQ +10 &,O\ jP +9 &.}J\ kP +9 &0>N\ kP +10 &2I\ lP +9 &3L\ jP +10 &5L\ kP +9 &7GI\ kP +9 &9O\ jQ +10 &:N\ jQ +9 &<O\ jP +9 &>NQ\ jP +10 &@M\ kQ +9 &AO\ jQ +10 &CY\ iR +9 &EQ\\\ hR +9 &Gd\ eS +10 &Hr\ cV +9 &J\ ^W +9 &LK\ _W +10 &N \ ]X +9 &O\ ^X +10 &Q\ ]X +9 &SO\ ^X +9 &U\ ]X +10 &V\ ^X +9 &X\ ^X +9 &ZV\ \\Y +10 &\\\ ]X +9 &]\ _; +10 &^0\ aO +9 &^!\ p/ +2 ( +2 "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +4 "core" %   b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +3 "processing"%& +3 "core" &^!\ i/ +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&#% +3 "core" % #   Q / +2 "storage"(9% +4 "core" % I b m\ i +2 "storage"(T. +3 "core" .(<- +2 "storage"(& +3 "core" &<+ L c z\ i +3 "storage"(& +2 "manipulator"&i& +7 "core" &<+ W f r\ h +2 &   3 ) +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +48 "manipulator"&@( +7 ."raiseStack"SE.seek :beamBreak +3 "storage"(I'r +2 "core" ( +3 "manipulator"&)& +3 "core" &   ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &  b ) +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&/ +66 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(G- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(S'1 +52 "core" ' +303 ( + "storage"(4& +4 "core" &<+ \ o +2 "manipulator"&L& +4 "core" &   . ) +2 "manipulator"&2% +3 "core" %   8 - +3 .tForearm.seek :retract +2 "manipulator"&?' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&B( +245 "core" ( + "manipulator"&R& +5 "core" &   < + "storage"(]& +4 "core" &<+ ] b 1\ l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&C'O +94 "core" ' + .tHand.open +2 "manipulator"&:1 +62 "core" 1 +3 "storage"(,- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(1' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"((- +3 "core" -' +2 "storage"(.& +3 "core" &<+ \ " +2 "manipulator"&F& +5 "core" &   > ; +2 .tElbow.seek 5 + "manipulator"&%( +4 "core" ( + "manipulator"&c& +5 "core" &   ; + "storage"(P& +5 "core" &<+ \\\ # +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(/'" +58 "core" ' +2 "manipulator"&=& +3 "core" &   . ; +2 "storage"(N& +5 "core" &<+ \ o + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&h'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&3% +3 "core" %Π   v +2 "storage"(M& +5 "core" &<+ ^ \\ b\ g + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&6' +14 "core" ' + "manipulator"&E& +5 "core" &   ; + "storage"(<& +5 "core" &<+ \ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +15 "core" ' + "storage"(8% +5 "core" % e\ r +2 ."downElevator"SE.seek :down +4 "storage"(&' +98 (J% +3 "core" %I R W \ f[s +2 "manipulator"&7% +5 "core" %K   # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (X& +3 "core" &<+ Y\ o +2 "collection"'|& +4 "core" &\\g\ \ &\ R +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&j% +3 "core" %    5  +3 "storage"(Y% +4 "core" % \ r + "storage"(V. +3 "core" .(<- +2 "storage"(^& +3 "core" &<+ \ s +3 "storage"(\\& +4 "core" &<+ /\ s + "manipulator"&O& +51 "core" &    : +2 .tElbow.seek 5 +2 "manipulator"&A( +4 "core" ( +2 "manipulator"&& +4 "core" &    : +2 "storage"(5& +3 "core" &<+ \ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +94 "core" ' + "storage"(q& +5 "core" &<+ '\ w +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" &   3 : +3 "storage"(Q& +4 "core" &<+ L\ p + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&-'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(m'j +29 "core" ' +2 "manipulator"&% +4 "core" %Ξ   5 + "storage"(H& +5 "core" &<+ M\ n + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&\ ' +14 "core" ' +2 "manipulator"&}& +3 "core" &  : +2 "storage"( & +5 "core" &<+ \ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(x' +43 "core" ' + "manipulator"&p& +4 "core" &   - : +2 "manipulator"&% +4 "core" %J = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&f(ӂ +148 "core" ( +2 "manipulator"&& +3 "core" &~)   R A` +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &~)   i A` +3 .tForearm.seek CC +2 "manipulator"&w'? +97 "core" ' +2 .tHand.close + "manipulator"&s/ +60 "core" / +2 .tCC.seek :open + "collection"'{( +452 "core" ( +2 "storage"( & +3 "core" &<+ X I \ +3 "storage"(n& +3 "core" &<+ | "\ +2 "manipulator"&g& +4 "core" &Ӳ!   :, +2 "manipulator"&r% +3 "core" % *  E +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&'( +164 "core" ( + "manipulator"&o& +5 "core" & \ {  + "storage"(y& +4 "core" &<+ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&W'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +4 "core" % Ν  +  +2 "storage"(e& +3 "core" &<+ W\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&v' +23 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(z& +5 "core" &<+ 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +15 "core" ' +2 "storage"($% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(_' +100 (;% +9 "core" %E f\ }Yn +2 "manipulator"&% +5 "core" %X  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +95 "core" ' +39 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" & -\ +2 "manipulator"&t% +5 "core" %      + "storage"(+% +5 "core" % \  + "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(K(K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K \  +2 "manipulator"& & +3 "core" &   =  +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&#& +3 "core" &     +2 "storage"(9& +4 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&T' +94 "core" ' + "storage"(& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +311 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (>& +2 "core" &K \  +3 "manipulator"&)& +3 "core" &  +3 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(& +5 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(!' +9 "core" & v  + "manipulator"&I% +4 "core" % r a +2 .tForearm.seek :retract +2 "manipulator"&4' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&L(ӂ +153 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&2& + "storage"(5 +8 "core" &x-   Dw + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &x-   Dw +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&R'? +91 "core" ' +2 "manipulator"&]& +4 "core" &Ө#   =G +2 "manipulator"&@% +5 "core" %A   H +2 "collection"':& +4 "core" & \ +2 "collection"',& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'((\\ +5 "core" & \ +6 &3 "\ $d +9 &Vt (\ 7 +10 &s K\ L +9 &N \ M +9 &_K j\ M +10 & O !\ M +9 &Q /\ M +10 &O 0\ M +9 &fO 0\ M +9 &)L .\ M +10 &N *\ M +9 &!P +\ M +9 &#nN .\ M +10 &%1O *\ M +9 &&N 1\ M +10 &(O *\ M +9 &*wL %\ M +9 &,8O +\ M +10 &-N )\ M +9 &/L )\ M +9 &1~Q "\ M +10 &3@O )\ M +9 &5L #\ M +10 &6M "\ M +9 &8Q "\ M +9 &:GP  \ N +10 &<\ O '\ M +9 &=L &\ M +9 &?R #\ M +10 &AOQ &\ N +9 &CU  \ N +10 &Da\ #\ O +9 &Fj\ \ $\ Q +9 &HD\ \ %\ T +10 &I\ #\ "&\ Y +9 &K\ $\ $#\ Z +9 &Mt\ \ #\ }\\ +10 &O8\ \ %\ ~[\ +9 &P\ \  \ |\\ +10 &R\ \ &\ |\\ +9 &Tx\ \ %\ y] +9 &V8\ \ %\ y^ +10 &W\ \ $\ w_ +9 &Y\ \ !\ s` +9 &[w\ \ %\ tM +10 &\\8\ \ \ 2 +9 &\\\ \ \ !\ V +5 ( +2 "collection"',& +4 "core" &\\x\ \ \ V +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&.1 +53 "core" 1 +2 "manipulator"&F% +5 "core" % A  $ : H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%P& +4 "core" &\ j +2 "manipulator"&?% +3 "core" %   ]  +3 "storage"(=% +3 "core" % i j \ j +2 "storage"(N. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +49 .tSC.seek 6 +4 "storage"(3(K +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (M& +2 "core" &K O Y U\ f +3 "manipulator"&S& +4 "core" &ӫ#   =D + "manipulator"&E% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&<( +167 "core" ( +2 "manipulator"&*& +4 "core" &     +2 "storage"(8& +4 "core" &K d\ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&B' +94 "core" ' +2 "storage"(C& +3 "core" &K +\ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(1'r +295 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &K i ` 7\ j +2 "manipulator"&"& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&/& +3 "core" &   ,  +2 "storage"(h& +3 "core" &K \ m +3 .tForearm.seek 6 + 300 counts + "manipulator"&6'h +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& +4 "storage"(j' +4 "core" &  I  +3 "manipulator"&Y% +4 "core" % f  b +2 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +175 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +60 "core" ( +2 "manipulator"&^& +3 "core" &  \\ = +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &  \  = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&O' +92 "core" ' +2 "manipulator"&& +4 "core" &  = +2 "manipulator"&5% +3 "core" %    J +3 "processing"%0& +3 "core" &\ s +3 "processing"%q& +5 "core" &\ r +2 .tPC.seek :closed +2 "processing"%&(^ +5 "core" &\ s +7 & .\ m$c +9 &Uv\ _7 +9 &{u\ ^L +10 &~Q\ eQ +9 &BL\ fP +9 &H\ gP +10 &K\ gQ +9 &O\ fQ +10 &IL\ fQ +9 & J\ fP +9 &L\ fP +10 &!I\ gP +9 &#RL\ gP +9 &%O\ fQ +10 &&O\ fQ +9 &(L\ fQ +9 &*ZN\ fP +10 &,L\ gQ +9 &-J\ gP +10 &/Q\ fQ +9 &1aK\ gQ +9 &3#L\ gQ +10 &4L\ gQ +9 &6O\ fP +9 &8jP\ fP +10 &:+J\ gQ +9 &;L\ gQ +10 &=O\ eP +9 &?qN\ fQ +9 &A3Q\ eQ +10 &BV\ dR +9 &DY\ dR +10 &Fq`\ bS +9 &H-o\ _V +9 &I\ [W +10 &K\ [W +9 &Ml\ YX +9 &O-\ [X +10 &P\ ZY +9 &R\ ZY +10 &Tq\ YY +9 &V4\ YX +9 &W\ XY +10 &Y\ XX +9 &[z\ YX +9 &]:\ WS +10 &^wAh\ `)x +9 &^%\ i, +5 ( +2 "processing"%q& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&U1 +3 "core" &^\ l, +51 1 + "manipulator"&D% +5 "core" %   o J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 "processing"%d& +4 "core" &^\ j, +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&Q% +4 "core" %     +2 "storage"(% +4 "core" % j i \ i +2 "storage"(. +3 "core" .(K +2 "storage"(H& +4 "core" &K j j \ i +2 "storage"(}& +2 "manipulator"& & +6 "core" &K i j \ j +2 &   = +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&p( +4 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( +2 "manipulator"&l& +4 "core" &   = +42 .tElbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +3 &A& +2 "core" &   = +3 .tForearm.seek PC + "manipulator"&[' +90 "core" ' + .tHand.close +2 "manipulator"&-/ +76 "core" / +2 .tPC.seek :open +2 "processing"%\ ( +35 "core" ' + "storage"(m- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +365 ( +2 "storage"(& +4 "core" &K R\ o +2 "manipulator"&`& +3 "core" &   = +2 "manipulator"&k% +5 "core" %     ? +2 .tForearm.seek :retract +2 "manipulator"&s' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +246 "core" ( + "manipulator"&u& +3 "core" &   M < +3 "storage"( & +4 "core" &K j i \ i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +103 "core" ' +2 .tHand.open + "manipulator"&g1 +55 "core" 1 +2 "storage"(r- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(y' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(w- +3 "core" -' +2 "storage"(f& +3 "core" &K  Y\ + +2 "manipulator"&& +4 "core" &   ; +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&e& +3 "core" &   ; +2 "storage"(& +4 "core" &K \ , +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"($'" +51 "core" ' +2 "manipulator"&& +4 "core" &    ; +2 "storage"(;& +3 "core" &K b J V\ j +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(W' +27 "core" ' +2 "manipulator"&% +3 "core" %M  c +3 "storage"(t& +3 "core" &K _ ] D\ g +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&v'y +15 "core" ' +2 "manipulator"&+& +4 "core" &   ; +2 "storage"(& +3 "core" &K \ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +15 "core" ' +2 "storage"(b% +4 "core" % "\ p +2 ."downElevator"SE.seek :down +3 "storage"(_' +100 (~% +2 "core" %J > N !\ c[t +3 "manipulator"&% +4 "core" %  \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (#& +3 "core" &K j k \ m +2 "collection"'9& +4 "core" &\\w\ \ &\ V +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %    >  +3 "storage"(a% +4 "core" % (\ q + "storage"(Z. +3 "core" .(K +2 "storage"(& +3 "core" &K \ q +3 "storage"(>& +3 "core" &K \ q +2 "manipulator"&)& +4 "core" &    ; +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" &   ; +46 "storage"(G& +6 "core" &K \ q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +94 "core" ' +2 "storage"(I& +3 "core" &K \ u +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" & \  ; +3 "storage"(& +4 "core" &K C\ o + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&i'< +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(@'l +29 "core" ' +2 "manipulator"&:% +4 "core" %P   Z +2 "storage"( & +40 "core" &K m l \ k + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&!'| +13 "core" ' +2 "manipulator"&4& +4 "core" &   " ; +2 "storage"({& +3 "core" &K @\ o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(F' +36 "core" ' +2 "manipulator"&P& +4 "core" &  # ; +2 "manipulator"&?% +3 "core" % \ @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&N(ӂ +150 "core" ( +2 "manipulator"&,& +4 "core" &~&  & ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &~& \  ?R +2 .tForearm.seek CC +2 "manipulator"&S'? +95 "core" ' +2 .tHand.close + "manipulator"&E/ +58 "core" / +2 .tCC.seek :open +2 "collection"'R( +452 "core" ( + "storage"(*& +4 "core" &K o [ n\  +2 "storage"(8& +3 "core" &K | P\  +2 "manipulator"&K& +5 "core" &ӱ   ) 8 + "manipulator"&C% +5 "core" % A   B  +2 .tForearm.seek :retract + "manipulator"&L' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&c( +163 "core" ( + "manipulator"&J& +5 "core" &   a  + "storage"(7& +4 "core" &K B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&"'< +97 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&h1 +56 "core" 1 +2 "manipulator"&X% +3 "core" % >   y  +3 "storage"(|& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 302 counts +2 "manipulator"&Y'j +16 "core" ' + "manipulator"&<& +3 "core" & "  +3 "storage"(B& +4 "core" &K 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +17 "core" ' +2 "storage"(6% +3 "core" % .\ +3 ."downElevator"SE.seek :down +4 "storage"(^' +99 (\\% +3 "core" %l> p s \ Yk +2 "manipulator"&%% +4 "core" % ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +42 "manipulator"&' +95 "core" ' +6 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'5& +3 "core" & ,\ +3 "manipulator"&0% +4 "core" %    q  +2 "storage"(j% +3 "core" % '\  +2 "storage"(V. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +3 "core" &[ n j E\ +2 "manipulator"&D& +4 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&d(r +36 "core" ( + "manipulator"&Q& +5 "core" &   + "storage"(& +4 "core" &[ c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +92 "core" ' +2 "storage"(H& +3 "core" &[ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +299 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (q& +2 "core" &[ \ +3 "manipulator"&l& +4 "core" &  +3 .tElbow.seek 7 + "manipulator"&A(r +27 "core" ( + "manipulator"&O& +5 "core" &p  L b + "storage"(-& +4 "core" &[ 6\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&m'ϧ +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(&' +9 "core" &p g b + "manipulator"&% +4 "core" %   } +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&k& +4 "core" &Ӑ  ? 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &Ӑ \  ^ 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&u'? +93 "core" ' +2 "manipulator"& & +3 "core" &Ӑ  \ ) 7 +3 "manipulator"&p% +3 "core" %?  d +3 "collection"'g& +4 "core" & \ +2 "collection"'r& +6 "core" & \ +2 .tCC.seek :closed + "collection"'w(\\ +5 "core" & \ +7 & 2 \ %f +9 &Vv %\ 7 +9 &s (\ L +10 &O )\ N +9 &dO ?\ M +9 &&O ,\ M +10 &O &\ M +9 &P +\ M +9 &lN .\ M +10 &-O -\ M +9 &N *\ M +10 &!N +\ N +9 &#tO &\ M +9 &%6N '\ M +10 &&N '\ M +9 &(N (\ M +9 &*{N %\ M +10 &,=N \ M +9 &-N !\ M +10 &/Q !\ M +9 &1P '\ M +9 &3FL &\ M +10 &5P (\ M +9 &6R '\ M +9 &8P \ M +10 &:NQ  \ M +9 &<O %\ M +10 &=O %\ M +9 &?P \ N +9 &AUQ %\ M +10 &CR $\ N +9 &D[ "\ O +9 &Fd\ \  \ P +10 &HMz\ \ "\ S +9 &J\ !\ \ W +10 &K\ %\ %\ Z +9 &M|\ $\ "&\ [ +9 &O?\ !\ \ Z +10 &P\ \ \ \\ +9 &R\ \ \ \\ +9 &T}\ \ \ |] +10 &V=\ \ \ {^ +9 &W\ \ \ z^ +10 &Y\ \ \ x_ +9 &[}\ \ \ xL +9 &\\9\ \ \ 1 +10 &\\\ \  \ X +5 ( +2 "collection"'r& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&f1 +4 "core" &\\\ \ \ X +57 1 +2 "manipulator"&% +3 "core" % ?   k d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +89 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &\ l +2 "manipulator"&s% +4 "core" %     +2 "storage"(% +3 "core" % l i \ k +2 "storage"(;. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (t& +3 "core" &[ I l\ [ +49 "manipulator"&& +6 "core" &Ӧ  4 + "manipulator"&+% +5 "core" %  \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&o(r +163 "core" ( +2 "manipulator"&& +3 "core" &w     +3 "storage"(b& +4 "core" &[ \ r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' +2 "storage"(n& +5 "core" &[ b\ r +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(y'r +295 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ [ i P\ h +2 "manipulator"&z& +4 "core" &w    +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&$& +3 "core" &w  7  +2 "storage"(& +4 "core" &[ i l \ k +3 .tForearm.seek 7 + 300 counts + "manipulator"&v'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"(' +8 "core" &w     + "manipulator"&a% +5 "core" % ϴ  B +2 .tForearm.seek :retract +2 "manipulator"&W' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&& +5 "core" &   & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" & \  & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&)' +93 "core" ' +2 "manipulator"&& +3 "core" & \   & +2 "manipulator"&G% +5 "core" %   ? +2 "processing"%x& +3 "core" &\ r +3 "processing"%I& +5 "core" &\ r +2 .tPC.seek :closed +2 "processing"%_(^ +5 "core" &\ \ q +6 &5\ i$c +9 &Ts\ ^7 +10 &|u\ \\L +9 &P\ cQ +9 &CK\ eP +10 &M\ dP +9 &L\ eQ +10 &J\ fP +9 &KJ\ fP +9 & O\ dQ +10 &N\ eQ +9 &!K\ eP +9 &#RO\ dQ +10 &%N\ dQ +9 &&L\ eQ +10 &(K\ dP +9 &*[L\ eP +9 &,L\ eQ +10 &-I\ eP +9 &/N\ dP +9 &1cL\ eP +10 &3$N\ dQ +9 &4L\ fP +10 &6K\ eP +9 &8jO\ dQ +9 &:,L\ eQ +10 &;K\ eQ +9 &=K\ eQ +9 &?sN\ dP +10 &A4O\ eQ +9 &BX\ cR +10 &DW\ cR +9 &Fpc\ _T +9 &H.u\ \\V +10 &I\ YW +9 &K\ YW +9 &Mn\ YX +10 &O0\ XW +9 &P\ WY +10 &R\ VX +9 &Tr\ VY +9 &V6\ XX +10 &W\ VY +9 &Y\ VX +9 &[{\ WX +10 &]<\ UR +9 &^wCp\ ]$l +10 &^ O\ c7 +5 ( +2 "processing"%I& +3 "core" &^6\ e7 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&'1 +61 "core" 1 + "manipulator"& % +5 "core" % $  6 ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +89 "core" ' +3 "processing"%2& +3 "core" &^6\ c7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" %   8  +3 "storage"(]% +3 "core" % / 7\ c +2 "storage"(:. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"( ([ +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" &[ \ [ +3 "manipulator"&{& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   % +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(P'r +3 "manipulator"&?( +5 "core" ( +2 "manipulator"& & +3 "core" & ; 0 J % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +50 && +3 "core" &    % +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&i/ +72 "core" / +2 .tPC.seek :open +2 "processing"%!( +29 "core" ' +2 "storage"(@- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(,'1 +49 "core" ' +366 ( +2 "storage"(M& +3 "core" &[ s \ l +2 "manipulator"&.& +5 "core" &  \  % + "manipulator"&% +5 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&E' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&=(r +247 "core" ( +2 "manipulator"&(& +4 "core" &k   s _ +2 "storage"(*& +3 "core" &[ E I 6\ h +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&8'= +105 "core" ' + .tHand.open +2 "manipulator"&K1 +64 "core" 1 +2 "storage"(C- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(7' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +3 "core" -' +2 "storage"(N& +4 "core" &[ S\ & +2 "manipulator"&h& +3 "core" &k    _ +3 .tElbow.seek 7 + "manipulator"&X(r +4 "core" ( +2 "manipulator"&|& +4 "core" &k    _ +2 "storage"(<& +3 "core" &[ H\ & +3 .tForearm.seek 7 + 450 counts + "manipulator"&B'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(6'" +58 "core" ' +2 "manipulator"&L& +3 "core" &k    _ +3 "storage"(\\& +4 "core" &[ k l \ l +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&%'{ +33 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"("' +21 "core" ' +2 "manipulator"&5% +3 "core" %΁ 3 ; Z +3 "storage"(Y& +4 "core" &[   z\ [ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 306 counts +2 "manipulator"&0'ϭ +14 "core" ' + "manipulator"&j& +5 "core" &   B + "storage"(V& +5 "core" &[ \ n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'= +16 "core" ' +2 "storage"(1% +3 "core" % \ o +3 ."downElevator"SE.seek :down +4 "storage"(^' +98 (3% +4 "core" %G B < \ c[t +2 "manipulator"&U% +4 "core" %/  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (Q& +3 "core" &[ b I W\ l +2 "collection"'& +5 "core" &\\\ \ \ X + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&H% +3 "core" %     +3 "storage"(/% +4 "core" % 0\ n + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"( ([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +3 "core" &[ O \ \\ +2 "manipulator"&l& +5 "core" &  \ F B +2 .tElbow.seek 7 +41 "manipulator"&O(r +34 "core" ( + "manipulator"&-& +4 "core" &n  E +2 "storage"(& +4 "core" &[ \ r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +95 "core" ' +2 "storage"(& +4 "core" &[ \ u +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" &n   +3 "storage"([& +4 "core" &[ \\\ m +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&}'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(p'i +30 "core" ' + "manipulator"&g% +4 "core" %Ώ  7 +2 "storage"(A& +4 "core" &[ [ [ \ f +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&&'ϻ +14 "core" ' +2 "manipulator"&& +3 "core" &n +2 "storage"(R& +5 "core" &[ \ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&f'= +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +39 "core" ' +2 "manipulator"&& +3 "core" &n \ \ u +2 "manipulator"&s% +5 "core" %6 A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +157 "core" ( +3 "manipulator"&r& +3 "core" &|+   $ Cp +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &|+  Cp +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&+/ +90 "core" / +2 .tCC.seek :open + "collection"'u( +452 "core" ( +2 "storage"(& +4 "core" &[ n n \  +2 "storage"(b& +4 "core" &[ f b k\  + "manipulator"&& +5 "core" &ӿ   :- + "manipulator"&n% +5 "core" % B    +2 .tForearm.seek :retract +2 "manipulator"&`' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&e(r +177 "core" ( + "manipulator"&~& +5 "core" &f   " 6 + "storage"(& +5 "core" &[ A\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&z'{ +201 "core" ' + ' +3 !to:Slide::Error\ :@checkpoint: omitted: mesg""Forearm during Forearm move: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+:@destinationi%: @channeli: @tagi:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1678:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1678:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:611:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Retry #1 of 3 + "manipulator"&$% +5 "core" %Ώ  h +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "storage"(#& +3 "core" &[ ~\  +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 .tElbow.seek 7 + "manipulator"&9(r +4 "core" ( +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&a'{ +93 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&y% +3 "core" % }   4 +2 "storage"(v& +3 "core" &[ #\  +3 .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 7 + 302 counts +9 "manipulator"&'ϩ +15 "core" ' +2 "manipulator"&>& +4 "core" &y > # +2 "storage"(& +3 "core" &[ ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +16 "core" ' +2 "storage"(G% +4 "core" % L\ +2 ."downElevator"SE.seek :down +4 "storage"(x' +99 (% +4 "core" %C r p \ Yl +2 "manipulator"&W% +3 "core" %9 s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"''& +3 "core" & /\ +2 "manipulator"& % +4 "core" %    +  +2 "storage"(2% +4 "core" % \\\  +2 "storage"(. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(](<- +668 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" &<. o p \ +3 "manipulator"&I& +3 "core" &z \   " +2 .tElbow.seek 5 +2 "manipulator"&4( +25 "core" ( +2 "manipulator"&{& +3 "core" &    +3 "storage"( & +4 "core" &<. %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"()& +4 "core" &<. /\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak +5 "storage"(i'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &<. z i 5\ +2 "manipulator"&Z& +5 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&T( +18 "core" ( +2 "manipulator"&_& +3 "core" &    +2 "storage"(P& +4 "core" &<. \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&M'Ϲ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +9 "core" & ,  +2 "manipulator"&(% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&K& +4 "core" &Ӝ  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &Ӝ  a 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'? +93 "core" ' +2 "manipulator"&N& +5 "core" &Ӝ   a 8 + "manipulator"&h% +5 "core" %I \  3 4 +2 "collection"'E& +4 "core" & \ +2 "collection"'|& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'<(\\ +3 "core" & \  +9 &1u \ *y +10 &dx \ > +9 &sk \ N +9 &8L \ M +10 &O \ M +9 &N \ M +10 &~L \ M +9 &@M I\ M +9 &O \ M +10 &N G\ M +9 & N A\ M +9 &"GN E\ M +10 &$ N \ M +9 &%K $\ M +10 &'M $\ M +9 &)PM *\ M +9 &+N -\ M +10 &,N .\ M +9 &.O .\ M +10 &0XO +\ M +9 &2O -\ M +9 &3Q ,\ M +10 &5O )\ M +9 &7_L %\ M +9 &9 N 0\ N +10 &:N .\ M +9 &<O (\ M +9 &>gQ ;\ M +10 &@)O ,\ M +9 &AR ,\ M +10 &CT \ N +9 &Ej_\ \ *\ O +9 &G(g\ \ #\ P +10 &H\ \ (\ T +9 &J\ %\ 0\ X +9 &LR\ $\ %*\ Z +10 &N\ !\ "\ [\ +9 &O\ \ "\ [ +10 &Q\ \ \ [\ +9 &SS\ \ \ ~\\ +9 &U\ \ '\ ~] +10 &V\ \ \ |] +9 &X\ \ "\ z^ +9 &ZT\ \ &\ y_ +10 &[{\ \ "\ > +9 &\\0\ \ %\ {%q +10 &\\h\ \ $\ Q +2 ( +2 "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&L1 +102 "core" 1 +2 "manipulator"&\\% +3 "core" % I   4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%5& +3 "core" &!\ s +2 "manipulator"&Y% +4 "core" % \    +2 "storage"(J% +5 "core" % \ s + "storage"(j. +3 "core" .(<- +2 "storage"(V& +4 "core" &<. \ r +2 "storage"(1& +3 "core" &<. #\ r +2 "manipulator"&=& +5 "core" &ӧ \  6 + "manipulator"&8% +5 "core" % \  \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&7( +161 "core" ( +2 "manipulator"&3& +3 "core" &  +3 "storage"(U& +3 "core" &<. ]\ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +92 "core" ' + "storage"(X& +5 "core" &<. \ z +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'r +300 "core" ' +2 "storage"(%- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +3 "core" &<. l k \ l +2 "manipulator"&Q& +4 "core" &   3  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&H& +3 "core" &    +3 "storage"(/& +4 "core" &<. X\ p +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&q& + "storage"(l' +8 "core" &    + "manipulator"&-% +5 "core" %  # +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&& +4 "core" &   L 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &   2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +101 "core" ' + "manipulator"&c& +5 "core" & P 2 + "manipulator"&D% +5 "core" %  +2 "processing"%& +4 "core" & \ z +2 "processing"%k& +5 "core" &\ z +3 .tPC.seek :closed + "processing"%[(^ +5 "core" &\ z +6 & \ z5 +9 &<Fn\ h0 +9 &]ny\ \ dE +10 &\\\ jP +9 &O\ nP +10 &yL\ mP +9 &:M\ mQ +9 &M\ nP +10 &J\ nP +9 &N\ mQ +9 &CM\ nP +10 &!J\ nP +9 &"N\ mP +9 &$N\ mP +10 &&LJ\ oP +9 &( N\ mQ +10 &)M\ mP +9 &+K\ nP +9 &-SL\ nP +10 &/N\ nP +9 &0J\ oP +9 &2N\ mP +10 &4[L\ nP +9 &6N\ nQ +10 &7L\ nP +9 &9O\ mP +9 &;cO\ mP +10 &=%K\ mP +9 &>N\ mQ +10 &@P\ mQ +9 &BiQ\ mQ +9 &D)Z\ jR +10 &E`\ iR +9 &Gi\ hT +9 &Ic{\ dV +10 &K"\ bW +9 &L\ cV +10 &N\ aW +9 &Pf\ aX +9 &R(\ `X +10 &S\ _X +9 &U\ aW +9 &Wm\ `X +10 &Y0\ `W +9 &Z\ `X +9 &\\\ _X +10 &^6fo\ g, +9 &^g\ i8 +10 ( + &^#\ q2 +2 "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"& 1 +62 "core" 1 + "manipulator"&g% +4 "core" %  9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +92 "core" ' +2 "processing"%& +4 "core" &^"\ l2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&R% +4 "core" %    +2 "storage"(% +3 "core" % j l W\ j +2 "storage"(s. +3 "core" .(<- +2 "storage"(& +3 "core" &<. j j \ j +3 "storage"(O& +2 "manipulator"&d& +8 "core" &<. k j \ j +49 &  < 2 +5 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&}( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(&'r +2 "core" ( +3 "manipulator"&p& +4 "core" &   y 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &   v 2 +3 .tForearm.seek PC + "manipulator"&t' +92 "core" ' +2 .tHand.close + "manipulator"&f/ +69 "core" / +2 .tPC.seek :open +2 "processing"%m( +84 "core" ' +2 "storage"(+- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +43 "core" ' +318 ( + "storage"(w& +4 "core" &<, \ s +2 "manipulator"&& +4 "core" &    2 +2 "manipulator"&b% +3 "core" %  ? +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&n( +245 "core" ( +2 "manipulator"&~& +3 "core" &  # A +2 "storage"(& +4 "core" &<, \ r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' +2 .tHand.open + "manipulator"&;1 +60 "core" 1 +2 "storage"(z- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"($' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(`' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +3 "core" -' +2 "storage"(& +3 "core" &<, :\ . +3 "manipulator"&y& +3 "core" &  A +2 .tElbow.seek 5 +2 "manipulator"&v( +4 "core" ( +2 "manipulator"&>& +4 "core" &   " A +2 "storage"(& +4 "core" &<, R\ . +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(G'" +49 "core" ' +2 "manipulator"&& +3 "core" & \  A +3 "storage"(9& +4 "core" &<, \ q + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(a' +20 "core" ' +2 "manipulator"&'% +4 "core" %Ζ   | +2 "storage"(& +4 "core" &<, ] f \ i +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"& ' +14 "core" ' +2 "manipulator"&2& +3 "core" &  W @ +3 "storage"(& +4 "core" &<, \ s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(% +3 "core" % \ s +3 ."downElevator"SE.seek :down +4 "storage"(x' +98 ( % +3 "core" %F j i \ h[s +2 "manipulator"&:% +5 "core" %H  , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ({& +3 "core" &<, ]\ r +3 "collection"' & +4 "core" &\\g\ \ )\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&)% +4 "core" %   &  +2 "storage"(o% +49 "core" % v\ t +4 "storage"(\ . +3 "core" .(<- +2 "storage"(& +3 "core" &<, Q\ t +2 "storage"(@& +4 "core" &<, \ t +2 "manipulator"&Z& +3 "core" &   ' @ +2 .tElbow.seek 5 +2 "manipulator"&_( +4 "core" ( +2 "manipulator"&P& +5 "core" & \  @ + "storage"(.& +5 "core" &<, P\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"((& +3 "core" &<, \ x +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(4'r +305 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" &   ( @ +2 "storage"(C& +5 "core" &<, \ q + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&i'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(h'h +30 "core" ' + "manipulator"&E% +5 "core" %Λ   , + "storage"(T& +4 "core" &<, \ m +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&*& +4 "core" &   @ +2 "storage"(u& +3 "core" &<, \ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(\\' +36 "core" ' +2 "manipulator"&|& +4 "core" &  / @ +2 "manipulator"&5% +3 "core" %I   5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +151 "core" ( + "manipulator"&j& +4 "core" &Ӎ%   >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &Ӎ%  >J +2 .tForearm.seek CC + "manipulator"&1'? +96 "core" ' + .tHand.close +2 "manipulator"&=/ +58 "core" / + .tCC.seek :open +2 "collection"'8( +449 "core" ( + "storage"(S& +4 "core" &<, o o <\ +2 "storage"(3& +3 "core" &<, a d e\ +3 "manipulator"&U& +4 "core" &Ӯ   9) + "manipulator"&X% +5 "core" % >  $ +2 .tForearm.seek :retract +2 "manipulator"&?' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&,( +163 "core" ( + "manipulator"&%& +5 "core" &   \  + "storage"(0& +5 "core" &<, H\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Q'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +62 "core" 1 +2 "manipulator"&"% +3 "core" % z  \ 4 +3 "storage"(q& +3 "core" &<, d\ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 281 counts + "manipulator"&-'Ϧ +14 "core" ' +2 "manipulator"&7& +3 "core" &   +2 "storage"(B& +4 "core" &<, \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +44 "core" ' +9 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (^% +3 "core" %dA p p *\ Yl +2 "manipulator"&% +5 "core" %6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'D& +3 "core" & 5\ +2 "manipulator"&% +3 "core" %  \   +3 "storage"(l% +4 "core" % I\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(!(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K a\ } +2 "manipulator"&g& +3 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&R& +5 "core" & _  + "storage"(& +4 "core" &K x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +93 "core" ' + "storage"(& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +298 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &K 2\  +2 "manipulator"&p& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"(f& +3 "core" &K 9\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&+'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& +4 "storage"([' +4 "core" & &  +3 "manipulator"&&% +4 "core" % s +2 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&b& +4 "core" &Ӑ#   <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +2 "core" &Ӑ#   <; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&~'? +94 "core" ' +2 "manipulator"&& +3 "core" &Ӑ#   <; +3 "manipulator"&}% +4 "core" %6   / +2 "collection"';& +3 "core" & \ +3 "collection"'z& +5 "core" & \ +3 .tCC.seek :closed + "collection"'#(\\ +6 "core" & \ +6 &> \ %g +9 &Vq \ 7 +9 &r \ L +10 &N +\ M +9 &vN \ M +10 &8N .\ M +9 &J 6\ M +9 &M ?\ M +10 &~N \ M +9 &AO \ M +9 & M "\ M +10 &!N /\ M +9 &#O 3\ M +10 &%IM /\ M +9 &'\ N 2\ M +9 &(N ,\ N +10 &*L $\ M +9 &,QN 3\ M +9 &.N (\ M +10 &/N (\ M +9 &1O +\ M +10 &3YK +\ M +9 &5O ,\ M +9 &6N 7\ N +10 &8N =\ M +9 &:`N /\ M +9 &<#K -\ M +10 &=O (\ M +9 &?P /\ N +10 &AhP 8\ M +9 &C(T +\ N +9 &D`\ -\ P +10 &Fi\ \ +\ Q +9 &H[\ \ &\ U +9 &J\ &\ #%\ Y +10 &K\ $\ %#\ Z +9 &M\ \ !'\ [ +10 &OQ\ \ +\ [ +9 &Q\ \ 3\ ~\\ +9 &R\ \ 3\ ~\\ +10 &T\ \ 4\ |] +9 &VO\ \ 3\ |^ +9 &X\ \ 2\ z_ +10 &Y\ \ (\ x` +9 &[\ \ 1\ wL +10 &\\;\ \ 5\ + +9 &\\\ \ 0\ !a +5 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 +2 .Hand.open + "manipulator"&1 +3 "core" &\\\ \ 0\ !a +58 1 +2 "manipulator"&y% +5 "core" % 6   M / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +3 "core" &#\ h +2 "manipulator"&% +51 "core" %    W  +4 "storage"(% +4 "core" % h Z \\\ i +2 "storage"(9. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"('(K +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &K U \ Z +3 "manipulator"&& +4 "core" &ӭ   v 8 +2 "manipulator"&2% +4 "core" %    k  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&$( +163 "core" ( + "manipulator"&& +5 "core" &    + "storage"(& +5 "core" &K  \ p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +93 "core" ' +2 "storage"(& +4 "core" &K j\ s +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'r +308 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &K n j \ j +2 "manipulator"&e& +4 "core" & \   +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&G& +3 "core" &  \ o  +2 "storage"(& +4 "core" &K \ m +3 .tForearm.seek 6 + 300 counts + "manipulator"& 'h +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"()' +8 "core" &    +2 "manipulator"&o% +4 "core" % _    +2 .tForearm.seek :retract + "manipulator"&a' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&\ ( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +106 "core" ( +2 "manipulator"&& +3 "core" &   + +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Z' +96 "core" ' +2 "manipulator"&P& +4 "core" & +2 "manipulator"&.% +3 "core" %  5 +3 "processing"%& +3 "core" &$\ t +3 "processing"%(& +5 "core" &\ u +2 .tPC.seek :closed +2 "processing"%x(^ +5 "core" &\ u +6 & -\ o#b +10 &Ux\ `8 +9 &|r\ `L +9 &O\ gQ +10 &LI\ \ iP +9 & J\ iP +9 &L\ hQ +10 &L\ iP +9 &TH\ iP +10 &N\ hQ +9 &M\ hP +9 &!I \ iP +10 &#ZN \ hQ +9 &%M\ hP +10 &&J\ iP +9 &(N \ hQ +9 &*bL\ hQ +10 &,%N\ hP +9 &-I\ iP +9 &/O\ hQ +10 &1kL\ iP +9 &3-L\ iP +9 &4H \ hP +10 &6M\ iP +9 &8rN\ iQ +10 &:5L\ iP +9 &;M\ hP +9 &=N\ hQ +10 &?{P\ gP +9 &A<M\ hQ +9 &BV\ fQ +10 &DY \ fR +9 &F{a\ dS +10 &H8s\ `U +9 &I\ ]W +9 &K\ ]W +10 &Mv\ ]X +9 &O8\ ]W +10 &P\ \\X +9 &R\ \\X +9 &Tz\ ZY +10 &V>\ \\X +9 &X\ [X +9 &Y\ [X +10 &[\ ZX +9 &]C\ ZQ +9 &^{Ct\ a#i +10 &^0\ j1 +5 ( +2 "processing"%(& +4 "core" &^"\ k1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&W1 +58 "core" 1 +2 "manipulator"&I% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +3 "processing"%K& +4 "core" &^"\ \ f1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&C% +4 "core" %   *  +2 "storage"(N% +3 "core" % Q Y 3\ f +2 "storage"(E. +3 "core" .(K +2 "storage"(T& +3 "core" &K Y \\ \ f +3 "storage"(*& +2 "manipulator"&u& +7 "core" &K O N K\ f + &  \  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +3 "manipulator"&|( +53 ."raiseStack"SE.seek :beamBreak + "storage"(5'r +4 "core" ( + "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &   +3 .tForearm.seek PC +2 "manipulator"&4' +92 "core" ' +2 .tHand.close + "manipulator"&i/ +70 "core" / +2 .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(h- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'1 +53 "core" ' +307 ( +2 "storage"(V& +4 "core" &K | ;\ k + "manipulator"&L& +5 "core" & \  + "manipulator"&M% +4 "core" % \  " +3 .tForearm.seek :retract + "manipulator"&=' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Y( +240 "core" ( +2 "manipulator"&<& +3 "core" &   ?  +2 "storage"(S& +5 "core" &K Z h e\ h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +96 "core" ' +2 .tHand.open + "manipulator"&U1 +53 "core" 1 +3 "storage"(X- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +36 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(0' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +3 "core" -' +2 "storage"(J& +4 "core" &K f\ % +2 "manipulator"&/& +3 "core" &   7  +2 .tElbow.seek 6 +2 "manipulator"&"( +9 "core" ( +2 "manipulator"&q& +3 "core" &   6  +2 "storage"(7& +5 "core" &K w\ ' +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' +2 "manipulator"&?& +3 "core" &    +3 "storage"(^& +4 "core" &K \ n + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +27 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(Q' +27 "core" ' +2 "manipulator"&-% +4 "core" %;   +2 "storage"(D& +3 "core" &K ? R \ d +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&'g +14 "core" ' + "manipulator"&l& +5 "core" &   *  + "storage"(& +5 "core" &K #\ n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\\' +16 "core" ' + "storage"(6% +4 "core" % \ n +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (]% +3 "core" %H H Q P\ c[t +3 "manipulator"& % +3 "core" %   * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +95 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (R& +3 "core" &K g ~ \ l +2 "collection"'& +5 "core" &\\\ \ #\ !a + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %      +3 "storage"(H% +4 "core" % \ o + "storage"(c. +3 "core" .(K +2 "storage"(O& +4 "core" &K \ o +2 "storage"(d& +3 "core" &K 7\ o +2 "manipulator"&p& +45 "core" & \  +9 .tElbow.seek 6 +2 "manipulator"& ( +8 "core" ( +2 "manipulator"&f& +4 "core" &   +2 "storage"(F& +3 "core" &K 8\ o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +98 "core" ' +2 "storage"(&& +3 "core" &K \ r +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &    +2 "storage"(t& +5 "core" &K m l \ k + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&k'< +14 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(}'l +29 "core" ' + "manipulator"&;% +5 "core" %P   ( + "storage"(r& +4 "core" &K 9\ o +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&['| +16 "core" ' +2 "manipulator"&w& +4 "core" &  + + "storage"(8& +5 "core" &K \ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(y' +41 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&9& +3 "core" &ӓ!    :, +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 && +3 "core" &ӓ!   :, +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 .tHand.close + "manipulator"&2/ +58 "core" / +2 .tCC.seek :open + "collection"'~( +452 "core" ( +2 "storage"(& +3 "core" &K Z n g\  +2 "storage"(& +5 "core" &K\  u\  + "manipulator"&!& +4 "core" &ӥ   7 +2 "manipulator"&% +3 "core" % Q   +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&>( +163 "core" ( +2 "manipulator"& & +4 "core" &    +2 "storage"(:& +3 "core" &K Q\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&e'< +96 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +56 "core" 1 +3 "manipulator"&{% +4 "core" % =   + "storage"( & +5 "core" &K \\\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 301 counts +2 "manipulator"&o'i +15 "core" ' +2 "manipulator"&$& +3 "core" &   +3 "storage"(n& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +15 "core" ' +2 "storage"( % +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (@% +43 "core" %h< n o \ Yl +10 "manipulator"&v% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +94 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'.& +3 "core" & 5\ +3 "manipulator"&% +3 "core" %    '  +3 "storage"()% +4 "core" % #\  + "storage"(a. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(m([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &[ \  +2 "manipulator"&I& +4 "core" &   '  +2 .tElbow.seek 7 +2 "manipulator"&K(r +35 "core" ( +2 "manipulator"&C& +4 "core" &     +2 "storage"(N& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'= +93 "core" ' +2 "storage"(T& +4 "core" &[ >\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'r +298 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +3 "core" &[ l a (\ +2 "manipulator"&& +4 "core" & \ y  +3 .tElbow.seek 7 +2 "manipulator"&_(r +21 "core" ( +2 "manipulator"&Z& +3 "core" &u  s +3 "storage"(i& +4 "core" &[ 5\ +2 .tForearm.seek 7 + 300 counts + "manipulator"&\ 'ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(x' +9 "core" &u  s + "manipulator"&5% +4 "core" % Ϥ r +2 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&M& +4 "core" &ӏ#   << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &ӏ#   << +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'? +93 "core" ' +3 "manipulator"&S& +3 "core" &Ӑ#   <; +3 "manipulator"&|% +3 "core" %?  K c +3 "collection"'U& +4 "core" & \ +2 "collection"'X& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'1(\\ +5 "core" & \ +6 & 1 \ %f +10 &Wu \ 7 +9 &r \ L +10 &N \ M +9 &iL \ M +9 &+N \ M +10 &N 0\ M +9 &L $\ M +9 &rN \ M +10 &5N O\ L +9 &N O\ M +10 &!N \ L +9 &#yN 8\ M +9 &%<L >\ M +10 &&J @\ M +9 &(L C\ M +9 &*K <\ M +10 &,DN B\ M +9 &.M @\ M +10 &/Q 5\ M +9 &1O :\ M +9 &3KN <\ M +10 &5N 3\ M +9 &6O ;\ M +9 &8N 7\ M +10 &:TO 4\ M +9 &<N 4\ L +10 &=O 3\ M +9 &?O *\ M +9 &A[O 1\ M +10 &CT ,\ N +9 &DZ -\ N +9 &Fc\ \ 4\ P +10 &HS}\ \ -\ R +9 &J\ \ \ 1\ V +10 &K\ &\ $3\ Z +9 &M\ $\ #3\ Z +9 &OC\ \ 2\ [ +10 &Q\ \ 4\ Z +9 &R\ \ 4\ \\ +9 &T\ \ 3\ \\ +10 &VE\ \ 4\ ~] +9 &X\ \ 4\ |] +10 &Y\ \ 2\ y^ +9 &[\ \ 2\ zK +9 &\\8\ \ 4\ 1 +10 &\\{\ \ 0\ T +5 ( +2 "collection"'X& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&J1 +2 "core" &\\w\ \ 2\ T +62 1 +2 "manipulator"&/% +4 "core" % ?   c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%7& +4 "core" &2\ n +2 "manipulator"&=% +4 "core" %     +2 "storage"(?% +4 "core" % \ n + "storage"(^. +4 "core" .([ + "storage"(j& +5 "core" &[ \ n + "storage"(-& +52 "core" &[ \ m +3 "manipulator"&D& +4 "core" &Ӭ   8 + "manipulator"&%% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&l(r +163 "core" ( +2 "manipulator"&& +3 "core" &x    +3 "storage"(6& +4 "core" &[ V\ t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Y'= +99 "core" ' + "storage"(3& +4 "core" &[ Y\ u +2 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'r +295 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" &[ l l \ k +3 "manipulator"&B& +4 "core" &x     +2 .tElbow.seek 7 +2 "manipulator"&"(r +4 "core" ( +2 "manipulator"&& +4 "core" &x  ?  + "storage"(& +5 "core" &[ \ n +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" &x   <  + "manipulator"&H% +5 "core" % ϥ   +2 .tForearm.seek :retract + "manipulator"&c' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&O& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&p' +90 "core" ' +2 "manipulator"&f& +3 "core" &    +3 "manipulator"&F% +4 "core" %   - ` +2 "processing"%\\& +3 "core" &\ u +3 "processing"%&& +5 "core" &3\ u +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\ u +8 & .\ p$c +9 &Ts\ b7 +9 &|t\ aL +10 &M\ iQ +9 &JL\ iQ +9 &J\ iP +10 &N\ jP +9 &N\ iP +10 &TL\ jP +9 &L\ jP +9 &J \ iP +10 &!L \ iP +9 &#[J\ jP +9 &%O\ iP +10 &&N\ iP +9 &(J\ iP +10 &*bL\ jQ +9 &,%N\ iP +9 &-I\ jP +10 &/O\ hQ +9 &1lK\ iP +9 &3-L\ iP +10 &4L\ iP +9 &6M\ iQ +10 &8tN\ iP +9 &:5L\ iP +9 &;K\ iP +10 &=K\ iP +9 &?|N\ hP +9 &A=Q\ hP +10 &BY\ gR +9 &D[\ fR +10 &Fye \ cT +9 &H7x\ `U +9 &I\ ]X +10 &K\ ]X +9 &Mv\ ]X +9 &O8\ \\W +10 &P\ \\Y +9 &R\ ]X +10 &Ty\ ZY +9 &V>\ ]X +9 &X\ [X +10 &Y\ [Y +9 &[\ [X +9 &]C\ ZP +10 &^zH\ _ b +9 &^<\ j3 +5 ( +2 "processing"%&& +4 "core" &^"\ m3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&,1 +58 "core" 1 +2 "manipulator"&g% +4 "core" %    / ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +95 "core" ' +2 "processing"%b& +4 "core" &^"\ h3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&t% +4 "core" % # 1 0 +2 "storage"(% +4 "core" % _ ^ \ g +2 "storage"(;. +3 "core" .([ +2 "storage"(r& +3 "core" &[ J N a\ g +3 "storage"(w& +2 "manipulator"&8& +5 "core" &[ X S \ h +3 &    +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&( +8 "core" ( + "manipulator"&A& +4 "core" &   O  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & \   +2 .tForearm.seek PC +48 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&k/ +75 "core" / +2 .tPC.seek :open +2 "processing"%[( +21 "core" ' + "storage"(}- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'1 +53 "core" ' +371 ( + "storage"(& +5 "core" &[ 3\ m + "manipulator"&& +5 "core" &     + "manipulator"&+% +4 "core" %   9  +2 .tForearm.seek :retract +2 "manipulator"&2' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&z(r +249 "core" ( +2 "manipulator"&#& +3 "core" &    : +2 "storage"(& +4 "core" &[ \ n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +92 "core" ' +2 .tHand.open +2 "manipulator"&!1 +56 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &[ l\ # +3 "manipulator"&& +4 "core" &  : +2 .tElbow.seek 7 + "manipulator"&{(r +23 "core" ( +2 "manipulator"& & +4 "core" &|     +2 "storage"($& +3 "core" &[ \ $ +3 .tForearm.seek 7 + 450 counts + "manipulator"&n'= +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +50 "core" ' +2 "manipulator"&& +4 "core" &|    +2 "storage"(@& +3 "core" &[ 0\ q +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&>'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(e' +27 "core" ' +2 "manipulator"&.% +4 "core" %΍ %  ]  + "storage"(o& +5 "core" &[ - 0 <\ a + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&'Ϲ +13 "core" ' +2 "manipulator"&)& +4 "core" &|  {  +2 "storage"(a& +3 "core" &[ P\ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&y'= +17 "core" ' +2 "storage"(`% +3 "core" % \ s +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ('% +4 "core" %\ H b i \ fZr +2 "manipulator"&W% +4 "core" %5   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +93 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (C& +3 "core" &[ { { ;\ p +2 "collection"'N& +4 "core" &\\v\ \ 3\ T +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&T% +4 "core" %     + "storage"(G% +5 "core" % \ s + "storage"(P. +4 "core" .([ + "storage"(*& +4 "core" &[ \ s +2 "storage"((& +4 "core" &[ \ s +2 "manipulator"&& +3 "core" &|    +2 .tElbow.seek 7 +2 "manipulator"&Z(r +4 "core" ( +2 "manipulator"&i& +3 "core" &|    +2 "storage"(h& +5 "core" &[ 2\ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +42 "manipulator"&'= +101 "core" ' + "storage"(5& +4 "core" &[ y\ w +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +307 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &|     +2 "storage"(4& +5 "core" &[ (\ o +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&u'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(|'p +30 "core" ' +2 "manipulator"&U% +3 "core" %Έ   +2 "storage"(_& +5 "core" &[ i h z\ i + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&x'ϴ +14 "core" ' + "manipulator"&V& +5 "core" &| \  Z  + "storage"(~& +5 "core" &[ k\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&J'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(/' +46 "core" ' +2 "manipulator"&7& +3 "core" &| G  +3 "manipulator"&=% +4 "core" %. +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&^(ӂ +165 "core" ( +3 "manipulator"&j& +3 "core" &ӌ   a 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" &ӌ   = 3 +3 .tForearm.seek CC +2 "manipulator"&-'? +103 "core" ' +2 .tHand.close + "manipulator"&D/ +56 "core" / +2 .tCC.seek :open +2 "collection"'%( +451 "core" ( +2 "storage"(<& +3 "core" &[ l e ]\  +2 "storage"(& +5 "core" &[\  \  + "manipulator"&6& +4 "core" &ӳ   . +2 "manipulator"&3% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&L' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&q(r +168 "core" ( +2 "manipulator"&]& +3 "core" &f    +2 "storage"( & +4 "core" &[ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&B'{ +99 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&R% +3 "core" % ·  - +2 "storage"(& +5 "core" &[ o q I\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&H'ϳ +14 "core" ' +2 "manipulator"&l& +3 "core" &m  +2 "storage"(Y& +4 "core" &[ o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&0'= +16 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(O' +98 (d% +3 "core" %r< u r A\ Yk +2 "manipulator"&"% +5 "core" %7 > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +91 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +50 #Loading generic puck from tube 5 into Collection Clamp + "collection"'F& +3 "core" & D\ +3 "manipulator"&\\% +3 "core" %    \  +3 "storage"(% +4 "core" % \  + "storage"(c. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +3 "core" &<. \  f\ ~ +3 "manipulator"&g& +4 "core" &m    +2 .tElbow.seek 5 +2 "manipulator"&b( +27 "core" ( +2 "manipulator"&t& +3 "core" &    +2 "storage"(& +5 "core" &<. c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +90 "core" ' +2 "storage"(r& +3 "core" &<. %\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'r +310 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &<. %\ +3 "manipulator"&A& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"& ( +12 "core" ( +2 "manipulator"&p& +3 "core" & Y  +2 "storage"(k& +5 "core" &<. #\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&}'Ϲ +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&s& + "storage"(' +8 "core" &  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +158 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&+& +5 "core" &ӟ \  4 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӟ  7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'? +91 "core" ' +2 "manipulator"&& +4 "core" &Ӡ  * 7 +2 "manipulator"&% +3 "core" %?    ` +3 "collection"'!& +3 "core" & \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 & 1 \ $e +9 &Us \ 7 +10 &p \ K +9 &N \ M +9 &cM \ M +10 &$Q \ M +9 &N \ M +9 &L \ M +10 &kN \ M +9 &-L \ M +10 &N \ M +9 &!P \ M +9 &#sN _\ M +10 &%4P ,\ M +9 &&M (\ M +9 &(Q *\ M +10 &*|L $\ L +9 &,=N "\ M +9 &.L 9\ L +10 &/N C\ M +9 &1O D\ M +10 &3EN B\ M +9 &5N C\ M +9 &6N D\ M +10 &8O B\ M +9 &:LM A\ M +9 &<M C\ M +10 &=N D\ M +9 &?O =\ M +10 &AUP B\ M +9 &CT C\ N +9 &D[ \ >\ O +10 &Fb\ \ B\ P +9 &HMu\ \ ;\ R +10 &J\ \ :\ V +9 &K\ %\ &<\ Z +9 &M{\ #\ %@\ Z +10 &O<\ \ =\ [ +9 &P\ \ >\ [\ +9 &R\ \ <\ \\ +10 &T}\ \ 3\ \\ +9 &V<\ \ :\ }] +9 &W\ \ 7\ |^ +10 &Y\ \ =\ y_ +9 &[}\ \ 4\ yL +10 &\\:\ \ 2\ 2 +9 &\\|\ \ 2\ S +5 ( +2 "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&1 +4 "core" &\\r\ \ 0\ S +60 1 +2 "manipulator"&% +3 "core" % ?   K ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%$& +3 "core" &\ n +2 "manipulator"&2% +5 "core" %     + "storage"(% +4 "core" % \ o +2 "storage"(@. +3 "core" .(<- +2 "storage"(9& +3 "core" &<. 4\ o +2 "storage"(.& +5 "core" &<. c\ o +2 "manipulator"&o& +5 "core" &Ӡ   7 + "manipulator"& % +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&)( +167 "core" ( +2 "manipulator"&a& +56 "core" &     +3 "storage"(`& +3 "core" &<. S\ u +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +93 "core" ' +2 "storage"(& +3 "core" &<. Q\ y +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +300 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (W& +2 "core" &<. a j m\ l +3 "manipulator"&n& +3 "core" &    +3 .tElbow.seek 5 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"& & +3 "core" &  a  +2 "storage"(>& +4 "core" &<. \ o +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&N& +2 "storage"(T' +9 "core" &    + "manipulator"&G% +4 "core" % ϵ   +2 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&P( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&*& +4 "core" &  E + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" & \  + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&i& +4 "core" &  \ { + +2 "manipulator"&h% +3 "core" %   _ +3 "processing"%y& +3 "core" &\ x +3 "processing"%5& +5 "core" &0\ z +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &!\ z +9 &0v\ i*y +9 &aw"\ e> +9 &Zk\ fP +10 &M!\ mP +9 &O"\ lP +9 &L\ mP +10 &_M!\ mP +9 &"O\ mP +10 &L\ mP +9 &L\ nP +9 & hN\ lP +10 &"*L \ mP +9 &#M\ nP +10 &%L\ nP +9 &'oM\ mP +9 &)1N\ lP +10 &*O\ lP +9 &,N\ nP +9 &.xL\ oP +10 &0:M\ nP +9 &1L\ nP +9 &3L\ nP +10 &5O\ mP +9 &7BL\ mP +10 &9O\ mP +9 &:O\ mP +9 &<N\ lP +10 &>HO\ lQ +9 &@ O \ lP +10 &AO\ mQ +9 &CZ\ kQ +9 &EM\\\ jR +10 &G f\ hS +9 &Hv\ eU +9 &J \ `W +10 &LF \ bW +9 &N\ aX +10 &O \ bX +9 &Q\ `X +9 &SJ\ `X +10 &U \ _X +9 &V \ aX +9 &X\ `X +10 &ZQ\ `Y +9 &\\\ _Y +9 &]\ b: +10 &^-j\ gS +9 &^$\ q3 +2 ( +2 "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&v1 +57 "core" 1 +2 "manipulator"&I% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +92 "core" ' +2 "processing"%M& +4 "core" &^"\ k3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&4% +73 "core" %    +2 "storage"(S% +4 "core" % k o\ j + "storage"(U. +3 "core" .(<- +2 "storage"(_& +3 "core" &<. l j \ j +3 "storage"(V& +2 "manipulator"&~& +8 "core" &<. l l \ k + & \ $ + +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +5 .tElbow.seek PC +3 "storage"(7'r + "manipulator"&=( +6 "core" ( +2 "manipulator"&& +4 "core" &  H + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &   ( + +2 .tForearm.seek PC +2 "manipulator"&K' +91 "core" ' +2 .tHand.close + "manipulator"&u/ +74 "core" / +2 .tPC.seek :open + "processing"%x( +79 "core" ' + "storage"(|- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +49 ."raiseStack"SE.seek :place +5 "storage"(j'1 +55 "core" ' +260 ( + "storage"(X& +4 "core" &<, k\ p +2 "manipulator"&J& +5 "core" &    + + "manipulator"&\ % +5 "core" %    1 +2 .tForearm.seek :retract +2 "manipulator"&D' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&?( +246 "core" ( + "manipulator"&1& +4 "core" &  : +2 "storage"(<& +3 "core" &<,  V\ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +97 "core" ' +2 .tHand.open + "manipulator"&61 +56 "core" 1 +2 "storage"(3- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +3 "core" -' +3 "storage"(^& +3 "core" &<, \ & +2 "manipulator"&& +5 "core" &    : +2 .tElbow.seek 5 + "manipulator"&R( +4 "core" ( +2 "manipulator"&& +3 "core" &    : +2 "storage"(l& +4 "core" &<, |\ ( +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&L& +4 "core" &    : +2 "storage"(d& +3 "core" &<, E\ q +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&"'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +20 "core" ' + "manipulator"&F% +5 "core" %Π   x + "storage"(H& +4 "core" &<, Y T\ g +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&/' +14 "core" ' +3 "manipulator"&\\& +3 "core" &   ) 9 +3 "storage"(& +4 "core" &<, \ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +16 "core" ' + "storage"(0% +5 "core" % \ r +2 ."downElevator"SE.seek :down +4 "storage"(O' +98 (m% +3 "core" %E H S J\ fZs +2 "manipulator"&,% +5 "core" %M   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +88 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (t& +3 "core" &<, m o\ p +3 "collection"'& +3 "core" &\\q\ \ 5\ S +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&r% +4 "core" %  \   +2 "storage"(% +4 "core" % \ r +2 "storage"(f. +3 "core" .(<- +2 "storage"(w& +4 "core" &<, i\ s +2 "storage"(8& +4 "core" &<, U\ s + "manipulator"&A& +5 "core" &    9 + .tElbow.seek 5 +2 "manipulator"&p( +4 "core" ( +2 "manipulator"&k& +3 "core" &   4 9 +3 "storage"(Q& +4 "core" &<, \ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +95 "core" ' +2 "storage"(& +3 "core" &<, _\ x +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +296 "core" ' + "storage"(;- +4 "core" -' +2 .tSE.configure :default +47 "storage"(#QK-0-\ b +6 "manipulator"&+& +3 "core" &    9 +2 "storage"(& +5 "core" &<,  x\ p + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&&'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +30 "core" ' +2 "manipulator"&!% +4 "core" %Ι    + "storage"( & +5 "core" &<, \ r + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&& +3 "core" & \ a 9 +2 "storage"(%& +5 "core" &<, n\ q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +42 "core" ' +2 "manipulator"&$& +3 "core" &   9 +2 "manipulator"&2% +4 "core" %Q  ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +148 "core" ( + "manipulator"&9& +5 "core" &|)   A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &|)   A_ +2 .tForearm.seek CC +2 "manipulator"&.'? +96 "core" ' + .tHand.close +2 "manipulator"&o/ +62 "core" / +2 .tCC.seek :open +2 "collection"' ( +451 "core" ( +2 "storage"(#& +3 "core" &<, \ +2 "storage"(a& +5 "core" &<, p r \ + "manipulator"&`& +5 "core" &ӯ   ~ :, +2 "manipulator"&% +4 "core" % >  w  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +49 "Can"\ C06]OU' +114 "core" ( +2 "manipulator"&'& +3 "core" &  j  +2 "storage"(W& +4 "core" &<, H\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&n'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&>1 +60 "core" 1 +2 "manipulator"&C% +3 "core" % Ξ  m  +2 "storage"(N& +5 "core" &<, \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&G' +14 "core" ' +2 "manipulator"&)& +3 "core" & #  +2 "storage"(z& +4 "core" &<, G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&:'O +18 "core" ' + "storage"(% +4 "core" % 5\ +3 ."downElevator"SE.seek :down +4 "storage"(*' +98 ((% +3 "core" %? n m '\ Yk +2 "manipulator"&{% +5 "core" %G ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'h& +3 "core" & \ +2 "manipulator"&y% +5 "core" %     +2 "storage"(T% +3 "core" % \  +2 "storage"(e. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"([(K +395 "core" ( +5 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +3 "core" &K m ` _\ +2 "manipulator"&I& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&5& +4 "core" &  b  +2 "storage"(4& +3 "core" &K E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&S' +92 "core" ' +2 "storage"(U& +3 "core" &K \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(_'r +296 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &K q &\ +2 "manipulator"&& +5 "core" &    + .tElbow.seek 6 +2 "manipulator"&Z( +4 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(u& +4 "core" &K <\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&|'h +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(' +8 "core" &  +2 "manipulator"&7% +4 "core" % ` +2 .tForearm.seek :retract +2 "manipulator"&X' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&\ & +4 "core" &ӎ#  ^ <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &ӎ#   m <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&1'? +91 "core" ' +2 "manipulator"&<& +4 "core" &ӎ# \  : <@ +2 "manipulator"&=% +4 "core" %I \  i +2 "collection"'6& +5 "core" & \ +2 "collection"'3& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'-(\\ +5 "core" & \ +8 &1 \ $e +9 &Us \ 7 +9 &q \ L +10 &L \ M +9 &dN \ M +9 &%Q \ M +10 &N \ M +9 &L \ M +10 &lM \ M +9 &/M \ L +9 &M \ M +10 &!L \ M +9 &#tN \ M +9 &%6L \ M +10 &&M 5\ M +9 &(K '\ M +10 &*|L &\ M +9 &,>Q (\ M +9 &.L $\ L +10 &/O A\ M +9 &1O \ M +9 &3FN 5\ M +10 &5O C\ M +9 &6N B\ M +9 &8Q A\ M +10 &:MN >\ M +9 &<N >\ M +10 &=N >\ M +9 &?O B\ M +9 &AVP 7\ M +10 &CU <\ N +9 &D`\ =\ O +10 &Fk\ \ >\ Q +9 &HH\ \ 6\ T +9 &I\ $\ <\ Y +10 &K\ #\ $>\ [ +9 &Mz\ \ >\ [\ +9 &O;\ \ <\ [ +10 &P\ \ =\ \\ +9 &R\ \ =\ \\ +9 &T|\ \ ;\ }] +10 &V<\ \ 7\ }^ +9 &W\ \ =\ z_ +10 &Y\ \ >\ y` +9 &[|\ \ @\ yM +9 &\\8\ \ A\ 2 +10 &\\\ \ -\ X +5 ( +2 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 +2 .Hand.open + "manipulator"&^1 +2 "core" &\\\ \ 0\ X +53 1 +2 "manipulator"&% +3 "core" % I   i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%l& +4 "core" &\ o +2 "manipulator"&D% +3 "core" %    +3 "storage"(L% +4 "core" % :\ n + "storage"(d. +4 "core" .(K + "storage"(F& +4 "core" &K ^\ o +2 "storage"(H& +4 "core" &K \ o +2 "manipulator"&j& +4 "core" &ө   8 9% +2 "manipulator"&\\% +3 "core" % 7  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +161 "core" ( +2 "manipulator"&]& +3 "core" &     +3 "storage"(0& +4 "core" &K \ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&?' +93 "core" ' + "storage"(& +5 "core" &K \ w +2 .tSE.reconfigure :pick +50 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &K \ n +2 "manipulator"&Y& +5 "core" &   #  + .tElbow.seek 6 +2 "manipulator"&R( +4 "core" ( + "manipulator"&& +5 "core" &    + "storage"("& +5 "core" &K \ q +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&t'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(r' +9 "core" &  (  + "manipulator"&% +5 "core" % x   / +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&B( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&w& +3 "core" &   c  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &8& +2 "core" &   I  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +100 "core" ' + "manipulator"&k& +5 "core" &   -  + "manipulator"&Q% +5 "core" %    +2 "processing"%c& +4 "core" &3\ w +2 "processing"%& +5 "core" &\ v +2 .tPC.seek :closed +2 "processing"%O(^ +5 "core" &#\ v +7 & ."\ p#b +9 &Tx!\ b8 +10 &}r"\ bL +9 &O\ hQ +9 &UM\ jP +10 &J \ kP +9 &L\ jP +10 &N\ jP +9 &]I\ kP +9 &N\ jP +10 &M\ jP +9 &!I \ jP +9 &#dN \ jP +10 &%'O \ jP +9 &&O \ iP +10 &(N\ jQ +9 &*mM \ jP +9 &,.N\ iP +10 &-J\ jP +9 &/O\ iP +9 &1tL\ jP +10 &36M\ iP +9 &4L\ jP +10 &6M\ jP +9 &8|N\ jP +9 &:?J\ jP +10 &<N\ iP +9 &=K\ jP +9 &?Q\ iP +10 &AER\ iQ +9 &CZ\ fQ +10 &DZ\ gR +9 &Fc\ dS +9 &HCq\ bT +10 &I\ ^W +9 &K\ ]W +9 &M\ ]X +10 &OB\ ^W +9 &Q\ \\X +10 &R\ [X +9 &T\ [X +9 &VI\ ]W +10 &X \ \\X +9 &Y\ \\X +9 &[\ \\X +10 &]O\ [J +9 &^yDv\ \ a#j +10 &^8 \ j1 +5 ( +2 "processing"%& +3 "core" &^"\ l1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&q1 +64 "core" 1 +2 "manipulator"&g% +3 "core" %   { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +92 "core" ' +3 "processing"%+& +3 "core" &^" \ h1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %   Y  +2 "storage"(% +4 "core" % H I \ h +2 "storage"(!. +3 "core" .(K +2 "storage"( & +3 "core" &K W T \ h +2 "storage"(& +3 "manipulator"&%& +8 "core" &K ^ U :\ h + &  ;  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&$( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'r +3 "core" ( +2 "manipulator"&s& +3 "core" &   -  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &     +2 .tForearm.seek PC +2 "manipulator"&b' +93 "core" ' + .tHand.close +2 "manipulator"&&/ +69 "core" / +2 .tPC.seek :open + "processing"%( +83 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'1 +43 "core" ' +319 ( +2 "storage"(& +3 "core" &K J\ m +2 "manipulator"&& +5 "core" & \   + "manipulator"&}% +4 "core" %  ( +43 .tForearm.seek :retract +10 "manipulator"&o' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +246 "core" ( + "manipulator"&& +5 "core" &   9 + "storage"(#& +5 "core" &K j j \ i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +108 "core" ' +2 .tHand.open +2 "manipulator"&`1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"('' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(W' +61 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +4 "core" -' +2 "storage"(@& +3 "core" &K 3\ " +2 "manipulator"&>& +5 "core" &  F 9 +2 .tElbow.seek 6 + "manipulator"&C( +4 "core" ( +2 "manipulator"&N& +4 "core" &  H 9 +2 "storage"()& +3 "core" &K z\ " +3 .tForearm.seek 6 + 450 counts + "manipulator"&z' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +50 "core" ' +2 "manipulator"&& +3 "core" &   2 9 +2 "storage"((& +4 "core" &K m ~ 1\ m +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&{'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(n' +29 "core" ' + "manipulator"&h% +5 "core" %K  - + "storage"(G& +4 "core" &K i i \ j +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 315 counts +2 "manipulator"&y'w +16 "core" ' +2 "manipulator"&T& +4 "core" &  h 9 +2 "storage"(e& +4 "core" &K  x\ p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(:% +5 "core" % Z\ q +2 ."downElevator"SE.seek :down +4 "storage"(*' +99 (% +3 "core" %I ? M \\\ b[t +3 "manipulator"&v% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +92 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (5& +3 "core" &K R m\ m +3 "collection"'4& +3 "core" &\\\ \ B\ X +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&U% +4 "core" %      +2 "storage"( % +3 "core" % \ q +2 "storage"(i. +4 "core" .(K + "storage"(V& +5 "core" &K `\ p + "storage"(~& +5 "core" &K .\ p + "manipulator"&& +4 "core" &   * 8 +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&u& +4 "core" &    8 +2 "storage"(P& +3 "core" &K 2\ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&E' +95 "core" ' +2 "storage"(7& +3 "core" &K 2\ t +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'r +297 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" &  8 +2 "storage"(K& +4 "core" &K r \ l +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&_'< +50 "core" ' +3 .tElbow.hold + "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(='l +30 "core" ' +2 "manipulator"&6% +3 "core" %K   ( +2 "storage"(Z& +5 "core" &K j n |\ j + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&'w +15 "core" ' +2 "manipulator"&X& +4 "core" & f 8 +2 "storage"( & +3 "core" &K L\ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&^' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&l& +3 "core" &  8 +2 "manipulator"&D% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +152 "core" ( +2 "manipulator"&F& +5 "core" &Ә   : 9( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &Ә  9( +3 .tForearm.seek CC +2 "manipulator"&H'? +101 "core" ' +2 .tHand.close + "manipulator"&j/ +60 "core" / + .tCC.seek :open +2 "collection"'\\( +452 "core" ( + "storage"(1& +5 "core" &K n o \ + "storage"(]& +4 "core" &K n k \ +2 "manipulator"&0& +3 "core" &Ӟ   8" +3 "manipulator"&% +4 "core" % -  +2 .tForearm.seek :retract + "manipulator"&J' +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +165 "core" ( + "manipulator"&m& +5 "core" & Q  + "storage"(,& +4 "core" &K \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&Y'< +94 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&"1 +64 "core" 1 +2 "manipulator"&/% +3 "core" % B    +3 "storage"(& +4 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&'n +14 "core" ' + "manipulator"&& +5 "core" &  u  + "storage"(?& +4 "core" &K N\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +16 "core" ' +2 "storage"(t% +3 "core" % 4\ +3 ."downElevator"SE.seek :down +4 "storage"(w' +98 (8% +3 "core" %@ ~\ Yk +2 "manipulator"&R% +5 "core" %  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +95 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'Q& +3 "core" & \ +2 "manipulator"&c% +3 "core" %  +2 "storage"(r% +5 "core" % `\  + "storage"(f. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(x([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +2 "core" &[\  _\ ~ +3 "manipulator"&g& +4 "core" & ,  +2 .tElbow.seek 7 + "manipulator"&+(r +36 "core" ( +2 "manipulator"&& +48 "core" &n E D +5 "storage"(& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&!'= +95 "core" ' +2 "storage"( & +4 "core" &[ =\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +3 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ s x '\  +2 "manipulator"&s& +5 "core" &n  D + .tElbow.seek 7 +2 "manipulator"&p(r +4 "core" ( +2 "manipulator"&A& +3 "core" &n   D +3 "storage"(&& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&;& +3 "storage"(O' +6 "core" &n N D +3 "manipulator"&2% +3 "core" % Ϲ s +3 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&}& +3 "core" &x.   E~ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +2 "core" &x.  D E~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&#& +5 "core" &Ӵ$    =B + "manipulator"&$% +5 "core" %;   7 +2 "collection"'`& +3 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'.(\\ +5 "core" & \  +8 &1u \ *z +10 &cx \ > +9 &ui \ N +9 &9M \ M +10 &L \ M +9 &M \ L +9 &L \ M +10 &BM \ L +9 &N \ M +10 &K \ M +9 & M \ L +9 &"IM \ M +10 &$ K \ M +9 &%N \ M +9 &'L 5\ M +10 &)RM 6\ L +9 &+N 7\ M +10 &,P 6\ M +9 &.N %\ L +9 &0XO .\ M +10 &2N (\ M +9 &3N ;\ M +9 &5N A\ L +10 &7`O J\ M +9 &9"N \ M +10 &:N +\ M +9 &<Q <\ M +9 &>iO <\ M +10 &@+N <\ M +9 &AR :\ M +9 &CQ 9\ N +10 &Ek^\ 8\ O +9 &G)h\ \ 8\ P +10 &H\ \ 7\ T +9 &J\ %\ 6\ X +9 &LQ\ %\ %8\ Z +10 &N\ #\ #9\ [ +9 &O\ \ 7\ [ +9 &Q\ \ =\ \\ +10 &ST\ \ 8\ \\ +9 &U\ \ 7\ |^ +10 &V\ \ >\ {_ +9 &X\ \ <\ {_ +9 &ZR\ \ 0\ y_ +10 &[{\ \ 2\ ? +9 &\\.\ \ 2\ z)| +9 &\\y\ \ 3\ U +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 +2 .Hand.open + "manipulator"&@1 +61 "core" 1 +2 "manipulator"&>% +3 "core" % ;   C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%N& +5 "core" &#\ k + "manipulator"&)% +4 "core" %   +2 "storage"(% +4 "core" % i ` \ l +2 "storage"((. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(9([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (h& +2 "core" &[ I \ Y +3 "manipulator"&G& +3 "core" &Ӵ#   V =B +2 "manipulator"&'% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&T(r +156 "core" ( +2 "manipulator"&e& +4 "core" &p \  +2 "storage"(:& +4 "core" &[ \ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +100 "core" ' + "storage"(a& +4 "core" &[ `\ x +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +295 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +51 "storage"(#QK-0-\ b +3 (v& +3 "core" &[ x\ o +2 "manipulator"&z& +3 "core" &p \  M +3 .tElbow.seek 7 + "manipulator"&C(r +4 "core" ( + "manipulator"&& +5 "core" &p H + "storage"({& +5 "core" &[ \ r +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&y'ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&4& +3 "storage"(U' +8 "core" &p \  [ + "manipulator"& % +5 "core" % ϧ  +2 .tForearm.seek :retract + "manipulator"&i' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n( +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"&V& +4 "core" &  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &   ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&u& +4 "core" & \  +2 "manipulator"&P% +3 "core" %   +3 "processing"%& +3 "core" &4\ x +3 "processing"%7& +5 "core" &"\ x +2 .tPC.seek :closed +2 "processing"%*(^ +4 "core" &\ x +7 &6!\ q$c +9 &Su$\ e7 +10 &|s"\ cL +9 &N\ kP +9 &LL"\ lP +10 &J\ kP +9 &M!\ lP +10 &M"\ kP +9 &VL"\ lP +9 &M\ lP +10 &L \ nP +9 &!L\ lP +9 &#]M \ lP +10 &%N\ kP +9 &&M \ lP +10 &(L \ lP +9 &*eL \ kP +9 &,'N\ lP +10 &-L\ lP +9 &/N\ lP +10 &1mK\ lP +9 &3/L\ kP +9 &4L\ lP +10 &6L\ kP +9 &8vN\ lP +9 &:8L\ lP +10 &;O\ kP +9 &=N\ kP +10 &?|L\ lP +9 &A=R\ kQ +9 &BZ\ iR +10 &D[\ iR +9 &F|f\ gS +9 &H9x\ cU +10 &I\ aW +9 &K\ `V +10 &Mx\ _W +9 &O:\ _W +9 &P\ ^X +10 &R\ _X +9 &T}\ ]X +9 &VA\ `W +10 &X\ _X +9 &Y \ ^X +10 &[\ ^X +9 &]G\ ]M +9 &^R\ ]#l +10 &^"\ p. +2 ( +2 "processing"%7& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"& 1 +64 "core" 1 +2 "manipulator"&I% +3 "core" %   j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +91 "core" ' +2 "processing"%\ & +4 "core" &^ \ k. +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&K% +4 "core" %  \ A  +2 "storage"(<% +4 "core" % k l \ k +2 "storage"(6. +2 "core" .([ +2 "storage"(Z& +5 "core" &[ i i \ j +2 "storage"(X& +2 "manipulator"& & +5 "core" &[ k i \ j +3 &   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +4 "storage"(l'r + "manipulator"&D( +7 "core" ( + "manipulator"&E& +4 "core" &  \ 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&M' +96 "core" ' +2 .tHand.close + "manipulator"&_/ +77 "core" / +3 .tPC.seek :open +2 "processing"%( +68 "core" ' + "storage"(=- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'1 +39 "core" ' +336 ( +2 "storage"(3& +3 "core" &[ 5\ u +3 "manipulator"&^& +4 "core" &   + "manipulator"&|% +5 "core" %    +2 .tForearm.seek :retract + "manipulator"&j' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&L(r +289 "core" ( +9 "manipulator"&-& +4 "core" &x \  V +2 "storage"(1& +4 "core" &[ *\ p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&]'= +96 "core" ' + .tHand.open +2 "manipulator"&01 +57 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(m' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(,' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(d& +4 "core" &[ X\  +2 "manipulator"&"& +3 "core" &x { V +3 .tElbow.seek 7 +2 "manipulator"&/(r +2 "core" ( +2 "manipulator"&& +4 "core" &x i V +2 "storage"(& +5 "core" &[ w\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&?'= +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(t'" +58 "core" ' +2 "manipulator"&J& +3 "core" &x   \ V +3 "storage"(8& +4 "core" &[ f\ q +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&R'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +28 "core" ' +2 "manipulator"&Q% +3 "core" %Ό 9 2 +3 "storage"(c& +4 "core" &[ ] \ a +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 317 counts + "manipulator"&'ϸ +13 "core" ' +2 "manipulator"&r& +4 "core" &x   B V +2 "storage"(f& +3 "core" &[ F\ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +17 "core" ' +2 "storage"( % +4 "core" % \ q +2 ."downElevator"SE.seek :down +4 "storage"(w' +99 ([% +2 "core" % L ] \\\ e[u +3 "manipulator"&q% +3 "core" %5 $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +91 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &[ | z P\ o +3 "collection"'& +3 "core" &\\w\ \ G\ U +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"& % +3 "core" %      +3 "storage"(% +3 "core" % +\ q +2 "storage"(k. +3 "core" .([ +2 "storage"(%& +4 "core" &[ \ r +2 "storage"(& +4 "core" &[ \ r +2 "manipulator"&s& +3 "core" &x    V +2 .tElbow.seek 7 +2 "manipulator"&A(r +4 "core" ( + "manipulator"&&& +5 "core" &x   2 V + "storage"(B& +5 "core" &[ U\ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&;'= +94 "core" ' +2 "storage"(2& +3 "core" &[ ?\ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +299 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&}& +3 "core" &x   + V +2 "storage"(b& +3 "core" &[ G\ o +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(#- +3 "core" -' +52 .tSE.seek 0.16 Pucks below Top Plate + "storage"($'p +30 "core" ' + "manipulator"&`% +5 "core" %Ό   )  + "storage"(p& +5 "core" &[ ] \\ "\ g + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&O'ϸ +13 "core" ' +2 "manipulator"&& +4 "core" &y   U +2 "storage"(\\& +3 "core" &[ \ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'= +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(>' +35 "core" ' +2 "manipulator"&N& +4 "core" &y   5 U +2 "manipulator"&)% +4 "core" %1  \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&((ӂ +165 "core" ( +2 "manipulator"&& +4 "core" &ӆ   1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &ӆ   l 1 +2 .tForearm.seek CC +2 "manipulator"&G'? +102 "core" ' + .tHand.close +2 "manipulator"&'/ +56 "core" / +2 .tCC.seek :open + "collection"'( +452 "core" ( +2 "storage"(e& +3 "core" &[ q x 2\  +2 "storage"(:& +4 "core" &[ W a G\  +2 "manipulator"&x& +4 "core" &ө   x , +2 "manipulator"&a% +3 "core" % \ C +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&o(r +161 "core" ( +2 "manipulator"&& +4 "core" &r   .  + "storage"(v& +5 "core" &[ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&z'{ +100 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&{1 +52 "core" 1 +3 "manipulator"&5% +4 "core" % Ύ   + "storage"(4& +5 "core" &[ s p =\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"& 'Ϻ +15 "core" ' + "manipulator"&T& +5 "core" &r  }  + "storage"(& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&W'= +17 "core" ' +2 "storage"(y% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(V' +100 (~% +2 "core" %iC p n Q\ Yl +3 "manipulator"&C% +4 "core" %4 ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'P& +3 "core" & \ +2 "manipulator"&% +4 "core" %    +2 "storage"(U% +5 "core" % \  + "storage"(i. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +677 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &\ M +9 &8K \ M +9 &:RN /\ M +10 &<N *\ M +9 &=N "\ M +9 &?O #\ M +10 &AYP 3\ M +9 &CR W\ M +10 &D[  \ O +9 &Fc\ \ p\ P +9 &HRu\ \ %\ R +10 &J\ !\ 4\ W +9 &K\ &\ $G\ Z +9 &M\ $\ "C\ Z +10 &OA\ \ q\ [\ +9 &Q\ \ '\ [ +10 &R\ \ :\ }\\ +9 &T\ \ E\ y^ +9 &VA\ \ I\ {^ +10 &X\ \ <\ z^ +9 &Y\ \ J\ w_ +9 &[\ \ B\ tM +10 &\\:\ \ >\ . +9 &\\\ \ I\ Y +5 ( +2 "collection"'& +4 "core" &\\\ \ G\ Y +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 +2 .Hand.open + "manipulator"&d1 +59 "core" 1 +2 "manipulator"&"% +4 "core" % C   8  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +3 "core" &5\ n +2 "manipulator"&j% +5 "core" % \    + "storage"(J% +4 "core" % \ n +2 "storage"(8. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(F(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +3 "core" &<( y :\ n +2 "manipulator"&c& +4 "core" &ӭ   9% +2 "manipulator"&m% +3 "core" % \  d  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&r( +160 "core" ( +2 "manipulator"&f& +3 "core" &   +2 "storage"( & +4 "core" &<( \ w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +92 "core" ' +2 "storage"(]& +3 "core" &<( 0\ w +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'r +302 "core" ' + "storage"([- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" &<( j h \ k +2 "manipulator"&?& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&/( +51 "core" ( +3 "manipulator"&t& +4 "core" &    +2 "storage"(R& +4 "core" &<( \ o +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( ' +9 "core" &     +2 "manipulator"&% +4 "core" % Ϲ    +2 .tForearm.seek :retract +2 "manipulator"&k' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&Y( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( +2 "manipulator"&%& +3 "core" &   : . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &    . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&s' +92 "core" ' +2 "manipulator"&&& +3 "core" &   . +3 "manipulator"&B% +4 "core" %   < +2 "processing"%& +3 "core" &#\ s +3 "processing"%2& +5 "core" &2\ s +3 .tPC.seek :closed + "processing"%w(^ +4 "core" &"\ s +9 & -\ n#b +9 &Tv#\ `7 +9 &|s#\ _L +10 &L"\ gP +9 &OI#\ hP +10 &K#\ gP +9 &L$\ fP +9 &L"\ gP +10 &XK"\ gP +9 &N!\ gP +9 &N"\ gQ +10 &!L \ hP +9 &#_M\ hP +9 &%!N\ hP +10 &&O\ fP +9 &(N\ gP +10 &*gO\ fP +9 &,)N \ gP +9 &-I\ hP +10 &/N\ gP +9 &1oL\ hP +9 &31L\ hP +10 &4L\ gP +9 &6M\ gP +10 &8wN\ gP +9 &::I\ gP +9 &;N\ gQ +10 &=N\ eP +9 &?K\ gP +9 &ABN\ gP +10 &BW\ eR +9 &DW\ fR +10 &F`\ cS +9 &H>m\ aT +9 &I\ \\W +10 &K\ \\W +9 &M{\ \\W +9 &O=\ [W +10 &P\ XY +9 &R\ ZX +10 &T\ XX +9 &VB\ ZX +9 &X\ YX +10 &Y\ XY +9 &[\ ZY +9 &]I\ YM +10 &^~Q\ W#l +9 &^ \ \ l, +2 ( +2 "processing"%2& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&g% +4 "core" %   Y < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +93 "core" ' +2 "processing"%}& +3 "core" &^\ i, +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&b% +4 "core" %   B " +2 "storage"(#% +4 "core" % f h L\ i +2 "storage"(`. +3 "core" .(<- +2 "storage"(p& +3 "core" &<( i Z 9\ h +3 "storage"(& +2 "manipulator"&\\& +7 "core" &<( V \\ \ h +2 & \ , . +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&N( +5 ."raiseStack"SE.seek :beamBreak +3 "storage"()'r +2 "core" ( +3 "manipulator"&;& +3 "core" &   f . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" & - . +3 .tForearm.seek PC + "manipulator"&+' +95 "core" ' +2 .tHand.close + "manipulator"&/ +66 "core" / +3 .tPC.seek :open + "processing"%O( +87 "core" ' +2 "storage"($- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +53 "core" ' +304 ( +2 "storage"(h& +4 "core" &<( J\ n +2 "manipulator"&@& +3 "core" &    . +2 "manipulator"&% +4 "core" %     +2 .tForearm.seek :retract +2 "manipulator"&'' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +243 "core" ( +2 "manipulator"&.& +4 "core" &    C + "storage"(e& +5 "core" &<( k l \ k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +44 .tForearm.seek 5 + 450 counts +9 "manipulator"&:'O +93 "core" ' +2 .tHand.open +2 "manipulator"&x1 +56 "core" 1 +2 "storage"(a- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(v' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(G- +3 "core" -' +2 "storage"((& +3 "core" &<( L\  +3 "manipulator"&{& +3 "core" & C +2 .tElbow.seek 5 +2 "manipulator"&5( +4 "core" ( +2 "manipulator"&4& +4 "core" &  m C +2 "storage"(T& +4 "core" &<( \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +57 "core" ' +2 "manipulator"&& +3 "core" &  C +3 "storage"(~& +3 "core" &<( @\ m +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&C'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(z' +28 "core" ' +2 "manipulator"&P% +3 "core" %Κ   y m +2 "storage"(& +5 "core" &<( ] \\ )\ f + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"& ' +14 "core" ' +2 "manipulator"&U& +3 "core" &  | B +2 "storage"(i& +5 "core" &<(  -\ p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +15 "core" ' + "storage"(W% +4 "core" % \ q +3 ."downElevator"SE.seek :down +3 "storage"(V' +99 (9% +3 "core" %J B \\ \ d[t +2 "manipulator"& % +5 "core" %N   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (K& +3 "core" &<( | s \ n +2 "collection"'<& +5 "core" &\\\ \ N\ Y + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&Z% +3 "core" %   8  +2 "storage"(% +4 "core" % } \ p +2 "storage"(u. +3 "core" .(<- +2 "storage"(X& +3 "core" &<( \ q +2 "storage"( & +5 "core" &<( S\ p + "manipulator"&E& +5 "core" &   B + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&_& +3 "core" &   / B +2 "storage"(n& +4 "core" &<( f\ p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&S'O +95 "core" ' +2 "storage"(l& +3 "core" &<( h\ r +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'r +308 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" &   $ B +2 "storage"(M& +4 "core" &<( j _ \ l +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&7'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(1'h +29 "core" ' + "manipulator"&0% +5 "core" %Ρ   + "storage"(& +4 "core" &<( Z i t\ h +2 .tForearm.force -20 +46 "manipulator"&5 +6 .tForearm.seek 5 + 320 counts +2 "manipulator"&*' +13 "core" ' +2 "manipulator"&3& +3 "core" &  3 B +3 "storage"(& +3 "core" &<( \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"("' +36 "core" ' +2 "manipulator"&& +3 "core" &    B +3 "manipulator"&j% +4 "core" %F \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +145 "core" ( +3 "manipulator"&& +3 "core" &|'  \  @] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &|(    @] +2 .tForearm.seek CC +2 "manipulator"&c'? +95 "core" ' + .tHand.close +2 "manipulator"&m/ +59 "core" / +2 .tCC.seek :open +2 "collection"'-( +451 "core" ( +2 "storage"(f& +4 "core" &<( a a O\ +2 "storage"( & +3 "core" &<( a b 3\ +2 "manipulator"&& +4 "core" &ӷ   8" +2 "manipulator"&]% +4 "core" % *  [ +2 .tForearm.seek :retract +2 "manipulator"&^' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&[& +3 "core" &   +2 "storage"(q& +5 "core" &<( W\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&?'΍ +98 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&R1 +61 "core" 1 +2 "manipulator"&% +5 "core" % Λ    +2 "storage"(& +4 "core" &<( T\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&r& +4 "core" &   +2 "storage"(L& +4 "core" &<( \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +16 "core" ' + "storage"(% +4 "core" % *\ +3 ."downElevator"SE.seek :down +3 "storage"(%' +100 (% +3 "core" %A }  r\ Yk +2 "manipulator"&/% +3 "core" %J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +96 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'B& +3 "core" & \ +2 "manipulator"&% +3 "core" %    +2 "storage"( % +5 "core" % I\  + "storage"(k. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K q r \  +2 "manipulator"&g& +4 "core" & l  +2 .tElbow.seek 6 + "manipulator"&}( +4 "core" ( +2 "manipulator"&b& +3 "core" & 9  +3 "storage"(#& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +90 "core" ' + "storage"(p& +3 "core" &K k\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\\'r +296 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &K q 9\  +2 "manipulator"&;& +5 "core" & T  + .tElbow.seek 6 +2 "manipulator"&A( +4 "core" ( +2 "manipulator"&s& +4 "core" &  -  +2 "storage"(& +37 "core" &K \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&$'h +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&!& + "storage"(w' +7 "core" &  +2 "manipulator"&)% +3 "core" % a  +3 .tForearm.seek :retract +2 "manipulator"&h' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&@(ӂ +153 "core" ( +2 "manipulator"&& +4 "core" ' + &Ӏ%   : >O +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &+& +3 "core" &Ӏ%   >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&.'? +98 "core" ' +3 "manipulator"&e& +4 "core" &Ӏ%   l >O +2 "manipulator"&N% +3 "core" %C    +3 "collection"'x& +3 "core" & \ +3 "collection"'a& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'G(\\ +4 "core" & \ +7 &3 \ $d +9 &Vs  \ 7 +10 &o \ K +9 &N \ M +10 &gM \ L +9 &'N \ M +9 &M \ M +10 &P \ M +9 &nM \ M +9 &1M \ L +10 &M \ M +9 &!N \ L +10 &#uN \ M +9 &%8L \ M +9 &&K \ M +10 &(L \ M +9 &*}O \ M +9 &,@M \ M +10 &.O \ M +9 &/N \ M +10 &1O \ M +9 &3HN )\ M +9 &5\ N \ M +10 &6N \ M +9 &8N ^\ M +9 &:PN 2\ M +10 &<K \ M +9 &=N ?\ M +10 &?P \ M +9 &AVP 5\ M +9 &CT P\ N +10 &D`\ ^\ O +9 &Fh\ \ \ P +9 &HJ\ \ >\ T +10 &J\ %\ #t\ X +9 &K\ #\ "0\ Z +10 &M}\ \ N\ [ +9 &O?\ \ L\ [ +9 &P\ \ K\ }\\ +10 &R\ \ C\ }\\ +9 &T~\ \ H\ {] +9 &V?\ \ M\ z] +10 &W\ \ L\ y^ +9 &Y\ \ M\ w_ +10 &[~\ \ K\ uL +9 &\\6\ \ K\ 4 +9 &\\\ \ N\ U +6 ( + "collection"'a& +4 "core" &\\x\ \ I\ U +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 + .Hand.open +2 "manipulator"&(1 +52 "core" 1 +2 "manipulator"&{% +3 "core" % C     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%T& +3 "core" &4\ p +2 "manipulator"&'% +4 "core" %  S  +2 "storage"(% +4 "core" % N\ p +2 "storage"(~. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &K  < '\ ` +2 "manipulator"&& +4 "core" &ӫ   Y 9$ +2 "manipulator"&% +4 "core" %  :  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&U( +156 "core" ( +2 "manipulator"&i& +3 "core" & \  @ +3 "storage"(W& +4 "core" &K Z\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' +2 "storage"(:& +3 "core" &K x\ x +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +300 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K \ n +2 "manipulator"&& +4 "core" &   C +2 .tElbow.seek 6 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&y& +4 "core" &   C + "storage"(C& +4 "core" &K \ r +3 .tForearm.seek 6 + 300 counts + "manipulator"& 'h +51 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&<& + "storage"(Z' +8 "core" &   w +2 "manipulator"&% +3 "core" % υ   +3 .tForearm.seek :retract + "manipulator"&u' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&X& +4 "core" & \  ~ # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &  # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&E' +91 "core" ' +2 "manipulator"&_& +4 "core" &  W # +2 "manipulator"&n% +4 "core" %  d +2 "processing"%>& +75 "core" &#\ z +2 "processing"%l& +6 "core" &3\ w +3 .tPC.seek :closed + "processing"%V(^ +5 "core" &$\ w +8 &4#\ p$e +9 &Uv \ c8 +9 &}q"\ cL +10 &N#\ jQ +9 &SK"\ kP +9 &J#\ kP +10 &L#\ kP +9 &L$\ kP +10 &[J\ kP +9 &M \ kP +9 &L \ jP +10 &!K\ jP +9 &#bL\ kP +9 &%$L\ jP +10 &&N\ jP +9 &(N\ jP +10 &*kL\ jP +9 &,,L\ kP +9 &-K\ kP +10 &/N\ jQ +9 &1sJ\ kP +9 &36L\ kP +10 &4K\ kO +9 &6M\ jP +10 &8{N\ jP +9 &:=K\ iP +9 &;N\ jQ +10 &=N\ jP +9 &?P\ jP +9 &ACO\ jQ +10 &CV\ hQ +9 &DX\ hR +10 &Fd\ dS +9 &H@q\ cT +9 &I\ _W +10 &K\ _W +9 &M~\ ^W +9 &O?\ ^W +10 &Q\ ]X +9 &R\ ]X +10 &T\ [Y +9 &VF\ ^X +9 &X\ \\X +10 &Y\ \\X +9 &[\ ]X +9 &]K\ [L +10 &^|K\ ^_ +9 &^? \ j3 +5 ( +2 "processing"%l& +4 "core" &^&\ l3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&o1 +62 "core" 1 + "manipulator"&I% +5 "core" %   d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +90 "core" ' +2 "processing"%|& +4 "core" &^&\ k3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&M% +4 "core" %   |  +2 "storage"(D% +4 "core" % i i \ j +2 "storage"(0. +3 "core" .(K +2 "storage"(& +4 "core" &K i i \ j +2 "storage"(3& +4 "manipulator"&& +6 "core" &K i j \ i + &   # +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'r +2 "core" ( +3 "manipulator"&S& +4 "core" &   # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  4 # +3 .tForearm.seek PC + "manipulator"&\ ' +97 "core" ' +3 .tHand.close + "manipulator"&7/ +65 "core" / +2 .tPC.seek :open +2 "processing"%*( +83 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +55 "core" ' +306 ( +3 "storage"(Q& +4 "core" &K a\ m +2 "manipulator"&d& +4 "core" & \  # + "manipulator"&=% +5 "core" %      +2 .tForearm.seek :retract + "manipulator"&m' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&J( +243 "core" ( +2 "manipulator"&H& +4 "core" &   8 = +2 "storage"(f& +3 "core" &K m m 7\ k +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +90 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +43 "storage"(]- +16 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"([' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(q' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +5 "core" -' +2 "storage"(8& +5 "core" &K ;\  + "manipulator"&R& +4 "core" & @ = +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & = +3 "storage"(r& +3 "core" &K L\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&^& +3 "core" &   = +3 "storage"(& +4 "core" &K A\ p +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&/'< +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +18 "core" ' +2 "manipulator"&B% +4 "core" %C  +2 "storage"(& +3 "core" &K j l \ j +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&'o +14 "core" ' +2 "manipulator"& & +3 "core" &  8 < +2 "storage"(k& +5 "core" &K \ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +15 "core" ' +2 "storage"(,% +3 "core" % \ q +3 ."downElevator"SE.seek :down +4 "storage"(%' +98 (F% +4 "core" %G [ \\ \ fZs +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (b& +3 "core" &K w m z\ p +3 "collection"'#& +3 "core" &\\w\ \ P\ U +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&p% +4 "core" %    !  +2 "storage"(t% +3 "core" % \ r +2 "storage"(&. +4 "core" .(K + "storage"(& +5 "core" &K \ r + "storage"(2& +5 "core" &K \ r + "manipulator"&;& +4 "core" & \  < +2 .tElbow.seek 6 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&& +4 "core" &   < +2 "storage"(Y& +3 "core" &K \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +99 "core" ' + "storage"()& +5 "core" &K \ t +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +296 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &    < +2 "storage"(+& +4 "core" &K | p #\ l +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&\\'< +21 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(e- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(N'm +29 "core" ' +2 "manipulator"&x% +3 "core" %P  \ I +2 "storage"(A& +5 "core" &K \ m + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&w'| +15 "core" ' + "manipulator"&h& +4 "core" &  = < +2 "storage"(-& +44 "core" &K f\ t +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"({' +36 "core" ' +2 "manipulator"&T& +3 "core" &  \ h < +3 "manipulator"&'% +3 "core" %  5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&~(ӂ +159 "core" ( +2 "manipulator"&a& +5 "core" &ӑ   ! 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &P& +2 "core" &ӑ   7 +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'.( +451 "core" ( +2 "storage"(i& +3 "core" &K o p L\  +3 "storage"(W& +4 "core" &K a c f\  + "manipulator"&& +4 "core" &Ӧ   x 5 +2 "manipulator"&:% +3 "core" % F   +3 .tForearm.seek :retract +2 "manipulator"&@' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&4( +154 "core" ( + "manipulator"&9& +4 "core" &   X +2 "storage"( & +3 "core" &K p\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&C1 +61 "core" 1 +2 "manipulator"&K% +5 "core" % P    + "storage"(<& +4 "core" &K n\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&'| +15 "core" ' +2 "manipulator"&U& +3 "core" &  ? +2 "storage"(& +5 "core" &K B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +18 "core" ' + "storage"( % +4 "core" % *\ +2 ."downElevator"SE.seek :down +4 "storage"(X' +99 ( % +3 "core" %A n q b\ Yl +2 "manipulator"&5% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'n& +3 "core" & \ +2 "manipulator"&>% +4 "core" %  \   +2 "storage"(Z% +4 "core" % \  +2 "storage"(u. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(O([ +345 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (o& +3 "core" &[ c h S\ +2 "manipulator"&I& +5 "core" &   + .tElbow.seek 7 +2 "manipulator"&|(r +16 "core" ( + "manipulator"&M& +4 "core" &r  u  +2 "storage"(D& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&0'= +94 "core" ' + "storage"(& +5 "core" &[ l\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'r +296 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ y\  +3 "manipulator"&S& +50 "core" &r  +4 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( +2 "manipulator"&E& +3 "core" &r   +2 "storage"(7& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&6& + "storage"(V' +8 "core" &r *  +2 "manipulator"&j% +4 "core" % Ϟ l +2 .tForearm.seek :retract +2 "manipulator"&Q' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&=& +3 "core" &z&   e ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &z&   ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&H'? +94 "core" ' +3 "manipulator"&f& +4 "core" &Ӌ$  I =C +2 "manipulator"&% +3 "core" %F  4 G +3 "collection"'& +3 "core" & \ +3 "collection"']& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'m(\\ +5 "core" & \ +7 &3 \ $c +9 &Uo \ 6 +10 &r \ K +9 &L \ M +10 &^M \ M +9 &P  \ M +9 &M  \ L +10 &N  \ M +9 &fQ  \ M +9 &(L  \ M +10 &M  \ L +9 &!M  \ L +9 &#nM \ M +10 &%0O \ \ M +9 &&K  \ M +10 &(L \ M +9 &*wM \ L +9 &,9N 2\ L +10 &-L \ M +9 &/Q \ M +11 &1~N \ M +11 &3?L '\ M +7 &5N 1\ M +9 &6N 0\ M +9 &8M ]\ M +9 &:HN \ \ M +10 &< L l\ M +9 &=N 4\ M +10 &?L M\ M +9 &APO \ M +9 &CS 2\ M +10 &DY\ I\ N +9 &Fb\ \ +\ O +9 &HGz\ \ C\ R +10 &I\ \ +\ V +9 &K\ %\ &A\ Z +9 &Mv\ #\ #I\ Z +10 &O7\ \ M\ [ +9 &P\ \ J\ [ +10 &R\ \ P\ [ +9 &Tw\ \ F\ ~] +9 &V9\ \ K\ ~] +10 &W\ \ M\ z^ +9 &Y\ \ N\ z_ +10 &[v\ \ H\ xL +9 &\\>\ \ J\ + +9 &\\\ \ L\ [ +6 ( + "collection"']& +4 "core" &\\x\ \ E\ [ +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&c1 +63 "core" 1 +2 "manipulator"&8% +4 "core" % F   d G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +96 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +3 "core" &1\ k +2 "manipulator"&r% +4 "core" %     +2 "storage"(^% +3 "core" % _ i v\ l +2 "storage"(. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(B([ +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[\ \ Y\ X +3 "manipulator"&1& +3 "core" &ө   9% +2 "manipulator"& % +4 "core" %    M  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&k(r +164 "core" ( +2 "manipulator"&[& +4 "core" &q  \ ?  +2 "storage"(,& +3 "core" &[ n\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&J'= +99 "core" ' +2 "storage"( & +3 "core" &[ x\ x +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +295 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ #\ n +3 "manipulator"&L& +4 "core" &q     +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&& +3 "core" &q    +3 "storage"(/& +4 "core" &[ \ q +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +55 "core" / +2 ."downElevator"SE.seek :down +54 "manipulator"&#& + "storage"(p' +6 "core" &q  .  +3 "manipulator"&t% +3 "core" % ϶  +3 .tForearm.seek :retract +2 "manipulator"&&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&& +5 "core" &   L ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &   / ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&;' +96 "core" ' +2 "manipulator"&& +4 "core" &   ! +2 "manipulator"&Y% +3 "core" %  +3 "processing"%"& +3 "core" &2\ r +3 "processing"%)& +5 "core" &\ r +2 .tPC.seek :closed +2 "processing"%%(^ +5 "core" &!\ r +7 &4"\ k$c +9 &Ts#\ ]7 +10 &|s\ ]L +9 &N"\ eP +10 &NK#\ fQ +9 &L\ dP +9 &O\ eP +10 &L"\ eP +9 &WH#\ gP +9 &N"\ eP +10 &M"\ fP +9 &!I#\ fP +9 &#_N"\ eP +10 &%!N"\ fP +9 &&N \ fP +10 &(J\ fP +9 &*gN \ fP +9 &,(N\ fQ +10 &-L\ fQ +9 &/M\ fP +9 &1pG\ gP +10 &31L\ fP +9 &4L \ eQ +10 &6L\ eP +9 &8wO\ eP +9 &:9N \ eP +10 &;O\ eP +9 &=O\ eQ +9 &?~N\ dQ +10 &A@L\ eQ +9 &BV\ cR +10 &DZ\ cR +9 &Fb\ aS +9 &H;q\ \\U +10 &I\ ZW +9 &K\ ZW +10 &Mz\ ZX +9 &O<\ ZW +9 &P\ YY +10 &R\ YX +9 &T\ WY +9 &VB\ XX +10 &X\ XX +9 &Y\ XY +9 &[\ XX +10 &]G\ WN +9 &^~N\ X!g +10 &^'\ i0 +2 ( + "processing"%)& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&g% +3 "core" %   0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +92 "core" ' +2 "processing"%& +4 "core" &^ \ k0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&+% +5 "core" %     + "storage"(e% +5 "core" % j i \ j + "storage"(x. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(A([ +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (h& +2 "manipulator"&-& +5 "core" &[ * 3 D\ h +2 &   ! +5 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +6 .tElbow.seek PC +2 "manipulator"&T( +5 ."raiseStack"SE.seek :beamBreak + "storage"(''r +3 "core" ( +2 "manipulator"&!& +4 "core" &   ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &   . ! +3 .tForearm.seek PC + "manipulator"&}' +96 "core" ' + .tHand.close +2 "manipulator"&\\/ +77 "core" / +2 .tPC.seek :open + "processing"%w( +74 "core" ' +2 "storage"(N- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'1 +52 "core" ' +322 ( + "storage"(P& +4 "core" &[ V\ n +2 "manipulator"&(& +4 "core" &   ! +2 "manipulator"&$% +3 "core" %     +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +247 "core" ( +2 "manipulator"&G& +4 "core" &  C . +2 "storage"(i& +3 "core" &[ i j \ j +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&W'= +100 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(:- +3 "core" -'1 +51 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(~& +4 "core" &[ < 7 \  +2 "manipulator"&C& +3 "core" & } - +2 .tElbow.seek 7 +2 "manipulator"&K(r +29 "core" ( +2 "manipulator"&<& +3 "core" &z @ R +3 "storage"(U& +3 "core" &[ X Z\  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +58 "core" ' + "manipulator"&@& +4 "core" &z   R +2 "storage"( & +4 "core" &[ \ v +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&5'{ +32 "core" ' + .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +30 "core" ' +2 "manipulator"&n% +4 "core" %Ύ / * +2 "storage"(& +3 "core" &[ I K /\ h +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&>'Ϻ +14 "core" ' +2 "manipulator"&Z& +3 "core" &z   " R +2 "storage"(u& +5 "core" &[ K\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&{'= +15 "core" ' +2 "storage"(v% +3 "core" % w\ y +3 ."downElevator"SE.seek :down +3 "storage"(X' +99 (% +3 "core" %1G '\ k[s +3 "manipulator"&o% +4 "core" %.   I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (M& +3 "core" &[ (\ t +3 "collection"'D& +3 "core" &\\y\ \ R\ [ +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %    +2 "storage"(y% +3 "core" % }\ v +2 "storage"(_. +3 "core" .([ +2 "storage"(3& +4 "core" &[ \ v +2 "storage"(& +3 "core" &[ \ v +2 "manipulator"&S& +5 "core" &z   R + .tElbow.seek 7 +2 "manipulator"&E(r +4 "core" ( + "manipulator"&7& +5 "core" &z    R + "storage"(z& +4 "core" &[ (\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&6'= +103 "core" ' +2 "storage"(j& +3 "core" &[ \  5\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +308 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &z  R +2 "storage"(\ & +5 "core" &[ z\ v + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&l'{ +88 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +30 "core" ' +2 "manipulator"&% +4 "core" %Ί   X + + "storage"(& +4 "core" &[ k _ M\ l +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&V'϶ +13 "core" ' +2 "manipulator"&Q& +4 "core" &z f R + "storage"(.& +5 "core" &[ |\ z +42 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&c'= +16 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(8' +41 "core" ' +2 "manipulator"&& +3 "core" &z b R +3 "manipulator"&r% +3 "core" %4 S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +162 "core" ( +2 "manipulator"&]& +3 "core" &Ӎ%   X >N +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӎ%   d >N +3 .tForearm.seek CC +2 "manipulator"&1'? +97 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tCC.seek :open +2 "collection"'H( +451 "core" ( +2 "storage"([& +3 "core" &[ \  +3 "storage"(,& +4 "core" &[ p r \  + "manipulator"&O& +5 "core" &Ӻ   8! + "manipulator"& % +4 "core" % 8 \  7 +2 .tForearm.seek :retract +2 "manipulator"&d' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&R(r +165 "core" ( +2 "manipulator"&F& +3 "core" &u    +2 "storage"(& +5 "core" &[ F\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&L'{ +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&/1 +57 "core" 1 +2 "manipulator"&b% +3 "core" % Ώ   +2 "storage"(#& +4 "core" &[ `\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&t'ϻ +13 "core" ' +2 "manipulator"&k& +4 "core" &u  +2 "storage"(J& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'= +15 "core" ' +2 "storage"(% +4 "core" % f\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (2% +2 "core" %w? $\ Yk +3 "manipulator"&% +4 "core" %5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'Y& +3 "core" & \ \ +2 "manipulator"&"% +4 "core" %    #  +2 "storage"(p% +4 "core" % b\  +2 "storage"(&. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(*(<- +677 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<- \ +2 "manipulator"&g& +3 "core" &u  $  +3 .tElbow.seek 5 +2 "manipulator"&( +25 "core" ( + "manipulator"&+& +5 "core" &   % + "storage"(e& +4 "core" &<- \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +90 "core" ' +2 "storage"()& +4 "core" &<- Z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'r +298 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (!& +3 "core" &<- `\ +2 "manipulator"&s& +3 "core" & \  _ % +49 .tElbow.seek 5 +3 "manipulator"&;( +25 "core" ( +2 "manipulator"&\\& +4 "core" &   +2 "storage"(B& +3 "core" &<- L\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&N'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&`& + "storage"(%' +6 "core" & g  +3 "manipulator"&'% +3 "core" % Ϯ < +3 .tForearm.seek :retract +2 "manipulator"&P' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&((ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&$& +3 "core" &ӓ"  \ g ;6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &ӓ"   ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'? +91 "core" ' +3 "manipulator"&i& +3 "core" &ӓ"   G ;6 +3 "manipulator"&T% +3 "core" %=  d +3 "collection"'& +3 "core" & \ +3 "collection"':& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \  +9 &4x !\ +{ +9 &dx \ > +10 &j \ M +9 &NJ \ L +9 &N \ L +10 &N \ L +9 &M \ L +9 &VN \ L +10 &N \ M +9 &L \ M +10 & K  \ M +9 &"]K  \ M +9 &$K  \ M +10 &%L  \ M +9 &'L  \ L +9 &)eN  \ M +10 &+'Q  \ M +9 &,O \ \ M +10 &.N \ M +9 &0mQ \ M +9 &2/Q \ M +10 &3M \ M +9 &5O \ L +9 &7uO \ M +10 &97M  \ M +9 &:N \ L +10 &<O \ L +9 &>}O \ M +9 &@?M \ M +10 &BP \ M +9 &CU ,\ N +9 &E~]\  \ O +10 &G<k\ \  \ P +9 &H\ \ \ S +10 &J\ %\ "*\ X +9 &Lh\ &\ '\ Y +9 &N'\ \ #-\ Z +10 &O\ \ 1\ [ +9 &Q\ \ 4\ [ +9 &Si\ \ 2\ \\ +10 &U+\ \ \ \\ +9 &V\ \ i\ ] +10 &X\ \ 8\ ^ +9 &Zh\ \ U\ _ +9 &\\z\ \ ,\ 7 +10 &\\(\ \ L\ &r +9 &\\}\ \ M\ [ +2 ( +2 "collection"':& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&~% +4 "core" % =   m d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%<& +4 "core" &*\ o +2 "manipulator"&U% +4 "core" %    k  +2 "storage"(@% +3 "core" % \ o +2 "storage"( . +4 "core" .(<- +2 "storage"(a& +4 "core" &<- c\ o + "storage"(9& +4 "core" &<- >\ p +2 "manipulator"&n& +5 "core" &ӯ   } 7 + "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Z( +161 "core" ( +2 "manipulator"&u& +3 "core" &    +2 "storage"(& +4 "core" &<- \ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&v'O +92 "core" ' +2 "storage"(W& +4 "core" &<- \ z +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (o& +2 "core" &<- p n 5\ k +3 "manipulator"&& +4 "core" &   &  +2 .tElbow.seek 5 + "manipulator"&K( +4 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(5& +4 "core" &<- }\ o +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&>'Ϲ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"(' +8 "core" &  '  + "manipulator"&y% +5 "core" %  + +2 .tForearm.seek :retract +49 "manipulator"&_' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&( +113 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +124 "core" ( +3 "manipulator"&3& +3 "core" & \  & 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&S' +91 "core" ' +2 "manipulator"&7& +5 "core" &  { 7 + "manipulator"&z% +5 "core" % +2 "processing"%{& +3 "core" &3\ z +3 "processing"%j& +5 "core" &\ y +2 .tPC.seek :closed +2 "processing"%X(^ +5 "core" &\ y +7 & +\ t#b +9 &Uv\ g7 +9 &}r\ fL +10 &O\ mP +9 &KL\ oP +9 &K\ nP +10 &L \ nP +9 &K\ nP +10 &SK\ nP +9 &L\ nP +9 &L\ mP +10 &!L\ nP +9 &#\\M\ nP +9 &%N\ nP +10 &&L\ nO +9 &(N\ mP +10 &*cL\ nP +9 &,%N\ nP +9 &-L\ oP +10 &/N\ mP +9 &1lK\ nP +9 &3-N\ \ mP +10 &4K\ oP +9 &6M\ nP +10 &8sP\ mP +9 &:5L\ nP +9 &;N\ nP +10 &=N\ mP +9 &?zL\ \ nP +9 &A<Q\ mP +10 &BU\ lQ +9 &D\\ \ iR +10 &F{`\ jS +9 &H8n \ gU +9 &I \ dV +10 &K\ cW +9 &Mv\ cW +9 &O8 \ bW +10 &P \ aX +9 &R\ bX +10 &T{\ `X +9 &V? \ bW +9 &W\ `X +10 &Y\ aX +9 &[ \ aY +10 &]D\ _O +9 &^zI \ c^ +9 &^O \ l2 +5 ( +2 "processing"%j& +4 "core" &^"\ q2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&41 +52 "core" 1 +2 "manipulator"&I% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +95 "core" ' +2 "processing"%=& +4 "core" &^"\ \ k2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&\ % +4 "core" % " \  4 +2 "storage"(f% +4 "core" % i i \ j +2 "storage"(. +3 "core" .(<- +2 "storage"(& +3 "core" &<- j i \ j +3 "storage"(Q& +2 "manipulator"&.& +7 "core" &<- k k \ k +2 &   7 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&6( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&r& +3 "core" &  3 7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" & - ' k 7 +2 .tForearm.seek PC +2 "manipulator"&|' +96 "core" ' + .tHand.close +2 "manipulator"&l/ +73 "core" / +4 .tPC.seek :open + "processing"%V( +78 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(]'1 +51 "core" ' +319 ( + "storage"(& +4 "core" &<, N\ p +2 "manipulator"&c& +3 "core" &    7 +2 "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"& ' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&^( +254 "core" ( +2 "manipulator"&m& +3 "core" &   C +3 "storage"([& +3 "core" &<, :\ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +101 "core" ' +2 .tHand.open + "manipulator"&O1 +53 "core" 1 +3 "storage"( - +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(F' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(1- +3 "core" -' +2 "storage"(& +45 "core" &<, \ # +10 "manipulator"&/& +3 "core" &   C +3 .tElbow.seek 5 + "manipulator"&b( +28 "core" ( +2 "manipulator"&#& +3 "core" &    +2 "storage"(k& +5 "core" &<, \ % +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +60 "core" ' +2 "manipulator"&d& +4 "core" & [  +2 "storage"(2& +3 "core" &<, O\ t +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&R, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(L' +27 "core" ' + "manipulator"&Y% +4 "core" %Ρ \ +2 "storage"(t& +4 "core" &<, \ o +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&"' +14 "core" ' +2 "manipulator"&p& +3 "core" &  +3 "storage"(&& +4 "core" &<, \ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&8'O +15 "core" ' +2 "storage"(q% +3 "core" % A\ w +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (A% +3 "core" %G x m S\ jZr +2 "manipulator"&% +3 "core" %G  G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (+& +3 "core" &<, 3\ s +3 "collection"'e& +3 "core" &\\\ \ \ [ +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&)% +4 "core" %    +2 "storage"(% +3 "core" % G\ u +2 "storage"(. +4 "core" .(<- + "storage"(h& +5 "core" &<, 9\ u +2 "storage"(!& +4 "core" &<, \ u +2 "manipulator"&s& +3 "core" &     +3 .tElbow.seek 5 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&B& +3 "core" &     +3 "storage"(?& +4 "core" &<, \ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +93 "core" ' +2 "storage"('& +3 "core" &<, m\ z +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" & \    +2 "storage"(}& +5 "core" &<, _\ s + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&-'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(T'f +30 "core" ' + "manipulator"&% +4 "core" %Θ     +2 "storage"(;& +3 "core" &<, \ q +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 311 counts +2 "manipulator"&%' +14 "core" ' + "manipulator"&P& +4 "core" & *  +2 "storage"(H& +3 "core" &<, \ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(~' +44 "core" ' +2 "manipulator"&<& +4 "core" & F  +2 "manipulator"&U% +3 "core" %< 3 +43 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +158 "core" ( +2 "manipulator"&a& +4 "core" &Ӓ#  2 <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &Ӓ#  <= +2 .tForearm.seek CC +2 "manipulator"&:'? +98 "core" ' + .tHand.close +2 "manipulator"&n/ +54 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(G& +4 "core" &<, \ +2 "storage"(u& +3 "core" &<, .\ +2 "manipulator"&& +4 "core" &ӧ : 9( +2 "manipulator"&W% +4 "core" % R   w  +2 .tForearm.seek :retract +2 "manipulator"&(' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&C( +163 "core" ( + "manipulator"&& +5 "core" &     + "storage"(o& +4 "core" &<, 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +98 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +59 "core" 1 +2 "manipulator"&M% +4 "core" % Η    +2 "storage"(D& +4 "core" &<, ;\ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 310 counts + "manipulator"&y' +14 "core" ' +2 "manipulator"&Z& +3 "core" & )  +3 "storage"(v& +3 "core" &<, j\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +15 "core" ' +2 "storage"(>% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(3' +98 (% +3 "core" %= +\ Xj +2 "manipulator"&K% +5 "core" %? / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +86 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'z& +3 "core" & \  +3 "manipulator"&{% +3 "core" %   x  +2 "storage"(% +5 "core" % a\  +2 "storage"(_. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(w(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" &K d a b\  +2 "manipulator"&I& +3 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&\ & +3 "core" &  +2 "storage"(f& +5 "core" &K [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +89 "core" ' +2 "storage"(& +3 "core" &K  \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +298 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (j& +2 "core" &K z a\  +2 "manipulator"&r& +5 "core" &  +2 .tElbow.seek 6 + "manipulator"&E( +4 "core" ( +2 "manipulator"&S& +3 "core" & =  +2 "storage"(l& +5 "core" &K o\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tHand.close +3 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(X' +9 "core" & X  + "manipulator"&% +5 "core" % Ϗ " +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&& +5 "core" &Ӗ   8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +3 "core" &Ӗ  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'? +92 "core" ' +3 "manipulator"&[& +4 "core" &ӗ  * 8 +2 "manipulator"&6% +3 "core" %4   5 v +3 "collection"'O& +3 "core" & \  +3 "collection"' & +5 "core" & \  +3 .tCC.seek :closed + "collection"'1(\\ +6 "core" & \  +6 &? \ %h +10 &Xt \ 8 +9 &q \ L +9 &L \ M +10 &L \ L +9 &FM \ M +10 &P \ M +9 &Q \ M +9 &N  \ M +10 &OM \ L +9 & O  \ M +9 &!K \ L +10 &#O  \ M +9 &%VN  \ M +10 &'L  \ M +9 &(Q \ M +9 &*N  \ M +10 &,^L  \ M +9 &.!L  \ L +9 &/N \ \ M +10 &1R  \ M +9 &3fQ \ M +10 &5(Q \ \ M +9 &6M  \ M +9 &8L  \ M +10 &:nL  \ M +9 &<0L  \ M +9 &=M  \ M +10 &?N \ M +9 &AuN 2\ M +10 &C4V \ N +9 &Db\ \ O +9 &Fl\ \ \ P +10 &Hf\ \ 2\ U +9 &J\ &\ !;\ Y +9 &K\ $\ $\ Z +10 &M\ \ \ [ +9 &O[\ \ \ [ +10 &Q\ \ 3\ [ +9 &R\ \ 3\ \\ +9 &T\ \ R\ ] +10 &V^\ \ /\ ] +9 &X\ \ 1\ ^ +9 &Y\ \ 2\ _ +10 &[\ \ \\\ ~L +9 &\\9\ \ .\ - +10 &\\o\ \ J\ P +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 +2 .Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"& % +4 "core" % 4   i v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%#& +4 "core" &\ t + "manipulator"&k% +4 "core" %    t  +2 "storage"(d% +4 "core" % b\ s +2 "storage"(2. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(](K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &K 3 8 \ d +3 "manipulator"&Y& +4 "core" &Ӧ   S 6 + "manipulator"&t% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&p( +160 "core" ( +2 "manipulator"&&& +4 "core" &    +2 "storage"(q& +3 "core" &K \\\ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +89 "core" ' + "storage"(,& +5 "core" &K k =\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \ t +3 "manipulator"&J& +4 "core" &   )  +2 .tElbow.seek 6 + "manipulator"&b( +4 "core" ( + "manipulator"&& +5 "core" &  d  + "storage"(& +4 "core" &K F\ w +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&+'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"()' +8 "core" &  P  +2 "manipulator"&% +3 "core" % l K +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +3 "manipulator"&h& +3 "core" &  # / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &!& +3 "core" &  / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&s' +97 "core" ' + "manipulator"&B& +5 "core" &  / + "manipulator"&?% +5 "core" % \  D +2 "processing"%8& +3 "core" &7\  +3 "processing"%'& +6 "core" &9\ ~ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &*\  +8 &4)\ w$c +9 &Sv\ k7 +10 &}t\ jL +9 &O\ qP +9 &SK\ sP +10 &I*\ sP +9 &K*\ qP +9 &M\ sO +10 &[L'\ sP +9 &P!\ rP +9 &L\ rO +10 &!L\ sP +9 &#dM\ rO +10 &%$N$\ rP +9 &&M\ rO +9 &(M"\ qP +10 &*kJ\ sP +9 &,-N%\ qP +9 &-O\ qP +10 &/N\ rO +9 &1sK\ sP +10 &35O\ qP +9 &4O\ qP +9 &6O\ qP +10 &8{L\ rP +9 &:=L\ rP +9 &<N\ rO +10 &=N \ rP +9 &?O\ qP +10 &ACP \ rP +9 &CZ\ \ oQ +9 &DX \ qQ +10 &Fb\ nS +9 &H@r\ kT +10 &I\ gV +9 &K \ hW +9 &M~ \ gW +10 &O@\ fW +9 &P\ cX +9 &R\ fW +10 &T\ \ dX +9 &VF\ gX +9 &X\ eX +10 &Y\ dX +9 &[\ dX +10 &]L \ cK +9 &^yG \ h!d +9 &^6\ r2 +6 ( + "processing"%'& +4 "core" &^%\ u2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&R1 +55 "core" 1 +2 "manipulator"&g% +3 "core" %   h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +91 "core" ' + "processing"%$& +4 "core" &^%\ p2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&}% +5 "core" %     + "storage"(i% +4 "core" % \ o +2 "storage"(. +3 "core" .(K +2 "storage"(;& +4 "core" &K '\ o +2 "storage"(P& +4 "manipulator"&H& +3 "core" &K \ o +2 &   / +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(<'r + "manipulator"&U( +5 "core" ( +2 "manipulator"&`& +4 "core" &   / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" & ! m / +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&-/ +67 "core" / +3 .tPC.seek :open +2 "processing"%%( +77 "core" ' +2 "storage"(T- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +8 ."raiseStack"SE.seek :place +2 "storage"(a'1 +49 "core" ' +315 ( +2 "storage"(9& +3 "core" &K \ v +3 "manipulator"&& +3 "core" &  1 / +2 "manipulator"&N% +5 "core" %      +2 .tForearm.seek :retract + "manipulator"&n' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&@( +245 "core" ( +2 "manipulator"&& +3 "core" &    9 +2 "storage"(G& +4 "core" &K I\ r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&u' +94 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(W- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(o' +57 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(:- +3 "core" -' +2 "storage"( & +3 "core" &K e\ " +3 "manipulator"&5& +4 "core" &   9 +2 .tElbow.seek 6 + "manipulator"&M( +4 "core" ( +2 "manipulator"&D& +44 "core" &   9 +10 "storage"(Z& +5 "core" &K b\ ! +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(>'" +57 "core" ' +2 "manipulator"&(& +3 "core" &   9 +2 "storage"(& +5 "core" &K \ u + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&K'< +24 "core" ' +2 .tElbow.hold +2 "manipulator"&C, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 "manipulator"&z% +3 "core" %K    +2 "storage"({& +5 "core" &K \ m + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&y'w +14 "core" ' + "manipulator"&& +5 "core" & \  9 + "storage"(_& +5 "core" &K q\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +15 "core" ' +2 "storage"( % +4 "core" % +\ w +2 ."downElevator"SE.seek :down +3 "storage"(3' +100 (*% +3 "core" %J \ m[s +2 "manipulator"&4% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +3 "core" &K 4\ v +2 "collection"'f& +5 "core" &\\k\ \ \ P +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %      +2 "storage"( % +3 "core" % \ y +2 "storage"(7. +3 "core" .(K +2 "storage"(.& +4 "core" &K n\ y +2 "storage"(j& +3 "core" &K q\ x +2 "manipulator"&r& +4 "core" &  9 +2 .tElbow.seek 6 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&l& +4 "core" &    9 +2 "storage"(& +4 "core" &K ?\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +94 "core" ' + "storage"(& +5 "core" &K ;\ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   5 9 +3 "storage"(|& +3 "core" &K :\ x +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&Q'< +23 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(6'p +30 "core" ' +2 "manipulator"&O% +4 "core" %P  C + "storage"(E& +5 "core" &K R\ s + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&X'| +13 "core" ' +2 "manipulator"&& +3 "core" &   ^ 9 +2 "storage"(& +4 "core" &K k\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"( ' +41 "core" ' + "manipulator"&#& +4 "core" &  9 +2 "manipulator"&k% +3 "core" %   \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +89 "core" ' +2 .tElbow.seek CC +47 "manipulator"&2(ӂ +154 "core" ( +3 "manipulator"& & +3 "core" &ӎ%    >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &ӎ%   [ >K +3 .tForearm.seek CC +2 "manipulator"&Y'? +95 "core" ' +2 .tHand.close + "manipulator"&t/ +58 "core" / +2 .tCC.seek :open + "collection"'m( +69 "Can"%\ M3/]U +383 "core" ( + "storage"(&& +5 "core" &K y \  + "storage"(q& +5 "core" &K n o +\  + "manipulator"&w& +4 "core" &ӯ!   :* +2 "manipulator"&,% +3 "core" % K   +3 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&/( +164 "core" ( +2 "manipulator"&A& +3 "core" &   +3 "storage"(& +4 "core" &K X\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&J'< +96 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&"% +5 "core" % <    + "storage"(e& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "core" ' +2 "manipulator"&p& +3 "core" & *  +2 "storage"(^& +5 "core" &K *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(+% +3 "core" % V\ +3 ."downElevator"SE.seek :down +4 "storage"(h' +98 (!% +3 "core" %g? \ Yl +2 "manipulator"&b% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'?& +3 "core" & \ +2 "manipulator"&8% +4 "core" %  s  +2 "storage"()% +4 "core" % q\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(V([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +3 "core" &[ n f d\  +2 "manipulator"&g& +3 "core" &   +  +3 .tElbow.seek 7 +2 "manipulator"&$(r +34 "core" ( +2 "manipulator"&}& +3 "core" &   \  +2 "storage"(i& +5 "core" &[ G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +93 "core" ' + "storage"(;& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +298 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &[ m\  +2 "manipulator"&`& +4 "core" & \  G  +3 .tElbow.seek 7 +2 "manipulator"&\\(r +18 "core" ( +2 "manipulator"&s& +4 "core" &s   { +2 "storage"(-& +3 "core" &[ J\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&T'ϧ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(' +56 "core" &s ; { +2 "manipulator"&<% +3 "core" % ϰ I +3 .tForearm.seek :retract + "manipulator"&9' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +102 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +50 "core" ( + "manipulator"&N& +5 "core" &ӎ%   a >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ%  >J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' +2 "manipulator"&G& +4 "core" &ӏ%   >I +2 "manipulator"&U% +3 "core" %9   +3 "collection"'& +3 "core" & \ +3 "collection"'W& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"':(\\ +4 "core" & \ +8 &> \ $f +10 &Wu \ 7 +9 &r \ L +9 &L \ M +10 &uN \ L +9 &6N \ M +9 &Q \ M +10 &Q \ M +9 &|K \ M +10 &?N  \ L +9 & L \ M +9 &!P \ M +10 &#Q \ M +9 &%FK  \ M +9 &' M \ L +10 &(N  \ L +9 &*M  \ M +10 &,NP  \ M +9 &.O \ M +9 &/L  \ M +10 &1N \ M +9 &3VM \ M +9 &5N  \ M +10 &6N \ M +9 &8O \ M +10 &:^N  \ M +9 &<P \ M +9 &=N \ M +10 &?N \ M +9 &AfO \ M +9 &C&S  \ M +10 &DZ\ \ O +9 &Fb\ \ \ O +10 &H]w\ \ 7\ R +9 &J\ \ 9\ W +9 &K\ (\ $\ Z +10 &M\ #\ %3\ Z +9 &OM\ \ :\ [ +9 &Q\ \ 6\ [ +10 &R\ \ 4\ [ +9 &T\ \ 8\ \\ +10 &VP\ \ 3\ \\ +9 &X\ \ \ }^ +9 &Y\ \ 8\ |^ +10 &[\ \ T\ zL +9 &\\;\ \ /\ *} +9 &\\\ \ &\ ] +6 ( + "collection"'W& +4 "core" &\\\ \ B\ ] +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"& 1 +59 "core" 1 +2 "manipulator"&5% +4 "core" % 9   7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%n& +4 "core" &=\ o +2 "manipulator"&Z% +3 "core" %     +2 "storage"((% +4 "core" % \ o +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(a([ +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ J &\ j +3 "manipulator"&z& +4 "core" &Ӭ   z :, + "manipulator"&{% +4 "core" %   |  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +193 "core" ( +2 "manipulator"&_& +3 "core" &   +3 "storage"(@& +4 "core" &[ >\ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& '= +96 "core" ' + "storage"(u& +4 "core" &[ S\ y +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"(o'r +295 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (4& +2 "core" &[ p s P\ l +3 "manipulator"&v& +4 "core" &  '  +2 .tElbow.seek 7 + "manipulator"&M(r +23 "core" ( +2 "manipulator"&>& +3 "core" &p    i +2 "storage"(K& +4 "core" &[ Q\ r +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&y'ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(' +8 "core" &p   i +2 "manipulator"& % +4 "core" % Ͼ \  ' +2 .tForearm.seek :retract +2 "manipulator"&7' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +72 "core" ( + "manipulator"&.& +4 "core" &  @  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &    +49 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&r' +102 "core" ' + "manipulator"&l& +5 "core" &   r  + "manipulator"&% +5 "core" %  ( +2 "processing"%~& +3 "core" &+\ z +3 "processing"%& +5 "core" &,\ z +3 .tPC.seek :closed +2 "processing"%3(^ +4 "core" &6\ z +8 &2u)\ i)w +10 &ax-\ f> +9 &dj%\ hO +9 &#N*\ mP +10 &K\ nP +9 &J%\ nP +10 &jL(\ mP +9 &,I#\ nP +9 &L/\ nP +10 &L&\ nP +9 & qL"\ nP +9 &"3L,\ mP +10 &#L\ nP +9 &%L\ nP +9 &'zM\ nP +10 &)<M\ nP +9 &*M\ nO +10 &,O\ mP +9 &.L*\ nP +9 &0DL\ nP +10 &2K$\ nO +9 &3L$\ nP +9 &5K$\ nO +10 &7KL \ nP +9 &9 N\ mP +10 &:N#\ mP +9 &<N\ mP +9 &>RO\ nP +10 &@Q\ mP +9 &AR\ mQ +10 &C[\ kR +9 &EV^\ kR +9 &Gj\ hS +10 &Hy\ eU +9 &J~\ cW +9 &LO\ cW +10 &N\ bW +9 &O \ cW +9 &Q\ aX +10 &SU\ aX +9 &U\ aX +10 &V\ aX +9 &X\ aX +9 &Z\\\ `X +10 &\\\ `X +9 &]y\ e6 +9 &^7l\ f9 +10 ( + &^\ s) +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&C1 +59 "core" 1 +2 "manipulator"&I% +4 "core" %  = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 "processing"%& +3 "core" &^\ n) +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&|% +4 "core" % #   3 +2 "storage"([% +4 "core" % \ m +2 "storage"(O. +3 "core" .([ +2 "storage"(E& +4 "core" &[ \ k +2 "storage"(& +2 "manipulator"&& +7 "core" &[ 4\ m +2 &    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&#( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'r +2 "core" ( +2 "manipulator"&0& +5 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &    +3 .tForearm.seek PC + "manipulator"&=' +95 "core" ' + .tHand.close +2 "manipulator"&Q/ +76 "core" / +2 .tPC.seek :open +2 "processing"%X( +78 "core" ' +2 "storage"(6- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +50 "core" ' +316 ( +2 "storage"(& +3 "core" &[ R\ q +2 "manipulator"&F& +5 "core" &   + "manipulator"&% +4 "core" %   - +2 .tForearm.seek :retract +2 "manipulator"&t' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&d(r +245 "core" ( +2 "manipulator"&1& +4 "core" &k   ; Y + "storage"(&& +5 "core" &[ \ m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&q'= +99 "core" ' + .tHand.open +2 "manipulator"&w1 +61 "core" 1 +3 "storage"(,- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +3 "core" -' +2 "storage"(2& +4 "core" &[ j ^ \  +2 "manipulator"&& +3 "core" &k  Y +2 .tElbow.seek 7 +2 "manipulator"&"(r +4 "core" ( +2 "manipulator"&e& +3 "core" &k Y +3 "storage"(p& +3 "core" &[ Z Z\  +3 .tForearm.seek 7 + 450 counts + "manipulator"&^'= +4 "core" ' +2 .tSE.reconfigure :gently +51 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(+'" +53 "core" ' + "manipulator"&c& +5 "core" &k \  Y + "storage"(!& +4 "core" &[ g\ p +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&b'{ +30 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(J' +25 "core" ' +2 "manipulator"&?% +4 "core" %΃ < < 7 +4 "storage"(8& +8 "core" &[ , , e\ b +5 .tForearm.force -20 +4 "manipulator"&5 +3 .tForearm.seek 7 + 308 counts +2 "manipulator"&'ϯ +14 "core" ' +2 "manipulator"&)& +4 "core" &   e @ +2 "storage"(& +3 "core" &[ \ t +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +15 "core" ' +2 "storage"(% +3 "core" % \ t +3 ."downElevator"SE.seek :down +4 "storage"(h' +98 (]% +4 "core" %"G _ g a\ iYp +2 "manipulator"&R% +5 "core" %6   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (}& +4 "core" &[ 5\ t +2 "collection"'i& +3 "core" &\\\ \ \ \ ] +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&;% +4 "core" % \   +2 "storage"(% +3 "core" % \ v +3 "storage"(B. +3 "core" .([ +2 "storage"(H& +4 "core" &[ \ w +2 "storage"('& +4 "core" &[ /\ w + "manipulator"&`& +4 "core" & \   @ +2 .tElbow.seek 7 +2 "manipulator"&s(r +32 "core" ( +2 "manipulator"&-& +4 "core" &u    ^ +2 "storage"(L& +3 "core" &[ 9\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&x'= +90 "core" ' +2 "storage"(<& +4 "core" &[ \ x +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"($'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" &u    ^ +2 "storage"(N& +5 "core" &[ [\ o + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&T, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(G- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(U'p +29 "core" ' + "manipulator"&% +3 "core" %Ύ   +2 "storage"(\\& +4 "core" &[ 3 C o\ d +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +14 "core" ' + "manipulator"&9& +4 "core" &u  ^ ^ +2 "storage"(m& +3 "core" &[ \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(5' +41 "core" ' +2 "manipulator"&n& +3 "core" &u   ^ +2 "manipulator"&Z% +4 "core" %1 m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +168 "core" ( +2 "manipulator"&W& +5 "core" &ӎ   @ 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӎ  > 3 +48 .tForearm.seek CC +4 "manipulator"&z'? +93 "core" ' +2 .tHand.close + "manipulator"&{/ +55 "core" / +2 .tCC.seek :open + "collection"'( +449 "core" ( + "storage"(_& +5 "core" &[ \  + "storage"(@& +4 "core" &[ d\  +2 "manipulator"&V& +4 "core" &ӝ  1 +2 "manipulator"&% +4 "core" % S     +2 .tForearm.seek :retract +2 "manipulator"&u' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&D(r +187 "core" ( + "manipulator"&*& +4 "core" &  R  +2 "storage"(4& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&v'{ +98 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +57 "core" 1 +3 "manipulator"&\ % +4 "core" % ·   +2 "storage"(f& +4 "core" &[ @\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"& 'ϳ +14 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"( & +3 "core" &[ 4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&o'= +16 "core" ' + "storage"(y% +5 "core" % 3\ +2 ."downElevator"SE.seek :down +4 "storage"(.' +98 (j% +3 "core" %@ v \ Yk +2 "manipulator"&M% +4 "core" %9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +97 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&~% +5 "core" %  [  +2 "storage"(% +4 "core" % y\  + "storage"(7. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(%(<- +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (C& +3 "core" &<0 p s 6\ +2 "manipulator"&I& +5 "core" & \  +2 .tElbow.seek 5 + "manipulator"&( +35 "core" ( + "manipulator"&|& +4 "core" & y  +2 "storage"([& +3 "core" &<0 q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +94 "core" ' + "storage"(E& +5 "core" &<0 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<. \ +2 "manipulator"&0& +5 "core" &  l  +2 .tElbow.seek 5 + "manipulator"&S( +4 "core" ( +2 "manipulator"&r& +4 "core" & 5  + "storage"(Q& +4 "core" &<. ;\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&6'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(3' +8 "core" &   + "manipulator"&k% +4 "core" %  e +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +48 "manipulator"&F(ӂ +111 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +60 "core" ( +2 "manipulator"&& +4 "core" &~   0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &=& +2 "core" &~   0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'? +94 "core" ' + "manipulator"&&& +5 "core" &~  0 + "manipulator"&#% +5 "core" %7    5 +2 "collection"'w& +4 "core" & \ +2 "collection"',& +6 "core" & '\ +2 .tCC.seek :closed +3 "collection"'Y(\\ +2 "core" & '\ +7 & \ ; +9 &LIp \ 1 +10 &zrx \ E +9 &!U \ M +9 &N \ L +10 &O \ M +9 &iQ \ M +9 &+R \ M +10 &Q \ M +9 &Q \ M +10 &qR \ M +9 &!4Q \ L +9 &"N \ L +10 &$N \ L +9 &&zN \ L +9 &(<O \ L +10 &)N  \ L +9 &+M  \ L +10 &-O  \ L +9 &/DO \ L +9 &1O  \ M +10 &2R  \ M +9 &4N  \ M +9 &6KO  \ M +10 &8 R \ M +9 &9N \ M +10 &;N  \ L +9 &=TO  \ L +9 &?O \ M +10 &@Q \ M +9 &BR \ M +9 &DX[\   \ N +10 &Fe\ \ \ O +9 &Go\ \ \ Q +10 &I\ \ \ U +9 &K?\ (\ '\ Y +9 &L\ $\ #\ Z +10 &N\ \ #\ Z +9 &P\ \ \ Z +10 &RB\ \ \ [ +9 &S\ \ \ \\ +9 &U\ \ \ \\ +10 &W\ \ \ ] +9 &YA\ \ 1\ ~^ +9 &[\ \  \ ^ +10 &\\aS\ \ \ 1 +9 &\\\ \ 0\ Z +9 ( +3 "collection"',& +2 "core" &\\\ \ 4\ X +3 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&21 +52 "core" 1 +3 "manipulator"&% +3 "core" % 7   E 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%p& +4 "core" &+\ p +2 "manipulator"&t% +3 "core" %   }  +3 "storage"(c% +4 "core" % %\ o + "storage"(!. +4 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" & +2 "storage"(_& +4 "core" &<-  \ p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +90 "core" ' +2 .tHand.open + "manipulator"&V1 +55 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(4' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(z- +2 "core" -' +3 "storage"(& +3 "core" &<, ~ y o\  +2 "manipulator"&K& +5 "core" & z = + .tElbow.seek 5 +2 "manipulator"&\ ( +4 "core" ( + "manipulator"&f& +5 "core" & v = + "storage"(& +4 "core" &<, x y \  +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +57 "core" ' +2 "manipulator"&u& +4 "core" &   ) = +2 "storage"(j& +49 "core" &<, \ p +5 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&M'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(v' +18 "core" ' +2 "manipulator"&% +4 "core" %Ξ   +2 "storage"( & +3 "core" &<, M G N\ h +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&~' +14 "core" ' +2 "manipulator"&& +3 "core" &   < +2 "storage"(7& +4 "core" &<, W\ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&5'O +16 "core" ' +2 "storage"(o% +3 "core" % C\ r +3 ."downElevator"SE.seek :down +4 "storage"(.' +98 (a% +4 "core" %J Z X 8\ f[u +2 "manipulator"&C% +3 "core" %F  & +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (|& +3 "core" &<, o y Z\ p +3 "collection"'[& +4 "core" &\\\ \ \ X +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&E% +4 "core" %      +2 "storage"(>% +3 "core" % 6\ r +2 "storage"(l. +4 "core" .(<- +2 "storage"(& +4 "core" &<, \ r +2 "storage"(& +3 "core" &<, 5\ r +2 "manipulator"&0& +5 "core" & \  < + .tElbow.seek 5 +2 "manipulator"&r( +4 "core" ( + "manipulator"&Q& +4 "core" &   ( < +2 "storage"(& +4 "core" &<, 9\ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +96 "core" ' + "storage"(k& +4 "core" &<, \ u +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +301 "core" ' +2 "storage"(O- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  & < +2 "storage"(6& +4 "core" &<, \ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(&'g +30 "core" ' +2 "manipulator"&#% +4 "core" %Μ   + "storage"(w& +4 "core" &<, \ n +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 315 counts + "manipulator"&3' +14 "core" ' +2 "manipulator"&& +4 "core" &  e ; +2 "storage"(& +3 "core" &<, C\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&2'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +46 "core" ' + "manipulator"&p& +4 "core" &   ; +2 "manipulator"&t% +3 "core" %H    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&!(ӂ +153 "core" ( +2 "manipulator"&,& +4 "core" &ӌ'  \  @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +3 "core" &ӌ(    @[ +3 .tForearm.seek CC + "manipulator"&?'? +93 "core" ' + .tHand.close +2 "manipulator"&8/ +53 "core" / +2 .tCC.seek :open +47 "collection"'1( +449 "core" ( +2 "storage"(& +4 "core" &<, \  +2 "storage"(d& +3 "core" &<, o r \  +2 "manipulator"&%& +5 "core" &ӧ# \  <@ +2 "manipulator"&q% +3 "core" % K   A 3 +3 .tForearm.seek :retract +2 "manipulator"&F' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&e( +164 "core" ( +2 "manipulator"&]& +4 "core" &    +2 "storage"(R& +3 "core" &<, \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&^'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&b1 +62 "core" 1 +2 "manipulator"&% +5 "core" % Θ    + "storage"(i& +4 "core" &<, \  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 311 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&)& +3 "core" &  +2 "storage"(& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 "storage"(}% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(H' +98 ('% +3 "core" %s? _\ Yl +2 "manipulator"&"% +5 "core" %L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'L& +3 "core" & \ +2 "manipulator"& % +4 "core" %     +2 "storage"(;% +3 "core" % c\  +2 "storage"(B. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(X(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +3 "core" &K n j D\ +3 "manipulator"&g& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&N& +4 "core" &    + "storage"(G& +5 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +100 "core" ' + "storage"(\\& +4 "core" &K \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +296 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (<& +2 "core" &K ;\ +3 "manipulator"&x& +3 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&`& +3 "core" &     +2 "storage"(& +5 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&U'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(h' +8 "core" &  + "manipulator"&n% +4 "core" % c ' +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&T& +4 "core" &ә  4 8" +2 .tElbow.reconfigure :loose +48 "manipulator"&$ &.,(#b +4 &$& +3 "core" &ә"   8" +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'? +93 "core" ' +2 "manipulator"&_& +4 "core" &ә"   P 8" +2 "manipulator"&Z% +4 "core" %E ) ` +2 "collection"'V& +5 "core" & *\ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'z(\\ +5 "core" & #\  +8 &5y \ +{ +9 &fz \ ? +10 &j "\ N +9 &ZN \ M +9 &O #\ M +10 &N  \ L +9 &N !\ L +10 &bQ \ M +9 &$R \ M +9 &L \ L +10 & N \ L +9 &"kN \ L +9 &$-N \ L +10 &%Q \ M +9 &'L \ M +10 &)sL \ L +9 &+4N \ M +9 &,O \ M +10 &.N \ L +9 &0{O \ L +9 &2=O \ L +10 &3O  \ M +9 &5R \ M +10 &7M \ M +9 &9DM \ M +9 &;N \ L +10 &<R \ M +9 &>O \ L +9 &@LO \ M +10 &B T \ M +9 &CX\ \ N +10 &Ec\ \ \ O +9 &GFr\ \ \ Q +9 &H\ \ \ V +10 &J\ %\ &\ Z +9 &Ls\ "\ #\ Z +9 &N3\ \ \ [ +10 &O\ \ \ [\ +9 &Q\ \ \ [ +10 &Su\ \ \ \\ +9 &U6\ \ \ \\ +9 &V\ \ \ ~] +10 &X\ \ \ }^ +9 &Zu\ \ \ }_ +9 &\\|\ \ \ 2 +10 &\\-\ \ \ $l +9 ( + &\\w\ \ \ T +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +3 "manipulator"&K% +3 "core" % E  ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +3 "core" &F\ o +2 "manipulator"&{% +4 "core" %     +2 "storage"(u% +3 "core" % n\ n +2 "storage"(j. +4 "core" .(K + "storage"(W& +4 "core" &K \ p +2 "storage"(*& +5 "core" &K  H\ p + "manipulator"&& +4 "core" &Ӛ   8! +2 "manipulator"& % +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&7& +4 "core" &   + "storage"(o& +5 "core" &K \ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&(' +97 "core" ' +2 "storage"(@& +3 "core" &K\  \ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +295 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &K \ r +2 "manipulator"& & +4 "core" &  8  +2 .tElbow.seek 6 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&y& +4 "core" &   *  + "storage"(M& +4 "core" &K \ u +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&~'h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&|/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(E' +8 "core" &   + "manipulator"&>% +4 "core" % ]    +2 .tForearm.seek :retract +2 "manipulator"&l' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +72 "core" ( + "manipulator"&& +4 "core" & \   2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &    2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&0' +90 "core" ' +2 "manipulator"&Q& +3 "core" &   2 +3 "manipulator"&% +3 "core" %  c +3 "processing"%5& +3 "core" &;\ { +3 "processing"%k& +5 "core" &<\ z +2 .tPC.seek :closed +3 "processing"%.(^ +3 "core" &;\ { +6 &<\ z4 +10 &:Gr0\ h1 +9 &^ny4\ eE +10 &\\:\ jP +9 &L9\ oP +9 &}O7\ nP +10 &?N7\ mP +11 &J9\ nP +52 &J/\ kO +3 &M/\ kP + &FP/\ kP +2 &! K,\ lP +2 &"O*\ jP + &$N,\ lP +3 &&OJ/\ lP +9 &(L1\ oP +9 &)O-\ nP +10 &+L/\ nO +9 &-WN1\ nP +10 &/J1\ oP +9 &0L.\ nO +9 &2N0\ nP +10 &4_N)\ mP +9 &6!P*\ mP +9 &7J*\ oP +10 &9L+\ nP +9 &;fQ-\ mP +10 &=)N/\ nP +9 &>O)\ mP +9 &@O/\ nP +10 &BlU,\ lQ +9 &D+W0\ lR +9 &Eb*\ jR +10 &Gj)\ hS +9 &If{'\ eV +10 &K%*\ cW +9 &L.\ dW +9 &N)\ aW +10 &Pi*\ bW +9 &R*+\ aW +9 &S\ aX +10 &U\ bW +9 &Wp\ aX +10 &Y2!\ aX +9 &Z\ aX +9 &\\\ _X +10 &^3bn\ g0 +9 &^y\ gA +9 ( +2 &^&\ r5 +2 "processing"%k& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&D1 +52 "core" 1 + "manipulator"&I% +5 "core" %   y c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +92 "core" ' +2 "processing"%& +3 "core" &^&)\ m5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&6% +3 "core" % !   D ( +2 "storage"(S% +5 "core" % ] \\ \ k + "storage"(#. +3 "core" .(K +2 "storage"(w& +3 "core" &K j m\ l +3 "storage"(& +2 "manipulator"&& +7 "core" &K h j ?\ l +2 &   T 2 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(p'r + "manipulator"&t( +7 "core" ( + "manipulator"&& +5 "core" & % F 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &   r 2 +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +67 "core" / +3 .tPC.seek :open +2 "processing"%3( +80 "core" ' +2 "storage"(&- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(,'1 +45 "core" ' +320 ( +2 "storage"(A& +3 "core" &K <\ u +2 "manipulator"&2& +5 "core" &    2 + "manipulator"&=% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&8' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&c( +260 "core" ( + "manipulator"&Y& +4 "core" &  $  +2 "storage"(& +4 "core" &K \ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +94 "core" ' + .tHand.open +2 "manipulator"&%1 +59 "core" 1 +2 "storage"(q- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(R' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(?- +3 "core" -' +2 "storage"(!& +4 "core" &K -\  +2 "manipulator"&b& +3 "core" & \ 0  +3 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&i& +3 "core" &    +2 "storage"()& +4 "core" &K `\ +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +58 "core" ' +2 "manipulator"&F& +3 "core" &    +2 "storage"('& +5 "core" &K E\ t + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&"'< +23 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +51 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(^' +23 "core" ' + "manipulator"&L% +5 "core" %G   + "storage"(& +5 "core" &K $\ l + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"& 's +13 "core" ' +2 "manipulator"&;& +4 "core" &   +2 "storage"(B& +3 "core" &K #\ w +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +4 "core" % \ w +3 ."downElevator"SE.seek :down +3 "storage"(H' +99 ( % +3 "core" %I t \ lZr +2 "manipulator"&/% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (N& +3 "core" &K w\ u +2 "collection"'G& +4 "core" &\\m\ \ \ T +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&\\% +4 "core" %     + "storage"(+% +5 "core" % \ w + "storage"(-. +3 "core" .(K +2 "storage"(m& +4 "core" &K \ w +2 "storage"(<& +3 "core" &K \ w +2 "manipulator"&x& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&& +4 "core" & \    +2 "storage"(J& +3 "core" &K \ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(n& +3 "core" &K\ \ \ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" & \   +3 "storage"(9& +4 "core" &K \ v + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&$'< +25 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(s- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(_'l +30 "core" ' + "manipulator"&Z% +4 "core" %G   +2 "storage"(V& +3 "core" &K y\ s +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&h's +14 "core" ' + "manipulator"&& +5 "core" & R  + "storage"(1& +5 "core" &K \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(K' +34 "core" ' +2 "manipulator"&& +3 "core" & X  +2 "manipulator"&{% +4 "core" % 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +154 "core" ( +2 "manipulator"&W& +3 "core" &{+   > Co +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &{+   ' Co +3 .tForearm.seek CC +2 "manipulator"&*'? +104 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"' ( +448 "core" ( +2 "storage"(:& +4 "core" &K \ + "storage"(7& +4 "core" &K ,\ +2 "manipulator"&o& +4 "core" &Ӻ!   :0 +2 "manipulator"&@% +4 "core" % ,  x +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +50 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&f( +165 "core" ( +2 "manipulator"&a& +3 "core" &     +2 "storage"(C& +5 "core" &K \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"& '< +99 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&M1 +60 "core" 1 +2 "manipulator"&|% +3 "core" % 6   D +2 "storage"([& +5 "core" &K \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 294 counts +2 "manipulator"&>'b +14 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"((& +3 "core" &K \\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +16 "core" ' +2 "storage"(~% +4 "core" % :\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %B \ Yl +2 "manipulator"&\ % +3 "core" % 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +3 "core" & \ +3 "manipulator"&5% +3 "core" %     +2 "storage"(E% +5 "core" % \  + "storage"(l. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" &[ a\ z +2 "manipulator"&I& +4 "core" &   !  +2 .tElbow.seek 7 +2 "manipulator"&(r +36 "core" ( +2 "manipulator"&6& +3 "core" &  ] \ +2 "storage"(S& +4 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&#'= +91 "core" ' +2 "storage"(w& +3 "core" &[ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" &[ S\  +2 "manipulator"&& +4 "core" & \ +2 .tElbow.seek 7 +2 "manipulator"&r(r +16 "core" ( +2 "manipulator"&0& +3 "core" &o ; ~ +2 "storage"(& +4 "core" &[ H\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&&'ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(.' +9 "core" &o  ~ + "manipulator"&p% +4 "core" % Ϩ  +2 .tForearm.seek :retract +2 "manipulator"&A' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&2(ӂ +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&=& +5 "core" &y*   Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y*   Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Y'? +95 "core" ' +2 "manipulator"&& +5 "core" &y*   2 Bf + "manipulator"&t% +5 "core" %D   r 0 +2 "collection"'%& +3 "core" & \ +50 "collection"'q& +6 "core" & %\ +2 .tCC.seek :closed +2 "collection"'?(\\ +5 "core" & '\ +6 & $\ < +9 &PKs '\ 0 +9 &|rx &\ E +10 &"T (\ N +9 &M +\ L +10 &O 1\ M +9 &kQ 0\ M +9 &-Q 0\ M +10 &L $\ M +9 &M #\ M +9 &tO \ L +10 &!6N \ L +9 &"O \ M +10 &$Q  \ M +9 &&{Q \ M +9 &(=Q \ M +10 &)L \ M +9 &+L \ M +10 &-M \ M +9 &/EN \ M +9 &1O \ M +10 &2R \ M +9 &4N \ M +9 &6MN \ M +10 &8N !\ M +9 &9O !\ M +9 &;Q \ M +10 &=UM \ M +9 &?O \ M +10 &@T \ M +9 &BR \ M +10 &DZZ \ N +9 &Fc\ \ \ O +9 &Gs\ \ \ \ Q +10 &I\ \ \ U +9 &KB\ '\ %\ Y +9 &M\ #\ $\ Z +10 &N\ \ !\ Y +9 &P\ \ \ [\ +9 &RD\ \ \ [ +10 &T\ \ \ \\ +9 &U\ \  \ }] +9 &W\ \ @\ }] +10 &YA\ \ \ {^ +9 &[\ \ \ {_ +10 &\\_M\ \ <\ 8 +9 &\\\ \ \ N\ ] +5 ( +2 "collection"'q& +4 "core" &\\\ \ E\ ] +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&!1 +53 "core" 1 +2 "manipulator"&b% +3 "core" % D   6 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%)& +3 "core" &h\ l +2 "manipulator"&8% +5 "core" %     + "storage"(F% +4 "core" % [ \\\ l +2 "storage"('. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(,([ +2 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" &[ ; 0 \ ] +3 "manipulator"&L& +4 "core" &Ӯ   :1 +2 "manipulator"&% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&;(r +162 "core" ( +2 "manipulator"&B& +4 "core" &m     +2 "storage"(c& +3 "core" &[ \ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +97 "core" ' + "storage"(d& +4 "core" &[ X\ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +295 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +4 "core" &[ m | \ m +2 "manipulator"&& +4 "core" &m     +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&}& +4 "core" &m   g  +2 "storage"("& +4 "core" &[  \ p +2 .tForearm.seek 7 + 300 counts + "manipulator"& 'ϧ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(\\' +8 "core" &m a  + "manipulator"&+% +5 "core" % V +2 .tForearm.seek :retract + "manipulator"&-' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( + "manipulator"&m& +4 "core" &     +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&x' +98 "core" ' +2 "manipulator"&& +3 "core" &   +2 "manipulator"&J% +5 "core" %   + "processing"%& +5 "core" &8\ q +2 "processing"%n& +5 "core" &7\ p +2 .tPC.seek :closed +2 "processing"%H(^ +5 "core" &:\ q +9 &2u<\ `*x +9 &`w6\ \\> +9 &ei;\ _O +10 &#J5\ eP +9 &L>\ eP +9 &K7\ fP +10 &kL7\ eP +9 &-L1\ eP +10 &L3\ eP +9 &L-\ eP +9 & sL/\ eP +10 &"5L0\ eP +9 &#L+\ eP +9 &%L+\ eP +10 &'yM/\ dP +9 &);N,\ dP +9 &*O,\ dP +10 &,N/\ eP +9 &.L1\ eP +10 &0CL/\ eP +9 &2K-\ eP +9 &3L0\ eP +10 &5K1\ eP +9 &7LK0\ eP +9 &9N0\ dP +10 &:N)\ dP +9 &<O0\ dP +53 &>RN-\ bQ +4 &@N1\ bQ + &AR0\ aQ + &C])\ ^R + &EU^)\ ^R + &Gi*\ \\T +5 &Hx)\ YV +9 &J+\ ZW +10 &LQ*\ YV +9 &N*\ XW +9 &O(\ ZW +10 &Q$\ WX +9 &SU\ XX +10 &U#\ WX +9 &V\ XX +9 &X\ YX +10 &Z[\ WY +9 &\\\ WY +9 &]y\ [8 +10 &^*_\ _ ] +9 &^'\ h4 +2 ( +2 "processing"%n& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&e1 +55 "core" 1 + "manipulator"&g% +4 "core" %    &  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + "processing"%T& +5 "core" &^&\ f4 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&9% +4 "core" % % \  9 +2 "storage"(s% +3 "core" % J N h\ e +2 "storage"(Z. +4 "core" .([ + "storage"(V& +5 "core" &[ X O o\ e +2 "storage"(& +2 "manipulator"&1& +7 "core" &[ O O _\ e +2 &  >  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +6 "manipulator"&( +2 ."raiseStack"SE.seek :beamBreak +4 "storage"({'r +2 "core" ( +3 "manipulator"&& +3 "core" &  % Z  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" & > @  +2 .tForearm.seek PC +2 "manipulator"&P' +98 "core" ' + .tHand.close +2 "manipulator"&$/ +69 "core" / +2 .tPC.seek :open + "processing"%h( +82 "core" ' + "storage"(_- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(W'1 +48 "core" ' +314 ( +2 "storage"(& +3 "core" &[ \ o +2 "manipulator"&& +5 "core" &    + "manipulator"&U% +4 "core" %    W +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&u(r +241 "core" ( +2 "manipulator"&z& +3 "core" &}   E +2 "storage"(:& +4 "core" &[ j i \ j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +97 "core" ' +2 .tHand.open + "manipulator"&o1 +54 "core" 1 +2 "storage"(@- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +36 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(a' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(C- +4 "core" -' +2 "storage"(j& +4 "core" &[ # $ *\  + "manipulator"&M& +4 "core" &} E +2 .tElbow.seek 7 +2 "manipulator"&|(r +9 "core" ( + "manipulator"&[& +4 "core" &~ u # +2 "storage"(& +3 "core" &[   \ \  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&('= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(~'" +58 "core" ' +2 "manipulator"& & +4 "core" &~    # +2 "storage"(& +3 "core" &[ P\ o +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&\ '{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +21 "core" ' + "manipulator"&% +4 "core" %Ό  * w \ +2 "storage"(5& +4 "core" &[  W\ _ +2 .tForearm.force -20 + "manipulator"&5 +44 .tForearm.seek 7 + 317 counts +9 "manipulator"&>'ϸ +13 "core" ' +2 "manipulator"&E& +3 "core" &~   # +3 "storage"(l& +3 "core" &[ O\ o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'= +15 "core" ' +2 "storage"(4% +3 "core" % \ p +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (X% +4 "core" %J \\ C Z\ d[u +3 "manipulator"&D% +3 "core" %,   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +92 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (6& +3 "core" &[ Q b\ m +3 "collection"'S& +3 "core" &\\\ \ \ ] +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&w% +4 "core" %     +2 "storage"(y% +4 "core" % $\ p +2 "storage"(Q. +3 "core" .([ +2 "storage"(& +3 "core" &[ ~ B\ p +2 "storage"(k& +5 "core" &[ S\ q + "manipulator"&& +4 "core" &~    # +2 .tElbow.seek 7 +2 "manipulator"&0(r +9 "core" ( +2 "manipulator"&& +4 "core" &~    + "storage"(v& +5 "core" &[ T\ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&O'= +93 "core" ' +2 "storage"(p& +3 "core" &[ \ t +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &~     +2 "storage"(& +4 "core" &[ 1\ n +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(t'p +29 "core" ' +2 "manipulator"&%% +3 "core" %΍   * +2 "storage"(r& +4 "core" &[ \\ \\\ g +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&.'Ϲ +13 "core" ' +2 "manipulator"&A& +3 "core" &~   1  +2 "storage"( & +4 "core" &[ W\ o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&!'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(b' +36 "core" ' +2 "manipulator"&)& +3 "core" &~  +2 "manipulator"&8% +4 "core" %- \ * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&'(ӂ +158 "core" ( + "manipulator"&]& +4 "core" &Ӕ#    <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &Ӕ#   B <: +3 .tForearm.seek CC + "manipulator"&L'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'Y( +451 "core" ( +2 "storage"(B& +4 "core" &[ w [\  +2 "storage"(c& +4 "core" &[ b i \  + "manipulator"&& +4 "core" &ӯ   { 8 +2 "manipulator"&d% +4 "core" % B   +2 .tForearm.seek :retract +2 "manipulator"&2' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&i(r +163 "core" ( +2 "manipulator"& & +4 "core" &k     + "storage"(/& +52 "core" &[ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&"1 +61 "core" 1 +3 "manipulator"&N% +4 "core" % Ί ^ +2 "storage"(G& +3 "core" &[ /\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&+'϶ +15 "core" ' +2 "manipulator"&;& +4 "core" &k   +2 "storage"(& +4 "core" &[ N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&R'= +18 "core" ' +2 "storage"( % +3 "core" % ~\ +3 ."downElevator"SE.seek :down +4 "storage"(m' +98 (<% +3 "core" %D u \ Yl +2 "manipulator"&% +5 "core" %: \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'J& +3 "core" & \ +3 "manipulator"&% +4 "core" %   [  +2 "storage"(\\% +3 "core" % \  +2 "storage"(-. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(3(<- +670 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (e& +2 "core" &O +2 "manipulator"&% +3 "core" %@   +3 "collection"'o& +4 "core" & <\ +2 "collection"'@& +5 .tCC.seek :closed +2 "collection"'C(\\ +3 "core" & \ +9 &? ;\ %g +9 &Xu 2\ 8 +10 &p 3\ L +9 &M 0\ M +10 &L *\ L +9 &@N 5\ M +55 &P +\ M +8 &N $\ L +2 &Q .\ M + &IL 1\ L + & \ N '\ M + &!O 1\ M + &#N /\ L +6 &%PL .\ M +9 &'L -\ L +10 &(N -\ L +9 &*N 1\ L +10 &,XR $\ M +9 &.Q "\ M +9 &/Q 0\ L +10 &1P 0\ M +9 &3`R 0\ M +9 &5"R &\ M +10 &6S $\ M +9 &8R \ M +9 &:hR \ M +10 &<*R #\ M +9 &=R  \ M +10 &?R \ M +9 &ApS  \ M +9 &C1T \ M +10 &D^ \ N +9 &Fd\ \ "\ P +9 &Hjy\ \ #\ Q +10 &J\ #\ \ V +9 &K\ &\ &\ Y +10 &M\ %\ $"\ Z +9 &OY\ \ #\ Z +9 &Q\ \  \ [ +10 &R\ \ \ [ +9 &T\ \ \ \\ +9 &VY\ \ \ ] +10 &X\ \ \ ] +9 &Y\ \ \ ~^ +10 &[\ \ \ |L +9 &\\7\ \ \ . +9 &\\~\ \ \ W +2 ( +2 "collection"'@& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&j1 +58 "core" 1 +3 "manipulator"&M% +3 "core" % @  ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &:\ q +2 "manipulator"&% +4 "core" % \  S  +2 "storage"( % +3 "core" % } H\ q +2 "storage"(. +4 "core" .(<- + "storage"(W& +5 "core" &<. } O\ p + "storage"(& +5 "core" &<. } \ p + "manipulator"&5& +5 "core" &ӯ"   ;8 + "manipulator"&*% +4 "core" % \    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&E( +163 "core" ( + "manipulator"&l& +4 "core" &  \ p  +2 "storage"(u& +3 "core" &<. _\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +92 "core" ' +2 "storage"(7& +3 "core" &<. p\ x +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +300 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" &<. \ n +2 "manipulator"&D& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&~& +3 "core" &   v  +2 "storage"(\ & +5 "core" &<. \ r +2 .tForearm.seek 5 + 300 counts + "manipulator"&6'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(w' +8 "core" &  (  + "manipulator"&y% +5 "core" % ϭ 0 +2 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&Q( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( + "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&& +4 "core" &   *  +2 "manipulator"&v% +4 "core" %    \ +2 "processing"%K& +3 "core" &"\ s +3 "processing"%p& +5 "core" &4\ s +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &6\ t +6 &6;\ l$d +9 &Ts:\ a7 +10 &|s;\ _L +9 &Q7\ fQ +9 &RL?\ gP +10 &G;\ hP +9 &N;\ gP +9 &M<\ fP +10 &\\K<\ hP +9 &M:\ hP +10 &L6\ hP +9 &!L4\ gP +9 &#dM3\ hP +10 &%%M3\ gP +9 &&N/\ gP +9 &(L+\ gP +10 &*kL+\ gP +9 &,-N0\ gP +10 &-L,\ fP +9 &/O0\ gP +9 &1tK0\ hP +10 &36L0\ hP +9 &4O0\ gP +9 &6L,\ hP +10 &8|M0\ gP +9 &:>L0\ gP +10 &<N0\ fP +9 &=N0\ gP +9 &?O/\ fP +10 &ADQ0\ fP +9 &CT/\ eQ +10 &DZ1\ eR +9 &F`/\ cS +9 &HAl0\ aT +10 &I0\ ]V +9 &K/\ \\V +9 &M}/\ ZX +10 &O@.\ \\W +9 &Q/\ [X +9 &R(\ [X +10 &T*\ YX +9 &VG'\ [W +10 &X,\ YX +9 &Y#\ ZX +9 &[)\ ZX +10 &]L*\ XK +9 &^{J*\ [^ +9 &^ N!\ f2 +6 ( + "processing"%p& +4 "core" &^!$\ k2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&f1 +61 "core" 1 +2 "manipulator"&I% +51 "core" %   \ +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +93 "core" ' +2 "processing"%=& +4 "core" &^!\ m2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %     +2 "storage"(% +4 "core" % n ` \ l +2 "storage"(%. +3 "core" .(<- +2 "storage"(r& +4 "core" &<. _ i k\ l +2 "storage"(A& +2 "manipulator"& & +7 "core" &<. \\ i a\ l + &    +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"()'r + "manipulator"&8( +7 "core" ( +2 "manipulator"&O& +4 "core" &  (  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +3 .tHand.close + "manipulator"&/ +74 "core" / +2 .tPC.seek :open +2 "processing"%.( +74 "core" ' + "storage"(t- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(]'1 +55 "core" ' +316 ( +2 "storage"(q& +4 "core" &<, Q\ o +2 "manipulator"&!& +3 "core" &    +2 "manipulator"&&% +5 "core" %      +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&F( +248 "core" ( +2 "manipulator"&?& +4 "core" &   [ +2 "storage"(B& +3 "core" &<, i \\ -\ l +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +108 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +3 "storage"(d- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(L- +3 "core" -' +2 "storage"('& +3 "core" &<, B\  +3 "manipulator"&"& +4 "core" &  Z +2 .tElbow.seek 5 +2 "manipulator"&N( +4 "core" ( + "manipulator"&G& +4 "core" &  , Z +2 "storage"(;& +3 "core" &<, y\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +58 "core" ' +2 "manipulator"&2& +3 "core" &    Z +3 "storage"(<& +4 "core" &<, \ p + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +28 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&J% +3 "core" %}  ~ +2 "storage"(+& +5 "core" &<, G P ]\ h + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 284 counts +2 "manipulator"&'ϩ +13 "core" ' +2 "manipulator"&\\& +4 "core" &   \\ < +2 "storage"(-& +4 "core" &<, +\ r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +26 "core" ' +2 "storage"(R% +4 "core" % ^\ s +50 ."downElevator"SE.seek :down +5 "storage"(m' +97 (,% +3 "core" %=F W c L\ h[s +2 "manipulator"&e% +5 "core" %I  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +96 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (9& +3 "core" &<, \ t +3 "collection"'s& +3 "core" &\\\ \ \ \ W +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&V% +4 "core" %    +2 "storage"(}% +4 "core" % \ w +2 "storage"(. +3 "core" .(<- +2 "storage"(& +4 "core" &<, 2\ w +2 "storage"(1& +3 "core" &<, N\ v +3 "manipulator"&& +4 "core" &  < +2 .tElbow.seek 5 + "manipulator"&x( +21 "core" ( +2 "manipulator"&$& +3 "core" &    +2 "storage"(^& +4 "core" &<, #\ w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +91 "core" ' +2 "storage"({& +4 "core" &<, \ w +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +295 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" &    +2 "storage"(P& +4 "core" &<,  0\ p +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&n'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(:- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('g +31 "core" ' + "manipulator"&`% +5 "core" %Π  + "storage"(o& +4 "core" &<, \ s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&H' +14 "core" ' +2 "manipulator"&& +3 "core" &  !  +2 "storage"(Y& +5 "core" &<, }\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(M' +44 "core" ' +2 "manipulator"&& +3 "core" &   +2 "manipulator"&% +5 "core" %I  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ( + "manipulator"&W& +5 "core" &ӗ    9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &ӗ  \ ; 9& +2 .tForearm.seek CC + "manipulator"&'? +100 "core" ' + .tHand.close +2 "manipulator"&5/ +56 "core" / +2 .tCC.seek :open + "collection"'*( +449 "core" ( + "storage"(z& +4 "core" &<, r s ,\ +2 "storage"(l& +4 "core" &<, b b D\ +2 "manipulator"&u& +4 "core" &Ӣ   @ 8 +2 "manipulator"&7% +3 "core" % F  \ + +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&[( +165 "core" ( +2 "manipulator"&X& +3 "core" & \ Y  +2 "storage"((& +4 "core" &<, 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&D'΍ +97 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +42 "manipulator"&\ 1 +60 "core" 1 +2 "manipulator"&>% +4 "core" % Θ   +2 "storage"(S& +3 "core" &<, \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&y' +14 "core" ' +2 "manipulator"&E& +3 "core" &  +3 "storage"(4& +3 "core" &<, \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +15 "core" ' +2 "storage"(6% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (k% +3 "core" %? \ Xj +2 "manipulator"&|% +4 "core" %B ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'v& +3 "core" & ,\ +3 "manipulator"&K% +4 "core" %      + "storage"(w% +5 "core" % \  + "storage"( . +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(h(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &K #\ +2 "manipulator"&I& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&p( +4 "core" ( +2 "manipulator"&=& +3 "core" &   X  +2 "storage"(& +5 "core" &K a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +111 "core" ' +2 "storage"(%& +3 "core" &K 0\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +297 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K w\ +2 "manipulator"&O& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &K %\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&t'h +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(' +8 "core" & 6  +2 "manipulator"&)% +4 "core" % l O +2 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&&& +3 "core" &ӏ$  \ b =D +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ$   o =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&?'? +94 "core" ' +3 "manipulator"&B& +3 "core" &ӏ$    =D +3 "manipulator"&8% +4 "core" %8  ( ` +2 "collection"'& +3 "core" & <\ +3 "collection"'d& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'L(\\ +4 "core" & :\  +9 &4y ;\ +{ +9 & cx /\ > +9 &j 4\ M +10 &SJ 4\ L +9 &Q -\ M +10 &L 0\ M +9 &K )\ L +9 & )\ L +10 &O 0\ L +9 &L 1\ M +9 & L 1\ L +10 &"cN 0\ L +9 &$$P .\ M +9 &%Q 2\ M +10 &'O 2\ M +9 &)kN (\ L +10 &+,Q -\ M +9 &,P 1\ M +9 &.P 2\ L +10 &0sN -\ L +9 &24O .\ M +9 &3Q &\ M +10 &5R +\ M +9 &7zQ &\ M +10 &9<R  \ M +9 &:L \ M +9 &<Q  \ M +10 &>R  \ M +9 &@EN \ L +9 &BR \ M +10 &CX \ N +9 &Ed\ \ !\ O +10 &G>u\ \ \ Q +9 &H\ \ !\ V +9 &J\ $\ %\ Y +10 &Lk\ "\ $ \ Z +9 &N(\ \ "#\ \\ +50 &O\ \ \ \\ +5 &Q\ \ \ [\ +2 &Sm\ \ \ ~\\ +2 &U,\ \ \ }] + &V\ \  \ {^ + &X\ \ \ z^ +5 &Zk\ \ \ w_ +9 &\\{\ \ \ 5 +9 &\\(\ \ \ #j +10 ( + &\\\ \ "\ _ +2 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 +2 .Hand.open + "manipulator"&'1 +54 "core" 1 +2 "manipulator"&"% +4 "core" % 8   t ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%;& +4 "core" &P\ k +2 "manipulator"&% +3 "core" %    +3 "storage"(2% +4 "core" % i i \ j + "storage"(<. +4 "core" .(K +2 "storage"(J& +3 "core" &K i i \ j +2 "storage"(]& +4 "core" &K i i \ j +2 "manipulator"&+& +68 "core" &Ӫ    9) +2 "manipulator"&\\% +4 "core" %    =  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +164 "core" ( +2 "manipulator"&-& +3 "core" &   +2 "storage"(R& +5 "core" &K M\ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F' +94 "core" ' +2 "storage"(c& +5 "core" &K 1\ v +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +296 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &K k m \ k +2 "manipulator"&e& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&N( +10 "core" ( +2 "manipulator"& & +4 "core" &  \ \\ + "storage"(& +5 "core" &K )\ n +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(V' +8 "core" & 7 +2 "manipulator"&}% +4 "core" % r  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&& +4 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &1& +2 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +93 "core" ' +2 "manipulator"&$& +3 "core" &   +3 "manipulator"&^% +4 "core" % 4 G +2 "processing"%b& +3 "core" &\ s +3 "processing"%{& +5 "core" & \ s +2 .tPC.seek :closed +2 "processing"%m(^ +4 "core" &\ t +9 &2u8\ c*x +10 &`w!\ `> +9 &fi9\ bO +9 &%K;\ hP +10 &K;\ hP +9 &I:\ iP +10 &lL:\ hP +9 &-N<\ fP +9 &L8\ fP +10 &L<\ hP +9 & sL6\ hP +9 &"5L5\ hP +10 &#L8\ hP +9 &%L7\ hO +9 &'{M:\ hP +10 &)=L8\ hP +9 &+L4\ gP +10 &,N4\ gP +9 &.J7\ gO +9 &0DL6\ gP +10 &2J0\ hP +9 &3J+\ hP +9 &5J/\ hO +10 &7ML/\ hP +9 &9N,\ hP +10 &:N,\ hP +9 &<M-\ hP +9 &>SN/\ gQ +10 &@N,\ gQ +9 &AQ.\ fQ +10 &CY.\ eR +9 &EW\\0\ dR +9 &Gc/\ cS +10 &Hu/\ `V +9 &J,\ \\V +9 &LQ1\ ]W +10 &N1\ \\W +9 &O.\ ]W +9 &Q0\ ZX +10 &SW0\ [W +9 &U.\ XX +10 &V.\ [X +9 &X-\ ZX +9 &Z\\0\ ZY +10 &\\0\ YY +9 &]u-\ _8 +10 &^+b)\ b ] +9 &^&/\ k3 +2 ( +2 "processing"%{& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&i1 +65 "core" 1 + "manipulator"&g% +5 "core" %    + G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +94 "core" ' +2 "processing"%U& +4 "core" &^!.\ g3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&P% +5 "core" %   )  + "storage"(:% +4 "core" % X J %\ h +2 "storage"(`. +50 "core" .(K +4 "storage"(o& +4 "core" &K Y T 8\ h +2 "storage"(& +3 "manipulator"&Y& +8 "core" &K F G /\ g + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( +2 "manipulator"&& +4 "core" &     +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &  . B  +2 .tForearm.seek PC +2 "manipulator"&T' +95 "core" ' + .tHand.close +2 "manipulator"&n/ +75 "core" / +2 .tPC.seek :open +2 "processing"%H( +78 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(W'1 +45 "core" ' +320 ( +2 "storage"(@& +4 "core" &K s q \ k +2 "manipulator"&j& +4 "core" &  \   + "manipulator"&_% +5 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&5' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +257 "core" ( +2 "manipulator"&C& +3 "core" &    +2 "storage"(z& +4 "core" &K l l \ k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +93 "core" ' +2 .tHand.open + "manipulator"&u1 +53 "core" 1 +2 "storage"(7- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(X' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"((' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &K B\  +2 "manipulator"&\ & +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&S& +4 "core" & \  +2 "storage"(E& +3 "core" &K _\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(6'" +51 "core" ' + "manipulator"&& +4 "core" &   "  +2 "storage"(k& +4 "core" &K ~ \ n +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&|'< +68 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(D' +27 "core" ' +2 "manipulator"&v% +4 "core" %D   @ +2 "storage"(K& +3 "core" &K j i \ j +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 308 counts +2 "manipulator"&y'p +15 "core" ' + "manipulator"&w& +5 "core" &   + "storage"( & +5 "core" &K \ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +16 "core" ' +2 "storage"(a% +4 "core" % D\ s +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (3% +3 "core" % N Q \\\ e\\v +3 "manipulator"&f% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +50 (=& +4 "core" &K \ r +2 "collection"'& +3 "core" &\\\ \ \ \ _ +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&%% +4 "core" %    +2 "storage"(~% +4 "core" % \ r +2 "storage"(. +3 "core" .(K +2 "storage"(A& +3 "core" &K \ s +2 "storage"( & +5 "core" &K \ s + "manipulator"&O& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(Q& +3 "core" &K b\ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +94 "core" ' +2 "storage"()& +3 "core" &K \ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +301 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" &   +2 "storage"(& +3 "core" &K \ t +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&r'< +19 "core" ' +2 .tElbow.hold + "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(8'j +30 "core" ' +2 "manipulator"&% +3 "core" %K     +2 "storage"(0& +4 "core" &K e t "\ l +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&'w +15 "core" ' + "manipulator"&q& +4 "core" &   d  +2 "storage"(*& +4 "core" &K \ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"("' +45 "core" ' +2 "manipulator"&;& +3 "core" &    +2 "manipulator"&% +5 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&<(ӂ +167 "core" ( +2 "manipulator"&J& +4 "core" &ӎ   5 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &ӎ    2 +2 .tForearm.seek CC +2 "manipulator"&d'? +97 "core" ' +2 .tHand.close + "manipulator"&+/ +61 "core" / +2 .tCC.seek :open +2 "collection"'\\( +448 "core" ( +2 "storage"(?& +3 "core" &K y ,\ +2 "storage"(-& +4 "core" &K q q \ +2 "manipulator"&R& +3 "core" &ӏ   o 2 +2 "manipulator"&c% +5 "core" % A   j +2 .tForearm.seek :retract + "manipulator"&!' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&G( +163 "core" ( +2 "manipulator"&& +4 "core" &  ~  +2 "storage"(,& +4 "core" &K \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&e'< +96 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&9% +3 "core" % F  N  +2 "storage"(s& +5 "core" &K g\ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 310 counts + "manipulator"&}'r +16 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(F& +45 "core" &K \ +9 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +16 "core" ' +2 "storage"(% +3 "core" % /\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (1% +3 "core" %D \ Zn +2 "manipulator"&N% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'^& +4 "core" & +\ +2 "manipulator"&b% +4 "core" %    +2 "storage"(V% +3 "core" % \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(.([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" &[ q n *\ +2 "manipulator"&g& +3 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&U(r +37 "core" ( + "manipulator"&P& +4 "core" &i\  : q +2 "storage"(:& +3 "core" &[ )\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&`'= +108 "core" ' + "storage"({& +5 "core" &[ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +296 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &[ F\ +2 "manipulator"&& +4 "core" &p\    j +2 .tElbow.seek 7 + "manipulator"&x(r +3 "core" ( +2 "manipulator"&& +4 "core" &p\  \  j +2 "storage"(n& +4 "core" &[ z\ +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Z& +2 "storage"(m' +9 "core" &p    j + "manipulator"&% +4 "core" % ϧ   ! +2 .tForearm.seek :retract +2 "manipulator"&@' +99 "core" ' +2 .tElbow.seek CC + "manipulator"&j(ӂ +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +18 "core" ( +2 "manipulator"&_& +4 "core" &ӈ  R / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &ӈ    / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&C'? +92 "core" ' +2 "manipulator"&z& +4 "core" &ӈ   / +2 "manipulator"&% +4 "core" %:  Z +2 "collection"'u& +4 "core" & \ +3 "collection"'7& +5 "core" & >\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & =\ +6 &? =\ %g +10 &Xu <\ 8 +9 &p <\ L +9 &L 7\ M +10 &P /\ L +9 &FN 7\ L +10 &Q .\ M +9 &O 2\ M +9 &O ,\ M +10 &NK .\ L +9 & K 2\ L +9 &!N 1\ L +10 &#Q /\ L +9 &%UP .\ M +10 &'N 0\ L +9 &(N -\ L +9 &*P 2\ L +10 &,]Q 2\ M +9 &.N -\ M +10 &/Q -\ L +9 &1N 0\ M +9 &3fM 0\ L +10 &5(O .\ L +9 &6R "\ M +9 &8Q $\ L +10 &:mL !\ M +9 &(r +3 "core" ( +2 "manipulator"&6& +4 "core" &x  +2 "storage"(|& +4 "core" &[ \ w +2 .tForearm.seek 7 + 300 counts + "manipulator"&y'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(' +9 "core" &x \   + "manipulator"&%% +4 "core" % ϵ  y +2 .tForearm.seek :retract +2 "manipulator"&~' +94 "core" ' +3 .tElbow.seek PC + "manipulator"&( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&A& +4 "core" & \    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&O' +101 "core" ' +2 "manipulator"&& +4 "core" & \  6  +2 "manipulator"&Q% +3 "core" %  +3 "processing"%M& +4 "core" &\ } +2 "processing"%)& +5 "core" &\ } +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" & \ } +9 &0v\ m*y +9 &bw\ j> +10 &fl*\ kP +9 &'L7\ rP +10 &J;\ sP +9 &I:\ rO +9 &mL8\ rP +10 &/N6\ rP +9 &N9\ rP +9 &L7\ qO +10 & uM:\ rP +9 &"7O6\ qP +10 &#P6\ qP +9 &%P5\ qP +9 &'|P6\ qP +10 &)@M.\ rO +9 &+M.\ qO +9 &,N-\ qO +10 &.L/\ qO +9 &0GM0\ qP +10 &2 M-\ qP +9 &3I,\ rP +9 &5O.\ qP +10 &7PO/\ rO +9 &9O+\ rP +9 &:Q1\ qP +10 &<M)\ rO +9 &>VO/\ qP +10 &@O0\ qP +9 &AS/\ qP +9 &C_0\ nR +10 &EY_/\ nR +9 &Gk0\ lS +10 &H{0\ iV +9 &J0\ fV +9 &LS0\ gV +10 &N/\ eX +9 &O/\ fW +9 &Q,\ cX +10 &SX/\ eW +9 &U.\ dX +9 &V/\ eX +10 &X+\ bX +9 &Z_/\ dX +10 &\\!/\ cX +9 &]*\ g6 +9 &^5p*\ iA +10 ( + &^ \ w- +2 "processing"%)& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&[1 +52 "core" 1 +2 "manipulator"&I% +3 "core" %    4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 "processing"%&& +4 "core" &^"\ q- +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" % # 8 / +2 "storage"(B% +4 "core" % \ p +2 "storage"(. +3 "core" .([ +2 "storage"(0& +3 "core" &[ H\ o +3 "storage"(q& +3 "manipulator"&*& +6 "core" &[ C\ p +2 &    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +50 "manipulator"&;( +6 ."raiseStack"SE.seek :beamBreak +4 "storage"('r +2 "core" ( +3 "manipulator"&#& +3 "core" &     +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   9  +2 .tForearm.seek PC +2 "manipulator"&p' +94 "core" ' +2 .tHand.close + "manipulator"&r/ +68 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' +2 "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'1 +47 "core" ' +312 ( +2 "storage"(]& +4 "core" &[ K\ v +2 "manipulator"&'& +3 "core" &    +2 "manipulator"&t% +5 "core" %  9 +2 .tForearm.seek :retract +2 "manipulator"&+' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&2(r +264 "core" ( +2 "manipulator"&L& +3 "core" &} B  +3 "storage"(?& +3 "core" &[ T\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&-'= +92 "core" ' +2 .tHand.open +2 "manipulator"&R1 +54 "core" 1 +2 "storage"(c- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(d- +3 "core" -' +3 "storage"(<& +4 "core" &[ \  + "manipulator"&& +5 "core" &}  +2 .tElbow.seek 7 + "manipulator"&9(r +8 "core" ( +2 "manipulator"&s& +4 "core" &| e +2 "storage"( & +3 "core" &[ p\  +3 .tForearm.seek 7 + 450 counts + "manipulator"&F'= +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' +2 "manipulator"&!& +4 "core" &| O e +2 "storage"(G& +3 "core" &[ \ x +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&1'{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(e' +27 "core" ' +2 "manipulator"&^% +3 "core" %Ύ   R  +3 "storage"(}& +3 "core" &[ k l \ k +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&b'Ϻ +14 "core" ' + "manipulator"&V& +4 "core" &|  e +2 "storage"(& +4 "core" &[ Q\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'= +16 "core" ' + "storage"(/% +5 "core" % \ z +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (h% +3 "core" %I d\ n[t +2 "manipulator"&i% +4 "core" %0   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +89 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (P& +3 "core" &[ P\ y +3 "collection"':& +4 "core" &\\b\ \ \ O +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&{% +3 "core" %   +3 "storage"( % +3 "core" % }\ { +2 "storage"($. +4 "core" .([ + "storage"(Y& +4 "core" &[ }\ z +2 "storage"(& +3 "core" &[ C\ { +3 "manipulator"&& +43 "core" &|   e +10 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&n& +3 "core" &|   0 e +2 "storage"(& +5 "core" &[ \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Z'= +96 "core" ' +2 "storage"(& +4 "core" &[ _ R F\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'r +295 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +8 "core" &|   e +2 "storage"(o& +5 "core" &[ \ w + .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&T'{ +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +30 "core" ' +2 "manipulator"&u% +3 "core" %Ύ   0 % +2 "storage"(x& +4 "core" &[ 7\ o +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&m'Ϻ +14 "core" ' +2 "manipulator"&@& +4 "core" &| e +2 "storage"(\\& +3 "core" &[\ \  G\ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(\ ' +14 "Can"+\ V6&^{U% +22 "core" ' +2 "manipulator"&7& +3 "core" &|  e +3 "manipulator"&E% +3 "core" %4 X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&k& +4 "core" &ӏ#   - <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӏ#   @ <: +2 .tForearm.seek CC +2 "manipulator"&X'? +96 "core" ' + .tHand.close +2 "manipulator"&v/ +62 "core" / +2 .tCC.seek :open +2 "collection"'K( +448 "core" ( +2 "storage"(C& +4 "core" &[ y \  +2 "storage"( & +3 "core" &[ p n \  +2 "manipulator"&a& +5 "core" &ӥ   { 9$ + "manipulator"&l% +4 "core" % L  G +2 .tForearm.seek :retract +2 "manipulator"&j' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&S(r +160 "core" ( +2 "manipulator"&3& +3 "core" &v  +2 "storage"(4& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&f'{ +99 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&|1 +57 "core" 1 +2 "manipulator"&D% +3 "core" % Ί  \  +2 "storage"(=& +4 "core" &[ S\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 315 counts +2 "manipulator"&%'϶ +14 "core" ' +2 "manipulator"&w& +3 "core" &v   +2 "storage"( & +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&('= +16 "core" ' +2 "storage"(y% +3 "core" % B\ +3 ."downElevator"SE.seek :down +4 "storage"(A' +100 ( % +10 "core" %UF e\ Zn +23 "manipulator"&>% +5 "core" %4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +21 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'Q& +3 "core" & \ +2 "manipulator"&M% +4 "core" %     +2 "storage"(% +4 "core" % \  +2 "storage"(~. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(H(<- +666 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" &O +2 "manipulator"&;% +4 "core" %@   +2 "collection"'R& +4 "core" & 9\ +2 "collection"'c& +5 "core" & \ +3 .tCC.seek :closed + "collection"'d(\\ +5 "core" & <\  +9 &4x <\ *z +9 &\ fx <\ ? +10 &j <\ N +9 &UI <\ M +10 &L 8\ M +9 &M 5\ L +9 &L ;\ L +10 &^L ;\ L +9 &O ,\ M +9 &P .\ M +10 & Q 0\ M +9 &"eQ 3\ M +9 &$'Q -\ M +10 &%L .\ M +9 &'L /\ M +10 &)mK '\ M +9 &+/L 0\ M +9 &,L 2\ M +10 &.N 0\ L +9 &0uO .\ M +10 &26R .\ M +9 &3O ,\ M +9 &5R 1\ M +10 &7~N !\ L +9 &9?N \ M +9 &;O #\ L +10 &<O $\ L +9 &>O \ M +9 &@HO !\ L +10 &BQ "\ M +9 &CV !\ N +10 &E_ \ +\ O +9 &GDh\ \ #\ P +9 &H\ \ !\ S +10 &J\ &\ # \ X +9 &Lm\ &\ '\ Z +10 &N/\ #\ " \ Z +9 &O\ \  \ [ +9 &Q\ \ \ [ +10 &Sq\ \ \ }\\ +9 &U/\ \ \ {] +9 &V\ \ \ {] +10 &X\ \ \ z^ +9 &Zq\ \ \ z^ +9 &\\z\ \ \ 7 +10 &\\$\ \ !\ (u +9 &\\\ \ \ !a +2 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 + .Hand.open +2 "manipulator"&<1 +62 "core" 1 +2 "manipulator"&% +4 "core" % @   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +92 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &"\ m +2 "manipulator"&+% +3 "core" %     +3 "storage"(!% +4 "core" % r n \ l +2 "storage"(G. +3 "core" .(<- + "storage"(J& +5 "core" &<- x q\ m +49 "storage"(^& +5 "core" &<- o g\ l +2 "manipulator"&}& +4 "core" &ӭ"   ;5 +2 "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&V( +163 "core" ( +2 "manipulator"&& +4 "core" &     +2 "storage"(/& +4 "core" &<- Q\ t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +92 "core" ' + "storage"(-& +4 "core" &<- T\ v +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'r +297 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +3 "core" &<- ~ \ m +2 "manipulator"&F& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&9( +4 "core" ( + "manipulator"&& +4 "core" &   \  +2 "storage"(1& +4 "core" &<- \ p +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&b'Ϲ +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"({' +6 "core" &  $  +3 "manipulator"& % +4 "core" %  = +3 .tForearm.seek :retract + "manipulator"&e' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&Y& +3 "core" &   - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &    - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' +2 "manipulator"&n& +3 "core" &   T - +3 "manipulator"&% +4 "core" %   +2 "processing"%"& +4 "core" &>\ w +2 "processing"%& +6 "core" &)\ w +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ w +8 &3 \ q$c +10 &Su6\ c7 +9 &}s;\ cL +9 &OB\ jQ +10 &LJ\ kP +9 &I/\ lP +9 &L5\ lP +10 &O@\ kP +9 &TK<\ lP +10 &M8\ kP +9 &L=\ iO +9 &!L9\ kP +10 &#[K5\ kP +9 &%L9\ kP +9 &&L3\ kP +10 &(M0\ kP +9 &*dK0\ kP +10 &,%P3\ jP +9 &-K.\ lP +9 &/M3\ kP +10 &1lI5\ lP +9 &3.J-\ jP +9 &4N-\ kP +10 &6K1\ kP +9 &8sO,\ jP +10 &:6L1\ lP +9 &;M.\ kP +9 &=N-\ kP +10 &?{N0\ kP +9 &A<O4\ jP +9 &BT0\ iQ +10 &DZ0\ iQ +9 &F{`-\ fS +10 &H9l-\ eT +9 &I1\ `V +9 &K.\ `W +10 &Mv/\ `W +9 &O7.\ `X +9 &P0\ ^X +10 &R0\ _W +9 &Tz-\ ]Y +10 &V?*\ _W +9 &W,\ \\X +9 &Y.\ ^X +10 &[/\ ^X +9 &]D*\ ]P +9 &^{Ey,\ c"f +10 &^7-\ l2 +5 ( +2 "processing"%& +4 "core" &^&*\ n2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&N1 +53 "core" 1 + "manipulator"&g% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +95 "core" ' +2 "processing"%_& +5 "core" &^&\ f2 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&o% +3 "core" %  . +3 "storage"(z% +3 "core" % \\ \\\ g +2 "storage"(u. +4 "core" .(<- + "storage"(x& +4 "core" &<- \\ ]\ g +2 "storage"(@& +3 "manipulator"&\\& +6 "core" &<- _ ]\ g + &    - +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(7'r + "manipulator"&E( +7 "core" ( + "manipulator"&Z& +5 "core" & &  - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  & - +3 .tForearm.seek PC +43 "manipulator"&U' +100 "core" ' +2 .tHand.close + "manipulator"&T/ +77 "core" / +2 .tPC.seek :open + "processing"%m( +27 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'1 +47 "core" ' +370 ( +2 "storage"(W& +3 "core" &<, \ n +2 "manipulator"&& +5 "core" &    - + "manipulator"&% +5 "core" %  '  +2 .tForearm.seek :retract +2 "manipulator"&v' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&5( +246 "core" ( +2 "manipulator"&& +3 "core" &   $ 6 +2 "storage"(C& +3 "core" &<, \ m +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +99 "core" ' + .tHand.open +2 "manipulator"&a1 +59 "core" 1 +3 "storage"(l- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(3' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(4' +58 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(X- +3 "core" -' +2 "storage"(& +4 "core" &<, O\  +2 "manipulator"&|& +4 "core" & W 6 + .tElbow.seek 5 +2 "manipulator"&D( +4 "core" ( + "manipulator"&=& +5 "core" &  6 + "storage"(w& +5 "core" &<, \  +2 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(y'" +59 "core" ' +2 "manipulator"&j& +3 "core" &   6 +2 "storage"( & +5 "core" &<, n l \ k + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&>'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(f' +28 "core" ' +2 "manipulator"&Q% +3 "core" %Π   +2 "storage"(%& +5 "core" &<, i i \ i + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&M' +14 "core" ' + "manipulator"&& +5 "core" &  5 +2 "storage"(~& +4 "core" &<, -\ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +16 "core" ' +2 "storage"((% +4 "core" % }\ q +2 ."downElevator"SE.seek :down +4 "storage"(A' +99 (.% +2 "core" %H \\ R\ e[u +3 "manipulator"&[% +4 "core" %I   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &<, y  I\ o +3 "collection"'B& +4 "core" &\\\ \ \ !a +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&0% +4 "core" %     \ + "storage"(6% +4 "core" % d\ p +2 "storage"(. +3 "core" .(<- +2 "storage"(*& +4 "core" &<, \\\ q +2 "storage"()& +3 "core" &<, w\ p +2 "manipulator"&#& +4 "core" &   / 5 +2 .tElbow.seek 5 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&r& +4 "core" &   5 +2 "storage"(8& +3 "core" &<, } \ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +48 "manipulator"&'O +95 "core" ' +2 "storage"(& +4 "core" &<, \ u +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&t& +3 "core" &   5 +2 "storage"(p& +3 "core" &<, ]\ n +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&q'΍ +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(;'h +30 "core" ' +2 "manipulator"&R% +4 "core" %Ρ  + "storage"(& +5 "core" &<, k i ~\ h + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&]& +4 "core" &   5 +2 "storage"(K& +3 "core" &<, \ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +47 "core" ' +2 "manipulator"& & +3 "core" &  5 +3 "manipulator"&+% +4 "core" %D \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +147 "core" ( +2 "manipulator"&J& +4 "core" &{*   Bl +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +2 "core" &{*   Bl +3 .tForearm.seek CC +2 "manipulator"&^'? +97 "core" ' + .tHand.close +2 "manipulator"&}/ +58 "core" / + .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "storage"(L& +4 "core" &<, y \ \ +2 "storage"(& +3 "core" &<, p l \ +2 "manipulator"&/& +4 "core" &Ӵ" J ;3 +2 "manipulator"&-% +4 "core" % +   4 +2 .tForearm.seek :retract +2 "manipulator"&'' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&s( +164 "core" ( +2 "manipulator"&h& +4 "core" &  t  +2 "storage"(i& +4 "core" &<, w\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&F'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&11 +58 "core" 1 +2 "manipulator"&P% +4 "core" % Κ   +2 "storage"(:& +4 "core" &<, \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +3 "manipulator"& ' +13 "core" ' +2 "manipulator"&V& +4 "core" &  +2 "storage"(2& +3 "core" &<, e\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +15 "core" ' +2 "storage"(b% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(Y' +99 (% +2 "core" %~C @\ Yl +3 "manipulator"&9% +4 "core" %F R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +49 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +3 "core" & +\ +3 "manipulator"&"% +4 "core" %     +2 "storage"({% +4 "core" % 2\  +2 "storage"(e. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &K )\ +2 "manipulator"&g& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&_( +4 "core" ( +2 "manipulator"&o& +3 "core" &   +3 "storage"(z& +4 "core" &K K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&u' +95 "core" ' +2 "storage"(x& +3 "core" &K `\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +298 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K p n \  +2 "manipulator"&Z& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(T& +3 "core" &K \  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +13 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&`& +2 "storage"(' +8 "core" & ,  + "manipulator"&7% +5 "core" % a d v +2 .tForearm.seek :retract + "manipulator"&W' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&& +4 "core" &ӌ)   S A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &ӌ)   A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' + "manipulator"&C& +5 "core" &ӎ(   ( @^ + "manipulator"&E% +5 "core" %>  < 5 +2 "collection"'a& +3 "core" & \ +3 "collection"'l& +5 "core" & \ +3 .tCC.seek :closed + "collection"'X(\\ +5 "core" & <\  +9 &2v <\ *x +9 &dx =\ > +10 &tk <\ N +9 &7K =\ M +9 &N =\ L +10 &N /\ L +9 &}P =\ M +9 &AJ 3\ L +10 &N 7\ M +9 &O 4\ M +10 & N 0\ L +9 &"HQ /\ M +9 &$\ P *\ M +10 &%O )\ M +9 &'J )\ M +10 &)PL 1\ M +9 &+Q /\ M +9 &,O -\ M +10 &.L 1\ M +9 &0XM .\ M +9 &2L 1\ M +10 &3N 0\ L +9 &5N (\ L +9 &7aN -\ L +10 &9#O /\ L +9 &:N 1\ L +10 &<O ,\ L +9 &>iO 1\ L +9 &@+N -\ L +10 &AQ .\ M +9 &CW\ )\ N +13 &Ehc\ \ *\ O +6 &G$r\ \ \ .\ Q +9 &H\ \ &\ V +10 &J\ &\ &-\ Z +9 &LQ\ #\ &/\ Z +9 &N\ \ "(\ \\ +10 &O\ \ .\ [ +9 &Q\ \  \ \\ +10 &SP\ \ ,\ }] +9 &U\ \ \ }] +9 &V\ \ \ |^ +10 &X\ \ \ {_ +9 &ZQ\ \ \ y_ +9 &[{\ \  \ ? +10 &\\/\ \  \ |&t +9 &\\m\ \ "\ U +2 ( +2 "collection"'l& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&|% +3 "core" % >   [ 5 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&=' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%w& +3 "core" &*\ o +2 "manipulator"&v% +4 "core" %  \   +2 "storage"(j% +3 "core" % \ n +2 "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(k(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Q& +3 "core" &K 7 / \ c +3 "manipulator"&%& +3 "core" &Ӭ#   <@ +2 "manipulator"&3% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +48 .tElbow.seek 6 +5 "manipulator"&( +165 "core" ( +2 "manipulator"&~& +3 "core" &    +2 "storage"((& +5 "core" &K =\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&5' +93 "core" ' +3 "storage"( & +3 "core" &K \ z +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(4'r +299 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ([& +2 "core" &K i\ p +3 "manipulator"& & +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&D( +4 "core" ( +2 "manipulator"&y& +4 "core" &   4  + "storage"(>& +5 "core" &K ;\ t +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&B& +3 "storage"(0' +30 "core" &    +2 "manipulator"&6% +3 "core" % n \ ] +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f( +129 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +106 "core" ( +2 "manipulator"&*& +4 "core" &   ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &)& +2 "core" &   5 ; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&#' +97 "core" ' +2 "manipulator"&r& +3 "core" &  ; +3 "manipulator"&8% +3 "core" % G +3 "processing"%\ & +4 "core" &\ | +2 "processing"%& +5 "core" & \ } +2 .tPC.seek :closed +2 "processing"%A(^ +3 "core" &\ | +8 & -\ w$c +10 &Ts$\ j7 +9 &{q=\ iK +10 &L\ pP +9 &PL7\ pP +9 &J:\ qO +10 &N6\ pP +9 &OA\ oP +10 &YJ:\ qP +9 &M8\ pP +9 &O5\ pP +10 &!K<\ qO +9 &#aL5\ pP +9 &%#L=\ pP +10 &&Q4\ pP +9 &(N4\ pP +9 &*iO6\ oP +10 &,+K6\ pP +9 &-L0\ pP +10 &/Q,\ oP +9 &1qI0\ qP +9 &33J2\ pP +10 &4J*\ qO +9 &6M(\ pP +9 &8yK0\ qP +10 &:<L,\ pO +9 &;N,\ pP +10 &=M*\ pP +9 &?O+\ nP +9 &AAR+\ oP +10 &CY-\ mQ +9 &DW/\ nQ +10 &Fa/\ lS +9 &H?n+\ iT +9 &I-\ dV +10 &K/\ eV +9 &M|1\ dW +9 &O=0\ eW +10 &P/\ cW +9 &R/\ cW +9 &T0\ aX +10 &VD0\ cW +9 &X0\ cX +10 &Y-\ bX +9 &[/\ cX +9 &]J-\ cL +10 &^S/\ `$p +9 &^/\ w ' +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&S1 +62 "core" 1 +2 "manipulator"&I% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +3 "processing"%t& +3 "core" &^(\ q ' +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&p% +4 "core" % #   4 +2 "storage"(?% +3 "core" % C\ p +2 "storage"(R. +4 "core" .(K + "storage"(& +5 "core" &K } \ p +2 "storage"(]& +2 "manipulator"&K& +7 "core" &K |\ p +2 &  : +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"& ( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(+'r +3 "core" ( +2 "manipulator"&& +3 "core" &   : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &  : +3 .tForearm.seek PC +2 "manipulator"&&' +95 "core" ' +2 .tHand.close + "manipulator"&q/ +75 "core" / +2 .tPC.seek :open + "processing"%( +77 "core" ' +10 "storage"(;- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'1 +42 "core" ' +317 ( +2 "storage"(c& +4 "core" &K ?\ r +2 "manipulator"&<& +3 "core" &   : +2 "manipulator"&% +5 "core" %   , +2 .tForearm.seek :retract +2 "manipulator"&}' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&!( +244 "core" ( +2 "manipulator"&d& +4 "core" &   [ < +2 "storage"(L& +4 "core" &K \ o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +92 "core" ' + .tHand.open +2 "manipulator"&/1 +53 "core" 1 +3 "storage"(-- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(h' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(i' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +3 "core" -' +3 "storage"(G& +3 "core" &K 2\  +2 "manipulator"&1& +5 "core" &  ; +2 .tElbow.seek 6 + "manipulator"&P( +4 "core" ( +2 "manipulator"&:& +3 "core" &   ; +4 "storage"(V& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(b'" +60 "core" ' + "manipulator"&'& +4 "core" &   ; +2 "storage"(& +4 "core" &K \ s +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&9'< +19 "core" ' +2 .tElbow.hold + "manipulator"&s, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(F' +25 "core" ' +2 "manipulator"&% +3 "core" %F   9 +2 "storage"( & +5 "core" &K '\ o + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&'r +14 "core" ' +2 "manipulator"&"& +3 "core" & \  r ; +2 "storage"({& +5 "core" &K B\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +15 "core" ' +2 "storage"(,% +4 "core" % V\ t +2 ."downElevator"SE.seek :down +4 "storage"(Y' +98 (H% +3 "core" % I l j \ i[t +2 "manipulator"&N% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (o& +3 "core" &K \ s +3 "collection"'z& +3 "core" &\\l\ \ "\ U +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&x% +4 "core" %    +2 "storage"(% +4 "core" % b\ v +2 "storage"(n. +2 "core" .(K +2 "storage"(\\& +5 "core" &K |\ v + "storage"(& +4 "core" &K \ v +2 "manipulator"&Z& +4 "core" &    ; +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&T& +3 "core" &   ; +2 "storage"($& +4 "core" &K \\\ v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +114 "core" ' + "storage"(7& +4 "core" &K 1\ w +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +343 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  ; +3 "storage"(U& +4 "core" &K c\ q + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&@'< +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(C- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(E'm +30 "core" ' +2 "manipulator"&a% +3 "core" %M   +2 "storage"(& +5 "core" &K p\ p + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&'y +16 "core" ' +2 "manipulator"&W& +4 "core" &   < ; +2 "storage"(& +3 "core" &K *\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(|' +36 "core" ' +2 "manipulator"&w& +3 "core" &   ; +2 "manipulator"&v% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +153 "core" ( + "manipulator"&l& +4 "core" &ӑ%   >J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +4 "core" &ӑ%   . >J +2 .tForearm.seek CC +2 "manipulator"&%'? +92 "core" ' +2 .tHand.close + "manipulator"&3/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "storage"(~& +3 "core" &K s v ]\  +3 "storage"((& +3 "core" &K b h r\  +2 "manipulator"&& +4 "core" &ӹ   8" +2 "manipulator"& % +4 "core" % H   +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&=( +165 "core" ( +2 "manipulator"&.& +3 "core" &    +2 "storage"([& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"& '< +100 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +53 "core" 1 +2 "manipulator"&M% +4 "core" % L   +2 "storage"(B& +3 "core" &K N\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&6'x +16 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(5& +5 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +15 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(*' +99 ()% +3 "core" %qD -\ Yk +2 "manipulator"&D% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +95 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'8& +3 "core" & \ +2 "manipulator"&\ % +4 "core" %    +2 "storage"(0% +4 "core" % k\  +2 "storage"(. +3 "core" .(K +46 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(m([ +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" &[ n b \ +2 "manipulator"&I& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&t(r +55 "core" ( +2 "manipulator"&p& +4 "core" &   < o +2 "storage"(?& +3 "core" &[ r\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&R'= +93 "core" ' +2 "storage"(& +4 "core" &[ l\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(]- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &[ =\ +2 "manipulator"&& +4 "core" & E o +2 .tElbow.seek 7 +2 "manipulator"&O(r +11 "core" ( +2 "manipulator"&#& +4 "core" &|  ( K + "storage"(q& +4 "core" &[ 0\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&;'ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(A' +8 "core" &|  K +2 "manipulator"&+% +4 "core" % ϣ ! +2 .tForearm.seek :retract +2 "manipulator"&c' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&<(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &Ӓ$  Z =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &Ӓ$   =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&d'? +93 "core" ' +2 "manipulator"&L& +3 "core" &ӓ%    =A +3 "manipulator"& % +3 "core" %6   # a +3 "collection"'/& +3 "core" & A\ +3 "collection"'-& +5 "core" & \ +3 .tCC.seek :closed + "collection"'^(\\ +5 "core" & 6\ +7 &1 <\ $e +10 &Vs <\ 7 +9 &r ;\ L +10 &O ;\ M +9 &fL =\ M +9 &(L ;\ M +10 &L <\ L +9 &M =\ L +9 &nK <\ M +10 &1K 1\ L +9 &M 0\ M +10 &!O )\ M +9 &#vL -\ M +9 &%9K 0\ L +10 &&N +\ L +9 &(L .\ L +10 &*~P )\ M +9 &,?O 0\ M +9 &.L 2\ L +10 &/Q .\ M +9 &1M .\ M +9 &3HL 0\ M +10 &5\ L 2\ M +9 &6M ,\ M +9 &8N &\ L +10 &:QN +\ L +9 &<N 0\ L +10 &=N ,\ L +9 &?O ,\ M +9 &AXR 2\ M +10 &CR /\ M +9 &D\\ \ /\ N +9 &Ff\ \ 0\ P +10 &HQv\ \ \ ,\ R +9 &J\ \ ,\ V +10 &K\ '\ (.\ Y +9 &M\ !\ %/\ Z +9 &OA\ \ !.\ Z +10 &Q\ \  \ [\ +9 &R\ \ \ [ +9 &T\ \  \ \\ +10 &VA\ \ "\ ] +9 &W\ \ &\ |^ +10 &Y\ \ \ {_ +9 &[\ \  \ {K +9 &\\6\ \ "\ / +10 &\\ \ \ !\ U +5 ( +2 "collection"'-& +4 "core" &\\v\ \ \ U +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 + .Hand.open +2 "manipulator"&G1 +62 "core" 1 +3 "manipulator"&1% +3 "core" % 6  ] a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%V& +4 "core" &\ n +2 "manipulator"&}% +4 "core" %     +2 "storage"('% +3 "core" % \ o +2 "storage"(. +4 "core" .([ + "storage"(& +4 "core" &[ \ n +2 "storage"( & +4 "core" &[ \ o +2 "manipulator"&J& +4 "core" &ӭ   9' +2 "manipulator"&"% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&{(r +162 "core" ( +2 "manipulator"&h& +4 "core" &r     + "storage"(,& +5 "core" &[ \ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&!'= +94 "core" ' +6 "storage"(& +4 "core" &[ &\ z +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'r +295 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &[ ]\ p +2 "manipulator"&2& +5 "core" &r    + .tElbow.seek 7 +2 "manipulator"&P(r +4 "core" ( +2 "manipulator"&b& +3 "core" &r    +2 "storage"(9& +4 "core" &[ "\ s +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& +4 "storage"(x' +4 "core" &r  l  +3 "manipulator"&% +4 "core" % ϥ  M +2 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&F( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&\\& +4 "core" &    9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Z' +101 "core" ' +2 "manipulator"&T& +3 "core" &  + 9 +3 "manipulator"&$% +3 "core" % : +2 "processing"%e& +5 "core" &\ z +2 "processing"%7& +5 "core" &\ z +2 .tPC.seek :closed +2 "processing"%Y(^ +4 "core" &\ \ z +9 &1u\ i*y +9 &av\ f> +10 &bj\ gP +9 &"L \ nP +10 &L5\ oP +9 &N6\ nP +9 &iM;\ nP +10 &*O8\ lP +9 &L;\ oP +9 &O6\ nP +10 & qM<\ nP +9 &"2O@\ mP +10 &#L<\ nP +9 &%I6\ oP +9 &'yL5\ nP +10 &):O6\ nP +9 &*L4\ nP +9 &,P5\ mP +10 &.L5\ nP +9 &0BO7\ nP +9 &2J0\ oO +10 &3K,\ oP +9 &5I+\ oP +10 &7KJ+\ oP +9 &9 Q3\ mP +9 &:L3\ nP +10 &<L/\ nP +9 &>RO2\ mP +9 &@O/\ nP +10 &AT2\ lQ +9 &CZ7\ kQ +10 &ES^0\ jR +9 &Ge+\ iS +9 &Hx+\ eV +10 &J,\ cV +9 &LO/\ cV +10 &N,\ bX +9 &O0\ bW +9 &Q0\ aX +10 &SS0\ aX +9 &U.\ `X +9 &V*\ aX +10 &X4\ aX +9 &Z[1\ aX +9 &\\-\ `X +10 &]}*\ e6 +9 &^8o+\ f; +10 ( + &^+\ t) +2 "processing"%7& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&s1 +55 "core" 1 +2 "manipulator"&g% +4 "core" %    : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +2 "processing"%& +3 "core" &^"\ n) +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&U% +4 "core" %    +2 "storage"(C% +3 "core" % \ n +2 "storage"(a. +3 "core" .([ +2 "storage"(& +3 "core" &[ \ n +3 "storage"(W& +2 "manipulator"&& +7 "core" &[ \ n +2 &   9 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&w( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'r +21 "core" ( + "manipulator"&`& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  $ +3 .tForearm.seek PC + "manipulator"&_' +93 "core" ' +2 .tHand.close + "manipulator"&@/ +77 "core" / +2 .tPC.seek :open +2 "processing"%( +61 "core" ' + "storage"(E- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(l'1 +41 "core" ' +342 ( +2 "storage"(Q& +3 "core" &[ +\ o +2 "manipulator"&& +45 "core" &   +10 "manipulator"&% +5 "core" % % +2 .tForearm.seek :retract +2 "manipulator"&3' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&j(r +246 "core" ( + "manipulator"&X& +4 "core" &   @ # +2 "storage"(~& +4 "core" &[ 1\ m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&('= +94 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"([' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(%- +3 "core" -' +2 "storage"( & +3 "core" &[ ,\ +2 "manipulator"&>& +5 "core" &  # + .tElbow.seek 7 +2 "manipulator"&M(r +29 "core" ( +2 "manipulator"&B& +3 "core" &{   j +2 "storage"(& +5 "core" &[ \ ! +2 .tForearm.seek 7 + 450 counts + "manipulator"&5'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +60 "core" ' +2 "manipulator"&& +4 "core" &{   j +2 "storage"()& +3 "core" &[ e\ q +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&D'{ +25 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +25 "core" ' + "manipulator"&8% +5 "core" %Ώ   / / + "storage"(\ & +4 "core" &[ i i \ h +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 320 counts +2 "manipulator"&6'ϻ +27 "core" ' + "manipulator"&0& +5 "core" &{    j +2 "storage"(& +3 "core" &[ m\ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&|'= +17 "core" ' +2 "storage"(4% +3 "core" % P\ w +3 ."downElevator"SE.seek :down +8 "storage"(*' +95 (k% +3 "core" %G \\ a =\ j[s +3 "manipulator"&S% +3 "core" %G   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +89 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (p& +3 "core" &[ +\ u +2 "collection"'?& +4 "core" &\\v\ \ \ \ \ U +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +3 "core" %      +2 "storage"(y% +4 "core" % \ w +2 "storage"(r. +3 "core" .([ +2 "storage"(]& +3 "core" &[ 0\ x +2 "storage"(K& +4 "core" &[ Q\ w +2 "manipulator"&& +4 "core" &{  j +2 .tElbow.seek 7 +2 "manipulator"&#(r +4 "core" ( + "manipulator"&q& +4 "core" &{   j +2 "storage"(f& +4 "core" &[ &\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +96 "core" ' +2 "storage"(+& +4 "core" &[ \ z +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(t'r +296 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &{ j +2 "storage"(&& +4 "core" &[ -\ s +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek 7 +4 "manipulator"&'{ +27 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 'p +30 "core" ' +2 "manipulator"&/% +3 "core" %Ή  +2 "storage"(O& +4 "core" &[ %\ m +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 314 counts +2 "manipulator"&A'ϵ +15 "core" ' + "manipulator"&c& +4 "core" &{  c j +2 "storage"(& +4 "core" &[ M\ t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&G'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(1' +40 "core" ' +2 "manipulator"&V& +3 "core" &{ j +2 "manipulator"&}% +4 "core" %( 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&-& +5 "core" &ӎ#  <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӎ#   \\ <= +3 .tForearm.seek CC + "manipulator"& '? +97 "core" ' + .tHand.close +2 "manipulator"&J/ +56 "core" / +2 .tCC.seek :open +2 "collection"'"( +451 "core" ( +2 "storage"(d& +3 "core" &[ \ +3 "storage"(h& +4 "core" &[ a f b\ +2 "manipulator"&,& +3 "core" &ӯ   P 8 +2 "manipulator"&% +5 "core" % =   7 +2 .tForearm.seek :retract + "manipulator"&<' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&:(r +162 "core" ( +2 "manipulator"&H& +3 "core" &t   5  +3 "storage"(N& +4 "core" &[ f\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&2'{ +104 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&91 +52 "core" 1 +2 "manipulator"&o% +4 "core" % ΁   +2 "storage"(z& +3 "core" &[ E\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 306 counts +3 "manipulator"&'ϭ +13 "core" ' +2 "manipulator"&{& +3 "core" &t ,  +2 "storage"(!& +5 "core" &[ K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&i'= +17 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(\\' +99 (% +3 "core" %? 1\ Yj +2 "manipulator"&P% +4 "core" %3 D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'$& +3 "core" &  \ +2 "manipulator"&e% +4 "core" %    +2 "storage"(x% +3 "core" % \  +2 "storage"(n. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +2 "core" & +9 &|j 7\ N +10 &AM <\ L +9 &R :\ M +9 &M =\ L +10 &M ;\ M +9 &HN <\ M +9 &\ M =\ M +10 &K <\ L +9 & M ;\ L +10 &"PQ 6\ M +9 &$Q =\ M +9 &%Q 8\ M +10 &'N 2\ L +9 &)XQ 2\ M +9 &+R 0\ M +10 &,O -\ M +9 &.M /\ L +10 &0_R 7\ M +9 &2"M 1\ M +9 &3M /\ M +10 &5M 2\ M +9 &7hL 1\ M +9 &9+O '\ L +10 &:N .\ L +9 &<N -\ L +10 &>qO ,\ L +9 &@3O 0\ L +9 &AQ /\ M +10 &CU\ \ +\ N +9 &Es^\ \ 0\ N +9 &G0i\ \ -\ P +10 &H\ \ %\ S +9 &J\ '\ -\ W +10 &LZ\ '\ (0\ Z +9 &N\ "\ %0\ Z +9 &O\ \ "\ Z +10 &Q\ \ .\ [ +9 &S]\ \ *\ [ +9 &U\ \ )\ \\ +10 &V\ \ "\ ] +9 &X\ \ !\ }^ +10 &Z]\ \ +\ |^ +9 &\\z\ \  \ ; +9 &\\)\ \ \ (x +10 &\\\ \ \ Y +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"& 1 +52 "core" 1 + "manipulator"&>% +5 "core" % 6   V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%3& +4 "core" &\ n +2 "manipulator"&% +3 "core" %     +2 "storage"(% +4 "core" % \ m +2 "storage"(). +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(l(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &<* j k w\ j +2 "manipulator"&\ & +4 "core" &Ө    6 +2 "manipulator"&.% +3 "core" %    3  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&0( +161 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(4& +5 "core" &<* \ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&j'O +94 "core" ' +2 "storage"((& +3 "core" &<* m\ x +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +295 "core" ' +3 "storage"(k- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (S& +2 "core" &<* m j \ k +3 "manipulator"&5& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&M( +4 "core" ( +2 "manipulator"&& +4 "core" &     + "storage"(D& +5 "core" &<* \ o +2 .tForearm.seek 5 + 300 counts + "manipulator"&6'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&?& + "storage"(' +6 "core" &    +3 "manipulator"&y% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&]& +5 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&q& +4 "core" &  %  +2 "manipulator"&f% +3 "core" %  e +3 "processing"%|& +3 "core" &\ w +3 "processing"%+& +5 "core" &\ w +2 .tPC.seek :closed +2 "processing"%*(^ +4 "core" &\ w +8 &6\ p#c +9 &Uu;\ c7 +9 &|r&\ cL +10 &LA\ jP +9 &PK\ kP +10 &J2\ kP +9 &LC\ kP +9 &KE\ kP +10 &ZK;\ lP +9 &L@\ kO +9 &LF\ jP +10 &!KB\ kP +9 &#bL<\ kP +10 &%#LA\ jP +9 &&M=\ kP +9 &(L?\ jP +10 &*iK@\ kP +9 &,,M5\ kP +9 &-K;\ kP +10 &/N5\ jP +9 &1sK4\ kO +10 &33L:\ jP +9 &4J<\ kO +9 &6L3\ kP +10 &8zL3\ jP +9 &:<L4\ kP +9 &;M2\ kP +10 &=L6\ kP +9 &?N5\ kP +10 &ABO3\ jP +9 &CT*\ iQ +9 &DZ+\ hR +10 &F`.\ fS +9 &H?l1\ dT +9 &I,\ `V +10 &K8\ `W +9 &M}?\ `W +10 &O>2\ ^W +9 &P-\ ^X +9 &R/\ ^W +10 &T/\ \\Y +9 &VC.\ ^X +9 &X1\ \\X +10 &Y8\ ]X +9 &[0\ ]X +10 &]I1\ \\O +9 &^|G/\ `` +9 &^ I2\ i2 +6 ( + "processing"%+& +4 "core" &^%,\ l2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&=1 +52 "core" 1 +2 "manipulator"&I% +4 "core" %    A e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +95 "core" ' + "processing"%& +4 "core" &^%7\ i2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&&% +4 "core" %    " +2 "storage"(L% +3 "core" % b ] [\ i +3 "storage"(/. +3 "core" .(<- +2 "storage"(O& +4 "core" &<* W e\ h +2 "storage"(c& +2 "manipulator"&& +7 "core" &<* e ^ \ i +2 &   G  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&V( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'r +2 "core" ( +2 "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &  0  +3 .tForearm.seek PC +2 "manipulator"&t' +92 "core" ' +2 .tHand.close + "manipulator"&/ +66 "core" / +2 .tPC.seek :open + "processing"%A( +87 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(-'1 +41 "core" ' +320 ( +2 "storage"(& +3 "core" &<* 3\ r +2 "manipulator"&G& +5 "core" &    + "manipulator"&;% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&J' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +51 .tElbow.seek 5 +2 "manipulator"&'( +239 "core" ( +2 "manipulator"&^& +4 "core" &  , +2 "storage"(d& +3 "core" &<* \ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +92 "core" ' +2 .tHand.open + "manipulator"&,1 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(H' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(N' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(& +5 "core" &<* M\  + "manipulator"&9& +5 "core" & _ + + .tElbow.seek 5 +2 "manipulator"&o( +4 "core" ( +2 "manipulator"&z& +4 "core" & + + "storage"({& +5 "core" &<* v\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&!'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +62 "core" ' + "manipulator"&<& +3 "core" &    + +3 "storage"(& +4 "core" &<* \ n +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&P'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(2' +21 "core" ' +2 "manipulator"&$% +4 "core" %Κ   Q +2 "storage"(& +3 "core" &<* K U \ h +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&e' +14 "core" ' + "manipulator"&x& +5 "core" &  } + + "storage"(n& +5 "core" &<* J\ r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +15 "core" ' + "storage"(i% +5 "core" % \ s +2 ."downElevator"SE.seek :down +3 "storage"(\\' +99 (m% +3 "core" %K _ ^ D\ g[u +2 "manipulator"&s% +4 "core" %F    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (U& +3 "core" &<* r t =\ p +2 "collection"'C& +5 "core" &\\~\ \ \ \ Y + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %      +2 "storage"(b% +4 "core" % U\ s +2 "storage"(T. +3 "core" .(<- +2 "storage"(& +4 "core" &<* \ r +2 "storage"(7& +3 "core" &<* \ s +3 "manipulator"&`& +4 "core" &    + +2 .tElbow.seek 5 + "manipulator"&Z( +4 "core" ( +2 "manipulator"&@& +4 "core" &   + + "storage"(F& +5 "core" &<* \ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&u'O +98 "core" ' +2 "storage"(v& +3 "core" &<* X\ w +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &    + +2 "storage"(_& +4 "core" &<* O\ o +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&W'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +51 "storage"(~- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(w'g +33 "core" ' +2 "manipulator"&% +4 "core" %Θ  +2 "storage"(& +3 "core" &<* q  \ m +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&Y' +16 "core" ' + "manipulator"&Q& +4 "core" &  v * +2 "storage"("& +3 "core" &<* Q\ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(>' +47 "core" ' +2 "manipulator"&3& +3 "core" &    * +3 "manipulator"&% +3 "core" %J D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +156 "core" ( +2 "manipulator"& & +4 "core" &ӓ"   X ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &ӓ"  + ;2 +2 .tForearm.seek CC +2 "manipulator"&\ '? +102 "core" ' + .tHand.close +2 "manipulator"&./ +61 "core" / +2 .tCC.seek :open + "collection"'X( +451 "core" ( +2 "storage"(& +4 "core" &<* o p \ +2 "storage"(4& +3 "core" &<* k b c\ +2 "manipulator"&& +4 "core" &ӣ   8" +2 "manipulator"&(% +4 "core" % A  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&B( +163 "core" ( +2 "manipulator"&k& +3 "core" &    +2 "storage"(S& +5 "core" &<* M\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&5'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&D1 +58 "core" 1 +2 "manipulator"&p% +5 "core" % ΅   + "storage"(?& +4 "core" &<* \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&y'ϱ +15 "core" ' + "manipulator"&0& +4 "core" &   +2 "storage"(j& +3 "core" &<* -\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +17 "core" ' +2 "storage"(6% +3 "core" % 6\ +3 ."downElevator"SE.seek :down +4 "storage"(]' +98 (K% +3 "core" %n< 4\ Yk +2 "manipulator"&M% +5 "core" %< +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q' +91 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'f& +3 "core" & /\ +2 "manipulator"&|% +3 "core" %   +3 "storage"(% +4 "core" % \  + "storage"( . +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +3 "core" &K c\ \ +2 "manipulator"&I& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&&& +3 "core" &   O  +2 "storage"(L& +4 "core" &K <\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +46 .tForearm.seek 6 + 450 counts +5 "manipulator"&/' +95 "core" ' + "storage"(O& +5 "core" &K K\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(c- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &K Q\ +2 "manipulator"&& +4 "core" & 1  +2 .tElbow.seek 6 +2 "manipulator"&#( +4 "core" ( + "manipulator"&& +4 "core" &  1  +2 "storage"(& +4 "core" &K K\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(*' +8 "core" & \  +2 "manipulator"&}% +4 "core" % m ( +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&;& +5 "core" &Ӆ(   @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +2 "core" &Ӆ(   @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'? +93 "core" ' +2 "manipulator"&d& +4 "core" &ӣ#   B <@ +2 "manipulator"&V% +3 "core" %=  z G +3 "collection"',& +3 "core" & D\ +3 "collection"'& +5 "core" & I\ +3 .tCC.seek :closed +3 "collection"' (\\ +2 "core" & I\ +7 & @\ 6 +9 &BIq 3\ / +9 &iqx 8\ D +10 & X 4\ M +9 &J A\ L +9 &N 7\ M +10 &SO <\ M +9 &L 7\ L +10 &N =\ L +9 &N =\ L +9 &[Q =\ M +10 &!N :\ M +9 &"J 1\ L +9 &$M 3\ L +10 &&cP 5\ M +9 &($O ;\ M +10 &)K :\ M +9 &+O .\ L +9 &-kL 2\ M +10 &/-P 2\ M +9 &0Q 2\ L +9 &2N 0\ L +10 &4tN ,\ L +9 &64R /\ M +10 &7L '\ M +9 &9L %\ M +9 &;{Q (\ M +10 &==O '\ M +9 &?N .\ L +9 &@N /\ L +10 &BR *\ M +9 &D@\\\ \ (\ N +10 &Ed\ \ ,\ P +9 &G|\ \ (\ R +9 &In\ #\ (\ W +10 &K(\ %\ %(\ Y +9 &L\ "\ #&\ Z +9 &N\ \ (\ Z +10 &Ph\ \ +\ [ +9 &R)\ \ $\ \\ +10 &S\ \ (\ \\ +9 &U\ \ '\ ~] +9 &Wj\ \ (\ }] +10 &Y'\ \ ,\ {_ +9 &Z\ \ (\ {_ +9 &\\T[\ \ )\ / +10 &\\!\ \ #\ Y +9 ( + &\\w\ \ %\ T +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&9% +4 "core" % =   / G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%{& +5 "core" &\ n + "manipulator"&J% +4 "core" %     +2 "storage"(<% +4 "core" % \ o +2 "storage"(. +3 "core" .(K +2 "storage"($& +4 "core" &K \ o +2 "storage"(-& +4 "core" &K \ n +2 "manipulator"&& +3 "core" &ӣ#   <@ +2 "manipulator"&x% +5 "core" %    h  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&H( +162 "core" ( + "manipulator"&n& +5 "core" &     + "storage"(i& +5 "core" &K G\ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'' +99 "core" ' +2 "storage"(h& +3 "core" &K \ z +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(N'r +296 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" &K l\ o +2 "manipulator"&!& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&o( +3 "core" ( +2 "manipulator"&& +3 "core" &    +51 "storage"(P& +5 "core" &K '\ r +2 .tForearm.seek 6 + 300 counts + "manipulator"&e'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&U/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&C& + "storage"(' +8 "core" &    + "manipulator"&b% +4 "core" % i   +3 .tForearm.seek :retract + "manipulator"&T' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&2( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&& +4 "core" &   $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &   $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&`' +89 "core" ' +2 "manipulator"&@& +4 "core" &  \ e $ +2 "manipulator"&F% +3 "core" %   # c +3 "processing"%1& +3 "core" &\ y +3 "processing"%v& +6 "core" &\ x +2 .tPC.seek :closed +2 "processing"%\\(^ +3 "core" &\ y +8 &5\ r$d +9 &Tw\ d7 +9 &|s\ eL +10 &K\ mP +9 &QK \ mP +10 &J8\ mP +9 &P\ lP +9 &L\ mP +10 &ZL\ mP +9 &M=\ mP +9 &L)\ lP +10 &!K\ mP +9 &#bL4\ lP +10 &%$LB\ mP +9 &&KB\ mP +9 &(MB\ lP +10 &*iL?\ lP +9 &,+L@\ mP +9 &-K;\ mP +10 &/M9\ lP +9 &1rJ9\ mP +10 &35L?\ lO +9 &4JF\ mP +9 &6L;\ mP +10 &8{L<\ lO +9 &:;L5\ mP +9 &;NA\ mP +10 &=M7\ lP +9 &?O:\ lP +10 &ABO0\ lP +9 &CU:\ kQ +9 &DZ7\ jR +10 &Fa@\ hS +9 &H>r:\ eT +9 &I3\ aW +10 &K/\ aW +9 &M}-\ aW +10 &O>3\ aW +9 &P0\ `X +9 &R3\ `X +10 &T4\ _Y +9 &VE1\ `W +9 &X,\ ^X +10 &Y0\ ]Y +9 &[/\ _X +10 &]J9\ ]L +9 &^yI5\ a` +9 &^\ I<\ l5 +6 ( + "processing"%v& +4 "core" &^+7\ n5 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&:1 +63 "core" 1 + "manipulator"&g% +5 "core" %   = c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' +2 "processing"%& +3 "core" &^+/\ k5 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&_% +4 "core" %   ]  +2 "storage"(~% +4 "core" % j i \ k +2 "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K i k \ j +2 "storage"(Q& +3 "manipulator"&"& +8 "core" &K l k \ k + & \ 5 $ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&3( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&u& +5 "core" &   # $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &  * u $ +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&W/ +69 "core" / +3 .tPC.seek :open + "processing"%Y( +86 "core" ' +2 "storage"(w- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +42 "core" ' +319 ( + "storage"(8& +4 "core" &K O\ p +2 "manipulator"& & +3 "core" &   ( $ +2 "manipulator"&E% +4 "core" % \   +2 .tForearm.seek :retract +2 "manipulator"&.' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +245 "core" ( +2 "manipulator"&%& +3 "core" &   9 F +2 "storage"(& +4 "core" &K \\ `\ l +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +39 "manipulator"&4' +111 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"((- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(k' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(S' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(\ - +3 "core" -' +2 "storage"()& +4 "core" &K W\  +2 "manipulator"&D& +4 "core" &  V F +2 .tElbow.seek 6 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&?& +3 "core" & i F +3 "storage"(0& +3 "core" &K y\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(6'" +57 "core" ' + "manipulator"&& +4 "core" &   F +2 "storage"(K& +5 "core" &K c\ q + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&M'< +22 "core" ' + .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(5' +28 "core" ' +2 "manipulator"&f% +4 "core" %N   + "storage"(y& +5 "core" &K ` l M\ l + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&|'z +15 "core" ' +2 "manipulator"&& +3 "core" &  6 F +2 "storage"( & +5 "core" &K D\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +15 "core" ' +2 "storage"([% +3 "core" % G\ t +3 ."downElevator"SE.seek :down +4 "storage"(]' +98 (l% +3 "core" %\ J i W X\ h[t +2 "manipulator"&=% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +93 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (&& +3 "core" &K ~ { X\ p +2 "collection"'L& +5 "core" &\\v\ \ \ \ \ T + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&O% +3 "core" %      +3 "storage"(% +3 "core" % \ t +2 "storage"(q. +3 "core" .(K +2 "storage"(c& +4 "core" &K \ t +2 "storage"(+& +4 "core" &K \ t +2 "manipulator"&& +3 "core" &   F +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   F +2 "storage"(r& +5 "core" &K \ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +105 "core" ' +2 "storage"(}& +3 "core" &K \ y +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(/- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +3 "core" &    F +2 "storage"(t& +3 "core" &K B\ t +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +24 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(V'l +30 "core" ' +2 "manipulator"&,% +3 "core" %L   +2 "storage"(#& +3 "core" &K '\ o +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +49 "manipulator"&*'x +15 "core" ' + "manipulator"&& +4 "core" &   F +2 "storage"(X& +4 "core" &K \ w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(9' +35 "core" ' +2 "manipulator"&{& +4 "core" &   F +2 "manipulator"&J% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( +3 "manipulator"&& +4 "core" &Ӛ"   g ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &Ӛ"   1 ;2 +3 .tForearm.seek CC +2 "manipulator"&-'? +98 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'x( +448 "core" ( +2 "storage"(^& +3 "core" &K o\ +2 "storage"(n& +5 "core" &K u '\ + "manipulator"&i& +4 "core" &ӛ!   :1 +2 "manipulator"&h% +4 "core" % N X  +2 .tForearm.seek :retract +2 "manipulator"&G' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&z( +165 "core" ( +2 "manipulator"&m& +3 "core" &  b  +2 "storage"(s& +4 "core" &K M\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&!'< +97 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +57 "core" 1 +2 "manipulator"&U% +4 "core" % ?   Y  +2 "storage"(C& +3 "core" &K \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 303 counts +2 "manipulator"&b'k +16 "core" ' +2 "manipulator"&H& +3 "core" &   +2 "storage"('& +4 "core" &K r\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&N' +17 "core" ' +2 "storage"(e% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (7% +2 "core" %D \ Yl +3 "manipulator"&o% +4 "core" % F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'F& +3 "core" & 0\  +2 "manipulator"&1% +5 "core" %   x  +2 "storage"(% +3 "core" % <\  +2 "storage"(T. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(A([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &[ n d q\ +2 "manipulator"&g& +4 "core" &  V  +2 .tElbow.seek 7 +2 "manipulator"&(r +49 "core" ( +2 "manipulator"&_& +3 "core" &z  \ w  +3 "storage"(~& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +106 "core" ' +2 "storage"(& +3 "core" &[  )\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +297 "core" ' +2 "storage"("- +51 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Q& +2 "core" &[ \ +3 "manipulator"&u& +4 "core" &z `  +2 .tElbow.seek 7 + "manipulator"&Z(r +4 "core" ( +2 "manipulator"&`& +4 "core" &z   +2 "storage"(W& +3 "core" &[ /\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&w'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&2/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&a& + "storage"(\\' +6 "core" &z    +3 "manipulator"&% +3 "core" % ϰ ; B +3 .tForearm.seek :retract +2 "manipulator"&8' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +24 "core" ( +2 "manipulator"&E& +4 "core" &ӌ  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӌ  ( +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'? +91 "core" ' +2 "manipulator"&& +4 "core" &ӌ   ( +2 "manipulator"&3% +4 "core" %I  j +2 "collection"'& +3 "core" & \  +3 "collection"'(& +6 "core" & H\  +2 .tCC.seek :closed + "collection"'.(\\ +5 "core" & D\  +6 &? @\ %g +10 &Xt =\ 8 +9 &n 1\ L +10 &K 4\ M +9 &N 4\ L +9 &IM :\ L +10 & O 2\ M +9 &P :\ L +9 &P 2\ L +10 &PK 1\ L +9 & K 2\ L +10 &!L 1\ L +9 &#L 8\ M +9 &%WN 2\ M +10 &'N 4\ M +9 &(J 3\ L +9 &*O /\ L +10 &,_O *\ M +9 &."N 3\ L +10 &/N 0\ L +9 &1R 2\ M +9 &3fO *\ M +10 &5)L )\ M +9 &6Q +\ M +9 &8O 2\ M +10 &:pL 3\ L +9 &<1L $\ M +10 &=Q %\ L +9 &?O 4\ L +9 &AvS +\ M +10 &C9S '\ M +9 &D^\ -\ N +9 &Ff\ \ .\ P +10 &Hpz\ \ *\ R +9 &J$\ %\ '\ W +10 &K\ %\ (%\ Y +9 &M\ "\ %(\ Z +9 &O^\ \ '\ [ +10 &Q \ \ /\ [ +9 &R\ \ ,\ [ +9 &T\ \ 3\ \\ +10 &V`\ \ -\ ] +9 &X\ \ .\ ^ +10 &Y\ \ )\ _ +9 &[\ \ ,\ L +9 &\\3\ \ -\ 0 +10 &\\g\ \ \ Q +2 ( +2 "collection"'(& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.30 + .Hand.open +2 "manipulator"&\ 1 +58 "core" 1 +2 "manipulator"&)% +3 "core" % I   9 j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%?& +5 "core" &\ u + "manipulator"&0% +4 "core" %   A  +2 "storage"(% +4 "core" % k\ u +2 "storage"(K. +3 "core" .([ +2 "storage"( & +4 "core" &[ m\ u + "storage"(f& +5 "core" &[ b\ v + "manipulator"&y& +5 "core" &ӌ   ( + "manipulator"&k% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +156 "core" ( +2 "manipulator"& & +3 "core" &y    +3 "storage"([& +4 "core" &[ \ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +101 "core" ' +2 "storage"(4& +3 "core" &[ \ a\ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +295 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &[ 9\ r +2 "manipulator"&j& +4 "core" &y    +2 .tElbow.seek 7 +2 "manipulator"&p(r +3 "core" ( +2 "manipulator"&6& +3 "core" &y     +2 "storage"(M& +3 "core" &[ c\ v +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&|'ϧ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&L& +52 "storage"(O' +6 "core" &y s  +3 "manipulator"&% +4 "core" % ϻ k +2 .tForearm.seek :retract +2 "manipulator"&q' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&5( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +2 "manipulator"&c& +4 "core" &  Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &  a +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +3 "core" &  \\ +3 "manipulator"&r% +5 "core" %   ? d +2 "processing"%>& +4 "core" &\ | +2 "processing"%}& +5 "core" &\ { +3 .tPC.seek :closed + "processing"%](^ +5 "core" &\ | +7 &5\ u#c +9 &Sr\ h7 +10 &}r\ gL +9 &O\ oP +9 &OL\ pP +10 &K\ pP +9 &M\ pP +10 &N\ pP +9 &YI\ pP +9 &LD\ pP +10 &OW\ oP +9 &!K2\ pP +10 &#aJ\ pP +9 &%#M;\ pP +9 &&MG\ pO +10 &(NJ\ oP +9 &*iLH\ pP +9 &,*KD\ qP +10 &-KB\ pP +9 &/ME\ pP +10 &1qJC\ pP +9 &34KK\ pO +9 &4KG\ pO +10 &6LA\ pP +9 &8yJB\ pP +9 &:;KA\ pP +10 &;NF\ pP +9 &=M=\ oP +9 &?N3\ oP +10 &ABO?\ oP +9 &BZ2\ kR +10 &DX:\ mR +9 &F~g0\ jS +9 &H;s<\ gU +10 &I4\ dV +9 &K8\ dW +9 &M{5\ dW +10 &O<0\ cX +9 &P1\ cX +10 &R7\ dX +9 &T3\ aX +9 &VB2\ cX +10 &X7\ _Y +9 &Y>\ bX +9 &[3\ bX +10 &]H1\ aP +9 &^~G{4\ f a +10 &^<<\ p3 +5 ( +2 "processing"%}& +4 "core" &^&,\ q3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&B1 +62 "core" 1 +3 "manipulator"&I% +3 "core" % !  C d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +102 "core" ' +2 "processing"%;& +12 "core" &^&2\ u3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&t% +5 "core" %   U + "storage"(d% +5 "core" % \ r + "storage"(,. +3 "core" .([ +2 "storage"(#& +3 "core" &[ \ r +3 "storage"(& +2 "manipulator"&X& +7 "core" &[ (\ q +2 &   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&{( +4 ."raiseStack"SE.seek :beamBreak + "storage"(J'r +3 "core" ( +2 "manipulator"&R& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &   f +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&/ +71 "core" / +2 .tPC.seek :open +2 "processing"%*( +79 "core" ' + "storage"(V- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +49 "core" ' +317 ( + "storage"($& +4 "core" &[ ,\ t +2 "manipulator"&& +3 "core" &  +2 "manipulator"& % +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&<(r +242 "core" ( + "manipulator"& & +4 "core" &}  \  U +2 "storage"(^& +3 "core" &[ \ o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&n'= +92 "core" ' +2 .tHand.open + "manipulator"&i1 +56 "core" 1 +3 "storage"(h- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(m' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +51 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(s' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +3 "core" -' +3 "storage"(& +4 "core" &[ E\ & +2 "manipulator"&P& +3 "core" &~    T +2 .tElbow.seek 7 +2 "manipulator"&U(r +13 "core" ( +2 "manipulator"&C& +3 "core" &~   +3 "storage"(H& +3 "core" &[ [\ ' +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&''= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(e'" +50 "core" ' +2 "manipulator"&G& +3 "core" &~  +2 "storage"(7& +5 "core" &[ \ s + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&o'{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(!' +28 "core" ' + "manipulator"&F% +5 "core" %Ό   y  + "storage"(b& +4 "core" &[ M Y o\ f +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 317 counts + "manipulator"&1'ϸ +27 "core" ' +2 "manipulator"&& +3 "core" &    +2 "storage"(T& +4 "core" &[ C\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&9'= +14 "core" ' +2 "storage"(N% +4 "core" % ^\ x +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %J s s\ l[t +2 "manipulator"&:% +4 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (_& +2 "core" &[ \ v +3 "collection"'~& +3 "core" &\\e\ \ \  \ Q +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %   +2 "storage"(% +3 "core" % h\ x +2 "storage"(@. +3 "core" .([ +2 "storage"("& +4 "core" &[ N\ x +2 "storage"(Q& +3 "core" &[ K\ x +2 "manipulator"&u& +5 "core" &  !  + .tElbow.seek 7 +2 "manipulator"&`(r +10 "core" ( +2 "manipulator"&W& +3 "core" &    +2 "storage"(2& +4 "core" &[ ;\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&a'= +96 "core" ' +2 "storage"(& +3 "core" &[ B\ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" &   +3 "storage"(v& +3 "core" &[ .\ t +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +26 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(Z'p +29 "core" ' +2 "manipulator"&3% +3 "core" %Ώ  \ b ? +2 "storage"(& +4 "core" &[ \ q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&\\'ϻ +13 "core" ' +2 "manipulator"&8& +3 "core" & \  X  +3 "storage"(x& +4 "core" &[ 2\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\ '= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +43 "storage"()' +40 "core" ' +2 "manipulator"&?& +4 "core" &   +2 "manipulator"&0% +3 "core" %5  M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.seek CC + "manipulator"&K(ӂ +156 "core" ( +2 "manipulator"& & +3 "core" &Ӗ  9% +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &Ӗ   9% +3 .tForearm.seek CC + "manipulator"&f'? +95 "core" ' +2 .tHand.close + "manipulator"&y/ +53 "core" / +2 .tCC.seek :open +2 "collection"'k( +451 "core" ( +2 "storage"(%& +3 "core" &[ y 8\ +3 "storage"( & +4 "core" &[ m h s\ + "manipulator"&[& +5 "core" &Ӡ  8 + "manipulator"&4% +5 "core" % @   +2 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&D(r +162 "core" ( +2 "manipulator"&l& +3 "core" &y  <  +2 "storage"(=& +5 "core" &[ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&j'{ +98 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&M1 +56 "core" 1 +2 "manipulator"&&% +4 "core" % Ύ   +2 "storage"(L& +3 "core" &[ P\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +14 "core" ' +2 "manipulator"&& +3 "core" &y   +3 "storage"(& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&S'= +15 "core" ' +2 "storage"(|% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(c' +100 (+% +2 "core" %A v \ Yk +3 "manipulator"&p% +4 "core" %; K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'r& +3 "core" & 0\ +2 "manipulator"&>% +4 "core" %     +2 "storage"(O% +4 "core" % \  +2 "storage"(q. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(Y(<- +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" &<. i c\ +2 "manipulator"&I& +4 "core" &y  K  +2 .tElbow.seek 5 +2 "manipulator"&;( +36 "core" ( + "manipulator"&t& +5 "core" & ] + "storage"(}& +4 "core" &<. [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +93 "core" ' +2 "storage"(,& +4 "core" &<. 3\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (X& +2 "core" &<. >\ +2 "manipulator"&R& +5 "core" & F +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & U +2 "storage"(& +4 "core" &<. l\ +50 .tForearm.seek 5 + 300 counts + "manipulator"&V'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& +2 "storage"(]' +9 "core" & , + "manipulator"&J% +5 "core" % Ϸ o +2 .tForearm.seek :retract + "manipulator"&$' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"& & +5 "core" &Ӓ    8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӓ   8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +102 "core" ' + "manipulator"&^& +5 "core" &Ӓ   8 + "manipulator"&{% +5 "core" %B   +2 "collection"'i& +3 "core" & R\ +3 "collection"'h& +5 "core" & J\ +2 .tCC.seek :closed +2 "collection"'-(\\ +4 "core" & P\ +7 & T\ ; +9 &EIp M\ 1 +9 &wuw S\ E +10 &T D\ N +9 &P A\ L +10 &M ;\ M +9 &hL <\ M +9 &*Q 8\ M +10 &N @\ M +9 &J 9\ M +9 &qP @\ L +10 &!3N C\ L +9 &"Q 9\ M +10 &$Q 4\ L +9 &&yN 6\ L +9 &(:Q 5\ M +10 &)O 4\ L +9 &+L :\ L +9 &-Q 2\ M +10 &/BQ 0\ M +9 &1R *\ M +10 &2Q ,\ M +9 &4Q +\ M +9 &6JQ 3\ M +10 &8 L 3\ M +9 &9L 7\ M +9 &;L <\ M +10 &=RL 6\ M +9 &?L 6\ M +10 &@N 2\ M +9 &BR 5\ M +10 &DVX\ 7\ N +9 &F`\ \ 6\ O +9 &Gr\ \ 1\ Q +9 &I\ \ 7\ U +10 &K>\ %\ (8\ Y +9 &L\ '\ '8\ Z +9 &N\ "\ #@\ Z +10 &P~\ \ 9\ [\ +9 &R?\ \ 7\ [ +10 &T\ \ <\ \\ +9 &U\ \ :\ \\ +9 &W\ \ 9\ ] +10 &Y>\ \ 7\ ^ +9 &[\ \ 5\ ^ +10 &\\`R\ \ 6\ 2 +9 &\\\ \ 7\ _ +9 ( + &\\y\ \ 6\ \\ +2 "collection"'h& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +3 "manipulator"&% +3 "core" % B   3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%C& +4 "core" &\ r +2 "manipulator"&H% +4 "core" %     +2 "storage"(G% +4 "core" % +\ r +2 "storage"(7. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" &nC\ dT +9 &I1\ `V +9 &K.\ aW +10 &Mz<\ `W +9 &O<:\ aW +10 &P>\ ^X +9 &RC\ `W +9 &T}>\ ]Y +10 &VB>\ _X +9 &X-\ ^X +9 &Y6\ _X +10 &[<\ ^X +9 &]H6\ ]M +10 &^Q>\ ]#l +9 &^7\ q* +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&z1 +56 "core" 1 +2 "manipulator"&g% +3 "core" %    e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 "processing"%E& +4 "core" &^2\ l* +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&v% +4 "core" % !   & +2 "storage"(% +4 "core" % q ]\ l +2 "storage"(3. +3 "core" .(<- +2 "storage"(& +4 "core" &<. ~ l Q\ m +2 "storage"(8& +2 "manipulator"&x& +7 "core" &<. 8\ m +2 &   3 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&?( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(0'r +2 "core" ( + "manipulator"&a& +5 "core" & ` 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &   3 +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +77 "core" / +3 .tPC.seek :open +2 "processing"%\\( +72 "core" ' +2 "storage"(Z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +55 "core" ' +315 ( +2 "storage"((& +3 "core" &<, B\ q +2 "manipulator"&\ & +4 "core" & \  3 +2 "manipulator"&w% +3 "core" %   = +3 .tForearm.seek :retract + "manipulator"&y' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&.& +3 "core" &   7 +2 "storage"(%& +4 "core" &<, S\ m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +94 "core" ' + .tHand.open +2 "manipulator"&[1 +58 "core" 1 +2 "storage"(4- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(l' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(K& +3 "core" &<, `\ ! +43 "manipulator"&M& +12 "core" &   \ 7 +2 .tElbow.seek 5 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&L& +4 "core" &  6 7 +2 "storage"(& +4 "core" &<, J\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(|'" +50 "core" ' +2 "manipulator"& & +3 "core" &  7 +2 "storage"(+& +5 "core" &<, m\ p + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&p'΍ +26 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(j' +19 "core" ' + "manipulator"&r% +5 "core" %Μ   + "storage"(>& +5 "core" &<, j i =\ j +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&O& +5 "core" &  b 7 + "storage"(q& +4 "core" &<, v\ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +15 "core" ' + "storage"(S% +5 "core" % '\ s +2 ."downElevator"SE.seek :down +4 "storage"(c' +98 (A% +3 "core" %G f W W\ hZr +2 "manipulator"&B% +5 "core" %J    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +90 "core" ' +49 "Can"\ X9_U( +13 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 (t& +3 "core" &<, m r Z\ p +3 "collection"'}& +3 "core" &\\x\ \ \ \ \\ +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&,% +3 "core" %    "  +3 "storage"(6% +3 "core" % t\ s +2 "storage"(. +3 "core" .(<- +2 "storage"(& +4 "core" &<, \ s +2 "storage"(X& +3 "core" &<, \ s +3 "manipulator"&R& +4 "core" &  7 +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   7 +3 "storage"(5& +3 "core" &<, \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +94 "core" ' +2 "storage"(J& +3 "core" &<, x\ x +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +295 "core" ' +3 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &   ) 7 +2 "storage"(& +4 "core" &<, J\ p +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&#'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"({'h +30 "core" ' + "manipulator"&i% +4 "core" %Ρ   +2 "storage"(& +3 "core" &<, %\ o +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&]' +16 "core" ' +2 "manipulator"&$& +4 "core" &   \ 6 + "storage"(k& +5 "core" &<, 6\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +47 "core" ' +2 "manipulator"&C& +3 "core" &  6 +2 "manipulator"&H% +5 "core" %I  +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +158 "core" ( +2 "manipulator"&h& +4 "core" &ӟ   N 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &ӟ  a 8 +3 .tForearm.seek CC + "manipulator"&b'? +91 "core" ' +2 .tHand.close + "manipulator"&m/ +59 "core" / +2 .tCC.seek :open +2 "collection"' ( +451 "core" ( +2 "storage"(T& +3 "core" &<, x \ +2 "storage"(N& +4 "core" &<, n n 6\ +2 "manipulator"&Y& +4 "core" &ӡ  8 +2 "manipulator"&n% +4 "core" % C   i # +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&P( +164 "core" ( +2 "manipulator"&& +4 "core" &  \ [  +2 "storage"(:& +3 "core" &<, N\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&''΍ +98 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&o1 +54 "core" 1 +2 "manipulator"&1% +4 "core" % Ύ   +2 "storage"(~& +3 "core" &<, N\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +3 "manipulator"&'Ϻ +13 "core" ' +2 "manipulator"&& +3 "core" & {  +2 "storage"(<& +5 "core" &<, \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +15 "core" ' +2 "storage"(_% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"("' +98 (Q% +3 "core" %w> ,\ Xj +3 "manipulator"&U% +3 "core" %@ # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +91 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +8 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'2& +4 "core" & 3\ +6 "manipulator"&9% +5 "core" %    +2 "storage"(% +4 "core" % \  +2 "storage"(@. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(*(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &K G\ +2 "manipulator"&g& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&E( +4 "core" ( + "manipulator"&v& +5 "core" &  Z  + "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +94 "core" ' +2 "storage"(& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(8'r +296 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K ~ a\ +2 "manipulator"&a& +4 "core" & h  +2 .tElbow.seek 6 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&u& +3 "core" &   ;  +2 "storage"(& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Z'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +47 "manipulator"&!/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +8 "core" & B  +2 "manipulator"&0% +3 "core" % f +3 .tForearm.seek :retract +2 "manipulator"&(' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&\ (ӂ +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +24 "core" ( +2 "manipulator"&w& +3 "core" &Ӄ    # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӄ   # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&.'? +101 "core" ' +2 "manipulator"&%& +4 "core" &Ӄ  # +2 "manipulator"&?% +3 "core" %F    +3 "collection"'[& +3 "core" & R\ +3 "collection"'4& +5 "core" & $\ +3 .tCC.seek :closed + "collection"'f(\\ +5 "core" & R\  +8 &3v D\ *y +9 &dy L\ > +10 &xk G\ M +9 &<N 6\ L +9 &L >\ M +10 &Q B\ M +9 &O @\ M +10 &DL =\ L +9 &O A\ L +9 &Q F\ M +10 & O C\ M +9 &"LL 3\ L +9 &$N 2\ L +10 &%Q 2\ M +9 &'O 3\ M +10 &)TL 2\ L +9 &+L 2\ M +9 &,Q 2\ M +10 &.O 5\ M +9 &0[L +\ M +9 &2Q 8\ M +10 &3R '\ M +9 &5R &\ M +10 &7bQ /\ M +9 &9&O 3\ L +9 &:N 9\ L +10 &<R 8\ M +9 &>kR 7\ M +9 &@-R >\ M +10 &AQ =\ M +9 &CW :\ N +10 &Emc\ \ 7\ O +9 &G(r\ \ 7\ Q +9 &H\ \ <\ U +10 &J\ $\ '7\ Y +9 &LU\ "\ #=\ Z +9 &N\ \ ;\ Z +10 &O\ \ 7\ [ +9 &Q\ \ D\ [ +10 &SW\ \ 8\ \\ +9 &U\ \ :\ \\ +9 &V\ \ 5\ ] +10 &X\ \ 7\ {^ +9 &ZW\ \ 9\ }^ +9 &[z\ \ 5\ ? +10 &\\,\ \ 9\ )z +9 &\\x\ \ 8\ V +2 ( +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.31 +2 .Hand.open + "manipulator"&K1 +53 "core" 1 +3 "manipulator"&M% +3 "core" % F   r  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%L& +3 "core" &\ v +3 "manipulator"&% +4 "core" %   '  +2 "storage"( % +4 "core" % X\ u + "storage"(+. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" &K i k \ j +2 "manipulator"&l& +3 "core" &Ӄ  - # +2 "manipulator"&>% +5 "core" %   0  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&O( +156 "core" ( +2 "manipulator"&q& +3 "core" &   e  +2 "storage"(S& +5 "core" &K X\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"( & +3 "core" &K %\ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(='r +294 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &K f\ q +2 "manipulator"&& +5 "core" &   + .tElbow.seek 6 +2 "manipulator"&&( +4 "core" ( + "manipulator"&|& +4 "core" &    +2 "storage"(p& +3 "core" &K \ s +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(,' +8 "core" &  >  + "manipulator"&6% +5 "core" % q   +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +3 "manipulator"&& +4 "core" & \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R' +102 "core" ' +2 "manipulator"&& +4 "core" &  ` +2 "manipulator"&5% +3 "core" %  | +3 "processing"%)& +3 "core" &\ z +3 "processing"%J& +5 "core" &\ { +2 .tPC.seek :closed +2 "processing"%c(^ +5 "core" &\ z +8 &1t\ i*y +10 &av\ g> +9 &cj\ gP +9 &#L\ nP +10 &K\ nP +9 &L\ oP +9 &jL\ nP +10 &,O\ mP +9 &L'\ nO +10 &L\ nP +9 & sM\ nO +9 &"4L!\ oP +10 &#J \ nP +9 &%K\ mP +9 &'zK \ nP +10 &)<L\ nP +9 &*L<\ nO +10 &,NI\ nP +9 &.KJ\ mO +9 &0CLJ\ nP +10 &2JJ\ oP +9 &3JJ\ oO +9 &5KK\ oP +10 &7LNK\ nP +9 &9MI\ nO +10 &:MH\ nP +9 &<LI\ nP +9 &>TOH\ mP +10 &@NK\ mP +9 &AQG\ lP +9 &CZD\ kR +10 &EVZJ\ kR +9 &GgE\ hS +10 &HvH\ eU +9 &JJ\ bW +9 &LPC\ cV +10 &NE\ aX +9 &OC\ cW +9 &QC\ aX +10 &SUE\ bX +9 &UB\ `X +10 &VD\ aX +9 &XA\ aX +9 &Z[9\ `X +10 &\\:\ `Y +9 &]v=\ e7 +9 &^0gD\ hK +10 &^"=\ r3 +2 ( +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&D1 +55 "core" 1 + "manipulator"&I% +5 "core" %    1 | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +2 "processing"% & +3 "core" &^!?\ l3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" % "  \ W  +3 "storage"(^% +4 "core" % i j\ k + "storage"(i. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +2 "manipulator"&k& +5 "core" &K K b \ j +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  ! +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&C( +2 "storage"(H'r +6 "core" ( +2 "manipulator"&/& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & E +3 .tForearm.seek PC + "manipulator"&;' +95 "core" ' +2 .tHand.close + "manipulator"&#/ +69 "core" / +2 .tPC.seek :open +2 "processing"%]( +82 "core" ' +2 "storage"({- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(h'1 +54 "core" ' +309 ( +2 "storage"(F& +3 "core" &K ?\ s +2 "manipulator"&& +4 "core" &   +2 "manipulator"&V% +3 "core" %   # +3 .tForearm.seek :retract + "manipulator"&m' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&G( +240 "core" ( +2 "manipulator"&-& +3 "core" &   7 +3 "storage"(T& +3 "core" &K 3\ o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +98 "core" ' +2 .tHand.open + "manipulator"&Y1 +64 "core" 1 +2 "storage"(n- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +57 "core" ' +3 #tLights, camera, ACTION! + "storage"(b- +4 "core" -' + "storage"(7& +4 "core" &K ~ z A\  +2 "manipulator"&o& +4 "core" & ` 7 +49 .tElbow.seek 6 +3 "manipulator"&1( +4 "core" ( +2 "manipulator"&~& +4 "core" & < 7 +2 "storage"(& +4 "core" &K  } \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&<' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(_'" +59 "core" ' + "manipulator"&& +3 "core" &  \  7 +3 "storage"(Q& +3 "core" &K 6\ p +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&U'< +22 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"('' +30 "core" ' +2 "manipulator"&% +3 "core" %N  +2 "storage"(2& +4 "core" &K =\ m +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&9'z +15 "core" ' + "manipulator"&& +4 "core" & \  i 7 +2 "storage"(@& +4 "core" &K x\ w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(s% +4 "core" % b\ w +3 ."downElevator"SE.seek :down +4 "storage"("' +99 (% +3 "core" %$J i i \ j[r +2 "manipulator"&z% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +96 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (v& +3 "core" &K "\ q +2 "collection"'& +4 "core" &\\p\ \ \ V +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %    +2 "storage"(e% +4 "core" % \ t +2 "storage"(W. +3 "core" .(K +2 "storage"(x& +3 "core" &K b\ t +3 "storage"(& +4 "core" &K (\ t + "manipulator"&a& +4 "core" &    7 +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +4 "core" &   7 +2 "storage"(!& +4 "core" &K =\ u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(0& +5 "core" &K \ y +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +301 "core" ' +2 "storage"(3- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" &    7 +2 "storage"(8& +4 "core" &K &\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +21 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(`- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(%'l +33 "core" ' +2 "manipulator"&?% +3 "core" %M  t +2 "storage"([& +4 "core" &K b o 9\ l +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&'y +15 "core" ' + "manipulator"&(& +5 "core" &   7 + "storage"( & +4 "core" &K T\ u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&K' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(M' +45 "core" ' + "manipulator"&L& +5 "core" &  7 + "manipulator"&% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +4 "manipulator"& ' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&+(ӂ +165 "core" ( +2 "manipulator"&4& +3 "core" &Ӈ   I 2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &Ӈ   2 +2 .tForearm.seek CC +2 "manipulator"&l'? +93 "core" ' + .tHand.close +2 "manipulator"&>/ +58 "core" / +2 .tCC.seek :open +2 "collection"'.( +450 "core" ( +2 "storage"(q& +3 "core" &K L\  +2 "storage"(S& +5 "core" &K \  + "manipulator"&*& +4 "core" &Ӊ   9 1 +2 "manipulator"& % +3 "core" % D    +3 .tForearm.seek :retract + "manipulator"&\ ' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&y( +161 "core" ( + "manipulator"&A& +4 "core" &     +2 "storage"(B& +4 "core" &K 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +97 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +58 "core" 1 +2 "manipulator"&t% +5 "core" % 6     + "storage"(}& +4 "core" &K o\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 294 counts +2 "manipulator"&6'b +15 "core" ' +2 "manipulator"&O& +3 "core" &   +2 "storage"(& +5 "core" &K P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +15 "core" ' +2 "storage"(% +3 "core" % "\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (X% +3 "core" %D \ Yk +2 "manipulator"&&% +5 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'5& +3 "core" &  \ +2 "manipulator"&)% +4 "core" %   &  +2 "storage"(,% +4 "core" % \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(\\([ +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" &[ b c t\ +2 "manipulator"&I& +5 "core" &    + .tElbow.seek 7 +2 "manipulator"& (r +36 "core" ( +2 "manipulator"&& +3 "core" &   +  +2 "storage"(^& +4 "core" &[ T\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&i'= +94 "core" ' +2 "storage"(J& +3 "core" &[ /\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +298 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &[ \ +3 "manipulator"&& +4 "core" & L  +3 .tElbow.seek 7 +2 "manipulator"&R(r +21 "core" ( +2 "manipulator"&#& +3 "core" &u U p +2 "storage"( & +4 "core" &[ 7\ +3 .tForearm.seek 7 + 300 counts + "manipulator"&{'ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +61 "core" / +50 ."downElevator"SE.seek :down +5 "manipulator"&d& + "storage"(c' +8 "core" &u  p + "manipulator"&H% +5 "core" % Ϟ +2 .tForearm.seek :retract + "manipulator"&F' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&V& + "storage"(5 +8 "core" &ӑ#   } <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +2 "core" &ӑ#   <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&-'? +92 "core" ' +2 "manipulator"&T& +4 "core" &ӑ#   m <> +2 "manipulator"&C% +3 "core" %H   b > +3 "collection"'Y& +3 "core" & H\ +3 "collection"'n& +5 "core" & (\ +3 .tCC.seek :closed + "collection"'b(\\ +5 "core" & K\ +8 &: K\ $d +9 &Vs T\ 7 +10 &s J\ L +9 &J A\ M +9 &hN H\ L +10 &*N 9\ L +9 &N ;\ L +9 &P ?\ M +10 &pQ 2\ L +9 &2O 8\ L +10 &L :\ M +9 &!L <\ L +9 &#xN 3\ L +10 &%:N 8\ L +9 &&Q 7\ M +9 &(Q 4\ M +10 &*P ,\ L +9 &,BO 9\ L +9 &.N ;\ L +10 &/R 1\ M +9 &1N 1\ M +10 &3JN 1\ L +9 &5 O <\ M +9 &6Q 9\ M +10 &8L 4\ M +9 &:RO @\ L +9 &<N .\ L +10 &=N ;\ L +9 &?P 3\ M +10 &AXS 5\ M +9 &CS :\ M +9 &D]\ 1\ N +10 &Fc\ \ 6\ O +9 &HRz\ \ 8\ R +10 &J\ #\ 4\ V +9 &K\ (\ (-\ Y +9 &M\ $\ %8\ Y +10 &OA\ !\ !4\ Z +9 &Q\ \ 5\ [ +9 &R\ \ ,\ [\ +10 &T\ \ 6\ \\ +9 &VC\ \ 5\ \\ +10 &X\ \ 7\ }] +9 &Y\ \ 8\ {^ +9 &[\ \ 6\ {K +10 &\\8\ \ 5\ 0 +9 &\\}\ \ 9\ U +5 ( +2 "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 +2 .Hand.open + "manipulator"&71 +4 "core" &\\m\ \ 7\ U +58 1 + "manipulator"&o% +4 "core" % H    > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%~& +4 "core" &\ q +2 "manipulator"&% +4 "core" %     +2 "storage"(% +3 "core" % \ q +2 "storage"(Q. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(h([ +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[ 0 ,\ b +3 "manipulator"&& +4 "core" &ӭ"   8" +2 "manipulator"&2% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +164 "core" ( +2 "manipulator"&@& +4 "core" &w     +2 "storage"(s& +3 "core" &[ 1\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&G'= +95 "core" ' +2 "storage"(N& +4 "core" &[ >\ | +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &[ \ \ r +2 "manipulator"&<& +4 "core" &w    +2 .tElbow.seek 7 + "manipulator"&1(r +3 "core" ( +2 "manipulator"&_& +4 "core" &w    +2 "storage"(U& +4 "core" &[ k\ u +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&9'ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +8 "core" &w   + "manipulator"&e% +4 "core" % ϭ I +2 .tForearm.seek :retract +2 "manipulator"&'' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +2 "manipulator"&x& +3 "core" &  + +49 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 && +3 "core" &  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&a' +101 "core" ' + "manipulator"&& +5 "core" &  + "manipulator"&!% +5 "core" %   M v +2 "processing"%& +3 "core" &\ { +3 "processing"%0& +5 "core" &\ { +3 .tPC.seek :closed +2 "processing"%"(^ +5 "core" &\ { +6 &3\ t$c +10 &Ts\ h7 +9 &}t\ fL +9 &K\ nP +10 &KK\ nP +9 &I\ oO +10 &M\ oP +9 &J\ pP +9 &UJ\ pO +10 &L\ oP +9 &K \ oO +10 &!JE\ oP +9 &#\\I'\ pP +9 &%K\ oP +10 &&O9\ nP +9 &(LK\ oO +9 &*dKI\ oP +10 &,&K\ pP +9 &-J7\ oO +9 &/LI\ nP +10 &1lHJ\ oP +9 &3/KK\ oO +10 &4KI\ oO +9 &6LH\ oP +9 &8tOE\ nP +10 &:6I?\ nP +9 &;L@\ oP +9 &=LD\ oO +10 &?{NG\ oP +9 &A<NE\ nP +10 &BVC\ mQ +9 &DX@\ lR +9 &F{dB\ iS +10 &H8sA\ gT +9 &IB\ bW +10 &K~A\ dW +9 &Mw7\ bW +9 &O9A\ cW +10 &P;\ bX +9 &R@\ bW +9 &Tz@\ aY +10 &V?3\ bW +9 &W4\ aX +10 &Y>\ bX +9 &[9\ bX +9 &]E=\ `N +10 &^S=\ _$p +9 &^>\ u) +2 ( +2 "processing"%0& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&P1 +59 "core" 1 +2 "manipulator"&g% +3 "core" %    v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3' +93 "core" ' +2 "processing"%w& +3 "core" &^G\ p) +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&8% +4 "core" %    " +2 "storage"(`% +3 "core" % 7\ n +3 "storage"(?. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"([([ +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ((& +2 "manipulator"& & +4 "core" &[ N M %\ i +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(L'r + "manipulator"&( +7 "core" ( + "manipulator"&& +4 "core" &  \ ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&E' +96 "core" ' +3 .tHand.close + "manipulator"&/ +76 "core" / +2 .tPC.seek :open + "processing"%( +72 "core" ' +2 "storage"(%- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(4'1 +39 "core" ' +332 ( +2 "storage"(r& +3 "core" &[ h\ s +2 "manipulator"&K& +5 "core" &   + "manipulator"&Z% +4 "core" %     +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"& (r +245 "core" ( + "manipulator"&f& +5 "core" &x   = V + "storage"(q& +4 "core" &[ M\ p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&S'= +98 "core" ' + .tHand.open +2 "manipulator"&*1 +62 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(A' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(B' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +3 "core" -' +2 "storage"(+& +4 "core" &[ W S \  +2 "manipulator"&p& +3 "core" &y  U +2 .tElbow.seek 7 +2 "manipulator"&t(r +50 "core" ( +4 "manipulator"&}& +4 "core" &y U +2 "storage"(O& +3 "core" &[ X X \\\  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&\ & +3 "core" &y    U +3 "storage"(X& +4 "core" &[ ]\ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&&'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&5% +4 "core" %΍ . . +2 "storage"(6& +4 "core" &[ N ? \ d + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&)'Ϲ +14 "core" ' +2 "manipulator"&,& +3 "core" &y   U +2 "storage"(& +4 "core" &[ l\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&M'= +16 "core" ' +2 "storage"(=% +4 "core" % \ u +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +3 "core" %L i X \ h[u +3 "manipulator"&D% +3 "core" %0   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +93 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &[ q\ r +3 "collection"'^& +3 "core" &\\m\ \ \ \ 8\ U +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&J% +4 "core" %     +2 "storage"(|% +3 "core" % 9\ t +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(k([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +3 "core" &[ - / \ d +2 "manipulator"&& +4 "core" &y   U +2 .tElbow.seek 7 +2 "manipulator"&#(r +4 "core" ( +2 "manipulator"& & +3 "core" &y    U +3 "storage"(j& +3 "core" &[ \ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'= +96 "core" ' + "storage"(H& +4 "core" &[ H\ z +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' + "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &y   U +2 "storage"(;& +5 "core" &[ \ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&$'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(C'p +29 "core" ' + "manipulator"&Y% +4 "core" %·    +2 "storage"(R& +3 "core" &[ N S W\ f +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&c'ϳ +13 "core" ' + "manipulator"&F& +5 "core" &z   T + "storage"(.& +4 "core" &[ x\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(o' +37 "core" ' + "manipulator"&~& +4 "core" &z \  T +2 "manipulator"&% +3 "core" %5   +43 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +154 "core" ( +2 "manipulator"&n& +4 "core" &Ӑ!   :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ!  :* +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&2/ +59 "core" / +2 .tCC.seek :open +2 "collection"'-( +448 "core" ( + "storage"(@& +4 "core" &[ \  +2 "storage"(s& +3 "core" &[ g b G\  +3 "manipulator"&\\& +3 "core" &Ӭ   6 +2 "manipulator"&N% +4 "core" % G  z +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&m(r +160 "core" ( + "manipulator"&& +4 "core" &y    +2 "storage"(z& +5 "core" &[ m\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&<'{ +93 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&U1 +64 "core" 1 +2 "manipulator"&v% +3 "core" % ΐ    +2 "storage"(& +5 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 321 counts +2 "manipulator"&e'ϼ +14 "core" ' +2 "manipulator"&& +3 "core" &y  +2 "storage"(G& +4 "core" &[ F\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&:'= +16 "core" ' +2 "storage"(9% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(x' +98 (1% +3 "core" %A n\ Yk +2 "manipulator"&% +4 "core" %9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'!& +3 "core" & ?\ +2 "manipulator"&% +4 "core" %    +2 "storage"(% +4 "core" % \  +2 "storage"('. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(](<- +677 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +2 "core" &<0 W\ +3 "manipulator"&g& +4 "core" &y   + .tElbow.seek 5 +2 "manipulator"&w( +38 "core" ( +2 "manipulator"&8& +3 "core" &    +2 "storage"(`& +4 "core" &<0 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +95 "core" ' + "storage"(0& +4 "core" &<0 g\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<. X\ +2 "manipulator"&u& +5 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&& +3 "core" &  W  +2 "storage"(h& +4 "core" &<. `\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&%'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tHand.close +3 "manipulator"&W/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&3& + "storage"("' +8 "core" & *  + "manipulator"&L% +5 "core" %  H +2 .tForearm.seek :retract +2 "manipulator"&r' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&K(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&Z& +3 "core" &Ӗ   9& +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &ӗ   9% +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'? +91 "core" ' +2 "manipulator"&q& +4 "core" &ӗ   ; 9% +2 "manipulator"&% +4 "core" %8  c +3 "collection"'*& +4 "core" & #\ +2 "collection"' & +5 "core" & S\ +3 .tCC.seek :closed + "collection"'l(\\ +5 "core" & S\  +9 &6w _\ +| +10 &hy [\ @ +9 &g U\ M +9 &_M [\ M +10 &"Q N\ L +9 &N P\ L +9 &P E\ M +10 &gO P\ M +9 &(O F\ M +10 &L ?\ L +9 & P :\ M +9 &"pP 8\ L +10 &$2N <\ L +9 &%Q B\ M +9 &'K 9\ L +10 &)xM A\ L +9 &+:M B\ L +10 &,Q E\ M +9 &.P 5\ L +9 &0N 5\ L +10 &2BN =\ L +9 &4O 5\ M +9 &5Q D\ M +10 &7Q C\ M +9 &9IQ <\ M +10 &; Q B\ M +9 &<Q 8\ M +9 &>Q E\ M +10 &@QQ F\ M +9 &BP 5\ L +9 &CW B\ N +10 &E_\ \ 9\ O +9 &GNh\ \ \ <\ P +10 &I\ \ :\ T +9 &J\ '\ "?\ X +9 &Lz\ '\ (;\ Y +10 &N:\ $\ $8\ Z +9 &O\ \ 9\ Z +9 &Q\ \ 9\ [ +10 &S{\ \ 8\ \\ +9 &U=\ \ 8\ \\ +10 &V\ \ @\ ] +9 &X\ \ ?\ ~^ +9 &Z{\ \ 8\ {^ +10 &\\z\ \ 6\ 1 +9 &\\/\ \ =\ c +9 ( +3 "collection"' & +3 "core" &\\n\ \ >\ P +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&+1 +62 "core" 1 +2 "manipulator"&p% +5 "core" % 8   c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%}& +3 "core" &\ q +3 "manipulator"&O% +4 "core" %  \ o  + "storage"(\ % +5 "core" % +\ q + "storage"(X. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(4(<- +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &<. ~ )\ n +2 "manipulator"&5& +5 "core" &ӫ    6 + "manipulator"&6% +4 "core" %    }  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&,( +162 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"( & +4 "core" &<. L\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +98 "core" ' +2 "storage"(S& +3 "core" &<. Y\ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +302 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &<. p /\ n +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(&& +5 "core" &<. 2\ q +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&)'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&^& +2 "storage"(J' +9 "core" &    + "manipulator"&|% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +49 "storage"(5 +35 "core" ( +2 "manipulator"&/& +3 "core" &   % +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +99 "core" ' + "manipulator"&j& +5 "core" &  \ ' % +2 "manipulator"&M% +3 "core" %    +3 "processing"%H& +3 "core" &\ | +3 "processing"%& +5 "core" &\ | +3 .tPC.seek :closed + "processing"%[(^ +5 "core" &\ | +7 & -\ v$c +10 &Ss\ i7 +9 &|s\ hL +9 &O\ oP +10 &LJ\ pP +9 &J\ pP +10 &O\ nP +9 &L\ pO +9 &UJ\ qP +10 &Q\ oP +9 &L\ pP +9 &!O\ pP +10 &#]J\ qP +9 &% L \ pO +10 &&L\ pP +9 &(Pd\ oP +9 &*eJ)\ qP +10 &,'L$\ pP +9 &-NQ\ pP +9 &/Q*\ oP +10 &1mIA\ qP +9 &3/JJ\ qP +10 &4J@\ qO +9 &6LC\ pP +9 &8vM=\ pO +10 &:6LJ\ pP +9 &;MH\ pP +9 &=MB\ pP +10 &?}NB\ pP +9 &A>OB\ pP +10 &BWG\ nQ +9 &DZD\ nR +9 &F~_6\ mR +10 &H:oA\ iT +9 &IE\ dW +9 &K;\ dW +10 &Mw:\ dW +9 &O:<\ eW +10 &P/\ aX +9 &R6\ cX +9 &T{;\ aY +10 &V@<\ dW +9 &X1\ cX +9 &Y1\ cX +10 &[2\ bX +9 &]E8\ bP +10 &^zCu4\ h#i +9 &^..\ q1 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&y1 +3 "core" &^"<\ s1 +62 1 + "manipulator"&I% +4 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +92 "core" ' +2 "processing"%V& +3 "core" &^"/\ n1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&;% +4 "core" %    T  +2 "storage"(T% +3 "core" % 3\ m +2 "storage"(Y. +3 "core" .(<- +2 "storage"(R& +4 "core" &<. \ n +2 "storage"(F& +3 "manipulator"&.& +8 "core" &<. \ m + &   $ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&~( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"&d& +4 "core" &  $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &  \ $ +3 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 .tHand.close + "manipulator"&$/ +66 "core" / +3 .tPC.seek :open + "processing"%c( +86 "core" ' +2 "storage"(C- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'1 +47 "core" ' +310 ( +2 "storage"(& +3 "core" &<+ (\ v +2 "manipulator"&7& +4 "core" &  $ +2 "manipulator"&{% +4 "core" %  X  +2 .tForearm.seek :retract +2 "manipulator"&2' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&b& +4 "core" &  A + "storage"(@& +5 "core" &<+ X\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +91 "core" ' +2 .tHand.open + "manipulator"&\\1 +64 "core" 1 +3 "storage"(N- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(Q& +5 "core" &<+ :\ " + "manipulator"&U& +4 "core" &  A +2 .tElbow.seek 5 +2 "manipulator"&v( +4 "core" ( +42 "manipulator"&& +11 "core" &    A +3 "storage"(& +3 "core" &<+ m\ ! +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +57 "core" ' + "manipulator"&& +4 "core" &   A +2 "storage"(1& +4 "core" &<+ \ t +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(<' +28 "core" ' +2 "manipulator"&!% +3 "core" %Ξ   +2 "storage"(& +4 "core" &<+ \ n +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&e' +14 "core" ' + "manipulator"&& +4 "core" &  [ ? +2 "storage"('& +5 "core" &<+ \ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&o'O +16 "core" ' + "storage"(:% +4 "core" % ,\ x +3 ."downElevator"SE.seek :down +4 "storage"(x' +99 (k% +3 "core" %7J j f \ k[s +2 "manipulator"&P% +3 "core" %I   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (8& +3 "core" &<+ R\ s +2 "collection"'`& +4 "core" &\\m\ \ 7\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&0% +5 "core" %      + "storage"(_% +4 "core" % *\ u +2 "storage"(. +3 "core" .(<- +2 "storage"( & +3 "core" &<+ ^\ u +3 "storage"(& +4 "core" &<+ w\ u + "manipulator"&u& +4 "core" &   = ? +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&h& +4 "core" &  ? +2 "storage"(W& +4 "core" &<+ s\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +98 "core" ' +2 "storage"(L& +4 "core" &<+ Z\ { +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(w'r +309 "core" ' + "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +4 "core" &    ? +2 "storage"(E& +4 "core" &<+ G\ s + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&('΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(q- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('h +30 "core" ' +2 "manipulator"&*% +3 "core" %Θ   +2 "storage"(a& +5 "core" &<+ \ n + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&"' +14 "core" ' +2 "manipulator"&r& +4 "core" & \ A ? +2 "storage"(-& +3 "core" &<+ \ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(p' +45 "core" ' +2 "manipulator"&}& +3 "core" &   ? +3 "manipulator"&O% +3 "core" %H  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' +2 .tElbow.seek CC +47 "manipulator"&X(ӂ +153 "core" ( +2 "manipulator"& & +5 "core" &ӊ(   \ @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" &Ӌ&  * ?V +3 .tForearm.seek CC +2 "manipulator"&5'? +96 "core" ' +2 .tHand.close + "manipulator"&6/ +55 "core" / +2 .tCC.seek :open +2 "collection"'f( +447 "core" ( +2 "storage"(& +4 "core" &<+ s w <\  +2 "storage"( & +3 "core" &<+ q p \ \  +2 "manipulator"&]& +5 "core" &Ө#   <9 + "manipulator"&S% +5 "core" % S    +2 .tForearm.seek :retract + "manipulator"&K' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&>( +162 "core" ( + "manipulator"&& +4 "core" &  E  +2 "storage"(D& +5 "core" &<+ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +92 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&&1 +63 "core" 1 +3 "manipulator"&% +3 "core" % ΂   +2 "storage"(^& +4 "core" &<+ r\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 289 counts +2 "manipulator"&|'Ϯ +15 "core" ' +2 "manipulator"&,& +4 "core" & k  +2 "storage"(=& +3 "core" &<+ ;\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +17 "core" ' +2 "storage"()% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(/' +98 (% +3 "core" %E x \ Yl +2 "manipulator"&t% +5 "core" %6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +90 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'M& +3 "core" & B\  +2 "manipulator"&H% +3 "core" %     +3 "storage"(J% +3 "core" % \  +2 "storage"(. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (y& +3 "core" &K \  \ ~ +2 "manipulator"&I& +5 "core" &     + .tElbow.seek 6 +2 "manipulator"&V( +4 "core" ( + "manipulator"&;& +5 "core" & r  + "storage"(T& +4 "core" &K 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +93 "core" ' +2 "storage"(R& +4 "core" &K {\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (F& +3 "core" &K \  +2 "manipulator"&d& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&#( +4 "core" ( +2 "manipulator"& & +3 "core" & 8  +2 "storage"($& +4 "core" &K M\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&C'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& +2 "storage"([' +54 "core" & a  +3 "manipulator"&% +4 "core" % Ϛ  +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +105 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +50 "core" ( + "manipulator"&{& +4 "core" &ӕ!  \ o :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӕ!  ) :, +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&b'? +101 "core" ' +2 "manipulator"&@& +4 "core" &ӕ!   3 :, +2 "manipulator"&~% +3 "core" %F  \ ~ +3 "collection"'\\& +3 "core" & a\  +3 "collection"'N& +5 "core" & a\  +2 .tCC.seek :closed +3 "collection"'(\\ +4 "core" & ^\  +5 & Z\ = +10 &OKr _\ 2 +9 &tv ^\ F +10 &/Q ]\ M +9 &L S\ L +9 &N T\ L +10 &wN S\ L +9 &9M I\ L +9 &M P\ L +10 &L J\ L +9 &~M E\ M +10 &!AO F\ L +9 &#L J\ L +9 &$N G\ L +10 &&M I\ M +9 &(HP F\ M +9 &*\ P E\ M +10 &+O G\ M +9 &-O D\ M +10 &/PP F\ M +9 &1Q @\ M +9 &2N @\ L +10 &4N D\ M +9 &6YN A\ L +9 &8N I\ M +10 &9L >\ M +9 &;M C\ L +10 &=`M 5\ M +9 &?!Q 7\ M +9 &@O 9\ M +10 &BS 8\ M +9 &DdZ 6\ N +9 &F f\ \ @\ P +10 &Gy\ \ =\ S +9 &I\ "\ :\ W +10 &KI\ %\ &B\ Z +9 &M \ "\ #>\ Z +9 &N\ \ !8\ [\ +10 &P\ \ 7\ ~\\ +9 &RL\ \ >\ \\ +9 &T\ \ \ 8\ |] +10 &U\ \ :\ {^ +9 &W\ \ 8\ w_ +10 &YH\ \ ?\ v` +9 &[\ \ \ A\ x` +9 &\\eH\ \ A\ 4 +10 &\\\ \ ?\ T +5 ( +2 "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 +2 .Hand.open + "manipulator"&Q1 +2 "core" &\\p\ \ A\ T +59 1 +3 "manipulator"&U% +3 "core" % F   , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%2& +5 "core" &\ n + "manipulator"&% +4 "core" % !   $ +2 "storage"(% +3 "core" % &\ o +3 "storage"(1. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(n(K +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &K ? \ ` +3 "manipulator"&!& +4 "core" &ӥ   8 + "manipulator"&% +5 "core" % !    $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +164 "core" ( + "manipulator"&'& +4 "core" &    +2 "storage"(& +4 "core" &K _\ v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&:' +97 "core" ' +2 "storage"(s& +3 "core" &K N\ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(z'r +298 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P& +2 "core" &K Y\ s +3 "manipulator"&G& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&9& +4 "core" &   _  + "storage"(& +4 "core" &K &\ u +3 .tForearm.seek 6 + 300 counts + "manipulator"&8'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&`& + "storage"(0' +8 "core" & )  + "manipulator"&_% +5 "core" % l " +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&<( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"& & +3 "core" & \   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \   +49 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +106 "core" ' +2 "manipulator"&h& +3 "core" &     +3 "manipulator"&W% +3 "core" %  & B +3 "processing"%o& +3 "core" &\ x +3 "processing"%L& +5 "core" &\ x +2 .tPC.seek :closed +2 "processing"%x(^ +3 "core" &\ x +8 & -\ r$d +10 &Uu\ e7 +9 &|s\ dL +9 &L\ mP +10 &TK\ mP +9 &J\ mP +9 &M\ nP +10 &K\ mP +9 &]J\ mP +10 &L\ kP +9 &L\ lO +9 &!L\ lP +10 &#eL\ mP +9 &%'L\ mP +9 &&O(\ lP +10 &(M!\ lP +9 &*mL\ mP +10 &,/M\ lP +9 &-L.\ mP +9 &/M!\ kP +10 &1uI*\ lP +9 &37K7\ lP +9 &4N:\ lP +10 &6KG\ mP +9 &8|OD\ kP +10 &:>LK\ lP +9 &;ME\ lP +9 &=N:\ lP +10 &?N@\ lP +9 &AFKA\ lP +9 &CXH\ hR +10 &DV>\ jQ +9 &FcA\ gS +10 &HBq?\ dT +9 &IE\ aW +9 &KJ\ `W +10 &MA\ aW +9 &OAC\ `W +9 &Q?\ _X +10 &R?\ _X +9 &T6\ ]Y +10 &VG:\ _X +9 &X:\ _X +9 &Y>\ ^X +10 &[7\ ^X +9 &]L4\ ]L +9 &^{I8\ `^ +10 &^ Y9\ h9 +5 ( +2 "processing"%L& +3 "core" &^30\ l9 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&m1 +62 "core" 1 +2 "manipulator"&g% +4 "core" %    B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +98 "core" ' +2 "processing"%Z& +3 "core" &^32\ n9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&E% +4 "core" %    +2 "storage"(q% +3 "core" % \ m +2 "storage"(*. +3 "core" .(K +2 "storage"(a& +4 "core" &K \ n +2 "storage"(r& +3 "manipulator"&-& +6 "core" &K f\ n + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&}( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(O'r +4 "core" ( + "manipulator"&3& +4 "core" &   L  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&w' +90 "core" ' +2 .tHand.close + "manipulator"&(/ +76 "core" / +2 .tPC.seek :open +2 "processing"%"( +80 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +41 "core" ' +326 ( + "storage"(+& +4 "core" &K \ u +2 "manipulator"&A& +3 "core" &     +2 "manipulator"&%% +4 "core" %   + +2 .tForearm.seek :retract +2 "manipulator"&6' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\ ( +243 "core" ( +2 "manipulator"&l& +3 "core" &   ' 3 +2 "storage"(& +4 "core" &K \ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 .tHand.open + "manipulator"&]1 +53 "core" 1 +3 "storage"(S- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(D' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(5- +3 "core" -' +2 "storage"(X& +3 "core" &K u ~\  +2 "manipulator"&&& +5 "core" &  - 2 + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&^& +3 "core" & 2 +3 "storage"(,& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +45 "core" ' +10 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"()'" +59 "core" ' +2 "manipulator"&K& +3 "core" &  2 +2 "storage"(& +5 "core" &K <\ s + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&t'< +22 "core" ' + .tElbow.hold +2 "manipulator"&>, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 "manipulator"&M% +4 "core" %M   +2 "storage"(H& +3 "core" &K | p >\ l +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&|'y +16 "core" ' + "manipulator"&J& +4 "core" &   2 +2 "storage"(& +4 "core" &K \ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&p' +16 "core" ' + "storage"(B% +4 "core" % \ v +2 ."downElevator"SE.seek :down +4 "storage"(/' +99 (4% +4 "core" %G i i \ iZr +2 "manipulator"&y% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (;& +3 "core" &K =\ t +2 "collection"'T& +4 "core" &\\n\ \ \  \ T +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&R% +4 "core" %     +2 "storage"(% +3 "core" % )\ v +2 "storage"(j. +3 "core" .(K +2 "storage"(.& +3 "core" &K \ v +3 "storage"(F& +4 "core" &K \ w +2 "manipulator"&d& +3 "core" &  2 +3 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&$& +3 "core" &  \ / 2 +3 "storage"(& +4 "core" &K \ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +93 "core" ' +2 "storage"(& +3 "core" &K $\ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +295 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   2 +3 "storage"({& +4 "core" &K [\ s + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"& '< +18 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(@- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(~'m +30 "core" ' + "manipulator"&\\% +4 "core" %M   +2 "storage"(#& +5 "core" &K ~\ q + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&['y +16 "core" ' +2 "manipulator"&& +3 "core" &  ^ 2 +2 "storage"(f& +4 "core" &K \ u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Q' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(U' +45 "core" ' +2 "manipulator"&2& +3 "core" &  o 2 +3 "manipulator"&% +3 "core" % \ c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +152 "core" ( +2 "manipulator"&N& +3 "core" &Ӑ%   >J +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +49 "core" &Ӑ%  >J +4 .tForearm.seek CC +2 "manipulator"&!'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'b( +448 "core" ( +2 "storage"('& +4 "core" &K t t \  +2 "storage"(& +3 "core" &K n l \  +2 "manipulator"&& +5 "core" &ӭ!   :- + "manipulator"&s% +4 "core" % =   < +2 .tForearm.seek :retract +2 "manipulator"&7' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +165 "core" ( +2 "manipulator"&k& +3 "core" &    +2 "storage"(P& +5 "core" &K .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&G'< +94 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +56 "core" 1 +3 "manipulator"&e% +4 "core" % C  \ `  +2 "storage"(`& +3 "core" &K \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&_'o +15 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(:& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +16 "core" ' +4 "storage"(8% +8 "core" % \ +4 ."downElevator"SE.seek :down +8 "storage"( ' +97 (% +3 "core" %< A\ Xj +2 "manipulator"&v% +3 "core" % . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +90 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'W& +3 "core" & \ +2 "manipulator"&o% +3 "core" %     +2 "storage"(0% +4 "core" % \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(c([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" &[ m i\ +2 "manipulator"&g& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&Z(r +37 "core" ( +2 "manipulator"&E& +4 "core" &    +2 "storage"(q& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&*'= +95 "core" ' +2 "storage"(L& +4 "core" &[ S\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +297 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (r& +3 "core" &[ b m j\ +2 "manipulator"&3& +4 "core" & &  +3 .tElbow.seek 7 + "manipulator"&(r +27 "core" ( +2 "manipulator"&u& +4 "core" &w   U + "storage"((& +5 "core" &[ H\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ \\ +9 &VZ\ \ E\ ] +9 &X\ \ :\ }^ +10 &Y\ \ 6\ {^ +9 &[\ \ 7\ |K +10 &\\=\ \ ?\ * +9 &\\j\ \ A\ M +2 ( +2 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 +2 .Hand.open + "manipulator"&X1 +56 "core" 1 +3 "manipulator"&&% +3 "core" % 3    , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%,& +3 "core" &\ t +2 "manipulator"&6% +5 "core" %     + "storage"(K% +4 "core" % I\ t +2 "storage"(. +3 "core" .([ +2 "storage"( & +4 "core" &[ \ t +2 "storage"(& +4 "core" &[ 5\ t +2 "manipulator"&M& +3 "core" &Ӝ   0 +2 "manipulator"&H% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&J(r +161 "core" ( +2 "manipulator"&& +4 "core" &q    +2 "storage"(\ & +3 "core" &[ D\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&B'= +98 "core" ' + "storage"( & +5 "core" &[ g\ | +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +306 "core" ' + "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &[ W\ r +2 "manipulator"&=& +4 "core" &q     +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&)& +4 "core" &q   +2 "storage"(t& +3 "core" &[ \ u +3 .tForearm.seek 7 + 300 counts + "manipulator"&;'ϧ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&T& + "storage"(R' +8 "core" &q ^  + "manipulator"&% +5 "core" % ϻ  @ +2 .tForearm.seek :retract + "manipulator"&j' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&.& +3 "core" &   F ' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" & ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d' +91 "core" ' +2 "manipulator"&$& +3 "core" &   0 ' +3 "manipulator"&% +4 "core" %   > _ +2 "processing"%p& +3 "core" &\ | +52 "processing"%& +5 "core" &\ | +3 .tPC.seek :closed +2 "processing"%/(^ +4 "core" &\ { +9 &2u\ k*x +9 &av\ h> +9 &ii\ iO +10 &'M\ oP +9 &K \ pP +10 &I%\ pP +9 &pL\ pO +9 &1L\ pP +10 &O\ pP +9 &K\ pP +9 & wL*\ oP +10 &"9P+\ oP +9 &#L'\ pP +10 &%L\ oP +9 &'~O9\ oP +9 &)ALC\ pP +10 &+P;\ oP +9 &,N:\ pP +9 &.N8\ pP +10 &0JLB\ pO +9 &2 J7\ pO +10 &3K>\ oO +9 &5J<\ oP +9 &7QO;\ oP +10 &9L;\ oP +9 &:M;\ pP +9 &<M;\ pO +10 &>XO=\ oP +9 &@O<\ oP +10 &AR<\ oP +9 &CZD\ lR +9 &E[]I\ kR +10 &Gi3\ iS +9 &HxC\ gV +9 &J7\ dV +10 &LU}0\ eV +9 &N4\ dW +10 &O=\ dW +9 &Q2\ cX +9 &SZ.\ dX +10 &U1\ bX +9 &V/\ aY +9 &X-\ cW +10 &Z`3\ cX +9 &\\".\ aX +10 &]{0\ f5 +9 &^6l.\ h: +9 ( + &^-\ v* +3 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&>1 +63 "core" 1 +2 "manipulator"&I% +4 "core" %  > _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +90 "core" ' +2 "processing"%& +4 "core" &^A\ s* +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&{% +4 "core" %     +2 "storage"(@% +3 "core" % \ s +2 "storage"(\\. +4 "core" .([ +2 "storage"(#& +4 "core" &[ c\ s +2 "storage"(& +2 "manipulator"&f& +8 "core" &[ \ s + &  \ _ ' +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(2'r + "manipulator"&( +6 "core" ( +2 "manipulator"&i& +4 "core" &   ` ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  + ' +2 .tForearm.seek PC +2 "manipulator"&V' +96 "core" ' +2 .tHand.close +2 "manipulator"& / +64 "core" / +2 .tPC.seek :open +2 "processing"%[( +81 "core" ' +2 "storage"(~- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(N'1 +51 "core" ' +310 ( +2 "storage"(& +5 "core" &[ ,\ t + "manipulator"&Q& +5 "core" &  ' + "manipulator"&C% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(r +246 "core" ( +2 "manipulator"&& +3 "core" &}  E R +2 "storage"('& +4 "core" &[ \ o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +102 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(s- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(k' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(!- +3 "core" -' +2 "storage"(1& +3 "core" &[ K\ $ +2 "manipulator"&& +4 "core" &}  R +2 .tElbow.seek 7 +2 "manipulator"&e(r +6 "core" ( + "manipulator"&`& +4 "core" &~    9 +2 "storage"(& +3 "core" &[ R\ $ +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&:'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(8'" +58 "core" ' +2 "manipulator"&7& +3 "core" &~  9 +2 "storage"(& +4 "core" &[ \ v +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +43 .tForearm.seek 7 +9 "manipulator"&v'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(G' +19 "core" ' + "manipulator"&_% +4 "core" %΋  M \ +2 "storage"(W& +4 "core" &[ M Y I\ g +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 316 counts + "manipulator"&o'Ϸ +24 "core" ' + "manipulator"&0& +4 "core" &~ i 9 +2 "storage"(& +4 "core" &[ \ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&U'= +22 "core" ' + "storage"(z% +5 "core" % &\ v +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (n% +4 "core" %J \\ \\ /\ j[s +2 "manipulator"&m% +4 "core" %C  } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +3 "core" &[ U\ v +2 "collection"'q& +4 "core" &\\h\ \ \ \ ?\ M +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&L% +3 "core" %     +2 "storage"(9% +4 "core" % \ y +2 "storage"(h. +4 "core" .([ + "storage"(-& +4 "core" &[ \ y +2 "storage"(r& +4 "core" &[ !\ y +2 "manipulator"&3& +3 "core" &~   9 +2 .tElbow.seek 7 +2 "manipulator"&u(r +10 "core" ( + "manipulator"&(& +4 "core" &     +2 "storage"(<& +4 "core" &[ :\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'= +92 "core" ' +2 "storage"(O& +3 "core" &[ \  |\ z +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +300 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" &     +2 "storage"(& +3 "core" &[ \ v +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&%'{ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('p +29 "core" ' +2 "manipulator"&}% +4 "core" %Ύ   8 +2 "storage"(]& +3 "core" &[  /\ m +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&x'Ϻ +14 "core" ' +2 "manipulator"&+& +3 "core" & H  +2 "storage"(b& +5 "core" &[ \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&X'= +17 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(&' +36 "core" ' +2 "manipulator"&,& +3 "core" &  h  +2 "manipulator"&6% +4 "core" %9  y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +168 "core" ( +2 "manipulator"& & +4 "core" &Ӌ   3 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &Ӌ  0 +2 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&M/ +55 "core" / +2 .tCC.seek :open +2 "collection"'H( +448 "core" ( + "storage"(l& +4 "core" &[ *\ +42 "storage"(& +12 "core" &[ s u O\ + "manipulator"&\ & +4 "core" &ӏ    / +2 "manipulator"& % +4 "core" % M    +2 .tForearm.seek :retract +2 "manipulator"&A' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&^(r +163 "core" ( + "manipulator"&4& +4 "core" &q ^  +2 "storage"(y& +4 "core" &[ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&='{ +94 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&t1 +63 "core" 1 +2 "manipulator"&|% +3 "core" % Ό   +2 "storage"(T& +4 "core" &[ Y\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&'ϸ +15 "core" ' +2 "manipulator"&J& +3 "core" &q .  +3 "storage"(B& +3 "core" &[ w\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'= +15 "core" ' +2 "storage"(;% +3 "core" % .\ +3 ."downElevator"SE.seek :down +4 "storage"(.' +98 (F% +3 "core" %D w \ Yl +2 "manipulator"&% +5 "core" %: + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & K\ +2 "manipulator"&p% +4 "core" %     +2 "storage"(R% +4 "core" % \  +2 "storage"(j. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"("(<- +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (>& +3 "core" &<. b a S\ +2 "manipulator"&I& +4 "core" &q   #  +2 .tElbow.seek 5 +2 "manipulator"&( +36 "core" ( +2 "manipulator"&{& +3 "core" &  {  +2 "storage"(@& +4 "core" &<. \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\\'O +94 "core" ' +2 "storage"(#& +3 "core" &<. @\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &<. J\ +2 "manipulator"&i& +4 "core" &  ;  +3 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( +2 "manipulator"&d& +3 "core" &  D  +2 "storage"( & +4 "core" &<. k\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&~'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(/' +6 "core" &   +3 "manipulator"&2% +4 "core" % Ϸ | +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +153 "core" ( + ' +2 "manipulator"&C& + ."downElevator"SE.stop +5 "storage"(5 +3 "core" &z*   Bl +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &z* \  % Bl +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek CC +4 "manipulator"&'? +91 "core" ' +2 "manipulator"&'& +3 "core" &{*   Bk +2 "manipulator"&% +5 "core" %J   x P +2 "collection"'& +3 "core" & T\ +3 "collection"'s& +5 "core" & T\ +2 .tCC.seek :closed +2 "collection"'!(\\ +5 "core" & T\  +9 &3u Y\ *z +9 &ey _\ ? +10 &i `\ N +9 &PL `\ M +9 &P [\ M +10 &Q U\ M +9 &P [\ L +10 &YN P\ L +9 &O R\ L +9 &N P\ L +10 & Q H\ M +9 &"aL J\ L +9 &$"M E\ M +10 &%Q D\ M +9 &'O F\ M +10 &)iN M\ L +9 &+)Q F\ M +9 &,K H\ M +10 &.L F\ L +9 &0pN D\ M +9 &22L H\ M +10 &3O G\ L +9 &5O J\ M +10 &7xR E\ M +9 &9:N D\ M +9 &:N @\ L +10 &<N 9\ L +9 &>O 7\ L +9 &@BP @\ M +10 &BS =\ M +9 &CU :\ N +10 &E]\ \ >\ O +9 &G?h\ \ 8\ P +9 &H\ \ ;\ T +10 &J\ (\ !9\ X +9 &Lj\ &\ &5\ Z +9 &N'\ \ #;\ [ +10 &O\ \ !>\ [\ +9 &Q\ \ 8\ [ +10 &Sk\ \ 7\ \\ +9 &U)\ \ C\ }] +9 &V\ \ ?\ }] +10 &X\ \ D\ {^ +9 &Zj\ \ E\ z_ +9 &\\z\ \ >\ 8 +10 &\\+\ \ 4\ %p +9 ( + &\\\ \ A\ \\ +2 "collection"'s& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 .Hand.open + "manipulator"&11 +60 "core" 1 +2 "manipulator"&% +4 "core" % J   9 P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +89 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +3 "core" &\ l +2 "manipulator"&% +4 "core" %     +2 "storage"(7% +4 "core" % o ` \ l +2 "storage"(. +3 "core" .(<- +2 "storage"(N& +3 "core" &<. y o O\ m +3 "storage"(k& +4 "core" &<. K\ m + "manipulator"&_& +5 "core" &Ӭ#  { <: + "manipulator"&W% +5 "core" %   f  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&0( +164 "core" ( + "manipulator"&& +5 "core" &    + "storage"(& +4 "core" &<. \ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z'O +92 "core" ' +2 "storage"(& +3 "core" &<. \ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(P'r +297 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &<. n 3\ m +3 "manipulator"&:& +4 "core" &     +2 .tElbow.seek 5 + "manipulator"&e( +4 "core" ( +2 "manipulator"&8& +3 "core" &  7  +3 "storage"(v& +3 "core" &<. 6\ p +3 .tForearm.seek 5 + 300 counts + "manipulator"&o'Ϲ +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&q& + "storage"(L' +7 "core" & k  +2 "manipulator"&9% +4 "core" % \ \ / +2 .tForearm.seek :retract +2 "manipulator"&G' +95 "core" ' + .tElbow.seek PC +2 "manipulator"&h( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&-& +4 "core" & \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&3' +97 "core" ' +2 "manipulator"&(& +4 "core" &   + +2 "manipulator"&<% +3 "core" %   $ +3 "processing"%U& +4 "core" &\ s +2 "processing"%O& +5 "core" &\ s +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\ s +8 &2u\ c*x +10 &au\ _> +9 &ej\ `P +10 &$J\ gP +9 &I\ hP +9 &I\ gP +10 &kL\ gP +9 &-K\ gP +9 &K!\ gP +10 &K\ gP +9 & rM\ gP +10 &"4M\ gP +9 &#M\ hP +9 &%H\ hP +10 &'{L;\ gP +9 &)<L/\ gP +9 &*M\ gP +10 &,N\ gQ +53 &.J)\ eP +4 &0EK9\ dP + &2J<\ dP + &3J=\ eP + &5J8\ dP + &7NK=\ eP +4 &9N:\ dP +10 &:N;\ gP +9 &<L:\ eP +10 &>SO@\ gQ +9 &@N7\ gP +9 &AQ8\ fP +10 &CX6\ dR +9 &EW]5\ cR +9 &Gd7\ bS +10 &Hs6\ _U +9 &J@\ \\W +10 &LR8\ [V +9 &N6\ [W +9 &O5\ [W +10 &Q:\ ZX +9 &SW6\ [X +9 &U6\ YX +10 &V,\ [X +9 &X2\ ZX +10 &Z\\1\ YY +9 &\\.\ ZX +9 &]v0\ ^7 +10 &^5m'\ `> +9 ( + &^/\ l+ +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&g% +4 "core" %   < $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +93 "core" ' +2 "processing"%a& +3 "core" &^@\ i+ +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % !   W & +2 "storage"(% +3 "core" % i i \ i +2 "storage"(}. +4 "core" .(<- +2 "storage"(]& +4 "core" &<. _ f \ h +2 "storage"(+& +3 "manipulator"&b& +5 "core" &<. b I u\ i +2 &  i +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&,( +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(6'r +2 "core" ( +3 "manipulator"&?& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +3 "core" & \  +3 .tForearm.seek PC + "manipulator"&Z' +94 "core" ' + .tHand.close +2 "manipulator"&%/ +66 "core" / +2 .tPC.seek :open +2 "processing"%x( +87 "core" ' +2 "storage"(- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +41 "core" ' +315 ( + "storage"(S& +4 "core" &<+ $\ n +2 "manipulator"&X& +3 "core" &    +2 "manipulator"&w% +4 "core" %     +2 .tForearm.seek :retract +2 "manipulator"&M' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&K( +241 "core" ( + "manipulator"&5& +4 "core" &   0 7 +2 "storage"(l& +3 "core" &<+ i i \ i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +101 "core" ' + .tHand.open +2 "manipulator"&\ 1 +63 "core" 1 +2 "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(4' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &<+ ~\  +2 "manipulator"&t& +3 "core" & % 7 +2 .tElbow.seek 5 +2 "manipulator"&|( +4 "core" ( + "manipulator"&T& +5 "core" & . 7 + "storage"(J& +5 "core" &<+ b\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&B'O +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +59 "core" ' + "manipulator"&A& +5 "core" &   7 + "storage"(F& +4 "core" &<+ 6\ o +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(=' +21 "core" ' +2 "manipulator"&% +3 "core" %Λ  V +43 "storage"(p& +11 "core" &<+ ^ _\ g +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +3 "manipulator"&' +14 "core" ' +2 "manipulator"&R& +3 "core" &  6 +3 "storage"(j& +4 "core" &<+  m\ p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +15 "core" ' +2 "storage"(D% +3 "core" % ,\ q +3 ."downElevator"SE.seek :down +3 "storage"(.' +99 (c% +3 "core" %I X M ]\ e[s +2 "manipulator"&>% +5 "core" %K  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +96 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ({& +3 "core" &<+ j\ s +3 "collection"'@& +3 "core" &\\\ \ \ \ ;\ \\ +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&#% +4 "core" % \   !  +2 "storage"()% +3 "core" % \ t +2 "storage"($. +4 "core" .(<- + "storage"(& +5 "core" &<+ \ u + "storage"(f& +4 "core" &<+ \ u +2 "manipulator"&i& +3 "core" &   6 +3 .tElbow.seek 5 + "manipulator"&d( +4 "core" ( +2 "manipulator"& & +4 "core" &  6 + "storage"(& +5 "core" &<+ \ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +93 "core" ' + "storage"(2& +4 "core" &<+ F\ u +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" &   0 6 +2 "storage"(V& +3 "core" &<+ \ n +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(''h +30 "core" ' + "manipulator"&% +4 "core" %Ρ   G +2 "storage"(& +4 "core" &<+  o\ m +2 .tForearm.force -20 + "manipulator"&5 +8 .tForearm.seek 5 + 320 counts +2 "manipulator"&/' +14 "core" ' +2 "manipulator"&& +4 "core" &  T 6 +2 "storage"(H& +3 "core" &<+ ^\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +40 "core" ' +2 "manipulator"&& +3 "core" &    6 +3 "manipulator"&% +3 "core" %K   ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ( +2 "manipulator"&N& +3 "core" &x(  @\\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &k& +3 "core" &x(    @\\ +2 .tForearm.seek CC +2 "manipulator"&s'? +96 "core" ' + .tHand.close +2 "manipulator"&_/ +58 "core" / +2 .tCC.seek :open + "collection"'W( +451 "core" ( +2 "storage"(& +3 "core" &<+ u { \ +2 "storage"(& +5 "core" &<+ a b {\ + "manipulator"&& +4 "core" &ӽ   I 7 +2 "manipulator"&% +4 "core" % ,  ' +2 .tForearm.seek :retract +2 "manipulator"&Q' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&`( +202 "core" ( +9 "manipulator"&n& +4 "core" &   +2 "storage"(m& +3 "core" &<+ \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&:'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&v1 +61 "core" 1 +3 "manipulator"&E% +4 "core" % ΍ \ $  +2 "storage"(q& +3 "core" &<+ c\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&9'Ϲ +15 "core" ' +2 "manipulator"&0& +3 "core" & Y  +2 "storage"(z& +5 "core" &<+ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +17 "core" ' + "storage"(o% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(-' +99 (r% +3 "core" %:C 1\ Yk +2 "manipulator"&e% +4 "core" %G b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'<& +4 "core" & \ + "manipulator"&U% +5 "core" %    + "storage"(L% +5 "core" % \  + "storage"(G. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"([(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K u t ;\ +2 "manipulator"&g& +3 "core" &  \  +2 .tElbow.seek 6 +2 "manipulator"&a( +4 "core" ( + "manipulator"&& +5 "core" &  \ D  + "storage"(& +4 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&}' +96 "core" ' + "storage"(]& +5 "core" &K }\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +296 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &K P\ +2 "manipulator"&?& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&3& +3 "core" &  +2 "storage"(%& +3 "core" &K {\ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"( ' +6 "core" & D  +3 "manipulator"&6% +4 "core" % o  +3 .tForearm.seek :retract + "manipulator"&S' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&w& +4 "core" &Ӓ" \  % ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &Ӓ"   ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&5'? +93 "core" ' +2 "manipulator"&l& +3 "core" &ӓ"    ;5 +2 "manipulator"&,% +4 "core" %?   c 3 +2 "collection"'\ & +5 "core" & -\ +2 "collection"' & +5 "core" & \\\ +2 .tCC.seek :closed +2 "collection"'(\\ +50 "core" & [\ +5 & _\ 6 +3 &:Hq a\ 0 +3 &frx a\ D + & X X\ M + &M `\ L + &N ^\ L +4 &RM S\ L +9 &N R\ L +9 &K V\ M +9 &L P\ M +10 &YQ Y\ M +9 &!N I\ M +9 &"J H\ M +10 &$K G\ L +9 &&aN E\ M +10 &(#O K\ M +9 &)K N\ L +9 &+M M\ L +10 &-jN L\ L +9 &/+L M\ M +9 &0L K\ M +10 &2N J\ L +9 &4rN E\ L +10 &63N B\ M +9 &7Q D\ M +9 &9M B\ M +10 &;yL H\ M +9 &=;L B\ M +9 &>M D\ M +10 &@O :\ L +9 &BR 7\ M +10 &D?Y ;\ N +9 &Ed\ \ >\ P +9 &G\ \ 9\ T +10 &Im\ $\ @\ V +9 &K#\ %\ &9\ Z +9 &L\ "\ "5\ [\ +10 &N\ \ =\ \\ +9 &Pf\ \ 8\ [ +10 &R&\ \ 9\ \\ +9 &S\ \ 5\ }] +9 &U\ \ :\ ~] +10 &We\ \ >\ {^ +9 &Y$\ \ <\ y_ +9 &Z\ \ >\ z_ +10 &\\S_\ \ B\ / +9 &\\ \ \ :\ !c +9 ( +3 "collection"' & +2 "core" &\\\ \ >\ [ +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.37 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&t% +3 "core" % ?   9 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%M& +4 "core" &\ k + "manipulator"&J% +5 "core" % !    $ + "storage"(A% +4 "core" % _ i m\ l +2 "storage"(F. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K < f \ _ +2 "manipulator"&p& +5 "core" &ӫ   ( 8 + "manipulator"&4% +4 "core" % !   a $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&R( +162 "core" ( +2 "manipulator"&j& +4 "core" &    +2 "storage"(K& +3 "core" &K \ s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&D' +101 "core" ' + "storage"(& +5 "core" &K \ u +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +295 "core" ' + "storage"(c- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &K ` i \ l +2 "manipulator"&B& +3 "core" &   !  +3 .tElbow.seek 6 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&;& +3 "core" &    +2 "storage"(& +5 "core" &K \ n +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&@& +3 "storage"(#' +8 "core" &  1  + "manipulator"&)% +5 "core" % o m +2 .tForearm.seek :retract + "manipulator"&$' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&& +5 "core" &  ? ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &  ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&i' +91 "core" ' +2 "manipulator"& & +4 "core" &    ' +2 "manipulator"&% +3 "core" %   $ ] +3 "processing"%&& +3 "core" &\ v +3 "processing"%2& +5 "core" &\ v +2 .tPC.seek :closed +2 "processing"%.(^ +4 "core" &\ v +9 &2s\ e*y +9 &av\ a> +10 &cl\ cP +9 &"L\ jP +9 &L\ jP +10 &J\ jP +9 &hL\ jP +9 &*L\ jP +10 &K\ jP +9 &J\ kP +9 & qK\ kP +10 &"3K%\ jP +9 &#L\ jP +10 &%K\ iP +9 &'yL\ jP +9 &);L\ jP +10 &*L%\ iP +9 &,M:\ jP +10 &.K=\ jP +9 &0BK;\ jP +9 &2J?\ jP +10 &3JD\ jP +9 &5I;\ jP +9 &7KKB\ jP +10 &9 NF\ iP +9 &:L@\ jP +9 &<L:\ jP +10 &>QO9\ iQ +9 &@N5\ jP +10 &AN=\ iQ +9 &CY;\ gQ +9 &EU\\7\ fR +10 &Gh6\ dT +9 &Ht8\ aU +10 &J?\ ]W +9 &LO|<\ _W +9 &N8\ ^X +10 &OD\ ^X +9 &Q7\ ]X +9 &SS5\ ]X +10 &U6\ \\X +56 &V5\ ]X +6 &X5\ WY +4 &Z[:\ YX + &\\7\ XX + &]~2\ \\9 +2 &^-j,\ _W + &^+/\ j6 ( +2 "processing"%2& +4 "core" &^(.\ k6 +2 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&^1 +59 "core" 1 +2 "manipulator"&I% +3 "core" %   N ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +2 "processing"%C& +4 "core" &^(;\ i6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&V% +4 "core" %     +2 "storage"( % +5 "core" % i Y M\ h + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +5 "manipulator"&H& + "core" &K\  M\ c +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"('r +6 "core" ( +2 "manipulator"&Y& +4 "core" & / ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" & !  ' +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&/ +67 "core" / +2 .tPC.seek :open +2 "processing"%/( +87 "core" ' +2 "storage"('- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(N'1 +49 "core" ' +310 ( +2 "storage"(k& +3 "core" &K \ q +2 "manipulator"&1& +4 "core" &  ' +2 "manipulator"&~% +3 "core" %  \  , +3 .tForearm.seek :retract + "manipulator"&_' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&7( +245 "core" ( + "manipulator"&!& +4 "core" &  = +2 "storage"(& +3 "core" &K 2\ n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(s' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(n' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(m- +3 "core" -' +2 "storage"(& +4 "core" &K \  +2 "manipulator"&v& +3 "core" & / = +3 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&q& +4 "core" & = +2 "storage"(0& +3 "core" &K \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(o'" +54 "Can"\ S< _U1 +3 "core" ' +2 "manipulator"&Q& +4 "core" &   = +2 "storage"(r& +3 "core" &K \ o +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&e'< +22 "core" ' + .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +27 "core" ' +2 "manipulator"&<% +3 "core" %J  +2 "storage"(9& +5 "core" &K i i \ j + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +48 "manipulator"&U'v +16 "core" ' +2 "manipulator"&L& +4 "core" &  = +2 "storage"(G& +3 "core" &K \ s +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(P% +3 "core" % c\ s +3 ."downElevator"SE.seek :down +4 "storage"(-' +98 ("% +3 "core" %J ] \\\ g[u +2 "manipulator"&% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &K | z \\\ p +2 "collection"'& +3 "core" &\\\ \ <\ [ +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&]% +4 "core" %     +2 "storage"(8% +4 "core" % '\ q +2 "storage"((. +3 "core" .(K +2 "storage"(b& +3 "core" &K \ q +2 "storage"(O& +5 "core" &K \ r + "manipulator"&?& +4 "core" &   = +2 .tElbow.seek 6 +2 "manipulator"&3( +3 "core" ( +2 "manipulator"&%& +3 "core" &   = +2 "storage"(h& +5 "core" &K G\ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +96 "core" ' +2 "storage"(6& +3 "core" &K d\ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +311 "core" ' + "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" &    = +2 "storage"(Z& +5 "core" &K <\ t + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&+'< +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(,'l +32 "core" ' +2 "manipulator"&\ % +4 "core" %A   V + "storage"(u& +5 "core" &K K\ r + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 305 counts +2 "manipulator"& 'm +13 "core" ' +2 "manipulator"&S& +3 "core" &  c < +2 "storage"(W& +5 "core" &K @\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(t' +34 "core" ' +2 "manipulator"&M& +3 "core" &   < +3 "manipulator"&J% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&F(ӂ +158 "core" ( + "manipulator"& & +4 "core" &Ӝ   * 9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &Ӝ   " 9& +2 .tForearm.seek CC + "manipulator"&p'? +95 "core" ' + .tHand.close +2 "manipulator"&4/ +56 "core" / +2 .tCC.seek :open +2 "collection"'5( +450 "core" ( +2 "storage"(j& +4 "core" &K v v ]\  +2 "storage"(K& +3 "core" &K p q \  +2 "manipulator"&[& +4 "core" &ӹ   2 5 +2 "manipulator"&% +4 "core" % 1 & +2 .tForearm.seek :retract +2 "manipulator"&X' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&T( +162 "core" ( +2 "manipulator"&c& +3 "core" &  \ I  +2 "storage"(>& +45 "core" &K \  +9 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 +2 "manipulator"&B'< +97 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&{% +4 "core" % =   ;  +2 "storage"(@& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 301 counts +2 "manipulator"&)'i +15 "core" ' +2 "manipulator"&R& +4 "core" & :  +2 "storage"(D& +3 "core" &K c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +15 "core" ' +2 "storage"(% +4 "core" % 5\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (f% +2 "core" %j? r \ Yl +3 "manipulator"&|% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&&% +4 "core" %      +2 "storage"(#% +4 "core" % \  +2 "storage"($. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(x([ +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +2 "core" &[ y\ +3 "manipulator"&I& +4 "core" &     +2 .tElbow.seek 7 + "manipulator"&C(r +47 "core" ( +2 "manipulator"&V& +3 "core" &z   +3 "storage"( & +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' +2 "storage"(2& +4 "core" &[ B\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (Y& +2 "core" &[ +\ +3 "manipulator"&d& +4 "core" &z U  +2 .tElbow.seek 7 + "manipulator"&i(r +4 "core" ( + "manipulator"&& +4 "core" &z  *  +2 "storage"( & +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&''ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(.' +9 "core" &z 7  + "manipulator"&% +4 "core" % ϴ 7 +2 .tForearm.seek :retract +2 "manipulator"&k' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&1(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +18 "core" ( +2 "manipulator"&~& +3 "core" &Ӄ    3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӄ  3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&!'? +94 "core" ' +3 "manipulator"&& +3 "core" &Ӄ   8 3 +2 "manipulator"&% +5 "core" %F  2 I + "collection"'& +5 "core" & ,\ +2 "collection"'& +5 "core" & T\ +2 .tCC.seek :closed +2 "collection"'m(\\ +5 "core" & S\ +6 &3 _\ #b +10 &Vt `\ 7 +9 &p `\ K +9 &L U\ L +10 &gM Q\ L +9 &(Q Z\ M +10 &N Z\ M +49 &J L\ L +5 &oM T\ L +2 &0P H\ M + &O M\ L +2 &!Q K\ M + &#wP I\ L +5 &%8L G\ M +10 &&O M\ L +9 &(K M\ M +9 &*~N I\ M +10 &,AL H\ L +9 &.M E\ L +10 &/Q E\ L +9 &1O D\ L +9 &3HQ F\ M +10 &5 L F\ L +9 &6O B\ M +9 &8Q E\ M +10 &:PO E\ M +9 &<L D\ L +10 &=N D\ L +9 &?O <\ L +9 &AWT ;\ M +10 &CR A\ M +9 &D]\ 7\ N +9 &Fh\ \ ;\ P +10 &HQw\ \ ;\ R +9 &J\ "\ 6\ V +10 &K\ &\ %6\ Z +9 &M\ !\ "8\ Z +9 &O@\ \ 7\ Z +10 &P\ \ >\ [ +9 &R\ \ A\ \\ +9 &T\ \ 9\ \\ +10 &VA\ \ 7\ ] +9 &W\ \ >\ ~^ +10 &Y\ \ :\ {` +9 &[\ \ 6\ {L +9 &\\6\ \ 9\ 1 +10 &\\\ \ ?\ U +5 ( +2 "collection"'& +4 "core" &\\o\ \ C\ U +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&v% +4 "core" % F   3 I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%0& +4 "core" &\ r +2 "manipulator"&_% +4 "core" %    M  +2 "storage"(Q% +3 "core" % \ r +2 "storage"(r. +3 "core" .([ +2 "storage"(N& +3 "core" &[ \ r +3 "storage"(<& +4 "core" &[ 9\ r +2 "manipulator"&9& +3 "core" &ӌ   2 +2 "manipulator"&s% +4 "core" %    M  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&L(r +163 "core" ( +2 "manipulator"&G& +3 "core" &s     +3 "storage"(7& +3 "core" &[ \ \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&P'= +104 "core" ' +2 "storage"(& +4 "core" &[ [\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(n'r +294 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &[ q\ t +2 "manipulator"&& +4 "core" &s   +2 .tElbow.seek 7 +2 "manipulator"&E(r +3 "core" ( +2 "manipulator"&o& +3 "core" &s  +2 "storage"(e& +4 "core" &[ +\ w +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&U'ϧ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +4 "storage"(]' +4 "core" &s    +2 "manipulator"&8% +5 "core" % Ϙ   \ > +2 .tForearm.seek :retract +2 "manipulator"&(' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&:( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&b& +4 "core" &  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &O& +3 "core" &   $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&?' +94 "core" ' +2 "manipulator"&%& +4 "core" &   $ +2 "manipulator"&h% +4 "core" %   5 +2 "processing"%& +3 "core" &\ y +3 "processing"%6& +5 "core" &\ y +2 .tPC.seek :closed +2 "processing"%-(^ +5 "core" &\ y +6 &5\ r#b +9 &Ts\ f7 +10 &|r\ eL +9 &O\ lP +10 &OK\ mP +9 &L\ mP +9 &L\ mP +10 &O\ lP +9 &ZJ!\ nO +9 &M\ mP +10 &L\ lO +9 &!K\ mP +10 &#aL\ mP +9 &%#M \ kP +9 &&O8\ mP +10 &(LQ\ mP +9 &*hJI\ mP +9 &,*LK\ mP +10 &-K\ mP +9 &/M,\ lO +10 &1qJE\ mP +9 &34LF\ lO +9 &4KH\ mP +10 &6J9\ mP +9 &8yM8\ mP +9 &:<KB\ mO +10 &;M;\ mP +9 &=M9\ mP +10 &?N<\ lP +9 &A@O<\ lQ +9 &CU8\ kQ +10 &D]7\ iR +9 &Fd<\ gS +9 &H<tF\ dU +10 &I7\ `W +9 &K:\ aW +10 &M|6\ bW +9 &O=6\ bW +9 &P7\ `W +10 &RE\ `W +9 &T4\ _Y +9 &VD+\ `W +10 &X4\ `X +9 &Y0\ `X +10 &[-\ _Y +9 &]IB\ ]M +9 &^}O7\ ^#k +10 &^"7\ q- +2 ( +2 "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&`1 +52 "core" 1 +2 "manipulator"&g% +3 "core" %   5 +50 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +98 "core" ' +2 "processing"%w& +4 "core" &^1\ t- +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&Z% +3 "core" % \     +3 "storage"(l% +3 "core" % f\ s +2 "storage"(\ . +4 "core" .([ + "storage"(u& +5 "core" &[ 5\ s +2 "storage"(S& +2 "manipulator"&W& +6 "core" &[ q\ t +2 &  \ \ $ +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(M'r + "manipulator"&J( +7 "core" ( + "manipulator"&*& +3 "core" &   B $ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &   $ +2 .tForearm.seek PC +2 "manipulator"&a' +92 "core" ' +2 .tHand.close +2 "manipulator"&+/ +73 "core" / +2 .tPC.seek :open +2 "processing"% ( +76 "core" ' +2 "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +43 "core" ' +327 ( + "storage"(& +5 "core" &[ M\ s + "manipulator"&& +4 "core" &    $ +2 "manipulator"&% +4 "core" % \  . +2 .tForearm.seek :retract +2 "manipulator"&4' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&A(r +244 "core" ( +2 "manipulator"&& +3 "core" &o    X +2 "storage"(j& +5 "core" &[ t\ p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'= +93 "core" ' +2 .tHand.open + "manipulator"&[1 +64 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(c' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(>' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(p- +4 "core" -' +2 "storage"(F& +3 "core" &[ \  +2 "manipulator"&& +4 "core" &o . X +2 .tElbow.seek 7 +2 "manipulator"&{(r +3 "core" ( +2 "manipulator"&@& +5 "core" &o > X +2 "storage"(R& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&X& +4 "core" &o    X +2 "storage"(f& +3 "core" &[ l\ t +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&|'{ +29 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +23 "core" ' +2 "manipulator"&% +3 "core" %{  . - +2 "storage"(&& +5 "core" &[ Q \\ \ e + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&)'ϧ +13 "core" ' +2 "manipulator"&#& +4 "core" &  \ S 2 +2 "storage"($& +4 "core" &[ Z\ u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'= +17 "core" ' +2 "storage"(y% +3 "core" % N\ v +3 ."downElevator"SE.seek :down +51 "storage"(' +51 (% +3 "core" %@ \ lZp +2 "manipulator"&^% +4 "core" %-  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +111 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (V& +3 "core" &[ S\ s +2 "collection"' & +5 "core" &\\k\ \ \ \ \ U +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&2% +4 "core" %    +2 "storage"(;% +3 "core" % `\ v +2 "storage"( . +3 "core" .([ +2 "storage"(H& +4 "core" &[ \ u +2 "storage"(Y& +4 "core" &[ E\ v +2 "manipulator"&d& +4 "core" &   2 +2 .tElbow.seek 7 + "manipulator"&(r +22 "core" ( +2 "manipulator"& & +3 "core" &v    +3 "storage"(=& +3 "core" &[ &\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +95 "core" ' + "storage"(& +5 "core" &[\  \ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'r +294 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" &v   (  +2 "storage"(& +4 "core" &[ _\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +29 "core" ' +2 "manipulator"&i% +4 "core" %Ό M + "storage"(& +4 "core" &[ h Z ~\ j +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&.'ϸ +15 "core" ' + "manipulator"&k& +4 "core" &v   +2 "storage"(5& +4 "core" &[ m\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(v' +36 "core" ' +2 "manipulator"&0& +3 "core" &v   +3 "manipulator"&_% +4 "core" %5 Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +156 "core" ( + "manipulator"&N& +4 "core" &ӏ$   $ =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +2 "core" &ӏ$  =C +3 .tForearm.seek CC + "manipulator"&'? +103 "core" ' + .tHand.close +2 "manipulator"&9/ +57 "core" / +2 .tCC.seek :open +2 "collection"'s( +451 "core" ( +2 "storage"(!& +3 "core" &[ Y n \ +2 "storage"(G& +3 "core" &[ G G ,\ +3 "manipulator"&7& +4 "core" &ӫ   9' +2 "manipulator"&% +3 "core" % <   +3 .tForearm.seek :retract + "manipulator"&1' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&q(r +162 "core" ( +2 "manipulator"&"& +4 "core" &x    +2 "storage"(z& +3 "core" &[ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +94 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&e1 +109 "core" 1 +5 "manipulator"&% +5 "core" % Ύ , + "storage"(& +4 "core" &[ W\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&8'Ϻ +16 "core" ' +2 "manipulator"&L& +3 "core" &x  w  +2 "storage"(P& +5 "core" &[ &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&n'= +15 "core" ' +2 "storage"(U% +3 "core" % %\ +3 ."downElevator"SE.seek :down +4 "storage"(b' +98 (O% +3 "core" %d@  \ Yl +2 "manipulator"&E% +5 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +91 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'h& +3 "core" & \ +2 "manipulator"&% +4 "core" %     +2 "storage"(]% +3 "core" % \  +3 "storage"((. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(/(<- +671 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +3 "core" &<. \  o\  +2 "manipulator"&g& +5 "core" &x    + .tElbow.seek 5 +2 "manipulator"&6( +24 "core" ( + "manipulator"&w& +5 "core" &     + "storage"(Z& +4 "core" &<. \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&l'O +94 "core" ' +2 "storage"(\ & +3 "core" &<. 1\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'r +296 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &<- m \ +2 "manipulator"&*& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&3( +14 "core" ( +2 "manipulator"&?& +4 "core" &   +2 "storage"(+& +4 "core" &<- "\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&,'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& +2 "storage"(-' +6 "core" & H +3 "manipulator"&M% +4 "core" % ϵ +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&& +3 "core" &x.   E| +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&a& + "storage"(5 +4 "core" &x.   E| +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +98 "core" ' +3 "manipulator"&j& +3 "core" &Ө%   >L +2 "manipulator"&J% +4 "core" %I    +2 "collection"'[& +5 "core" & S\ +2 "collection"'& +5 "core" & .\ +2 .tCC.seek :closed +2 "collection"'p(\\ +4 "core" & _\  +9 &2v `\ *x +10 &bx ]\ = +9 &mk Z\ M +9 &/L `\ M +10 &N \\\ L +9 &N W\ L +9 &wN T\ L +10 &7Q T\ M +9 &L Q\ M +10 &J I\ M +9 & K J\ L +9 &"AM K\ L +10 &$L K\ L +9 &%L M\ M +9 &'L E\ M +10 &)HK H\ M +9 &+ L I\ L +10 &,M F\ M +9 &.Q C\ M +9 &0PQ F\ M +10 &2M C\ M +9 &3N @\ M +9 &5R @\ M +10 &7XM A\ M +9 &9N >\ M +10 &:P D\ M +9 &<Q 9\ M +9 &>`Q =\ M +10 &@"M 8\ M +9 &AO 8\ M +9 &CU 8\ M +10 &Eb_ @\ O +9 &G g\ \ 9\ P +10 &H\ \ >\ S +9 &J\ #\ "=\ X +9 &LJ\ &\ '7\ Z +10 &N \ #\ "C\ Z +9 &O\ \ D\ [ +52 &Q\ \ >\ }[ +4 &SL\ \ A\ {\\ + &U \ \ 8\ z] + &V\ \ C\ x] + &X\ \ ;\ v^ + &ZL\ \ >\ v^ +6 &[z\ \ 9\ C +9 &\\(\ \ @\ (w +9 &\\x\ \ C\ Z +3 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&F1 +52 "core" 1 +3 "manipulator"&% +4 "core" % I   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%4& +4 "core" &\ m +2 "manipulator"&R% +4 "core" %    B  +2 "storage"(X% +3 "core" % \ m +2 "storage"(f. +4 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +24 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<. g ] \ k +3 "manipulator"&&& +3 "core" &ӭ#    =G +2 "manipulator"&#% +4 "core" %  %  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&c( +157 "core" ( + "manipulator"&$& +4 "core" &   F +2 "storage"(y& +3 "core" &<. [\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +94 "core" ' + "storage"(K& +4 "core" &<. <\ z +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &<. \ r +3 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&{( +4 "core" ( +2 "manipulator"&& +3 "core" & Y +2 "storage"(|& +5 "core" &<. `\ u +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&)'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(2' +8 "core" &   ? +2 "manipulator"&;% +4 "core" % ϶ \  +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&B( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&H& +3 "core" & \  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&d' +98 "core" ' + "manipulator"& & +5 "core" &   + "manipulator"&=% +5 "core" %   +2 "processing"%t& +4 "core" &\ u +2 "processing"%& +5 "core" &\ u +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\ u +9 &2u\ d)w +9 &aw\ `> +9 &^j\ bP +10 &J\ iP +9 &I\ iP +10 &J\ iP +9 &dK\ hP +9 &&K\ hP +10 &L\ iP +9 &K\ iP +9 & lL\ hP +10 &"-L\ iP +9 &#L\ iP +10 &%K\ iP +9 &'sL \ iP +9 &)5L\ iP +10 &*L\ hP +9 &,L\ iP +9 &.{J,\ iP +10 &0=K?\ hP +9 &2J\ iP +10 &3J7\ hP +9 &5J<\ iP +9 &7GJ8\ iP +10 &9Q<\ gP +9 &:L9\ hP +9 &<L@\ iP +10 &>MO<\ gP +9 &@M9\ gP +10 &AM:\ hQ +9 &CX7\ fQ +9 &EP]6\ dR +10 &Gd6\ cS +9 &Hr7\ `U +9 &J9\ ^W +10 &LJ?\ ^W +9 &N 8\ \\W +10 &O<\ ]X +9 &Q7\ [X +9 &SN5\ \\X +10 &U6\ [X +9 &V3\ \\X +9 &X3\ \\X +10 &ZU2\ [Y +9 &\\,\ [X +10 &]},\ ^9 +9 &^/r-\ aQ +9 &^#0\ m2 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&T1 +59 "core" 1 +2 "manipulator"&I% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 "processing"%~& +4 "core" &^!A\ k2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +48 "manipulator"&% +6 "core" %   - ' +2 "storage"(% +3 "core" % i j \ j +3 "storage"(i. +3 "core" .(<- +2 "storage"(& +4 "core" &<. i i \ j +2 "storage"(k& +2 "manipulator"&5& +8 "core" &<. i i \ k + &   A +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&0( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(_'r +2 "core" ( +3 "manipulator"&\\& +4 "core" &   & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  ; +2 .tForearm.seek PC +2 "manipulator"&C' +95 "core" ' +2 .tHand.close +2 "manipulator"&/ +73 "core" / +2 .tPC.seek :open +2 "processing"%.( +79 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(N'1 +43 "core" ' +324 ( +2 "storage"(<& +3 "core" &<, H\ p +3 "manipulator"&& +3 "core" &    +2 "manipulator"&'% +5 "core" %  \ ( +2 .tForearm.seek :retract + "manipulator"&9' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Q( +243 "core" ( + "manipulator"&m& +5 "core" &    ; + "storage"(!& +4 "core" &<, \ m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&G'O +95 "core" ' +2 .tHand.open + "manipulator"&71 +58 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(r& +4 "core" &<, +\ ( +2 "manipulator"&e& +3 "core" & : +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &    : +2 "storage"(L& +3 "core" &<, U\ ' +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(U'" +52 "core" ' + "manipulator"&1& +4 "core" &   ) : +2 "storage"(q& +4 "core" &<, \ q +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&O'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +27 "core" ' +2 "manipulator"&h% +4 "core" %Ξ  +2 "storage"(& +4 "core" &<, \ n + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&8' +23 "core" ' +2 "manipulator"&]& +4 "core" &  9 +2 "storage"((& +4 "core" &<, \ t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&v'O +16 "core" ' +2 "storage"(n% +4 "core" % \ t +2 ."downElevator"SE.seek :down +4 "storage"(b' +99 (x% +3 "core" %K g ^ Y\ g[t +2 "manipulator"&`% +4 "core" %Q    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +47 "manipulator"&g' +102 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (w& +3 "core" &<, \ q +2 "collection"'Z& +4 "core" &\\v\ \ B\ Z +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&\ % +4 "core" %    +2 "storage"(o% +4 "core" % f\ t +2 "storage"(%. +3 "core" .(<- +2 "storage"(S& +4 "core" &<, ?\ s +2 "storage"(W& +4 "core" &<, g\ s +2 "manipulator"&*& +4 "core" &  9 +2 .tElbow.seek 5 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&+& +3 "core" &   9 +2 "storage"(:& +5 "core" &<, Y\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +96 "core" ' + "storage"(M& +5 "core" &<, P\ y +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +295 "core" ' + "storage"(l- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &    9 +2 "storage"(a& +3 "core" &<, \ r +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&u'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(J'h +30 "core" ' +2 "manipulator"&[% +3 "core" %Ο    +2 "storage"(3& +4 "core" &<, \ o +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&-' +15 "core" ' +2 "manipulator"&& +4 "core" & \ 9 +2 "storage"(s& +3 "core" &<, \ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&4& +3 "core" &   8 9 +2 "manipulator"&R% +5 "core" %M   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +165 "core" ( +2 "manipulator"&& +4 "core" &ӄ   ) 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӄ   2 +2 .tForearm.seek CC +2 "manipulator"&&'? +101 "core" ' +2 .tHand.close + "manipulator"&#/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"($& +3 "core" &<, a e ^\  +3 "storage"(y& +3 "core" &<, a V (\  +2 "manipulator"&/& +4 "core" &Ӕ   0 +2 "manipulator"&K% +4 "core" % !   v +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&@( +159 "core" ( + "manipulator"&& +5 "core" &   n  + "storage"(^& +4 "core" &<, &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&D'΍ +94 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +58 "core" 1 +2 "manipulator"&V% +5 "core" % Ρ    + "storage"( & +4 "core" &<, k\  +2 .tForearm.force -20 + "manipulator"&5 +44 .tForearm.seek 5 + 320 counts +9 "manipulator"&;' +14 "core" ' + "manipulator"&c& +4 "core" &  +2 "storage"(A& +3 "core" &<, G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +15 "core" ' +2 "storage"()% +4 "core" % 2\ +3 ."downElevator"SE.seek :down +3 "storage"(H' +99 (Y% +3 "core" %jD u v X\ Ym +2 "manipulator"&{% +4 "core" %M  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'=& +3 "core" & F\ +3 "manipulator"&t% +3 "core" %     +2 "storage"(2% +5 "core" % \  + "storage"( . +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"( (K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &K <\ \ +2 "manipulator"&I& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" &  \ D  +2 "storage"(& +3 "core" &K \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +103 "core" ' + "storage"(i& +4 "core" &K  \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" &K B\ +2 "manipulator"&\\& +4 "core" & F  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&d& +3 "core" &  +2 "storage"(& +5 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +8 "core" & )  + "manipulator"&_% +5 "core" % j M n +2 .tForearm.seek :retract + "manipulator"&<' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 ' + ."downElevator"SE.stop +4 "manipulator"&'& + "storage"(5 +7 "core" &x.    E} +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &x.   E} +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'? +92 "core" ' +2 "manipulator"&!& +3 "core" &ӫ#   S >J +3 "manipulator"&0% +4 "core" %6   z @ +2 "collection"'7& +3 "core" & 0\ +3 "collection"'& +5 "core" & ^\ +3 .tCC.seek :closed + "collection"'(\\ +6 "core" & b\ +6 &A `\ %g +10 &Wr a\ 7 +9 &r a\ L +9 &O _\ M +10 &|J Z\ L +9 &>M S\ L +9 &L S\ M +10 &Q S\ M +9 &O J\ M +10 &FL N\ L +9 & L O\ L +9 &!Q D\ M +10 &#P O\ L +9 &%MK I\ M +9 &'J L\ L +10 &(M I\ L +9 &*P M\ M +10 &,UO H\ M +9 &.M L\ L +9 &/Q D\ M +10 &1Q G\ M +9 &3^L @\ L +9 &5N C\ M +10 &6L B\ M +9 &8M A\ M +10 &:eL C\ M +9 &<(L D\ L +9 &=N 5\ M +10 &?Q @\ M +9 &AmR ;\ M +9 &C-T D\ M +10 &D` D\ O +9 &Fj\ \ 7\ P +10 &H_\ \ 4\ T +9 &J\ %\ 8\ Y +9 &K\ #\ #7\ Z +10 &M\ \ 8\ [ +9 &OR\ \ 3\ [ +9 &Q\ \ 7\ [\ +10 &R\ \ 8\ \\ +9 &T\ \ >\ \\ +10 &VU\ \ ;\ }] +9 &X\ \ 7\ {^ +9 &Y\ \ <\ z_ +10 &[\ \ 9\ xM +9 &\\<\ \ D\ ~+ +9 &\\\ \ D\ [ +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 +2 .Hand.open + "manipulator"&r1 +62 "core" 1 +6 "manipulator"&e% +3 "core" % 6   o @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%L& +3 "core" &\ o +2 "manipulator"&9% +5 "core" %     + "storage"(1% +4 "core" % \ n +2 "storage"(q. +3 "core" .(K +2 "storage"(h& +4 "core" &K \ n +2 "storage"(& +4 "core" &K \ n +2 "manipulator"&N& +4 "core" &Ӭ%   >I +2 "manipulator"&]% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&"( +164 "core" ( + "manipulator"&(& +4 "core" &    +2 "storage"(n& +3 "core" &K .\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +94 "core" ' + "storage"(G& +4 "core" &K R\ { +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +301 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" &K \ t +2 "manipulator"&P& +5 "core" &  k  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&U& +3 "core" & \  W  +2 "storage"(O& +4 "core" &K o\ x +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&8'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&Z& + "storage"(\ ' +7 "core" &    +2 "manipulator"&o% +4 "core" % ϊ  < } +2 .tForearm.seek :retract +2 "manipulator"&%' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +2 "manipulator"&S& +5 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&*' +103 "core" ' + "manipulator"&+& +5 "core" &  ; + "manipulator"&:% +5 "core" %    y +2 "processing"%M& +4 "core" &\ y +2 "processing"%v& +5 "core" &\ y +2 .tPC.seek :closed +2 "processing"%b(^ +5 "core" &\ x +9 &1p\ h*x +9 &`v\ d> +9 &[j\ fO +10 &M\ mP +9 &L\ mP +9 &K\ mP +10 &aL\ mP +9 &#K\ mP +10 &K\ mP +9 &L\ mP +9 & hO\ lP +10 &"*L\ mP +9 &#L\ mP +9 &%J\ nP +11 &'qM \ lP +8 &)3L\ lP +10 &*L\ mP +9 &,M2\ lP +9 &.zJ\ mO +10 &0:L\ lP +9 &1J\ mP +10 &3J \ lP +9 &5J0\ nP +9 &7DJ<\ mO +10 &9ND\ lP +9 &:L?\ mP +9 &<L=\ lP +10 &>JN@\ lP +9 &@ N<\ lP +9 &AM>\ lP +10 &CY?\ jR +9 &ELY7\ jR +10 &G\ e9\ gS +9 &Hr7\ eU +9 &JA\ bW +10 &LGA\ bV +9 &N;\ `W +9 &O7\ aW +10 &Q5\ _X +9 &SKA\ `X +10 &U <\ _X +9 &V6\ `X +9 &X4\ `X +10 &ZQ0\ _Y +9 &\\5\ _X +9 &]7\ b; +10 &^/w:\ eT +9 &^(6\ p1 +2 ( +2 "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&E1 +57 "core" 1 + "manipulator"&g% +5 "core" %     y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +92 "core" ' +2 "processing"%& +3 "core" &^&1\ k1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&a% +4 "core" %    \  +2 "storage"(j% +3 "core" % i i \ i +2 "storage"([. +4 "core" .(K + "storage"(3& +4 "core" &K i i \ j +2 "storage"(& +3 "manipulator"&s& +8 "core" &K h h b\ j + &   + +49 ."raiseStack"SE.reconfigure :place +6 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&4( + "storage"(R'r +7 "core" ( + "manipulator"&}& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &   3 +3 .tForearm.seek PC +2 "manipulator"&6' +93 "core" ' +2 .tHand.close +2 "manipulator"&u/ +65 "core" / +2 .tPC.seek :open +2 "processing"%-( +81 "core" ' +2 "storage"(J- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +49 "core" ' +313 ( +2 "storage"(& +4 "core" &K /\ q +2 "manipulator"&F& +3 "core" &    +2 "manipulator"&,% +5 "core" %   - +2 .tForearm.seek :retract +2 "manipulator"&#' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&X( +241 "core" ( +2 "manipulator"&p& +3 "core" &    - +2 "storage"($& +4 "core" &K \\\ p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&y' +94 "core" ' +2 .tHand.open + "manipulator"&/1 +61 "core" 1 +3 "storage"(K- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(f& +4 "core" &K \ ! +2 "manipulator"&|& +4 "core" &   - +2 .tElbow.seek 6 +2 "manipulator"&V( +4 "core" ( +2 "manipulator"& & +3 "core" & \  \\ - +3 "storage"(c& +4 "core" &K c\ ! +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"()'" +57 "core" ' +2 "manipulator"&& +3 "core" &    - +3 "storage"(Y& +4 "core" &K ,\ r + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&@'< +26 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(D' +27 "core" ' + "manipulator"&=% +5 "core" %K   + "storage"(t& +4 "core" &K j i \ j +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 315 counts + "manipulator"&;'w +14 "core" ' +2 "manipulator"&2& +3 "core" &    - +3 "storage"( & +3 "core" &K \ s +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(>% +4 "core" % \ r +2 ."downElevator"SE.seek :down +4 "storage"(H' +99 ( % +3 "core" %L j _ \ g[t +2 "manipulator"&T% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&I' +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" &K p k E\ p +3 "collection"'& +4 "core" &\\x\ \ \ [ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&i% +4 "core" %     +2 "storage"(% +4 "core" % h\ r +2 "storage"( . +51 "core" .(K + "storage"(5& +5 "core" &K ]\ s + "storage"(k& +5 "core" &K \ s + "manipulator"&\\& +5 "core" &    - +2 .tElbow.seek 6 + "manipulator"&d( +4 "core" ( +2 "manipulator"&& +4 "core" &   - +2 "storage"(B& +3 "core" &K 2\ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +102 "core" ' + "storage"(_& +5 "core" &K \ v +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &    - +2 "storage"(C& +5 "core" &K \ n +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +15 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(0'l +31 "core" ' + "manipulator"&7% +4 "core" %M   \ +2 "storage"(& +3 "core" &K \ s +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&'y +13 "core" ' +2 "manipulator"&<& +4 "core" &  ) - +2 "storage"(& +4 "core" &K -\ w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(e' +39 "core" ' +2 "manipulator"&L& +3 "core" &  a - +2 "manipulator"&9% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +154 "core" ( + "manipulator"&& +5 "core" &Ӓ#   <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &Ӓ#  <> +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&N/ +65 "core" / +2 .tCC.seek :open + "collection"']( +448 "core" ( +2 "storage"(m& +4 "core" &K w 1\ +2 "storage"((& +3 "core" &K q q E\ +3 "manipulator"&n& +3 "core" &ӫ   9% +2 "manipulator"&G% +5 "core" % >  & +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +160 "core" ( + "manipulator"&x& +4 "core" &     +2 "storage"(`& +4 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&P'< +98 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +53 "core" 1 +2 "manipulator"&w% +3 "core" % M   1 +2 "storage"(Z& +4 "core" &K 0\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&o'y +13 "core" ' +3 "manipulator"&"& +3 "core" & v  +2 "storage"(Q& +4 "core" &K I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +16 "core" ' +42 "storage"(8% +11 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(S' +100 (W% +3 "core" %NC v \ Yk +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +96 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"':& +3 "core" &  \ +2 "manipulator"&M% +3 "core" %  \   +3 "storage"(\ % +3 "core" % %\  +2 "storage"(%. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(.([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +2 "core" &[ b g \ +2 "manipulator"&g& +5 "core" & $  +2 .tElbow.seek 7 + "manipulator"&(r +35 "core" ( + "manipulator"&a& +4 "core" &   +2 "storage"(j& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&['= +98 "core" ' + "storage"(3& +4 "core" &[ >\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &[ d o Z\  +3 "manipulator"&}& +3 "core" &    +3 .tElbow.seek 7 +2 "manipulator"&?(r +25 "core" ( + "manipulator"&*& +4 "core" &y  a e +2 "storage"(u& +3 "core" &[ \  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&J'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(b' +9 "core" &y ? e + "manipulator"&R% +4 "core" % ϝ G +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&,& +3 "core" &Ӕ!  :- +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &Ӕ!  q :- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&p'? +97 "core" ' +2 "manipulator"&$& +5 "core" &ӕ!   :, + "manipulator"&4% +5 "core" %G    + "collection"'/& +5 "core" & 0\ +2 "collection"'K& +5 "core" & ^\ +3 .tCC.seek :closed +2 "collection"'&(\\ +3 "core" & `\ +7 & `\ < +9 &OKr c\ 2 +11 &tw a\ F +8 &/O `\ M +10 &M `\ L +9 &L a\ M +9 &wK [\ L +10 &9N T\ L +9 &L X\ M +9 &O S\ M +10 &~N F\ M +9 &!AL P\ L +10 &#M K\ L +9 &$Q H\ M +9 &&P K\ L +10 &(HL N\ M +9 &* K O\ L +9 &+L M\ L +10 &-Q O\ M +9 &/PP H\ M +10 &1O E\ M +9 &2N D\ L +9 &4N F\ M +10 &6XQ H\ M +9 &8Q N\ M +9 &9Q L\ M +10 &;K E\ L +9 &=`N I\ M +10 &?"Q C\ M +9 &@R D\ M +9 &BO H\ M +10 &DdY A\ N +9 &F#b\ \ B\ O +9 &Gr\ \ \ <\ Q +10 &I\ \ A\ U +9 &KK\ '\ #8\ Y +10 &M \ #\ %;\ Z +9 &N\ \ 8\ Z +9 &P\ \ 7\ [\ +10 &RN\ \ 5\ [\ +9 &T \ \ <\ ~\\ +9 &U\ \ ?\ \\ +10 &W\ \ 8\ |^ +9 &YL\ \ 8\ y^ +10 &[ \ \ @\ z_ +9 &\\fH\ \ ?\ 3 +9 &\\\ \ :\ P +6 ( + "collection"'K& +4 "core" &\\b\ \ 9\ P +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&f1 +56 "core" 1 +2 "manipulator"&|% +3 "core" % G    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%c& +3 "core" &\ s +3 "manipulator"&#% +4 "core" %    j  +47 "storage"(% +7 "core" % \ s +2 "storage"(Y. +2 "core" .([ +2 "storage"(=& +5 "core" &[ d\ s + "storage"(& +5 "core" &[ <\ s + "manipulator"&t& +4 "core" &Ө  b 7 +2 "manipulator"&2% +3 "core" %    f  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&(r +163 "core" ( + "manipulator"& & +5 "core" &t    + "storage"(>& +5 "core" &[ ,\ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&X'= +93 "core" ' + "storage"(y& +5 "core" &[ L ] P\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(^'r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (T& +2 "core" &[ _\ t +3 "manipulator"&A& +4 "core" &t    +2 .tElbow.seek 7 + "manipulator"&V(r +4 "core" ( +2 "manipulator"&)& +3 "core" &t  f  +2 "storage"(@& +5 "core" &[ E\ w +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(i' +9 "core" &t  P  + "manipulator"&% +5 "core" % ϶ +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +3 .tElbow.seek PC + "manipulator"&D( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&5& +3 "core" &  \  % +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &    % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\' +89 "core" ' +2 "manipulator"&& +4 "core" &  % +2 "manipulator"&B% +3 "core" %   _ +3 "processing"%& +4 "core" &\ | +2 "processing"%_& +5 "core" &\ } +2 .tPC.seek :closed +2 "processing"%H(^ +4 "core" &\ } +9 &0u\ k*y +9 &`w\ h> +9 &dj\ jP +10 &$M\ pP +9 &M\ pP +9 &K\ pO +10 &kL\ pP +9 &.L\ pO +10 &L\ pP +9 &L\ qO +9 & sL\ pP +10 &"5J\ qP +9 &#L\ qP +9 &%L\ pO +10 &'{M\ pP +9 &)=L\ pP +10 &*O\ oP +9 &,N\ pP +9 &.O%\ oP +10 &0EL:\ pP +9 &2Nj\ pP +9 &3I\ qP +10 &5I7\ qP +9 &7ML;\ pP +10 &9Ql\ pP +9 &:N#\ qP +9 &<M7\ qO +10 &>SO:\ pP +9 &@N6\ pP +9 &AR=\ oQ +10 &CZB\ mR +9 &EV`=\ lR +10 &Gh=\ jS +9 &Hy9\ gU +9 &J<\ dW +10 &LP}=\ fW +9 &N8\ dW +9 &O5\ eW +10 &Q;\ cX +9 &SV7\ dX +10 &U8\ bX +9 &V6\ cX +9 &X4\ dW +10 &Z]6\ cX +9 &\\4\ cX +9 &]},\ f7 +10 &^,b/\ kZ +9 &^(/\ s4 +2 ( +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&{1 +54 "core" 1 + "manipulator"&I% +4 "core" %   / _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +3 "processing"%'& +3 "core" &^+A\ m4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&C% +4 "core" % #   7 +2 "storage"(!% +4 "core" % \ m +2 "storage"(7. +3 "core" .([ +2 "storage"(& +4 "core" &[ w o\ l +2 "storage"(<& +2 "manipulator"&& +7 "core" &[ ~ p ?\ m + &   % +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&L( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'r +2 "core" ( +2 "manipulator"&& +4 "core" &  % +43 .tElbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +3 &d& +2 "core" & *  Y % +3 .tForearm.seek PC + "manipulator"&~' +95 "core" ' +2 .tHand.close + "manipulator"&/ +66 "core" / +2 .tPC.seek :open +2 "processing"%( +34 "core" ' +2 "storage"(0- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +371 ( +2 "storage"(h& +3 "core" &[ 2\ u +3 "manipulator"&r& +3 "core" &  % +2 "manipulator"&% +5 "core" % " +2 .tForearm.seek :retract +2 "manipulator"&N' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&1(r +246 "core" ( +2 "manipulator"&& +4 "core" &i   4 o +2 "storage"(m& +3 "core" &[ P\ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&('= +94 "core" ' + .tHand.open +2 "manipulator"&n1 +61 "core" 1 +2 "storage"(G- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(x' +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(q& +4 "core" &[ \ " +2 "manipulator"&O& +3 "core" &i\  o +2 .tElbow.seek 7 +2 "manipulator"&w(r +4 "core" ( +2 "manipulator"&Z& +4 "core" &i\   ) o +2 "storage"("& +3 "core" &[ 7\  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&Q'= +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(8'" +59 "core" ' +2 "manipulator"&& +3 "core" &i\   o +3 "storage"(W& +3 "core" &[ D\ r +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(P' +21 "core" ' +2 "manipulator"&o% +4 "core" %| / /  +2 "storage"(:& +3 "core" &[ K N _\ e +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 301 counts + "manipulator"&M'Ϩ +14 "core" ' + "manipulator"&\ & +5 "core" &  N + "storage"(%& +5 "core" &[ B\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&e'= +16 "core" ' +2 "storage"(z% +4 "core" % \ w +2 ."downElevator"SE.seek :down +3 "storage"(S' +100 ( % +2 "core" %G t \ lZq +3 "manipulator"&E% +3 "core" %6   +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +3 "core" &[ 7\ u +3 "collection"'j& +4 "core" &\\b\ \ 6\ P +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&3% +4 "core" %     +2 "storage"(U% +4 "core" % B\ w +2 "storage"(+. +3 "core" .([ +2 "storage"(& +4 "core" &[ >\ w +2 "storage"(v& +4 "core" &[ ,\ x +2 "manipulator"&}& +4 "core" & \  N +2 .tElbow.seek 7 + "manipulator"&*(r +31 "core" ( + "manipulator"&u& +5 "core" &j   4 r + "storage"(& +52 "core" &[ |\ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&l'= +96 "core" ' +2 "storage"(R& +3 "core" &[ U ^ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"([- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &j    r +2 "storage"(6& +5 "core" &[ \ x + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&s'{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"($- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(4'p +29 "core" ' +2 "manipulator"&/% +3 "core" %΍  2 +2 "storage"(?& +4 "core" &[ \ n +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&b'Ϲ +13 "core" ' +2 "manipulator"&& +4 "core" &j F r +2 "storage"(]& +3 "core" &[\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&f'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(|' +36 "core" ' +2 "manipulator"&c& +3 "core" &j d r +3 "manipulator"&#% +3 "core" %5 U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +160 "core" ( +2 "manipulator"&Y& +3 "core" &ӛ   5 :+ +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &ӛ  \ o :+ +3 .tForearm.seek CC + "manipulator"&'? +101 "core" ' + .tHand.close +2 "manipulator"&t/ +58 "core" / +2 .tCC.seek :open + "collection"'2( +448 "core" ( + "storage"(p& +5 "core" &[ s u /\  + "storage"( & +4 "core" &[ o n .\  +2 "manipulator"&>& +4 "core" &Ӣ   9$ +2 "manipulator"&y% +3 "core" % 2   +3 .tForearm.seek :retract + "manipulator"&F' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"& (r +162 "core" ( +2 "manipulator"& & +3 "core" &u  ^  +2 "storage"(T& +4 "core" &[ P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&A'{ +100 "core" ' +2 .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +54 "core" 1 +2 "manipulator"&;% +4 "core" % ΋    +2 "storage"(& +3 "core" &[ G\  +2 .tForearm.force -20 +3 "manipulator"&5 +2 .tForearm.seek 7 + 316 counts +2 "manipulator"&'Ϸ +14 "core" ' +2 "manipulator"&& +4 "core" &u f  +2 "storage"(X& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&^'= +18 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(5' +98 (k% +3 "core" %? K\ Yk +2 "manipulator"&V% +5 "core" %7 P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +42 "manipulator"&' +97 "core" ' +3 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'B& +3 "core" & \ +2 "manipulator"&% +4 "core" %    +2 "storage"(i% +5 "core" % \  +2 "storage"( . +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(-(<- +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &\ N +10 &Fc\  B\ P +9 &Hlx\ \ B\ S +9 &J"\ \ @\ W +10 &K\ '\ '8\ Y +9 &M\ \ #?\ Z +9 &O]\ \ !<\ Z +10 &Q\ \ 7\ [ +9 &R\ \ 4\ ~\\ +10 &T\ \ 8\ ~\\ +9 &V^\ \ ?\ |] +9 &X\ \ :\ z^ +10 &Y\ \ 8\ x_ +9 &[\ \ ;\ vL +9 &\\9\ \ ?\ }- +10 &\\c\ \ C\ O +2 ( +2 "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 + .Hand.open +2 "manipulator"&q1 +58 "core" 1 +3 "manipulator"&O% +3 "core" % @   \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%"& +4 "core" &\ w +2 "manipulator"&N% +3 "core" %    +2 "storage"(% +4 "core" % *\ w +2 "storage"(W. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +14 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" &  + "manipulator"&U% +4 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&+' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&& +3 "core" & \  R  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&}' +91 "core" ' +2 "manipulator"&u& +3 "core" &   b  +2 "manipulator"&% +5 "core" %   i +2 "processing"%e& +3 "core" &\ | +3 "processing"%R& +5 "core" &\ { +2 .tPC.seek :closed +2 "processing"%S(^ +5 "core" &\ } +7 & .\ w$c +9 &Uw\ i7 +10 &|u\ hL +9 &L\ pP +10 &QL\ qP +9 &I\ qP +9 &L\ qP +10 &L\ pP +9 &ZI\ qP +9 &M\ pP +10 &O\ pP +9 &!L\ qO +10 &#bN\ pP +9 &%#L\ qP +9 &&L\ qP +10 &(Q\ pP +9 &*jL\ qP +9 &,,K=\ qP +10 &-L\ qP +9 &/Q\ nP +10 &1rIf\ qP +9 &35KP\ qO +9 &4N\ pP +10 &6J*\ qP +9 &8zK:\ qP +9 &:<L:\ qP +10 &;P8\ oP +9 &=M:\ pP +10 &?NB\ pP +9 &ADO<\ pP +9 &CU<\ nQ +10 &DY7\ oR +9 &F_B\ mR +9 &H@p:\ iT +10 &IB\ eV +9 &K9\ eV +10 &M}7\ eW +9 &O>9\ eW +9 &QB\ cW +10 &R5\ dW +9 &T4\ bX +9 &VE5\ cW +10 &X/\ dX +9 &Y4\ cX +10 &[1\ cW +9 &]J/\ bN +9 &^|G7\ f^ +10 &^\ I4\ p3 +5 ( +2 "processing"%R& +3 "core" &^!+\ t3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&g% +3 "core" %    4 i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +96 "core" ' +2 "processing"%,& +4 "core" &^!0\ o3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&6% +4 "core" % !   % +2 "storage"($% +4 "core" % F\ o +2 "storage"(/. +3 "core" .(<- +2 "storage"(?& +4 "core" &<. \ o +2 "storage"(& +4 "manipulator"&]& +3 "core" &<. ;\ p +3 &   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(c'r + "manipulator"&#( +7 "core" ( + "manipulator"&l& +5 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &*& +2 "core" &   D  +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +9 .tHand.close +2 "manipulator"&s/ +70 "core" / +2 .tPC.seek :open +2 "processing"%b( +77 "core" ' +2 "storage"(4- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Y'1 +53 "core" ' +316 ( +2 "storage"(=& +3 "core" &<, +\ v +3 "manipulator"&f& +4 "core" &     + "manipulator"&J% +5 "core" %    3 +2 .tForearm.seek :retract + "manipulator"&t' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +254 "core" ( + "manipulator"&&& +4 "core" &   / i +2 "storage"(p& +4 "core" &<, \ r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +106 "core" ' +2 .tHand.open +2 "manipulator"&>1 +55 "core" 1 +3 "storage"(y- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(T' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +3 "storage"(K& +4 "core" &<, >\ - + "manipulator"&@& +5 "core" &\   i + .tElbow.seek 5 +2 "manipulator"&;( +4 "core" ( +2 "manipulator"&& +3 "core" &\    i +2 "storage"(& +5 "core" &<, L\ , +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&F& +5 "core" &\  i + "storage"(k& +4 "core" &<, e\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&V'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +18 "core" ' +2 "manipulator"&B% +4 "core" %Ρ   +2 "storage"(& +3 "core" &<, +\ p +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&i& +3 "core" &   = f +2 "storage"( & +5 "core" &<, T\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +16 "core" ' +2 "storage"(^% +4 "core" % \ w +2 ."downElevator"SE.seek :down +4 "storage"(5' +99 (.% +3 "core" % I y \ k[s +2 "manipulator"&{% +5 "core" %P   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (C& +3 "core" &<, \ w +2 "collection"'!& +4 "core" &\\a\ \  \ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %      +2 "storage"()% +5 "core" % \ w + "storage"(. +3 "core" .(<- +2 "storage"(<& +3 "core" &<, W\ x +2 "storage"(_& +4 "core" &<, =\ x +2 "manipulator"&& +4 "core" &   f +2 .tElbow.seek 5 + "manipulator"&\\( +3 "core" ( +2 "manipulator"&& +5 "core" &   \ f + "storage"(D& +4 "core" &<, \ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' +4 "storage"(9& +4 "core" &<, \ z +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +295 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & \  f +3 "storage"(~& +4 "core" &<, S\ s +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(L'g +30 "core" ' +2 "manipulator"&n% +3 "core" %Π   ] +2 "storage"(d& +4 "core" &<, \ o +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&H' +15 "core" ' +2 "manipulator"&h& +3 "core" &  C e +3 "storage"(2& +3 "core" &<, '\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(O' +35 "core" ' +2 "manipulator"&"& +4 "core" &   e +2 "manipulator"&N% +3 "core" %P   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&W(ӂ +147 "core" ( + "manipulator"&G& +4 "core" &{*   Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &{*   Bj +3 .tForearm.seek CC + "manipulator"&:'? +96 "core" ' +2 .tHand.close + "manipulator"&\ / +63 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( +2 "storage"(x& +3 "core" &<, n l \  +3 "storage"(z& +4 "core" &<, ` a H\  + "manipulator"&-& +4 "core" &Ӽ   9) +2 "manipulator"&(% +3 "core" % ,    +3 .tForearm.seek :retract + "manipulator"&r' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Z( +156 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(E& +3 "core" &<, \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&Q'΍ +101 "core" ' + .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&M% +4 "core" % Ε   +2 "storage"(j& +3 "core" &<, 7\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 308 counts +2 "manipulator"&U' +15 "core" ' +3 "manipulator"&%& +3 "core" & ` +2 "storage"(1& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +15 "core" ' +2 "storage"(a% +4 "core" % _\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (v% +2 "core" %SC x m\ Yk +3 "manipulator"&w% +4 "core" %K  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +91 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" & \ +49 "manipulator"&e% +4 "core" %     +2 "storage"(3% +4 "core" % \  +2 "storage"(+. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K \  +2 "manipulator"&g& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&,( +97 "core" ( +2 "manipulator"&6& +4 "core" &  +2 "storage"($& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&/' +93 "core" ' +2 "storage"(?& +3 "core" &K s\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +297 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &K ^\  +2 "manipulator"&l& +4 "core" & g +2 .tElbow.seek 6 +2 "manipulator"&*( +4 "core" ( +2 "manipulator"&}& +3 "core" &  N +2 "storage"(s& +4 "core" &K 8\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&4'h +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(S' +8 "core" & +2 "manipulator"&c% +3 "core" % x J +3 .tForearm.seek :retract + "manipulator"&=' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&J& +3 "core" &Ӗ   8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӗ  _ 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&&'? +94 "core" ' +3 "manipulator"&p& +3 "core" &Ӗ   9 8 +3 "manipulator"&#% +4 "core" %5  8 +2 "collection"'>& +3 "core" & Z\ +3 "collection"'y& +5 "core" & 9\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \\\  +8 &4s ]\ *z +10 &fy _\ ? +9 &h `\ N +9 &RM `\ M +10 &Q ]\ M +9 &Q b\ L +9 &N `\ L +10 & \\\ L +9 &R Z\ M +10 &K X\ L +9 & M P\ L +9 &"cM H\ L +10 &$#Q I\ M +9 &%M U\ M +9 &'L O\ M +10 &)jP N\ M +9 &+-P O\ L +10 &,M P\ L +9 &.N N\ L +9 &0qQ M\ M +10 &25N G\ L +9 &3O G\ M +9 &5N N\ M +10 &7{N E\ L +9 &9<O E\ M +10 &:Q E\ M +9 &<Q D\ M +9 &>N B\ M +10 &@DO B\ M +9 &BT A\ M +9 &CZ E\ N +10 &Ec =\ O +9 &G>q\ \ \ =\ Q +10 &H\ \ B\ U +9 &J\ #\ "D\ Y +9 &Lj\ \ B\ Z +10 &N,\ \ 6\ Z +9 &O\ \ ;\ [\ +9 &Q\ \ ;\ [\ +10 &Sm\ \ 9\ \\ +9 &U/\ \ 4\ \\ +10 &V\ \ <\ }] +9 &X\ \ :\ |^ +9 &Zo\ \ 6\ {^ +10 &\\y\ \ 4\ 8 +9 &\\&\ \ A\ (v +9 &\\\ \ :\ [ +3 ( + "collection"'y& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 +2 .Hand.open + "manipulator"&K1 +53 "core" 1 +2 "manipulator"&@% +5 "core" % 5   > 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ n +2 "manipulator"&t% +4 "core" %    +2 "storage"(F% +3 "core" % \ n +2 "storage"(k. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(B(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K 6 % w\ ^ +2 "manipulator"&Y& +4 "core" &ӧ  V 6 +2 "manipulator"&i% +3 "core" %      +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +47 "manipulator"& ( +162 "core" ( +2 "manipulator"& & +3 "core" &    +3 "storage"(^& +4 "core" &K G\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"( & +3 "core" &K 1\ y +4 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +297 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &K v \ m +2 "manipulator"&X& +5 "core" &   + .tElbow.seek 6 +2 "manipulator"&;( +4 "core" ( +2 "manipulator"&& +3 "core" &     +2 "storage"(V& +4 "core" &K } \ p +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(' +8 "core" &   $  + "manipulator"&)% +5 "core" % k  +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek PC +2 "manipulator"&A( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&<& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' + "manipulator"&& +5 "core" &   \ + "manipulator"&D% +5 "core" %  %  +2 "processing"%|& +4 "core" &\ s +2 "processing"%9& +5 "core" &\ r +2 .tPC.seek :closed +2 "processing"%5(^ +5 "core" &\ r +7 &4\ l#b +9 &Uu\ _7 +10 &|s\ ^L +9 &L\ gP +9 &PL\ fP +10 &J\ gP +9 &N\ fP +9 &L\ gP +10 &XK\ fP +9 &L\ fP +10 &L\ fP +9 &!L\ fP +9 &#`L\ gP +10 &%!N \ gP +9 &&L\ fP +9 &(N\ fP +10 &*gL,\ gP +9 &,)M\ gP +10 &-L\ fP +9 &/L \ eP +9 &1oJ.\ gP +10 &32L\ fP +9 &4J3\ fP +9 &6L7\ fP +10 &8xJ:\ gP +9 &::K<\ gP +10 &;M;\ fP +9 &=O=\ fP +9 &?N;\ fP +10 &AAK8\ gP +9 &CU5\ dQ +9 &DY:\ cR +10 &Fb:\ bS +9 &H=p9\ _T +10 &I8\ [W +9 &K7\ [W +9 &M{7\ [W +10 &O==\ [W +9 &P;\ YX +9 &R6\ ZX +10 &T~3\ XY +9 &VC.\ ZX +10 &X?\ XY +9 &Y4\ YX +9 &[2\ YX +10 &]I5\ XM +9 &^|P0\ V#m +10 &^#+\ j- +2 ( + "processing"%9& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"& 1 +62 "core" 1 +2 "manipulator"&I% +4 "core" %   '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +97 "core" ' +3 "processing"%& +3 "core" &^@\ g- +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&~% +4 "core" % %  ? +2 "storage"(m% +3 "core" % L I Y\ h +2 "storage"(n. +3 "core" .(K +2 "storage"(d& +4 "core" &K e W A\ i +2 "storage"(h& +2 "manipulator"&2& +8 "core" &K H H \ h + &  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&"( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(N'r +2 "core" ( +3 "manipulator"&& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" & "  . +3 .tForearm.seek PC + "manipulator"&'' +93 "core" ' + .tHand.close +2 "manipulator"&/ +76 "core" / +2 .tPC.seek :open +2 "processing"%H( +80 "core" ' + "storage"(G- +45 "core" -'r +9 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +42 "core" ' +272 ( +2 "storage"(o& +4 "core" &K \ n + "manipulator"&q& +5 "core" &    + "manipulator"&0% +5 "core" %   ( +2 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +240 "core" ( + "manipulator"&& +5 "core" &   L ? + "storage"(x& +5 "core" &K i j \ j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +93 "core" ' +2 .tHand.open + "manipulator"&-1 +59 "core" 1 +3 "storage"((- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(E' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(:- +3 "core" -' +2 "storage"(W& +3 "core" &K \  +2 "manipulator"&& +4 "core" & b ? +2 .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&j& +4 "core" & w ? +2 "storage"(%& +3 "core" &K H\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&1' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(a'" +49 "core" ' +2 "manipulator"&r& +3 "core" &   ? +2 "storage"(v& +4 "core" &K l z ;\ m +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&w'< +24 "core" ' +2 .tElbow.hold + "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +27 "core" ' + "manipulator"&% +5 "core" %L   + "storage"(U& +4 "core" &K L I a\ h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&O'x +16 "core" ' +2 "manipulator"&e& +3 "core" &  5 ? +2 "storage"(3& +5 "core" &K %\ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +18 "core" ' +2 "storage"(`% +3 "core" % ^\ q +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %L \\ \\\ b\\v +2 "manipulator"&% +5 "core" % \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (6& +3 "core" &K l ]\ o +3 "collection"'$& +4 "core" &\\\ \ 3\ [ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&?% +4 "core" %    " +2 "storage"(8% +3 "core" % } 1\ p +2 "storage"(u. +4 "core" .(K + "storage"(& +4 "core" &K n\ p +2 "storage"(]& +4 "core" &K \ p +2 "manipulator"&l& +3 "core" &  " ? +2 .tElbow.seek 6 +2 "manipulator"&}( +4 "core" ( + "manipulator"&s& +5 "core" &   ? + "storage"(P& +4 "core" &K \ q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +95 "core" ' +2 "storage"(c& +4 "core" &K -\ w +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'r +307 "core" ' +42 "storage"(/- +10 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&J& +3 "core" &   5 ? +2 "storage"(& +3 "core" &K a\ p +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&R'< +21 "core" ' + .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(p- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(#'l +29 "core" ' +2 "manipulator"&>% +4 "core" %N   F +2 "storage"(*& +4 "core" &K \ n + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&S'z +16 "core" ' + "manipulator"&=& +5 "core" &  e ? + "storage"(& +4 "core" &K Z\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&K' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(@' +35 "core" ' +2 "manipulator"&& +3 "core" &    ? +2 "manipulator"&t% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +164 "core" ( +2 "manipulator"&y& +3 "core" &Ӏ   [ 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӏ   2 +3 .tForearm.seek CC + "manipulator"&Y'? +101 "core" ' + .tHand.close +2 "manipulator"&i/ +56 "core" / +2 .tCC.seek :open +2 "collection"'&( +451 "core" ( + "storage"( & +4 "core" &K \  +2 "storage"(^& +3 "core" &K s K\  +3 "manipulator"&& +4 "core" &Ӑ   0 + "manipulator"&f% +5 "core" % 3  +2 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +161 "core" ( + "manipulator"&.& +4 "core" &     +2 "storage"({& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&X'< +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&V1 +59 "core" 1 +2 "manipulator"&C% +4 "core" % 8  \ i +2 "storage"(!& +3 "core" &K \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"&)'d +14 "core" ' +2 "manipulator"& & +3 "core" & i  +2 "storage"(& +5 "core" &K ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&T' +16 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(<' +98 (_% +3 "core" %D 2\ Yl +2 "manipulator"&;% +4 "core" % \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'D& +3 "core" & H\ +2 "manipulator"&|% +3 "core" %   # +3 "storage"(% +4 "core" % \  + "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +47 .tSC.seek 7 +5 "storage"(b([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &[ c [ \  +2 "manipulator"&I& +4 "core" &     +2 .tElbow.seek 7 +2 "manipulator"&(r +48 "core" ( +2 "manipulator"&~& +3 "core" &  { +2 "storage"(m& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&n'= +93 "core" ' +2 "storage"(9& +3 "core" &[ P\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(d'r +293 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (h& +3 "core" &[ \  +2 "manipulator"&& +4 "core" &  > { +2 .tElbow.seek 7 +2 "manipulator"&\\(r +14 "core" ( +2 "manipulator"&& +4 "core" &w N A +2 "storage"(& +4 "core" &[ X\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&G'ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&A/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&7& + "storage"(5' +6 "core" &w . A +3 "manipulator"&N% +3 "core" % ϛ l +3 .tForearm.seek :retract +2 "manipulator"&o' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&q(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&0& +4 "core" &Ӕ" \ ) ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &Ӕ"   ;5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 "manipulator"&x& +4 "core" &Ӕ"   ' ;5 +2 "manipulator"&"% +5 "core" %I \    +2 "collection"'-& +4 "core" & W\ +2 "collection"'(& +6 "core" & /\ +2 .tCC.seek :closed + "collection"':(\\ +5 "core" & V\ +8 &2 ^\ $d +9 &Up `\ 6 +10 &r b\ K +9 &L a\ M +9 &]P a\ M +10 &P T\ M +9 &Q Y\ M +9 &Q V\ M +10 &eO R\ M +9 &(N O\ L +10 &M Q\ L +9 &!P L\ M +9 &#mK G\ M +10 &%/O J\ M +9 &&P J\ M +9 &(Q I\ M +10 &*uN L\ M +9 &,7L I\ M +10 &-J P\ M +9 &/L O\ M +9 &1}L H\ M +10 &3@N L\ L +9 &5N H\ M +9 &6Q F\ M +10 &8N I\ L +9 &:GN H\ M +10 &< Q D\ M +9 &=P G\ M +9 &?L G\ M +10 &APO D\ L +9 &CR G\ M +9 &DY E\ N +10 &Fc\ \ E\ O +9 &HGy\ \ G\ R +10 &I\ \ E\ V +9 &K\ $\ $D\ Z +9 &Mw\ !\ "B\ Z +10 &O8\ \ 9\ Z +9 &P\ \ 7\ [\ +9 &R\ \ 7\ [ +10 &Ty\ \ 8\ \\ +9 &V8\ \ 8\ ~] +10 &W\ \ 9\ }] +9 &Y\ \ :\ y^ +9 &[x\ \ 6\ yK +10 &\\8\ \ 9\ 1 +9 &\\\ \ 5\ V +5 ( +2 "collection"'(& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&W1 +4 "core" &\\x\ \ 9\ V +52 1 + "manipulator"&% +4 "core" % I    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +100 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%%& +3 "core" &\ s +2 "manipulator"&\ % +4 "core" %    ) +2 "storage"(r% +3 "core" % c\ s +2 "storage"(v. +3 "core" .([ +2 "storage"(& +3 "core" &[ \ s +3 "storage"(U& +3 "core" &[ \ t +2 "manipulator"&L& +4 "core" &ө   E 8 +2 "manipulator"&e% +3 "core" %   @ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&3(r +162 "core" ( +2 "manipulator"& & +3 "core" &l  ?  +2 "storage"(`& +4 "core" &[ ^\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +89 "core" ' +2 "storage"(z& +51 "core" &[ D\ { +4 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(E'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ e\ p +3 "manipulator"&1& +3 "core" &l    +2 .tElbow.seek 7 +2 "manipulator"&M(r +4 "core" ( +2 "manipulator"&a& +3 "core" &l ~  +2 "storage"(w& +5 "core" &[ A\ t +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&O'ϧ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&$& +2 "storage"(?' +9 "core" &l  L  + "manipulator"&8% +4 "core" % Ϝ  q +2 .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&& +5 "core" &  % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &  % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&l' +98 "core" ' + "manipulator"&s& +5 "core" &  % + "manipulator"&P% +5 "core" %   +2 "processing"%+& +4 "core" &\ t +2 "processing"%c& +5 "core" &\ u +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\ u +7 &4\ o$d +9 &Uv\ a7 +10 &|s\ aL +9 &L\ iP +9 &QK\ jP +10 &M\ iP +9 &K\ iP +9 &L\ iP +10 &YJ\ jP +9 &L\ jP +10 &L\ jO +9 &!K\ iP +9 &#bL\ iO +10 &%"L \ iP +9 &&K\ jO +9 &(L\ iP +10 &*iL9\ iP +9 &,+L\ iP +10 &-LA\ iO +9 &/M\ gP +9 &1qJg\ jP +10 &33O'\ hP +9 &4N\ iP +9 &6O>\ iP +10 &8xJ:\ jP +9 &::K:\ iP +10 &;L@\ iP +9 &=M<\ iP +9 &?N<\ iP +10 &ABOA\ iP +9 &CZ<\ fQ +9 &DZ9\ gQ +10 &Fe;\ dS +9 &H>sA\ aT +10 &I;\ ]W +9 &K6\ ]W +9 &M{B\ ^W +10 &O=7\ ]W +9 &P:\ \\X +9 &R7\ \\X +10 &T3\ ZY +9 &VB5\ ]X +10 &X1\ \\X +9 &Y-\ \\X +9 &[/\ [Y +10 &]J5\ [L +9 &^yI3\ ]_ +9 &^ Q0\ f5 +6 ( + "processing"%c& +4 "core" &^+.\ k5 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&Z1 +53 "core" 1 +2 "manipulator"&g% +3 "core" %   \   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +97 "core" ' +3 "processing"%J& +4 "core" &^&2\ i5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" % %   l A +2 "storage"(p% +4 "core" % i i \ i +2 "storage"(>. +3 "core" .([ +2 "storage"(*& +3 "core" &[ i i \ i +3 "storage"(=& +3 "manipulator"&& +6 "core" &[ i i \ i +2 &   % +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak + "storage"(t'r +3 "core" ( +2 "manipulator"&[& +3 "core" &   : % +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" & 0 1 % +2 .tForearm.seek PC +2 "manipulator"&,' +92 "core" ' + .tHand.close +2 "manipulator"&R/ +76 "core" / +2 .tPC.seek :open +2 "processing"%S( +77 "core" ' + "storage"(#- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(y'1 +48 "core" ' +319 ( + "storage"(& +4 "core" &[ 5\ r +2 "manipulator"&K& +4 "core" &  % +2 "manipulator"&4% +45 "core" %    +9 .tForearm.seek :retract +2 "manipulator"&i' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&F(r +261 "core" ( +2 "manipulator"&& +4 "core" &o  "  +2 "storage"( & +3 "core" &[ \ q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&^'= +80 "Can"\ R>`=U$ +18 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(f- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"({' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(Y- +3 "core" -' +2 "storage"(k& +3 "core" &[ \  +2 "manipulator"&V& +5 "core" &o  + .tElbow.seek 7 +2 "manipulator"&C(r +4 "core" ( + "manipulator"&!& +5 "core" &o  + "storage"( & +4 "core" &[ ~\  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +54 "core" ' +2 "manipulator"& & +3 "core" &o  !  +3 "storage"(_& +3 "core" &[ \ o +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&;'{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(X' +25 "core" ' +2 "manipulator"&D% +4 "core" %Ή ,  H +2 "storage"(|& +4 "core" &[ 3 : a\ d +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts +2 "manipulator"&)'ϵ +14 "core" ' +2 "manipulator"&& +3 "core" &o \  +2 "storage"(& +5 "core" &[ +\ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'= +15 "core" ' + "storage"(T% +5 "core" % \ v +2 ."downElevator"SE.seek :down +4 "storage"(<' +98 (B% +3 "core" %I i j \ j[s +2 "manipulator"& % +4 "core" %=   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (~& +3 "core" &[ V\ w +2 "collection"'m& +5 "core" &\\x\ \ \ \ V + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&9% +3 "core" %    +2 "storage"(% +4 "core" % C\ z +2 "storage"(. +3 "core" .([ +2 "storage"(2& +4 "core" &[ l\ z +2 "storage"(h& +3 "core" &[ ?\ z +2 "manipulator"&& +5 "core" &o    +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&& +3 "core" &o   +3 "storage"(A& +3 "core" &[ \ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +91 "core" ' + "storage"(N& +5 "core" &[ O\ z +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" &o   +2 "storage"('& +4 "core" &[ 8\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +42 "manipulator"&d'{ +35 "core" ' +2 .tElbow.hold + "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(x- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"("'p +28 "core" ' +2 "manipulator"&-% +4 "core" %Ό   +2 "storage"(\\& +4 "core" &[ l k f\ k + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&5'ϸ +14 "core" ' +2 "manipulator"&o& +3 "core" &o _  +2 "storage"(&& +5 "core" &[ 0\ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&W'= +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +42 "core" ' +2 "manipulator"&%& +3 "core" &o :  +2 "manipulator"&\ % +5 "core" %3   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&v(ӂ +158 "core" ( + "manipulator"&& +4 "core" &ӑ#   <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &ӑ#  <= +2 .tForearm.seek CC +2 "manipulator"&U'? +95 "core" ' + .tHand.close +2 "manipulator"&L/ +58 "core" / +2 .tCC.seek :open + "collection"'e( +448 "core" ( +2 "storage"(& +3 "core" &[ V\  +2 "storage"( & +4 "core" &[ E\  +2 "manipulator"&`& +3 "core" &ӱ   7 8 +2 "manipulator"&z% +5 "core" % G  \  % +2 .tForearm.seek :retract + "manipulator"&q' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&j(r +161 "core" ( +2 "manipulator"&& +3 "core" &v U  +3 "storage"(& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&1'{ +100 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&w1 +61 "core" 1 +2 "manipulator"&6% +5 "core" % Ώ   5 + "storage"($& +4 "core" &[ f\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&8'ϻ +14 "core" ' + "manipulator"&3& +4 "core" &v  +2 "storage"(& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'= +16 "core" ' + "storage"(O% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (]% +2 "core" %= 5\ Xj +3 "manipulator"&M% +4 "core" %< ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'P& +3 "core" & I\ +2 "manipulator"&+% +5 "core" %    + "storage"(?% +5 "core" % \  + "storage"(u. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(H(<- +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &<. x \ +2 "manipulator"&g& +5 "core" &v    + .tElbow.seek 5 +2 "manipulator"&J( +48 "core" ( +5 "manipulator"&& +4 "core" & \  +2 "storage"(p& +3 "core" &<. \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +96 "core" ' + "storage"(*& +5 "core" &<. ;\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(=- +4 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (c& +2 "core" &<. \ +3 "manipulator"&[& +4 "core" & *  +2 .tElbow.seek 5 + "manipulator"&}( +4 "core" ( +2 "manipulator"&l& +3 "core" & r  +3 "storage"(R& +4 "core" &<. \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&#'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(' +8 "core" & O  + "manipulator"&t% +5 "core" % ϰ b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&K(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&4& +3 "core" &Ӝ \  Z 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &Ӝ   ` 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 "manipulator"& & +4 "core" &Ӝ    8 +2 "manipulator"&% +4 "core" %4  : +2 "collection"'& +3 "core" & :\ +3 "collection"'f& +5 "core" & :\ +2 .tCC.seek :closed +2 "collection"'Y(\\ +5 "core" & [\ +7 &> a\ %g +9 &Yt `\ 8 +10 &n `\ L +9 &K Y\ L +10 &M `\ L +9 &IQ a\ M +9 & N T\ M +10 &K [\ L +9 &M [\ L +9 &QP [\ M +10 & N [\ M +9 &!L ]\ L +10 &#M S\ M +9 &%ZP J\ L +9 &'K O\ M +10 &(O P\ L +9 &*P J\ M +9 &,aO H\ M +10 &.$L O\ L +9 &/N N\ L +10 &1R L\ M +9 &3iR N\ M +9 &5*P F\ M +10 &6N J\ L +9 &8Q F\ M +9 &:qQ C\ M +10 &<3Q G\ M +9 &=L D\ M +9 &?M E\ L +10 &AyO E\ M +9 &C9V D\ M +10 &D\\ 8\ N +9 &Ff\  C\ P +9 &Hrx\ \ A\ R +10 &J'\ \ :\ V +9 &K\ '\ &6\ Y +10 &M\ \ !=\ Z +9 &Oc\ \ =\ Z +9 &Q!\ \ 5\ [\ +10 &R\ \ 6\ [\ +9 &T\ \ 8\ \\ +9 &Vb\ \ :\ ] +10 &X#\ \ 5\ ] +9 &Y\ \ ;\ ~^ +9 &[\ \ :\ K +10 &\\1\ \ 7\ 2 +9 &\\k\ \ 6\ R +2 ( +2 "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&k1 +62 "core" 1 +2 "manipulator"&V% +5 "core" % 4  U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &\ t +2 "manipulator"&i% +3 "core" %     +3 "storage"( % +4 "core" % D\ s + "storage"(_. +3 "core" .(<- +2 "storage"(D& +3 "core" &<. @\ t +2 "storage"(y& +5 "core" &<. A\ t + "manipulator"&|& +5 "core" &Ӡ   7 + "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&.( +164 "core" ( + "manipulator"&& +4 "core" &     +2 "storage"(T& +4 "core" &<. \ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&F'O +92 "core" ' +2 "storage"(^& +3 "core" &<. j ;\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +302 "core" ' + "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &<. M\ t +50 "manipulator"&& +5 "core" & \   +2 .tElbow.seek 5 +2 "manipulator"&C( +4 "core" ( + "manipulator"&& +5 "core" &    + "storage"(;& +4 "core" &<. B\ w +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&)'Ϲ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&~/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&m& + "storage"(9' +8 "core" & C  +2 "manipulator"&% +4 "core" %  | +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&X( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +3 "manipulator"&2& +3 "core" & Q 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &h& +2 "core" &  ; 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' + "manipulator"&& +5 "core" &   T 2 +2 "manipulator"&A% +4 "core" %  H +2 "processing"%@& +3 "core" &\ } +3 "processing"%N& +5 "core" &\ ~ +3 .tPC.seek :closed +2 "processing"%<(^ +3 "core" &\ ~ +6 &\ }5 +10 &<Fs\ k1 +9 &cpy\ hE +9 &\\\ nP +10 &L\ qP +9 &L\ rP +10 &GJ\ rO +9 &K\ qP +9 &J"\ rP +10 &K\ rP +9 &OL\ rO +9 &!L\ qP +10 &"O\ pP +9 &$L\ qP +10 &&VJ\ rP +9 &(L \ rO +9 &)L\ qP +10 &+O\ pP +9 &-^P\ pP +9 &/ N5\ qP +10 &0J?\ rO +9 &2MA\ qP +10 &4gO:\ qO +9 &6)MA\ qO +9 &7L<\ rO +10 &9M<\ qO +9 &;nN@\ rP +9 &=0OB\ pP +10 &>O<\ pO +9 &@P=\ pP +10 &BtT4\ pP +9 &D3W8\ oQ +9 &Eb7\ mR +10 &Gk7\ kS +9 &In{6\ hU +9 &K-6\ fV +10 &L2\ fV +9 &N/\ dW +10 &Pp6\ eW +9 &R20\ dW +9 &S2\ cX +10 &U/\ dX +9 &Ww,\ dX +9 &Y91\ dX +10 &Z/\ cW +9 &\\.\ cX +10 &^3]o+\ j5 +9 &^C0\ q- +5 ( +2 "processing"%N& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&1 +4 "core" &^0\ w- +49 1 + "manipulator"&I% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +101 "core" ' +2 "processing"%0& +4 "core" &^1\ v- +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&'% +4 "core" %    - +2 "storage"(x% +4 "core" % \ u +2 "storage"(-. +3 "core" .(<- +2 "storage"(\\& +3 "core" &<. N\ u +3 "storage"(o& +3 "manipulator"&&& +6 "core" &<. O\ u + &   = 2 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(%'r + "manipulator"&\ ( +28 "core" ( +2 "manipulator"&7& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&d/ +77 "core" / +6 .tPC.seek :open +2 "processing"%5( +52 "core" ' + "storage"("- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +350 ( +2 "storage"((& +3 "core" &<, Z\ v +3 "manipulator"&W& +3 "core" & % +2 "manipulator"&G% +5 "core" %    . +2 .tForearm.seek :retract + "manipulator"&L' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&r( +239 "core" ( +2 "manipulator"&:& +50 "core" &   3 M +4 "storage"(& +3 "core" &<, \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' +2 .tHand.open + "manipulator"&`1 +54 "core" 1 +2 "storage"(z- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +3 "core" -' +2 "storage"(v& +4 "core" &<, P\ ' +2 "manipulator"&w& +3 "core" &   M +2 .tElbow.seek 5 +2 "manipulator"&6( +4 "core" ( +2 "manipulator"&$& +4 "core" &  & M +2 "storage"(3& +3 "core" &<, \ & +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(O'" +58 "core" ' +2 "manipulator"&q& +4 "core" &   M +2 "storage"(]& +3 "core" &<, H\ s +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&M'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(1' +21 "core" ' +2 "manipulator"&P% +4 "core" %Θ   l +2 "storage"(+& +4 "core" &<, j k |\ k +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&8' +15 "core" ' +2 "manipulator"&?& +3 "core" &  @ +3 "storage"(u& +3 "core" &<, \ v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 "storage"(E% +4 "core" % \ w +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (b% +2 "core" %L | M\ k[s +3 "manipulator"&Z% +4 "core" %I    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" &<, \ u +3 "collection"'p& +3 "core" &\\f\ \ 6\ R +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&*% +4 "core" %    +2 "storage"(a% +3 "core" % \ x +2 "storage"(s. +3 "core" .(<- +2 "storage"(=& +4 "core" &<, S\ x +2 "storage"(c& +3 "core" &<, Y\ x +2 "manipulator"&[& +3 "core" &  @ +3 .tElbow.seek 5 +2 "manipulator"&l( +2 "core" ( +2 "manipulator"&R& +4 "core" &    @ +2 "storage"(Q& +3 "core" &<, D\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +93 "core" ' +2 "storage"(t& +3 "core" &<, \ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(J'r +294 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" &  ! @ +2 "storage"(,& +25 "core" &<, \ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +45 "core" ' +9 "manipulator"&% +4 "core" %Κ   + "storage"(}& +5 "core" &<, T\ t + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&& +4 "core" &   @ +2 "storage"(e& +3 "core" &<,\  Y\ | +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(V' +37 "core" ' +2 "manipulator"& & +4 "core" &    @ +2 "manipulator"&i% +3 "core" %L  + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&_(ӂ +153 "core" ( +2 "manipulator"&D& +4 "core" &Ӟ   N 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &Ӟ  \ 6 +3 .tForearm.seek CC + "manipulator"&y'? +93 "core" ' + .tHand.close +2 "manipulator"&|/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(& +3 "core" &<, \ +3 "storage"(& +3 "core" &<, \ +2 "manipulator"&T& +5 "core" &Ӟ  6 + "manipulator"&^% +4 "core" % ? \   D +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&!( +163 "core" ( + "manipulator"&B& +5 "core" &    + "storage"( & +4 "core" &<, c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&;1 +61 "core" 1 +2 "manipulator"&~% +3 "core" % ΂   " +2 "storage"(m& +4 "core" &<, \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 289 counts +2 "manipulator"&'Ϯ +15 "core" ' +2 "manipulator"&.& +4 "core" &   +2 "storage"(F& +3 "core" &<, _\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +15 "core" ' +2 "storage"()% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(2' +99 (h% +3 "core" %A v\ Yk +2 "manipulator"&C% +3 "core" %J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'A& +3 "core" & \ +3 "manipulator"&@% +4 "core" %      +2 "storage"(9% +3 "core" % \  +3 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(S(K +367 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K c Y *\  +2 "manipulator"&I& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&0( +4 "core" ( + "manipulator"&'& +4 "core" & x  +2 "storage"(x& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&-' +102 "core" ' +2 "storage"(\\& +3 "core" &K \  +49 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +299 "core" ' +2 "storage"(o- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &K F\  +2 "manipulator"&7& +5 "core" &   + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(d& +5 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&"'h +12 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(<' +9 "core" &  + "manipulator"&%% +5 "core" % e  p +2 .tForearm.seek :retract +2 "manipulator"&(' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&G& +3 "core" &Ӕ"  G ;7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӕ"   \ ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'? +94 "core" ' +2 "manipulator"&& +5 "core" &ӕ"   ;6 +2 "manipulator"&\ % +4 "core" %G  \  , +2 "collection"'`& +4 "core" & ,\ +2 "collection"'z& +6 "core" & *\ +2 .tCC.seek :closed +2 "collection"'U(\\ +4 "core" & ]\  +9 &5x _\ +{ +10 &fy b\ ? +9 &i _\ N +9 &YM a\ M +10 &Q Z\ M +9 &K _\ M +10 &J \\\ L +9 &aL R\ M +9 &#R Q\ M +10 &Q W\ M +9 & P J\ M +9 &"jQ K\ L +10 &$,M O\ L +9 &%N O\ L +10 &'K N\ M +9 &)rM M\ L +9 &+3P K\ M +10 &,L O\ M +9 &.L M\ M +10 &0yL G\ M +9 &2<N O\ L +9 &3N H\ M +10 &5Q J\ M +9 &7Q D\ M +9 &9CM E\ M +10 &;N L\ L +9 &<N F\ L +9 &>O D\ M +10 &@KQ F\ M +9 &B Q A\ M +10 &CX A\ N +9 &Ea G\ O +9 &GEr\ \ B\ Q +10 &H\ \ C\ V +9 &J\ "\ !C\ Z +10 &Lr\ \ E\ Z +9 &N.\ \ C\ \\ +9 &O\ \ 8\ \\ +10 &Q\ \ 3\ \\ +9 &St\ \ 4\ \\ +9 &U3\ \ 4\ }] +10 &V\ \ 6\ |^ +9 &X\ \ 3\ y_ +9 &Zq\ \ 7\ x` +10 &\\{\ \ 8\ 3 +9 &\\0\ \ >\ {$m +10 ( + &\\y\ \ 9\ T +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 + .Hand.open +2 "manipulator"&v1 +63 "core" 1 +4 "manipulator"&w% +4 "core" % G   , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%3& +4 "core" &\ o +2 "manipulator"&L% +4 "core" %   N  +2 "storage"(q% +4 "core" % 1\ p + "storage"(]. +4 "core" .(K + "storage"(& +5 "core" &K [\ o + "storage"(P& +4 "core" &K \ o +2 "manipulator"&+& +3 "core" &ӥ   9& +2 "manipulator"&% +5 "core" %    '  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&?( +161 "core" ( +2 "manipulator"&u& +3 "core" &    +3 "storage"(E& +4 "core" &K \ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +93 "core" ' +2 "storage"( & +3 "core" &K /\ z +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" &K \ q +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&6( +4 "core" ( +2 "manipulator"&O& +3 "core" & M  +3 "storage"(M& +4 "core" &K \ t +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +13 "core" ' +50 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&8/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&p& + "storage"(*' +8 "core" &  #  +2 "manipulator"&a% +3 "core" % \\ $ +3 .tForearm.seek :retract + "manipulator"&s' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&=& +4 "core" &   : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +3 "core" & : : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&[' +98 "core" ' +2 "manipulator"&R& +4 "core" &    9 +2 "manipulator"&Q% +3 "core" % 1 +3 "processing"%& +3 "core" &\ u +3 "processing"%t& +5 "core" &\ u +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ u +7 &5\ m#b +9 &Su\ a7 +9 &|u\ aL +10 &O\ hQ +9 &LL\ iP +9 &J\ iP +10 &N\ hP +9 &J\ iP +10 &TK\ iP +9 &L\ iP +9 &L\ iO +10 &!L\ iP +9 &#]L \ iP +9 &%L\ iP +10 &&O\ hP +9 &(N \ iP +10 &*fK\ iO +9 &,&M0\ iP +9 &-K\ iP +10 &/Q\ hP +9 &1nJ3\ iO +9 &3/L\ hP +10 &4I:\ iP +9 &6LA\ hO +10 &8uL@\ iP +9 &:8L=\ iO +9 &;MA\ iP +10 &=NC\ hP +9 &?|N=\ hP +9 &A>O7\ hP +10 &BX@\ fQ +9 &DW<\ gR +10 &F|c:\ cS +9 &H:n6\ bT +9 &I6\ ^V +10 &K<\ ^V +9 &MxB\ ]W +9 &O97\ \\W +10 &P<\ [X +9 &R6\ \\X +10 &T}5\ ZX +9 &V?7\ \\X +9 &X;\ \\X +10 &Y<\ ZX +9 &[9\ [X +9 &]F9\ ZM +10 &^R8\ Y$n +9 &^9\ n( +2 ( +2 "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&j1 +56 "core" 1 +2 "manipulator"&g% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +96 "core" ' +2 "processing"%4& +3 "core" &^B\ m( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&,% +4 "core" % %   4 ; +2 "storage"( % +3 "core" % \\ [\ l +2 "storage"(. +3 "core" .(K +2 "storage"(}& +4 "core" &K \\ [ \ k +3 "storage"(& +2 "manipulator"&e& +5 "core" &K } j 9\ m +3 &    9 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"( 'r + "manipulator"&i( +7 "core" ( + "manipulator"&/& +4 "core" &   2 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &   V 9 +2 .tForearm.seek PC +2 "manipulator"&J' +94 "core" ' +2 .tHand.close + "manipulator"&/ +75 "core" / +2 .tPC.seek :open +2 "processing"%( +75 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'1 +45 "core" ' +322 ( +2 "storage"(f& +3 "core" &K a\ q +2 "manipulator"&k& +5 "core" &  \ 9 + "manipulator"&#% +4 "core" %    1 +2 .tForearm.seek :retract +2 "manipulator"&|' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +245 "core" ( + "manipulator"&Y& +4 "core" &   W 1 +2 "storage"(& +4 "core" &K j a C\ l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +91 "core" ' + .tHand.open + "manipulator"&T1 +60 "core" 1 +2 "storage"(^- +3 "core" -'1 +51 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +33 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(y- +3 "core" -' +2 "storage"(_& +3 "core" &K Z\ ! +3 "manipulator"&;& +4 "core" & 1 +2 .tElbow.seek 6 + "manipulator"&~( +4 "core" ( +2 "manipulator"&m& +4 "core" &    1 +2 "storage"(.& +3 "core" &K G\ ! +3 .tForearm.seek 6 + 450 counts + "manipulator"&F' +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"()'" +51 "core" ' +2 "manipulator"&K& +3 "core" &   1 +2 "storage"(h& +4 "core" &K -\ o +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&C'< +20 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 "manipulator"&A% +3 "core" %H   E +2 "storage"(@& +5 "core" &K  c\ n + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&'t +14 "core" ' + "manipulator"&9& +4 "core" &  1 +2 "storage"(& +4 "core" &K S\ s +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +4 "manipulator"&V' +16 "core" ' +2 "storage"({% +4 "core" % \ t +2 ."downElevator"SE.seek :down +4 "storage"(2' +99 (H% +2 "core" %K X i o\ h[t +3 "manipulator"&% +3 "core" %   \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +90 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ('& +3 "core" &K \ s +2 "collection"'x& +5 "core" &\\y\ \ \ T + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&\\% +3 "core" %     +3 "storage"(% +3 "core" % c\ u +2 "storage"(. +3 "core" .(K +2 "storage"(o& +3 "core" &K <\ t +3 "storage"(&& +3 "core" &K _\ u +2 "manipulator"&7& +5 "core" &   1 + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&d& +3 "core" &  1 +3 "storage"(X& +4 "core" &K T\ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +94 "core" ' + "storage"(%& +4 "core" &K 8\ y +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'r +295 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" &   , 1 +2 "storage"(& +3 "core" &K \ q +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&N'< +20 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(\ 'm +30 "core" ' +2 "manipulator"&`% +3 "core" %<   +2 "storage"(& +4 "core" &K @\ r +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&<'h +13 "core" ' +2 "manipulator"&(& +4 "core" &   1 +2 "storage"(& +3 "core" &K V\ w +43 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(w' +44 "core" ' +2 "manipulator"&3& +3 "core" &  1 +3 "manipulator"&L% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +147 "core" ( +3 "manipulator"&z& +3 "core" &x+   Cs +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &x+   Cs +3 .tForearm.seek CC +2 "manipulator"&P'? +93 "core" ' +2 .tHand.close + "manipulator"&+/ +60 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(:& +3 "core" &K y \  +2 "storage"(u& +5 "core" &K r o \  + "manipulator"&E& +4 "core" &Ӿ$   :- +2 "manipulator"& % +4 "core" % (  y  +2 .tForearm.seek :retract +2 "manipulator"&W' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&$( +167 "core" ( + "manipulator"&b& +4 "core" &   +2 "storage"(Z& +3 "core" &K \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'< +98 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&M1 +53 "core" 1 +3 "manipulator"&8% +3 "core" % @    +2 "storage"(p& +5 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 304 counts +2 "manipulator"&a'l +14 "core" ' +2 "manipulator"&?& +4 "core" &  [  + "storage"(r& +5 "core" &K 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(=' +98 (c% +3 "core" %@ v n\ Xj +2 "manipulator"&6% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'Q& +3 "core" & O\ +2 "manipulator"&% +3 "core" %    +3 "storage"(*% +4 "core" % \  +2 "storage"(s. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(5([ +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" &[ D\ z +2 "manipulator"&g& +4 "core" & \  +2 .tElbow.seek 7 +2 "manipulator"&4(r +38 "core" ( + "manipulator"&,& +4 "core" &    +2 "storage"( & +3 "core" &[ N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +94 "core" ' + "storage"(}& +4 "core" &[ b\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +2 "core" &[ 5\  +3 "manipulator"&/& +4 "core" &     +49 .tElbow.seek 7 +2 "manipulator"&l(r +25 "core" ( + "manipulator"&[& +4 "core" &s  % Y +2 "storage"(& +3 "core" &[ \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&>& +2 "storage"(' +8 "core" &s x Y +2 "manipulator"& % +4 "core" % Ϥ  +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&k(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&#& +3 "core" &Ӈ$   =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +2 "core" &Ӈ$   r =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Y'? +93 "core" ' +2 "manipulator"&& +5 "core" &Ӊ$   f =E + "manipulator"&i% +5 "core" %6  Y V +2 "collection"'T& +4 "core" & [\ +2 "collection"'^& +5 "core" & /\ +3 .tCC.seek :closed + "collection"'|(\\ +5 "core" & S\ +7 &3 S\ $e +10 &Xv Y\ 7 +9 &r `\ L +10 &N S\ M +9 &nM Y\ L +9 &/K [\ M +10 &P \\\ M +9 &N Z\ M +9 &vL S\ L +10 &8M K\ L +9 &P E\ M +10 &!O I\ L +9 &#}L N\ M +9 &%@J N\ L +10 &'M M\ L +9 &(P O\ M +9 &*O I\ L +10 &,GL O\ M +9 &.\ O K\ L +10 &/M D\ L +9 &1Q G\ M +9 &3OL N\ M +10 &5L =\ L +9 &6N C\ M +9 &8Q D\ M +10 &:XR B\ L +9 &<N :\ L +10 &=Q @\ M +9 &?R C\ M +9 &A_R 7\ M +10 &C Q B\ M +9 &DY 9\ N +10 &Fd\ 4\ O +9 &HXy\ \ \ 8\ R +9 &J\ \ 6\ V +10 &K\ "\ "4\ Y +9 &M\ \ ;\ Z +9 &OG\ \ 6\ Z +10 &Q\ \ 7\ [ +9 &R\ \ :\ [\ +9 &T\ \ 8\ \\ +10 &VH\ \ <\ ] +9 &X \ \ 5\ ] +10 &Y\ \ 7\ |^ +9 &[\ \ <\ |K +9 &\\9\ \ 8\ - +10 &\\\ \ 7\ Y +5 ( +2 "collection"'^& +3 "core" &\\\ \ ;\ Y +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&y1 +63 "core" 1 +2 "manipulator"&_% +3 "core" % 6   V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%m& +4 "core" &\ m +2 "manipulator"&.% +3 "core" %    \ +2 "storage"(K% +4 "core" % p\ n +2 "storage"(h. +3 "core" .([ +2 "storage"(A& +3 "core" &[ \ m +2 "storage"(@& +4 "core" &[ \ m +2 "manipulator"&D& +4 "core" &Ӫ   : 9$ +2 "manipulator"&9% +4 "core" %    n \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +164 "core" ( +2 "manipulator"&B& +4 "core" &{   {  +2 "storage"({& +3 "core" &[ ]\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +94 "core" ' + "storage"(& +4 "core" &[ U\ y +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \ o +2 "manipulator"&F& +4 "core" &{     +2 .tElbow.seek 7 +2 "manipulator"&~(r +3 "core" ( +2 "manipulator"&)& +3 "core" &{    +3 "storage"(C& +4 "core" &[ \ r +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(\\' +6 "core" &{   +3 "manipulator"&% +4 "core" % ϼ  D +2 .tForearm.seek :retract +51 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&( +113 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +124 "core" ( +2 "manipulator"&o& +4 "core" &   " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" & \  " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&7' +90 "core" ' +2 "manipulator"&d& +3 "core" &   h " +3 "manipulator"&X% +3 "core" %   \\ +3 "processing"%V& +3 "core" &\ w +3 "processing"%%& +5 "core" &\ w +3 .tPC.seek :closed +3 "processing"%2(^ +2 "core" &\ w +6 &\ v6 +10 &:Gq\ d1 +9 &_nx\ cE +10 &Z\ gP +9 &J\ kP +9 &L\ kP +10 &AI\ lP +9 &K\ kO +9 &K\ jP +10 &J\ kP +9 &IK\ jP +10 &! J\ kP +9 &"K\ kP +9 &$P\ jP +10 &&RL\ kO +9 &(K\ kP +9 &)IY\ kP +10 &+KS\ kP +9 &-XO"\ jP +10 &/J@\ jO +9 &0KD\ kP +9 &2OD\ jP +10 &4aI;\ lP +9 &6"O<\ jP +9 &7KC\ kO +10 &9LC\ kP +9 &;iLD\ kP +10 &=+KD\ kP +9 &>OC\ kP +9 &@N;\ jP +10 &BnVC\ hQ +9 &D-YC\ hR +9 &Eb;\ gR +10 &GkC\ dT +9 &If}<\ `V +10 &K&}@\ `W +9 &L?\ `V +9 &N9\ ]W +10 &Pj9\ ]X +9 &R+-\ ]X +9 &S4\ \\X +10 &U2\ _X +9 &Wp6\ \\X +10 &Y37\ ]X +9 &Z7\ \\Y +9 &\\>\ ]Y +10 &^/^m4\ d7 +9 &^8-\ l ( +5 ( +2 "processing"%%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&!1 +4 "core" &^)\ p( +49 1 + "manipulator"&I% +5 "core" %    P \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +94 "core" ' +2 "processing"%G& +3 "core" &^?\ m( +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" % !   $ +2 "storage"(% +4 "core" % ` \\ /\ l +2 "storage"(`. +2 "core" .([ +2 "storage"(& +5 "core" &[ _ i ^\ l +2 "storage"((& +2 "manipulator"&& +7 "core" &[ [ \\ C\ l +2 &  " +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&3( +4 ."raiseStack"SE.seek :beamBreak + "storage"(L'r +4 "core" ( + "manipulator"&n& +4 "core" &  n " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  " +2 .tForearm.seek PC +2 "manipulator"&0' +94 "core" ' + .tHand.close +2 "manipulator"&N/ +65 "core" / +3 .tPC.seek :open +2 "processing"%<( +85 "core" ' +2 "storage"(\ - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'1 +41 "core" ' +319 ( +2 "storage"(& +4 "core" &[ ~\ v +2 "manipulator"&v& +3 "core" &    " +2 "manipulator"&"% +4 "core" %    @ +2 .tForearm.seek :retract +2 "manipulator"&+' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&q(r +248 "core" ( + "manipulator"&U& +5 "core" &x   + [ + "storage"(:& +4 "core" &[ \ q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'= +94 "core" ' + .tHand.open +2 "manipulator"&E1 +61 "core" 1 +2 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(b' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Z' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(P- +3 "core" -' +2 "storage"(]& +52 "core" &[ \  +2 "manipulator"&M& +4 "core" &x   [ +3 .tElbow.seek 7 +2 "manipulator"&8(r +3 "core" ( +2 "manipulator"&p& +4 "core" &x   [ +2 "storage"(?& +3 "core" &[ ^\  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&r'= +7 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' + "manipulator"&W& +4 "core" &x  [ +2 "storage"(c& +3 "core" &[ W\ o +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&6'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +29 "core" ' + "manipulator"&Q% +4 "core" %Έ    +2 "storage"(& +3 "core" &[ - 0 \ b +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&a'ϴ +14 "core" ' +2 "manipulator"&*& +4 "core" &z  Y +2 "storage"(s& +4 "core" &[ @\ r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +15 "core" ' +2 "storage"(% +4 "core" % F\ r +2 ."downElevator"SE.seek :down +3 "storage"(=' +100 (S% +2 "core" %F _ \\ \ g[t +3 "manipulator"&j% +4 "core" %4 \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +93 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (,& +3 "core" &[ B\ t +2 "collection"' & +4 "core" &\\\ \ 7\ Y +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&}% +3 "core" %    +3 "storage"(O% +4 "core" % c\ v +2 "storage"(R. +3 "core" .([ +2 "storage"(& +3 "core" &[ [\ v +2 "storage"(e& +5 "core" &[ V\ v + "manipulator"&/& +4 "core" &z  Y +2 .tElbow.seek 7 +2 "manipulator"&[(r +3 "core" ( +2 "manipulator"&& +3 "core" &z \  * Y +2 "storage"(1& +5 "core" &[ b\ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&>'= +93 "core" ' +2 "storage"( & +4 "core" &[ 3\ s +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'r +301 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" &z   Y +2 "storage"(J& +3 "core" &[ \ q +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&t'{ +26 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(i'p +29 "core" ' + "manipulator"&T% +5 "core" %Ώ  8  + "storage"(l& +4 "core" &[ @ R \ d +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&'ϻ +13 "core" ' + "manipulator"&f& +5 "core" &z    Y + "storage"(& +4 "core" &[ /\ q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&y'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(_' +47 "core" ' +2 "manipulator"&m& +4 "core" &z   Y +2 "manipulator"&.% +3 "core" %5  +43 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +154 "core" ( +2 "manipulator"&A& +3 "core" &Ӝ  9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &Ӝ    9' +3 .tForearm.seek CC + "manipulator"&@'? +98 "core" ' +2 .tHand.close + "manipulator"&D/ +64 "core" / +2 .tCC.seek :open +2 "collection"'9( +451 "core" ( + "storage"(Y& +4 "core" &[ V ` /\  +2 "storage"(B& +3 "core" &[ ^ { s\  +2 "manipulator"&{& +5 "core" &ӡ   8" + "manipulator"&% +5 "core" % @   } +2 .tForearm.seek :retract + "manipulator"&k' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&;(r +162 "core" ( + "manipulator"&H& +5 "core" &{    + "storage"(& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&F'{ +94 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&C1 +59 "core" 1 +2 "manipulator"&'% +4 "core" % Ώ  r \ +2 "storage"(x& +4 "core" &[ !\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&'ϻ +14 "core" ' +2 "manipulator"&& +3 "core" &{ G  +3 "storage"( & +4 "core" &[ A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& '= +15 "core" ' +2 "storage"(% +3 "core" % )\ +3 ."downElevator"SE.seek :down +4 "storage"(o' +98 (&% +3 "core" %RA 8\ Yk +2 "manipulator"&~% +5 "core" %< B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'X& +3 "core" & N\ +2 "manipulator"&V% +5 "core" % \    + "storage"(\\% +5 "core" % -\  + "storage"(. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (!& +3 "core" & +9 &ui W\ N +10 &;L `\ L +9 &L `\ M +9 &J `\ L +10 &M ^\ L +9 &CP ]\ L +9 &L S\ M +10 &O X\ L +9 & L M\ M +10 &"KP L\ L +9 &$ J I\ L +9 &%N G\ L +10 &'K G\ L +9 &)SM I\ L +9 &+P M\ M +10 &,N N\ M +9 &.K N\ L +10 &0ZO F\ M +9 &2Q N\ L +9 &3N I\ L +10 &5N K\ L +9 &7cN F\ L +9 &9%O K\ L +10 &:N F\ L +9 &<N F\ L +10 &>iQ D\ M +9 &@,L D\ M +9 &AO ;\ M +10 &CT 6\ M +9 &Em\\ ;\ N +9 &G*i\  5\ P +10 &H}\ \ ;\ S +9 &J\ !\ 6\ X +10 &LT\ #\ #6\ Z +9 &N\ \ !0\ [ +9 &O\ \ 3\ [\ +10 &Q\ \ 9\ \\ +9 &SV\ \ 8\ \\ +9 &U\ \ 5\ ] +10 &V\ \ 3\ }_ +9 &X\ \ 7\ }_ +10 &ZT\ \ 8\ |_ +9 &[{\ \ ?\ > +9 &\\(\ \ ;\ *| +10 &\\t\ \ 8\ Y +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&]1 +53 "core" 1 +3 "manipulator"&+% +3 "core" % 4   Q [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%p& +4 "core" &\ p +2 "manipulator"&?% +3 "core" %    t  +2 "storage"(W% +4 "core" % +\ p +2 "storage"(c. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(z(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" &<. h j \ j +2 "manipulator"&Q& +4 "core" &Ӭ   7 +2 "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&*( +156 "core" ( + "manipulator"&s& +4 "core" &   +2 "storage"(& +4 "core" &<. ]\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +94 "core" ' + "storage"(u& +4 "core" &<. p\ { +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +298 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &<. s\ n +3 "manipulator"&r& +4 "core" &   ) +2 .tElbow.seek 5 + "manipulator"&8( +8 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(6& +3 "core" &<. \ q +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&a'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(}' +8 "core" & 5 + "manipulator"&O% +5 "core" % ϶  & +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&R( +158 "core" ' +2 ."downElevator"SE.stop +49 "storage"(5 +33 "core" ( + "manipulator"&& +5 "core" & \  u * + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &e& +3 "core" & O * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&/' +90 "core" ' +2 "manipulator"&& +5 "core" &  Y * + "manipulator"&1% +5 "core" %  / n +2 "processing"%w& +4 "core" &\ y +2 "processing"% & +6 "core" &\ x +2 .tPC.seek :closed +2 "processing"%=(^ +4 "core" &\ y +10 &0q\ i*x +9 &av\ f> +9 &]j\ gP +10 &K\ nP +9 &N\ nP +9 &I\ nO +10 &dK\ mP +9 &&N\ mP +10 &J\ nP +9 &K\ nO +9 & mK\ nO +10 &".K\ nP +9 &#N\ mP +14 &%I\ nP +5 &'uL\ kO +11 &)6Lf\ mP +8 &*J%\ mP +9 &,Mh\ mO +9 &.|J$\ nP +10 &0=N?\ nP +9 &2IB\ nP +9 &3I=\ nP +10 &5IB\ nP +9 &7GJ<\ nO +10 &9Q@\ lP +9 &:LC\ nP +9 &<L=\ lP +10 &>ML:\ nP +9 &@N>\ mP +9 &AP6\ mP +10 &CW5\ kQ +9 &EP\\6\ jR +10 &Gb6\ iS +9 &Hx<\ eU +9 &J4\ bW +10 &LJ6\ bV +9 &N\ .\ bW +9 &O3\ bW +10 &Q,\ `X +9 &SO/\ bX +10 &U5\ `X +9 &V/\ aX +9 &X2\ `X +10 &ZS1\ ]Y +9 &\\-\ `X +9 &]z,\ d8 +10 &^+b+\ h ^ +9 &^'.\ q3 +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&$1 +62 "core" 1 +2 "manipulator"&g% +4 "core" %   m n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 "processing"%#& +3 "core" &^!B\ m3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&J% +4 "core" %    J  +2 "storage"(% +3 "core" % \ m +2 "storage"(T. +4 "core" .(<- + "storage"(l& +5 "core" &<. q a \ l +2 "storage"(f& +2 "manipulator"&& +7 "core" &<. m n n\ l + &  Z * +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&m( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'r +2 "core" ( + "manipulator"&>& +6 "core" &   y * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &[& +2 "core" &   * +3 .tForearm.seek PC + "manipulator"&4' +94 "core" ' + .tHand.close +2 "manipulator"&t/ +72 "core" / +2 .tPC.seek :open +2 "processing"%( +81 "core" ' +2 "storage"(i- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'1 +42 "core" ' +322 ( +2 "storage"(^& +3 "core" &<, Q\ r +2 "manipulator"&y& +5 "core" &   * + "manipulator"&% +4 "core" %    E +2 .tForearm.seek :retract +2 "manipulator"&D' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&K( +243 "core" ( +2 "manipulator"&|& +4 "core" &   ? +2 "storage"(Y& +4 "core" &<, \ n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +104 "core" ' +2 .tHand.open + "manipulator"&{1 +55 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(H' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(@- +3 "core" -' +2 "storage"(h& +3 "core" &<, P\ ) +2 "manipulator"&C& +5 "core" &   ? + .tElbow.seek 5 +2 "manipulator"&'( +4 "core" ( +2 "manipulator"&x& +44 "core" &  ? +10 "storage"(& +4 "core" &<, v\ ( +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +60 "core" ' +2 "manipulator"&k& +4 "core" &    ? +2 "storage"(&& +3 "core" &<, x\ t +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&~'΍ +27 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(F' +24 "core" ' +2 "manipulator"&X% +4 "core" %Κ    t + "storage"(& +5 "core" &<, k i\ j + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&V' +14 "core" ' + "manipulator"&\\& +4 "core" &  o = +2 "storage"(& +4 "core" &<, t\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&_'O +17 "core" ' +2 "storage"( % +3 "core" % \ v +3 ."downElevator"SE.seek :down +4 "storage"(o' +98 (5% +3 "core" %I _ g _\ h[t +2 "manipulator"&!% +5 "core" %G   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +92 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<, R\ r +2 "collection"'& +4 "core" &\\r\ \ 2\ Y +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %    &  +2 "storage"()% +3 "core" % 9\ t +3 "storage"(d. +3 "core" .(<- + "storage"(& +5 "core" &<, Q\ t + "storage"(%& +5 "core" &<, \ s + "manipulator"&n& +5 "core" &    = + .tElbow.seek 5 +2 "manipulator"&7( +4 "core" ( +2 "manipulator"&N& +4 "core" &  = + "storage"(& +4 "core" &<, E\ t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&-'O +94 "core" ' + "storage"(L& +5 "core" &<, ?\ z +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +312 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &   " = +3 "storage"(0& +4 "core" &<, )\ u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&('΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(:- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(3'h +33 "core" ' +2 "manipulator"&E% +3 "core" %Π   +2 "storage"(& +4 "core" &<, 9\ r +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&2' +23 "core" ' + "manipulator"&& +4 "core" &   < +2 "storage"(9& +3 "core" &<, X\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(+' +36 "core" ' +2 "manipulator"&p& +4 "core" &  < +2 "manipulator"&?% +3 "core" %H    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +89 "core" ' +2 .tElbow.seek CC +43 "manipulator"&c(ӂ +154 "core" ( +3 "manipulator"& & +4 "core" &~&   ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +2 "core" &&   ?U +3 .tForearm.seek CC + "manipulator"&Q'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'U( +453 "core" ( +2 "storage"(s& +3 "core" &<, t v @\ +2 "storage"(& +5 "core" &<, k ` J\ + "manipulator"&& +4 "core" &Ӯ   > 9& +2 "manipulator"&u% +4 "core" % 1   +2 .tForearm.seek :retract +2 "manipulator"&v' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&M( +163 "core" ( + "manipulator"&S& +3 "core" &   +3 "storage"(j& +3 "core" &<, \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&r'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +60 "core" 1 +2 "manipulator"&,% +5 "core" % ΀   \\ + "storage"( & +4 "core" &<, \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 287 counts + "manipulator"&O'Ϭ +15 "core" ' + "manipulator"&*& +4 "core" &  K  +2 "storage"(q& +4 "core" &<, ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +16 "core" ' + "storage"(a% +4 "core" % \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (e% +3 "core" %cA ]\ Yk +2 "manipulator"&8% +5 "core" %3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'1& +3 "core" & D\ +2 "manipulator"&w% +5 "core" %     + "storage"(}% +5 "core" % \  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(<(K +383 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +2 "core" &K E F 1\  +3 "manipulator"&g& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&#( +4 "core" ( +2 "manipulator"&J& +4 "core" &    +2 "storage"(& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +96 "core" ' + "storage"(l& +5 "core" &K M\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &K  \  +2 "manipulator"&>& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&[( +3 "core" ( +2 "manipulator"&/& +4 "core" &  I  +2 "storage"(t& +4 "core" &K h\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&i'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(=' +54 "core" &  l  +3 "manipulator"&.% +3 "core" % ` d | +3 .tForearm.seek :retract + "manipulator"&^' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&y(ӂ +108 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +50 "core" ( +2 "manipulator"&& +3 "core" &Ӑ :+ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &Ӑ   ! :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&|'? +101 "core" ' +3 "manipulator"&Y& +3 "core" &Ӑ!   J :+ +3 "manipulator"&m% +3 "core" %B   +3 "collection"'{& +3 "core" & -\ +3 "collection"'& +5 "core" & V\ +2 .tCC.seek :closed +2 "collection"'@(\\ +5 "core" & [\ +6 &2 _\ $d +10 &Uo Z\ 6 +9 &r ^\ K +10 &K X\ M +9 &^P Z\ L +9 & L a\ L +10 &M `\ L +9 &P Y\ M +9 &eQ Y\ M +10 &(O O\ L +9 &L F\ L +10 &!P M\ M +9 &#lN L\ M +9 &%0L K\ L +10 &&K I\ M +9 &(K K\ L +9 &*vL M\ L +10 &,7K L\ M +9 &-J I\ M +10 &/P N\ M +9 &1}P N\ M +9 &3?O L\ M +10 &5P E\ M +9 &6Q O\ M +9 &8Q E\ M +10 &:GL G\ M +9 &<\ L E\ L +10 &=N C\ M +9 &?L D\ M +9 &AOM D\ M +10 &CT =\ N +9 &D\\ >\ N +9 &Fj\ 7\ P +10 &HA\ \ \ 8\ T +9 &I\ \ 5\ X +10 &K\ \ 6\ Z +9 &Mu\ \ 8\ Z +9 &O7\ \ 3\ Z +10 &P\ \ :\ [\ +9 &R\ \ 6\ \\ +10 &Tx\ \ 5\ \\ +9 &V7\ \ 8\ }] +9 &W\ \ 7\ {^ +10 &Y\ \ A\ y_ +9 &[w\ \ 5\ xL +9 &\\:\ \ 8\ 1 +10 &\\ \ \ ;\ U +5 ( +2 "collection"'& +3 "core" &\\w\ \ <\ U +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.34 +2 .Hand.open + "manipulator"&h1 +57 "core" 1 + "manipulator"&C% +5 "core" % B    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%D& +4 "core" &\ q +2 "manipulator"&% +4 "core" %     +2 "storage"(k% +3 "core" % \ q +2 "storage"(&. +3 "core" .(K +2 "storage"(A& +3 "core" &K \ q +3 "storage"(H& +4 "core" &K \ q + "manipulator"&X& +5 "core" &ӥ  _ 7 + "manipulator"&% +5 "core" %  =  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&\\( +162 "core" ( +2 "manipulator"&& +3 "core" &   *  +3 "storage"(K& +4 "core" &K 0\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 "storage"(B& +3 "core" &K Z\ x +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &K (\ o +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(~& +5 "core" &K \ r +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&V'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  \\  + "manipulator"&)% +5 "core" % i A +2 .tForearm.seek :retract + "manipulator"&d' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" &  \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&n' +90 "core" ' +49 "manipulator"&N& +6 "core" &    +2 "manipulator"&% +3 "core" %   d +3 "processing"%_& +3 "core" &\ y +3 "processing"%L& +6 "core" &\ x +2 .tPC.seek :closed +2 "processing"%o(^ +3 "core" &\ y +8 &5\ q$d +9 &Tr\ e7 +9 &{p\ dK +10 &L\ lP +9 &PL\ mP +10 &J\ mP +9 &M\ lO +9 &L\ lP +10 &ZJ\ nO +9 &L\ kP +9 &L;\ mP +10 &!K\ mO +9 &#`L/\ mP +10 &%#L\ mP +9 &&K\ mP +9 &(N.\ lP +10 &*iL:\ mP +9 &,,L;\ mO +9 &-L:\ mP +10 &/L?\ mP +9 &1qJA\ mP +10 &34L<\ mO +9 &4K?\ mP +9 &6O8\ lP +10 &8yL>\ mP +9 &:<L<\ mO +9 &;MA\ mP +10 &=M;\ mP +9 &?N7\ lP +10 &AAO;\ mP +9 &CV:\ jQ +9 &D[>\ jR +10 &Fb8\ hR +9 &H>p6\ eT +10 &I:\ aW +9 &K?\ aW +9 &M|.\ aW +10 &O=4\ `W +9 &P0\ `X +9 &R2\ `X +10 &T/\ _X +9 &VD0\ _W +9 &X+\ ^X +10 &Y-\ _X +9 &[0\ _Y +10 &]I2\ ]M +9 &^}O/\ ]#k +9 &^#.\ p. +3 ( + "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&;1 +53 "core" 1 +2 "manipulator"&I% +3 "core" %     d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +95 "core" ' + "processing"%"& +4 "core" &^ 1\ l. +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&0% +3 "core" % # 8 3 +3 "storage"(:% +4 "core" % l l \ k + "storage"(E. +4 "core" .(K + "storage"(& +5 "core" &K k l \ k +2 "storage"(& +2 "manipulator"&9& +5 "core" &K j j \ k +2 &   " +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(p'r + "manipulator"&?( +7 "core" ( + "manipulator"&-& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &   \\ +2 .tForearm.seek PC +2 "manipulator"&G' +94 "core" ' +3 .tHand.close + "manipulator"&(/ +74 "core" / +2 .tPC.seek :open +2 "processing"%2( +75 "core" ' +2 "storage"(3- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +47 "core" ' +324 ( + "storage"(b& +4 "core" &K S\ s +2 "manipulator"&]& +3 "core" &   $ +2 "manipulator"&\ % +4 "core" %  ( ! +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&W( +244 "core" ( + "manipulator"&P& +5 "core" &   ) 4 + "storage"(s& +4 "core" &K  \ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +91 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +3 "storage"(u- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(S' +36 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(j' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(Q- +3 "core" -' +2 "storage"(c& +3 "core" &K \  +2 "manipulator"&6& +4 "core" &  4 +2 .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"& & +4 "core" &  R 4 +2 "storage"(*& +4 "core" &K } *\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(a'" +50 "core" ' +48 "manipulator"&v& +6 "core" &   4 +2 "storage"(e& +3 "core" &K  5\ p +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&8'< +22 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +25 "core" ' +2 "manipulator"&1% +3 "core" %H   +2 "storage"(w& +4 "core" &K 2\ m +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 312 counts + "manipulator"&O't +13 "core" ' +2 "manipulator"&}& +3 "core" &  4 +3 "storage"(& +4 "core" &K -\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +17 "core" ' + "storage"(Z% +5 "core" % \ u +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (z% +4 "core" %O X i \ h[t +2 "manipulator"&$% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (J& +3 "core" &K q P\ q +2 "collection"'& +4 "core" &\\v\ \  \ U +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&l% +3 "core" %      +3 "storage"(% +4 "core" % 7\ t +2 "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K 1\ t +2 "storage"(f& +4 "core" &K \ t + "manipulator"&>& +5 "core" &    4 + .tElbow.seek 6 +2 "manipulator"&/( +4 "core" ( + "manipulator"&t& +5 "core" &  \  4 + "storage"(R& +4 "core" &K \ t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +95 "core" ' +2 "storage"(.& +4 "core" &K O\ y +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'r +299 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  4 +2 "storage"(& +4 "core" &K #\ s +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&4'< +21 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(m'l +29 "core" ' +2 "manipulator"&[% +3 "core" %F   ` +2 "storage"({& +4 "core" &K O\ n +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&='r +13 "core" ' +2 "manipulator"&^& +4 "core" &    4 + "storage"(U& +5 "core" &K \ v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&h' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(C' +36 "core" ' + "manipulator"&D& +5 "core" & \  4 + "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +148 "core" ( +2 "manipulator"&A& +4 "core" &Ӂ(   < @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &Ӂ( & e @^ +2 .tForearm.seek CC + "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&X/ +99 "core" / +9 .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "storage"(|& +5 "core" &K 2\  + "storage"(& +4 "core" &K G\  +2 "manipulator"&K& +3 "core" &Ӵ   :+ +3 "manipulator"&B% +4 "core" % +  )  +2 .tForearm.seek :retract +2 "manipulator"&y' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&x( +165 "core" ( + "manipulator"&5& +4 "core" & /  +2 "storage"(!& +3 "core" &K ?\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"& '< +94 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&~1 +60 "core" 1 +2 "manipulator"&% +3 "core" % :     +2 "storage"(& +5 "core" &K \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 298 counts + "manipulator"&)'f +16 "core" ' + "manipulator"&\\& +4 "core" &  +2 "storage"( & +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(V% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (%% +2 "core" %A k\ Yl +3 "manipulator"&'% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&_% +5 "core" %   r  + "storage"(% +5 "core" % \  +2 "storage"(d. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &[ d i u\  +2 "manipulator"&I& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&"(r +34 "core" ( + "manipulator"&0& +4 "core" &   {  +2 "storage"(:& +3 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&E'= +95 "core" ' + "storage"(& +4 "core" &[ g\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (L& +3 "core" &[ #\  +2 "manipulator"&-& +3 "core" &  +3 .tElbow.seek 7 +2 "manipulator"&7(r +26 "core" ( + "manipulator"&n& +4 "core" &w R ^ +2 "storage"((& +3 "core" &[ Y\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&3'ϧ +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&`& +3 "storage"(o' +8 "core" &w o ^ + "manipulator"&p% +5 "core" % ϩ g e +2 .tForearm.seek :retract +2 "manipulator"&b' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +48 "manipulator"&\ & +5 "core" &ӏ$  =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +2 "core" &ӏ$ l =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'? +93 "core" ' +2 "manipulator"&s& +4 "core" &Ӑ#  / <@ +2 "manipulator"&?% +4 "core" %B  b +2 "collection"'& +4 "core" & U\ +2 "collection"'u& +5 "core" & 1\ +3 .tCC.seek :closed + "collection"'Q(\\ +4 "core" & X\  +9 &2u T\ *y +10 &dw _\ > +9 &vj `\ N +9 &;L \\\ L +10 &Q [\ M +9 &J [\ L +9 &L ]\ L +10 &CO Z\ L +9 &N S\ L +10 &O U\ M +9 & O S\ L +9 &"JO D\ M +10 &$ O N\ L +9 &%L I\ M +9 &'O E\ L +10 &)RJ J\ M +9 &+P H\ L +10 &,L L\ M +9 &.P O\ L +9 &0ZL L\ M +10 &2L N\ L +9 &3N O\ M +9 &5Q J\ M +10 &7cQ G\ L +9 &9%N C\ L +10 &:N D\ L +9 &<L C\ M +9 &>jM C\ M +10 &@-L =\ L +9 &AO =\ M +9 &CS :\ M +10 &Em[ F\ N +9 &G+j\ A\ P +10 &H\ \ 8\ S +9 &J\ !\ 7\ X +9 &LU\ \ !;\ Y +10 &N\ \ @\ [ +9 &O\ \ ;\ [\ +9 &Q\ \ 7\ Z +10 &SV\ \ B\ \\ +9 &U\ \ >\ \\ +10 &V\ \ 9\ ] +9 &X\ \ 7\ ^ +9 &ZV\ \ 7\ }^ +10 &[}\ \ 5\ < +9 &\\&\ \ 7\ *{ +9 &\\t\ \ 9\ Y +3 ( + "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 .Hand.open + "manipulator"&c1 +53 "core" 1 +2 "manipulator"&6% +3 "core" % B   b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%*& +5 "core" &\ o + "manipulator"&% +4 "core" %     +2 "storage"(v% +4 "core" % \ o +2 "storage"(e. +3 "core" .([ +2 "storage"( & +3 "core" &[ \ o +2 "storage"(S& +4 "core" &[ \ o +2 "manipulator"&1& +4 "core" &Ӭ = 9$ +2 "manipulator"&w% +3 "core" %   l  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&}(r +164 "core" ( + "manipulator"&& +4 "core" &g    +2 "storage"(Z& +4 "core" &[ *\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&W'= +92 "core" ' +2 "storage"(& +3 "core" &[ ,\ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +300 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &[ \ q +2 "manipulator"&q& +4 "core" &g   +2 .tElbow.seek 7 +2 "manipulator"&,(r +12 "core" ( + "manipulator"&a& +4 "core" &i \ i +2 "storage"(8& +4 "core" &[ \ t +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&O'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(l' +8 "core" &i v + "manipulator"&% +5 "core" % ϛ +2 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +2 .tElbow.seek PC + "manipulator"&r( +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"&& +4 "core" & \    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &f& +3 "core" &    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&>' +101 "core" ' +2 "manipulator"&t& +3 "core" &   #  +2 "manipulator"&R% +5 "core" %  E +2 "processing"%+& +4 "core" &\ u +2 "processing"%.& +5 "core" &\ u +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ u\ +9 &/r\ e*x +51 &av\ ^> +4 &Zj\ _P +4 &G \ gP + &K\ gP + &I\ hO + &aL\ gP +4 &$J\ gP +9 &J\ jO +10 &J \ jP +9 & jK\ jP +9 &",N\ iP +10 &#K:\ jO +9 &%J<\ iP +10 &'sLM\ iO +9 &)4LO\ iP +9 &*L\ iP +10 &,P,\ iP +9 &.{JA\ iO +9 &0;JB\ iP +10 &1IB\ jP +9 &3JB\ jO +10 &5J>\ jP +9 &7CMB\ hP +9 &9MC\ iP +10 &:KB\ jP +9 &<LC\ iP +9 &>KN<\ iP +10 &@ N5\ jP +9 &AQ6\ hQ +10 &CZ8\ fR +9 &EN\\B\ fR +9 &G g;\ dS +10 &Hw6\ aU +9 &J>\ ^V +9 &LG3\ _W +10 &N,\ ^X +9 &O+\ ^X +10 &Q-\ \\X +9 &SM0\ ]W +9 &U /\ [X +10 &V2\ ]X +9 &X0\ ]X +9 &ZS0\ [X +10 &\\.\ [X +9 &]~+\ ^: +10 &^-n/\ bV +9 &^(/\ l2 +2 ( +2 "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&M1 +59 "core" 1 +2 "manipulator"&g% +3 "core" %   B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +92 "core" ' +2 "processing"% & +4 "core" &^&-\ l2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" %     +3 "storage"(Y% +3 "core" % [ ` T\ l +2 "storage"([. +3 "core" .([ +2 "storage"({& +3 "core" &[ h l N\ l +3 "storage"(^& +2 "manipulator"&U& +8 "core" &[ _ j t\ l + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&D( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&& +3 "core" &   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" & 2  +2 .tForearm.seek PC +2 "manipulator"&#' +93 "core" ' +2 .tHand.close + "manipulator"&4/ +68 "core" / +2 .tPC.seek :open + "processing"%=( +85 "core" ' + "storage"(A- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(m'1 +45 "core" ' +317 ( +2 "storage"(H& +4 "core" &[ N\ r +2 "manipulator"&h& +3 "core" &    +2 "manipulator"&i% +5 "core" %  0 +2 .tForearm.seek :retract + "manipulator"&X' +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&k(r +261 "core" ( +2 "manipulator"&@& +4 "core" &{    +2 "storage"(|& +3 "core" &[ :\ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +93 "core" ' +2 .tHand.open +2 "manipulator"&K1 +61 "core" 1 +2 "storage"(B- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(5' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(!' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(&& +3 "core" &[ \  +3 "manipulator"&~& +3 "core" &{ ;  +3 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&& +4 "core" &{ M  +2 "storage"(\\& +3 "core" &[ \  +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(V'" +58 "core" ' +2 "manipulator"&y& +3 "core" &{    +3 "storage"(%& +4 "core" &[ \ v + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&''{ +30 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +48 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +28 "core" ' +2 "manipulator"&% +4 "core" %Έ  +2 "storage"(_& +4 "core" &[ j i \ i +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&)'ϴ +14 "core" ' +2 "manipulator"&& +3 "core" &{  +2 "storage"(d& +5 "core" &[ ;\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&C'= +15 "core" ' +2 "storage"(% +3 "core" % \ y +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (<% +3 "core" %(I z \ kZr +2 "manipulator"&;% +5 "core" %4    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (0& +3 "core" &[ \ t +2 "collection"':& +4 "core" &\\r\ \  \ Y +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %    +2 "storage"(% +4 "core" % M\ w +2 "storage"(N. +3 "core" .([ +2 "storage"(9& +3 "core" &[ C\ w +2 "storage"(L& +5 "core" &[ Q\ w + "manipulator"&-& +4 "core" &{     +2 .tElbow.seek 7 +2 "manipulator"&n(r +3 "core" ( +2 "manipulator"&(& +4 "core" &{   +2 "storage"(F& +3 "core" &[ C\ w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&`'= +93 "core" ' +2 "storage"(p& +3 "core" &[\  \ { +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +295 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" &{    +2 "storage"(& +4 "core" &[ P\ s +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&3'{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(s'p +90 "core" ' + "manipulator"&?% +4 "core" %΋     +2 "storage"(& +4 "core" &[ j k \ j + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&o'Ϸ +25 "core" ' +2 "manipulator"&b& +3 "core" &{ j  +3 "storage"(& +3 "core" &[ M\ { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'= +28 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(6' +35 "core" ' +2 "manipulator"&*& +4 "core" &{ `  +2 "manipulator"&% +3 "core" %  / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&e(ӂ +153 "core" ( + "manipulator"& & +5 "core" &y*   Bj + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &y*   Bj +3 .tForearm.seek CC + "manipulator"&u'? +100 "core" ' + .tHand.close +2 "manipulator"&1/ +57 "core" / +2 .tCC.seek :open +2 "collection"'w( +451 "core" ( + "storage"(P& +4 "core" &[ v L\  +2 "storage"(& +3 "core" &[ r r \  +2 "manipulator"&Z& +5 "core" &   6 8 + "manipulator"&% +4 "core" % .    D +43 .tForearm.seek :retract +9 "manipulator"&]' +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"& (r +163 "core" ( +2 "manipulator"&z& +3 "core" &t    +3 "storage"($& +4 "core" &[ I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&q'{ +101 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&81 +60 "core" 1 +3 "manipulator"&J% +5 "core" % Ύ   d n + "storage"(& +3 "core" &[ n o $\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 319 counts + "manipulator"&'Ϻ +14 "core" ' +2 "manipulator"&}& +4 "core" &t !  +2 "storage"(W& +4 "core" &[ o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&j'= +16 "core" ' +2 "storage"(O% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (f% +3 "core" %`B w "\ Yk +2 "manipulator"&,% +3 "core" %: a +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'R& +3 "core" & G\ +2 "manipulator"&+% +4 "core" %    +2 "storage"(l% +4 "core" % \  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(2(<- +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +2 "core" &<0 m g\ +3 "manipulator"&g& +4 "core" &t   + .tElbow.seek 5 +2 "manipulator"& ( +36 "core" ( +2 "manipulator"&& +4 "core" & \  n  +2 "storage"(Y& +3 "core" &<0 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +95 "core" ' +2 "storage"({& +3 "core" &<0 2\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'r +311 "core" ' + "storage"(^- +4 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (.& +2 "core" &<. (\ +3 "manipulator"&& +4 "core" & D  +2 .tElbow.seek 5 + "manipulator"&/( +4 "core" ( + "manipulator"&>& +5 "core" & 9  + "storage"(4& +4 "core" &<. Q\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&A'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +3 "storage"(' +5 "core" &   +3 "manipulator"&% +3 "core" % Ϸ +3 .tForearm.seek :retract + "manipulator"&H' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +155 "core" ( +2 "manipulator"&i& +4 "core" &Ӈ&   \\ ?P + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&#& +7 "core" &Ӈ&   ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&@'? +100 "core" ' +3 "manipulator"&|& +3 "core" &ӊ%   ? >M +2 "manipulator"&D% +50 "core" %C  x  +4 "collection"'K& +5 "core" & 5\ +3 "collection"'B& +5 "core" & \\\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & `\ +6 & \\\ 6 +9 &AIp Y\ / +9 &hpw ]\ D +10 &\ W \\\ M +9 &L Q\ L +10 &K O\ M +9 &RJ G\ M +9 &J H\ L +10 &L B\ M +9 &O K\ M +9 &YN F\ M +10 &!L F\ L +9 &"O H\ M +10 &$J I\ L +9 &&bM F\ M +9 &(#N F\ M +10 &)L B\ L +9 &+O J\ M +9 &-jP E\ M +10 &/,O D\ M +9 &0P J\ M +10 &2P I\ M +9 &4rK I\ M +9 &65N F\ L +10 &7N D\ L +9 &9O @\ M +9 &;zQ 5\ M +10 &=<O :\ M +9 &>P 4\ M +10 &@N 7\ L +9 &BQ 4\ M +9 &D@Y 6\ N +10 &Eb 9\ O +9 &Go\  8\ Q +9 &It\ \ 8\ T +10 &K'\ "\ <\ Y +9 &L\ !\ #?\ Z +10 &N\ \ :\ [ +9 &Pi\ \ =\ [ +9 &R)\ \ 8\ [ +10 &S\ \ 8\ \\ +9 &U\ \ =\ |] +9 &Wf\ \ C\ z^ +10 &Y%\ \ 9\ w_ +9 &Z\ \ 6\ y_ +9 &\\T[\ \ :\ / +10 &\\\ \ ;\ Y +9 ( + &\\m\ \ =\ U +3 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.25 +2 .Hand.open +2 "manipulator"&&1 +53 "core" 1 +2 "manipulator"&~% +3 "core" % C   (  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%\\& +3 "core" &\ q +2 "manipulator"&X% +5 "core" %     + "storage"(y% +4 "core" % \ r +2 "storage"(%. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(m(<- +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &<. t\ p +2 "manipulator"&& +4 "core" &Ӭ   :+ +2 "manipulator"&_% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +167 "core" ( +2 "manipulator"&d& +3 "core" &   %  +2 "storage"(k& +4 "core" &<. U\ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +105 "core" ' +2 "storage"(& +4 "core" &<. \\ \ ~ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (<& +2 "core" &<. G\ x +3 "manipulator"&;& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&V& +3 "core" &  ;  +2 "storage"('& +4 "core" &<. \ | +3 .tForearm.seek 5 + 300 counts + "manipulator"&0'Ϲ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(' +9 "core" &  (  + "manipulator"&% +4 "core" % ϰ  ~ +2 .tForearm.seek :retract +2 "manipulator"&N' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&9& +4 "core" &   . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &    . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&-' +102 "core" ' +2 "manipulator"&(& +3 "core" &   . +3 "manipulator"&F% +4 "core" %   +2 "processing"%C& +3 "core" &\ w +3 "processing"%p& +5 "core" &\ w +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ w +8 &4\ r$c +9 &Tt\ d7 +10 &|r\ cL +9 &M\ jP +9 &PK\ kP +10 &L"\ kP +9 &N\ kP +9 &L\ lP +10 &YJ\ lP +9 &L \ kP +10 &L\ kP +9 &!K\ kP +9 &#bL\ lO +10 &%!M \ jP +9 &&L/\ kP +9 &(M$\ lP +10 &*hK"\ kP +9 &,*M\ kP +10 &-K2\ lP +9 &/MA\ kP +50 &1rJC\ iO +4 &32LC\ iP +3 &4K>\ hP +2 &6L@\ iP + &8yLC\ hP +2 &::K3\ iP +4 &;L2\ hP +9 &=L8\ kP +9 &?J8\ lP +10 &A@N1\ kQ +9 &CV8\ iQ +10 &DU6\ iR +9 &F_3\ gR +9 &H>n5\ dT +10 &I3\ `V +9 &K1\ `W +9 &M{6\ `W +10 &O>/\ `W +9 &P,\ ^X +9 &R3\ ^X +10 &T~/\ ]Y +9 &VB6\ `X +10 &X5\ ]X +9 &Y2\ ^X +9 &[/\ ^Y +10 &]I2\ [M +9 &^}O.\ \\#k +9 &^",\ o- +3 ( +2 "processing"%p& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&x1 +52 "core" 1 +2 "manipulator"&I% +4 "core" %     +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +96 "core" ' +3 "processing"%\ & +4 "core" &^/\ m- +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % #   1 +2 "storage"(7% +3 "core" % 5\ n +3 "storage"(?. +3 "core" .(<- +2 "storage"(& +3 "core" &<. \ o +3 "storage"(b& +2 "manipulator"&& +7 "core" &<. \ n +2 &   . +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&*( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&`& +3 "core" &   c . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +2 "core" &  . +3 .tForearm.seek PC + "manipulator"&"' +96 "core" ' + .tHand.close +2 "manipulator"&3/ +73 "core" / +2 .tPC.seek :open +2 "processing"%o( +78 "core" ' +2 "storage"(s- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +42 "core" ' +107 "Can"\ ]A`U/ +215 "core" ( + "storage"(S& +4 "core" &<, \ r +2 "manipulator"&c& +4 "core" &   . +2 "manipulator"&G% +3 "core" %   ! +3 .tForearm.seek :retract +2 "manipulator"&1' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&v( +246 "core" ( +2 "manipulator"&Q& +3 "core" &   / H +3 "storage"(P& +4 "core" &<, \ n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +98 "core" ' +2 .tHand.open + "manipulator"&Z1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(z' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"($' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +3 "core" -' +2 "storage"(e& +4 "core" &<, \  +2 "manipulator"&8& +3 "core" &    H +3 .tElbow.seek 5 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&& +4 "core" & \  r H +2 "storage"(}& +3 "core" &<, \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(O'" +59 "core" ' + "manipulator"&]& +4 "core" &    H +2 "storage"(f& +3 "core" &<,  \ p +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&,'΍ +23 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(q' +27 "core" ' +2 "manipulator"&% +4 "core" %Α   y +49 "storage"(R& +6 "core" &<, \ m + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&+'Ͻ +14 "core" ' + "manipulator"&l& +4 "core" &   e 7 +2 "storage"(& +4 "core" &<, ;\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +16 "core" ' +2 "storage"(j% +3 "core" % /\ x +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %;L f i \ i[s +2 "manipulator"&M% +5 "core" %J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<, \ s +3 "collection"'Y& +3 "core" &\\m\ \ 6\ U +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&{% +4 "core" %  \  ! +2 "storage"(a% +3 "core" % \ u +2 "storage"(t. +3 "core" .(<- +2 "storage"(^& +3 "core" &<, =\ u +2 "storage"(.& +5 "core" &<, ^\ u + "manipulator"&& +4 "core" &   7 +2 .tElbow.seek 5 +2 "manipulator"&>( +4 "core" ( + "manipulator"&4& +4 "core" &   7 +2 "storage"(r& +3 "core" &<, d\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&T'O +106 "core" ' +2 "storage"(& +3 "core" &<, \  \ | +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +297 "core" ' + "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" &    7 +3 "storage"(#& +3 "core" &<, "\ t +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&U'΍ +23 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(D'g +30 "core" ' + "manipulator"&/% +3 "core" %Κ   +2 "storage"(K& +4 "core" &<, K\ s +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&' +14 "core" ' + "manipulator"&H& +4 "core" &  L 7 +2 "storage"(w& +3 "core" &<, g\ x +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(~' +35 "core" ' +3 "manipulator"&\\& +3 "core" &  7 +2 "manipulator"&X% +5 "core" %H  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +155 "core" ( +2 "manipulator"&B& +4 "core" &Ӝ   6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &Ӝ   6 +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' + .tHand.close +2 "manipulator"&_/ +64 "core" / +2 .tCC.seek :open + "collection"'@( +451 "core" ( +2 "storage"(d& +4 "core" &<, u y 5\  + "storage"(k& +4 "core" &<, n n \  +2 "manipulator"&2& +4 "core" &ӡ \ < 5 +2 "manipulator"&% +3 "core" % 8   Z +3 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( +9 "manipulator"& & +3 "core" & ]  +3 "storage"(<& +3 "core" &<, h\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&;'΍ +99 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&'1 +56 "core" 1 +3 "manipulator"&)% +3 "core" % Ζ   +2 "storage"(:& +4 "core" &<, W\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +3 "manipulator"&' +23 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(& +5 "core" &<, O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +28 "core" ' + "storage"(0% +4 "core" % G\ +3 ."downElevator"SE.seek :down +4 "storage"(9' +99 (L% +3 "core" %u? z ^\ Yk +2 "manipulator"&% +3 "core" %>   ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'F& +3 "core" &  \ +2 "manipulator"&C% +4 "core" %      +2 "storage"(% +4 "core" % \  +2 "storage"(N. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(=(K +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +3 "core" &K\  ;\ ~ +3 "manipulator"&I& +3 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&\ ( +4 "core" ( + "manipulator"&& +5 "core" &    + "storage"(7& +4 "core" &K J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&?' +94 "core" ' + "storage"(& +4 "core" &K D\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &K l b \  +2 "manipulator"&`& +4 "core" &   $  +2 .tElbow.seek 6 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&-& +4 "core" &   A  +2 "storage"(3& +3 "core" &K '\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&s'h +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& +4 "storage"(' +4 "core" & W  +3 "manipulator"&% +4 "core" % } +2 .tForearm.seek :retract +2 "manipulator"&S' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&G& +5 "core" &Ӎ%   + >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +2 "core" &ӎ$   =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'? +91 "core" ' +2 "manipulator"&P& +3 "core" &ӎ$   =G +3 "manipulator"&*% +3 "core" %:  e +3 "collection"'Z& +3 "core" & R\ +3 "collection"'& +5 "core" & 7\ +2 .tCC.seek :closed +2 "collection"'u(\\ +55 "core" & b\ +5 &3 `\ $d + &Ws `\ 7 + &p b\ K + &L _\ M + &hL ]\ L + &*L [\ L +3 &L \\\ L +10 &K V\ M +9 &pJ S\ L +10 &1L P\ M +9 &P E\ L +9 &!L F\ M +10 &#xK G\ L +9 &%:L M\ L +10 &&L N\ L +9 &(O K\ M +9 &*O G\ M +10 &,AN M\ M +9 &.J E\ L +10 &/M H\ L +9 &1O C\ L +9 &3JN J\ L +10 &5 N D\ L +9 &6N C\ L +9 &8M J\ L +10 &:RO E\ L +9 &<N D\ L +9 &=Q ?\ M +10 &?L 8\ M +9 &AYN ;\ M +10 &CV 6\ N +9 &D^ 8\ O +9 &Fj 5\ P +10 &HL\ \ >\ T +9 &J\ \ 7\ X +9 &K\ \ 7\ Z +10 &M\ \ 7\ Z +9 &O@\ \ 7\ [ +9 &Q\ \ 8\ [ +10 &R\ \ =\ \\ +9 &T\ \ >\ \\ +10 &VA\ \ =\ ] +9 &X\ \ B\ ^ +9 &Y\ \ 8\ {_ +10 &[\ \ 7\ {L +9 &\\9\ \ =\ 1 +9 &\\\ \ \ 8\ X +6 ( + "collection"'& +4 "core" &\\}\ \ \ 6\ X +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.36 +2 .Hand.open + "manipulator"&e1 +63 "core" 1 +2 "manipulator"&8% +3 "core" % :   e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%}& +4 "core" &\ n +2 "manipulator"&1% +3 "core" %     +2 "storage"(]% +5 "core" % \ m + "storage"(f. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K ; : z\ _ +2 "manipulator"&R& +4 "core" &Ӭ    9) +2 "manipulator"&z% +3 "core" %    H  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&l( +161 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"(v& +4 "core" &K U\ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +101 "core" ' +2 "storage"(& +3 "core" &K \ v +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +297 "core" ' + "storage"(W- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \\ y \ m +2 "manipulator"&M& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&O& +3 "core" &   +2 "storage"(,& +5 "core" &K  c\ o +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&+'h +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"({' +8 "core" &   +2 "manipulator"&a% +3 "core" % Ϙ  r +3 .tForearm.seek :retract + "manipulator"&t' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( +2 "manipulator"&^& +3 "core" &   0 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +3 "core" & \  0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 "manipulator"&4& +4 "core" &    0 +2 "manipulator"&r% +3 "core" %  0 ` +3 "processing"%6& +3 "core" &\ x +3 "processing"%& +5 "core" &\ w +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ w +7 & .\ r$c +10 &Sr\ d7 +9 &{n\ cK +9 &J\ lP +10 &KI\ lP +9 &J\ kP +9 &L\ kP +10 &K\ kP +9 &UI\ lP +9 &L\ lP +10 &J=\ lP +9 &!I#\ lP +10 &#\\K\ kP +9 &%L\ kP +9 &&LS\ kP +10 &(O!\ kP +9 &*dJg\ lP +9 &,'L$\ kP +10 &-J@\ lP +9 &/OB\ jP +10 &1mJ>\ kP +9 &3/J=\ kP +9 &4MB\ jP +10 &6K<\ jP +9 &8uL@\ lP +9 &:7J@\ lP +10 &;L?\ kP +9 &=LA\ kP +10 &?|L>\ jP +9 &A<N:\ jQ +9 &BW>\ hQ +10 &DW6\ iR +9 &F|`<\ gS +9 &H:o>\ dT +10 &I7\ _W +9 &K5\ `W +10 &Mx.\ `W +9 &O87\ ^X +9 &P7\ ^X +10 &R0\ ^W +9 &T{,\ \\Y +9 &V=.\ ]Y +54 &X0\ [X +4 &Y2\ [X + &[2\ ZY + &]E0\ ZP + &^{Ey.\ `!e + &^?,\ h3 + ( +3 "processing"%& +3 "core" &^%*\ l3 +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"& 1 +62 "core" 1 +2 "manipulator"&g% +4 "core" %   O ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +90 "core" ' +2 "processing"%i& +3 "core" &^%A\ l3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&#% +4 "core" %    +2 "storage"(|% +5 "core" % l l \ k + "storage"(/. +3 "core" .(K +2 "storage"(K& +3 "core" &K l l \ k +3 "storage"(H& +2 "manipulator"&w& +8 "core" &K l l \ k + &   : 0 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&\\( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(X'r +2 "core" ( +3 "manipulator"&T& +4 "core" &   j 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +6 "core" &   l 0 +8 .tForearm.seek PC +5 "manipulator"& ' +97 "core" ' + .tHand.close +2 "manipulator"&U/ +65 "core" / +2 .tPC.seek :open +2 "processing"%( +74 "core" ' + "storage"(D- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +46 "core" ' +326 ( + "storage"(5& +4 "core" &K T\ q +2 "manipulator"&&& +3 "core" &   0 +2 "manipulator"&A% +5 "core" %  ! # +2 .tForearm.seek :retract + "manipulator"&_' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&y( +243 "core" ( +2 "manipulator"&& +3 "core" &    > +2 "storage"(d& +4 "core" &K E\ n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +93 "core" ' +2 .tHand.open + "manipulator"&21 +53 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(<' +57 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(%& +3 "core" &K \  +3 "manipulator"&'& +4 "core" &   > +2 .tElbow.seek 6 + "manipulator"&)( +4 "core" ( +2 "manipulator"&:& +3 "core" & > +2 "storage"(& +4 "core" &K r | Z\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(0'" +59 "core" ' + "manipulator"&h& +4 "core" &   > +2 "storage"(L& +4 "core" &K \ p +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(;' +20 "core" ' +2 "manipulator"&% +3 "core" %F   z +3 "storage"(F& +4 "core" &K T K <\ h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts +2 "manipulator"&C'r +14 "core" ' +2 "manipulator"&& +4 "core" &   = +2 "storage"(N& +4 "core" &K #\ r +43 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +15 "core" ' +2 "storage"(!% +3 "core" % k\ r +3 ."downElevator"SE.seek :down +4 "storage"(9' +99 (m% +3 "core" %G W \\ .\ gZs +2 "manipulator"&x% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K \ r +2 "collection"'7& +4 "core" &\\~\ \ 2\ X +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %      +2 "storage"(V% +4 "core" % N\ u +2 "storage"((. +3 "core" .(K +2 "storage"(b& +3 "core" &K c\ u +2 "storage"(p& +5 "core" &K _\ u + "manipulator"&`& +5 "core" &  = + .tElbow.seek 6 +2 "manipulator"&-( +4 "core" ( +2 "manipulator"&3& +3 "core" &   / = +3 "storage"( & +4 "core" &K \ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +100 "core" ' + "storage"(& +5 "core" &K \ u +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'r +298 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" &   = +2 "storage"("& +5 "core" &K \ q + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'< +14 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(*'l +30 "core" ' +2 "manipulator"&Z% +4 "core" %K   + "storage"(n& +5 "core" &K \ m + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 315 counts +2 "manipulator"&'w +13 "core" ' +2 "manipulator"&S& +3 "core" &   = +2 "storage"(@& +5 "core" &K \ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(8' +36 "core" ' + "manipulator"&}& +9 "core" &    = +2 "manipulator"&1% +4 "core" %   +7 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +162 "core" ( +2 "manipulator"&& +3 "core" &Ӂ   k 5\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӂ  \ p 5\ +2 .tForearm.seek CC +2 "manipulator"&R'? +102 "core" ' + .tHand.close +2 "manipulator"&z/ +56 "core" / +2 .tCC.seek :open +2 "collection"'Q( +447 "core" ( +2 "storage"(& +3 "core" &K y \  +2 "storage"(v& +5 "core" &K p n #\  + "manipulator"&=& +4 "core" &Ӫ   0 +2 "manipulator"&% +3 "core" % '   +3 .tForearm.seek :retract + "manipulator"&c' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +160 "core" ( +2 "manipulator"&W& +4 "core" &  !  +2 "storage"(& +3 "core" &K \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&M'< +96 "core" ' +9 .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&,1 +60 "core" 1 +2 "manipulator"&% +4 "core" % O   M  +2 "storage"(Y& +4 "core" &K $\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&a'{ +15 "core" ' + "manipulator"&l& +5 "core" & A  + "storage"(j& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +15 "core" ' + "storage"(+% +5 "core" % t\ +2 ."downElevator"SE.seek :down +3 "storage"(^' +99 (.% +3 "core" %{A w \ Xj +2 "manipulator"&J% +5 "core" % 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +97 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'r& +3 "core" & \ +3 "manipulator"&6% +3 "core" % \    +2 "storage"({% +5 "core" % @\  + "storage"(t. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(o([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &[ ]\ +3 "manipulator"&g& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&i(r +15 "core" ( + "manipulator"&#& +4 "core" &h _  +2 "storage"(|& +3 "core" &[ |\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&/'= +94 "core" ' + "storage"(K& +5 "core" &[ '\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &[ &\ +2 "manipulator"&T& +4 "core" &h  +2 .tElbow.seek 7 +2 "manipulator"&>(r +3 "core" ( +2 "manipulator"&& +3 "core" &h    +2 "storage"(U& +4 "core" &[ \ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&D'ϧ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(' +9 "core" &h   + "manipulator"&X% +4 "core" % Ϭ B L +2 .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +153 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( + "manipulator"&A& +5 "core" &Ӑ$  n =B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӑ$   =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' +6 "manipulator"&d& +4 "core" &ӑ$  =A +2 "manipulator"&\\% +3 "core" %<   +3 "collection"'2& +3 "core" & 3\ +3 "collection"'& +5 "core" & _\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & `\ +6 &> _\ $f +10 &Xu _\ 8 +9 &n [\ L +10 &J `\ M +9 &P Z\ L +9 &IK T\ L +10 & L Q\ L +9 &O K\ M +9 &N G\ L +10 &QM J\ L +9 & O K\ L +10 &!J L\ L +9 &#M I\ L +9 &%YO F\ L +10 &'O L\ M +9 &(M N\ M +9 &*N K\ L +10 &,`O I\ M +9 &."N G\ M +10 &/O M\ L +49 &1N I\ L +7 &3gQ <\ M + &5*K A\ M + &6K @\ L + &8M =\ M + &:oO 9\ M +5 &<2K 6\ M +10 &=K A\ L +9 &?N 7\ L +9 &AwR 4\ M +10 &C:R 3\ M +9 &D] ?\ N +10 &Fe 8\ O +9 &Hoz\ \ <\ R +9 &J#\ \ ;\ W +10 &K\ \ :\ Z +9 &M\ \ 9\ [ +9 &O_\ \ 8\ [ +10 &Q\ \ 9\ [ +9 &R\ \ <\ [ +9 &T\ \ @\ \\ +10 &Vb\ \ :\ \\ +9 &X\ \ 9\ ^ +10 &Y\ \ E\ }^ +9 &[\ \ ?\ }K +9 &\\;\ \ =\ *~ +10 &\\_\ \ ;\ N +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&%1 +60 "core" 1 + "manipulator"&'% +5 "core" % <   P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +98 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +3 "core" &\ w +2 "manipulator"&_% +5 "core" % \   + "storage"(h% +5 "core" % 4\ v + "storage"(L. +4 "core" .([ + "storage"(& +5 "core" &[ )\ w + "storage"(B& +5 "core" &[ M\ w + "manipulator"&F& +4 "core" &ӭ  9% +2 "manipulator"&% +3 "core" % \   ]  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"& (r +164 "core" ( + "manipulator"&N& +4 "core" &u  5  +2 "storage"(y& +4 "core" &[\ \ 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&!'= +90 "core" ' +2 "storage"(k& +4 "core" &[ _\ ~ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'r +295 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (x& +2 "core" &[ b\ s +3 "manipulator"&& +4 "core" &u   +2 .tElbow.seek 7 + "manipulator"&)(r +4 "core" ( +2 "manipulator"&0& +3 "core" &u   +2 "storage"(& +5 "core" &[ \ w +2 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&C/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&7& + "storage"(' +8 "core" &u N  + "manipulator"&V% +5 "core" % Ϥ w +2 .tForearm.seek :retract + "manipulator"&;' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +3 "manipulator"&b& +3 "core" &  \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &   \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&`' +90 "core" ' +2 "manipulator"&3& +3 "core" &  S \ +3 "manipulator"& % +3 "core" %  \\ +3 "processing"%~& +4 "core" &\ } +2 "processing"%& +5 "core" &\ ~ +2 .tPC.seek :closed +2 "processing"%9(^ +4 "core" &\ } +9 &2t\ l)w +10 &aw\ h> +9 &dj\ kO +9 &"K\ qP +10 &J\ qP +9 &N\ qP +10 &jO\ pP +9 &,O\ pP +9 &J;\ rP +10 &L$\ qO +9 & sL\ qO +9 &"4L\ qP +10 &#O+\ pP +9 &%I9\ rP +10 &'zJ=\ rP +9 &)=L>\ qO +9 &*LA\ qO +10 &,NB\ qP +9 &.L<\ qP +9 &0DL\ pP +10 &2L0\ qP +9 &3I;\ rP +10 &5I6\ qO +9 &7LL:\ qP +9 &9P9\ pP +10 &:L7\ qP +9 &<L8\ qO +9 &>SO.\ pP +10 &@O8\ pP +9 &AQ6\ pP +10 &C]>\ mR +9 &EU[6\ mR +9 &Gh6\ kS +10 &H|1\ fV +9 &J1\ eW +9 &LO-\ dW +10 &N0\ eW +9 &O0\ eW +10 &Q.\ dX +9 &SU/\ dX +9 &U0\ cX +10 &V/\ eX +9 &X0\ dW +9 &ZZ1\ cY +10 &\\0\ cX +9 &]v/\ h5 +10 &^8n-\ i9 +9 ( + &^/\ w( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&I% +3 "core" %   : \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +94 "core" ' +49 "processing"%G& +6 "core" &^A\ q( +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&"% +5 "core" % !   $ +2 "storage"(P% +4 "core" % #\ q + "storage"(Z. +3 "core" .([ +2 "storage"(n& +3 "core" &[ \ r +3 "storage"(S& +2 "manipulator"&@& +6 "core" &[ \ q +3 &   \ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(}'r +2 "manipulator"&1( +6 "core" ( +2 "manipulator"&E& +3 "core" &  Q \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &   \ +2 .tForearm.seek PC +2 "manipulator"&\ ' +93 "core" ' +2 .tHand.close + "manipulator"&/ +66 "core" / +2 .tPC.seek :open + "processing"%( +83 "core" ' +2 "storage"(*- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +319 ( +2 "storage"( & +3 "core" &[ V\ w +3 "manipulator"&e& +4 "core" &    \ + "manipulator"&s% +4 "core" %     G +2 .tForearm.seek :retract +2 "manipulator"&z' +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&](r +243 "core" ( +2 "manipulator"&u& +3 "core" &|   W +2 "storage"(& +4 "core" &[ \ w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&v'= +93 "core" ' +2 .tHand.open + "manipulator"&=1 +61 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(R- +3 "core" -' +2 "storage"(f& +4 "core" &[ F\ # + "manipulator"&,& +5 "core" &|   W + .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( + "manipulator"&Y& +5 "core" &|  W + "storage"(l& +4 "core" &[ a\ # +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&j'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(+'" +52 "core" ' + "manipulator"&c& +4 "core" &|   W +2 "storage"(.& +3 "core" &[ A\ t +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&J'{ +26 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +20 "core" ' +2 "manipulator"&r% +4 "core" %΋   + "storage"(6& +5 "core" &[ i i \ i + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&a'Ϸ +23 "core" ' +2 "manipulator"&{& +4 "core" &~  , U + "storage"(t& +5 "core" &[ 5\ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&8'= +15 "core" ' +2 "storage"($% +3 "core" % \ x +3 ."downElevator"SE.seek :down +3 "storage"(^' +99 (% +3 "core" %J t \ l[u +2 "manipulator"& % +4 "core" %B   +2 .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +18 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (#& +3 "core" &[ \ u +2 "collection"'|& +4 "core" &\\b\ \ 7\ N +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&K% +4 "core" %    +2 "storage"(O% +4 "core" % z\ y + "storage"(4. +4 "core" .([ +2 "storage"(w& +4 "core" &[ }\ y +2 "storage"(H& +3 "core" &[ J\ y +3 "manipulator"&T& +4 "core" &~   U +2 .tElbow.seek 7 +2 "manipulator"&(r +7 "core" ( +2 "manipulator"&U& +4 "core" &   0 +2 "storage"(q& +4 "core" &[ \ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&['= +93 "core" ' +2 "storage"(X& +3 "core" &[ Z H O\ ~ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +306 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" &    0 +3 "storage"( & +4 "core" &[ \ v + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +28 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(\\'p +29 "core" ' +2 "manipulator"&>% +4 "core" %Ώ   1 +2 "storage"(2& +3 "core" &[ s @\ l +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&'ϻ +14 "core" ' + "manipulator"&5& +4 "core" &   ^ 0 +2 "storage"(Q& +3 "core" &[ <\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&%'= +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"('' +41 "core" ' +2 "manipulator"&& +4 "core" &  ` 0 + "manipulator"&_% +4 "core" %; \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&L(ӂ +155 "core" ( + "manipulator"&& +4 "core" &ӊ(   @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӊ(   + @W +3 .tForearm.seek CC +2 "manipulator"&B'? +95 "core" ' +2 .tHand.close + "manipulator"&F/ +60 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(& +4 "core" &[ \ +2 "storage"(N& +4 "core" &[ ;\ +2 "manipulator"&y& +3 "core" &ӱ   :0 +2 "manipulator"&k% +4 "core" % K \   +2 .tForearm.seek :retract +2 "manipulator"&&' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&:(r +171 "core" ( +2 "manipulator"&m& +3 "core" &h \  # +3 "storage"(x& +3 "core" &[ >\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +94 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&C% +5 "core" % ΍   + "storage"(7& +4 "core" &[ X\ +2 .tForearm.force -20 +48 "manipulator"&5 +4 .tForearm.seek 7 + 318 counts +2 "manipulator"&V'Ϲ +13 "core" ' +2 "manipulator"& & +4 "core" &i  +2 "storage"(!& +3 "core" &[ V\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&<'= +15 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(b' +99 (p% +3 "core" %C M\ Yk +2 "manipulator"&)% +3 "core" %8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"' & +3 "core" & D\ +2 "manipulator"&~% +5 "core" %    + "storage"(% +5 "core" % \  +2 "storage"(;. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<0 o q 0\ +2 "manipulator"&I& +3 "core" &i  +2 .tElbow.seek 5 +2 "manipulator"&G( +21 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"("& +4 "core" &<0 m\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&P'O +91 "core" ' +2 "storage"(Z& +3 "core" &<0 o\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +309 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &<. s\ +2 "manipulator"&E& +4 "core" & b  +2 .tElbow.seek 5 +2 "manipulator"&-( +20 "core" ( + "manipulator"&`& +5 "core" &  + "storage"(& +4 "core" &<. I\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&*'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&(/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(9' +8 "core" &  + "manipulator"&}% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&s& +3 "core" &ӎ"  \  ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &ӎ"  * ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'? +98 "core" ' +2 "manipulator"&& +4 "core" &ӎ"   ! ;3 +2 "manipulator"&1% +4 "core" %F   +2 "collection"'=& +5 "core" & ;\ +2 "collection"'& +5 "core" & _\ +2 .tCC.seek :closed +2 "collection"'R(\\ +5 "core" & Y\ +6 &? _\ %g +9 &Ys ^\ 8 +9 &n `\ L +10 &L `\ L +9 &M `\ M +9 &GO [\ M +10 & O Z\ M +9 &O Z\ M +10 &M W\ M +9 &PL [\ L +9 & L Q\ L +10 &!O T\ M +9 &#K Q\ M +9 &%XJ H\ L +10 &'L K\ L +9 &(L N\ L +10 &*J N\ M +9 &,_J L\ M +9 &.!O O\ M +10 &/O N\ M +9 &1Q J\ M +9 &3gQ B\ M +10 &5)K F\ M +9 &6M D\ L +10 &8M G\ M +9 &:oO C\ M +9 &<1P D\ M +10 &=P F\ M +9 &?L D\ M +9 &AxN <\ L +10 &C7S ?\ M +9 &DY 6\ N +10 &Fc 6\ P +9 &How\ \ 7\ R +9 &J&\ \ 7\ V +10 &K\ \ !7\ Z +9 &M\ \ <\ Z +9 &O^\ \ <\ [ +10 &Q!\ \ 8\ Z +9 &R\ \ 9\ \\ +10 &T\ \ ;\ \\ +9 &V_\ \ 8\ ] +9 &X\ \ C\ {^ +10 &Y\ \ ;\ {^ +9 &[\ \ 6\ yL +9 &\\6\ \ ?\ . +10 &\\b\ \ 7\ N +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 +48 .Hand.open +4 "manipulator"&f1 +54 "core" 1 + "manipulator"&,% +5 "core" % F    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%l& +3 "core" &\ x +3 "manipulator"&z% +4 "core" %  \   +2 "storage"(c% +4 "core" % \ y + "storage"(.. +4 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(r(<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &<( 1\ w +3 "manipulator"&& +3 "core" &ө   0 7 +2 "manipulator"&{% +4 "core" %   *  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&W( +162 "core" ( +2 "manipulator"&t& +3 "core" &  g  +2 "storage"($& +5 "core" &<( q k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +95 "core" ' +2 "storage"(v& +3 "core" &<(\ \  T\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( & +2 "core" &<( 7\ p +3 "manipulator"&j& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&+& +3 "core" &     +3 "storage"(J& +3 "core" &<( \ s +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&a'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&|& +3 "storage"(K' +8 "core" & p  + "manipulator"&O% +5 "core" %  ! +2 .tForearm.seek :retract + "manipulator"&M' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&w& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" & \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T' +99 "core" ' +2 "manipulator"&U& +3 "core" &   &  +3 "manipulator"&q% +4 "core" % )  +2 "processing"%X& +3 "core" &\ { +3 "processing"%8& +5 "core" &\ { +3 .tPC.seek :closed + "processing"%^(^ +5 "core" &\ { +8 &3s\ i*x +10 &`v\ f> +9 &hi\ hO +9 &'K\ oP +10 &J\ oP +9 &N\ nP +10 &nJ\ oP +9 &0L\ oP +9 &O\ nP +10 &J\ oP +9 & wKF\ nO +9 &"8L\ nP +10 &#O\ nP +9 &%K-\ oO +9 &'L9\ mO +10 &)AK>\ oO +9 &+L:\ nP +10 &,P=\ nP +9 &.I:\ oP +9 &0IL:\ nO +10 &2\ J9\ oP +9 &3I;\ oP +10 &5I=\ oP +9 &7PJ>\ oP +9 &9L<\ oP +10 &:M7\ nO +9 &<L:\ nP +9 &>XO6\ lP +10 &@L:\ nP +9 &AQ9\ mP +9 &CX7\ lQ +10 &EY\\2\ kR +9 &Gc6\ jS +10 &Ht4\ gT +9 &J3\ cV +9 &LU/\ dV +10 &N,\ cW +9 &O+\ bW +9 &Q0\ _X +10 &SY1\ aX +9 &U.\ aW +10 &V-\ aX +9 &X1\ bW +9 &Zb0\ `W +10 &\\#2\ `X +9 &]y/\ d4 +9 &^4j.\ gA +10 ( + &^1\ t- +2 "processing"%8& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&g% +3 "core" %   +  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +99 "core" ' +2 "processing"%A& +3 "core" &^<\ v- +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" %    +2 "storage"(d% +3 "core" % f\ u +2 "storage"(>. +3 "core" .(<- +48 "storage"(2& +7 "core" &<( Z\ v +2 "storage"(5& +2 "manipulator"&Q& +6 "core" &<( '\ v +3 &   w  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"('r + "manipulator"&_( +7 "core" ( + "manipulator"&[& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \  y  +3 .tForearm.seek PC + "manipulator"&i' +93 "core" ' + .tHand.close +2 "manipulator"&/ +73 "core" / +2 .tPC.seek :open +2 "processing"%( +75 "core" ' + "storage"(\\- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +322 ( +2 "storage"(& +3 "core" &<( k\ y +2 "manipulator"&%& +4 "core" &    +2 "manipulator"&D% +4 "core" %     3 +2 .tForearm.seek :retract +2 "manipulator"&F' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&h( +244 "core" ( +2 "manipulator"&& +4 "core" &   8 +2 "storage"(& +4 "core" &<( \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +92 "core" ' +2 .tHand.open + "manipulator"&y1 +63 "core" 1 +2 "storage"(k- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(m' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(B- +3 "core" -' +2 "storage"(L& +4 "core" &<( h\ % +2 "manipulator"&& +3 "core" &   8 +3 .tElbow.seek 5 + "manipulator"&C( +4 "core" ( +2 "manipulator"&7& +3 "core" &  8 +2 "storage"( & +4 "core" &<( T\ $ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&&& +4 "core" &    8 +2 "storage"(p& +3 "core" &<( \ w +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&:'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"& % +3 "core" %Μ   w +2 "storage"(~& +4 "core" &<( _\ o +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&V' +13 "core" ' +2 "manipulator"&& +4 "core" &   7 +2 "storage"(;& +3 "core" &<( {\ y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +15 "core" ' +2 "storage"(<% +4 "core" % H\ z +2 ."downElevator"SE.seek :down +4 "storage"(b' +99 (o% +2 "core" %M | \ k[t +3 "manipulator"&% +4 "core" %M   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +50 "core" &<( D\ v +3 "collection"'"& +5 "core" &\\b\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&Z% +4 "core" %     +2 "storage"(0% +3 "core" % 3\ x +2 "storage"(3. +3 "core" .(<- +2 "storage"(S& +4 "core" &<( `\ x +2 "storage"(@& +3 "core" &<( y\ x +2 "manipulator"&E& +5 "core" &    7 + .tElbow.seek 5 +2 "manipulator"&`( +4 "core" ( + "manipulator"&& +4 "core" &    7 +2 "storage"((& +4 "core" &<( J\ x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&?'O +94 "core" ' +2 "storage"(}& +4 "core" &<(\  G\ } +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'r +294 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &  7 +2 "storage"(\ & +4 "core" &<( C\ u +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&n'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(1'g +30 "core" ' +2 "manipulator"&=% +3 "core" %Ρ    +2 "storage"(-& +4 "core" &<( ,\ u +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&9' +13 "core" ' +2 "manipulator"& & +3 "core" &  L 7 +3 "storage"(& +4 "core" &<( \ x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(,' +36 "core" ' +2 "manipulator"&& +4 "core" &   7 + "manipulator"&l% +5 "core" %O \ H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&c(ӂ +156 "core" ( +2 "manipulator"&.& +3 "core" &ӎ   C 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &ӎ  l 7 +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&{/ +54 "core" / + .tCC.seek :open +2 "collection"'u( +447 "core" ( +2 "storage"(t& +4 "core" &<( \  +2 "storage"($& +3 "core" &<( ;\  +2 "manipulator"&& +4 "core" &ө  5 4 +2 "manipulator"&v% +3 "core" % C   4 +3 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Y( +162 "core" ( +2 "manipulator"&& +3 "core" &   c  +2 "storage"( & +4 "core" &<( \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&j'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&J1 +57 "core" 1 +3 "manipulator"&#% +3 "core" % Ρ   +2 "storage"(|& +4 "core" &<( ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&O' +13 "core" ' +3 "manipulator"&W& +3 "core" &  +2 "storage"(]& +45 "core" &<( L\  +9 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' + "storage"(a% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(w' +98 (H% +3 "core" %\\A @\ Zm +2 "manipulator"&% +5 "core" %I 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'q& +3 "core" & L\ +3 "manipulator"&X% +4 "core" %      +2 "storage"(K% +3 "core" % \  +2 "storage"(M. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K (\ \ +3 "manipulator"&g& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&A( +4 "core" ( +2 "manipulator"& & +4 "core" &  d  + "storage"(d& +5 "core" &K b\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&>' +97 "core" ' +2 "storage"(2& +4 "core" &K \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +298 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &K y\ \ +2 "manipulator"&[& +4 "core" &  i  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&T& +3 "core" &   +2 "storage"(& +4 "core" &K \ \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&\\'h +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& + "storage"(^' +9 "core" & [  + "manipulator"&% +4 "core" % ^  i w +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&D& +5 "core" &Ӌ&   2 ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &Ӌ&   V ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&& +3 "core" &ӌ&   ?U +3 "manipulator"&_% +3 "core" %4   g +3 "collection"'y& +3 "core" & U\ +3 "collection"'k& +5 "core" & 5\ +2 .tCC.seek :closed +2 "collection"'B(\\ +4 "core" & `\ +8 &? a\ $f +10 &Xv a\ 8 +9 &n X\ L +9 &L `\ L +10 &L _\ M +9 &EP [\ L +10 &L Z\ L +9 &K J\ M +9 &J J\ M +10 &MK M\ L +9 & L N\ M +9 &!N I\ M +10 &#J N\ M +9 &%TO H\ M +10 &'N H\ M +9 &(L N\ L +9 &*O K\ M +10 &,]O D\ L +9 &.L L\ L +9 &/P K\ M +10 &1N J\ L +9 &3eN F\ L +10 &5&N G\ M +9 &6Q G\ M +9 &8L A\ M +10 &:lK =\ M +9 &<.K 5\ M +9 &=K <\ M +10 &?N ?\ L +9 &AtO <\ M +10 &C4U 6\ M +9 &D_ 8\ O +9 &Fk <\ P +10 &He\ \ 9\ U +9 &J\ \ 6\ Y +9 &K\ \ B\ Z +10 &M\ \ A\ Z +9 &O[\ \ =\ [ +10 &Q\ \ C\ \\ +9 &R\ \ 9\ \\ +9 &T\ \ @\ ] +10 &V[\ \ 8\ ] +9 &X\ \ ;\ }^ +9 &Y\ \ ?\ y` +10 &[\ \ @\ {L +9 &\\:\ \ ?\ , +10 &\\}\ \ :\ \\ +2 ( +2 "collection"'k& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.40 + .Hand.open +2 "manipulator"&L1 +55 "core" 1 +3 "manipulator"&% +4 "core" % 4   g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +48 "manipulator"&7' +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +5 "core" &\ m + "manipulator"&F% +4 "core" % !  ! & +2 "storage"(&% +4 "core" % } p ?\ m +2 "storage"(p. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K 1 8 >\ c +2 "manipulator"&~& +4 "core" &Ӭ" " ;5 +2 "manipulator"&m% +3 "core" % ! \ & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( + "manipulator"&;& +5 "core" &   2  + "storage"(<& +5 "core" &K :\ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +108 "core" ' +3 "storage"(N& +3 "core" &K n\ x +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(x'r +295 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K r P\ p +2 "manipulator"&!& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&C( +4 "core" ( + "manipulator"&& +4 "core" &   1  +2 "storage"(:& +3 "core" &K \ s +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"("' +9 "core" &  /  + "manipulator"&Z% +4 "core" % d  s +2 .tForearm.seek :retract +2 "manipulator"&0' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&S& +4 "core" &  : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &   : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&E' +97 "core" ' +2 "manipulator"&& +3 "core" &   : +3 "manipulator"&(% +3 "core" %   # \ +3 "processing"%'& +3 "core" &\ u +3 "processing"%}& +5 "core" &\ u +2 .tPC.seek :closed +3 "processing"%b(^ +4 "core" &\ u +5 &\ t3 +10 &9Fs\ c1 +9 &`px\ `E +9 &\\\ eQ +10 &J\ iP +9 &K\ hP +10 &CM\ iP +9 &K\ iO +9 &L\ iP +10 &L \ iP +9 &JO\ hP +9 &! L=\ iP +10 &"J\ iO +9 &$N \ hP +10 &&SL7\ iP +9 &(J\ jP +9 &)J*\ iP +10 &+JB\ jP +9 &-[Li\ iP +9 &/J%\ jP +10 &0J=\ iP +9 &2KC\ jP +10 &4dJ;\ iO +9 &6%LB\ iP +9 &7I@\ jP +10 &9M?\ iP +9 &;kN<\ iP +9 &=-LA\ iP +10 &>O;\ iP +9 &@O:\ iP +10 &BpU7\ gQ +9 &D0W?\ fQ +9 &E`5\ dR +10 &Gh4\ cS +9 &Ijy2\ _V +10 &K)4\ ^W +9 &L1\ ^V +9 &N+\ [W +10 &Pm1\ ]W +9 &R.-\ [X +9 &S/\ \\X +10 &U-\ ]W +9 &Wu/\ [W +9 &Y60\ ]X +10 &Z.\ \\X +9 &\\1\ [X +10 &^2_k-\ c5 +9 &^I/\ h+ +5 ( +2 "processing"%}& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&)1 +4 "core" &^/\ m+ +55 1 +2 "manipulator"&I% +3 "core" %     \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +97 "core" ' +3 "processing"%s& +3 "core" &^0\ m+ +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&\ % +4 "core" % !   , +2 "storage"(% +4 "core" % a ] \ l +2 "storage"(=. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(-(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +52 ( & +2 "manipulator"&& +4 "core" &K _ E 4\ h +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" &   : +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&l( +7 "core" ( + "manipulator"&?& +5 "core" &  7 : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &`& +3 "core" &  : +2 .tForearm.seek PC +2 "manipulator"&G' +92 "core" ' + .tHand.close +2 "manipulator"&n/ +65 "core" / +2 .tPC.seek :open +2 "processing"%9( +88 "core" ' + "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(.'1 +43 "core" ' +312 ( +2 "storage"(6& +3 "core" &K \ p +3 "manipulator"&f& +4 "core" &    : + "manipulator"&*% +5 "core" %   # +2 .tForearm.seek :retract +2 "manipulator"&{' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&z( +257 "core" ( + "manipulator"&R& +4 "core" &   +2 "storage"(t& +3 "core" &K A\ n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +103 "core" ' +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +3 "storage"(v- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(c& +4 "core" &K 5\ $ +2 "manipulator"&J& +3 "core" &    +3 .tElbow.seek 6 + "manipulator"&#( +5 "core" ( +2 "manipulator"&|& +3 "core" &    +2 "storage"(W& +4 "core" &K \ & +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(a'" +51 "core" ' + "manipulator"&e& +4 "core" &   +2 "storage"(H& +3 "core" &K :\ r +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Y'< +26 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +20 "core" ' +2 "manipulator"&q% +4 "core" %A   +2 "storage"(O& +4 "core" &K i k \ j + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&X'm +15 "core" ' +2 "manipulator"&K& +4 "core" &  +2 "storage"(M& +3 "core" &K B\ u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +17 "core" ' + "storage"(% +5 "core" % "\ u +2 ."downElevator"SE.seek :down +4 "storage"(w' +99 (r% +3 "core" %H j k \ i[t +3 "manipulator"&% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +8 ( & +2 "core" &K .\ w +3 "collection"'d& +44 "core" &\\x \ \ \\ +9 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&2% +3 "core" %    +2 "storage"(+% +4 "core" % P\ v +2 "storage"(U. +3 "core" .(K +2 "storage"(5& +3 "core" &K '\ w +3 "storage"(Q& +3 "core" &K O\ w +2 "manipulator"&[& +5 "core" &     +2 .tElbow.seek 6 + "manipulator"&T( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(4& +4 "core" &K 8\ v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +94 "core" ' +2 "storage"(& +4 "core" &K \ z +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +294 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" &  *  +2 "storage"(i& +4 "core" &K 0\ s +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&8'< +19 "core" ' +2 .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(_'k +30 "core" ' +2 "manipulator"&y% +3 "core" %;   +2 "storage"(& +5 "core" &K \ v + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 299 counts +2 "manipulator"&^'g +15 "core" ' + "manipulator"&& +5 "core" & q  + "storage"(u& +4 "core" &K [\ t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&L' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +39 "core" ' + "manipulator"&k& +5 "core" & a  + "manipulator"& % +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +156 "core" ( + "manipulator"&p& +4 "core" &ӗ   9) +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӗ   9) +2 .tForearm.seek CC +2 "manipulator"&~'? +94 "core" ' + .tHand.close +2 "manipulator"&m/ +54 "core" / +4 .tCC.seek :open +4 "collection"'( +448 "core" ( +2 "storage"(;& +3 "core" &K v \  +3 "storage"(<& +3 "core" &K u w\  +2 "manipulator"&& +5 "core" &ӟ   8! + "manipulator"&N% +4 "core" % R   +2 .tForearm.seek :retract +2 "manipulator"&%' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&7( +164 "core" ( +2 "manipulator"&o& +4 "core" &   +2 "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&!'< +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&:1 +56 "core" 1 +3 "manipulator"&V% +4 "core" % B  i  + "storage"(& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"&Z'n +15 "core" ' + "manipulator"&& +5 "core" &   + "storage"(h& +4 "core" &K r\  +47 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +15 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(S' +100 (@% +3 "core" %B \ Yk +2 "manipulator"&C% +4 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'(& +3 "core" & #\  +2 "manipulator"&'% +4 "core" %     +2 "storage"("% +4 "core" % \  +2 "storage"(0. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &[ f c e\ +2 "manipulator"&I& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&s(r +32 "core" ( +2 "manipulator"&\ & +3 "core" &f   H +2 "storage"(& +4 "core" &[ G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&='= +94 "core" ' +2 "storage"(}& +3 "core" &[ X\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +309 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +4 "core" &[ ;\  +2 "manipulator"&`& +3 "core" &f  - H +3 .tElbow.seek 7 + "manipulator"&E(r +21 "core" ( +2 "manipulator"&n& +3 "core" &  8  +3 "storage"(& +4 "core" &[ 2\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&1'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&P& + "storage"(b' +8 "core" & y  + "manipulator"&% +5 "core" % Ϡ = +2 .tForearm.seek :retract + "manipulator"&6' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&f(ӂ +153 "core" ( +2 "manipulator"&*& +4 "core" ' + &ӑ!   ` :. +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +5 "manipulator"&G& +3 "core" &ӑ   r :. +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&R'? +100 "core" ' +3 "manipulator"&t& +3 "core" &Ӓ!   x :- +2 "manipulator"&l% +5 "core" %B   + "collection"'& +5 "core" & W\  +2 "collection"'v& +5 "core" & 6\  +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & U\  +8 &? ^\ %h +9 &Yv `\ 8 +9 &q _\ M +10 &N b\ M +9 &M `\ L +10 &EP `\ M +9 & L Y\ L +9 &L Z\ L +10 &M O\ L +9 &OL O\ L +9 & L Q\ L +10 &!J O\ M +9 &#L P\ M +10 &%WJ N\ L +9 &'M H\ M +9 &(P M\ M +10 &*O P\ L +9 &,_L O\ L +9 &.!L L\ L +10 &/M O\ L +9 &1N M\ L +10 &3fN G\ M +9 &5(Q E\ M +9 &6M D\ M +10 &8M E\ L +9 &:nN E\ M +9 &<0O D\ M +10 &=P C\ M +9 &?Q B\ M +10 &AwN 9\ L +9 &C6S 9\ M +9 &DZ A\ N +10 &Fa 4\ O +9 &Hmy\  =\ R +9 &J#\ \ 9\ W +10 &K\ \ 7\ Y +9 &M\ \ 9\ Z +10 &O]\ \ 9\ [ +9 &Q\ \ 4\ [\ +9 &R\ \ 8\ [ +10 &T\ \ <\ \\ +9 &V`\ \ 9\ \\ +9 &X \ \ <\ }] +10 &Y\ \ >\ y_ +9 &[\ \ <\ zK +10 &\\9\ \ ?\ }, +9 &\\h\ \ @\ R +2 ( +2 "collection"'v& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 + .Hand.open + "manipulator"&c1 +57 "core" 1 +2 "manipulator"&J% +4 "core" % B   ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +92 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%W& +4 "core" &\ t +2 "manipulator"&{% +3 "core" %     +3 "storage"(e% +4 "core" % l\ s +2 "storage"(H. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(.([ +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &[ 1 8 v\ d +2 "manipulator"&O& +4 "core" &ө   r 7 +2 "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&K(r +164 "core" ( + "manipulator"&M& +5 "core" &p    + "storage"(& +5 "core" &[ s\ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&z'= +100 "core" ' +2 "storage"($& +3 "core" &[\ \  C\ } +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +300 "core" ' + "storage"(r- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \ s +2 "manipulator"&]& +4 "core" &p    +2 .tElbow.seek 7 + "manipulator"&#(r +4 "core" ( +2 "manipulator"&a& +3 "core" &p    +2 "storage"(Y& +5 "core" &[ Y\ v +2 .tForearm.seek 7 + 300 counts +2 "manipulator"& 'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&d& + "storage"(j' +6 "core" &p \   +3 "manipulator"&2% +3 "core" % Ϝ  h +3 .tForearm.seek :retract +2 "manipulator"&+' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&U( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&5& +4 "core" &   * # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &   # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&[' +89 "core" ' +2 "manipulator"&& +4 "core" &   # +2 "manipulator"&4% +4 "core" %    \\ +2 "processing"%,& +4 "core" &\ { +2 "processing"%& +5 "core" &\ | +3 .tPC.seek :closed +3 "processing"%w(^ +3 "core" &\ { +5 &\ {6 +10 &;Hp\ j0 +9 &_ox\ fD +10 &]\ kP +9 &K\ oP +9 &|N\ pP +10 &>L\ pP +9 &J\ pO +9 &N\ oP +10 &J \ pP +9 &FJ\ oP +10 &!J1\ pP +9 &"K;\ pO +9 &$N;\ pO +10 &&NL;\ pP +9 &(O7\ oP +9 &)O;\ oP +10 &+J9\ pP +9 &-WL:\ pO +10 &/J<\ pP +9 &0K;\ pO +9 &2K<\ pP +10 &4^I7\ pP +9 &6 O6\ oP +9 &7J<\ pP +10 &9M0\ oO +9 &;fN:\ oP +10 &=(J5\ pP +9 &>N6\ oP +9 &@N5\ oP +10 &BkU0\ nQ +9 &D*Y1\ lR +9 &Eb0\ kR +10 &Go2\ hT +9 &Ic,\ dV +10 &K$1\ eV +9 &L/\ dW +9 &N1\ cW +10 &Pg0\ cX +9 &R)0\ bX +9 &S0\ aX +10 &U/\ cW +9 &Wn,\ bX +10 &Y./\ bY +9 &Z1\ bX +9 &\\1\ aY +10 &^/`m0\ i6 +9 &^D0\ p+ +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 14/25 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&1 +4 "core" &^*\ t+ +49 1 +2 "manipulator"&g% +3 "core" %    \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +97 "core" ' +2 "processing"%D& +3 "core" &^B\ o+ +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&i% +4 "core" % %   _ = +2 "storage"(% +4 "core" % \ o +2 "storage"(y. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" &[ @\ j +48 "manipulator"&u& +6 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &   v # +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(k'r + "manipulator"& ( +6 "core" ( +2 "manipulator"&/& +4 "core" &    # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &  ( h # +2 .tForearm.seek PC +2 "manipulator"&A' +103 "core" ' +2 .tHand.close +2 "manipulator"&8/ +71 "core" / +2 .tPC.seek :open +2 "processing"%^( +68 "core" ' +2 "storage"(_- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(p'1 +40 "core" ' +334 ( +2 "storage"( & +3 "core" &[ L\ y +3 "manipulator"&L& +3 "core" &   o # +2 "manipulator"&\\% +4 "core" %    s +2 .tForearm.seek :retract +2 "manipulator"&m' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&F(r +248 "core" ( +2 "manipulator"&B& +3 "core" &   . +2 "storage"(;& +4 "core" &[ \ v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&<'= +96 "core" ' +2 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "storage"(N- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(~- +3 "core" -' +2 "storage"(&& +3 "core" &[ \ % +3 "manipulator"&:& +4 "core" &   - +2 .tElbow.seek 7 +2 "manipulator"&V(r +33 "core" ( + "manipulator"&& +4 "core" &z   6 [ +2 "storage"(& +4 "core" &[ \ % +3 .tForearm.seek 7 + 450 counts + "manipulator"&h'= +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' + "manipulator"&%& +4 "core" &z  [ +2 "storage"(@& +4 "core" &[ j\ y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&7'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(!' +28 "core" ' +2 "manipulator"&(% +4 "core" %Ό     + "storage"('& +5 "core" &[ n _ S\ l + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 317 counts +2 "manipulator"&Z'ϸ +25 "core" ' +2 "manipulator"&"& +3 "core" &z b [ +3 "storage"(0& +4 "core" &[ w\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 "storage"(x% +4 "core" % \ z +2 ."downElevator"SE.seek :down +3 "storage"(S' +100 (-% +3 "core" %:Q q D\ l[u +3 "manipulator"&)% +3 "core" %;   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +2 "core" &[ \ x +3 "collection"'& +4 "core" &\\f\  \ R +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&}% +45 "core" %    +9 "storage"(% +4 "core" % \ z +2 "storage"(. +3 "core" .([ +2 "storage"(& +4 "core" &[ p\ z + "storage"(?& +5 "core" &[ |\ z + "manipulator"&`& +5 "core" &z ! [ + .tElbow.seek 7 +2 "manipulator"&n(r +4 "core" ( +2 "manipulator"&& +4 "core" &z    [ +2 "storage"(3& +3 "core" &[ \ z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&P'= +96 "core" ' + "storage"(& +3 "core" &[ \  G\ ~ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(s'r +296 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" &z    [ +2 "storage"(G& +4 "core" &[ =\ v +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"& '{ +29 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(t- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(l'p +29 "core" ' + "manipulator"&E% +4 "core" %Ή   ) & +2 "storage"(& +3 "core" &[  Z\ p +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts +2 "manipulator"&b'ϵ +14 "core" ' +2 "manipulator"&6& +4 "core" &z g [ +2 "storage"(& +3 "core" &[\  \ } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'= +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(J' +39 "core" ' + "manipulator"&W& +5 "core" &z 7 [ + "manipulator"&{% +4 "core" %* ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&H(ӂ +156 "core" ( +2 "manipulator"&v& +3 "core" &x-  D{ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &x-    D{ +2 .tForearm.seek CC +2 "manipulator"&O'? +102 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'R( +450 "core" ( +2 "storage"(M& +4 "core" &[ \  +2 "storage"(& +4 "core" &[ 7\  +2 "manipulator"&& +4 "core" &   H :, +2 "manipulator"&$% +3 "core" % -   ^ K +3 .tForearm.seek :retract + "manipulator"&f' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&|(r +164 "core" ( + "manipulator"&r& +5 "core" &{ \    + "storage"(& +4 "core" &[ i\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&]'{ +102 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +53 "core" 1 +2 "manipulator"&X% +3 "core" % Ώ  \  +2 "storage"(d& +5 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 320 counts +3 "manipulator"&2'ϻ +16 "core" ' + "manipulator"&K& +4 "core" &{   +2 "storage"(z& +3 "core" &[ z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +44 .tForearm.seek 7 + 450 counts +9 "manipulator"& '= +16 "core" ' +2 "storage"( % +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(5' +100 (Q% +3 "core" %D v \ Yk +2 "manipulator"&#% +3 "core" %5 S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +13180 "Can"\ ;DaiU +60001 \ <FaU& +60001 \ ;HbU" +60002 \ ;Jc+U +60001 \ ;LcU( +60001 \ ;NdWU +60002 \ ;PdU$ +60001 \ ;ReU+ +60001 \ ;TfU" +60001 \ ;VfU& +60002 \ <XgEU3 +60001 \ ;ZgU' +60001 \ ;\\hqU' +60001 \ ;^iU( +60002 \ ;`iU& +60001 \ ;bj3U +60001 \ ;djU' +60001 \ ;fk_U( +60001 \ ;hkU) +60002 \ <jlU( +60001 \ ;lm!U& +60002 \ ;omU% +60001 \ ;qnMU* +60001 \ <s nU( +60001 \ <uoyU% +60002 \ <wpU. +60001 \ ;ypU# +60002 \ ;{q;U$ +60001 \ ;}"qU7 +60001 \ ;&rgU+ +60001 \ <+rU/ +60002 \ ;0sU* +60001 \ <4t)U% +60001 \ ;9tU. +60002 \ ;=uUU) +60001 \ <BuU. +60001 \ ;FvU +60002 \ <KwU! +60001 \ ;OwU$ +60001 \ ;TxCU# +60001 \ ;XxU( +60002 \ ;]yoU& +60001 \ ;azU' +60001 \ ;ezU$ +60002 \ ;j{1U +60001  \ <o{U' +60001 \ ;s|]U$ +60001 \ ;w|U +60002  \ ;|}U +60001 \ ;~U# +60001 \ ;~U @EDT1692331500.60 \ ;KU +60001 \ :U# +60001 \ ;wU +60001 \ ; U +60002 \ ;U& +60001  \ ;9U# +60001 \ <U* +60001 \ ;eU +60002 \ ;U +60001 \ ;U +60001 \ \ ;'U& +60002 \ ;U +60001 \ ;ÿSU# +60001  \ <U! +60001 \ ;U +60001 $\ ;U1 +60002 \ ;U) +60001 0\ ;AU +60001 \ ;U% +60001 \ ;mU% +60001 &\ ;U$ +60002  \ ;U +60001 2\ ;/U +60001 ,\ <U +60002 #\ ;[U/ +60001 )\ ;U +60001 %\ ;U% +60002 *\ ;U) +60001 %\ ;U# +60001 )\ ;IU, +60001 8\ ; U +60002 /\ ;uU& +60001 4\ ; U +60001 5\ ;U +60002 3\ ;7U +60001 /\ ;!U +60001 A\ ;&cU +60001 O\ <*U' +60002 E\ ;/U& +60001 O\ ;3%U' +60001 O\ ;8U, +60002 W\ ;<QU$ +60001 O\ ; AU +60002 V\ < E}U' +60001 o\ < JU +60001 a\ < OU +60001 b\ < S?U +60002 o\ ; \ XU* +60001 T\ ; \\kU +60001 +\ ; `U +60002 \ ; eU +60001  \ ; i-U" +60001 \ ; nU +60001 \ ; sYU( +60002 \ < wU& +60001 \ ; |U +60001 \ < U +60001 \ ; U +60001 \ = GU +60002 \ < "U +60001 \ < $sU +60001 \ < & U +60001 \ ; (U +30336 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +6 #mEXIT @1692369004.82EDT @1692712471.92EDT = =tMAIN =mMAIN_scheduler @EDT1692712473.74 #"core_reset"Sent BREAK +2 #t@51046 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +297 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +406 "Can" E +  E + #tPolling Can every 10:00 +38 #Cleanly exited at 10:30:04EDT18-Aug-23 +732 #-> ESP.ready! +3 #Powering core bus +561 .Gate.power :raw,:ON +2 "sampler") +26 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +3 "sampler")#.0X exit +6 #mEXIT @1692712540.88EDT @1692982637.72EDT = =tMAIN =mMAIN_scheduler @EDT1692982639.51 #"core_reset"Sent BREAK +2 #t@7378 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +301 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +379 "Can" c2 +  c2 + #tPolling Can every 10:00 +36 #Cleanly exited at 09:55:40EDT22-Aug-23 +520 #-> ESP.ready! +3 #Powering core bus +587 .Gate.power :raw,:ON +2 "sampler") +53 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'PrimeReagent.rb' +24504 #-> primePCRwash +936 #-> primePSRwash + #**Prepare to clean and prime PSR wash reagent** + .PSV.dial :air +2 "processing"%1  +5 "core"  +2 .tPS.seek 0ml + "processing"%2'ؾ +3 "core" ' +2 .tPSV.dial PSR +2 "processing"%3 +130 "core"  +2 .tPSR.select :wash +2 "processing"% +10 #tAwaiting answer to "**Disinfect and attach PSR wash fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +3117 .PS.seek 2.5ml +2 "processing"%4' +2630 "core" ' + .tPSV.dial :waste1 +2 "processing"%5  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%6'ؾ +2638 "core" ' +2 .tPSV.dial PSR +2 "processing"%7 +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%8' +2630 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%9  +56 "core"  +2 .tPS.seek 0ml +2 "processing"%:'ؾ +2633 "core" ' +2 .tPSV.dial PSR + "processing"%; +43 "core"  +2 .tPS.seek 2.5ml + "processing"%<' +2629 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%=  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%>'ؾ +2640 "core" ' + .tPSV.dial PSR +2 "processing"%? +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +738 "processing"%@% +3 "core" %ط \ +3 .tPS.seek 0.5ml +2 "processing"%A' +586 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1108 .PS.seek 2.5ml +2 "processing"%B' +2126 "core" ' + .tPSV.dial :waste2 +2 "processing"%C  +75 "core" ~ +2 .tPS.seek 0ml +2 "processing"%D'ؾ +2633 "core" ' +2 .tPSV.dial PSR + "processing"%E +74 "core"  +2 .tPS.seek 2.5ml +2 "processing"%F' +2628 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%G  + "Can" ?"YA +74 "core"  +9 .tPS.seek 0ml + "processing"%H'ؾ +2649 "core" ' + .tPSV.dial PSR +2 "processing"%I +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%J' +2636 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%K  +73 "core" ~ +2 .tPS.seek 0ml +2 "processing"%L'ؾ +2638 "core" ' +2 .tPSV.dial PSR + "processing"%M +72 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +392 "processing"%N% +3 "core" %ؿ\ +3 .tPS.seek 0.5ml +2 "processing"%O' +586 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +319 .PS.seek 2.5ml +2 "processing"%P' +2130 "core" ' + .tPSV.dial :waste1 +2 "processing"%Q  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%R'ؾ +2630 "core" ' + .tPSV.dial PSR +2 "processing"%S +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%T' +2633 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%U  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%V'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%W +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%X' +2624 "core" ' + .tPSV.dial :waste1 +2 "processing"%Y  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%Z'ؾ +2630 "core" ' + .tPSV.dial PSR +2 "processing"%[ +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +8601 "processing"%\\% +3 "core" %ؽ\ +2 .tPS.seek 0.5ml +2 "processing"%]' +590 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +13333 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +60 #**Priming reagent line** +2 .PS.seek 2.5ml +2 "processing"%^' +2127 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%_  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%`'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%a +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%b' +2627 "core" ' +2 .tPSV.dial :waste1 + "processing"%c  +46 "core"  +2 .tPS.seek 0ml + "processing"%d'ؾ +2642 "core" ' + #t**Flush clean and air out PSR manifold** + .PSR.select :flush +2 "processing"%` +10 .tPSV.dial PSR +2 "processing"%e +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%f' +2003 "Can" @J7 +625 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%g  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%h'ؾ +2635 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPSV.dial PSR + "processing"%i +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%j' +2650 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%k  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%l'ؾ +2630 "core" ' +2 .tPSV.dial PSR +2 "processing"%m +43 "core"  +3 .tPS.seek 2.5ml + "processing"%n' +2624 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%o  +43 "core"  +3 .tPS.seek 0ml + "processing"%p'ؾ +2627 "core" ' +2 #t**SUCCESSFULLY PRIMED PSR WASH REAGENT** +742 #-> exit +6 #mEXIT @1692983998.67EDT @1693232964.05EDT = =tMAIN =mMAIN_scheduler @EDT1693232965.83 #"core_reset"Sent BREAK +2 #t@16152 sendCRC with ifg=0x20, ie=0x7F + #@17987 sendCRC with ifg=0x08, ie=0x5F #@10890 idle with ifg=0x84, ie=0x75 + #@11563 select with ifg=0x10, ie=0xF5 + #@12198 receive with ifg=0x10, ie=0xFD + #@12832 receive with ifg=0x10, ie=0xFD #@13482 receive with ifg=0x10, ie=0xFD + #@13814 receive with ifg=0x80, ie=0xFD #@51703 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +298 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +379 "Can">\ =p7$$ + >\ =p7$$ + #tPolling Can every 10:00 +36 #Cleanly exited at 13:19:58EDT25-Aug-23 +765 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %g  \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؿ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڄ\ 3\ 1 |\ W +3 .tSS.configure :default +2 "sampler")#.0X primePSRsub1 +1222 #-> require 'PrimeReagent.rb' +784 #-> primePSRsub1 +2 #**Prepare to clean and prime PSR sub1 reagent** + .PSV.dial :air +2 "processing"%4  +101 "core" +2 .tPS.seek 0ml +2 "processing"%5'ؾ +3 "core" ' +2 .tPSV.dial PSR +2 "processing"%6 +128 "core"  +2 .tPSR.select :sub1 +2 "processing"% +10 #tAwaiting answer to "**Disinfect and attach PSR sub1 fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +286 .PS.seek 2.5ml +2 "processing"%7' +2634 "core" ' +2 .tPSV.dial :waste1 + "processing"%8  +42 "core"  +3 .tPS.seek 0ml + "processing"%9'ؾ +2635 "core" ' +2 .tPSV.dial PSR +2 "processing"%: +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%;' +2628 "core" ' + .tPSV.dial :waste1 +2 "processing"%<  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%='ؾ +2638 "core" ' +2 .tPSV.dial PSR + "processing"%> +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%?' +2640 "core" ' + .tPSV.dial :waste1 +2 "processing"%@  +44 "core"  +2 .tPS.seek 0ml + "processing"%A'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%B +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1447 "processing"%C% +3 "core" %ؾ\ +2 .tPS.seek 0.5ml +2 "processing"%D' +584 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1162 .PS.seek 2.5ml + "processing"%E' +2126 "core" ' +2 .tPSV.dial :waste2 + "processing"%F  +74 "core"  +2 .tPS.seek 0ml + "processing"%G'ؾ +2629 "core" ' +2 .tPSV.dial PSR +2 "processing"%H +71 "core" +2 .tPS.seek 2.5ml +2 "processing"%I' +2640 "core" ' +2 .tPSV.dial :waste2 + "processing"%J  +74 "core" ~ +2 .tPS.seek 0ml + "processing"%K'ؾ +2629 "core" ' +2 .tPSV.dial PSR +2 "processing"%L +71 "core" +2 .tPS.seek 2.5ml +2 "processing"%M' +2100 "Can"\ Fs@. +524 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%N  +73 "core" ~ +2 .tPS.seek 0ml +2 "processing"%O'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%P +72 "core" +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1284 "processing"%Q% +38 "core" %ؽ\ +9 .tPS.seek 0.5ml +2 "processing"%R' +587 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1444 .PS.seek 2.5ml +2 "processing"%S' +2120 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%T  +43 "core"  +3 .tPS.seek 0ml + "processing"%U'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%V +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%W' +2636 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%X  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%Y'ؾ +2627 "core" ' +2 .tPSV.dial PSR +2 "processing"%Z +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%[' +2627 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%\\  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%]'ؾ +2650 "core" ' +2 .tPSV.dial PSR +2 "processing"%^ +43 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +26113 "processing"%_% +3 "core" %ؾ\  +3 .tPS.seek 0.5ml +2 "processing"%`' +617 "core" ' +2 #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +16 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +74 #**Priming reagent line** +2 .PS.seek 2.5ml +2 "processing"%a' +2116 "core" ' + .tPSV.dial :waste1 +2 "processing"%b  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%c'ؾ +2633 "core" ' +2 .tPSV.dial PSR + "processing"%d +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%e' +2630 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%f  +43 "core"  +3 .tPS.seek 0ml + "processing"%g'ؾ +2628 "core" ' + #t**Flush clean and air out PSR manifold** + .PSR.select :flush +2 "processing"%B +9 .tPSV.dial PSR +2 "processing"%h +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%i' +658 "Can"\ Dub' +1972 "core" ' +2 .tPSV.dial :waste1 + "processing"%j  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%k'ؾ +2633 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPSV.dial PSR +2 "processing"%l +43 "core"  +3 .tPS.seek 2.5ml + "processing"%m' +2635 "core" ' +2 .tPSV.dial :waste1 + "processing"%n  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%o'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%p +43 "core"  +3 .tPS.seek 2.5ml + "processing"%q' +2628 "core" ' + .tPSV.dial :waste1 +2 "processing"%r  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%s'ؾ +2635 "core" ' +2 #t**SUCCESSFULLY PRIMED PSR SUB1 REAGENT** +44599 "Can"\ Aw' +20098 !to:SignalException : mesg" SIGHUP:@timestampu: Time \ :\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +3 #Waiting to Resume from Checkpoint "Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** "" +2 ."Qmail"BadNews.email "SIGHUP",Subject: "SignalException in MAIN" +986 #"uploadLog"upsync @1693235010.39EDT = =tMAIN =mMAIN_scheduler @EDT1693235012.16 #"core_reset"Sent BREAK +2 #t@32129 sendCRC with ifg=0x20, ie=0x7F + #@33964 sendCRC with ifg=0x08, ie=0x5F #@4643 idle with ifg=0x84, ie=0x75 + #@5314 select with ifg=0x10, ie=0xF5 + #@5948 receive with ifg=0x10, ie=0xFD #@6582 receive with ifg=0x10, ie=0xFD + #@7216 receive with ifg=0x10, ie=0xFD + #@7543 receive with ifg=0x80, ie=0xFD #@16669 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +194 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +103 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +379 "Can"9\ >x6) + 9\ >x6) + #tPolling Can every 10:00 +36 #Cleanly exited at 10:29:33EDT28-Aug-23 +467 #-> ESP.ready! +153 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %g \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؾ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڄ\ 1\ - u\ W +2 .tSS.configure :default +3 "sampler")#.0X require 'PrimeReagent.rb' +836 #-> primePSRsub2 + #**Prepare to clean and prime PSR sub2 reagent** + .PSV.dial :air +2 "processing"%4  +102 "core" +2 .tPS.seek 0ml +2 "processing"%5'ؾ +4 "core" ' + .tPSV.dial PSR +2 "processing"%6 +129 "core"  +2 .tPSR.select :sub2 +2 "processing"% +10 #tAwaiting answer to "**Disinfect and attach PSR sub2 fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +438 .PS.seek 2.5ml +2 "processing"%7' +2635 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%8  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%9'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%: +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%;' +2633 "core" ' +2 .tPSV.dial :waste1 + "processing"%<  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%='ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%> +43 "core"  +3 .tPS.seek 2.5ml + "processing"%?' +2628 "core" ' + .tPSV.dial :waste1 +2 "processing"%@  +44 "core"  +2 .tPS.seek 0ml + "processing"%A'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%B +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +733 "processing"%C% +3 "core" %ؿ\ +2 .tPS.seek 0.5ml +2 "processing"%D' +608 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +585 .PS.seek 2.5ml +2 "processing"%E' +2129 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%F  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%G'ؾ +2626 "core" ' + .tPSV.dial PSR +2 "processing"%H +72 "core"  +2 .tPS.seek 2.5ml + "processing"%I' +2634 "core" ' +2 .tPSV.dial :waste2 + "processing"%J  +74 "core" ~ +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2628 "core" ' +2 .tPSV.dial PSR +2 "processing"%L +71 "core"  +3 .tPS.seek 2.5ml + "processing"%M' +2634 "core" ' + .tPSV.dial :waste2 +2 "processing"%N  +73 "core" ~ +3 .tPS.seek 0ml + "processing"%O'ؾ +2635 "core" ' +2 .tPSV.dial PSR +2 "processing"%P +71 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +740 "processing"%Q% +3 "core" %ؿ\ +2 .tPS.seek 0.5ml +2 "processing"%R' +620 "core" ' +9 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +656 .PS.seek 2.5ml +2 "processing"%S' +2130 "core" ' +2 .tPSV.dial :waste1 + "processing"%T  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%U'ؾ +2624 "core" ' + .tPSV.dial PSR +2 "processing"%V +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%W' +2649 "core" ' + .tPSV.dial :waste1 +2 "processing"%X  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%Y'ؾ +2624 "core" ' + .tPSV.dial PSR +2 "processing"%Z +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%[' +2636 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%\\  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%]'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%^ +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +457 "processing"%_% +4 "core" %ؽ\ +3 .tPS.seek 0.5ml +2 "processing"%`' +588 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +3669 "Can"\ A{̫, +7312 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +78 #**Priming reagent line** +2 .PS.seek 2.5ml +2 "processing"%a' +2127 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%b  +43 "core"  +3 .tPS.seek 0ml + "processing"%c'ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%d +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%e' +2636 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%f  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%g'ؾ +2647 "core" ' +2 #t**Flush clean and air out PSR manifold** + .PSR.select :flush +2 "processing"%H +10 .tPSV.dial PSR +2 "processing"%h +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%i' +2636 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%j  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%k'ؾ +2637 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPSV.dial PSR +2 "processing"%l +43 "core"  +3 .tPS.seek 2.5ml + "processing"%m' +2632 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%n  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%o'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%p +44 "core"  +2 .tPS.seek 2.5ml + "processing"%q' +2637 "core" ' +2 .tPSV.dial :waste1 + "processing"%r  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%s'ؾ +2624 "core" ' +2 #t**SUCCESSFULLY PRIMED PSR SUB2 REAGENT** +1153 #-> require 'shuffle.rb' +1985 #-> 10.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'t& +4 "core" & \  +2 .tHand.open + "manipulator"&u1 +54 "core" 1 +2 "manipulator"&v% +4 "core" %      + "storage"(w% +4 "core" % S ' +\  +2 "storage"(x. +3 "core" .,,w +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(y(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &<+\ $\ * Y\ +2 "manipulator"&{& +4 "core" &    2 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&|( +9 "core" ( +2 "manipulator"&}& +3 "core" &  F  +2 "storage"(~& +4 "core" &<* " \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +91 "core" ' +2 "storage"(& +3 "core" &<* # & \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<*   ?\ +3 "manipulator"&& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&( +9 "core" ( +2 "manipulator"&\ & +3 "core" &  $  +2 "storage"( & +3 "core" &<* $ $\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +8 "core" &  +2 "manipulator"&% +4 "core" % Ͼ  +2 .tForearm.seek :retract +2 "manipulator"&' +129 "core" ' +9 .tElbow.seek CC +2 "manipulator"&(ӂ +109 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +46 "core" ( +2 "manipulator"&& +4 "core" &Ӑ#  # <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ#   ( <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +97 "core" ' +2 "manipulator"&& +4 "core" &ӑ#   <? +2 "manipulator"&% +3 "core" %6    +3 "collection"'& +3 "core" & \  +3 "collection"'& +5 "core" & \  +3 .tCC.seek :closed + "collection"' (\\ +5 "core" & \  +8 &6{ \ +{ +10 &e \ ? +9 &eu \ N +10 &*X \ M +9 &Z 0\ M +9 &\\ \ M +10 &pY !\ M +9 &2Y 0\ M +9 &\\ 4\ M +10 &\\ 0\ M +9 & wZ 1\ M +10 &"9Y (\ M +9 &#X &\ M +9 &%[ "\ M +10 &'~[ )\ N +9 &)AZ "\ M +9 &+[ !\ M +10 &,Y &\ M +9 &.[ (\ M +10 &0IY '\ M +9 &2 Z  \ M +9 &3X \ M +10 &5Y \ M +9 &7PZ \ N +9 &9Z  \ M +10 &:Y  \ M +9 &<Y \ M +10 &>XZ \ N +9 &@Z \ M +9 &A] \ M +10 &C`\ \ \ N +9 &E]h\ \ \ O +9 &Gr\ \ \  \ P +10 &H\ \ \ S +9 &J\ (\ $\ W +10 &LH\ +\ , \ Y +9 &N\ \ (\ )\ Y +9 &O\ %\ &\ Y +10 &Q\ #\ #\ \ Y +9 &SK\ \  \ Z +9 &U\ \ \ Z +10 &V\ \ \ [ +9 &X\ \  \ \\ +10 &ZM\ \ \ \\ +9 &[x\ \ \ B +9 &\\%\ \ \ (v +10 &\\\ \ \ V +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.04 + .Hand.open + "manipulator"&!1 +57 "core" 1 +2 "manipulator"&"% +4 "core" % 6   x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%$& +4 "core" &\  +2 "manipulator"&%% +4 "core" %     +2 "storage"(&% +4 "core" % \  + "storage"('. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(((<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &<* ,\  +2 "manipulator"&*& +3 "core" &Ӱ   8 +2 "manipulator"&+% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&,( +166 "core" ( + "manipulator"&-& +4 "core" &  L  +2 "storage"(.& +4 "core" &<* \ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +94 "core" ' + "storage"(0& +5 "core" &<*\  p\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'r +310 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &<* \  \  +2 "manipulator"&4& +4 "core" & -  +2 .tElbow.seek 5 +2 "manipulator"&6( +4 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(5& +4 "core" &<*\ \  \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&8'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +3 "storage"(9' +6 "core" &    +3 "manipulator"&<% +4 "core" %  = +2 .tForearm.seek :retract +2 "manipulator"&;' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&=& +4 "core" &     +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" & r  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +91 "core" ' +2 "manipulator"&B& +4 "core" &    +2 "manipulator"&C% +4 "core" %    2 +2 "processing"%A& +3 "core" &\  +3 "processing"%D& +5 "core" &\  +3 .tPC.seek :closed + "processing"%F(^ +5 "core" &\  +8 &5t\ *y +10 &c\ ? +9 &Tv\ P +9 &Z\ P +10 &Z\ P +41 &V\ O +10 &\\]\ P + &[\ P + &Y\ O + &Y\ O +3 & d\\\ P +8 &"']\ O +10 &#]\ O +9 &%W\ P +9 &'l[\ P +10 &)/X\ O +9 &*Z\ O +10 &,]\ P +9 &.vY\ O +9 &07\\\ O +10 &1Z\ P +9 &3Y\ O +9 &5}Y\ O +10 &7?W\ O +9 &9_\ P +10 &:\\\ P +9 &<Y\ O +9 &>FZ\ P +10 &@ Y\ O +9 &A^\ P +9 &Cd\ P +10 &EIh\ Q +9 &G n\ R +10 &H\ S +9 &J\ V +9 &LF\ U +10 &N\ W +9 &O\ V +9 &Q\ V +10 &SJ\ V +9 &U\ X +9 &V\ V +10 &X\ W +9 &ZR\ V +10 &\\\ W +9 &]\ 9 +9 &^-s\ V +10 &^"\ 0 +2 ( +2 "processing"%D& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&E1 +56 "core" 1 +2 "manipulator"&H% +3 "core" %   n 2 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +93 "core" ' +2 "processing"%J& +3 "core" &^\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&I% +4 "core" %     +2 "storage"(L% +3 "core" % Q\  +2 "storage"(K. +3 "core" .(<* +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(N(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (M& +2 "manipulator"&P& +6 "core" &<* \  + &    +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +5 .tElbow.seek PC +2 "manipulator"&Q( +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(O'r +2 "core" ( +2 "manipulator"&R& +5 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &  M  +3 .tForearm.seek PC + "manipulator"&S' +93 "core" ' + .tHand.close + "manipulator"&V/ +54 "core" / +2 .tPC.seek :open +2 "processing"%U( +99 "core" ' +2 "storage"(X- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(W'1 +46 "core" ' +299 ( + "storage"(Z& +4 "core" &<* ]\  +2 "manipulator"&Y& +4 "core" &    + "manipulator"&\\% +4 "core" % \  C +2 .tForearm.seek :retract +2 "manipulator"&[' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&^( +244 "core" ( +2 "manipulator"&_& +3 "core" &   6 ! +3 "storage"(]& +3 "core" &<* \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +98 "core" ' +2 .tHand.open + "manipulator"&b1 +64 "core" 1 +2 "storage"(a- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(d' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(c' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(f- +3 "core" -' +2 "storage"(e& +4 "core" &<* A\  +2 "manipulator"&h& +4 "core" &   ! +2 .tElbow.seek 5 + "manipulator"&g( +4 "core" ( +2 "manipulator"&j& +4 "core" &   q ! + "storage"(i& +4 "core" &<* '\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +13 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(k'" +58 "core" ' +2 "manipulator"&n& +4 "core" &   ! + "storage"(m& +4 "core" &<* \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&p'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +28 "core" ' + "manipulator"&q% +4 "core" %ΐ  \ +2 "storage"(t& +4 "core" &<*\  )\  +2 .tForearm.force -20 + "manipulator"&5 +40 .tForearm.seek 5 + 303 counts +10 "manipulator"&u'ϼ +13 "core" ' +2 "manipulator"&v& +4 "core" & \    +2 "storage"(w& +3 "core" &<* \  @\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +17 "core" ' +2 "storage"(% +3 "core" %\ \  \ +4 ."downElevator"SE.seek :down +4 "storage"(z' +97 ({% +3 "core" %G 2\ Wc +3 "manipulator"&}% +3 "core" %E   ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" &<* \  +3 "collection"'& +3 "core" &\\~\ \ \ V +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %    ,  +2 "storage"(% +4 "core" %\  3\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<+ K\  +2 "manipulator"&\ & +4 "core" &  \   +3 .tElbow.seek 5 + "manipulator"& ( +5 "core" ( + "manipulator"&& +4 "core" & (  +2 "storage"(& +4 "core" &<*\ \  `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' +2 "storage"(|& +3 "core" &<*\ \  E\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & \  +2 "storage"(& +4 "core" &<* &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('i +33 "core" ' + "manipulator"&% +4 "core" %Λ  5 +2 "storage"(& +4 "core" &<* N\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"& & +4 "core" & \  (  + "storage"(!& +4 "core" &<* 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"($' +35 "core" ' +2 "manipulator"&%& +4 "core" &     +2 "manipulator"&&% +3 "core" %F  \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ( + "manipulator"&)& +4 "core" &|)   w Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &|)   Ae +3 .tForearm.seek CC +4 "manipulator"&+'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'-( +450 "core" ( +2 "storage"(.& +4 "core" &<* K =\  + "storage"(y& +4 "core" &<* ? <\  +2 "manipulator"&0& +3 "core" &ӳ!  B :. +2 "manipulator"&% +4 "core" % =   l +3 .tForearm.seek :retract + "manipulator"&#' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&2( +162 "core" ( + "manipulator"&3& +4 "core" &   }  +2 "storage"(4& +4 "core" &<* & #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , +39 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +65 "core" 1 +3 "manipulator"&:% +4 "core" % {   % + "storage"(<& +5 "core" &<* & &\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 282 counts + "manipulator"&,'ϧ +14 "core" ' +2 "manipulator"&/& +3 "core" &  +2 "storage"(1& +5 "core" &<* " # A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&8'O +15 "core" ' +2 "storage"(=% +3 "core" % H H H\ +3 ."downElevator"SE.seek :down +4 "storage"(@' +98 (6% +3 "core" %> L ,\ V^ +2 "manipulator"&B% +4 "core" %> Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +90 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'A& +3 "core" &  \ +3 "manipulator"&9% +4 "core" %    F  +2 "storage"(;% +4 "core" % ! \  +2 "storage"( . +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(E(K +369 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &K X\  +2 "manipulator"&J& +4 "core" &  \   +2 .tElbow.seek 6 + "manipulator"&I( +4 "core" ( +2 "manipulator"&L& +4 "core" &    + "storage"(K& +4 "core" &K & $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&D' +100 "core" ' +2 "storage"(P& +3 "core" &K H H \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'r +297 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (T& +2 "core" &K\ \  8\  +3 "manipulator"&?& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&V( +4 "core" ( + "manipulator"&(& +3 "core" &   -  +2 "storage"(X& +4 "core" &K & %\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&>'h +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&G/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&F& +2 "storage"(O' +6 "core" &   7  +2 "manipulator"&Z% +5 "core" % ^ $ o +2 .tForearm.seek :retract +2 "manipulator"&Y' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +153 "core" ( + "manipulator"&S& +3 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &Ӄ(   @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &Ӄ(  @Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'? +94 "core" ' + "manipulator"&Q& +4 "core" &ӡ#  ! <; +2 "manipulator"&b% +3 "core" %9   , +3 "collection"'a& +3 "core" & *\ +3 "collection"'f& +5 "core" & +\ +2 .tCC.seek :closed +2 "collection"'e(\\ +4 "core" & )\ +7 &= %\ $f +9 &W  \ 7 +9 &~  \ L +10 &[ (\ M +9 &yV )\ M +10 &;] &\ M +9 &\\ \ M +9 &Z '\ M +10 &\\ \ L +9 &DZ \ L +9 & X \ L +10 &!\\ \ M +9 &#^ \ M +9 &%L[ \ L +10 &'Y \ L +9 &(] \ M +10 &*W \ L +9 &,TY  \ L +9 &.W  \ M +10 &/X \ \ M +9 &1Y \ M +9 &3\\V \ L +10 &5W \ M +9 &6Z  \ M +10 &8V  \ L +9 &:c[  \ M +9 &<&Y  \ L +10 &=W \ \ M +9 &?Z  \ M +10 &Ak] \ M +9 &C+b  \ M +9 &Dh\ \  \ N +10 &Fr\ \  \ O +9 &H_\ \ \ T +9 &J\ $\ !\ \ W +10 &K\ "\ #\ X +9 &M\ \ \ X +10 &OX\ \ \ Y +9 &Q\ \ \ Y +9 &R\ \ \ Z +10 &T\ \ \ [ +9 &VY\ \ \ [\ +9 &X\ \ \ \\ +10 &Y\ \ \ \\ +9 &[\ \ \ J +9 &\\?\ \ \ &s +10 &\\\ \ \ \\ +2 ( +2 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&h1 +60 "core" 1 +3 "manipulator"&j% +42 "core" % 9   , +10 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%[& +4 "core" &\ + "manipulator"&n% +5 "core" %     + "storage"(m% +5 "core" % \  + "storage"(W. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(q(K +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "core" &K \  +2 "manipulator"&d& +4 "core" &Ӥ"  ;8 +2 "manipulator"&v% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&w( +166 "core" ( + "manipulator"&^& +4 "core" &    +2 "storage"(& +3 "core" &K \ \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +7 "manipulator"&`' +93 "core" ' +3 "storage"(c& +3 "core" &K\ \  A\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +299 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &K M\  +2 "manipulator"&g& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&p& +4 "core" &    + "storage"(u& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" &   + "manipulator"&% +4 "core" % _   +2 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&\ & +3 "core" &   ` 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & \  7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&x& +5 "core" &    7 +2 "manipulator"&|% +4 "core" %   5 +2 "processing"%z& +4 "core" &\ +2 "processing"%N& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%o(^ +4 "core" &\  +9 &1y\ *x +10 &b\ > +9 &^v\ O +9 &U\ O +10 &Z\ P +9 &X\ O +10 &dY\ O +9 &&Z\ O +9 &[\ O +10 &Z\ O +9 & mW\ O +9 &".Y\ O +10 &#Z\ O +9 &%W\ O +10 &'uZ\ O +9 &)7Y\ O +9 &*Z\ O +10 &,Z\ O +9 &.|Y\ O +9 &0?W\ O +10 &2W\ O +9 &3X\ O +10 &5V\ O +9 &7GW\ O +9 &9 Z\ O +10 &:Z\ O +9 &<Z\ P +9 &>NZ\ O +10 &@Z\ P +9 &A\\\ O +10 &Cc\ Q +9 &ERj\ Q +9 &Go\ R +10 &H{\ S +9 &J\ U +9 &LL\ U +10 &N \ V +9 &O\ U +10 &Q\ V +9 &SR\ V +9 &U\ V +10 &V\ W +9 &X\ V +10 &ZY\ W +9 &\\\ V +9 &]\ 5 +10 &^6n\ : +9 ( + &^\ + +2 "processing"%N& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&~1 +62 "core" 1 + "manipulator"&% +4 "core" %   X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + "processing"%& +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" % !   , +2 "storage"(% +4 "core" % \  +2 "storage"(. +3 "core" .(K +2 "storage"( & +4 "core" &K &\  +2 "storage"(!& +3 "manipulator"&%& +7 "core" &K \  + &   6 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +42 "manipulator"& & +12 "core" &   0 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  1 6 +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +46 "core" ' +2 "storage"()- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(*'1 +45 "core" ' +349 ( +2 "storage"("& +3 "core" &K ]\  +3 "manipulator"&& +4 "core" &   ! 6 + "manipulator"&% +4 "core" %   6 , +2 .tForearm.seek :retract +2 "manipulator"&'' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +247 "core" ( +2 "manipulator"&.& +4 "core" &   9 F + "storage"(y& +4 "core" &K #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +93 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(3- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(4' +28 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(+' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(7& +3 "core" &K \  +3 "manipulator"&:& +4 "core" &  2 F +2 .tElbow.seek 6 + "manipulator"&<( +5 "core" ( + "manipulator"&/& +3 "core" &  \ F +2 "storage"(1& +4 "core" &K \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&=' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(#'" +50 "core" ' +2 "manipulator"&2& +3 "core" & \  F +3 "storage"(6& +4 "core" &K ^\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&B'< +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +20 "core" ' + "manipulator"&9% +4 "core" %L   # +2 "storage"(,& +3 "core" &K `\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&;'x +13 "core" ' +2 "manipulator"& & +4 "core" &    E +2 "storage"($& +3 "core" &K y\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&8' +15 "core" ' +2 "storage"(@% +4 "core" % O\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (H% +3 "core" %eG ,\ We +2 "manipulator"&J% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (K& +4 "core" &K 7\  +2 "collection"'P& +3 "core" &\\~\ \ \ \\ +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&5% +4 "core" %    +2 "storage"(C% +4 "core" % \  +2 "storage"(R. +3 "core" .(K +2 "storage"(T& +4 "core" &K \\\  + "storage"(?& +4 "core" &K c\  +2 "manipulator"&(& +3 "core" &   E +3 .tElbow.seek 6 + "manipulator"&X( +4 "core" ( +2 "manipulator"&G& +4 "core" &   & E + "storage"(F& +4 "core" &K w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +104 "core" ' +2 "storage"(I& +4 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +299 "core" ' +10 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +4 "core" & \  % E +2 "storage"(M& +4 "core" &K L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&>'< +23 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(b- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(a'm +32 "core" ' + "manipulator"&V% +4 "core" %J   > +2 "storage"(O& +3 "core" &K ?\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&Y'v +14 "core" ' +2 "manipulator"&-& +4 "core" &   S E +2 "storage"(h& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(f' +36 "core" ' + "manipulator"&[& +4 "core" &    E +2 "manipulator"&n% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +159 "core" ( + "manipulator"&t& +4 "core" &Ӊ   X 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +2 "core" &Ӊ   8 +3 .tForearm.seek CC +2 "manipulator"&v'? +95 "core" ' +2 .tHand.close + "manipulator"&]/ +57 "core" / +2 .tCC.seek :open + "collection"'^( +447 "core" ( +2 "storage"(& +3 "core" &K L\ ) /\  +2 "storage"(E& +4 "core" &K @ K\  +2 "manipulator"&c& +3 "core" &ӝ   < 5\ +2 "manipulator"&\\% +4 "core" % I ; +2 .tForearm.seek :retract +2 "manipulator"&i' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&}( +163 "core" ( +2 "manipulator"&l& +4 "core" &     + "storage"(g& +4 "core" &K & $\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&p'< +99 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % A   +2 "storage"(& +4 "core" &K & & a\  + .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&w'm +14 "core" ' +2 "manipulator"&`& +3 "core" & C  +3 "storage"({& +4 "core" &K # # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(\ % +4 "core" % ' 3 V\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (k% +3 "core" %A K H\ V` +2 "manipulator"&x% +4 "core" % f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'z& +3 "core" & \ +2 "manipulator"&% +4 "core" %  \    +2 "storage"(r% +4 "core" % # #\  +2 "storage"(U. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(~([ +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[ \ \  +2 "manipulator"&& +4 "core" & \   +2 .tElbow.seek 7 +2 "manipulator"&(r +35 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +44 "core" &[ - - q\  +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +93 "core" ' +2 "storage"(N& +4 "core" &[ H H \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +300 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" &[\ \  \  +3 "manipulator"&& +3 "core" &  g  +3 .tElbow.seek 7 + "manipulator"&(r +23 "core" ( +2 "manipulator"&& +4 "core" &y   ! l +2 "storage"()& +3 "core" &[ $ $ 4\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& + "storage"(' +8 "core" &y ) l +2 "manipulator"&"% +4 "core" % ϵ N +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +5 "core" &'  x @Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +2 "core" &'   O @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&y'? +93 "core" ' +2 "manipulator"&&& +5 "core" &Ӥ"   ;4 + "manipulator"&% +5 "core" %7  o +2 "collection"'3& +4 "core" & $\ +2 "collection"'& +5 "core" & (\ +2 .tCC.seek :closed +3 "collection"'7(\\ +4 "core" & %\ +6 & #\ ; +9 &MIx !\ 1 +9 &v !\ E +10 &,] \ M +9 &T \ L +10 &Y \ L +9 &tZ \ L +9 &7[ \ L +10 &Y \ L +9 &Y \ L +9 &{Z \ M +10 &!?Y \ L +9 &#Y \ L +10 &$Y \ L +9 &&[ \ L +9 &(FZ \ L +10 &*Y \ \ L +9 &+X  \ L +9 &-V  \ L +10 &/OX \ L +9 &1W \ L +9 &2X \ L +10 &4Y \ L +9 &6WW  \ L +10 &8Y \ L +9 &9X \ L +9 &;W \ \ L +10 &=`X \ \ L +9 &?"X \ L +9 &@X \ L +10 &B[ \ L +9 &Ddc  \ M +10 &F"m\ \ \ N +9 &Gy\ \  \ P +9 &I\ \ \ T +10 &KO\ #\ %\ W +9 &M\ #\ $\ W +10 &N\ #\ " \ X +9 &P\ \ \ X +9 &RR\ \ \ Y +10 &T\ \ \ Z +9 &U\ \ \ Z +9 &W\ \ \ [ +10 &YQ\ \ \ \\ +9 &[\ \ \ \\ +9 &\\hH\ \ \ 1 +10 &\\\ \ \ M +5 ( +2 "collection"'& +4 "core" &\\m\ \ \ M +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&:1 +64 "core" 1 + "manipulator"&/% +4 "core" % 7   7 o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +93 "core" ' +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%'& +3 "core" &\ +2 "manipulator"&2% +5 "core" %     + "storage"(6% +4 "core" % v\  +2 "storage"(9. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(,([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &[ w\  +2 "manipulator"& & +3 "core" &ӯ   p 9) +3 "manipulator"&$% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&4(r +163 "core" ( +2 "manipulator"&@& +4 "core" &w     +2 "storage"( & +4 "core" &[\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&0'= +96 "core" ' +2 "storage"(+& +3 "core" &[\ +\ + S\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +301 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &[\ \  (\  +2 "manipulator"&<& +4 "core" &w \   +2 .tElbow.seek 7 +2 "manipulator"&#(r +3 "core" ( +2 "manipulator"&B& +3 "core" &w  $  +3 "storage"(K& +4 "core" &[ \ 4\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&;'ϧ +43 "core" ' +10 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&5& +3 "storage"(C' +8 "core" &w   )  + "manipulator"&R% +5 "core" % Ϣ \  +2 .tForearm.seek :retract +2 "manipulator"&A' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +105 "core" ( + "manipulator"&?& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +101 "core" ' +2 "manipulator"&F& +3 "core" &   ) +3 "manipulator"&8% +4 "core" %  &  +2 "processing"%I& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +6 &5\ $d +10 &Vy\ 7 +9 &}\ L +9 &X\ O +10 &cY\ O +9 &%W\ O +10 &Y\ O +9 &Y\ O +9 &lX\ O +10 &.Y\ O +9 &X\ O +9 &!X\ O +10 &#s\\\ O +9 &%5Y\ O +10 &&X\ O +9 &(Y\ O +9 &*|Y\ O +10 &,>X\ O +9 &-U\ O +9 &/Y\ O +10 &1V\ O +9 &3FZ\ O +10 &5T\ O +9 &6W\ O +9 &8[\ O +10 &:NV\ O +9 &<Y\ O +9 &=Y\ O +10 &?Z\ O +9 &AUZ\ O +10 &Cd\ P +9 &Dd\ Q +9 &Fm\ R +10 &HQ~\ S +9 &J \ U +9 &K\ U +10 &M\ V +9 &OR\ U +10 &Q\ W +9 &R\ V +9 &T\ X +10 &VZ\ U +9 &X\ V +9 &Y\ V +10 &[\ V +9 &]]\ D +10 &^Gx\ V +9 &^E\ 7 +5 ( +2 "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&L1 +3 "core" &^-\ 7 +51 1 + "manipulator"&S% +3 "core" %   W  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +98 "core" ' +2 "processing"%M& +3 "core" &^-\ 7 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&b% +3 "core" % !   J , +3 "storage"(V% +3 "core" % \  +2 "storage"(O. +3 "core" .([ +2 "storage"(-& +3 "core" &[ \  +3 "storage"(h& +3 "manipulator"&[& +5 "core" &[ o\  +2 &   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&n( +4 ."raiseStack"SE.seek :beamBreak + "storage"(Z'r +2 "core" ( +3 "manipulator"&X& +4 "core" &   | +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &  6 +2 .tForearm.seek PC +2 "manipulator"&>' +95 "core" ' +2 .tHand.close + "manipulator"&Y/ +63 "core" / +3 .tPC.seek :open + "processing"%a( +87 "core" ' +2 "storage"(t- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(d'1 +46 "core" ' +311 ( + "storage"(j& +4 "core" &[\ \ \ \  +2 "manipulator"&Q& +3 "core" &    +2 "manipulator"&]% +4 "core" %  O +3 .tForearm.seek :retract + "manipulator"&m' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&e(r +245 "core" ( + "manipulator"&& +4 "core" &|    N +2 "storage"(E& +4 "core" &[\ \  :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'= +92 "core" ' +2 .tHand.open + "manipulator"&\\1 +58 "core" 1 +2 "storage"(l- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(g' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(v' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(W- +3 "core" -' +2 "storage"(& +44 "core" &[ \  +11 "manipulator"&& +4 "core" &|  x N +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( +2 "manipulator"&`& +3 "core" &|   N +2 "storage"({& +5 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&\ '= +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(i'" +57 "core" ' +2 "manipulator"&k& +4 "core" &|    N + "storage"(x& +4 "core" &[ L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&}'{ +28 "core" ' +2 .tElbow.hold + "manipulator"&p, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(z' +29 "core" ' + "manipulator"&% +4 "core" %Ώ   +2 "storage"(w& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&r'ϻ +14 "core" ' + "manipulator"&U& +5 "core" &~   L + "storage"(f& +5 "core" &[\ \ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 "storage"(% +4 "core" %\ \ \ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(q' +98 (% +3 "core" %F 2\ Vc +2 "manipulator"&% +4 "core" %:   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &[ \  +3 "collection"'N& +4 "core" &\\k\ \  \ M +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&u% +4 "core" %    >  +2 "storage"(|% +4 "core" % \ ?\  + "storage"(!. +3 "core" .([ +2 "storage"( & +4 "core" &[\ \  ,\  +2 "storage"(& +3 "core" &[\  \  +2 "manipulator"&& +4 "core" &~    L +2 .tElbow.seek 7 +2 "manipulator"&)(r +7 "core" ( +2 "manipulator"&& +3 "core" &   p ' +2 "storage"(o& +4 "core" &[\ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'= +15 "Can" \ Q}b. +79 "core" ' +2 "storage"(& +3 "core" &[\ \ * g\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" &   ' +2 "storage"(%& +3 "core" &[\ \  ]\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(3'r +31 "core" ' +2 "manipulator"&% +4 "core" %Ύ   A + "storage"(& +4 "core" &[ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&'Ϻ +13 "core" ' +2 "manipulator"&^& +3 "core" &   ' +3 "storage"(:& +4 "core" &[\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&/'= +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"('' +36 "core" ' +2 "manipulator"&2& +4 "core" &   ' + "manipulator"&6% +5 "core" %7   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( +3 "manipulator"&*& +3 "core" &ӓ!   [ :. +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӓ!   :. +3 .tForearm.seek CC +2 "manipulator"&$'? +96 "core" ' +2 .tHand.close + "manipulator"&y/ +60 "core" / +2 .tCC.seek :open +2 "collection"'@( +447 "core" ( + "storage"( & +4 "core" &[ I 7\  +2 "storage"(~& +3 "core" &[ ? :\  +2 "manipulator"&+& +4 "core" &Ӱ \  6 +2 "manipulator"&% +4 "core" % ;  +2 .tForearm.seek :retract +2 "manipulator"&1' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&J(r +161 "core" ( +2 "manipulator"&=& +3 "core" &{   i  +2 "storage"(<& +4 "core" &[ % &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&B'{ +93 "core" ' + .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +55 "core" 1 +2 "manipulator"&5% +4 "core" % Ώ    +2 "storage"(R& +3 "core" &[ # $\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&4'ϻ +14 "core" ' +3 "manipulator"&0& +4 "core" &{ j  +2 "storage"(H& +4 "core" &[ " " 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&;'= +14 "core" ' +2 "storage"(?% +3 "core" % ) H 4\ +4 ."downElevator"SE.seek :down +4 "storage"((' +98 (#% +2 "core" %<\ $\  \ U^ +3 "manipulator"&F% +4 "core" %7  P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'I& +3 "core" & \ +2 "manipulator"&C% +4 "core" %    ?  +2 "storage"(A% +4 "core" % - - z\  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(L(<- +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" &<0\ $ K d\ +3 "manipulator"&M& +3 "core" &{     +3 .tElbow.seek 5 + "manipulator"&b( +26 "core" ( +2 "manipulator"&V& +3 "core" &  u  +2 "storage"(O& +4 "core" &<0 % $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +102 "core" ' +2 "storage"(h& +4 "core" &<0 I I \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +301 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &<. # J\ +2 "manipulator"&D& +5 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&G( +25 "core" ( +2 "manipulator"&Y& +3 "core" & T  +2 "storage"(t& +4 "core" &<. & " 7\ +3 .tForearm.seek 5 + 300 counts + "manipulator"&T'Ϲ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(Z' +8 "core" &   + "manipulator"&j% +51 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&](ӂ +103 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +50 "core" ( +2 "manipulator"&>& +3 "core" &Ӊ&  ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӊ&  ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&E'? +95 "core" ' +2 "manipulator"&n& +4 "core" &ӊ%   6 >O +2 "manipulator"&\\% +4 "core" %?   2 * +2 "collection"'l& +4 "core" & '\ +2 "collection"'W& +5 "core" & )\ +2 .tCC.seek :closed +3 "collection"'(\\ +4 "core" & )\ +5 & &\ 9 +10 &JJw (\ 1 +9 &v (\ E +9 &+\\ "\ L +10 &W !\ L +9 &W \ L +10 &rY \ L +9 &5X \ L +9 &V \ L +10 &Y \ L +9 &{Y \ L +9 &!=V \ L +10 &"W \ L +9 &$Y \ K +10 &&W \ L +9 &(EX \ L +9 &*V \ L +10 &+W \ L +9 &-W \ L +9 &/MW \ L +10 &1Y \ L +9 &2W \ K +10 &4W  \ L +9 &6UU  \ L +9 &8V  \ L +10 &9T \ L +9 &;V  \ K +9 &=]W \ \ L +10 &?U \ L +9 &@W \ \ L +10 &BZ  \ L +9 &Da`  \ M +9 &Fk\ \ N +10 &Gv\ \ \  \ O +9 &I\ \ \ S +9 &KM\ %\ %\ W +10 &M \ '\ %\ X +9 &N\ $\ "\ X +10 &P\ \ !\ Y +9 &RN\ \  \ Y +9 &T\ \ \ Z +10 &U\ \ \ Z +9 &W\ \ \ Z +9 &YM\ \ \ \ \\ +10 &[\ \  \ [ +9 &\\cF\ \ \ \ 4 +10 &\\\ \  \ L +5 ( +2 "collection"'W& +4 "core" &\\b\ \ \ L +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&m1 +54 "core" 1 +2 "manipulator"&% +4 "core" % ?   * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%{& +4 "core" &\ +2 "manipulator"&k% +3 "core" %     +3 "storage"(x% +4 "core" % ]\  + "storage"(d. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(g(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<. n\ +2 "manipulator"&w& +4 "core" &Ӯ$   f :+ +2 "manipulator"&U% +4 "core" %    "  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&f( +167 "core" ( + "manipulator"&& +3 "core" &    +3 "storage"(e& +4 "core" &<. \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +94 "core" ' + "storage"(v& +4 "core" &<. ? J\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +2 "core" &<. \ +3 "manipulator"&& +4 "core" &   D  +2 .tElbow.seek 5 + "manipulator"&i( +4 "core" ( +2 "manipulator"&}& +4 "core" &   + "storage"(r& +4 "core" &<.\ \  \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(|' +7 "core" &   ?  +2 "manipulator"&!% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&z' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&& +4 "core" &   \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &     +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek PC +3 "manipulator"&' +99 "core" ' + "manipulator"&o& +4 "core" &   F  +2 "manipulator"&% +5 "core" %   = +2 "processing"%& +4 "core" &\ +2 "processing"%q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%p(^ +5 "core" &\ +6 &4\ #b +9 &U{\ 7 +10 &}{\ K +9 &Y\ O +9 &YZ\ O +10 &T\ N +9 &Y\ O +9 &V\ O +10 &aU\ O +9 &#Y\ O +10 &V\ O +9 &!W\ N +9 &#jX\ N +10 &%,X\ N +9 &&W\ N +9 &(W\ O +10 &*q[\ O +9 &,3W\ O +9 &-W\ N +10 &/X\ N +9 &1zV\ N +10 &3<W\ N +9 &4Y\ O +9 &6Z\ N +10 &8Y\ N +9 &:CW\ O +9 &<\\\ O +10 &=X\ N +9 &?Y\ O +10 &AKW\ O +9 &C\ ^\ P +9 &Db\ P +10 &Fj\ Q +9 &HHx\ R +10 &J\ T +9 &K\ U +9 &M\ U +10 &OG\ U +9 &Q\ V +9 &R\ U +10 &T\ V +9 &VN\ V +9 &X\ U +10 &Y\ V +9 &[\ V +10 &]T\ G +9 &^w>m\ 'r +9 &^+\ , +6 ( + "processing"%q& +4 "core" &^\ , +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" %    ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +103 "core" ' + "processing"%%& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +5 "core" %   \ ; + "storage"(% +3 "core" %\ \  Y\  +3 "storage"(. +3 "core" .(<- +2 "storage"(^& +3 "core" &<.\  ~\ +3 "storage"(:& +2 "manipulator"&2& +6 "core" &<.\  \ +2 &    +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&6( +2 ."raiseStack"SE.seek :beamBreak +4 "storage"("'r +2 "core" ( +3 "manipulator"&)& +3 "core" &     +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" & \ '   +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%3( +95 "core" ' + "storage"(*- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +47 "core" ' +299 ( +3 "storage"(/& +4 "core" &<+\ \  U\ + "manipulator"&&& +4 "core" &    +2 "manipulator"&y% +4 "core" %     B +2 .tForearm.seek :retract +2 "manipulator"&9' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&7( +254 "core" ( + "manipulator"& & +4 "core" &  3 +2 "storage"(~& +3 "core" &<+\ \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +89 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +3 "storage"(=- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(<' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"($' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(P& +4 "core" &<+   \ +2 "manipulator"&5& +4 "core" &   i 3 +2 .tElbow.seek 5 +2 "manipulator"&R( +23 "core" ( +2 "manipulator"&0& +3 "core" &  $  +2 "storage"(H& +4 "core" &<+   \ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +51 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +60 "core" ' + "manipulator"&#& +3 "core" &     +3 "storage"(F& +4 "core" &<+\ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&J'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&B, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(I' +28 "core" ' +2 "manipulator"&C% +4 "core" %Ε   +2 "storage"(4& +4 "core" &<+\ \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&A' +14 "core" ' +2 "manipulator"&& +3 "core" &  W  +3 "storage"('& +3 "core" &<+ \ \ C\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +15 "core" ' +2 "storage"((% +3 "core" %\ )\ + c\ +3 ."downElevator"SE.seek :down +4 "storage"(,' +99 (S% +4 "core" %2F \ Wd +2 "manipulator"&M% +3 "core" %G  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" &<+\ \ \ +3 "collection"'h& +3 "core" &\\a\ \  \ L +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&K% +4 "core" %     +2 "storage"(8% +3 "core" % \  +2 "storage"(. +3 "core" .(<- +2 "storage"(X& +4 "core" &<+\  \ +2 "storage"(D& +4 "core" &<+\ \  _\ +2 "manipulator"&Y& +4 "core" &  \   +2 .tElbow.seek 5 + "manipulator"&t( +4 "core" ( +2 "manipulator"&_& +3 "core" &     +2 "storage"(& +4 "core" &<+ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +93 "core" ' +2 "storage"(b& +4 "core" &<+ > E\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +299 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &     +2 "storage"(& +4 "core" &<+\ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&T'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(l'j +33 "core" ' +2 "manipulator"&G% +4 "core" %Α   + "storage"(Z& +4 "core" &<+\ \ r\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&Q'Ͻ +13 "core" ' +2 "manipulator"&@& +4 "core" &  o  +2 "storage"(m& +4 "core" &<+ @ X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +65 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"({' +39 "core" ' +2 "manipulator"&k& +3 "core" & 6  +2 "manipulator"&x% +4 "core" %>  G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&W(ӂ +153 "core" ( +2 "manipulator"&& +3 "core" &ӂ)   c A` +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &w& +2 "core" &ӂ)   A` +3 .tForearm.seek CC +46 "manipulator"&U'? +95 "core" ' +2 .tHand.close + "manipulator"&E/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(e& +4 "core" &<+\ %\  E\ +2 "storage"(L& +3 "core" &<+ O C\ +2 "manipulator"&v& +4 "core" &ӵ  :- +2 "manipulator"&]% +4 "core" % ;  \   +2 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&\ & +3 "core" &  {  +3 "storage"(& +4 "core" &<+ M\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&}'΍ +98 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&N1 +63 "core" 1 +2 "manipulator"&u% +4 "core" % Ε  } +2 "storage"(!& +4 "core" &<+ $ $ h\ + .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&f' +14 "core" ' +2 "manipulator"&c& +3 "core" & #  +2 "storage"(& +4 "core" &<+ 3 B !\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' + "storage"(% +4 "core" % I I 8\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (i% +3 "core" %; G n\ U] +2 "manipulator"&o% +3 "core" %E  K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&|% +4 "core" %    +3 "storage"(z% +4 "core" % " % 0\  +2 "storage"(a. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K\  V Y\ +2 "manipulator"&%& +4 "core" & \   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  r  +3 "storage"(q& +3 "core" &K , - Q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +91 "core" ' + "storage"(^& +4 "core" &K H H\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +309 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ()& +2 "core" &K # , ;\  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ^  +2 "storage"(*& +4 "core" &K $ & a\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"("' +8 "core" & Z  +2 "manipulator"&/% +4 "core" % ` a +2 .tForearm.seek :retract +2 "manipulator"&&' +89 "core" ' +2 .tElbow.seek CC +48 "manipulator"&y(ӂ +109 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +48 "core" ( + "manipulator"&& +4 "core" &Ӕ"   ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӕ"   3 ;4 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&~'? +100 "core" ' +2 "manipulator"&6& +4 "core" &ӕ"   ; ;4 +2 "manipulator"&% +4 "core" %=   D +2 "collection"'=& +3 "core" & $\ +3 "collection"'& +5 "core" & *\ +3 .tCC.seek :closed + "collection"'P(\\ +5 "core" & &\  +8 &3z (\ *y +9 &e &\ > +10 &s "\ M +9 &NQ \ L +9 &T \ L +15 &X \ K +4 &U \ K +11 &XU \ K +8 &\\ \ L +9 &U \ L +10 & U \ L +9 &"_U \ L +9 &$!U \ L +10 &%Z \ L +9 &'Y \ L +10 &)hY \ K +9 &+*W \ K +9 &,Z \ L +10 &.T \ L +9 &0pT \ K +9 &22V  \ K +10 &3W  \ K +9 &5U \ K +10 &7vY \ L +9 &99T \ \ L +9 &:Y \ L +10 &<W \ \ L +9 &>V \ L +9 &@AU \ L +10 &BW \ L +9 &C_  \ M +10 &Ei\ \ \ N +9 &G>x\ \  \ O +9 &H\ \ \ T +10 &J\ $\ ! \ W +9 &Ll\ \ ! \ X +9 &N.\ \ \ \ X +10 &O\ \  \ X +9 &Q\ \ \ X +10 &So\ \  \ Y +9 &U/\ \ \ Z +9 &V\ \ \ [ +10 &X\ \ \ \ [ +9 &Zn\ \ \ \\ +9 &\\z\ \ \ 3 +10 &\\*\ \ \ "g +9 ( + &\\w\ \ \ Y +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&51 +54 "core" 1 +3 "manipulator"&9% +4 "core" % =    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%H& +4 "core" &\ +2 "manipulator"&#% +4 "core" %   +2 "storage"(F% +4 "core" % \  + "storage"( . +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(<(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &K ,\  +2 "manipulator"&4& +4 "core" &ө \  8 +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&'( +162 "core" ( +2 "manipulator"&7& +4 "core" &   f  +2 "storage"((& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +92 "core" ' +2 "storage"($& +3 "core" &K \  W\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +298 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" &K \  J\  +2 "manipulator"&R& +3 "core" &     +3 .tElbow.seek 6 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&J& +4 "core" &   + "storage"(A& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&O'h +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&K& +2 "storage"(8' +7 "core" &  h  +2 "manipulator"&% +4 "core" % v  ? +2 .tForearm.seek :retract +2 "manipulator"&I' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&X( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&D& +4 "core" &   - 2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &  2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&_' +102 "core" ' +2 "manipulator"&& +4 "core" &   2 + "manipulator"&;% +50 "core" %    +5 "processing"%b& +3 "core" &\ +3 "processing"%,& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%B(^ +5 "core" &\ +6 &4\ $d +10 &T{\ 7 +9 &~}\ L +10 &W\ N +9 &aW\ N +9 &#R\ N +10 &W\ N +9 &W\ N +9 &iW\ N +10 &+X\ N +9 &W\ N +10 &!T\ O +9 &#pZ\ O +9 &%3Z\ N +10 &&U\ O +9 &(U\ O +9 &*xZ\ O +10 &,:Y\ O +9 &-T\ N +10 &/W\ O +9 &1U\ N +9 &3BY\ O +10 &5V\ N +9 &6Y\ O +9 &8Y\ O +10 &:JU\ O +9 &< X\ N +10 &=U\ O +9 &?W\ N +9 &ASW\ N +10 &C`\ P +9 &Dc\ P +9 &Fl\ Q +10 &HNy\ S +9 &J \ T +10 &K\ T +9 &M\ U +9 &OL\ V +10 &Q\ V +9 &R\ U +9 &T\ V +10 &VT\ V +9 &X\ U +10 &Y\ V +9 &[\ W +9 &][\ D +10 &^Iy\ S +9 &^W\ 4 +5 ( +3 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&V1 +3 "core" &^%\ 4 +51 1 + "manipulator"&[% +4 "core" %   *  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +92 "core" ' +2 "processing"%& +3 "core" &^%\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&\\% +3 "core" %    ]  +3 "storage"(G% +3 "core" % g\  +2 "storage"(Z. +3 "core" .(K +2 "storage"(@& +4 "core" &K S\  +2 "storage"(m& +3 "manipulator"&k& +7 "core" &K P\  + &   p 2 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&x( +5 ."raiseStack"SE.seek :beamBreak + "storage"(j'r +3 "core" ( +2 "manipulator"&t& +4 "core" &  V 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &  G 2 +2 .tForearm.seek PC +2 "manipulator"&T' +93 "core" ' +2 .tHand.close + "manipulator"&Q/ +58 "core" / +2 .tPC.seek :open +2 "processing"%l( +93 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(w'1 +43 "core" ' +307 ( +3 "storage"(& +3 "core" &K \  +2 "manipulator"&n& +4 "core" &   : 2 +2 "manipulator"&E% +4 "core" %   /  +2 .tForearm.seek :retract +2 "manipulator"&d' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&e& +3 "core" &   / T +2 "storage"(L& +4 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +93 "core" ' +2 .tHand.open + "manipulator"&]1 +61 "core" 1 +3 "storage"(\ - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(U' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(W- +3 "core" -' +2 "storage"(N& +3 "core" &K \\\  +3 "manipulator"&u& +4 "core" &   T +2 .tElbow.seek 6 + "manipulator"&!( +4 "core" ( +2 "manipulator"&c& +3 "core" &  T +3 "storage"(& +3 "core" &K v\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(`'" +52 "core" ' + "manipulator"&i& +5 "core" &   ; T + "storage"(o& +3 "core" &K V\  +49 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +22 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&|% +4 "core" %K   +2 "storage"(f& +4 "core" &K u\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 315 counts + "manipulator"&z'w +25 "core" ' +2 "manipulator"&a& +3 "core" &  S +3 "storage"({& +4 "core" &K\ Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +25 "core" ' + "storage"(% +4 "core" % t\ +2 ."downElevator"SE.seek :down +4 "storage"(g' +99 (% +3 "core" %fG \ Wf +2 "manipulator"&%% +4 "core" %  M u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 (q& +2 "core" &K g\  +3 "collection"'^& +4 "core" &\\v\ \ \ Y +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&r% +4 "core" %     +2 "storage"(% +4 "core" % [\  + "storage"(2. +3 "core" .(K +2 "storage"()& +4 "core" &K W\  +2 "storage"( & +4 "core" &K &\  +2 "manipulator"&& +4 "core" & \  S +2 .tElbow.seek 6 + "manipulator"&*( +3 "core" ( +2 "manipulator"&.& +3 "core" &    S +2 "storage"(p& +4 "core" &K \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +94 "core" ' +2 "storage"(& +3 "core" &K \  i\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"& & +2 "core" &   3 S +3 "storage"(& +4 "core" &K \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"& '< +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(6- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('m +33 "core" ' + "manipulator"&=% +4 "core" %I  \  +2 "storage"("& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&&'u +14 "core" ' + "manipulator"&& +4 "core" &  j S +2 "storage"(5& +3 "core" &K\ \ \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(H' +43 "core" ' +2 "manipulator"&#& +3 "core" &  S +2 "manipulator"&F% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( + "manipulator"&C& +4 "core" &Ӑ%   9 >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &4& +2 "core" &ӑ$   =G +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&~/ +57 "core" / +2 .tCC.seek :open +45 "collection"'7( +450 "core" ( +2 "storage"((& +3 "core" &K H \  +3 "storage"(& +4 "core" &K N M\  + "manipulator"&$& +4 "core" &Ӷ   8" +2 "manipulator"&y% +4 "core" % 5     +2 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&M( +164 "core" ( +2 "manipulator"&?& +3 "core" &    +3 "storage"(R& +4 "core" &K  (\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&J'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +59 "core" 1 +2 "manipulator"&K% +3 "core" % :   Q +2 "storage"(& +4 "core" &K $ :\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 298 counts + "manipulator"&''f +14 "core" ' +2 "manipulator"&+& +3 "core" & E  +2 "storage"(S& +4 "core" &K # % )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +14 "core" ' +2 "storage"(D% +4 "core" % G 3 j\ +3 ."downElevator"SE.seek :down +4 "storage"(Y' +98 (1% +2 "core" %? @ 5\ V` +2 "manipulator"&% +5 "core" %  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'b& +3 "core" & \ +2 "manipulator"&8% +4 "core" %  \    +2 "storage"(I% +4 "core" % # $ :\  + "storage"(3. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(V([ +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ([& +2 "core" &[ J T\ +2 "manipulator"&& +4 "core" &   C  +2 .tElbow.seek 7 +2 "manipulator"&\\(r +16 "core" ( +2 "manipulator"&G& +3 "core" &l  \\ z +2 "storage"(Z& +4 "core" &[ $ $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&@'= +96 "core" ' + "storage"(k& +4 "core" &[ H G (\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +296 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" &[\ \  \ +2 "manipulator"&-& +4 "core" &l   z +2 .tElbow.seek 7 +2 "manipulator"&_(r +3 "core" ( +2 "manipulator"&Q& +3 "core" &l    z +2 "storage"(& +4 "core" &[ * [ Q\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&X'ϧ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +3 "storage"(j' +8 "core" &l > z + "manipulator"&% +4 "core" % Ϝ [ +3 .tForearm.seek :retract + "manipulator"&n' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&T& +4 "core" &Ӛ  7 +2 .tElbow.reconfigure :loose +48 "manipulator"&$ &.,(#b +4 &e& +3 "core" &Ӛ   7 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&L'? +93 "core" ' +3 "manipulator"&x& +3 "core" &Ӛ    7 +3 "manipulator"&]% +3 "core" %@  & < +3 "collection"'\ & +3 "core" & \ +3 "collection"'W& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'N(\\ +3 "core" & &\ +9 &A \ $f +10 &X| '\ 8 +9 &v (\ L +10 &W (\ K +9 &T "\ K +9 &LS  \ L +10 &Y $\ L +9 &W \ K +9 &T \ \ K +10 &UU \ K +9 & X  \ L +10 &!W \ L +9 &#Z \ K +9 &%]R \ K +10 &' U \ K +9 &(Y \ L +9 &*V \ L +10 &,dW \ L +9 &.'R \ K +10 &/X \ L +9 &1W \ L +9 &3kW \ L +10 &5/S \ K +9 &6V \ K +9 &8X  \ K +10 &:uR \ K +9 &<7R \ K +10 &=U \ \ K +9 &?Y \ K +9 &A|Z \ L +10 &C=] \ \ L +9 &Db \ M +9 &Fj\ \ \ N +10 &Hv\ \  \ P +9 &J*\ "\ \ U +10 &K\ #\ % \ W +9 &M\ #\ "\ X +9 &Oh\ \ !\ X +10 &Q*\ \ \ X +9 &R\ \ \ Y +9 &T\ \ \ Y +10 &Vj\ \ \ Z +9 &X+\ \ \ Z +10 &Y\ \ \ \\ +9 &[\ \ \ I +9 &\\2\ \ \ , +10 &\\c\ \ \ N +2 ( +2 "collection"'W& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open + "manipulator"&u1 +63 "core" 1 +2 "manipulator"&c% +3 "core" % @   L < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%d& +4 "core" &\ +2 "manipulator"&i% +4 "core" %   }  +2 "storage"(o% +4 "core" %\ \ O\  +2 "storage"(w. +3 "core" .([ +2 "storage"(|& +4 "core" &[ \  l\ + "storage"(& +5 "core" &[ \  /\ + "manipulator"&f& +3 "core" &ӥ    5 +3 "manipulator"&a% +4 "core" %    [  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&{(r +161 "core" ( +2 "manipulator"&& +3 "core" &x   5  +2 "storage"(& +4 "core" &[\ \  1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&v'= +98 "core" ' +2 "storage"(U& +4 "core" &[ \ C\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +306 "core" ' + "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &[ \  I\ +3 "manipulator"&!& +3 "core" &x    +3 .tElbow.seek 7 + "manipulator"&`(r +4 "core" ( + "manipulator"&& +4 "core" &x    +2 "storage"(z& +3 "core" &[\ \ \ \ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&q'ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +3 "storage"(' +8 "core" &x \  l  + "manipulator"&2% +5 "core" % Ͼ  \  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"& & +4 "core" &   A  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  ;  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&.' +89 "core" ' + "manipulator"&p& +5 "core" &    + "manipulator"&% +4 "core" %   ^ +2 "processing"%& +4 "core" &\ +2 "processing"%g& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%}(^ +5 "core" &\ +7 &4\ #b +9 &Uz\ 6 +10 &}}\ K +9 &U\ N +9 &SX\ N +10 &V\ N +51 &Y\ O +4 &X\ O +3 &\\S\ N + &Y\ O + &W\ O + &!V\ O +4 &#cY\ N +10 &%%Z\ N +9 &&Y\ N +9 &(Y\ O +10 &*kW\ N +9 &,-U\ N +10 &-T\ N +9 &/V\ N +9 &1tV\ N +10 &35V\ N +9 &4U\ N +9 &6T\ N +10 &8{Z\ N +9 &:=X\ N +10 &;Z\ O +9 &=W\ O +9 &?U\ N +10 &ADU\ O +9 &C_\ P +9 &Db\ P +10 &Fm\ Q +9 &H>\ T +10 &I\ T +9 &K\ U +9 &M\ U +10 &OA\ U +9 &Q\ V +9 &R\ U +10 &T\ V +9 &VH\ U +10 &X \ V +9 &Y\ V +9 &[\ U +10 &]M\ K +9 &^O\ !f +9 &^\ . +3 ( + "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&:% +3 "core" %   J ^ +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 "processing"%& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&6% +4 "core" %    # +2 "storage"(=% +4 "core" % \ +2 "storage"(". +3 "core" .([ +2 "storage"(& +3 "core" &[ \ +3 "storage"(5& +3 "manipulator"&#& +7 "core" &[ \ \ + &   A  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&F( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(/'r +3 "core" ( +2 "manipulator"&*& +4 "core" &   H  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   1  +2 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' + .tHand.close +2 "manipulator"&&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%( +96 "core" ' + "storage"(C- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +43 "core" ' +305 ( + "storage"(9& +4 "core" &[\ \  @\ +2 "manipulator"&& +4 "core" &   =  +2 "manipulator"&~% +4 "core" %  \  B . +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&P(r +247 "core" ( + "manipulator"&(& +4 "core" &z   $ O +2 "storage"(& +4 "core" &[\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&$'= +90 "core" ' +2 .tHand.open + "manipulator"&y1 +65 "core" 1 +2 "storage"(?- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(R' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +111 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(h& +4 "core" &[ c\ +2 "manipulator"&K& +4 "core" &z   O + .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( +2 "manipulator"&+& +3 "core" &z   O +2 "storage"(S& +4 "core" &[ \ +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(0'" +55 "core" ' + "manipulator"&1& +4 "core" &z  O +2 "storage"(& +4 "core" &[ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&M'{ +34 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +49 "storage"(#QK-0-\ b +4 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(b' +20 "core" ' +2 "manipulator"&8% +3 "core" %Ί  + +2 "storage"('& +4 "core" &[ T\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&I'϶ +14 "core" ' +2 "manipulator"&3& +3 "core" &| M +3 "storage"(H& +4 "core" &[\ \ *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&O'= +15 "core" ' +2 "storage"(Y% +3 "core" %\ \ \ +4 ."downElevator"SE.seek :down +3 "storage"(<' +99 ([% +2 "core" %`D s\ We +2 "manipulator"&% +5 "core" %:   0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +96 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Z& +3 "core" &[\ \  M\ +2 "collection"'k& +64 "core" &\\d\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&A% +3 "core" %     +2 "storage"(;% +4 "core" %\ *\ * }\  +2 "storage"(,. +3 "core" .([ +2 "storage"(t& +3 "core" &[\ )\ ' \\\ +2 "storage"(-& +5 "core" &[\ \ k\ + "manipulator"&Q& +4 "core" &|  M +2 .tElbow.seek 7 +2 "manipulator"&(r +2 "core" ( +3 "manipulator"&>& +4 "core" &|    M + "storage"(B& +4 "core" &[\ &\  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +94 "core" ' +2 "storage"(\\& +4 "core" &[\ *\ * \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +298 "core" ' + "storage"(T- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &|    M +2 "storage"(X& +4 "core" &[\ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&e'{ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(x- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(]'r +28 "core" ' +2 "manipulator"&\ % +3 "core" %Ώ  ^ H +2 "storage"(j& +4 "core" &[ M\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&n'ϻ +14 "core" ' + "manipulator"&7& +4 "core" &}   " L +2 "storage"(u& +3 "core" &[\ \ \ ,\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(d' +38 "core" ' +2 "manipulator"&i& +3 "core" &}  L +2 "manipulator"&o% +5 "core" %<   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +146 "core" ( +2 "manipulator"&W& +4 "core" &y)   Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y)   Aa +3 .tForearm.seek CC +2 "manipulator"&f'? +96 "core" ' +2 .tHand.close + "manipulator"&a/ +55 "core" / +2 .tCC.seek :open +2 "collection"'L( +447 "core" ( + "storage"(& +4 "core" &[ J h\ +2 "storage"(& +3 "core" &[ @ 4\ +2 "manipulator"&U& +4 "core" &ӹ  @ 8! +2 "manipulator"&E% +4 "core" % 3  *  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&%(r +164 "core" ( +2 "manipulator"&& +4 "core" &o    +2 "storage"(!& +4 "core" &[ & #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'{ +102 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&^1 +55 "core" 1 +2 "manipulator"&r% +3 "core" % Ά    n +2 "storage"(2& +4 "core" &[ W 7\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 311 counts +2 "manipulator"&{'ϲ +14 "core" ' +2 "manipulator"&v& +4 "core" &o  +2 "storage"(& +4 "core" &[ $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'= +18 "core" ' +2 "storage"( % +4 "core" % 6 P \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (`% +3 "core" %< F\ \ U^ +2 "manipulator"&p% +5 "core" %D = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & \ +3 "manipulator"&% +4 "core" %   @  +2 "storage"(% +3 "core" % # \  +2 "storage"(l. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +664 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &<0 Q\  g\ +2 "manipulator"&& +4 "core" &o     +2 .tElbow.seek 5 +2 "manipulator"&6( +22 "core" ( +2 "manipulator"&=& +4 "core" &   ) +2 "storage"("& +4 "core" &<0 , / Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' + "storage"(#& +3 "core" &<1 G E +\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'r +311 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &<.\ \  B\ +2 "manipulator"&& +3 "core" &   ( +3 .tElbow.seek 5 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&&& +4 "core" &   ( +2 "storage"(C& +3 "core" &<. % $ ,\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&)'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& + "storage"(/' +8 "core" & > ( + "manipulator"&9% +4 "core" % ϲ  h +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"& & +3 "core" &Ӗ  8" +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &Ӗ   8" +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +103 "core" ' +3 "manipulator"&F& +3 "core" &ӗ   \ 8! +3 "manipulator"&y% +3 "core" %1    +3 "collection"'?& +50 "core" & \ +3 "collection"' & +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  +9 &3z \ *z +9 &e \ > +10 &n \ L +9 &UT \ K +9 &X  \ K +10 &T \ K +9 &T \ K +10 &\\U \ L +9 &X \ L +9 &S  \ K +10 & R  \ K +9 &"eS \ K +9 &$(T \ K +10 &%W  \ L +9 &'S \ K +10 &)mS \ K +9 &+/S \ K +9 &,S  \ L +10 &.U \ L +9 &0tU \ L +9 &26U  \ L +10 &3V \ L +9 &5S \ K +10 &7}Y \ K +9 &9?T \ K +9 &;S \ K +10 &<S \ K +9 &>U \ K +9 &@FW \ L +10 &B T \ K +9 &C\\ \ M +10 &Ef\  \ M +9 &GFo\ \ \ N +9 &H\ \ \ Q +10 &J\ $\ \ V +9 &Lr\ &\ '\ W +9 &N3\ $\ %\ W +10 &O\ "\ $\ X +9 &Q\ \ \ Y +9 &Sv\ \ \ Y +10 &U5\ \ \ Z +9 &V\ \ \ [ +10 &X\ \ \ [\ +9 &Zt\ \ \ \\ +9 &\\z\ \ \ 1 +10 &\\,\ \ \ !e +9 ( + &\\h\ \ \ Q +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&h1 +62 "core" 1 + "manipulator"&K% +4 "core" % 1   X  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%S& +4 "core" &\ +2 "manipulator"&1% +3 "core" %   9  +3 "storage"(% +4 "core" % \  + "storage"(4. +3 "core" .(<0 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(R(<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &<.\  !\ +2 "manipulator"&'& +5 "core" &Ӭ  \ 7 5 + "manipulator"&3% +4 "core" %    e  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&H( +160 "core" ( +2 "manipulator"&P& +4 "core" &   4  +2 "storage"(Y& +4 "core" &<.\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +94 "core" ' + "storage"(& +4 "core" &<. I *\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +296 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<.\ \  ]\ +2 "manipulator"&& +4 "core" &     +2 .tElbow.seek 5 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&M& +3 "core" &   @  +2 "storage"(Z& +4 "core" &<. \ \ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&I'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +2 "storage"(A' +7 "core" &   +2 "manipulator"&;% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&-& +4 "core" &  : $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &    $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&>' +104 "core" ' + "manipulator"&B& +4 "core" &  # +2 "manipulator"&O% +4 "core" %   2  +2 "processing"%\\& +3 "core" &\ +3 "processing"%<& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(^ +3 "core" &\ +8 &A\ $e +9 &W|\ 7 +9 &z\ L +10 &T\ O +9 &mU\ O +10 &/T\ O +9 &Z\ N +9 &T\ O +10 &uU\ O +9 &7U\ O +9 &X\ N +10 &!Y\ O +9 &#}W\ O +10 &%@Y\ N +9 &'Y\ N +9 &(U\ O +10 &*Z\ N +9 &,GZ\ O +9 &.\ W\ N +10 &/W\ N +9 &1U\ N +10 &3PS\ N +9 &5W\ N +9 &6W\ O +10 &8X\ O +56 &:XS\ N +5 &<W\ N +3 &=Y\ O +2 &?Y\ N + &A_T\ O + &C ]\ O + &D`\ P +6 &Fk\ Q +9 &H]u\ R +9 &J\ U +10 &K\ U +9 &M\ U +10 &O\\\ U +9 &Q\ U +9 &R\ U +10 &T\ W +9 &Vc\ U +9 &X$\ V +10 &Y\ V +9 &[\ V +10 &]j\ C +9 &^<n\ &p +9 &^'\ 0 +6 ( + "processing"%<& +4 "core" &^\ 0 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&G1 +61 "core" 1 + "manipulator"&T% +4 "core" %     +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' +2 "processing"%X& +3 "core" &^\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&x% +4 "core" %     +2 "storage"(\ % +3 "core" % x\  +2 "storage"(j. +3 "core" .(<- +2 "storage"(7& +4 "core" &<. /\ +2 "storage"(u& +3 "manipulator"&i& +7 "core" &<. _\ + &   # +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +4 "storage"(o'r +2 "manipulator"&( +7 "core" ( + "manipulator"&& +4 "core" &   # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &  # +2 .tForearm.seek PC +2 "manipulator"&e' +95 "core" ' +2 .tHand.close + "manipulator"&n/ +63 "core" / +2 .tPC.seek :open +2 "processing"%W( +82 "core" ' +2 "storage"(]- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +317 ( + "storage"(c& +4 "core" &<,\  2\ +2 "manipulator"&_& +4 "core" &   % # + "manipulator"&a% +5 "core" %     +2 .tForearm.seek :retract + "manipulator"&w' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&N( +246 "core" ( + "manipulator"&& +3 "core" &    +3 "storage"(& +4 "core" &<, U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +94 "core" ' + .tHand.open +2 "manipulator"&E1 +53 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(!' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(f' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +3 "core" -' +3 "storage"(^& +4 "core" &<, Q\ + "manipulator"&r& +4 "core" &   U  +2 .tElbow.seek 5 +2 "manipulator"&2( +21 "core" ( +2 "manipulator"&v& +3 "core" &   v +2 "storage"(& +5 "core" &<, E\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&`& +4 "core" &    +2 "storage"(p& +4 "core" &<, \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&%'΍ +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&{% +4 "core" %Ζ \  + "storage"(& +3 "core" &<, \ +3 .tForearm.force -20 + "manipulator"&5 +51 .tForearm.seek 5 + 309 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&l& +3 "core" &   z +3 "storage"(d& +4 "core" &<,\ \  Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&q'O +17 "core" ' + "storage"(% +5 "core" %\ &\  \ +2 ."downElevator"SE.seek :down +4 "storage"(V' +99 (:% +3 "core" %AF \ Vc +2 "manipulator"&% +4 "core" %I   4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ("& +4 "core" &<,\ \  T\ +2 "collection"'#& +3 "core" &\\h\ \ \ Q +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&z% +4 "core" %      +2 "storage"(% +3 "core" %\ \ \  +2 "storage"(g. +3 "core" .(<- +2 "storage"(*& +4 "core" &<,\ \ \ \ +2 "storage"(& +3 "core" &<,\ \ \ +3 "manipulator"&&& +4 "core" &   ! +2 .tElbow.seek 5 + "manipulator"&C( +3 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"(}& +3 "core" &<,\ \ \ 2\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +94 "core" ' +2 "storage"(6& +3 "core" &<,\ +\ * E\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +307 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&(& +2 "core" &   # +3 "storage"(5& +8 "core" &<,\ \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&)'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(?'i +33 "core" ' +2 "manipulator"&.% +4 "core" %Ώ   7 +2 "storage"(/& +4 "core" &<,\ \ \ *\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 302 counts +2 "manipulator"&'ϻ +13 "core" ' +2 "manipulator"&L& +3 "core" &   O +3 "storage"(h& +4 "core" &<, ? 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(S' +39 "core" ' +2 "manipulator"&1& +4 "core" &    + "manipulator"&% +4 "core" %A   ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +94 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +162 "core" ( +2 "manipulator"&8& +4 "core" &Ӓ#   <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &Ӓ#   e <= +2 .tForearm.seek CC +2 "manipulator"&3'? +105 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'P( +447 "core" ( + "storage"(Y& +4 "core" &<, U\ ( \ +2 "storage"(& +4 "core" &<, O |\ +2 "manipulator"&& +4 "core" &Ӫ   9% + "manipulator"&~% +4 "core" % 7   4 +2 .tForearm.seek :retract +2 "manipulator"&+' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&[( +163 "core" ( + "manipulator"&& +49 "core" &     +5 "storage"(& +4 "core" &<, " \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&M'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&b1 +63 "core" 1 +3 "manipulator"&k% +4 "core" % Ι    +2 "storage"(;& +4 "core" &<, , ,\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 312 counts +2 "manipulator"&H' +13 "core" ' + "manipulator"&$& +5 "core" & P  + "storage"(D& +4 "core" &<, F H \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +15 "core" ' + "storage"(-% +5 "core" % E H\ +2 ."downElevator"SE.seek :down +5 "storage"(Q' +99 (0% +2 "core" %> I ?\ V` +3 "manipulator"&B% +4 "core" %J  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'\\& +3 "core" & \ +2 "manipulator"&A% +4 "core" %     +2 "storage"(,% +4 "core" % # # /\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(G(K +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (T& +2 "core" &K \  w\  +3 "manipulator"&X& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&\ & +3 "core" &  b  +2 "storage"(j& +4 "core" &K ! K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +93 "core" ' +2 "storage"(<& +4 "core" &K L S "\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'r +298 "core" ' + "storage"(i- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K S 4\  +2 "manipulator"&@& +4 "core" &  9  +2 .tElbow.seek 6 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&n& +4 "core" & F  + "storage"(]& +4 "core" &K ! &\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&t'h +13 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +2 "storage"(o' +8 "core" & J  +2 "manipulator"&c% +4 "core" % \\ U +2 .tForearm.seek :retract +2 "manipulator"&_' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&e& +4 "core" &ӎ"   @ ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӎ" ! F ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&& +3 "core" &ӎ"   ;8 +3 "manipulator"&E% +4 "core" %=     +2 "collection"'& +3 "core" & !\ +3 "collection"'|& +6 "core" & \ +3 .tCC.seek :closed +3 "collection"'^(\\ +3 "core" & \ +7 &< \ \ %g +10 &Zy  \ 8 +55 &\ u \ L +6 &V \ K + &V \ L + &NU \ L +2 &U \ L + &U \ L + &T \ K +8 &XT \ K +9 & U \ K +9 &!R \ K +10 &#X \ K +9 &%_W \ K +9 &' U \ L +10 &(U \ L +9 &*U \ K +10 &,gR \ K +9 &.*R \ K +9 &/U \ L +10 &1V  \ L +9 &3nU \ L +9 &50U \ L +10 &6V \ L +9 &8W \ K +10 &:vU \ L +9 &<8U \ L +9 &=V \ K +10 &?U  \ K +9 &A~X \ L +9 &C?\\ \ L +10 &Di \ M +9 &Fp\ \ \ O +10 &Hs\ \  \ R +9 &J)\ #\ \ V +9 &K\ \ "\ X +10 &M\ \  \ X +9 &Oi\ \ \ X +9 &Q*\ \ \ \ Y +10 &R\ \ \ Y +9 &T\ \ \ Y +9 &Vj\ \ \ [ +10 &X*\ \ \ [ +9 &Y\ \ \ \\ +10 &[\ \  \ I +9 &\\2\ \  \ . +9 &\\s\ \ \ O +3 ( + "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&r1 +63 "core" 1 +2 "manipulator"&v% +5 "core" % =    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +112 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%w& +5 "core" &\ + "manipulator"&`% +4 "core" %   K  +2 "storage"(p% +3 "core" % \  e\  +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"({(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K \  +2 "manipulator"&!& +5 "core" &Ӭ   6 7 + "manipulator"&l% +4 "core" %   5  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&d( +163 "core" ( + "manipulator"&N& +4 "core" &     +2 "storage"(& +4 "core" &K\ \  H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +91 "core" ' +2 "storage"(f& +3 "core" &K\ +\ * :\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \ ,\  +2 "manipulator"&2& +4 "core" & \  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&%& +4 "core" &  p  +2 "storage"("& +4 "core" &K\ \  `\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&z& + "storage"(' +7 "core" &   ?  +2 "manipulator"&g% +4 "core" % ]  e +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +3 "manipulator"&& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &&& +2 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' +2 "manipulator"&}& +3 "core" &   +3 "manipulator"&q% +4 "core" %  ! +2 "processing"%6& +4 "core" &\ +2 "processing"%V& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +6 &4\ $c +10 &Uz\ 7 +9 &~y\ K +9 &T\ N +10 &YW\ N +9 &R\ N +9 &V\ N +10 &U\ N +9 &bQ\ N +10 &"W\ O +9 &U\ N +9 &!W\ N +10 &#iV\ N +9 &%+Y\ N +9 &&V\ N +10 &(Y\ N +9 &*qV\ N +10 &,4T\ N +9 &-W\ N +9 &/Y\ N +10 &1zT\ N +9 &3=U\ N +9 &4T\ N +10 &6V\ N +9 &8W\ N +10 &:DU\ N +9 &<X\ O +9 &=W\ N +10 &?Y\ N +9 &AJW\ O +9 &C ]\ O +10 &Dc\ P +9 &Fj\ Q +10 &HHw\ R +9 &J\ T +9 &K\ U +10 &M\ U +9 &OI\ T +9 &Q\ V +10 &R\ U +9 &T\ V +10 &VO\ U +9 &X\ U +9 &Y\ V +10 &[\ U +9 &]T\ F +9 &^xAt\ (u +57 &^&\ , +5 ( +2 &^\ , +3 &^\ , + &^\ , + &^\ , + &^\ , + &^\ , +2 "processing"%V& +4 "core" &^\ , +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&=1 +63 "core" 1 +2 "manipulator"& % +4 "core" %   ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +91 "core" ' + "processing"%5& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&y% +3 "core" % !   & +3 "storage"(.% +4 "core" % \  + "storage"(/. +3 "core" .(K +2 "storage"(L& +4 "core" &K \  +2 "storage"(h& +3 "manipulator"&1& +7 "core" &K \  + &   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'r +2 "core" ( +3 "manipulator"&C& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  i +2 .tForearm.seek PC +2 "manipulator"&)' +94 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%?( +97 "core" ' + "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +45 "core" ' +300 ( +2 "storage"(K& +3 "core" &K\ \ \  +3 "manipulator"&F& +4 "core" &   + "manipulator"&% +4 "core" %   P +2 .tForearm.seek :retract +2 "manipulator"&4' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +239 "core" ( +2 "manipulator"&Y& +4 "core" &   , +2 "storage"(& +4 "core" &K K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&~1 +58 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(3' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' +2 "storage"(b& +4 "core" &K t\  + "manipulator"&k& +4 "core" &   , +2 .tElbow.seek 6 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&$& +3 "core" &   , +2 "storage"(D& +5 "core" &K #\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(+'" +49 "core" ' +2 "manipulator"&0& +3 "core" &   , +3 "storage"(B& +4 "core" &K \  A\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&['< +18 "core" ' + .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\\' +28 "core" ' + "manipulator"&A% +4 "core" %O  \  +2 "storage"(H& +3 "core" &K I\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&,'{ +14 "core" ' +2 "manipulator"&& +4 "core" & \  n , + "storage"(S& +5 "core" &K\ \ \  +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +18 "core" ' +2 "storage"(Q% +3 "core" % \ \ &\ +4 ."downElevator"SE.seek :down +3 "storage"(R' +98 (T% +4 "core" %dD \ We +2 "manipulator"&X% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (j& +3 "core" &K h\  +2 "collection"'<& +4 "core" &\\q\ \  \ O +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&Z% +3 "core" %    H  +3 "storage"(O% +4 "core" %\ \  \  + "storage"(i. +3 "core" .(K +2 "storage"(& +4 "core" &K\ \ \  +2 "storage"(@& +4 "core" &K\ \ \ \  +2 "manipulator"&n& +4 "core" &  , +2 .tElbow.seek 6 + "manipulator"&]( +4 "core" ( +2 "manipulator"&m& +3 "core" &  , , +2 "storage"(J& +4 "core" &K\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&c' +108 "core" ' +2 "storage"(x& +3 "core" &K\ \ + Y\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +298 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   , +2 "storage"(u& +4 "core" &K\  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&t'< +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(E- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('n +30 "core" ' +2 "manipulator"&>% +4 "core" %H \ \  +2 "storage"(o& +4 "core" &K m\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&_'t +14 "core" ' + "manipulator"&P& +4 "core" &  \  + +2 "storage"(r& +4 "core" &K\ \ \  X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(w' +46 "core" ' +2 "manipulator"&|& +3 "core" & + +2 "manipulator"&`% +5 "core" %  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &ӗ!   :/ +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &ӗ!  9 :/ +3 .tForearm.seek CC +2 "manipulator"&l'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'N( +446 "core" ( +2 "storage"(& +3 "core" &K N O\  +3 "storage"(G& +4 "core" &K \  g\  + "manipulator"&f& +4 "core" &Ӯ  7 +2 "manipulator"&a% +4 "core" % =    +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +165 "core" ( + "manipulator"&& +3 "core" &    +2 "storage"(2& +5 "core" &K # &\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&%'< +138 "core" ' +5 .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator" +55 "core" 1 +3 "manipulator"&z% +4 "core" % O   > + "storage"(g& +5 "core" &K - - U\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&d'{ +14 "core" ' +2 "manipulator"&U& +3 "core" &   +3 "storage"(:& +4 "core" &K # # 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +17 "core" ' + "storage"(% +4 "core" % H * &\ +3 ."downElevator"SE.seek :down +4 "storage"(&' +98 (% +3 "core" %? O ^\ Va +2 "manipulator"&}% +5 "core" % < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +94 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'6& +3 "core" & \ +2 "manipulator"&% +3 "core" %    4  +3 "storage"(% +3 "core" % < 2 \  +2 "storage"(W. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(=([ +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &[ I 8\ +2 "manipulator"&5& +4 "core" &   >  +2 .tElbow.seek 7 +2 "manipulator"&y(r +28 "core" ( +2 "manipulator"&.& +4 "core" &f   " 3 +2 "storage"(/& +4 "core" &[ , - \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&L'= +95 "core" ' +2 "storage"(V& +3 "core" &[ E H \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'r +292 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (C& +3 "core" &[ " %\ +2 "manipulator"&& +3 "core" &f \  3 3 +3 .tElbow.seek 7 + "manipulator"& (r +25 "core" ( +2 "manipulator"&& +3 "core" &  b  +2 "storage"(8& +5 "core" &[ # #\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&*'ϧ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(9' +7 "core" &  +2 "manipulator"&K% +4 "core" % Ϝ & +2 .tForearm.seek :retract +2 "manipulator"&F' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&)& +4 "core" &ӓ!    :0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &ӓ!   P :0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 "manipulator"&& +5 "core" &ӓ!   :0 +2 "manipulator"&~% +4 "core" %H   +2 "collection"'& +3 "core" & -\ +3 "collection"' & +5 "core" &  \ +3 .tCC.seek :closed + "collection"'b(\\ +6 "core" & \ +6 &< \ %g +9 &Zy '\ 8 +10 &\ u '\ L +9 &S \ K +9 &W \ K +10 &OU  \ K +9 &R %\ K +10 &T %\ K +9 &U "\ L +9 &XU %\ K +10 & U %\ K +9 &!R \ K +9 &#V !\ K +10 &%`W \ K +9 &'"U \ K +10 &(U \ K +9 &*Q \ K +9 &,gU \ K +10 &.)U \ K +48 &/Q \ K +6 &1V \ K +3 &3oW  \ K + &51U  \ K + &6S \ K &8W \ K +6 &:wU  \ K +10 &<:W \ K +9 &=U \ K +9 &?W \ K +10 &AW \ K +9 &CAY \ K +10 &Da \ M +9 &Fj\ \ \ N +9 &Hw\ \ \ Q +10 &J/\ \ \ T +9 &K\ %\ %\ W +9 &M\ "\ $\ W +10 &Ok\ \ \ W +9 &Q,\ \ \ X +10 &R\ \ \ Y +9 &T\ \ \ Y +9 &Vk\ \ \ Z +10 &X-\ \ \ Z +9 &Y\ \ \ \\ +9 &[\ \ \ H +10 &\\0\ \ \ / +9 &\\d\ \ \ N +3 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&k1 +63 "core" 1 +2 "manipulator"&$% +4 "core" % H   {  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%4& +4 "core" &\ +2 "manipulator"&0% +3 "core" %     +3 "storage"(B% +4 "core" %\ \  \  + "storage"(A. +3 "core" .([ +2 "storage"(H& +4 "core" &[\ \  \ +2 "storage"('& +3 "core" &[\ \  \ +2 "manipulator"&& +4 "core" &ө   7 +2 "manipulator"&S% +3 "core" %  \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&3(r +163 "core" ( +2 "manipulator"&Q& +4 "core" &{  "  +2 "storage"(& +3 "core" &[\ *\ + P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +95 "core" ' +2 "storage"(& +3 "core" &[ H L\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +304 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &[ \ \ +2 "manipulator"&;& +4 "core" &{ \   +2 .tElbow.seek 7 +2 "manipulator"&+(r +3 "core" ( +2 "manipulator"&[& +3 "core" &{     +2 "storage"(,& +4 "core" &[ \  n\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&j'ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&% +4 "core" % e\  +2 "storage"(o. +4 "core" .([ + "storage"(P& +4 "core" &[ \ \ +2 "storage"(r& +4 "manipulator"&|& +5 "core" &[ \  B\ + &    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&`( +2 ."raiseStack"SE.seek :beamBreak +5 "storage"(c'r +3 "core" ( +2 "manipulator"&]& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" & \  H  +3 .tForearm.seek PC + "manipulator"&t' +96 "core" ' + .tHand.close +2 "manipulator"&_/ +61 "core" / +3 .tPC.seek :open +2 "processing"%( +87 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'1 +40 "core" ' +315 ( +2 "storage"(v& +3 "core" &[\  *\ +2 "manipulator"&& +4 "core" & \  #  +2 "manipulator"&% +4 "core" %   % ' +2 .tForearm.seek :retract +2 "manipulator"&p' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&^(r +247 "core" ( + "manipulator"&& +4 "core" &o   [ +2 "storage"(G& +3 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&f'= +97 "core" ' + .tHand.open +2 "manipulator"&a1 +59 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(2' +42 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(l' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(#& +4 "core" &[  \ +2 "manipulator"&z& +3 "core" &p   Z +3 .tElbow.seek 7 +2 "manipulator"&g(r +3 "core" ( +2 "manipulator"&U& +4 "core" &p   Z + "storage"(:& +5 "core" &[   {\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&& +4 "core" &p  Z +2 "storage"(}& +3 "core" &[ \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"& '{ +26 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(6' +18 "core" ' +2 "manipulator"&d% +3 "core" %Ά  I +2 "storage"(& +4 "core" &[ P\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 311 counts +2 "manipulator"&'ϲ +13 "core" ' +2 "manipulator"&W& +4 "core" &   C B +2 "storage"(w& +4 "core" &[ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 "storage"(&% +4 "core" %\ \ \ \ +2 ."downElevator"SE.seek :down +4 "storage"({' +99 ( % +3 "core" %fH l\ We +2 "manipulator"&5% +50 "core" %3  \ +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +91 "core" ' +13 ' + ."downElevator"SE.stop + "storage"(5 +4 (/& +2 "core" &[\ \  y\ +3 "collection"'V& +3 "core" &\\d\ \ \ N +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&"% +4 "core" %    )  +2 "storage"(q% +3 "core" % \ \ R\  +3 "storage"(1. +3 "core" .([ +2 "storage"(C& +4 "core" &[ :\ +2 "storage"(& +4 "core" &[ \ + "manipulator"&& +4 "core" &   E B +2 .tElbow.seek 7 +2 "manipulator"&8(r +28 "core" ( +2 "manipulator"&(& +4 "core" &n   ! t + "storage"(& +4 "core" &[\ \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'= +95 "core" ' + "storage"(y& +4 "core" &[\ *\ * a\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +305 "core" ' +3 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" &n   t +2 "storage"(h& +5 "core" &[\ \  8\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&*'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('r +30 "core" ' +2 "manipulator"& % +3 "core" %΍   +2 "storage"(9& +4 "core" &[ U\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts + "manipulator"&F'Ϲ +14 "core" ' + "manipulator"&N& +3 "core" &n  t +3 "storage"(k& +4 "core" &[\ \  ~\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&$'= +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(4' +41 "core" ' +2 "manipulator"&0& +4 "core" &n   t +2 "manipulator"&B% +3 "core" %<  & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +162 "core" ( +2 "manipulator"& & +4 "core" &ӝ   8! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &ӝ  U 8! +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + .tHand.close +2 "manipulator"&S/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(Q& +4 "core" &[ N @\ +2 "storage"(& +3 "core" &[ I `\ +3 "manipulator"&& +4 "core" &Ӯ   , 6 + "manipulator"&% +5 "core" % K  '  +2 .tForearm.seek :retract +2 "manipulator"&D' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&-(r +163 "core" ( +2 "manipulator"&X& +4 "core" &t   x  + "storage"(;& +4 "core" &[ % %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&['{ +102 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&<1 +57 "core" 1 +2 "manipulator"&Z% +3 "core" % Ά   +2 "storage"(i& +45 "core" &[ $ \ +9 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 311 counts + "manipulator"&3'ϲ +22 "core" ' + "manipulator"&& +5 "core" &t  + "storage"(T& +4 "core" &[ # " 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&j'= +16 "core" ' +2 "storage"(@% +4 "core" % ' 3\ +2 ."downElevator"SE.seek :down +4 "storage"(n' +99 (+% +3 "core" %C B ^\ Va +2 "manipulator"&J% +4 "core" %G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'x& +3 "core" & \ +3 "manipulator"&O% +4 "core" %    ) +2 "storage"(\\% +3 "core" % " * f\  +2 "storage"(?. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(\ (<- +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +3 "core" &<0\ *\ # d\ +2 "manipulator"&u& +4 "core" &t   +2 .tElbow.seek 5 +2 "manipulator"&E( +28 "core" ( +2 "manipulator"&>& +3 "core" &    +2 "storage"(o& +5 "core" &<0 % !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +90 "core" ' +2 "storage"(R& +3 "core" &<0 I H I\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +309 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &<.\ \ ) .\ +2 "manipulator"&7& +4 "core" &    +3 .tElbow.seek 5 + "manipulator"&m( +22 "core" ( + "manipulator"&_& +4 "core" &    +2 "storage"(& +4 "core" &<. $ $\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +3 "storage"(c' +8 "core" & 6  + "manipulator"&v% +5 "core" % ϱ _ +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&t& +4 "core" &ӕ!   ) :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӗ! \  :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'? +96 "core" ' +2 "manipulator"&`& +4 "core" &Ӗ!  :. +2 "manipulator"&a% +4 "core" %4  a +2 "collection"'& +4 "core" & \ +2 "collection"'& +6 "core" & %\ +2 .tCC.seek :closed +2 "collection"'#(\\ +3 "core" & *\ +7 &B -\ $f +10 &Z| *\ 8 +9 & u -\ L +9 &T ,\ K +10 &V *\ L +9 &OU  \ K +10 &U "\ K +9 &Q \ K +9 &U !\ K +10 &VW $\ K +9 & U  \ K +9 &!U &\ K +10 &#R #\ K +9 &%^U  \ K +10 &'!W '\ K +9 &(U "\ K +9 &*T \ K +10 &,fW \ K +9 &.(U "\ K +9 &/U \ K +10 &1S \ K +9 &3mV \ L +10 &50U \ K +9 &6X  \ K +9 &8U \ K +10 &:wR \ \ K +9 &<8U \ K +9 &=W  \ K +10 &?V \ K +9 &A~T \ K +10 &C@Y \ K +9 &De \ M +9 &Fj\ \ \ N +10 &Hw\ \ \ \ P +9 &J,\ \ \ U +9 &K\ &\ '\ V +10 &M\ "\ $\ X +9 &Og\ "\ $\ Y +10 &Q)\ \ \ Y +9 &R\ \ \ Y +9 &T\ \ \ Z +10 &Vh\ \ \ [\ +9 &X*\ \ \ [\ +9 &Y\ \ \ \\ +10 &[\ \ \ I +9 &\\0\ \ \ / +10 &\\f\ \ \ N +2 ( +51 "collection"'& +7 "core" &\\e\ \ \ N + &\\e\ \ \ N + &\\e\ \ \ \ N + &\\d\ \ \  \ N + &\\e\ \ \ N + &\\e\ \ \ N +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&z1 +53 "core" 1 +2 "manipulator"&U% +3 "core" % 4   = a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%:& +4 "core" &\ +2 "manipulator"&% +4 "core" % \   +2 "storage"(}% +3 "core" %\ \ \ \  +3 "storage"(!. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(d(<- +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<. C\ +2 "manipulator"&W& +4 "core" &ӫ   6 7 +2 "manipulator"&w% +4 "core" % \  9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&2( +163 "core" ( +2 "manipulator"&&& +3 "core" &  \ t  +2 "storage"(^& +4 "core" &<.\ \ ' \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&f'O +93 "core" ' +2 "storage"(l& +3 "core" &<. ? 6\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +296 "core" ' + "storage"(5- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<.\ \ \ \ \ +2 "manipulator"&g& +4 "core" &  \ -  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" &    +3 "storage"(& +4 "core" &<. P\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&/'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +4 "storage"(q' +5 "core" &   +3 "manipulator"&1% +3 "core" %   N +3 .tForearm.seek :retract +2 "manipulator"&6' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&& +4 "core" &   3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +103 "core" ' + "manipulator"&& +4 "core" &  K 3 +2 "manipulator"&% +4 "core" %  5 +2 "processing"%y& +3 "core" &\ +3 "processing"%{& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%%(^ +4 "core" &\  +9 &3y\ *x +9 &b\ > +10 &ss\ N +9 &4W\ N +10 &U\ N +9 &U\ N +9 &{V\ N +10 &=W\ N +9 &X\ N +9 &W\ N +10 & T\ N +9 &"EU\ N +10 &$W\ N +9 &%U\ N +9 &'V\ N +10 &)KW\ O +9 &+V\ N +9 &,X\ N +10 &.U\ N +9 &0UV\ N +10 &2T\ N +9 &3T\ M +9 &5T\ N +10 &7^U\ N +9 &9 W\ N +9 &:X\ N +10 &<U\ N +9 &>eY\ N +10 &@&W\ N +9 &A[\ N +9 &C`\ O +10 &Egf\ P +9 &G&k\ Q +9 &H{\ R +10 &J\ T +9 &Lc\ T +10 &N#\ U +9 &O\ U +9 &Q\ U +10 &Sg\ U +9 &U)\ U +9 &V\ V +10 &X\ U +9 &Zn\ V +10 &\\1\ U +9 &]}u\ < +9 &^(j\ Q +10 &^-\ 4 +2 ( +2 "processing"%{& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&.1 +57 "core" 1 + "manipulator"&)% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +99 "core" ' +2 "processing"%h& +3 "core" &^+\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&~% +4 "core" %   l  +49 "storage"( % +6 "core" % \  +2 "storage"(9. +3 "core" .(<- +2 "storage"(N& +4 "core" &<. \ +2 "storage"(k& +3 "manipulator"&0& +5 "core" &<. \ +2 &   3 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(B'r + "manipulator"&K( +7 "core" ( +2 "manipulator"&8& +4 "core" &   3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +2 "core" &   r 3 +3 .tForearm.seek PC +2 "manipulator"&*' +94 "core" ' +2 .tHand.close + "manipulator"&F/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +40 "core" ' +312 ( +2 "storage"($& +3 "core" &<,\ \ \  F\ +2 "manipulator"&& +4 "core" &   L 3 +2 "manipulator"&S% +4 "core" %  \  (  +2 .tForearm.seek :retract +2 "manipulator"&A' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&b( +258 "core" ( + "manipulator"&Q& +4 "core" &   +2 "storage"(& +4 "core" &<,\  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(X- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(;' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(<& +3 "core" &<, ? ? \ +2 "manipulator"&Z& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(T& +4 "core" &<, I > ?\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(@'" +56 "core" ' + "manipulator"&-& +4 "core" &   ? +2 "storage"(+& +3 "core" &<,\ \ \ 0\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "Can"\ P6 +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&J'΍ +21 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(x' +29 "core" ' + "manipulator"&3% +5 "core" %Ρ    + "storage"(O& +4 "core" &<,\ \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"&\\' +15 "core" ' + "manipulator"&?& +4 "core" &   +2 "storage"(4& +4 "core" &<,\ 8\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +15 "core" ' + "storage"(n% +4 "core" %\ +\ * Z\ +3 ."downElevator"SE.seek :down +3 "storage"(=' +99 (e% +3 "core" %}J <\ Xg +2 "manipulator"&u% +3 "core" %O  ( +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&>' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (o& +4 "core" &<,\ \ *\ +2 "collection"'R& +4 "core" &\\d\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&,% +3 "core" %     +3 "storage"(I% +4 "core" % \  + "storage"(r. +4 "core" .(<- +2 "storage"(]& +4 "core" &<, \ +2 "storage"(7& +4 "core" &<, =\ + "manipulator"&_& +5 "core" & \   +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(M& +4 "core" &<, \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +94 "core" ' +2 "storage"(E& +4 "core" &<, K l\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +310 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & \  +2 "storage"(|& +4 "core" &<,\ \ j\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('j +33 "core" ' + "manipulator"&m% +4 "core" %Ώ   = +2 "storage"(c& +3 "core" &<,\ \ \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&'ϻ +14 "core" ' +2 "manipulator"&& +4 "core" &  E + "storage"(z& +4 "core" &<, @ M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +16 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(:' +38 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&}% +4 "core" %C  Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&& +4 "core" &ӓ"   e ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &ӓ" \  0 ;3 +3 .tForearm.seek CC +2 "manipulator"&w'? +95 "core" ' +2 .tHand.close + "manipulator"&G/ +57 "core" / +2 .tCC.seek :open + "collection"'&( +447 "core" ( +2 "storage"(^& +4 "core" &<,\ \  3\ +2 "storage"(\ & +3 "core" &<,\ \  \ \ +2 "manipulator"&l& +3 "core" &ӟ   ` 9' +3 "manipulator"&% +4 "core" % P   I  +2 .tForearm.seek :retract +2 "manipulator"&p' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&5( +164 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(g& +4 "core" &<, ' & +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&V1 +61 "core" 1 +2 "manipulator"&"% +4 "core" % Ν   u  +2 "storage"(1& +4 "core" &<, & ! 1\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&2' +54 "core" ' +9 "manipulator"&f& +4 "core" &   +2 "storage"( & +3 "core" &<, H G \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +16 "core" ' +2 "storage"(% +4 "core" % E H \ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %A I =\ Va +2 "manipulator"&% +5 "core" %L \ q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'y& +3 "core" & '\ +2 "manipulator"&q% +5 "core" %    -  + "storage"(6% +4 "core" % # #\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +7 .tSC.seek 6 +2 "storage"(.(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &K U 1 \ +2 "manipulator"&h& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"& & +3 "core" &   [  +2 "storage"({& +4 "core" &K $\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +98 "core" ' + "storage"(N& +4 "core" &K I S M\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +299 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &K ' $ Q\  +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&F& +3 "core" &   +3 "storage"( & +4 "core" &K ( , \ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&C'h +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +3 "storage"(B' +7 "core" & 8  +2 "manipulator"&$% +3 "core" % r  p +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' + .tElbow.seek CC +2 "manipulator"&S(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&*& +4 "core" &ӟ    8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &ӟ  8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 "manipulator"&K& +4 "core" &ӟ  8 +2 "manipulator"&% +3 "core" %B   +3 "collection"'X& +4 "core" & 0\ +3 "collection"'H& +5 "core" & ,\ +2 .tCC.seek :closed +2 "collection"'<(\\ +4 "core" & +\ +7 &A /\ $f +9 &Z| +\ 8 +10 &u +\ L +9 &S +\ K +9 &V '\ L +10 &MU #\ K +9 &U "\ L +9 &T  \ K +10 &U #\ K +9 &UU \ K +10 & R !\ K +9 &!U &\ K +9 &#U '\ K +10 &%]T &\ K +9 &' R #\ K +9 &(U "\ K +10 &*U #\ K +9 &,dU "\ L +10 &.(U "\ K +9 &/U \ K +9 &1V #\ L +10 &3nU %\ K +9 &5.U \ L +9 &6U \ K +10 &8R \ K +9 &:uU \ K +10 &<8R \ K +9 &=U \ K +9 &?X \ K +10 &A|W \ L +9 &C=Z \ L +9 &Dh \ M +10 &Fp\ \ \ N +9 &Hr\ \ \ R +10 &J'\ \ \ V +9 &K\ !\ "\ W +9 &M\ \ \ W +10 &Of\ \  \ Y +9 &Q)\ \ \ X +9 &R\ \ \ Z +10 &T\ \ \ Y +9 &Vf\ \ \ [ +10 &X(\ \ \ [ +9 &Y\ \ \ [ +9 &[\ \ \ I +10 &\\2\ \ \ / +9 &\\p\ \ \ N +2 ( +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&Z1 +61 "core" 1 +2 "manipulator"&% +49 "core" % B   +6 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%A& +4 "core" &\ +2 "manipulator"&-% +3 "core" %     +3 "storage"(+% +4 "core" % n\ + "storage"(3. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"('(K +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (O& +3 "core" &K \  +3 "manipulator"&?& +4 "core" &Ӡ  7 + "manipulator"&;% +4 "core" %    p  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&4( +155 "core" ( +2 "manipulator"&n& +3 "core" &    +2 "storage"(b& +4 "core" &K\ \ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +104 "core" ' +3 "storage"(& +4 "core" &K\ +\ + 0\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'r +295 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (D& +3 "core" &K V\  +2 "manipulator"&i& +3 "core" &    +3 .tElbow.seek 6 +2 "manipulator"&@( +7 "core" ( +2 "manipulator"&J& +3 "core" &    +2 "storage"(o& +3 "core" &K \  A\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&\\'h +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"(I' +7 "core" &     +2 "manipulator"&r% +3 "core" % j ( q +3 .tForearm.seek :retract +2 "manipulator"&x' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&]( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&7& +4 "core" &  # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &   # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&M& +3 "core" &   T # +3 "manipulator"&j% +4 "core" %  7 +2 "processing"%E& +3 "core" &\ +3 "processing"%=& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%[(^ +4 "core" &\ +8 &5\ $d +10 &Tw\ 6 +9 &~{\ K +9 &W\ N +10 &ZU\ N +9 &T\ N +9 &Y\ N +10 &U\ N +9 &bT\ N +10 &$U\ N +9 &U\ N +9 &!T\ N +10 &#jV\ N +9 &%+U\ N +10 &&U\ N +9 &(V\ N +9 &*qU\ N +10 &,4S\ N +9 &-U\ N +9 &/V\ N +10 &1{R\ N +9 &3<R\ N +9 &4R\ N +10 &6T\ N +9 &8V\ N +10 &:ET\ N +9 &<V\ N +9 &=U\ N +10 &?W\ N +9 &AKV\ N +10 &C \\\ O +9 &Da\ P +9 &Fh\ P +10 &HHt\ R +9 &J\ T +9 &K\ T +10 &M\ U +9 &OH\ U +9 &Q\ \ U +10 &R\ U +9 &T\ V +10 &VP\ U +9 &X\ U +9 &Y\ V +10 &[\ U +9 &]U\ E +9 &^|Cq\ "f +10 &^1\ / +5 ( +2 "processing"%=& +4 "core" &^\ / +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&>1 +55 "core" 1 +2 "manipulator"&t% +3 "core" %   W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 "processing"%|& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&a% +4 "core" %     +2 "storage"(m% +3 "core" % \  +2 "storage"(c. +3 "core" .(K +2 "storage"(& +3 "core" &K \  +51 "storage"(z& +4 "manipulator"&& +5 "core" &K\ B\  + &   # +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&}( +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(v'r +2 "core" ( +3 "manipulator"&& +4 "core" &   # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &  A # +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(W'1 +48 "core" ' +302 ( +2 "storage"(U& +3 "core" &K\  s\  +3 "manipulator"&`& +4 "core" &    # + "manipulator"&G% +4 "core" %   D " +3 .tForearm.seek :retract + "manipulator"&!' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&#( +247 "core" ( + "manipulator"&^& +5 "core" &   ! L + "storage"(\ & +4 "core" &K \ s\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +113 "core" ' +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(g' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(w' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(V& +3 "core" &K <\  +3 "manipulator"&"& +4 "core" &   L +2 .tElbow.seek 6 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&f& +4 "core" &   L + "storage"( & +4 "core" &K Z\  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +8 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(p'" +61 "core" ' +2 "manipulator"&5& +3 "core" &   % L +2 "storage"(& +4 "core" &K \  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +21 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +18 "core" ' +2 "manipulator"&q% +3 "core" %O   +2 "storage"(2& +4 "core" &K t\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&6'{ +26 "core" ' +2 "manipulator"&& +3 "core" &    L +2 "storage"(:& +5 "core" &K\ \  X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +15 "core" ' +2 "storage"(% +3 "core" %\ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(d' +99 ()% +4 "core" %G \ We +2 "manipulator"&h% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ({& +4 "core" &K \  |\  +2 "collection"'N& +3 "core" &\\p\ \ \ N +50 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %     +2 "storage"(% +4 "core" %\ \ \  +2 "storage"(0. +3 "core" .(K +2 "storage"(8& +4 "core" &K \ \  +2 "storage"(L& +3 "core" &K\ \ \  +3 "manipulator"&F& +4 "core" &   " L +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&Y& +4 "core" &  L +2 "storage"(%& +3 "core" &K\ \ (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +97 "core" ' +2 "storage"(~& +3 "core" &K\ \  J\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +295 "core" ' + "storage"(*- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &   L +2 "storage"(k& +4 "core" &K\ \  O\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&C'< +23 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(X'n +29 "core" ' +2 "manipulator"&(% +3 "core" %N   +2 "storage"(B& +4 "core" &K e\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&'z +14 "core" ' + "manipulator"&&& +4 "core" &    K +2 "storage"(Z& +3 "core" &K\ \ 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(H' +43 "core" ' +2 "manipulator"&A& +4 "core" &   < K + "manipulator"&-% +4 "core" %   7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3(ӂ +146 "core" ( + "manipulator"&O& +4 "core" &~(   U Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &~)   Aa +2 .tForearm.seek CC +3 "manipulator"&;'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'n( +447 "core" ( +2 "storage"(b& +4 "core" &K G v\  + "storage"(.& +5 "core" &K O \  + "manipulator"&& +4 "core" &Ӫ"   ;5 +2 "manipulator"&S% +4 "core" % H   \ +2 .tForearm.seek :retract +2 "manipulator"&T' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&u( +163 "core" ( +2 "manipulator"&D& +3 "core" &    +2 "storage"(i& +5 "core" &K , - D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&J'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +52 "core" 1 +3 "manipulator"&,% +4 "core" % ?   c + +2 "storage"(r& +3 "core" &K - , ^\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 303 counts + "manipulator"&4'k +13 "core" ' +3 "manipulator"&& +4 "core" &   + "storage"(e& +4 "core" &K E H \  +3 .tForearm.reconfigure :tight +46 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +16 "core" ' + "storage"(7% +4 "core" % H H\ +3 ."downElevator"SE.seek :down +4 "storage"(_' +98 (@% +3 "core" %C N 0\ Vb +2 "manipulator"&M% +5 "core" % Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'E& +3 "core" & $\ +3 "manipulator"&I% +4 "core" %  \  \ +2 "storage"(x% +4 "core" % # # P\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(>([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "core" &[ J _\ +2 "manipulator"&|& +4 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&a(r +38 "core" ( +2 "manipulator"&m& +3 "core" &    +3 "storage"(c& +4 "core" &[ - - ~\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +105 "core" ' +2 "storage"(z& +3 "core" &[ J S O\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +3 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &[  9 o\ +2 "manipulator"&P& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&(r +24 "core" ( +2 "manipulator"&& +4 "core" &t o [ + "storage"(& +4 "core" &[ F F\ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&]'ϧ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(v' +8 "core" &t D [ +2 "manipulator"&U% +4 "core" % Ϫ  w +2 .tForearm.seek :retract +2 "manipulator"&`' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &ӌ&  \ J ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &^& +2 "core" &ӌ& ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\ '? +91 "core" ' +3 "manipulator"&}& +3 "core" &Ӥ#  + <; +2 "manipulator"&% +4 "core" %=   = e +2 "collection"'& +4 "core" & /\ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'V(\\ +4 "core" & \ +8 &A %\ $f +10 &Y{ 0\ 8 +9 &u -\ L +9 &R -\ K +10 &U ,\ K +9 &LR +\ K +10 & U )\ K +9 &U ,\ K +9 &U )\ K +10 &ST )\ K +9 & Q )\ K +9 &!T $\ K +10 &#U "\ K +9 &%\\T !\ K +10 &'U '\ K +9 &(U %\ K +9 &*T (\ K +10 &,dU %\ K +9 &.%T &\ K +9 &/T %\ K +10 &1U &\ K +9 &3lW &\ K +9 &5.U '\ K +10 &6W \ L +9 &8U \ K +10 &:rU  \ L +9 &<6U \ K +9 &=U  \ K +10 &?U \ K +9 &A{Y \ K +10 &C<\\ \ L +9 &Dd \ M +9 &Fi\ \  \ N +10 &Ht\ \ !\ P +9 &J*\ \  \ U +9 &K\ $\ $"\ W +10 &M\ #\ $\ X +9 &Oh\ \ !\ W +10 &Q'\ \  \ X +9 &R\ \  \ Y +9 &T\ \ \ Y +10 &Vi\ \ \ \ Z +9 &X(\ \  \ [ +9 &Y\ \ \ \\ +10 &[\ \  \ H +9 &\\2\ \  \ 0 +9 &\\c\ \ \ M +3 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&"1 +57 "core" 1 +2 "manipulator"&f% +4 "core" % =   T e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +96 "core" ' +50 #tLoading generic puck from tube 7 into Processing Clamp + "processing"% & +5 "core" &\ + "manipulator"&5% +4 "core" %    ! +2 "storage"(% +3 "core" % _\  +2 "storage"(q. +4 "core" .([ + "storage"(W& +4 "core" &[ X\ +2 "storage"(2& +4 "core" &[ C\ +2 "manipulator"&g& +4 "core" &ӯ!   :0 +2 "manipulator"&% +4 "core" %     ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&:(r +165 "core" ( + "manipulator"&& +4 "core" &t     +2 "storage"(#& +4 "core" &[\ \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&l'= +97 "core" ' +2 "storage"(w& +5 "core" &[\ +\ + \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'r +296 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \ \ W\ +2 "manipulator"&1& +3 "core" &t   (  +3 .tElbow.seek 7 +2 "manipulator"&p(r +3 "core" ( +2 "manipulator"&& +4 "core" &t   +2 "storage"({& +4 "core" &[\ \  s\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&6'ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(y' +8 "core" &t \ *  +2 "manipulator"&% +4 "core" % ϵ   +2 .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' +3 .tElbow.seek PC + "manipulator"&8( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&L& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &    +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Y' +98 "core" ' +2 "manipulator"&%& +4 "core" &  \ ; +2 "manipulator"&/% +3 "core" %  1  +3 "processing"%~& +3 "core" &\ +3 "processing"%d& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +9 &2u\ )w +9 &c~\ > +9 &tr\ O +10 &6T\ N +9 &T\ N +10 &R\ N +9 &~U\ N +9 &@T\ N +10 &U\ N +9 &U\ N +9 & V\ N +10 &"GW\ N +9 &$\ T\ N +10 &%T\ N +9 &'X\ N +9 &)PU\ N +10 &+T\ N +9 &,U\ N +9 &.T\ M +10 &0WT\ N +9 &2S\ M +10 &3T\ M +9 &5T\ M +9 &7`U\ N +10 &9!Z\ N +9 &:W\ N +9 &<U\ N +10 &>hW\ N +9 &@)V\ N +10 &AZ\ O +9 &C`\ O +9 &Eie\ P +10 &G(r\ Q +9 &H}\ S +9 &J\ T +10 &Lc\ U +9 &N$\ U +10 &O\ T +9 &Q\ U +9 &Sh\ V +10 &U,\ U +9 &V\ U +9 &X\ U +10 &Zp\ V +9 &\\2\ V +10 &]yp\ A +9 &^J\ D +9 &^n\ 7 +10 ( + &^!\ 1 +2 "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"& 1 +62 "core" 1 +2 "manipulator"&*% +4 "core" %  ! 2  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +96 "core" ' +38 "processing"%k& +4 "core" &^!\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" %    V  +3 "storage"((% +3 "core" % k\  +2 "storage"(B. +3 "core" .([ +2 "storage"(&& +4 "core" &[ y\ +2 "storage"(Z& +2 "manipulator"&A& +6 "core" &[ c\ +2 &   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(-'r +2 "manipulator"&$( +54 "core" ( +2 "manipulator"& & +3 "core" &    +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &  d +2 .tForearm.seek PC +2 "manipulator"&C' +95 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%X( +35 "core" ' +2 "storage"(O- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'1 +40 "core" ' +368 ( +2 "storage"(& +3 "core" &[ j\ +2 "manipulator"&K& +4 "core" &   +2 "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&+' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&<(r +265 "core" ( +2 "manipulator"&b& +4 "core" &|    +2 "storage"(.& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +100 "core" ' +2 .tHand.open + "manipulator"&S1 +62 "core" 1 +3 "storage"(D- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(;' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +3 "core" -' +2 "storage"(R& +4 "core" &[   :\ +2 "manipulator"&,& +3 "core" &|   X  +3 .tElbow.seek 7 + "manipulator"&r(r +4 "core" ( +2 "manipulator"&& +4 "core" &|    +2 "storage"(e& +3 "core" &[  5\ +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(T'" +49 "core" ' +2 "manipulator"&@& +3 "core" &|     +2 "storage"(M& +5 "core" &[ \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&u'{ +25 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(E' +19 "core" ' +2 "manipulator"&I% +3 "core" %΋    +2 "storage"(4& +4 "core" &[ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&x'Ϸ +22 "core" ' + "manipulator"&& +4 "core" &|    +2 "storage"(H& +4 "core" &[\ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&\\'= +15 "core" ' + "storage"(_% +4 "core" %\ \ \ \ +2 ."downElevator"SE.seek :down +4 "storage"('' +99 (t% +3 "core" %BI \ Wg +3 "manipulator"&|% +4 "core" %@    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 (c& +2 "core" &[\ \ S\ +3 "collection"'z& +4 "core" &\\j\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&o% +4 "core" %  \   +2 "storage"(j% +3 "core" % \  X\  +2 "storage"(=. +3 "core" .([ +2 "storage"(& +3 "core" &[\  +\ +3 "storage"(P& +4 "core" &[ I\ + "manipulator"&& +4 "core" &|   .  +2 .tElbow.seek 7 +47 "manipulator"&(r +6 "core" ( +2 "manipulator"&& +4 "core" &|   +2 "storage"([& +4 "core" &[\ \  )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'= +93 "core" ' +2 "storage"(a& +3 "core" &[\ +\ + I\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +306 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&^& +2 "core" &|   Y  +3 "storage"(& +3 "core" &[\  I\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&]'{ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('r +29 "core" ' + "manipulator"&% +5 "core" %Έ   L . + "storage"(v& +4 "core" &[\  \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 313 counts + "manipulator"&`'ϴ +15 "core" ' + "manipulator"&n& +4 "core" &|  >  +2 "storage"("& +4 "core" &[\ +\ + \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&f'= +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +42 "core" ' + "manipulator"& & +4 "core" &|  \\  +2 "manipulator"&5% +3 "core" %4  + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&q(ӂ +159 "core" ( +3 "manipulator"&W& +4 "core" &Ӓ!  \ 4 :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &2& +2 "core" &Ӓ! \  :- +3 .tForearm.seek CC +2 "manipulator"&g'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +447 "core" ( + "storage"(& +4 "core" &[ O a\ +2 "storage"(#& +4 "core" &[ N d\ +2 "manipulator"&w& +3 "core" &ӳ   5 +2 "manipulator"&G% +4 "core" % 2   +2 .tForearm.seek :retract +2 "manipulator"&!' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&h(r +163 "core" ( +2 "manipulator"&& +3 "core" &r  \ ,  +2 "storage"(1& +4 "core" &[ ) + `\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&'{ +102 "core" ' +2 .tElbow.hold + "manipulator"&{, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +56 "core" 1 +2 "manipulator"&% +4 "core" % ΃    +2 "storage"(& +4 "core" &[ ' $\ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 308 counts + "manipulator"&:'ϯ +14 "core" ' +2 "manipulator"&l& +3 "core" &r   +2 "storage"()& +4 "core" &[ E E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&6'= +17 "core" ' + "storage"(L% +4 "core" % F E %\ +2 ."downElevator"SE.seek :down +4 "storage"(F' +99 (p% +3 "core" %> M c\ U_ +2 "manipulator"&%% +50 "core" %5  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +92 "core" ' +3 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'~& +3 "core" & \ +2 "manipulator"&y% +5 "core" %      + "storage"(0% +5 "core" % # $ C\  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +663 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &<- T &\ +2 "manipulator"&d& +4 "core" &r     +2 .tElbow.seek 5 +2 "manipulator"&k( +23 "core" ( +2 "manipulator"&& +3 "core" &     +3 "storage"((& +4 "core" &<- , - .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +95 "core" ' +2 "storage"(&& +4 "core" &<- G H \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +295 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &<- - & m\ +2 "manipulator"&9& +4 "core" &  k  +2 .tElbow.seek 5 + "manipulator"&Y( +21 "core" ( +2 "manipulator"&& +3 "core" &  5  +2 "storage"(O& +4 "core" &<- F H \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&8'Ϲ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(-' +8 "core" &  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&K' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&C& +4 "core" &}*   V Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &}*   Bh +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&.'? +99 "core" ' +2 "manipulator"&$& +3 "core" &Ӫ#   <; +3 "manipulator"&S% +4 "core" %G \   +2 "collection"'D& +3 "core" & \ +3 "collection"'3& +5 "core" & \ +3 .tCC.seek :closed + "collection"'R(\\ +5 "core" & \  +8 &4y !\ *z +9 &g{ *\ > +10 &m '\ L +9 &WR \ K +9 &U \ K +10 &U \ K +9 &Q ,\ K +9 &_T \ K +10 & W &\ K +9 &U '\ K +10 & V ,\ K +9 &"eX (\ L +9 &$)T $\ K +10 &%U "\ K +9 &'T $\ K +9 &)nU \ K +10 &+1Q "\ K +9 &,U \ K +10 &.T \ K +9 &0vU \ K +9 &27U "\ L +10 &3V '\ K +9 &5U !\ K +10 &7~X "\ K +9 &9@U %\ K +9 &;V '\ K +10 &<T \ K +9 &>U \ K +9 &@GT \ L +10 &B\ W \ K +9 &CZ &\ L +10 &Ef #\ M +9 &GGq\ \ \ N +9 &I\ \ \ Q +10 &J\ %\ !\ U +9 &Lr\ %\ % \ X +9 &N4\ $\ "%\ X +10 &O\ \ "\ X +9 &Q\ \  \ X +10 &Sv\ \ %\ Y +9 &U7\ \ \ Y +9 &V\ \  \ Z +10 &X\ \ \ [\ +9 &Zw\ \ $\ [ +9 &\\{\ \ \ / +10 &\\/\ \ \ !d +9 ( + &\\n\ \ \ N +2 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&,1 +64 "core" 1 + "manipulator"&% +4 "core" % G    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%+& +4 "core" &\ + "manipulator"&@% +4 "core" % \    +2 "storage"(M% +4 "core" %\ \  V\  +2 "storage"(I. +3 "core" .(<- +2 "storage"(4& +3 "core" &<- \  *\ +2 "storage"(?& +4 "core" &<- \  \ +2 "manipulator"&& +49 "core" &Ӫ"   <; +5 "manipulator"&H% +3 "core" % \     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&i( +164 "core" ( + "manipulator"&_& +4 "core" &    +2 "storage"(<& +3 "core" &<-\ +\ * $\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +100 "core" ' +2 "storage"(;& +4 "core" &<- \  ]\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'r +297 "core" ' + "storage"(|- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &<-\ \  Q\ +2 "manipulator"&r& +4 "core" & =  +2 .tElbow.seek 5 +2 "manipulator"&T( +4 "core" ( + "manipulator"&u& +4 "core" &    +2 "storage"(x& +4 "core" &<-\ \ \ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&c'Ϲ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& + "storage"(j' +8 "core" &  C  + "manipulator"&=% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&E' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&P& +4 "core" &   : 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &    3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&[& +4 "core" &   b 3 +2 "manipulator"&\\% +4 "core" %   N h +2 "processing"%a& +4 "core" &\ +2 "processing"%'& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(^ +3 "core" &\ +9 &5\ $d +10 &Vx\ 7 +9 &v\ K +9 &S\ N +10 &lT\ N +9 &/R\ N +9 &X\ N +10 &T\ M +9 &uT\ N +10 &7R\ N +9 &T\ N +9 &!V\ N +10 &#~T\ M +9 &%>T\ N +9 &'R\ N +10 &(T\ N +9 &*S\ N +10 &,FU\ N +9 &.\ S\ M +9 &/U\ N +10 &1Q\ N +9 &3PS\ M +9 &5R\ M +10 &6T\ N +9 &8T\ N +10 &:VT\ N +9 &<U\ N +9 &=U\ N +10 &?U\ N +9 &A^U\ N +9 &C^\ O +10 &Db\ O +9 &Fg\ P +10 &H[r\ R +9 &J\ T +9 &K\ T +10 &M\ T +9 &O[\ T +9 &Q\ U +10 &R\ U +9 &T\ V +10 &Vb\ U +9 &X#\ U +9 &Y\ U +10 &[\ V +9 &]g\ C +9 &^?r\ #g +10 &^(\ . +5 ( +2 "processing"%'& +3 "core" &^\ . +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&m1 +61 "core" 1 +2 "manipulator"&% +3 "core" %   } h +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +2 "processing"%& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %     +2 "storage"(% +4 "core" %\  K\  + "storage"(v. +4 "core" .(<- + "storage"(n& +4 "core" &<- \ ?\ +2 "storage"("& +2 "manipulator"& & +8 "core" &<- \  '\ + &   3 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&5( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(U'r +2 "core" ( +2 "manipulator"&& +5 "core" &   j 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & : 3 +3 .tForearm.seek PC +2 "manipulator"&]' +92 "core" ' +49 .tHand.close +3 "manipulator"&`/ +59 "core" / +2 .tPC.seek :open +2 "processing"%( +48 "core" ' +2 "storage"(W- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(2'1 +46 "core" ' +350 ( + "storage"(f& +4 "core" &<+\  \ +2 "manipulator"&}& +4 "core" &   0 3 +2 "manipulator"&% +4 "core" %   * +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&V( +253 "core" ( +2 "manipulator"&& +4 "core" &  O j +2 "storage"(#& +4 "core" &<+ \  $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +103 "core" ' +2 .tHand.open + "manipulator"&G1 +59 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(g' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +3 "core" -' +2 "storage"(N& +4 "core" &<+   K\ +2 "manipulator"&& +4 "core" & \  B j +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&l& +3 "core" &\ "  ^ j +3 "storage"()& +4 "core" &<+  \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(!'" +63 "core" ' +2 "manipulator"&p& +4 "core" &\   j +2 "storage"(%& +4 "core" &<+ Z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&h'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(~' +18 "core" ' +2 "manipulator"&:% +3 "core" %Ξ   6 +2 "storage"(y& +3 "core" &<+\  \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&0' +26 "core" ' +2 "manipulator"&& +3 "core" &    c +2 "storage"(& +4 "core" &<+ M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +18 "core" ' +2 "storage"(F% +3 "core" % o\ +3 ."downElevator"SE.seek :down +4 "storage"(>' +98 (*% +3 "core" %LK S\ Wg +2 "manipulator"&d% +4 "core" %W   I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ((& +3 "core" &<+ \  B\ +2 "collection"'&& +4 "core" &\\n\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&{% +4 "core" %   + "storage"(/% +4 "core" %\ \ \ \  +2 "storage"(A. +3 "core" .(<- +2 "storage"( & +4 "core" &<+\  \ +2 "storage"(9& +4 "core" &<+\ \  \ +2 "manipulator"&& +4 "core" &    c + .tElbow.seek 5 +2 "manipulator"&O( +21 "core" ( + "manipulator"&Q& +4 "core" &   +2 "storage"( & +4 "core" &<+\ %\ ) e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +100 "core" ' +49 "storage"(k& +4 "core" &<+\ +\ + &\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +313 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &   +3 "storage"(Z& +4 "core" &<+ \ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&8'΍ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(D'k +33 "core" ' +2 "manipulator"&Y% +4 "core" %Η    + "storage"(-& +4 "core" &<+\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 310 counts + "manipulator"&K' +13 "core" ' +2 "manipulator"&\ & +3 "core" &   4 +2 "storage"(,& +5 "core" &<+\ +\ + @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(+' +34 "core" ' + "manipulator"&@& +4 "core" &    +2 "manipulator"&M% +3 "core" %H   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +157 "core" ( +2 "manipulator"&4& +4 "core" &Ӓ   9( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +4 "core" &Ӓ  9( +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&H/ +58 "core" / +2 .tCC.seek :open +2 "collection"'.( +447 "core" ( + "storage"(_& +4 "core" &<+\  P\ +2 "storage"(<& +4 "core" &<+\ \ ) 5\ +2 "manipulator"&;& +4 "core" &Ӭ    6 + "manipulator"&% +4 "core" % G   ? +2 .tForearm.seek :retract +2 "manipulator"&e' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&|( +163 "core" ( +2 "manipulator"&7& +4 "core" &    +2 "storage"(r& +4 "core" &<+ " * 7\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&u'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +57 "core" 1 +2 "manipulator"&o% +3 "core" % Ξ  +2 "storage"(=& +3 "core" &<+ - - ?\ +3 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&i' +24 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(t& +4 "core" &<+ H I \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +15 "core" ' +2 "storage"(P% +4 "core" % F F \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (T% +3 "core" %E ? $\ Wb +2 "manipulator"&[% +3 "core" %T   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'a& +3 "core" & $\ +46 "manipulator"&j% +8 "core" %   c  + "storage"(E% +5 "core" % % # \  + "storage"(X. +3 "core" .(<- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(m(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K M b\ +2 "manipulator"&& +3 "core" &    +3 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  \  +2 "storage"(v& +3 "core" &K & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +93 "core" ' +2 "storage"('& +3 "core" &K E H Y\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +309 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K * =\ +2 "manipulator"&& +4 "core" &  ^  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&`& +3 "core" & \ F  +2 "storage"(W& +4 "core" &K & $ \ +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&J& + "storage"(U' +8 "core" & <  +2 "manipulator"&f% +4 "core" % t  +2 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ' +2 ( + ."downElevator"SE.stop +2 "manipulator"&]& +2 "storage"(5 +7 "core" &z(   C @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z( \  @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'? +92 "core" ' +2 "manipulator"&5& +3 "core" &Ӟ#   ' <: +3 "manipulator"&G% +4 "core" %8   B +2 "collection"'& +4 "core" & \ +3 "collection"'q& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'N(\\ +4 "core" & \  +10 &6} -\ +{ +9 &h} +\ ? +9 &n 0\ L +10 &eT +\ K +9 &&W -\ K +9 &U 4\ K +10 &T ,\ K +9 &mT /\ K +10 &/V ,\ K +9 &U *\ K +9 & R &\ K +10 &"tT (\ K +9 &$6T \ K +9 &%U #\ K +10 &'U $\ K +9 &)~T \ J +10 &+>U \ K +9 &-U \ K +9 &.T "\ K +10 &0U '\ K +9 &2GU '\ K +9 &4 U  \ K +10 &5V \ K +9 &7U \ K +10 &9OU 0\ K +9 &;U 4\ K +9 &<T 1\ K +10 &>U 1\ K +9 &@WU 1\ K +9 &BY *\ L +10 &C^ $\ L +9 &Ej )\ M +10 &GRz\ \ "\ O +9 &I\ \ \ '\ S +9 &J\ !\ &\ W +10 &L\ \ )\ W +9 &NA\ \ %\ X +10 &P\ \ $\ X +9 &Q\ \ \ Y +9 &S\ \ $\ Y +10 &UD\ \ &\ Z +9 &W\ \ %\ Z +9 &X\ \ \ [\ +10 &Z\ \ "\ \\ +9 &\\(y\ \ \ / +9 &\\,\ \ \ ^ +10 ( + &\\m\ \ \ O +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&l% +3 "core" % 8   P B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%)& +3 "core" &\ +3 "manipulator"&p% +4 "core" %  \ S  + "storage"(%% +3 "core" % ^\  +3 "storage"(2. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(:(K +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" &K \  +2 "manipulator"&1& +4 "core" &ӯ   9) +2 "manipulator"&% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +207 "core" ( +4 "manipulator"&F& +4 "core" &   +2 "storage"(V& +4 "core" &K\ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&w' +97 "core" ' +2 "storage"(g& +4 "core" &K\ \ \ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +298 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (L& +2 "core" &K \  +3 "manipulator"&& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&!( +4 "core" ( +2 "manipulator"&h& +3 "core" &     +3 "storage"(0& +4 "core" &K\ \ w\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&('h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& +2 "storage"(/' +7 "core" &    +2 "manipulator"&A% +3 "core" % e   +3 .tForearm.seek :retract +2 "manipulator"&~' +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"& ( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&9& +4 "core" &   1 " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &    " +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q' +91 "core" ' + "manipulator"& & +4 "core" &  ' " +2 "manipulator"&6% +3 "core" %    d +3 "processing"%k& +4 "core" &\ +2 "processing"%>& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &3x\ *x +9 &c}\ > +10 &xo\ O +9 &;R\ N +9 &T\ N +10 &S\ N +9 &T\ N +9 &DT\ N +10 &W\ N +9 &T\ N +9 & U\ N +10 &"KS\ N +9 &$T\ N +10 &%R\ N +9 &'S\ N +9 &)TT\ N +10 &+W\ N +9 &,T\ N +9 &.R\ N +10 &0\\S\ N +9 &2Q\ N +10 &3R\ M +9 &5T\ N +9 &7dT\ N +10 &9%X\ N +9 &:U\ N +9 &<T\ N +10 &>jW\ N +9 &@,U\ N +10 &AU\ N +9 &C_\ P +9 &Emc\ P +10 &G,m\ Q +9 &H}\ S +10 &J\ T +9 &Li\ T +9 &N)\ U +10 &O\ U +9 &Q\ U +9 &Sn\ U +10 &U/\ U +9 &V\ U +9 &X\ U +10 &Zt\ V +9 &\\5\ V +10 &]|r\ ; +9 &^)n\ P +9 &^"\ 2 +3 ( + "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&1 +61 "core" 1 + "manipulator"&C% +4 "core" %   d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +94 "core" ' +2 "processing"%Z& +3 "core" &^!\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&S% +3 "core" %     +3 "storage"(Y% +4 "core" % \  \  + "storage"(-. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(\ (K +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +4 "core" &K \  +2 "manipulator"&@& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   " +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(M'r + "manipulator"&( +7 "core" ( + "manipulator"&O& +3 "core" &   " +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &  3 " +3 .tForearm.seek PC +2 "manipulator"&8' +91 "core" ' +2 .tHand.close + "manipulator"&K/ +58 "core" / +3 .tPC.seek :open +2 "processing"%D( +93 "core" ' + "storage"(4- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'1 +46 "core" ' +304 ( +2 "storage"(& +3 "core" &K\ \ \  +3 "manipulator"&$& +3 "core" &   " +2 "manipulator"&H% +5 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&3' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&R( +250 "core" ( +2 "manipulator"&_& +3 "core" &  \\ +2 "storage"(<& +5 "core" &K G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +93 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +3 "storage"(7- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(r' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(I- +3 "core" -' +2 "storage"(z& +3 "core" &K \  +3 "manipulator"&o& +4 "core" &   [ \\ +2 .tElbow.seek 6 +2 "manipulator"&=( +4 "core" ( + "manipulator"&& +4 "core" &   \\ +2 "storage"(t& +4 "core" &K\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(e'" +49 "core" ' +2 "manipulator"&T& +3 "core" &   \\ +2 "storage"([& +4 "core" &K {\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&|'< +22 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(a' +19 "core" ' +2 "manipulator"&i% +3 "core" %N    +3 "storage"(+& +4 "core" &K b\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&j'z +25 "core" ' + "manipulator"&E& +4 "core" &    [ +2 "storage"(X& +3 "core" &K 0\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&c' +17 "core" ' +2 "storage"(% +3 "core" % \  G\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (% +3 "core" %-N g\ Xi +2 "manipulator"&% +5 "core" %   8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (v& +3 "core" &K \ F\  +2 "collection"''& +4 "core" &\\n\ \ +\ O +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&x% +3 "core" %    \  +2 "storage"(\\% +4 "core" % \ \  +2 "storage"(". +3 "core" .(K +2 "storage"(& +4 "core" &K\ \ \  + "storage"(& +4 "core" &K\ \ \  +2 "manipulator"&`& +3 "core" &   [ +3 .tElbow.seek 6 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&^& +4 "core" &   [ +2 "storage"(J& +3 "core" &K\ \ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +101 "core" ' +2 "storage"(& +4 "core" &K\ \  \  +47 .tSE.reconfigure :pick +5 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +299 "core" ' + "storage"(]- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & \ : [ +2 "storage"( & +4 "core" &K\ \  r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'< +21 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('n +31 "core" ' +2 "manipulator"&% +4 "core" %H   " +2 "storage"(U& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&}'t +14 "core" ' + "manipulator"&.& +4 "core" & \  / [ +2 "storage"(& +3 "core" &K\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"()' +40 "core" ' + "manipulator"&p& +4 "core" &   [ +2 "manipulator"&%% +3 "core" %    +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +154 "core" ( +2 "manipulator"&y& +4 "core" &Ӥ   6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &1& +3 "core" &Ӥ  w 6 +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&#/ +54 "core" / +2 .tCC.seek :open + "collection"'F( +447 "core" ( +2 "storage"(V& +3 "core" &K\  `\  +2 "storage"(m& +4 "core" &K\ \ ) 7\  +2 "manipulator"&& +3 "core" &Ӥ  \  6 +2 "manipulator"&g% +5 "core" % N E 9 +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&d( +166 "core" ( + "manipulator"&L& +4 "core" &    +2 "storage"(& +4 "core" &K $ &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&h'< +94 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&&1 +62 "core" 1 +2 "manipulator"&{% +5 "core" % K   b  + "storage"(A& +4 "core" &K , , 6\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&'w +25 "core" ' +2 "manipulator"&w& +4 "core" &  +2 "storage"(*& +4 "core" &K 1 @ p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +22 "core" ' + "storage"(9% +4 "core" % H 4 e\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (!% +3 "core" %G O 4\ Wc +2 "manipulator"& % +5 "core" % \  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'k& +3 "core" & @\ +3 "manipulator"&/% +47 "core" %     +6 "storage"(~% +3 "core" % F H [\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &[ \  @\ +2 "manipulator"&Z& +3 "core" &  U  +3 .tElbow.seek 7 +2 "manipulator"&S(r +30 "core" ( + "manipulator"&Y& +4 "core" &f   1 +2 "storage"(-& +4 "core" &[ $ $ *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&>'= +92 "core" ' +2 "storage"(,& +3 "core" &[ E I \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +297 "core" ' + "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &[\  \\ Z\ +2 "manipulator"&Q& +4 "core" &f \  h 1 +3 .tElbow.seek 7 + "manipulator"&K(r +24 "core" ( +2 "manipulator"&:& +3 "core" &    +2 "storage"(4& +4 "core" &[ & '\ +3 .tForearm.seek 7 + 300 counts + "manipulator"& 'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(M' +8 "core" &  \\  + "manipulator"&% +4 "core" % Ϝ  R +2 .tForearm.seek :retract +2 "manipulator"&$' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&8& +4 "core" &ӑ# \  <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &ӑ# / <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'? +93 "core" ' +2 "manipulator"&& +5 "core" &Ӓ#  G <9 +2 "manipulator"&% +4 "core" %I   9 f +2 "collection"'7& +3 "core" & \ +3 "collection"'I& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'z(\\ +3 "core" & \ +6 &< \ %f +10 &Z{ \ 8 +9 & t \ L +9 &S \ J +10 &T 1\ K +9 &OU |\ K +10 &U  \ J +9 &U !\ K +9 &U 8\ K +10 &WT A\ K +9 & R C\ K +9 &!U B\ K +10 &#U /\ K +9 &%^S 0\ K +10 &' T ,\ K +9 &(U :\ K +9 &*S 5\ J +10 &,fU 4\ K +9 &.)T 4\ K +9 &/T 3\ J +10 &1V '\ K +9 &3nU '\ K +10 &50U ,\ K +9 &6U (\ K +9 &8T 3\ K +10 &:wT 3\ K +9 &<:U 1\ J +9 &=U 0\ K +10 &?U 3\ K +9 &A~V /\ K +10 &C@W (\ K +9 &Da 0\ M +9 &Fi\  1\ M +10 &Hw\ \ 4\ P +9 &J,\ \ 1\ U +10 &K\ "\ #1\ W +9 &M\ #\ !3\ X +9 &Oj\ \ 3\ X +10 &Q-\ \ (\ W +9 &R\ \ .\ Y +9 &T\ \ )\ X +10 &Vk\ \ ,\ Z +9 &X,\ \ 0\ Z +10 &Y\ \ 1\ [\ +9 &[\ \ *\ H +9 &\\0\ \ +\ / +10 &\\e\ \ )\ M +2 ( +2 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&o1 +57 "core" 1 +2 "manipulator"&% +3 "core" % I  ? f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%3& +4 "core" &\ +2 "manipulator"&T% +3 "core" %    5  +3 "storage"([% +4 "core" % \ )\  + "storage"(i. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(+([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &[ \  +2 "manipulator"&E& +4 "core" &ӫ   \\ 8 +2 "manipulator"&X% +4 "core" %   g  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&r(r +211 "core" ( +3 "manipulator"&& +4 "core" &q    +2 "storage"(R& +4 "core" &[\ +\ + &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&;'= +104 "core" ' +2 "storage"(& +4 "core" &[ L\ ) n\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +308 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P& +3 "core" &[\ \  4\  +2 "manipulator"&=& +3 "core" &q  : +3 .tElbow.seek 7 +2 "manipulator"&e(r +4 "core" ( + "manipulator"&|& +4 "core" &q [ +2 "storage"(j& +3 "core" &[\ +\ , 1\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&v'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +3 "storage"(\\' +7 "core" &q   ) +2 "manipulator"&"% +3 "core" % ϱ \   = +3 .tForearm.seek :retract +2 "manipulator"&a' +96 "core" ' + .tElbow.seek PC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &`& +3 "core" &   9  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&^' +88 "core" ' +2 "manipulator"&J& +3 "core" & \    +3 "manipulator"&c% +3 "core" %   a +3 "processing"%& +4 "core" &\ +3 "processing"% & +4 "core" &\ +3 .tPC.seek :closed + "processing"%u(^ +5 "core" &\  +9 &3y\ *x +9 &d}\ > +10 &tp\ N +9 &6R\ N +9 &T\ N +10 &Q\ N +9 &}U\ N +10 &>W\ N +9 &V\ N +9 &U\ M +10 & U\ N +9 &"GU\ N +9 &$ U\ N +10 &%W\ N +9 &'T\ N +10 &)PU\ M +9 &+U\ N +9 &,V\ N +10 &.R\ N +9 &0VU\ N +9 &2R\ M +10 &3T\ N +9 &5R\ N +10 &7_T\ N +9 &9 Y\ N +9 &:U\ N +10 &<U\ N +9 &>gW\ N +9 &@(V\ N +10 &AZ\ N +9 &Ca\ P +10 &Ehh\ P +9 &G(p\ Q +9 &H\ S +10 &J\ T +9 &Ld\ T +9 &N$\ U +10 &O\ T +9 &Q\ U +10 &Si\ U +9 &U*\ U +9 &V\ U +10 &X\ U +9 &Zq\ U +9 &\\2\ U +10 &]{q\ ? +9 &^ Q\ K +10 &^<\ : +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&]% +3 "core" %   5 a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"% & +4 "core" &^<\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&G% +4 "core" % #    5 +2 "storage"(% +3 "core" % \  +2 "storage"(U. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(.([ +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& + "manipulator"&p& +5 "core" &[ \  +2 &    +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&%( +6 ."raiseStack"SE.seek :beamBreak + "storage"(f'r +2 "core" ( +3 "manipulator"&W& +3 "core" &  ;  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +3 "core" & 5 B :  +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&}/ +63 "core" / +43 .tPC.seek :open +9 "processing"%( +42 "core" ' +2 "storage"(y- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +46 "core" ' +354 ( +2 "storage"(l& +3 "core" &[\ \ \ \  +3 "manipulator"&5& +4 "core" &    +2 "manipulator"&#% +4 "core" %   L +2 .tForearm.seek :retract +2 "manipulator"&2' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&N(r +245 "core" ( +2 "manipulator"&V& +3 "core" &l    d +2 "storage"(m& +4 "core" &[\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +100 "core" ' + .tHand.open + "manipulator"&g1 +62 "core" 1 +2 "storage"(L- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +3 "core" -' +2 "storage"(&& +4 "core" &[  \  +2 "manipulator"&{& +3 "core" &m   c +3 .tElbow.seek 7 +2 "manipulator"&A(r +3 "core" ( +2 "manipulator"&w& +4 "core" &m   c +2 "storage"(*& +4 "core" &[   \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'= +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&!& +3 "core" &m   G c +2 "storage"( & +5 "core" &[ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&d'{ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(k' +18 "core" ' + "manipulator"&% +5 "core" %΁  Z + "storage"(/& +3 "core" &[ \ R\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 306 counts +2 "manipulator"&)'ϭ +19 "core" ' +2 "manipulator"&~& +4 "core" &   ( F +2 "storage"(& +3 "core" &[\ \ \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&('= +24 "core" ' + "storage"(% +4 "core" %\ $\ L\ +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +99 (C% +3 "core" %O 7\ Xi +2 "manipulator"&Z% +4 "core" %   +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +92 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (-& +3 "core" &[ \  \  +2 "collection"',& +3 "core" &\\`\ \ .\ M +3 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&0% +3 "core" %  \   +3 "storage"(6% +3 "core" %\ \ \ \  +2 "storage"(O. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(B([ +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +3 "core" &[ p\  +2 "manipulator"&:& +4 "core" & \  F +2 .tElbow.seek 7 +2 "manipulator"&4(r +25 "core" ( + "manipulator"&b& +4 "core" &x   >  +2 "storage"(& +4 "core" &[\ <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +145 "core" ' +2 "storage"(S& +3 "core" &[ L \  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +299 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" &x    +2 "storage"(@& +4 "core" &[ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"& '{ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(7'r +28 "core" ' +2 "manipulator"&K% +3 "core" %΍    +2 "storage"(M& +4 "core" &[\  =\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 318 counts + "manipulator"&$'Ϲ +14 "core" ' + "manipulator"&F& +4 "core" &x  V  +2 "storage"(o& +3 "core" &[\  v\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(3' +33 "core" ' +2 "manipulator"&T& +4 "core" &x  !  +2 "manipulator"&[% +3 "core" %9   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +157 "core" ( + "manipulator"&?& +4 "core" &Ӄ&   g ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &E& +2 "core" &Ӄ&   ?T +3 .tForearm.seek CC +2 "manipulator"&X'? +95 "core" ' +2 .tHand.close + "manipulator"&    +3 .tForearm.seek :retract +2 "manipulator"&t' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +162 "core" ( + "manipulator"&P& +4 "core" &r   o  +2 "storage"(=& +4 "core" &[ & &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&|'{ +94 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&'1 +54 "core" 1 +2 "manipulator"&x% +4 "core" % ΁    + "storage"("& +3 "core" &[ % &\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 306 counts + "manipulator"&r'ϭ +24 "core" ' +3 "manipulator"&;& +4 "core" &r  + "storage"(& +4 "core" &[ H ' H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&v'= +19 "core" ' +2 "storage"(% +4 "core" % H 3 l\ +2 ."downElevator"SE.seek :down +5 "storage"(`' +99 (e% +2 "core" %G L >\ Wc +2 "manipulator"&J% +4 "core" %>  / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] +49 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +3 "core" & >\ +3 "manipulator"&\\% +4 "core" %     +2 "storage"(a% +4 "core" % $ %\  + "storage"(D. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +675 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +3 "core" & +10 &l \ L +9 &_Q =\ J +9 &U \ K +10 &U 5\ K +9 &P J\ J +10 &eS M\ K +9 &'U S\ K +9 &T $\ K +10 & T A\ K +9 &"nT >\ K +9 &$0T @\ K +10 &%T B\ K +9 &'T B\ K +10 &)vT ?\ K +9 &+8T 4\ K +9 &,U 6\ K +10 &.T <\ K +9 &0}W 1\ K +9 &2@V 5\ K +10 &4U 3\ K +9 &5U -\ K +10 &7T 3\ K +9 &9GU 1\ K +9 &; U *\ K +10 &<U 2\ K +9 &>U 4\ K +9 &@OU 3\ K +10 &BT 4\ K +9 &C[ 3\ L +10 &Ed\ 1\ M +9 &GNq\ \ 2\ N +9 &I\ \ 4\ Q +10 &J\ #\ 4\ U +9 &L{\ $\ &4\ W +9 &N<\ "\ "2\ W +10 &O\ !\ "/\ W +9 &Q\ \ 3\ X +10 &S~\ \ 3\ Y +9 &U?\ \ 3\ Y +9 &V\ \ 0\ Z +10 &X\ \ -\ [\ +9 &Z~\ \ 3\ [ +9 &\\!y\ \ 2\ / +10 &\\/\ \ 2\ ` +9 ( + &\\d\ \ *\ N +3 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&{1 +65 "core" 1 +3 "manipulator"&w% +4 "core" % B  T 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%2& +3 "core" &\ +2 "manipulator"&!% +5 "core" %   \ O  + "storage"( % +4 "core" %\ \  }\  +2 "storage"(. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(/(<- +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" && +3 "core" &  & +3 .tForearm.seek PC + "manipulator"& ' +99 "core" ' +2 .tHand.close + "manipulator"&$/ +58 "core" / +2 .tPC.seek :open +2 "processing"%7( +89 "core" ' + "storage"(?- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(E'1 +44 "core" ' +357 ( +2 "storage"(& +4 "core" &<, D\  + "manipulator"&& +4 "core" &   +2 "manipulator"&<% +3 "core" %  \  +3 .tForearm.seek :retract +2 "manipulator"&i' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&z( +252 "core" ( + "manipulator"&R& +4 "core" &  #  +2 "storage"(& +4 "core" &<, \  U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&H'O +99 "core" ' + .tHand.open + "manipulator"&1 +58 "core" 1 +3 "storage"(P- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(X' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(I- +3 "core" -' +2 "storage"('& +3 "core" &<, ? ? \  +3 "manipulator"&x& +4 "core" &  9  +2 .tElbow.seek 5 + "manipulator"&"( +4 "core" ( +2 "manipulator"&;& +4 "core" &   6  + "storage"(& +4 "core" &<, ? ?\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +8 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(t'" +56 "core" ' +2 "manipulator"&e& +3 "core" & P  +2 "storage"(J& +4 "core" &<,\ \ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +27 "core" ' +2 .tElbow.hold + "manipulator"&|, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +28 "core" ' +2 "manipulator"&% +4 "core" %Θ     +2 "storage"(3& +4 "core" &<, \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&\\' +25 "core" ' +2 "manipulator"&a& +3 "core" & \   +3 "storage"(D& +4 "core" &<,\ +\ + -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +18 "core" ' +2 "storage"(`% +3 "core" %\ +\ + S\ +3 ."downElevator"SE.seek :down +4 "storage"(B' +98 (]% +4 "core" %P \ Xh +2 "manipulator"& % +3 "core" %G   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (U& +2 "core" &<,\ \  K\  +3 "collection"'p& +4 "core" &\\e\ \ 0\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&j% +4 "core" %      +2 "storage"(c% +4 "core" % \  9\  +2 "storage"(W. +3 "core" .(<- +2 "storage"(n& +4 "core" &<,\  \  + "storage"(^& +4 "core" &<,\ \  \  +2 "manipulator"&+& +4 "core" & \   +2 .tElbow.seek 5 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(u& +4 "core" &<, \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +94 "core" ' +2 "storage"(G& +4 "core" &<,\ +\ + ]\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +49 "storage"( 'r +298 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &   Y  +2 "storage"(& +5 "core" &<,\ \ a\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(L'j +33 "core" ' + "manipulator"&}% +5 "core" %Ζ   + "storage"(f& +4 "core" &<,\ \  '\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"&5' +24 "core" ' +2 "manipulator"&& +4 "core" &   Y  + "storage"({& +5 "core" &<,\ & K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +24 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(2' +39 "core" ' +2 "manipulator"&!& +4 "core" &   + "manipulator"& % +5 "core" %=  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +151 "core" ( +3 "manipulator"&1& +4 "core" &y'  ? @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &~& +2 "core" &y'   @Z +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&m/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(N& +4 "core" &<, I H\  +2 "storage"(& +4 "core" &<, M \  +2 "manipulator"&& +3 "core" &ӻ   [ 7 +2 "manipulator"&#% +4 "core" % : . +2 .tForearm.seek :retract +2 "manipulator"&*' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Z( +158 "core" ( +2 "manipulator"&9& +4 "core" &    + "storage"(A& +5 "core" &<, ! # \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&d'΍ +101 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&,1 +63 "core" 1 +2 "manipulator"&0% +4 "core" % Δ   +2 "storage"(O& +4 "core" &<, - - x\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 307 counts + "manipulator"&' +25 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(C& +4 "core" &<, I I b\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +25 "core" ' + "storage"(:% +3 "core" % F E \ +3 ."downElevator"SE.seek :down +4 "storage"(b' +98 (% +3 "core" %C N V\ Wc +2 "manipulator"&(% +5 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'\ & +3 "core" & D\ +2 "manipulator"&6% +5 "core" %     + "storage"(k% +4 "core" % % #\  +2 "storage"(. +47 "core" .(<- +6 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(Y(K +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" &K ? b\  +3 "manipulator"&@& +4 "core" &   9 +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&K& +3 "core" &  +3 "storage"(M& +4 "core" &K ! $ r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&F' +96 "core" ' + "storage"(.& +4 "core" &K G E \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +307 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &K - - Y\  +2 "manipulator"&>& +5 "core" &  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&$& +4 "core" & w +2 "storage"(?& +4 "core" &K = $ ~\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&Q'h +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&h& + "storage"(' +8 "core" & = +2 "manipulator"&% +4 "core" % Ϝ ` +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<(ӂ +151 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"& & +4 "core" &ӑ!   8 :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &ӑ    :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 "manipulator"&[& +3 "core" &ӑ!    :/ +3 "manipulator"&% +4 "core" %A   & +2 "collection"'P& +3 "core" & \ +3 "collection"'I& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"''(\\ +4 "core" & \ +8 &< \ %g +10 &Zy \ 8 +9 & t \ K +9 &T \ K +10 &Y \ K +9 &PU \ K +10 &U \ K +9 &T 1\ K +9 &T \ K +10 &ZU 2\ J +9 & T \ K +9 &!U 7\ K +10 &#U A\ K +9 &%aU B\ K +10 &'#T C\ K +9 &(X D\ K +9 &*T B\ K +10 &,iU =\ K +9 &.+U B\ K +9 &/W ;\ K +10 &1V <\ K +9 &3pU ;\ K +10 &52U =\ K +9 &6U 1\ K +9 &8T 9\ K +10 &:xU 6\ K +9 &<;U :\ K +9 &=U 4\ K +10 &?U 4\ K +9 &AW 3\ K +10 &C@_ 3\ L +9 &Dg 0\ M +9 &Fp\ \ 2\ N +10 &Hu\ \ 3\ R +9 &J*\ !\ 3\ V +9 &K\ !\ "3\ W +10 &M\ \ 1\ X +9 &Om\ \ 5\ W +10 &Q-\ \ 4\ X +9 &R\ \ 4\ Y +9 &T\ \ 3\ X +10 &Vn\ \ 3\ Z +9 &X/\ \ )\ Z +9 &Y\ \ 2\ [ +10 &[\ \ 2\ I +9 &\\1\ \ 4\ . +10 &\\r\ \ /\ O +2 ( +2 "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&x1 +62 "core" 1 +2 "manipulator"&;% +4 "core" % A   - & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%i& +3 "core" & \ +2 "manipulator"&e% +4 "core" %   \ 6  +2 "storage"(J% +3 "core" % \ \ \  +2 "storage"(E. +3 "core" .(K +2 "storage"(& +4 "core" &K \ \ ]\  +2 "storage"(3& +4 "core" &K\ |\  +2 "manipulator"&=& +4 "core" &ӫ   * 7 + "manipulator"&a% +4 "core" %    d  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&D( +161 "core" ( +2 "manipulator"&`& +3 "core" &     +2 "storage"(z& +3 "core" &K \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +141 "core" ' +3 "storage"(X& +3 "core" &K\ +\ * \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'r +297 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \  +2 "manipulator"&"& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +3 "core" &  p  +3 "storage"(\\& +4 "core" &K\ \  i\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&U'h +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&j& +2 "storage"(c' +7 "core" &     +2 "manipulator"&W% +4 "core" % l   +2 .tForearm.seek :retract +2 "manipulator"&r' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&^& +3 "core" &   ' ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +3 "core" &  % ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&u& +4 "core" &    ( +2 "manipulator"&v% +4 "core" %   / +2 "processing"%G& +4 "core" &\ +2 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%|(^ +5 "core" &\ +7 &; \ $d +9 &Vy\ 7 +10 &x \ L +9 &R\ N +9 &gT\ N +10 &*T\ M +9 &V\ N +10 &X\ N +9 &oR \ N +9 &2T\ M +10 &T \ N +9 &!W\ N +9 &#wT\ N +10 &%:T\ M +9 &&T\ N +9 &(X\ N +10 &*T\ N +9 &,BU\ M +10 &.S\ N +9 &/Y\ N +9 &1Q\ M +10 &3IS\ N +9 &5 S\ N +9 &6T\ M +10 &8U\ N +9 &:QW\ N +10 &<V\ N +9 &=Y\ N +9 &?U\ N +10 &AXV\ N +9 &C_\ O +10 &Db\ O +9 &Fk\ Q +9 &HVu\ Q +10 &J\ T +9 &K\ T +9 &M\ T +10 &OU\ T +9 &Q\ U +9 &R\ U +12 &T\ U +8 &V[\ U +10 &X\ V +8 &Y\ U +9 &[\ V +10 &]b\ B +9 &^I\ U +9 &^ Q\ 4 +6 ( +2 "processing"%B& +4 "core" &^%\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +92 "core" ' + "processing"%& +4 "core" &^%\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&g% +5 "core" % !   % + "storage"(}% +3 "core" % \  +3 "storage"(f. +3 "core" .(K +2 "storage"(& +4 "core" &K \  +2 "storage"({& +2 "manipulator"&!& +8 "core" &K =\  +2 &   ' +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'r +2 "core" ( +2 "manipulator"&y& +5 "core" &   ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &    ' +2 .tForearm.seek PC +2 "manipulator"&' +89 "core" ' + .tHand.close +2 "manipulator"&5/ +59 "core" / +3 .tPC.seek :open +2 "processing"%L( +96 "core" ' + "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'1 +40 "core" ' +310 ( +2 "storage"(w& +3 "core" &K\  \  +50 "manipulator"&%& +6 "core" &    ' + "manipulator"&m% +5 "core" %  \  7 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&&( +26 "Can")\ Y. +219 "core" ( +2 "manipulator"&N& +3 "core" &    6 +3 "storage"(& +4 "core" &K z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' +2 .tHand.open + "manipulator" +53 "core" 1 +3 "storage"(9- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(A' +35 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(,& +3 "core" &K ( ' G\  +3 "manipulator"&0& +4 "core" &   6 +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&& +4 "core" &   k 6 +2 "storage"(C& +4 "core" &K + + F\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&:' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(*'" +56 "core" ' +2 "manipulator"&& +3 "core" &    6 +3 "storage"((& +4 "core" &K\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&Z'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\ ' +27 "core" ' +2 "manipulator"&% +3 "core" %I    +2 "storage"(6& +3 "core" &K o\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&k'u +14 "core" ' + "manipulator"&& +4 "core" &  6 +2 "storage"(2& +3 "core" &K\ \ \ \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +14 "core" ' +2 "storage"(b% +4 "core" %\ \ \ 1\ +2 ."downElevator"SE.seek :down +4 "storage"(/' +99 (8% +3 "core" %XS 9\ Yj +2 "manipulator"&@% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (M& +3 "core" &K }\  +3 "collection"'.& +4 "core" &\\n\ \ -\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&)% +4 "core" %     +2 "storage"(S% +3 "core" %\ \ \  +2 "storage"(T. +3 "core" .(K +2 "storage"(4& +4 "core" &K\ \  "\  +2 "storage"(>& +4 "core" &K\ \ \  +2 "manipulator"&$& +4 "core" &   6 +2 .tElbow.seek 6 + "manipulator"&?( +4 "core" ( +2 "manipulator"&_& +3 "core" &   P 6 +2 "storage"(h& +5 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +98 "core" ' + "storage"(& +4 "core" &K\ +\ +\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +310 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" &  6 +2 "storage"(o& +4 "core" &K\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +50 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&Q'< +23 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(P'n +33 "core" ' + "manipulator"&% +4 "core" %G   +2 "storage"(& +4 "core" &K\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&'s +13 "core" ' +2 "manipulator"&& +4 "core" &   = 6 + "storage"(x& +4 "core" &K\ \  s\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(i' +34 "core" ' + "manipulator"&e& +4 "core" &  S 6 +2 "manipulator"&J% +4 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&I& +4 "core" &ӏ$   N =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &ӏ$   } =B +2 .tForearm.seek CC +2 "manipulator"&='? +95 "core" ' +2 .tHand.close + "manipulator"&a/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(`& +3 "core" &K\  ~\  +3 "storage"(z& +4 "core" &K\ \  K\  + "manipulator"&<& +4 "core" &Ӭ    9% +2 "manipulator"&X% +4 "core" % H \   +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"& ( +164 "core" ( +2 "manipulator"&& +4 "core" &  I  +2 "storage"("& +4 "core" &K $ 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +100 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&p1 +60 "core" 1 +2 "manipulator"&j% +3 "core" % G  \ x +3 "storage"(W& +4 "core" &K - - <\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&D's +14 "core" ' +2 "manipulator"&H& +3 "core" &  +2 "storage"(]& +4 "core" &K F E \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +15 "core" ' +2 "storage"(^% +3 "core" % E F 3\ +3 ."downElevator"SE.seek :down +4 "storage"(+' +98 (t% +3 "core" %G L %\ Wc +2 "manipulator"&u% +4 "core" % I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +95 "core" ' +45 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'G& +3 "core" & @\ +3 "manipulator"&c% +4 "core" % \   5  + "storage"(r% +5 "core" % G E :\  + "storage"(7. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[\ \  "\ +3 "manipulator"&& +4 "core" & -  +48 .tElbow.seek 7 +2 "manipulator"&g(r +34 "core" ( + "manipulator"&}& +4 "core" & Z  +2 "storage"(f& +4 "core" &[ E E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +92 "core" ' +2 "storage"(B& +3 "core" &[ F G \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(!'r +299 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &[ $ P S\ +3 "manipulator"& & +4 "core" & \ w  +2 .tElbow.seek 7 + "manipulator"&(r +29 "core" ( +2 "manipulator"&5& +3 "core" &n    W +2 "storage"(1& +4 "core" &[ & ' \ +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&n'ϧ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&|& +2 "storage"(l' +7 "core" &n N W +2 "manipulator"&w% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&%' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &ӎ    :* +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +3 "core" &ӎ  \  :* +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"& & +3 "core" &ӎ!   :* +3 "manipulator"&#% +4 "core" %G   +2 "collection"'9& +3 "core" & \ +3 "collection"'q& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"',(\\ +4 "core" & \ +6 &< \ $e +10 &Xx \ 7 +9 &w \ K +9 &S \ K +10 &T \ K +9 &DT \ K +9 &T \ K +10 &T \ K +9 &T 3\ K +10 &MU (\ K +9 & T R\ K +9 &!W *\ K +10 &#U A\ K +9 &%TS @\ K +9 &'T B\ K +10 &(T C\ K +9 &*U C\ K +10 &,]T C\ K +9 &.T C\ K +9 &/T <\ J +10 &1U =\ K +9 &3dT =\ K +9 &5'Q >\ K +10 &6U 8\ K +9 &8U 8\ K +10 &:mU 1\ K +9 && +4 "core" & ) 1   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &    +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&_' +102 "core" ' +2 "manipulator"&h& +3 "core" &   \  +3 "manipulator"&-% +3 "core" %  )  +3 "processing"%& +3 "core" &\ \ +3 "processing"%/& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%d(^ +5 "core" &\  +9 &2u \ )v +9 &b{ \ = +10 &jr \ N +9 &,R\ N +9 &T \ M +10 &S\ \ M +9 &rU\ N +9 &5T \ M +10 &T \ N +9 &T\ M +10 & zU\ N +9 &"=T\ M +9 &#U\ N +10 &%R\ N +9 &'S\ M +9 &)CU\ N +10 &+U\ N +9 &,U\ N +10 &.V\ N +9 &0LT\ N +9 &2U\ N +10 &3R\ N +9 &5S\ M +9 &7TT\ N +10 &9U\ N +9 &:S\ N +10 &<T\ N +9 &>[W\ N +9 &@V\ N +10 &AY\ O +9 &Ca\ P +9 &E]g\ P +10 &Go\ Q +9 &H\ S +10 &J\ T +9 &LZ\ T +9 &N\ U +10 &O\ U +9 &Q\ U +9 &S^\ U +10 &U \ U +9 &V\ U +10 &X\ U +9 &Ze\ U +9 &\\&\ V +10 &]}\ 6 +9 &^+k\ U +9 &^\ 0 +3 ( + "processing"%/& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&K1 +55 "core" 1 + "manipulator"& % +5 "core" %   i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +99 "core" ' +2 "processing"%o& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +3 "core" % \    +2 "storage"(% +4 "core" %\ \  \  +2 "storage"(. +3 "core" .([ +2 "storage"(& +3 "core" &[ B\ +3 "storage"(x& +3 "manipulator"&e& +7 "core" &[ q\ + &    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&J( +5 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +3 "manipulator"&?& +4 "core" &  N  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &    +3 .tForearm.seek PC +2 "manipulator"&Q' +92 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%P( +89 "core" ' + "storage"(I- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +47 "core" ' +308 ( +2 "storage"(;& +3 "core" &[\ \  8\ +2 "manipulator"&[& +3 "core" &   +3 "manipulator"&a% +4 "core" %    9 +2 .tForearm.seek :retract +2 "manipulator"&E' +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&'(r +289 "core" ( +9 "manipulator"&`& +4 "core" &m   m +2 "storage"(z& +4 "core" &[\ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&<'= +94 "core" ' + .tHand.open +2 "manipulator"&X1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(p& +3 "core" &[ * '\ +3 "manipulator"&j& +4 "core" &m   m +2 .tElbow.seek 7 +2 "manipulator"&W(r +3 "core" ( +2 "manipulator"&H& +4 "core" &m\   F m +2 "storage"(]& +4 "core" &[  \ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&^'= +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&t& +4 "core" &m\   + m +2 "storage"(u& +4 "core" &[ 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"& '{ +28 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(G' +21 "core" ' + "manipulator"&c% +4 "core" %y   ~ +2 "storage"(D& +3 "core" &[ 9\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 298 counts + "manipulator"&r'ϥ +14 "core" ' +2 "manipulator"&7& +3 "core" &   C +3 "storage"(i& +4 "core" &[\  _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'= +15 "core" ' +2 "storage"(+% +4 "core" %\ \ \ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(Y' +98 (% +3 "core" %SM ?\ Xg +2 "manipulator"&% +5 "core" %4   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (f& +4 "core" &[\ \ \ `\ +2 "collection"'B& +4 "core" &\\e\ \ )\ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&\\% +4 "core" %     +2 "storage"(v% +4 "core" %\  :\  +2 "storage"({. +3 "core" .([ +2 "storage"(y& +4 "core" &[\ e\ +2 "storage"( & +4 "core" &[\ \  \ +2 "manipulator"&5& +4 "core" &   R C +2 .tElbow.seek 7 + "manipulator"&1(r +22 "core" ( +2 "manipulator"&V& +3 "core" &u    +2 "storage"(|& +4 "core" &[ \ %\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'= +99 "core" ' +2 "storage"(g& +4 "core" &[ O L\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" &u   +3 "storage"(!& +4 "core" &[ \ U\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&n'{ +30 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +3 "core" -' +50 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(9'r +32 "core" ' +2 "manipulator"&% +3 "core" %Ό    +2 "storage"(l& +4 "core" &[ k\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&%'ϸ +13 "core" ' +2 "manipulator"&& +4 "core" &u    +2 "storage"(0& +3 "core" &[\ \ \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&& +4 "core" &u   + "manipulator"&(% +5 "core" %7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&q(ӂ +158 "core" ( +2 "manipulator"&& +3 "core" &Ӎ%   % >H +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &Ӎ%  , >H +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&2/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(b& +4 "core" &[ M \ +2 "storage"(&& +4 "core" &[ K 1\ + "manipulator"&& +4 "core" &Ӱ   > 9% +2 "manipulator"&m% +4 "core" % E   * \ +2 .tForearm.seek :retract +2 "manipulator"&C' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&@(r +166 "core" ( + "manipulator"&:& +4 "core" &l     +2 "storage"(O& +3 "core" &[ ' '\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&Z'{ +102 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&.1 +64 "core" 1 +3 "manipulator"&)% +4 "core" % Ή    +2 "storage"(T& +4 "core" &[ " $ D\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 314 counts + "manipulator"&A'ϵ +22 "core" ' +2 "manipulator"&& +3 "core" &l  +2 "storage"(8& +4 "core" &[ H H \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&M'= +25 "core" ' + "storage"(>% +5 "core" % / ( 5\ +2 ."downElevator"SE.seek :down +4 "storage"($' +99 (*% +3 "core" %tA @ T\ Vb +2 "manipulator"&h% +4 "core" %A  Q s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +92 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & b\ +2 "manipulator"&S% +3 "core" %     +2 "storage"(\ % +5 "core" % ' 1 q\  + "storage"(L. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(K(<- +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<0 J \\\ +2 "manipulator"&o& +4 "core" &l     +2 .tElbow.seek 5 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&& +4 "core" &     + "storage"(& +4 "core" &<0 # \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +141 "core" ' +2 "storage"(/& +5 "core" &<0 I H 8\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(x'r +310 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" &<. ' * =\ +2 "manipulator"&F& +4 "core" &  3  +2 .tElbow.seek 5 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&& +4 "core" &  [  +2 "storage"(I& +4 "core" &<. & * N\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&4'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&d& + "storage"(' +8 "core" & i  +2 "manipulator"&;% +4 "core" % ϳ +2 .tForearm.seek :retract +2 "manipulator"&[' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&Q& +3 "core" &ӑ#   <: +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &`& +2 "core" &ӑ#   <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'? +98 "core" ' +2 "manipulator"&z& +4 "core" &Ӟ!    :- +2 "manipulator"&X% +4 "core" %3 \  +2 "collection"'& +3 "core" & \ +3 "collection"'& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'p(\\ +4 "core" & \ +8 &A \ $f +9 &Z{ \ 7 +9 &w \ K +10 &R \ K +9 &T \ K +10 &KT \ K +9 & W \ K +9 &T \ K +10 &T >\ K +9 &ST *\ K +9 & S (\ J +10 &!T O\ K +9 &#T %\ K +10 &%[T \ K +9 &'T 6\ J +9 &(U B\ K +10 &*S D\ K +9 &,cT ?\ K +9 &.%T B\ K +10 &/V @\ K +9 &1U >\ K +10 &3jU <\ K +9 &5,T <\ K +9 &6U 6\ K +10 &8V ;\ K +9 &:rX 9\ K +9 &<4T 1\ K +10 &=T '\ K +9 &?U 0\ K +10 &AzU (\ K +9 &C;W (\ L +9 &D` +\ L +10 &Fh\ \ 6\ N +9 &Hs\ \ 0\ P +9 &J(\ \ /\ U +10 &K\ %\ ''\ W +9 &M\ "\ %*\ W +10 &Oe\ \ "'\ X +9 &Q&\ \ -\ X +9 &R\ \ .\ Y +10 &T\ \ 0\ Y +9 &Vf\ \ )\ Z +10 &X%\ \ ,\ [ +9 &Y\ \ 2\ \\ +9 &[\ \ (\ H +10 &\\1\ \ '\ 2 +9 &\\b\ \ (\ L +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&j1 +61 "core" 1 +2 "manipulator"&H% +3 "core" % 3   # +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%E& +4 "core" &\ +2 "manipulator"&t% +3 "core" %    +3 "storage"(u% +4 "core" % \ g\  + "storage"(c. +3 "core" .(<0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(D(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" &<(\ \  [\ +2 "manipulator"&7& +4 "core" &Ӱ \   8 +2 "manipulator"&i% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&"( +162 "core" ( +2 "manipulator"&+& +4 "core" &     + "storage"('& +4 "core" &<( L z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +99 "core" ' + "storage"(=& +4 "core" &<( L %\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &<( n\ +2 "manipulator"&W& +4 "core" &     +2 .tElbow.seek 5 +2 "manipulator"&( +51 "core" ( +3 "manipulator"& & +4 "core" &     + "storage"(f& +4 "core" &<( 6\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&r'Ϲ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&\\& + "storage"(v' +8 "core" &   J  +2 "manipulator"&{% +3 "core" % , +3 .tForearm.seek :retract +2 "manipulator"&G' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"& & +4 "core" &   , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &   Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&V' +98 "core" ' +2 "manipulator"&|& +3 "core" &    +3 "manipulator"&U% +4 "core" %    +2 "processing"%g& +4 "core" &\ +2 "processing"%Y& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +9 &;\ $d +9 &Vx\ 7 +10 &v \ K +9 &T \ N +10 &gR \ N +9 &*R \ M +9 &W \ N +10 &T \ N +9 &oP \ N +9 &1R \ N +10 &T\ N +9 &!V\ N +10 &#xT\ M +9 &%9T\ N +9 &&R\ N +10 &(T\ M +9 &*U\ N +9 &,AT\ N +10 &.R\ M +9 &/U\ N +10 &1U\ N +9 &3IV\ N +9 &5 U\ N +10 &6V\ N +9 &8W\ N +9 &:QR\ N +10 &<U\ N +9 &=X\ N +10 &?U\ N +9 &AYU\ N +9 &C\\\ O +10 &D`\ O +9 &Fh\ P +9 &HVs\ Q +10 &J\ T +9 &K\ T +10 &M\ T +9 &OT\ U +9 &Q\ U +10 &R\ U +9 &T\ U +9 &V\\\ U +10 &X\ U +9 &Y\ U +10 &[\ U +9 &]b\ B +9 &^Ex\ Z +10 &^D\ 4 +5 ( +2 "processing"%Y& +3 "core" &^&\ 4 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&}1 +52 "core" 1 +2 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' + "processing"%!& +4 "core" &^&\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&#% +4 "core" % #   2 +2 "storage"(% +3 "core" %\  *\ +3 "storage"(l. +3 "core" .(<- +2 "storage"(& +4 "core" &<(\  >\ +2 "storage"(0& +2 "manipulator"&& +8 "core" &<( \  4\ +2 &   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]kK-0-\ b +4 "manipulator"&(( +5 ."raiseStack"SE.seek :beamBreak + "storage"(w'r +3 "core" ( +2 "manipulator"&1& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&n' +93 "core" ' + .tHand.close +2 "manipulator"&%/ +53 "core" / +3 .tPC.seek :open + "processing"%9( +101 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(6'1 +43 "core" ' +299 ( +2 "storage"(& +4 "core" &<(\ \ w\ +2 "manipulator"& & +3 "core" &  +2 "manipulator"&2% +4 "core" %    , +3 .tForearm.seek :retract + "manipulator"&~' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +246 "core" ( +2 "manipulator"&b& +4 "core" &  ! 6 + "storage"(&& +4 "core" &<(\ +\ , >\ +3 .tForearm.reconfigure :tight +43 "manipulator"&#Q@2^d^\ b +10 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +97 "core" ' + .tHand.open +2 "manipulator"&m1 +58 "core" 1 +2 "storage"(:- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(O' +27 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(.& +4 "core" &<( 7  +\ +2 "manipulator"&)& +3 "core" &   5 +3 .tElbow.seek 5 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&& +3 "core" &   A 5 +2 "storage"(8& +5 "core" &<( & 2 T\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +17 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(C'" +56 "core" ' +2 "manipulator"&*& +4 "core" &  5 +2 "storage"(h& +3 "core" &<(\ \  \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&@'΍ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +27 "core" ' +2 "manipulator"&% +3 "core" %Π   +2 "storage"(S& +4 "core" &<( v\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&\ ' +26 "core" ' +2 "manipulator"&L& +4 "core" & \  D 5 + "storage"(& +5 "core" &<( \ \ B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +16 "core" ' +2 "storage"($% +4 "core" %\ \ + o\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 ( % +3 "core" %iN &\ Xg +2 "manipulator"&o% +3 "core" %X    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<( s\ +3 "collection"'/& +4 "core" &\\`\ \ (\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&k% +4 "core" %      +2 "storage"(-% +4 "core" %\ \  +2 "storage"(e. +3 "core" .(<- +2 "storage"(?& +3 "core" &<(\ \  \ +2 "storage"(F& +4 "core" &<( \  \ +2 "manipulator"&& +4 "core" &   , 5 +2 .tElbow.seek 5 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&R& +3 "core" &   5 +2 "storage"(d& +4 "core" &<( \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +96 "core" ' +2 "storage"(& +3 "core" &<(\ *\ + `\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" &  5 +3 "storage"(x& +4 "core" &<(\ \  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&4'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('j +30 "core" ' +2 "manipulator"&_% +3 "core" %Ο   +2 "storage"(& +44 "core" &<(\ \ \ \ +9 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&[' +24 "core" ' +2 "manipulator"&& +4 "core" &  4 +2 "storage"(j& +3 "core" &<( I D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&H'O +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(E' +33 "core" ' +2 "manipulator"&t& +4 "core" &   4 +2 "manipulator"&u% +4 "core" %N   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&3& +3 "core" &Ӛ   9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &7& +2 "core" &Ӛ  \ V 9' +3 .tForearm.seek CC +2 "manipulator"&i'? +93 "core" ' + .tHand.close +2 "manipulator"&J/ +56 "core" / +2 .tCC.seek :open +2 "collection"'+( +446 "core" ( +2 "storage"('& +3 "core" &<( ' ' \ +2 "storage"(K& +4 "core" &<( # &\ +2 "manipulator"&=& +4 "core" &ӫ    7 +2 "manipulator"&a% +4 "core" % B   &  +2 .tForearm.seek :retract +2 "manipulator"&]' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( + "manipulator"&^& +4 "core" & v  +2 "storage"(W& +4 "core" &<( H E %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&B1 +58 "core" 1 +2 "manipulator"&\\% +4 "core" % Ι   + "storage"({& +4 "core" &<( " #\ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 312 counts + "manipulator"&"' +25 "core" ' + "manipulator"&<& +4 "core" & g  +2 "storage"(& +4 "core" &<( # # \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +19 "core" ' +2 "storage"( % +4 "core" % # \ +2 ."downElevator"SE.seek :down +4 "storage"(5' +98 (% +3 "core" %jD L b\ Wb +2 "manipulator"&|% +5 "core" %S  E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'g& +3 "core" & q\ +2 "manipulator"&v% +5 "core" %  }  + "storage"(G% +4 "core" % I I \  +2 "storage"(P. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(}(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K ? 0\  +2 "manipulator"&!& +5 "core" &  S  +2 .tElbow.seek 6 + "manipulator"&#( +4 "core" ( +2 "manipulator"&& +4 "core" & s  + "storage"(l& +4 "core" &K F G ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +102 "core" ' +2 "storage"(& +4 "core" &K I F \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +48 "storage"(0'r +295 "core" ' +2 "storage"(Y- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &K Z \  +2 "manipulator"&& +3 "core" &  4  +3 .tElbow.seek 6 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&%& +4 "core" &  <  +2 "storage"(& +4 "core" &K & %\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&y'h +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(w' +7 "core" & x  +2 "manipulator"&% +4 "core" % j  . r +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&n& +3 "core" &Ӎ#   3 <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +2 "core" &Ӎ#   <@ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'? +93 "core" ' +3 "manipulator"&(& +4 "core" &ӎ#  S <? +2 "manipulator"&m% +4 "core" %=    ^ +2 "collection"':& +4 "core" & \ +2 "collection"'q& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'.(\\ +5 "core" & \ +6 &A \ $f +10 &Zz \ 7 +9 & v \ K +9 &T \ K +10 &T \ K +9 &NT \ K +9 &T \ K +10 &T \ K +9 &T 8\ K +10 &VT \ K +9 & T .\ K +9 &!U ^\ K +10 &#X Q\ K +9 &%]T -\ K +9 &'T \ K +10 &(T *\ K +9 &*S <\ K +10 &,fT A\ K +9 &.(T B\ K +9 &/T ?\ K +10 &1U C\ K +9 &3nU 9\ K +9 &5/U ;\ K +10 &6U 8\ K +9 &8T 4\ K +10 &:vV 7\ K +9 &<7R 6\ K +9 &=Q .\ K +10 &?U 1\ K +9 &A}V /\ K +9 &C>Z 8\ L +10 &De 6\ M +9 &Fn\ \ 6\ N +10 &Hr\ \ 3\ R +9 &J(\ "\ 5\ V +9 &K\ \ 4\ W +10 &M\ \ '\ W +9 &Oh\ \ !\ X +9 &Q)\ \ &\ X +10 &R\ \ %\ X +9 &T\ \ %\ Y +10 &Vj\ \ '\ Z +9 &X*\ \ '\ [ +9 &Y\ \ &\ [ +10 &[\ \ %\ I +9 &\\2\ \ (\ . +9 &\\n\ \ &\ N +3 ( +2 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&)1 +57 "core" 1 +2 "manipulator"&% +4 "core" % =   u ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%~& +4 "core" &\ +2 "manipulator"&*% +4 "core" %     +2 "storage"(h% +4 "core" % ]\  + "storage"(6. +3 "core" .(K +2 "storage"(& +3 "core" &K \  +3 "storage"(S& +4 "core" &K _\  + "manipulator"&O& +4 "core" &ӫ   8" +2 "manipulator"&L% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( + "manipulator"&$& +4 "core" &   ,  +2 "storage"(,& +3 "core" &K\ \ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +91 "core" ' + "storage"(& +4 "core" &K\ +\ + e\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +300 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (>& +2 "core" &K l\  +2 "manipulator"&T& +4 "core" &     +2 .tElbow.seek 6 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&@& +3 "core" &    +2 "storage"(\ & +5 "core" &K\ \  \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +48 "manipulator"&// +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +2 "storage"(-' +7 "core" &  \ 3  +2 "manipulator"&e% +4 "core" % b   +2 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&?( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( +2 "manipulator"&F& +4 "core" &   " 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &    1 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +94 "core" ' + "manipulator"&d& +4 "core" &   1 +2 "manipulator"&M% +4 "core" %   +2 "processing"%& +3 "core" &\ \ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%Z(^ +4 "core" &\ +7 &4\ #b +9 &U{ \ 7 +10 &~w \ K +9 &R \ N +9 &aS \ M +10 &"O \ N +9 &W\ N +10 &Q \ N +9 &hR \ N +9 &+S \ M +10 &R \ N +9 &!U \ N +9 &#pR\ \ N +10 &%2T\ N +9 &&V\ N +10 &(R\ N +9 &*xT\ N +9 &,:W\ N +10 &-P\ N +9 &/T\ N +9 &1T\ M +10 &3CR\ M +9 &5Q\ M +10 &6R\ M +9 &8T\ N +9 &:JQ\ N +10 &< T\ N +9 &=R\ N +9 &?T\ N +10 &AQU\ N +9 &C]\ O +10 &Da\ P +9 &Fg\ P +9 &HLx\ R +10 &J\ \ T +9 &K\ T +9 &M\ T +10 &OM\ U +9 &Q\ U +10 &R\ U +9 &T\ V +9 &VT\ U +10 &X\ U +9 &Y\ U +9 &[\ U +10 &][\ B +9 &^O|\ F +10 &^\ T +9 &^\ / +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&1 +61 "core" 1 + "manipulator"&Q% +4 "core" %  s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +90 "core" ' +2 "processing"%x& +3 "core" &^\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&X% +4 "core" %     +2 "storage"(_% +3 "core" % \  8\  +2 "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K \  $\  +2 "storage"(j& +3 "manipulator"&t& +7 "core" &K p\  + &   1 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&u( +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(;'r +2 "core" ( +2 "manipulator"&I& +5 "core" &   1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   p 1 +3 .tForearm.seek PC +2 "manipulator"&4' +91 "core" ' +2 .tHand.close + "manipulator"&[/ +60 "core" / +3 .tPC.seek :open +2 "processing"%( +92 "core" ' + "storage"(3- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(7'1 +53 "core" ' +301 ( + "storage"(H& +3 "core" &K\ \ \  +3 "manipulator"&z& +4 "core" &   + 1 + "manipulator"&J% +4 "core" %    N +2 .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&p( +252 "core" ( +2 "manipulator"&'& +3 "core" &   J +2 "storage"(K& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&=' +91 "core" ' + .tHand.open +2 "manipulator"&a1 +61 "core" 1 +2 "storage"(^- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +73 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(i' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(B& +4 "core" &K  \  +2 "manipulator"&\\& +3 "core" &   I +3 .tElbow.seek 6 +2 "manipulator"&{( +13 "core" ( + "manipulator"&<& +4 "core" &    +2 "storage"(& +4 "core" &K   P\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(]'" +60 "core" ' + "manipulator"&& +4 "core" &   #  +2 "storage"(|& +3 "core" &K v\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +18 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +17 "core" ' +2 "manipulator"&"% +4 "core" %B  \ +2 "storage"(v& +4 "core" &K\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&G'n +14 "core" ' +2 "manipulator"&P& +4 "core" &    +2 "storage"(E& +4 "core" &K \  -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&r' +15 "core" ' +2 "storage"(5% +4 "core" %\ \  \ \ +3 ."downElevator"SE.seek :down +3 "storage"(D' +98 (% +3 "core" %%Q z\ Xi +2 "manipulator"&!% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (l& +3 "core" &K \  @\  +2 "collection"'& +4 "core" &\\p\ \ .\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&f% +3 "core" %    7  +2 "storage"(U% +4 "core" %\ \ \ \  +2 "storage"(Y. +3 "core" .(K +2 "storage"(1& +3 "core" &K\ \ \ \  +2 "storage"(& +4 "core" &K\ \ \  |\  +2 "manipulator"&%& +4 "core" &   (  +2 .tElbow.seek 6 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&N& +3 "core" &  +2 "storage"(& +3 "core" &K\ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(#& +3 "core" &K\ +\ * \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +311 "core" ' + "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &  ! +3 "storage"(0& +4 "core" &K\ \  !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&y'< +19 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(:'n +33 "core" ' +2 "manipulator"&V% +3 "core" %B    +2 "storage"(w& +4 "core" &K\ \ \ )\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"& 'n +14 "core" ' + "manipulator"&+& +4 "core" &  +2 "storage"()& +4 "core" &K\ +\ + I\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 6 + 450 counts +3 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(~' +37 "core" ' +2 "manipulator"&*& +3 "core" &    +2 "manipulator"&h% +4 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( +3 "manipulator"&S& +4 "core" &y(   T @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &y(   @[ +3 .tForearm.seek CC +2 "manipulator"&O'? +100 "core" ' + .tHand.close + "manipulator"&L/ +59 "core" / + .tCC.seek :open +2 "collection"'&( +447 "core" ( + "storage"($& +4 "core" &K ' &\  +2 "storage"(,& +4 "core" &K # &\  +2 "manipulator"&& +4 "core" &Ӻ   7 +2 "manipulator"&2% +3 "core" % ,  [ +3 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&o( +163 "core" ( + "manipulator"&>& +3 "core" &   7  +3 "storage"(T& +4 "core" &K , - f\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&@'< +100 "core" ' +2 .tElbow.hold + "manipulator"&\ , +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +59 "core" 1 +2 "manipulator"&k% +4 "core" % G   +2 "storage"(e& +3 "core" &K ( ,\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 311 counts + "manipulator"&'s +14 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"( & +4 "core" &K F E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(F% +3 "core" % H H '\ +4 ."downElevator"SE.seek :down +4 "storage"(' +98 (C% +3 "core" %I\ *\ % '\ Wd +2 "manipulator"&d% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +89 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&-% +4 "core" %    +2 "storage"(A% +4 "core" % I F 3\  + "storage"(9. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +3 "core" &[\  :\  +2 "manipulator"&x& +4 "core" &     +2 .tElbow.seek 7 +2 "manipulator"&X(r +35 "core" ( + "manipulator"&_& +4 "core" &m   f Q +2 "storage"(& +4 "core" &[ ( , A\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +95 "core" ' +2 "storage"(j& +4 "core" &[ E E \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(t'r +293 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (I& +2 "core" &[\ \ & \  +2 "manipulator"&& +4 "core" &m c Q +2 .tElbow.seek 7 +3 "manipulator"&R(r +49 "core" ( +3 "manipulator"&[& +3 "core" &m   r Q +3 "storage"(3& +4 "core" &[ & % )\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&?'ϧ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +63 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&Z& +3 "storage"(;' +8 "core" &m : Q + "manipulator"&H% +5 "core" % Ϡ   +2 .tForearm.seek :retract +2 "manipulator"&z' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&4& +4 "core" &Ӗ#   = <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &Ӗ#   / <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&K'? +97 "core" ' +2 "manipulator"&u& +4 "core" &ӗ"   - ;8 +2 "manipulator"&a% +3 "core" %?  # +3 "collection"'^& +3 "core" & \ +3 "collection"'c& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +8 &@ \ $f +10 &Zz \ 7 +9 &v \ K +9 &T \ K +10 &W \ K +9 &GT \ K +10 & T \ K +9 &T \ K +9 &T \ J +10 &PV ;\ K +9 & W \ K +9 &!S 6\ K +10 &#W 2\ K +9 &%WS 0\ K +10 &'T 2\ K +9 &(T ;\ K +9 &*R 7\ K +10 &,`T :\ K +9 &."S =\ K +9 &/T :\ J +10 &1U :\ K +9 &3gT 8\ K +10 &5)U 8\ K +9 &6U 9\ K +9 &8U H\ K +10 &:oU C\ K +9 &<2T C\ K +9 &=T 8\ K +10 &?T 5\ K +9 &AxV 7\ K +10 &C8Y 5\ L +9 &D` <\ L +9 &Fh\ \ :\ N +10 &Hq\ \ ;\ P +9 &J&\ \ 7\ U +9 &K\ '\ $5\ W +10 &M\ "\ %4\ W +9 &Od\ \ !D\ W +10 &Q#\ \ 1\ X +9 &R\ \ 7\ Y +9 &T\ \ ?\ Y +10 &Vd\ \ 5\ Z +9 &X$\ \ /\ [ +9 &Y\ \ 2\ [\ +10 &[\ \ 3\ H +9 &\\1\ \ 8\ 1 +10 &\\h\ \ +\ N +2 ( + "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&B1 +64 "core" 1 + "manipulator"&\\% +4 "core" % ?   e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %   d  +2 "storage"(|% +3 "core" %\ \  ^\  +3 "storage"(7. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"("([ +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (v& +3 "core" &[ \  +2 "manipulator"&P& +4 "core" &ӭ   m 8" +2 "manipulator"&E% +4 "core" %   )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&W(r +163 "core" ( +2 "manipulator"&5& +4 "core" &v     +2 "storage"(p& +4 "core" &[\ *\ + T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&='= +93 "core" ' +2 "storage"(i& +3 "core" &[ ? )\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' + "storage"(!- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &[ \ w\  +2 "manipulator"&{& +4 "core" &v    +2 .tElbow.seek 7 +2 "manipulator"&](r +3 "core" ( +2 "manipulator"&& +3 "core" &v     +2 "storage"(G& +4 "core" &[\ \ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&l'ϧ +35 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(U' +55 "core" &v  \   +3 "manipulator"&Y% +4 "core" % Ͼ   S +3 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&1( +111 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +128 "core" ( +2 "manipulator"&& +4 "core" &    ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" & \  ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&N' +89 "core" ' +2 "manipulator"&& +4 "core" &   ' +2 "manipulator"&r% +3 "core" % \  V +3 "processing"%#& +4 "core" &\ +2 "processing"%D& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +5 "core" &\ +7 &4\ $d +10 &Ut\ \ 6 +9 &x\ K +9 &R \ N +10 &dQ \ N +9 &'O \ M +10 &T \ N +9 &W \ N +9 &lR \ N +10 &/T \ M +9 &T \ N +9 &!V \ N +10 &#tR \ N +9 &%6R \ N +10 &&R \ M +9 &(U \ N +9 &*|U \ N +10 &,>W\ N +9 &.Q \ N +9 &/X\ N +10 &1R\ M +9 &3FU\ N +9 &5U\ N +10 &6W\ N +9 &8W\ N +10 &:NV\ N +9 &<U\ M +9 &=U\ N +10 &?U\ N +9 &AUY\ N +10 &C`\ O +9 &D_\ O +9 &Fj\ Q +10 &HP{\ R +9 &J\ T +9 &K\ T +10 &M\ T +9 &OR\ T +9 &Q\ U +10 &R\ U +9 &T\ V +10 &VY\ U +9 &X\ U +9 &Y\ U +10 &[\ U +9 &]^\ C +9 &^Cu\ a +10 &^3\ 2 +5 ( +2 "processing"%D& +4 "core" &^!\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&n% +4 "core" %   N V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +92 "core" ' + "processing"%0& +4 "core" &^ \ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&m% +4 "core" %    R  +2 "storage"(V% +4 "core" % l\  +2 "storage"(w. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(+([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +4 "core" &[ "\  +2 "manipulator"&*& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &   ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(h'r +3 "manipulator"&( +7 "core" ( + "manipulator"&& +4 "core" &   I ' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   " ' +3 .tForearm.seek PC +2 "manipulator"&y' +96 "core" ' +2 .tHand.close + "manipulator"& / +55 "core" / +3 .tPC.seek :open + "processing"%:( +89 "core" ' + "storage"(S- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'1 +46 "core" ' +309 ( + "storage"(& +4 "core" &[\ \ \  +2 "manipulator"&(& +4 "core" & \  ' +2 "manipulator"&L% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&6' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&.(r +263 "core" ( +2 "manipulator"&$& +3 "core" &t  !  +2 "storage"(,& +4 "core" &[\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +99 "core" ' +2 .tHand.open + "manipulator"&21 +55 "core" 1 +2 "storage"(>- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(T' +45 "core" ' +10 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(O' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(/& +4 "core" &[ + 6\  +2 "manipulator"&k& +4 "core" &t   +2 .tElbow.seek 7 +2 "manipulator"&e(r +4 "core" ( + "manipulator"&& +4 "core" &t    +2 "storage"( & +4 "core" &[ ' ( \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'= +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(8'" +51 "core" ' +2 "manipulator"&C& +4 "core" &t    + "storage"(d& +4 "core" &[\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&o'{ +30 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&-% +4 "core" %Ί    +2 "storage"(& +3 "core" &[ e\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 315 counts + "manipulator"&A'϶ +15 "core" ' + "manipulator"&9& +4 "core" &t  h  +2 "storage"(~& +4 "core" &[\ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' + "storage"(% +4 "core" %\ \ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(}' +98 (Q% +3 "core" %ER /\ Yj +2 "manipulator"&x% +4 "core" %3   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" &[ \  ?\  +3 "collection"'j& +4 "core" &\\c\ \ H\ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&\ % +4 "core" %     +3 "storage"(M% +3 "core" % \  +2 "storage"(. +3 "core" .([ +2 "storage"(I& +3 "core" &[\ \ % K\  +3 "storage"(& +3 "core" &[\ \  +\  +3 "manipulator"&[& +4 "core" &t     + .tElbow.seek 7 +2 "manipulator"&3(r +3 "core" ( +2 "manipulator"&`& +4 "core" &t   +2 "storage"(Z& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&H'= +94 "core" ' +2 "storage"(X& +4 "core" &[ I \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +3 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &t   5  +2 "storage"(t& +4 "core" &[ \ q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&?'{ +26 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(^'r +31 "core" ' +2 "manipulator"&R% +3 "core" %Ύ   S 2 +2 "storage"(;& +4 "core" &[ w\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&z'Ϻ +14 "core" ' + "manipulator"&&& +4 "core" &t    +2 "storage"(B& +3 "core" &[ I \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +47 "manipulator"&\\'= +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +38 "core" ' +2 "manipulator"&& +3 "core" &t ;  +3 "manipulator"&|% +4 "core" %6  \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&c(ӂ +159 "core" ( +2 "manipulator"&v& +3 "core" &Ӎ%   D >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &Ӎ%   >M +3 .tForearm.seek CC +2 "manipulator"&E'? +94 "core" ' +2 .tHand.close + "manipulator"&K/ +64 "core" / +2 .tCC.seek :open +2 "collection"'5( +450 "core" ( + "storage"(p& +4 "core" &[ K 5\  +2 "storage"(& +4 "core" &[ O 0\  +2 "manipulator"&i& +4 "core" &Ӱ   D :* +2 "manipulator"&J% +4 "core" % >  +2 .tForearm.seek :retract +2 "manipulator"&<' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&!(r +160 "core" ( +2 "manipulator"& & +3 "core" &v    +2 "storage"({& +5 "core" &[ * \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'{ +96 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "manipulator"&f% +4 "core" % Ύ  \ } + "storage"(Y& +4 "core" &[ - - g\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 319 counts + "manipulator"&W'Ϻ +27 "core" ' +3 "manipulator"&=& +4 "core" &v  + "storage"(& +4 "core" &[ G F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&l'= +24 "core" ' + "storage"(% +4 "core" % H H !\ +2 ."downElevator"SE.seek :down +4 "storage"(%' +99 (]% +3 "core" %J ? B\ We +2 "manipulator"&% +4 "core" %C  . } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'#& +3 "core" & \ +3 "manipulator"&U% +4 "core" %   a  +2 "storage"(g% +4 "core" % # #\  + "storage"(. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +678 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +3 "core" &<. ? A\ +2 "manipulator"&0& +5 "core" &v    + .tElbow.seek 5 +2 "manipulator"&m( +35 "core" ( +2 "manipulator"&V& +3 "core" &   \  +2 "storage"(w& +4 "core" &<. $ % =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +93 "core" ' + "storage"(D& +4 "core" &<. F I *\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'r +309 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (& +2 "core" &<. # &\ +3 "manipulator"&N& +4 "core" & \  ^  + .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +49 "manipulator"&"& +4 "core" &  +2 "storage"(S& +4 "core" &<. 3 H K\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&1'Ϲ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +53 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(h' +8 "core" & W  +2 "manipulator"&% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&(' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&L(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&y& +4 "core" &Ӑ#   <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &ӑ#  <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'? +100 "core" ' + "manipulator"&& +4 "core" &ӑ#    <= +2 "manipulator"&2% +4 "core" %A   +2 "collection"'>& +4 "core" &  \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'/(\\ +3 "core" & \  +9 &7{ \ +{ +10 &h} \ ? +9 &g \ L +9 &cR \ K +10 &%S \ K +9 &T \ K +10 &S \ K +9 &kS \ K +9 &-U \ K +10 &T \ K +9 & T \ K +9 &"sS \ K +10 &$5S \ K +9 &%T \ K +10 &'T 4\ K +9 &)|S 5\ K +9 &+>T <\ K +10 &,W 3\ L +9 &.R 3\ K +9 &0T Y\ K +10 &2ET \ K +9 &4W 9\ K +10 &5U E\ K +9 &7T *\ K +9 &9NU m\ K +10 &;T 4\ K +9 &<U M\ K +9 &>T K\ K +10 &@UU O\ K +9 &BW J\ K +10 &C] J\ L +9 &Ee\ L\ M +9 &GTp\ \ >\ N +10 &I \ \ J\ Q +9 &J\ &\ !F\ V +9 &L\ $\ 'B\ W +10 &NA\ !\ #>\ X +9 &P\ !\ !J\ X +10 &Q\ \ L\ X +9 &S\ \ K\ Y +9 &UC\ \ I\ Z +10 &W\ \ E\ Z +9 &X\ \ C\ [\ +9 &Z\ \ J\ \\ +10 &\\*{\ \ ?\ / +9 &\\*\ \ 9\ Z +9 ( +3 "collection"'& +3 "core" &\\n\ \ A\ N +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&k1 +60 "core" 1 +2 "manipulator"&6% +4 "core" % A   O  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +6 #tLoading generic puck from tube 5 into Processing Clamp +3 "processing"% & +4 "core" &\ +2 "manipulator"&C% +3 "core" % \   a  +3 "storage"(d% +4 "core" %\ \ z\  + "storage"(q. +4 "core" .(<- + "storage"(-& +4 "core" &<.\ \  [\ +2 "storage"(& +4 "core" &<.\ \ \ +2 "manipulator"&9& +3 "core" &ӭ   1 8! +2 "manipulator"&~% +4 "core" % \   -  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&T( +164 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(.& +4 "core" &<.\ \ ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' + "storage"(O& +4 "core" &<.\ +\ * \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'r +298 "core" ' + "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (F& +2 "core" &<.\  \ +2 "manipulator"&e& +5 "core" &   &  +2 .tElbow.seek 5 + "manipulator"&8( +4 "core" ( + "manipulator"&o& +4 "core" &    +2 "storage"(& +3 "core" &<.\ \ o\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&A'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&\ & + "storage"(M' +7 "core" &     +2 "manipulator"&% +4 "core" % ϭ    +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +50 .tElbow.seek PC +2 "manipulator"&I( +110 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +127 "core" ( + "manipulator"&& +5 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&`' +98 "core" ' +2 "manipulator"&Z& +3 "core" &  . +3 "manipulator"&% +4 "core" %     +2 "processing"%X& +3 "core" &\ +3 "processing"%}& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(^ +4 "core" &\  +8 &3y\ *y +10 &d}\ > +9 &xm\ N +10 &:R \ N +9 &Q \ N +9 &Q \ M +10 &T \ N +9 &BQ \ N +9 &T \ M +10 &U \ N +9 & R \ N +10 &"KT \ M +9 &$ T \ M +9 &%R \ M +10 &'S \ M +9 &)RT \ N +9 &+W\ N +10 &,S \ N +9 &.Q \ N +10 &0[R\ M +9 &2U\ N +9 &3P\ N +10 &5U\ N +9 &7bR\ N +9 &9$S\ N +10 &:U\ N +9 &<Q\ N +10 &>jV\ N +9 &@,T\ N +9 &AZ\ N +10 &C]\ O +9 &Emb\ O +9 &G+i\ Q +10 &Hw\ R +9 &J\ T +10 &Lh\ T +9 &N(\ T +9 &O\ T +10 &Q\ U +9 &Sm\ U +9 &U.\ U +10 &V\ U +9 &X\ U +10 &Zs\ U +9 &\\5\ U +9 &]{r\ < +10 &^&e\ S +9 &^(\ 4 +2 ( +2 "processing"%}& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&_1 +61 "core" 1 +2 "manipulator"&4% +4 "core" %   <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +96 "core" ' +2 "processing"%t& +4 "core" &^&\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&a% +3 "core" % %   u ; +3 "storage"(R% +4 "core" % Y\  + "storage"(;. +3 "core" .(<- +2 "storage"(&& +3 "core" &<. \ +3 "storage"(B& +3 "manipulator"&& +7 "core" &<. \ + &   x +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&|( +4 ."raiseStack"SE.seek :beamBreak + "storage"(H'r +4 "core" ( + "manipulator"&3& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & )  V +3 .tForearm.seek PC + "manipulator"&?' +93 "core" ' + .tHand.close +2 "manipulator"&z/ +53 "core" / +3 .tPC.seek :open +2 "processing"%^( +98 "core" ' +2 "storage"(v- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(P'1 +41 "core" ' +304 ( + "storage"(\\& +4 "core" &<, \ \ \ +2 "manipulator"&u& +4 "core" &   ! +2 "manipulator"&K% +3 "core" %  - F +3 .tForearm.seek :retract +2 "manipulator"&7' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&p& +3 "core" &    ; +2 "storage"(& +4 "core" &<, \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&i'O +94 "core" ' +2 .tHand.open + "manipulator"&J1 +61 "core" 1 +2 "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"({' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(E' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +4 "core" -' +2 "storage"(& +4 "core" &<,  \ 5\ +2 "manipulator"&f& +4 "core" &   ; +42 .tElbow.seek 5 +10 "manipulator"&Y( +3 "core" ( +2 "manipulator"&=& +3 "core" &   d ; +3 "storage"(& +4 "core" &<,   E\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +50 "core" ' +2 "manipulator"&]& +4 "core" &   9 ; + "storage"(& +5 "core" &<, U\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&!'΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(W' +29 "core" ' +2 "manipulator"&#% +4 "core" %Ώ   e { + "storage"(U& +4 "core" &<, \  2\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&g'ϻ +13 "core" ' +2 "manipulator"&& +4 "core" &  \ + +2 "storage"(& +3 "core" &<,\ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +15 "core" ' +2 "storage"(%% +4 "core" %\ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(+' +98 (n% +2 "core" %lL `\ Xg +3 "manipulator"&0% +4 "core" %A    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (w& +3 "core" &<,\  i\ +3 "collection"'D& +4 "core" &\\o\ \ D\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&G% +4 "core" %    7  +2 "storage"(r% +3 "core" %\ \ \  +2 "storage"(. +3 "core" .(<- +2 "storage"(& +4 "core" &<,\ \  \ +2 "storage"(N& +4 "core" &<,\ \ \  \ +2 "manipulator"&"& +3 "core" &   + +3 .tElbow.seek 5 + "manipulator"&S( +5 "core" ( +2 "manipulator"&b& +4 "core" &  e  +2 "storage"( & +4 "core" &<,\ \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' +2 "storage"(m& +4 "core" &<,\ +\ * a\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'r +311 "core" ' +3 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" &   :  +3 "storage"(*& +4 "core" &<, \  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&1'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(>'i +35 "core" ' + "manipulator"& % +4 "core" %Ξ   7  +2 "storage"(h& +3 "core" &<, ]\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&(' +14 "core" ' +2 "manipulator"&5& +3 "core" &  d  +2 "storage"(k& +3 "core" &<,\ \ 1\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"( ' +40 "core" ' +2 "manipulator"&C& +3 "core" &    +2 "manipulator"&d% +5 "core" %G    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +43 .tForearm.seek :retract +10 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +149 "core" ( +2 "manipulator"&-& +3 "core" &{(   a @[ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &{( ! e @[ +2 .tForearm.seek CC +2 "manipulator"&9'? +94 "core" ' +2 .tHand.close + "manipulator"&~/ +64 "core" / +2 .tCC.seek :open +2 "collection"',( +450 "core" ( + "storage"(& +4 "core" &<, V\ ) [\ +2 "storage"(.& +3 "core" &<, P [\ +2 "manipulator"&O& +4 "core" &Ӹ   3 8 +2 "manipulator"&L% +4 "core" % *   0 \ +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&x( +161 "core" ( +2 "manipulator"&F& +3 "core" & p  +2 "storage"(e& +5 "core" &<, % \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&o'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&j1 +61 "core" 1 +2 "manipulator"&\ % +4 "core" % Μ    +2 "storage"(& +4 "core" &<, ' '\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&T' +28 "core" ' +2 "manipulator"&& +3 "core" & e  +2 "storage"(Q& +4 "core" &<, 3 H L\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +15 "core" ' +2 "storage"(% +3 "core" % ' 4 4\ +3 ."downElevator"SE.seek :down +4 "storage"([' +99 (8% +3 "core" %F L &\ Vb +2 "manipulator"&Z% +4 "core" %X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'X& +3 "core" & \ +2 "manipulator"&M% +4 "core" %    +2 "storage"(% +3 "core" % # # 1\  +3 "storage"(:. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(_(K +363 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (4& +2 "core" &K\ \ \  +3 "manipulator"&t& +4 "core" &   =  +2 .tElbow.seek 6 + "manipulator"&a( +9 "core" ( + "manipulator"&R& +4 "core" &   +2 "storage"(;& +4 "core" &K + ' [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +92 "core" ' +2 "storage"(}& +4 "core" &K E G \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &K H F\  +2 "manipulator"&& +5 "core" &   : + .tElbow.seek 6 +2 "manipulator"&`( +4 "core" ( + "manipulator"&z& +4 "core" &  n +2 "storage"(v& +3 "core" &K & &\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&I'h +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +63 "core" / +51 ."downElevator"SE.seek :down +3 "manipulator"&@& +3 "storage"(H' +8 "core" & + "manipulator"&\\% +5 "core" % \\ +2 .tForearm.seek :retract +2 "manipulator"&u' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&?& +4 "core" &ӆ%  m >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +2 "core" &ӆ%  - >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + "manipulator"&|& +4 "core" &Ӈ%   >J +2 "manipulator"&J% +5 "core" %=   \\ +2 "collection"' & +4 "core" & \ +2 "collection"'c& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & \ +6 & \ 9 +9 &IKu \ 0 +9 &}u}  \ D +10 &(X \ L +9 &Q \ K +10 &T \ K +9 &pT  \ K +9 &2R \ K +10 &T \ K +9 &T \ K +9 &xU \ K +10 &!9X \ K +9 &"T \ K +10 &$T <\ J +9 &&T 9\ K +9 &(BU \ K +10 &*R ,\ K +9 &+R 2\ K +9 &-S <\ K +10 &/JT )\ K +9 &1 T ]\ J +10 &2U +\ K +9 &4U (\ K +9 &6RU H\ K +10 &8T L\ K +9 &9T L\ K +9 &;V K\ K +10 &=ZU I\ K +9 &?V N\ K +10 &@U L\ K +9 &BZ D\ L +9 &D^` K\ L +10 &Fl\  J\ N +9 &G\ \ F\ Q +9 &I\ \ L\ T +10 &KH\ #\ O\ V +9 &M\ \ A\ W +10 &N\ \ F\ W +9 &P\ \ F\ X +9 &RK\ \ H\ X +10 &T\ \ \ D\ Y +9 &U\ \ <\ Z +9 &W\ \ <\ [ +10 &YH\ \ H\ \\ +9 &[ \ \ D\ [ +10 &\\`G\ \ 7\ 5 +9 &\\\ \ E\ O +5 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&f1 +3 "core" &\\r\ \ @\ O +54 1 +2 "manipulator"&7% +4 "core" % =   g \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&]% +4 "core" %     +2 "storage"(% +4 "core" % Z\  + "storage"(P. +3 "core" .(K +2 "storage"({& +3 "core" &K 3\  +3 "storage"(#& +3 "core" &K 5\  +2 "manipulator"&U& +5 "core" &ӫ   L 9& + "manipulator"&% +3 "core" %    e  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +169 "core" ( + "manipulator"&%& +4 "core" &  +2 "storage"(& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +91 "core" ' +2 "storage"(E& +3 "core" &K\ *\ + '\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +306 "core" ' + "storage"(0- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K q\  +2 "manipulator"&Y& +3 "core" &   +3 .tElbow.seek 6 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&!& +3 "core" &   w +3 "storage"(g& +4 "core" &K\ \ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&w'h +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(r' +8 "core" & \  + "manipulator"&% +4 "core" % b  ( +2 .tForearm.seek :retract +2 "manipulator"&W' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&N& +4 "core" &   x * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &  \ ! * +49 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&b' +94 "core" ' +2 "manipulator"& & +4 "core" &    * +2 "manipulator"&l% +4 "core" % \  X +2 "processing"%m& +4 "core" &\ +2 "processing"%+& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &3x\ *x +9 &d}\ > +10 &sp \ O +9 &6T \ N +10 &R \ M +9 &P\ N +9 &~R\ M +10 &?S \ N +9 &X \ N +9 &R \ N +10 & T \ N +9 &"GV \ N +10 &$W \ N +9 &%R \ M +9 &'R\ M +10 &)OT \ N +9 &+W \ N +9 &,T\ N +10 &.U\ N +9 &0VW \ N +10 &2P \ M +9 &3Q \ N +9 &5U\ N +10 &7_U \ N +9 &9 W\ N +9 &:T\ N +10 &<V\ N +9 &>gU\ N +10 &@)U\ N +9 &AW\ N +9 &Cb\ O +10 &Ei`\ P +9 &G(j\ Q +10 &H{\ R +9 &J\ T +9 &Le\ T +10 &N&\ T +9 &O\ T +9 &Q\ U +10 &Sj\ U +9 &U*\ U +9 &V\ U +10 &X\ U +9 &Zr\ U +10 &\\3\ U +9 &]}s\ : +9 &^*s\ R +10 &^&\ 2 +2 ( +2 "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&V1 +55 "core" 1 +2 "manipulator"&y% +3 "core" %    X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +96 "core" ' +2 "processing"%*& +3 "core" &^$\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&2% +4 "core" %   O  +2 "storage"( % +3 "core" % \  +2 "storage"(h. +3 "core" .(K +2 "storage"(5& +3 "core" &K \  +3 "storage"(k& +2 "manipulator"&C& +7 "core" &K \  +2 &   * +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +6 "manipulator"&d( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +3 "manipulator"&S& +4 "core" &   * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &  Q * +2 .tForearm.seek PC +2 "manipulator"&1' +96 "core" ' + .tHand.close +2 "manipulator"&(/ +61 "core" / +2 .tPC.seek :open +2 "processing"%>( +88 "core" ' +2 "storage"(-- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +308 ( +2 "storage"(6& +3 "core" &K \  +3 "manipulator"&& +4 "core" &   * + "manipulator"&~% +4 "core" % \   +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&/( +246 "core" ( +2 "manipulator"&& +4 "core" &  \  5 +2 "storage"(.& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +96 "core" ' +2 .tHand.open + "manipulator"&L1 +58 "core" 1 +2 "storage"(F- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(e' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(9' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(q- +4 "core" -' +2 "storage"(j& +4 "core" &K \  +2 "manipulator"&\ & +3 "core" &   5 +3 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & #  5 + "storage"(Q& +4 "core" &K \  +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +46 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' + "manipulator"&8& +3 "core" &   5 +3 "storage"(Z& +4 "core" &K\  n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&x'< +24 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(X' +21 "core" ' + "manipulator"&M% +4 "core" %G  +2 "storage"(T& +3 "core" &K q\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&'s +24 "core" ' +2 "manipulator"&:& +3 "core" &   5 +3 "storage"( & +4 "core" &K\ Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +21 "core" ' +2 "storage"([% +4 "core" %\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (4% +3 "core" %QN #\ Xi +2 "manipulator"&t% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" &K \  +2 "collection"'}& +5 "core" &\\q\ \ K\ O + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %  \   +3 "storage"(% +4 "core" %\ \  \  + "storage"(. +3 "core" .(K +2 "storage"(3& +3 "core" &K\ \ \ \  +3 "storage"(& +4 "core" &K\ \ \ \  + "manipulator"&z& +4 "core" &  5 +2 .tElbow.seek 6 +2 "manipulator"&v( +4 "core" ( + "manipulator"&'& +4 "core" &    5 +2 "storage"(@& +4 "core" &K\ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +93 "core" ' + "storage"(a& +5 "core" &K\ +\ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'r +298 "core" ' +3 "storage"(?- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +4 "core" & \  5 +2 "storage"(B& +3 "core" &K\ \ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&I'< +23 "core" ' +2 .tElbow.hold + "manipulator"&|, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 'n +33 "core" ' + "manipulator"&`% +4 "core" %G   +2 "storage"(H& +3 "core" &K\ \ \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&u's +14 "core" ' +2 "manipulator"&,& +3 "core" &    5 +2 "storage"(f& +4 "core" &K\ \ M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +39 "core" ' + "manipulator"&]& +4 "core" & \  5 +2 "manipulator"&% +3 "core" % \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&{(ӂ +154 "core" ( +2 "manipulator"&#& +4 "core" &ә   i 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &ә   9( +43 .tForearm.seek CC +9 "manipulator"&U'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( + "storage"(%& +5 "core" &K % \  + "storage"(& +4 "core" &K\ \  #\  +2 "manipulator"&E& +3 "core" &ӫ    7 +2 "manipulator"&K% +4 "core" % K   H  +3 .tForearm.seek :retract + "manipulator"&=' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&0( +156 "core" ( +2 "manipulator"&& +3 "core" &  a +3 "storage"(Y& +4 "core" &K , - d\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&!'< +95 "core" ' + .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&D1 +57 "core" 1 +2 "manipulator"&G% +3 "core" % D    +2 "storage"(& +5 "core" &K + - \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&'p +13 "core" ' +3 "manipulator"&i& +3 "core" &  +2 "storage"(n& +4 "core" &K H H \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&w' +14 "core" ' +2 "storage"(N% +4 "core" % F H C\ +2 ."downElevator"SE.seek :down +4 "storage"("' +99 (<% +3 "core" %F ? \ Wd +2 "manipulator"& % +4 "core" % \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'m& +3 "core" & \ +2 "manipulator"&r% +4 "core" %   \   +2 "storage"(W% +4 "core" % $ $\  +2 "storage"(^. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(V([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +2 "core" &[\ \ \  +3 "manipulator"&*& +3 "core" &   +3 .tElbow.seek 7 +2 "manipulator"&2(r +17 "core" ( +2 "manipulator"& & +4 "core" &m   +2 "storage"(h& +4 "core" &[ $ #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&5'= +93 "core" ' +2 "storage"(C& +3 "core" &[ I G \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +297 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (S& +3 "core" &[\ \  \  +2 "manipulator"&)& +4 "core" &m    +2 .tElbow.seek 7 + "manipulator"&b(r +4 "core" ( +2 "manipulator"&(& +4 "core" &m  L  + "storage"(-& +3 "core" &[\  O T\  +4 .tForearm.seek 7 + 300 counts +2 "manipulator"&'ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" &m ;  + "manipulator"&6% +4 "core" % Ϭ +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +49 "manipulator"&~(ӂ +109 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +45 "core" ( + "manipulator"&1& +4 "core" &ӎ$   =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ$ \  =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&.'? +93 "core" ' +3 "manipulator"&d& +3 "core" &ӏ$   =D +3 "manipulator"&L% +4 "core" %< Q : +2 "collection"'F& +3 "core" & \ +3 "collection"'q& +5 "core" & \ +3 .tCC.seek :closed + "collection"'j(\\ +5 "core" & \ +7 &A \ $e +9 &Z{ \ 7 +10 &v \ K +9 &T \ K +9 &W  \ K +10 &LU \ J +9 & T  \ K +10 &T \ K +9 &W  \ K +9 &SS \ K +10 & S  \ J +9 &!T \ K +9 &#T \ K +10 &%ZV \ K +9 &'S \ K +10 &(T \ J +9 &*T \ K +9 &,cT \ K +10 &.$V +\ K +9 &/T 1\ K +9 &1T \ K +10 &3jU 8\ K +9 &5-T \ K +10 &6U ;\ K +9 &8T '\ K +9 &:tT >\ J +10 &<4T O\ K +9 &=S M\ K +9 &?W L\ K +10 &AzU Q\ K +9 &C<Z O\ K +10 &D` I\ L +9 &Fh\ \ L\ M +9 &Ht~\ \ L\ P +10 &J)\ #\ K\ U +9 &K\ '\ #K\ W +9 &M\ "\ #G\ X +10 &Og\ \ K\ W +9 &Q(\ \ !K\ W +10 &R\ \ I\ Y +9 &T\ \ I\ Y +9 &Vh\ \ I\ Z +10 &X'\ \ K\ [ +9 &Y\ \ K\ [\ +9 &[\ \ H\ H +10 &\\1\ \ I\ 0 +9 &\\n\ \ K\ N +3 ( + "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&\ 1 +64 "core" 1 +2 "manipulator"&% +3 "core" % <   s : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&8% +3 "core" %     +3 "storage"(Z% +4 "core" % \  + "storage"(. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(e([ +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +2 "core" &[ @\  +3 "manipulator"&T& +3 "core" &Ӯ   9% +2 "manipulator"&:% +4 "core" %    n  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"& (r +162 "core" ( +2 "manipulator"&/& +3 "core" &|   +3 "storage"(O& +4 "core" &[\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&['= +92 "core" ' + "storage"(9& +5 "core" &[\ *\ * !\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +326 "core" ' + "storage"(t- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[\ \ \  +2 "manipulator"&& +4 "core" &|   ,  +2 .tElbow.seek 7 +2 "manipulator"&(r +3 "core" ( +2 "manipulator"&x& +3 "core" &| \ \ ]  +2 "storage"(& +4 "core" &[\ \ \ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&;'ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +8 "core" &|   + "manipulator"&% +5 "core" % Ϯ \ * +2 .tForearm.seek :retract +2 "manipulator"&X' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&3( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +4 "core" & \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'' +90 "core" ' +2 "manipulator"&@& +3 "core" &  \  +49 "manipulator"&A% +5 "core" %  a +3 "processing"%a& +4 "core" &\ +2 "processing"%& +6 "core" &\ \ +2 .tPC.seek :closed +3 "processing"%o(^ +3 "core" &\ +6 & \ 6 +9 &BIu \ 0 +9 &nr} \ E +10 &\\ \ N +9 &T \ N +10 &P \ N +9 &WT \ N +9 &R \ M +10 &T \ M +9 &T \ M +9 &aT \ M +10 &!"R \ N +9 &"R \ N +10 &$R \ M +9 &&iR\ M +9 &(*R\ N +10 &)R\ N +9 &+R\ M +9 &-qS\ M +10 &/2R\ N +9 &0Q\ M +10 &2T\ M +9 &4yU\ M +9 &6:W\ N +10 &7T\ N +9 &9T\ M +9 &;Y\ N +10 &=BR\ N +9 &?W\ M +10 &@U\ N +9 &B[\ N +9 &DE`\ O +10 &Fi\ P +9 &Gv\ Q +9 &I\ S +10 &K>\ T +9 &M\ T +10 &N\ U +9 &P\ U +9 &RD\ U +10 &T\ U +9 &U\ U +9 &W\ U +10 &YL\ U +9 &[\ U +10 &\\\ V +9 &^Bb\ &u +9 &^e\ 6 +9 ( +3 "processing"%& +3 "core" &^!\ 1 +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&R1 +52 "core" 1 +2 "manipulator"&?% +3 "core" %    a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' +2 "processing"%B& +4 "core" &^ \ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&J% +4 "core" %     +2 "storage"(`% +3 "core" % y\  +2 "storage"(H. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(,([ +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (f& +3 "manipulator"&]& +4 "core" &[ \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&\\( +7 "core" ( + "manipulator"&v& +4 "core" &   q  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &    +3 .tForearm.seek PC +2 "manipulator"&I' +92 "core" ' + .tHand.close + "manipulator"&u/ +62 "core" / +2 .tPC.seek :open +2 "processing"% ( +93 "core" ' + "storage"(#- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'1 +44 "core" ' +36 "Can"\ `w$+ +270 "core" ( +2 "storage"(7& +3 "core" &[ @\  +3 "manipulator"&|& +4 "core" &   '  + "manipulator"&% +4 "core" %    . +3 .tForearm.seek :retract +2 "manipulator"&P' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +247 "core" ( +2 "manipulator"&%& +4 "core" &s    Z +2 "storage"(& +4 "core" &[ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'= +89 "core" ' +2 .tHand.open + "manipulator"&K1 +54 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Y' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(U' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"({- +3 "core" -' +2 "storage"(D& +4 "core" &[ L\  +2 "manipulator"&G& +3 "core" &s    Z +3 .tElbow.seek 7 +2 "manipulator"&(r +4 "core" ( + "manipulator"&i& +4 "core" &s  Z +2 "storage"(n& +4 "core" &[ 8\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&N'= +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +51 .tSE.seek -0.51 Pucks below Top Plate + "storage"(='" +58 "core" ' +2 "manipulator"&<& +4 "core" &s    Z +2 "storage"( & +3 "core" &[ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&0'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(m' +28 "core" ' + "manipulator"&r% +4 "core" %Ό   j  +2 "storage"(& +3 "core" &[ v\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&W'ϸ +33 "core" ' + "manipulator"&^& +3 "core" &   } N +3 "storage"(& +4 "core" &[ \ \ d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&w'= +14 "core" ' +2 "storage"("% +3 "core" %\ \ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(_' +98 (y% +3 "core" %YO d\ Xh +2 "manipulator"&*% +5 "core" %:   % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (h& +3 "core" &[ e\  +2 "collection"'C& +4 "core" &\\m\ \ K\ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&g% +4 "core" %    +2 "storage"(l% +3 "core" %\ \ \ \ \  +3 "storage"(+. +3 "core" .([ +2 "storage"(S& +4 "core" &[\ \ \ c\  +2 "storage"()& +4 "core" &[\ \ \ \ \  + "manipulator"&(& +4 "core" &   ( N +2 .tElbow.seek 7 +2 "manipulator"&-(r +11 "core" ( +2 "manipulator"&$& +3 "core" &     +2 "storage"(& +4 "core" &[\ \ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&6'= +92 "core" ' +2 "storage"(2& +4 "core" &[\ +\  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'r +302 "core" ' +21 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" &    +2 "storage"(& +4 "core" &[\ \ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'{ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(F'r +33 "core" ' + "manipulator"&b% +4 "core" %΍   K +2 "storage"(& +4 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&'Ϲ +13 "core" ' +2 "manipulator"&& +3 "core" &  \ s  +2 "storage"(\ & +4 "core" &[\ *\ * N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'= +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +38 "core" ' +2 "manipulator"&8& +3 "core" &   *  +3 "manipulator"&Z% +4 "core" %5 \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +156 "core" ( +2 "manipulator"&M& +3 "core" &ӝ  B 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +2 "core" &ӝ   7 +3 .tForearm.seek CC +49 "manipulator"&:'? +94 "core" ' + .tHand.close + "manipulator"&./ +60 "core" / +2 .tCC.seek :open +2 "collection"'/( +446 "core" ( +2 "storage"(O& +3 "core" &[ L\ ) H\  +2 "storage"(V& +4 "core" &[\ \  )\  +2 "manipulator"&9& +4 "core" &ӧ  \  6 +2 "manipulator"&~% +4 "core" % R   % +2 .tForearm.seek :retract +2 "manipulator"&Q' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&t(r +153 "core" ( +2 "manipulator"&& +4 "core" &y 5 + "storage"(& +4 "core" &[ ! " Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 +2 "manipulator"&x'{ +93 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&}1 +63 "core" 1 +2 "manipulator"&% +3 "core" % ΁   +3 "storage"(& +4 "core" &[ ! \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 306 counts + "manipulator"& 'ϭ +14 "core" ' +2 "manipulator"&[& +4 "core" &y j +2 "storage"(4& +4 "core" &[ F G \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&;'= +15 "core" ' + "storage"(% +5 "core" % I I 9\ +2 ."downElevator"SE.seek :down +4 "storage"(z' +99 (% +3 "core" %F L \ Wc +2 "manipulator"&@% +3 "core" %2   W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'a& +3 "core" & \ +2 "manipulator"&% +3 "core" %    +3 "storage"(X% +3 "core" % # #\  +2 "storage"(>. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(R(<- +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &<0\ &\ " 5\ +3 "manipulator"&B& +3 "core" &y   ! +3 .tElbow.seek 5 +2 "manipulator"&J( +20 "core" ( +2 "manipulator"&`& +3 "core" &  G ( +3 "storage"(H& +4 "core" &<0 , - \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +93 "core" ' +2 "storage"(& +4 "core" &<0 H H \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +296 "core" ' + "storage"(v- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &<.\  n\ +2 "manipulator"&'& +3 "core" &   ( +3 .tElbow.seek 5 + "manipulator"&u( +25 "core" ( +3 "manipulator"&e& +4 "core" &  P  + "storage"(#& +4 "core" &<. % & >\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&3'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +54 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&o& + "storage"(' +8 "core" &   +2 "manipulator"&7% +3 "core" %  u +3 .tForearm.seek :retract +2 "manipulator"&|' +88 "core" ' + .tElbow.seek CC +48 "manipulator"&(ӂ +112 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +43 "core" ( +2 "manipulator"&I& +4 "core" &Ӗ!  :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &Ӗ!    :- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +2 "manipulator"&\\& +4 "core" &ӗ!    :, +2 "manipulator"&K% +3 "core" %5  +3 "collection"'& +4 "core" & \ +2 "collection"'{& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'D(\\ +5 "core" & \ +7 &@ \ $f +9 &Zy \ 8 +10 &\ s \ K +9 &T \ J +10 &U \ K +9 &NX  \ K +9 &T  \ K +10 &V  \ K +9 &S  \ J +9 &WT \ K +10 & S \ \ J +9 &!T  \ K +9 &#U \ J +10 &%_T \ K +9 &'"T \ J +10 &(T \ \ K +9 &*R \ \ J +9 &,fT \ K +10 &.)S /\ K +9 &/U 6\ K +10 &1T 3\ K +9 &3oU U\ K +9 &51T X\ K +10 &6S 5\ K +9 &8P 4\ J +9 &:vT \ K +10 &<9T \ K +9 &=T \ J +9 &?U @\ K +10 &A}U G\ L +9 &C?Y N\ L +10 &D` J\ L +9 &Fh\ \ J\ N +9 &Hx~\ \ &\ P +10 &J-\ \ I\ U +9 &K\ '\ &H\ W +10 &M\ $\ %I\ W +9 &Oj\ \ M\ X +9 &Q,\ \ J\ W +10 &R\ \ J\ Y +9 &T\ \ M\ X +9 &Vl\ \ K\ Z +10 &X,\ \ J\ Z +9 &Y\ \ J\ [ +10 &[\ \ M\ H +9 &\\/\ \ K\ 1 +9 &\\e\ \ J\ N +3 ( + "collection"'{& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&G1 +57 "core" 1 +2 "manipulator"&i% +4 "core" % 5   ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%P& +4 "core" &\ +2 "manipulator"&<% +4 "core" %  \   + "storage"( % +4 "core" % \  *\  +2 "storage"(c. +3 "core" .(<0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(Y(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" &<. \ +2 "manipulator"&& +3 "core" &ӭ   7 +2 "manipulator"&^% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" &   z  +2 "storage"(E& +4 "core" &<.\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&"'O +90 "core" ' +2 "storage"(U& +4 "core" &<.\ *\ + X\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'r +294 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &<.\ \  \ +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&0& +3 "core" &    +3 "storage"(h& +3 "core" &<.\ +\ + \\\ +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&W'Ϲ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +52 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&g& + "storage"(l' +8 "core" &  w  +2 "manipulator"&+% +3 "core" % @ +3 .tForearm.seek :retract +2 "manipulator"&m' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&)& +3 "core" &   7 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +3 "core" & \  1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&$' +101 "core" ' +2 "manipulator"&& +4 "core" &   1 +2 "manipulator"&w% +49 "core" %  +5 "processing"%2& +4 "core" &\ +2 "processing"%_& +5 "core" & \ +2 .tPC.seek :closed +3 "processing"%!(^ +3 "core" & \ +6 & \ 6 +10 &BIv \ 0 +9 &lq} \ D +10 & _\ N +9 &T \ N +9 &P\ \ M +10 &TQ \ N +9 &Q \ N +9 &R \ N +10 &T \ M +9 &]T \ M +10 &!S \ M +9 &"T \ M +9 &$U\ M +10 &&dR \ N +9 &(&Q\ N +9 &)R\ N +10 &+R \ N +9 &-lR\ N +10 &/.W\ N +9 &0U\ N +9 &2U\ N +10 &4uP\ M +9 &67U\ M +9 &7S\ M +10 &9T\ N +9 &;{Y\ N +10 &=?T\ M +9 &?W\ N +9 &@U\ M +10 &BZ\ N +9 &DB^\ O +9 &Ff\ P +10 &Gp\ Q +9 &I|\ S +10 &K<\ T +9 &L\ T +9 &N\ T +10 &P\ U +9 &RA\ U +9 &T\ U +10 &U\ U +9 &W\ U +10 &YH\ U +9 &[\ \ U +9 &\\\ V +10 &^Ae\ (z +9 &^c\ 8 +9 ( +2 &^%\ 2 +2 "processing"%_& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&k% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +97 "core" ' +2 "processing"%& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&L% +4 "core" % \    +2 "storage"(b% +4 "core" % \  +2 "storage"(. +3 "core" .(<- +2 "storage"(& +4 "core" &<. \ +2 "storage"(\ & +4 "manipulator"&8& +5 "core" &<. ?\ + &   1 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&Z( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(6'r +2 "core" ( +2 "manipulator"&-& +5 "core" &   1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &5& +2 "core" &   1 +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +3 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%F( +94 "core" ' + "storage"(M- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'1 +40 "core" ' +310 ( +2 "storage"(& +3 "core" &<,\ \ \ \ +3 "manipulator"&d& +4 "core" &   1 + "manipulator"&.% +4 "core" %    7 +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&j( +244 "core" ( +2 "manipulator"&O& +3 "core" &  P : +2 "storage"(V& +4 "core" &<,\  {\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +96 "core" ' + .tHand.open +2 "manipulator"&~1 +64 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +3 "core" -' +2 "storage"(}& +4 "core" &<, \ +2 "manipulator"&& +3 "core" &  / : +3 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&[& +4 "core" &  \  : + "storage"(4& +5 "core" &<, z\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Q'" +57 "core" ' +2 "manipulator"&& +4 "core" &    : +2 "storage"(@& +44 "core" &<, \  ^\ +9 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&t'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(a' +27 "core" ' +2 "manipulator"&% +4 "core" %Η   +2 "storage"( & +4 "core" &<, h\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&X' +25 "core" ' +2 "manipulator"&>& +3 "core" &  9 +3 "storage"(& +4 "core" &<,\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +26 "core" ' +2 "storage"(z% +3 "core" %\ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(,' +98 (?% +3 "core" %dN A\ Xh +2 "manipulator"&B% +5 "core" %P  \  b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (H& +3 "core" &<, I\ +2 "collection"'& +4 "core" &\\d\ \ Q\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %     +2 "storage"(A% +4 "core" %\ \ \  +2 "storage"(v. +3 "core" .(<- +2 "storage"(&& +4 "core" &<,\ \ \ \ +2 "storage"('& +4 "core" &<,\ \ \ \ +2 "manipulator"&e& +4 "core" &   9 +2 .tElbow.seek 5 + "manipulator"&#( +4 "core" ( +2 "manipulator"&p& +4 "core" &  T 9 +2 "storage"(o& +4 "core" &<,\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +97 "core" ' +2 "storage"(J& +4 "core" &<, @ O\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +299 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &  9 +3 "storage"(3& +4 "core" &<, \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&%'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(\\- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(K'j +31 "core" ' +2 "manipulator"&% +4 "core" %Π    \ + "storage"(& +4 "core" &<,\ \ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&|' +14 "core" ' + "manipulator"&/& +4 "core" &   9 +2 "storage"(G& +3 "core" &<,\ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(P' +39 "core" ' + "manipulator"&<& +4 "core" &   9 +2 "manipulator"& % +3 "core" %H    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{(ӂ +148 "core" ( + "manipulator"&r& +4 "core" &Ӂ(   A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӂ(   @^ +3 .tForearm.seek CC +2 "manipulator"&^'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +42 "collection"'( +453 "core" ( +2 "storage"(E& +4 "core" &<,\ \ ( 2\ +2 "storage"(R& +4 "core" &<, O h\ +2 "manipulator"&U& +4 "core" &ӯ!   % :1 + "manipulator"&% +4 "core" % A  )  +2 .tForearm.seek :retract +2 "manipulator"&n' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&*( +162 "core" ( + "manipulator"&N& +4 "core" &   g  +2 "storage"(& +3 "core" &<, # $ \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&0'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +52 "core" 1 +3 "manipulator"&g% +4 "core" % Ο   + "storage"(+& +4 "core" &<, + "\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&' +13 "core" ' +3 "manipulator"&"& +4 "core" &  + "storage"(y& +4 "core" &<, # % \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +16 "core" ' + "storage"()% +5 "core" % G E \ +2 ."downElevator"SE.seek :down +4 "storage"((' +99 (=% +3 "core" %G I X\ Vb +2 "manipulator"&% +4 "core" %G > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +97 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'2& +5 "core" & \ + "manipulator"&l% +4 "core" %  F +2 "storage"(m% +4 "core" % F F '\  +2 "storage"( . +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" &K % 6\ \ +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 6 +2 "manipulator"&L( +4 "core" ( + "manipulator"&b& +4 "core" &   +2 "storage"(& +4 "core" &K J 4 r\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(\ & +3 "core" &K I I z\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +296 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &K\ \  S\ \ +2 "manipulator"&5& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&$( +4 "core" ( +2 "manipulator"&& +4 "core" &   A  + "storage"(M& +5 "core" &K & '\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&S'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&!& + "storage"(6' +8 "core" & l  + "manipulator"&% +5 "core" % \\ b +2 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&.(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +3 "core" &ӑ"   B ;7 +3 .tElbow.reconfigure :loose +47 "manipulator"&$ &.,(#b +5 &O& +3 "core" &ӑ"  ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'? +94 "core" ' +2 "manipulator"&Z& +4 "core" &Ӓ" \  + ;6 +2 "manipulator"&~% +4 "core" %9 5 [ +2 "collection"'& +4 "core" & \ +2 "collection"'q& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'}(\\ +4 "core" & \  +9 &5w \ *z +9 &i| \ ? +10 &j \ L +9 &cO  \ J +10 &$T  \ K +9 &S \ K +9 &R \ J +10 &iR  \ K +9 &,U  \ K +9 &S \ K +10 & Q  \ K +9 &"rS \ K +9 &$5R \ J +10 &%S  \ K +9 &'S \ K +10 &)yV \ K +9 &+<S \ K +9 &,T 5\ K +10 &.W \ K +9 &0T \ K +9 &2DS \ K +10 &4W \ L +9 &5R 3\ K +10 &7T 8\ K +9 &9KU (\ K +9 &;T R\ K +10 &<T 5\ K +9 &>U \ K +10 &@TT 4\ K +9 &BW N\ K +9 &C\\ P\ L +10 &Eh T\ N +9 &GPu\ \ M\ O +9 &I\ \ P\ S +10 &J\ #\ !T\ W +9 &L~\ \ O\ W +9 &N?\ \ L\ W +10 &P\ \ R\ X +9 &Q\ \ K\ Y +10 &S\ \ L\ Y +9 &UA\ \ K\ Z +9 &W\ \ L\ [ +10 &X\ \ K\ [ +9 &Z\ \ L\ [ +9 &\\'z\ \ K\ / +10 &\\.\ \ K\ _ +9 ( + &\\n\ \ N\ O +3 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&[% +4 "core" % 9   I [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %    O  +2 "storage"(@% +4 "core" % T\  + "storage"(T. +3 "core" .(K +2 "storage"(& +4 "core" &K -\ \ +2 "storage"(& +4 "core" &K +\ \ +2 "manipulator"& & +4 "core" &ӫ   8 +2 "manipulator"&>% +4 "core" %  \  C  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&j& +3 "core" &    +2 "storage"(9& +4 "core" &K\ \  <\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +99 "core" ' +2 "storage"(:& +3 "core" &K\ \ + &\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(?'r +296 "core" ' + "storage"(B- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K O\ \ +3 "manipulator"&& +3 "core" &   .  +3 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( +3 "manipulator"&t& +4 "core" &   + "storage"(X& +4 "core" &K e\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&H'h +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& +2 "storage"(A' +7 "core" &     +2 "manipulator"&v% +4 "core" % \\   +2 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&&( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&'& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +3 "core" &    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&p' +90 "core" ' +2 "manipulator"&o& +3 "core" &   +3 "manipulator"&;% +4 "core" %   i +2 "processing"%J& +4 "core" &\ +2 "processing"%,& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%x(^ +5 "core" &\  +8 &3x\ *x +9 &d|\ > +10 &up\ N +9 &8P\ N +10 &T\ M +9 &T\ M +56 &~T\ N +5 &@Q\ N +3 &T \ M + &T \ N + & R \ N +2 &"HT\ \ N + &$\ W \ N +6 &%R \ N +9 &'S \ M +10 &)QT \ M +9 &+U \ N +9 &,X \ N +10 &.R \ M +9 &0XT \ N +10 &2U \ N +9 &3S \ N +9 &5Q \ N +10 &7aR \ M +9 &9"U \ N +9 &:Y\ N +10 &<T \ M +9 &>hW \ N +10 &@+U\ M +9 &AY\ N +9 &C_\ O +10 &Ekc\ O +9 &G)k\ Q +9 &Hy\ R +10 &J \ T +9 &Lg\ S +10 &N%\ U +9 &O\ U +9 &Q\ V +10 &Sk\ U +9 &U,\ U +9 &V\ U +10 &X\ U +9 &Zq\ U +10 &\\3\ U +9 &]yp\ A +9 &^ O\ G +10 &^n\ 6 +9 ( + &^\ 0 +2 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&`1 +60 "core" 1 +2 "manipulator"&]% +4 "core" %    i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' + "processing"%3& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&\\% +3 "core" %     +3 "storage"(% +4 "core" % 7\  + "storage"(. +3 "core" .(K +2 "storage"(/& +3 "core" &K \  C\ \ +3 "storage"(G& +2 "manipulator"&<& +6 "core" &K\ \ \ +2 &    +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"( 'r +3 "manipulator"&7( +5 "core" ( +2 "manipulator"&#& +3 "core" &   t  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &f& +3 "core" & \  +2 .tForearm.seek PC +2 "manipulator"&%' +94 "core" ' + .tHand.close + "manipulator"&|/ +57 "core" / +2 .tPC.seek :open +2 "processing"%K( +90 "core" ' +2 "storage"(r- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"('1 +48 "core" ' +304 ( +2 "storage"(i& +3 "core" &K\ \  g\ +3 "manipulator"&u& +4 "core" &   >  + "manipulator"&% +4 "core" %   ; 1 +2 .tForearm.seek :retract +2 "manipulator"&c' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&D( +244 "core" ( +2 "manipulator"&E& +3 "core" &   P +2 "storage"(R& +4 "core" &K \  2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +96 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +3 "storage"(N- +2 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +3 "core" -' +2 "storage"(C& +3 "core" &K A\ +3 "manipulator"&g& +3 "core" &  P +3 .tElbow.seek 6 +2 "manipulator"&+( +4 "core" ( + "manipulator"&"& +4 "core" &    P +2 "storage"(y& +4 "core" &K \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +57 "core" ' + "manipulator"&=& +5 "core" &   - P + "storage"(& +4 "core" &K\ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&*'< +23 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +50 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(2' +28 "core" ' +2 "manipulator"&l% +3 "core" %N   +2 "storage"(& +4 "core" &K \  \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 318 counts + "manipulator"&m'z +14 "core" ' + "manipulator"& & +4 "core" &    P +2 "storage"(P& +4 "core" &K\ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&W' +16 "core" ' + "storage"((% +4 "core" %\ \ \ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(Y' +99 (k% +3 "core" %\\N 4\ Xi +2 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K [\ +2 "collection"'\ & +4 "core" &\\n\ \ R\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&h% +4 "core" %      +2 "storage"(w% +4 "core" %\ \ \ \  +2 "storage"(_. +3 "core" .(K +2 "storage"(-& +4 "core" &K\ \ \ 5\ +2 "storage"(5& +3 "core" &K\ \ \ +2 "manipulator"&& +4 "core" &    P +2 .tElbow.seek 6 +2 "manipulator"&M( +4 "core" ( + "manipulator"&1& +4 "core" &  P +2 "storage"(!& +3 "core" &K\ \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(L& +4 "core" &K\ \ * \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" &   P +3 "storage"(S& +3 "core" &K\ \ \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&O'< +18 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(~'o +32 "core" ' + "manipulator"&% +4 "core" %H    +2 "storage"(6& +4 "core" &K\  f\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&d't +14 "core" ' +2 "manipulator"&& +3 "core" &   % O +2 "storage"(& +5 "core" &K\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +40 "core" ' +2 "manipulator"&& +3 "core" &   O +2 "manipulator"&@% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &ӈ(   @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &ӈ(   @X +3 .tForearm.seek CC +2 "manipulator"& '? +96 "core" ' +2 .tHand.close + "manipulator"&>/ +60 "core" / +2 .tCC.seek :open +2 "collection"'V( +446 "core" ( +2 "storage"(j& +4 "core" &K\ \ $ \ + "storage"(9& +4 "core" &K > 1\ +2 "manipulator"&:& +4 "core" &ӵ  ) :+ + "manipulator"&.% +4 "core" % -  \  +3 .tForearm.seek :retract + "manipulator"&4' +100 "core" ' +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&B( +163 "core" ( +2 "manipulator"&& +3 "core" & ]  +2 "storage"(& +5 "core" &K # # \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&t'< +96 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +61 "core" 1 +3 "manipulator"&% +4 "core" % @   +2 "storage"(v& +4 "core" &K + ' \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&'l +14 "core" ' +2 "manipulator"&z& +3 "core" &  +2 "storage"(?& +5 "core" &K @ ( S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +15 "core" ' +2 "storage"('% +3 "core" % I G /\ +3 ."downElevator"SE.seek :down +4 "storage"(e' +98 (Q% +3 "core" %C L `\ Va +2 "manipulator"&o% +5 "core" % r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'J& +4 "core" & \ +2 "manipulator"&A% +3 "core" %      +2 "storage"(a% +5 "core" % G H a\  + "storage"(F. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(`([ +88 .tSC.hold +2 "storage"(], +3 "core" (O \ ! +29 , +3 .tSC.stop + "storage"(6 +4 .tSE.seek :down +2 "storage"(3' +3 "core" ' +2 .tSE.stop +2 "storage"(5 +3 "manipulator"&\\% +4 "core" %     +2 !to:IRB::Abort:@checkpoint: omitted: mesg"(Storage Carousel seek to 7 Aborted!:bt["7/home/esp/esp2/lib/slide.rb:372:in `unlimitedSeek'"//home/esp/esp2/lib/slide.rb:362:in `times'"7/home/esp/esp2/lib/slide.rb:362:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"1/home/esp/esp2/utils/storage.rb:139:in `to!'":/home/esp/esp2/utils/puckmoves.rb:245:in `selectTube'"4/home/esp/esp2/utils/puckmoves.rb:363:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"7/home/esp/esp2/lib/log.rb:442:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" exit +6 #mEXIT @1693238237.45EDT @1693411613.89EDT = =tMAIN =mMAIN_scheduler @EDT1693411615.79 #"core_reset"Sent BREAK +2 #t@27922 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +307 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +407 "Can" F/ +  F/ + #tPolling Can every 10:00 +51 #Cleanly exited at 11:57:17EDT28-Aug-23 +30590 #-> ESP.ready! +3 #Powering core bus +545 .Gate.power :raw,:ON +3 "sampler") +46 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X PSV.PTV + .PSV.dial PTV +2 "processing"%9 +71 "core" ~ +426 #t-> PTV.PRV +2 .PTV.dial PRV +2 "processing"%: @ +72 "core" A +542 #t-> PRV.AB1 + .PRV.dial :AB1 +3 "processing"%; @ +127 "core" B +3699 #t-> PS.pull 2 +2 "processing"%<% +3 "core" %\ +3 .tPS.seek 2ml + "processing"%=' +2129 "core" ' +2 "processing"%>% +3 "core" %\  +733 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%?  +101 "core"  +263 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%@'ؾ +2122 "core" ' + "processing"%A% +4 "core" %\ +544 #t-> PRV.AB2 +2 .PRV.dial :AB2 +2 "processing"%B  +100 "core"  +1356 #t-> PS.pull 2 +2 "processing"%C% +3 "core" %\ +3 .tPS.seek 2ml +2 "processing"%D' +2115 "core" ' + "processing"%E% +5 "core" %f\  +1984 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%F  +5 "core"  +569 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%G'ؾ +2116 "core" ' +2 "processing"%H% +4 "core" %ؼI\ +608 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%I +114 "core" +407 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%J @ +5 "core" A +484 #t-> PRV.AB2 +2 .PRV.dial :AB2 +2 "processing"%K  +4 "core"  +1431 #t-> PS.pull 2 +2 "processing"%L% +4 "core" %ؼA\ +2 .tPS.seek 2ml +2 "processing"%M' +2123 "core" ' +2 "processing"%N% +3 "core" %;\  +4 "Can"\ @@N +1306 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%O  +102 "core"  +490 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%P'ؾ +2129 "core" ' +2 "processing"%Q% +3 "core" %ؼH\ +655 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%R +114 "core" +463 #t-> PS.pull 0.4 +2 "processing"%S% +3 "core" %ؼF\ +3 .tPS.seek 0.4ml + "processing"%T' +494 "core" ' +2 "processing"%U% +3 "core" % H\  +1193 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%V' +2223 "core" ' + "processing"%W% +3 "core" %D\  +19432 #t-> PSV.waste2 +2 .PSV.dial :waste2 +2 "processing"%X  +131 "core"  +6800 #t-> PS.empty +3 .PS.seek 0ml +2 "processing"%Y'ؾ +2635 "core" ' +2 "processing"%Z% +4 "core" %ؽ@\ +383 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%[ +129 "core" +468 #t-> PS.pull 0.4 + "processing"%\\% +4 "core" %ؽ \ +2 .tPS.seek 0.4ml +2 "processing"%]' +486 "core" ' +2 "processing"%^% +4 "core" % D\  +1011 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%_' +2229 "core" ' +2 "processing"%`% +4 "core" %V\  +755 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%a  +101 "core"  +244 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%b'ؾ +2624 "core" ' +2 "processing"%c% +3 "core" %ؿ\ +536 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%d +102 "core" +485 #t-> PS.pull 0.4 +2 "processing"%e% +3 "core" %ؿI\ +3 .tPS.seek 0.4ml + "processing"%f' +488 "core" ' +2 "processing"%g% +4 "core" % R\  +778 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%h' +2225 "core" ' + "processing"%i% +5 "core" %\  +1107 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%j  +101 "core"  +432 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%k'ؾ +2637 "core" ' +2 "processing"%l% +4 "core" %ؼ\ +428 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%m +101 "core" +1203 #t-> PS.pull 0.4 +2 "processing"%n% +3 "core" %ؼ\ +3 .tPS.seek 0.4ml +2 "processing"%o' +487 "core" ' + "processing"%p% +5 "core" % O\  +1561 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%q' +572 "Can" Aj" +1653 "core" ' + "processing"%r% +4 "core" %\  +1446 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%s  +102 "core"  +581 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%t'ؾ +2630 "core" ' +2 "processing"%u% +4 "core" %ؽ\ +445 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%v +102 "core" +422 #t-> PS.pull 0.4 + "processing"%w% +4 "core" %ؽ\ +2 .tPS.seek 0.4ml +2 "processing"%x' +487 "core" ' +2 "processing"%y% +4 "core" % \  +1285 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%z' +2220 "core" ' +2 "processing"%{% +4 "core" %\  +1196 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%|  +101 "core"  +249 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%}'ؾ +2631 "core" ' +2 "processing"%~% +4 "core" %ؾ\ +517 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"% +102 "core" +653 #t-> PS.pull0.4 +2 !o:NoMethodError : mesgu:NameError::message,undefined method `pull0' for PS:Syringe: name:\ pull0: args[f0.40000000000000002:bt[ "8/home/esp/esp2/lib/slide.rb:441:in `method_missing'"(ESP):44:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +449 #-> PS.pull 0.4 +2 "processing"%% +3 "core" %ؾ\ +3 .tPS.seek 0.4ml +2 "processing"%' +492 "core" ' + "processing"%% +4 "core" % \  +935 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%' +2227 "core" ' + "processing"%% +3 "core" %\  +1091 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%  +101 "core"  +547 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"% 'ؾ +2648 "core" ' +2 "processing"%% +4 "core" %ؽ\  +435 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%\ +102 "core" +647 #t-> PS.pull 0.1 +2 "processing"% % +3 "core" %ؽ\  +3 .tPS.seek 0.1ml +2 "processing"% ' +188 "core" ' +2 "processing"%% +3 "core" %~_\ \ +112 #t-> PS.pull 0.1 + "processing"%% +3 "core" %~O\ \ +3 .tPS.seek 0.2ml +2 "processing"%'A +180 "core" ' +3 "processing"%% +4 "core" %A\  +98 #t-> PS.pull 0.1 + "processing"%% +3 "core" %A\  +3 .tPS.seek 0.3ml +2 "processing"%' +180 "core" ' +2 "processing"%% +3 "core" %I\  +28608 #t-> PS.pull 0.5 +2 "processing"%% +3 "core" %\  +3 .tPS.seek 0.8ml + "processing"%'> +587 "core" ' +2 "processing"%% +3 "core" %>\ +795 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%  +102 "core"  +333 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%'ؾ +895 "core" ' +2 "processing"%% +4 "core" %\ +471 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +44 "core"  +465 #t-> PSR.flush +2 .PSR.select :flush +2 "processing"%j +261 "Can" =\ z +405 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"% ' +2624 "core" ' + "processing"%#% +4 "core" %\  +752 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%% +70 "core" +448 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%' @ +4 "core" A +488 #t-> PRV.air +2 .PRV.dial :air +2 "processing"%&  +42 "core"  +679 #t-> PS.empty +3 .PS.seek 0ml + "processing"% 'ؾ +2634 "core" ' +2 "processing"%% +3 "core" %ع\ +675 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%! +71 "core"  +296 #t-> PSR.flush +2 .PSR.select :flush +608 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%*' +2629 "core" ' +2 "processing"%+% +4 "core" %\  +545 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%, +73 "core" +315 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%- @ +4 "core" A +322 #t-> PRV.air + .PRV.dial :air +2 "processing"%.  +4 "core"  +620 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%/'ؾ +2625 "core" ' +2 "processing"%0% +4 "core" %\ +433 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%1 +84 "core" +206 #t-> PSR.air + .PSR.select :air +2 "processing"% +277 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%2' +2634 "core" ' +2 "processing"%3% +4 "core" %\  +415 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%4 +70 "core" +348 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%5 @ +5 "core" A +481 #t-> PRV.air + .PRV.dial :air +575 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%6'ؾ +2632 "core" ' +2 "processing"%7% +3 "core" %\ +623 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%8 +71 "core"  +217 #t-> PSR.air +2 .PSR.select :air +248 #-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%9' +2636 "core" ' + "processing"%:% +5 "core" %\  +560 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%; +72 "core" +322 #t-> PTV.PRV +2 .PTV.dial PRV +2 "processing"%< @ +4 "core" A +345 #t-> PRV.air +2 .PRV.dial :air +328 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%>'ؾ +2639 "core" ' +2 "processing"%?% +4 "core" %ؼ\ +13954 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%= +5 "core" +409 #t-> PTV.PRV +7 .PTV.dial PRV +2 "processing"%A @ +4 "core" A +516 #t-> PRV.AB1 +2 .PRV.dial :AB1 + "processing"%B @ +70 "core" A +1146 #t-> PS.pull 2 + "processing"%C% +4 "core" %ؼ\ +2 .tPS.seek 2ml +2 "processing"%@' +2127 "core" ' +2 "processing"%E% +4 "core" %\  +1376 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%F  +101 "core"  +253 #t-> PS.empty +3 .PS.seek 0ml +2 "processing"%D'ؾ +2125 "core" ' +2 "processing"%H% +3 "core" %ظ\ +365 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%I +101 "core" +577 #t-> PS.pull 0.4 + "processing"%J% +3 "core" %ظ\ +3 .tPS.seek 0.4ml +2 "processing"%K' +492 "core" ' +3 "processing"%L% +4 "core" % \  +1025 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%G' +1995 "Can" A  +235 "core" ' + "processing"%N% +4 "core" %\ +1661 #t-> PSV.waste2 +2 .PSV.dial :waste2 +2 "processing"%O  +130 "core"  +27880 #t-> PS.empty +3 .PS.seek 0ml + "processing"%M'ؾ +2637 "core" ' +2 "processing"%Q% +3 "core" %ؿu\ +378 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%R +131 "core"  +364 #t-> PS.pull 0.4 +2 "processing"%S% +3 "core" %ؿ\ +3 .tPS.seek 0.4ml +2 "processing"%P' +493 "core" ' +2 "processing"%U% +4 "core" %  \  +819 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%T' +2218 "core" ' +2 "processing"%W% +3 "core" %\  +634 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%X  +99 "core"  +315 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%V'ؾ +2633 "core" ' +2 "processing"%Z% +4 "core" %ؽS\ +1144 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%[' +2637 "core" ' +2 "processing"%\\% +4 "core" %\  +308 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%Y'ؾ +2635 "core" ' +2 "processing"%^% +3 "core" %ؿ\ +413 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%] +101 "core" +1957 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%`' +2629 "core" ' +2 "processing"%a% +4 "core" %\  +962 #t-> PSV.waste1 +36 .PSV.dial :waste1 +9 "processing"%_  +103 "core"  +540 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%c'ؾ +2624 "core" ' +2 "processing"%d% +4 "core" %\ +385 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%e +100 "core" +474 #t-> PS.pull 0.4 +2 "processing"%b% +3 "core" %\ +3 .tPS.seek 0.4ml +2 "processing"%g' +487 "core" ' + "processing"%f% +5 "core" % \ \ +786 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%i' +918 "Can" A +1298 "core" ' +2 "processing"%j% +3 "core" %\  +1277 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%h  +103 "core"  +350 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%l'ؾ +2639 "core" ' +2 "processing"%m% +4 "core" %ػ\ +516 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%n +103 "core" +1078 #t-> PS.pull 0.4 +2 "processing"%k% +3 "core" %ػ\ +3 .tPS.seek 0.4ml +2 "processing"%p' +490 "core" ' +2 "processing"%o% +3 "core" %  \  +776 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%r' +2229 "core" ' +2 "processing"%s% +3 "core" %\  +824 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%q  +103 "core"  +306 #t-> PS.empty +3 .PS.seek 0ml + "processing"%u'ؾ +2642 "core" ' + "processing"%v% +4 "core" %ػ\ +416 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%w +115 "core" +425 #t-> PS.pull 0.4 +2 "processing"%t% +3 "core" %ػD\ +3 .tPS.seek 0.4ml +2 "processing"%y' +491 "core" ' +2 "processing"%x% +3 "core" % \  +730 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%{' +2227 "core" ' + "processing"%|% +4 "core" %\  +1034 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%z  +101 "core"  +278 #t-> PS.empty +3 .PS.seek 0ml +2 "processing"%~'ؾ +2645 "core" ' +2 "processing"%% +4 "core" %ؼ\  +371 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"% +103 "core" +389 #t-> PS.pull 0.4 +2 "processing"%}% +3 "core" %ؼA\  +3 .tPS.seek 0.4ml + "processing"%' +485 "core" ' +2 "processing"%% +3 "core" % \  +804 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%' +2218 "core" ' +2 "processing"%% +4 "core" %\  +717 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%  +103 "core"  +245 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + "processing"%\ % +5 "core" %ػ\ +367 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"% +103 "core" +1130 #t-> PS.pull 0.1 +2 "processing"%% +3 "core" %ػ\ +3 .tPS.seek 0.1ml +2 "processing"% '~ +174 "core" ' +2 "processing"%% +4 "core" %}\  +174 #t-> PS.pull 0.1 + "processing"%% +4 "core" %}\  +2 .tPS.seek 0.2ml +2 "processing"%'@ +186 "core" ' +3 "processing"% % +3 "core" %A\  +133 #t-> PS.pull 0.1 + "processing"%% +4 "core" %A\  +2 .tPS.seek 0.3ml +2 "processing"%' +199 "core" ' +2 "processing"%% +4 "core" %\ +25336 #t-> PS.pull 0.5 + "processing"%% +4 "core" %\ +2 .tPS.seek 0.8ml +2 "processing"%'> +596 "core" ' + "processing"%% +5 "core" %>\  +132 "Can"' = < +341 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%  +103 "core"  +387 #t-> PS.empty +3 .PS.seek 0ml +36 "processing"%'ؾ +906 "core" ' +2 "processing"%% +4 "core" %\ +4264 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +43 "core"  +319 #t-> PSR.flush +2 .PSR.select :flush +2 "processing"%@ +559 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%#' +2633 "core" ' + "processing"%%% +4 "core" %\  +2237 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%' +70 "core" +326 #t-> PTV.PRV +2 .PTV.dial PRV +2 "processing"%& @ +5 "core" A +370 #t-> PRV.air +2 .PRV.dial :air +2 "processing"%  +69 "core"  +645 #t-> PS.empty +3 .PS.seek 0ml + "processing"%'ؾ +2632 "core" ' +2 "processing"%!% +4 "core" %\ +480 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +85 "core" +355 #t-> PSR.flush + .PSR.select :flush +432 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%+' +2634 "core" ' +2 "processing"%,% +4 "core" %\  +606 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%- +70 "core" +578 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%. @ +5 "core" A +590 #t-> PRV.air +2 .PRV.dial :air +2 "processing"%*  +4 "core"  +399 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%0'ؾ +2628 "core" ' +2 "processing"%1% +4 "core" %"\ +493 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%/ +72 "core"  +284 #t-> PSR.air +2 .PSR.select :air +2 "processing"% +332 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%3' +2655 "core" ' +2 "processing"%4% +4 "core" %\ +347 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%5 +71 "core" +391 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%2 @ +4 "core" A +282 #t-> PRV.air +2 .PRV.dial :air +2 "processing"%7  +5 "core"  +340 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%8'ؾ +2634 "core" ' +2 "processing"%6% +3 "core" %غ\ +502 #t-> PSV.PSR +3 .PSV.dial PSR +2 "processing"%: +71 "core"  +228 #t-> PSR.air + .PSR.select :air +249 #-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%;' +2637 "core" ' +2 "processing"%<% +3 "core" %\  +339 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%9 +72 "core" +292 #t-> PTV.PRV +2 .PTV.dial PRV +2 "processing"%? @ +4 "core" A +305 #t-> PRV.air +2 .PRV.dial :air +353 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%='ؾ +2636 "core" ' + "processing"%A% +4 "core" %ع\ +4050 #t-> exit +6 #mEXIT @1693415674.26EDT @1693493176.38EDT = =tMAIN =mMAIN_scheduler @EDT1693493178.14 #"core_reset"Sent BREAK +2 #t@28527 receive with ifg=0x10, ie=0xFD #@29163 receive with ifg=0x10, ie=0xFD + #@29819 receive with ifg=0x10, ie=0xFD + #@30455 receive with ifg=0x10, ie=0xFD + #@31089 receive with ifg=0x10, ie=0xFD #@31724 receive with ifg=0x10, ie=0xFD + #@32358 receive with ifg=0x10, ie=0xFD #@32684 receive with ifg=0x80, ie=0xFD + #@4478 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +294 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +382 "Can"/\ =$PR\\ + /\ =$PR\\ + #tPolling Can every 10:00 +52 #Cleanly exited at 13:14:34EDT30-Aug-23 +764 #-> ESP.ready! +153 "sampler") +3 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %c\ \ N\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ع\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڀ\ 9\ 7 p\ V +2 .tSS.configure :default +3 "sampler")#.0X access 6 +3 "storage"(4% +3 "core" % $ % \ \ * +2 "manipulator"&5% +3 "core" %   +3 "manipulator"&6& +3 "core" & [ 1 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(7( +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &\ \  \ +3040 #t-> access 5 +2 "storage"(9% +3 "core" % S H 6\ \ * +2 "manipulator"&:% +4 "core" %   u +2 "manipulator"&;& +4 "core" & 1 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(<(  +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &  + # +\ +2073 #t-> access 2 +2 "storage"(>% +3 "core" % S R \ \ * +2 "manipulator"&?% +4 "core" %  F +2 "manipulator"&@& +3 "core" &  8 1 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(A(K +1294 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" &K   J\ +419 #t-> startTube 2 +1995 #-> $da[:extractVol]=.2 +29304 #-> shortDA +2 "collection"'C% +3 "processing"%D% +4 "core" %c\ \ ;\ +7 %ع\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +196 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%E +54 "core" + .tPTV.dial :PRVmixing +2 "processing"%F  +72 "core" + .tPRV.dial :sipper +2 "processing"%G  +100 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%H'e +2292 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%I  + "collection"'J  +72 "core" +54 +2 .tPS.seek 0.5ml +2 "processing"%K' +1267 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%L @ +98 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml +2 "processing"%M'ؾ +593 "core" ' + .tPSV.dial PSR +2 "processing"%N +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%O'X\\ +1102 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%P' +1609 "core" ' +2 .tPSV.dial :mixloop + "processing"%Q +102 "core" +43 .tPS.seek 0ml +2 "processing"%R'ؾ +2625 "core" ' +2 .tPSV.dial PSR +2 "processing"%S +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%T'X\\ +1110 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%U' +1606 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%V +101 "core" +2 .tPRV.dial :sipper + "processing"%W  +42 "core" +3 .tPS.seek 0ml +2 "processing"%X'ؾ +2630 "core" ' + .tPSV.dial PSR +2 "processing"%Y +101 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%Z' +1957 "Can"0\ C&R, +679 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%[ +103 "core" +2 .tPS.seek 0ml +2 "processing"%\\'ؾ +2636 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%]& +4 "core" &\  + .tHand.open +2 "manipulator"&^1 +55 "core" 1 + "manipulator"&_% +4 "core" %   +2 "storage"(`% +3 "core" % G H \ \ * +2 "storage"(a. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(b(  +1301 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" & \ \ & &\ +2 "manipulator"&d& +4 "core" &  0 1 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&e( +2 "core" ( +3 "manipulator"&f& +4 "core" & 1 + "storage"(g& +4 "core" &  6 2 }\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&h'S +88 "core" ' +2 "storage"(i& +4 "core" &  G E \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'r +302 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & #  \ +2 "manipulator"&m& +4 "core" &  1 +2 .tElbow.seek 2 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&o& +3 "core" &   1 +2 "storage"(p& +3 "core" & , + `\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&q'Ͻ +14 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& + "storage"(t' +7 "core" &  1 +2 "manipulator"&u% +3 "core" % Ϸ +3 .tForearm.seek :retract + "manipulator"&v' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +109 "core" ( +2 "manipulator"&x& +3 "core" &  2  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &  ?  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&z' +91 "core" ' +2 "manipulator"&{& +4 "core" &  c  + "manipulator"&|% +4 "core" % ' c +2 "processing"%}& +4 "core" &\  +2 "processing"%~& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" & \  +6 &?\ $e +9 &rW}\ 8 +9 &{ \ L +10 &\\\ O +9 &DZ\ N +10 &Z\ O +9 &Y\ O +9 &Z\ O +10 &KY \ O +9 & \\\ O +9 &]\ O +10 &!Z\ N +9 &#S[#\ O +10 &%]\ O +9 &&_\ O +9 &(^\ O +10 &*[_%\ O +9 &,_#\ O +9 &-]\ N +10 &/\\#\ N +9 &1d[\ N +10 &3%\\'\ O +9 &4Z)\ N +9 &6Z*\ N +10 &8k_'\ O +9 &:-X*\ O +9 &;\\-\ O +10 &=^0\ O +9 &?t\\'\ N +10 &A4`%\ O +9 &Bh'\ P +9 &Dp+\ Q +10 &Fm)\ S +9 &H+*\ U +9 &I&\ T +10 &K.\ U +9 &Mp:\ U +9 &O1'\ U +10 &P4\ V +9 &R/\ U +10 &Tt4\ W +9 &V:1\ U +9 &W7\ V +10 &Y2\ V +9 &[;\ U +10 &]?4\ N +9 &^wG@\ b +9 &^8>\ 2 +6 ( + "processing"%~& +4 "core" &^ 8\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" %   c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %9 +6 "core" 9 +103 "processing"%9 +3 "core" 9 +102 "processing"%\ 9 +3 "core" 9  +102 "processing"% 9 +46 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +3 "core" 9$ +103 "processing"%9 +3 "core" 9( +102 "processing"%9 +3 "core" 9, +102 "processing"%9 +3 "core" 91 +102 "processing"%9 +3 "core" 95 +103 "processing"%9 +2 "core" 99 +103 "processing"%9 +3 "core" 9= +102 "processing"%9 +3 "core" 9A +102 "processing"%9 +3 "core" 9F +102 "processing"%9 +3 "core" 9J +103 "processing"% 9 +2 "core" 9N +103 "processing"%!9 +3 "core" 9R +102 "processing"%"9 +3 "core" 9V +102 "processing"%#9 +3 "core" 9[ +102 "processing"%$9 +3 "core" 9_ +102 "processing"%%9 +3 "core" 9c +102 "processing"%&9 +3 "core" 9g +102 "processing"%'9 +3 "core" 9k +102 "processing"%(9 +3 "core" 9p\ +102 "processing"%)9 +3 "core" 9t +102 "processing"%*9 +3 "core" 9x +102 "processing"%+9 +4 "core" 9| +102 "processing"%,9 +3 "core" 9' +3 .tPH.hold 2:00:00,28C +3 "processing"%- php +2 .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%. +102 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%/' +598 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%0' +1617 "core" ' + .tPTV.dial :puck +2 "processing"%1  +128 "core"  + .tPSV.dial PTV +2 "processing"%2 +73 "core" +2 .tPBV.dial :waste1 +2 "processing"%3  +53 "core" + "processing"%4% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%5'( +592 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%6 * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%8  +5 "core"  +2 .tPBV.dial :waste1 +2 "processing"%9  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%: * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%; +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%7' +2360 "Can":\ I)S +12 "core" ' + .tPSV.dial PTV +2 "processing"%= +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%> +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%? +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%@  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%<'ؾ +2315 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%B  +126 "core" +2 .tPSV.dial :mixloop +2 "processing"%C +43 "core" +2 .tPRV.dial :ab1 + "processing"%D @ +99 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%E' +350 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV + "processing"%F  +43 "core" +2 "processing"%G% +4 "core" %\ \ +2 .tPS.seek 0.35ml +2 "processing"%'e +460 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'J  +29 "core" +2 .tPRV.dial :air +2 "processing"%I  +42 "core"  +3 .tPS.seek 0.9ml + "processing"%H'K +1174 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%L @ +71 "core" > +3 .tPS.seek 0.5ml +2 "processing"%K' +858 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%N  +43 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%M' +1615 "core" ' + .tPSV.dial :PML +2 "processing"%O +44 "core" + .tPTV.dial :mixing +2 "processing"%Q @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%P  +34 "core" +2 "processing"%S% +3 "core" %\  +3 .tPS.seek 1.85ml + "processing"%R' +229 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%T * +33 "core" * +2 .tPS.seek 0ml + "processing"%V'ؾ +1973 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'W& +3 "core" &\ \ d\  +2 "manipulator"&U& +4 "core" &   +2 "manipulator"&Y% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +38 .tElbow.seek FlushPuck::Garage +9 "manipulator"&X(- +123 "core" ( +2 "manipulator"&[& +3 "core" &-   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &-   +3 .tForearm.seek :garage +2 "manipulator"&]'w +91 "core" ' +2 .tHand.close +2 "manipulator"&^/ +63 "core" / +2 "manipulator"&_& +3 "core" &-   +2 "manipulator"&`% +4 "core" % u   +2 .tForearm.seek :retract +2 "manipulator"&a' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&A(ӂ +277 "core" ( +2 "manipulator"&c& +4 "core" &ӑ!  \  :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &ӑ!   :1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'? +100 "core" ' +2 "manipulator"&g& +3 "core" &Ӓ!   5 :0 +2 "manipulator"&i% +5 "core" %@   +2 "collection"'& +4 "core" &\ \ Z\  +2 "collection"'& +5 "core" &\ \ e\  +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\ \ \  +7 &F\ \ \ %i +9 &|Y}\ \ \ 9 +10 &z\ \ \ |\ M +9 &Y\ \ y\ M +9 &`W\ \ |\ M +10 & Z\ \ y\ N +9 &Z\ \ v\ M +10 &Z\ \ y\ M +9 &f[\ \ x\ N +9 &)Z\ \ {\ M +11 &V\ \ \ ~\ M +8 &!Y\ \ z\ M +9 &#oZ\ \ z\ M +10 &%2[\ \ u\ M +9 &&X\ \ n\ M +10 &(Y\ \ w\ N +9 &*xY\ \ u\ M +9 &,:Z\ \ t\ M +10 &-Z\ \ w\ M +9 &/Y\ \ z\ M +9 &1Y\ \ w\ M +10 &3AY\ \ |\ M +9 &5Z\ \ t\ N +10 &6Z\ \ s\ M +9 &8Y\ \ z\ M +9 &:IZ\ \ x\ M +10 &< X\ \ w\ M +9 &=W\ \ x\ M +9 &?Y\ \ w\ N +10 &AQ]\ \ t\ M +9 &Ce\ \ w\ O +10 &Dt\ \ |\ P +9 &F\ *\ #z\ T +9 &H9\ -\ 0z\ X +10 &I\ "\ '|\ Z +9 &K\ \ v\ Y +9 &M{\ \ p\ Z +10 &O<\ \ |\ Z +9 &P\ \ x\ [ +10 &R\ \ }\ [\ +9 &T}\ \ y\ \\ +9 &V<\ \ w\ ] +10 &W\ \ z\ ] +9 &Y\ \ w\ _ +9 &[}\ \ t\ K +10 &\\5\ \ t\ 3 +9 &\\\ \ y\ W +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + "collection"'k& +2 "core" &\\y\ \ {\ W +4 &\\y\ \ v\ W +2 .tHand.open + "manipulator"&l1 +56 "core" 1 +2 "manipulator"&m% +4 "core" % @   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' + .tPSV.dial PSR +2 "processing"%p +114 "core" +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%r'+ +1630 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%s  +44 "core"  +2 .tPS.seek 0ml + "processing"%u'ؾ +1612 "core" ' +2 .tPSV.dial PSR +2 "processing"%e +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%h' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +3 "processing"%j  + "collection"'q  +32 "core" +122 +2 .tPSV.dial :mixloop +2 "processing"%x +112 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'y +3 "core"  +2 "collection"'n +3 "core"  +2 "collection"'{  +3 "core" +2 .tPTV.dial :PRVmixing + "processing"%|  +73 "core" +2 .tPS.seek 0ml +2 "processing"%}'ؾ +2633 "core" ' +2 .tPSV.dial :air +2 "processing"%t  +56 "core" +2 .tPS.seek 2.5ml +2 "processing"%v' +2627 "core" ' +2 .tPSV.dial :mixloop + "processing"% +42 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2632 "core" ' +2 .tPSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%~ +43 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2628 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&z& +3 "core" &ӥ   8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&\ (ӂ +13 "core" ( +2 "manipulator"& & +3 "core" &Ӊ   \ - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӊ   - +3 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( + "manipulator"&& +4 "core" &ӎ   Y , +2 "manipulator"&% +79 "core" % 2   \ +10 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +283 "core" ( +2 "manipulator"&& +3 "core" &-  \\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &-  \\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +100 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +3 "core" % ~   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 ."da"delayUntil "11:16:26.58" +24453 "Can"'\ K,T +179 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"% @ +72 "core" B + ."da"PBV.dial :waste1 +2 "processing"%!  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%" * +33 "core" + + ."da"PSV.dial :air +2 "processing"%#  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%$' +2364 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%&  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%' +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%(  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%)'ؾ +2339 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%* +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%+' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%,' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%.  +68 "core"  +2 ."da"PSV.dial PTV +2 "processing"%\\ +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%/  +32 "core" +2 "processing"%1% +3 "core" % \  +3 ."da"PS.seek 1.5ml +2 "processing"%2'/ +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%3 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +1629 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%0  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%6 * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%5 +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2360 "core" ' + ."da"PSV.dial PTV +2 "processing"%8 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%9 +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%: +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%;  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2325 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +3 .PSV.dial PSR + "processing"%= +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%>' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%?' +1629 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%@ +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%7  +32 "core" +2 "processing"%B% +3 "core" %\ +3 ."da"PS.seek 1.5ml + "processing"%C'* +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%D * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +1633 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%F  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%G * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%E +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%J' +2362 "core" ' +2 ."da"PSV.dial PTV + "processing"%I +85 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +70 "core"  +2 ."da"delay 5 seconds +31 "Can"$ B/fT +471 ."da"PSV.dial PTV +2 "processing"%L +116 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%H  +72 "core"  +2 ."da"PS.seek 0ml +3 "processing"%N'ؾ +2325 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%K  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%O  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%Q  +42 "core" ~ +2 ."da"PTV.dial :PRVmixing +2 "processing"%P  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"%S +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%T' +387 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%M  +44 "core"  + "processing"%R% +4 "core" %\ '\  +2 ."da"PS.seek 0.55ml +2 "processing"%W' +329 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%U  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%Y' +1560 "core" ' +2 ."da"PSV.dial :PML + "processing"%[ +44 "core" + ."da"PTV.dial :mixing +2 "processing"%Z @ +73 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%w  +32 "core" +2 "processing"%^% +3 "core" %'\  +3 ."da"PS.seek 1.85ml +2 "processing"%_' +231 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%` * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1972 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +48003 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%] @ +16 "core" ? +2 ."da"PBV.dial :waste1 + "processing"%c  +33 "core" +2 ."da"delay 30 seconds +1947 "Can"\ U2UJ +1056 ."da"PBV.dial between PSV and waste1 +2 "processing"%d * +32 "core" + +2 ."da"PSV.dial :air + "processing"%X  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%g' +2364 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%i +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%a +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%k'ؾ +2324 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%l +128 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%m' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1616 "core" ' +2 ."da"PTV.dial :puck + "processing"%p  +72 "core"  +2 ."da"PSV.dial PTV +2 "processing"%f +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%V  +32 "core" +2 "processing"%s% +3 "core" %/\  +3 ."da"PS.seek 1.5ml + "processing"%r'- +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%e * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%q  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%j  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%x * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%y +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%n' +2363 "core" ' + ."da"PSV.dial PTV +2 "processing"%{ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%| +70 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%h +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%t  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +2322 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +129 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%v' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%~  +33 "core" + "processing"%% +4 "core" %7\ +2 ."da"PS.seek 1.5ml +2 "processing"%z'1 +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +10 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%A * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%o +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2386 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1142 "Can" D4U +1189 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1606 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"% % +3 "core" %6\  +3 ."da"PS.seek 1.5ml +2 "processing"%!'+ +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%" * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%#'ؾ +1633 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +83 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'' +2373 "core" ' + ."da"PSV.dial PTV +2 "processing"%( +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%$ +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%* +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%)  +83 "core"  +3 ."da"PS.seek 0ml +2 "processing"%+'ؾ +2319 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%. +133 "core"  +4 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +7 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml + "processing"%\\' +342 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%/' +335 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%1' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%, +75 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%3  +34 "core" + "processing"%2% +4 "core" %+\  +2 ."da"PS.seek 1.5ml +2 "processing"%0'+ +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%6 * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +1631 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%4  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%8 * +35 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%9 +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%:' +2403 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%; +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +75 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%= +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +2363 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +131 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +43 "processing"%7' +2125 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%B +73 "core" + ."da"PBV.dial :waste1 +3 "processing"%?  +33 "core" +2 "processing"%D% +4 "core" %A\  +2 ."da"PS.seek 1.5ml +3 "processing"%C', +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%F * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%G  +100 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +1609 "core" ' + "processing"%<9 +3 "core" 9i5W +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast +2 "processing"%I +2 %& +2 "core" 5X +4 &^ 9\ 2 + #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&L% +4 "core" %     +2 "storage"(H% +4 "core" % \  + "storage"(J. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(K(C +356 "core" ( +2 ."da"SC.configure :limp +3 "storage"($\ 1b +3 (O& + "manipulator"&Q& +4 "core" &E )\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &-  q \\ +2 "manipulator"&P% +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(S'r +3 "core" %   A  +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek PC +2 "manipulator"&N( +121 "core" ( +2 "manipulator"&M& +4 "core" & , . +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &  h . +2 ."da"Forearm.seek PC +2 "manipulator"&T' +94 "core" ' +2 ."da"Hand.close + "manipulator"&U/ +24 "core" ' + "storage"(W- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['1 +29 "core" / +2 ."da"PC.seek :open +3 "processing"%Z( +13 "core" ' +443 ( +2 "storage"(w& +3 "core" &F \ +2 "manipulator"&^& +3 "core" & . +3 "manipulator"&`% +4 "core" %  M  + ."da"Forearm.seek :retract +2 "manipulator"&Y' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&_( +245 "core" ( +2 "manipulator"&]& +4 "core" &    8 + "storage"(c& +3 "core" &F [\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&d' +95 "core" ' + ."da"Hand.open +2 "manipulator"&X1 +64 "core" 1 +3 "storage"(- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23aug3111h.tif +5 "processing"%a& +9 "core" &\ +6 "manipulator"& & +8 "core" & \  8 +4 "manipulator"&g% +10 "core" %   [ 9 +4 ."psFlush"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."psFlush"Forearm.seek :retract +3 "manipulator"&l' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&k(- +176 "core" ( +2 "manipulator"&m& +4 "core" &-  J K + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +3 "core" &- b K +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&f'w +96 "core" ' + ."psFlush"Hand.close +2 "manipulator"&V/ +54 "core" / +9 "manipulator"&s& +3 "core" &- w K +2 "manipulator"&% +4 "core" % ρ 0 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&e' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&r( +115 "core" ( +2 "manipulator"&q& +4 "core" &   H +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &  6 H +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&x' +101 "core" ' +2 "manipulator"&y& +3 "core" &   > H +3 "manipulator"&u% +4 "core" %   & ! +2 "processing"%{& +3 "core" &\ +3 "processing"%|& +4 "core" &\ +3 ."psFlush"PC.seek :closed +2 "processing"%h(^ +3 "core" &\ +8 &1\ $d +9 &Us\ 7 +10 &}t\ K +9 &R\ O +9 &WP\ O +10 &O:\ O +9 &Q>\ O +9 &R=\ O +10 &aQt\ O +9 &#R\ O +10 &R\ O +9 &!U\ O +9 &#hR\ O +10 &%*S\ O +9 &&Q\ N +9 &(U\ N +10 &*rT\ N +9 &,6R|\ N +10 &-Ty\ M +9 &/Uu\ N +9 &1|Rt\ N +10 &3>Rm\ N +9 &5Tp\ N +9 &6Up\ N +10 &8Rg\ N +9 &:DRd\ N +9 &<R]\ O +10 &=RV\ O +9 &?T[\ N +10 &AITM\ O +9 &C ]I\ P +9 &D`U\ Q +10 &FsY\ T +9 &H?]\ V +10 &JR\ U +9 &KY\ U +9 &MM\ V +10 &OEG\ V +9 &QH\ V +9 &RL\ V +10 &TI\ W +9 &VLD\ V +10 &X;\ V +9 &Y2\ V +9 &[:\ V +10 &]U6\ F +9 &^w?o7\ (v +9 &^/0\ . +6 ( + "processing"%|& +4 "core" &^(\ . +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + "processing"%t& +4 "core" &^&\ . +2 ."psFlush"Hand.open + "manipulator"&n1 +54 "core" 1 +2 "manipulator"& % +3 "core" %   ! +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&}' +98 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%v +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +593 "core" ' +2 ."psFlush"delay 5 seconds +279 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 21.078 seconds\ /var/log/esp/da23aug3111h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23aug3111h15s.tif +220 ."psFlush"PSR.select :air +13 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%~' +1320 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23aug3111h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23aug3111h20s.tif +805 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +3 "processing"% @ +183 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +129 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +112 "core" +2 ."psFlush"PS.seek :empty +3 "processing"%z'ؠ +712 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23aug3111h20s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "21.078 sec auto-exposure",Subject: "da23aug3111h images!" +7 "storage"(- +14 "core" -' +10 "storage"(A& +4 "core" &F \ +2 "manipulator"&o& +4 "core" &  H +2 "manipulator"&% +5 "core" % \   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +259 "core" ( +5 "manipulator"&& +9 "core" &  \ |  +4 "storage"(& +8 "core" &F \ +74 ."da"Forearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&' +90 "core" ' +5 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"('" +54 "core" ' +3 "manipulator"&\ & +9 "core" &   +4 "storage"(& +8 "core" &F D D \ +4 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +2 "manipulator"&'8 +21 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&, +6 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +8 ."da"SE.reconfigure :default +7 "storage"(#QK-0-\ b +9 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(' +30 "core" ' +4 "manipulator"& % +6 "core" %>  1 +4 "storage"(& +7 "core" &F C C J\ +5 ."da"Forearm.force -20 + "manipulator"&5 +8 ."da"Forearm.seek 1 + 306 counts +4 "manipulator"&"'j +17 "core" ' +4 "manipulator"&!& +6 "core" & \  .  +4 "storage"(& +9 "core" &F > D \ +5 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +8 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&%' +12 "Can" G:Vv +7 "core" ' +2 "storage"(&% +9 "core" % = B \ +6 ."downElevator"SE.seek :down +6 "storage"(#' +98 ((% +8 "core" %M\ \  l\ Vb +6 "manipulator"&$% +6 "core" %  / +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&*' +91 "core" ' +43 ' +4 ."downElevator"SE.stop +12 "storage"(5 +8 ()& +7 "core" &F 7 8 \ +379 #"uploadLog"upsync +352 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%' +101 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%.' +598 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%+' +2125 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%\\  +33 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%/ @ +72 "core" A +2 ."psFlush"PSV.dial :mixloop + "processing"%, +102 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%3'ؠ +2652 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%2 +99 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%1'X\\ +1106 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%6' +1616 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%0 +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%4  +68 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%8  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%9'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%5 +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%;' +596 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%= +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +51 "core" V +2 ."psFlush"PS.seek 0ml +3 "processing"%:'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%@ @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%>' +2679 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%B  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%?'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%D +41 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%7' +2629 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%F +82 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%G U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%C'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%< @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%I' +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%L'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%H +43 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%J'X\\ +1099 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +1612 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%O +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%Q  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%P'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%M +84 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%R' +590 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%W' +2129 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%U U +52 "core" W +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2648 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%S @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2652 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%w  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%^'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%` +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%T' +2637 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%] +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%c U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%N'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%X @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%a  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +335 "Can" E<~W  +2300 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&Y& +3 "core" &  )  +2 "manipulator"&g% +3 "core" %    +3 ."psFlush"Elbow.seek PC +2 "manipulator"&[( +244 "core" ( + "manipulator"&i& +4 "core" &   A # +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" & G # +2 ."psFlush"Forearm.seek PC +2 "manipulator"&p' +90 "core" ' +2 ."psFlush"Hand.close + "manipulator"&d/ +55 "core" / +2 ."psFlush"PC.seek :open +37 "processing"%_( +465 "core" ( +2 "manipulator"&V& +4 "core" & # + "manipulator"&s% +4 "core" %  : +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&l(- +127 "core" ( + "manipulator"&q& +4 "core" &- ]  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &-  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&f'w +103 "core" ' + ."psFlush"Hand.open +2 "manipulator"&y1 +62 "core" 1 +2 "manipulator"&u% +4 "core" %   \ $ +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&{' +98 "core" ' +2 #tFinished short da assay +56222 "Can" =>W/ +60002  =@X8 +60001  =BX +35353 #t-> access 2 +3 "storage"(k% +3 "core" % p p \ +2 "manipulator"&e% +4 "core" %  ]  +2 "manipulator"&Z& +4 "core" &-  j  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(t(K +1618 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +3 "core" &K @ 8 \  +351 #t-> access 1 +3 "storage"( % +3 "core" % o ` [\ +2 "manipulator"&|% +3 "core" %    +3 "manipulator"&v& +4 "core" &-  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(x(<- +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +2 "core" &<0 C 7 x\ +4559 #t-> exit +7 #mEXIT @1693500208.08EDT @1693917369.90UTC = =mMAIN_scheduler =tMAIN @UTC1693917371.60 #"core_reset"Sent BREAK +2 #t@23111 receive with ifg=0x10, ie=0xFD + #@23748 receive with ifg=0x10, ie=0xFD + #@24404 receive with ifg=0x10, ie=0xFD + #@25040 receive with ifg=0x10, ie=0xFD #@25674 receive with ifg=0x10, ie=0xFD + #@26309 receive with ifg=0x10, ie=0xFD #@26943 receive with ifg=0x10, ie=0xFD + #@27270 receive with ifg=0x80, ie=0xFD + #@34421 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +285 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +370 "Can" < +  < + #tPolling Can every 10:00 +2 #Cleanly exited at 12:43:28EDT31-Aug-23 +191 #-> esp +883 #-> ESP.ready! +155 "sampler") +2 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %c "\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %ؼ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +4 "core" %ڀ\ 3\ 3 u\ V +2 .tSS.configure :default +2 "sampler")#.0X access 2 +3 "storage"(3% +3 "core" % S O =\ +3 "manipulator"&4% +4 "core" %      + "manipulator"&5& +4 "core" &-     +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(6(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &K F F \ +1206 #t-> access 3 +3 "storage"(8% +3 "core" % ] i i\ +2 "manipulator"&9% +3 "core" %   \  +2 "manipulator"&:& +4 "core" &-     +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(;([ +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +2 "core" &[ , " M\  +653 #t-> access 4 +2 "storage"(=% +3 "core" % _ \\ \ +2 "manipulator"&>% +3 "core" %     +3 "manipulator"&?& +3 "core" &-   2  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(@(C +1933 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &? D F \ +965 #t-> require 'shuffle.rb' +1288 #-> 20.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'B& +4 "core" & \ \ +2 .tHand.open + "manipulator"&C1 +17 "core" 1 +2 "manipulator"&D% +3 "core" %      +2 "storage"(E% +4 "core" % j f 8\ +2 "storage"(F. +3 "core" .(? +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(G(  +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (H& +2 "core" &  D F\  +3 "manipulator"&I& +4 "core" &-   $  + "manipulator"&J% +5 "core" %    -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&K( +173 "core" ( +2 "manipulator"&L& +3 "core" &   ? b +2 "storage"(M& +5 "core" &  j j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&N'S +101 "core" ' +2 "storage"(O& +4 "core" &  i _ e\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(P'r +297 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (R& +3 "core" & O E G\  +2 "manipulator"&S& +3 "core" &    b +3 .tElbow.seek 2 +2 "manipulator"&T( +4 "core" ( + "manipulator"&U& +4 "core" &    b +2 "storage"(V& +3 "core" & S S Y\  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&W'Ͻ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&Y& + "storage"(Z' +41 "core" &   ' b +9 "manipulator"&[% +4 "core" %   . +2 .tForearm.seek :retract +2 "manipulator"&\\' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +115 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +28 "core" ( +2 "manipulator"&^& +4 "core" &y-   r Dw +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &y-   Dw +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&`'? +100 "core" ' +2 "manipulator"&a& +4 "core" &ә'  $ ?W +2 "manipulator"&b% +5 "core" %F Z +2 "collection"'c& +4 "core" & "\ +2 "collection"'d& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'e(\\ +5 "core" & \  +9 &7} \ +| +10 &g "\ ? +9 &u\ \ \ N +9 &^W \ "\ M +10 &Y\ $\ M +9 &Z\  \ N +10 &Y \ "\ M +9 &gX \ M +9 &(] \  \ M +10 &[ \ \ M +9 & Z \ \ M +9 &"nZ\   \ M +10 &$0Z \ M +9 &%[\  \ M +10 &'[ \ M +9 &)xZ\  \ L +9 &+9Z \ M +10 &,Z\ \ \ L +9 &.Z \ \ M +9 &0\\\ \ M +10 &2AW \ M +9 &4Z \ L +10 &5Y\ \ M +9 &7]\ \ M +9 &9JZ\ \  \ L +10 &; Y \  \ L +9 &<Y\ \  \ M +9 &>]\ \ M +10 &@QX\ \ \ M +9 &B]\ \ \ M +10 &Cb\ \ \ N +9 &Ek\ \ \ O +9 &GL}\ \ \  \ Q +10 &I\ \ \ T +9 &J\ \ \ X +9 &L~\ \ \ \ X +10 &N?\ \ \ X +9 &O\ \ \ Y +10 &Q\ \ \ Y +9 &S\ \  \ Z +9 &UA\ \  \ Z +10 &W\ \ \ [ +9 &X\ \ \ \\ +9 &Z\ \ \ [ +10 &\\%y\ \ \ / +9 &\\-\ \ \ Z +9 ( +3 "collection"'d& +2 "core" &\\c\ \ \ K +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&f1 +58 "core" 1 +2 "manipulator"&g% +5 "core" % E   ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%i& +4 "core" & \ +2 "manipulator"&j% +4 "core" %     +2 "storage"(k% +4 "core" % $ #\ + "storage"(l. +4 "core" .(  + "storage"(m& +5 "core" & % &\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(n(  +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" & \ \  \ +2 "manipulator"&p& +4 "core" &Ӭ#   =D +2 "manipulator"&q% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&r( +166 "core" ( + "manipulator"&s& +5 "core" &  *  + "storage"(t& +3 "core" &  # " \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'S +97 "core" ' +2 "storage"(v& +3 "core" &  G E #\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(w'r +300 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &  $ $\  +2 "manipulator"&z& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&|& +3 "core" &     +2 "storage"(}& +4 "core" & $ +\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&~'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +9 "core" &   + "manipulator"&% +5 "core" % Ϲ    +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +99 "core" ' +2 "manipulator"&& +4 "core" &   q  +2 "manipulator"&% +3 "core" %  & +3 "processing"%& +3 "core" &\ +46 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +8 &0\ $d +10 &U{\ 7 +9 &}|\ K +9 &\\\ O +10 &`[\ O +9 &$Y\ N +10 &\\\ O +9 &X\ O +9 &hZ\ O +10 &)\\\ O +9 &Z\ O +9 &!\\\ O +10 &#q\\\ O +9 &%3Z\ O +10 &&Z \ O +9 &(Z \ N +9 &*x\\\ O +10 &,;\\ \ O +9 &-Z \ O +9 &/_\ O +10 &1Z \ N +9 &3CZ \ O +10 &5Z \ O +9 &6Z\ \ O +9 &8Z\ O +10 &:KZ\ O +9 &< \\\ O +9 &=\\\ O +10 &?]\ O +9 &AR\\\ O +10 &Ce\ \ P +9 &Dh\ Q +9 &Fn\ Q +10 &HN~\ S +9 &J \ T +10 &K\ U +9 &M\ U +9 &OO\ U +10 &Q\ V +9 &R\ V +9 &T\ V +10 &VW\ U +9 &X\ U +9 &Y\ U +10 &[\ V +9 &]]\ C +10 &^M|\ H +9 &^D\ = +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"%& +4 "core" &^>\ = +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +5 "core" % \    +2 "storage"(% +4 "core" %\ \  *\  +2 "storage"(. +3 "core" .(  +2 "storage"(& +4 "core" & \ \  6\  +2 "storage"(& +3 "manipulator"&& +5 "core" & \ \  \  +3 &    +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"( 'r + "manipulator"&!( +7 "core" ( + "manipulator"&"& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &  H  +3 .tForearm.seek PC + "manipulator"&$' +89 "core" ' +2 .tHand.close + "manipulator"&%/ +53 "core" / +2 .tPC.seek :open +2 "processing"%&( +98 "core" ' +2 "storage"('- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('1 +47 "core" ' +302 ( +2 "storage"()& +3 "core" & " \  +3 "manipulator"&*& +3 "core" &   +2 "manipulator"&+% +5 "core" %  D +2 .tForearm.seek :retract + "manipulator"&,' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&-( +249 "core" ( + "manipulator"&.& +5 "core" &   ] + "storage"(/& +4 "core" & $ $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&0'S +89 "core" ' +2 .tHand.open + "manipulator"&11 +53 "core" 1 +3 "storage"(2- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(3' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(4' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(5- +3 "core" -' +2 "storage"(& +3 "core" & 5 5 a\  +2 "manipulator"&7& +5 "core" &  H \\ +2 .tElbow.seek 2 + "manipulator"&8( +4 "core" ( +2 "manipulator"&9& +4 "core" &   O \\ + "storage"(:& +5 "core" & 5 6 <\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&6'S +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +50 "core" ' +2 "manipulator"&=& +3 "core" &    \\ +2 "storage"(>& +5 "core" & \ \  +\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&?'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +20 "core" ' +2 "manipulator"&B% +3 "core" %Ρ   s +45 "storage"(C& +3 "core" & \ \  \  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&D' +14 "core" ' +2 "manipulator"&E& +3 "core" &   \\ +3 "storage"(F& +3 "core" & ' ' \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&@'S +16 "core" ' + "storage"(H% +4 "core" % ) - D\ +3 ."downElevator"SE.seek :down +4 "storage"(I' +99 (J% +4 "core" %?T o\ Xi +2 "manipulator"&L% +3 "core" %P  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" & Z \  +3 "collection"'& +4 "core" &\\c\ \  \ K +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %   "  +3 "storage"(Q% +4 "core" % \  + "storage"(R. +3 "core" .(  +2 "storage"(S& +4 "core" & - - p\  +2 "storage"(U& +3 "core" & " ' 1\  +2 "manipulator"&V& +4 "core" &   C \\ +2 .tElbow.seek 2 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&Y& +4 "core" &    \\ +2 "storage"([& +3 "core" & ! ^\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&K'S +93 "core" ' + "storage"(N& +4 "core" & 3 E F\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +296 "core" ' +2 "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" &   \\ +2 "storage"(W& +3 "core" & \  >\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&a'Α +23 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(T'j +34 "core" ' + "manipulator"&Z% +4 "core" %Ξ  } +2 "storage"(\\& +4 "core" & % '\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"& ' +13 "core" ' + "manipulator"&f& +5 "core" &   \\ + "storage"(g& +4 "core" & # # #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&i'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(j' +45 "core" ' + "manipulator"&k& +4 "core" &   \\ +2 "manipulator"&l% +4 "core" %D  \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +154 "core" ( +2 "manipulator"&o& +3 "core" &Ӓ"   # ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +3 "core" &Ӓ"  \ $ ;3 +2 .tForearm.seek CC +2 "manipulator"&q'? +91 "core" ' +2 .tHand.close + "manipulator"&`/ +58 "core" / +2 .tCC.seek :open + "collection"'s( +449 "core" ( +2 "storage"(t& +4 "core" & E F 7\  +2 "storage"(G& +4 "core" & E E \  + "manipulator"&v& +5 "core" &ӳ   ' 6 + "manipulator"&]% +4 "core" % 7   +3 .tForearm.seek :retract + "manipulator"&h' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&x( +165 "core" ( +2 "manipulator"&y& +4 "core" &     +2 "storage"(z& +4 "core" & j k \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&|'Α +95 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , +37 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +3 "manipulator"&% +5 "core" % Ώ     + "storage"(& +3 "core" & l j \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 298 counts +2 "manipulator"&r'ϻ +14 "core" ' + "manipulator"&u& +5 "core" &  + "storage"(w& +4 "core" & h \\ c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'S +15 "core" ' + "storage"(% +4 "core" % \\ f .\ +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +99 ({% +3 "core" %kC E F w\ Wc +2 "manipulator"&% +4 "core" %> \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&% +4 "core" %    +2 "storage"(% +3 "core" % i i ]\  +3 "storage"( . +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & G G \  +2 "manipulator"&& +4 "core" &     +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( + "manipulator"&& +4 "core" &   X p +2 "storage"(& +3 "core" & l k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +92 "core" ' +2 "storage"(& +3 "core" & j l \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +3 "core" & T T 4\  +2 "manipulator"&#& +4 "core" & \   p +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&%& +3 "core" & \ B p +2 "storage"('& +5 "core" & E ; b\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"( ' +8 "core" &  g p + "manipulator"&)% +5 "core" % ϶   F +2 .tForearm.seek :retract +2 "manipulator"&*' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&$& +5 "core" &Ӎ& $ $  ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &Ӎ& !  h ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&/'? +98 "core" ' +3 "manipulator"&!& +4 "core" &Ӎ&   U ?Q +2 "manipulator"&1% +3 "core" %: = +3 "collection"'2& +3 "core" & \ +3 "collection"'5& +6 "core" &  \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &  \ +6 & \ +10 &;  \ %f +9 &X} \ 8 +9 &y \ L +10 &Y \ M +9 &U \ L +9 &D[ \ L +10 &Z \ L +9 &W \ L +10 &W \ L +9 &LW \ L +9 & X \ L +10 &!Y 4\ M +9 &#[ *\ M +9 &%SW '\ M +10 &'Y )\ M +9 &([ M\ L +10 &*Z (\ L +9 &,[Z B\ M +9 &.X C\ L +10 &/T E\ L +9 &1Y C\ M +10 &3cX D\ M +9 &5&X <\ L +9 &6V @\ L +10 &8Z <\ L +9 &:m[ \ B\ L +9 &<.Y \ 9\ L +10 &=U\ 4\ L +9 &?Z\ \ 6\ L +9 &AtZ\ \ 4\ L +10 &C5_\ \ 1\ M +9 &Dd\ \ 4\ M +10 &Fn\ \ 0\ O +9 &Hn\ \ 3\ Q +9 &J%\ \ 2\ U +10 &K\ \ 4\ W +9 &M\ \ 4\ Y +9 &Oa\ \ 4\ X +10 &Q!\ \ 4\ Y +9 &R\ \ 6\ Y +10 &T\ \ 5\ Z +9 &Vb\ \ 5\ [ +9 &X#\ \ 6\ [\ +10 &Y\ \ 4\ \\ +9 &[\ \ 2\ I +9 &\\2\ \ 6\ 2 +10 &\\`\ \ 5\ I +2 ( +2 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&71 +60 "core" 1 +3 "manipulator"&9% +48 "core" % :   4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%,& +4 "core" &\ +2 "manipulator"&=% +4 "core" %    +2 "storage"(>% +3 "core" % - - o\ +3 "storage"(B. +3 "core" .( +2 "storage"((& +4 "core" & " * <\  +2 "storage"(C& +3 "core" & - - Z\  +2 "manipulator"&3& +5 "core" &ӧ!   ;7 + "manipulator"&E% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&F( +162 "core" ( + "manipulator"&H& +4 "core" &    +2 "storage"(-& +4 "core" & R R \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&0'7 +92 "core" ' +2 "storage"(4& +3 "core" & E E \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'r +293 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (6& +2 "core" & & '\  +2 "manipulator"&8& +5 "core" &   0  +2 .tElbow.seek 3 + "manipulator"&<( +4 "core" ( +2 "manipulator"&?& +4 "core" &   +2 "storage"(D& +3 "core" & , -\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϡ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(Q' +8 "core" &    +2 "manipulator"&R% +4 "core" % Ϸ    +2 .tForearm.seek :retract +2 "manipulator"&A' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&U& +3 "core" &   L  +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +3 "core" &    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Y' +90 "core" ' +2 "manipulator"&[& +4 "core" &   @  +2 "manipulator"&@% +3 "core" %  0 ^ +3 "processing"%N& +4 "core" &\ +2 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%;(^ +5 "core" &\  +8 &0u\ *x +10 &b\ > +9 &fv\ O +9 &'W\ O +10 &]\ N +9 &X \ O +9 &m\\\ \ O +10 &/Z\ O +9 &Z\ O +10 &W\ N +9 & vZ\ \ N +9 &"7\\\ O +10 &#[\ O +9 &%W \ N +9 &'~W \ N +10 &)@X\ N +9 &+\\ \ N +10 &,\\\ O +9 &.X \ N +9 &0GW\ \ O +10 &2 W \ N +9 &3Y\ O +9 &5X\ N +10 &7PX \ N +9 &9Y\ N +10 &:Y\ O +9 &<[\ N +9 &>W]\ O +10 &@\\\ O +9 &A_\ O +9 &Cg\ P +10 &EYn\ Q +9 &Gu\ R +10 &H\ T +9 &J\ U +9 &LV\ T +10 &N\ U +9 &O\ U +9 &Q\ V +10 &S\\\ U +9 &U\ U +10 &V\ V +9 &X\ U +9 &Zb\ V +10 &\\#\ V +9 &]x\ 9 +9 &^2\ P +10 &^\ . +2 ( +2 "processing"%I& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"&M1 +55 "core" 1 +2 "manipulator"&^% +4 "core" %    w ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +97 "core" ' +2 "processing"%W& +3 "core" &^\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&c% +3 "core" %     +3 "storage"(Z% +3 "core" % S U\ +3 "storage"(\\. +3 "core" .( +2 "storage"(f& +4 "core" & T #\  +2 "storage"(g& +2 "manipulator"&k& +7 "core" &\ \  &\  +2 &    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&l( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(K'r +2 "core" ( +4 "manipulator"&X& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +47 &P& +3 "core" & ' ]  +3 .tForearm.seek PC +2 "manipulator"&a' +93 "core" ' +2 .tHand.close + "manipulator"& / +55 "core" / +2 .tPC.seek :open +2 "processing"%T( +55 "core" ' + "storage"(o- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'1 +46 "core" ' +343 ( +2 "storage"(i& +4 "core" & $ #\  +2 "manipulator"&b& +4 "core" &  \   + "manipulator"&`% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&m' +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +261 "core" ( + "manipulator"&t& +4 "core" &  |  +2 "storage"(G& +4 "core" & # #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&v'7 +94 "core" ' + .tHand.open +2 "manipulator"&]1 +62 "core" 1 +2 "storage"(y- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(z' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(q' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(d- +3 "core" -' +2 "storage"(& +4 "core" & ? > \  +2 "manipulator"&& +3 "core" &    +3 .tElbow.seek 3 + "manipulator"&( +14 "core" ( +2 "manipulator"&u& +3 "core" &   > g +2 "storage"(w& +5 "core" & & * 3\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(h'" +57 "core" ' +2 "manipulator"&x& +4 "core" &   g +2 "storage"({& +4 "core" & - , u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +27 "core" ' +2 .tElbow.hold + "manipulator"&|, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&% +4 "core" %΁   Q +2 "storage"(r& +3 "core" & & & ?\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϭ +13 "core" ' + "manipulator"& & +5 "core" &  h g + "storage"(j& +5 "core" & I I !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&~'7 +16 "core" ' +2 "storage"(\ % +4 "core" % I H \ +2 ."downElevator"SE.seek :down +4 "storage"(n' +99 (% +3 "core" %~G O l\ Wd +2 "manipulator"&% +5 "core" %.   ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & & $ \  +3 "collection"'& +4 "core" &\\_\ \ =\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&}% +4 "core" %  \   +2 "storage"(% +3 "core" % 2 . *\  +2 "storage"(. +3 "core" .( +2 "storage"("& +4 "core" & # % +\  +2 "storage"(#& +4 "core" & 3 & c\  +2 "manipulator"&%& +3 "core" &    g +3 .tElbow.seek 3 + "manipulator"&'( +4 "core" ( +2 "manipulator"&& +3 "core" &    g +3 "storage"(& +4 "core" & 4 7 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&)'7 +96 "core" ' +2 "storage"(& +4 "core" & I S D\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"($- +3 "core" -' +38 .tSE.configure :default +10 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" &   g +3 "storage"(& +4 "core" & - - 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +22 "core" ' +2 .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(2'r +33 "core" ' +2 "manipulator"& % +3 "core" %΂  +2 "storage"( & +5 "core" & & & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&*'Ϯ +13 "core" ' +2 "manipulator"&s& +4 "core" & \  { g +2 "storage"(7& +3 "core" & # # \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&9'7 +18 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(5' +35 "core" ' +2 "manipulator"&,& +4 "core" & [ g +2 "manipulator"&=% +4 "core" %"  \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B(ӂ +152 "core" ( +3 "manipulator"&(& +3 "core" &y(   m A` +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &C& +2 "core" &y(   A` +3 .tForearm.seek CC +2 "manipulator"&3'? +96 "core" ' +2 .tHand.close + "manipulator"&E/ +57 "core" / +2 .tCC.seek :open +2 "collection"'/( +448 "core" ( +2 "storage"(H& +4 "core" & I H :\  +2 "storage"(-& +4 "core" & H F +\  +2 "manipulator"&4& +4 "core" &ӱ   9( + "manipulator"&+% +4 "core" % &   z +3 .tForearm.seek :retract + "manipulator"&:' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&L( +163 "core" ( + "manipulator"&6& +4 "core" &    +2 "storage"(8& +4 "core" & Z M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&?'u +101 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +5 "core" % y    + "storage"(R& +3 "core" & 9 = Y\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 304 counts +2 "manipulator"&F'ϥ +14 "core" ' + "manipulator"&0& +4 "core" &    +2 "storage"(J& +3 "core" & l j w\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&O'7 +16 "core" ' + "storage"(U% +4 "core" % k m c\ +2 ."downElevator"SE.seek :down +4 "storage"(V' +99 (<% +3 "core" %= H H\ U^ +2 "manipulator"&[% +3 "core" %$  9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'N& +3 "core" & \ +3 "manipulator"&Q% +4 "core" %    + "storage"(A% +5 "core" % l i \  + "storage"(&. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(M(,y +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (^& +2 "core" &,v P F ]\ +3 "manipulator"&W& +4 "core" &     +2 .tElbow.seek 4 + "manipulator"&c( +27 "core" ( +2 "manipulator"&Z& +4 "core" &    +2 "storage"(\\& +4 "core" &,v j k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +41 .tForearm.seek 4 + 450 counts +9 "manipulator"&f' +94 "core" ' + "storage"(g& +5 "core" &,v j j \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +296 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +3 "core" &,j < C ;\  +2 "manipulator"&P& +3 "core" &  +  +3 .tElbow.seek 4 +2 "manipulator"&Y( +21 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(o& +3 "core" &,j j j \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&S'c +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&;& +3 "storage"(K' +8 "core" & k  + "manipulator"&i% +4 "core" % X J +3 .tForearm.seek :retract +2 "manipulator"&b' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"&a& +3 "core" &Ӓ!  :/ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &Ӓ!    :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&G'? +94 "core" ' +2 "manipulator"&l& +3 "core" &Ӓ!   x :/ +3 "manipulator"&]% +3 "core" %B    +3 "collection"'y& +3 "core" & \ +3 "collection"'d& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 &< \ %f +9 &Y}  \ 8 +10 &y \ L +9 &X \ L +9 &Y \ M +10 &GY \ L +9 &Z \ L +10 &U \ L +9 &Y \ L +9 &NZ \ L +10 & Z <\ L +9 &!X \ L +9 &#Z \ L +10 &%VW 6\ L +9 &'Y \ L +10 &([ 8\ L +9 &*Y |\ L +9 &,`Y \ L +10 &."X 4\ L +9 &/V !\ L +10 &1\\ \ L +9 &3fY e\ L +9 &5)Y\ &\ L +10 &6Y @\ L +9 &8X C\ L +9 &:oY B\ L +10 &<1Y D\ L +9 &=X \ C\ L +9 &?Y\  D\ L +10 &AxY :\ L +9 &C7^\ \ ;\ M +10 &De\ \ <\ M +9 &Fm\ \ B\ N +9 &Hn\ \ B\ R +10 &J&\ \ C\ U +9 &K\ \ <\ W +9 &M\ \ B\ X +10 &Od\ \ =\ X +9 &Q%\ \ @\ X +10 &R\ \ =\ Y +9 &T\ \ :\ Z +9 &Vf\ \ @\ Z +10 &X%\ \ A\ [\ +9 &Y\ \ 5\ \\ +9 &[\ \ 7\ I +10 &\\1\ \ 0\ 0 +9 &\\e\ \ 6\ K +2 ( +2 "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.07 + .Hand.open + "manipulator"&1 +62 "core" 1 +3 "manipulator"&u% +4 "core" % B   2  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%m& +4 "core" & \ +2 "manipulator"&x% +3 "core" %     +2 "storage"({% +5 "core" % $ %\  + "storage"(p. +3 "core" .(,v +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (r& +2 "core" &,{\ \  \ +3 "manipulator"&z& +3 "core" &Ӭ   7 +2 "manipulator"& % +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&j( +162 "core" ( +2 "manipulator"&\ & +3 "core" &   ;  +2 "storage"(e& +4 "core" &,{ # " >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +99 "core" ' +2 "storage"(q& +4 "core" &,{ E F \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,j\  Y q\  +2 "manipulator"&& +4 "core" &     +2 .tElbow.seek 4 +2 "manipulator"&h( +2 "core" ( +3 "manipulator"&& +4 "core" &     + "storage"(& +4 "core" &,j $ #\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +40 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&}& +3 "storage"(' +8 "core" &   4  +2 "manipulator"&% +4 "core" % `  [ +2 .tForearm.seek :retract +3 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&#& +3 "core" &   ~ ' +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &   ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&& +4 "core" &   ' +2 "manipulator"&~% +4 "core" %\    +2 "processing"%& +4 "core" &\ +3 "processing"%n& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%|(^ +3 "core" & \ +8 &4\ $c +9 &U~\ 7 +10 &~y\ K +9 &Y\ N +9 &aY\ N +10 &$V\ N +9 &Y\ N +10 &Y\ N +9 &iW\ N +9 &,V\ N +10 &Y\ N +9 &!Z\ N +9 &#qY\ N +10 &%3[\ N +9 &&X\ N +10 &(Y\ N +9 &*yY \ N +9 &,;Z\ \ N +10 &-X \ N +9 &/Z \ O +9 &1W \ N +10 &3EW \ N +9 &5U\ N +10 &6X\ N +9 &8Z\ N +9 &:LX\ N +10 &<Z\ \ N +9 &=Y\ N +9 &?[\ N +10 &ASZ\ N +9 &C`\ O +10 &De\ \ O +9 &Fn\ Q +9 &HQy\ \ R +10 &J \ T +9 &K\ T +9 &M\ T +10 &OQ\ T +9 &Q\ U +10 &R\ U +9 &T\ V +9 &VW\ U +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]\\\ C +9 &^K|\ M +10 &^L\ : +5 ( +2 "processing"%n& +3 "core" &^4\ : +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +3 "manipulator"&$% +4 "core" % \   u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +95 "core" ' +2 "processing"%& +3 "core" &^4\ : +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&1% +5 "core" % #   3 0 + "storage"( % +5 "core" % O o\  + "storage"( . +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(s(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (7& + "manipulator"&,& +6 "core" &,|\ \  .\ +2 &  ' +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&=( + "storage"()'r +7 "core" ( + "manipulator"&'& +4 "core" &  ; ' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  ' . ' +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&*/ +58 "core" / +2 .tPC.seek :open +2 "processing"%2( +89 "core" ' + "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(C'1 +47 "core" ' +311 ( +2 "storage"(9& +3 "core" &,h % $\  +3 "manipulator"&!& +4 "core" &   ' + "manipulator"&E% +3 "core" %     +3 .tForearm.seek :retract +2 "manipulator"&>' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +246 "core" ( + "manipulator"&H& +4 "core" &   & A +2 "storage"(-& +4 "core" &,h $ &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +95 "core" ' +2 .tHand.open + "manipulator"&+1 +57 "core" 1 +2 "storage"(6- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(8' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(3' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(B- +42 "core" -' +10 "storage"(& +3 "core" &,h A ?\  +2 "manipulator"&& +5 "core" &    @ +2 .tElbow.seek 4 + "manipulator"&R( +4 "core" ( +2 "manipulator"&0& +4 "core" &  @ +2 "storage"(J& +3 "core" &,h 8 + \  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(:'" +50 "core" ' +2 "manipulator"&<& +4 "core" &   @ +2 "storage"([& +3 "core" &,h \  \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&L'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +26 "core" ' +2 "manipulator"&Q% +4 "core" %F   8 +2 "storage"(F& +4 "core" &,h # # 5\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 315 counts + "manipulator"&A'r +14 "core" ' + "manipulator"&&& +4 "core" &   @ +2 "storage"(5& +3 "core" &,h - - :\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&O' +16 "core" ' + "storage"(V% +4 "core" % $ \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (^% +3 "core" %A ? V\ Va +2 "manipulator"&W% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +87 "core" ' +69 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" &,h % -\  +2 "collection"'g& +5 "core" &\\c\ \ @\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&D% +4 "core" %    +2 "storage"(@% +3 "core" % + % !\  +2 "storage"(I. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(X(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &,} &  q\ +2 "manipulator"& & +4 "core" &    @ +2 .tElbow.seek 4 +2 "manipulator"&o( +4 "core" ( + "manipulator"&_& +4 "core" &   @ +2 "storage"(;& +3 "core" &,} %\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +93 "core" ' +2 "storage"(c& +3 "core" &,} H G %\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(f'r +297 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&t& +3 "core" &    @ +2 "storage"(k& +4 "core" &,j $  )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&S'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(y'i +30 "core" ' +2 "manipulator"&Y% +3 "core" %( \  % +2 "storage"(K& +4 "core" &,j & & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 285 counts + "manipulator"&b'T +14 "core" ' + "manipulator"&/& +4 "core" &    @ +2 "storage"(& +4 "core" &,j + $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&u' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(m' +44 "core" ' +3 "manipulator"&x& +3 "core" &   @ +2 "manipulator"&{% +5 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +154 "core" ( + "manipulator"&r& +42 "core" &ӗ"   { ;7 +10 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &ӗ"  ;7 +3 .tForearm.seek CC +2 "manipulator"& '? +101 "core" ' + .tHand.close +2 "manipulator"&G/ +55 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +448 "core" ( +2 "storage"(e& +3 "core" &,j G E #\  +3 "storage"(M& +4 "core" &,j I H \  +2 "manipulator"&q& +3 "core" &Ӭ   8" +3 "manipulator"&`% +3 "core" % E   +3 .tForearm.seek :retract +2 "manipulator"&w' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" &  @  +2 "storage"(& +4 "core" &,j j j S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&}% +4 "core" % A   +2 "storage"(& +4 "core" &,j i i \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +3 "manipulator"&j'm +14 "core" ' + "manipulator"&v& +4 "core" & ?  +2 "storage"(& +3 "core" &,j j i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(#% +4 "core" % k _ L\ +2 ."downElevator"SE.seek :down +4 "storage"(%' +99 (h% +3 "core" %< F G \ U\\ +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&% +4 "core" %    #  +2 "storage"(% +4 "core" % i \\ ]\  +2 "storage"(T. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +678 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ($& +2 "core" & P A 2\ +3 "manipulator"&& +4 "core" &   !  +2 .tElbow.seek 2 +2 "manipulator"&1( +15 "core" ( +2 "manipulator"& & +4 "core" &   S +2 "storage"( & +4 "core" & j j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'S +93 "core" ' +2 "storage"(7& +4 "core" & i ` l\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +296 "core" ' + "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & Q J f\ +2 "manipulator"&& +4 "core" & \  S +2 .tElbow.seek 2 +2 "manipulator"&*( +4 "core" ( + "manipulator"&& +4 "core" &    S +2 "storage"((& +4 "core" & ; C \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&"'Ͻ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"()' +8 "core" &  8 S +2 "manipulator"&9% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&!' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E(ӂ +152 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +8 "core" &Ӆ&   u ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &Ӆ&   V ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek CC +9 "manipulator"&-'? +100 "core" ' +8 "manipulator"&=& +3 "core" &Ӑ%   >K +3 "manipulator"&+% +3 "core" %4  & & +8 "collection"'6& +4 "core" & \ +2 "collection"'B& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'>(\\ +4 "core" & \  +9 &4{ \ *y +9 &f~ \ > +10 &r \ L +9 &QW \ L +9 &W\ \ L +10 &V \ L +9 &W \ L +9 & \ L +10 &W \ L +9 &V \ L +10 & [ 3\ L +9 &"cV \ L +9 &$%W ^\ L +10 &%Z \ L +9 &'\\\ 5\ L +9 &)lX \ K +10 &+-W ,\ L +9 &,[ =\ L +10 &.U D\ L +9 &0sU m\ L +9 &26W (\ K +10 &3Y @\ L +9 &5V D\ L +9 &7{W D\ L +10 &9=[ D\ L +9 &:U B\ L +9 &<V @\ K +10 &>Y ?\ L +9 &@EU C\ L +10 &BZ\ \ :\ L +9 &C`\ \ >\ M +9 &Ej\ \ @\ N +10 &GBu\ \ ;\ O +9 &H\ \ 7\ S +10 &J\ \ ;\ W +9 &Lq\ \ 7\ W +9 &N1\ \ 3\ X +10 &O\ \ /\ Y +9 &Q\ \ 4\ Y +9 &Sq\ \ 1\ Z +10 &U2\ \ 4\ Z +9 &V\ \ 4\ [\ +9 &X\ \ 1\ [ +10 &Zu\ \ 4\ [ +9 &\\z\ \ 1\ 0 +10 &\\0\ \ 3\ [ +9 ( + &\\n\ \ 3\ M +2 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +3 "core" % 4   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%J& +4 "core" & \ +2 "manipulator"&<% +4 "core" %     +2 "storage"([% +3 "core" % & &\  +2 "storage"(C. +3 "core" .(  +2 "storage"(Q& +4 "core" & % # \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(8(  +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (F& +2 "core" &  % ! \ +3 "manipulator"&&& +4 "core" &ӭ   :. + "manipulator"&5% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&V( +160 "core" ( + "manipulator"&& +5 "core" &     + "storage"(4& +4 "core" &  # #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&3'S +99 "core" ' + "storage"(^& +4 "core" &  H E\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'r +294 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &   *\  +2 "manipulator"&:& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( +2 "manipulator"&A& +3 "core" &   8  +3 "storage"(\\& +3 "core" & $ #\  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&g'Ͻ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&@& + "storage"(N' +8 "core" &   +2 "manipulator"&I% +4 "core" % ϵ  +2 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"& ( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&_& +4 "core" &  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" & \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&O' +96 "core" ' + "manipulator"&c& +5 "core" &  + \ + "manipulator"&% +5 "core" %   + # +2 "processing"%s& +4 "core" &\ +2 "processing"%?& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%Z(^ +4 "core" &\  +9 &1|\ *x +9 &c\ > +10 &hu\ N +9 &*U\ N +9 &W\ N +10 &T\ N +9 &qX\ N +10 &4Y\ M +9 &Z\ N +9 &Y\ N +10 & xY\ N +9 &"<W\ M +50 &#Y\ N +10 &%X\ N +4 &'Y\ N +2 &)CX\ N + &+Y\ N + &,Y \ N + &.V\ N +6 &0KX\ N +9 &2 U\ N +10 &3V \ N +9 &5V\ N +10 &7TW\ M +9 &9Z\ N +9 &:Z\ O +10 &<W\ N +9 &>YZ\ N +9 &@W\ N +10 &A]\ N +9 &Cc\ \ O +10 &E]j\ \ P +9 &Gp\ P +9 &H\ R +10 &J\ T +9 &LY \ T +9 &N\ U +10 &O\ U +9 &Q\ U +10 &S^\ U +9 &U\ U +9 &V\ U +10 &X\ U +9 &Zd\ U +9 &\\%\ V +10 &]\ 4 +9 &^,l\ U +10 &^"\ 2 +2 ( + "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&a1 +55 "core" 1 +2 "manipulator"&t% +3 "core" %    * # +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +93 "core" ' +2 "processing"%]& +3 "core" &^ \ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Y% +4 "core" %     +2 "storage"(K% +3 "core" %\ \  -\  +3 "storage"(/. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +5 "core" & L !\ +2 "manipulator"&{& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   \ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&i( +2 "storage"(o'r +4 "core" ( +3 "manipulator"&f& +4 "core" &   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &   & \ +3 .tForearm.seek PC +2 "manipulator"&b' +96 "core" ' +2 .tHand.close + "manipulator"&y/ +57 "core" / +2 .tPC.seek :open +2 "processing"%r( +93 "core" ' +2 "storage"(u- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(z'1 +48 "core" ' +302 ( +2 "storage"(l& +3 "core" & $ " \  +2 "manipulator"&G& +4 "core" &    \ +2 "manipulator"&p% +3 "core" %    +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&e( +242 "core" ( + "manipulator"&M& +4 "core" &    +2 "storage"(q& +4 "core" & & %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&`'S +92 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(d' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(}& +3 "core" & e f w\  +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&v( +22 "core" ( + "manipulator"&& +5 "core" &   _  + "storage"(#& +5 "core" & d c N\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&w'S +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(h'" +52 "core" ' +2 "manipulator"&& +3 "core" &     +2 "storage"(& +4 "core" & $ & G\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +43 "manipulator"&$&.,(\ #b +10 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&j% +4 "core" %ΐ  +2 "storage"(& +3 "core" & ' %\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 299 counts + "manipulator"&T'ϼ +14 "core" ' +2 "manipulator"&m& +4 "core" &    +2 "storage"(& +4 "core" & $ $ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&%'S +16 "core" ' +2 "storage"(X% +3 "core" % 3 G \ +4 ."downElevator"SE.seek :down +4 "storage"($' +98 (% +3 "core" %xR\ +\ ) %\ Yj +3 "manipulator"& % +4 "core" %: +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (7& +4 "core" & + $ @\  +2 "collection"'& +3 "core" &\\m\ \ B\ M +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&~% +4 "core" %     +2 "storage"('% +3 "core" % # \  +2 "storage"(. +3 "core" .(  +2 "storage"(& +3 "core" & , , ^\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ((& +2 "core" &  + ' c\ +3 "manipulator"&.& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&|( +4 "core" ( + "manipulator"&9& +4 "core" &    +2 "storage"(1& +3 "core" &  % # \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'S +93 "core" ' +2 "storage"(& +4 "core" &  E H\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(H'r +294 "core" ' + "storage"(,- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &  \   +3 "storage"(*& +4 "core" & * , P\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&='Α +18 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"()'i +26 "core" ' +2 "manipulator"&!% +3 "core" %Α   +2 "storage"(\ & +3 "core" & % $\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +14 "core" ' + "manipulator"&& +4 "core" &    +2 "storage"(J& +3 "core" & " # N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&<'S +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"([' +34 "core" ' + "manipulator"&C& +4 "core" &   +2 "manipulator"&Q% +3 "core" %9  B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&F(ӂ +151 "core" ( +2 "manipulator"&&& +3 "core" &z*   l Bl +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &z* C Bl +2 .tForearm.seek CC +2 "manipulator"&-'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'4( +449 "core" ( +2 "storage"(& +3 "core" & R R _\  +43 "storage"(^& +10 "core" & S R ^\  +2 "manipulator"&E& +5 "core" &ӱ"   ;5 + "manipulator"&0% +4 "core" % ) \   +2 .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&R( +162 "core" ( +2 "manipulator"&:& +3 "core" & >  +3 "storage"(A& +4 "core" & ` h |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&\\'Α +98 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +62 "core" 1 +2 "manipulator"&I% +5 "core" % Κ  + + "storage"(V& +4 "core" & i j \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&3' +14 "core" ' +2 "manipulator"&W& +3 "core" &   +2 "storage"(g& +5 "core" & a k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'S +18 "core" ' +2 "storage"(;% +3 "core" % w o \ +3 ."downElevator"SE.seek :down +4 "storage"(L' +98 (c% +3 "core" %L $ # \ Wg +2 "manipulator"&% +5 "core" %F  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'N& +3 "core" & \ +2 "manipulator"&P% +4 "core" %   Y  +2 "storage"(2% +4 "core" % j k \  +2 "storage"(a. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(t( +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" & Q J \ +2 "manipulator"&Y& +3 "core" & v  +3 .tElbow.seek 3 + "manipulator"&K( +23 "core" ( + "manipulator"&/& +5 "core" &w  + "storage"(?& +4 "core" & [ h <\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&x'7 +93 "core" ' +2 "storage"({& +3 "core" & j l\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +299 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (O& +3 "core" & 9 = \ +2 "manipulator"&y& +4 "core" &w p +2 .tElbow.seek 3 + "manipulator"&8( +36 "core" ( +2 "manipulator"&u& +4 "core" &  C  + "storage"( & +5 "core" & j j \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&k'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(l' +8 "core" &   3  +2 "manipulator"&G% +3 "core" % Ϡ   +3 .tForearm.seek :retract +2 "manipulator"&p' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b(ӂ +149 "core" ( +2 "manipulator"&M& +4 "core" ' + &|'   @Z +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&q& +7 "core" &|'   @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek CC +3 "manipulator"&i'? +99 "core" ' +3 "manipulator"&& +4 "core" &}(   3 @Y +2 "manipulator"&% +3 "core" %A    +3 "collection"'& +4 "core" & \ +2 "collection"'}& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & \  +9 &5~ \ *z +10 & g \ ? +9 &r \ M +9 &[W \ K +10 &Z \ L +9 &W \ K +9 &V \ K +10 &bY 5\ L +9 &#\\ \ L +10 &U 1\ L +9 & U \ K +9 &"jV -\ L +10 &$,Z \ L +9 &%X 1\ L +9 &'W A\ K +10 &)sW @\ K +9 &+5W A\ K +10 &,V A\ L +9 &.T B\ L +9 &0{U =\ K +10 &2=W\  B\ K +9 &3X \ K +9 &5Z +\ L +10 &7Z <\ L +9 &9DZ <\ L +10 &;X :\ L +9 &<T \ <\ L +9 &>U\ 5\ K +10 &@MW\ 5\ K +9 &BW \ -\ K +9 &C]\  /\ L +10 &Ed\ \ 1\ M +9 &GLo\ \ +\ N +10 &I\ \ 3\ R +9 &J\ \ 2\ V +9 &Lw\ \ \ 0\ X +10 &N9\ \ 3\ X +9 &O\ \ 3\ X +9 &Q\ \ 3\ X +10 &S{\ \ 3\ Y +9 &U;\ \ 2\ Z +10 &V\ \ 1\ Z +9 &X\ \ 4\ \\ +9 &Z|\ \ 4\ [ +10 &\\!z\ \ 0\ / +9 &\\.\ \ 5\ \\ +9 ( +2 "collection"'}& +3 "core" &\\a\ \ 5\ K +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +3 "core" % A   S  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %     +2 "storage"(z% +3 "core" % $  '\  +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(j( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &\  \  +2 "manipulator"&m& +4 "core" &Ө   :. +2 "manipulator"&% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e( +164 "core" ( +2 "manipulator"&X& +3 "core" &  \  +3 "storage"(`& +4 "core" & H H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d'7 +92 "core" ' + "storage"(& +4 "core" & H H N\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'r +298 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (v& +2 "core" & #  V\  +3 "manipulator"&h& +3 "core" & \   +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&7& +5 "core" &   G  + "storage"(T& +4 "core" & ( + T\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"(' +8 "core" &   0  +2 "manipulator"&% +4 "core" % ϯ    ~ +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +3 "manipulator"&.& +4 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &9& +2 "core" &     +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&1' +98 "core" ' + "manipulator"&%& +4 "core" &  "  +2 "manipulator"&% +5 "core" %   +2 "processing"%$& +4 "core" &\ +2 "processing"%& +5 "core" &!\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" & \ +6 &4\ $d +10 &Uw\ 6 +9 &~{\ K +9 &W!\ N +10 &]W\ N +56 &X!\ N +5 &Y \ N +3 &W\ N + &dU\ N + &&W \ N + &W\ N + &!W\ N +7 &#mW \ N +9 &%/X \ N +10 &&W\ N +9 &(W\ N +9 &*uW\ N +10 &,7X\ N +9 &-V\ N +9 &/X\ N +10 &1U\ M +9 &3@W\ N +10 &5T\ N +9 &6W\ N +9 &8V \ N +10 &:GV \ N +9 &<Y\ \ N +9 &=Y\ N +10 &?U \ N +9 &ANY\ N +10 &C ` \ O +9 &Df \ P +9 &Fp\ Q +10 &HH \ S +9 &J\ T +9 &K\ T +10 &M\ U +9 &OK\ U +10 &Q \ U +9 &R\ U +9 &T\ V +10 &VR\ U +9 &X\ U +9 &Y\ U +10 &[\ V +9 &]X\ D +9 &^Et\ _ +10 &^F\ 4 +5 ( +2 "processing"%& +4 "core" &^*\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"& 1 +62 "core" 1 +2 "manipulator"&,% +3 "core" %   e  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +93 "core" ' +2 "processing"%*& +3 "core" &^*\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&6% +4 "core" %     +2 "storage"(!% +3 "core" % F $\  +2 "storage"(\ . +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (J& +3 "manipulator"&C& +4 "core" &\  \  +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &   r  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(Q'r + "manipulator"&n( +6 "core" ( +2 "manipulator"&|& +3 "core" &   C  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" & %  y  +3 .tForearm.seek PC + "manipulator"&=' +95 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%&( +86 "core" ' + "storage"()- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +51 "core" ' +310 ( + "storage"(<& +4 "core" & # $ \  +2 "manipulator"&+& +4 "core" &   +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&B' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&>( +257 "core" ( + "manipulator"&& +5 "core" &    \ + "storage"(^& +4 "core" & & #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&E'7 +93 "core" ' + .tHand.open +2 "manipulator"&01 +64 "core" 1 +2 "storage"(:- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(-' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(@& +3 "core" & \  +2 "manipulator"&I& +4 "core" &  3 \ +2 .tElbow.seek 3 +2 "manipulator"&V( +7 "core" ( +2 "manipulator"&W& +3 "core" &   $ +2 "storage"(g& +5 "core" & + + A\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&;'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(U'" +57 "core" ' +2 "manipulator"&c& +4 "core" &   5 +2 "storage"(& +3 "core" & # \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&R'u +18 "core" ' +48 .tElbow.hold +3 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +28 "core" ' +2 "manipulator"&3% +3 "core" %΀    +3 "storage"(P& +3 "core" & !  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&2'Ϭ +14 "core" ' +2 "manipulator"&a& +3 "core" &   +3 "storage"([& +4 "core" & " # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&_'7 +15 "core" ' +2 "storage"(L% +3 "core" % H H \ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (]% +3 "core" %G K E\ Wc +2 "manipulator"&Y% +4 "core" %/    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (?& +3 "core" &   F\  +2 "collection"'{& +4 "core" &\\`\ \ '\ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&D% +4 "core" %     +2 "storage"(s% +4 "core" % # #\  +2 "storage"(S. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(O( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" &\ *\ ' S\  +2 "manipulator"&u& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&Z& +4 "core" &   ' +2 "storage"(o& +3 "core" & # # \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&G'7 +94 "core" ' +2 "storage"(K& +3 "core" & Q H E\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +304 "core" ' +3 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" &   +3 "storage"(f& +4 "core" & ! %\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&k'u +16 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('s +29 "core" ' +2 "manipulator"&% +4 "core" %΄     +2 "storage"(l& +4 "core" & , ( ;\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&p'ϰ +14 "core" ' +2 "manipulator"&4& +3 "core" &   +3 "storage"(& +4 "core" & $ # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +42 "core" ' +2 "manipulator"&& +3 "core" &  +2 "manipulator"&z% +5 "core" %0   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +155 "core" ( +2 "manipulator"&& +3 "core" &Ӕ   ` 9$ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &Ӕ   9$ +4 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&i/ +63 "core" / +2 .tCC.seek :open +2 "collection"'X( +448 "core" ( +47 "storage"(`& +6 "core" & R R ]\  +2 "storage"(t& +4 "core" & R P ,\  +2 "manipulator"&& +4 "core" &ӧ   , 6 +2 "manipulator"&b% +3 "core" % Q    +3 .tForearm.seek :retract +2 "manipulator"&#' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +155 "core" ( +2 "manipulator"&v& +3 "core" &    +3 "storage"(h& +4 "core" & i i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&7'u +101 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +64 "core" 1 +3 "manipulator"&'% +4 "core" % ΁  @ +2 "storage"(& +4 "core" & Z f 9\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&e'ϭ +14 "core" ' + "manipulator"&d& +5 "core" &  : + "storage"(w& +5 "core" & k i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' + "storage"(.% +5 "core" % f ^ 7\ +2 ."downElevator"SE.seek :down +4 "storage"(9' +98 (% +3 "core" %< S K [\ U^ +2 "manipulator"&%% +5 "core" %,    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'$& +3 "core" & "\ +3 "manipulator"&% +3 "core" %     +3 "storage"(% +4 "core" % _ m \  +2 "storage"(r. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &,z Q K V\  +2 "manipulator"&*& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&6( +35 "core" ( +2 "manipulator"&!& +4 "core" &   d  +2 "storage"(\ & +3 "core" &,z l i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(J& +4 "core" &,z n \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +300 "core" ' + "storage"(|- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &,j X J P\  +2 "manipulator"&1& +5 "core" &    +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&j& +3 "core" &  L  +3 "storage"()& +4 "core" &,j i i \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&('c +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(Q' +8 "core" &    +2 "manipulator"&<% +4 "core" % Y v +2 .tForearm.seek :retract +2 "manipulator"&+' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&=& +4 "core" &ӌ   5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ   5 +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'? +93 "core" ' +2 "manipulator"&n& +4 "core" &ӌ    5 +2 "manipulator"&0% +4 "core" %A  . 4 +2 "collection"':& +4 "core" & \ +2 "collection"'F& +5 "core" & \ +3 .tCC.seek :closed + "collection"'@(\\ +4 "core" & \ +8 &< \ %f +9 &Y| \ 7 +10 &y \ L +9 &W \ L +9 &X \ L +10 &GU \ K +9 & W \ K +9 &[ \ L +10 &X \ L +9 &OU >\ K +10 & V \ K +9 &!Y \ L +9 &#Y 0\ L +10 &%WT $\ K +9 &'U \ K +9 &(Z <\ L +10 &*W A\ K +9 &,_W C\ K +10 &. Y D\ L +9 &/U D\ K +9 &1V B\ K +10 &3fZ ;\ L +9 &5(W B\ L +9 &6U A\ K +10 &8V ?\ K +9 &:nZ C\ L +10 &<0W ;\ L +9 &=W =\ L +9 &?U\ <\ K +10 &AwW 6\ K +9 &C6_\ \ 5\ L +10 &D`\ \ ;\ M +9 &Fn\ \ @\ N +9 &Ho~\ \ ;\ Q +10 &J%\ \ ;\ U +9 &K\ \ -\ W +9 &M\ \ :\ X +10 &Oa\ \ 5\ X +9 &Q#\ \ 5\ X +9 &R\ \ 8\ Y +10 &T\ \ 3\ Y +9 &Ve\ \ 4\ Z +10 &X#\ \ /\ [\ +9 &Y\ \ 3\ \\ +9 &[\ \ 3\ I +10 &\\2\ \ 0\ / +9 &\\p\ \ 1\ M +2 ( +2 "collection"'F& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&I1 +54 "core" 1 +3 "manipulator"&W% +3 "core" % A   ~ 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%B& +4 "core" &#\ + "manipulator"&c% +5 "core" % \   -  + "storage"(% +5 "core" % + ' -\  + "storage"(5. +3 "core" .(,y +2 "storage"(A& +4 "core" &,j ) \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(3(,y +40 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (P& +2 "core" &,y "  E\ +3 "manipulator"&a& +3 "core" &ӝ   d 3 +2 "manipulator"&[% +3 "core" % \   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&>( +166 "core" ( +2 "manipulator"&L& +3 "core" &   g  +2 "storage"(E& +5 "core" &,y G H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +92 "core" ' +2 "storage"(]& +3 "core" &,y G H\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(;'r +301 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (V& +2 "core" &,i + ! #\  +2 "manipulator"&U& +5 "core" &  Q  +2 .tElbow.seek 4 + "manipulator"&R( +4 "core" ( +2 "manipulator"&2& +3 "core" &  l  +3 "storage"(?& +4 "core" &,i # $\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&{'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +3 "storage"(S' +8 "core" &   3  + "manipulator"&N% +5 "core" % q    +2 .tForearm.seek :retract +2 "manipulator"&y' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&Z& +3 "core" &  P / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +2 "core" &   / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&_' +92 "core" ' +2 "manipulator"&K& +3 "core" &    / +3 "manipulator"&% +3 "core" %    b +3 "processing"%& +3 "core" &#\ +3 "processing"%\\& +5 "core" &\ +3 .tPC.seek :closed + "processing"%/(^ +57 "core" &$\ + &!\ +2 & \ + &&\ + &#\ + &"\ + &"\ 3 +5 &6Hs#\ / +10 &[p!\ D +9 &a\ N +10 &V\ N +9 &T \ N +9 &AT\ N +10 &U\ N +9 &T \ N +10 &W \ N +9 &IW \ N +9 &! W\ M +10 &"V\ N +9 &$W \ N +9 &&QU\ N +10 &(V\ N +9 &)W\ N +9 &+T\ N +10 &-XW\ N +9 &/W\ N +10 &0T\ N +9 &2W\ N +9 &4aW\ N +10 &6#Y \ N +9 &7T \ N +9 &9V\ N +10 &;hV\ N +9 &=*W\ N +10 &>Y\ N +9 &@X \ N +9 &Bn\\ \ O +10 &D._ \ O +9 &Eh\ P +10 &Gr\ Q +9 &Ih\ \ S +9 &K(\ T +10 &L \ T +9 &N \ U +9 &Pl \ U +10 &R- \ U +9 &S\ U +9 &U\ U +10 &Wr\ U +9 &Y5\ U +10 &Z\ U +9 &\\\ U +9 &^0^o\ 3 +10 &^J\ , +5 ( +2 "processing"%\\& +4 "core" &^\ , +2 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&M1 +62 "core" 1 +2 "manipulator"&q% +3 "core" %   g b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +99 "core" ' +2 "processing"%& +3 "core" &^\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +3 "core" %   +3 "storage"(l% +4 "core" % % " \  + "storage"(4. +4 "core" .(,y + "storage"(& +5 "core" &,i  ! C\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +4 "core" &,z # "\ +2 "manipulator"&G& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   / +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"( 'r +2 "manipulator"&x( +7 "core" ( +2 "manipulator"&k& +4 "core" &   e / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +3 "core" &   / +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%m( +87 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +48 "core" ' +308 ( +2 "storage"(i& +3 "core" &,h # # \ +3 "manipulator"& & +4 "core" &   / + "manipulator"&% +4 "core" %    +3 .tForearm.seek :retract + "manipulator"&`' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&t( +246 "core" ( +2 "manipulator"&& +3 "core" &   $ 7 +2 "storage"(b& +4 "core" &,h ! $ K\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +91 "core" ' +2 .tHand.open + "manipulator"&h1 +61 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(}' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(~' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"('- +4 "core" -' +2 "storage"(& +4 "core" &,h ) . j\ +2 "manipulator"&d& +4 "core" &  7 +2 .tElbow.seek 4 + "manipulator"&w( +4 "core" ( +2 "manipulator"&.& +4 "core" &   8 7 +2 "storage"(#& +4 "core" &,h 6 6\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(%'" +56 "core" ' +2 "manipulator"& & +3 "core" &    7 +3 "storage"(7& +51 "core" &,h # # \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&$'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(e' +28 "core" ' +2 "manipulator"&% +4 "core" %3    +2 "storage"(r& +3 "core" &,h # & g\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts +2 "manipulator"&'_ +16 "core" ' +2 "manipulator"&& +4 "core" & B 7 +2 "storage"(9& +4 "core" &,h  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +16 "core" ' +2 "storage"(,% +4 "core" % ) G Z\ +2 ."downElevator"SE.seek :down +4 "storage"(*' +99 (!% +4 "core" %D H e\ Vb +2 "manipulator"&\ % +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +91 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +5 (T& +3 "core" &,h  P\ +2 "collection"'& +3 "core" &\\l\ \ 8\ M +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&|% +4 "core" %      +2 "storage"(H% +3 "core" % # " O\  +2 "storage"(1. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(j(,y +38 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ()& +2 "core" &,z  ;\ +3 "manipulator"&"& +3 "core" &   F 7 +3 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&<& +4 "core" &  $ 7 +2 "storage"(6& +3 "core" &,z # $\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(=& +3 "core" &,z H H \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" &    7 +2 "storage"(& +3 "core" &,j # # ,\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +7 .tForearm.seek 4 +6 "manipulator"&n'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(:- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Q'j +30 "core" ' +2 "manipulator"&+% +4 "core" %%   S  + "storage"(X& +5 "core" &,j $ #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 282 counts + "manipulator"&I'Q +13 "core" ' +2 "manipulator"&W& +4 "core" &  7 +2 "storage"(B& +4 "core" &,j ! % /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&5& +4 "core" &  " 7 +2 "manipulator"&A% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P(ӂ +160 "core" ( +2 "manipulator"&a& +4 "core" &Ӎ  H 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &Ӎ  4 +2 .tForearm.seek CC +2 "manipulator"&^'? +139 "core" ' +2 .tHand.close + "manipulator"&L/ +60 "core" / +2 .tCC.seek :open +2 "collection"'E( +293 "Can"'\ Tq0* +155 "core" ( +2 "storage"( & +4 "core" &,j S R i\  +2 "storage"(]& +3 "core" &,j S R [\  +2 "manipulator"&& +5 "core" &Ӥ  - 1 + "manipulator"&g% +4 "core" % ;   S  +3 .tForearm.seek :retract + "manipulator"&Y' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&V( +153 "core" ( +2 "manipulator"&U& +3 "core" &   +3 "storage"(2& +4 "core" &,j g _ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&?'7 +98 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&s1 +63 "core" 1 +3 "manipulator"&N% +4 "core" % 9   + "storage"(>& +5 "core" &,j i i \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 302 counts + "manipulator"&-'e +13 "core" ' +2 "manipulator"&;& +3 "core" &  +2 "storage"({& +5 "core" &,j ^ \\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +15 "core" ' +2 "storage"(o% +3 "core" % _ i \ +3 ."downElevator"SE.seek :down +4 "storage"(R' +98 (K% +3 "core" %; P H 2\ U^ +3 "manipulator"&% +4 "core" %  c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'S& +3 "core" & *\ +2 "manipulator"&y% +3 "core" %  6  +3 "storage"(&% +4 "core" % g j /\  +2 "storage"(M. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(q(  +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +8 "core" &  P S 1\ +2 "manipulator"&& +4 "core" & m +2 .tElbow.seek 2 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&4& +4 "core" & I + "storage"(\\& +5 "core" &  _ l \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +97 "core" ' + "storage"(z& +5 "core" &  l a $\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +296 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" & G F (\ +2 "manipulator"&_& +3 "core" &  2 +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&3& +4 "core" &  3 +2 "storage"(& +4 "core" & : B \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& +3 "storage"( ' +5 "core" & d +3 "manipulator"&i% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +4 "manipulator"&& +3 "core" ' +2 &ӎ"   ;4 + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 && +3 "core" &ӏ"  \ X ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'? +98 "core" ' +2 "manipulator"&x& +3 "core" &ӏ"   ;3 +3 "manipulator"&h% +4 "core" %<   2 +3 "collection"'& +3 "core" & \ +3 "collection"''& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  +9 &5~ \ *z +9 & f} \ > +10 &p \ L +9 &WU \ L +10 &W \ K +9 &W \ K +9 &W \ L +10 &`U \ K +9 &"U \ K +9 &S \ K +10 & T \ \ K +9 &"hZ \ K +10 &$*Y 7\ K +9 &%Y\ 0\ K +9 &'X )\ L +10 &)oW )\ L +9 &+2V %\ K +9 &,T \ K +10 &.T ?\ K +9 &0xY @\ K +10 &2:X C\ K +9 &3Z @\ K +9 &5X B\ L +10 &7W D\ L +9 &9AW A\ L +9 &;S <\ K +10 &<W B\ L +9 &>X \ =\ L +10 &@IW\ A\ L +9 &B W\ B\ K +9 &C_\ \ >\ M +10 &Ef\ \ B\ M +9 &GHs\ \ ?\ O +9 &H\ \ =\ S +10 &J\ \ ?\ V +9 &Lu\ \ \ ?\ W +10 &N6\ \ ;\ X +9 &O\ \ 5\ X +9 &Q\ \ 6\ X +10 &Sx\ \ 7\ Y +9 &U9\ \ >\ Y +9 &V\ \ 2\ [ +10 &X\ \ 7\ [\ +9 &Zy\ \ 7\ [ +10 &\\y\ \ 1\ 0 +9 &\\1\ \ 6\ \\ +9 ( + &\\a\ \ 4\ K +3 "collection"''& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&d1 +58 "core" 1 +2 "manipulator"&.% +4 "core" % <   k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%`& +3 "core" &\ +3 "manipulator"& % +4 "core" %     + "storage"(7% +5 "core" % " %\  + "storage"(8. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(}(  +13 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &  I <\ +3 "manipulator"&r& +3 "core" &Ӭ   7 +2 "manipulator"&% +5 "core" %   y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&9( +154 "core" ( +2 "manipulator"&t& +3 "core" &   +2 "storage"(,& +4 "core" &  G E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&v'S +95 "core" ' +2 "storage"(~& +3 "core" &  G E \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'r +293 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & + ! j\  +2 "manipulator"&w& +4 "core" &  " +2 .tElbow.seek 2 +2 "manipulator"&%( +9 "core" ( +2 "manipulator"&$& +3 "core" &    +2 "storage"(& +4 "core" & 3 $ /\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T'Ͻ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&|& + "storage"(H' +8 "core" & .  + "manipulator"&e% +5 "core" % Ϻ  I +2 .tForearm.seek :retract + "manipulator"&1' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +105 "core" ( +2 "manipulator"&"& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&6' +94 "core" ' + "manipulator"&O& +4 "core" &   +2 "manipulator"&=% +4 "core" %   = +2 "processing"%*& +53 "core" &&\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &%\  +9 &4y \ *y +9 &d|"\ > +10 &q#\ N +9 &GT&\ N +10 &\ W"\ N +9 &W#\ M +9 &V$\ N +10 &QU%\ M +9 &W\ N +9 &Y\ N +10 & Y\ N +9 &"YV\ M +10 &$V\ N +9 &%U\ M +9 &'U \ N +10 &)`T\ N +9 &+#V\ M +9 &,W\ N +10 &.S\ N +9 &0hV\ N +10 &2*X\ N +9 &3W\ M +9 &5U\ M +10 &7qU\ M +9 &92W\ N +9 &:Z\ N +10 &<W\ M +9 &>xY\ N +10 &@:X\ N +9 &A^\ N +9 &Cb\ O +10 &Ezj\ P +9 &G:n\ P +9 &H}\ R +10 &J \ T +9 &Lw\ S +10 &N5\ U +9 &O \ T +9 &Q\ U +10 &S{\ U +9 &U<\ \ U +9 &V\ U +10 &X \ T +9 &Z \ U +10 &\\C\ U +9 &]|r\ 6 +9 &^0\ K +10 &^\ - +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&J1 +64 "core" 1 +2 "manipulator"&C% +4 "core" %   D = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +94 "core" ' +2 "processing"%& +4 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&:% +4 "core" % !   + +2 "storage"(+% +4 "core" % % $ \  +2 "storage"(X. +3 "core" .(  +2 "storage"(W& +4 "core" & ( [ 0\  +2 "storage"(B& +3 "manipulator"&5& +4 "core" & $ (\  +3 &   M +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(A'r + "manipulator"&( +26 "core" ( +2 "manipulator"&& +4 "core" &   p  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   <  +3 .tForearm.seek PC + "manipulator"&n' +94 "core" ' +2 .tHand.close + "manipulator"&I/ +57 "core" / +2 .tPC.seek :open +2 "processing"%Q( +71 "core" ' +2 "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(['1 +48 "core" ' +323 ( +3 "storage"(c& +4 "core" & # # \  + "manipulator"&0& +4 "core" &  $  +2 "manipulator"&L% +3 "core" %  + +3 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&@( +254 "core" ( + "manipulator"& & +5 "core" &    \ + "storage"(]& +3 "core" & & #\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +102 "core" ' + .tHand.open +2 "manipulator"&g1 +61 "core" 1 +2 "storage"(U- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(2' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' +2 "storage"(s& +4 "core" & F D e\  + "manipulator"&N& +5 "core" &   \ +2 .tElbow.seek 2 + "manipulator"&>( +7 "core" ( +2 "manipulator"&;& +3 "core" &   G  +2 "storage"({& +4 "core" & N M \  +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'S +15 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +50 "core" ' +2 "manipulator"&K& +4 "core" &   +2 "storage"(& +4 "core" & & $ P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +51 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&V'Α +24 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(S' +19 "core" ' +2 "manipulator"&y% +4 "core" %Θ   +2 "storage"(-& +3 "core" &  ' C\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 307 counts + "manipulator"&&' +14 "core" ' +2 "manipulator"&M& +4 "core" &  k  +2 "storage"(& +3 "core" & )  \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'S +15 "core" ' +2 "storage"(R% +4 "core" % % # \ +2 ."downElevator"SE.seek :down +4 "storage"(j' +99 (% +3 "core" %]Q\ *\ ) \ Xi +2 "manipulator"&% +3 "core" %H    +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" & - %\  +3 "collection"'z& +4 "core" &\\a\ \ ;\ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&D% +4 "core" %      +2 "storage"(% +4 "core" % 3 # \  +2 "storage"(k. +3 "core" .(  +2 "storage"(p& +3 "core" & # $ <\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(_(  +36 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (3& +2 "core" &  P O\ +3 "manipulator"&& +3 "core" &     +3 .tElbow.seek 2 + "manipulator"&f( +4 "core" ( +2 "manipulator"&/& +3 "core" &    +3 "storage"(i& +4 "core" &  B G .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&l'S +93 "core" ' + "storage"(& +5 "core" &  H E\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +302 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&G& +3 "core" &  \   +2 "storage"(u& +3 "core" & # $\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&x'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +29 "core" ' +2 "manipulator"& % +4 "core" %Ι ! + "storage"( & +4 "core" & # & '\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&E' +13 "core" ' +2 "manipulator"&d& +4 "core" &   +2 "storage"(.& +3 "core" & H E \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&`'S +15 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"( ' +34 "core" ' +2 "manipulator"&7& +4 "core" & (  +2 "manipulator"&8% +3 "core" %G \ / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&'' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ( +2 "manipulator"&r& +3 "core" &{'   @] +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &{'   @] +3 .tForearm.seek CC +2 "manipulator"&b'? +95 "core" ' +3 .tHand.close +2 "manipulator"&t/ +62 "core" / +2 .tCC.seek :open +2 "collection"',( +448 "core" ( +3 "storage"(q& +4 "core" & ? 2 \ +2 "storage"(~& +4 "core" & D B \ + "manipulator"&& +5 "core" &ӷ   8! + "manipulator"&#% +5 "core" % F  w +2 .tForearm.seek :retract +2 "manipulator"&\ ' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +164 "core" ( + "manipulator"&w& +4 "core" &  e  +2 "storage"($& +4 "core" & F L &\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'Α +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +60 "core" 1 +2 "manipulator"&e% +5 "core" % ΍  \  + "storage"(9& +4 "core" & G < \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 296 counts + "manipulator"&v'Ϲ +14 "core" ' + "manipulator"&!& +4 "core" & U  +2 "storage"(T& +3 "core" & j j \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&"'S +16 "core" ' + "storage"(<% +4 "core" % _ g d\ +3 ."downElevator"SE.seek :down +3 "storage"(%' +99 (O% +3 "core" %G # # \ Ve +2 "manipulator"&=% +3 "core" %= 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'H& +3 "core" & \ +2 "manipulator"&1% +4 "core" %     +2 "storage"(m% +4 "core" % l m\  +2 "storage"(J. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(C( +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & / \  +3 "manipulator"&:& +4 "core" &     +2 .tElbow.seek 3 +2 "manipulator"&+( +33 "core" ( + "manipulator"&X& +4 "core" &  \ h 6 +2 "storage"(& +4 "core" & i i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&W'7 +94 "core" ' + "storage"(B& +4 "core" & _ _ a\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'r +307 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" & h ^ \  +2 "manipulator"&6& +4 "core" &   + 6 +2 .tElbow.seek 3 + "manipulator"&I( +4 "core" ( +2 "manipulator"&a& +4 "core" &  + 6 +2 "storage"()& +4 "core" & ` l \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&('ϡ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(c' +8 "core" &  c 6 +2 "manipulator"&0% +4 "core" % ϭ  \  +2 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +155 "core" ' +47 ."downElevator"SE.stop +4 "storage"(5 +2 "core" ( +2 "manipulator"& & +5 "core" &ӈ   2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &ӈ \  2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' +2 "manipulator"&g& +3 "core" &ӈ \  2 +3 "manipulator"&U% +3 "core" %H   , \ +3 "collection"'P& +4 "core" & \ +2 "collection"'s& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'N(\\ +3 "core" & \ \  +9 &5~ \ +{ +10 &f \ > +9 &m \ L +9 &VT \ K +10 &W \ L +9 &W \ K +10 &R \ K +9 &^V \ K +9 & Y \ K +10 &U \ K +9 & X \ \ K +9 &"fW \ K +10 &$(X \ K +9 &%W ;\ K +10 &'T )\ K +9 &)nW (\ K +9 &+1R \ K +10 &,U 5\ K +9 &.W \ K +9 &0vV E\ K +10 &29Y %\ K +9 &3W @\ L +10 &5U \ K +9 &7}W 8\ L +9 &9@W 9\ K +10 &;R g\ K +9 &<U (\ K +9 &>Y <\ K +10 &@GV B\ L +9 &B Y \ >\ L +10 &C[\ \ ?\ K +9 &Eg\ \ <\ M +9 &GGq\ \ C\ N +10 &I\ \ ?\ Q +9 &J\ \ ;\ V +9 &Lt\ \ \ 8\ W +10 &N4\ \ =\ X +9 &O\ \ 8\ X +10 &Q\ \ 5\ X +9 &Sw\ \ 9\ Y +9 &U8\ \ ,\ Y +10 &V\ \ )\ Z +9 &X\ \ 9\ [ +9 &Zw\ \ 4\ [ +10 &\\z\ \ +\ 0 +9 &\\/\ \ +\ [ +9 ( +3 "collection"'s& +2 "core" &\\a\ \ /\ K +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&;1 +61 "core" 1 +3 "manipulator"&{% +3 "core" % G   _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F' +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%K& +4 "core" &\ +2 "manipulator"&% +4 "core" %     +2 "storage"([% +3 "core" % % # \  +2 "storage"(2. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(y( +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +3 "core" &\ '\ ) v\  +3 "manipulator"&M& +4 "core" &ӕ  1 + "manipulator"&% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&@( +160 "core" ( + "manipulator"&R& +5 "core" &   "  + "storage"(& +4 "core" & 3 H Y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&^'7 +93 "core" ' +2 "storage"(& +4 "core" & E G C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +306 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" & $ " H\  +2 "manipulator"&Y& +4 "core" &     +2 .tElbow.seek 3 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&&& +4 "core" & \  $  +2 "storage"(\\& +3 "core" &   \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&z'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(k' +8 "core" &     +2 "manipulator"&S% +4 "core" % ϭ  +2 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &/& +3 "core" &     +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&i' +96 "core" ' +2 "manipulator"&Z& +3 "core" &  |  +3 "manipulator"&% +4 "core" %   : +2 "processing"%j& +49 "core" &$\ +5 "processing"%}& +5 "core" &\ +3 .tPC.seek :closed + "processing"%?(^ +5 "core" &&\ +7 &4%\ $d +9 &V|"\ 7 +10 &z$\ K +9 &U\ N +9 &fT!\ M +10 &'Q"\ N +9 &Y"\ N +10 &Z\ M +9 &nU\ M +9 &0W\ M +10 &V\ M +9 &!Y\ N +9 &#uZ\ N +10 &%8Z\ M +9 &&V\ M +10 &(Z\ N +9 &*~U\ M +9 &,@W\ M +10 &.T\ N +9 &/Z\ N +9 &1V\ N +10 &3HX\ M +9 &5\ T\ M +10 &6V\ M +9 &8U\ N +9 &:PT\ M +10 &<W\ N +9 &=U\ N +9 &?V\ N +10 &AWY\ \ N +9 &Cd\ O +10 &Dg\ P +9 &Fo\ Q +9 &HQ\ R +10 &J\ S +9 &K\ S +9 &M\ T +10 &OS\ T +9 &Q\ U +10 &R\ U +9 &T\ U +9 &V[ \ T +10 &X\ U +9 &Y\ U +9 &[ \ U +10 &]_\ C +9 &^Cv\ ` +9 &^4 \ 3 +6 ( +2 "processing"%}& +3 "core" &^#\ \ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&41 +59 "core" 1 + "manipulator"&% +5 "core" %    u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' +89 "core" ' +2 "processing"%u& +4 "core" &^#\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +5 "core" %     + "storage"( % +5 "core" % R %\  + "storage"( . +4 "core" .( + "storage"(d& +5 "core" &\  V 2\  +2 "storage"(.& +4 "manipulator"&7& +5 "core" &  & \  + &   r  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&8( +2 "storage"(l'r +5 "core" ( +3 "manipulator"&f& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  \   +3 .tForearm.seek PC +2 "manipulator"&x' +93 "core" ' +2 .tHand.close +2 "manipulator"&E/ +54 "core" / +2 .tPC.seek :open +2 "processing"%( +96 "core" ' +2 "storage"(r- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +47 "core" ' +300 ( +2 "storage"(`& +3 "core" &  x\  +3 "manipulator"&h& +4 "core" &  + "manipulator"&t% +4 "core" %     +2 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +249 "core" ( +2 "manipulator"&q& +3 "core" &   K +2 "storage"(~& +4 "core" & # #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +94 "core" ' +2 .tHand.open + "manipulator" +61 "core" 1 +2 "storage"(w- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"($' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(b' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(|& +3 "core" & > > \  +3 "manipulator"&e& +4 "core" &   K +2 .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&!& +3 "core" & \  C K +2 "storage"(T& +5 "core" & > > \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&<'7 +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\ '" +56 "core" ' +2 "manipulator"&O& +3 "core" &    K +3 "storage"(=& +4 "core" & " '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +50 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +16 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(H' +29 "core" ' +2 "manipulator"&1% +3 "core" %Ί  # +3 "storage"(v& +4 "core" & # # =\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 321 counts +2 "manipulator"&m'϶ +14 "core" ' +2 "manipulator"&J& +4 "core" &   K +2 "storage"( & +4 "core" & # # ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&"'7 +18 "core" ' +2 "storage"(%% +4 "core" % & 4 0\ +2 ."downElevator"SE.seek :down +4 "storage"(_' +99 (% +18 "core" %? L ,\ Va +2 "manipulator"&:% +4 "core" %3 \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X' +96 "core" ' +37 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & +  \  +3 "collection"'B& +3 "core" &\\a\ \ 3\ K +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %     +2 "storage"(*% +4 "core" % H F \  +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & G E \  +3 "storage"(6& +4 "core" & E C 8\  + "manipulator"&a& +5 "core" &   K +2 .tElbow.seek 3 + "manipulator"&)( +4 "core" ( +2 "manipulator"&& +4 "core" &  R K +2 "storage"(A& +3 "core" & H H \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&0'7 +92 "core" ' +2 "storage"(+& +3 "core" & G G \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +299 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" &  K +3 "storage"( & +4 "core" & $ ' \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&]'u +23 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(U's +31 "core" ' +2 "manipulator"&P% +4 "core" %Έ  +2 "storage"(c& +4 "core" & % $\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&L'ϴ +14 "core" ' +2 "manipulator"&,& +3 "core" &  \  K +3 "storage"(;& +4 "core" & G H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&{'7 +18 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(K' +35 "core" ' + "manipulator"&& +5 "core" &  K + "manipulator"&[% +5 "core" %?   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +153 "core" ( + "manipulator"&-& +4 "core" &ӏ#    =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &ӏ# \  7 =C +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'R( +452 "core" ( +4 "storage"(& +4 "core" & S S \  +2 "storage"(C& +4 "core" & P H |\  +2 "manipulator"&& +4 "core" &ӭ#   9% +2 "manipulator"&n% +5 "core" % J g +2 .tForearm.seek :retract + "manipulator"&F' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&o( +164 "core" ( +2 "manipulator"&>& +4 "core" &  o  +2 "storage"(Y& +3 "core" & l l \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&&'u +92 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&D1 +57 "core" 1 +2 "manipulator"&% +3 "core" % ·  z ) +2 "storage"(S& +5 "core" & l l \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&@'ϳ +13 "core" ' +3 "manipulator"&^& +3 "core" & D  +3 "storage"(& +3 "core" & k g \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&z'7 +18 "core" ' + "storage"(% +4 "core" % m k X\ +2 ."downElevator"SE.seek :down +4 "storage"(/' +99 (V% +3 "core" %C G E \ V` +2 "manipulator"&Z% +4 "core" %/ J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'j& +3 "core" & \ +2 "manipulator"&k% +4 "core" %     +2 "storage"(p% +4 "core" % _ i \  +2 "storage"(Q. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(4(,y +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,v P H \ +2 "manipulator"&u& +4 "core" &     +2 .tElbow.seek 4 +2 "manipulator"&( +42 "core" ( +2 "manipulator"& & +4 "core" &    +2 "storage"( & +4 "core" &,v l l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&d' +95 "core" ' +2 "storage"(.& +4 "core" &,v [ \\ 1\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(7'r +294 "core" ' + "storage"(}- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (f& +2 "core" &,j G G (\  +4 "manipulator"&& +4 "core" &   &  +2 .tElbow.seek 4 + "manipulator"&i( +9 "core" ( + "manipulator"&E& +4 "core" &  1  +2 "storage"(r& +4 "core" &,j = P ^\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&3'c +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&?& +3 "storage"(l' +8 "core" & I  + "manipulator"&`% +4 "core" % w  < +3 .tForearm.seek :retract + "manipulator"&h' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&x& +5 "core" &ә  8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +47 "core" &ә  z 8 +5 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&~'? +101 "core" ' +2 "manipulator"&8& +4 "core" &Ӛ   w 7 +2 "manipulator"&#% +4 "core" %E    +2 "collection"'w& +4 "core" & \ +3 "collection"'& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'|(\\ +4 "core" & \  +9 &4z \ *z +9 &f} \ > +9 &m \ L +10 &TR \ \ K +9 &Y \ K +10 &W\ \ K +9 &W \ K +9 &]V \ K +10 &Y \ \ K +9 &S \ K +9 & U \ K +10 &"eX \ \ K +9 &$&V \ \ K +10 &%W \ \ L +9 &'W \ K +9 &)lW \ 0\ K +10 &+/T \ -\ K +9 &,W \ K +9 &.W \ K +10 &0uW X\ K +9 &26W '\ K +10 &3Y l\ K +9 &5W &\ K +9 &7{W ;\ L +10 &9>W \ g\ K +9 &:V \ L +9 &<V \ K +10 &>W .\ K +9 &@FY a\ K +10 &BY\  \ K +9 &C]\ \ 6\ L +9 &Eh\ \ <\ M +10 &GDr\ \ ;\ O +9 &H\ \ ;\ S +9 &J\ \ <\ V +10 &Lo\ \ :\ X +9 &N1\ \ 9\ X +10 &O\ \ 8\ Z +9 &Q\ \ <\ X +9 &St\ \ 9\ Y +10 &U5\ \ :\ Y +9 &V\ \ 8\ [\ +9 &X\ \ 8\ \\ +10 &Zv\ \ 8\ [\ +9 &\\y\ \ 2\ 2 +10 &\\-\ \ 4\ U +9 ( + &\\b\ \ *\ L +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&e1 +63 "core" 1 +2 "manipulator"&!% +4 "core" % E   I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%'& +4 "core" &"\ +2 "manipulator"&O% +4 "core" %   1 +2 "storage"(=% +3 "core" % * " 7\  +2 "storage"(. +4 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"($(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" &,|\ \  \ +2 "manipulator"&v& +3 "core" &ӥ  6 +3 "manipulator"&J% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&& +3 "core" &   e  +3 "storage"(%& +4 "core" &,| H H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(b& +3 "core" &,| K S O\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (<& +2 "core" &,j # $ ;\  +2 "manipulator"&9& +5 "core" &     +2 .tElbow.seek 4 +2 "manipulator"&\ ( +2 "core" ( +3 "manipulator"&& +4 "core" &  l  +2 "storage"(m& +3 "core" &,j $ &\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&B/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(*' +7 "core" &    +2 "manipulator"&% +3 "core" % t    +3 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&6& +4 "core" &   $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &   $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&A& +4 "core" &    $ +2 "manipulator"&"% +4 "core" %    +2 "processing"%+& +3 "core" & \ +3 "processing"%_& +5 "core" &%\ +3 .tPC.seek :closed +2 "processing"%(^ +54 "core" &$\ +5 &4(\ $e + &Vy*\ 7 + &x*\ K + &U%\ M + &bW)\ N + &%S$\ N +3 &Z$\ N +9 &V$\ M +9 &kV&\ N +10 &-Z'\ N +9 &Y&\ N +9 &!Y#\ N +10 &#sZ'\ N +9 &%5Y\ N +10 &&X\ M +9 &(W \ M +9 &*|W\ M +10 &,>V\ M +9 &.U\ M +9 &/Z\ N +10 &1R\ M +9 &3ES\ N +10 &5U\ N +9 &6U\ M +9 &8[\ N +10 &:NV\ M +9 &<X\ N +9 &=U\ N +10 &?W\ N +9 &AUU\ N +10 &C^\ O +9 &Dc\ O +9 &Fm\ P +10 &HSv\ Q +9 &J\ S +9 &K\ T +10 &M\ T +9 &OQ\ T +10 &Q\ U +9 &R\ T +9 &T\ U +10 &VW\ U +9 &X\ U +9 &Y\ U +10 &[\ U +9 &]]\ D +9 &^Bs\ a +10 &^7 \ 0 +5 ( +2 "processing"%_& +4 "core" &^\ 0 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&X1 +59 "core" 1 +2 "manipulator"&5% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +96 "core" ' +3 "processing"% & +3 "core" &^\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&g% +4 "core" % \  U  +2 "storage"(P% +4 "core" % % &\  +2 "storage"(c. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(,(,y +20 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (;& +2 "manipulator"&& +5 "core" &,| # #\ +2 &   7 $ +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&[( +7 ."raiseStack"SE.seek :beamBreak + "storage"(0'r +2 "core" ( +3 "manipulator"&)& +4 "core" &    $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &   $ +3 .tForearm.seek PC +2 "manipulator"&]' +94 "core" ' + .tHand.close +2 "manipulator"&L/ +58 "core" / +2 .tPC.seek :open +2 "processing"%U( +91 "core" ' +2 "storage"(-- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(M'1 +48 "core" ' +303 ( +2 "storage"({& +4 "core" &,h , ) m\  +2 "manipulator"&I& +4 "core" &    $ + "manipulator"&% +4 "core" %    * +2 .tForearm.seek :retract +2 "manipulator"&2' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&N( +246 "core" ( + "manipulator"&& +4 "core" &  ? 1 +2 "storage"(C& +4 "core" &,h $ $ )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' + .tHand.open +2 "manipulator"&n1 +55 "core" 1 +2 "storage"(>- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(Y' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(s- +3 "core" -' +2 "storage"(D& +3 "core" &,h D\  +2 "manipulator"&& +4 "core" &   1 +2 .tElbow.seek 4 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&^& +3 "core" &   x 1 +3 "storage"(& +4 "core" &,h Z V\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(F'" +56 "core" ' + "manipulator"&V& +4 "core" &    1 +2 "storage"(Z& +4 "core" &,h )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +49 "manipulator"&o'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +29 "core" ' +2 "manipulator"&@% +3 "core" %(  +3 "storage"(k& +4 "core" &,h  \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 285 counts + "manipulator"&p'T +14 "core" ' + "manipulator"&Q& +5 "core" &   1 + "storage"(K& +5 "core" &,h # " 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +19 "core" ' +2 "storage"(/% +4 "core" % H G %\ +3 ."downElevator"SE.seek :down +3 "storage"(y' +99 (% +4 "core" %J\ *\ * t\ Wd +2 "manipulator"&u% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 ( & +3 "core" &,h  4 \  +2 "collection"'.& +4 "core" &\\a\ \ ?\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&\\% +4 "core" %     +2 "storage"(% +3 "core" % # " 7\  +2 "storage"(}. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(f(,y +39 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &,z ! % 2\ +2 "manipulator"&E& +3 "core" &  " 0 +3 .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&G& +3 "core" &   ? 0 +3 "storage"(?& +4 "core" &,z # "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&`' +94 "core" ' +2 "storage"(& +4 "core" &,z E G \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'r +294 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +4 "core" &   5 0 +2 "storage"(7& +4 "core" &,j " #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&3'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(8- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(#'i +29 "core" ' +2 "manipulator"&w% +4 "core" %* \   +2 "storage"(l& +4 "core" &,j # #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 287 counts +2 "manipulator"&h'V +13 "core" ' + "manipulator"&R& +5 "core" &   0 + "storage"(e& +4 "core" &,j  (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"('' +35 "core" ' +2 "manipulator"&O& +3 "core" &    0 +3 "manipulator"&=% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ( +2 "manipulator"&1& +3 "core" &Ӛ  # C 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +2 "core" &Ӛ   8 +4 .tForearm.seek CC +2 "manipulator"&J'? +92 "core" ' + .tHand.close +2 "manipulator"&~/ +56 "core" / +2 .tCC.seek :open +46 "collection"'( +451 "core" ( +2 "storage"(%& +4 "core" &,j R R R\  +2 "storage"(4& +3 "core" &,j F H ?\  +2 "manipulator"&b& +5 "core" &Ӭ   5 + "manipulator"&t% +4 "core" % ?    +3 .tForearm.seek :retract + "manipulator"&T' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&:( +164 "core" ( +2 "manipulator"&<& +4 "core" &    +2 "storage"(9& +3 "core" &,j ] f |\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +93 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&B1 +63 "core" 1 +2 "manipulator"&% +3 "core" % 4  t ! +2 "storage"(& +4 "core" &,j f ` \  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 297 counts + "manipulator"& '` +14 "core" ' + "manipulator"&& +5 "core" &    + "storage"(& +5 "core" &,j l l z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(6% +4 "core" % _ i \ +2 ."downElevator"SE.seek :down +4 "storage"(a' +98 (\ % +3 "core" %D G F \ V_ +3 "manipulator"&A% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'+& +3 "core" & \ +3 "manipulator"&*% +3 "core" %  \  +3 "storage"(H% +4 "core" % i ^ \  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(X(  +680 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (5& +2 "core" &  P S 6\ +3 "manipulator"& & +4 "core" &    +2 .tElbow.seek 2 + "manipulator"&g( +4 "core" ( +2 "manipulator"&P& +4 "core" &   I  + "storage"(c& +5 "core" &  j g \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'S +99 "core" ' +2 "storage"(& +3 "core" &  \\ \\\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +309 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" & i i \ +2 "manipulator"&& +4 "core" &   I  +2 .tElbow.seek 2 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&$& +3 "core" &  W  +3 "storage"(-& +3 "core" & j k \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +52 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(0' +8 "core" & C  + "manipulator"&{% +5 "core" % : +2 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&]& +4 "core" &ӑ"   < ;8 +47 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ"  4 ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&C'? +101 "core" ' +3 "manipulator"&[& +4 "core" &ӑ"   - ;8 +2 "manipulator"&n% +3 "core" %?   +3 "collection"'>& +3 "core" &  \ +3 "collection"'s& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'D(\\ +4 "core" &  \ +8 &<  \ $e +10 &Xx \ 7 +9 &x \ K +10 &U \ \ K +9 &U \ K +9 &BU\ \ L +10 &U \ K +9 &U\ \ L +9 &U \ K +10 &KW \ K +9 & W \ \ K +10 &!U \ K +9 &#V \ K +9 &%RU \ L +10 &'T \ K +9 &(U \ \ K +9 &*W \ K +10 &,\\V \ K +9 &.U \ K +10 &/U 5\ L +9 &1U (\ K +9 &3bV 8\ L +10 &5&V 3\ K +9 &6V \ L +9 &8U\ \ 9\ K +10 &:jW \ L +9 &<-U  \ K +10 &=W \ L +9 &?V\ F\ K +9 &AsY \ :\ K +10 &C4[\ \ H\ L +9 &Dd\ \ H\ M +9 &Fn\ \ 0\ N +10 &Hj\ \ H\ Q +9 &J \ \ :\ U +10 &K\ \ E\ X +9 &M\ \ D\ W +9 &O_\ \ D\ X +10 &Q \ \ H\ X +9 &R\ \ M\ Y +9 &T\ \ J\ Y +10 &Va\ \ H\ Z +9 &X\ \ M\ [\ +10 &Y\ \ D\ \\ +9 &[\ \ 8\ I +9 &\\2\ \ H\ 2 +10 &\\c\ \ H\ K +2 ( +2 "collection"'s& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +3 "manipulator"&^% +3 "core" % ?   k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%2& +3 "core" &\ +3 "manipulator"&V% +4 "core" %     + "storage"(Z% +5 "core" % # " :\  + "storage"(M. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(Y(  +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &  J X\ +2 "manipulator"&k& +4 "core" &Ӫ   8 +2 "manipulator"&Q% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&K( +164 "core" ( +2 "manipulator"&N& +3 "core" &    +2 "storage"(/& +4 "core" &  I H >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' +2 "storage"(& +4 "core" &  G F \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & & # )\  +2 "manipulator"&S& +4 "core" & (  +2 .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&o& +4 "core" &   +2 "storage"(p& +4 "core" & " " I\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&\\& +3 "storage"(' +8 "core" &  (  + "manipulator"&}% +4 "core" % ϳ    +2 .tForearm.seek :retract +2 "manipulator"&j' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&E& +4 "core" &  g 9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +3 "core" &   # 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +104 "core" ' + "manipulator"&z& +5 "core" &   K 9 + "manipulator"&% +5 "core" %   d +2 "processing"%y& +3 "core" &#\ +3 "processing"%,& +5 "core" &\ +52 .tPC.seek :closed +5 "processing"%&(^ +3 "core" & \ + &\ + &$\ +2 &$\ + &"\ + &%\ + &#\  +6 &3y,\ *x +9 &d~$\ > +10 &tr$\ N +9 &7U#\ N +9 &W#\ N +10 &T#\ N +9 &}S!\ N +9 &?W \ N +10 &T"\ N +9 &U\ N +10 & Y#\ N +9 &"GR$\ N +9 &$\ V'\ M +10 &%T!\ M +9 &'U\ N +9 &)OY \ N +10 &+T\ N +9 &,T\ N +10 &.T\ M +9 &0XT \ M +9 &2U \ M +10 &3W\ N +9 &5S\ M +9 &7_U\ N +10 &9!Z \ N +9 &:V\ N +10 &<U\ N +9 &>fZ\ N +9 &@)W\ N +10 &A]\ N +9 &Cb\ O +9 &Eig\ P +10 &G)n\ P +9 &H\ R +10 &J\ T +9 &Lf\ S +9 &N%\ T +10 &O\ U +9 &Q\ U +9 &Sj\ U +10 &U,\ U +9 &V\ U +10 &X\ T +9 &Zq\ U +9 &\\3 \ U +10 &]}s \ ; +9 &^(n\ S +9 &^&\ 2 +3 ( +2 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"& 1 +57 "core" 1 +2 "manipulator"&x% +4 "core" %    d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' +2 "processing"%7& +4 "core" &^#\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&8% +4 "core" %    +2 "storage"(w% +3 "core" %\ \ \  +3 "storage"(l. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(R(  +46 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (e& +2 "manipulator"&O& +5 "core" & \ #\  \ +2 &   9 +4 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&=( +7 ."raiseStack"SE.seek :beamBreak + "storage"(`'r +4 "core" ( + "manipulator"&r& +4 "core" &   9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &  9 +3 .tForearm.seek PC +2 "manipulator"&3' +91 "core" ' +3 .tHand.close + "manipulator"&h/ +52 "core" / +3 .tPC.seek :open + "processing"%#( +103 "core" ' +2 "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(v'1 +41 "core" ' +300 ( + "storage"(!& +5 "core" & # $ \ + "manipulator"&i& +4 "core" &   9 +2 "manipulator"&~% +4 "core" %   \ 8 +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&|( +257 "core" ( + "manipulator"&%& +3 "core" &   +3 "storage"(4& +3 "core" & & % '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&b'S +94 "core" ' + .tHand.open +2 "manipulator"&t1 +53 "core" 1 +3 "storage"(<- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(J' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(B& +4 "core" & f e \ +2 "manipulator"&& +3 "core" &    +3 .tElbow.seek 2 + "manipulator"&( +5 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(& +3 "core" & d g O\ +3 .tForearm.seek 2 + 450 counts + "manipulator"&6'S +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(T'" +51 "core" ' +2 "manipulator"&\ & +4 "core" &     +2 "storage"(A& +44 "core" & # # Y\ +9 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&:'Α +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(+' +19 "core" ' +2 "manipulator"&*% +4 "core" %Γ    +2 "storage"( & +3 "core" & $ # \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 302 counts + "manipulator"&H'Ͽ +14 "core" ' +2 "manipulator"&& +3 "core" & *  +3 "storage"('& +3 "core" &  "\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 "storage"(a% +3 "core" %  l\ +3 ."downElevator"SE.seek :down +4 "storage"(f' +99 (5% +3 "core" %&] \  J\ Ym +3 "manipulator"& % +4 "core" %?    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (c& +3 "core" & " %\ +3 "collection"'& +4 "core" &\\b\ \ K\ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&m% +4 "core" %     +2 "storage"("% +3 "core" % 7 & \  +2 "storage"(). +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(W(  +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  9 & !\ +2 "manipulator"&$& +4 "core" &     +2 .tElbow.seek 2 +2 "manipulator"&-( +4 "core" ( +2 "manipulator"&(& +3 "core" &    +2 "storage"(& +5 "core" &  6 # #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'S +94 "core" ' + "storage"(g& +3 "core" &  H H &\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +297 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&;& +3 "core" &    +2 "storage"(& +4 "core" & )  \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"([- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(n'l +28 "core" ' + "manipulator"&>% +3 "core" %Ώ    +2 "storage"(0& +5 "core" & " ! [\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 298 counts + "manipulator"&I'ϻ +14 "core" ' +2 "manipulator"&& +3 "core" &  k  +2 "storage"(& +4 "core" & G I =\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'S +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(2' +34 "core" ' +2 "manipulator"&V& +4 "core" & Q  + "manipulator"&Z% +5 "core" %B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +158 "core" ( +2 "manipulator"&@& +3 "core" &ӎ   a :, +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &ӎ   :, +3 .tForearm.seek CC +2 "manipulator"&Q'? +137 "core" ' +4 .tHand.close + "manipulator"&C/ +63 "core" / +2 .tCC.seek :open +2 "collection"'N( +449 "core" ( +2 "storage"(/& +4 "core" & F K \  + "storage"(X& +5 "core" & E H\  + "manipulator"&& +5 "core" &Ӥ   ! 7 + "manipulator"&% +5 "core" % O   +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&u( +161 "core" ( + "manipulator"&& +5 "core" &   + "storage"(S& +4 "core" & X [\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&o'Α +95 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&.1 +61 "core" 1 +2 "manipulator"&\\% +4 "core" % ΋   +2 "storage"(}& +4 "core" & [ K 7\  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 2 + 294 counts + "manipulator"&K'Ϸ +13 "core" ' +2 "manipulator"&& +3 "core" & )  +3 "storage"(& +4 "core" & l j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +15 "core" ' +2 "storage"(E% +4 "core" % k l \ +3 ."downElevator"SE.seek :down +3 "storage"(G' +99 (F% +3 "core" %Q # # Q\ Xi +2 "manipulator"&z% +5 "core" %= d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'y& +3 "core" & \ +2 "manipulator"&% +4 "core" %  F  +2 "storage"(j% +3 "core" % l m \  +2 "storage"(U. +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" & 4 ' =\  +2 "manipulator"&7& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&8( +14 "core" ( +2 "manipulator"&w& +4 "core" &  l  + "storage"(l& +5 "core" & l k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&,'7 +94 "core" ' +2 "storage"(O& +4 "core" & ^ ` \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'r +305 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" & D Q 9\  +2 "manipulator"&?& +5 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&h( +4 "core" ( +2 "manipulator"&Y& +4 "core" &  b  +2 "storage"(1& +3 "core" & 8 < \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"(`' +8 "core" & :  + "manipulator"&!% +5 "core" % ϫ  J +2 .tForearm.seek :retract + "manipulator"&i' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +148 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&3& +3 "core" &Ӑ  \  9' +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &Ӑ   9' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'? +96 "core" ' +2 "manipulator"&=& +5 "core" &Ӑ   9' +2 "manipulator"&t% +4 "core" %;   +2 "collection"'<& +4 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'B(\\ +4 "core" & \  +9 &4z \ \ *z +9 &\ f} \ > +10 &m \ L +9 &[R \ K +9 &U\ \ K +10 &T  \ K +9 &R \ J +10 &bU \ K +9 &$W\  \ K +9 &U \ \ K +10 & U \ \ K +9 &"jU \ \ K +9 &$,U \ K +10 &%W\ \ K +9 &'U \ K +10 &)sU \ K +9 &+5U \ \ K +9 &,U \ K +10 &.U\ \ 1\ K +9 &0{U -\ K +9 &2=U\ \ \ K +10 &3V\ )\ K +9 &5U \ ,\ K +10 &7W \ 0\ K +9 &9EU 2\ K +9 &;U \ 1\ K +10 &<U 0\ K +9 &>V\ \ K +9 &@KW B\ L +10 &BW\ \ /\ K +9 &CY\ \ #\ L +10 &Ee\ \ C\ M +9 &GLp\ \ M\ N +9 &I\ \ N\ Q +10 &J\ \ N\ V +9 &Lx\ \ K\ W +10 &N8\ \ I\ X +9 &O\ \ L\ X +9 &Q\ \ G\ X +10 &Sz\ \ K\ Y +9 &U;\ \ \ (\ Y +9 &V\ \ A\ Z +10 &X\ \ H\ [ +9 &Z}\ \ J\ [ +9 &\\y\ \ K\ / +10 &\\2\ \ L\ a +9 ( + &\\_\ \ J\ K +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +5 "core" % ;   3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &\ +3 "manipulator"&\ % +4 "core" %    +2 "storage"(A% +3 "core" % " & 2\  +3 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(*( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &\ \  *\  +2 "manipulator"&9& +5 "core" &Ө   H 6 + "manipulator"&% +3 "core" %    I +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&'( +161 "core" ( +2 "manipulator"&a& +3 "core" &   +3 "storage"(|& +4 "core" & H H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&b'7 +92 "core" ' +2 "storage"(J& +3 "core" & H K \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'r +300 "core" ' + "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" & # , \  +2 "manipulator"&& +3 "core" &    +3 .tElbow.seek 3 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&:& +4 "core" &   +2 "storage"(H& +4 "core" & # # \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&c'ϡ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& +2 "storage"("' +8 "core" &  (  +2 "manipulator"&)% +4 "core" % ϟ   $ K +2 .tForearm.seek :retract +2 "manipulator"&+' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +4 "manipulator"&$& +3 "core" &   # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +3 "core" &   # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +3 "core" &   @ # +3 "manipulator"&g% +3 "core" %   2 T +3 "processing"%f& +49 "core" &\ +5 "processing"%R& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +3 "core" &"\ +8 &5#\ #c +9 &V{$\ 7 +10 &w#\ K +9 &U#\ N +9 &cT"\ M +10 &%R$\ M +9 &Y%\ N +10 &W$\ N +9 &kT&\ M +9 &,T(\ N +10 &T"\ N +9 &!V\ M +9 &#sU\ M +12 &%5U#\ M +7 &&Y \ N +10 &(Y&\ M +9 &*zT!\ N +9 &,=Y"\ M +10 &-X \ N +9 &/W \ N +9 &1U\ N +10 &3DU\ N +9 &5U\ M +10 &6U\ M +9 &8Y \ N +9 &:MT\ M +10 &<W\ M +9 &=U \ N +9 &?U\ N +10 &ATW\ N +9 &Cc\ O +10 &Df\ P +9 &Fn\ Q +9 &HO\ R +10 &J \ T +9 &K\ T +9 &M\ T +10 &OP\ T +9 &Q\ U +10 &R\ U +9 &T\ V +9 &VW\ U +10 &X\ T +9 &Y\ U +9 &[\ U +10 &]]\ C +9 &^K|\ L +10 &^I \ 9 +5 ( +2 "processing"%R& +3 "core" &^.\ 9 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&P1 +59 "core" 1 +2 "manipulator"&]% +3 "core" %    i T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +93 "core" ' + "processing"%& +5 "core" &^-\ 9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&[% +4 "core" % ! \  $ +2 "storage"(>% +3 "core" % K\ ( G\  +3 "storage"(0. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +5 "core" & \  k\  +2 "manipulator"&V& +3 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &   ] # +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Z'r +2 "manipulator"&{( +7 "core" ( + "manipulator"&-& +4 "core" &  # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &   # +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close +2 "manipulator"&I/ +55 "core" / +2 .tPC.seek :open +2 "processing"%n( +94 "core" ' + "storage"(@- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'1 +56 "core" ' +294 ( + "storage"(^& +4 "core" & G H R\  +2 "manipulator"&L& +3 "core" &  # +2 "manipulator"&C% +3 "core" %  \  = +3 .tForearm.seek :retract +2 "manipulator"&M' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&D( +247 "core" ( +2 "manipulator"&/& +4 "core" &   D +2 "storage"(X& +3 "core" & # #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' + .tHand.open +2 "manipulator"&1 +54 "core" 1 +3 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(S' +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(Q' +57 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(s- +3 "core" -' +2 "storage"(.& +3 "core" & * * 3\  +3 "manipulator"&\\& +4 "core" & \  C +2 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +4 "core" &   C +2 "storage"(& +4 "core" & 5 - L\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&E'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +3 "manipulator"&F& +4 "core" &   # C +2 "storage"(z& +3 "core" &  " 7\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&u'u +19 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +19 "core" ' + "manipulator"&% +5 "core" %  + "storage"(K& +4 "core" & \\\  w\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&j'ϫ +15 "core" ' + "manipulator"&U& +5 "core" &  C + "storage"(2& +5 "core" & % \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +19 "core" ' +2 "storage"(G% +4 "core" %  \ +2 ."downElevator"SE.seek :down +4 "storage"(W' +99 (x% +3 "core" %^J > D\ Wc +2 "manipulator"&7% +4 "core" %<  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +92 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (l& +3 "core" & 3  c\  +2 "collection"'O& +5 "core" &\\`\ \ I\ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&p% +4 "core" %   (  +2 "storage"(% +3 "core" % % # \  +2 "storage"(r. +4 "core" .( +2 "storage"(d& +4 "core" & + ( P\  +2 "storage"(?& +4 "core" & # % \  + "manipulator"&Y& +5 "core" &   C +2 .tElbow.seek 3 + "manipulator"&1( +4 "core" ( +2 "manipulator"&q& +3 "core" &  C +2 "storage"(&& +5 "core" & # " 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&!'7 +95 "core" ' +2 "storage"(8& +4 "core" & J O ;\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'r +301 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" &   C +3 "storage"(e& +4 "core" &  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'u +23 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(t- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(<'t +42 "core" ' + "manipulator"&h% +5 "core" %΀   + "storage"(`& +3 "core" & " \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&i'Ϭ +13 "core" ' +2 "manipulator"&N& +3 "core" &   C +3 "storage"(& +4 "core" & ) " H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +18 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +41 "core" ' +2 "manipulator"&\ & +3 "core" &    C +2 "manipulator"&A% +5 "core" %#   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( +2 "manipulator"& & +4 "core" &Ӛ   3 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &Ӛ   7 +3 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +46 .tHand.close +4 "manipulator"&4/ +63 "core" / +2 .tCC.seek :open +2 "collection"'a( +448 "core" ( +2 "storage"(|& +3 "core" & O B D\  +2 "storage"( & +4 "core" & R R D\  +2 "manipulator"&J& +3 "core" &ӡ  6 +3 "manipulator"&~% +4 "core" % A    +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +164 "core" ( +2 "manipulator"&6& +4 "core" &  ,  +2 "storage"(& +4 "core" & i i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&:'u +100 "core" ' + .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "manipulator"&m% +4 "core" % ΁   \ + "storage"()& +5 "core" & j _ \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&''ϭ +26 "core" ' +2 "manipulator"&b& +3 "core" & F  +3 "storage"(5& +3 "core" & k j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&c'7 +17 "core" ' + "storage"($% +4 "core" % h \\ \ +3 ."downElevator"SE.seek :down +4 "storage"((' +99 (T% +3 "core" %D G E "\ U^ +2 "manipulator"&% +4 "core" %: \   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'f& +3 "core" & \ +2 "manipulator"&"% +4 "core" %      +2 "storage"(+% +4 "core" % l j \  +2 "storage"(#. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(P(,y +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (]& +2 "core" &,z D ; [\  +3 "manipulator"&& +3 "core" &    +3 .tElbow.seek 4 + "manipulator"&[( +44 "core" ( +2 "manipulator"&>& +4 "core" &    +2 "storage"(0& +3 "core" &,z j k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +97 "core" ' + "storage"(& +4 "core" &,z j b \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +299 "core" ' +2 "storage"(-- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &,j g ] \  +2 "manipulator"&& +4 "core" & g  +2 .tElbow.seek 4 +2 "manipulator"&I( +4 "core" ( +2 "manipulator"&*& +4 "core" &   +2 "storage"(@& +3 "core" &,j _ m \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(Z' +8 "core" & B  + "manipulator"&^% +5 "core" % ` \ q +2 .tForearm.seek :retract + "manipulator"&L' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +155 "core" ' + ( + "manipulator"&& +50 ."downElevator"SE.stop +6 "storage"(5 +2 "core" &ӆ%   >M +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &/& +2 "core" &ӆ% ' } >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'? +103 "core" ' +2 "manipulator"&{& +4 "core" &ӛ"  ;8 +2 "manipulator"&% +4 "core" %F \  +2 "collection"'& +5 "core" & \ +2 "collection"'s& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'.(\\ +3 "core" & \ +8 &< \ $f +9 &Xy \ 7 +10 &v \ K +9 &U \ K +9 &U  \ K +10 &DU\  \ K +9 &U \ \ K +10 &U\  \ K +9 &U \  \ K +9 &LV  \ K +10 & T\  \ K +9 &!U  \ K +9 &#V  \ K +10 &%SU \ K +9 &'T \ K +10 &(U \ K +9 &*U \ K +9 &,[V D\ K +10 &.U \ K +9 &/T \ K +9 &1W\ \ K +10 &3dU \ K +9 &5%U  \ K +10 &6V\  4\ K +9 &8R \ \ \ K +9 &:lV\ 0\ K +10 &<-U\  \ K +9 &=V \ K +9 &?V \ )\ K +10 &AtS \ 4\ K +9 &C4]\ \ \ L +10 &Db\ \ @\ L +9 &Fl\ \ ^\ N +9 &Hn\ \ 6\ P +10 &J#\ \ \ T +9 &K\ \ \ \ W +9 &M\ \ k\ W +10 &O_\ \ Z\ X +9 &Q!\ \ 3\ X +10 &R\ \ ,\ X +9 &T\ \ L\ Y +9 &Va\ \ P\ Z +10 &X!\ \ O\ Z +9 &Y\ \ S\ [ +9 &[\ \ L\ I +10 &\\0\ \ \ I\ 4 +9 &\\g\ \ I\ J +2 ( +2 "collection"'s& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&\\1 +58 "core" 1 +2 "manipulator"&% +4 "core" % F   ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%M& +4 "core" &\ +2 "manipulator"&F% +3 "core" %     +3 "storage"(z% +4 "core" % # #\  + "storage"(k. +4 "core" .(,y +2 "storage"(& +4 "core" &,j # # \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(K(,y +44 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +3 "core" &,}\ '\  ;\ +2 "manipulator"&2& +4 "core" &ӫ   W 9( +2 "manipulator"&S% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&G( +164 "core" ( + "manipulator"&D& +5 "core" &    + "storage"(& +5 "core" &,} # 7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +93 "core" ' +2 "storage"(x& +5 "core" &,} F G \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +295 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &,j H h\  +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&j& +4 "core" &    +2 "storage"(l& +4 "core" &,j  $ S\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&O'c +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(r' +8 "core" & !  + "manipulator"&y% +5 "core" % o   +2 .tForearm.seek :retract + "manipulator"&d' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&Y& +3 "core" &   > 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +3 "core" &   $ 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&&' +95 "core" ' +2 "manipulator"& & +4 "core" &   6 +2 "manipulator"&8% +4 "core" %  8 +49 "processing"%W& +5 "core" &\ +2 "processing"%o& +5 "core" &.\ +3 .tPC.seek :closed +2 "processing"%w(^ +5 "core" &.\ +6 & -*\ $c +10 &U{"\ 7 +9 &x(\ K +9 &T%\ N +10 &fU%\ N +9 &)S)\ M +9 &T%\ M +10 &T/\ M +9 &oW'\ M +10 &1U)\ M +9 &W+\ M +9 &!R&\ M +10 &#wU+\ M +9 &%8X)\ N +9 &&U%\ N +10 &(T"\ M +9 &*U\ M +10 &,@S$\ N +9 &.V%\ M +9 &/X/\ N +10 &1Q#\ M +9 &3HV\ N +9 &5\ T\ N +10 &6W \ N +9 &8W\ N +10 &:QR\ M +9 &<V\ \ N +9 &=Y\ N +10 &?T\ N +9 &AYV\ M +9 &C]\ O +10 &Db\ O +9 &Fk\ P +10 &HUx\ Q +9 &J\ T +9 &K \ T +10 &M\ T +9 &OT\ T +9 &Q\ T +10 &R\ T +9 &T\ U +10 &V\\"\ T +9 &X\ T +9 &Y\ U +10 &[\ U +9 &]a\ C +9 &^Cu\ ] +10 &^0\ 3 +5 ( +2 "processing"%o& +3 "core" &^ \ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&31 +62 "core" 1 +2 "manipulator"&%% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' +2 "processing"%t& +4 "core" &^ \ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&h% +5 "core" %   l  +2 "storage"(`% +4 "core" % % #\  + "storage"(N. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +12 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "manipulator"&A& +4 "core" &,|\ \ ' `\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   6 +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(!'r +2 "manipulator"&1( +5 "core" ( +2 "manipulator"&,& +4 "core" &  U 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  6 +3 .tForearm.seek PC + "manipulator"&i' +94 "core" ' + .tHand.close +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,h 1 5 3\ +3 "collection"'H& +3 "core" &\\]\ \ F\ J +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&g% +4 "core" % \    +2 "storage"(-% +3 "core" % H G \  +3 "storage"(_. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +36 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +3 "core" &,| !  [\ +2 "manipulator"&@& +5 "core" &   6 +2 .tElbow.seek 4 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&& +3 "core" &   6 +2 "storage"(^& +5 "core" &,| G H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +93 "core" ' + "storage"(R& +4 "core" &,| G H \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   & 6 +2 "storage"(/& +5 "core" &,j " # &\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&I'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('j +29 "core" ' +2 "manipulator"&Z% +3 "core" %F   +2 "storage"(L& +3 "core" &,j " S\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&a'r +14 "core" ' + "manipulator"&\\& +4 "core" &   E 6 +2 "storage"(& +4 "core" &,j + "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(F' +35 "core" ' +2 "manipulator"&z& +3 "core" &   6 +2 "manipulator"&k% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +151 "core" ( + "manipulator"&U& +5 "core" &Ӑ#   ( <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +47 &2& +7 "core" &Ӑ#  a <> +2 .tForearm.seek CC +2 "manipulator"&S'? +96 "core" ' +2 .tHand.close + "manipulator"&X/ +55 "core" / +2 .tCC.seek :open +2 "collection"'D( +451 "core" ( +2 "storage"(& +3 "core" &,j C = \  +3 "storage"(P& +4 "core" &,j R R T\  + "manipulator"&x& +5 "core" &ӳ  8 + "manipulator"&C% +4 "core" % 9   +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&E( +155 "core" ( +2 "manipulator"&}& +4 "core" &    + "storage"(& +5 "core" &,j l l \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&j'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&p1 +52 "core" 1 +2 "manipulator"&% +3 "core" % 7   - +2 "storage"(y& +4 "core" &,j = ; ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&G'c +14 "core" ' +2 "manipulator"&Q& +3 "core" &   +2 "storage"(7& +5 "core" &,j i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +16 "core" ' +2 "storage"(Y% +3 "core" % j i q\ +3 ."downElevator"SE.seek :down +4 "storage"(q' +98 (u% +3 "core" %k? E E \ V` +2 "manipulator"& % +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'W& +3 "core" &\ \ \ +3 "manipulator"&r% +4 "core" %    +2 "storage"(d% +3 "core" % m l \  +2 "storage"(n. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(3(  +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +3 "core" & g ^ K\ +2 "manipulator"&t& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&`& +4 "core" &   & +2 "storage"(N& +4 "core" & i k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'S +96 "core" ' +2 "storage"(\ & +4 "core" & c } !\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(A'r +296 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & R C x\  +2 "manipulator"&&& +3 "core" &  O +3 .tElbow.seek 2 + "manipulator"&<( +3 "core" ( +2 "manipulator"&K& +5 "core" &   + "storage"(9& +3 "core" & < 8 P\  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&?'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&e/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(!' +8 "core" &  ; +2 "manipulator"&=% +4 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&4' +91 "core" ' +5 .tElbow.seek CC +2 "manipulator"&v(ӂ +148 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&i& +3 "core" &Ӈ%   >J +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӈ%  X >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'? +103 "core" ' +2 "manipulator"&1& +3 "core" &Ӛ"    ;7 +3 "manipulator"&6% +3 "core" %<   6 +3 "collection"'& +3 "core" &\  \ +3 "collection"'& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'m(\\ +5 "core" &  \ +7 &B #\ $f +10 &Y{ #\ 7 +9 &w \ K +9 &T \ K +10 &T \ K +9 &GW\ \ K +10 & V\ \ K +9 &V\ \ K +9 &U\ \ K +10 &PR \  \ J +9 & W\ \  \ K +9 &!X \  \ L +10 &#U\ \  \ K +9 &%WU\  \ K +10 &'T  \ K +9 &(U \  \ K +9 &*T\  \ K +10 &,^U\ \  \ K +9 &. U  \ K +9 &/T\ \ K +10 &1S\ \ K +9 &3fU \ \ K +10 &5(V  \ K +9 &6S\  \ K +9 &8U \ \ K +10 &:mU \ \ L +9 &<1U \ K +9 &=U\ \ \ \ K +10 &?U\  \ K +9 &AvY \ \ K +10 &C6^\ \ \ L +9 &De\ \ .\ M +9 &Fm\ \ 6\ N +10 &Hm\ \ 2\ Q +9 &J%\ \ 8\ U +9 &K\ \ 6\ W +10 &M\ \ \ W +9 &Oa\ \ ,\ X +10 &Q#\ \ 0\ X +9 &R\ \ 3\ Y +9 &T\ \ 6\ Z +10 &Vc\ \ \ 3\ Z +9 &X#\ \ 0\ [ +9 &Y\ \ Y\ [ +10 &[\ \ ,\ I +9 &\\0\ \ M\ 5 +10 &\\e\ \ +\ K +2 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&)1 +57 "core" 1 +3 "manipulator"&5% +3 "core" % <  4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%B& +4 "core" &4\ +2 "manipulator"&% +4 "core" %    q  + "storage"( % +5 "core" % " )\  + "storage"(. +3 "core" .(  +2 "storage"(& +4 "core" &   \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"('(  +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &  J K\ +2 "manipulator"&& +3 "core" &Ӯ  9# +3 "manipulator"&c% +4 "core" %   9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&|( +155 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(~& +4 "core" &  H H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +100 "core" ' +2 "storage"(& +4 "core" &  F G \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'r +294 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (b& +2 "core" & +\  +3 "manipulator"&T& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&:( +4 "core" ( +2 "manipulator"&#& +4 "core" &   +2 "storage"(& +4 "core" & # # \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&H'Ͻ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&-& +3 "storage"("' +7 "core" &  +2 "manipulator"&_% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&& +3 "core" &   ! +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &   ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +143 "core" ' +4 "manipulator"&R& +4 "core" &  ! +3 "manipulator"&]% +4 "core" % \  = +2 "processing"%& +3 "core" &0\ +3 "processing"%f& +6 "core" &<\ +2 .tPC.seek :closed +3 "processing"%0(^ +4 "core" &3\ +5 &2\ 7 +10 &=Iv<\ 0 +9 &js~/\ D +9 &\ `1\ N +10 &T.\ M +9 &X*\ M +9 &SW,\ M +10 &R.\ M +9 &T+\ M +10 &X,\ N +9 &ZV.\ N +9 &!S*\ N +10 &"W-\ N +9 &$W(\ N +10 &&bR1\ N +9 &(%W,\ M +9 &)T+\ M +10 &+W0\ N +9 &-kX.\ M +9 &/,X,\ N +10 &0U*\ N +9 &2W.\ M +9 &4sV1\ M +10 &64X,\ N +9 &7U/\ N +10 &9S#\ M +9 &;zW+\ N +9 &==Y+\ M +10 &>W#\ M +9 &@W \ M +9 &B\\&\ N +10 &D@`\ O +9 &Ej \ P +10 &Gt\ Q +9 &Iz\ S +9 &K9"\ T +10 &L\ T +9 &N\ U +9 &P}\ U +10 &R@\ T +9 &T\ U +10 &U\ U +9 &W\ U +9 &YH"\ T +10 &[ \ U +9 &\\\ U +9 &^@e\ &u +10 &^]\ 2 +9 ( + &^\ / +2 "processing"%f& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&V1 +54 "core" 1 +2 "manipulator"&% +4 "core" %    \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +91 "core" ' +2 "processing"%& +4 "core" &^!\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Z% +5 "core" %     + "storage"(L% +5 "core" % \\ * \  + "storage"(\\. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +40 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (z& +2 "manipulator"&k& +6 "core" & \ \  8\ + &   ! +4 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&[( +4 "core" ( +5 "manipulator"&;& +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" &   ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &I& +3 "core" &  l ! +3 .tForearm.seek PC + "manipulator"&a' +92 "core" ' +2 .tHand.close + "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%U( +98 "core" ' +2 "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'1 +44 "core" ' +304 ( +3 "storage"({& +4 "core" & & % _\ +2 "manipulator"&X& +4 "core" &    ! + "manipulator"&% +4 "core" %     3 +3 .tForearm.seek :retract + "manipulator"&.' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&P& +3 "core" &   k +3 "storage"(x& +4 "core" & # "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&C'S +99 "core" ' +2 .tHand.open +2 "manipulator"&}1 +62 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(S' +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(s' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(p- +4 "core" -' +2 "storage"(& +4 "core" & g g p\ +2 "manipulator"&y& +4 "core" &\  1 k +2 .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&7& +4 "core" &\   [ k +2 "storage"(Y& +4 "core" & d d 0\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +58 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(u'" +52 "core" ' + "manipulator"& & +5 "core" &\ \  k + "storage"(E& +5 "core" & $ $\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&j'Α +26 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(G' +27 "core" ' +2 "manipulator"&r% +4 "core" %Λ   +2 "storage"(d& +4 "core" & U 3\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 310 counts + "manipulator"&n' +14 "core" ' +2 "manipulator"&F& +4 "core" &   k +2 "storage"(O& +3 "core" & , *\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&q'S +17 "core" ' + "storage"(% +5 "core" % " # \ +2 ."downElevator"SE.seek :down +4 "storage"(%' +98 (t% +4 "core" %[_\ \ Zn +2 "manipulator"&`% +5 "core" %G   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (\ & +4 "core" &  9 Y\ +2 "collection"'l& +4 "core" &\\`\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&8% +3 "core" %     +3 "storage"(,% +3 "core" % # \  +2 "storage"(. +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(&(  +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +3 "core" &  ! # q\ +2 "manipulator"&9& +5 "core" &\  8 k +2 .tElbow.seek 2 + "manipulator"&e( +5 "core" ( + "manipulator"&w& +4 "core" &\    k +2 "storage"(=& +3 "core" &  # \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'S +99 "core" ' + "storage"(o& +5 "core" &  H G \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +299 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&A& +2 "core" &    j +3 "storage"(?& +4 "core" & # "\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&1'Α +23 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(<'m +28 "core" ' +2 "manipulator"&!% +4 "core" %Ν  + "storage"(4& +4 "core" & % # G\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&D' +13 "core" ' +2 "manipulator"&)& +4 "core" &   j +2 "storage"(5& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&B'S +8 "Can"-\ Qc" +7 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +38 "core" ' +2 "manipulator"& & +3 "core" &   j +2 "manipulator"&% +5 "core" %C   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +42 "manipulator"&(ӂ +158 "core" ( +2 "manipulator"&+& +4 "core" &Ӎ'   ` @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӎ' ! @X +3 .tForearm.seek CC +2 "manipulator"&c'? +92 "core" ' + .tHand.close +2 "manipulator"&J/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(~& +4 "core" & I K \  +2 "storage"(3& +4 "core" & H H\  + "manipulator"&& +5 "core" &Ӳ"    ;3 + "manipulator"&v% +4 "core" % J   h  +2 .tForearm.seek :retract +2 "manipulator"&$' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&b& +3 "core" &   \  +3 "storage"(T& +3 "core" & i j \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&#'Α +98 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&g1 +64 "core" 1 +2 "manipulator"&-% +4 "core" % Ζ  +2 "storage"(_& +5 "core" & f h T\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 305 counts +2 "manipulator"&|' +14 "core" ' + "manipulator"&& +4 "core" & {  +2 "storage"(>& +3 "core" & l n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&H'S +15 "core" ' +2 "storage"(% +4 "core" % [ [ \ +2 ."downElevator"SE.seek :down +4 "storage"(^' +99 (:% +3 "core" %R $ 2\ Wf +2 "manipulator"&R% +4 "core" %@   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &  \ +2 "manipulator"&"% +4 "core" %     + "storage"(*% +5 "core" % k l \  +2 "storage"( . +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(V( +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & G H \  +2 "manipulator"&& +5 "core" &    +2 .tElbow.seek 3 + "manipulator"&Z( +15 "core" ( + "manipulator"&L& +4 "core" &w j  +2 "storage"(\\& +4 "core" & m l \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&f'7 +92 "core" ' +2 "storage"(k& +3 "core" & \\ \\\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +300 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (I& +2 "core" & C P L\  +3 "manipulator"&(& +4 "core" &w    +2 .tElbow.seek 3 + "manipulator"&( +11 "core" ( +2 "manipulator"&'& +3 "core" &y  1 +3 "storage"(2& +3 "core" & I < \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'ϡ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&0& +3 "storage"(' +53 "core" &y +4 "manipulator"&{% +3 "core" % ϩ  +3 .tForearm.seek :retract +2 "manipulator"&X' +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +96 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +55 "core" ( +2 "manipulator"&a& +3 "core" &ӎ# 5 <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &P& +2 "core" &ӎ#  <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&x'? +93 "core" ' + "manipulator"&[& +5 "core" &ӏ"   ;8 +2 "manipulator"&}% +4 "core" %A   7 C +2 "collection"'& +3 "core" & \ +3 "collection"'p& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'(\\ +3 "core" &\ \ +7 &A \ \ $f +10 &Z{ \ 8 +9 &\ t \ \ K +9 &U \ \ K +10 &U\ \ \ K +9 &OU\  \ K +10 &U\ \ \ K +9 &T\ \ \ K +9 &U\ \ \ K +10 &WU\  \ K +9 & U \ K +9 &!U \ K +10 &#T \ \ K +9 &%`Q \ \ J +10 &' T \ K +9 &(U\ \ K +9 &*T \  \ K +10 &,fU\ \  \ K +9 &.(U\ \ K +9 &/U\ \ K +10 &1V\ \  \ K +9 &3nV  \ K +10 &50U\ \  \ K +9 &6V \  \ K +9 &8W\ \  \ K +10 &:wU \ \ K +9 &<7Y\ \ L +9 &=T \ K +10 &?R\ \ \ K +9 &AW\ \ \ K +10 &C>Z\ \ \ L +9 &Da\ \ \ L +9 &Fi\ \ \ N +10 &Hx}\ \ \ P +9 &J/\ \ \ T +9 &K\ \ \ W +10 &M\ \ \ \ X +9 &Oj\ \ \ X +10 &Q,\ \ )\ X +9 &R\ \ >\ Y +9 &T\ \  \ Y +10 &Vk\ \ 4\ Z +9 &X+\ \ \ [ +9 &Y\ \ \ 0\ [ +10 &[\ \ \ 2\ I +9 &\\1\ \ \ :\ - +9 &\\e\ \ \ M +3 ( + "collection"'p& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&y1 +55 "core" 1 +3 "manipulator"&7% +4 "core" % A   C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%Y& +3 "core" &6\ +3 "manipulator"& % +4 "core" %     +2 "storage"(E% +4 "core" % $ # \ \  + "storage"(M. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(S( +7 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +3 "core" &\ \ \  +2 "manipulator"&d& +5 "core" &ӫ   8 + "manipulator"&F% +3 "core" %     +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&O( +246 "core" ( + "manipulator"&& +4 "core" &  s +2 "storage"(& +4 "core" & G H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&C'7 +94 "core" ' + "storage"(s& +3 "core" & J O N\  +4 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'r +299 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & + $ 6\  +2 "manipulator"&Q& +4 "core" &    s +2 .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&j& +4 "core" &   s +2 "storage"(\ & +3 "core" & " \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&n'ϡ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +3 "storage"(,' +7 "core" &   s +2 "manipulator"&% +4 "core" % ϴ   +2 .tForearm.seek :retract +2 "manipulator"&G' +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&K( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +111 "core" ( + "manipulator"&9& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &   +48 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&=' +97 "core" ' +2 "manipulator"&q& +3 "core" & a  +3 "manipulator"&o% +3 "core" %  f +3 "processing"%%& +3 "core" &6\ +3 "processing"%& +5 "core" &7\ +3 .tPC.seek :closed +2 "processing"%W(^ +5 "core" &=\  +8 &2z<\ *x +10 &b=\ = +9 &kr3\ N +9 &-R=\ M +10 &V>\ M +9 &V3\ M +10 &sW-\ M +9 &5W.\ M +9 &Y.\ N +10 &W/\ N +9 & {S/\ M +9 &"=R0\ M +10 &#T,\ N +9 &%W/\ M +10 &'W1\ N +9 &)DU0\ N +9 &+X2\ M +10 &,Y3\ N +9 &.T2\ N +9 &0MX2\ M +10 &2V2\ M +9 &3W,\ M +10 &5W0\ M +9 &7UW2\ M +9 &9Y*\ N +10 &:W-\ N +9 &<W1\ M +9 &>\\U1\ N +10 &@T,\ M +9 &A[#\ N +10 &Cc+\ O +9 &E]j.\ P +9 &Gt,\ Q +10 &H#\ T +9 &J"\ T +9 &L[$\ S +10 &N+\ T +9 &O\ T +10 &Q\ U +9 &S_#\ U +9 &U!\ U +10 &V\ U +9 &X\ U +9 &Zf\ U +10 &\\(\ U +9 &]z\ 9 +10 &^6\ I +9 ( + &^\ , +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&N1 +56 "core" 1 +2 "manipulator"& % +3 "core" %    H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A' +94 "core" ' +2 "processing"%?& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +5 "core" %  % +2 "storage"(!% +4 "core" % # #\  + "storage"(4. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"()( +4 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "manipulator"& & +4 "core" &\  2\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &    +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&h( +5 "core" ( +2 "manipulator"&e& +3 "core" &   S  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&1' +96 "core" ' +2 .tHand.close + "manipulator"&D/ +54 "core" / +2 .tPC.seek :open + "processing"%<( +94 "core" ' + "storage"(+- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +53 "core" ' +297 ( + "storage"(B& +4 "core" & # ) (\  +2 "manipulator"&6& +4 "core" &     +2 "manipulator"&J% +4 "core" %      +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&m( +238 "core" ( +2 "manipulator"&~& +4 "core" &   P +2 "storage"(3& +4 "core" & " - E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' +2 .tHand.open + "manipulator"&v1 +60 "core" 1 +2 "storage"(b- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(T' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(c' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(g& +4 "core" & * ) _\  +2 "manipulator"&-& +4 "core" &   * P +2 .tElbow.seek 3 + "manipulator"&_( +5 "core" ( + "manipulator"&& +3 "core" &   g P +3 "storage"(>& +50 "core" &  )\  +4 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"($'" +58 "core" ' + "manipulator"&:& +5 "core" &   P + "storage"(R& +5 "core" &  "\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +26 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&"% +3 "core" %΂  o +3 "storage"(|& +3 "core" & # " S\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 313 counts + "manipulator"&*'Ϯ +14 "core" ' +2 "manipulator"& & +3 "core" & \ X P +3 "storage"(& +3 "core" & # " 7\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&H'7 +15 "core" ' +2 "storage"(^% +3 "core" % ) # %\ +3 ."downElevator"SE.seek :down +4 "storage"(&' +99 (% +3 "core" %AK\ *\ * ^\ Wc +3 "manipulator"&% +4 "core" %.    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" &  ! U\  +3 "collection"'k& +3 "core" &\\`\ \ \ M +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %     +2 "storage"(]% +3 "core" % 4 )\  +2 "storage"(;. +3 "core" .( +2 "storage"(I& +4 "core" & # # R\  +2 "storage"((& +4 "core" & " # k\  +2 "manipulator"&'& +4 "core" & \  P +2 .tElbow.seek 3 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&/& +3 "core" &   P +2 "storage"(0& +5 "core" & " # O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&{'7 +94 "core" ' +2 "storage"(Z& +3 "core" & E H \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +298 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" &  ! P +3 "storage"(P& +4 "core" &  !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&@'u +22 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('t +28 "core" ' +2 "manipulator"&% +4 "core" %΅  \\ +2 "storage"(& +4 "core" & ' - k\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&X'ϱ +13 "core" ' + "manipulator"&& +5 "core" &   P + "storage"(y& +4 "core" & G H \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&7'7 +16 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(Y' +37 "core" ' +2 "manipulator"& & +4 "core" &  P +2 "manipulator"&E% +4 "core" %&   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +152 "core" ( +9 "manipulator"&r& +4 "core" &Ӕ"   ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &d& +3 "core" &Ӕ" !  ;5 +2 .tForearm.seek CC +2 "manipulator"&F'? +100 "core" ' +2 .tHand.close + "manipulator"&x/ +53 "core" / +3 .tCC.seek :open + "collection"'( +449 "core" ( + "storage"(& +5 "core" & H K \  + "storage"(V& +5 "core" & R R \  + "manipulator"&& +5 "core" &ӯ   7 + "manipulator"&s% +5 "core" % A   +2 .tForearm.seek :retract + "manipulator"&.' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&`( +162 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(Q& +3 "core" & j j \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&j'u +100 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&l1 +55 "core" 1 +2 "manipulator"&8% +4 "core" % ΁   D +2 "storage"(& +3 "core" & i i \  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&O'ϭ +14 "core" ' +2 "manipulator"&C& +4 "core" &   +2 "storage"(t& +3 "core" & \\ ] \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&n'7 +15 "core" ' +2 "storage"(9% +4 "core" % l k Q\ +3 ."downElevator"SE.seek :down +4 "storage"(w' +98 (u% +3 "core" %E E G\ V` +2 "manipulator"&q% +5 "core" %/   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +98 "core" ' +41 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'%& +3 "core" & \ +2 "manipulator"&,% +3 "core" %   +3 "storage"(G% +3 "core" % w q #\  +3 "storage"(U. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(N(,y +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &,w I Q #\ +2 "manipulator"&?& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +28 "core" ( +2 "manipulator"&!& +3 "core" &  J  +2 "storage"(4& +4 "core" &,w k f N\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +88 "core" ' +2 "storage"(5& +4 "core" &,w ` q \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +297 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (i& +2 "core" &,j Q S\  +2 "manipulator"&=& +5 "core" &    + .tElbow.seek 4 +2 "manipulator"&D( +20 "core" ( +3 "manipulator"&S& +4 "core" &  l  +2 "storage"(+& +3 "core" &,j i i \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&K'c +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +3 "storage"(' +7 "core" &  +2 "manipulator"&B% +48 "core" % Z \  B +5 .tForearm.seek :retract +2 "manipulator"&6' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +99 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +53 "core" ( +2 "manipulator"&1& +3 "core" &ӎ"    ;2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &ӏ!  2 :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'? +95 "core" ' +2 "manipulator"&h& +3 "core" &ӏ!  % :1 +3 "manipulator"&v% +4 "core" %A  / +2 "collection"'b& +4 "core" & \ \ +2 "collection"'& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'g(\\ +3 "core" & \  +10 &4y \ *z +9 & g{\ \ \ > +9 &l\ \ \ L +10 &[R\  \ K +9 &X\ \ \ K +10 &U \  \ K +9 &T\ \ \ K +9 &cT\  \ K +10 &%V\ \ \ K +9 &U\ \ \ J +9 & U\ \ \ K +10 &"kU \ K +9 &$-U\   \ K +10 &%T \ \ K +9 &'U\  \ K +9 &)sT\ \ \ K +10 &+5U\  \ K +9 &,T\ \ \ K +9 &.U\ \  \ K +10 &0{U \ K +9 &2=U\ \ \ \ K +10 &3V \  \ K +9 &5V\ \ 4\ K +9 &7V\ \ \ K +10 &9EV\ \ \ K +9 &;U \ \ K +9 &<U\ \ \ K +10 &>V\  \ K +9 &@MV\ \ \ K +10 &BW\ \ \ K +9 &C_\ \ \ L +9 &Ed\ \ \ M +10 &GKr\ \ \ \ N +9 &I\ \ \ R +9 &J\ \ \ V +10 &Lx\ \  \ W +9 &N9\ \  \ W +10 &O\ \ \ \ X +9 &Q\ \ \ \ X +9 &Sy\ \ \ \ Y +10 &U<\ \ \  \ Y +9 &V\ \ \ Z +9 &X\ \ \ [ +10 &Z}\ \ \ [ +9 &\\y\ \ \ 0 +10 &\\/\ \ \ \ X +9 ( + &\\`\ \ 9\ K +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&-1 +55 "core" 1 +3 "manipulator"&% +3 "core" % A   : / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &=\ +2 "manipulator"&:% +5 "core" %     + "storage"(R% +4 "core" %  \  +2 "storage"(. +3 "core" .(,v +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(T(,y +40 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" &,{ ' Q\ +2 "manipulator"&|& +4 "core" &ӫ   7 +2 "manipulator"& % +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&m& +4 "core" &    +2 "storage"(^& +4 "core" &,{ F H \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(c& +3 "core" &,{ G H \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &,j # % U\  +2 "manipulator"&_& +5 "core" &   +2 .tElbow.seek 4 + "manipulator"&$( +4 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(*& +3 "core" &,j # #\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'c +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +6 "storage"(]' +3 "core" &    +2 "manipulator"&;% +4 "core" % n  \ 7 +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&(& +4 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &  } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +48 "manipulator"&/' +91 "core" ' +2 "manipulator"&0& +3 "core" &  +3 "manipulator"&H% +4 "core" %   c +2 "processing"%Z& +4 "core" &>\ +2 "processing"%&& +5 "core" &8\ +3 .tPC.seek :closed +2 "processing"%#(^ +4 "core" &=\  +9 &5v>\ *z +9 &\ f}>\ ? +10 &n>\ N +9 &SS9\ M +10 &W?\ M +9 &V>\ M +9 &U;\ M +10 &ZR>\ N +9 &V=\ N +9 &R=\ M +10 & R>\ M +9 &"cR3\ M +10 &$%T1\ M +9 &%W/\ M +9 &'V2\ M +10 &)jW.\ N +9 &+,V.\ N +9 &,X.\ M +10 &.W3\ M +9 &0sS3\ M +10 &25Q0\ M +9 &3V2\ M +9 &5W.\ M +10 &7{W1\ M +9 &9<X/\ N +9 &:W2\ N +10 &<T,\ M +9 &>W0\ N +10 &@EY.\ M +9 &BY1\ N +9 &Cc,\ O +10 &Ef1\ O +9 &GDm3\ P +9 &I1\ R +10 &J1\ T +9 &L/\ T +10 &N?+\ U +9 &P0\ U +9 &Q2\ U +10 &S1\ U +9 &UG1\ U +9 &W1\ U +10 &X*\ U +9 &Z1\ U +10 &\\O.\ U +9 &]zr\ 4 +9 &^){(\ N +10 &^! \ 1 +2 ( +2 "processing"%&& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&L1 +58 "core" 1 +2 "manipulator"&z% +3 "core" %   \ 4 c +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +2 "processing"%P& +3 "core" &^ \ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&}% +4 "core" %    j  +2 "storage"(% +3 "core" %  " U\  +3 "storage"(. +3 "core" .(,y +2 "storage"(& +4 "core" &,j S\  @\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(y(,y +12 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "manipulator"&E& +6 "core" &,y\ \  1\ + &  X +5 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&{( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'r +3 "core" ( + "manipulator"&f& +5 "core" &   Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &@& +2 "core" &   +3 .tForearm.seek PC +2 "manipulator"&X' +100 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +6 "processing"%r( +82 "core" ' + "storage"(d- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(7'1 +42 "core" ' +319 ( + "storage"([& +4 "core" &,h ) ' H\  +2 "manipulator"&x& +4 "core" &   + "manipulator"&M% +5 "core" %   P +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +240 "core" ( +2 "manipulator"&V& +4 "core" &  < +2 "storage"(& +4 "core" &,h # # ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +98 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(Q- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(p' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +3 "core" -' +2 "storage"(8& +4 "core" &,h G U 1\  +2 "manipulator"&& +3 "core" &   < +3 .tElbow.seek 4 + "manipulator"&C( +4 "core" ( +2 "manipulator"&t& +4 "core" &   Q < +2 "storage"(9& +50 "core" &,h I N C\  +4 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +18 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(u'" +50 "core" ' +2 "manipulator"&q& +3 "core" &  < +3 "storage"(`& +3 "core" &,h " " p\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&j'7 +24 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(,' +27 "core" ' + "manipulator"&O% +4 "core" %D    +2 "storage"(G& +3 "core" &,h " " J\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 313 counts + "manipulator"&U'p +15 "core" ' + "manipulator"&Y& +4 "core" &    < +2 "storage"(n& +4 "core" &,h , , F\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +15 "core" ' + "storage"()% +4 "core" % " # ;\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (?% +4 "core" %eN\ )\ ' i\ Xf +2 "manipulator"&!% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (5& +4 "core" &,h  # 9\  +2 "collection"'\ & +3 "core" &\\`\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&o% +3 "core" %     +3 "storage"(e% +4 "core" % " ! /\  + "storage"(i. +3 "core" .(,y +2 "storage"(=& +4 "core" &,h " # Z\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(S(,y +53 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &,|\ *\ " \ +2 "manipulator"&A& +3 "core" &  < +3 .tElbow.seek 4 +2 "manipulator"&W( +4 "core" ( + "manipulator"&B& +4 "core" &   " < +2 "storage"(& +3 "core" &,| " # \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"( & +3 "core" &,| H G \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(1'r +294 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" &  < +3 "storage"(h& +4 "core" &,j   V\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&v'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('j +30 "core" ' + "manipulator"&6% +4 "core" %#   +2 "storage"(& +4 "core" &,j # # %\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 280 counts +2 "manipulator"&-'O +15 "core" ' + "manipulator"&& +4 "core" & \  L ; +2 "storage"(& +4 "core" &,j # ) 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&:' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(R' +36 "core" ' + "manipulator"&& +4 "core" &   ; +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +43 .tForearm.seek :retract +9 "manipulator"&"' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +152 "core" ( +2 "manipulator"& & +4 "core" &ӗ   ( 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &ӗ  9( +2 .tForearm.seek CC +2 "manipulator"&m'? +93 "core" ' + .tHand.close +2 "manipulator"&^/ +61 "core" / +2 .tCC.seek :open +2 "collection"'N( +448 "core" ( +2 "storage"(c& +3 "core" &,j H Q D\ +3 "storage"(J& +4 "core" &,j O F 3\ +2 "manipulator"&>& +4 "core" &ӭ  l 6 + "manipulator"&% +5 "core" % G   U  +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&_( +162 "core" ( +2 "manipulator"&& +4 "core" &  5  +2 "storage"(*& +3 "core" &,j _ f j\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&k'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&;1 +53 "core" 1 +3 "manipulator"&% +4 "core" % %   "  + "storage"(& +5 "core" &,j j i \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 282 counts +2 "manipulator"&'Q +14 "core" ' + "manipulator"&\\& +5 "core" &  + "storage"((& +5 "core" &,j l l \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +15 "core" ' + "storage"($% +4 "core" % n l \ +2 ."downElevator"SE.seek :down +4 "storage"(0' +99 (H% +3 "core" %D H H \ V` +2 "manipulator"&Z% +3 "core" % $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&<% +4 "core" %    +2 "storage"(L% +4 "core" % l l \  +2 "storage"(z. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(P(  +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (}& +2 "core" &  f ^ S\ +3 "manipulator"&& +3 "core" &  4  +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(&& +4 "core" &  j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +102 "core" ' + "storage"(E& +4 "core" &  | B\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +298 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (/& +2 "core" & < @ i\  +3 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&T( +4 "core" ( +2 "manipulator"&d& +4 "core" & ?  +2 "storage"(I& +4 "core" & i e O\  +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&a'Ͻ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +64 "core" / +5 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"([' +9 "core" & \   +2 "manipulator"&x% +3 "core" % Ϻ z +3 .tForearm.seek :retract +2 "manipulator"&M' +98 "core" ' + .tElbow.seek CC +2 "manipulator"&X(ӂ +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&V& +4 "core" &Ӎ \  0 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ   k 9& +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&{'? +100 "core" ' +2 "manipulator"&& +4 "core" &ӎ   ? 9& +2 "manipulator"&Q% +4 "core" %F   +2 "collection"'l& +4 "core" & )\ +2 "collection"'8& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & /\ +8 &< \ 0\ %g +9 &Yu #\ 7 +10 &v !\ K +9 &T\ \ "\ K +10 &T\  \ K +9 &KW\ \ \ K +9 &U\ \  \ J +10 &U \ )\ K +9 &T\ \ !\ K +9 &RT\ \ "\ K +10 & S \ \ K +9 &!T\ \ \ K +9 &#U\ \ \ K +10 &%[T\ \ \ K +9 &'T\ \ \ K +10 &(T\ \ \ J +9 &*T\ \ \ K +9 &,bU\ \ \ K +10 &.%T\ \ I\ K +9 &/T\ \ \ K +10 &1U\ \ \ K +9 &3kU\ \ \ K +9 &5-U\ \ \ K +10 &6U\ \ \ K +9 &8T\  \ K +9 &:rU\ \ \ K +10 &<4U\ \ \ K +9 &=U \ \ K +9 &?V\ \ \ K +10 &AzY\ \ \ K +9 &C;]\ \ \ L +10 &Df\ \ \ M +9 &Fo\ \ \ N +9 &Hs\ \ \ P +10 &J&\ \ \ V +9 &K\ \ \ V +10 &M\ \ \ X +9 &Oe\ \ \ \ X +9 &Q&\ \ \ X +10 &R\ \ \ Y +9 &T\ \ \ \ \ Y +9 &Vg\ \ \ Z +10 &X(\ \ \ Z +9 &Y\ \ \ \ [ +9 &[\ \ \ I +10 &\\0\ \ \ \ 0 +9 &\\c\ \ \ L +2 ( +3 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&t1 +55 "core" 1 +2 "manipulator"&% +4 "core" % F   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%q& +3 "core" &8\ +2 "manipulator"&`% +4 "core" %     +2 "storage"(7% +4 "core" %  \  +2 "storage"(F. +2 "core" .(  +3 "storage"(O& +4 "core" & % \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(G(  +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" &   \ +2 "manipulator"&n& +4 "core" &Ө   5 +2 "manipulator"&% +4 "core" %   K  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&)( +155 "core" ( +2 "manipulator"&s& +4 "core" &    + "storage"(p& +5 "core" &  $ " 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&?'S +93 "core" ' +2 "storage"(!& +3 "core" &  J H\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +299 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" & %  y\  +2 "manipulator"&j& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&5( +4 "core" ( + "manipulator"&U& +3 "core" &  +3 "storage"(\ & +4 "core" & # # \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&o'Ͻ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(,' +8 "core" & M +2 "manipulator"&=% +4 "core" % ϵ  +2 .tForearm.seek :retract +2 "manipulator"&+' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&A( +158 "core" ' + ."downElevator"SE.stop +48 "storage"(5 +35 "core" ( +2 "manipulator"&B& +4 "core" &  , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&w' +100 "core" ' +2 "manipulator"& & +4 "core" &    , +2 "manipulator"& % +5 "core" %  z +2 "processing"%y& +4 "core" &\ +2 "processing"%%& +6 "core" &%\ +2 .tPC.seek :closed +3 "processing"%4(^ +4 "core" &8\ +5 &\ 7 +9 &?Ju9\ 0 +9 &kr}?\ E +10 &\\=\ N +9 &T>\ M +9 &R=\ M +10 &WU>\ M +9 &S=\ M +9 &W:\ M +10 &S=\ N +9 &_W>\ M +10 &!!R>\ M +9 &"R:\ M +9 &$U6\ M +10 &&fW2\ N +9 &()U.\ M +9 &)T2\ M +10 &+W.\ M +9 &-nS2\ N +10 &/0V2\ N +9 &0Q2\ M +9 &2U2\ N +10 &4vT2\ N +9 &68V1\ N +9 &7Q2\ M +10 &9W1\ N +9 &;~W4\ N +10 &=AS2\ M +9 &?W1\ M +9 &@V2\ M +10 &B[/\ N +9 &DE_2\ O +9 &Fh2\ P +10 &Gr3\ Q +9 &I~3\ S +10 &K?1\ S +9 &M2\ T +9 &N3\ U +10 &P3\ U +9 &RC2\ U +9 &T1\ U +10 &U1\ U +9 &W1\ U +10 &YJ%\ U +9 &[ #\ U +9 &\\0\ U +10 &^Df0\ 'w +9 &^c#\ 9 +9 ( +3 "processing"%%& +2 "core" &^*+\ 4 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&~1 +59 "core" 1 +2 "manipulator"&K% +4 "core" %    ` y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +94 "core" ' +2 "processing"%D& +3 "core" &^*\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&6% +4 "core" % # \ ( 1 +2 "storage"(% +4 "core" %\ +\  a\  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& + "manipulator"&& +6 "core" &  K X\ + &   d , +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b + .tElbow.seek PC +5 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(W'r +2 "core" ( +3 "manipulator"&1& +4 "core" & \  , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" & M , +3 .tForearm.seek PC + "manipulator"&-' +94 "core" ' +3 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"% ( +100 "core" ' + "storage"(3- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'1 +48 "core" ' +295 ( +3 "storage"(b& +4 "core" & ) t\  + "manipulator"&^& +4 "core" &  ! , +2 "manipulator"&"% +3 "core" %     . +3 .tForearm.seek :retract + "manipulator"&g' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&c( +246 "core" ( + "manipulator"&J& +4 "core" &   Y > +2 "storage"(>& +4 "core" & % " $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +100 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +3 "storage"(*- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(m' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +4 "core" -' +2 "storage"(& +4 "core" & L U l\  + "manipulator"&& +53 "core" &   D > +2 .tElbow.seek 2 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&(& +5 "core" &   < > + "storage"($& +5 "core" & F : \  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(H'" +51 "core" ' +2 "manipulator"&Z& +4 "core" &   > +2 "storage"(_& +3 "core" & U $ "\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&k'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +27 "core" ' +2 "manipulator"&% +4 "core" %Ρ  +2 "storage"(L& +3 "core" & # % L\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&z' +13 "core" ' + "manipulator"&R& +5 "core" &  > +2 "storage"('& +4 "core" & , "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&0'S +16 "core" ' +2 "storage"(S% +4 "core" % )  %\ +2 ."downElevator"SE.seek :down +4 "storage"(}' +99 (% +3 "core" %`[\ 8\ Yl +2 "manipulator"&% +3 "core" %M   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" & 5  $\  +3 "collection"'& +4 "core" &\\a\ \ \ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&]% +4 "core" %     +2 "storage"(@% +3 "core" % " " _\  +3 "storage"(/. +3 "core" .(  +2 "storage"(& +4 "core" & " # [\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(d(  +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" &  "  o\ +2 "manipulator"&#& +5 "core" &  > +2 .tElbow.seek 2 + "manipulator"&2( +4 "core" ( +2 "manipulator"&x& +3 "core" &   > +2 "storage"(& +5 "core" &  # # 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +100 "core" ' +2 "storage"(V& +4 "core" &  K I \\\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&a& +2 "core" &    > +3 "storage"(& +4 "core" & I A O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&Q'Α +27 "core" ' +2 .tElbow.hold + "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(['m +27 "core" ' + "manipulator"&M% +4 "core" %Ζ  G +2 "storage"(N& +3 "core" & " " Z\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts +2 "manipulator"&t' +13 "core" ' +2 "manipulator"&& +3 "core" &   > +2 "storage"(q& +4 "core" &  "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&`'S +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +47 "storage"(7' +37 "core" ' +2 "manipulator"&F& +4 "core" &  > +2 "manipulator"&O% +3 "core" %@ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +152 "core" ( +2 "manipulator"&n& +5 "core" &ӎ#   a <: + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ# \  c <: +3 .tForearm.seek CC +2 "manipulator"&{'? +92 "core" ' + .tHand.close +2 "manipulator"&s/ +61 "core" / +2 .tCC.seek :open +2 "collection"'p( +448 "core" ( +2 "storage"(P& +4 "core" & G H 5\  +2 "storage"(!& +4 "core" & E H \  + "manipulator"&X& +5 "core" &ӯ   7 + "manipulator"&9% +4 "core" % O    +3 .tForearm.seek :retract + "manipulator"&C' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&u( +161 "core" ( +2 "manipulator"&j& +3 "core" &    +3 "storage"(U& +4 "core" & i j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&\ 'Α +96 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&i1 +57 "core" 1 +2 "manipulator"&=% +5 "core" % Ρ   + "storage"()& +4 "core" & > = \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&?' +15 "core" ' + "manipulator"&.& +3 "core" & <  +3 "storage"(o& +3 "core" & i i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&B'S +16 "core" ' + "storage"(% +4 "core" % j i \ +3 ."downElevator"SE.seek :down +3 "storage"(5' +99 ( % +3 "core" %hP # " \ Wi +2 "manipulator"& % +3 "core" %G  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +89 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"',& +3 "core" & \ \ +3 "manipulator"&+% +4 "core" %  g  + "storage"(r% +5 "core" % [ f =\  + "storage"(~. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(K( +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" & Q I \ +2 "manipulator"&6& +4 "core" &  !  +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(%& +4 "core" & i i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +99 "core" ' +2 "storage"(& +3 "core" & [ [\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'r +300 "core" ' + "storage"(v- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (w& +3 "core" & 9 8 r\ +2 "manipulator"&& +4 "core" & $  +2 .tElbow.seek 3 + "manipulator"&G( +4 "core" ( +2 "manipulator"&3& +3 "core" &    +3 "storage"(A& +4 "core" & i j \ +47 .tForearm.seek 3 + 300 counts +4 "manipulator"&h'ϡ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&W& + "storage"(b' +6 "core" & ]  +3 "manipulator"&^% +3 "core" % Ϝ    +3 .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&J& +4 "core" &Ӌ$ L =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &Ӌ$   1 =A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +103 "core" ' +2 "manipulator"&& +4 "core" &ӌ#   J <@ +2 "manipulator"&*% +5 "core" %F   c +2 "collection"';& +4 "core" & 6\ +2 "collection"'& +6 "core" & 0\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & .\ +8 &< /\ $f +12 &Xx 0\ 7 +7 &u *\ K +9 &T \ $\ K +10 &T\ \ (\ K +9 &FU \ 1\ J +10 &W\ \ $\ K +9 &X\ \ 0\ K +9 &U\ \ '\ K +10 &MU\ \ /\ K +9 & U\ \ 1\ K +9 &!T\ \ ,\ K +10 &#X\ \ "\ K +9 &%TT\ \ %\ K +10 &'T\ \ "\ K +9 &(T\ \ #\ K +9 &*S\ \ ,\ K +10 &,\\U \ '\ K +9 &.U\ \ \ K +9 &/T\ \  \ K +10 &1U\  \ K +9 &3eU\ \ \ K +10 &5'U \ \ K +9 &6V\ \ \ K +9 &8U\ \ \ K +10 &:lU \ \ K +9 &<.U\ \ \ K +9 &=U\ \ \ K +10 &?W\ \ \ K +9 &AsZ\ \ \ L +10 &C4[\ \ "\ L +9 &D`\ \  \ L +9 &Fh\ \ "\ N +10 &Hn}\ \ \ P +9 &J&\ \ "\ T +10 &K\ \ \ W +9 &M\ \ \ \ X +9 &O`\ \ \ X +10 &Q"\ \ \ X +9 &R\ \ \ Y +9 &T\ \ \ \ Y +10 &Va\ \ \ Z +9 &X!\ \ \ [ +10 &Y\ \ \ \ [ +9 &[\ \ \ \ I +9 &\\2\ \ \ \ 1 +10 &\\d\ \ \ K +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open + "manipulator"&g1 +55 "core" 1 +2 "manipulator"&(% +4 "core" % F   r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%Z& +4 "core" &7\ + "manipulator"&_% +4 "core" %     +2 "storage"(:% +4 "core" % $  +\  +2 "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +10 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +3 "core" &\ \ \  +3 "manipulator"&R& +4 "core" &Ӫ   8" + "manipulator"&'% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&S( +164 "core" ( + "manipulator"&c& +4 "core" &    +2 "storage"(& +3 "core" & G F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&|'7 +101 "core" ' +2 "storage"(& +3 "core" & H H \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" &  " $\  +2 "manipulator"&H& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&z& +4 "core" &  =  + "storage"(E& +4 "core" & " # Z\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"(/' +9 "core" &   + "manipulator"&<% +5 "core" % ϣ  +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +4 .tElbow.seek PC +2 "manipulator"&I( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +104 "core" ( +3 "manipulator"&#& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +2 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&0& +4 "core" &   \ +2 "manipulator"&V% +3 "core" % 0 +3 "processing"%}& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" & \  +10 &5x\ *x +9 &e}\ > +10 &n'\ N +9 &AU)\ N +9 &U<\ N +10 &T>\ M +9 &Q>\ N +9 &JU>\ M +10 & T?\ M +9 &U>\ N +10 & R=\ M +9 &"QR=\ N +9 &$W?\ M +10 &%R5\ M +9 &'S=\ M +9 &)ZW9\ M +10 &+W8\ N +9 &,U2\ M +10 &.Q3\ M +9 &0cT0\ M +9 &2$T1\ M +10 &3Q3\ M +9 &5T3\ N +9 &7kQ0\ M +10 &9+V1\ N +9 &:T1\ M +10 &<T0\ M +9 &>qY2\ N +9 &@3W0\ N +10 &A[2\ N +9 &Cf2\ O +9 &Esk2\ P +10 &G1r2\ Q +9 &H3\ S +10 &J3\ T +9 &Lp3\ S +9 &N/1\ T +10 &O2\ T +9 &Q3\ U +9 &St2\ U +10 &U52\ U +9 &V2\ U +10 &X2\ U +9 &Z|1\ U +9 &\\<2\ U +10 &]{p3\ 9 +9 &^-1\ K +9 &^1\ . +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&&1 +56 "core" 1 + "manipulator"&f% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +96 "core" ' + "processing"%& +5 "core" &^\ . + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&T% +3 "core" % !   + +3 "storage"(M% +4 "core" % " # T\  +2 "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +5 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (q& +2 "manipulator"&F& +4 "core" &\ " V\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(O'r +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&2& +4 "core" &  = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  # +3 .tForearm.seek PC + "manipulator"&Q' +94 "core" ' +2 .tHand.close + "manipulator"&t/ +53 "core" / +3 .tPC.seek :open +2 "processing"%[( +94 "core" ' +2 "storage"(n- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +301 ( +2 "storage"(`& +3 "core" & # ,\  +2 "manipulator"&l& +4 "core" &  +2 "manipulator"&s% +4 "core" %   * +2 .tForearm.seek :retract +2 "manipulator"&8' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +239 "core" ( +2 "manipulator"&P& +3 "core" &   H +3 "storage"(!& +4 "core" & # # \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&X'7 +93 "core" ' +2 .tHand.open + "manipulator"&91 +55 "core" 1 +2 "storage"(j- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(U' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"({' +55 "core" ' +10 #tLights, camera, ACTION! + "storage"(Y- +4 "core" -' +2 "storage"(i& +3 "core" &  # 6\  +2 "manipulator"&=& +5 "core" &  H +2 .tElbow.seek 3 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&.& +3 "core" &   H +3 "storage"(o& +3 "core" & * * K\  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(C'" +57 "core" ' +2 "manipulator"& & +4 "core" &  H +2 "storage"( & +3 "core" & " " 6\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&u'u +21 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +27 "core" ' +2 "manipulator"&,% +3 "core" %΀  + +3 "storage"(+& +3 "core" & "  T\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&r'Ϭ +14 "core" ' +2 "manipulator"&~& +3 "core" &   H +2 "storage"(7& +5 "core" &  " m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&B'7 +18 "core" ' +2 "storage"(5% +4 "core" % ) $ 8\ +2 ."downElevator"SE.seek :down +4 "storage"(d' +99 (D% +3 "core" %jM ? 8\ Wd +2 "manipulator"&6% +3 "core" %?  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (%& +3 "core" & 5  \  +3 "collection"'& +3 "core" &\\b\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&e% +4 "core" %     +2 "storage"(y% +3 "core" % " # )\  +2 "storage"(v. +3 "core" .( +2 "storage"(w& +3 "core" & # " -\  +3 "storage"(& +3 "core" & " " Q\  +2 "manipulator"&3& +5 "core" &    H +2 .tElbow.seek 3 + "manipulator"&A( +4 "core" ( +2 "manipulator"&4& +3 "core" &   H +2 "storage"(W& +4 "core" & " t\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&^'7 +93 "core" ' + "storage"(& +5 "core" & G E \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +3 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &   H +3 "storage"(1& +4 "core" & " " U\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&h'u +16 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(;'t +30 "core" ' +2 "manipulator"&G% +3 "core" %΀    +3 "storage"(b& +4 "core" & $ #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&"'Ϭ +14 "core" ' + "manipulator"&p& +4 "core" &   H +2 "storage"(g& +4 "core" & )  !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&('7 +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(Z' +40 "core" ' +49 "manipulator"&_& +3 "core" &  H +2 "manipulator"&:% +5 "core" %.  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&L& +4 "core" &ӏ%   2 >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &ӏ%   >H +3 .tForearm.seek CC + "manipulator"&''? +96 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'c( +448 "core" ( +2 "storage"(& +4 "core" & H K {\  + "storage"(K& +5 "core" & H G )\  + "manipulator"&& +4 "core" &ӭ%   :* +2 "manipulator"&-% +3 "core" % H    +3 .tForearm.seek :retract +2 "manipulator"&$' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( + "manipulator"&\\& +4 "core" &  `  +2 "storage"(H& +5 "core" & M _ I\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&z'u +98 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +54 "core" 1 +2 "manipulator"&@% +5 "core" % v   + "storage"(<& +5 "core" & i i \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&S'Ϣ +14 "core" ' +2 "manipulator"&|& +3 "core" &  +2 "storage"(& +5 "core" & _ g s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' +2 "storage"(#% +3 "core" % f [ 5\ +3 ."downElevator"SE.seek :down +4 "storage"(x' +98 (k% +3 "core" %D H G \ Wa +2 "manipulator"&0% +5 "core" %# I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'}& +3 "core" & 0\ +2 "manipulator"&/% +3 "core" %     +2 "storage"(% +5 "core" % i i \  + "storage"( . +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(&(,y +375 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &,z h k x\ +2 "manipulator"&& +4 "core" &     +2 .tElbow.seek 4 +2 "manipulator"&T( +39 "core" ( +2 "manipulator"&M& +3 "core" &   +2 "storage"(N& +4 "core" &,z _ h h\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(q& +3 "core" &,z k p v\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +298 "core" ' +2 "storage"(2- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,j _ g \ +3 "manipulator"&& +3 "core" &  0 +3 .tElbow.seek 4 + "manipulator"&t( +4 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(n& +5 "core" &,j k l \ +2 .tForearm.seek 4 + 300 counts +47 "manipulator"&I'c +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(O' +6 "core" &  @ +3 "manipulator"&`% +3 "core" % k  +3 .tForearm.seek :retract +2 "manipulator"&l' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&Q& +4 "core" &ӗ   9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &ӗ   9( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&!'? +93 "core" ' + "manipulator"& & +5 "core" &ӗ   5 9( +2 "manipulator"&9% +4 "core" %5  ) _ +2 "collection"'j& +3 "core" &\  9\ +3 "collection"'Y& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'i(\\ +5 "core" & \ 4\ +7 &<\ \ <\ $f +9 &Z{\ <\ 7 +10 &w\  0\ K +9 &T\ \ 3\ J +9 &U\ \ 0\ K +10 &FU 2\ K +9 & U\ \ 1\ J +9 &U\  1\ K +10 &U\ \ 0\ K +9 &NU\ \ -\ K +9 & T\ \ ,\ K +10 &!W\  ,\ K +9 &#U\ \ 1\ K +10 &%VT\ \ /\ K +9 &'T \ 1\ K +9 &(W \ 1\ K +10 &*T\ \ 0\ K +9 &,^T\ \ *\ K +9 &. T\ \ +\ K +10 &/T\ \ (\ J +9 &1U\ \ .\ K +10 &3eU \ -\ K +9 &5)R\ \ *\ J +9 &6U \ $\ K +10 &8R\ \ \ K +9 &:nV\ \ \ K +9 &<1U\ \ \ J +10 &=U\ \ \ K +9 &?U\ \ \ K +10 &AuU \ \ K +9 &C6W\ \ \ L +9 &Db\ \ \ L +10 &Fj\ \ \ N +9 &Hm\ \ \ Q +10 &J$\ \ \ U +9 &K\ \ \ W +9 &M\ \ \ \  \ X +10 &O`\ \ \ X +9 &Q \ \  \ Y +9 &R\ \ \ Y +10 &T\ \ \ Y +9 &Va\ \ \ \ Z +10 &X!\ \ \ [\ +9 &Y\ \  \ \\ +9 &[\ \ \ I +10 &\\2\ \ \ \  \ 2 +9 &\\_\ \ \ \ I +2 ( +2 "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&=1 +55 "core" 1 +2 "manipulator"&.% +4 "core" % 5    _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%8& +5 "core" &f\ + "manipulator"& % +4 "core" %    x  +2 "storage"( % +4 "core" % % # S\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(,(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &,|\ \ \ +2 "manipulator"&U& +4 "core" &Ӯ   ` 6 +2 "manipulator"&~% +4 "core" %    8  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&7( +161 "core" ( +2 "manipulator"&5& +3 "core" &   8  +3 "storage"(& +4 "core" &,| A 1 )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +95 "core" ' +2 "storage"({& +4 "core" &,| G Q z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +296 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,j \  +2 "manipulator"&)& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&u& +4 "core" &    +2 "storage"(r& +4 "core" &,j % !\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&%'c +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&e& +3 "storage"(y' +8 "core" &   + "manipulator"&v% +5 "core" % c \  +2 .tForearm.seek :retract +2 "manipulator"&?' +95 "core" ' +2 .tElbow.seek PC +48 "manipulator"&w( +111 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +127 "core" ( + "manipulator"&& +4 "core" &  3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &  3 +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&4' +99 "core" ' + "manipulator"&W& +5 "core" &   X 3 +2 "manipulator"&B% +3 "core" %    ~ +3 "processing"%& +3 "core" &\ \ +3 "processing"%d& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%\ (^ +3 "core" &\ +8 &4)\ #b +10 &V{C\ 7 +9 &v\ K +9 &R\ M +10 &mU&\ M +9 &.R<\ N +9 &U>\ N +10 &T>\ N +9 &tT=\ N +10 &7V?\ M +9 &W@\ M +9 &!V@\ N +10 &#}T>\ M +9 &%>R<\ N +9 &'T>\ N +10 &(U>\ N +9 &*U?\ N +10 &,GR>\ M +9 &. U=\ M +9 &/W7\ N +10 &1S>\ M +9 &3OU4\ M +9 &5T3\ N +10 &6T2\ M +9 &8S3\ N +10 &:VU1\ N +9 &<T1\ N +9 &=W2\ N +10 &?T2\ N +9 &A^Y/\ N +9 &C`0\ O +10 &Da1\ O +9 &Fl/\ P +10 &H[x2\ Q +9 &J2\ S +9 &K3\ T +10 &M2\ T +9 &OZ3\ T +9 &Q1\ U +10 &R4\ T +9 &T2\ U +10 &Vb3\ T +9 &X$1\ T +9 &Y2\ T +10 &[3\ T +9 &]g2\ C +9 &^=m3\ &o +10 &^)2\ - +5 ( +2 "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +4 "core" &^.\ - +61 1 + "manipulator"&J% +4 "core" %   1 ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +92 "core" ' +2 "processing"%1& +4 "core" &^(\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&*% +3 "core" %     +3 "storage"(G% +4 "core" % " # \  +2 "storage"(b. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(p(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +4 "core" &,y U\  A\ +2 "manipulator"&_& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &   3 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(:'r +3 "manipulator"&^( +6 "core" ( +2 "manipulator"&A& +3 "core" &   3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   I 3 +2 .tForearm.seek PC +2 "manipulator"&h' +95 "core" ' +2 .tHand.close + "manipulator"&"/ +59 "core" / +2 .tPC.seek :open +2 "processing"%;( +87 "core" ' +2 "storage"(L- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(R'1 +53 "core" ' +306 ( +2 "storage"((& +4 "core" &,h & 2 J\  +2 "manipulator"&& +4 "core" &    3 +2 "manipulator"&% +4 "core" %   7 +2 .tForearm.seek :retract +2 "manipulator"&m' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +246 "core" ( +2 "manipulator"&& +4 "core" &   2 N + "storage"(K& +5 "core" &,h H F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +92 "core" ' + .tHand.open + "manipulator"&-1 +62 "core" 1 +2 "storage"(\\- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(H' +28 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"('' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +61 "core" -' +2 "storage"(]& +4 "core" &,h A H A\  +2 "manipulator"&@& +3 "core" &   N +3 .tElbow.seek 4 +2 "manipulator"&<( +4 "core" ( + "manipulator"&|& +4 "core" &   2 N +2 "storage"(& +3 "core" &,h = > \  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"($'" +61 "core" ' +2 "manipulator"&k& +4 "core" &  N +2 "storage"(0& +4 "core" &,h " m\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(}' +28 "core" ' +2 "manipulator"&/% +3 "core" %*   +2 "storage"(S& +5 "core" &,h # " 2\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 287 counts +2 "manipulator"&'V +14 "core" ' +2 "manipulator"& & +3 "core" &   N +3 "storage"(Z& +4 "core" &,h " # 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(x% +3 "core" % G ) 4\ +4 ."downElevator"SE.seek :down +3 "storage"(' +98 (f% +4 "core" %|O > \\\ Xe +2 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M' +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (N& +3 "core" &,h Z \  +2 "collection"'q& +5 "core" &\\]\ \ \ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&E% +4 "core" %    +2 "storage"(V% +3 "core" % # " \  +2 "storage"(2. +4 "core" .(,y + "storage"(& +6 "core" &,h " # \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,{ " ) E\ +2 "manipulator"&n& +3 "core" &   N +3 .tElbow.seek 4 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&& +3 "core" &   N +3 "storage"(`& +4 "core" &,{ # # /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +106 "core" ' + "storage"(& +5 "core" &,{ G G /\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +298 "core" ' + "storage"(P- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" &  N +2 "storage"(I& +3 "core" &,j   M\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& '7 +19 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(t'h +34 "core" ' +2 "manipulator"&O% +4 "core" %F  * + "storage"(l& +4 "core" &,j # # R\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 315 counts + "manipulator"&c'r +13 "core" ' +2 "manipulator"&=& +3 "core" &    N +3 "storage"(.& +3 "core" &,j " ( =\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +61 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"( ' +36 "core" ' + "manipulator"& & +5 "core" &  N + "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +151 "core" ( +2 "manipulator"&U& +3 "core" &ӎ#   6 <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &~& +3 "core" &ӎ#  \ g <@ +2 .tForearm.seek CC +2 "manipulator"&!'? +91 "core" ' + .tHand.close +2 "manipulator"&5/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(&& +3 "core" &,j E C :\  +3 "storage"({& +4 "core" &,j T R \  +2 "manipulator"&s& +4 "core" &Ӳ   8 + "manipulator"&o% +4 "core" % H   +2 .tForearm.seek :retract +2 "manipulator"&6' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( + "manipulator"&)& +5 "core" &   Q  + "storage"(u& +4 "core" &,j i i \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&r'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&e1 +65 "core" 1 +2 "manipulator"&v% +3 "core" % 2  \\ +2 "storage"(7& +4 "core" &,j l l \  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 295 counts + "manipulator"&X'^ +14 "core" ' +2 "manipulator"&D& +3 "core" &   +2 "storage"(%& +5 "core" &,j \\ \\ 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(C% +4 "core" %  d M\ +2 ."downElevator"SE.seek :down +4 "storage"(3' +98 (W% +3 "core" %A H G \ U_ +2 "manipulator"&B% +5 "core" %  X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'y& +3 "core" & \ +3 "manipulator"&?% +3 "core" %   N  +2 "storage"([% +5 "core" % [ \\\  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(J(  +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" &  ` g B\ +2 "manipulator"&*& +4 "core" & O  +2 .tElbow.seek 2 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&b& +4 "core" & ~  + "storage"(d& +5 "core" &  l m \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&g'S +92 "core" ' +2 "storage"(_& +4 "core" &  n v A\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" & Q H X\  +2 "manipulator"&"& +3 "core" &    +3 .tElbow.seek 2 +2 "manipulator"&,( +3 "core" ( +47 "manipulator"&L& +7 "core" &     +2 "storage"(w& +4 "core" & = < a\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&>'Ͻ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&:& + "storage"((' +6 "core" &  +3 "manipulator"&% +4 "core" %  / +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +155 "core" ( +3 "manipulator"&& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &Ӌ&    ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &Ӌ&  0 ?R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&^'? +100 "core" ' +2 "manipulator"&-& +3 "core" &ӥ"   8 ;8 +3 "manipulator"&\\% +4 "core" %A   +2 "collection"'m& +3 "core" & \ \ +3 "collection"'& +5 .tCC.seek :closed +2 "collection"'](\\ +4 "core" & =\ +6 &B\  <\ $e +10 &Zy \ ;\ 7 +9 &v <\ K +9 &T \ :\ K +10 &X\ \ 9\ K +9 &JU\ \ /\ K +9 & W 8\ K +10 &X\ \ 0\ K +9 &T\ \ 0\ K +9 &RT\ \ ,\ K +10 & T\ \ 0\ K +9 &!T \ +\ K +10 &#U\ \ /\ J +9 &%ZU\ \ .\ K +9 &'T\ \ ,\ K +10 &(U\ \ 0\ K +9 &*T\  /\ K +9 &,bS\ \ 1\ K +10 &.&Q \ 1\ J +9 &/T \ 2\ K +10 &1U\ \ /\ K +9 &3kU\ \ &\ K +9 &5-U\ \ 1\ K +10 &6U \ 0\ K +9 &8U \ 2\ K +9 &:sU \ +\ K +10 &<5U \ /\ K +9 &=U .\ K +10 &?T \ /\ K +9 &AzV\ \ '\ K +9 &C:]\ \ ,\ L +10 &Dc\ \ -\ M +9 &Fn\ \ !\ N +9 &Hq\ \ /\ Q +10 &J)\ \ \ U +9 &K\ \ \ W +10 &M\ \ \  \ W +9 &Of\ \ \ X +9 &Q(\ \ \ \ X +10 &R\ \ \ !\ Y +9 &T\ \ \ Y +9 &Vg\ \ \ Z +10 &X'\ \ \ \ [ +9 &Y\ \ \ \\ +10 &[\ \ \ !\ I +9 &\\1\ \ \ \ 0 +9 &\\e\ \ \ !\ N +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&@1 +55 "core" 1 +2 "manipulator"&|% +4 "core" % A   ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%k& +4 "core" &\ + "manipulator"&0% +5 "core" %    G  + "storage"(R% +4 "core" % " # \  +2 "storage"(H. +3 "core" .(  +2 "storage"(/& +3 "core" & " % \  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(S(  +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &    t\ +2 "manipulator"&Z& +4 "core" &Ӱ!   :- +2 "manipulator"&x% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +163 "core" ( + "manipulator"&& +3 "core" &    +3 "storage"('& +3 "core" &  $ # \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&f'S +94 "core" ' + "storage"(& +4 "core" &  G E \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'r +297 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($& +2 "core" & \  Y @\  +3 "manipulator"&& +4 "core" &     +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&N& +4 "core" &     +2 "storage"(q& +3 "core" & $ # ;\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&E'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +60 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"(}' +9 "core" &  \ +  +48 "manipulator"&% +7 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n( +107 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +128 "core" ( +2 "manipulator"&& +4 "core" & < = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &  = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + "manipulator"&& +5 "core" &   < +2 "manipulator"&% +5 "core" %    +2 "processing"%p& +3 "core" &\ +3 "processing"%z& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%M(^ +3 "core" &\ +9 &4\ #b +9 &Tx\ 6 +10 &~z\ K +9 &W\ N +9 &_U\ M +10 &!O\ M +9 &V\ M +9 &W#\ M +10 &gU=\ M +9 &)R@\ M +10 &R?\ N +9 &!T?\ N +9 &#nU>\ N +10 &%1R>\ M +9 &&V>\ N +9 &(U=\ N +10 &*vU=\ N +9 &,9R?\ M +9 &-R4\ M +10 &/S?\ N +9 &1S>\ M +10 &3AQ5\ M +9 &5U3\ M +9 &6V/\ M +10 &8W8\ M +9 &:IR2\ M +9 &< U2\ M +10 &=X1\ N +9 &?X2\ N +10 &APY1\ N +9 &C^1\ N +9 &Da2\ O +10 &Fl0\ P +9 &HMx1\ Q +9 &J 2\ S +10 &K1\ S +9 &M2\ T +10 &OL2\ T +9 &Q 1\ U +9 &R2\ U +10 &T2\ U +9 &VS0\ U +10 &X3\ U +9 &Y1\ U +9 &[1\ T +10 &]X2\ F +9 &^{@r3\ #i +9 &^02\ . +6 ( + "processing"%z& +4 "core" &^0\ . +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&P1 +56 "core" 1 +3 "manipulator"&F% +4 "core" %   G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +92 "core" ' +2 "processing"%j& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&O% +4 "core" %   d  +2 "storage"(l% +3 "core" % " " )\  +2 "storage"(=. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(.(  +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "manipulator"&& +4 "core" & " q\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   < +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(T'r +2 "manipulator"&a( +5 "core" ( + "manipulator"&Q& +5 "core" &   R < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &   < +3 .tForearm.seek PC +2 "manipulator"&c' +95 "core" ' +2 .tHand.close + "manipulator"&t/ +59 "core" / +2 .tPC.seek :open +2 "processing"%U( +89 "core" ' +2 "storage"(~- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(8'1 +38 "core" ' +315 ( +2 "storage"(9& +3 "core" & + , s\  +3 "manipulator"&5& +4 "core" &  < + "manipulator"&Y% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&i' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&&( +244 "core" ( +2 "manipulator"&{& +4 "core" &    5 + "storage"(s& +5 "core" & # # M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&o'S +94 "core" ' +2 .tHand.open + "manipulator"&)1 +56 "core" 1 +3 "storage"(u- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(!' +50 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(+' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(e- +3 "core" -' +2 "storage"(v& +5 "core" & d c +\  + "manipulator"&7& +5 "core" &  5 +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( + "manipulator"&%& +4 "core" &   p 5 +2 "storage"(C& +4 "core" & d c\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&6'S +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(W'" +51 "core" ' +2 "manipulator"&B& +3 "core" &   5 +2 "storage"(& +5 "core" & # # \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&r'Α +19 "core" ' +2 .tElbow.hold + "manipulator"&y, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +19 "core" ' +2 "manipulator"&X% +3 "core" %Λ    +2 "storage"([& +5 "core" & \ \  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"& & +4 "core" &  \ V 4 +2 "storage"(& +3 "core" & & # T\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&3'S +19 "core" ' + "storage"(% +4 "core" % " _\ +3 ."downElevator"SE.seek :down +4 "storage"(1' +99 (*% +3 "core" %\\\ \ \ Ym +2 "manipulator"&b% +3 "core" %X   +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 (_& +2 "core" & 9  _\  +3 "collection"'& +4 "core" &\\d\ \ !\ N +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %     +3 "storage"(% +4 "core" % # "\  + "storage"(4. +3 "core" .(  +2 "storage"("& +4 "core" & " # K\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(L(  +33 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +3 "core" &  !  H\ +2 "manipulator"&\ & +5 "core" &  $ 4 +2 .tElbow.seek 2 + "manipulator"&:( +5 "core" ( + "manipulator"&& +4 "core" &   4 +2 "storage"(G& +3 "core" &  " # x\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&g'S +96 "core" ' + "storage"(& +4 "core" &  G H \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +298 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +4 "core" &   4 +2 "storage"(-& +3 "core" & N ]\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&\\'Α +20 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(('m +28 "core" ' +2 "manipulator"&% +3 "core" %Π  +2 "storage"(& +4 "core" & " # S\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&@' +14 "core" ' + "manipulator"&|& +44 "core" &  4 +10 "storage"(k& +4 "core" & % # ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&0'S +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(R' +34 "core" ' +2 "manipulator"&H& +3 "core" &  4 +3 "manipulator"&/% +4 "core" %I   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +151 "core" ( + "manipulator"&Z& +4 "core" &Ӛ   4 8! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +2 "core" &Ӛ  8! +3 .tForearm.seek CC +2 "manipulator"&^'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +3 .tCC.seek :open +2 "collection"''( +448 "core" ( + "storage"(J& +4 "core" & O D g\  +2 "storage"(& +3 "core" & H H \  +2 "manipulator"&h& +5 "core" &Ӣ   7 + "manipulator"&% +4 "core" % G \   +3 .tForearm.seek :retract + "manipulator"&<' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&$( +162 "core" ( + "manipulator"&& +4 "core" & \  *  +2 "storage"(N& +4 "core" & k i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&q'Α +98 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +62 "core" 1 +2 "manipulator"&% +4 "core" % Β   3 +2 "storage"(& +4 "core" & j i \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 301 counts +2 "manipulator"&f'Ͼ +14 "core" ' +2 "manipulator"&#& +3 "core" & m  +3 "storage"(E& +4 "core" & _ k {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 "storage"(`% +4 "core" % j O\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +3 "core" %Q # " \ Xh +3 "manipulator"&% +4 "core" %?  I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +99 "core" ' +39 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'}& +3 "core" & \ +2 "manipulator"&% +4 "core" %   +2 "storage"(;% +3 "core" % ] ^ Y\  +3 "storage"(P. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(F( +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" & G F p\ +2 "manipulator"&O& +4 "core" & s  +2 .tElbow.seek 3 +2 "manipulator"&l( +35 "core" ( + "manipulator"&=& +4 "core" &   = +2 "storage"(z& +4 "core" & k i q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +92 "core" ' +2 "storage"(& +3 "core" & g _ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +307 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +48 (& +6 "core" & i i \ +2 "manipulator"&t& +4 "core" &  = +2 .tElbow.seek 3 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&~& +4 "core" &  _ = +2 "storage"(n& +3 "core" & j i \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&I'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(9' +8 "core" &   = +2 "manipulator"&5% +4 "core" % ϗ +3 .tForearm.seek :retract + "manipulator"&Y' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +151 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&{& +5 "core" &ӛ    7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &s& +2 "core" &ӛ   \ 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&a'? +91 "core" ' +3 "manipulator"&)& +3 "core" &ӛ  8 7 +3 "manipulator"&u% +3 "core" %6  \  q +3 "collection"'e& +3 "core" & \ +3 "collection"'v& +5 "core" & :\ +3 .tCC.seek :closed +2 "collection"'7(\\ +5 "core" & <\ +6 &A\ <\ $f +10 &Zz =\ 8 +9 & s <\ K +9 &R :\ K +10 &U\ \ 5\ K +9 &MT\ \ 0\ K +10 &U\ \ :\ K +9 &U\ \ .\ K +9 &W \ .\ K +10 &TT\ \ 4\ K +9 & T\ \ ,\ K +9 &!T\ \ ,\ J +10 &#U\  -\ K +9 &%]T \ 1\ K +10 &'W\ \ 2\ K +9 &(T\ \ 1\ K +9 &*T 2\ J +10 &,dU\ \ 1\ K +9 &.'T\  0\ K +9 &/T\ \ 0\ J +10 &1U\ \ /\ K +9 &3lU\ \ +\ K +10 &5.U\ \ -\ K +9 &6U\ \ /\ K +9 &8U\ \ 0\ K +10 &:uU\ \ %\ K +9 &<7U\ \ )\ K +9 &=X\ \ /\ K +10 &?U\ \ /\ K +9 &A|V\ \ *\ K +10 &C>[\ \ +\ K +9 &Da\ \ 0\ M +9 &Fh\ \ $\ M +10 &Hv}\ \ !\ P +9 &J-\ \  \ T +10 &K\ \ *\ W +9 &M\ \ \  \ X +9 &Oi\ \ \  \ W +10 &Q(\ \ \ \ X +9 &R\ \ \ \ Y +9 &T\ \ \ Y +10 &Vi\ \ \ \ Z +9 &X*\ \ \ Z +9 &Y\ \ \ !\ [ +10 &[\ \ \ H +9 &\\1\ \ \ \ / +10 &\\e\ \ \ M +2 ( +2 "collection"'v& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&i1 +57 "core" 1 +2 "manipulator"&%% +4 "core" % 6   + q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%B& +4 "core" &\ +2 "manipulator"&% +4 "core" %     +2 "storage"(8% +3 "core" % & * e\  +2 "storage"(X. +3 "core" .( +2 "storage"([& +3 "core" & % $ @\ +3 "storage"( & +4 "core" &   :\ +2 "manipulator"&& +4 "core" &Ӧ   6 + "manipulator"&!% +5 "core" %   Z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( + "manipulator"&&& +5 "core" &y   G  + "storage"(o& +3 "core" & H G \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&+'7 +94 "core" ' + "storage"(*& +4 "core" & J I K\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +296 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &  $ W\ +2 "manipulator"&W& +4 "core" &y   +2 .tElbow.seek 3 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&& +3 "core" &y    +2 "storage"(_& +5 "core" & $ '\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(4' +54 "core" &y  +4 "manipulator"&?% +4 "core" % Ϫ   +2 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +110 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +125 "core" ( +2 "manipulator"&\ & +3 "core" &   + +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +99 "core" ' +2 "manipulator"&3& +3 "core" &   F + +3 "manipulator"&% +3 "core" %  +3 "processing"%1& +4 "core" &\ +2 "processing"%.& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%y(^ +3 "core" &\ +7 &\ 6 +9 &?Hs\ / +10 &fq~\ D +9 &]\ N +9 &T\ M +10 &U\ M +9 &NU\ M +10 &R \ M +9 &R \ M +9 &U:\ N +10 &VU=\ M +9 &!R>\ M +9 &"R?\ M +10 &$W?\ M +9 &&]U=\ N +10 &( T>\ M +9 &)T=\ M +9 &+U?\ M +10 &-fR=\ M +9 &/(W?\ M +9 &0T=\ M +10 &2W>\ M +9 &4oT7\ M +10 &6/U5\ N +9 &7T5\ M +9 &9W3\ M +10 &;vY3\ M +9 &=8X/\ M +9 &>U2\ N +10 &@W,\ N +9 &B|]1\ N +10 &D;b2\ O +9 &En5\ P +9 &G{0\ R +10 &Iu.\ S +9 &K51\ T +9 &L1\ T +10 &N1\ T +9 &Py2\ T +10 &R:2\ U +9 &S3\ U +9 &U1\ T +10 &W4\ U +9 &YB2\ U +9 &[-\ T +10 &\\2\ U +9 &^Bk-\ , +10 &^]2\ ? +9 ( + &^=2\ : +2 "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&d1 +56 "core" 1 +2 "manipulator"&A% +4 "core" %   f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +92 "core" ' + "processing"%-& +5 "core" &^<1\ : + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&m% +3 "core" %  \   +3 "storage"(% +4 "core" %\ \ $ 3\  + "storage"(. +3 "core" .( +2 "storage"(|& +3 "core" & K\ ' B\ +3 "storage"(k& +3 "manipulator"&H& +6 "core" & G B\ +2 &   [ + +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&/( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'r +2 "core" ( +3 "manipulator"&:& +3 "core" &  + +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &K& +3 "core" &    + +2 .tForearm.seek PC +2 "manipulator"&\\' +95 "core" ' + .tHand.close +2 "manipulator"&@/ +64 "core" / +3 .tPC.seek :open +2 "processing"%(( +84 "core" ' +2 "storage"(Z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(x'1 +46 "core" ' +311 ( + "storage"(0& +4 "core" &   P\ +2 "manipulator"&,& +3 "core" &   + +2 "manipulator"&% +4 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&]( +246 "core" ( + "manipulator"&J& +4 "core" &   ` ? +2 "storage"(& +3 "core" & # "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&h'7 +97 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(N' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +52 "core" ' +10 #tLights, camera, ACTION! + "storage"( - +4 "core" -' +2 "storage"(2& +3 "core" & C @\ +3 "manipulator"&& +4 "core" &  ? +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&#& +5 "core" &    ? + "storage"(E& +4 "core" & @ D B\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +50 "core" ' +2 "manipulator"&& +3 "core" &   ? +3 "storage"(& +4 "core" & N & W\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&$'u +22 "core" ' +2 .tElbow.hold +2 "manipulator"&q, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(}' +24 "core" ' + "manipulator"&% +5 "core" %Ά   + "storage"(f& +5 "core" &\ \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&;'ϲ +26 "core" ' +2 "manipulator"&P& +4 "core" &  i ? +2 "storage"(R& +4 "core" & ! ! =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' +2 "storage"(% +4 "core" % !  \ +2 ."downElevator"SE.seek :down +4 "storage"(L' +98 (j% +3 "core" %K\ *\ ) c\ We +3 "manipulator"&O% +3 "core" %5   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (z& +3 "core" &  5 e\ +3 "collection"'& +4 "core" &\\`\ \ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&V% +3 "Can"\ PU\\ +3 "core" %  \  +2 "storage"(p% +4 "core" % " " (\  +2 "storage"( . +3 "core" .( +2 "storage"(& +4 "core" & # ! /\ + "storage"(t& +4 "core" & # ! \ +2 "manipulator"&~& +3 "core" &  ? +3 .tElbow.seek 3 +2 "manipulator"&n( +4 "core" ( + "manipulator"&M& +4 "core" &   ? +2 "storage"(T& +3 "core" & # # %\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&5'7 +102 "core" ' +2 "storage"(l& +4 "core" & G F \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +299 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &   \ ? +3 "storage"(Q& +4 "core" &  "\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&I'u +19 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(e't +124 "core" ' + "manipulator"&S% +4 "core" %   +2 "storage"(9& +4 "core" & )  7\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&Y'ϫ +13 "core" ' +2 "manipulator"&'& +3 "core" &   ? +2 "storage"(i& +5 "core" & G G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&%'7 +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(B' +44 "core" ' +9 "manipulator"&& +3 "core" &  ? +2 "manipulator"&8% +5 "core" %&  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +154 "core" ( + "manipulator"&v& +4 "core" &Ӎ$   =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӎ$  B =G +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&!/ +64 "core" / +2 .tCC.seek :open +2 "collection"'a( +448 "core" ( +2 "storage"(&& +4 "core" & O E L\ +2 "storage"(o& +3 "core" & R = -\ +2 "manipulator"&*& +4 "core" &ӱ   A 9# +2 "manipulator"&c% +4 "core" % D U  +2 .tForearm.seek :retract +2 "manipulator"&C' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&6( +166 "core" ( + "manipulator"&D& +4 "core" &  +2 "storage"(W& +4 "core" & k k \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +97 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % ~   / +2 "storage"(?& +4 "core" & i i \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 309 counts +2 "manipulator"&'Ϫ +13 "core" ' +2 "manipulator"&+& +3 "core" &   +3 "storage"(b& +4 "core" & p [ \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +17 "core" ' + "storage"(\ % +5 "core" % p  \ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (r% +3 "core" %A G F !\ U_ +2 "manipulator"&3% +5 "core" %-  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'1& +3 "core" & \ \ +2 "manipulator"&4% +4 "core" %     +2 "storage"("% +3 "core" % g ^ k\  +3 "storage"(U. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(d(,y +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &,x C G\ +2 "manipulator"&-& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&m( +42 "core" ( +2 "manipulator"&& +4 "core" & \  I  +2 "storage"(& +4 "core" &,x l k \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +93 "core" ' +2 "storage"(k& +3 "core" &,x { \\\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +297 "core" ' + "storage"(.- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (:& +2 "core" &,j F C T\  +3 "manipulator"&K& +4 "core" &  ?  +2 .tElbow.seek 4 +2 "manipulator"&G( +2 "core" ( +3 "manipulator"&@& +4 "core" &    + "storage"(Z& +4 "core" &,j i i u\  +3 .tForearm.seek 4 + 300 counts +47 "manipulator"&w'c +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +3 "storage"(g' +8 "core" & J  + "manipulator"&0% +5 "core" % s   +2 .tForearm.seek :retract +2 "manipulator"&,' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&\\& +4 "core" &z(   f @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +3 "core" &z(    @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +3 "manipulator"&/& +4 "core" &{(   5 @W +2 "manipulator"&% +3 "core" %?   ~ / +3 "collection"'& +3 "core" & \ +3 "collection"' & +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'2(\\ +5 "core" &\  :\ +6 &<\ \ =\ $f +10 &Xx\ =\ 7 +9 &v\ \ ;\ K +9 &R\  9\ K +10 &T\ \ 7\ J +9 &ET\ \ .\ K +10 &T\ \ 4\ K +9 &T\ \ 0\ K +9 &W 0\ K +10 &NT\ \ 0\ K +9 & S \ &\ J +9 &!T *\ K +10 &#T \ 0\ K +9 &%UW\ \ 0\ K +10 &'T\ \ /\ K +9 &(R\ \ 0\ K +9 &*T\ ,\ K +10 &,]S\ \ .\ K +9 &.T\ \ 0\ K +9 &/S\ \ ,\ K +10 &1W\ \ .\ K +9 &3eU\ \ 1\ K +10 &5'U\ \ ,\ K +9 &6U\ \ *\ K +9 &8T\  )\ K +10 &:nU\ \ +\ K +9 &\ M +9 &5 T>\ M +9 &6R?\ M +10 &8W=\ M +9 &:RW;\ M +9 &<U=\ M +10 &=W=\ N +9 &?U=\ N +10 &AYT=\ N +9 &C]:\ N +9 &Db9\ O +10 &Fi2\ P +9 &HUz3\ R +9 &J3\ S +10 &K7\ T +9 &M.\ T +10 &OU-\ T +9 &Q0\ U +9 &R.\ T +10 &T1\ U +9 &V]2\ T +9 &X+\ U +10 &Y1\ U +9 &[3\ U +10 &]c0\ B +9 &^Fx2\ W +9 &^D.\ 5 +6 ( + "processing"%q& +4 "core" &^*0\ 5 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&{1 +63 "core" 1 +2 "manipulator"&s% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +92 "core" ' + "processing"%u& +3 "core" &^*.\ 5 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&S% +5 "core" %    + "storage"(9% +5 "core" % \  >\  + "storage"('. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(i(,y +26 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +4 "core" &,z K \ +2 "manipulator"&8& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(5'r + "manipulator"&n( +7 "core" ( + "manipulator"& & +5 "core" &   W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &I& +2 "core" &  +3 .tForearm.seek PC +2 "manipulator"&Y' +95 "core" ' +2 .tHand.close + "manipulator"&e/ +61 "core" / +2 .tPC.seek :open +2 "processing"%v( +85 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(%'1 +49 "core" ' +309 ( +2 "storage"()& +3 "core" &,h 0\  +2 "manipulator"&!& +4 "core" &  +2 "manipulator"&X% +3 "core" %    +3 .tForearm.seek :retract + "manipulator"&7' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&&( +252 "core" ( + "manipulator"&o& +4 "core" &   :  +2 "storage"(*& +4 "core" &,h # # \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +94 "core" ' + .tHand.open +2 "manipulator"&D1 +59 "core" 1 +2 "storage"(W- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"([' +99 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +5 "core" &,h G L G\  + "manipulator"&?& +5 "core" &   +2 .tElbow.seek 4 + "manipulator"&+( +12 "core" ( + "manipulator"&b& +5 "core" &   B  + "storage"(\ & +5 "core" &,h 9 E\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(r'" +51 "core" ' +2 "manipulator"&3& +4 "core" &   + "storage"(6& +5 "core" &,h   ~\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' + "manipulator"&4% +5 "core" %F  + "storage"("& +6 "core" &,h  # R\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&U'r +14 "core" ' +2 "manipulator"&B& +4 "core" &   R  +2 "storage"(& +4 "core" &,h % \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(F% +5 "core" % % $ I\ +2 ."downElevator"SE.seek :down +4 "storage"(A' +98 (-% +4 "core" %K\ & J (\ Wc +2 "manipulator"&% +4 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (k& +3 "core" &,h 3 /\  +2 "collection"'_& +4 "core" &\\]\ \ \ \ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %    +2 "storage"(.% +4 "core" % E E \  +2 "storage"(:. +3 "core" .(,y +2 "storage"(K& +4 "core" &,h G F "\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(@(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Z& +2 "core" &,z   G\ +3 "manipulator"&>& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&y( +4 "core" ( +2 "manipulator"&0& +4 "core" &    +2 "storage"(m& +4 "core" &,z G E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&|' +95 "core" ' + "storage"(\\& +4 "core" &,z F J G\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'r +296 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" &     +3 "storage"(/& +4 "core" &,j & $ @\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(G- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(g'j +35 "core" ' + "manipulator"&,% +5 "core" %'  + "storage"(a& +4 "core" &,j $ & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 284 counts +2 "manipulator"&'S +15 "core" ' + "manipulator"&& +4 "core" &    +2 "storage"(E& +4 "core" &,j * $ D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' + "manipulator"&x& +4 "core" & y  +2 "manipulator"&% +4 "core" % z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +164 "core" ( + "manipulator"&P& +4 "core" &ӊ   $ 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +2 "core" &ӊ   8 +3 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&]/ +59 "core" / +2 .tCC.seek :open +2 "collection"'h( +448 "core" ( +2 "storage"(d& +3 "core" &,j K _ >\  +2 "storage"(j& +5 "core" &,j > < f\  + "manipulator"&& +4 "core" &Ӥ   4 +2 "manipulator"&#% +4 "core" % ? \  +2 .tForearm.seek :retract +2 "manipulator"&`' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( + "manipulator"&<& +4 "core" &  F  +2 "storage"(;& +3 "core" &,j \\ _ G\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&z'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&p1 +63 "core" 1 +2 "manipulator"& % +3 "core" % '  : < +2 "storage"(& +3 "core" &,j _ _ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 284 counts +2 "manipulator"&^'S +15 "core" ' +2 "manipulator"&O& +3 "core" & 3  +2 "storage"(& +5 "core" &,j p s \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +18 "core" ' +2 "storage"(M% +3 "core" % j k \ +4 ."downElevator"SE.seek :down +4 "storage"($' +98 (% +3 "core" %B G O #\ U` +2 "manipulator"&l% +5 "core" %  % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'}& +3 "core" & /\ +3 "manipulator"&% +4 "core" %    +2 "storage"((% +3 "core" % _ \\ l\  +2 "storage"({. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(s(  +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +3 "core" &  : A \ +2 "manipulator"&S& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&9( +11 "core" ( +2 "manipulator"&'& +3 "core" & \\  +3 "storage"(q& +4 "core" &  j l \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +92 "core" ' + "storage"(8& +5 "core" &  q \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (T& +3 "core" & < > }\ +2 "manipulator"&e& +4 "core" & J  +2 .tElbow.seek 2 +48 "manipulator"&f( +5 "core" ( +2 "manipulator"& & +3 "core" &  K  +2 "storage"(t& +5 "core" & \\ \\\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Q'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&5& +2 "storage"()' +5 "core" &  +3 "manipulator"&!% +4 "core" % ϸ  +2 .tForearm.seek :retract +2 "manipulator"&X' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&o& +4 "core" &ӓ  a 9$ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +4 "core" &ӓ    9$ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&n'? +92 "core" ' +2 "manipulator"&D& +3 "core" &Ӕ   9# +3 "manipulator"&W% +4 "core" %F   w ' +2 "collection"'7& +5 "core" & \  \ +2 "collection"'& +5 "core" & \ $\ +3 .tCC.seek :closed + "collection"'(\\ +4 "core" &\ \ >\ +8 &B ;\ %g +9 &Zx \ 1\ 8 +10 &s\ \ 8\ K +9 &Q 7\ K +9 &U\ \ 3\ K +10 &XU\ \ /\ J +9 &T\ \ 7\ K +10 &T 9\ K +9 &R \ 5\ K +9 &^T\ \ 0\ K +10 & !T\ \ 2\ K +9 &!R\ \ 3\ K +9 &#T\ \ 2\ K +10 &%gT\ \ -\ K +9 &')Q \ +\ K +10 &(T\ \ (\ K +9 &*T\ \ /\ K +9 &,nX\ \ $\ K +10 &.0T\ \ &\ K +9 &/T \ /\ K +9 &1U\ \ +\ K +10 &3vX\ \ $\ K +9 &58T\ \ $\ K +10 &6U\ \ *\ K +9 &8T\  (\ K +9 &:~U\ \ 3\ K +10 &T \ ,\ K +9 &?U\ \ *\ K +10 &AV\ \ *\ K +9 &CG\\\ \ 0\ L +10 &Ec\ \ 4\ L +9 &Fm\ \ (\ N +9 &H~\ \ )\ Q +10 &J4\ \ )\ U +9 &K\ \ $\ W +9 &M\ \ +\ W +10 &Or\ \ \ +\ X +9 &Q4\ \ "\ W +10 &R\ \ \ 0\ Y +9 &T\ \ %\ Y +9 &Vs\ \ 5\ Z +10 &X3\ \ \ %\ [ +9 &Y\ \ \ $\ [\ +9 &[\ \ *\ H +10 &\\0\ \ \ \ !\ - +9 &\\g\ \ \ O +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&?1 +61 "core" 1 +3 "manipulator"&b% +4 "core" % F   : ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%3& +4 "core" &\ +2 "manipulator"&6% +4 "core" %     +2 "storage"(%% +4 "core" % # # \  + "storage"(4. +3 "core" .(  +2 "storage"(& +3 "core" & # $ \ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"("(  +35 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" &   ! \ +2 "manipulator"&& +4 "core" &ө   6 +2 "manipulator"&F% +4 "core" %   w  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&&( +161 "core" ( +2 "manipulator"&c& +3 "core" &    +3 "storage"([& +4 "core" &  + 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&-'S +93 "core" ' +2 "storage"(& +3 "core" &  G H\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'r +297 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" & ' ! -\  +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&U& +3 "core" &   +3 "storage"(_& +4 "core" & !  U\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +54 "core" / +3 ."downElevator"SE.seek :down +49 "manipulator"&:& +5 "storage"(' +8 "core" &    +2 "manipulator"&K% +3 "core" % Ͽ   +3 .tForearm.seek :retract +2 "manipulator"&Z' +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( + "manipulator"&0& +4 "core" &  C ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &    ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&\\& +5 "core" &  % ( +2 "manipulator"&A% +4 "core" %    +2 "processing"%i& +5 "core" &\ +2 "processing"%1& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +7 &\ 5 +9 &@Ht\ / +10 &fp\ D +9 &]\ N +9 &T\ M +10 &V\ M +9 &NV\ M +9 &R\ M +10 &T\ M +9 &U\ M +9 &VR\ M +10 &!T\ N +9 &"T\ M +10 &$U\ N +9 &&_T\ \ M +9 &( T6\ M +10 &)WJ\ M +9 &+T.\ M +10 &-fR=\ M +9 &/(VC\ M +9 &0TA\ N +10 &2U<\ M +9 &4nTA\ M +9 &60WF\ M +10 &7UG\ M +9 &9W>\ M +10 &;uW=\ N +9 &=8W;\ M +9 &>U@\ N +10 &@W=\ N +9 &B|Z=\ N +9 &D=_I\ N +10 &Ei9\ O +9 &Gr8\ Q +10 &Iw<\ R +9 &K6<\ S +9 &L@\ S +10 &N3\ T +9 &Pz3\ T +9 &R;4\ T +10 &S<\ U +9 &U6\ T +10 &W2\ U +9 &YD3\ T +9 &[,\ U +10 &\\1\ U +9 &^>g.\ * +9 &^s7\ < +10 ( + &^!8\ 2 +2 "processing"%1& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&H1 +53 "core" 1 +2 "manipulator"&w% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +96 "core" ' +2 "processing"%G& +3 "core" &^!0\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&,% +4 "core" % #   5 +2 "storage"(a% +4 "core" %\ \  1\  +2 "storage"(. +3 "core" .(  +2 "storage"(E& +3 "core" & \ \  \ \  +3 "storage"(x& +3 "manipulator"&& +8 "core" & \ \  x\  + &   x ( +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&|( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(y'r +2 "core" ( +2 "manipulator"&J& +5 "core" &   ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  / ( +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&g/ +58 "core" / +2 .tPC.seek :open +2 "processing"%P( +88 "core" ' +2 "storage"(R- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +44 "core" ' +310 ( +2 "storage"(& +3 "core" & $ % ,\  +3 "manipulator"&]& +4 "core" &  ( +2 "manipulator"& % +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&2' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&d( +244 "core" ( +2 "manipulator"&j& +4 "core" & \  I +2 "storage"(& +4 "core" & # " @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&#'S +89 "core" ' + .tHand.open +2 "manipulator"&<1 +55 "core" 1 +2 "storage"(;- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +51 .tSE.seek -1.22 Pucks below Top Plate + "storage"(N' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(p- +3 "core" -' +2 "storage"( & +4 "core" & L K _\  +2 "manipulator"&& +5 "core" &   I +2 .tElbow.seek 2 + "manipulator"&O( +4 "core" ( +2 "manipulator"&& +4 "core" &   V I +2 "storage"(M& +3 "core" & > H \  +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&`'S +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +53 "core" ' + "manipulator"&l& +5 "core" &  I + "storage"(& +4 "core" & % T R\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&z'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(^' +21 "core" ' +2 "manipulator"&% +3 "core" %Θ    +3 "storage"((& +4 "core" & \ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&{' +14 "core" ' +2 "manipulator"&& +3 "core" &   H +3 "storage"(~& +4 "core" & " $ y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&$'S +17 "core" ' +2 "storage"(@% +3 "core" % ' & #\ +4 ."downElevator"SE.seek :down +4 "storage"(u' +98 (S% +3 "core" %0\\\  \ Yn +3 "manipulator"&'% +4 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (8& +3 "core" & O \  +3 "collection"'V& +4 "core" &\\d\ \ \ \ \ O +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&L% +4 "core" %     +2 "storage"(I% +4 "core" % # & #\  +2 "storage"(T. +3 "core" .(  +2 "storage"(e& +3 "core" &   A\  +2 "storage"( & +5 "core" & #  !\  + "manipulator"&t& +5 "core" &  H +2 .tElbow.seek 2 + "manipulator"&=( +4 "core" ( +2 "manipulator"&5& +4 "core" &  H +2 "storage"(!& +3 "core" &   K\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&9'S +102 "core" ' + "storage"(& +4 "core" & ( G M\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +299 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &   " H +3 "storage"(Q& +4 "core" &  ' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&D'Α +20 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(f'n +29 "core" ' +2 "manipulator"&)% +4 "core" %Ξ  +2 "storage"(X& +4 "core" & [ b\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&h' +14 "core" ' + "manipulator"&?& +4 "core" &    H +2 "storage"(b& +4 "core" & ! + D\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'S +15 "core" ' +49 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(6' +34 "core" ' + "manipulator"&%& +4 "core" &  H +2 "manipulator"&4% +3 "core" %J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ( +3 "manipulator"&B& +4 "core" &ӎ   1 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ   6 +3 .tForearm.seek CC + "manipulator"&F'? +103 "core" ' + .tHand.close +2 "manipulator"&n/ +55 "core" / +2 .tCC.seek :open +2 "collection"'c( +448 "core" ( + "storage"([& +4 "core" & R R P\  +2 "storage"(s& +4 "core" & P R M\  +2 "manipulator"&& +3 "core" &ӭ   2 +2 "manipulator"&Y% +4 "core" %  \  t +2 .tForearm.seek :retract +2 "manipulator"&\ ' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&+( +165 "core" ( + "manipulator"&r& +4 "core" &  [  +2 "storage"(& +4 "core" & j j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&U'Α +94 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&.1 +58 "core" 1 +2 "manipulator"&:% +5 "core" % Μ  \ 6 $ + "storage"(K& +4 "core" & g ^ 1\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 311 counts + "manipulator"&&' +13 "core" ' +2 "manipulator"&-& +4 "core" &  +2 "storage"(C& +3 "core" & i i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +17 "core" ' +2 "storage"(0% +3 "core" % l u\ +3 ."downElevator"SE.seek :down +4 "storage"(m' +98 (k% +3 "core" %P #  ?\ Xi +2 "manipulator"&\\% +5 "core" %G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'i& +4 "core" & &\ +2 "manipulator"&% +3 "core" %    +3 "storage"(Z% +4 "core" % l l \  +2 "storage"(v. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(H( +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" & G D B\ +2 "manipulator"&G& +4 "core" &    +2 .tElbow.seek 3 +2 "manipulator"&,( +14 "core" ( +2 "manipulator"&a& +3 "core" &z    +2 "storage"(& +5 "core" & l k \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&E'7 +96 "core" ' +2 "storage"(& +3 "core" & { ^\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +296 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +3 "core" & ; < g\ +2 "manipulator"&& +3 "core" &z B  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&g& +4 "core" &z    +2 "storage"(R& +51 "core" & i h \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'ϡ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(y' +8 "core" &z N  +2 "manipulator"&% +3 "core" % Ϣ d +3 .tForearm.seek :retract +2 "manipulator"&]' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +151 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +8 "core" &y&   ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &y&  a ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +3 "manipulator"&|& +3 "core" &Ӎ$   y << +3 "manipulator"&<% +3 "core" %8 ' ! +3 "collection"';& +4 "core" &\  \ +2 "collection"'p& +6 "core" & I\ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" &\ \ ;\ +7 &< 3\ $f +10 &Zz \ 6\ 7 +9 &v\ \ @\ K +9 &T\ 6\ J +10 &U\ \ ;\ K +9 &IW\  ;\ K +9 & T\ \ 2\ K +10 &W\ \ 3\ K +9 &T\ 3\ K +10 &RR \ 3\ K +9 & T \ 1\ K +9 &!W\ \ *\ K +10 &#U\ \ $\ K +9 &%ZW\ \ .\ K +9 &'S\ '\ J +10 &(T #\ K +9 &*S\ \ %\ J +10 &,bT \ ,\ K +9 &.#R\ \ 0\ K +9 &/T\ \ $\ K +10 &1T\ \ ,\ K +9 &3iU\ \ .\ K +9 &5,T\ \ )\ K +10 &6U\ \ (\ K +9 &8R\ \ .\ K +10 &:qT\ \ 7\ K +9 &<4T\ \ 6\ K +9 &=T \ 1\ K +10 &?U\ \ 3\ K +9 &AyW\ \ -\ K +9 &C:[\ \ 0\ L +10 &Dd\ \ )\ L +9 &Fh\ \ 6\ N +10 &Ht}\ \ 5\ P +9 &J+\ \ )\ T +9 &K\ \ -\ W +10 &M\ \ \ 2\ W +9 &Oe\ \ 0\ X +9 &Q&\ \ %\ X +10 &R\ \ 6\ Y +9 &T\ \ \ 0\ Y +10 &Vg\ \ \ -\ Z +9 &X(\ \ \ -\ Z +9 &Y\ \ 1\ [\ +10 &[\ \ /\ H +9 &\\0\ \ 4\ 2 +9 &\\c\ \ \ 2\ K +3 ( + "collection"'p& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&21 +65 "core" 1 + "manipulator"&% +4 "core" % 8   X ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%M& +4 "core" &\ +2 "manipulator"&l% +4 "core" %     +2 "storage"(% +3 "core" % !  7\  +2 "storage"(. +4 "core" .( +2 "storage"(& +4 "core" & $ ! \ + "storage"((& +5 "core" & $ %\ + "manipulator"&& +3 "core" &Ӧ   9# +3 "manipulator"&~% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( + "manipulator"&@& +4 "core" &    +2 "storage"(d& +3 "core" & E E \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&#'7 +95 "core" ' +2 "storage"(N& +3 "core" & R R V\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +295 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" & $ Q\ +2 "manipulator"&O& +4 "core" &    +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&z& +5 "core" &   (  + "storage"(8& +4 "core" & & -\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&{'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(I' +9 "core" &   + "manipulator"&T% +5 "core" % ϗ  +2 .tForearm.seek :retract + "manipulator"&^' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e( +159 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +3 "manipulator"& & +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&5' +91 "core" ' +2 "manipulator"&!& +5 "core" &   + "manipulator"&$% +5 "core" %\  \ J +2 "processing"%& +3 "core" &\ +3 "processing"%u& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%}(^ +5 "core" &\  +8 &2v\ )w +10 &e~\ > +9 &{o\ N +9 &@Q\ M +10 &T\ M +9 &T\ M +9 &U\ M +10 &GT\ M +9 & U\ M +10 &U\ M +9 & V\ M +9 &"NU\ M +10 &$R\ M +9 &%T\ M +9 &'U\ M +10 &)UU\ N +9 &+V\ M +10 &,V\ N +9 &.T$\ M +9 &0^UD\ M +10 &2TJ\ N +9 &3T@\ M +9 &5UA\ M +10 &7fU=\ M +9 &9)X?\ M +10 &:WA\ M +9 &<XB\ M +9 &>mYG\ N +10 &@/W?\ N +9 &A]>\ N +10 &CeA\ O +9 &EoiF\ P +9 &G/s>\ P +10 &HA\ T +9 &JA\ S +9 &LkH\ T +10 &N->\ T +9 &O@\ T +9 &Q0\ T +10 &Sq?\ T +9 &U30\ T +10 &V8\ T +9 &X>\ T +9 &Zy:\ T +10 &\\96\ U +9 &]{r4\ 9 +9 &^--\ M +10 &^!/\ 1 +2 ( +2 "processing"%u& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&q1 +60 "core" 1 + "manipulator"&*% +4 "core" % \    J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 "processing"%Q& +3 "core" &^ :\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&7% +3 "core" % #   0 +3 "storage"()% +3 "core" % S y\  +2 "storage"(X. +3 "core" .( +2 "storage"(?& +4 "core" & U\  \ +2 "storage"(b& +4 "manipulator"&%& +5 "core" &\ \ \ + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&4( +4 ."raiseStack"SE.seek :beamBreak + "storage"(9'r +4 "core" ( + "manipulator"&=& +4 "core" &   u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&D' +95 "core" ' + .tHand.close +2 "manipulator"&h/ +64 "core" / +2 .tPC.seek :open +2 "processing"%f( +86 "core" ' + "storage"(B- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +311 ( + "storage"(3& +4 "core" &   \ +2 "manipulator"&W& +3 "core" &  \ +2 "manipulator"&n% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +242 "core" ( +2 "manipulator"&[& +3 "core" &   < +2 "storage"(s& +4 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +93 "core" ' + .tHand.open +2 "manipulator"&Y1 +59 "core" 1 +2 "storage"(r- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(F' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(.& +3 "core" & . ) 6\ +3 "manipulator"&:& +4 "core" &  \ S < +2 .tElbow.seek 3 + "manipulator"&K( +51 "core" ( +3 "manipulator"&-& +6 "core" &    + "storage"(C& +5 "core" & 2 4 r\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&0'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\ '" +58 "core" ' + "manipulator"&k& +5 "core" &   + "storage"(\\& +28 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&+'u +18 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +27 "core" ' +2 "manipulator"&% +4 "core" %t  +2 "storage"(&& +3 "core" & " |\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&Z'Ϡ +14 "core" ' +2 "manipulator"&v& +3 "core" & \  _  +2 "storage"(6& +5 "core" & % " <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +18 "core" ' +2 "storage"(m% +3 "core" % F F \ +3 ."downElevator"SE.seek :down +4 "storage"("' +98 (w% +3 "core" %uL\ *\ * q\ We +3 "manipulator"&G% +4 "core" %&   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &  r\ +2 "collection"'& +4 "core" &\\b\ \ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&_% +3 "core" %     +3 "storage"(A% +4 "core" % # # \  + "storage"(1. +3 "core" .( +2 "storage"(J& +4 "core" & ! ! \ +2 "storage"(& +4 "core" & " " I\ +2 "manipulator"&g& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&R( +10 "core" ( + "manipulator"&/& +5 "core" &    + "storage"(& +4 "core" & " # 1\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' +2 "storage"(,& +4 "core" & J P &\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" &   +3 "storage"(x& +4 "core" & & $ =\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&>'u +20 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(<- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(;'t +32 "core" ' +2 "manipulator"&% +4 "core" %n   +2 "storage"(y& +4 "core" & # " 3\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 293 counts + "manipulator"&]'Ϛ +14 "core" ' + "manipulator"&c& +3 "core" &    +3 "storage"(2& +4 "core" & ! \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(M' +44 "core" ' +2 "manipulator"&l& +4 "core" & \ \  +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +4 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( +2 "manipulator"&p& +4 "core" &Ӓ"   R ;6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &Ӓ"   & ;6 +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&~/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(@& +3 "core" & F E \ +2 "storage"(d& +5 "core" & P H \ + "manipulator"&N& +4 "core" &Ӧ  8" +2 "manipulator"& % +4 "core" % M   F  +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'( +165 "core" ( + "manipulator"&`& +4 "core" &  '  +2 "storage"(O& +3 "core" & _ g \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&z'u +98 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +53 "core" 1 +2 "manipulator"&L% +3 "core" % ΃   +2 "storage"(T& +4 "core" & \\ ^\ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 314 counts + "manipulator"&'ϯ +25 "core" ' + "manipulator"&#& +5 "core" & h  + "storage"(S& +3 "core" & g _ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&{'7 +22 "core" ' +2 "storage"( % +3 "core" % h _ \ +3 ."downElevator"SE.seek :down +4 "storage"(t' +98 (% +3 "core" %J 2 G [\ Va +2 "manipulator"&!% +5 "core" %;  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +96 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +59 "core" & 0\ +2 "manipulator"&I% +3 "core" %   )  +3 "storage"(^% +3 "core" %  | _\  +2 "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(q(,y +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &,z ` g :\  +2 "manipulator"&Q& +4 "core" & o  +2 .tElbow.seek 4 +2 "manipulator"&7( +27 "core" ( + "manipulator"&)& +5 "core" &  + "storage"(X& +4 "core" &,z \\ [ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +93 "core" ' + "storage"(u& +5 "core" &,z \\ \\ D\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +312 "core" ' + "storage"(b- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &,j G H g\  +3 "manipulator"&o& +3 "core" &    +3 .tElbow.seek 4 + "manipulator"&5( +17 "core" ( + "manipulator"&h& +4 "core" &  \   +2 "storage"(B& +3 "core" &,j > = \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&e'c +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& +49 "storage"(9' +7 "core" & ]  +3 "manipulator"&3% +5 "core" % q 6 +2 .tForearm.seek :retract +2 "manipulator"&W' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +153 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&D& +2 "storage"(5 +7 "core" &ӌ%   K >J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &ӌ%   >J +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&s'? +99 "core" ' +2 "manipulator"&4& +4 "core" &Ө   ( :. +2 "manipulator"&Y% +4 "core" %B   +2 "collection"'r& +4 "core" & 3\ +3 "collection"'& +5 "core" & P\ +3 .tCC.seek :closed +2 "collection"'.(\\ +3 "core" &\ O\ +7 & K\ ; +9 &KJu \ O\ 1 +10 &v{ Q\ E +9 &0Y \ @\ K +9 &T G\ K +10 &W\  @\ K +9 &wU\ @\ K +9 &8W <\ K +10 &T\ \ A\ K +9 &V \ =\ K +10 &T\ \ <\ K +9 &!@V C\ K +9 &#S 5\ J +10 &$T \ 6\ K +9 &&T\  D\ J +9 &(IU\  8\ K +10 &* T\ \ 0\ J +9 &+T\  <\ K +10 &-T\  4\ J +9 &/QT -\ K +9 &1R\ 4\ K +10 &2T\ ,\ K +9 &4T /\ K +9 &6YU \ 6\ K +10 &8T \ 7\ K +9 &9U\  7\ K +10 &;T\ \ 8\ K +9 &=aT\  8\ K +9 &?#T\ 7\ K +10 &@W\ \ 8\ K +9 &BX\ \ 8\ L +9 &Df\\\ \ <\ L +10 &F%f\ \ 6\ M +9 &Gx\ \ \ 7\ O +10 &I\ \ 3\ S +9 &KP\ \ 5\ V +9 &M\ \ \ ;\ W +10 &N\ \ :\ X +9 &P\ \ =\ X +9 &RS\ \ 7\ X +10 &T\ \ 6\ Y +9 &U\ \ 9\ Z +10 &W\ \ 7\ Z +9 &YP\ \ \ 5\ \\ +9 &[\ \ \ :\ [ +10 &\\gF\ \ 6\ 1 +9 &\\\ \ 3\ K +5 ( +2 "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&:1 +3 "core" &\\b\ \ 3\ K +51 1 +2 "manipulator"&% +4 "core" % B    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%C& +3 "core" &\ +2 "manipulator"&k% +4 "core" %     +2 "storage"(\\% +3 "core" % & \  +2 "storage"(. +3 "core" .(,y +2 "storage"(& +4 "core" &,j #  \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +38 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (&& +2 "core" &,}\ +\ ( ]\ +3 "manipulator"&v& +3 "core" &ӭ \ u 9) +2 "manipulator"&6% +5 "core" %    :  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&m& +4 "core" &    +2 "storage"(& +4 "core" &,} H E \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +95 "core" ' + "storage"(w& +3 "core" &,} H G\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +296 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &,j P K\  +2 "manipulator"&\ & +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&Z& +4 "core" &    +2 "storage"(& +3 "core" &,j " " 7\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&_/ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&A& +3 "storage"(1' +7 "core" &   +2 "manipulator"&i% +5 "core" % d   +2 .tForearm.seek :retract +2 "manipulator"&J' +87 "core" ' + .tElbow.seek PC +2 "manipulator"&( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&g& +4 "core" &  Q 8 +48 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &/& +3 "core" &   8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&& +4 "core" & \  7 +2 "manipulator"&,% +4 "core" %    +2 "processing"%"& +4 "core" &\ +3 "processing"%U& +5 "core" &\ +3 .tPC.seek :closed + "processing"%a(^ +4 "core" &\ +7 & .\ $c +10 &Sz\ 6 +11 &~{\ K +8 &R\ M +9 &WT\ N +9 &R\ M +10 &U\ M +9 &U\ M +9 &aQ\ M +10 &!U\ N +9 &T\ N +10 &!S\ M +9 &#iR\ M +9 &%)U\ N +10 &&T\ M +9 &(U\ N +9 &*oU\ N +10 &,2V\ M +9 &-Q\ M +10 &/W\ M +9 &1yR\ M +9 &3:U \ M +10 &4TH\ M +9 &6Q?\ M +9 &8UA\ N +10 &:BTI\ M +9 &<U@\ M +10 &=XG\ M +9 &?TH\ N +9 &AIWM\ N +10 &C ]G\ N +9 &D`F\ N +9 &FkA\ P +10 &HGyA\ Q +9 &JA\ S +10 &KH\ T +9 &MB\ T +9 &OGJ\ T +10 &Q@\ T +9 &RD\ T +9 &TK\ U +10 &VMB\ T +9 &X>\ T +10 &YG\ U +9 &[N\ U +9 &]U?\ D +10 &^yBs6\ &o +9 &^%C\ + +5 ( +2 "processing"%U& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&1 +4 "core" &^?\ + +55 1 + "manipulator"&j% +5 "core" %   &  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +97 "core" ' +2 "processing"%<& +4 "core" &^4\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" %   , +2 "storage"(y% +4 "core" % $ " 8\  + "storage"(c. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(2(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (l& +2 "manipulator"&& +6 "core" &,y V & #\ + &   7 +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(R'r +2 "core" ( +3 "manipulator"&E& +4 "core" &  { 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &  ' 7 +3 .tForearm.seek PC + "manipulator"&]' +93 "core" ' + .tHand.close +2 "manipulator"&;/ +54 "core" / +3 .tPC.seek :open + "processing"%p( +98 "core" ' +2 "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +304 ( +2 "storage"(|& +3 "core" &,h G ) O\  +3 "manipulator"&~& +3 "core" &  7 +3 "manipulator"&% +4 "core" %  \  . +2 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&@( +245 "core" ( +2 "manipulator"&d& +4 "core" &   B + "storage"(N& +5 "core" &,h " # 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 .tHand.open + "manipulator"&`1 +56 "core" 1 +3 "storage"(O- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +35 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' +2 "storage"(L& +4 "core" &,h M N \  + "manipulator"&T& +5 "core" & \  B +2 .tElbow.seek 4 + "manipulator"&#( +53 "core" ( + "manipulator"&S& +5 "core" &   L B + "storage"( & +4 "core" &,h > > \  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +10 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&!& +4 "core" &   B +2 "storage"('& +4 "core" &,h * \\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&z'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +19 "core" ' +2 "manipulator"&% +3 "core" %D    +2 "storage"(I& +5 "core" &,h R\  I\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&^'p +16 "core" ' + "manipulator"&P& +4 "core" &   B +2 "storage"({& +4 "core" &,h ( ! O\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +16 "core" ' +2 "storage"(H% +3 "core" % % !\ +4 ."downElevator"SE.seek :down +3 "storage"(*' +98 (Q% +4 "core" %@N \  U\ Xg +2 "manipulator"&)% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X' +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (u& +3 "core" &,h $ ! R\  +2 "collection"'8& +5 "core" &\\a\ \ 7\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&$% +4 "core" %    +2 "storage"(b% +3 "core" % 7 B @\  +2 "storage"(=. +4 "core" .(,y + "storage"(o& +4 "core" &,h # & [\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(h(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" &,} % \ +2 "manipulator"& & +4 "core" &  B +2 .tElbow.seek 4 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&3& +4 "core" &   B +2 "storage"(7& +3 "core" &,} % # =\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +92 "core" ' + "storage"(%& +5 "core" &,} F E \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +296 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" &   B +2 "storage"(4& +4 "core" &,j " " @\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&Y'7 +23 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(r- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(9'i +29 "core" ' +2 "manipulator"&W% +4 "core" %3   +2 "storage"(& +4 "core" &,j " "\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 296 counts +2 "manipulator"&:'_ +14 "core" ' +2 "manipulator"&& +4 "core" &   B +2 "storage"(C& +3 "core" &,j  " \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(\\' +36 "core" ' + "manipulator"&& +45 "core" &  B +8 "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +150 "core" ( +3 "manipulator"&v& +3 "core" &ӎ$    =B +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &ӎ$   L =B +2 .tForearm.seek CC +2 "manipulator"&s'? +95 "core" ' +2 .tHand.close + "manipulator"&m/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(q& +3 "core" &,j 9 = M\  +3 "storage"(w& +4 "core" &,j B < {\  +2 "manipulator"&n& +4 "core" &Ӯ   8" + "manipulator"&-% +4 "core" % 9  : +3 .tForearm.seek :retract + "manipulator"&0' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&K( +163 "core" ( + "manipulator"&\ & +5 "core" &    + "storage"(Z& +4 "core" &,j i j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +94 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&A1 +60 "core" 1 +3 "manipulator"&i% +3 "core" % E   + C +3 "storage"(& +4 "core" &,j f h d\  + .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&F'q +14 "core" ' + "manipulator"&G& +5 "core" & 9  + "storage"(& +4 "core" &,j p l \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +16 "core" ' +2 "storage"(+% +4 "core" % }\ +3 ."downElevator"SE.seek :down +3 "storage"(/' +99 (% +3 "core" %E J R \ V_ +2 "manipulator"&,% +5 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'1& +3 "core" & H\ +3 "manipulator"&J% +3 "core" %  \  o  +2 "storage"(f% +5 "core" % \\ _ 1\  + "storage"(. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(j(  +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" & a ] L\ +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&y( +4 "core" ( +2 "manipulator"&c& +4 "core" &   c  + "storage"(U& +5 "core" & k j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +95 "core" ' +2 "storage"(l& +3 "core" & { \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +296 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & ; G l\  +3 "manipulator"&;& +3 "core" &   M  +3 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&(& +4 "core" &    +2 "storage"(& +4 "core" & i k \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&x'Ͻ +49 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +3 "storage"(|' +8 "core" & 2  +2 "manipulator"&~% +3 "core" % ϻ  +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&d& +3 "core" &ӑ#   <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +2 "core" &ӑ#   s <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 "manipulator"&`& +4 "core" &ӑ#  <= +2 "manipulator"&O% +4 "core" %I  ] +2 "collection"'V& +4 "core" & X\ +2 "collection"'L& +5 "core" & 5\ +3 .tCC.seek :closed + "collection"'T(\\ +4 "core" & \\\  +9 &6~ [\ +{ +10 &g} ^\ > +9 &k \ T\ L +9 &_T\  T\ K +10 &!R\  U\ K +9 &U\ W\ K +10 &T\ \ M\ J +9 &gS \ G\ K +9 &(T\ \ E\ K +10 &T\ \ M\ K +9 & T \ H\ J +9 &"oT\  O\ K +10 &$1R\ \ J\ K +9 &%T J\ K +10 &'S \ A\ K +9 &)wT\ \ D\ K +9 &+9R \ B\ K +10 &,U \ C\ K +9 &.W\ \ E\ K +9 &0T\ \ F\ J +10 &2AT\  E\ K +9 &4U\ \ D\ K +10 &5U \ D\ K +9 &7W B\ K +9 &9HU C\ K +10 &; T\ :\ K +9 &<W\ \ 5\ K +9 &>U\ 8\ K +10 &@QU\ \ 8\ K +9 &BV\ \ 8\ K +10 &C_\ \ 9\ L +9 &Eg\ \ 7\ M +9 &GOp\ \ \ =\ N +10 &I\ \ :\ R +9 &J\ \ ;\ V +9 &L|\ \ @\ W +10 &N<\ \ :\ X +9 &O\ \ 5\ X +10 &Q\ \ \ =\ X +9 &S}\ \ <\ Y +9 &U@\ \ 9\ Y +10 &V\ \ \ 7\ Z +9 &X\ \ 7\ [ +9 &Z\ \ 7\ [ +10 &\\%{\ \ 7\ / +9 &\\-\ \ 9\ [ +9 ( +3 "collection"'L& +3 "core" &\\`\ \ 7\ M +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"& 1 +55 "core" 1 +2 "manipulator"&S% +4 "core" % I   & ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%!& +4 "core" &\ +2 "manipulator"&'% +3 "core" %     +3 "storage"(% +4 "core" % "  #\  + "storage"(. +4 "core" .(  +2 "storage"(& +4 "core" & ) " \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(I(  +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (P& +2 "core" &  $ ! '\ +3 "manipulator"&{& +4 "core" &Ӭ   8" +2 "manipulator"&@% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&H( +164 "core" ( + "manipulator"& & +4 "core" &    +2 "storage"(& +4 "core" &  G G \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +106 "core" ' +2 "storage"()& +3 "core" &  B : \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & E H \  +2 "manipulator"&z& +5 "core" &   +2 .tElbow.seek 2 + "manipulator"&^( +4 "core" ( +2 "manipulator"&u& +4 "core" &    + "storage"(8& +3 "core" & G H \  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&$'Ͻ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&b/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +3 "storage"(M' +8 "core" &   + "manipulator"&o% +4 "core" % Ϲ , 7 +2 .tForearm.seek :retract +2 "manipulator"&B' +94 "core" ' +48 .tElbow.seek PC +4 "manipulator"& ( +105 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +153 "core" ( + "manipulator"&3& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &7& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t' +100 "core" ' + "manipulator"&%& +5 "core" &   T  +2 "manipulator"&*% +4 "core" %   +2 "processing"%2& +4 "core" & \ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%X(^ +5 "core" &\ +6 &A\ $e +9 &X{\ 8 +10 &u\ L +9 &R\ M +9 &T\ M +10 &DS\ M +9 &U\ M +9 &T\ M +10 &U\ M +9 &LV\ M +10 & U\ M +9 &!U\ M +9 &#X\ M +10 &%SU\ M +9 &'T\ M +9 &(W\ M +10 &*U\ M +9 &,[T\ M +10 &.Q\ M +9 &/U\ M +9 &1T\ M +10 &3cT\ M +9 &5%T"\ M +9 &6UI\ M +10 &8V"\ M +9 &:kU=\ M +10 &<.S*\ M +9 &=VD\ N +9 &?WJ\ N +10 &ArXF\ N +9 &C3aL\ N +9 &DfH\ O +10 &FjG\ P +9 &Hp{G\ Q +10 &J-M\ S +9 &KB\ S +9 &M?\ S +10 &OqK\ S +9 &Q1D\ T +9 &RJ\ T +10 &TN\ U +9 &VxA\ T +10 &X9J\ T +9 &YH\ U +9 &[@\ U +10 &]~G\ A +9 &^=>\ Z +9 &^2=\ 2 +6 ( + "processing"%& +4 "core" &^ ;\ 2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&[1 +56 "core" 1 +2 "manipulator"&e% +4 "core" %     +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +93 "core" ' +2 "processing"%r& +3 "core" &^ 4\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&W% +4 "core" %    +2 "storage"(% +3 "core" %   f\  +3 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(C(  +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& + "manipulator"&& +5 "core" &  $ " \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   <  +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(?'r + "manipulator"&}( +7 "core" ( + "manipulator"&D& +4 "core" & .  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&:' +92 "core" ' + .tHand.close +2 "manipulator"&9/ +61 "core" / +2 .tPC.seek :open +2 "processing"%v( +90 "core" ' +2 "storage"(6- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'1 +44 "core" ' +308 ( +2 "storage"(5& +3 "core" & $ # &\ +3 "manipulator"&m& +4 "core" &   + "manipulator"&% +5 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&q( +241 "core" ( + "manipulator"&w& +5 "core" &  \   + "storage"(n& +4 "core" & # " Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&-'S +93 "core" ' + .tHand.open +2 "manipulator"&\ 1 +58 "core" 1 +2 "storage"(Z- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(s' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(&' +56 "core" ' +50 #tLights, camera, ACTION! + "storage"(A- +3 "core" -' +2 "storage"(i& +4 "core" & a Y\ +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&G( +27 "core" ( + "manipulator"&& +4 "core" &   \ +2 "storage"(+& +3 "core" & Y c\ +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&0'S +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&,& +5 "core" &  + "storage"(K& +5 "core" & # " \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&1, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(F' +20 "core" ' +2 "manipulator"&J% +4 "core" %Ύ  +2 "storage"(f& +4 "core" & # " R\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 297 counts +2 "manipulator"&'Ϻ +14 "core" ' +2 "manipulator"&\\& +4 "core" &  ] +2 "storage"(g& +3 "core" &   X\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&/'S +15 "core" ' +2 "storage"(h% +4 "core" % ( " Q\ +2 ."downElevator"SE.seek :down +4 "storage"(<' +99 (% +3 "core" %^`\ \  E\ Yn +2 "manipulator"&c% +3 "core" %<  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (l& +3 "core" & $ " T\ +3 "collection"'_& +4 "core" &\\_\ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&"% +4 "core" %    +2 "storage"(>% +3 "core" % G H \  +3 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(;(  +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +3 "core" &  \  `\  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&a( +4 "core" ( + "manipulator"&R& +5 "core" &  \  + "storage"(~& +5 "core" &  H H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&y'S +94 "core" ' +2 "storage"(& +3 "core" &  H G 4\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'r +293 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" &    +3 "storage"(x& +4 "core" & 7 # ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&`'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('k +27 "core" ' + "manipulator"&|% +4 "core" %΍   +2 "storage"(& +4 "core" & ! 2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 296 counts +2 "manipulator"&'Ϲ +13 "core" ' +2 "manipulator"& & +3 "core" &   Y +2 "storage"(S& +5 "core" & H G \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&!'S +49 "core" ' +5 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"('' +35 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&% +3 "core" %B 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +159 "core" ( + "manipulator"&P& +5 "core" &ӓ"    ;7 + .tElbow.reconfigure :loose +8 "manipulator"&$ &.,(#b +3 &{& +2 "core" &ӓ"  e ;7 +3 .tForearm.seek CC +6 "manipulator"&@'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"' ( +448 "core" ( + "storage"(& +5 "core" & H R L\  + "storage"(j& +4 "core" & R H s\  +2 "manipulator"&)& +4 "core" &Ӻ   6 +2 "manipulator"&]% +4 "core" % =  K +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&#( +162 "core" ( + "manipulator"&& +3 "core" & o  +3 "storage"(z& +4 "core" & ^ f j\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&u'Α +98 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +60 "core" 1 +2 "manipulator"&=% +5 "core" % Ε   + "storage"(o& +4 "core" & _ \\ ^\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 304 counts + "manipulator"&H' +15 "core" ' + "manipulator"&Q& +4 "core" &  +2 "storage"(& +3 "core" & ^ \\ F\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&$'S +16 "core" ' + "storage"(3% +4 "core" %  o ^\ +3 ."downElevator"SE.seek :down +4 "storage"(7' +99 (^% +4 "core" %V / 6 N\ Xj +2 "manipulator"&%% +3 "core" %B \  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'2& +3 "core" & \ +2 "manipulator"&M% +5 "core" %    + "storage"(B% +4 "core" % _ l \  +2 "storage"(p. +3 "core" .(  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"([( +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (e& +2 "core" & B 6 B\  +3 "manipulator"&r& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&W( +15 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(& +4 "core" & l k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' + "storage"(& +5 "core" & l\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +310 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" & f ^ \  +2 "manipulator"&t& +4 "core" &  u  +2 .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( +3 "manipulator"&I& +49 "core" &  ?  +3 "storage"(6& +4 "core" & i h \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&4/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& +3 "storage"(?' +8 "core" & &  + "manipulator"&5% +5 "core" % ϣ  +2 .tForearm.seek :retract +2 "manipulator"&m' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&:& +4 "core" &y&  ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &w& +3 "core" &y&   ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&n'? +92 "core" ' +2 "manipulator"&}& +4 "core" &y&   ?V +2 "manipulator"&\ % +5 "core" %D  H + +2 "collection"'Z& +3 "core" & 5\ +3 "collection"'A& +5 "core" & \ Z\ +2 .tCC.seek :closed +2 "collection"'.(\\ +5 "core" & ^\ +7 &< ^\ %g +9 &Yu U\ 7 +9 &v\ \ R\ K +10 &S\ \ X\ J +9 &U\  H\ K +10 &HW P\ K +9 & T\  O\ K +9 &T\  F\ J +10 &T \ H\ K +9 &QT \ L\ K +9 & R\ G\ K +10 &!T \ H\ K +9 &#T\ E\ K +10 &%YT \ D\ K +9 &'S\ \ H\ J +9 &(T @\ K +10 &*R\ B\ K +9 &,aT\ G\ K +9 &.#R\ \ B\ K +10 &/T\  @\ K +9 &1U\ \ <\ J +10 &3hU C\ K +9 &5*U\  =\ K +9 &6U 4\ K +10 &8U\ \ 7\ K +9 &:rU\ \ 7\ J +9 &<2U \ 9\ K +10 &=T\ \ :\ K +9 &?U\ \ <\ J +10 &AwW\ \ 8\ L +9 &C:Y\ \ A\ K +9 &Da\ \ 9\ M +10 &Fh\ \ 7\ M +9 &Hs{\ \ \ C\ P +9 &J*\ \ @\ T +10 &K\ \ =\ V +9 &M\ \ ?\ X +10 &Od\ \ A\ X +9 &Q&\ \ \ A\ X +9 &R\ \ =\ X +10 &T\ \ \ ;\ Y +9 &Vf\ \ \ ?\ Z +9 &X&\ \ B\ Z +10 &Y\ \ \ ?\ \\ +9 &[\ \ ?\ H +9 &\\2\ \ \ =\ 0 +10 &\\c\ \ 8\ K +2 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&i1 +56 "core" 1 +2 "manipulator"&% +4 "core" % D   T + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%+& +3 "core" &\ +2 "manipulator"&,% +5 "core" % \   + "storage"(K% +4 "core" %  ( \  +2 "storage"(k. +3 "core" .( +2 "storage"(s& +3 "core" & % " \  +2 "storage"(J& +5 "core" & "  \  + "manipulator"&f& +4 "core" &Ө   @ 9' +2 "manipulator"&\\% +4 "core" %   +  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&g( +165 "core" ( + "manipulator"&h& +3 "core" & \ o  +3 "storage"(q& +3 "core" & H H \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&-'7 +91 "core" ' + "storage"(&& +4 "core" & G H \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (0& +2 "core" &  \  +2 "manipulator"&G& +5 "core" &    +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"(& +4 "core" & # " [\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&l'ϡ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&"& + "storage"(>' +8 "core" &   +2 "manipulator"&% +3 "core" % ϴ  S +3 .tForearm.seek :retract +2 "manipulator"&F' +96 "core" ' +2 .tElbow.seek PC +48 "manipulator"&(( +108 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +131 "core" ( + "manipulator"&& +5 "core" &  ' 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +2 "core" &   8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&~' +94 "core" ' + "manipulator"&/& +4 "core" &  8 +2 "manipulator"&% +5 "core" %   3 +2 "processing"%<& +3 "core" & \ +3 "processing"%C& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%1(^ +2 "core" &\ +8 &5\ #c +9 &U|\ 7 +9 &w\ K +10 &S\ M +9 &dT\ M +9 &&R\ M +10 &U\ M +9 &R\ M +10 &kT\ M +9 &,U\ N +9 &U\ M +10 &!Q\ M +9 &#sU\ M +9 &%5X\ M +10 &&U\ M +9 &(V\ N +10 &*{V\ M +9 &,<V\ N +9 &.T\ M +10 &/V\ M +9 &1T\ N +9 &3FU\ M +10 &5T\ M +9 &6U\ M +10 &8V\ M +9 &:NR*\ M +9 &<Y\ M +10 &=W/\ N +9 &?X?\ M +9 &ATZ?\ N +10 &C`G\ N +9 &DeM\ O +10 &FmJ\ P +9 &HNL\ R +9 &J N\ S +10 &KL\ S +9 &MF\ S +9 &ORO\ T +10 &QL\ T +9 &RN\ T +10 &TM\ U +9 &VYM\ T +9 &XJ\ T +10 &YG\ T +9 &[N\ T +9 &]_K\ B +10 &^FvM\ V +9 &^FG\ 6 +6 ( + "processing"%C& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&U1 +2 "core" &^*N\ 6 +56 1 +2 "manipulator"&N% +3 "core" %   ; 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +93 "core" ' +2 "processing"%x& +3 "core" &^*8\ 6 +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&V% +4 "core" %    # +2 "storage"(|% +4 "core" %\ \  \  +2 "storage"(. +3 "core" .( +2 "storage"( & +3 "core" &\ \  a\  +3 "storage"(S& +3 "manipulator"&& +7 "core" & P\  \  + &  & 8 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak + "storage"(y'r +2 "core" ( +3 "manipulator"&a& +4 "core" &   8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &  8 +2 .tForearm.seek PC +2 "manipulator"&`' +96 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' + "storage"(P- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'1 +40 "core" ' +315 ( +2 "storage"(!& +3 "core" &   t\  +2 "manipulator"&O& +4 "core" &   8 +2 "manipulator"&% +4 "core" %  ! +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&T( +266 "core" ( +2 "manipulator"&& +4 "core" &     +2 "storage"(j& +4 "core" & # #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&)'7 +90 "core" ' +2 .tHand.open + "manipulator"&]1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(z' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(@' +57 "core" ' +3 #tLights, camera, ACTION! + "storage"(L- +4 "core" -' +2 "storage"(b& +3 "core" & * * *\  +2 "manipulator"&=& +3 "core" &  $  +3 .tElbow.seek 3 +48 "manipulator"&o( +5 "core" ( +2 "manipulator"&Q& +3 "core" &     +3 "storage"(& +3 "core" & 5 5 \  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&3'7 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +52 "core" ' +2 "manipulator"&^& +3 "core" &   +3 "storage"(%& +4 "core" &   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&#'u +19 "core" ' +2 .tElbow.hold + "manipulator"&u, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(2' +19 "core" ' +2 "manipulator"&M% +3 "core" %{   +3 "storage"(H& +4 "core" &   K\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&B'ϧ +14 "core" ' +2 "manipulator"&p& +3 "core" &  G  +3 "storage"('& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&$'7 +15 "core" ' +2 "storage"(7% +3 "core" % # "\ +3 ."downElevator"SE.seek :down +4 "storage"(;' +98 (e% +3 "core" %jL J Y\ We +2 "manipulator"&r% +5 "core" %(   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & j i\  +2 "collection"'& +4 "core" &\\b\ \ >\ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&8% +3 "core" %    +3 "storage"(*% +3 "core" % " " 4\  +2 "storage"(D. +4 "core" .( +2 "storage"(Y& +4 "core" & 6 " a\  +2 "storage"(t& +4 "core" & ' > i\  +2 "manipulator"&I& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&4& +3 "core" &    +3 "storage"(X& +3 "core" & " " \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5'7 +92 "core" ' + "storage"(W& +4 "core" & E G \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +301 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" &    +3 "storage"(& +4 "core" & % p\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& 'u +19 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(\ - +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(Z'u +29 "core" ' +2 "manipulator"&9% +3 "core" %l  +2 "storage"(?& +4 "core" & # #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 291 counts +2 "manipulator"&m'Ϙ +14 "core" ' + "manipulator"& & +4 "core" &  \ R  +2 "storage"(i& +3 "core" & % /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(+' +41 "core" ' +2 "manipulator"&,& +4 "core" &   +2 "manipulator"&K% +3 "core" %#  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +42 "manipulator"&k' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +159 "core" ( +2 "manipulator"&A& +3 "core" &ӑ$   \ =C +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &ӑ$    =C +3 .tForearm.seek CC +2 "manipulator"&f'? +91 "core" ' + .tHand.close +2 "manipulator"&\\/ +55 "core" / +2 .tCC.seek :open +2 "collection"'n( +448 "core" ( + "storage"(h& +4 "core" & O F E\  +2 "storage"(q& +4 "core" & R H 7\  +2 "manipulator"&&& +3 "core" &Ӳ   " 8" +3 "manipulator"&% +4 "core" % H   F +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&c( +168 "core" ( + "manipulator"&0& +4 "core" &    ~ +2 "storage"(G& +3 "core" & j l \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +94 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&_1 +61 "core" 1 +2 "manipulator"&"% +5 "core" % ΄    + "storage"(& +4 "core" & j j \  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&g'ϰ +14 "core" ' + "manipulator"&-& +4 "core" & o ~ +2 "storage"(& +4 "core" & g _ (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&l'7 +14 "core" ' +2 "storage"(% +4 "core" % } q \ +2 ."downElevator"SE.seek :down +4 "storage"(R' +99 (% +3 "core" %C S H \ V_ +2 "manipulator"&/% +4 "core" %-  e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'<& +3 "core" & K\ +2 "manipulator"&>% +4 "core" %   V  +2 "storage"(F% +5 "core" % h e _\  + "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(U(,y +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &,v F F\  +2 "manipulator"&x& +4 "core" &  ~ +2 .tElbow.seek 4 +2 "manipulator"&V( +39 "core" ( +2 "manipulator"&|& +3 "core" &   7  +2 "storage"(& +4 "core" &,v j _ e\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +90 "core" ' +2 "storage"(C& +3 "core" &,v  | X\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(S- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" &,j = > \  +2 "manipulator"&d& +5 "core" &     +2 .tElbow.seek 4 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(P& +3 "core" &,j j _ \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&('c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +53 "core" / +2 ."downElevator"SE.seek :down +51 "manipulator"&1& +2 "storage"(y' +8 "core" & 0  +2 "manipulator"&!% +3 "core" % W \\ +3 .tForearm.seek :retract +2 "manipulator"&O' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&`& +3 "core" &Ӕ  a :1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӕ  :1 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'? +102 "core" ' +2 "manipulator"&& +4 "core" &ӕ!   :0 +2 "manipulator"&]% +3 "core" %9  +3 "collection"'& +3 "core" & 3\ +3 "collection"'L& +5 "core" & V\ +3 .tCC.seek :closed +2 "collection"'b(\\ +3 "core" & X\ +7 &B X\ $f +10 &Zy Z\ 7 +9 &v S\ K +9 &R T\ K +10 &S V\ K +9 &MT \ O\ K +9 &R O\ K +10 &T J\ K +9 &W D\ K +10 &VT @\ J +9 & T \ G\ K +9 &!W G\ K +10 &#T\ \ H\ J +9 &%]S\ G\ K +9 &'R\ \ G\ K +10 &(T \ H\ J +9 &*S G\ K +10 &,dW E\ K +9 &.(T\  F\ J +9 &/T\ \ C\ K +10 &1T D\ K +9 &3lU\ F\ K +9 &5/U C\ K +10 &6T\ F\ J +9 &8U\ H\ K +10 &:uU\ 8\ K +9 &<8U 8\ J +9 &=U \ D\ K +10 &?U\ F\ K +9 &A|S\ \ 8\ K +9 &C=\\\  8\ L +10 &Dd\ \ 8\ M +9 &Fh\ \ ;\ M +10 &Hu\ \ 4\ P +9 &J,\ \ ;\ T +9 &K\ \ 8\ W +10 &M\ \ 8\ X +9 &Oi\ \ 8\ W +9 &Q*\ \ 8\ W +10 &R\ \ 8\ X +9 &T\ \ 4\ Y +10 &Vi\ \ 6\ Z +9 &X)\ \ B\ [ +9 &Y\ \ 9\ [ +10 &[\ \ ;\ H +9 &\\.\ \ B\ 2 +9 &\\e\ \ :\ K +3 ( + "collection"'L& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&=1 +65 "core" 1 +2 "manipulator"&% +4 "core" % 9   3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&^% +4 "core" % \     +2 "storage"(%% +4 "core" % % # Y\  + "storage"({. +4 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(M(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &,y  G\ +2 "manipulator"&H& +4 "core" &ӫ   4 7 +2 "manipulator"&p% +4 "core" % \   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&'( +164 "core" ( +2 "manipulator"&7& +4 "core" &    +2 "storage"(T& +4 "core" &,y G F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +92 "core" ' + "storage"(@& +4 "core" &,y F H :\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +295 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (3& +3 "core" &,j ( " S\  +2 "manipulator"&o& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&#& +3 "core" &    +2 "storage"(B& +4 "core" &,j # % !\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& +2 "storage"(*' +8 "core" &   +2 "manipulator"&D% +4 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&2' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( + "manipulator"&t& +4 "core" &  )  +2 .tElbow.reconfigure :loose +49 "manipulator"&$ &.,(#b +5 &I& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&4' +100 "core" ' +2 "manipulator"&X& +4 "core" &    +2 "manipulator"&$% +4 "core" %  +2 "processing"%W& +3 "core" &\ +3 "processing"%;& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%u(^ +4 "core" &\  +9 &4{\ )w +9 &d~\ > +10 &{o\ N +9 &?T\ M +10 &T\ M +9 &T\ M +9 &U\ M +10 &GU\ M +9 & W\ M +9 &U\ M +10 & V\ M +9 &"OU\ M +10 &$V\ M +9 &%T\ M +9 &'U\ M +10 &)VU\ M +9 &+V\ M +9 &,W\ M +10 &.T\ M +9 &0^V\ M +10 &2 U\ M +9 &3T\ M +9 &5U\ M +10 &7gU\ M +9 &9)V\ M +9 &:W\ M +10 &<W\ M +9 &>mZ\ M +10 &@.X\ N +9 &AZ\ N +9 &Cb\ N +10 &Epj\ O +9 &G0p\ P +9 &H\ R +10 &J\ S +9 &Lm \ S +10 &N- \ S +9 &O\ T +9 &Q@\ T +10 &Sr\ T +9 &U38\ T +9 &VK\ T +10 &XM\ T +9 &ZyK\ T +10 &\\:L\ T +9 &]{sL\ 9 +9 &^(vM\ V +10 &^%M\ 2 +2 ( +2 "processing"%;& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"&:% +3 "core" %    @ +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' +2 "processing"%& +4 "core" &^ H\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&\ % +5 "core" %  e  +2 "storage"(9% +4 "core" %  & \  + "storage"(?. +3 "core" .(,y +2 "storage"( & +4 "core" &,j  " )\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(i(,y +12 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (,& +2 "manipulator"&K& +6 "core" &,z\  R ,\  + &  F  +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(5'r +2 "manipulator"&6( +7 "core" ( + "manipulator"&& +4 "core" &   ?  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&m' +96 "core" ' +2 .tHand.close + "manipulator"&Z/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +82 "core" ' +2 "storage"(A- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'1 +48 "core" ' +312 ( + "storage"(}& +4 "core" &,h  ) c\ +2 "manipulator"&\\& +4 "core" &    +2 "manipulator"&k% +4 "core" %     +2 .tForearm.seek :retract + "manipulator"&.' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&h( +246 "core" ( + "manipulator"&q& +5 "core" &    @ + "storage"(&& +4 "core" &,h % #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +91 "Can"\ QG +14 "core" ' + .tHand.open +2 "manipulator"&01 +55 "core" 1 +2 "storage"(G- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(f' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(s' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"("& +4 "core" &,h 7 3 ,\ +2 "manipulator"&& +3 "core" & \ 0 @ +3 .tElbow.seek 4 +50 "manipulator"&-( +3 "core" ( +2 "manipulator"&& +3 "core" &   @ +3 "storage"(& +4 "core" &,h N D \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +52 "core" ' +2 "manipulator"&/& +4 "core" &  @ +2 "storage"(c& +3 "core" &,h & N w\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&<, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(>' +27 "core" ' + "manipulator"&g% +4 "core" %7  +2 "storage"(F& +4 "core" &,h # $ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 300 counts + "manipulator"&v'c +15 "core" ' + "manipulator"&+& +4 "core" &   @ +2 "storage"(l& +4 "core" &,h )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&R' +16 "core" ' + "storage"([% +4 "core" % ' < H\ +3 ."downElevator"SE.seek :down +4 "storage"(N' +99 (x% +3 "core" %gO\ &\ ) \\\ Xf +3 "manipulator"&|% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" &,h # ! \ +3 "collection"'& +4 "core" &\\b\ \ ;\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %    +2 "storage"(S% +3 "core" % H H f\  +2 "storage"(a. +3 "core" .(,y +2 "storage"(d& +4 "core" &,h ) D \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +51 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (P& +2 "core" &,}  u\ +3 "manipulator"&E& +4 "core" &   @ +2 .tElbow.seek 4 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&!& +3 "core" &   @ +2 "storage"(V& +5 "core" &,} E ? 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +96 "core" ' +2 "storage"(`& +4 "core" &,} G G 5\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" &  @ +3 "storage"(& +4 "core" &,j $ " \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&]'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(y'i +29 "core" ' +2 "manipulator"&O% +4 "core" %- 5  +2 "storage"(n& +4 "core" &,j " # \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 290 counts + "manipulator"&='Y +16 "core" ' +2 "manipulator"&& +4 "core" & T @ +2 "storage"(& +3 "core" &,j   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(%' +35 "core" ' +42 "manipulator"&L& +11 "core" &    @ +2 "manipulator"&{% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +157 "core" ( +3 "manipulator"&p& +4 "core" &Ӑ   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &Ӑ   a 7 +2 .tForearm.seek CC +2 "manipulator"&7'? +97 "core" ' + .tHand.close +2 "manipulator"&T/ +61 "core" / +2 .tCC.seek :open +2 "collection"'U( +448 "core" ( + "storage"(@& +3 "core" &,j O D \  +3 "storage"(& +4 "core" &,j R R +\  + "manipulator"&Q& +4 "core" &ӟ   ' 5\ +2 "manipulator"&r% +4 "core" % I \ \  +2 .tForearm.seek :retract +2 "manipulator"&3' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&o( +160 "core" ( +2 "manipulator"&#& +4 "core" &   v  + "storage"(B& +5 "core" &,j l l \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'7 +97 "core" ' +2 .tElbow.hold + "manipulator"&8, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&D1 +59 "core" 1 +2 "manipulator"&'% +4 "core" % F    +2 "storage"()& +4 "core" &,j g h \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 315 counts + "manipulator"&e'r +14 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(t& +4 "core" &,j f ^ G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +15 "core" ' +2 "storage"(I% +4 "core" % }  c\ +2 ."downElevator"SE.seek :down +4 "storage"(X' +99 ($% +3 "core" %D H G \ V` +2 "manipulator"&W% +3 "core" % \ i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'2& +3 "core" & G\ +2 "manipulator"&% +5 "core" %   [  + "storage"(% +5 "core" % [ \\ \  + "storage"(:. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" &  = T \ +2 "manipulator"&9& +4 "core" &  D  +2 .tElbow.seek 2 + "manipulator"&?( +4 "core" ( +2 "manipulator"& & +4 "core" &   ~  +2 "storage"(;& +4 "core" &  i j u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&,'S +98 "core" ' +2 "storage"(K& +3 "core" &  f ] |\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" & 8 9 v\ +2 "manipulator"&Z& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&M( +4 "core" ( +2 "manipulator"&A& +3 "core" &  g  +3 "storage"(Y& +4 "core" & \\ \\\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&w'Ͻ +61 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&u/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&5& +3 "storage"(}' +6 "core" & w  +3 "manipulator"&\\% +4 "core" % ϳ  +3 .tForearm.seek :retract +2 "manipulator"&k' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&q& +3 "core" &ӌ%  G >J +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &ӌ%   J >J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&6'? +94 "core" ' + "manipulator"&0& +4 "core" &Ӎ%   @ >I +2 "manipulator"&G% +5 "core" %=   F +2 "collection"'_& +3 "core" & 7\ +4 "collection"'"& +4 "core" & /\ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & [\  +9 &5x `\ *z +9 &g{\ a\ > +10 &k \ `\ L +9 &aO\ \ ^\ K +10 &#T\ `\ K +9 &S\ \ `\ K +9 &T U\ K +10 &jS Q\ J +9 &*U \ Z\ K +9 &T \ K\ K +10 & W \ F\ K +9 &"qT\ \ D\ K +10 &$2V \ L\ K +9 &%U\ M\ K +9 &'S\ \ H\ K +10 &)yT\ \ N\ K +9 &+;R H\ K +9 &,T J\ K +10 &.Q\ F\ K +9 &0T\ \ F\ K +10 &2CT E\ K +9 &4U M\ J +9 &5U \ C\ K +10 &7U\ \ E\ K +9 &9JU C\ K +9 &; T \ C\ K +10 &<T \ A\ K +9 &>X @\ K +10 &@RU\ \ /\ K +9 &BY\ \ 3\ K +9 &C_\ \ D\ L +10 &Eg\ \ :\ M +9 &GPo\ \ 6\ O +9 &I\ \ @\ S +10 &J\ \ :\ V +9 &L}\ \ \ 9\ W +9 &N=\ \ \ 7\ X +10 &O\ \ \ >\ X +9 &Q\ \ 8\ X +10 &S\ \ >\ Y +9 &UA\ \ \ <\ Y +9 &W\ \ A\ Z +10 &X\ \ \ >\ [ +9 &Z\ \ C\ \\ +9 &\\'z\ \ \ ?\ / +10 &\\+\ \ \ 9\ [ +9 ( + &\\o\ \ @\ N +3 "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&.1 +52 "core" 1 +2 "manipulator"&% +3 "core" % =   A F +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%/& +4 "core" &\ +2 "manipulator"&c% +4 "core" %    +2 "storage"(J% +3 "core" % " # l\  +2 "storage"(f. +4 "core" .(  + "storage"(g& +5 "core" & " " \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(F(  +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &    \ +2 "manipulator"&l& +5 "core" &Ӯ   9( + "manipulator"&[% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&h( +163 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"(s& +4 "core" &  # " I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&x'S +93 "core" ' +2 "storage"(|& +3 "core" &  F E \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & M ^\ \ +3 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&v( +5 "core" ( + "manipulator"&C& +4 "core" &   +2 "storage"(& +4 "core" & % T\ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& +2 "storage"(>' +6 "core" &   +3 "manipulator"&d% +4 "core" % ϸ  +2 .tForearm.seek :retract +2 "manipulator"&P' +137 "core" ' +5 .tElbow.seek PC +2 "manipulator"&E( +113 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +123 "core" ( +2 "manipulator"&!& +4 "core" &   # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &  # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&R' +110 "core" ' +2 "manipulator"&`& +4 "core" &   # +2 "manipulator"&N% +4 "core" %   +2 "processing"%i& +4 "core" &\ +2 "processing"%<& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +6 &4\ $d +10 &Wy\ 7 +9 &y\ L +9 &O\ M +10 &rU\ M +9 &5R\ L +10 &V\ M +9 &P\ M +9 &yT\ M +10 &:U\ M +9 &V\ M +9 &!S\ M +10 &#U\ M +9 &%BU\ M +10 &'U\ M +9 &(U\ M +9 &*U\ M +10 &,JU\ M +9 &. Q\ M +9 &/U\ M +10 &1T\ M +9 &3ST\ M +9 &5T\ M +10 &6T\ M +9 &8U\ M +10 &:ZU\ M +9 &<X\ M +9 &=V\ M +10 &?U\ M +9 &AaW\ N +10 &C!_\ N +9 &D`!\ O +9 &Fh\ P +10 &H_w"\ Q +9 &J\ S +9 &K<\ T +10 &MN\ T +9 &O^\ T +10 &QG\ T +9 &RM\ T +9 &TK\ U +10 &VeL\ T +9 &X%M\ U +9 &YN\ U +10 &[G\ T +9 &]kL\ B +10 &^@rN\ ^ +9 &^;M\ 2 +5 ( +2 "processing"%<& +4 "core" &^ H\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&(% +3 "core" %  \ [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%~& +3 "core" &^ 9\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&O% +4 "core" %   U  +2 "storage"(n% +3 "core" %\ \  v\  +3 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (L& + "manipulator"&{& +6 "core" &  \  C\ +2 &   # +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +3 "storage"( 'r +2 "manipulator"&1( +6 "core" ( + "manipulator"&& +4 "core" &  ) # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &   # +3 .tForearm.seek PC +2 "manipulator"&=' +94 "core" ' +2 .tHand.close + "manipulator"&y/ +57 "core" / +3 .tPC.seek :open + "processing"%p( +92 "core" ' +2 "storage"(j- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'1 +46 "core" ' +308 ( +2 "storage"(& +4 "core" & # " \  +2 "manipulator"&T& +4 "core" &  # +2 "manipulator"&z% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&b' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&@( +246 "core" ( +2 "manipulator"&& +4 "core" &   < +2 "storage"(Q& +3 "core" & # " =\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'S +91 "core" ' +2 .tHand.open + "manipulator" +60 "core" 1 +2 "storage"(B- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(H' +56 "core" ' +10 #tLights, camera, ACTION! + "storage"(D- +3 "core" -' +2 "storage"('& +5 "core" & 6 4 \  + "manipulator"&)& +5 "core" &    ; +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&t& +3 "core" &   ; +2 "storage"(I& +5 "core" & F 7 9\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'S +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"($'" +51 "core" ' + "manipulator"&W& +4 "core" &   ; +2 "storage"(o& +4 "core" &  & u\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&'Α +20 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' + "manipulator"&e% +5 "core" %Ξ    + "storage"(& +4 "core" & N d\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&:' +15 "core" ' + "manipulator"&%& +4 "core" &    ; +2 "storage"( & +5 "core" & # # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&X'S +16 "core" ' +2 "storage"(% +3 "core" % # %\ +3 ."downElevator"SE.seek :down +4 "storage"(\ ' +98 (9% +3 "core" %3_\  \ Yl +2 "manipulator"& % +5 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (K& +3 "core" & I V\  +2 "collection"'8& +5 "core" &\\o\ \ \ N + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&*% +4 "core" %    +2 "storage"( % +4 "core" %   5\  + "storage"(4. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(Z(  +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (A& +2 "core" &   D\ +3 "manipulator"&Y& +8 "core" &  ; +3 .tElbow.seek 2 + "manipulator"&u( +4 "core" ( +6 "manipulator"&5& +5 "core" &  ! ; +2 "storage"(\\& +4 "core" &   ( \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&?'S +94 "core" ' +2 "storage"(,& +4 "core" &  ) H x\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +296 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   ; +3 "storage"(w& +4 "core" & I \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&0'Α +19 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(M'j +31 "core" ' +2 "manipulator"&}% +4 "core" %Ί  +2 "storage"(k& +4 "core" &  ! 9\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 293 counts + "manipulator"&U'϶ +14 "core" ' + "manipulator"&.& +4 "core" &   ; +2 "storage"(& +3 "core" & (  '\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&/'S +56 "core" ' +10 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(c' +36 "core" ' + "manipulator"&J& +4 "core" &   ; +2 "manipulator"&f% +4 "core" %F  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +155 "core" ( +2 "manipulator"&+& +3 "core" &ӎ   2 8! +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &ӎ   t 8! +2 .tForearm.seek CC +2 "manipulator"&['? +94 "core" ' +2 .tHand.close + "manipulator"&6/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(s& +4 "core" & H G )\  +2 "storage"(& +3 "core" & E G \  +2 "manipulator"&|& +4 "core" &ӝ  6 +2 "manipulator"&m% +4 "core" % O    +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&-( +163 "core" ( +2 "manipulator"&& +4 "core" &   @  + "storage"(& +5 "core" & i i \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&C'Α +94 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +59 "core" 1 +2 "manipulator"&a% +4 "core" % ΍   +2 "storage"(d& +4 "core" & \\ \\\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 296 counts +2 "manipulator"&h'Ϲ +23 "core" ' + "manipulator"&x& +4 "core" &   +2 "storage"(& +4 "core" & l k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +17 "core" ' +2 "storage"(!% +3 "core" % j k \ +3 ."downElevator"SE.seek :down +4 "storage"(V' +98 (v% +3 "core" %}M " " ,\ Wh +2 "manipulator"&`% +5 "core" %\\ 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +96 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'i& +3 "core" & \ +2 "manipulator"&>% +3 "core" %   \ h +3 "storage"(P% +3 "core" %   \  +3 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +3 "core" & Q I \  +2 "manipulator"&~& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&O( +33 "core" ( + "manipulator"&n& +5 "core" &  ( ; + "storage"(& +5 "core" & \\ ^ '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&<'7 +95 "core" ' +2 "storage"(L& +4 "core" & i p B\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]& +2 "core" & G E X\  +3 "manipulator"&R& +4 "core" &  ; +2 .tElbow.seek 3 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&F& +50 "core" &  ; +3 "storage"(j& +4 "core" & i f \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&E'ϡ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"( ' +8 "core" & c ; + "manipulator"&% +5 "core" % Ϧ  +2 .tForearm.seek :retract +2 "manipulator"&T' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +151 "core" ( + "manipulator"&=& +5 "core" ' + &Ӊ(   ` @[ + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 +2 "manipulator"&$ &.,(#b +5 && +3 "core" &Ӊ' \  @[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'? +94 "core" ' +2 "manipulator"&1& +4 "core" &ӊ(    @Z +2 "manipulator"&#% +3 "core" %>  2 7 +3 "collection"'B& +3 "core" & [\ +3 "collection"'D& +5 "core" & V\ +3 .tCC.seek :closed +2 "collection"''(\\ +5 "core" &\  U\ +7 &< a\ $e +9 &Yw `\ 7 +9 &v \ `\ K +10 &Q _\ J +9 &T\ \\\ K +10 &HT \\\ J +9 & U X\ K +9 &T\ \ R\ J +10 &T\ V\ K +9 &NW P\ K +9 & S\ \ U\ J +10 &!S \ G\ K +9 &#X \ G\ K +10 &%XT\ \ H\ J +9 &'T\ \ E\ K +9 &(R N\ K +10 &*T\  O\ K +9 &,_W \ I\ K +10 &.!R\ \ F\ K +9 &/S\ \ J\ J +9 &1U \ I\ K +10 &3hU\ \ H\ J +9 &5(U\ \ G\ K +9 &6U \ C\ K +10 &8T\ \ G\ K +9 &:oS\ \ F\ K +9 &<1T D\ K +10 &=R \ E\ K +9 &?T \ E\ K +10 &AwV\ \ A\ K +9 &C8Y\ \ A\ K +10 &D`\ \ C\ L +9 &Fi\ \ F\ M +9 &Hq{\ \ \ B\ P +9 &J(\ \ @\ T +10 &K\ \ C\ W +9 &M\ \ E\ X +10 &Oc\ \ A\ W +9 &Q#\ \ A\ X +9 &R\ \ @\ Y +10 &T\ \ \ 4\ Y +9 &Vd\ \ *\ Z +10 &X$\ \ :\ Z +9 &Y\ \ 3\ [ +9 &[\ \ 6\ I +10 &\\.\ \ 7\ 7 +9 &\\d\ \ 3\ H +5 ( +2 "collection"'D& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&)1 +3 "core" &\\^\ \ ?\ H +60 1 +3 "manipulator"&t% +4 "core" % >    7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%b& +3 "core" &\ +2 "manipulator"&W% +4 "core" %    w  +2 "storage"(o% +4 "core" %   o\  +2 "storage"(e. +3 "core" .( +2 "storage"(^& +4 "core" &   @\  +2 "storage"(& +4 "core" & $ q\  +2 "manipulator"&%& +4 "core" &Ӭ"  _ ;8 + "manipulator"&7% +5 "core" %   L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +165 "core" ( +2 "manipulator"&& +3 "core" &   5  +2 "storage"(@& +5 "core" & G G \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&r'7 +90 "core" ' +2 "storage"(H& +4 "core" & B > \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(9'r +367 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" & + # \  +2 "manipulator"&& +5 "core" &   + .tElbow.seek 3 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&& +4 "core" & \  1  +2 "storage"(:& +3 "core" &  o\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&K'ϡ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&8/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"( ' +8 "core" &  +2 "manipulator"&4% +4 "core" % ϛ +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +48 .tElbow.seek PC +4 "manipulator"&A( +117 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +119 "core" ( +2 "manipulator"&Y& +4 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &  0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +102 "core" ' + "manipulator"&X& +5 "core" &   0 +2 "manipulator"&,% +4 "core" %  +2 "processing"%\ & +4 "core" & \ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%2(^ +4 "core" &\ +6 &\ 7 +9 &?Ju\ 0 +9 &ms}\ D +10 &^\ N +9 &T\ N +9 &S\ M +10 &VT\ N +9 &R\ M +10 &U\ M +9 &U\ N +9 &_U\ M +10 &!!R\ M +9 &"R\ M +9 &$X\ M +10 &&fT\ N +9 &()T\ M +10 &)R\ M +9 &+R\ M +9 &-oR\ M +10 &/1W\ M +9 &0U\ M +9 &2U\ M +10 &4wT\ M +9 &6:W\ M +10 &7U\ M +9 &9W\ M +9 &;W\ M +10 &=AT\ M +9 &?U\ M +9 &@T\ M +10 &B]\ N +9 &DDb\ O +10 &Fm\ P +9 &G|\ Q +9 &I|\ T +10 &K?\ S +9 &M\ T +10 &N\ T +9 &P\ U +9 &RD\ T +10 &T\ U +9 &U\ T +9 &W\ U +10 &YK\ U +9 &[\ T +9 &\\\ U +10 &^Ce\ (z +9 &^p\ ; +9 ( +3 "processing"%& +2 "core" &^ 8\ 3 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&;1 +53 "core" 1 +2 "manipulator"&&% +4 "core" %   O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 "processing"%w& +4 "core" &^!?\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&_% +4 "core" %    y  +2 "storage"(}% +4 "core" % " j\  +2 "storage"(k. +3 "core" .( +2 "storage"(.& +3 "core" & " # '\  +3 "storage"(& +3 "manipulator"&J& +5 "core" & " " \  +2 &   n 0 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +3 "manipulator"&f( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(?'r +2 "core" ( +3 "manipulator"&u& +3 "core" &   0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &  0 +3 .tForearm.seek PC +2 "manipulator"&0' +95 "core" ' +2 .tHand.close + "manipulator"&U/ +63 "core" / +2 .tPC.seek :open +2 "processing"%M( +85 "core" ' +2 "storage"(+- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'1 +38 "core" ' +321 ( +2 "storage"(/& +3 "core" &   \  +3 "manipulator"&G& +4 "core" &  / + "manipulator"&6% +4 "core" %   " +2 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&s& +3 "core" &   X +3 "storage"(& +4 "core" & ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&|'7 +103 "core" ' + .tHand.open +2 "manipulator"&m1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"([' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(S& +4 "core" & * ( F\  +2 "manipulator"&a& +3 "core" &   X +50 .tElbow.seek 3 +3 "manipulator"&d( +3 "core" ( +2 "manipulator"&x& +4 "core" &   9 X +2 "storage"(& +3 "core" & ' ' +\  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&!'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' +2 "manipulator"&v& +3 "core" &  X +3 "storage"(`& +4 "core" & # " V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&-'u +30 "core" ' +2 .tElbow.hold + "manipulator"&C, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +19 "core" ' +2 "manipulator"&>% +3 "core" %}   p +2 "storage"(h& +5 "core" &\ &\  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&P'ϩ +13 "core" ' +2 "manipulator"&& +4 "core" &   X +2 "storage"(c& +3 "core" & !  <\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' +2 "storage"(V% +4 "core" % " " .\ +3 ."downElevator"SE.seek :down +3 "storage"(Z' +99 ((% +3 "core" %QL I ]\ We +2 "manipulator"&~% +3 "core" %.  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & 7  \  +3 "collection"'L& +4 "core" &\\^\ \ ;\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +5 "core" %    + "storage"(N% +5 "core" % G E C\  + "storage"(. +3 "core" .( +2 "storage"(]& +4 "core" &   z\  +2 "storage"(R& +3 "core" & F @ n\  +2 "manipulator"&F& +4 "core" &    W +2 .tElbow.seek 3 +2 "manipulator"&j( +4 "core" ( + "manipulator"&& +5 "core" &  W + "storage"(& +4 "core" & F E \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +90 "core" ' +2 "storage"(O& +3 "core" & G F \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(<'r +296 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & \  W +2 "storage"({& +3 "core" & % " \\\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&E'u +21 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(B'u +30 "core" ' + "manipulator"&y% +5 "core" %΃   + "storage"( & +4 "core" & " \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts + "manipulator"&T'ϯ +13 "core" ' +2 "manipulator"&& +3 "core" &    W +3 "storage"()& +3 "core" &  ! W\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t'7 +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(b' +36 "core" ' + "manipulator"&W& +3 "core" &  W +3 "manipulator"&o% +3 "core" %/  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +4 "manipulator"&e' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&D(ӂ +151 "core" ( +2 "manipulator"&^& +5 "core" &Ӑ$   =F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӑ$  =F +3 .tForearm.seek CC +2 "manipulator"&%'? +98 "core" ' +2 .tHand.close + "manipulator"&7/ +56 "core" / +2 .tCC.seek :open +2 "collection"'Q( +451 "core" ( +2 "storage"(& +4 "core" & G H k\  +2 "storage"(@& +3 "core" & H G \  +2 "manipulator"&H& +5 "core" &Ӭ - :* + "manipulator"&z% +4 "core" % A  +3 .tForearm.seek :retract + "manipulator"&I' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +163 "core" ( +2 "manipulator"&3& +3 "core" &     +3 "storage"(& +4 "core" & k i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +98 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&81 +57 "core" 1 +2 "manipulator"&*% +4 "core" % ΀   +2 "storage"(4& +4 "core" & i h u\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 311 counts +2 "manipulator"& 'Ϭ +13 "core" ' +2 "manipulator"&r& +3 "core" & ;  +2 "storage"(9& +5 "core" & l k f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&K'7 +15 "core" ' +2 "storage"(Y% +3 "core" % [ Z\ +4 ."downElevator"SE.seek :down +3 "storage"(5' +99 ($% +3 "core" %F E E \ Va +2 "manipulator"&X% +5 "core" %1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +97 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'\ & +3 "core" & G\ +2 "manipulator"& % +5 "core" %  Q + "storage"(% +5 "core" % i s\  + "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(;(,y +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +3 "core" &,w ; D ~\  +2 "manipulator"&w& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&_( +30 "core" ( +2 "manipulator"&}& +3 "core" & Y  +3 "storage"(k& +4 "core" &,w v m \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +89 "core" ' + "storage"(J& +3 "core" &,w p | \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(- +4 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &,j < : \  +2 "manipulator"&q& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&\\( +15 "core" ( + "manipulator"&U& +4 "core" &     +2 "storage"(+& +4 "core" &,j i g T\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&A'c +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +50 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"(?' +6 "core" &   +3 "manipulator"&/% +3 "core" % [ +3 .tForearm.seek :retract +2 "manipulator"&G' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6(ӂ +156 "core" ' + ( + ."downElevator"SE.stop +3 "manipulator"&0& +2 "storage"(5 +7 "core" &Ӟ  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &Ӟ  5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +3 "manipulator"&f& +3 "core" &Ӟ   5 +3 "manipulator"&m% +5 "core" %E \ &  +2 "collection"'& +3 "core" & @\ +3 "collection"'"& +6 "core" & `\ +2 .tCC.seek :closed +8 "collection"'S(\\ +2 "core" & V\ +3 & U\  +12 &5x\ S\ *z +6 & g{ Y\ > +9 &k U\ L +10 &^T V\ K +9 &W\  X\ K +9 &T _\ K +10 &V\ U\ K +9 &fQ\ S\ K +10 &)U\ T\ J +9 &T Y\ K +9 & W U\ K +10 &"nR Q\ K +9 &$0S I\ K +9 &%X\ M\ K +10 &'T\ P\ K +9 &)wT \ L\ J +10 &+8T\  D\ K +9 &,W\ \ B\ K +9 &.R F\ K +10 &0}S M\ K +9 &2@T\ \ I\ K +9 &4X H\ K +10 &5U\  H\ K +9 &7S \ H\ K +10 &9HV\ Q\ K +9 &;\ R \\\ K +9 &<T V\ K +10 &>Y\  N\ K +9 &@QU \ R\ J +10 &BV\  K\ K +9 &C]\ \ U\ L +9 &Ec\ \ J\ M +10 &GOp\ \ G\ N +9 &I\ \ U\ Q +9 &J\ \ E\ V +10 &L{\ \ J\ W +9 &N:\ \ P\ X +9 &O\ \ R\ X +10 &Q\ \ V\ X +9 &S~\ \ N\ Y +10 &U=\ \ F\ Z +9 &V\ \ ;\ [ +9 &X\ \ M\ [\ +10 &Z~\ \ G\ [ +9 &\\"z\ \ J\ / +9 &\\-\ \ B\ a +10 ( + &\\c\ \ @\ N +2 "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&a1 +56 "core" 1 + "manipulator"&g% +5 "core" % E   +  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" & \ +2 "manipulator"&v% +5 "core" % \   + "storage"(`% +5 "core" % "  \  + "storage"(l. +3 "core" .(,v +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +40 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (>& +3 "core" &,|\  \ +2 "manipulator"&h& +5 "core" &ӟ   4 + "manipulator"&% +4 "core" % \    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&c( +160 "core" ( + "manipulator"&V& +5 "core" &    + "storage"(& +4 "core" &,| F G \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&|' +97 "core" ' +2 "storage"([& +4 "core" &,| G G \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('r +295 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &,j H % o\  +2 "manipulator"&d& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&-& +4 "core" &    +2 "storage"(P& +4 "core" &,j # # K\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(N' +8 "core" &   +2 "manipulator"&% +3 "core" % f   +3 .tForearm.seek :retract + "manipulator"&i' +98 "core" ' +3 .tElbow.seek PC +2 "manipulator"&]( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&R& +4 "core" &  \  + +48 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &F& +3 "core" & + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&& +4 "core" &   + +2 "manipulator"&% +4 "core" %   +2 "processing"%O& +4 "core" &\ +2 "processing"%Z& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%C(^ +4 "core" &\  +9 &5y\ *x +9 &e{\ > +10 &~o\ N +9 &BP\ M +9 &U\ M +10 &T\ M +9 &Q\ M +9 &IR\ M +10 &\ U\ N +9 &U\ M +10 & S\ M +9 &"RQ\ M +9 &$V\ N +10 &%T\ M +9 &'Q\ M +9 &)XU\ N +10 &+U\ M +9 &,W\ M +10 &.T\ M +9 &0aR\ M +9 &2#T\ M +10 &3T\ N +9 &5T\ M +9 &7jT\ M +10 &9*W\ N +9 &:W\ M +10 &<S\ M +9 &>qZ\ M +9 &@3T\ M +10 &AX\ M +9 &Ca\ O +9 &Eth\ O +10 &G3n\ P +9 &H\ R +10 &J\ S +9 &Lp\ S +9 &N.\ T +10 &O\ T +9 &Q\ U +9 &Su\ T +10 &U6\ T +9 &V\ T +10 &X\ T +9 &Z{\ U +9 &\\=\ U +10 &]{r\ 8 +9 &^1\ G +9 &^+\ , +3 ( + "processing"%Z& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&n1 +53 "core" 1 +2 "manipulator"&=% +4 "core" %     +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + "processing"%{& +4 "core" &^C\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&#% +3 "core" %   /  +3 "storage"(y% +3 "core" % # " :\  +2 "storage"( . +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "manipulator"&W& +5 "core" &,}\ '\ :\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  L * +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(o'r + "manipulator"&( +8 "core" ( +2 "manipulator"&j& +4 "core" &  N * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" & x * +3 .tForearm.seek PC +2 "manipulator"&E' +93 "core" ' + .tHand.close +2 "manipulator"&T/ +58 "core" / +2 .tPC.seek :open +2 "processing"%B( +88 "core" ' +2 "storage"(^- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +55 "core" ' +299 ( +2 "storage"(t& +4 "core" &,h % # *\  + "manipulator"&1& +4 "core" &  * +2 "manipulator"&7% +4 "core" %  * +2 .tForearm.seek :retract +2 "manipulator"&e' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&'( +244 "core" ( +2 "manipulator"&& +4 "core" &   4 + "storage"(@& +4 "core" &,h   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&H' +97 "core" ' +2 .tHand.open + "manipulator"&z1 +64 "core" 1 +2 "storage"(3- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(%' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(D- +3 "core" -' +2 "storage"(8& +4 "core" &,h D C \  +2 "manipulator"&*& +4 "core" &  9 4 +2 .tElbow.seek 4 +2 "manipulator"&4( +44 "core" ( +9 "manipulator"&r& +3 "core" &   4 +3 "storage"(9& +4 "core" &,h ? E \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +12 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(I'" +52 "core" ' + "manipulator"&$& +4 "core" &  4 +2 "storage"(X& +4 "core" &,h\  R Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& '7 +20 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\ ' +27 "core" ' +2 "manipulator"& % +4 "core" %F  +2 "storage"( & +3 "core" &,h # # >\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&'r +13 "core" ' + "manipulator"&p& +5 "core" &    4 + "storage"(b& +5 "core" &,h   ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +15 "core" ' +2 "storage"(5% +3 "core" %  " !\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (&% +4 "core" %cL\ *\ * o\ Xf +2 "manipulator"&w% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (k& +4 "core" &,h ) $ X\  +2 "collection"'J& +4 "core" &\\d\ \ @\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&:% +5 "core" %    + "storage"(,% +4 "core" % " " m\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(u(,y +35 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &,y U \ +2 "manipulator"&U& +3 "core" &   4 +3 .tElbow.seek 4 +2 "manipulator"&+( +4 "core" ( + "manipulator"&& +4 "core" &   4 +2 "storage"(2& +3 "core" &,y  ! \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&/' +92 "core" ' + "storage"(_& +4 "core" &,y G G \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'r +297 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &   4 +2 "storage"(& +3 "core" &,j   [\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&A'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(\\'i +30 "core" ' +2 "manipulator"&% +3 "core" %7   +2 "storage"(?& +3 "core" &,j " " 3\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&G'c +14 "core" ' + "manipulator"&Q& +4 "core" &   4 +2 "storage"(a& +3 "core" &,j   \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&v& +4 "core" & 4 + "manipulator"&`% +49 "core" %  +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +147 "core" ( +3 "manipulator"&>& +3 "core" &Ӂ&   < ?Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &h& +2 "core" &Ӂ&   ?Q +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'V( +448 "core" ( + "storage"(& +4 "core" &,j O E T\ +2 "storage"(;& +3 "core" &,j R H <\ +3 "manipulator"&[& +4 "core" &ӹ   F 7 +2 "manipulator"&6% +4 "core" % E  +2 .tForearm.seek :retract +2 "manipulator"&x' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&~( +163 "core" ( +2 "manipulator"&!& +3 "core" &   J  +2 "storage"(d& +4 "core" &,j k j \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&-'7 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&L1 +62 "core" 1 +2 "manipulator"&% +5 "core" % 4    + "storage"(& +4 "core" &,j k i \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 297 counts + "manipulator"&c'` +15 "core" ' +2 "manipulator"&|& +3 "core" & %  +2 "storage"((& +5 "core" &,j p m \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(R% +3 "core" % l ^ J\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (F% +3 "core" %C G H \ V_ +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'O& +3 "core" & .\ +2 "manipulator"&N% +4 "core" %    +2 "storage"(i% +5 "core" % k k \  + "storage"(M. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(n(  +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &  D G\ +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&#( +2 "core" ( +2 "manipulator"&y& +4 "core" &   s  +2 "storage"( & +4 "core" &  i i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'S +94 "core" ' +2 "storage"()& +4 "core" &   o \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'r +293 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (<& +2 "core" & : C \ +3 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&T( +4 "core" ( + "manipulator"&& +5 "core" &   p  + "storage"(^& +4 "core" & \\ _\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&]'Ͻ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tHand.close +3 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&C& +2 "storage"(o' +6 "core" &  +3 "manipulator"&t% +4 "core" % Ͽ S +2 .tForearm.seek :retract +2 "manipulator"&1' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&E& +5 "core" &Ӑ#  <: +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӑ#   ; <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&@'? +94 "core" ' +3 "manipulator"&& +4 "core" &Ӑ#   <: +2 "manipulator"&z% +3 "core" %A  K +3 "collection"'3& +3 "core" & \ j\ +3 "collection"'D& +6 "core" & g\ +3 .tCC.seek :closed + "collection"'8(\\ +5 "core" & j\ +8 &B ^\ $f +9 &Zz \ U\ 7 +9 &v [\ K +10 &Q\ Z\ J +9 &T \ `\ K +9 &MT\  _\ J +10 &T \ `\ K +9 &W\  d\ K +10 &W _\ K +9 &TR\ ]\ K +9 & R c\ K +10 &!R\ \ _\ K +9 &#U\  b\ J +9 &%]T [\ J +10 &'T W\ J +9 &(T\  V\ K +10 &*U R\ K +9 &,dR J\ K +9 &.&R S\ K +10 &/R I\ K +9 &1U P\ J +9 &3lU\ \ H\ K +10 &5/U L\ J +9 &6U T\ K +10 &8U \ T\ J +9 &:tU W\ K +9 &<6S \ T\ K +10 &=U R\ K +9 &?T\ \ X\ K +9 &A|U\ \ Y\ K +10 &C<Z\ \ V\ L +9 &Dc\ \ [\ L +10 &Fn\ \ [\ N +9 &Hs\ \ X\ Q +9 &J*\ \ P\ U +10 &K\ \ \ Q\ V +9 &M\ \ X\ W +9 &Oh\ \ Y\ W +10 &Q)\ \ U\ X +9 &R\ \ \ V\ X +10 &T\ \ F\ Y +9 &Vi\ \ S\ Z +9 &X(\ \ L\ [ +10 &Y\ \ M\ [\ +9 &[\ \ R\ H +9 &\\2\ \ R\ 0 +10 &\\a\ \ P\ L +2 ( +2 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&*1 +53 "core" 1 + "manipulator"&e% +5 "core" % A   I K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%9& +4 "core" &\ + "manipulator"&$% +5 "core" %    4  + "storage"(X% +4 "core" % # " \  +2 "storage"(. +3 "core" .(  +2 "storage"(& +3 "core" & # $ 6\ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( (  +35 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" &   W\ +3 "manipulator"&p& +4 "core" &Ӭ  C 8 + "manipulator"&b% +5 "core" %    o  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&'( +164 "core" ( + "manipulator"&5& +5 "core" &    + "storage"(H& +4 "core" &  B 6 G\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&%'S +99 "core" ' +2 "storage"(&& +4 "core" &  E E \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'r +295 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (4& +3 "core" & #  \  +2 "manipulator"&I& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&k& +3 "core" &   ;  +2 "storage"(& +4 "core" & E E \ \  +3 .tForearm.seek 2 + 300 counts + "manipulator"&J'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&,& + "storage"(' +7 "core" &   +2 "manipulator"&\ % +3 "core" % Ϲ  \  +3 .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&U( +158 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&& +4 "core" & \  T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" & = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&K' +93 "core" ' + "manipulator"&_& +5 "core" & \  +2 "manipulator"&% +4 "core" %  T +2 "processing"%& +3 "core" & \ +3 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%}(^ +3 "core" &\ +6 &\ : +10 &JJt\ 0 +9 &xs|\ E +10 &Z\ M +9 &T\ M +9 &S\ N +10 &fT\ M +9 &'S\ M +9 &U\ M +10 &T\ M +9 &mQ\ M +10 &!/W\ M +9 &"U\ N +9 &$U\ M +10 &&uQ\ M +9 &(7V\ M +9 &)T\ N +10 &+T\ M +9 &-~R\ M +10 &/?U\ M +9 &1Q\ M +9 &2T\ N +10 &4T\ M +9 &6FU\ N +9 &8 T\ M +10 &9Q\ M +9 &;R\ M +10 &=OS\ M +9 &?U\ M +9 &@X\ N +10 &B_\ N +9 &DS_\ O +9 &Fh\ P +10 &Gq\ Q +9 &I\ S +10 &KL\ T +9 &M\ S +9 &N\ T +10 &P\ T +9 &RR\ T +9 &T\ U +10 &U\ T +9 &W\ U +10 &YY\ U +9 &[\ U +9 &\\\ U +10 &^I\\\ $o +9 &^W\ . +9 ( +2 &^\ , + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&01 +64 "core" 1 + "manipulator"&s% +5 "core" %    2 T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%m& +4 "core" &^-\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %   $  +2 "storage"(?% +4 "core" % # # \  +2 "storage"(Q. +3 "core" .(  +2 "storage"(a& +4 "core" & # # "\  +2 "storage"(v& +3 "manipulator"&`& +7 "core" & # # b\  + &   ` +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(/'r + "manipulator"&+( +7 "core" ( +2 "manipulator"&.& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &  +3 .tForearm.seek PC +2 "manipulator"&G' +96 "core" ' +2 .tHand.close + "manipulator"&\\/ +61 "core" / +2 .tPC.seek :open +2 "processing"%>( +84 "core" ' +2 "storage"(h- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(g'1 +46 "core" ' +311 ( +2 "storage"(f& +3 "core" & + ' ?\  +3 "manipulator"&& +3 "core" &   +2 "manipulator"&l% +4 "core" % \ d * +3 .tForearm.seek :retract + "manipulator"&S' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&;& +4 "core" &   ' 8 +2 "storage"([& +4 "core" & $ # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&6'S +100 "core" ' + .tHand.open +2 "manipulator"&!1 +58 "core" 1 +2 "storage"(d- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"("' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(L- +3 "core" -' +2 "storage"(& +4 "core" & 7 6\  +2 "manipulator"&& +4 "core" &   8 +2 .tElbow.seek 2 + "manipulator"&|( +67 "core" ( +9 "manipulator"&(& +5 "core" &  l  + "storage"(R& +4 "core" & ) 2 o\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&x'S +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(F'" +62 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(~& +4 "core" & # $ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&-'Α +14 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +19 "core" ' +2 "manipulator"&c% +4 "core" %Λ  & +2 "storage"(i& +4 "core" & # $ 9\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 310 counts + "manipulator"&M' +14 "core" ' +2 "manipulator"&& +3 "core" & A  +3 "storage"(& +4 "core" & + % K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +15 "core" ' +2 "storage"(u% +4 "core" % "  \ +3 ."downElevator"SE.seek :down +4 "storage"(=' +97 ({% +3 "core" %m^\ \ ) \ Ym +3 "manipulator"&y% +4 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +4 ()& +3 "core" &  , K\  +2 "collection"'P& +3 "core" &\\`\ \ +\ L +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %    +2 "storage"(j% +3 "core" % 4 , z\  +3 "storage"(<. +3 "core" .(  +2 "storage"(& +4 "core" & 4 >\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (^& +2 "core" &    ;\ +3 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&t& +4 "core" &    +2 "storage"(#& +3 "core" &  B F 4\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'S +102 "core" ' +2 "storage"(E& +11 "core" &  G I \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +293 "core" ' + "storage"(W- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" &   +3 "storage"(& +4 "core" & ! #\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&z'Α +13 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(o'i +27 "core" ' + "manipulator"&1% +4 "core" %Ν   5 +2 "storage"(V& +3 "core" & G E \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&*' +13 "core" ' +2 "manipulator"&e& +3 "core" &    +2 "storage"(9& +5 "core" & F D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&$'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(X' +34 "core" ' +2 "manipulator"&& +3 "core" & q  +42 "manipulator"&% +12 "core" %G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +154 "core" ( +2 "manipulator"&p& +3 "core" &x)    Ae +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +3 "core" &x)  Ae +2 .tForearm.seek CC +2 "manipulator"&@'? +95 "core" ' +2 .tHand.close + "manipulator"&5/ +54 "core" / +2 .tCC.seek :open +2 "collection"'H( +448 "core" ( + "storage"(n& +4 "core" & Q L 0\  +2 "storage"(&& +3 "core" & Q R [\  +2 "manipulator"&7& +5 "core" &ӹ \  0 9$ + "manipulator"&r% +4 "core" % 1 \  +3 .tForearm.seek :retract + "manipulator"&Y' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&4( +158 "core" ( + "manipulator"&I& +5 "core" &    + "storage"(k& +5 "core" & h h \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'Α +93 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&,1 +53 "core" 1 +2 "manipulator"&\ % +3 "core" % Ο \ + - +2 "storage"('& +4 "core" & g \\ l\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts + "manipulator"&%' +13 "core" ' +3 "manipulator"&w& +5 "core" &  + "storage"(J& +4 "core" & [ \\ &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 "storage"(2% +3 "core" % ^ i \ +3 ."downElevator"SE.seek :down +4 "storage"( ' +98 (_% +3 "core" %O 6 + .\ Wh +2 "manipulator"&% +5 "core" %J   o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & ^\ +3 "manipulator"&q% +3 "core" % \   +3 "storage"(B% +4 "core" % [ ^ )\  +2 "storage"(0. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(s( +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" & E C &\  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&?( +18 "core" ( +2 "manipulator"&Q& +3 "core" & Z  +3 "storage"(a& +4 "core" & [ ^ Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +90 "core" ' +2 "storage"(v& +3 "core" & } \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +307 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" & g \\ \  +2 "manipulator"&K& +5 "core" & <  +2 .tElbow.seek 3 + "manipulator"&\\( +4 "core" ( +3 "manipulator"&h& +4 "core" &  x  + "storage"(U& +5 "core" & f ^ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +49 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(f' +9 "core" &   +2 "manipulator"&% +4 "core" % Ϛ @ +2 .tForearm.seek :retract +2 "manipulator"&l' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( + "manipulator"&;& +5 "core" &ӕ   7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &[& +2 "core" &ӕ \  7 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&+'? +100 "core" ' + "manipulator"&!& +5 "core" &ӕ   7 + "manipulator"&d% +5 "core" %D   +2 "collection"'L& +4 "core" & \ m\ +2 "collection"'& +6 "core" & o\ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & l\ +6 & l\ ; +9 &LKv k\ 0 +10 &u} m\ E +9 &-\\ \ c\ K +9 &S ^\ J +10 &T\ \ c\ J +9 &tT \ `\ K +9 &6W\ d\ K +10 &R\  e\ K +9 &T \ e\ J +10 &|T e\ K +9 &!>W c\ K +9 &#V\ \ Z\ K +10 &$R\ ]\ K +9 &&R Y\ K +9 &(GT \ Z\ J +10 &*T \ a\ K +9 &+W `\ K +10 &-R \ S\ K +9 &/MR T\ K +9 &1S \ [\ K +10 &2W \ Q\ K +9 &4T K\ K +9 &6UX\ \ Z\ K +10 &8U\ \ X\ K +9 &9X\  X\ K +10 &;T \ U\ J +9 &=^T\ Z\ K +9 &?!T\ \ R\ J +10 &@U\ \ X\ K +9 &BW\ \ V\ K +9 &Dd\\\ \ ^\ L +10 &F"e\ \ S\ M +9 &Gu\ \ \ T\ O +10 &I\ \ V\ R +9 &KN\ \ [\ V +9 &M \ \ W\ W +10 &N\ \ \\\ X +9 &P\ \ [\ X +9 &RP\ \ [\ X +10 &T\ \ [\ Y +9 &U\ \ W\ Y +10 &W\ \ Z\ Z +9 &YO\ \ \ \ U\ [\ +9 &[\ \ U\ [\ +10 &\\fG\ \ M\ 0 +9 &\\\ \ S\ J +5 ( +2 "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&S1 +2 "core" &\\h\ \ \ X\ J +62 1 +2 "manipulator"&(% +3 "core" % D   2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&~% +4 "core" %   ;  +2 "storage"(g% +3 "core" % ! $ 9\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(c( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" &\  5\  +2 "manipulator"&& +4 "core" &ӣ \  U 5 +2 "manipulator"&% +3 "core" %      +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&u& +3 "core" &    +2 "storage"(6& +4 "core" & ( G :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"'7 +93 "core" ' + "storage"({& +3 "core" & E E \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(y'r +299 "core" ' +2 "storage"(x- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &   s\  +2 "manipulator"&F& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&M& +3 "core" &     +3 "storage"()& +4 "core" & ( 3\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&P'ϡ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&j& +3 "storage"(N' +8 "core" & 9  + "manipulator"&<% +4 "core" % ϡ \ 1 +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +125 "core" ( +2 "manipulator"&& +5 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&#' +99 "core" ' +2 "manipulator"&& +4 "core" &    +2 "manipulator"&E% +4 "core" %  +2 "processing"%=& +4 "core" &\ +2 "processing"% & +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%O(^ +5 "core" &\ +6 &<\ $f +10 &X{\ 8 +9 &v\ L +9 &Q\ N +10 &|R\ M +9 &=Q\ N +9 &R\ N +10 &T\ N +9 &S\ N +9 &FU\ M +10 & U\ M +9 &!Q\ M +10 &#V\ M +9 &%NQ\ M +9 &'Q\ M +10 &(R\ M +9 &*R\ M +10 &,UQ\ N +9 &.R\ N +9 &/T\ N +10 &1O\ M +9 &3^U\ M +9 &5 T\ M +10 &6U\ M +9 &8V\ M +9 &:eU\ N +10 &<'T\ N +9 &=R\ M +10 &?T\ M +9 &AmW\ N +9 &C+c\ O +10 &Dd\ P +9 &Fl\ Q +10 &He\ S +9 &J&\ S +9 &K\ T +10 &M\ T +9 &Oi\ T +9 &Q+\ T +10 &R\ T +9 &T\ U +9 &Vo\ U +10 &X1\ U +9 &Y\ U +10 &[\ U +9 &]v\ B +9 &^<t\ _ +10 &^;\ 2 +5 ( +2 "processing"% & +3 "core" &^ \ 2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"& 1 +57 "core" 1 +2 "manipulator"&W% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +98 "core" ' + "processing"%& +3 "core" &^ \ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&T% +4 "core" % "   ~ 3 +2 "storage"(1% +3 "core" %\ \  \  +3 "storage"(V. +3 "core" .( +2 "storage"(e& +3 "core" &\ \  p\  +3 "storage"(9& +3 "manipulator"&& +8 "core" &\ \  7\  + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(Z'r +2 "core" ( +2 "manipulator"&C& +5 "core" &   d  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  + '  +3 .tForearm.seek PC +2 "manipulator"&z' +91 "core" ' +2 .tHand.close + "manipulator"&*/ +62 "core" / +2 .tPC.seek :open + "processing"%o( +94 "core" ' + "storage"(p- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'1 +53 "core" ' +296 ( + "storage"($& +4 "core" & E E ,\  +2 "manipulator"&3& +3 "core" &   +2 "manipulator"&5% +5 "core" %   C +2 .tForearm.seek :retract +2 "manipulator"&D' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&8( +246 "core" ( +2 "manipulator"&n& +3 "core" & \  N +2 "storage"(&& +5 "core" & $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&7'7 +90 "core" ' +2 .tHand.open + "manipulator"&r1 +57 "core" 1 +2 "storage"(I- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(k' +38 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(@' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(,& +3 "core" & ( ( &\  +2 "manipulator"&\ & +5 "core" &  N +2 .tElbow.seek 3 +42 "manipulator"&'( +12 "core" ( + "manipulator"&w& +5 "core" &  ) N + "storage"(J& +5 "core" & ) ( \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2'7 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +57 "core" ' + "manipulator"&_& +5 "core" &  N + "storage"(& +5 "core" & " # |\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&4'u +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&q% +3 "core" %Ά  +2 "storage"(%& +5 "core" &  ! H\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&B'ϲ +14 "core" ' +2 "manipulator"&0& +5 "core" & \ K N + "storage"(X& +5 "core" &   W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +17 "core" ' +2 "storage"( % +3 "core" % #  \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (m% +3 "core" %kO\ )\ ( \ Xf +2 "manipulator"&% +5 "core" %)  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (a& +3 "core" & !  c\  +3 "collection"'v& +4 "core" &\\g\ \ 1\ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&:% +4 "core" %     +2 "storage"(% +3 "core" % " " M\  +3 "storage"(.. +3 "core" .( +2 "storage"(A& +4 "core" & " " )\  +2 "storage"(K& +3 "core" &   ?\  +2 "manipulator"&h& +5 "core" &   N +2 .tElbow.seek 3 + "manipulator"&U( +4 "core" ( +2 "manipulator"&}& +4 "core" &  N +2 "storage"(/& +3 "core" & % " 2\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' + "storage"(?& +5 "core" & G G \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +308 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" &  N +2 "storage"(`& +3 "core" & $ (\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'u +17 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(\\'u +33 "core" ' +2 "manipulator"&L% +4 "core" %|  + "storage"(f& +4 "core" & $ D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&l'Ϩ +13 "core" ' +2 "manipulator"&H& +3 "core" &   N +2 "storage"(S& +4 "core" & E E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&('7 +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&~& +3 "core" &  N +3 "manipulator"&g% +4 "core" %%  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +42 "manipulator"&' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( +2 "manipulator"&i& +3 "core" &ӏ$   8 =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &ӏ$   =A +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&+/ +54 "core" / +2 .tCC.seek :open + "collection"'u( +448 "core" ( +2 "storage"(6& +4 "core" & G E \  +2 "storage"(s& +4 "core" & E G \  +2 "manipulator"&{& +3 "core" &ө  9' +2 "manipulator"&G% +4 "core" % C \   +3 .tForearm.seek :retract + "manipulator"&R' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&x( +156 "core" ( +2 "manipulator"&|& +3 "core" &   +2 "storage"(F& +4 "core" & [ [ K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&M'u +99 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&j% +4 "core" % ΀   +2 "storage"(<& +4 "core" & < = \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 311 counts + "manipulator"&'Ϭ +14 "core" ' +2 "manipulator"&"& +4 "core" &  +2 "storage"(y& +4 "core" & i i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&P'7 +17 "core" ' +2 "storage"(% +4 "core" % i ^ q\ +2 ."downElevator"SE.seek :down +4 "storage"(-' +99 (t% +3 "core" %D I H \ V` +2 "manipulator"&% +3 "core" %4 s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'=& +3 "core" & d\ +2 "manipulator"&N% +5 "core" %    + "storage"(% +4 "core" % i k \  +2 "storage"(>. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &,y < < \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&T( +33 "core" ( +2 "manipulator"&1& +3 "core" &    \ +2 "storage"(V& +5 "core" &,y i h n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +91 "core" ' +2 "storage"(e& +3 "core" &,y ~ p W\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' +2 "storage"(9- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &,j : > u\  +2 "manipulator"&& +3 "core" &  \ +4 .tElbow.seek 4 + "manipulator"&#( +4 "core" ( +2 "manipulator"&*& +4 "core" &  \ +2 "storage"(p& +4 "core" &,j [ [\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&^'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +57 "core" / +49 "manipulator"&O& +4 ."downElevator"SE.seek :down +7 "storage"(Z' +2 "core" & J \ +3 "manipulator"&$% +5 "core" % [  +2 .tForearm.seek :retract +2 "manipulator"&3' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +150 "core" ( +2 "manipulator"&z& +4 "core" ' +2 &y(   ( @Z + ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +3 "storage"(5 +2 "manipulator"&$ &.,(#b +6 &n& +3 "core" &y(   @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'? +97 "core" ' +3 "manipulator"&& +3 "core" &Ӑ#   K =C +3 "manipulator"&r% +3 "core" %A  | + +3 "collection"'I& +3 "core" & r\ +3 "collection"' & +6 "core" & p\ +2 .tCC.seek :closed +3 "collection"',(\\ +4 "core" & t\ +5 & o\ : +9 &IKu\ n\ 0 +9 &~v| i\ E +10 &+W\ b\ K +9 &T\ \ e\ K +10 &S\  e\ K +9 &sT \ i\ J +9 &4T \ c\ K +10 &V\ \ m\ K +9 &W \ k\ K +9 &{T\ k\ J +10 &!<T\ \ g\ K +9 &"W \ b\ K +10 &$Q \ e\ K +9 &&T\ \ f\ J +9 &(DT c\ K +10 &*W\  _\ K +9 &+Q\ Y\ K +9 &-T\  [\ J +10 &/MT\ _\ J +9 &1T\ \ Y\ K +10 &2R\ ]\ K +9 &4T \ \\\ K +9 &6UT\ \\\ J +10 &8U \ Y\ K +9 &9U \ Y\ K +9 &;R\ \ ]\ K +10 &=\\T\ \\\ K +9 &?W\ \ U\ K +10 &@T\ \ R\ K +9 &BX\ \ [\ K +9 &D`_\ \ Z\ L +10 &F!f\ \ Q\ M +9 &Gv\ \ X\ O +9 &I\ \ V\ S +10 &KK\ \ R\ V +9 &M \ \ Y\ X +10 &N\ \ Z\ X +9 &P\ \ Y\ X +9 &RM\ \ \ Y\ X +10 &T \ \ Z\ Y +9 &U\ \ \ [\ Y +9 &W\ \ R\ [ +10 &YM\ \ \ \ \\\ [\ +9 &[\ \ X\ [\ +10 &\\dH\ \ \ Q\ 2 +9 &\\\ \ U\ L +5 ( +3 "collection"' & +3 "core" &\\b\ \ \ X\ L +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&\ 1 +62 "core" 1 +2 "manipulator"&D% +4 "core" % A    + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%J& +3 "core" &\ +3 "manipulator"&_% +4 "core" %    9  +2 "storage"(% +4 "core" % "  \  + "storage"(b. +4 "core" .(,y +2 "storage"(k& +4 "core" &,j   P\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(q(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +3 "core" &,y   a\ +2 "manipulator"&0& +4 "core" &ӫ  9( +2 "manipulator"&X% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +165 "core" ( + "manipulator"&8& +4 "core" &    +2 "storage"(7& +4 "core" &,y E G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +90 "core" ' +2 "storage"(m& +4 "core" &,y Q Q \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(2- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &,j   K\  +2 "manipulator"&Y& +3 "core" &    +3 .tElbow.seek 4 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&B& +3 "core" &    +2 "storage"(a& +4 "core" &,j & # 4\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&v'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(.' +8 "core" & \ d  + "manipulator"&% +5 "core" % k \  o +2 .tForearm.seek :retract +2 "manipulator"&A' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&K( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( +48 "manipulator"&h& +7 "core" & r 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +3 "core" &  \ s 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&/' +89 "core" ' + "manipulator"&& +4 "core" &   6 +2 "manipulator"&?% +5 "core" %  ( h +2 "processing"%& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%Q(^ +5 "core" &\  +8 &5v\ *x +9 &d{\ > +10 &m\ N +9 &FO\ M +9 &T\ N +10 &R\ M +9 &Q\ N +9 &MS\ M +10 &Q\ M +9 &Q\ M +10 & Q\ M +9 &"VR\ M +9 &$U\ N +10 &%U\ M +9 &'U\ M +9 &)]V\ M +10 &+W\ N +9 &,T\ N +10 &.S\ N +9 &0dT\ N +9 &2&T\ N +10 &3S\ M +9 &5Q\ M +9 &7mQ\ M +10 &9.W\ N +9 &:U\ N +10 &<R\ M +9 &>uU\ M +9 &@6Y\ N +10 &AZ\ N +9 &Cb\ O +9 &Ewg\ O +10 &G6k\ P +9 &H|\ R +10 &J\ T +9 &Lr\ T +9 &N3\ T +10 &O\ T +9 &Q\ U +9 &Sw\ U +10 &U9\ U +9 &V\ U +10 &X\ T +9 &Z\ U +9 &\\?\ U +10 &]{s\ 7 +9 &^/\ M +9 &^\ - +3 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&;1 +53 "core" 1 +2 "manipulator"&[% +3 "core" %    h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +92 "core" ' + "processing"%d& +5 "core" &^\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&L% +4 "core" %   $  +2 "storage"(f% +3 "core" % " # \  +2 "storage"(H. +4 "core" .(,y +2 "storage"(S& +4 "core" &,j # " '\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(~(,y +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (g& +2 "manipulator"&& +4 "core" &,|\ ) ` k\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   6 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(U'r +2 "manipulator"&( +5 "core" ( +2 "manipulator"&& +4 "core" &   j 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &l& +2 "core" &  6 +3 .tForearm.seek PC +2 "manipulator"&\\' +92 "core" ' +2 .tHand.close + "manipulator"&i/ +53 "core" / +2 .tPC.seek :open +2 "processing"%(( +96 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'1 +48 "core" ' +300 ( +2 "storage"(+& +4 "core" &,h % \  +2 "manipulator"&& +3 "core" &  6 +2 "manipulator"&% +5 "core" % \   +2 .tForearm.seek :retract +2 "manipulator"&6' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&s( +257 "core" ( + "manipulator"&{& +4 "core" &   9 +2 "storage"(G& +4 "core" &,h # " \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&|' +95 "core" ' +2 .tHand.open + "manipulator"&F1 +63 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +37 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +3 "core" -' +2 "storage"(<& +4 "core" &,h > ? \  +2 "manipulator"&"& +51 "core" &  % 9 +3 .tElbow.seek 4 +2 "manipulator"&y( +27 "core" ( + "manipulator"&& +3 "core" &     +3 "storage"(R& +3 "core" &,h E @\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&x& +4 "core" &    +2 "storage"(M& +5 "core" &,h % & A\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&='7 +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +23 "core" ' + "manipulator"&% +5 "core" %7   + "storage"(>& +3 "core" &,h % % [\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 300 counts + "manipulator"&'c +15 "core" ' + "manipulator"&P& +4 "core" & \ o  +2 "storage"(-& +4 "core" &,h   o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +15 "core" ' +3 "storage"(W% +4 "core" % " " Z\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (1% +3 "core" %mK H 2\ We +2 "manipulator"&V% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +94 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ()& +3 "core" &,h d |\  +3 "collection"'E& +4 "core" &\\`\ \ Y\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&9% +4 "core" %    +2 "storage"(C% +3 "core" %  .\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(*(,y +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (p& +2 "core" &,| S <\ +3 "manipulator"&]& +3 "core" &   +3 .tElbow.seek 4 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&$& +4 "core" &   +2 "storage"(T& +3 "core" &,| ( E %\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +95 "core" ' + "storage"(z& +4 "core" &,| G D V\ +15 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&^& +3 "core" &   +3 "storage"(& +4 "core" &,j $ % (\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&r'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Z'j +35 "core" ' + "manipulator"&3% +4 "core" %3   +2 "storage"(u& +4 "core" &,j ! $ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts +2 "manipulator"&\ '_ +15 "core" ' + "manipulator"&D& +4 "core" &  +2 "storage"(J& +4 "core" &,j "  \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&_' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +3 "storage"(' +45 "core" ' +8 "manipulator"&b& +5 "core" & @  + "manipulator"&k% +5 "core" % z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +159 "core" ( + "manipulator"&0& +3 "core" &Ӑ$   =A +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &Ӑ$  Y =A +2 .tForearm.seek CC +2 "manipulator"&&'? +92 "core" ' + .tHand.close +2 "manipulator"&8/ +56 "core" / +3 .tCC.seek :open + "collection"'7( +448 "core" ( + "storage"( & +4 "core" &,j R R O\ +2 "storage"(m& +3 "core" &,j E D {\ +2 "manipulator"&5& +4 "core" &ӭ"   o 9$ +2 "manipulator"&w% +4 "core" % R    +2 .tForearm.seek :retract +2 "manipulator"&2' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&'( +163 "core" ( +2 "manipulator"&Y& +3 "core" & 4  +2 "storage"(B& +5 "core" &,j h k ]\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&a'7 +95 "core" ' +2 .tElbow.hold + "manipulator"&:, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +57 "core" 1 +3 "manipulator"&% +4 "core" % 1   2 + "storage"( & +5 "core" &,j i i \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 294 counts +2 "manipulator"&@'] +14 "core" ' + "manipulator"&& +5 "core" & l  + "storage"(v& +4 "core" &,j _ k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +15 "core" ' + "storage"(}% +4 "core" % o j \ +3 ."downElevator"SE.seek :down +4 "storage"(4' +99 (% +3 "core" %}D E D \ T] +2 "manipulator"&?% +3 "core" % G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'.& +3 "core" & D\ +2 "manipulator"&A% +5 "core" %    + "storage"(o% +5 "core" % g j \  + "storage"(;. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"([(  +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &  F P \ +2 "manipulator"&L& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&H& +4 "core" &  V  + "storage"(S& +4 "core" &  i h \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +90 "core" ' +2 "storage"(g& +3 "core" &    \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +2 "core" & 9 8 \ +3 "manipulator"&/& +4 "core" &  O  +2 .tElbow.seek 2 + "manipulator"&i( +4 "core" ( +2 "manipulator"&q& +4 "core" &   h  + "storage"(& +4 "core" & i i X\ +2 .tForearm.seek 2 + 300 counts +48 "manipulator"&K'Ͻ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&Q& +3 "storage"(U' +8 "core" & <  + "manipulator"&+% +5 "core" % ϼ \  H +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&\\& +4 "core" &ӕ  \ W 9$ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +2 "core" &Ӗ  8 8# +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'? +101 "core" ' +2 "manipulator"&& +4 "core" &Ӗ   1 9# +2 "manipulator"&F% +4 "core" %A   +3 "collection"'& +4 "core" & W\ +2 "collection"'j& +5 "core" & t\ +3 .tCC.seek :closed +2 "collection"'<(\\ +4 "core" & w\ +7 &< z\ $f +9 &Xw {\ 7 +10 &v \ q\ K +9 &P\ u\ J +9 &T\ n\ K +10 &GW\ \ o\ K +9 & T f\ J +10 &T \ j\ K +9 &V\ \ n\ K +9 &QS\ e\ J +10 & R\ m\ K +9 &!U n\ K +9 &#T\  j\ J +10 &%XS\ \ k\ K +9 &'U\ m\ K +10 &(R\  m\ K +9 &*S \ l\ J +9 &,`T\ g\ K +10 &."R\ \ f\ K +9 &/R\ \ a\ J +9 &1U\ \ c\ K +10 &3gS\ \ d\ K +9 &5*T\  e\ K +10 &6T\ \ U\ J +9 &8T \ [\ K +9 &:pT \ `\ K +10 &<2R\ \ b\ K +9 &=S \ `\ K +9 &?R\ \ Z\ K +10 &AwU\ \ R\ K +9 &C8\\\ \ Y\ L +10 &De\ \ S\ M +9 &Fk\ \ S\ N +9 &Ho\ \ U\ Q +10 &J%\ \ T\ U +9 &K\ \ V\ W +9 &M\ \ X\ W +10 &Od\ \ \ U\ W +9 &Q$\ \ R\ X +10 &R\ \ Y\ Y +9 &T\ \ T\ Z +9 &Vd\ \ T\ Z +10 &X$\ \ \ S\ [ +9 &Y\ \ \ Q\ \\ +9 &[\ \ \ Q\ H +10 &\\5\ \ \ R\ . +9 &\\o\ \ \ [\ O +2 ( +3 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&"1 +58 "core" 1 +3 "manipulator"&6% +3 "core" % A    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%R& +4 "core" &\ + "manipulator"&x% +5 "core" % \    + "storage"(M% +5 "core" % & 5\  + "storage"(!. +3 "core" .(  +2 "storage"(& +4 "core" & $  K\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +16 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +3 "core" &  I \ +2 "manipulator"&P& +3 "core" &ӫ   z 6 +3 "manipulator"&-% +4 "core" %  Y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&W( +161 "core" ( + "manipulator"&s& +5 "core" &    + "storage"(|& +5 "core" &  D D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +94 "core" ' +2 "storage"(1& +4 "core" &  E F \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'r +294 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" & \ \ & `\  +2 "manipulator"&& +5 "core" &   +2 .tElbow.seek 2 + "manipulator"&=( +3 "core" ( +2 "manipulator"&& +4 "core" &  \   +2 "storage"()& +3 "core" & K A\  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&E'Ͻ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&C& + "storage"(' +8 "core" &  +2 "manipulator"&N% +4 "core" % \  +2 .tForearm.seek :retract +2 "manipulator"&p' +95 "core" ' +4 .tElbow.seek PC +2 "manipulator"&]( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&$& +4 "core" &   L 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &  9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&c' +102 "core" ' +2 "manipulator"&z& +3 "core" &  9 +3 "manipulator"&% +3 "core" %   +3 "processing"%~& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%e(^ +5 "core" &\ +5 &\ 7 +10 &9Ju\ / +9 &`p|\ D +10 &]\ N +9 &R\ M +9 &P\ M +10 &HU\ M +9 &\ T\ M +9 &U\ M +10 &W\ N +9 &PT\ M +10 &!Q\ N +9 &"T\ M +9 &$T\ M +10 &&XU\ M +9 &(T\ N +9 &)T\ N +10 &+V\ M +9 &-`W\ M +10 &/"V\ M +9 &0U\ M +9 &2U\ N +10 &4hR\ M +9 &6*W\ M +9 &7U\ M +10 &9W\ M +9 &;oY\ N +10 &=1U\ N +9 &>Z\ N +9 &@W\ N +10 &Bw[\ N +9 &D6a\ O +9 &Ei\ O +10 &Gq\ Q +9 &Io\ S +10 &K/\ T +9 &L\ S +9 &N\ T +10 &Ps\ T +9 &R5\ T +9 &S\ U +10 &U\ T +9 &W{\ T +10 &Y<\ U +9 &Z\ U +9 &\\\ U +10 &^9e\ %r +9 &^_\ 1 +9 ( +2 &^\ , + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&^% +4 "core" %    B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 "processing"%#& +3 "core" &^\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&3% +4 "core" %    \ +2 "storage"(u% +4 "core" % " " J\  +2 "storage"(D. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(J(  +40 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (b& +3 "manipulator"&k& +4 "core" & \ \  \ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   9 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'r + "manipulator"&O( +7 "core" ( + "manipulator"&n& +4 "core" &   6 9 + "Can"\ r>) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +3 "core" &  9 +2 .tForearm.seek PC +2 "manipulator"&\ ' +92 "core" ' +3 .tHand.close + "manipulator"&Z/ +59 "core" / +2 .tPC.seek :open +2 "processing"%0( +92 "core" ' + "storage"(X- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'1 +40 "core" ' +310 ( + "storage"(I& +5 "core" & " " 7\ + "manipulator"&8& +4 "core" &  9 +2 "manipulator"& % +4 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&,' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +245 "core" ( +2 "manipulator"&m& +4 "core" &   ; +2 "storage"(5& +3 "core" & T ' 8\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&w'S +101 "core" ' +2 .tHand.open + "manipulator"&Y1 +58 "core" 1 +3 "storage"(B- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(&' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(%' +96 "core" ' +9 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" & 8 7 \ +2 "manipulator"& & +5 "core" &    ; +2 .tElbow.seek 2 + "manipulator"&( +5 "core" ( + "manipulator"&v& +3 "core" &  ; +3 "storage"(}& +4 "core" & H < \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&2'S +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +63 "core" ' +2 "manipulator"&?& +3 "core" &  ; +2 "storage"('& +5 "core" & " \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&a'Α +24 "core" ' + .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +28 "core" ' +2 "manipulator"&@% +3 "core" %Η  \  +3 "storage"(o& +3 "core" &  ! >\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&;' +14 "core" ' +2 "manipulator"&& +3 "core" &  \ ; +3 "storage"(h& +3 "core" & " u\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&4'S +15 "core" ' +2 "storage"(*% +3 "core" % " ! ;\ +3 ."downElevator"SE.seek :down +4 "storage"(d' +98 (L% +3 "core" %xZ\ \ \ Yl +3 "manipulator"&H% +4 "core" %L \  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +98 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +3 "core" & 5  \ +3 "collection"':& +3 "core" &\\p\ \ Z\ O +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %  f  +2 "storage"(% +3 "core" % " " 1\  +3 "storage"(l. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(/(  +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (q& +2 "core" &  " % X\ +3 "manipulator"&& +4 "core" &  ; +2 .tElbow.seek 2 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&Q& +4 "core" &    ; +2 "storage"(+& +4 "core" &  " " 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&f'S +95 "core" ' + "storage"(& +4 "core" &  3 % 3\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +294 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  ; +3 "storage"(K& +4 "core" &   y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&'Α +14 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(i'h +30 "core" ' +2 "manipulator"&U% +3 "core" %Τ  l 1 +2 "storage"(& +3 "core" & \  \  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&7' +14 "core" ' + "manipulator"&"& +4 "core" &   ; +2 "storage"(6& +4 "core" & " " ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +41 "manipulator"&R'S +23 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(x' +35 "core" ' +2 "manipulator"&M& +3 "core" &  ; +2 "manipulator"&!% +5 "core" %L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +148 "core" ( +2 "manipulator"&>& +3 "core" &x*   Bj +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &P& +3 "core" &x*  Bj +2 .tForearm.seek CC +2 "manipulator"&-'? +95 "core" ' +2 .tHand.close + "manipulator"&G/ +60 "core" / +2 .tCC.seek :open +2 "collection"'s( +448 "core" ( + "storage"(|& +4 "core" & O E s\  +2 "storage"([& +3 "core" & H E \  +3 "manipulator"&1& +4 "core" &Ӱ"   5 ;2 +2 "manipulator"&% +3 "core" % /   k  +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&t( +166 "core" ( +2 "manipulator"&y& +3 "core" &    +2 "storage"(& +5 "core" & i k \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'Α +95 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&91 +61 "core" 1 +2 "manipulator"&C% +5 "core" % Δ   + "storage"(N& +75 "core" & j h w\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&W' +16 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(V& +3 "core" & Z [ g\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&E'S +15 "core" ' +2 "storage"($% +3 "core" %   \ +3 ."downElevator"SE.seek :down +4 "storage"(T' +98 (=% +3 "core" %N " 6 g\ Wg +2 "manipulator"&z% +5 "core" %N  U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'~& +3 "core" & g\ +2 "manipulator"&% +4 "core" %    +2 "storage"(p% +4 "core" % [ _ q\  +2 "storage"((. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (^& +3 "core" & 4 * >\  +2 "manipulator"&#& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&3( +15 "core" ( + "manipulator"&u& +4 "core" & 2 e +2 "storage"(D& +4 "core" & k k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +97 "core" ' + "storage"(b& +5 "core" &  n \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +298 "core" ' + "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" & T 8 }\  +2 "manipulator"&c& +4 "core" & i e +2 .tElbow.seek 3 +2 "manipulator"&Z( +4 "core" ( +47 "manipulator"&& +6 "core" & e +2 "storage"(X& +4 "core" & h e \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&]'ϡ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +3 "storage"( ' +8 "core" &  e +2 "manipulator"&I% +4 "core" % ϗ R +2 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&\ & +4 "core" &Ӓ$   <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &Ӓ"   1 <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&5'? +92 "core" ' + "manipulator"&O& +5 "core" &Ӓ#   <@ +2 "manipulator"&Y% +5 "core" %E  ] +2 "collection"'B& +4 "core" & u\ +2 "collection"',& +5 "core" & V\ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & v\  +8 &4y {\ *z +9 &\ f| z\ > +10 &i r\ L +9 &[O\ \ r\ K +10 &T u\ J +9 &U \ n\ K +9 &W o\ K +10 &cU t\ K +9 &%W \ l\ K +9 &R \ n\ K +10 & R\ \ f\ K +9 &"kR a\ K +10 &$.T \ a\ J +9 &%T \ b\ J +9 &'T h\ J +10 &)sT \ g\ K +9 &+6V \ k\ J +9 &,T k\ K +10 &.V\ g\ K +9 &0{W j\ K +10 &2=W \ m\ K +9 &3R\ \ m\ K +9 &5T\  d\ K +10 &7W d\ K +9 &9ES\ \ \\\ K +9 &;R\ \ _\ K +10 &<T Y\ J +9 &>U \ O\ K +10 &@LW\ \ [\ K +9 &BV\ \ ]\ K +9 &CZ\ \ \\\ K +10 &Ec\ \ ]\ L +9 &GLm\ \ ]\ N +9 &I\ \ ]\ P +10 &J\ \ W\ U +9 &Lx\ \ \ [\ W +10 &N8\ \ Q\ W +9 &O\ \ Q\ W +9 &Q\ \ [\ X +10 &Sz\ \ X\ Y +9 &U<\ \ S\ Y +9 &V\ \ R\ Z +10 &X\ \ \ T\ Z +9 &Z{\ \ [\ [\ +10 &\\y\ \ \ \ U\ / +9 &\\/\ \ V\ [ +9 ( + &\\`\ \ Y\ K +3 "collection"',& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +4 "core" % E   0 ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%}& +4 "core" &\ +2 "manipulator"&?% +4 "core" %    %  +2 "storage"('% +4 "core" %  # \\\  + "storage"(_. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(&( +9 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" &\ \  +3 "manipulator"&o& +4 "core" &Ӭ  9& + "manipulator"&% +5 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&h( +164 "core" ( + "manipulator"&*& +4 "core" &    +2 "storage"( & +3 "core" & G E \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&w'7 +95 "core" ' +2 "storage"(%& +3 "core" & F H )\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +295 "core" ' + "storage"(H- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &   T\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&a& +3 "core" &   +  +3 "storage"(;& +4 "core" &   2\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'ϡ +40 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &   +2 "manipulator"&l% +50 "core" % Ϗ  +4 .tForearm.seek :retract +2 "manipulator"&A' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q( +106 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +131 "core" ( + "manipulator"&& +5 "core" &  O 9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &  a 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&+' +100 "core" ' + "manipulator"&4& +5 "core" &   8 +2 "manipulator"&% +4 "core" %  +2 "processing"%d& +4 "core" &\ +2 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%.(^ +5 "core" &\  +8 &5x\ *y +9 & g}\ ? +10 &n\ N +9 &QQ\ M +9 &U\ M +10 &R\ M +9 &T\ N +10 &YS\ M +9 &T\ N +9 &S\ M +10 & U\ M +9 &"aT\ M +9 &$#U\ M +10 &%S\ N +9 &'R\ M +10 &)iU\ M +9 &+*U\ N +9 &,T\ N +10 &.S\ M +9 &0qQ\ M +9 &22T\ N +10 &3S\ M +9 &5T\ N +9 &7yT\ M +10 &9;S\ M +9 &:T\ M +10 &<U\ M +9 &>Y\ N +9 &@AV\ N +10 &BZ\ N +9 &Cf\ O +9 &Ek\ P +10 &G@r\ Q +9 &H\ S +10 &J\ T +9 &L~\ T +10 &N>\ T +9 &P\ T +9 &Q\ U +10 &S\ U +9 &UD\ U +9 &W\ U +10 &X\ U +9 &Z\ T +9 &\\L\ U +10 &]|s\ 3 +9 &^+~\ L +9 &^$\ 1 +3 ( + "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&S1 +57 "core" 1 + "manipulator"&{% +5 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + "processing"%K& +4 "core" &^#\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %   X  +2 "storage"(U% +4 "core" % ! " D\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"("( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "manipulator"&M& +4 "core" & \ # f\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   J 8 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(!'r + "manipulator"&f( +7 "core" ( +2 "manipulator"&`& +3 "core" &   R 8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &  X 8 +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&7/ +56 "core" / +3 .tPC.seek :open +2 "processing"%i( +94 "core" ' +2 "storage"(>- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(P'1 +47 "core" ' +303 ( +2 "storage"(R& +3 "core" & * $ ^\  +2 "manipulator"&F& +4 "core" & ( 8 +2 "manipulator"&G% +3 "core" %  \  2 +3 .tForearm.seek :retract +2 "manipulator"&j' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&<( +248 "core" ( + "manipulator"&|& +4 "core" &  w M +2 "storage"([& +3 "core" & # ! \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&1'7 +94 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(y- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +47 "storage"(#QK-0-\ b +8 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(-' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(9& +4 "core" &  c\  +2 "manipulator"&C& +4 "core" &  L +2 .tElbow.seek 3 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&& +3 "core" &   L +2 "storage"(V& +5 "core" & 5 4\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"($'" +57 "core" ' +2 "manipulator"&t& +4 "core" &  L + "storage"(=& +5 "core" & # $ ]\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&z'u +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(~' +19 "core" ' +2 "manipulator"&% +3 "core" %Ά   +2 "storage"(W& +5 "core" &\ \ # @\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&p'ϲ +14 "core" ' +2 "manipulator"&(& +3 "core" &  \  L +3 "storage"(x& +4 "core" & % $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&E'7 +17 "core" ' + "storage"(T% +4 "core" %  $ ]\ +3 ."downElevator"SE.seek :down +4 "storage"(/' +99 (^% +3 "core" %$H\ )\ ) \ We +2 "manipulator"&#% +3 "core" %0  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 (D& +2 "core" &  * Q\  +3 "collection"'b& +4 "core" &\\`\ \ \ '\ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&)% +3 "core" %    +3 "storage"(% +4 "core" % " " 2\  + "storage"(n. +3 "core" .( +2 "storage"(r& +4 "core" &   j\  +2 "storage"(c& +3 "core" & * $ Q\  +2 "manipulator"&& +5 "core" &  L +2 .tElbow.seek 3 + "manipulator"&X( +5 "core" ( + "manipulator"&& +4 "core" &  L +2 "storage"(e& +3 "core" & " " ,\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&I'7 +95 "core" ' +2 "storage"(3& +3 "core" & D D \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(\ - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &   L +2 "storage"(k& +5 "core" & " " -\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&]'u +17 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(B'u +29 "core" ' + "manipulator"&Z% +4 "core" %΀  +2 "storage"( & +3 "core" & " " `\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&8'Ϭ +14 "core" ' +2 "manipulator"&s& +3 "core" &  L +2 "storage"(& +4 "core" &   j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +50 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(}' +42 "core" ' + "manipulator"&?& +4 "core" &  L +2 "manipulator"&'% +4 "core" %.  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&,(ӂ +153 "core" ( + "manipulator"&@& +4 "core" &Ӑ#   9 =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &Ӑ$  6 =A +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&5/ +58 "core" / +2 .tCC.seek :open +2 "collection"'*( +448 "core" ( +2 "storage"( & +4 "core" & H Q r\  +2 "storage"(& +4 "core" & Q R \  + "manipulator"&%& +5 "core" &ӯ   8" + "manipulator"& % +4 "core" % =   +3 .tForearm.seek :retract + "manipulator"&v' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&H( +163 "core" ( + "manipulator"&2& +3 "core" &     +3 "storage"(& +4 "core" & \\ [ \  +6 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&a'u +96 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&:1 +53 "core" 1 +2 "manipulator"&% +3 "core" % w   +2 "storage"(l& +5 "core" & \\ _ n\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&h'ϣ +16 "core" ' + "manipulator"&w& +4 "core" &  +2 "storage"(L& +3 "core" & ] _ (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&g'7 +17 "core" ' +2 "storage"(% +3 "core" % ^ _ z\ +4 ."downElevator"SE.seek :down +3 "storage"(Q' +99 (% +3 "core" %@ E O \ V_ +2 "manipulator"&4% +5 "core" %2  \ > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'d& +3 "core" & a\ +2 "manipulator"&% +4 "core" %    +2 "storage"(A% +4 "core" % h ^ 0\  +2 "storage"(0. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(S(,y +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ({& +2 "core" &,x C > \  +3 "manipulator"&K& +4 "core" &  Q  +2 .tElbow.seek 4 + "manipulator"&( +27 "core" ( +2 "manipulator"&U& +4 "core" &   @  +2 "storage"(& +3 "core" &,x i j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&J' +93 "core" ' +2 "storage"(6& +4 "core" &,x n  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(M'r +310 "core" ' + "storage"(`- +3 "core" -'\ +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +2 "core" &,j \\ g\  +3 "manipulator"&+& +4 "core" & \ !  +2 .tElbow.seek 4 +2 "manipulator"&7( +18 "core" ( +2 "manipulator"&&& +48 "core" &  =  +5 "storage"(>& +4 "core" &,j j h {\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&q'c +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&.& + "storage"(!' +6 "core" &  +3 "manipulator"&R% +4 "core" % Z M +2 .tForearm.seek :retract +2 "manipulator"&F' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" &Ӕ \   8" +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +3 "core" &Ӕ  8" +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['? +100 "core" ' +2 "manipulator"&f& +4 "core" &Ӕ   8" +2 "manipulator"&% +4 "core" %K  +2 "collection"'y& +4 "core" &\ {\ +2 "collection"'j& +6 "core" & M\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &\  v\ +7 &; z\ $e +9 &Xw s\ 7 +10 &v\ \ y\ K +9 &T\  l\ K +10 &R\  {\ K +9 &IQ \ t\ K +9 & T\ \ p\ J +10 &T \ f\ J +9 &T \ Y\ K +9 &QW \ g\ K +10 & U\  \\\ K +9 &!V\ \ _\ K +10 &#R a\ K +9 &%YQ l\ K +9 &'Q\ \ g\ K +10 &(R \ i\ K +9 &*R\ \ k\ J +9 &,bT\ \ k\ J +10 &.$T g\ J +9 &/T\ \ e\ J +10 &1U \ d\ K +9 &3iW\ \ k\ K +9 &5,U\ \ h\ J +10 &6T [\ K +9 &8R\ _\ K +9 &:qT\  e\ K +10 &<3W\ W\ K +9 &=R\ \ ]\ K +10 &?T \ \\\ K +9 &AxY \ Y\ K +9 &C9Z\ \ ^\ L +10 &Da\ \ [\ L +9 &Fm\ \ V\ N +9 &Hs\ \ R\ P +10 &J)\ \ U\ T +9 &K\ \ ]\ W +10 &M\ \ W\ W +9 &Oe\ \ U\ W +9 &Q&\ \ P\ X +10 &R\ \ \ N\ X +9 &T\ \ \ R\ Y +9 &Vf\ \ \ O\ Z +10 &X'\ \ P\ Z +9 &Y\ \ \ N\ [ +10 &[\ \ \ P\ H +9 &\\2\ \ R\ 0 +9 &\\e\ \ \ O\ M +2 ( +2 "collection"'j& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&91 +62 "core" 1 +2 "manipulator"&C% +4 "core" % K    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%V& +5 "core" &\ + "manipulator"&t% +4 "core" %   "  +2 "storage"(=% +4 "core" % ! " B\  +2 "storage"(P. +3 "core" .(,y +2 "storage"(& +4 "core" &,j # $ 2\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(W(,y +39 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +3 "core" &,|\ \  \ +2 "manipulator"&x& +4 "core" &Ӫ  G 5 +2 "manipulator"&% +4 "core" %    /  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&T( +161 "core" ( +2 "manipulator"&<& +4 "core" &    +2 "storage"(1& +4 "core" &,| ) 6 )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +93 "core" ' +2 "storage"(^& +4 "core" &,| G F \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &,j\  Q I\  +2 "manipulator"&$& +4 "core" & \  +2 .tElbow.seek 4 +2 "manipulator"&z( +3 "core" ( +2 "manipulator"&p& +3 "core" &    +3 "storage"(D& +4 "core" &,j # " J\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&b'c +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(n' +8 "core" &    +38 "manipulator"&~% +17 "core" % ~ < +2 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c( +108 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +131 "core" ( + "manipulator"&& +4 "core" &  \   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  a  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e' +98 "core" ' +2 "manipulator"&E& +3 "core" &   9  +2 "manipulator"&3% +5 "core" %  +2 "processing"%/& +3 "core" &!\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%u(^ +4 "core" &\ +8 &4\ #c +9 &Uu\ 6 +9 &v\ K +10 &U\ M +9 &`U\ M +9 &$O\ M +10 &T\ M +9 &T\ M +10 &hS\ M +9 &+W\ M +9 &T\ M +10 &!T\ N +9 &#qU\ M +9 &%2U\ M +10 &&Q\ M +9 &(U\ M +10 &*yR\ M +9 &,:U\ M +9 &-Q\ M +10 &/U\ M +9 &1O\ M +9 &3CT\ M +10 &5S\ M +9 &6T\ M +10 &8U\ N +9 &:JU\ M +9 &< T\ M +10 &=S\ M +9 &?S\ M +9 &AQT\ N +10 &C\\\ N +9 &D_\ O +10 &Fj\ P +9 &HOv\ Q +9 &J\ \ S +10 &K\ T +9 &M\ T +9 &OO\ T +10 &Q\ T +9 &R\ U +10 &T\ U +9 &VV\ T +9 &X\ U +10 &Y\ T +9 &[\ U +9 &]\\\ B +10 &^Qz\ E +9 &^\ U +10 &^ \ / +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&\ 1 +63 "core" 1 +2 "manipulator"&m% +3 "core" %   8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +2 "processing"%Y& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&Z% +4 "core" %    +2 "storage"( % +4 "core" % " " C\  +2 "storage"(s. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "manipulator"&'& +4 "core" &,|\  Q V\ +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(I'r + "manipulator"&X( +4 "core" ( +4 "manipulator"&& +4 "core" &     + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&8' +96 "core" ' + .tHand.close +2 "manipulator"&B/ +61 "core" / +2 .tPC.seek :open + "processing"%@( +88 "core" ' + "storage"(o- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +47 "core" ' +308 ( + "storage"(O& +4 "core" &,g ( " R\ +2 "manipulator"&5& +4 "core" &   +2 "manipulator"&_% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +246 "core" ( +2 "manipulator"&& +3 "core" &   / +2 "storage"(%& +4 "core" &,g  ! )\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +101 "core" ' + .tHand.open +2 "manipulator"&21 +53 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +28 "core" ' +42 .tSE.reconfigure :seal +10 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +3 "core" -' +2 "storage"(& +4 "core" &,g ; D f\ +2 "manipulator"&l& +3 "core" &  A / +3 .tElbow.seek 4 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&L& +3 "core" &   / +2 "storage"(& +5 "core" &,g K K e\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' + "manipulator"&4& +5 "core" & \ n / + "storage"(H& +5 "core" &,g ! " ^\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&a'7 +14 "core" ' +2 .tElbow.hold + "manipulator"&d, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +28 "core" ' +2 "manipulator"&% +4 "core" %A  # +2 "storage"(A& +3 "core" &,g % # \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +2 "manipulator"&0'm +16 "core" ' +2 "manipulator"&}& +3 "core" &  / +2 "storage"(g& +5 "core" &,g " " H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +15 "core" ' +2 "storage"("% +3 "core" % (  \ +3 ."downElevator"SE.seek :down +4 "storage"({' +98 (K% +3 "core" %dK\ \ ( T\ We +3 "manipulator"&U% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (6& +3 "core" &,g # ) '\ +2 "collection"';& +4 "core" &\\`\ \ &\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %   +2 "storage"(`% +4 "core" %   "\  +2 "storage"(\\. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(+(,y +37 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +3 "core" &,}   D\ +2 "manipulator"&>& +5 "core" &  / +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&.& +4 "core" & \  / +2 "storage"(R& +3 "core" &,}  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' + "storage"(J& +4 "core" &,} J F .\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &  / +2 "storage"(q& +5 "core" &,j   g\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&f'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(7'g +35 "core" ' +2 "manipulator"&!% +4 "core" %3 \   +2 "storage"(F& +3 "core" &,j # ! F\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 296 counts + "manipulator"&*'_ +15 "core" ' + "manipulator"&9& +5 "core" &   / + "storage"(C& +51 "core" &,j  ! u\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +16 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(t' +42 "core" ' +2 "manipulator"&=& +3 "core" &  / +2 "manipulator"&P% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&(& +4 "core" &Ә   9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &Ә   9& +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&[/ +60 "core" / +2 .tCC.seek :open +2 "collection"'<( +447 "core" ( +3 "storage"(1& +4 "core" &,j R Q F\  +2 "storage"(S& +3 "core" &,j Q O %\  +3 "manipulator"&^& +4 "core" &Ӫ  7 + "manipulator"&G% +4 "core" % K  \ +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&N& +4 "core" &    +2 "storage"($& +3 "core" &,j [ [ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&p'7 +93 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&)1 +61 "core" 1 +2 "manipulator"&% +4 "core" % 9  B +2 "storage"(~& +4 "core" &,j j k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 302 counts + "manipulator"&T'e +14 "core" ' +2 "manipulator"&-& +4 "core" & H  +2 "storage"(#& +3 "core" &,j ] f \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +15 "core" ' +2 "storage"(% +4 "core" % p j I\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (z% +3 "core" %F H G \ V` +2 "manipulator"&E% +3 "core" % f +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'/& +4 "core" & 4\ +2 "manipulator"&n% +3 "core" %    +2 "storage"(r% +5 "core" % k k \  + "storage"(i. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(\ (  +680 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (m& +2 "core" &  E F V\ +2 "manipulator"&Y& +5 "core" &   +2 .tElbow.seek 2 + "manipulator"&Z( +16 "core" ( +2 "manipulator"& & +3 "core" &    s +2 "storage"(s& +4 "core" &  k k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +97 "core" ' + "storage"(?& +4 "core" &    \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +311 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" & ^ g i\ +2 "manipulator"&e& +50 "core" & 2 s +4 .tElbow.seek 2 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&W& +4 "core" & s +2 "storage"(o& +4 "core" & Z Z\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&c'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +3 "storage"(I' +8 "core" & R s + "manipulator"&O% +5 "core" % ϴ    +2 .tForearm.seek :retract +2 "manipulator"&5' +98 "core" ' +2 .tElbow.seek CC + "manipulator"&_(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&8& +3 "core" &Ӑ   J 9' +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӑ  9' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'? +100 "core" ' +2 "manipulator"&X& +4 "core" &Ӑ  9' +2 "manipulator"&2% +3 "core" %B     +3 "collection"'& +3 "core" &\ \ X\ +3 "collection"'& +5 "core" &\ R\ +3 .tCC.seek :closed +2 "collection"':(\\ +4 "core" &\ r\ +7 &;\ s\ $f +10 &Yw \ r\ 7 +9 &v\  q\ K +9 &Q\ \ q\ J +10 &S p\ K +9 &IS \ p\ K +9 & W r\ K +10 &R n\ K +9 &R\ \ j\ K +10 &RT\  s\ J +9 & S\ \ i\ J +9 &!S \ _\ K +10 &#W\ \ T\ K +9 &%YR \ d\ K +10 &'Q\ `\ K +9 &(Q \ a\ K +9 &*R a\ J +10 &,bT\ a\ J +9 &.#S\ \ e\ K +9 &/V\ a\ K +10 &1T ^\ K +9 &3iU\ \ c\ K +10 &5+S\ e\ K +9 &6U \ `\ K +9 &8T\ \ g\ J +10 &:qU\ \ t\ K +9 &<4T v\ J +9 &=T\ \ p\ K +10 &?W\ \ k\ K +9 &AxV \ ]\ K +9 &C:\\\ \ \\\ K +10 &Db\ \ _\ M +9 &Fk\ \ `\ N +10 &Ho\ \ _\ Q +9 &J&\ \ [\ U +9 &K\ \ f\ W +10 &M\ \ \\\ X +9 &Ob\ \ \ _\ X +9 &Q%\ \ \\\ X +10 &R\ \ \ [\ X +9 &T\ \ \\\ Z +10 &Vd\ \ \ Y\ Z +9 &X%\ \ P\ [ +9 &Y\ \ \ \ Z\ [ +10 &[\ \ \ Z\ H +9 &\\2\ \ `\ 0 +9 &\\c\ \ \ Z\ M +3 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&1 +65 "core" 1 +2 "manipulator"&l% +4 "core" % B    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L' +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&4% +4 "core" %     +2 "storage"(H% +3 "core" %   F\  +2 "storage"( . +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +11 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (A& +2 "core" &  H /\  +3 "manipulator"&}& +4 "core" &ө   6 + "manipulator"&g% +5 "core" %    :  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +161 "core" ( + "manipulator"&"& +5 "core" &    + "storage"( & +4 "core" &  D F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +97 "core" ' +2 "storage"(,& +3 "core" &  F D K\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +298 "core" ' + "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" & # ! 1\  +2 "manipulator"&w& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&a& +4 "core" & \  o  +2 "storage"(6& +4 "core" & ( E 5\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&0'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +57 "core" / +3 ."downElevator"SE.seek :down +49 "manipulator"&& +5 "storage"(`' +7 "core" &    +3 "manipulator"&\\% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&h' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&&( +157 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&>& +5 "core" &  * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +3 "core" &  * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +100 "core" ' +2 "manipulator"&Q& +4 "core" &   * +2 "manipulator"&J% +5 "core" %   +2 "processing"%{& +3 "core" &\ +3 "processing"%& +4 "core" & \ +3 .tPC.seek :closed +2 "processing"%d(^ +4 "core" &\  +9 &4v\ *x +9 &e{\ > +9 &n\ N +10 &HN\ M +9 &\ U\ M +9 &R\ M +10 &R\ M +9 &OR\ N +10 &T\ N +9 &U\ M +9 & U\ N +10 &"XT\ M +9 &$U\ N +9 &%R\ M +10 &'P\ M +9 &)`P\ M +10 &+"Q\ M +9 &,S\ M +9 &.S\ N +10 &0gT\ N +9 &2*S\ M +9 &3O\ M +10 &5U\ M +9 &7pT\ M +10 &92W\ M +9 &:W\ M +9 &<R\ N +10 &>xY\ M +9 &@:T\ M +9 &A\\\ N +10 &Cb\ O +9 &Eze\ O +10 &G9l\ P +9 &Hy\ R +9 &J\ T +10 &Lv\ S +10 &N5\ T +8 &O\ T +10 &Q\ U +9 &S{\ T +10 &U;\ U +9 &V\ U +9 &X\ T +10 &Z\ U +9 &\\C\ U +9 &]zq\ 8 +10 &^*}\ M +9 &^$\ 2 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&|% +4 "core" %     +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +93 "core" ' +2 "processing"%q& +4 "core" &^#\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&y% +5 "core" %     + "storage"(!% +4 "core" %   y\  +2 "storage"(F. +3 "core" .(  +2 "storage"(9& +3 "core" & T & /\  +3 "storage"(C& +3 "manipulator"&=& +6 "core" &  ! #\  +2 &   * +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&P( +5 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +3 "manipulator"&& +4 "core" &  o * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  * +2 .tForearm.seek PC +2 "manipulator"&f' +92 "core" ' + .tHand.close +2 "manipulator"&*/ +54 "core" / +3 .tPC.seek :open +2 "processing"%7( +97 "core" ' +2 "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(x'1 +42 "core" ' +304 ( +2 "storage"(V& +3 "core" & # # \  +3 "manipulator"&& +4 "core" &  * + "manipulator"&[% +5 "core" %   D +2 .tForearm.seek :retract + "manipulator"&j' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +245 "core" ( + "manipulator"&1& +4 "core" &  \  " +2 "storage"(S& +4 "core" & # $ (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&^'S +94 "core" ' + .tHand.open +2 "manipulator"&G1 +64 "core" 1 +2 "storage"(N- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"($' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +51 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"()& +3 "core" & V W\  +3 "manipulator"&& +4 "core" &   d " +2 .tElbow.seek 2 +2 "manipulator"&~( +9 "core" ( + "manipulator"&-& +4 "core" &   )  +2 "storage"(#& +3 "core" & U V \  +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' + "manipulator"&z& +5 "core" &    + "storage"(E& +5 "core" &   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&'Α +22 "core" ' +2 .tElbow.hold + "manipulator"&p, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(/' +19 "core" ' +2 "manipulator"&n% +3 "core" %Δ   +3 "storage"(T& +4 "core" & "  ,\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&r' +14 "core" ' +2 "manipulator"&i& +4 "core" & \ O  +2 "storage"(t& +3 "core" &   N\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&b'S +17 "core" ' +2 "storage"(% +3 "core" %  # J\ +3 ."downElevator"SE.seek :down +4 "storage"(+' +99 (m% +3 "core" %Nb\ \  ]\ Zo +2 "manipulator"&Y% +4 "core" %H   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +3 "core" & 1 o\  +2 "collection"'?& +3 "core" &\\`\ \ \ +\ M +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&D% +4 "core" %     +2 "storage"(3% +4 "core" % 3  O\  +2 "storage"(. +3 "core" .(  +2 "storage"(]& +4 "core" &   \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(e(  +36 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" & \ \  z\ +2 "manipulator"&o& +5 "core" &   +2 .tElbow.seek 2 + "manipulator"&k( +10 "core" ( + "manipulator"&u& +4 "core" &    +2 "storage"(O& +3 "core" &  " " \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'S +100 "core" ' +2 "storage"(& +3 "core" &  E D\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +295 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &   +2 "storage"(c& +4 "core" & F D x\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&X'Α +24 "core" ' + .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(B'g +30 "core" ' +2 "manipulator"&I% +4 "core" %Ρ  + "storage"(5& +5 "core" & \ \  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&<' +14 "core" ' + "manipulator"&& +4 "core" &  6  +2 "storage"(l& +3 "core" & " " \ +50 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(4' +35 "core" ' +2 "manipulator"&H& +3 "core" &   +3 "manipulator"& % +4 "core" %K   K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A(ӂ +152 "core" ( +2 "manipulator"&}& +4 "core" &Ӌ%   1 >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &Ӌ%  >K +2 .tForearm.seek CC +2 "manipulator"&%'? +97 "core" ' +2 .tHand.close + "manipulator"&"/ +53 "core" / +2 .tCC.seek :open +2 "collection"' ( +448 "core" ( +2 "storage"(\ & +3 "core" & P I T\ +2 "storage"(,& +3 "core" & R Q ^\ +3 "manipulator"&_& +3 "core" &Ӯ  9( +2 "manipulator"&L% +4 "core" % C   +2 .tForearm.seek :retract +2 "manipulator"&U' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&v( +163 "core" ( +2 "manipulator"&w& +3 "core" &    +3 "storage"(a& +3 "core" & h h V\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&6'Α +93 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +52 "core" 1 +3 "manipulator"&\\% +4 "core" % Κ   t % +2 "storage"(& +3 "core" & h h |\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"& ' +14 "core" ' +2 "manipulator"&K& +4 "core" &  +2 "storage"(0& +3 "core" & [ ^ ,\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'S +19 "core" ' +2 "storage"(.% +4 "core" % [ ^ |\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (Q% +3 "core" %R  #\ Wi +2 "manipulator"&J% +3 "core" %F  n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'`& +3 "core" &\  7\ +2 "manipulator"&h% +4 "core" %    +2 "storage"(@% +3 "core" % i i \  +3 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(|( +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +3 "core" & C E I\  +2 "manipulator"&y& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&!( +35 "core" ( +2 "manipulator"&F& +4 "core" &   7 + "storage"(9& +5 "core" & _ i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +90 "core" ' + "storage"(=& +5 "core" & r k \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & S H \  +2 "manipulator"&R& +49 "core" &  7 +5 .tElbow.seek 3 +2 "manipulator"&*( +4 "core" ( + "manipulator"&(& +4 "core" &  7 +2 "storage"(&& +3 "core" & e [\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&M'ϡ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(V' +8 "core" & o 7 +2 "manipulator"&% +4 "core" % ϖ  +2 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +151 "core" ( +2 "manipulator"&1& +4 "core" ' + &ӂ%   " >M +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +3 &S& +3 "core" &ӂ%   i >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'? +99 "core" ' +2 "manipulator"&G& +4 "core" &ӊ$   & =E +2 "manipulator"&N% +5 "core" %8    +2 "collection"'j& +4 "core" &\  Q\ +2 "collection"'& +6 "core" &\ \ ~\ +2 .tCC.seek :closed +3 "collection"')(\\ +4 "core" &\  z\ +5 & x\ ; +10 &JKu\ \ 1 +9 &u{\ \ ~\ E +9 &/W \ s\ K +10 &S\ \ \ K +9 &W\ \ ~\ K +10 &vR\ \ x\ K +9 &8R\ \ t\ K +9 &T\ \ r\ J +10 &T\ \ q\ K +9 &~W\ \ d\ K +9 &!@W\ \ b\ K +10 &#Q \ b\ K +9 &$Q\ \ [\ K +10 &&T\ \ e\ J +9 &(HU \ \\\ K +9 &*\ W\ \ e\ K +10 &+V\ \ b\ K +9 &-R \ _\ K +10 &/PR\ \ d\ K +9 &1S\ \ b\ J +9 &2T \ f\ K +10 &4R\ \ d\ K +9 &6XT \ g\ K +9 &8U\ \ s\ J +10 &9U\  s\ K +9 &;R\ \ k\ K +9 &=`T\ \ r\ K +10 &?!W\ \ k\ K +9 &@U\ \ k\ K +10 &BU\ \ p\ K +9 &Df\\\ \ d\ L +9 &F$e\ \ p\ M +10 &Gu\ \ i\ O +9 &I\ \ i\ R +9 &KP\ \ q\ V +10 &M\ \ p\ W +9 &N\ \ \ i\ X +10 &P\ \ m\ X +9 &RQ\ \ p\ X +9 &T\ \ \ ]\ Y +10 &U\ \ h\ Z +9 &W\ \ ^\ Z +9 &YP\ \ d\ [ +10 &[\ \ \\\ [\ +9 &\\fF\ \ c\ 1 +10 &\\\ \ \ ]\ K +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&1 +4 "core" &\\`\ \ ]\ K +51 1 +2 "manipulator"&-% +4 "core" % 8   &  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%z& +4 "core" &"\ +2 "manipulator"&E% +3 "core" %    +3 "storage"(x% +4 "core" %   ;\  + "storage"(n. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(T( +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" & \ E\  +2 "manipulator"&$& +4 "core" &Ӭ \  5 9# +2 "manipulator"&t% +3 "core" %    -  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(^& +5 "core" & F D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +103 "core" ' + "storage"(m& +4 "core" & A ; j\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'r +305 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (~& +2 "core" & * 4 Y\  +3 "manipulator"&& +3 "core" & +  +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&s& +3 "core" &  @  +2 "storage"(r& +5 "core" & F E\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'ϡ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +64 "core" / +3 ."downElevator"SE.seek :down +50 "manipulator"&3& +4 "storage"(' +8 "core" &   +2 "manipulator"&/% +4 "core" % ϖ  ; +2 .tForearm.seek :retract +2 "manipulator"&]' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&W( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&o& +5 "core" & \  " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &  " +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&O' +96 "core" ' +2 "manipulator"&b& +4 "core" &   " +2 "manipulator"&% +4 "core" %  ? +2 "processing"%+& +5 "core" &\ +2 "processing"%& +5 "core" & \ +3 .tPC.seek :closed + "processing"%p(^ +5 "core" &\ +7 &<\ $d +10 &Yy \ 7 +9 &x \ L +9 &R \ M +10 &sU \ M +9 &5O\ M +10 &V\ M +9 &S\ M +9 &{Q\ M +10 &<T\ N +9 &T\ M +9 &!O\ M +10 &#U\ N +9 &%DS\ N +10 &'R\ M +9 &(U\ M +9 &*U\ N +10 &,MT\ M +9 &.Q\ M +10 &/V\ M +9 &1S\ N +9 &3US\ M +10 &5S\ N +9 &6S\ M +9 &8W\ M +10 &:]U\ M +9 &<W\ M +9 &=W\ M +10 &?R\ N +9 &AdY\ N +10 &C#`\ O +9 &Dd\ O +9 &Fm\ P +10 &H^}\ R +9 &J\ T +9 &K\ T +11 &M\ T +8 &Oa\ T +10 &Q!\ U +9 &R\ T +9 &T\ U +10 &Vg\ U +9 &X*\ T +9 &Y\ U +10 &[\ U +9 &]m\ C +10 &^9h\ $i +9 &^1\ / +5 ( +2 "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"& 1 +3 "core" &^\ / +49 1 +2 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'' +90 "core" ' +2 "processing"%c& +3 "core" &^\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %    +2 "storage"(I% +4 "core" % $ # =\  +2 "storage"(5. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "manipulator"&H& +4 "core" &\ \  \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   y " +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'r + "manipulator"&Z( +7 "core" ( + "manipulator"&k& +4 "core" &   { " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" & " +3 .tForearm.seek PC +2 "manipulator"&X' +92 "core" ' + .tHand.close +2 "manipulator"&'7 +18 "core" ' +2 "storage"(% +3 "core" % E C\ +4 ."downElevator"SE.seek :down +3 "storage"(e' +98 (q% +3 "core" %mI I C\ Wc +3 "manipulator"&y% +4 "core" %4  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (9& +3 "core" & " # ?\  +2 "collection"'=& +3 "core" &\\`\ \ D\ K +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&;% +4 "core" %     +2 "storage"({% +4 "core" % D E\  +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & D E\  +2 "storage"(R& +4 "core" & D D\  +2 "manipulator"&(& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&&( +4 "core" ( + "manipulator"&d& +4 "core" &  S  +2 "storage"(& +3 "core" & D E\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +96 "core" ' + "storage"(!& +4 "core" & E E\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +305 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &   +2 "storage"(& +3 "core" &  \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&M'u +19 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(j'u +30 "core" ' +2 "manipulator"&*% +4 "core" %w   + "storage"(V& +4 "core" & $  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&['ϣ +13 "core" ' +2 "manipulator"& & +3 "core" &    +2 "storage"(& +5 "core" & E F\  +42 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&-'7 +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(z' +41 "core" ' +2 "manipulator"&E& +4 "core" &   +2 "manipulator"&x% +4 "core" %#  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +162 "core" ( + "manipulator"&i& +4 "core" &Ӑ   3 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &Ӑ  8 +3 .tForearm.seek CC +2 "manipulator"&t'? +94 "core" ' + .tHand.close +2 "manipulator"&P/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(^& +3 "core" & N B B\  +2 "storage"(|& +5 "core" & Q Q 3\  + "manipulator"&m& +4 "core" &ӵ   3 +2 "manipulator"&f% +4 "core" % 3  \  +2 .tForearm.seek :retract +2 "manipulator"&#' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( + "manipulator"&~& +4 "core" &   +2 "storage"(& +4 "core" & h f h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&s'u +102 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&D1 +53 "core" 1 +3 "manipulator"&3% +4 "core" %    + "storage"(/& +4 "core" & ^ e L\  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&'ϫ +14 "core" ' + "manipulator"&& +3 "core" & _  +3 "storage"(Y& +3 "core" & ] [ a\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&?'7 +17 "core" ' +2 "storage"(o% +3 "core" % [ _ r\ +3 ."downElevator"SE.seek :down +3 "storage"(u' +99 (% +3 "core" %D D D\ V` +2 "manipulator"&b% +4 "core" %5 ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'+& +3 "core" & N\ +2 "manipulator"&% +3 "core" %    +3 "storage"(]% +4 "core" % f ^ B\  +2 "storage"(7. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,y B U 3\  +2 "manipulator"&c& +4 "core" &  j  +2 .tElbow.seek 4 +2 "manipulator"&( +42 "core" ( +2 "manipulator"&I& +4 "core" &     +2 "storage"(5& +4 "core" &,y k k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +94 "core" ' + "storage"(& +4 "core" &,y   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(H'r +294 "core" ' +2 "storage"(k- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &,j : 8 e\  +3 "manipulator"&O& +3 "core" & d  +48 .tElbow.seek 4 +3 "manipulator"&<( +3 "core" ( +2 "manipulator"&T& +4 "core" & \   +2 "storage"(}& +4 "core" &,j h h 0\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&W'c +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +3 "storage"( ' +8 "core" & +  + "manipulator"&% +5 "core" % ]  8 +2 .tForearm.seek :retract +2 "manipulator"&2' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&X& +4 "core" &ӕ"  * ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &ӕ"   ;5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'? +93 "core" ' +2 "manipulator"&Z& +3 "core" &ӕ"    ;5 +3 "manipulator"&L% +4 "core" %<   2 B +2 "collection"'w& +4 "core" &\ \ \ +2 "collection"'& +5 "core" &\ \ c\ +3 .tCC.seek :closed +2 "collection"'A(\\ +3 "core" & \ +9 &;\ \ \ $f +9 &Yw\  \ 7 +10 &v \ v\ J +9 &P \ \ K +9 &W\ \ \ K +10 &IR\ \ y\ K +9 & R \ v\ K +10 &R\ \ \ K +9 &Q\ \ \ K +9 &QQ\  \ K +10 & Q\ \ \ K +9 &!R\ \ z\ K +10 &#S\ \ z\ K +9 &%YQ\ \ \ K +9 &'Q\  |\ K +10 &(Q \ k\ K +9 &*Q\ \ f\ K +9 &,aR\ \ c\ K +10 &.#Q \ h\ K +9 &/S \ p\ J +9 &1U\ \ j\ J +10 &3iU\ \ n\ K +9 &5+R\  j\ K +10 &6U\ \ k\ K +9 &8W\ v\ K +9 &:rT\ \ w\ J +10 &<3T\  u\ K +9 &=W\  t\ K +9 &?U\ \ t\ J +10 &AyU\ \ o\ K +9 &C:Y\ \ m\ K +10 &D`\ \ r\ L +9 &Fj\ \ o\ M +9 &Hq\ \ u\ P +10 &J(\ \ u\ T +9 &K\ \ q\ W +9 &M\ \ \ k\ W +10 &Od\ \ \ \ o\ X +9 &Q&\ \ o\ X +10 &R\ \ \ q\ Y +9 &T\ \ q\ Y +9 &Vg\ \ \ k\ Y +10 &X%\ \ l\ [ +9 &Y\ \ o\ [ +9 &[\ \ m\ H +10 &\\4\ \ p\ . +9 &\\k\ \ \ h\ L +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&1 +52 "core" 1 +3 "manipulator"&\\% +3 "core" % <   $ B +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%0& +4 "core" &\ +2 "manipulator"&Q% +4 "core" %     +2 "storage"(J% +3 "core" % " $ B\  +2 "storage"(g. +3 "core" .(,y +2 "storage"( & +3 "core" &,j ! " D\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(a(,y +40 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +3 "core" &,x\ \ \ +2 "manipulator"&& +5 "core" &ӫ   ] 8 + "manipulator"&4% +4 "core" %   7  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&:& +3 "core" &   +2 "storage"(_& +5 "core" &,x . 3 =\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +93 "core" ' +2 "storage"(q& +3 "core" &,x J O K\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +292 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,j   B\  +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&v( +4 "core" ( + "manipulator"&9& +3 "core" &   +3 "storage"(@& +4 "core" &,j   \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&='c +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +54 "core" / +3 ."downElevator"SE.seek :down +51 "manipulator"&{& +3 "storage"(' +8 "core" &   +2 "manipulator"&`% +3 "core" % [   +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&R( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&(& +5 "core" &  5 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +2 "core" & \  p 2 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 "manipulator"&>& +3 "core" &  2 +3 "manipulator"&!% +3 "core" %   8 +3 "processing"%e& +3 "core" &*\ +3 "processing"%6& +5 "core" & \ +3 .tPC.seek :closed +2 "processing"%F(^ +4 "core" & \  +9 &2u \ )w +10 &b{ \ = +9 &pn\ N +9 &3O\ M +10 &T\ N +9 &T\ M +10 &xQ\ M +9 &:R \ M +9 &R\ M +10 &Q \ M +9 & Q\ M +9 &"BQ\ M +10 &$V\ M +9 &%Q\ M +10 &'Q\ M +9 &)JQ\ M +9 &+ R\ M +10 &,R\ M +9 &.P\ M +9 &0RQ\ M +10 &2P\ M +9 &3S\ M +10 &5P\ M +9 &7YT\ N +9 &9U\ N +10 &:U\ N +9 &<T\ N +9 &>aW\ N +10 &@$S\ M +9 &AW\ N +10 &C_\ N +9 &Eec\ O +9 &G#m\ P +10 &H~\ R +9 &J\ T +9 &L`\ S +10 &N \ T +9 &O\ T +10 &Q\ U +9 &Se\ T +9 &U%\ U +10 &V\ T +9 &X\ U +9 &Zl\ U +10 &\\.\ U +9 &]{s\ = +10 &^&\\\ V +9 &^(\ 4 +2 ( +2 "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&11 +53 "core" 1 +2 "manipulator"&S% +4 "core" %   a 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 "processing"%N& +5 "core" &^*\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&*% +4 "core" %     +2 "storage"(V% +3 "core" %\ &\  <\  +2 "storage"( . +4 "core" .(,y +2 "storage"(& +4 "core" &,j\ \  \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(E(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (x& + "manipulator"&& +6 "core" &,|\ \ ' 8\ + &   9 2 +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(&'r + "manipulator"&C( +7 "core" ( + "manipulator"&M& +5 "core" &   L 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &[& +2 "core" &   , 2 +3 .tForearm.seek PC +2 "manipulator"&j' +101 "core" ' + .tHand.close +2 "manipulator"&i/ +56 "core" / +2 .tPC.seek :open +2 "processing"%$( +84 "core" ' +2 "storage"(-- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(G'1 +47 "core" ' +311 ( +2 "storage"(P& +4 "core" &,h  ! \  + "manipulator"&n& +5 "core" &  2 + "manipulator"&)% +4 "core" %  k +2 .tForearm.seek :retract +2 "manipulator"&^' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&|( +244 "core" ( +2 "manipulator"&m& +4 "core" &   F +2 "storage"(f& +3 "core" &,h T g\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +101 "core" ' +2 .tHand.open + "manipulator"&1 +98 "core" 1 +10 "storage"(t- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(D' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(3- +3 "core" -' +2 "storage"(/& +3 "core" &,h : K \  +2 "manipulator"&& +5 "core" & \  F +2 .tElbow.seek 4 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&o& +4 "core" &   F +2 "storage"(#& +3 "core" &,h I D J\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +25 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(b'" +51 "core" ' +2 "manipulator"&& +4 "core" &  F +2 "storage"(s& +3 "core" &,h R % \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&+'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&]% +3 "core" %B \  +2 "storage"(7& +5 "core" &,h\ \  k\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 311 counts + "manipulator"&z'n +14 "core" ' +2 "manipulator"&?& +3 "core" &    F +2 "storage"(u& +5 "core" &,h " " /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +4 "core" % ! " D\ +2 ."downElevator"SE.seek :down +4 "storage"(c' +99 (I% +3 "core" %9L\ )\ ( x\ We +2 "manipulator"&5% +3 "core" %  +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (r& +3 "core" &,h  * `\  +2 "collection"'& +4 "core" &\\k\ \ \ C\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&k% +5 "core" %    + "storage"(8% +5 "core" % ! ! H\  + "storage"(O. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(T(,y +38 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &,}   z\ +2 "manipulator"&'& +4 "core" &  E +2 .tElbow.seek 4 +2 "manipulator"&p( +4 "core" ( + "manipulator"&& +3 "core" &  y E +3 "storage"(& +4 "core" &,}  ! }\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +93 "core" ' +2 "storage"(X& +4 "core" &,} D D\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'r +297 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" &   E +2 "storage"(Z& +5 "core" &,j S Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&L'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"( 'j +30 "core" ' +2 "manipulator"&2% +4 "core" %6   + "storage"(& +5 "core" &,j " # <\  + .tForearm.force -20 +2 "manipulator"&5 +48 .tForearm.seek 4 + 299 counts +3 "manipulator"&'b +15 "core" ' + "manipulator"&\\& +5 "core" &    E +2 "storage"(0& +4 "core" &,j  # 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&Q' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(J' +40 "core" ' +2 "manipulator"&g& +3 "core" &  E +2 "manipulator"& % +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +178 "core" ( +2 "manipulator"&& +4 "core" &Ӄ   T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &Ӄ  R T +2 .tForearm.seek CC +2 "manipulator"&,'? +102 "core" ' + .tHand.close +2 "manipulator"&:/ +59 "core" / +2 .tCC.seek :open +2 "collection"'_( +448 "core" ( + "storage"( & +5 "core" &,j ; D \  +2 "storage"(q& +4 "core" &,j R H \  + "manipulator"&"& +4 "core" &Ӄ  T +2 "manipulator"&K% +4 "core" % #  +2 .tForearm.seek :retract +2 "manipulator"&.' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +152 "core" ( +2 "manipulator"&U& +3 "core" &    +2 "storage"(9& +5 "core" &,j e ] 6\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&@'7 +93 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&{1 +60 "core" 1 +2 "manipulator"&`% +5 "core" % *  A > + "storage"(& +4 "core" &,j k k \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 287 counts +2 "manipulator"&%'V +16 "core" ' +2 "manipulator"&y& +5 "core" &  + "storage"(=& +4 "core" &,j ^ [ S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +16 "core" ' + "storage"(d% +4 "core" %  ~ \ +3 ."downElevator"SE.seek :down +4 "storage"(v' +99 (>% +3 "core" %C G O T\ U^ +2 "manipulator"&!% +3 "core" % + +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &\ \ +2 "manipulator"&% +4 "core" %   +2 "storage"(B% +3 "core" % k k \  +2 "storage"(1. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(S(  +696 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" & Z e \  +2 "manipulator"&*& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&V( +10 "core" ( +2 "manipulator"& & +4 "core" &  \   +2 "storage"(& +4 "core" & i j p\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&6'S +94 "core" ' +2 "storage"(x& +3 "core" &   \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +52 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ([& +2 "core" & W > \ +3 "manipulator"&& +3 "core" &  @  +3 .tElbow.seek 2 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&a& +3 "core" &  b  +2 "storage"(-& +5 "core" & h h X\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&R'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(&' +8 "core" &   +2 "manipulator"&P% +4 "core" % Ϸ @ +2 .tForearm.seek :retract +2 "manipulator"&n' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +150 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&j& +3 "core" &x&   * ?T +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &x& O ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&f'? +97 "core" ' + "manipulator"&C& +5 "core" &Ӓ"  \  <: +2 "manipulator"&% +4 "core" %5  ! +2 "collection"'t& +3 "core" & \ \ +3 "collection"'^& +5 "core" & n\ +3 .tCC.seek :closed +2 "collection"'3(\\ +4 "core" &\ \  +9 &6}\ \ \ +{ +9 & f|\ \ \ > +10 &k\ \ \ L +9 &_R\ \ \ K +9 &"S\ \ \ J +10 &T\ \ K +9 &V\ \ \ K +9 &gV\ \ \ K +10 &)X\ \ \ K +9 &Q\ \ \ K +10 & Q\ \ \ J +9 &"oT\ \ \ J +9 &$1R\ \ w\ J +10 &%S\ \ y\ J +9 &'T\ \ v\ J +9 &)wT\ \ p\ J +10 &+9S\ \ h\ J +9 &,T\ \ i\ J +10 &.S\ \ s\ J +9 &0T \ z\ J +9 &2@S\ \ w\ K +10 &4X\  s\ K +9 &5T\ \ q\ J +9 &7U\ \ t\ K +10 &9HS\ \ w\ K +9 &; T\ \ w\ J +10 &<T\ \ u\ K +9 &>X \ r\ K +9 &@PT\ \ v\ K +10 &BY\ \ q\ L +9 &C\\\ \ v\ L +9 &Ef\ \ r\ M +10 &GNs\ \ l\ N +9 &I\ \ r\ R +10 &J\ \ w\ V +9 &Lz\ \ p\ W +9 &N<\ \ \ j\ W +10 &O\ \ o\ X +9 &Q\ \ m\ Y +9 &S~\ \ \ u\ Y +10 &U?\ \ \ j\ Y +9 &V\ \ \ h\ [ +10 &X\ \ \ \ p\ [ +9 &Z\ \ \ o\ [\ +11 &\\#{\ \ h\ / +8 &\\2\ \ q\ !f +9 ( + &\\a\ \ \ h\ L +2 "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&/1 +53 "core" 1 +3 "manipulator"&% +4 "core" % 5   ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%#& +4 "core" &-\ + "manipulator"&% +5 "core" %      + "storage"(s% +4 "core" % " ! 9\  +2 "storage"(G. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(](  +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (7& +3 "core" &  ! x\ +2 "manipulator"&& +3 "core" &Ӯ   8 +2 "manipulator"&?% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&u( +163 "core" ( +2 "manipulator"&& +3 "core" &     +2 "storage"(|& +5 "core" &  D E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'S +103 "core" ' + "storage"(D& +4 "core" &  E F \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'r +293 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  # V\  +2 "manipulator"&Y& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&+& +3 "core" &    +3 "storage"(r& +4 "core" & G E \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +50 "manipulator"&#Q@2^d^b +5 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(8' +8 "core" &     +2 "manipulator"&O% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&'& +5 "core" &  G 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & \  y 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +89 "core" ' +2 "manipulator"&& +3 "core" &   3 +3 "manipulator"&X% +3 "core" %  # b +3 "processing"%c& +3 "core" &2\ +3 "processing"%E& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +6 &;\ #c +10 &Vy\ 7 +9 &x \ L +9 &P\ \ M +10 &lU \ M +9 &/Q \ M +9 &T\ M +10 &P \ M +9 &tS\ M +10 &7Q\ M +9 &T \ M +9 &!P\ M +10 &#|T\ M +9 &%>Q\ M +9 &'S\ M +10 &(P\ M +9 &*U\ N +10 &,FU\ M +9 &. P\ M +9 &/W\ M +10 &1T\ M +9 &3NT\ M +9 &5T\ M +10 &6T\ M +9 &8T\ M +10 &:WP\ M +9 &<W\ M +9 &=W\ M +10 &?W\ N +9 &A]V\ N +9 &C]\ N +10 &D`\ O +9 &Fh\ P +10 &H[u\ Q +9 &J\ S +9 &K\ T +10 &M\ T +9 &OY\ T +9 &Q\ U +10 &R\ T +9 &T\ U +10 &V`\ U +9 &X#\ T +9 &Y\ U +10 &[\ U +9 &]g\ B +9 &^Ap\ ^ +10 &^;\ 3 +5 ( +2 "processing"%E& +3 "core" &^$\ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&H% +4 "core" %   \ ! b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +94 "core" ' +2 "processing"%Z& +3 "core" &^#\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&<% +4 "core" %   Q  +2 "storage"(2% +3 "core" % " " A\  +2 "storage"(. +3 "core" .(  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(\\(  +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (0& +2 "manipulator"&g& +6 "core" &  & R o\ + &   F 3 +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +5 .tElbow.seek PC +2 "manipulator"& ( +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(l'r +2 "core" ( + "manipulator"&p& +6 "core" &   3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &  v 3 +2 .tForearm.seek PC +2 "manipulator"&L' +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"% ( +104 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +46 "core" ' +291 ( + "storage"(Q& +4 "core" & " $ {\  +2 "manipulator"&w& +4 "core" &  3 +2 "manipulator"&:% +3 "core" %  J  +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&A( +245 "core" ( + "manipulator"& & +4 "core" &   C +2 "storage"(q& +4 "core" &   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&"'S +94 "core" ' +9 .tHand.open +2 "manipulator"&K1 +60 "core" 1 +2 "storage"(U- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"({& +4 "core" & f f Y\  +2 "manipulator"&`& +3 "core" &    C +3 .tElbow.seek 2 + "manipulator"&( +5 "core" ( + "manipulator"&y& +4 "core" &   8 C +2 "storage"(=& +3 "core" & e f o\  +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&d'S +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +52 "core" ' + "manipulator"&>& +3 "core" &  C +3 "storage"(!& +3 "core" & !  \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +26 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +3 "manipulator"&% +3 "core" %Η \  +2 "storage"(%& +5 "core" &   \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&B' +13 "core" ' +2 "manipulator"&1& +3 "core" &   % C +2 "storage"(J& +5 "core" & " # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&('S +17 "core" ' + "storage"(v% +5 "core" % # * \ +2 ."downElevator"SE.seek :down +4 "storage"(T' +98 (N% +3 "core" %Z\ %\  /\ Yl +2 "manipulator"&*% +5 "core" %H   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  m\  +3 "collection"'x& +4 "core" &\\a\ \ H\ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&;% +4 "core" %    +2 "storage"(e% +3 "core" %   Q\  +2 "storage"(M. +3 "core" .(  +2 "storage"([& +4 "core" &  " \  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +29 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (a& +2 "core" &  # % +\ +3 "manipulator"&-& +4 "core" &   C +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&F& +4 "core" &    C +2 "storage"(P& +3 "core" &  "  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&V'S +101 "core" ' + "storage"(6& +5 "core" &  N J \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +296 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &  C +2 "storage"(R& +3 "core" & 6 A \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&C'Α +20 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(t- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(i'g +29 "core" ' +49 "manipulator"&&% +3 "core" %Ε   +2 "storage"(n& +5 "core" & " " 0\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 304 counts +2 "manipulator"&_' +14 "core" ' +2 "manipulator"&/& +4 "core" & \ = C +2 "storage"(& +5 "core" & " " }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&#'S +17 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +33 "core" ' +2 "manipulator"&s& +3 "core" &  C +3 "manipulator"&G% +4 "core" %F  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7(ӂ +154 "core" ( +2 "manipulator"&& +3 "core" &Ӕ"   ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &?& +2 "core" &ӕ"   @ ;3 +3 .tForearm.seek CC +2 "manipulator"&f'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +3 .tCC.seek :open +2 "collection"'|( +447 "core" ( + "storage"(S& +4 "core" & < E \  +2 "storage"(D& +4 "core" & D N \  +2 "manipulator"&)& +3 "core" &Ӭ  8 +2 "manipulator"&o% +5 "core" % ?  \  +2 .tForearm.seek :retract + "manipulator"&5' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&Y& +3 "core" &    +2 "storage"(+& +4 "core" & ^ h P\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&r'Α +96 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +59 "core" 1 +2 "manipulator"&O% +3 "core" % Ύ 2  +2 "storage"(u& +4 "core" & j k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 297 counts + "manipulator"&~'Ϻ +13 "core" ' +2 "manipulator"&I& +4 "core" &   +2 "storage"(z& +3 "core" & b f \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&''S +17 "core" ' +2 "storage"(% +4 "core" % i i \ +3 ."downElevator"SE.seek :down +4 "storage"(b' +99 (% +4 "core" %;N " " )\ Xh +2 "manipulator"&X% +3 "core" %H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'8& +3 "core" & \ +3 "manipulator"&% +4 "core" %    +2 "storage"($% +4 "core" % f _ n\  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(H( +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" & + 8 1\  +2 "manipulator"&<& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&2( +35 "core" ( +2 "manipulator"&& +3 "core" &  " ! +2 "storage"(E& +3 "core" & j k \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&g'7 +94 "core" ' +2 "storage"(0& +3 "core" &  o \  +48 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +298 "core" ' +2 "storage"(\ - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & Y f\  +2 "manipulator"&& +5 "core" &  ! +2 .tElbow.seek 3 +2 "manipulator"&]( +26 "core" ( + "manipulator"&& +5 "core" &   j + "storage"(}& +5 "core" & j k \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&W'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&l& +3 "storage"(Q' +8 "core" &  j +2 "manipulator"&w% +3 "core" % Ϯ  +3 .tForearm.seek :retract +2 "manipulator"&:' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +153 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"& & +2 "storage"(5 +7 "core" &x(   @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &x'   @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +92 "core" ' +2 "manipulator"&K& +3 "core" &ӕ#   <? +3 "manipulator"&U% +3 "core" %7 \  @ +3 "collection"'h& +3 "core" &\ \ +3 "collection"'{& +6 "core" &\ l\ +2 .tCC.seek :closed +2 "collection"'`(\\ +5 "core" & \ \ +7 &; \ $f +9 &Xx \ 7 +9 &w\ \ \ K +10 &T\ \ K +9 &S\ \ \ K +10 &JT\ \ \ J +9 & U\ \ \ K +9 &W \ \ K +10 &V\ \ \ K +9 &QR\ \ \ K +9 & Q\ \ \ K +10 &!Q\ \ \ K +9 &#S\ \ \ K +10 &%ZS\ \ \ J +9 &'T\ \ y\ J +9 &(T\ \ K +10 &*U\ \ {\ K +9 &,bW\ \ r\ K +9 &.$R \ x\ K +10 &/V \ o\ K +9 &1R\ \ s\ K +10 &3iS\  m\ K +9 &5+S\ \ l\ K +9 &6T \ u\ K +10 &8R\ \ t\ K +9 &:rT \ x\ J +9 &<3T \ v\ K +10 &=W\ \ o\ K +9 &?T\ \ u\ J +10 &AyV\ \ w\ K +9 &C:Y\ \ v\ K +9 &D_\ \ w\ L +10 &Fk\ \ v\ M +9 &Hs{\ \ \ t\ P +9 &J*\ \ o\ T +10 &K\ \ l\ V +9 &M\ \ q\ W +10 &Od\ \ \ u\ X +9 &Q'\ \ \ v\ W +9 &R\ \ n\ Y +10 &T\ \ w\ X +9 &Vf\ \ \ l\ Z +9 &X'\ \ v\ Z +10 &Y\ \ q\ [ +9 &[\ \ t\ H +10 &\\0\ \ r\ 1 +9 &\\b\ \ \ h\ J +2 ( +2 "collection"'{& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&y1 +52 "core" 1 +2 "manipulator"&=% +4 "core" % 7   V @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%>& +4 "core" &\ +2 "manipulator"&!% +4 "core" %    e " +2 "storage"(4% +4 "core" % $ " \  + "storage"(. +3 "core" .( +2 "storage"(%& +4 "core" & % " A\  +2 "storage"(9& +3 "core" & " " ?\  +2 "manipulator"&1& +5 "core" &ӫ  0 9) + "manipulator"&J% +5 "core" %  \  " +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&v( +164 "core" ( + "manipulator"&A& +5 "core" &    + "storage"("& +4 "core" & D G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&,'7 +99 "core" ' +2 "storage"(N& +3 "core" & H O '\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +304 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & " % \  +2 "manipulator"&.& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&B& +4 "core" &    +2 "storage"(& +4 "core" & "  /\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&x'ϡ +15 "core" ' +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(M' +8 "core" &  5  +2 "manipulator"&% +3 "core" % ϗ  +3 .tForearm.seek :retract +2 "manipulator"&[' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a( +134 "Can" \ `/ +25 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&-& +3 "core" &  6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &  y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +100 "core" ' +2 "manipulator"&(& +4 "core" &   +2 "manipulator"&6% +3 "core" %  +3 "processing"%T& +3 "core" &5\ +3 "processing"%\\& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%@(^ +5 "core" &\ +6 &;\ $d +10 &Wv\ 7 +9 &u\ L +9 &O\ M +10 &oS\ M +9 &2N \ M +10 &T\ M +9 &P\ M +9 &vS\ N +10 &8T\ N +9 &S\ M +9 &!T\ M +10 &#~T\ N +9 &%AS \ M +10 &'U \ M +9 &(T \ N +9 &*T\ \ M +10 &,IQ \ M +9 &. T\ M +9 &/U\ N +10 &1R \ M +9 &3QS \ M +10 &5O\ M +9 &6S\ M +9 &8Q\ M +10 &:YU\ M +9 &<W\ M +9 &=W\ M +10 &?R\ N +9 &A_W\ N +10 &Cb\ O +9 &Dc\ O +9 &Fl\ P +10 &HZ}\ R +9 &J\ S +9 &K\ T +10 &M\ T +9 &O]\ T +10 &Q\ U +9 &R\ T +9 &T\ U +10 &Vd\ T +9 &X%\ U +9 &Y\ U +10 &[\ U +9 &]j\ B +10 &^?p\ "d +9 &^.\ 1 +5 ( +2 "processing"%\\& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"& 1 +4 "core" &^#\ 1 +50 1 + "manipulator"&m% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 "processing"%R& +3 "core" &^#\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&t% +4 "core" % \  \   +2 "storage"(&% +3 "core" % ! " B\  +2 "storage"(n. +4 "core" .( +2 "storage"(/& +4 "core" & ! ! *\  +2 "storage"(& +2 "manipulator"&s& +5 "core" & ! " @\  +3 &   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&G( + "storage"(V'r +4 "core" ( +3 "manipulator"&& +3 "core" &  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &  ^ +2 .tForearm.seek PC +2 "manipulator"&C' +92 "core" ' +2 .tHand.close + "manipulator"&_/ +63 "core" / +2 .tPC.seek :open +2 "processing"%i( +92 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(?'1 +40 "core" ' +311 ( + "storage"(#& +4 "core" &  ! A\  +2 "manipulator"&& +3 "core" &  +2 "manipulator"&% +4 "core" %  * +2 .tForearm.seek :retract +2 "manipulator"&^' +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&3( +246 "core" ( +2 "manipulator"&S& +4 "core" &   A +2 "storage"(D& +4 "core" & # # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&)'7 +90 "core" ' +2 .tHand.open + "manipulator"&o1 +65 "core" 1 +2 "storage"(Y- +49 "core" -'1 +5 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +34 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(f' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(7- +4 "core" -' +2 "storage"(k& +3 "core" & ( ' *\  +3 "manipulator"&O& +4 "core" &   A +2 .tElbow.seek 3 + "manipulator"&u( +4 "core" ( +2 "manipulator"&I& +3 "core" &   A +3 "storage"(z& +4 "core" & ( )\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(5'" +58 "core" ' + "manipulator"&& +3 "core" &  A +3 "storage"(X& +3 "core" & % "\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +18 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +28 "core" ' +2 "manipulator"&~% +4 "core" %΃   +2 "storage"(& +4 "core" & # %\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts + "manipulator"&$'ϯ +14 "core" ' +2 "manipulator"&& +4 "core" &   A +2 "storage"(& +4 "core" &   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&''7 +17 "core" ' +2 "storage"(b% +4 "core" %  . F\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (Z% +3 "core" %iO\ )\  z\ Xf +2 "manipulator"&<% +3 "core" %1  ` +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" & 1  -\  +3 "collection"'0& +3 "core" &\\]\ \ o\ J +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %    +2 "storage"(c% +3 "core" % D - \  +2 "storage"(\ . +3 "core" .( +2 "storage"(& +4 "core" & D F '\  +2 "storage"(& +3 "core" & D D \  +2 "manipulator"&& +4 "core" &  A +2 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +3 "core" &   & A +2 "storage"(l& +5 "core" & D D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&w'7 +89 "core" ' +2 "storage"(2& +4 "core" & G F\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +300 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" &  A +3 "storage"(p& +4 "core" & # ! g\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&W'u +19 "core" ' + .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(h'u +30 "core" ' +2 "manipulator"&]% +4 "core" %x   + "storage"(Q& +4 "core" & # " G\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&:'Ϥ +13 "core" ' +2 "manipulator"&|& +4 "core" & \  A +2 "storage"(y& +3 "core" & % 5\  +43 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&='7 +20 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(>' +40 "core" ' +2 "manipulator"&!& +3 "core" &   A +3 "manipulator"&4% +4 "core" %D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +145 "core" ( +2 "manipulator"&9& +3 "core" &y&    ?T +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &y&   ?T +3 .tForearm.seek CC + "manipulator"&1'? +95 "core" ' +2 .tHand.close + "manipulator"&J/ +53 "core" / +2 .tCC.seek :open +2 "collection"' ( +448 "core" ( +2 "storage"(A& +3 "core" & D N X\  +2 "storage"("& +4 "core" & E D \  +2 "manipulator"&N& +5 "core" &Ӯ  8 +2 "manipulator"&L% +4 "core" % /   +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&d( +166 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(.& +5 "core" & e g\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&B'u +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&;1 +58 "core" 1 +2 "manipulator"&e% +3 "core" % u \ * +2 "storage"(& +5 "core" & e [ @\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 300 counts + "manipulator"&v'ϡ +16 "core" ' +2 "manipulator"&,& +3 "core" &   +2 "storage"(*& +4 "core" & [ e \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&x'7 +16 "core" ' +2 "storage"(-% +4 "core" % f ^ O\ +2 ."downElevator"SE.seek :down +4 "storage"(F' +99 (% +3 "core" %E F E\ V` +2 "manipulator"&(% +3 "core" %3  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'T& +3 "core" &\ \ \ +2 "manipulator"&M% +4 "core" %   +2 "storage"([% +4 "core" % _ ^ !\  +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,y +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +3 "core" &,x ` ` #\  +2 "manipulator"&R& +4 "core" &   +3 .tElbow.seek 4 + "manipulator"&t( +27 "core" ( +2 "manipulator"&&& +3 "core" &     +3 "storage"(n& +4 "core" &,x ] ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +101 "core" ' +2 "storage"(& +3 "core" &,x b p M\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +293 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,j E C \  +2 "manipulator"&j& +3 "core" &   +48 .tElbow.seek 4 +4 "manipulator"&P( +20 "core" ( +2 "manipulator"&_& +3 "core" &   1  +2 "storage"(& +5 "core" &,j [ ] \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&a'c +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&@& +3 "storage"(V' +8 "core" &   + "manipulator"&#% +5 "core" % l ^ +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + ' +2 ."downElevator"SE.stop +2 "manipulator"&C& +2 "storage"(5 +7 "core" &{(  b Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &{(  \  Aa +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&D'? +94 "core" ' +2 "manipulator"&G& +5 "core" &Ӛ#   <B + "manipulator"&o% +5 "core" %=   3 +2 "collection"'Y& +3 "core" & k\ +3 "collection"'^& +5 "core" &\ \ +3 .tCC.seek :closed +2 "collection"'7(\\ +4 "core" & \ +7 &A \ $e +9 &Yv\ \ 7 +9 &v \ \ J +10 &R\ \ \ J +9 &T\ \ K +9 &KW\ \ \ K +10 & R\ \ \ K +9 &Q\ \ \ K +10 &Q\ \ \ K +9 &TS \ \ J +9 & S\ \ \ K +10 &!V\ \ \ K +9 &#W\ \ \ K +9 &%[Q\ \ \ K +10 &'Q \ \ K +9 &(T\ \ {\ J +10 &*R\  \ J +9 &,dT\ \ \ J +9 &.%T\ \ \ K +10 &/V\ \ y\ K +9 &1R\ \ {\ K +9 &3kT\ \ \ K +10 &5-W\ \ w\ K +9 &6T\ \ r\ J +10 &8T\ \ {\ J +9 &:rT\ \ r\ K +9 &<4R\ \ s\ K +10 &=T\ \ r\ J +9 &?U\ \ l\ K +9 &AzU \ u\ K +10 &C;Y\ \ w\ K +9 &Db\ \ x\ M +10 &Fh\ \ x\ M +9 &Hs\ \ \ y\ P +9 &J(\ \ w\ U +10 &K\ \ x\ W +9 &M\ \ \ m\ W +9 &Of\ \ w\ W +10 &Q&\ \ x\ X +9 &R\ \ x\ X +10 &T\ \ w\ Y +9 &Vg\ \ \ v\ Z +9 &X(\ \ \ w\ Z +10 &Y\ \ v\ [ +9 &[\ \ \ s\ H +9 &\\0\ \ \ v\ 3 +10 &\\c\ \ \ \ v\ K +2 ( +2 "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&k1 +52 "core" 1 +2 "manipulator"&O% +3 "core" % =   3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%z& +3 "core" &\ +2 "manipulator"&% +4 "core" %      +2 "storage"(X% +4 "core" % & % *\  +2 "storage"(?. +3 "core" .(,y +2 "storage"(~& +4 "core" &,j $ 6\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +26 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,{   C\ +2 "manipulator"&+& +5 "core" &Ӱ   P :, + "manipulator"&% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&b( +167 "core" ( + "manipulator"&3& +4 "core" &    +2 "storage"()& +4 "core" &,{ D D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +94 "core" ' + "storage"(Z& +4 "core" &,{ Q J \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'r +305 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (u& +2 "core" &,j  \  +2 "manipulator"&5& +5 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +5 "core" ( + "manipulator"&$& +3 "core" &    +2 "storage"(E& +5 "core" &,j   9\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&0'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +52 ."downElevator"SE.seek :down +3 "manipulator"&c& +3 "storage"(\ ' +8 "core" &   + "manipulator"&8% +5 "core" % X  +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&& +4 "core" &   5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&l' +99 "core" ' + "manipulator"&'& +5 "core" &   5 + "manipulator"&2% +5 "core" %    +2 "processing"%& +4 "core" &,\ +2 "processing"%r& +5 "core" &.\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" & \ +7 &4\ $d +10 &Vy\ 7 +9 &y\ L +9 &O\ M +10 &mR\ M +9 &0N\ M +10 &R \ M +9 &S\ M +9 &uR\ M +10 &8P\ M +9 &T \ M +9 &!R\ N +10 &#~T \ M +9 &%?T\ M +10 &'T \ N +9 &(T\ M +9 &*T\ N +10 &,GS\ M +9 &.R\ N +9 &/T\ M +10 &1S\ N +9 &3OR\ M +10 &5R\ M +9 &6Q\ M +9 &8T\ M +10 &:WQ\ M +9 &<W\ M +9 &=W\ N +10 &?U\ N +9 &A^W\ N +10 &C`\ O +9 &D^\ O +9 &Fh\ P +10 &H[t\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &O\\\ T +10 &Q\ T +9 &R\ T +9 &T\ U +10 &Vb\ T +9 &X!\ U +9 &Y\ U +10 &[\ U +9 &]i\ B +10 &^?n\ "f +9 &^.\ 0 +5 ( +2 "processing"%r& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"& 1 +4 "core" &^\ 0 +59 1 +2 "manipulator"&q% +4 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +97 "core" ' +2 "processing"%U& +3 "core" &^\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&]% +5 "core" %   + "storage"(Q% +5 "core" % $ # ;\  + "storage"(|. +3 "core" .(,y +2 "storage"(y& +4 "core" &,j $ " ;\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(!(,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "manipulator"&w& +4 "core" &,{   \ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   5 +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(}'r + "manipulator"&g( +7 "core" ( +2 "manipulator"&W& +4 "core" &   5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &   3 5 +3 .tForearm.seek PC +2 "manipulator"&h' +93 "core" ' +3 .tHand.close + "manipulator"&9/ +62 "core" / +2 .tPC.seek :open +2 "processing"%{( +85 "core" ' +2 "storage"(=- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(K'1 +54 "core" ' +302 ( + "storage"(J& +3 "core" &,h " ! r\  +2 "manipulator"&& +3 "core" &  T 5 +3 "manipulator"&`% +3 "core" %  4 +3 .tForearm.seek :retract +2 "manipulator"&A' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&"( +256 "core" ( +2 "manipulator"&N& +3 "core" &    +2 "storage"(L& +5 "core" &,h   y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +90 "core" ' +2 .tHand.open + "manipulator"&.1 +111 "core" 1 +3 "storage"(1- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(;' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(e- +3 "core" -' +2 "storage"(& +4 "core" &,h D D \  +2 "manipulator"&,& +3 "core" &   h  +3 .tElbow.seek 4 +2 "manipulator"&*( +11 "core" ( + "manipulator"&-& +3 "core" &   } +3 "storage"(& +3 "core" &,h D D %\  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(('" +58 "core" ' +2 "manipulator"&d& +4 "core" &  } + "storage"(B& +5 "core" &,h $  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&T'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(v' +28 "core" ' +2 "manipulator"&[% +3 "core" %5   +3 "storage"( & +3 "core" &,h " " -\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 298 counts +2 "manipulator"&>'a +14 "core" ' +2 "manipulator"&x& +3 "core" &   i } +3 "storage"(F& +4 "core" &,h  ! \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +18 "core" ' +2 "storage"(m% +4 "core" % - D D\ +2 ."downElevator"SE.seek :down +4 "storage"(R' +99 (&% +3 "core" %eM H 4\ Xf +2 "manipulator"&n% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,h ' * ,\  +3 "collection"'6& +4 "core" &\\b\ \ r\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&\\% +4 "core" %   +2 "storage"(% +3 "core" % G F\  +2 "storage"(j. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(_(,y +39 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,{ " a\ +2 "manipulator"&& +5 "core" &  } +2 .tElbow.seek 4 + "manipulator"&@( +4 "core" ( +2 "manipulator"&#& +4 "core" &   } +2 "storage"(t& +4 "core" &,{ H J !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +93 "core" ' + "storage"(C& +5 "core" &,{ G Q V\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'r +296 "core" ' +2 "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&a& +3 "core" &  } +2 "storage"(G& +4 "core" &,j   H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&o'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(V'i +34 "core" ' +2 "manipulator"&% +3 "core" %&   +2 "storage"( & +4 "core" &,j $  \  +42 .tForearm.force -20 +8 "manipulator"&5 +4 .tForearm.seek 4 + 283 counts + "manipulator"&k'R +16 "core" ' +2 "manipulator"&O& +4 "core" &  } +2 "storage"(z& +3 "core" &,j B -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +18 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(X' +38 "core" ' +2 "manipulator"&?& +3 "core" & M } +2 "manipulator"&~% +5 "core" %  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ( +2 "manipulator"&+& +5 "core" &'   @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &(  @W +3 .tForearm.seek CC +2 "manipulator"&D'? +95 "core" ' + .tHand.close +2 "manipulator"&3/ +53 "core" / +2 .tCC.seek :open +2 "collection"')( +447 "core" ( +2 "storage"( & +4 "core" &,j G D \  +2 "storage"(Z& +4 "core" &,j E E \  +2 "manipulator"&& +4 "core" &Ӳ  9$ + "manipulator"&I% +4 "core" % /   +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&u( +164 "core" ( +2 "manipulator"&5& +4 "core" &  L  +2 "storage"($& +3 "core" &,j j j \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&E'7 +93 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +57 "core" 1 +3 "manipulator"&8% +4 "core" % +    ) + "storage"(b& +5 "core" &,j i i \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 288 counts + "manipulator"&f'W +15 "core" ' +2 "manipulator"&<& +3 "core" & Q  +2 "storage"(0& +4 "core" &,j ] [ %\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +3 "core" % o _ Y\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 ('% +3 "core" %@ G G\ V_ +2 "manipulator"&2% +3 "core" % ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'\ & +3 "core" & Z\ +2 "manipulator"&% +4 "core" %    +2 "storage"(i% +4 "core" % i ^ \  +2 "storage"( . +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(q(  +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +3 "core" &  D B\ +2 "manipulator"&]& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&Q( +11 "core" ( + "manipulator"&|& +5 "core" &  z + "storage"(r& +4 "core" &  k j d\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&y'S +102 "core" ' +2 "storage"(4& +3 "core" &  ~  \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'r +345 "core" ' +4 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" & j i U\ +3 "manipulator"&l& +4 "core" & ^ z +2 .tElbow.seek 2 + "manipulator"&9( +5 "core" ( + "manipulator"&& +4 "core" & z +2 "storage"(=& +3 "core" & ] f i\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(}' +8 "core" & q z +2 "manipulator"&J% +3 "core" % ϶ S +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&h& +4 "core" &Ӕ  U 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &Ӕ  O 9( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&L'? +102 "core" ' +2 "manipulator"&g& +4 "core" &Ӕ    9( +2 "manipulator"&.% +3 "core" %B    +3 "collection"'1& +4 "core" & n\ +2 "collection"'A& +5 "core" & \ +3 .tCC.seek :closed + "collection"'e(\\ +5 "core" & \ +7 &C\ \ \ %g +9 &[x\ \ 8 +10 &s\ \ \ K +9 &Q\  \ K +10 &R\ \ \ K +9 &VT\ \ \ J +9 &T\ \ \ K +10 &W\ \ \ K +9 &W\ \ \ K +9 &]R\  \ K +10 & S\ \ \ K +9 &!U\ \ \ K +10 &#R\ \ {\ K +9 &%fS\ \ \ J +9 &''R\ \ \ K +10 &(X \ \ K +9 &*R\ \ \ K +9 &,nT \ \ J +10 &./T\ \ \ K +9 &/U\ \ \ K +10 &1R\ |\ K +9 &3uU\ \ \ K +10 &57W \ }\ K +9 &6U\ \ \ J +9 &8U\  ~\ K +9 &:~U\ \ \ J +10 &S\ \ \ K +10 &?T\ \ z\ J +9 &AU\ \ y\ K +9 &CE^\ \ y\ L +10 &Eb\ \ x\ L +9 &Fl\ \ l\ N +9 &H|\ \ v\ Q +10 &J1\ \ q\ U +9 &K\ \ \ l\ V +10 &M\ \ \ j\ X +9 &On\ \ \ p\ X +9 &Q1\ \ \ x\ X +10 &R\ \ \ l\ Y +9 &T\ \ \ n\ Y +9 &Vp\ \ t\ Z +10 &X1\ \ \ t\ [ +9 &Y\ \ \ \ p\ [ +10 &[\ \ \ \ v\ I +9 &\\0\ \ v\ - +9 &\\d\ \ \ v\ L +2 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&,% +5 "core" % B    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &5\ +2 "manipulator"&d% +4 "core" %    <  +2 "storage"(B% +4 "core" % $  \  + "storage"(K. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"([(  +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &  I M\ +2 "manipulator"&%& +4 "core" &ӫ   6 +2 "manipulator"&x% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&F( +153 "core" ( +2 "manipulator"&m& +3 "core" &  1 +3 "storage"("& +4 "core" &  E G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +98 "core" ' +2 "storage"(;& +3 "core" &  E F\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +296 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & * +\  +2 "manipulator"&*& +4 "core" & \  +2 .tElbow.seek 2 +2 "manipulator"&(( +9 "core" ( +2 "manipulator"&T& +3 "core" &    +3 "storage"(>& +4 "core" & 6 *\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +59 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +3 "storage"(' +8 "core" & \   + "manipulator"&j% +5 "core" % ϶ \ \  +2 .tForearm.seek :retract +2 "manipulator"&v' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&& +4 "core" &  5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +3 "core" &  T 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t' +100 "core" ' +2 "manipulator"&H& +4 "core" &   5 +2 "manipulator"&C% +3 "core" %  +3 "processing"%R& +4 "core" &+\ +2 "processing"%!& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%M(^ +5 "core" & \ +6 &5\ #b +9 &Tv\ 6 +10 &v\ K +9 &R\ M +10 &dP\ M +9 &&R\ M +9 &T\ M +10 &S\ N +9 &lR\ M +9 &-T\ M +10 &U\ M +9 &!S\ M +10 &#rU\ N +9 &%6T\ M +9 &&S \ M +10 &(T\ M +9 &*|Q \ M +9 &,=T \ M +10 &.T \ M +9 &/T\ M +10 &1R\ M +9 &3FT\ M +9 &5R\ M +10 &6S\ M +9 &8T\ M +9 &:MQ\ M +10 &<W \ M +9 &=W\ M +10 &?R\ M +9 &ATR \ N +9 &C\\\ N +10 &D_\ O +9 &Fk\ P +9 &HRv\ Q +10 &J \ S +9 &K\ S +10 &M\ \ T +9 &OS\ S +9 &Q\ T +10 &R\ T +9 &T\ U +9 &VY\ T +10 &X\ U +9 &Y\ T +9 &[\ U +10 &]^\ B +9 &^Iy\ Q +10 &^ P\ 4 +5 ( +2 "processing"%!& +4 "core" &^&\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&s% +4 "core" %    < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +92 "core" ' +2 "processing"%G& +3 "core" &^&\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&P% +4 "core" %     +2 "storage"(% +3 "core" % Q % W\  +2 "storage"( . +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(O(  +29 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "manipulator"&?& +4 "core" &  > I\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   5 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(~'r + "manipulator"&/( +7 "core" ( +2 "manipulator"&@& +3 "core" &   5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +3 "core" &  5 +2 .tForearm.seek PC +2 "manipulator"&o' +90 "core" ' +2 .tHand.close + "manipulator"&k/ +62 "core" / +2 .tPC.seek :open +2 "processing"%V( +94 "core" ' + "storage"(+- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +306 ( +2 "storage"(& +4 "core" & # " \  +2 "manipulator"&Y& +5 "core" &  5 + "manipulator"&3% +5 "core" %  3 +2 .tForearm.seek :retract + "manipulator"&^' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&7( +251 "core" ( + "manipulator"& & +4 "core" &   R +2 "storage"(Z& +3 "core" & \  E\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +44 .tForearm.seek 2 + 450 counts +9 "manipulator"&'S +94 "core" ' +2 .tHand.open + "manipulator"&I1 +63 "core" 1 +2 "storage"(5- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"($' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(D' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(c& +3 "core" & V _ \  +3 "manipulator"&8& +3 "core" &  \  R +3 .tElbow.seek 2 + "manipulator"&b( +4 "core" ( +2 "manipulator"&<& +3 "core" &    R +2 "storage"(0& +5 "core" & _ U 9\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +10 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&'& +4 "core" & R +2 "storage"(2& +3 "core" & % Q \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&u'Α +21 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\ ' +21 "core" ' + "manipulator"&% +4 "core" %Κ   +2 "storage"(f& +4 "core" & \  S \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 309 counts + "manipulator"&i' +15 "core" ' + "manipulator"& & +5 "core" &    R + "storage"(X& +5 "core" & $ v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +18 "core" ' + "storage"(% +5 "core" % %  U\ +2 ."downElevator"SE.seek :down +4 "storage"(_' +98 (U% +4 "core" %,`\ 4\ Zo +2 "manipulator"&]% +5 "core" %C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (r& +3 "core" &  ( \  +2 "collection"'4& +3 "core" &\\a\ \ O\ L +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %  (  +2 "storage"(% +4 "core" % " ! /\  +2 "storage"(W. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(:(  +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (l& +3 "core" &   ! \ +2 "manipulator"&& +5 "core" & \  R +2 .tElbow.seek 2 + "manipulator"&=( +4 "core" ( +2 "manipulator"&p& +3 "core" &   R +2 "storage"(& +4 "core" &   " \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&J'S +93 "core" ' + "storage"(Q& +4 "core" &  D D \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +296 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" &   R +2 "storage"(w& +5 "core" & \ #\ ( T\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&'Α +21 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(9'h +49 "core" ' +4 "manipulator"&1% +4 "core" %Ν   +2 "storage"(}& +3 "core" & O T\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&)& +3 "core" &   R +3 "storage"(& +3 "core" &  $\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&,'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&d& +4 "core" &  2 R +2 "manipulator"&B% +3 "core" %H  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A(ӂ +160 "core" ( +3 "manipulator"& & +3 "core" &ӌ   5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &%& +2 "core" &ӌ \  5 +3 .tForearm.seek CC +2 "manipulator"&x'? +95 "core" ' +2 .tHand.close + "manipulator"&L/ +53 "core" / +2 .tCC.seek :open +2 "collection"'m( +448 "core" ( + "storage"("& +5 "core" & ; L \  + "storage"(q& +5 "core" & D N \  + "manipulator"&;& +4 "core" &ӓ   4 +2 "manipulator"&`% +4 "core" % 6   6 +2 .tForearm.seek :retract +2 "manipulator"&-' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&n( +163 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(*& +3 "core" & h g p\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&T'Α +98 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +59 "core" 1 +2 "manipulator"&\\% +4 "core" % ΢   +2 "storage"(j& +4 "core" & h i \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&F' +14 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(&& +5 "core" & i h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 "storage"(% +3 "core" % ^ \\ \ +3 ."downElevator"SE.seek :down +4 "storage"(#' +98 ((% +3 "core" %ON   3\ Xj +2 "manipulator"&H% +5 "core" %I  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +90 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'R& +3 "core" &\ \ Y\ +2 "manipulator"&% +4 "core" %    +2 "storage"(v% +4 "core" % k i \  +2 "storage"({. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (s& +2 "core" & F E \\\ \ +3 "manipulator"&G& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&P( +15 "core" ( + "manipulator"&& +5 "core" &  n + "storage"( & +4 "core" & j i e\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&!'7 +98 "core" ' + "storage"(z& +4 "core" & _ ^ >\ \ +48 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'r +299 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (S& +3 "core" & T : #\ +2 "manipulator"&t& +3 "core" &  n +3 .tElbow.seek 3 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&[& +3 "core" & \  n +3 "storage"(+& +4 "core" & \\ Z\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(~' +9 "core" &  n + "manipulator"&% +5 "core" % ϥ  | +2 .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' +3 .tElbow.seek CC + "manipulator"&3(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&o& +4 "core" &ӗ \ 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӗ   9' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Z'? +93 "core" ' +3 "manipulator"&/& +4 "core" &ӗ   9' +2 "manipulator"&I% +4 "core" %F \  E +2 "collection"'5& +3 "core" & h\ +3 "collection"'& +6 "core" &\ i\ +2 .tCC.seek :closed +2 "collection"'c(\\ +4 "core" &\ \ +7 &<\  \ %g +9 &Yv\ \ \ 7 +10 & v\ \ \ K +9 &R\ \ \ J +9 &U\ \ \ K +10 &PV\ \ \ K +9 &R \ \ K +9 &T\ \ \ J +10 &T\ \ \ J +9 &XT\ \ \ K +10 & S\ \ \ K +9 &!S\ \ \ J +9 &#U\ \ \ K +10 &%_W\ \ \ K +9 &'#T\ \ \ J +9 &(U\ \ \ K +10 &*W\  \ K +9 &,hS\ \ \ K +10 &.+T\ \ \ J +9 &/U\ \ \ J +9 &1U\ \ \ K +10 &3oY \ \ K +9 &52U\  \ K +9 &6X\ \ \ K +10 &8T\ \ }\ K +9 &:xT\ \ ~\ K +10 &<:S\ \ w\ K +9 &=U\ \ |\ J +9 &?U\ \ \ K +10 &AT\ \ |\ K +9 &C@Y\ \ w\ L +9 &E`\ \ t\ L +10 &Fl\ \ y\ M +9 &Hz~\ \ r\ P +10 &J1\ \ r\ T +9 &K\ \ z\ V +9 &M\ \ t\ W +10 &Ok\ \ n\ X +9 &Q-\ \ o\ X +9 &R\ \ o\ X +10 &T\ \ o\ Y +9 &Vn\ \ \ o\ Y +10 &X.\ \ \ o\ Z +9 &Y\ \ \ n\ Z +9 &[\ \ t\ H +10 &\\.\ \ i\ 1 +9 &\\c\ \ p\ L +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&81 +53 "core" 1 +3 "manipulator"&<% +4 "core" % F   u E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%^& +4 "core" &\ +2 "manipulator"&'% +3 "core" %   \ ^  +3 "storage"(2% +4 "core" % " " ;\  + "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(f( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & \  g\  +3 "manipulator"& & +3 "core" &Ө   c 7 +2 "manipulator"&X% +4 "core" %    D  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&$( +166 "core" ( +2 "manipulator"&& +3 "core" &|    +2 "storage"(7& +5 "core" & D D ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +92 "core" ' + "storage"(D& +4 "core" & E F\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'r +308 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & * " 1\  +2 "manipulator"&b& +4 "core" &|   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&u& +3 "core" &|    +49 "storage"(i& +6 "core" & D D \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&r'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +9 "core" &|   +2 "manipulator"&W% +4 "core" % ϕ  +2 .tForearm.seek :retract +2 "manipulator"&\ ' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&& +5 "core" & \  +2 "manipulator"&Q% +3 "core" %  8 +3 "processing"%_& +4 "core" &:\ +2 "processing"%O& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%E(^ +5 "core" &\ +6 &6\ #c +9 &Uv\ 6 +9 &x\ K +10 &T\ M +9 &^S\ M +10 & R\ M +9 &V\ M +9 &R\ M +10 &eS\ N +9 &(S\ M +9 &U\ M +10 &!S\ M +9 &#nQ\ M +10 &%1U \ M +9 &&R\ M +9 &(W \ M +10 &*uT\ N +9 &,7T \ N +9 &-S \ N +10 &/U\ M +9 &1~O \ M +10 &3@U \ M +9 &5R \ M +9 &6Q\ M +10 &8T \ N +9 &:IQ\ M +9 &< W\ N +10 &=U\ M +9 &?T\ M +10 &APU\ M +9 &C_\ O +9 &Dc\ O +10 &Fl\ P +9 &HJ \ R +10 &J\ T +9 &K\ T +9 &M\ T +10 &OK\ T +9 &Q \ U +9 &R\ T +10 &T\ U +9 &VR \ U +9 &X \ T +10 &Y\ U +9 &[\ U +10 &]X\ F +9 &^{By \ "e +9 &^0\ / +6 ( + "processing"%O& +4 "core" &^ \ / +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&|1 +55 "core" 1 +2 "manipulator"&h% +4 "core" %   8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +92 "core" ' +2 "processing"%w& +4 "core" &^#\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&.% +5 "core" %     + "storage"(1% +4 "core" % " " <\  +2 "storage"(}. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"()( +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& + "manipulator"&d& +5 "core" &\ \  \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(B'r + "manipulator"&J( +7 "core" ( + "manipulator"&=& +3 "core" & \  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" & \  8 +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +3 .tPC.seek :open +2 "processing"%9( +93 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'1 +40 "core" ' +310 ( +2 "storage"(,& +3 "core" & "  \  +3 "manipulator"&g& +4 "core" & \ v + "manipulator"&L% +5 "core" % \   d O +2 .tForearm.seek :retract + "manipulator"&K' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +247 "core" ( +2 "manipulator"&"& +3 "core" &   A +2 "storage"(q& +45 "core" & % " 1\  +9 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&;'7 +104 "core" ' +2 .tHand.open +2 "manipulator"&`1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(A- +3 "core" -' +2 "storage"(6& +3 "core" & ( ' $\  +2 "manipulator"&\\& +5 "core" & \  A +2 .tElbow.seek 3 +2 "manipulator"&j( +8 "core" ( +2 "manipulator"&& +4 "core" &     +2 "storage"(&& +3 "core" & ' ' \  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(-'" +58 "core" ' + "manipulator"&(& +4 "core" &  t  +2 "storage"(H& +3 "core" &   4\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&n'u +26 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(R' +28 "core" ' +2 "manipulator"&F% +3 "core" %  e +3 "storage"(& +4 "core" & # \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&v'ϫ +14 "core" ' +2 "manipulator"&{& +3 "core" &   X  +3 "storage"(& +4 "core" & % # *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +15 "core" ' +2 "storage"(#% +3 "core" % " " ]\ +3 ."downElevator"SE.seek :down +4 "storage"(:' +99 (s% +3 "core" %0H\ \  \ We +3 "manipulator"&G% +4 "core" %0  H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" & '  \  +2 "collection"'z& +4 "core" &\\a\ \ \ n\ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&>% +3 "core" %   X  +3 "storage"(C% +4 "core" %  " a\  + "storage"(@. +4 "core" .( + "storage"(S& +5 "core" & 7 ' !\  +2 "storage"(t& +4 "core" & 3 \  + "manipulator"&[& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&+( +9 "core" ( + "manipulator"&a& +5 "core" &    + "storage"(M& +5 "core" & * 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' +2 "storage"(P& +4 "core" & D G\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'r +296 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  ^  +2 "storage"(?& +4 "core" &  $ i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +19 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(5'u +29 "core" ' +2 "manipulator"&k% +43 "core" %n  +10 "storage"(~& +4 "core" & # # A\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 293 counts +2 "manipulator"&Y'Ϛ +14 "core" ' +2 "manipulator"&m& +4 "core" & \ Z  +2 "storage"(8& +3 "core" & ! ~\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&<'7 +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(^' +35 "core" ' +2 "manipulator"&'& +4 "core" &  J  +2 "manipulator"&2% +3 "core" %# \  C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&& +3 "core" &Ӊ%   ' >L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &Ӊ%   >L +3 .tForearm.seek CC +2 "manipulator"&X'? +94 "core" ' +2 .tHand.close + "manipulator"&Z/ +60 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(7& +3 "core" & Q G h\  +2 "storage"(& +5 "core" & E F\  + "manipulator"&D& +5 "core" &ӭ! \  9( + "manipulator"&3% +4 "core" % A  ) +3 .tForearm.seek :retract + "manipulator"&0' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&]( +164 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(b& +3 "core" & [ [ /\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&u'u +98 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +59 "core" 1 +2 "manipulator"&% +5 "core" %    + "storage"(W& +4 "core" & [ [ \  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&$'ϫ +15 "core" ' +2 "manipulator"&& +3 "core" & X  +2 "storage"(U& +5 "core" & ] g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&r'7 +17 "core" ' + "storage"(% +4 "core" % [ \\ \ +3 ."downElevator"SE.seek :down +3 "storage"(p' +99 (% +3 "core" %D F G \ V_ +2 "manipulator"&% +3 "core" %) w +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +98 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'_& +3 "core" &\ \ \ +2 "manipulator"&% +5 "core" % \   + "storage"(\ % +5 "core" % k p J\  + "storage"(V. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(|(,y +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +3 "core" &,{ D D \ +2 "manipulator"&w& +4 "core" &  ;  +2 .tElbow.seek 4 +2 "manipulator"&.( +26 "core" ( + "manipulator"&1& +4 "core" & 4  +2 "storage"(}& +4 "core" &,{ ^ ] \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +95 "core" ' +2 "storage"(& +3 "core" &,{ k t -\ +3 .tSE.reconfigure :pick +49 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(d'r +294 "core" ' +2 "storage"(=- +3 "core" -'\ +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (y& +3 "core" &,j U D D\  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 4 +2 "manipulator"&( +19 "core" ( + "manipulator"&f& +5 "core" &  w  + "storage"( & +4 "core" &,j [ [\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&l'c +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&E& + "storage"(B' +6 "core" &   +3 "manipulator"&,% +4 "core" % r I +2 .tForearm.seek :retract +2 "manipulator"&g' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +158 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +8 "core" &ӌ&  G ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +2 "core" &ӌ&   ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&q'? +99 "core" ' +2 "manipulator"&J& +3 "core" &ө"    ;6 +3 "manipulator"&`% +3 "core" %F  Q +3 "collection"'& +3 "core" &\ \ n\ +3 "collection"'A& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'6(\\ +5 "core" & \ +6 &C \ \ $f +9 &Zy\  \ 8 +10 & s\ \ \ K +9 &R\  \ J +10 &U \ \ J +9 &PT \ \ K +9 &V\ \ \ K +10 &R\ \ \ K +9 &Q\ \ \ K +9 &YT\ \ \ J +10 & T\ \ \ K +9 &!V\ \ \ K +10 &#W\ \ \ K +9 &%`Q \ \ K +9 &'"Q\ \ \ K +10 &(T\ \ \ J +9 &*S\ \ \ J +9 &,iT \ \ J +10 &.*T\ \ \ K +9 &/U\ \ \ K +10 &1S\ \ \ K +9 &3qT\ \ \ J +9 &52T\ \ \ K +10 &6T\ \ \ J +9 &8T\ \ \ K +9 &:yT\ \ \ J +10 &<:U\ \ \ K +9 &=W\ \ \ K +10 &?T\ \ \ K +9 &AX\ \ \ K +9 &C@Y\ \ z\ L +10 &Eb\ \ \ L +9 &Fh\ \ |\ M +9 &Hy\ \ \ P +10 &J.\ \ }\ U +9 &K\ \ ~\ W +10 &M\ \ \ \ W +9 &Ol\ \ \ W +9 &Q+\ \ \ w\ X +10 &R\ \ \ X +9 &T\ \ }\ Y +9 &Vm\ \ \ ~\ Z +10 &X-\ \ y\ Z +9 &Y\ \ \ {\ [ +10 &[\ \ \ p\ H +9 &\\0\ \ p\ 0 +9 &\\f\ \ \ m\ M +2 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&\\1 +56 "core" 1 +2 "manipulator"&K% +4 "core" % F   2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%&& +4 "core" &\ + "manipulator"&(% +5 "core" %  \  /  + "storage"(H% +4 "core" % " " =\ +2 "storage"(%. +3 "core" .(,y +2 "storage"(F& +3 "core" &,j " " I\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +54 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +3 "core" &,{ \  %\ +3 "manipulator"&{& +4 "core" &ӫ"   ;4 + "manipulator"&% +4 "core" %      +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&#( +164 "core" ( + "manipulator"&e& +4 "core" &  \   +2 "storage"(;& +4 "core" &,{ F D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +94 "core" ' + "storage"(s& +4 "core" &,{ F E\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +302 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &,j   \ +2 "manipulator"&-& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&n( +4 "core" ( +2 "manipulator"&v& +50 "core" &     +4 "storage"( & +3 "core" &,j E E\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&z'c +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +57 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&C& +2 "storage"(@' +6 "core" & f  +4 "manipulator"&R% +4 "core" % t  +2 .tForearm.seek :retract +2 "manipulator"&S' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&[& +3 "core" &   ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +3 "core" &    ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&M' +102 "core" ' + "manipulator"&& +5 "core" &    ) + "manipulator"&P% +4 "core" %   +2 "processing"%:& +5 "core" &8\ +3 "processing"%T& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +6 &4\ #c +10 &Uv\ 6 +9 &~x\ K +9 &P\ M +10 &aT\ N +9 &$Q\ M +9 &U\ M +10 &T \ M +9 &jR\ M +10 &,Q\ M +9 &T\ M +9 &!T\ M +10 &#qT\ N +9 &%4S\ M +9 &&U\ M +10 &(S\ N +9 &*zS \ M +10 &,<Q \ M +9 &-O\ M +9 &/U \ N +10 &1R \ M +9 &3CR \ N +9 &5Q\ \ M +10 &6T\ M +9 &8T\ N +10 &:KR\ N +9 &<Q\ M +9 &=R\ M +10 &?T\ N +9 &ARU\ N +9 &C\\\ O +10 &D]\ O +9 &Fh\ P +10 &HPv\ Q +9 &J \ T +9 &K\ T +10 &M\ T +9 &OP\ T +9 &Q\ U +10 &R\ U +9 &T\ U +10 &VW\ T +9 &X\ U +9 &Y\ U +10 &[\ U +9 &]\\\ D +9 &^Ap\ "f +10 &^.\ 1 +5 ( +2 "processing"%T& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&o1 +3 "core" &^ \ 1 +51 1 +2 "manipulator"& % +3 "core" %   -  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +99 "core" ' + "processing"%I& +5 "core" &^ \ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&k% +3 "core" % #   1 +3 "storage"(~% +4 "core" %\  \  + "storage"(m. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(8(,y +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ('& +2 "manipulator"&2& +4 "core" &,z I {\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   ) +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"('r + "manipulator"&+( +7 "core" ( + "manipulator"&!& +3 "core" &   ) +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & q ) +3 .tForearm.seek PC + "manipulator"&Y' +92 "core" ' + .tHand.close +2 "manipulator"&5/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +98 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(<'1 +43 "core" ' +300 ( + "storage"(/& +3 "core" &,h E E Q\  +2 "manipulator"&Z& +4 "core" &  ) +2 "manipulator"&% +4 "core" %  $ +2 .tForearm.seek :retract +2 "manipulator"&c' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&7( +248 "core" ( + "manipulator"&& +4 "core" & \  > +42 "storage"(D& +11 "core" &,h   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +104 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(b- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(X' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +3 "core" -' +3 "storage"(& +4 "core" &,h & '\  + "manipulator"&W& +5 "core" &   > +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&U& +3 "core" &   5 > +2 "storage"(& +5 "core" &,h 4 4 \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&& +3 "core" & % > +3 "storage"(]& +4 "core" &,h $ \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&u'7 +25 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&$% +5 "core" %F   + "storage"(\ & +4 "core" &,h  $\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 315 counts + "manipulator"&V'r +15 "core" ' +2 "manipulator"&^& +4 "core" &   ! > +2 "storage"(r& +4 "core" &,h $ # 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +18 "core" ' +2 "storage"()% +3 "core" %   ,\ +4 ."downElevator"SE.seek :down +3 "storage"(h' +98 (w% +3 "core" %[I\ )\ ) k\ Wd +3 "manipulator"&1% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,h   !\  +2 "collection"'i& +4 "core" &\\b\ \ F\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&Q% +5 "core" %  o  + "storage"(=% +5 "core" % $ ) #\  + "storage"(y. +3 "core" .(,y +2 "storage"(& +4 "core" &,h $ 6 P\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(f(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &,} % /\ +2 "manipulator"&N& +3 "core" &  > +3 .tElbow.seek 4 + "manipulator"&E( +4 "core" ( +2 "manipulator"&,& +4 "core" &  > +2 "storage"(.& +4 "core" &,} $  ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&O' +92 "core" ' + "storage"(& +4 "core" &,} G F\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'r +294 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" &  > +2 "storage"(J& +5 "core" &,j   =\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&`'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +47 "manipulator"&$&.,(\ #b +7 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(B'i +29 "core" ' +2 "manipulator"&g% +3 "core" %J \ +2 "storage"(& +5 "core" &,j " " =\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&\\'v +14 "core" ' +2 "manipulator"&K& +4 "core" &  a > +2 "storage"(&& +3 "core" &,j   5\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(H' +35 "core" ' + "manipulator"&%& +5 "core" &  " > + "manipulator"&F% +5 "core" % \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +155 "core" ( +2 "manipulator"&{& +3 "core" &ӗ   8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӗ  ; 8 +2 .tForearm.seek CC +2 "manipulator"&q'? +91 "core" ' +2 .tHand.close + "manipulator"&e/ +55 "core" / +2 .tCC.seek :open +2 "collection"';( +447 "core" ( +3 "storage"(|& +3 "core" &,j \\ ]\  +2 "storage"(s& +5 "core" &,j [ [\  + "manipulator"&L& +3 "core" &ӫ  5 +3 "manipulator"&% +3 "core" % F  \ Q  +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&j( +165 "core" ( + "manipulator"&-& +5 "core" &    + "storage"(v& +4 "core" &,j i f ^\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"& '7 +98 "core" ' + .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&C1 +59 "core" 1 +3 "manipulator"&R% +4 "core" % C     +2 "storage"(#& +4 "core" &,j ^ f K\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 312 counts + "manipulator"&x'o +14 "core" ' +2 "manipulator"&G& +4 "core" & C  + "storage"(z& +5 "core" &,j  ~ a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +15 "core" ' +2 "storage"(a% +4 "core" % p /\  +2 ."downElevator"SE.seek :down +4 "storage"(n' +98 (% +3 "core" %5? F G \ U_ +2 "manipulator"&P% +5 "core" %  S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +88 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'@& +3 "core" &\ \ V\ +2 "manipulator"&S% +4 "core" %    +2 "storage"(9% +4 "core" % f j Y\  +2 "storage"(o. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( (  +683 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" &  D B l\ +2 "manipulator"&k& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&m& +4 "core" &   +2 "storage"(T& +4 "core" &  i j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 2 + 450 counts +2 "manipulator"&''S +95 "core" ' + "storage"(2& +5 "core" &  ~ n =\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(!'r +298 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" & V ; y\ +2 "manipulator"&5& +5 "core" & .  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" &   y  +2 "storage"(t& +4 "core" & \\ [\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&?'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(/' +8 "core" &  + "manipulator"&Z% +5 "core" % ϵ +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&& +4 "core" &&   ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &&  ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&+'? +94 "core" ' +2 "manipulator"&& +4 "core" &ӈ%   >K +2 "manipulator"&b% +4 "core" %>    J +2 "collection"'4& +4 "core" & \ +2 "collection"'& +5 "core" &\ \ +2 .tCC.seek :closed +2 "collection"'W(\\ +4 "core" &\ \  +9 &5x\ \ *y +9 & f} \ > +10 &i\ \ \ L +9 &]T \ \ K +9 &W\ \ \ K +10 &S\ \ \ K +9 &T\ \ \ J +10 &fT\ \ \ J +9 &(U \ \ J +9 &T\ \ \ K +10 & W\ \ \ K +9 &"mR\ \ \ K +9 &$/R\ \ \ K +10 &%T\ \ \ J +9 &'U\ \ \ J +9 &)uT\ \ \ K +10 &+7W\ \ \ K +9 &,W\ \ \ K +10 &.R\ \ \ K +9 &0}S\ \ \ K +9 &2?S\ \ K +10 &4U\ \ {\ K +9 &5X\ \ \ K +9 &7U\ {\ K +10 &9FX\ \ \ K +9 &; T \ \ K +10 &<W\ \ \ K +9 &>T\  \ K +9 &@OU\ \ \ K +10 &BW\ \ \ K +9 &C_\ \ {\ L +10 &Ed\ \ \ M +9 &GMu\ \ t\ N +9 &I\ \ q\ R +10 &J\ \ v\ V +9 &Lz\ \ \ r\ W +9 &N<\ \ \ \ W +10 &O\ \ \ \ X +9 &Q\ \ \ r\ W +10 &S|\ \ \ q\ Y +9 &U?\ \ \ \ n\ X +9 &V\ \ x\ Z +10 &X\ \ \ }\ Z +9 &Z\ \ t\ [ +9 &\\#z\ \ u\ - +10 &\\9\ \ {\ #l +9 &\\^\ \ y\ H +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&U1 +56 "core" 1 +3 "manipulator"&% +3 "core" % >   J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&]% +4 "core" %    5  +2 "storage"(<% +3 "core" % $  ;\  +2 "storage"($. +3 "core" .(  +2 "storage"(\ & +4 "core" & # \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(X(  +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +3 "core" & \ &\  Q\  +2 "manipulator"&r& +4 "core" &Ӭ   9' +2 "manipulator"&)% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&7( +164 "core" ( +2 "manipulator"&3& +3 "core" &    +3 "storage"(& +4 "core" &  D D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&w'S +93 "core" ' +2 "storage"(1& +4 "core" &  E D \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +49 "core" & " " ;\  +4 "manipulator"&u& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(i& +4 "core" & " " :\  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&Q'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +2 "storage"(' +6 "core" & \ 9  +3 "manipulator"&% +4 "core" % ϵ  ^ +2 .tForearm.seek :retract +2 "manipulator"& ' +101 "core" ' + .tElbow.seek PC +2 "manipulator"&N( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( +2 "manipulator"&,& +3 "core" &   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +95 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&h% +4 "core" %  &  +2 "processing"%8& +3 "core" &!\ +3 "processing"%_& +5 "core" &!\ +2 .tPC.seek :closed +2 "processing"%}(^ +5 "core" &&\ +6 &6!\ #c +9 &Uu$\ 6 +10 &~x#\ K +9 &O\ M +9 &\\S\ N +10 & Q\ M +9 &U\ N +10 &S\ M +9 &dR \ N +9 &'T\ M +10 &T\ M +9 &!S\ N +9 &#mT\ M +10 &%/Q\ M +9 &&T\ M +10 &(T\ N +9 &*uT\ M +9 &,7Q\ M +10 &-O \ M +9 &/U \ N +9 &1}R \ M +10 &3?T\ M +9 &5O \ M +10 &6S \ M +9 &8S\ N +9 &:GR \ M +10 &< R\ M +9 &=R \ M +9 &?R\ N +10 &ANU\ N +9 &C]\ N +10 &D_\ N +9 &Fj\ P +9 &HLs\ Q +10 &J\ T +9 &K\ T +9 &M\ T +10 &OK\ T +9 &Q \ \ T +10 &R\ T +9 &T\ U +9 &VS\ T +10 &X\ U +9 &Y\ T +9 &[\ U +10 &]Y\ C +9 &^Fu \ Z +9 &^= \ 4 +6 ( +2 "processing"%_& +3 "core" &^%\ 4 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&d1 +54 "core" 1 +2 "manipulator"&l% +4 "core" %     +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +92 "core" ' + "processing"%& +4 "core" &^%&\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&g% +4 "core" %    .  +2 "storage"(% +3 "core" % " " <\  +2 "storage"(K. +4 "core" .(  + "storage"(&& +5 "core" & ! ~\  +2 "storage"(%& +2 "manipulator"&F& +8 "core" & ! ! u\  + &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&O( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(E'r +3 "core" ( + "manipulator"&"& +4 "core" &  ? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &  +3 .tForearm.seek PC +2 "manipulator"&\\' +91 "core" ' + .tHand.close +2 "manipulator"&B/ +55 "core" / +2 .tPC.seek :open +2 "processing"%{( +100 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('1 +45 "core" ' +298 ( +2 "storage"(& +3 "core" & " " 5\  +2 "manipulator"&e& +4 "core" & ~ +2 "manipulator"&A% +4 "core" %   6 +2 .tForearm.seek :retract +2 "manipulator"&6' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&|( +238 "core" ( +47 "manipulator"&s& +6 "core" &  D +2 "storage"(L& +4 "core" & !  ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +92 "core" ' + .tHand.open +2 "manipulator"&-1 +53 "core" 1 +2 "storage"(v- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(*' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(R& +4 "core" & b _ .\  +2 "manipulator"&#& +4 "core" &   9 D +2 .tElbow.seek 2 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&z& +3 "core" &   8 D +3 "storage"(a& +4 "core" & T U \  +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"&P& +3 "core" &  D +2 "storage"(j& +5 "core" & ! ! 4\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"& 'Α +19 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(S' +20 "core" ' +2 "manipulator"&x% +4 "core" %΢   +2 "storage"(9& +4 "core" & $ " :\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&o' +15 "core" ' + "manipulator"&H& +5 "core" &   D + "storage"([& +5 "core" &  ! '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'S +16 "core" ' +2 "storage"(f% +3 "core" % $ \ +3 ."downElevator"SE.seek :down +4 "storage"(I' +99 (k% +3 "core" %<c\  \ Zp +2 "manipulator"&m% +3 "core" %P  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (2& +3 "core" & ! # D\  +2 "collection"'>& +4 "core" &\\_\ \ \ F\ H +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&:% +3 "core" %  \   +3 "storage"(% +4 "core" %  " \  + "storage"(M. +3 "core" .(  +2 "storage"(5& +4 "core" & 5 %\  +2 "storage"( & +4 "core" & 6 A \  +2 "manipulator"&t& +3 "core" &  D +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   D +2 "storage"(Z& +4 "core" & !  M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'S +91 "core" ' +2 "storage"('& +3 "core" & E F \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" &  D +2 "storage"(?& +3 "core" & " " 2\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&'Α +23 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +42 "storage"('j +41 "core" ' + "manipulator"&/% +5 "core" %Λ  \  + "storage"(& +4 "core" & \  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&;' +16 "core" ' +2 "manipulator"&U& +3 "core" & \  > D +3 "storage"(& +4 "core" & "  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(]' +35 "core" ' + "manipulator"&<& +5 "core" &  I D + "manipulator"&$% +5 "core" %P f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"&^& +5 "core" &ӕ"   ' ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &ӕ"   ;3 +3 .tForearm.seek CC + "manipulator"&)'? +93 "core" ' +2 .tHand.close + "manipulator"&+/ +64 "core" / +2 .tCC.seek :open +2 "collection"'3( +451 "core" ( +2 "storage"(& +4 "core" & H H \  +2 "storage"( & +4 "core" & A C \  + "manipulator"&1& +5 "core" &Ӭ  8 + "manipulator"&Y% +4 "core" % A   +2 .tForearm.seek :retract +2 "manipulator"&c' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(u& +3 "core" & D ; \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'Α +97 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&=1 +55 "core" 1 +2 "manipulator"&y% +4 "core" % ΍   +2 "storage"(& +3 "core" & [ [\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 296 counts +3 "manipulator"&7'Ϲ +15 "core" ' + "manipulator"&w& +5 "core" &  + "storage"(0& +4 "core" & j i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +18 "core" ' +2 "storage"(,% +3 "core" % f h >\ +3 ."downElevator"SE.seek :down +4 "storage"(.' +98 (V% +3 "core" %L 8 * \ Wg +3 "manipulator"&% +4 "core" %N V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'8& +3 "core" & \ +2 "manipulator"&% +3 "core" %    +3 "storage"( % +4 "core" % h h \  + "storage"(. +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(d( +346 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (l& +2 "core" & C D \ +2 "manipulator"&& +5 "core" &   +2 .tElbow.seek 3 + "manipulator"&g( +13 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(K& +3 "core" & k k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&&'7 +93 "core" ' +47 "storage"(F& +6 "core" & _ k c\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'r +296 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" & W H O\ +2 "manipulator"&`& +5 "core" &  e  +2 .tElbow.seek 3 +2 "manipulator"&p( +4 "core" ( + "manipulator"&B& +4 "core" &   9  +2 "storage"(& +3 "core" & [ [\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&N'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&J/ +55 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(E' +8 "core" & L  +2 "manipulator"&% +4 "core" % Ϣ   +2 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&\\& +3 "core" &Ӗ  0 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &s& +2 "core" &Ӗ   7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&L'? +102 "core" ' +2 "manipulator"&O& +4 "core" &Ӗ   7 +2 "manipulator"&-% +4 "core" %=  +2 "collection"'v& +4 "core" & \ +3 "collection"'C& +4 "core" & o\ +3 .tCC.seek :closed +2 "collection"'R(\\ +3 "core" & \  +10 &5y \ *y +9 & g~\ \ > +9 &j\ \ \ L +10 &[R\ \ \ K +9 &S\ \ \ K +10 &S\ \ \ K +9 &R \ \ K +9 &cR\ \ \ K +10 &%T \ \ K +9 &U\ \ \ J +9 & T\ \ \ J +10 &"lT\ \ \ J +9 &$.T\ \ \ J +10 &%U\ \ \ J +9 &'T\ \ ~\ J +9 &)tT\ \ \ J +10 &+6T\ \ J +9 &,U\ \ \ J +9 &.T\ \ \ J +10 &0|U\ \ \ J +9 &2=U\ \ \ K +10 &3X\ \ \ K +9 &5U\ \ |\ J +9 &7T\ \ \ K +10 &9ET\ \ \ K +9 &;T\ \ \ J +9 &<T\ \ \ K +10 &>X\ \ \ K +9 &@MS\ \ \ K +10 &BW\ \ \ K +9 &C[\ \ \ L +9 &Eb\ \ \ L +10 &GLm\ \ \ \ N +9 &I\ \ \ P +9 &J\ \ \ U +10 &Lz\ \ \ V +9 &N:\ \ \ W +10 &O\ \ \ \ W +9 &Q\ \ \ X +9 &S~\ \ \ X +10 &U<\ \ \ \ Y +9 &V\ \ \ Y +10 &X\ \ \ Z +9 &Z}\ \ \ [ +9 &\\w\ \ \ / +10 &\\0\ \ \ \ [ +9 ( + &\\`\ \ \ ~\ K +2 "collection"'C& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator" +57 "core" 1 +3 "manipulator"&z% +3 "core" % =   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%6& +3 "core" &\ +2 "manipulator"&P% +4 "core" %   e  +2 "storage"(j% +4 "core" % %  3\  +2 "storage"(x. +3 "core" .( +2 "storage"((& +3 "core" &  $ M\ +2 "storage"(9& +4 "core" &   R\ +2 "manipulator"&H& +4 "core" &ӥ   5 +2 "manipulator"&q% +3 "core" %      +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&[( +166 "core" ( +2 "manipulator"&f& +4 "core" &    +2 "storage"(|& +3 "core" & E F\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +97 "core" ' + "storage"(*& +3 "core" & F D\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +297 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &   u\ +2 "manipulator"&G& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" &     +3 "storage"(o& +4 "core" & 2 ' \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&2'ϡ +72 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& +6 "storage"(' +2 "core" &    +4 "manipulator"&M% +3 "core" % ϵ \ ? +3 .tForearm.seek :retract +2 "manipulator"&S' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&5( +160 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"& & +4 "core" &   G  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &  \ ?  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&Z& +4 "core" &    +2 "manipulator"&n% +4 "core" %  ] +2 "processing"%'& +4 "core" &>\ +3 "processing"%I& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%@(^ +4 "core" &!\  +10 &4x\ *x +9 &d|!\ > +9 &~n\ N +10 &AR\ M +9 &R\ M +9 &Q\ M +10 &R\ M +9 &JS \ M +10 & T\ M +9 &S\ M +9 & S\ M +10 &"PT \ M +9 &$U\ M +9 &%R\ M +10 &'S\ M +9 &)YU\ M +10 &+T\ M +9 &,T\ M +9 &.S \ M +10 &0aQ\ M +9 &2#S\ M +9 &3R \ M +10 &5R\ M +9 &7iS\ M +10 &9+T \ M +9 &:T \ M +9 &<U \ M +10 &>oV \ N +9 &@1U\ N +10 &AY\ N +9 &Cd\ O +9 &Eqg\ P +10 &G1p\ P +9 &H\ S +14 &J \ S +5 &Ln\ S +11 &N/\ T +8 &O\ T +9 &Q\ U +9 &Sq\ U +10 &U4\ U +9 &V\ T +9 &X\ U +10 &Zz\ U +9 &\\;\ U +9 &]|s\ 9 +10 &^(t\ T +9 &^"\ 2 +3 ( + "processing"%I& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&T1 +63 "core" 1 +2 "manipulator"&D% +4 "core" %    ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +90 "core" ' +2 "processing"%?& +3 "core" &^ \ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&4% +4 "core" %    H  +2 "storage"(/% +3 "core" % " ! "\  +3 "storage"(. +3 "core" .( +2 "storage"(U& +4 "core" & " " D\ +2 "storage"(& +3 "manipulator"&<& +7 "core" & " " @\ + &   `  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"($'r + "manipulator"&~( +6 "core" ( +2 "manipulator"&& +4 "core" &  &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +3 .tForearm.seek PC + "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&;/ +56 "core" / +3 .tPC.seek :open +3 "processing"%( +92 "core" ' + "storage"(^- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'1 +39 "core" ' +312 ( + "storage"(& +5 "core" & % # *\ + "manipulator"&b& +4 "core" &   +2 "manipulator"&+% +4 "core" %   p @ +2 .tForearm.seek :retract +2 "manipulator"&\ ' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&W( +244 "core" ( +2 "manipulator"&& +3 "core" &  - M +2 "storage"( & +5 "core" & " $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&1'7 +103 "core" ' + .tHand.open +2 "manipulator"&Y1 +53 "core" 1 +50 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"()' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(=& +4 "core" & ' )\ +2 "manipulator"&y& +3 "core" &  M +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&w& +3 "core" &   M +2 "storage"(0& +5 "core" & ' '\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&,'7 +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(c'" +58 "core" ' +2 "manipulator"&V& +3 "core" & \ 3 M +3 "storage"(& +3 "core" & " " Q\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'u +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(7' +27 "core" ' +2 "manipulator"&8% +4 "core" %~   +2 "storage"(& +4 "core" & % " K\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"& 'Ϫ +16 "core" ' +2 "manipulator"&& +3 "core" &   M +3 "storage"(]& +3 "core" & - $ S\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q'7 +17 "core" ' + "storage"(.% +4 "core" % " '\ +3 ."downElevator"SE.seek :down +3 "storage"(X' +99 (l% +3 "core" %jL\ )\ ) \ We +2 "manipulator"&% +4 "core" %0  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (K& +3 "core" & '  )\ +3 "collection"'F& +3 "core" &\\`\ \ \ \ K +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&i% +4 "core" %    +2 "storage"(h% +3 "core" % B D +\  +3 "storage"(_. +3 "core" .( +2 "storage"("& +4 "core" & 6 " `\ +2 "storage"(`& +4 "core" & 8 * z\ +2 "manipulator"&B& +4 "core" &  M +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&J& +3 "core" &   \ M +3 "storage"(}& +4 "core" & $ 6 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' +2 "storage"(g& +3 "core" & E E \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +304 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &  N M +3 "storage"(%& +4 "core" & " ! \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&N'u +20 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(-- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(p't +28 "core" ' +2 "manipulator"&v% +4 "core" %w   +2 "storage"(E& +4 "core" &  " ;\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&e'ϣ +13 "core" ' +2 "manipulator"&3& +4 "core" &   M +47 "storage"(#& +5 "core" & D D \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&z'7 +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(6' +41 "core" ' +2 "manipulator"&P& +4 "core" & M +2 "manipulator"&j% +4 "core" %(  M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&((ӂ +154 "core" ( +4 "manipulator"&9& +4 "core" &Ӓ!   Q :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &Ӓ!    :1 +2 .tForearm.seek CC +2 "manipulator"&H'? +93 "core" ' +2 .tHand.close + "manipulator"&q/ +55 "core" / +2 .tCC.seek :open +2 "collection"'L( +448 "core" ( + "storage"(f& +4 "core" & < < \\\ +2 "storage"(|& +4 "core" & D N Z\ +2 "manipulator"&*& +4 "core" &Ӧ   8 +2 "manipulator"&A% +4 "core" % M   % +2 .tForearm.seek :retract +2 "manipulator"&a' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&m( +165 "core" ( + "manipulator"&& +5 "core" & \ D  + "storage"(G& +4 "core" & Z [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 +2 "manipulator"& 'u +99 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&>1 +53 "core" 1 +2 "manipulator"&:% +4 "core" % |   +2 "storage"(M& +4 "core" & [ Z\ + .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&['Ϩ +15 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(k& +4 "core" & ^ ^ c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&2'7 +15 "core" ' + "storage"( % +4 "core" % k q \ +3 ."downElevator"SE.seek :down +4 "storage"(t' +98 (% +3 "core" %A D D\ V_ +2 "manipulator"&Z% +5 "core" %/ y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"''& +3 "core" &\  \ +2 "manipulator"&% +3 "core" %  R  +3 "storage"(S% +4 "core" % q p *\  +2 "storage"({. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(T(,y +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" &,v T ? e\  +2 "manipulator"&?& +4 "core" & g  +2 .tElbow.seek 4 +2 "manipulator"&4( +29 "core" ( + "manipulator"&/& +4 "core" &    +2 "storage"(& +3 "core" &,v ^ ^ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +94 "core" ' + "storage"(I& +4 "core" &,v \\ Z #\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(<- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,j D O \  +49 "manipulator"&& +4 "core" &   +3 .tElbow.seek 4 +2 "manipulator"&( +21 "core" ( +2 "manipulator"&;& +3 "core" &   %  +2 "storage"(^& +5 "core" &,j ? H \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&5'c +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&@& +2 "storage"($' +5 "core" &   +3 "manipulator"&% +4 "core" % e \ +2 .tForearm.seek :retract +2 "manipulator"&b' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&& +3 "core" &ӕ   M :* +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӕ!  :* +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +91 "core" ' +3 "manipulator"&~& +3 "core" &Ӗ   9) +2 "manipulator"&Y% +5 "core" %H \  E +2 "collection"'& +3 "core" &\ \ \ +3 "collection"'\ & +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ \ +8 &B \ $e +10 &Yw\ \ \ 7 +9 &v\ \ J +9 &R\  \ K +10 &X\ \ \ K +9 &JS\ \ \ K +10 & R\ \ \ K +9 &R\ \ \ K +9 &R\ \ \ K +10 &RQ\ \ \ K +9 & R\  \ K +10 &!R\ \ \ K +9 &#R\ \ \ K +9 &%[R\ \ \ K +10 &'Q\ \ \ K +9 &(R\ \ \ K +9 &*Q\ \ \ K +10 &,cW\ \ \ K +9 &.&R\ \ \ J +9 &/T\  \ J +10 &1U\ \ \ J +9 &3jU\ \ \ K +10 &5,W\ \ \ K +9 &6S\ \ \ K +9 &8T \ \ J +10 &:rT\ \ \ K +9 &<4W\ \ \ K +9 &=S\ \ \ K +10 &?U\ \ \ K +9 &AyY\ \ \ K +10 &C:Z\ \ \ L +9 &Da\ \ \ L +9 &Fm\ \ \ N +10 &Ht\ \ \ P +9 &J)\ \ \ T +10 &K\ \ \ W +9 &M\ \ \ \ X +9 &Oh\ \ \ \ \ V +10 &Q'\ \ \ \ \ X +9 &R\ \ \ X +9 &T\ \ \ Y +10 &Vg\ \ \ Z +9 &X)\ \ \ Z +9 &Y\ \ \ \ \ [ +10 &[\ \ \ H +9 &\\0\ \ \ \ 1 +10 &\\k\ \ \ K +2 ( +2 "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&=1 +61 "core" 1 +2 "manipulator"&y% +4 "core" % H    E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%0& +4 "core" &=\ + "manipulator"&V% +4 "core" %      +2 "storage"(% +3 "core" %   3\  +2 "storage"(8. +4 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(r(,y +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,|\ '\ * p\ +2 "manipulator"&u& +3 "core" &ӫ   7 +2 "manipulator"&% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&]( +166 "core" ( + "manipulator"&.& +4 "core" & @  +2 "storage"(W& +3 "core" &,| F E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +69 "Can"\ R +21 "core" ' +2 "storage"()& +4 "core" &,| F D ,\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +305 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &,j "  7\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"( & +4 "core" &,j $ # >\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&K'c +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +59 "core" / +51 ."downElevator"SE.seek :down +4 "manipulator"&i& +2 "storage"(h' +8 "core" &  F  +2 "manipulator"&_% +4 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&7' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +3 "manipulator"&`& +3 "core" &  C = +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &  I = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&J' +89 "core" ' +2 "manipulator"&}& +3 "core" &   = +3 "manipulator"&Q% +4 "core" %  Y +2 "processing"%g& +4 "core" &>\ +2 "processing"%X& +6 "core" &>\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &!\ +6 &<"\ #c +10 &Vy"\ 7 +9 &s"\ K +10 &P\ M +9 &hR"\ M +9 &+N\ M +10 &T\ M +9 &O\ M +9 &oS\ N +10 &2T\ M +9 &P\ M +10 &!P\ M +9 &#xU \ M +9 &%;U \ M +10 &&R \ M +9 &(U\ M +9 &*U\ N +10 &,BT \ M +9 &.P\ M +10 &/T \ N +9 &1R\ M +9 &3JS\ M +10 &5 T \ M +9 &6S \ M +9 &8T \ M +10 &:SP\ M +9 &<U\ N +10 &=U \ N +9 &?T\ N +9 &AYU\ N +10 &C\\\ \ N +9 &D]\ \ O +9 &Fh\ P +10 &HXu\ Q +9 &J\ S +10 &K \ T +9 &M\ T +9 &OV \ T +10 &Q\ U +9 &R\ T +9 &T\ U +10 &V^\ T +9 &X\ T +10 &Y\ U +9 &[\ U +9 &]c\ B +10 &^Dt\ [ +9 &^6\ 3 +5 ( +2 "processing"%X& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&1 +4 "core" &^ \ 3 +56 1 +2 "manipulator"&\\% +3 "core" %    Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +95 "core" ' + "processing"%%& +4 "core" &^ %\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&-% +3 "core" % !   ( +3 "storage"(v% +4 "core" %\ #\  \  +2 "storage"(E. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(3(,y +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (#& +2 "manipulator"&P& +4 "core" &,y\ \  \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   F = +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(j'r +2 "manipulator"&( +5 "core" ( +2 "manipulator"&& +4 "core" &   = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &&& +3 "core" &  = +2 .tForearm.seek PC +2 "manipulator"&N' +92 "core" ' + .tHand.close +2 "manipulator"&e/ +58 "core" / +2 .tPC.seek :open +2 "processing"%p( +91 "core" ' +2 "storage"(9- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'1 +43 "core" ' +307 ( +2 "storage"(z& +4 "core" &,g ( E *\  + "manipulator"&O& +5 "core" &  - = + "manipulator"&q% +4 "core" %   5 +3 .tForearm.seek :retract + "manipulator"&x' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&R( +245 "core" ( + "manipulator"&f& +5 "core" &   ; 2 + "storage"(|& +4 "core" &,g  $ 5\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +93 "core" ' +2 .tHand.open + "manipulator"&A1 +55 "core" 1 +2 "storage"(- +43 "core" -'1 +10 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(G' +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(H' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"((- +3 "core" -' +2 "storage"(>& +4 "core" &,g S F H\  +2 "manipulator"&:& +3 "core" &  2 +3 .tElbow.seek 4 +2 "manipulator"&M( +2 "core" ( +3 "manipulator"&& +4 "core" &    2 +2 "storage"(k& +4 "core" &,g 5 6 \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(a'" +52 "core" ' +2 "manipulator"&& +4 "core" &  2 +2 "storage"(Z& +4 "core" &,g  % {\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&m'7 +19 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"('' +19 "core" ' + "manipulator"&% +5 "core" %I  + "storage"([& +5 "core" &,g\  S X\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&S'u +15 "core" ' +2 "manipulator"&{& +4 "core" & \  2 +2 "storage"(6& +3 "core" &,g # " :\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&2' +17 "core" ' +2 "storage"(t% +4 "core" % " ! \ +3 ."downElevator"SE.seek :down +3 "storage"(d' +98 (D% +3 "core" %Q\ \  \ Wf +3 "manipulator"&?% +3 "core" %  f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +88 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,g  4 X\  +3 "collection"'I& +3 "core" &\\l\ \ \ f\ K +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&o% +4 "core" %  f  +2 "storage"(n% +3 "core" %   B\  +2 "storage"(<. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +39 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &,x   R\ +3 "manipulator"&;& +3 "core" &  \ / 2 +3 .tElbow.seek 4 + "manipulator"&^( +4 "core" ( +2 "manipulator"&!& +3 "core" &   2 +3 "storage"(@& +4 "core" &,x  ! \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(4& +3 "core" &,x D D\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'r +300 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  2 +2 "storage"(& +4 "core" &,j   =\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&5'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('j +33 "core" ' +2 "manipulator"&% +3 "core" %@  +2 "storage"($& +4 "core" &,j N # d\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 309 counts + "manipulator"&b'l +61 "core" ' + "manipulator"&L& +3 "core" &   2 +3 "storage"(=& +4 "core" &,j " #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&y' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(0' +41 "core" ' +2 "manipulator"&V& +3 "core" &  2 +3 "manipulator"&% +3 "core" % \  J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +167 "core" ( + "manipulator"&& +5 "core" &~   1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &~   1 +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tCC.seek :open +2 "collection"'.( +447 "core" ( +2 "storage"(W& +3 "core" &,j R R G\ +2 "storage"(T& +4 "core" &,j D D a\ +2 "manipulator"&)& +3 "core" &ӏ  / +2 "manipulator"&+% +4 "core" % !   +3 .tForearm.seek :retract + "manipulator"&w' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&,& +4 "core" &  4  +2 "storage"(& +4 "core" &,j j k \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&'7 +96 "core" ' +2 .tElbow.hold +2 "manipulator"& , +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&F1 +60 "core" 1 +2 "manipulator"&i% +5 "core" % /  \ 6 + "storage"(_& +4 "core" &,j i i \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 292 counts +2 "manipulator"&]'[ +15 "core" ' +2 "manipulator"&1& +3 "core" &   +2 "storage"(l& +5 "core" &,j _ ^ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +15 "core" ' +2 "storage"(`% +96 "core" % | u \ +3 ."downElevator"SE.seek :down +4 "storage"(B' +98 (c% +3 "core" %A E E #\ V_ +2 "manipulator"&}% +3 "core" % l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'g& +3 "core" &\  z\ +3 "manipulator"&h% +4 "core" %    +2 "storage"(7% +3 "core" % h k l\  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (\\& +2 "core" &  F E D\ +3 "manipulator"&%& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&-( +4 "core" ( +2 "manipulator"&v& +4 "core" &  1  +2 "storage"(E& +3 "core" &  i k w\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&X'S +102 "core" ' +2 "storage"(#& +4 "core" &  ~  L\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(P'r +294 "core" ' +2 "storage"(- +49 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +3 "core" & : S 8\ +2 "manipulator"&J& +4 "core" & ^  +2 .tElbow.seek 2 +2 "manipulator"&e( +4 "core" ( + "manipulator"&r& +4 "core" &  +2 "storage"(9& +3 "core" & [ ^ \ \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&"'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(j' +6 "core" & \  (  +3 "manipulator"&z% +4 "core" %  ) D +2 .tForearm.seek :retract +2 "manipulator"&O' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&N& +4 "core" &ӎ#   <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &ӎ#  <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&|'? +98 "core" ' +3 "manipulator"&& +3 "core" &ӎ#   # <? +3 "manipulator"&A% +4 "core" %H    +2 "collection"'& +3 "core" & \ +3 "collection"'x& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'((\\ +3 "core" & \  +9 &4y \ *z +10 & f}\ \ > +9 &k \ K +9 &YT\ \ \ K +10 &W\ \ \ K +9 &W\ \ \ K +10 &R \ \ K +9 &aQ\ \ \ K +9 &#T\ \ \ K +10 &T\ \ \ J +9 & T \ J +9 &"jT\ \ \ J +10 &$+T\ \ \ K +9 &%X\ \ \ K +10 &'W\ \ \ K +9 &)qW \ \ K +9 &+3U\ \ \ K +10 &,W \ \ K +9 &.W\ \ \ K +9 &0yW\ \ \ K +10 &2;X\ \ \ K +9 &3X\ \ \ K +10 &5S\ \ \ K +9 &7T \ \ K +9 &9CW\ \ \ K +10 &;T\ \ \ J +9 &<T\ \ \ J +9 &>U\ \ \ K +10 &@KS\ \ \ K +9 &B W\ \ \ K +10 &C^\ \ \ L +9 &Ef\ \ \ M +9 &GIs\ \ \ \ N +10 &I\ \ \ R +9 &J\ \ \ W +9 &Lu\ \ \ W +10 &N6\ \ \ \ X +9 &O\ \ \ X +10 &Q\ \ \ \ X +9 &Sx\ \ \ \ \ Y +9 &U:\ \ \ \ Y +10 &V\ \ \ Z +9 &X\ \ \ Z +9 &Zy\ \ \ [ +10 &\\z\ \ \ / +9 &\\/\ \ \ \\ +10 ( + &\\k\ \ \ \ K +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&>1 +59 "core" 1 +3 "manipulator"&:% +4 "core" % G    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%k& +4 "core" &O\ +2 "manipulator"&% +4 "core" %   \   +2 "storage"(Z% +4 "core" % % " \  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"([(  +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" & \ \ & <\ +2 "manipulator"&{& +4 "core" &ӫ   8" +2 "manipulator"&6% +4 "core" %   \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&G( +160 "core" ( + "manipulator"&t& +5 "core" &    + "storage"(R& +4 "core" &  D E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&*'S +92 "core" ' +2 "storage"(H& +4 "core" &  D F\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +302 "core" ' + "storage"(?- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & "  j\  +2 "manipulator"&M& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&m& +3 "core" &   +2 "storage"(S& +4 "core" & " " ?\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tHand.close +3 "manipulator"&I/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&o& + "storage"(n' +8 "core" &   +2 "manipulator"&<% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&'' +96 "core" ' + .tElbow.seek PC +2 "manipulator"&( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +3 "manipulator"&;& +3 "core" &  K , +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" & \  > , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&@' +90 "core" ' +2 "manipulator"&2& +4 "core" &   , +2 "manipulator"&4% +4 "core" %  _ +2 "processing"%d& +4 "core" &N\ +2 "processing"%3& +6 "core" &*\ +2 .tPC.seek :closed +2 "processing"% (^ +5 "core" &#\ +6 &;-\ $d +10 &Yy!\ 7 +9 &v)\ L +9 &P(\ M +10 &rR!\ N +9 &5Q.\ M +10 &T)\ N +9 &R"\ M +9 &|O\ M +10 &=U!\ M +9 &S\ M +9 &!O\ M +10 &#T\ M +9 &%ET\ M +10 &'R\ M +9 &(O\ M +9 &*P\ M +10 &,MT\ M +9 &.T\ M +9 &/T\ N +10 &1Q \ M +9 &3UT\ M +9 &5R\ M +10 &6U\ M +9 &8S\ M +10 &:]O\ M +9 &<U\ M +9 &=U \ M +10 &?Q\ M +9 &AeT\ M +10 &C#]\ O +9 &D`\ O +9 &Fg\ P +10 &Hbu\ Q +9 &J\ T +9 &K\ T +10 &M\ T +10 &O` \ T +9 &Q!\ U +9 &R\ T +9 &T\ U +10 &Vi \ T +9 &X+\ T +9 &Y\ T +10 &[\ U +9 &]n\ B +10 &^9g\ %l +9 &^.\ / +5 ( +2 "processing"%3& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&/1 +4 "core" &^\ / +56 1 +2 "manipulator"&% +3 "core" %   _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%& +4 "core" &^$\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Y% +4 "core" %   +2 "storage"(% +3 "core" % # " 8\  +3 "storage"($. +2 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(L(  +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "manipulator"&V& +3 "core" & \ ' U 8\ +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  ) , +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&( +7 "core" ( + "manipulator"&^& +5 "core" &    , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &U& +2 "core" &  , +3 .tForearm.seek PC +2 "manipulator"&5' +95 "core" ' + .tHand.close +2 "manipulator"&b/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'1 +40 "core" ' +311 ( +2 "storage"(y& +4 "core" & " ! 0\ +2 "manipulator"&~& +4 "core" &  , +2 "manipulator"& % +4 "core" %   9 +2 .tForearm.seek :retract +2 "manipulator"&8' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +244 "core" ( + "manipulator"&W& +5 "core" &   < + "storage"(T& +4 "core" & % \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&)'S +91 "core" ' +2 .tHand.open +50 "manipulator"&+1 +55 "core" 1 +2 "storage"(,- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(\ - +3 "core" -' +2 "storage"(F& +5 "core" & f e ;\ + "manipulator"&i& +5 "core" &   < +2 .tElbow.seek 2 + "manipulator"&_( +5 "core" ( + "manipulator"&1& +4 "core" &   + < +2 "storage"(l& +3 "core" & e e o\ +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&w'S +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(`'" +50 "core" ' +2 "manipulator"&& +4 "core" &  < +2 "storage"(c& +3 "core" & N $ A\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&}'Α +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(]' +19 "core" ' +2 "manipulator"&g% +4 "core" %Ρ  +2 "storage"(h& +3 "core" & H H\ +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&7' +14 "core" ' +2 "manipulator"&& +4 "core" &   < +2 "storage"(0& +4 "core" & " " 0\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&K'S +15 "core" ' +2 "storage"(B% +4 "core" % !  _\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (\\% +4 "core" %_ \  \ Zo +2 "manipulator"&%% +3 "core" %O  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +89 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" & &  \ +3 "collection"'#& +3 "core" &\\k\ \ \ K +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +4 "core" %    +2 "storage"(Q% +3 "core" % " " \  +2 "storage"(. +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(&(  +11 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (J& +3 "core" & \ (\ # j\  +3 "manipulator"&r& +4 "core" &  < +2 .tElbow.seek 2 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&s& +3 "core" &   < +2 "storage"(& +5 "core" &   ! \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&z'S +91 "core" ' +2 "storage"(-& +4 "core" &  E E C\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +297 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +3 "core" &  < +3 "storage"(P& +4 "core" & $ " W\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&"'Α +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('j +27 "core" ' + "manipulator"&e% +4 "core" %Ι  +2 "storage"(j& +3 "core" & !  G\  +42 .tForearm.force -20 +9 "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&O' +15 "core" ' + "manipulator"&.& +4 "core" &   ; +2 "storage"(>& +4 "core" & " ' \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&:'S +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(k' +33 "core" ' +2 "manipulator"&& +3 "core" &  q ; +3 "manipulator"&Z% +3 "core" %T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +155 "core" ( +3 "manipulator"&C& +3 "core" &Ә   8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +2 "core" &Ә   8 +3 .tForearm.seek CC +2 "manipulator"&6'? +92 "core" ' +2 .tHand.close + "manipulator"&|/ +63 "core" / +2 .tCC.seek :open + "collection"'t( +448 "core" ( +2 "storage"(R& +4 "core" & I ? \  + "storage"(& +5 "core" & 9 9 w\  + "manipulator"&H& +4 "core" &Ӣ  6 +2 "manipulator"&q% +4 "core" % M   +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&?( +163 "core" ( +2 "manipulator"& & +4 "core" &    + "storage"(M& +5 "core" & i k \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&m'Α +91 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&I1 +64 "core" 1 +2 "manipulator"&o% +4 "core" % Ι  % 2 +2 "storage"(<& +4 "core" & k k \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 308 counts +2 "manipulator"&G' +13 "core" ' +2 "manipulator"&*& +4 "core" & V  +2 "storage"(D& +4 "core" & ] ^ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +16 "core" ' +2 "storage"(;% +3 "core" % o b \ \ +3 ."downElevator"SE.seek :down +4 "storage"(!' +98 (a% +3 "core" %O 6 # n\ Xj +3 "manipulator"&2% +4 "core" %H  | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'d& +3 "core" & \ {\ +3 "manipulator"&n% +4 "core" %    + "storage"('% +5 "core" % i i \  + "storage"(p. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(/( +345 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +4 "core" & G O ]\ \ + "manipulator"&& +5 "core" &   + .tElbow.seek 3 +2 "manipulator"&Y( +14 "core" ( + "manipulator"&& +5 "core" &    x + "storage"($& +4 "core" & h i \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&3'7 +102 "core" ' +2 "storage"(=& +3 "core" & r u \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +48 "storage"(V'r +295 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (U& +3 "core" & f [ <\ \ +2 "manipulator"&@& +3 "core" &  x +3 .tElbow.seek 3 + "manipulator"&b( +4 "core" ( +2 "manipulator"&[& +3 "core" &  x +2 "storage"(& +5 "core" & ^ [ \ \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +12 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(' +8 "core" & s x +2 "manipulator"&y% +4 "core" % Ϫ  y +2 .tForearm.seek :retract +2 "manipulator"&~' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&5& +5 "core" &Ӝ  * 8" + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +2 "core" &Ӝ  3 8" +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'? +101 "core" ' +3 "manipulator"&& +4 "core" &Ӝ   8" +2 "manipulator"&+% +3 "core" %D   +3 "collection"',& +3 "core" &\ \ \ +3 "collection"'\ & +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'8(\\ +3 "core" & \ +8 &=\ \ \ $f +9 &Yx\ \ \ 7 +9 &v\ \ \ J +10 &R\ \ \ J +9 &S\ \ \ K +10 &GR \ \ K +9 &\ R\ \ \ K +9 &R\ \ \ J +10 &T\ \ \ J +9 &QT\ \ \ J +9 & S\ \ \ J +10 &!V\ \ \ J +9 &#T\ \ \ K +10 &%XR\ \ \ K +9 &'R\ \ \ K +9 &(S\ \ \ J +10 &*T\ \ \ J +9 &,`R\ \ \ K +9 &.#R\ \ \ J +10 &/S\ \ \ J +9 &1U\ \ \ J +10 &3hT\ \ \ K +9 &5+U\ \ \ J +9 &6U\ \ &\ J +10 &8U\ \ s\ J +9 &:pU \ \ K +9 &<2W\ \ \ K +10 &=W\  \ K +9 &?Y\ \ \ K +10 &AxY\ \ \ K +9 &C9Y\ \ \ K +9 &Dc\ \ \ L +10 &Fk\ \ \ M +9 &Hry\ \ \ O +9 &J(\ \ \ T +10 &K\ \ \ V +9 &M\ \ \ W +10 &Od\ \ \ W +9 &Q$\ \ \ \ X +9 &R\ \ \ \ X +10 &T\ \ \ X +9 &Ve\ \ \ \ Y +9 &X&\ \ \ Z +10 &Y\ \ \ [ +9 &[\ \ \ H +10 &\\/\ \ \ 3 +9 &\\`\ \ \ H +2 ( +2 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&F1 +60 "core" 1 + "manipulator"&i% +4 "core" % D    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%l& +4 "core" &P\ +2 "manipulator"&% +3 "core" %  \  +3 "storage"(c% +4 "core" % !  >\  + "storage"(g. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(h( +3 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (u& +3 "core" &   `\ \ +2 "manipulator"&& +5 "core" &Ӣ  8 + "manipulator"&0% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( + "manipulator"&B& +5 "core" &    + "storage"(& +5 "core" & N G %\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&)'7 +96 "core" ' +2 "storage"(& +4 "core" & D D \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +299 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" &   K\ \ +2 "manipulator"&_& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&`( +4 "core" ( + "manipulator"&}& +4 "core" &    +2 "storage"(7& +4 "core" & D D L\ \ +2 .tForearm.seek 3 + 300 counts +48 "manipulator"&E'ϡ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&#/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(Q' +8 "core" &   +2 "manipulator"&]% +3 "core" % ϩ  D +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&r& +3 "core" &    +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&K& +5 "core" &     + "manipulator"&-% +5 "core" %  +2 "processing"%& +4 "core" &R\ +2 "processing"%L& +5 "core" &P\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &1\ +7 &40\ #c +9 &Uu-\ 6 +10 &w/\ K +9 &Q0\ M +9 &_S(\ M +10 &!S0\ M +9 &T0\ N +10 &R1\ M +9 &gO&\ M +9 &)U\ M +10 &U\ M +9 &!S\ N +9 &#nT\ N +10 &%1T\ M +9 &&P\ M +10 &(U\ M +9 &*wT\ M +9 &,:Q\ M +10 &-T \ N +9 &/T%\ M +9 &1R\ M +10 &3AS\ M +9 &5T\ M +10 &6T\ M +9 &8T\ N +9 &:IR\ M +10 &<\ V\ N +9 &=T\ M +9 &?Q\ M +10 &AQU\ M +9 &C^\ O +10 &Db\ O +9 &Fk\ P +9 &HJ~\ R +10 &J \ S +9 &K\ S +9 &M\ T +10 &OL\ T +9 &Q \ U +10 &R\ T +9 &T\ U +9 &VT\ T +10 &X\ T +9 &Y\ \ U +9 &[\ U +10 &]Y \ D +9 &^Es\ \\ +10 &^F\ 4 +5 ( +2 "processing"%L& +4 "core" &^*\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&v1 +61 "core" 1 +2 "manipulator"&N% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +95 "core" ' +2 "processing"%P& +3 "core" &^*)\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&A% +4 "core" % #  6 +2 "storage"(e% +4 "core" %\ \  0\  +2 "storage"(j. +3 "core" .( +2 "storage"(.& +4 "core" &\ \  '\ \ +2 "storage"(>& +3 "manipulator"&& +7 "core" &\ \  \ \ + &   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Z'r + "manipulator"&z( +7 "core" ( + "manipulator"&9& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&"' +94 "core" ' +2 .tHand.close + "manipulator"&O/ +65 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' +2 "storage"(C- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'1 +50 "core" ' +306 ( + "storage"(:& +4 "core" & E F \ \ +2 "manipulator"&& +3 "core" &   +2 "manipulator"&|% +3 "core" %   1 +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&(( +245 "core" ( +2 "manipulator"&R& +3 "core" &  O O +2 "storage"(& +4 "core" & E F\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&H'7 +98 "core" ' + .tHand.open +2 "manipulator"&q1 +56 "core" 1 +10 "storage"( - +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(M' +38 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(6' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +3 "core" -' +2 "storage"(I& +3 "core" & & & \ \ +3 "manipulator"&o& +3 "core" &  N +3 .tElbow.seek 3 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&*& +3 "core" &    N +3 "storage"(D& +4 "core" & ' '\ \ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&;'7 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' +2 "manipulator"&a& +4 "core" &  N + "storage"(2& +5 "core" &  ! (\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&?'u +17 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(d' +27 "core" ' +2 "manipulator"&n% +3 "core" %·  +2 "storage"(G& +5 "core" & % $ 9\ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&''ϳ +14 "core" ' +2 "manipulator"&p& +3 "core" & \ . N +3 "storage"(k& +3 "core" & F D ,\ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' + "storage"(!% +4 "core" % E D\ +3 ."downElevator"SE.seek :down +4 "storage"(&' +99 (% +3 "core" %qN\ *\ ) k\ Xg +3 "manipulator"&% +3 "core" %4 C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ($& +3 "core" & $ 6 T\ \ +3 "collection"'=& +4 "core" &\\]\ \ \ \ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&S% +4 "core" %    +2 "storage"(4% +3 "core" % 7 B \  +2 "storage"(^. +3 "core" .( +2 "storage"(U& +4 "core" & D D \ \ +2 "storage"(@& +3 "core" & ) # \ \ +3 "manipulator"&[& +4 "core" &  N +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" &  N + "storage"( & +4 "core" & D D Z\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&y'7 +93 "core" ' + "storage"(Y& +4 "core" & G F %\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'r +298 "core" ' + "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" &  N +3 "storage"(V& +4 "core" & % " <\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'u +25 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(,'t +28 "core" ' + "manipulator"&b% +5 "core" %Έ  q + "storage"(& +4 "core" & " " @\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&~'ϴ +13 "core" ' +2 "manipulator"&t& +3 "core" &   N +43 "storage"(F& +10 "core" & D D \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&i'7 +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(l' +35 "core" ' +2 "manipulator"&& +3 "core" &  N +2 "manipulator"&c% +5 "core" %4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +151 "core" ( +2 "manipulator"&u& +3 "core" &ӌ'   < @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ(  @^ +3 .tForearm.seek CC +2 "manipulator"&0'? +97 "core" ' + .tHand.close +2 "manipulator"&T/ +64 "core" / +2 .tCC.seek :open +2 "collection"'B( +447 "core" ( +2 "storage"(& +3 "core" & N I \ \ +3 "storage"(/& +4 "core" & A E\ \ + "manipulator"&& +5 "core" &ӹ!   :1 + "manipulator"& % +4 "core" % N  \  +3 .tForearm.seek :retract + "manipulator"&1' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&%( +167 "core" ( + "manipulator"&w& +3 "core" & 6  +3 "storage"(_& +4 "core" & _ f c\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&}'u +92 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +58 "core" 1 +3 "manipulator"& % +4 "core" % Ά     + "storage"(]& +5 "core" & [ e\ \ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&'ϲ +14 "core" ' + "manipulator"&)& +5 "core" & ;  + "storage"(\\& +5 "core" & j f c\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&E'7 +16 "core" ' +2 "storage"(r% +4 "core" % e [ \ +3 ."downElevator"SE.seek :down +4 "storage"(s' +98 (`% +3 "core" %F G F\ V` +2 "manipulator"&K% +5 "core" %5 \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +89 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +3 "core" &\ \ \ +2 "manipulator"&Q% +3 "core" %    +3 "storage"(% +3 "core" % Z ]\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(v(,y +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +2 "core" &,y \\ ^\  +3 "manipulator"&P& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&A( +40 "core" ( +2 "manipulator"&e& +4 "core" & .  +2 "storage"(j& +4 "core" &,x [ ^ #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +93 "core" ' +2 "storage"(L& +3 "core" &,x _ p F\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +293 "core" ' +2 "storage"(- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +48 "core" &,j 8 < k\  +5 "manipulator"&X& +4 "core" & 9  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&O& +4 "core" &  ?  +2 "storage"(C& +4 "core" &,j [ [\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&J'c +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(Z' +8 "core" &  \ X  +2 "manipulator"&:% +4 "core" % e  L +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&"& +4 "core" &ӛ   % 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &ӛ  7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +3 "manipulator"&z& +3 "core" &ӛ   7 7 +3 "manipulator"&q% +4 "core" %3 \  3 +2 "collection"' & +3 "core" &\ \ \ +3 "collection"'x& +6 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'I(\\ +5 "core" &\ \ \ +7 &B\ \ \ $f +9 &Zz\ \ \ 7 +10 & u\ \ \ K +9 &R\ \ \ J +10 &T\ \ \ J +9 &PT\ \ \ K +9 &W\ \ \ K +10 &W\ \ \ K +9 &W\ \ \ K +9 &XR\ \ \ K +10 & T\ \ \ J +9 &!T\ \ \ J +10 &#U\ \ K +9 &%`V\  \ K +9 &'"V\ \ \ K +10 &(W\ \ \ K +9 &*U\ \ \ K +9 &,hR\ \ \ K +10 &.*R\ \ \ K +9 &/R\ \ \ K +10 &1U\ \ \ J +9 &3pU\ \ \ K +9 &51W\ \ \ K +10 &6T\ \ \ J +9 &8U\ \ \ K +9 &:xS\ \ :\ K +10 &<;T\ \ \ J +9 &=T\ \ \ K +10 &?W\ \ \ K +9 &AU\ \ \ K +9 &C?\\\ \ \ L +10 &Ea\ \ \ L +9 &Fj\ \ \ M +9 &Hy\ \ \ P +10 &J/\ \ \ T +9 &K\ \ \ W +10 &M\ \ \ \ W +9 &Ok\ \ \ ,\ X +9 &Q-\ \ o\ X +10 &R\ \ \ X +9 &T\ \ \ Y +9 &Vm\ \ \ \ Z +10 &X.\ \ \ Z +9 &Y\ \ \ \ [ +10 &[\ \ \ I +9 &\\2\ \ \ , +9 &\\c\ \ \ N +3 ( + "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&o1 +59 "core" 1 +3 "manipulator"&*% +3 "core" % 3   3 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%D& +3 "core" &P\ +2 "manipulator"&a% +5 "core" %     + "storage"(2% +4 "core" % $ ! %\  +2 "storage"({. +3 "core" .(,y +2 "storage"(n& +4 "core" &,j % #\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(G(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" &,|   4\ +2 "manipulator"&k& +3 "core" &Ө   5 +2 "manipulator"&M% +5 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&!( +163 "core" ( + "manipulator"&(& +3 "core" &    +3 "storage"(H& +4 "core" &,| D D A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +90 "core" ' +2 "storage"(& +4 "core" &,| C F\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &,j   N\  +2 "manipulator"&& +5 "core" &   =  +2 .tElbow.seek 4 + "manipulator"&?( +4 "core" ( +2 "manipulator"&'& +4 "core" &    + "storage"($& +4 "core" &,j " " A\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&='c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +107 "core" / +5 ."downElevator"SE.seek :down +5 "manipulator"&4& + "storage"(^' +8 "core" &   +2 "manipulator"&d% +4 "core" % \\  8 +2 .tForearm.seek :retract +2 "manipulator"&U' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&[& +3 "core" & \  Q , +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' +2 "manipulator"&& +4 "core" &   , +2 "manipulator"&Y% +3 "core" %   +3 "processing"%&& +4 "core" &R\ +2 "processing"%m& +5 "core" &Q\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &5\ +7 &;0\ #c +10 &Vy1\ 7 +9 &u/\ K +10 &Q/\ N +9 &lS1\ N +9 &/Q1\ M +10 &Q1\ M +9 &P.\ M +9 &uP/\ M +10 &7U,\ M +9 &U0\ M +10 &!T*\ M +9 &#}U'\ M +9 &%?U+\ M +10 &'T"\ M +9 &(T\ N +10 &*S\ N +9 &,FS\ N +9 &.R\ N +10 &/T$\ M +9 &1O%\ M +9 &3OT"\ M +10 &5R\ M +9 &6P\ M +9 &8U\ M +10 &:WT\ M +9 &<Q\ M +10 &=T\ M +9 &?W\ N +9 &A^W\ N +10 &C\\\ N +9 &D_\ O +9 &Fg\ P +10 &HZv\ R +9 &J\ S +10 &K\ S +9 &M\ T +9 &OZ\ T +10 &Q\ U +9 &R\ T +9 &T\ U +10 &Vb\ T +9 &X#\ U +10 &Y\ U +9 &[\ U +9 &]g\ C +10 &^>n\ $i +9 &^(\ . +5 ( +2 "processing"%m& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&51 +4 "core" &^\ . +56 1 +2 "manipulator"&W% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +92 "core" ' + "processing"%+& +5 "core" &^.\ . + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&b% +3 "core" %     +3 "storage"(% +3 "core" % Q 6\  +2 "storage"(t. +3 "core" .(,| +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(F(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (& + "manipulator"&c& +6 "core" &,} T\  (\ + &  $ , +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(y'r + "manipulator"&( +7 "core" ( + "manipulator"&3& +4 "core" &   ( , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   , +3 .tForearm.seek PC +2 "manipulator"&~' +91 "core" ' +3 .tHand.close + "manipulator"&,/ +59 "core" / +2 .tPC.seek :open +2 "processing"%u( +90 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'1 +44 "core" ' +310 ( +2 "storage"(& +3 "core" &,g " ! /\ +2 "manipulator"&T& +4 "core" &  , +2 "manipulator"&g% +4 "core" %  + +2 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +246 "core" ( +2 "manipulator"&/& +3 "core" &   ! +2 "storage"(& +4 "core" &,g " " >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 .tHand.open + "manipulator"&w1 +102 "core" 1 +10 "storage"(_- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(\ ' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(#- +3 "core" -' +2 "storage"( & +3 "core" &,g @ H 0\ +3 "manipulator"&]& +3 "core" &  ! +3 .tElbow.seek 4 +2 "manipulator"&)( +8 "core" ( +2 "manipulator"&\\& +3 "core" &   C  +3 "storage"(r& +4 "core" &,g D C\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(`'" +51 "core" ' +2 "manipulator"&K& +3 "core" &   +3 "storage"(%& +4 "core" &,g N $ {\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&}'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +27 "core" ' +2 "manipulator"&% +3 "core" %C  +2 "storage"(& +4 "core" &,g  ! \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts +3 "manipulator"&'o +14 "core" ' +2 "manipulator"&l& +3 "core" &  +  +3 "storage"(E& +3 "core" &,g # \ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +16 "core" ' + "storage"(h% +4 "core" % % $ +\ +3 ."downElevator"SE.seek :down +4 "storage"(N' +99 (P% +3 "core" %H\ +\ ) 1\ Vc +2 "manipulator"&e% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&j' +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (L& +3 "core" &,g 5 \ +3 "collection"'7& +4 "core" &\\e\ \ \ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&-% +4 "core" %    +2 "storage"(% +4 "core" % 1 @\  +2 "storage"(9. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(X(,y +39 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (O& +3 "core" &,y %  g\ +2 "manipulator"&C& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&f( +10 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(:& +3 "core" &,y ' " \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +93 "core" ' +2 "storage"(.& +3 "core" &,y ? D \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"("'r +294 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &  +3 "storage"(J& +3 "core" &,j ! ! 8\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&z'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +8 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +33 "core" ' + "manipulator"&Z% +4 "core" %&   +2 "storage"(& +4 "core" &,j % ! 7\  +2 .tForearm.force -20 +41 "manipulator"&5 +11 .tForearm.seek 4 + 283 counts + "manipulator"&B'R +16 "core" ' +2 "manipulator"&o& +3 "core" & +2 "storage"(*& +5 "core" &,j  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(a' +43 "core" ' +2 "manipulator"&2& +4 "core" &  \ M +2 "manipulator"&{% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +157 "core" ( +2 "manipulator"&p& +4 "core" &Ӓ!   :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &Ӓ!  :/ +2 .tForearm.seek CC +2 "manipulator"&M'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'(( +447 "core" ( +2 "storage"(H& +3 "core" &,j 9 D u\  +3 "storage"(v& +4 "core" &,j D N \  + "manipulator"&& +4 "core" &Ӡ   8! +2 "manipulator"&|% +3 "core" % O     +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&;( +163 "core" ( + "manipulator"&<& +4 "core" &  \   +2 "storage"(& +3 "core" &,j [ [ .\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&''7 +97 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&S1 +57 "core" 1 +3 "manipulator"&4% +4 "core" % 6  \   + "storage"(d& +5 "core" &,j i i \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 299 counts + "manipulator"&!'b +15 "core" ' +2 "manipulator"&6& +3 "core" & l  +3 "storage"(& +3 "core" &,j ^ ^ f\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&=' +15 "core" ' +2 "storage"([% +3 "core" % _ ] p\ +4 ."downElevator"SE.seek :down +4 "storage"(' +98 (?% +2 "core" % B F N \ U^ +3 "manipulator"&% +3 "core" % > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'&& +4 "core" &\ \ \ +2 "manipulator"&^% +4 "core" %    +2 "storage"(U% +4 "core" % j f T\  + "storage"(. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(5(  +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &  T > C\ +2 "manipulator"&+& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&b( +13 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(t& +4 "core" &  i i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&m'S +94 "core" ' +2 "storage"(& +3 "core" &  t q \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'r +356 "core" ' +4 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & h _ \  +3 "manipulator"& & +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&G& +3 "core" &  <  +2 "storage"(& +4 "core" & \\ ]\  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&@'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(y' +8 "core" & E  +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&T' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&~& +3 "core" &{&    ?S +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &{&  ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +3 "manipulator"&& +4 "core" &{&   2 ?S +2 "manipulator"&w% +3 "core" %I  \  +3 "collection"'_& +3 "core" &\ \ \ +3 "collection"'8& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'#(\\ +5 "core" &\  \  +9 &5y\ \ /\ *y +9 & g}\ \ > +9 &i\ \ \ L +10 &[T\ \ \ J +9 &T\ \ \ J +9 &U\ \ \ J +10 &T\ \ \ J +9 &cS\ \ \ J +10 &%U\ \ \ J +9 &T\ \ \ J +9 & T\ \ \ J +10 &"kU\ \ \ J +9 &$-U\ \ \ J +9 &%U\ \ \ J +10 &'U\ \ \ J +9 &)sT\ \ \ J +10 &+5T\ \ \ J +9 &,U\ \ \ J +9 &.T \ \ J +10 &0{U\ \ \ J +9 &2<U\ \ \ K +9 &3Y\ \ \ K +10 &5T\ \ \ K +9 &7U\ \ \ J +10 &9DU\ \ .\ K +9 &;S\ \ k\ K +9 &<T\ \ \ J +10 &>U\ \ \ K +9 &@LY\ \ \ K +9 &BW\ \ \ K +10 &C]\ \ \ L +9 &Eg\ \ (\ M +10 &GKs\ \ \ \ N +9 &I\ \ j\ R +9 &J\ \ \ U +10 &Lw\ \ \ W +9 &N:\ \ \ V +9 &O\ \ \ X +10 &Q\ \ <\ X +9 &S{\ \ \ X +10 &U;\ \ \ Y +9 &V\ \ \ Z +9 &X\ \ \ [ +10 &Z|\ \ \ \ [ +9 &\\x\ \ \ / +9 &\\:\ \ \ \ %q +10 &\\]\ \ \ J +2 ( +2 "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"& 1 +55 "core" 1 +2 "manipulator"&]% +4 "core" % F   =  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%r& +4 "core" &Q\ + "manipulator"&K% +4 "core" %     +2 "storage"(%% +3 "core" % % " \  +2 "storage"(. +3 "core" .(  +2 "storage"(& +4 "core" & #  [\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(i(  +11 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (l& +2 "core" & \ &\  +\  +3 "manipulator"&0& +3 "core" &Ӫ    9$ +2 "manipulator"&E% +4 "core" %   -  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&h( +160 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"( & +5 "core" &  E D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&\ 'S +96 "core" ' + "storage"(P& +4 "core" &  D D \ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +296 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" & G 5\  +2 "manipulator"&`& +5 "core" &   +2 .tElbow.seek 2 + "manipulator"&}( +15 "core" ( +2 "manipulator"&L& +3 "core" &\   l +3 "storage"(& +4 "core" & \  T '\  +49 .tForearm.seek 2 + 300 counts +3 "manipulator"&7'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(9' +9 "core" &  M +2 "manipulator"&Q% +4 "core" % ϸ  +2 .tForearm.seek :retract +2 "manipulator"&O' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&& +3 "core" &  * E +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &  E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +97 "core" ' +2 "manipulator"&.& +4 "core" &   2 D +2 "manipulator"&N% +3 "core" %  +3 "processing"%F& +3 "core" &8\ +3 "processing"%& +5 "core" &S\ +3 .tPC.seek :closed + "processing"%j(^ +4 "core" &0\ +9 &;7\ #c +9 &Vy8\ 7 +9 &u1\ K +10 &P5\ M +9 &iS0\ M +10 &,N1\ M +9 &T/\ N +9 &R0\ M +10 &qO1\ M +9 &3U0\ M +9 &S+\ N +10 &!R.\ N +9 &#yS(\ M +10 &%;Q&\ M +9 &&U#\ M +9 &(T\ N +10 &*T\ M +9 &,CQ\ M +9 &.O#\ M +10 &/T\ N +9 &1R#\ M +10 &3KS\ M +9 &5 R!\ N +9 &6R\ M +10 &8T$\ N +9 &:SR\ M +9 &<U\ M +10 &=T\ N +9 &?U!\ M +10 &AZW\ N +9 &C_\ O +9 &D]\ O +10 &Fi\ P +9 &HWs\ Q +9 &J\ S +10 &K\ S +9 &M\ T +9 &OV\ T +10 &Q\ U +9 &R\ U +10 &T\ T +9 &V^\ T +9 &X\ U +10 &Y\ U +9 &[\ U +10 &]c\ C +9 &^@q \ a +9 &^5\ 1 +6 ( + "processing"%& +4 "core" &^  \ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&R1 +62 "core" 1 + "manipulator"&>% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +97 "core" ' +2 "processing"% & +4 "core" &^ \ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Z% +4 "core" %   +2 "storage"(% +3 "core" %   7\  +3 "storage"(o. +3 "core" .(  +2 "storage"(*& +4 "core" &   +\  +2 "storage"(2& +4 "manipulator"&{& +5 "core" &  # 2\  + &  D +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&A( +4 ."raiseStack"SE.seek :beamBreak + "storage"(f'r +3 "core" ( +2 "manipulator"&"& +4 "core" &  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &  T D +2 .tForearm.seek PC +2 "manipulator"&B' +91 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%p( +101 "core" ' + "storage"(k- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'1 +55 "core" ' +288 ( +2 "storage"(q& +4 "core" & D D\  + "manipulator"&& +4 "core" &  r D +2 "manipulator"&n% +3 "core" %  G +3 .tForearm.seek :retract +2 "manipulator"&I' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H( +245 "core" ( + "manipulator"&v& +4 "core" &   7 +2 "storage"(& +3 "core" & F E \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&|'S +89 "core" ' +2 .tHand.open +41 "manipulator"&<1 +65 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(M' +27 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +3 "core" -' +2 "storage"(4& +5 "core" & U U\  + "manipulator"&d& +4 "core" &   3 7 +2 .tElbow.seek 2 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&& +4 "core" &    7 +2 "storage"([& +3 "core" & ^ b \  +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(?'" +51 "core" ' + "manipulator"&& +5 "core" &  B 7 + "storage"(;& +4 "core" &  ! \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&''Α +19 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(^' +19 "core" ' + "manipulator"&!% +4 "core" %Π  +2 "storage"(U& +4 "core" & " " #\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&' +15 "core" ' + "manipulator"&a& +5 "core" &   6 + "storage"(=& +5 "core" &   I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +16 "core" ' +2 "storage"(X% +4 "core" %  ! \ +2 ."downElevator"SE.seek :down +4 "storage"(W' +99 (+% +3 "core" %7]\ \  .\ Ym +2 "manipulator"&% +3 "core" %O  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +99 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & . 5 7\  +3 "collection"'$& +4 "core" &\\\\\ \ 8\ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Y% +4 "core" % \   +2 "storage"(3% +3 "core" % E F \  +2 "storage"(. +3 "core" .(  +2 "storage"( & +4 "core" & D D \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(G(  +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  ! $ >\ +2 "manipulator"&V& +4 "core" & $ 6 +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   6 +2 "storage"(b& +5 "core" &  E E \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'S +97 "core" ' +2 "storage"(~& +3 "core" &  E D\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +295 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" &  6 +3 "storage"(& +3 "core" &   \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&w'Α +21 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(y'k +31 "core" ' +2 "manipulator"&T% +3 "core" %Η  +42 "storage"((& +11 "core" & ! " 8\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 306 counts + "manipulator"& ' +15 "core" ' +2 "manipulator"&]& +3 "core" &   6 +3 "storage"(r& +4 "core" & @ 3 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&K'S +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(%' +33 "core" ' +2 "manipulator"&& +4 "core" &  M 6 +2 "manipulator"&% +3 "core" %O   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +151 "core" ( + "manipulator"&0& +4 "core" &ӎ%   # >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &ӎ%  R >K +2 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"' ( +448 "core" ( +2 "storage"(5& +4 "core" & = D\ +2 "storage"(P& +4 "core" & D N \ + "manipulator"&g& +5 "core" &ӯ!   - :* + "manipulator"&\\% +4 "core" % Q  +3 .tForearm.seek :retract + "manipulator"&1' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&)( +164 "core" ( +2 "manipulator"&`& +3 "core" &  0  +3 "storage"(L& +4 "core" & i i \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'Α +95 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&Q% +5 "core" % ΐ   + "storage"(h& +5 "core" & ^ \\ 5\ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 299 counts + "manipulator"&\ 'ϼ +15 "core" ' +2 "manipulator"&e& +3 "core" & t  +2 "storage"(7& +5 "core" & r l k\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +15 "core" ' +2 "storage"(:% +3 "core" % ~ n p\ +3 ."downElevator"SE.seek :down +4 "storage"(}' +98 (.% +3 "core" %N 3  K\ Wh +2 "manipulator"&N% +5 "core" %K  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'9& +3 "core" & \ \ +2 "manipulator"&O% +3 "core" %    +2 "storage"(u% +5 "core" % i i \  + "storage"(R. +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(>( +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & F H |\ \ +2 "manipulator"&Z& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( + "manipulator"&o& +4 "core" & \ @ n +2 "storage"(& +3 "core" & i i |\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&*'7 +98 "core" ' +2 "storage"(2& +4 "core" & u  \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +49 .tSE.seek :beamBreak +3 "storage"({'r +296 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (z& +2 "core" & I W h\ \ +3 "manipulator"&s& +3 "core" & n +3 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&k& +4 "core" &  n +2 "storage"(C& +3 "core" & ^ g \ \ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&J'ϡ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(q' +8 "core" &  R n +2 "manipulator"&% +4 "core" % ϡ  9 v +2 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B(ӂ +151 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&v& +4 "core" &x)   j Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x)   Ad +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&A'? +93 "core" ' +2 "manipulator"&<& +4 "core" &x)   Ad +2 "manipulator"&% +4 "core" %A    0 +2 "collection"'S& +4 "core" &\ \ 6\ +2 "collection"'I& +5 "core" &\ \ <\ +3 .tCC.seek :closed +2 "collection"'4(\\ +4 "core" &\ \ =\  +8 &5x\ \ ,\ *z +10 &g{\ \ \ > +9 &k\ \ \ L +10 &bQ\ \ \ K +9 &%T\ \ \ J +9 &U\ \ \ K +10 &W\ \ \ K +9 &jR\ \ \ K +9 &+U\ \ \ K +10 &T\ \ "\ K +9 & W\ \ \ K +10 &"rR\ \ \ K +9 &$4R\ \ \ K +9 &%T\ \ \ J +10 &'U\ \ \ K +9 &)zW\ \ \ K +9 &+<W\ \ \ K +10 &,X\ \ \ K +9 &.S\ \ \ J +10 &0T\ \ \ J +9 &2DT\ \ \ K +9 &4S\ \ \ K +10 &5U\ \ \ K +9 &7X\ \ \ K +9 &9MU\ \ 0\ J +10 &;T\ \ C\ K +9 &<R\ \ \ K +10 &>U\ \ <\ J +9 &@TU\ \ @\ K +9 &BX\ \ Y\ K +10 &C[\ \ 6\ L +11 &Eb\ \ M\ L +7 &GSn\ \ \ N +10 &I\ \ \ P +9 &J\ \ \ U +10 &L\ \ -\ W +9 &NA\ \ c\ W +9 &P\ \ \ N\ X +10 &Q\ \ \ V\ W +9 &S\ \ R\ X +9 &UC\ \ M\ Y +10 &W\ \ \ Z +10 &X\ \ Z\ [ +9 &Z\ \ \ Z +9 &\\)z\ \ =\ . +9 &\\-\ \ L\ ^ +9 ( +3 "collection"'I& +2 "core" &\\n\ \ \ M +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&d1 +56 "core" 1 +2 "manipulator"&% +3 "core" % A  = 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &R\ +2 "manipulator"&;% +4 "core" % !   2 $ + "storage"(!% +4 "core" % " ! \  +2 "storage"(U. +3 "core" .( +2 "storage"(D& +3 "core" & " " 5\ \ +2 "storage"(a& +4 "core" & " " 4\ \ +2 "manipulator"&=& +5 "core" &ӥ"  ;7 + "manipulator"&M% +3 "core" % !  B $ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&X( +164 "core" ( +2 "manipulator"&H& +4 "core" &    +2 "storage"(|& +3 "core" &   B\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&x'7 +98 "core" ' +2 "storage"(+& +3 "core" & F G\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" & $ }\ \ +2 "manipulator"&?& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(& +4 "core" & ) # H\ \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +49 .tHand.close +3 "manipulator"&Y/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +2 "storage"(' +8 "core" &  O  +2 "manipulator"&^% +3 "core" % Ϛ   g +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&V& +3 "core" &   ; +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  W ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&b' +101 "core" ' +2 "manipulator"&& +4 "core" &   ; +2 "manipulator"&~% +5 "core" %  +2 "processing"%W& +4 "core" &/\ +2 "processing"%i& +5 "core" &R\ +3 .tPC.seek :closed + "processing"%&(^ +5 "core" &1\ +7 &<0\ $d +10 &Wv7\ 7 +9 &v9\ L +10 &O3\ M +9 &mO-\ M +9 &0R7\ M +10 &T2\ M +9 &O/\ M +10 &tR0\ N +9 &7R2\ M +9 &T2\ M +10 &!S/\ N +9 &#}S0\ M +9 &%?Q2\ M +10 &'T.\ M +9 &(S*\ M +9 &*O,\ M +10 &,FS*\ N +9 &. R&\ M +10 &/P"\ M +9 &1S\ M +9 &3OR\ M +10 &5Q\ M +9 &6O\ M +9 &8T\ M +10 &:WT\ M +9 &<U\ M +10 &=V\ N +9 &?T\ N +9 &A^S\ N +10 &C_\ O +9 &Db \ P +9 &Fk\ P +10 &HW~\ S +9 &J\ T +10 &K\ S +9 &M\ T +9 &OZ\ T +10 &Q\ T +9 &R!\ U +10 &T\ U +9 &Vb\ T +9 &X"\ U +10 &Y\ U +9 &[\ U +9 &]f\ C +10 &^Ar\ ] +9 &^3\ 3 +5 ( +3 "processing"%i& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&t1 +2 "core" &^ \ 3 +61 1 + "manipulator"&c% +4 "core" % !  l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +92 "core" ' +2 "processing"%& +3 "core" &^ '\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&,% +3 "core" %     +3 "storage"(T% +3 "core" % S &\  +2 "storage"((. +4 "core" .( + "storage"(]& +5 "core" &  \ \ +2 "storage"(r& +2 "manipulator"&& +5 "core" & S \ \ +3 &   " ; +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r + "manipulator"&m( +26 "core" ( +2 "manipulator"&& +3 "core" &  A +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&w' +96 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / +2 .tPC.seek :open +2 "processing"%y( +69 "core" ' +2 "storage"(0- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(E'1 +45 "core" ' +329 ( + "storage"(K& +4 "core" & !  ,\ \ +2 "manipulator"&_& +4 "core" &  +2 "manipulator"&% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&#( +240 "core" ( + "manipulator"&5& +3 "core" &  \  G +3 "storage"(P& +3 "core" & " " )\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&g'7 +94 "core" ' + .tHand.open +2 "manipulator"&\\1 +58 "core" 1 +2 "storage"(`- +3 "core" -'1 +50 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(L' +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +3 "core" -' +3 "storage"(& +4 "core" & ' & +\ \ +2 "manipulator"&Q& +3 "core" & G +3 .tElbow.seek 3 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&e& +4 "core" &   e G +2 "storage"(7& +3 "core" & 4 4 ^\ \ +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&:'7 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +51 "core" ' +2 "manipulator"&.& +3 "core" &  G +3 "storage"(N& +4 "core" & $ P `\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&)'u +21 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +20 "core" ' +2 "manipulator"&O% +3 "core" %΂  +3 "storage"(\ & +4 "core" & \  9\ \ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 313 counts + "manipulator"&u'Ϯ +27 "core" ' +2 "manipulator"&R& +3 "core" &   & G +3 "storage"(%& +4 "core" & #  P\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +20 "core" ' + "storage"(}% +5 "core" %  $ *\ +2 ."downElevator"SE.seek :down +4 "storage"(G' +98 ( % +3 "core" %YJ\ \ % -\ We +2 "manipulator"&Z% +5 "core" %< o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +96 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" &  " \ \ +3 "collection"'2& +3 "core" &\\m\ \ U\ M +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +4 "core" %   +2 "storage"(F% +3 "core" % D D \  +3 "storage"(". +3 "core" .( +2 "storage"(z& +4 "core" & D D \ \ +2 "storage"(s& +4 "core" & D D \ \ + "manipulator"&k& +5 "core" & \  G +2 .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&j& +4 "core" &   G +2 "storage"(f& +4 "core" & 6 ' E\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' + "storage"(& +4 "core" & ( D G\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +294 "core" ' +3 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  G +3 "storage"({& +3 "core" &  & \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&J'u +21 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(S't +29 "core" ' +2 "manipulator"&% +3 "core" %΃   ; +2 "storage"(q& +4 "core" &\  ;\ \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts + "manipulator"&n'ϯ +14 "core" ' + "manipulator"& & +4 "core" &   G +2 "storage"(d& +4 "core" &   %\ \ +2 .tForearm.reconfigure :tight +43 "manipulator"&#Q@2^d^\ b +10 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&;& +3 "core" &  G +2 "manipulator"&!% +5 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D(ӂ +154 "core" ( + "manipulator"&I& +3 "core" &Ӓ!   H :/ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &ӓ!  # :. +2 .tForearm.seek CC + "manipulator"&='? +93 "core" ' + .tHand.close + "manipulator"&M/ +63 "core" / +2 .tCC.seek :open +2 "collection"'A( +447 "core" ( +2 "storage"(H& +4 "core" & M Q .\ \ +2 "storage"(|& +3 "core" & E D \ \ +2 "manipulator"&+& +4 "core" &Ө   7 +2 "manipulator"&B% +3 "core" % O    +3 .tForearm.seek :retract +2 "manipulator"&[' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( +2 "manipulator"&6& +4 "core" &    +2 "storage"(?& +3 "core" & [ [\ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +99 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +59 "core" 1 +2 "manipulator"&3% +3 "core" % ΁   +2 "storage"(^& +4 "core" & [ [\ \ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 312 counts +2 "manipulator"&X'ϭ +13 "core" ' +2 "manipulator"&x& +4 "core" & V  +2 "storage"(& +3 "core" & f _ \ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&$'7 +18 "core" ' +2 "storage"(V% +3 "core" % ] ^ \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 ('% +3 "core" %E D G U\ V` +2 "manipulator"&% +5 "core" %5  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'W& +3 "core" &\ \ \ +3 "manipulator"&% +3 "core" %  \  +3 "storage"( % +4 "core" % ] \\ \  + "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(t(,y +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" &,z M Z i\  +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&,( +26 "core" ( + "manipulator"&T& +4 "core" &    +2 "storage"((& +3 "core" &,z i i w\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&]' +94 "core" ' + "storage"(i& +5 "core" &,z ~  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +299 "core" ' +2 "storage"(- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,j > V \  +2 "manipulator"&/& +4 "core" &  +2 .tElbow.seek 4 +48 "manipulator"&b( +24 "core" ( +2 "manipulator"& & +3 "core" &   Z  +3 "storage"(0& +4 "core" &,j h i s\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&&& + "storage"(' +8 "core" &   +2 "manipulator"&K% +3 "core" % u  +3 .tForearm.seek :retract +2 "manipulator"&_' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&w& +3 "core" &x.   2 E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &5& +2 "core" &x.  % E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'? +94 "core" ' +2 "manipulator"&m& +4 "core" &ӳ$  \  =F +2 "manipulator"&\\% +4 "core" %,  M +2 "collection"'`& +3 "core" &\ \ W\ +3 "collection"'l& +6 "core" & \ \ +2 .tCC.seek :closed +3 "collection"'8(\\ +4 "core" & \ +4 & \ \ : +10 &KKu p\ 1 +9 &u{ \ r\ E +10 &1W\ \ 1\ K +9 &U\ \ 9\ K +9 &X\ \ \ K +10 &xW\ \ \ K +9 &:V\ \ \ K +9 &W\ \ \ K +10 &W\ \ \ K +9 &W \ \ K +10 &!BV\ \ \ K +9 &#V\ \ \ J +9 &$S\ \ \ J +10 &&T\ \ \ J +9 &(KU \ H\ J +9 &* R\ \ \ K +10 &+R\ \ G\ K +9 &-W\ \ \ K +10 &/RW\ \ \ K +9 &1V\ \ \ K +9 &2W\ \ \ K +10 &4R\ \ \ K +9 &6[T \ \ J +9 &8U\ \ 6\ J +10 &9T\ \ @\ K +9 &;W\ \ 4\ K +10 &=bR\ \ 8\ K +9 &?$R\ \ E\ K +9 &@T\ \ 6\ J +10 &BW\ \ H\ K +9 &Dg`\ \ \ L +9 &F$h\ \ .\ M +10 &Gs\ \ e\ O +9 &I\ \ .\ R +10 &KP\ \ J\ V +9 &M\ \  \ W +9 &N\ \ \ 6\ X +10 &P\ \ \ 9\ W +9 &RS\ \ 4\ X +9 &T\ \ b\ Y +10 &U\ \ \ \ R\ Y +9 &W\ \ N\ Z +9 &YT\ \ N\ Z +10 &[\ \ Z\ [\ +9 &\\iG\ \ \ Q\ 0 +10 &\\\ \ 1\ K +5 ( +2 "collection"'l& +4 "core" &\\a\ \ 8\ K +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&Q% +4 "core" % ,   M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%7& +4 "core" &7\ + "manipulator"&.% +4 "core" %    -  +2 "storage"(N% +4 "core" % ! " +\  +2 "storage"(O. +3 "core" .(,y +2 "storage"(\ & +3 "core" &,j " $ :\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(E(,y +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (L& +3 "core" &,}\ (\  \ +2 "manipulator"&R& +3 "core" &Ӵ#    =E +2 "manipulator"&%% +4 "core" %   (  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&}( +164 "core" ( +2 "manipulator"&#& +4 "core" &    +2 "storage"(g& +4 "core" &,} D D (\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"( & +3 "core" &,} D D <\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +296 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &,j   \  +2 "manipulator"&1& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&u& +4 "core" &    +2 "storage"(& +3 "core" &,j " ! ,\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&2'c +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +53 "core" / +2 ."downElevator"SE.seek :down +53 "manipulator"&F& +2 "storage"("' +8 "core" & \  &  +2 "manipulator"&9% +4 "core" % ς   +2 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&k& +4 "core" &  B < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &j& +3 "core" &  # < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f' +90 "core" ' +2 "manipulator"&& +4 "core" & \ W < +2 "manipulator"&% +4 "core" %  g +2 "processing"%G& +4 "core" &5\ +2 "processing"%& +6 "core" &O\ +2 .tPC.seek :closed +2 "processing"%o(^ +4 "core" &8\  +9 &5v3\ *x +10 &d{5\ > +9 &l8\ N +9 &FR7\ M +9 & P2\ M +10 &R5\ M +9 &T8\ M +10 &NS0\ M +9 &U6\ M +9 &T0\ M +10 & O1\ M +9 &"VS5\ M +9 &$T8\ M +10 &%R8\ M +9 &'T*\ M +10 &)^S/\ M +9 &+T/\ N +9 &,S,\ M +10 &.O/\ M +9 &0eS0\ N +9 &2)R-\ M +10 &3R&\ M +9 &5R!\ M +10 &7oO%\ M +9 &90T&\ M +9 &:P&\ M +10 &<O%\ M +9 &>vW!\ M +9 &@8V%\ M +10 &AT%\ N +9 &C_$\ O +10 &Ey`\ O +9 &G9i \ P +9 &H~%\ R +10 &J%\ S +9 &Lt%\ S +9 &N4%\ T +10 &O%\ T +9 &Q$\ U +10 &Sx\ U +9 &U:$\ U +9 &V\ U +10 &X\ T +9 &Z\ U +9 &\\B$\ U +10 &]{q\ 6 +9 &^1$\ K +10 &^"\ , +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&v1 +64 "core" 1 +2 "manipulator"&% +4 "core" %    g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +92 "core" ' +2 "processing"%& +3 "core" &^\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %      +2 "storage"(q% +3 "core" % " " C\  +2 "storage"( . +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(d(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +4 "core" &,}\ \ f\ +2 "manipulator"&!& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &   < +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r +3 "manipulator"&C( +7 "core" ( + "manipulator"&*& +4 "core" &   < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" & < +3 .tForearm.seek PC + "manipulator"&n' +92 "core" ' + .tHand.close +2 "manipulator"&S/ +58 "core" / +2 .tPC.seek :open + "processing"%I( +92 "core" ' +2 "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('1 +41 "core" ' +312 ( + "storage"(<& +4 "core" &,h " # T\  +2 "manipulator"&M& +4 "core" &  < + "manipulator"&U% +5 "core" %  e ' +2 .tForearm.seek :retract + "manipulator"&4' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&H( +243 "core" ( + "manipulator"&|& +5 "core" &    @ + "storage"(+& +4 "core" &,h ' T \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&B' +94 "core" ' + .tHand.open +2 "manipulator"&61 +64 "core" 1 +2 "storage"(?- +3 "core" -'1 +50 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(D' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +4 "core" -' +2 "storage"(3& +4 "core" &,h D D\  +2 "manipulator"&^& +4 "core" &  @ +2 .tElbow.seek 4 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&& +4 "core" &   @ +2 "storage"(V& +4 "core" &,h D D $\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(''" +50 "core" ' +2 "manipulator"&& +4 "core" &  @ +2 "storage"(& +3 "core" &,h T \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(X' +25 "core" ' +3 "manipulator"&% +3 "core" %6   +2 "storage"( & +8 "core" &,h " ! 5\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 299 counts +3 "manipulator"&p'b +15 "core" ' +2 "manipulator"&& +4 "core" &   @ + "storage"($& +5 "core" &,h "  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"(>% +4 "core" % % " \ +2 ."downElevator"SE.seek :down +4 "storage"(c' +99 (% +3 "core" %bJ\ (\  \ Wd +2 "manipulator"&T% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (i& +3 "core" &,h 4  a\  +3 "collection"'& +4 "core" &\\`\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&~% +4 "core" %    +2 "storage"(% +3 "core" %   L\  +3 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(/(,y +20 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" &,| !  \\\ +3 "manipulator"&0& +4 "core" &  @ +2 .tElbow.seek 4 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&&& +4 "core" &   @ +2 "storage"(K& +3 "core" &,|  ! \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&,' +93 "core" ' +2 "storage"(]& +3 "core" &,| D D B\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'r +293 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" &  @ +2 "storage"(& +5 "core" &,j !  5\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&m'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(b'f +28 "core" ' +2 "manipulator"&% +4 "core" %C  +2 "storage"(_& +4 "core" &,j  ! \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&A'o +48 "core" ' +5 "manipulator"&& +4 "core" &  B @ +2 "storage"(Q& +3 "core" &,j ! ! #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +14 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(.' +41 "core" ' +2 "manipulator"&N& +3 "core" & \ ^ @ +3 "manipulator"&O% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&l(ӂ +148 "core" ( +2 "manipulator"&L& +3 "core" &|'   @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +3 "core" &|'   N @W +2 .tForearm.seek CC +2 "manipulator"&%'? +96 "core" ' + .tHand.close +2 "manipulator"&P/ +53 "core" / +2 .tCC.seek :open +3 "collection"'#( +446 "core" ( +2 "storage"(g& +3 "core" &,j A C \ +3 "storage"(t& +4 "core" &,j E D \ + "manipulator"& & +5 "core" &ӱ  8" + "manipulator"&% +4 "core" % -    +3 .tForearm.seek :retract + "manipulator"&e' +95 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&:( +164 "core" ( +2 "manipulator"&h& +4 "core" &     + "storage"(1& +4 "core" &,j ^ ^ +\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&u'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&-1 +60 "core" 1 +2 "manipulator"&F% +4 "core" % 7   * +2 "storage"(9& +4 "core" &,j i _ V\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&}'c +14 "core" ' + "manipulator"&& +5 "core" &   + "storage"(Z& +4 "core" &,j ^ ] 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&2' +16 "core" ' + "storage"(k% +5 "core" % k _ u\ +2 ."downElevator"SE.seek :down +4 "storage"(j' +98 ()% +3 "core" %C D F\ V_ +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'G& +3 "core" & \ \ +3 "manipulator"&"% +4 "core" %  ]  +2 "storage"(z% +4 "core" % k q \  +2 "storage"(y. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(v(  +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  h i C\ +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&( +5 "core" ( + "manipulator"&q& +4 "core" &  Z  +2 "storage"( & +4 "core" &  ^ ^ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +91 "core" ' + "storage"(;& +4 "core" &  r | )\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'r +310 "core" ' + "storage"(*- +4 "core" -' +47 .tSE.configure :default +4 "storage"(#QK-0-\ b +4 (J& +2 "core" & ] g \  +3 "manipulator"&f& +3 "core" &    +3 .tElbow.seek 2 + "manipulator"&S( +4 "core" ( +2 "manipulator"&E& +3 "core" &  +3 "storage"(a& +4 "core" & i k \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&s'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(' +8 "core" & 2  +2 "manipulator"&<% +4 "core" % Ͽ < +2 .tForearm.seek :retract +2 "manipulator"&M' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&n& +3 "core" &ӂ%   >N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +2 "core" &ӂ% \  >N +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&+'? +44 "Can" F\ J' +49 "core" ' +3 "manipulator"&C& +3 "core" &ӌ$  =D +3 "manipulator"&6% +3 "core" %6 \  W +3 "collection"'?& +3 "core" &\  F\ +3 "collection"'4& +5 "core" &\ \ >\ +3 .tCC.seek :closed +3 "collection"'Y(\\ +2 "core" &\ 5\ +8 &<\ \ [\ $e +9 &Xv\ \ q\ 7 +9 &v\ \ C\ K +10 &T\ \ H\ K +9 &R\ \ \ K +9 &JT\ \ N\ J +10 & T\ \ \ J +9 &T\ \ \ J +10 &T\ \ \ J +9 &RT\ \ z\ J +9 & T \ \ J +10 &!T\ \ \ J +9 &#T\ \ 7\ J +9 &%ZS\ \ \ J +10 &'S\ \ q\ J +9 &(T\ \ 6\ K +10 &*U\ \ <\ K +9 &,bW\ \ \ K +9 &.$R\ \ \ K +10 &/R\ \ H\ K +9 &1T\ \ %\ K +10 &3jT\ \ |\ K +9 &5+S\ \ \ K +9 &6S\ \ \ K +10 &8T\ \ O\ K +9 &:qW\ \ $\ K +9 &<3S\ \ "\ K +10 &=S\ \ \ K +9 &?U\ \ ,\ J +9 &AyV\ \ G\ K +10 &C9[\ \ "\ L +9 &Db\ \ :\ L +10 &Fk\ \ \ N +9 &Hp\ \ \ Q +9 &J'\ \ )\ U +10 &K\ \ \ W +9 &M\ \ \ \ W +10 &Od\ \ G\ X +9 &Q&\ \ \ A\ X +9 &R\ \ \ E\ X +10 &T\ \ \ 1\ Y +9 &Ve\ \ \ H\ Z +9 &X&\ \ #\ Z +10 &Y\ \ \ [\ +9 &[\ \ )\ I +9 &\\1\ \ )\ 0 +10 &\\e\ \ \ M +2 ( +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&31 +56 "core" 1 +3 "manipulator"&^% +4 "core" % 6   " W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%V& +4 "core" &P\ +2 "manipulator"&% +4 "core" %     + "storage"(% +4 "core" % $  3\  +2 "storage"(. +3 "core" .(  +2 "storage"( & +3 "core" &   K\  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &   $ d\ +2 "manipulator"&$& +4 "core" &Ӭ    9$ +2 "manipulator"&=% +3 "core" %   \   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&>( +161 "core" ( +2 "manipulator"&H& +3 "core" &  \   +2 "storage"(B& +5 "core" &  D E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&D'S +95 "core" ' + "storage"(& +5 "core" &  H N \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +296 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" & O\  h\  +2 "manipulator"&'& +4 "core" & F  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&p& +4 "core" &     +2 "storage"(i& +3 "core" & " " =\  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +21 "core" ' +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +8 "core" &   + "manipulator"&X% +5 "core" % Ϸ  +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&&& +4 "core" &  I * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &  * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&]& +4 "core" &   * +2 "manipulator"&c% +4 "core" %   +2 "processing"%d& +4 "core" &.\ +2 "processing"%W& +6 "core" &Q\ +2 .tPC.seek :closed +2 "processing"%((^ +4 "core" &2\  +9 &2s2\ )v +10 &b{2\ = +9 &xn9\ M +9 &9P2\ M +10 &O2\ M +9 &R;\ N +9 &R3\ M +10 &@R1\ N +9 &R4\ M +10 &T2\ M +9 & R.\ M +9 &"IP0\ M +10 &$\ S0\ N +9 &%R0\ M +9 &'T-\ M +10 &)QR-\ M +9 &+P0\ M +10 &,S1\ N +9 &.R(\ M +9 &0YT \ M +10 &2R\ M +9 &3R \ M +9 &5T\ M +10 &7aR\ M +9 &9#U\ M +10 &:S\ M +9 &<O%\ M +9 &>iR \ M +10 &@+R\ M +9 &AV$\ M +9 &Ca#\ O +10 &Eke\ O +9 &G+j\ P +10 &H~!\ R +9 &J\ S +9 &Lg\ S +10 &N&\ T +9 &O\ T +9 &Q\ U +10 &Sk\ U +9 &U.\ T +10 &V\ T +9 &X\ T +9 &Zs\ U +10 &\\5\ U +9 &]{p\ ; +9 &^'i\ T +10 &^,\ 4 +2 ( +2 "processing"%W& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&51 +54 "core" 1 +3 "manipulator"&r% +4 "core" %   $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"%`& +4 "core" &^*3\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" % !   ) +2 "storage"(_% +4 "core" %\ \  !\  +2 "storage"(. +3 "core" .(  +2 "storage"(Q& +3 "core" & \ \  )\  +3 "storage"(N& +2 "manipulator"&O& +5 "core" & \  D\  +3 &   * +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(,'r + "manipulator"&@( +7 "core" ( + "manipulator"&w& +4 "core" &   * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &   Z * +3 .tForearm.seek PC + "manipulator"&A' +96 "core" ' +2 .tHand.close + "manipulator"&b/ +59 "core" / +2 .tPC.seek :open +2 "processing"%L( +91 "core" ' + "storage"(R- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(7'1 +48 "core" ' +305 ( +2 "storage"(\\& +4 "core" & % % 0\  +2 "manipulator"&P& +3 "core" &  * +3 "manipulator"&\ % +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&g( +258 "core" ( +2 "manipulator"&t& +3 "core" &  \  +3 "storage"( & +4 "core" & # % n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' +2 .tHand.open + "manipulator"&h1 +64 "core" 1 +3 "storage"(1- +3 "core" -'1 +50 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +3 "core" -' +2 "storage"(F& +4 "core" & Z X \  +2 "manipulator"&9& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Z& +3 "core" &    +3 "storage"(k& +58 "core" & a Z\  +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&e'S +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"()'" +52 "core" ' +3 "manipulator"&& +4 "core" &   + "storage"(:& +5 "core" & ! " \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&u'Α +18 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"("' +27 "core" ' + "manipulator"&}% +5 "core" %Σ  + "storage"(z& +4 "core" & ! ! Y\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&y' +15 "core" ' + "manipulator"&.& +5 "core" &   0 + "storage"(2& +5 "core" &   5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&j'S +15 "core" ' +2 "storage"(/% +4 "core" % - $ g\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %p]\ \  \ Zn +2 "manipulator"&q% +5 "core" %N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" & 4 - \  +3 "collection"'& +4 "core" &\\`\ \ \ \ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %    +2 "storage"(*% +3 "core" % D D\  +2 "storage"(J. +3 "core" .(  +2 "storage"(f& +4 "core" & E D [\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(E(  +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "core" & \ +\ + r\  +2 "manipulator"&{& +5 "core" & z +2 .tElbow.seek 2 + "manipulator"&o( +4 "core" ( +2 "manipulator"&<& +4 "core" &  . +2 "storage"(& +3 "core" &  D C \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +94 "core" ' + "storage"(n& +4 "core" &  N D S\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +294 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &  +2 "storage"(C& +5 "core" & ! " *\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&6'Α +19 "core" ' +2 .tElbow.hold + "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('j +24 "core" ' +2 "manipulator"&M% +3 "core" %Γ  +2 "storage"(#& +4 "core" & "  \  +2 .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 2 + 302 counts +9 "manipulator"&3'Ͽ +14 "core" ' + "manipulator"&^& +4 "core" &  G +2 "storage"(V& +4 "core" & E E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +33 "core" ' +2 "manipulator"&& +4 "core" & A +2 "manipulator"& % +3 "core" %@ f +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&$& +3 "core" &ӄ%    >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &=& +2 "core" &ӄ%   >M +3 .tForearm.seek CC +2 "manipulator"&+'? +94 "core" ' +3 .tHand.close + "manipulator"&H/ +60 "core" / +2 .tCC.seek :open +2 "collection"'B( +451 "core" ( +2 "storage"(v& +4 "core" & D : r\  +2 "storage"(& +4 "core" & : 9 \  +2 "manipulator"&U& +4 "core" &Ө  9) + "manipulator"&% +4 "core" % M    +3 .tForearm.seek :retract + "manipulator"&[' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&x( +162 "core" ( +2 "manipulator"&'& +4 "core" &    +2 "storage"(p& +3 "core" & [ ^ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&i'Α +100 "core" ' + .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +3 "manipulator"&X% +4 "core" % Μ   +2 "storage"(>& +4 "core" & Z [\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts + "manipulator"&D' +14 "core" ' + "manipulator"&T& +5 "core" &  + "storage"(& +4 "core" & ] ] \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&&'S +18 "core" ' + "storage"(K% +5 "core" %  m ]\  +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (]% +3 "core" %S   \ Yk +3 "manipulator"&c% +3 "core" %S X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & \ \\\ +2 "manipulator"& % +4 "core" %    +2 "storage"(I% +4 "core" % ^ f ;\  +2 "storage"(5. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(r( +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" & 9 %\  +2 "manipulator"&& +3 "core" & \ =  +3 .tElbow.seek 3 +2 "manipulator"&_( +13 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(Q& +3 "core" & i i v\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&W'7 +95 "core" ' +2 "storage"(N& +4 "core" & n s q\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +297 "core" ' +47 "storage"(w- +5 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +3 "core" & < < \  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&b( +4 "core" ( +2 "manipulator"&R& +3 "core" &     +3 "storage"(0& +4 "core" & V Y \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +3 "storage"(\\' +8 "core" &  + "manipulator"&P% +5 "core" % Ϲ 3 +2 .tForearm.seek :retract +2 "manipulator"&\ ' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A(ӂ +157 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&t& + "storage"(5 +8 "core" &ӓ  9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &Ӕ  9( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&@'? +166 "core" ' +2 "manipulator"&h& +4 "core" &Ӕ   9( +2 "manipulator"&1% +3 "core" %I  +3 "collection"'8& +3 "core" & \ T\ +3 "collection"'-& +5 "core" & \\\ +3 .tCC.seek :closed + "collection"'F(\\ +5 "core" &\ \ ,\  +9 &5z \ k\ *z +9 & h{\ K\ > +9 &k\ \ 4\ L +10 &[R\ \ ]\ K +9 &W\ \ <\ K +9 &W\ \ S\ K +10 &U\ \ n\ K +9 &eS\ \  \ J +10 &%W\ \ G\ K +9 &W\ \ 1\ K +9 & W\ \ t\ J +10 &"lT\ \ \ J +9 &$-W\ \ N\ J +9 &%T\ \ K\ J +10 &'T\ \ ;\ J +9 &)tS\ \ \ J +10 &+5V \ _\ K +9 &,W\ \ K +9 &.U\ \ C\ K +10 &0{S \ w\ K +9 &2=R\ \ \ K +9 &3X\ \ L\ K +10 &5S\ \ \ K +9 &7W\ \ ?\ K +10 &9FS\ \ '\ J +9 &;T \ 0\ J +9 &<S\ \  \ K +10 &>T\ \  \ K +9 &@LS\ \ *\ K +9 &BV\ \ -\ J +10 &C[\ \ %\ L +9 &Eb\ \ R\ L +10 &GMm\ \ .\ M +9 &I\ \ -\ P +9 &J\ \ \ U +10 &Lx\ \ \ W +9 &N:\ \ \ \ V +9 &O\ \ \ W +10 &Q\ \ \ \ \ W +9 &S{\ \ \ X +10 &U;\ \ \ \ Y +9 &V\ \ \ Z +9 &X\ \ \ \ Z +10 &Z|\ \ \ \ [ +9 &\\!y\ \ \ / +9 &\\/\ \ F\ ^ +10 ( + &\\a\ \ \ K +2 "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&91 +53 "core" 1 +3 "manipulator"&Z% +3 "core" % I   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &P\ +2 "manipulator"&:% +4 "core" %     + "storage"(7% +5 "core" %  %\  + "storage"(%. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(}( +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &\ \  \  +2 "manipulator"&.& +4 "core" &ӧ   7 +2 "manipulator"&2% +3 "core" %      +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&g( +165 "core" ( +2 "manipulator"&/& +4 "core" &     +2 "storage"(& +4 "core" & D D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&l'7 +91 "core" ' +2 "storage"(& +4 "core" & F C\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +302 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & " " ?\  +2 "manipulator"&)& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&y& +4 "core" &   +2 "storage"(;& +4 "core" &  ! C\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +49 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&*& +3 "storage"(J' +8 "core" & \    + "manipulator"&"% +5 "core" % Ϛ \ 0 +2 .tForearm.seek :retract +2 "manipulator"&f' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&{& +4 "core" &  5 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +32 "core" &  2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 "manipulator"&j& +4 "core" &  T 1 +2 "manipulator"&n% +3 "core" %  i k +3 "processing"%& +3 "core" &R\ +3 "processing"%& +5 "core" &1\ +2 .tPC.seek :closed +2 "processing"%G(^ +5 "core" &1\ +7 &;1\ $d +9 &Vv1\ 7 +10 &v/\ L +9 &O/\ M +9 &rR6\ M +10 &3R9\ M +9 &S4\ N +9 &R1\ M +10 &yR8\ M +9 &;T1\ M +10 &T<\ M +9 &!R4\ M +9 &#S1\ M +10 &%DU8\ M +9 &'R1\ M +9 &(T3\ M +10 &*T0\ M +9 &,KR/\ M +10 &. R/\ M +9 &/U0\ M +9 &1R1\ M +10 &3SR/\ M +9 &5Q7\ M +9 &6T1\ M +10 &8S0\ M +9 &:[R*\ M +10 &<Q\ M +9 &=U\ M +9 &?Q\ M +10 &AbS(\ N +9 &C _'\ O +10 &Db+\ O +9 &Fj\ P +9 &H\\}\ R +10 &J\ S +9 &K%\ S +9 &M#\ T +10 &O`%\ T +9 &Q%\ U +9 &R%\ T +10 &T"\ U +9 &Vf$\ T +10 &X&%\ U +9 &Y"\ U +9 &[$\ U +10 &]k\ C +9 &^<n$\ %m +9 &^*$\ - +6 ( +2 "processing"%& +3 "core" &^#\ - +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"& 1 +64 "core" 1 +2 "manipulator"&!% +4 "core" %    3 k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +95 "core" ' + "processing"%C& +5 "core" &^@\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&S% +3 "core" %     +3 "storage"(M% +4 "core" % " ! %\  + "storage"(#. +4 "core" .( + "storage"(^& +5 "core" & ! ! \  +2 "storage"(V& +3 "manipulator"&& +3 "core" & ! ! .\  +3 &   [ 1 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"( 'r + "manipulator"&( +7 "core" ( + "manipulator"&o& +4 "core" &  ' 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &  ] 1 +3 .tForearm.seek PC + "manipulator"&6' +95 "core" ' +2 .tHand.close +2 "manipulator"&3/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +84 "core" ' + "storage"($- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='1 +40 "core" ' +320 ( + "storage"(& +4 "core" & ! " ?\  +2 "manipulator"&?& +4 "core" &  1 +2 "manipulator"&H% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&4' +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +260 "core" ( + "manipulator"&v& +4 "core" & \   +2 "storage"(& +4 "core" & % % \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&U'7 +89 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"('- +3 "core" -'1 +51 .tSE.seek -0.26 Pucks below Top Plate + "storage"(p' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(+' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +5 "core" &  f\  +2 "manipulator"&X& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&>( +4 "core" ( + "manipulator"&T& +4 "core" &  ,  +2 "storage"(& +3 "core" &  \  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&K'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(['" +53 "core" ' + "manipulator"&]& +4 "core" &   +2 "storage"(c& +4 "core" & " ! 6\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&x'u +20 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"& % +3 "core" %΅  +2 "storage"(D& +5 "core" &   E\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&I'ϱ +14 "core" ' +2 "manipulator"&5& +3 "core" &  +3 "storage"(& +3 "core" &   \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&&'7 +17 "core" ' + "storage"(% +5 "core" % "  r\ +2 ."downElevator"SE.seek :down +4 "storage"(E' +99 (`% +4 "core" %YP\ (\ ) >\ Xf +2 "manipulator"&% +3 "core" %4  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Q& +3 "core" & ! " O\  +2 "collection"'N& +5 "core" &\\b\ \ :\ K + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&~% +3 "core" %    +3 "storage"(d% +4 "core" % D D \  + "storage"(w. +3 "core" .( +2 "storage"(m& +4 "core" & D D \  +2 "storage"(& +4 "core" & D D \  +2 "manipulator"&R& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&0( +4 "core" ( +2 "manipulator"&(& +3 "core" & 3  +2 "storage"(,& +4 "core" & D D Y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&P'7 +94 "core" ' +2 "storage"(_& +4 "core" & D D\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +296 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &   +2 "storage"(O& +3 "core" & #  8\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'u +17 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(1't +30 "core" ' + "manipulator"&8% +4 "core" %~  +2 "storage"(\\& +3 "core" & # $ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&\ 'Ϫ +13 "core" ' +2 "manipulator"&B& +3 "core" & \ 8  +2 "storage"(9& +5 "core" & - D \  +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Z'7 +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +40 "core" ' + "manipulator"&:& +5 "core" &  P  + "manipulator"&7% +5 "core" %,  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +157 "core" ( +2 "manipulator"&z& +5 "core" &ӎ%   ; >I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +3 "core" &ӎ%  >I +2 .tForearm.seek CC +2 "manipulator"&2'? +98 "core" ' +2 .tHand.close + "manipulator"&@/ +56 "core" / +2 .tCC.seek :open +2 "collection"'/( +447 "core" ( +2 "storage"(& +4 "core" & G E \  +2 "storage"(r& +3 "core" & D F \  +2 "manipulator"&& +4 "core" &Ӯ \  9) +2 "manipulator"&A% +4 "core" % B  \  +2 .tForearm.seek :retract +2 "manipulator"&k' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e( +168 "core" ( + "manipulator"&& +5 "core" &    q + "storage"()& +5 "core" & [ [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&y'u +96 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&*% +3 "core" % ΄   +3 "storage"("& +4 "core" & \\ _ j\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&g'ϰ +13 "core" ' +2 "manipulator"&l& +3 "core" & q +3 "storage"(q& +3 "core" & _ ^ I\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +17 "core" ' + "storage"({% +4 "core" % [ \\\ +2 ."downElevator"SE.seek :down +4 "storage"(<' +99 (u% +3 "core" %C H I \ V_ +2 "manipulator"&j% +3 "core" %) J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +97 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" &\ \ \ +2 "manipulator"&J% +3 "core" %  ~  +3 "storage"(f% +3 "core" % ^ ^ 1\  +2 "storage"(L. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,y +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &,x _ ] 2\  +2 "manipulator"&C& +4 "core" & S q +2 .tElbow.seek 4 +2 "manipulator"&S( +43 "core" ( + "manipulator"&M& +4 "core" &  7  +2 "storage"(#& +3 "core" &,x a j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(^& +4 "core" &,x | r l\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(V'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &,j \\ Z\  +3 "manipulator"&|& +3 "core" & <  +48 .tElbow.seek 4 +4 "manipulator"&( +13 "core" ( +2 "manipulator"&3& +4 "core" & < { + "storage"($& +5 "core" &,j i i l\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&a'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&s/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +3 "storage"( ' +9 "core" & F { +2 "manipulator"&% +3 "core" % Z  +3 .tForearm.seek :retract +2 "manipulator"&?' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&6& +5 "core" &z(   @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +2 "core" &z(  A @[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 "manipulator"&& +4 "core" &{(   # @Z +2 "manipulator"&% +3 "core" %I   +3 "collection"''& +3 "core" &\ \ >\ +3 "collection"'& +6 "core" &\ \ 9\ +2 .tCC.seek :closed +2 "collection"'4(\\ +5 "core" &\ \ 9\ +6 &< \ 6\ $f +10 &Yx\ \ ^\ 7 +9 &v\ \ =\ J +9 &Q\ \ 4\ J +10 &R\ \ _\ K +9 &ER\ \ \ K +10 &R\ \ >\ K +9 &R\ \ 4\ K +9 &R\ \ V\ K +10 &NR\ \ b\ K +9 & R\ \ 6\ K +9 &!W\ \ +\ K +10 &#W\ \ P\ K +9 &%UT\ \ @\ K +10 &'Q\ \ G\ K +9 &(R\ \ H\ K +9 &*R\ \ d\ K +10 &,_R\ \ 1\ J +9 &. T\ \ _\ J +10 &/R\ \ _\ K +9 &1R\ \ Y\ K +9 &3eS\ \ /\ K +10 &5(T\ \ Q\ J +9 &6U\ \ H\ J +9 &8U\ \ 3\ K +10 &:mX\ \ /\ K +9 && +3 "core" &,j   f\  +2 "manipulator"&[& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&x( +8 "core" ( + "manipulator"&I& +4 "core" &    +2 "storage"(Q& +3 "core" &,j ! " 7\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&N'c +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +58 "core" / +51 ."downElevator"SE.seek :down +5 "manipulator"&d& +2 "storage"(w' +5 "core" &  ;  +3 "manipulator"&% +5 "core" % n  +2 .tForearm.seek :retract +2 "manipulator"&m' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&R& +3 "core" &  \   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,' +102 "core" ' +2 "manipulator"&&& +4 "core" &    +2 "manipulator"&_% +4 "core" %   +2 "processing"%E& +3 "core" &4\ +3 "processing"%i& +5 "core" &6\ +2 .tPC.seek :closed +3 "processing"%(^ +4 "core" &3\ +8 &47\ $d +10 &Vs5\ 6 +9 &~v5\ K +9 &O2\ M +10 &cS7\ N +9 &'O0\ M +10 &S,\ M +9 &Q0\ M +9 &lQ8\ M +10 &.S2\ M +9 &O7\ M +9 &!R2\ M +10 &#tR.\ M +9 &%5R2\ N +10 &&R1\ M +9 &(S0\ M +9 &*{S1\ N +10 &,>R2\ M +9 &.R0\ M +9 &/T1\ M +10 &1Q0\ M +9 &3FR1\ M +10 &5 S+\ M +9 &6S/\ M +9 &8S'\ M +10 &:OO \ M +9 &<U\ M +9 &=T\ N +10 &?T\ N +9 &AVV\ M +10 &C\\\ N +9 &D^\ N +9 &Fh\ P +10 &HRs\ Q +9 &J \ T +9 &K\ S +10 &M\ T +9 &OS!\ T +10 &Q$\ T +9 &R$\ T +9 &T%\ U +10 &VY\ T +9 &X$\ T +9 &Y#\ U +10 &[%\ U +9 &]_"\ B +10 &^Ky\ K +9 &^I \ ; +5 ( +2 "processing"%i& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&t1 +4 "core" &^>\ ; +60 1 +2 "manipulator"& % +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +97 "core" ' + "processing"%h& +5 "core" &^>\ ; + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&8% +3 "core" % ! \  + +3 "storage"(\\% +3 "core" %\ '\ H\  +2 "storage"(B. +4 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(9(,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (:& +2 "manipulator"&7& +4 "core" &,{\ \ \ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &    +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(P'r + "manipulator"&0( +7 "core" ( + "manipulator"&W& +5 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & . . l  +2 .tForearm.seek PC +2 "manipulator"&\ ' +98 "core" ' + .tHand.close +2 "manipulator"&1/ +58 "core" / +2 .tPC.seek :open +2 "processing"%z( +87 "core" ' + "storage"(.- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(Z'1 +47 "core" ' +312 ( + "storage"(b& +5 "core" &,g " " <\  + "manipulator"&@& +4 "core" & g  +2 "manipulator"&%% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +248 "core" ( + "manipulator"&r& +4 "core" &   1 +2 "storage"(& +3 "core" &,g " ! 4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +108 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"()- +51 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(2' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(-' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(*& +4 "core" &,g ' & 1\  +2 "manipulator"&"& +4 "core" &  0 +2 .tElbow.seek 4 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&q& +3 "core" &   0 +2 "storage"({& +5 "core" &,g * 4 \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(u'" +60 "core" ' + "manipulator"&j& +5 "core" &  0 0 + "storage"(e& +5 "core" &,g  # 3\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&y'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(J' +19 "core" ' +2 "manipulator"&g% +4 "core" %B   + "storage"(f& +5 "core" &,g  % K\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&L'n +14 "core" ' + "manipulator"&& +5 "core" & \ 2 0 +2 "storage"(& +4 "core" &,g   4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +16 "core" ' +2 "storage"(}% +4 "core" % $ \ +2 ."downElevator"SE.seek :down +4 "storage"(!' +99 (C% +3 "core" %8L\ '\ ( \ Xf +2 "manipulator"&M% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (^& +2 "core" &,g 4  T\  +3 "collection"';& +4 "core" &\\]\ \ !\ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&n% +4 "core" %    +2 "storage"(% +3 "core" % ! ! ?\  +3 "storage"(o. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(|(,y +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (3& +3 "core" &,| * 7 C\ +3 "manipulator"&$& +4 "core" &  0 +2 .tElbow.seek 4 +2 "manipulator"&s( +4 "core" ( + "manipulator"&G& +4 "core" &   0 +2 "storage"(& +3 "core" &,| 5 B ?\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +95 "core" ' +2 "storage"(& +3 "core" &,| E I i\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +296 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &  0 +2 "storage"(a& +4 "core" &,j  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +29 "core" ' +3 "manipulator"& % +3 "core" %) \  ( \ +2 "storage"(?& +4 "core" &,j " " (\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 286 counts +42 "manipulator"&/'U +23 "core" ' +2 "manipulator"&& +4 "core" & \  0 +2 "storage"(X& +4 "core" &,j '  A\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(]' +35 "core" ' + "manipulator"&c& +5 "core" &  0 + "manipulator"& % +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&5& +3 "core" &Ӓ#   <: +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӓ#   ' <: +2 .tForearm.seek CC +2 "manipulator"&p'? +94 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'Y( +447 "core" ( +3 "storage"(U& +4 "core" &,j D A \ +2 "storage"( & +4 "core" &,j C C \ + "manipulator"&`& +4 "core" &ӣ \  9) +2 "manipulator"&H% +4 "core" % E   x +2 .tForearm.seek :retract +2 "manipulator"&T' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&K( +167 "core" ( + "manipulator"&>& +4 "core" &     +2 "storage"([& +3 "core" &,j i i c\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&I'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&~1 +57 "core" 1 +2 "manipulator"&d% +3 "core" % #    +2 "storage"(& +4 "core" &,j g a W\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 280 counts +2 "manipulator"&'O +16 "core" ' + "manipulator"&+& +4 "core" &  +2 "storage"(& +3 "core" &,j s w 2\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&N' +16 "core" ' + "storage"(R% +4 "core" % { q W\ +2 ."downElevator"SE.seek :down +4 "storage"((' +99 (x% +3 "core" %? F D\ U^ +2 "manipulator"&&% +4 "core" %  : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'E& +3 "core" &\ \ /\ +2 "manipulator"&w% +5 "core" %    + "storage"(m% +4 "core" % j j \  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(t(  +677 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &  ^ Z %\ +2 "manipulator"&h& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&8( +8 "core" ( +2 "manipulator"&\\& +3 "core" &   ~ +2 "storage"(B& +4 "core" &  i j }\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&i'S +90 "core" ' +2 "storage"(:& +4 "core" &  ~  y\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +298 "core" ' + "storage"(W- +49 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & f V\  +3 "manipulator"&,& +3 "core" & \ ~ ~ +3 .tElbow.seek 2 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&=& +3 "core" & P ~ +2 "storage"(.& +5 "core" & [ [\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&O/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(P' +8 "core" & ~ +2 "manipulator"&b% +4 "core" % ϳ  3 +2 .tForearm.seek :retract +2 "manipulator"&@' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&\ & +3 "core" &ӣ   7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &ӣ   7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +3 "manipulator"&0& +3 "core" &ӣ  \  7 +3 "manipulator"&% +4 "core" %8   +2 "collection"')& +3 "core" &\ \ A\ +3 "collection"'F& +5 "core" & ;\ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" &\ \ ?\  +8 &5y 8\ *z +9 & h{\ e\ > +10 &k\ \ ?\ L +9 &^R\ \ ?\ K +9 & R\ \ X\ K +10 &T\ \ B\ J +9 &S\ \ 4\ J +9 &gT\ \ 0\ J +10 &'W\ \ 0\ K +9 &W\  Y\ K +10 & V\ \ 8\ K +9 &"mV\ \ B\ K +9 &$/W\ \ f\ K +10 &%W\ \ 5\ J +9 &'T\ \ )\ J +9 &)vT\ \ )\ J +10 &+8S\ \ )\ J +9 &,T\ \ )\ J +10 &.T \ .\ J +9 &0T\ \ ,\ J +9 &2AT \ +\ J +10 &4U\ \ 9\ K +9 &5W\ \ :\ K +9 &7R\ \ 8\ K +10 &9IU\ \ @\ J +9 &;\ T\ \ ?\ K +10 &<W \ 3\ K +9 &>X\ \ 7\ K +9 &@PS\  2\ K +10 &BW\ \ +\ K +9 &C^\ \ \ L +9 &Eg\ \ /\ M +10 &GMr\ \ 2\ N +9 &I\ \ *\ R +10 &J\ \ .\ V +9 &L{\ \ \ 3\ W +9 &N:\ \ \ 4\ X +10 &O\ \ \ .\ W +9 &Q\ \ *\ X +9 &S}\ \ (\ Y +10 &U=\ \ \ &\ Y +9 &V\ \ #\ Z +10 &X\ \ \ \ [ +9 &Z|\ \ "\ \\ +9 &\\"y\ \ !\ / +10 &\\.\ \ '\ \\ +9 ( + &\\b\ \ &\ L +2 "collection"'F& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&*1 +54 "core" 1 + "manipulator"&"% +4 "core" % 8   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q' +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%{& +4 "core" &O\ +2 "manipulator"&j% +4 "core" %  \    +2 "storage"(e% +4 "core" % % % W\  + "storage"(Z. +4 "core" .(  +2 "storage"(g& +4 "core" & # " &\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(f(  +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &    %\ +2 "manipulator"&& +3 "core" &ӣ   7 +2 "manipulator"&% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&}( +164 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(A& +4 "core" &  D D \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&-'S +98 "core" ' + "storage"(C& +5 "core" &  C G \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +292 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & $ \  +2 "manipulator"&u& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&^& +3 "core" &    +3 "storage"(L& +4 "core" & 6 ! X\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&;'Ͻ +50 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&n/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(o' +8 "core" &     + "manipulator"&J% +5 "core" % Ͽ  Q c +2 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&$( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&G& +4 "core" &   . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  9 . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&<' +90 "core" ' +2 "manipulator"&& +4 "core" &    . +2 "manipulator"&!% +4 "core" %  P +2 "processing"%9& +4 "core" &\\\ +2 "processing"%& +5 "core" &=\ +3 .tPC.seek :closed + "processing"%#(^ +6 "core" &<\ +6 &4<\ #c +10 &Uv1\ 6 +9 &v&\ K +9 &N.\ M +10 &_Q/\ M +9 &!Q/\ M +9 &S/\ N +10 &R6\ M +9 &gR;\ M +9 &)T8\ M +10 &R:\ M +9 &!T8\ M +10 &#oR3\ M +9 &%0R7\ N +9 &&Q9\ M +10 &(S1\ M +9 &*xT/\ M +9 &,9S1\ M +10 &-R/\ M +9 &/T-\ M +10 &1Q)\ M +9 &3AR.\ M +9 &5Q.\ M +10 &6O/\ M +9 &8S4\ M +10 &:HR!\ N +9 &< T\ M +9 &=U\ M +10 &?U"\ M +9 &AQU\ M +9 &C[\ N +10 &D^$\ O +9 &Fg\ P +10 &HNv\ Q +9 &J \ S +9 &K!\ T +10 &M\ T +9 &OM\ T +9 &Q "\ U +10 &R%\ T +9 &T \ U +10 &VU"\ T +9 &X \ T +9 &Y\ U +10 &[\ T +9 &]Y\ D +9 &^Er\ Z +10 &^2\ 3 +5 ( +2 "processing"%& +4 "core" &^ \ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&v1 +62 "core" 1 + "manipulator"&V% +4 "core" %   / P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' +2 "processing"%'& +4 "core" &^ \ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +5 "core" %    )  + "storage"(?% +5 "core" % !  \  + "storage"(. +3 "core" .(  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(X(  +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (c& + "manipulator"& & +5 "core" &    .\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &   - +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(S'r + "manipulator"&s( +6 "core" ( +2 "manipulator"&6& +3 "core" &  - +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  - +2 .tForearm.seek PC +2 "manipulator"&/' +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%5( +87 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +313 ( +2 "storage"(& +4 "core" & % # $\  +2 "manipulator"&& +4 "core" &  ` - + "manipulator"&D% +5 "core" %   ( +2 .tForearm.seek :retract + "manipulator"&4' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&U( +245 "core" ( +2 "manipulator"& & +4 "core" & \  ; +2 "storage"(`& +4 "core" & " " *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +42 "manipulator"&H'S +101 "core" ' +3 .tHand.open + "manipulator"&>1 +64 "core" 1 +2 "storage"([- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(~- +3 "core" -' +2 "storage"(d& +4 "core" & Z h ,\  +2 "manipulator"&& +3 "core" &   ; +3 .tElbow.seek 2 + "manipulator"&+( +5 "core" ( + "manipulator"&& +4 "core" &  E ; +4 "storage"(R& +9 "core" & U U \  +7 .tForearm.seek 2 + 450 counts +2 "manipulator"&T'S +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(x'" +56 "core" ' + "manipulator"&&& +4 "core" &  ; +2 "storage"(K& +3 "core" &  # \ \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&I'Α +26 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +28 "core" ' +2 "manipulator"&% +3 "core" %Η   +3 "storage"(m& +4 "core" & !  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&]& +3 "core" &    ; +3 "storage"(N& +3 "core" & * 5 /\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&('S +15 "core" ' +2 "storage"(|% +3 "core" % D D *\ +4 ."downElevator"SE.seek :down +3 "storage"( ' +98 (h% +3 "core" %b\\\ \  Y\ Ym +3 "manipulator"&\\% +3 "core" %F  c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (:& +3 "core" &   m\  +2 "collection"'Q& +4 "core" &\\a\ \ #\ L +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&_% +3 "core" %  O  +2 "storage"(W% +4 "core" %  ! \  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(,(  +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &   4\ +2 "manipulator"&.& +4 "core" &  ; +2 .tElbow.seek 2 +2 "manipulator"&O( +4 "core" ( + "manipulator"&& +4 "core" & % ; +2 "storage"(b& +3 "core" & ) 6 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&8'S +94 "core" ' + "storage"(i& +4 "core" & F D Z\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +299 "core" ' + "storage"(r- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" &  ; +2 "storage"(& +5 "core" &   3\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&0'Α +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(1'j +25 "core" ' +46 "manipulator"&P% +6 "core" %Ρ  +2 "storage"(@& +3 "core" &   O\  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&Y' +15 "core" ' + "manipulator"&*& +4 "core" &    ; +2 "storage"("& +4 "core" & D D D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&{'S +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(j' +33 "core" ' +2 "manipulator"&e& +4 "core" &  ; +2 "manipulator"&Z% +3 "core" %O  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&F(ӂ +156 "core" ( +2 "manipulator"&2& +5 "core" &ӟ   A 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &ӟ \  $ 8 +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(A& +3 "core" & I E #\  +2 "storage"(t& +4 "core" & 7 8 f\  +2 "manipulator"&C& +4 "core" &Ӡ   8 +2 "manipulator"&%% +5 "core" % H  J +2 .tForearm.seek :retract +2 "manipulator"&q' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&k( +163 "core" ( + "manipulator"&l& +4 "core" & ^  +2 "storage"(u& +3 "core" & k i f\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&^'Α +98 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&n1 +64 "core" 1 +3 "manipulator"&% +3 "core" % Π   +3 "storage"(J& +4 "core" & ^ [\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&}' +13 "core" ' +2 "manipulator"&-& +4 "core" & U  +2 "storage"(M& +3 "core" & ] _ k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&;'S +15 "core" ' +2 "storage"(G% +4 "core" % m | a\  +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (y% +3 "core" %U 1 ( +\ Xi +2 "manipulator"&% +3 "core" %N R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!' +96 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'9& +3 "core" &\ \ +\ +2 "manipulator"&o% +4 "core" %  ;  +2 "storage"(3% +5 "core" % ^ p |\  + "storage"(z. +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(v( +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" & D G \  +3 "manipulator"&'& +4 "core" & O  +2 .tElbow.seek 3 + "manipulator"& ( +14 "core" ( + "manipulator"&?& +4 "core" & @  +2 "storage"(& +4 "core" & p ] \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +92 "core" ' +2 "storage"(c& +3 "core" & ~  \  +48 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +301 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & [ [\  +2 "manipulator"&<& +3 "core" & \   +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&f& +4 "core" & ]  +2 "storage"(& +4 "core" & i k \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'ϡ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&#& +3 "storage"(S' +8 "core" &   +2 "manipulator"&% +4 "core" % Ϲ $ +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&/& +5 "core" &ә   7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &ә! \  7 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'? +101 "core" ' +3 "manipulator"&s& +3 "core" &ә!   7 +3 "manipulator"&>% +3 "core" %A    +3 "collection"'[& +3 "core" & <\ +3 "collection"'4& +6 "core" & B\ +2 .tCC.seek :closed +3 "collection"'~(\\ +4 "core" & =\ +5 & 8\ ; +10 &MLt 6\ 0 +9 &v{\ ;\ E +10 &/V\ \ 8\ K +9 &R ,\ J +9 &T\ :\ K +10 &vW\  ?\ K +9 &8W\ \ ;\ K +9 &V\  8\ K +10 &V 8\ K +9 &~V\ \ <\ K +10 &!@V\ \ 8\ K +9 &#V\  5\ K +9 &$V\ \ &\ K +10 &&W\ \ 0\ K +9 &(HW\ \ &\ K +9 &* Q\ \ '\ K +10 &+S\ \ &\ J +9 &-T O\ J +10 &/RT \ 3\ J +9 &1S\ \ -\ J +9 &2T\ \ /\ K +10 &4R\ \ /\ K +9 &6ZT \ 1\ J +9 &8U\ \ .\ K +10 &9X\ \ 7\ K +9 &;W \ =\ K +10 &=`W \ .\ K +9 &?!R\ \ 7\ K +9 &@T\ \ ;\ K +10 &BZ\ \ 3\ K +9 &Dg[\ \ 3\ K +9 &F$g\ \ 0\ M +10 &Gs\ \ 2\ O +9 &I\ \ 5\ S +10 &KQ\ \ 7\ V +9 &M\ \ 7\ W +9 &N\ \ 6\ X +10 &P\ \ \ \ 5\ W +9 &RS\ \ \ 5\ X +9 &T\ \ \ 4\ Y +10 &U\ \ 2\ Y +9 &W\ \ \ '\ Z +10 &YQ\ \ /\ [\ +9 &[\ \ \ ;\ [\ +9 &\\gF\ \ (\ 1 +10 &\\\ \ ,\ K +5 ( +2 "collection"'4& +3 "core" &\\`\ \ \ '\ K +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&d1 +54 "core" 1 + "manipulator"&% +4 "core" % A    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%R& +4 "core" &1\ +2 "manipulator"&&% +3 "core" %    (  +2 "storage"(K% +5 "core" % ! X\  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" &\ \  \  +2 "manipulator"&p& +5 "core" &ӥ    5 + "manipulator"&]% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&N( +161 "core" ( +2 "manipulator"&|& +4 "core" &    + "storage"(U& +5 "core" & D D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&H'7 +102 "core" ' +2 "storage"(& +3 "core" & D D \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(h'r +297 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & E D S\  +2 "manipulator"&+& +4 "core" & F  +2 .tElbow.seek 3 +2 "manipulator"&x( +4 "core" ( +2 "manipulator"&I& +4 "core" &   -  +48 "storage"(& +5 "core" & G E\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&:'ϡ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&_& +2 "storage"(W' +9 "core" & |  + "manipulator"&% +5 "core" % Ϟ  \ B +2 .tForearm.seek :retract +2 "manipulator"&w' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&.& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & \  E  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +100 "core" ' + "manipulator"&(& +4 "core" &    +2 "manipulator"&i% +4 "core" %  w +2 "processing"% & +4 "core" &\\\ +3 "processing"%X& +5 "core" &<\ +2 .tPC.seek :closed +2 "processing"%E(^ +3 "core" &<\ +8 &<7\ $d +10 &Wu;\ 7 +9 &u;\ L +9 &O<\ M +10 &pR;\ M +9 &1Q4\ M +10 &R0\ M +9 &R5\ M +9 &wR1\ M +10 &:O0\ M +9 &R1\ M +9 &!R1\ M +10 &#R:\ M +9 &%AR8\ M +10 &'Q7\ M +9 &(T;\ M +9 &*R3\ M +10 &,IR1\ M +9 &. Q1\ M +10 &/U8\ M +9 &1Q1\ M +9 &3RR5\ M +10 &5R1\ M +9 &6R0\ M +9 &8S8\ M +10 &:ZO0\ M +9 &<S/\ M +9 &=U.\ M +10 &?T1\ N +9 &AaW7\ M +10 &C`3\ O +9 &Db3\ O +9 &Fk-\ P +10 &HZ{1\ R +9 &J.\ S +9 &K(\ T +10 &M\ T +9 &O]'\ T +10 &Q)\ U +9 &R \ U +9 &T\ U +10 &Vc\ U +9 &X%!\ U +9 &Y\ U +10 &[\ U +9 &]j!\ B +10 &^>n\ #g +9 &^(\ . +5 ( +2 "processing"%X& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&B1 +4 "core" &^!\ . +50 1 +2 "manipulator"&r% +4 "core" %    w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +92 "core" ' +2 "processing"%& +4 "core" &^=\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&)% +3 "core" % !   ; , +3 "storage"(P% +4 "core" % " " 1\  + "storage"(@. +4 "core" .( + "storage"(*& +5 "core" & " ! B\  +2 "storage"("& +2 "manipulator"&e& +6 "core" & " " B\  + &    +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&Z( +7 ."raiseStack"SE.seek :beamBreak + "storage"(8'r +4 "core" ( + "manipulator"&O& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &    +3 .tForearm.seek PC +2 "manipulator"&0' +95 "core" ' +2 .tHand.close + "manipulator"&Y/ +53 "core" / +3 .tPC.seek :open +2 "processing"%1( +97 "core" ' +2 "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +39 "core" ' +307 ( +2 "storage"({& +3 "core" & $  <\  +2 "manipulator"&& +4 "core" &   +2 "manipulator"&% +4 "core" %   ) +2 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&A& +3 "core" &   E +2 "storage"(t& +5 "core" & # #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +143 "core" ' +2 .tHand.open + "manipulator"&%1 +53 "core" 1 +3 "storage"(l- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +33 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(F- +3 "core" -' +2 "storage"(n& +3 "core" & ' ' \  +3 "manipulator"&& +4 "core" &  D +2 .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&-& +4 "core" &  D +2 "storage"(M& +3 "core" & & '\  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&G'7 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(q'" +58 "core" ' +2 "manipulator"&y& +3 "core" &  D +2 "storage"(& +5 "core" &   M\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&k'u +19 "core" ' +2 .tElbow.hold + "manipulator"&^, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +28 "core" ' +2 "manipulator"&o% +4 "core" %·  +2 "storage"(}& +3 "core" & $ ! N\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&3'ϳ +13 "core" ' +2 "manipulator"&z& +3 "core" &   D +3 "storage"(j& +4 "core" & 3 ) \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&;'7 +18 "core" ' +2 "storage"(% +3 "core" % E D\ +3 ."downElevator"SE.seek :down +4 "storage"(,' +98 (V% +3 "core" %oO\ &\  Y\ Wf +2 "manipulator"&'% +5 "core" %3   B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +99 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 0  \\\  +2 "collection"'c& +4 "core" &\\`\ \ :\ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&L% +3 "core" %    n +3 "storage"(!% +4 "core" % E D \  + "storage"(6. +3 "core" .( +2 "storage"(& +4 "core" & D D \  +2 "storage"(<& +4 "core" & C C\  +2 "manipulator"&f& +3 "core" & 7 D +3 .tElbow.seek 3 + "manipulator"&( +5 "core" ( + "manipulator"&a& +4 "core" &   D +2 "storage"(#& +3 "core" & E E\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +88 "core" ' + "storage"( & +5 "core" & E G \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +3 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  D +2 "storage"( & +4 "core" &  $ 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&$'u +19 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(>- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(['t +30 "core" ' + "manipulator"&% +4 "core" %u  +2 "storage"(S& +4 "core" & " # \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 300 counts +48 "manipulator"&'ϡ +13 "core" ' +2 "manipulator"&& +3 "core" &   D +3 "storage"(d& +4 "core" &   h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(R' +43 "core" ' +2 "manipulator"&&& +3 "core" & z D +2 "manipulator"&K% +5 "core" %"  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&4(ӂ +150 "core" ( +2 "manipulator"&m& +3 "core" &'   @] +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &Ӏ(   @\\ +3 .tForearm.seek CC + "manipulator"&]'? +97 "core" ' + .tHand.close +2 "manipulator"&`/ +61 "core" / +2 .tCC.seek :open +2 "collection"'|( +447 "core" ( +2 "storage"(U& +3 "core" & E M 8\  +2 "storage"(v& +5 "core" & G D /\  + "manipulator"&& +4 "core" &ӯ!    :- +2 "manipulator"&D% +4 "core" % C   +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&\\( +166 "core" ( +2 "manipulator"&T& +4 "core" &y ;  +2 "storage"(+& +4 "core" & ^ e a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&I'u +97 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&Q1 +56 "core" 1 +3 "manipulator"&_% +4 "core" % {   + "storage"(& +5 "core" & e ] \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 306 counts + "manipulator"&N'ϧ +15 "core" ' +2 "manipulator"&H& +3 "core" &y   +2 "storage"(h& +5 "core" & \\ ] &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&:'7 +18 "core" ' +2 "storage"(.% +4 "core" % [ ] \ \ +2 ."downElevator"SE.seek :down +5 "storage"(' +99 (x% +3 "core" %B G G\ V_ +2 "manipulator"&(% +4 "core" %5 d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"' & +4 "core" & 0\ +2 "manipulator"&W% +3 "core" %    +3 "storage"(w% +4 "core" % ^ ^ \  + "storage"(5. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(B(,y +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" &,y G C %\  +2 "manipulator"&& +4 "core" &y W  +2 .tElbow.seek 4 +2 "manipulator"&)( +35 "core" ( + "manipulator"&P& +4 "core" &   &  +2 "storage"(@& +3 "core" &,x j i x\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +94 "core" ' + "storage"(e& +5 "core" &,x   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +309 "core" ' + "storage"(X- +49 "core" -' +4 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &,j @ : y\  +2 "manipulator"&\ & +5 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&Y& +3 "core" &   9  +2 "storage"(2& +5 "core" &,j [ [\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&='c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&7/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& +2 "storage"(8' +8 "core" & )  +2 "manipulator"&{% +4 "core" % a +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +24 "core" ( + "manipulator"&0& +4 "core" &ӄ \  _ ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" &ӄ  8 ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&t'? +90 "core" ' +2 "manipulator"&Z& +3 "core" &ӄ  ) +3 "manipulator"&%% +3 "core" %?  ` +3 "collection"'l& +3 "core" & F\ +3 "collection"'g& +6 "core" & \ D\ +2 .tCC.seek :closed +2 "collection"'F(\\ +5 "core" & G\ +6 &= D\ $e +10 &Yx H\ 7 +9 &s\ \ 8\ K +9 &Q\ \ ;\ J +10 &T\ \ D\ J +9 &FT \ J\ J +10 &T\ \ ?\ J +9 &W \ D\ J +9 &R\  \ K +10 &LR \ >\ K +9 & R \ >\ K +9 &!V\  4\ K +10 &#V\  =\ K +9 &%UV\ \ 0\ K +10 &'W\  8\ J +9 &(T\ \ 7\ J +9 &*S\ \ /\ J +10 &,]W\ /\ K +9 &. Q\ \ 4\ J +9 &/S \ )\ J +10 &1T \ /\ J +9 &3fU\ \ 2\ J +10 &5(U\  2\ J +9 &6T 6\ K +9 &8W\ \ ;\ K +10 &:mS\ \ @\ K +9 & " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&a' +92 "core" ' +2 "manipulator"&#& +3 "core" &   " +3 "manipulator"&;% +3 "core" %  _ +3 "processing"% & +3 "core" &<\ +3 "processing"%,& +5 "core" &=\ +2 .tPC.seek :closed +3 "processing"%^(^ +4 "core" &<\ +5 &<\ 6 +10 &AHr<\ / +9 &jq{=\ D +9 & \\;\ M +10 &Q<\ M +9 &Q5\ M +10 &TQ1\ M +9 &Q/\ M +9 &Q4\ M +10 &Q0\ M +9 &[Q/\ M +9 &!R8\ M +10 &"R4\ M +14 &$S0\ M +5 &&bQ6\ M +11 &($Q6\ M +7 &)R1\ M +10 &+N2\ M +9 &-kR0\ M +9 &/-R2\ M +10 &0R6\ M +9 &2R1\ M +10 &4rQ/\ M +9 &64R.\ M +9 &7Q2\ M +10 &9R/\ M +9 &;zU0\ M +9 &=<S.\ M +10 &>W.\ M +9 &@V/\ M +10 &BZ'\ N +9 &DA^#\ N +9 &Fe$\ O +10 &Gn&\ P +9 &Iy,\ S +9 &K9'\ T +10 &L'\ S +9 &N\ T +10 &P}%\ T +9 &R?\ T +9 &T\ U +10 &U!\ T +9 &W\ U +9 &YG\ T +10 &[ \ T +9 &\\!\ U +10 &^?d\ &u +9 &^\\\ 2 +9 ( + &^$\ / +2 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&?1 +60 "core" 1 +2 "manipulator"&/% +4 "core" %    _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +101 "core" ' + "processing"% & +4 "core" &^?\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&>% +3 "core" %   +3 "storage"(% +3 "core" % " $ \  +2 "storage"(S. +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (d& +2 "manipulator"&&& +5 "core" &,z " " 5\ +2 &  " +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +5 .tElbow.seek PC +2 "manipulator"&K( +3 ."raiseStack"SE.seek :beamBreak +4 "storage"('r +3 "core" ( + "manipulator"&& +4 "core" &  " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   N " +3 .tForearm.seek PC +2 "manipulator"&$' +93 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%[( +87 "core" ' + "storage"(m- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'1 +50 "core" ' +307 ( +2 "storage"(& +3 "core" &,h " ! \ +3 "manipulator"&s& +4 "core" &  D " + "manipulator"&`% +4 "core" %   \ +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&~( +245 "core" ( + "manipulator"&U& +4 "core" &  i  +2 "storage"(v& +4 "core" &,h ! ! @\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' +9 .tHand.open + "manipulator"&D1 +55 "core" 1 +3 "storage"(T- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(]' +60 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +3 "core" -' +2 "storage"(Q& +5 "core" &,h J K *\ + "manipulator"&_& +5 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&H& +4 "core" &     +2 "storage"(h& +3 "core" &,h J K 8\ +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&x& +3 "core" &   +3 "storage"((& +4 "core" &,h #  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&\\'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +27 "core" ' +2 "manipulator"& % +3 "core" %/   +3 "storage"(W& +3 "core" &,h ! # F\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 292 counts +2 "manipulator"&w'[ +16 "core" ' + "manipulator"&5& +4 "core" &   C  +2 "storage"(R& +4 "core" &,h   H\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +15 "core" ' + "storage"(% +4 "core" % , 7 \ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (r% +3 "core" %L\ *\ + F\ We +2 "manipulator"&% +5 "core" %  : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (@& +3 "core" &,h 3 l\ +2 "collection"'e& +4 "core" &\\h\ \ \ 4\ J +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %    +2 "storage"(i% +4 "core" % 5 * L\  +2 "storage"(X. +3 "core" .(,y +2 "storage"(O& +3 "core" &,h D D L\ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(\ (,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" &,| F @ n\ +2 "manipulator"&2& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&7( +9 "core" ( +2 "manipulator"&E& +4 "core" &  +2 "storage"({& +4 "core" &,| E D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +93 "core" ' +2 "storage"(*& +3 "core" &,| F F \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +297 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" &  +2 "storage"(=& +4 "core" &,j #  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Z'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(l'h +29 "core" ' +47 "manipulator"&8% +6 "core" %( \ <  +2 "storage"(& +3 "core" &,j ! % l\ +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 285 counts + "manipulator"&|'T +16 "core" ' +2 "manipulator"&n& +3 "core" &   O +2 "storage"(& +5 "core" &,j 8 $ .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(y' +43 "core" ' +2 "manipulator"&& +3 "core" & : +2 "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +156 "core" ( + "manipulator"&z& +4 "core" &ӓ!   \ :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &ӓ!   :, +2 .tForearm.seek CC +2 "manipulator"&t'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(B& +4 "core" &,j D E \ + "storage"(& +5 "core" &,j G D \ + "manipulator"&& +4 "core" &ӡ  > 8 +2 "manipulator"&-% +4 "core" % ?  ( +2 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&G( +163 "core" ( + "manipulator"&J& +3 "core" &  [  +3 "storage"(k& +4 "core" &,j [ \\\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&3'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&L1 +64 "core" 1 +3 "manipulator"&6% +4 "core" % H   C + "storage"(j& +5 "core" &,j j i \ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 317 counts + "manipulator"&C't +14 "core" ' + "manipulator"&V& +4 "core" &   +2 "storage"(& +4 "core" &,j f [ "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +15 "core" ' + "storage"(f% +4 "core" % i l \ +2 ."downElevator"SE.seek :down +4 "storage"(q' +99 (#% +3 "core" %A G E \ U^ +2 "manipulator"&;% +3 "core" % A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +9384 "Can" =  +60002 \  >v +60001 " > ' +60001  >4' +60001  =P8 +60002  =k! +60001   =d +60001  > +60001  > +60001  =&+ +60002 ( <! +60001  <#R +60001 \  <& +60001  <( ~ +60002  <*0 +60001  <,A! +60001   =.R@ +60002  =0c +60001 \  <2tl! +60001  <4) +60001  =6- +60002  <8. +60001  =: +60001  =<Z" +60001  <> +60002  <@ +60001  <B +60001  =E  +60002   =GH& +60001   =I.! +60001  <K@t$ +60002  =MQ\ ) +60001  =Ob +60002  =Qt 6 +60001  <S ) +60001  =U\ b% +60001  =W\  +60001 \  =Y  +60002  =[ $ +57411 #t-> exit +13 #mEXIT @1693946152.67UTC @1694002188.33UTC = =tMAIN =mMAIN_scheduler @UTC1694002190.00 #"core_reset"Sent BREAK +2 #t@2131 select with ifg=0x10, ie=0xF5 + #@2766 receive with ifg=0x10, ie=0xFD #@3400 receive with ifg=0x10, ie=0xFD + #@4035 receive with ifg=0x10, ie=0xFD + #@4363 receive with ifg=0x80, ie=0xFD #@6871 sendCRC with ifg=0x20, ie=0x7F + #@7319 sendCRC with ifg=0x20, ie=0x7F #@8909 sendCRC with ifg=0x08, ie=0x5F + #@23720 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +281 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +362 "Can" ;Co1 +  ;Co1 + #tPolling Can every 10:00 +35 #Cleanly exited at 20:35:52UTC05-Sep-23 +1981 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %c 0\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؼ\ +3 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڀ\ 5\ 2 u\ V +2 .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(3% +3 "core" % j j \  +2 "manipulator"&4% +4 "core" %      +2 "manipulator"&5& +4 "core" &     +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(6(K +666 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &K J Q \ +1021 #t-> access 3 +2 "storage"(8% +3 "core" % m ` P\  +2 "manipulator"&9% +3 "core" %    )  +3 "manipulator"&:& +3 "core" &   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(;([ +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +2 "core" &[ P G \ \ +875 #t-> access 4 +2 "storage"(=% +3 "core" % l ` \  +2 "manipulator"&>% +4 "core" %      +2 "manipulator"&?& +3 "core" &  N  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(@(C +1930 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &E E Q U\ +1671 #t-> access 2 +2 "storage"(B% +3 "core" % ^ \\ 9\  +2 "manipulator"&C% +3 "core" %     +3 "manipulator"&D& +3 "core" &     +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(E(K +1609 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &K Y A O\ +48187 "Can" <!D +60001 ? =#,D$ +60001  >%FE1 +60002  ='aE +60001  =){F]( +60001  >+F +6373 #t-> startTube 2 +2301 #-> $da[:extractVol]=.2 +42482 #-> shortDA +2 "collection"'G% +2 "processing"%H% +5 "core" %c \ +5 %ؼ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1216 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%I +128 "core" +2 .tPTV.dial :PRVmixing + "processing"%J  +129 "core" + .tPRV.dial :sipper +2 "processing"%K  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%L'e +2301 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%M  + "collection"'N  +7 "core" +118  +2 .tPS.seek 0.5ml + "processing"%O' +1270 "core" ' +2 .tPRV.dial :waste2 + "processing"%P @ +99 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%Q'ؾ +590 "core" ' +2 .tPSV.dial PSR + "processing"%R +102 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%S'X\\ +1101 "core" ' +9 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%T' +641 "Can" @-G +973 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%U +101 "core" +2 .tPS.seek 0ml +2 "processing"%V'ؾ +2626 "core" ' + .tPSV.dial PSR +2 "processing"%W +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%X'X\\ +1110 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%Y' +1617 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%Z +113 "core" +2 .tPRV.dial :sipper +2 "processing"%[  +42 "core" +2 .tPS.seek 0ml +2 "processing"%\\'ؾ +2627 "core" ' + .tPSV.dial PSR +2 "processing"%] +100 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%^' +2638 "core" ' + .tPSV.dial :mixloop +2 "processing"%_ +101 "core" +3 .tPS.seek 0ml + "processing"%`'ؾ +2635 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%a& +4 "core" &:\ + .tHand.open +2 "manipulator"&b1 +26 "core" 1 + "manipulator"&c% +4 "core" %     +2 "storage"(d% +3 "core" % j i \  +2 "storage"(e. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(f(  +1303 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +2 "core" & D ; \ +2 "manipulator"&h& +4 "core" &   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&i( +14 "core" ( +2 "manipulator"&j& +3 "core" &   K +3 "storage"(k& +4 "core" & i i \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&l'S +102 "core" ' +2 "storage"(m& +3 "core" &   \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +298 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" & L X 4\ +2 "manipulator"&q& +4 "core" &  K +2 .tElbow.seek 2 + "manipulator"&r( +4 "core" ( +2 "manipulator"&s& +4 "core" & & K +2 "storage"(t& +3 "core" & i i \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&u'Ͻ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(x' +8 "core" & K +2 "manipulator"&y% +4 "core" % ϼ | r +2 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&|& +3 "core" &  \  $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &   $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +100 "core" ' + "manipulator"&& +4 "core" &   # +2 "manipulator"&% +3 "core" % ~ +3 "processing"%& +4 "core" &2\ +2 "processing"%& +5 "core" &!\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &3\  +9 &5u9\ *y +9 &f~/\ ? +10 &s8\ O +9 &EV/\ N +9 &X.\ N +10 &W.\ N +9 &Y1\ N +9 &KY6\ O +10 &Z5\ N +9 &Y:\ N +10 & W6\ N +9 &"TY0\ N +9 &$Y/\ N +10 &%U4\ N +9 &'Y/\ N +9 &)]Y1\ N +10 &+Z0\ N +9 &,Y/\ O +10 &.W3\ N +9 &0eY5\ N +9 &2(W0\ N +10 &3W/\ M +9 &5Y0\ N +9 &7nW/\ N +10 &90Z-\ N +9 &:Z2\ N +10 &<Y2\ N +9 &>u\\)\ N +9 &@6[.\ N +10 &Ac/\ O +9 &Cp3\ Q +9 &Etw1\ Q +10 &G.0\ T +9 &H;\ S +9 &J/\ T +10 &Lr0\ T +9 &N3,\ U +10 &O0\ U +9 &Q1\ U +9 &Sw4\ U +10 &U:3\ U +9 &V5\ U +9 &X2\ U +10 &Z~1\ V +9 &\\@/\ V +10 &]zs/\ 8 +9 &^.6\ N +9 &^7\ 0 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +3 "core" %   * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +99 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %9 +40 "core" 9 +110 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +3 "core" 9 +103 "processing"%9 +2 "core" 9 +103 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +3 "core" 9$ +102 "processing"%9 +4 "core" 9( +102 "processing"%9 +3 "core" 9, +102 "processing"%9 +3 "core" 91 +103 "processing"%9 +2 "core" 95 +103 "processing"%9 +2 "core" 99 +103 "processing"%9 +3 "core" 9= +103 "processing"% 9 +3 "core" 9A +102 "processing"%!9 +3 "core" 9F +102 "processing"%"9 +3 "core" 9J +102 "processing"%#9 +3 "core" 9N +102 "processing"%$9 +4 "core" 9R +102 "processing"%%9 +3 "core" 9V +102 "processing"%&9 +3 "core" 9[ +102 "processing"%'9 +3 "core" 9_ +102 "processing"%(9 +3 "core" 9c +102 "processing"%)9 +3 "core" 9g +102 "processing"%*9 +3 "core" 9k +102 "processing"%+9 +3 "core" 9p +102 "processing"%,9 +3 "core" 9t +102 "processing"%-9 +3 "core" 9x +102 "processing"%.9 +4 "core" 9| +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +3 "core" 9  +102 "processing"%19 +3 "core" 9\ +102 "processing"%29 +3 "core" 9 +102 "processing"%39 +4 "core" 9% +3 .tPH.hold 2:00:00,28C +2 "processing"%4 php +3 .tdelay 1:30 +5 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%5 +101 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +11 .tPS.seek 0.5ml + "processing"%' +585 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%7' +1608 "core" ' + .tPTV.dial :puck +2 "processing"%8  +128 "core"  +2 .tPSV.dial PTV + "processing"%9 +85 "core" + .tPBV.dial :waste1 + "processing"%:  +52 "core" +2 "processing"%6% +3 "core" %/\  +3 .tPS.seek 1.5ml + "processing"%<'- +596 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%>'ؾ +1616 "core" ' +2 .tdelay 5:00 +23717 "Can"\ I0H +6285 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%?  +15 "core"  + .tPBV.dial :waste1 + "processing"%;  +35 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +34 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%B +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%C' +2383 "core" ' +2 .tPSV.dial PTV +2 "processing"%D +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%@ +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%F +71 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%G  +84 "core"  +2 .tPS.seek 0ml + "processing"%H'ؾ +2320 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%I  +126 "core" + .tPSV.dial :mixloop +2 "processing"%J +42 "core" +2 .tPRV.dial :ab1 + "processing"%K @ +98 "core" > +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%' +352 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%N  +41 "core"  +2 "processing"%M% +3 "core" %\ \ +3 .tPS.seek 0.35ml +2 "processing"%L'g +459 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'P  +29 "core" + .tPRV.dial :air +2 "processing"%O  +42 "core"  +2 .tPS.seek 0.9ml + "processing"%R'K +1170 "core" ' +2 .tPRV.dial :waste2 + "processing"%Q @ +71 "core" > +2 .tPS.seek 0.5ml +2 "processing"%S' +885 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%U  +44 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%T' +1608 "core" ' +2 .tPSV.dial :PML + "processing"%W +44 "core" +2 .tPTV.dial :mixing + "processing"%V @ +72 "core" A +2 .tPBV.dial :waste1 +2 "processing"%X  +34 "core" + "processing"%Z% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%[' +231 "core" ' +2 .tPBV.dial between PSV and waste1 +37 "processing"%Y * +41 "core" * +2 .tPS.seek 0ml +2 "processing"%]'ؾ +1963 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'\\& +4 "core" & \ +2 "manipulator"&_& +3 "core" &  # +3 "manipulator"&^% +4 "core" % "   1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&a(- +127 "core" ( + "manipulator"&b& +4 "core" &-  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&d'w +99 "core" ' +2 .tHand.close +2 "manipulator"&e/ +56 "core" / +2 "manipulator"&E& +3 "core" &-    +2 "manipulator"&g% +5 "core" % ρ  +2 .tForearm.seek :retract + "manipulator"&h' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&j(ӂ +273 "core" ( + "manipulator"&k& +4 "core" &x0 $ + F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &x0 0 0 j F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 "manipulator"&& +5 "core" &ӭ( &  ?Q + "manipulator"&o% +3 "core" %G / / m +3 "collection"'p& +3 "core" & \ +3 "collection"'q& +6 "core" & \ +2 .tCC.seek :closed + "collection"'s(\\ +4 "core" & \ +8 &< \ %g +9 &Wx \ 7 +10 &| \ L +9 &Y \ M +10 &|X \ M +9 &>Y \ M +9 &\\ \ M +10 &\\ \ M +9 &\\ \ M +10 &FW \ M +9 & Y \ L +9 &!Y \ L +10 &#[ \ M +9 &%O\\ \ L +9 &'X \ L +10 &(Z \ M +9 &*[ \ M +9 &,V] \ M +10 &.Z \ M +9 &/W \ L +10 &1\\ \ M +9 &3^W \ M +9 &5!U \ L +10 &6Y \ M +9 &8Z \ M +9 &:f[ \ M +10 &<'Z \ M +9 &=X \ L +10 &?Y \ L +9 &An] \ M +9 &C,h\ \ \ N +10 &Dw\ \ \ P +9 &F\ \ \ U +9 &HU\ "\ !\ X +10 &J\ \ \ Y +9 &K\ \ \ Y +10 &M\ \ \ \ Z +9 &OW\ \ \ Z +9 &Q\ \ \ \ Z +10 &R\ \ \ \ [ +9 &T\ \ \ \\ +10 &VW\ \ \ ] +9 &X\ \ \ ] +9 &Y\ \ \ ] +10 &[\ \ \ K +9 &\\>\ \ \ \ (z +9 &\\\ \ \ ] +3 ( + "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 +2 "collection"'t& +3 "core" &\\\ \ \ ] +2 .tHand.open + "manipulator"&v1 +54 "core" 1 +2 "manipulator"&w% +3 "core" % G 0 . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +104 "core" ' +2 .tPSV.dial PSR +2 "processing"%i +113 "core" + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%l'+ +1608 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%n  +46 "core"  +2 .tPS.seek 0ml +2 "processing"%u'ؾ +1619 "core" ' +2 .tPSV.dial PSR +2 "processing"%| +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%}' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%r  +2 "collection"'  +32 "core" ~ +122 +2 .tPSV.dial :mixloop + "processing"% +100 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'x +4 "core"  + "collection"'z  +5 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +71 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2627 "core" ' +2 .tPSV.dial :air +2 "processing"%  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2628 "core" ' + .tPSV.dial :mixloop + "processing"% +45 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2650 "core" ' + .tPSV.dial :air +2 "processing"%~  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2631 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" &ӭ&   ?Q +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +40 "core" ( + "manipulator"&& +4 "core" &x   :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x :0 +38 .tForearm.seek CC +10 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "manipulator"&& +3 "core" &ӭ  < 3 +2 "manipulator"&% +4 "core" % >  +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"& (- +292 "core" ( + "manipulator"&!& +4 "core" &-  m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &-  \ p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&#'w +93 "core" ' + .tHand.open +2 "manipulator"&$1 +54 "core" 1 +2 "manipulator"&%% +4 "core" % {    4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +94 "core" ' +2 ."da"delayUntil "13:41:57.52" +12653 "Can" E3H +12080 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%' @ +72 "core" B + ."da"PBV.dial :waste1 +2 "processing"%(  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%) * +33 "core" + + ."da"PSV.dial :air +2 "processing"%*  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%+' +2370 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%, +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%-  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%. +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%/  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%0'ؾ +2337 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%1 +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%2' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%3' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%5  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%` +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%8% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%9'0 +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%: * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%6'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%7  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%=  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%< * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%?' +2372 "core" ' + ."da"PSV.dial PTV +2 "processing"%; +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%A +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%B +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%>  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +2310 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +127 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%F' +594 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%G' +1607 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%C +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%I  +32 "core" +2 "processing"%J% +3 "core" %-\  +3 ."da"PS.seek 1.5ml +2 "processing"%K'' +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%H * +31 "core" + +3 ."da"PS.seek 0ml +2 "processing"%N'ؾ +1614 "core" ' +2 ."da"delay 2:00 +6378 "Can" F6IK +5625 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%M  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +39 "core" + +10 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%P +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%O' +2391 "core" ' + ."da"PSV.dial PTV +2 "processing"%L +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%Q +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%R +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%U  +72 "core"  +2 ."da"PS.seek 0ml +3 "processing"%S'ؾ +2311 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%W  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%V  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%X  +42 "core"  +2 ."da"PTV.dial :PRVmixing +2 "processing"%Z  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"%T +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%Y' +382 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%[  +43 "core"  +2 "processing"%\\% +3 "core" %\  +3 ."da"PS.seek 0.55ml +2 "processing"%_' +342 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%^  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%b' +1566 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%c +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%{ @ +71 "core" B +2 ."da"PBV.dial :waste1 + "processing"%e  +33 "core" +2 "processing"%E% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"%g' +248 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%\ * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%d'ؾ +1976 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +38153 "Can"\ o9VI +9850 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%k @ +16 "core" ? +2 ."da"PBV.dial :waste1 +2 "processing"%m  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%a * +33 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%o' +2364 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%p +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%h  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"% +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%t  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%v'ؾ +2321 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%w +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%q' +601 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%i' +1628 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +71 "core"  +2 ."da"PSV.dial PTV +2 "processing"%] +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%n  +33 "core" + "processing"%l% +4 "core" %6\ +2 ."da"PS.seek 1.5ml +2 "processing"%|'* +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%u * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1633 "core" ' +2 ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%r  +16 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%x +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%z' +2360 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%} +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2316 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%~' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +56 ."da"PS.seek 2ml +2 "processing"%' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%% +3 "core" %/\  +3 ."da"PS.seek 1.5ml +2 "processing"%'. +595 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%j'ؾ +1629 "core" ' + ."da"delay 2:00 +8565 "Can" A;Jw +3439 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%y  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%s  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2383 "core" ' + ."da"PSV.dial PTV +2 "processing"%! +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%" +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%$  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"%%'ؾ +2327 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%#' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%'' +1607 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%(  +4 "core"  +2 ."da"PSV.dial PTV + "processing"%) +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%*  +33 "core" + "processing"%% +3 "core" %U\  +3 ."da"PS.seek 1.5ml +2 "processing"%,'' +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%- * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%.'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%/  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%+  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%1 * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%2' +2371 "core" ' + ."da"PSV.dial PTV +2 "processing"%5 +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%` +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%8  +70 "core"  +3 ."da"PS.seek 0ml +2 "processing"%3'ؾ +2316 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%: +133 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +15 ."da"PS.reconfigure :default +9 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +2 "processing"%9' +340 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%7' +332 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%=' +1614 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%<  +4 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%6  +34 "core" +2 "processing"%;% +3 "core" %?\  +3 ."da"PS.seek 1.5ml +2 "processing"%A'/ +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%B * +33 "core" + +2 ."da"PS.seek 0ml +3 "processing"%>'ؾ +1612 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%?  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%@  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%D * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%F +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%C' +2452 "core" ' +10 ."da"PSV.dial PTV +2 "processing"%I +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%J +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%G +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%H  +73 "core"  +3 ."da"PS.seek 0ml +2 "processing"%K'ؾ +2367 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +130 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%' +2118 "core" ' +2 ."da"delay 5 seconds +351 "Can"\ @TK " +151 ."da"PTV.dial :puck +2 "processing"%P  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%N +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +34 "core" +2 "processing"%Q% +3 "core" %+\  +3 ."da"PS.seek 1.5ml +2 "processing"%R'' +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%U * +35 "core" , + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%O  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"%W'ؾ +1609 "core" ' +2 "processing"%V9 +3 "core" 9e5Z +2 #"da"Processing Puck Heater at 27.9C before imaging +2 .PH.coast + "processing"%X +3 "core" 5[ +2 "processing"%Z& +3 "core" &^A\ 0 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&T% +3 "core" %  \  E  +2 "storage"(S% +4 "core" % ^\  +2 "storage"([. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(\\(C +355 "core" ( +2 ."da"SC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" &F # & \ +2 "manipulator"&^& +3 "core" &- +2 "manipulator"&_% +4 "core" %  a  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&c( +177 "core" ( + "manipulator"&{& +3 "core" & \  6 +3 "storage"(e& +4 "core" &F b\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&E' +94 "core" ' + "storage"(\ & +4 "core" &F #\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(b'r +274 "core" ' +2 "storage"(g- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place +2 "storage"(k'1 +45 "core" ' +2 "manipulator"&m& +3 "core" & 6 +2 "manipulator"&a% +4 "core" %  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&d( +244 "core" ( +2 "manipulator"&p& +4 "core" &  p ' + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &  7 ' +3 ."da"Forearm.seek PC +2 "manipulator"& ' +88 "core" ' + ."da"Hand.close +2 "manipulator"&t/ +75 "core" / +2 ."da"PC.seek :open +2 "processing"%o( +457 "core" ( +2 "storage"(w& +3 "core" &F \ +3 "manipulator"&v& +4 "core" & & + "manipulator"&q% +4 "core" %  / 0 +2 ."da"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&]( +259 "core" ( + "manipulator"&n& +4 "core" &  <  +41 "storage"(l& +12 "core" &F \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&i' +98 "core" ' +2 ."da"Hand.open + "manipulator"&u1 +53 "core" 1 +3 "storage"(|- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(r' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate + "storage"(' +56 "core" ' + #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0614h.tif +8 "processing"%& +10 "core" &\ +4 "manipulator"&x& +7 "core" &    +2 "manipulator"&% +5 "core" %  U D +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&}(- +176 "core" ( +2 "manipulator"&& +4 "core" &-  ' C +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  = C +3 ."psFlush"Forearm.seek :garage +3 "manipulator"&z'w +97 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +65 "core" / +2 "manipulator"&& +3 "core" &-   ` C +2 "manipulator"&~% +4 "core" % ϊ \ G +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +119 "core" ( +2 "manipulator"&& +3 "core" & \   J +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &   J +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +91 "core" ' +3 "manipulator"&& +4 "core" &   A J +2 "manipulator"&% +4 "core" %  ~ ` +2 "processing"%y& +3 "core" &\ y +3 "processing"%s& +5 "core" &\ y +2 ."psFlush"PC.seek :closed +2 "processing"%(^ +5 "core" &\ y +6 &9\ u$e +9 &Vt\ q8 +10 &p\ qL +9 &L\ sO +9 &\\N\ sP +10 &L\ sO +9 &Q,\ sO +9 &N?\ sP +10 &eL@\ rO +9 &'LD\ sO +10 &Q0\ rO +9 &!P{\ rO +9 &#lO0\ rP +10 &%2N\ N +9 &&O\ N +9 &(O\ N +10 &*xO\ N +9 &,9R\ O +10 &-Q\ N +9 &/Sv\ N +9 &1P\ N +10 &3BN\ N +9 &5R\ N +9 &6Rq\ vO +10 &8Pp\ uO +9 &:GNo\ uO +10 &< Lp\ uO +9 &=Qp\ tO +9 &?S`\ sO +10 &ANN]\ sP +9 &C Y^\ rQ +9 &D`]\ qQ +10 &Fx\\\ pT +9 &HDO\ oV +10 &JK\ oV +9 &KG\ nW +9 &MY\ mV +10 &OIV\ mW +9 &Q [\ mX +9 &RR\ mW +10 &TM\ W +9 &VS>\ V +9 &XJ\ V +10 &YI\ V +9 &[F\ V +10 &]YK\ G +9 &^z>o=\ )w +9 &^(1\ . +6 ( + "processing"%s& +4 "core" &^8\ . +2 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 +2 "processing"%& +3 "core" &^?\ . +3 ."psFlush"Hand.open +2 "manipulator"&j1 +52 "core" 1 +2 "manipulator"&!% +4 "core" % V ` +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&"' +95 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +43 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%$' +598 "core" ' +2 ."psFlush"delay 5 seconds +380 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 22.335 seconds\ /var/log/esp/da23sep0614h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0614h15s.tif +118 ."psFlush"PSR.select :air +13 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1422 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0614h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0614h20s.tif +690 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +240 "core" A +5 ."psFlush"PTV.dial :PRVmixing +2 "processing"%%  +129 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%# +101 "core" +41 ."psFlush"PS.seek :empty +2 "processing"%('ؠ +739 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0614h20s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "22.335 sec auto-exposure",Subject: "da23sep0614h images!" +4 "storage"()- +3 "core" -' +2 "storage"(*& +9 "core" &F ( & #\ +8 "manipulator"&& +13 "core" & - . 0 J +4 "manipulator"&'% +4 "core" %  , , H # +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +4 "manipulator"&-( +244 "core" ( +5 "manipulator"&,& +10 "core" & . , G - +4 "storage"(/& +8 "core" &F   S\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&+' +95 "core" ' +5 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +57 "core" ' +4 "manipulator"&0& +8 "core" & \  - +4 "storage"(.& +10 "core" &F \ +3 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +5 "manipulator"&5'8 +22 "core" ' +2 ."da"Elbow.hold +4 "manipulator"&`, +8 "core" , +4 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +7 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +5 "storage"(' +28 "core" ' +2 "manipulator"&8% +7 "core" %B  l +4 "storage"(2& +7 "core" &F ! ! $\ +5 ."da"Forearm.force -20 +3 "manipulator"&5 +5 ."da"Forearm.seek 1 + 310 counts +3 "manipulator"&:'n +16 "core" ' +4 "manipulator"&3& +6 "core" &  + - +5 "storage"(9& +8 "core" &F D C\ +6 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +8 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&7' +18 "core" ' +4 "storage"(<% +6 "core" % F F\  +7 ."downElevator"SE.seek :down +6 "storage"( ' +98 (6% +7 "core" %2L\ \  \ Va +6 "manipulator"&;% +8 "core" % \ j +5 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&=' +96 "core" ' +35 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (B& +8 "core" &F 5 4 \ +704 #"uploadLog"upsync +91 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%A +102 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%?' +590 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%@' +2119 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 +2 "processing"%D  +33 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%F @ +73 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"%> +114 "core" + ."psFlush"PS.seek :empty +3 "processing"%I'ؠ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%J +100 "core"  + ."psFlush"PSR.select :flush +48 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%G'X\\ +1101 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%H' +1615 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%C +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%M  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%K  +4 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%P'ؾ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%N +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%L' +590 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%Q' +2118 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%U U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%O'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%R @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%V' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%X  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%Z'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%T +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%S' +2638 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%[ +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%f U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%Y'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%^ @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%{  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%e'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%\ +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"% 'X\\ +1106 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%&' +1610 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%g +70 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%m  +4 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%a  +52 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%b'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%E +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%p' +592 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%h' +2128 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%c +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%t U +52 "core" W +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2657 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +1043 "Can" GDK +1597 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%v  +70 "core"  +2 ."psFlush"PS.seek 0ml +38 "processing"%q'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%n' +2637 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%l +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%d U +15 "core" T +3 ."psFlush"PS.seek 0ml +2 "processing"%u'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%| @ +43 "core" ? +3 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%x  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +3 "core" & \  - +2 "manipulator"&k% +3 "core" %   C  +3 ."psFlush"Elbow.seek PC +2 "manipulator"&r( +246 "core" ( + "manipulator"&& +4 "core" &    $ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  6 $ +2 ."psFlush"Forearm.seek PC +2 "manipulator"&i' +92 "core" ' + ."psFlush"Hand.close +2 "manipulator"&]/ +56 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%( +457 "core" ( +2 "manipulator"&& +4 "core" &  n $ + "manipulator"&~% +4 "core" %   Q 9 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +128 "core" ( +2 "manipulator"&& +3 "core" &-  L  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &z& +2 "core" &-  4  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +105 "core" ' +2 ."psFlush"Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&y% +4 "core" % }  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&}' +94 "core" ' +3 #tFinished short da assay +43388 "Can" =F8L9 +7256 #t-> access 1 +2 "storage"(% +3 "core" % Y Y \  +2 "manipulator"&o% +3 "core" %  5  +3 "manipulator"&& +3 "core" &- v  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(j(<- +1295 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &<+   K\ +1649 #t-> access 2 +3 "storage"(s% +3 "core" % [ \\\  +2 "manipulator"&% +3 "core" %   +2 "manipulator"&& +4 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(W(K +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "core" &K   c\ +49382 "Can" =HWL +36544 #t-> startTube 2 +297 #-> shortDA +2 "collection"'% +2 "processing"%%% +5 "core" %c\ \ \ +5 %ؿ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1174 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%# +130 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +126 "core" +2 .tPRV.dial :sipper + "processing"%)  +43 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%*'e +2301 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%  + "collection"''  +17 "core" +109  +3 .tPS.seek 0.5ml + "processing"%,' +1274 "core" ' +45 .tPRV.dial :waste2 + "processing"%/ @ +98 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%'ؾ +588 "core" ' +2 .tPSV.dial PSR + "processing"%0 +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%.'X\\ +1105 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%"' +1613 "core" ' +2 .tPSV.dial :mixloop + "processing"%8 +102 "core" +2 .tPS.seek 0ml +2 "processing"%2'ؾ +2628 "core" ' +2 .tPSV.dial PSR +2 "processing"%3 +112 "core" +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%9'X\\ +1108 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +1613 "core" ' +2 .tPSV.dial :mixloop + "processing"%< +100 "core" +2 .tPRV.dial :sipper +2 "processing"%+  +42 "core" +2 .tPS.seek 0ml +2 "processing"%-'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%6 +101 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%;' +2640 "core" ' + .tPSV.dial :mixloop +2 "processing"%1 +101 "core" +2 .tPS.seek 0ml +2 "processing"%5'ؾ +2092 "Can"  >JyMe +540 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +6 "processing"%:& +3 "core" &\ +3 "manipulator"&B% +4 "core" %   +  + "storage"(% +3 "core" % ] Y\  +2 "storage"(7. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( (  +1301 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &  0  \ +2 "manipulator"&(& +3 "core" &- \ a  +2 "manipulator"&?% +4 "core" %  \  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&D( +171 "core" ( +2 "manipulator"&F& +3 "core" &   / 8 +3 "storage"(>& +4 "core" &  ] Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&@'S +94 "core" ' +2 "storage"(J& +3 "core" &  ] h D\ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'r +294 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (C& +2 "core" & 3 C "\ +3 "manipulator"&M& +4 "core" & h 8 + .tElbow.seek 2 +2 "manipulator"&K( +4 "core" ( + "manipulator"&H& +3 "core" &  7 8 +3 "storage"(N& +4 "core" & C F \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&P'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(U' +8 "core" & 8 + "manipulator"&Q% +4 "core" % ϶  +2 .tForearm.seek :retract +2 "manipulator"&R' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&X& +3 "core" &  a  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +89 "core" ' + "manipulator"&Z& +5 "core" &   E  + "manipulator"&[% +4 "core" %  a T +2 "processing"%f& +3 "core" &\ +3 "processing"%S& +4 "core" &\ +3 .tPC.seek :closed + "processing"%^(^ +4 "core" &\ +8 &4\ #c +9 &Ux\ 6 +10 &~|\ K +9 &U\ N +9 &^Y\ M +10 &!T\ M +9 &[\ N +10 &T\ M +9 &eU\ N +41 &(Z\ M +9 &W\ M + &!W\ N + &#lY\ N + &%/W\ N +3 &&Z\ M +10 &(W\ M +9 &*vX\ M +9 &,8W\ M +10 &-V\ M +9 &/[\ N +9 &1R\ M +10 &3?Y\ N +9 &5V\ N +10 &6T\ M +9 &8W\ M +9 &:GS\ N +10 &< Z\ N +9 &=Z\ N +9 &?W\ N +10 &AN\\\ N +9 &C i\ P +10 &Dr\ Q +9 &F\ S +9 &HD\ T +10 &J\ T +9 &K\ U +9 &M\ U +10 &OJ\ U +9 &Q\ \ U +10 &R\ U +9 &T\ U +9 &VP\ U +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]W\ D +9 &^Hy\ Z +10 &^ I\ 5 +5 ( +2 "processing"%S& +3 "core" &^*\ 5 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&Y1 +60 "core" 1 +2 "manipulator"&{% +3 "core" %   s T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +91 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%\ h +2 %e9 +6 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%g9 +4 "core" 9  +102 "processing"%m9 +3 "core" 9  +102 "processing"%a9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%E9 +3 "core" 9 +102 "processing"%b9 +3 "core" 9 +102 "processing"%p9 +3 "core" 9" +102 "processing"%c9 +3 "core" 9& +102 "processing"%t9 +3 "core" 9+ +102 "processing"%h9 +3 "core" 9/ +102 "processing"%9 +4 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%v9 +3 "core" 9; +102 "processing"%w9 +3 "core" 9@ +102 "processing"% 9 +3 "core" 9D +102 "processing"%q9 +4 "core" 9H +102 "processing"%l9 +3 "core" 9L +102 "processing"%d9 +3 "core" 9P +102 "processing"%n9 +3 "core" 9U +102 "processing"%|9 +3 "core" 9Y +102 "processing"%u9 +4 "core" 9] +102 "processing"%x9 +3 "core" 9a +102 "processing"%9 +3 "core" 9f\ +102 "processing"%9 +3 "core" 9j\ +102 "processing"%k9 +3 "core" 9n +103 "processing"%9 +2 "core" 9r +102 "processing"%9 +3 "core" 9v +102 "processing"%`9 +3 "core" 9%{ +3 .tPH.hold 2:00:00,28C +3 "processing"%] php +2 .tdelay 1:30 +5 "core" { +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%= +101 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%' +597 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%' +1611 "core" ' + .tPTV.dial :puck +2 "processing"%~  +126 "core"  +2 .tPSV.dial PTV +2 "processing"% +84 "core" + .tPBV.dial :waste1 +2 "processing"%z  +52 "core" + "processing"%i% +4 "core" %m\  +2 .tPS.seek 1.5ml +2 "processing"%r', +594 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%y'ؾ +1610 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  + .tPBV.dial :waste1 +2 "processing"%  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%o +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%' +2367 "core" ' + .tPSV.dial PTV +2 "processing"%\\ +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%! +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%s +83 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1094 "Can"\ HMM$ +1234 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%j  +128 "core" +2 .tPSV.dial :mixloop + "processing"%$ +44 "core" + .tPRV.dial :ab1 +2 "processing"% @ +98 "core" > +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +48 .tPS.seek 0.15ml +2 "processing"%%' +353 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +3 "collection"'#  + "processing"%  +3 "core" +40  +2 "processing"%)% +4 "core" %J\ +2 .tPS.seek 0.35ml +2 "processing"%'h +454 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"''  +27 "core" +2 .tPRV.dial :air +2 "processing"%  +40 "core"  +2 .tPS.seek 0.9ml +2 "processing"%*'K +1175 "core" ' +2 .tPRV.dial :waste2 + "processing"%/ @ +71 "core" @ +2 .tPS.seek 0.5ml +2 "processing"%,' +863 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%0  +44 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%' +1618 "core" ' + .tPSV.dial :PML +2 "processing"%. +44 "core" + .tPTV.dial :mixing +2 "processing"%8 @ +70 "core" @ +2 .tPBV.dial :waste1 + "processing"%"  +33 "core" +2 "processing"%3% +4 "core" %a\  +2 .tPS.seek 1.85ml + "processing"%2' +232 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%9 * +33 "core" + +2 .tPS.seek 0ml + "processing"%<'ؾ +1970 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'+& +3 "core" &\ \ \ +2 "manipulator"&& +3 "core" &  +3 "manipulator"&6% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&-(- +120 "core" ( +2 "manipulator"&1& +3 "core" &-  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &-  +3 .tForearm.seek :garage + "manipulator"&:'w +100 "core" ' +2 .tHand.close + "manipulator"&B/ +64 "core" / +2 "manipulator"&& +3 "core" &-  +2 "manipulator"&7% +4 "core" % ψ  +2 .tForearm.seek :retract +2 "manipulator"&W' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&A(ӂ +279 "core" ( +2 "manipulator"&(& +4 "core" &Ӓ"   ( ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &Ӓ"   # ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'? +100 "core" ' +2 "manipulator"&>& +4 "core" &Ӓ" .  9 ;8 +2 "manipulator"&J% +4 "core" %A   +2 "collection"'& +3 "core" &\ \ \ +3 "collection"'}& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'G(\\ +5 "core" &\ \ \ +7 &C\ \ \ %g +9 &Y{\ \ \ 8 +10 &y\ \ \ L +9 &V\ \ \ M +9 &X\ \ \ L +10 &CX\ \ \ M +9 &Y\ \ \ L +9 &Y\ \ \ M +10 &]\ \ \ M +9 &LY\ \ \ L +10 & Y\ \ \ M +9 &!U\ \ \ M +9 &#Z\ \ \ M +10 &%SU\ \ \ M +9 &'X\ \ \ M +9 &(Y\ \ \ M +10 &*W\ \ \ M +9 &,[Z\ \ \ M +10 &.V\ \ \ M +9 &/V\ \ \ L +9 &1Y\ \ \ M +10 &3cV\ \ \ M +9 &5%W\ \ \ M +9 &6[\ \ \ M +10 &8X\ \ \ M +9 &:k\\\ \ \ M +10 &<.Y\ \ \ L +9 &=X\ \ \ M +9 &?[\ \ \ M +10 &Ar\\\ \ \ M +9 &C/j\ \ \ \ O +9 &Du\ \ \ \ P +10 &F\ \ \ U +9 &HY\ \ \ \ X +10 &J\ \ \ \ Y +9 &K\ \ \ Z +9 &M\ \ \ Z +10 &OY\ \ \ [\ +9 &Q\ \ \ Z +9 &R\ \ \ \\ +10 &T\ \ \ [\ +9 &VY\ \ \ ^ +10 &X\ \ \ ^ +9 &Y\ \ \ ^ +9 &[\ \ \ K +10 &\\<\ \ \ )| +9 &\\u\ \ \ P +2 ( +2 "collection"'}& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.36 +2 "collection"'C& +3 "core" &\\s\ \ \ P +2 .tHand.open + "manipulator"&M1 +53 "core" 1 +2 "manipulator"&H% +3 "core" % A 4 . 0  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +95 "core" ' +2 .tPSV.dial PSR + "processing"%L +102 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%'+ +1613 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +40 "processing"%Q  +49 "core"  +3 .tPS.seek 0ml + "processing"%D'ؾ +1606 "core" ' + .tPSV.dial PSR +2 "processing"%@ +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%I' +2641 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%P  +2 "collection"'X  +31 "core"  +124  +2 .tPSV.dial :mixloop +2 "processing"%V +100 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%K  +71 "core" +2 .tPS.seek 0ml +2 "processing"%Z'ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%[  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%f' +2641 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%U +42 "core" +2 .tPS.seek 0ml + "processing"%R'ؾ +2629 "core" ' +2 .tPSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%Y' +2631 "core" ' + .tPSV.dial :mixloop + "processing"%{ +44 "core" +3 .tPS.seek 0ml + "processing"%e'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&S& +3 "core" &ӭ  ! 8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"& (ӂ +19 "core" ( +2 "manipulator"&T& +4 "core" &Ӌ    % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &Ӌ    % +3 .tForearm.seek CC +2 "manipulator"&m'? +97 "core" ' +2 .tHand.close + "manipulator"&a/ +61 "core" / +2 .tCC.seek :open +2 "collection"'&( +449 "core" ( + "manipulator"&E& +4 "core" &ӎ  O % +2 "manipulator"&b% +4 "core" % !  y +2 .tForearm.seek :retract + "manipulator"&p' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&c(- +271 "core" ( +2 "manipulator"&t& +3 "core" &-  b  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &-  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +101 "core" ' +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&v% +3 "core" % ρ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +95 "core" ' +2 ."da"delayUntil "15:19:30.06" +24768 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +72 "core" B + ."da"PBV.dial :waste1 +2 "processing"%q  +33 "core" + ."da"delay 30 seconds +2567 "Can"\ GPN +436 ."da"PBV.dial between PSV and waste1 +2 "processing"%l * +33 "core" + + ."da"PSV.dial :air +2 "processing"%d  +43 "core"  +3 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%n' +2372 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%| +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%u  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%x +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2318 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%k +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +591 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1616 "core" ' +2 ."da"PTV.dial :puck + "processing"%`  +109 "core"  +8 ."da"PSV.dial PTV +3 "processing"%= +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%5  +32 "core" +2 "processing"%% +3 "core" %I\  +3 ."da"PS.seek 1.5ml +2 "processing"%~'1 +584 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%i  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%r +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%\ ' +2384 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%o  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%y'ؾ +2322 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%\\ +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%!' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%s' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%j% +4 "core" %Q\  +2 ."da"PS.seek 1.5ml +2 "processing"%$') +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%#  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%) +69 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%%' +2388 "core" ' + ."da"PSV.dial PTV +2 "processing"%' +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%/  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%*'ؾ +1699 "Can"\ GScO' +626 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%0  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%,  +128 "core" +2 ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%.  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 "processing"%8  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"%" +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%3' +384 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%9  +44 "core"  + "processing"%% +4 "core" %i\  +2 ."da"PS.seek 0.55ml +2 "processing"%2' +339 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%+  +45 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%6 +44 "core" + ."da"PTV.dial :mixing +2 "processing"%1 @ +111 "core" B +8 ."da"PBV.dial :waste1 +2 "processing"%;  +32 "core" +2 "processing"%O% +3 "core" %k\  +3 ."da"PS.seek 1.85ml + "processing"%B' +228 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +3 ."da"PS.seek 0ml + "processing"%7'ؾ +1970 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +48003 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%_ @ +15 "core" ? + ."da"PBV.dial :waste1 +2 "processing"%:  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%( * +33 "core" + + ."da"PSV.dial :air +2 "processing"%?  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%-' +1679 "Can"\ HVO +712 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%> +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%J  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%W  +43 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2318 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%C +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%M' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%H' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%}  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%L +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%F  +33 "core" + "processing"%<% +3 "core" %o\  +3 ."da"PS.seek 1.5ml + "processing"%Q'( +599 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%@'ؾ +1609 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%D  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%X * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%P +69 "core" +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%V' +2387 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%K +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%I +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%[ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%Z  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +2318 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%f +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%R' +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%{ +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%Y  +33 "core" + "processing"%S% +4 "core" %k\  +2 ."da"PS.seek 1.5ml +2 "processing"%T'+ +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%g * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%a'ؾ +1617 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%A  +43 "core" +9 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%N * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%G +71 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%E' +2406 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%b +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%m +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%t +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%h  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2342 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%v' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%p' +258 "Can"\ IXPS +1352 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%q% +3 "core" %g\  +3 ."da"PS.seek 1.5ml +2 "processing"%l'( +592 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%d * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%e'ؾ +1619 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%|  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%u * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%x +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2361 "core" ' + ."da"PSV.dial PTV +2 "processing"%n +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%k +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%`'ؾ +2347 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +5 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml + "processing"%5' +332 "core" ' +80 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%' +343 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%~  +34 "core" + "processing"%i% +4 "core" %h\  +2 ."da"PS.seek 1.5ml +2 "processing"%'& +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%4 * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1611 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%r  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%z * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +85 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2411 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +9 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%o +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%\ +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%\\  +73 "core"  +2 ."da"PS.seek 0ml +3 "processing"%y'ؾ +2384 "core" ' +2 #"da"Additional air clear + .PSR.select :air +3 .PSV.dial PSR + "processing"%! +131 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%' +2127 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +3 .PSV.dial PTV + "processing"% +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%j  +33 "core" +2 "processing"%s% +3 "core" %n\  +3 ."da"PS.seek 1.5ml +2 "processing"%', +604 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%$ * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%#  +102 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 "processing"%)9 +3 "core" 9g5a +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"% +2 %'& +2 "core" 5b +4 &^*\ 5 + #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&% +3 "core" %  \  ,  +2 "storage"(% +4 "core" % !\  +2 "storage"(/. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(%(C +359 "core" ( +2 ."da"SC.configure :limp +3 "storage"($\ 1b +2 (0& +3 "core" &B ] Z k\ +2 "manipulator"&,& +4 "core" &-  a  +2 "manipulator"&.% +3 "core" %  c  +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&8( +174 "core" ( + "manipulator"&"& +3 "core" &  \ Z = +3 "storage"(*& +3 "core" &B X W ~\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&9' +119 "core" ' + "storage"(& +4 "core" &B \ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(3'r +276 "core" ' + "storage"(+- +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(2'1 +41 "core" ' +2 "manipulator"&6& +4 "core" &  ] < + "manipulator"&1% +4 "core" %  v < +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&;' +91 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&O( +243 "core" ( +2 "manipulator"&& +3 "core" &   W ( +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  b ( +3 ."da"Forearm.seek PC +2 "manipulator"&B' +91 "core" ' +2 ."da"Hand.close +2 "manipulator"&_/ +70 "core" / +2 ."da"PC.seek :open +2 "processing"%:( +457 "core" ( + "storage"((& +4 "core" &B \ +2 "manipulator"&?& +3 "core" & ( +2 "manipulator"&7% +4 "core" %  ! +2 ."da"Forearm.seek :retract +2 "manipulator"&>' +99 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&J( +247 "core" ( + "manipulator"&& +4 "core" & 5 9 +2 "storage"(W& +4 "core" &B \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +46 ."da"Forearm.seek 1 + 450 counts +9 "manipulator"&-' +92 "core" ' +2 ."da"Hand.open + "manipulator"&C1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +25 "core" ' +3 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(}' +56 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +5 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0615h.tif +5 "processing"%L& +11 "core" &)\ q +4 "manipulator"&F& +6 "core" &   6 9 +3 "manipulator"&<% +4 "core" %   m +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&H' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +174 "core" ( +2 "manipulator"&Q& +3 "core" &-   W +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +3 "core" &-  W +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&X'w +99 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&P/ +53 "core" / +2 "manipulator"&@& +4 "core" &-  \ W +2 "manipulator"&K% +4 "core" % ψ \ % +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&I' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC + "manipulator"&[( +117 "core" ( +2 "manipulator"&Z& +3 "core" &   5 +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &  5 +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&f' +90 "core" ' +2 "manipulator"&U& +4 "core" &   5 +2 "manipulator"&% +3 "core" % l m +3 "processing"%{& +4 "core" &\ +2 "processing"%Y& +5 "core" &\ +2 ."psFlush"PC.seek :closed +2 "processing"%S(^ +4 "core" &\ +9 &1\ ~$d +9 &To\ z6 +9 &}r\ yK +10 &L\ {N +9 &VO\ {N +9 &I\ |N +11 &P\ N +8 &R\ M +10 &`M\ N +9 &"R\ N +9 &Q\ N +10 &!P\ N +9 &#iQ\ M +9 &%+Q\ M +10 &&S\ M +9 &(O\ M +10 &*qP'\ M +9 &,/OL\ O +9 &-NK\ ~N +10 &/NP\ ~N +9 &1uLN\ }O +9 &38ON\ }N +10 &4OB\ |N +9 &6N;\ |N +10 &8~Q9\ |N +9 &:AL<\ |N +9 &<P;\ {N +10 &=L<\ |O +9 &?N%\ {O +9 &AGM(\ {O +10 &CY/\ zP +9 &D]2\ zQ +10 &Fu,\ xT +9 &H>*\ T +9 &I \ U +10 &K\ U +9 &M\ U +9 &OC\ U +10 &Q\ V +9 &R\ V +10 &T \ V +9 &VL \ U +9 &X \ U +10 &Y\ V +9 &[\ zV +9 &]M\ xJ +10 &^yG\ y c +9 &^9\ }5 +5 ( +2 "processing"%Y& +5 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + "processing"%R& +2 "core" &^% \ }5 +3 &^$\ }5 +2 ."psFlush"Hand.open + "manipulator"&g1 +58 "core" 1 + "manipulator"&T% +5 "core" %   4 m +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&A' +90 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%G' +589 "core" ' + ."psFlush"delay 5 seconds +250 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20.687 seconds\ /var/log/esp/da23sep0615h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0615h15s.tif +249 ."psFlush"PSR.select :air +10 "processing"% +12 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +1288 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0615h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0615h20s.tif +824 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%b @ +186 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%m  +131 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%t +159 "core" +4 ."psFlush"PS.seek :empty +2 "processing"%h'ؠ +645 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0615h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "20.687 sec auto-exposure",Subject: "da23sep0615h images!" +2 "storage"(E- +3 "core" -' +2 "storage"(& +7 "core" &B w m \ +6 "manipulator"& & +15 "core" &   5 +4 "manipulator"&v% +4 "core" %   C  +2 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +245 "core" ( +2 "manipulator"& & +4 "core" &  g < +3 "storage"(q& +5 "core" &B @\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&p' +107 "core" ' +5 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(d'" +54 "core" ' +4 "manipulator"&l& +7 "core" &  ; +3 "storage"(|& +8 "core" &B   \ +4 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +3 "manipulator"&u'8 +29 "core" ' +2 ."da"Elbow.hold +3 "manipulator"&x, +8 "core" , +3 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(e' +30 "core" ' +4 "manipulator"&n% +7 "core" %@ "  W +3 "storage"(k& +8 "core" &B\ \  ~\ +3 ."da"Forearm.force -20 +3 "manipulator"&5 +5 ."da"Forearm.seek 1 + 308 counts +3 "manipulator"&'l +18 "core" ' +3 "manipulator"&& +14 "core" & ; +3 "storage"(& +8 "core" &B $  D\ +6 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&=' +18 "core" ' +3 "storage"(`% +9 "core" %  $ \ +4 ."downElevator"SE.seek :down +16 "storage"(5' +89 (% +6 "core" %'F\ \  \ Va +4 "manipulator"&% +9 "core" %  ^ +5 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +5 "manipulator"&~' +89 "core" ' +55 ' +2 ."downElevator"SE.stop +5 "storage"(5 +4 (i& +6 "core" &B   \ +889 ' +2 ."psFlush"PSR.select :air +5 .PSV.dial PSR +3 "processing"% +104 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +8 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%4' +535 "Can"\ O^eP( +65 "core" ' +3 ."psFlush"delay 5 seconds +505 .PSR.select :air +4 "processing"% +14 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2116 "core" ' +4 ."psFlush"delay 1 second +105 .PBV.dial :waste1 +5 "processing"%r  +36 "core" +4 ."psFlush"PTV.dial :mixing +4 "processing"%z @ +74 "core" @ +7 ."psFlush"PSV.dial :mixloop +4 "processing"% +102 "core" +3 ."psFlush"PS.seek :empty +3 "processing"%'ؠ +366 #"uploadLog"upsync +2285 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%o'X\\ +1109 "core" ' +41 ."psFlush"PSR.select :air +11 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%\ ' +1618 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%\\ +84 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%!  +4 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%y'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +69 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%j' +592 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%s' +2115 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%$ U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%#'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +54 "core" A +2 ."psFlush"PS.seek 2.5ml +2 "processing"%)' +2635 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%''ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%/ +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%0'ؾ +2643 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%, @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%.' +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%"  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%*'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%c +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +1609 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%+ +70 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%6  +4 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%1  +51 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%3'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%9 +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +597 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2128 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%8 +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%_ U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%;'ؾ +2640 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%^ @ +55 "core" A +2 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +2647 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%?  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%7'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%B +44 "core"  + ."psFlush"PSR.select :air +48 .PS.seek 2.5ml +2 "processing"%' +2639 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%W +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%O U +15 "core" T +3 ."psFlush"PS.seek 0ml + "processing"%C'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%L' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%F  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%<'ؾ +1959 "Can" G`Q +676 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&>& +4 "core" & \ V ; +2 "manipulator"&2% +4 "core" %   8  +2 ."psFlush"Elbow.seek PC + "manipulator"&M( +244 "core" ( + "manipulator"&Q& +4 "core" & ^ . +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" & q . +2 ."psFlush"Forearm.seek PC +2 "manipulator"&-' +92 "core" ' + ."psFlush"Hand.close +2 "manipulator"&J/ +56 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%P( +457 "core" ( + "manipulator"&@& +3 "core" &  G . +2 "manipulator"&K% +4 "core" %   a ! +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&H' +91 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&Z(- +128 "core" ( +2 "manipulator"&V& +4 "core" &- N  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" &-  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&U'w +103 "core" ' +2 ."psFlush"Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&{% +3 "core" % }   +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 #tFinished short da assay +57897 "Can" <bR +60001  <eR +60001  <gSA +60001  <i'S +31328 #t-> access 1 +2 "storage"(I% +3 "core" % [ [ \  +2 "manipulator"&:% +4 "core" %   +2 "manipulator"&R& +4 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(g(<- +1297 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &<+   \ +1713 #t-> access 2 +3 "storage"(Y% +2 "core" % Y X %\  +3 "manipulator"&N% +3 "core" %   +2 "manipulator"&f& +3 "core" &-  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +366 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &K J C x\ +25228 "Can" <k?Tm +22421 #t-> PS.flush +2 #Flushing Processing stage + "processing"%b% +4 "core" %Z\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%m& +3 "core" &;\ +2 "manipulator"&t& +4 "core" &-  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&a(- +23 "core" ( +2 "manipulator"&E& +3 "core" &- # A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  s A +2 .tForearm.seek :garage +2 "manipulator"& 'w +91 "core" ' + .tHand.close +2 "manipulator"&v/ +59 "core" / +2 "manipulator"& & +3 "core" &-  S A +2 "manipulator"&q% +4 "core" % s c % +2 .tForearm.seek :retract +2 "manipulator"&[' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +48 .tElbow.seek PC +2 "manipulator"&l( +119 "core" ( +2 "manipulator"&|& +5 "core" &  $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &  $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&n' +91 "core" ' +2 "manipulator"&k& +3 "core" & $ +3 "manipulator"&% +3 "core" % J J +3 "processing"%& +4 "core" &U\ +2 "processing"%}& +5 "core" &S\ +3 .tPC.seek :closed + "processing"%`(^ +5 "core" &5\ +7 &4<\ $c +9 &V{7\ 7 +10 &{8\ L +9 &R4\ M +9 &nT5\ N +10 &0U9\ N +9 &W9\ N +10 &U5\ N +9 &vW<\ N +9 &9T;\ M +10 &U:\ M +9 &!Y7\ N +9 &#~XA\ N +10 &%AT6\ M +9 &'U8\ M +9 &(Y7\ N +10 &*W:\ N +9 &,IT?\ M +10 &. T8\ M +9 &/Y8\ M +9 &1W6\ M +10 &3QT<\ M +9 &5T;\ M +9 &6X<\ M +10 &8X:\ N +9 &:XU:\ N +10 &<X:\ M +9 &=U5\ N +9 &?V5\ N +10 &AaX8\ M +9 &Cj5\ P +10 &Dl:\ P +9 &F9\ R +9 &HV8\ T +10 &J9\ T +9 &K9\ T +9 &M<\ T +10 &O[6\ U +9 &Q7\ U +9 &R7\ U +10 &T7\ U +9 &Va5\ U +10 &X$6\ U +9 &Y5\ U +9 &[:\ U +10 &]g:\ C +9 &^@r7\ ^ +9 &^F6\ 5 +6 ( +2 "processing"%}& +3 "core" &^%6\ 5 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + "processing"%p& +4 "core" &^%8\ 5 +2 .tHand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&% +5 "core" %  ? J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' + .tPSV.dial PSR +2 "processing"%d +43 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%u'X\\ +1093 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1606 "core" ' +2 .tPSV.dial PTV + "processing"%i +71 "core" + .tPTV.dial :puck +2 "processing"%e  +4 "core"  +2 .tPBV.dial :waste1 +2 "processing"%=  +50 "core" +2 .tPS.seek 0ml +2 "processing"%5'ؾ +2624 "core" ' + .tPSV.dial PSR +2 "processing"% +72 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%h' +597 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%4' +2119 "core" ' +2 .tPSV.dial PTV +2 "processing"%r +71 "core" +2 .tPBV.dial PSV +2 "processing"%z U +53 "core" W +2 .tPS.seek 0ml + "processing"% 'ؾ +2634 "core" ' + .tPSV.dial PBV +2 "processing"% @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%' +2627 "core" ' +2 .tPSV.dial :waste1 + "processing"%  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%o'ؾ +2628 "core" ' +2 .tPSV.dial PSR +2 "processing"%\\ +43 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%' +2638 "core" ' + .tPSV.dial PTV +2 "processing"%! +70 "core" +2 .tPBV.dial PSV +2 "processing"%\ U +15 "core" T +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + .tPSV.dial PBV +2 "processing"%y @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%j' +2627 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +70 "core"  +3 .tPS.seek 0ml + "processing"%$'ؾ +2648 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&s& +3 "core" &  $ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +4 "core" ( + "manipulator"&#& +4 "core" &   $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & $ +3 .tForearm.seek PC +45 "manipulator"&)' +96 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%'( +458 "core" ( + "manipulator"&/& +4 "core" & Y $ +2 "manipulator"& % +3 "core" %  7 9 +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&,(- +127 "core" ( +2 "manipulator"&0& +3 "core" &- *  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &- w  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&.'w +96 "core" ' +2 .tHand.open + "manipulator"&c1 +54 "core" 1 + "manipulator"&*% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +7726 "Can" 9mU +60001  9ooU +28582 #t-> $da[:extractVol]=.2 +1571 #-> startTube 2 +9324 #-> shortDA +2 "collection"'+% +2 "processing"%6% +5 "core" %c\ \ +2 %ػ\  +5 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +173 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%1 +129 "core" +2 .tPTV.dial :PRVmixing + "processing"%w  +127 "core" + .tPRV.dial :sipper +2 "processing"%9  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%3'e +2296 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%  + "collection"'8  +6 "core" +118 +2 .tPS.seek 0.5ml +2 "processing"%_' +1269 "core" ' +2 .tPRV.dial :waste2 +2 "processing"% @ +98 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%^'ؾ +592 "core" ' +2 .tPSV.dial PSR +2 "processing"%; +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%?'X\\ +1102 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%(' +1617 "core" ' + .tPSV.dial :mixloop + "processing"%B +102 "core" +2 .tPS.seek 0ml +2 "processing"%7'ؾ +2626 "core" ' + .tPSV.dial PSR +2 "processing"%W +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%O'X\\ +1105 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"% +101 "core" +2 .tPRV.dial :sipper +2 "processing"%C  +42 "core" +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2627 "core" ' + .tPSV.dial PSR +2 "processing"%L +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%>' +2633 "core" ' + .tPSV.dial :mixloop +2 "processing"%2 +101 "core" +2 .tPS.seek 0ml +2 "processing"%Q'ؾ +542 "Can" <qqV/ +2093 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%D& +4 "core" &\ +2 "manipulator"&x% +3 "core" %  /  +3 "storage"(J% +4 "core" % q i \  + "storage"(~. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(S(  +1301 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" & R 4 8\ +2 "manipulator"&K& +4 "core" &-  +2 "manipulator"&V% +4 "core" %  |  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&X( +172 "core" ( +2 "manipulator"&-& +3 "core" &  5 ? +2 "storage"(M& +3 "core" & f d\ +3 .tForearm.reconfigure :tight +46 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +95 "core" ' + "storage"({& +5 "core" & Z d\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +299 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (I& +2 "core" & ] Z\ +2 "manipulator"&:& +4 "core" &   > +2 .tElbow.seek 2 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&%& +3 "core" &   ] > +2 "storage"(T& +5 "core" & ] \\\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&Y'Ͻ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +3 "storage"(g' +7 "core" & G > +2 "manipulator"&G% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&]' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&m& +3 "core" & <  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&E' +90 "core" ' +2 "manipulator"&& +4 "core" & [  +2 "manipulator"&v% +3 "core" % @ +3 "processing"% & +4 "core" &1\ +2 "processing"%q& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%Z(^ +4 "core" &\ +7 &;\ $e +10 &Yy\ 7 +9 &x\ L +9 &S\ N +10 &rU\ N +9 &4T\ N +9 &U\ N +10 &Q\ M +9 &{R\ M +9 &=T\ M +10 &W\ N +9 &!U\ N +10 &#S\ M +9 &%EU\ M +9 &'W\ N +10 &(U\ N +9 &*Y\ N +9 &,MU\ M +10 &.T\ M +9 &/X\ N +10 &1U\ M +9 &3UR\ M +9 &5Q\ M +10 &6T\ M +9 &8U\ N +10 &:\\U\ N +9 &<X\ M +9 &=S\ N +10 &?Z\ N +9 &AcW\ N +9 &C!h\ O +10 &Dm\ Q +9 &F\ S +9 &HZ\ T +10 &J\ T +9 &K\ T +10 &M\ T +9 &O^\ U +9 &Q \ U +10 &R\ U +9 &T\ U +9 &Vf\ U +10 &X'\ U +9 &Y\ U +10 &[\ V +9 &]l\ C +9 &^<u\ 'q +10 &^%\ - +5 ( +2 "processing"%q& +3 "core" &^\ - +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&|% +4 "core" %   @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +98 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %k9 +6 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9  +103 "processing"%a9 +2 "core" 9  +103 "processing"%[9 +2 "core" 9 +103 "processing"%P9 +2 "core" 9 +103 "processing"%p9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +103 "processing"%9 +2 "core" 9" +103 "processing"%}9 +2 "core" 9& +103 "processing"%d9 +2 "core" 9+ +102 "processing"%n9 +3 "core" 9/ +102 "processing"%<9 +4 "core" 93 +102 "processing"%u9 +3 "core" 97 +102 "processing"%i9 +3 "core" 9; +102 "processing"%e9 +3 "core" 9@ +102 "processing"%=9 +21 "core" 9E +102 "processing"%9 +3 "core" 9I +102 "processing"%9 +3 "core" 9M +102 "processing"%59 +3 "core" 9Q +102 "processing"%h9 +3 "core" 9U +102 "processing"%r9 +3 "core" 9Z\ +102 "processing"%z9 +3 "core" 9^\ +103 "processing"%49 +3 "core" 9b +102 "processing"%9 +3 "core" 9f +102 "processing"% 9 +3 "core" 9j +102 "processing"%9 +3 "core" 9o +102 "processing"%9 +3 "core" 9&s +3 .tPH.hold 2:00:00,28C +3 "processing"%\\ php +5 .tdelay 1:30 +2 "core" s +9000 .tPSR.select :air +11 .PSV.dial PSR +2 "processing"%o +100 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%!' +599 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%\ ' +1613 "core" ' +2 .tPTV.dial :puck + "processing"%  +127 "core"  + .tPSV.dial PTV +2 "processing"%y +84 "core" +2 .tPBV.dial :waste1 +2 "processing"%  +51 "core" +2 "processing"%% +3 "core" %/\  +3 .tPS.seek 1.5ml + "processing"%j'( +597 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%s * +33 "core" , +3 .tPS.seek 0ml + "processing"%#'ؾ +1610 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%l +69 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%' +2363 "core" ' + .tPSV.dial PTV +2 "processing"%` +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%/ +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 .tdelay 5 seconds +261 "Can" ?t7V +241 .tPSV.dial :air + "processing"%0  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%"'ؾ +2341 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%)  +127 "core" +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPRV.dial :ab1 + "processing"%c @ +99 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%*' +362 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%  +39 "core" +2 "processing"%.% +3 "core" % ]\  +3 .tPS.seek 0.35ml + "processing"%+'i +455 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'6  +29 "core" +2 .tPRV.dial :air + "processing"%1  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%w'K +1166 "core" ' +2 .tPRV.dial :waste2 + "processing"%9 @ +71 "core" > +2 .tPS.seek 0.5ml +2 "processing"%$' +882 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%8  +44 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%' +1618 "core" ' + .tPSV.dial :PML +2 "processing"%3 +44 "core" + .tPTV.dial :mixing +2 "processing"% @ +70 "core" A +2 .tPBV.dial :waste1 + "processing"%_  +34 "core" +2 "processing"%;% +3 "core" %\\\  +3 .tPS.seek 1.85ml + "processing"%^' +243 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%? * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%B'ؾ +1963 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'(& +3 "core" & \ +2 "manipulator"&W& +4 "core" & \  >  +2 "manipulator"&7% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&O(- +121 "core" ( +2 "manipulator"&& +3 "core" &-   )  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &- :  +2 .tForearm.seek :garage +2 "manipulator"&'w +91 "core" ' + .tHand.close +2 "manipulator"&L/ +53 "core" / +2 "manipulator"&F& +4 "core" &-    +2 "manipulator"&2% +3 "core" % ~  \   +3 .tForearm.seek :retract + "manipulator"&>' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&D(ӂ +278 "core" ( +49 "manipulator"&x& +4 "core" &ӏ!  ; :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +2 "core" &ӏ! D :, +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&~'? +100 "core" ' +2 "manipulator"&& +3 "core" &ӏ! %  c :, +2 "manipulator"&@% +5 "core" %F  4 +2 "collection"'K& +3 "core" & \ +3 "collection"'V& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'-(\\ +3 "core" &  \ +9 &< \ %g +9 &Wx  \ 7 +10 &{ \ L +9 &Y \ M +9 &zW \ L +10 &:[ \ M +9 &V \ M +10 &Z \ M +9 &Y \ M +9 &DW  \ L +10 & W \ \ L +9 &!W \ L +9 &#] \ M +10 &%LT \ L +9 &'W \ L +10 &(Y \ \ L +9 &*W \ L +9 &,S\\\  \ M +10 &.X \ M +9 &/T \  \ L +9 &1[\ \ \ L +10 &3\\U \ L +9 &5U \ M +10 &6Y \ M +9 &8T \ L +9 &:cT \ M +10 &<%W \ M +9 &=Y \ \ L +9 &?U\ \ \ M +10 &Ak]\ \ \ M +9 &C)e\ \ \ N +10 &Du\ \  \ P +9 &F\ \ \ U +9 &HS\ \ \ X +10 &J\ \ \ Y +9 &K\ \ \ Y +9 &M\ \ \ Z +10 &OT\ \ \ Z +9 &Q\ \ \ Z +10 &R\ \ \ [ +9 &T\ \ \ [ +9 &VT\ \ \ ] +10 &X\ \ \ ] +9 &Y\ \ \ ^ +9 &[\ \ \ J +10 &\\=\ \ \ \ , +9 &\\u\ \ \ \ P +3 ( + "collection"'V& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.38 + "collection"'M& +4 "core" &\\t\ \ \ \ P +2 .tHand.open + "manipulator"&,1 +52 "core" 1 +3 "manipulator"&{% +3 "core" % F 3 / 1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tPSV.dial PSR +2 "processing"%U +101 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%I'+ +1616 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%:  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%%'ؾ +1632 "core" ' + .tPSV.dial PSR +2 "processing"%T +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%N' +2634 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%f  + "collection"'G  +32 "core" +124  + .tPSV.dial :mixloop +2 "processing"%X +100 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2627 "core" ' +2 .tPSV.dial :air +2 "processing"%Y  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%m' +2628 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%t +43 "core" +3 .tPS.seek 0ml + "processing"%R'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%v' +2630 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml + "processing"%g'ؾ +2625 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&]& +4 "core" &ӧ 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&'(ӂ +17 "core" ( +2 "manipulator"&& +4 "core" &Ӂ  ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &Ӂ  P ) +2 .tForearm.seek CC +2 "manipulator"&k'? +103 "core" ' + .tHand.close +2 "manipulator"&q/ +55 "core" / +2 .tCC.seek :open + "collection"'( +446 "core" ( +2 "manipulator"&E& +3 "core" &Ӕ   . & +2 "manipulator"&% +4 "core" %   ( +2 .tForearm.seek :retract +2 "manipulator"&a' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&[(- +282 "core" ( +2 "manipulator"&P& +3 "core" &-    ? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &- u ? +50 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +100 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&}% +3 "core" % ρ   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +94 "core" ' +3 ."da"delayUntil "17:49:44.25" +24737 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%n @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%<  +33 "core" +2 ."da"delay 30 seconds +1166 "Can" Dw W[+ +1836 ."da"PBV.dial between PSV and waste1 +3 "processing"%u * +32 "core" + + ."da"PSV.dial :air +2 "processing"%i  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%e' +2361 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%= +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%5  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%h'ؾ +2330 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%r +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%z' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%4' +1613 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +69 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%% +3 "core" %r\  +3 ."da"PS.seek 1.5ml +2 "processing"%o'+ +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Q * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%!'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%y * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2373 "core" ' + ."da"PSV.dial PTV +2 "processing"%\ +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%s +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%j +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2324 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%l' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%#' +1610 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%` +84 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%/  +32 "core" +2 "processing"% % +3 "core" %p\  +3 ."da"PS.seek 1.5ml +2 "processing"%0'- +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%)'ؾ +1613 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +43 "processing"%  +39 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%c * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%" +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2382 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%. +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%* +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%6 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%1  +84 "core" +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +304 "Can"\ LyW +2005 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%9  +42 "core"  +2 ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%w  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%8  +42 "core"  +2 ."da"PTV.dial :PRVmixing +2 "processing"%$  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"%3 +41 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%' +393 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air +2 "processing"%_  +42 "core"  +2 "processing"%;% +3 "core" % s\ +3 ."da"PS.seek 0.55ml + "processing"%?' +340 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%^' +1554 "core" ' + ."da"PSV.dial :PML +2 "processing"%( +44 "core" + ."da"PTV.dial :mixing +2 "processing"%W @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%7  +33 "core" + "processing"%% +4 "core" %u\  +2 ."da"PS.seek 1.85ml +2 "processing"%C' +239 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%L * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%F'ؾ +1973 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +48002 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%2 @ +5 "core" A +2 ."da"PBV.dial :waste1 + "processing"%b  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%O' +345 "Can" E|^X +2043 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%x +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%J  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%@  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%K'ؾ +2317 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%> +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%&' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%M' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%,  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%{ +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%V  +33 "core" +2 "processing"%U% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%~'+ +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%B * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +1615 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%I  +33 "core" +2 ."da"delay 30 seconds +3044 .PBV.dial between PSV and waste1 +9 "processing"%T * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%% +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%G' +2369 "core" ' + ."da"PSV.dial PTV +2 "processing"%f +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%X +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%N  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Y'ؾ +2318 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%H +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%t' +590 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%m' +1607 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%R  +32 "core" +2 "processing"% % +4 "core" %\ \ +2 ."da"PS.seek 1.5ml + "processing"%v'& +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%] * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1617 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%|  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%q * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%D +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2364 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%- +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%E +70 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%k  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +2323 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%p +140 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%'' +116 "Can"\ G\ Y +480 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%} +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%a  +32 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%n'- +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%< * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%i  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%g * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2370 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%5 +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%e +72 "core" +44 ."da"delay 5 seconds +510 .PSV.dial :air + "processing"%r  +85 "core"  +2 ."da"PS.seek 0ml +3 "processing"%h'ؾ +2320 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%z +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +5 "processing"% +14 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +5 "processing"%' +334 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"% ' +332 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1619 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%4  +34 "core" +2 "processing"%Q% +3 "core" %|\  +3 ."da"PS.seek 1.5ml +2 "processing"%o'/ +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%y'ؾ +1630 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%! * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%s' +2414 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%j +85 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2369 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%l +129 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%`' +2126 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%/ +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%#% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%'- +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%0 * +34 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +102 "core"  +2 ."da"PS.seek 0ml +2 "processing"%c'ؾ +1629 "core" ' + "processing"%"9 +3 "core" 9i5Y +3 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%) +2 %.& +2 "core" 5Y +4 &^\ - + #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&*% +3 "core" %   _  +2 "storage"(6% +3 "core" % d U \ +3 "storage"(1. +2 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"((C +356 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &C E\ +2 "manipulator"&w& +3 "core" &- [ ? +2 "manipulator"&8% +4 "core" %  t  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&$( +175 "core" ( + "manipulator"&3& +4 "core" &  Q 9 +2 "storage"(+& +3 "core" &C /\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&_' +94 "core" ' + "storage"(;& +4 "core" &C \ +2 ."da"SE.reconfigure :pick +55 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"('r +278 "core" ' +2 "storage"(- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place + "storage"(?'1 +41 "core" ' +3 "manipulator"&(& +4 "core" & 9 + "manipulator"&W% +3 "core" % +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&7' +96 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +246 "core" ( +2 "manipulator"&L& +4 "core" &  L + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &^& +2 "core" & L +3 ."da"Forearm.seek PC +2 "manipulator"&C' +94 "core" ' +2 ."da"Hand.close + "manipulator"&2/ +77 "core" / +2 ."da"PC.seek :open +2 "processing"%b( +461 "core" ( + "storage"(A& +4 "core" &C )\ +2 "manipulator"&& +4 "core" & K + "manipulator"&F% +4 "core" %  9 +2 ."da"Forearm.seek :retract +2 "manipulator"&x' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&J( +257 "core" ( + "manipulator"&& +4 "core" &  , > +2 "storage"(@& +4 "core" &C \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&O' +90 "core" ' +2 ."da"Hand.open +2 "manipulator"&>1 +54 "core" 1 +2 "storage"(K- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(&' +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +56 "core" ' +3 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +5 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0618h.tif +5 "processing"%{& +9 "core" &e\ +4 "manipulator"&V& +5 "core" & \ Z > +3 "manipulator"&U% +5 "core" %  c { +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&M' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&B(- +174 "core" ( +2 "manipulator"&~& +3 "core" &-  \ ` +3 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &- \  ` +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&T'w +93 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&%/ +73 "core" / +2 "manipulator"&:& +5 "core" &-    ` + "manipulator"&f% +4 "core" % ϋ \  U 5 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&X' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +133 "core" ( +2 "manipulator"&N& +4 "core" &  M + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +2 "core" &  Z +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&H' +92 "core" ' +2 "manipulator"&Y& +3 "core" &   x +2 "manipulator"&t% +4 "core" % t +2 "processing"%& +5 "core" &\ n +2 "processing"%R& +5 "core" &\ n +2 ."psFlush"PC.seek :closed +2 "processing"% (^ +3 "core" &\ \ n +7 &3\ k$c +54 &St\ e7 +9 &}r\ eL +4 &M\ hP + &QJ\ hO + &J\ hO +2 &J\ gP + &J\ gO +3 &YG\ gO +10 &J\ O +9 &N\ O +9 &!M\ O +10 &#cN\ O +9 &%&P\ N +9 &&O\ N +10 &(N\ N +9 &*lQ\ N +10 &,.P\ N +9 &-O\ N +9 &/O\ O +10 &1qJ\ lO +9 &32K\ kP +9 &4J\ kO +10 &6I\ jO +9 &8yI\ jO +10 &:;M\ jO +9 &;M\ iO +9 &=L\ iP +10 &?N\ iP +9 &ACJ?\ iO +10 &CYV\ gQ +9 &D]K\ gR +9 &F|uW\ eT +10 &H8V\ dV +9 &IW\ cV +9 &K[\ rV +10 &M~F\ V +9 &O?=\ V +9 &QG\ V +10 &RB\ W +9 &TI\ W +10 &VFK\ W +9 &X?\ V +9 &Y:\ W +10 &[5\ V +10 &]K5\ K +8 &^~O/\ f"i +10 &^%0\ l2 +2 ( +2 "processing"%R& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + "processing"%m& +3 "core" &^!/\ k2 +3 ."psFlush"Hand.open + "manipulator"&]1 +59 "core" 1 + "manipulator"&v% +5 "core" % \  7 t +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&|' +96 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%q +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%D' +622 "core" ' +2 ."psFlush"delay 5 seconds +408 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 23.054 seconds\ /var/log/esp/da23sep0618h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0618h15s.tif +91 ."psFlush"PSR.select :air +12 "processing"% +10 ."psFlush"PS.seek 2.5ml +3 "processing"%' +1449 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0618h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0618h20s.tif +672 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%- @ +187 "core" @ + ."psFlush"PTV.dial :PRVmixing +3 "processing"%E  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +102 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%k'ؠ +853 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0618h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "23.054 sec auto-exposure",Subject: "da23sep0618h images!" +3 "storage"(- +2 "core" -' +2 "storage"(p& +14 "core" &C \ +5 "manipulator"&P& +13 "core" & "  +2 "manipulator"&'% +4 "core" %   "   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."da"Elbow.seek 1 +2 "manipulator"&}( +242 "core" ( +4 "manipulator"&a& +8 "core" & , , O _ +4 "storage"(& +5 "core" &C\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +103 "core" ' +5 ."da"SE.reconfigure :gently +4 "storage"(#QK-0-\ b +7 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(<'" +61 "core" ' +5 "manipulator"&n& +6 "core" &  9 _ +5 "storage"(i& +8 "core" &C\ \  \ +3 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 1 +4 "manipulator"&g'8 +25 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&=, +6 "core" , +4 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(u' +30 "core" ' +4 "manipulator"&% +6 "core" %G  '  n +4 "storage"(5& +5 "core" &C\ \  g\ +6 ."da"Forearm.force -20 + "manipulator"&5 +9 ."da"Forearm.seek 1 + 315 counts +5 "manipulator"&e's +15 "core" ' +4 "manipulator"&r& +6 "core" &  o _ +5 "storage"(& +124 "core" &C   \ +11 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&z' +18 "core" ' +4 "storage"(h% +10 "core" % 1 7\  +9 ."downElevator"SE.seek :down +8 "storage"(' +96 ( % +6 "core" %VG\ \  P\ U] +4 "manipulator"&% +8 "core" %  +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +6 "manipulator"&4' +94 "core" ' +40 ' +3 ."downElevator"SE.stop +4 "storage"(5 +6 (Q& +6 "core" &C   Q\ +33 "Can"\ LY +537 "core" ' +4 ."psFlush"PSR.select :air +3 .PSV.dial PSR +4 "processing"% +104 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%' +601 "core" ' +3 ."psFlush"delay 5 seconds +426 #"uploadLog"upsync +78 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%o' +2115 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%! @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%\ +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%y'ؠ +2649 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%j +99 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"% 'X\\ +1096 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1616 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%s  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%l  +4 "core" +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2640 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%/ +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml + "processing"% ' +590 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%#' +2122 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%` +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%0 U +51 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%"' +2642 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%)  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%.'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%* +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%6' +2640 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%1 +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%S U +5 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%9'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%w @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%8' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%3  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%+'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%; +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +58 ."psFlush"PS.seek 1ml + "processing"%['X\\ +1105 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%d' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%(  +51 "core" +3 ."psFlush"PS.seek 0ml + "processing"%W'ؾ +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%_' +584 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%L' +2141 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%^ +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%$ U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%2'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%7 @ +43 "core" > +3 ."psFlush"PS.seek 2.5ml +2 "processing"%Z' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%A  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%F +54 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%C' +2630 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +3 "processing"%@ U +15 "core" T +2 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2637 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%> @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%K' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%{  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%V'ؾ +831 "Can" GZI* +1801 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&U& +4 "core" & k _ +2 "manipulator"&x% +4 "core" %  X  +2 ."psFlush"Elbow.seek PC + "manipulator"&?( +247 "core" ( +2 "manipulator"&&& +3 "core" &    +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +4 "core" &  +2 ."psFlush"Forearm.seek PC +2 "manipulator"&I' +90 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&O/ +57 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%J( +458 "core" ( + "manipulator"&%& +4 "core" & `  +2 "manipulator"&:% +3 "core" %  Y 8 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&f' +99 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage + "manipulator"&M(- +127 "core" ( +2 "manipulator"&N& +3 "core" &- |  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +2 "core" &-   +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&T'w +97 "core" ' +2 ."psFlush"Hand.open + "manipulator"&Y1 +64 "core" 1 +2 "manipulator"&t% +3 "core" % }  +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +96 "core" ' +2 #tFinished short da assay +56753 "Can" <0Z +43813 #t-> access 1 +3 "storage"(B% +42 "core" % [ Y \  +9 "manipulator"&X% +4 "core" %  -  +2 "manipulator"&b& +3 "core" &- A  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(m(<- +1299 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" &<*\ \ \  +843 #t-> access 2 +3 "storage"(v% +3 "core" % Y Z r\  +2 "manipulator"&R% +3 "core" %  5  +2 "manipulator"&q& +3 "core" &- B  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(H(K +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" &K   \  +13576 "Can" <D[u' +9345 #t-> $da[:extractVol]=.2 +1206 #-> startTube 2 +6677 #-> shortDA + "collection"'D% +3 "processing"%-% +5 "core" %c\ \ \ +5 %ؼ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +942 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%E +129 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +126 "core" +2 .tPRV.dial :sipper +2 "processing"%  +43 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%'e +2294 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%p  +124 "core"  +3 .tPS.seek 0.5ml +2 "processing"%P' +1280 "core" ' + .tPRV.dial :waste2 +2 "processing"%' @ +97 "core" @ +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml +2 "processing"%a'ؾ +591 "core" ' + .tPSV.dial PSR +2 "processing"% +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1108 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%n' +1613 "core" ' +2 .tPSV.dial :mixloop + "processing"%i +102 "core" +2 .tPS.seek 0ml +2 "processing"%|'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1ml + "processing"%5'X\\ +1110 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%r' +1616 "core" ' +2 .tPSV.dial :mixloop + "processing"% +102 "core" + .tPRV.dial :sipper +2 "processing"%,  +42 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 .tPSV.dial PSR +2 "processing"%} +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%h' +2631 "core" ' +2 .tPSV.dial :mixloop + "processing"%< +102 "core" +2 .tPS.seek 0ml +2 "processing"%g'ؾ +2647 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"% & +4 "core" &\ + "manipulator"&% +4 "core" %  m  +2 "storage"(e% +4 "core" % Y X \  + "storage"(Q. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(u(  +1303 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" &  2 \ +3 "manipulator"&& +4 "core" &-  + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&k( +169 "core" ( + "manipulator"&& +4 "core" & M < +2 "storage"(& +3 "core" &  Y Y \\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&!'S +103 "core" ' +2 "storage"(\ & +3 "core" &  Z ^ 3\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +299 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +50 (y& +3 "core" & 3 6 c\ +2 "manipulator"& & +4 "core" & < +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&s& +4 "core" & < +2 "storage"(l& +4 "core" & ? 9 Y\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +12 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +60 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"( ' +8 "core" & S < + "manipulator"&`% +4 "core" % ϻ k q +3 .tForearm.seek :retract + "manipulator"&0' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&& +4 "core" & P 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&)' +92 "core" ' +2 "manipulator"&"& +4 "core" &  8 +2 "manipulator"&*% +4 "core" % L . +2 "processing"%.& +3 "core" &\ +3 "processing"%1& +4 "core" &\ +3 .tPC.seek :closed + "processing"%S(^ +5 "core" &\ +8 &3\ #c +9 &Tx\ 6 +9 &x{\ K +10 &Q\ M +9 &eTt\ N +10 &(Rv\ M +9 &Ux\ M +9 &Uv\ M +10 &nUu\ M +9 &0Vs\ M +9 &Vt\ M +10 &!Us\ M +9 &#uTt\ N +10 &%8Tm\ M +9 &&Qi\ M +9 &(Vm\ M +10 &*}Uk\ N +9 &,@Tl\ M +9 &.Qq\ M +10 &/Wp\ M +9 &1Tt\ M +10 &3HUq\ M +9 &5\ Ts\ M +9 &6Rs\ M +10 &8Vq\ M +9 &:PTn\ M +9 &<Rf\ M +10 &=Rc\ M +9 &?V_\ M +10 &AVZ]\ N +9 &Cg`\ P +9 &DiZ\ P +10 &FZ\ R +9 &HMZ\ T +10 &J[\ T +9 &K`\ T +9 &M^\ T +10 &OS^\ T +9 &QO\ U +9 &R\\\ U +10 &T]\ V +9 &VZ]\ U +9 &X_\ U +10 &Y\\\ U +9 &[N\ U +10 &]^S\ C +9 &^DuI\ ] +9 &^;H\ 4 +6 ( + "processing"%1& +4 "core" &^%I\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&61 +58 "core" 1 + "manipulator"&w% +4 "core" %  L . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%3 h +2 %89 +6 "core" 9 +103 "processing"%;9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9  +103 "processing"%[9 +3 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%d9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%W9 +3 "core" 9" +102 "processing"%_9 +3 "core" 9& +102 "processing"%^9 +3 "core" 9+ +102 "processing"%$9 +3 "core" 9/ +102 "processing"%L9 +4 "core" 93 +102 "processing"%79 +3 "core" 97 +102 "processing"%29 +3 "core" 9; +102 "processing"%A9 +3 "core" 9@ +102 "processing"%Z9 +3 "core" 9D +102 "processing"%F9 +4 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%@9 +3 "core" 9U +102 "processing"%C9 +3 "core" 9Y +102 "processing"%>9 +4 "core" 9] +102 "processing"%9 +3 "core" 9a\ +102 "processing"%{9 +3 "core" 9e +102 "processing"%K9 +3 "core" 9j +102 "processing"%U9 +3 "core" 9n +102 "processing"%x9 +3 "core" 9r +102 "processing"%&9 +3 "core" 9$v +3 .tPH.hold 2:00:00,28C +3 "processing"%~ php +2 .tdelay 1:30 +6 "core" w +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%= +102 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%O' +599 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%4' +1623 "core" ' +42 .tPTV.dial :puck +10 "processing"%  +126 "core"  +2 .tPSV.dial PTV +2 "processing"%% +71 "core" +2 .tPBV.dial :waste1 + "processing"%:  +50 "core" +2 "processing"%N% +3 "core" %\  +3 .tPS.seek 1.5ml + "processing"%G'0 +591 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%I * +2 "Can"\ G\\ % +31 "core" + +2 .tPS.seek 0ml +2 "processing"%?'ؾ +1607 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%Y  +5 "core"  +2 .tPBV.dial :waste1 + "processing"%t  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%f * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%T +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%B' +2365 "core" ' + .tPSV.dial PTV +2 "processing"%X +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%b +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%]  +85 "core"  +2 .tPS.seek 0ml +2 "processing"%v'ؾ +2341 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%R  +128 "core" + .tPSV.dial :mixloop +2 "processing"%q +42 "core" +2 .tPRV.dial :ab1 + "processing"%m @ +99 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%c' +359 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%D  +41 "core"  +2 "processing"%-% +4 "core" %\ \ +2 .tPS.seek 0.35ml +2 "processing"%E'k +472 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +30 "core" + .tPRV.dial :air +2 "processing"%  +40 "core"  +2 .tPS.seek 0.9ml +2 "processing"%V'K +1167 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%p @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%' +863 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%'  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%P' +1609 "core" ' + .tPSV.dial :PML +2 "processing"% +44 "core" + .tPTV.dial :mixing +2 "processing"%a @ +72 "core" B + .tPBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%i% +3 "core" %s\  +3 .tPS.seek 1.85ml + "processing"%n' +234 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%|'ؾ +1969 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'5& +3 "core" & e\ +2 "manipulator"&& +4 "core" &  M 8 +2 "manipulator"&,% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&r(- +126 "core" ( +2 "manipulator"&}& +3 "core" &- \  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-  +3 .tForearm.seek :garage +2 "manipulator"&<'w +91 "core" ' +2 .tHand.close + "manipulator"&h/ +57 "core" / + "manipulator"& & +4 "core" &-  +2 "manipulator"&% +3 "core" % w \  Y +3 .tForearm.seek :retract + "manipulator"&e' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&Q(ӂ +275 "core" ( + "manipulator"&H& +4 "core" &Ӏ( ! # 6 @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &Ӏ( '   @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' +2 "manipulator"&& +5 "core" &Ӂ( & ) 6 @[ +47 "manipulator"&% +6 "core" %B + * 6 +2 "collection"'& +3 "core" & n\ +3 "collection"'\ & +5 "core" & j\ +2 .tCC.seek :closed +2 "collection"'M(\\ +4 "core" & k\  +9 &5~ i\ +{ +9 & f e\ ? +9 &r a\ N +10 &XT f\ L +9 &W\  g\ M +9 &\\ c\ M +10 &U\ f\ M +9 &`V c\ L +10 &"Z d\ L +9 &W \\\ M +9 & U ^\ L +10 &"gW ]\ M +9 &$*Y \\\ L +10 &%X [\ L +9 &'W \\\ M +9 &)oZ \\\ M +10 &+1X `\ M +9 &,T Z\ M +9 &.Y ^\ L +10 &0xT Z\ L +9 &29T ^\ M +10 &3Z\ e\ L +9 &5U ^\ M +9 &7~X\  `\ M +10 &9AT c\ M +9 &;Y \ j\ L +9 &<T a\ M +10 &>Z\  b\ L +9 &@IU\  c\ M +10 &B\ ]\ \ _\ M +9 &Ck\ \ _\ O +9 &E\ \ `\ Q +10 &G5\ \ _\ V +9 &H\ \ \\\ X +9 &J\ \ b\ Y +10 &Lr\ \ _\ Y +9 &N/\ \ ]\ [\ +10 &O\ \ ]\ Y +9 &Q\ \ \\\ [ +9 &Ss\ \ b\ \\ +10 &U6\ \ _\ [ +9 &V\ \ ^\ ] +9 &X\ \ \\\ ] +10 &Zv\ \ ^\ ] +9 &\\|\ \ [\ 0 +10 &\\5\ \ \\\ "h +9 ( + &\\m\ \ \\\ Q +2 "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + "collection"'& +4 "core" &\\m\ \ \ ^\ Q +2 .tHand.open + "manipulator"&j1 +64 "core" 1 +2 "manipulator"&y% +3 "core" % B 2 . / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +100 "core" ' +2 .tPSV.dial PSR +2 "processing"%s +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%l'+ +1608 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%/  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' + .tPSV.dial PSR +2 "processing"%` +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%k' +2628 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%!  +2 "collection"'o  +32 "core" ~ +124  + .tPSV.dial :mixloop +2 "processing"% +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2127 "Can"\ ]\\ +500 "core" ' +3 .tPSV.dial :air + "processing"%  +42 "core"  +2 .tPS.seek 2.5ml + "processing"%"' +2636 "core" ' + .tPSV.dial :mixloop +2 "processing"%* +44 "core" +2 .tPS.seek 0ml + "processing"%.'ؾ +2640 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%0' +2634 "core" ' + .tPSV.dial :mixloop + "processing"%J +44 "core" +3 .tPS.seek 0ml +6 "processing"%6'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&w& +4 "core" &ӫ   6 :1 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&8(ӂ +18 "core" ( +2 "manipulator"&1& +3 "core" &~   ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &~ | ( +2 .tForearm.seek CC +2 "manipulator"&)'? +101 "core" ' +2 .tHand.close + "manipulator"&+/ +64 "core" / +2 .tCC.seek :open +2 "collection"'[( +447 "core" ( +2 "manipulator"&& +3 "core" &Ӝ   $ +2 "manipulator"&(% +4 "core" %  $ # k +2 .tForearm.seek :retract + "manipulator"&d' +103 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +284 "core" ( + "manipulator"&W& +4 "core" &- I ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &- ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&^'w +89 "core" ' +3 .tHand.open + "manipulator"&$1 +62 "core" 1 +2 "manipulator"&L% +4 "core" %  \  % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +47 .tForearm.seek :retract +6 "manipulator"&7' +92 "core" ' +2 ."da"delayUntil "19:26:11.07" +24732 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%2 @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%A  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Z * +33 "core" + + ."da"PSV.dial :air +2 "processing"%F  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2364 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%@  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%C +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%>  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2308 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +3 .PSV.dial PSR + "processing"%{ +128 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +7 "processing"%K' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%U' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%x  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%& +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%=  +32 "core" +2 "processing"%g% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%O'- +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%%'ؾ +1611 "core" ' +2 ."da"delay 2:00 +8307 "Can" E]7 +3696 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%:  +15 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%N  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%4 * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%I +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%G' +2361 "core" ' + ."da"PSV.dial PTV +2 "processing"%3 +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%Y +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%t +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%f  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"%T'ؾ +2311 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%? +140 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%X' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%b' +1610 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV + "processing"%] +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%B  +32 "core"  +2 "processing"%R% +3 "core" %v\  +3 ."da"PS.seek 1.5ml +2 "processing"%q', +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%m * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%v'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%D  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%-  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%c * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +119 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2381 "core" ' + ."da"PSV.dial PTV +2 "processing"%E +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%p +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%V +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%'  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2330 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%a  +127 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%  +43 "core" ~ +2 ."da"PTV.dial :PRVmixing + "processing"%i  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"% +42 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%P' +388 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%n  +42 "core"  +2 "processing"%5% +4 "core" % x\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +345 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%,  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%}' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"% +44 "core" + ."da"PTV.dial :mixing +2 "processing"%h @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%#% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"%' +245 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%9 * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +1973 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +12766 "Can"\ V2] +35236 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%H  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%z * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%r  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2363 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%e +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +42 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2314 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%j +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%y' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%\ ' +1622 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%s  +70 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%|  +32 "core" +2 "processing"%/% +3 "core" %|\ +3 ."da"PS.seek 1.5ml +2 "processing"%l'2 +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%` * +31 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1618 "core" ' +2 ."da"delay 2:00 +10530 "Can"\ ^c +1473 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%o  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%!  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +52 ."da"PS.seek 2.5ml +2 "processing"%k' +2361 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%* +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%"  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2309 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%. +129 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%J' +598 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%0' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%w  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%1 +84 "core" + ."da"PBV.dial :waste1 +2 "processing"%;  +33 "core" + "processing"%+% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%Q'' +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%(  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%) * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%W +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%_' +2364 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%8 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%$ +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%L +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%d  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%^'ؾ +2330 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%2 +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%A' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Z' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%F  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%6 +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%@% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%C', +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%> * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%{  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%K * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%x +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%&' +825 "Can" E|^ +1561 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%= +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%g +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%U +84 "core" +2 ."da"delay 5 seconds +553 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +2307 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%: +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%N' +337 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%4' +341 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%I' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%3 +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%Y  +34 "core" +2 "processing"%t% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%f'0 +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%G * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%\\'ؾ +1612 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%?  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%T  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%X * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%]' +2421 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%B +86 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%R +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%b +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%m  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +2370 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%D +128 "core" +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%-' +2145 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 "processing"%c  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%v  +34 "core" +2 "processing"%E% +3 "core" %\ +3 ."da"PS.seek 1.5ml +2 "processing"%p'& +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%V * +35 "core" + + ."da"delay 1 second +103 .PSV.dial :waste1 +2 "processing"%'  +102 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1628 "core" ' +2 "processing"%9 +3 "core" 9k5^ +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%a +3 "core" 5^ + "processing"%& +4 "core" &^%\ 4 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&i% +3 "core" %    K  +2 "storage"(% +4 "core" % U R +\  +2 "storage"(. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(n(C +352 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 (5& +2 "core" &E P\ +2 "manipulator"&P& +4 "core" &-  ! +2 "manipulator"&,% +3 "core" %   +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +175 "core" ( + "manipulator"&& +4 "core" &  \ \ 4 +2 "storage"(h& +3 "core" &E B\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +150 "core" ' +2 "storage"(#& +3 "core" &E ` x \ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak +2 "storage"(9'r +274 "core" ' +2 "storage"(}- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"('1 +44 "core" ' +3 "manipulator"&H& +3 "core" & 3 +2 "manipulator"&z% +4 "core" %  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&r' +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&<( +246 "core" ( + "manipulator"&& +4 "core" &  6 +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  l 6 +2 ."da"Forearm.seek PC +2 "manipulator"&e' +96 "core" ' +2 ."da"Hand.close + "manipulator"&/ +75 "core" / +2 ."da"PC.seek :open +2 "processing"%( +458 "core" ( + "storage"(j& +4 "core" &F r\ +2 "manipulator"&& +4 "core" & 5 +2 "manipulator"&y% +4 "core" %  " f +2 ."da"Forearm.seek :retract +2 "manipulator"&s' +96 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +255 "core" ( + "manipulator"&|& +4 "core" &  / G +2 "storage"(/& +4 "core" &F ` U \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&\ ' +97 "core" ' + ."da"Hand.open +2 "manipulator"&`1 +62 "core" 1 +3 "storage"(l- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +25 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(!' +52 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0620h.tif +5 "processing"%& +11 "core" &s\ +4 "manipulator"&& +5 "core" & m G +3 "manipulator"&% +5 "core" %  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +174 "core" ( +2 "manipulator"&*& +3 "core" &-  o +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &-  o +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&k'w +90 "core" ' +2 ."psFlush"Hand.close + "manipulator"&./ +70 "core" / +3 "manipulator"& & +3 "core" &- e o +3 "manipulator"&J% +4 "core" % v p \ +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&w' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&1( +130 "core" ( +2 "manipulator"&;& +4 "core" &  H  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &   q +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&0' +95 "core" ' + "manipulator"& & +5 "core" &    + "manipulator"&Q% +4 "core" % \  C D +2 "processing"%& +4 "core" &\ p +3 "processing"%(& +4 "core" &0\ p +58 ."psFlush"PC.seek :closed +10 "processing"%)(^ +3 "core" &\ p + &\ p + &\ o +2 &\ o + & \ o + &\ \ o + &\ n + &\ n +4 &2p\ g*x +9 &bt\ g> +10 &pj\ O +9 &4G\ N +10 &J\ N +9 &L\ N +9 &zL\ N +10 &<O\ N +9 &N\ N +9 &O\ N +10 & L\ N +9 &"EL\ M +10 &$L\ N +9 &%M\ mO +9 &'I\ mO +10 &)IL\ lO +9 &+ J\ lO +10 &,N\ kO +9 &.I\ kO +9 &0QJ\ jO +10 &2H\ jO +9 &3I\ jO +9 &5J\ jO +10 &7ZJ\ jN +9 &9L\ jO +9 &:J\ jO +10 &<JG\ jO +9 &>aLX\ iO +10 &@"M`\ iO +9 &AR]\ O +9 &C][\ P +10 &EbeV\ Q +9 &G{\\\ S +10 &HZ\ U +9 &JI\ U +9 &L^K\ U +10 &NL\ V +9 &ON\ U +9 &QM\ V +10 &SbO\ W +9 &U!I\ hX +10 &V=\ hX +9 &X7\ gW +9 &Zg>\ fX +10 &\\(B\ eX +9 &]s=\ g9 +9 &^-w;\ gX +10 &^+:\ k5 +2 ( +2 "processing"%(& +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 + "processing"%W& +3 "core" &^*0\ j5 +2 ."psFlush"Hand.open +2 "manipulator"&M1 +53 "core" 1 +2 "manipulator"&8% +4 "core" % ' ! z D +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&$' +96 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +55 "core" +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%d' +597 "core" ' +2 ."psFlush"delay 5 seconds +139 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20.704 seconds\ /var/log/esp/da23sep0620h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0620h15s.tif +359 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +1191 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0620h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0620h20s.tif +928 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +3 "processing"%2 @ +186 "core" A +2 ."psFlush"PTV.dial :PRVmixing +3 "processing"%^  +131 "core" +7 ."psFlush"PSV.dial :mixloop +5 "processing"%A +117 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%F'ؠ +574 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0620h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "20.704 sec auto-exposure",Subject: "da23sep0620h images!" +7 "storage"(6- +9 "core" -' +12 "storage"(& +5 "core" &F "\ +2 "manipulator"&@& +4 "core" & , - V +2 "manipulator"&Z% +3 "core" %   j  +3 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&>( +245 "core" ( +4 "manipulator"&C& +7 "core" &  & +5 "storage"({& +6 "core" &F\ +6 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +92 "core" ' +6 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(K'" +60 "core" ' +4 "manipulator"&x& +6 "core" &   & +5 "storage"(& +8 "core" &F\ \  b\ +3 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +4 "manipulator"&='8 +21 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&g, +6 "core" , +4 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(U' +31 "core" ' +2 "manipulator"& % +8 "core" %D ! ( B +4 "storage"(&& +7 "core" &F   \ +138 ."da"Forearm.force -20 +6 "manipulator"&5 +7 ."da"Forearm.seek 1 + 312 counts +2 "manipulator"&:'p +16 "core" ' +3 "manipulator"&O& +7 "core" & % & +5 "storage"(N& +6 "core" &F  \ +6 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&4' +16 "core" ' +6 "storage"(%% +11 "core" %   .\ +6 ."downElevator"SE.seek :down +6 "storage"(3' +99 (Y% +10 "core" %G f\ V_ +5 "manipulator"&t% +8 "core" %  +6 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&I' +91 "core" ' +38 ' +3 ."downElevator"SE.stop +2 "storage"(5 +6 (G& +6 "core" &F   \ +826 ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +2 "processing"%f +114 "core" +3 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +3 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%?' +591 "core" ' +2 ."psFlush"delay 5 seconds +249 #"uploadLog"upsync +257 ."psFlush"PSR.select :air +9 "processing"% +12 ."psFlush"PS.seek 2.5ml +2 "processing"%T' +2124 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%X  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%\\ +99 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%B'ؠ +2648 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%R +101 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%b'X\\ +1105 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%m' +1607 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%] +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%D  +68 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%q  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%c'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%v' +587 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%E' +2115 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%- +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%V U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%''ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%p @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%a  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +307 "Can" H _ +2325 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%i +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2625 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%u U +4 "core" V +2 ."psFlush"PS.seek 0ml +3 "processing"%5'ؾ +2636 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%P @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%,' +2637 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +43 "processing"%h'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%#'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%7' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%} +70 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%H  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%z'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%9 +84 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +596 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2125 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PBV.dial PSV + "processing"% U +52 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%r @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%S' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%j  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%y +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%e' +2641 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%| +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%/ U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%<'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%` @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%l' +2631 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" & ] & +2 "manipulator"&s% +3 "core" %  X  +3 ."psFlush"Elbow.seek PC + "manipulator"&( +242 "core" ( +2 "manipulator"&o& +3 "core" &   6 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &*& +2 "core" &   6 +3 ."psFlush"Forearm.seek PC +2 "manipulator"&"' +91 "core" ' + ."psFlush"Hand.close +2 "manipulator"&\ / +64 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%( +457 "core" ( + "manipulator"&.& +4 "core" & S 6 +2 "manipulator"& % +4 "core" %  > f +2 ."psFlush"Forearm.seek :retract + "manipulator"&J' +89 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +129 "core" ( + "manipulator"&;& +3 "core" &- X \ +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &- T \ +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&k'w +99 "core" ' +2 ."psFlush"Hand.open + "manipulator"& 1 +60 "core" 1 + "manipulator"&Q% +3 "core" % }   +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +43 "manipulator"&' +99 "core" ' +2 #tFinished short da assay +18003 "Can" :b`% +23450 #t-> access 1 +2 "storage"(% +3 "core" % J J \ +2 "manipulator"&w% +4 "core" %  R  +2 "manipulator"&& +3 "core" &- d \ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(W(<- +1293 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &<* 6 4 \ +1866 #t-> access 2 +2 "storage"(8% +8 "core" % R U \ \ +2 "manipulator"&(% +4 "core" %  :  +2 "manipulator"&L& +8 "core" &- [ \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(0(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K ? 6 \ \ +13097 #t-> startTube 2 +1467 #-> $da[:extractVol]=.2 +13261 #-> startTube 2 +653 #-> shortDA +2 "collection"'d% +2 "processing"%2% +4 "core" %c \ +6 %\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +344 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%^ +130 "core" + .tPTV.dial :PRVmixing +2 "processing"%A  +126 "core" +2 .tPRV.dial :sipper + "processing"%_  +44 "core" +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%6'e +2301 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  + "collection"'@  +17 "core" +107 +3 .tPS.seek 0.5ml + "processing"%Z' +365 "Can" >i` +908 "core" ' +2 .tPRV.dial :waste2 + "processing"%C @ +99 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%{'ؾ +593 "core" ' +2 .tPSV.dial PSR + "processing"%1 +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%x'X\\ +1102 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1613 "core" ' +2 .tPSV.dial :mixloop + "processing"%$ +102 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%& +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml + "processing"%!'X\\ +1104 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%O' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"%N +101 "core" +2 .tPRV.dial :sipper + "processing"%  +41 "core" +2 .tPS.seek 0ml +2 "processing"%>'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"%% +100 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%K' +2628 "core" ' +2 .tPSV.dial :mixloop + "processing"%Y +113 "core" +2 .tPS.seek 0ml +2 "processing"%t'ؾ +2630 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%=& +4 "core" &\ + "manipulator"&:% +3 "core" %   +3 "storage"(G% +3 "core" % N V \ +2 "storage"(U. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(4(  +1303 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +2 "core" &  8 9 7\ +3 "manipulator"&f& +4 "core" &- p \ + "manipulator"&F% +3 "core" %  i  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&?( +170 "core" ( +2 "manipulator"&X& +3 "core" &   - +3 "storage"(& +4 "core" &  X X p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&\\'S +95 "core" ' +4 "storage"(T& +4 "core" &  [ Y \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +295 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (b& +2 "core" & D @ i\ +3 "manipulator"&]& +3 "core" & - +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( + "manipulator"&q& +4 "core" &  - +2 "storage"(m& +4 "core" & 8 E\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&v& + "storage"(-' +8 "core" & T - + "manipulator"&V% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&E' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&p( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&'& +4 "core" & >  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &a& +3 "core" & G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' +2 "manipulator"&i& +4 "core" & C  + "manipulator"&% +5 "core" % ( + "processing"%& +4 "core" &\ +3 "processing"%u& +4 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &C\ +9 &<\ $d +9 &Wv|\ 7 +10 &v\ L +9 &R\ M +10 &{T\ M +9 &=T\ M +9 &S\ N +10 &R\ M +9 &R\ M +9 &FT\ M +10 & T\ M +9 &!T\ M +10 &#Ty\ M +9 &%NUk\ M +9 &'Sl\ M +10 &(Tu\ M +9 &*Us\ M +9 &,TTu\ N +10 &.Rs\ M +9 &/Tj\ M +10 &1To\ M +9 &3\\Tr\ N +9 &5 Rg\ M +10 &6To\ M +9 &8Ta\ M +9 &:eSa\ M +10 &<'Vh\ M +9 &=T`\ M +10 &?Tc\ M +9 &AlV\\\ N +9 &C*jY\ O +10 &Djf\ P +9 &Fk\ R +9 &Hcb\ S +10 &J$h\ T +9 &Kk\ T +10 &Mn\ T +9 &Ohd\ T +9 &Q'o\ U +10 &Ri\ U +9 &Tg\ V +9 &Vpk\ T +10 &X/n\ U +9 &Yc\ U +10 &[e\ U +9 &]u`\ B +9 &^<z\\\ !b +10 &^3T\ 4 +5 ( +2 "processing"%u& +3 "core" &^%V\ 4 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&P1 +57 "core" 1 +2 "manipulator"&5% +3 "core" %   b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%, h +2 %9 +6 "core" 9 +103 "processing"%h9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9  +103 "processing"%}9 +3 "core" 9  +102 "processing"%H9 +3 "core" 9 +102 "processing"%79 +3 "core" 9 +102 "processing"%99 +3 "core" 9 +102 "processing"%z9 +4 "core" 9 +102 "processing"% 9 +3 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%9 +3 "core" 9+ +102 "processing"%9 +3 "core" 9/ +102 "processing"%r9 +4 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%j9 +3 "core" 9; +102 "processing"%S9 +3 "core" 9@ +102 "processing"%y9 +3 "core" 9D +102 "processing"%9 +4 "core" 9H +102 "processing"%|9 +3 "core" 9L +102 "processing"%/9 +3 "core" 9Q +103 "processing"%e9 +2 "core" 9U +103 "processing"%`9 +3 "core" 9Y +102 "processing"%<9 +3 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%l9 +3 "core" 9f +102 "processing"%9 +3 "core" 9j +102 "processing"%s9 +3 "core" 9n +102 "processing"%o9 +3 "core" 9 r\ +103 "processing"%*9 +3 "core" 9v\ +102 "processing"%g9 +3 "core" 9{ +102 "processing"%\ 9 +3 "core" 9 +102 "processing"%I9 +3 "core" 9$ +3 .tPH.hold 2:00:00,28C +52 "processing"%) php +3 .tdelay 1:30 +5 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%. +100 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"% ' +596 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%;' +1613 "core" ' +2 .tPTV.dial :puck +2 "processing"%+  +126 "core"  +2 .tPSV.dial PTV + "processing"%" +72 "core" + .tPBV.dial :waste1 +2 "processing"%  +52 "core" + "processing"% % +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%Q'- +609 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%J * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%k'ؾ +1611 "core" ' +2 .tdelay 5:00 +20411 "Can"\ XaQ +9591 #trecoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  +2 .tPBV.dial :waste1 +2 "processing"%w  +32 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%n +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%M' +2370 "core" ' +2 .tPSV.dial PTV +2 "processing"%8 +84 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%( +70 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%L +72 "core" +2 .tdelay 5 seconds +503 .PSV.dial :air +2 "processing"%W  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2313 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%d  +128 "core" + .tPSV.dial :mixloop +2 "processing"%2 +42 "core" + .tPRV.dial :ab1 +2 "processing"%^ @ +98 "core" ? +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%A' +357 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'_  + "processing"%  +4 "core" +40  + "processing"%@% +4 "core" %\ +2 .tPS.seek 0.35ml +2 "processing"%'l +461 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'6  +28 "core" + .tPRV.dial :air +2 "processing"%C  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%Z'K +1168 "core" ' + .tPRV.dial :waste2 +2 "processing"%1 @ +70 "core" > +3 .tPS.seek 0.5ml + "processing"%{' +876 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%x  +43 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%$' +1618 "core" ' + .tPSV.dial :PML +2 "processing"% +44 "core" + .tPTV.dial :mixing +2 "processing"%& @ +72 "core" B + .tPBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%!% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%N' +233 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%O'ؾ +1969 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'%& +3 "core" & \ +2 "manipulator"&>& +4 "core" & \  +2 "manipulator"&Y% +3 "core" % \  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&K(- +125 "core" ( +2 "manipulator"&=& +3 "core" &-  K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &-  \ - +3 .tForearm.seek :garage + "manipulator"&G'w +91 "core" ' + .tHand.close +2 "manipulator"&U/ +56 "core" / +3 "manipulator"&0& +4 "core" &- " ' A + "manipulator"&3% +3 "core" % ϋ   ) +3 .tForearm.seek :retract + "manipulator"&f' +140 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&F(ӂ +289 "core" ( + "manipulator"&X& +4 "core" &ӈ . / [ 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӈ )  7 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'? +98 "core" ' +2 "manipulator"&& +3 "core" &ӈ + - E 6 +3 "manipulator"&% +4 "core" %@ ) + J +2 "collection"'B& +3 "core" & \ +3 "collection"'b& +5 "core" & \ +3 .tCC.seek :closed + "collection"'](\\ +5 "core" & \ +7 &B \ %g +9 &X{ \ 8 +10 & z \ L +9 &W \ M +10 &U \ L +9 &LW \ L +9 &W \ L +10 &Z \ M +9 &X \ M +9 &TW \ L +10 & X ~\ L +9 &!Z }\ M +10 &#Y x\ L +9 &%[Y }\ M +9 &'T \ L +10 &(W ~\ L +9 &*S z\ M +9 &,bW }\ M +10 &.%T ~\ M +9 &/W \ L +10 &1U \ M +9 &3kW y\ M +9 &5.T z\ L +10 &6V \ L +9 &8Y \ M +9 &:sW |\ M +10 &<6T |\ L +9 &=U ~\ M +10 &?Y \ L +9 &A{[ \ M +9 &C8e\  \ N +10 &Du\  }\ P +9 &F\ \ \ T +9 &Hb\ \ }\ X +10 &J"\ \ {\ Y +9 &K\ \ \ Z +10 &M\ \ |\ Z +9 &Oe\ \ ~\ Z +9 &Q$\ \ |\ [ +10 &R\ \ ~\ [ +9 &T\ \ \ \\ +9 &Vf\ \ ~\ \\ +10 &X%\ \ y\ ] +9 &Y\ \ |\ ^ +10 &[\ \ {\ K +9 &\\2\ \ }\ 2 +9 &\\m\ \ z\ R +3 ( + "collection"'b& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 +2 "collection"'q& +3 "core" &\\l\ \ |\ R +2 .tHand.open + "manipulator"&m1 +59 "core" 1 +2 "manipulator"&c% +3 "core" % @ / 8 H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v' +94 "core" ' +2 .tPSV.dial PSR +2 "processing"%V +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%?'+ +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%\\  +42 "core"  +2 .tPS.seek 0ml + "processing"%R'ؾ +1614 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml +2 "processing"%'' +2627 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%a  + "collection"'D  +31 "core"  +124  +2 .tPSV.dial :mixloop + "processing"%i +101 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%-  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%E' +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%P'ؾ +2652 "core" ' +2 .tPSV.dial :air + "processing"%5  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%u +43 "core" +2 .tPS.seek 0ml +2 "processing"%h'ؾ +2634 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +3 "core" &Ӓ  $ K 4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&#(ӂ +27 "core" ( + "manipulator"&}& +3 "core" &}\ ) ! r i +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &H& +2 "core" &}\    i +3 .tForearm.seek CC +2 "manipulator"&7'? +98 "core" ' +2 .tHand.close + "manipulator"&9/ +53 "core" / +2 .tCC.seek :open +2 "collection"'z( +449 "core" ( + "manipulator"& & +3 "core" &}\ $ ! i +2 "manipulator"&% +4 "core" % 7   ` +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +278 "core" ( +3 "manipulator"&r& +3 "core" &-   : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &- \   : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&j'w +99 "core" ' +7 .tHand.open + "manipulator"&S1 +56 "core" 1 + "manipulator"&y% +4 "core" %  $  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 ."da"delayUntil "20:52:30.65" +9405 "Can"\ L"a +15338 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%| @ +72 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%/  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%e * +33 "core" + + ."da"PSV.dial :air +2 "processing"%`  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%<' +2377 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%l  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%s  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"%o'ؾ +2333 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%* +127 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%g' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%\ ' +1606 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%I  +70 "core"  + ."da"PSV.dial PTV +3 "processing"%. +82 "core" + ."da"PBV.dial :waste1 +2 "processing"%t  +33 "core" + "processing"% % +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%+'& +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%" * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +15 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%;  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%J * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Q +83 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%,' +2390 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%w +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%n  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%k'ؾ +2330 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%(' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%L' +1610 "core" ' +2 ."da"PTV.dial :puck + "processing"%W  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%M +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%d  +32 "core" +2 "processing"%2% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%^'& +601 "core" ' +2 ."da"delay 3 seconds +342 .PBV.dial between PSV and waste1 +9 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%_'ؾ +1620 "core" ' + ."da"delay 2:00 +2964 "Can"\ Gb} +9039 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%@  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%A * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%6 +72 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%C' +2387 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%1 +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Z +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%x  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%{'ؾ +2315 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%&  +126 "core" +2 ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 "processing"%!  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%$' +395 "core" ' +2 ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%N  +44 "core"  +2 "processing"%%% +3 "core" % \  +3 ."da"PS.seek 0.55ml +2 "processing"%>' +334 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%Y  +43 "core"  +3 ."da"PS.seek 2ml + "processing"%=' +1557 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%: +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%U @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%0  +32 "core" +2 "processing"%p% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%3' +229 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +1966 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +34779 "Can" Dqc +13224 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%X @ +5 "core" A +2 ."da"PBV.dial :waste1 + "processing"%K  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2381 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%B +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%f  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"%[ +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%q  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%m'ؾ +2315 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%c +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%b' +594 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%V' +1610 "core" ' + ."da"PTV.dial :puck +2 "processing"%T  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%O +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%\\  +33 "core" + "processing"%?% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'' +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +44 "processing"%R * +40 "core" + +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1633 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%a  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%i  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%' +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%-' +2390 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%E +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%5  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +2333 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%u +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%}  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%H +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%9  +33 "core" + "processing"%F% +4 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%v'/ +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1632 "core" ' +2 ."da"delay 2:00 +5181 "Can" B"c +6822 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%7  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%r * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +83 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%#' +2393 "core" ' + ."da"PSV.dial PTV +2 "processing"%S +82 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%y +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%j  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%|'ؾ +2350 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%/ +128 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%e' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%`' +1619 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%h  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%l  +33 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%s'/ +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%< * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%*'ؾ +1618 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%o  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%g  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +46 "processing"%I * +39 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%. +71 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%t' +2367 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%\ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%" +84 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%+  +74 "core"  +2 ."da"PS.seek 0ml +3 "processing"% 'ؾ +2340 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%; +131 "core"  +4 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +4 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +2 "processing"%J' +332 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%Q' +342 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%w +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%n% +4 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%,'' +595 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%8 * +35 "core" + +2 ."da"PS.seek 0ml +3 "processing"%k'ؾ +1614 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%(  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%W  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%M * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%d +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%2' +2403 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%L +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%^ +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +1530 "Can"\ y5d? +855 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%A +132 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%6' +2119 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +3 "processing"%_  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +86 "core" ~ + ."da"PBV.dial :waste1 +2 "processing"%1  +34 "core" +2 "processing"%Z% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%x'* +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%C * +35 "core" + + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%  +99 "core"  +3 ."da"PS.seek 0ml + "processing"%&'ؾ +1629 "core" ' +2 "processing"% 9 +3 "core" 9g5b +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%! +3 "core" 5c +2 "processing"%& +3 "core" &^%\ 4 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&{% +3 "core" %    +2 "storage"(N% +4 "core" % \  +2 "storage"(%. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"($(C +358 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 (Y& +2 "core" &E \ +47 "manipulator"&>& +11 "core" &-   : +2 "manipulator"&:% +3 "core" %   :  +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&U( +174 "core" ( +2 "manipulator"&0& +3 "core" &  d 2 +3 "storage"(p& +4 "core" &E {\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(=& +4 "core" &E D\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(3'r +276 "core" ' +2 "storage"(~- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place + "storage"(X'1 +46 "core" ' +2 "manipulator"&K& +4 "core" & 2 + "manipulator"&% +4 "core" % l +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&G( +242 "core" ( +2 "manipulator"&B& +4 "core" &   ( + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &f& +2 "core" &   ( +3 ."da"Forearm.seek PC +2 "manipulator"&[' +93 "core" ' + ."da"Hand.close +2 "manipulator"&q/ +59 "core" / +2 ."da"PC.seek :open +2 "processing"%( +457 "core" ( +2 "storage"(c& +3 "core" &E <\ +2 "manipulator"&m& +4 "core" & ( +2 "manipulator"&b% +4 "core" %  h + +2 ."da"Forearm.seek :retract +2 "manipulator"&T' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&O( +246 "core" ( + "manipulator"&\\& +3 "core" & h 0 +3 "storage"(?& +4 "core" &E f\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&V' +97 "core" ' +2 ."da"Hand.open + "manipulator"&R1 +63 "core" 1 +2 "storage"(- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(a' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(i' +57 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0621h.tif +5 "processing"%& +9 "core" &\ +5 "manipulator"&'& +4 "core" & / +3 "manipulator"&D% +5 "core" %  $ D +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +89 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&(- +175 "core" ( +2 "manipulator"&E& +4 "core" &-  M + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &5& +3 "core" &- @ M +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&-'w +100 "core" ' +3 ."psFlush"Hand.close +2 "manipulator"&u/ +67 "core" / +2 "manipulator"&P& +3 "core" &- % ( ; M +2 "manipulator"&% +5 "core" % σ   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&H( +117 "core" ( +2 "manipulator"&9& +4 "core" &  * 9 +53 ."psFlush"Elbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +3 &F& +2 "core" &   9 +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC + "manipulator"&' +98 "core" ' + "manipulator"&]& +5 "core" &  , 9 + "manipulator"&v% +6 "core" %    +3 "processing"%& +3 "core" &:\ n +3 "processing"%7& +5 "core" &7\ n +2 ."psFlush"PC.seek :closed +2 "processing"%r(^ +5 "core" & \ n +7 &2\ $d +9 &To\ 6 +10 &}s\ K +9 &N\ N +9 &\\M\ N +10 &K\ N +9 &L\ N +10 &J\ N +9 &dL\ N +9 &'N\ N +10 &M\ N +9 &!L\ mO +9 &#iJ\ lO +10 &%,J\ lO +9 &&I\ kO +9 &(J\ kO +10 &*rJ\ jO +9 &,3N\ jO +10 &-J\ jO +9 &/K\ jO +9 &1{I\ jN +10 &3;J\ iO +9 &4J\ jO +9 &6J\ iO +10 &8J\ iO +9 &:EK\ N +10 &<L\ N +9 &=M\ N +9 &?Q\ N +10 &ALO\ O +9 &C X\ O +9 &D^\ Q +10 &Fs\ R +9 &HB\ U +10 &J\ V +9 &K\ U +9 &M\ V +10 &OCX\ hW +9 &QZ\ gX +9 &RZ\ fW +10 &TY\ eX +9 &VJS\ eX +10 &X Q\ dW +9 &YF\ eW +9 &[H\ eX +10 &]OI\ cL +9 &^ON\ c"j +9 &^%O\ j1 +3 ( + "processing"%7& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 +2 "processing"%& +3 "core" &^#N\ i1 +2 ."psFlush"Hand.open +2 "manipulator"& 1 +59 "core" 1 +2 "manipulator"&S% +3 "core" % 0 . -  +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&y' +94 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%j' +586 "core" ' +2 ."psFlush"delay 5 seconds +170 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20.72 seconds\ /var/log/esp/da23sep0621h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0621h15s.tif +329 ."psFlush"PSR.select :air +12 "processing"% +10 ."psFlush"PS.seek 2.5ml +3 "processing"%#' +1209 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0621h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0621h20s.tif +912 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%/ @ +188 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%|  +131 "core" + ."psFlush"PSV.dial :mixloop +3 "processing"%e +102 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%h'ؠ +612 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0621h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "20.72 sec auto-exposure",Subject: "da23sep0621h images!" +8 "storage"(- +10 "core" -' +8 "storage"(l& +8 "core" &E  m\ + "manipulator"&& +4 "core" & 9 +2 "manipulator"&`% +4 "core" %   Y \ +3 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&<( +244 "core" ( +4 "manipulator"&s& +9 "core" &  S  +3 "storage"(o& +7 "core" &E \ +7 ."da"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&g' +94 "core" ' +5 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(I'" +50 "core" ' +13 "manipulator"&.& +6 "core" &   |  +5 "storage"(*& +10 "core" &E   _\ +2 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +7 ."da"Forearm.reconfigure :loose +124 "manipulator"&#Q@2^d^b +11 ."da"Forearm.seek 1 +2 "manipulator"& '8 +21 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&\ , +8 "core" , +2 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +5 "storage"("' +27 "core" ' +3 "manipulator"&+% +12 "core" %L * + +4 "storage"(t& +7 "core" &E   \ +3 ."da"Forearm.force -20 +4 "manipulator"&5 +14 ."da"Forearm.seek 1 + 320 counts +3 "manipulator"&;'x +15 "core" ' +3 "manipulator"& & +7 "core" &  S  +5 "storage"(J& +7 "core" &E 5 8\ +5 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&Q' +18 "core" ' +2 "storage"(% +10 "core" % : 8\  +6 ."downElevator"SE.seek :down +6 "storage"(w' +99 (% +9 "core" %,E\ \  \ U] +8 "manipulator"&n% +6 "core" %   D +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&' +89 "core" ' +41 ' +4 ."downElevator"SE.stop +3 "storage"(5 +6 (8& +7 "core" &E 5 % ?\ +805 ' +3 ."psFlush"PSR.select :air +6 .PSV.dial PSR +2 "processing"%, +103 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +6 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +4 "processing"%(' +590 "core" ' +4 ."psFlush"delay 5 seconds +242 #"uploadLog"upsync +261 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%W' +2121 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%M  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%d @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%k +113 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%L'ؠ +2646 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +99 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%^'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1619 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%2 +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%A  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%@  +5 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2630 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%1' +587 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%Z' +2125 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%6 +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%C U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%x @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%!  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%{ +55 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%N' +2643 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%% +71 "core" +9 ."psFlush"PBV.dial PSV +2 "processing"%4 U +5 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%Y'ؾ +2639 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%> @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%:' +2640 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%0  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2625 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%= +54 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1098 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%~ +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%K  +15 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%3'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%B' +584 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +2132 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%U +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%q U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +240 "Can" G=d +2390 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%c' +2652 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%m  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%b'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%[ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%\\' +2640 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%? +70 "core" + ."psFlush"PBV.dial PSV +3 "processing"%G U +13 "core" U +2 ."psFlush"PS.seek 0ml +2 "processing"%R'ؾ +2655 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%'  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%D'ؾ +2635 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&T& +4 "core" & R  + "manipulator"&X% +4 "core" %  m  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&a( +243 "core" ( + "manipulator"&E& +4 "core" &   " +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &  G " +2 ."psFlush"Forearm.seek PC +2 "manipulator"&V' +92 "core" ' + ."psFlush"Hand.close +2 "manipulator"&O/ +53 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%u( +457 "core" ( + "manipulator"&P& +4 "core" & | " +2 "manipulator"&% +4 "core" %  G & + ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&9(- +127 "core" ( +8 "manipulator"&F& +4 "core" &- \\ +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &- S +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&]'w +101 "core" ' + ."psFlush"Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&v% +3 "core" % }   +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tFinished short da assay +319 #-> access 1 +3 "storage"(}% +3 "core" % s s \  +2 "manipulator"&% +3 "core" %  o  +3 "manipulator"&& +3 "core" &- k +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +1295 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (S& +3 "core" &<+ 5 / o\ +773 #t-> access 2 +3 "storage"(7% +3 "core" % a O \  +2 "manipulator"&% +3 "core" %  z  +2 "manipulator"&& +4 "core" &- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(&(K +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (j& +2 "core" &K ) M \ +8 #t-> PS.flush +2 #Flushing Processing stage + "processing"%/% +4 "core" %غ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%|& +4 "core" &\  + "manipulator"&e& +4 "core" &- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&#(- +15 "core" ( +2 "manipulator"&& +3 "core" &-  + k +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &- k +2 .tForearm.seek :garage +2 "manipulator"&'w +91 "core" ' +2 .tHand.close + "manipulator"&`/ +59 "core" / +2 "manipulator"&s& +3 "core" &- k +2 "manipulator"&o% +4 "core" % ω 8 > +2 .tForearm.seek :retract +2 "manipulator"&H' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&.( +116 "core" ( +2 "manipulator"&*& +3 "core" & z ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" & ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&i' +92 "core" ' +2 "manipulator"&+& +3 "core" & n ( +2 "manipulator"&t% +3 "core" % u q +3 "processing"% & +3 "core" &\  +3 "processing"%J& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +7 &?\ $e +9 &Yv\ 7 +9 &r\ L +10 &N\ L +9 &Q\ L +9 &IQ\ L +10 & S\ L +9 &Q\ L +10 &Q\ L +9 &QR\ L +9 & S\ L +10 &!R\ L +9 &#R\ L +9 &%ZN\ L +10 &'Q\ L +9 &(R\ L +10 &*T\ L +9 &,aR\ L +9 &.$T\ L +10 &/R\ L +9 &1S\ L +9 &3jR\ L +10 &5+R\ L +9 &6R\ M +10 &8R\ L +9 &:qR\ L +9 &<4O\ L +10 &=R\ L +9 &?Q\ L +9 &AxR\ M +10 &C7`\ N +9 &De\ N +10 &F~\ Q +9 &Hm\ S +9 &J/\ S +10 &K\ S +9 &M\ T +9 &Os\ T +10 &Q5\ T +9 &R\ T +10 &T\ U +9 &Vz\ T +9 &X;\ T +10 &Y\ U +9 &[\ U +9 &]\ B +10 &^<\ _ +9 &^5\ 6 +6 ( + "processing"%J& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + "processing"%g& +2 "core" &^%\ 6 +2 &^%\ 6 +2 .tHand.open +2 "manipulator"&<1 +62 "core" 1 + "manipulator"&% +4 "core" %  # q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +2 .tPSV.dial PSR + "processing"%I +55 "core" + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"% 'X\\ +1108 "core" ' + .tPSR.select :air +3 "processing"% +53 .tPS.seek 2.5ml + "processing"%;' +1617 "core" ' +2 .tPSV.dial PTV + "processing"%8 +85 "core" + .tPTV.dial :puck +2 "processing"%"  +4 "core"  +2 .tPBV.dial :waste1 +2 "processing"%Q  +51 "core" +2 .tPS.seek 0ml +2 "processing"%w'ؾ +2649 "core" ' +2 .tPSV.dial PSR + "processing"%, +71 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%h' +586 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%(' +2116 "core" ' +2 .tPSV.dial PTV + "processing"%M +72 "core" +2 .tPBV.dial PSV +2 "processing"%d U +51 "core" V +2 .tPS.seek 0ml +2 "processing"%k'ؾ +2635 "core" ' +2 .tPSV.dial PBV + "processing"%W @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 .tPSV.dial :waste1 + "processing"%L  +71 "core"  +2 .tPS.seek 0ml + "processing"%^'ؾ +2629 "core" ' +2 .tPSV.dial PSR +2 "processing"%2 +54 "core" +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%A' +2636 "core" ' +2 .tPSV.dial PTV +2 "processing"%@ +84 "core" + .tPBV.dial PSV +2 "processing"% U +5 "core" V +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tPSV.dial PBV +2 "processing"%_ @ +42 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%1' +2629 "core" ' + .tPSV.dial :waste1 +2 "processing"%6  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2638 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&Z& +4 "core" &   ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&x( +4 "core" ( + "manipulator"&& +4 "core" & ! 5 ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &   ( +3 .tForearm.seek PC +2 "manipulator"& ' +90 "core" ' +2 .tHand.close + "manipulator"&{/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +460 "core" ( + "manipulator"&%& +4 "core" & y ( +2 "manipulator"&4% +4 "core" %  [ B +2 .tForearm.seek :retract + "manipulator"&N' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&>(- +126 "core" ( +2 "manipulator"&Y& +4 "core" &-  + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &- | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&:'w +102 "core" ' +2 .tHand.open + "manipulator"&=1 +63 "core" 1 +2 "manipulator"&p% +3 "core" % }   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +7207 "Can" <ek +7405 #t-> startTube 2 +847 #-> $da[:extractVol]=.2 +51414 #-> shortDA +2 "collection"'~% +2 "processing"%K% +5 "core" %c \ +2 %ؽ\ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +321 "Can" <f +1065 #tPulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"% +130 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +126 "core" +2 .tPRV.dial :sipper + "processing"%  +42 "core" +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%3'e +2291 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%B  + "collection"'U  +8 "core"  +116  +3 .tPS.seek 0.5ml +47 "processing"%q' +1280 "core" ' + .tPRV.dial :waste2 +2 "processing"%f @ +97 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%'ؾ +594 "core" ' +2 .tPSV.dial PSR + "processing"% +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%m'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%c' +1619 "core" ' +2 .tPSV.dial :mixloop + "processing"%[ +102 "core" +2 .tPS.seek 0ml +2 "processing"%b'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"%? +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%G'X\\ +1107 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%\\' +1616 "core" ' +2 .tPSV.dial :mixloop + "processing"% +102 "core" + .tPRV.dial :sipper +2 "processing"%R  +42 "core" +2 .tPS.seek 0ml +2 "processing"%''ؾ +2630 "core" ' +2 .tPSV.dial PSR + "processing"% +100 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%T' +2637 "core" ' +2 .tPSV.dial :mixloop + "processing"%X +102 "core" +2 .tPS.seek 0ml +2 "processing"%E'ؾ +2632 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%5& +3 "core" &v\ +2 "manipulator"&\ % +4 "core" %   +2 "storage"(O% +3 "core" % X V "\  +2 "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(r(  +1299 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &  B C \ +2 "manipulator"&& +3 "core" &- +2 "manipulator"&F% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&-( +173 "core" ( + "manipulator"&V& +4 "core" & = / +2 "storage"(a& +4 "core" &  \\ \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +94 "core" ' + "storage"(v& +3 "core" &  [ _ 1\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (}& +2 "core" & ) 4 x\ +3 "manipulator"&& +4 "core" &  b / + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&$& +3 "core" &  / +2 "storage"(S& +4 "core" & Y Z\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&7'Ͻ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( ' +7 "core" & / +2 "manipulator"&j% +3 "core" % ϴ A ` +3 .tForearm.seek :retract +2 "manipulator"&/' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&|( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&e& +4 "core" & *  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & %  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&l' +90 "core" ' + "manipulator"&`& +4 "core" & N  +2 "manipulator"&s% +4 "core" % = X +2 "processing"%o& +4 "core" &\ +2 "processing"%9& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &s\  +9 &5wr\ *x +9 &e|t\ > +9 &kw\ N +43 &CRv\ M +10 &Sm\ M +3 &Rh\ M +2 &Rr\ M + &ISm\ N + & Sj\ M +6 &Sh\ M +9 & Ta\ M +10 &"RSj\ M +9 &$Tj\ M +9 &%Qf\ M +10 &'Sm\ M +9 &)[Th\ M +10 &+Tm\ M +9 &,T\\\ M +9 &.Sd\ M +10 &0bSh\ M +9 &2$UW\ M +10 &3R\\\ M +9 &5QU\ M +9 &7jUV\ M +10 &9+TY\ N +9 &:TU\ M +9 &<R^\ M +10 &>qUZ\ N +9 &@3SJ\ N +9 &A_E\ N +10 &ChB\ P +9 &EorH\ Q +10 &G+G\ S +9 &HK\ T +9 &J;\ T +10 &LoC\ T +9 &N.H\ U +9 &OG\ T +10 &QE\ U +9 &SrF\ U +10 &U5@\ U +9 &V<\ U +9 &XF\ U +10 &ZzF\ U +9 &\\;@\ V +9 &]zqC\ : +10 &^'u<\ U +9 &^"@\ 3 +2 ( +2 "processing"%9& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&*1 +61 "core" 1 +2 "manipulator"&y% +4 "core" %  > X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%+ h +3 %t9 +6 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%#9 +3 "core" 9  +102 "processing"%H9 +3 "core" 9  +102 "processing"%u9 +3 "core" 9 +102 "processing"%g9 +3 "core" 9 +102 "processing"%<9 +3 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%J9 +65 "core" 9% +102 "processing"%I9 +3 "core" 9) +102 "processing"%i9 +3 "core" 9- +102 "processing"%D9 +3 "core" 91 +102 "processing"% 9 +3 "core" 95 +102 "processing"%89 +3 "core" 9: +103 "processing"%"9 +20 "core" 9? +102 "processing"%Q9 +3 "core" 9C +102 "processing"%;9 +3 "core" 9G +102 "processing"%,9 +3 "core" 9K +102 "processing"%w9 +4 "core" 9O +102 "processing"%h9 +3 "core" 9T +102 "processing"%M9 +3 "core" 9X +102 "processing"%d9 +3 "core" 9\\\ +102 "processing"%(9 +3 "core" 9` +102 "processing"%W9 +3 "core" 9 d +102 "processing"%k9 +3 "core" 9i +102 "processing"%L9 +3 "core" 9m +102 "processing"%9 +3 "core" 9"q +3 .tPH.hold 2:00:00,28C +3 "processing"%2 php +2 .tdelay 1:30 +5 "core" q +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%^ +101 "core"  + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml + "processing"%@' +598 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%' +1608 "core" ' + .tPTV.dial :puck +2 "processing"%A  +128 "core"  + .tPSV.dial PTV +2 "processing"%_ +72 "core" + .tPBV.dial :waste1 +2 "processing"%  +51 "core" +2 "processing"%6% +3 "core" %r\  +3 .tPS.seek 1.5ml +2 "processing"%1'( +598 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Z * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1608 "core" ' +2 .tdelay 5:00 +15709 "Can"\ `yf +14293 #trecoverPSRreagent08 +2 .PTV.dial :puck + "processing"%!  +15 "core"  + .tPBV.dial :waste1 +2 "processing"%{  +32 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%. * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%n +72 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%' +2371 "core" ' + .tPSV.dial PTV +2 "processing"%% +84 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%4 +69 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%Y +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%0  +72 "core"  +2 .tPS.seek 0ml + "processing"% 'ؾ +2317 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%x  +126 "core" + .tPSV.dial :mixloop +2 "processing"%= +44 "core" + .tPRV.dial :ab1 +2 "processing"%p @ +98 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%N' +357 "core" ' + .tdelay 2 seconds +252 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"':  +2 "processing"%~  +4 "core"  +37  +2 "processing"%K% +3 "core" %\ +3 .tPS.seek 0.35ml +2 "processing"%'j +451 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +30 "core" + .tPRV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"%C'K +1167 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%U @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%B' +869 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%3  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%f' +1618 "core" ' +2 .tPSV.dial :PML +2 "processing"%q +43 "core" +2 .tPTV.dial :mixing + "processing"% @ +72 "core" B +2 .tPBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%m% +4 "core" %\  +2 .tPS.seek 1.85ml + "processing"%[' +243 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%c * +33 "core" + +2 .tPS.seek 0ml + "processing"%?'ؾ +1973 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'b& +3 "core" & \ +2 "manipulator"&G& +4 "core" &  +2 "manipulator"&% +4 "core" %  x  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&R(- +127 "core" ( + "manipulator"&\\& +5 "core" &-   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- f +2 .tForearm.seek :garage +2 "manipulator"&''w +92 "core" ' + .tHand.close +2 "manipulator"&X/ +62 "core" / +3 "manipulator"&T& +3 "core" &-  4 +2 "manipulator"&5% +4 "core" % υ 5 +2 .tForearm.seek :retract +2 "manipulator"&\ ' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +284 "core" ( + "manipulator"&& +3 "core" &ӑ!   C :- +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &ӑ!  A :- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&P'? +102 "core" ' +2 "manipulator"&& +4 "core" &ӑ!  S :- +2 "manipulator"&F% +3 "core" %5  d +3 "collection"'V& +3 "core" & \ +3 "collection"'a& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'v(\\ +5 "core" & \ +7 &C \ $f +9 &X} \ 7 +10 &z {\ L +9 &X \ M +9 &}T \ M +10 &?T \ M +10 &Y \ M +9 &W |\ M +9 &S \ L +9 &HV y\ L +10 & \ U |\ L +9 &!T |\ M +9 &#U x\ L +10 &%PU x\ L +9 &'X z\ M +10 &(Y y\ M +9 &*W {\ M +9 &,XU \ L +10 &.U \ L +9 &/W {\ L +9 &1T \ M +10 &3`S |\ L +9 &5#T |\ L +10 &6Y }\ L +9 &8U {\ L +9 &:hY \ L +10 &<)T \ M +9 &=W z\ M +10 &?U t\ M +9 &An] x\ M +9 &C-e s\ N +10 &Dw\ \ z\ P +9 &F\ \ q\ U +9 &HU\ \ r\ X +10 &J\ \ w\ Y +9 &K\ \ q\ Z +9 &M\ \ y\ [ +10 &OW\ \ s\ Z +9 &Q\ \ t\ Z +10 &R\ \ y\ [ +9 &T\ \ p\ [ +9 &VW\ \ v\ ] +10 &X\ \ r\ ^ +9 &Y\ \ u\ ^ +9 &[\ \ x\ J +10 &\\9\ \ q\ + +9 &\\\ \ q\ ] +6 ( + "collection"'a& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.41 + "collection"'>& +2 "core" &\\\ \ s\ ] +3 &\\\ \ n\ ] + .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&]% +4 "core" % 5 ! )  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 .tPSV.dial PSR + "processing"% +102 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%$'+ +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%S  +42 "core"  +3 .tPS.seek 0ml + "processing"%'ؾ +1648 "core" ' +9 .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%j' +2627 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%-  +2 "collection"'  +30 "core"  +124 +2 .tPSV.dial :mixloop +2 "processing"% +112 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%7  +72 "core" +2 .tPS.seek 0ml +2 "processing"%e'ؾ +2624 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :mixloop + "processing"%` +44 "core" +3 .tPS.seek 0ml + "processing"%s'ؾ +2653 "core" ' + .tPSV.dial :air +2 "processing"%o  +44 "core"  +2 .tPS.seek 2.5ml + "processing"% ' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%/ +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&*& +3 "core" &Ӫ 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&y(ӂ +22 "core" ( +2 "manipulator"&t& +4 "core" &z   "{ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &z  [ "{ +3 .tForearm.seek CC + "manipulator"& '? +101 "core" ' +2 .tHand.close + "manipulator"&l/ +55 "core" / +2 .tCC.seek :open +2 "collection"'#( +447 "core" ( +2 "manipulator"&H& +4 "core" &{  l "z + "manipulator"&u% +4 "core" %  V p +2 .tForearm.seek :retract + "manipulator"&g' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&<(- +280 "core" ( + "manipulator"&& +4 "core" &-  < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &-  @ < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&I'w +93 "core" ' +2 .tHand.open + "manipulator"&i1 +53 "core" 1 +2 "manipulator"&D% +3 "core" % ρ  8 . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +99 "core" ' +2 ."da"delayUntil "22:23:18.23" +4670 "Can"\ Exg- +20085 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%8 @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%"  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Q * +33 "core" + + ."da"PSV.dial :air +2 "processing"%;  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%,' +2367 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%w +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%h  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%M +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%d  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%('ؾ +2333 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%W +127 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%k' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%L' +1616 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%^ +83 "core" + ."da"PBV.dial :waste1 +42 "processing"%E  +40 "core" + "processing"%@% +3 "core" %\ +3 ."da"PS.seek 1.5ml +2 "processing"%A'2 +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%_ * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%6  +5 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Z * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%1 +69 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%+' +2387 "core" ' + ."da"PSV.dial PTV +2 "processing"%! +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%{ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%. +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%n  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2334 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%4' +600 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Y' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%0  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%x  +32 "core" +2 "processing"%=% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%p'+ +601 "core" ' +2 ."da"delay 3 seconds +221 "Can"\ M1g +81 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%:'ؾ +1613 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%~  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%K  +33 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 +2 "processing"%N * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +70 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2364 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%U +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%C +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%3  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +2315 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%q  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%  +126 "core" +2 ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%  +43 "core"  + ."da"PTV.dial :PRVmixing +2 "processing"%m  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"%c +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%f' +387 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%[  +43 "core"  +2 "processing"%b% +3 "core" %\  +3 ."da"PS.seek 0.55ml +2 "processing"%G' +332 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%\\' +1554 "core" ' + ."da"PSV.dial :PML +2 "processing"% +44 "core" + ."da"PTV.dial :mixing +2 "processing"%| @ +114 "core" A +8 ."da"PBV.dial :waste1 +2 "processing"%X  +33 "core" +2 "processing"%T% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"%5' +239 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%''ؾ +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +30058 "Can"\ FhY +17945 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +4 "core" A + ."da"PBV.dial :waste1 +2 "processing"%&  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%R * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%F' +2389 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%V +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%\  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%z +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%>  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2327 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%] +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%a' +612 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%P  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%? +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%S  +32 "core" +2 "processing"%$% +3 "core" %T\  +3 ."da"PS.seek 1.5ml +2 "processing"%'/ +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%-  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +83 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%j' +2382 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +82 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%e +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%` +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%o'ؾ +2333 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%s +140 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%/' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"% ' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%* +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%t  +32 "core" +2 "processing"%9% +3 "core" %a\  +3 ."da"PS.seek 1.5ml + "processing"%l'* +599 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%O * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +1611 "core" ' +2 ."da"delay 2:00 +466 "Can"\ G͂h +11537 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +45 "processing"%v  +39 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%H * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%u +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2387 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%J +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%y +77 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%i  +72 "core"  +2 ."da"PS.seek 0ml +3 "processing"%D'ؾ +2322 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%g +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%I' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%8' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%" +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%Q  +33 "core" + "processing"%;% +4 "core" %^\  +2 ."da"PS.seek 1.5ml +2 "processing"%'* +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%w * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%h'ؾ +1605 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%M  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%d * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%, +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%W' +2367 "core" ' + ."da"PSV.dial PTV +2 "processing"%( +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%k +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%^  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +2326 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +132 "core"  +2 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +4 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +2 "processing"%L' +335 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%_' +332 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%A' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%6 +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +34 "core" +2 "processing"%Z% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%1'+ +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%!'ؾ +1610 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%{  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%. * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%n +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%+' +1170 "Can"\ Pi +1242 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%% +125 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +74 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%4 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%0  +86 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2407 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%x +131 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%=' +2122 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%Y +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%p% +4 "core" %W\  +2 ."da"PS.seek 1.5ml +2 "processing"%~'* +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%K * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%N  +101 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1611 "core" ' + "processing"%:9 +4 "core" 9l5_ +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"% +3 "core" 5` +2 "processing"%U& +3 "core" &^ \ 3 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&C% +4 "core" %   +2 "storage"(3% +3 "core" % p\  +2 "storage"(. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(q(C +352 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &B ? 5 V\ +3 "manipulator"&& +4 "core" &-    < + "manipulator"&m% +4 "core" %   i  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&c( +173 "core" ( + "manipulator"&B& +4 "core" &  \ O - +2 "storage"([& +4 "core" &B ]\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&b' +92 "core" ' +2 "storage"(f& +3 "core" &B [ L \ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"('r +275 "core" ' +2 "storage"(G- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place + "storage"('1 +41 "core" ' +2 "manipulator"&|& +4 "core" &  - + "manipulator"&X% +3 "core" %  i +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&T' +91 "core" ' +3 ."da"Elbow.seek PC +2 "manipulator"&( +244 "core" ( + "manipulator"&\\& +4 "core" &  F  +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" & `  +2 ."da"Forearm.seek PC +2 "manipulator"&)' +90 "core" ' +2 ."da"Hand.close + "manipulator"&/ +67 "core" / +2 ."da"PC.seek :open +2 "processing"%&( +460 "core" ( +2 "storage"(R& +3 "core" &B U U s\ +2 "manipulator"&& +4 "core" & e  +2 "manipulator"&'% +4 "core" %  h 0 +2 ."da"Forearm.seek :retract +2 "manipulator"&V' +94 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&\ ( +248 "core" ( + "manipulator"&z& +4 "core" &  5 +2 "storage"(>& +3 "core" &B U\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +48 ."da"Forearm.seek 1 + 450 counts +8 "manipulator"&F' +97 "core" ' + ."da"Hand.open +2 "manipulator"&]1 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(a' +35 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +58 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0623h.tif +6 "processing"%?& +12 "core" &5\ +3 "manipulator"&S& +7 "core" & 5 +2 "manipulator"&$% +4 "core" %   ; +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +94 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&(- +177 "core" ( +2 "manipulator"&& +4 "core" &-  3 Z +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &-  { Z +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +96 "core" ' + ."psFlush"Hand.close +2 "manipulator"&7/ +64 "core" / +2 "manipulator"&& +3 "core" &- \  ) Z +2 "manipulator"&% +4 "core" % ϋ , +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&e' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&`( +131 "core" ( + "manipulator"&& +4 "core" &  > +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &  F +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&s' +92 "core" ' +2 "manipulator"&o& +4 "core" &   +2 "manipulator"&/% +3 "core" %  ? +3 "processing"%*& +4 "core" &\ j +2 "processing"%t& +5 "core" &\ i +2 ."psFlush"PC.seek :closed +2 "processing"%9(^ +5 "core" &\ i +9 &2r\ b*x +9 &at\ a> +9 &df\ bO +10 &'H\ uO +9 &I\ N +9 &K\ N +10 &oK\ N +9 &0J\ N +10 &J\ N +9 &L\ N +9 & wI\ N +10 &"8L\ N +9 &#L\ N +9 &%J\ N +10 &'}I(\ O +9 &)?H\ hO +10 &+H\ gO +9 &,I\ gO +9 &.H\ fO +10 &0GI\ fO +9 &2 I\ eO +9 &3I\ eO +10 &5I\ eO +9 &7MI\ eO +10 &9J\ dP +9 &:I\ dO +9 &<I\ dO +10 &>TI\ dP +9 &@J\ eO +9 &AM\ O +10 &C]\ P +9 &EVf\ R +10 &G~\ T +9 &H\ V +9 &J\ U +10 &LS\ U +9 &N\ W +9 &O\ V +10 &Q\ V +9 &SW\ ~W +10 &U\ bX +9 &V\ bX +9 &X\ aX +10 &Z]\ `X +9 &\\\ `X +9 &]u\ b5 +10 &^8l\ b9 +9 ( + &^\ f) +2 "processing"%t& +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.79 + "processing"% & +3 "core" &^\ f) +3 ."psFlush"Hand.open + "manipulator"&O1 +58 "core" 1 +2 "manipulator"&l% +3 "core" %  K +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&v' +94 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%H +44 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%u' +591 "core" ' +2 ."psFlush"delay 5 seconds +504 .PSR.select :air +7 "processing"% +15 ."psFlush"PS.seek 2.5ml +2 "processing"%}' +6 #"da"SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 23.817 seconds\ /var/log/esp/da23sep0623h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0623h15s.tif +1564 #SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0623h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0623h20s.tif +547 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +188 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%J  +131 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%y +162 "core" +4 ."psFlush"PS.seek :empty +2 "processing"%i'ؠ +916 #"da"SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0623h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "23.817 sec auto-exposure",Subject: "da23sep0623h images!" +6 "storage"( - +10 "core" -' +7 "storage"(g& +10 "core" &B  O\ +2 "manipulator"&D& +4 "core" & ! #  +2 "manipulator"&I% +4 "core" %    +2 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&"( +252 "core" ( +5 "manipulator"&Q& +8 "core" &  !  U +6 "storage"(;& +8 "core" &B\ +6 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&8' +117 "core" ' +4 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(w'" +56 "core" ' +3 "manipulator"&& +6 "core" & 0 U +5 "storage"(M& +6 "core" &B  \ +5 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +5 "manipulator"&d'8 +22 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&,, +6 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(h' +28 "core" ' +4 "manipulator"&(% +7 "core" %H +5 "storage"(k& +8 "core" &B  \ +2 ."da"Forearm.force -20 +3 "manipulator"&5 +7 ."da"Forearm.seek 1 + 316 counts +2 "manipulator"&'t +19 "core" ' +2 "manipulator"&^& +10 "core" & U +7 "storage"(W& +8 "core" &B 3 7 '\ +5 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&@' +19 "core" ' +4 "storage"(E% +6 "core" % 4 8\  +7 ."downElevator"SE.seek :down +7 "storage"(L' +97 (_% +12 "core" %lF\ \ \ U] +5 "manipulator"&6% +8 "core" %  +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&' +91 "core" ' +38 ' +4 ."downElevator"SE.stop +3 "storage"(5 +5 (Z& +7 "core" &B  \ +593 ' +2 ."psFlush"PSR.select :air +6 .PSV.dial PSR +4 "processing"%A +103 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +6 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%' +589 "core" ' +3 ."psFlush"delay 5 seconds +504 .PSR.select :air +7 "processing"% +11 ."psFlush"PS.seek 2.5ml +5 "processing"%1' +119 #"uploadLog"upsync +2006 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%{  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%. @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%n +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%!'ؠ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%% +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1100 "core" ' +2 ."psFlush"PSR.select :air +51 "processing"% +11 ."psFlush"PS.seek 2.5ml +2 "processing"%4' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%0 +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%+  +68 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%x  +5 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%Y +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"% ' +585 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%p' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%= +71 "core" +2 ."psFlush"PBV.dial PSV + "processing"%K U +52 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%N'ؾ +2638 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%~ @ +55 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%:' +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +71 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%U'ؾ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%C +42 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%3' +2642 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%r U +5 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%m' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%B  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%['ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%f +42 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%<'X\\ +1107 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%G +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%|  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%X'ؾ +1205 "Can" Dձj +1430 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%b' +593 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +2128 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%5 +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%c U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2637 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%T @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%R  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%' +42 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%)' +2668 "core" ' +8 ."psFlush"PSV.dial PTV +2 "processing"%z +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%> U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%] @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2643 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%?  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2632 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&V& +4 "core" & ? T + "manipulator"&$% +3 "core" %   U  +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +266 "core" ( +2 "manipulator"&a& +3 "core" &  a +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & E +3 ."psFlush"Forearm.seek PC +2 "manipulator"&-' +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"&F/ +62 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%\ ( +457 "core" ( + "manipulator"&7& +4 "core" & \ +2 "manipulator"&% +3 "core" %  P 0 +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +130 "core" ( +2 "manipulator"&& +3 "core" &-  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &- ?  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +102 "core" ' + ."psFlush"Hand.open +2 "manipulator"&o1 +62 "core" 1 +2 "manipulator"&/% +3 "core" % π  p +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 #tFinished short da assay +35264 "Can" :j +60001  :kG +60001  9k +60002  9ls +60001  :߹m  @UTC1694045397.54  :m +60002  :n5 @1694046142.58UTC = =tMAIN =mMAIN_scheduler @UTC1694046144.39 #"core_reset"Sent BREAK +2 #t@48611 sendCRC with ifg=0x20, ie=0x7F + #@50446 sendCRC with ifg=0x08, ie=0x5F + #@63121 idle with ifg=0x84, ie=0x75 + #@63790 select with ifg=0x10, ie=0xF5 #@64424 receive with ifg=0x10, ie=0xFD + #@65057 receive with ifg=0x10, ie=0xFD #@154 receive with ifg=0x10, ie=0xFD + #@481 receive with ifg=0x80, ie=0xFD + #@64164 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +195 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +107 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +388 "Can" 8-n[| +  8-n[| + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +635 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %c \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +4 "core" %غ$\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڀ\ \  U\ V +2 .tSS.configure :default +3 "sampler")#.0X access 1 +3 "storage"(3% +3 "core" % Y X n\  +2 "manipulator"&4% +3 "core" %  f  +2 "manipulator"&5& +3 "core" &- a  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(6(<- +1297 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<*  \  +830 #t-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'8& +3 "core" & \ +2 .tHand.open +2 "manipulator"&91 +15 "core" 1 +2 "manipulator"&:& +3 "core" &-  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&;(- +17 "core" ( +2 "manipulator"&<& +3 "core" &-  @  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &-  +3 .tForearm.seek :garage + "manipulator"&>'w +94 "core" ' + .tHand.close +2 "manipulator"&?/ +53 "core" / +2 "manipulator"&@& +3 "core" &-  (  +2 "manipulator"&A% +4 "core" % q 6 +2 .tForearm.seek :retract +2 "manipulator"&B' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&C(ӂ +291 "core" ( +2 "manipulator"&D& +3 "core" &ӑ   d 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &ӑ 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'? +96 "core" ' +2 "manipulator"&G& +4 "core" &ӑ  , 4 +2 "manipulator"&H% +4 "core" %I \  v +2 "collection"'I& +3 "core" & \ +3 "collection"'J& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'K(\\ +5 "core" & \ +6 &C \ %g +10 &Yz \ 8 +9 & v \ L +9 &U \ L +10 &V \ M +9 &KU \ M +10 & V \ M +9 &W \ L +9 &R \ L +10 &TS \ L +9 & T \ L +9 &!Y \ L +10 &#Y \ M +9 &%\\U \ L +10 &'S \ L +9 &(Y \ L +9 &*U \ M +10 &,dW \ L +9 &.&W \ L +9 &/U \ L +10 &1Y \ L +9 &3kW \ M +10 &5.W \ L +9 &6Y \ L +9 &8Y \ L +10 &:tX \ L +9 &<5W \ M +10 &=V \ M +9 &?W \ M +9 &A{] \ M +10 &C:d \ N +9 &Dx \ P +9 &F \ T +11 &Hc \ X +8 &J" \ Y +10 &K \ Z +9 &M \ Y +9 &Oc \ Z +10 &Q& \ Z +9 &R \ [\ +9 &T \ \\ +10 &Vf \ \\ +9 &X' \ \\ +9 &Y \ ] +10 &[ \ J +9 &\\8 \ . +10 &\\k \ Q +2 ( +2 "collection"'J& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + "collection"'L& +3 "core" &\\l \ Q +2 .tHand.open + "manipulator"&M1 +54 "core" 1 +2 "manipulator"&N% +3 "core" % I  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +93 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%P +3 "core"  +2 "processing"%Q +3 "core"  +2 "processing"%R  +44 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +11 .tPS.seek 1.5ml + "processing"%S'+ +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%T  +44 "core"  +3 .tPS.seek 0ml +42 "processing"%U'ؾ +1615 "core" ' + .tPSV.dial PSR +2 "processing"%V +42 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%W' +2633 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%X  + "collection"'Y  +8 "core" +89 +2 .tPSV.dial :PTV,via: :air + "processing"%Z +200 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'[ +3 "core"  +2 "collection"'\\ +3 "core"  +2 "collection"']  +4 "core" +2 .tPTV.dial :PRV,avoiding: :puck + "processing"%^ +4 "core"  +2 "processing"%_ +3 "core"  +2 "processing"%` @ +72 "core" A +2 .tPS.seek 0ml +2 "processing"%a'ؾ +2636 "core" ' +2 .tPSV.dial :air +2 "processing"%b  +71 "core"  +3 .tPS.seek 2.5ml + "processing"%c' +2640 "core" ' +2 .tPSV.dial :PTV + "processing"%d +74 "core" ~ +2 .tPS.seek 0ml +2 "processing"%e'ؾ +2632 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&f& +3 "core" &ӓ 4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&g(ӂ +21 "core" ( + "manipulator"&h& +3 "core" &ӈ  D "~ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &ӈ  "~ +2 .tForearm.seek CC +2 "manipulator"&j'? +92 "core" ' + .tHand.close +2 "manipulator"&k/ +61 "core" / +2 .tCC.seek :open + "collection"'l( +448 "core" ( +2 "manipulator"&m& +3 "core" &ӈ  g "~ +3 "manipulator"&n% +4 "core" % Q p +2 .tForearm.seek :retract + "manipulator"&o' +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&p(- +276 "core" ( + "manipulator"&q& +5 "core" &- s W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &- W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&s'w +98 "core" ' +2 .tHand.open + "manipulator"&t1 +59 "core" 1 +2 "manipulator"&u% +3 "core" % |  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v' +103 "core" ' +525 #t-> exit +6 #mEXIT @1694046373.05UTC @1694088184.91UTC = =tMAIN =mMAIN_scheduler @UTC1694088186.59 #"core_reset"Sent BREAK +2 #t@39320 sendCRC with ifg=0x20, ie=0x7F + #@41155 sendCRC with ifg=0x08, ie=0x5F + #@26158 idle with ifg=0x84, ie=0x75 + #@26828 select with ifg=0x10, ie=0xF5 + #@27461 receive with ifg=0x10, ie=0xFD + #@28094 receive with ifg=0x10, ie=0xFD + #@28727 receive with ifg=0x10, ie=0xFD #@29054 receive with ifg=0x80, ie=0xFD + #@36837 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +282 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can" 7 li! +  7 li! + #tPolling Can every 10:00 +2 #Cleanly exited at 00:26:13UTC07-Sep-23 +469 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %c \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +4 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڀ\ \  j\ V +2 .tSS.configure :default +2 "sampler")#.0X access 1 +2 "storage"(3% +3 "core" % # $ e\  +3 "manipulator"&4% +3 "core" %   +3 "manipulator"&5& +4 "core" &- W +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(6(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (7& +3 "core" &<*   \  +515 #t-> startTube 2 +670 #-> $da[:extracVol]=.2 +1974 #-> access 2 +3 "storage"(8% +3 "core" % g h I\  +2 "manipulator"&9% +3 "core" %   +3 "manipulator"&:& +4 "core" &- S W +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(;(K +347 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" &K > N \ \ \ +54896 "Can" 9 n +17449 #t-> startTube 2 +2686 #-> shortDA +3 "collection"'=% +3 "processing"%>% +4 "core" %c \ +5 %\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +586 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%? +43 "core" + .tPTV.dial :PRVmixing +2 "processing"%@  +72 "core" + .tPRV.dial :sipper +2 "processing"%A  +126 "core"  +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%B'e +2299 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%C  + "collection"'D  +7 "core" +120  +2 .tPS.seek 0.5ml +2 "processing"%E' +1273 "core" ' + .tPRV.dial :waste2 + "processing"%F @ +101 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml +2 "processing"%G'ؾ +584 "core" ' +2 .tPSV.dial PSR +2 "processing"%H +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%I'X\\ +1107 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%J' +1610 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%K +101 "core" +2 .tPS.seek 0ml +2 "processing"%L'ؾ +2626 "core" ' + .tPSV.dial PSR +2 "processing"%M +102 "core"  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%N'X\\ +1110 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%O' +1619 "core" ' +2 .tPSV.dial :mixloop + "processing"%P +102 "core" +2 .tPRV.dial :sipper + "processing"%Q  +41 "core" +2 .tPS.seek 0ml +2 "processing"%R'ؾ +2638 "core" ' +2 .tPSV.dial PSR +2 "processing"%S +101 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%T' +2633 "core" ' + .tPSV.dial :mixloop +2 "processing"%U +101 "core" +3 .tPS.seek 0ml + "processing"%V'ؾ +2629 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%W& +4 "core" &\ + .tHand.open +2 "manipulator"&X1 +14 "core" 1 +2 "manipulator"&Y% +4 "core" %  o +2 "storage"(Z% +3 "core" % [ ^ ?\  +2 "storage"([. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(\\(  +1302 "core" ( +36 .tSC.configure :limp +9 "storage"($\ 1b +3 (]& +3 "core" &  F D F\ +2 "manipulator"&^& +4 "core" &- ( W +2 "manipulator"&_% +4 "core" %  # +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`( +173 "core" ( +2 "manipulator"&a& +4 "core" & ; +2 "storage"(b& +4 "core" &  Z Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&c'S +92 "core" ' + "storage"(d& +5 "core" &  \\ Z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +310 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (g& +2 "core" & = F 4\ +3 "manipulator"&h& +4 "core" & \  o ; +2 .tElbow.seek 2 + "manipulator"&i( +3 "core" ( +2 "manipulator"&j& +4 "core" & t ; +2 "storage"(k& +3 "core" & D C\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&l'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(o' +8 "core" & / ; + "manipulator"&p% +5 "core" % ϵ  +2 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&s& +4 "core" & ) & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +2 "core" &  & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&u' +92 "core" ' + "manipulator"&v& +5 "core" &  G & + "manipulator"&w% +4 "core" %  ! 1 +2 "processing"%x& +4 "core" &\ +2 "processing"%y& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%z(^ +4 "core" &\  +9 &5u\ *x +10 &d{\ > +9 &m\ N +10 &CR\ N +9 &R\ M +9 &S\ N +10 &R\ N +9 &MS\ M +9 &T\ N +10 &V\ N +9 & Q\ N +10 &"TQ\ N +9 &$T\ M +9 &%R\ M +10 &'S\ M +9 &)\\R\ N +9 &+R\ M +10 &,T\ M +9 &.Q\ N +10 &0eR\ M +9 &2&Q\ N +9 &3U\ M +10 &5R\ N +9 &7mV\ M +9 &9/U\ M +10 &:X\ N +9 &<S\ N +10 &>tU\ N +9 &@6W\ N +9 &A^\ N +10 &Cm\ Q +9 &Eo{\ R +9 &G-\ S +10 &H\ U +9 &J\ T +10 &Lq\ T +9 &N0\ U +9 &O\ U +10 &Q\ V +9 &St\ V +9 &U8\ U +10 &V\ U +9 &X\ U +10 &Z|\ V +9 &\\?\ U +9 &]|t\ 9 +10 &^1\ H +9 &^\ . +2 ( +8 "processing"%y& +3 "core" &^\ . +2 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&{1 +53 "core" 1 +2 "manipulator"&|% +4 "core" %    1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +93 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%~ h +2 %9 +6 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +3 "core" 9  +103 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%\ 9 +3 "core" 9 +103 "processing"% 9 +3 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%9 +3 "core" 9+ +103 "processing"%9 +2 "core" 9/ +102 "processing"%9 +3 "core" 93 +103 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +103 "processing"%9 +2 "core" 9@ +102 "processing"%9 +3 "core" 9D +103 "processing"%9 +2 "core" 9H +102 "processing"%9 +4 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +3 "core" 9U +103 "processing"%9 +2 "core" 9Y +103 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +103 "processing"% 9 +2 "core" 9e +103 "processing"%!9 +2 "core" 9j +103 "processing"%"9 +3 "core" 9n\ +144 "processing"%#9 +3 "core" 9t +103 "processing"%$9 +3 "core" 9x +103 "processing"%%9 +2 "core" 9 | +3 .tPH.hold 2:00:00,28C +3 "processing"%& php +3 .tdelay 1:30 +4 "core" } +9000 .tPSR.select :air +3 .PSV.dial PSR + "processing"%' +101 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%(' +586 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%)' +213 "Can"\ G p +1404 "core" ' + .tPTV.dial :puck +2 "processing"%*  +126 "core"  +2 .tPSV.dial PTV +2 "processing"%+ +71 "core" +2 .tPBV.dial :waste1 +2 "processing"%,  +51 "core" +2 "processing"%-% +3 "core" %{\  +3 .tPS.seek 1.5ml +2 "processing"%.'/ +584 "core" ' + .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%/ * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%0'ؾ +1619 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%1  +4 "core"  +2 .tPBV.dial :waste1 + "processing"%2  +35 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%3 * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%5' +2389 "core" ' +2 .tPSV.dial PTV +2 "processing"%7 +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV +2 "processing"%8 +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%9  +84 "core"  +3 .tPS.seek 0ml +2 "processing"%:'ؾ +2325 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%6  +127 "core" +2 .tPSV.dial :mixloop +2 "processing"%< +42 "core" + .tPRV.dial :ab1 +2 "processing"%= @ +98 "core" @ +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%>' +357 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "processing"%?  +42 "core" +2 "processing"%@% +4 "core" %Q\ +2 .tPS.seek 0.3ml +2 "processing"%A' +352 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +29 "core" + .tPRV.dial :air +2 "processing"%D  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%C'K +1279 "core" ' + .tPRV.dial :waste2 +2 "processing"%B @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%F' +866 "core" ' +2 #taddPMLReagent08 +2 .PSV.dial :air + "processing"%E  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%H' +1608 "core" ' +2 .tPSV.dial :PML + "processing"%G +44 "core" +2 .tPTV.dial :mixing + "processing"%I @ +72 "core" A +2 .tPBV.dial :waste1 +2 "processing"%K  +33 "core" +2 "processing"%J% +4 "core" %A\  +2 .tPS.seek 1.85ml +2 "processing"%M' +234 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%L * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%N'ؾ +1970 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'P& +3 "core" & \ +2 "manipulator"&Q& +4 "core" &  ` & +2 "manipulator"&O% +3 "core" %   G  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&S(- +126 "core" ( + "manipulator"&R& +4 "core" &-  } +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &-  , +2 .tForearm.seek :garage +2 "manipulator"&T'w +91 "core" ' +2 .tHand.close + "manipulator"&W/ +62 "core" / +2 "manipulator"&X& +3 "core" &-   +2 "manipulator"&Y% +4 "core" % v +2 .tForearm.seek :retract +2 "manipulator"&Z' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +290 "core" ( +2 "manipulator"&;& +4 "core" &Ӆ   0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +3 "core" &Ӆ  0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'? +97 "core" ' +2 "manipulator"&_& +5 "core" &Ӆ    0 + "manipulator"&a% +4 "core" %E \   +2 "collection"'b& +4 "core" & \ +3 "collection"'d& +44 "core" & \ +10 & \ + & \ + & \ + & \ +2 & \ + & \ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & \  +10 &5~ \ +{ +9 &d \ > +9 &s \ M +10 &NS \ M +9 &Y \ L +9 &X \ M +10 &T \ L +9 &VU \ M +9 &\\ \ M +10 &T \ M +9 & U \ M +10 &"^U \ M +9 &$ Y \ M +9 &%Y \ M +10 &'V \ L +9 &)gV \ L +10 &+(Z \ M +9 &,Z \ M +9 &.X \ M +10 &0oU \ L +9 &21V \ L +9 &3Z \ M +10 &5Y \ L +9 &7vU \ M +10 &98Z \ M +9 &:Y  \ M +9 &<U \ L +10 &>~Y \ M +9 &@@Z \ M +9 &Ba \ M +10 &Ck \ O +9 &Ex \ Q +9 &G, \ V +10 &H \ X +9 &J \ Z +10 &Li \ Y +9 &N) \ Z +9 &O \ [\ +10 &Q \ Z +9 &Sh \ \\ +9 &U, \ \\ +10 &V \ ] +9 &X \ ] +10 &Zk \ ^ +9 &\\z \ 6 +9 &\\$ \ 's +10 ( + &\\ \ #e +2 "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + "collection"'& +4 "core" &\\ \ #e +2 .tHand.open + "manipulator"&f1 +61 "core" 1 +2 "manipulator"&g% +3 "core" % E     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' + .tPSV.dial PSR +2 "processing"%j +102 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%k'+ +1607 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%m  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%n'ؾ +1629 "core" ' + .tPSV.dial PSR +2 "processing"%p +44 "core"  + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%`' +2478 "Can" \ d sc+* +151 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%c  +2 "collection"'e  +31 "core" +124  + .tPSV.dial :mixloop +2 "processing"%l +100 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'s +3 "core"  +2 "collection"'t +3 "core"  +2 "collection"'i  +4 "core" +2 .tPTV.dial :PRVmixing + "processing"%v  +72 "core" +3 .tPS.seek 0ml +2 "processing"%w'ؾ +2629 "core" ' +2 .tPSV.dial :air + "processing"%x  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%o' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%q +42 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%{  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%|' +2627 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%y'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +3 "core" &ӆ A / +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&u(ӂ +4 "core" ( +2 "manipulator"&& +4 "core" &ӆ  \ o / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӆ \  / +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "manipulator"&\ & +4 "core" &ӆ  / + "manipulator"& % +4 "core" % I    +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +281 "core" ( +2 "manipulator"&& +3 "core" &-   J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  $ J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +98 "core" ' +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +3 "core" % ~  & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +101 "core" ' +2 ."da"delayUntil "12:39:52.29" +24755 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +71 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2383 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"% +79 "core" +9 ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%!  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%"'ؾ +2327 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%# +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%$' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%%' +1632 "core" ' + ."da"PTV.dial :puck +7 "processing"%'  +68 "core"  +2 ."da"PSV.dial PTV +2 "processing"%V +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%(  +33 "core" + "processing"%*% +4 "core" %X\ +2 ."da"PS.seek 1.5ml +2 "processing"%+'' +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%, * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%-'ؾ +1634 "core" ' +2 ."da"delay 2:00 +5600 "Can"\ d vF +6404 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%)  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%/ * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%~' +2391 "core" ' + ."da"PSV.dial PTV +2 "processing"%1 +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%2 +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%3 +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%4  +84 "core" +3 ."da"PS.seek 0ml + "processing"%0'ؾ +2312 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%8' +1616 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%9 +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%5  +32 "core" +2 "processing"%6% +3 "core" %I\  +3 ."da"PS.seek 1.5ml +2 "processing"%<'/ +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%@ * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%> +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2389 "core" ' +2 ."da"PSV.dial PTV + "processing"%D +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%A +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%B +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%C  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +2318 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%F  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%G  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%I  +41 "core"  + ."da"PTV.dial :PRVmixing +2 "processing"%K  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"%J +42 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%L' +388 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%H  +43 "core"  +2 "processing"%M% +3 "core" %H\  +3 ."da"PS.seek 0.55ml +2 "processing"%P' +336 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%Q  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%O' +1569 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%R +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%U @ +71 "core" @ +2 ."da"PBV.dial :waste1 +2 "processing"%r  +32 "core" +2 "processing"%W% +3 "core" %[\ +3 ."da"PS.seek 1.85ml +40 "processing"%X' +235 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%Y * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +1969 "core" ' +2 ."da"delay 2 seconds +203 .delay 8:00 +10096 "Can"\ A xW +37907 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%T  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%; * +33 "core" + +2 ."da"PSV.dial :air +2 "processing"%S  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%]' +2381 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%_ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%a  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%b +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%Z  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2330 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%f' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%g' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%d  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%j +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%^  +33 "core" + "processing"%N% +4 "core" %U\  +2 ."da"PS.seek 1.5ml +2 "processing"%m'1 +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%k * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%p'ؾ +1606 "core" ' +2 ."da"delay 2:00 +7826 "Can"\ Q {` +4177 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%n  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%e  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%c * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +71 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%s' +2393 "core" ' + ."da"PSV.dial PTV +2 "processing"%t +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%i +69 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%v +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%`  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%x'ؾ +2316 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%w +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%q' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%o' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%{  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +82 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%|% +3 "core" %L\  +3 ."da"PS.seek 1.5ml +2 "processing"%'' +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%'ؾ +1614 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%[  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%h * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +6 "processing"%\ ' +2383 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +2322 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +590 "core" ' +41 ."da"delay 5 seconds +510 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%% +3 "core" %S\  +3 ."da"PS.seek 1.5ml +2 "processing"%'( +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%y * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  + ."da"PBV.dial :waste1 +3 "processing"%  +32 "core" +2 ."da"delay 30 seconds +1221 "Can"\ V } +1781 ."da"PBV.dial between PSV and waste1 +2 "processing"%! * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%#' +2388 "core" ' + ."da"PSV.dial PTV +2 "processing"%" +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%$ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%' +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%V  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%('ؾ +2326 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%* +133 "core"  +2 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +4 "processing"% +15 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml + "processing"%%' +348 "core" ' + ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%,' +339 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%+' +1621 "core" ' + ."da"PTV.dial :puck +2 "processing"%)  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%/ +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%.  +34 "core" + "processing"%-% +4 "core" %K\ p +2 ."da"PS.seek 1.5ml +2 "processing"%1'1 +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%2 * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +1615 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%4  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%~  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%7 * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2412 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%9 +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%5 +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%6 +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%8  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%='ؾ +2392 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%< +130 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%?' +2115 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +3 "processing"%@  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%> +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%:  +34 "core" +2 "processing"%D% +3 "core" %Z\  +3 ."da"PS.seek 1.5ml +2 "processing"%A'' +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%B * +35 "core" , + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%C  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1606 "core" ' +2 "processing"%F9 +3 "core" 9j5` +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%G +3 "core" 5` +2 "processing"%I& +4 "core" &^g\ . +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&K% +3 "core" %  \ e +3 "storage"(J% +44 "core" % \ +9 "storage"(E. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(H(C +359 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &? p\ +2 "manipulator"&L& +4 "core" &- J +2 "manipulator"&Q% +3 "core" %  \ e +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&P( +174 "core" ( + "manipulator"&R& +4 "core" &  8 @ +2 "storage"(U& +4 "core" &? \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&r' +91 "core" ' +2 "storage"(W& +3 "core" &? \ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(O'r +275 "core" ' +2 "storage"(Y- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place + "storage"(X'1 +47 "core" ' +2 "manipulator"&T& +4 "core" & @ +2 "manipulator"&;% +4 "core" %  ' ~ +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&S' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&}( +244 "core" ( + "manipulator"&_& +4 "core" &    . +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &  7 . +2 ."da"Forearm.seek PC +2 "manipulator"&b' +96 "core" ' +2 ."da"Hand.close + "manipulator"&Z/ +64 "core" / +2 ."da"PC.seek :open +3 "processing"%]( +455 "core" ( +2 "storage"(& +4 "core" &? [\ +2 "manipulator"& & +3 "core" & . +2 "manipulator"&f% +4 "core" %  L  +3 ."da"Forearm.seek :retract +2 "manipulator"&d' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&j( +248 "core" ( + "manipulator"&^& +4 "core" &  J I +2 "storage"(N& +3 "core" &? x z \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&g' +94 "core" ' + ."da"Hand.open +2 "manipulator"&k1 +64 "core" 1 +2 "storage"(m- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate + "storage"(n' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(e' +53 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0713h.tif +4 "processing"%c& +11 "core" &!\ f +4 "manipulator"&l& +5 "core" & \  H +3 "manipulator"&p% +5 "core" %  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&t' +93 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&i(- +180 "core" ( + "manipulator"&v& +5 "core" &-   ' +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &-  ' +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&s'w +91 "core" ' +3 ."psFlush"Hand.close +2 "manipulator"&w/ +58 "core" / +2 "manipulator"&x& +3 "core" &-   ' +2 "manipulator"&q% +4 "core" % ω T +48 ."psFlush"Forearm.seek :retract +9 "manipulator"&{' +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC + "manipulator"& ( +119 "core" ( +2 "manipulator"&& +3 "core" &  B +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &  B +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&o' +99 "core" ' +2 "manipulator"&& +3 "core" &   B +3 "manipulator"&% +3 "core" %  +3 "processing"%& +4 "core" &\ c +2 "processing"%[& +6 "core" &\ c +2 ."psFlush"PC.seek :closed +3 "processing"%h(^ +4 "core" &\ b +6 &\ c5 +9 &@Hm\ \\0 +9 &cos\ ZD +10 &]\ hP +9 &J\ N +10 &M\ O +9 &EL\ O +9 &J\ N +10 &J\ N +9 &J \ N +9 &NJ\ N +10 &!LD\ N +9 &"JI\ O +10 &$J>\ N +9 &&RL5\ bP +9 &(J1\ aP +10 &)G2\ aP +9 &+G2\ `O +9 &-ZI4\ _P +10 &/J$\ _P +9 &0H*\ _O +10 &2L \ _P +9 &4bG\ _P +9 &6$L+\ _P +10 &7G+\ _P +9 &9H]\ ^P +9 &;jG\ _P +10 &=,H\ ^P +9 &>K\ ^P +10 &@J\ ^P +9 &BoRz\ ]Q +9 &D1Zs\ Q +10 &Epv\ ~R +9 &Gt\ }U +9 &Ihv\ V +10 &K*z\ V +9 &Lj\ V +10 &Ng\ V +9 &Plc\ ~W +9 &R.t\ ~W +10 &St\ ~X +9 &Ut\ \\X +9 &Wps\ [Y +10 &Y4f\ [X +9 &Zd\ ZX +9 &\\c\ YY +10 &^1`ne\ \\0 +9 &^{b\ [B +9 ( +3 "processing"%[& +2 "core" &^1Z\ ^7 +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.80 +2 "processing"%& +3 "core" &^3Z\ ^7 +2 ."psFlush"Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"& % +4 "core" %  3 0 / +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +44 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +583 #"da"SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 19.06 seconds\ /var/log/esp/da23sep0713h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0713h15s.tif +15 "core" ' +3 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml +2 "processing"%\ ' +1028 #"da"SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0713h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0713h20s.tif +1096 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +187 "core" A + ."psFlush"PTV.dial :PRVmixing +3 "processing"%u  +132 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +3 ."psFlush"PS.seek :empty +3 "processing"%'ؠ +433 #"da"SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0713h20s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "19.06 sec auto-exposure",Subject: "da23sep0713h images!" +6 "storage"(- +15 "core" -' +6 "storage"(& +10 "core" &? q\ +2 "manipulator"&& +5 "core" & , ,  B +2 "manipulator"&% +3 "core" %  + )  +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +15 "manipulator"&y( +243 "core" ( +2 "manipulator"&& +3 "core" & 9 1 > +3 "storage"(& +4 "core" &? \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +99 "core" ' +6 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(!'" +58 "core" ' +4 "manipulator"&& +8 "core" &  = +5 "storage"(& +10 "core" &?\ \  F\ +4 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 1 +4 "manipulator"&"'8 +28 "core" ' +4 ."da"Elbow.hold +2 "manipulator"&$, +8 "core" , +5 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"('' +30 "core" ' +2 "manipulator"&V% +8 "core" %: , /  o +4 "storage"(#& +6 "core" &? \  S\ +5 ."da"Forearm.force -20 +3 "manipulator"&5 +8 ."da"Forearm.seek 1 + 302 counts +3 "manipulator"&*'f +17 "core" ' +2 "manipulator"&(& +8 "core" & \ \ = +4 "storage"(%& +8 "core" &?   \ +4 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +6 "manipulator"&,' +18 "core" ' +4 "storage"()% +7 "core" %   Y\  +5 ."downElevator"SE.seek :down +6 "storage"(/' +98 (.% +6 "core" %C ;\ U\\ +4 "manipulator"&-% +8 "core" %  +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +5 "manipulator"&+' +96 "core" ' +38 ' +3 ."downElevator"SE.stop +6 "storage"(5 +8 (2& +6 "core" &?\ \  \ +1082 ' +2 ."psFlush"PSR.select :air +5 .PSV.dial PSR +3 "processing"%1 +104 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +3 "processing"%@ +16 ."psFlush"PS.seek 0.5ml +2 "processing"%4' +590 "core" ' +4 ."psFlush"delay 5 seconds +170 #"uploadLog"upsync +332 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%~' +2140 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%7  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%0 @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%3 +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%9'ؠ +2634 "core" ' +3 ."psFlush"PSV.dial PSR +4 "processing"%5 +102 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%6'X\\ +1103 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%8' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%<  +69 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%=  +4 "core" +2 ."psFlush"PS.seek 0ml +3 "processing"%@'ؾ +2639 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%> +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%:' +584 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%D' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%? +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%B U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%C'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%A @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%F' +385 "Can"\ I l +2248 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%G  +70 "core"  +3 ."psFlush"PS.seek 0ml +45 "processing"%I'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%K +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%J' +2628 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%E +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%\\ U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%M'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%L @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%Q' +2629 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%R  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%U'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%W +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1102 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Y +70 "core" + ."psFlush"PTV.dial :puck +2 "processing"%T  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%;  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%O'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%r +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml + "processing"%_' +590 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%P +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%Z U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2655 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%z @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%b +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%^' +2634 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%N +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%} U +16 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%k'ؾ +2647 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%m @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%c' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%l  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2638 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&d& +4 "core" &  < = +2 "manipulator"&X% +3 "core" %  q  +3 ."psFlush"Elbow.seek PC +2 "manipulator"&n( +244 "core" ( + "manipulator"&v& +4 "core" &  # +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" & \  # +2 ."psFlush"Forearm.seek PC +3 "manipulator"&g' +92 "core" ' +2 ."psFlush"Hand.close + "manipulator"&j/ +55 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%w( +455 "core" ( +2 "manipulator"&x& +4 "core" &   # +37 "manipulator"&q% +11 "core" %   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&t' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +3 "manipulator"&(- +127 "core" ( +2 "manipulator"&|& +4 "core" &-  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &-   +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +99 "core" ' +2 ."psFlush"Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +3 "core" % z  ` +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&i' +90 "core" ' +2 #tFinished short da assay +862 #-> access 1 +3 "storage"({% +3 "core" % Y Z\ +2 "manipulator"&]% +4 "core" %  `  +2 "manipulator"&& +3 "core" &- 7 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +1297 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" &<- < A {\ +1185 #t-> access 2 +2 "storage"([% +4 "core" % ] d b\ +2 "manipulator"&% +4 "core" %    +2 "manipulator"&o& +3 "core" &- ) +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K W L Y\ +8 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%% +4 "core" %ؿ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%u& +4 "core" &w\ +2 "manipulator"&& +4 "core" &- # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&\ (- +12 "core" ( + "manipulator"&& +4 "core" &- a 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  7 +3 .tForearm.seek :garage + "manipulator"&'w +93 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 "manipulator"&& +3 "core" &-  p 7 +2 "manipulator"&% +4 "core" % ψ s  +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +115 "core" ( +2 "manipulator"&& +3 "core" &  2 5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  0 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&V' +91 "core" ' + "manipulator"&#& +5 "core" & i 5 + "manipulator"&(% +5 "core" % X +2 "processing"%%& +4 "core" &t\ +2 "processing"%e& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%)(^ +4 "core" &q\ +8 &9x\ $d +10 &Xtv\ 7 +9 &sv\ L +10 &Ow\ L +9 &|Rz\ L +9 &>Qv\ L +10 &Qr\ L +9 &Ss\ L +9 &Qn\ L +10 &ETl\ L +9 & Rc\ L +10 &!Pm\ L +9 &#Ri\ M +9 &%MRk\ L +10 &'Ng\ L +9 &(Rj\ L +9 &*Ol\ L +10 &,USh\ L +9 &.Qg\ L +10 &/Tm\ L +9 &1Qs\ L +9 &3]On\ L +10 &5Rv\ M +9 &6Ro\ L +9 &8Ou\ L +10 &:dQo\ M +9 &<'Qr\ L +10 &=Pm\ L +9 &?Tg\ L +9 &AlVo\ M +10 &C+`n\ N +9 &Dfp\ O +9 &F|m\ Q +10 &H_k\ T +9 &J#p\ S +10 &Km\ S +9 &Mq\ T +9 &Ohx\ S +10 &Q&q\ U +9 &Rp\ T +9 &Tq\ U +10 &Vnp\ T +9 &X/k\ T +10 &Yp\ T +9 &[m\ U +9 &]ru\ B +10 &^9km\ &p +9 &^-s\ 0 +5 ( +2 "processing"%e& +4 "core" &^u\ 0 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 "processing"% & +4 "core" &^\ 0 + .tHand.open +2 "manipulator"&y1 +61 "core" 1 +2 "manipulator"&.% +4 "core" %  \ X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +39 .tForearm.seek :retract +10 "manipulator"&-' +89 "core" ' + .tPSV.dial PSR +2 "processing"%! +44 "core"  + .tPSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%"'X\\ +1098 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%*' +1616 "core" ' +2 .tPSV.dial PTV +2 "processing"%2 +70 "core" + .tPTV.dial :puck +2 "processing"%'  +4 "core"  +2 .tPBV.dial :waste1 +2 "processing"%,  +50 "core" +2 .tPS.seek 0ml +2 "processing"%/'ؾ +2639 "core" ' +2 .tPSV.dial PSR +2 "processing"%1 +71 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%' +587 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%4' +2125 "core" ' + .tPSV.dial PTV +2 "processing"%7 +72 "core" +2 .tPBV.dial PSV + "processing"%0 U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%3'ؾ +1748 "Can" E  +889 "core" ' + .tPSV.dial PBV +2 "processing"%~ @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%5' +2639 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%9  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%6'ؾ +2628 "core" ' +2 .tPSV.dial PSR +2 "processing"% +43 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%<' +2635 "core" ' + .tPSV.dial PTV +2 "processing"%= +70 "core" +2 .tPBV.dial PSV +2 "processing"%8 U +15 "core" T +2 .tPS.seek 0ml +2 "processing"%>'ؾ +2629 "core" ' + .tPSV.dial PBV +2 "processing"%@ @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%:' +2636 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%?  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%B'ؾ +2628 "core" ' +2 #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&D& +3 "core" &   5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&A( +3 "core" ( + "manipulator"&C& +4 "core" &  D 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" & 5 +2 .tForearm.seek PC +2 "manipulator"&F' +97 "core" ' +2 .tHand.close + "manipulator"&K/ +62 "core" / +2 .tPC.seek :open + "processing"%I( +456 "core" ( + "manipulator"&E& +4 "core" &  5 +2 "manipulator"&\\% +3 "core" %   b +3 .tForearm.seek :retract + "manipulator"&J' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&L(- +127 "core" ( + "manipulator"&M& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &-  F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&Q'w +99 "core" ' +2 .tHand.open + "manipulator"&W1 +55 "core" 1 +2 "manipulator"&U% +3 "core" % ρ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +100 "core" ' +4063 #t-> $da[:extracVol]=.2 +446 #-> startTube 2 +37199 "Can" 9 E +15840 #t-> shortDA; samplePassF +2 "collection"'Y% +3 "processing"%T% +3 "core" %c \ +7 %\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +485 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%; +129 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +163 "core" +8 .tPRV.dial :sipper +2 "processing"%r  +43 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%O'e +2294 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%_  +125 "core" +3 .tPS.seek 0.5ml +2 "processing"%P' +1279 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%Z @ +98 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml +2 "processing"%a'ؾ +608 "core" ' +2 .tPSV.dial PSR + "processing"%z +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%S'X\\ +1101 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"% ' +1635 "core" ' + .tPSV.dial :mixloop +2 "processing"% +102 "core" +2 .tPS.seek 0ml + "processing"%b'ؾ +2632 "core" ' +2 .tPSV.dial PSR +2 "processing"%f +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%N'X\\ +1119 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%}' +1619 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%^ +101 "core" +2 .tPRV.dial :sipper + "processing"%m  +42 "core" +3 .tPS.seek 0ml +2 "processing"%k'ؾ +2627 "core" ' + .tPSV.dial PSR +2 "processing"%l +101 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%c' +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"%d +102 "core" +2 .tPS.seek 0ml +2 "processing"%X'ؾ +2626 "core" ' + #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%v& +3 "core" &\ +3 "manipulator"&`% +3 "core" %  J z +3 "storage"($% +4 "core" % Z [\ + "storage"(j. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(+(  +1299 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +3 "core" & F C Z\ +2 "manipulator"&x& +4 "core" &- ? +2 "manipulator"&q% +4 "core" %  ? z +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&|( +168 "core" ( + "manipulator"&s& +4 "core" &  , +2 "storage"(g& +4 "core" & ^ \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&n'S +94 "core" ' +2 "storage"(& +4 "core" & [ ]\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +380 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & 8 , \ +3 "manipulator"&{& +3 "core" & , +3 .tElbow.seek 2 +2 "manipulator"&]( +4 "core" ( + "manipulator"&& +4 "core" &  e , +2 "storage"(H& +4 "core" & Z \\\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +11 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +55 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(o' +7 "core" & 3 , +2 "manipulator"&% +4 "core" % ϳ u _ +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&u& +4 "core" &  T % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   J % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 "manipulator"&& +4 "core" &  s % +39 "manipulator"&% +11 "core" %  +2 "processing"%& +3 "core" &\ +3 "processing"%& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +9 &5v\ *x +9 &d{\ > +9 &m\ N +10 &LO\ M +9 & U\ M +10 &R\ M +9 &P\ M +9 &ST\ M +10 &S\ N +9 &R\ M +9 & P\ M +10 &"[U\ M +9 &$U\ M +10 &%S\ N +9 &'S\ M +9 &)cQ\ M +10 &+%U\ M +9 &,U\ M +9 &.S\ N +10 &0lP\ M +9 &2-S\ M +10 &3P\ M +9 &5Q\ M +9 &7sQ\ M +10 &95U\ M +9 &:S\ N +9 &<U\ M +10 &>zW\ N +9 &@;V\ N +10 &A\\\ N +9 &Ck\ P +9 &Exu\ Q +10 &G4\ S +9 &H\ T +9 &J\ T +10 &Lu\ U +9 &N7\ U +10 &O\ U +9 &Q\ U +9 &Sy\ V +10 &U>\ U +9 &W\ U +9 &X\ U +10 &Z\ U +9 &\\D\ V +10 &]|r\ 5 +9 &^,\ N +9 &^\ 0 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.69 + .Hand.open + "manipulator"&i1 +65 "core" 1 +2 "manipulator"&% +3 "core" %      +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %#9 +6 "core" 9 +103 "processing"%(9 +2 "core" 9 +103 "processing"%%9 +2 "core" 9  +103 "processing"%\ 9 +3 "core" 9  +102 "processing"% 9 +3 "core" 9 +103 "processing"%w9 +2 "core" 9 +103 "processing"% 9 +2 "core" 9 +103 "processing"%y9 +3 "core" 9 +103 "processing"%.9 +2 "core" 9" +103 "processing"%e9 +2 "core" 9& +103 "processing"%!9 +3 "core" 9+ +102 "processing"%V9 +3 "core" 9/ +103 "processing"%p9 +3 "core" 93 +102 "processing"%"9 +3 "core" 97 +102 "processing"%29 +3 "core" 9< +102 "processing"%'9 +3 "core" 9@ +102 "processing"%,9 +3 "core" 9D +102 "processing"%*9 +4 "core" 9H +102 "processing"%19 +3 "core" 9L +102 "processing"%/9 +3 "core" 9Q +102 "processing"%9 +3 "core" 9U +102 "processing"%79 +3 "core" 9Y +102 "processing"%09 +3 "core" 9] +103 "processing"%49 +2 "core" 9a +103 "processing"%~9 +2 "core" 9f +103 "processing"%39 +3 "core" 9j +102 "processing"%99 +3 "core" 9n +102 "processing"%59 +4 "core" 9r +102 "processing"%9 +3 "core" 9 v +102 "processing"%69 +3 "core" 9{\ +103 "processing"%=9 +2 "core" 9 +103 "processing"%89 +2 "core" 9$ +3 .tPH.hold 2:00:00,28C +3 "processing"%< php +3 .tdelay 1:30 +4 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +102 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%>' +586 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%?' +1617 "core" ' +2 .tPTV.dial :puck + "processing"%:  +127 "core"  + .tPSV.dial PTV +2 "processing"%D +84 "core" +2 .tPBV.dial :waste1 + "processing"%C  +50 "core" +2 "processing"%G% +3 "core" %\  +3 .tPS.seek 1.5ml +2 "processing"%K'. +595 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%-'ؾ +1410 "Can" E ۃ +197 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%)  +3 "core"  +2 .tPBV.dial :waste1 +2 "processing"%E  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%\\ * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%M +69 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%R' +2389 "core" ' + .tPSV.dial PTV +2 "processing"%F +72 "core" + .tdelay 5 seconds +503 .PSV.dial PSR +2 "processing"%A +110 "core"  +10 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%W +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%U  +72 "core"  +3 .tPS.seek 0ml +2 "processing"%J'ؾ +2331 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%Q  +128 "core" + .tPSV.dial :mixloop +2 "processing"%Y +43 "core" +2 .tPRV.dial :ab1 +2 "processing"%T @ +96 "core" ? +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%;' +356 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "processing"%  +41 "core"  +2 "processing"%r% +4 "core" %Q\ \ +3 .tPS.seek 0.3ml + "processing"%B' +355 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'_  +29 "core" +2 .tPRV.dial :air +2 "processing"%O  +41 "core"  +3 .tPS.seek 0.9ml + "processing"%Z'K +1266 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%P @ +70 "core" > +2 .tPS.seek 0.5ml +2 "processing"%z' +869 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%a  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%S' +1617 "core" ' +2 .tPSV.dial :PML +2 "processing"% +43 "core" +2 .tPTV.dial :mixing +2 "processing"% @ +70 "core" @ + .tPBV.dial :waste1 +2 "processing"%f  +34 "core" +2 "processing"%b% +3 "core" %?\  +3 .tPS.seek 1.85ml +2 "processing"%N' +264 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%^ * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%m'ؾ +1974 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'}& +3 "core" & \  +3 "manipulator"&l& +4 "core" &  % +2 "manipulator"&k% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&d(- +125 "core" ( + "manipulator"&c& +5 "core" &-  k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +2 "core" &-  +3 .tForearm.seek :garage +2 "manipulator"&`'w +94 "core" ' +2 .tHand.close + "manipulator"&$/ +62 "core" / +2 "manipulator"&j& +4 "core" &- \ @ +2 "manipulator"&% +4 "core" % υ +  +2 .tForearm.seek :retract +2 "manipulator"&h' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +274 "core" ( +2 "manipulator"&q& +3 "core" &ӂ( 4 - @Z +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &Ӄ( . , V @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&g'? +102 "core" ' +2 "manipulator"&& +4 "core" &ӏ& , /  >M +2 "manipulator"&L% +3 "core" %4 . / G  +3 "collection"'& +4 "core" & \  +2 "collection"'t& +5 "core" & \  +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  +9 &7 \ +} +10 &h \ @ +9 &p \ M +9 &aP \ M +10 &#Y \ M +9 &U \ L +9 &W \ M +10 &jW \ L +9 &+Y \ M +10 &Z \ M +9 & T \ M +9 &"qU \ M +10 &$4U \ L +9 &%U \ L +9 &'V \ M +10 &)xY \ M +9 &+<W \ L +10 &,V \ M +9 &.W \ M +9 &0T \ M +10 &2CR \ M +9 &4U \ M +9 &5V \ L +10 &7T \ M +9 &9KY \ M +10 &; X \ M +9 &<Z \ M +9 &>Y \ M +10 &@SR \ M +9 &B] \ M +9 &Cj \ O +10 &E \ Q +9 &G? \ V +10 &H \ X +9 &J \ Y +9 &L} \ Y +10 &N< \ Z +9 &O \ Z +9 &Q \ Z +10 &S~ \ [ +9 &UA \ [\ +10 &V \ \\ +9 &X \ ] +9 &Z \ ^ +10 &\\"y \ 2 +9 &\\+ \ ^ +9 ( +2 &\\y \ R +2 "collection"'t& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + "collection"'{& +3 "core" &\\x \ R +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&H% +5 "core" % 4 3 :  +48 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +94 "core" ' +2 .tPSV.dial PSR +2 "processing"% +102 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%'+ +1614 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%|  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%n'ؾ +1613 "core" ' +2 .tPSV.dial PSR +2 "processing"% +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"% ' +2628 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%u  +2 "collection"'  +32 "core" ~ +122  +2 .tPSV.dial :mixloop + "processing"%] +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%o' +795 "Can"\ Pq +1845 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml + "processing"%I'ؾ +2634 "core" ' +2 .tPSV.dial :air + "processing"%i  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"%# +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&(& +5 "core" &Ӯ   e :. +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +17 "core" ( +2 "manipulator"&%& +3 "core" &ӊ  . +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &ӊ  . +2 .tForearm.seek CC +2 "manipulator"& '? +99 "core" ' + .tHand.close +2 "manipulator"&w/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +448 "core" ( +2 "manipulator"&y& +4 "core" &Ӝ ~ , +2 "manipulator"&.% +4 "core" % % +2 .tForearm.seek :retract + "manipulator"&e' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&!(- +286 "core" ( +2 "manipulator"&V& +4 "core" &-    8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &- 4 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&"'w +91 "core" ' +2 .tHand.open +2 "manipulator"&21 +60 "core" 1 +2 "manipulator"&'% +4 "core" % σ   5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +99 "core" ' +2 ."da"delayUntil "14:09:12.94" +24754 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%* @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%1  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%/ * +32 "core" * +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%7' +2390 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%0 +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%4  +42 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%~ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%3  +43 "core"  +3 ."da"PS.seek 0ml + "processing"%9'ؾ +2342 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%5 +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +40 .PSR.select :wash +9 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%6' +1609 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%=  +68 "core"  +2 ."da"PSV.dial PTV +2 "processing"%8 +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%@  +32 "core" +2 "processing"%X% +4 "core" %a\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%>'' +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%: * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1633 "core" ' +2 ."da"delay 2:00 +9566 "Can"\ Z  +2437 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%C  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%G * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%? +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"%K +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%) +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%E  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\\'ؾ +2316 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%-' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%F' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%A +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%W  +32 "core" +2 "processing"%U% +3 "core" %d\  +3 ."da"PS.seek 1.5ml +2 "processing"%R'* +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%Q * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%Y'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%T  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%J * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%r' +2395 "core" ' +2 ."da"PSV.dial PTV + "processing"%; +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%_ +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%O +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%B  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +2310 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%Z  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%a  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%z  +42 "core"  +2 ."da"PTV.dial :PRVmixing +2 "processing"%  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%f' +391 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%b  +42 "core"  +2 "processing"%S% +44 "core" %^\  +9 ."da"PS.seek 0.55ml +2 "processing"%^' +336 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%N  +43 "core"  +2 ."da"PS.seek 2ml +3 "processing"%}' +1565 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%l +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%k @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%c  +33 "core" + "processing"%v% +4 "core" %x\  +3 ."da"PS.seek 1.85ml + "processing"%' +228 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%$ * +32 "core" + +2 ."da"PS.seek 0ml +3 "processing"%j'ؾ +1969 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +14075 "Can" A ! +33927 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +15 "core" ? + ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%` * +33 "core" + + ."da"PSV.dial :air +2 "processing"%q  +43 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%s' +2381 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%d +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%L +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%h'ؾ +2342 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%{' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%H  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%t +82 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%g% +4 "core" %}\  +2 ."da"PS.seek 1.5ml +2 "processing"%m'0 +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%| * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' + ."da"delay 2:00 +11774 "Can" A 3 +229 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%n * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%u' +2393 "core" ' + ."da"PSV.dial PTV +2 "processing"%] +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2333 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%o' +596 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%i' +1616 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%I +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%#  +33 "core" + "processing"%% +3 "core" %b\  +51 ."da"PS.seek 1.5ml +2 "processing"%('0 +610 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%w  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%x * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%[ +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2380 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%y +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%. +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%V  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%p'ؾ +2330 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%2' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%e +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%"  +32 "core" +2 "processing"%*% +3 "core" %p\  +3 ."da"PS.seek 1.5ml +2 "processing"%1'. +588 "core" ' +55 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%/ * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"%0 * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%4 +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%~' +1975 "Can" B Ƀ! +416 "core" ' + ."da"PSV.dial PTV +2 "processing"%3 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%7 +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%5 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%9  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2338 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +14 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%8' +343 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%@' +342 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%X' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%6 +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%:  +34 "core" + "processing"%>% +4 "core" %z\  +3 ."da"PS.seek 1.5ml + "processing"%C') +594 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%G * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%?'ؾ +1617 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%D  +84 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%K * +35 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +73 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%)' +2429 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%E +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%M +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%\\  +74 "core"  +2 ."da"PS.seek 0ml +3 "processing"%-'ؾ +2382 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%A +131 "core"  +2 #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%W' +2130 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%U +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%F  +34 "core"  + "processing"%Q% +4 "core" %x\  +2 ."da"PS.seek 1.5ml +2 "processing"%R'. +608 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%T * +35 "core" , + ."da"delay 1 second +103 .PSV.dial :waste1 +2 "processing"%J  +103 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1614 "core" ' + "processing"%Y9 +4 "core" 9e5i +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%; +3 "core" 5i +2 "processing"%_& +4 "core" &^\ 0 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&O% +4 "core" %  x +2 "storage"(B% +3 "core" % \  +2 "storage"(r. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(Z(C +359 "core" ( +2 ."da"SC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &C \ +2 "manipulator"&z& +4 "core" &- 8 +2 "manipulator"&% +3 "core" %  x x +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"& ( +173 "core" ( + "manipulator"&P& +4 "core" &  F ) +2 "storage"(b& +4 "core" &C   *\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&S' +91 "core" ' +2 "storage"(f& +3 "core" &C H\ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(N'r +275 "core" ' + "storage"(^- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(l'1 +45 "core" ' +2 "manipulator"&k& +4 "core" &  " ) +2 "manipulator"&c% +4 "core" % t +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&v' +95 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&$( +241 "core" ( +2 "manipulator"&}& +4 "core" & : 3 + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & } 3 +2 ."da"Forearm.seek PC +2 "manipulator"&&' +91 "core" ' +2 ."da"Hand.close + "manipulator"&/ +69 "core" / +2 ."da"PC.seek :open +2 "processing"%( +456 "core" ( + "storage"(`& +4 "core" &C \ +2 "manipulator"&q& +4 "core" & 3 + "manipulator"&j% +4 "core" %  " +2 ."da"Forearm.seek :retract +47 "manipulator"&d' +100 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +260 "core" ( + "manipulator"&L& +4 "core" &  +  +2 "storage"(& +4 "core" &C \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&s' +90 "core" ' + ."da"Hand.open +2 "manipulator"&1 +54 "core" 1 +3 "storage"(h- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"({' +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(H' +56 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0714h.tif +5 "processing"%t& +12 "core" &a\ k +4 "manipulator"&& +8 "core" & \  +2 "manipulator"&g% +6 "core" %  +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&|(- +174 "core" ( +2 "manipulator"&m& +3 "core" &-  T +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- T +4 ."psFlush"Forearm.seek :garage +2 "manipulator"&n'w +92 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +55 "core" / +2 "manipulator"&& +4 "core" &- r T +2 "manipulator"&]% +4 "core" % ς ] F +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"& ( +118 "core" ( +2 "manipulator"&& +4 "core" &  Q : +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" & y : +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +92 "core" ' +3 "manipulator"&& +4 "core" &  : +2 "manipulator"&o% +4 "core" % \ \ e +2 "processing"%I& +4 "core" &\ h +2 "processing"%#& +6 "core" &\ h +2 ."psFlush"PC.seek :closed +2 "processing"%(^ +4 "core" &\ h +9 &1q\ `*y +9 &au\ _> +9 &gg\ `O +10 &(G\ cO +9 &I\ bO +10 &H\ O +9 &pL\ N +9 &1I\ O +10 &L\ O +9 &N\ N +9 & yJ\ N +10 &":N\ N +9 &#O\ N +10 &%N\ N +9 &'O\ N +9 &)AK\ pO +10 &+J\ fO +9 &,I\ eP +9 &.J\ eO +10 &0FG\ eP +9 &2 J\ dO +10 &3G\ dO +9 &5L\ cO +9 &7OL\ cO +10 &9M\ cO +9 &:G$\ cO +9 &<G\ cO +10 &>WJ\ cO +9 &@N(\ bP +10 &AQN\ bP +9 &C\\L\ aQ +9 &EUgG\ `S +10 &GwF\ _U +9 &HL\ U +9 &JG\ U +10 &LUF\ U +9 &N9\ W +10 &O/\ V +9 &Q8\ W +9 &SZ6\ W +10 &U6\ W +9 &V4\ W +9 &X4\ V +10 &Z\\4\ `Y +9 &\\*\ `X +9 &]v#\ a7 +10 &^,d \ b"b +9 &^-\ e5 +2 ( +2 "processing"%#& +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 +2 "processing"%i& +3 "core" &^& \ d5 +2 ."psFlush"Hand.open +2 "manipulator"&%1 +54 "core" 1 + "manipulator"&(% +5 "core" %  1 / [ e +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&w' +91 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%x +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml + "processing"%[' +291 #"da"SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15.19 seconds\ /var/log/esp/da23sep0714h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0714h15s.tif +296 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +64 ."psFlush"PS.seek 2.5ml +2 "processing"%\ ' +696 #"da"SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0714h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0714h20s.tif +1423 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +3 "processing"%y @ +189 "core" A +8 ."psFlush"PTV.dial :PRVmixing +4 "processing"%.  +131 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +104 "core" +2 ."psFlush"PS.seek :empty +3 "processing"%V'ؠ +89 #"da"SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0714h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "15.19 sec auto-exposure",Subject: "da23sep0714h images!" +6 "storage"(- +11 "core" -' +12 "storage"(& +3 "core" &C \ +3 "manipulator"&p& +4 "core" & ) + ? : +2 "manipulator"&2% +6 "core" %  (    +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&e( +256 "core" ( +2 "manipulator"&"& +4 "core" & + ' +3 "storage"(*& +4 "core" &C 3\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&'' +95 "core" ' +6 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(/'" +53 "core" ' +4 "manipulator"&1& +8 "core" & \ +4 "storage"(& +8 "core" &C !  9\ +4 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +2 "manipulator"&0'8 +19 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&4, +6 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(' +28 "core" ' +3 "manipulator"&3% +10 "core" %: +2 "storage"(7& +8 "core" &C   '\ +4 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 302 counts +4 "manipulator"&5'f +16 "core" ' +2 "manipulator"&9& +9 "core" &  6 +3 "storage"(~& +9 "core" &C 1  \ +5 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&=' +19 "core" ' +7 "storage"(% +8 "core" %  # /\  +6 ."downElevator"SE.seek :down +6 "storage"(8' +97 (@% +6 "core" %hB\ \  ^\ U\\ +5 "manipulator"&6% +9 "core" % \  +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +3 "manipulator"&:' +91 "core" ' +44 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 (>& +6 "core" &C   @\ +1472 ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +4 "processing"%X +103 "core"  +3 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%G' +436 #"uploadLog"upsync +159 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%C' +2116 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%D  +35 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%K @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +50 "processing"% +103 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%?'ؠ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%E +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1115 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%M' +1607 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%\\ +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%)  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%A  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%-'ؾ +2649 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%U +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%F' +600 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%Q' +2125 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%W +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%T U +52 "core" W +3 ."psFlush"PS.seek 0ml +2 "processing"%J'ؾ +2652 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%R @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%Y' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%;  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%_'ؾ +1406 "Can" F _ +1225 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%O +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%B' +2634 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%r +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%+ U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%a'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%z @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%P  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%b'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%f +54 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%!'X\\ +1098 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%,' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%^ +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%k  +4 "core"  + ."psFlush"PBV.dial :waste1 +3 "processing"%c  +49 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%N'ؾ +2641 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%S +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%}' +584 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2122 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%v'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +42 "core" ? +48 ."psFlush"PS.seek 2.5ml +2 "processing"%`' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%q  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%j'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%& +54 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%L' +2635 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +84 "core" + ."psFlush"PBV.dial PSV +3 "processing"%$ U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%h @ +41 "core" ? +3 ."psFlush"PS.seek 2.5ml +2 "processing"%t' +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%g'ؾ +2641 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&d& +4 "core" &  f +2 "manipulator"&l% +3 "core" %  }  +3 ."psFlush"Elbow.seek PC +2 "manipulator"&{( +242 "core" ( +2 "manipulator"&m& +3 "core" &  3 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  ? 3 +2 ."psFlush"Forearm.seek PC +2 "manipulator"&s' +91 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +64 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%( +456 "core" ( + "manipulator"&& +4 "core" & 2 +2 "manipulator"&]% +3 "core" %   +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +122 "core" ( +2 "manipulator"&u& +4 "core" &-  = +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &- 7 +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +92 "core" ' + ."psFlush"Hand.open +2 "manipulator"&o1 +54 "core" 1 +2 "manipulator"&I% +4 "core" % ρ  H +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&|' +94 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & 9\ +2 "manipulator"&& +5 "core" &- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&i(- +21 "core" ( + "manipulator"&%& +4 "core" &-  O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &- H O +2 .tForearm.seek :garage +2 "manipulator"&#'w +93 "core" ' +2 .tHand.close + "manipulator"&x/ +53 "core" / +2 "manipulator"&& +4 "core" &-  O +2 "manipulator"&% +3 "core" % u  +3 .tForearm.seek :retract + "manipulator"&[' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&y(ӂ +284 "core" ( + "manipulator"&.& +4 "core" &ӊ&  \ Q ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӊ&  ^ ?R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +102 "core" ' +2 "manipulator"&& +3 "core" &Ӌ' \   ?Q +2 "manipulator"&p% +5 "core" %=  +2 "collection"'2& +4 "core" & H\ +2 "collection"'\ & +5 "core" & L\ +2 .tCC.seek :closed +47 "collection"'"(\\ +9 "core" & F\ +2 & Q\ + & J\ + & P\ + & G\ + & L\ + & G\ 9 +8 &LJv Q\ 1 +9 &u M\ E +9 &*\\ Q\ M +10 &S N\ L +9 &Z S\ L +10 &rZ O\ L +9 &4Z G\ L +9 &Y O\ L +10 &Y K\ M +9 &yX :\ M +9 &!;W 5\ M +10 &"W J\ M +9 &$T H\ L +10 &&Y F\ L +9 &(CY G\ M +9 &*X D\ L +10 &+T C\ L +9 &-T E\ L +9 &/LT 6\ L +10 &1T P\ L +9 &2T Q\ L +10 &4T \\\ L +9 &6UT J\ L +9 &8W U\ M +10 &9W X\ M +9 &;W W\ M +9 &=[W \\\ M +10 &?W ^\ M +9 &@Z ^\ L +10 &B` T\ M +9 &D\\q [\ O +9 &F\  ]\ S +10 &G\ \ \\\ W +9 &I\ \ `\ X +9 &KF\ \ S\ Y +10 &M\ \ [\ Z +9 &N \ \\\ Z +10 &P\ \ Z\ Z +9 &RI\ \ T\ [\ +9 &T\ \ \ ^\ [ +10 &U\ \ ]\ \\ +9 &W\ \ a\ ] +9 &YJ\ \ [\ ] +10 &[\ \ \ ]\ ^ +9 &\\cK\ \ `\ 6 +10 &\\\ \ \ ]\ Q +5 ( + "collection"'\ & +4 "core" &\\k\ \ b\ Q +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.33 + "collection"'*& +4 "core" &\\k\ \ `\ Q +2 .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "manipulator"&1% +4 "core" % =   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%w  +43 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%3'+ +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%7  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%9'ؾ +1605 "core" ' +2 .tPSV.dial PSR +2 "processing"%~ +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%H' +2637 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%  +2 "collection"''  +17 "core" +81  +2 .tPSV.dial :PTV,via: :air +2 "processing"%e +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%@ @ +69 "core" @ +3 .tPS.seek 0ml + "processing"%6'ؾ +2637 "core" ' + .tPSV.dial :air +2 "processing"%/  +73 "core"  +3 .tPS.seek 2.5ml +2 "processing"%0' +2628 "core" ' +2 .tPSV.dial :PTV +2 "processing"%5 +73 "core" ~ +2 .tPS.seek 0ml +2 "processing"%>'ؾ +2653 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +3 "core" &ӭ \ \\ :/ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&=(ӂ +23 "core" ( + "manipulator"&8& +4 "core" &w    $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &w   $ +2 .tForearm.seek CC +2 "manipulator"&V'? +99 "core" ' +2 .tHand.close + "manipulator"&G/ +65 "core" / +2 .tCC.seek :open +2 "collection"'D( +447 "core" ( +2 "manipulator"&K& +4 "core" &Ӈ \  n "y + "manipulator"&% +4 "core" %  \  S +2 .tForearm.seek :retract +2 "manipulator"&C' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&E(- +273 "core" ( +2 "manipulator"&?& +4 "core" &-  { +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-  { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&\\'w +98 "core" ' +3 .tHand.open + "manipulator"&)1 +53 "core" 1 + "manipulator"&A% +4 "core" %   6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M' +95 "core" ' +1280 "Can" 9  +10701 #t-> access 1 +3 "storage"(U% +3 "core" % Z Z ?\  +2 "manipulator"&-% +4 "core" %   +2 "manipulator"&F& +3 "core" &- R { +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(W(<- +1298 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &<* A 9 y\ +47965 "Can" 8  +19129 #t-> access 2 +3 "storage"(Q% +43 "core" % f _ g\  +10 "manipulator"&R% +3 "core" %   +3 "manipulator"&J& +4 "core" &- z +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(;(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Y& +3 "core" &K C E\ +350 #t-> $da[:extracVol]=.2 +518 #-> startTube 2 +23513 #-> shortDA; PS.flush +2 "collection"'O% +2 "processing"%_% +6 "core" %ؾC\  +61 %c )\ +3 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +607 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%r +43 "core" +2 .tPTV.dial :PRVmixing + "processing"%+  +72 "core" +2 .tPRV.dial :sipper + "processing"%B  +127 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%z'e +2295 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%a  +2 "collection"'P  +7 "core" +118 +2 .tPS.seek 0.5ml +2 "processing"%' +1271 "core" ' + .tPRV.dial :waste2 +2 "processing"%f @ +98 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%b'ؾ +590 "core" ' + .tPSV.dial PSR +2 "processing"%! +114 "core" +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%^'X\\ +1106 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%k' +1603 "core" ' +2 .tPSV.dial :mixloop + "processing"%c +100 "core" +2 .tPS.seek 0ml +2 "processing"%,'ؾ +2630 "core" ' +2 .tPSV.dial PSR +2 "processing"%S +114 "core" + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%N'X\\ +1103 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%}' +1613 "core" ' +2 .tPSV.dial :mixloop + "processing"% +100 "core" +2 .tPRV.dial :sipper +2 "processing"%  +42 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +1092 "Can" < ! +1543 "core" ' +2 .tPSV.dial PSR +2 "processing"% +101 "core" +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%v' +2652 "core" ' +2 .tPSV.dial :mixloop + "processing"%q +102 "core" +2 .tPS.seek 0ml +2 "processing"%`'ؾ +2625 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%&& +4 "core" &J\ + "manipulator"&j% +4 "core" %   +2 "storage"(% +4 "core" % g ] \  +2 "storage"($. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(L(  +1299 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (h& +2 "core" &  9 A k\ +3 "manipulator"&& +4 "core" &- M z + "manipulator"&% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&t( +170 "core" ( +2 "manipulator"&d& +4 "core" &  / < +2 "storage"(l& +4 "core" &  [ Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&m'S +94 "core" ' + "storage"(& +4 "core" &  Z Y\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (:& +2 "core" & A D \ +3 "manipulator"&& +4 "core" & < +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&]& +4 "core" &  4 < + "storage"(u& +4 "core" & E F K\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&n'Ͻ +10 "core" ' +2 .tForearm.reconfigure :loose +47 "manipulator"&#Q@2^d^b +5 .tHand.close + "manipulator"&s/ +62 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&o& + "storage"(I' +7 "core" & X < +2 "manipulator"&{% +4 "core" % Ͻ  + ^ +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&& +3 "core" & [ 7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" & e 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&(' +97 "core" ' +2 "manipulator"&& +3 "core" & Y 6 +3 "manipulator"&x% +3 "core" % X +3 "processing"%& +4 "core" &]\ +2 "processing"%& +5 "core" &5\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &7\ +7 &:>\ $d +9 &X{<\ 7 +9 &x8\ L +10 &Q5\ M +9 &tT6\ M +10 &5R:\ M +9 &U0\ M +9 &T'\ N +10 &{T%\ M +9 &=W'\ M +9 &V.\ M +10 &!V,\ M +9 &#T/\ M +10 &%EQ.\ M +9 &'U*\ M +9 &(T#\ N +10 &*U!\ M +9 &,MV\ M +9 &.T\ N +10 &/U\ M +9 &1U\ M +10 &3UT\ M +9 &5Q\ M +9 &6V\ M +10 &8U\ M +9 &:^Q\ M +9 &<W\ M +10 &=U\ N +9 &?T \ M +10 &AeV\ M +9 &C h\ P +9 &Dm\ P +10 &F\ R +9 &HZ\ T +9 &J\ \ T +10 &K \ T +9 &M\ T +10 &Oa\ T +9 &Q \ U +9 &R\ U +10 &T\ V +9 &Vf\ U +9 &X(\ U +10 &Y\ U +9 &[\ U +10 &]m\ B +9 &^<o\ %m +9 &^.\ 1 +6 ( + "processing"%& +4 "core" &^!\ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&|1 +59 "core" 1 +2 "manipulator"&#% +4 "core" %    ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +96 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %i9 +6 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%p9 +4 "core" 9  +102 "processing"%29 +3 "core" 9  +103 "processing"%[9 +2 "core" 9 +103 "processing"% 9 +2 "core" 9 +103 "processing"%*9 +2 "core" 9 +103 "processing"% 9 +3 "core" 9 +103 "processing"%19 +2 "core" 9" +103 "processing"%\ 9 +2 "core" 9& +103 "processing"%w9 +3 "core" 9+ +102 "processing"%9 +3 "core" 9/ +103 "processing"%g9 +3 "core" 93 +102 "processing"%79 +3 "core" 97 +103 "processing"%39 +2 "core" 9< +103 "processing"%~9 +2 "core" 9@ +103 "processing"%99 +3 "core" 9D +102 "processing"%'9 +4 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%e9 +3 "core" 9Q +102 "processing"%@9 +3 "core" 9U +102 "processing"%H9 +3 "core" 9Y\ +103 "processing"%/9 +3 "core" 9]\ +102 "processing"%69 +3 "core" 9a +103 "processing"%59 +2 "core" 9f +103 "processing"%09 +2 "core" 9j +103 "processing"%9 +3 "core" 9n +102 "processing"%89 +4 "core" 9&r +3 .tPH.hold 2:00:00,28C +3 "processing"%X php +2 .tdelay 1:30 +6 "core" s +9000 .tPSR.select :air +3 .PSV.dial PSR + "processing"%G +102 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%y' +592 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%' +1615 "core" ' +2 .tPTV.dial :puck +2 "processing"%"  +128 "core"  + .tPSV.dial PTV +2 "processing"%K +72 "core" + .tPBV.dial :waste1 +2 "processing"%  +50 "core"  + "processing"%V% +4 "core" %5\  +3 .tPS.seek 1.5ml +2 "processing"%?', +596 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 .tPS.seek 0ml +42 "processing"%='ؾ +1618 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%)  +15 "core"  + .tPBV.dial :waste1 +2 "processing"%A  +33 "core" +2 .tdelay 30 seconds +2023 "Can" C l +980 .tPBV.dial between PSV and waste1 +2 "processing"%C * +32 "core" + + .tPSR.select :air +3 .PSV.dial PSR +2 "processing"%\\ +70 "core"  +3 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%U' +2384 "core" ' +2 .tPSV.dial PTV +2 "processing"%- +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%F +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%Z +83 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%T  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%Q'ؾ +2340 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%R  +129 "core" +2 .tPSV.dial :mixloop +2 "processing"%J +43 "core" +2 .tPRV.dial :ab1 +2 "processing"%W @ +98 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%Y' +360 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'_  +2 "processing"%O  +5 "core" +38  +2 "processing"%r% +4 "core" %S\ \ +2 .tPS.seek 0.3ml +2 "processing"%+' +354 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'B  +28 "core" + .tPRV.dial :air +2 "processing"%>  +41 "core"  +3 .tPS.seek 0.9ml +2 "processing"%P'K +1280 "core" ' + .tPRV.dial :waste2 +2 "processing"%a @ +69 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%z' +874 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air +2 "processing"%f  +43 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%' +1611 "core" ' +2 .tPSV.dial :PML +2 "processing"%! +43 "core" +2 .tPTV.dial :mixing +2 "processing"%b @ +71 "core" B +2 .tPBV.dial :waste1 +2 "processing"%^  +32 "core"  +2 "processing"%c% +3 "core" %s\  +3 .tPS.seek 1.85ml +2 "processing"%k' +254 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%S * +32 "core" + +3 .tPS.seek 0ml + "processing"%,'ؾ +1976 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'N& +3 "core" & \ +2 "manipulator"& & +5 "core" & 6 6 + "manipulator"&% +4 "core" %  \ V  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&}(- +125 "core" ( +2 "manipulator"&& +4 "core" &-   n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&q'w +99 "core" ' + .tHand.close +2 "manipulator"&v/ +64 "core" / +2 "manipulator"&&& +5 "core" &-  I  + "manipulator"&j% +5 "core" % υ  h +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&$(ӂ +279 "core" ( +2 "manipulator"&;& +4 "core" &Ӈ( 2 0 @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &ӈ( ) ! " @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +3 "manipulator"&& +3 "core" &ӌ& 0 1 B ?S +2 "manipulator"&d% +5 "core" %E #  I  +2 "collection"'l& +4 "core" &  \ +2 "collection"'& +5 "core" & \ +3 .tCC.seek :closed + "collection"'E(\\ +5 "core" &  \ +6 &; \ %g +9 &Y{ \ 8 +10 &w \ L +9 &R #\ L +10 &R \ L +9 &FU  \ L +9 &X "\ M +46 &Y \ M +13 &W \ L +4 &NU \ L + & R $\ L +2 &!T $\ L + &#X "\ L + &%US  \ M +7 &'X \ L +10 &(U \ L +9 &*X  \ M +9 &,\\W \ M +10 &.R \ M +9 &/W "\ M +10 &1V \ M +9 &3fS \ L +9 &5'T  \ M +10 &6W \ M +9 &8T \ L +9 &:mU \ M +10 & +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%+  +71 "core"  +2 ."da"PS.seek 0ml +42 "processing"%a'ؾ +2338 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%P  +42 "core"  +2 ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%f  +129 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%z  +41 "core" ~ +2 ."da"PTV.dial :PRVmixing +2 "processing"%!  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"%b +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%^' +385 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%c  +43 "core"  + "processing"%S% +4 "core" %\  +3 ."da"PS.seek 0.55ml + "processing"%' +339 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%k  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%N' +1575 "core" ' +2 ."da"PSV.dial :PML +2 "processing"% +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%% +3 "core" %\ +3 ."da"PS.seek 1.85ml +2 "processing"%' +242 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%v * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%&'ؾ +1972 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +46350 "Can" C y +1653 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%j @ +5 "core" A + ."da"PBV.dial :waste1 +3 "processing"%.  +32 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"%q * +33 "core" + + ."da"PSV.dial :air +2 "processing"%;  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%h' +2391 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%} +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%d +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%l  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2333 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%D +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%M' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1606 "core" ' + ."da"PTV.dial :puck +2 "processing"%:  +69 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%]  +32 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%,'+ +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%s * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%{  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%o * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%4 +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%m' +2383 "core" ' + ."da"PSV.dial PTV +2 "processing"%n +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%t +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%%'ؾ +2346 "core" ' +2 #"da"washCycleDA #2 of 3 +44 .PSR.select :air +9 .PSV.dial PSR +2 "processing"%x +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%I' +1616 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +3 "processing"%#'. +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%p  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%$ * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +83 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%E' +1580 "Can" B % +809 "core" ' + ."da"PSV.dial PTV +2 "processing"%[ +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%( +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%1  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +2333 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +127 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%g' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%* +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%w  +33 "core" + "processing"%3% +4 "core" %|\ \ +2 ."da"PS.seek 1.5ml +3 "processing"%~'& +596 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%9 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%''ؾ +1629 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%|  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%e * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%@ +85 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%H' +2404 "core" ' + ."da"PSV.dial PTV +2 "processing"%/ +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%5 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%6  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%0'ؾ +2330 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +133 "core"  +4 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +3 "processing"% +14 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +3 "processing"%G' +340 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%`' +335 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +54 ."da"PS.seek 2ml +2 "processing"%y' +1615 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%K  +34 "core" + "processing"%"% +4 "core" %}\ x +2 ."da"PS.seek 1.5ml +2 "processing"%V'- +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +3 "processing"%'ؾ +1634 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%) +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%A' +2423 "core" ' +2 ."da"PSV.dial PTV + "processing"%C +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%? +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%= +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%\\  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%-'ؾ +2386 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%Z +130 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%T' +2124 "core" ' +2 ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%U +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%F  +34 "core" + "processing"%J% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%R'* +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%< * +33 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%Q  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%_'ؾ +1619 "core" ' +2 "processing"%O9 +3 "core" 9k5i +2 #"da"Processing Puck Heater at 28.1C before imaging +2 .PH.coast + "processing"%W +3 "core" 5i +2 "processing"%Y& +3 "core" &^!\ 1 +3 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&B% +4 "core" %   +2 "storage"(>% +3 "core" % \  +2 "storage"(+. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(r(C +352 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &F :\ +2 "manipulator"&f& +4 "core" &- p Z +2 "manipulator"&z% +4 "core" % \  ?  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&!( +174 "core" ( +2 "manipulator"&b& +3 "core" &   q @ +2 "storage"(a& +4 "core" &F h\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&c' +92 "core" ' + "storage"(S& +4 "core" &F v x 5\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(^'r +277 "core" ' + "storage"(k- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"('1 +45 "core" ' +2 "manipulator"& & +4 "core" & @ +2 "manipulator"&% +3 "core" %  +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +264 "core" ( +8 "manipulator"&v& +4 "core" & d +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" & +2 ."da"Forearm.seek PC +3 "manipulator"&' +93 "core" ' + ."da"Hand.close +2 "manipulator"&j/ +75 "core" / +2 ."da"PC.seek :open +2 "processing"%.( +458 "core" ( +2 "storage"(q& +4 "core" &F #\ +2 "manipulator"&;& +3 "core" & w +3 "manipulator"&&% +4 "core" %  P +2 ."da"Forearm.seek :retract +2 "manipulator"&}' +97 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +254 "core" ( +2 "manipulator"&d& +4 "core" &  W  +2 "storage"(l& +4 "core" &F v o G\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&h' +94 "core" ' +2 ."da"Hand.open +2 "manipulator"&D1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +26 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +56 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0716h.tif +5 "processing"%& +11 "core" &}\ j +4 "manipulator"&]& +5 "core" &   +3 "manipulator"&% +5 "core" %  H f +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&s(- +172 "core" ( +2 "manipulator"&,& +4 "core" &-   J J +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +3 "core" &- J +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&o'w +92 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&4/ +62 "core" / +2 "manipulator"&u& +4 "core" &- \   J +2 "manipulator"&n% +4 "core" % s   e  +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +3 "manipulator"&t( +115 "core" ( + "manipulator"&& +4 "core" &    O +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &m& +3 "core" &  O +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&x' +88 "core" ' +3 "manipulator"&%& +3 "core" &  O +3 "manipulator"&% +4 "core" %  R c +2 "processing"%& +3 "core" &)\ g +3 "processing"%& +5 "core" &\ \ g +2 ."psFlush"PC.seek :closed +3 "processing"%(^ +3 "core" &\ i +8 &1\ $d +9 &Vp\ 7 +10 &~m\ K +9 &J\ O +9 &_L\ N +10 &!K\ N +9 &M\ N +9 &M\ N +10 &fL\ O +9 &(M\ O +9 &J\ jO +10 &!K\ eO +9 &#kJ\ dP +10 &%-I\ dP +9 &&J\ dO +9 &(G\ cO +10 &*tG\ cO +9 &,6G\ cO +9 &-G\ cO +10 &/J\ bO +9 &1{J\ bP +10 &3=J\ bP +9 &5K\ bO +9 &6L\ bP +10 &8I\ bO +9 &:GJ\ yO +10 &<\ I\ O +9 &=M\ O +9 &?N\ N +10 &AQM\ N +9 &CX\ P +9 &D]\ Q +10 &Fq\ S +9 &HC\ V +9 &JT\ V +10 &KR\ V +9 &MH\ bW +10 &OHS\ aW +9 &Q[\ _X +9 &RM\ _W +10 &TI\ ^Y +9 &VMM\ _X +9 &X=\ ^X +10 &YJ\ ]X +9 &[J\ ]X +10 &]TC\ ]H +9 &^y@k=\ _(v +9 &^1;\ b2 +6 ( + "processing"%& +4 "core" &^ A\ c2 +2 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 +2 "processing"%I& +4 "core" &^ 4\ c2 +3 ."psFlush"Hand.open +2 "manipulator"&1 +113 "core" 1 +2 "manipulator"&#% +3 "core" % %  c +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&p' +91 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%$ +44 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +278 #"da"SX HX9/16 (USB:11): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15.813 seconds\ /var/log/esp/da23sep0716h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0716h15s.tif +300 "Can"\ > 2 +7 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml +2 "processing"%' +739 #"da"SX HX9/16 (USB:11): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0716h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0716h20s.tif +1402 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +3 "processing"%[ @ +187 "core" @ +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +132 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%( +104 "core" +2 ."psFlush"PS.seek :empty +3 "processing"%1'ؠ +121 #"da"SX HX9/16 (USB:11): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0716h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "15.813 sec auto-exposure",Subject: "da23sep0716h images!" +2 "storage"(E- +4 "core" -' +2 "storage"(i& +15 "core" &F P\ +7 "manipulator"&\ & +9 "core" &   ` O +2 "manipulator"&% +6 "core" %  ) & \\  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&*( +245 "core" ( +4 "manipulator"&w& +6 "core" &  ! 5 +5 "storage"(3& +4 "core" &F \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&g' +102 "core" ' +4 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(9'" +61 "core" ' +2 "manipulator"&~& +10 "core" &  V 5 +2 "storage"(|& +9 "core" &F   0\ +3 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek 1 +2 "manipulator"&e'8 +27 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&@, +6 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +7 ."da"SE.seek -0.32 Pucks below Top Plate +6 "storage"('' +29 "core" ' +4 "manipulator"&/% +6 "core" %E !  t +5 "storage"(& +8 "core" &F \  v\ +3 ."da"Forearm.force -20 +2 "manipulator"&5 +7 ."da"Forearm.seek 1 + 313 counts +2 "manipulator"&5'q +18 "core" ' +4 "manipulator"&6& +9 "core" &   1 5 +6 "storage"(H& +10 "core" &F 5 3\ +4 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&8' +18 "core" ' +3 "storage"(0% +8 "core" % 9 9 \  +4 ."downElevator"SE.seek :down +8 "storage"(G' +98 (`% +6 "core" %o?\ \  \ TZ +5 "manipulator"&% +6 "core" %   * +6 ."da"Forearm.reconfigure :loose +17 "manipulator"&#Q@2^d^b +8 ."da"Forearm.seek :retract +6 "manipulator"&K' +91 "core" ' +25 ' +4 ."downElevator"SE.stop + "storage"(5 +6 ("& +6 "core" &F : e \ +1408 ' +5 ."psFlush"PSR.select :air +4 .PSV.dial PSR +2 "processing"%y +104 "core"  +3 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +4 "processing"%@ +15 ."psFlush"PS.seek 0.5ml +4 "processing"%' +501 #"uploadLog"upsync +90 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%V' +2123 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"% @ +71 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"%) +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%C +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%?'X\\ +1104 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%=' +1623 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%\\ +84 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%A  +69 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%Z  +4 "core" +2 ."psFlush"PS.seek 0ml +3 "processing"%-'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%U +70 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%F' +598 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%J' +2125 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%T +84 "core" + ."psFlush"PBV.dial PSV +2 "processing"%< U +51 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"%Q'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%R @ +41 "core" > +3 ."psFlush"PS.seek 2.5ml +2 "processing"%O' +2637 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%W  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%Y'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%B +44 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%>' +2624 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%+ +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%L U +4 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"%P'ؾ +2627 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%f @ +43 "core" ? +3 ."psFlush"PS.seek 2.5ml +2 "processing"%z' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%b  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%a'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%S +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"% 'X\\ +1093 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%7' +1619 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%k +70 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%^'ؾ +2641 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%c +72 "core"  +48 ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%v' +584 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%N' +2124 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%! +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%j U +52 "core" W +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2654 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%q' +2650 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%;  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%&'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"% +43 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%d' +2628 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%l +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%D'ؾ +878 "Can" F ; +1773 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2643 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%]  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +2640 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&}& +3 "core" & Z 5 +2 "manipulator"&% +4 "core" %  ^  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&M( +243 "core" ( +2 "manipulator"&,& +3 "core" &   - +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +3 "core" & - +2 ."psFlush"Forearm.seek PC +2 "manipulator"&h' +91 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +58 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%4( +461 "core" ( +2 "manipulator"&u& +3 "core" & a , +2 "manipulator"&n% +4 "core" %  ~ < +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +128 "core" ( +2 "manipulator"&m& +3 "core" &-   +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +3 "core" &-   +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&%'w +102 "core" ' + ."psFlush"Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ρ  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&s' +96 "core" ' +2 #tFinished short da assay + #Flushing Processing stage +2 "processing"%% +3 "core" %ؽ\ +3 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%.& +4 "core" &\ +2 "manipulator"&I& +3 "core" &- =  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +13 "core" ( + "manipulator"&#& +4 "core" &-  # k +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- N k +3 .tForearm.seek :garage + "manipulator"&$'w +90 "core" ' +2 .tHand.close + "manipulator"&x/ +58 "core" / +2 "manipulator"&_& +3 "core" &- k +2 "manipulator"&% +4 "core" % φ ) > +2 .tForearm.seek :retract +2 "manipulator"&[' +138 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"& ( +117 "core" ( +2 "manipulator"&(& +4 "core" &  ( 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &E& +2 "core" & X 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&i' +101 "core" ' +2 "manipulator"&\ & +4 "core" &  > 0 +2 "manipulator"&% +4 "core" % o +2 "processing"%& +4 "core" &\ +2 "processing"%w& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%3(^ +4 "core" &\  +8 &4u\ *x +10 &cx\ = +9 &j\ M +10 &HM\ L +9 &\ R\ L +9 &Q\ L +10 &Q\ L +9 &PQ\ L +9 &Q\ L +10 &R\ L +9 & Q\ L +10 &"VQ\ L +9 &$Q\ M +9 &%Q\ L +10 &'Q\ L +9 &)^Q\ L +9 &+ Q\ L +10 &,N\ L +9 &.Q\ L +10 &0fR\ L +9 &2(Q\ L +9 &3T\ L +10 &5S\ L +9 &7oR\ L +9 &90S\ L +10 &:R\ L +9 &<R\ M +10 &>wS\ L +9 &@8U\ L +9 &AU\ M +10 &Cb\ N +9 &Eum\ O +9 &G1}\ Q +10 &H\ S +9 &J\ S +10 &Ls\ S +9 &N2\ T +9 &O\ T +10 &Q\ U +9 &Sw\ T +9 &U9\ T +10 &V\ T +9 &X\ T +10 &Z}\ U +9 &\\>\ U +9 &]{p\ 8 +10 &^-\ R +9 &^ \ 0 +2 ( +2 "processing"%w& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.66 + "processing"%t& +3 "core" &^\ 0 +2 .tHand.open +2 "manipulator"&~1 +55 "core" 1 +2 "manipulator"&|% +4 "core" %  h o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +92 "core" ' + .tPSV.dial PSR +2 "processing"%/ +43 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1097 "core" ' + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"%6' +1619 "core" ' +2 .tPSV.dial PTV + "processing"%H +70 "core" +2 .tPTV.dial :puck + .PBV.dial :waste1 +2 "processing"%:  +50 "core" +2 .tPS.seek 0ml +2 "processing"%0'ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%g +72 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%*' +594 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%`' +2141 "core" ' +2 .tPSV.dial PTV + "processing"% +85 "core" + .tPBV.dial PSV +2 "processing"%9 U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%e'ؾ +2630 "core" ' +2 .tPSV.dial PBV + "processing"%5 @ +43 "core" > +2 .tPS.seek 2.5ml + "processing"%"' +2632 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%'  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%8'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"%G +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%y' +2631 "core" ' +2 .tPSV.dial PTV + "processing"%1 +70 "core" +2 .tPBV.dial PSV +2 "processing"% U +15 "core" T +2 .tPS.seek 0ml +2 "processing"%'ؾ +2629 "core" ' + .tPSV.dial PBV +2 "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%)' +2624 "core" ' + .tPSV.dial :waste1 +2 "processing"%V  +70 "core"  +3 .tPS.seek 0ml + "processing"%C'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&& +4 "core" & r 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&?( +4 "core" ( + "manipulator"&\\& +4 "core" &  / 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" & & 0 +43 .tForearm.seek PC +9 "manipulator"&Z' +92 "core" ' +2 .tHand.close + "manipulator"&=/ +60 "core" / +2 .tPC.seek :open +2 "processing"%U( +457 "core" ( +2 "manipulator"&-& +4 "core" & 0 +2 "manipulator"&F% +4 "core" %  7 +2 .tForearm.seek :retract +2 "manipulator"&T' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&<(- +127 "core" ( +2 "manipulator"&J& +3 "core" &- 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +3 "core" &-  < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&Q'w +102 "core" ' + .tHand.open + "manipulator"&W1 +62 "core" 1 + "manipulator"&O% +4 "core" % } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +93 "core" ' +21478 "Can" < oу +9945 #t-> access 1 +2 "storage"(Y% +3 "core" % M U 1\  +3 "manipulator"&+% +4 "core" %   + "manipulator"&L& +4 "core" &- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(>(<- +1296 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &<+ 6 7\ +1363 #t-> access 2 +2 "storage"(P% +3 "core" % V X\  +3 "manipulator"&b% +4 "core" %  3  + "manipulator"&z& +4 "core" &-  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(S(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "core" &K   i\  +46971 "Can" < g +24473 #t-> $da[:extracVol]=.2 +426 #-> startTube 2 +17958 #-> shortDA; shortDAflush +2 "collection"' % +2 "processing"%k% +4 "core" %c \ +6 %ؾ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1614 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"% +130 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +128 "core" +2 .tPRV.dial :sipper + "processing"%7  +42 "core" +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%c'e +2302 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%^  +2 "collection"'v  +5 "core" +118 +2 .tPS.seek 0.5ml +2 "processing"%!' +1279 "core" ' + .tPRV.dial :waste2 +2 "processing"%j @ +98 "core" > +3 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%N'ؾ +593 "core" ' + .tPSV.dial PSR +2 "processing"% +100 "core" +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%'X\\ +1111 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%;' +1606 "core" ' +2 .tPSV.dial :mixloop + "processing"%q +102 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%& +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%l'X\\ +1101 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1606 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%d +101 "core" +2 .tPRV.dial :sipper + "processing"%  +41 "core" +2 .tPS.seek 0ml +2 "processing"%D'ؾ +1179 "Can" >  +1450 "core" ' + .tPSV.dial PSR +2 "processing"%] +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2625 "core" ' +2 .tPSV.dial :mixloop + "processing"%} +102 "core" +49 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%,& +3 "core" &p\ +2 "manipulator"&{% +5 "core" %   + "storage"(@% +4 "core" % Y X\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(K(  +1303 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & : @ |\ +2 "manipulator"&u& +4 "core" &- +2 "manipulator"&n% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&m( +169 "core" ( +2 "manipulator"&o& +4 "core" &  8 +2 "storage"(h& +3 "core" & Y Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&M'S +92 "core" ' +2 "storage"(& +4 "core" & Y Y\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (.& +3 "core" & @ 6 w\ +2 "manipulator"&I& +4 "core" & 8 +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&#& +4 "core" & _ 8 +2 "storage"(& +3 "core" & * . \\\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&%'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&_& + "storage"(' +8 "core" & F 8 +2 "manipulator"&% +4 "core" %  \ +2 .tForearm.seek :retract +2 "manipulator"&s' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +3 "manipulator"&E& +4 "core" & A ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" & m ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\ ' +98 "core" ' + "manipulator"&& +4 "core" & 2 ) +2 "manipulator"&% +4 "core" % c +2 "processing"%& +4 "core" &\ +2 "processing"%[& +6 "core" &n\ +2 .tPC.seek :closed +2 "processing"%4(^ +3 "core" &l\ +8 &:i\ $e +9 &Wvn\ 7 +9 &uk\ L +10 &Op\ M +9 &yTk\ M +9 &:Tn\ N +10 &So\ M +9 &Uo\ M +10 &So\ M +9 &DQr\ M +9 & To\ N +10 &!Tr\ M +9 &#Un\ M +9 &%KUo\ M +10 &' Un\ M +9 &(Uq\ M +10 &*Vp\ M +9 &,STl\ M +9 &.U^\ M +10 &/TZ\ M +9 &1SZ\ M +9 &3\\QZ\ M +10 &5S_\ M +9 &6V`\ M +10 &8T^\ M +9 &:cT_\ M +9 &<%R[\ M +10 &=Vd\ M +9 &?Yf\ N +9 &AiXh\ N +10 &C&fe\ P +9 &Dkd\ P +10 &Fd\ R +9 &Hag\ S +9 &J"k\ T +10 &Kd\ T +9 &Me\ T +9 &Ofi\ T +10 &Q&h\ U +9 &Rd\ U +10 &Te\ U +9 &Vlg\ U +9 &X-f\ U +10 &Yf\ U +9 &[d\ U +9 &]se\ B +10 &^8md\ &o +9 &^-e\ 1 +5 ( +2 "processing"%[& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&t1 +4 "core" &^ f\ 1 +48 1 +2 "manipulator"&~% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|' +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%w h +2 %/9 +7 "core" 9 +102 "processing"%i9 +2 "core" 9 +103 "processing"%9 +3 "core" 9  +103 "processing"%9 +2 "core" 9  +103 "processing"%H9 +3 "core" 9 +102 "processing"%:9 +3 "core" 9 +102 "processing"%69 +3 "core" 9 +103 "processing"%g9 +3 "core" 9 +102 "processing"%09 +3 "core" 9" +103 "processing"%*9 +2 "core" 9& +103 "processing"%9 +3 "core" 9+ +102 "processing"%99 +3 "core" 9/ +148 "processing"%`9 +6 "core" 95 +102 "processing"%59 +3 "core" 99 +102 "processing"%e9 +3 "core" 9= +103 "processing"%'9 +2 "core" 9B +103 "processing"%"9 +2 "core" 9F +103 "processing"%G9 +3 "core" 9J +103 "processing"%89 +2 "core" 9N +103 "processing"%19 +3 "core" 9S +102 "processing"%9 +3 "core" 9W\ +103 "processing"%y9 +2 "core" 9[\ +103 "processing"% 9 +3 "core" 9_ +103 "processing"%9 +2 "core" 9 c +103 "processing"%V9 +3 "core" 9h +102 "processing"%)9 +3 "core" 9l +103 "processing"%9 +2 "core" 9#p +3 .tPH.hold 2:00:00,28C +3 "processing"%\\ php +3 .tdelay 1:30 +3 "core" p +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%A +101 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%=' +598 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"% ' +1617 "core" ' + .tPTV.dial :puck +2 "processing"%p  +128 "core"  +2 .tPSV.dial PTV + "processing"%3 +72 "core" +2 .tPBV.dial :waste1 + "processing"%-  +50 "core" +2 "processing"%F% +3 "core" %e\  +3 .tPS.seek 1.5ml +2 "processing"%J', +590 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%R * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%Z'ؾ +1630 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%?  +16 "core"  + .tPBV.dial :waste1 +2 "processing"%W  +33 "core" + .tdelay 30 seconds +2224 "Can"\ o ` +779 .tPBV.dial between PSV and waste1 +2 "processing"%O * +33 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%T +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%Q' +2381 "core" ' + .tPSV.dial PTV +2 "processing"%Y +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%+ +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%L +85 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%r  +74 "core"  +3 .tPS.seek 0ml + "processing"%f'ؾ +2329 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%P  +127 "core" +2 .tPSV.dial :mixloop +2 "processing"%b +43 "core" +2 .tPRV.dial :ab1 +2 "processing"%z @ +98 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%>' +377 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%a  +42 "core"  + "processing"% % +4 "core" %|\  +3 .tPS.seek 0.3ml + "processing"%k' +353 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +29 "core" +2 .tPRV.dial :air +2 "processing"%  +42 "core"  +3 .tPS.seek 0.9ml +2 "processing"%7'K +1267 "core" ' +2 .tPRV.dial :waste2 + "processing"%C @ +71 "core" > +2 .tPS.seek 0.5ml +2 "processing"%v' +869 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%^  +43 "core"  +3 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%c' +1624 "core" ' +2 .tPSV.dial :PML +2 "processing"%j +43 "core" +2 .tPTV.dial :mixing + "processing"%! @ +72 "core" B +2 .tPBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%N% +4 "core" %}\  +2 .tPS.seek 1.85ml +2 "processing"%' +245 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%q * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%;'ؾ +1966 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'&& +3 "core" & f\ +2 "manipulator"&& +5 "core" &  s ) + "manipulator"&l% +51 "core" %   X \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&d(- +126 "core" ( +2 "manipulator"&& +3 "core" &-    \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- R \ +3 .tForearm.seek :garage + "manipulator"&]'w +93 "core" ' + .tHand.close +2 "manipulator"&D/ +59 "core" / +2 "manipulator"&}& +3 "core" &-   4 \ +3 "manipulator"&% +9 "core" % b   +2 .tForearm.seek :retract + "manipulator"&,' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&{(ӂ +274 "core" ( +2 "manipulator"&@& +4 "core" &Ӂ)  ` Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӂ)  Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'? +95 "core" ' +3 "manipulator"&& +4 "core" &ӂ*  " Aa +2 "manipulator"&u% +4 "core" %F R  +2 "collection"'n& +3 "core" & m\ +3 "collection"'o& +5 "core" & l\ +2 .tCC.seek :closed +2 "collection"'h(\\ +5 "core" & g\ +7 &; j\ %g +10 &Yz f\ 8 +9 &y m\ L +9 &V l\ M +10 &W e\ M +9 &HT g\ L +9 &\ U g\ L +10 &Y d\ L +9 &W m\ L +10 &QU g\ L +9 & U f\ M +9 &!W f\ L +10 &#Y e\ M +9 &%XV `\ L +9 &'T e\ L +10 &(U f\ L +9 &*U Z\ M +10 &,_Y f\ M +9 &.#R d\ L +9 &/W ]\ L +10 &1W ]\ L +9 &3gX \\\ M +9 &5)V _\ M +10 &6T Z\ L +9 &8U [\ L +10 &:pY _\ L +9 &<2S \\\ L +9 &=S \\\ M +10 &?X \\\ L +9 &AwZ \\\ M +9 &C5c T\ N +10 &Du Z\ P +9 &F\ \ Z\ T +10 &H] \ [\ X +9 &J\  U\ Y +9 &K Y\ X +10 &M [\ Z +9 &O`\ \ \\\ Z +9 &Q"\ \\\ Z +10 &R\  \\\ [\ +9 &T\ \ V\ [ +10 &V`\ \ ^\ ] +9 &X"\ \ Z\ ] +9 &Y\ \ \\\ ^ +10 &[\ \ V\ K +9 &\\3 \ [\ 3 +9 &\\r\ \ ^\ P +3 ( + "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.36 +2 "collection"'& +3 "core" &\\s\ \ \\\ P +2 .tHand.open +2 "manipulator"&<1 +56 "core" 1 + "manipulator"&B% +4 "core" % F  h  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tPSV.dial PSR +2 "processing"%. +101 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%I'+ +1606 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%#  +42 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1620 "core" ' +2 .tPSV.dial PSR + "processing"%x +44 "core"  + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%_' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  +2 "collection"'m  +31 "core"  +123  + .tPSV.dial :mixloop +2 "processing"%M +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%%'ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%E  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%$' +2638 "core" ' +2 .tPSV.dial :mixloop + "processing"% +43 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2632 "core" ' +2 .tPSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml + "processing"%s'ؾ +2628 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&U& +4 "core" &ӫ!  M ;8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&t(ӂ +24 "core" ( +2 "manipulator"&~& +49 "core" &v  \ & +5 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &v  C & +3 .tForearm.seek CC +2 "manipulator"&['? +105 "core" ' + .tHand.close +2 "manipulator"&i/ +58 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +448 "core" ( + "manipulator"&& +4 "core" &Ӎ  c # +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&H' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&:(- +281 "core" ( +2 "manipulator"&6& +4 "core" &-  H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &- H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&0'w +105 "core" ' +2 .tHand.open +2 "manipulator"&*1 +62 "core" 1 + "manipulator"&% +5 "core" % |  ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +93 "core" ' +2 ."da"delayUntil "17:23:48.08" +21171 "Can" D U) +3518 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%` @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%5  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%e * +33 "core" + + ."da"PSV.dial :air +2 "processing"%'  +43 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%"' +2386 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%G +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air +2 "processing"%8  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"%1 +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%  +45 "core"  +2 ."da"PS.seek 0ml +2 "processing"%y'ؾ +2333 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%V' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%)  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%A  +33 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%='- +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%p * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +1629 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%-  +15 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%F  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%R +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%J' +2389 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%w +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%? +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%W +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%O  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%T'ؾ +2333 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%Z +129 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +45 ."da"PS.reconfigure :default +10 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%Y' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%+' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%L  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%r +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%Q  +32 "core" +2 "processing"%P% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%b'/ +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%z * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%f'ؾ +1613 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%a  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +2776 "Can" C  +226 ."da"PBV.dial between PSV and waste1 +2 "processing"%> * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2387 "core" ' + ."da"PSV.dial PTV +2 "processing"%k +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%C +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%7 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%^  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%v'ؾ +2328 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%j  +42 "core"  +2 ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%!  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%  +42 "core" ~ +2 ."da"PTV.dial :PRVmixing +2 "processing"%N  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"%q +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%c' +408 "core" ' +2 ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%  +44 "core"  +2 "processing"%&% +3 "core" %\ +3 ."da"PS.seek 0.55ml +2 "processing"%' +340 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%l  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1569 "core" ' +2 ."da"PSV.dial :PML + "processing"% +44 "core" +2 ."da"PTV.dial :mixing + "processing"%( @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%D  +33 "core" +2 "processing"%}% +3 "core" %\ +2 ."da"PS.seek 1.85ml +2 "processing"%' +233 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%| * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%]'ؾ +1988 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +46571 "Can" A |U +1432 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%@ @ +4 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%d * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%u' +2386 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%n +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%,  +44 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%2 +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +2331 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%B +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +49 "processing"%#A d`xb +6 ."da"PS.seek 0.5ml +2 "processing"%o' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%.' +1609 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%S  +70 "core"  + ."da"PSV.dial PTV +3 "processing"%; +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%#  +32 "core" +2 "processing"%I% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%x'' +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%m'ؾ +1607 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%M  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"% * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%_ +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%E' +2387 "core" ' + ."da"PSV.dial PTV +2 "processing"%% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%$ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2331 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +593 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%U' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%~  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%/ +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%i  +32 "core" +2 "processing"%{% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'0 +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%h * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%  +5 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%[  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%6 * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%g +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%t' +1815 "Can"\ I  +568 "core" ' + ."da"PSV.dial PTV +2 "processing"%* +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%H +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%0  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%`'ؾ +2333 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%5 +128 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%e' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%s  +4 "core"  +45 ."da"PSV.dial PTV +9 "processing"%G +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%8  +33 "core" + "processing"%1% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'/ +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%" * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%y  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%) * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core" +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%A' +2400 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +3 "processing"%V +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%p +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%=  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%X'ؾ +2327 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +18 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +2 "processing"%F' +341 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"% ' +342 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%R' +1617 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%3  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%w +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%?  +34 "core" +2 "processing"%W% +4 "core" %\ } +2 ."da"PS.seek 1.5ml +2 "processing"%O'0 +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%J * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +1608 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%T  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%Y  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%r +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%Q' +2431 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%P +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%+ +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%z +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%b  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%a'ؾ +2382 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +130 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%>' +2125 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%f +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%k  +34 "core" + "processing"%C% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%7'( +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%^ * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +102 "core"  +9 ."da"PS.seek 0ml +2 "processing"%j'ؾ +1606 "core" ' +2 "processing"%!9 +3 "core" 9k5f +3 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"% +3 "core" 5f + "processing"%N& +4 "core" &^ \ 1 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&q% +3 "core" %  p  +3 "storage"(v% +3 "core" % J U h\  +2 "storage"(. +3 "core" .(  +3 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(&(C +363 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" &? \ +3 "manipulator"&l& +4 "core" &- ? H + "manipulator"&% +4 "core" %  .  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +174 "core" ( + "manipulator"&(& +4 "core" &  / " +2 "storage"(D& +4 "core" &? o\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&}' +96 "core" ' +2 "storage"(|& +4 "core" &? \ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"('r +277 "core" ' +2 "storage"(- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place + "storage"(@'1 +42 "core" ' +3 "manipulator"&& +4 "core" & J " + "manipulator"&d% +4 "core" % P +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&]( +243 "core" ( + "manipulator"&n& +4 "core" &  2  +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &  K  +3 ."da"Forearm.seek PC +2 "manipulator"&2' +102 "core" ' + ."da"Hand.close +2 "manipulator"&/ +61 "core" / +2 ."da"PC.seek :open +2 "processing"%u( +457 "core" ( +2 "storage"(B& +4 "core" &? \ +2 "manipulator"&<& +3 "core" &  +2 "manipulator"&o% +4 "core" %  z +3 ."da"Forearm.seek :retract +2 "manipulator"&S' +92 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&;( +258 "core" ( + "manipulator"&#& +5 "core" &  + "storage"(I& +4 "core" &? f \\ 7\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&.' +98 "core" ' + ."da"Hand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(x- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(M' +53 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0718h.tif +4 "processing"%& +10 "core" &\ +4 "manipulator"&_& +5 "core" &  ;  +3 "manipulator"&m% +5 "core" %  Y ; +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&%' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +171 "core" ( + "manipulator"&$& +4 "core" &-  p R +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +55 && +10 "core" &-  f R +3 ."psFlush"Forearm.seek :garage +3 "manipulator"&E'w +97 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +58 "core" / + "manipulator"&& +5 "core" &-  # R + "manipulator"&% +4 "core" % υ 0 +3 ."psFlush"Forearm.seek :retract + "manipulator"&~' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&/( +117 "core" ( +2 "manipulator"&i& +3 "core" &  ^ < +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +3 "core" & e < +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&U' +105 "core" ' +3 "manipulator"&h& +3 "core" &   A < +3 "manipulator"&% +4 "core" % l z +2 "processing"%& +4 "core" &7\ k +2 "processing"%[& +5 "core" &\ k +2 ."psFlush"PC.seek :closed +2 "processing"%6(^ +4 "core" & \ k +7 &!\ k5 +10 &BGn$\ d0 +9 &hps\ cE +9 &U\ eO +10 &F\ fO +9 &J \ O +9 &NL \ N +10 &L\ N +9 &N\ N +10 &L\ N +9 &UL \ N +9 &!L\ N +10 &"M\ N +9 &$L\ N +9 &&]M\ N +10 &(L\ N +9 &)J\ jO +10 &+I\ hO +9 &-bK\ hO +9 &/$J\ hO +10 &0K\ gO +9 &2J\ gO +9 &4iI\ gP +10 &6,J\ gO +9 &7J\ gP +10 &9J\ fO +9 &;rK\ fO +9 &=3J\ fP +10 &>K\ fP +9 &@H\ fO +9 &BxQ\ eP +10 &D8\\\ Q +9 &En\ R +10 &G\ T +9 &Iq~\ U +9 &K1\ V +10 &L\ U +9 &N\ V +9 &Pt2\ W +10 &R6\ W +9 &S)\ W +9 &U\ W +10 &W{\ wW +9 &Y=X\ dW +10 &ZP\ cX +9 &\\N\ bY +9 &^7bzK\ d* +10 &^`G\ e7 +9 ( + &^%T\ g4 +2 "processing"%[& +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.76 + "processing"%g& +4 "core" &^%M\ g4 +2 ."psFlush"Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&*% +4 "core" %  ! 1 z +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%H +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%0' +567 #"da"SX HX9/16 (USB:12): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 18.678 seconds\ /var/log/esp/da23sep0718h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0718h15s.tif +27 "core" ' +2 ."psFlush"delay 5 seconds +254 "Can"\ 8 6 +248 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%t' +1016 #"da"SX HX9/16 (USB:12): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0718h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0718h20s.tif +1105 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%5 @ +189 "core" B + ."psFlush"PTV.dial :PRVmixing +3 "processing"%`  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%e +102 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%s'ؠ +426 #"da"SX HX9/16 (USB:12): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0718h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "18.678 sec auto-exposure",Subject: "da23sep0718h images!" +3 "storage"(G- +4 "core" -' +2 "storage"(8& +9 "core" &? &\ +7 "manipulator"&1& +17 "core" & "  < +2 "manipulator"&'% +4 "core" %   ! \ +5 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&"( +244 "core" ( +2 "manipulator"&& +5 "core" & ! + b < +3 "storage"(y& +4 "core" &?  \ +4 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +95 "core" ' +5 ."da"SE.reconfigure :gently +4 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"()'" +60 "core" ' +4 "manipulator"&& +10 "core" &  f < +2 "storage"( & +9 "core" &? Q\ " 6\ +3 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +3 "manipulator"&'8 +29 "core" ' +5 ."da"Elbow.hold +2 "manipulator"&V, +8 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +5 "storage"(p' +29 "core" ' +3 "manipulator"&=% +7 "core" %?   = +4 "storage"(A& +5 "core" &?\ \  \ +7 ."da"Forearm.force -20 +3 "manipulator"&5 +9 ."da"Forearm.seek 1 + 307 counts +6 "manipulator"&-'k +16 "core" ' +3 "manipulator"&X& +8 "core" & 0 < +3 "storage"(F& +8 "core" &? 7  L\ +5 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"& ' +17 "core" ' +4 "storage"(3% +8 "core" % 4 9\  +4 ."downElevator"SE.seek :down +8 "storage"(w' +99 (?% +8 "core" %9\ \  \ TY +6 "manipulator"&W% +7 "core" % N +5 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +3 "manipulator"&R' +93 "core" ' +38 ' +3 ."downElevator"SE.stop +2 "storage"(5 +6 (J& +6 "core" &?  \ +1108 ' +3 ."psFlush"PSR.select :air +5 .PSV.dial PSR +4 "processing"%O +104 "core"  +3 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +5 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +4 "processing"%T' +601 "core" ' +4 ."psFlush"delay 5 seconds +79 #"uploadLog"upsync +423 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%Y' +2119 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%L  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%r @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%Z +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%P'ؠ +2653 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%+ +112 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%z'X\\ +1106 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +1606 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Q +83 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%a  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%f +70 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%k' +598 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%C' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%> +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%^ U +51 "core" V +2 ."psFlush"PS.seek 0ml +45 "processing"%'ؾ +2639 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%7 @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +2632 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%N'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%q +43 "core"  + ."psFlush"PSR.select :air +4 .PS.seek 2.5ml + "processing"%v' +2638 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%K U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%c'ؾ +2655 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%l @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%(  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%D'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%| +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%:'X\\ +1099 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%9' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +69 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%d  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%} +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%n' +596 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%,' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%4 @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%B' +2629 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%<  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%o'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%2 +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%#' +2625 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%I +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%] U +15 "core" T +2 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +1227 "Can" G + +1407 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%x @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%_  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%m'ؾ +2629 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&S& +4 "core" &  < +2 "manipulator"&@% +4 "core" %    T  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +245 "core" ( + "manipulator"&$& +5 "core" &  O + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +43 &.& +10 "core" &   - +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +94 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&;/ +54 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%( +458 "core" ( + "manipulator"&& +4 "core" & ( +2 "manipulator"&% +4 "core" %  ; +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&%' +90 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&i(- +126 "core" ( +2 "manipulator"&{& +3 "core" &-   \ +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &- ` \ +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&h'w +99 "core" ' +2 ."psFlush"Hand.open +2 "manipulator"&1 +56 "core" 1 + "manipulator"&% +4 "core" % |  t +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'~& +4 "core" & \ +2 "manipulator"&u& +3 "core" &- B \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&g(- +16 "core" ( +2 "manipulator"&& +3 "core" &- b +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &- F b +2 .tForearm.seek :garage +2 "manipulator"&['w +93 "core" ' + .tHand.close +2 "manipulator"&H/ +61 "core" / + "manipulator"&U& +5 "core" &-  v b + "manipulator"&j% +4 "core" % e u +2 .tForearm.seek :retract +2 "manipulator"&0' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +287 "core" ( + "manipulator"&`& +4 "core" &ӏ"  ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &ӏ" ` ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&t'? +97 "core" ' +2 "manipulator"&G& +4 "core" &Ӑ"   ;5 +2 "manipulator"&8% +4 "core" %?   \\ +2 "collection"'1& +3 "core" & \ +3 "collection"''& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +8 &D \ %g +10 &Yy \ 8 +9 & v S\ L +9 &T F\ L +10 &S N\ L +9 &LS n\ L +10 &R U\ L +9 &S S\ L +9 &W K\ L +10 &TW F\ L +9 & W F\ L +10 &!V J\ M +9 &#W F\ M +9 &%\\U X\ L +10 &'W M\ L +9 &(W D\ L +9 &*U D\ M +10 &,dU R\ L +9 &.&W Q\ L +10 &/U F\ L +9 &1T G\ L +9 &3lX I\ L +10 &5-V D\ M +9 &6V T\ M +9 &8U M\ L +10 &:tR J\ L +9 &<7T U\ L +10 &=X B\ L +9 &?W T\ M +9 &A{\\ K\ M +10 &C;c \ M +9 &Du \\\ P +9 &F\ \ \ T +10 &Hc\ \ M\ X +9 &J$\ \ F\ X +9 &K\ \ \ Y +10 &M\ \ k\ Y +9 &Od\ \ \ Z +10 &Q(\ \ I\ Y +9 &R\ \ W\ Z +9 &T\ \ L\ [ +10 &Vf\ \ G\ \\ +9 &X&\ \ \ ] +9 &Y\ \ R\ ] +10 &[\ \ M\ K +9 &\\2\ \ Y\ 2 +10 &\\q\ \ j\ S +2 ( +2 "collection"''& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 +2 "collection"'y& +3 "core" &\\l\ \ I\ S +2 .tHand.open +2 "manipulator"&/1 +54 "core" 1 + "manipulator"&% +4 "core" % ? \  L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +43 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%=' +2635 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +5 .tCBV.dial PRV +2 "processing"%A  + "collection"'X  +6 "core" +93  +2 .tPSV.dial :PTV,via: :air +2 "processing"%F +188 "core" ~ +4 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%M @ +70 "core" A +2 .tPS.seek 0ml +2 "processing"%3'ؾ +2652 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%"' +2639 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%?  +16 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%W +189 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%) @ +5 "core" @ +3 .tPS.seek 0ml +2 "processing"%'ؾ +2641 "core" ' + .tPSV.dial PSR,avoiding: PBV +3 "processing"%-  +188 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%J' +2640 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%p  +5 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%w'ؾ +2625 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%O  +186 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +4 .PS.seek 1.5ml + "processing"%s'+ +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%T  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%L'ؾ +1602 "core" ' +2 .tPSV.dial PSR +2 "processing"%r +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%Z' +2637 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%Y  +3 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%+ +190 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%P'ؾ +2634 "core" ' +2 .tPSV.dial :air + "processing"%z  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%Q' +2655 "core" ' +2 .tPSV.dial :PTV +2 "processing"% +71 "core"  +3 .tPS.seek 0ml +2 "processing"%a'ؾ +2630 "core" ' + .tPSV.dial :air +2 "processing"%b  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%f' +2639 "core" ' +2 .tPSV.dial :PTV +2 "processing"% +84 "core" +2 .tPS.seek 0ml +2 "processing"%k'ؾ +2633 "core" ' +2 .tPSV.dial :air +2 "processing"%>  +70 "core"  +2 .tPS.seek 2.5ml +2 "processing"%^' +2629 "core" ' + .tPSV.dial :PTV +2 "processing"%C +72 "core"  +2 .tPS.seek 0ml +2 "processing"%7'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ө  G 8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +20 "core" ( + "manipulator"&!& +4 "core" &ӆ  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &ӆ   5 $ +3 .tForearm.seek CC +2 "manipulator"&N'? +91 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'K( +450 "core" ( +2 "manipulator"&v& +3 "core" &ӎ   p # +2 "manipulator"&l% +4 "core" % G * +2 .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&((- +283 "core" ( +2 "manipulator"&& +3 "core" &-  [ " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +2 "core" &- y " +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&D'w +91 "core" ' +4 .tHand.open + "manipulator"&:1 +53 "core" 1 + "manipulator"&% +4 "core" % z   S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +4535 "Can" ;  +36057 #t-> access 11 +2 "storage"(d% +3 "core" % [ Y\ +3 "manipulator"&9% +4 "core" %  9  +2 "manipulator"&}& +4 "core" &- ] " +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"((C +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +3 "core" &D Y M H\ +242 #t-> access 1 +3 "storage"(% +3 "core" % X Y\ +2 "manipulator"&% +4 "core" %  T  +2 "manipulator"&,& +4 "core" &- d " +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(4(<- +1295 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<+ : @ t\ \ +3119 #t-> access 2 +3 "storage"(<% +3 "core" % Y Y\ +2 "manipulator"&B% +4 "core" %  V  +2 "manipulator"&2& +3 "core" &- X " +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(o(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" &K ) # \  +18197 #t-> $da[:extracVol]=.2 +563 #-> startTube 2 +49 "Can" ; C +2781 #t-> shortDA; shortDAflush +2 "collection"']% +2 "processing"%#% +6 "core" %c \ +2 %ػG\ +5 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +2675 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%x +43 "core" +2 .tPTV.dial :PRVmixing + "processing"%  +72 "core" +2 .tPRV.dial :sipper + "processing"%_  +125 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%'e +2302 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%S  +126 "core"  +2 .tPS.seek 0.5ml +2 "processing"%@' +1272 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%$ @ +98 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%V'ؾ +589 "core" ' +2 .tPSV.dial PSR +2 "processing"%. +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%;'X\\ +1100 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%R' +1609 "core" ' +2 .tPSV.dial :mixloop + "processing"%6 +102 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"% +102 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%{'X\\ +1109 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%E' +1616 "core" ' +2 .tPSV.dial :mixloop +2 "processing"% +101 "core" +2 .tPRV.dial :sipper + "processing"%  +41 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"% +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%~' +2634 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%u +101 "core" +2 .tPS.seek 0ml +2 "processing"%%'ؾ +2629 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &A\ +2 "manipulator"&*% +3 "core" %   +3 "storage"(h% +4 "core" % Y Z\ + "storage"(H. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(U(  +1300 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +48 "core" & @ 9 2\ +5 "manipulator"&i& +4 "core" &- r " +2 "manipulator"&% +4 "core" %  1  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&[( +175 "core" ( +2 "manipulator"&`& +4 "core" &   ! +2 "storage"(e& +3 "core" & X X 4\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&g'S +96 "core" ' +2 "storage"(G& +4 "core" & W L n\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +298 "core" ' + "storage"(1- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (0& +3 "core" & ; > \ +2 "manipulator"&\ & +3 "core" & T  +3 .tElbow.seek 2 + "manipulator"&y( +4 "core" ( +2 "manipulator"&/& +4 "core" &  0  + "storage"(& +4 "core" & X @ H\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&''Ͻ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&t& + "storage"(m' +8 "core" & 8  + "manipulator"&X% +4 "core" % Ϻ V ~ +2 .tForearm.seek :retract +2 "manipulator"&A' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +3 "manipulator"&M& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" & Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' +2 "manipulator"&3& +3 "core" & ^ +3 "manipulator"&?% +3 "core" % +3 "processing"%W& +3 "core" &\ +3 "processing"%)& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%"(^ +4 "core" &%\ +8 &30\ $d +10 &Wv1\ 7 +9 &u1\ K +9 &R-\ M +10 &vT0\ M +9 &9Q\ M +10 &U\ M +9 &T\ M +9 &S\ M +10 &@T\ M +9 & Q\ M +9 &!S\ M +10 &#Q\ M +9 &%HT\ M +10 &' T\ N +9 &(T}\ M +9 &*T|\ N +10 &,PT\ M +9 &.Qx\ M +9 &/Uv\ N +10 &1Su\ M +9 &3WTy\ N +10 &5Tx\ M +9 &6Tu\ N +9 &8Tv\ M +10 &:`Su\ M +9 &<"Qx\ M +9 &=Vu\ M +10 &?Yu\ M +9 &AgVv\ N +10 &C$iu\ O +9 &Dkt\ P +9 &Fl\ S +10 &H^u\ S +9 &Jq\ T +9 &Ku\ T +10 &Ml\ T +9 &Ocn\ T +10 &Q$r\ U +9 &Rs\ U +9 &Tq\ V +10 &Vis\ U +9 &X*o\ U +9 &Yn\ U +10 &[o\ U +9 &]on\ C +10 &^;so\ %l +9 &^(r\ / +5 ( +2 "processing"%)& +4 "core" &^r\ / +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&-1 +54 "core" 1 + "manipulator"&% +5 "core" %   f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +93 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %J9 +7 "core" 9 +102 "processing"%O9 +2 "core" 9 +103 "processing"%w9 +3 "core" 9  +102 "processing"%T9 +3 "core" 9  +103 "processing"%s9 +2 "core" 9 +103 "processing"%r9 +2 "core" 9 +103 "processing"%L9 +2 "core" 9 +103 "processing"%Y9 +2 "core" 9 +103 "processing"%+9 +2 "core" 9" +103 "processing"%Z9 +3 "core" 9& +102 "processing"%z9 +3 "core" 9+ +102 "processing"%P9 +3 "core" 9/ +103 "processing"% 9 +3 "core" 93 +102 "processing"%Q9 +3 "core" 97 +102 "processing"%b9 +3 "core" 9; +103 "processing"%a9 +2 "core" 9@ +103 "processing"% 9 +2 "core" 9D +103 "processing"%f9 +3 "core" 9H +103 "processing"%>9 +2 "core" 9L +103 "processing"%k9 +3 "core" 9Q +102 "processing"%C9 +3 "core" 9U +102 "processing"%^9 +3 "core" 9Y\ +143 "processing"%9 +11 "core" 9_ +103 "processing"%!9 +2 "core" 9 c +103 "processing"%q9 +2 "core" 9h +103 "processing"%9 +3 "core" 9l +102 "processing"%59 +3 "core" 9!p +3 .tPH.hold 2:00:00,28C +3 "processing"% php +3 .tdelay 1:30 +3 "core" p +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +102 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%v' +594 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%l' +1613 "core" ' +2 .tPTV.dial :puck +2 "processing"%N  +126 "core"  +2 .tPSV.dial PTV +2 "processing"% +71 "core" +2 .tPBV.dial :waste1 + "processing"%|  +50 "core" +2 "processing"%% +3 "core" %\ \ +3 .tPS.seek 1.5ml +2 "processing"%:'( +585 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 .tPS.seek 0ml +2 "processing"%c'ؾ +1613 "core" ' + .tdelay 5:00 +11355 "Can" D ܾك +18648 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%D  +5 "core"  + .tPBV.dial :waste1 +2 "processing"%d  +32 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%9 * +33 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%} +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%n' +2364 "core" ' +2 .tPSV.dial PTV +2 "processing"% +71 "core" +2 .tdelay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%, +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%&  +85 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2338 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +127 "core" +2 .tPSV.dial :mixloop + "processing"%< +42 "core" +2 .tPRV.dial :ab1 +2 "processing"%B @ +98 "core" ? +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%2' +357 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%4  +42 "core"  + "processing"%I% +4 "core" %\  +2 .tPS.seek 0.3ml +2 "processing"%#' +350 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"']  +29 "core" +2 .tPRV.dial :air +2 "processing"%x  +42 "core"  +3 .tPS.seek 0.9ml + "processing"%'K +1277 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%_ @ +70 "core" > +2 .tPS.seek 0.5ml +2 "processing"%7' +869 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%S  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%' +1617 "core" ' +2 .tPSV.dial :PML + "processing"%$ +44 "core" +2 .tPTV.dial :mixing + "processing"%@ @ +71 "core" @ + .tPBV.dial :waste1 +2 "processing"%.  +32 "core" +2 "processing"%V% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%;' +234 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%6 * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%R'ؾ +1963 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ +3 "manipulator"&& +4 "core" &  + "manipulator"&{% +4 "core" %   !  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +122 "core" ( +2 "manipulator"&& +3 "core" &-  P  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &-    +3 .tForearm.seek :garage +2 "manipulator"&'w +96 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +4 "manipulator"&u& +3 "core" &-    +3 "manipulator"&~% +3 "core" % ω   F +3 .tForearm.seek :retract +2 "manipulator"&' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&*(ӂ +284 "core" ( +2 "manipulator"&h& +4 "core" &Ӓ  i 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &Ӓ R 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'? +93 "core" ' +3 "manipulator"&j& +4 "core" &Ӓ \  S 8 +2 "manipulator"&i% +3 "core" %= V S +3 "collection"'& +3 "core" & \ +3 "collection"'`& +5 "core" & \ +3 .tCC.seek :closed + "collection"'e(\\ +4 "core" & \ +8 &C \ %h +9 &[{ \ 8 +10 &x \ L +9 &T \ L +9 &U \ M +10 &KU \ L +9 & R \ L +10 &X \ L +9 &U \ L +9 &SR \ L +10 & W \ L +9 &!U \ L +9 &#Y \ L +10 &%ZU \ M +9 &'T \ L +10 &(X \ L +9 &*T \ L +9 &,cX \ L +10 &.%T \ L +9 &/V \ L +9 &1V \ L +10 &3lS \ L +9 &5,U \ M +10 &6U \ L +9 &8R \ L +9 &:sW \ L +10 &<4U \ M +9 &=V \ M +9 &?X \ L +10 &Ay] \ M +9 &C8c \ N +10 &Ds\ \ \ P +9 &F\ \ \ T +9 &Ha\ \ \ X +10 &J!\ \ \ Y +9 &K\ \ \ Y +9 &M\ \ \ Y +10 &Od\ \ \ Z +9 &Q&\ \ \ Z +10 &R\ \ \ [ +9 &T\ \ \ \\ +9 &Ve\ \ \ \\ +10 &X$\ \ \ ] +9 &Y\ \ \ ] +9 &[\ \ \ K +10 &\\7\ \ \ . +9 &\\j\ \ \ Q +2 ( +2 "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 + "collection"'G& +4 "core" &\\l\ \ \ Q +2 .tHand.open + "manipulator"&(1 +55 "core" 1 +2 "manipulator"&% +3 "core" % =   S +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +96 "core" ' + .tPSV.dial PSR +2 "processing"%0 +102 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%\ '+ +1616 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%/  +42 "core"  +2 .tPS.seek 0ml +3 "processing"%'ؾ +1615 "core" ' +2 .tPSV.dial PSR +2 "processing"% +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%t' +2650 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%X  + "collection"'[  +32 "core" +123  + .tPSV.dial :mixloop +2 "processing"%g +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%8  +71 "core" +3 .tPS.seek 0ml +2 "processing"%''ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%M  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%=' +2632 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%y +43 "core" +2 .tPS.seek 0ml +2 "processing"%3'ؾ +2640 "core" ' + .tPSV.dial :air +2 "processing"%?  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%W' +2627 "core" ' + .tPSV.dial :mixloop +2 "processing"%m +44 "core" +2 .tPS.seek 0ml +2 "processing"%A'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӧ  5 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +18 "core" ( +2 "manipulator"&& +3 "core" &Ӈ \  6 ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +2 "core" &Ӈ _ ( +3 .tForearm.seek CC +2 "manipulator"&)'? +92 "core" ' +2 .tHand.close + "manipulator"&O/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "manipulator"&w& +3 "core" &Ә   & +3 "manipulator"&T% +4 "core" % C ' +42 .tForearm.seek :retract +10 "manipulator"&s' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&r(- +295 "core" ( + "manipulator"&L& +4 "core" &- \  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &- ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&+'w +100 "core" ' + .tHand.open +2 "manipulator"&Z1 +59 "core" 1 +2 "manipulator"&z% +3 "core" % ρ    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +91 "core" ' +2 ."da"delayUntil "18:57:16.87" +342 "Can"\ s ߰o +24386 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"% @ +72 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%Q  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%b * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%a  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2380 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%f +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%>  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%k +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%C  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%^'ؾ +2327 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%!' +590 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%q' +1619 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +69 "core"  +2 ."da"PSV.dial PTV +2 "processing"%5 +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core"  +2 "processing"%%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%v'+ +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%N * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%|  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2362 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%: +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%D +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%d  +83 "core"  +3 ."da"PS.seek 0ml +2 "processing"%9'ؾ +1926 "Can" D D" +397 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%} +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%c' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +4 "processing"% +11 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%,  +32 "core" +2 "processing"%&% +4 "core" %\  +50 ."da"PS.seek 1.5ml +2 "processing"%n'* +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%<'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%B  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%I' +2384 "core" ' + ."da"PSV.dial PTV +3 "processing"%2 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%] +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%x +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%#  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%_'ؾ +2330 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%S  +128 "core" +2 ."da"delay 5 seconds +503 .PRV.dial :ab2 +2 "processing"%7  +42 "core" ~ + ."da"PTV.dial :PRVmixing +2 "processing"%$  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"%@ +42 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%.' +396 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%V  +44 "core"  + "processing"%6% +4 "core" % [\ +2 ."da"PS.seek 0.55ml +2 "processing"%' +337 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%;  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1560 "core" ' + ."da"PSV.dial :PML +2 "processing"% +44 "core" + ."da"PTV.dial :mixing +2 "processing"%{ @ +72 "core" B + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%E% +3 "core" %<\  +3 ."da"PS.seek 1.85ml +2 "processing"%' +230 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%F * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +1966 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +25769 "Can" C ! +22234 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%~ @ +14 "core" @ +2 ."da"PBV.dial :waste1 +2 "processing"%p  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%h  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%H' +2385 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%j  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%i +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2325 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%G' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%(' +1616 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +72 "core"  +2 ."da"PSV.dial PTV +2 "processing"%` +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%0  +32 "core" +2 "processing"%o% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%R'+ +590 "core" ' +9 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%/ * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +1619 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +15 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%[ * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%X +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%g' +2395 "core" ' + ."da"PSV.dial PTV +3 "processing"%8 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%t +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%M +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%'  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%y'ؾ +2368 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%?' +584 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%3' +448 "Can" E p1 +1162 "core" ' + ."da"PTV.dial :puck +2 "processing"%m  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%W +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%% +8 "core" %O\  +3 ."da"PS.seek 1.5ml +2 "processing"%J'& +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%O * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%*'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%1  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%e  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%w * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%T +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%)' +2389 "core" ' +2 ."da"PSV.dial PTV + "processing"%L +85 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%- +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Y +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%Z  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +2333 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%s +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%+' +605 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"% ' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%Q  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%b +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%a  +33 "core" + "processing"%A% +4 "core" %K\  +3 ."da"PS.seek 1.5ml +2 "processing"%f'( +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%> * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%k'ؾ +1636 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%C  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +47 "core" +9 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%^ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%!' +2384 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%5 +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%%  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +2327 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +144 "core" +4 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +3 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +7 "processing"%v' +347 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%|' +330 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%l  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" + ."da"PBV.dial :waste1 +3 "processing"%:  +33 "core" +2 "processing"% % +4 "core" %L\  +2 ."da"PS.seek 1.5ml +2 "processing"%D'& +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%d * +34 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1614 "core" ' +2 ."da"delay 10 seconds +927 "Can"\ ǃ +75 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%}  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%9  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%c * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%,' +2407 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%& +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%n  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\\'ؾ +2383 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%B +131 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%' +2133 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%4  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%< +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%2  +34 "core" +2 "processing"%]% +4 "core" % \  +2 ."da"PS.seek 1.5ml +2 "processing"%x'- +595 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%# * +34 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%I  +102 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 "processing"%S9 +3 "core" 9f5_ +2 #"da"Processing Puck Heater at 27.9C before imaging +2 .PH.coast +2 "processing"%7 +2 "core" 5` +2 "processing"%$& +4 "core" &^=\ / +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&@% +4 "core" %   +2 "storage"(_% +3 "core" % m m :\  +2 "storage"(V. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(6(C +359 "core" ( +2 ."da"SC.configure :limp +54 "storage"($\ 1b +3 (.& +3 "core" &B U Q 8\ +2 "manipulator"&;& +4 "core" &- ' +2 "manipulator"&% +3 "core" %  G  +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +186 "core" ( +2 "manipulator"&{& +3 "core" &  k  +2 "storage"(& +5 "core" &C \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&E' +110 "core" ' +2 "storage"(F& +3 "core" &C \ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"('r +277 "core" ' +2 "storage"(- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place +2 "storage"(~'1 +43 "core" ' +2 "manipulator"&p& +3 "core" & /  +2 "manipulator"&% +5 "core" %# H s +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +3 "manipulator"&h' +91 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&u( +237 "core" ( + "manipulator"&& +4 "core" &  X / +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &  / +3 ."da"Forearm.seek PC +2 "manipulator"&i' +94 "core" ' +2 ."da"Hand.close + "manipulator"&/ +64 "core" / +3 ."da"PC.seek :open +2 "processing"%H( +460 "core" ( + "storage"(K& +4 "core" &C < T\ +2 "manipulator"&& +3 "core" & I / +2 "manipulator"&G% +5 "core" %  O +2 ."da"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&`( +257 "core" ( + "manipulator"&0& +5 "core" &  F + "storage"(o& +4 "core" &C y \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&(' +93 "core" ' +2 ."da"Hand.open + "manipulator"&/1 +64 "core" 1 +2 "storage"(R- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +61 "core" ' +3 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0719h.tif +5 "processing"%[& +9 "core" &0\ +5 "manipulator"&X& +5 "core" & L +3 "manipulator"&\ % +6 "core" %  I +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&8' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&t(- +171 "core" ( + "manipulator"&M& +4 "core" &-  T +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &'& +3 "core" &- N T +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&g'w +97 "core" ' + ."psFlush"Hand.close +2 "manipulator"&=/ +56 "core" / +2 "manipulator"&y& +4 "core" &-  T +2 "manipulator"&?% +5 "core" % ρ  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&m' +97 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&W( +117 "core" ( +8 "manipulator"&& +5 "core" & i G + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & 2 G +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&3' +92 "core" ' + "manipulator"&O& +5 "core" & K G +2 "manipulator"&J% +4 "core" % c +2 "processing"%1& +3 "core" &\ +3 "processing"%e& +5 "core" &\ +2 ."psFlush"PC.seek :closed +3 "processing"%w(^ +3 "core" &\ +7 &2\ $c +10 &Ts\ 7 +9 &~o\ ~K +9 &J\ O +10 &[K\ N +9 &J\ N +9 &I\ N +10 &M\ N +9 &aL\ O +10 &#M\ O +9 &L\ O +9 &!M\ M +10 &#lQ\ N +9 &%.P\ N +9 &&O\ N +10 &(L\ M +9 &*uQ\ M +10 &,7L\ M +9 &-L\ M +9 &/N\ M +10 &1}Q\ M +9 &3?Q\ M +10 &4M\ N +9 &6N\ N +9 &8L\ O +10 &:DL\ N +9 &<J\ N +9 &=N\ N +10 &?L\ N +9 &ALM\ N +10 &C\ W\ P +9 &D]\ Q +9 &Fr\ }S +10 &H?\ {U +9 &J\ |U +9 &K\ {U +10 &M\ U +9 &OH\ U +9 &Q\ V +10 &R\ U +9 &T\ V +10 &VO\ U +9 &X\ V +9 &Y\ V +10 &[\ U +9 &]T\ G +9 &^yC}\ #i +10 &^2\ 3 +5 ( +2 "processing"%e& +3 "core" &^ \ 3 +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 +2 "processing"%T& +3 "core" &^ \ 3 +2 ."psFlush"Hand.open +2 "manipulator"&*1 +56 "core" 1 +2 "manipulator"&L% +3 "core" %   c +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&-' +96 "core" ' +2 ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%Y +45 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"%Z' +546 #"da"SX HX9/16 (USB:13): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 17.998 seconds\ /var/log/esp/da23sep0719h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0719h15s.tif +36 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%)' +1010 #"da"SX HX9/16 (USB:13): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0719h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0719h20s.tif +1115 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%s @ +186 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%z  +128 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%+ +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%Q'ؠ +418 #"da"SX HX9/16 (USB:13): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0719h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "17.998 sec auto-exposure",Subject: "da23sep0719h images!" +3 "storage"(b- +3 "core" -' +2 "storage"(a& +17 "core" &C *\ +3 "manipulator"&A& +11 "core" &  w G +2 "manipulator"& % +5 "core" %   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +5 "manipulator"&>( +246 "core" ( +3 "manipulator"&f& +10 "core" & " " = , +2 "storage"(C& +4 "core" &C \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +100 "core" ' +5 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"('" +56 "core" ' +2 "manipulator"&^& +8 "core" &  l , +4 "storage"(k& +8 "core" &C I `\ +119 ."da"Elbow.reconfigure :limp +13 "manipulator"&$ ,(b +7 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +5 "manipulator"&'8 +28 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&5, +6 "core" , +4 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +7 "storage"(#QK-0-\ b +7 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(' +31 "core" ' +3 "manipulator"&%% +7 "core" %K   [ +4 "storage"(!& +8 "core" &C  \ +5 ."da"Forearm.force -20 +2 "manipulator"&5 +7 ."da"Forearm.seek 1 + 319 counts +2 "manipulator"&N'w +17 "core" ' +3 "manipulator"&q& +7 "core" &   , +5 "storage"(v& +6 "core" &C 4 3\ +7 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +8 ."da"Forearm.seek 1 + 450 counts +7 "manipulator"&|' +22 "core" ' +4 "storage"(l% +8 "core" % = @\ +4 ."downElevator"SE.seek :down +8 "storage"(' +100 (:% +6 "core" %?\ \  \ V_ +4 "manipulator"& % +9 "core" %  7 +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&' +90 "core" ' +42 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (d& +8 "core" &C $ 2 \ +986 ' +2 ."psFlush"PSR.select :air +6 .PSV.dial PSR +2 "processing"%D +104 "core" +4 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +5 "processing"%@ +15 ."psFlush"PS.seek 0.5ml +4 "processing"%}' +599 "core" ' +20 ."psFlush"delay 5 seconds +90 #"uploadLog"upsync +412 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%9' +2151 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%c  +35 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"% @ +71 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%&'ؠ +2625 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 1ml + "processing"%'X\\ +1104 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%n' +1609 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%, +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%B  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%\\  +5 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%4'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%< +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%2' +596 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%]' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +3 "processing"%# U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%I'ؾ +2625 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%x @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%S' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%7  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%$'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%@ +42 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%_' +2636 "core" ' +9 ."psFlush"PSV.dial PTV +3 "processing"%V +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%U U +4 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"%.'ؾ +2650 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%; @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%{  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2450 "Can" H L] +184 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%r +42 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%F'X\\ +1098 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%P' +1606 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%p  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%E +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%j' +2125 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%h'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%" @ +41 "core" ? +3 ."psFlush"PS.seek 2.5ml + "processing"%K' +2654 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%G'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%i +42 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%0' +2652 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%u U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%/'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%R @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%[' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%X  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2625 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&\ & +4 "core" & i , +2 "manipulator"&~% +3 "core" %    \  +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +264 "core" ( + "manipulator"&M& +4 "core" &  ? +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &  +3 ."psFlush"Forearm.seek PC +2 "manipulator"&(' +94 "core" ' + ."psFlush"Hand.close +2 "manipulator"&`/ +59 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%=( +457 "core" ( +2 "manipulator"&y& +3 "core" & +2 "manipulator"&?% +4 "core" %   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&8' +101 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +50 "manipulator"&(- +121 "core" ( +2 "manipulator"&& +3 "core" &- o  +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &- ;  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&O'w +96 "core" ' + ."psFlush"Hand.open +2 "manipulator"&J1 +58 "core" 1 + "manipulator"&1% +4 "core" % }  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&t' +89 "core" ' +3 #tFinished short da assay + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'m& +4 "core" & _\ +2 "manipulator"&H& +5 "core" &-  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&T(- +20 "core" ( + "manipulator"&*& +4 "core" &-  Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &- Y +3 .tForearm.seek :garage +2 "manipulator"&e'w +95 "core" ' +2 .tHand.close + "manipulator"&Y/ +57 "core" / + "manipulator"&3& +4 "core" &-  w Y +2 "manipulator"&% +4 "core" % ω f +2 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&s(ӂ +287 "core" ( +2 "manipulator"&z& +4 "core" &Ӓ#  / <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +2 "core" &Ӓ#  <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'? +100 "core" ' +2 "manipulator"&b& +4 "core" &ӓ"  F ;8 +2 "manipulator"&a% +4 "core" %? 7 +2 "collection"'A& +4 "core" & %\ +2 "collection"' & +5 "core" & `\ +3 .tCC.seek :closed + "collection"'f(\\ +4 "core" & _\ +8 &A k\ %g +9 &Zy o\ 8 +9 & x c\ L +10 &V b\ L +9 &U g\ M +9 &LU d\ L +10 &R n\ L +9 &T k\ L +10 &U j\ L +9 &TR k\ L +9 & W k\ L +10 &!U p\ L +9 &#Y t\ L +9 &%\\U m\ L +10 &'R q\ L +9 &(U r\ L +9 &*V t\ L +10 &,dW p\ L +9 &.'W w\ L +10 &/U v\ L +9 &1W s\ M +9 &3lV x\ L +10 &5.W w\ L +9 &6V o\ M +10 &8U q\ L +9 &:tR r\ L +9 &<5U p\ M +10 &=U r\ L +9 &?S n\ L +9 &A{\\ o\ M +10 &C:c\ q\ N +9 &Dw\ w\ P +10 &F\ \ r\ T +9 &Hc\ \ p\ X +9 &J%\ \ n\ X +10 &K\ \ s\ Y +9 &M\ \ r\ Y +9 &Oe\ \ q\ Z +10 &Q(\ \ p\ Y +9 &R\ \ r\ Z +10 &T\ \ o\ [ +9 &Vg\ \ s\ \\ +9 &X%\ \ t\ ] +10 &Y\ \ w\ ] +9 &[\ \ p\ K +9 &\\2\ \ t\ 2 +10 &\\k\ \ p\ Q +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + "collection"'C& +3 "core" &\\l\ \ v\ Q +2 .tHand.open +2 "manipulator"&W1 +59 "core" 1 + "manipulator"&^% +4 "core" % ?   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +94 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%-  +43 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%%  +97 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%! +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%q @ +71 "core" @ +2 .tPS.seek 0ml +2 "processing"%v'ؾ +2635 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%l  +187 "core"  + #tPulling 2.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 2.5ml + "processing"% ' +2630 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%>  +4 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%: +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"% 'ؾ +2677 "core" ' +9 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%' +2634 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%N  +4 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%d +199 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%'ؾ +2631 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%|  +185 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +4 .PS.seek 1.5ml + "processing"%'+ +1616 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%D  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%Q'ؾ +1618 "core" ' + .tPSV.dial PSR +2 "processing"%} +54 "core" +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%c' +2633 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%  +4 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +185 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 .PS.seek 0ml +2 "processing"%9'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%&' +1260 "Can"\ V  +1373 "core" ' + .tPSV.dial :PTV +2 "processing"% +72 "core"  +2 .tPS.seek 0ml +2 "processing"%,'ؾ +2640 "core" ' + .tPSV.dial :air +2 "processing"%B  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%\\' +2655 "core" ' +2 .tPSV.dial :PTV + "processing"%n +85 "core" +2 .tPS.seek 0ml + "processing"%<'ؾ +2637 "core" ' +2 .tPSV.dial :air + "processing"%4  +71 "core"  +2 .tPS.seek 2.5ml + "processing"%2' +2639 "core" ' + .tPSV.dial :PTV +2 "processing"% +72 "core"  +2 .tPS.seek 0ml +2 "processing"%#'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&]& +4 "core" &Ӭ  8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +39 "core" ( + "manipulator"&I& +4 "core" &w   V 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &w   9' +2 .tForearm.seek CC +2 "manipulator"&S'? +95 "core" ' + .tHand.close +2 "manipulator"&@/ +64 "core" / +2 .tCC.seek :open +2 "collection"'$( +451 "core" ( +2 "manipulator"&V& +3 "core" &ӭ W 2 +3 "manipulator"&U% +4 "core" % F W +2 .tForearm.seek :retract + "manipulator"&_' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&;(- +282 "core" ( +2 "manipulator"&.& +3 "core" &-  b +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &- b +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +94 "core" ' +2 .tHand.open +2 "manipulator"&r1 +59 "core" 1 + "manipulator"&% +4 "core" % q 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +96 "core" ' +904 #t-> PS.flush +2 #Flushing Processing stage + "processing"%% +3 "core" %ؾ\ +3 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%p& +3 "core" &\ +3 "manipulator"&& +4 "core" &- " b +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&P(- +3 "core" ( +2 "manipulator"&E& +4 "core" &- b +2 .tElbow.reconfigure :loose +48 "manipulator"&$ &.,(#b +4 && +3 "core" &- 9 b +3 .tForearm.seek :garage +2 "manipulator"&'w +92 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 "manipulator"&& +3 "core" &- 0 b +3 "manipulator"&j% +4 "core" % χ  C +2 .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&h( +119 "core" ( +2 "manipulator"&& +3 "core" &  ^  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +4 "core" & c  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&i' +96 "core" ' +2 "manipulator"&G& +4 "core" & P  +2 "manipulator"&o% +3 "core" % +3 "processing"%u& +4 "core" &\ +2 "processing"%0& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%R(^ +5 "core" &\ +7 &:\ $d +10 &Xu\ 7 +9 &v\ L +9 &R\ M +10 &wR\ M +9 &9Q\ M +9 &R\ L +10 &Q\ L +9 &R\ M +10 &AU\ M +9 & Q\ M +9 &!R\ M +10 &#U\ M +9 &%IQ\ M +9 &' R\ L +10 &(S\ M +9 &*U\ M +10 &,QQ\ M +9 &.R\ M +9 &/V\ M +10 &1R\ L +9 &3ZT\ L +9 &5R\ L +10 &6T\ M +9 &8Q\ M +10 &:bR\ L +9 &<#S\ M +9 &=R\ M +10 &?U\ M +9 &AiT\ M +9 &C%e\ O +10 &Dg\ O +9 &F}\ R +10 &H]\ S +9 &J\ S +9 &K\ T +10 &M\ T +9 &Oc\ T +9 &Q#\ U +10 &R\ T +9 &T\ U +10 &Vj\ T +9 &X+\ U +9 &Y\ U +10 &[\ T +9 &]o\ C +9 &^<u\ "e +10 &^4\ 3 +5 ( +2 "processing"%0& +3 "core" &^ \ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + "processing"%/& +5 "core" &^ \ 3 + .tHand.open +2 "manipulator"&X1 +60 "core" 1 +2 "manipulator"&[% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +92 "core" ' +2 .tPSV.dial PSR +2 "processing"%~ +71 "core"  +2 .tPSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%M'X\\ +1097 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%'' +1609 "core" ' +2 .tPSV.dial PTV +2 "processing"%5 +71 "core" +2 .tPTV.dial :puck + "processing"%`  +72 "core"  +2 .tPBV.dial :waste1 + "processing"%  +50 "core" +2 .tPS.seek 0ml +2 "processing"%w'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%y +72 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%?' +597 "core" ' + .tPSR.select :air +3 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2122 "core" ' +2 .tPSV.dial PTV +2 "processing"%g +71 "core" +2 .tPBV.dial PSV +2 "processing"%( U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%'ؾ +2624 "core" ' + .tPSV.dial PBV +2 "processing"%J @ +55 "core" @ +2 .tPS.seek 2.5ml + "processing"%1' +2636 "core" ' + .tPSV.dial :waste1 + "processing"%m  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2627 "core" ' + .tPSV.dial PSR +2 "processing"%8 +55 "core" + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%*' +2642 "core" ' +2 .tPSV.dial PTV + "processing"%L +72 "core" +2 .tPBV.dial PSV +2 "processing"%O U +15 "core" T +2 .tPS.seek 0ml +2 "processing"%Y'ؾ +2630 "core" ' +2 .tPSV.dial PBV + "processing"%3 @ +55 "core" @ +2 .tPS.seek 2.5ml +2 "processing"%' +2632 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +72 "core"  +50 .tPS.seek 0ml +2 "processing"%t'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&e& +5 "core" & 6  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&z( +3 "core" ( + "manipulator"&T& +4 "core" &  Q  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &  U  +3 .tForearm.seek PC +2 "manipulator"&b' +95 "core" ' +2 .tHand.close + "manipulator"&a/ +64 "core" / +2 .tPC.seek :open +2 "processing"%A( +457 "core" ( + "manipulator"&Z& +4 "core" & m  +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&C' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&W(- +127 "core" ( + "manipulator"&^& +5 "core" &- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &- n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&-'w +101 "core" ' +2 .tHand.open + "manipulator"&)1 +54 "core" 1 + "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' +9557 #t-> access 1 +2 "storage"(!% +3 "core" % K a e\  +3 "manipulator"&q% +4 "core" %  #  + "manipulator"&& +4 "core" &- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(l(<- +1304 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (v& +3 "core" &<,   I\  +945 #t-> access2 +450 #-> access 2 +3 "storage"(>% +3 "core" % Y X \  +2 "manipulator"&:% +4 "core" %  H  +2 "manipulator"& & +3 "core" &- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &K : 6 \  +49 "Can" :  +44570 #t-> startTube 2 +1725 #-> $da[:extracVol]=.2 +574 #-> shortDA; shortDAflush +2 "collection"'N% +2 "processing"%d% +4 "core" %c \ +7 %3\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +516 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"% +130 "core" + .tPTV.dial :PRVmixing +2 "processing"%|  +126 "core" +2 .tPRV.dial :sipper +2 "processing"%  +126 "core"  +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%D'e +2294 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%  +126 "core"  +2 .tPS.seek 0.5ml +2 "processing"%}' +1272 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%Q @ +98 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml +2 "processing"%'ؾ +592 "core" ' +2 .tPSV.dial PSR +2 "processing"% +112 "core" +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%c'X\\ +1102 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1616 "core" ' +2 .tPSV.dial :mixloop + "processing"%9 +111 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 .tPSV.dial PSR + "processing"%& +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%B'X\\ +1053 "Can" >  +46 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%,' +1607 "core" ' +8 .tPSV.dial :mixloop +2 "processing"%n +102 "core" +2 .tPRV.dial :sipper +2 "processing"%\\  +41 "core" +3 .tPS.seek 0ml +2 "processing"%4'ؾ +2647 "core" ' + .tPSV.dial PSR +2 "processing"%< +100 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%' +2625 "core" ' +2 .tPSV.dial :mixloop + "processing"%2 +102 "core" +2 .tPS.seek 0ml +2 "processing"%]'ؾ +2653 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%I& +4 "core" &\ +2 "manipulator"&7% +3 "core" %  R  +3 "storage"(@% +4 "core" % ^ q \  + "storage"(s. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(k(  +1301 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (f& +2 "core" &  > L /\ +3 "manipulator"&V& +3 "core" &- L +2 "manipulator"&U% +4 "core" %  $  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&S( +171 "core" ( + "manipulator"&.& +4 "core" & J ( +2 "storage"({& +3 "core" &  Y X P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&x'S +91 "core" ' + "storage"(r& +4 "core" &  s b n\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & + - *\ +2 "manipulator"&& +3 "core" & z ( +3 .tElbow.seek 2 + "manipulator"&p( +4 "core" ( + "manipulator"&& +4 "core" &   ( +2 "storage"(E& +4 "core" & X < \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(j' +7 "core" & ( +2 "manipulator"&;% +4 "core" % ϵ / +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&K& +5 "core" & < # + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 && +3 "core" & = # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +97 "core" ' +2 "manipulator"&o& +4 "core" & P # +2 "manipulator"&u% +3 "core" % I +3 "processing"%P& +3 "core" &<\ +3 "processing"%"& +5 "core" &7\ +2 .tPC.seek :closed +2 "processing"%=(^ +5 "core" &&\ +7 &30\ $d +9 &Us\ 6 +10 &v0\ K +9 &Q\ M +9 &hR\ M +10 &+Q}\ M +9 &R\ M +9 &R\ M +10 &rP\ M +9 &4R\ M +10 &R\ M +9 &!U\ M +9 &#yS~\ M +10 &%;S\ M +9 &&R}\ M +9 &(Rv\ M +10 &*Qo\ M +9 &,CRt\ M +10 &.Rs\ M +9 &/Ro\ M +9 &1Rs\ M +10 &3LRo\ M +9 &5 Ur\ M +9 &6Rm\ M +10 &8Rl\ M +9 &:TRk\ M +10 &<Sb\ M +9 &=T[\ M +9 &?Th\ M +10 &AYUi\ N +9 &C_i\ O +9 &Dgs\ P +10 &F~p\ R +9 &HQo\ S +10 &Jp\ S +9 &Ke\ S +9 &Me\ T +10 &OVd\ T +9 &Qe\ U +9 &Rn\ T +10 &Tp\ U +9 &V]a\ T +10 &XV\ U +9 &YP\ U +9 &[^\ U +10 &]cZ\ B +9 &^AsS\ !c +9 &^4X\ 2 +6 ( + "processing"%"& +4 "core" &^#W\ 2 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&/1 +64 "core" 1 +2 "manipulator"&X% +3 "core" %   & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%0 h +2 %~9 +6 "core" 9 +103 "processing"%i9 +2 "core" 9 +103 "processing"%#9 +11 "core" 9  +102 "processing"%M9 +3 "core" 9 +103 "processing"%59 +2 "core" 9 +103 "processing"%`9 +2 "core" 9 +103 "processing"%9 +3 "core" 9 +102 "processing"%'9 +4 "core" 9 +102 "processing"%y9 +3 "core" 9# +103 "processing"%w9 +2 "core" 9' +103 "processing"%?9 +2 "core" 9+ +103 "processing"%g9 +3 "core" 9/ +103 "processing"%(9 +3 "core" 93 +102 "processing"%9 +3 "core" 98 +103 "processing"%J9 +2 "core" 9< +103 "processing"%9 +3 "core" 9@ +102 "processing"%m9 +3 "core" 9D +102 "processing"%19 +4 "core" 9I +102 "processing"%89 +3 "core" 9M +103 "processing"%H9 +2 "core" 9Q +103 "processing"%L9 +2 "core" 9U +103 "processing"%O9 +3 "core" 9Y\ +102 "processing"%*9 +3 "core" 9^ +103 "processing"%39 +3 "core" 9b +102 "processing"%Y9 +3 "core" 9f +103 "processing"%9 +2 "core" 9j +103 "processing"%9 +2 "core" 9$n +4 .tPH.hold 2:00:00,28C +3 "processing"%e php +2 .tdelay 1:30 +5 "core" o +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%T +102 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%+' +597 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%a' +1619 "core" ' +2 .tPTV.dial :puck + "processing"%h  +128 "core"  +2 .tPSV.dial PTV +2 "processing"%\ +71 "core" +2 .tPBV.dial :waste1 +2 "processing"%R  +49 "core" +2 "processing"%Z% +4 "core" %y\  +2 .tPS.seek 1.5ml +2 "processing"%', +590 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%^ * +33 "core" + +3 .tPS.seek 0ml +2 "processing"% 'ؾ +1610 "core" ' + .tdelay 5:00 +29339 "Can" F r +664 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%b  +4 "core"  +2 .tPBV.dial :waste1 +2 "processing"%z  +32 "core"  +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%) * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%C' +2392 "core" ' +2 .tPSV.dial PTV +2 "processing"%- +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%! +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +3 "processing"%q +72 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%6'ؾ +2324 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%v  +128 "core" +2 .tPSV.dial :mixloop +2 "processing"%> +43 "core" + .tPRV.dial :ab1 +2 "processing"%: @ +98 "core" > +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"% ' +352 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%l  +41 "core"  +2 "processing"% % +4 "core" %\ \ +2 .tPS.seek 0.3ml +2 "processing"%N' +350 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'d  +30 "core" +2 .tPRV.dial :air +2 "processing"%  +40 "core"  +3 .tPS.seek 0.9ml +2 "processing"%|'K +1272 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +70 "core" ? +3 .tPS.seek 0.5ml +2 "processing"%t' +869 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%  +44 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%D' +1615 "core" ' + .tPSV.dial :PML + "processing"%Q +44 "core" +2 .tPTV.dial :mixing +2 "processing"%} @ +72 "core" @ + .tPBV.dial :waste1 +2 "processing"%  +32 "core" +49 "processing"%% +5 "core" %\  +3 .tPS.seek 1.85ml + "processing"%c' +235 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%9 * +32 "core" + +3 .tPS.seek 0ml +2 "processing"%'ؾ +1988 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'&& +3 "core" & \  +2 "manipulator"&& +5 "core" &  5 # + "manipulator"&B% +4 "core" %   q  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&n(- +128 "core" ( +2 "manipulator"&\\& +4 "core" &-  k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &- A +2 .tForearm.seek :garage +2 "manipulator"&<'w +93 "core" ' +2 .tHand.close + "manipulator"&4/ +64 "core" / +2 "manipulator"&2& +3 "core" &-  E +2 "manipulator"&% +4 "core" % ψ n * +2 .tForearm.seek :retract +2 "manipulator"&I' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&7(ӂ +274 "core" ( +2 "manipulator"&@& +4 "core" &{&   ] ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &{& q ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&f& +5 "core" &|&  \ ?U +2 "manipulator"&V% +4 "core" %L  U 1 +2 "collection"'U& +3 "core" & \  +3 "collection"'.& +5 "core" & \  +3 .tCC.seek :closed + "collection"'{(\\ +5 "core" & \  +7 &A \ %h +9 &Yy \ 8 +10 &v \ L +9 &U \ M +9 &R \ L +10 &FR \ M +9 & W \ L +9 &S \ L +10 &S \ L +9 &OU \ L +9 & R \ M +10 &!T \ M +9 &#T \ L +10 &%WR \ L +9 &'T \ L +9 &(V \ M +10 &*Q \ L +9 &,_Y \ L +9 &.!R \ L +10 &/R \ L +9 &1S \ M +10 &3fU \ M +9 &5)R \ L +9 &6T \ M +10 &8U \ M +9 &:oR \ L +10 &<1R \ L +9 &=R \ L +9 &?P \ L +10 &AvV \ M +9 &C4_ \ N +9 &Dt\  \ Q +10 &F\ \ \ T +9 &H\\\ \ \ X +10 &J\ \ \ Z +9 &K\ \ \ Y +9 &M\ \ \ Z +10 &O\\\ \ \ [\ +9 &Q\ \ \ [ +9 &R\ \ \ \\ +10 &T\ \ \ \\ +9 &V]\ \ \ ] +10 &X \ \ \ ] +9 &Y\ \ \ ^ +9 &[\ \ \ J +10 &\\:\ \ \ - +9 &\\u\ \ \ Q +2 ( +2 "collection"'.& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.42 + "collection"'r& +4 "core" &\\y\ \ \ Q +2 .tHand.open + "manipulator"&W1 +60 "core" 1 +2 "manipulator"&%% +4 "core" % L   1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +94 "core" ' +2 .tPSV.dial PSR + "processing"% +102 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1.5ml + "processing"%'+ +1609 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%E'ؾ +1613 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2628 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%;  +2 "collection"'S  +33 "core" ~ +123  +2 .tPSV.dial :mixloop + "processing"%x +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2628 "core" ' +2 .tPSV.dial :air +2 "processing"%K  +54 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"%p +43 "core" +2 .tPS.seek 0ml +2 "processing"%o'ؾ +2650 "core" ' +2 .tPSV.dial :air + "processing"%u  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%P' +2677 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%j +43 "core" +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&A& +3 "core" &Ө    9) +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&/(ӂ +23 "core" ( + "manipulator"&X& +4 "core" &{   1 # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &{   # +3 .tForearm.seek CC +2 "manipulator"&"'? +101 "core" ' +2 .tHand.close +2 "manipulator"&i/ +54 "core" / +2 .tCC.seek :open +2 "collection"'G( +448 "core" ( + "manipulator"&#& +4 "core" &ӎ  !p +2 "manipulator"&M% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&5' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&`(- +282 "core" ( +2 "manipulator"&& +4 "core" &-    G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &- G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&y'w +92 "core" ' +2 .tHand.open +2 "manipulator"&w1 +62 "core" 1 + "manipulator"&?% +5 "core" % n  N 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +2 ."da"delayUntil "20:34:17.82" +18288 "Can"\ o K +6468 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%( @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%J * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%m' +2383 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%1 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%8  +42 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%H +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%L  +42 "core"  +3 ."da"PS.seek 0ml +2 "processing"%O'ؾ +2328 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +3 .PSV.dial PSR + "processing"%* +129 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%3' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%Y' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +69 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%T  +32 "core" +2 "processing"%]% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%+'+ +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%h * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%R  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Z * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%a +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%^' +2408 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%0 +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +49 "processing"%b +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%z  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%)'ؾ +2332 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +591 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%-' +1616 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%! +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%q  +33 "core" + "processing"%% +4 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%C'* +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%v * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +1613 "core" ' +2 ."da"delay 2:00 +11897 "Can" D + +105 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%:  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%6 * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +85 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2381 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%d +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%N  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2334 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%|  +43 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +3 "processing"%  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%t  +41 "core"  + ."da"PTV.dial :PRVmixing +2 "processing"%Q  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"%} +42 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%' +388 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +43 "core"  +2 "processing"%9% +3 "core" % \  +3 ."da"PS.seek 0.55ml +2 "processing"%D' +332 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%c  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%&' +1553 "core" ' +2 ."da"PSV.dial :PML +2 "processing"% +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%B @ +71 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%\\  +32 "core" +2 "processing"%,% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"%' +239 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%4 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%2'ؾ +1988 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +43668 "Can" B\ w +4335 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +14 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%[  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%< * +33 "core" + + ."da"PSV.dial :air +2 "processing"%@  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%s' +2387 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%n +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%f  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"%V +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%U  +93 "core"  +2 ."da"PS.seek 0ml +3 "processing"%I'ؾ +2342 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%$ +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%r' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%W' +1615 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%%  +71 "core"  +2 ."da"PSV.dial PTV +2 "processing"%. +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%', +584 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1609 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%E  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%S * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%; +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%x' +2391 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%K +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +5 "processing"%  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%p'ؾ +2329 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%u' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%o' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%j  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%P +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%A  +32 "core"  +2 "processing"%X% +4 "core" %f\  +2 ."da"PS.seek 1.5ml +2 "processing"%~'/ +599 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%i * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%7'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%_  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%{  +34 "core" +2 ."da"delay 30 seconds +1987 "Can"\ E\ T  +1016 ."da"PBV.dial between PSV and waste1 +2 "processing"%# * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%M +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%"' +2391 "core" ' + ."da"PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%' +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%/ +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%w  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%?'ؾ +2330 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%5 +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +46 "processing"%y' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%(' +1625 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +5 "core"  + ."da"PSV.dial PTV +3 "processing"%J +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%F% +5 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%1', +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%8 * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%H'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%L  +5 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%m  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%* * +33 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%O +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%3' +2389 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%T +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%]  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%Y'ؾ +2328 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%h +133 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +3 "processing"% +19 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +2 "processing"%+' +338 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%R' +338 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Z' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%a  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%\ +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%0'- +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%b * +34 "core" + +2 ."da"PS.seek 0ml +3 "processing"%z'ؾ +1617 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%^  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%) * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +74 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%!' +2414 "core" ' + ."da"PSV.dial PTV +2 "processing"%q +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%- +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%v  +73 "core"  +3 ."da"PS.seek 0ml +2 "processing"%C'ؾ +2383 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%: +131 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%6' +2128 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%l  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%> +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" +53 "processing"%d% +4 "core" %k\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%N * +35 "core" + + ."da"delay 1 second +103 .PSV.dial :waste1 +2 "processing"%  +103 "core"  +3 ."da"PS.seek 0ml +2 "processing"%|'ؾ +1607 "core" ' +2 "processing"%9 +3 "core" 9j5h +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%t +3 %Q& +2 "core" 5i +4 &^#\ 2 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&}% +4 "core" %  Y  +2 "storage"(% +4 "core" % G G\  +2 "storage"(. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(9(C +356 "core" ( +2 ."da"SC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &F ] a\ +2 "manipulator"&c& +5 "core" &- e G + "manipulator"&D% +4 "core" %  U  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +173 "core" ( + "manipulator"&B& +4 "core" &    4 +2 "storage"(\\& +3 "core" &F z \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&,' +96 "core" ' + "storage"(4& +5 "core" &F v >\ +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak +2 "storage"(&'r +277 "core" ' + "storage"(- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"('1 +40 "core" ' +2 "manipulator"&[& +4 "core" & M 4 +2 "manipulator"&<% +3 "core" % { +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&@' +93 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&2( +243 "core" ( + "manipulator"&n& +4 "core" &  q $ +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &  $ +2 ."da"Forearm.seek PC +3 "manipulator"&V' +95 "core" ' +2 ."da"Hand.close + "manipulator"&U/ +64 "core" / +2 ."da"PC.seek :open +3 "processing"%s( +456 "core" ( +2 "storage"($& +3 "core" &G \ +3 "manipulator"&I& +4 "core" & L $ + "manipulator"&r% +4 "core" %  +2 ."da"Forearm.seek :retract +2 "manipulator"&%' +97 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&.( +30 "Can"\ \ % +225 "core" ( + "manipulator"&& +4 "core" &  : ) +2 "storage"(& +3 "core" &G W\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&W' +108 "core" ' +2 ."da"Hand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(E' +58 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0721h.tif +5 "processing"%S& +9 "core" &,\ j +5 "manipulator"&;& +5 "core" &  ) +3 "manipulator"&% +4 "core" %  +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +61 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +95 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +176 "core" ( + "manipulator"&K& +5 "core" &-  ) J + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &-  J +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&x'w +95 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +59 "core" / +2 "manipulator"&p& +3 "core" &-   J +2 "manipulator"&u% +5 "core" % ω , +2 ."psFlush"Forearm.seek :retract + "manipulator"&j' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&P( +114 "core" ( + "manipulator"&A& +4 "core" &   K +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +3 "core" & \ c K +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +3 "manipulator"&o' +89 "core" ' +3 "manipulator"&i& +4 "core" &   K +2 "manipulator"&~% +3 "core" %  ? +3 "processing"%_& +4 "core" &\ j +2 "processing"%{& +5 "core" &\ j +2 ."psFlush"PC.seek :closed +3 "processing"%#(^ +4 "core" &\ j +7 &7\ f$d +9 &Up\ h7 +10 &~n\ K +9 &L\ N +9 &]K\ N +10 & I\ N +9 &I\ N +9 &J\ N +10 &fI\ N +9 &(K\ N +10 &K\ N +9 &!N\ N +9 &#mJ\ N +10 &%-J\ hO +9 &&K\ gO +9 &(H\ gO +10 &*rK\ gO +9 &,5I\ gO +10 &-H\ fO +9 &/I\ fO +9 &1zL\ eO +10 &3=H\ eO +9 &4H\ eO +9 &6I\ eO +10 &8H\ eO +9 &:FH\ eN +10 &<I\ fO +9 &=L\ N +9 &?N\ O +10 &ANM\ N +9 &C U\ O +9 &D\\\ P +10 &Fp\ S +9 &HC\ U +10 &J\ U +9 &K\ V +9 &M\ V +10 &OH\ V +9 &Q\ cW +9 &R\ bX +10 &T\ aX +9 &VK\ aX +10 &X\ aW +9 &Y\ `W +9 &[\ `W +10 &]Q\ `K +9 &^|G~\ `_ +9 &^A\ e7 +6 ( + "processing"%{& +4 "core" &^+\ e7 +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 +2 "processing"%M& +3 "core" &^+\ e7 +3 ."psFlush"Hand.open +2 "manipulator"&71 +58 "core" 1 +2 "manipulator"&% +4 "core" % # $ ? +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&'' +91 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%/ +45 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +3 "processing"%w' +492 #"da"SX HX9/16 (USB:14): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 18.006 seconds\ /var/log/esp/da23sep0721h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0721h15s.tif +93 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +960 #"da"SX HX9/16 (USB:14): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0721h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0721h20s.tif +1161 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%5 @ +187 "core" A + ."psFlush"PTV.dial :PRVmixing +3 "processing"%?  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%y +101 "core" +4 ."psFlush"PS.seek :empty +3 "processing"%'ؠ +361 #"da"SX HX9/16 (USB:14): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0721h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "18.006 sec auto-exposure",Subject: "da23sep0721h images!" +8 "storage"(J- +11 "core" -' +7 "storage"(& +7 "core" &G ;\ +3 "manipulator"&F& +5 "core" & # " K +2 "manipulator"&(% +4 "core" %   }  +2 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&8( +244 "core" ( + "manipulator"&1& +4 "core" &  ' 2 +2 "storage"(L& +4 "core" &G  \\\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&m' +94 "core" ' +4 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(*'" +55 "core" ' +4 "manipulator"&O& +10 "core" &  4 2 +3 "storage"(H& +8 "core" &G\ \  \ +5 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +3 "manipulator"&'8 +26 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&, +8 "core" , +2 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(T' +31 "core" ' +9 "manipulator"&]% +8 "core" %D " " ; +4 "storage"(3& +7 "core" &G\ \  w\ +5 ."da"Forearm.force -20 + "manipulator"&5 +8 ."da"Forearm.seek 1 + 312 counts + "manipulator"&h'p +16 "core" ' +4 "manipulator"&Y& +8 "core" &  % 2 +4 "storage"(+& +7 "core" &G   \ +4 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&R' +18 "core" ' +4 "storage"(a% +8 "core" %  \  +6 ."downElevator"SE.seek :down +7 "storage"(\ ' +98 ( % +6 "core" %d@ V\ TZ +4 "manipulator"&% +7 "core" % +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +3 "manipulator"&Z' +96 "core" ' +37 ' +4 ."downElevator"SE.stop + "storage"(5 +6 (b& +6 "core" &G  H b\ +1191 ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +5 "processing"%0 +101 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +6 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +5 "processing"%^' +598 "core" ' +4 ."psFlush"delay 5 seconds +149 #"uploadLog"upsync +354 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2124 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%)  +32 "core" + ."psFlush"PTV.dial :mixing +2 "processing"% @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%z +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%q'ؠ +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%-'X\\ +1108 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%v' +1619 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%! +73 "core" + ."psFlush"PTV.dial :puck +2 "processing"%:  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%C  +4 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%l'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%> +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +593 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +54 ."psFlush"PS.seek 2.5ml +3 "processing"%d' +2126 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%6 +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%N U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%' +2636 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%t  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%Q'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%} +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2637 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%k U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%c @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%D' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%B  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%\\'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%4 +54 "core" +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%`'X\\ +1111 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%g' +1606 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%[  +5 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%<  +50 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%&'ؾ +2647 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%, +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%n' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +2128 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%U U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%@'ؾ +2639 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%= @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%$' +2629 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%I  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%r'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%V +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +896 "Can"\ J\ y9 +1738 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%2 U +15 "core" T +2 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +2656 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%S' +2652 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%;'ؾ +2631 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +3 "core" & B 2 +43 "manipulator"&% +10 "core" %  e  +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +264 "core" ( +2 "manipulator"&K& +3 "core" &   +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & @ +3 ."psFlush"Forearm.seek PC +2 "manipulator"&W' +90 "core" ' +2 ."psFlush"Hand.close + "manipulator"&./ +60 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%( +456 "core" ( +2 "manipulator"&p& +3 "core" & \ +2 "manipulator"&u% +5 "core" %  > +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +3 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&A(- +123 "core" ( +2 "manipulator"&X& +3 "core" &-  < +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +3 "core" &-  j +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage + "manipulator"&i'w +100 "core" ' +2 ."psFlush"Hand.open + "manipulator"&~1 +58 "core" 1 +2 "manipulator"&_% +3 "core" % ρ   +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'j& +3 "core" & a\ +3 "manipulator"&s& +3 "core" &- +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&M(- +20 "core" ( + "manipulator"&7& +4 "core" &- ` +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- 4 _ +3 .tForearm.seek :garage +2 "manipulator"&{'w +97 "core" ' + .tHand.close +2 "manipulator"&// +53 "core" / +2 "manipulator"&o& +3 "core" &-  U _ +3 "manipulator"&|% +4 "core" % υ \\ +2 .tForearm.seek :retract +2 "manipulator"&w' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&5(ӂ +283 "core" ( +2 "manipulator"&?& +3 "core" &Ӛ   / 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &Ӛ F 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'? +95 "core" ' +2 "manipulator"&J& +4 "core" &Ӛ   8 +2 "manipulator"&% +3 "core" %5 f v +3 "collection"'F& +3 "core" & (\ +3 "collection"'(& +6 "core" & "\ +2 .tCC.seek :closed + "collection"'1(\\ +4 "core" & \\\ +8 &; d\ %g +9 &Xw g\ 7 +10 &x m\ L +9 &U k\ L +9 &~U l\ L +10 &AW m\ L +9 &U n\ L +9 &V q\ L +10 &U u\ L +9 &HU r\ L +10 & R l\ L +9 &!U k\ L +9 &#X y\ L +10 &%PU r\ L +9 &'V o\ L +9 &(U s\ L +10 &*T q\ L +9 &,WV o\ M +10 &.T s\ L +9 &/U r\ L +9 &1V q\ L +10 &3_U q\ M +9 &5#U p\ L +9 &6V y\ L +10 &8W w\ L +9 &:iU \ L +10 &<*U \ L +9 &=U \ L +9 &?T \ L +10 &AoZ L\ M +9 &C.c  \ N +10 &Dx\ \ l\ P +9 &F\ \ v\ S +9 &HT\ \ \ Y +10 &J\ \ o\ Y +9 &K\ \ \ Y +9 &M\ \ u\ Y +10 &OW\ \ H\ Z +9 &Q\ \ o\ \\ +10 &R\ \ h\ [ +9 &T\ \ }\ \\ +9 &VZ\ \ v\ \\ +10 &X\ \ t\ _ +9 &Y\ \ r\ ^ +9 &[\ \ v\ K +10 &\\;\ \ q\ - +9 &\\i\ \ m\ O +3 ( + "collection"'(& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.43 + "collection"'L& +4 "core" &\\g\ \ w\ O +2 .tHand.open + "manipulator"&P1 +55 "core" 1 +2 "manipulator"&O% +3 "core" % 5  9 v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +92 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%'  +44 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml +49 "processing"%]' +2631 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%3  +2 "collection"'Y  +18 "core" +79  +2 .tPSV.dial :PTV,via: :air +2 "processing"%+ +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%E @ +71 "core" A +2 .tPS.seek 0ml +2 "processing"%a'ؾ +2636 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%m  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%8' +2636 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  + "collection"'  +7 "core" +7 + .tPSV.dial :PTV,via: :air +3 "processing"%* +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%h'ؾ +2635 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%b  +188 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%T' +2631 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "collection"'R  +4 "core" +2 .tPSV.dial :PTV,via: :air +2 "processing"%\ +189 "core"  + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%0 @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%^  +187 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%)'+ +1611 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%z'ؾ +1611 "core" ' +2 .tPSV.dial PSR +2 "processing"% +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "collection"'q  +5 "core" +2 .tPSV.dial :PTV,via: :air +2 "processing"%- +189 "core"  +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"%! @ +3 "core" @ +3 .tPS.seek 0ml + "processing"%:'ؾ +2638 "core" ' +2 .tPSV.dial :air +2 "processing"%C  +71 "core"  +3 .tPS.seek 2.5ml +2 "processing"%v' +2639 "core" ' +2 .tPSV.dial :PTV + "processing"%> +72 "core"  +2 .tPS.seek 0ml +2 "processing"%l'ؾ +2655 "core" ' +2 .tPSV.dial :air +2 "processing"%  +84 "core"  +2 .tPS.seek 2.5ml +2 "processing"%6' +2627 "core" ' +2 .tPSV.dial :PTV + "processing"%N +71 "core"  +2 .tPS.seek 0ml + "processing"%d'ؾ +2629 "core" ' +2 .tPSV.dial :air +2 "processing"%  +84 "core"  +2 .tPS.seek 2.5ml +2 "processing"% ' +2636 "core" ' +2 .tPSV.dial :PTV +2 "processing"%t +70 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2629 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&}& +3 "core" &ӝ 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&Q(ӂ +20 "core" ( +2 "manipulator"&& +3 "core" &Ӊ   I % +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &Ӊ  ' % +3 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 .tHand.close + "manipulator"&c/ +65 "core" / +5 .tCC.seek :open +3 "collection"'( +451 "core" ( +2 "manipulator"&B& +3 "core" &ӊ  % +2 "manipulator"&D% +4 "core" % @ +2 .tForearm.seek :retract +2 "manipulator"&4' +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&\\(- +277 "core" ( +2 "manipulator"&`& +4 "core" &- j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- h j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&['w +102 "core" ' +7 .tHand.open +4 "manipulator"&<1 +54 "core" 1 +6 "manipulator"&g% +12 "core" % π F +7 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract +3 "manipulator"&,' +105 "core" ' +1308 "Can" <\ Wσ +2642 #t-> access 1 +3 "storage"(&% +3 "core" % M K \  +2 "manipulator"&n% +4 "core" %   +2 "manipulator"&& +3 "core" &- j +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(U(<- +1323 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &<0 ( ' \ +1913 #t-> access 2 +3 "storage"(=% +3 "core" % M X F\  +2 "manipulator"&@% +4 "core" %  &  +2 "manipulator"&I& +4 "core" &- j +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"($(K +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" &K   9\  +53690 "Can" <\ oe +45257 #t-> $da[:extracVol]=.2 +1534 #-> startTube 2 +9867 #-> shortDA; shortDAflush; PS.flush +3 "collection"'r% +2 "processing"%% +5 "core" %c V\ +5 %\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +677 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%2 +44 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +72 "core" + .tPRV.dial :sipper +2 "processing"%  +127 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%'e +1385 "Can" @\ & +909 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%%  + "collection"'S  +7 "core" +117  +3 .tPS.seek 0.5ml + "processing"%' +1267 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +98 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%K'ؾ +608 "core" ' +2 .tPSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%'X\\ +1094 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%.' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"%Z +102 "core" +2 .tPS.seek 0ml + "processing"%#'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%p +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1ml + "processing"%u'X\\ +1104 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%X' +1606 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%x +101 "core" +2 .tPRV.dial :sipper + "processing"%W  +42 "core" +3 .tPS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' + .tPSV.dial PSR +2 "processing"%~ +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%_' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"%j +113 "core" +2 .tPS.seek 0ml +2 "processing"%s'ؾ +2636 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &7\ +2 "manipulator"&7% +4 "core" %  ^  + "storage"(% +4 "core" % Y [\  +2 "storage"(i. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(/(  +1348 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (o& +4 "core" &  h 0 S\ +2 "manipulator"&|& +4 "core" &- n j + "manipulator"&A% +5 "core" %  o  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +169 "core" ( +2 "manipulator"&{& +4 "core" &   0 +2 "storage"(?& +3 "core" &  X Y E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&y'S +101 "core" ' +2 "storage"(M& +4 "core" &  Y X m\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'r +297 "core" ' +2 "storage"(- +3 "core" -'* +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (F& +3 "core" & 3 . '\ +2 "manipulator"&w& +4 "core" & / +2 .tElbow.seek 2 + "manipulator"&G( +4 "core" ( +2 "manipulator"&L& +4 "core" &   / +2 "storage"(P& +3 "core" & @ 7\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&O'Ͻ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[28:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:215:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:346"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #1 of 3 + "manipulator"&'/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[28:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[27:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:215:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:346"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 + #Retry #2 of 3 +2 "manipulator"&"/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[27:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[22:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:215:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:346"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #3 of 3 + "manipulator"&;/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[22:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:I2C::Request::Timeout : @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0:@checkpoint: omitted: mesg"[Hand could not finish closing because\ No Response to I2C::Servo::Grip3Request[3B:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:215:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:346"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +5298 #-> Hand.open +2 .Hand.open +2 "manipulator"&Y1 +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[3B:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +47 1 +2116 #t-> SE.down + .SE.seek :down +3 "storage"(3' +265 "core" ' +2 "storage"(+% +3 "core" % Z Q \  +1422 #t-> access 2 +3 "storage"(E% +3 "core" % A Y Q\  +2 "manipulator"&]% +4 "core" %   \\ +2 "manipulator"&m% +3 "core" %  \\ +3 .tForearm.seek :retract +2 "manipulator"&a' +98 "core" ' + .tElbow.seek :clear +2 "manipulator"&(d +104 "core" ( +2 "manipulator"& % +3 "core" %  ;  +3 "manipulator"&*& +4 "core" &d  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +1294 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (8& +2 "core" &K  / [\ \ +4637 #t-> resume.thread +2 !o:RuntimeError: mesg" No ESP.threads are moribund:bt[\ "//home/esp/esp2/lib/base.rb:157:in `resume'"//home/esp/esp2/lib/base.rb:247:in `resume'"(ESP):45:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +535 #-> thread.resume +2 #Resuming after Hand could not finish closing because\ No Response to I2C::Servo::Grip3Request[3B:->26] at 21:57:20 +2 .Hand.close + "manipulator"&b/ +58 "core" / +2 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:NoMethodError : mesgu:NameError::message*undefined method `+' for nil:NilClass: name:+: args[i:bt[ "8/home/esp/esp2/utils/storage.rb:299:in `addHeight!'"4/home/esp/esp2/utils/puckmoves.rb:383:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1032 #-> MainThread.resume + #Resuming after Hand could not finish closing because\ No Response to I2C::Servo::Grip3Request[3B:->26] at 21:57:20 +2 .Hand.close +2 "manipulator"&h/ +22 "core" / +2 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:NoMethodError : mesgu:NameError::message*undefined method `+' for nil:NilClass: name:+: args[i:bt[ "8/home/esp/esp2/utils/storage.rb:299:in `addHeight!'"4/home/esp/esp2/utils/puckmoves.rb:383:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1704 #-> Arm.clear +2 "manipulator"&R& +3 "core" &d  +3 .tElbow.seek :clear + "manipulator"&\ (d +4 "core" ( +2 "manipulator"&0& +4 "core" &d  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &d J  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear + "manipulator"&^' +3 "core" ' +2 "manipulator"&& +4 "core" &d  +2 "manipulator"& % +4 "core" %    +4433 #t-> Arm.owner +1891 #-> exit +5 !o:Storage::Warning: mesg"-Exiting with da puck from tube 2 in Hand:bt["6/home/esp/esp2/utils/storage.rb:563:in `writeAll'"2/home/esp/esp2/utils/storage.rb:558:in `each'"6/home/esp/esp2/utils/storage.rb:558:in `writeAll'"./home/esp/esp2/lib/filepath.rb:80:in `[]'"2/home/esp/esp2/lib/filepath.rb:80:in `append'"0/home/esp/esp2/lib/filepath.rb:79:in `open'"2/home/esp/esp2/lib/filepath.rb:79:in `append'"6/home/esp/esp2/utils/storage.rb:554:in `writeAll'"(/home/esp/esp2/utils/storage.rb:570"4/home/esp/esp2/lib/framework.rb:170:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"-/home/esp/esp2/lib/thread.rb:760:in `[]'"0/home/esp/esp2/lib/thread.rb:760:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +4 #mEXIT @1694124091.17UTC @1694124109.02UTC = =tMAIN =mMAIN_scheduler @UTC1694124110.70 #"core_reset"Sent BREAK +2 #t@52525 receive with ifg=0x10, ie=0xFD #@53158 receive with ifg=0x10, ie=0xFD + #@53815 receive with ifg=0x10, ie=0xFD + #@54448 receive with ifg=0x10, ie=0xFD + #@55081 receive with ifg=0x10, ie=0xFD #@55715 receive with ifg=0x10, ie=0xFD + #@56348 receive with ifg=0x10, ie=0xFD #@56675 receive with ifg=0x80, ie=0xFD + #@29937 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +370 "Can" :\ l~ +  :\ l~ #tPolling Can every 10:00 +1040 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %c t\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %غ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڀ\ \  ^\ V +2 .tSS.configure :default +2 "sampler")#.0X $da[:extractVol]=0.2 +2119 #-> access 1 +2 "storage"(4% +3 "core" % 5 : N\  +3 "manipulator"&5% +3 "core" %   +2 "manipulator"&6& +4 "core" &d  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(7(<- +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" &<0   2\ +25 #t-> access 2 +2 "storage"(9% +3 "core" % A M }\  +2 "manipulator"&:% +3 "core" %   +2 "manipulator"&;& +4 "core" &d  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(<(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &K ) ' \ \ +950 #t-> startTube 2 +13754 #-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'>& +3 "core" & \ +2 .tHand.open + "manipulator"&?1 +56 "core" 1 +2 "manipulator"&@& +3 "core" &d <  +2 "manipulator"&A% +3 "core" %  2  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&B(- +118 "core" ( + "manipulator"&C& +4 "core" &-  v +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &-  v +2 .tForearm.seek :garage +2 "manipulator"&E'w +95 "core" ' + .tHand.close +2 "manipulator"&F/ +58 "core" / + "manipulator"&G& +4 "core" &- ` v +2 "manipulator"&H% +3 "core" % a , D +3 .tForearm.seek :retract + "manipulator"&I' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&J(ӂ +275 "core" ( + "manipulator"&K& +4 "core" &z(  @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &z( u @X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&M'? +91 "core" ' + "manipulator"&N& +4 "core" &{(  @W +2 "manipulator"&O% +4 "core" %9   / +2 "collection"'P& +3 "core" & \ +3 "collection"'Q& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'R(\\ +4 "core" & \  +9 &5~ \ +{ +9 &e~ \ > +10 &o \ M +9 &RQ \ L +10 &T \ L +9 &U \ L +9 &V \ L +10 &ZT \ L +9 &W \ L +9 &U \ L +10 & Q \ L +9 &"bU \ L +10 &$$T \ L +9 &%U \ L +9 &'U \ L +10 &)iU \ L +9 &+,R \ L +9 &,U \ L +10 &.U \ L +9 &0rW \ L +10 &23T \ L +9 &3U \ M +9 &5U \ L +10 &7xV \ M +9 &9;U \ L +9 &:R \ L +10 &<T \ L +9 &>R \ L +10 &@BU \ M +9 &B] \ M +9 &Cf \ N +10 &Ez~ \ Q +9 &G1 \ U +10 &H\ \ X +9 &J \ \ Y +9 &Ll\ \ Y +10 &N- \ \ Y +9 &O \ Z +9 &Q\ \ \ Z +10 &Sn\ \ \ [\ +9 &U0\ \ \ [\ +9 &V\ \ \ \\ +10 &X\  \ ] +9 &Zp\ \ \ ] +10 &\\y\ \ \ 5 +9 &\\'\ \ \ "f +9 ( + &\\\ \ \ ^ +3 "collection"'Q& +47 "core" &\\\ \ \ ^ +2 &\\\ \ \ ^ + &\\\ \ \ ^ + &\\\ \ \ ^ + &\\\  \ ^ +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.38 + "collection"'S& +4 "core" &\\\ \ \ ^ +2 .tHand.open + "manipulator"&T1 +59 "core" 1 + "manipulator"&U% +4 "core" % 9  b / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +92 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%W +3 "core"  +2 "processing"%X +3 "core"  +2 "processing"%Y  +160 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%j +10 .tPS.seek 1.5ml +2 "processing"%Z'+ +1610 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%[  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%\\'ؾ +1614 "core" ' +2 .tPSV.dial PSR +2 "processing"%] +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%^' +2629 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%_  + "collection"'`  +7 "core" +121  +2 .tPSV.dial :PTV,via: :air +2 "processing"%a +189 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'b +3 "core"  +2 "collection"'c +3 "core"  +2 "collection"'d  +4 "core" +2 .tPTV.dial :PRV,avoiding: :puck + "processing"%e +4 "core"  + "processing"%f +3 "core"  +2 "processing"%g @ +71 "core" ? +2 .tPS.seek 0ml +2 "processing"%h'ؾ +2637 "core" ' + .tPSV.dial :air +2 "processing"%i  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%j' +2629 "core" ' + .tPSV.dial :PTV +2 "processing"%k +73 "core" ~ +3 .tPS.seek 0ml + "processing"%l'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&m& +4 "core" &ӭ 9% +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&n(ӂ +36 "core" ( +2 "manipulator"&o& +3 "core" &y  6 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +2 "core" &y i 7 +3 .tForearm.seek CC +2 "manipulator"&q'? +101 "core" ' + .tHand.close +2 "manipulator"&r/ +53 "core" / +2 .tCC.seek :open +2 "collection"'s( +446 "core" ( + "manipulator"&t& +3 "core" &Ӿ  . +2 "manipulator"&u% +4 "core" %   + +2 .tForearm.seek :retract +2 "manipulator"&v' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&w(- +305 "core" ( +2 "manipulator"&x& +3 "core" &-  D x +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &- x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&z'w +100 "core" ' + .tHand.open +2 "manipulator"&{1 +62 "core" 1 +2 "manipulator"&|% +3 "core" % |   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +94 "core" ' +1199 #t-> $da[:extractVol]=0.2 +928 #-> startTube 2 +2855 #-> shortDA; shortDAflush; PS.flush +2 "collection"'~% +2 "processing"%% +5 "core" %c \ +5 %ؿ{\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +5432 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"% +43 "core" +2 .tPTV.dial :PRVmixing + "processing"%  +72 "core" +2 .tPRV.dial :sipper + "processing"%  +127 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%'e +1920 "Can" B\  +378 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%  + "collection"'  +6 "core" +119  +3 .tPS.seek 0.5ml +2 "processing"%\ ' +1270 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +98 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%'ؾ +590 "core" ' + .tPSV.dial PSR +2 "processing"% +102 "core"  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml + "processing"%'X\\ +1098 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +1617 "core" ' + .tPSV.dial :mixloop +2 "processing"% +101 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2632 "core" ' +2 .tPSV.dial PSR +2 "processing"% +135 "core"  +10 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1108 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1603 "core" ' +2 .tPSV.dial :mixloop +2 "processing"% +113 "core" +2 .tPRV.dial :sipper + "processing"%  +41 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 .tPSV.dial PSR + "processing"% +100 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%' +2628 "core" ' +2 .tPSV.dial :mixloop +2 "processing"% +101 "core" +2 .tPS.seek 0ml +2 "processing"%!'ؾ +2635 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%"& +4 "core" &y\ + "manipulator"&#% +3 "core" %   +3 "storage"($% +4 "core" % Y Y \  + "storage"(%. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(&(  +1302 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &  5 8\ +3 "manipulator"&(& +4 "core" &- x + "manipulator"&)% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&*( +173 "core" ( +2 "manipulator"&+& +4 "core" &   ; 4 + "storage"(,& +4 "core" &  6 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&-'S +95 "core" ' + "storage"(.& +4 "core" &  Y Y\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(/'r +299 "core" ' + "storage"(0- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" & : 6 2\ +2 "manipulator"&2& +4 "core" & 4 +2 .tElbow.seek 2 + "manipulator"&3( +4 "core" ( +2 "manipulator"&4& +4 "core" &  D 4 + "storage"(5& +4 "core" & B A \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&6'Ͻ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(9' +7 "core" & V 4 +2 "manipulator"&:% +4 "core" %  f +2 .tForearm.seek :retract + "manipulator"&;' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&7( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&=& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" & 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +98 "core" ' +2 "manipulator"&@& +4 "core" & 5 1 +2 "manipulator"&A% +4 "core" % 3 +2 "processing"%C& +4 "core" &\ +2 "processing"%D& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%F(^ +4 "core" &\  +8 &4v\ *x +9 &d{v\ > +10 &~ls\ N +9 &BNq\ M +10 &Rn\ M +9 &Rk\ M +9 &Qi\ M +10 &IQq\ M +9 &\ Rp\ N +9 &Rn\ M +10 & Ro\ M +9 &"QRf\ M +10 &$Rd\ N +9 &%R[\ M +9 &'R_\ M +10 &)YRc\ M +9 &+Tf\ M +9 &,Sf\ M +10 &.Re\ M +9 &0bOe\ M +10 &2$Rf\ M +9 &3RU\ M +9 &5RS\ N +10 &7jRP\ M +9 &9+SS\ M +9 &:SQ\ M +10 &<PQ\ M +9 &>qUR\ M +10 &@4TP\ M +9 &AYS\ N +9 &CbM\ O +10 &EpmP\ P +9 &G-{O\ R +9 &HQ\ S +10 &JQ\ S +9 &LoQ\ S +10 &N-B\ U +9 &O?\ T +9 &Q8\ U +10 &Sq9\ U +9 &U3?\ U +9 &VE\ U +10 &XE\ U +9 &ZzC\ U +10 &\\<B\ U +9 &]|tF\ 9 +9 &^(tF\ S +10 &^#B\ 3 +2 ( +2 "processing"%D& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.65 + .Hand.open + "manipulator"&G1 +58 "core" 1 +2 "manipulator"&H% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %E9 +6 "core" 9 +103 "processing"%K9 +3 "core" 9 +102 "processing"%L9 +4 "core" 9  +102 "processing"%B9 +3 "core" 9  +102 "processing"%N9 +3 "core" 9 +102 "processing"%O9 +3 "core" 9 +137 "processing"%P9 +11 "core" 9 +102 "processing"%I9 +3 "core" 9  +102 "processing"% 9 +3 "core" 9$ +102 "processing"%S9 +3 "core" 9( +102 "processing"%T9 +3 "core" 9, +102 "processing"%U9 +3 "core" 91 +103 "processing"%W9 +3 "core" 95 +102 "processing"%X9 +3 "core" 99 +102 "processing"%Q9 +3 "core" 9= +102 "processing"%Y9 +3 "core" 9A +103 "processing"%M9 +2 "core" 9F +103 "processing"%9 +3 "core" 9J +102 "processing"%[9 +3 "core" 9N +102 "processing"%Z9 +3 "core" 9R +102 "processing"%]9 +3 "core" 9V +102 "processing"%\\9 +3 "core" 9[ +102 "processing"%`9 +4 "core" 9\ _ +102 "processing"%_9 +3 "core" 9c +102 "processing"%a9 +3 "core" 9g +102 "processing"%b9 +3 "core" 9!k +3 .tPH.hold 2:00:00,28C +3 "processing"%c php +4 .tdelay 1:30 +3 "core" l +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%d +100 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%e' +596 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%f' +1607 "core" ' +2 .tPTV.dial :puck +2 "processing"%g  +128 "core"  + .tPSV.dial PTV +2 "processing"%^ +72 "core" + .tPBV.dial :waste1 +2 "processing"%i  +51 "core" +2 "processing"%h% +3 "core" %r\  +3 .tPS.seek 1.5ml +2 "processing"%k'+ +589 "core" ' + .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%j * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%m'ؾ +1613 "core" ' +2 .tdelay 5:00 +20140 "Can"\ F\  +9862 #trecoverPSRreagent08 +2 .PTV.dial :puck + "processing"%o  +5 "core"  + .tPBV.dial :waste1 +2 "processing"%p  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%r * +34 "core" , + .tPSR.select :air +3 .PSV.dial PSR + "processing"%J +71 "core"  +3 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%V' +2404 "core" ' +2 .tPSV.dial PTV +2 "processing"%R +72 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%t +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV +2 "processing"%u +72 "core" + .tdelay 5 seconds +503 .PSV.dial :air +2 "processing"%q  +84 "core"  +3 .tPS.seek 0ml + "processing"%n'ؾ +2331 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%x  +128 "core" +2 .tPSV.dial :mixloop + "processing"%y +42 "core" +2 .tPRV.dial :ab1 + "processing"%{ @ +99 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%|' +351 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'v  + "processing"%z  +6 "core" +38 + "processing"%~% +4 "core" %\ \ +2 .tPS.seek 0.35ml +2 "processing"%'g +461 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +28 "core" + .tPRV.dial :air +2 "processing"%  +41 "core"  +7 .tPS.seek 0.9ml +2 "processing"%'K +1166 "core" ' +2 .tPRV.dial :waste2 + "processing"%l @ +71 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%' +869 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +43 "core"  +3 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%' +1612 "core" ' + .tPSV.dial :PML +2 "processing"% +44 "core" + .tPTV.dial :mixing +2 "processing"%\ @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +3 "core" %\  +3 .tPS.seek 1.85ml +2 "processing"%' +224 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +3 .tPS.seek 0ml +2 "processing"%'ؾ +1969 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ +2 "manipulator"&& +4 "core" &  ` 1 +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +126 "core" ( + "manipulator"&& +4 "core" &-  ]  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&'w +98 "core" ' +2 .tHand.close + "manipulator"&/ +97 "core" / +10 "manipulator"& & +3 "core" &- \  3  +2 "manipulator"&% +4 "core" % χ   ( +2 .tForearm.seek :retract +2 "manipulator"&"' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +279 "core" ( + "manipulator"&$& +4 "core" &Ӗ! - 0 + :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &Ӗ! "   :+ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'? +97 "core" ' +2 "manipulator"&'& +3 "core" &Ӗ" , 0  :+ +3 "manipulator"&(% +4 "core" %; ) % +2 "collection"')& +4 "core" & \ +2 "collection"'+& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"',(\\ +4 "core" & \  +9 &6| \ +| +9 &g~ \ ? +10 &k \ M +9 &`Q \ L +10 &!T \ M +9 &T \ L +9 &Q \ L +10 &hT \ L +9 &*S \ L +9 &T \ M +10 & T \ L +9 &"oT \ M +10 &$2T \ L +9 &%T \ M +9 &'T \ L +10 &)yV \ L +9 &+:U \ L +9 &,R \ L +10 &.R \ L +9 &0W \ L +9 &2BV \ L +10 &4W \ L +9 &5X \ L +10 &7W \ L +9 &9JS \ L +9 &; R \ L +10 &<R \ L +9 &>S \ L +9 &@ST \ L +10 &B^ \ M +9 &Cg \ O +10 &E \ Q +9 &G> \ V +9 &H \ X +10 &J \ Y +9 &Lz \ Y +10 &N; \ Z +9 &O \ Z +9 &Q \ Z +10 &S}\ \ [\ +9 &U? \ [\ +9 &V \ \\ +10 &X \ \ ] +9 &Z~ \ ] +9 &\\!z \ 1 +10 &\\1\ \ \ d +9 ( + &\\n\ \ Q +2 "collection"'+& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.38 +2 "collection"'.& +3 "core" &\\n \ Q +2 .tHand.open +2 "manipulator"&w1 +60 "core" 1 +2 "manipulator"&}% +4 "core" % ; & * @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tPSV.dial PSR +2 "processing"%0 +114 "core" +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%1'+ +1607 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%2  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%4'ؾ +1613 "core" ' +2 .tPSV.dial PSR + "processing"%5 +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%8  +2 "collection"':  +30 "core"  +126  + .tPSV.dial :mixloop +2 "processing"%* +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%-  +71 "core" +3 .tPS.seek 0ml + "processing"%/'ؾ +2654 "core" ' +2 .tPSV.dial :air + "processing"%6  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%=' +2637 "core" ' + .tPSV.dial :mixloop + "processing"%> +44 "core" +3 .tPS.seek 0ml + "processing"%3'ؾ +2640 "core" ' +2 .tPSV.dial :air + "processing"%@  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%A' +2633 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%C +43 "core" +3 .tPS.seek 0ml + "processing"%9'ؾ +2628 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&;& +3 "core" &ӥ   Z 8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"& (ӂ +23 "core" ( +2 "manipulator"&G& +3 "core" &v / , W % +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &v +   % +3 .tForearm.seek CC + "manipulator"&E'? +102 "core" ' + .tHand.close +2 "manipulator"&D/ +58 "core" / +2 .tCC.seek :open + "collection"'K( +449 "core" ( +2 "manipulator"&?& +3 "core" &Ӄ   # +2 "manipulator"&L% +4 "core" %  " ! 0 +2 .tForearm.seek :retract +2 "manipulator"&B' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&N(- +278 "core" ( + "manipulator"&O& +3 "core" &-  V d +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &P& +2 "core" &-   d +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&I'w +92 "core" ' +10 .tHand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&S% +3 "core" % ρ   d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +93 "core" ' +2 ."da"delayUntil "22:34:33.64" +9102 "Can"\ g\ @# +15632 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%U @ +73 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%W  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%X * +33 "core" * +2 ."da"PSV.dial :air +2 "processing"%Q  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%Y' +2381 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%M +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%[ +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%Z  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"%]'ؾ +2364 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\\ +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%`' +587 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%_' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%a  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%b +82 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%d  +32 "core" +2 "processing"%!% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%e'* +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%g * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%^'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%i  +15 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%h  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%f * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%j +69 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%k' +2383 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%o +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%p +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%r  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%J'ؾ +2333 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%m +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%R' +593 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%t' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%u  +4 "core"  +2 ."da"PSV.dial PTV + "processing"%q +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%V  +32 "core" +2 "processing"%x% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%y'' +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%{ * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%n'ؾ +1611 "core" ' +2 ."da"delay 2:00 +2721 "Can"\ F\ Dփ +9282 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%v  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%z  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%~ * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%| +71 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2383 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%l +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2331 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +40 "processing"%\  +50 "core"  + ."da"PTV.dial :PRVmixing +2 "processing"%  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"% +42 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%' +383 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +41 "core"  +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 0.55ml +2 "processing"%' +349 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1557 "core" ' + ."da"PSV.dial :PML +2 "processing"% +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%7  +32 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"% ' +236 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1972 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +34458 "Can"\ D\ "l +13545 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +3 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%$  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%% * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'' +2389 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%( +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%)  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"%" +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%s  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%.'ؾ +2330 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%w +127 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%}' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%+' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%0  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%< +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%2% +4 "core" %\\\  +2 ."da"PS.seek 1.5ml +2 "processing"%1'* +584 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%5 * +31 "core" + +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +1634 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%:  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%8  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%* * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%- +70 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2401 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%6 +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%/ +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%> +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%=  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +2330 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%C' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%A' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%;  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%G +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +33 "core" + "processing"%D% +4 "core" %J\  +2 ."da"PS.seek 1.5ml +2 "processing"%#'+ +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%,'ؾ +1618 "core" ' + ."da"delay 2:00 +4907 "Can"\ F\ %u +7097 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%?  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%L  +33 "core" + ."da"delay 30 seconds +3051 .PBV.dial between PSV and waste1 +2 "processing"%E * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%O +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%P' +2384 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%S +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%B  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +2332 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%U +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%W' +594 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%X' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%Q  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%9 +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%M  +32 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%['* +592 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Z * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%Y'ؾ +1615 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%\\  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%]  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%` * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%a +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%b' +2389 "core" ' +2 ."da"PSV.dial PTV + "processing"%d +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%! +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%_ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%g  +84 "core"  +2 ."da"PS.seek 0ml +3 "processing"%e'ؾ +2345 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +144 "core" +6 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +5 "processing"%h' +333 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%f' +330 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%j' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%^  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%o  +34 "core" +2 "processing"%p% +3 "core" %H\  +3 ."da"PS.seek 1.5ml + "processing"%r'- +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%k * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%m'ؾ +1635 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%J  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%R  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%u * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%q +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%V' +2434 "core" ' + ."da"PSV.dial PTV +2 "processing"%x +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +43 "processing"%t +80 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%{ +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%y  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%v'ؾ +1159 "Can"\ \ ) +1241 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%z +128 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%~' +2123 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 "processing"%|  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"%n +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%% +4 "core" %K\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%l'& +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%  +104 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +1609 "core" ' + "processing"% 9 +3 "core" 9k5e +3 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%\ +2 %& +2 "core" 5f +4 &^ \ 3 + #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&% +3 "core" %     +3 "storage"(% +4 "core" % t \  + "storage"(. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"((C +358 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" &B  \ +2 "manipulator"&& +3 "core" &-  ( d +2 "manipulator"&% +4 "core" %  ! "  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +172 "core" ( +2 "manipulator"&& +4 "core" & 0 5 l / + "storage"(7& +4 "core" &C U U ]\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +109 "core" ' + "storage"(& +4 "core" &C \ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"('r +277 "core" ' +2 "storage"( - +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"('1 +42 "core" ' +2 "manipulator"&$& +4 "core" & + * / +2 "manipulator"&%% +4 "core" % + + J +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' + ."da"Elbow.seek PC +3 "manipulator"&( +255 "core" ( + "manipulator"&(& +5 "core" & & 3 \ + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &)& +2 "core" &  ( = \ +3 ."da"Forearm.seek PC +2 "manipulator"&"' +89 "core" ' +2 ."da"Hand.close + "manipulator"&s/ +57 "core" / +2 ."da"PC.seek :open + "processing"%'( +459 "core" ( +2 "storage"(w& +3 "core" &C } 0\ +2 "manipulator"&.& +4 "core" &  ( +2 "manipulator"&}% +3 "core" %   9 +3 ."da"Forearm.seek :retract +2 "manipulator"&0' +96 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&<( +252 "core" ( +2 "manipulator"&& +3 "core" & %   ` +2 "storage"(2& +4 "core" &C V W\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +43 "manipulator"&+' +102 "core" ' +3 ."da"Hand.open + "manipulator"&51 +54 "core" 1 +2 "storage"(1- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(:' +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(8' +55 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0723h.tif +5 "processing"%*& +13 "core" &<\ e +4 "manipulator"&-& +6 "core" & !  \ _ +3 "manipulator"&4% +5 "core" % " " +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&6' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&/(- +181 "core" ( +2 "manipulator"&>& +4 "core" &- $ ) b A +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +4 "core" &-    A +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +93 "core" ' + ."psFlush"Hand.close +2 "manipulator"&3/ +64 "core" / + "manipulator"&@& +5 "core" &- (  A + "manipulator"&C% +4 "core" % b # "   +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&;' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&G( +117 "core" ( + "manipulator"&H& +4 "core" & , .  ; +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &   ( ; +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&A' +92 "core" ' +3 "manipulator"&& +3 "core" & $ " ^ ; +3 "manipulator"&#% +4 "core" % !  f +2 "processing"%?& +4 "core" &\ b +2 "processing"%L& +6 "core" &\ b +2 ."psFlush"PC.seek :closed +2 "processing"%E(^ +4 "core" &\ b +8 & +\ _#b +10 &Vr\ Z7 +9 &}n\ ZL +10 &I\ \\P +9 &SM\ qO +9 &I\ N +10 &G\ N +9 &F\ N +9 &\\J\ O +10 &J\ N +9 &G\ N +10 &!L\ N +9 &#eL\ N +9 &%&J\ O +10 &&J\ N +9 &(G\ N +9 &*jI\ aO +10 &,,I\ `O +9 &-H\ _P +10 &/H"\ _P +9 &1qG\ ^P +9 &33H\ ]P +10 &4H\ ^O +9 &6G\ ^O +10 &8zH\ ^O +9 &:<D\ ^O +9 &;E\ ]O +10 &=E\ ]P +9 &?J\ ]P +9 &ADI\ ]O +10 &CT\ ~P +9 &D\\\ Q +9 &F~n\ }T +10 &H:\ |V +9 &I\ |V +10 &K\ }V +9 &M~\ }V +9 &O@\ }V +10 &P\ }W +9 &R\ }W +9 &T\ }X +10 &VE\ ]W +9 &X\ [Y +10 &Y\ ZX +9 &[\ YX +9 &]H\ XO +10 &^{E~\ Z!e +9 &^?\ ^7 +5 ( +2 "processing"%L& +5 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.78 + "processing"%O& +2 "core" &^1\ ^7 +3 &^1\ ]7 +2 ."psFlush"Hand.open +2 "manipulator"&,1 +65 "core" 1 + "manipulator"& % +4 "core" %  $   f +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%S +44 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"%B' +589 "core" ' +2 ."psFlush"delay 5 seconds +121 #"da"SX HX9/16 (USB:15): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 19.829 seconds\ /var/log/esp/da23sep0723h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0723h15s.tif +379 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%P' +1172 #"da"SX HX9/16 (USB:15): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0723h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0723h20s.tif +947 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +3 "processing"%U @ +190 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%I  +133 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%W +115 "core" +5 ."psFlush"PS.seek :empty +2 "processing"%Q'ؠ +555 #"da"SX HX9/16 (USB:15): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0723h20s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "19.829 sec auto-exposure",Subject: "da23sep0723h images!" +6 "storage"(9- +13 "core" -' +10 "storage"(M& +4 "core" &C R\ +2 "manipulator"&& +4 "core" & ! $  ; +3 "manipulator"&X% +5 "core" %  ?  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +4 "manipulator"&Z( +246 "core" ( +3 "manipulator"&[& +4 "core" &  !  G +3 "storage"(\\& +4 "core" &C \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&]' +94 "core" ' +5 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(`'" +63 "core" ' +13 "manipulator"&a& +6 "core" & (  G +6 "storage"(Y& +6 "core" &C\ \  \ +4 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +5 "manipulator"&d'8 +26 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&!, +7 "core" , +4 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +7 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(_' +30 "core" ' +4 "manipulator"&g% +8 "core" %F # "  l +4 "storage"(b& +7 "core" &C\ \ \ +6 ."da"Forearm.force -20 +5 "manipulator"&5 +8 ."da"Forearm.seek 1 + 314 counts +3 "manipulator"&i'r +20 "core" ' +4 "manipulator"&e& +7 "core" & !   G +5 "storage"(h& +7 "core" &C H C\ +5 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&f' +18 "core" ' +4 "storage"(^% +8 "core" %  \  +6 ."downElevator"SE.seek :down +7 "storage"(' +98 (o% +5 "core" %hF \ T[ +4 "manipulator"&p% +9 "core" % ! " +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&j' +91 "core" ' +45 ' +4 ."downElevator"SE.stop +4 "storage"(5 +6 (k& +5 "core" &C H\ % /\ +967 ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +4 "processing"%r +103 "core"  +3 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +4 "processing"%@ +15 ."psFlush"PS.seek 0.5ml +5 "processing"%J' +593 "core" ' +4 ."psFlush"delay 5 seconds +300 #"uploadLog"upsync +202 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%R' +2126 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 +2 "processing"%u  +33 "core" + ."psFlush"PTV.dial :mixing +3 "processing"%q @ +71 "core" B + ."psFlush"PSV.dial :mixloop +3 "processing"%m +101 "core" +2 ."psFlush"PS.seek :empty + "processing"%x'ؠ +2653 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%t +101 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%{'X\\ +1107 "core" ' + ."psFlush"PSR.select :air +47 "processing"% +11 ."psFlush"PS.seek 2.5ml +2 "processing"%y' +1633 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%V +73 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%z  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%v  +4 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%|'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%n +73 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +585 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2115 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%~ +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%l @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"% ' +2631 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%\  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2625 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2634 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%& U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%' +2626 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%7'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%N +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1106 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%T' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PTV.dial :puck +2 "processing"%$  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%%  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2626 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +593 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%)' +2115 "core" ' +2 ."psFlush"PSV.dial PTV +7 "processing"% +49 "Can"\ ^\ -. +22 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%s U +52 "core" W +2 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%F @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%.  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%}'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%" +43 "core"  +2 ."psFlush"PSR.select :air +45 .PS.seek 2.5ml +2 "processing"%' +2629 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%2 +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +15 "core" S +2 ."psFlush"PS.seek 0ml +3 "processing"%5'ؾ +2653 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%1 @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%*' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%-  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%4'ؾ +2626 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&0& +3 "core" & 7 G +2 "manipulator"&% +4 "core" %  @  +2 ."psFlush"Elbow.seek PC +3 "manipulator"&:( +245 "core" ( +2 "manipulator"&>& +4 "core" &    +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" & :  +2 ."psFlush"Forearm.seek PC +2 "manipulator"&+' +93 "core" ' +2 ."psFlush"Hand.close + "manipulator"&& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%=(^ +3 "core" &\  +9 &5v\ *x +10 &ey\ > +9 &j\ M +9 &KO\ M +10 &Q\ L +9 &Q\ L +9 &Q\ L +10 &UQ\ L +9 &Q\ L +10 &Q\ L +9 & Q\ L +9 &"]Q\ L +10 &$Q\ M +9 &%R\ M +9 &'O\ M +10 &)eP\ L +9 &+'Q\ L +10 &,Q\ M +9 &.O\ M +9 &0mQ\ L +10 &2.Q\ M +9 &3T\ M +9 &5P\ M +10 &7tO\ M +9 &96O\ M +10 &:Q\ L +9 &<R\ M +9 &>{Q\ M +10 &@=S\ M +9 &AW\ N +9 &Ce\ O +10 &Ezm\ P +9 &G4\ S +10 &H\ T +9 &J\ S +9 &Ly\ S +10 &N6\ U +9 &O\ T +9 &Q\ U +10 &S|\ U +9 &U?\ T +10 &W\ U +9 &X\ T +9 &Z\ U +10 &\\E\ U +9 &]|s\ 6 +9 &^,\ R +10 &^\ 0 +2 ( +2 "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.69 + "processing"%!& +3 "core" &^\ 0 +2 .tHand.open +2 "manipulator"&<1 +55 "core" 1 +2 "manipulator"&j% +4 "core" %    6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E' +96 "core" ' +2 .tPSV.dial PSR +2 "processing"%@ +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%C'X\\ +1103 "core" ' + .tPSR.select :air +3 "processing"% +55 .tPS.seek 2.5ml + "processing"%D' +1618 "core" ' +2 .tPSV.dial PTV +2 "processing"% +84 "core" + .tPTV.dial :puck +2 "processing"%+  +72 "core"  + .tPBV.dial :waste1 +2 "processing"%:  +50 "core" +2 .tPS.seek 0ml +2 "processing"%#'ؾ +2624 "core" ' + .tPSV.dial PSR +2 "processing"%? +70 "core"  +2 .tPSR.select :flush +2 "processing"%@ +11 .tPS.seek 0.5ml + "processing"%;' +592 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%'' +2115 "core" ' +2 .tPSV.dial PTV +2 "processing"%6 +71 "core" +2 .tPBV.dial PSV +2 "processing"%, U +53 "core" W +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2624 "core" ' + .tPSV.dial PBV +2 "processing"% @ +54 "core" @ +3 .tPS.seek 2.5ml + "processing"%S' +2635 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%A  +71 "core"  +3 .tPS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' + .tPSV.dial PSR +2 "processing"%H +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%/' +2631 "core" ' +2 .tPSV.dial PTV + "processing"%L +70 "core" +2 .tPBV.dial PSV +2 "processing"%I U +15 "core" T +2 .tPS.seek 0ml +2 "processing"%W'ؾ +2635 "core" ' +2 .tPSV.dial PBV +2 "processing"%O @ +43 "core" > +2 .tPS.seek 2.5ml +2 "processing"%9' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%M  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&B& +4 "core" & C  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&K( +4 "core" ( + "manipulator"&\\& +4 "core" &  v  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&a' +93 "core" ' +2 .tHand.close + "manipulator"&X/ +57 "core" / +2 .tPC.seek :open + "processing"% ( +458 "core" ( +2 "manipulator"&P& +3 "core" & E  +2 "manipulator"&4% +4 "core" %  H  +2 .tForearm.seek :retract +2 "manipulator"&e' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&b(- +125 "core" ( +2 "manipulator"&8& +3 "core" &-  ^  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &- W  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&g'w +91 "core" ' + .tHand.open +2 "manipulator"&]1 +64 "core" 1 +2 "manipulator"&^% +3 "core" %   - 1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +97 "core" ' +22378 "Can" =\ 2Z& +60002  >\ 4 @UTC1694131317.46  =\ 7$ +60001  =\ 9  +60002  =\ ;;² +60001  =\ =VH, +60001  >\ ?qރ +60001  =\ At +60001  >\ C\  +60001  =\ EŠ +60001  =\ G6 +60001  >\ Ĩ +60002  =\ Lb* +60001  =\ N- +60001  =\ PHȎ +60002  =\ Rc$( +60001  >\ T~ɺ +60001  =\ VP +60002  =\ X +60001  =\ Z| +60001  =\ \\ +60002  >\ _̨ +60001  =\ a> +60002  >\ c:ԃ +60001  >\ eUj +60001  =\ gp( +60002  >\ iϖ +60001  >\ k, +60001  =\ mƒ +60002  =\ oX +60001  =\ q +60001  =\ t҄ +60002  =\ v- +60001  =\ xIӰ# +60001  =\ zdF +60001  >\ |܃ +60002  =\ ~r' +60001  >\  +60001  =\ ֞ +60001  =\ 4 +60002  >\ ʃ +60001  =\ !` +60001  =\ <( +60001  =\ Wٌ +60002  >\ r" +60001  >\ ڸ +60001  =\ N +60001  =\  +60001  =\ z) +60002  >\ " +60001  >\ ݦ +60001  =\ 0<# +60001  >\ K҃" +60001  =\ fh' +60002  >\  +60001  >\  +60001  >\ * +60002  =\  +60001  =\ V+ +60001  >\ % +60001  >\ $ゃ +60002  =\ ?! +60001  =\ Z䮃% +60001  =\ vD +60001  >\ ڃ +60002  >\ p +60001  =\  +60001  =\ 眃 +60002  =\ 2 +60001  =\ ȃ +60001  =\ 3^ +60001  >\ N$ +60002  >\ jꊃ$ +60001  =\ ̅ , +29218 #t-> access 1 +3 "storage"(o% +3 "core" % G F \  +2 "manipulator"&`% +3 "core" %   \ +3 "manipulator"&d& +3 "core" &-  @  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Z(<- +1301 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" &<+  5\ +812 #t-> access 2 +2 "storage"(i% +4 "core" % F E M\  +2 "manipulator"&f% +4 "core" %   \ + "manipulator"&& +4 "core" &-  D  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(r(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +3 "core" &K   \ +28250 "Can" =\ Ψ붃) +60002  >\ L# +36333 #t-> access 2 +2 "storage"(_% +3 "core" % N D A\  +2 "manipulator"&u% +4 "core" %  6 \ +2 "manipulator"&J& +3 "core" &-   +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(m(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &K T \  +509 #t-> $da[:extractVol]=0.2 +601 #-> startTube 2 +1692 #-> shortDA; shortDAflush; PS.flush +3 "collection"'t% +2 "processing"%R% +6 "core" %c \ + %ؾ\ +5 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +418 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%{ +131 "core" +2 .tPTV.dial :PRVmixing + "processing"%V  +128 "core" +2 .tPRV.dial :sipper + "processing"%z  +127 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%v'e +2300 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%x  + "collection"'n  +7 "core"  +121  +2 .tPS.seek 0.5ml + "processing"%y' +1276 "core" ' +2 .tPRV.dial :waste2 + "processing"% @ +100 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%|'ؾ +607 "core" ' + .tPSV.dial PSR +2 "processing"% +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%~'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%l' +1619 "core" ' +2 .tPSV.dial :mixloop + "processing"% +102 "core" +2 .tPS.seek 0ml + "processing"%\ 'ؾ +2626 "core" ' +2 .tPSV.dial PSR + "processing"% +102 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1100 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"% ' +1616 "core" ' +2 .tPSV.dial :mixloop +2 "processing"% +101 "core" +2 .tPRV.dial :sipper + "processing"%  +42 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"% +112 "core" +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%U' +2632 "core" ' + .tPSV.dial :mixloop +2 "processing"%Y +100 "core" +2 .tPS.seek 0ml +40 "processing"%['ؾ +425 "Can" >\  +2223 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%N& +4 "core" &~\ +2 "manipulator"&7% +4 "core" %   = \ + "storage"(% +3 "core" % D > \  +2 "storage"($. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(%(  +1319 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" & B 9 \  +2 "manipulator"&& +4 "core" &-  8  +2 "manipulator"&% +4 "core" %  \  ` \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +168 "core" ( +2 "manipulator"&s& +3 "core" &  5 ; +2 "storage"()& +4 "core" & D D \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' +2 "storage"(.& +3 "core" & \\ I U\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (}& +2 "core" & % 3 v\ \ +2 "manipulator"&T& +4 "core" &  { : +2 .tElbow.seek 2 +2 "manipulator"&2( +4 "core" ( +2 "manipulator"& & +3 "core" & \   : +2 "storage"((& +4 "core" & D D \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&1'Ͻ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&w& + "storage"(*' +8 "core" &  \ : + "manipulator"&0% +4 "core" % ϱ  . +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&& +4 "core" &  - ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" & \  ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&!' +96 "core" ' +2 "manipulator"&<& +4 "core" &    ( +2 "manipulator"&j% +4 "core" %  P ~ +2 "processing"%>& +3 "core" &\ +3 "processing"%@& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%-(^ +4 "core" &\ +8 &>\ $f +9 &Yw~\ 8 +9 &s\ M +10 &O\ M +9 &P\ M +9 &EO\ M +10 &U\ M +9 &T\ M +9 &S\ M +10 &MQ\ M +9 & T\ M +10 &!U\ M +9 &#S~\ N +9 &%UR\ M +10 &'P\ M +9 &(Q\ M +10 &*Q\ M +9 &,]P\ M +9 &.Ow\ M +10 &/U\ M +9 &1T\ M +9 &3eT\ M +10 &5&S{\ N +9 &6T\ M +10 &8T\ N +9 &:lR \ N +9 & +2 .tPS.seek 0.5ml +2 "processing"%v' +865 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%y' +1611 "core" ' +2 .tPSV.dial :PML +2 "processing"% +43 "core" +2 .tPTV.dial :mixing +2 "processing"%| @ +71 "core" A +2 .tPBV.dial :waste1 + "processing"%~  +35 "core" +2 "processing"%% +4 "core" %A\  +2 .tPS.seek 1.85ml + "processing"%l' +235 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%\ 'ؾ +1965 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +46 "collection"'& +6 "core" & E\ +3 "manipulator"&& +4 "core" & < ( + "manipulator"&% +3 "core" %   7  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (- +122 "core" ( +2 "manipulator"&& +4 "core" &-    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &-  r  +3 .tForearm.seek :garage +2 "manipulator"&Y'w +92 "core" ' +3 .tHand.close + "manipulator"&U/ +57 "core" / +2 "manipulator"&N& +4 "core" &-    +2 "manipulator"&7% +4 "core" % σ   5 +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +274 "core" ( +2 "manipulator"&m& +3 "core" &{0 9 > $ F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &&& +2 "core" &ӱ% 0 - Z 6/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' + "manipulator"&& +5 "core" &ӱ! < > :/ + "manipulator"&s% +4 "core" %H / 0  +2 "collection"')& +4 "core" & ;\ +3 "collection"'.& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'b(\\ +4 "core" & <\  +9 &7| G\ +| +10 &h~ @\ @ +9 &o C\ M +9 &^T B\ M +10 &!T F\ M +9 &S C\ M +10 &T <\ L +9 &gT B\ M +9 &)Z F\ M +10 &S E\ M +9 & T J\ L +9 &"pU C\ L +10 &$1T B\ M +9 &%Y ?\ M +10 &'T A\ M +9 &)wQ >\ M +9 &+:U @\ L +10 &,S <\ M +9 &.X H\ M +9 &0Y E\ M +10 &2BR :\ L +9 &4U A\ M +10 &5T >\ M +9 &7U J\ L +9 &9JV N\ L +10 &; R R\ M +9 &<Y M\ M +9 &>Y M\ M +10 &@QT M\ M +9 &B] I\ M +10 &Ck A\ O +9 &E D\ R +9 &G= I\ V +10 &H F\ X +9 &J @\ Y +9 &Ly >\ Z +10 &N; \ Z +9 &O \ Z +10 &Q >\ Z +9 &S| D\ [ +9 &U> E\ [ +10 &V I\ ] +9 &X <\ ^ +9 &Z} B\ ^ +10 &\\z 9\ 1 +9 &\\4 L\ "h +9 ( +2 "collection"'.& +3 "core" &\\g K\ P +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.38 + "collection"'p& +4 "core" &\\g 6\ P +2 .tHand.open + "manipulator"&"1 +53 "core" 1 +2 "manipulator"&}% +4 "core" % H 3 < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +93 "core" ' + .tPSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%('+ +1613 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%5  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%w'ؾ +1620 "core" ' + .tPSV.dial PSR +2 "processing"%0 +44 "core"  + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"%' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%  +2 "collection"'  +32 "core"  +124  +2 .tPSV.dial :mixloop +2 "processing"%1 +99 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%3'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%2  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%<' +2625 "core" ' + .tPSV.dial :mixloop +2 "processing"%j +44 "core" +2 .tPS.seek 0ml + "processing"%>'ؾ +2625 "core" ' + .tPSV.dial :air +2 "processing"%*  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&C& +5 "core" &ӱ . - k :/ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +43 .tElbow.seek CC +9 "manipulator"&:(ӂ +16 "core" ( +2 "manipulator"&@& +3 "core" &ӎ 2 .  . +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &ӎ 0 / n . +3 .tForearm.seek CC +2 "manipulator"&!'? +97 "core" ' +2 .tHand.close + "manipulator"&?/ +65 "core" / +2 .tCC.seek :open +2 "collection"'#( +448 "core" ( +2 "manipulator"&;& +3 "core" &ӱ - - s * +2 "manipulator"&6% +4 "core" % \ / . h +2 .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&'(- +277 "core" ( +2 "manipulator"&& +3 "core" &-   I { +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &- U { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&A'w +101 "core" ' + .tHand.open +2 "manipulator"&S1 +60 "core" 1 +2 "manipulator"&H% +3 "core" % ρ   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 ."da"delayUntil "12:41:47.30" +24743 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%L @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%I  +34 "core" +2 ."da"delay 30 seconds +997 "Can"\ E\  +2005 ."da"PBV.dial between PSV and waste1 +2 "processing"%/ * +33 "core" * +2 ."da"PSV.dial :air +2 "processing"%O  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%W' +2388 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%M +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%9  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%B +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%\\  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +2339 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +3 .PSV.dial PSR + "processing"%X +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%E' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%=  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%P +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%8  +32 "core" +2 "processing"%[% +3 "core" %Q\  +3 ."da"PS.seek 1.5ml +2 "processing"%h'1 +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%K * +33 "core" * +3 ."da"PS.seek 0ml + "processing"%]'ؾ +1617 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%^  +16 "core"  + ."da"PBV.dial :waste1 +2 "processing"%e  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%a * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%c +82 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%g' +2392 "core" ' + ."da"PSV.dial PTV +2 "processing"%+ +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%` +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%d +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +3 "processing"%k'ؾ +2342 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +42 "processing"%o +134 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%f' +584 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1606 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%Z  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%Q +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%i  +33 "core" + "processing"%u% +4 "core" %F\  +2 ."da"PS.seek 1.5ml +2 "processing"%J', +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%q * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%_'ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +3 "processing"%R  +6 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%t  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%{ * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%r +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%z' +2384 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%V +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%x +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%n  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +31 "Can"\ J\ " +2297 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%v  +41 "core"  +2 ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%  +126 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%|  +41 "core" ~ + ."da"PTV.dial :PRVmixing +2 "processing"%~  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%' +387 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%y  +43 "core"  +2 "processing"%l% +3 "core" % 7\  +3 ."da"PS.seek 0.55ml +2 "processing"%' +338 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1554 "core" ' + ."da"PSV.dial :PML +2 "processing"% +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%U  +32 "core" +2 "processing"%N% +3 "core" %9\  +3 ."da"PS.seek 1.85ml +2 "processing"%F' +233 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%7 * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1969 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +48003 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%Y @ +5 "core" A + ."da"PBV.dial :waste1 +2 "processing"%m  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%& * +33 "core" * + ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +67 "Can"\ e\ ށ: +2336 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%s +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%)  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%p'ؾ +2336 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%" +128 "core"  +8 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%}' +599 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%.' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +69 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%\  +32 "core" +2 "processing"%5% +3 "core" %1\ +3 ."da"PS.seek 1.5ml +2 "processing"%('2 +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%0 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%w'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%1 * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"%2 +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%3 +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%j +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%<  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%*'ؾ +2333 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%> +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"% ' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%C  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%@ +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%D  +32 "core" +2 "processing"%?% +3 "core" %N\  +3 ."da"PS.seek 1.5ml +2 "processing"%$'( +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%T * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%b'ؾ +1631 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%;  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%6  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%! * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2388 "core" ' + ."da"PSV.dial PTV +2 "processing"%: +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%S +69 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%H +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%,  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%A'ؾ +2201 "Can"\ \ 9Ѓ" +136 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%I' +589 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%/' +1616 "core" ' +8 ."da"PTV.dial :puck +2 "processing"%O  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%M  +33 "core" + "processing"%9% +4 "core" %S\  +2 ."da"PS.seek 1.5ml +2 "processing"%B'. +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%\\ * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%W'ؾ +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%X  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%G  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%P' +2395 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%8 +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%[ +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%E +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%K  +74 "core"  +2 ."da"PS.seek 0ml +3 "processing"%h'ؾ +2337 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%^ +132 "core"  +6 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +3 "processing"% +15 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +5 "processing"%e' +341 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%a' +339 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%c' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%]  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%+ +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%`  +34 "core" +2 "processing"%d% +4 "core" %`\ q +2 ."da"PS.seek 1.5ml +2 "processing"%') +587 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%g * +34 "core" + +3 ."da"PS.seek 0ml +2 "processing"%o'ؾ +1630 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%k  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%f  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Z * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Q +76 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%i' +2422 "core" ' + ."da"PSV.dial PTV +2 "processing"%u +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%q +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%J  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +2391 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%t +128 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%{' +2127 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 "processing"%r  +5 "core"  +2 ."da"PSV.dial PTV + "processing"%_ +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%V% +4 "core" %h\  +2 ."da"PS.seek 1.5ml +2 "processing"%x'- +606 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%n * +46 "core" + +9 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%z  +102 "core"  +2 ."da"PS.seek 0ml +2 "processing"%v'ؾ +1607 "core" ' + "processing"%9 +4 "core" 9h5d +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%| +2 "core" 5d +2 "processing"%~& +4 "core" &^*W\ 6 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %     +2 "storage"(% +3 "core" %   \  +2 "storage"(y. +3 "core" .( +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(l(C +356 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &E a W \ +2 "manipulator"&& +4 "core" &-   % z +2 "manipulator"&% +3 "core" %    +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +183 "core" ( + "manipulator"&& +4 "core" &   I +2 "storage"(U& +4 "core" &E ; * S\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&N' +97 "core" ' +2 "storage"(7& +4 "core" &E d c \ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"('r +276 "core" ' +2 "storage"(F- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(Y'1 +44 "core" ' +2 "manipulator"&m& +3 "core" & j +3 "manipulator"&&% +4 "core" % ) +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +241 "core" ( +2 "manipulator"&s& +3 "core" &   A  +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" & \ `  +3 ."da"Forearm.seek PC +2 "manipulator"&' +90 "core" ' + ."da"Hand.close +2 "manipulator"&/ +54 "core" / +2 ."da"PC.seek :open +2 "processing"%( +458 "core" ( +2 "storage"("& +4 "core" &E k f \ +2 "manipulator"&p& +4 "core" &   + "manipulator"&}% +4 "core" %  @  +2 ."da"Forearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&\ & +3 "core" &  \ 6 +2 "storage"(5& +4 "core" &E H x\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&.' +99 "core" ' +2 ."da"Hand.open +2 "manipulator"&01 +56 "core" 1 +2 "storage"((- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0813h.tif +5 "processing"%1& +9 "core" & \ ] +4 "manipulator"&& +6 "core" & - -  6 +2 "manipulator"&w% +5 "core" %  : # +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&2' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&3(- +180 "core" ( +54 "manipulator"&j& +11 "core" &- C +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &- C +4 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +91 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&>/ +60 "core" / +2 "manipulator"&*& +4 "core" &-   + C +2 "manipulator"& % +3 "core" % ϊ w / +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&C' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&@( +119 "core" ( + "manipulator"&D& +4 "core" &  - < +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &?& +2 "core" &  . < +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&T& +4 "core" &  M < +2 "manipulator"&$% +3 "core" % ( ^ +3 "processing"%;& +3 "core" &\ w +3 "processing"%6& +4 "core" &\ w +3 ."psFlush"PC.seek :closed +2 "processing"%!(^ +3 "core" &\ w +10 &2r\ p*y +9 &bt\ o> +9 &pe\ oO +10 &2G\ sN +9 &J\ rN +10 &J\ qO +9 &zK\ N +9 &=M\ M +10 &M \ N +9 &KF\ N +9 & LJ\ N +10 &"ELE\ M +9 &$N<\ M +10 &%L3\ M +9 &'I2\ M +9 &)MI2\ M +10 &+F0\ N +9 &,J7\ vO +9 &.K4\ uN +10 &0QL&\ tO +9 &2I%\ sN +10 &3H*\ tN +9 &5Jb\ sN +9 &7ZG\ sN +10 &9I\ sN +9 &:L\ rN +10 &<G\ sN +9 &>bJ\ rN +9 &@#L\ rO +10 &ALw\ rO +9 &CXy\ pQ +9 &Eacz\ oQ +10 &Gxv\ nT +9 &Ht\ mU +9 &J~t\ U +10 &L^d\ U +9 &Ng\ V +10 &Ou\ V +9 &Qz\ V +9 &Scy\ V +10 &U%t\ V +9 &Vp\ V +9 &Xm\ V +10 &Zjc\ V +9 &\\)b\ sX +10 &]rd\ r: +9 &^4^\ pN +9 &^c\ v0 +3 ( +2 "processing"%6& +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.76 +2 "processing"%& +3 "core" &^T\ u0 +2 ."psFlush"Hand.open +2 "manipulator"&b1 +58 "core" 1 +2 "manipulator"&:% +4 "core" %   a ^ +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&S' +91 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%H +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +3 "processing"%,' +600 "core" ' +2 ."psFlush"delay 5 seconds +223 #"da"SX HX9/16 (USB:16): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 21.272 seconds\ /var/log/esp/da23sep0813h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0813h15s.tif +276 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +3 "processing"% ' +1280 #"da"SX HX9/16 (USB:16): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0813h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0813h20s.tif +840 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%L @ +185 "core" @ +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%A  +131 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%I +103 "core" +11 ."psFlush"PS.seek :empty +2 "processing"%O'ؠ +676 #"da"SX HX9/16 (USB:16): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0813h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "21.272 sec auto-exposure",Subject: "da23sep0813h images!" +5 "storage"(- +9 "core" -' +3 "storage"(M& +4 "core" &E x { m\ +7 "manipulator"&9& +8 "core" & + + 6 < +5 "manipulator"&/% +9 "core" %   +  +10 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&\\( +243 "core" ( +2 "manipulator"&B& +3 "core" & % ( f 3 +2 "storage"(X& +4 "core" &E G\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&G' +92 "core" ' +3 ."da"SE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.51 Pucks below Top Plate +3 "storage"('" +50 "core" ' +16 "manipulator"&=& +8 "core" & ~ 2 +4 "storage"(W& +9 "core" &E P \ +4 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek 1 +2 "manipulator"&8'8 +22 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&[, +8 "core" , +2 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +7 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(E' +26 "core" ' +4 "manipulator"&K% +7 "core" %E , +  +4 "storage"(P& +8 "core" &E\ $\  .\ +3 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 313 counts +4 "manipulator"&^'q +15 "core" ' +3 "manipulator"&h& +8 "core" &  2 +3 "storage"(e& +8 "core" &E   D\ +5 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&a' +16 "core" ' +4 "storage"(]% +8 "core" %   Z\ +4 ."downElevator"SE.seek :down +6 "storage"(+' +99 (`% +5 "core" %C \  \ U^ +5 "manipulator"&d% +6 "core" %  f +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +4 "manipulator"&c' +91 "core" ' +24 "Can"\ O\ f +20 "core" ' +3 ."downElevator"SE.stop +5 "storage"(5 +6 (g& +8 "core" &E   2\ +898 ' +2 ."psFlush"PSR.select :air +6 .PSV.dial PSR +2 "processing"% +102 "core"  +3 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +2 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%k' +594 "core" ' +5 ."psFlush"delay 5 seconds +505 .PSR.select :air +5 "processing"% +14 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +115 #"uploadLog"upsync +2015 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 +2 "processing"%Z  +34 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%Q @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%o +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%u'ؠ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +99 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%q'X\\ +1100 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%J' +1616 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%i +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%t  +69 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%R  +15 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%r'ؾ +2637 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%_ +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +596 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%V' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%{ +84 "core" + ."psFlush"PBV.dial PSV +49 "processing"%n U +54 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"%z'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%x @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2632 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%|  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%~'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2628 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%y +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%% U +4 "core" V +2 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%U'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%' +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%7'X\\ +1094 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%' +1619 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%F +69 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%m  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%&  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%N +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%s' +590 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%)' +2115 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +3 "processing"% 'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%- @ +55 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%p  +71 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%}'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%\ ' +2628 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%5 +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +15 "core" T +3 ."psFlush"PS.seek 0ml + "processing"%0'ؾ +2654 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%( @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%1' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%w'ؾ +437 "Can"\ G\ .# +2203 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"& & +3 "core" &   2 +2 "manipulator"&Y% +4 "core" %    +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +244 "core" ( + "manipulator"&j& +44 "core" &  ( +8 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +3 "core" &  ( +3 ."psFlush"Forearm.seek PC +2 "manipulator"&<' +90 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +60 "core" / +2 ."psFlush"PC.seek :open +3 "processing"%>( +460 "core" ( +2 "manipulator"&*& +3 "core" &  9 ( +2 "manipulator"& % +4 "core" %  u  +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&2' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&D(- +126 "core" ( +2 "manipulator"&?& +3 "core" &- \  1 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &-  f +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage + "manipulator"&T'w +99 "core" ' + ."psFlush"Hand.open +2 "manipulator"&$1 +53 "core" 1 +2 "manipulator"&;% +3 "core" %    +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&3' +94 "core" ' +2 #tFinished short da assay + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'C& +4 "core" & \ + "manipulator"&& +4 "core" &-  g +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +17 "core" ( +2 "manipulator"&b& +4 "core" &- \  E o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &- K o +3 .tForearm.seek :garage +2 "manipulator"&6'w +93 "core" ' +2 .tHand.close + "manipulator"&H/ +58 "core" / +2 "manipulator"&& +3 "core" &-   o +2 "manipulator"&v% +4 "core" % ς  ? +2 .tForearm.seek :retract +2 "manipulator"&,' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&L(ӂ +289 "core" ( +2 "manipulator"&A& +3 "core" &ӥ   5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &ӥ \ W 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +94 "core" ' +2 "manipulator"&& +3 "core" &ӥ  & 5 +2 "manipulator"&M% +4 "core" %F \   +2 "collection"'9& +4 "core" & \ +3 "collection"'/& +4 "core" & \ +3 .tCC.seek :closed + "collection"'B(\\ +5 "core" & \ +7 &B \ %g +9 &Yz \ 8 +10 &x \ L +9 &U \ M +9 &U \ L +10 &LT \ L +9 & U \ M +9 &V \ M +10 &T \ L +9 &TT \ L +10 & U \ M +9 &!U \ L +9 &#S \ L +10 &%[Q \ L +9 &'W \ L +9 &(U \ M +10 &*T \ L +9 &,cW \ L +10 &.$T \ M +9 &/T \ L +9 &1R \ L +10 &3kW \ L +9 &5-W \ L +9 &6X \ M +10 &8U \ L +9 &:sR \ L +10 &<5R \ L +9 &=R \ L +9 &?S \ L +10 &AzY \ M +10 &C8c \ N +8 &Du \ P +10 &F \ U +9 &H_ \ Y +10 &J \ Y +9 &K \ Z +9 &M \ [ +10 &O_ \ [ +9 &Q# \ [ +9 &R \ [\ +10 &T \ \\ +9 &V` \ ^ +10 &X! \ ^ +9 &Y \ ^ +9 &[ \ K +10 &\\: \ + +9 &\\} \ R +2 ( +2 "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.44 + "collection"'X& +3 "core" &\\{ \ R +2 .tHand.open +2 "manipulator"&@1 +63 "core" 1 +2 "manipulator"&=% +4 "core" % F    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +98 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%S  +44 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 2.5ml + "processing"%K' +2635 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%P  + "collection"'h  +52 "core" +47  +2 .tPSV.dial :PTV,via: :air +2 "processing"%e +201 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +71 "core" A +2 .tPS.seek 0ml +2 "processing"%]'ؾ +2638 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%G  +187 "core"  + #tPulling 2.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 2.5ml + "processing"%`' +2633 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%\\  +4 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%d +201 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +3 "core" A +3 .tPS.seek 0ml + "processing"%8'ؾ +2637 "core" ' + .tPSV.dial PSR,avoiding: PBV +3 "processing"%^  +186 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%g' +2636 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%E  +4 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%a +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%+ @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2652 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%O  +188 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%k'+ +1606 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +6 "processing"%Z  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%Q'ؾ +1635 "core" ' + .tPSV.dial PSR +2 "processing"%o +44 "core"  + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"%f' +2635 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  +4 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%u +200 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%q @ +5 "core" A +2 .tPS.seek 0ml +2 "processing"%i'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%t  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%R' +2634 "core" ' + .tPSV.dial :PTV +2 "processing"%J +73 "core" ~ +2 .tPS.seek 0ml +2 "processing"%_'ؾ +2635 "core" ' +2 .tPSV.dial :air +2 "processing"%r  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2638 "core" ' + .tPSV.dial :PTV +2 "processing"%{ +73 "core" ~ +3 .tPS.seek 0ml + "processing"%n'ؾ +2629 "core" ' +2 .tPSV.dial :air + "processing"%V  +74 "core"  +2 .tPS.seek 2.5ml +2 "processing"%x' +2638 "core" ' + .tPSV.dial :PTV +2 "processing"%z +74 "core" ~ +2 .tPS.seek 0ml +2 "processing"%|'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ӥ 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +37 "core" ( +2 "manipulator"&~& +3 "core" &v  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &v   8 +2 .tForearm.seek CC +2 "manipulator"&%'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( +2 "manipulator"&& +3 "core" &Ӭ s 1 +2 "manipulator"&% +4 "core" % B   7 +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&'(- +285 "core" ( +2 "manipulator"&U& +3 "core" &-   M +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +46 &7& +6 "core" &- F M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&F'w +102 "core" ' +2 .tHand.open +2 "manipulator"&m1 +55 "core" 1 +2 "manipulator"&&% +4 "core" % π  A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + #tFlushing Processing stage +2 "processing"%N% +3 "core" %ؼ\ +3 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +5 "core" &\ +4 "manipulator"&s& +8 "core" &- 4 M +6 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +4 "core" ( +2 "manipulator"&& +3 "core" &-   ; M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &- M +3 .tForearm.seek :garage +2 "manipulator"&-'w +93 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +2 "manipulator"&p& +3 "core" &-   M +3 "manipulator"&"% +4 "core" % ψ   +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&}( +119 "core" ( +2 "manipulator"&5& +3 "core" &  F $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 4 $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\ ' +91 "core" ' +2 "manipulator"&(& +4 "core" &  Q $ + "manipulator"&0% +5 "core" % \  K 6 + "processing"%& +5 "core" &\ +2 "processing"%1& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +9 &2t\ )w +9 &cy\ = +10 &tk\ N +9 &8O\ M +9 &Q\ L +10 &P\ M +9 &Q\ L +9 &?P\ M +10 &Q\ M +9 &Q\ L +10 & Q\ M +9 &"HQ\ M +9 &$\ Q\ M +10 &%Q\ L +9 &'Q\ M +9 &)OQ\ M +10 &+Q\ M +9 &,Q\ M +10 &.Q\ M +9 &0XQ\ M +9 &2Q\ M +10 &3T\ M +9 &5Q\ M +9 &7_Q\ M +10 &9"R\ M +9 &:R\ M +10 &<Q\ M +9 &>gR\ M +9 &@'T\ N +10 &AX\ N +9 &Ce\ O +9 &Edp\ Q +10 &G \ S +9 &H\ T +10 &J\ T +9 &Ld\ S +9 &N"\ U +10 &O\ T +9 &Q\ U +9 &Sf\ U +10 &U)\ U +9 &V\ U +10 &X\ U +9 &Zn\ U +9 &\\/\ V +10 &]{o\ ? +9 &^ P\ L +9 &^F\ > +3 ( + "processing"%1& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 +2 "processing"%Y& +3 "core" &^F\ > +2 .tHand.open + "manipulator"&j1 +63 "core" 1 + "manipulator"&[% +5 "core" %  \ g 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +94 "core" ' + .tPSV.dial PSR +2 "processing"% +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%c'X\\ +1093 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%!' +1616 "core" ' + .tPSV.dial PTV +2 "processing"%* +72 "core" + .tPTV.dial :puck +2 "processing"%  +72 "core"  + .tPBV.dial :waste1 +2 "processing"%?  +50 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 .tPSV.dial PSR + "processing"%< +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%' +584 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%$' +1410 "Can"\ K\ !" +719 "core" ' +2 .tPSV.dial PTV + "processing"%; +72 "core" +2 .tPBV.dial PSV +2 "processing"%C U +52 "core" W +2 .tPS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 .tPSV.dial PBV +2 "processing"%2 @ +43 "core" ? +3 .tPS.seek 2.5ml + "processing"%b' +2668 "core" ' +9 .tPSV.dial :waste1 +7 "processing"%:  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%T'ؾ +2626 "core" ' + .tPSV.dial PSR +2 "processing"%H +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2637 "core" ' +2 .tPSV.dial PTV +2 "processing"%v +70 "core" + .tPBV.dial PSV +2 "processing"%D U +15 "core" T +3 .tPS.seek 0ml +2 "processing"%3'ؾ +2634 "core" ' +2 .tPSV.dial PBV +2 "processing"%6 @ +43 "core" ? +3 .tPS.seek 2.5ml +2 "processing"%A' +2633 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%I'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" &  ) 4 $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&9& +4 "core" & , % $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &   - $ +2 .tForearm.seek PC +2 "manipulator"&#' +93 "core" ' +2 .tHand.close + "manipulator"&X/ +57 "core" / +2 .tPC.seek :open +2 "processing"%@( +460 "core" ( +2 "manipulator"&=& +3 "core" &  $ +2 "manipulator"&/% +4 "core" %   4 +2 .tForearm.seek :retract +2 "manipulator"&S' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"& (- +126 "core" ( + "manipulator"&w& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &-  f  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&P'w +99 "core" ' +2 .tHand.open + "manipulator"&e1 +56 "core" 1 +2 "manipulator"&% +3 "core" % ~  d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +95 "core" ' +3026 #t-> access 1 +3 "storage"(G% +3 "core" % ^ [ \  +2 "manipulator"&]% +3 "core" %    +2 "manipulator"&\\& +4 "core" &- 3  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(d(<- +1300 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<.   A\  +669 #t-> access 2 +2 "storage"(`% +4 "core" % ^ ] \  + "manipulator"&^% +4 "core" %  \   +2 "manipulator"&8& +3 "core" &- _  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(E(K +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "core" &K A 8 r\ \ +19360 #t-> $da[:extractVol]=0.2 +445 #-> startTube 2 +11231 #-> purge.Intake +2 !o:NoMethodError : mesgu:NameError::message0undefined method `Intake' for :purge:Symbol: name: Intake: args[:bt["(ESP):20:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2490 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'+& +3 "core" & \ +2 "manipulator"&g& +4 "core" &- 2  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&O(- +15 "core" ( + "manipulator"&& +4 "core" &-   > U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &-  c U +2 .tForearm.seek :garage +2 "manipulator"&k'w +89 "Can" ;\ b(# +9 "core" ' + .tHand.close +2 "manipulator"&o/ +56 "core" / +2 "manipulator"&Q& +4 "core" &-  \  U +2 "manipulator"&% +4 "core" % σ  % +2 .tForearm.seek :retract + "manipulator"&u' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +42 .tElbow.seek CC +9 "manipulator"&q(ӂ +290 "core" ( + "manipulator"&f& +4 "core" &Ӛ   w 5\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &Ӛ  5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'? +101 "core" ' + "manipulator"&J& +4 "core" &Ӛ  \ ) 5\ +2 "manipulator"&R% +4 "core" %>  G +2 "collection"'r& +4 "core" & \ +2 "collection"'_& +5 "core" & \ +3 .tCC.seek :closed + "collection"'{(\\ +5 "core" & \  +9 &6} \ +{ +10 &g \ ? +9 &n \ M +9 &^Q \ L +10 &T \ M +9 &T \ L +10 &T \ M +9 &gS \ L +9 &(W \ L +10 &Q \ L +9 & U \ L +9 &"nT \ L +10 &$1Q \ L +9 &%T \ L +10 &'T \ L +9 &)vT \ L +9 &+7T \ M +10 &,T \ L +9 &.U \ L +9 &0~U \ L +10 &2@T \ L +9 &4W \ L +10 &5U \ L +9 &7V \ L +9 &9HU \ L +10 &;\ T \ L +9 &<Q \ L +9 &>U \ L +10 &@PU \ L +9 &BZ \ M +10 &Ch \ N +9 &E \ S +9 &G> \ U +10 &H \ Y +9 &J \ Y +9 &Lt \ [ +10 &N; \ Y +9 &O \ Z +10 &Q \ [\ +9 &Sy \ \\ +9 &U: \ \\ +10 &V \ ] +9 &X \ _ +9 &Zw \ _ +10 &\\{ \ 2 +9 &\\1 \ d +9 ( +3 "collection"'_& +2 "core" &\\n \ S +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.50 + "collection"'& +4 "core" &\\m \ S +2 .tHand.open + "manipulator"&V1 +54 "core" 1 +2 "manipulator"&n% +4 "core" % >  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +96 "core" ' +2 #tPurging external Intake + "collection"'x& +4 "core" &\\m \ S +2 "collection"'% +3 "core" %c \ +2 .tCSV.dial :flush +2 "collection"'~  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'y' +2443 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +2 "collection"' + 'L  +71 "core"  +3  + .tCTV.dial :intake +2 "collection"'W  +77 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml +2 "collection"'B'i +2344 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'  +77 "core" +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӡ R 4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&%(ӂ +14 "core" ( + "manipulator"&U& +4 "core" &Ӄ   b + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӄ S + +2 .tForearm.seek CC +2 "manipulator"&7'? +100 "core" ' + .tHand.close +2 "manipulator"&m/ +62 "core" / +2 .tCC.seek :open +2 "collection"'&( +451 "core" ( + "manipulator"&N& +4 "core" &Ӓ L ) +2 "manipulator"&% +3 "core" %   P +2 .tForearm.seek :retract +2 "manipulator"&s' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +280 "core" ( +2 "manipulator"&& +4 "core" &-   f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &- . f +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&F'w +92 "core" ' +2 .tHand.open + "manipulator"& 1 +61 "core" 1 + "manipulator"&p% +4 "core" % {  \ 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +656 #t-> $da[:extractVol]=0.2 +461 #-> startTube 2 +2273 #-> da 50 + #da sampling at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 13:53:55UTC08-Sep-23\\n{}\\nCTD data unavailable\\nCan@13:51:58, 25% flow, 22.2C, 44% humidity, 14.9psia, 13.754V, 0.278A, 60.180Ah, 3.83W",Subject: "da sampling at most 50ml" +3 "collection"''& +3 "core" & \ +3 "manipulator"&% +5 "core" %  \ 8 \ +51 "storage"(5% +4 "core" % \\ Z\  +2 "storage"(. +2 "core" .(K +3 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(-(  +327 #"uploadLog"upsync +977 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +4 ((& +3 "core" & 7 ) @\ +2 "manipulator"&0& +5 "core" &- = e +2 "manipulator"&% +3 "core" %    \ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +173 "core" ( +2 "manipulator"&& +4 "core" &   6 ( +2 "storage"(>& +3 "core" & [ U \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&Y'S +92 "core" ' +2 "storage"(j& +4 "core" & ] Z\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['r +285 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & ( 4 \ +2 "manipulator"&\ & +3 "core" &   ( +3 .tElbow.seek 2 + "manipulator"&|( +5 "core" ( + "manipulator"&c& +4 "core" & ( +2 "storage"(*& +3 "core" & C C \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +3 "storage"(<' +8 "core" &  \ ( + "manipulator"&% +5 "core" %  = +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&C& +5 "core" &Ӕ  ) :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &Ӕ  M :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&2'? +98 "core" ' +3 "manipulator"&& +4 "core" &Ӕ!  :/ +2 "manipulator"&:% +4 "core" %D   V +2 "collection"'b& +3 "core" & \ +3 "collection"'H& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'T(\\ +3 "core" & \ +7 &; \ $f +10 &Yz \ 7 +9 &w \ L +9 &U \ L +10 &T \ L +9 &CV \ L +10 &T \ K +9 &T \ L +9 &V \ L +10 &LQ \ L +9 & R \ L +9 &!Q \ L +10 &#R \ L +9 &%UR \ K +10 &'S \ K +9 &(S \ K +9 &*S \ K +10 &,]T \ K +9 &.T \ K +9 &/S \ K +10 &1R \ L +9 &3eS 1\ K +10 &5&T 3\ L +9 &6S \ L +9 &8T \ K +10 &:lT \ L +9 &<.R \ L +9 &=R \ L +10 &?T \ L +9 &AtW \ L +10 &C2] \ M +9 &Dh \ N +9 &Fv \ P +10 &He \ T +9 &J >\ W +9 &K +\ X +10 &M *\ Y +9 &O\\ \ Y +10 &Q \ Y +9 &R %\ Z +9 &T \ Z +10 &V[ \ \\ +9 &X \ \\ +9 &Y \ ] +10 &[ \ J +9 &\\3 \ 1 +10 &\\g 6\ N +2 ( +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&v1 +53 "core" 1 +2 "manipulator"&D% +3 "core" % D   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close +49 .SS.hold +4 "sampler")6+ +3 "core" + +2 "sampler")3% +4 "core" %ڀ\ \  W\ V +2 "collection"'& +3 "core" &\\g \ N +4 "Can"\ Q\ M + #tCalibrating pressure and temperature sensors +4 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 "sampler")A +3 "core"  +2 "sampler") +3 "core"  +2 "sampler")9 +4 "core"  +3 .tSS.reconfigure :fast +2 "sampler")#.0X% +4 "core" %h z\ +2 "sampler")j% +3 "core" %<  j\  +21 "collection"'% +3 "core" %h \ +3 "sampler")"% +3 "core" %<   g\  +24 "collection"'1% +4 "core" %h \ +2 "sampler")% +3 "core" %<   ^\  +28 "collection"'\ % +3 "core" %h \ +2 "sampler")c% +5 "core" %<   k\  +31 "collection"'*% +3 "core" %h \ +2 "sampler")?% +4 "core" %<   h\  +36 "collection"'!% +3 "core" %h \ +2 "sampler")% +4 "core" %<   e\  +41 "collection"'% +3 "core" %h \ +2 "sampler")Y% +5 "core" %<   \\\  +46 "collection"'C% +3 "core" %h \ +2 "sampler")$% +5 "core" %< ' $ a\  +52 "collection"'[% +4 "core" %h \ +2 "sampler") % +3 "core" %< , + a\  +61 "collection"'% +4 "core" %h ^\ +2 "sampler"):% +4 "core" %< 8 3 k\  +2 "collection"'b% +4 "core" %h \ + #tIntake @13.4psia, vacuum from 7.9 to 10.9psi +2 .SS.reconfigure :inhaling 1.41ml/s +3 "sampler")#.`0X  +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +3 ."CSpush"CS.seek 0ml +2 "collection"''i +79 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")5 +127 "core"  +3 .tSS.reconfigure :exhale +2 "sampler")#.0X +127 "core"  +2 .tSS.reconfigure :default +2 "sampler")#.0X9 +3 "core" 9 ~ +103 "collection"'9 +2 "core" 9  +103 "collection"'9 +3 "core" 9  +102 "collection"'"9 +3 "core" 9  +102 "collection"'\ 9 +3 "core" 9  +102 "collection"'19 +4 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'*9 +3 "core" 9  +102 "collection"'?9 +3 "core" 9   +102 "collection"'j9 +3 "core" 9  +103 "collection"'c9 +3 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'(9 +3 "core" 9  +103 "collection"'Y9 +2 "core" 9 ! +102 "collection"'C9 +3 "core" 9 % +102 "collection"'$9 +4 "core" 9 ) +102 "collection"'[9 +3 "core" 9 - +102 "collection"' 9 +3 "core" 9 2 +103 "collection"'!9 +3 "core" 9 6 +103 "collection"':9 +2 "core" 9\ : +103 "collection"'b9 +3 "core" 9\ > +102 "collection"'9 +3 "core" 9\ C +102 "collection"'9 +3 "core" 9\ G +102 "collection"'&9 +3 "core" 9\ K +102 "collection"'v9 +3 "core" 9\ O +103 "collection"'9 +2 "core" 9\ S +103 "collection"'H9 +2 "core" 9\ X +103 "collection"'39 +2 "core" 9\ \\ +103 "collection"'9 +2 "core" 9\ !` +103 "collection"'D9 +2 "core" 9\ $d +103 "collection"'29 +3 "core" 9\ )h +103 "collection"'A9 +2 "core" 9\ ,m +103 "collection"'99 +3 "core" 9\ 0q +102 "collection"' 9 +3 "core" 9\ 3u +102 "collection"'69 +3 "core" 9\ 7y +102 "collection"'X9 +4 "core" 9\ ;} +102 "collection"'9 +3 "core" 9\ ?  +102 "collection"'|9 +3 "core" 9\ B\  +102 "collection"'09 +3 "core" 9\ E\  +103 "collection"'}9 +2 "core" 9\ H  +144 "collection"'.9 +11 "core" 9\ N  +103 "collection"' 9 +2 "core" 9\ Q +103 "collection"'w9 +3 "core" 9\ U +102 "collection"',9 +3 "core" 9\ W +103 "collection"'h9 +3 "core" 9\ [ +102 "collection"'=9 +3 "core" 9\ ] +103 "collection"'#9 +3 "core" 9\ a +102 "collection"'e9 +3 "core" 9\ d +103 "collection"'M9 +2 "core" 9\ g +103 "collection"'/9 +2 "core" 9\ j +103 "collection"'P9 +3 "core" 9\ m +103 "collection"']9 +2 "core" 9\ p +103 "collection"'G9 +3 "core" 9\ r +102 "collection"'`9 +3 "core" 9\ t +103 "collection"'\\9 +3 "core" 9\ w +102 "collection"'89 +3 "core" 9\ y +103 "collection"'^9 +2 "core" 9\ { +3 .tCH.hold 10:00,70C +3 "collection"'a `\ `\ z  +2 'd9 +7 "core"  + 9\ | + "collection"'g% +4 "core" %Y \ +2 #tBegun lysing Collection Puck Heater at 68C/31.1psia +53201 "Can"\ \ \ T +6786 "core" ` +2 "collection"'+9 +3 "core" 9\  +2 "collection"'<% +3 "core" %Y U W\ +3 #tEnded lysing Collection Puck Heater at 70C/29.2psia +2 .CS.seek 0ml + "collection"'Z'i +331 "core" ' +9 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"' @ +100 "core" A +2 .tCSV.dial :air +2 "collection"'Q @ +40 "core" ? +3 .tCS.seek 5ml +2 "collection"''s5 +1356 "core" ' + .tCSV.dial CTV +2 "collection"'S  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'k @ +42 "core" > +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'f  +41 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'l @ +41 "core" > +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'t'i +1358 "core" ' + "collection"'J% +4 "core" %g\ +2 #tPuck @59.4psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'O +96 "core"  + .tCBV.dial CSV +2 "collection"'  +28 "core"  +2 "collection"'R% +4 "core" %g  \ +2 .tCS.seek 5ml +2 "collection"'K's3 +1376 "core" ' + .tdelay 5 seconds +503 .CTV.dial :air +2 "collection"'  +44 "core" +2 "collection"'% +4 "core" %s5 #\ +2 .tCS.seek 7ml +2 "collection"'V' +596 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"' @ +41 "core" @ +2 .tCS.seek 10ml +2 "collection"'r' +840 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +3 "collection"'~ ` +110 "core" _ +2 #tLysing Complete + "collection"'u& +3 "core" &\\l \ N +3 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %  \ @  +2 "storage"(B% +4 "core" % D C \  + "storage"(_. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((C +357 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +2 "core" &@   \ +3 "manipulator"&y& +4 "core" &ӫ - 7 + "manipulator"&% +4 "core" %  |  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&( +160 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(U& +4 "core" &@ H < \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&' +93 "core" ' + "storage"(m& +4 "core" &@ ^ \\\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +276 "core" ' + "storage"(q- +3 "core" -'r +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek :place + "storage"(z'1 +48 "core" ' +2 "manipulator"&{& +3 "core" &  +47 "manipulator"&W% +7 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7(ӂ +163 "core" ( +2 "manipulator"&& +4 "core" &Ӛ  } 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +2 "core" &Ӛ P 7 +3 .tForearm.seek CC +2 "manipulator"&)'? +102 "core" ' +2 .tHand.close + "manipulator"&p/ +55 "core" / +2 .tCC.seek :open + "collection"' ( +447 "core" ( +3 "storage"(s& +3 "core" &@ f ^ 9\ +2 "storage"(F& +4 "core" &@ Z [ \ +2 "manipulator"&x& +3 "core" &ӵ  n 4 +2 "manipulator"&%% +4 "core" % 1 \ 7 +2 .tForearm.seek :retract +2 "manipulator"&5' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&n( +168 "core" ( + "manipulator"&'& +3 "core" & ; } +2 "storage"(& +5 "core" &@ t ~ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&'8 +98 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&>% +4 "core" % E  E +2 "storage"(& +4 "core" &@ { .\ + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 1 + 313 counts + "manipulator"&'q +16 "core" ' +2 "manipulator"&"& +4 "core" & } +2 "storage"(\ & +4 "core" &@ k o e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&1' +16 "core" ' +2 "storage"(% +4 "core" %* ~\ +2 ."downElevator"SE.seek :down +4 "storage"(*' +99 (?% +3 "core" %@ e h :\ U] +2 "manipulator"&j% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +89 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ +3 "manipulator"&(& +4 "core" & } } + "manipulator"&Y% +4 "core" %   +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&C(- +168 "core" ( +2 "manipulator"&$& +3 "core" &-  + T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &[& +2 "core" &- T T +3 .tForearm.seek :garage +2 "manipulator"& 'w +97 "core" ' +2 .tHand.close + "manipulator"&!/ +58 "core" / +2 "manipulator"&:& +3 "core" &-   ! T +2 "manipulator"&b% +4 "core" % ϋ  < +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +280 "core" ( +2 "manipulator"&&& +3 "core" &Ӎ"   <: +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +2 "core" &Ӎ"  c <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + "manipulator"&H& +4 "core" &Ӎ#   <: +2 "manipulator"&3% +4 "core" %F ;  +2 "collection"'& +3 "core" & +\ +3 "collection"'D& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'2(\\ +3 "core" & `\ +8 &A \ $f +9 &Zz \ 7 +52 &\ v \ J +3 &R \ J +2 &U z\ J + &OS Z\ J + &R \ J + &W Y\ J +6 &V S\ J +9 &WR 4\ J +10 & W [\ J +9 &!U p\ J +9 &#Y \ J +10 &%_U \ J +9 &'!R \ J +9 &(W \ J +10 &*U \ J +9 &,gX \ J +10 &.)V \ J +9 &/S x\ J +9 &1W c\ K +10 &3oU P\ J +9 &51S <\ J +9 &6X \ J +10 &8W \ J +9 &:vV t\ K +10 &<9U \ J +9 &=S D\ J +9 &?Y t\ J +10 &A~[ ~\ K +9 &C>` e\ K +10 &Dv \ N +9 &F \ S +9 &Hd \ V +10 &J \ Y +9 &K \ Y +9 &M \ X +10 &Oe \ Y +9 &Q& \ Y +9 &R \ [\ +10 &T \ [ +9 &Ve \ [ +10 &X% p\ \\ +9 &Y a\ ] +9 &[ R\ J +10 &\\+ J\ < +9 &\\x <\ P +5 ( +2 "collection"'D& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.41 +2 "collection"'A& +3 "core" &\\n \ P + &\\n \ P +2 .tHand.open +2 "manipulator"&91 +56 "core" 1 + "manipulator"& % +4 "core" % F   a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +95 "core" ' + .tPSV.dial PSR +2 "processing"%X +43 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%'+ +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%|  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%0'ؾ +1615 "core" ' + .tPSV.dial PSR +2 "processing"%} +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%.' +2641 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%  +2 "collection"'w  +6 "core"  +68 + .tPSV.dial :mixloop +2 "processing"%, +100 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'h  +14 "core" + .tPTV.dial :PRVmixing +2 "processing"%=  +128 "core" +2 .tPS.seek 0ml +2 "processing"%#'ؾ +2624 "core" ' +2 .tPSV.dial :air + "processing"%e  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%M' +2635 "core" ' + .tPSV.dial :mixloop +2 "processing"%/ +42 "core" +2 .tPS.seek 0ml +2 "processing"%P'ؾ +2648 "core" ' + .tPSV.dial :air +2 "processing"%]  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%G' +2627 "core" ' + .tPSV.dial :mixloop +2 "processing"%` +44 "core" +2 .tPS.seek 0ml +2 "processing"%\\'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&8& +5 "core" &Ө  b 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&^(ӂ +41 "core" ( +2 "manipulator"&d& +3 "core" &y  8! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &y  U 8! +3 .tForearm.seek CC + "manipulator"&o'? +95 "core" ' +2 .tHand.close + "manipulator"&a/ +60 "core" / +2 .tCC.seek :open + "collection"'+( +451 "core" ( + "manipulator"&<& +4 "core" &Ӿ / +2 "manipulator"&% +4 "core" % 2  ` +2 .tForearm.seek :retract + "manipulator"&' +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Q(- +287 "core" ( + "manipulator"&Z& +4 "core" &-  % 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &-  7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&k'w +102 "core" ' +2 .tHand.open + "manipulator"&f1 +57 "core" 1 + "manipulator"&l% +5 "core" % }  5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tPSV.dial :mixloop +2 "processing"%J +5 "core" +2 .tPTV.dial :PRVmixing + "processing"%O  +5 "core" +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +50 "processing"%  + "collection"'R  +7 "core"  + +2 .tCTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'t& +5 "core" & \ + "manipulator"&% +4 "core" %   a  +2 "storage"(% +3 "core" % k h i\  +2 "storage"(K. +3 "core" .(@ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" & ] c \ +2 "manipulator"&~& +4 "core" &-  H 7 +2 "manipulator"&u% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +175 "core" ( + "manipulator"&B& +4 "core" &   ! +2 "storage"(_& +4 "core" & z i g\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&-'S +101 "core" ' +2 "storage"(L& +4 "core" &  0\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(y'r +296 "core" ' +2 "storage"(- +3 "core" -') +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ~ u B\  +2 "manipulator"&U& +4 "core" &  ! +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&;& +4 "core" & P ! +2 "storage"(& +4 "core" & |\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&q'Ͻ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +3 "storage"(i' +8 "core" & y ! + "manipulator"&% +4 "core" %  m } +2 .tForearm.seek :retract +2 "manipulator"&N' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &z&   ?V +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &z&   ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' +2 "manipulator"&T& +4 "core" &z& ?V + "manipulator"&s% +4 "core" %E  +2 "collection"'F& +3 "core" & {\ +3 "collection"'x& +4 "core" & u\ +3 .tCC.seek :closed + "collection"'%(\\ +4 "core" & ~\  +10 &3y y\ *y +9 &f{ \ = +9 &n \ K +10 &KW \ J +9 & U \ J +9 &R x\ J +10 &T Z\ K +9 &ST 8\ J +9 &U -\ K +10 &T \ J +9 & T  \ J +10 &"\\R \ J +9 &$U \ J +9 &%R \ J +10 &'T 3\ J +9 &)cV \ J +9 &+%U \ J +10 &,W \ J +9 &.U \ J +10 &0kW v\ J +9 &2-U k\ J +9 &3S \ J +10 &5Y \ K +9 &7tU \ J +9 &95W \ J +10 &:U \ K +9 &<U \ J +10 &>{T \ J +9 &@=T \ J +9 &AY \ K +10 &C^ r\ K +9 &E~c \ L +9 &G9u o\ N +10 &H i\ R +9 &J _\ V +10 &Lf Q\ W +9 &N' F\ W +9 &O C\ X +10 &Q B\ X +9 &Sh -\ Y +9 &U* &\ Y +10 &V \ Z +9 &X  \ [\ +10 &Zk \ [ +9 &\\z \ 4 +9 &\\* \ ^ +10 ( + &\\| \ U + "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&'1 +55 "core" 1 +2 "manipulator"&% +4 "core" % D $ ' 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +97 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'7  +133 "core" ~ +2 .tCSV.dial CTV + "collection"'  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%>' +2638 "core" ' +2 "collection"'% +4 "core" % \  +2 .tCS.seek 4.5ml + "collection"'"'c6 +1491 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%\  +91 "core"  +3 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%  +71 "core"  +2 .tPS.seek 0ml + "processing"%5'ؾ +2632 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"'? ` +29 "core" ^ +2 .tCSV.dial :air +2 "collection"'j @ +42 "core" > +2 .tCS.seek 10ml +2 "collection"'n' +1483 "core" ' +2 .tCSV.dial CTV + "collection"'  +42 "core"  +3 .tCS.seek 0ml +2 "collection"''i +2634 "core" ' +2 .tCBV.dial :waste1 +2 "collection"' @ +26 "core" @ +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +3 "collection"'(  +132 "core" +2 "collection"'Y& +3 "core" &\\z \ U +3 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&z% +4 "core" %   +2 "storage"(1% +3 "core" % $ $ f\  +2 "storage"($. +3 "core" .(  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"([(C +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &D\ \  V\ +2 "manipulator"&E& +4 "core" &ӣ  :- +2 "manipulator"&!% +4 "core" % R  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&:( +155 "core" ( + "manipulator"&b& +4 "core" &  +2 "storage"(c& +3 "core" &E D C\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"& ' +167 "core" ' +2 "storage"(&& +3 "core" &E F F\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +297 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" & l +2 "storage"(3& +4 "core" &E C D B\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&'8 +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(A'o +30 "core" ' +2 "manipulator"&9% +3 "core" %L   +2 "storage"( & +4 "core" &E   \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 320 counts + "manipulator"&D'x +13 "core" ' +2 "manipulator"&X& +3 "core" &  \ +3 "storage"(& +3 "core" &E   P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&I' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(|' +35 "core" ' + "manipulator"&& +4 "core" & +2 "manipulator"&}% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +159 "core" ( + "manipulator"&w& +4 "core" &ӗ N 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" &ӗ d 7 +4 .tForearm.seek CC +2 "manipulator"&h'? +95 "core" ' +2 .tHand.close + "manipulator"&=/ +55 "core" / +2 .tCC.seek :open +2 "collection"'.( +447 "core" ( + "storage"(e& +3 "core" &E ] _\ +3 "storage"(#& +4 "core" &E D T \ + "manipulator"&/& +4 "core" &Ӭ  e 4 +2 "manipulator"&M% +3 "core" % L  J +3 .tForearm.seek :retract + "manipulator"&]' +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +43 .tElbow.seek 1 +9 "manipulator"&P( +162 "core" ( +2 "manipulator"&`& +4 "core" &  !  +2 "storage"(G& +4 "core" &E r i Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&8'8 +93 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&g1 +63 "core" 1 +2 "manipulator"&a% +3 "core" % H    +2 "storage"(& +4 "core" &E d g\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 316 counts +2 "manipulator"&6't +13 "core" ' +2 "manipulator"&2& +3 "core" &   +3 "storage"(<& +4 "core" &E r v b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(o% +4 "core" % z s (\ +3 ."downElevator"SE.seek :down +4 "storage"(Z' +97 (^% +3 "core" %; \\ Z\ TY +2 "manipulator"&S% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tPSV.dial :air + "processing"%l  +72 "core" +3 .tPS.seek 2.5ml + "processing"%J' +304 "Can" 8\  +2334 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%O +42 "core" +2 .tdelay 1 second +102 .PSV.dial :air +2 "processing"%R  +55 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"% +42 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%  +43 "core"  +2 .tdelay 1 second +103 .PS.seek 0ml + "processing"%t'ؾ +2635 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +4 "core" &\ +2 "manipulator"&& +3 "core" &  +2 "manipulator"&K% +4 "core" %   +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&k(- +168 "core" ( +2 "manipulator"&& +3 "core" &-  E S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &-  C S +3 .tForearm.seek :garage + "manipulator"&~'w +91 "core" ' + .tHand.close +2 "manipulator"&u/ +56 "core" / +2 "manipulator"&B& +3 "core" &-  + S +2 "manipulator"&_% +4 "core" % τ    +2 .tForearm.seek :retract +2 "manipulator"&L' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&Q( +117 "core" ( + "manipulator"&& +4 "core" &   m +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&U& +4 "core" &  [ +2 "manipulator"&;% +4 "core" %   [ +2 "processing"%& +4 "core" &\ +2 "processing"%{& +5 "core" &)\ +2 .tPC.seek :closed +2 "processing"%W(^ +4 "core" &\  +9 &3s\ )w +9 &e{\ > +10 &zm"\ N +9 &>O\ M +9 &R\ M +10 &Q\ M +9 &R+\ M +9 &ER:\ M +10 &R<\ M +9 &Q>\ M +10 & Q2\ M +9 &"LR)\ N +9 &$R5\ M +12 &%Q;\ M +8 &'R;\ M +10 &)UR?\ M +9 &+R<\ N +8 &,T9\ M +10 &.R;\ M +9 &0]SH\ M +9 &2RQ\ M +10 &3RP\ M +9 &5RT\ M +9 &7eRR\ M +10 &9(TX\ M +9 &:TW\ M +10 &<SP\ M +9 &>mWX\ M +9 &@/WV\ M +10 &A]_\ N +9 &Cic\ O +10 &Ejtf\ Q +9 &G&b\ S +9 &Hf\ T +10 &Jh\ T +9 &Lic\ T +9 &N)m\ U +10 &Oi\ T +9 &Qn\ V +9 &Snh\ U +10 &U0o\ U +9 &Vo\ U +10 &Xi\ U +9 &Zuj\ U +9 &\\7u\ U +10 &]|sq\ : +47 &^*yq\ R +9 &^+r\ 4 ( + &^*}\ 4 + &^*y\ 4 + &^*\ 4 + &^*\ 4 +2 "processing"%{& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + "processing"%& +3 "core" &^*\ 4 +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&-% +3 "core" %   7 [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tPRV.dial :air +2 "processing"%p  +42 "core"  +2 .tPSV.dial :mixloop +2 "processing"%y +43 "core" +2 "processing"%q% +4 "core" %ؽ\ +2 .tPS.seek 0.3ml +2 "processing"%T' +381 "core" ' + .tPSV.dial PSR +2 "processing"%s +114 "core" +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml + "processing"%F'2 +507 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%m' +1920 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"%i +99 "core" + .tPTV.dial :mixing +2 "processing"%N @ +72 "core" A + .tPBV.dial :waste2 +2 "processing"%+  +92 "core"  +2 .tPS.seek 0ml +2 "processing"%''ؾ +2634 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&& +3 "core" & s +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&x( +2 "core" ( +2 "manipulator"&7& +3 "core" &   ^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&\\/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +456 "core" ( + "manipulator"&r& +3 "core" & +2 "manipulator"&\ % +4 "core" %  ( +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&>(- +127 "core" ( +2 "manipulator"&?& +3 "core" &-  U  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &- d  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&"'w +92 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&n% +4 "core" %   s G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%(& +4 "core" &z\ + "manipulator"&Y% +4 "core" %   D  +2 "storage"(z% +4 "core" % p z j\  +2 "storage"(1. +3 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"($(  +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & ] Z\ \ +2 "manipulator"&*& +4 "core" &-    +2 "manipulator"&E% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&!( +174 "core" ( +2 "manipulator"&b& +4 "core" &  S 9 +2 "storage"(c& +4 "core" & s q \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' +2 "storage"(&& +4 "core" & p o F\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'r +297 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" & V h\  +2 "manipulator"&3& +4 "core" & 8 +2 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( +2 "manipulator"&9& +3 "core" &  # 8 +2 "storage"( & +4 "core" & h h @\  +48 .tForearm.seek 2 + 300 counts +4 "manipulator"&X'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(}' +7 "core" & 8 +2 "manipulator"& % +3 "core" % ϱ +3 .tForearm.seek :retract +2 "manipulator"&:' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +2 "manipulator"&& +4 "core" & c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +95 "core" ' +2 "manipulator"&w& +4 "core" & J +2 "manipulator"&,% +4 "core" % ^ +2 "processing"%I& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%=(^ +4 "core" &\  +9 &4x\ *x +10 &ey\ > +9 &k\ N +9 &HO\ L +10 & O\ M +9 &R\ L +9 &Pu\ L +10 &OSq\ M +9 &Sz\ L +10 &Q{\ L +9 & Q}\ L +9 &"XP{\ L +10 &$Qo\ L +9 &%Sk\ M +9 &'Na\ M +10 &)_Sg\ M +9 &+!Sa\ M +10 &,Rh\ M +9 &.Of\ L +9 &0fTc\ M +10 &2*O`\ L +9 &3Pa\ L +9 &5O\\\ M +10 &7pO^\ L +9 &91Q\\\ M +10 &:RZ\ M +9 &<QO\ L +9 &>xR]\ L +10 &@8SY\ M +9 &AZL\ N +9 &ChG\ O +10 &EruR\ Q +9 &G/Q\ S +10 &HQ\ S +9 &JK\ S +9 &LrI\ T +10 &N3D\ T +9 &OK\ U +10 &Q<\ U +9 &SuC\ U +9 &U8>\ U +10 &VA\ U +9 &X>\ U +9 &Z~@\ U +10 &\\@I\ U +9 &]{tG\ 7 +9 &^.>\ P +10 &^D\ 0 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.70 + .Hand.open + "manipulator"&01 +57 "core" 1 +2 "manipulator"&%% +3 "core" %   * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%# x +2 %/9 +6 "core" 9 +102 "processing"%M9 +3 "core" 9 +102 "processing"%h9 +3 "core" 9  +102 "processing"%`9 +3 "core" 9  +102 "processing"%G9 +3 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%g9 +3 "core" 9 +102 "processing"%a9 +3 "core" 9 +103 "processing"%9 +3 "core" 9" +102 "processing"%29 +3 "core" 9& +102 "processing"%<9 +3 "core" 9+ +103 "processing"%o9 +2 "core" 9/ +102 "processing"%]9 +3 "core" 93 +102 "processing"%^9 +3 "core" 97 +102 "processing"%S9 +3 "core" 9; +102 "processing"%P9 +3 "core" 9@ +102 "processing"%89 +3 "core" 9D +102 "processing"%69 +3 "core" 9H +102 "processing"%|9 +4 "core" 9L +102 "processing"%l9 +3 "core" 9P +102 "processing"%9 +3 "core" 9U\ +102 "processing"%Z9 +3 "core" 9 Y\ +102 "processing"%59 +3 "core" 9] +103 "processing"%O9 +3 "core" 9a +102 "processing"%R9 +3 "core" 9 e +102 "processing"% 9 +3 "core" 9)j +102 "processing"%9 +3 "core" 91n +3 .tPH.hold 2:00:00,28C +3 "processing"%J pxp/ +2 .tdelay 1:30 +5 "core" n +8999 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%' +590 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml +2 "processing"%K' +1620 "core" ' +2 .tPTV.dial :puck + "processing"%  +70 "core"  +2 .tPSV.dial PTV +2 "processing"%V +84 "core" +2 .tPBV.dial :waste1 + "processing"%d  +130 "core"  + "processing"%u% +4 "core" %g\  +2 .tPS.seek 1.5ml +2 "processing"%B', +594 "core" ' +42 .tdelay 3 seconds +310 .PBV.dial between PSV and waste1 +3 "processing"%_ * +31 "core" + +2 .tPS.seek 0ml +2 "processing"%f'ؾ +1607 "core" ' +2 .tdelay 5:00 +25315 "Can" A\  +4687 #trecoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  + .tPBV.dial :waste1 +2 "processing"%  +33 "core"  + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%~ * +33 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%U +70 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%;' +2372 "core" ' + .tPSV.dial PTV +2 "processing"% +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%k +72 "core"  +2 .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%L +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%@  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2344 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +127 "core" +2 .tPSV.dial :mixloop +2 "processing"%- +43 "core" +2 .tPRV.dial :ab1 + "processing"%{ @ +71 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%p' +358 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'y  + "processing"%q  +44 "core" +3  + "processing"%% +4 "core" %\ +3 .tPS.seek 0.35ml + "processing"%t'k +458 "core" ' + .tdelay 2 seconds +203 .CBV.dial between PRV and PSV +2 "collection"'s  +27 "core" +2 .tPRV.dial :air +2 "processing"%T  +39 "core"  +3 .tPS.seek 0.9ml +2 "processing"%F'K +1166 "core" ' + .tPRV.dial :waste2 +2 "processing"%i @ +70 "core" @ +2 .tPS.seek 0.5ml +2 "processing"%N' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%+  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%m' +1609 "core" ' + .tPSV.dial :PML +2 "processing"%4 +44 "core" + .tPTV.dial :mixing +2 "processing"% @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%7  +34 "core" +2 "processing"%% +3 "core" %\  +3 .tPS.seek 1.85ml + "processing"%\\' +238 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%Q * +33 "core" , +3 .tPS.seek 0ml + "processing"%'ؾ +1984 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'W& +3 "core" & \ +2 "manipulator"&r& +4 "core" & +2 "manipulator"&\ % +4 "core" %   \ ]  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(- +114 "core" ( +2 "manipulator"&j& +3 "core" &-  . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  +3 .tForearm.seek :garage + "manipulator"&'w +92 "core" ' +2 .tHand.close + "manipulator"&x/ +53 "core" / +3 "manipulator"&n& +4 "core" &-  +2 "manipulator"&(% +4 "core" % p   >  +2 .tForearm.seek :retract + "manipulator"&Y' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&z(ӂ +280 "core" ( + "manipulator"&1& +4 "core" &Ӛ   8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӛ  f 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'? +99 "core" ' +3 "manipulator"&[& +4 "core" &Ӛ  8 + "manipulator"&% +5 "core" %=  N + "collection"'*& +5 "core" & \ +2 "collection"'E& +5 "core" & 9\ +51 & \ +3 & e\ + & t\ + & \ +2 & {\ + & F\ +2 .tCC.seek :closed +3 "collection"'b(\\ +3 "core" & F\ +5 & \ ; +10 &IKv \ 0 +9 &zt} f\ E +10 &$Z \ L +9 &S {\ K +9 &U {\ L +10 &lT v\ L +9 &-W w\ L +9 &S {\ K +10 &T t\ L +9 &uT \ K +10 &!6T r\ L +9 &"R s\ L +9 &$T k\ L +10 &&{Q h\ L +9 &(>S g\ L +9 &*V q\ L +10 &+P f\ L +9 &-R e\ K +10 &/FT f\ L +9 &1Q n\ L +9 &2S j\ L +10 &4S d\ L +9 &6NT r\ L +9 &8T s\ K +10 &9T w\ L +9 &;R {\ L +10 &=VS v\ L +9 &?T {\ L +9 &@S t\ L +10 &BY o\ L +9 &DVj z\ N +10 &F w\ R +9 &G v\ W +9 &I~ t\ Y +10 &K? y\ Y +9 &L v\ Z +9 &N s\ Y +10 &P w\ [\ +9 &RC z\ Z +9 &T t\ [\ +10 &U p\ \\ +9 &W r\ ] +10 &YA t\ ^ +9 &[ p\ ^ +9 &\\^J q\ 6 +10 &\\ m\ W +5 ( +2 "collection"'E& +3 "core" &\\} c\ V +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.39 +2 "collection"'c& +3 "core" &\\} f\ V +2 .tHand.open +2 "manipulator"&&1 +64 "core" 1 +2 "manipulator"&>% +3 "core" % =  $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tPSV.dial PSR +2 "processing"%C +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%H'+ +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%3  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%9'ؾ +1616 "core" ' +2 .tPSV.dial PSR + "processing"% +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2628 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%  + "collection"'  +32 "core"  +123 + .tPSV.dial :mixloop +2 "processing"%! +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +4 "core" +2 .tPTV.dial :PRVmixing + "processing"%)  +72 "core" +2 .tPS.seek 0ml +2 "processing"%X'ؾ +2646 "core" ' + .tPSV.dial :air +2 "processing"%  +54 "core"  +3 .tPS.seek 2.5ml + "processing"%D' +2635 "core" ' +2 .tPSV.dial :mixloop +2 "processing"% +42 "core" +2 .tPS.seek 0ml +2 "processing"%w'ؾ +2625 "core" ' +2 .tPSV.dial :air +2 "processing"%,  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%I' +2624 "core" ' +2 .tPSV.dial :mixloop + "processing"%} +44 "core" +2 .tPS.seek 0ml +2 "processing"%:'ؾ +2649 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +5 "core" &ө * ( Q 6 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&0(ӂ +16 "core" ( + "manipulator"&%& +3 "core" &Ӈ  0 ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &/& +2 "core" &Ӈ ` ) +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' +2 .tHand.close + "manipulator"&M/ +54 "core" / +2 .tCC.seek :open + "collection"'A( +450 "core" ( +2 "manipulator"&h& +3 "core" &Ӕ   ( +2 "manipulator"&`% +4 "core" %   4 +2 .tForearm.seek :retract +2 "manipulator"&G' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"& (- +282 "core" ( +2 "manipulator"&g& +3 "core" &- ] B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &- \ \ m B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +89 "core" ' +2 .tHand.open +2 "manipulator"&21 +56 "core" 1 + "manipulator"&<% +4 "core" % y   C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +42 "manipulator"&o' +100 "core" ' +2 ."da"delayUntil "14:43:42.69" +14311 "Can" = g) +10412 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%] @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%^  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%S * +32 "core" * +2 ."da"PSV.dial :air +2 "processing"%P  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%8' +2390 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%6 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%|  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%l +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +2352 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%5 +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%O' +584 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%R' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +82 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%'% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'- +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%V'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%d  +15 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%u  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%K * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%_ +69 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%B' +2387 "core" ' + ."da"PSV.dial PTV +2 "processing"%# +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%~  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +2348 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%f +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%k' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%L  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%@ +84 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%;  +33 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%-', +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%{ * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' +2 ."da"delay 2:00 +7896 "Can" A  +4107 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%y  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%q  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%p +71 "core"  +43 ."da"PS.reconfigure :fast +9 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%s' +2382 "core" ' + ."da"PSV.dial PTV +2 "processing"%T +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%t +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%i +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%F  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +2338 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%N  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%4  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%  +42 "core"  +2 ."da"PTV.dial :PRVmixing +2 "processing"%7  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%Q' +386 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%m  +44 "core"  + "processing"%\\% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%W' +330 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%r  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%\ ' +1560 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%j +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%x  +32 "core" +2 "processing"%n% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"%(' +238 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%v * +32 "core" + +3 ."da"PS.seek 0ml + "processing"%e'ؾ +1973 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +39633 "Can" ? ZB* +8370 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +5 "core" A + ."da"PBV.dial :waste1 +2 "processing"%1  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + ."da"PSV.dial :air +2 "processing"%?  +43 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%[' +2390 "core" ' +2 ."da"PSV.dial :mixloop + "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%*  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"%Y +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%.  +54 "core"  +2 ."da"PS.seek 0ml +2 "processing"%c'ؾ +2332 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%>' +590 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%E' +1604 "core" ' + ."da"PTV.dial :puck +2 "processing"%C  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%" +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%3% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%H'( +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +1629 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +15 "core"  +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%! * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +52 ."da"PS.seek 2.5ml +2 "processing"%)' +2388 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%X +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +3 "processing"%D'ؾ +2336 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%w' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%}' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%I  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%%  +34 "core" + "processing"%/% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%M') +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%z * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1618 "core" ' +2 ."da"delay 2:00 +9969 "Can" ? ؃ +2034 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%b  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%h  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%` * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +82 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%g' +2393 "core" ' + ."da"PSV.dial PTV +2 "processing"%a +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%0 +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%2 +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%<  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +2318 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%]' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%^' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%S  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%P +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%:  +32 "core" +2 "processing"%6% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%|'/ +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%l * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%8  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%5  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%Z * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%O +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2399 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%' +84 "core" +2 ."da"delay 5 seconds +553 .PSV.dial :air + "processing"%R  +74 "core"  +2 ."da"PS.seek 0ml +3 "processing"%'ؾ +2328 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core" +4 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +8 ."da"PS.seek 0.25ml +2 "processing"%d' +333 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%u' +332 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%K' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%_  +4 "core"  + ."da"PSV.dial PTV +2 "processing"%V +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%#  +34 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%'. +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%~ * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +1605 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%f  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%U  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%@' +2409 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%; +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%k +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%{  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%-'ؾ +2396 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%y +129 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%q' +2120 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +3 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%p +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" + "processing"%T% +3 "core" %R\  +3 ."da"PS.seek 1.5ml +2 "processing"%t'+ +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%i * +33 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%F  +5 "Can"\ 'n +108 "core"  +3 ."da"PS.seek 0ml +2 "processing"%s'ؾ +1612 "core" ' +2 "processing"%N9 +3 "core" 9z5i +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%4 +3 "core" 5i +2 "processing"%& +3 "core" &^\ 0 +3 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&7% +4 "core" %     +2 "storage"(% +3 "core" % m w )\  +2 "storage"(+. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(m(C +366 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (\\& +3 "core" &A /\ +2 "manipulator"&Q& +3 "core" &- \ x B +2 "manipulator"&r% +4 "core" %     +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&W( +175 "core" ( +2 "manipulator"&j& +3 "core" & ; ( +2 "storage"(& +4 "core" &A \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +47 "manipulator"&x' +100 "core" ' + "storage"(n& +4 "core" &A #\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(v'r +296 "core" ' +2 "storage"(\ - +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" & \ z ( +2 "storage"(& +4 "core" &A \ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&1'8 +25 "core" ' +2 ."da"Elbow.hold + "manipulator"&, +3 "core" , +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(?- +3 "core" -' +2 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(e' +30 "core" ' +2 "manipulator"&% +4 "core" %= #  B Y + "storage"(*& +4 "core" &A 4\ +2 ."da"Forearm.force -20 + "manipulator"&5 +4 ."da"Forearm.seek 1 + 305 counts + "manipulator"&Y'i +15 "core" ' + "manipulator"&.& +4 "core" &   ( +2 "storage"([& +3 "core" &A \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&&' +16 "core" ' +2 ."da"SE.seek 2.17 Pucks below Top Plate +2 "storage"(c'Y +37 "core" ' +2 "manipulator"&>& +4 "core" &  s ( + "manipulator"&C% +4 "core" % \  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +243 "core" ( +2 "manipulator"&3& +4 "core" & \  9 ' + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &E& +2 "core" &  ' +3 ."da"Forearm.seek PC +2 "manipulator"& ' +92 "core" ' +2 ."da"Hand.close +2 "manipulator"&H/ +59 "core" / +2 ."da"PC.seek :open +2 "processing"% ( +460 "core" ( + "storage"(& +4 "core" &A g O\ +2 "manipulator"&!& +3 "core" & ' +2 "manipulator"&% +4 "core" %   +2 ."da"Forearm.seek :retract +2 "manipulator"&9' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +246 "core" ( + "manipulator"&& +3 "core" &  = 0 +2 "storage"(X& +4 "core" &A \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +94 "core" ' + ."da"Hand.open +2 "manipulator"&)1 +62 "core" 1 +2 "storage"(,- +3 "core" -'Y +3 ."da"SE.seek 1.82 Pucks below Top Plate +2 "storage"(D'% +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 0.86 Pucks below Top Plate +2 "storage"(w' +47 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0815h50ml.tif +1951 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +356 #"da"SX HX9/16 (USB:17): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 19.766 seconds\ /var/log/esp/da23sep0815h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0815h50ml15s.tif +1564 #SX HX9/16 (USB:17): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0815h50ml15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0815h50ml20s.tif +2061 #SX HX9/16 (USB:17): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0815h50ml20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "19.766 sec auto-exposure",Subject: "da23sep0815h50ml images!" +4 "storage"(I- +7 "core" -' +8 "storage"(& +8 "core" &A \ +7 "manipulator"&%& +5 "core" &    0 +2 ."da"Elbow.seek 1 +3 "manipulator"&/( +3 "core" ( +3 "manipulator"&}& +67 "core" &  G 0 +2 "storage"(z& +4 "core" &A @\ +2 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&M' +4 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.57 Pucks below Top Plate + "storage"(b'J +51 "core" ' + "manipulator"&h& +5 "core" & 0 + "storage"(`& +5 "core" &A : - ?\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&'8 +24 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&, +3 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.76 Pucks below Top Plate +2 "storage"(a' +23 "core" ' +2 "manipulator"&0% +4 "core" %4 a + "storage"(2& +4 "core" &A A > Q\ +2 ."da"Forearm.force -20 +3 "manipulator"&5 +3 ."da"Forearm.seek 1 + 296 counts +2 "manipulator"&<'` +15 "core" ' +4 "manipulator"&g& +11 "core" & , 0 +4 "storage"(& +8 "core" &A X N \ +16 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&G' +16 "core" ' +2 "storage"(]% +4 "core" % t s X\ +4 ."downElevator"SE.seek :down +3 "storage"(S' +98 (P% +7 "core" %9 5 9 \ TZ +5 "manipulator"&:% +6 "core" % y +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&6' +92 "core" ' +24 ' +3 ."downElevator"SE.stop +4 "storage"(5 +6 (^& +6 "core" &A O Y s\ +8 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge +4 "processing"%l& +10 "core" &\ +3 "manipulator"&|& +9 "core" & 0 +2 "manipulator"&8% +10 "core" %   +4 ."psFlush"Elbow.seek FlushPuck::Garage +4 "manipulator"&5(- +169 "core" ( +7 "manipulator"&Z& +8 "core" &-  +4 ."psFlush"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +6 &O& +4 "core" &-  +6 ."psFlush"Forearm.seek :garage +4 "manipulator"&'w +99 "core" ' +3 ."psFlush"Hand.close +3 "manipulator"&/ +55 "core" / +3 "manipulator"&& +9 "core" &-  g  +2 "manipulator"&'% +9 "core" % ϊ +4 ."psFlush"Forearm.seek :retract +3 "manipulator"&R' +98 "core" ' +12 ."psFlush"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 ."psFlush"Elbow.seek PC +2 "manipulator"& ( +122 "core" ( +4 "manipulator"&& +10 "core" & <  +5 ."psFlush"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +6 && +5 "core" &  +6 ."psFlush"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 ."psFlush"Forearm.seek PC +2 "manipulator"&d' +113 "core" ' +3 "manipulator"&u& +8 "core" & &  +4 "manipulator"&_% +8 "core" % " +4 "processing"%V& +8 "core" &\ +4 "processing"%#& +12 "core" &\ +7 ."psFlush"PC.seek :closed +2 "processing"%(^ +9 "core" &H\ +2 &E\  +6 &2sK\ )w +8 &cyZ\ = +8 &{i[\ L +121 &>N\\\ L +9 &PQ\ L +6 &OO\ L +3 &MX\ L +5 &DPB\ M +2 &OC\ L +6 &RD\ L +2 & PC\ M +4 &"MPC\ L +2 &$N=\ L +10 &%RB\ L +2 &'P<\ M +2 &)UPC\ L + &+N7\ L +3 &,R6\ L +2 &.Q.\ M +2 &0\\Q=\ M +2 &2Q3\ L +4 &3N4\ L +2 &5R1\ L +7 &7eR3\ L +10 &9&Q-\ M +10 &:Q3\ M +8 &<Q+\ L +11 &>lO)\ M +10 &@.U%\ M +10 &AV!\ M +9 &C`&\ N +7 &Ekl(\ P +10 &G&~\ R +10 &H"\ S +8 &J\ S +11 &Lh"\ S +9 &N) \ T +8 &O$\ T +11 &Q'\ U +8 &Sl#\ U +10 &U0\ T +11 &V\ U +11 &X\ U +9 &Zs2\ U +7 &\\6\ U +8 &]zr!\ < +11 &^%\\i\ V +8 &^>x\ : +2 ( +4 "processing"%#& +7 "core" &^<~\ : +5 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 +4 "processing"%K& +6 "core" &^;\ : +4 ."psFlush"Hand.open +3 "manipulator"&~1 +57 "core" 1 +2 "manipulator"&% +9 "core" %  I " +4 ."psFlush"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."psFlush"Forearm.seek :retract +4 "manipulator"&f' +93 "core" ' +4 ."psFlush"PSR.select :air +3 .PSV.dial PSR +4 "processing"%U +43 "core"  +3 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +3 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%' +314 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +283 "core" ' +4 ."psFlush"delay 5 seconds +365 #"uploadLog"upsync +137 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%L' +2129 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%B @ +182 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%;  +128 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +100 "core" +2 ."psFlush"PS.seek :empty +3 "processing"%k'ؠ +2635 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +101 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%@' +589 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%y' +2129 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%-  +32 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%p +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%T +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%q'X\\ +1109 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +3 "processing"%i' +1602 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%F +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%t  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%N  +5 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%4'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%7' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2128 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%+ +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%$ U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%\\'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%Q @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%j  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +41 ."psFlush"PSV.dial PSR +9 "processing"% +54 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%n' +2654 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%o +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%\ U +13 "core" U +3 ."psFlush"PS.seek 0ml +2 "processing"%('ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +54 "core" A +2 ."psFlush"PS.seek 2.5ml +3 "processing"%?' +2631 "core" ' + ."psFlush"PSV.dial :waste1 +3 "processing"%  +71 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%*'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%. +43 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%['X\\ +1102 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%>' +1609 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%C +71 "core" + ."psFlush"PTV.dial :puck +2 "processing"%x  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%W  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%v'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%1 +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%Y' +587 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%e' +469 "Can" F z* +1658 "core" ' +2 ."psFlush"PSV.dial PTV +3 "processing"%& +76 "core" +5 ."psFlush"PBV.dial PSV +6 "processing"%3 U +55 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%E'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +3 ."psFlush"PS.seek 2.5ml +2 "processing"%H' +2636 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%"  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%='ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%!' +2624 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +13 "core" U +2 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +2639 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%X @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +3 "processing"%)  +69 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%,'ؾ +2638 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'9& +4 "core" & \ +2 "manipulator"&c& +3 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&D( +3 "core" ( +2 "manipulator"&I& +4 "core" &  ]  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  +3 .tForearm.seek PC +2 "manipulator"&%' +95 "core" ' +2 .tHand.close + "manipulator"&}/ +60 "core" / +2 .tPC.seek :open + "processing"%z( +460 "core" ( +2 "manipulator"&h& +3 "core" & e  +2 "manipulator"&`% +4 "core" %  s +2 .tForearm.seek :retract +47 "manipulator"&0' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&2(ӂ +349 "core" ( + "manipulator"&g& +4 "core" &y(  d @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y(  @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +102 "core" ' +2 "manipulator"&]& +3 "core" &y(    @[ +3 "manipulator"& % +4 "core" %G  = +2 "collection"'w& +3 "core" & \ +3 "collection"'P& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'M(\\ +5 "core" & y\ +7 &A t\ $f +9 &Yy |\ 8 +10 &t w\ L +9 &R {\ L +9 &T y\ L +10 &IT \ L +9 & T z\ L +10 &T {\ L +9 &W \ L +9 &OU {\ L +10 & S |\ L +9 &!T \ L +9 &#U }\ L +10 &%YT }\ L +9 &'T y\ L +10 &(T \ L +9 &*W \ L +9 &,`T \ L +10 &.#T \ L +9 &/T \ L +9 &1U \ K +10 &3hU \ L +9 &5*T \ L +10 &6U \ L +9 &8T \ L +9 &:pU \ L +10 &<2U \ L +9 &=T \ L +9 &?U \ L +10 &AwW \ L +9 &C7_ \ M +10 &Du \ P +9 &F \ T +9 &H[ \ Y +10 &J \ Y +9 &K \ Z +9 &M \ Z +10 &O_ \ Z +9 &Q \ Z +10 &R \ Z +9 &T \ \\ +9 &V^ \ ] +10 &X \ ^ +9 &Y \ ] +9 &[ \ K +10 &\\4 \ 1 +9 &\\w \ R +3 ( + "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.47 + "collection"':& +4 "core" &\\m \ R +2 .tHand.open + "manipulator"&/1 +56 "core" 1 +2 "manipulator"&b% +4 "core" % G #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +100 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'^& +4 "core" &\\m \ R +2 "collection"'<% +3 "core" %l \ +3 .tCSV.dial CSR + "collection"'l  +41 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +11 .tCS.seek 5ml + "collection"'|'s5 +1380 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 'a% +2 "core" %s6 \ +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'8' +684 "core" ' +2 .tCSV.dial :waste +2 "collection"'G +124 "core" +3 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'Z'i +1990 "core" ' +2 #tFlushing lower manifold's waste1 port +2 "collection"'O& +4 "core" &\\w \ R + "collection"'S% +4 "core" %l \ +2 .tCSV.dial :flush + "collection"'  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml +2 "collection"''s5 +1256 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +41 "core" B +2 "collection"''% +3 "core" %s7 \ +3 .tCS.seek 7ml + "collection"'6'" +544 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'  + '  +41 "core"  +93  + .tCBV.dial :waste1 +2 "collection"' @ +40 "core" ? +2 .tCS.seek 0ml +2 "collection"'u'i +1638 "core" ' +2 #tFlushing lower manifold's waste2 port +2 "collection"'5& +4 "core" &\\v ~\ R + "collection"'_% +4 "core" %k \ +2 .tCSV.dial :flush +2 "collection"'V  +69 "core" +3 .tCS.seek 5ml + "collection"'R's5 +1273 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +42 "core" B +2 "collection"'K% +3 "core" %s: {\ +3 .tCS.seek 7.001ml +2 "collection"'~'% +548 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'  +2 '#  +21 "core"  +24  + .tCBV.dial :waste2 +2 "collection"'U  +101 "core"  +3 .tCS.seek 0ml +2 "collection"'d'i +1645 "core" ' +2 #tDisinfecting external Intake with kill +2 "collection"'s& +3 "core" &\\v {\ R +2 "collection"'% +52 "core" %i y\ + .tCSV.dial CSR +2 "collection"'B  +41 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml +2 "collection"';' +1966 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'' +554 "core" ' +2 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'L +2 '{  +97 "core" +34  + .tCTV.dial :intake +2 "collection"'k  +72 "core" + .tIntake.select :open +2 "sampler") +10 .tCS.seek 2ml +2 "collection"'@'T +1877 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'-  +72 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"''i +599 "core" ' + .tCSV.dial CSR +2 "collection"'p  +109 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'y's5 +1358 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'T' +1367 "core" ' + .tCSV.dial CBV +2 "collection"' +95 "core" +2 .tCS.seek 0ml +2 "collection"'q'i +2644 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&F& +3 "core" &Ӫ   ` :* +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&t(ӂ +20 "core" ( +2 "manipulator"&N& +3 "core" &  h & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" & S & +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' + .tHand.close +2 "manipulator"&4/ +61 "core" / +2 .tCC.seek :open +2 "collection"'7( +448 "core" ( +2 "manipulator"&+& +3 "core" &Ӟ\  g !w +2 "manipulator"&$% +4 "core" %  M +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&Q(- +278 "core" ( +2 "manipulator"&\\& +4 "core" &- J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &- n J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&r'w +100 "core" ' +2 .tHand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&% +4 "core" % {  q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +94 "core" ' +2 "processing"%\ & +3 "core" &B\ +6693 #t-> access 1 +3 "storage"(n% +3 "core" % w o Q\  +2 "manipulator"&% +4 "core" %   + "manipulator"&(& +4 "core" &- J +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +1300 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &<+ < K \  +2354 #t-> access 2 +2 "storage"(.% +3 "core" % x m O\  +2 "manipulator"&*% +3 "core" %  +3 "manipulator"&[& +3 "core" &- J +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(C(K +184 "Can"\ W  +176 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +3 "core" &K X X \ +259 #t-> shortDAflush + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'W& +3 "core" & Z\ +2 "manipulator"&>& +3 "core" &- ; J +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&1(- +2 "core" ( +2 "manipulator"&v& +49 "core" &- A J +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &- 1 J +3 .tForearm.seek :garage +2 "manipulator"&&'w +91 "core" ' + .tHand.close +2 "manipulator"&3/ +53 "core" / +2 "manipulator"&e& +4 "core" &-  C J + "manipulator"&% +3 "core" % y z  +3 .tForearm.seek :retract +2 "manipulator"&E' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +280 "core" ( +2 "manipulator"&H& +3 "core" &~%  >O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &~%   p >O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&='? +97 "core" ' +2 "manipulator"&& +3 "core" &%   >N +2 "manipulator"& % +5 "core" %>   +2 "collection"'!& +4 "core" & Q\ +2 "collection"'X& +5 "core" & R\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & Q\  +8 &5x X\ *z +10 &\ g{ U\ > +9 &l R\ L +9 &YQ S\ K +10 &U S\ K +9 &R T\ K +10 &T \\\ K +9 &aT Z\ K +9 &$R ]\ K +10 &T Y\ K +9 & Q Y\ K +9 &"iT Z\ K +10 &$*T ^\ L +9 &%T Y\ K +10 &'U \\\ K +9 &)pT Z\ L +9 &+4T [\ K +10 &,U b\ L +9 &.U ^\ K +9 &0yU Z\ K +10 &2<R [\ K +9 &3V ^\ L +10 &5W ^\ K +9 &7R Z\ K +9 &9CW b\ K +10 &;U i\ L +9 &<U `\ K +9 &>Y [\ K +10 &@KV \\\ K +9 &B X l\ K +10 &Cb j\ M +9 &Ez g\ O +9 &G4 f\ V +10 &H c\ W +9 &J g\ X +10 &Ls Z\ X +9 &N3 \\\ Y +9 &O [\ [ +10 &Q Z\ Z +9 &Sr ]\ [ +9 &U4 ^\ [ +10 &V [\ ] +9 &X Q\ ^ +9 &Zs ^\ ^ +10 &\\x `\ 5 +9 &\\' _\ U +10 ( + &\\j b\ Q +2 "collection"'X& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.45 + "collection"')& +3 "core" &\\i `\ Q +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&9% +3 "core" % >   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +99 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%I  +54 "core" +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 2.5ml +2 "processing"%' +2635 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%}  +2 "collection"'  +72 "core" +27  + .tPSV.dial :PTV,via: :air +2 "processing"%f +187 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +69 "core" A +2 .tPS.seek 0ml +2 "processing"%h'ؾ +2635 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%`  +188 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%%' +2635 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%D  + "collection"'g  +15 "core"  +3  + .tPSV.dial :PTV,via: :air +2 "processing"% +189 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%] @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2655 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%w  +187 "core"  + #tPulling 2.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 2.5ml + "processing"%0' +2630 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%A  + "collection"':  +5 "core"  +3  +2 .tPSV.dial :PTV,via: :air +2 "processing"%/ +189 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%b @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%^'ؾ +2649 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%<  +187 "core" + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%P'+ +1642 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +42 "processing"%l  +51 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1617 "core" ' +2 .tPSV.dial PSR +2 "processing"% +42 "core" + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"%a' +2633 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%|  +2 "collection"'G  +7 "core"  +  +2 .tPSV.dial :PTV,via: :air +2 "processing"%8 +189 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%O @ +3 "core" A +3 .tPS.seek 0ml + "processing"%S'ؾ +2635 "core" ' +2 .tPSV.dial :air +2 "processing"%  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%Z' +2629 "core" ' + .tPSV.dial :PTV +2 "processing"% +73 "core" ~ +3 .tPS.seek 0ml + "processing"%''ؾ +2629 "core" ' +2 .tPSV.dial :air + "processing"%  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :PTV +2 "processing"% +73 "core" ~ +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%6  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%5' +2637 "core" ' + .tPSV.dial :PTV +2 "processing"%_ +72 "core"  +2 .tPS.seek 0ml +2 "processing"%V'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&u& +4 "core" &ө   [ 9$ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"& (ӂ +34 "core" ( +2 "manipulator"&K& +3 "core" &v   b 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &v i 5 +3 .tForearm.seek CC + "manipulator"&#'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'U( +451 "core" ( +2 "manipulator"&~& +3 "core" &Ө \  / +2 "manipulator"&s% +5 "core" % 9 3 +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&B(- +281 "core" ( +2 "manipulator"&d& +3 "core" &-  P e +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &- e +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&L'w +101 "core" ' +3 .tHand.open + "manipulator"&{1 +53 "core" 1 + "manipulator"&k% +4 "core" % w   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +5384 #t-> access 2 +2 "storage"(-% +3 "core" % s l U\  +2 "manipulator"&@% +3 "core" %  t  +3 "manipulator"&p& +3 "core" &- e +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +21 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" &K z p\ +287 #t-> exit +7 #mEXIT @1694188253.77UTC @1694188261.33UTC = =tMAIN =mMAIN_scheduler @UTC1694188263.13 #"core_reset"Sent BREAK +2 #t@7737 receive with ifg=0x10, ie=0xFD + #@8372 receive with ifg=0x10, ie=0xFD #@9028 receive with ifg=0x10, ie=0xFD + #@9662 receive with ifg=0x10, ie=0xFD + #@10296 receive with ifg=0x10, ie=0xFD #@10930 receive with ifg=0x10, ie=0xFD + #@11564 receive with ifg=0x10, ie=0xFD + #@11890 receive with ifg=0x80, ie=0xFD #@4644 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +296 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +390 "Can" 3 ^$b +  3 ^$b + #tPolling Can every 10:00 +2 #Cleanly exited at 15:50:53UTC08-Sep-23 +835 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %j Y\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ظ]\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڬ\ \  d\ +2 .tSS.configure :default +3 "sampler")#.0X $da[:extractVol]=0.2 +619 #-> startTube 2 +17255 #-> shortDA +2 "collection"'2% +2 "processing"%3% +5 "core" %j a\ +2 %ظm\ +3 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +153 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%4 +44 "core" + .tPTV.dial :PRVmixing +2 "processing"%5  +72 "core" + .tPRV.dial :sipper +2 "processing"%6  +125 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%7'e +2302 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%8  + "collection"'9  +6 "core"  +120  +3 .tPS.seek 0.5ml + "processing"%:' +1274 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%; @ +98 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml +2 "processing"%<'ؾ +592 "core" ' +2 .tPSV.dial PSR + "processing"%= +102 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%>'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%?' +1617 "core" ' + .tPSV.dial :mixloop + "processing"%@ +102 "core" +2 .tPS.seek 0ml +2 "processing"%A'ؾ +2632 "core" ' +2 .tPSV.dial PSR + "processing"%B +102 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%C'X\\ +1107 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%D' +1616 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%E +114 "core" + .tPRV.dial :sipper +2 "processing"%F  +42 "core" +2 .tPS.seek 0ml +2 "processing"%G'ؾ +2633 "core" ' +2 .tPSV.dial PSR +2 "processing"%H +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%I' +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"%J +102 "core" +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2635 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%L& +3 "core" &J\ +2 .tHand.open +2 "manipulator"&M1 +18 "core" 1 +2 "manipulator"&N% +4 "core" %   + "storage"(O% +4 "core" % f g B\  +2 "storage"(P. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(Q(  +1300 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +2 "core" &  [ ] <\ +2 "manipulator"&S& +3 "core" &- e +2 "manipulator"&T% +4 "core" %  s  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&U( +172 "core" ( + "manipulator"&V& +4 "core" & & 5 +2 "storage"(W& +4 "core" &  } ~ {\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&X'S +114 "core" ' +2 "storage"(Y& +3 "core" &  ~ } \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +297 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (\\& +2 "core" & \\ \\\ +3 "manipulator"&]& +4 "core" & 5 + .tElbow.seek 2 +36 "manipulator"&^( +11 "core" ( +2 "manipulator"&_& +4 "core" &  ' 5 + "storage"(`& +4 "core" & Y c\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&b/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&c& + "storage"(d' +7 "core" & U 5 +2 "manipulator"&e% +4 "core" % ϼ +2 .tForearm.seek :retract +2 "manipulator"&f' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&g( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&h& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&j' +91 "core" ' +2 "manipulator"&k& +3 "core" &  g  +2 "manipulator"&l% +4 "core" %  $ p +2 "processing"%m& +4 "core" &c\ +3 "processing"%n& +4 "core" &I\ +3 .tPC.seek :closed + "processing"%o(^ +5 "core" &J\ +7 &;H\ $e +9 &YwI\ 7 +10 &tJ\ L +9 &NA\ M +10 &sRD\ M +9 &5T9\ M +9 &Q;\ M +10 &RB\ M +9 &{UD\ M +9 &=QB\ M +10 &P=\ M +9 &!Q=\ M +10 &#Q9\ M +9 &%EQ;\ M +9 &'Q7\ M +10 &(R8\ M +9 &*Q6\ M +10 &,MQ.\ M +9 &.R6\ L +9 &/T+\ M +10 &1U0\ M +9 &3UU/\ M +9 &5Q/\ M +10 &6R0\ M +9 &8Q,\ M +9 &:^R+\ L +10 &<S+\ M +9 &=T.\ L +10 &?W.\ M +9 &AbW-\ N +9 &C e&\ O +10 &Dm,\ P +9 &F~$\ R +9 &HX$\ T +10 &J*\ S +9 &K\ T +10 &M\ T +9 &O_\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &Vg\ T +10 &X(\ T +9 &Y\ T +10 &[\ T +9 &]l\ B +9 &^~8h\ %m +10 &^1\ / +5 ( +2 "processing"%n& +3 "core" &^\ / +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&p1 +58 "core" 1 +2 "manipulator"&q% +3 "core" %  E p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +92 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%s h +2 %t9 +6 "core" 9 +102 "processing"%u9 +3 "core" 9 +102 "processing"%v9 +3 "core" 9  +103 "processing"%w9 +3 "core" 9  +102 "processing"%x9 +3 "core" 9 +102 "processing"%y9 +3 "core" 9 +102 "processing"%z9 +3 "core" 9 +102 "processing"%{9 +3 "core" 9 +103 "processing"%|9 +3 "core" 9" +102 "processing"%}9 +3 "core" 9& +102 "processing"%~9 +3 "core" 9+ +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +3 "core" 93 +103 "processing"%9 +2 "core" 97 +103 "processing"%9 +2 "core" 9; +103 "processing"%9 +2 "core" 9@ +103 "processing"%9 +3 "core" 9D +102 "processing"%9 +4 "core" 9H +102 "processing"% 9 +3 "core" 9L +102 "processing"% 9 +3 "core" 9P +102 "processing"% 9 +3 "core" 9U +102 "processing"%9 +3 "core" 9Y\ +102 "processing"%9 +3 "core" 9] +102 "processing"%9 +3 "core" 9\ a +102 "processing"%9 +3 "core" 9f +102 "processing"%9 +3 "core" 9j +103 "processing"%9 +2 "core" 9n +102 "processing"%9 +3 "core" 9&r +4 .tPH.hold 2:00:00,28C +2 "processing"% php +3 .tdelay 1:30 +5 "core" s +9000 .tPSR.select :air +3 .PSV.dial PSR + "processing"% +102 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +11 .tPS.seek 0.5ml + "processing"%' +586 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%' +383 "Can" A C +1230 "core" ' +2 .tPTV.dial :puck + "processing"%  +127 "core"  + .tPSV.dial PTV +2 "processing"% +72 "core" + .tPBV.dial :waste1 +2 "processing"%  +52 "core" + "processing"%% +4 "core" %k\  +2 .tPS.seek 1.5ml + "processing"% '/ +601 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%! * +31 "core" * +3 .tPS.seek 0ml +2 "processing"%"'ؾ +1605 "core" ' +2 .tdelay 5:00 +30042 #recoverPSRreagent08 +5 .PTV.dial :puck + "processing"%#  +5 "core"  +2 .tPBV.dial :waste1 +2 "processing"%$  +32 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%% * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%& +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%'' +2367 "core" ' +2 .tPSV.dial PTV +2 "processing"%( +71 "core" +2 .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%) +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%* +73 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%+  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%,'ؾ +2332 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%-  +128 "core" + .tPSV.dial :mixloop +2 "processing"%. +42 "core" +2 .tPRV.dial :ab1 + "processing"%/ @ +97 "core" @ +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%0' +355 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +3 "collection"'1  +2 "processing"%2  +4 "core"  +40 + "processing"%3% +4 "core" %\ +2 .tPS.seek 0.35ml +2 "processing"%4'd +453 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'5  +29 "core" +2 .tPRV.dial :air + "processing"%6  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'K +1175 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%9 @ +70 "core" > +2 .tPS.seek 0.5ml +2 "processing"%8' +866 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%7  +43 "core"  +3 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%;' +1615 "core" ' + .tPSV.dial :PML +2 "processing"%: +44 "core" + .tPTV.dial :mixing +2 "processing"%= @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%<  +33 "core" + "processing"%>% +4 "core" %f\  +2 .tPS.seek 1.85ml +2 "processing"%@' +248 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%? * +32 "core" + +3 .tPS.seek 0ml + "processing"%B'ؾ +1970 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'A& +3 "core" & _\ +2 "manipulator"&C& +4 "core" &  `  +2 "manipulator"&E% +3 "core" %  \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&F(- +130 "core" ( +2 "manipulator"&D& +3 "core" &- \ } | +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &- W | +3 .tForearm.seek :garage + "manipulator"&G'w +92 "core" ' +2 .tHand.close + "manipulator"&J/ +56 "core" / +3 "manipulator"&I& +3 "core" &-   { +2 "manipulator"&L% +4 "core" % τ  1 4 +2 .tForearm.seek :retract +2 "manipulator"&M' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&N(ӂ +280 "core" ( + "manipulator"&O& +5 "core" &ӕ# + # ` <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &ӕ# (  4 <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +101 "core" ' +2 "manipulator"&R& +4 "core" &ӕ# . 0 l <= +2 "manipulator"&S% +3 "core" %; + ) W +3 "collection"'T& +4 "core" & `\ +2 "collection"'V& +5 "core" & e\ +2 .tCC.seek :closed +2 "collection"'W(\\ +3 "core" & [\  +10 &5~ N\ +{ +9 &e} P\ > +9 &k V\ M +10 &PO M\ L +9 &R H\ L +10 &T G\ L +9 &S K\ L +9 &XS D\ L +10 &U K\ L +9 &S M\ L +9 & T L\ L +10 &"aT K\ L +9 &$"R M\ L +10 &%T Q\ L +9 &'T L\ L +9 &)iS K\ L +10 &++S M\ L +9 &,W N\ L +9 &.S L\ L +10 &0oT Q\ L +9 &21T J\ L +10 &3T P\ L +9 &5V M\ L +9 &7wU O\ L +10 &99U L\ L +9 &:U K\ L +9 &<T K\ L +10 &>U I\ L +9 &@AT H\ L +10 &BX I\ L +9 &Cb F\ N +9 &E{y N\ P +10 &G/ N\ U +9 &H M\ X +9 &J E\ X +10 &Lh G\ Z +9 &N* I\ Z +10 &O J\ [ +9 &Q B\ [ +9 &Sj M\ \\ +10 &U, N\ \\ +9 &V F\ \\ +9 &X @\ ] +10 &Zk >\ ^ +9 &\\ y I\ 9 +10 &\\% E\ )x +9 &\\ H\ !a +2 ( +2 "collection"'V& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.48 + "collection"'& +3 "core" &\\ B\ !a +2 .tHand.open +2 "manipulator"&Y1 +62 "core" 1 +2 "manipulator"&% +4 "core" % ; 2 8 +2 .tForearm.reconfigure :loose +39 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' +2 .tPSV.dial PSR +2 "processing"%\\ +113 "core" + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%]'+ +1633 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%_  +45 "core"  +3 .tPS.seek 0ml + "processing"%`'ؾ +1607 "core" ' +2 .tPSV.dial PSR +2 "processing"%b +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%c' +2608 "Can"\ b BPC +30 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%e  +2 "collection"'U  +30 "core"  +126  + .tPSV.dial :mixloop +2 "processing"%X +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'Z +3 "core"  +2 "collection"'a +3 "core"  +2 "collection"'h  +4 "core" + .tPTV.dial :PRVmixing +2 "processing"%i  +73 "core" +2 .tPS.seek 0ml +2 "processing"%^'ؾ +2630 "core" ' + .tPSV.dial :air +2 "processing"%k  +42 "core"  +3 .tPS.seek 2.5ml + "processing"%l' +2642 "core" ' + .tPSV.dial :mixloop +2 "processing"%m +43 "core" +3 .tPS.seek 0ml + "processing"%d'ؾ +2628 "core" ' + .tPSV.dial :air +2 "processing"%f  +44 "core"  +2 .tPS.seek 2.5ml + "processing"% ' +2646 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%p +43 "core" +3 .tPS.seek 0ml + "processing"%q'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&t& +3 "core" &Ө  &  :* +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&n(ӂ +24 "core" ( +2 "manipulator"&u& +3 "core" &ӄ\   i +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &ӄ\  \  i +3 .tForearm.seek CC + "manipulator"&v'? +100 "core" ' + .tHand.close +2 "manipulator"&w/ +55 "core" / +2 .tCC.seek :open + "collection"'x( +448 "core" ( +2 "manipulator"&y& +3 "core" &ӄ  1 i +2 "manipulator"&z% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&{' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&|(- +281 "core" ( +2 "manipulator"&}& +3 "core" &-   9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &-  o 9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +91 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&% +4 "core" %    Y E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."da"delayUntil "16:17:48.17" +24727 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2382 "core" ' +2 ."da"PSV.dial :mixloop + "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"% +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2330 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +606 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%K +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%% +3 "core" %k\  +3 ."da"PS.seek 1.5ml + "processing"%'- +608 "core" ' +9 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"% * +31 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' + ."da"delay 2:00 +5783 "Can" > C +6221 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%!  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%s +70 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%#' +2389 "core" ' + ."da"PSV.dial PTV +2 "processing"%$ +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%& +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%"  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%('ؾ +2329 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%) +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%*' +591 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%+' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%'  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%- +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%.  +33 "core" + "processing"%/% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%,'- +584 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%1 * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%2'ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%3  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%0  +32 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"%5 * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%6 +71 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%4' +2361 "core" ' + ."da"PSV.dial PTV +2 "processing"%9 +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%7 +111 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%8  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +2329 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%=  +40 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%<  +125 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%>  +43 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%? +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%;' +387 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%@  +43 "core"  +2 "processing"%A% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%C' +329 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%E  +43 "core"  +3 ."da"PS.seek 2ml + "processing"%D' +1570 "core" ' + ."da"PSV.dial :PML +2 "processing"%H +44 "core" + ."da"PTV.dial :mixing +2 "processing"%g @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%J  +33 "core"  + "processing"%I% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"%L' +236 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%r * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +10311 "Can" = d|C +37692 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%O @ +3 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%P  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%F * +33 "core" , +2 ."da"PSV.dial :air +2 "processing"%R  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%S' +2392 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%T +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%M  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%\ +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +40 "processing"%Y'ؾ +2326 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%V' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%\\' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%B +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%_  +34 "core" + "processing"%]% +4 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%b'. +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%` * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +1607 "core" ' +2 ."da"delay 2:00 +7994 "Can" > "C +4009 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%e  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%X  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Z * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%a +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%h' +2381 "core" ' + ."da"PSV.dial PTV +2 "processing"%i +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%c +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%k +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%^  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%m'ؾ +2313 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%f' +589 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%d' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%p  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%t  +32 "core" +2 "processing"%u% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%j'' +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%w * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%N'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%[  +5 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%W  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%y * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%z +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%v' +2395 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%} +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%~ +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%n +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2330 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV + "processing"% +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%q% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"% '- +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +1420 "Can" < %4C +1583 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +42 ."da"PSR.select :air +10 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2387 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%K +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +85 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +73 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2344 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  +6 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +8 "processing"% +17 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +2 "processing"%' +336 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +358 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%!' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%s +84 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%$% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%%'1 +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%& * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%"'ؾ +1612 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%#  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%)  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%( * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%* +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'' +2414 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%- +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%. +73 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%/ +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%+  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +2366 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +128 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%3' +2123 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 "processing"%0  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"%5 +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%6  +34 "core" + "processing"%2% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%9'- +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%7  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +1632 "core" ' + "processing"%49 +3 "core" 9g5a +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%= +3 %<& +2 "core" 5b +3 &^\ / +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&>% +3 "core" %   +2 "storage"(?% +3 "core" % \  +2 "storage"(:. +4 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(@(C +355 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (A& +4 "core" &F \ + "manipulator"&;& +4 "core" &- a 9 +2 "manipulator"&E% +3 "core" %   +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&C( +175 "core" ( + "manipulator"&H& +5 "core" &    6 + "storage"(g& +4 "core" &G\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&J' +93 "core" ' +2 "storage"(I& +4 "core" &G  \ +43 ."da"SE.reconfigure :pick +10 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak +2 "storage"(r'r +275 "core" ' + "storage"(D- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(L'1 +45 "core" ' +3 "manipulator"&O& +3 "core" & p 6 +2 "manipulator"&P% +4 "core" % g +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&F' +94 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&R( +243 "core" ( + "manipulator"&G& +5 "core" &   2 . + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &  # . +3 ."da"Forearm.seek PC +2 "manipulator"&M' +102 "core" ' + ."da"Hand.close +2 "manipulator"&\ / +56 "core" / +2 ."da"PC.seek :open +2 "processing"%( +460 "core" ( + "storage"(S& +4 "core" &G !\ +2 "manipulator"&& +3 "core" & - +2 "manipulator"&Y% +4 "core" %  > +2 ."da"Forearm.seek :retract +2 "manipulator"&V' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&( +245 "core" ( +2 "manipulator"&B& +3 "core" &   O +2 "storage"(_& +5 "core" &G \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&]' +109 "core" ' +2 ."da"Hand.open + "manipulator"&\\1 +61 "core" 1 +2 "storage"(`- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(b' +24 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(e' +51 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0816h.tif +5 "processing"%X& +10 "core" &l\  +4 "manipulator"&Z& +6 "core" &   l N +2 "manipulator"&a% +6 "core" % \  ^ n +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&U' +93 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&i(- +178 "core" ( +2 "manipulator"&c& +3 "core" &-   . / +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &k& +3 "core" &-  w / +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&^'w +96 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&h/ +57 "core" / +3 "manipulator"&l& +3 "core" &-   . +3 "manipulator"&m% +3 "core" % ψ ? +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&f' +97 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&p( +115 "core" ( +2 "manipulator"& & +3 "core" &  2 +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" & n 2 +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&u' +93 "core" ' +2 "manipulator"&d& +3 "core" &  C 2 +2 "manipulator"&w% +5 "core" %  P d +2 "processing"%j& +4 "core" &\ { +2 "processing"%[& +5 "core" &\ { +2 ."psFlush"PC.seek :closed +2 "processing"%W(^ +5 "core" &\ { +51 &9\ w$d +9 &Vp\ s7 + &n\ rL +2 &K\ uO + &]G\ uN + &H\ uN + &K\ uO +6 &J\ M +10 &hK\ M +9 &(O\ N +10 &J\ N +9 &!I\ N +9 &#pO\ M +10 &%1I\ N +9 &&J\ N +9 &(I\ N +10 &*wJ\ N +9 &,8H\ {N +9 &-I\ yN +10 &/L\ xO +9 &1|K\ wO +10 &3>J\ wO +9 &5G\ wO +9 &6G\ wN +10 &8I\ vO +9 &:GJ\ vN +9 &< I\ vN +10 &=H\ vO +9 &?L\ vO +10 &AMI\ uO +9 &C V)\ tP +9 &DZD\ tQ +10 &FnJ\ rT +9 &HBQ\ xU +10 &JW\ U +9 &KW\ U +9 &MW\ U +10 &OIK\ V +9 &Q\ F\ V +9 &R;\ U +10 &T<\ V +9 &VO=\ V +9 &XF\ W +10 &YC\ V +9 &[C\ uW +10 &]S>\ rH +9 &^yAp8\ u&p +9 &^.+\ x2 +6 ( + "processing"%[& +4 "core" &^#,\ w2 +2 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 +2 "processing"%y& +4 "core" &^#9\ w2 +2 ."psFlush"Hand.open + "manipulator"&z1 +64 "core" 1 +2 "manipulator"&N% +3 "core" %   F d +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%~ +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%n' +494 #"da"SX HX9/16 (USB:18): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 17.521 seconds\ /var/log/esp/da23sep0816h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0816h15s.tif +98 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +947 #"da"SX HX9/16 (USB:18): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0816h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0816h20s.tif +1174 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%v @ +187 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%{  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +114 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +337 #"da"SX HX9/16 (USB:18): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0816h20s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "17.521 sec auto-exposure",Subject: "da23sep0816h images!" +7 "storage"(- +9 "core" -' +9 "storage"(& +14 "core" &G  \ + "manipulator"& & +5 "core" & ( / 2 + "manipulator"&q% +5 "core" %  ) #  +4 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +245 "core" ( + "manipulator"&& +5 "core" & & +  6 + "storage"( & +4 "core" &G % $ %\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +94 "core" ' +6 ."da"SE.reconfigure :gently +7 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +53 "core" ' +4 "manipulator"&& +6 "core" &  9 6 +4 "storage"(& +8 "core" &G : 9\ +4 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +2 "manipulator"&'8 +28 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&, +7 "core" , +2 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +3 "storage"(K' +29 "core" ' +4 "manipulator"&% +13 "core" %F  ! \\ w +4 "storage"(& +8 "core" &G ' $ \ +3 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 314 counts +4 "manipulator"&'r +16 "core" ' +2 "manipulator"&& +123 "core" &  e 5 +5 "storage"(& +11 "core" &G X X [\ +5 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&' +26 "core" ' +4 "storage"(% +6 "core" % X X P\  +6 ."downElevator"SE.seek :down +8 "storage"( ' +96 (s% +6 "core" %C   -\ U[ +4 "manipulator"&% +7 "core" %   +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&$' +96 "core" ' +41 ' +3 ."downElevator"SE.stop +2 "storage"(5 +6 (!& +6 "core" &G > A\ +1089 ' +3 ."psFlush"PSR.select :air +3 .PSV.dial PSR +4 "processing"%& +101 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +8 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +4 "processing"%%' +486 #"uploadLog"upsync +103 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%#' +2126 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%)  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%( @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%* +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%"'ؠ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%- +100 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%.'X\\ +1096 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%/' +1612 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%+ +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%'  +68 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%,  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%1'ؾ +2651 "core" ' +3 ."psFlush"PSV.dial PSR +4 "processing"%0 +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%5' +589 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%6' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%2 +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%3 U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%7 @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%9' +570 "Can" C *x>C +2071 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%4  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%='ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%< +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%>' +2637 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%? +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%: U +4 "core" V +3 ."psFlush"PS.seek 0ml + "processing"%Q'ؾ +2643 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%A @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%;' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%E  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%H'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%g +41 "core" +2 ."psFlush"PSR.select :flush +43 "processing"%@ +13 ."psFlush"PS.seek 1ml +3 "processing"%I'X\\ +1103 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%|' +1631 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%D  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%O'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%P +72 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%r' +590 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%J' +2118 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%G +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%T U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%C'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%\ @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%F' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%o  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +55 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%Y' +2630 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%M +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%B U +15 "core" T +3 ."psFlush"PS.seek 0ml + "processing"%_'ؾ +2637 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%R @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%`  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%X'ؾ +2635 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&Z& +4 "core" & 5 +2 "manipulator"&V% +4 "core" %  f \ +2 ."psFlush"Elbow.seek PC +2 "manipulator"&a( +243 "core" ( +2 "manipulator"&L& +3 "core" & 2  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +2 "core" &  Z  +3 ."psFlush"Forearm.seek PC +2 "manipulator"&c' +91 "core" ' +2 ."psFlush"Hand.close + "manipulator"&k/ +57 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%]( +455 "core" ( +2 "manipulator"&& +3 "core" &  >  +3 "manipulator"&h% +4 "core" %  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&l' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&m(- +128 "core" ( +2 "manipulator"&U& +3 "core" &-   +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &- s +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&t'w +100 "core" ' +2 ."psFlush"Hand.open + "manipulator"&^1 +55 "core" 1 +2 "manipulator"&d% +3 "core" % π  +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&w' +94 "core" ' +3 #tFinished short da assay +7147 #-> access 1 +2 "storage"(j% +38 "core" % o q ;\  +9 "manipulator"&i% +3 "core" %  i  +2 "manipulator"&f& +4 "core" &- y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +1298 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +2 "core" &<+ N > d\ +123 #t-> shortDAflush +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'z& +3 "core" & \ +2 "manipulator"&N& +5 "core" &- l + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&[(- +19 "core" ( +2 "manipulator"&~& +4 "core" &-  ; V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &- ~ V +3 .tForearm.seek :garage +2 "manipulator"&8'w +91 "core" ' +2 .tHand.close + "manipulator"&n/ +63 "core" / +2 "manipulator"&v& +3 "core" &-   V +2 "manipulator"&{% +4 "core" % g  +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +284 "core" ( + "manipulator"&& +4 "core" &Ӑ"  ^ ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӑ" \ Y ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +91 "core" ' +2 "manipulator"&q& +3 "core" &ӑ" \  ;7 +3 "manipulator"&% +3 "core" %I  \ K [ +3 "collection"' & +4 "core" & \ +2 "collection"'p& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 &A \ %g +9 &Zy \ 8 +10 &v \ L +9 &T \ K +9 &U \ L +10 &TT \ L +9 &U \ L +9 &T \ L +10 &T \ L +9 &^T \ K +10 & U {\ L +9 &!T \ L +9 &#S \ L +10 &%eS \ L +9 &'&W \ L +9 &(U \ L +10 &*W }\ L +9 &,nU ~\ K +10 &./U ~\ L +9 &/T \ K +9 &1U \ L +10 &3vU \ K +9 &56U \ L +9 &6V \ L +10 &8U |\ L +9 &:|X |\ L +10 &T y\ K +9 &?U z\ L +10 &AV z\ L +9 &CBb \ M +9 &Dr \ O +10 &F \ T +9 &Hl y\ W +10 &J' \ Y +9 &K {\ X +9 &M z\ [ +10 &Oi \ [ +9 &Q, \ Z +9 &R }\ [\ +10 &T \ [ +9 &Vm \ \\ +10 &X, \ ] +9 &Y z\ ^ +9 &[ \ K +10 &\\3 ~\ . +9 &\\j z\ Q +2 ( +2 "collection"'p& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.45 + "collection"'& +3 "core" &\\l \ Q +2 .tHand.open +2 "manipulator"&}1 +57 "core" 1 +2 "manipulator"&% +4 "core" % I   [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +43 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%e' +2633 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%  +2 "collection"'  +6 "core"  +92  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +71 "core" A +2 .tPS.seek 0ml + "processing"% 'ؾ +1901 "Can"\ Q ,C +735 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%s' +2639 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%  + "collection"'  +7 "core"  +8  + .tPSV.dial :PTV,via: :air +2 "processing"%! +189 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"%K @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2624 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +188 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%&' +2675 "core" ' +9 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%  +2 "collection"'%  +4 "core"  +4  + .tPSV.dial :PTV,via: :air +2 "processing"%) +189 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%( @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%*'ؾ +2632 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%#  +186 "core" +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%-'+ +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%"  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%.'ؾ +1612 "core" ' + .tPSV.dial PSR +2 "processing"%+ +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%'' +2631 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%,  + "collection"'/  +7 "core"  +  +2 .tPSV.dial :PTV,via: :air +2 "processing"%0 +189 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%1 @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%5'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%2  +84 "core" +2 .tPS.seek 2.5ml +2 "processing"%3' +2643 "core" ' + .tPSV.dial :PTV +2 "processing"%6 +70 "core"  +3 .tPS.seek 0ml + "processing"%7'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%  +85 "core" +2 .tPS.seek 2.5ml +2 "processing"%4' +2633 "core" ' +2 .tPSV.dial :PTV + "processing"%9 +71 "core"  +2 .tPS.seek 0ml +2 "processing"%<'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%=  +84 "core" +2 .tPS.seek 2.5ml +2 "processing"%?' +2637 "core" ' + .tPSV.dial :PTV +2 "processing"%: +70 "core"  +2 .tPS.seek 0ml +2 "processing"%>'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&A& +3 "core" &ӧ  8! +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&Q(ӂ +19 "core" ( +2 "manipulator"&E& +3 "core" &{  Z * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &{ \ \ * +3 .tForearm.seek CC + "manipulator"&g'? +100 "core" ' +2 .tHand.close + "manipulator"&H/ +56 "core" / +2 .tCC.seek :open +2 "collection"'I( +447 "core" ( + "manipulator"&& +4 "core" &ӓ v & +2 "manipulator"&D% +4 "core" %  y +2 .tForearm.seek :retract +2 "manipulator"&|' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&P(- +279 "core" ( +2 "manipulator"&O& +3 "core" &-  ] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &- o ] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&G'w +92 "core" ' +2 .tHand.open +2 "manipulator"&T1 +58 "core" 1 +2 "manipulator"&J% +3 "core" % w g P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +95 "core" ' +4075 #t-> access 2 +2 "storage"(C% +3 "core" % y o D\  +2 "manipulator"&o% +3 "core" %   +2 "manipulator"&F& +4 "core" &- x \\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" &K V c\ +15185 "Can" 6 /YjC0 +38190 #t-> $da[:extractVol]=0.2 +725 #-> startTube 2 +3595 #-> shortDA; PS.flush +2 "collection"'M% +3 "processing"%B% +4 "core" %j r\ +6 %_\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +967 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%Y +43 "core" +2 .tPTV.dial :PRVmixing + "processing"%R  +72 "core" +2 .tPRV.dial :sipper +2 "processing"%_  +124 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%`'e +2313 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%\\  +2 "collection"'Z  +6 "core"  +121  +2 .tPS.seek 0.5ml +2 "processing"%V' +1272 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%L @ +98 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml +2 "processing"%b'ؾ +586 "core" ' +2 .tPSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%k'X\\ +1097 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%$' +1610 "core" ' +2 .tPSV.dial :mixloop + "processing"%W +102 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2628 "core" ' +2 .tPSV.dial PSR +2 "processing"%h +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%U'X\\ +1110 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"% ' +1613 "core" ' + .tPSV.dial :mixloop +2 "processing"%c +101 "core" +2 .tPRV.dial :sipper + "processing"%a  +41 "core" +2 .tPS.seek 0ml +2 "processing"%^'ؾ +2231 "Can" 8 1:C +401 "core" ' +2 .tPSV.dial PSR + "processing"%d +100 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%l' +2628 "core" ' + .tPSV.dial :mixloop + "processing"%t +102 "core" +2 .tPS.seek 0ml +2 "processing"%j'ؾ +2635 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%i& +4 "core" &b\ + "manipulator"&f% +4 "core" %     +2 "storage"(@% +3 "core" % | } \  +2 "storage"(y. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(z(  +1294 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +2 "core" &  \\ Z\ +3 "manipulator"&~& +4 "core" &- \\ + "manipulator"&u% +4 "core" %  !  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&n( +171 "core" ( +2 "manipulator"&v& +3 "core" &   n . +2 "storage"({& +4 "core" &  o p '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'S +94 "core" ' +2 "storage"(w& +3 "core" &  { } ~\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & Y X\ +2 "manipulator"&[& +3 "core" & . +2 .tElbow.seek 2 +2 "manipulator"&q( +4 "core" ( + "manipulator"&& +4 "core" &  L . +2 "storage"( & +3 "core" & d \\\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(}' +7 "core" & . +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&p' +96 "core" ' +9 .tElbow.seek PC +2 "manipulator"&( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +109 "core" ( +3 "manipulator"& & +3 "core" & Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" & b +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&& +3 "core" & V +3 "manipulator"&% +4 "core" %   +2 "processing"%& +4 "core" &\ +2 "processing"%e& +5 "core" &~\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &a\ +7 &?]\ $f +9 &Xxb\ 8 +10 &sU\ L +9 &PS\ L +10 &RY\ M +9 &JUa\ M +9 & Ua\ M +10 &Qa\ M +9 &R[\ L +9 &RRW\ M +10 & UW\ M +9 &!RJ\ M +10 &#TB\ M +9 &%ZQD\ M +9 &'RL\ L +10 &(RM\ M +9 &*RC\ L +9 &,bRG\ M +10 &.$VJ\ M +9 &/VJ\ M +10 &1RC\ L +9 &3jT:\ M +9 &5,U;\ M +10 &6T;\ L +9 &8T:\ L +9 &:rR9\ M +10 &<4R:\ M +9 &=T<\ M +10 &?V5\ M +9 &AxW:\ M +9 &C5j:\ O +10 &Dn9\ P +9 &F0\ R +9 &Hp5\ S +10 &J10\ S +9 &K-\ T +10 &M*\ T +9 &Ot*\ T +9 &Q3+\ U +10 &R1\ T +9 &T0\ U +9 &V|(\ T +10 &X;&\ U +9 &Y(\ U +10 &[*\ U +9 &])\ B +9 &^<*\ \\ +10 &^<'\ 5 +5 ( +2 "processing"%e& +3 "core" &^*)\ 5 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"& 1 +55 "core" 1 +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%! h +2 %K9 +6 "core" 9 +102 "processing"%s9 +3 "core" 9 +102 "processing"% 9 +4 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%)9 +3 "core" 9 +103 "processing"%(9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9" +102 "processing"%#9 +3 "core" 9& +102 "processing"%*9 +3 "core" 9+ +102 "processing"%"9 +3 "core" 9/ +102 "processing"%-9 +4 "core" 93 +102 "processing"%+9 +3 "core" 97 +102 "processing"%.9 +3 "core" 9; +102 "processing"%,9 +3 "core" 9@ +102 "processing"%/9 +3 "core" 9D +102 "processing"%09 +3 "core" 9H +102 "processing"%19 +3 "core" 9L +102 "processing"%'9 +3 "core" 9P +102 "processing"%29 +3 "core" 9U\ +102 "processing"%59 +3 "core" 9Y\ +103 "processing"%69 +3 "core" 9] +102 "processing"%39 +3 "core" 9 a +102 "processing"%9 +3 "core" 9f +102 "processing"%79 +3 "core" 9j +102 "processing"%99 +3 "core" 9%n +3 .tPH.hold 2:00:00,28C +3 "processing"%4 php +2 .tdelay 1:30 +6 "core" n +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%= +100 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%<' +601 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%:' +1617 "core" ' + .tPTV.dial :puck +2 "processing"%?  +126 "core"  +2 .tPSV.dial PTV + "processing"%A +72 "core" +2 .tPBV.dial :waste1 + "processing"%E  +51 "core"  +4 "processing"%;% +4 "core" %Y\  +3 .tPS.seek 1.5ml + "processing"%H'/ +595 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1608 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  +2 .tPBV.dial :waste1 + "processing"%  +33 "core"  +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%D * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%g +70 "core"  +3 .tPS.reconfigure :fast +41 "processing"%#A ,`xb +10 .tPS.seek 2.5ml +2 "processing"%O' +194 "Can" C 3C( +2171 "core" ' + .tPSV.dial PTV +2 "processing"%r +84 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%Q +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%T +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%J  +85 "core"  +2 .tPS.seek 0ml +2 "processing"%|'ؾ +2325 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%G  +127 "core" +2 .tPSV.dial :mixloop +2 "processing"%C +42 "core" + .tPRV.dial :ab1 +2 "processing"%o @ +98 "core" ? +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%F' +351 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'  +2 "processing"%S  +4 "core"  +39  +2 "processing"%M% +3 "core" %o\ \ +3 .tPS.seek 0.35ml + "processing"%B'j +468 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'Y  +29 "core" +2 .tPRV.dial :air +2 "processing"%R  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%_'K +1177 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%> @ +70 "core" > +2 .tPS.seek 0.5ml +2 "processing"%Z' +869 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%\\  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%`' +1615 "core" ' +2 .tPSV.dial :PML + "processing"%L +44 "core" +2 .tPTV.dial :mixing + "processing"%V @ +72 "core" B +2 .tPBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%b% +4 "core" %t\  +2 .tPS.seek 1.85ml + "processing"%k' +233 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%W * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%$'ؾ +1976 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'h& +3 "core" & \\\ +2 "manipulator"&& +3 "core" & 6 +2 "manipulator"&U% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&c(- +120 "core" ( +2 "manipulator"&a& +3 "core" &-   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &- +3 .tForearm.seek :garage + "manipulator"&d'w +92 "core" ' +2 .tHand.close + "manipulator"&^/ +55 "core" / +3 "manipulator"&t& +4 "core" &-  + "manipulator"&l% +4 "core" % g K \ +3 .tForearm.seek :retract + "manipulator"&i' +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +280 "core" ( +2 "manipulator"&@& +3 "core" &Ӝ ! )  9# +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &Ӝ ' !  9# +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 "manipulator"&N& +3 "core" &Ӝ 1 0 l 9# +2 "manipulator"&~% +4 "core" %G - . _ ( +2 "collection"'u& +3 "core" & L\ +3 "collection"'v& +5 "core" & S\ +2 .tCC.seek :closed +3 "collection"'{(\\ +2 "core" & I\ +8 &B K\ $f +9 &Y{ L\ 7 +9 &w M\ L +10 &T M\ L +9 &T M\ L +9 &DR O\ L +10 &T L\ L +9 &U N\ L +10 &S M\ K +9 &KT N\ L +9 & T N\ L +10 &!T M\ L +9 &#U N\ L +9 &%SV C\ L +10 &'S I\ L +9 &(T I\ L +10 &*S R\ L +9 &,[W @\ L +9 &.T K\ L +10 &/S A\ L +9 &1S J\ L +9 &3cT E\ L +10 &5%T B\ L +9 &6U J\ L +10 &8T N\ L +9 &:kT K\ L +9 &<-U K\ L +10 &=U H\ L +9 &?U G\ L +9 &AsU @\ L +10 &C1a I\ M +9 &Dn G\ O +10 &F G\ T +9 &H[ H\ W +9 &J G\ X +10 &K B\ Y +9 &M D\ Y +9 &O] D\ Y +10 &Q C\ Y +9 &R :\ Z +10 &T G\ Z +9 &V] G\ \\ +49 &X B\ \\ +10 &Y @\ ] +3 &[ 9\ J + &\\? @\ &t + &\\ ;\ "c + ( +2 &\\ E\ "c + &\\ A\ "c +2 "collection"'v& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.38 + "collection"'w& +3 "core" &\\ <\ "c +3 .tHand.open +2 "manipulator"&P1 +60 "core" 1 + "manipulator"&\ % +5 "core" % G 3 8 ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tPSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%['+ +1607 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +42 "core"  +2 .tPS.seek 0ml +2 "processing"% 'ؾ +1610 "core" ' + .tPSV.dial PSR +2 "processing"%x +44 "core"  + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"%' +2631 "core" ' +3 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%  +2 "collection"'n  +30 "core"  +125  + .tPSV.dial :mixloop +2 "processing"%m +100 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%8  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%X' +2638 "core" ' +2 .tPSV.dial :mixloop + "processing"%q +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 .tPSV.dial :air +2 "processing"%  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%} +44 "core" +2 .tPS.seek 0ml +2 "processing"%p'ؾ +2636 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&]& +4 "core" &ӣ  )  8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"& (ӂ +20 "core" ( + "manipulator"&& +4 "core" &ӂ / . ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &ӂ + + 9 ( +3 .tForearm.seek CC +2 "manipulator"&e'? +99 "core" ' +2 .tHand.close + "manipulator"&s/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "manipulator"& & +4 "core" &Ӎ " ( & + "manipulator"&% +4 "core" %  , , +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&%(- +284 "core" ( +2 "manipulator"&)& +3 "core" &- \ U N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &-  s N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&&'w +91 "core" ' +2 .tHand.open + "manipulator" +62 "core" 1 +2 "manipulator"&*% +4 "core" % v  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"' +93 "core" ' +2 ."da"delayUntil "17:51:33.83" +22411 "Can" A 6,C +2402 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%- @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%+  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%. * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%,  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%/' +2389 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%0 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%1  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%' +45 "core" +2 ."da"delay 2 seconds +241 .PSV.dial :air +9 "processing"%2  +43 "core"  +2 ."da"PS.seek 0ml +3 "processing"%5'ؾ +2333 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%6 +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%3' +594 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%7  +69 "core"  + ."da"PSV.dial PTV +2 "processing"%9 +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%=  +34 "core" + "processing"%j% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%<'' +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%? * +33 "core" , +2 ."da"PS.seek 0ml +3 "processing"%A'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%E  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%; * +32 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%: +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +6 "processing"%' +2383 "core" ' +2 ."da"PSV.dial PTV + "processing"%H +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%! +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +2330 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%g +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%r' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%Q +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%T  +33 "core" + "processing"%J% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%O'' +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%G * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%C'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%o  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%| * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%S' +785 "Can" A 9}C +1584 "core" ' +2 ."da"PSV.dial PTV + "processing"%M +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%F +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Y +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%R  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +2327 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%>  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%_  +128 "core" +2 ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%\\  +43 "core"  + ."da"PTV.dial :PRVmixing +2 "processing"%Z  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"%L +83 "core" +8 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%V' +386 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +41 "core"  +2 "processing"%b% +4 "core" %}\  +2 ."da"PS.seek 0.55ml +2 "processing"%W' +331 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%`  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%k' +1566 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%h +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%U  +32 "core" +2 "processing"%a% +3 "core" %q\  +3 ."da"PS.seek 1.85ml +2 "processing"% ' +229 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%^ * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%t'ؾ +1973 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +47719 "Can" A ;XC +283 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%l @ +4 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSV.dial :air +2 "processing"%d  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%@' +2405 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%y +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%c  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%N +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%~  +43 "core"  +3 ."da"PS.seek 0ml + "processing"%u'ؾ +2334 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%I' +591 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +5 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%w' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%P  +69 "core"  + ."da"PSV.dial PTV +2 "processing"%\ +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%v  +32 "core" +2 "processing"%% +4 "core" %e\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +587 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%$ * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%[  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%x * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%n' +2392 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%m +70 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%8 +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2350 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%q' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +44 "processing"%X' +1612 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%}% +3 "core" %y\  +3 ."da"PS.seek 1.5ml +2 "processing"%'+ +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%] * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1631 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%K  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%s * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%f +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2387 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%{ +71 "core" +2 ."da"delay 5 seconds +478 "Can" @ >C +24 ."da"PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%e  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%)'ؾ +2349 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%( +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"% ' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%#' +1616 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%* +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%&% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%-'1 +589 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%+ * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%.'ؾ +1618 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%,  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%p * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%0 +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%1' +2383 "core" ' + ."da"PSV.dial PTV +2 "processing"%' +72 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%2 +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%/ +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%6  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +2340 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +143 "core" +4 #"da"Pulling 0.25ml of PSR.sub1 +6 .PSR.select :sub1 +4 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%7' +343 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%9' +330 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%=' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%j +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%?% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%<', +602 "core" ' + ."da"delay 3 seconds +345 .PBV.dial between PSV and waste1 +9 "processing"%E * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +1628 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%:  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%H +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%!' +2409 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%g  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +2391 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +130 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%Q' +2119 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%T +83 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%J  +34 "core" + "processing"%r% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%G'+ +603 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%O * +32 "core" * + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%  +101 "core"  +3 ."da"PS.seek 0ml +2 "processing"%o'ؾ +1626 "core" ' +2 "processing"%|9 +3 "core" 9k5e +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"% +3 "core" 5f +2 "processing"%C& +4 "core" &^*\ 5 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&M% +4 "core" %  \ \ c  +2 "storage"(F% +3 "core" %  L\  +2 "storage"(Y. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(R(C +363 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (S& +3 "core" &@ O 2 2\ +2 "manipulator"&>& +4 "core" &-  N +2 "manipulator"&_% +4 "core" %  a  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&\\( +173 "core" ( + "manipulator"&Z& +3 "core" &  # . +2 "storage"(L& +3 "core" &A \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&B' +91 "core" ' +2 "storage"(& +3 "core" &A w\ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(b'r +277 "core" ' +2 "storage"(V- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(`'1 +50 "core" ' +2 "manipulator"&W& +4 "core" & . +2 "manipulator"&h% +3 "core" %   R s +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&U( +244 "core" ( +2 "manipulator"&a& +3 "core" &  * 2 +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" & 2 +3 ."da"Forearm.seek PC +2 "manipulator"&k' +91 "core" ' +2 ."da"Hand.close + "manipulator"& / +64 "core" / +2 ."da"PC.seek :open +2 "processing"%l( +509 "core" ( +2 "storage"(& +3 "core" &A '\ +3 "manipulator"&& +4 "core" & 1 + "manipulator"&d% +4 "core" %   +2 ."da"Forearm.seek :retract +2 "manipulator"&t' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&y( +254 "core" ( +2 "manipulator"&c& +4 "core" &  d C +2 "storage"(N& +4 "core" &A 1\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&~' +97 "core" ' + ."da"Hand.open +2 "manipulator"&@1 +62 "core" 1 +3 "storage"(i- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(I' +57 "core" ' + #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0818h.tif +5 "processing"%P& +12 "core" &G\ ~ +3 "manipulator"&\ & +6 "core" &  s C +2 "manipulator"&v% +5 "core" %  V +2 ."psFlush"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&w(- +180 "core" ( +2 "manipulator"&$& +4 "core" &-  \ H > +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &-  l > +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&['w +90 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&x/ +57 "core" / +2 "manipulator"& & +5 "core" &-  U > + "manipulator"&% +5 "core" % {  ] " +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&m( +117 "core" ( + "manipulator"&8& +4 "core" &    +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &     +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +3 "manipulator"&n' +100 "core" ' +2 "manipulator"&& +4 "core" &  P  +2 "manipulator"& % +4 "core" % x  +2 "processing"%q& +4 "core" &\ | +2 "processing"%& +5 "core" &\ { +3 ."psFlush"PC.seek :closed +2 "processing"%(^ +3 "core" &\ z +8 &8\ w$e +9 &Vs\ s7 +9 &~o\ sL +10 &I\ vO +9 &^I\ vO +10 &!H\ vN +9 &I\ uN +9 &K\ uN +10 &gF\ uN +9 &)I\ tN +9 &I\ uN +10 &!K\ N +9 &#qN\ N +10 &%3N\ N +9 &&N\ N +9 &(M\ N +10 &*yL\ N +9 &,;L\ N +9 &-J\ M +10 &/L\ N +9 &1L\ N +10 &3CJ\ zN +9 &5J\ xN +9 &6GE\ wN +10 &8G.\ wO +9 &:IL\ vN +9 &<\ L\ vO +10 &=K\ vO +9 &?I\ vN +10 &APKM\ uO +9 &CTS\ tP +9 &DZH\ sQ +10 &FpG\ rT +9 &HCF\ qV +9 &J?\ qV +10 &KF\ qV +9 &M<\ pV +10 &OK6\ V +9 &Q\ 4\ W +9 &R;\ V +10 &T?\ W +9 &VS;\ V +9 &X<\ V +10 &Y:\ V +9 &[&\ V +10 &]X \ E +9 &^Co\ !c +9 &^;\ 4 +6 ( +2 "processing"%& +4 "core" &^*\ x4 +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 + "processing"%}& +3 "core" &^)"\ w4 +2 ."psFlush"Hand.open +2 "manipulator"&X1 +60 "core" 1 +2 "manipulator"&]% +3 "core" % 2 / ^  +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +66 ."psFlush"PS.seek 0.5ml +2 "processing"%s' +477 #"da"SX HX9/16 (USB:19): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 17.883 seconds\ /var/log/esp/da23sep0818h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0818h15s.tif +132 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +806 "Can"\ . CC +107 #"da"SX HX9/16 (USB:19): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0818h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0818h20s.tif +1213 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +3 "processing"% @ +187 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%{  +132 "core" + ."psFlush"PSV.dial :mixloop +3 "processing"% +100 "core" +3 ."psFlush"PS.seek :empty +3 "processing"%'ؠ +310 #"da"SX HX9/16 (USB:19): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0818h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "17.883 sec auto-exposure",Subject: "da23sep0818h images!" +7 "storage"(e- +6 "core" -' +8 "storage"(& +11 "core" &A   \ +2 "manipulator"&(& +4 "core" & - + !  +3 "manipulator"&)% +4 "core" %  , .   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"& ( +249 "core" ( +5 "manipulator"&*& +11 "core" & *  J 7 +4 "storage"(& +5 "core" &A  \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&&' +96 "core" ' +4 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(#'" +58 "core" ' +3 "manipulator"&+& +6 "core" &  ! u 7 +5 "storage"(-& +8 "core" &A : 6\ +3 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +7 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +4 "manipulator"&,'8 +29 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&p, +7 "core" , +4 ."da"Elbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +7 ."da"SE.reconfigure :default +4 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(0' +29 "core" ' +4 "manipulator"&.% +6 "core" %: - , N D +4 "storage"('& +9 "core" &A   \ +6 ."da"Forearm.force -20 +3 "manipulator"&5 +9 ."da"Forearm.seek 1 + 302 counts +5 "manipulator"&2'f +15 "core" ' +2 "manipulator"&/& +8 "core" & 7 +4 "storage"(6& +7 "core" &A Y X h\ +5 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&1' +17 "core" ' +4 "storage"(3% +6 "core" % Y Y k\  +6 ."downElevator"SE.seek :down +9 "storage"(5' +95 (7% +8 "core" %A   @\ TZ +5 "manipulator"&9% +6 "core" % p +6 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +4 "manipulator"&j' +98 "core" ' +39 ' +2 ."downElevator"SE.stop +11 "storage"(5 +6 (& +6 "core" &A G T *\ +1205 ' +2 ."psFlush"PSR.select :air +6 .PSV.dial PSR +2 "processing"%? +104 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +6 .PSR.select :flush +10 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%=' +517 #"uploadLog"upsync +81 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +52 "processing"%E' +2129 "core" ' + ."psFlush"delay 1 second +104 .PBV.dial :waste1 +2 "processing"%<  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%: @ +72 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%A +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%H'ؠ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%; +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1101 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1615 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%g  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%!  +5 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%D +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%T' +587 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%J' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%r +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%Q U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%O'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%G' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%|  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +2625 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%C +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%M' +2628 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%F +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%Y U +15 "core" T +2 ."psFlush"PS.seek 0ml +3 "processing"%z'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%S @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%>' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%_  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%Z'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%L +54 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1110 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +1612 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%" +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%V  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%W  +49 "core" +2 ."psFlush"PS.seek 0ml +3 "processing"%h'ؾ +2650 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%b +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%B' +590 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +2115 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%^ +71 "core" +41 ."psFlush"PBV.dial PSV +9 "processing"%\\ U +52 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2643 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%d +54 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%k' +2639 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%c +84 "core" + ."psFlush"PBV.dial PSV +2 "processing"%N U +15 "core" T +3 ."psFlush"PS.seek 0ml +2 "processing"%U'ؾ +2221 "Can" B F9C +415 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%@ @ +41 "core" > +3 ."psFlush"PS.seek 2.5ml + "processing"%i' +2629 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%P  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%\ 'ؾ +2631 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&v& +3 "core" &  d 7 +2 "manipulator"&t% +3 "core" %   >  +3 ."psFlush"Elbow.seek PC +2 "manipulator"&`( +246 "core" ( + "manipulator"&u& +4 "core" &   7 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" & \ 7 +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +91 "core" ' + ."psFlush"Hand.close +2 "manipulator"&~/ +64 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%y( +455 "core" ( +2 "manipulator"&x& +3 "core" & 7 +3 "manipulator"& % +4 "core" %   +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +3 "manipulator"&(- +126 "core" ( +2 "manipulator"&8& +3 "core" &-  k \ +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &- M \ +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&['w +101 "core" ' + ."psFlush"Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"& % +4 "core" % t   +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&q' +91 "core" ' +2 #tFinished short da assay + #Flushing Processing stage +2 "processing"%w% +3 "core" %\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%& +3 "core" &\ +2 "manipulator"&l& +4 "core" &- \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&}(- +17 "core" ( +2 "manipulator"&X& +4 "core" &-  Y S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &- S +3 .tForearm.seek :garage + "manipulator"&'w +92 "core" ' +2 .tHand.close + "manipulator"&K/ +58 "core" / +2 "manipulator"&n& +3 "core" &-  P S +2 "manipulator"&o% +3 "core" % ψ A +3 .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&( +115 "core" ( + "manipulator"&{& +4 "core" & \ I * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&f' +96 "core" ' +9 "manipulator"&e& +4 "core" & I * +2 "manipulator"&% +4 "core" %  +2 "processing"%(& +4 "core" &\ +2 "processing"%)& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%*(^ +5 "core" &\ +7 &;\ $e +9 &Xt\ 7 +10 &s\ K +9 &L\ L +9 &N\ L +10 &EM\ L +9 &N\ L +9 &Q\ K +10 &Q\ K +9 &MQ\ L +10 & N\ L +9 &!Q\ K +9 &#Q\ L +10 &%UN\ L +9 &'P\ K +9 &(P\ L +10 &*T\ L +9 &,]N\ L +9 &. P\ K +10 &/Q\ L +9 &1O\ L +10 &3eP\ L +9 &5'S\ L +9 &6O\ L +10 &8Q\ K +9 &:mQ\ L +10 & +2 .tPS.seek 2.5ml +2 "processing"%' +2649 "core" ' + .tPSV.dial :waste1 +2 "processing"%0  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%1'ؾ +2632 "core" ' +2 .tPSV.dial PSR + "processing"%5 +55 "core" + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%?' +2636 "core" ' + .tPSV.dial PTV +2 "processing"% +72 "core" +2 .tPBV.dial PSV + "processing"%= U +16 "core" T +2 .tPS.seek 0ml +2 "processing"%<'ؾ +2636 "core" ' +2 .tPSV.dial PBV +2 "processing"%: @ +43 "core" > +2 .tPS.seek 2.5ml +2 "processing"%A' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%E  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%;'ؾ +2651 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&H& +3 "core" & k * +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &   * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" & \ b * +3 .tForearm.seek PC + "manipulator"&!' +96 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%D( +459 "core" ( +2 "manipulator"&& +3 "core" &  * +2 "manipulator"&T% +3 "core" %   +3 .tForearm.seek :retract +46 "manipulator"&r' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Q(- +126 "core" ( + "manipulator"&J& +4 "core" &-  ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- e +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&O'w +93 "core" ' +2 .tHand.open + "manipulator"&|1 +61 "core" 1 +2 "manipulator"&G% +3 "core" % u  ) 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +94 "core" ' +22707 #t-> access 1 +2 "storage"(% +3 "core" % f g \  +2 "manipulator"&F% +4 "core" %   +2 "manipulator"&Y& +4 "core" &- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(M(<- +130 "Can"\ V HUC +1166 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" &<+ S W '\ +1930 #t-> access 2 +2 "storage"(z% +3 "core" % f r 3\  +2 "manipulator"&_% +3 "core" %   +2 "manipulator"&>& +4 "core" &- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(L(K +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Z& +3 "core" &K ` I E\ +599 #t-> startTube 2 +792 #-> $da[:extracVol]=.2 +831 #-> exit +7 #mEXIT @1694199127.17UTC @1694199185.24UTC = =mMAIN_scheduler =tMAIN @UTC1694199187.25 #"core_reset"Sent BREAK +2 #t@53122 receive with ifg=0x10, ie=0xFD #@53757 receive with ifg=0x10, ie=0xFD + #@54413 receive with ifg=0x10, ie=0xFD + #@55050 receive with ifg=0x10, ie=0xFD + #@55685 receive with ifg=0x10, ie=0xFD #@56318 receive with ifg=0x10, ie=0xFD + #@56952 receive with ifg=0x10, ie=0xFD + #@57279 receive with ifg=0x80, ie=0xFD #@62971 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +287 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can" 4 HD +  4 HD + #tPolling Can every 10:00 +2 #Cleanly exited at 18:52:07UTC08-Sep-23 +529 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %j ^\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؼJ\  +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڬ\ \  ^\ +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +1008 #-> $da[:extractvol]=.2 +25905 #-> shortDA; samplePassF +2 "collection"'2% +2 "processing"%3% +6 "core" %j [\ + %ؼY\  +5 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +269 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%4 +129 "core" +2 .tPTV.dial :PRVmixing + "processing"%5  +129 "core" + .tPRV.dial :sipper +2 "processing"%6  +43 "core" +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%7'e +2298 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%8  + "collection"'9  +7 "core" +121  +2 .tPS.seek 0.5ml +2 "processing"%:' +1278 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%; @ +98 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%<'ؾ +592 "core" ' +2 .tPSV.dial PSR +2 "processing"%= +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%>'X\\ +1095 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%?' +1610 "core" ' +2 .tPSV.dial :mixloop + "processing"%@ +102 "core" +2 .tPS.seek 0ml +2 "processing"%A'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"%B +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%C'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%D' +1607 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%E +101 "core" +2 .tPRV.dial :sipper +2 "processing"%F  +41 "core" +3 .tPS.seek 0ml + "processing"%G'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%H +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%I' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"%J +102 "core" +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2629 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%L& +4 "core" &O\ + .tHand.open +2 "manipulator"&M1 +18 "core" 1 +2 "manipulator"&N% +3 "core" %   o  +3 "storage"(O% +3 "core" % l s \  +2 "storage"(P. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(Q(  +1299 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +2 "core" &  8 8 .\ +3 "manipulator"&S& +4 "core" &- +2 "manipulator"&T% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&U( +170 "core" ( + "manipulator"&V& +4 "core" &  f = +2 "storage"(W& +4 "core" &  v u a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&X'S +93 "core" ' +2 "storage"(Y& +4 "core" &  o t \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +298 "core" ' + "storage"([- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +3 "core" & ] Y\ +2 "manipulator"&]& +4 "core" &  / = +2 .tElbow.seek 2 +35 "manipulator"&^( +10 "core" ( +2 "manipulator"&_& +4 "core" &   = +2 "storage"(`& +4 "core" & O Y \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +63 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&c& + "storage"(d' +5 "core" & w = +5 "manipulator"&e% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&f' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +3 "manipulator"&h& +4 "core" & v - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" & - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&j' +94 "core" ' +2 "manipulator"&k& +4 "core" & - +2 "manipulator"&l% +3 "core" % +3 "processing"%m& +4 "core" &9\ +2 "processing"%n& +5 "core" &N\ +2 .tPC.seek :closed +2 "processing"%o(^ +3 "core" &O\ +8 &4L\ $d +9 &VrQ\ 6 +10 &vI\ K +9 &QB\ M +9 &cPC\ M +10 &'PC\ L +9 &PI\ M +9 &OE\ M +10 &mOE\ L +9 &.RE\ M +9 &TE\ M +10 &!TD\ M +9 &#tU=\ M +10 &%6Q9\ M +9 &&PA\ M +9 &(P)\ M +10 &*|P4\ M +9 &,>P5\ M +10 &.O0\ M +9 &/R4\ L +9 &1R:\ L +10 &3GR4\ L +9 &5 R<\ L +9 &6R5\ M +10 &8T5\ M +9 &:NU'\ M +9 &<U1\ M +10 &=Q4\ M +9 &?U7\ M +10 &AUU6\ M +9 &Cc4\ O +9 &Di"\ P +10 &F&\ R +9 &HK!\ S +10 &J &\ T +9 &K%\ S +9 &M \ T +10 &OP$\ T +9 &Q \ T +9 &R"\ T +10 &T/\ U +9 &VW&\ T +10 &X'\ T +9 &Y)\ T +9 &[(\ T +10 &]]+\ B +9 &^Lz)\ J +9 &^N%\ < +6 ( + "processing"%n& +4 "core" &^G"\ < +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&p1 +53 "core" 1 +2 "manipulator"&q% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +94 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%s h +2 %t9 +7 "core" 9 +102 "processing"%u9 +2 "core" 9 +103 "processing"%v9 +2 "core" 9  +103 "processing"%w9 +3 "core" 9  +102 "processing"%x9 +3 "core" 9 +102 "processing"%y9 +3 "core" 9 +102 "processing"%z9 +3 "core" 9 +102 "processing"%{9 +3 "core" 9 +102 "processing"%|9 +4 "core" 9" +102 "processing"%}9 +3 "core" 9& +102 "processing"%~9 +3 "core" 9+ +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +3 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%9 +3 "core" 9@ +102 "processing"%9 +3 "core" 9D +102 "processing"%9 +3 "core" 9H +102 "processing"% 9 +4 "core" 9L +102 "processing"% 9 +3 "core" 9P +102 "processing"% 9 +3 "core" 9U +102 "processing"%9 +3 "core" 9Y +102 "processing"%9 +3 "core" 9]\ +102 "processing"%9 +4 "core" 9a\ +102 "processing"%9 +3 "core" 9e +102 "processing"%9 +3 "core" 9j +102 "processing"%9 +3 "core" 9n +102 "processing"%9 +3 "core" 9r +102 "processing"%9 +3 "core" 9'v +3 .tPH.hold 2:00:00,28C +3 "processing"% php +3 .tdelay 1:30 +5 "core" w +2671 "Can" E K'eC% +6329 .tPSR.select :air +3 .PSV.dial PSR + "processing"% +102 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%' +587 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%' +1617 "core" ' + .tPTV.dial :puck +2 "processing"%  +127 "core"  + .tPSV.dial PTV +2 "processing"% +84 "core" +2 .tPBV.dial :waste1 + "processing"%  +52 "core" +2 "processing"% % +3 "core" %K\  +3 .tPS.seek 1.5ml + "processing"%!'( +588 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%" * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%#'ؾ +1632 "core" ' +9 .tdelay 5:00 +30003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%$  +4 "core"  +2 .tPBV.dial :waste1 +2 "processing"%%  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%& * +33 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%' +69 "core"  +3 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%(' +2380 "core" ' +2 .tPSV.dial PTV +2 "processing"%) +72 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%* +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV +2 "processing"%+ +72 "core" + .tdelay 5 seconds +503 .PSV.dial :air +2 "processing"%,  +84 "core"  +3 .tPS.seek 0ml + "processing"%-'ؾ +2331 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%.  +128 "core" +2 .tPSV.dial :mixloop + "processing"%/ +42 "core" +2 .tPRV.dial :ab1 +2 "processing"%0 @ +98 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%1' +350 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV + "processing"%3  +43 "core"  + "processing"%2% +4 "core" %\ \ +3 .tPS.seek 0.3ml + "processing"%4' +355 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'5  +30 "core" +2 .tPRV.dial :air + "processing"%6  +41 "core"  +3 .tPS.seek 0.9ml +2 "processing"%'K +1269 "core" ' + .tPRV.dial :waste2 +2 "processing"%9 @ +70 "core" ? +3 .tPS.seek 0.5ml + "processing"%8' +860 "core" ' +2 #taddPMLReagent08 +2 .PSV.dial :air + "processing"%7  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%;' +1618 "core" ' +2 .tPSV.dial :PML + "processing"%: +44 "core" +2 .tPTV.dial :mixing +2 "processing"%= @ +71 "core" A +2 .tPBV.dial :waste1 +2 "processing"%<  +34 "core" + "processing"%>% +4 "core" %t\  +2 .tPS.seek 1.85ml +2 "processing"%@' +231 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%? * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%B'ؾ +1988 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'A& +3 "core" & A\ +3 "manipulator"&C& +4 "core" & - + "manipulator"&E% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&F(- +131 "core" ( +2 "manipulator"&D& +3 "core" &- \ \ c g +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &-  v g +3 .tForearm.seek :garage +2 "manipulator"&G'w +39 "Can" C MC +52 "core" ' +2 .tHand.close + "manipulator"&J/ +54 "core" / +2 "manipulator"&I& +3 "core" &-  ) g +2 "manipulator"&L% +4 "core" % v  @ 8 +2 .tForearm.seek :retract + "manipulator"&M' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +282 "core" ( +2 "manipulator"&O& +4 "core" &ӣ 0 1 L 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &ӣ )   7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 "manipulator"&R& +3 "core" &ӣ 0 . A 7 +3 "manipulator"&S% +4 "core" %3 ! + D H +2 "collection"'T& +4 "core" & I\ +2 "collection"'V& +5 "core" & >\ +3 .tCC.seek :closed + "collection"'W(\\ +5 "core" & F\ +6 &A F\ %h +10 &Zy G\ 8 +9 &u E\ L +9 &S D\ L +10 &T H\ M +9 &KT G\ L +9 & W D\ L +10 &U F\ L +9 &V B\ L +9 &SU ?\ L +10 & Q >\ L +9 &!R ;\ L +10 &#Q =\ L +9 &%ZR A\ M +9 &'Q ;\ L +10 &(T :\ L +9 &*Q :\ L +9 &,cO 5\ L +10 &.$R :\ M +9 &/R 9\ L +10 &1U 8\ L +9 &3jV 9\ M +9 &5-U @\ L +10 &6R A\ L +9 &8W /\ L +9 &:sU 0\ L +10 &<5Q 7\ L +9 &=S &\ M +10 &?R .\ L +9 &AzR 9\ M +9 &C:] .\ M +10 &Dp /\ P +9 &F '\ U +10 &Hb 2\ X +9 &J 9\ Y +9 &K 8\ Z +10 &M 0\ \\ +9 &Oc '\ Z +9 &Q# 3\ [ +10 &R 7\ \\ +9 &T 1\ \\ +10 &Vb .\ ] +9 &X$ /\ ] +9 &Y 3\ ^ +10 &[ 7\ K +9 &\\> 0\ 'x +9 &\\v +\ R +3 ( + "collection"'V& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.47 + "collection"'Y& +4 "core" &\\v 2\ R +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % 3 1 0 R H +38 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +2 .tPSV.dial PSR +2 "processing"%\\ +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1.5ml + "processing"%]'+ +1608 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%_  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%`'ؾ +1619 "core" ' +2 .tPSV.dial PSR + "processing"%b +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%c' +2634 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%e  +2 "collection"'U  +30 "core"  +126  + .tPSV.dial :mixloop +2 "processing"%X +100 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'Z +3 "core"  +2 "collection"'a +3 "core"  +2 "collection"'h  +3 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%i  +72 "core" +2 .tPS.seek 0ml +2 "processing"%^'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%k  +55 "core"  +2 .tPS.seek 2.5ml + "processing"%l' +2654 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%m +42 "core" +2 .tPS.seek 0ml + "processing"%d'ؾ +2633 "core" ' + .tPSV.dial :air + "processing"%f  +44 "core"  +3 .tPS.seek 2.5ml + "processing"% ' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%p +44 "core" +2 .tPS.seek 0ml + "processing"%q'ؾ +2628 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&t& +4 "core" &ӣ , , 9 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&n(ӂ +21 "core" ( +2 "manipulator"&u& +4 "core" &Ӄ + & 7 f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &Ӄ (   f +3 .tForearm.seek CC + "manipulator"&v'? +100 "core" ' + .tHand.close +2 "manipulator"&w/ +61 "core" / +2 .tCC.seek :open +2 "collection"'x( +447 "core" ( +2 "manipulator"&y& +3 "core" &ӄ * , e +2 "manipulator"&z% +4 "core" % / , , +2 .tForearm.seek :retract +2 "manipulator"&{' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&|(- +283 "core" ( +2 "manipulator"&}& +3 "core" &-  ; , +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &- , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +89 "core" ' +3 .tHand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&% +4 "core" % w   D G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 ."da"delayUntil "19:21:11.79" +24749 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"% @ +72 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2386 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +54 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2332 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%K  +32 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%'0 +411 "Can" B PC +176 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%" +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%!' +2387 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%s +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%$ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%&  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%''ؾ +2327 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%# +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%)' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +3 "processing"%*' +1609 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%+ +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%,  +32 "core" +2 "processing"%(% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%.') +592 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%/ * +70 "core" + +2 ."da"PS.seek 0ml +2 "processing"%0'ؾ +1608 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%-  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%3 * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%2 +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%1' +2370 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%5 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%6 +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%4 +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%9  +84 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2317 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%7  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%8  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%:  +41 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%= +43 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%<' +387 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%>  +43 "core"  +2 "processing"%?% +3 "core" %s\  +2 ."da"PS.seek 0.55ml +2 "processing"%;' +336 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%@  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%A' +1569 "core" ' +2 ."da"PSV.dial :PML + "processing"%C +44 "core" +2 ."da"PTV.dial :mixing +2 "processing"%E @ +71 "core" A + ."da"PBV.dial :waste1 +2 "processing"%D  +33 "core" + "processing"%H% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%J' +242 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%g * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%I'ؾ +1972 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +2400 "Can" A S'C +45603 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%L @ +5 "core" A + ."da"PBV.dial :waste1 +2 "processing"%r  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%G * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%O  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%P' +2384 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%F +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%R  +42 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%S +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%T  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +2330 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +128 "core"  +47 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%Y' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%V +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%\\  +32 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%B'- +589 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%_ * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%]'ؾ +1628 "core" ' +2 ."da"delay 2:00 +61 "Can" G UC +11943 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%b  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%`  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%U * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%e +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%X' +2392 "core" ' + ."da"PSV.dial PTV +2 "processing"%Z +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%a +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%h +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%i  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%c'ؾ +2368 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%k +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%^' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%m' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%l  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%f +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%d  +33 "core"  +2 "processing"%p% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"% '0 +595 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%t * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%j  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%w  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%N * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%[ +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%W' +2383 "core" ' + ."da"PSV.dial PTV +2 "processing"%y +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +3 "processing"%z +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%v +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%}  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%~'ؾ +2341 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%n +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%{  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'. +595 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +31 "core" + +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +1609 "core" ' + ."da"delay 2:00 +5476 "Can" A X!SC +6528 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +41 "processing"% ' +2392 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2333 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +131 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +3 "processing"%' +341 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +333 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%"% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%'+ +589 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%s * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%$'ؾ +1613 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%&  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%! * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%# +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'' +2419 "core" ' + ."da"PSV.dial PTV +2 "processing"%) +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%+ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%, +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%(  +71 "core"  +3 ."da"PS.seek 0ml +2 "processing"%*'ؾ +2391 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%/ +129 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%.' +2133 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +3 "processing"%-  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"%3 +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%2  +34 "core" +2 "processing"%0% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%5'0 +584 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%6 * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%4  +102 "core"  +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +1613 "core" ' +2 "processing"%19 +3 "core" 9e5a +2 #"da"Processing Puck Heater at 27.9C before imaging +2 .PH.coast + "processing"%7 +3 "core" 5b + "processing"%8& +4 "core" &^<\ < +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&:% +4 "core" %   j +2 "storage"(=% +4 "core" % B B @\  + "storage"(. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(>(C +358 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &D 9\ +2 "manipulator"&<& +4 "core" &- \  , + "manipulator"&@% +4 "core" %   b +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&;( +173 "core" ( +2 "manipulator"&C& +4 "core" &  % 5 + "storage"(E& +4 "core" &E B\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&D' +92 "core" ' + "storage"(H& +4 "core" &E \ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(g'r +317 "core" ' +9 "storage"(A- +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +3 "storage"(J'1 +40 "core" ' +3 "manipulator"&L& +4 "core" & T 4 + "manipulator"&r% +5 "core" % q +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&G' +95 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&O( +243 "core" ( +2 "manipulator"&I& +4 "core" &   3 + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +3 "core" &   3 +2 ."da"Forearm.seek PC +2 "manipulator"&R' +103 "core" ' +2 ."da"Hand.close +2 "manipulator"&S/ +64 "core" / +2 ."da"PC.seek :open +2 "processing"%T( +458 "core" ( +2 "storage"(P& +3 "core" &E y\ +3 "manipulator"&\ & +4 "core" & J 3 + "manipulator"&M% +4 "core" %  l +2 ."da"Forearm.seek :retract +2 "manipulator"&Y' +95 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&V& +3 "core" &   Z "z +2 "storage"(\\& +4 "core" &E \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +101 "core" ' + ."da"Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(_- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +3 "storage"(B' +25 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(b' +54 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0820h.tif +5 "processing"%`& +10 "core" &P\ s +4 "manipulator"&U& +6 "core" &  q "z +2 "manipulator"&e% +5 "core" %  k ~ +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&]' +89 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&Z(- +169 "core" ( +2 "manipulator"&a& +3 "core" &-  J  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &h& +3 "core" &- A  +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&i'w +96 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&X/ +56 "core" / + "manipulator"&k& +4 "core" &-    +2 "manipulator"&c% +4 "core" % a  \ R +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&^' +101 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&l( +119 "core" ( +2 "manipulator"&f& +4 "core" &   A + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +3 "core" &  o A +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +3 "manipulator"&p' +89 "core" ' +2 "manipulator"&m& +3 "core" &  , A +3 "manipulator"&t% +3 "core" % k a +3 "processing"% & +3 "core" &%\ t +3 "processing"%j& +5 "core" &\ t +2 ."psFlush"PC.seek :closed +2 "processing"%w(^ +5 "core" &\ s +7 &8\ p$e +9 &Uo\ m7 +10 &m\ lL +9 &I\ oO +9 &_I\ oN +10 & I\ oN +9 &J\ nN +9 &I\ sN +10 &jH\ M +9 &+N\ M +49 &K\ N +11 &!K\ N + &#qL\ M +2 &%4I\ M + &&L\ N +2 &(K\ M +3 &*yI\ M +6 &,;I\ M +10 &-L\ tN +9 &/J\ qN +9 &1}I\ qO +10 &3@I\ pN +9 &5I\ pN +9 &6G\ oN +10 &8I\ oO +9 &:HI\ oN +9 &<\ K\ nN +10 &=J\ nO +9 &?L\ nO +10 &API\ oN +9 &C T\ mP +9 &D\\/\ mQ +10 &FnS\ kS +9 &HET\ U +9 &JT\ T +10 &KT\ U +9 &MQ\ U +10 &OKF\ U +9 &Q G\ V +9 &R@\ U +10 &T@\ V +9 &VRK\ V +9 &XF\ V +10 &YD\ V +9 &[<\ mW +10 &]U.\ kG +9 &^x>f,\ n's +9 &^63\ p1 +6 ( + "processing"%j& +4 "core" &^$2\ p1 +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.77 + "processing"%N& +4 "core" &^$(\ p1 +2 ."psFlush"Hand.open + "manipulator"&[1 +62 "core" 1 + "manipulator"&u% +4 "core" % 1 -  a +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&y' +97 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%z +43 "core"  +3 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%v' +592 "core" ' + ."psFlush"delay 5 seconds +111 #"da"SX HX9/16 (USB:20): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 19.52 seconds\ /var/log/esp/da23sep0820h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0820h15s.tif +389 ."psFlush"PSR.select :air +12 "processing"% +10 ."psFlush"PS.seek 2.5ml +3 "processing"%}' +1157 #"da"SX HX9/16 (USB:20): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0820h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0820h20s.tif +957 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%W @ +189 "core" A + ."psFlush"PTV.dial :PRVmixing +3 "processing"%n  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%~ +101 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +570 #"da"SX HX9/16 (USB:20): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0820h20s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "19.52 sec auto-exposure",Subject: "da23sep0820h images!" +4 "storage"({- +12 "core" -' +6 "storage"(& +11 "core" &E \ +2 "manipulator"&& +3 "core" & - ,  A +3 "manipulator"&% +4 "core" %  - - F  +2 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +245 "core" ( +3 "manipulator"& & +7 "core" &  '  +4 "storage"(& +10 "core" &E 7\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"& ' +102 "core" ' +6 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +14 "storage"('" +61 "core" ' +4 "manipulator"&& +9 "core" & Y  +3 "storage"(& +7 "core" &E  # \ +4 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +4 "manipulator"&q'8 +19 "core" ' +4 ."da"Elbow.hold +6 "manipulator"&, +8 "core" , +3 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +6 "storage"(' +30 "core" ' +4 "manipulator"&% +7 "core" %B &  L +3 "storage"(& +8 "core" &E 8 9 \ +3 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 310 counts +4 "manipulator"& 'n +15 "core" ' +3 "manipulator"&K& +7 "core" &   g  +5 "storage"(& +11 "core" &E . > "\ +5 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +114 ."da"Forearm.seek 1 + 450 counts +6 "manipulator"&' +18 "core" ' +4 "storage"(% +9 "core" % X X c\  +4 ."downElevator"SE.seek :down +6 "storage"(' +98 ( % +5 "core" %iA   ;\ TX +5 "manipulator"&% +8 "core" % } +5 ."da"Forearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +8 ."da"Forearm.seek :retract +5 "manipulator"&"' +93 "core" ' +36 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 (& +6 "core" &E / A C\ +833 ' +2 ."psFlush"PSR.select :air +5 .PSV.dial PSR +3 "processing"%s +101 "core"  +3 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +4 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%' +596 "core" ' +5 ."psFlush"delay 5 seconds +268 #"uploadLog"upsync +237 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%%' +2126 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%&  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%! @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%# +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%$'ؠ +2649 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%) +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%+'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%,' +1615 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%( +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%'  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%/  +4 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%*'ؾ +926 "Can" B ]C +1713 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%- +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%3' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +3 "processing"%2' +2115 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%0 +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%. U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%6'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%4 @ +41 "core" ? +2 ."psFlush"PS.seek 2.5ml +3 "processing"%5' +2637 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%1  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%7'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%8 +41 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%:' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%= +70 "core" +2 ."psFlush"PBV.dial PSV + "processing"% U +5 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%Q'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%? @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%<' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%@  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%C'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%E +42 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%H'X\\ +1139 "core" ' +9 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%|' +1617 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PTV.dial :puck +3 "processing"%A  +4 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%L  +51 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%r'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%g +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%D' +594 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%I' +2116 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%F +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%; U +52 "core" W +3 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%G @ +53 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%o' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%P  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%\ 'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%M +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%R' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%V +81 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%\\ U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%O'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +41 "core" ? +3 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +2634 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%`  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%U'ؾ +2626 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&e& +4 "core" & >  +2 "manipulator"&Y% +4 "core" %   +2 ."psFlush"Elbow.seek PC + "manipulator"&J( +246 "core" ( +2 "manipulator"&B& +3 "core" & \  %  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +2 "core" & L  +3 ."psFlush"Forearm.seek PC +2 "manipulator"&h' +97 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +64 "core" / +2 ."psFlush"PC.seek :open + "processing"%( +456 "core" ( + "manipulator"&X& +4 "core" & [  +2 "manipulator"&k% +3 "core" %  } +3 ."psFlush"Forearm.seek :retract + "manipulator"&c' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&](- +129 "core" ( + "manipulator"&f& +4 "core" &-   +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &- T +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&i'w +105 "core" ' + ."psFlush"Hand.open +2 "manipulator"&m1 +61 "core" 1 + "manipulator"&t% +4 "core" % w   _ +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'Z& +3 "core" & {\ +2 "manipulator"&^& +4 "core" &- A +2 .tElbow.reconfigure :tight +42 "manipulator"&$&.,(\ #b +6 .tElbow.seek FlushPuck::Garage +2 "manipulator"&T(- +19 "core" ( +2 "manipulator"&N& +4 "core" &-  4 P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &- e P +2 .tForearm.seek :garage +2 "manipulator"&u'w +101 "core" ' + .tHand.close +2 "manipulator"&j/ +55 "core" / + "manipulator"&z& +4 "core" &-   P +2 "manipulator"&p% +4 "core" % } d +2 .tForearm.seek :retract +2 "manipulator"&9' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +279 "core" ( + "manipulator"&W& +3 "core" &y)  k Aa +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &z)  Z A` +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&~'? +99 "core" ' +2 "manipulator"&}& +3 "core" &z) ) % A` +2 "manipulator"&{% +4 "core" %F $  B +2 "collection"'& +4 "core" & }\ +3 "collection"'& +4 "core" & |\ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & y\ +8 &; \ $e +9 &Vv z\ 6 +9 &y y\ K +10 &T x\ L +9 &rT u\ L +9 &4T \ L +10 &X \ L +9 &U \ L +10 &yW \ L +9 &<U \ L +9 &R \ L +10 &!T \ K +9 &#U \ L +9 &%ES \ K +10 &'T \ L +9 &(X \ L +10 &*S \ K +9 &,LU \ L +9 &.R \ L +10 &/T \ K +9 &1U \ L +9 &3UT \ K +10 &5U \ L +9 &6U \ L +10 &8T \ L +9 &:\\U \ L +9 &<S \ L +10 &=U \ L +9 &?U \ L +9 &AcY \ L +10 &C"a \ M +9 &Do \ O +10 &F \ S +9 &HK \ W +9 &J\ \ X +10 &K \ X +9 &M \ X +9 &ON \ Y +10 &Q \ Y +9 &R \ Z +10 &T \ Z +9 &VL \ \\ +9 &X \ \\ +10 &Y \ ] +9 &[ \ J +9 &\\; \ + +10 &\\ \ ] +5 ( +2 "collection"'& +3 "core" &\\ \ ] +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.40 + "collection"' & +4 "core" &\\ \ ] +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"&l% +4 "core" % F ! ) 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +41 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1.5ml + "processing"%y'+ +1610 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%  +44 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1618 "core" ' +2 .tPSV.dial PSR +2 "processing"%K +42 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2241 "Can"\ Y _C +401 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%b  +2 "collection"'  +6 "core" +91  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +187 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck + "processing"% @ +70 "core" @ +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%q  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"% ' +2633 "core" ' +2 .tPSV.dial :PTV +2 "processing"% +71 "core"  +3 .tPS.seek 0ml + "processing"% 'ؾ +2624 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &Ӥ" "   ;6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +38 "core" ( + "manipulator"&& +4 "core" &{  c 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &{   5 +2 .tForearm.seek CC +2 "manipulator"&s'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'( +449 "core" ( +2 "manipulator"&&& +3 "core" &ӛ / 1 +2 "manipulator"&!% +9 "core" % E D +38 .tForearm.seek :retract +10 "manipulator"&#' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&%(- +286 "core" ( +2 "manipulator"&)& +3 "core" &-  K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &- W K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&+'w +94 "core" ' +2 .tHand.open + "manipulator"&(1 +59 "core" 1 +2 "manipulator"&'% +4 "core" %   0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' +17998 #t-> access 1 +2 "storage"(,% +3 "core" % r s \  +3 "manipulator"&-% +4 "core" %  m  + "manipulator"&*& +3 "core" &- C K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(3(<- +1295 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (0& +3 "core" &<* 7 5\ +3115 #t-> access 2 +2 "storage"(.% +3 "core" % s s \  +2 "manipulator"&2% +3 "core" %  a  +2 "manipulator"&4& +4 "core" &- L K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(6(K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" &K 7 ? \  +8949 #t-> startTube 2 +753 #-> $da[:extractVol]=.2 +17213 "Can" 9 b C# +27810 #t-> shortDA; PS.flush +2 "collection"'5% +2 "processing"%8% +4 "core" %j z\ +7 %X\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +221 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%7 +43 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%=  +71 "core" +2 .tPRV.dial :sipper + "processing"%  +127 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%:'e +2300 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%?  +126 "core"  +2 .tPS.seek 0.5ml +2 "processing"%Q' +1288 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%@ @ +98 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml +2 "processing"%<'ؾ +589 "core" ' +2 .tPSV.dial PSR + "processing"%E +102 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%C'X\\ +1100 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%H' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"% +101 "core" +3 .tPS.seek 0ml + "processing"%A'ؾ +2632 "core" ' +2 .tPSV.dial PSR +2 "processing"%L +100 "core"  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%|'X\\ +1107 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%g' +1614 "core" ' + .tPSV.dial :mixloop +2 "processing"%r +100 "core" + .tPRV.dial :sipper +2 "processing"%D  +42 "core" +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%; +100 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%I' +2638 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +101 "core" +3 .tPS.seek 0ml + "processing"%S'ؾ +2636 "core" ' + #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%P& +3 "core" &@\ +2 "manipulator"&o% +4 "core" %  c  +2 "storage"(M% +4 "core" % { w p\  + "storage"(\ . +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(V(  +1302 "core" ( +2 .tSC.configure :limp +39 "storage"($\ 1b +10 (\\& +3 "core" &  H @ $\ +2 "manipulator"&R& +4 "core" &-  r K +2 "manipulator"&% +4 "core" %   v  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&O( +183 "core" ( +2 "manipulator"&`& +4 "core" & , +2 "storage"(_& +4 "core" &  t u G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&e'S +90 "core" ' +2 "storage"(Y& +3 "core" &  | | i\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +299 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & Y W t\ +2 "manipulator"&& +4 "core" &  X +2 .tElbow.seek 2 +2 "manipulator"&"( +4 "core" ( + "manipulator"&w& +4 "core" &  +2 "storage"(X& +4 "core" & W W w\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&k'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +3 "storage"(h' +8 "core" & 2 + "manipulator"&J% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&m' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&Z& +3 "core" & n + +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &^& +3 "core" & 3 + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&c' +91 "core" ' +2 "manipulator"&N& +4 "core" & + +2 "manipulator"&[% +4 "core" % U  +2 "processing"%i& +3 "core" &e\ +3 "processing"%j& +5 "core" &?\ +2 .tPC.seek :closed +2 "processing"%z(^ +3 "core" &A\ +9 &3>\ $e +9 &WvA\ 7 +10 &uC\ L +9 &Q@\ M +9 &uTC\ M +10 &7SC\ M +9 &TA\ M +10 &T8\ M +9 &}U0\ M +9 &?U1\ M +10 & Q4\ L +9 &!R4\ M +9 &#U8\ M +10 &%GU5\ M +9 &' T6\ M +10 &(T0\ M +9 &*U2\ M +9 &,OU7\ M +10 &.P3\ M +9 &/Q0\ M +9 &1Q0\ L +10 &3WR+\ M +9 &5T+\ M +10 &6U"\ L +9 &8Q\ L +9 &:`R\ L +10 & +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%0 +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%.  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%2'ؾ +2352 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%4  +127 "core" +2 .tPSV.dial :mixloop +2 "processing"%3 +43 "core" +2 .tPRV.dial :ab1 + "processing"%1 @ +99 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%5' +356 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%8  +42 "core"  +2 "processing"%7% +4 "core" %v\ +2 .tPS.seek 0.35ml + "processing"%='k +463 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +30 "core" +2 .tPRV.dial :air +2 "processing"%  +40 "core"  +3 .tPS.seek 0.9ml + "processing"%?'K +1176 "core" ' + .tPRV.dial :waste2 +2 "processing"%: @ +70 "core" ? +3 .tPS.seek 0.5ml + "processing"%@' +864 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%Q  +55 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%E' +1616 "core" ' + .tPSV.dial :PML +2 "processing"%< +42 "core" +2 .tPTV.dial :mixing +2 "processing"%C @ +71 "core" B +2 .tPBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%H% +3 "core" %\  +3 .tPS.seek 1.85ml + "processing"%L' +238 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%A * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%|'ؾ +1969 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'r& +3 "core" & S\ +2 "manipulator"&D& +3 "core" & + +2 "manipulator"&g% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&;(- +125 "core" ( + "manipulator"&F& +4 "core" &-   +2 .tElbow.reconfigure :loose +45 "manipulator"&$ &.,(#b +6 &G& +3 "core" &-   +2 .tForearm.seek :garage +2 "manipulator"&I'w +93 "core" ' +2 .tHand.close + "manipulator"&P/ +54 "core" / +2 "manipulator"&o& +4 "core" &-   +2 "manipulator"&M% +3 "core" % u @  +3 .tForearm.seek :retract + "manipulator"&\ ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&6(ӂ +105 "Can" D f\ AC +172 "core" ( + "manipulator"&\\& +5 "core" &ӎ&   ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &ӎ& ' ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&`& +4 "core" &ӏ&   ?S +2 "manipulator"&_% +4 "core" %M \   H +2 "collection"'Y& +5 "core" & e\ +2 "collection"'%& +5 "core" & ^\ +2 .tCC.seek :closed +2 "collection"'/(\\ +5 "core" & b\ +6 &B [\ %g +10 &Zy [\ 8 +9 & x b\ L +9 &S \\\ L +10 &V `\ L +9 &PU ^\ L +10 &W Z\ L +9 &V d\ L +9 &U b\ L +10 &YU \\\ L +9 & U d\ L +9 &!T [\ L +10 &#T Z\ L +9 &%aQ Z\ L +10 &'#R ]\ L +9 &(U Z\ L +9 &*T Y\ L +10 &,jV ^\ L +9 &.,U \\\ L +9 &/T W\ L +10 &1V Z\ L +9 &3rU W\ L +10 &53U S\ L +9 &6V V\ L +9 &8U Y\ L +10 &:yU f\ L +9 &<;W b\ L +9 &=V V\ L +10 &?U L\ L +9 &AX H\ L +10 &C@` W\ M +9 &Dr \\\ O +9 &F V\ T +10 &Hg ]\ X +9 &J) M\ X +9 &K K\ Z +10 &M S\ Z +9 &Oj O\ Y +10 &Q( M\ [ +9 &R Q\ [\ +9 &T I\ \\ +10 &Vj J\ \\ +9 &X( N\ ] +9 &Y O\ ] +10 &[ I\ K +9 &\\1 P\ 3 +10 &\\n O\ P +2 ( +2 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 + "collection"'a& +3 "core" &\\h P\ P +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +3 "core" % M  ( H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' + .tPSV.dial PSR +2 "processing"%X +100 "core" +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%f'+ +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%d  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%J'ؾ +1616 "core" ' +2 .tPSV.dial PSR + "processing"%O +44 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%e' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%B  +2 "collection"'k  +32 "core" +122  +2 .tPSV.dial :mixloop + "processing"%Z +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%^  +72 "core" +2 .tPS.seek 0ml +2 "processing"%"'ؾ +2636 "core" ' +2 .tPSV.dial :air +2 "processing"%N  +54 "core"  +2 .tPS.seek 2.5ml +2 "processing"%[' +2638 "core" ' +2 .tPSV.dial :mixloop + "processing"%i +42 "core" +3 .tPS.seek 0ml + "processing"%h'ؾ +2639 "core" ' + .tPSV.dial :air +2 "processing"%m  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"%p +44 "core" +2 .tPS.seek 0ml +2 "processing"%]'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&W& +4 "core" &Ӭ!  < ;6 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +23 "core" ( +2 "manipulator"&n& +3 "core" &Ӂ   "x +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &Ӂ \ g "x +3 .tForearm.seek CC + "manipulator"&T'? +98 "core" ' +2 .tHand.close + "manipulator"&}/ +55 "core" / +9 .tCC.seek :open +2 "collection"'{( +451 "core" ( +2 "manipulator"&& +4 "core" &ӆ\ \ \  !s +2 "manipulator"&9% +4 "core" % \ > +2 .tForearm.seek :retract +2 "manipulator"&x' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"& (- +277 "core" ( +2 "manipulator"&& +4 "core" &-   i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &- C i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +91 "core" ' +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"&~% +4 "core" % t  O ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' +2 ."da"delayUntil "20:51:08.18" +24762 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"% @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%y  +33 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%K * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2374 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%b +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +54 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +2339 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +139 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core"  +2 "processing"%v% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%S'. +606 "core" ' + ."da"delay 3 seconds +176 "Can" < i\ C +127 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%&'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%!  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%s  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%) * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%$' +2359 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%u +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%' +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%#  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +2336 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%(' +590 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +42 "processing"%*' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%>  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%0 +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%.  +34 "core" + "processing"%-% +4 "core" %~\  +2 ."da"PS.seek 1.5ml +2 "processing"%4'' +600 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%3 * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%2  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%8  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%7 * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%5 +85 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2384 "core" ' + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%= +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%: +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%?  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +2330 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%@  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%<  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%C  +42 "core" ~ +2 ."da"PTV.dial :PRVmixing + "processing"%  +16 "core" + ."da"PSV.dial :mixloop +2 "processing"%H +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%A' +387 "core" ' +3 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%E  +43 "core"  +2 "processing"%L% +3 "core" %\  +3 ."da"PS.seek 0.55ml + "processing"%r' +336 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%D  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%g' +1566 "core" ' + ."da"PSV.dial :PML +2 "processing"%F +44 "core" + ."da"PTV.dial :mixing +2 "processing"%G @ +73 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%t  +32 "core" +2 "processing"%P% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"%o' +228 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%M * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +2688 "Can" @ l0 mC +45314 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%I @ +16 "core" ? + ."da"PBV.dial :waste1 +2 "processing"%\\  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%R * +33 "core" + + ."da"PSV.dial :air +2 "processing"%;  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%`' +2379 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%_ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%Y  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"%\ +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%  +54 "core"  +2 ."da"PS.seek 0ml +2 "processing"%a'ؾ +2319 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +600 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%%' +1613 "core" ' +8 ."da"PTV.dial :puck +2 "processing"%X  +70 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%|  +33 "core" + "processing"%d% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%f'- +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%O * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%J'ؾ +1628 "core" ' +2 ."da"delay 2:00 +380 "Can" > n C" +11623 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%k  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%B * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Z +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%^' +2387 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%e +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%N +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%" +69 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%i  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%['ؾ +2333 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%m +126 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%h' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%p' +1616 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%W  +32 "core" +2 "processing"%n% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%c'- +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%} * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%6'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%w  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%/ * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +71 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%9' +2395 "core" ' +2 ."da"PSV.dial PTV + "processing"%T +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%l +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%j  +84 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2317 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%~ +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%x' +609 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1626 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"PBV.dial :waste1 + "processing"%y  +33 "core" +2 "processing"%K% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%', +587 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%b'ؾ +1635 "core" ' +9 ."da"delay 2:00 +5807 "Can" = q! C" +6196 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +70 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2380 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%q +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +71 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2336 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +132 "core" +3 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%v' +331 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"% ' +336 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1616 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%S +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%!  +34 "core" +2 "processing"%s% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%)', +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +3 ."da"PS.seek 0ml + "processing"%&'ؾ +1612 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%u * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%' +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +3 "processing"%#' +2416 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%$ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%, +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%+ +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%(  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +2385 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +130 "core" +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%.' +2119 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%- +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%*  +34 "core" +2 "processing"%3% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%4'( +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%2 * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%8  +101 "core"  +2 ."da"PS.seek 0ml +2 "processing"%7'ؾ +1605 "core" ' +2 "processing"%59 +3 "core" 9j5_ +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast +2 "processing"%1 +2 "core" 5` +2 "processing"% & +3 "core" &^\ 0 +3 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&=% +4 "core" %  Y  + "storage"(:% +4 "core" % 1\  +2 "storage"(?. +2 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"((C +353 "core" ( +45 ."da"SC.configure :limp +9 "storage"($\ 1b +3 (@& +3 "core" &D _\ +2 "manipulator"&<& +4 "core" &- [ i + "manipulator"&C% +4 "core" %  \\  +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +172 "core" ( +2 "manipulator"&H& +4 "core" &   2 + "storage"(Q& +4 "core" &D 5\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&E' +90 "core" ' +2 "storage"(L& +3 "core" &D \ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak +2 "storage"(A'r +276 "core" ' +2 "storage"(D- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(r'1 +38 "core" ' +2 "manipulator"&F& +4 "core" & i 1 +2 "manipulator"&G% +4 "core" % e u +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&P( +244 "core" ( +2 "manipulator"&M& +3 "core" &  P +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &g& +3 "core" & v +2 ."da"Forearm.seek PC +2 "manipulator"&o' +91 "core" ' +2 ."da"Hand.close + "manipulator"&/ +64 "core" / +2 ."da"PC.seek :open +2 "processing"%I( +456 "core" ( + "storage"(\\& +3 "core" &D \ +3 "manipulator"&R& +4 "core" &  + "manipulator"&;% +4 "core" %  5 +2 ."da"Forearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&_( +244 "core" ( +2 "manipulator"&Y& +3 "core" & C +2 "storage"(\ & +4 "core" &D [\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +96 "core" ' +2 ."da"Hand.open + "manipulator"&`1 +63 "core" 1 +3 "storage"(- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +3 "storage"(a' +25 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0821h.tif +4 "processing"%X& +10 "core" &\ m +5 "manipulator"&& +4 "core" & = C +3 "manipulator"&|% +4 "core" %     +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&d' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&%(- +178 "core" ( +2 "manipulator"&O& +3 "core" &-  4 +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &- & 4 +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&k'w +90 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&B/ +62 "core" / +2 "manipulator"&Z& +3 "core" &-  % 4 +3 "manipulator"&J% +4 "core" % υ  <  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&e' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&N( +117 "core" ( +9 "manipulator"&"& +4 "core" & b N + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +2 "core" &  Y N +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +3 "manipulator"&^' +91 "core" ' + "manipulator"&m& +3 "core" &  N +3 "manipulator"&[% +4 "core" % \  _ +2 "processing"%h& +3 "core" &@\ o +3 "processing"%& +5 "core" &=\ o +2 ."psFlush"PC.seek :closed +2 "processing"%W(^ +5 "core" &\ o +7 &9\ k$e +9 &Vr\ h7 +9 &~p\ gL +10 &H\ jO +9 &]I\ jO +9 &G \ jO +10 &G\ jO +9 &F\ N +10 &iJ\ N +9 &+K\ N +9 &L\ N +10 &!J\ N +9 &#rL\ N +9 &%4K\ N +10 &&K\ M +9 &(K\ N +10 &*zK\ N +9 &,<K\ N +9 &-J\ nN +10 &/J\ lO +9 &1I\ lO +9 &3@L\ kO +10 &5G\ kO +9 &6G\ kO +10 &8I\ jO +9 &:II\ jO +9 &< H\ jO +10 &=I\ jO +9 &?K\ iO +9 &AOJ\ iO +10 &C T\ hQ +9 &DZ\ hQ +10 &Fo\ S +9 &HG\ U +9 &J\ U +10 &K\ U +9 &M\ V +9 &OL\ V +10 &Q Z\ W +9 &R[\ V +10 &Ta\ W +9 &VSa\ V +9 &X`\ V +10 &YY\ hX +9 &[P\ gX +9 &]UL\ fH +10 &^x>jG\ i(u +9 &^-G\ k1 +6 ( + "processing"%& +5 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + "processing"%n& +4 "core" &^ Q\ l1 + &^ 8\ k1 +2 ."psFlush"Hand.open +2 "manipulator"&p1 +52 "core" 1 +2 "manipulator"&}% +3 "core" %    _ +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&c' +92 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%w +45 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%/' +598 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +39 #"da"SX HX9/16 (USB:21): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 24.009 seconds\ /var/log/esp/da23sep0821h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0821h15s.tif +1571 #SX HX9/16 (USB:21): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0821h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0821h20s.tif +515 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%6 @ +187 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%T  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +2 ."psFlush"PS.seek :empty +3 "processing"%l'ؠ +1010 #"da"SX HX9/16 (USB:21): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0821h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "24.009 sec auto-exposure",Subject: "da23sep0821h images!" +4 "storage"(j- +3 "core" -' +2 "storage"(9& +8 "core" &D .\ +8 "manipulator"&~& +9 "core" &  "  N +7 "manipulator"&% +5 "core" %    5  +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +5 "manipulator"&x( +245 "core" ( +2 "manipulator"&& +3 "core" & # *   +3 "storage"(y& +3 "core" &D  >\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&K' +108 "core" ' +4 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"('" +59 "core" ' +3 "manipulator"&]& +8 "core" & @  +3 "storage"(& +7 "core" &D  $ |\ +128 ."da"Elbow.reconfigure :limp +10 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +4 "manipulator"&'8 +27 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&, +6 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +9 ."da"SE.seek -0.32 Pucks below Top Plate +5 "storage"(' +29 "core" ' +4 "manipulator"&b% +6 "core" %A T +5 "storage"(& +8 "core" &D 8 8\ +3 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 309 counts +5 "manipulator"&q'm +17 "core" ' +4 "manipulator"&& +8 "core" & %  +4 "storage"(& +6 "core" &D W W ]\ +6 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"& ' +17 "core" ' +3 "storage"(% +8 "core" % U M \  +8 ."downElevator"SE.seek :down +13 "storage"(' +94 (v% +6 "core" %C   \ TW +4 "manipulator"& % +8 "core" % s +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +2 "manipulator"&S' +91 "core" ' +47 ' +4 ."downElevator"SE.stop + "storage"(5 +6 (!& +6 "core" &D * ) -\ +391 ' +2 ."psFlush"PSR.select :air +5 .PSV.dial PSR +5 "processing"%s +100 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +5 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%' +593 "core" ' +4 ."psFlush"delay 5 seconds +453 #"uploadLog"upsync +50 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2119 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 +2 "processing"%)  +33 "core" + ."psFlush"PTV.dial :mixing +2 "processing"% @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%u +102 "core" +2 ."psFlush"PS.seek :empty + "processing"%''ؠ +2650 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%& +100 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%$'X\\ +1102 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%,' +1609 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%+ +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%(  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%#  +5 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%0'ؾ +1361 "Can" @ v /C +1269 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%> +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%-' +584 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%*' +2122 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%3 +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%. U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%2'ؾ +2657 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%8 @ +41 "core" ? +3 ."psFlush"PS.seek 2.5ml + "processing"%4' +2629 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%5  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%1'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +42 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%=' +2629 "core" ' +9 ."psFlush"PSV.dial PTV +2 "processing"%: +71 "core" + ."psFlush"PBV.dial PSV +3 "processing"%? U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%V'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%@ @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%<' +2629 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%C  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%H'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%Q +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%L'X\\ +1096 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%U +70 "core" + ."psFlush"PTV.dial :puck +2 "processing"%D  +15 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%F  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%G'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%A +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%E' +587 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%M' +2125 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%g +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%t @ +41 "core" ? +2 ."psFlush"PS.seek 2.5ml +3 "processing"%z' +2650 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%\\  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%R'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%; +41 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%o' +2642 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Y +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%\ U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%P'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%` @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%X  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2657 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&|& +4 "core" & S  +2 "manipulator"& % +3 "core" %    +3 ."psFlush"Elbow.seek PC +2 "manipulator"&r( +241 "core" ( +2 "manipulator"&a& +3 "core" &   4 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &O& +2 "core" & S 4 +3 ."psFlush"Forearm.seek PC +2 "manipulator"&f' +91 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +53 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%_( +461 "core" ( +2 "manipulator"&B& +3 "core" &  4 +2 "manipulator"&Z% +4 "core" %   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&J' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +48 "manipulator"&d(- +126 "core" ( +2 "manipulator"&"& +3 "core" &-  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +2 "core" &-  +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&k'w +101 "core" ' + ."psFlush"Hand.open +2 "manipulator"&m1 +53 "core" 1 + "manipulator"&[% +5 "core" % π  3 +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&h' +97 "core" ' +2 #tFinished short da assay + #Flushing Processing stage +2 "processing"%%% +3 "core" %\  +3 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%e& +3 "core" &\ +3 "manipulator"&I& +4 "core" &- ] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&n(- +19 "core" ( +2 "manipulator"&p& +3 "core" &-  Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &- 4 Z +3 .tForearm.seek :garage +2 "manipulator"&'w +91 "core" ' +2 .tHand.close + "manipulator"&w/ +61 "core" / +2 "manipulator"&^& +3 "core" &- Z +2 "manipulator"&7% +5 "core" % π = +2 .tForearm.seek :retract + "manipulator"&/' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&6( +118 "core" ( + "manipulator"&T& +4 "core" & L 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + "manipulator"&j& +4 "core" & { 0 +2 "manipulator"&9% +4 "core" % + +2 "processing"%~& +4 "core" &\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &5w\ )w +9 &fx\ > +9 &e\ L +10 &IO\ L +9 & O\ L +10 &N\ L +9 &N\ L +9 &RN\ L +10 &N\ L +9 &O\ L +9 & P\ K +10 &"ZP\ L +9 &$R\ L +10 &%R\ L +9 &'N\ L +9 &)bN\ L +10 &+%P\ K +9 &,Q\ L +9 &.S\ L +10 &0jQ\ L +9 &2,S\ L +10 &3O\ L +9 &5Q\ K +9 &7rQ\ L +10 &93T\ L +9 &:Q\ L +9 &<T\ L +10 &>yP\ L +9 &@;R\ L +10 &AT\ L +9 &C_\ N +9 &Ezi\ N +10 &G3\ Q +9 &H\ S +9 &J\ S +10 &Lu\ S +9 &N5\ S +10 &O\ T +9 &Q\ T +9 &Sy\ T +10 &U;\ T +9 &V\ T +10 &X\ S +9 &Z\ T +9 &\\B\ T +10 &]|q\ 5 +9 &^/\ N +9 &^\ / +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.68 +2 "processing"%y& +3 "core" &^\ / +2 .tHand.open + "manipulator"&N1 +56 "core" 1 +2 "manipulator"&]% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tPSV.dial PSR + "processing"%c +42 "core" + .tPSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1110 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%b' +1617 "core" ' + .tPSV.dial PTV +2 "processing"% +70 "core" +2 .tPTV.dial :puck + "processing"%  +5 "core"  +2 .tPBV.dial :waste1 + "processing"%  +50 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' +2 .tPSV.dial PSR +2 "processing"%K +71 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%x' +591 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%v' +549 "Can" A x C/ +1570 "core" ' + .tPSV.dial PTV +2 "processing"% +72 "core" +2 .tPBV.dial PSV +41 "processing"% U +58 "core" V +3 .tPS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' +2 .tPSV.dial PBV +2 "processing"%q @ +43 "core" > +3 .tPS.seek 2.5ml +2 "processing"%!' +2636 "core" ' +2 .tPSV.dial :waste1 + "processing"%  +69 "core"  +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2633 "core" ' +2 .tPSV.dial PSR +2 "processing"% +42 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%s' +2636 "core" ' + .tPSV.dial PTV +2 "processing"%l +70 "core" +2 .tPBV.dial PSV + "processing"% U +5 "core" V +2 .tPS.seek 0ml +2 "processing"%)'ؾ +2630 "core" ' +2 .tPSV.dial PBV + "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%u' +2640 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +70 "core"  +3 .tPS.seek 0ml + "processing"%&'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&'& +4 "core" &  0 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&+& +4 "core" &  Q 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" & 0 +3 .tForearm.seek PC +2 "manipulator"&#' +92 "core" ' +2 .tHand.close + "manipulator"&,/ +53 "core" / +2 .tPC.seek :open +2 "processing"%>( +461 "core" ( +2 "manipulator"&0& +3 "core" & c 0 +3 "manipulator"&-% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&3' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&.(- +128 "core" ( +2 "manipulator"&*& +4 "core" &-  [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &- i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&2'w +93 "core" ' + .tHand.open +2 "manipulator"&51 +53 "core" 1 +2 "manipulator"&4% +4 "core" % o   6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' +3405 #t-> access 1 +3 "storage"(1% +3 "core" % t u\  +2 "manipulator"&:% +3 "core" %   +3 "manipulator"&?& +3 "core" &- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(=(<- +1295 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" &<* ( , @\ +18269 #t-> access 2 +2 "storage"(V% +3 "core" % r r\  +2 "manipulator"&C% +4 "core" %  R  +2 "manipulator"&<& +3 "core" &- P +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(Q(K +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &K 7 4 #\  +2609 #t-> startTube 2 +943 #-> $da[:extractVol]=.2 +11273 "Can" 8 z[C +24850 #t-> shortDA; samplePassF +2 "collection"'L% +2 "processing"%U% +5 "core" %j \ +2 %غn\ +5 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +155 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%D +129 "core" +2 .tPTV.dial :PRVmixing + "processing"%F  +127 "core" + .tPRV.dial :sipper +2 "processing"%  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%A'e +2295 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%G  +125 "core" +3 .tPS.seek 0.5ml + "processing"%E' +1318 "core" ' +4 .tPRV.dial :waste2 +2 "processing"%g @ +99 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%'ؾ +596 "core" ' +2 .tPSV.dial PSR + "processing"%M +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%t'X\\ +1101 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1613 "core" ' +2 .tPSV.dial :mixloop + "processing"%\\ +102 "core" +2 .tPS.seek 0ml +2 "processing"%z'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"%; +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%R'X\\ +1098 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%Y' +1612 "core" ' +2 .tPSV.dial :mixloop + "processing"%\ +113 "core" +2 .tPRV.dial :sipper + "processing"%o  +41 "core" +2 .tPS.seek 0ml +2 "processing"%`'ؾ +2643 "core" ' + .tPSV.dial PSR +2 "processing"%P +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%X' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"% +102 "core" +2 .tPS.seek 0ml +2 "processing"%|'ؾ +2635 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&a% +4 "core" %  }  +2 "storage"(O% +4 "core" % t t $\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1305 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (S& +3 "core" & L > W\ +2 "manipulator"&W& +4 "core" &- +2 "manipulator"&B% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&Z( +169 "core" ( + "manipulator"&"& +4 "core" &  > +2 "storage"(i& +4 "core" & p t \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&f'S +90 "core" ' +2 "storage"(r& +3 "core" & u q \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +296 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (%& +2 "core" & [ U \ +2 "manipulator"&e& +4 "core" & > +2 .tElbow.seek 2 +2 "manipulator"&I( +2 "core" ( +2 "manipulator"&J& +4 "core" &  " > +2 "storage"(p& +3 "core" & X Z\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&}'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +6 "manipulator"&k/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(^' +6 "core" & [ > +3 "manipulator"&7% +3 "core" %  l +3 .tForearm.seek :retract +2 "manipulator"&d' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&T& +5 "core" & # - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & P - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&j& +3 "core" & ! - +3 "manipulator"&9% +4 "core" %  A +2 "processing"%~& +3 "core" &\ +3 "processing"%n& +4 "core" &\ +3 .tPC.seek :closed + "processing"%/(^ +5 "core" &\  +9 &4w\ *x +9 &cz\ = +10 &vk\ M +9 &8O\ M +10 &O\ M +9 &Sv\ M +9 &Rt\ M +51 &BOv\ L +10 &Rs\ L +2 &Uv\ M + & St\ M +2 &"JPs\ L + &$ Ri\ L + &%Ut\ M +7 &'Rm\ M +10 &)RQj\ L +9 &+Rq\ L +9 &,Ut\ M +10 &.Tl\ L +9 &0YQk\ M +10 &2Tn\ L +9 &3Os\ M +9 &5Tj\ M +10 &7aTe\ M +9 &9$Pl\ L +9 &:R]\ L +10 &<Q_\ M +9 &>jR\\\ L +10 &@*U]\ M +9 &AZ]\ M +9 &Ch]\ O +10 &Een_\ Q +9 &Ga\ S +10 &H]\ T +9 &J\\\ S +9 &Le`\ S +10 &N$Y\ T +9 &O]\ T +9 &QW\ U +10 &SiK\ U +9 &U*H\ U +9 &VN\ T +10 &XK\ U +9 &ZqS\ U +10 &\\2S\ U +9 &]~uU\ 9 +9 &^2O\ M +10 &^R\ . +2 ( +2 "processing"%n& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&_1 +52 "core" 1 +2 "manipulator"&y% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +3 .PH.seek 28C,5:00 +2 "processing"%] h +2 %9 +7 "core" 9 +102 "processing"%c9 +2 "core" 9 +103 "processing"%9 +3 "core" 9  +103 "processing"%9 +2 "core" 9  +103 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +4 "core" 9 +102 "processing"%b9 +3 "core" 9" +102 "processing"%K9 +3 "core" 9& +102 "processing"%9 +3 "core" 9+ +102 "processing"%x9 +3 "core" 9/ +102 "processing"% 9 +4 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%v9 +3 "core" 9; +102 "processing"%q9 +3 "core" 9@ +102 "processing"%9 +3 "core" 9D +102 "processing"%9 +4 "core" 9H +102 "processing"%!9 +3 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"% 9 +3 "core" 9U +103 "processing"%l9 +2 "core" 9Y\ +103 "processing"%9 +2 "core" 9]\ +103 "processing"%s9 +2 "core" 9a +103 "processing"%9 +3 "core" 9f +102 "processing"%)9 +3 "core" 9j +102 "processing"%9 +3 "core" 9n +102 "processing"%u9 +3 "core" 9&r +3 .tPH.hold 2:00:00,28C +3 "processing"%' php +3 .tdelay 1:30 +5 "core" s +6361 "Can" < }4C +2639 .tPSR.select :air +3 .PSV.dial PSR + "processing"%+ +99 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%(' +598 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%,' +1613 "core" ' +2 .tPTV.dial :puck + "processing"%6  +128 "core"  +2 .tPSV.dial PTV +2 "processing"% +71 "core" +2 .tPBV.dial :waste1 +2 "processing"%  +53 "core" + "processing"%0% +4 "core" %\  +3 .tPS.seek 1.5ml + "processing"%-'- +597 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%* * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%8'ؾ +1613 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%#  +5 "core"  +2 .tPBV.dial :waste1 + "processing"%$  +35 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%5 * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%3' +2388 "core" ' + .tPSV.dial PTV +2 "processing"%2 +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%1 +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%: +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%?  +85 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2324 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%@  +128 "core" +2 .tPSV.dial :mixloop + "processing"%V +42 "core" +2 .tPRV.dial :ab1 +2 "processing"%C @ +98 "core" ? +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%<' +350 "core" ' +2 .tdelay 2 seconds +209 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%=  +42 "core"  +2 "processing"%H% +3 "core" %\ +3 .tPS.seek 0.35ml +2 "processing"%L'f +457 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'U  +29 "core" + .tPRV.dial :air +2 "processing"%D  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%F'K +1176 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +70 "core" > +2 .tPS.seek 0.5ml +2 "processing"%&' +866 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%G  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%A' +1617 "core" ' +2 .tPSV.dial :PML +2 "processing"%g +43 "core" +2 .tPTV.dial :mixing +2 "processing"%E @ +71 "core" A +2 .tPBV.dial :waste1 +2 "processing"%M  +32 "core" +2 "processing"%% +3 "core" %\  +3 .tPS.seek 1.85ml + "processing"%t' +240 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%\\ * +32 "core" + +3 .tPS.seek 0ml +2 "processing"%'ؾ +1969 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"';& +3 "core" & \ +2 "manipulator"&z& +4 "core" &  - +2 "manipulator"&R% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&\ (- +130 "core" ( + "manipulator"&o& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &- u  +2 .tForearm.seek :garage +2 "manipulator"&P'w +98 "core" ' +2 .tHand.close + "manipulator"&`/ +58 "core" / +2 "manipulator"&& +3 "core" &-  ,  +2 "manipulator"&X% +4 "core" % τ  f +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&a(ӂ +289 "core" ( +2 "manipulator"&O& +3 "core" &ӌ !  K 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӌ  ( 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Q'? +100 "core" ' +2 "manipulator"&S& +3 "core" &ӌ ( \\ 2 +3 "manipulator"&W% +3 "core" %A   q  +3 "collection"'B& +4 "core" & \ +2 "collection"'"& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'i(\\ +5 "core" & \ +7 &B \ $f +9 &Yz \ 7 +10 &w \ L +9 &P \ L +10 &Q \ L +9 &DR \ L +9 &S \ L +10 &U \ L +9 &S \ L +9 &OT \ K +10 & T \ L +9 &!Q \ L +10 &#S \ L +9 &%VQ \ L +9 &'R \ K +10 &(T \ L +9 &*R \ L +10 &,]V \ L +9 &.Q \ L +9 &/Q \ L +10 &1R \ L +9 &3dR \ L +9 &5%R \ M +10 &6R \ L +9 &8S \ L +9 &:mU \ L +10 &<0T \ L +9 &=T \ L +10 &?T \ L +9 &AuV \ L +9 &C2b \ N +10 &Dp \ O +9 &F \ S +9 &H[ \ X +10 &J \ X +9 &K \ Y +10 &M \ Y +9 &O^ \ Y +9 &Q \ Z +10 &R \ Z +9 &T \ \\ +9 &V^ \ \\ +10 &X \ ] +9 &Y \ ] +10 &[ \ J +9 &\\; \ *~ +9 &\\ \ _ +3 ( + "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.42 +2 "collection"'r& +3 "core" &\\ \ _ +2 .tHand.open + "manipulator"&.1 +54 "core" 1 +2 "manipulator"& % +4 "core" % A 1 , +  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +2 .tPSV.dial PSR + "processing"%% +113 "core" + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%e'+ +1619 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%J  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%p'ؾ +93 "Can"\ ^ C! +1512 "core" ' + .tPSV.dial PSR +48 "processing"%k +46 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%w' +2636 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +3 "processing"%7  + "collection"'Z  +32 "core" ~ +122  +2 .tPSV.dial :mixloop + "processing"%f +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%m  +72 "core" +2 .tPS.seek 0ml +2 "processing"%}'ؾ +2639 "core" ' +2 .tPSV.dial :air + "processing"%T  +43 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2664 "core" ' + .tPSV.dial :mixloop +2 "processing"%I +44 "core" +2 .tPS.seek 0ml + "processing"%j'ؾ +2628 "core" ' + .tPSV.dial :air +2 "processing"%9  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%~' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"%^ +44 "core" +2 .tPS.seek 0ml +2 "processing"%d'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&>& +5 "core" &Ӎ  2 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&_(ӂ +11 "core" ( + "manipulator"&y& +5 "core" &ӌ   * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӌ   * +3 .tForearm.seek CC +2 "manipulator"&n'? +94 "core" ' +2 .tHand.close + "manipulator"&c/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "manipulator"&& +3 "core" &ӌ  A * +3 "manipulator"&% +4 "core" % O  ) +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +274 "core" ( +2 "manipulator"&& +3 "core" &-  o +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &-  k +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&b'w +97 "core" ' +2 .tHand.open +2 "manipulator"&K1 +57 "core" 1 +2 "manipulator"&% +3 "core" % m \  3 c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +93 "core" ' +2 ."da"delayUntil "22:20:35.04" +24743 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +72 "core" B + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%v * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%q  +43 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2364 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%!  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +54 "core"  +3 ."da"PS.seek 0ml +2 "processing"%l'ؾ +2322 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +140 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%s' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%)  +68 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%u  +33 "core" + "processing"%+% +44 "core" %\  +10 ."da"PS.seek 1.5ml + "processing"%|'' +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%( * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%6'ؾ +1613 "core" ' + ."da"delay 2:00 +1545 "Can" ? YC +10459 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core"  + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%0 +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%,' +2363 "core" ' + ."da"PSV.dial PTV +2 "processing"%* +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%- +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%] +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%#  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%$'ؾ +2333 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%5 +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%4' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%8' +1623 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%2 +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%1  +33 "core" + "processing"%:% +4 "core" %\ +2 ."da"PS.seek 1.5ml +3 "processing"%?'1 +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%3 * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%V  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%C * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%=' +2340 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%H +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%< +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%U +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%D  +83 "core"  +2 ."da"PS.seek 0ml +3 "processing"%L'ؾ +2342 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%F  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%G  +41 "core" ~ + ."da"PTV.dial :PRVmixing +2 "processing"%&  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"%g +42 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%E' +387 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%M  +43 "core"  +2 "processing"%% +3 "core" %~\  +3 ."da"PS.seek 0.55ml + "processing"%\\' +340 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%A  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%t' +1573 "core" ' + ."da"PSV.dial :PML +2 "processing"%; +44 "core" + ."da"PTV.dial :mixing +2 "processing"%z @ +72 "core" B + ."da"PBV.dial :waste1 +2 "processing"%R  +33 "core" + "processing"%o% +3 "core" %\ +3 ."da"PS.seek 1.85ml +2 "processing"%Y' +239 "core" ' +9 ."da"PBV.dial between PSV and waste1 +2 "processing"%h * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%`'ؾ +1971 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +6116 "Can" C C# +41886 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"% @ +15 "core" ? +2 ."da"PBV.dial :waste1 +2 "processing"%X  +34 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 +2 "processing"%N * +33 "core" , +2 ."da"PSV.dial :air +2 "processing"%P  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%O' +2385 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%\ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +54 "core"  + ."da"delay 2 seconds +207 .PSV.dial :mixloop +3 "processing"%S +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%W  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"%B'ؾ +2325 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%{' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%r' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%.  +70 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%"  +34 "core" + "processing"%%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%Q'- +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%J'ؾ +1630 "core" ' +2 ."da"delay 2:00 +3797 "Can" < ?IC! +8206 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%e  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%k * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%p +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%Z' +2392 "core" ' + ."da"PSV.dial PTV +2 "processing"%7 +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%f +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%m +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%w  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%T'ؾ +2327 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%} +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%I' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +3 "processing"%' +1609 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%9 +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%j  +32 "core" +2 "processing"%^% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%~'( +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%> * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%y'ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%c * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%a +71 "core"  +9 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%[' +2372 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%i +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%n  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2324 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%_' +593 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%K' +1616 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%b% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"% '- +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%v'ؾ +1613 "core" ' + ."da"delay 2:00 +9315 "Can" ? C +2689 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%q  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%d * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%!' +2373 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"%l'ؾ +2312 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%s +143 "core" +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +16 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +5 "processing"%)' +334 "core" ' + ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%' +334 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%u' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%+ +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%(% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%|'& +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1608 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%0  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%6 * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%* +71 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%-' +2412 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%] +84 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%# +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%, +87 "core" +52 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%5  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%$'ؾ +2391 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +129 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%2' +2132 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +62 .PSV.dial PTV +2 "processing"%1 +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%:  +32 "core" +2 "processing"%8% +4 "core" %\ \  +2 ."da"PS.seek 1.5ml +3 "processing"%3'. +603 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%? * +34 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%V  +103 "core"  +3 ."da"PS.seek 0ml +2 "processing"%C'ؾ +1611 "core" ' +2 "processing"%9 +3 "core" 9e5] +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%@ +3 "core" 5^ +2 "processing"%H& +3 "core" &^\ . +3 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&<% +3 "core" %   c  +3 "storage"(U% +3 "core" % \  +2 "storage"(D. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(=(C +358 "core" ( +2 ."da"SC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &D U I T\ +2 "manipulator"&F& +4 "core" &-   a +2 "manipulator"&G% +3 "core" %    W  +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&&( +171 "core" ( +2 "manipulator"&g& +4 "core" &   k 8 +2 "storage"(L& +4 "core" &D A\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&M' +122 "core" ' + "storage"(& +3 "core" &D "\ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(E'r +275 "core" ' + "storage"(A- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(\\'1 +44 "core" ' +2 "manipulator"&;& +4 "core" &   D 8 + "manipulator"&z% +4 "core" %  V P +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +3 "manipulator"&R' +105 "core" ' + ."da"Elbow.seek PC +3 "manipulator"&o( +243 "core" ( + "manipulator"&h& +4 "core" & 8 # +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" & W # +3 ."da"Forearm.seek PC +2 "manipulator"&Y' +92 "core" ' +2 ."da"Hand.close + "manipulator"&/ +62 "core" / +2 ."da"PC.seek :open +2 "processing"%( +457 "core" ( +2 "storage"(X& +3 "core" &D P\ +3 "manipulator"&N& +4 "core" & # + "manipulator"&P% +4 "core" %  y  +2 ."da"Forearm.seek :retract +2 "manipulator"&`' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&\ ( +245 "core" ( +2 "manipulator"&& +3 "core" &   : +3 "storage"(S& +3 "core" &D \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&W' +95 "core" ' +2 ."da"Hand.open + "manipulator"&O1 +63 "core" 1 +2 "storage"( - +55 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +26 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"({' +55 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0822h.tif +5 "processing"%.& +11 "core" &n\ +4 "manipulator"& & +6 "core" & Y 9 +3 "manipulator"&"% +5 "core" %  d 6 +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&%' +95 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&r(- +177 "core" ( +2 "manipulator"&& +4 "core" &-   E ] +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &- ] +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&e'w +92 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&k/ +63 "core" / +2 "manipulator"&p& +3 "core" &-  P ] +2 "manipulator"&J% +4 "core" %   k , +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&7' +98 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&f( +117 "core" ( +2 "manipulator"&m& +3 "core" &   / +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" & # / +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&Z' +110 "core" ' +2 "manipulator"&}& +3 "core" &   C / +2 "manipulator"&T% +5 "core" %  M / +2 "processing"%I& +3 "core" &A\ w +3 "processing"%9& +5 "core" &8\ w +2 ."psFlush"PC.seek :closed +2 "processing"%j(^ +5 "core" &\ w +7 &1\ t$d +10 &Vo\ p7 +9 &m \ pL +9 &G\ rO +10 &_G \ rO +9 &#G\ vN +10 &I\ N +9 &L\ \ N +9 &lI\ M +10 &-K\ N +9 &I\ N +9 &!I\ M +10 &#sJ\ N +9 &%5L\ N +10 &&I\ N +9 &(I\ M +10 &*{J\ N +9 &,:J>\ uO +9 &-G\ uO +10 &/G"\ tO +9 &1G\ tO +9 &3BJ\ tO +10 &5F\ tO +9 &6G#\ sN +9 &8H\ sN +10 &:JH\ sO +9 &< G\ sO +9 &=I\ sN +10 &?J\ rO +9 &ARI\ rO +10 &CU\ pP +9 &DX\ P +9 &Fq\ S +10 &HG\ U +9 &J\ U +9 &K\ V +10 &M\ U +9 &OM\ V +10 &Q\ V +9 &R\ V +9 &T\ V +10 &VS[\ V +9 &XX\ pX +9 &Y`\ pW +10 &[^\ oW +9 &]W^\ nG +10 &^}AkX\ q&p +9 &^-U\ t1 +5 ( +2 "processing"%9& +3 "core" &^$X\ s1 +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.78 +2 "processing"%^& +3 "core" &^#U\ s1 +2 ."psFlush"Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&>% +3 "core" % $ *  / +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&~' +91 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%c' +601 "core" ' +2 ."psFlush"delay 5 seconds +59 #"da"SX HX9/16 (USB:22): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 19.364 seconds\ /var/log/esp/da23sep0822h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0822h15s.tif +440 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +1111 #"da"SX HX9/16 (USB:22): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0822h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0822h20s.tif +1013 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%y @ +187 "core" B + ."psFlush"PTV.dial :PRVmixing +3 "processing"%i  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +3 ."psFlush"PS.seek :empty + "processing"%'ؠ +517 #"da"SX HX9/16 (USB:22): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0822h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "19.364 sec auto-exposure",Subject: "da23sep0822h images!" +86 "storage"(n- +3 "core" -' +3 "storage"([& +5 "core" &D\ + "manipulator"&& +4 "core" & " #  / +2 "manipulator"&% +4 "core" %   "   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&_( +250 "core" ( +5 "manipulator"&& +9 "core" & $ # B  +5 "storage"(& +11 "core" &D ! " \ +6 ."da"Forearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&b' +96 "core" ' +6 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(K'" +60 "core" ' +4 "manipulator"&& +9 "core" &  ?  +6 "storage"( & +8 "core" &D 8 8\ +3 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +3 "manipulator"&q'8 +24 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&d, +10 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(' +30 "core" ' +4 "manipulator"&v% +6 "core" %L ( ) I +4 "storage"(& +10 "core" &D " 2 \ \ +2 ."da"Forearm.force -20 +3 "manipulator"&5 +7 ."da"Forearm.seek 1 + 320 counts +3 "manipulator"& 'x +15 "core" ' +4 "manipulator"&& +7 "core" &    +5 "storage"(& +6 "core" &D W V "\ +7 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +7 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&!' +17 "core" ' +4 "storage"(s% +8 "core" % W W 2\  +4 ."downElevator"SE.seek :down +6 "storage"(l' +99 ()% +5 "core" %mA   \ TZ +5 "manipulator"&% +12 "core" % M +5 ."da"Forearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +14 ."da"Forearm.seek :retract +5 "manipulator"&+' +89 "core" ' +26 ' +3 ."downElevator"SE.stop +3 "storage"(5 +5 (& +9 "core" &D . , \ +934 ' +2 ."psFlush"PSR.select :air +6 .PSV.dial PSR +4 "processing"%( +100 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +3 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +3 "processing"%u' +595 "core" ' +4 ."psFlush"delay 5 seconds +264 #"uploadLog"upsync +239 ."psFlush"PSR.select :air +4 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2127 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%|  +34 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%0 @ +71 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"%6 +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%*'ؠ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%]'X\\ +1101 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%#' +1616 "core" ' + ."psFlush"PSV.dial PTV +44 "processing"%, +92 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%5  +69 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%-  +4 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%4'ؾ +2651 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%$ +70 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%1' +592 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%:' +1241 "Can" A uC +887 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%8 +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%2 U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%?'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%V @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%3' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%@'ؾ +2650 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%H +42 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%<' +2638 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%U +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%D U +16 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +3 "processing"%F' +2639 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%G  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%g'ؾ +2650 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%L +41 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1095 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1615 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%x +70 "core" + ."psFlush"PTV.dial :puck +2 "processing"%A  +5 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%;  +50 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%z'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%E +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%M' +597 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%h' +2116 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%t +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%& U +52 "core" W +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%R @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%/' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%X  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%N'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%P +42 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%Y' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +110 "core" +9 ."psFlush"PBV.dial PSV +2 "processing"%S U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%o'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%O @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%`  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%.'ؾ +2628 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"& & +3 "core" & D  +2 "manipulator"&"% +5 "core" %   E  +2 ."psFlush"Elbow.seek PC + "manipulator"&\\( +243 "core" ( +2 "manipulator"&B& +3 "core" &   G 6 +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  6 +2 ."psFlush"Forearm.seek PC +2 "manipulator"&Q' +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"&W/ +62 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%\ ( +458 "core" ( +2 "manipulator"&k& +3 "core" & Z 6 +2 "manipulator"&p% +4 "core" %  T  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&J' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&%(- +125 "core" ( +2 "manipulator"&m& +3 "core" &-   +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &- > +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&e'w +94 "core" ' + ."psFlush"Hand.open +2 "manipulator"&}1 +61 "core" 1 +2 "manipulator"&T% +4 "core" % x  s + +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&I' +93 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'r& +3 "core" & \ +3 "manipulator"&7& +4 "core" &- + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +18 "core" ( +2 "manipulator"&^& +4 "core" &- g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- O g +2 .tForearm.seek :garage +2 "manipulator"&>'w +95 "core" ' + .tHand.close +2 "manipulator"&9/ +56 "core" / +2 "manipulator"&& +3 "core" &-   g +2 "manipulator"&Z% +4 "core" % φ m +2 .tForearm.seek :retract +2 "manipulator"&C' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&c(ӂ +287 "core" ( + "manipulator"&y& +4 "core" &Ә  B 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &Ә # 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +96 "core" ' +2 "manipulator"&a& +3 "core" &Ә   - 5 +2 "manipulator"&n% +5 "core" %C   A  + "collection"'[& +4 "core" & \ +3 "collection"'& +4 "core" & I\ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & I\ +7 &< T\ %g +10 &Xv O\ 7 +9 &x Y\ K +10 &R O\ L +9 &T O\ K +9 &IU U\ L +10 & U T\ K +9 &U U\ K +9 &U O\ L +10 &QW U\ L +9 & R E\ L +10 &!R g\ L +9 &#U `\ K +9 &%YR d\ L +10 &'T \ K +9 &(U \ K +9 &*T m\ K +10 &,bU i\ K +9 &.$T `\ K +10 &/T \ K +9 &1U \ K +9 &3iU \ L +10 &5+Y \ L +9 &6T \ L +9 &8U \ K +10 &:qU r\ L +9 &<3X \ L +10 &=S R\ L +9 &?U A\ K +9 &AyX \ L +10 &C7` \ M +9 &Dp L\ O +9 &F h\ T +10 &Ha j\ W +9 &J d\ Y +10 &K T\ X +9 &M P\ Y +9 &O` U\ Z +10 &Q M\ Z +9 &R ^\ Y +9 &T N\ [\ +10 &Va i\ \\ +9 &X# i\ \\ +47 &Y g\ ] +8 &[ X\ J + &\\2 V\ 2 +2 &\\m M\ P + ( + &\\h T\ P + &\\h Q\ P +2 "collection"'& +3 "core" &\\h P\ P +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.43 + "collection"'& +4 "core" &\\h %\ P +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&f% +4 "core" % C    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +44 "core"  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%~'+ +1622 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%v  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1611 "core" ' +2 .tPSV.dial PSR +2 "processing"% +41 "core"  +2 .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"%' +2633 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%{  +2 "collection"'s  +17 "core" +82  + .tPSV.dial :PTV,via: :air +2 "processing"%b +187 "core"  +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"%_ @ +71 "core" B +2 .tPS.seek 0ml +2 "processing"%)'ؾ +2633 "core" ' +2 .tPSV.dial :air +2 "processing"%  +84 "core"  +2 .tPS.seek 2.5ml +2 "processing"%K' +170 "Can"\ Q V C +2457 "core" ' + .tPSV.dial :PTV +2 "processing"%q +70 "core" +3 .tPS.seek 0ml + "processing"% 'ؾ +2638 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +3 "core" &Ӛ   5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +54 "core" ( +2 "manipulator"&!& +4 "core" &w  = :0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &w  " :0 +3 .tForearm.seek CC +2 "manipulator"&('? +94 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'u( +446 "core" ( +2 "manipulator"&|& +3 "core" &ӧ  4 +2 "manipulator"&0% +3 "core" % 9  6 +3 .tForearm.seek :retract + "manipulator"&6' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +279 "core" ( +2 "manipulator"&& +4 "core" &- b  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &-  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&]'w +92 "core" ' +2 .tHand.open + "manipulator"&,1 +58 "core" 1 +2 "manipulator"&5% +3 "core" % u  { % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +92 "core" ' +53451 "Can" 6 >C +60001  6 7C) +60001  5 C +60001  6 cC @UTC1694217794.34  5 ~C +60001  6 NC) +60001  6 %C- +60002  5 C$ +60001  6 QC% +60001  5 C" +60002  6 `}C# +60001  5 0C +60001  6 C +60001  5 ?C# +60002  6 C$ +60001  6 rkC" +60001  5 BC +60001  5 C- +60002  6 -C +60001  6 C- +60001  5 YC% +60002  6 QC+ +60001  5  C( +60001  6 !C +60002  6 !C! +60001  6 "GC# +60001  5 b"C# +60002  6 2#sC/ +60001  5 $ C/ +60001  6 $C# +60002  6 ɣ%5C# +60001  6 s%C# +60001  5 C&aC6 +60001  6 &C% +60002  6 'C +60001  6 Ҳ(#C +60001  6 Ԃ(C" +60001  6 R)OC, +60001  5 ")C$ +60002  5 *{C+ +60001  6 +C+ +60001  6 ݓ+C +60001  6 c,=C5 +60001  6 4,C# +60002  6 -iC/ +60001  6 -C$ +60001  6 .C1 +60001  5 v/+C$ +60001  5 F/C1 +60002  6 0WC) +60001  6 0C +60001  5 1C# +60002  6 2C% +60001  5 X2C +60042  5 (3EC" +59961  6 3C% +60001  6 4qC. +60001  5 5C% +60001  5 k5C% +60002  6 <63C +60001  6 6C! +60001  6 7_C$ +60002  5 7C# +60002  8 ~8C+ +60000  5 N9!C$ +60002  5 9C* +60001  5 \ :MC0 +60001  6 :C" +60002  5 ;yC! +60001  6 ^<C' +60001  6 .gC( +60001  6 o>C5 +60002  6 ??C* +60001  5 @)C +60001  5 @C( +60002  6 AUC$ +60001   5 "AC( +60001  5 $PBC+ +55617 #t-> access 1 +3 "storage"(#% +3 "core" % t q\  +2 "manipulator"&$% +4 "core" %   |  +2 "manipulator"&4& +3 "core" &-  M  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(1(<- +1295 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &<. Z Z\ \ +3053 "Can" 5 &'CC( +1306 #t-> access 2 +2 "storage"(2% +3 "core" % q p b\  +2 "manipulator"&:% +4 "core" %   F  +2 "manipulator"&V& +4 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(?(K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K  1 \  +58304 "Can" 6 'CC+ +56662 #t-> startTube 2 +737 #-> $da[:extractVol]=.2 +347 #-> shortDA +2 "collection"'3% +2 "processing"%H% +5 "core" %j z\ +2 %ػ\ +5 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +142 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%@ +44 "core" +2 .tPTV.dial :PRVmixing + "processing"%U  +72 "core" +2 .tPRV.dial :sipper +2 "processing"%D  +126 "core"  +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%<'e +832 "Can"  : )DCC+ +1461 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%  + "collection"'  +6 "core" +119 +2 .tPS.seek 0.5ml +2 "processing"%G' +1268 "core" ' + .tPRV.dial :waste2 +2 "processing"%F @ +98 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%L'ؾ +596 "core" ' + .tPSV.dial PSR +2 "processing"%g +102 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%x' +1635 "core" ' +2 .tPSV.dial :mixloop + "processing"%A +102 "core" +2 .tPS.seek 0ml + "processing"%;'ؾ +2629 "core" ' +2 .tPSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1ml + "processing"%E'X\\ +1094 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%z' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +102 "core" + .tPRV.dial :sipper +2 "processing"%t  +42 "core" +2 .tPS.seek 0ml +2 "processing"%&'ؾ +2649 "core" ' +2 .tPSV.dial PSR + "processing"%h +100 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%R' +2635 "core" ' + .tPSV.dial :mixloop +2 "processing"% +101 "core" +3 .tPS.seek 0ml + "processing"%X'ؾ +2632 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%/& +4 "core" &\ + "manipulator"&P% +4 "core" %   +2 "storage"(N% +4 "core" % } 2\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(S(  +1302 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" &  T B M\ +2 "manipulator"&O& +3 "core" &-   +2 "manipulator"&o% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +51 .tElbow.seek 2 + "manipulator"&`( +182 "core" ( +2 "manipulator"& & +3 "core" &   \ +2 "storage"( & +4 "core" &  }\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&"'S +93 "core" ' + "storage"(B& +4 "core" &  | V\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(d- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" & ] f <\ +2 "manipulator"&+& +4 "core" &  \ +2 .tElbow.seek 2 +2 "manipulator"&j( +2 "core" ( +2 "manipulator"&k& +4 "core" &   " \ +2 "storage"(p& +3 "core" & k k \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&m'Ͻ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(\\' +7 "core" & m \ +2 "manipulator"&}% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&T' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&7& +4 "core" &   9 " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &  " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&^' +93 "core" ' + "manipulator"&& +5 "core" &   & " + "manipulator"&e% +4 "core" % \  < +2 "processing"%9& +4 "core" &\ +3 "processing"%& +5 "core" &6\ +2 .tPC.seek :closed +2 "processing"%Z(^ +5 "core" &\ +6 &:\ $e +10 &Wu\ 7 +9 &t\ L +10 &N\ M +9 &{R\ M +9 &=Q\ M +10 &R\ M +9 &R\ N +9 &R\ M +10 &FR\ M +9 & R\ M +10 &!R\ M +9 &#R\ M +9 &%NO\ M +10 &'R\ M +9 &(R\ M +9 &*R\ M +10 &,TR\ N +9 &.R8\ M +10 &/SX\ M +9 &1SZ\ M +9 &3^O[\ M +10 &5RX\ M +9 &6QY\ M +9 &8RZ\ M +10 &:fOR\ M +9 &<&SY\ N +10 &=SY\ M +9 &?T[\ N +9 &AlVW\ N +10 &C'jY\ P +9 &DmU\ Q +9 &FW\ S +10 &HbY\ T +9 &J$Z\ T +10 &KZ\ T +9 &MZ\ T +9 &OgY\ U +10 &Q(S\ U +9 &RY\ U +9 &TY\ U +10 &VmY\ U +9 &X/Z\ U +10 &YZ\ U +9 &[Q\ V +9 &]tO\ C +10 &^;yN\ "e +9 &^2D\ 2 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&%1 +2 "core" &^ @\ 2 +53 1 + "manipulator"&I% +3 "core" %   < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +97 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%y h +2 %9 +6 "core" 9 +103 "processing"%i9 +2 "core" 9 +103 "processing"%a9 +2 "core" 9  +102 "processing"%n9 +3 "core" 9  +102 "processing"%[9 +3 "core" 9 +102 "processing"%C9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +4 "core" 9" +102 "processing"%f9 +3 "core" 9& +102 "processing"%9 +3 "core" 9+ +102 "processing"% 9 +3 "core" 9/ +102 "processing"%9 +3 "core" 93 +103 "processing"%.9 +3 "core" 97 +102 "processing"%v9 +3 "core" 9; +102 "processing"%~9 +3 "core" 9@ +102 "processing"%9 +3 "core" 9D +102 "processing"%9 +3 "core" 9H +102 "processing"%s9 +3 "core" 9L +102 "processing"%{9 +3 "core" 9P +102 "processing"%b9 +3 "core" 9U +102 "processing"%_9 +3 "core" 9Y +102 "processing"%9 +3 "core" 9] +102 "processing"%9 +3 "core" 9a +103 "processing"%)9 +3 "core" 9e +102 "processing"%q9 +5 "core" 9j +102 "processing"%K9 +3 "core" 9n +102 "processing"%9 +3 "core" 9r +103 "processing"%!9 +3 "core" 9v +102 "processing"%l9 +3 "core" 9{ +102 "processing"%9 +3 "core" 9 +102 "processing"%c9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +4 "core" 9( +3 .tPH.hold 2:00:00,28C +3 "processing"%| php +2 .tdelay 1:30 +6 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +100 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%(' +595 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%' +1613 "core" ' +2 .tPTV.dial :puck + "processing"%*  +128 "core"  +2 .tPSV.dial PTV +2 "processing"% +71 "core" +2 .tPBV.dial :waste1 +2 "processing"%,  +51 "core" +2 "processing"%5% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%6') +598 "core" ' + .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%''ؾ +1616 "core" ' +2 .tdelay 5:00 +18230 "Can"* A ,oDC2 +11772 #trecoverPSRreagent08 +2 .PTV.dial :puck + "processing"%#  +5 "core"  +2 .tPBV.dial :waste1 + "processing"%$  +35 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%4 * +33 "core" * + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%= +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%8' +2391 "core" ' +2 .tPSV.dial PTV + "processing"%2 +85 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%: +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%V +85 "core" + .tdelay 5 seconds +503 .PSV.dial :air +2 "processing"%1  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2332 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%3  +130 "core" + .tPSV.dial :mixloop +2 "processing"%H +43 "core" +2 .tPRV.dial :ab1 + "processing"%@ @ +99 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%U' +357 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'D  + "processing"%  +6 "core" +37  + "processing"%% +3 "core" %  \  +3 .tPS.seek 0.35ml +2 "processing"% 'j +450 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'<  +27 "core" +2 .tPRV.dial :air + "processing"%F  +42 "core"  +3 .tPS.seek 0.9ml + "processing"%G'K +1168 "core" ' +2 .tPRV.dial :waste2 + "processing"%g @ +70 "core" > +3 .tPS.seek 0.5ml + "processing"%L' +870 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%A' +1615 "core" ' + .tPSV.dial :PML +2 "processing"%x +44 "core" + .tPTV.dial :mixing +2 "processing"% @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%;  +33 "core" + "processing"%E% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%M' +242 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%t * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%z'ؾ +1969 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'h& +3 "core" & m\ +3 "manipulator"&&& +4 "core" &  " + "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&R(- +124 "core" ( + "manipulator"&/& +5 "core" &-    \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +50 &P& +2 "core" &- 7 \ +3 .tForearm.seek :garage +2 "manipulator"&N'w +91 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 "manipulator"&?& +4 "core" &-   \ + "manipulator"&Y% +5 "core" % z  \  ( +2 .tForearm.seek :retract + "manipulator"&O' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&o(ӂ +282 "core" ( + "manipulator"& & +4 "core" &Ӗ# 8 1 Q <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӗ# . - <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&B'? +99 "core" ' +2 "manipulator"&& +3 "core" &Ӗ# "  H <= +2 "manipulator"&-% +5 "core" %= ,  ? +2 "collection"'d& +4 "core" & i\ +2 "collection"'W& +5 "core" & o\ +2 .tCC.seek :closed +2 "collection"'+(\\ +4 "core" & j\  +9 &6} j\ +| +9 & g~ k\ ? +10 &l j\ M +9 &[R g\ L +9 &R j\ L +10 &S e\ L +9 &R i\ L +10 &cV l\ L +9 &$U a\ M +9 &T `\ M +10 & U U\ L +9 &"kP W\ L +9 &$-W h\ L +10 &%W f\ L +9 &'U f\ M +10 &)sU Z\ L +9 &+5U \\\ L +9 &,W Y\ L +10 &.U ]\ L +9 &0{V Y\ L +9 &2<V ]\ M +10 &3W Y\ L +9 &5Y Z\ L +10 &7U _\ M +9 &9EU ^\ L +9 &;Q ]\ L +10 &<Q ^\ L +9 &>W Z\ L +9 &@LW ^\ M +10 &B \\ ]\ M +9 &Ch [\ N +10 &E~ Z\ Q +9 &G; ^\ U +9 &H ]\ X +10 &J _\ Y +9 &Lw ^\ Y +9 &N4 ]\ Z +10 &O ^\ Z +9 &Q c\ Z +10 &Sy _\ [ +9 &U6 \\\ \\ +9 &V ]\ ] +10 &X \\\ ] +9 &Zy \\\ ] +9 &\\{ ^\ 1 +10 &\\2 \\\ b +9 ( + &\\i a\ O +2 "collection"'W& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.42 + "collection"'k& +3 "core" &\\j `\ O +2 .tHand.open +2 "manipulator"&p1 +59 "core" 1 +2 "manipulator"&w% +4 "core" % = 7 ; % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +91 "core" ' +2 .tPSV.dial PSR +2 "processing"%} +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%`'+ +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%"  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' + .tPSV.dial PSR +2 "processing"%m +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%7' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%J  +2 "collection"'j  +31 "core"  +124 + .tPSV.dial :mixloop +2 "processing"% +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%e  +71 "core" +3 .tPS.seek 0ml + "processing"%9'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%\\  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%T' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%\ +44 "core" +2 .tPS.seek 0ml +2 "processing"%%'ؾ +2624 "core" ' + .tPSV.dial :air +2 "processing"%I  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%i'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&^& +4 "core" &ӧ - 8 x :, +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +23 "core" ( +2 "manipulator"&n& +4 "core" &} . 9 # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &} (  L # +3 .tForearm.seek CC + "manipulator"&C'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +49 .tCC.seek :open +3 "collection"'( +448 "core" ( +2 "manipulator"&& +4 "core" &~ . 8 # +2 "manipulator"&f% +3 "core" %  / 7 & +3 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"& (- +284 "core" ( +2 "manipulator"&& +4 "core" &-   p 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &-  & 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&v'w +100 "core" ' +3 .tHand.open + "manipulator"&~1 +62 "core" 1 +2 "manipulator"&% +3 "core" % π   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 ."da"delayUntil "13:36:10.87" +7176 "Can" ? /_EoC* +17550 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%s @ +71 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%{  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%b * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%_  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2392 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%)  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%q +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%K  +43 "core"  +2 ."da"PS.seek 0ml +3 "processing"%'ؾ +2351 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%! +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%l' +583 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1629 "core" ' + ."da"PTV.dial :puck +2 "processing"%c  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%0% +4 "core" %*\  +2 ."da"PS.seek 1.5ml +2 "processing"%X'% +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%( * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%*'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%  +16 "core"  + ."da"PBV.dial :waste1 +2 "processing"%,  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%5 * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%]' +2381 "core" ' + ."da"PSV.dial PTV +3 "processing"%6 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%y +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +7 "processing"%# +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%$  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2332 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%'' +596 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%2' +1654 "core" ' +8 ."da"PTV.dial :puck +2 "processing"%:  +4 "core"  + ."da"PSV.dial PTV +3 "processing"%V +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%1  +32 "core" +2 "processing"%8% +3 "core" %$\  +3 ."da"PS.seek 1.5ml +2 "processing"%3') +589 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%H * +32 "core" + +2 ."da"PS.seek 0ml +3 "processing"%@'ؾ +1608 "core" ' + ."da"delay 2:00 +758 "Can" A 1FC" +11246 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%D  +33 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%U' +2384 "core" ' + ."da"PSV.dial PTV +2 "processing"%< +84 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%F +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%g  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +2325 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%  +42 "core"  +2 ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%L  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%x  +41 "core"  +2 ."da"PTV.dial :PRVmixing +2 "processing"%  +4 "core" + ."da"PSV.dial :mixloop +2 "processing"%; +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%E' +391 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air +2 "processing"%t  +42 "core"  +2 "processing"%A% +3 "core" % !\  +3 ."da"PS.seek 0.55ml +2 "processing"%M' +335 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%h  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%&' +1563 "core" ' +2 ."da"PSV.dial :PML + "processing"% +44 "core" +2 ."da"PTV.dial :mixing +2 "processing"%/ @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%P  +32 "core" + "processing"%r% +4 "core" %#\  +2 ."da"PS.seek 1.85ml +2 "processing"%' +239 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%? * +32 "core" + +2 ."da"PS.seek 0ml +3 "processing"%Y'ؾ +1962 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +32548 "Can" @ 4tFC# +15455 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%> @ +4 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%N  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%R' +2384 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%-  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%d +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%O  +43 "core"  +2 ."da"PS.seek 0ml +3 "processing"%u'ؾ +2333 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%k +138 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%p' +585 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%w' +1616 "core" ' +51 ."da"PTV.dial :puck +2 "processing"%W  +69 "core"  +2 ."da"PSV.dial PTV +2 "processing"%} +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%B  +32 "core" +2 "processing"%z% +3 "core" %)\  +3 ."da"PS.seek 1.5ml +2 "processing"%"'/ +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%` * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%m'ؾ +1631 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%j  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%J * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%e' +2387 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%7 +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%\\ +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%9 +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%\  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%T'ؾ +2344 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%I +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%%' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1629 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%^ +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%n  +32 "core" +2 "processing"%[% +3 "core" %?\ +3 ."da"PS.seek 1.5ml +2 "processing"%'( +601 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%o * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +1619 "core" ' +2 ."da"delay 2:00 +2884 "Can" \ c 7G1C( +9119 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%+  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%f * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%C +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2392 "core" ' + ."da"PSV.dial PTV +2 "processing"%. +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%a +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%~ +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +84 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2349 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%v +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%s' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%{' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%b  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%_ +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%i  +32 "core"  +2 "processing"%% +3 "core" %$\  +3 ."da"PS.seek 1.5ml + "processing"%)') +597 "core" ' +2 ."da"delay 3 seconds +345 .PBV.dial between PSV and waste1 +9 "processing"%q * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%K'ؾ +1609 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%!  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%l +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +3 "processing"%c' +2387 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%0 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%('ؾ +2352 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%X +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +8 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml + "processing"%' +329 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%,' +342 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%5' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%* +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%6  +34 "core" + "processing"%y% +4 "core" %F\  +2 ."da"PS.seek 1.5ml +2 "processing"%#'- +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%$ * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%]'ؾ +1612 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%=  +5 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%4  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%' * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%: +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%V' +2428 "core" ' + ."da"PSV.dial PTV +2 "processing"%1 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%8 +73 "core"  +2 ."da"delay 5 seconds +365 "Can"\ :GC" +137 ."da"PSV.dial PTV +2 "processing"%2 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%H  +73 "core"  +2 ."da"PS.seek 0ml +3 "processing"%3'ؾ +2395 "core" ' +2 #"da"Additional air clear + .PSR.select :air +3 .PSV.dial PSR + "processing"% +131 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%D' +2121 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +3 "processing"% +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%@  +36 "core" +2 "processing"%<% +3 "core" %8\  +3 ."da"PS.seek 1.5ml +2 "processing"%F'+ +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%g  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"%U'ؾ +1616 "core" ' + "processing"%9 +3 "core" 9f5h +3 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%L +2 %x& +2 "core" 5h +4 &^ C\ 2 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +50 "manipulator"&% +7 "core" %  Q  +2 "storage"(;% +4 "core" % "\  +2 "storage"(G. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(t(C +356 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &F U\ +2 "manipulator"&E& +4 "core" &-  & 0 +2 "manipulator"&h% +3 "core" %  <  +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&M( +173 "core" ( +2 "manipulator"&& +3 "core" &  G +2 "storage"(/& +4 "core" &F f\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&P' +94 "core" ' + "storage"(r& +4 "core" &F (\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(?'r +274 "core" ' +2 "storage"(&- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place +2 "storage"('1 +43 "core" ' +2 "manipulator"&>& +4 "core" &   G +2 "manipulator"&N% +4 "core" %  G +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"& ( +245 "core" ( + "manipulator"&Y& +4 "core" & \  (  +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & \   +3 ."da"Forearm.seek PC +2 "manipulator"&-' +92 "core" ' +2 ."da"Hand.close +2 "manipulator"&d/ +62 "core" / +2 ."da"PC.seek :open +2 "processing"%O( +455 "core" ( +2 "storage"(R& +4 "core" &F ;\ +2 "manipulator"&k& +3 "core" & O  +2 "manipulator"&u% +5 "core" %    +2 ."da"Forearm.seek :retract + "manipulator"&p' +90 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&W( +260 "core" ( +2 "manipulator"&}& +3 "core" & Q : +2 "storage"(B& +4 "core" &F 3\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&z' +101 "core" ' +2 ."da"Hand.open +2 "manipulator"&w1 +60 "core" 1 +2 "storage"(`- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate + "storage"("' +27 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0914h.tif +4 "processing"%j& +9 "core" &\ +5 "manipulator"&J& +5 "core" & 8 : +3 "manipulator"&% +6 "core" %  3 +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&m' +100 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&7(- +174 "core" ( +2 "manipulator"&\\& +3 "core" &-    D +2 ."psFlush"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &9& +2 "core" &-   D +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&\ 'w +90 "core" ' +2 ."psFlush"Hand.close + "manipulator"&e/ +58 "core" / +2 "manipulator"&I& +55 "core" &-   D +9 "manipulator"&T% +4 "core" % φ \ =  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&%' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +119 "core" ( + "manipulator"&^& +4 "core" &  \ e C +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +3 "core" &  8 C +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC + "manipulator"&[' +97 "core" ' +2 "manipulator"&& +3 "core" &  B +3 "manipulator"&o% +3 "core" % \ b  +3 "processing"%& +3 "core" &\ o +3 "processing"%+& +5 "core" &\ o +2 ."psFlush"PC.seek :closed +2 "processing"%(^ +5 "core" &\ o +7 &2\ l$e +10 &Vp4\ h7 +9 &}n<\ hL +9 &G=\ jO +10 &]I?\ jO +9 &Fz\ jO +9 &G\ jO +10 &F\ N +9 &gI\ N +10 &)L\ N +9 &J\ N +9 &!J\ N +10 &#qJ\ N +9 &%4K~\ M +9 &&Jr\ N +10 &(Jt\ N +9 &*xJt\ N +10 &,9Iw\ qN +9 &-Gq\ mO +9 &/Ho\ lO +10 &1~Go\ mO +9 &3@Gh\ lO +9 &5Gg\ lO +10 &6H^\ kO +9 &8G\\\ kO +10 &:GGR\ kO +9 &< IV\ kO +9 &=IR\ kO +10 &?I\\\ jO +9 &ANK`\ jO +10 &C T[\ iQ +9 &D[]\ iQ +9 &Fs]\ gT +10 &HCL\ fV +9 &JE\ U +9 &KJ\ V +10 &MF\ V +9 &OJI\ V +10 &Q J\ W +9 &RD\ V +9 &T5\ W +10 &VR:\ V +9 &X<\ V +9 &Y:\ W +10 &[5\ W +9 &]U5\ hI +9 &^{Bx,\ i#i +10 &^4&\ l3 +5 ( +2 "processing"%+& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.80 +2 "processing"%f& +2 "core" &^$(\ m3 +2 &^#T\ l3 +3 ."psFlush"Hand.open +2 "manipulator"&C1 +55 "core" 1 +2 "manipulator"&Q% +4 "core" %  4 9  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&.' +91 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%a +43 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%~' +597 "core" ' + ."psFlush"delay 5 seconds +45 #"da"SX HX9/16 (USB:23): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 19.452 seconds\ /var/log/esp/da23sep0914h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0914h15s.tif +454 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1096 #"da"SX HX9/16 (USB:23): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0914h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0914h20s.tif +1019 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +189 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%v  +131 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +102 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%s'ؠ +522 #"da"SX HX9/16 (USB:23): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0914h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "19.452 sec auto-exposure",Subject: "da23sep0914h images!" +6 "storage"(b- +4 "core" -' +2 "storage"(_& +5 "core" &F o\ +2 "manipulator"&i& +7 "core" & . - j B +5 "manipulator"&% +12 "core" %  , , V  +5 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&{( +245 "core" ( + "manipulator"&q& +3 "core" & + %  < +9 "storage"()& +8 "core" &F\ +6 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +76 ."da"Forearm.seek 1 + 450 counts +7 "manipulator"&' +95 "core" ' +4 ."da"SE.reconfigure :gently +7 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(!'" +50 "core" ' +3 "manipulator"&& +7 "core" &  + < +5 "storage"(l& +7 "core" &F # " \ +3 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 1 +2 "manipulator"&K'8 +20 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&, +7 "core" , +2 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(' +42 "core" ' +3 "manipulator"&0% +12 "core" %L \  L +3 "storage"(& +7 "core" &F + 6\ +4 ."da"Forearm.force -20 +3 "manipulator"&5 +7 ."da"Forearm.seek 1 + 320 counts +3 "manipulator"&c'x +16 "core" ' +3 "manipulator"&X& +6 "core" &  < +4 "storage"((& +8 "core" &F F F\ +6 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +18 "core" ' +4 "storage"(,% +6 "core" % D E\  +6 ."downElevator"SE.seek :down +6 "storage"(' +98 (*% +8 "core" %hA\ \  \ U[ +4 "manipulator"&6% +6 "core" % \  : +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +4 "manipulator"&y' +94 "core" ' +39 ' +3 ."downElevator"SE.stop +3 "storage"(5 +6 (5& +6 "core" &F C > #\ +952 ' +2 ."psFlush"PSR.select :air +5 .PSV.dial PSR +2 "processing"%$ +102 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +4 "processing"%@ +16 ."psFlush"PS.seek 0.5ml + "processing"%#' +600 "core" ' +3 ."psFlush"delay 5 seconds +187 #"uploadLog"upsync +317 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%=' +2125 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%4  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%' @ +72 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%: +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%]'ؠ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%1 +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%8'X\\ +1106 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%2' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%H +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%V  +68 "core"  +2 ."psFlush"PBV.dial :waste1 + "processing"%  +5 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%3'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +584 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%@' +2128 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%< +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%D U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%g @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%F' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +43 "processing"%  +77 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%L'ؾ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%x +55 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%; +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%G U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%A @ +41 "core" > +3 ."psFlush"PS.seek 2.5ml +2 "processing"%E' +2641 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%h  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%/ +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%r'X\\ +1103 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +1610 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%&  +52 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%>'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%N +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%?' +590 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%P' +185 "Can" B >H]C& +1943 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Y +71 "core" +2 ."psFlush"PBV.dial PSV + "processing"% U +53 "core" W +3 ."psFlush"PS.seek 0ml +2 "processing"%M'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%d @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%Z  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%R'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%k +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%u' +2634 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%- +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%} U +15 "core" T +2 ."psFlush"PS.seek 0ml +3 "processing"%B'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%`  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%j'ؾ +2638 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&J& +3 "core" & \  < +2 "manipulator"&% +4 "core" %    +2 ."psFlush"Elbow.seek PC +2 "manipulator"&p( +245 "core" ( + "manipulator"&& +4 "core" &   +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &  N  +2 ."psFlush"Forearm.seek PC +2 "manipulator"&\\' +90 "core" ' +2 ."psFlush"Hand.close + "manipulator"&9/ +58 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%z( +461 "core" ( +2 "manipulator"&W& +44 "core" &  +9 "manipulator"&e% +3 "core" %  - +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&I' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&T(- +127 "core" ( + "manipulator"&m& +4 "core" &- V +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&n'w +92 "core" ' + ."psFlush"Hand.open +2 "manipulator"&\ 1 +62 "core" 1 +2 "manipulator"&% +4 "core" % π  , O +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&o' +96 "core" ' +2 #tFinished short da assay +24556 #-> access 1 +3 "storage"(% +3 "core" % z o p\  +2 "manipulator"&7% +4 "core" %  3 + "manipulator"&%& +4 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(O(<- +1302 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &<, V ? i\  +11692 "Can" 5 @HC) +2660 #t-> access 2 +2 "storage"(C% +3 "core" % z  O\  +2 "manipulator"&Q% +3 "core" %   +2 "manipulator"&+& +4 "core" &- Z +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(a(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +3 "core" &K B B \  +2162 #t-> startTube 2 +967 #-> $da[:extractVol]=.2 +50697 #-> shortDA ;PS.flush +2 "collection"'U% +2 "processing"%~% +4 "core" %j \ +6 %غ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +423 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"% +129 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%v  +128 "core" + .tPRV.dial :sipper +2 "processing"%  +42 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%'e +1363 "Can" 9 BIC& +929 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%b  + "collection"'_  +7 "core" +119  +2 .tPS.seek 0.5ml +2 "processing"%i' +1274 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +98 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%q'ؾ +593 "core" ' +2 .tPSV.dial PSR + "processing"%) +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1606 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%l +101 "core" +2 .tPS.seek 0ml +3 "processing"%.'ؾ +2628 "core" ' +2 .tPSV.dial PSR + "processing"%0 +113 "core" + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%'X\\ +1105 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%X' +1619 "core" ' + .tPSV.dial :mixloop +2 "processing"%( +111 "core" + .tPRV.dial :sipper +2 "processing"%  +41 "core" +2 .tPS.seek 0ml + "processing"%,'ؾ +2629 "core" ' +2 .tPSV.dial PSR +2 "processing"% +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%{' +2641 "core" ' +4 .tPSV.dial :mixloop +3 "processing"%* +102 "core" +2 .tPS.seek 0ml +2 "processing"%6'ؾ +2624 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%!& +4 "core" &\ +50 "manipulator"&K% +3 "core" %  +2 "storage"(c% +4 "core" % ~  \  +2 "storage"(5. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1304 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  d [\ +3 "manipulator"&& +4 "core" &- +2 "manipulator"&$% +4 "core" %  p +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&s( +167 "core" ( +2 "manipulator"&#& +4 "core" & : +2 "storage"(4& +4 "core" &  ~ ~ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&''S +101 "core" ' +2 "storage"(:& +4 "core" &  ~ ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +306 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]& +3 "core" & Y \\\ +2 "manipulator"&8& +4 "core" & w 9 +2 .tElbow.seek 2 + "manipulator"&H( +4 "core" ( + "manipulator"&V& +4 "core" &   9 +2 "storage"(& +4 "core" & ] ^\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&2'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&3& + "storage"(' +8 "core" &  @ 9 + "manipulator"&<% +4 "core" % ϲ D : +2 .tForearm.seek :retract +2 "manipulator"&D' +96 "core" ' + .tElbow.seek PC +2 "manipulator"&@( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( + "manipulator"&g& +4 "core" &  D & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &  H & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +104 "core" ' + "manipulator"&F& +5 "core" &  & + "manipulator"&x% +5 "core" % # + "processing"%L& +4 "core" &\ +3 "processing"%;& +4 "core" &\ +3 .tPC.seek :closed + "processing"%G(^ +5 "core" &\ +7 &5\ $d +10 &Vs\ 6 +9 &x\ K +9 &Q\ M +10 &`U\ M +9 &#R\ L +9 &Q\ L +10 &O\ M +9 &hO\ M +10 &*Q\ M +9 &Q\ M +9 &!Q\ L +10 &#qR\ L +9 &%2R\ M +9 &&T\ M +10 &(T\ L +9 &*yQ\ L +10 &,:Qz\ M +9 &-Tw\ M +9 &/U\ M +10 &1T\ M +9 &3CQ\ L +9 &5Q\ M +10 &6O\ M +9 &8R\ L +10 &:JQ\ M +9 &< R\ M +9 &=U\ M +10 &?S\ M +9 &APT\ M +9 &C `\ O +10 &Dd\ O +9 &Fx\ R +10 &HG\ S +9 &J|\ T +9 &K\ T +10 &M\ T +9 &OKv\ T +9 &Q x\ U +10 &R\ T +9 &Tz\ U +10 &VTx\ T +9 &Xw\ U +9 &Yu\ T +10 &[w\ U +9 &]Xv\ D +9 &^Cpw\ ` +10 &^>\ 3 +5 ( +2 "processing"%;& +3 "core" &^$\ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&A% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +92 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%h h +2 %E9 +7 "core" 9 +102 "processing"%/9 +2 "core" 9 +103 "processing"%9 +3 "core" 9  +103 "processing"%r9 +20 "core" 9 +103 "processing"%9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%N9 +4 "core" 9 +102 "processing"%>9 +3 "core" 9# +102 "processing"%?9 +3 "core" 9' +102 "processing"%Y9 +3 "core" 9+ +102 "processing"%9 +3 "core" 90 +102 "processing"%P9 +3 "core" 94 +102 "processing"%d9 +3 "core" 98 +102 "processing"%M9 +44 "core" 9< +110 "processing"%Z9 +3 "core" 9B +102 "processing"% 9 +3 "core" 9F +102 "processing"%k9 +4 "core" 9K +102 "processing"%R9 +3 "core" 9O +102 "processing"%-9 +3 "core" 9S +103 "processing"%}9 +2 "core" 9W +103 "processing"%u9 +2 "core" 9\\ +103 "processing"% 9 +2 "core" 9` +103 "processing"%B9 +2 "core" 9d +103 "processing"%`9 +2 "core" 9h +103 "processing"%w9 +3 "core" 9l +102 "processing"%J9 +3 "core" 9q +102 "processing"%9 +4 "core" 9u +102 "processing"%9 +3 "core" 9y +102 "processing"%"9 +3 "core" 9} +102 "processing"%9 +3 "core" 9  +103 "processing"%99 +2 "core" 9 +103 "processing"%y9 +3 "core" 9 +102 "processing"%9 +3 "core" 9& +3 .tPH.hold 2:00:00,28C +3 "processing"%W php +3 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%e +100 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +11 .tPS.seek 0.5ml + "processing"%m' +594 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%^' +1613 "core" ' +2 .tPTV.dial :puck + "processing"%\\  +129 "core"  + .tPSV.dial PTV +2 "processing"%p +72 "core" + .tPBV.dial :waste1 +2 "processing"%\  +50 "core" + "processing"%% +4 "core" %n\  +3 .tPS.seek 1.5ml + "processing"%I'- +584 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%n * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1611 "core" ' +2 .tdelay 5:00 +18700 "Can"  B EfJC) +11303 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%7  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%% * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%t +72 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%f' +2395 "core" ' +2 .tPSV.dial PTV + "processing"%C +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%Q +71 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%+ +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%O  +83 "core" +2 .tPS.seek 0ml +2 "processing"%['ؾ +2333 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%U  +128 "core" + .tPSV.dial :mixloop +2 "processing"%~ +42 "core" + .tPRV.dial :ab1 +2 "processing"% @ +99 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%v' +357 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%  +41 "core" +2 "processing"%j% +3 "core" %-\ \ +3 .tPS.seek 0.35ml +2 "processing"%_'m +449 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'b  +29 "core" +2 .tPRV.dial :air +2 "processing"%  +41 "core"  +3 .tPS.seek 0.9ml + "processing"%'K +1176 "core" ' + .tPRV.dial :waste2 +2 "processing"%i @ +70 "core" > +3 .tPS.seek 0.5ml + "processing"%)' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%q  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%' +1620 "core" ' +2 .tPSV.dial :PML +2 "processing"%l +43 "core" +2 .tPTV.dial :mixing +2 "processing"% @ +71 "core" B +2 .tPBV.dial :waste1 +2 "processing"%0  +32 "core" +2 "processing"%.% +3 "core" %5\  +3 .tPS.seek 1.85ml + "processing"%' +240 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%( * +33 "core" + +2 .tPS.seek 0ml + "processing"%'ؾ +1964 "core" ' + .tdelay 2 seconds +242 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'X& +3 "core" & \ +2 "manipulator"&& +5 "core" &   & + "manipulator"&,% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&*(- +125 "core" ( +2 "manipulator"&{& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&K'w +91 "core" ' +3 .tHand.close + "manipulator"&c/ +56 "core" / +2 "manipulator"&5& +4 "core" &-   x + "manipulator"&a% +4 "core" % ω 2 +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +278 "core" ( +2 "manipulator"&$& +3 "core" &Ӓ"   ( ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +2 "core" &Ӓ"  *  ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'? +94 "core" ' +2 "manipulator"&:& +3 "core" &Ӓ" + . ;3 +3 "manipulator"&T% +4 "core" %G , - K  +2 "collection"'o& +3 "core" & :\ +3 "collection"'1& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'](\\ +4 "core" & K\  +9 &6| %\ +{ +9 &f K\ ? +10 &o <\ M +9 &^Q G\ L +9 & V H\ L +10 &V ;\ L +9 &T B\ L +10 &eR 7\ M +9 &'X <\ M +9 &U >\ L +10 & P :\ L +9 &"mV >\ M +9 &$0U 2\ L +10 &%S <\ L +9 &'U 3\ L +10 &)uU 0\ M +9 &+8U 0\ L +9 &,R 2\ L +10 &.W 0\ L +9 &0}T 8\ M +9 &2?T <\ M +10 &4T 9\ M +9 &5T >\ M +9 &7P B\ L +10 &9GX \ M +9 &;\ U G\ L +10 &<R D\ L +9 &>T B\ L +9 &@OT B\ M +10 &B[ G\ M +9 &Cd F\ N +9 &E} D\ Q +10 &G; F\ V +9 &H K\ Y +10 &J\ F\ Y +9 &Lv G\ Z +9 &N7 G\ Z +10 &O A\ [\ +9 &Q @\ [ +9 &S{ L\ [\ +10 &U; I\ \\ +9 &V \ C\ ] +10 &X I\ ^ +9 &Z{ \ A\ ^ +9 &\\y D\ 1 +10 &\\3\  L\ d +9 ( + &\\k >\ Q +2 "collection"'1& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.49 + "collection"'8& +3 "core" &\\m A\ Q +3 .tHand.open + "manipulator"&V1 +57 "core" 1 +2 "manipulator"&% +3 "core" % G 3 0  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 .tPSV.dial PSR +2 "processing"%3 +99 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%<'+ +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%s  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%''ؾ +1607 "core" ' + .tPSV.dial PSR +2 "processing"%= +44 "core"  + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"%2' +2650 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%g  + "collection"'  +31 "core" +124  +2 .tPSV.dial :mixloop + "processing"%H +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%F  +73 "core" +2 .tPS.seek 0ml + "processing"%x'ؾ +2648 "core" ' +2 .tPSV.dial :air + "processing"%L  +55 "core" +2 .tPS.seek 2.5ml +2 "processing"%' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%D +42 "core" +2 .tPS.seek 0ml +2 "processing"%z'ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%A' +2633 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%E +43 "core" +3 .tPS.seek 0ml + "processing"%;'ؾ +2640 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&/& +4 "core" &Ӥ - - ] 8! +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +43 .tElbow.seek CC +10 "manipulator"&(ӂ +19 "core" ( +2 "manipulator"&& +4 "core" &w / % - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &w   a - +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 .tHand.close + "manipulator"&&/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +448 "core" ( + "manipulator"&N& +5 "core" &ӎ  . + * + "manipulator"&>% +42 "core" %  . /  +2 .tForearm.seek :retract +2 "manipulator"&?' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&Y(- +285 "core" ( +2 "manipulator"&& +3 "core" &-   u > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &-  > +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&d'w +100 "core" ' +2 .tHand.open + "manipulator"&M1 +55 "core" 1 +2 "manipulator"&Z% +4 "core" %   \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 ."da"delayUntil "15:06:06.41" +7604 "Can"  > HGJC+ +17093 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%k @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%R  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%}  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%u' +2395 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%B  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"%` +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%w  +43 "core"  +2 ."da"PS.seek 0ml +3 "processing"%J'ؾ +2351 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%"' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%9 +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%y  +34 "core" +2 "processing"%% +3 "core" %G\  +3 ."da"PS.seek 1.5ml +2 "processing"%e'+ +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%6 * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%m'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%\\  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%p  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%\ * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +83 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%^' +2401 "core" ' + ."da"PSV.dial PTV +3 "processing"%n +69 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%I +82 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%h +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%7  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%%'ؾ +2335 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +43 .PSV.dial PSR +9 "processing"%t +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%C' +1609 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%Q +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%+  +32 "core" +2 "processing"%O% +3 "core" %;\  +3 ."da"PS.seek 1.5ml +2 "processing"%f'( +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%U * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%~'ؾ +1613 "core" ' +2 ."da"delay 2:00 +1167 "Can"\ _ JKKC( +10836 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%[ * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%j' +2389 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%v +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%b +76 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%_  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%i'ؾ +2346 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%  +42 "core"  +2 ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%q  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%)  +42 "core"  +2 ."da"PTV.dial :PRVmixing + "processing"%l  +5 "core" +2 ."da"PSV.dial :mixloop + "processing"% +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%0' +380 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%.  +41 "core"  +2 "processing"%(% +3 "core" %C\  +3 ."da"PS.seek 0.55ml +2 "processing"%' +353 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 2ml +3 "processing"%X' +1566 "core" ' + ."da"PSV.dial :PML +2 "processing"% +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%, @ +71 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%{  +32 "core" +2 "processing"%!% +3 "core" %5\ +3 ."da"PS.seek 1.85ml +2 "processing"%c' +242 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%5 * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +32927 "Can" = M&KC' +15076 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%a @ +14 "core" ? +2 ."da"PBV.dial :waste1 +2 "processing"%S  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%K * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%$  +54 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%#' +2386 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%* +42 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%:  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%T +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%o  +54 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2335 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +52 ."da"PS.reconfigure :default +9 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%8' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%V' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +71 "core"  +2 ."da"PSV.dial PTV +2 "processing"%1 +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%3  +32 "core" +2 "processing"%4% +3 "core" %6\  +3 ."da"PS.seek 1.5ml +2 "processing"%'/ +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%s * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%=  +15 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%'  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%g +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%H' +2391 "core" ' + ."da"PSV.dial PTV +2 "processing"%F +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%2 +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%L +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%x  +70 "core"  +3 ."da"PS.seek 0ml +2 "processing"%D'ؾ +2348 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%z' +1638 "core" ' + ."da"PTV.dial :puck +2 "processing"%E  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%A +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%/  +32 "core"  +2 "processing"%% +3 "core" %G\  +3 ."da"PS.seek 1.5ml +2 "processing"%r'* +601 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%& * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +3216 "Can"  > OLwC. +8787 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%]  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%N * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%> +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2396 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%P +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%M  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +2330 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%? +140 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%d' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%k' +1607 "core" ' + ."da"PTV.dial :puck +45 "processing"%R  +12 "core"  + ."da"PSV.dial PTV +2 "processing"%- +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%}  +34 "core" + "processing"%;% +4 "core" %T\  +2 ."da"PS.seek 1.5ml +2 "processing"% '( +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%B * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%`'ؾ +1619 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%w  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%u  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%J +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2406 "core" ' +2 ."da"PSV.dial PTV + "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%9 +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%y +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%"'ؾ +2330 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%6 +132 "core"  +2 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +4 "processing"%e' +342 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%\\' +338 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%p' +1607 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%\  +4 "core"  +2 ."da"PSV.dial PTV + "processing"% +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%m  +34 "core" +2 "processing"%n% +4 "core" %0\ } +2 ."da"PS.seek 1.5ml +2 "processing"%I'( +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%h * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%7'ؾ +1613 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%^  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%t  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%Q' +2415 "core" ' +2 ."da"PSV.dial PTV + "processing"%+ +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%O +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%C +71 "core" +2 ."da"delay 5 seconds +93 "Can"\ SeM C5 +409 ."da"PSV.dial :air +2 "processing"%U  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%f'ؾ +2378 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core" +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%[' +2120 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%~ +84 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%v  +34 "core" +2 "processing"%b% +3 "core" %B\  +2 ."da"PS.seek 1.5ml +2 "processing"%'' +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%_ * +33 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +9 "processing"%j  +101 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1614 "core" ' +2 "processing"%q9 +3 "core" 9l5m +2 #"da"Processing Puck Heater at 28.1C before imaging +2 .PH.coast + "processing"%) +3 "core" 5m + "processing"%l& +4 "core" &^#^\ 3 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&% +3 "core" %   b +2 "storage"(i% +4 "core" % P\  +2 "storage"(.. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(((C +353 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (0& +3 "core" &D [\ +2 "manipulator"&& +4 "core" &- > + "manipulator"&% +4 "core" %   ` +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&( +174 "core" ( +2 "manipulator"&,& +4 "core" &  \  % +2 "storage"({& +3 "core" &D x\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&!' +97 "core" ' + "storage"(5& +3 "core" &D \ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(X'r +275 "core" ' +2 "storage"(c- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place + "storage"(|'1 +46 "core" ' +2 "manipulator"&a& +3 "core" &  % % +2 "manipulator"&S% +3 "core" %   2 R +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&K' +89 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&$( +246 "core" ( +2 "manipulator"&@& +4 "core" &   G +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &  I G +2 ."da"Forearm.seek PC +2 "manipulator"&:' +96 "core" ' + ."da"Hand.close +2 "manipulator"&T/ +57 "core" / +2 ."da"PC.seek :open +3 "processing"%o( +455 "core" ( + "storage"(#& +4 "core" &D \ +2 "manipulator"&& +3 "core" & % F +2 "manipulator"&% +4 "core" %   \ +2 ."da"Forearm.seek :retract +2 "manipulator"&8' +95 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +247 "core" ( + "manipulator"&1& +3 "core" &   ) > +2 "storage"(3& +4 "core" &D g\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&4' +106 "core" ' +2 ."da"Hand.open +2 "manipulator"&V1 +63 "core" 1 +3 "storage"(s- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +52 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0915h.tif +5 "processing"%'& +10 "core" & \ y +3 "manipulator"& & +6 "core" &  > +2 "manipulator"&g% +5 "core" %   +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&<' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&F(- +175 "core" ( +2 "manipulator"&2& +3 "core" &-   Q +55 ."psFlush"Elbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +3 &L& +3 "core" &- \  P +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&x'w +92 "core" ' +2 ."psFlush"Hand.close + "manipulator"&H/ +59 "core" / +2 "manipulator"&& +4 "core" &-   i P +2 "manipulator"&D% +4 "core" % ~  ! / +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&E( +136 "core" ( +2 "manipulator"&A& +3 "core" &   +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &/& +2 "core" &  +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&z& +5 "core" & \  + "manipulator"&&% +4 "core" % \  +2 "processing"%r& +4 "core" &\ w +3 "processing"% & +4 "core" &\ +3 ."psFlush"PC.seek :closed +2 "processing"%](^ +4 "core" &\  +9 &3t\ *x +9 &dv\ > +10 &xg\ N +9 &=I\ M +10 &L\ M +9 &M\ M +9 &M3\ M +10 &CM:\ N +9 &I:\ N +10 &J8\ wO +9 & I8\ vO +9 &"HIs\ uO +10 &$\ J\ uO +9 &%I\ uO +9 &'I\ tO +10 &)QI\ tN +9 &+G\ tN +9 &,I\ tO +10 &.J\ sO +9 &0YG\ tN +10 &2K\ sO +9 &3I\ sO +9 &5Lz\ sN +10 &7`H\ sO +9 &9"Jl\ sO +9 &:Gu\ rN +10 &<Hk\ N +9 &>jNw\ N +10 &@-Mr\ N +9 &ATe\ N +9 &C]f\ O +10 &Ekfg\ P +9 &G%xe\ S +10 &H]\ U +11 &Je\ U +7 &Lg[\ T +10 &N$?\ sV +9 &OL\ rW +9 &Q]\ pW +10 &Sha\ pW +9 &U*^\ oW +9 &VL\ oW +10 &XQ\ pV +9 &ZpM\ oW +10 &\\1J\ oW +9 &]}mR\ q= +9 &^'iI\ qW +10 &^.L\ t8 +2 ( +2 "processing"% & +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.77 + "processing"%N& +3 "core" &^,>\ s8 +2 ."psFlush"Hand.open +2 "manipulator"&>1 +58 "core" 1 +2 "manipulator"&% +3 "core" %   +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%P +45 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +587 "core" ' +2 ."psFlush"delay 5 seconds +176 #"da"SX HX9/16 (USB:24): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20.848 seconds\ /var/log/esp/da23sep0915h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0915h15s.tif +323 ."psFlush"PSR.select :air +12 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%M' +1224 #"da"SX HX9/16 (USB:24): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0915h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0915h20s.tif +894 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +188 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%?  +129 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%Z +103 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%d'ؠ +629 #"da"SX HX9/16 (USB:24): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0915h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "20.848 sec auto-exposure",Subject: "da23sep0915h images!" +4 "storage"(R- +12 "core" -' +7 "storage"(-& +10 "core" &D % %\ +2 "manipulator"&}& +4 "core" & . , b +2 "manipulator"&;% +5 "core" %  - - G  +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +3 "manipulator"&k( +244 "core" ( +2 "manipulator"&B& +6 "core" & . / f A + "storage"( & +4 "core" &D % &\ +3 ."da"Forearm.reconfigure :tight +12 "manipulator"&#Q@2^d^\ b +8 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&w' +94 "core" ' +6 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +5 "storage"(u'" +60 "core" ' +4 "manipulator"&& +9 "core" &  A +3 "storage"(J& +11 "core" &D   \ +3 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +4 "manipulator"&`'8 +26 "core" ' +3 ."da"Elbow.hold +5 "manipulator"&, +6 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(9' +30 "core" ' +2 "manipulator"&y% +11 "core" %; . - g | +2 "storage"(& +9 "core" &D " # \ +3 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 303 counts +4 "manipulator"&'g +15 "core" ' +4 "manipulator"&6& +6 "core" &  A +5 "storage"("& +8 "core" &D F B\ +4 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&e' +21 "core" ' +5 "storage"(\\% +6 "core" % C E\  +6 ."downElevator"SE.seek :down +7 "storage"(\ ' +97 (% +5 "core" %k?\  O \ T[ +6 "manipulator"&m% +6 "core" %  +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +2 "manipulator"&n' +97 "core" ' +39 ' +3 ."downElevator"SE.stop +3 "storage"(5 +7 (p& +11 "core" &D 1 & m\ +893 ' +2 ."psFlush"PSR.select :air +5 .PSV.dial PSR +5 "processing"%h +102 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +6 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%I' +601 "core" ' +2 ."psFlush"delay 5 seconds +265 #"uploadLog"upsync +240 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2125 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%t  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%% @ +73 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%7'ؠ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%+ +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%O'X\\ +1106 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%C' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%U +72 "core" + ."psFlush"PTV.dial :puck +3 "processing"%Q  +69 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +82 "core" +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%~' +589 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%v' +2128 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%b +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%[ U +51 "core" V +10 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%j @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%' +2635 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%q  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%)'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%l +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2631 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%i +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%. U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2640 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%0 @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%,'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%{ +42 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%5'X\\ +1101 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%Y' +1616 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +82 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%c  +4 "core"  + ."psFlush"PBV.dial :waste1 +3 "processing"%a  +50 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%X +70 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%!' +585 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%@' +588 "Can" C WkMC* +1528 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%* +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%T'ؾ +2652 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%K @ +41 "core" ? +3 ."psFlush"PS.seek 2.5ml + "processing"%G' +2635 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%#  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +42 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%:' +2630 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%1 +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%3 U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%$'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%V @ +55 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%s' +2638 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%'  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2630 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&8& +3 "core" &   A +2 "manipulator"&g% +3 "core" %   d  +3 ."psFlush"Elbow.seek PC +2 "manipulator"&|( +243 "core" ( +2 "manipulator"&& +3 "core" &    +2 ."psFlush"Elbow.reconfigure :loose +47 "manipulator"&$ &.,(#b +7 &2& +2 "core" &   +3 ."psFlush"Forearm.seek PC +2 "manipulator"&L' +90 "core" ' +2 ."psFlush"Hand.close + "manipulator"&4/ +61 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%( +458 "core" ( +2 "manipulator"&H& +4 "core" & q  + "manipulator"&% +4 "core" %   U 3 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&D' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&<(- +143 "core" ( + "manipulator"&A& +4 "core" &-  * u +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &- u +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&x'w +94 "core" ' + ."psFlush"Hand.open +2 "manipulator"&z1 +56 "core" 1 +2 "manipulator"&&% +4 "core" % r  { 2 +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&r' +96 "core" ' +2 #tFinished short da assay +2 #Flushing Processing stage + "processing"%F% +4 "core" %ؿq\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +4 "core" &\ +2 "manipulator"&o& +3 "core" &- u +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&N(- +9 "core" ( +2 "manipulator"&>& +3 "core" &-  M E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- F E +3 .tForearm.seek :garage +2 "manipulator"& 'w +92 "core" ' +2 .tHand.close + "manipulator"&P/ +60 "core" / +2 "manipulator"&& +4 "core" &-  E E + "manipulator"&% +4 "core" % ω  R - +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +115 "core" ( + "manipulator"&?& +4 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" & = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&M' +92 "core" ' +2 "manipulator"&R& +3 "core" &  : +2 "manipulator"&-% +5 "core" % T + "processing"%}& +4 "core" &\ +3 "processing"%;& +4 "core" &\ +3 .tPC.seek :closed + "processing"%B(^ +5 "core" &k\ +8 &4l\ $d +9 &Yuk\ 7 +10 &pn\ K +9 &Lr\ L +9 &xQ{\ L +10 &;M{\ K +9 &Nk\ L +10 &Rl\ K +9 &Oz\ L +9 &BSw\ L +10 & Qm\ L +9 &!Oq\ L +9 &#Ni\ K +10 &%KQm\ K +9 &' Oj\ L +10 &(Ne\ K +9 &*Qj\ K +9 &,RSh\ L +10 &.Sj\ K +9 &/Qk\ K +9 &1Qj\ K +10 &3YTi\ L +9 &5Ng\ K +10 &6Qs\ L +9 &8Si\ L +9 &:cSi\ K +10 &<%Ql\ K +9 &=Qk\ K +9 &?Rk\ L +10 &AjRg\ L +9 &C'\\o\ M +10 &Dak\ N +9 &Fwi\ Q +9 &H\\r\ S +10 &Jl\ S +9 &Kj\ S +9 &Mh\ S +10 &Obo\ T +9 &Q"h\ T +10 &Rh\ T +9 &Ts\ U +9 &Vkj\ S +10 &X+j\ T +9 &Ym\ T +9 &[j\ T +10 &]pi\ A +9 &^<ms\ %m +9 &^*r\ 0 +6 ( +2 "processing"%;& +3 "core" &^q\ 0 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + "processing"% & +3 "core" &^\ 0 +3 .tHand.open + "manipulator"&E1 +59 "core" 1 +2 "manipulator"&% +4 "core" %   H T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +95 "core" ' + .tPSV.dial PSR +2 "processing"% +42 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%y'X\\ +1105 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1616 "core" ' +2 .tPSV.dial PTV + "processing"%6 +71 "core" +9 .tPTV.dial :puck + .PBV.dial :waste1 +2 "processing"%"  +50 "core" +2 .tPS.seek 0ml +2 "processing"%='ؾ +2651 "core" ' + .tPSV.dial PSR +2 "processing"%\\ +72 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%w' +591 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%k' +2116 "core" ' +2 .tPSV.dial PTV +2 "processing"% +71 "core" +2 .tPBV.dial PSV +2 "processing"%m U +52 "core" W +3 .tPS.seek 0ml +2 "processing"%u'ؾ +2636 "core" ' + .tPSV.dial PBV +2 "processing"%` @ +55 "core" @ +2 .tPS.seek 2.5ml +2 "processing"%' +2632 "core" ' + .tPSV.dial :waste1 +2 "processing"%p  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%9'ؾ +2633 "core" ' +2 .tPSV.dial PSR + "processing"%e +42 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%\ ' +2630 "core" ' +2 .tPSV.dial PTV +2 "processing"%h +70 "core" + .tPBV.dial PSV +2 "processing"%d U +15 "core" T +3 .tPS.seek 0ml +2 "processing"%I'ؾ +2634 "core" ' +2 .tPSV.dial PBV +2 "processing"%t @ +54 "core" @ +2 .tPS.seek 2.5ml +2 "processing"%%' +2635 "core" ' +2 .tPSV.dial :waste1 + "processing"%  +72 "core"  +3 .tPS.seek 0ml + "processing"%^'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&+& +4 "core" &  J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&7( +7 "core" ( +2 "manipulator"&O& +3 "core" &  \  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &  +3 .tForearm.seek PC +2 "manipulator"&Q' +91 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%C( +458 "core" ( + "manipulator"&& +4 "core" & +2 "manipulator"&f% +3 "core" %  / +3 .tForearm.seek :retract + "manipulator"&~' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&b(- +127 "core" ( +2 "manipulator"&[& +3 "core" &- $ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&j'w +95 "core" ' +2 .tHand.open + "manipulator"&_1 +62 "core" 1 + "manipulator"&q% +4 "core" % ~  X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +3673 #t-> access 1 +3 "storage"(l% +3 "core" % r z \  +2 "manipulator"&)% +3 "core" %   +2 "manipulator"&i& +3 "core" &- O +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(.(<- +1300 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<*  % 7\  +3156 "Can" 6 YN9C# +11430 #t-> access 2 +2 "storage"(0% +3 "core" % s u \  +2 "manipulator"&% +3 "core" %   +3 "manipulator"&& +3 "core" &- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +3 "core" &K 9 6 U\  +48182 "Can" 6 [NC& +60001   6 ]ZOeC" +60002  6 _.OC& +4718 #t-> access 2 +2 "storage"(,% +3 "core" % q p c\  +2 "manipulator"&5% +43 "core" %   Q  +10 "manipulator"& & +3 "core" &- I +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(c(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "core" &K F F\  +767 #t-> startTube 2 +817 #-> $da[:extractVol]=.2 +9431 #-> shortDA; samplePassF +3 "collection"'Y% +2 "processing"%X% +6 "core" %j \ + %ؿ\ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +197 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%S +130 "core" + .tPTV.dial :PRVmixing +2 "processing"%!  +128 "core" +2 .tPRV.dial :sipper +2 "processing"%*  +41 "core" +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%'e +2290 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%@  +126 "core"  +2 .tPS.seek 0.5ml +2 "processing"%K' +1278 "core" ' +2 .tPRV.dial :waste2 + "processing"%T @ +99 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%#'ؾ +584 "core" ' +2 .tPSV.dial PSR + "processing"%G +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1610 "core" ' + .tPSV.dial :mixloop +2 "processing"%1 +101 "core" +3 .tPS.seek 0ml + "processing"%3'ؾ +2639 "core" ' + .tPSV.dial PSR +2 "processing"%: +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%V'X\\ +1111 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%$' +1614 "core" ' + .tPSV.dial :mixloop +2 "processing"%' +102 "core" + .tPRV.dial :sipper +2 "processing"%s  +42 "core" +2 .tPS.seek 0ml +2 "processing"%8'ؾ +2652 "core" ' +2 .tPSV.dial PSR + "processing"%g +100 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"% +112 "core" +2 .tPS.seek 0ml +2 "processing"%2'ؾ +2624 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%4& +4 "core" &\  + "manipulator"&n% +4 "core" %    +2 "storage"(]% +3 "core" % p p \  +2 "storage"(H. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +1302 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &  F 0 e\ +2 "manipulator"&/& +4 "core" &-  + "manipulator"&L% +4 "core" %  \ a  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&|( +169 "core" ( + "manipulator"&z& +4 "core" &  D +2 "storage"(&& +4 "core" &  r w \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'S +92 "core" ' +2 "storage"(& +4 "core" &  p p $\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +295 "core" ' + "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (>& +3 "core" & U ? a\ +2 "manipulator"&& +3 "core" & \  f C +2 .tElbow.seek 2 +2 "manipulator"&x( +4 "core" ( + "manipulator"&P& +4 "core" &  C C +2 "storage"(& +3 "core" & ] ] \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W\ M +9 &@OU\ M +9 &B]\ N +10 &Cj\ O +9 &Et\ Q +9 &GG\ S +10 &I\ S +9 &J\ S +10 &L\ S +9 &NI\ U +10 &P \ T +9 &Q\ U +9 &S\ U +9 &UO\ U +10 &W\ U +9 &X\ U +10 &Z\ U +9 &\\Y\ U +9 &]zr\ 0 +10 &^&m\ N +9 &^+\ 6 +2 ( +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.68 + .Hand.open + "manipulator"&;1 +63 "core" 1 +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +93 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"% h +2 %y9 +7 "core" 9 +102 "processing"%69 +3 "core" 9 +102 "processing"%"9 +3 "core" 9  +103 "processing"%9 +3 "core" 9  +102 "processing"%\\9 +3 "core" 9 +102 "processing"%=9 +3 "core" 9 +102 "processing"%w9 +3 "core" 9 +102 "processing"%9 +4 "core" 9 +102 "processing"%m9 +3 "core" 9" +102 "processing"%k9 +3 "core" 9& +102 "processing"%`9 +3 "core" 9+ +102 "processing"%u9 +3 "core" 9/ +102 "processing"%p9 +4 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%e9 +3 "core" 9; +102 "processing"%99 +3 "core" 9@ +102 "processing"%h9 +3 "core" 9D +102 "processing"%d9 +3 "core" 9H +102 "processing"%\ 9 +3 "core" 9L +102 "processing"%t9 +3 "core" 9P +102 "processing"%I9 +3 "core" 9U +102 "processing"%9 +3 "core" 9Y +102 "processing"%%9 +4 "core" 9]\ +102 "processing"%+9 +3 "core" 9a\ +102 "processing"%O9 +3 "core" 9f +102 "processing"%U9 +3 "core" 9j +102 "processing"%9 +3 "core" 9n +102 "processing"%9 +4 "core" 9 r +3 .tPH.hold 2:00:00,28C +3 "processing"%J php +2 .tdelay 1:30 +6 "core" s +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%B +99 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%' +586 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml +2 "processing"%f' +1623 "core" ' + .tPTV.dial :puck +2 "processing"%[  +128 "core"  +2 .tPSV.dial PTV +2 "processing"%v +84 "core" + .tPBV.dial :waste1 +2 "processing"%Q  +50 "core"  + "processing"%7% +4 "core" %\ +3 .tPS.seek 1.5ml + "processing"%_'3 +600 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%q * +32 "core" + +2 .tPS.seek 0ml + "processing"%~'ؾ +1615 "core" ' +2 .tdelay 5:00 +674 "Can" \ aPC* +29377 #trecoverPSRreagent08 +2 .PTV.dial :puck + "processing"%j  +14 "core"  +2 .tPBV.dial :waste1 + "processing"%l  +33 "core"  +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%) * +33 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%i +69 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%(' +2367 "core" ' +2 .tPSV.dial PTV +2 "processing"% +71 "core" +2 .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%0 +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%  +85 "core"  +3 .tPS.seek 0ml + "processing"%.'ؾ +2340 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%{  +127 "core" +2 .tPSV.dial :mixloop +2 "processing"%, +41 "core" +2 .tPRV.dial :ab1 +2 "processing"%5 @ +98 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +3 "processing"% ' +377 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%a  +40 "core" +2 "processing"%% +4 "core" %S\ +2 .tPS.seek 0.35ml +2 "processing"%X'i +454 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'Y  +29 "core" +2 .tPRV.dial :air +2 "processing"%S  +42 "core"  +3 .tPS.seek 0.9ml +2 "processing"%!'K +1164 "core" ' +2 .tPRV.dial :waste2 + "processing"%* @ +71 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%^' +872 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%@  +43 "core"  +3 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%' +1615 "core" ' + .tPSV.dial :PML +2 "processing"%T +44 "core" + .tPTV.dial :mixing +2 "processing"%K @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%G  +34 "core" +2 "processing"%#% +3 "core" %@\  +3 .tPS.seek 1.85ml +2 "processing"%' +231 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%1 * +34 "core" , +3 .tPS.seek 0ml + "processing"%'ؾ +1971 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"':& +3 "core" & \ +2 "manipulator"&3& +4 "core" &  0 +2 "manipulator"&V% +3 "core" %   \ _  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&'(- +119 "core" ( + "manipulator"&s& +4 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &-   +2 .tForearm.seek :garage +2 "manipulator"&g'w +98 "core" ' + .tHand.close +2 "manipulator"&8/ +55 "core" / +2 "manipulator"&& +3 "core" &-   z  +2 "manipulator"&% +5 "core" % ω  +2 .tForearm.seek :retract + "manipulator"&4' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&n(ӂ +281 "core" ( + "manipulator"&]& +3 "core" &ӛ  N 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &ӛ \ I 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&c'? +90 "core" ' +2 "manipulator"&A& +3 "core" &ӛ & 8 8 +3 "manipulator"&/% +4 "core" %G  ; ; +2 "collection"'L& +4 "core" & \ +2 "collection"'z& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'&(\\ +5 "core" & \ +5 & \ < +10 &RLv \ 1 +9 &v} \ F +10 &3Y \ M +9 &T \ L +9 &V \ M +10 &zU \ L +9 &<V \ L +10 &T \ L +9 &T \ M +9 &T \ L +10 &!DU \ L +9 &#U \ L +9 &$T \ L +10 &&V \ L +9 &(LU \ L +10 &* U \ M +9 &+T \ L +9 &-Q \ L +10 &/UV \ L +50 &1T \ L +3 &2U \ M +2 &4U \ L + &6\\R \ L + &8W \ L + &9W \ L +7 &;W \ L +10 &=dW \ L +9 &?&W \ L +9 &@Y \ L +10 &B^ \ M +9 &Ddj\ \ \ O +10 &F\ \ \ S +9 &G\ \ \ W +9 &I\ \ \ X +10 &KO\ \ \ Y +9 &M\ \ \ \ Y +9 &N\ \ \ \ Y +10 &P\ \ \ [\ +9 &RQ\ \ \ [\ +9 &T\ \ \ \ [ +10 &U\ \ \ \\ +9 &W\ \ \ \ ] +10 &YQ\ \ \ \ ^ +9 &[\ \ \ ^ +9 &\\jG\ \ \ \ 3 +10 &\\ \ \ \ \ R +5 ( +2 "collection"'z& +3 "core" &\\v\ \ \ R +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 +2 "collection"'& +4 "core" &\\v\ \ \ \ R + .tHand.open +2 "manipulator"&b1 +58 "core" 1 +3 "manipulator"&% +4 "core" % G & ) B ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +94 "core" ' + .tPSV.dial PSR +2 "processing"%> +100 "core" +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%'+ +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +5 "processing"%P  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' + .tPSV.dial PSR +2 "processing"%< +42 "core" +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%r' +2633 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%Z  + "collection"'|  +32 "core" ~ +123 + .tPSV.dial :mixloop +2 "processing"%F +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%o  +71 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2643 "core" ' +2 .tPSV.dial :air + "processing"%-  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%}' +1727 "Can"\  dmQ'C' +922 "core" ' +2 .tPSV.dial :mixloop + "processing"%x +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2640 "core" ' + .tPSV.dial :air + "processing"%  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"% ' +2652 "core" ' + .tPSV.dial :mixloop +2 "processing"%? +44 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +2653 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&C& +4 "core" &ӡ   7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +21 "core" ( + "manipulator"&& +4 "core" &ӆ  n $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &ӆ  * $ +2 .tForearm.seek CC +2 "manipulator"&E'? +98 "core" ' +2 .tHand.close + "manipulator"&6/ +58 "core" / +2 .tCC.seek :open + "collection"'N( +450 "core" ( + "manipulator"&"& +5 "core" &Ӈ   $ + "manipulator"&% +4 "core" %  V +2 .tForearm.seek :retract + "manipulator"&\\' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&=(- +279 "core" ( + "manipulator"&w& +4 "core" &-  Z H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-  4 H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&m'w +101 "core" ' +2 .tHand.open + "manipulator"&k1 +54 "core" 1 +2 "manipulator"&`% +3 "core" % w   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +100 "core" ' +2 ."da"delayUntil "16:59:07.13" +24764 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%p @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%e * +33 "core" * + ."da"PSV.dial :air +2 "processing"%9  +43 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%h' +2434 "core" ' +3 ."da"PSV.dial :mixloop +2 "processing"%d +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%\  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%t +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%I  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2350 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%+' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%O' +1619 "core" ' + ."da"PTV.dial :puck +2 "processing"%U  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +82 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%B% +3 "core" %Y\  +3 ."da"PS.seek 1.5ml +2 "processing"%2'0 +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%['ؾ +1606 "core" ' +2 ."da"delay 2:00 +10420 "Can" @ fQC& +1583 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%v  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%Q  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%7 * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%f +70 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%q' +2387 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%_ +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%j +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%l  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%W'ؾ +2331 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%) +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%i' +583 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%~' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%0 +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %]\  +2 ."da"PS.seek 1.5ml +2 "processing"%('+ +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%{ * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%,'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%5  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%.  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%a * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2389 "core" ' + ."da"PSV.dial PTV +2 "processing"%Y +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%S +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%X +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%*  +72 "core"  +3 ."da"PS.seek 0ml +43 "processing"%!'ؾ +2357 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%@  +41 "core"  +2 ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%^  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 +2 "processing"%T  +42 "core"  +2 ."da"PTV.dial :PRVmixing + "processing"%K  +16 "core" + ."da"PSV.dial :mixloop +2 "processing"%G +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%#' +386 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%1  +42 "core"  +2 "processing"%% +4 "core" %\\\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +342 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%:  +43 "core"  +3 ."da"PS.seek 2ml +2 "processing"%3' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%V +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%s @ +73 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%$  +32 "core" +2 "processing"%8% +4 "core" %V\  +2 ."da"PS.seek 1.85ml +2 "processing"%' +231 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%R * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1984 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +14842 "Can" < ivRSC+ +33161 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%M @ +14 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%g  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" + + ."da"PSV.dial :air +2 "processing"%H  +54 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'' +2395 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%A +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%/  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"%L +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%4  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2341 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%b' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%z  +71 "core"  +2 ."da"PSV.dial PTV +2 "processing"%> +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%c  +33 "core" + "processing"%% +4 "core" %^\  +2 ."da"PS.seek 1.5ml +2 "processing"%P'& +584 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%<'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%|  +33 "core" + ."da"delay 30 seconds +495 "Can"\ kRC0 +2508 ."da"PBV.dial between PSV and waste1 +3 "processing"%Z * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%F +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%o' +2407 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%r +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%- +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%x  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +2330 "core" ' +9 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%?' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%C +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%y% +4 "core" %Y\  +2 ."da"PS.seek 1.5ml +2 "processing"%6', +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%n * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1631 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%&  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%"  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%E +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%w' +2395 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%; +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%k +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%`  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\\'ؾ +2335 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%m +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%p' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%e  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%9 +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%d% +4 "core" %Y\  +2 ."da"PS.seek 1.5ml +2 "processing"%\ '/ +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%t * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%h  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%+ +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%U' +2385 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +334 "Can" ? nLSC' +168 ."da"PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%B +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%O  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2330 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%2 +132 "core" +2 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +4 "processing"% +16 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +6 "processing"%v' +334 "core" ' + ."da"delay 5 seconds +553 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%Q' +336 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%7' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%f  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%[ +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%_  +34 "core" + "processing"% % +4 "core" %p\  +3 ."da"PS.seek 1.5ml +2 "processing"%j'* +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%l * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +1612 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%)  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%W  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%i * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%0' +2422 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%~ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%{  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%('ؾ +2391 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%5 +129 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%.' +2123 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%a  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%,  +34 "core" +2 "processing"%Y% +4 "core" %~\  +2 ."da"PS.seek 1.5ml +2 "processing"%S'& +595 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%X * +34 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%*  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1612 "core" ' +2 "processing"%@9 +3 "core" 9i5j +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%^ +3 %T& +3 "core" 5j + &^*\ 6 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&K% +3 "core" %  +2 "storage"(G% +4 "core" % \  +2 "storage"(!. +2 "core" .(  +3 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(1(C +351 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &C *\ +2 "manipulator"&#& +3 "core" &- H +2 "manipulator"&:% +4 "core" %  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +172 "core" ( + "manipulator"&V& +3 "core" &  ! $ +3 "storage"(s& +4 "core" &C x d\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&$' +92 "core" ' +2 "storage"(8& +3 "core" &C #\ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(R'r +276 "core" ' +2 "storage"(3- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"('1 +42 "core" ' +2 "manipulator"&M& +48 "core" &   % $ +10 "manipulator"&g% +4 "core" % \ = +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&]' +89 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&H( +262 "core" ( + "manipulator"&& +4 "core" &  J +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &  . +3 ."da"Forearm.seek PC +2 "manipulator"&/' +89 "core" ' +2 ."da"Hand.close + "manipulator"&L/ +53 "core" / +3 ."da"PC.seek :open +2 "processing"%4( +457 "core" ( + "storage"('& +4 "core" &C \ +2 "manipulator"&& +3 "core" &  +2 "manipulator"& % +3 "core" %  - +3 ."da"Forearm.seek :retract +2 "manipulator"&b' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&z( +237 "core" ( +2 "manipulator"&>& +3 "core" &  ? K +3 "storage"(c& +4 "core" &C I\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +95 "core" ' +2 ."da"Hand.open + "manipulator"&1 +59 "core" 1 +3 "storage"(- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(P' +26 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +3 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0917h.tif +4 "processing"%|& +12 "core" &I\ x +4 "manipulator"&Z& +6 "core" & \  K +2 "manipulator"&F% +6 "core" % \ g +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&<' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&r(- +172 "core" ( + "manipulator"&-& +5 "core" &-   & w + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &-  X w +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&x'w +98 "core" ' + ."psFlush"Hand.close +2 "manipulator"&o/ +57 "core" / +3 "manipulator"&& +5 "core" &-  w + "manipulator"&}% +5 "core" % x _ +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"& ( +118 "core" ( + "manipulator"&C& +4 "core" &   7 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  \ L 7 +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&y' +109 "core" ' +2 "manipulator"&?& +3 "core" & \  P 7 +3 "manipulator"&n% +3 "core" %  : +3 "processing"%6& +4 "core" &\ v +2 "processing"%&& +5 "core" &\ u +2 ."psFlush"PC.seek :closed +2 "processing"%"(^ +5 "core" &\ v +8 &3v\ o*z +9 &cs\ o> +10 &qd\ oO +9 &4F\ qN +9 &J\ pN +10 &H\ qO +9 &yG\ qO +9 &>I\ N +10 &K\ N +9 &I\ M +10 & J\ M +9 &"GI\ M +9 &$ I\ M +10 &%L\ N +9 &'N\ M +9 &)NM\ N +10 &+L\ M +9 &,I\ vN +10 &.IK\ tO +9 &0TJF\ sN +9 &2JC\ rN +10 &3FL\ rN +9 &5H@\ rN +9 &7\\K<\ rN +10 &9G;\ rO +9 &:I9\ qO +9 &<F;\ qN +10 &>dI4\ qN +9 &@%I+\ qO +10 &AP\ pO +9 &CX"\ oQ +9 &Ebc\ nR +10 &G{$\ lU +9 &H\ lV +57 &J$\ U +9 &L_ \ U + &N\ W + &O\ V + &Q'\ W + &Se_\ V + &U&9\ V +4 &Vq\ W +9 &X}\ V +10 &Zl^\ V +9 &\\,|\ tW +10 &]u \ p6 +9 &^+e\ qY +9 &^/\ s8 +3 ( + "processing"%&& +4 #"psFlush"Processing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.78 + "processing"%& +4 "core" &^+\ r8 +2 ."psFlush"Hand.open +2 "manipulator"&E1 +52 "core" 1 +2 "manipulator"&D% +4 "core" %  $ + V : +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +96 "core" ' +3 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%; +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"%k' +585 "core" ' + ."psFlush"delay 5 seconds +227 #"da"SX HX9/16 (USB:25): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20.621 seconds\ /var/log/esp/da23sep0917h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0917h15s.tif +273 ."psFlush"PSR.select :air +13 "processing"% +10 ."psFlush"PS.seek 2.5ml +3 "processing"%`' +1264 #"da"SX HX9/16 (USB:25): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0917h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0917h20s.tif +850 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%w @ +188 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%m  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%\\ +103 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%p'ؠ +675 #"da"SX HX9/16 (USB:25): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0917h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "20.621 sec auto-exposure",Subject: "da23sep0917h images!" +7 "storage"(e- +6 "core" -' +8 "storage"(9& +12 "core" &C   \ +2 "manipulator"& & +3 "core" & + !  7 +4 "manipulator"&d% +4 "core" % \  (   +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +5 "manipulator"&( +250 "core" ( +5 "manipulator"&t& +9 "core" & )  =  +4 "storage"(\ & +7 "core" &C \ +6 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&h' +92 "core" ' +5 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(%'" +52 "core" ' +4 "manipulator"&& +10 "core" &  \  +4 "storage"(+& +6 "core" &C .  \ +5 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +2 "manipulator"&I'8 +21 "core" ' +3 ."da"Elbow.hold +2 "manipulator"&, +8 "core" , +3 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(' +28 "core" ' +3 "manipulator"&B% +8 "core" %B  q +4 "storage"(O& +7 "core" &C ! # \ +6 ."da"Forearm.force -20 + "manipulator"&5 +6 ."da"Forearm.seek 1 + 310 counts +4 "manipulator"&U'n +16 "core" ' +4 "manipulator"&2& +6 "core" & '  +4 "storage"(& +6 "core" &C ? A \ +5 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&v' +16 "core" ' +5 "storage"(Q% +10 "core" % @ ;\  +7 ."downElevator"SE.seek :down +6 "storage"(f' +98 ([% +4 "core" %i?\ \  u\ U[ +5 "manipulator"&_% +130 "core" %  l +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +5 "manipulator"& ' +10 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +74 "core" ' +4 "storage"(7& +10 "core" &C C D \ +809 ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +2 "processing"%l +102 "core"  +5 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +4 "processing"%@ +15 ."psFlush"PS.seek 0.5ml +2 "processing"%j' +600 "core" ' +3 ."psFlush"delay 5 seconds +453 #"uploadLog"upsync +50 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%)' +2128 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%W  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%i @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"% +112 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%q'ؠ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1105 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%~' +1637 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%{ +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%0  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%5  +5 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%('ؾ +2639 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%a +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +597 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%,' +2125 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Y +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%. U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%X'ؾ +2655 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%* @ +54 "core" A +2 ."psFlush"PS.seek 2.5ml +2 "processing"%S' +2635 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%@  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%^'ؾ +2346 "Can" B sTC& +284 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%T +42 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%K' +2632 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%G +70 "core" + ."psFlush"PBV.dial PSV +3 "processing"%! U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2653 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +3 ."psFlush"PS.seek 2.5ml + "processing"%#' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +3 "processing"%:  +69 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%V'ؾ +2653 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%s +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%8'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%=' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%u +70 "core" + ."psFlush"PTV.dial :puck +43 "processing"%3  +12 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%M  +49 "core" +2 ."psFlush"PS.seek 0ml +3 "processing"%g'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%R +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%$' +594 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%' +2122 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%A +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +52 "core" W +3 ."psFlush"PS.seek 0ml + "processing"%L'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%] @ +54 "core" A +3 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%'  +71 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +42 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%/' +2639 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%> +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%c U +15 "core" T +2 ."psFlush"PS.seek 0ml +3 "processing"%H'ؾ +2647 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +55 "core" A +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2635 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%|  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%Z'ؾ +2630 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&F& +4 "core" &  +2 "manipulator"&b% +4 "core" %   z  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +242 "core" ( +2 "manipulator"&P& +3 "core" &  4 2 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &-& +2 "core" & 2 +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +55 "core" / + ."psFlush"PC.seek :open +3 "processing"%z( +456 "core" ( +2 "manipulator"&o& +3 "core" & 2 +3 "manipulator"&% +3 "core" %  / +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&}' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&<(- +127 "core" ( +2 "manipulator"&C& +3 "core" &-  \ s +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &-  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&x'w +95 "core" ' +2 ."psFlush"Hand.open +2 "manipulator"&?1 +59 "core" 1 +2 "manipulator"&n% +4 "core" % n  n C +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&6' +93 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'r& +3 "core" & \ +2 "manipulator"&& +4 "core" &- +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&4(- +17 "core" ( +2 "manipulator"&& +4 "core" &-  i [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &- W [ +3 .tForearm.seek :garage +2 "manipulator"&D'w +94 "core" ' +3 .tHand.close + "manipulator"&&/ +57 "core" / +2 "manipulator"&;& +3 "core" &-  K [ +2 "manipulator"&y% +4 "core" % z ?  +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&k(ӂ +283 "core" ( +2 "manipulator"&w& +4 "core" &Ӕ"   ] ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &m& +2 "core" &ӕ" \  ~ ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\\'? +100 "core" ' +2 "manipulator"&`& +4 "core" &ӕ#   O ;3 +2 "manipulator"&e% +4 "core" %>  X  +2 "collection"'9& +4 "core" & \ \ +2 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'d(\\ +3 "core" & \ +8 &C \ $f +10 &Y{ \ 7 +9 &x\ \ L +9 &R \ \ L +10 &U %\ L +9 &FU \ L +10 &U \ L +9 &U &\ K +9 &U )\ L +10 &MU\ \ &\ L +9 & T &\ L +9 &!T\ \ &\ L +10 &#U\  %\ L +9 &%WT \ )\ K +10 &'T '\ L +9 &(U %\ L +9 &*T )\ L +10 &,^U\ \ ,\ L +9 &. T\ +\ L +9 &/T\  +\ K +10 &1U +\ L +9 &3eU \ )\ L +10 &5'U \ ,\ L +9 &6V 0\ L +9 &8U /\ L +10 &:lU\ \ 3\ L +9 &<.U\  2\ L +9 &=U\ 4\ L +10 &?U\ \ 3\ L +9 &AsW\ \ 3\ M +10 &C3c\ \ 3\ M +9 &Dw\ \ -\ P +9 &F\ \ ,\ S +10 &HY\ \ 2\ X +9 &J\ \ *\ X +9 &K\ \ )\ Y +10 &M\ \ *\ Z +9 &O\\\ \ 2\ Z +10 &Q\ \ /\ \\ +9 &R\ \ '\ Z +9 &T\ \ 0\ \\ +10 &V\\\ \ /\ ] +9 &X\ \ 0\ ] +10 &Y\ \ )\ ^ +9 &[\ \ 5\ K +9 &\\5\ \ 9\ 2 +10 &\\m\ \ 3\ Q +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.45 + "collection"'t& +3 "core" &\\l\ \ 1\ Q +2 .tHand.open +2 "manipulator"&\ 1 +62 "core" 1 +2 "manipulator"& % +4 "core" % >    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +100 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%+  +41 "core" +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%'+ +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%B  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%O'ؾ +1618 "core" ' + .tPSV.dial PSR +2 "processing"%2 +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2631 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  + "collection"'Q  +7 "core"  +91  +2 .tPSV.dial :PTV,via: :air +2 "processing"%h +188 "core"  +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"%[ @ +69 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%_  +72 "core"  +3 .tPS.seek 2.5ml + "processing"%%' +2627 "core" ' +2 .tPSV.dial :PTV +2 "processing"%I +72 "core"  +2 .tPS.seek 0ml +2 "processing"%U'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" &Ө  K 8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&7(ӂ +37 "core" ( +2 "manipulator"&v& +4 "core" &x   \ 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &x \  8 +3 .tForearm.seek CC +2 "manipulator"&l'? +94 "core" ' +2 .tHand.close + "manipulator"&p/ +63 "core" / +2 .tCC.seek :open +2 "collection"'j( +451 "core" ( + "manipulator"&W& +4 "core" &Ӯ q 0 +2 "manipulator"&i% +3 "core" % 5 \ +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&)(- +280 "core" ( +2 "manipulator"&& +3 "core" &-  = _ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &- _ +50 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +105 "core" ' + .tHand.open +2 "manipulator"&{1 +52 "core" 1 +2 "manipulator"&0% +3 "core" % p  _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +95 "core" ' +2194 "Can" 4 vTC* +1637 #t-> access 1 +2 "storage"(~% +3 "core" % | y G\  +3 "manipulator"&a% +4 "core" %  G  + "manipulator"&(& +4 "core" &- _ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +1299 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Y& +2 "core" &<* 7 5 D\  +6152 #t-> access 2 +2 "storage"(.% +3 "core" % y r I\  +3 "manipulator"&,% +4 "core" %   + "manipulator"&*& +4 "core" &-  _ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(X(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &K 0 .\  +13701 #t-> startTube +1634 #-> startTub2 +1165 #-> startTube2 +737 #-> startTube 2 +871 #-> $da[:extractVol]=.2 +32378 "Can" 5 wUAC( +48953 #t-> shortDA; samplePassF +2 "collection"'S% +2 "processing"%T% +4 "core" %j  \ +6 %=\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +291 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%^ +42 "core" +2 .tPTV.dial :PRVmixing + "processing"%G  +72 "core" +2 .tPRV.dial :sipper +2 "processing"%!  +126 "core"  +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%K'e +2294 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  + "collection"'  +6 "core"  +120  +2 .tPS.seek 0.5ml + "processing"%:' +1278 "core" ' + .tPRV.dial :waste2 +2 "processing"%# @ +98 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%s'ؾ +583 "core" ' +2 .tPSV.dial PSR +2 "processing"%V +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1ml + "processing"%8'X\\ +1100 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%u' +1607 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%3 +101 "core" +2 .tPS.seek 0ml +2 "processing"%M'ؾ +2124 "Can" 8 yUC& +526 "core" ' +3 .tPSV.dial PSR + "processing"%= +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%R'X\\ +1102 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%g' +1615 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%$ +112 "core" +2 .tPRV.dial :sipper + "processing"%A  +43 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2635 "core" ' +2 .tPSV.dial PSR +2 "processing"% +98 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%]' +2630 "core" ' + .tPSV.dial :mixloop +2 "processing"%L +113 "core" +2 .tPS.seek 0ml + "processing"%''ؾ +2634 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"& % +4 "core" %   +2 "storage"(% +3 "core" % v r D\  +2 "storage"(>. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(c(  +1297 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "core" &  ] Z\ +3 "manipulator"&& +48 "core" &- g ^ +5 "manipulator"&H% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&|( +171 "core" ( + "manipulator"&& +4 "core" &  ; + +2 "storage"(F& +4 "core" &  p v \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&b'S +94 "core" ' + "storage"(P& +4 "core" &  v q O\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & [ ]\ +2 "manipulator"& & +4 "core" & + +2 .tElbow.seek 2 +2 "manipulator"&"( +4 "core" ( + "manipulator"&o& +3 "core" & v + +2 "storage"(& +4 "core" & \\ c\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&C'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +8 "core" & { + + "manipulator"&?% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( +2 "manipulator"&& +4 "core" &  j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +89 "core" ' +2 "manipulator"&E& +3 "core" & R +2 "manipulator"&x% +4 "core" %  / R +2 "processing"%&& +4 "core" &8\ +2 "processing"%;& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%y(^ +5 "core" &\ +7 &3\ $e +9 &Yz\ 7 +9 &v\ L +10 &N\ L +9 &tR \ M +9 &8P\ L +10 &P\ M +9 &T\ M +10 &}P\ M +9 &?P \ M +9 & Q\ L +10 &!Q\ M +9 &#U\ M +9 &%GU\ M +10 &' T\ M +9 &(T\ M +10 &*Q\ M +9 &,OP\ M +9 &.R\ M +10 &/V\ M +9 &1P\ M +9 &3XQ\ L +10 &5Q\ M +9 &6U\ M +10 &8P\ M +9 &:`Q\ L +9 & +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +378 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +3 "collection"'@  + "processing"%S  +4 "core"  +38 + "processing"%T% +3 "core" %E\ +3 .tPS.seek 0.35ml +2 "processing"%^'c +456 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'G  +30 "core" + .tPRV.dial :air +2 "processing"%!  +42 "core"  +3 .tPS.seek 0.9ml +2 "processing"%U'K +1173 "core" ' +2 .tPRV.dial :waste2 +2 "processing"% @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%K  +43 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%#' +1621 "core" ' + .tPSV.dial :PML +2 "processing"%: +44 "core" + .tPTV.dial :mixing +2 "processing"%V @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%s  +33 "core" +2 "processing"%8% +3 "core" %J\  +3 .tPS.seek 1.85ml + "processing"%3' +239 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%u * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%='ؾ +1970 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'M& +3 "core" &\  \ +2 "manipulator"&R& +3 "core" & \  +2 "manipulator"&$% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&A(- +119 "core" ( +2 "manipulator"&g& +3 "core" &-  h \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  + \ +3 .tForearm.seek :garage + "manipulator"&'w +92 "core" ' +2 .tHand.close +49 "manipulator"&L/ +60 "core" / +2 "manipulator"&]& +3 "core" &-   \ +2 "manipulator"&% +4 "core" % x  W 1 +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +274 "core" ( +2 "manipulator"&>& +3 "core" &~&    @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &~( #   @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&/'? +100 "core" ' +2 "manipulator"&& +4 "core" && 2 1 ? ?V +2 "manipulator"&H% +3 "core" %F " * ( +3 "collection"'& +3 "core" & \ +3 "collection"'F& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'P(\\ +5 "core" &\ \ +6 &< \ %g +9 &Xv \ \ 7 +9 &x\ \ L +10 &U\  \ L +9 &U \ \ M +10 &BT\ \ \ L +9 &U\ \ \ M +9 &U\ \ \ L +10 &T\ \ \ L +9 &KQ\ \ \ L +9 & T\ \ \ L +10 &!T\ \ \ L +9 &#W\ \ \ L +10 &%RT\ \ \ L +9 &'Q\ \ \ L +9 &(U\ \ \ L +10 &*T\ \ L +9 &,[U\ \ \ L +9 &.T\ \ \ L +10 &/T\ \ \ L +9 &1V \ \ L +10 &3cT \ \ L +9 &5$U\  \ L +9 &6W\ \ L +10 &8U \ L +9 &:jW \ \ \ L +9 &<,V\ \  \ L +10 &=U\ \ \ M +9 &?U\ \  \ L +9 &ArU\ \ \ L +10 &C0`\ \ \ N +9 &Ds\ \ \ P +10 &F\ \ \ T +9 &HX\ \ \ X +9 &J\ \ \ Z +10 &K\ \ \ Y +9 &M\ \ \ [ +10 &OX\ \ \ [ +9 &Q\ \ \ Z +9 &R\ \ \ [ +10 &T\ \ \ [ +9 &VZ\ \ \ ] +9 &X\ \ \ ^ +10 &Y\ \ \ ] +9 &[\ \ \ J +10 &\\>\ \ \ )| +9 &\\m\ \ \ Q +2 ( +2 "collection"'F& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.43 + "collection"')& +3 "core" &\\l\ \ \ Q +2 .tHand.open +2 "manipulator"&51 +60 "core" 1 +2 "manipulator"&% +4 "core" % F 3 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tPSV.dial PSR + "processing"% +102 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%o'+ +1610 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%?' +2628 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%|  +2 "collection"'b  +31 "core"  +123  +2 .tPSV.dial :mixloop + "processing"%- +112 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%C  +72 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%}  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%"' +2655 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%E +43 "core" +3 .tPS.seek 0ml + "processing"%x'ؾ +2627 "core" ' +2 .tPSV.dial :air +2 "processing"%&  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2637 "core" ' +2 .tPSV.dial :mixloop + "processing"%n +44 "core" +2 .tPS.seek 0ml +2 "processing"%z'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&<& +5 "core" &Ӭ  \  9) + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&6(ӂ +20 "core" ( +2 "manipulator"&m& +3 "core" &Ӈ   e & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &Ӈ  z & +3 .tForearm.seek CC + "manipulator"&4'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'`( +447 "core" ( +2 "manipulator"&e& +3 "core" &ӎ  _ % +2 "manipulator"&9% +44 "core" %  J +11 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&N(- +280 "core" ( +2 "manipulator"&t& +3 "core" &- \   s +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &-   s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"& 'w +93 "core" ' + .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&+% +3 "core" % {   A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' +2 ."da"delayUntil "18:34:39.20" +16379 "Can"\ p (WC4 +8346 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%Z @ +71 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%B  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air + "processing"%2  +55 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%O' +2384 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%Q +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%h +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%[  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2332 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%_ +138 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%I' +1610 "core" ' +2 ."da"PTV.dial :puck + "processing"%%  +71 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%f  +33 "core" + "processing"%'% +4 "core" %`\  +3 ."da"PS.seek 1.5ml +2 "processing"%p'* +587 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%d'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%W  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%i * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%k +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +3 "processing"%' +2391 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%l +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%w +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%7 +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%{  +72 "core"  +2 ."da"PS.seek 0ml +3 "processing"%0'ؾ +2330 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%q' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%~' +1610 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%a +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%(  +33 "core" + "processing"%1% +44 "core" %d\  +10 ."da"PS.seek 1.5ml +2 "processing"%'& +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%. * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%,'ؾ +1609 "core" ' +2 ."da"delay 2:00 +9970 "Can" ? WC0 +2033 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%*  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Y * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%S' +2384 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%T +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%G +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%!  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%^'ؾ +2305 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%U  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%K  +43 "core"  + ."da"PTV.dial :PRVmixing +2 "processing"%  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"%: +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%V' +393 "core" ' +3 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%s  +43 "core"  + "processing"%8% +4 "core" % \\\  +2 ."da"PS.seek 0.55ml +2 "processing"%u' +367 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%#  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%3' +1554 "core" ' + ."da"PSV.dial :PML +2 "processing"%M +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%R @ +71 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%$  +32 "core" +2 "processing"%g% +3 "core" %`\  +3 ."da"PS.seek 1.85ml +2 "processing"%' +242 "core" ' + ."da"PBV.dial between PSV and waste1 +3 "processing"%r * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +1966 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +41763 "Can" > X/C' +6240 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%] @ +14 "core" ? +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%D * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%>' +2390 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%X +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%A  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%H  +54 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2350 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%j' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%)' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%5  +71 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%F  +33 "core" + "processing"% % +3 "core" %p\  +3 ."da"PS.seek 1.5ml +44 "processing"%/'. +611 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%o  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%b' +2393 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%| +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%- +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%C +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%?  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +2335 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%E' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%"' +1613 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%& +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%x  +33 "core" + "processing"%n% +4 "core" %s\ \ +3 ."da"PS.seek 1.5ml + "processing"%'' +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%< * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%m'ؾ +1618 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%;  +32 "core" +2 ."da"delay 30 seconds +73 "Can" > `XC% +2929 ."da"PBV.dial between PSV and waste1 +3 "processing"% * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2391 "core" ' + ."da"PSV.dial PTV +2 "processing"%P +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%e +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%9 +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%4  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%t'ؾ +2343 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%6' +606 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"% ' +1613 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%+ +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"% % +4 "core" %j\  +2 ."da"PS.seek 1.5ml +2 "processing"%Z') +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%B * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1608 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%2  +33 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%z * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Q +71 "core"  +9 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2391 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%h +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%[ +82 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%O +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%_  +72 "core"  +2 ."da"PS.seek 0ml +3 "processing"%'ؾ +2320 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  +7 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +3 "processing"% +16 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%%' +330 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +339 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%f' +1610 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%' +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%I  +34 "core" +2 "processing"%% +4 "core" %k\  +2 ."da"PS.seek 1.5ml +2 "processing"%p'( +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%W * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%i'ؾ +1608 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%k  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%d * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%l +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%w' +2423 "core" ' +2 ."da"PSV.dial PTV + "processing"%7 +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%{ +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%0'ؾ +2385 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%q +128 "core"  +2 #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%a' +2123 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%( +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%1  +34 "core" + "processing"%~% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%.'& +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%J  +104 "core"  +3 ."da"PS.seek 0ml +2 "processing"%*'ؾ +1614 "core" ' + "processing"%Y9 +3 "core" 9g5b +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%@ +3 "core" 5b +2 "processing"%,& +3 "core" &^\ 0 +3 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&T% +3 "core" %   +3 "storage"(% +3 "core" % 1\  +2 "storage"(G. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(!(C +352 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" &D \ +2 "manipulator"&& +4 "core" &- s +2 "manipulator"&U% +4 "core" %   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +50 "manipulator"&K( +28 "Can"\ v Y[C. +145 "core" ( +2 "manipulator"&& +3 "core" &  ? : +2 "storage"(:& +4 "core" &D [\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&^' +98 "core" ' +2 "storage"(s& +3 "core" &D '\ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak +2 "storage"(8'r +276 "core" ' +2 "storage"(V- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place +2 "storage"(#'1 +46 "core" ' +2 "manipulator"&u& +3 "core" & \ n 9 +2 "manipulator"&M% +4 "core" % \ * +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&R' +99 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&$( +243 "core" ( + "manipulator"&g& +4 "core" &   r 0 +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &  0 +2 ."da"Forearm.seek PC +2 "manipulator"&3' +90 "core" ' +2 ."da"Hand.close +2 "manipulator"&/ +59 "core" / +2 ."da"PC.seek :open + "processing"%]( +461 "core" ( +2 "storage"(& +3 "core" &D G\ +2 "manipulator"&D& +4 "core" &  / +2 "manipulator"&% +3 "core" %   " +3 ."da"Forearm.seek :retract +2 "manipulator"&L' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&X( +245 "core" ( +2 "manipulator"&A& +3 "core" &   = +3 "storage"(& +4 "core" &D P\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&H' +93 "core" ' +2 ."da"Hand.open +2 "manipulator"&>1 +62 "core" 1 +2 "storage"( - +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(j' +54 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0919h.tif +4 "processing"%5& +11 "core" &3\ +4 "manipulator"&& +5 "core" &   < +3 "manipulator"&F% +5 "core" %  | +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&)(- +178 "core" ( +2 "manipulator"&=& +4 "core" &- \  9 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &-  9 +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&o'w +95 "core" ' +3 ."psFlush"Hand.close + "manipulator"&/ +57 "core" / +2 "manipulator"&& +4 "core" &- \  ! 9 +2 "manipulator"&% +3 "core" % ρ V  +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&|' +97 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&-( +119 "core" ( + "manipulator"&C& +3 "core" &   z +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" & p z +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&b' +101 "core" ' +9 "manipulator"&& +3 "core" & \ ` z +3 "manipulator"&}% +3 "core" % % +3 "processing"%E& +3 "core" &\ \ s +3 "processing"%&& +5 "core" &\ s +2 ."psFlush"PC.seek :closed +2 "processing"%x(^ +5 "core" &\ s +7 &2\ p$d +9 &Uo\ l7 +10 &o\ kL +9 &H\ nO +9 &\\K\ mO +10 &I\ mO +9 &K\ mO +10 &J\ mO +9 &dJ\ mO +9 &'N\ N +10 &J\ N +9 &!I\ N +9 &#oJ\ N +10 &%1O\ N +9 &&N\ M +9 &(K\ M +10 &*wN\ N +9 &,9JR\ N +10 &-J[\ M +9 &/IQ\ N +9 &1|KY\ qO +10 &3>KJ\ pO +9 &5JJ\ pO +10 &6GG\ oO +9 &8GF\ pO +9 &:GHE\ oN +10 &<IA\ nO +9 &=G7\ nO +9 &?I3\ nO +10 &ANJ3\ nO +9 &C T3\ mP +10 &DZ1\ lQ +9 &Fo0\ jS +9 &HB1\ iU +10 &J\ iV +9 &K\ iV +9 &M"\ hW +10 &OI"\ V +9 &Q \ W +10 &R\ W +9 &T \ W +9 &VP\ V +10 &X\ V +9 &Y!\ W +9 &[\ W +10 &]V)\ F +9 &^y?k\ (v +9 &^,\ r1 +6 ( + "processing"%&& +4 "core" &^ \ q1 +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + "processing"%n& +4 "core" &^ \ p1 +2 ."psFlush"Hand.open +2 "manipulator"&"1 +60 "core" 1 + "manipulator"&<% +4 "core" % " # % +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%; +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +584 "core" ' +2 ."psFlush"delay 5 seconds +3 #"da"SX HX9/16 (USB:26): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 18.556 seconds\ /var/log/esp/da23sep0919h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0919h15s.tif +496 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1054 #"da"SX HX9/16 (USB:26): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0919h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0919h20s.tif +1070 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%m @ +187 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%P  +132 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%e +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%9'ؠ +456 #"da"SX HX9/16 (USB:26): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0919h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "18.556 sec auto-exposure",Subject: "da23sep0919h images!" +4 "storage"(4- +17 "core" -' +8 "storage"(& +26 "core" &D\ + "manipulator"&\ & +5 "core" & "  # z + "manipulator"&t% +4 "core" %  + * /  +5 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +3 "manipulator"&6( +244 "core" ( +2 "manipulator"&+& +3 "core" & . 0 V 5 +3 "storage"( & +4 "core" &D   \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +190 "core" ' +6 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +57 "core" ' +5 "manipulator"&B& +7 "core" & \ 5 +7 "storage"(Z& +7 "core" &D   7\ +5 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +5 "manipulator"&2'8 +21 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&z, +6 "core" , +4 ."da"Elbow.reconfigure :tight +127 "manipulator"&$&.,(\ #b +11 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(Q' +30 "core" ' +4 "manipulator"&% +12 "core" %L +7 "storage"(h& +7 "core" &D ( % \ +4 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 320 counts +4 "manipulator"&['x +18 "core" ' +4 "manipulator"&O& +7 "core" &  I 5 +3 "storage"(_& +11 "core" &D * , \ +5 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +18 "core" ' +4 "storage"(% +11 "core" % Y V\  +5 ."downElevator"SE.seek :down +19 "storage"(' +98 (%% +6 "core" %9>   L\ SX +4 "manipulator"&% +8 "core" %  V +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +2 "manipulator"&'' +94 "core" ' +42 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 (I& +4 "core" &D A A b\ +846 ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +4 "processing"% +102 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%f' +599 "core" ' +4 ."psFlush"delay 5 seconds +156 #"uploadLog"upsync +346 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%W' +2129 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%p  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%k @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%d +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%l'ؠ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%i +99 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%7'X\\ +1106 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%{' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%  +69 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%w  +4 "core" +3 ."psFlush"PS.seek 0ml + "processing"%q'ؾ +2649 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%0 +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +587 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%1' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%~ +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%a U +51 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%J @ +43 "core" ? +3 ."psFlush"PS.seek 2.5ml +2 "processing"%.' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%Y  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%@'ؾ +2648 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%, +55 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%T' +2636 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +3 "processing"%G U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%c'ؾ +2625 "core" ' +2 ."psFlush"PSV.dial PBV +47 "processing"%S @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2650 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%U  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%: +54 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%N'X\\ +1098 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%s' +1615 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%\\ +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%V  +15 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%u  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%M'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%8 +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%^' +587 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%g' +2118 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%r +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%K U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%R @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%y' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%D'ؾ +1891 "Can" A YC& +743 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +54 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%3' +2652 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%A +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%$'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%> @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +3 "processing"% ' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%5  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2635 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&F& +3 "core" & \  L 5 +2 "manipulator"&L% +4 "core" %   {  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&#( +273 "core" ( +2 "manipulator"&& +4 "core" & B + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &=& +2 "core" & +3 ."psFlush"Forearm.seek PC +2 "manipulator"&/' +92 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&H/ +62 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%X( +460 "core" ( + "manipulator"&& +4 "core" & +2 "manipulator"&% +4 "core" %  g +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"& (- +124 "core" ( +2 "manipulator"&C& +4 "core" &- *  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &- X  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +44 ."psFlush"Forearm.seek :garage +9 "manipulator"&o'w +89 "core" ' +2 ."psFlush"Hand.open +2 "manipulator"&1 +61 "core" 1 + "manipulator"&}% +4 "core" % n K < +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&E' +93 "core" ' +3 #tFinished short da assay + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"')& +4 "core" &\ \ L\ + "manipulator"&|& +5 "core" &-  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&](- +26 "core" ( +2 "manipulator"&n& +3 "core" &-  # N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &- N +3 .tForearm.seek :garage +2 "manipulator"&<'w +97 "core" ' +2 .tHand.close + "manipulator"&&/ +58 "core" / +2 "manipulator"&;& +3 "core" &-  B N +2 "manipulator"&b% +5 "core" % } +2 .tForearm.seek :retract + "manipulator"&*' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +285 "core" ( + "manipulator"&m& +4 "core" &Ӕ    9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &Ӕ a 9% +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&e'? +96 "core" ' +2 "manipulator"&& +3 "core" &Ӕ  9% +2 "manipulator"&4% +4 "core" %=  +2 "collection"'& +4 "core" &\ \ M\ +3 "collection"'\ & +5 "core" &\ \ W\ +2 .tCC.seek :closed +2 "collection"'t(\\ +4 "core" &\ \ L\  +9 &6~\ \ M\ +{ +9 & h\ \ J\ ? +9 &o\ \ J\ M +10 &[T\ \ H\ L +9 &S\ \ D\ L +10 &V\ \ O\ L +9 &T\ \ P\ K +9 &cS\ \ L\ L +10 &$T\ \ O\ L +9 &U\ \ N\ L +9 & X\ \ L\ L +10 &"kT\ \ L\ L +9 &$-U\ \ N\ L +10 &%Y\ \ P\ L +9 &'S\ \ M\ L +9 &)sT\ \ J\ L +10 &+5X\ \ H\ L +9 &,U\ \ H\ K +9 &.U\ \ L\ L +10 &0zY\ \ O\ L +9 &2=T\ \ G\ L +10 &3Y\ \ D\ L +9 &5U\ \ H\ L +9 &7T\ \ J\ L +10 &9EU\ \ L\ L +9 &;U\ \ K\ L +9 &<U\ \ H\ L +10 &>U\ \ I\ K +9 &@LU\ \ J\ L +10 &B [\ \ U\ M +9 &Ce\ \ I\ M +9 &E\ \ P\ Q +10 &G:\ \ R\ U +9 &H\ \ S\ Y +9 &J\ \ T\ Y +10 &Ls\ \ S\ Y +9 &N4\ \ W\ Z +10 &O\ \ \\\ Z +9 &Q\ \ [\ [\ +9 &Sv\ \ \\\ [\ +10 &U5\ \ U\ \\ +9 &V\ \ T\ ] +9 &X\ \ Y\ ^ +10 &Zs\ \ W\ _ +9 &\\z\ \ Z\ 2 +10 &\\/\ \ X\ ` +9 ( + &\\x\ \ S\ Q +2 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.45 +2 "collection"'+& +3 "core" &\\y\ \ a\ Q +2 .tHand.open +2 "manipulator"& 1 +53 "core" 1 + "manipulator"&-% +4 "core" % =  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +93 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%Z  +44 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%'+ +1616 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%j  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1605 "core" ' +2 .tPSV.dial PSR +2 "processing"%h +42 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%O' +2630 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  + "collection"'_  +7 "core"  +92  +2 .tPSV.dial :PTV,via: :air +2 "processing"%6 +186 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +182 "core" @ +2 .tPS.seek 0ml +2 "processing"%%'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2640 "core" ' + .tPSV.dial :PTV +2 "processing"%2 +72 "core"  +2 .tPS.seek 0ml +2 "processing"%['ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&I& +3 "core" &ӣ F 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&Q(ӂ +67 "core" ( +2 "manipulator"&& +3 "core" &Ӄ    ' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӄ   ) ' +3 .tForearm.seek CC + "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&9/ +58 "core" / +2 .tCC.seek :open +2 "collection"'f( +446 "core" ( +2 "manipulator"&p& +4 "core" &ӊ   { & +2 "manipulator"&k% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&d' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&W(- +278 "core" ( + "manipulator"&i& +4 "core" &- m f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &- v f +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&7'w +104 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % x  - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +94 "core" ' +2217 #t-> access 1 +3 "storage"({% +3 "core" % s p\  +2 "manipulator"&0% +3 "core" %  x  +2 "manipulator"&q& +3 "core" &- ~ f +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(((<- +1300 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +2 "core" &<* %  4\  +9945 #t-> access 2 +2 "storage"(a% +3 "core" % w t %\  +2 "manipulator"&1% +3 "core" %   +2 "manipulator"&J& +4 "core" &-  f +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" &K M = V\ +15123 "Can" 6 SZC( +20000 #t-> startTube 2 +1078 #-> $da[:extractVol]=.2 +38923 "Can" 5 ([C# +27294 #t-> shortDA; shortDAflush; PS.flush +2 "collection"'.% +2 "processing"%,% +4 "core" %j\ \ >\ +5 %W\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +149 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%@ +43 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%  +71 "core" +2 .tPRV.dial :sipper +2 "processing"%G  +126 "core"  +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%T'e +2289 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%S  +2 "collection"'c  +7 "core"  +118  +2 .tPS.seek 0.5ml +2 "processing"%U' +1268 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +98 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%:'ؾ +593 "core" ' + .tPSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1ml + "processing"%N'X\\ +1110 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%\\' +1613 "core" ' + .tPSV.dial :mixloop +2 "processing"%V +102 "core" +2 .tPS.seek 0ml +2 "processing"%u'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%s +102 "core"  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml + "processing"%8'X\\ +1101 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%M' +1617 "core" ' + .tPSV.dial :mixloop +2 "processing"%^ +102 "core" + .tPRV.dial :sipper +2 "processing"%r  +42 "core" +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2640 "core" ' + .tPSV.dial PSR +46 "processing"%g +104 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%R' +2639 "core" ' +2 .tPSV.dial :mixloop +2 "processing"% +101 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%y& +4 "core" &%\ + "manipulator"&% +4 "core" %   +2 "storage"(D% +3 "core" % p t\  +3 "storage"(A. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +1304 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" & X \\ \ +2 "manipulator"&>& +4 "core" &- \\ f +2 "manipulator"&$% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&5( +171 "core" ( +2 "manipulator"& & +3 "core" & <  +2 "storage"(F& +4 "core" & p t\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&L'S +92 "core" ' + "storage"(& +4 "core" & q u h\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +300 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (H& +3 "core" & ] Z\ +2 "manipulator"&'& +3 "core" & \\  +3 .tElbow.seek 2 + "manipulator"&x( +10 "core" ( + "manipulator"&& +3 "core" &  4  +3 "storage"(& +4 "core" & ] e\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&C'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +3 "storage"(#' +8 "core" & C  + "manipulator"&% +5 "core" % Ͼ e +2 .tForearm.seek :retract + "manipulator"&}' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +3 "manipulator"&|& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & ^  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n' +104 "core" ' + "manipulator"&"& +4 "core" & [  +2 "manipulator"&o% +3 "core" % +3 "processing"%&& +4 "core" &>\ +2 "processing"%;& +4 "core" &\ +3 .tPC.seek :closed + "processing"%b(^ +5 "core" &\ +8 &3\ $d +9 &Wv\ 7 +9 &v\ L +10 &P\ M +9 &lQ\ M +9 &/P\ L +10 &Q!\ L +9 &Q\ L +10 &tQ\ M +9 &6U\ M +9 &Q\ L +10 &!Q\ M +9 &#{U\ \ M +9 &%?R\ L +10 &'Q\ M +9 &(T\ M +10 &*O\ M +9 &,GQ \ L +9 &.Q\ M +10 &/U \ M +9 &1R\ L +9 &3OR \ L +10 &5R\ \ M +9 &6T\ M +10 &8U\ M +9 &:WQ\ L +9 &<R\ M +10 &=V\ M +9 &?T\ M +9 &A\\V\ M +10 &Cd\ O +9 &Dh\ P +10 &F}\ R +9 &HR\ S +9 &J\ S +10 &K\ T +9 &M\ T +9 &OX\ T +10 &Q\ U +9 &R\ T +10 &T\ U +9 &V_\ T +9 &X \ U +10 &Y\ U +9 &[\ U +9 &]e\ B +10 &^Bq\ \\ +9 &^D\ 5 +6 ( + "processing"%;& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"& 1 +4 "core" &^&\ 5 +59 1 +2 "manipulator"&E% +3 "core" %    7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<' +88 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%m h +2 %P9 +7 "core" 9 +102 "processing"%]9 +2 "core" 9 +103 "processing"%9 +3 "core" 9  +102 "processing"%49 +3 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%*9 +3 "core" 9 +102 "processing"%`9 +3 "core" 9 +102 "processing"%+9 +45 "core" 9 +111 "processing"% 9 +3 "core" 9$ +102 "processing"%-9 +3 "core" 9( +102 "processing"%\ 9 +3 "core" 9- +102 "processing"%Z9 +3 "core" 91 +102 "processing"%e9 +3 "core" 95 +102 "processing"%9 +3 "core" 99 +102 "processing"%j9 +3 "core" 9= +102 "processing"%9 +3 "core" 9B +102 "processing"%h9 +3 "core" 9F +102 "processing"%9 +4 "core" 9J +102 "processing"%_9 +3 "core" 9N +103 "processing"% 9 +2 "core" 9R +103 "processing"%69 +2 "core" 9W +103 "processing"%9 +2 "core" 9[ +103 "processing"%O9 +3 "core" 9_ +102 "processing"% 9 +3 "core" 9c +102 "processing"%%9 +3 "core" 9g +102 "processing"%29 +3 "core" 9l\ +103 "processing"%9 +2 "core" 9p +103 "processing"%I9 +3 "core" 9t +102 "processing"%9 +3 "core" 9x +102 "processing"%9 +3 "core" 9$} +3 .tPH.hold 2:00:00,28C +3 "processing"%9 php +3 .tdelay 1:30 +3 "core" } +3701 "Can" @ }[C" +5300 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +101 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%B' +598 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml +2 "processing"%t' +1610 "core" ' +2 .tPTV.dial :puck + "processing"%p  +129 "core"  + .tPSV.dial PTV +2 "processing"%k +72 "core" + .tPBV.dial :waste1 +2 "processing"%  +51 "core" +2 "processing"%i% +3 "core" % \  +3 .tPS.seek 1.5ml +2 "processing"%l', +598 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Q * +35 "core" , +2 .tPS.seek 0ml +2 "processing"%'ؾ +1614 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +15 "core"  +2 .tPBV.dial :waste1 + "processing"%d  +35 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%7 * +33 "core" * + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%0' +2380 "core" ' +2 .tPSV.dial PTV + "processing"%q +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +3 "processing"%! +71 "core"  +2 .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%~ +73 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%a  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%1'ؾ +2335 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%J  +129 "core" +2 .tPSV.dial :mixloop + "processing"%( +44 "core" + .tPRV.dial :ab1 +2 "processing"%Y @ +98 "core" > +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%.' +348 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"',  +2 "processing"%@  +3 "core"  +40  +2 "processing"%% +3 "core" %y\ \ +3 .tPS.seek 0.35ml +2 "processing"%G'c +461 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'[  +29 "core" +2 .tPRV.dial :air + "processing"%c  +41 "core"  +2 .tPS.seek 0.9ml + "processing"%S'K +1165 "core" ' +2 .tPRV.dial :waste2 + "processing"%T @ +71 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%' +869 "core" ' +2 #taddPMLReagent08 +2 .PSV.dial :air + "processing"%U  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%' +1614 "core" ' +2 .tPSV.dial :PML + "processing"%: +44 "core" +2 .tPTV.dial :mixing + "processing"%N @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%V  +33 "core" +2 "processing"%\\% +4 "core" %r\  +2 .tPS.seek 1.85ml + "processing"%s' +289 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%u * +32 "core" + +3 .tPS.seek 0ml +2 "processing"%8'ؾ +1963 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'^& +3 "core" &\ \  \ +2 "manipulator"&r& +3 "core" &  }  +3 "manipulator"&M% +3 "core" %  \  0  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&g(- +127 "core" ( + "manipulator"&K& +4 "core" &-  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- \ \\ +3 .tForearm.seek :garage +2 "manipulator"&R'w +98 "core" ' +2 .tHand.close +2 "manipulator"&y/ +60 "core" / +3 "manipulator"&& +3 "core" &- \  +2 "manipulator"&D% +5 "core" % ω  I +2 .tForearm.seek :retract + "manipulator"&A' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +283 "core" ( +2 "manipulator"&3& +3 "core" &ӓ#  " <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &ӓ#  X <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'? +100 "core" ' +2 "manipulator"& & +3 "core" &Ӕ# + ' A <= +2 "manipulator"&F% +5 "core" %B "  +2 "collection"'& +4 "core" &\ \ '\ +2 "collection"'W& +5 "core" &\ \ ,\ +2 .tCC.seek :closed +2 "collection"'w(\\ +4 "core" & \ %\  +10 &4y\ \  \ *z +9 & e|\ \ "\ > +9 &o\ \ "\ M +10 &TQ\ \ #\ L +9 &U\ \ %\ L +9 &U\ \ 0\ M +10 &T\ \ +\ L +9 &\\T\ \ %\ L +10 &U\ \ ,\ L +9 &U\ \ 4\ M +9 & T\ \ #\ L +10 &"dT\ \ %\ L +9 &$%T\ \ $\ L +9 &%U\ \ '\ L +10 &'U\ \ ,\ L +9 &)kT\ \ 6\ L +10 &+-U\ \ *\ L +9 &,W\ \ *\ L +9 &.T\ \ '\ L +10 &0sU\ \ *\ L +9 &25U\ \ !\ L +9 &3R\ \ $\ L +10 &5V\ \ )\ L +9 &7{R\ \ 0\ L +10 &9=W\ \ 3\ L +9 &:U\ \ 2\ L +9 &<Q\ \ /\ L +10 &>U\ \ 2\ M +9 &@EU\ \ 5\ L +9 &BW\ \ )\ M +10 &Cf\ \ +\ N +9 &E}\ \ 7\ P +10 &G3\ \ 1\ U +9 &H\ \ 3\ W +6 "Can"\ j \\IC/ +3 "core" &J\ \ 0\ Y +10 &Lo\ \ *\ Y +9 &N/\ \ '\ Y +9 &O\ \ 0\ Z +10 &Q\ \ ,\ Z +9 &Sq\ \ +\ [ +10 &U3\ \ 1\ [ +9 &V\ \ 3\ \\ +9 &X\ \ ,\ ] +10 &Zq\ \ /\ ] +9 &\\z\ \ 1\ 4 +9 &\\-\ \ '\ X +10 ( + &\\s\ \ +\ P +2 "collection"'W& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + "collection"'z& +3 "core" &\\s\ \ -\ P +3 .tHand.open + "manipulator"&H1 +62 "core" 1 +3 "manipulator"&'% +3 "core" % B 1 / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tPSV.dial PSR +2 "processing"% +101 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%?'+ +1611 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%/  +42 "core"  +2 .tPS.seek 0ml +3 "processing"%'ؾ +1606 "core" ' +2 .tPSV.dial PSR + "processing"%5 +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%L' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%=  + "collection"'C  +31 "core"  +124 + .tPSV.dial :mixloop +2 "processing"%| +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +71 "core" +3 .tPS.seek 0ml + "processing"%x'ؾ +2628 "core" ' + .tPSV.dial :air +2 "processing"%"  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%o' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%& +44 "core" +2 .tPS.seek 0ml + "processing"%#'ؾ +2634 "core" ' +2 .tPSV.dial :air + "processing"%}  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%X' +2627 "core" ' +2 .tPSV.dial :mixloop + "processing"% +92 "core" +3 .tPS.seek 0ml + "processing"%E'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&P& +3 "core" &ӫ + , E 9& +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&;(ӂ +37 "core" ( +2 "manipulator"&]& +3 "core" &v " \  7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +2 "core" &v  ! h 7 +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&4/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( + "manipulator"&*& +5 "core" &Ӯ " i 0 + "manipulator"&`% +4 "core" % ? , . & +2 .tForearm.seek :retract +2 "manipulator"&+' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"& (- +288 "core" ( + "manipulator"&-& +4 "core" &-   t D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &- \  D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&Z'w +103 "core" ' +2 .tHand.open + "manipulator"&e1 +59 "core" 1 +2 "manipulator"&% +3 "core" % r   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +104 "core" ' +2 ."da"delayUntil "20:11:03.68" +24743 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%h  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"% * +32 "core" + + ."da"PSV.dial :air +2 "processing"%_  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2372 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%6 +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%O +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +53 "core"  +3 ."da"PS.seek 0ml +2 "processing"%%'ؾ +2334 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%2 +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +599 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%I' +1616 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%B'- +584 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%p * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%k'ؾ +485 "Can"\ } \\C1 +1144 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%i  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%t * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Q +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%l' +2389 "core" ' + ."da"PSV.dial PTV +3 "processing"%m +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%d +71 "core" +8 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%7  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%{'ؾ +2349 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +139 "core" +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%q' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%!' +1610 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%~ +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%a  +32 "core" +2 "processing"%0% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%J'- +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%( * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%Y'ؾ +1635 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%1  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%, * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2397 "core" ' + ."da"PSV.dial PTV +2 "processing"%. +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%[ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%c +84 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%G  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%T'ؾ +2329 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%S  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%U  +128 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 +2 "processing"%  +42 "core"  +2 ."da"PTV.dial :PRVmixing +2 "processing"%:  +4 "core" +2 ."da"PSV.dial :mixloop + "processing"%N +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%V' +392 "core" ' +3 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%\\  +43 "core"  + "processing"%% +4 "core" %\ \ +2 ."da"PS.seek 0.55ml +2 "processing"%u' +333 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%s  +54 "core"  +3 ."da"PS.seek 2ml + "processing"%^' +1568 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%r +41 "core" +2 ."da"PTV.dial :mixing +2 "processing"%M @ +73 "core" B +2 ."da"PBV.dial :waste1 + "processing"%K  +33 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%)' +235 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%y * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1966 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +3283 "Can" ? ]uC% +44720 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%D @ +15 "core" ? +2 ."da"PBV.dial :waste1 + "processing"%<  +33 "core"  +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%R * +32 "core" + + ."da"PSV.dial :air +2 "processing"%3  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%>' +2395 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%g +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%F +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +54 "core"  +2 ."da"PS.seek 0ml +48 "processing"%A'ؾ +2352 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%f +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%z' +594 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%H' +1625 "core" ' +2 ."da"PTV.dial :puck + "processing"%'  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%W +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core"  + "processing"%$% +4 "core" %\ +3 ."da"PS.seek 1.5ml +2 "processing"%8') +593 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%/ * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%?'ؾ +1607 "core" ' +2 ."da"delay 2:00 +893 "Can" @ ^ C +11110 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%5  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"% * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%C +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +3 "processing"%=' +2380 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%| +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +82 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%L +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%"  +72 "core"  +2 ."da"PS.seek 0ml +3 "processing"%x'ؾ +2329 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%& +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%o' +599 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%}' +1613 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%# +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core"  + "processing"%X% +4 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%P'* +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%] * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%n'ؾ +1619 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%4  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%w' +2383 "core" ' + ."da"PSV.dial PTV +2 "processing"%* +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%` +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%-  +70 "core"  +3 ."da"PS.seek 0ml +2 "processing"%;'ؾ +2359 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%e' +600 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +46 "processing"%' +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%+ +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%Z  +33 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +3 "processing"%h') +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * +3 ."da"PS.seek 0ml +2 "processing"%_'ؾ +1616 "core" ' +2 ."da"delay 2:00 +6293 "Can" ? ^C* +5710 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%E  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%6 * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%O' +2384 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%2 +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2344 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +133 "core"  +4 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +3 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +4 "processing"%' +336 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +332 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1614 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +3 "processing"%I +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%p  +33 "core" +2 "processing"%B% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%'+ +605 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%i * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%t'ؾ +1618 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%Q  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%k * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%m +85 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +3 "processing"%' +2412 "core" ' + ."da"PSV.dial PTV +2 "processing"%d +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%7 +73 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%l +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%v  +86 "core" +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2394 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +129 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%q' +2121 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%~ +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%a  +34 "core" +2 "processing"%0% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%!'( +594 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%( * +34 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%J  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"%1'ؾ +1612 "core" ' +9 "processing"%,9 +3 "core" 9i5j +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%@ +3 "core" 5j +2 "processing"%Y& +4 "core" &^%\ 5 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&.% +4 "core" %   +2 "storage"([% +4 "core" % {\  +2 "storage"(c. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(G(C +352 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &E H\ +3 "manipulator"&S& +3 "core" &- D +2 "manipulator"&U% +4 "core" %   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&( +175 "core" ( +2 "manipulator"&:& +4 "core" &  , F + "storage"(N& +4 "core" &E \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&T' +93 "core" ' +2 "storage"(\\& +3 "core" &E L\ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak +2 "storage"('r +274 "core" ' +2 "storage"(V- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place +2 "storage"(s'1 +43 "core" ' +2 "manipulator"&u& +3 "core" &   F +3 "manipulator"&r% +4 "core" %  F O +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&M' +92 "core" ' +3 ."da"Elbow.seek PC +2 "manipulator"&K( +245 "core" ( +2 "manipulator"&& +4 "core" &   + + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" &  , + +3 ."da"Forearm.seek PC +2 "manipulator"&^' +99 "core" ' + ."da"Hand.close +2 "manipulator"&)/ +64 "core" / +2 ."da"PC.seek :open +2 "processing"%D( +456 "core" ( +2 "storage"(<& +3 "core" &E r\ +2 "manipulator"&R& +4 "core" & 4 * +2 "manipulator"&3% +3 "core" %  _ E +3 ."da"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&g( +244 "core" ( +2 "manipulator"& & +3 "core" &  < T +3 "storage"(F& +4 "core" &E \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +93 "core" ' +2 ."da"Hand.open +2 "manipulator"&>1 +59 "core" 1 +2 "storage"(f- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +51 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep0920h.tif +5 "processing"%'& +9 "core" &f\ u +5 "manipulator"&W& +6 "core" &  J T +2 "manipulator"&% +5 "core" %  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&$' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&H(- +176 "core" ( +2 "manipulator"&/& +3 "core" &-   K F +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &8& +2 "core" &-  ) F +3 ."psFlush"Forearm.seek :garage +61 "manipulator"&5'w +98 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +53 "core" / +2 "manipulator"&C& +3 "core" &-   q F +2 "manipulator"&?% +4 "core" % ϊ  +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&|' +90 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +116 "core" ( +2 "manipulator"&L& +3 "core" &   P +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +2 "core" &   , P +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC + "manipulator"&=' +92 "core" ' +2 "manipulator"&&& +4 "core" &   P +2 "manipulator"&x% +4 "core" % \\ > +2 "processing"%o& +3 "core" &\ v +3 "processing"%#& +5 "core" &\ u +2 ."psFlush"PC.seek :closed +2 "processing"% (^ +3 "core" &$\ v +9 &8$\ s%f +10 &Wr \ n8 +9 &k\ nL +9 &G\ N +10 &lI\ M +9 &-H\ N +10 &L \ M +9 &L \ N +9 &tK\ M +10 &6K\ M +9 &J\ M +9 &!N\ N +10 &#{N\ N +9 &%=L\ N +10 &&J\ uN +9 &(J\ tN +9 &*K\ sO +10 &,CI\ sN +9 &.H\ sN +9 &/K\ rO +10 &1I\ rO +9 &3JI\ qO +10 &5 G\ rN +9 &6I\ qN +9 &8K\ qN +10 &:RF\ qO +9 &<K\ qN +9 &=G\ qO +10 &?J\ N +9 &A]L\ N +10 &CY\ O +9 &D_\ P +9 &Fp\ R +10 &HR5\ T +9 &J6\ U +9 &K9\ U +10 &M6\ U +9 &OU5\ V +10 &Q3\ V +9 &R&\ pW +9 &T\ nX +10 &VZ!\ nW +9 &X+\ mW +9 &Y-\ mX +10 &[+\ mW +9 &]_(\ lE +10 &^Fr\ o[ +9 &^=\ q9 +5 ( +2 "processing"%#& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 +2 "processing"%X& +3 "core" &^+\ r9 +2 &^+5\ q9 +2 ."psFlush"Hand.open +2 "manipulator"&}1 +60 "core" 1 +2 "manipulator"&]% +3 "core" %  ! ) > +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&P' +89 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +453 #"da"SX HX9/16 (USB:27): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 17.312 seconds\ /var/log/esp/da23sep0920h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep0920h15s.tif +128 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +918 #"da"SX HX9/16 (USB:27): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep0920h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep0920h20s.tif +1198 "core" ' +2 ."psFlush"delay 1 second +110 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%n @ +187 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%*  +131 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%` +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +329 #"da"SX HX9/16 (USB:27): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep0920h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "17.312 sec auto-exposure",Subject: "da23sep0920h images!" +3 "storage"(-- +2 "core" -' +2 "storage"(w& +8 "core" &E m\ +8 "manipulator"&\ & +9 "core" & (  P +8 "manipulator"&;% +3 "core" %  #    +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +5 "manipulator"&e( +253 "core" ( + "manipulator"&+& +5 "core" & 0 / ! +60 "storage"(Z& +7 "core" &E   \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +9 "manipulator"&' +98 "core" ' +6 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +7 ."da"SE.seek -0.51 Pucks below Top Plate +5 "storage"('" +50 "core" ' +3 "manipulator"&& +7 "core" &   +6 "storage"(h& +9 "core" &E  $ $\ +8 ."da"Elbow.reconfigure :limp +8 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek 1 +4 "manipulator"&E'8 +20 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&6, +8 "core" , +2 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(' +30 "core" ' +2 "manipulator"&_% +6 "core" %8 +5 "storage"( & +7 "core" &E $ 5 3\ +7 ."da"Forearm.force -20 +4 "manipulator"&5 +5 ."da"Forearm.seek 1 + 300 counts +2 "manipulator"& 'd +17 "core" ' +3 "manipulator"&2& +8 "core" &  +3 "storage"(%& +8 "core" &E ; 7 \ +5 ."da"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +7 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&O' +18 "core" ' +4 "storage"(% +10 "core" % ? 8 \  +9 ."downElevator"SE.seek :down +6 "storage"(' +98 (% +6 "core" %yA H \ U[ +4 "manipulator"&% +9 "core" %  +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +5 "manipulator"&I' +90 "core" ' +43 ' +3 ."downElevator"SE.stop +2 "storage"(5 +5 (p& +6 "core" &E A @ \ +1142 ' +2 ."psFlush"PSR.select :air +6 .PSV.dial PSR +2 "processing"%B +101 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%' +580 #"uploadLog"upsync +10 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%i' +2118 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%Q @ +73 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"%k +99 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%m'ؠ +2652 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%t +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%d'X\\ +1106 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%7' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%l +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%v  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%{'ؾ +1781 "Can" C N_7C( +849 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%~' +590 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +2122 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%0 +72 "core" + ."psFlush"PBV.dial PSV +3 "processing"%q U +50 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"%('ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PBV +45 "processing"%J @ +50 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%!' +2636 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%,  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%@'ؾ +2650 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%Y +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%.' +2631 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%[ +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%c U +4 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%S' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%U  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%:'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%N +54 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%\\'X\\ +1098 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"% ' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%j +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%V  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%u  +51 "core" +2 ."psFlush"PS.seek 0ml +3 "processing"%r'ؾ +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%T' +596 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%y +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%)'ؾ +2640 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%M @ +54 "core" @ +3 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%<  +71 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%R'ؾ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%3 +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%^' +2628 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +69 "core" + ."psFlush"PBV.dial PSV +2 "processing"%F U +16 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%K'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%> @ +55 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +2635 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%'  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%W'ؾ +2627 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +4 "core" &   :  + "manipulator"&% +4 "core" %   :  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&s( +243 "core" ( +2 "manipulator"&A& +3 "core" &   S ( +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &/& +2 "core" & ( +3 ."psFlush"Forearm.seek PC +2 "manipulator"&8' +132 "core" ' +9 ."psFlush"Hand.close + "manipulator"&/ +62 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%g( +456 "core" ( + "manipulator"&& +5 "core" &  W ( + "manipulator"&C% +4 "core" %  & & +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&?' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&$(- +128 "core" ( +2 "manipulator"&L& +3 "core" &- >  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +2 "core" &-  +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&5'w +100 "core" ' +2 ."psFlush"Hand.open + "manipulator"&&1 +53 "core" 1 +2 "manipulator"&x% +4 "core" % q   8 +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&o' +101 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'H& +3 "core" &\ \ q\ +2 "manipulator"&|& +4 "core" &-   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&D(- +13 "core" ( + "manipulator"&X& +4 "core" &- '  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &-   +3 .tForearm.seek :garage +2 "manipulator"&]'w +90 "core" ' +2 .tHand.close + "manipulator"&#/ +59 "core" / +2 "manipulator"&4& +4 "core" &- [  +2 "manipulator"&=% +3 "core" % c d  +3 .tForearm.seek :retract + "manipulator"&1' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +283 "core" ( +2 "manipulator"&n& +3 "core" &Ӓ!  k :0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &Ӓ! j :0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&`'? +102 "core" ' + "manipulator"&& +4 "core" &Ӓ!  I :0 +2 "manipulator"&-% +3 "core" %E  3 +3 "collection"'w& +3 "core" &\ \ \ +3 "collection"'\ & +5 "core" &\ \ x\ +2 .tCC.seek :closed +2 "collection"';(\\ +3 "core" &\ \ y\ +9 &<\ \ {\ %g +9 &Yy\ \ |\ 8 +9 &v\ \ u\ L +10 &U\ \ x\ L +9 &U\ \ y\ K +9 &KT\ \ {\ L +10 & X\ \ x\ L +9 &Y\ \ \ L +9 &W\ \ \ L +10 &SS\ \ \ L +9 & S\ \ \ L +10 &!T\ \ {\ L +9 &#U\ \ |\ L +9 &%\\S\ \ \ K +10 &'U\ \ \ L +9 &(Y\ \ \ L +9 &*W\ \ \ K +10 &,dV\ \ \ K +9 &.&U\ \ \ K +10 &/X\ \ \ L +9 &1U\ \ \ K +9 &3kU\ \ \ L +10 &5,Y\ \ \ L +9 &6V\ \ \ L +9 &8Y\ \ \ L +10 &:tU\ \ \ K +9 &<5V\ \ \ L +10 &=Y\ \ \ L +9 &?V\ \ \ K +9 &AzY\ \ \ L +10 &C9c\ \ \ M +9 &Ds\ \ \ \ O +10 &F\ \ \ S +9 &Ha\ \ \ W +9 &J!\ \ \ X +10 &K\ \ \ X +9 &M\ \ \ X +9 &Oe\ \ \ Y +10 &Q'\ \ \ Y +9 &R\ \ \ Z +10 &T\ \ \ [ +9 &Vf\ \ \ [\ +9 &X%\ \ \ \\ +10 &Y\ \ \ ] +9 &[\ \ \ I +9 &\\8\ \ \ . +10 &\\j\ \ \ P +2 ( +2 "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 + "collection"'+& +3 "core" &\\h\ \ \ P +2 .tHand.open +2 "manipulator"&Z1 +59 "core" 1 +2 "manipulator"&% +3 "core" % E   h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%h  +44 "core"  + #tPulling 2.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%P' +2628 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +5 .tCBV.dial PRV +2 "processing"%_  + "collection"'  +6 "core"  +93  +2 .tPSV.dial :PTV,via: :air +2 "processing"%2 +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"%% @ +118 "core" B +4 .tPS.seek 0ml + "processing"%z'ؾ +2649 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%' +545 "Can"\ N _C +2087 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%e  +2 "collection"'  +4 "core"  +4  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +186 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%E'ؾ +2635 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +188 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%p' +2628 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +5 .tCBV.dial PRV +2 "processing"%  + "collection"'O  +6 "core"  +  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +189 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%B @ +5 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2626 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +187 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 1.5ml + "processing"%'+ +1649 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%Q  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%k'ؾ +1611 "core" ' +2 .tPSV.dial PSR +2 "processing"%i +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%t' +2629 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%m  + "collection"'d  +8 "core"  +  +2 .tPSV.dial :PTV,via: :air +2 "processing"%l +189 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"%v @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2651 "core" ' + .tPSV.dial :air +2 "processing"%7  +73 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2635 "core" ' +2 .tPSV.dial :PTV +2 "processing"%{ +72 "core"  +2 .tPS.seek 0ml +2 "processing"%~'ؾ +2633 "core" ' + .tPSV.dial :air +2 "processing"%0  +84 "core" +3 .tPS.seek 2.5ml + "processing"%q' +2634 "core" ' + .tPSV.dial :PTV +2 "processing"%a +70 "core"  +2 .tPS.seek 0ml +2 "processing"%J'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%(  +72 "core"  +3 .tPS.seek 2.5ml + "processing"%,' +2637 "core" ' + .tPSV.dial :PTV +2 "processing"%! +72 "core"  +2 .tPS.seek 0ml +2 "processing"%Y'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&@& +4 "core" &Ӡ  S 8" +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&[(ӂ +22 "core" ( + "manipulator"&c& +4 "core" &Ӏ   $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &Ӏ  $ +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'U( +451 "core" ( +2 "manipulator"&S& +3 "core" &Ӏ   2 $ +3 "manipulator"&N% +4 "core" % 3 ( +2 .tForearm.seek :retract + "manipulator"&:' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&\\(- +275 "core" ( +2 "manipulator"&j& +3 "core" &- 3 W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &- W +3 .tForearm.reconfigure :tight +49 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&u'w +91 "core" ' + .tHand.open +2 "manipulator"& 1 +61 "core" 1 +2 "manipulator"&% +4 "core" % } W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' +2 #tFlushing Processing stage + "processing"%T% +4 "core" %ؾ2\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%y& +4 "core" &\ +2 "manipulator"&& +4 "core" &- W +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +3 "core" ( +2 "manipulator"&M& +3 "core" &-  F W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &- c W +3 .tForearm.seek :garage +2 "manipulator"&<'w +93 "core" ' +2 .tHand.close + "manipulator"&b/ +58 "core" / +2 "manipulator"&3& +4 "core" &-  $ W +2 "manipulator"&R% +4 "core" % ω =  +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&F( +117 "core" ( + "manipulator"&^& +4 "core" & ` " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" & " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K' +96 "core" ' +2 "manipulator"&'& +3 "core" &  5 " +2 "manipulator"&f% +4 "core" % C +2 "processing"%& +4 "core" &N\ +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%A(^ +4 "core" &\ +7 &:/\ $e +10 &Yy%\ 7 +9 &vy\ L +9 &Pl\ M +10 &{T\ L +9 &<R\ M +9 &Q\ M +10 &N\ L +9 &O\ M +10 &DT\ M +9 & R\ M +9 &!O\ L +10 &#Qg\ L +9 &%LTn\ M +10 &'R\ M +9 &(T\ L +9 &*P\ L +10 &,TOd\ M +9 &.R\ M +9 &/U\ L +10 &1Pd\ L +9 &3]Q\ L +9 &5T\ L +10 &6Te\ M +9 &8R%\ L +10 &:eQ\ L +9 &<&T \ M +9 &=S"\ M +10 &?Rz\ M +9 &AlT*\ M +9 &C)b\ N +10 &Df\ O +9 &F|n\ Q +10 &Ha\ S +9 &J"y\ S +9 &K*\ S +10 &M\ T +9 &Og\ T +9 &Q&\ U +10 &R\ T +9 &T\ U +10 &Vn\ T +9 &X/+\ T +9 &Yz\ T +10 &[\ T +9 &]s\ B +9 &^;s\ "d +10 &^2\ 1 +5 ( +2 "processing"%& +3 "core" &^ \ 1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + "processing"%/& +4 "core" &^ \ 1 +2 .tHand.open + "manipulator"&61 +56 "core" 1 + "manipulator"&% +5 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +92 "core" ' +2 .tPSV.dial PSR + "processing"% +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +11 .tPS.seek 1ml +2 "processing"%'X\\ +1096 "core" ' + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"%C' +1616 "core" ' +2 .tPSV.dial PTV + "processing"%L +72 "core" +2 .tPTV.dial :puck + "processing"%"  +72 "core"  +2 .tPBV.dial :waste1 + "processing"%8  +50 "core" +2 .tPS.seek 0ml +2 "processing"%s'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%& +72 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%x' +594 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%H' +2129 "core" ' + .tPSV.dial PTV +2 "processing"%| +72 "core" + .tPBV.dial PSV +2 "processing"%? U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%X'ؾ +2633 "core" ' +2 .tPSV.dial PBV +2 "processing"%} @ +43 "core" > +3 .tPS.seek 2.5ml + "processing"%5' +2634 "core" ' + .tPSV.dial :waste1 +42 "processing"%#  +79 "core"  +2 .tPS.seek 0ml + "processing"%4'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%= +55 "core" + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%$' +2626 "core" ' +2 .tPSV.dial PTV +2 "processing"%o +71 "core" +2 .tPBV.dial PSV +2 "processing"%] U +15 "core" T +3 .tPS.seek 0ml + "processing"%n'ؾ +392 "Can" @ :`cC1 +2264 "core" ' + .tPSV.dial PBV +2 "processing"%* @ +43 "core" ? +3 .tPS.seek 2.5ml +2 "processing"%D' +2652 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%-'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&w& +4 "core" & a " +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&1( +3 "core" ( +2 "manipulator"&& +3 "core" &   " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" & = " +3 .tForearm.seek PC +2 "manipulator"&Z' +89 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tPC.seek :open +2 "processing"%\ ( +459 "core" ( +2 "manipulator"&h& +4 "core" &  " + "manipulator"&`% +4 "core" %   : +3 .tForearm.seek :retract + "manipulator"&W' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"& (- +127 "core" ( +2 "manipulator"&_& +3 "core" &- K +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &- ] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&%'w +96 "core" ' + .tHand.open +2 "manipulator"&P1 +53 "core" 1 +2 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z' +96 "core" ' +51137 "Can" 8 .`C +60001  8 aC2 +60001  8 b%C# +60002  9 bC +60001  8 cQC& +60001  8 cC# +60001  8 d}C& +60002  8 eC4 +60001  8 feC( +60001  8 Mf?C& +60001  8 4fC5 +60001  8 gkC+ +60002  8 hC' +60001  8 hC& +60002  8 i-C5 +60001  8 ɸiC& @UTC1694304196.19  8 ˟jYC1 +60001  8 ͆jC# +60002  8 mkC% +60001  8 TlC) +60001  8 ;lC& +60002  8 "mGC7 +60001  8 mC% +60001  8 nsC" +60002  8 o C5 +60001  8 ܿoC( +60001  8 ަp5C( +60002  8 pC) +60001  7 uqaC' +60001  8 \\qC +60002  7 DrC) +60001  8 +s#C* +60002  8 sC4 +60001  8 tOC' +60001  8 tC" +60001  8 u{C* +60002  8 vC% +60001  8 vC +60001  8 }w=C) +60001  8 dwC( +60001  8 JxiC& +60002  8 2xC& +60001  8 yC! +60001  8 z+C; +60001  8 zC +60001  8 {WC* +60001  8 {C0 +60002  8 |C7 +60001  9 }C' +60001  8 \ l}C& +60001  8 S~EC +60002  8 :~C" +60001  8 !qC% +60001  8 C$ +60001  8 C +60002  8 3C* +60001  8 C5 +60001  8 _C! +60002  8 C4 +60001  7 sC$ +60001  8 Z!C# +60002  8 !BC$ +60001  8 #)MC' +60001  8 %C) +60002  9 &yC) +60001  8 (C$ +60001  9 *C' +60002  8 ,;C! +60001  8 .C' +60001  7 0{gC( +60001  8 2bC& +60002  8 4IC. +60001  8 60)C( +60002  8 8C) +60001  7 9UC- +60001  8 ;C1 +60002  9 =C% +60001  8 ?C( +60001  8 AC$ +60001  8 CCC' +60002  8 EmC +60001  : GToC# +60001  8 I;C' +60001  8 K"C4 +60002  8 M 1C2 +60001  8 NC& +60001  8 P]C' +60001  8 RC' +60001  8 TC +60002  8 VC4 +60001  8 XtC' +60001  8 Z[KC' +60001  8 \\CC +60002  8 ^*wC0 +60001  8 ` C5 +60001  8 aC( +60002  8 c9C' +60001  9 eC. +60001  8 geC +60002  8 iC' +60001  8 k|C1 +60001  8 md'C# +60001  8 oKC5 +60002  8 q2SC6 +60001  8 sC' +60001  9 uC. +60002  8 vC* +60001  8 xC +60001  8 zAC$ +60001  7 |C/ +60001  8 ~mC0 +60002  8 oC% +60001  8 VC3 +60001  8 >/C) +60002  8 %C& +60001  8 [C" +60001  8 C, +60001  8 C) +60002  7 C. +60001  8 C* +60001  8 IC& +60001  8 yC- +60002  8 `uC' +60001  8 H C( +60001  8 0C! +60002  8 7C& +60001  8 C* +60001  8 cC& +60001  7 C$ +60002  8 C: +60001  8 %C& +60001  8 C6 +60001  8 kQC1 +60001  8 RC) +60002  8 9}C( +60001  8 !C$ +60001  8 C8 +60003  : ?C) +60000  8 C% +60001  8 kC1 +60001  8 C' +60002  8 C+ +60001  8 w-C. +60001  7 ^C) +60001  8 EYC( +60002  8 -C( +60001  8 C! +60001  8 C +60001  8 C) +60002  8 GC- +60001  9 ʱC$ +60001  8 ̙sC) +60002  8 ΀ C3 +60001  8 hC1 +60001  8 O5C& +60001  8 7C( +60002  8 aC$ +60001  7 C( +60001  8 C( +60002  7 #C% @UTC1694390598.02  8 ݽC+ +60001  8 ߤOC( +60001  8 C$ +60002  8 s{C( +60001  8 ZC* +60001  8 BC, +60002  8 )=C5 +60001  8 C9 +60001  8 iC4 +60002  9 C +60001  8 ĕC+ +60001  8 +C4 +60002  8 C* +60001  7 ~WC- +60001  8 eC) +60002  8 MǃC' +60001  9 4C0 +60001  8 ȯC) +60001  8EC8 +60002  8C* +60001  8qC' +60001  8C* +60001  8˝C( +60002  8 3C" +60001  9 mC" +60001  8 U_C$ +60002  8<C$ +60001  8$΋C& +60001  7 !C2 +60002  8ϷC$ +60001  8MC$ +60001  8C3 +60001  7yC$ +60002  8C& +60001  9vҥC# +60001  8 ];C$ +60001  8"DC4 +60002  8$,gC" +60001  8&C) +60001  8'ՓC/ +60001  8))C +60002  8+ֿC' +60001  8-UC$ +60001  8/C& +60001  81؁C& +60001  83gC2 +60002  85N٭C% +60001  775CC2 +60001  89C! +60002  8;oC +60001  9<C/ +60001  8>ܛC' +60001  8@1C' +60001  9BC +60002  9D]C' +60001  7FoC1 +60001  8HW߉C2 +60002  7J>C# +60001  8L&C% +60001  8N KC. +60002  8OC% +60001  8QwC& +60001  7S C$ +60002  8UC" +60001  8W9C +60001  8YyC. +60001  7[`eC$ +60002  8]GC' +60001  9_/C- +60001  8a'C& +60001  8bC% +60002  7dSC& +25559 #t-> access 1 +3 "storage"(e% +3 "core" % a ^ \  +2 "manipulator"&% +3 "core" %     +2 "manipulator"&& +4 "core" &- \ \ { +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +1299 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<* 9 A \ +5107 #t-> access 2 +2 "storage"( % +3 "core" % ^ e 3\  +3 "manipulator"&E% +3 "core" %   J  +2 "manipulator"&& +3 "core" &- < +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(O(K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K G E d\ +567 #t-> startTube 2 +837 #-> $da[:extractVol]=.2 +26213 "Can" 9fC) +60001  8hC +60001  8jC( +7258 #t-> shortDA; shortDAflush +2 "collection"'B% +3 "processing"%p% +3 "core" %j \ +7 %ؼ9\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +147 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"% +129 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +128 "core" +2 .tPRV.dial :sipper +2 "processing"%Q  +126 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%'e +2298 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%i  + "collection"'k  +56 "core"  +115  +2 .tPS.seek 0.5ml +2 "processing"%m' +1275 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%d @ +98 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%l'ؾ +593 "core" ' +2 .tPSV.dial PSR +2 "processing"%v +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%t'X\\ +1109 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%7' +1631 "core" ' +2 .tPSV.dial :mixloop +2 "processing"% +101 "core" +2 .tPS.seek 0ml +2 "processing"%{'ؾ +2635 "core" ' +2 .tPSV.dial PSR + "processing"% +102 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%0'X\\ +1106 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%~' +1606 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%a +113 "core" +2 .tPRV.dial :sipper +2 "processing"%q  +42 "core" +2 .tPS.seek 0ml + "processing"%('ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%J +100 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%!' +2638 "core" ' + .tPSV.dial :mixloop +2 "processing"%, +102 "core" +2 .tPS.seek 0ml + "processing"%@'ؾ +2632 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%c& +3 "core" &A\ +2 "manipulator"&.% +4 "core" %    +2 "storage"(% +3 "core" % [ [ \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1300 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &  D F \ +2 "manipulator"&S& +3 "core" &-   +2 "manipulator"&N% +4 "core" %   ?  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +170 "core" ( +2 "manipulator"&j& +3 "core" &   @ +2 "storage"(V& +4 "core" &  ] i Z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&['S +93 "core" ' +2 "storage"( & +3 "core" &  m \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" & F F \ +2 "manipulator"&& +3 "core" &  ? +2 .tElbow.seek 2 +2 "manipulator"&M( +4 "core" ( + "manipulator"&:& +4 "core" &   ? +2 "storage"()& +4 "core" & 8 = \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&b'Ͻ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(R' +8 "core" &  ? + "manipulator"&\\% +5 "core" %  ` +2 .tForearm.seek :retract +2 "manipulator"&r' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +4 "manipulator"&>& +4 "core" &  ; +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" &  ; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'' +96 "core" ' + "manipulator"&f& +4 "core" &  ; +2 "manipulator"&% +4 "core" %   +2 "processing"%& +3 "core" &<\ +3 "processing"% & +5 "core" &8\ +2 .tPC.seek :closed +2 "processing"%g(^ +50 "core" &I\ +5 &3N\ $d +4 &WuE\ 7 + &wL\ L + &OH\ M &jTD\ N + &-RG\ M +6 &QC\ M +10 &O@\ M +9 &sRB\ M +9 &5OK\ M +10 &TJ\ M +9 &!S?\ N +9 &#|RB\ M +10 &%=T@\ M +9 &'OO\ M +10 &(SF\ M +9 &*T@\ M +9 &,DS0\ N +10 &.Q5\ M +9 &/T4\ M +10 &1R1\ M +9 &3MT7\ M +9 &5T8\ M +10 &6Q6\ M +9 &8U7\ M +9 &:TS5\ N +10 &<T3\ N +9 &=T6\ N +9 &?X'\ M +10 &A]W,\ M +9 &Ch0\ P +10 &Dm&\ Q +9 &F,\ S +9 &HP&\ T +10 &J)\ T +9 &K)\ T +10 &M%\ T +9 &OW!\ U +9 &Q/\ U +10 &R)\ U +9 &T1\ V +9 &V_'\ U +10 &X&\ U +9 &Y%\ V +10 &[-\ V +9 &]c*\ C +9 &^Au,\ a +10 &^D%\ 5 +5 ( +2 "processing"% & +3 "core" &^&)\ 5 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 + .Hand.open + "manipulator"&/1 +65 "core" 1 +2 "manipulator"&6% +4 "core" %   @  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 % 9 +7 "core" 9 +102 "processing"%K9 +2 "core" 9 +103 "processing"%Y9 +3 "core" 9  +102 "processing"%9 +4 "core" 9  +102 "processing"%L9 +3 "core" 9 +102 "processing"%"9 +3 "core" 9 +102 "processing"%89 +3 "core" 9 +103 "processing"%C9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9" +102 "processing"%s9 +3 "core" 9& +102 "processing"%x9 +3 "core" 9+ +102 "processing"%|9 +3 "core" 9/ +102 "processing"%?9 +4 "core" 93 +102 "processing"%H9 +3 "core" 97 +102 "processing"%}9 +3 "core" 9; +102 "processing"%X9 +3 "core" 9@ +102 "processing"%#9 +3 "core" 9D +103 "processing"%59 +3 "core" 9H +102 "processing"%=9 +3 "core" 9L +102 "processing"%49 +3 "core" 9Q +103 "processing"%o9 +2 "core" 9U +102 "processing"%]9 +3 "core" 9Y +102 "processing"%$9 +3 "core" 9] +102 "processing"%*9 +3 "core" 9a +102 "processing"%n9 +3 "core" 9f +102 "processing"%9 +3 "core" 9j +102 "processing"%D9 +3 "core" 9n +102 "processing"%w9 +4 "core" 9 r +102 "processing"%9 +3 "core" 9v +102 "processing"%+9 +3 "core" 9{ +102 "processing"%9 +3 "core" 9! +3 .tPH.hold 2:00:00,28C +3 "processing"%F php +2 .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%I +102 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%A' +610 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%h' +1610 "core" ' +2 .tPTV.dial :puck + "processing"%`  +130 "core"  + .tPSV.dial PTV +2 "processing"%_ +73 "core" +2 .tPBV.dial :waste1 +2 "processing"%2  +51 "core" +2 "processing"%Z% +4 "core" %d\  +2 .tPS.seek 1.5ml +2 "processing"%1') +595 "core" ' + .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%P * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' +2 .tdelay 5:00 +8842 "Can" Am=C/ +21161 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%W  +15 "core"  + .tPBV.dial :waste1 +2 "processing"%%  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%9 * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%e +83 "core" +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%' +2396 "core" ' + .tPSV.dial PTV +2 "processing"% +83 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%G +70 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%  +84 "core"  +3 .tPS.seek 0ml + "processing"%E'ؾ +2348 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +127 "core" +49 .tPSV.dial :mixloop +3 "processing"% +42 "core" +2 .tPRV.dial :ab1 + "processing"% @ +99 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%B' +358 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'p  +2 "processing"%  +5 "core"  +38  +2 "processing"%% +4 "core" % \  +2 .tPS.seek 0.35ml +2 "processing"%Q'i +451 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'-  +30 "core" + .tPRV.dial :air +2 "processing"%k  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"%i'K +1177 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +70 "core" > +3 .tPS.seek 0.5ml + "processing"%d' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%m  +45 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%v' +1614 "core" ' +2 .tPSV.dial :PML + "processing"%l +44 "core" +2 .tPTV.dial :mixing + "processing"%t @ +72 "core" @ +2 .tPBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%7% +3 "core" %\  +3 .tPS.seek 1.85ml + "processing"%' +230 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%{ * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%0'ؾ +1969 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'a& +3 "core" & \ +2 "manipulator"&q& +4 "core" &   : +2 "manipulator"&~% +3 "core" %  \    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&J(- +124 "core" ( +2 "manipulator"&(& +3 "core" &-     +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &-    +3 .tForearm.seek :garage +2 "manipulator"&!'w +91 "core" ' +2 .tHand.close + "manipulator"&c/ +56 "core" / +3 "manipulator"&.& +3 "core" &-  \   +2 "manipulator"&% +5 "core" % ς   +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +285 "core" ( +2 "manipulator"&;& +4 "core" &Ӗ    6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &Ӗ  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'? +101 "core" ' +2 "manipulator"&j& +5 "core" &Ӗ , . F 6 + "manipulator"&V% +4 "core" %6 0 , E +2 "collection"' & +4 "core" & \ +2 "collection"' & +5 "core" & \ +3 .tCC.seek :closed + "collection"'z(\\ +5 "core" & \  +8 &5y \ *z +10 &f \ ? +9 &p \ N +10 &TT \ L +9 &S \ L +9 &V \ L +10 &Y \ L +9 & \ M +9 &Y \ L +10 &S \ L +9 & U \ L +10 &"cW \ M +9 &$&S \ L +9 &%Y \ M +10 &'W \ M +9 &)lX \ L +9 &+.Y \ L +10 &,Y \ L +9 &.W \ L +10 &0tY \ L +9 &26Y \ L +9 &3Z \ L +10 &5Z \ L +9 &7|Y \ L +9 &9>U \ L +10 &;U \ L +9 &<V \ L +10 &>U \ L +9 &@GU \ L +9 &B^ \ M +10 &Ch \ N +9 &E~} \ Q +10 &G4 \ U +9 &H \ X +9 &J \ Y +10 &Ln \ Y +9 &N, \ [ +9 &O \ [\ +10 &Q \ Z +9 &Sn \ \\ +9 &U/ \ \\ +10 &V \ ] +9 &X \ ] +10 &Zq \ ^ +9 &\\x \ 7 +9 &\\( \ &p +10 ( + &\\ \ _ +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.41 + "collection"'T& +3 "core" &\\ \ _ +2 .tHand.open +2 "manipulator"&y1 +59 "core" 1 +2 "manipulator"&% +4 "core" % 6 7 ; < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +95 "core" ' + .tPSV.dial PSR +2 "processing"%) +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +53 .tPS.seek 1.5ml +2 "processing"%3'+ +1607 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%u  +54 "core"  +3 .tPS.seek 0ml +2 "processing"%\\'ؾ +1606 "core" ' +2 .tPSV.dial PSR +2 "processing"% +42 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%[' +2639 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  +2 "collection"'b  +30 "core"  +126  +2 .tPSV.dial :mixloop + "processing"%> +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%<  +71 "core" +2 .tPS.seek 0ml +2 "processing"%M'ؾ +2644 "core" ' +2 .tPSV.dial :air + "processing"%f  +55 "core" +2 .tPS.seek 2.5ml +2 "processing"%' +2638 "core" ' +2 .tPSV.dial :mixloop + "processing"% +42 "core" +2 .tPS.seek 0ml +2 "processing"%R'ؾ +2629 "core" ' +2 .tPSV.dial :air + "processing"%r  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%\ ' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"%/ +44 "core" +2 .tPS.seek 0ml +2 "processing"%6'ؾ +1727 "Can""\ ]p+AC4 +903 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"& & +3 "core" &ӣ 0 2 > 5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"& (ӂ +13 "core" ( +2 "manipulator"&K& +3 "core" &Ӏ , $  , +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &Ӏ 0 - n , +3 .tForearm.seek CC +2 "manipulator"&Y'? +104 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'L( +452 "core" ( + "manipulator"&"& +4 "core" &ӑ 0 0 n ) +2 "manipulator"&8% +4 "core" %   D +2 .tForearm.seek :retract + "manipulator"&C' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&&(- +283 "core" ( +2 "manipulator"&s& +3 "core" &-   A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &-  A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&|'w +91 "core" ' +2 .tHand.open + "manipulator"&?1 +55 "core" 1 + "manipulator"&H% +3 "core" % y  \  ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 ."da"delayUntil "12:47:49.18" +24758 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%X @ +72 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%#  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%5 * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%=  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%4' +2399 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%o +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%]  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%$ +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%*  +42 "core"  +3 ."da"PS.seek 0ml +2 "processing"%n'ؾ +2339 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%D' +584 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +46 "processing"%w' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%+ +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%I% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%@'. +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%A * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%`'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%_  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%2  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Z * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%h +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%P' +2401 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%1 +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +70 "core"  +2 ."da"delay 5 seconds +336 "Can" ?rC. +166 ."da"PSV.dial PTV +2 "processing"%W +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +2339 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%e +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' + ."da"PTV.dial :puck +2 "processing"%G  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %#\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%E  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%p  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%B' +2402 "core" ' + ."da"PSV.dial PTV +2 "processing"%- +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%k +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Q +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +84 "core"  +2 ."da"PS.seek 0ml +3 "processing"%i'ؾ +2356 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%m  +43 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%d  +128 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 +2 "processing"%l  +42 "core" ~ +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%t +42 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%' +385 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%7  +43 "core"  +2 "processing"%{% +3 "core" %\  +3 ."da"PS.seek 0.55ml +2 "processing"%v' +351 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +50 ."da"PS.seek 2ml +2 "processing"%a' +1565 "core" ' + ."da"PSV.dial :PML +2 "processing"%q +44 "core" + ."da"PTV.dial :mixing +2 "processing"%~ @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%(  +33 "core" + "processing"%,% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%c' +245 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%. * +32 "core" + +2 ."da"PS.seek 0ml +3 "processing"%^'ؾ +1972 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +22944 "Can" ?uHmC& +25059 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +4 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%! * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%;  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%S' +2387 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%J +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%j  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%V +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2352 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%U +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%T' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%y' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%)  +33 "core" + "processing"%N% +4 "core" %5\  +2 ."da"PS.seek 1.5ml +2 "processing"%0') +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%u * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%  +15 "core"  + ."da"PBV.dial :waste1 +2 "processing"%\\  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%b * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%>' +2387 "core" ' + ."da"PSV.dial PTV +2 "processing"%< +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%[ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%f +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%M  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1270 "Can"\ wC +1055 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%r' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%R' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%/  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%\ +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%K% +3 "core" %8\  +3 ."da"PS.seek 1.5ml +2 "processing"%''( +586 "core" ' +26 ."da"delay 3 seconds +344 .PBV.dial between PSV and waste1 +9 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%O'ؾ +1608 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%:  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%z  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%" * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%Y' +2383 "core" ' + ."da"PSV.dial PTV +2 "processing"%s +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%x +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%?  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%H'ؾ +2339 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%C +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%|' +583 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%X' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%#  +4 "core"  +2 ."da"PSV.dial PTV + "processing"%5 +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%=  +32 "core" +2 "processing"%6% +3 "core" %9\ +3 ."da"PS.seek 1.5ml +2 "processing"%o'2 +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%] * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%$'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%*  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%4  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%n +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%D' +2389 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%+ +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%I  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%w'ؾ +2352 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%A +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +6 "processing"% +14 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml + "processing"%@' +344 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%_' +339 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%2' +1607 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%Z  +4 "core"  +2 ."da"PSV.dial PTV + "processing"%h +85 "core" + ."da"PBV.dial :waste1 +2 "processing"%`  +34 "core" +2 "processing"%1% +4 "core" %=\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +588 "core" ' +2 ."da"delay 3 seconds +86 "Can"\ zC# +216 ."da"PBV.dial between PSV and waste1 +3 "processing"%W * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%%'ؾ +1612 "core" ' + ."da"delay 10 seconds +1011 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%P  +3 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%e  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%9 * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%G' +2419 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +3 "processing"%'ؾ +2398 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +132 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%E' +2127 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +3 "processing"%p  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +84 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core"  +2 "processing"%% +3 "core" %1\  +3 ."da"PS.seek 1.5ml +2 "processing"%-'- +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%k * +34 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%Q  +102 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 "processing"%B9 +3 "core" 9j5m +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%m +3 %d& +2 "core" 5m +3 &^&`\ 5 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&l% +3 "core" %   H  +2 "storage"(t% +4 "core" % /\  +2 "storage"(i. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(7(C +351 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &D $\ +2 "manipulator"&& +3 "core" &- y A +3 "manipulator"&% +3 "core" %   ;  +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&v( +172 "core" ( +2 "manipulator"&q& +3 "core" &    M +2 "storage"(~& +4 "core" &D 9\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&(' +92 "core" ' + "storage"(,& +4 "core" &D { z U\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(.'r +276 "core" ' + "storage"(a- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"(c'1 +44 "core" ' +2 "manipulator"&& +4 "core" &  M +2 "manipulator"&% +3 "core" %   M +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&!' +90 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&;( +244 "core" ( +2 "manipulator"&^& +3 "core" & \  f . +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +2 "core" &   . +3 ."da"Forearm.seek PC + "manipulator"&j' +91 "core" ' + ."da"Hand.close +2 "manipulator"&V/ +70 "core" / +2 ."da"PC.seek :open +2 "processing"% ( +457 "core" ( + "storage"(S& +4 "core" &D '\ +47 "manipulator"&U& +10 "core" &  . +2 "manipulator"&% +4 "core" %  \\  +2 ."da"Forearm.seek :retract +2 "manipulator"&T' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +244 "core" ( + "manipulator"& & +5 "core" & \   6 + "storage"()& +4 "core" &D \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&N' +93 "core" ' +2 ."da"Hand.open +2 "manipulator"&y1 +52 "core" 1 +2 "storage"(u- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +28 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1113h.tif +4 "processing"%\\& +10 "core" &\ +5 "manipulator"&b& +5 "core" &  G 5 +3 "manipulator"&% +5 "core" %   P +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&3' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&<(- +177 "core" ( + "manipulator"&[& +5 "core" &- G K +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &-  : K +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&M'w +91 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&>/ +73 "core" / +2 "manipulator"&& +4 "core" &-   K +2 "manipulator"&% +3 "core" % ψ  F ; +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&r' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&/( +115 "core" ( +2 "manipulator"&\ & +3 "core" &  : C +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &  k C +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&K' +94 "core" ' +3 "manipulator"&R& +4 "core" & \  I C +2 "manipulator"&% +3 "core" % ? 9 +3 "processing"%'& +4 "core" &\ o +2 "processing"%:& +5 "core" &\ o +2 ."psFlush"PC.seek :closed +2 "processing"%z(^ +5 "core" &\ o +7 & 2\ l$e +9 &Tp\ g7 +9 &~n\ fL +10 &G\ iO +9 &YG6\ iO +9 &II\ iO +10 &G>\ iN +9 &G?\ hO +10 &bG\ hN +9 &#I\ hO +9 &G\ hO +10 &!H\ hO +9 &#hG\ hO +9 &%+I\ gO +10 &&H\ N +9 &(J\ M +10 &*sKy\ N +9 &,6L{\ N +9 &-Ow\ N +10 &/Pv\ N +9 &1|Jo\ N +9 &3>Jt\ N +10 &5Kp\ N +9 &6Kr\ N +10 &8Lp\ oO +9 &:DIh\ kN +9 &<I^\ jO +10 &=IZ\ jO +9 &?L`\ iO +9 &AILW\ iO +10 &CUN\ hP +9 &D\\N\ gR +10 &FrW\ eT +9 &H>\\\ dV +9 &I[\ dW +10 &KX\ cW +9 &MJ\ dW +9 &OCH\ cW +10 &QI\ cX +9 &RK\ cW +10 &TD\ aX +9 &VKJ\ sW +9 &X J\ W +10 &Y;\ W +9 &[;\ V +9 &]R=\ H +10 &^yCy6\ #i +9 &^83\ 4 +6 ( + "processing"%:& +5 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.77 +2 "processing"%"& +2 "core" &^%8\ 4 +2 &^%X\ 4 +2 ."psFlush"Hand.open +2 "manipulator"&81 +54 "core" 1 +2 "manipulator"&O% +3 "core" % 6 2 9 +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&s' +98 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%x +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +3 "processing"% ' +585 "core" ' +22 ."psFlush"delay 5 seconds +3 #"da"SX HX9/16 (USB:28): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 18.58 seconds\ /var/log/esp/da23sep1113h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1113h15s.tif +496 ."psFlush"PSR.select :air +3 "processing"% +11 ."psFlush"PS.seek 2.5ml +3 "processing"%?' +1051 #"da"SX HX9/16 (USB:28): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1113h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1113h20s.tif +1067 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +3 "processing"%Y @ +187 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%C  +132 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%H +104 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%|'ؠ +460 #"da"SX HX9/16 (USB:28): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1113h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "18.58 sec auto-exposure",Subject: "da23sep1113h images!" +7 "storage"(#- +7 "core" -' +8 "storage"(5& +15 "core" &D Z\ +12 "manipulator"&=& +5 "core" &   A C +2 "manipulator"&6% +4 "core" %  * ,  +2 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&X( +244 "core" ( +2 "manipulator"&]& +4 "core" & / 3 ; +3 "storage"(o& +3 "core" &D  \ +4 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&*' +94 "core" ' +4 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(4'" +58 "core" ' +4 "manipulator"&& +8 "core" &  ; +4 "storage"(n& +8 "core" &D   >\ +4 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek 1 +4 "manipulator"&$'8 +27 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&, +6 "core" , +5 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(+' +30 "core" ' +4 "manipulator"&% +6 "core" %?  +4 "storage"(I& +8 "core" &D \ +4 ."da"Forearm.force -20 +4 "manipulator"&5 +7 ."da"Forearm.seek 1 + 307 counts +4 "manipulator"&D'k +19 "core" ' +4 "manipulator"&A& +6 "core" &   ; +4 "storage"(w& +9 "core" &D C B g\ +5 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&@' +18 "core" ' +4 "storage"(_% +6 "core" % F E '\  +6 ."downElevator"SE.seek :down +6 "storage"(Z' +98 (h% +7 "core" %oC\ )\ ( x\ U[ +10 "manipulator"&`% +9 "core" % \  +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +5 "manipulator"&1' +89 "core" ' +36 ' +3 ."downElevator"SE.stop +4 "storage"(5 +9 (2& +7 "core" &D C C [\ +1080 ' +2 ."psFlush"PSR.select :air +6 .PSV.dial PSR +4 "processing"%W +102 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +4 "processing"%@ +16 ."psFlush"PS.seek 0.5ml +4 "processing"%' +601 "core" ' +2 ."psFlush"delay 5 seconds +185 #"uploadLog"upsync +320 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%P' +2128 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 +51 "processing"%e  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%9 @ +74 "core" A +4 ."psFlush"PSV.dial :mixloop +4 "processing"% +104 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%%'ؠ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +3 "processing"% 'X\\ +1106 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%G  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%p +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +597 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%E U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%k'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%Q @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%-' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%B  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%m'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%d +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%l' +2637 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%t +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%i U +5 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%{ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2321 "Can" A/C1 +319 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%q'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%~ +44 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 1ml + "processing"%,'X\\ +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%&' +1610 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%} +81 "core"  +2 ."psFlush"PTV.dial :puck +2 "processing"%a  +4 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%  +51 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%. +70 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +592 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%^' +2116 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%J +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%v U +52 "core" W +3 ."psFlush"PS.seek 0ml +48 "processing"%V'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%! @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%g' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%S  +69 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%U'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%j' +2628 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%) U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%;'ؾ +2626 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%y @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%u' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%\\  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%b'ؾ +2632 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +3 "core" & 5 ; +2 "manipulator"&T% +4 "core" %   <  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&c( +273 "core" ( +2 "manipulator"&0& +4 "core" &   9  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &   +3 ."psFlush"Forearm.seek PC +2 "manipulator"&f' +91 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&N/ +53 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%( +456 "core" ( +2 "manipulator"&>& +4 "core" &   + "manipulator"&% +4 "core" %  \ \\  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&3(- +122 "core" ( +2 "manipulator"&\ & +3 "core" &-  8 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &-  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&M'w +99 "core" ' + ."psFlush"Hand.open +2 "manipulator"&R1 +62 "core" 1 +2 "manipulator"&% +3 "core" % π   H +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&'' +96 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'<& +3 "core" & \ +3 "manipulator"&r& +4 "core" &- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (- +15 "core" ( + "manipulator"&"& +4 "core" &-   K o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &-  o +2 .tForearm.seek :garage +2 "manipulator"&O'w +98 "core" ' +2 .tHand.close + "manipulator"&:/ +53 "core" / +2 "manipulator"&x& +3 "core" &-  J o +2 "manipulator"&K% +4 "core" % τ  < +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"& (ӂ +282 "core" ( + "manipulator"&Y& +4 "core" &Ӑ#   << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &Ӑ#  ~ << +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&H'? +90 "core" ' + "manipulator"&?& +4 "core" &Ӑ#   U << +2 "manipulator"&#% +49 "core" %H  & X +4 "collection"'5& +4 "core" & \ +2 "collection"'=& +6 "core" & \ +2 .tCC.seek :closed + "collection"'6(\\ +4 "core" & ?\ +7 &B \ $f +10 &X} 5\ 7 +9 &z \ L +10 &W \ M +9 &V #\ L +9 &CX \ L +10 &V \ M +9 &W \ L +9 &X \ L +10 &IW \ M +9 & U \ L +9 &!X \ L +10 &#X \ L +9 &%SW \ L +10 &'U \ L +9 &(W \ L +9 &*X \ L +10 &,[W \ L +9 &.U \ L +10 &/R \ L +9 &1V \ L +9 &3cR \ L +10 &5$V \ L +9 &6T \ L +9 &8W \ M +10 &:kV \ L +9 &<,W \ L +10 &=T \ L +9 &?W \ M +9 &AqY \ M +10 &C1b \ M +9 &Du \ P +9 &F\ \ \ T +10 &HX \ \ X +9 &J\ \ \ Y +10 &K\ \ Y +9 &M\  \ Z +9 &OW\ \ \ [\ +10 &Q \ \ Z +9 &R\ \ \ [ +9 &T\ \ \ [\ +10 &V[\ \ \\ +9 &X \ \ ] +9 &Y\ \ \ ] +10 &[\ \ \ K +9 &\\>\ \ \ *~ +10 &\\j\ \ \ P +2 ( +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.38 + "collection"']& +3 "core" &\\h\ \ \ P +2 .tHand.open +2 "manipulator"&o1 +53 "core" 1 +2 "manipulator"&/% +3 "core" % H   X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%n  +43 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%s' +2632 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +5 .tCBV.dial PRV +2 "processing"%  + "collection"'I  +6 "core" +92  +2 .tPSV.dial :PTV,via: :air +2 "processing"%A +188 "core"  +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"%w @ +69 "core" @ +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%_  +187 "core"  + #tPulling 2.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 2.5ml + "processing"%*' +2636 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%X  +5 "core" +2 .tPSV.dial :PTV,via: :air +2 "processing"%h +187 "core"  + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%`'ؾ +2642 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%4  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%$' +2630 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 .PSV.dial :PTV,via: :air +2 "processing"%D +189 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%2'ؾ +2628 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%+  +188 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%@'+ +1612 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%Z  +43 "core"  +3 .tPS.seek 0ml + "processing"%W'ؾ +1612 "core" ' +2 .tPSV.dial PSR + "processing"%| +55 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2627 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .PSV.dial :PTV,via: :air +2 "processing"%e +186 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%9'ؾ +1243 "Can"\ OC! +1395 "core" ' + .tPSV.dial :air + "processing"%  +74 "core"  +2 .tPS.seek 2.5ml +2 "processing"%P' +2635 "core" ' +2 .tPSV.dial :PTV + "processing"% +72 "core"  +2 .tPS.seek 0ml +2 "processing"%%'ؾ +2630 "core" ' +2 .tPSV.dial :air +2 "processing"%  +71 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2637 "core" ' + .tPSV.dial :PTV +2 "processing"%G +72 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +9 .tPSV.dial :air +2 "processing"%  +70 "core"  +3 .tPS.seek 2.5ml +2 "processing"%p' +2633 "core" ' + .tPSV.dial :PTV +2 "processing"% +73 "core" ~ +3 .tPS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +3 "core" &ӧ   G 9% +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&E(ӂ +24 "core" ( + "manipulator"&& +4 "core" &}\ \  y "} +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &}  "} +2 .tForearm.seek CC +2 "manipulator"&k'? +98 "core" ' + .tHand.close +2 "manipulator"&B/ +55 "core" / +2 .tCC.seek :open + "collection"'-( +448 "core" ( + "manipulator"&d& +4 "core" &~  8 "| +2 "manipulator"&m% +4 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&t' +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&i(- +275 "core" ( +2 "manipulator"&l& +3 "core" &- 3 o +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &- ) o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +89 "core" ' +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&% +4 "core" % o  Y T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +89 "core" ' +40982 "Can" 54[C +9038 #t-> access 1 +2 "storage"(q% +3 "core" % p o X\  +2 "manipulator"&,% +3 "core" %  Z  +2 "manipulator"&}& +4 "core" &- , n +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(a(<- +1295 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &<- , 5\ +9318 #t-> access 2 +3 "storage"(&% +3 "core" % u p (\  +2 "manipulator"&.% +3 "core" %   +2 "manipulator"&& +4 "core" &- . n +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(((K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +2 "core" &K ' 6 .\  +380 #t-> startTube 2 +791 #-> $da[:extractVol]=.2 +25510 #-> shortDA; shortDAflush; PS.flush +2 "collection"'v% +2 "processing"%^% +6 "core" %j \ + %ؼ\ +5 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +97 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%! +44 "core" + .tPTV.dial :PRVmixing +2 "processing"%V  +73 "core" +2 .tPRV.dial :sipper + "processing"%S  +127 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%g'e +2291 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%  +127 "core"  +2 .tPS.seek 0.5ml +2 "processing"%U' +1272 "core" ' +2 .tPRV.dial :waste2 + "processing"% @ +100 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%)'ؾ +607 "core" ' + .tPSV.dial PSR +2 "processing"%j +102 "core"  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%y'X\\ +1116 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%;' +1607 "core" ' +2 .tPSV.dial :mixloop + "processing"%\\ +102 "core" +2 .tPS.seek 0ml +2 "processing"%u'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"% +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +58 .tPS.seek 1ml + "processing"%T'X\\ +1136 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%0' +526 "Can" 8C5 +1087 "core" ' +2 .tPSV.dial :mixloop + "processing"%[ +102 "core" + .tPRV.dial :sipper +2 "processing"%  +40 "core" +3 .tPS.seek 0ml + "processing"%N'ؾ +2632 "core" ' +2 .tPSV.dial PSR +2 "processing"%1 +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%z' +2631 "core" ' +2 .tPSV.dial :mixloop + "processing"%> +102 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2641 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%\ & +4 "core" &\ +2 "manipulator"& % +3 "core" %  R  +3 "storage"(f% +4 "core" % p p Z\  +2 "storage"(c. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(R(  +1307 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & ^ Z\ +2 "manipulator"&<& +3 "core" &-  < n +2 "manipulator"&r% +4 "core" %   j  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +171 "core" ( + "manipulator"&"& +4 "core" & A ) +2 "storage"(8& +4 "core" & [ ] \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&M'S +92 "core" ' +2 "storage"(:& +3 "core" & p p\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +299 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (3& +2 "core" & 7 < W\ +3 "manipulator"&'& +4 "core" &  K ) + .tElbow.seek 2 +2 "manipulator"&O( +4 "core" ( + "manipulator"&Y& +4 "core" &    ) +2 "storage"(C& +4 "core" & ] Z\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&#& + "storage"(5' +8 "core" &  ) + "manipulator"&% +3 "core" %  8 g +3 .tForearm.seek :retract +2 "manipulator"&L' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&]( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&o& +4 "core" & + ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" & ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&=' +101 "core" ' + "manipulator"&n& +4 "core" &  o ! +2 "manipulator"&H% +4 "core" %   2 +2 "processing"%b& +3 "core" &\ +3 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &4x\ *x +9 &d{\ > +10 &k\ N +9 &DN\ M +9 &Q\ M +10 &P\ M +9 &Q\ N +10 &LP\ M +9 &Q\ M +9 &Q\ M +10 & R}\ M +9 &"SQx\ M +9 &$T~\ M +10 &%Q\ M +9 &'Q\ M +10 &)\\N\ M +9 &+Q\ M +9 &,Q\ M +10 &.Q\ M +9 &0bR\ N +9 &2&Q\ M +10 &3Q|\ M +9 &5R~\ M +10 &7kR{\ M +9 &9.Ov\ M +9 &:Rw\ M +10 &<O{\ M +9 &>rTw\ N +9 &@5Vw\ M +10 &A^v\ N +9 &Cgy\ P +10 &Eotv\ Q +9 &G,x\ S +9 &Hw\ T +10 &Jq\ S +9 &Lpv\ T +9 &N0u\ T +10 &Ov\ T +9 &Q\ V +10 &St\ U +9 &U5\ U +9 &V \ U +10 &X\ T +9 &Z|\ U +9 &\\>\ U +10 &]zr\ 9 +9 &^+\ N +10 &^\ 0 +2 ( +2 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&A1 +54 "core" 1 +2 "manipulator"&w% +4 "core" %   6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s' +94 "core" ' +11 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%_ h +2 %9 +7 "core" 9 +102 "processing"%X9 +2 "core" 9 +103 "processing"%h9 +3 "core" 9  +102 "processing"%*9 +3 "core" 9  +102 "processing"%49 +4 "core" 9 +102 "processing"%`9 +3 "core" 9 +103 "processing"%D9 +2 "core" 9 +103 "processing"%$9 +3 "core" 9 +102 "processing"%+9 +3 "core" 9" +103 "processing"%29 +2 "core" 9& +102 "processing"%Z9 +3 "core" 9+ +102 "processing"%@9 +3 "core" 9/ +102 "processing"%|9 +4 "core" 93 +102 "processing"%W9 +3 "core" 97 +102 "processing"%e9 +3 "core" 9; +102 "processing"%9 +3 "core" 9@ +102 "processing"%9 +3 "core" 9D +102 "processing"%99 +3 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%P9 +3 "core" 9P +102 "processing"% 9 +3 "core" 9U +102 "processing"%%9 +3 "core" 9Y\ +102 "processing"%G9 +4 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +3 "core" 9f +103 "processing"%9 +2 "core" 9j +103 "processing"%9 +2 "core" 9n +103 "processing"%p9 +3 "core" 9&r +3 .tPH.hold 2:00:00,28C +3 "processing"% php +2 .tdelay 1:30 +6 "core" s +9000 .tPSR.select :air +3 .PSV.dial PSR + "processing"% +102 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%Q' +588 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%B' +1616 "core" ' +2 .tPTV.dial :puck + "processing"%  +127 "core"  +2 .tPSV.dial PTV + "processing"% +72 "core" +2 .tPBV.dial :waste1 +2 "processing"%6  +51 "core" + "processing"%d% +4 "core" %\  +3 .tPS.seek 1.5ml + "processing"%m', +584 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%k * +33 "core" , +3 .tPS.seek 0ml +2 "processing"%l'ؾ +1634 "core" ' +2 .tdelay 5:00 +29839 "Can" <C +164 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%{  +35 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%E * +33 "core" * + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%' +2388 "core" ' +2 .tPSV.dial PTV + "processing"%t +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +3 "processing"% +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%q +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%,  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%}'ؾ +2335 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%7  +128 "core" + .tPSV.dial :mixloop +2 "processing"% +42 "core" + .tPRV.dial :ab1 +2 "processing"%& @ +100 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%.' +355 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%  +41 "core" +2 "processing"%a% +3 "core" %\ +3 .tPS.seek 0.35ml + "processing"%J'h +450 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'^  +30 "core" +2 .tPRV.dial :air + "processing"%v  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"%!'K +1174 "core" ' + .tPRV.dial :waste2 +2 "processing"%V @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%S' +873 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%  +44 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%' +1611 "core" ' +10 .tPSV.dial :PML + "processing"%g +44 "core" +2 .tPTV.dial :mixing + "processing"% @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%U  +33 "core" +2 "processing"%j% +3 "core" %&\  +3 .tPS.seek 1.85ml +2 "processing"%)' +234 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%y * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%\\'ؾ +1963 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"';& +3 "core" & \ +2 "manipulator"&& +5 "core" &  / ! + "manipulator"&u% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&T(- +126 "core" ( + "manipulator"&[& +4 "core" &-  \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-   \ +3 .tForearm.seek :garage +2 "manipulator"&0'w +94 "core" ' + .tHand.close +2 "manipulator"&1/ +55 "core" / +2 "manipulator"&N& +3 "core" &-  \  \ +3 "manipulator"&>% +4 "core" % m K +2 .tForearm.seek :retract +2 "manipulator"&z' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&\ (ӂ +275 "core" ( +2 "manipulator"& & +3 "core" &z)  ^ A` +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &z) P A` +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&c'? +99 "core" ' +2 "manipulator"&(& +3 "core" &{) 2 4 c A_ +3 "manipulator"&% +4 "core" %I . . v +2 "collection"'<& +3 "core" & \ +3 "collection"'r& +5 "core" & 7\ +2 .tCC.seek :closed +2 "collection"'"(\\ +5 "core" & -\ +7 &A ;\ $f +9 &X{ 6\ 7 +9 &w *\ L +10 &T -\ M +9 &zT +\ M +9 &<T /\ M +10 &U *\ L +9 &T +\ M +9 &R .\ L +10 &EQ 1\ L +9 & P 2\ L +10 &!P 7\ L +9 &#R 1\ L +9 &%MP 6\ L +10 &'P 7\ L +9 &(Q ,\ L +9 &*O 5\ L +10 &,UV :\ L +9 &.U 8\ L +10 &/S 8\ L +9 &1Q 9\ L +9 &3]U 6\ L +10 &5T 4\ M +9 &6S :\ M +10 &8S 2\ M +9 &:eT D\ L +9 &<'U 7\ L +10 &=U 0\ L +9 &?V 7\ L +9 &AlX 7\ M +10 &C,_ 4\ M +9 &Dr 1\ P +10 &F\ \ 5\ U +9 &HU\ \ 6\ W +9 &J\ \ -\ Y +10 &K\ \ 2\ Y +9 &M\ \ 9\ [ +9 &OW\ \ 9\ Y +10 &Q\ \ -\ [ +9 &R\ \ .\ [\ +9 &T\ \ /\ \\ +10 &VW\ \ 3\ \\ +9 &X\ \ 0\ ] +10 &Y\ \ 4\ ^ +9 &[\ \ 0\ J +9 &\\@ \ \ =\ )~ +10 &\\u\ \ =\ P +2 ( +2 "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.47 + "collection"'8& +3 "core" &\\u\ \ 9\ P +2 .tHand.open +2 "manipulator"&:1 +57 "core" 1 +2 "manipulator"&i% +3 "core" % I 5 0 _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +101 "core" ' + .tPSV.dial PSR +2 "processing"%K +101 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%3'+ +1622 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%'  +42 "core"  +3 .tPS.seek 0ml + "processing"%Y'ؾ +1607 "core" ' +2 .tPSV.dial PSR +2 "processing"%C +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%?' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%#  +2 "collection"'  +32 "core"  +124  + .tPSV.dial :mixloop +2 "processing"% +111 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%M  +71 "core" +3 .tPS.seek 0ml + "processing"%x'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%o' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"%/ +44 "core" +2 .tPS.seek 0ml +47 "processing"%O'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%n  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%H' +2643 "core" ' + .tPSV.dial :mixloop +2 "processing"%b +44 "core" +2 .tPS.seek 0ml +2 "processing"%5'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&L& +4 "core" &ӫ # :/ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +19 "core" ( +2 "manipulator"&A& +3 "core" &Ӂ  \ - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &Ӂ   - +3 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&I/ +61 "core" / +2 .tCC.seek :open +2 "collection"'X( +447 "core" ( +2 "manipulator"&=& +4 "core" &ӧ  ( + "manipulator"&h% +4 "core" %  - +2 .tForearm.seek :retract +2 "manipulator"&*' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&4(- +285 "core" ( +2 "manipulator"&`& +3 "core" &-    B +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &-  5 B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&$'w +93 "core" ' +2 .tHand.open + "manipulator"&+1 +64 "core" 1 + "manipulator"&2% +5 "core" % w   8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +89 "core" ' +2 ."da"delayUntil "14:24:18.32" +18837 "Can"\ rC$ +5921 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%@ @ +71 "core" B + ."da"PBV.dial :waste1 +2 "processing"%|  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%W * +33 "core" + + ."da"PSV.dial :air +2 "processing"%e  +43 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2383 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%9  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%P  +43 "core"  +3 ."da"PS.seek 0ml + "processing"% 'ؾ +2346 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%G' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1616 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +71 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%p% +3 "core" %8\  +3 ."da"PS.seek 1.5ml +2 "processing"%'- +607 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%Q'ؾ +1614 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +16 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 +2 "processing"%6 * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%d +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%B' +2390 "core" ' +9 ."da"PSV.dial PTV +2 "processing"%k +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%m +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%_ +85 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%{  +73 "core"  +3 ."da"PS.seek 0ml +2 "processing"%E'ؾ +2333 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%l' +593 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%t' +1632 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%q +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%,  +32 "core" +2 "processing"%% +4 "core" %-\  +2 ."da"PS.seek 1.5ml +2 "processing"%7'& +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%&'ؾ +1629 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%}  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +317 "Can" =C# +2686 ."da"PBV.dial between PSV and waste1 +2 "processing"%a * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +69 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%^' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"%v +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%J +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%V +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%!  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2333 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%S  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%g  +127 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%  +43 "core" ~ +2 ."da"PTV.dial :PRVmixing +2 "processing"%U  +4 "core" + ."da"PSV.dial :mixloop +2 "processing"%j +42 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%y' +382 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +43 "core"  +2 "processing"%)% +4 "core" %(\  +2 ."da"PS.seek 0.55ml +2 "processing"%;' +345 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%u' +1566 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%[ +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%1  +32 "core" +2 "processing"%N% +3 "core" %6\  +3 ."da"PS.seek 1.85ml +2 "processing"%]' +242 "core" ' + ."da"PBV.dial between PSV and waste1 +3 "processing"%> * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%s'ؾ +1966 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +44122 "Can" =WIC! +3881 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%0 @ +3 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%f * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%T  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%(' +2386 "core" ' +9 ."da"PSV.dial :mixloop +2 "processing"% +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%<  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%z +48 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%-  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +2326 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%: +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%i' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%r' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%K  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%c +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%\\  +33 "core" + "processing"%'% +4 "core" %>\  +2 ."da"PS.seek 1.5ml +2 "processing"%3'' +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%C * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%Y'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%#  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%?' +2406 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%x +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%/ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%o  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%n'ؾ +2336 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%O +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%b' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%H' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%L  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%A +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%w  +33 "core" + "processing"%I% +4 "core" %>\ +3 ."da"PS.seek 1.5ml +2 "processing"%\ '2 +610 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%~ * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%"'ؾ +1633 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%=  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%h  +32 "core" +2 ."da"delay 30 seconds +2435 "Can" <C# +568 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%` +71 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%D' +2402 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%+ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%2 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%*  +72 "core"  +2 ."da"PS.seek 0ml +49 "processing"%$'ؾ +2336 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%|' +608 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%W' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%e  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%5 +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%9% +4 "core" %.\  +2 ."da"PS.seek 1.5ml +2 "processing"%'- +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%P * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1609 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%%  +3 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%G * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2381 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%p +70 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2331 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +7 "processing"%' +335 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%6' +342 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%d' +1610 "core" ' + ."da"PTV.dial :puck +2 "processing"%Q  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%k +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%m  +34 "core" +2 "processing"%_% +3 "core" %;\  +3 ."da"PS.seek 1.5ml +2 "processing"%{'+ +589 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%B * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%F'ؾ +1628 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  +2 ."da"PBV.dial :waste1 + "processing"%E  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%l * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%q' +2430 "core" ' + ."da"PSV.dial PTV +2 "processing"%, +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%t +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%7'ؾ +2385 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%} +131 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +54 ."da"PS.seek 2ml +2 "processing"%' +2117 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%a  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%. +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%&  +34 "core" +2 "processing"%v% +3 "core" %G\  +3 ."da"PS.seek 1.5ml +2 "processing"%J'' +601 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%V * +32 "core" * + ."da"delay 1 second +103 .PSV.dial :waste1 +2 "processing"%!  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%^'ؾ +1607 "core" ' +2 "processing"%S9 +3 "core" 9e5j +2 #"da"Processing Puck Heater at 27.9C before imaging +2 .PH.coast +2 "processing"%g +2 % & +2 "core" 5j +4 &^V\ 0 + #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&U% +4 "core" %  A  +2 "storage"(j% +4 "core" % \  + "storage"(. +3 "core" .(  +3 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"((C +354 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 ()& +3 "core" &D e Y h\ +2 "manipulator"&y& +3 "core" &-  8 B +3 "manipulator"&% +4 "core" %  C  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&;( +173 "core" ( +2 "manipulator"&[& +3 "core" &  I H +2 "storage"(& +3 "core" &D Q\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&1' +100 "core" ' + "storage"(N& +4 "core" &D \ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(>'r +275 "core" ' +2 "storage"(u- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +3 "storage"(]'1 +46 "core" ' +2 "manipulator"&0& +3 "core" &  S H +3 "manipulator"& % +4 "core" %   Q k +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&T( +246 "core" ( + "manipulator"&s& +4 "core" &    $ +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   $ +2 ."da"Forearm.seek PC +2 "manipulator"&<' +92 "core" ' + ."da"Hand.close +2 "manipulator"&z/ +53 "core" / +2 ."da"PC.seek :open +2 "processing"%-( +456 "core" ( +2 "storage"((& +4 "core" &D a\ + "manipulator"&:& +4 "core" &   $ +2 "manipulator"&8% +4 "core" %   0 +2 ."da"Forearm.seek :retract +2 "manipulator"&i' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&K( +260 "core" ( + "manipulator"&c& +3 "core" &   -  +3 "storage"(\\& +4 "core" &D \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'' +98 "core" ' +2 ."da"Hand.open +2 "manipulator"&r1 +59 "core" 1 +2 "storage"(C- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(3' +27 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +18 "Can"\ buC1 +37 "core" ' +54 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1115h.tif +5 "processing"%#& +12 "core" &\ +4 "manipulator"&& +7 "core" &    +3 "manipulator"&M% +4 "core" %    ? +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&Y' +94 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"& (- +167 "core" ( +2 "manipulator"&x& +3 "core" &-   } +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &-  g } +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&o'w +90 "core" ' +2 ."psFlush"Hand.close + "manipulator"&?/ +63 "core" / + "manipulator"&O& +5 "core" &-  \  } +2 "manipulator"&n% +4 "core" % π   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&b' +90 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +3 "manipulator"&L( +118 "core" ( +2 "manipulator"&A& +3 "core" &   > ( +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &w& +3 "core" &   ( +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&I' +91 "core" ' +3 "manipulator"&H& +3 "core" &    ( +3 "manipulator"&~% +4 "core" %  +2 "processing"%\ & +3 "core" &\ v +3 "processing"%=& +5 "core" &\ u +2 ."psFlush"PC.seek :closed +2 "processing"%h(^ +5 "core" & \ u +6 &9 \ q$d +9 &UrH\ m7 +10 &}n@\ lK +9 &I?\ oO +10 &YG?\ oO +9 &G4\ oN +9 &G\ nN +10 &G\ nO +9 &bJ\ nO +9 &#G\ nO +10 &G\ nO +9 &!G\ nO +10 &#iG\ nO +9 &%+I|\ mO +9 &&H\ N +10 &(Jw\ N +9 &*tJu\ N +9 &,7Jn\ N +10 &-Ko\ M +9 &/Lp\ N +10 &1}Iq\ N +9 &3@Jn\ M +9 &5Ka\ N +10 &6K^\ N +9 &8IV\ uN +10 &:CI\\\ qO +9 &<I]\ pO +9 &=IQ\ oN +10 &?JO\ oO +9 &AIJ\\\ oP +9 &C\ R\\\ nP +10 &DZ]\ nQ +9 &Fu]\ kT +9 &H>M\ jV +10 &IJ\ iW +9 &KH\ iV +10 &MH\ iW +9 &ODF\ iW +9 &QH\ iX +10 &R7\ hW +9 &T;\ hX +9 &VL;\ W +10 &X7\ V +9 &Y6\ V +10 &[6\ W +9 &]S7\ H +9 &^yBv,\ $j +10 &^,)\ 2 +5 ( +2 "processing"%=& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.78 +2 "processing"%& +2 "core" &^ )\ 2 +2 &^ L\ 2 +2 ."psFlush"Hand.open +3 "manipulator"&`1 +57 "core" 1 +2 "manipulator"&"% +3 "core" %  K +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%+ +43 "core" +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%2' +592 "core" ' + ."psFlush"delay 5 seconds +61 #"da"SX HX9/16 (USB:29): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 18.863 seconds\ /var/log/esp/da23sep1115h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1115h15s.tif +439 ."psFlush"PSR.select :air +2 "processing"% +13 ."psFlush"PS.seek 2.5ml +2 "processing"%*' +1107 #"da"SX HX9/16 (USB:29): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1115h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1115h20s.tif +1006 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%D @ +187 "core" @ + ."psFlush"PTV.dial :PRVmixing +3 "processing"%@  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%$ +102 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%|'ؠ +521 #"da"SX HX9/16 (USB:29): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1115h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "18.863 sec auto-exposure",Subject: "da23sep1115h images!" +3 "storage"(e- +2 "core" -' +3 "storage"(5& +13 "core" &D ^\ +7 "manipulator"&& +10 "core" & 0 . [ ( +3 "manipulator"&9% +4 "core" %  / . q  +62 ."da"Elbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&W( +244 "core" ( +3 "manipulator"&P& +5 "core" & 0 / c 9 +2 "storage"(& +5 "core" &D ' (\ +3 ."da"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&%' +91 "core" ' +11 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +7 ."da"SE.seek -0.51 Pucks below Top Plate +5 "storage"( '" +52 "core" ' +3 "manipulator"&G& +8 "core" &   9 +3 "storage"(& +8 "core" &D   \ +4 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 1 +4 "manipulator"&'8 +18 "core" ' +3 ."da"Elbow.hold +3 "manipulator"&, +8 "core" , +5 ."da"Elbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(p' +29 "core" ' +4 "manipulator"&% +6 "core" %?   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+2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2638 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%(  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%:'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%8 +41 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%<' +1394 "Can" Ac C +1242 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%c +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%\\ U +13 "core" U +2 ."psFlush"PS.seek 0ml +3 "processing"%T'ؾ +2636 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%r @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +42 "processing"%C' +2646 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%#  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%i'ؾ +2628 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +4 "core" &  ' 9 +2 "manipulator"&M% +3 "core" %   ~  +3 ."psFlush"Elbow.seek PC +2 "manipulator"&]( +246 "core" ( +2 "manipulator"&3& +3 "core" & \  l + +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +2 "core" &  g + +3 ."psFlush"Forearm.seek PC +2 "manipulator"&/' +91 "core" ' +2 ."psFlush"Hand.close + "manipulator"&'/ +53 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%K( +459 "core" ( +2 "manipulator"&?& +3 "core" & + +2 "manipulator"&O% +4 "core" %  ; +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&n' +93 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&Y(- +128 "core" ( +2 "manipulator"&A& +3 "core" &- - \ +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &w& +2 "core" &- \ +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&o'w +102 "core" ' + ."psFlush"Hand.open +2 "manipulator"&H1 +62 "core" 1 +2 "manipulator"&~% +3 "core" % ~  \ + +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&\ ' +93 "core" ' +3 #tFinished short da assay + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +4 "core" & \ +2 "manipulator"&b& +4 "core" &-  K \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&-(- +16 "core" ( +2 "manipulator"&& +3 "core" &-   Y l +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &`& +2 "core" &- # l +3 .tForearm.seek :garage +2 "manipulator"&"'w +94 "core" ' +2 .tHand.close + "manipulator"&=/ +58 "core" / +2 "manipulator"&+& +3 "core" &-   k +3 "manipulator"&I% +4 "core" %  g +2 .tForearm.seek :retract + "manipulator"&^' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&2(ӂ +288 "core" ( + "manipulator"&D& +4 "core" &ӓ   D 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &ӓ b 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'? +101 "core" ' + "manipulator"&*& +4 "core" &ӓ  U 7 +2 "manipulator"&e% +3 "core" %L \ H r +3 "collection"'5& +3 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'9(\\ +4 "core" & \  +9 &5z \ *z +9 &\ g \ ? +10 &o \ M +9 &YR \ L +9 &V \ L +10 &W \ L +9 &U \ K +9 &aU \ L +10 &$W \ L +9 &T \ L +9 & U \ L +10 &"jU \ L +9 &$-U \ K +10 &%W \ L +9 &'U \ L +9 &)rU \ L +10 &+5U \ K +9 &,U \ L +9 &.U \ L +10 &0zV \ L +9 &2;T \ L +10 &3W \ L +9 &5W \ L +9 &7V \ L +10 &9CU \ L +9 &;U \ L +10 &<U \ L +9 &>W \ L +9 &@LU \ L +10 &B \\ \ M +9 &Cf \ N +9 &E}\  \ Q +10 &G8\ \ \ U +9 &H\ \ \ W +10 &J\ \ \ Y +9 &Lt\ \ \ Y +9 &N5\ \ \ Y +10 &O\ \ \ Z +9 &Q\ \ \ Z +9 &Sw\ \ \ Z +10 &U7\ \ \ [\ +9 &V\ \ \ \\ +10 &X\ \ \ ] +9 &Zx\ \ \ ] +9 &\\y\ \ \ 2 +10 &\\1\ \ \ ` +9 ( + &\\w\ \ \ Q +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.37 + "collection"'P& +3 "core" &\\x\ \ \ Q +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&L% +4 "core" % L   f r +43 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +97 "core" ' + .tPSV.dial PSR,avoiding: PBV +3 "processing"%  +41 "core" +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 2.5ml + "processing"%' +2629 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%  + "collection"'  +6 "core" +93 + .tPSV.dial :PTV,via: :air +2 "processing"% +189 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +70 "core" @ +2 .tPS.seek 0ml +2 "processing"%'ؾ +2639 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%6  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%%' +2667 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 .PSV.dial :PTV,via: :air +2 "processing"%W +199 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 .PS.seek 0ml + "processing"%k'ؾ +2635 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%m  +185 "core" +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml + "processing"% ' +2629 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 .PSV.dial :PTV,via: :air +2 "processing"% +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%'ؾ +2651 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%d  +187 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%p'+ +1617 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%  +44 "core"  +2 .tPS.seek 0ml + "processing"%Q'ؾ +1631 "core" ' +2 .tPSV.dial PSR +2 "processing"%B +54 "core" +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%|' +2624 "core" ' +2 ."connect"PRV.dial CBV +2 .tCBV.dial PRV +3 .PSV.dial :PTV,via: :air +2 "processing"%{ +185 "core"  +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 .PS.seek 0ml +2 "processing"%E'ؾ +2632 "core" ' +2 .tPSV.dial :air +2 "processing"%l  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2635 "core" ' + .tPSV.dial :PTV +2 "processing"% +73 "core" ~ +3 .tPS.seek 0ml + "processing"%,'ؾ +2639 "core" ' + .tPSV.dial :air +2 "processing"%F  +84 "core" +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :PTV +2 "processing"% +83 "core" +2 .tPS.seek 0ml + "processing"%q'ؾ +2632 "core" ' +2 .tPSV.dial :air +2 "processing"%}  +82 "core"  +3 .tPS.seek 2.5ml + "processing"%t' +2639 "core" ' + .tPSV.dial :PTV +2 "processing"%a +70 "core"  +2 .tPS.seek 0ml +2 "processing"%7'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&.& +4 "core" &ӕ \ \ q 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&v(ӂ +29 "core" ( +2 "manipulator"&& +3 "core" &Ӈ  & 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &Ӈ 1 +3 .tForearm.seek CC + "manipulator"&!'? +100 "core" ' + .tHand.close +2 "manipulator"&V/ +55 "core" / +2 .tCC.seek :open + "collection"'S( +449 "core" ( +2 "manipulator"&J& +3 "core" &Ӈ  1 +2 "manipulator"& % +4 "core" % (  +2 .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +5 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&j(- +278 "core" ( +2 "manipulator"&& +3 "core" &-  q 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &U& +2 "core" &-   7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&)'w +92 "core" ' +3 .tHand.open + "manipulator"&R1 +53 "core" 1 + "manipulator"&% +4 "core" % π   r N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +93 "core" ' +2 #tFlushing Processing stage +2 "processing"%% +4 "core" %ؿ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%[& +3 "core" &\ +3 "manipulator"&N& +3 "core" &-  g 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&Z(- +7 "core" ( +2 "manipulator"&u& +3 "core" &-  E 0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &- c 0 +2 .tForearm.seek :garage +2 "manipulator"&4'w +90 "core" ' + .tHand.close +2 "manipulator"&>/ +56 "core" / +2 "manipulator"& & +3 "core" &-   Y 0 +3 "manipulator"&1% +4 "core" % l  e  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&;( +116 "core" ( +2 "manipulator"&s& +4 "core" &   . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &  . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&z' +97 "core" ' +2 "manipulator"&(& +4 "core" & L . +2 "manipulator"&% +4 "core" % | +2 "processing"%8& +4 "core" &\ +2 "processing"%:& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%c(^ +4 "core" &\ +7 &3\ $d +9 &Vs\ 6 +10 &u\ K +9 &P\ M +9 &oP\ L +10 &1O\ L +9 &Q\ L +10 &T\ M +9 &vN\ M +9 &8O\ M +10 &O\ M +9 &!O\ M +9 &#~O\ M +10 &%@P\ M +9 &'O\ M +10 &(O\ M +9 &*O\ M +9 &,HO\ M +10 &.\ O\ M +9 &/Q\ M +9 &1Q\ L +10 &3QQ\ L +9 &5Q\ L +10 &6Q\ L +9 &8R\ L +9 &:YQ\ L +10 &<R\ M +9 &=U\ M +9 &?R\ M +10 &A_V\ M +9 &C_\ N +10 &Df\ O +9 &Fz\ Q +9 &HT\ S +10 &J\ S +9 &K\ S +9 &M\ T +10 &OY\ T +9 &Q\ U +10 &R\ T +9 &T\ U +9 &Va\ T +10 &X!\ U +9 &Y\ U +9 &[\ T +10 &]e\ C +9 &^?r\ !b +10 &^2\ 3 +5 ( +2 "processing"%:& +3 "core" &^ \ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 + "processing"%\\& +4 "core" &^ \ 3 +2 .tHand.open + "manipulator"&<1 +53 "core" 1 + "manipulator"&r% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +95 "core" ' +2 .tPSV.dial PSR + "processing"%# +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +11 .tPS.seek 1ml + "processing"%C'X\\ +555 "Can" BC +548 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1615 "core" ' +2 .tPSV.dial PTV + "processing"%M +72 "core" +2 .tPTV.dial :puck + "processing"%3  +72 "core"  +2 .tPBV.dial :waste1 +2 "processing"%x  +51 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%' +72 "core"  + .tPSR.select :flush +3 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%_' +593 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%h' +2129 "core" ' +2 .tPSV.dial PTV + "processing"%? +72 "core" +2 .tPBV.dial PSV +49 "processing"%O U +54 "core" W +2 .tPS.seek 0ml +2 "processing"%A'ؾ +2653 "core" ' +2 .tPSV.dial PBV +2 "processing"%w @ +43 "core" > +3 .tPS.seek 2.5ml + "processing"%/' +2631 "core" ' + .tPSV.dial :waste1 +2 "processing"%]  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2635 "core" ' +2 .tPSV.dial PSR + "processing"%~ +44 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"% ' +2650 "core" ' +2 .tPSV.dial PTV +2 "processing"%b +70 "core" + .tPBV.dial PSV +2 "processing"%n U +4 "core" V +3 .tPS.seek 0ml + "processing"%'ؾ +2634 "core" ' + .tPSV.dial PBV +2 "processing"%` @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%o' +2633 "core" ' +2 .tPSV.dial :waste1 + "processing"%=  +71 "core"  +2 .tPS.seek 0ml + "processing"%+'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&I& +4 "core" &   . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&Y( +3 "core" ( + "manipulator"&\ & +4 "core" &   i . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &  [ . +2 .tForearm.seek PC +2 "manipulator"&D' +93 "core" ' + .tHand.close +2 "manipulator"&-/ +62 "core" / +2 .tPC.seek :open +2 "processing"%@( +459 "core" ( + "manipulator"&*& +4 "core" & l . +2 "manipulator"&e% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&5' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&^(- +125 "core" ( +2 "manipulator"&X& +3 "core" &-  n \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &- > \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +100 "core" ' +2 .tHand.open + "manipulator"&L1 +57 "core" 1 + "manipulator"&% +4 "core" % r  Z | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +30044 #t-> access 1 +2 "storage"($% +3 "core" % s z \  +3 "manipulator"&i% +3 "core" %   +2 "manipulator"&& +4 "core" &- \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +1296 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &<* = @ S\ +537 "Can" 6#7C +7956 #t-> access 2 +3 "storage"(% +3 "core" % p u U\  +2 "manipulator"&% +3 "core" %   +2 "manipulator"&6& +4 "core" &- ` \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &K F B [\ +1573 #t-> startTube 2 +2037 #-> $da[:extractVol]=.2 +48050 "Can" 6C +14647 #t-> shortDA; shortDAflush +2 "collection"'%% +2 "processing"%m% +4 "core" %j \ +3 %ؾ\ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +134 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%k +129 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +128 "core" +2 .tPRV.dial :sipper + "processing"%  +127 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%d'e +2302 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  +125 "core" +3 .tPS.seek 0.5ml +46 "processing"%' +1281 "core" ' +2 .tPRV.dial :waste2 + "processing"%p @ +99 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%B'ؾ +587 "core" ' + .tPSV.dial PSR +2 "processing"%Q +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%{'X\\ +1105 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%|' +1616 "core" ' +2 .tPSV.dial :mixloop + "processing"%l +102 "core" +2 .tPS.seek 0ml +2 "processing"%E'ؾ +2628 "core" ' +2 .tPSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1097 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%F' +1613 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%, +101 "core" +2 .tPRV.dial :sipper + "processing"%  +42 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2631 "core" ' + .tPSV.dial PSR + "processing"%} +101 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%q' +2641 "core" ' + .tPSV.dial :mixloop + "processing"%a +102 "core" +2 .tPS.seek 0ml +2 "processing"%t'ؾ +2654 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%.& +4 "core" &\ + "manipulator"&% +4 "core" %   R  +2 "storage"(&% +3 "core" % ~ ~ \  +2 "storage"(V. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(2(  +1303 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &  [ [\ +2 "manipulator"&9& +4 "core" &- \ +2 "manipulator"&J% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +169 "core" ( +2 "manipulator"&!& +3 "core" &   G +2 "storage"(& +4 "core" &  ~ ~ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&U'S +92 "core" ' + "storage"(v& +4 "core" &  ~ ~ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & < 7 b\ +2 "manipulator"&[& +4 "core" &  G +2 .tElbow.seek 2 +2 "manipulator"&N( +4 "core" ( +2 "manipulator"&u& +4 "core" &   F G + "storage"(g& +4 "core" & ] Z\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&0'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"()' +8 "core" & _ G + "manipulator"&1% +4 "core" % Ͼ  4 +2 .tForearm.seek :retract +2 "manipulator"&j' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&y( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&s& +4 "core" & < 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" & N 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&4' +101 "core" ' + "manipulator"&(& +4 "core" & ^ 1 +2 "manipulator"&% +4 "core" % B +2 "processing"%8& +3 "core" &\ +3 "processing"%Z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +8 &4\ #c +9 &Ux\ 6 +9 &w{\ K +10 &R\ M +47 &fO\ M +6 &)P\ L +3 &Q\ L + &Q}\ M + &mUo\ M + &1R\ L +6 &R\ M +10 &!O\ M +9 &#vR!\ M +10 &%7U\ M +9 &&Pt\ M +9 &(R \ M +10 &*~U\ M +9 &,@Q$\ M +9 &.Q\ L +10 &/R\ M +9 &1T\ M +10 &3GQ\ M +9 &5 R\ L +9 &6R\ M +10 &8R\ L +9 &:OR\ \ M +9 &<R \ M +10 &=S\ M +9 &?U\ M +10 &AVU \ M +9 &Cd\ \ O +9 &Dk\ P +10 &F\ R +9 &HL\ S +9 &J\ S +10 &K\ T +9 &M\ T +10 &OQ\ T +9 &Q\ U +9 &R\ U +10 &T \ U +9 &VW\ U +9 &X\ U +10 &Y\ T +9 &[\ U +10 &]^ \ C +9 &^Jx\ L +9 &^P\ ; +6 ( + "processing"%Z& +4 "core" &^;\ ; +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&K1 +62 "core" 1 +2 "manipulator"&\\% +4 "core" %  M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%r h +2 %:9 +6 "core" 9 +103 "processing"%#9 +2 "core" 9 +103 "processing"%z9 +3 "core" 9  +102 "processing"%79 +3 "core" 9  +102 "processing"%C9 +3 "core" 9 +102 "processing"%M9 +3 "core" 9 +102 "processing"%39 +3 "core" 9 +102 "processing"%x9 +3 "core" 9 +103 "processing"%9 +2 "core" 9" +102 "processing"%'9 +3 "core" 9& +102 "processing"%9 +3 "core" 9+ +102 "processing"%_9 +3 "core" 9/ +102 "processing"%?9 +4 "core" 93 +102 "processing"%O9 +3 "core" 97 +102 "processing"%h9 +3 "core" 9; +102 "processing"%w9 +3 "core" 9@ +102 "processing"%A9 +3 "core" 9D +103 "processing"%]9 +3 "core" 9H +102 "processing"%/9 +3 "core" 9L +102 "processing"%~9 +3 "core" 9P +102 "processing"%H9 +3 "core" 9U +102 "processing"%b9 +3 "core" 9Y +102 "processing"%n9 +4 "core" 9] +102 "processing"% 9 +3 "core" 9a +102 "processing"%`9 +3 "core" 9f +102 "processing"%9 +3 "core" 9j +102 "processing"%=9 +3 "core" 9 n +102 "processing"%o9 +3 "core" 9r +102 "processing"%I9 +3 "core" 9v +103 "processing"%\ 9 +2 "core" 9%{ +3 .tPH.hold 2:00:00,28C +3 "processing"%" php +3 .tdelay 1:30 +3 "core" { +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%- +102 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%;' +595 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%T' +1610 "core" ' +2 .tPTV.dial :puck +2 "processing"%c  +129 "core"  +2 .tPSV.dial PTV +2 "processing"%* +71 "core" +2 .tPBV.dial :waste1 +2 "processing"%e  +53 "core" + "processing"%X% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%P'+ +589 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%D * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%Y'ؾ +1610 "core" ' +2 .tdelay 5:00 +1614 "Can"\ gocC" +28389 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%L  +15 "core"  + .tPBV.dial :waste1 +2 "processing"%  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%5 * +32 "core" * +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%$' +2386 "core" ' +2 .tPSV.dial PTV + "processing"%i +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%  +71 "core"  +3 .tPS.seek 0ml + "processing"%'ؾ +2325 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +126 "core" +2 .tPSV.dial :mixloop + "processing"%6 +44 "core" +2 .tPRV.dial :ab1 + "processing"% @ +99 "core" > +43 .tPS.reconfigure :slow +10 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%W' +352 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%%  +43 "core"  + "processing"%m% +3 "core" %>\ \ +3 .tPS.seek 0.35ml +2 "processing"%k'g +461 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +28 "core" +2 .tPRV.dial :air +2 "processing"%  +40 "core"  +2 .tPS.seek 0.9ml +2 "processing"%+'K +1177 "core" ' +2 .tPRV.dial :waste2 +2 "processing"% @ +71 "core" > +3 .tPS.seek 0.5ml + "processing"%d' +868 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%p  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%' +1627 "core" ' +2 .tPSV.dial :PML +2 "processing"%Q +43 "core" +2 .tPTV.dial :mixing + "processing"%B @ +72 "core" A +2 .tPBV.dial :waste1 +2 "processing"%{  +32 "core" +2 "processing"%l% +3 "core" %5\ +3 .tPS.seek 1.85ml +2 "processing"%|' +239 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%E'ؾ +1963 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & \ +2 "manipulator"&,& +4 "core" &   v 1 +2 "manipulator"&% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&F(- +118 "core" ( +2 "manipulator"&}& +4 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- \ t  +3 .tForearm.seek :garage +2 "manipulator"&a'w +91 "core" ' +2 .tHand.close + "manipulator"&q/ +63 "core" / +3 "manipulator"&.& +4 "core" &-    + "manipulator"&% +6 "core" % c  +2 .tForearm.seek :retract + "manipulator"&&' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&V(ӂ +279 "core" ( +2 "manipulator"&& +4 "core" &Ӛ   8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &Ӛ y 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&9'? +94 "core" ' +2 "manipulator"&J& +4 "core" &Ӛ "  l 8 +2 "manipulator"&!% +3 "core" %H  W $ +3 "collection"'& +4 "core" & \ +2 "collection"'v& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'^(\\ +3 "core" & \ +7 &B \ %g +10 &Yw \ 8 +9 &r P\ L +9 &T \ M +10 &T :\ L +9 &GO I\ L +9 &\ S ?\ L +10 &U D\ L +9 &T B\ L +10 &OR =\ L +9 & N A\ L +9 &!T C\ M +10 &#U B\ L +9 &%XO K\ L +9 &'T G\ M +10 &(T M\ L +9 &*Q E\ L +10 &,_W A\ L +9 &.!S B\ L +9 &/T H\ M +10 &1T H\ L +9 &3gW I\ L +9 &5)W A\ L +10 &6T ?\ L +9 &8W B\ L +10 &:oU J\ L +9 &<1W M\ L +9 &=W A\ L +10 &?T J\ L +9 &AvZ\ C\ M +9 &C6_\ \ G\ M +10 &Du\ \ J\ P +9 &F\ \ C\ T +10 &H^\ \ A\ X +9 &J\ \ G\ Y +9 &K\ \ A\ Y +10 &M\ \ @\ Y +9 &O_\ \ ?\ Z +10 &Q\ \ C\ [\ +9 &R\ \ C\ Z +9 &T\ \ @\ [ +10 &Va\ \ G\ \\ +9 &X!\ \ B\ ] +9 &Y\ \ \ E\ ] +10 &[\ \ B\ K +9 &\\3\ \ \ H\ 3 +9 &\\z\ \ A\ P +3 ( +2 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.42 +2 "collection"'& +3 "core" &\\u\ \ B\ P +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +3 "core" % H 4 1 $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +93 "core" ' +2 .tPSV.dial PSR +2 "processing"%u +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%g'+ +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%>  +90 "core"  +2 .tPS.seek 0ml +2 "processing"% 'ؾ +1612 "core" ' + .tPSV.dial PSR +2 "processing"%1 +44 "core"  + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"% ' +2625 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +4 "processing"%U  + "collection"'R  +32 "core" +123  + .tPSV.dial :mixloop +2 "processing"%0 +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%s  +71 "core" +3 .tPS.seek 0ml +2 "processing"%f'ؾ +2634 "core" ' +2 .tPSV.dial :air +2 "processing"%N  +54 "core"  +2 .tPS.seek 2.5ml +2 "processing"%(' +2619 "Can"\ ZGC +19 "core" ' +2 .tPSV.dial :mixloop +2 "processing"% +42 "core" +2 .tPS.seek 0ml +2 "processing"%8'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%)  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%j' +2628 "core" ' + .tPSV.dial :mixloop +2 "processing"%@ +44 "core" +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&\\& +4 "core" &ӛ   8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +15 "core" ( +2 "manipulator"&Z& +3 "core" &Ӆ \  N - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &Ӆ - +3 .tForearm.seek CC +2 "manipulator"&4'? +104 "core" ' + .tHand.close +2 "manipulator"&z/ +62 "core" / +2 .tCC.seek :open +2 "collection"'7( +451 "core" ( +2 "manipulator"&C& +3 "core" &ә  \ Q * +3 "manipulator"&M% +4 "core" %  = +2 .tForearm.seek :retract +2 "manipulator"&3' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&x(- +283 "core" ( + "manipulator"&& +4 "core" &-   H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &-  H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +99 "core" ' +2 .tHand.open +2 "manipulator"&_1 +63 "core" 1 +2 "manipulator"&?% +3 "core" % {   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +95 "core" ' +2 ."da"delayUntil "16:09:01.26" +24754 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%h @ +71 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%w  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%]  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%/' +2389 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%~ +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%H  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%b +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%n  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2364 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%` +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%=' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%o  +70 "core"  +42 ."da"PSV.dial PTV +9 "processing"%I +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%\  +33 "core" +2 "processing"%-% +3 "core" %\\\  +3 ."da"PS.seek 1.5ml + "processing"%t'. +585 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%; * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%c'ؾ +1607 "core" ' + ."da"delay 2:00 +11375 "Can" DC3 +628 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%*  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%e  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%X * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%T +72 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%D' +2387 "core" ' + ."da"PSV.dial PTV +2 "processing"%P +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%r +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%L +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +3 "processing"%5'ؾ +2329 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%Y' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%i' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" + "processing"%$% +4 "core" %;\  +2 ."da"PS.seek 1.5ml +2 "processing"%', +599 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%6 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%  +16 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%%  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%m * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%W +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2387 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%k +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%+  +86 "core"  +3 ."da"PS.seek 0ml +2 "processing"%p'ؾ +2334 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%d  +42 "core"  +2 ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%Q  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 +2 "processing"%B  +42 "core" ~ +2 ."da"PTV.dial :PRVmixing + "processing"%{  +5 "core" +2 ."da"PSV.dial :mixloop + "processing"%l +42 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%' +393 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air +2 "processing"%  +44 "core"  + "processing"%|% +4 "core" % X\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +338 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%,  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1560 "core" ' +2 ."da"PSV.dial :PML +43 "processing"%} +50 "core" +2 ."da"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%q  +34 "core" +2 "processing"%.% +4 "core" %U\  +2 ."da"PS.seek 1.85ml +2 "processing"%y' +235 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +1964 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +15804 "Can" C%C +32199 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%a @ +4 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%G * +33 "core" * + ."da"PSV.dial :air +2 "processing"%F  +43 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%J' +2408 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%! +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%& +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%S  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2333 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%v' +1606 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%u  +70 "core"  + ."da"PSV.dial PTV +3 "processing"%9 +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%E  +32 "core" +2 "processing"%>% +3 "core" %_\  +3 ."da"PS.seek 1.5ml +2 "processing"%g'& +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%1 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%R  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%U  +33 "core" +2 ."da"delay 30 seconds +1447 "Can" ?@C +1555 ."da"PBV.dial between PSV and waste1 +3 "processing"%0 * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%s +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2399 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%N +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%f +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%(  +85 "core"  +2 ."da"PS.seek 0ml +3 "processing"%)'ؾ +2351 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%@' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%j' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%\\  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%Z +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%#  +33 "core" + "processing"%z% +4 "core" %[\  +3 ."da"PS.seek 1.5ml + "processing"%V'+ +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%[ * +34 "core" + +2 ."da"PS.seek 0ml +49 "processing"%^'ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%C  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%M  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%4 * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'' +2406 "core" ' + ."da"PSV.dial PTV +2 "processing"%: +84 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%_ +69 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%? +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%3  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2332 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%h' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%w' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%A  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%] +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%K  +33 "core" + "processing"%~% +4 "core" %^\  +2 ."da"PS.seek 1.5ml +2 "processing"%H'/ +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%b * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%n'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%/  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%`  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%o' +2425 "core" ' + ."da"PSV.dial PTV +2 "processing"%I +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%\ +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%- +70 "core" +2 ."da"delay 5 seconds +20 "Can" ?QC +483 ."da"PSV.dial :air +2 "processing"%=  +84 "core" +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +2343 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%t +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +7 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml + "processing"%*' +335 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%e' +337 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%X' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%T  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%c +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%P  +34 "core" + "processing"%r% +3 "core" %g\  +3 ."da"PS.seek 1.5ml + "processing"%L'+ +604 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1611 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PBV.dial :waste1 +46 "processing"%5  +42 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%Y * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2414 "core" ' + ."da"PSV.dial PTV +3 "processing"% +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%$ +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%i +69 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%6  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2403 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  +2 #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%%' +2120 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 "processing"%m  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"%W +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"% % +3 "core" %`\  +3 ."da"PS.seek 1.5ml +2 "processing"%k'( +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%+  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1617 "core" ' + "processing"%d9 +4 "core" 9h5n +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%Q +2 %B& +3 "core" 5o + &^5e\ ; +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&{% +3 "core" %  m  +3 "storage"(l% +3 "core" % s\ +2 "storage"(p. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"((C +353 "core" ( +2 ."da"SC.configure :limp +3 "storage"($\ 1b +2 (|& +3 "core" &F 1\ +2 "manipulator"&& +3 "core" &-  , H +2 "manipulator"&,% +4 "core" %   <  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +173 "core" ( + "manipulator"&}& +4 "core" &   ? +2 "storage"(& +3 "core" &F \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&q' +94 "core" ' + "storage"(.& +4 "core" &F c\ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"('r +275 "core" ' +2 "storage"(- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place +2 "storage"(y'1 +46 "core" ' +2 "manipulator"&a& +4 "core" & ? +2 "manipulator"&% +3 "core" %  t y +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&G' +90 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&F( +246 "core" ( +2 "manipulator"&<& +3 "core" &  7 ! +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &!& +2 "core" & s ! +3 ."da"Forearm.seek PC +2 "manipulator"&' +91 "core" ' +2 ."da"Hand.close + "manipulator"&&/ +60 "core" / +2 ."da"PC.seek :open +2 "processing"%S( +458 "core" ( +2 "storage"(J& +3 "core" &F z { @\ +2 "manipulator"&& +3 "core" & c ! +2 "manipulator"&% +4 "core" %  : * +48 ."da"Forearm.seek :retract +9 "manipulator"&' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&u( +246 "core" ( + "manipulator"&9& +4 "core" &   N M +2 "storage"(E& +3 "core" &F A\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&>' +94 "core" ' +3 ."da"Hand.open + "manipulator"&v1 +60 "core" 1 +2 "storage"(1- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(g' +26 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(R' +54 "core" ' + #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1116h.tif +6 "processing"%U& +10 "core" &"\ y +6 "manipulator"&0& +6 "core" &  M +3 "manipulator"&s% +5 "core" % j +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&N(- +177 "core" ( +2 "manipulator"&f& +4 "core" &-  3 B +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &- \  M B +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&('w +91 "core" ' +2 ."psFlush"Hand.close + "manipulator"& / +59 "core" / +2 "manipulator"&8& +4 "core" &-  B +2 "manipulator"&)% +4 "core" % i \   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&@' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&\\( +117 "core" ( + "manipulator"&Z& +5 "core" &  > + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +3 "core" & > +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&z' +89 "core" ' +3 "manipulator"&j& +3 "core" &  8 > +3 "manipulator"&[% +3 "core" %   V +3 "processing"%V& +4 "core" &\ +2 "processing"%C& +5 "core" &\ +2 ."psFlush"PC.seek :closed +2 "processing"%M(^ +5 "core" &\ +7 &3\ $c +9 &Vs\ 7 +10 &~j\ K +9 &G\ wN +9 &[I\ vN +10 &I\ uN +9 &I\ uO +10 &H\ tO +9 &bH\ tO +9 &$I\ sO +10 &H\ sN +9 &!FB\ tO +10 &#kIJ\ sN +9 &%-FH\ sN +9 &&F<\ sN +10 &(J4\ rN +9 &*rI7\ rO +9 &,4I5\ rO +12 &-I/\ rO +7 &/L2\ N +9 &1~J%\ M +10 &3?N\ N +9 &5L\ N +10 &6I\ M +9 &8N\ M +9 &:GLh\ N +10 &< L\ N +9 &=Nl\ M +9 &?M\ N +10 &ANL\ }N +9 &C U\ uP +10 &D[|\ tQ +9 &Fpw\ rT +9 &H>r\ pV +10 &Jz\ pV +9 &Ky\ oV +9 &Mx\ oW +10 &ODv\ nW +9 &Qg\ nW +10 &Rh\ nW +9 &Tx\ mX +9 &VL{\ mW +10 &X x\ mX +9 &Yq\ mX +9 &[z\ mW +10 &]Pk\ lJ +9 &^yD}e\ n#i +9 &^-d\ 2 +6 ( + "processing"%C& +4 "core" &^ e\ 2 +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 + "processing"%4& +4 "core" &^ b\ 2 +3 ."psFlush"Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&^% +4 "core" %    V +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&:' +93 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%_ +45 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%?' +590 "core" ' +2 ."psFlush"delay 5 seconds +119 #"da"SX HX9/16 (USB:30): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 19.484 seconds\ /var/log/esp/da23sep1116h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1116h15s.tif +379 ."psFlush"PSR.select :air +7 "processing"% +9 ."psFlush"PS.seek 2.5ml +3 "processing"%3' +1170 #"da"SX HX9/16 (USB:30): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1116h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1116h20s.tif +952 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%' @ +188 "core" @ +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +132 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +114 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%h'ؠ +559 #"da"SX HX9/16 (USB:30): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1116h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "19.484 sec auto-exposure",Subject: "da23sep1116h images!" +4 "storage"(A- +13 "core" -' +9 "storage"(]& +8 "core" &F  \ +2 "manipulator"&K& +5 "core" & t > +2 "manipulator"&~% +4 "core" %     +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +5 "manipulator"&w( +245 "core" ( +2 "manipulator"&b& +4 "core" &  }  +3 "storage"(H& +3 "core" &F = 7 \ +4 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&/' +94 "core" ' +6 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +3 "storage"(`'" +52 "core" ' +13 "manipulator"& & +7 "core" &    +4 "storage"(& +6 "core" &F 7 : 7\ +6 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek 1 +4 "manipulator"&n'8 +19 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&I, +8 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +3 "storage"(\ ' +27 "core" ' +4 "manipulator"&-% +6 "core" %A  < +5 "storage"(=& +8 "core" &F  \ +3 ."da"Forearm.force -20 +2 "manipulator"&5 +6 ."da"Forearm.seek 1 + 309 counts +3 "manipulator"&o'm +18 "core" ' +4 "manipulator"&t& +6 "core" &   $  +4 "storage"(;& +9 "core" &F 6 :\ +5 ."da"Forearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +8 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&*' +17 "core" ' +3 "storage"(e% +7 "core" % 6 6 \ +5 ."downElevator"SE.seek :down +8 "storage"(T' +97 (c% +5 "core" %B   \ U\\ +5 "manipulator"&P% +9 "core" % +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +4 "manipulator"&r' +92 "core" ' +45 ' +3 ."downElevator"SE.stop +3 "storage"(5 +6 (X& +6 "core" &F ? E 0\ +1007 ' +4 ."psFlush"PSR.select :air +3 .PSV.dial PSR +4 "processing"% +100 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +5 "processing"%@ +15 ."psFlush"PS.seek 0.5ml +4 "processing"%L' +589 "core" ' +3 ."psFlush"delay 5 seconds +273 #"uploadLog"upsync +230 ."psFlush"PSR.select :air +4 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2129 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%5  +32 "core"  +2 ."psFlush"PTV.dial :mixing +2 "processing"%Y @ +120 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +113 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%D'ؠ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +98 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%$'X\\ +1104 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%i' +1606 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%6 +72 "core" + ."psFlush"PTV.dial :puck +3 "processing"%  +69 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%m' +584 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%W' +2128 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +52 "core" W +3 ."psFlush"PS.seek 0ml +2 "processing"%%'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +53 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%+' +2652 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%k  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%d'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%Q +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%B' +455 "Can" @C, +2179 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%{ +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%l U +15 "core" T +3 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%2 @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%|' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%,'ؾ +2626 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%} +43 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1103 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%.' +1615 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%x +70 "core" + ."psFlush"PTV.dial :puck +2 "processing"%O  +5 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%  +51 "core" +3 ."psFlush"PS.seek 0ml + "processing"%a'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +596 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%q' +2118 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%< +84 "core" + ."psFlush"PBV.dial PSV +2 "processing"%! U +51 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%& @ +43 "core" > +10 ."psFlush"PS.seek 2.5ml +2 "processing"%G' +2635 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +69 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%J'ؾ +2641 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2634 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%9 U +4 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"%E'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%F @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%v' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%1  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%U'ؾ +2650 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&0& +3 "core" &  +2 "manipulator"&s% +4 "core" %   +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +243 "core" ( +2 "manipulator"&y& +3 "core" & ^ 6 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &g& +2 "core" &  F 6 +3 ."psFlush"Forearm.seek PC +2 "manipulator"&f' +91 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +55 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%>( +458 "core" ( + "manipulator"&u& +5 "core" & % 6 + "manipulator"& % +4 "core" %    +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&)(- +127 "core" ( +2 "manipulator"& & +4 "core" &-  e + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &- N +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&#'w +102 "core" ' + ."psFlush"Hand.open +2 "manipulator"&(1 +64 "core" 1 + "manipulator"&j% +4 "core" % w  H +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&[' +103 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'V& +3 "core" & \ +3 "manipulator"&N& +4 "core" &- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&@(- +19 "core" ( +2 "manipulator"&S& +3 "core" &- [ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &-  [ +3 .tForearm.seek :garage + "manipulator"&'w +95 "core" ' +2 .tHand.close + "manipulator"&^/ +58 "core" / +2 "manipulator"&C& +3 "core" &- i [ +3 "manipulator"&_% +4 "core" % `  Y +2 .tForearm.seek :retract + "manipulator"&z' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +276 "core" ( +2 "manipulator"&?& +4 "core" &y(  \ N @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &y( : @[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +95 "core" ' + "manipulator"&& +4 "core" &y(   | @[ +2 "manipulator"&3% +4 "core" %F \ \  * +2 "collection"'A& +4 "core" & \ +3 "collection"']& +4 "core" & \ +46 .tCC.seek :closed +10 "collection"'K(\\ +4 "core" & \ + &\ \ + & \ + & \ + & \ +2 & \ + & \ ; +7 &MLx \ 1 +10 &v} \ F +9 &/\\ \ M +10 &R\ \ K +9 &U \ \ L +9 &wU \ \ L +10 &9T \ L +9 &T \ L +9 &T \ K +10 &U \ L +9 &!BT \ L +10 &#S \ L +9 &$R \ L +9 &&U \ L +10 &(JU \ L +9 &* X \ L +9 &+S\ \ L +10 &-T \ K +9 &/QT\ \ L +10 &1S \ L +9 &2T \ L +9 &4U \ K +10 &6XU \ L +9 &8U \ L +9 &9U\ \ \ L +10 &;U\ \ \ L +9 &=aT\  \ L +10 &?#U\ \ \ L +9 &@V\ \ \ L +9 &B_\ \ \ M +10 &Dal\ \ \ O +9 &F\ \ \ R +9 &G\ \ \ \ W +10 &I\ \ \ X +9 &KK\ \ \ Y +10 &M \ \ \ Z +9 &N\ \ \ Y +9 &P\ \ \ \ Z +10 &RQ\ \  \ Z +9 &T\ \ \ \ [ +9 &U\ \  \ \\ +10 &W\ \  \ \\ +9 &YO\ \ \ \ \ ] +10 &[\ \ \ \ ] +9 &\\dH\ \  \ 6 +9 &\\ \ \ \ \ R +6 ( + "collection"']& +4 "core" &\\k\ \ \ R +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.38 + "collection"'~& +4 "core" &\\k\ \ \  \ R +2 .tHand.open + "manipulator"&b1 +58 "core" 1 + "manipulator"&H% +5 "core" % F   * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +92 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +44 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%' +2625 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%:  +98 "core" +2 .tPSV.dial :PTV,via: :air +2 "processing"%- +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"%= @ +71 "core" B +2 .tPS.seek 0ml +2 "processing"%t'ؾ +2638 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%;  +187 "core"  + #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%R' +2655 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 .PSV.dial :PTV,via: :air +2 "processing"%e +199 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%/ @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%w'ؾ +2624 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%c  +186 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%P' +2630 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +5 .tCBV.dial PRV +2 .PSV.dial :PTV,via: :air +2 "processing"%` +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%n @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%o'ؾ +2650 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%X  +187 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%\ '+ +616 "Can"\ Q}C" +998 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%*  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%T'ؾ +1608 "core" ' +2 .tPSV.dial PSR +2 "processing"% +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%h' +2625 "core" ' +2 ."connect"PRV.dial CBV +2 .tCBV.dial PRV +3 .PSV.dial :PTV,via: :air +2 "processing"%L +188 "core"  +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"%5 @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%Y'ؾ +2627 "core" ' +2 .tPSV.dial :air + "processing"%  +74 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2650 "core" ' +2 .tPSV.dial :PTV +2 "processing"% +73 "core" ~ +2 .tPS.seek 0ml +2 "processing"%D'ؾ +2638 "core" ' +2 .tPSV.dial :air +2 "processing"%$  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%6' +2628 "core" ' +2 .tPSV.dial :PTV +2 "processing"% +73 "core" ~ +2 .tPS.seek 0ml +2 "processing"%i'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%  +73 "core"  +10 .tPS.seek 2.5ml +2 "processing"%' +2649 "core" ' +2 .tPSV.dial :PTV +2 "processing"%m +73 "core" ~ +2 .tPS.seek 0ml +2 "processing"%'ؾ +2651 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"& & +3 "core" &Ӥ :0 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&W(ӂ +42 "core" ( +2 "manipulator"&& +3 "core" &{    7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &{ \  7 +3 .tForearm.seek CC +2 "manipulator"&k'? +97 "core" ' +2 .tHand.close + "manipulator"&+/ +57 "core" / +2 .tCC.seek :open + "collection"'Q( +447 "core" ( +2 "manipulator"&d& +3 "core" &ӯ \  0 +2 "manipulator"&{% +5 "core" % * \  +2 .tForearm.seek :retract + "manipulator"&l' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&B(- +285 "core" ( + "manipulator"&2& +4 "core" &-  I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &- 1 I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +96 "core" ' +2 .tHand.open +2 "manipulator"&|1 +60 "core" 1 +2 "manipulator"&}% +3 "core" % π   ^  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' +15179 #t-> access 1 +3 "storage"(% +50 "core" % n i 9\  + "manipulator"&x% +3 "core" %  Y  +3 "manipulator"&O& +4 "core" &- / I + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +1295 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +3 "core" &<* E / >\ +14233 #t-> access 2 +2 "storage"(% +3 "core" % ~ z .\  +2 "manipulator"&a% +3 "core" %  5  +2 "manipulator"&& +4 "core" &- > I +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(<(K +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &K ] Z \ +2414 "Can" 4C) +7845 #t-> startTube 2 +1343 #-> $da[:extractVol]=.2 +50813 "Can" 3C! +58325 #t-> shortDA; shortDAflush; PS.flush; shortDAflush +2 "collection"'q% +2 "processing"%&% +4 "core" %j \ +5 %ؾ\  +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +266 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"% +43 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +72 "core" + .tPRV.dial :sipper +2 "processing"%G  +127 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%'e +134 "Can" ;J?C +2165 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%J  +127 "core"  +2 .tPS.seek 0.5ml +2 "processing"%' +1280 "core" ' +2 .tPRV.dial :waste2 + "processing"%9 @ +100 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%'ؾ +597 "core" ' +2 .tPSV.dial PSR +2 "processing"%F +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1ml + "processing"%E'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%1' +1606 "core" ' +2 .tPSV.dial :mixloop + "processing"%v +102 "core" +2 .tPS.seek 0ml +2 "processing"%0'ؾ +2638 "core" ' +2 .tPSV.dial PSR + "processing"%s +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +51 .tPS.seek 1ml +2 "processing"%y'X\\ +1101 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%g' +1613 "core" ' + .tPSV.dial :mixloop +2 "processing"%I +101 "core" +2 .tPRV.dial :sipper +2 "processing"%  +40 "core" +2 .tPS.seek 0ml +2 "processing"%r'ؾ +2632 "core" ' +2 .tPSV.dial PSR + "processing"%M +100 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%u' +2631 "core" ' +2 .tPSV.dial :mixloop + "processing"% +102 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2632 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%Z& +4 "core" &\ +2 "manipulator"&f% +4 "core" %  f  +2 "storage"(% +4 "core" % ~ ~ \  + "storage"((. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(j(  +1293 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &  e ] R\ +3 "manipulator"&N& +4 "core" &- I + "manipulator"&8% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&S( +175 "core" ( +2 "manipulator"&4& +3 "core" &   B 9 +2 "storage"(#& +4 "core" &  n j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&^'S +97 "core" ' +2 "storage"(C& +3 "core" &  o _ }\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +297 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ([& +3 "core" & 1 D\  +2 "manipulator"&& +3 "core" & L 9 +2 .tElbow.seek 2 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&'& +3 "core" &   9 +2 "storage"(@& +4 "core" & D D l\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(z' +8 "core" &  9 +2 "manipulator"&7% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&~' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&H& +3 "core" &  +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' +2 "manipulator"&& +4 "core" & N  +2 "manipulator"&U% +3 "core" % +3 "processing"%:& +3 "core" &\ +3 "processing"%-& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%=(^ +5 "core" &\  +9 &5w\ *y +9 & ey\ > +10 &k\ M +9 &UN\ M +9 &R\ L +10 &Q\ M +9 &U\ M +9 &]P\ M +10 &Q\ M +9 &O\ M +10 & Q\ M +9 &"eO\ M +9 &$'Q\ M +10 &%T\ M +9 &'Q\ L +9 &)mR\ M +10 &+0Q\ L +9 &,R\ M +10 &.P|\ M +9 &0uS\ M +9 &26U\ M +10 &3Q\ M +9 &5U\ M +9 &7}R\ M +10 &9?Q\ M +9 &;Q\ M +9 &<R\ M +10 &>S\ M +9 &@EU\ M +10 &B_\ N +9 &Ck\ P +9 &Ev\ Q +10 &G;\ S +9 &H\ T +10 &J\ T +9 &L\ T +9 &N>\ U +10 &P\ U +9 &Q\ U +9 &S\ V +10 &UE\ U +9 &W}\ U +10 &X|\ U +9 &Z|\ U +9 &\\L}\ V +10 &]zp\ 3 +9 &^&q{\ T +9 &^({\ 6 +3 ( + "processing"%-& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&;% +3 "core" %   4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +88 "core" ' +51 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%e h +2 %/9 +6 "core" 9 +102 "processing"%R9 +3 "core" 9 +103 "processing"%c9 +3 "core" 9  +102 "processing"%w9 +3 "core" 9  +102 "processing"%`9 +3 "core" 9 +103 "processing"%n9 +2 "core" 9 +103 "processing"%P9 +3 "core" 9 +102 "processing"%X9 +3 "core" 9 +102 "processing"%o9 +3 "core" 9" +102 "processing"%*9 +3 "core" 9& +102 "processing"%\ 9 +3 "core" 9+ +102 "processing"%9 +3 "core" 9/ +103 "processing"%T9 +3 "core" 93 +102 "processing"%L9 +3 "core" 97 +102 "processing"%59 +3 "core" 9; +102 "processing"%h9 +3 "core" 9@ +103 "processing"%9 +2 "core" 9D +103 "processing"%Y9 +3 "core" 9H +102 "processing"% 9 +3 "core" 9L +103 "processing"%9 +2 "core" 9Q +102 "processing"%$9 +3 "core" 9U +102 "processing"%D9 +3 "core" 9Y +102 "processing"%9 +4 "core" 9] +102 "processing"%69 +3 "core" 9a +102 "processing"%9 +3 "core" 9f +102 "processing"%i9 +3 "core" 9j +102 "processing"%m9 +3 "core" 9n +102 "processing"%9 +3 "core" 9!r +3 .tPH.hold 2:00:00,28C +3 "processing"% php +3 .tdelay 1:30 +4 "core" s +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +102 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%%' +590 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml +2 "processing"%+' +1619 "core" ' +2 .tPTV.dial :puck + "processing"%  +127 "core"  + .tPSV.dial PTV +2 "processing"%\\ +72 "core" + .tPBV.dial :waste1 +2 "processing"%K  +51 "core" +2 "processing"%d% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%{'/ +606 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%k * +31 "core" + +3 .tPS.seek 0ml +2 "processing"%2'ؾ +1611 "core" ' +2 .tdelay 5:00 +18122 "Can" @C) +11881 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%p  +4 "core"  +2 .tPBV.dial :waste1 + "processing"%W  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%| * +32 "core" + + .tPSR.select :air +3 .PSV.dial PSR + "processing"%} +71 "core"  +3 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%l' +2402 "core" ' +2 .tPSV.dial PTV +2 "processing"% +84 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +70 "core"  +2 .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%x +72 "core" +2 .tdelay 5 seconds +503 .PSV.dial :air + "processing"%O  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2345 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%.  +128 "core" + .tPSV.dial :mixloop +2 "processing"% +42 "core" +2 .tPRV.dial :ab1 + "processing"%a @ +99 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%' +350 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%  +43 "core" + "processing"%!% +4 "core" %*\ \ +2 .tPS.seek 0.35ml +2 "processing"%q'k +464 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'&  +29 "core" +2 .tPRV.dial :air + "processing"%  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'K +1172 "core" ' +2 .tPRV.dial :waste2 + "processing"%G @ +71 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%' +863 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%J  +43 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%' +1627 "core" ' +5 .tPSV.dial :PML +2 "processing"%9 +43 "core" +2 .tPTV.dial :mixing +2 "processing"% @ +71 "core" B +2 .tPBV.dial :waste1 +2 "processing"%F  +32 "core" +2 "processing"%% +3 "core" %8\ +3 .tPS.seek 1.85ml + "processing"%E' +252 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%v * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%1'ؾ +1969 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'s& +3 "core" & \ +2 "manipulator"&0& +5 "core" &  y  + "manipulator"&y% +4 "core" %   \  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&I(- +128 "core" ( + "manipulator"&& +4 "core" &-     +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &-   +3 .tForearm.seek :garage +2 "manipulator"&M'w +95 "core" ' +2 .tHand.close + "manipulator"&r/ +57 "core" / +2 "manipulator"& & +4 "core" &-    +2 "manipulator"&u% +4 "core" % ϊ  +2 .tForearm.seek :retract + "manipulator"&Z' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&f(ӂ +282 "core" ( + "manipulator"&& +4 "core" &ӓ!   :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &ӓ!   X :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'? +102 "core" ' +3 "manipulator"&V& +3 "core" &ӓ" '  = :0 +3 "manipulator"&N% +4 "core" %A   +2 "collection"'8& +4 "core" & \ +2 "collection"'4& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'#(\\ +5 "core" & \  +8 &4x \ *z +10 &e| \ > +9 &n \ M +10 &PQ \ L +9 &U \ L +9 &R \ L +10 &P \ L +9 &XU \ L +9 &U \ L +10 &Q \ L +9 & P \ L +10 &"`S F\ L +9 &$"P \ L +9 &%U \ L +10 &'T H\ L +9 &)iV \ L +9 &+*S  \ L +10 &,T B\ L +9 &.S K\ L +10 &0pU \ L +9 &21T \ M +9 &3T A\ L +10 &5R C\ L +9 &7xQ F\ L +9 &9:R E\ L +10 &:V J\ L +9 &<U G\ L +10 &>R \ L +9 &@BQ D\ L +9 &BW H\ M +10 &Cc\ \ H\ N +9 &Ez}\ \ C\ Q +9 &G/\ \ F\ V +10 &H\ \ \ G\ X +9 &J\ \ F\ Z +10 &Lf\ \ K\ [ +9 &N*\ \ \ C\ Z +9 &O\ \ B\ [\ +10 &Q\ \ E\ \\ +9 &Sk\ \ \ F\ \\ +9 &U-\ \ \ \ E\ \\ +10 &V\ \ \ M\ \\ +9 &X\ \ \ H\ ^ +10 &Zm\ \ G\ ^ +9 &\\x\ \ \ \ E\ 8 +9 &\\*\ \ \ F\ %p +10 ( + &\\\ \ M\ \\ +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.49 + "collection"'C& +3 "core" &\\\ \ >\ \\ +2 .tHand.open +2 "manipulator"&B1 +59 "core" 1 + "manipulator"&,% +5 "core" % A 3 / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +100 "core" ' + .tPSV.dial PSR +2 "processing"%[ +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%'+ +1641 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%'  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%@'ؾ +1610 "core" ' +2 .tPSV.dial PSR +2 "processing"%3 +43 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%A' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%7  + "collection"'S  +34 "core" ~ +122  +2 .tPSV.dial :mixloop + "processing"%^ +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%_  +73 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2631 "core" ' + .tPSV.dial :air +2 "processing"%H  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%]' +2638 "core" ' + .tPSV.dial :mixloop +2 "processing"%? +42 "core" +51 .tPS.seek 0ml + "processing"%'ؾ +2637 "core" ' +2 .tPSV.dial :air +2 "processing"%U  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%:' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%z +44 "core" +2 .tPS.seek 0ml +2 "processing"%~'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&>& +4 "core" &ө  7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +19 "core" ( + "manipulator"&;& +4 "core" &Ӏ   ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &Ӏ   ' +2 .tForearm.seek CC +2 "manipulator"&-'? +98 "core" ' +2 .tHand.close + "manipulator"&R/ +59 "core" / +2 .tCC.seek :open +2 "collection"' ( +446 "core" ( +2 "manipulator"&c& +4 "core" &ӊ  % +2 "manipulator"&w% +3 "core" %  \ ] +3 .tForearm.seek :retract + "manipulator"&`' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&n(- +285 "core" ( +2 "manipulator"&P& +3 "core" &-  p 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &-  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&o'w +92 "core" ' +2 .tHand.open + "manipulator"&*1 +64 "core" 1 +2 "manipulator"&\ % +4 "core" % }   K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."da"delayUntil "17:56:16.47" +7016 "Can" ?kC +17709 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%T @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%L  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%5 * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%h  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +3 "processing"%' +2391 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%Y +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"% +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%$  +54 "core"  +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +2357 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%6' +586 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%i  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%m +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%% +4 "core" %G\  +2 ."da"PS.seek 1.5ml +2 "processing"% '/ +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%\\  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%K  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%d * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%+ +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%k' +2431 "core" ' +14 ."da"PSV.dial PTV +2 "processing"%{ +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%e +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%p +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%W  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%|'ؾ +2344 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +3 .PSV.dial PSR + "processing"%} +129 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%2' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1622 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%x +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%O  +33 "core" + "processing"%l% +4 "core" %B\ +2 ."da"PS.seek 1.5ml +2 "processing"%.'1 +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%a'ؾ +1629 "core" ' + ."da"delay 2:00 +493 "Can" ?HC +11511 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%! * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%&' +2381 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%q +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%G +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%J'ؾ +2351 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%9  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%  +41 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%F +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%' +386 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%v  +43 "core"  +2 "processing"%% +3 "core" %6\  +3 ."da"PS.seek 0.55ml + "processing"%E' +333 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%s  +43 "core"  +3 ."da"PS.seek 2ml +2 "processing"%0' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%y +44 "core" + ."da"PTV.dial :mixing +2 "processing"% @ +73 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%g  +32 "core" +2 "processing"%b% +4 "core" %P\  +2 ."da"PS.seek 1.85ml +2 "processing"%r' +228 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%u'ؾ +1972 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +32271 "Can" @C +15732 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%t @ +17 "core" ? + ."da"PBV.dial :waste1 +2 "processing"%M  +33 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air + "processing"%(  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%I' +2388 "core" ' +43 ."da"PSV.dial :mixloop +9 "processing"%V +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%N  +42 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"%8 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%Z  +54 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +2330 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%C +140 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%B' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%,' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%4  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%[ +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%<  +32 "core"  +2 "processing"%1% +3 "core" %A\  +3 ."da"PS.seek 1.5ml +2 "processing"%''. +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%3'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%@  +16 "core"  + ."da"PBV.dial :waste1 +2 "processing"%S  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%7 * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%^ +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%_' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"%A +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%H +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%?  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"%]'ؾ +2330 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%U +140 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%"' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%z  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%: +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%>  +33 "core"  + "processing"%;% +4 "core" %M\ +3 ."da"PS.seek 1.5ml + "processing"%/'1 +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%R * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%f'ؾ +1608 "core" ' +2 ."da"delay 2:00 +2601 "Can"\ pX-C" +9402 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%)  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%#  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%c * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%w +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%-' +2379 "core" ' + ."da"PSV.dial PTV +3 "processing"%P +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%X +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%*  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +2374 "core" ' +8 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%` +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%o' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%T' +1607 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%L  +4 "core"  + ."da"PSV.dial PTV +3 "processing"%5 +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%h  +32 "core"  +2 "processing"%~% +3 "core" %A\  +3 ."da"PS.seek 1.5ml +2 "processing"%Y'& +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1632 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%$  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%D +71 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%6' +2392 "core" ' +2 ."da"PSV.dial PTV + "processing"%i +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%m +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2345 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%% +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +19 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +2 "processing"% ' +336 "core" ' + ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%\\' +338 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%K' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%d  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%+ +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%{% +3 "core" %K\  +3 ."da"PS.seek 1.5ml +2 "processing"%e'/ +595 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%p * +34 "core" , +3 ."da"PS.seek 0ml +2 "processing"%W'ؾ +1620 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%k  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%}  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%| * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%2 +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2406 "core" ' + ."da"PSV.dial PTV +2 "processing"%x +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%O +72 "core"  +2 ."da"delay 5 seconds +108 "Can"\ C +394 ."da"PSV.dial PTV +2 "processing"%l +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +86 "core" +2 ."da"PS.seek 0ml + "processing"%'ؾ +2384 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +131 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +54 ."da"PS.seek 2ml +2 "processing"%' +2129 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +3 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%! +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%a% +3 "core" %X\  +3 ."da"PS.seek 1.5ml +2 "processing"%'/ +600 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%q * +32 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%G  +103 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1608 "core" ' +2 "processing"%&9 +3 "core" 9g5p +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"% +3 "core" 5q +2 "processing"%9& +3 "core" &^%Q\ 6 +3 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %  \ S  +2 "storage"(F% +3 "core" % <\  +3 "storage"(J. +2 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(v(C +354 "core" ( +2 ."da"SC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &E \ +2 "manipulator"&& +4 "core" &-  6 +2 "manipulator"&s% +4 "core" %   (  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&E( +174 "core" ( +2 "manipulator"&y& +3 "core" &  x @ +3 "storage"(& +4 "core" &E h\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&g' +95 "core" ' +2 "storage"(b& +4 "core" &E \ +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak +2 "storage"( 'r +274 "core" ' +2 "storage"(0- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place + "storage"(r'1 +44 "core" ' +2 "manipulator"&t& +4 "core" &   @ +2 "manipulator"&M% +4 "core" %   ' +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&(( +246 "core" ( + "manipulator"&u& +5 "core" &   ( + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +2 "core" &  Y ( +3 ."da"Forearm.seek PC +2 "manipulator"&N' +94 "core" ' +2 ."da"Hand.close + "manipulator"&8/ +58 "core" / +2 ."da"PC.seek :open +2 "processing"%Z( +458 "core" ( + "storage"(I& +4 "core" &E j\ +2 "manipulator"&C& +3 "core" & ( +2 "manipulator"&Q% +4 "core" %  4 @ +2 ."da"Forearm.seek :retract +2 "manipulator"&B' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&4( +246 "core" ( +2 "manipulator"&[& +3 "core" &  G +2 "storage"(<& +4 "core" &E <\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&1' +104 "core" ' +2 ."da"Hand.open + "manipulator"&,1 +56 "core" 1 +2 "storage"(- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"('' +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(@' +51 "core" ' +2 #"da"Lights, camera, ACTION! +55 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +5 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1118h.tif +5 "processing"%S& +11 "core" &\ +5 "manipulator"&7& +6 "core" &   G +4 "manipulator"&^% +4 "core" %   R +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&3' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&A(- +178 "core" ( +2 "manipulator"&H& +4 "core" &-   $ A +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &- \  A +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&?'w +90 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&_/ +60 "core" / +2 "manipulator"&U& +4 "core" &-    A +2 "manipulator"&]% +4 "core" % φ    +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC + "manipulator"&z( +135 "core" ( +2 "manipulator"&:& +4 "core" &   + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +3 "core" &  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&;' +101 "core" ' + "manipulator"&"& +4 "core" &   $ +2 "manipulator"&R% +4 "core" % $  +2 "processing"%/& +3 "core" &\ t +3 "processing"%)& +6 "core" &\ s +2 ."psFlush"PC.seek :closed + "processing"%#(^ +4 "core" &\ t +8 &3\ p$c +10 &Tr\ l7 +9 &}m\ lK +9 &H\ oO +10 &[F \ nN +9 &G\ nN +10 &F\ nO +9 &J:\ mN +9 &bF=\ mO +10 &%JA\ mN +9 &J?\ N +9 &!No\ N +10 &#mN\ N +9 &%/M2\ N +9 &&N3\ M +10 &(N\ M +9 &*vN\ M +10 &,8N\ M +9 &-J\ M +9 &/O\ N +10 &1{Iy\ rN +9 &3=I\ qN +9 &4K{\ pO +10 &6K{\ oO +9 &8Ky\ oO +10 &:DJ{\ oO +9 &<Kp\ oO +9 &=Kl\ nO +10 &?Ik\ oO +9 &AKJl\ nO +10 &CWl\ mQ +9 &DZk\ mQ +9 &Frm\ jS +10 &H?i\ iV +9 &J~m\ iV +9 &Kh\ iV +10 &Mi\ hV +9 &OD[\ W +9 &QY\ V +10 &RY\ V +9 &TY\ W +10 &VNZ\ V +9 &XY\ V +9 &YS\ V +10 &[N\ V +9 &]SG\ H +9 &^yBuP\ $j +10 &^,M\ 2 +5 ( +2 "processing"%)& +3 "core" &^ I\ r2 +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 +2 "processing"%c& +3 "core" &^ B\ q2 +2 ."psFlush"Hand.open +2 "manipulator"&w1 +56 "core" 1 +2 "manipulator"&f% +4 "core" %  % ,   +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&P' +96 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%X +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +501 #"da"SX HX9/16 (USB:31): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 17.762 seconds\ /var/log/esp/da23sep1118h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1118h15s.tif +91 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%*' +961 #"da"SX HX9/16 (USB:31): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1118h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1118h20s.tif +1163 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%- @ +187 "core" @ + ."psFlush"PTV.dial :PRVmixing +2 "processing"%`  +129 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%\ +103 "core" +2 ."psFlush"PS.seek :empty +3 "processing"%o'ؠ +361 #"da"SX HX9/16 (USB:31): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1118h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "17.762 sec auto-exposure",Subject: "da23sep1118h images!" +6 "storage"(L- +9 "core" -' +8 "storage"(5& +9 "core" &E a\ +2 "manipulator"&h& +3 "core" & . - ` +3 "manipulator"&~% +5 "core" %  - , b  +2 ."da"Elbow.reconfigure :tight +67 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&T( +240 "core" ( +2 "manipulator"& & +3 "core" & 3 1 1 +3 "storage"(Y& +5 "core" &E d\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&$' +122 "core" ' +6 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +7 ."da"SE.seek -0.51 Pucks below Top Plate +5 "storage"('" +50 "core" ' +3 "manipulator"&& +11 "core" & \ [ 0 +3 "storage"(D& +11 "core" &E ! ! "\ +4 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +7 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek 1 +4 "manipulator"&'8 +25 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&i, +6 "core" , +4 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(m' +29 "core" ' +3 "manipulator"&% +9 "core" %9  +5 "storage"(& +9 "core" &E $ $ \ +3 ."da"Forearm.force -20 +2 "manipulator"&5 +7 ."da"Forearm.seek 1 + 301 counts +2 "manipulator"&6'e +18 "core" ' +4 "manipulator"&%& +7 "core" & \  0 +3 "storage"(& +9 "core" &E > E J\ +5 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +16 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"& ' +19 "core" ' +4 "storage"(\\% +11 "core" % G F ,\  +5 ."downElevator"SE.seek :down +6 "storage"(d' +100 (+% +4 "core" %d@\ \  "\ U[ +5 "manipulator"&% +8 "core" % ~ +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +2 "manipulator"&{' +96 "core" ' +40 ' +3 ."downElevator"SE.stop + "storage"(5 +6 (K& +6 "core" &E ? C ;\ +1089 ' +2 ."psFlush"PSR.select :air +5 .PSV.dial PSR +4 "processing"%p +101 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +5 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +10 "processing"%e' +593 "core" ' +4 ."psFlush"delay 5 seconds +212 #"uploadLog"upsync +291 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%k' +2130 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%}  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%| @ +73 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"%2 +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%W'ؠ +2650 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%x +99 "core" +2 ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%O'X\\ +1097 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%l' +1613 "core" ' +5 ."psFlush"PSV.dial PTV +2 "processing"% +74 "core" +4 ."psFlush"PTV.dial :puck +6 "processing"%  +71 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%.  +4 "core" +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2637 "core" ' +156 ."psFlush"PSV.dial PSR +41 "processing"% +77 "core"  +9 ."psFlush"PSR.select :flush +11 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"%!' +588 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%a +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%q'ؾ +2649 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%G @ +55 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%&  +71 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%9 +55 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2651 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%F +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%J U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%j'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2650 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%s  +70 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%y'ؾ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +54 "core" +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%b'X\\ +1105 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%n' +1610 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%0  +5 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%t  +50 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%M'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +83 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%g' +259 "Can" CYC) +329 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%u' +2125 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%V +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%E U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%8'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +54 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%=' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%I  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%C'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%Q +41 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%N' +2633 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%[ +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%< U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%('ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%, @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2676 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%S  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%B'ؾ +2634 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&7& +3 "core" &  S 0 +2 "manipulator"&^% +4 "core" %  \   +2 ."psFlush"Elbow.seek PC +2 "manipulator"&r( +245 "core" ( +2 "manipulator"&'& +3 "core" & \   +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &H& +3 "core" & \   +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +99 "core" ' +2 ."psFlush"Hand.close + "manipulator"&1/ +58 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%4( +457 "core" ( +2 "manipulator"&_& +3 "core" & x  +2 "manipulator"&U% +4 "core" %  - +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&]' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&3(- +129 "core" ( + "manipulator"&:& +3 "core" &-  ? +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &-  L +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&?'w +100 "core" ' + ."psFlush"Hand.open +2 "manipulator"&"1 +64 "core" 1 +2 "manipulator"&R% +4 "core" % {   +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&/' +96 "core" ' +2 #tFinished short da assay + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'A& +3 "core" & \ +2 "manipulator"&& +4 "core" &-  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&Z(- +14 "core" ( +2 "manipulator"&c& +4 "core" &- w + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &- w +3 .tForearm.seek :garage +2 "manipulator"&f'w +92 "core" ' +2 .tHand.close + "manipulator"&)/ +60 "core" / +2 "manipulator"&X& +3 "core" &-    w +2 "manipulator"&;% +4 "core" % ~   +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +275 "core" ( +2 "manipulator"&-& +3 "core" &z)  C Ac +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &z) \ \ Ac +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\ '? +89 "core" ' +2 "manipulator"&*& +3 "core" &Ӓ%   >K +3 "manipulator"&L% +4 "core" %?  6 +2 "collection"'5& +4 "core" & \ +2 "collection"'h& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'~(\\ +5 "core" & \ +7 &A \ %g +9 &Yz \ 8 +10 &v \ L +9 &T \ L +9 &T \ L +10 &UU \ L +9 &T\ \ L +9 &V \ \ L +10 &T \ L +9 &^T \ K +10 & U \ L +9 &!S \ L +9 &#U \ L +10 &%eT \ L +9 &''T \ L +9 &(U \ L +10 &*S \ L +9 &,lU \ L +10 &./U \ L +9 &/U \ L +9 &1X \ L +10 &3tU \ L +9 &56U \ L +9 &6V\ \ L +10 &8U \ L +9 &:|U \ \ L +10 &<>U \ L +9 &>U\ \ \ L +9 &?T\ \ L +10 &AW\ \ \ L +9 &CA_\ \ \ N +9 &Ds\ \ \ P +10 &F\ \ \ \ T +9 &Hi\ \ \ X +10 &J(\ \ \ Y +9 &K\ \ \ Z +9 &M\ \ \ \ [ +10 &On\ \ \ \ Y +9 &Q+\ \ \ [ +9 &R\ \ \ \ [ +10 &T\ \ \ \\ +9 &Vj\ \ \ ] +10 &X-\ \ \ ] +9 &Y\ \ \ ^ +9 &[\ \ \ \ J +10 &\\2\ \ \ \ 3 +9 &\\r\ \ \ S +2 ( +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.46 +2 "collection"' & +3 "core" &\\m\ \ \ S +2 .tHand.open +2 "manipulator"&Y1 +53 "core" 1 +2 "manipulator"&z% +4 "core" % ?   6 +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%D  +43 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%P' +2632 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  +3 "collection"'  +17 "core" +81  +2 .tPSV.dial :PTV,via: :air +2 "processing"%% +188 "core"  +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"% @ +71 "core" A +2 .tPS.seek 0ml + "processing"%@'ؾ +2635 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%\\  +187 "core" +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%$' +2629 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +4 "processing"%T  + "collection"'+  +7 "core" +7  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +199 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"% @ +4 "core" A +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%6  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%K' +2639 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%m  + "collection"'  +6 "core"  + +3 .tPSV.dial :PTV,via: :air +2 "processing"%d +189 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%p @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%o'ؾ +2627 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%e  +187 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%}'+ +1623 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%|  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%2'ؾ +1605 "core" ' +2 .tPSV.dial PSR +2 "processing"%k +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%x' +2629 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%W  +2 "collection"'O  +6 "core"  + +3 .tPSV.dial :PTV,via: :air +2 "processing"% +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"% @ +4 "core" A +2 .tPS.seek 0ml + "processing"%.'ؾ +2653 "core" ' + .tPSV.dial :air +2 "processing"%l  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2651 "core" ' + .tPSV.dial :PTV +2 "processing"% +73 "core" ~ +3 .tPS.seek 0ml + "processing"%!'ؾ +2629 "core" ' +2 .tPSV.dial :air + "processing"%a  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +1941 "Can"\ QջC +686 "core" ' +2 .tPSV.dial :PTV +2 "processing"% +71 "core"  +3 .tPS.seek 0ml + "processing"%G'ؾ +2631 "core" ' + .tPSV.dial :air +2 "processing"%q  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%&' +2630 "core" ' +2 .tPSV.dial :PTV + "processing"% +72 "core"  +2 .tPS.seek 0ml +2 "processing"%9'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ө! ;4 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&F(ӂ +23 "core" ( +2 "manipulator"&J& +3 "core" &x  f # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &x  # +3 .tForearm.seek CC + "manipulator"&'? +145 "core" ' +5 .tHand.close +2 "manipulator"&j/ +54 "core" / +2 .tCC.seek :open +2 "collection"'s( +451 "core" ( +2 "manipulator"&& +4 "core" &Ӏ  \ i "~ +2 "manipulator"&% +4 "core" % \ \  +2 .tForearm.seek :retract +2 "manipulator"&y' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&b(- +276 "core" ( + "manipulator"&& +5 "core" &-  i j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &- j +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&t'w +90 "core" ' +3 .tHand.open + "manipulator"&n1 +54 "core" 1 +2 "manipulator"& % +3 "core" % ρ  T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +98 "core" ' +2 #tFlushing Processing stage + "processing"%g% +4 "core" %\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%V& +4 "core" &\  +2 "manipulator"&E& +4 "core" &- & j +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&u(- +2 "core" ( +2 "manipulator"&& +4 "core" &-  j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &- . j +3 .tForearm.seek :garage +2 "manipulator"&I'w +88 "core" ' + .tHand.close +2 "manipulator"&=/ +58 "core" / + "manipulator"&Q& +5 "core" &-  j + "manipulator"&C% +4 "core" % v c ) +2 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&<( +118 "core" ( +2 "manipulator"&N& +3 "core" &  %  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &  >  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +94 "core" ' +2 "manipulator"&S& +4 "core" &  |  + "manipulator"&% +78 "core" % +2 "processing"%7& +3 "core" &\  +3 "processing"%^& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%'(^ +4 "core" &\  +9 &8x\ +{ +9 &g{\ ? +10 &g\ M +9 &cO\ M +9 &%R\ M +10 &Q\ M +9 &Q\ L +10 &kT\ M +9 &.O\ L +9 &Q\ M +10 & S\ M +9 &"sS\ M +9 &$5T\ M +10 &%S\ M +9 &'R\ M +10 &){T\ M +9 &+=S\ M +9 &,S\ M +10 &.S\ M +9 &0S\ M +9 &2ES\ M +10 &4R\ M +9 &5T\ M +9 &7O\ L +10 &9MQ\ M +9 &;T\ M +10 &<Q\ M +9 &>R\ M +9 &@VS\ L +10 &BY\ N +9 &Ce\ O +10 &Ep\ P +9 &GL\ R +9 &I\ \ T +10 &J\ S +9 &L\ S +9 &NM\ U +10 &P\ U +9 &Q\ U +10 &S\ U +9 &US\ U +9 &W\ U +10 &X\ U +9 &Z\ U +9 &\\\\\ U +10 &^|s\ - +9 &^%c\ L +9 &^-\ 7 +3 ( + "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.66 +2 "processing"%H& +3 "core" &^,\ 7 +2 .tHand.open + "manipulator"&i1 +63 "core" 1 +2 "manipulator"&1% +3 "core" %  \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +2 .tPSV.dial PSR +2 "processing"%# +72 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%_'X\\ +1105 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%U' +1610 "core" ' + .tPSV.dial PTV +2 "processing"%: +84 "core" +2 .tPTV.dial :puck +2 "processing"%>  +71 "core"  +2 .tPBV.dial :waste1 +2 "processing"%  +51 "core" +2 .tPS.seek 0ml +2 "processing"%r'ؾ +2635 "core" ' +2 .tPSV.dial PSR + "processing"%" +70 "core"  +2 .tPSR.select :flush +49 "processing"%@ +11 .tPS.seek 0.5ml +2 "processing"%R' +597 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%A' +2122 "core" ' + .tPSV.dial PTV +2 "processing"% +84 "core" +2 .tPBV.dial PSV +2 "processing"%] U +51 "core" V +2 .tPS.seek 0ml +2 "processing"%c'ؾ +2654 "core" ' + .tPSV.dial PBV +2 "processing"%w @ +42 "core" > +2 .tPS.seek 2.5ml +2 "processing"%?' +2626 "core" ' + .tPSV.dial :waste1 +2 "processing"%)  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%X'ؾ +2632 "core" ' +2 .tPSV.dial PSR +2 "processing"%; +43 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%3' +2628 "core" ' +2 .tPSV.dial PTV +2 "processing"%/ +70 "core" + .tPBV.dial PSV +2 "processing"%f U +5 "core" V +2 .tPS.seek 0ml +2 "processing"%-'ؾ +2630 "core" ' + .tPSV.dial PBV +2 "processing"%` @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%Z' +2636 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%*  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%L'ؾ +2628 "core" ' +2 #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&5& +3 "core" & \ %  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +4 "core" ( +2 "manipulator"& & +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & \ \   +2 .tForearm.seek PC +2 "manipulator"&Y' +100 "core" ' + .tHand.close +2 "manipulator"&z/ +53 "core" / +2 .tPC.seek :open +2 "processing"%h( +460 "core" ( + "manipulator"&D& +4 "core" & [  +2 "manipulator"&\ % +4 "core" %   \\ W +2 .tForearm.seek :retract + "manipulator"&B' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +129 "core" ( + "manipulator"&& +3 "core" &-  "  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &%& +2 "core" &- o  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +103 "core" ' +2 .tHand.open + "manipulator"&P1 +62 "core" 1 +2 "manipulator"&\\% +4 "core" % x  R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +93 "core" ' +2 #tBeginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'+& +4 "core" & \ +2 "manipulator"&T& +3 "core" &- \\  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +13 "core" ( + "manipulator"&& +4 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &- {  +2 .tForearm.seek :garage +2 "manipulator"&6'w +99 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 "manipulator"&m& +4 "core" &-   _  + "manipulator"& % +4 "core" % { \  +2 .tForearm.seek :retract +2 "manipulator"&d' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&p(ӂ +274 "core" ( +2 "manipulator"&K& +4 "core" &x)   A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &x)  A_ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&o'? +91 "core" ' + "manipulator"&|& +3 "core" &ӎ%   >I +3 "manipulator"&}% +50 "core" %M P , +3 "collection"'k& +4 "core" & \ +2 "collection"'2& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'O(\\ +4 "core" & \  +9 &6} \ +{ +10 & e} \ > +9 &m \ L +9 &ZT \ L +10 &T \ L +9 &T \ K +10 &Q \ L +9 &cP \ K +9 &%T \ \ K +10 &T \ K +9 & W \ L +9 &"jW \ L +10 &$-U\ \ K +9 &%T \ K +10 &'W \ L +9 &)sU\ \ K +9 &+5S \ K +10 &,W \ L +9 &.V \ L +9 &0yU \ L +10 &2=S \ K +9 &3W \ L +10 &5T \ K +9 &7T \ K +9 &9ES \ K +10 &;T\ \ \ K +9 &<T\ \ K +9 &>U \ \ L +10 &@LW \ L +9 &B \\\  \ L +10 &Cc\ \ \ M +9 &Ex\ \ \ P +9 &G9\ \ \ \ U +10 &H\ \ \ X +9 &J\ \ \ \ Y +9 &Ls\ \ \ \ Y +10 &N2\ \ \ \ Z +9 &O\ \ \ [\ +10 &Q\ \ \ Z +9 &Sv\ \ \ \ [ +9 &U6\ \ \ [ +10 &V\ \ \ ^ +9 &X\ \ \ ^ +9 &Zv\ \ \ ] +10 &\\{\ \ \ 2 +9 &\\/\ \ \ "i +9 ( +3 "collection"'2& +2 "core" &\\p\ \ \ U +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.42 + "collection"'W& +5 "core" &\\p\ \ \ U + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % M  c , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +95 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%l  +43 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%.' +2628 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%  +2 "collection"'  +4 "core"  +4 +2 .tPSV.dial :PTV,via: :air +2 "processing"%a +200 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"%! @ +71 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2650 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%q' +2636 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%G  +2 "collection"'  +4 "core"  +4 +2 .tPSV.dial :PTV,via: :air +2 "processing"%& +188 "core"  +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"% @ +4 "core" A +2 .tPS.seek 0ml + "processing"%J'ؾ +2650 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +200 "core" + #tPulling 2.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%j' +2629 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%  +2 "collection"'  +3 "core"  +4 +2 .tPSV.dial :PTV,via: :air +2 "processing"%~ +187 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +3 "processing"% @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2419 "Can"\ QIC$ +231 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +188 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%'+ +1616 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%0  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%F'ؾ +1617 "core" ' + .tPSV.dial PSR +2 "processing"%n +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"% ' +2628 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%g  + "collection"'V  +8 "core"  + +2 .tPSV.dial :PTV,via: :air +2 "processing"%E +202 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +4 "core" A +2 .tPS.seek 0ml + "processing"%8'ؾ +2630 "core" ' + .tPSV.dial :air +2 "processing"%y  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%=' +2630 "core" ' +2 .tPSV.dial :PTV + "processing"%Q +85 "core" +2 .tPS.seek 0ml + "processing"%t'ؾ +2675 "core" ' +8 .tPSV.dial :air +2 "processing"%C  +72 "core"  +3 .tPS.seek 2.5ml +2 "processing"%b' +2638 "core" ' + .tPSV.dial :PTV +2 "processing"%M +84 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2637 "core" ' + .tPSV.dial :air +2 "processing"%,  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%I' +2627 "core" ' + .tPSV.dial :PTV +2 "processing"%S +73 "core" ~ +3 .tPS.seek 0ml + "processing"%u'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ө  :/ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&7(ӂ +17 "core" ( +2 "manipulator"&[& +4 "core" &ӄ   + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &ӄ \  n + +3 .tForearm.seek CC +2 "manipulator"&H'? +101 "core" ' + .tHand.close +2 "manipulator"&i/ +58 "core" / +2 .tCC.seek :open +2 "collection"'1( +451 "core" ( + "manipulator"&^& +4 "core" &ӕ   ( +2 "manipulator"&#% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&(' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&9(- +281 "core" ( +2 "manipulator"&_& +3 "core" &-   M +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &-   M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&>'w +98 "core" ' +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&U% +3 "core" % {    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +99 "core" ' +11122 #t-> access 1 +3 "storage"(r% +3 "core" % { .\  +2 "manipulator"&R% +3 "core" %  ( ^ +2 "manipulator"&& +4 "core" &- K L +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(](<- +1295 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (A& +2 "core" &<+ C F \ +2145 #t-> access 2 +2 "storage"(w% +3 "core" % t { \  +2 "manipulator"&c% +3 "core" %   ^ +2 "manipulator"&)& +4 "core" &- % L +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(?(K +353 "core" ( +3 .tSC.configure :limp +7 "storage"($\ 1b +5 (;& +3 "core" &K U @ I\  +17522 "Can" 3ڋC- +4984 #t-> da +2 #da sampling at most 1000ml +3 #Loading sh1 puck from tube 3 into Collection Clamp +3 ."Qmail"DAfans.email "Started da in tube 3 at 19:14:09UTC11-Sep-23\\n{}\\nCTD data unavailable\\nCan@19:13:19, 26% flow, 22.3C, 42% humidity, 14.9psia, 13.778V, 0.230A, 81.745Ah, 3.17W",Subject: "da sampling at most 1000ml" +2 "collection"'X& +5 "core" &\  \ +3 "manipulator"&/% +4 "core" %  G ^ +2 "storage"(f% +4 "core" % p p E\  +2 "storage"(3. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(`( +387 #"uploadLog"upsync +6 .tSC.hold +2 "storage"(-, +4 "core" (9= $\ +27 , +2 .tSC.stop +2 "storage"(6 +56 .tSE.seek :down +3 "storage"(*' +4 "core" ' +2 .tSE.stop + "storage"(5 +3 "manipulator"&Z% +3 "core" %  Z ^ +3 !to:IRB::Abort:@checkpoint: omitted: mesg"(Storage Carousel seek to 3 Aborted!:bt["7/home/esp/esp2/lib/slide.rb:372:in `unlimitedSeek'"//home/esp/esp2/lib/slide.rb:362:in `times'"7/home/esp/esp2/lib/slide.rb:362:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"1/home/esp/esp2/utils/storage.rb:139:in `to!'":/home/esp/esp2/utils/puckmoves.rb:245:in `selectTube'"4/home/esp/esp2/utils/puckmoves.rb:363:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):66:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +708 #-> access 2 +2 "storage"(5% +3 "core" % ~ ~ \ +2 "manipulator"& % +3 "core" %  , ^ +2 "manipulator"& & +4 "core" &- K L +2 .tSC.seek 6 +2 "storage"(z(K +429 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" &K F B \  +1790 #t-> startTube 2 +570 #-> $da[:extractVol]=.2 +6771 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'{& +3 "core" & \ +2 "manipulator"&'& +4 "core" &- G L +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&D(- +11 "core" ( +2 "manipulator"&\ & +3 "core" &-  a  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- $  +3 .tForearm.seek :garage +2 "manipulator"&%'w +90 "core" ' + .tHand.close +2 "manipulator"&Y/ +59 "core" / +2 "manipulator"&& +3 "core" &-    +2 "manipulator"&P% +4 "core" % ϋ  4  +2 .tForearm.seek :retract +2 "manipulator"&\\' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&+(ӂ +283 "core" ( +2 "manipulator"&T& +4 "core" &ӎ$    =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &ӎ$  \ ` =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + "manipulator"&$& +4 "core" &ӎ%   K =A +2 "manipulator"&% +3 "core" %E  8 +3 "collection"'& +3 "core" & \ +3 "collection"'m& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"' (\\ +5 "core" & \ +7 &B \ $f +9 &Yz \ 8 +9 &s\ \ L +10 &S \ L +9 &T \ K +10 &JR \ L +9 & Q \ L +9 &R \ \ K +10 &R \ K +9 &SR \ K +9 & Q \ L +10 &!Q \ K +9 &#T \ L +10 &%ZT \ L +9 &'Q\ \ L +9 &(V \ L +10 &*U \ \ K +9 &,cR \ K +9 &.$Q \ L +10 &/R\ \ L +9 &1W \ L +10 &3jW\ \ L +9 &5,W \ L +9 &6T \ L +10 &8T\  \ K +9 &:sS\ \ \ K +9 &<5T\ \ \ K +10 &=T \ L +9 &?W\ \ \ L +10 &AyZ\ \ \ L +9 &C9b\ \ \ M +9 &Dr\ \ \ O +10 &F\ \ \ S +9 &H_\ \ \ X +9 &J!\ \ \ X +10 &K\ \ \ X +9 &M\ \ \ Z +10 &Ob\ \ \ Y +9 &Q\ \ \ [\ +9 &R\ \ \ [\ +10 &T\ \ \ [ +9 &Vb\ \ \ \\ +9 &X$\ \ \ \\ +10 &Y\ \ \ ] +9 &[\ \ \ J +10 &\\6\ \ \ 0 +9 &\\j\ \ \ P +2 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.46 + "collection"'& +3 "core" &\\f\ \ \ P +2 .tHand.open +2 "manipulator"&@1 +59 "core" 1 +2 "manipulator"&6% +4 "core" % E  s 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +93 "core" ' +2 #tPurging external Intake +2 "collection"'e& +4 "core" &\\f\ \ \ P + "collection"'% +3 "core" %j\ \ \ +2 .tCSV.dial :flush +2 "collection"'|  +69 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'}' +2441 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'k +2 'd  +69 "core" +5  + .tCTV.dial :intake +2 "collection"'s  +75 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'W'i +2344 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'  +77 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +5 "core" &ӧ  9( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&2(ӂ +23 "core" ( +2 "manipulator"&l& +3 "core" &v  % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &v  ` % +44 .tForearm.seek CC +10 "manipulator"&L'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "manipulator"&a& +3 "core" &ӌ  "~ +2 "manipulator"&!% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&.' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +278 "core" ( +2 "manipulator"&& +4 "core" &- u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +7 &G& +3 "core" &- - u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +7 "manipulator"&'w +92 "core" ' +2 .tHand.open +2 "manipulator"&&1 +57 "core" 1 +2 "manipulator"&% +3 "core" % y  ; 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +93 "core" ' +2372 #t-> da 50 + #da sampling at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 19:17:45UTC11-Sep-23\\n{}\\nCTD data unavailable\\nCan@19:13:19, 26% flow, 22.3C, 42% humidity, 14.9psia, 13.778V, 0.230A, 81.745Ah, 3.17W",Subject: "da sampling at most 50ml" +3 "collection"'& +5 "core" & \ +2 "manipulator"&J% +3 "core" %   g  +3 "storage"(% +4 "core" % ~ ~ \ +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +4 "storage"(~(  +362 #"uploadLog"upsync +941 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" & = I o\ +2 "manipulator"&j& +5 "core" &-  ` u +2 "manipulator"&% +3 "core" %     +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +173 "core" ( + "manipulator"&0& +5 "core" &  . +2 "storage"(& +3 "core" & q { \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'S +98 "core" ' +2 "storage"(F& +3 "core" & } ~\ \ +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'r +285 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (E& +3 "core" & ^ g =\ +2 "manipulator"&& +4 "core" & \ $ . +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&y& +4 "core" &  _ . +2 "storage"(8& +4 "core" & n j E\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&Q'Ͻ +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +52 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&C& +2 "storage"(t' +8 "core" &  . +2 "manipulator"&M% +4 "core" %  f +2 .tForearm.seek :retract +2 "manipulator"&b' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&,(ӂ +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&N& +3 "core" &Ӌ0  5 C +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &ӵ& ` ?U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +46 .tForearm.seek CC +9 "manipulator"&I'? +99 "core" ' +2 "manipulator"&& +3 "core" &ӵ&  ?U +2 "manipulator"&[% +4 "core" %A o +2 "collection"'4& +4 "core" & \ +3 "collection"'i& +4 "core" & \ \ +3 .tCC.seek :closed +2 "collection"'p(\\ +3 "core" & \  +9 &5x \ *z +10 &g| \ > +9 &m \ L +9 &bQ \ K +10 &"T\ \ L +9 &T \ \ L +10 &T \ K +9 &iQ \ K +9 &+R \ K +10 &Q \ K +9 & R \ K +9 &"pT \ L +10 &$2S\ \ L +9 &%T \ L +10 &'T\ \ \ L +9 &)yU \ K +9 &+:T \ L +10 &,U \ \ K +9 &.U\ \ \ K +9 &0Q \ \ K +10 &2DR \ \ K +9 &4V \ \ K +10 &5R \ \ L +9 &7R\ \ K +9 &9LT\ \ \ K +10 &; W \ K +9 &<V \ \ L +9 &>U \ L +10 &@SV\ \ K +9 &BW\ \ \ L +10 &C^\ \ \ M +9 &En\ \ \ O +9 &GI\ \ \ Q +10 &H\ \ \ V +9 &J\ \ \ X +9 &L|\ \ \ X +10 &N;\ \ \ Y +9 &O\ \ \ X +10 &Q\ \ \ Z +9 &S\ \ \ Z +9 &U?\ \ \ Z +10 &V\ \ \ [ +9 &X\ \ \ \\ +9 &Z\ \ \ \\ +10 &\\&|\ \ \ 0 +9 &\\.\ \ \ _ +9 ( +3 "collection"'i& +2 "core" &\\t\ \ \ P +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&x1 +56 "core" 1 +2 "manipulator"&O% +4 "core" % A $ * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold +2 "sampler")#+ +3 "core" + +2 "sampler")H% +4 "core" %ڹ\ $\ ! m\  +2 "collection"'_& +3 "core" &\\s\ \ \ P +4 "Can"\ N۟e& + #tCalibrating pressure and temperature sensors +4 .CTV.dial :air + "collection"':  +21 "core" +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")7 +3 "core"  +2 "sampler") +3 "core"  +2 "sampler")U  +4 "core" +2 .tSS.reconfigure :fast +2 "sampler")#.0X  +2 "collection"'r @ +100 "core" ? +27  +2 .tdelay 3.8 seconds +382 "collection"'R% +3 "core" %k\ \ 3\ +3 "sampler")% +4 "core" %/\ )\ % f\ + #tSensor limits: Intake max 87.5psia; Outlet max 85.8psia +2 .SSV.dial :spit + "sampler")v +129 "core"  +2 .tSS.seek 0ml +2 "sampler")A'ڀ +285 "core" ' + .tSSV.dial CBV +2 "sampler")w  +127 "core"  + .tCTV.dial :intake +2 "collection"'c  +71 "core"  +2 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +2 "sampler"))  +2 "collection"'] @ +7 "core"  + ? +2 #tAllowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open +2 "sampler") +211 "collection"';% +3 "core" %k\ \ \ \ 1\ +2 #tIntake @14.8psia, vacuum from 9.3 to 12.3psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X  # `\  +21 "collection"'e% +3 "core" %k \ +3 "sampler")% +3 "core" %G> $ # e\  +2 "collection"'m% +5 "core" %k /\ + #tIntake @11.7psia, vacuum from 6.2 to 9.2psi +2 .SS.reconfigure :inhaling 1.76ml/s +3 "sampler")#.x0X ' +370 "core" 'S_ "  d\ #B +3 #tVacuum too high -- waiting up to 40 seconds + .SS.reconfigure :exhale +3 "sampler")#.0X + #tEvacuated: Intake @24.0psia, Outlet @24.1psia +2 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")S +99 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X\ >\  +2 .tCSV.dial between air and CTV +2 "collection"'; ` +39 "core" ^ +2 .tCS.seek 7.957ml +2 "collection"'A'Ѷ +552 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +4 .tCSV.dial CTV +2 "collection"'f  +30 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< b +3 .tCS.seek 0ml +2 "collection"'3'i +1763 "core" '{ \ +3 "collection"'?% +4 "core" %V  \ \  +2 "sampler")Z% +3 "core" %ڃ\ \  c\ 8 +3 #tBubblePoint: Intake @24.2psia, Outlet @-0.5psia + .CBV.dial SSV +2 "collection"'` @ +28 "core" A +2 .tSS.reconfigure :default +3 "sampler")#.0X% +4 "core" %< n k l\  +2 #tEvacuated: Intake @22.6psia, Outlet @15.4psia + .SSV.dial :spit,avoiding: :exhaust +3 "sampler")5 +98 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X9 +3 "core" 9\ Z +102 "collection"'59 +3 "core" 9\ ^ +102 "collection"'-9 +3 "core" 9\ b +102 "collection"'{9 +4 "core" 9\ g +102 "collection"' 9 +3 "core" 9\ "k +102 "collection"'<9 +3 "core" 9\ 'o +102 "collection"''9 +3 "core" 9\ )s +103 "collection"'\ 9 +3 "core" 9\ .w +102 "collection"'Y9 +3 "core" 9\ 2| +102 "collection"' 9 +3 "core" 9\ 4  +102 "collection"'9 +3 "core" 9\ 7\  +103 "collection"'39 +2 "core" 9\ ;  +103 "collection"'9 +2 "core" 9\ ?  +103 "collection"'X9 +3 "core" 9\ B  +102 "collection"'T9 +3 "core" 9\ F  +102 "collection"'P9 +3 "core" 9\ I +103 "collection"'%9 +3 "core" 9\ K +102 "collection"'B9 +3 "core" 9\ O +102 "collection"'/9 +4 "core" 9\ R +102 "collection"'D9 +3 "core" 9\ U +103 "collection"'99 +2 "core" 9\ X +103 "collection"'$9 +2 "core" 9\ Z +103 "collection"'9 +2 "core" 9\ ^ +103 "collection"'"9 +3 "core" 9\ ` +103 "collection"'9 +2 "core" 9\ c +103 "collection"'19 +2 "core" 9\ d +103 "collection"'69 +3 "core" 9\ f +102 "collection"'@9 +3 "core" 9\ h +102 "collection"'9 +4 "core" 9\ i +103 "collection"'e9 +2 "core" 9\ j +103 "collection"'9 +2 "core" 9\ k +103 "collection"'m9 +2 "core" 9\ l +103 "collection"'9 +2 "core" 9\ l +103 "collection"'\\9 +3 "core" 9\ m +102 "collection"'d9 +3 "core" 9\ o +102 "collection"'s9 +3 "core" 9\ q +102 "collection"'9 +3 "core" 9\ r +102 "collection"'9 +3 "core" 9\ t +102 "collection"'l9 +4 "core" 9\ v +102 "collection"'o9 +3 "core" 9\ x +102 "collection"'9 +3 "core" 9\ { +3 .tCH.hold 10:00,70C +3 "collection"'+ `\ `\ {  +2 'K9 +48 "core"  +9 9\ z +2 "collection"' % +3 "core" %[ \ +3 #tBegun lysing Collection Puck Heater at 68C/31.8psia +34677 "Can"\ GC& +25262 "core" ` +2 "collection"'a9 +3 "core" 9\  +2 "collection"'!% +4 "core" %[ \ +2 #tEnded lysing Collection Puck Heater at 70C/30.0psia +2 .CS.seek 0ml +2 "collection"'L'i +336 "core" ' +11 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'| @ +99 "core" A +2 .tCSV.dial :air +2 "collection"' @ +40 "core" ? +4 .tCS.seek 5ml + "collection"'2's5 +1373 "core" ' +2 .tCSV.dial CTV +2 "collection"'&  +42 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'R @ +41 "core" > +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'G  +41 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'. @ +41 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"''i +1361 "core" ' +2 "collection"'% +3 "core" %j\ +2 #tPuck @61.5psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"' +98 "core" ~ + .tCBV.dial CSV +2 "collection"'z  +28 "core" +2 "collection"'J% +3 "core" %jhi\ +3 .tCS.seek 5ml + "collection"''s6 +1378 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'W  +43 "core" +2 "collection"'% +4 "core" %s5 \ +2 .tCS.seek 7ml +2 "collection"'j' +585 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'0 @ +41 "core" > +2 .tCS.seek 10ml +2 "collection"'' +840 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +110 "core" _ +2 #tLysing Complete + "collection"'q& +4 "core" &\\l \ P +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&g% +4 "core" %  g  +2 "storage"(E% +4 "core" % $ " 0\  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"(y(C +353 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &F\ \  \ +2 "manipulator"&=& +4 "core" &Ӷ% h ?T +2 "manipulator"&C% +3 "core" %  n  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&M( +163 "core" ( +2 "manipulator"&& +3 "core" &  /  +2 "storage"(n& +4 "core" &F C E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&N' +92 "core" ' +2 "storage"(S& +4 "core" &F A 8 V\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +275 "core" ' +2 "storage"( - +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"('1 +47 "core" ' +2 "manipulator"&Q& +3 "core" &  U  +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&t(ӂ +161 "core" ( + "manipulator"&V& +4 "core" &Ӟ   6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӟ \ r 6 +2 .tForearm.seek CC + "manipulator"&8'? +99 "core" ' +2 .tHand.close + "manipulator"&4/ +61 "core" / +3 .tCC.seek :open +2 "collection"'b( +449 "core" ( +2 "storage"(x& +3 "core" &F ] \\ 6\ +3 "storage"(H& +4 "core" &F ] Z\ + "manipulator"&_& +4 "core" &ӱ   3 +2 "manipulator"&O% +3 "core" % ( \  +3 .tForearm.seek :retract + "manipulator"&:' +95 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&7( +161 "core" ( +2 "manipulator"&& +4 "core" & \  U  +2 "storage"(U& +4 "core" &F q t [\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&r'8 +95 "core" ' + .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&i1 +60 "core" 1 +2 "manipulator"&I% +3 "core" % C  +2 "storage"(& +4 "core" &F z s \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 311 counts + "manipulator"&v'o +15 "core" ' +2 "manipulator"&w& +4 "core" &   R  + "storage"(c& +3 "core" &F x j -\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&)' +15 "core" ' +2 "storage"(]% +3 "core" %0 m z &\  +3 ."downElevator"SE.seek :down +4 "storage"(;' +98 (F% +3 "core" %? G G \ U^ +2 "manipulator"&f% +4 "core" % } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'?& +3 "core" & \ +2 "manipulator"&Z& +4 "core" & \  j  +2 "manipulator"&`% +3 "core" %  g  +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&((- +172 "core" ( +2 "manipulator"&*& +4 "core" &-  g L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &- \  Y L +3 .tForearm.seek :garage + "manipulator"&5'w +90 "core" ' +2 .tHand.close + "manipulator"&-/ +65 "core" / +2 "manipulator"&{& +3 "core" &-   L +2 "manipulator"& % +4 "core" % z 8  +2 .tForearm.seek :retract +2 "manipulator"&<' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&'(ӂ +283 "core" ( +2 "manipulator"&\ & +3 "core" &ӊ%  ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &ӊ%  Z ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '? +101 "core" ' +2 "manipulator"&& +3 "core" &ӊ& 1 ?S +2 "manipulator"&3% +4 "core" %F  c +2 "collection"'& +3 "core" & c\ +3 "collection"'X& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'T(\\ +3 "core" & \  +9 &6| \ +{ +10 &h| \ > +9 &h \ K +9 &bR m\ J +10 &$U I\ J +9 &U \ K +10 &T >\ J +9 &kT <\ J +9 &,V \ J +10 &U p\ K +9 & T \ J +9 &"rU \ J +10 &$5W \ J +9 &%U \ J +10 &'U \ J +9 &)zT \ J +9 &+=R \ J +10 &,U c\ J +9 &.T L\ J +9 &0V D\ J +10 &2ET #\ J +9 &4V i\ K +10 &5V u\ K +9 &7U e\ J +9 &9LS X\ J +10 &;R \ J +9 &<U g\ J +9 &>R o\ J +10 &@TW \ J +9 &B\\ \ K +10 &Cb \ L +9 &E \ P +9 &G> \ U +10 &H \ V +9 &J \ X +9 &L{ \ X +10 &N; \ X +9 &O \ X +10 &Q \ Y +9 &S} |\ Z +9 &U< h\ [ +10 &V a\ \\ +9 &X M\ \\ +9 &Z{ >\ ] +10 &\\ z \ 0 +9 &\\8 \ 'v +10 ( &\\i w\ S +2 "collection"'X& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 +2 "collection"'P& +3 "core" &\\i \ S +2 .tHand.open + "manipulator"&%1 +62 "core" 1 +2 "manipulator"&B% +3 "core" % F    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +103 "core" ' +2 .tPSV.dial PSR +2 "processing"%D +71 "core"  +2 #tPulling 1.5ml of PSR.flush +50 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%9'+ +1619 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%$  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' +2 .tPSV.dial PSR + "processing"%" +44 "core"  + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2638 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +4 "processing"%1  + "collection"'6  +7 "core"  +65 +2 .tPSV.dial :mixloop +2 "processing"%@ +111 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +19 "core"  +2 .tPTV.dial :PRVmixing + "processing"%e  +74 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' +2 .tPSV.dial :air + "processing"%m  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%\\ +43 "core" +3 .tPS.seek 0ml +2 "processing"%d'ؾ +2633 "core" ' + .tPSV.dial :air +2 "processing"%s  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 .tPSV.dial :mixloop +2 "processing"% +43 "core" +2 .tPS.seek 0ml +2 "processing"%l'ؾ +2640 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&o& +4 "core" &ӫ!  \ ;2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +36 "core" ( + "manipulator"&K& +4 "core" &v   1 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &v  7 +3 .tForearm.seek CC +2 "manipulator"&}'? +93 "core" ' +2 .tHand.close + "manipulator"&+/ +64 "core" / +2 .tCC.seek :open +2 "collection"'a( +451 "core" ( + "manipulator"&!& +4 "core" &ӵ  / +2 "manipulator"&k% +4 "core" % @  +2 .tForearm.seek :retract + "manipulator"&|' +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +284 "core" ( + "manipulator"&L& +4 "core" &-  ` +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &- ` +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&R'w +98 "core" ' +2 .tHand.open +2 "manipulator"&G1 +60 "core" 1 +2 "manipulator"&.% +3 "core" % π   Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +96 "core" ' + .tPSV.dial :mixloop +2 "processing"% +4 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%  +15 "core" +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%z  +6 "core"  + .tCTV.dial :air,avoiding: :intake +2 "collection"'J  +4 "core"  +2 #tLoading lyfil puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"& % +4 "core" %    +2 "storage"(W% +4 "core" % ~  \  + "storage"(. +3 "core" .(F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +197 "Can"\ TC +154 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (0& +2 "core" &  Z Z\  +2 "manipulator"&j& +4 "core" &- ` +2 "manipulator"&% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&q( +175 "core" ( +2 "manipulator"&g& +4 "core" & \   + "storage"(E& +4 "core" &  z t \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +44 .tForearm.seek 2 + 450 counts +9 "manipulator"&'S +90 "core" ' +2 "storage"(~& +4 "core" &  { N\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" & < > i\  +2 "manipulator"&& +4 "core" &  >  +2 .tElbow.seek 2 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&S& +3 "core" & \   +2 "storage"(,& +3 "core" & ] ^ \  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&^'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(' +8 "core" &  .  +2 "manipulator"&% +4 "core" % ϸ  ; +2 .tForearm.seek :retract + "manipulator"&V' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&N& +3 "core" &z- : E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &M& +2 "core" &z- \  E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'? +97 "core" ' +2 "manipulator"&[& +4 "core" &ӳ# \  =F +2 "manipulator"&p% +3 "core" %B  f  +3 "collection"'x& +4 "core" & \ +2 "collection"'H& +5 "core" & p\ +2 .tCC.seek :closed +2 "collection"'_(\\ +4 "core" & \  +9 &3y \ *x +10 &f{ \ = +9 &k \ K +10 &MP \ J +9 &T \ J +9 &T \ J +10 &T z\ J +9 &UT n\ J +9 &U T\ J +10 &T M\ J +9 & R 3\ J +10 &"\\T 5\ J +9 &$T  \ J +9 &%T \ J +10 &'T \ J +9 &)eT \ J +9 &+'T \ J +10 &,W \ K +9 &.T \ I +10 &0mW \ J +9 &2/U \ J +9 &3U \ J +10 &5X \ J +9 &7sU \ K +9 &97U \ J +10 &:U \ J +9 &<W s\ J +10 &>|V ~\ J +9 &@>U \ J +9 &BS \ J +10 &C[ \ K +9 &Eg \ L +9 &G;s \ N +10 &H \ R +9 &J \ V +10 &Lh \ V +9 &N( \ W +9 &O \ X +10 &Q |\ X +9 &Sj {\ Y +9 &U+ h\ Y +10 &V [\ Z +9 &X ]\ [ +10 &Zk P\ [\ +9 &\\ y N\ 6 +9 &\\) E\ %o +10 ( + &\\ B\ Y +2 "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&O1 +53 "core" 1 +2 "manipulator"&% +3 "core" % B ' * p  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +96 "core" ' + .tCTV.dial CSV,avoiding: :intake +3 "collection"'8  +130 "core"  + .tCSV.dial CTV +2 "collection"'t  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%i' +2633 "core" ' +2 "collection"'I% +3 "core" % \  +3 .tCS.seek 4.5ml + "collection"''c; +1496 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%w  +44 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%c  +69 "core"  +2 .tPS.seek 0ml +2 "processing"%]'ؾ +2638 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"': ` +27 "core" _ +2 .tCSV.dial :air + "collection"'F @ +43 "core" > +2 .tCS.seek 10ml +2 "collection"'f' +1492 "core" ' +2 .tCSV.dial CTV +2 "collection"'7  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'r'i +2635 "core" ' + .tCBV.dial :waste1 +2 "collection"'? @ +28 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'v  +132 "core" + "collection"'Z& +4 "core" &\\r [\ Y +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&`% +4 "core" %      +2 "storage"(% +4 "core" %\ %\ ) A\  +2 "storage"(). +3 "core" .(  +2 .tSC.reconfigure :tight +48 "storage"($\ .\ 1~b +6 .tSC.seek 1 +2 "storage"(*(C +364 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +3 "core" &B \  \ +2 "manipulator"&;& +4 "core" &ӳ# *   =F +2 "manipulator"&#% +3 "core" %  + - '  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&-( +163 "core" ( +2 "manipulator"&{& +3 "core" &    +2 "storage"( & +4 "core" &B % $ #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&A' +93 "core" ' +2 "storage"(5& +3 "core" &B C & e\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'r +297 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" &  A  +2 "storage"(& +4 "core" &B $ " \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&3'8 +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(<- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(b'p +31 "core" ' + "manipulator"&P% +4 "core" %?  +2 "storage"(%& +4 "core" &B  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 307 counts +2 "manipulator"&B'k +16 "core" ' + "manipulator"&X& +4 "core" &   -  +2 "storage"(D& +3 "core" &B # " &\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"& ' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(u' +36 "core" ' + "manipulator"&$& +4 "core" &  +2 "manipulator"&9% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +158 "core" ( +2 "manipulator"&1& +4 "core" &ӓ   :+ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &6& +3 "core" &ӓ   :+ +3 .tForearm.seek CC + "manipulator"&@'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + .tCC.seek :open +2 "collection"'e( +451 "core" ( + "storage"(& +4 "core" &B D C \ +2 "storage"(m& +4 "core" &B A 9 \ +2 "manipulator"&& +4 "core" &ӯ 6 + "manipulator"&\\% +5 "core" % O  u +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&s( +161 "core" ( +2 "manipulator"&d& +3 "core" &   +2 "storage"(& +4 "core" &B ^ ]\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&'8 +93 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&K1 +54 "core" 1 +2 "manipulator"& % +3 "core" % I    +2 "storage"(+& +4 "core" &B ^ ^\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts +2 "manipulator"&''u +15 "core" ' +2 "manipulator"&/& +4 "core" &  +2 "storage"(T& +4 "core" &B Z [\ +43 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&!' +17 "core" ' +2 "storage"(k% +4 "core" % Z e \ +2 ."downElevator"SE.seek :down +4 "storage"(}' +98 (L% +3 "core" %: C C R\ T[ +2 "manipulator"&&% +5 "core" % ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%G  +71 "core" +2 .tPS.seek 2.5ml +2 "processing"%.' +2637 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"% +52 "core" +2 .tdelay 1 second +102 .PSV.dial :air +2 "processing"%  +54 "core"  +6 .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%| +41 "core" +2 .tdelay 1 second +102 .PSV.dial :air +3 "processing"%z  +43 "core"  +2 .tdelay 1 second +103 .PS.seek 0ml + "processing"%J'ؾ +2632 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +3 "core" &\ +3 "manipulator"& & +4 "core" &  W  + "manipulator"&W% +3 "core" %    +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +176 "core" ( +2 "manipulator"&R& +4 "core" &-  b N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" &-  N +3 .tForearm.seek :garage + "manipulator"&0'w +98 "core" ' +2 .tHand.close + "manipulator"&j/ +55 "core" / +2 "manipulator"&& +3 "core" &-   N +2 "manipulator"&g% +4 "core" % ρ  +2 .tForearm.seek :retract +2 "manipulator"&E' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +118 "core" ( +2 "manipulator"&~& +4 "core" &  e  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &  J  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&=' +97 "core" ' + "manipulator"&C& +5 "core" & \    + "manipulator"&% +4 "core" %  s  +2 "processing"%S& +3 "core" &!\ +3 "processing"%,& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +3 "core" &\ +8 &;\ $d +10 &Wu\ 7 +9 &s\ K +9 &O\ L +10 &nR\ M +9 &1Q\ M +10 &Q\ L +9 &Q \ M +9 &wQ'\ M +10 &9Q#\ M +9 &R&\ M +9 &!Q(\ M +10 &#Q1\ M +9 &%@U2\ M +10 &'Q;\ M +9 &(R6\ M +9 &*Q5\ L +10 &,HR7\ M +9 &. R<\ M +9 &/U;\ M +10 &1R>\ M +9 &3PU>\ M +10 &5R9\ L +9 &6R9\ M +9 &8Q>\ M +10 &:ZRM\ L +9 &<SG\ M +9 &=RP\ M +10 &?TP\ M +9 &A_TR\ M +10 &CaY\ O +9 &DiU\ P +9 &FP\ R +10 &HVX\ S +9 &JW\ S +9 &Kb\ T +10 &MZ\ T +9 &OZ^\ T +10 &Q_\ U +9 &Rb\ T +9 &Tc\ U +10 &VaZ\ U +9 &X#W\ U +9 &YY\ U +10 &[e\ U +9 &]gm\ B +10 &^Auj\ ` +9 &^;d\ 5 +5 ( +2 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 "processing"%Q& +2 "core" &^*l\ 5 +2 &^*o\ 5 +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&q% +4 "core" %   D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tPRV.dial :air +2 "processing"%N  +40 "core"  +2 .tPSV.dial :mixloop + "processing"%M +44 "core" +2 "processing"%% +4 "core" %ؿ\ +2 .tPS.seek 0.3ml +2 "processing"%^' +393 "core" ' +2 .tPSV.dial PSR + "processing"%[ +102 "core"  + #tPulling 0.4ml of PSR.air +2 .PSR.select :air +2 .PS.seek 0.7ml +2 "processing"%p'2 +491 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%x' +1914 "core" ' +3 .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"%n +101 "core" + .tPTV.dial :mixing +2 "processing"% @ +73 "core" A +2 .tPBV.dial :waste2 +2 "processing"%V  +90 "core"  +2 .tPS.seek 0ml +2 "processing"%a'ؾ +2652 "core" ' +2 #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&O& +4 "core" &  \ i  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +4 "core" ( + "manipulator"&H& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &    +3 .tForearm.seek PC + "manipulator"&t' +91 "core" ' +2 .tHand.close + "manipulator"&4/ +58 "core" / +2 .tPC.seek :open +2 "processing"%l( +458 "core" ( +2 "manipulator"&I& +4 "core" &    +2 "manipulator"&% +4 "core" % \  2 +2 .tForearm.seek :retract + "manipulator"&w' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&c(- +126 "core" ( +2 "manipulator"&i& +4 "core" &-   o + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &:& +2 "core" &- - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&F'w +102 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&7% +4 "core" % }   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +94 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%?& +3 "core" &\ +2 "manipulator"&v% +4 "core" %    +2 "storage"(Z% +4 "core" % p q\  + "storage"(`. +3 "core" .(C +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ()& +3 "core" & C =\ +2 "manipulator"&& +3 "core" &- { +2 "manipulator"&>% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&;( +170 "core" ( + "manipulator"&#& +4 "core" &     +2 "storage"({& +3 "core" & ] \\ \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +97 "core" ' + "storage"(5& +5 "core" & q q ,\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" & [ Y\  +2 "manipulator"&(& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&<& +4 "core" &  + "storage"(P& +4 "core" & ` [\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&%'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& + "storage"($' +8 "core" &   +2 "manipulator"&9% +4 "core" % Ϸ k +2 .tForearm.seek :retract +2 "manipulator"&A' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&\ & +3 "core" &  O - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &  J - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B' +97 "core" ' + "manipulator"&b& +4 "core" &  \ - +2 "manipulator"&1% +52 "core" % 9 +3 "processing"%6& +4 "core" &\ +2 "processing"% & +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%(^ +3 "core" &y\ +9 &4y\ $d +10 &Xvy\ 7 +9 &ru\ K +9 &O}\ L +10 &vRz\ L +9 &8Nt\ L +9 &Mg\ L +10 &Ni\ L +9 &~Nf\ L +10 &AOi\ L +9 & Qk\ M +9 &!Nf\ L +10 &#Rg\ M +9 &%HQ]\ L +9 &' N\\\ M +10 &(Qd\ M +9 &*N[\ L +10 &,OR`\ M +9 &.QZ\ M +9 &/OZ\ L +10 &1OX\ L +9 &3WRW\ M +9 &5QJ\ M +10 &6OJ\ L +9 &8OQ\ L +10 &:_RP\ M +9 &\ T +9 &X);\ U +9 &Y9\ U +10 &[/\ T +9 &]l*\ C +9 &^8h.\ %l +10 &^.1\ 1 +5 ( +2 "processing"% & +3 "core" &^ 4\ 1 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 + .Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&"% +3 "core" %  2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +93 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% y +2 %m9 +6 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%\\9 +3 "core" 9  +102 "processing"%d9 +3 "core" 9  +102 "processing"%9 +4 "core" 9 +102 "processing"%@9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%K9 +3 "core" 9 +102 "processing"% 9 +3 "core" 9" +102 "processing"%+9 +4 "core" 9& +102 "processing"%/9 +3 "core" 9+ +102 "processing"%T9 +3 "core" 9/ +102 "processing"%k9 +3 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%L9 +3 "core" 9; +102 "processing"%s9 +3 "core" 9@ +102 "processing"%&9 +3 "core" 9D +103 "processing"%9 +2 "core" 9H +102 "processing"%'9 +3 "core" 9L +102 "processing"%u9 +4 "core" 9P +102 "processing"%G9 +3 "core" 9U +102 "processing"%!9 +3 "core" 9Y +102 "processing"%}9 +3 "core" 9] +102 "processing"%]9 +3 "core" 9a +102 "processing"%9 +4 "core" 9e +102 "processing"%9 +3 "core" 9 j +102 "processing"%|9 +3 "core" 9n\ +102 "processing"%z9 +3 "core" 9r +102 "processing"%.9 +3 "core" 9%v +102 "processing"%9 +4 "core" 9-{ +102 "processing"% 9 +3 "core" 93 +3 .tPH.hold 2:00:00,28C +3 "processing"%W pyp0 +2 .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%R +102 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%y' +598 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%o' +1623 "core" ' + .tPTV.dial :puck +2 "processing"%j  +70 "core"  +2 .tPSV.dial PTV + "processing"% +85 "core" + .tPBV.dial :waste1 +2 "processing"%g  +128 "core"  +2 "processing"%% +4 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"%~'2 +585 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%2 * +32 "core" , +2 .tPS.seek 0ml +2 "processing"%0'ؾ +1611 "core" ' +2 .tdelay 5:00 +6530 "Can" ?sC' +23472 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%C  +4 "core"  + .tPBV.dial :waste1 +2 "processing"%  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%S * +32 "core" * +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +69 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%E' +2385 "core" ' + .tPSV.dial PTV +2 "processing"%h +84 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%Q +69 "core"  +10 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%q  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%,'ؾ +2333 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%N  +128 "core" + .tPSV.dial :mixloop +2 "processing"%M +43 "core" +2 .tPRV.dial :ab1 +2 "processing"% @ +71 "core" A +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%=' +357 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +3 "collection"'J  +2 "processing"%[  +40 "core" +5  + "processing"%^% +4 "core" %\ +3 .tPS.seek 0.35ml + "processing"%p'm +452 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'n  +29 "core" +2 .tPRV.dial :air +2 "processing"%  +41 "core"  +3 .tPS.seek 0.9ml + "processing"%V'K +1173 "core" ' +2 .tPRV.dial :waste2 + "processing"%x @ +70 "core" > +3 .tPS.seek 0.5ml +2 "processing"%O' +863 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%H  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%8' +1615 "core" ' +2 .tPSV.dial :PML +2 "processing"%4 +43 "core" +2 .tPTV.dial :mixing +2 "processing"% @ +73 "core" B + .tPBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"% % +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%I' +234 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +3 .tPS.seek 0ml +2 "processing"%i'ؾ +1963 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"':& +3 "core" &  \ +2 "manipulator"&t& +3 "core" &  L - +3 "manipulator"&% +4 "core" %  "  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +126 "core" ( + "manipulator"&7& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &-   K +3 .tForearm.seek :garage + "manipulator"&v'w +89 "core" ' +2 .tHand.close + "manipulator"&Z/ +58 "core" / +3 "manipulator"&`& +3 "core" &-   +2 "manipulator"&w% +5 "core" % ς e + +2 .tForearm.seek :retract + "manipulator"&F' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&*(ӂ +277 "core" ( + "manipulator"&)& +4 "core" &ӌ% + $ =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ$ + =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&>'? +93 "core" ' +2 "manipulator"&#& +3 "core" &Ӎ% 2 - - =D +3 "manipulator"&{% +3 "core" %6   1 , +3 "collection"'5& +4 "core" & \ +2 "collection"'c& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'f(\\ +5 "core" & q\  +8 &5y r\ *z +10 & h} p\ ? +9 &l y\ L +9 &[S \ L +10 &Q \ L +9 &Q }\ L +9 &P \ L +10 &cO \ L +9 &%R z\ L +10 &Q w\ L +9 & P v\ L +9 &"kQ s\ L +10 &$-P k\ L +9 &%Q p\ L +10 &'Q k\ L +9 &)tO c\ K +9 &+4S i\ L +10 &,O l\ L +9 &.P o\ L +9 &0{O d\ L +10 &2=O l\ L +9 &3P j\ L +9 &5S n\ L +10 &7P k\ L +9 &9ER t\ L +10 &;U s\ L +9 &<R u\ K +9 &>S x\ L +10 &@MQ s\ L +9 &BV r\ L +9 &Cc k\ M +10 &Ew h\ P +9 &G9 k\ U +10 &H p\ W +9 &J d\ X +9 &Lu c\ Y +10 &N7 f\ Y +9 &O g\ Z +9 &Q b\ Y +10 &Sv o\ [\ +9 &U7 e\ [ +10 &V _\ \\ +9 &X U\ ] +9 &Zx b\ ] +10 &\\x ^\ 4 +9 &\\+ U\ Y +9 ( + &\\l _\ Q +3 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.47 + "collection"'U& +3 "core" &\\m W\ Q +50 .tHand.open +4 "manipulator"&Y1 +61 "core" 1 +2 "manipulator"&(% +4 "core" % 6 2 0 A , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' + .tPSV.dial PSR +2 "processing"%P +102 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%X'+ +1610 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%D  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%9'ؾ +1610 "core" ' +2 .tPSV.dial PSR +2 "processing"%; +43 "core"  + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"% ' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%  + "collection"'%  +34 "core" ~ +122  +2 .tPSV.dial :mixloop +2 "processing"%\ +99 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'3  +14 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%b'ؾ +2649 "core" ' +2 .tPSV.dial :air + "processing"%1  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%6' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%$ +42 "core" +2 .tPS.seek 0ml +2 "processing"%A'ؾ +2629 "core" ' + .tPSV.dial :air +2 "processing"%l  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2239 "Can"\ [ C +394 "core" ' +2 .tPSV.dial :mixloop + "processing"%" +44 "core" +2 .tPS.seek 0ml +2 "processing"%m'ؾ +2640 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"& & +3 "core" &Ӯ   9# +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +14 "core" ( +2 "manipulator"&B& +3 "core" &ӎ   5 - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &ӎ v - +3 .tForearm.seek CC + "manipulator"&d'? +94 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'@( +450 "core" ( +2 "manipulator"&& +3 "core" &ӛ + +3 "manipulator"&K% +4 "core" % L +2 .tForearm.seek :retract + "manipulator"& ' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&+(- +284 "core" ( +2 "manipulator"&/& +3 "core" &-  1 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &- ] 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&k'w +88 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&L% +3 "core" % |  M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s' +95 "core" ' +2 ."da"delayUntil "20:08:11.56" +24768 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%& @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%' * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%u  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%G' +2385 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%! +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%}  +54 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop +2 "processing"%] +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +89 "core"  +5 ."da"PS.seek 0ml +2 "processing"%'ؾ +2351 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%| +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%z' +596 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%.' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +69 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%R  +34 "core" +2 "processing"%a% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%y'+ +584 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%j * +33 "core" * +2 ."da"PS.seek 0ml +3 "processing"%'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%g  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%o * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%2 +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +3 "processing"%~' +1212 "Can" B3C +1179 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%C +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%S  +84 "core" +2 ."da"PS.seek 0ml +3 "processing"%'ؾ +2326 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%h' +599 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%Q' +1619 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%q +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%E  +33 "core" + "processing"%N% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%M'/ +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%,'ؾ +1624 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%J  +5 "core"  +2 ."da"PBV.dial :waste1 + "processing"%[  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%^ * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%n' +2413 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%p +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%x +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%V  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%H'ؾ +2352 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%O  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%4  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%  +42 "core" ~ +2 ."da"PTV.dial :PRVmixing +47 "processing"%  +8 "core" + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%' +395 "core" ' +2 ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%8  +44 "core"  +2 "processing"%I% +3 "core" % \  +3 ."da"PS.seek 0.55ml +2 "processing"%:' +331 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%t  +54 "core"  +3 ."da"PS.seek 2ml +2 "processing"%' +1561 "core" ' + ."da"PSV.dial :PML +2 "processing"%7 +42 "core" +2 ."da"PTV.dial :mixing +2 "processing"%? @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%Z  +32 "core" +2 "processing"%`% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"%-' +231 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%w * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%_'ؾ +1966 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +20759 "Can"\ k5C +27244 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%v @ +5 "core" A + ."da"PBV.dial :waste1 +2 "processing"%)  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%#' +2408 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%{ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%5  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%F +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%e  +54 "core"  +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +2328 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%Y +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%(' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%c' +1613 "core" ' + ."da"PTV.dial :puck +2 "processing"%P  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%> +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%i  +34 "core" + "processing"%D% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%X'/ +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%; * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%\ * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2389 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%1 +72 "core"  +2 ."da"delay 5 seconds +237 "Can" @LC +265 ."da"PSV.dial PTV +2 "processing"%b +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%$  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%6'ؾ +2349 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%A' +590 "core" ' +9 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +82 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%B  +32 "core"  +2 "processing"%\\% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%'- +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%* * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%f  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%K * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%d +69 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%/' +2382 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%T +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%L  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2349 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%k +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%&' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' + ."da"PTV.dial :puck +2 "processing"%'  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%u +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%m  +33 "core" + "processing"%!% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%}'* +584 "core" ' +2 ."da"delay 3 seconds +306 .PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%G  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%|  +32 "core"  +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%z +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%R +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%a +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%.  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%j'ؾ +2348 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%y +131 "core"  +4 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +4 "processing"% +14 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +2 "processing"%g' +342 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +342 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%o' +201 "Can"\ &aC +1415 "core" ' +54 ."da"PTV.dial :puck +2 "processing"%2  +4 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%C% +3 "core" %\ } +3 ."da"PS.seek 1.5ml +2 "processing"%'0 +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%S * +33 "core" , +3 ."da"PS.seek 0ml +2 "processing"%~'ؾ +1619 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%0  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 +2 "processing"%h * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%q' +2442 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%E +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%N +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%Q +86 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +2385 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%J +131 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%[' +2120 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%^  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%= +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%,  +34 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%p'' +595 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%x * +35 "core" , + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%V  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"%n'ؾ +1606 "core" ' +2 "processing"%O9 +3 "core" 9x5m +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%4 +3 "core" 5m +2 "processing"%& +3 "core" &^ \ 1 +3 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %   +2 "storage"( % +4 "core" % F\  + "storage"(H. +4 "core" .( +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(8(C +359 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" &E B 7 \ +2 "manipulator"&& +3 "core" &- b 2 +2 "manipulator"&t% +3 "core" %   +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&:( +190 "core" ( + "manipulator"&7& +4 "core" &    +2 "storage"(?& +4 "core" &E \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&Z' +94 "core" ' + "storage"(`& +4 "core" &E i i \ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(w'r +297 "core" ' + "storage"(- +3 "core" -' +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&-& +3 "core" &  +2 "storage"(v& +4 "core" &E } d\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&)'8 +25 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +57 "storage"(- +2 "core" -' +3 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(_' +30 "core" ' + "manipulator"&{% +3 "core" %@ p +2 "storage"(5& +4 "core" &E )\ +2 ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 308 counts +2 "manipulator"&F'l +16 "core" ' + "manipulator"&e& +4 "core" &  :  +2 "storage"(#& +3 "core" &E x z \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&Y' +19 "core" ' +2 ."da"SE.seek 2.17 Pucks below Top Plate +3 "storage"(U'V +35 "core" ' +2 "manipulator"&(& +3 "core" &  +2 "manipulator"&P% +5 "core" % o +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&>' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&i( +242 "core" ( +2 "manipulator"&D& +3 "core" &  / +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +2 "core" &  n +3 ."da"Forearm.seek PC +2 "manipulator"&;' +92 "core" ' +2 ."da"Hand.close + "manipulator"&X/ +61 "core" / +2 ."da"PC.seek :open +2 "processing"%%( +459 "core" ( +2 "storage"(& +3 "core" &E \ +2 "manipulator"&\ & +4 "core" & +2 "manipulator"&3% +3 "core" %  l  +3 ."da"Forearm.seek :retract +2 "manipulator"&9' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"& ( +245 "core" ( +2 "manipulator"&1& +4 "core" &   L < +2 "storage"(b& +4 "core" &E y y \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&$' +94 "core" ' + ."da"Hand.open +2 "manipulator"&1 +64 "core" 1 +3 "storage"(l- +3 "core" -'V +2 ."da"SE.seek 1.82 Pucks below Top Plate +2 "storage"(6'" +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 0.85 Pucks below Top Plate +2 "storage"(A' +55 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1120h37ml.tif +1943 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +236 #"da"SX HX9/16 (USB:32): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 18.488 seconds\ /var/log/esp/da23sep1120h37ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1120h37ml15s.tif +1565 #SX HX9/16 (USB:32): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1120h37ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1120h37ml20s.tif +2065 #SX HX9/16 (USB:32): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1120h37ml20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "18.488 sec auto-exposure",Subject: "da23sep1120h37ml images!" +2 "storage"(- +5 "core" -' +4 "storage"( & +15 "core" &E V V O\ +9 "manipulator"&B& +6 "core" & P < +2 ."da"Elbow.seek 1 +3 "manipulator"&\\( +3 "core" ( +3 "manipulator"&"& +6 "core" & W < +2 "storage"(*& +4 "core" &E V V ^\ +2 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&' +10 "core" ' +3 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.57 Pucks below Top Plate +2 "storage"(f'G +51 "core" ' + "manipulator"&& +6 "core" & < +2 "storage"(K& +4 "core" &E = 3 \ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 ."da"Forearm.reconfigure :loose +65 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&d'8 +27 "core" ' + ."da"Elbow.hold +7 "manipulator"&<, +6 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.75 Pucks below Top Plate +2 "storage"(T' +25 "core" ' + "manipulator"&% +3 "core" %5   O +3 "storage"(& +3 "core" &E 7 4 6\ +12 ."da"Forearm.force -20 +4 "manipulator"&5 +8 ."da"Forearm.seek 1 + 297 counts +4 "manipulator"&L'a +28 "core" ' +2 "manipulator"&/& +3 "core" & Y < +3 "storage"(k& +5 "core" &E Y Y\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +17 "core" ' + "storage"(&% +5 "core" % X X =\ +3 ."downElevator"SE.seek :down +4 "storage"('' +99 (u% +6 "core" %#6  \ TX +5 "manipulator"&m% +7 "core" % s +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&!' +90 "core" ' +31 ' +3 ."downElevator"SE.stop +4 "storage"(5 +4 (& +7 "core" &E U [ W\ +6 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +5 #tStarting finalPurge +4 "processing"%]& +9 "core" &\ +8 "manipulator"&}& +11 "core" & < +4 "manipulator"&G% +9 "core" %   +5 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&|(- +174 "core" ( +4 "manipulator"&& +6 "core" &- T +5 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +6 &z& +6 "core" &- 6 T +5 ."psFlush"Forearm.seek :garage +3 "manipulator"&'w +100 "core" ' +4 ."psFlush"Hand.close +5 "manipulator"& / +64 "core" / +4 "manipulator"&R& +6 "core" &-  G T +4 "manipulator"&a% +8 "core" % ω +5 ."psFlush"Forearm.seek :retract +2 "manipulator"&.' +96 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 ."psFlush"Elbow.seek PC +4 "manipulator"&( +122 "core" ( +4 "manipulator"&y& +9 "core" & ^ +4 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +8 &j& +5 "core" & +5 ."psFlush"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 ."psFlush"Forearm.seek PC + "manipulator"&g' +100 "core" ' +4 "manipulator"&& +13 "core" & r +7 "manipulator"&2% +7 "core" %  +4 "processing"%& +8 "core" &z\ +5 "processing"%& +9 "core" &a\ +6 ."psFlush"PC.seek :closed +3 "processing"%C(^ +10 "core" &a\ +2 &g\ +6 &:g\ $d +7 &Xsb\ 7 +8 &pf\ K +10 &NQ\ L +10 &sOO\ L +8 &6LY\ L +10 &PY\ L +10 &LZ\ L +8 &{PZ\ L +11 &>NP\ L +8 &PJ\ L +10 &!RB\ L +10 &#PA\ L +9 &%DQI\ M +9 &'OI\ L +10 &(P>\ L +8 &*NF\ L +11 &,MQD\ L +9 &.N?\ L +9 &/Q:\ L +10 &1M/\ L +8 &3UP.\ L +10 &5R2\ L +10 &6Q2\ L +9 &8R3\ L +9 &:]O0\ L +10 &<R5\ L +9 &=Q5\ L +10 &?P5\ M +8 &AdR4\ M +10 &C#^.\ N +10 &De$\ O +8 &Fw\ Q +11 &HZ!\ S +8 &J!\ S +10 &K\ S +9 &M\ T +9 &O_ \ T +10 &Q!\ U +10 &R!\ T +8 &T!\ U +11 &Ve!\ T +8 &X'\ T +9 &Y \ T +11 &[ \ U +8 &]k\ B +10 &^<k\ &o +10 &^&\\\ / +8 ( +2 &^x\ / +8 "processing"%& +6 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 +4 "processing"%o& +4 "core" &^y\ / +4 &^z\ / +4 ."psFlush"Hand.open +4 "manipulator"&S1 +66 "core" 1 +4 "manipulator"&% +6 "core" %  l  +6 ."psFlush"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +118 ."psFlush"Forearm.seek :retract +2 "manipulator"&0' +95 "core" ' +3 ."psFlush"PSR.select :air +7 .PSV.dial PSR +2 "processing"% +46 "core"  +5 #"psFlush"Pulling 0.5ml of PSR.flush +6 .PSR.select :flush +5 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%h' +156 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +435 "core" ' +5 ."psFlush"delay 5 seconds +165 #"uploadLog"upsync +339 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2123 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%~ @ +182 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%E  +128 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%N +98 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%Q'ؠ +2634 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +99 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%q' +597 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%J' +2116 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%M  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%^ @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%= +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%,'ؠ +2640 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +112 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%['X\\ +1097 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%x' +1612 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%V +70 "core" + ."psFlush"PTV.dial :puck +2 "processing"%p  +68 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%O  +4 "core" +2 ."psFlush"PS.seek 0ml +3 "processing"%4'ؾ +2630 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2115 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%H +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%I'ؾ +2641 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%t' +2627 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%7  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%?'ؾ +1303 "Can" AC# +1332 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%+ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%`' +2628 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%s +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%-'ؾ +2643 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%v @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%{  +70 "core"  +50 ."psFlush"PS.seek 0ml +2 "processing"%5'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%e +54 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 1ml +2 "processing"%#'X\\ +1103 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%P +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%Z  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%:'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%w +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%)' +584 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%F' +2125 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%_ +83 "core"  +2 ."psFlush"PBV.dial PSV +2 "processing"%Y U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%D'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%c @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2641 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%X  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%>'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%' +2653 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%\ +81 "core" + ."psFlush"PBV.dial PSV +2 "processing"%3 U +16 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%;'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%1 @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +2638 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%i  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2628 "core" ' +3 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'l& +4 "core" & y\ +2 "manipulator"&9& +3 "core" & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&U( +3 "core" ( + "manipulator"&6& +4 "core" &  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & c +2 .tForearm.seek PC + "manipulator"& ' +95 "core" ' +2 .tHand.close + "manipulator"&B/ +65 "core" / +2 .tPC.seek :open + "processing"%"( +456 "core" ( +2 "manipulator"&*& +3 "core" & } +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +354 "core" ( + "manipulator"&& +4 "core" &Ӑ  j 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӑ  a 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&$'? +91 "core" ' +3 "manipulator"&/& +4 "core" &Ӑ  ; 8 +2 "manipulator"&k% +4 "core" %;  ` A +2 "collection"'A& +4 "core" & \ +2 "collection"'&& +5 "core" & u\ +2 .tCC.seek :closed +2 "collection"'u(\\ +50 "core" & v\ +9 &C x\ %g + &Xu r\ 7 &v o\ L + &T o\ L + &Q y\ L + &ES |\ K +5 &T }\ K +9 &S x\ L +10 &Q {\ L +9 &LQ w\ L +9 & Q q\ L +10 &!Q l\ L +9 &#R i\ L +10 &%TU m\ L +9 &'U u\ K +9 &(S m\ K +10 &*Q l\ L +9 &,]Q m\ K +10 &.S k\ L +9 &/V v\ L +9 &1Q n\ L +10 &3dQ l\ L +9 &5&T t\ L +9 &6U w\ K +10 &8T |\ L +9 &:lR |\ L +9 & access 1 +3 "storage"(% +3 "core" % v v q\ +2 "manipulator"&`% +3 "core" %   +2 "manipulator"&v& +4 "core" &- | n +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(-(<- +1296 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ({& +2 "core" &<*  C\  +604 #t-> shortDAflush +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & ^\ +2 "manipulator"&e& +4 "core" &- n +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&5(- +3 "core" ( +2 "manipulator"&#& +3 "core" &- n +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &P& +2 "core" &- * n +3 .tForearm.seek :garage + "manipulator"&Z'w +95 "core" ' +2 .tHand.close + "manipulator"&(/ +61 "core" / +2 "manipulator"&w& +3 "core" &-  3 n +2 "manipulator"&:% +4 "core" % χ +2 .tForearm.seek :retract +2 "manipulator"&)' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&_(ӂ +282 "core" ( +2 "manipulator"&Y& +3 "core" &ӗ   < 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &ӗ  5 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&c'? +98 "core" ' +2 "manipulator"&D& +3 "core" &ӗ   8 +2 "manipulator"&X% +4 "core" %/   ,  +2 "collection"'& +4 "core" & X\ +2 "collection"'& +6 "core" & e\ +2 .tCC.seek :closed + "collection"'>(\\ +4 "core" & Y\ +9 &C Y\ %g +51 &Zt Z\ 7 +4 & u [\ K + &T _\ J + &S ]\ K + &NR ]\ K + &R \\\ K +7 &W Y\ K +9 &T Y\ K +9 &WR _\ J +10 & Q ]\ K +9 &!U ]\ J +10 &#T \\\ J +9 &%_R ]\ J +9 &' U Y\ K +10 &(W Z\ J +9 &*S Y\ J +10 &,fW \\\ K +9 &.(U Y\ K +9 &/S ]\ J +10 &1X \\\ K +9 &3nR Z\ K +9 &50S Z\ K +10 &6U Z\ K +9 &8W \\\ K +9 &:vW Z\ K +10 &<8X Z\ K +9 &=W [\ K +10 &?W [\ K +9 &A~S \\\ K +9 &C=\\ ^\ L +10 &Dn Z\ M +9 &F _\ R +10 &Hd ]\ V +9 &J" Y\ X +9 &K Y\ X +10 &M Y\ Y +9 &Oe [\ Y +9 &Q$ Z\ Z +10 &R [\ Z +9 &T _\ [ +10 &Vb X\ \\ +9 &X# ]\ ] +9 &Y Z\ ] +10 &[ Z\ J +9 &\\, W\ = +9 &\\s Z\ O +6 ( + "collection"'& +4 "core" &\\e [\ O +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 + "collection"'\ & +4 "core" &\\e X\ O +2 .tHand.open + "manipulator"&31 +59 "core" 1 +2 "manipulator"&% +3 "core" % /  ]  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +98 "core" ' + .tPSV.dial PSR,avoiding: PBV +3 "processing"%;  +42 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%i' +2671 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%b  +2 "collection"'l  +70 "core" +27  +2 .tPSV.dial :PTV,via: :air +2 "processing"%9 +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'6  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"% @ +71 "core" A +2 .tPS.seek 0ml +2 "processing"%B'ؾ +2649 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +188 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%0' +2659 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%C  +2 "collection"'*  +4 "core"  +4 + .tPSV.dial :PTV,via: :air +2 "processing"% +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +4 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%U @ +5 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +189 "core"  + #tPulling 2.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 2.5ml + "processing"%/' +2629 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%k  +2 "collection"'A  +4 "core"  + +3 .tPSV.dial :PTV,via: :air +2 "processing"%K +189 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 "collection"'@  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"% @ +4 "core" A +3 .tPS.seek 0ml + "processing"%m'ؾ +2635 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%\\  +188 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%d'+ +1606 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +43 "core"  +3 .tPS.seek 0ml +2 "processing"%&'ؾ +1611 "core" ' +2 .tPSV.dial PSR + "processing"%L +55 "core" + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%$' +2639 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%r  +2 "collection"'T  +7 "core"  + +2 .tPSV.dial :PTV,via: :air +2 "processing"%] +198 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'G  +4 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%} @ +4 "core" A +3 .tPS.seek 0ml + "processing"%'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%z  +72 "core"  +3 .tPS.seek 2.5ml + "processing"%'' +2631 "core" ' + .tPSV.dial :PTV +2 "processing"% +84 "core" +3 .tPS.seek 0ml + "processing"% 'ؾ +2627 "core" ' +2 .tPSV.dial :air +2 "processing"%R  +71 "core"  +51 .tPS.seek 2.5ml + "processing"%<' +2658 "core" ' + .tPSV.dial :PTV +2 "processing"%! +73 "core" ~ +3 .tPS.seek 0ml + "processing"%y'ؾ +2635 "core" ' +2 .tPSV.dial :air +2 "processing"%j  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%a' +2635 "core" ' + .tPSV.dial :PTV +2 "processing"% +73 "core" ~ +3 .tPS.seek 0ml +2 "processing"%2'ؾ +2638 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&|& +3 "core" &Ө w 5\ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +14 "core" ( + "manipulator"&.& +4 "core" &ӊ   + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &ӊ + +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'S( +452 "core" ( +2 "manipulator"&& +3 "core" &Ӌ + +2 "manipulator"&o% +4 "core" % B  k +2 .tForearm.seek :retract + "manipulator"&g' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&n(- +287 "core" ( +2 "manipulator"&h& +3 "core" &-  6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- q 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&~'w +89 "core" ' +3 .tHand.open + "manipulator"&N1 +59 "core" 1 +2 "manipulator"&% +4 "core" % π   \\ Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +1733 "Can" 7= #C +41121 #t-> access 2 +2 "storage"(E% +3 "core" % u v \ +2 "manipulator"&q% +3 "core" %   +3 "manipulator"&Q& +3 "core" &- & 5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(^(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (M& +3 "core" &K e \ +4030 #t-> startTube 2 +1063 #-> $da[:extractVol]=.2 +8336 #-> shortDA; samplePassF +2 "collection"'=% +2 "processing"%% +6 "core" %ؿ4\ + %j ;\ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +159 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%J +43 "core" +2 .tPTV.dial :PRVmixing + "processing"%[  +72 "core" +2 .tPRV.dial :sipper +2 "processing"%p  +126 "core"  +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%O'e +2299 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%  + "collection"'  +7 "core" +118  +2 .tPS.seek 0.5ml +2 "processing"%f' +1192 "Can" : C& +77 "core" ' +2 .tPRV.dial :waste2 + "processing"%u @ +99 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%'ؾ +596 "core" ' +2 .tPSV.dial PSR + "processing"%H +102 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%x'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1616 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%I +101 "core" +2 .tPS.seek 0ml +2 "processing"%V'ؾ +2635 "core" ' +2 .tPSV.dial PSR + "processing"%t +100 "core" +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%+'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +47 "processing"%s' +1609 "core" ' + .tPSV.dial :mixloop +2 "processing"% +112 "core" +2 .tPRV.dial :sipper +2 "processing"%7  +41 "core" +3 .tPS.seek 0ml +2 "processing"%'ؾ +2650 "core" ' +2 .tPSV.dial PSR +2 "processing"%` +99 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%v' +2637 "core" ' +2 .tPSV.dial :mixloop + "processing"%8 +102 "core" +2 .tPS.seek 0ml +2 "processing"%{'ؾ +2653 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&e% +4 "core" %    +2 "storage"(#% +3 "core" % v q h\  +2 "storage"(P. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(((  +1302 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (w& +2 "core" & B F U\ +3 "manipulator"&:& +4 "core" &- 5 + "manipulator"& % +4 "core" %  \\  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&?( +174 "core" ( + "manipulator"&Z& +4 "core" & & * +2 "storage"(Y& +3 "core" & q k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'S +94 "core" ' + "storage"(5& +5 "core" & q v P\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'r +295 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & @ = v\ +2 "manipulator"&)& +4 "core" &  g * +2 .tElbow.seek 2 + "manipulator"&4( +4 "core" ( +2 "manipulator"&\ & +4 "core" &  * + "storage"(3& +4 "core" & \\ \\\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&;& + "storage"(c' +8 "core" & * + "manipulator"&% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&l' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +3 "manipulator"&9& +4 "core" & K O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" & O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&i& +4 "core" &  N +2 "manipulator"&% +3 "core" % A +3 "processing"%B& +4 "core" &8\ +2 "processing"%C& +5 "core" &C\ +2 .tPC.seek :closed +2 "processing"%*(^ +3 "core" &!\  +9 &6u\ *y +9 & f{\ ? +10 &k\ N +9 &ZK\ M +10 &Q\ M +9 &R \ M +9 &Q\ L +10 &bQ\ M +9 &#P \ M +9 &Q\ M +10 & O\ M +9 &"kQ\ L +10 &$,Q\ M +9 &%S\ M +9 &'T\ M +10 &)rP\ M +9 &+5Q\ L +9 &,Q \ M +10 &.T\ M +9 &0zQ\ M +10 &2<T\ M +9 &3O\ M +9 &5R\ L +10 &7R\ M +9 &9CU\ M +10 &;R\ L +9 &<R\ M +9 &>T\ L +10 &@JT\ M +9 &B\ Z\ N +9 &Ci\ O +10 &Ev\ P +9 &GA\ S +9 &I\ S +10 &J\ S +9 &L\ S +10 &NE\ T +9 &P \ T +9 &Q\ U +10 &S\ U +9 &UK\ U +10 &W\ U +9 &X\ T +9 &Z\ U +10 &\\T\ U +9 &]zr\ 0 +9 &^&n\ Q +10 &^'\ 6 +2 ( +2 "processing"%C& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.69 + .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"& % +4 "core" %  c A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%0 y +2 % 9 +6 "core" 9 +102 "processing"%9 +3 "core" 9 +150 "processing"%k9 +5 "core" 9  +102 "processing"%A9 +3 "core" 9 +102 "processing"%K9 +3 "core" 9 +102 "processing"%@9 +3 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%/9 +4 "core" 9  +102 "processing"%\\9 +3 "core" 9$ +103 "processing"%m9 +2 "core" 9( +103 "processing"%9 +2 "core" 9- +103 "processing"%d9 +2 "core" 91 +103 "processing"%L9 +2 "core" 95 +103 "processing"%&9 +2 "core" 99 +103 "processing"%r9 +2 "core" 9= +103 "processing"%T9 +2 "core" 9B +103 "processing"%]9 +2 "core" 9F +103 "processing"%G9 +3 "core" 9J +102 "processing"%}9 +3 "core" 9N +102 "processing"%$9 +3 "core" 9R +103 "processing"%z9 +2 "core" 9W +102 "processing"%9 +3 "core" 9[ +102 "processing"% 9 +4 "core" 9_ +102 "processing"%'9 +3 "core" 9c +102 "processing"%R9 +3 "core" 9\ g +102 "processing"% 9 +3 "core" 9l +102 "processing"%!9 +3 "core" 9p +102 "processing"%<9 +4 "core" 9#t +102 "processing"%j9 +3 "core" 9+x +102 "processing"%y9 +3 "core" 92} +3 .tPH.hold 2:00:00,28C +3 "processing"% pyp0 +2 .tdelay 1:30 +6 "core" } +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%a +101 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%|' +597 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml +2 "processing"%.' +1613 "core" ' + .tPTV.dial :puck +2 "processing"%%  +127 "core"  + .tPSV.dial PTV +2 "processing"% +84 "core" +2 .tPBV.dial :waste1 + "processing"%_  +50 "core" +2 "processing"%1% +3 "core" %\  +3 .tPS.seek 1.5ml + "processing"%>'. +590 "core" ' + .tdelay 3 seconds +306 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%o'ؾ +1616 "core" ' +2 .tdelay 5:00 +21351 "Can" A\ OC +8652 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%h * +34 "core" , + .tPSR.select :air +3 .PSV.dial PSR + "processing"% +70 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%' +2394 "core" ' + .tPSV.dial PTV +2 "processing"%N +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%g +72 "core" +2 .tdelay 5 seconds +503 .PSV.dial :air + "processing"%~  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%E'ؾ +2324 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%q  +128 "core" + .tPSV.dial :mixloop +2 "processing"%Q +43 "core" +2 .tPRV.dial :ab1 +2 "processing"%- @ +98 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%M' +353 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'  +2 "processing"%=  +4 "core" +40  + "processing"%J% +3 "core" %\ +3 .tPS.seek 0.35ml + "processing"%['i +465 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'p  +29 "core" + .tPRV.dial :air +2 "processing"%2  +40 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'K +1168 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +70 "core" ? +3 .tPS.seek 0.5ml + "processing"%O' +895 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air +2 "processing"%u  +43 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%f' +1627 "core" ' +2 .tPSV.dial :PML + "processing"%H +92 "core" +2 .tPTV.dial :mixing + "processing"% @ +72 "core" B +2 .tPBV.dial :waste1 +2 "processing"%x  +34 "core" +2 "processing"%I% +4 "core" %\ +2 .tPS.seek 1.85ml +2 "processing"%' +229 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%t * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%V'ؾ +1969 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'+& +3 "core" & \ +2 "manipulator"&& +4 "core" &  N +2 "manipulator"&7% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&s(- +127 "core" ( + "manipulator"&`& +5 "core" &-    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-   +3 .tForearm.seek :garage +2 "manipulator"&8'w +91 "core" ' + .tHand.close +2 "manipulator"&v/ +55 "core" / +2 "manipulator"&& +3 "core" &-  i  +3 "manipulator"&e% +4 "core" % z   & +2 .tForearm.seek :retract + "manipulator"&#' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&P(ӂ +278 "core" ( +2 "manipulator"&^& +3 "core" &Ӌ&  G ?P +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &Ӌ'  ?P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'? +97 "core" ' +2 "manipulator"& & +5 "core" &ӌ% ( & n >O + "manipulator"&Z% +4 "core" %4 - , G  +2 "collection"'Y& +3 "core" & "\ +3 "collection"'5& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'n(\\ +5 "core" & \  +8 &3z \ *y +10 &e| \ > +9 &k \ M +9 &DN \ L +10 &R \ L +9 &T \ L +10 &R \ L +9 &LS \ L +9 &S  \ L +10 &Q \ \ L +9 & R  \ K +9 &"TR \ L +10 &$Q  \ L +9 &%S \ L +10 &'Q  \ L +9 &)^R  \ K +9 &+S  \ L +10 &,Q \ L +9 &.R  \ L +9 &0eR \ L +10 &2%V  \ L +9 &3T  \ L +10 &5T \ M +9 &7lT  \ L +9 &9-T \ L +10 &:U  \ L +9 &<T \ L +9 &>sS \ L +10 &@5R \ L +9 &AT  \ L +10 &Cb \ N +9 &Eoy  \ P +9 &G% \ U +10 &H \ X +9 &J \ Y +9 &L^ \ \ Y +10 &N  \ Z +9 &O  \ Z +10 &Q  \ [\ +9 &S_  \ [ +9 &U!  \ [ +10 &V  \ \\ +9 &X \ ^ +9 &Z` \ \ ^ +10 &\\y \ \ = +9 &\\% \ , +10 &\\  \ Y +2 ( +2 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.47 + "collection"'& +3 "core" &\\  \ Y +2 .tHand.open +2 "manipulator"&X1 +59 "core" 1 + "manipulator"&% +3 "core" % 4 3 0 J  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +95 "core" ' +2 .tPSV.dial PSR + "processing"%\ +102 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%3'+ +1623 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%;'ؾ +1610 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%?' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%F  +2 "collection"'D  +33 "core" ~ +123  +2 .tPSV.dial :mixloop + "processing"% +101 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'9  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%6  +73 "core" +2 .tPS.seek 0ml +2 "processing"%4'ؾ +2627 "core" ' +2 .tPSV.dial :air + "processing"%i  +42 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2638 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%B +43 "core" +51 .tPS.seek 0ml +2 "processing"%c'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%l  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%"' +2636 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2637 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"& & +3 "core" &Ӯ - "  :- +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&C(ӂ +16 "core" ( +2 "manipulator"&& +3 "core" &ӊ  @ 0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӊ  6 0 +3 .tForearm.seek CC +2 "manipulator"&k'? +91 "core" ' +2 .tHand.close + "manipulator"&A/ +61 "core" / +2 .tCC.seek :open +2 "collection"'K( +451 "core" ( +2 "manipulator"&@& +4 "core" &Ӟ  - +2 "manipulator"&% +4 "core" % S  +2 .tForearm.seek :retract + "manipulator"&/' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&\\(- +277 "core" ( +2 "manipulator"&m& +4 "core" &-  _  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- \\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&d'w +102 "core" ' + .tHand.open +2 "manipulator"&L1 +53 "core" 1 + "manipulator"&&% +5 "core" % m   P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +93 "core" ' +2 ."da"delayUntil "21:45:44.47" +10275 "Can" >\ \ C* +14480 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%T @ +72 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%]  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%G * +32 "core" + + ."da"PSV.dial :air +2 "processing"%}  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%$' +2411 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%z +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%'  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +2361 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%!' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%<' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%j  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%y +82 "core" + ."da"PBV.dial :waste1 +2 "processing"%a  +33 "core" + "processing"%{% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%|'- +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1631 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%_  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%1  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%. * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%>' +2436 "core" ' +9 ."da"PSV.dial PTV +3 "processing"%0 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%h +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%o'ؾ +2344 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +599 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%g' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%~  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%q  +33 "core" + "processing"%Q% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%-'+ +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%E * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1608 "core" ' +2 ."da"delay 2:00 +3756 "Can"\ G , {C +8247 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%=  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%J  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%M * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%p +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%2' +2397 "core" ' + ."da"PSV.dial PTV +2 "processing"%[ +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%u  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +2328 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%H  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%  +128 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 +2 "processing"%x  +42 "core" ~ +2 ."da"PTV.dial :PRVmixing +2 "processing"%I  +4 "core" + ."da"PSV.dial :mixloop +2 "processing"%t +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%f' +381 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +43 "core"  + "processing"%+% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +333 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%7  +43 "core"  +3 ."da"PS.seek 2ml + "processing"%`' +1567 "core" ' + ."da"PSV.dial :PML +2 "processing"% +44 "core" + ."da"PTV.dial :mixing +2 "processing"%v @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%  +32 "core"  +2 "processing"%b% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"%e' +239 "core" ' + ."da"PBV.dial between PSV and waste1 +3 "processing"%U * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +1963 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +35546 "Can"\ [ C +12457 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%^  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%w * +33 "core" , +2 ."da"PSV.dial :air +2 "processing"%s  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"% ' +2394 "core" ' +2 ."da"PSV.dial :mixloop +48 "processing"%Z +47 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%Y  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop +2 "processing"%# +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%S  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2343 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%X +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +599 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%5' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%\  +70 "core"  + ."da"PSV.dial PTV +3 "processing"%: +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%V  +34 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%3'/ +587 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%D  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%F  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%9 +71 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%6' +2389 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%? +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%i +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%4 +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%B  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2327 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%c' +583 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1606 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%"  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%A'( +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%P * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%)'ؾ +1611 "core" ' +2 ."da"delay 2:00 +5946 "Can" > C +6057 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%n  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%@  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%k +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%m' +2382 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%C +70 "core"  +2 ."da"delay 5 seconds +504 .PSV.dial PTV +3 "processing"%L +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%&  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%/'ؾ +2347 "core" ' +9 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%d +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%T' +598 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%]' +1610 "core" ' + ."da"PTV.dial :puck +2 "processing"%G  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%} +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%z% +4 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%'' +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%''ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%$  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%R * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%! +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%j' +2400 "core" ' + ."da"PSV.dial PTV +2 "processing"%y +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%a +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%{ +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%<  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%%'ؾ +2335 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%| +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +7 "processing"% +16 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +2 "processing"%_' +343 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%1' +338 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%W' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%.  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%0% +3 "core" %\ | +3 ."da"PS.seek 1.5ml +2 "processing"%'( +595 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%h * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1618 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%>  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%N  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%o * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%~' +2419 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%q +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Q +71 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%g  +74 "core"  +2 ."da"PS.seek 0ml +3 "processing"%E'ؾ +2281 "Can"\  =C +113 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +130 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +46 "processing"%=' +2137 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%J  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%M +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%p  +36 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +3 "processing"%['1 +593 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +101 "core"  +3 ."da"PS.seek 0ml + "processing"%u'ؾ +1608 "core" ' +2 "processing"%29 +3 "core" 9z5l +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%H +3 %& +2 "core" 5l +4 &^%\ 6 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&x% +4 "core" %   +2 "storage"(I% +3 "core" % \  +2 "storage"(t. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(O(C +352 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &F N 4 \ +2 "manipulator"&+& +5 "core" &- t  + "manipulator"&f% +3 "core" %   +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&7( +185 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(& +3 "core" &G \\\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&v' +94 "core" ' + "storage"(& +4 "core" &G 0\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(b'r +274 "core" ' +2 "storage"(U- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(`'1 +45 "core" ' +2 "manipulator"&e& +3 "core" &  +2 "manipulator"&^% +4 "core" %  ~ d +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&w' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&s( +242 "core" ( +2 "manipulator"&8& +3 "core" &  L  +3 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" & @  +2 ."da"Forearm.seek PC +2 "manipulator"&Y' +90 "core" ' + ."da"Hand.close +2 "manipulator"&#/ +53 "core" / +2 ."da"PC.seek :open +2 "processing"%S( +455 "core" ( +2 "storage"( & +3 "core" &G \ +3 "manipulator"&X& +4 "core" & V  + "manipulator"&% +4 "core" % \  * +2 ."da"Forearm.seek :retract +2 "manipulator"&' +97 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&\ ( +256 "core" ( + "manipulator"&:& +4 "core" &  ` X +2 "storage"(V& +4 "core" &G F\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +105 "core" ' +2 ."da"Hand.open + "manipulator"&51 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(3' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(D' +54 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +59 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1122h37ml.tif +5 "processing"%F& +11 "core" &\ q +5 "manipulator"&& +7 "core" &  C X +2 "manipulator"&9% +5 "core" %    9 ~ +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&;' +92 "core" ' + ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&?(- +177 "core" ( +2 "manipulator"&i& +4 "core" &- \  ] H +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +3 "core" &-  \ H +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&B'w +98 "core" ' +2 ."psFlush"Hand.close + "manipulator"&6/ +60 "core" / + "manipulator"&l& +3 "core" &-   H +3 "manipulator"&% +3 "core" % ω  i +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&c' +97 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC + "manipulator"&"( +116 "core" ( +2 "manipulator"& & +4 "core" & n 2 + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  > 2 +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +102 "core" ' +3 "manipulator"&& +3 "core" &  r 2 +3 "manipulator"&P% +4 "core" %   +2 "processing"%A& +3 "core" &:\ n +3 "processing"%n& +5 "core" &9\ n +2 ."psFlush"PC.seek :closed +2 "processing"%@(^ +5 "core" &$\ m +7 &1(\ k$c +9 &Ur(\ f7 +9 &~k\ fK +10 &G\ iO +9 &ZF\ iO +10 &D\ iN +9 &G \ hO +9 &I\ iO +10 &cJ\ N +9 &'J\ N +10 &I\ N +9 &!I\ N +9 &#nK\ M +10 &%/N\ N +9 &&L\ N +9 &(H\ M +10 &*uI\ N +9 &,7L\ N +10 &-M\ N +9 &/J\ lO +9 &1{G\ kN +10 &3<H\ kO +9 &4J\ jO +9 &6J\ iO +10 &8F\ jO +9 &:EG\ iN +9 &<H\ iN +10 &=I\ iO +9 &?I\ iO +10 &ALI\ hO +9 &C S\ gP +9 &DY\ gQ +10 &Fm\ eS +9 &H@\ dU +9 &J}\ dV +10 &K\ V +9 &MW\ U +10 &OG\ V +9 &QC\ W +9 &R_\ V +10 &T^\ W +9 &VO\ V +9 &XG\ V +10 &YH\ W +9 &[G\ W +10 &]RJ\ J +9 &^{FK\ g b +9 &^?@\ k7 +6 ( + "processing"%n& +4 "core" &^-7\ j7 +2 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 +2 "processing"%& +4 "core" &^-1\ j7 +2 ."psFlush"Hand.open +2 "manipulator"&k1 +55 "core" 1 + "manipulator"&)% +4 "core" %  #  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%C +42 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%L' +460 #"da"SX HX9/16 (USB:33): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 17.299 seconds\ /var/log/esp/da23sep1122h37ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1122h37ml15s.tif +130 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%&' +916 #"da"SX HX9/16 (USB:33): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1122h37ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1122h37ml20s.tif +1209 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +11 "processing"%m @ +189 "core" A + ."psFlush"PTV.dial :PRVmixing +3 "processing"%d  +132 "core" + ."psFlush"PSV.dial :mixloop +3 "processing"%/ +102 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%T'ؠ +300 #"da"SX HX9/16 (USB:33): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1122h37ml20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "17.299 sec auto-exposure",Subject: "da23sep1122h37ml images!" +8 "storage"(G- +9 "core" -' +10 "storage"(}& +6 "core" &G b\ +3 "manipulator"& & +4 "core" & * ' I 2 +2 "manipulator"&z% +5 "core" %  $ )   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +66 ."da"Elbow.seek 1 +2 "manipulator"&]( +247 "core" ( +5 "manipulator"& & +5 "core" & + + ) : +2 "storage"(& +5 "core" &G \ +3 ."da"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&$' +95 "core" ' +5 ."da"SE.reconfigure :gently +7 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"( '" +52 "core" ' +4 "manipulator"&R& +6 "core" &  + 9 +6 "storage"(!& +6 "core" &G   t\ +5 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +2 "manipulator"&''8 +24 "core" ' +9 ."da"Elbow.hold +6 "manipulator"&y, +6 "core" , +10 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +7 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(a' +28 "core" ' +4 "manipulator"&{% +8 "core" %C +4 "storage"(<& +7 "core" &G   x\ +4 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 311 counts +3 "manipulator"&j'o +14 "core" ' +4 "manipulator"&|& +7 "core" & = 9 +5 "storage"(%& +8 "core" &G 4 4 k\ +5 ."da"Forearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +7 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&_' +19 "core" ' +4 "storage"(1% +6 "core" % 4 4 \  +6 ."downElevator"SE.seek :down +8 "storage"(.' +98 (% +7 "core" %7<\ \  H\ TZ +4 "manipulator"&% +9 "core" %   a +6 ."da"Forearm.reconfigure :loose +8 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +4 "manipulator"&0' +93 "core" ' +36 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 (W& +6 "core" &G 3 4\ +1192 ' +3 ."psFlush"PSR.select :air +5 .PSV.dial PSR +4 "processing"%h +104 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%' +595 "core" ' +2 ."psFlush"delay 5 seconds +20 #"uploadLog"upsync +482 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%>' +2124 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%N  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%o @ +71 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2649 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +99 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%q'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%Q' +1610 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%g +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%~  +69 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%-  +15 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%E'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +45 "processing"%J +78 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%M' +590 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%p' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%= U +51 "core" W +2 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +2637 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%[' +2633 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%2  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%H'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +42 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%x' +2630 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%I +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%t U +15 "core" T +2 ."psFlush"PS.seek 0ml +3 "processing"%('ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%+' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%f  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2641 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +54 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1104 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%r +71 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%U  +49 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%e'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%^ +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml + "processing"%b' +584 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%v' +2118 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%8 +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%Z U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%7'ؾ +957 "Can" A C +1670 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%# @ +55 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%*  +71 "core"  +3 ."psFlush"PS.seek 0ml + "processing"% 'ؾ +2656 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%X +42 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Y +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%: U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%V'ؾ +2654 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%s @ +54 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%5' +2635 "core" ' + ."psFlush"PSV.dial :waste1 +43 "processing"%  +78 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%F'ؾ +2627 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" & ; 9 +2 "manipulator"&% +4 "core" %    +2 ."psFlush"Elbow.seek PC +2 "manipulator"&9( +246 "core" ( + "manipulator"&`& +4 "core" &   +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" & d  +3 ."psFlush"Forearm.seek PC +2 "manipulator"&i' +91 "core" ' + ."psFlush"Hand.close +2 "manipulator"&4/ +58 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%( +458 "core" ( + "manipulator"&\ & +4 "core" &  +2 "manipulator"&6% +3 "core" %  _ : +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&l' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +128 "core" ( +2 "manipulator"&;& +3 "core" &-  : +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +100 "core" ' +2 ."psFlush"Hand.open +2 "manipulator"&B1 +64 "core" 1 + "manipulator"&% +4 "core" % y  } +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&P' +95 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'A& +3 "core" & <\ +3 "manipulator"&?& +3 "core" &-  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&c(- +14 "core" ( +2 "manipulator"&S& +3 "core" &- \\ y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- d y +3 .tForearm.seek :garage +2 "manipulator"&k'w +91 "core" ' +2 .tHand.close + "manipulator"&)/ +63 "core" / + "manipulator"&n& +4 "core" &- w y +2 "manipulator"&C% +3 "core" % o  +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&u(ӂ +286 "core" ( +2 "manipulator"&L& +3 "core" &ӕ   a 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &ӕ  S 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&d'? +97 "core" ' +2 "manipulator"&/& +3 "core" &ӕ  7 +2 "manipulator"&&% +5 "core" %G  5 + "collection"'G& +5 "core" & :\ +2 "collection"'}& +5 "core" & F\ +2 .tCC.seek :closed +2 "collection"' (\\ +5 "core" & <\ +7 &C >\ %g +10 &Xv 7\ 7 +9 &w /\ L +9 &T 7\ L +10 &T @\ L +9 &LV 5\ L +9 &V C\ L +10 &R =\ L +9 &Q @\ L +10 &UR @\ K +9 & T O\ L +9 &!V F\ L +10 &#X G\ L +9 &%\\Q D\ L +10 &'Q J\ L +9 &(R D\ L +9 &*Q D\ L +10 &,eT G\ K +9 &.&T C\ L +9 &/W F\ L +10 &1S J\ L +9 &3lS E\ L +10 &5.U I\ L +9 &6T Q\ L +9 &8T Q\ L +10 &:tT R\ L +9 &<6W P\ L +9 &=T P\ K +10 &?U R\ L +9 &A|V S\ L +10 &C:] N\ M +9 &Dr P\ O +9 &F E\ S +10 &Hb F\ W +9 &J! H\ X +9 &K G\ Y +10 &M G\ Z +9 &Oc H\ Z +10 &Q$ T\ Z +9 &R V\ Z +9 &T K\ [\ +10 &V` P\ ] +9 &X# X\ ] +9 &Y S\ ] +10 &[ V\ J +9 &\\2 _\ 3 +9 &\\y \\\ R +3 ( +2 "collection"'}& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.44 + "collection"'z& +3 "core" &\\y ^\ R +2 .tHand.open +2 "manipulator"& 1 +60 "core" 1 + "manipulator"&% +4 "core" % G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +9 .tPSV.dial PSR,avoiding: PBV +2 "processing"%R  +42 "core" + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%!'+ +1611 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%{'ؾ +1608 "core" ' +2 .tPSV.dial PSR +2 "processing"%< +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%|' +2626 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%%  + "collection"'D  +7 "core"  +93  + .tPSV.dial :PTV,via: :air +2 "processing"%1 +189 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'$  +4 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%] @ +72 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%  +72 "core"  +2 .tPS.seek 2.5ml + "processing"% ' +2631 "core" ' + .tPSV.dial :PTV +2 "processing"%' +72 "core"  +2 .tPS.seek 0ml +2 "processing"%j'ؾ +2636 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&W& +3 "core" &ӟ   5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&a(ӂ +18 "core" ( +2 "manipulator"&_& +3 "core" &ӈ  & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &ӈ ~ & +3 .tForearm.seek CC +2 "manipulator"&h'? +96 "core" ' +2 .tHand.close + "manipulator"&T/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "manipulator"&N& +3 "core" &Ӊ  L % +2 "manipulator"&o% +4 "core" % ; +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&>(- +276 "core" ( + "manipulator"&& +3 "core" &- s q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &- q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&q'w +99 "core" ' +2 .tHand.open +2 "manipulator"&g1 +52 "core" 1 +2 "manipulator"&~% +4 "core" % ~  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +90 "core" ' +22856 "Can" 5iC +60001  5C +60001  5C& +60002  5!h+C, +60001  5#2C +60001  5$WC +60001  5&C +60002  5(C( @UTC1694476999.87  7*]C' +60001  4,'C +60002  5-EC +60001  5/C +60001  51qC +60002  53SC& +60001  55C% +60001  563C +60001  58C" +60002  5:~_C, +60001  5C$ +60001  4?!C +60002  5AC +60001  5CsMC +60001  5E=C! +60001  5GyC% +60002  5HC +60001  5JC +60001  5Lh;C" +60002  5N3C# +60001  5OgC# +60001  5QC$ +60001  5S C- +60002  5U^!)C$ +60001  5W)!C' +60002  5X"UC$ +60001  5Z"C% +60001  5\\#C& +60001  5^S$C# +60002  5`$C$ +60001  5a%CC" +60001  5c%C$ +60002  5e}&oC" +60001  5gH'C& +60001  5i'C& +60001  3j(1C1 +60002  5l(C# +60001  5ns)]C +60001  5p>)C1 +60001  5r*C( +60001  5s+C! +60001  5u+C +60002  5wh,KC, +60001  5y2,C$ +60001  4z-wC# +60001  5|. C +60002  5~.C% +60001  5\\/9C& +60001  5'/C& +60001  50eC0 +60001  50C$ +60002  51C$ +60001  5S2'C' +60001  52C/ +60002  53SC& +60001  53C$ +60001  5~4C$ +60002  5H5C$ +60001  55C" +60001  66AC0 +60001  56C$ +60002  5s7mC$ +60001  5=8C/ +60001  58C- +60002  69/C' +60001  59C. +60001  5i:[C +60001  54:C +60002  5;C +60001  5<C +60001  4 access 1 +3 "storage"(Q% +63 "core" % | t \  +2 "manipulator"&J% +3 "core" %   +2 "manipulator"&E& +4 "core" &- q +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(M(<- +1297 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<+   _\ +12396 #t-> access 2 +2 "storage"(=% +3 "core" % ^ ^ `\  +2 "manipulator"&p% +3 "core" %    +3 "manipulator"&& +3 "core" &-  \ q +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +3 "core" &K % _\  +375 #t-> startTube 2 +716 #-> $da[:extractVol]=.2 +3560 #-> shortDAflush +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'[& +3 "core" & p\ +2 "manipulator"&& +3 "core" &- D q +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&H(- +3 "core" ( + "manipulator"&I& +4 "core" &-   q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &- W q +2 .tForearm.seek :garage +2 "manipulator"&x'w +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 "manipulator"&(& +3 "core" &-   q +2 "manipulator"&f% +4 "core" % ψ  +3 .tForearm.seek :retract + "manipulator"&+' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +280 "core" ( +2 "manipulator"&& +4 "core" &Ӕ#  \ <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӕ#   <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&r'? +98 "core" ' +2 "manipulator"&U& +3 "core" &ӕ"  q ;8 +2 "manipulator"&\\% +5 "core" %C   v +2 "collection"'^& +4 "core" & m\ +2 "collection"'e& +5 "core" & o\ +2 .tCC.seek :closed +2 "collection"'b(\\ +3 "core" & n\ +8 &A d\ %g +9 &Zx k\ 8 +9 & s h\ L +10 &S l\ M +9 &U j\ L +9 &PU l\ L +10 &U l\ L +9 &T d\ L +9 &U k\ L +10 &WU f\ L +9 & T f\ L +10 &!U c\ L +9 &#U k\ L +9 &%`S o\ L +10 &'"R f\ L +9 &(T i\ L +9 &*S l\ L +10 &,hU i\ L +9 &.*U k\ L +10 &/U j\ L +9 &1V j\ L +9 &3pU l\ L +10 &51U i\ L +9 &6U i\ M +10 &8U b\ L +9 &:wU g\ L +9 &<9V h\ L +10 &=R j\ L +9 &?U k\ L +9 &AX i\ L +10 &C>_ i\ M +9 &Dv d\ O +10 &F h\ T +9 &He h\ X +9 &J& h\ X +10 &K i\ Y +9 &M k\ Z +9 &Oi l\ Y +10 &Q& i\ [\ +9 &R k\ [ +10 &T i\ \\ +9 &Vj j\ \\ +9 &X) i\ ] +10 &Y d\ ^ +9 &[ i\ K +9 &\\3 j\ 1 +10 &\\l n\ R +2 ( +2 "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.42 + "collection"'8& +3 "core" &\\m m\ R +2 .tHand.open +2 "manipulator"&Z1 +56 "core" 1 + "manipulator"&v% +4 "core" % C  R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +102 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%7  +189 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%*' +2637 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%w  +2 "collection"'X  +6 "core"  +8  + .tPSV.dial :PTV,via: :air +3 "processing"% +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'Y  +3 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%: @ +4 "core" A +3 .tPS.seek 0ml + "processing"%'ؾ +2634 "core" ' +9 .tPSV.dial PSR,avoiding: PBV +2 "processing"%s  +189 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%V' +2629 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +4 "processing"%  + "collection"'5  +5 "core"  +3  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +3 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%` @ +5 "core" A +2 .tPS.seek 0ml + "processing"%3'ؾ +2634 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%y  +188 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%4' +2628 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +8 .tCBV.dial PRV +2 "processing"%0  + "collection"'@  +7 "core"  +7 + .tPSV.dial :PTV,via: :air +3 "processing"%\ +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'6  +3 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%; @ +5 "core" A +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2630 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%i  +188 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml + "processing"%9'+ +1629 "core" ' +2 .tdelay 5 seconds +111 "Can"\ I=IC +391 .tPSV.dial :waste1 +3 "processing"%B  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1611 "core" ' +2 .tPSV.dial PSR +2 "processing"%A +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%?' +2625 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "collection"'l  +4 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%S +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +4 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"% @ +5 "core" A +2 .tPS.seek 0ml +2 "processing"%)'ؾ +2652 "core" ' + .tPSV.dial :air +2 "processing"%n  +84 "core"  +3 .tPS.seek 2.5ml + "processing"%C' +2649 "core" ' +2 .tPSV.dial :PTV +2 "processing"% +70 "core"  +2 .tPS.seek 0ml +2 "processing"%P'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%k  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%L' +2627 "core" ' +2 .tPSV.dial :PTV + "processing"%m +72 "core"  +2 .tPS.seek 0ml +2 "processing"%c'ؾ +2630 "core" ' +2 .tPSV.dial :air +2 "processing"%/  +84 "core" +2 .tPS.seek 2.5ml +2 "processing"%&' +2633 "core" ' +2 .tPSV.dial :PTV +2 "processing"%G +70 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&K& +3 "core" &Ӧ  9' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&z(ӂ +18 "core" ( +2 "manipulator"& & +3 "core" &|   , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &|  , +3 .tForearm.seek CC + "manipulator"&}'? +100 "core" ' +2 .tHand.close + "manipulator"&R/ +60 "core" / + .tCC.seek :open +2 "collection"'d( +452 "core" ( + "manipulator"&F& +4 "core" &Ӫ  & +2 "manipulator"&% +3 "core" % \  +3 .tForearm.seek :retract +2 "manipulator"&!' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&<(- +282 "core" ( + "manipulator"&{& +4 "core" &-  T G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &-  m G +43 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&%'w +98 "core" ' +2 .tHand.open + "manipulator"&11 +58 "core" 1 +2 "manipulator"&$% +3 "core" % z   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +94 "core" ' +34673 "Can" 5=C +18557 #t-> shortDA +2 "collection"'|% +2 "processing"%% +5 "core" %j B\ +5 %ػ<\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +214 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"% +44 "core" + .tPTV.dial :PRVmixing +2 "processing"%'  +72 "core" + .tPRV.dial :sipper +2 "processing"%  +128 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%W'e +2294 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%_  +2 "collection"'.  +7 "core"  +120  +2 .tPS.seek 0.5ml +2 "processing"%T' +1266 "core" ' +2 .tPRV.dial :waste2 + "processing"%u @ +100 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%"'ؾ +585 "core" ' +2 .tPSV.dial PSR + "processing"% +102 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%N'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%o' +1615 "core" ' +2 .tPSV.dial :mixloop + "processing"%h +102 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"% +102 "core"  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%a'X\\ +1097 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%g' +1631 "core" ' +2 .tPSV.dial :mixloop + "processing"%~ +102 "core" +2 .tPRV.dial :sipper + "processing"%  +41 "core" +2 .tPS.seek 0ml +2 "processing"%q'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"% +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%Q' +2641 "core" ' + .tPSV.dial :mixloop +2 "processing"%J +101 "core" +3 .tPS.seek 0ml + "processing"%E'ؾ +2635 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%O& +3 "core" &G\ +2 "manipulator"&% +4 "core" %    +2 "storage"(=% +4 "core" % _ l \  + "storage"(p. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +1303 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (M& +3 "core" & G O \ +2 "manipulator"&2& +4 "core" &-  G +2 "manipulator"&[% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +174 "core" ( + "manipulator"&I& +4 "core" &   @ +2 "storage"(t& +3 "core" & l l \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +100 "core" ' + "storage"((& +4 "core" & p } D\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +296 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" & P C q\ +2 "manipulator"&x& +4 "core" &  ? +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   r ? +2 "storage"(H& +4 "core" & f ^ 8\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&U'Ͻ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +107 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +3 "storage"(+' +8 "core" &  ? + "manipulator"&% +4 "core" % ϴ  o +2 .tForearm.seek :retract +2 "manipulator"&8' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( +2 "manipulator"&v& +3 "core" &  ] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +2 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&7' +98 "core" ' +2 "manipulator"&r& +3 "core" & +2 "manipulator"&j% +5 "core" %  } + "processing"%X& +5 "core" &J\ +2 "processing"%w& +5 "core" &j\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &H\  +9 &4wF\ *y +9 &e{@\ > +9 &k?\ N +10 &EL?\ M +9 &Q?\ M +10 &Q>\ M +9 &S4\ M +9 &NR:\ M +10 &U<\ M +9 &R2\ M +9 & R0\ M +10 &"VR.\ M +9 &$R2\ M +10 &%Q6\ M +9 &'R8\ M +9 &)^R/\ M +10 &+ R2\ M +9 &,R1\ M +9 &.R7\ M +10 &0eR/\ M +9 &2'Q1\ M +10 &3R3\ M +9 &5S0\ M +9 &7kS+\ N +10 &9/S(\ M +9 &:S\ M +9 &<U&\ M +10 &>tT&\ M +9 &@7S$\ M +10 &A]#\ N +9 &Ch"\ P +9 &Esr&\ P +10 &G,)\ T +9 &H'\ S +9 &J&\ S +10 &Lq&\ T +9 &N0\ U +10 &O\ T +9 &Q\ U +9 &Sv\ U +10 &U6&\ U +9 &V\ U +9 &X\ T +10 &Z}\ U +9 &\\@\ U +10 &]zs\ 9 +9 &^'p \ S +9 &^(\ 4 +3 ( + "processing"%w& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&Y1 +60 "core" 1 +2 "manipulator"&:% +3 "core" %   } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +92 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%s y +2 %9 +6 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%59 +3 "core" 9  +103 "processing"%9 +3 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%`9 +3 "core" 9 +102 "processing"%V9 +3 "core" 9 +102 "processing"%y9 +3 "core" 9 +102 "processing"%39 +3 "core" 9" +102 "processing"%@9 +3 "core" 9& +102 "processing"%09 +21 "core" 9+ +102 "processing"%\ 9 +3 "core" 9/ +102 "processing"%69 +4 "core" 94 +102 "processing"%;9 +3 "core" 98 +102 "processing"%49 +3 "core" 9< +102 "processing"%i9 +3 "core" 9@ +102 "processing"% 9 +3 "core" 9E +102 "processing"%B9 +4 "core" 9I +102 "processing"%99 +3 "core" 9M +102 "processing"%A9 +3 "core" 9Q\ +102 "processing"%9 +3 "core" 9U\ +102 "processing"%l9 +3 "core" 9Z +102 "processing"%S9 +3 "core" 9^ +103 "processing"%9 +2 "core" 9b +102 "processing"%9 +3 "core" 9f +102 "processing"%?9 +3 "core" 9j +102 "processing"%n9 +3 "core" 9 o +102 "processing"%)9 +4 "core" 9s +102 "processing"%9 +3 "core" 9w +102 "processing"%C9 +3 "core" 9%{ +102 "processing"%k9 +3 "core" 9. +102 "processing"%P9 +3 "core" 95 +3 .tPH.hold 2:00:00,28C +3 "processing"%m pyp0 +3 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%L +100 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +11 .tPS.seek 0.5ml + "processing"%/' +594 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%c' +1617 "core" ' + .tPTV.dial :puck +2 "processing"%G  +128 "core"  + .tPSV.dial PTV +2 "processing"%& +72 "core" + .tPBV.dial :waste1 +2 "processing"%K  +52 "core" + "processing"% % +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%'. +75 "Can"\ EE>uC +514 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%R * +33 "core" * +2 .tPS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%#  +5 "core"  +2 .tPBV.dial :waste1 + "processing"%b  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%F * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%}' +2415 "core" ' +2 .tPSV.dial PTV +2 "processing"%{ +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%D +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +3 "processing"%z +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%1  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%$'ؾ +2350 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%!  +128 "core" + .tPSV.dial :mixloop +2 "processing"%% +44 "core" + .tPRV.dial :ab1 +2 "processing"%| @ +98 "core" ? +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +352 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +3 "collection"'  + "processing"%'  +4 "core"  +39  + "processing"% % +4 "core" %R\ \ +2 .tPS.seek 0.35ml +2 "processing"%'g +464 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'.  +29 "core" + .tPRV.dial :air +2 "processing"%_  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%W'K +1175 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%u @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%T' +863 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +43 "core"  +3 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%"' +1621 "core" ' +2 .tPSV.dial :PML + "processing"%N +44 "core" +2 .tPTV.dial :mixing + "processing"%h @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%o  +33 "core" +2 "processing"%% +4 "core" %H\  +2 .tPS.seek 1.85ml +2 "processing"%' +241 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%a * +32 "core" + +3 .tPS.seek 0ml +2 "processing"%~'ؾ +1969 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & \ +2 "manipulator"&g& +4 "core" &    +2 "manipulator"&% +4 "core" %   E  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&q(- +120 "core" ( +2 "manipulator"&J& +4 "core" &-   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &-   \ +2 .tForearm.seek :garage +2 "manipulator"&O'w +91 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 "manipulator"&=& +3 "core" &-    \ +3 "manipulator"&p% +4 "core" % ~  +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +274 "core" ( +2 "manipulator"&2& +3 "core" &~&    ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &~&  Z ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&I'? +99 "core" ' +2 "manipulator"&t& +3 "core" &&   J ?Q +3 "manipulator"&(% +4 "core" %E .  <  +2 "collection"'<& +4 "core" & \ +2 "collection"']& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'>(\\ +51 "core" & \ +5 &A \ $f +2 &Yy \ 7 + &x \ L +2 &T \ L + &}R \ M + &@T \ L +6 &Q \ L +9 &T \ L +9 &T \ L +10 &IQ I\ L +9 & \ U \ L +10 &!Q \ L +9 &#S \ M +9 &%PS \ L +10 &'T \ L +9 &(T \ L +9 &*Q \ L +10 &,XS \ L +9 &.R \ M +10 &/Q \ L +9 &1U \ M +9 &3_S \ M +10 &5"U \ L +9 &6S \ L +9 &8R \ M +10 &:hU \ L +9 &<*Q \ L +10 &=W \ L +9 &?W \ L +9 &AoT \ M +10 &C/_ \ M +9 &Dq \ O +9 &F \ T +10 &HV \ X +9 &J \ X +10 &K \ Y +9 &M \ Y +9 &OY \ Z +10 &Q \ Y +9 &R \ Z +9 &T \ [ +10 &VZ \ \\ +9 &X \ ] +10 &Y \ ^ +9 &[ \ J +9 &\\8 \ + +10 &\\ \ \\ +5 ( +2 "collection"']& +4 "core" &\\~ \ \\ +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 + "collection"'-& +4 "core" &\\~ \ \\ +2 .tHand.open +2 "manipulator"&x1 +53 "core" 1 +2 "manipulator"&% +3 "core" % E 6 0   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +101 "core" ' + .tPSV.dial PSR +2 "processing"%\\ +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%^'+ +1612 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1618 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%f' +2638 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%U  +2 "collection"'v  +31 "core" ~ +124  +2 .tPSV.dial :mixloop +2 "processing"%e +100 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%r  +73 "core" +2 .tPS.seek 0ml +2 "processing"%j'ؾ +1257 "Can"\ ? C +1379 "core" ' +2 .tPSV.dial :air + "processing"%X  +44 "core"  +3 .tPS.seek 2.5ml +2 "processing"%+' +2627 "core" ' + .tPSV.dial :mixloop +2 "processing"%8 +43 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2628 "core" ' + .tPSV.dial :air +2 "processing"%Y  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%:' +2633 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%w'ؾ +2640 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +3 "core" &ӥ  4 :+ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&7(ӂ +36 "core" ( +2 "manipulator"&5& +3 "core" &y   7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &y   7 +3 .tForearm.seek CC + "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&`/ +58 "core" / +2 .tCC.seek :open + "collection"'V( +452 "core" ( + "manipulator"&y& +3 "core" &Ӳ  r 0 +3 "manipulator"&3% +4 "core" % %  ] +2 .tForearm.seek :retract + "manipulator"&@' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&0(- +293 "core" ( + "manipulator"&\ & +4 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" &-   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&;'w +97 "core" ' +3 .tHand.open + "manipulator"&41 +59 "core" 1 +2 "manipulator"&i% +4 "core" % |   I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +2 ."da"delayUntil "12:39:43.68" +24787 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%B @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%9  +44 "core" +10 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +31 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%l' +2382 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%S +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"% +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%?  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%n'ؾ +2352 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%) +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +598 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%C' +1610 "core" ' + ."da"PTV.dial :puck +2 "processing"%k  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%P +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +32 "core"  +2 "processing"%E% +4 "core" %h\  +2 ."da"PS.seek 1.5ml +3 "processing"%/'+ +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%G * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%&'ؾ +1625 "core" ' +2 ."da"delay 2:00 +7308 "Can"' >?C +4695 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%K  +15 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%c * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%R +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2402 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%s +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%# +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%b +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%F  +84 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2349 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +129 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%{' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%D' +1606 "core" ' +2 ."da"PTV.dial :puck + "processing"%z  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"%1 +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%}  +34 "core" + "processing"%!% +4 "core" %h\  +2 ."da"PS.seek 1.5ml +2 "processing"%%'- +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%| * +33 "core" * +3 ."da"PS.seek 0ml +2 "processing"%$'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%'  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%.' +2400 "core" ' + ."da"PSV.dial PTV +2 "processing"%_ +72 "core" +43 ."da"delay 5 seconds +509 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%u +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%W  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2364 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%T  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%N  +126 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%h  +41 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%o +42 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%' +389 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%a  +42 "core"  +2 "processing"%"% +4 "core" % h\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +342 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +43 "core"  +3 ."da"PS.seek 2ml +2 "processing"%g' +1556 "core" ' +2 ."da"PSV.dial :PML +2 "processing"% +43 "core" +2 ."da"PTV.dial :mixing + "processing"%J @ +74 "core" @ +2 ."da"PBV.dial :waste1 +2 "processing"%Q  +32 "core" + "processing"%% +4 "core" %e\  +3 ."da"PS.seek 1.85ml +2 "processing"%=' +230 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%p * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +1962 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +11671 "Can"\ Vc@7C( +36331 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%*  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%O * +32 "core" + +2 ."da"PSV.dial :air + "processing"%2  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%[' +2404 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%q +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%t  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%( +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%<  +43 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2363 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%d +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%-' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%x' +1619 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +72 "core"  +2 ."da"PSV.dial PTV +2 "processing"%] +69 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%\\  +32 "core" +2 "processing"%I% +3 "core" %h\  +3 ."da"PS.seek 1.5ml +2 "processing"%~'. +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%^'ؾ +1606 "core" ' +2 ."da"delay 2:00 +9348 "Can"\ B@C, +2655 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%  +15 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%v * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%U +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%e' +2396 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%r +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +8 "processing"%f +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%X  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%j'ؾ +2327 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%+' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +54 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Y' +1615 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%:  +34 "core" +2 "processing"%% +3 "core" %v\  +3 ."da"PS.seek 1.5ml +2 "processing"%5'- +601 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +3 "processing"%`'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%M  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%H  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%> * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%y +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%3' +2406 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%\ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%6 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%7  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2342 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%@' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%;' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%B  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%9 +82 "core" +2 ."da"PBV.dial :waste1 + "processing"%A  +33 "core" +2 "processing"%% +3 "core" %|\  +3 ."da"PS.seek 1.5ml +2 "processing"%w'+ +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%S * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1629 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%?  +32 "core" +2 ."da"delay 30 seconds +2614 "Can" @AcC +388 ."da"PBV.dial between PSV and waste1 +2 "processing"%l * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%) +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%n' +2382 "core" ' + ."da"PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%k +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%P +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%L  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +2341 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%C +134 "core"  +141 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +6 "processing"% +14 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +2 "processing"%G' +336 "core" ' + ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%/' +339 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%K' +1616 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%c +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%R  +34 "core" + "processing"%&% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%s'/ +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%# * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%b'ؾ +1615 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%F  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +3 "processing"%{' +2435 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%z +84 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%1 +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%} +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%!  +74 "core"  +2 ."da"PS.seek 0ml +3 "processing"%D'ؾ +2405 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%| +130 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%%' +2124 "core" ' +2 ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%' +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" + "processing"%% +3 "core" %y\  +3 ."da"PS.seek 1.5ml +2 "processing"%$'/ +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%_ * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"%u'ؾ +1612 "core" ' +2 "processing"%W9 +3 "core" 9y5v +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%. +3 "core" 5v + "processing"%T& +4 "core" &^*\ 4 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&N% +3 "core" %  Z  +3 "storage"(h% +4 "core" % z\  + "storage"(o. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"( (C +352 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &C W\ +2 "manipulator"&"& +4 "core" &- \  F  +2 "manipulator"&% +3 "core" %    +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +174 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(& +4 "core" &C w \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&J' +93 "core" ' +2 "storage"(Q& +3 "core" &C \ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak +2 "storage"('r +275 "core" ' +2 "storage"(p- +48 "core" -'r +9 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(g'1 +41 "core" ' +2 "manipulator"&=& +3 "core" &  +2 "manipulator"&*% +3 "core" % \ \ _ +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +3 "manipulator"&O' +91 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&2( +246 "core" ( +2 "manipulator"&Z& +4 "core" &   , + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +3 "core" &   , +2 ."da"Forearm.seek PC +2 "manipulator"&t' +94 "core" ' +2 ."da"Hand.close + "manipulator"&(/ +55 "core" / +3 ."da"PC.seek :open +2 "processing"%<( +456 "core" ( + "storage"([& +4 "core" &C +\ +2 "manipulator"&d& +3 "core" &  , +2 "manipulator"&% +4 "core" %    +2 ."da"Forearm.seek :retract +2 "manipulator"&-' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&]& +4 "core" &   ? + "storage"(\\& +4 "core" &C y\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&I' +98 "core" ' + ."da"Hand.open +2 "manipulator"&x1 +62 "core" 1 +3 "storage"(- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +27 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +3 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1213h37ml.tif +5 "processing"%& +11 "core" &6\ x +3 "manipulator"&v& +6 "core" &  # > +2 "manipulator"&U% +6 "core" %  ; $ +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&^' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&(- +178 "core" ( +2 "manipulator"&r& +3 "core" &-    8 +3 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &-  8 +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&X'w +90 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&e/ +55 "core" / +2 "manipulator"&8& +5 "core" &-    8 +2 "manipulator"&j% +4 "core" % y    +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&+' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +119 "core" ( +2 "manipulator"&& +3 "core" &   D +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &:& +3 "core" & \  2 D +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&Y& +3 "core" &  n D +3 "manipulator"&% +4 "core" %  f +2 "processing"%5& +4 "core" &\ w +2 "processing"%M& +5 "core" &\ v +2 ."psFlush"PC.seek :closed +2 "processing"%H(^ +5 "core" &\ v +6 &\ v7 +9 &?Hn\ o0 +9 &gps\ mE +10 &R\ oO +9 &E\ pN +9 &J\ pO +10 &MI\ pN +9 &F\ pO +10 &H\ pO +9 &F\ pN +9 &UH\ oN +10 &!F\ pO +9 &"J\ oN +9 &$I\ oN +62 &&]K\ N +9 &("I\ M +5 &)I3\ N + &+L?\ N + &-hM>\ M + &/*JJ\ M + &0IU\ M + &2J\ M +4 &4qJ\ M +9 &61O\ N +10 &7J\ N +9 &9L\ sO +9 &;tJ\ rO +10 &=6J\ rO +9 &>I\ qO +10 &@I\ qO +9 &ByQv\ oP +9 &D8\\t\ nQ +10 &Ely\ mR +9 &Gu\ kU +9 &Ip{u\ kU +10 &K1h\ kV +9 &L~k\ kV +9 &Ng\ jV +10 &Psr\ jW +9 &R5s\ jW +10 &Se\ iX +9 &U^\ iW +9 &W|Y\ W +10 &YA]\ V +9 &[]\ V +9 &\\]\ W +10 &^<gN\ + +9 &^hK\ @ +9 ( +3 "processing"%M& +2 "core" &^+[\ 9 +3 #"psFlush"Processing Clamp onSpring/offSpring for 14/25 samples, on/off torque 1.76 +2 "processing"%>& +3 "core" &^+]\ 9 +2 ."psFlush"Hand.open +2 "manipulator"&y1 +56 "core" 1 +2 "manipulator"&`% +4 "core" %    f +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +91 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +45 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%6' +501 #"da"SX HX9/16 (USB:34): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 17.533 seconds\ /var/log/esp/da23sep1213h37ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1213h37ml15s.tif +89 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%7' +963 #"da"SX HX9/16 (USB:34): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1213h37ml15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1213h37ml20s.tif +1157 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%3 @ +187 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%i  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%4 +113 "core" +2 ."psFlush"PS.seek :empty +3 "processing"%@'ؠ +361 #"da"SX HX9/16 (USB:34): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1213h37ml20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "17.533 sec auto-exposure",Subject: "da23sep1213h37ml images!" +2 "storage"(B- +3 "core" -' +3 "storage"(9& +12 "core" &C \ +6 "manipulator"&A& +7 "core" & / - i D +9 "manipulator"&% +3 "core" %  - - Q  +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&;( +244 "core" ( +5 "manipulator"&S& +6 "core" & / / z 7 +6 "storage"(w& +7 "core" &C  `\ +7 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&' +102 "core" ' +4 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(?'" +52 "core" ' +3 "manipulator"&l& +9 "core" & \  7 +7 "storage"()& +8 "core" &C ! ! \ +4 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 1 +3 "manipulator"&'8 +25 "core" ' +4 ."da"Elbow.hold +5 "manipulator"&, +8 "core" , +4 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(k' +30 "core" ' +3 "manipulator"&P% +6 "core" %D . 0 ` +4 "storage"(L& +8 "core" &C\ \  \ +3 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 312 counts +4 "manipulator"&n'p +15 "core" ' +3 "manipulator"&C& +7 "core" & O 7 +5 "storage"(E& +6 "core" &C   }\ +6 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +7 "manipulator"&G' +137 "core" ' +7 "storage"(/% +9 "core" %   l\ +4 ."downElevator"SE.seek :down +8 "storage"( ' +98 (c% +4 "core" % D\  E\ V^ +5 "manipulator"&R% +8 "core" %  +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +5 "manipulator"&&' +102 "core" ' +33 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 (K& +5 "core" &C A C -\ +1045 ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +4 "processing"%# +101 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +3 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%s' +598 "core" ' +5 ."psFlush"delay 5 seconds +36 #"uploadLog"upsync +466 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%F' +2145 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%b'ؠ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%z +100 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%1'X\\ +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%}' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%! +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%{  +70 "core"  + ."psFlush"PBV.dial :waste1 +3 "processing"%|  +4 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%D'ؾ +2639 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +71 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%'' +594 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2128 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2649 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%$' +1633 "Can" ?AC& +996 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%W  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%.'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%T +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%N' +2650 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%h +70 "core" + ."psFlush"PBV.dial PSV +3 "processing"%o U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%a @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%Q'X\\ +1125 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +59 ."psFlush"PS.seek 2.5ml +2 "processing"%0' +1613 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PTV.dial :puck +2 "processing"%p  +5 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%=  +50 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%*'ؾ +2652 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%J' +596 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%Z' +2125 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%q +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +52 "core" W +2 ."psFlush"PS.seek 0ml +3 "processing"%('ؾ +2636 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%O @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%[  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%d'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%t' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%] +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%\\ U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%2'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%x @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%v'ؾ +2638 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&-& +4 "core" & ? 6 +2 "manipulator"&U% +4 "core" %    \ e +2 ."psFlush"Elbow.seek PC +2 "manipulator"&g( +244 "core" ( +2 "manipulator"&~& +3 "core" &     +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &  .  +3 ."psFlush"Forearm.seek PC +2 "manipulator"&f' +94 "core" ' +2 ."psFlush"Hand.close + "manipulator"&I/ +64 "core" / +3 ."psFlush"PC.seek :open + "processing"%( +457 "core" ( + "manipulator"&e& +4 "core" & \   +2 "manipulator"&8% +3 "core" %  +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&j' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&^(- +127 "core" ( +2 "manipulator"&& +3 "core" &-  C  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &:& +3 "core" &- Y  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage + "manipulator"&X'w +91 "core" ' + ."psFlush"Hand.open +2 "manipulator"&Y1 +64 "core" 1 +2 "manipulator"&% +4 "core" % t   ; > +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&5' +93 "core" ' + #tFinished short da assay +2319 #-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & g\ +2 "manipulator"&+& +5 "core" &- \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +43 .tElbow.seek FlushPuck::Garage +9 "manipulator"&<(- +13 "core" ( +2 "manipulator"&>& +4 "core" &- : q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &- , q +2 .tForearm.seek :garage +2 "manipulator"&`'w +91 "core" ' +2 .tHand.close + "manipulator"&M/ +61 "core" / +2 "manipulator"&\ & +4 "core" &-   q +2 "manipulator"&% +3 "core" % v / +3 .tForearm.seek :retract + "manipulator"&u' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&6(ӂ +284 "core" ( + "manipulator"&3& +4 "core" &Ӑ"  \  ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &Ӑ"  ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'? +97 "core" ' +2 "manipulator"&7& +4 "core" &Ӑ"    ;3 +2 "manipulator"&B% +3 "core" %>   3 +3 "collection"'9& +4 "core" & h\ +2 "collection"'A& +5 "core" & o\ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & q\ +7 & n\ 7 +9 &=Ku s\ / +9 &hr~ r\ D +10 &Z s\ L +9 &R t\ L +9 &R r\ L +10 &WR r\ L +9 &R r\ L +10 &R s\ L +9 &V s\ L +9 &`S s\ K +10 &!!R s\ L +9 &"U y\ L +9 &$R r\ K +10 &&gR s\ L +9 &()W s\ L +10 &)S r\ K +9 &+R s\ K +9 &-oS s\ L +10 &/0R r\ L +9 &0R r\ L +9 &2V t\ L +10 &4wT r\ L +9 &6:T s\ K +9 &7T q\ L +10 &9T t\ L +9 &;S r\ K +10 &=AT {\ L +9 &?S 1\ L +9 &@R t\ L +10 &BZ {\ M +9 &DAi }\ N +10 &E "\ R +9 &G 1\ V +9 &Ii \ Y +10 &K* \ Y +9 &L \ Z +9 &N \ Z +10 &Pi \ [ +9 &R. \ Z +10 &S \ \\ +9 &U \ \\ +9 &Wk  \ ] +10 &Y, \ ^ +9 &Z  \ ^ +9 &\\VZ  \ / +10 &\\ \ V +9 ( + &\\s \ T +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.43 + "collection"'S& +3 "core" &\\s \ T +3 .tHand.open + "manipulator"&w1 +55 "core" 1 +2 "manipulator"&% +4 "core" % >  ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +99 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%)  +44 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%'+ +1614 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%P  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%L'ؾ +1605 "core" ' +2 .tPSV.dial PSR + "processing"%C +43 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%E' +2630 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%  +2 "collection"'  +6 "core"  +93  + .tPSV.dial :PTV,via: :air +2 "processing"%; +189 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'/  +3 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%? @ +72 "core" A +2 .tPS.seek 0ml + "processing"%'ؾ +2632 "core" ' +2 .tPSV.dial :air +2 "processing"%c  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%R' +2629 "core" ' + .tPSV.dial :PTV +2 "processing"%n +72 "core"  +2 .tPS.seek 0ml +2 "processing"%K'ؾ +450 "Can"\ O%BC +2177 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&k& +4 "core" &Ө  j 8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +16 "core" ( +2 "manipulator"& & +4 "core" &ӊ   . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &ӊ  q . +3 .tForearm.seek CC + "manipulator"&@'? +97 "core" ' + .tHand.close +2 "manipulator"&s/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "manipulator"&& +3 "core" &Ӡ  + +2 "manipulator"&% +4 "core" % \ +48 .tForearm.seek :retract +5 "manipulator"&F' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&z(- +283 "core" ( +2 "manipulator"&b& +4 "core" &-    J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &- Z J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&!'w +100 "core" ' +3 .tHand.open + "manipulator"&{1 +54 "core" 1 +2 "manipulator"&|% +3 "core" % z   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}' +101 "core" ' +56409 "Can" 3C%C$ +6698 #t-> exit +7 #mEXIT @1694526267.98UTC @1694526276.85UTC = =mMAIN_scheduler =tMAIN @UTC1694526278.63 #"core_reset"Sent BREAK + #t@21107 sendCRC with ifg=0x20, ie=0x7F + #@22942 sendCRC with ifg=0x08, ie=0x5F + #@27998 idle with ifg=0x84, ie=0x75 + #@28671 select with ifg=0x10, ie=0xF5 + #@29305 receive with ifg=0x10, ie=0xFD #@29939 receive with ifg=0x10, ie=0xFD + #@30572 receive with ifg=0x10, ie=0xFD + #@30900 receive with ifg=0x80, ie=0xFD #@56079 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +293 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +387 "Can" 1"C:m +  1"C:m + #tPolling Can every 10:00 +3 #Cleanly exited at 13:44:27UTC12-Sep-23 +6668 #-> $da[:extractVol]=.20 +679 #-> access 1 +155 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %j j\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڬ\ \  w\ +2 .tSS.configure :default +2 "sampler")#.0X access 2 +3 "storage"(% +2 "core" % r\  +3 "manipulator"&% +3 "core" %  N \ c +2 "manipulator"&& +4 "core" &- - J +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K S 3 R\  +672 #t-> ESP.ready! +2 "collection"' % +2 "processing"%!% +5 "core" %j f\ +3 "manipulator"&"% +5 "sampler")#% +9 "core" %\ + %  3 \ c + %ڬ\ \  m\ +2 "manipulator"&$& +4 "core" &- > J +2 "storage"(%& +3 "core" &K | %\  +2 "storage"(&% +4 "core" % } s \  +2 "collection"''& +4 "core" & f\ + "processing"%(& +3 "core" &\ +2 "collection"') +3 "core"  +2 "collection"'* +3 "core"  +2 "collection"'+ +3 "core"  +2 "processing"%, +3 "core"  +2 "processing"%- +3 "core" T +2 "processing"%. +3 "core" A +2 "processing"%/ +3 "core"  +2 "sampler")0 +3 "core"  +2 "collection"'1% +3 "core" %j e\ +3 "processing"%2% +3 "core" %\ +3 "sampler")3% +3 "core" %ڬ\ \  w\ +3 "collection"'4& +3 "core" & f\ +2 "processing"%5& +4 "core" &\ +2 "manipulator"&6% +4 "core" %  _ \ c +2 "manipulator"&7& +3 "core" &- & J +2 "storage"(8& +5 "core" &K { ;\  + "storage"(9% +4 "core" % ~  \  +2 "collection"':9 +3 "core" 9 +2 "processing"%;9 +3 "core" 9 +453 #t-> $da[:extractVol]=.20 +46711 #-> access 2 +2 "storage"(<% +3 "core" % } f\  +2 "manipulator"&=% +4 "core" %  B \ c +2 "manipulator"&>& +3 "core" &- J +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(?(K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" &K _ ] C\ +405 #t-> startTube 2 +56 "Can"! 2CC +1133 #t-> $da[:extractVol]=.2 +14521 #-> startTube 2 +4681 #-> shortDA; samplePassF; PS.flush +2 "collection"'A% +3 "processing"%B% +3 "core" %j  \ +5 %\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +108 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%C +44 "core" +2 .tPTV.dial :PRVmixing + "processing"%D  +72 "core" +2 .tPRV.dial :sipper + "processing"%E  +125 "core"  +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%F'e +2299 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%G  +2 "collection"'H  +7 "core"  +118 +3 .tPS.seek 0.5ml + "processing"%I' +1271 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%J @ +98 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%K'ؾ +587 "core" ' +2 .tPSV.dial PSR +2 "processing"%L +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%M'X\\ +1104 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%N' +1609 "core" ' +2 .tPSV.dial :mixloop + "processing"%O +102 "core" +2 .tPS.seek 0ml +2 "processing"%P'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%Q +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%R'X\\ +1105 "core" ' + .tPSR.select :air +2 "processing"% +51 .tPS.seek 2.5ml +2 "processing"%S' +1609 "core" ' +2 .tPSV.dial :mixloop + "processing"%T +113 "core" +2 .tPRV.dial :sipper + "processing"%U  +42 "core" +3 .tPS.seek 0ml + "processing"%V'ؾ +2638 "core" ' +2 .tPSV.dial PSR +2 "processing"%W +98 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%X' +2636 "core" ' +2 .tPSV.dial :mixloop + "processing"%Y +100 "core" +3 .tPS.seek 0ml + "processing"%Z'ؾ +2634 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%[& +4 "core" &\ +2 .tHand.open + "manipulator"&\\1 +24 "core" 1 +2 "manipulator"&]% +4 "core" %  \ c +2 "storage"(^% +3 "core" % q \  +2 "storage"(_. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(`(  +1299 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +2 "core" & g \\\ +3 "manipulator"&b& +4 "core" &- J +2 "manipulator"&c% +3 "core" %   \ c +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&d( +170 "core" ( +2 "manipulator"&e& +3 "core" & / +2 "storage"(f& +4 "core" & n v 2\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&g'S +98 "core" ' + "storage"(h& +4 "core" & Z f /\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +295 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" & H P 8\ +2 "manipulator"&l& +4 "core" &  . +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&n& +3 "core" &  0 . +2 "storage"(o& +3 "core" & Z T Y\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&p'Ͻ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +3 "storage"(s' +7 "core" &  ( . +2 "manipulator"&t% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&u' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&w& +3 "core" &  5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +2 "core" & ( 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&y' +98 "core" ' +2 "manipulator"&z& +4 "core" &  \  4 +2 "manipulator"&{% +3 "core" %  +3 "processing"%|& +4 "core" &\ +2 "processing"%}& +5 "core" &\ +2 .tPC.seek :closed + "processing"%~(^ +5 "core" &\  +9 &5w\ *y +9 &e{\ > +9 &j\ M +10 &GO\ M +9 & Q\ M +9 &Q\ M +10 &Q\ M +9 &PQ\ M +10 &Q\ M +9 &Q\ M +9 & Q\ M +10 &"XQ\ M +9 &$Q\ M +9 &%Q\ M +10 &'Q\ M +9 &)_Q\ M +10 &+"Q\ M +9 &,Q\ M +9 &.Q\ M +10 &0gQ\ M +9 &2)Q9\ M +9 &3Q\ M +10 &5Q\ M +9 &7oQ\ M +10 &92S\ M +9 &:R\ M +9 &<Q\ M +10 &>wS\ M +9 &@9Q\ M +9 &A[\ N +10 &Cl\ P +9 &Esx\ Q +10 &G/\ S +9 &H\ S +9 &J\ T +10 &Ls\ T +9 &N3\ U +9 &O\ T +10 &Q\ U +9 &Sx\ U +10 &U9\ U +9 &V\ U +9 &X\ T +10 &Z\ U +9 &\\A\ U +9 &]{u\ 7 +10 &^,\ U +9 &^"\ 1 +2 ( +2 "processing"%}& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +3 "core" %    \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %9 +3 "core" 9 +104 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9  +103 "processing"% 9 +3 "core" 9  +102 "processing"% 9 +3 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +103 "processing"%9 +44 "core" 9$ +103 "processing"%9 +3 "core" 9( +102 "processing"%9 +3 "core" 9, +102 "processing"%9 +3 "core" 90 +102 "processing"%9 +3 "core" 95 +102 "processing"%9 +3 "core" 99 +103 "processing"%9 +2 "core" 9= +103 "processing"%9 +2 "core" 9A +103 "processing"%9 +2 "core" 9E +103 "processing"%9 +3 "core" 9J +103 "processing"%9 +2 "core" 9N +103 "processing"%9 +2 "core" 9R +103 "processing"%9 +2 "core" 9V +103 "processing"% 9 +2 "core" 9[ +103 "processing"%!9 +2 "core" 9_ +103 "processing"%#9 +2 "core" 9c +103 "processing"%"9 +2 "core" 9g +102 "processing"%$9 +3 "core" 9k\ +103 "processing"%%9 +2 "core" 9p\ +102 "processing"%&9 +4 "core" 9t\ +102 "processing"%'9 +3 "core" 9x +102 "processing"%(9 +3 "core" 9 | +3 .tPH.hold 2:00:00,28C +3 "processing"%) php +2 .tdelay 1:30 +5 "core" } +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%* +100 "core"  + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%+' +593 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%,' +488 "Can" ?DfC +1126 "core" ' + .tPTV.dial :puck +2 "processing"%-  +128 "core"  +2 .tPSV.dial PTV + "processing"%. +72 "core" +2 .tPBV.dial :waste1 + "processing"%/  +52 "core" + "processing"%0% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%1') +599 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%2 * +33 "core" , +3 .tPS.seek 0ml + "processing"%3'ؾ +1626 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%4  +15 "core"  +2 .tPBV.dial :waste1 + "processing"%5  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%6 * +32 "core" * +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%8' +2408 "core" ' +2 .tPSV.dial PTV + "processing"%9 +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%: +71 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV +2 "processing"%; +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%<  +84 "core"  +3 .tPS.seek 0ml + "processing"%='ؾ +2364 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%>  +129 "core" +2 .tPSV.dial :mixloop + "processing"%@ +43 "core" + .tPRV.dial :ab1 +2 "processing"% @ +98 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%A' +371 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'B  + "processing"%C  +4 "core"  +40  + "processing"%D% +4 "core" %\ +2 .tPS.seek 0.35ml +2 "processing"%E'h +455 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +30 "core" + .tPRV.dial :air +2 "processing"%H  +40 "core"  +2 .tPS.seek 0.9ml + "processing"%G'K +1165 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%F @ +82 "core" A +3 .tPS.seek 0.5ml +2 "processing"%J' +873 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%I  +42 "core"  +3 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%L' +1605 "core" ' +2 .tPSV.dial :PML +2 "processing"%K +43 "core" +2 .tPTV.dial :mixing +2 "processing"%M @ +73 "core" B + .tPBV.dial :waste1 +2 "processing"%O  +33 "core" + "processing"%N% +4 "core" %\  +2 .tPS.seek 1.85ml + "processing"%Q' +229 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%P * +32 "core" + +3 .tPS.seek 0ml + "processing"%R'ؾ +1967 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'T& +3 "core" & J\ +2 "manipulator"&U& +3 "core" &  4 +2 "manipulator"&S% +4 "core" %  \ Y  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&W(- +125 "core" ( +2 "manipulator"&V& +4 "core" &-    \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &-  E \ +2 .tForearm.seek :garage +2 "manipulator"&X'w +136 "core" ' +3 .tHand.close + "manipulator"&[/ +54 "core" / +2 "manipulator"&\\& +3 "core" &-    \ +2 "manipulator"&]% +4 "core" % υ  +3 .tForearm.seek :retract + "manipulator"&^' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&_(ӂ +272 "core" ( +2 "manipulator"&?& +3 "core" &{&    ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &{&  [ ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'? +91 "core" ' + "manipulator"&c& +5 "core" &Ӊ% \  ) =F + "manipulator"&e% +5 "core" %>  ; +2 "collection"'f& +4 "core" & M\ +2 "collection"'h& +5 "core" & O\ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & \ +8 &B (\ %g +9 &Yx (\ 8 +9 &s H\ L +10 &R =\ L +9 &S !\ M +10 &HT %\ L +9 & T #\ L +9 &P G\ L +10 &S \ M +9 &OR %\ L +9 & O !\ L +10 &!T F\ L +9 &#T J\ L +10 &%XO $\ L +9 &'S %\ L +9 &(P  \ L +10 &*T \ L +9 &,_T &\ L +9 &.!T \ L +10 &/R 5\ L +9 &1P \ L +10 &3fT .\ M +9 &5)T "\ L +9 &6S 3\ L +10 &8T 5\ M +9 &:nT U\ M +9 &<1T L\ L +10 &=U N\ L +9 &?U M\ L +10 &AwW I\ L +9 &C5_ J\ N +9 &Dr &\ O +10 &F\ \ V\ T +9 &H]\ \ '\ X +9 &J\ \ *\ Y +10 &K\ \ 3\ Y +9 &M\ \ K\ Z +10 &Oa\ \ \ Y +9 &Q"\ \ ,\ Z +9 &R\ \ R\ Z +10 &T\ \ K\ [ +9 &Vb\ \ (\ \\ +9 &X"\ \ S\ \\ +10 &Y\ \ I\ ] +9 &[\ \ K\ K +10 &\\2\ \ D\ 3 +9 &\\w\ \ &\ P +2 ( +2 "collection"'h& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.42 + "collection"'& +4 "core" &\\u\ \ Q\ P +2 .tHand.open + "manipulator"&j1 +55 "core" 1 +2 "manipulator"&k% +4 "core" % >   . ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +102 "core" ' + .tPSV.dial PSR +2 "processing"%n +101 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%o'+ +1618 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%q  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%r'ؾ +1613 "core" ' +2 .tPSV.dial PSR + "processing"%t +44 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%d' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%g  + "collection"'i  +30 "core"  +31 "Can"\ jͶDC% +95 "core"  +2 .tPSV.dial :mixloop +2 "processing"%p +110 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'w +3 "core"  +2 "collection"'x +3 "core"  +2 "collection"'m  +4 "core"  +2 .tPTV.dial :PRVmixing +2 "processing"%z  +72 "core" +2 .tPS.seek 0ml +2 "processing"%{'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%|  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%s' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%u +44 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +2637 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2640 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%}'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" &Ӫ   9% +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&y(ӂ +38 "core" ( + "manipulator"&& +4 "core" &w!    :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &w  \ E :. +2 .tForearm.seek CC +2 "manipulator"& '? +101 "core" ' +2 .tHand.close + "manipulator"& / +64 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "manipulator"&& +4 "core" &ӵ   2 + "manipulator"&% +4 "core" % <   # @ +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +285 "core" ( + "manipulator"&& +40 "core" &-   W +9 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &-  W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +91 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +3 "core" % }   N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."da"delayUntil "14:21:22.96" +24683 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2385 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%! +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%#  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"%" +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%$  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%%'ؾ +2368 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +3 .PSV.dial PSR + "processing"%& +129 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%'' +586 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%(' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%*  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%Z +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%+  +33 "core"  + "processing"%-% +4 "core" %$\ +2 ."da"PS.seek 1.5ml +2 "processing"%.'0 +611 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%/ * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%0'ؾ +1608 "core" ' +2 ."da"delay 2:00 +5811 "Can" =MEC) +6192 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%,  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%2  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%1 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%4' +2385 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%5 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%6 +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%7 +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%3  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +2327 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%: +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%;' +596 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%<' +1619 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%8  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%> +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%@  +34 "core" +2 "processing"%% +3 "core" %)\  +3 ."da"PS.seek 1.5ml +2 "processing"%='1 +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%B * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%C'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%D  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%A  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%H +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%E' +2389 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%F +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%G +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%I +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%J  +72 "core"  +2 ."da"PS.seek 0ml +39 "processing"%K'ؾ +2340 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%M  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%O  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%N  +43 "core"  + ."da"PTV.dial :PRVmixing +2 "processing"%P  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"%L +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%Q' +387 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%T  +41 "core"  +2 "processing"%U% +3 "core" %?\  +3 ."da"PS.seek 0.55ml +2 "processing"%S' +340 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%V  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%Y' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%v +44 "core" + ."da"PTV.dial :mixing +2 "processing"%[ @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%\\  +32 "core" +2 "processing"%]% +3 "core" %2\  +3 ."da"PS.seek 1.85ml +2 "processing"%' +239 "core" ' + ."da"PBV.dial between PSV and waste1 +3 "processing"%X * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%?'ؾ +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +10281 "Can"\ IҺF(C +37722 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%a  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%W * +33 "core" + + ."da"PSV.dial :air +2 "processing"%c  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%e' +2388 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%f +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%^  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%\ +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%j'ؾ +2333 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%k +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%h' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%n' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%b  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%R +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%q  +32 "core" +2 "processing"%o% +4 "core" %*\  +2 ."da"PS.seek 1.5ml + "processing"%t'' +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%r * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%i'ؾ +1608 "core" ' +2 ."da"delay 2:00 +8029 "Can" =FC +3974 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%g  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%p  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%w * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%x +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%m' +2383 "core" ' +2 ."da"PSV.dial PTV + "processing"%z +85 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%d +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%| +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%{  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%u'ؾ +2348 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%s +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"% ' +1616 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%% +4 "core" %E\  +2 ."da"PS.seek 1.5ml +2 "processing"%', +598 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +31 "core" + +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1606 "core" ' + ."da"delay 2:00 +12011 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%_  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%l * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2395 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%y  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2349 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %B\  +2 ."da"PS.seek 1.5ml +2 "processing"%', +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%!  +33 "core" + ."da"delay 30 seconds +1427 "Can" =wGTC +1576 ."da"PBV.dial between PSV and waste1 +3 "processing"%# * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%" +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%$' +2392 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%& +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%'  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%*'ؾ +2329 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%Z +145 "core" +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +9 "processing"% +16 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%+' +332 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%-' +329 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%(' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%/ +84 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%.  +34 "core" + "processing"%,% +4 "core" %?\  +2 ."da"PS.seek 1.5ml +2 "processing"%2'( +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%1 * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1618 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%0  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%5 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%6 +69 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%7' +2440 "core" ' +2 ."da"PSV.dial PTV + "processing"%3 +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%4 +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%: +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%9  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +2388 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +130 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%>' +2116 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +43 "processing"%@ +80 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%<% +4 "core" %@\  +2 ."da"PS.seek 1.5ml +2 "processing"%B'& +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +33 "core" * +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%D  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +1606 "core" ' +2 "processing"%9 +3 "core" 9l5e +2 #"da"Processing Puck Heater at 28.1C before imaging +2 .PH.coast + "processing"%H +3 %C& +2 "core" 5e +4 &^!H\ 1 + #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&F% +4 "core" %  w +2 "storage"(G% +4 "core" % \  + "storage"(I. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(J(C +355 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (E& +3 "core" &E 7 ? 9\ +2 "manipulator"&M& +4 "core" &-  V +2 "manipulator"&O% +4 "core" %    w +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&N( +185 "core" ( + "manipulator"&P& +5 "core" &  v  + "storage"(L& +4 "core" &F \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&K' +91 "core" ' +2 "storage"(T& +3 "core" &F )\ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(U'r +275 "core" ' +2 "storage"(Q- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place + "storage"(V'1 +45 "core" ' +2 "manipulator"&S& +4 "core" &  +2 "manipulator"&v% +4 "core" % { +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&[' +93 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&\\( +242 "core" ( + "manipulator"&]& +3 "core" &  B K +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +3 "core" &  H K +2 ."da"Forearm.seek PC +2 "manipulator"&Y' +96 "core" ' +2 ."da"Hand.close +2 "manipulator"&/ +54 "core" / +2 ."da"PC.seek :open +2 "processing"%a( +456 "core" ( +2 "storage"(W& +3 "core" &F L\ +2 "manipulator"&c& +4 "core" & K +2 "manipulator"&?% +4 "core" %   N +2 ."da"Forearm.seek :retract +2 "manipulator"&f' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +3 "manipulator"&^( +245 "core" ( + "manipulator"&\ & +4 "core" &   e +2 "storage"(& +4 "core" &F N N ;\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&e' +91 "core" ' + ."da"Hand.open +2 "manipulator"&k1 +56 "core" 1 +3 "storage"(j- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(h' +37 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(b' +54 "core" ' + #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +5 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1215h.tif +4 "processing"%R& +8 "core" &\ +5 "manipulator"&q& +6 "core" &   ( e +2 "manipulator"&o% +52 "core" % j +9 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&n' +93 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&r(- +174 "core" ( + "manipulator"&t& +4 "core" &-  z z +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &-   z +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&p'w +95 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&w/ +59 "core" / + "manipulator"&x& +5 "core" &-  \  z + "manipulator"&i% +4 "core" % ϊ   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&z' +99 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&d( +136 "core" ( +2 "manipulator"&|& +3 "core" &   1 \ +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +3 "core" &   b \ +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&m' +97 "core" ' +2 "manipulator"&s& +3 "core" &    \ +2 "manipulator"&u% +4 "core" %  +2 "processing"%& +4 "core" &\ m +3 "processing"%& +4 "core" &\ m +3 ."psFlush"PC.seek :closed + "processing"%(^ +5 "core" &\ m +9 &2s\ f*y +10 &bu\ e> +9 &je\ fO +9 &*F\ hO +10 &I1\ qO +9 &I*\ N +9 &uI5\ N +10 &7IE\ N +9 &J9\ N +9 &Ks\ M +10 & }L\ N +9 &"?N[\ N +10 &$N\ N +9 &%J\ N +9 &'J\ N +10 &)DI\ mO +9 &+G\ kN +10 &,I\ kO +9 &.Hw\ jN +9 &0KIu\ jO +10 &2Gt\ jO +9 &3Fu\ jO +9 &5Hr\ iO +10 &7SIl\ iO +9 &9Iq\ iO +9 &:Hj\ iO +10 &<Hs\ iO +9 &>[Ig\ hO +10 &@KR\ hO +9 &AO[\ gP +9 &CW[\ gQ +10 &EYac\ fR +9 &Gr`\ S +9 &HV\ U +10 &JC\ U +9 &LYX\ U +10 &N[\ V +9 &O\\\ U +9 &QW\ V +10 &S]Q\ W +9 &UK\ W +9 &VG\ W +10 &XK\ iW +9 &ZaG\ fX +10 &\\#@\ fX +9 &]tK\ g9 +9 &^.v@\ fU +10 &^!0\ k3 +2 ( +2 "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.76 + "processing"%& +3 "core" &^ 2\ j3 +2 ."psFlush"Hand.open +2 "manipulator"& 1 +57 "core" 1 +3 "manipulator"& % +3 "core" %   +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +100 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%_ +43 "core" + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%l' +402 #"da"SX HX9/16 (USB:35): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 17.321 seconds\ /var/log/esp/da23sep1215h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1215h15s.tif +192 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +860 #"da"SX HX9/16 (USB:35): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1215h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1215h20s.tif +1255 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +189 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +133 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +103 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +265 #"da"SX HX9/16 (USB:35): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1215h20s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF + ."Qmail"DAfans.email "17.321 sec auto-exposure",Subject: "da23sep1215h images!" +5 "storage"(y- +3 "core" -' +2 "storage"(& +13 "core" &F +\ +6 "manipulator"&& +15 "core" &  \ +2 "manipulator"&% +4 "core" %   !  +5 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +245 "core" ( +3 "manipulator"&& +6 "core" &   8 +2 "storage"(& +4 "core" &F % %\ +2 ."da"Forearm.reconfigure :tight +11 "manipulator"&#Q@2^d^\ b +8 ."da"Forearm.seek 1 + 450 counts +6 "manipulator"&' +94 "core" ' +5 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +5 "storage"('" +58 "core" ' +5 "manipulator"&& +11 "core" & v 8 +5 "storage"(& +9 "core" &F   P\ +3 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +5 "manipulator"&!'8 +18 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&#, +6 "core" , +4 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +7 ."da"SE.reconfigure :default +4 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"("' +37 "core" ' +4 "manipulator"&}% +7 "core" %H  +6 "storage"( & +8 "core" &F   \ +4 ."da"Forearm.force -20 +4 "manipulator"&5 +4 ."da"Forearm.seek 1 + 316 counts +3 "manipulator"&&'t +18 "core" ' +4 "manipulator"&%& +6 "core" &  8 +4 "storage"('& +8 "core" &F B C \ +4 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&$' +22 "core" ' +6 "storage"(Z% +9 "core" % F C\ +5 ."downElevator"SE.seek :down +6 "storage"(*' +99 (+% +6 "core" % A\ (\ ( G\ TZ +5 "manipulator"&-% +6 "core" %   +6 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +5 "manipulator"&/' +92 "core" ' +42 ' +3 ."downElevator"SE.stop + "storage"(5 +6 (.& +6 "core" &F 4 6\ +1252 ' +3 ."psFlush"PSR.select :air +7 .PSV.dial PSR +6 "processing"%, +104 "core"  +3 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +3 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +3 "processing"%(' +576 #"uploadLog"upsync +15 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +53 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%1' +2138 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%2  +32 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%0 @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%5 +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%6'ؠ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 1ml +2 "processing"%3'X\\ +1097 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%4' +1615 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%: +84 "core"  + ."psFlush"PTV.dial :puck +3 "processing"%9  +69 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%7  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%8'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%; +70 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +40 "processing"%@' +601 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%< +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%> U +52 "core" W +2 ."psFlush"PS.seek 0ml +3 "processing"%='ؾ +2639 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%D @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%B' +482 "Can" ?ܳGC+ +2157 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%H'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%C +41 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%F' +2630 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%G +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%I U +15 "core" T +2 ."psFlush"PS.seek 0ml +3 "processing"%`'ؾ +2637 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%E @ +43 "core" > +3 ."psFlush"PS.seek 2.5ml +2 "processing"%M' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%O  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%P'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%L +42 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%T'X\\ +1107 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%Q  +4 "core"  + ."psFlush"PBV.dial :waste1 +3 "processing"%S  +49 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%v'ؾ +2640 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%U +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%K' +593 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%]' +2115 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%X +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%N U +52 "core" W +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%[ @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +3 "processing"%~' +2637 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%W  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%c'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%? +42 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%Y' +2630 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%\ +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%\\'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%k @ +54 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%j' +2638 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%R  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%q'ؾ +2674 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&o& +3 "core" & \  8 +2 "manipulator"&f% +4 "core" %  \ n  +3 ."psFlush"Elbow.seek PC + "manipulator"&V( +247 "core" ( +2 "manipulator"&h& +4 "core" &  i L + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +3 "core" &  L +2 ."psFlush"Forearm.seek PC +2 "manipulator"&g' +94 "core" ' +2 ."psFlush"Hand.close + "manipulator"&e/ +63 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%^( +455 "core" ( +2 "manipulator"&w& +3 "core" &   L +2 "manipulator"&x% +4 "core" %   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&i' +97 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&n(- +126 "core" ( +2 "manipulator"&|& +3 "core" &- +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&p'w +102 "core" ' +2 ."psFlush"Hand.open + "manipulator"&s1 +63 "core" 1 + "manipulator"&u% +3 "core" % x   +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'r& +3 "core" & \ +2 "manipulator"&z& +4 "core" &- +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&a(- +19 "core" ( +2 "manipulator"&& +3 "core" &-  _ j +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &- d j +2 .tForearm.seek :garage +2 "manipulator"& 'w +91 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / + "manipulator"&_& +4 "core" &-  # j +2 "manipulator"&m% +4 "core" % j  r  +2 .tForearm.seek :retract +2 "manipulator"&A' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +277 "core" ( +2 "manipulator"& & +3 "core" &x)   @ Ab +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &x)  _ Ab +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '? +94 "core" ' + "manipulator"&y& +4 "core" &ӛ#    <? +2 "manipulator"&% +3 "core" %O  ) +3 "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'(\\ +4 "core" & \ +5 & \ < +10 &TKv \ 2 +9 &x{ \ F +10 &?X \ M +9 &R \ L +9 &S \ L +10 &U \ L +9 &JU \ L +9 & R \ L +10 &T \ L +9 &T \ L +10 &!ST \ K +9 &#T \ L +9 &$S \ L +10 &&W \ L +9 &(ZT \ L +9 &*T \ L +10 &+V \ L +9 &-R \ L +10 &/aW \ L +9 &1$R \ L +9 &2R \ L +10 &4T \ L +9 &6iU \ L +9 &8,U \ L +10 &9U \ L +9 &;T \ K +10 &=qT \ L +9 &?3T \ L +9 &@U\ \ L +10 &B] \ M +9 &Dpm\ \ \ O +9 &F*\ \ \ R +10 &G\ \ \ W +9 &I\ \ \ X +10 &K\\\ \ \ Y +9 &M\ \ \ \ Y +9 &N\ \ \ Y +10 &P\ \ \ Z +9 &R`\ \ \ \ \ Z +9 &T\ \ \ \ [\ +10 &U\ \ \ \\ +9 &W\ \ \ \\ +10 &Y_\ \ \ ] +9 &[!\ \ \ ] +9 &\\qE\ \ \ 3 +10 &\\\ \ \ Q +5 ( +2 "collection"'& +3 "core" &\\l\ \ \ Q +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.34 + "collection"'& +4 "core" &\\l\ \ \ Q +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&d% +3 "core" % O  ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +41 "core" +46 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%'+ +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%}  +43 "core"  +2 .tPS.seek 0ml +2 "processing"% 'ؾ +1612 "core" ' + .tPSV.dial PSR +2 "processing"%% +42 "core" +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%'' +2642 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%b  +2 "collection"'Z  +6 "core"  +93  + .tPSV.dial :PTV,via: :air +2 "processing"% +189 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%+ @ +69 "core" @ +2 .tPS.seek 0ml +2 "processing"%-'ؾ +2627 "core" ' +2 .tPSV.dial :air + "processing"%  +74 "core"  +2 .tPS.seek 2.5ml +2 "processing"%!' +2635 "core" ' + .tPSV.dial :PTV +2 "processing"%& +73 "core" ~ +3 .tPS.seek 0ml + "processing"%.'ؾ +1671 "Can"\ PHC# +964 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&"& +3 "core" &ӧ!   ;3 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&$(ӂ +17 "core" ( +2 "manipulator"&*& +4 "core" &Ӊ  H / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &Ӊ  / +3 .tForearm.seek CC + "manipulator"&'? +101 "core" ' +2 .tHand.close + "manipulator"&(/ +57 "core" / +2 .tCC.seek :open + "collection"'2( +449 "core" ( + "manipulator"&0& +4 "core" &ӛ  , +2 "manipulator"&5% +4 "core" %  \  +2 .tForearm.seek :retract + "manipulator"&1' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +282 "core" ( + "manipulator"&6& +4 "core" &-  ! J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &-  F J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&:'w +99 "core" ' +2 .tHand.open +2 "manipulator"&91 +57 "core" 1 +2 "manipulator"&7% +3 "core" % ~   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +91 "core" ' +2 #tFlushing Processing stage + "processing"%;% +4 "core" %عJ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%8& +4 "core" &K\ +2 "manipulator"&@& +4 "core" &- l J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&<(- +3 "core" ( + "manipulator"&>& +3 "core" &-  c J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &-   J +3 .tForearm.seek :garage +2 "manipulator"&D'w +93 "core" ' + .tHand.close +2 "manipulator"&=/ +61 "core" / + "manipulator"&& +4 "core" &-  5 J +2 "manipulator"&B% +4 "core" % {    +2 .tForearm.seek :retract +2 "manipulator"&C' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&H( +118 "core" ( + "manipulator"&G& +3 "core" &   i % +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &  [ % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&F' +99 "core" ' +2 "manipulator"&E& +3 "core" &  3 % +2 "manipulator"&`% +3 "core" %  H +3 "processing"%O& +3 "core" &(\ +3 "processing"%M& +5 "core" &)\ +2 .tPC.seek :closed +2 "processing"%L(^ +3 "core" &,\ +8 &4(\ $d +9 &Xu'\ 7 +9 &r+\ K +10 &J+\ M +9 &sP*\ M +42 &7L)\ L +9 &Q(\ L + &Q)\ L + &|R,\ L + &>N+\ L +3 &N(\ M +9 &!Q#\ M +9 &#Q*\ M +10 &%EQ,\ M +9 &'P,\ M +9 &(P)\ M +10 &*P*\ M +9 &,MQ*\ M +9 &.Q)\ M +10 &/R)\ M +9 &1Q*\ M +10 &3UQ+\ M +9 &5Q'\ M +9 &6Q*\ M +10 &8Q&\ M +9 &:]P(\ M +9 &<Q\ M +10 &=S#\ L +9 &?U\ M +10 &AeT\ M +9 &C$^\ N +9 &Df\ O +10 &Fx\ Q +9 &H[\ S +9 &J\ R +10 &K\ S +9 &M\ T +10 &Oa\ S +9 &Q\ U +9 &R\ T +10 &T\ U +9 &Vf\ T +9 &X)\ T +10 &Y\ U +9 &[\ U +10 &]l\ B +9 &^<m\ &n +9 &^$\ . +2 ( +2 "processing"%M& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 "processing"%P& +3 "core" &^\ . +2 .tHand.open + "manipulator"&T1 +55 "core" 1 +2 "manipulator"&% +3 "core" %  6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q' +94 "core" ' +2 .tPSV.dial PSR + "processing"%S +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1107 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%U' +1613 "core" ' + .tPSV.dial PTV +2 "processing"%v +72 "core" + .tPTV.dial :puck +2 "processing"%K  +72 "core"  + .tPBV.dial :waste1 +2 "processing"%X  +50 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2624 "core" ' + .tPSV.dial PSR +2 "processing"%] +72 "core"  + .tPSR.select :flush +3 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%[' +587 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2119 "core" ' +2 .tPSV.dial PTV +2 "processing"%W +71 "core" +2 .tPBV.dial PSV + "processing"%~ U +53 "core" W +3 .tPS.seek 0ml + "processing"%?'ؾ +2649 "core" ' +2 .tPSV.dial PBV +2 "processing"%c @ +54 "core" @ +2 .tPS.seek 2.5ml +2 "processing"%\ ' +2638 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%  +71 "core"  +3 .tPS.seek 0ml + "processing"%Y'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%k +43 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%\\' +2628 "core" ' + .tPSV.dial PTV +2 "processing"%R +70 "core" +2 .tPBV.dial PSV + "processing"%j U +16 "core" T +2 .tPS.seek 0ml + "processing"%o'ؾ +2655 "core" ' + .tPSV.dial PBV +2 "processing"%f @ +44 "core" ? +2 .tPS.seek 2.5ml + "processing"%h' +2634 "core" ' +2 .tPSV.dial :waste1 + "processing"%t  +70 "core"  +3 .tPS.seek 0ml + "processing"%#'ؾ +2651 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&e& +3 "core" &   % +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&/( +4 "core" ( +2 "manipulator"&& +4 "core" &  \ % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &  % +3 .tForearm.seek PC +2 "manipulator"&x' +91 "core" ' + .tHand.close +2 "manipulator"&|/ +55 "core" / +2 .tPC.seek :open + "processing"%{( +456 "core" ( +2 "manipulator"&g& +3 "core" & g % +2 "manipulator"&V% +4 "core" %   9 +2 .tForearm.seek :retract +2 "manipulator"&s' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&u(- +126 "core" ( +2 "manipulator"&r& +3 "core" &- X +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &- E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&i'w +134 "core" ' +9 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"& % +3 "core" % o    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +91 "core" ' +5189 #t-> access 1 +3 "storage"(% +3 "core" % n o \  +2 "manipulator"&_% +3 "core" %  C  +2 "manipulator"&m& +4 "core" &- 9 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(n(<- +1294 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<, / 5 G\ \ +737 #t-> access 2 +2 "storage"( % +3 "core" % p t \  +2 "manipulator"& % +4 "core" %    +2 "manipulator"&& +4 "core" &- < +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(a(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" &K ? H \ +15616 #t-> startTube 2 +764 #-> $da[:extractVol]=.2 +3698 "Can" 4IC +30584 #t-> shortDA; samplePassF +2 "collection"'% +2 "processing"%% +5 "core" %j \ +5 %ؼ\  +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +209 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%A +130 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +126 "core" +2 .tPRV.dial :sipper + "processing"%  +127 "core"  +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%'e +2296 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%d  + "collection"'  +6 "core"  +120  +3 .tPS.seek 0.5ml + "processing"%' +1281 "core" ' + .tPRV.dial :waste2 + "processing"% @ +99 "core" @ +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%q'ؾ +593 "core" ' + .tPSV.dial PSR +2 "processing"%} +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1098 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%%' +1607 "core" ' +2 .tPSV.dial :mixloop + "processing"% +102 "core" +2 .tPS.seek 0ml +2 "processing"%Z'ؾ +2638 "core" ' +2 .tPSV.dial PSR + "processing"%b +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1111 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +1613 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%+ +101 "core" +2 .tPRV.dial :sipper + "processing"%'  +42 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2628 "core" ' + .tPSV.dial PSR + "processing"%- +102 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%&' +2636 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%! +101 "core" +2 .tPS.seek 0ml +2 "processing"%"'ؾ +2632 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%*& +3 "core" &\ +2 "manipulator"&,% +4 "core" %   +2 "storage"((% +3 "core" % j r B\  +2 "storage"(l. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1299 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  C 9 \ +2 "manipulator"&0& +4 "core" &-  Q +2 "manipulator"&5% +3 "core" %  |  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +170 "core" ( +2 "manipulator"&6& +3 "core" &   ) +2 "storage"(3& +4 "core" &  \\ ] \ \ +40 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&$'S +88 "core" ' +2 "storage"(9& +3 "core" &  w l 2\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +296 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (8& +2 "core" & O E \ +2 "manipulator"&@& +4 "core" &  ) +2 .tElbow.seek 2 +2 "manipulator"&>( +4 "core" ( + "manipulator"&1& +4 "core" &   H ) +2 "storage"(& +4 "core" & ^ J /\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&='Ͻ +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& + "storage"(B' +8 "core" & % ) + "manipulator"&% +4 "core" %  \  T +2 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&I& +4 "core" & L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" & W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&E' +92 "core" ' +2 "manipulator"&`& +3 "core" &   ' +2 "manipulator"&O% +4 "core" %  : B +2 "processing"%<& +4 "core" &\ +2 "processing"%C& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%^(^ +5 "core" &\ +6 &4\ #c +10 &Wx\ 7 +9 &t\ K +10 &N\ L +9 &qQ\ M +9 &3N\ M +10 &P\ M +9 &O\ M +9 &yO\ M +10 &;T\ M +9 &T\ L +9 &!Q\ L +10 &#P\ M +9 &%CO\ M +10 &'O\ M +9 &(T\ M +9 &*T\ M +10 &,JR\ M +10 &.Q\ L +9 &/R\ L +9 &1Q\ L +9 &3TQ\ L +10 &5Q\ L +9 &6Q\ L +9 &8Q\ L +10 &:[Q\ M +9 &<Q\ L +10 &=R\ M +9 &?R\ M +9 &AaU\ M +10 &Cc\ O +9 &Dk\ P +9 &F~\ R +10 &HW\ S +9 &J\ S +9 &K\ T +10 &M\ T +9 &O]\ T +10 &Q{\ U +9 &R\ U +9 &T\ U +10 &Vd\ T +9 &X$\ U +10 &Y\ U +9 &[\ U +9 &]i\ B +10 &^@p\ _ +9 &^2\ 4 +5 ( +2 "processing"%C& +4 "core" &^%\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&P1 +56 "core" 1 + "manipulator"&T% +4 "core" %   s B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +101 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%M h +3 %S9 +6 "core" 9 +102 "processing"%F9 +2 "core" 9 +103 "processing"%.9 +3 "core" 9  +103 "processing"%9 +2 "core" 9  +102 "processing"%v9 +3 "core" 9 +102 "processing"%K9 +3 "core" 9 +102 "processing"%X9 +3 "core" 9 +102 "processing"%U9 +4 "core" 9 +102 "processing"%]9 +3 "core" 9" +102 "processing"%N9 +3 "core" 9& +102 "processing"%[9 +3 "core" 9+ +102 "processing"%W9 +3 "core" 9/ +102 "processing"%~9 +3 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%c9 +3 "core" 9; +102 "processing"%?9 +3 "core" 9@ +102 "processing"%9 +3 "core" 9D +102 "processing"%\ 9 +4 "core" 9H +102 "processing"%k9 +3 "core" 9L +102 "processing"%Y9 +3 "core" 9P +102 "processing"%R9 +3 "core" 9U +102 "processing"%j9 +3 "core" 9Y +102 "processing"%\\9 +3 "core" 9] +103 "processing"%f9 +3 "core" 9a +102 "processing"%o9 +3 "core" 9e +102 "processing"%t9 +3 "core" 9j +102 "processing"%h9 +3 "core" 9n\ +102 "processing"%e9 +4 "core" 9r +102 "processing"%9 +3 "core" 9v\ +102 "processing"%w9 +3 "core" 9{ +141 "processing"%|9 +11 "core" 9) +3 .tPH.hold 2:00:00,28C +3 "processing"%H php +2 .tdelay 1:30 +6 "core"  +131 "Can" ;PIC +8870 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%Q +99 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%L' +594 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml +2 "processing"%g' +1616 "core" ' + .tPTV.dial :puck +2 "processing"%V  +128 "core"  +2 .tPSV.dial PTV + "processing"%r +72 "core" +2 .tPBV.dial :waste1 + "processing"%z  +50 "core"  +2 "processing"%x% +4 "core" %p\  +2 .tPS.seek 1.5ml +2 "processing"%/'. +596 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 .tPS.seek 0ml + "processing"% 'ؾ +1610 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%s  +5 "core"  +2 .tPBV.dial :waste1 +2 "processing"%i  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%_ +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%m' +2384 "core" ' +2 .tPSV.dial PTV + "processing"%J +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"% +73 "core" + .tdelay 5 seconds +503 .PSV.dial :air +2 "processing"%  +70 "core"  +3 .tPS.seek 0ml + "processing"%'ؾ +2349 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%n  +128 "core" + .tPSV.dial :mixloop +2 "processing"%y +43 "core" +2 .tPRV.dial :ab1 +2 "processing"% @ +98 "core" ? +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +399 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'A  +2 "processing"%  +4 "core"  +40  + "processing"%% +3 "core" %U\ \ +3 .tPS.seek 0.35ml +2 "processing"%#'c +455 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +30 "core" + .tPRV.dial :air +2 "processing"%d  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'K +1165 "core" ' + .tPRV.dial :waste2 + "processing"% @ +71 "core" > +2 .tPS.seek 0.5ml +2 "processing"%' +863 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%}  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%q' +1615 "core" ' +2 .tPSV.dial :PML + "processing"% +44 "core" + .tPTV.dial :mixing +2 "processing"% @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%%  +34 "core" +2 "processing"%b% +3 "core" %Q\  +3 .tPS.seek 1.85ml +2 "processing"%Z' +108 "Can" @JBC +123 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * +2 .tPS.seek 0ml +2 "processing"%+'ؾ +1972 "core" ' +2 .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"''& +2 "core" &\ \ \ +3 "manipulator"&& +3 "core" &  8 +2 "manipulator"&-% +4 "core" %  9 X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +116 "core" ( + "manipulator"&!& +4 "core" &-  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &-  ? +2 .tForearm.seek :garage +2 "manipulator"&*'w +95 "core" ' + .tHand.close +2 "manipulator"&,/ +59 "core" / +3 "manipulator"&(& +3 "core" &-   1 +2 "manipulator"&l% +4 "core" % w  +41 .tForearm.seek :retract +9 "manipulator"&a' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +276 "core" ( + "manipulator"&0& +3 "core" &Ӏ'  ?S +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &Ӏ'  ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&6'? +93 "core" ' +2 "manipulator"&3& +4 "core" &Ӏ& # , ?S + "manipulator"&u% +5 "core" %G ,  )  +2 "collection"'9& +4 "core" & \ \ +2 "collection"'p& +5 "core" &\ \ +2 .tCC.seek :closed +3 "collection"';(\\ +4 "core" &\ \ +6 &\ \ \ ; +9 &LKv\ \ \ 1 +9 &v{\ \ \ F +10 &,W\ \ \ M +9 &R\ \ \ L +10 &T\ \ \ M +9 &sR\ \ \ M +9 &6S\ \ \ L +10 &T\ \ \ L +9 &R\ \ \ M +9 &|S \ \ L +10 &!>U\  \ L +9 &#R\ \ \ L +9 &$O\ \ \ L +10 &&R \ L +9 &(FT\ \ \ L +10 &*S\ \ \ L +9 &+T\ \ \ L +9 &-R\ \ \ L +10 &/NR\ \ \ L +9 &1T\ \ \ L +9 &2R\ \ \ L +10 &4U\ \ \ L +9 &6UT \ \ M +10 &8T\ \ \ L +9 &9Q\ \ \ L +9 &;T\ \ \ M +10 &=^T\ \ \ L +9 &? P\ \ \ L +9 &@T\ \ \ M +10 &B\\\ \ \ M +9 &D^j\ \ \ \ O +10 &F\ \ \ R +9 &G\ \ \ W +9 &I\ \ \ X +10 &KJ\ \ \ X +9 &M \ \ \ Z +9 &N\ \ \ Z +10 &P\ \ \ Z +9 &RM\ \ \ Z +10 &T \ \ \ [\ +9 &U\ \ \ \\ +9 &W\ \ \ ] +10 &YK\ \ \ ^ +9 &[\ \ \ ] +9 &\\dJ\ \ \ 6 +10 &\\ \ \ \ Q +5 ( +2 "collection"'p& +3 "core" &\\r\ \ \ Q +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 +2 "collection"'8& +4 "core" &\\p\ \ \ Q +2 .tHand.open + "manipulator"&@1 +57 "core" 1 +2 "manipulator"&1% +4 "core" % G 3  3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tPSV.dial PSR + "processing"% +102 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%:'+ +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 .tPSV.dial PSR +2 "processing"%$ +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%7' +2628 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%=  +2 "collection"'I  +32 "core"  +123  + .tPSV.dial :mixloop +2 "processing"%D +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'>  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%`  +72 "core" +3 .tPS.seek 0ml + "processing"%O'ؾ +2632 "core" ' +2 .tPSV.dial :air +2 "processing"%<  +54 "core"  +2 .tPS.seek 2.5ml +2 "processing"%B' +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"%4 +42 "core" +3 .tPS.seek 0ml + "processing"%{'ؾ +2638 "core" ' +2 .tPSV.dial :air +2 "processing"%P  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%T' +2640 "core" ' +2 .tPSV.dial :mixloop + "processing"%S +44 "core" +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2636 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&F& +3 "core" &ӥ    :. +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&E(ӂ +48 "core" ( +2 "manipulator"&.& +3 "core" &Ӎ ( 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӎ 6 +2 .tForearm.seek CC +2 "manipulator"&v'? +98 "core" ' +2 .tHand.close + "manipulator"&K/ +64 "core" / +2 .tCC.seek :open +2 "collection"'X( +448 "core" ( + "manipulator"&U& +4 "core" &ӱ X 1 +2 "manipulator"&]% +4 "core" % (  F +2 .tForearm.seek :retract + "manipulator"&N' +97 "core" ' +9 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&[(- +287 "core" ( +2 "manipulator"&W& +3 "core" &-  \ # F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &-  F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +92 "core" ' +2 .tHand.open + "manipulator"&c1 +53 "core" 1 +2 "manipulator"&?% +3 "core" % x  ! 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 ."da"delayUntil "15:53:08.47" +24722 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%\ @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%k  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Y * +33 "core" + + ."da"PSV.dial :air +2 "processing"%R  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%j' +2381 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%\\ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%f  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%o +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%t  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%h'ؾ +2349 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%e +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 ."da"delay 5 seconds +171 "Can" >kJC" +331 ."da"PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%w' +1615 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%|  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%Q +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%"  +33 "core" +2 "processing"%L% +3 "core" %E\  +3 ."da"PS.seek 1.5ml +2 "processing"%V'* +601 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%r * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%x  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%g * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%/' +2395 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%M +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%s +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%i +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%_'ؾ +2352 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +138 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%J' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%m% +4 "core" %g\ +2 ."da"PS.seek 1.5ml +2 "processing"%n'& +591 "core" ' +42 ."da"delay 3 seconds +309 .PBV.dial between PSV and waste1 +2 "processing"%y * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1632 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2406 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%d +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%#  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2346 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%}  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%  +42 "core"  +2 ."da"PTV.dial :PRVmixing +2 "processing"%  +4 "core" +2 ."da"PSV.dial :mixloop + "processing"% +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%%' +391 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air +2 "processing"%b  +42 "core"  +2 "processing"%% +3 "core" % P\  +3 ."da"PS.seek 0.55ml +2 "processing"%q' +336 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%Z  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%'' +1566 "core" ' +2 ."da"PSV.dial :PML +2 "processing"% +43 "core" +2 ."da"PTV.dial :mixing + "processing"%- @ +74 "core" B + ."da"PBV.dial :waste1 +2 "processing"%!  +33 "core"  + "processing"%&% +4 "core" %[\  +2 ."da"PS.seek 1.85ml +2 "processing"%,' +238 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%( * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%l'ؾ +1867 "Can" BKnC% +102 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +48003 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%G @ +15 "core" ? +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%* * +33 "core" , +2 ."da"PSV.dial :air +2 "processing"%0  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%5' +2386 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%3  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%u +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%9  +42 "core"  +3 ."da"PS.seek 0ml + "processing"%a'ؾ +2334 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%2 +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%8' +594 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%@' +1616 "core" ' +2 ."da"PTV.dial :puck + "processing"%1  +72 "core"  +2 ."da"PSV.dial PTV +2 "processing"%p +59 "Can"\ L_LC +10 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%6% +4 "core" %V\  +2 ."da"PS.seek 1.5ml +2 "processing"%+'/ +607 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +74 "core" + +9 ."da"PS.seek 0ml +2 "processing"%:'ؾ +1612 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%$  +16 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%I * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%D' +2383 "core" ' + ."da"PSV.dial PTV +2 "processing"%> +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%` +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%7 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%<  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +2350 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%4 +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%B' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%P' +1607 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%{  +4 "core"  + ."da"PSV.dial PTV +2 "processing"%S +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%T  +32 "core" +2 "processing"%F% +3 "core" %Z\  +3 ."da"PS.seek 1.5ml +2 "processing"%.'+ +595 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%K'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%; * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%U +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%]' +2390 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%v +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%W +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%E +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%~  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%c'ؾ +2343 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%? +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%N' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' + ."da"PTV.dial :puck +2 "processing"%\  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%k +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%Y  +33 "core" + "processing"%R% +4 "core" %r\  +2 ."da"PS.seek 1.5ml +2 "processing"%C'( +599 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%\\ * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%f'ؾ +1607 "core" ' + ."da"delay 2:00 +2773 "Can"\ oLC +9230 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%o  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%t  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%j * +82 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%e +71 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%h' +2386 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%| +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%Q +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%"  +71 "core"  +3 ."da"PS.seek 0ml +2 "processing"%L'ؾ +2336 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%w +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +5 "processing"% +14 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +5 "processing"%r' +343 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%V' +327 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%x' +1619 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%g  +7 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%z  +34 "core" + "processing"%M% +4 "core" %a\  +2 ."da"PS.seek 1.5ml +2 "processing"%s') +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%i * +34 "core" , +2 ."da"PS.seek 0ml +3 "processing"%'ؾ +1633 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%/  +5 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%_ * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%J +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"% ' +2435 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%m +74 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%y  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%n'ؾ +2404 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +130 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%A' +2125 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +3 "core" %`\  +3 ."da"PS.seek 1.5ml +2 "processing"%d'. +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%# * +34 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"%)'ؾ +1612 "core" ' +2 "processing"%9 +3 "core" 9i5k +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%} +3 "core" 5k +2 "processing"%& +4 "core" &^%q\ 4 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %   +2 "storage"( % +3 "core" % S\  +2 "storage"( . +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(b(C +358 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &D M\ +47 "manipulator"&%& +10 "core" &- F +2 "manipulator"&Z% +4 "core" %   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&q( +173 "core" ( + "manipulator"&& +4 "core" &  M 2 +2 "storage"(-& +3 "core" &E n\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&!' +91 "core" ' +2 "storage"(&& +3 "core" &E \ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak +2 "storage"(('r +275 "core" ' + "storage"('- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(,'1 +43 "core" ' +2 "manipulator"&G& +4 "core" & 2 +2 "manipulator"&% +4 "core" % +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&0( +243 "core" ( +2 "manipulator"&l& +4 "core" &  &  + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  b  +3 ."da"Forearm.seek PC +2 "manipulator"&3' +91 "core" ' + ."da"Hand.close +2 "manipulator"&u/ +58 "core" / +2 ."da"PC.seek :open +2 "processing"%9( +459 "core" ( + "storage"(5& +4 "core" &E n\ +2 "manipulator"&2& +3 "core" &  +2 "manipulator"&a% +4 "core" %   < +2 ."da"Forearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&1( +248 "core" ( + "manipulator"&p& +4 "core" &  I F +2 "storage"(& +3 "core" &E ~\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&6' +106 "core" ' +2 ."da"Hand.open + "manipulator"&@1 +63 "core" 1 +2 "storage"(- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate + "storage"(+' +27 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"($' +53 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1216h.tif +4 "processing"%& +9 "core" &,\ s +5 "manipulator"&I& +9 "core" & F +2 "manipulator"&=% +7 "core" % \ & 6 +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&:' +114 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&>(- +179 "core" ( +2 "manipulator"&`& +3 "core" &- M A +3 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &- A +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&<'w +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"&D/ +61 "core" / +2 "manipulator"&4& +3 "core" &-   A +2 "manipulator"&O% +4 "core" % {  5 +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&B' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&{( +115 "core" ( +2 "manipulator"&S& +3 "core" &   : +2 ."psFlush"Elbow.reconfigure :loose +61 "manipulator"&$ &.,(#b +3 &T& +2 "core" & \ : +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&F' +91 "core" ' +2 "manipulator"&P& +3 "core" &  X 9 +3 "manipulator"&% +3 "core" %   +3 "processing"%.& +4 "core" &\ q +2 "processing"%& +5 "core" &\ q +2 ."psFlush"PC.seek :closed +3 "processing"%(^ +5 "core" &\ q +7 &3\ n$e +10 &Up\ i7 +9 &r\ L +9 &J\ M +10 &`I\ N +9 &#L\ M +9 &M\ M +10 &K\ N +9 &iL\ M +10 &+I\ M +9 &K\ M +9 &!N\ N +10 &#nI\ vN +9 &%1G@\ qN +9 &&JQ\ oN +10 &(JI\ nO +9 &*uII\ nO +10 &,7I@\ nO +9 &-GA\ nN +9 &/IA\ mN +10 &1}G:\ nO +9 &3@G>\ mN +9 &5I<\ lN +10 &6K,\ lO +9 &8K.\ mN +10 &:HH,\ mN +9 &< K+\ lO +9 &=K \ lO +10 &?N\ kO +9 &AOI#\ lO +9 &CU\ O +10 &D_\ P +9 &Fs\ S +10 &HF\ T +9 &J\ U +9 &KZ\ U +10 &Ma\ U +9 &OK|\ U +9 &Q v\ V +10 &R~\ V +9 &Tf\ kW +9 &VOq\ jW +10 &X{\ iW +9 &Y}\ iW +10 &[~\ iW +9 &]U8\ hG +9 &^{Akz\ k(v +10 &^+v\ n0 +5 ( +2 "processing"%& +3 "core" &^j\ n0 +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.77 +2 "processing"%;& +4 "core" &^m\ n0 + ."psFlush"Hand.open +2 "manipulator"&U1 +61 "core" 1 +2 "manipulator"&K% +4 "core" %  \ +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&v' +92 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%W +43 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%E' +344 #"da"SX HX9/16 (USB:36): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 16.658 seconds\ /var/log/esp/da23sep1216h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1216h15s.tif +241 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%~' +805 #"da"SX HX9/16 (USB:36): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1216h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1216h20s.tif +1306 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%] @ +187 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%?  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%c +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%N'ؠ +227 #"da"SX HX9/16 (USB:36): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1216h20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "16.658 sec auto-exposure",Subject: "da23sep1216h images!" +6 "storage"(\ - +12 "core" -' +8 "storage"(k& +7 "core" &E ' &\ +2 "manipulator"&Y& +3 "core" &  ^ 9 +2 "manipulator"&R% +4 "core" %   i  +3 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."da"Elbow.seek 1 +2 "manipulator"&( +263 "core" ( +2 "manipulator"&\\& +5 "core" & G +2 "storage"(C& +3 "core" &E   \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&o' +106 "core" ' +4 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.51 Pucks below Top Plate +5 "storage"(t'" +50 "core" ' +3 "manipulator"&j& +6 "core" & +4 "storage"(e& +6 "core" &E 2 $ \ +6 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +127 ."da"Forearm.seek 1 +2 "manipulator"&f'8 +33 "core" ' +2 ."da"Elbow.hold +4 "manipulator"&, +7 "core" , +7 ."da"Elbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +8 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(|' +21 "core" ' +4 "manipulator"&Q% +6 "core" %C  +4 "storage"("& +9 "core" &E   j\ +3 ."da"Forearm.force -20 +4 "manipulator"&5 +5 ."da"Forearm.seek 1 + 311 counts +4 "manipulator"&h'o +27 "core" ' +4 "manipulator"&w& +6 "core" & v +4 "storage"(L& +8 "core" &E B C \ +5 ."da"Forearm.reconfigure :tight +8 "manipulator"&#Q@2^d^\ b +10 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&r' +28 "core" ' +4 "storage"(V% +7 "core" % C D \ +5 ."downElevator"SE.seek :down +6 "storage"(g' +98 (% +6 "core" %B  ;\ U\\ +4 "manipulator"&z% +8 "core" % +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&M' +90 "core" ' +47 ' +4 ."downElevator"SE.stop + "storage"(5 +6 (x& +6 "core" &E B > \ +1175 ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +4 "processing"%i +102 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +4 "processing"%@ +16 ."psFlush"PS.seek 0.5ml +2 "processing"%s' +482 #"uploadLog"upsync +115 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%/' +2126 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 +2 "processing"%  +33 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%_ @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%J +102 "core" +2 ."psFlush"PS.seek :empty + "processing"%'ؠ +2643 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%m'X\\ +960 "Can" >M0C +151 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%y +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +69 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%  +4 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%n'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +594 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +2116 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +72 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%A U +52 "core" W +3 ."psFlush"PS.seek 0ml +2 "processing"%#'ؾ +2651 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" ? +3 ."psFlush"PS.seek 2.5ml +2 "processing"%d' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%}'ؾ +2625 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +41 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2642 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +6 ."psFlush"PBV.dial PSV +2 "processing"% U +16 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2643 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" ? +3 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%Z  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%- +42 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%&'X\\ +1107 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%[' +1603 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%'  +49 "core" +2 ."psFlush"PS.seek 0ml +3 "processing"%G'ؾ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +590 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%l +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +52 "core" W +3 ."psFlush"PS.seek 0ml +2 "processing"%q'ؾ +2655 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%u @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%*' +2642 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%^  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%5'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%2 +41 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%a' +2630 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%3 +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%p U +15 "core" T +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2648 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%0 @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%@' +2652 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&I& +3 "core" &   +3 "manipulator"&8% +4 "core" %    +2 ."psFlush"Elbow.seek PC + "manipulator"&=( +241 "core" ( +2 "manipulator"&,& +3 "core" &   1 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +2 "core" &  1 +3 ."psFlush"Forearm.seek PC +2 "manipulator"&6' +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"&`/ +54 "core" / +2 ."psFlush"PC.seek :open +3 "processing"%7( +455 "core" ( + "manipulator"&1& +4 "core" & c 1 +2 "manipulator"&D% +3 "core" %  ? +3 ."psFlush"Forearm.seek :retract + "manipulator"&4' +89 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&O(- +127 "core" ( + "manipulator"&:& +4 "core" &- w +42 ."psFlush"Elbow.reconfigure :loose +9 "manipulator"&$ &.,(#b +3 &S& +3 "core" &- b +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage + "manipulator"&T'w +101 "core" ' + ."psFlush"Hand.open +2 "manipulator"&<1 +64 "core" 1 +2 "manipulator"&P% +3 "core" % z \   +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'>& +3 "core" &\ \  \ +2 "manipulator"&.& +4 "core" &- e +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&B(- +16 "core" ( +2 "manipulator"&9& +4 "core" &-  ' ^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &- ` ^ +3 .tForearm.seek :garage +2 "manipulator"&U'w +96 "core" ' + .tHand.close +2 "manipulator"&K/ +53 "core" / +2 "manipulator"&& +4 "core" &- n ^ + "manipulator"&W% +4 "core" % χ { +2 .tForearm.seek :retract +2 "manipulator"&F' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&)(ӂ +278 "core" ( + "manipulator"&E& +4 "core" &Ӏ(  \ 0 @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &Ӏ(  @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&?'? +93 "core" ' + "manipulator"&c& +4 "core" &Ӏ(  e @^ +2 "manipulator"&\ % +4 "core" %C ( 0 +2 "collection"'k& +4 "core" &\ \ #\ +2 "collection"'Y& +5 "core" &\ \ -\ +2 .tCC.seek :closed +2 "collection"'R(\\ +4 "core" &\ \ \ +8 &D\ \ #\ %g +9 &Zy\ \ %\ 8 +10 & t\ \ %\ L +9 &U\ \ %\ L +10 &T\ \ '\ K +9 &QT\ \ '\ K +9 &T\ \ \ L +10 &W\ \ !\ L +9 &V\ \ $\ L +9 &XW\ \  \ L +10 & W\ \ \ L +9 &!W\ \ \ K +10 &#U\ \ \ L +9 &%aV\ \ \ K +9 &'#R\ \ \ K +10 &(T\ \ )\ L +9 &*U\ \ \ L +9 &,hW\ \ \ L +10 &.*W\ \ \ L +9 &/V\ \ \ L +10 &1S\ \ &\ L +9 &3qT\ \ #\ K +9 &52U\ \ )\ L +10 &6Y\ \ %\ L +9 &8T\ \ \ K +9 &:xU\ \ \ L +10 &<:Y\ \ \ L +9 &=R\ \ *\ L +10 &?U\ \ 0\ K +9 &AW\ \ +\ L +9 &C?b\ \ &\ M +10 &Dv\ \ +\ P +9 &F\ \ *\ S +9 &Hf\ \ +\ W +10 &J!\ \ *\ Z +9 &K\ \ +\ Y +10 &M\ \ &\ Y +9 &Og\ \ *\ Z +9 &Q(\ \ +\ Z +10 &R\ \ +\ [ +9 &T\ \ %\ Z +9 &Vi\ \ ,\ \\ +10 &X)\ \ 4\ \\ +9 &Y\ \ 0\ ^ +10 &[\ \ "\ K +9 &\\3\ \ 0\ / +9 &\\{\ \ 1\ S +3 ( + "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.42 +2 "collection"'~& +3 "core" &\\w\ \ 0\ S +2 .tHand.open + "manipulator"&\\1 +55 "core" 1 +2 "manipulator"&C% +4 "core" % C  0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +94 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%j  +42 "core"  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%e'+ +1612 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%v  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%$'ؾ +1104 "Can"\ PHMC +505 "core" ' +2 .tPSV.dial PSR + "processing"%Q +42 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%"' +2640 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%w  +2 "collection"'L  +7 "core" +91  +2 .tPSV.dial :PTV,via: :air +2 "processing"%V +189 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 "collection"'o  +5 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"% @ +70 "core" A +3 .tPS.seek 0ml + "processing"%'ؾ +2629 "core" ' +2 .tPSV.dial :air + "processing"%z  +74 "core"  +2 .tPS.seek 2.5ml +2 "processing"%t' +2641 "core" ' +2 .tPSV.dial :PTV + "processing"%f +85 "core" +2 .tPS.seek 0ml +48 "processing"%h'ؾ +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&x& +4 "core" &Ӧ"  1 ;8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&|(ӂ +43 "core" ( +2 "manipulator"&r& +4 "core" &{  \  :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &{  :, +2 .tForearm.seek CC +2 "manipulator"&i'? +96 "core" ' +2 .tHand.close + "manipulator"&N/ +63 "core" / +2 .tCC.seek :open +2 "collection"'s( +446 "core" ( +2 "manipulator"& & +3 "core" &Ӯ  @ 3 +2 "manipulator"&_% +4 "core" % : +2 .tForearm.seek :retract +2 "manipulator"&J' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&/(- +283 "core" ( +2 "manipulator"& & +3 "core" &- O e +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- ) e +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&m'w +92 "core" ' +2 .tHand.open + "manipulator"&y1 +55 "core" 1 + "manipulator"& % +4 "core" % φ " : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +46909 "Can" 5MN\\C +19850 #t-> access 1 +3 "storage"(% +3 "core" % c o o\  +2 "manipulator"&% +4 "core" %   +2 "manipulator"&n& +4 "core" &- d +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +1295 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<* A E \ +21766 #t-> access 2 +2 "storage"(A% +3 "core" % v v ~\  +2 "manipulator"&% +3 "core" %    +2 "manipulator"&& +4 "core" &- K d +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(#(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K 9 8 $\ +546 #t-> startTube 2 +1278 #-> $da[:extractVol]=.2 +14847 "Can" 5"NC +60002  5OC# +60001  5PC# +60001  5~PC" +60002  5HQJC& +4836 #t-> shortDA; PS.flush +2 "collection"'d% +3 "processing"%% +4 "core" %j\ \ \ +6 %ؼ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +217 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%} +42 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +72 "core" + .tPRV.dial :sipper +2 "processing"%  +126 "core"  +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%'e +2290 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  +125 "core"  +3 .tPS.seek 0.5ml +2 "processing"%' +1272 "core" ' +2 .tPRV.dial :waste2 + "processing"%Z @ +100 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%%'ؾ +591 "core" ' +2 .tPSV.dial PSR +2 "processing"%- +101 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1106 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%&' +1626 "core" ' + .tPSV.dial :mixloop +2 "processing"% +102 "core" +2 .tPS.seek 0ml + "processing"%''ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%[ +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%'X\\ +1109 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%G' +1616 "core" ' +9 .tPSV.dial :mixloop + "processing"%( +101 "core" + .tPRV.dial :sipper +2 "processing"%l  +41 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2639 "core" ' + .tPSV.dial PSR +2 "processing"%! +100 "core" + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%u' +2631 "core" ' +2 .tPSV.dial :mixloop + "processing"%q +102 "core" +2 .tPS.seek 0ml +2 "processing"%^'ؾ +2635 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%*& +3 "core" &\ +2 "manipulator"&2% +5 "core" %  J  + "storage"(5% +4 "core" % j o W\  +2 "storage"(3. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(p(  +1304 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &  > ? 5\ +2 "manipulator"&0& +4 "core" &- \  ) d +2 "manipulator"&% +3 "core" %   g  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +173 "core" ( +2 "manipulator"&@& +3 "core" &   D 6 +3 "storage"(I& +3 "core" &  e ` \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&8'S +90 "core" ' +2 "storage"(,& +3 "core" &  \\ ` (\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +304 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (`& +2 "core" & U B \ +3 "manipulator"&M& +4 "core" & \  / 5 + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&1& +3 "core" &    5 +2 "storage"(D& +4 "core" & Z d\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&:'Ͻ +36 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(=' +6 "core" & \  M 5 +3 "manipulator"&<% +3 "core" %   K +3 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&.& +3 "core" & R . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +2 "core" & . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&9' +103 "core" ' +2 "manipulator"&;& +4 "core" & L . + "manipulator"&T% +4 "core" %  +2 "processing"%K& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%W(^ +4 "core" &\ +8 &;\ $d +10 &Ww\ 7 +9 &w\ L +10 &Q\ M +9 &|Q\ L +9 &>Q\ L +10 &Q\ M +9 &U\ M +9 &P\ M +10 &FR\ L +9 & R\ M +10 &!T\ M +9 &#Q\ M +9 &%MQ\ M +10 &'R\ L +9 &(S\ M +9 &*U\ M +10 &,UU\ M +9 &.Q\ M +10 &/S\ L +9 &1R\ L +9 &3^R\ L +10 &5 R\ L +9 &6R\ L +9 &8S\ M +10 &:eU\ M +9 &<'Q\ M +10 &=S\ M +9 &?Y\ M +9 &AkV\ M +10 &C(f\ O +9 &Dj\ P +9 &F\ R +10 &Ha\ S +9 &J"\ T +10 &K\ T +9 &M\ T +9 &Og\ T +10 &Q&\ U +9 &R\ U +9 &T\ U +10 &Vm\ U +9 &X/\ U +10 &Y\ U +9 &[\ U +9 &]r\ C +10 &^;u\ "f +9 &^4\ 2 +5 ( +2 "processing"%& +4 "core" &^ \ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&O1 +61 "core" 1 + "manipulator"&% +4 "core" %   + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%E h +2 %]9 +6 "core" 9 +102 "processing"%B9 +3 "core" 9 +102 "processing"%c9 +51 "core" 9  +103 "processing"%\ 9 +3 "core" 9 +103 "processing"%k9 +2 "core" 9 +103 "processing"%F9 +2 "core" 9 +103 "processing"%X9 +2 "core" 9 +103 "processing"%~9 +2 "core" 9  +103 "processing"%\\9 +2 "core" 9$ +103 "processing"%C9 +2 "core" 9( +103 "processing"%Y9 +2 "core" 9- +103 "processing"%j9 +2 "core" 91 +103 "processing"%?9 +3 "core" 95 +102 "processing"%9 +3 "core" 99 +102 "processing"%v9 +3 "core" 9= +103 "processing"%e9 +2 "core" 9B +103 "processing"%Q9 +2 "core" 9F +102 "processing"%$9 +3 "core" 9J +103 "processing"%L9 +2 "core" 9N +103 "processing"%w9 +2 "core" 9R +103 "processing"%V9 +2 "core" 9W +102 "processing"%o9 +3 "core" 9[ +102 "processing"%9 +4 "core" 9_ +102 "processing"%"9 +3 "core" 9c +102 "processing"%z9 +3 "core" 9g +102 "processing"%9 +3 "core" 9l +102 "processing"%f9 +3 "core" 9p +102 "processing"%t9 +7 "core" 9t +103 "processing"%x9 +2 "core" 9'x +3 .tPH.hold 2:00:00,28C +3 "processing"%r php +3 .tdelay 1:30 +4 "core" y +9000 .tPSR.select :air +3 .PSV.dial PSR + "processing"%g +101 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%N' +589 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml +2 "processing"%)' +1625 "core" ' +2 .tPTV.dial :puck +2 "processing"%{  +128 "core"  + .tPSV.dial PTV +2 "processing"%R +73 "core" +2 .tPBV.dial :waste1 +2 "processing"%  +51 "core" +2 "processing"%_% +4 "core" %\ +2 .tPS.seek 1.5ml + "processing"%i'' +597 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%'ؾ +1620 "core" ' + .tdelay 5:00 +11539 "Can"\ eQC* +18464 #trecoverPSRreagent08 +2 .PTV.dial :puck + "processing"%|  +5 "core"  + .tPBV.dial :waste1 +2 "processing"%y  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%J +72 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%m' +2391 "core" ' +2 .tPSV.dial PTV +2 "processing"% +72 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV +2 "processing"%n +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%b  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2349 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%A  +127 "core" +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPRV.dial :ab1 + "processing"% @ +99 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%' +358 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "processing"%  +42 "core"  +2 "processing"%H% +4 "core" % @\  +2 .tPS.seek 0.35ml + "processing"%d'g +460 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +29 "core" +2 .tPRV.dial :air +2 "processing"%}  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"% 'K +1166 "core" ' +2 .tPRV.dial :waste2 +2 "processing"% @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%h' +869 "core" ' +2 #taddPMLReagent08 +2 .PSV.dial :air + "processing"%  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%' +1614 "core" ' +2 .tPSV.dial :PML + "processing"%Z +44 "core" +2 .tPTV.dial :mixing + "processing"% @ +72 "core" A +3 .tPBV.dial :waste1 + "processing"%-  +34 "core" + "processing"%%% +3 "core" %L\  +3 .tPS.seek 1.85ml +2 "processing"%' +237 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +3 .tPS.seek 0ml + "processing"%&'ؾ +1989 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'[& +3 "core" &\ \ \ +2 "manipulator"&'& +4 "core" & \ \  . +2 "manipulator"&% +4 "core" %  \ \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&((- +126 "core" ( +2 "manipulator"&l& +3 "core" &- \    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &- \ \  +3 .tForearm.seek :garage +2 "manipulator"&!'w +91 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +3 "manipulator"&q& +3 "core" &-  \  +2 "manipulator"&u% +5 "core" % χ \   +2 .tForearm.seek :retract + "manipulator"&*' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&2(ӂ +281 "core" ( +2 "manipulator"&5& +3 "core" &ӎ  7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &3& +2 "core" &ӎ   \\ 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'? +92 "core" ' +2 "manipulator"&a& +4 "core" &ӎ   7 +2 "manipulator"&0% +3 "core" %<  ( +3 "collection"'& +4 "core" &\ \ \ +2 "collection"'@& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'I(\\ +4 "core" &\ \ \ +5 &\ \ \ ; +10 &QLv\ \ \ 1 +9 &v|\ \ \ E +10 &1Y\ \ \ M +9 &P\ \ \ L +9 &U\ \ \ L +10 &yT\ \ \ L +9 &:U\ \ \ M +9 &T\ \ \ L +10 &T\ \ \ L +9 &U\ \ \ L +10 &!DU\ \ \ L +9 &#T\ \ \ L +9 &$T\ \ \ L +10 &&T\ \ \ L +9 &(LU\ \ \ L +9 &*U\ \ \ L +10 &+T\ \ \ L +9 &-S\ \ \ L +10 &/TT\ \ \ L +9 &1T\ \ \ L +9 &2T\ \ \ L +10 &4T\ \ \ L +9 &6ZU\ \ \ M +9 &8U\ \ \ L +10 &9W\ \ \ L +9 &;T\ \ \ L +10 &=cU\ \ \ L +9 &?&Q\ \ \ L +9 &@V\ \ \ L +10 &B\\\ \ \ M +9 &Dek\ \ \ N +9 &F\ \ \ R +10 &G\ \ \ W +9 &I\ \ \ Y +10 &KO\ \ \ Y +9 &M \ \ \ Z +9 &N\ \ \ Z +10 &P\ \ \ [ +9 &RQ\ \ \ [ +9 &T\ \ \ [\ +10 &U\ \ \ ] +9 &W\ \ \ ] +10 &YP\ \ \ ^ +9 &[\ \ \ ] +9 &\\gI\ \ \ 5 +10 &\\\ \ \ \ S +5 ( +2 "collection"'@& +4 "core" &\\y\ \ \ S +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.43 + "collection"',& +4 "core" &\\y\ \ \ S +2 .tHand.open + "manipulator"&/1 +54 "core" 1 +2 "manipulator"&% +4 "core" % <  \ 6 ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tPSV.dial PSR +2 "processing"%` +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%M'+ +1613 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%1  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%D'ؾ +1607 "core" ' +2 .tPSV.dial PSR + "processing"%S +44 "core"  + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%6' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%<  + "collection"'  +32 "core"  +123 + .tPSV.dial :mixloop +2 "processing"%8 +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'+  +4 "core"  +2 .tPTV.dial :PRVmixing + "processing"%:  +72 "core" +2 .tPS.seek 0ml +2 "processing"%.'ؾ +2624 "core" ' + .tPSV.dial :air +2 "processing"%4  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"%; +44 "core" +2 .tPS.seek 0ml +2 "processing"%T'ؾ +2637 "core" ' +9 .tPSV.dial :air + "processing"%K  +44 "core"  +3 .tPS.seek 2.5ml +2 "processing"%=' +2628 "core" ' +2 .tPSV.dial :mixloop + "processing"%P +44 "core" +2 .tPS.seek 0ml +2 "processing"%7'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&O& +5 "core" &ӝ \ , 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +13 "core" ( +2 "manipulator"&]& +4 "core" &Ӆ   @ , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӆ \  , +3 .tForearm.seek CC +2 "manipulator"&B'? +97 "core" ' +2 .tHand.close + "manipulator"&9/ +60 "core" / +2 .tCC.seek :open +2 "collection"'c( +448 "core" ( + "manipulator"&\ & +4 "core" &ӗ  * +2 "manipulator"&k% +4 "core" % ,  +2 .tForearm.seek :retract + "manipulator"&F' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&X(- +286 "core" ( +2 "manipulator"&~& +3 "core" &-    2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &- Y 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&C'w +91 "core" ' +2 .tHand.open +2 "manipulator"&Y1 +60 "core" 1 +2 "manipulator"&j% +3 "core" % ς  D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +91 "core" ' +2 ."da"delayUntil "18:08:47.84" +589 "Can" >RvC$ +24259 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +71 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%v  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%e * +32 "core" + +2 ."da"PSV.dial :air + "processing"%Q  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%$' +2382 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%L +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%w  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%V +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%o  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2346 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%" +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%z' +584 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1619 "core" ' + ."da"PTV.dial :puck +2 "processing"%f  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%t +83 "core"  + ."da"PBV.dial :waste1 +2 "processing"%x  +34 "core" +2 "processing"%g% +4 "core" %b\  +2 ."da"PS.seek 1.5ml +2 "processing"%^'+ +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%N * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%{'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%R  +15 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%_ * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%) +70 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2391 "core" ' + ."da"PSV.dial PTV +46 "processing"%i +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%E +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%| +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%y  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1910 "Can" =\ S C! +457 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%J +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1609 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%n +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%b  +32 "core" +2 "processing"%m% +4 "core" %U\  +2 ."da"PS.seek 1.5ml +2 "processing"%A'& +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"% * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 +2 "processing"%H * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +70 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2392 "core" ' + ."da"PSV.dial PTV +2 "processing"%} +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%d +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2336 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%h  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%Z  +126 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%  +43 "core"  + ."da"PTV.dial :PRVmixing +2 "processing"%-  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"%% +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%' +392 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +42 "core"  +2 "processing"%% +3 "core" %;\  +3 ."da"PS.seek 0.55ml + "processing"%[' +346 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%'  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1556 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%l +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%G @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%q% +3 "core" %D\  +3 ."da"PS.seek 1.85ml + "processing"%>' +243 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +1972 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +25747 "Can"\  pSC +22255 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%! @ +3 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%5  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%3 * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%(  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%a' +2405 "core" ' +2 ."da"PSV.dial :mixloop +43 "processing"%0 +51 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%* +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%s  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"%,'ؾ +2325 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%/ +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%@' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%`  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%# +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%&  +33 "core"  + "processing"%1% +4 "core" %F\  +2 ."da"PS.seek 1.5ml +2 "processing"%M', +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%S * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1632 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%<  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%8 * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%+ +70 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%:' +2404 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%6 +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%4 +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%. +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%;  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2344 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%K +129 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%T' +595 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%P' +386 "Can" >T8C3 +1225 "core" ' + ."da"PTV.dial :puck +2 "processing"%=  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%O +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%]  +32 "core"  +2 "processing"%% +3 "core" %N\  +3 ."da"PS.seek 1.5ml +2 "processing"%9'+ +594 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%2 * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%I  +5 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%\  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%k * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%B +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%~' +2402 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%\\ +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%Y +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%j  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%F'ؾ +2327 "core" ' +8 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%C +129 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +589 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%v' +1613 "core" ' + ."da"PTV.dial :puck +3 "processing"%e  +4 "core"  + ."da"PSV.dial PTV +2 "processing"%Q +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%7  +34 "core" +2 "processing"%L% +3 "core" %A\  +3 ."da"PS.seek 1.5ml + "processing"%w'- +587 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%V * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%o'ؾ +1607 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%$  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%"  +33 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%z +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%f' +2392 "core" ' + ."da"PSV.dial PTV +2 "processing"%t +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%x +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%g +69 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +70 "core"  +3 ."da"PS.seek 0ml +2 "processing"%N'ؾ +2336 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%^ +134 "core"  +2 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +4 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%R' +333 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"% ' +342 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%_' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%)  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%{ +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%i  +35 "core" + "processing"%E% +4 "core" %P\  +2 ."da"PS.seek 1.5ml +2 "processing"%|', +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%y * +33 "core" + +3 ."da"PS.seek 0ml + "processing"% 'ؾ +1607 "core" ' +2 ."da"delay 10 seconds +908 "Can"\ TC +94 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%J  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%n' +2423 "core" ' +2 ."da"PSV.dial PTV + "processing"%b +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%m +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +2408 "core" ' +2 #"da"Additional air clear + .PSR.select :air +3 .PSV.dial PSR + "processing"% +129 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +47 "processing"%' +2129 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%H  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%}% +3 "core" %T\  +3 ."da"PS.seek 1.5ml +2 "processing"%d', +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%  +104 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +1608 "core" ' +2 "processing"%h9 +3 "core" 9j5l +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%Z +3 %& +3 "core" 5m + &^ `\ 2 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&-% +3 "core" %  h  +3 "storage"(%% +3 "core" % \  +2 "storage"(. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"((C +351 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &F { y <\ +2 "manipulator"&& +3 "core" &-  2 +2 "manipulator"&'% +4 "core" %   L  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&[( +174 "core" ( +2 "manipulator"&l& +3 "core" &  h > +2 "storage"(G& +4 "core" &F ;\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +107 "core" ' +2 "storage"(q& +3 "core" &F W X \ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(u'r +275 "core" ' + "storage"(- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(>'1 +46 "core" ' +2 "manipulator"&!& +4 "core" &  h > +2 "manipulator"&5% +3 "core" %  3 V +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&3' +94 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&(( +265 "core" ( + "manipulator"&U& +3 "core" &   \\ +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +3 "core" & \  J +2 ."da"Forearm.seek PC +2 "manipulator"&' +93 "core" ' +2 ."da"Hand.close + "manipulator"&*/ +55 "core" / +2 ."da"PC.seek :open +2 "processing"%s( +457 "core" ( +2 "storage"(a& +3 "core" &F M\ +2 "manipulator"&/& +4 "core" &  +2 "manipulator"&,% +4 "core" %  $  +2 ."da"Forearm.seek :retract + "manipulator"&' +97 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&`( +241 "core" ( +2 "manipulator"&#& +3 "core" & . +2 "storage"(&& +4 "core" &F /\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&1' +92 "core" ' + ."da"Hand.open +2 "manipulator"&@1 +56 "core" 1 +2 "storage"(S- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +36 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +54 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1218h.tif +9 "processing"%<& +10 "core" &\ +5 "manipulator"&8& +6 "core" &   . +4 "manipulator"&+% +4 "core" %  +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&D' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&6(- +179 "core" ( + "manipulator"&4& +4 "core" &-    7 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &.& +3 "core" &-  7 +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&;'w +92 "core" ' + ."psFlush"Hand.close +2 "manipulator"&:/ +55 "core" / + "manipulator"&K& +5 "core" &-    7 + "manipulator"&% +4 "core" % χ  \ ! 8 +3 ."psFlush"Forearm.seek :retract + "manipulator"&T' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&=( +118 "core" ( + "manipulator"&O& +4 "core" &  ! A +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" & \ y A +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +96 "core" ' +3 "manipulator"&P& +3 "core" &   K A +3 "manipulator"&2% +4 "core" %  # +2 "processing"%9& +4 "core" &\ w +2 "processing"%I& +5 "core" &\ v +2 ."psFlush"PC.seek :closed +3 "processing"%\ (^ +3 "core" &\ v +8 &3\ s$e +9 &Vs\ o7 +10 &n\ nL +9 &G\ qO +9 &eI\ qO +10 &(F\ pN +9 &I\ pN +10 &K\ pO +9 &mJ\ oO +9 &/H5\ pO +10 &GC\ pN +9 &!H;\ pN +9 &#vJE\ N +10 &%;L9\ M +9 &&LD\ M +10 &(K?\ M +9 &*O&\ M +9 &,CN<\ M +10 &.O8\ M +9 &/O(\ M +9 &1K~\ M +10 &3JO\ N +9 &5 J\ N +10 &6H\ sO +9 &8L\ rN +9 &:OL\ qO +10 &<J{\ qO +9 &=Hz\ qN +9 &?K\ qO +10 &AWNr\ pO +9 &CUd\ pP +10 &D]h\ oQ +9 &Frt\ mT +9 &HKy\ kU +10 &J u\ kV +9 &Kd\ kV +9 &Mq\ kW +10 &OOj\ kW +9 &Qh\ jW +10 &Rl\ jX +9 &Tm\ W +9 &VZt\ V +10 &Xg\ W +9 &YU\ V +9 &[b\ V +10 &]`W\ D +9 &^Do`\ Z +10 &^>V\ 7 +5 ( +2 "processing"%I& +3 "core" &^+Q\ 7 +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 +2 "processing"%k& +4 "core" &^+P\ 7 +2 ."psFlush"Hand.open +2 "manipulator"&B1 +62 "core" 1 + "manipulator"&% +4 "core" %   ) # +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%\\ +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%Y' +551 #"da"SX HX9/16 (USB:37): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 17.989 seconds\ /var/log/esp/da23sep1218h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1218h15s.tif +37 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +3 "processing"%j' +1015 #"da"SX HX9/16 (USB:37): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1218h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1218h20s.tif +1105 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%~ @ +187 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%C  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%F +103 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +418 #"da"SX HX9/16 (USB:37): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1218h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "17.989 sec auto-exposure",Subject: "da23sep1218h images!" +3 "storage"(e- +4 "core" -' +2 "storage"(Q& +7 "core" &F ! $ C\ +6 "manipulator"&7& +12 "core" &  ( J A +8 "manipulator"&L% +4 "core" %   M  +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +76 "manipulator"&v( +247 "core" ( +3 "manipulator"&V& +5 "core" & + ,  ; +2 "storage"(w& +5 "core" &F 2 2\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&$' +95 "core" ' +7 ."da"SE.reconfigure :gently +7 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"("'" +56 "core" ' +2 "manipulator"&& +9 "core" & \  ; +3 "storage"(z& +9 "core" &F "\ +3 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek 1 +4 "manipulator"&o'8 +19 "core" ' +4 ."da"Elbow.hold +3 "manipulator"&t, +6 "core" , +3 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(x' +22 "core" ' +3 "manipulator"&g% +8 "core" %K +3 "storage"(& +8 "core" &F # ! &\ +3 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 319 counts +4 "manipulator"&f'w +18 "core" ' +5 "manipulator"&^& +9 "core" &  S ; +5 "storage"(N& +7 "core" &F 8 5 v\ +5 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&R' +19 "core" ' +3 "storage"( % +8 "core" % ? 5 g\ +7 ."downElevator"SE.seek :down +7 "storage"()' +97 ({% +7 "core" %F\ (\ ' K\ U] +5 "manipulator"&i% +8 "core" %  +6 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&E' +92 "core" ' +41 ' +2 ."downElevator"SE.stop +4 "storage"(5 +5 (_& +7 "core" &F 5 5\ +1099 ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +4 "processing"%y +116 "core" +4 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%|' +595 #"uploadLog"upsync +26 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%J' +2125 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +99 "core" +3 ."psFlush"PS.seek :empty +3 "processing"% 'ؠ +2640 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%b +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 1ml +2 "processing"%m'X\\ +1097 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1631 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +72 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%n  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%  +4 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%A'ؾ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%H +72 "core"  +9 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +593 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%' +2125 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%} +84 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +51 "core" V +3 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +41 "core" ? +3 ."psFlush"PS.seek 2.5ml +2 "processing"%d' +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%h  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%Z'ؾ +2625 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +42 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%-' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%% +83 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +5 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +3 "processing"%' +2634 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%'  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%l'ؾ +2309 "Can" CUdC# +329 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%G +42 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%X'X\\ +1098 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%q' +1615 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%? +82 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%!  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%5'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%u +70 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +586 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%U' +2125 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%0 +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%[ U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%*'ؾ +2655 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%3 @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%W' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%a  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%/'ؾ +2647 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%, +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2652 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%# +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%& U +16 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%('ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%@ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%S' +2630 "core" ' +41 ."psFlush"PSV.dial :waste1 +9 "processing"%<  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +2628 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&8& +5 "core" & ; + "manipulator"&+% +4 "core" %   +2 ."psFlush"Elbow.seek PC +2 "manipulator"&>( +244 "core" ( +2 "manipulator"&M& +3 "core" &   ' +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +3 "core" &  \ ' +2 ."psFlush"Forearm.seek PC +2 "manipulator"&.' +96 "core" ' + ."psFlush"Hand.close +2 "manipulator"&1/ +56 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%`( +457 "core" ( + "manipulator"&:& +4 "core" & ' +2 "manipulator"&K% +3 "core" %  +  +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage + "manipulator"&D(- +130 "core" ( +2 "manipulator"&O& +3 "core" &-  ;  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +3 "core" &-  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&;'w +98 "core" ' + ."psFlush"Hand.open +2 "manipulator"&P1 +55 "core" 1 + "manipulator"&2% +3 "core" % z   +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&9' +93 "core" ' +3 #tFinished short da assay + #Flushing Processing stage +2 "processing"%6% +4 "core" %\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%T& +3 "core" &\ +3 "manipulator"&s& +4 "core" &-  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&k(- +15 "core" ( + "manipulator"&B& +4 "core" &-  i | +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-  ' | +3 .tForearm.seek :garage +2 "manipulator"&I'w +96 "core" ' +2 .tHand.close + "manipulator"&\\/ +54 "core" / +2 "manipulator"&& +4 "core" &-  k | +2 "manipulator"&% +4 "core" % y | +2 .tForearm.seek :retract +2 "manipulator"&Y' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&~( +116 "core" ( +2 "manipulator"&C& +3 "core" &  3 ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" & g ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&j' +91 "core" ' + "manipulator"&e& +5 "core" &  j ( + "manipulator"&Q% +4 "core" % - \\ +2 "processing"%7& +3 "core" &\ +3 "processing"%L& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%V(^ +3 "core" &\ +8 &:\ $e +10 &Xs\ 7 +9 &p\ K +9 &N\ L +10 &zN\ K +9 &<N\ K +10 &R\ L +9 &N\ L +9 &N\ L +10 &CO\ L +9 & P\ K +9 &!O\ K +10 &#P\ K +9 &%LQ\ K +10 &'P\ K +9 &(O\ K +9 &*O\ K +10 &,TO\ K +9 &.P\ K +9 &/P\ K +10 &1O\ K +9 &3\\P\ K +10 &5P\ K +9 &6Q\ L +9 &8S\ L +10 &:cR\ L +9 &<%N\ L +9 &=P\ K +10 &?Q\ L +9 &AkQ\ L +10 &C)\\\ M +9 &D`\ N +9 &Fu\ Q +10 &H_\ R +9 &J!\ R +9 &K\ S +10 &M\ S +9 &Oe\ S +10 &Q$\ T +9 &R\ T +9 &T\ U +10 &Vj\ T +9 &X,\ T +9 &Y\ T +10 &[\ T +9 &]p\ B +10 &^:j\ &o +9 &^(\ . +5 ( +2 "processing"%L& +3 "core" &^\ . +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + "processing"%w& +4 "core" &^\ . +2 .tHand.open +2 "manipulator"&=1 +57 "core" 1 +2 "manipulator"&% +3 "core" %   \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +51 .tForearm.seek :retract +2 "manipulator"&z' +89 "core" ' + .tPSV.dial PSR +2 "processing"% +42 "core" + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%g'X\\ +1105 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1629 "core" ' + .tPSV.dial PTV +2 "processing"%^ +83 "core" + .tPTV.dial :puck +2 "processing"%N  +4 "core"  +2 .tPBV.dial :waste1 +2 "processing"%  +50 "core"  +2 .tPS.seek 0ml + "processing"% 'ؾ +2637 "core" ' +2 .tPSV.dial PSR + "processing"%$ +71 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%v' +599 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%{' +2116 "core" ' + .tPSV.dial PTV +2 "processing"%i +72 "core" + .tPBV.dial PSV +2 "processing"%" U +64 "core" T +2 .tPS.seek 0ml +2 "processing"%o'ؾ +2632 "core" ' + .tPSV.dial PBV +2 "processing"%f @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%_' +2649 "core" ' + .tPSV.dial :waste1 +2 "processing"%x  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%R'ؾ +2651 "core" ' + .tPSV.dial PSR +2 "processing"%) +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%y' +2634 "core" ' +2 .tPSV.dial PTV +2 "processing"% +70 "core" + .tPBV.dial PSV +2 "processing"%| U +5 "core" T +2 .tPS.seek 0ml + "processing"% 'ؾ +2637 "core" ' +2 .tPSV.dial PBV + "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :waste1 + "processing"%J  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%b'ؾ +2626 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"& & +3 "core" & ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&& +4 "core" &  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &  r ( +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%H( +457 "core" ( + "manipulator"&A& +4 "core" & l ( +2 "manipulator"&% +4 "core" %  y  +2 .tForearm.seek :retract + "manipulator"&}' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +124 "core" ( + "manipulator"&& +4 "core" &-  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"& 'w +91 "core" ' +2 .tHand.open + "manipulator"&h1 +55 "core" 1 +2 "manipulator"&d% +3 "core" % w  9 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +796 #t-> access 1 +2 "storage"(Z% +3 "core" % v v \  +2 "manipulator"&%% +4 "core" %   +2 "manipulator"&& +3 "core" &-  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(-(<- +79 "Can"\ [UC" +1222 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<+  0 \  +5908 #t-> access 2 +2 "storage"(p% +3 "core" % u v <\  +2 "manipulator"&'% +4 "core" %    + "manipulator"&& +4 "core" &-  f +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(G(K +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (l& +2 "core" &K 6 5 C\  +517 #t-> startTube 2 +772 #-> $da[:extractVol]=.2 +7231 #-> PS.flush +2 #Flushing Processing stage + "processing"%X% +3 "core" %%\ +3 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%?& +3 "core" &'\ +3 "manipulator"&& +4 "core" &-  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&!(- +21 "core" ( +2 "manipulator"&q& +3 "core" &-   I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +2 "core" &- I +3 .tForearm.seek :garage + "manipulator"&5'w +92 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / + "manipulator"&0& +3 "core" &-  I +2 "manipulator"&[% +4 "core" % e /  +2 .tForearm.seek :retract +2 "manipulator"&U' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&3( +135 "core" ( +2 "manipulator"&*& +3 "core" &   T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &  " +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&W' +99 "core" ' + "manipulator"&,& +4 "core" &  u +2 "manipulator"&/% +3 "core" %  e +3 "processing"%#& +4 "core" &E\ +2 "processing"%&& +5 "core" &&\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &$\ +7 &;(\ #c +9 &Wx'\ 7 +10 &u!\ K +9 &J \ L +9 &xN'\ L +10 &;R'\ L +9 &Q'\ L +10 &R%\ L +9 &Q)\ L +9 &BO(\ L +10 & N'\ L +9 &!N\ L +9 &#S'\ L +10 &%IR#\ M +9 &' R'\ L +10 &(Q \ M +9 &*Q!\ L +9 &,RS*\ L +10 &.S'\ L +9 &/R&\ M +9 &1Q"\ L +10 &3ZO+\ L +9 &5N'\ L +10 &6O(\ L +9 &8N&\ L +9 &:bN"\ L +10 &<$O#\ L +9 &=Q#\ L +9 &?U$\ M +10 &AhT*\ M +9 &C'`\ N +10 &Dg\ O +9 &Fx$\ Q +9 &H^'\ S +10 &J! \ S +9 &K \ S +9 &M!\ T +10 &Oe#\ S +9 &Q$)\ T +10 &R'\ T +9 &T$\ U +9 &Vj\ T +10 &X-\ T +9 &Y\ T +9 &[\ T +10 &]q\ B +9 &^:k\ %m +10 &^)\ / +5 ( +2 "processing"%&& +3 "core" &^\ / +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + "processing"%@& +4 "core" &^?\ / +2 .tHand.open + "manipulator"&(1 +58 "core" 1 +2 "manipulator"&<% +4 "core" %    e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S' +91 "core" ' + .tPSV.dial PSR +2 "processing"%8 +41 "core" +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%+'X\\ +1111 "core" ' + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"%M' +1619 "core" ' +2 .tPSV.dial PTV +2 "processing"%4 +70 "core" + .tPTV.dial :puck +2 "processing"%t  +4 "core"  +2 .tPBV.dial :waste1 + "processing"%1  +52 "core" +2 .tPS.seek 0ml +2 "processing"%E'ؾ +2632 "core" ' +2 .tPSV.dial PSR + "processing"%\ +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%:' +594 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%K' +2117 "core" ' + .tPSV.dial PTV +2 "processing"%O +72 "core" + .tPBV.dial PSV +2 "processing"%] U +51 "core" V +2 .tPS.seek 0ml +2 "processing"%.'ؾ +2626 "core" ' +47 .tPSV.dial PBV +4 "processing"%> @ +55 "core" A +2 .tPS.seek 2.5ml +2 "processing"%P' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%2  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%6'ؾ +2633 "core" ' +2 .tPSV.dial PSR + "processing"%T +44 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%s' +2638 "core" ' + .tPSV.dial PTV +2 "processing"% +81 "core"  +2 .tPBV.dial PSV +2 "processing"%B U +4 "core" V +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + .tPSV.dial PBV +2 "processing"%; @ +42 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%\\' +2632 "core" ' +2 .tPSV.dial :waste1 + "processing"%  +70 "core"  +3 .tPS.seek 0ml +2 "processing"%'ؾ +2628 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&D& +5 "core" &  b +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&C& +4 "core" & \   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &   ( +2 .tForearm.seek PC +2 "manipulator"&I' +93 "core" ' +2 .tHand.close + "manipulator"&e/ +55 "core" / +2 .tPC.seek :open +2 "processing"%Q( +456 "core" ( +2 "manipulator"&7& +3 "core" & m +2 "manipulator"&k% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&Y' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&`(- +121 "core" ( + "manipulator"&w& +4 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &- Y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +101 "core" ' + .tHand.open +2 "manipulator"&L1 +148 "core" 1 +3 "manipulator"&% +3 "core" %   \ - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j' +101 "core" ' +13983 "Can" 4VC" +13307 #t-> shortDA; shortDAflush +2 "collection"'% +2 "processing"%g% +5 "core" %j \ \ +6 %\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +230 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%^ +130 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%N  +128 "core" + .tPRV.dial :sipper +2 "processing"%  +43 "core" +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%'e +2302 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%$  + "collection"'  +6 "core" +120  +2 .tPS.seek 0.5ml +2 "processing"%v' +1293 "core" ' + .tPRV.dial :waste2 + "processing"%i @ +99 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%"'ؾ +608 "core" ' +2 .tPSV.dial PSR + "processing"%{ +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%f'X\\ +1101 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%o' +1616 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%x +101 "core" +2 .tPS.seek 0ml +2 "processing"%_'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"%) +102 "core"  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%R'X\\ +1098 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +1611 "core" ' + .tPSV.dial :mixloop +2 "processing"%| +148 "core" +2 .tPRV.dial :sipper + "processing"%y  +42 "core" +3 .tPS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 .tPSV.dial PSR + "processing"% +113 "core" + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%J' +2628 "core" ' + .tPSV.dial :mixloop +2 "processing"% +98 "core" +3 .tPS.seek 0ml +2 "processing"% 'ؾ +2625 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&n% +4 "core" %    x +2 "storage"(% +4 "core" % q p \  +2 "storage"(~. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(z(  +1304 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" & A I \ +2 "manipulator"&A& +4 "core" &-  \  +2 "manipulator"&% +4 "core" %   _ x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +170 "core" ( + "manipulator"& & +4 "core" &   3 +2 "storage"(& +4 "core" & q w @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'S +94 "core" ' + "storage"(d& +4 "core" & i q {\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'r +298 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & H F r\ +2 "manipulator"&Z& +3 "core" &  0 3 +3 .tElbow.seek 2 + "manipulator"&%( +4 "core" ( +2 "manipulator"&& +4 "core" &   " 3 + "storage"(& +3 "core" & \\ \\\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&p/ +53 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"(' +7 "core" &  3 +2 "manipulator"&-% +3 "core" %  C u +3 .tForearm.seek :retract +2 "manipulator"&l' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&X( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&?& +3 "core" & 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & l 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&q' +99 "core" ' + "manipulator"&u& +4 "core" & * 6 +2 "manipulator"&% +4 "core" % T +2 "processing"%0& +4 "core" &\ +2 "processing"%[& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 &3\ $d +9 &Xu\ 7 +10 &u\ K +9 &Q\ M +9 &uO\ M +10 &8S\ L +9 &O\ M +9 &O\ L +10 &~P\ L +9 &@Q\ L +10 & P\ L +9 &!S\ M +9 &#O\ M +10 &%GT\ M +9 &' T\ M +9 &(S\ L +10 &*Q\ L +9 &,PQ\ L +10 &.Q\ L +9 &/Q\ M +9 &1T\ M +10 &3WT\ M +9 &5T\ M +9 &6T\ M +10 &8R\ M +9 &:`P\ L +10 &<"Q\ L +9 &=R\ M +9 &?R\ M +10 &AfU\ M +9 &C"c\ O +9 &Dj\ P +10 &F\ R +9 &H]\ S +10 &J\ S +9 &K\ S +9 &M\ T +10 &Oc\ S +9 &Q"\ T +9 &R\ T +10 &T\ U +9 &Vi\ T +10 &X*\ T +9 &Y\ T +9 &[\ T +10 &]p\ A +9 &^9h\ %l +9 &^.\ 1 +6 ( + "processing"%[& +4 "core" &^ \ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&*% +4 "core" %  S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%5 h +2 %,9 +6 "core" 9 +103 "processing"%/9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9  +103 "processing"%!9 +51 "core" 9 +104 "processing"%U9 +3 "core" 9 +102 "processing"%H9 +3 "core" 9 +102 "processing"%@9 +3 "core" 9 +102 "processing"%(9 +3 "core" 9  +102 "processing"%<9 +3 "core" 9$ +102 "processing"%&9 +3 "core" 9( +103 "processing"%89 +2 "core" 9- +103 "processing"%W9 +2 "core" 91 +103 "processing"%b9 +3 "core" 95 +103 "processing"%+9 +3 "core" 99 +102 "processing"%49 +3 "core" 9= +102 "processing"%t9 +3 "core" 9B +103 "processing"%19 +2 "core" 9F +102 "processing"%M9 +3 "core" 9J +103 "processing"%\ 9 +2 "core" 9N +103 "processing"%E9 +2 "core" 9R +103 "processing"%:9 +2 "core" 9W +103 "processing"%O9 +2 "core" 9[ +103 "processing"%]9 +3 "core" 9_ +102 "processing"%K9 +3 "core" 9c +102 "processing"%>9 +3 "core" 9g\ +103 "processing"%.9 +2 "core" 9\ l +103 "processing"%29 +2 "core" 9p +102 "processing"%P9 +4 "core" 9t +102 "processing"%T9 +3 "core" 9"x +3 .tPH.hold 2:00:00,28C +3 "processing"%6 php +2 .tdelay 1:30 +5 "core" y +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +100 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%B' +595 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml +2 "processing"%s' +1628 "core" ' +2 .tPTV.dial :puck + "processing"%;  +127 "core"  +2 .tPSV.dial PTV +2 "processing"% +83 "core" +2 .tPBV.dial :waste1 +2 "processing"%  +51 "core" +2 "processing"%\\% +3 "core" %.\ +3 .tPS.seek 1.5ml + "processing"%D'- +585 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%C * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%F'ؾ +1619 "core" ' +2 .tdelay 5:00 +2952 "Can"\ DW&C +27051 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%e  +4 "core"  +2 .tPBV.dial :waste1 +2 "processing"%3  +32 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%S * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +69 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%7' +2385 "core" ' + .tPSV.dial PTV +2 "processing"%k +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%w +71 "core"  +2 .tdelay 5 seconds +503 .PSV.dial PTV +2 "processing"%= +72 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%I  +85 "core"  +2 .tPS.seek 0ml +2 "processing"%9'ؾ +2323 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%L  +128 "core" +2 .tPSV.dial :mixloop + "processing"% +42 "core" +2 .tPRV.dial :ab1 +2 "processing"%Y @ +98 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%' +354 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%  +41 "core"  +2 "processing"%g% +3 "core" %M\ \ +3 .tPS.seek 0.35ml +2 "processing"%^'i +450 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'N  +30 "core" + .tPRV.dial :air +2 "processing"%  +41 "core"  +3 .tPS.seek 0.9ml +2 "processing"%'K +1172 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +70 "core" > +3 .tPS.seek 0.5ml + "processing"%$' +873 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%i' +1605 "core" ' +2 .tPSV.dial :PML + "processing"%v +44 "core" +2 .tPTV.dial :mixing +2 "processing"%{ @ +71 "core" B +2 .tPBV.dial :waste1 +48 "processing"%"  +33 "core" +2 "processing"%f% +3 "core" %P\  +3 .tPS.seek 1.85ml + "processing"%x' +233 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%o * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%)'ؾ +1988 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'_& +3 "core" &\ \ +3 "manipulator"&R& +4 "core" & \ \  6 +2 "manipulator"&|% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&y(- +125 "core" ( + "manipulator"&& +3 "core" &-    \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &-  \ +3 .tForearm.seek :garage +2 "manipulator"&'w +96 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 "manipulator"&J& +4 "core" &-  1 \ +2 "manipulator"&% +4 "core" % a  Q +2 .tForearm.seek :retract + "manipulator"&n' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +281 "core" ( + "manipulator"&~& +4 "core" &ӑ# 4 . <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &ӑ# . - X <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'? +97 "core" ' +3 "manipulator"&A& +3 "core" &ӑ# 4 1 6 <> +2 "manipulator"&% +4 "core" %F - - c  +2 "collection"' & +4 "core" & \ +2 "collection"'& +6 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'d(\\ +3 "core" & \  +9 &4 \ +{ +10 & f} \ > +9 &k\ \ \ M +9 &WQ\ \ \ L +10 &U\  \ L +9 &U \ \ L +10 &T\ \ L +9 &]S\  \ L +9 &U\ \ \ M +10 &S \ L +9 & S\ \ L +9 &"fS \ \ L +10 &$(R \ L +9 &%T\ \ \ L +10 &'R\ \ \ L +9 &)nR\ \ L +9 &+0R\ \ \ L +10 &,R \ L +9 &.R\ \ L +10 &0uT \ \ L +9 &26R\ \ \ M +9 &3S\  \ L +10 &5T\  \ L +9 &7~U\ \ \ L +9 &9@T\ \ \ L +10 &;T\ \ \ L +9 &<S\  \ L +9 &>T\ \ \ M +10 &@HS\ \ \ L +9 &BY\ \ \ M +10 &Cd\ \ \ N +9 &Ez\ \ \ \ Q +9 &G5\ \ \ U +10 &H\ \ \ X +9 &J\ \ \ Y +10 &Lq\ \ \ Y +9 &N3\ \ \ Y +9 &O\ \ \ Y +10 &Q\ \ \ Z +9 &St\ \ \ Z +9 &U4\ \ \ [\ +10 &V\ \ \ ] +9 &X\ \ \ ] +9 &Zt\ \ \ ] +10 &\\y\ \ \ 4 +9 &\\)\ \ \ T +9 ( +3 "collection"'& +2 "core" &\\j\ \ \ O +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.41 + "collection"'`& +4 "core" &\\u\ \ \ O +2 .tHand.open + "manipulator"&j1 +65 "core" 1 +2 "manipulator"&}% +3 "core" % F - , #  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 .tPSV.dial PSR + "processing"%Z +102 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%'+ +1619 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%  +42 "core"  +3 .tPS.seek 0ml +2 "processing"%p'ؾ +1609 "core" ' +2 .tPSV.dial PSR + "processing"%' +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%-' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%  +2 "collection"'h  +30 "core" +125  + .tPSV.dial :mixloop +2 "processing"%m +111 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +4 "core"  +2 .tPTV.dial :PRVmixing + "processing"%?  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 .tPSV.dial :air + "processing"%%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%u' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%0'ؾ +1317 "Can"\ WC +1316 "core" ' +2 .tPSV.dial :air +46 "processing"%  +47 "core"  +2 .tPS.seek 2.5ml +2 "processing"%l' +2629 "core" ' +2 .tPSV.dial :mixloop + "processing"%Q +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&*& +4 "core" &Ӫ %  & 9% +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&,(ӂ +19 "core" ( +2 "manipulator"&[& +4 "core" &ӆ   A $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &ӆ \  $ +3 .tForearm.seek CC +2 "manipulator"&q'? +98 "core" ' + .tHand.close +2 "manipulator"&#/ +62 "core" / +2 .tCC.seek :open +2 "collection"'!( +447 "core" ( + "manipulator"&U& +4 "core" &ӑ  # +2 "manipulator"&H% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&@' +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&((- +282 "core" ( +2 "manipulator"&<& +4 "core" &-   4 < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &&& +2 "core" &- c < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&8'w +95 "core" ' +3 .tHand.open + "manipulator"&W1 +56 "core" 1 + "manipulator"&b% +5 "core" % π   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +94 "core" ' +2 ."da"delayUntil "19:40:13.83" +24750 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%4 @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%t  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%1 * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%M  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%\ ' +2385 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%E +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%:  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%O +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%]  +54 "core"  +2 ."da"PS.seek 0ml +2 "processing"%K'ؾ +2341 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%> +129 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%.' +598 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%2' +1622 "core" ' + ."da"PTV.dial :puck +2 "processing"%P  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%T +84 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"% % +3 "core" %\\\  +3 ."da"PS.seek 1.5ml +2 "processing"%B'. +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%; * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%\\  +32 "core" +2 ."da"delay 30 seconds +708 "Can" ?"NXRC +2295 ."da"PBV.dial between PSV and waste1 +2 "processing"%s * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%C +69 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%D' +2390 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%5 +71 "core" +9 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%e +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%3 +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%S  +74 "core"  +2 ."da"PS.seek 0ml +3 "processing"%'ؾ +2331 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%F +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%k' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%w' +1616 "core" ' + ."da"PTV.dial :puck +2 "processing"%=  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%I +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%7  +32 "core" +2 "processing"%L% +4 "core" %k\  +2 ."da"PS.seek 1.5ml + "processing"%'0 +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Y * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%9'ؾ +1634 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%g  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%N +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2390 "core" ' + ."da"PSV.dial PTV +2 "processing"%^ +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%  +71 "core"  +3 ."da"PS.seek 0ml + "processing"%$'ؾ +2352 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%v  +41 "core"  +2 ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%{  +128 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 +2 "processing"%"  +42 "core" ~ +2 ."da"PTV.dial :PRVmixing +2 "processing"%f  +4 "core" +2 ."da"PSV.dial :mixloop + "processing"%o +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%i' +381 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%x  +43 "core"  + "processing"%_% +4 "core" %i\  +2 ."da"PS.seek 0.55ml +2 "processing"%R' +336 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%|  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1557 "core" ' + ."da"PSV.dial :PML +2 "processing"% +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%X  +32 "core" +2 "processing"%J% +3 "core" %b\  +2 ."da"PS.seek 1.85ml +2 "processing"%' +234 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%a * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1963 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +17241 "Can"\ Q$XC" +30761 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%~ @ +4 "core" A +2 ."da"PBV.dial :waste1 + "processing"%G  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%y * +32 "core" + +2 ."da"PSV.dial :air + "processing"%A  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2381 "core" ' +2 ."da"PSV.dial :mixloop + "processing"% +44 "core" +43 ."da"delay 2 seconds +210 .PSV.dial :air + "processing"%n  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%c +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%`  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%j'ؾ +2328 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%} +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Z' +1616 "core" ' +2 ."da"PTV.dial :puck + "processing"%V  +69 "core"  +2 ."da"PSV.dial PTV +2 "processing"%) +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %g\  +2 ."da"PS.seek 1.5ml +2 "processing"%''. +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%p * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%h'ؾ +1635 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +32 "core" +2 ."da"delay 30 seconds +2867 "Can" <' Y~C. +135 ."da"PBV.dial between PSV and waste1 +3 "processing"%m * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%?' +2422 "core" ' + ."da"PSV.dial PTV +2 "processing"%- +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +2344 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%0' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%Q' +1619 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%l +83 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%*  +32 "core" + "processing"%[% +4 "core" %|\ +2 ."da"PS.seek 1.5ml +2 "processing"%/'2 +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%# * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%d * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%U +69 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%H' +2400 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%q +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%< +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%& +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%,  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%W'ؾ +2341 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%b +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +53 ."da"PS.reconfigure :default +9 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%@' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%8' +1616 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%4 +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%t  +32 "core"  +2 "processing"%1% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%M'- +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%:  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%O * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%] +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%\ ' +2417 "core" ' +2 ."da"PSV.dial PTV + "processing"%> +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%K +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%. +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%P  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%T'ؾ +853 "Can"\ G)ZC +1496 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +132 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +2 "processing"% ' +335 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%2' +329 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%;' +1604 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%B +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core"  +2 "processing"%\\% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%s'& +608 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%C * +33 "core" , +2 ."da"PS.seek 0ml +3 "processing"%'ؾ +1612 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%5  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%e * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%3 +71 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%S' +2439 "core" ' + ."da"PSV.dial PTV +2 "processing"%D +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%F +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%k  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%='ؾ +2413 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%I +129 "core" + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%7' +2117 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%L +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%w  +35 "core" + "processing"%Y% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%') +592 "core" ' +53 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%g  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' + "processing"%N9 +3 "core" 9j5l +3 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%9 +3 "core" 5l + "processing"%^& +4 "core" &^ \ 1 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"& % +3 "core" %  =  +2 "storage"(% +3 "core" % \  +3 "storage"(. +3 "core" .( +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"((C +356 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 (v& +2 "core" &? | \ +3 "manipulator"&{& +4 "core" &- < + "manipulator"&"% +4 "core" %   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&f( +174 "core" ( + "manipulator"&o& +5 "core" &   = + "storage"($& +4 "core" &? \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&r' +94 "core" ' +2 "storage"(x& +3 "core" &? \ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(_'r +273 "core" ' + "storage"(i- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(|'1 +40 "core" ' +2 "manipulator"&R& +4 "core" &  < = +2 "manipulator"& % +4 "core" %   @ E +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&X( +243 "core" ( +2 "manipulator"&J& +3 "core" &  H - +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" & U - +3 ."da"Forearm.seek PC +2 "manipulator"&' +90 "core" ' + ."da"Hand.close +2 "manipulator"&/ +62 "core" / +2 ."da"PC.seek :open +2 "processing"%~( +457 "core" ( +2 "storage"(G& +4 "core" &? \ + "manipulator"&y& +4 "core" & - +2 "manipulator"&A% +3 "core" %  y # +3 ."da"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"& ( +245 "core" ( +2 "manipulator"&n& +4 "core" &  M 2 +2 "storage"(c& +3 "core" &? \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&`' +94 "core" ' +2 ."da"Hand.open + "manipulator"&1 +63 "core" 1 +3 "storage"(}- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(j' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1220h.tif +4 "processing"%V& +11 "core" &H\ +3 "manipulator"&)& +6 "core" &  ] 2 +2 "manipulator"&% +5 "core" %    +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +61 "manipulator"&Z(- +176 "core" ( + "manipulator"&p& +4 "core" &-  M +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &- \ M +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&'w +89 "core" ' +2 ."psFlush"Hand.close + "manipulator"&m/ +63 "core" / + "manipulator"&& +5 "core" &-  M + "manipulator"&h% +4 "core" % ~ a ; +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&-' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&%( +119 "core" ( +2 "manipulator"&& +3 "core" &  \  O +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  O +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +3 "manipulator"&?' +91 "core" ' +2 "manipulator"&& +3 "core" &  O +2 "manipulator"&u% +4 "core" % \  C +2 "processing"%0& +4 "core" &\ s +2 "processing"%l& +5 "core" &\ s +2 ."psFlush"PC.seek :closed +3 "processing"%*(^ +3 "core" &\ s +6 &\ r6 +10 &?Hn\ l0 +9 &fps\ kD +10 &V\ mO +9 &F\ N +9 &J\ M +10 &MK\ M +9 &J\ N +9 &N\ M +10 &N\ N +9 &TN\ N +10 &!N\ N +9 &"N\ N +9 &$J\ N +10 &&[G\ uN +9 &(H\ rN +9 &)G\ qO +10 &+L\ pO +9 &-bL\ pN +10 &/$I\ oN +9 &0G\ oO +9 &2H\ oN +10 &4jI\ oN +9 &6,J\ oN +9 &7I\ oN +10 &9J\ nN +9 &;rJD\ nN +10 &=3GK\ nO +9 &>I2\ nO +9 &@JI\ nO +10 &BxRK\ O +9 &D7\\G\ P +9 &ElK\ R +10 &GK\ T +9 &IoG\ U +10 &K1G\ U +9 &L~7\ U +9 &N3\ V +10 &Ps<\ V +9 &R58\ V +9 &S1\ mX +10 &U3\ lW +9 &Ww.\ kX +10 &Y<,\ kV +9 &Z(\ jW +9 &\\%\ jX +10 &^6av$\ l+ +9 &^i#\ l: +9 ( + &^#!\ o3 +2 "processing"%l& +4 #"psFlush"Processing Clamp onSpring/offSpring for 14/25 samples, on/off torque 1.77 +2 "processing"%[& +3 "core" &^# \ o3 +3 ."psFlush"Hand.open + "manipulator"&Q1 +57 "core" 1 +2 "manipulator"&#% +3 "core" % "  f C +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&/' +93 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%d' +598 "core" ' +2 ."psFlush"delay 5 seconds +424 #"da"SX HX9/16 (USB:38): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 23.222 seconds\ /var/log/esp/da23sep1220h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1220h15s.tif +74 ."psFlush"PSR.select :air +12 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%U' +1467 #"da"SX HX9/16 (USB:38): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1220h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1220h20s.tif +670 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +187 "core" A + ."psFlush"PTV.dial :PRVmixing +3 "processing"%q  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%< +102 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%&'ؠ +859 #"da"SX HX9/16 (USB:38): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1220h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "23.222 sec auto-exposure",Subject: "da23sep1220h images!" +3 "storage"(,- +2 "core" -' +2 "storage"(H& +8 "core" &? !  \ +8 "manipulator"&b& +9 "core" & ) "  O +6 "manipulator"&W% +7 "core" %  + ( I  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&@( +247 "core" ( +2 "manipulator"&4& +3 "core" & / + ? : +3 "storage"(t& +4 "core" &? '  1\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +9 "manipulator"&1' +97 "core" ' +5 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +8 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(8'" +58 "core" ' +4 "manipulator"&& +9 "core" &   : +3 "storage"(M& +10 "core" &? % 2 N\ +5 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +7 ."da"Forearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +4 "manipulator"&:'8 +23 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&O, +6 "core" , +4 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +8 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +3 "storage"(]' +27 "core" ' +4 "manipulator"&E% +7 "core" %H +4 "storage"(>& +8 "core" &?   #\ +3 ."da"Forearm.force -20 +4 "manipulator"&5 +6 ."da"Forearm.seek 1 + 316 counts +4 "manipulator"&K't +17 "core" ' +5 "manipulator"&.& +6 "core" & V : +4 "storage"(P& +6 "core" &? B A \ +5 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&\ ' +24 "core" ' +3 "storage"(% +8 "core" % 2 - ,\  +5 ."downElevator"SE.seek :down +8 "storage"(T' +98 ( % +6 "core" %>< G \ SV +5 "manipulator"&2% +11 "core" % \ v +8 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +7 ."da"Forearm.seek :retract +4 "manipulator"&B' +92 "core" ' +37 ' +3 ."downElevator"SE.stop +6 "storage"(5 +6 (& +6 "core" &? 3 4 f\ +693 ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +4 "processing"%\\ +103 "core"  +3 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +4 "processing"%@ +15 ."psFlush"PS.seek 0.5ml +4 "processing"%;' +588 "core" ' +3 ."psFlush"delay 5 seconds +504 .PSR.select :air +3 "processing"% +14 ."psFlush"PS.seek 2.5ml +4 "processing"%C' +286 #"uploadLog"upsync +1844 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%s  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%5 @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%e +113 "core" +2 ."psFlush"PS.seek :empty +3 "processing"%3'ؠ +2655 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%D'X\\ +1099 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%F' +1609 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%k  +70 "core"  + ."psFlush"PBV.dial :waste1 +3 "processing"%S  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%I'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%= +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +3 "processing"%L' +590 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2128 "core" ' +44 ."psFlush"PSV.dial PTV +10 "processing"%Y +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%7 U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%g @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%N  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%9'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%^ +43 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"% ' +1859 "Can" A.ZC/ +778 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%z'ؾ +2653 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%v @ +43 "core" ? +3 ."psFlush"PS.seek 2.5ml +2 "processing"%{' +2633 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%"  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%o'ؾ +2650 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%$ +42 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%x'X\\ +1095 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +1609 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%+ +82 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%i  +15 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%R  +50 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%_ +69 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%r' +586 "core" ' + ."psFlush"PSR.select :air +7 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%J' +2117 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%a +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%f U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2642 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +3 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%G  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%y'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%A +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2628 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%n +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%c U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%X'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%}' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%V  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%)'ؾ +2635 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&& +3 "core" & y : +2 "manipulator"&% +4 "core" %  \  s  +2 ."psFlush"Elbow.seek PC +43 "manipulator"&|( +270 "core" ( +2 "manipulator"&j& +3 "core" &    +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &`& +3 "core" &   +2 ."psFlush"Forearm.seek PC +2 "manipulator"&p' +94 "core" ' +2 ."psFlush"Hand.close + "manipulator"&'/ +64 "core" / +3 ."psFlush"PC.seek :open +2 "processing"% ( +456 "core" ( + "manipulator"&m& +4 "core" & +2 "manipulator"&% +4 "core" %  E +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&h' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +122 "core" ( + "manipulator"&& +5 "core" &-  / + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &- +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&'w +91 "core" ' +2 ."psFlush"Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&u% +3 "core" % t  6 B +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&0' +96 "core" ' +2 #tFinished short da assay + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'Z& +4 "core" &\ \ F\ +2 "manipulator"&-& +3 "core" &-  $ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&~(- +17 "core" ( +2 "manipulator"&[& +4 "core" &- ` k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &- k +3 .tForearm.seek :garage +2 "manipulator"&#'w +91 "core" ' +2 .tHand.close + "manipulator"&l/ +58 "core" / +2 "manipulator"& & +3 "core" &- k +3 "manipulator"&?% +4 "core" % ~  C +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&d(ӂ +287 "core" ( +2 "manipulator"&& +3 "core" &Ӥ \ E 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &Ӥ  % 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'? +100 "core" ' +2 "manipulator"&U& +3 "core" &Ӥ    8 +2 "manipulator"&,% +4 "core" %E  J +2 "collection"'H& +4 "core" &\ \ A\ +3 "collection"'b& +4 "core" &\ \ B\ +3 .tCC.seek :closed + "collection"'W(\\ +5 "core" &\ \ 9\  +9 &6~\ \ A\ +{ +10 &g}\ \ I\ ? +9 &m\ \ O\ M +9 &]R\ \ M\ L +10 &!S\ \ O\ K +9 &T\ \ N\ L +9 &R\ \ M\ L +10 &fU\ \ M\ L +9 &'S\ \ M\ L +10 &T\ \ M\ L +9 & R\ \ M\ L +9 &"oT\ \ R\ K +10 &$0S\ \ M\ L +9 &%R\ \ N\ L +9 &'T\ \ K\ L +10 &)uW\ \ M\ L +9 &+9T\ \ L\ K +10 &,T\ \ M\ L +9 &.Q\ \ P\ L +9 &0~S\ \ O\ L +10 &2?W\ \ N\ L +9 &4T\ \ O\ L +9 &5T\ \ P\ K +10 &7T\ \ O\ L +9 &9HU\ \ R\ L +10 &;\ T\ \ V\ L +9 &<W\ \ P\ L +9 &>T\ \ N\ L +10 &@PT\ \ H\ L +9 &B\\\ \ N\ M +9 &Cd\ \ T\ N +10 &E}\ \ L\ Q +9 &G=\ \ S\ U +10 &H\ \ O\ W +9 &J\ \ K\ X +9 &Lw\ \ Y\ Y +10 &N8\ \ S\ Y +9 &O\ \ Z\ Z +9 &Q\ \ d\ Z +10 &S{\ \ ]\ Z +9 &U9\ \ \\\ \\ +10 &V\ \ a\ \\ +9 &X\ \ e\ ] +9 &Zz\ \ d\ ] +10 &\\y\ \ ^\ 2 +9 &\\.\ \ a\ ` +9 ( + &\\z\ \ [\ R +3 "collection"'b& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.42 + "collection"'4& +3 "core" &\\y\ \ ^\ R +2 .tHand.open +2 "manipulator"&t1 +62 "core" 1 +2 "manipulator"&%% +3 "core" % E   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%M  +44 "core"  + #tPulling 2.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml + "processing"%/' +2630 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +53 .tCBV.dial PRV +2 "processing"%E  +98 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%> +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'.  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%P @ +182 "core" @ +3 .tPS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%1' +2636 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%@  +16 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'2  +4 "core"  + .tPTV.dial :PRV,avoiding: :puck +3 .PS.seek 0ml +2 "processing"%8'ؾ +2629 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%:  +189 "core"  + #tPulling 2.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 2.5ml + "processing"%K' +2638 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +5 .tCBV.dial PRV +2 "processing"%  +14 "core" +2 .tPSV.dial :PTV,via: :air +2 "processing"%] +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'\  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%T'ؾ +2638 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%\\  +189 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%&'+ +1612 "core" ' +2 .tdelay 5 seconds +182 "Can"\ Q1Y[@C$ +320 .tPSV.dial :waste1 +2 "processing"%;  +46 "core"  +2 .tPS.seek 0ml + "processing"%s'ؾ +1617 "core" ' + .tPSV.dial PSR +2 "processing"%5 +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%e' +2628 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 .PSV.dial :PTV,via: :air +2 "processing"%C +189 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml + "processing"%3'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%D  +85 "core" +2 .tPS.seek 2.5ml +2 "processing"%' +2627 "core" ' +2 .tPSV.dial :PTV + "processing"%k +70 "core"  +3 .tPS.seek 0ml + "processing"%S'ؾ +2635 "core" ' +2 .tPSV.dial :air +2 "processing"%F  +71 "core"  +3 .tPS.seek 2.5ml + "processing"%=' +2628 "core" ' + .tPSV.dial :PTV +2 "processing"%I +72 "core"  +2 .tPS.seek 0ml +2 "processing"%L'ؾ +2627 "core" ' + .tPSV.dial :air +2 "processing"%Y  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%7' +2652 "core" ' +2 .tPSV.dial :PTV + "processing"%w +72 "core"  +2 .tPS.seek 0ml +2 "processing"%g'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &Ӥ 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&N(ӂ +23 "core" ( + "manipulator"&& +5 "core" &w  % % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &w a % +2 .tForearm.seek CC +2 "manipulator"&9'? +103 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'( +449 "core" ( +2 "manipulator"& & +3 "core" &ӊ \ } "} +2 "manipulator"&v% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&z' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&"(- +276 "core" ( +2 "manipulator"&{& +43 "core" &-  ? l +9 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &- l +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&o'w +92 "core" ' +2 .tHand.open + "manipulator"&x1 +61 "core" 1 + "manipulator"&+% +4 "core" % } A K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +98 "core" ' +928 #t-> access 1 +2 "storage"(R% +3 "core" % w u \  +2 "manipulator"&(% +4 "core" %   w +2 "manipulator"&_& +4 "core" &- R l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<- +1296 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" &<+ > M \ \ +14349 #t-> access 2 +3 "storage"(a% +2 "core" % u r \  +2 "manipulator"&f% +4 "core" %  O w +2 "manipulator"&J& +4 "core" &- l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K A I z\ +2092 #t-> startTube 2 +1253 #-> $da[:extractVol]=.2 +14442 "Can" 33[C# +60001  35N\\lC$ +51252 #t-> shortDA; shortDAflush; PS.flush +3 "collection"'G% + "processing"%% +6 "core" %j\  \ + %ؿ\ +5 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +192 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%A +43 "core" +2 .tPTV.dial :PRVmixing + "processing"%y  +72 "core" +2 .tPRV.dial :sipper + "processing"%n  +128 "core"  +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%c'e +2293 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  +124 "core" +3 .tPS.seek 0.5ml + "processing"%' +1274 "core" ' +2 .tPRV.dial :waste2 + "processing"%X @ +99 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%V'ؾ +590 "core" ' +2 .tPSV.dial PSR + "processing"%} +102 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%'X\\ +1098 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1619 "core" ' +2 .tPSV.dial :mixloop + "processing"%O +19 "Can"\ K7]C +83 "core" +2 .tPS.seek 0ml +2 "processing"%j'ؾ +2625 "core" ' +2 .tPSV.dial PSR +2 "processing"%` +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%''X\\ +1108 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%B' +1617 "core" ' + .tPSV.dial :mixloop +2 "processing"%* +101 "core" +2 .tPRV.dial :sipper + "processing"%m  +43 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' +2 .tPSV.dial PSR + "processing"% +100 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%' +2638 "core" ' + .tPSV.dial :mixloop +2 "processing"%p +101 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2629 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%u& +4 "core" &\ +2 "manipulator"&|% +4 "core" %  w + "storage"(Z% +3 "core" % v q \  +3 "storage"(-. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(h(  +1300 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +3 "core" &  E C :\ +2 "manipulator"&Q& +4 "core" &- Y l + "manipulator"&% +4 "core" %  + w +48 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&l( +171 "core" ( +2 "manipulator"& & +3 "core" & . +2 "storage"(?& +4 "core" &  v v x\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +91 "core" ' +2 "storage"(0& +3 "core" &  _ j \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" & . 6 >\ +2 "manipulator"&q& +4 "core" &   . +2 .tElbow.seek 2 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&,& +4 "core" &  . +2 "storage"(H& +3 "core" & [ [\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&!/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&4& +2 "storage"(t' +8 "core" & @ . +2 "manipulator"&%% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&M( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( +6 "manipulator"&<& +4 "core" & { +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&E' +100 "core" ' + "manipulator"&>& +4 "core" & | +2 "manipulator"&.% +4 "core" % N +2 "processing"%P& +3 "core" &6\ +3 "processing"%/& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +6 &5\ $d +9 &Xv\ 7 +10 &t\ K +9 &N\ L +10 &zQ\ M +9 &<O\ M +9 &U\ M +10 &U\ M +9 &T\ M +9 &EU\ L +10 & R\ M +9 &!U\ M +10 &#V\ M +9 &%LU\ M +9 &'U\ M +10 &(V\ M +9 &*V\ M +9 &,TV\ M +10 &.Q\ M +9 &/Q\ M +10 &1R\ L +9 &3]R\ L +9 &5R\ M +10 &6U\ M +9 &8Q\ M +9 &:eR\ L +10 &<&R\ M +9 &=V\ M +10 &?T\ M +9 &AkV\ M +9 &C(d\ O +10 &Dk\ P +9 &F{\ R +9 &H`\ S +10 &J"\ S +9 &K\ T +10 &M\ T +9 &Oe\ T +9 &Q%\ U +10 &R\ T +9 &T\ U +9 &Vm\ T +10 &X.\ U +9 &Y\ U +10 &[\ U +9 &]s\ B +9 &^<t\ !c +10 &^4\ 3 +5 ( +2 "processing"%/& +3 "core" &^$\ 3 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&@% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%2 h + %19 +6 "core" 9 +103 "processing"%:9 +2 "core" 9 +102 "processing"%89 +3 "core" 9  +103 "processing"%9 +3 "core" 9  +102 "processing"%]9 +3 "core" 9 +102 "processing"%\ 9 +3 "core" 9 +102 "processing"%K9 +3 "core" 9 +102 "processing"%\\9 +4 "core" 9 +102 "processing"%T9 +3 "core" 9" +102 "processing"%;9 +3 "core" 9& +102 "processing"%&9 +3 "core" 9+ +102 "processing"%59 +3 "core" 9/ +102 "processing"%s9 +4 "core" 93 +102 "processing"%C9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%e9 +3 "core" 9@ +102 "processing"%D9 +3 "core" 9D +102 "processing"%39 +4 "core" 9H +102 "processing"%k9 +3 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%F9 +3 "core" 9U +102 "processing"%S9 +3 "core" 9Y +102 "processing"%I9 +4 "core" 9] +102 "processing"%=9 +3 "core" 9a +102 "processing"%Y9 +3 "core" 9e +151 "processing"%L9 +3 "core" 9l\ +102 "processing"%w9 +3 "core" 9p\ +102 "processing"%79 +4 "core" 9t\ +102 "processing"%9 +3 "core" 9x +102 "processing"%9 +3 "core" 9} +103 "processing"%^9 +2 "core" 9' +3 .tPH.hold 2:00:00,28C +3 "processing"% php +3 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%d +102 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%' +588 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml +2 "processing"%W' +1616 "core" ' + .tPTV.dial :puck +2 "processing"%  +128 "core"  +2 .tPSV.dial PTV +2 "processing"%v +71 "core" +2 .tPBV.dial :waste1 +2 "processing"%9  +51 "core" +2 "processing"%{% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%N'0 +623 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%$ * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%x'ؾ +1613 "core" ' +2 .tdelay 5:00 +24913 "Can" ?9]C" +5089 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%+  +3 "core"  +2 .tPBV.dial :waste1 +2 "processing"%z  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%o * +32 "core" * + .tPSR.select :air +3 .PSV.dial PSR + "processing"%R +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%(' +2393 "core" ' + .tPSV.dial PTV +2 "processing"%_ +84 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%r +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%a  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%f'ؾ +2344 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%J  +128 "core" + .tPSV.dial :mixloop +2 "processing"% +44 "core" + .tPRV.dial :ab1 +2 "processing"% @ +98 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +355 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "processing"%G  +42 "core"  +2 "processing"%A% +4 "core" %Q\ +2 .tPS.seek 0.35ml + "processing"%y'j +477 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'n  +30 "core" +2 .tPRV.dial :air +2 "processing"%g  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'K +1168 "core" ' + .tPRV.dial :waste2 +2 "processing"%c @ +69 "core" ? +2 .tPS.seek 0.5ml + "processing"%X' +862 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%}' +1605 "core" ' + .tPSV.dial :PML +2 "processing"%V +44 "core" + .tPTV.dial :mixing +2 "processing"% @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%O  +33 "core" + "processing"%% +3 "core" %n\  +3 .tPS.seek 1.85ml + "processing"%`' +237 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%j * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%''ؾ +1972 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'*& +3 "core" &\ \ \ +2 "manipulator"&m& +4 "core" & \ \ q +2 "manipulator"&B% +4 "core" %  \ Q  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +128 "core" ( +2 "manipulator"&& +4 "core" &- \  D ~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &-  ~ +3 .tForearm.seek :garage + "manipulator"&'w +95 "core" ' +46 .tHand.close +5 "manipulator"&u/ +58 "core" / +2 "manipulator"&|& +4 "core" &-   Y ~ +2 "manipulator"&Z% +4 "core" % y  " +2 .tForearm.seek :retract +2 "manipulator"&-' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +281 "core" ( +2 "manipulator"&[& +4 "core" &ӓ! " ) C :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &ӓ! ) , ^ :, +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 "manipulator"& & +3 "core" &ӓ" 1 2 U :, +2 "manipulator"&?% +5 "core" %F " ( , +2 "collection"'0& +4 "core" &\  \ +2 "collection"'"& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'i(\\ +4 "core" &\ \ \ +8 &B\ \ $f +10 &Xz\ \ \ 8 +9 &t\ \ \ L +10 &Q\ \ \ L +9 &S\ \ \ L +9 &GR\ \ \ L +10 & S\ \ \ L +9 &T\ \ \ L +9 &S\ \ \ K +10 &OT\ \ \ L +9 & R\ \ \ L +10 &!R\ \ \ L +9 &#T\ \ \ L +9 &%WW\ \ \ L +10 &'S\ \ \ K +9 &(T\ \ \ L +9 &*S\ \ \ K +10 &,`T\ \ \ L +9 &."Q\ \ \ L +10 &/S\ \ \ L +9 &1S\ \ \ L +9 &3hT\ \ \ L +10 &5*U\ \ \ L +9 &6U\ \ \ K +9 &8U\ \ \ L +10 &:oT\ \ \ L +9 &<1T\ \ \ \ L +10 &=S\ \ \ L +9 &?U\ \ \ L +9 &AvV\ \ \ L +10 &C5]\ \ \ M +9 &Dr\ \ \ O +10 &F\ \ \ T +9 &H]\ \ \ X +9 &J\ \ \ Y +10 &K\ \ \ X +9 &M\ \ \ Y +9 &O]\ \ \ Z +10 &Q\ \  \ Z +9 &R\ \ \ [ +9 &T\ \ \ [\ +10 &V_\ \ \ \\ +9 &X\ \ \ ] +10 &Y\ \ \ ] +9 &[\ \ \ K +9 &\\4\ \ \ 1 +10 &\\t\ \ \ P +2 ( +2 "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.42 + "collection"'& +3 "core" &\\q\ \ \ P +2 .tHand.open +2 "manipulator"&~1 +62 "core" 1 +3 "manipulator"&q% +3 "core" % F 2 1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +101 "core" ' +2 .tPSV.dial PSR +2 "processing"%H +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%!'+ +1617 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%4  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%%'ؾ +1607 "core" ' +2 .tPSV.dial PSR + "processing"%l +44 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%#  + "collection"'  +32 "core" ~ +124  +2 .tPSV.dial :mixloop + "processing"%< +111 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"')  +5 "core"  +2 .tPTV.dial :PRVmixing +2 "processing"%U  +72 "core" +2 .tPS.seek 0ml +2 "processing"%>'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%.  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%P' +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"%t +44 "core" +2 .tPS.seek 0ml +2 "processing"%b'ؾ +2649 "core" ' +2 .tPSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2652 "core" ' +2 .tPSV.dial :mixloop + "processing"%@ +44 "core" +2 .tPS.seek 0ml +2 "processing"%1'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&/& +4 "core" &ӧ   Z 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&:(ӂ +20 "core" ( + "manipulator"&E& +3 "core" &y  ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &y + ) +3 .tForearm.seek CC + "manipulator"&'? +105 "core" ' +2 .tHand.close + "manipulator"&]/ +61 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +448 "core" ( +42 "manipulator"&K& +11 "core" &ӣ    # +2 "manipulator"&\\% +4 "core" %  m +2 .tForearm.seek :retract +2 "manipulator"&T' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&;(- +293 "core" ( +2 "manipulator"&&& +3 "core" &-  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &5& +2 "core" &- \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&s'w +95 "core" ' +3 .tHand.open + "manipulator"&C1 +53 "core" 1 + "manipulator"&% +4 "core" % w  ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +93 "core" ' +3 ."da"delayUntil "21:26:34.23" +13778 "Can" =^C +4588 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%f * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%A' +2381 "core" ' +2 ."da"PSV.dial PTV + "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%n +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%g +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%y  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%c'ؾ +2344 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%  +127 "core" +2 ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%X  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 "processing"%V  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%O' +390 "core" ' +2 ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%  +45 "core"  + "processing"%j% +4 "core" %\ v\  +2 ."da"PS.seek 0.55ml +2 "processing"%}' +344 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%`  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%*' +1554 "core" ' + ."da"PSV.dial :PML +2 "processing"%m +44 "core" + ."da"PTV.dial :mixing +2 "processing"%B @ +72 "core" B + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%p% +4 "core" %u\  +2 ."da"PS.seek 1.85ml +2 "processing"%M' +239 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%|'ؾ +1966 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +39203 "Can" >A&_ZC +8800 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%Z @ +14 "core" ? +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%[  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%Q' +2390 "core" ' +2 ."da"PSV.dial :mixloop + "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%? +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%0  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%-'ؾ +2355 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%~' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%q  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%" +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +33 "core" + "processing"%% +46 "core" %w\  +9 ."da"PS.seek 1.5ml +2 "processing"%''. +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%4 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%!'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%l  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%#' +2384 "core" ' +2 ."da"PSV.dial PTV + "processing"%< +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%) +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%U +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%.'ؾ +2349 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%> +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%t' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%P' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +83 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%b  +32 "core" +2 "processing"%@% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%', +592 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%/ * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +1628 "core" ' +2 ."da"delay 2:00 +9536 "Can" <C_C# +2467 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%8  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%] * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%,' +2392 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%i +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%K +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%\\ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%&'ؾ +2327 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%: +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%5' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%C' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%T  +33 "core" + "processing"%s% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%6'- +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%D * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%k  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +45 ."da"PSR.select :air +9 .PSV.dial PSR +2 "processing"%1 +69 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%S' +2393 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%I +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%= +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%Y +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%F  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"%w'ؾ +2352 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +3 .PSV.dial PSR + "processing"%L +131 "core"  +4 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +4 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +5 "processing"%7' +338 "core" ' +61 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +328 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%^' +1610 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%d +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +34 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"% '* +606 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +1617 "core" ' +2 ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%{  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%W * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%v +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%N' +2426 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%2 +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%+ +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%z +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%$  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +2392 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%o +130 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%x' +2127 "core" ' +2 ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"% +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%r  +35 "core"  + "processing"%a% +3 "core" %}\  +3 ."da"PS.seek 1.5ml +2 "processing"%_', +501 "Can"\ 1G`C +91 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%J * +32 "core" + + ."da"delay 1 second +103 .PSV.dial :waste1 +2 "processing"%(  +103 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1615 "core" ' + "processing"%f9 +3 "core" 9f5l +3 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%G +2 % & +2 "core" 5l +3 &^ |\ 3 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&% +3 "core" %   N  +2 "storage"(n% +4 "core" % \  +2 "storage"(g. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(y(C +351 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &F U X\ +2 "manipulator"&& +3 "core" &- w +2 "manipulator"&% +3 "core" %   a  +3 ."da"Elbow.reconfigure :tight +48 "manipulator"&$&.,(\ #b +9 ."da"Elbow.seek 1 +2 "manipulator"&X( +171 "core" ( + "manipulator"&V& +4 "core" &   6 +2 "storage"(& +4 "core" &F X W\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&c' +119 "core" ' +2 "storage"(& +3 "core" &F X\ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(j'r +279 "core" ' + "storage"(O- +3 "core" -'r +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(`'1 +40 "core" ' +2 "manipulator"&}& +5 "core" &  U 5 + "manipulator"&m% +3 "core" % < : +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&B' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +243 "core" ( + "manipulator"&p& +3 "core" &  Z  +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +3 "core" &  i  +2 ."da"Forearm.seek PC +2 "manipulator"&*' +93 "core" ' +2 ."da"Hand.close + "manipulator"&M/ +58 "core" / +3 ."da"PC.seek :open +2 "processing"%Z( +460 "core" ( +2 "storage"( & +3 "core" &F y\ +3 "manipulator"&& +4 "core" &  + "manipulator"&[% +4 "core" %  } +2 ."da"Forearm.seek :retract +2 "manipulator"&|' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +246 "core" ( + "manipulator"& & +4 "core" &   9 2 +2 "storage"(?& +4 "core" &F N\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&0' +94 "core" ' + ."da"Hand.open +2 "manipulator"&Q1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(-' +26 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +3 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1222h.tif +6 "processing"%q& +9 "core" &2\ r +4 "manipulator"&"& +6 "core" & B 1 +2 "manipulator"&H% +5 "core" %  [ +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&~(- +172 "core" ( +2 "manipulator"&4& +3 "core" &-   p +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &'& +3 "core" &- } p +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&l'w +93 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&%/ +52 "core" / +2 "manipulator"&& +4 "core" &-  # p +2 "manipulator"&!% +4 "core" % w o ' +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&<' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&)( +117 "core" ( + "manipulator"&U& +4 "core" &  ; C +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  C +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +55 ."psFlush"Forearm.seek PC +9 "manipulator"&#' +103 "core" ' +2 "manipulator"&>& +3 "core" &  v C +3 "manipulator"&.% +3 "core" %  @ 1 +3 "processing"%t& +4 "core" &\ m +2 "processing"% & +5 "core" &\ n +2 ."psFlush"PC.seek :closed +2 "processing"%b(^ +4 "core" &\ m +9 &2t\ f)w +9 &by\ e> +10 &ig\ fO +9 &+H\ hN +10 &I\ hO +9 &J\ N +9 &sI\ N +10 &6J\ M +9 &J\ M +10 &M\ M +9 & {O\ N +9 &"=N\ N +10 &#O\ N +9 &%K\ N +9 &'N\ N +10 &)BI\ lO +9 &+F\ lO +10 &,G\ kO +9 &.I\ kO +9 &0IL\ jO +10 &2 I\ jO +9 &3LC\ iO +9 &5HK\ iN +10 &7RIT\ iO +9 &9HL\ iO +9 &:IG\ iN +10 &<IJ\ iO +9 &>YLH\ hO +10 &@J?\ hO +9 &AMB\ hO +9 &CY;\ gQ +10 &EXc=\ fR +9 &Gv5\ S +9 &H{6\ T +10 &J:\ U +9 &LW8\ U +10 &N.\ V +9 &O*\ U +9 &Q'\ W +10 &S])\ V +9 &U#\ V +9 &V\ V +10 &X\ oV +9 &Z`\ fX +10 &\\"\ fX +9 &]r\ g: +9 &^-w$\ fY +10 &^&"\ k3 +2 ( +2 "processing"% & +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 +2 "processing"%@& +3 "core" &^$\ j3 +2 ."psFlush"Hand.open +2 "manipulator"&P1 +63 "core" 1 + "manipulator"&/% +4 "core" % " * ' 1 +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +43 "core" +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%]' +521 #"da"SX HX9/16 (USB:39): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 18.232 seconds\ /var/log/esp/da23sep1222h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1222h15s.tif +67 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +977 #"da"SX HX9/16 (USB:39): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1222h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1222h20s.tif +1148 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%E @ +187 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%i  +131 "core" + ."psFlush"PSV.dial :mixloop +3 "processing"%K +102 "core" +2 ."psFlush"PS.seek :empty +3 "processing"%\\'ؠ +378 #"da"SX HX9/16 (USB:39): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1222h20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "18.232 sec auto-exposure",Subject: "da23sep1222h images!" +3 "storage"(- +2 "core" -' +2 "storage"(,& +8 "core" &F  9\ +8 "manipulator"&:& +13 "core" & + ( C +3 "manipulator"&&% +5 "core" %  % *  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&5( +256 "core" ( +4 "manipulator"&& +4 "core" &  !   +3 "storage"(T& +4 "core" &F   \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&s' +97 "core" ' +4 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.51 Pucks below Top Plate +3 "storage"(C'" +52 "core" ' +3 "manipulator"&D& +7 "core" &   +5 "storage"(6& +7 "core" &F   \ +3 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 1 +2 "manipulator"&k'8 +27 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&, +123 "core" , +10 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +7 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +8 ."da"SE.seek -0.32 Pucks below Top Plate +7 "storage"(1' +28 "core" ' +3 "manipulator"&3% +8 "core" %J + + +3 "storage"(I& +7 "core" &F   %\ +4 ."da"Forearm.force -20 +3 "manipulator"&5 +8 ."da"Forearm.seek 1 + 318 counts +4 "manipulator"&='v +17 "core" ' +4 "manipulator"&Y& +6 "core" &   +5 "storage"(F& +8 "core" &F + * \ +5 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&S' +36 "core" ' +4 "storage"(L% +6 "core" % B A \  +6 ."downElevator"SE.seek :down +6 "storage"(w' +98 (7% +10 "core" %e>\ \  f\ TZ +6 "manipulator"&% +10 "core" %\  ` n +4 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +14 ."da"Forearm.seek :retract +4 "manipulator"&d' +96 "core" ' +24 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 (& +5 "core" &F > A K\ +1037 ' +3 ."psFlush"PSR.select :air +3 .PSV.dial PSR +4 "processing"% +103 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +4 "processing"%@ +15 ."psFlush"PS.seek 0.5ml +2 "processing"%^' +598 "core" ' +3 ."psFlush"delay 5 seconds +29 #"uploadLog"upsync +473 ."psFlush"PSR.select :air +4 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2121 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%{ @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%W +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%v'ؠ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%9 +101 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%2'X\\ +1110 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%+' +1618 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%z +84 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%$  +68 "core"  + ."psFlush"PBV.dial :waste1 +3 "processing"%N  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%o'ؾ +2628 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%R +70 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +585 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2116 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%a +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%x U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%J'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%( @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%f  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%G'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +42 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%n +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%g U +15 "core" T +2 ."psFlush"PS.seek 0ml +3 "processing"%h'ؾ +2634 "core" ' +9 ."psFlush"PSV.dial PBV +2 "processing"%A @ +55 "core" A +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +71 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%V'ؾ +2639 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +42 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 1ml +2 "processing"%;'X\\ +1103 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1606 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%e +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%O  +49 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%}'ؾ +2630 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%m +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%j' +593 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%c' +2128 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%p +72 "core" + ."psFlush"PBV.dial PSV +3 "processing"%u U +52 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%X'ؾ +2658 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%M @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%B' +1875 "Can" ?K aC# +754 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +42 "core" +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%[' +2629 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%* +69 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +15 "core" T +2 ."psFlush"PS.seek 0ml +3 "processing"%?'ؾ +2628 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +55 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%Q' +2638 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%q'ؾ +2633 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&"& +3 "core" &  e  +2 "manipulator"&H% +3 "core" %   ,  +3 ."psFlush"Elbow.seek PC +2 "manipulator"&|( +240 "core" ( + "manipulator"&`& +3 "core" &   ! +3 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &  5 ! +2 ."psFlush"Forearm.seek PC +2 "manipulator"&4' +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"&'/ +53 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%0( +456 "core" ( + "manipulator"&& +3 "core" & o ! +2 "manipulator"&%% +4 "core" %  4 +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&!(- +129 "core" ( + "manipulator"&& +4 "core" &-  6  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &-   +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +49 "manipulator"&'w +100 "core" ' + ."psFlush"Hand.open +2 "manipulator"&l1 +58 "core" 1 + "manipulator"&~% +3 "core" % y   +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&>' +94 "core" ' +2 #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'.& +4 "core" & U\ +2 "manipulator"&t& +3 "core" &-  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&<(- +15 "core" ( + "manipulator"&Z& +4 "core" &-   c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &- Z c +2 .tForearm.seek :garage +2 "manipulator"&P'w +92 "core" ' + .tHand.close +2 "manipulator"&// +61 "core" / + "manipulator"& & +4 "core" &- c +2 "manipulator"&8% +3 "core" % } @ @ +3 .tForearm.seek :retract +2 "manipulator"&#' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +279 "core" ( +2 "manipulator"&]& +3 "core" &ӂ&  @ ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &ӂ& ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'? +96 "core" ' +2 "manipulator"&K& +3 "core" &Ӄ&   >O +3 "manipulator"&% +4 "core" %=  +2 "collection"'& +4 "core" &\ U\ +2 "collection"',& +5 "core" & T\ +2 .tCC.seek :closed +2 "collection"':(\\ +5 "core" & \ P\  +8 &5\  R\ +{ +10 &f} \ Y\ > +9 &m\ R\ L +9 &ZT \ [\ L +10 &S\ \ `\ L +9 &V\  S\ L +10 &Q\ \ ]\ L +9 &dR\ \\\ K +9 &&T c\ K +10 &T\ \ g\ K +9 & T\ \ f\ K +9 &"lT\ _\ K +10 &$.S\ `\ K +9 &%T e\ L +10 &'W c\ K +9 &)tS\ \ g\ K +9 &+6T a\ K +10 &,S \ [\ L +9 &.R e\ L +10 &0{S h\ L +9 &2>T\ \ f\ K +9 &3U\ \ c\ L +10 &5Y c\ L +9 &7U \ _\ L +9 &9EY\ \ k\ L +10 &;T\ \ j\ L +9 &<U\  i\ K +9 &>V\ \ j\ L +10 &@MY\ \ e\ L +9 &BZ\ \ j\ L +10 &Ch\ \ `\ N +9 &E{\ \ \ d\ P +9 &G:\ \ h\ U +10 &H\ \ o\ X +9 &J\ \ b\ Y +9 &Lu\ \ b\ Y +10 &N6\ \ i\ Y +9 &O\ \ j\ Z +10 &Q\ \ d\ [\ +9 &Sy\ \ e\ Z +9 &U8\ \ q\ [\ +10 &V\ \ b\ \\ +9 &X\ \ o\ ] +9 &Zz\ \ o\ \\ +10 &\\z\ \ q\ 0 +9 &\\5\ \ r\ !f +10 ( + &\\u\ \ n\ O +2 "collection"',& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.44 + "collection"'&& +3 "core" &\\u\ \ r\ O +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&T% +3 "core" % = ( q  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +98 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%D  +44 "core"  + #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 2.5ml + "processing"%6' +2652 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  + "collection"'  +17 "core" +81  + .tPSV.dial :PTV,via: :air +2 "processing"%3 +189 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'I  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%Y @ +72 "core" A +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2641 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%s  +187 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml + "processing"%5' +2640 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%L  + "collection"'7  +7 "core" +8  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +189 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 "collection"'C  +5 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%k @ +5 "core" A +2 .tPS.seek 0ml +2 "processing"%='ؾ +2632 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +189 "core"  +5 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%1' +2631 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%S  +2 "collection"'w  +4 "core"  +2 +3 .tPSV.dial :PTV,via: :air +2 "processing"% +201 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'\\  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%^ @ +5 "core" A +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2638 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%{  +187 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%W'+ +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +45 "core"  +3 .tPS.seek 0ml + "processing"%9'ؾ +1620 "core" ' + .tPSV.dial PSR +2 "processing"%v +44 "core"  + .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml + "processing"%2' +2641 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%z  +2 "collection"'$  +7 "core"  +3 .tPSV.dial :PTV,via: :air +2 "processing"%N +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'+  +5 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%R @ +5 "core" A +3 .tPS.seek 0ml +2 "processing"%o'ؾ +2634 "core" ' +2 .tPSV.dial :air +2 "processing"%  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%a' +2635 "core" ' +2 .tPSV.dial :PTV + "processing"%x +74 "core" ~ +2 .tPS.seek 0ml + "processing"%r'ؾ +2629 "core" ' +2 .tPSV.dial :air +2 "processing"%(  +84 "core"  +2 .tPS.seek 2.5ml +2 "processing"%J' +2636 "core" ' +2 .tPSV.dial :PTV +2 "processing"%f +70 "core"  +2 .tPS.seek 0ml +2 "processing"%_'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%  +72 "core"  +2 .tPS.seek 2.5ml +2 "processing"%G' +2639 "core" ' +2 .tPSV.dial :PTV +2 "processing"%n +71 "core"  +3 .tPS.seek 0ml + "processing"%g'ؾ +970 "Can"\ QMaC! +1664 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӥ  > :. +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&A(ӂ +43 "core" ( +2 "manipulator"&h& +4 "core" &v   8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &v k 8 +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / + .tCC.seek :open +2 "collection"'V( +447 "core" ( + "manipulator"&;& +4 "core" &Ӡ   2 +2 "manipulator"&e% +3 "core" % K  +3 .tForearm.seek :retract +2 "manipulator"&O' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +284 "core" ( + "manipulator"&m& +4 "core" &-  \ ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &- c ^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&j'w +96 "core" ' +2 .tHand.open +2 "manipulator"&p1 +60 "core" 1 +2 "manipulator"&u% +4 "core" % s  B , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +95 "core" ' +2 #tFlushing Processing stage +2 "processing"%M% +4 "core" %ػ\ + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%X& +3 "core" &\ +2 "manipulator"&& +3 "core" &-  ^ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&B(- +48 "core" ( +3 "manipulator"&& +4 "core" &- S ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &- t ^ +2 .tForearm.seek :garage +2 "manipulator"&*'w +91 "core" ' +2 .tHand.close +2 "manipulator"& / +61 "core" / + "manipulator"&[& +4 "core" &-  A ^ +2 "manipulator"&% +4 "core" % o R < +2 .tForearm.seek :retract +2 "manipulator"&?' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&( +117 "core" ( +2 "manipulator"&Q& +3 "core" & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" & ^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&H' +94 "core" ' +2 "manipulator"&`& +4 "core" &   + "manipulator"&-% +5 "core" % p + "processing"%& +5 "core" &\ +2 "processing"%'& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%d(^ +3 "core" &\  +9 &4y\ *x +9 &e{\ > +10 &k\ N +9 &IN\ L +10 &\ O\ M +9 &Q\ L +9 &Q\ L +10 &PR}\ M +9 &R\ M +9 &R\ M +10 & N\ L +9 &"YP\ L +10 &$T\ M +9 &%R\ L +9 &'O\ M +10 &)aTp\ L +9 &+"O~\ M +9 &,S\ L +10 &.Sy\ M +9 &0iTy\ L +10 &2*T\ M +9 &3Qq\ M +9 &5O{\ L +10 &7qP}\ L +9 &92T\ M +9 &:T\ L +10 &<Q\ L +9 &>wU\ M +10 &@;R\ L +9 &AW\ M +9 &Cb\ O +10 &Ewm\ P +9 &G2\ R +9 &H}\ S +10 &J\ S +9 &Lt\ S +10 &N4\ T +9 &O\ S +9 &Qy\ T +10 &Sy|\ T +9 &U;x\ T +10 &V\ T +9 &X\ T +9 &Zv\ U +10 &\\Bx\ U +9 &]{rv\ 6 +9 &^.x\ S +10 &^j\ 0 +2 ( +2 "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.67 +2 "processing"%b& +3 "core" &^t\ 0 +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&%% +4 "core" %   [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tPSV.dial PSR +2 "processing"%U +71 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%4'X\\ +1098 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%|' +1628 "core" ' +2 .tPSV.dial PTV + "processing"%l +72 "core" +2 .tPTV.dial :puck + "processing"%~  +72 "core"  +2 .tPBV.dial :waste1 + "processing"%.  +50 "core"  +2 .tPS.seek 0ml +2 "processing"%t'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"% +72 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%Z' +591 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%@' +2125 "core" ' +2 .tPSV.dial PTV +2 "processing"% +72 "core" + .tPBV.dial PSV +2 "processing"%/ U +64 "core" T +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2635 "core" ' + .tPSV.dial PBV +2 "processing"%8 @ +44 "core" > +2 .tPS.seek 2.5ml + "processing"%!' +2637 "core" ' +2 .tPSV.dial :waste1 + "processing"%>  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%P'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%] +42 "core" +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%E' +2630 "core" ' + .tPSV.dial PTV +2 "processing"%< +70 "core" +2 .tPBV.dial PSV +2 "processing"%K U +4 "core" T +2 .tPS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' +2 .tPSV.dial PBV + "processing"% @ +55 "core" @ +2 .tPS.seek 2.5ml +2 "processing"%#' +2651 "core" ' +9 .tPSV.dial :waste1 +2 "processing"%\  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%&'ؾ +2651 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&& +3 "core" & k +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&,& +3 "core" &  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" & +3 .tForearm.seek PC +2 "manipulator"&i' +92 "core" ' +2 .tHand.close + "manipulator"&q/ +54 "core" / +2 .tPC.seek :open + "processing"%( +459 "core" ( + "manipulator"&& +4 "core" & d +2 "manipulator"&3% +3 "core" %  8 0 +3 .tForearm.seek :retract + "manipulator"&I' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&Y(- +131 "core" ( +2 "manipulator"&6& +4 "core" &-  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &- _  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&F'w +92 "core" ' +2 .tHand.open + "manipulator"&71 +58 "core" 1 +2 "manipulator"&L% +4 "core" %   2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +26944 "Can" 2ObHC +60001  2QbbC3 +60002  3SctC +60001  3Td\ C# +60001  3VxdC# +60001  2X*e6C +60002  2YeC! +60001  3[fbC2 +60001  2]@fC% @UTC1694563485.74  2^gC& +60002  2`h$C +60001  3bVhC +60001  3diPC% +60002  2eiC +60001  3glj|C$ +60001  3ikC +60001  2jkC +60002  3ll>C! +60001  2n6lC$ +60001  2omjC" +60002  2qnC( +60001  2sNnC! +60001  3uo,C +60001  2voC% +60002  3xfpXC% +60001  2zpC' +60001  3{qC$ +60001  2}}rC +60002  3/rC$ +60001  2sFC +60002  2sC +60001  2EtrC% +60001  3uC- +60001  3uC +60002  2]v4C1 +60001  3vC& +60001  2w`C# +60002  3uwC" +60001  3'xC+ +60001  2y"C +60001  3yC# +60002  3>zNC" +60001  2zC* +60001  3{zC' +60002  2T|C/ +60001  3|C$ +60001  2} access 1 +2 "storage"(C% +3 "core" % ~ \  +2 "manipulator"&k% +4 "core" %  :  +2 "manipulator"&5& +3 "core" &-   +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +1294 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &<. S ; g\ \ +24900 "Can" 3C +40157 #t-> access 2 +2 "storage"(S% +3 "core" % m \  +2 "manipulator"&w% +4 "core" %    + "manipulator"&& +4 "core" &- g  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(\\(K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +3 "core" &K [ G /\ \ +14085 #t-> shortDA; shortDAflush; PS.flush +2 "collection"'1% +2 "processing"%{% +3 "core" %j \ +6 %F\  +47 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +269 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"% +132 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%  +127 "core" +2 .tPRV.dial :sipper + "processing"%W  +126 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%v'e +2298 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%9  + "collection"'$  +7 "core" +119  +3 .tPS.seek 0.5ml + "processing"%z' +1204 "Can"+ 9TC +67 "core" ' +2 .tPRV.dial :waste2 + "processing"%N @ +99 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml +2 "processing"%+'ؾ +605 "core" ' + .tPSV.dial PSR +2 "processing"%R +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%2'X\\ +1098 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1609 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%o +101 "core" +2 .tPS.seek 0ml +2 "processing"%x'ؾ +2651 "core" ' + .tPSV.dial PSR +2 "processing"%a +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%('X\\ +1108 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%r' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"%f +101 "core" +2 .tPRV.dial :sipper + "processing"%J  +41 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2635 "core" ' +2 .tPSV.dial PSR + "processing"%_ +100 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%n' +2638 "core" ' +2 .tPSV.dial :mixloop + "processing"%G +102 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 #tLoading da puck from tube 3 into Processing Clamp + "processing"%h& +4 "core" &8\ +2 "manipulator"&% +4 "core" %  :  + "storage"(% +4 "core" % _ l j\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"()( +986 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" & X L \ +2 "manipulator"&;& +4 "core" &-   +2 "manipulator"&e% +4 "core" %   D  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +169 "core" ( +2 "manipulator"&m& +4 "core" &~   6 + "storage"(}& +4 "core" & l l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&A'7 +96 "core" ' + "storage"(p& +4 "core" & k f \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'r +274 "core" ' + "storage"(M- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :pick +2 "storage"(X' +38 "core" ' +3 .tSE.seek :down +2 "storage"(' +270 "core" ' +2 #tTube 3 was empty. Trying tube 4 ... +2 #Loading da puck from tube 4 into Processing Clamp + "processing"%O& +4 "core" &P\ +2 "manipulator"&% +4 "core" %"  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' + "storage"(j% +4 "core" % h i B\ # +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"([(,y +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z D 9 \  +2 "manipulator"&& +3 "core" &~ \  6 +2 .tElbow.seek 4 +2 "manipulator"&c( +30 "core" ( + "manipulator"&Q& +4 "core" &   +2 "storage"("& +3 "core" &,z M X\  +3 .tForearm.reconfigure :tight +49 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts + "manipulator"&*' +92 "core" ' +2 "storage"(`& +4 "core" &,z i i _\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'r +275 "core" ' + "storage"(- +4 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :pick +2 "storage"(B' +42 "core" ' +3 .tSE.seek :down +2 "storage"(?' +268 "core" ' +2 #tTube 4 was empty. Trying tube 5 ... +2 #Loading da puck from tube 5 into Processing Clamp + "processing"%0& +4 "core" &8\ +2 "manipulator"&b% +3 "core" %  D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 "storage"(%% +3 "core" % i j X\ " +2 "storage"('. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(U(<- +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &<, 3 * A\ +2 "manipulator"&g& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&4( +17 "core" ( +2 "manipulator"&l& +3 "core" &   +2 "storage"(~& +8 "core" &<, \\ ` \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +91 "core" ' + "storage"(|& +4 "core" &<, i i Y\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +280 "core" ' +2 "storage"(t- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :pick +3 "storage"(Z' +41 "core" ' +4 .tSE.seek :down +2 "storage"(' +268 "core" ' +2 #tTube 5 was empty. Trying tube 6 ... + #Loading da puck from tube 6 into Processing Clamp +2 "processing"%/& +3 "core" &V\ +2 "manipulator"&@% +4 "core" %H  Y n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +93 "core" ' +2 "storage"( % +3 "core" % k c \ " +2 "storage"(>. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(!(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" &K % 8 \ +2 "manipulator"&P& +3 "core" &   +3 .tElbow.seek 6 + "manipulator"&<( +4 "core" ( +2 "manipulator"&K& +3 "core" &    +3 "storage"(E& +4 "core" &K ; > \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(& +4 "core" &K h j x\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +279 "core" ' + "storage"(#- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek :pick + "storage"(' +47 "core" ' +3 .tSE.seek :down +2 "storage"(,' +269 "core" ' +2 #tTube 6 was empty. Trying tube 7 ... + #Loading da puck from tube 7 into Processing Clamp +2 "processing"%D& +3 "core" &O\ +2 "manipulator"&q% +4 "core" %  N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 "storage"(% +4 "core" % ^ k \ $ + "storage"(d. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (3& +3 "core" &[ 3 ) /\ +2 "manipulator"&6& +4 "core" & S  +2 .tElbow.seek 7 +2 "manipulator"&s(r +40 "core" ( +2 "manipulator"&i& +4 "core" &   6 + "storage"(T& +51 "core" &[ k _ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'= +90 "core" ' + "storage"(L& +4 "core" &[ X P\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +280 "core" ' +2 "storage"(F- +3 "core" -'r +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :pick +2 "storage"(' +38 "core" ' +3 .tSE.seek :down +2 "storage"(C' +269 "core" ' + .tSE.stop +2 "storage"(5 +3 "manipulator"&k% +3 "core" %6  R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +91 "core" ' +2 !to:Storage::Error: mesg"Out of Pucks:bt[" access 2 +3 "storage"(y% +3 "core" % h j \  +2 "manipulator"&=% +4 "core" %    + "manipulator"&S& +3 "core" &   6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(w(K +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K  9 T\ +1760 #t-> startTube 2 +753 #-> $da[:extractVol]=.2 +23455 #-> exit +7 #mEXIT @1694608154.37UTC @1694608163.13UTC = =tMAIN =mMAIN_scheduler @UTC1694608164.92 #"core_reset"Sent BREAK +2 #t@51541 receive with ifg=0x10, ie=0xFD #@52177 receive with ifg=0x10, ie=0xFD + #@52835 receive with ifg=0x10, ie=0xFD + #@53472 receive with ifg=0x10, ie=0xFD + #@54107 receive with ifg=0x10, ie=0xFD #@54741 receive with ifg=0x10, ie=0xFD + #@55376 receive with ifg=0x10, ie=0xFD #@55702 receive with ifg=0x80, ie=0xFD + #@2420 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +289 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can" 8ݝ1# +  8ݝ1# + #tPolling Can every 10:00 +2 #Cleanly exited at 12:29:14UTC13-Sep-23 +470 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %j \ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %Q\ +3 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڲ\ \  p\ +3 .tSS.configure :default +2 "sampler")#.0X startTube 2 +886 #-> $da[:extractVol]=.2 +2479 #-> shortDA; shortDAflush; PS.flush +2 "collection"'2% +2 "processing"%3% +4 "core" %j \ +7 %E\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +393 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%4 +5 "core" + .tPTV.dial :PRVmixing +2 "processing"%5  +5 "core" + .tPRV.dial :sipper +2 "processing"%6  +4 "core" +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%7'e +2292 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%8  + "collection"'9  +7 "core" +120  +2 .tPS.seek 0.5ml +2 "processing"%:' +1279 "core" ' + .tPRV.dial :waste2 +2 "processing"%; @ +98 "core" > +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%<'ؾ +593 "core" ' + .tPSV.dial PSR +2 "processing"%= +101 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +11 .tPS.seek 1ml + "processing"%>'X\\ +1110 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml + "processing"%?' +1614 "core" ' +2 .tPSV.dial :mixloop + "processing"%@ +102 "core" +2 .tPS.seek 0ml +2 "processing"%A'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"%B +112 "core" +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%C'X\\ +1103 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%D' +1616 "core" ' +2 .tPSV.dial :mixloop + "processing"%E +100 "core" +2 .tPRV.dial :sipper +2 "processing"%F  +42 "core" +2 .tPS.seek 0ml + "processing"%G'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%H +101 "core"  +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%I' +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"%J +102 "core" +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2635 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%L& +4 "core" &9\ +2 .tHand.open + "manipulator"&M1 +19 "core" 1 + "manipulator"&N% +4 "core" %     +2 "storage"(O% +3 "core" % D D\  +2 "storage"(P. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(Q(  +1299 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +3 "core" &  ) 5 D\ +2 "manipulator"&S& +3 "core" &  6 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&T( +33 "core" ( + "manipulator"&U& +4 "core" &   +2 "storage"(V& +3 "core" &  e j W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&W'S +100 "core" ' +2 "storage"(X& +4 "core" &  k ^ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'r +296 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ([& +3 "core" & O = !\ +2 "manipulator"&\\& +3 "core" &  , +3 .tElbow.seek 2 + "manipulator"&]( +38 "core" ( +9 "manipulator"&^& +3 "core" &  +2 "storage"(_& +3 "core" & [ Z 9\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&`'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +56 "core" / +2 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt[ "4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +2 ."downElevator"SE.seek :down +3 "manipulator"&b& +3 "storage"(c' +7 "core" & x +2 "manipulator"&d% +3 "core" % Ϸ w +3 .tForearm.seek :retract +2 "manipulator"&e' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&g& +4 "core" &  ( ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" & ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&i' +99 "core" ' + "manipulator"&j& +4 "core" & \  ) +2 "manipulator"&k% +3 "core" %  +3 "processing"%l& +3 "core" &R\ +3 "processing"%m& +5 "core" &6\ +2 .tPC.seek :closed +2 "processing"%n(^ +3 "core" &5\ +8 &3<\ #c +9 &Wv7\ 7 +10 &r#\ K +9 &P$\ M +9 &nR#\ M +10 &0R\ M +9 &R'\ M +10 &Q)\ M +9 &vR%\ M +9 &8R#\ M +10 &R#\ M +9 &!R-\ M +9 &#~R"\ M +10 &%@R,\ M +9 &'R\ M +10 &(R\ M +9 &*R\ M +9 &,IR\ M +10 &. R\ M +9 &/S\ M +9 &1R\ M +10 &3QQ\ M +9 &5R\ M +10 &6R\ M +9 &8R\ M +9 &:XR\ M +10 &<S\ M +9 &=T\ N +9 &?U \ M +10 &A_T\ N +9 &Cd\ O +10 &Dk\ Q +9 &F\ S +9 &HU\ T +10 &J\ S +9 &K\ T +9 &M \ T +10 &OZ\ U +9 &Q\ U +10 &R\ U +9 &T\ V +9 &Vb\ U +10 &X#\ U +9 &Y\ U +9 &[\ U +10 &]g\ C +9 &^>o\ &p +10 &^'\ / +5 ( +2 "processing"%m& +3 "core" &^ \ / +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&o1 +55 "core" 1 +2 "manipulator"&p% +3 "core" %    . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q' +92 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%r h +2 %s9 +6 "core" 9 +102 "processing"%t9 +3 "core" 9 +102 "processing"%u9 +3 "core" 9  +103 "processing"%v9 +3 "core" 9  +102 "processing"%w9 +3 "core" 9 +102 "processing"%x9 +3 "core" 9 +102 "processing"%y9 +3 "core" 9 +102 "processing"%z9 +4 "core" 9 +102 "processing"%{9 +3 "core" 9" +102 "processing"%|9 +3 "core" 9& +102 "processing"%}9 +3 "core" 9+ +102 "processing"%~9 +3 "core" 9/ +102 "processing"%9 +3 "core" 93 +103 "processing"%9 +2 "core" 97 +103 "processing"%9 +3 "core" 9; +102 "processing"%9 +3 "core" 9@ +102 "processing"%9 +3 "core" 9D +102 "processing"%9 +4 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"% 9 +3 "core" 9Q +102 "processing"% 9 +3 "core" 9U +102 "processing"% 9 +3 "core" 9Y +102 "processing"%9 +3 "core" 9] +103 "processing"%9 +2 "core" 9a +103 "processing"%9 +2 "core" 9f +103 "processing"%9 +2 "core" 9j +103 "processing"%9 +3 "core" 9n +102 "processing"%9 +3 "core" 9r +102 "processing"%9 +3 "core" 9 v +102 "processing"%9 +3 "core" 9{ +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9$ +3 .tPH.hold 2:00:00,28C +3 "processing"% php +2 .tdelay 1:30 +6 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"% +102 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%' +1613 "core" ' +2 .tPTV.dial :puck + "processing"%  +128 "core"  +2 .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial :waste1 + "processing"%!  +52 "core" + "processing"%"% +4 "core" %p\  +2 .tPS.seek 1.5ml +2 "processing"%#'. +597 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +37 "processing"%$ * +42 "core" , +2 .tPS.seek 0ml +2 "processing"%%'ؾ +1628 "core" ' +2 .tdelay 5:00 +4840 "Can" <Bǃ +25163 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%&  +15 "core"  +2 .tPBV.dial :waste1 +2 "processing"%'  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%( * +33 "core" + + .tPSR.select :air +3 .PSV.dial PSR + "processing"%) +84 "core" +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%*' +2405 "core" ' +2 .tPSV.dial PTV + "processing"%+ +83 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%, +70 "core"  +2 .tdelay 5 seconds +503 .PSV.dial PTV +2 "processing"%- +72 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%.  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%/'ؾ +2363 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%0  +131 "core" + .tPSV.dial :mixloop +2 "processing"%1 +43 "core" +2 .tPRV.dial :ab1 + "processing"%2 @ +99 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%3' +352 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'4  + "processing"%5  +5 "core" +37 +2 "processing"%6% +4 "core" %\ +2 .tPS.seek 0.35ml +2 "processing"%'d +459 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'9  +28 "core" + .tPRV.dial :air +2 "processing"%8  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%7'K +1168 "core" ' + .tPRV.dial :waste2 +2 "processing"%; @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%:' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%=  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%<' +1621 "core" ' +2 .tPSV.dial :PML +2 "processing"%> +43 "core" +2 .tPTV.dial :mixing +2 "processing"%@ @ +71 "core" A +2 .tPBV.dial :waste1 +2 "processing"%?  +32 "core" +2 "processing"%B% +3 "core" %\  +3 .tPS.seek 1.85ml +2 "processing"%A' +239 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%C * +33 "core" + +2 .tPS.seek 0ml + "processing"%E'ؾ +1973 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'F& +3 "core" & \ +3 "manipulator"&D& +4 "core" &    ) + "manipulator"&H% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&G(- +126 "core" ( +2 "manipulator"&J& +3 "core" &-  / \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &-  \ +3 .tForearm.seek :garage + "manipulator"&L'w +92 "core" ' +2 .tHand.close + "manipulator"&M/ +61 "core" / +3 "manipulator"&N& +3 "core" &-   \ +2 "manipulator"&O% +3 "core" % x  " +3 .tForearm.seek :retract +2 "manipulator"&P' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +279 "core" ( + "manipulator"&R& +3 "core" &Ӕ#  <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &Ӕ#  <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&U'? +91 "core" ' + "manipulator"&V& +4 "core" &Ӕ#  \ <9 +2 "manipulator"&X% +4 "core" %F  ' / +2 "collection"'& +3 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'Z(\\ +3 "core" & \ +8 &A \ $f +9 &X{ \ 8 +9 &u \ L +10 &R \ M +9 &S \ L +10 &FT \ L +9 &X \ L +9 &U \ L +10 &T \ L +9 &NV \ L +9 & U \ L +10 &!U \ L +9 &#X \ L +10 &%VR \ L +9 &'W \ L +9 &(T \ L +10 &*W \ L +9 &,_W \ L +9 &. Q \ L +10 &/Q \ L +9 &1T \ M +10 &3eU \ M +9 &5(W \ L +9 &6U \ L +10 &8T \ L +9 &:nR \ L +9 &<0T \ L +10 &=S \ M +9 &?U \ L +10 &AuU \ M +9 &C5_ \ M +9 &Du \ P +10 &F \ T +9 &H] \ X +9 &J \ Y +10 &K \ Z +9 &M \ [ +10 &O] \ Z +9 &Q \ Z +9 &R \ \\ +10 &T \ [ +9 &V` \ \\ +9 &X \ ^ +10 &Y \ _ +9 &[ \ L +10 &\\8 \ / +9 &\\v \ Q +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.47 + "collection"'[& +39 "core" &\\x \ Q +11 .tHand.open + "manipulator"&\\1 +57 "core" 1 +2 "manipulator"&^% +3 "core" % F #  n / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +92 "core" ' + .tPSV.dial PSR +2 "processing"%a +102 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%b'+ +1620 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%d  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%T'ؾ +1610 "core" ' + .tPSV.dial PSR +2 "processing"%W +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%Y' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%`  + "collection"'g  +31 "core"  +124 + .tPSV.dial :mixloop +2 "processing"%h +100 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'] +3 "core"  +2 "collection"'j +3 "core"  +2 "collection"'k  +4 "core"  + .tPTV.dial :PRVmixing +2 "processing"%l  +73 "core" +3 .tPS.seek 0ml + "processing"%c'ؾ +2639 "core" ' + .tPSV.dial :air + "processing"%e  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"% ' +2627 "core" ' + .tPSV.dial :mixloop +2 "processing"%o +44 "core" +2 .tPS.seek 0ml + "processing"%p'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%s  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%m' +449 "Can"\ `]1 +2191 "core" ' + .tPSV.dial :mixloop + "processing"%t +44 "core" +3 .tPS.seek 0ml + "processing"%i'ؾ +2631 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&u& +3 "core" &ӧ  ^ 9& +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&v(ӂ +19 "core" ( + "manipulator"&w& +4 "core" &y   " * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &y   * +2 .tForearm.seek CC +2 "manipulator"&y'? +99 "core" ' +2 .tHand.close + "manipulator"&z/ +61 "core" / +2 .tCC.seek :open +2 "collection"'{( +447 "core" ( +2 "manipulator"&|& +3 "core" &Ӓ  & +2 "manipulator"&}% +4 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&~' +103 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +283 "core" ( +2 "manipulator"&& +3 "core" &-   ; I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &- \ I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +97 "core" ' +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % p   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."da"delayUntil "12:54:41.71" +24751 #recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"% @ +71 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + + ."da"PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2405 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +42 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2349 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%K +70 "core" +38 ."da"PBV.dial :waste1 +9 "processing"%  +33 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"% ', +608 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%! * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%"'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%  +3 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%$  +32 "core"  +2 ."da"delay 30 seconds +2528 "Can" >% +475 ."da"PBV.dial between PSV and waste1 +2 "processing"%# * +32 "core" + +3 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%r +71 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%&' +2406 "core" ' +2 ."da"PSV.dial PTV + "processing"%' +85 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%( +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%) +85 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%%  +86 "core" +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +2358 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +141 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%-' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%.' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%*  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%0 +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%1  +32 "core" +2 "processing"%2% +3 "core" %#\  +3 ."da"PS.seek 1.5ml +2 "processing"%/'( +595 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%4 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%6  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%3  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%9 * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2390 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%; +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%7 +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%= +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%:  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +2368 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%@  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%?  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%B  +41 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%C +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%<' +411 "core" ' +3 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%A  +45 "core"  + "processing"%F% +3 "core" %-\ +3 ."da"PS.seek 0.55ml +2 "processing"%D' +328 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%H  +43 "core"  +3 ."da"PS.seek 2ml + "processing"%J' +1579 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%I +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%f @ +71 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%M  +34 "core" + "processing"%N% +3 "core" %#\  +3 ."da"PS.seek 1.85ml +2 "processing"%O' +228 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%q * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +18942 "Can" ?! +29062 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%R @ +15 "core" ? +2 ."da"PBV.dial :waste1 + "processing"%S  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%G * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%V  +43 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%X' +2414 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%P  +44 "core"  +47 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%\ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%[  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\\'ؾ +2352 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +3 .PSV.dial PSR +2 "processing"%^ +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +589 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%a' +1619 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%U  +71 "core"  +2 ."da"PSV.dial PTV +2 "processing"%E +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%d  +33 "core" + "processing"%b% +4 "core" %/\  +2 ."da"PS.seek 1.5ml +2 "processing"%W'+ +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%T * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%g'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%`  +16 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%h  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%] * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%j +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%k' +1370 "Can" >x +1024 "core" ' + ."da"PSV.dial PTV +2 "processing"%l +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%Y +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%e +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%c  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%o'ؾ +2374 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%s' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%p' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%t  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%m +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%u  +33 "core"  +2 "processing"%w% +3 "core" %;\  +3 ."da"PS.seek 1.5ml + "processing"%x'0 +599 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%z * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%_  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%Z  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%| * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%} +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%y' +2383 "core" ' +2 ."da"PSV.dial PTV + "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%v +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2329 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%~ +140 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"% ' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core"  + "processing"%i% +4 "core" %+\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%'& +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +43 "core"  +9 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2400 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%K +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2340 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%! +133 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +4 "Can"\  +4 "processing"% +20 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +8 ."da"PS.seek 0.25ml +2 "processing"% ' +342 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +341 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%$' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%#  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%r +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%"  +33 "core" +2 "processing"%'% +3 "core" %)\ \ +3 ."da"PS.seek 1.5ml +2 "processing"%('& +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%) * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%%'ؾ +1616 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%&  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%,  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%+ * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2427 "core" ' + ."da"PSV.dial PTV +2 "processing"%0 +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%1 +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%2 +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%.  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2412 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%/ +128 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%6' +2123 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +3 "processing"%3  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%9 +84 "core" + ."da"PBV.dial :waste1 +2 "processing"%8  +34 "core"  +2 "processing"%5% +3 "core" %,\  +3 ."da"PS.seek 1.5ml + "processing"%;'- +599 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%7 * +35 "core" , + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%=  +102 "core"  +3 ."da"PS.seek 0ml + "processing"%:'ؾ +1632 "core" ' +2 "processing"%9 +3 "core" 9j5x +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%@ +3 %?& +3 "core" 5y + &^9\ / +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&B% +3 "core" %  \ #  +2 "storage"(C% +3 "core" % Z X\  +2 "storage"(>. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(A(C +351 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &F \ +2 "manipulator"&<& +4 "core" &-  I + "manipulator"&H% +4 "core" %    +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&D( +176 "core" ( +2 "manipulator"&I& +3 "core" &  n L +2 "storage"(f& +3 "core" &F \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +45 ."da"Forearm.seek 1 + 450 counts +9 "manipulator"&M' +99 "core" ' + "storage"(N& +4 "core" &F I\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(q'r +275 "core" ' +2 "storage"(J- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place + "storage"(O'1 +47 "core" ' +3 "manipulator"&R& +3 "core" &   L +3 "manipulator"&S% +4 "core" %  { q +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&G' +91 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&V( +246 "core" ( + "manipulator"&L& +4 "core" &  '  +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  9  +3 ."da"Forearm.seek PC + "manipulator"&P' +97 "core" ' +2 ."da"Hand.close + "manipulator"&\ / +64 "core" / +2 ."da"PC.seek :open +3 "processing"%[( +455 "core" ( +2 "storage"(X& +3 "core" &F c\ +2 "manipulator"&^& +4 "core" & p  +2 "manipulator"&\\% +3 "core" %  N +3 ."da"Forearm.seek :retract +2 "manipulator"&' +102 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&U( +257 "core" ( + "manipulator"&E& +4 "core" &   L +2 "storage"(d& +4 "core" &F \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&b' +92 "core" ' +2 ."da"Hand.open +2 "manipulator"&a1 +60 "core" 1 +3 "storage"(T- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +26 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +54 "core" ' +3 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1313h.tif +4 "processing"%h& +9 "core" &\ r +5 "manipulator"&]& +5 "core" &   L +3 "manipulator"&j% +5 "core" %  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&g' +93 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&l(- +180 "core" ( + "manipulator"&Y& +4 "core" &-   * 6 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +3 "core" &-   6 +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&c'w +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"&k/ +57 "core" / +3 "manipulator"& & +5 "core" &-  z 6 + "manipulator"&o% +4 "core" % t  \ $ +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&s' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&t( +117 "core" ( +2 "manipulator"&m& +4 "core" &    ? +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &  ? +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&w' +93 "core" ' +2 "manipulator"&p& +3 "core" &   + ? +3 "manipulator"&z% +4 "core" %  +2 "processing"%x& +4 "core" &\ +2 "processing"%_& +58 "core" &\ u +2 ."psFlush"PC.seek :closed +3 "processing"%Z(^ +4 "core" &\ t +7 &2\ q$d +9 &Up\ l7 +9 &~n\ kL +10 &G\ nO +9 &_F\ mO +10 &"G\ mN +9 &G~\ mO +9 &I\ mO +10 &gE~\ nO +9 &)Hr\ lO +9 &Kl\ mO +10 &!Gi\ mO +9 &#pHq\ mN +9 &%0Hl\ lO +10 &&G^\ lO +9 &(J_\ N +10 &*zJb\ N +9 &,;Ic\ N +9 &-Kf\ N +10 &/NR\ M +9 &1JL\ M +9 &3DNE\ N +10 &5HG\ N +9 &6JA\ M +10 &8K=\ N +9 &:JIB\ rN +9 &< IK\ oO +10 &=LN\ oO +9 &?JL\ nO +9 &AOJ>\ nO +10 &CSB\ mP +9 &D]=\ lR +10 &Fp;\ kT +9 &HE9\ hU +9 &J~3\ iW +10 &K5\ hV +9 &M(\ hV +9 &OI,\ gW +10 &Q)\ gX +9 &R*\ gX +10 &T(\ fY +9 &VO'\ gX +10 &X\ {W +9 &Y\ W +9 &[\ W +10 &]W\ H +9 &^{@u\ $j +9 &^.\ 1 +6 ( + "processing"%_& +5 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.77 + "processing"%|& +3 "core" &^#\ 1 +2 &^#\ 1 +2 ."psFlush"Hand.open + "manipulator"&}1 +53 "core" 1 +2 "manipulator"&% +3 "core" %   m +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%v' +591 "core" ' + ."psFlush"delay 5 seconds +237 #"da"SX HX9/16 (USB:40): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 21.17 seconds\ /var/log/esp/da23sep1313h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1313h15s.tif +262 ."psFlush"PSR.select :air +12 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1285 #"da"SX HX9/16 (USB:40): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1313h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1313h20s.tif +827 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%y @ +187 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%~  +131 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +114 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +691 #"da"SX HX9/16 (USB:40): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1313h20s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "21.17 sec auto-exposure",Subject: "da23sep1313h images!" +2 "storage"( - +5 "core" -' +3 "storage"( & +15 "core" &F & & A\ +9 "manipulator"&& +9 "core" &  , 9 ? + "manipulator"&i% +5 "core" %    d  +2 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"& ( +243 "core" ( +2 "manipulator"&& +3 "core" & & ) 6 +3 "storage"(& +4 "core" &F % &\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +94 "core" ' +5 ."da"SE.reconfigure :gently +4 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"('" +56 "core" ' +4 "manipulator"&& +6 "core" &  H 6 +5 "storage"(& +8 "core" &F %  \ +3 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 1 +3 "manipulator"&'8 +29 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&, +10 "core" , +4 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(K' +30 "core" ' +3 "manipulator"&% +6 "core" %J  O o +4 "storage"(& +7 "core" &F % S \ +119 ."da"Forearm.force -20 +5 "manipulator"&5 +6 ."da"Forearm.seek 1 + 318 counts +2 "manipulator"&'v +18 "core" ' +4 "manipulator"&!& +6 "core" & & 6 +5 "storage"(& +8 "core" &F C D Z\ +5 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +8 "manipulator"& ' +20 "core" ' +4 "storage"(% +7 "core" % C C \  +5 ."downElevator"SE.seek :down +6 "storage"(#' +98 (r% +5 "core" %0@\ )\ * G\ TZ +5 "manipulator"&"% +10 "core" % \  +7 ."da"Forearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&'' +94 "core" ' +32 ' +3 ."downElevator"SE.stop + "storage"(5 +6 ($& +6 "core" &F 0 ? \ +768 ' +2 ."psFlush"PSR.select :air +4 .PSV.dial PSR +4 "processing"%) +102 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +5 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%(' +601 "core" ' +4 ."psFlush"delay 5 seconds +446 #"uploadLog"upsync +57 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%&' +2127 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%,  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%+ @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%- +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%%'ؠ +2624 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%0 +99 "core"  +2 ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%1'X\\ +1103 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%2' +1606 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%. +72 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%*  +69 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%/  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%4'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%3 +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%9' +597 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%8' +2131 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%5 +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%6 U +52 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%7'ؾ +2637 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%= @ +53 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%;' +2658 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +71 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%@'ؾ +2636 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%? +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%B' +2628 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%C +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%> U +15 "core" T +3 ."psFlush"PS.seek 0ml + "processing"%Q'ؾ +739 "Can" B1K# +1900 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%F @ +43 "core" > +3 ."psFlush"PS.seek 2.5ml +2 "processing"%<' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%H  +69 "core"  +46 ."psFlush"PS.seek 0ml +2 "processing"%I'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%f +42 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1098 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%N' +1615 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PTV.dial :puck +2 "processing"%J  +5 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%R  +50 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%q +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%M' +584 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%L' +2122 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%D U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%\ 'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%G @ +43 "core" > +3 ."psFlush"PS.seek 2.5ml +2 "processing"%n' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%X  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%^'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%\\ +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%P' +2634 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%E +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%d U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%V'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%a @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%T' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%h  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%]'ؾ +2632 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&j& +4 "core" & \  n 6 +2 "manipulator"&% +4 "core" %    +2 ."psFlush"Elbow.seek PC +2 "manipulator"&O( +245 "core" ( +2 "manipulator"&W& +3 "core" &    " +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &  \  " +3 ."psFlush"Forearm.seek PC +2 "manipulator"&e' +93 "core" ' + ."psFlush"Hand.close +2 "manipulator"&b/ +53 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%U( +455 "core" ( +2 "manipulator"&k& +3 "core" &  - " +2 "manipulator"& % +4 "core" %   8  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&o' +92 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&g(- +128 "core" ( +2 "manipulator"&m& +4 "core" &- Z  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &- {  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&c'w +102 "core" ' + ."psFlush"Hand.open +2 "manipulator"&p1 +54 "core" 1 +2 "manipulator"&z% +3 "core" % π  \  +38 ."psFlush"Forearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&x' +94 "core" ' + #tFinished short da assay +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'l& +3 "core" & ,\ +3 "manipulator"&s& +4 "core" &-  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&[(- +12 "core" ( +2 "manipulator"&|& +4 "core" &-  -  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +2 "core" &-   +3 .tForearm.seek :garage +2 "manipulator"&'w +93 "core" ' + .tHand.close +2 "manipulator"&_/ +59 "core" / +2 "manipulator"&& +3 "core" &-  9  +2 "manipulator"&w% +4 "core" % {  1 +2 .tForearm.seek :retract +2 "manipulator"&:' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +277 "core" ( +2 "manipulator"&y& +3 "core" &Ӎ#   A <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &Ӎ#  <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' + "manipulator"&& +3 "core" &Ӎ#   <9 +3 "manipulator"& % +4 "core" %@ A +2 "collection"' & +4 "core" & 7\ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'i(\\ +4 "core" & "\ +9 &< +\ %g +9 &Zz '\ 8 +9 &u *\ L +10 &S '\ L +9 &T 8\ L +9 &MU :\ K +10 &U ;\ L +9 &S 5\ L +10 &S /\ K +9 &ST ;\ L +9 & T <\ K +10 &!T :\ L +9 &#T 9\ L +9 &%\\T =\ L +10 &'R 9\ L +9 &(T ;\ K +10 &*S =\ L +9 &,cX >\ L +9 &.&T A\ L +10 &/X ?\ L +9 &1U D\ L +9 &3lX =\ L +10 &5/U >\ K +9 &6W ?\ L +10 &8U >\ L +9 &:uU ?\ K +9 &<5V =\ L +10 &=U 9\ L +9 &?Y F\ L +10 &A{W @\ L +9 &C:c G\ M +9 &Dr\ \ G\ O +10 &F\ \ H\ S +9 &Hd\ \ G\ V +9 &J!\ \ F\ X +10 &K\ \ =\ X +9 &M\ \ \ H\ Y +10 &Oc\ \ H\ Z +9 &Q&\ \ H\ Y +9 &R\ \ J\ [ +10 &T\ \ L\ [ +9 &Vb\ \ V\ ] +9 &X%\ \ N\ \\ +10 &Y\ \ L\ ] +9 &[\ \ \ R\ J +9 &\\5\ \ \ P\ . +10 &\\v\ \ \ S\ Q +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.41 + "collection"'& +3 "core" &\\x\ \ V\ Q +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&t% +4 "core" % @   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +54 "core" + #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%' +2640 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  +2 "collection"'  +7 "core" +90  +2 .tPSV.dial :PTV,via: :air +2 "processing"%` +186 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'!  +5 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"% @ +72 "core" B +2 .tPS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +188 "core" +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%' +2656 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%  +5 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%r +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'"  +3 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"% @ +14 "core" @ +2 .tPS.seek 0ml +2 "processing"%'ؾ +2647 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%$  +189 "core"  + #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%K' +2628 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%  +5 "core"  +2 .tPSV.dial :PTV,via: :air +38 "processing"%# +208 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"')  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%'ؾ +2650 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%(  +187 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%,'+ +1611 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%+  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%-'ؾ +1339 "Can"\ O! +266 "core" ' +2 .tPSV.dial PSR + "processing"%& +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%0' +2637 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%%  +5 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%1 +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'.  +3 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%*'ؾ +2632 "core" ' +2 .tPSV.dial :air + "processing"%/  +85 "core" +2 .tPS.seek 2.5ml + "processing"%2' +2628 "core" ' + .tPSV.dial :PTV +2 "processing"%3 +70 "core"  +2 .tPS.seek 0ml +2 "processing"%4'ؾ +2635 "core" ' +2 .tPSV.dial :air +2 "processing"%9  +71 "core"  +2 .tPS.seek 2.5ml +2 "processing"%5' +2634 "core" ' + .tPSV.dial :PTV +2 "processing"%6 +84 "core" +2 .tPS.seek 0ml +2 "processing"%8'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%=  +72 "core"  +2 .tPS.seek 2.5ml + "processing"%7' +2631 "core" ' + .tPSV.dial :PTV +2 "processing"% +73 "core" ~ +3 .tPS.seek 0ml + "processing"%;'ؾ +2639 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&?& +3 "core" &Ӧ  z 8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&@(ӂ +19 "core" ( +2 "manipulator"&C& +3 "core" &Ӏ   ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &Ӏ \  ( +3 .tForearm.seek CC +2 "manipulator"&B'? +99 "core" ' +2 .tHand.close + "manipulator"&F/ +56 "core" / +2 .tCC.seek :open +2 "collection"'Q( +449 "core" ( + "manipulator"&H& +4 "core" &Ӊ   ' +2 "manipulator"&<% +3 "core" % \ \  +3 .tForearm.seek :retract + "manipulator"&f' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&I(- +278 "core" ( +2 "manipulator"&& +3 "core" &-  @ P +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- Y P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&J'w +100 "core" ' +2 .tHand.open +2 "manipulator"&R1 +57 "core" 1 +2 "manipulator"&N% +4 "core" % }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q' +97 "core" ' + #tFlushing Processing stage +2 "processing"%S% +3 "core" %ؽ\ +3 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%M& +3 "core" &\ +2 "manipulator"&& +4 "core" &-  3 P +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&D(- +11 "core" ( +2 "manipulator"&L& +4 "core" &- * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &- * +2 .tForearm.seek :garage +2 "manipulator"&\ 'w +92 "core" ' + .tHand.close +2 "manipulator"&X/ +61 "core" / +2 "manipulator"&n& +4 "core" &-    * + "manipulator"&\\% +4 "core" % u  ' = +2 .tForearm.seek :retract +39 "manipulator"&^' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&E( +119 "core" ( + "manipulator"&d& +5 "core" &  9  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &P& +2 "core" & c  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&a' +92 "core" ' +2 "manipulator"&V& +3 "core" &   >  +3 "manipulator"&h% +4 "core" % \  2 +2 "processing"%T& +4 "core" &\ +2 "processing"%j& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +8 &;\ $e +9 &Yx\ 8 +9 &r\ L +10 &O\ M +9 &O\ M +10 &JN\ L +9 & Q\ M +9 &R\ L +10 &P\ L +9 &RQ\ L +9 & T\ M +10 &!O\ M +9 &#O\ M +10 &%ZQ\ L +9 &'Q\ L +9 &(Q\ L +10 &*Q\ M +9 &,aS\ M +9 &.#T\ M +10 &/O\ M +9 &1P\ L +10 &3iQ\ M +9 &5+S\ M +9 &6Q\ L +10 &8Q\ L +9 &:qQ\ M +9 &<3T\ M +10 &=Q\ M +9 &?T\ M +10 &AyT\ M +9 &C5e\ O +9 &Dh\ P +10 &F{\ R +9 &Hn\ S +9 &J/\ S +10 &K\ T +9 &M\ T +10 &Os\ T +9 &Q1\ U +9 &R\ U +10 &T\ U +9 &Vw\ U +9 &X:\ U +10 &Y\ U +9 &[\ U +10 &]}\ C +9 &^=\ Y +9 &^:\ 6 +6 ( + "processing"%j& +4 "core" &^*\ 6 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 "processing"%W& +3 "core" &^*\ 6 +2 .tHand.open +2 "manipulator"&Y1 +56 "core" 1 + "manipulator"&% +5 "core" %  V 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b' +93 "core" ' + .tPSV.dial PSR +2 "processing"%' +71 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%Z'X\\ +1108 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%k' +1619 "core" ' +2 .tPSV.dial PTV + "processing"% +72 "core" +2 .tPTV.dial :puck + "processing"%m  +72 "core"  +2 .tPBV.dial :waste1 + "processing"%u  +50 "core"  +2 .tPS.seek 0ml +2 "processing"%e'ؾ +2627 "core" ' +2 .tPSV.dial PSR +2 "processing"%O +71 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%p' +597 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%z' +2125 "core" ' +2 .tPSV.dial PTV +2 "processing"%o +84 "core" +2 .tPBV.dial PSV + "processing"%l U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%s'ؾ +2627 "core" ' +2 .tPSV.dial PBV +2 "processing"%| @ +42 "core" > +2 .tPS.seek 2.5ml +2 "processing"%}' +2628 "core" ' +2 .tPSV.dial :waste1 + "processing"%c  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%_'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"% +42 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%w' +2639 "core" ' +2 .tPSV.dial PTV + "processing"%g +71 "core" + .tPBV.dial PSV +2 "processing"%x U +15 "core" T +3 .tPS.seek 0ml + "processing"%'ؾ +2639 "core" ' + .tPSV.dial PBV +2 "processing"%y @ +43 "core" > +3 .tPS.seek 2.5ml +2 "processing"%~' +2627 "core" ' + .tPSV.dial :waste1 +2 "processing"%[  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"& & +4 "core" &    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&:& +3 "core" &  r  +2 .tElbow.reconfigure :loose +41 "manipulator"&$ &.,(#b +10 &{& +2 "core" & d  +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%t( +458 "core" ( +2 "manipulator"&& +3 "core" &  +2 "manipulator"&% +4 "core" %  w / +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&](- +127 "core" ( + "manipulator"&& +4 "core" &-  _ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-  l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&`'w +102 "core" ' +2 .tHand.open + "manipulator"&!1 +63 "core" 1 +2 "manipulator"&% +3 "core" % n y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +6546 "Can" 4w% +45113 #t-> access 1 +3 "storage"( % +2 "core" % } { \  +2 "manipulator"&% +4 "core" %   Z  +2 "manipulator"&& +3 "core" &-  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(r(<- +1292 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" &<. A F a\ +5283 #t-> access 2 +2 "storage"(% +3 "core" % p z d\  +2 "manipulator"&% +4 "core" %    +2 "manipulator"&$& +3 "core" &- +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &K 1 # T\  +7884 "Can" 4 ) +60001  4 +60001  4b9 +60002  4$σ" +60001  4e' +60001  4 +60001 ' 5l( +60002  4/' +60001 & 4- +60001 : 4S +60002  4\ w$ +60001  4 :# +60001  5 0 +60001 ( 4% +60002 % 4A +60001 ' 5D׃ +6427 #t-> access 2 +3 "storage"(#% +3 "core" % n k -\  +2 "manipulator"&)% +4 "core" %  "  +2 "manipulator"&K& +3 "core" &- t +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(((K +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K H E \  +958 #t-> startTube 2 +1006 #-> $da[:extractVol]=.2 +5772 #-> shortDAflush; PS.flush +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'+& +3 "core" & `\ +2 "manipulator"&,& +4 "core" &- x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&&(- +27 "core" ( +2 "manipulator"&-& +3 "core" &-   R  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &-  |  +3 .tForearm.seek :garage +2 "manipulator"&1'w +91 "core" ' +2 .tHand.close + "manipulator"&./ +60 "core" / +2 "manipulator"&0& +3 "core" &-  \ w  +2 "manipulator"&/% +4 "core" % s  F 1 +2 .tForearm.seek :retract +2 "manipulator"&*' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&3(ӂ +303 "core" ( + "manipulator"&2& +4 "core" &~   \ 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &~   3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&4'? +99 "core" ' + "manipulator"&6& +4 "core" &~   8 3 +2 "manipulator"&5% +42 "core" %D   y +9 "collection"'=& +3 "core" & :\ +3 "collection"'8& +5 "core" & f\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & g\ +6 &B e\ %g +10 &Yy d\ 8 +9 &\ v _\ K +9 &T f\ K +10 &U b\ L +9 &NU `\ L +10 &X ^\ L +9 &T Y\ L +9 &T Z\ K +10 &UT [\ L +9 & T _\ K +9 &!T Z\ L +10 &#T Y\ L +9 &%^S ]\ L +10 &' W Y\ L +9 &(S [\ K +9 &*S Y\ L +10 &,fW [\ L +9 &.(R Z\ L +9 &/T W\ L +10 &1Y [\ L +9 &3oU W\ K +10 &5/U V\ L +9 &6U c\ L +9 &8T T\ L +10 &:uU X\ L +9 &<8W R\ L +9 &=U P\ L +10 &?Z Z\ L +9 &A|Y\  U\ L +10 &C;`\ \ Y\ M +9 &Du\ \ X\ O +9 &F\ \ \ \ Y\ T +10 &Hc\ \ V\ X +9 &J$\ \ \ Q\ X +9 &K\ \ \ U\ X +10 &M\ \ X\ Y +9 &Og\ \ Y\ Y +10 &Q'\ \ \ V\ Z +9 &R\ \ X\ Z +9 &T\ \ Z\ [\ +10 &Vh\ \ \ Z\ [ +9 &X'\ \ P\ \\ +9 &Y\ \ R\ ] +10 &[\ \ S\ J +9 &\\1\ \ \ W\ 3 +10 &\\{\ \ \ \ W\ Q +2 ( + "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.39 +2 "collection"'7& +3 "core" &\\{\ \ N\ Q +2 .tHand.open + "manipulator"&?1 +53 "core" 1 +2 "manipulator"&C% +3 "core" % D   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>' +94 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%F  +43 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 2.5ml +2 "processing"%v' +2639 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%  +5 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%i +190 "core"  + .tCTV.dial :air,avoiding: :intake +2 "collection"'H  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%< @ +185 "core" > +3 .tPS.seek 0ml +2 "processing"%B'ؾ +2636 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +188 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml + "processing"%' +2632 "core" ' +2 .tdelay 5 seconds +503 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%@  +5 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%R +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'N  +4 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%S @ +16 "core" A +2 .tPS.seek 0ml + "processing"%M'ؾ +2640 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +188 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%f' +2641 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%L  +4 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%G +190 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 "collection"'J  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%X @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%n'ؾ +2635 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%\\  +188 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml +2 "processing"%I'+ +1613 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%q  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%d'ؾ +1627 "core" ' + .tPSV.dial PSR +2 "processing"%P +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%\ ' +2629 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +3 "processing"%V  +4 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%h +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'T  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%D @ +4 "core" A +2 .tPS.seek 0ml +2 "processing"%^'ؾ +2628 "core" ' +2 .tPSV.dial :air +2 "processing"%U  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%W' +2629 "core" ' + .tPSV.dial :PTV +2 "processing"%Y +73 "core"  +3 .tPS.seek 0ml +39 "processing"%'ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%j  +74 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'' +2632 "core" ' + .tPSV.dial :PTV +2 "processing"%a +73 "core"  +2 .tPS.seek 0ml +2 "processing"%;'ؾ +2629 "core" ' + .tPSV.dial :air +2 "processing"%Z  +84 "core"  +3 .tPS.seek 2.5ml + "processing"% ' +2627 "core" ' +2 .tPSV.dial :PTV +2 "processing"%m +70 "core"  +2 .tPS.seek 0ml +2 "processing"%u'ؾ +2457 "Can"&\ Qm$ +178 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&k& +4 "core" &Ӏ   3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&O(ӂ +3 "core" ( +2 "manipulator"&e& +3 "core" &Ӏ   X 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &Ӏ   6 3 +3 .tForearm.seek CC +2 "manipulator"&o'? +91 "core" ' +2 .tHand.close + "manipulator"&l/ +64 "core" / +2 .tCC.seek :open +2 "collection"'z( +452 "core" ( +2 "manipulator"&|& +3 "core" &Ӌ  G 1 +2 "manipulator"&s% +4 "core" % R  %  +2 .tForearm.seek :retract +2 "manipulator"&c' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&}(- +287 "core" ( +2 "manipulator"&& +4 "core" &- * 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &-  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&g'w +91 "core" ' +2 .tHand.open + "manipulator"&x1 +53 "core" 1 + "manipulator"&w% +4 "core" % σ  K L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +94 "core" ' + #tFlushing Processing stage +2 "processing"%% +3 "core" %ػ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%[& +3 "core" &\ +2 "manipulator"&~& +4 "core" &-  8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (- +8 "core" ( + "manipulator"&:& +4 "core" &-   . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &-   . +3 .tForearm.seek :garage +2 "manipulator"&'w +96 "core" ' +2 .tHand.close + "manipulator"&E/ +63 "core" / +2 "manipulator"&b& +4 "core" &-   . + "manipulator"&% +4 "core" % π   +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&( +116 "core" ( + "manipulator"&& +4 "core" &   K  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"& & +3 "core" &    +2 "manipulator"&!% +4 "core" %    +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%`(^ +4 "core" &\  +9 &4w\ *x +9 &d{\ > +10 &l\ N +9 &EN\ M +9 &S\ N +10 &Q\ M +9 &Q\ M +9 &NS\ M +10 &R\ M +9 &R\ M +10 & T\ M +9 &"UR\ M +9 &$R\ M +10 &%R\ M +9 &'O\ M +10 &)^R\ M +9 &+R\ M +9 &,R\ M +10 &.R\ M +9 &0fT\ M +9 &2(R\ M +10 &3R\ M +9 &5R\ M +10 &7nR\ M +9 &90S\ M +9 &:R\ M +10 &<S\ N +9 &>uT\ M +9 &@7W\ M +10 &A[\ N +9 &Cf\ O +10 &Erp\ Q +9 &G/\ S +9 &H\ T +10 &J\ T +9 &Ls\ S +9 &N1\ U +10 &O\ T +9 &Q\ V +10 &Su\ U +9 &U7\ U +9 &V\ U +10 &X\ U +9 &Z}\ U +9 &\\?\ U +10 &]{r\ 8 +9 &^/\ L +10 &^\ - +2 ( +44 "processing"%& +11 "core" &^\ - +2 &^\ - + &^\ - + &^\ - + &^\ - &^\ - +2 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.65 +2 "processing"% & +3 "core" &^\ - +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +3 "core" %    o  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +93 "core" ' +2 .tPSV.dial PSR +2 "processing"%" +71 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1606 "core" ' +2 .tPSV.dial PTV +2 "processing"%$ +72 "core" + .tPTV.dial :puck +2 "processing"%r  +73 "core"  +2 .tPBV.dial :waste1 + "processing"%  +52 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 .tPSV.dial PSR +2 "processing"%# +71 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%)' +590 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%K' +2122 "core" ' + .tPSV.dial PTV +2 "processing"% +72 "core" +2 .tPBV.dial PSV + "processing"% U +52 "core" V +2 .tPS.seek 0ml +2 "processing"%+'ؾ +2653 "core" ' +2 .tPSV.dial PBV + "processing"%, @ +44 "core" > +2 .tPS.seek 2.5ml +3 "processing"%-' +2636 "core" ' + .tPSV.dial :waste1 +2 "processing"%%  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%.'ؾ +2654 "core" ' +2 .tPSV.dial PSR +2 "processing"%0 +43 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%/' +2634 "core" ' +2 .tPSV.dial PTV +2 "processing"%] +70 "core" + .tPBV.dial PSV +2 "processing"% U +5 "core" V +2 .tPS.seek 0ml +2 "processing"%1'ؾ +2633 "core" ' +2 .tPSV.dial PBV +2 "processing"%& @ +43 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%2' +2640 "core" ' + .tPSV.dial :waste1 +2 "processing"%9  +83 "core"  +2 .tPS.seek 0ml +2 "processing"%6'ؾ +2635 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&5& +3 "core" &  )  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&*& +3 "core" &     +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &    +3 .tForearm.seek PC + "manipulator"&7' +94 "core" ' + .tHand.close +2 "manipulator"&?/ +56 "core" / +2 .tPC.seek :open +2 "processing"%C( +458 "core" ( + "manipulator"&8& +3 "core" &    +2 "manipulator"&F% +4 "core" %  \  . +2 .tForearm.seek :retract +2 "manipulator"&4' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +125 "core" ( +2 "manipulator"&& +3 "core" &-   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &-  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&H'w +93 "core" ' +2 .tHand.open + "manipulator"&<1 +61 "core" 1 +2 "manipulator"&v% +3 "core" % q   $ I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +28507 "Can" 5% +60001  5 +60001 / 5p/ +60002 " 5;Ń +60001  5[! +60001 2 5 # +60002  5" +60001  5$h* +60001  5&32 +60001  5'I% +60002  5)߃ +60001 5 4+u +60001  5-_  +60002 # 5/** +44905 #t-> startTube 2 +631 #-> $da[:extractVol]=.2 +1583 #-> shortDa; shortDAflush; PS.flush +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'B& +3 "core" &\ \ D\ +2 "manipulator"&@& +3 "core" &-    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&R(- +26 "core" ( +2 "manipulator"&N& +4 "core" &-   ]  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &-     +3 .tForearm.seek :garage +2 "manipulator"&'w +89 "core" ' +2 .tHand.close + "manipulator"&/ +55 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"=/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlushPuck'"B/home/esp/esp2/protocol/2G/samplepass.rb:369:in `samplePassF'"C/home/esp/esp2/protocol/2G/samplepass.rb:427:in `shortDAflush'"(ESP):13:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 + !o:IRB::Abort:@checkpoint: omitted: mesg"7Hand could not finish closing because\ User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:83:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +8 "core" / +1739 #t-> shortDA; shortDAflush; PS.flush +3 "collection"'M% +3 "processing"%L% +4 "core" %j\ \ 5\ +5 %ؿ \ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +334 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%G +131 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%J  +128 "core" + .tPRV.dial :sipper +2 "processing"%X  +126 "core"  +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%f'e +2297 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%\\  +125 "core" +3 .tPS.seek 0.5ml + "processing"%n' +1270 "core" ' + .tPRV.dial :waste2 +2 "processing"%q @ +98 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%I'ؾ +605 "core" ' +2 .tPSV.dial PSR +2 "processing"%P +99 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%d'X\\ +1099 "core" ' + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%V' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"%h +114 "core" +2 .tPS.seek 0ml +2 "processing"%T'ؾ +1779 "Can"4 807% +853 "core" ' + .tPSV.dial PSR +2 "processing"%D +100 "core"  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%\ 'X\\ +1105 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%U' +1616 "core" ' +2 .tPSV.dial :mixloop + "processing"%^ +102 "core" + .tPRV.dial :sipper +2 "processing"%Y  +42 "core" +2 .tPS.seek 0ml +2 "processing"%W'ؾ +2649 "core" ' +2 .tPSV.dial PSR +2 "processing"%j +101 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2630 "core" ' + .tPSV.dial :mixloop +2 "processing"%a +114 "core" +2 .tPS.seek 0ml +2 "processing"%''ؾ +2635 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%Z& +4 "core" &\ +2 .tHand.open + "manipulator"&;1 +62 "core" 1 + "manipulator"&m% +4 "core" % π  \  0 +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 "storage"(k% +3 "core" % l j \  +2 "storage"(e. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(p(  +1302 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" &  E E D\ +2 "manipulator"&3& +3 "core" &-    +2 "manipulator"&>% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +176 "core" ( + "manipulator"&|& +4 "core" &  \  ; +2 "storage"(s& +3 "core" &  j k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'S +94 "core" ' +2 "storage"(& +4 "core" &  _ g \ +47 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +295 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (x& +2 "core" & H D \ +3 "manipulator"&w& +4 "core" &    ; +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&[& +4 "core" &   ; + "storage"(~& +4 "core" & H R I\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&:'Ͻ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +56 "core" / +3 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt[ "4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +2 ."downElevator"SE.seek :down +4 "manipulator"&c& +2 "storage"(g' +7 "core" &  ; +2 "manipulator"&E% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&b' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&}& +4 "core" &   $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &  $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +90 "core" ' +2 "manipulator"&& +3 "core" &  $ +2 "manipulator"&% +4 "core" %  Y +2 "processing"% & +4 "core" &\ +3 "processing"%!& +4 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\ +7 &4\ #c +9 &Wv\ 7 +10 &r\ K +9 &O\ M +10 &qR\ M +9 &3R\ M +9 &Q\ M +10 &Q\ M +9 &zQ\ M +9 &<Q\ M +10 &Q\ M +9 &!Q\ M +10 &#U\ M +9 &%CR\ M +9 &'Q\ M +10 &(Q\ M +9 &*R\ M +9 &,LR\ M +10 &.R\ L +9 &/S\ M +10 &1Q\ M +9 &3SR\ M +9 &5R\ M +10 &6R\ M +9 &8S\ M +9 &:\\R\ M +10 &<R\ M +9 &=S\ M +10 &?U\ M +9 &AaT\ N +9 &Cg\ O +10 &Dk\ P +9 &F\ S +9 &HW\ T +10 &J\ T +9 &K\ T +10 &M\ T +9 &O]\ T +9 &Q\ U +10 &R\ U +9 &T\ V +9 &Vd\ U +10 &X$\ U +9 &Y\ U +10 &[\ U +9 &]i\ C +9 &^;m\ &n +10 &^+\ . +5 ( +2 "processing"%!& +3 "core" &^\ . +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"& 1 +58 "core" 1 + "manipulator"&% +4 "core" %    / Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +97 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %9 +6 "core" 9 +102 "processing"%9 +3 "core" 9} +102 "processing"%9 +3 "core" 9~  +103 "processing"%"9 +2 "core" 9~  +103 "processing"%9 +2 "core" 9~ +103 "processing"%u9 +3 "core" 9} +102 "processing"%9 +3 "core" 9~ +102 "processing"%$9 +3 "core" 9 +103 "processing"%r9 +3 "core" 9" +102 "processing"% 9 +2 "core" 9& +103 "processing"%9 +3 "core" 9+ +102 "processing"%#9 +3 "core" 9/ +102 "processing"%9 +3 "core" 93 +103 "processing"%)9 +2 "core" 97 +103 "processing"%9 +2 "core" 9; +103 "processing"%9 +3 "core" 9@ +102 "processing"%K9 +3 "core" 9D +102 "processing"%,9 +3 "core" 9H +103 "processing"%+9 +2 "core" 9L +103 "processing"%%9 +2 "core" 9P +103 "processing"%-9 +3 "core" 9U +102 "processing"%09 +3 "core" 9Y +102 "processing"%.9 +3 "core" 9] +102 "processing"%]9 +3 "core" 9a +102 "processing"%9 +3 "core" 9e +102 "processing"%/9 +3 "core" 9j +102 "processing"%&9 +3 "core" 9n +102 "processing"%19 +3 "core" 9r +103 "processing"%99 +3 "core" 9v +102 "processing"%29 +3 "core" 9{ +102 "processing"%59 +3 "core" 9 +102 "processing"%*9 +3 "core" 9 +102 "processing"%Q9 +3 "core" 9 +103 "processing"%?9 +52 "core" 9% +3 .tPH.hold 2:00:00,28C +3 "processing"% php +3 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%A +100 "core"  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%`' +584 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml +2 "processing"%8' +1612 "core" ' +2 .tPTV.dial :puck +2 "processing"%F  +128 "core"  + .tPSV.dial PTV +2 "processing"% +84 "core" +2 .tPBV.dial :waste1 + "processing"%i  +52 "core" + "processing"%7% +5 "core" %\  +2 .tPS.seek 1.5ml + "processing"%='& +594 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%< * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%v'ؾ +1608 "core" ' +2 .tdelay 5:00 +26319 "Can" ;3̓( +3684 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%4  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%H * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%B +69 "core" +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%@' +2425 "core" ' +2 .tPSV.dial PTV +2 "processing"%N +84 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%S +70 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +85 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2374 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%M  +128 "core" +2 .tPSV.dial :mixloop + "processing"%L +44 "core" + .tPRV.dial :ab1 +2 "processing"%G @ +98 "core" > +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%J' +359 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%X  +42 "core"  + "processing"%6% +3 "core" %\ \ +3 .tPS.seek 0.35ml +2 "processing"%\\'j +453 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'f  +30 "core" + .tPRV.dial :air +2 "processing"%q  +42 "core"  +3 .tPS.seek 0.9ml + "processing"%n'K +1165 "core" ' +2 .tPRV.dial :waste2 + "processing"%P @ +70 "core" > +3 .tPS.seek 0.5ml + "processing"%I' +870 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%d  +43 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%h' +1618 "core" ' + .tPSV.dial :PML +2 "processing"%V +44 "core" + .tPTV.dial :mixing +2 "processing"%D @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%T  +33 "core" + "processing"%\ % +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%^' +239 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%Y * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%U'ؾ +1985 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'j& +3 "core" &\ \ u\ +2 "manipulator"&W& +4 "core" &  $ +2 "manipulator"&a% +4 "core" %  &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +125 "core" ( +2 "manipulator"&Z& +3 "core" &-   @  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &- \   +3 .tForearm.seek :garage + "manipulator"&m'w +92 "core" ' +2 .tHand.close + "manipulator"&k/ +65 "core" / +6 "manipulator"&e& +5 "core" &- \  + "manipulator"&% +4 "core" % π  5 +2 .tForearm.seek :retract +2 "manipulator"&(' +98 "core" ' +2 .tElbow.reconfigure :tight +49 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC + "manipulator"&l(ӂ +276 "core" ( + "manipulator"&3& +4 "core" &x)   A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &x* \  A_ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&|'? +96 "core" ' +2 "manipulator"&s& +4 "core" &y( -  ; @^ +2 "manipulator"&% +3 "core" %F   Q \ +3 "collection"'R& +3 "core" &\ \ y\ +3 "collection"' & +5 "core" &\ \ P\ +2 .tCC.seek :closed +2 "collection"'_(\\ +4 "core" &\ \ r\ +9 &C\ \ t\ %h +9 &Yx\ \ v\ 8 +9 &v\ \ t\ K +10 &Q\ \ v\ L +9 &T\ \ t\ L +9 &HS\ \ n\ L +10 & T\ \ q\ L +9 &T\ \ n\ L +10 &S\ \ m\ K +9 &PT\ \ q\ L +9 & R\ \ p\ L +10 &!S\ \ n\ L +9 &#U\ \ t\ L +9 &%XR\ \ w\ L +10 &'T\ \ k\ L +9 &(T\ \ p\ L +10 &*T\ \ i\ L +9 &,`S\ \ f\ L +9 &."T\ \ h\ L +10 &/T\ \ e\ L +9 &1V\ \ j\ L +9 &3iU\ \ j\ L +10 &5*U\ \ p\ L +9 &6V\ \ j\ L +10 &8U\ \ j\ L +9 &:oU\ \ j\ L +9 &<2U\ \ g\ L +10 &=U\ \ i\ L +9 &?U\ \ k\ L +9 &AxY\ \ h\ L +10 &C6c\ \ `\ M +9 &Dt\ \ g\ O +10 &F\ \ f\ T +9 &H_\ \ i\ W +9 &J\ \ f\ X +10 &K\ \ h\ X +9 &M\ \ k\ Y +9 &Oa\ \ g\ Y +10 &Q#\ \ h\ Y +9 &R\ \ b\ Z +10 &T\ \ d\ Z +9 &Va\ \ j\ \\ +9 &X"\ \ i\ \\ +10 &Y\ \ e\ ^ +9 &[\ \ k\ J +9 &\\9\ \ j\ , +10 &\\k\ \ f\ Q +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.41 + "collection"'x& +3 "core" &\\n\ \ d\ Q +2 .tHand.open +2 "manipulator"&w1 +52 "core" 1 +2 "manipulator"&[% +3 "core" % F 7 < " \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +94 "core" ' +2 .tPSV.dial PSR +2 "processing"%{ +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%c'+ +1606 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%E  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 .tPSV.dial PSR + "processing"%o +44 "core"  + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%O' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%:  + "collection"'}  +33 "core" +123  +2 .tPSV.dial :mixloop +2 "processing"%y +100 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'  +4 "core"  +2 .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 .tPSV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%g' +2635 "core" ' + .tPSV.dial :mixloop +2 "processing"%b +44 "core" +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2633 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2624 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%!'ؾ +2636 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ӫ 2   :, +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +18 "core" ( + "manipulator"&& +4 "core" &ӈ   . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &ӈ  . +3 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 .tHand.close + "manipulator"&u/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "manipulator"&$& +4 "core" &ӧ   * + "manipulator"&r% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +325 "core" ( +9 "manipulator"&#& +4 "core" &-  C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-  C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&)'w +90 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % x   T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K' +100 "core" ' +2 ."da"delayUntil "19:41:07.73" +15180 "Can" :6nc$ +9547 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing +2 "processing"%, @ +71 "core" A + ."da"PBV.dial :waste1 +2 "processing"%+  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%% * +35 "core" , + ."da"PSV.dial :air +2 "processing"%-  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%0' +2408 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%. +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%]  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%/  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%&'ؾ +2366 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%1 +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%9' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%2' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%5  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%* +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%Q  +34 "core" +2 "processing"%?% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%A'- +612 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%' * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%`'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%F  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"% * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%i +70 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%7' +2405 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%8 +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%< +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%= +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2368 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%H +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%B' +590 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%v' +1616 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%N +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%S  +33 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'1 +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%@ * +34 "core" + +2 ."da"PS.seek 0ml +47 "processing"%M'ؾ +1618 "core" ' + ."da"delay 2:00 +8647 "Can" ;8 +3357 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%L  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +3 "processing"%G * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +3 "processing"%X' +2396 "core" ' + ."da"PSV.dial PTV +3 "processing"%6 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%J +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%f +149 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%q  +73 "core"  +3 ."da"PS.seek 0ml +2 "processing"%\\'ؾ +2325 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%P  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%n  +130 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%d  +42 "core" ~ +2 ."da"PTV.dial :PRVmixing +2 "processing"%I  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"%V +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%D' +389 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%T  +43 "core"  + "processing"%\ % +4 "core" % \  +2 ."da"PS.seek 0.55ml +2 "processing"%Y' +339 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%h  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%^' +1557 "core" ' + ."da"PSV.dial :PML +2 "processing"%j +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%W @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%a  +32 "core" +2 "processing"%Z% +3 "core" %!\  +3 ."da"PS.seek 1.85ml +2 "processing"%;' +245 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%k'ؾ +1963 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +40346 "Can" <;+ +7657 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%e @ +5 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%t * +33 "core" + + ."da"PSV.dial :air +2 "processing"%m  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%3' +2397 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%> +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%s +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +2345 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%( +128 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%z' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%x' +1622 "core" ' + ."da"PTV.dial :puck +2 "processing"%w  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%[ +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%{% +4 "core" %*\  +2 ."da"PS.seek 1.5ml +2 "processing"%|'. +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%U * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +1633 "core" ' +51 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%c  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%o  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%} +72 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%:' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"%y +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%O  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2348 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%b' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%g' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%C +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core"  + "processing"%% +4 "core" %"\  +2 ."da"PS.seek 1.5ml +2 "processing"%'- +605 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%"'ؾ +1607 "core" ' +2 ."da"delay 2:00 +10663 "Can"\ k=%' +1340 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%u  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%l  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%~ * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%_ +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%$' +2425 "core" ' + ."da"PSV.dial PTV +2 "processing"%r +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +6 "processing"% +70 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%#  +84 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2334 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"% ' +1607 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%)  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%, +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%+  +34 "core" + "processing"%%% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%-') +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%! * +33 "core" * +3 ."da"PS.seek 0ml +2 "processing"%.'ؾ +1625 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%]  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%/ * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +72 "core"  +46 ."da"PS.reconfigure :fast +10 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%1' +2415 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%& +71 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%9 +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%5 +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%*  +84 "core" +3 ."da"PS.seek 0ml + "processing"%Q'ؾ +2371 "core" ' +1933 #"da"Waiting >20 seconds for MAIN to relinquish Arm +19550 "Can" ;? +12711 #"dave"Session Begun +1243 #-> showlog +1234 #-> Thread.resume +2 !o:Thread::CannotResume: mesg"No checkpoints available:@timestampu: Time ?;X:bt["1/home/esp/esp2/lib/thread.rb:674:in `resume'"1/home/esp/esp2/lib/thread.rb:970:in `resume'" dave:2:in `topLevelBinding'" MainThread.resume +3 !o:Thread::CannotResume: mesg"MAIN is not suspended:@timestampu: Time d[:bt["5/home/esp/esp2/lib/thread.rb:701:in `safeResume'"1/home/esp/esp2/lib/thread.rb:677:in `resume'" dave:3:in `topLevelBinding'" exit +2 #Session Ended +1968 !to:IRB::Abort:@checkpoint: omitted: mesg"User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:83:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +1004 #-> MainThread.resume +2 #Resuming after User Abort!! at 20:23:11 +5336 !o:IRB::Abort:@checkpoint: omitted: mesg"User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:83:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +612 #-> Thread.resume + #Resuming after User Abort!! at 20:24:21 +7487 !o:IRB::Abort:@checkpoint: omitted: mesg"User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:83:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +230 #-> exit +6 !o:Storage::Warning: mesg"9Exiting with da puck from tube 2 in Processing Clamp:bt["6/home/esp/esp2/utils/storage.rb:563:in `writeAll'"2/home/esp/esp2/utils/storage.rb:558:in `each'"6/home/esp/esp2/utils/storage.rb:558:in `writeAll'"./home/esp/esp2/lib/filepath.rb:80:in `[]'"2/home/esp/esp2/lib/filepath.rb:80:in `append'"0/home/esp/esp2/lib/filepath.rb:79:in `open'"2/home/esp/esp2/lib/filepath.rb:79:in `append'"6/home/esp/esp2/utils/storage.rb:554:in `writeAll'"(/home/esp/esp2/utils/storage.rb:570"4/home/esp/esp2/lib/framework.rb:170:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"-/home/esp/esp2/lib/thread.rb:760:in `[]'"0/home/esp/esp2/lib/thread.rb:760:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +3 #mEXIT @1694636747.78UTC @1694636757.63UTC = =tMAIN =mMAIN_scheduler @UTC1694636759.37 #"core_reset"Sent BREAK +2 #t@58460 sendCRC with ifg=0x20, ie=0x7F #@60295 sendCRC with ifg=0x08, ie=0x5F + #@33821 idle with ifg=0x84, ie=0x75 + #@34494 select with ifg=0x10, ie=0xF5 + #@35128 receive with ifg=0x10, ie=0xFD #@35762 receive with ifg=0x10, ie=0xFD + #@36395 receive with ifg=0x10, ie=0xFD + #@36722 receive with ifg=0x80, ie=0xFD #@16190 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +298 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +382 "Can" 8A\\ +  8A\\ + #tPolling Can every 10:00 +3 #Cleanly exited at 20:25:47UTC13-Sep-23 +2 !o:Storage::Warning: mesg"PC.holds Puck.from 2, :da:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #ESP.ready! will restore puck positions +552 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %j\ \ ^\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ:\  +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڲ\ /\ - l\ +2 .tSS.configure :default +3 "sampler")#.0X\ . +2 .tPC.configure :default +2 "processing"%$x2 ^22b +3 .tPC.hold + "processing"% , +3 "core" , + .tPC.configure :default +3 "processing"%$x2 ^22b +4 "manipulator"& % +3 "core" %   u +2 .tForearm.configure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.hold + "manipulator"&+ +3 "core" + +2 .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +3 && +4 "core" &- & C + .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +4 "storage"(& +3 "core" & [ Z\ +2 .tSC.configure :loose +3 "storage"($.\ 1~b +2 .tSC.hold +2 "storage"(, +2 "core" , +2 .tSC.configure :loose +2 "storage"($.\ 1~b +3 (% +3 "core" %  n\  +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tCH.coast + "collection"' +2 .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast +2 "processing"% +2 "core" ; + !o:I2C::UnexpectedReply: mesg">I2C::Thermal::RunReply[18:25->20]aborted after 15255 tics:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +10 "collection"'% +2 "processing"%% +4 "core" %j\ \ \ f\ +2 "manipulator"&% +5 "sampler")% +7 "core" %ؽ7\  + %  \  . u + %ڲ\ -\ - j\ +3 "manipulator"&& +4 "core" &-  0 C + "storage"(& +3 "core" &    \  +2 "storage"(% +4 "core" % ! \  + "collection"'& +4 "core" &\ \ \ W\ +2 "processing"%& +4 "core" &^I\ . + #tPC.holds Puck.from 2, :da + "processing"%& +4 "core" &^9\ . +2 "collection"'  +39 "core"  +7 "collection"'! +3 "core"  +2 "collection"'" +3 "core"  +2 "processing"%# +3 "core"  +2 "processing"%$ +3 "core" + +2 "processing"%% +3 "core"  +2 "processing"%& +3 "core"  +2 "sampler")' +3 "core"  +2 "collection"'(% +4 "core" %j\ \ \ _\ +2 "processing"%)% +4 "core" %ؽB\  +2 "sampler")*% +4 "core" %ڲ\ ,\ , v\ +2 "collection"'+& +3 "core" &\ \ [\ +3 "processing"%,& +3 "core" &^9\ . +2 "manipulator"&-% +4 "core" %   @ u +2 "manipulator"&.& +3 "core" &- \  v C +2 "storage"(/& +5 "core" &   \  + "storage"(0% +4 "core" % !  \  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9j +534 #t-> MainThread.resume +2 !o:Thread::CannotResume: mesg"No checkpoints available:bt[ "1/home/esp/esp2/lib/thread.rb:674:in `resume'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +489 #-> Thread.resume +2 !o:Thread::CannotResume: mesg"No checkpoints available:bt[\ "1/home/esp/esp2/lib/thread.rb:674:in `resume'"1/home/esp/esp2/lib/thread.rb:970:in `resume'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +671 #-> PC +2 "processing"%3& +3 "core" &^7\ . +2105 #t-> PC.unload 2,2 +2 !o:NoMethodError : mesgu:NameError::message+undefined method `unload' for PC:Clamp: name: unload: args[ii:bt[ "8/home/esp/esp2/lib/slide.rb:441:in `method_missing'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +3267 #-> PC.unloadPuck 2,2 +2 "processing"%4& +3 "core" &^\ . +2 !to:Puck::Warning: mesg"3Unloading Puck.from 2, :da to Storage Carousel:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:421:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +2 #Storing 2 puck in Processing Clamp to tube 2 + .Hand.open +2 "manipulator"&51 +22 "core" 1 +2 "manipulator"&6% +3 "core" %   \ 0 u +3 "storage"(7% +3 "core" %   ~\  +2 "storage"(8. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(9(  +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (:& +2 "manipulator"&;& +4 "core" & < R j\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &-  ) C +2 "manipulator"&<% +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(='r +2 "core" %    u +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&>( +132 "core" ( +2 "manipulator"&?& +3 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" & j  +2 .tForearm.seek PC +2 "manipulator"&A' +92 "core" ' +2 .tHand.close + "manipulator"&B/ +17 "core" ' + "storage"(C- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'1 +32 "core" / +2 .tPC.seek :open +2 "processing"%E( +11 "core" ' +448 ( +2 "storage"(F& +3 "core" & i h H\ +2 "storage"(G& +3 "core" & i i u\ +2 "manipulator"&H& +4 "core" & +2 "manipulator"&I% +4 "core" %  \  +2 .tForearm.seek :retract + "manipulator"&J' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&K( +238 "core" ( +2 "manipulator"&L& +3 "core" &   6 +2 "storage"(M& +4 "core" & _ i i\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&N'Α +92 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +57 "core" 1 +2 "manipulator"&Q% +4 "core" % Ζ    +2 "storage"(R& +3 "core" & j i \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&S' +14 "core" ' +2 "manipulator"&T& +3 "core" &  6 +2 "storage"(U& +4 "core" & r q .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&V'S +17 "core" ' + "storage"(W% +4 "core" %/ w r P\  +2 ."downElevator"SE.seek :down +4 "storage"(X' +98 (Y% +3 "core" %K G C \ We +2 "manipulator"&Z% +4 "core" %F  \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' +58 ' +35 ."downElevator"SE.stop +8 "storage"(5 +591 #t-> Flush +1094 #-> shortDAflush; PS.flush + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'\\& +3 "core" &\ \ \ l\ +2 "manipulator"&]& +3 "core" & F 6 +2 "manipulator"&^% +4 "core" %  f  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&_(- +177 "core" ( + "manipulator"&`& +4 "core" &-    V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &-  V +2 .tForearm.seek :garage +2 "manipulator"&b'w +90 "core" ' +2 .tHand.close + "manipulator"&c/ +64 "core" / +2 "manipulator"&d& +3 "core" &-   U +3 "manipulator"&e% +4 "core" % z   < +2 .tForearm.seek :retract + "manipulator"&f' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +284 "core" ( + "manipulator"&h& +4 "core" &Ӝ  ] 9$ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &Ӝ  7 9$ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&j'? +91 "core" ' + "manipulator"&k& +4 "core" &Ӝ   9$ +2 "manipulator"&l% +3 "core" %I    +3 "collection"'m& +4 "core" &\ \ \ Y\ +2 "collection"'n& +5 "core" &\ \ \ \ ^\ +2 .tCC.seek :closed +2 "collection"'o(\\ +4 "core" &\ \ \ g\  +9 &3{\ \ b\ *z +10 &e~\ \ \ ^\ > +9 &k\ \ \ ]\ M +9 &PS\ \ \ g\ K +10 &T\ \ \ Z\ K +9 &T\ \ \ e\ K +10 &R\ \ \ _\ L +9 &WR\ \ \\\ L +9 &Y\ \ \ ^\ L +10 &W\ \ \ \\\ L +9 & W\ \ \ Y\ L +9 &"`W\ \ V\ K +10 &$"S\ \ W\ K +9 &%T\ \ W\ K +10 &'R\ \ \ X\ L +9 &)gR\ \ \ O\ L +9 &+)R\ \ \ \ X\ L +10 &,T\ \ \ ]\ K +9 &.T\ \ \ [\ L +9 &0oW\ \ \ U\ L +10 &21R\ \ \ P\ L +9 &3T\ \ F\ L +9 &5X\ \ \ O\ L +10 &7vT\ \ _\ L +9 &99U\ \ \ _\ L +10 &:R\ \ W\ L +9 &<T\ \ _\ L +9 &>~S\ \ Y\ L +10 &@AT\ \ Y\ L +9 &B\\\ \ X\ L +9 &Cc\ \ _\ N +10 &Ex}\ \ T\ Q +9 &G.\ \ b\ U +10 &H\ \ `\ X +9 &J\ \ ^\ X +9 &Lj\ \ \\\ X +10 &N)\ \ h\ Y +9 &O\ \ X\ Z +9 &Q\ \ X\ [ +10 &Sl\ \ \\\ Z +9 &U,\ \ `\ [\ +10 &V\ \ Z\ \\ +9 &X\ \ X\ ] +9 &Zk\ \ X\ ] +10 &\\z\ \ M\ 6 +9 &\\&\ \ X\ #i +9 ( +2 "collection"'n& +3 "core" &\\\ \ ]\ !b +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.43 + "collection"'p& +3 "core" &\\\ \ W\ !b +3 .tHand.open + "manipulator"&q1 +54 "core" 1 + "manipulator"&r% +4 "core" % I  }  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +98 "core" ' +2 .tPSV.dial PSR,avoiding: PBV + "processing"%t +3 "core"  +2 "processing"%u +3 "core"  +2 "processing"%v  +130 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +11 .tPS.seek 2.5ml + "processing"%w' +2632 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%x  + "collection"'y  +6 "core" +36  +2 .tPSV.dial :PTV,via: :air +2 "processing"%z +188 "core"  +2 .tCTV.dial :air,avoiding: :intake + "collection"'{ +4 "core"  + "collection"'| +3 "core"  +2 "collection"'}  +5 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%~ +3 "core"  + "processing"% +4 "core"  + "processing"% @ +72 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +188 "core"  +2 #tPulling 2.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 2.5ml +2 "processing"%' +2628 "core" ' +2 .tdelay 5 seconds +502 ."connect"PRV.dial CBV +5 .tCBV.dial PRV +2 "processing"%  +3 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +5 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"% @ +5 "core" A +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2647 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +187 "core" + #tPulling 2.5ml of PSR.flush +2 .PSR.select :flush +3 .PS.seek 2.5ml + "processing"%' +2640 "core" ' + .tdelay 5 seconds +503 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%  +5 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +188 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +4 "core"  +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"% @ +5 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2657 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +222 "core"  +10 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 .PS.seek 1.5ml + "processing"%'+ +1634 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1605 "core" ' +2 .tPSV.dial PSR + "processing"% +44 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2629 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%  +5 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"% +188 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +5 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%! @ +5 "core" A +2 .tPS.seek 0ml +2 "processing"%"'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%#  +73 "core"  +3 .tPS.seek 2.5ml + "processing"%$' +2635 "core" ' +2 .tPSV.dial :PTV +2 "processing"%% +73 "core" ~ +2 .tPS.seek 0ml +2 "processing"%&'ؾ +2629 "core" ' + .tPSV.dial :air +2 "processing"%'  +84 "core" +3 .tPS.seek 2.5ml + "processing"%(' +2631 "core" ' + .tPSV.dial :PTV +2 "processing"%) +70 "core"  +2 .tPS.seek 0ml +2 "processing"%*'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%+  +84 "core"  +3 .tPS.seek 2.5ml + "processing"%,' +2628 "core" ' + .tPSV.dial :PTV +2 "processing"%- +70 "core"  +2 .tPS.seek 0ml +2 "processing"%.'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&/& +4 "core" &ӝ \   9# +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&0(ӂ +24 "core" ( +2 "manipulator"&1& +4 "core" &ӈ   S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &ӈ ? S +3 .tForearm.seek CC + "manipulator"&3'? +97 "core" ' + .tHand.close + "manipulator"&4/ +60 "core" / +2 .tCC.seek :open +2 "collection"'5( +454 "core" ( + "manipulator"&6& +4 "core" &ӈ  c S +2 "manipulator"&7% +3 "core" % $ \  @ +3 .tForearm.seek :retract + "manipulator"&8' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&:(- +273 "core" ( +2 "manipulator"&;& +3 "core" &-   h N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +2 "core" &-  6 N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&?'w +92 "core" ' +2 .tHand.open + "manipulator"&@1 +58 "core" 1 +2 "manipulator"&% +4 "core" % φ  M ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +99 "core" ' + #tFlushing Processing stage +2 "processing"%% +3 "core" %\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%B& +3 "core" &\ +2 "manipulator"&& +4 "core" &-  N +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&=(- +14 "core" ( + "manipulator"& & +3 "core" &- +  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &-   +3 .tForearm.seek :garage + "manipulator"&G'w +93 "core" ' + .tHand.close +2 "manipulator"&H/ +56 "core" / +2 "manipulator"&I& +4 "core" &-    + "manipulator"&A% +3 "core" % w  h  +3 .tForearm.seek :retract + "manipulator"&L' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&M( +116 "core" ( + "manipulator"&>& +4 "core" &     +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" & D  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q' +91 "core" ' +2 "manipulator"&R& +4 "core" &  {  +2 "manipulator"&T% +4 "core" %  + +2 "processing"%U& +4 "core" &\ +2 "processing"%W& +4 "core" &\ +3 .tPC.seek :closed + "processing"%J(^ +5 "core" &\  +8 &3u\ )w +9 &e}\ > +10 &j\ N +45 &DO\ L +9 &Q\ L +2 &O\ L +2 &P\ M + &KR \ M + & S \ M +5 &O \ M +10 & P\ M +9 &"SS \ M +9 &$Q\ L +10 &%P\ M +9 &'O \ M +10 &)\\Q\ L +9 "Can"\ DD+ +2 "core" &+Q\ M +7 &,T \ M +10 &.P\ L +9 &0cQ\ M +10 &2%N\ M +9 &3O\ M +9 &5T\ M +10 &7lQ\ L +9 &9-Q\ M +9 &:T\ M +10 &<Q\ L +9 &>rR \ M +9 &@4R\ M +10 &AW\ \ N +9 &Ce \ O +10 &Eqm \ P +9 &G,\ R +9 &H\ T +10 &J \ S +9 &Lo\ S +10 &N/\ T +9 &O\ T +9 &Q\ U +10 &Ss\ U +9 &U5\ U +9 &V\ U +10 &X\ T +9 &Z{\ U +9 &\\=\ U +10 &]{r\ 8 +9 &^/\ M +10 &^\ . +2 ( +2 "processing"%W& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.69 + "processing"%Y& +3 "core" &^\ . +2 .tHand.open +2 "manipulator"&Z1 +54 "core" 1 +2 "manipulator"&K% +4 "core" %    + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +89 "core" ' +2 .tPSV.dial PSR +2 "processing"%S +72 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%D'X\\ +1100 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%V' +1616 "core" ' + .tPSV.dial PTV +2 "processing"%X +72 "core" + .tPTV.dial :puck +2 "processing"%\\  +70 "core"  +2 .tPBV.dial :waste1 +2 "processing"%]  +32 "core" +2 .tPS.seek 0ml +2 "processing"%^'ؾ +2627 "core" ' +2 .tPSV.dial PSR + "processing"%` +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%a' +597 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%O' +2128 "core" ' +2 .tPSV.dial PTV + "processing"%c +72 "core" +2 .tPBV.dial PSV +2 "processing"%d U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%e'ؾ +2630 "core" ' + .tPSV.dial PBV +2 "processing"%[ @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%b' +2633 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%h  +70 "core"  +2 .tPS.seek 0ml + "processing"%i'ؾ +2633 "core" ' + .tPSV.dial PSR +2 "processing"%_ +54 "core" +2 .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%k' +2652 "core" ' +2 .tPSV.dial PTV + "processing"%l +85 "core" + .tPBV.dial PSV +2 "processing"%m U +15 "core" T +3 .tPS.seek 0ml + "processing"%f'ؾ +2628 "core" ' + .tPSV.dial PBV +2 "processing"%\ @ +42 "core" > +2 .tPS.seek 2.5ml +2 "processing"%p' +2638 "core" ' +2 .tPSV.dial :waste1 + "processing"%q  +70 "core"  +3 .tPS.seek 0ml + "processing"%r'ؾ +2626 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&t& +4 "core" &  T  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&n& +4 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" & H  +2 .tForearm.seek PC +2 "manipulator"&j' +94 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / +2 .tPC.seek :open + "processing"%y( +456 "core" ( +2 "manipulator"&x& +3 "core" &  +2 "manipulator"&z% +4 "core" %  s  +2 .tForearm.seek :retract +2 "manipulator"&{' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&|(- +127 "core" ( + "manipulator"&}& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &- n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +98 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&w% +3 "core" % v  #  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +30873 "Can" 6F/J( +44134 #t-> access 1 +2 "storage"(% +3 "core" % g h )\  +2 "manipulator"&% +4 "core" %  7  +2 "manipulator"&& +3 "core" &- < +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +38 .tSC.seek 5 +9 "storage"( (<- +987 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &<- ? J !\ +1478 #t-> access 2 +3 "storage"(% +3 "core" % e ] J\  +2 "manipulator"&% +3 "core" %  \  x  +2 "manipulator"& & +4 "core" &- + +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &K C 9 \ +2196 #t-> startTube 2 +893 #-> $da[extractVol]=.2 +9850 "Can" 6H\  +19060 #t-> shortDA; shortDAflush; PS.flush +2 "collection"'% +4 "core" %j\ \ \ |\ + "processing"%% +6 "core" %\ +3 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +164 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"% +129 "core" +2 .tPTV.dial :PRVmixing + "processing"%  +129 "core" + .tPRV.dial :sipper +2 "processing"%  +126 "core"  +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%'e +2299 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%  +126 "core"  +2 .tPS.seek 0.5ml +2 "processing"%' +1272 "core" ' +2 .tPRV.dial :waste2 +2 "processing"% @ +98 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%'ؾ +596 "core" ' + .tPSV.dial PSR +2 "processing"% +100 "core"  + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"% 'X\\ +1108 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%!' +1629 "core" ' + .tPSV.dial :mixloop +2 "processing"% +101 "core" +2 .tPS.seek 0ml +2 "processing"%#'ؾ +2638 "core" ' +2 .tPSV.dial PSR +2 "processing"%" +100 "core"  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%%'X\\ +1098 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%$' +1607 "core" ' +2 .tPSV.dial :mixloop + "processing"%' +102 "core" + .tPRV.dial :sipper +2 "processing"%&  +42 "core" +2 .tPS.seek 0ml +2 "processing"%)'ؾ +2633 "core" ' +2 .tPSV.dial PSR +2 "processing"%( +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%+' +2638 "core" ' +2 .tPSV.dial :mixloop + "processing"%* +102 "core" +2 .tPS.seek 0ml +2 "processing"%-'ؾ +2651 "core" ' + #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%,& +3 "core" &\ +2 "manipulator"&/% +4 "core" %    +2 "storage"(1% +3 "core" % o  \  +2 "storage"(2. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(4(  +1300 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +2 "core" &  O U\ +2 "manipulator"&s& +4 "core" &- \ x +2 "manipulator"&o% +3 "core" %  I  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&6( +169 "core" ( +2 "manipulator"&7& +4 "core" &  | 2 + "storage"(3& +4 "core" &  e ] |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&;'S +93 "core" ' + "storage"(<& +4 "core" &  ~ ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +296 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & A : \ +2 "manipulator"&& +4 "core" &  y 2 +2 .tElbow.seek 2 + "manipulator"&B( +4 "core" ( +2 "manipulator"&& +4 "core" &   2 + "storage"(8& +3 "core" & ^ Z I\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +62 "core" / +2 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt[ "4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):13:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +3 ."downElevator"SE.seek :down +4 "manipulator"&?& + "storage"(H' +7 "core" & 2 +2 "manipulator"&I% +3 "core" %  ! +3 .tForearm.seek :retract + "manipulator"&A' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:( +161 "core" ' +38 ."downElevator"SE.stop +9 "storage"(5 +37 "core" ( + "manipulator"&C& +4 "core" &  P  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" & O  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +100 "core" ' + "manipulator"&G& +5 "core" &    + "manipulator"&R% +4 "core" %  +2 "processing"%T& +4 "core" &\ +2 "processing"%U& +5 "core" &\ +3 .tPC.seek :closed + "processing"%=(^ +5 "core" &\  +8 &4x\ *x +9 &d}\ > +10 &l\ N +9 &EP\ M +9 &Q\ M +10 &O\ M +9 &R\ M +10 &NQ\ M +9 &Q\ M +9 &Q\ L +10 & Q\ M +9 &"UQ\ M +9 &$Q\ M +10 &%Q\ M +9 &'T\ M +10 &)^Q\ M +9 &+!Q\ L +9 &,Q\ M +10 &.Q\ M +9 &0fQ\ M +9 &2(P\ M +10 &3Q\ M +9 &5Q\ M +9 &7mQ\ M +10 &9/R\ M +9 &:R\ M +10 &<R\ M +9 &>tS\ M +9 &@5T\ N +10 &AZ\ N +9 &Ch\ P +10 &Err\ Q +9 &G-\ S +9 &H\ T +10 &J\ T +9 &Lr\ S +9 &N2\ T +10 &O\ T +9 &Q\ U +10 &Sv\ U +9 &U6\ U +9 &V\ U +10 &X\ U +9 &Z}\ U +9 &\\?\ U +10 &]|u\ 8 +9 &^0\ L +9 &^\ - +3 ( +2 "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&L1 +55 "core" 1 + "manipulator"&E% +3 "core" %    ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%Z h +2 %K9 +7 "core" 9 +102 "processing"%W9 +2 "core" 9 +102 "processing"%S9 +3 "core" 9  +102 "processing"%Q9 +4 "core" 9  +102 "processing"%.9 +3 "core" 9 +102 "processing"%D9 +3 "core" 9 +102 "processing"%X9 +3 "core" 9 +102 "processing"%\\9 +3 "core" 9 +102 "processing"%]9 +3 "core" 9" +102 "processing"%V9 +3 "core" 9& +102 "processing"%`9 +3 "core" 9+ +102 "processing"%^9 +3 "core" 9/ +102 "processing"%a9 +3 "core" 93 +102 "processing"%c9 +4 "core" 97 +102 "processing"%d9 +3 "core" 9; +102 "processing"%O9 +3 "core" 9@ +102 "processing"%[9 +3 "core" 9D +102 "processing"%e9 +3 "core" 9H +102 "processing"%h9 +4 "core" 9L +102 "processing"%b9 +3 "core" 9P +102 "processing"%_9 +3 "core" 9U +102 "processing"%i9 +3 "core" 9Y +102 "processing"%l9 +3 "core" 9] +102 "processing"%m9 +4 "core" 9a +102 "processing"%k9 +3 "core" 9e +102 "processing"%\ 9 +3 "core" 9j +102 "processing"%f9 +3 "core" 9n +102 "processing"%q9 +3 "core" 9r +102 "processing"%p9 +3 "core" 9v +103 "processing"%t9 +2 "core" 9 { +103 "processing"%n9 +3 "core" 9 +102 "processing"%v9 +3 "core" 9 +102 "processing"%9 +3 "core" 9" +3 .tPH.hold 2:00:00,28C +3 "processing"%M php +2 .tdelay 1:30 +6 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%N +100 "core" + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%J' +590 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%x' +1340 "Can" >J`v +280 "core" ' + .tPTV.dial :puck +2 "processing"%z  +128 "core"  +2 .tPSV.dial PTV + "processing"%} +85 "core" + .tPBV.dial :waste1 +2 "processing"%~  +50 "core" + "processing"%j% +4 "core" % \  +2 .tPS.seek 1.5ml +2 "processing"%u'1 +591 "core" ' + .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +31 "core" + +3 .tPS.seek 0ml + "processing"%w'ؾ +1628 "core" ' + .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%{  +4 "core"  +2 .tPBV.dial :waste1 + "processing"%  +33 "core"  +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +69 "core"  +3 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%' +2420 "core" ' + .tPSV.dial PTV +2 "processing"%9 +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +40 "processing"% +79 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2361 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +129 "core" +2 .tPSV.dial :mixloop + "processing"% +44 "core" + .tPRV.dial :ab1 +2 "processing"% @ +98 "core" ? +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%' +351 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%  +42 "core"  +2 "processing"%% +4 "core" %$\ \ +2 .tPS.seek 0.35ml +2 "processing"%'i +462 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'r  +29 "core" +2 .tPRV.dial :air +2 "processing"%  +41 "core"  +3 .tPS.seek 0.9ml + "processing"%'K +1167 "core" ' + .tPRV.dial :waste2 + "processing"% @ +71 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%' +863 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%' +1617 "core" ' +2 .tPSV.dial :PML + "processing"% +44 "core" +2 .tPTV.dial :mixing + "processing"% @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%!  +33 "core"  +2 "processing"%"% +4 "core" %)\  +2 .tPS.seek 1.85ml + "processing"%#' +239 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%% * +32 "core" + +3 .tPS.seek 0ml + "processing"%''ؾ +1988 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'&& +3 "core" &\ \ \ }\ +3 "manipulator"&$& +4 "core" &  K  + "manipulator"&(% +4 "core" %   O  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&)(- +127 "core" ( + "manipulator"&*& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &- A +3 .tForearm.seek :garage +2 "manipulator"&,'w +93 "core" ' +2 .tHand.close + "manipulator"&// +53 "core" / +3 "manipulator"&1& +3 "core" &-  D +2 "manipulator"&2% +4 "core" % x  V  +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&g(ӂ +278 "core" ( + "manipulator"&s& +3 "core" &ӝ   5\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +2 "core" &ӝ   5\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&7'? +98 "core" ' +3 "manipulator"&3& +4 "core" &ӝ   5\ +2 "manipulator"&<% +3 "core" %H  +3 "collection"'|& +3 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ \ \ +2 .tCC.seek :closed +2 "collection"'@(\\ +3 "core" &\ \ \ \ +8 &B\ \ \ \ $f +10 &Y|\ \ \ \ 7 +9 &x\ \ \ L +9 &Q\ \ {\ L +10 &T\ \ \ L +9 &EP\ \ \ K +10 &T\ \ \ L +9 &R\ \ {\ L +9 &T\ \ ~\ L +10 &LT\ \ |\ L +9 & S\ \ \ y\ L +9 &!W\ \ }\ L +10 &#T\ \ \ v\ L +9 &%TS\ \ \ L +10 &'R\ \ l\ L +9 &(T\ \ w\ L +9 &*Q\ \ q\ L +10 &,\\T\ \ q\ L +9 &.T\ \ \ \ L +9 &/T\ \ w\ L +10 &1U\ \ w\ L +9 &3cQ\ \ x\ L +10 &5%U\ \ v\ L +9 &6T\ \ \ v\ L +9 &8T\ \ ~\ L +10 &:kR\ \ z\ L +9 &<,V\ \ x\ L +9 &=R\ \ }\ L +10 &?R\ \ ~\ L +9 &ArT\ \ x\ L +10 &C2_\ \ {\ M +9 &Dr\ \ w\ P +9 &F\ \ x\ T +10 &HZ\ \ t\ W +9 &J\ \ }\ Y +9 &K\ \ w\ Y +10 &M\ \ q\ Y +9 &OY\ \ x\ Z +10 &Q\ \ s\ Z +9 &R\ \ w\ \\ +9 &T\ \ x\ \\ +10 &VZ\ \ y\ ] +9 &X\ \ y\ ] +9 &Y\ \ {\ ^ +10 &[\ \ z\ K +9 &\\7\ \ w\ / +10 &\\\ \ s\ V +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.45 + "collection"'& +3 "core" &\\}\ \ u\ V +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 + "manipulator"&% +4 "core" % H " , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +95 "core" ' +2 .tPSV.dial PSR +2 "processing"%F +111 "core" +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%?'+ +1608 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%I  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%6'ؾ +1611 "core" ' +2 .tPSV.dial PSR +2 "processing"%; +43 "core"  +2 .tPSR.select :air +2 "processing"% +56 .tPS.seek 2.5ml +2 "processing"%0' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +3 "processing"%  + "collection"'C  +34 "core" ~ +122  + .tPSV.dial :mixloop +2 "processing"%> +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'B  +4 "core"  +2 .tPTV.dial :PRVmixing +2 "processing"%G  +72 "core" +3 .tPS.seek 0ml + "processing"%R'ؾ +506 "Can"\ XL ( +2128 "core" ' + .tPSV.dial :air +2 "processing"%T  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%H' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%A +44 "core" +2 .tPS.seek 0ml +2 "processing"%y'ؾ +2633 "core" ' +2 .tPSV.dial :air + "processing"%L  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%E' +2630 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%K +43 "core" +2 .tPS.seek 0ml +2 "processing"%U'ؾ +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&W& +3 "core" &ӝ 5\ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&P(ӂ +13 "core" ( + "manipulator"&S& +4 "core" &ӊ   + +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &ӊ    + +2 .tForearm.seek CC +2 "manipulator"&.'? +95 "core" ' +2 .tHand.close + "manipulator"&D/ +61 "core" / +2 .tCC.seek :open +2 "collection"'X( +450 "core" ( +2 "manipulator"&\\& +4 "core" &Ә \  ) + "manipulator"&]% +4 "core" % $   +2 .tForearm.seek :retract +2 "manipulator"&V' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&`(- +282 "core" ( + "manipulator"&^& +4 "core" &-  C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &-  7 C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&c'w +99 "core" ' +2 .tHand.open +2 "manipulator"&d1 +55 "core" 1 +2 "manipulator"&O% +4 "core" % π  \   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +96 "core" ' +2 ."da"delayUntil "21:22:36.35" +24779 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%e @ +72 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%h  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%b * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%_  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%i' +2410 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%l +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%m  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%k +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%\  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%f'ؾ +2371 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%q +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%p' +609 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%t' +1610 "core" ' + ."da"PTV.dial :puck +2 "processing"%n  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%v +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%N% +3 "core" %2\  +3 ."da"PS.seek 1.5ml + "processing"%-'( +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%J * +33 "core" , +3 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1616 "core" ' + ."da"delay 2:00 +6574 "Can" ?O +5430 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%}  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%~  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%j * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%x +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2387 "core" ' +9 ."da"PSV.dial PTV +2 "processing"%u +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%Z +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%{ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2349 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +3 .PSV.dial PSR + "processing"% +141 "core" +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%w' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%9' +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +3 "processing"%  +32 "core" + "processing"%% +4 "core" %3\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1618 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +90 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2385 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%r +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2352 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%  +128 "core" +2 ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 "processing"%  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +3 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%!' +381 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%"  +42 "core"  +2 "processing"%%% +3 "core" %(\  +3 ."da"PS.seek 0.55ml +2 "processing"%' +345 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%#  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%&' +1566 "core" ' + ."da"PSV.dial :PML +2 "processing"%$ +44 "core" + ."da"PTV.dial :mixing +2 "processing"%( @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%*  +33 "core" + "processing"%+% +4 "core" %5\  +2 ."da"PS.seek 1.85ml +2 "processing"%/' +233 "core" ' + ."da"PBV.dial between PSV and waste1 +3 "processing"%1 * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +1966 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +10986 "Can" <Q8 +37017 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%2 @ +5 "core" A + ."da"PBV.dial :waste1 +2 "processing"%Y  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%, * +33 "core" + + ."da"PSV.dial :air +2 "processing"%s  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%o' +2407 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%) +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%3  +42 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%< +44 "core" +41 ."da"delay 2 seconds +209 .PSV.dial :air + "processing"%|  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2348 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%5 +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1623 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%F  +33 "core" + "processing"%7% +4 "core" %2\ +2 ."da"PS.seek 1.5ml +2 "processing"%''1 +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%I * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%?'ؾ +1613 "core" ' +2 ."da"delay 2:00 +8628 "Can" <TR +3375 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%;  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%6  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%C * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +83 "core" +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%>' +2386 "core" ' + ."da"PSV.dial PTV +2 "processing"%B +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%G +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%0 +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%T  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +2338 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%A +127 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%H' +584 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%L' +1622 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%y  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%K +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%E  +32 "core" +2 "processing"%W% +3 "core" %/\ +3 ."da"PS.seek 1.5ml +2 "processing"%S'1 +584 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%Q * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%g  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%8 * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%@ +70 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%\\' +2408 "core" ' + ."da"PSV.dial PTV +2 "processing"%] +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%. +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%^ +70 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%a  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +2341 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%d +127 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +49 ."da"PS.seek 0.5ml +2 "processing"%O' +591 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%V' +1616 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%c +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%e  +32 "core" +2 "processing"%h% +3 "core" %9\  +3 ."da"PS.seek 1.5ml +2 "processing"%b'0 +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%_ * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%U'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%l  +32 "core" +2 ."da"delay 30 seconds +1960 "Can" :Vd +1042 ."da"PBV.dial between PSV and waste1 +3 "processing"%m * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%k +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%\ ' +2405 "core" ' + ."da"PSV.dial PTV +2 "processing"%i +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%q +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%f +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%p  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%n'ؾ +2348 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +3 .PSV.dial PSR + "processing"%v +146 "core" +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +16 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%' +340 "core" ' +2 ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%N' +339 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%t' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%J +84 "core" + ."da"PBV.dial :waste1 +2 "processing"%-  +34 "core" +2 "processing"%}% +3 "core" %-\  +3 ."da"PS.seek 1.5ml +2 "processing"%~'- +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%j * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%x'ؾ +1608 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%z  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%u * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Z +82 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%{' +2428 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +82 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%w'ؾ +2397 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +131 "core"  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%' +2116 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%9  +34 "core" +2 "processing"% % +3 "core" %T\  +3 ."da"PS.seek 1.5ml +2 "processing"%'( +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +82 "core" * +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +103 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +1618 "core" ' +2 "processing"%9 +4 "core" 9g5t +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"% +2 %r& +2 "core" 5t +4 &^?\ - +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %   ?  +2 "storage"(% +3 "core" % \ +2 "storage"(. +3 "core" .(  +3 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"((C +359 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &A V U\ +3 "manipulator"&& +4 "core" &- R C + "manipulator"& % +4 "core" %   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +174 "core" ( +2 "manipulator"&& +4 "core" &   F  +2 "storage"("& +3 "core" &B \ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&%' +100 "core" ' +2 "storage"(!& +3 "core" &B z } -\ +3 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(#'r +277 "core" ' +2 "storage"(- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek :place + "storage"($'1 +42 "core" ' +2 "manipulator"&(& +4 "core" &     +2 "manipulator"&*% +4 "core" % \ f f +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&+' +91 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&1( +242 "core" ( + "manipulator"&&& +4 "core" & \  I  +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &  G  +2 ."da"Forearm.seek PC +2 "manipulator"&2' +90 "core" ' +2 ."da"Hand.close + "manipulator"&Y/ +55 "core" / +2 ."da"PC.seek :open +2 "processing"%,( +456 "core" ( + "storage"(s& +4 "core" &B \ +2 "manipulator"&:& +3 "core" & \   +2 "manipulator"&)% +4 "core" %   2  +2 ."da"Forearm.seek :retract +2 "manipulator"&3' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&<( +247 "core" ( +2 "manipulator"&|& +3 "core" & \  \ @ +3 "storage"(o& +4 "core" &B \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&5' +92 "core" ' +2 ."da"Hand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +50 "core" ' + #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23sep1322h.tif +4 "processing"%F& +10 "core" &\ +4 "manipulator"&7& +5 "core" &  @ +2 "manipulator"&% +5 "core" %  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&I' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&'(- +172 "core" ( +9 "manipulator"&;& +4 "core" &-  c + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &6& +2 "core" &-  r c +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&C'w +94 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"& / +63 "core" / + "manipulator"&?& +5 "core" &-   & c + "manipulator"&B% +3 "core" % φ  = +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&G' +93 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&0( +117 "core" ( +2 "manipulator"&T& +3 "core" &   1 < +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &  < +3 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC + "manipulator"&A' +108 "core" ' +2 "manipulator"&R& +4 "core" &  < + "manipulator"&H% +4 "core" %"  % e +2 "processing"%y& +4 "core" &\ w +3 "processing"%K& +4 "core" &\ v +3 ."psFlush"PC.seek :closed +2 "processing"%E(^ +5 "core" &\ v +6 &8\ r$d +10 &Uq\ n7 +9 &n1\ nL +9 &HH\ pO +10 &^FA\ pO +9 &!G:\ pN +10 &H6\ pO +9 &J\ oO +9 &fF\ pO +10 &)I\ oN +9 &H\ oO +9 &!I\ N +10 &#pJ\ N +9 &%3K\ N +10 &&K\ M +9 &(L\ M +9 &*zLz\ M +10 &,;Ot\ N +9 &-Ot\ N +10 &/O~\ N +9 &1Kv\ N +9 &3BMn\ N +10 &5Ip\ sN +9 &6Ik\ sO +9 &8Lp\ rO +10 &:HGa\ qO +9 &< L\\\ qO +9 &=Ia\ qO +10 &?JZ\ qO +9 &AOJQ\ pO +10 &C WO\ oP +9 &DYJ\ nQ +9 &Fp`\ lS +10 &HC^\ kV +9 &J[\ kV +10 &K]\ jV +9 &MQ\ kW +9 &OHF\ jW +10 &Q G\ jW +9 &RK\ V +9 &TF\ W +10 &VRK\ V +9 &XC\ V +9 &Y9\ V +10 &[4\ V +9 &]Y-\ F +10 &^y>n0\ )w +9 &^$7\ - +5 ( +2 "processing"%K& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 +2 "processing"%W& +2 "core" &^3\ - +4 &^O\ - + ."psFlush"Hand.open +2 "manipulator"&L1 +55 "core" 1 + "manipulator"&Q% +4 "core" % "   x e +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&S' +93 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%g +44 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +3 "processing"%8' +591 "core" ' + ."psFlush"delay 5 seconds +400 #"da"SX HX9/16 (USB:41): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 22.453 seconds\ /var/log/esp/da23sep1322h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23sep1322h15s.tif +100 ."psFlush"PSR.select :air +12 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%@' +1439 #"da"SX HX9/16 (USB:41): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23sep1322h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da23sep1322h20s.tif +686 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%D @ +187 "core" A + ."psFlush"PTV.dial :PRVmixing +3 "processing"%]  +130 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%. +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%^'ؠ +842 #"da"SX HX9/16 (USB:41): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da23sep1322h20s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF + ."Qmail"DAfans.email "22.453 sec auto-exposure",Subject: "da23sep1322h images!" +6 "storage"(a- +11 "core" -' +9 "storage"(\\& +9 "core" &B % +\ +2 "manipulator"&d& +3 "core" & , - T < +2 "manipulator"&P% +5 "core" %     +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."da"Elbow.seek 1 +2 "manipulator"&O( +256 "core" ( +2 "manipulator"&c& +3 "core" & * ' U - +2 "storage"(e& +3 "core" &B 2 3\ +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&h' +98 "core" ' +3 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(V'" +50 "core" ' +4 "manipulator"&_& +9 "core" & 9 - +3 "storage"(b& +9 "core" &B ? B \ +4 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek 1 +4 "manipulator"&l'8 +24 "core" ' +3 ."da"Elbow.hold +3 "manipulator"&m, +8 "core" , +3 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(k' +28 "core" ' +3 "manipulator"&U% +8 "core" %: \ ^ +3 "storage"(i& +5 "core" &B   \ +5 ."da"Forearm.force -20 +3 "manipulator"&5 +7 ."da"Forearm.seek 1 + 302 counts +2 "manipulator"&q'f +18 "core" ' +3 "manipulator"&f& +9 "core" & Z - +5 "storage"(p& +5 "core" &B C E\ +6 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&\ ' +18 "core" ' +4 "storage"(v% +7 "core" % F C\  +5 ."downElevator"SE.seek :down +8 "storage"(n' +98 (% +5 "core" %B\ \  \ U[ +5 "manipulator"&N% +8 "core" %  ` +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&J' +90 "core" ' +47 ' +3 ."downElevator"SE.stop +2 "storage"(5 +7 (-& +8 "core" &B C B \ b +3 (& +3 "core" & \ \  <\  +2 "manipulator"&& +4 "core" & U +2 ."WCR"Elbow.seek 2 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & U +2 "storage"(\ & +4 "core" & \ &\ ' P\  +3 ."WCR"Forearm.seek 2 + 300 counts + "manipulator"& 'Ͻ +17 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "storage"(' +3 "manipulator"&& +7 "core" & U +2 "manipulator"&% +4 "core" %  +39 ."WCR"Forearm.seek :retract +7 "manipulator"&' +92 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"& (ӂ +110 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +57 "core" ( + "manipulator"&& +4 "core" &ӆ : + +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӆ + +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&& +4 "core" &ӆ + +2 "manipulator"& % +3 "core" %= M +3 "collection"'& +3 "core" &/10\ +3 "collection"'& +5 "core" &400\ +3 ."WCR"CC.seek :closed + "collection"'!(\\ +5 "core" &003\ +7 &;113\ %g +10 &Yu111\ 7 +9 &v122\ K +9 &T10 \ K +10 &T00,\ K +9 &KQ22K\ K +9 & T00$\ L +10 &T32"\ K +9 &T129\ K +10 &TQ22\ K +9 & S02\ K +9 &!S11\ K +10 &#Q01\ K +9 &%[S33\ K +9 &'P31\ K +10 &(T03\ K +9 &*S13\ L +10 &,dT02\ K +9 &.%T11\ K +9 &/T11\ L +10 &1T02\ K +9 &3kS01\ K +9 &5.Q03\ K +10 &6U20\ L +9 &8U22\ K +10 &:sR03\ K +9 &<5W21\ K +9 &=W11\ K +10 &?X24\ K +9 &AzY12\ L +9 &C;]35\ L +10 &Dj=@\ N +9 &F~DA\ P +10 &HeIH\ V +9 &J"DH\ W +9 &KEC\ X +10 &MDE \ Y +9 &OcEE\ Y +9 &Q"DB\ Z +10 &RDF \ Z +9 &TCD\ \\ +10 &VdDB\ [ +9 &X%DC\ \\ +9 &YEC\ ] +10 &[DE\ J +9 &\\4DE\ 1 +9 &\\jDE\ R +3 ( + "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.34 +2 .Hand.open + "manipulator"&"1 +53 "core" 1 + "manipulator"&#% +5 "core" % =   M +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&$' +97 "core" ' +2 #"WCR"collectSample 100ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + +2 "sampler")'% +4 "core" % h\ B + "collection"'& +4 "core" &\\iBC\ R +3 "Can"C\ Xy?3 +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + "sampler")) +5 "core"  +2 ."WCR"SS.reconfigure :fast +3 "sampler")#.0X +25  +2 ."WCR"delay 3.8 seconds +382 "collection"'(% +3 "core" %nDE\ +2 "sampler").% +4 "core" %/ u\ w + #"WCR"Sensor limits: Intake max 109.3psia; Outlet max 103.2psia + .SSV.dial :spit +2 "sampler")/ +126 "core"  +3 ."WCR"SS.seek 0ml +2 "sampler")%'ڀ +284 "core" ' +2 ."WCR"SSV.dial CBV + "sampler")1  +128 "core"  +2 ."WCR"CTV.dial :intake +2 "collection"'2  +75 "core"  +2 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "sampler")3  + "collection"', @ +8 "core"  + ? +2 #"WCR"Allowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open + "sampler") +211 "collection"' % +3 "core" %nOL.\ + #"WCR"Intake @15.4psia, vacuum from 9.9 to 12.9psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X% +4 "core" %Q$qr e\  +28 "collection"'=% +3 "core" %n24\ +2 "sampler")@% +3 "core" %Q${x f\  +32 "collection"'?% +3 "core" %n67\ +2 "sampler")B% +5 "core" %Q$ h\  +35 "collection"'C% +3 "core" %n;:\ +2 "sampler")D% +5 "core" %Q$ v\  +40 "collection"'A% +3 "core" %n<=,\ +3 "sampler")G% +3 "core" %Q$ o\  +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )F% +3 "core" %Q% v\  +2 ."WCR"SSV.dial :exhaust +2 "sampler")H  +72 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")E'ڀ +413 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 100.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default + "sampler")#.0X\ +2 "sampler");% +4 "core" % d\ _ +36 "collection"'4% +3 "core" %n##\ +2 "sampler")<% +5 "core" % q\ _ +40 "collection"'0% +3 "core" %n&%8\ +3 "sampler")% +4 "core" % p\ _ +46 "collection"'>% +3 "core" %n('>\ +3 "sampler")=% +4 "core" % p\ _ +53 "collection"'@% +3 "core" %n))8\ +2 "sampler")?% +4 "core" % h\ _ +60 "collection"'B% +3 "core" %n-/8\ +2 "sampler")C% +4 "core" % v\ _ +69 "collection"'D% +4 "core" %n446\ +2 "sampler")6% +3 "core" %($ r\ _ +79 "collection"'A% +3 "core" %n=@8\ +2 "sampler")G% +3 "core" %bb o\ _ +89 "collection"'F% +3 "core" %nKO:\ +2 "sampler")H% +3 "core" % u\ _ +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )7% +2 "core" % p\ _ +3 ."WCR"SSV.dial :exhaust + "sampler")K  +71 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")L'ڀ +885 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "sampler")M  + "collection"'I @ +6 "core" ? +66 + #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +211 "collection"'O% +3 "core" %nPO9\ +2 #"WCR"Intake @15.5psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 1.41ml/s +2 "sampler")#.`0XC\ \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'r ` +27 "core" a +2 ."WCR"CS.seek 7.441ml +2 "collection"''4 +663 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'{  + '|  +29 "core"  +48  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<< #b +2 ."WCR"CS.seek 0ml +2 "collection"'f'i +1952 "core" ' + ."WCR"CSV.dial :air +2 "collection"'s @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'' +2424 "core" ' +2 "collection"'% +3 "core" %\ L\ LO\ \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +29 "core" b +2 ."WCR"CS.seek 3.319ml +2 "collection"'}'={ +1617 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  +2 '  +22 "core" ~ +10  +39 ."WCR"CS.reconfigure :pressurize +9 "collection"'# d@<< #b +2 ."WCR"CS.seek 0ml +2 "collection"''i +317 "core" 'C & $V\ +2 ."WCR"CBV.dial :waste2b +2 "collection"'  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"''i +669 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'\  +130 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 2:30 +2 .CSV.dial CSR + "collection"'  +40 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"''T +596 "core" ' + ."WCR"delay 5 seconds +503 .CSR.select :air +2 "collection"' +9 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'' +1962 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'~ @ +70 "core" ? +53 ."WCR"CBV.dial between CSV and waste2b + "collection"'  +87 "core"  +2 "collection"'% +4 "core" %CF_\ +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +55 "core" ^ +3 ."WCR"CS.seek 7.303ml +2 "collection"'' +695 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +3 "collection"'  +2 '  +31 "core"  +98  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< #b +3 ."WCR"CS.seek 0ml + "collection"'o'i +1847 "core" 'q ' #d\ +3 ."WCR"delay 2:30 +15002 .CBV.dial :waste2b +2 "collection"'  +29 "core"  +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"''i +135 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'  +127 "core" +2 #"WCR"Fix #2 of 2 (with RNAlater) for 2:30 + .CSV.dial CSR +2 "collection"'  +51 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"''T +614 "core" ' + ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'k' +1962 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'" @ +70 "core" ? +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'#  +87 "core"  + "collection"''% +5 "core" %FI\  + ."WCR"CSV.dial between air and CTV +2 "collection"' ` +55 "core" ^ +2 ."WCR"CS.seek 7.252ml +2 "collection"''/ +732 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +3 "collection"'u  +2 ')  +31 "core"  +97  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<< #b +3 ."WCR"CS.seek 0ml + "collection"''i +1626 "core" '$ ) $\ +3 ."WCR"delay 2:30 +10816 "Can"3 \\ R}+ +4228 ."WCR"CBV.dial :waste2b +4 "collection"'&  +29 "core"  +3 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"''i +341 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake +2 "collection"'  +126 "core" +2 "collection"'.& +3 "core" &\\hHE\ R +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 + "manipulator"&/% +4 "core" %  +  +2 "storage"(*% +3 "core" % Z Y k\  +2 "storage"(1. +3 "core" .(  +2 ."WCR"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."WCR"SC.seek 1 +2 "storage"(2(C +353 "core" ( + ."WCR"SC.configure :limp +3 "storage"($\ 1b +2 (3& +3 "core" &E , 1\ +3 "manipulator"&,& +4 "core" &Ӈ ( + + "manipulator"& % +4 "core" %   +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 1 +2 "manipulator"&%( +154 "core" ( +2 "manipulator"&8& +4 "core" & (  +2 "storage"(:& +3 "core" &F K J \ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."WCR"Forearm.seek 1 + 450 counts + "manipulator"&;' +93 "core" ' +2 "storage"(4& +4 "core" &F t r \ +2 ."WCR"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."WCR"SE.seek :beamBreak +2 "storage"(<'r +275 "core" ' +2 "storage"(0- +3 "core" -'r +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."WCR"SE.seek :place +2 "storage"('1 +39 "core" ' +2 "manipulator"&+& +3 "core" & o  +3 "manipulator"&>% +3 "core" % K M +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek :retract +2 "manipulator"&=' +97 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&@(ӂ +159 "core" ( +2 "manipulator"&?& +3 "core" &ӑ 7 +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &ӑ  7 +2 ."WCR"Forearm.seek CC +2 "manipulator"&C'? +97 "core" ' + ."WCR"Hand.close + "manipulator"&D/ +57 "core" / +3 ."WCR"CC.seek :open + "collection"'6( +447 "core" ( +2 "storage"(A& +4 "core" &D h \ +2 "storage"(G& +4 "core" &D f f\ + "manipulator"&F& +4 "core" &Ӓ / 7 +2 "manipulator"&H% +3 "core" % Q + +3 ."WCR"Forearm.seek :retract +2 "manipulator"&7' +95 "core" ' +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 1 +2 "manipulator"&K( +162 "core" ( + "manipulator"&(& +4 "core" & I  +2 "storage"(I& +3 "core" &D \ +2 ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 + "manipulator"&M'8 +96 "core" ' +2 ."WCR"Elbow.hold +2 "manipulator"&O, +3 "core" , +45 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Hand.open +2 "manipulator"&L1 +57 "core" 1 +2 "manipulator"&J% +3 "core" % B   +3 "storage"(R& +4 "core" &D S\ +2 ."WCR"Forearm.force -20 + "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 310 counts +2 "manipulator"&T'n +13 "core" ' +2 "manipulator"&Q& +4 "core" & $  +2 "storage"(V& +4 "core" &D \ +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&Y' +15 "core" ' + "storage"(Z% +4 "core" %: 4\ +3 ."downElevator"SE.seek :down +2 "storage"([' +102 (X% +3 "core" %> p h k\ T[ +2 "manipulator"&]% +4 "core" % S +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&^' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'\\& +3 "core" &55\ +3 "manipulator"&`& +4 "core" & D  + "manipulator"&_% +5 "core" %    +2 .tElbow.seek FlushPuck::Garage + "manipulator"&E(- +172 "core" ( + "manipulator"&a& +5 "core" &- = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &- = +2 .tForearm.seek :garage + "manipulator"&N'w +93 "core" ' + .tHand.close +2 "manipulator"&b/ +61 "core" / +2 "manipulator"&e& +4 "core" &- 4 = + "manipulator"&g% +5 "core" % i  +2 .tForearm.seek :retract + "manipulator"&h' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +284 "core" ( +2 "manipulator"&U& +4 "core" &Ӎ% =G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &Ӎ% - =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&-'? +104 "core" ' + "manipulator"&9& +4 "core" &ӎ% =F +2 "manipulator"&5% +4 "core" %= i +2 "collection"'l& +3 "core" &465\ +3 "collection"'m& +5 "core" &56<\ +3 .tCC.seek :closed + "collection"'i(\\ +3 "core" &46>\  +10 &4}55=\ +{ +9 &\ f}56@\ > +9 &l67>\ L +10 &\\S67=\ J +9 &T66A\ J +9 &T57@\ J +10 &V58A\ J +9 &dW66=\ J +10 &&U87C\ J +9 &U67E\ J +9 & W78H\ K +10 &"kW77F\ K +9 &$-W76E\ K +9 &%X68E\ K +10 &'W68L\ K +9 &)sW57F\ K +10 &+5W57L\ K +9 &,W64L\ K +9 &.W55L\ K +10 &0{W87I\ K +9 &2=W67L\ K +9 &4T58M\ J +10 &5Z77I\ J +9 &7U77F\ J +9 &9GW77M\ J +10 &;X55M\ K +9 &<U55H\ J +10 &>U67L\ K +9 &@MW76M\ K +9 &BU67L\ J +10 &C`87O\ L +9 &EsC>N\ N +10 &G?JJM\ R +9 &HIIU\ W +9 &JIHN\ W +10 &LvHJY\ W +9 &N6IIY\ X +9 &OIJO\ Y +10 &QJJU\ Y +9 &SwLHW\ Z +10 &U8JIX\ Z +9 &VKI[\ [ +9 &XJJX\ \\ +10 &ZwJJ[\ \\ +9 &\\zILR\ 1 +9 &\\.JIS\ %o +10 ( + &\\KKP\ W +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + "collection"'p& +4 "core" &\\JKS\ W +2 .tHand.open + "manipulator"&q1 +58 "core" 1 +39 "manipulator"&P% +12 "core" % = R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +96 "core" ' + #tFlushing the Collection Valve::Manifold + "collection"'v& +5 "core" &\\LKK\ W + "collection"'d% +3 "core" %hJIP\ +3 .tCSV.dial CSR + "collection"'x  +51 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml +2 "collection"'y's5 +1367 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'n% +2 "core" %s6JHZ\  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'r' +677 "core" ' +2 .tCSV.dial :waste + "collection"'w +124 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'|'i +2018 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'{& +4 "core" &\\KI:\ W +2 "collection"'% +4 "core" %lHH6\  + .tCSV.dial :flush +2 "collection"'s  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'f's5 +1259 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +39 "core" B +2 "collection"'% +4 "core" %s;HK/\  +2 .tCS.seek 7.001ml +2 "collection"''& +555 "core" ' + ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'  +2 '  +40 "core"  +89  +2 .tCBV.dial :waste2b + "collection"'}  +5 "core"  +2 .tCS.seek 0ml +2 "collection"''i +1654 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'& +4 "core" &\\LKA\ W + "collection"'\ % +4 "core" %hML9\ +2 .tCSV.dial CSR + "collection"'  +41 "core"  +2 #tPulling 8ml of CSR.kill .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'' +1966 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'' +552 "core" ' +2 ."connect"CSV.dial CBV +3 "collection"'~ + .tCBV.dial CSV +3 "collection"'  +46 "core"  +51 +2 .tCTV.dial :intake + "collection"'  +74 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"''T +1868 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +69 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"' 'i +584 "core" ' +2 .tCSV.dial CSR +2 "collection"'  +109 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"''s5 +1379 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"' ' +1368 "core" ' + .tCSV.dial CBV +2 "collection"'o +95 "core" +3 .tCS.seek 0ml + "collection"' 'i +2645 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" &ө   :+ +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +15 "core" ( +2 "manipulator"&& +47 "core" &ӊ f , +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &ӊ L , +2 .tForearm.seek CC +2 "manipulator"&#'? +97 "core" ' +2 .tHand.close + "manipulator"&'/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "manipulator"&k& +3 "core" &Ӎ % , +2 "manipulator"&)% +4 "core" % 9 m +2 .tForearm.seek :retract +2 "manipulator"&u' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +284 "core" ( + "manipulator"&&& +5 "core" &-  ? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- \ ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +100 "core" ' +3 .tHand.open + "manipulator"&.1 +53 "core" 1 + "manipulator"&/% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +96 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,100], $da)] begun 14:00:42 +5 #Asleep after completing standAloneWCR_010224 assays + ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCTD data unavailable\\nCan@14:19:55, 26% flow, 22.7C, 16% humidity, 15.0psia, 13.773V, 0.478A, 0.221Ah, 6.58W\\nSampled 100.0ml",Subject: "Asleep after completing standAloneWCR_010224 assays" +435 #"uploadLog"upsync +6 #mEXIT @1704723975.87UTC @1704724029.70UTC = =tMAIN =mMAIN_scheduler @UTC1704724031.38 #"core_reset"Sent BREAK +2 #t@13090 sendCRC with ifg=0x20, ie=0x7F #@14925 sendCRC with ifg=0x08, ie=0x5F + #@62274 idle with ifg=0x84, ie=0x75 + #@62943 select with ifg=0x10, ie=0xF5 + #@63575 receive with ifg=0x10, ie=0xFD #@64207 receive with ifg=0x10, ie=0xFD + #@64839 receive with ifg=0x10, ie=0xFD + #@65167 receive with ifg=0x80, ie=0xFD #@59449 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +282 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can"2 C K& + 2 C K& + #tPolling Can every 10:00 +3 #Cleanly exited at 14:26:15UTC08-Jan-24 +418 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %c43 +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %غL\ +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڄ a\  +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(2% +3 "core" % [\ +2 "manipulator"&3% +4 "core" %   +2 "manipulator"&4& +4 "core" &- C ? +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<- +1298 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &<* h p N\  +5448 #t-> access 2 +2 "storage"(7% +3 "core" % 6\ +2 "manipulator"&8% +4 "core" %   +2 "manipulator"&9& +4 "core" &- ? +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(:(K +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &K } T\  +51294 "Can"6 DV5 +60002 9 C6 +60001 > A40 +55035 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'<& +3 "core" &66  +2 .tHand.open +2 "manipulator"&=1 +19 "core" 1 +2 "manipulator"&>& +3 "core" &-   } ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(- +10 "core" ( +2 "manipulator"&@& +3 "core" &-  o % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &- % +3 .tForearm.seek :garage +2 "manipulator"&B'w +91 "core" ' +2 .tHand.close + "manipulator"&C/ +61 "core" / +2 "manipulator"&D& +3 "core" &-  \  % +2 "manipulator"&E% +4 "core" % o \  o  +2 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +282 "core" ( +2 "manipulator"&H& +3 "core" &z.  E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &z.   E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'? +96 "core" ' +2 "manipulator"&K& +4 "core" &Ӭ%  >M +2 "manipulator"&L% +3 "core" %C  '  +3 "collection"'M& +4 "core" &78\ +2 "collection"'N& +5 "core" &67\ +3 .tCC.seek :closed + "collection"'O(\\ +5 "core" &67\ +7 &C66\ %h +9 &Y{57\ 8 +9 &x98\ K +10 &T88\ L +9 &Y9:\ K +9 &IU7:\ K +10 & V98\ K +9 &X88\ L +10 &W78\ L +9 &OW88\ L +9 & U87\ K +10 &!Y98\ L +9 &#W87\ L +9 &%XR87\ L +10 &'W:8\ L +9 &(U78\ L +10 &*R89\ K +9 &,aU89\ K +9 &."S:9\ L +10 &/S88\ K +9 &1V78\ K +9 &3hS:8\ L +10 &5+S88\ K +9 &6U77\ L +10 &8Y69\ L +9 &:pY88\ L +9 &<2Y78\ L +10 &=Y89\ L +9 &?Y88\ L +9 &AxZ;9\ L +10 &C8_<<\ L +9 &DqA?\ O +10 &FJL\ R +9 &H`LL\ W +9 &J KJ\ W +10 &KNJ\ X +9 &MIJ\ Y +9 &OaLJ\ Y +10 &QKJ\ [ +9 &RLK\ Z +10 &TJL\ [ +9 &VcMM\ [\ +9 &XLL\ ] +10 &YIL\ ] +9 &[ML\ J +9 &\\6LL\ / +10 &\\}JL\ V +2 ( +2 "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.41 + "collection"'P& +3 "core" &\\sLN\ V +2 .tHand.open +2 "manipulator"&Q1 +58 "core" 1 + "manipulator"&R% +4 "core" % C $ ,  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +97 "core" ' +2 #tPurging external Intake + "collection"'T& +4 "core" &\\sLL\ V +36 "collection"'U% +11 "core" %cMK\ +2 .tCSV.dial :flush + "collection"'V  +69 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'W' +2447 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +4 "collection"'X + 'Y  +5 "core"  +65 ~ +2 .tCTV.dial :intake +2 "collection"'Z  +75 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml +2 "collection"'['i +304 "Can"C i}0 +2060 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air +2 "collection"'\\  +73 "core" +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&]& +4 "core" &ӭ% % ! >L +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&^(ӂ +16 "core" ( +2 "manipulator"&_& +3 "core" &ӈ D . +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &ӈ , . +2 .tForearm.seek CC +2 "manipulator"&a'? +98 "core" ' + .tHand.close + "manipulator"&b/ +63 "core" / +2 .tCC.seek :open +2 "collection"'c( +446 "core" ( +2 "manipulator"&d& +3 "core" &ӕ  - +3 "manipulator"&e% +4 "core" % &  ? +2 .tForearm.seek :retract + "manipulator"&f' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&g(- +276 "core" ( +2 "manipulator"&h& +3 "core" &-  L  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +2 "core" &-  Q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&j'w +100 "core" ' +2 .tHand.open +2 "manipulator"&k1 +59 "core" 1 + "manipulator"&l% +4 "core" % π \  R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +94 "core" ' +4062 #t-> exit +6 #mEXIT @1704726513.39UTC @1704726645.68UTC = =mMAIN_scheduler =tMAIN @UTC1704726647.42 #"core_reset"Sent BREAK +2 #t@35059 sendCRC with ifg=0x20, ie=0x7F + #@36894 sendCRC with ifg=0x08, ie=0x5F #@22819 idle with ifg=0x84, ie=0x75 + #@23491 select with ifg=0x10, ie=0xF5 + #@24125 receive with ifg=0x10, ie=0xFD + #@24758 receive with ifg=0x10, ie=0xFD #@25391 receive with ifg=0x10, ie=0xFD + #@25718 receive with ifg=0x80, ie=0xFD + #@35725 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +269 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can"B <TO- + B <TO- + #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_010224.rb mission +5 #Preparing to sleep until + 00:00:05 +4 ."Qmail"GoodNews.email "Starting standAloneWCR_010224 w/pucks in tube 2\\n{2 => 1}\\nCTD data unavailable\\nCan@15:10:54, 26% flow, 22.1C, 17% humidity, 15.0psia, 13.822V, 0.284A, 0.496Ah, 3.93W",Subject: "standAloneWCR_010224 begun" +4 #tAsleep til + 00:00:05 +2 #Continuing at 15:10 +3 "Can"B <TO%- +21 ."shutdown"Gate.power :core,:OFF +3 .Gate.power :raw,:OFF + #Shutdown +250 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,100], $da)\\n/home/esp/esp2local/mission/standAloneWCR_010224.rb:10\\n{2 => 1}\\nCTD data unavailable\\nCan@15:10:54, 26% flow, 22.1C, 17% humidity, 15.0psia, 13.822V, 0.284A, 0.496Ah, 3.93W",Subject: "Asleep until 15:10" +134 #"uploadLog"upsync +72 "Can"C VPY5 +4 #tPowering core bus +194 #"uploadLog"upsync +349 .tGate.power :raw,:ON +2 "sampler") +36 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +39 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1}\\nCTD data unavailable\\nCan@15:11:42, 26% flow, 22.1C, 17% humidity, 15.0psia, 13.754V, 0.309A, 0.501Ah, 4.24W",Subject: "Started standAloneWCR_010224 phase initialPurge; standAloneWCR([nil,100], $da)" +3 #tStarting initialPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &98 +3 .tHand.open + "manipulator"&"1 +60 "core" 1 +2 "manipulator"&#& +4 "core" &    +2 "manipulator"&$% +5 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(- +167 "core" ( +2 "manipulator"&&& +3 "core" &- .  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +5 &'& +3 "core" &-  U  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +9 "manipulator"&('w +93 "core" ' +2 .tHand.close +2 "manipulator"&)/ +33 #"uploadLog"upsync +23 "core" / +2 "manipulator"&*& +3 "core" &-  @  +3 "manipulator"&+% +3 "core" % π   +3 .tForearm.seek :retract + "manipulator"&,' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +284 "core" ( +2 "manipulator"&.& +3 "core" &ә   8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &ә \  8" +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'? +100 "core" ' +2 "manipulator"&1& +4 "core" &ә   8" +2 "manipulator"&2% +3 "core" %6  0  +3 "collection"'3& +4 "core" &78\ +3 "collection"'4& +5 "core" &79\ +2 .tCC.seek :closed +2 "collection"'5(\\ +3 "core" &78\  +10 &5{76\ *z +9 &h~::\ ? +9 &em99\ L +10 &+S68\ K +9 &W88\ K +10 &R7:\ K +9 &pV7:\ K +9 &1V86\ L +10 &U9:\ K +9 &R78\ K +9 & wU99\ L +10 &":U9:\ K +9 &#W98\ K +10 &%U99\ K +9 &'Q:8\ K +9 &)AU88\ L +10 &+U7;\ K +9 &,W89\ K +9 &.V99\ K +10 &0JR79\ K +9 &2 X96\ K +10 &3W:8\ L +9 &5U6:\ K +9 &7RS88\ K +10 &9X89\ K +9 &:Y77\ K +9 &<U6:\ K +10 &>YT7:\ L +9 &@W98\ L +10 &AZ::\ L +9 &C`>=\ L +9 &EXuDB\ O +10 &GKL\ S +9 &HLM\ W +9 &JML\ W +10 &LFLM\ W +9 &NKM\ Y +10 &OML\ Y +9 &QMM\ Z +9 &SHLN\ Z +10 &UMM\ [\ +9 &VMM\ [ +9 &XOM\ \\ +10 &ZHNO\ \\ +9 &[yMO\ G +10 &\\OO\ +| +4 (\\_NP\ @ +4 "collection"'4& +3 "core" &\\ON\ +4 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"=/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlushPuck'"A/home/esp/esp2/protocol/2G/utilities.rb:74:in `initialPurge'";/home/esp/esp2local/mission/standAloneWCR_010224.rb:11"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'";/home/esp/esp2local/mission/standAloneWCR_010224.rb:10"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'":/home/esp/esp2local/mission/standAloneWCR_010224.rb:8"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 !o:Slide::Error :@checkpoint: omitted: mesg"+Collection Clamp overCurrent at closed: @replyo:I2C::Servo::AbsMove3Reply : @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni\\: velocityi : currenti_:pwmiE:erri: inPressiN: outPressiP:deltaPressi: voltagef13.791884143348062C: @type2F:@destinationi%: @tagi:: @error:overCurrent: @sourcei,:@timestampu: Time ]/:@axisName"Collection Clamp:bt['"2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:402:in `to'"E/home/esp/esp2/utils/misc.rb:432:in `closeAndVerifyPuckPresence'"-/home/esp/esp2/lib/slide.rb:555:in `log'"E/home/esp/esp2/utils/misc.rb:432:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"0/home/esp/esp2/utils/misc.rb:507:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"=/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlushPuck'"A/home/esp/esp2/protocol/2G/utilities.rb:74:in `initialPurge'";/home/esp/esp2local/mission/standAloneWCR_010224.rb:11"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'";/home/esp/esp2local/mission/standAloneWCR_010224.rb:10"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'":/home/esp/esp2local/mission/standAloneWCR_010224.rb:8"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Waiting to Resume from Checkpoint "Collection Clamp overCurrent at closed" + ."Qmail"BadNews.email "Collection Clamp overCurrent at closed",Subject: "Slide::Error in MAIN" +395 #"uploadLog"upsync +11099 #"dave"Session Begun +731 #-> MianThread.resume +2 !o:NameError : mesg"&uninitialized constant MianThread: name:MianThread:@timestampu: Time cG7:bt[" dave:1:in `topLevelBinding'" MainThread.resume + #tResuming Thread after Collection Clamp overCurrent at closed at 15:11:57 +5 "manipulator"&6& +7 "core" &ӫ   6 +45 "manipulator"&7% +3 "core" %6  `  +3 "collection"'8& +3 "core" &\\>OL\ | +4 .tCC.seek :open +2 "collection"'9( +444 "core" ( +2 "collection"':& +7 "core" &48\ +3 .tCC.seek :closed + "collection"';(\\ +7 "core" &76\ +5 &>78\ $f +10 &Y|87\ 8 +9 &t87\ K +10 &S77\ L +9 &T88\ K +9 &EU88\ K +10 &U88\ L +9 &T99\ K +9 &R:9\ K +10 &MV98\ K +9 & S97\ K +10 &!Q8:\ K +9 &#V86\ K +9 &%VV77\ K +10 &'T88\ K +9 &(Q67\ K +9 &*U68\ K +10 &,\\T68\ L +9 &.S98\ K +10 &/Q89\ K +9 &1V97\ K +9 &3dT;7\ L +10 &5&U88\ L +9 &6U87\ L +10 &8U77\ L +9 &:lU78\ L +9 &<.U98\ L +10 &=R87\ K +9 &?R88\ K +9 &AtT:9\ L +10 &C5]<<\ L +9 &DjA>\ N +9 &FLI\ Q +10 &H]LL\ V +9 &JLK\ X +10 &KLN\ X +9 &MML\ X +9 &O^LM\ Y +10 &Q KL\ Y +9 &RLK\ Y +9 &TLM\ [ +10 &V_ML\ [\ +9 &XML\ \\ +10 &YKN\ ] +9 &[LL\ I +9 &\\=ML\ ){ +10 &\\LM\ !` +2 ( +2 "collection"':& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 + "collection"'<& +4 "core" &\\NM\ !` +3 .tHand.open + "manipulator"&=1 +56 "core" 1 + "manipulator"&>% +4 "core" % 6 ! + A  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&?' +99 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'@& +5 "core" &\\JL\ !` +3 "collection"'A% +4 "core" %bNK\ +2 .tCSV.dial CSR + "collection"'B  +137 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +4 "collection"' +15 .tCS.reconfigure :default +2 "collection"'#P d@b +4 .tCS.seek 5ml +2 "collection"'C's5 +448 #"dave"Session Ended +938 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'D% +3 "core" %s1ML\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'E' +673 "core" ' +2 .tCSV.dial :waste + "collection"'F +124 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'G'i +1996 "core" ' +2 #tPurging external Intake + "collection"'H& +4 "core" &\\MK\ !` +2 "collection"'I% +4 "core" %lMK\ +2 .tCSV.dial :flush + "collection"'J  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'K' +2444 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 "collection"'L + .tCBV.dial CSV +4 "collection"'M  +5 "core"  +61  + .tCTV.dial :intake +2 "collection"'N  +73 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'O'i +2334 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'P  +74 "core" ~ +2 #tFlushing upper manifold + "collection"'Q& +4 "core" &\\XW\ !` +2 "collection"'R% +4 "core" %nXW\ + .tCSV.dial :flush +2 "collection"'S  +70 "core"  +2 .tCS.seek 5ml +2 "collection"'T's5 +1270 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'U @ +40 "core" A + "collection"'V% +5 "core" %s2PR\ \ +2 .tCS.seek 7ml + "collection"'W' +555 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'X + 'Y  +7 "core"  +91 ~ +2 .tCTV.dial :air + "collection"'Z  +21 "core" +2 .tCS.seek 0ml + "collection"'['i +1654 "core" ' +2 .tdelay 7 seconds +744 .CS.seek 3ml +2 "collection"'\\'3J +815 "core" ' + .tCSV.dial :waste +2 "collection"'] +42 "core" +2 .tCS.seek 0ml +2 "collection"'^'i +788 "core" ' +2 "collection"'_& +4 "core" &\\NN\ !` +2 "collection"'`% +4 "core" %lON\  + .tCSV.dial :flush +2 "collection"'a  +40 "core"  +2 .tCS.seek 3ml +2 "collection"'b'3J +807 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +2 "collection"'c @ +40 "core" A +2 "collection"'d% +3 "core" %3N ON\  +3 .tCS.seek 5.001ml +2 "collection"'e's9 +561 "core" ' + .tCSV.dial :air + "collection"'f @ +5 "core" A +3 .tCS.seek 0ml + "collection"'g'i +1217 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml +2 "collection"'h'3J +822 "core" ' + .tCSV.dial :waste +2 "collection"'i +70 "core" +3 .tCS.seek 0ml + "collection"'j'i +763 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&k& +4 "core" &Ӭ , * X 6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&l(ӂ +15 "core" ( +2 "manipulator"&m& +3 "core" &Ӌ   . +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &n& +3 "core" &Ӌ  F . +2 .tForearm.seek CC +2 "manipulator"&o'? +97 "core" ' +2 .tHand.close + "manipulator"&p/ +63 "core" / +2 .tCC.seek :open + "collection"'q( +451 "core" ( +2 "manipulator"&r& +3 "core" &ӏ   . +2 "manipulator"&s% +4 "core" % &  \  +2 .tForearm.seek :retract + "manipulator"&t' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&u(- +287 "core" ( +2 "manipulator"&v& +3 "core" &-   - % +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &w& +3 "core" &-  % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&x'w +91 "core" ' +2 .tHand.open + "manipulator"&y1 +62 "core" 1 +2 "manipulator"&z% +3 "core" % w    H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +92 "core" ' +2 #tStarting stand-alone da WCR + #da wcr sampling at most 100ml +3 #Whole Cell Archive sampling 100ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 15:18:20UTC08-Jan-24\\n{2 => 1}\\nCTD data unavailable\\nCan@15:11:42, 26% flow, 22.1C, 17% humidity, 15.0psia, 13.754V, 0.309A, 0.501Ah, 4.24W",Subject: "da wcr sampling at most 100ml" +4 #"WCR"Loading wcr puck from tube 2 into Collection Clamp + "collection"'|& +5 "core" &:8\ + "manipulator"&}% +5 "core" %   +2 "storage"(~% +3 "core" % O\ \ ' +2 "storage"(. +5 "core" .(,y +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +2 "storage"((  +387 #"uploadLog"upsync +278 "core" ( + ."WCR"SC.configure :limp +3 "storage"($\ 1b +42 (& +10 "core" &  i\ +2 "manipulator"&& +3 "core" &-  N % +3 "manipulator"&% +4 "core" %    S  +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&( +176 "core" ( +2 "manipulator"&& +4 "core" &   8 +2 "storage"(& +4 "core" &  \ +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&'S +95 "core" ' + "storage"( & +4 "core" &  Q\ +2 ."WCR"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."WCR"SE.seek :beamBreak +2 "storage"( 'r +300 "core" ' + "storage"( - +4 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \  +2 "manipulator"&& +4 "core" & s 8 +2 ."WCR"Elbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  2 8 +2 "storage"(& +4 "core" & \  +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +17 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  W 8 +2 "manipulator"&% +3 "core" % ϳ  ] +3 ."WCR"Forearm.seek :retract +2 "manipulator"&\ ' +91 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&& +4 "core" &ӑ"   ;5 ' +2 ."WCR"Elbow.reconfigure :loose +3 ."downElevator"SE.stop +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &!& +3 "core" &Ӓ!   ;4 +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&"'? +95 "core" ' + "manipulator"&#& +5 "core" &Ӓ"   ~ ;4 + "manipulator"&$% +5 "core" %5 \  ) +2 "collection"'&& +3 "core" &67\ +3 "collection"''& +5 "core" &88\ +3 ."WCR"CC.seek :closed + "collection"'(\\ +4 "core" &78\ +8 &C88\ %g +9 &Yv:7\ 7 +10 &w99\ K +9 &T89\ J +9 &T78\ J +10 &KU97\ K +9 &W79\ J +9 &W69\ K +10 &V87\ J +9 &TU99\ J +10 & U96\ K +9 &!R95\ J +9 &#S79\ J +10 &%[R69\ K +9 &'U88\ K +9 &(R::\ J +10 &*W99\ K +9 &,dU88\ J +10 &.'U7:\ J +9 &/X78\ J +9 &1Y89\ K +10 &3kU;9\ K +9 &5.S79\ J +9 &6U99\ J +10 &8X;7\ K +9 &:tY68\ J +10 &<6U88\ J +9 &=Y98\ K +9 &?Y:;\ K +10 &A{Z:;\ K +9 &C;^::\ K +9 &D`GJ\ L +10 &FvGF\ N +9 &HlPN\ S +10 &J$PQ\ V +9 &KQP\ W +9 &MON\ X +10 &OfLO\ W +9 &Q&PO\ X +10 &ROO\ Y +9 &TNM\ Y +9 &VgQO\ Z +10 &X%MP\ [\ +9 &YPO\ \\ +9 &[ON\ I +10 &\\1OO\ 1 +9 &\\vNM\ Q +2 ( +2 "collection"''& +4 #"WCR"Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&)1 +54 "core" 1 + "manipulator"&*% +4 "core" % 5  ) +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&+' +95 "core" ' +2 #"WCR"collectSample 100ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold +37 "sampler")+ +10 "core" + +2 "sampler")(% +5 "core" %ځ [\ 7 + "collection"'.& +3 "core" &\\vNE\ Q +5 "Can"? V(, +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air + "collection"'/  +5 "core" +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler")% +4 "core"  +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X +25  +2 ."WCR"delay 3.8 seconds +382 "collection"',% +3 "core" %cLN\ +2 "sampler") % +3 "core" %/  _\  +3 #"WCR"Sensor limits: Intake max 108.9psia; Outlet max 103.4psia + .SSV.dial :spit + "sampler")5 +128 "core"  +2 ."WCR"SS.seek 0ml +2 "sampler")4'ڀ +286 "core" ' +2 ."WCR"SSV.dial CBV +2 "sampler")6  +128 "core"  + ."WCR"CTV.dial :intake +2 "collection"'7  +69 "core"  +2 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")8  +3 "collection"'9 @ +6 "core" ? +9 + #"WCR"Allowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open +3 "sampler") +210 "collection"'<% +3 "core" %cUV\ +2 #"WCR"Intake @15.4psia, vacuum from 9.9 to 12.9psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X+ +3 "core" + +20 "collection"'@% +3 "core" %c21S\ +2 "sampler")A% +4 "core" %QFE Y\  +18 "collection"':% +3 "core" %c43\ +2 "sampler")B% +5 "core" %QJI i\  +20 "collection"'0% +3 "core" %c760\ +2 "sampler")% +4 "core" %QSQ _\  +24 "collection"'D% +3 "core" %c:<$\ +2 "sampler")C% +4 "core" %Q[Y e\  +28 "collection"'F% +3 "core" %c>@4\ +2 "sampler")E% +3 "core" %Qef k\  +32 "collection"'H% +3 "core" %cAB|\ +2 "sampler")I% +4 "core" %Qpm h\  +36 "collection"'J% +3 "core" %cGF\ +2 "sampler")G% +5 "core" %Qz{ ^\  +40 "collection"'M% +3 "core" %cHGi\ +3 "sampler")L% +4 "core" %Q \\\  +46 "collection"'N% +3 "core" %cLM\ +2 "sampler")K% +4 "core" %Q g\  +53 "collection"'P% +4 "core" %cQU\ +2 "sampler")Q% +4 "core" %Q h\  + ."WCR"Intake.select :close +2 "sampler")0 +9 )R% +2 "core" %Q n\  +2 ."WCR"SSV.dial :exhaust +2 "sampler")S  +74 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml + "sampler")O'ڀ +416 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampling 100.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X\ X͵/ +2 ."WCR"CTV.dial :intake +2 "collection"'Y  +4 "core"  +2 ."connect"SSV.dial CBV +3 "sampler")X  + ."WCR"CBV.dial SSV +4 "collection"'Z @ +43 "core" ? +28 +2 #"WCR"Allowing 130s for 25.0ml of remaining 100.0ml + .Intake.select :open + "sampler") +210 "collection"'W% +4 "core" %cYY\ + #"WCR"Intake @15.6psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X% +4 "core" %K j\  +24 "collection"'V% +3 "core" %c%%\ +2 "sampler")T% +4 "core" %K `\  +28 "collection"'Y% +3 "core" %c&$\ +2 "sampler")Z% +4 "core" %K Z\  +31 "collection"'X% +3 "core" %c''\ +2 "sampler")O% +4 "core" %K [\  +36 "collection"'W% +3 "core" %c'(7\ +2 "sampler")U% +5 "core" %K k\  +40 "collection"'\\% +3 "core" %c*,M\ +3 "sampler")_% +4 "core" %J i\  +46 "collection"'`% +3 "core" %c/.\ +2 "sampler")a% +5 "core" %J [\  +52 "collection"'^% +4 "core" %c12T\ +2 "sampler")c% +4 "core" %J [\  +60 "collection"'d% +3 "core" %c98\ +2 "sampler")b% +4 "core" %C \ d\  +69 "collection"'f% +3 "core" %cFD\ +2 "sampler")e% +4 "core" %C8: Z\  +77 "collection"'g% +3 "core" %cUT#\ +2 "sampler")i% +5 "core" %A{} [\  +87 "collection"'h% +3 "core" %c_]\ +2 "sampler")k% +5 "core" % Y\ X + ."WCR"Intake.select :close +2 "sampler")0 +9 )m% +2 "core" % Y\ X +2 ."WCR"SSV.dial :exhaust +2 "sampler")n  +72 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")['ڀ +876 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampled 100.0ml +2 #Drying puck before fixing for 5:00 + .CBV.dial :waste2b + "collection"'p  +72 "core"  +2 ."WCR"delay 1:00 +6003 .CSV.dial :air + "collection"'- @ +71 "core" B +2 ."WCR"CS.seek 10ml +2 "collection"'?' +2449 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'; @ +71 "core" ? +53 ."WCR"CBV.dial between CSV and waste2b + "collection"'r  +85 "core"  +2 "collection"'s% +4 "core" %GH\ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'o ` +26 "core" a +3 ."WCR"CS.seek 7.424ml + "collection"'v' +663 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +48 ."WCR"CSV.dial CTV +2 "collection"'l  + 'w  +29 "core"  +44  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<< ,b +3 ."WCR"CS.seek 0ml + "collection"']'i +1556 "core" ' 4 2X\ ڦ +3 ."WCR"CBV.dial :waste2b + "collection"'|  +29 "core"  +3 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'z'i +460 "core" ' +3 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'}  +126 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 2:30 +2 .CSV.dial CSR + "collection"'y  +40 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +9 ."WCR"CS.seek 2ml +2 "collection"'t'T +594 "core" ' + ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'x' +1965 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"' @ +70 "core" @ +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'  +87 "core"  + "collection"'% +5 "core" %KK\  + ."WCR"CSV.dial between air and CTV +2 "collection"' ` +56 "core" ^ +3 ."WCR"CS.seek 7.372ml + "collection"'' +681 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +3 "collection"'  +2 '  +42 "core"  +106 ~ +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< ,b +3 ."WCR"CS.seek 0ml + "collection"'u'i +1366 "core" ' / .#\ ۥ +3 ."WCR"delay 2:30 +15002 .CBV.dial :waste2b +2 "collection"'{  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"''i +635 "core" ' +2 ."WCR"delay 1:00 +6002 .CTV.dial :air,avoiding: :intake +2 "collection"'  +130 "core" +2 #"WCR"Fix #2 of 2 (with RNAlater) for 2:30 + .CSV.dial CSR +2 "collection"'  +41 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"''T +588 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air + "collection"' +11 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'' +1962 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +2 "collection"'~ @ +71 "core" > +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'  +85 "core"  +2 "collection"'% +3 "core" %JL\ \ +3 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +56 "core" ^ +2 ."WCR"CS.seek 7.355ml +2 "collection"''u +686 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  +2 '  +42 "core"  +89  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< ,b +48 ."WCR"CS.seek 0ml +2 "collection"''i +1927 "core" ' +2 ."WCR"CSV.dial :air +2 "collection"'! @ +40 "core" > +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"' ' +2447 "core" ' +2 "collection"' % +4 "core" % \ \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'# ` +28 "core" a +2 ."WCR"CS.seek 4.102ml +2 "collection"'$'V +1078 "Can"9\ [{? +349 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  + '  +7 "core"  +23  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< ,b +3 ."WCR"CS.seek 0ml +2 "collection"''i +922 "core" ' 0 .\ ֤ +2 ."WCR"delay 2:30 +15003 .CBV.dial :waste2b + "collection"'\  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'&'i +263 "core" ' + ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'*  +126 "core" +2 "collection"''& +3 "core" &\\rIH\ Q +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 + "manipulator"&(% +3 "core" %  a  +2 "storage"(q% +4 "core" % V\  +2 "storage"(%. +3 "core" .(  +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 +2 "storage"("(C +352 "core" ( +3 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 ()& +2 "core" &E :\ +3 "manipulator"&& +4 "core" &Ӥ   8" +2 "manipulator"&% +4 "core" %  t  +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 + "manipulator"&3( +162 "core" ( +2 "manipulator"&2& +3 "core" &    +2 "storage"(,& +4 "core" &E ]\ +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts + "manipulator"& ' +94 "core" ' +2 "storage"(5& +3 "core" &E t\ +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(1'r +275 "core" ' +2 "storage"(6- +3 "core" -'r +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."WCR"SE.seek :place +2 "storage"(7'1 +39 "core" ' +3 "manipulator"&9& +4 "core" &  + "manipulator"&8% +3 "core" % u +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&<' +92 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&4(ӂ +156 "core" ( + "manipulator"&.& +4 "core" &ӂ%  ?U +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &ӂ%  F ?U +2 ."WCR"Forearm.seek CC +2 "manipulator"&A'? +96 "core" ' +2 ."WCR"Hand.close + "manipulator"&:/ +55 "core" / +44 ."WCR"CC.seek :open +5 "collection"'B( +452 "core" ( +2 "storage"(0& +3 "core" &D\  \ +2 "storage"(& +5 "core" &D \ + "manipulator"&D& +5 "core" &Ӧ \ w :1 + "manipulator"&C% +5 "core" % 9 \  +2 ."WCR"Forearm.seek :retract +2 "manipulator"&F' +96 "core" ' +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&E( +163 "core" ( +2 "manipulator"&H& +3 "core" &  -  +2 "storage"(I& +5 "core" &D\ \ % \ + ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&/'8 +96 "core" ' +2 ."WCR"Elbow.hold +2 "manipulator"&G, +3 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&M1 +59 "core" 1 +2 "manipulator"&L% +4 "core" % ;  +2 "storage"(J& +3 "core" &D\ \  \ +2 ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 303 counts + "manipulator"&K'g +13 "core" ' +2 "manipulator"&P& +3 "core" &   +3 "storage"(Q& +4 "core" &D\ '\ ( I\ +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&R' +15 "core" ' +2 "storage"(S% +4 "core" %5 = 3\  +3 ."downElevator"SE.seek :down +3 "storage"(>' +98 (V% +3 "core" %@ \  N\ U_ +2 "manipulator"&T% +5 "core" % +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&Y' +89 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 #tStarting finalPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'Z& +3 "core" &78\ +2 "manipulator"&X& +5 "core" &  + "manipulator"&O% +4 "core" %   +3 .tElbow.seek FlushPuck::Garage + "manipulator"&W(- +172 "core" ( + "manipulator"&U& +5 "core" &- / c + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &-  & c +2 .tForearm.seek :garage +2 "manipulator"&_'w +95 "core" ' +2 .tHand.close + "manipulator"&=/ +53 "core" / +2 "manipulator"&`& +3 "core" &-  6 c +2 "manipulator"&a% +5 "core" % ψ  +2 .tForearm.seek :retract + "manipulator"&^' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&c(ӂ +283 "core" ( + "manipulator"&d& +4 "core" &Ӛ"   9# +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &Ӛ" Z 9# +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&f'? +95 "core" ' +3 "manipulator"&e& +46 "core" &Ӛ 9# +4 "manipulator"&g% +4 "core" %B \ \  +2 "collection"'i& +4 "core" &98\ +2 "collection"'h& +5 "core" &7:\ +3 .tCC.seek :closed + "collection"'k(\\ +5 "core" &79\  +9 &4x87\ *z +9 &gz89\ > +10 &m99\ L +9 &XR<8\ K +10 &Y8:\ K +9 &X7;\ J +9 &T79\ J +10 &bU:;\ J +9 &$U8:\ J +10 &X::\ J +9 & U99\ J +9 &"jU98\ J +10 &$+W98\ J +9 &%U98\ J +9 &'T9:\ J +10 &)qX:;\ J +9 &+3U:9\ J +9 &,U99\ J +10 &.U89\ J +9 &0yY89\ K +10 &2;X9:\ K +9 &3X99\ K +9 &5Y99\ K +10 &7Y9:\ K +9 &9CZ99\ K +9 &;Y79\ K +10 &<W::\ K +9 &>U9:\ K +10 &@KU9:\ K +9 &B U9;\ K +9 &C_=:\ L +10 &EsEB\ N +9 &G:LL\ S +9 &HLK\ W +10 &JLM\ Y +9 &LoLM\ Y +10 &N1MN\ Y +9 &OOM\ Z +9 &QLN\ Z +10 &SqLN\ [\ +9 &U2LN\ [ +10 &VMN\ \\ +9 &XNO\ ] +9 &ZsNQ\ ] +10 &\\yMO\ 3 +9 &\\/OO\ %o +9 ( + &\\OM\ [ +2 "collection"'h& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + "collection"'m& +3 "core" &\\OO\ [ +2 .tHand.open + "manipulator"&n1 +63 "core" 1 + "manipulator"&N% +4 "core" % B   ^  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +98 "core" ' + #tFlushing the Collection Valve::Manifold + "collection"'-& +5 "core" &\\PO\ [ + "collection"'j% +4 "core" %qNN\ +2 .tCSV.dial CSR + "collection"';  +40 "core"  +2 #tPulling 4.999ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml +2 "collection"'r's5 +1353 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +9 's% +2 "core" %s0ON\  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.499ml + "collection"'o' +677 "core" ' +2 .tCSV.dial :waste + "collection"'? +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'w'i +1998 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'l& +4 "core" &\\LN\ [ +2 "collection"'v% +3 "core" %jOP\ +2 .tCSV.dial :flush +2 "collection"'|  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"']'s5 +1276 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'} @ +39 "core" A +2 "collection"'y% +3 "core" %s3PN\  +3 .tCS.seek 7ml + "collection"'z' +558 "core" ' +2 ."connect"CSV.dial CTV +3 "collection"'t  + .tCTV.dial CSV +4 "collection"'  +39 "core"  +92  +2 .tCBV.dial :waste2b + "collection"'  +14 "core"  +3 .tCS.seek 0ml + "collection"''i +1691 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'& +5 "core" &\\SU\ [ + "collection"'x% +4 "core" %gTV\  +2 .tCSV.dial CSR + "collection"'  +41 "core"  + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml +2 "collection"' ' +1987 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'' +555 "core" ' + ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'{ +2 'u  +45 "core"  +56 +2 .tCTV.dial :intake + "collection"'  +74 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +46 "collection"''T +1906 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'  +71 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"''i +592 "core" ' +2 .tCSV.dial CSR + "collection"'~  +99 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"''s5 +1354 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'' +1377 "core" ' + .tCSV.dial CBV +2 "collection"' +97 "core" +2 .tCS.seek 0ml + "collection"''i +2656 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" &ө \  K 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +17 "core" ( +2 "manipulator"&& +4 "core" &ӈ   * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &ӈ  s * +2 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' + .tHand.close + "manipulator"& / +52 "core" / +2 .tCC.seek :open +2 "collection"'#( +450 "core" ( +2 "manipulator"& & +3 "core" &ӊ  \\ ) +3 "manipulator"&% +4 "core" %  \ +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&$(- +284 "core" ( +2 "manipulator"&\ & +3 "core" &- H . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&*'w +100 "core" ' +2 .tHand.open + "manipulator"&'1 +53 "core" 1 + "manipulator"&(% +5 "core" % ρ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +92 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,100], $da)] begun 15:11:42 +5 #Asleep after completing standAloneWCR_010224 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCTD data unavailable\\nCan@15:30:56, 26% flow, 22.3C, 16% humidity, 15.1psia, 13.656V, 0.472A, 0.646Ah, 6.44W\\nSampled 100.0ml",Subject: "Asleep after completing standAloneWCR_010224 assays" +433 #"uploadLog"upsync +6 #mEXIT @1704728357.85UTC @1704728502.45UTC = =mMAIN_scheduler =tMAIN @UTC1704728504.18 #"core_reset"Sent BREAK +2 #t@33373 sendCRC with ifg=0x20, ie=0x7F + #@35208 sendCRC with ifg=0x08, ie=0x5F + #@46739 idle with ifg=0x84, ie=0x75 #@47409 select with ifg=0x10, ie=0xF5 + #@48042 receive with ifg=0x10, ie=0xFD + #@48676 receive with ifg=0x10, ie=0xFD #@49309 receive with ifg=0x10, ie=0xFD + #@49636 receive with ifg=0x80, ie=0xFD + #@18144 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +285 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +369 "Can"3 9H> + 3 9H> + #tPolling Can every 10:00 +2 #Cleanly exited at 15:39:17UTC08-Jan-24 +2111 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %h<< \  +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +4 "core" %ڃ U\  +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(2% +3 "core" % O  7\  +2 "manipulator"&3% +4 "core" %  ,  +2 "manipulator"&4& +4 "core" &-  X . +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(5(<- +1294 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &<, \  B\ +6439 #t-> access 2 +2 "storage"(7% +3 "core" %\ 8\  +2 "manipulator"&8% +3 "core" %   +3 "manipulator"&9& +4 "core" &- . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(:(K +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &K C A \ +28821 #t-> exit +7 #mEXIT @1704728911.07UTC @1704806055.31UTC = =tMAIN =mMAIN_scheduler @UTC1704806057.03 #"core_reset"Sent BREAK +2 #t@53884 receive with ifg=0x10, ie=0xFD + #@54521 receive with ifg=0x10, ie=0xFD #@55177 receive with ifg=0x10, ie=0xFD + #@55813 receive with ifg=0x10, ie=0xFD + #@56448 receive with ifg=0x10, ie=0xFD + #@57082 receive with ifg=0x10, ie=0xFD #@57716 receive with ifg=0x10, ie=0xFD + #@58042 receive with ifg=0x80, ie=0xFD + #@47391 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +12 #ESP2 v3.42 I2C Gateway v3.20 for core bus +287 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +369 "Can"M 9&[R< + M 9&[R< #tPolling Can every 10:00 +2 #Cleanly exited at 15:48:31UTC08-Jan-24 +279 #-> exit +5 #mEXIT @1704806066.68UTC @1704809916.37UTC = =tMAIN =mMAIN_scheduler @UTC1704809918.10 #"core_reset"Sent BREAK +2 #t@53884 receive with ifg=0x10, ie=0xFD #@54521 receive with ifg=0x10, ie=0xFD + #@55177 receive with ifg=0x10, ie=0xFD + #@55813 receive with ifg=0x10, ie=0xFD + #@56448 receive with ifg=0x10, ie=0xFD #@57082 receive with ifg=0x10, ie=0xFD + #@57716 receive with ifg=0x10, ie=0xFD #@58042 receive with ifg=0x80, ie=0xFD + #@36429 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +294 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +370 "Can"S :3eVX= + S :3eVX= + #tPolling Can every 10:00 +2 #Cleanly exited at 13:14:26UTC09-Jan-24 +503 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %h\  +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +2 "core" % \ +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڃ n\  +2 .tSS.configure :default +2 "sampler")#.0X purgeIntake +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'2& +3 "core" &H\ +2 .tHand.open +2 "manipulator"&31 +20 "core" 1 + "manipulator"&4& +4 "core" &-   . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&5(- +13 "core" ( +2 "manipulator"&6& +3 "core" &-   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&8'w +98 "core" ' +2 .tHand.close + "manipulator"&9/ +54 "core" / + "manipulator"&:& +4 "core" &-   G +2 "manipulator"&;% +4 "core" % π   \ +2 .tForearm.seek :retract + "manipulator"&<' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&=(ӂ +294 "core" ( +2 "manipulator"&>& +4 "core" &Ӎ   E 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &?& +2 "core" &Ӎ   4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&@'? +98 "core" ' +2 "manipulator"&A& +4 "core" &Ӎ    4 + "manipulator"&B% +4 "core" %6  i r +2 "collection"'C& +4 "core" &'\ +2 "collection"'D& +6 "core" &F\ +2 .tCC.seek :closed + "collection"'E(\\ +4 "core" &G\ +8 &CQ\ $f +9 &X}S\ 7 +10 &yJ\ L +9 &TD\ M +9 &~TE\ L +10 &?U N\ L +9 &UI\ L +9 &UF\ L +10 &VI\ L +9 &GWH\ L +10 & UL\ L +9 &!VF\ L +9 &#UC\ L +10 &%OTM\ L +9 &'UH\ L +9 &(UN\ L +10 &*UH\ L +9 &,YUI\ L +10 &.TF\ L +9 &/TF\ L +9 &1VG\ L +10 &3`TF\ L +9 &5#U F\ L +9 &6WF\ L +10 &8WD\ L +9 &:hWI\ L +10 &<)WE\ L +9 &=ZG\ L +9 &?\\G\ M +10 &AoXF\ L +9 &C/^G\ M +10 &Ds/(J\ P +9 &FODF\ S +9 &HY6B?\ W +10 &J/1K\ X +9 &K.-F\ Y +9 &M+,F\ Y +10 &OY),C\ Y +9 &Q*,>\ Z +10 &R)*F\ [\ +9 &T')J\ [\ +9 &VZ')K\ \\ +10 &X((E\ \\ +9 &Y*(E\ ^ +9 &[*(=\ J +10 &\\>(+8\ 'w +9 &\\\ $'@\ !b +5 ( +2 "collection"'D& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 +2 "collection"'F& +2 "core" &\\%%@\ !b +2 &\\%%E\ !b +2 .tHand.open + "manipulator"&G1 +62 "core" 1 +2 "manipulator"&H% +4 "core" % ]   D K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +97 "core" ' +2 #tPurging external Intake + "collection"'J& +4 "core" &\\&&7\ !b +2 "collection"'K% +4 "core" %h&$\  + .tCSV.dial :flush +2 "collection"'L  +69 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'M' +2484 "core" ' +2 .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'N + 'O  +5 "core" +64 ~ +2 .tCTV.dial :intake +2 "collection"'P  +73 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml +2 "collection"'Q'i +2383 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'R  +74 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&S& +3 "core" &  ( +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&T(ӂ +35 "core" ( + "manipulator"&U& +37 "core" &w (  7 +10 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &w )  J 7 +2 .tForearm.seek CC +2 "manipulator"&W'? +93 "core" ' +2 .tHand.close + "manipulator"&X/ +61 "core" / +2 .tCC.seek :open +2 "collection"'Y( +451 "core" ( + "manipulator"&Z& +4 "core" &  f % +2 "manipulator"&[% +4 "core" % +   b +2 .tForearm.seek :retract + "manipulator"&\\' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&](- +281 "core" ( +2 "manipulator"&^& +3 "core" &-  K " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &-   " +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&`'w +93 "core" ' +2 .tHand.open +2 "manipulator"&a1 +63 "core" 1 +2 "manipulator"&b% +4 "core" % ρ  @ + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +93 "core" ' +8044 #t-> exit +6 #mEXIT @1704810106.36UTC @1704810228.41UTC = =tMAIN =mMAIN_scheduler @UTC1704810230.10 #"core_reset"Sent BREAK +2 #t@4254 sendCRC with ifg=0x20, ie=0x7F + #@6089 sendCRC with ifg=0x08, ie=0x5F #@64035 idle with ifg=0x84, ie=0x75 + #@64704 select with ifg=0x10, ie=0xF5 + #@65336 receive with ifg=0x10, ie=0xFD #@432 receive with ifg=0x10, ie=0xFD + #@1065 receive with ifg=0x10, ie=0xFD #@1392 receive with ifg=0x80, ie=0xFD + #@6791 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +265 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +359 "Can"Y\ F4V<N + Y\ F4V<N + #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_010224.rb mission +5 #Preparing to sleep until + 00:00:05 +4 ."Qmail"GoodNews.email "Starting standAloneWCR_010224 w/pucks in tube 2\\n{2 => 1}\\nCTD data unavailable\\nCan@14:23:56, 26% flow, 21.1C, 18% humidity, 15.1psia, 13.710V, 0.345A, 6.557Ah, 4.73W",Subject: "standAloneWCR_010224 begun" +2 #tAsleep til + 00:00:05 +5 #Continuing at 14:24 +2 "Can"Y\ A4VMN +21 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +330 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,100], $da)\\n/home/esp/esp2local/mission/standAloneWCR_010224.rb:10\\n{2 => 1}\\nCTD data unavailable\\nCan@14:23:56, 26% flow, 21.1C, 18% humidity, 15.1psia, 13.710V, 0.315A, 6.557Ah, 4.31W",Subject: "Asleep until 14:24" +129 "Can"^ 4V; +4 #tPowering core bus +4 #"uploadLog"upsync +288 #upsync +269 .tGate.power :raw,:ON +2 "sampler") +53 ) +2 "core"  +3 "collection"' +3 ' +2 "core"  +36 "processing"% +6 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default + "sampler")#.0X4Vs= +10 #tPhase [initialPurge; standAloneWCR([nil,100], $da)] +2 ."Qmail"Notice.email "At 14:24:45 began in tube 2: initialPurge; standAloneWCR([nil,100], $da)\\n/home/esp/esp2local/mission/standAloneWCR_010224.rb:10\\n{2 => 1}\\nCTD data unavailable\\nCan@14:24:45, 26% flow, 21.1C, 18% humidity, 15.1psia, 13.773V, 0.296A, 6.562Ah, 4.08W",Subject: "Started standAloneWCR_010224 phase initialPurge; standAloneWCR([nil,100], $da)" + #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &@\  +3 .tHand.open + "manipulator"&"1 +57 "core" 1 + "manipulator"&#& +5 "core" &   * B +2 "manipulator"&$% +4 "core" %   3  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(- +175 "core" ( +2 "manipulator"&&& +4 "core" &-    D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &-  D +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&('w +90 "core" ' +3 .tHand.close +2 "manipulator"&)/ +58 "core" / +2 "manipulator"&*& +2 #"uploadLog"upsync +5 "core" &-  D +2 "manipulator"&+% +5 "core" % m    +3 .tForearm.seek :retract + "manipulator"&,' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +278 "core" ( + "manipulator"&.& +4 "core" &x.   E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &x.   a E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'? +93 "core" ' +2 "manipulator"&1& +4 "core" &Ӣ&   Q @W +2 "manipulator"&2% +3 "core" %A  4  +3 "collection"'3& +3 "core" &\  +3 "collection"'4& +5 "core" &?\  +2 .tCC.seek :closed +2 "collection"'5(\\ +3 "core" &9\  +9 &D?\ %g +9 &sY{:\ 8 +10 &u=\ L +9 &R?\ K +10 &XT>\ K +9 &UB\ K +9 &U?\ K +10 &T9\ K +9 &_SA\ L +10 &"T;\ K +9 &X8\ L +9 &!S:\ L +10 &#gR;\ L +9 &%*R8\ K +9 &&T?\ L +10 &(V<\ L +9 &*nU@\ L +9 &,2T@\ K +10 &-T4\ K +9 &/W6\ L +10 &1wR=\ L +9 &3:S;\ K +9 &4U7\ L +10 &6X4\ L +9 &8S=\ L +9 &:BU6\ K +10 &<U9\ L +9 &=U7\ L +10 &?W7\ L +9 &AHV:\ L +9 &C \\7\ L +10 &Dk" :\ N +9 &F2-4\ Q +10 &H3-.?\ V +9 &I,+4\ W +9 &K,*5\ X +10 &Mr*,4\ X +9 &O3*,3\ X +9 &P++7\ X +10 &R,*7\ Z +9 &Tu*+3\ Z +10 &V4,+9\ [\ +9 &W,,4\ \\ +9 &Y+,5\ \\ +10 &[u*+7\ J +9 &\\;+,4\ 1 +9 &\\+,5\ Y +6 ( + "collection"'4& +4 "core" &\\y*+>\ Y +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + "collection"'6& +4 "core" &\\y(,3\ Y +2 .tHand.open + "manipulator"&71 +61 "core" 1 + "manipulator"&8% +4 "core" % A  \   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +93 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &\\y)(\ Y +2 "collection"';% +4 "core" %l**2\ +2 .tCSV.dial CSR + "collection"'<  +125 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='s5 +1354 "core" ' + .tdelay 5 seconds +537 .CSR.select :air +9 "collection"' +9 '>% +2 "core" %s0 )*\  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.499ml + "collection"'?' +679 "core" ' +2 .tCSV.dial :waste + "collection"'@ +126 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'A'i +1998 "core" ' + #tPurging external Intake +2 "collection"'B& +4 "core" &\\w')\ Y +6 "collection"'C% +3 "core" %l%& \ +2 .tCSV.dial :flush +2 "collection"'D  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' +2478 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 "collection"'F + .tCBV.dial CSV +4 "collection"'G  +5 "core" +61 ~ + .tCTV.dial :intake +2 "collection"'H  +75 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'I'i +2370 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +74 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +3 "core" &\\w1/\ Y +2 "collection"'L% +4 "core" %g0.\  +2 .tCSV.dial :flush + "collection"'M  +71 "core"  +2 .tCS.seek 5ml + "collection"'N's5 +1298 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +39 "core" A +2 "collection"'P% +4 "core" %s5),7\ +3 .tCS.seek 7ml + "collection"'Q' +548 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV + "collection"'R +99 "core" ~ +2 .tCTV.dial :air + "collection"'S  +5 "core"  +2 .tCS.seek 0ml + "collection"'T'i +1659 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'U'3J +804 "core" ' + .tCSV.dial :waste + "collection"'V +43 "core" +2 .tCS.seek 0ml + "collection"'W'i +773 "core" ' +2 "collection"'X& +3 "core" &\\u)*K\ Y +3 "collection"'Y% +4 "core" %f')K\ + .tCSV.dial :flush + "collection"'Z  +41 "core"  +2 .tCS.seek 3ml +2 "collection"'['3J +807 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'\\ @ +52 "core" ? +2 "collection"']% +3 "core" %3J&'H\ +3 .tCS.seek 5ml + "collection"'^'s5 +552 "core" ' + .tCSV.dial :air +2 "collection"'_ @ +5 "core" ? +2 .tCS.seek 0ml + "collection"'`'i +1217 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml +2 "collection"'a'3J +809 "core" ' +2 .tCSV.dial :waste + "collection"'b +69 "core" +3 .tCS.seek 0ml + "collection"'c'i +771 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +4 "core" &   O 0 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +33 "core" ( +2 "manipulator"&f& +4 "core" &~   ` :. + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &~  :. +2 .tForearm.seek CC +2 "manipulator"&h'? +95 "core" ' +2 .tHand.close + "manipulator"&i/ +61 "core" / +2 .tCC.seek :open +2 "collection"'j( +447 "core" ( +2 "manipulator"&k& +3 "core" &   ' +3 "manipulator"&l% +37 "core" %   \ e +9 .tForearm.seek :retract + "manipulator"&m' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&n(- +268 "core" ( +2 "manipulator"&o& +3 "core" &-   x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &-  x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&q'w +90 "core" ' +2 .tHand.open + "manipulator"&r1 +58 "core" 1 +2 "manipulator"&s% +3 "core" % }   U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +89 "core" ' +2 #tStarting stand-alone da WCR + #da wcr sampling at most 100ml +3 #Whole Cell Archive sampling 100ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 14:29:03UTC09-Jan-24\\n{2 => 1}\\nCTD data unavailable\\nCan@14:24:45, 26% flow, 21.1C, 18% humidity, 15.1psia, 13.773V, 0.296A, 6.562Ah, 4.08W",Subject: "da wcr sampling at most 100ml" + #"WCR"Loading wcr puck from tube 2 into Collection Clamp +4 "collection"'u& +3 "core" & \ +2 "manipulator"&v% +4 "core" %    +3 "storage"(w% +4 "core" % \ \ # I\ $ +2 "storage"(x. +3 "core" .(,v +3 ."WCR"SC.reconfigure :tight +4 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 + "storage"(y(  +408 #"uploadLog"upsync +264 "core" ( +2 ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 (z& +2 "core" & \ \  \ +3 "manipulator"&{& +5 "core" &-  x +2 "manipulator"&|% +4 "core" %    +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 2 +2 "manipulator"&}( +174 "core" ( +2 "manipulator"&~& +4 "core" &    ; +2 "storage"(& +4 "core" & \ ,\ + h\ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' +2 "storage"(& +4 "core" & \ !\ * \ +2 ."WCR"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & \ *\ + 8\ +2 "manipulator"&& +4 "core" &   ; +2 ."WCR"Elbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &   ; +2 "storage"( & +3 "core" & \ )\ ! c\ +3 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&\ 'Ͻ +25 "core" ' + ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."WCR"Hand.close + "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +8 "core" &   ; +2 "manipulator"&% +3 "core" %  +40 ."WCR"Forearm.seek :retract +8 "manipulator"&' +93 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&(ӂ +115 "core" ' + ."downElevator"SE.stop + "storage"(5 +31 "core" ( + "manipulator"& & +4 "core" &z&   ?T +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z& \ ?T +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC + "manipulator"&'? +104 "core" ' +2 "manipulator"&& +5 "core" &}&   g ?Q +2 "manipulator"&% +4 "core" %1  +2 "collection"' & +4 "core" &\ \ +2 "collection"'& +6 "core" &\ +2 ."WCR"CC.seek :closed +2 "collection"'(\\ +4 "core" & \  +9 &4x\ *z +9 & h~ \ ? +10 &m\ L +9 &^Q \ K +10 &U\ \ L +9 &T\ K +9 &V\ K +10 &dT\ L +9 &'T\ K +9 &U2\ K +10 & T:\ K +9 &"nQ#\ K +10 &$/T,\ K +9 &%R(\ K +9 &'TN\ K +10 &)vR"\ K +9 &+7UF\ K +9 &,QP\ K +10 &.TK\ K +9 &0~QH\ K +10 &2>TH\ L +9 &4U?\ K +9 &5WG\ K +10 &7WF\ K +9 &9GXI\ K +10 &;UH\ L +9 &<UJ\ L +9 &>V>\ L +10 &@OYA\ K +9 &BZ9\ L +9 &C_D\ L +10 &El=\ N +9 &GG'#G\ Q +9 &H-,;\ U +10 &J*,D\ X +9 &Lz()9\ W +10 &N9+(:\ X +9 &O*)8\ Y +9 &Q'*9\ Y +10 &S|+'?\ Y +9 &U<(':\ Z +9 &V*(9\ [ +10 &X()<\ \\ +9 &Z{)*<\ \\ +10 &\\x),;\ 1 +9 &\\-**9\ \\ +9 ( + &\\p))9\ P +2 "collection"'& +5 #"WCR"Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&!1 +60 "core" 1 +2 "manipulator"&"% +3 "core" % )  ) Y +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&#' +95 "core" ' +2 #"WCR"collectSample 100ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")$+ +3 "core" + +2 "sampler")&% +4 "core" %ڄ m\ 2 + "collection"''& +4 "core" &\\o*(1\ P +3 "Can"_\ T6qWA]A +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 "collection"'  +5 "core"  +2 ."WCR"SSV.dial :spit,avoiding: :exhaust + "sampler")) +4 "core"  +3 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X% +4 "core" %Q2WW o\  +28 "collection"'=% +3 "core" %g,\ +2 "sampler")@% +3 "core" %Q2a] |\  +32 "collection"'?% +3 "core" %g"$-\ +2 "sampler")B% +4 "core" %Q2li |\  +36 "collection"'C% +3 "core" %g''*\ +2 "sampler")D% +5 "core" %Q1vt q\  +40 "collection"'A% +3 "core" %g**$\ +3 "sampler")G% +3 "core" %Q1 p\  +47 "collection"'F% +3 "core" %g,-+\ +3 "sampler")H% +4 "core" %Q1 q\  + ."WCR"Intake.select :close +2 "sampler")0 +9 )E% +3 "core" %Q$ q\  +2 ."WCR"SSV.dial :exhaust +2 "sampler")J  +73 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")K'ڀ +399 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 100.0ml +2 .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X +68 "collection"'*% +3 "core" %g:;\ +3 "sampler")1% +4 "core" % o\ > + ."WCR"Intake.select :close +2 "sampler")0 +9 )2% +2 "core" % s\ > +3 ."WCR"SSV.dial :exhaust + "sampler"),  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")3'ڀ +893 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")  +69 "core"  +2 #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml +2 .Intake.select :open + "sampler") +210 "collection"'%% +3 "core" %g89\ + #"WCR"Intake @15.9psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 1.76ml/s +2 "sampler")#.x0X% +3 "core" %g\ +2 "sampler")=% +4 "core" %O |\  +18 "collection"'@% +3 "core" %g\ +2 "sampler")?% +4 "core" %O j\  +21 "collection"'B% +3 "core" %g\ +2 "sampler")C% +4 "core" %O x\  +24 "collection"'D% +3 "core" %g\ +2 "sampler")6% +4 "core" %O i\  +27 "collection"'A% +4 "core" %g\ +2 "sampler")G% +4 "core" %O p\  +31 "collection"'F% +3 "core" %g\ +2 "sampler")H% +3 "core" %O k\  +37 "collection"'E% +3 "core" %g\  \ +2 "sampler")J% +4 "core" %O k\  +41 "collection"'7% +4 "core" %g \ +3 "sampler")M% +4 "core" %O |\  +46 "collection"'I% +3 "core" %g\ +2 "sampler")O% +4 "core" %O  y\  +53 "collection"'P% +3 "core" %g! \ +3 "sampler")K% +4 "core" %B@ x\ > +60 "collection"'N% +3 "core" %g32\ +2 "sampler")L% +3 "core" % w\ > +69 "collection"'Q% +3 "core" %g;;\ +2 "sampler")T% +4 "core" % w\ > +2 ."WCR"Intake.select :close + "sampler")0 +45 )V% +10 "core" % i\ > +3 ."WCR"SSV.dial :exhaust + "sampler")Y  +73 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")Z'ڀ +887 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampled 100.0ml +2 #Drying puck before fixing for 5:00 + .CBV.dial :waste2b + "collection"'W  +71 "core"  + ."WCR"delay 1:00 +6003 .CSV.dial :air +2 "collection"'\\ @ +70 "core" B +3 ."WCR"CS.seek 10ml + "collection"']' +2470 "core" ' + #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +2 "collection"'[ @ +71 "core" ? +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'R  +87 "core"  + "collection"'_% +5 "core" %&(\ + ."WCR"CSV.dial between air and CTV +2 "collection"'^ ` +27 "core" a +2 ."WCR"CS.seek 7.35ml +2 "collection"'`'L +297 "Can"]\ ]8W7 +389 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'b  +2 'S  +40 "core"  +36  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml + "collection"'a'i +1469 "core" ' B  \ ܧ +2 ."WCR"CBV.dial :waste2b +2 "collection"'d  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'f'i +525 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake +2 "collection"'g  +126 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 2:30 +2 .CSV.dial CSR + "collection"'i  +42 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +11 ."WCR"CS.seek 2ml + "collection"'-'T +589 "core" ' + ."WCR"delay 5 seconds +502 .CSR.select :air +3 "collection"' +9 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'U' +1975 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'9 @ +71 "core" ? +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'5  +87 "core"  + "collection"'k% +5 "core" %++\  + ."WCR"CSV.dial between air and CTV +2 "collection"'l ` +56 "core" ^ +3 ."WCR"CS.seek 7.299ml +2 "collection"'h' +700 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'o  + 'X  +32 "core"  +97  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml +2 "collection"'e'i +1338 "core" ' &\ ٥ +3 ."WCR"delay 2:30 +15003 .CBV.dial :waste2b + "collection"'r  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'p'i +660 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake +2 "collection"'v  +126 "core" +2 #"WCR"Fix #2 of 2 (with RNAlater) for 2:30 +2 .CSV.dial CSR + "collection"'w  +46 "core"  +3 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'x'T +589 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'m' +1974 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'q @ +71 "core" ? +53 ."WCR"CBV.dial between CSV and waste2b + "collection"'  +85 "core"  +2 "collection"'z% +4 "core" %-.-\ \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'{ ` +56 "core" ^ +2 ."WCR"CS.seek 7.249ml +2 "collection"'|' +730 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  +2 '~  +42 "core"  +87  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml + "collection"''i +1856 "core" '׌ \ ?\ +3 ."WCR"delay 2:30 +15003 .CBV.dial :waste2b + "collection"'n  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'t'i +126 "core" ' +2 ."WCR"delay 1:00 +2542 "Can"d\ W;)X? +3461 ."WCR"CTV.dial :air,avoiding: :intake + "collection"'  +125 "core" +2 "collection"'& +3 "core" &\\e++?\ P +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 + "manipulator"&s% +3 "core" %    +2 "storage"(% +4 "core" % \  +2 "storage"(. +3 "core" .(  +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 +2 "storage"((C +353 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &F M\ +2 "manipulator"& & +3 "core" &ө  9% +3 "manipulator"&% +4 "core" %     +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 + "manipulator"&( +164 "core" ( + "manipulator"&}& +5 "core" &     + "storage"(u& +4 "core" &F ]\ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts + "manipulator"&' +99 "core" ' + "storage"( & +4 "core" &F\ \  8\ +2 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('r +276 "core" ' +2 "storage"(- +3 "core" -'r +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."WCR"SE.seek :place +2 "storage"('1 +39 "core" ' +3 "manipulator"& & +4 "core" &   + "manipulator"&% +4 "core" % \  +7 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 ."WCR"Elbow.seek CC + "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&j& +3 "core" &ӑ!  \  ;4 +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +46 &!& +4 "core" &ӑ!  ;4 +2 ."WCR"Forearm.seek CC +2 "manipulator"&"'? +94 "core" ' +2 ."WCR"Hand.close + "manipulator"&&/ +64 "core" / +3 ."WCR"CC.seek :open +2 "collection"''( +446 "core" ( +2 "storage"(& +3 "core" &F H d\ +3 "storage"(& +4 "core" &F > i\ + "manipulator"&)& +5 "core" &Ӫ  U 8 + "manipulator"&% +3 "core" % C     +3 ."WCR"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&( +160 "core" ( + "manipulator"&$& +5 "core" &    + "storage"(+& +4 "core" &F & ' '\ +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&'8 +95 "core" ' +2 ."WCR"Elbow.hold +2 "manipulator"&(, +3 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&.1 +57 "core" 1 +2 "manipulator"&/% +5 "core" % 9   9  + "storage"(*& +5 "core" &F # %\ + ."WCR"Forearm.force -20 + "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 301 counts +2 "manipulator"&1'e +13 "core" ' +2 "manipulator"&2& +3 "core" &  3  +2 "storage"(,& +4 "core" &F #  \ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts + "manipulator"&\ ' +16 "core" ' +2 "storage"( % +3 "core" %: C 3\ +3 ."downElevator"SE.seek :down +3 "storage"(%' +99 (3% +3 "core" %+A K \ V` +2 "manipulator"&;% +5 "core" %  +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&4' +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tStarting finalPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'<& +3 "core" &\ +2 "manipulator"&>& +5 "core" &   + "manipulator"&=% +4 "core" %    +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&@(- +166 "core" ( + "manipulator"&?& +4 "core" &-  \  b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &-  b +3 .tForearm.seek :garage +2 "manipulator"&B'w +101 "core" ' +2 .tHand.close + "manipulator"&C/ +64 "core" / +2 "manipulator"&D& +3 "core" &-   b +3 "manipulator"&6% +3 "core" % p  < k +3 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&A(ӂ +283 "core" ( +2 "manipulator"&G& +3 "core" &Ӌ$   7 >N +39 .tElbow.reconfigure :loose +9 "manipulator"&$ &.,(#b +3 &F& +2 "core" &Ӌ$  >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&H'? +91 "core" ' +2 "manipulator"&E& +3 "core" &ӟ"   c <: +2 "manipulator"&J% +5 "core" %<   S +2 "collection"'7& +3 "core" &\ +3 "collection"'M& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'0(\\ +5 "core" &/\ +7 &;/\ $e +9 &Xy+\ 7 +10 &x0\ J +9 &U*\ J +9 &~U.\ J +10 &?V0\ K +9 &Y.\ K +9 &U+\ J +10 &W/\ K +9 &GT,\ K +10 & \ U,\ J +9 &!V.\ K +9 &#Y0\ K +10 &%PT-\ J +9 &'V,\ K +9 &(Y.\ K +10 &*V.\ J +9 &,XW-\ J +10 &.V2\ K +9 &/T+\ K +9 &1U,\ J +10 &3_U1\ K +9 &5!U+\ K +9 &6W.\ K +10 &8U0\ K +9 &:fW'\ K +10 &<)W,\ K +9 &=W/\ K +9 &?Y,\ K +10 &AnW/\ K +9 &C0]/\ K +9 &Dg'$-\ M +10 &F500\ P +9 &HW430\ V +10 &J22.\ W +9 &K13'\ X +9 &M22(\ X +10 &OY02.\ X +9 &Q14*\ Y +9 &R22+\ Y +10 &T22-\ [ +9 &VY24*\ [ +10 &X33/\ \\ +9 &Y44+\ \\ +9 &[44.\ I +10 &\\>34(\ )} +9 &\\34/\ #e +3 ( + "collection"'M& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 + "collection"'I& +3 "core" &\\43/\ #e +2 .tHand.open +2 "manipulator"&O1 +57 "core" 1 +2 "manipulator"&P% +3 "core" % <   S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K' +94 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'N& +3 "core" &\\34,\ #e +2 "collection"'L% +4 "core" %n23\  +2 .tCSV.dial CSR +2 "collection"'Q  +41 "core"  +2 #tPulling 4.999ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml +2 "collection"'T's5 +1376 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'V% +3 "core" %s123\ +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'Y' +686 "core" ' + .tCSV.dial :waste +2 "collection"' +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'W'i +2004 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'\\& +5 "core" &\\35H\ #e + "collection"'c% +4 "core" %e32E\  +2 .tCSV.dial :flush + "collection"'[  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'R's5 +1279 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'_ @ +41 "core" A +2 "collection"'^% +3 "core" %s2237\  +3 .tCS.seek 7ml + "collection"']' +554 "core" ' + ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'S  +2 'b  +53 "core"  +79  +2 .tCBV.dial :waste2b + "collection"'`  +14 "core"  +3 .tCS.seek 0ml + "collection"'d'i +1692 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'a& +4 "core" &\\88D\ #e + "collection"'g% +4 "core" %h8:C\  + .tCSV.dial CSR +2 "collection"'i  +42 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'f' +1989 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'-' +555 "core" ' +48 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'9 + '5  +44 "core"  +58 +2 .tCTV.dial :intake + "collection"'k  +74 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'l'T +1884 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'U  +72 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'X'i +587 "core" ' +2 .tCSV.dial CSR + "collection"'o  +99 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml +2 "collection"'h's5 +1361 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'r' +1352 "core" ' +2 .tCSV.dial CBV + "collection"'e +97 "core" +3 .tCS.seek 0ml + "collection"'v'i +2634 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&w& +4 "core" &  + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +31 "core" ( + "manipulator"&x& +4 "core" &z   / 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &z  6 +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&z/ +63 "core" / +2 .tCC.seek :open +2 "collection"'{( +447 "core" ( + "manipulator"&m& +4 "core" &   # +2 "manipulator"&~% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&|(- +275 "core" ( + "manipulator"&n& +4 "core" &-  \  : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +92 "core" ' +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&s% +4 "core" % u  = . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,100], $da)] begun 14:24:45 +5 #Asleep after completing standAloneWCR_010224 assays + ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCTD data unavailable\\nCan@14:43:59, 26% flow, 21.2C, 18% humidity, 15.1psia, 13.661V, 0.447A, 6.707Ah, 6.11W\\nSampled 100.0ml",Subject: "Asleep after completing standAloneWCR_010224 assays" +443 #"uploadLog"upsync +6 #mEXIT @1704811748.69UTC @1704819217.30UTC = =tMAIN =mMAIN_scheduler @UTC1704819219.01 #"core_reset"Sent BREAK +2 #t@11793 sendCRC with ifg=0x20, ie=0x7F #@13628 sendCRC with ifg=0x08, ie=0x5F + #@13289 idle with ifg=0x84, ie=0x75 + #@13961 select with ifg=0x10, ie=0xF5 + #@14596 receive with ifg=0x10, ie=0xFD #@15231 receive with ifg=0x10, ie=0xFD + #@15865 receive with ifg=0x10, ie=0xFD #@16192 receive with ifg=0x80, ie=0xFD + #@62628 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +293 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +362 "Can" ?X|_}@ +  ?X|_}@ + #tPolling Can every 10:00 +2 #Cleanly exited at 14:49:08UTC09-Jan-24 +781 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %i/.H  +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ع\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڃ |\ +2 .tSS.configure :default +3 "sampler")#.0X access 1 +2 "storage"(2% +3 "core" % {\  +2 "manipulator"&3% +3 "core" %     +3 "manipulator"&4& +3 "core" &-   : +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(5(<- +1301 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &<*  l\  +2087 #t-> Flush.CC +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'7& +3 "core" &.1@  +2 .tHand.open + "manipulator"&81 +19 "core" 1 +2 "manipulator"&9& +4 "core" &-    : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&:(- +3 "core" ( +2 "manipulator"&;& +4 "core" &-   : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &-  \  : +3 .tForearm.seek :garage + "manipulator"&='w +98 "core" ' + .tHand.close +2 "manipulator"&>/ +62 "core" / +2 "manipulator"&?& +4 "core" &-   x : +2 "manipulator"&@% +4 "core" % π  W +2 .tForearm.seek :retract + "manipulator"&A' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&B(ӂ +284 "core" ( + "manipulator"&C& +4 "core" &ӑ#   o <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &ӑ#  <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&E'? +93 "core" ' +2 "manipulator"&F& +3 "core" &Ӓ#    <: +2 "manipulator"&G% +4 "core" %B   Q +2 "collection"'H& +4 "core" &01t\ +2 "collection"'I& +5 "core" &/1r\ +3 .tCC.seek :closed + "collection"'J(\\ +5 "core" &//C\ +7 &>.1C\ %g +10 &Xy00G\ 7 +9 &y00A\ L +9 &U.0E\ L +10 &W10C\ L +9 &DT1/F\ K +9 &T/0B\ L +10 &X//C\ K +9 &X01I\ L +9 &KV02F\ L +10 & R/0>\ K +9 &!U10D\ K +10 &#X11>\ L +9 &%SV01A\ L +9 &'S/.G\ K +10 &(R0.=\ K +9 &*U-0@\ K +9 &,\\X01H\ K +10 &.R//7\ L +9 &/V0-5\ L +10 &1T015\ K +9 &3dT113\ K +9 &5&Y-02\ K +10 &6T//3\ L +9 &8T1/3\ K +9 &:lU00,\ K +10 &<-T015\ L +9 &=U107\ L +10 &?X031\ K +9 &AtX223\ K +9 &C3_85/\ L +10 &DpB=/\ N +9 &FFH.\ R +9 &H^DF7\ V +10 &JEH5\ W +9 &KCF6\ W +10 &MFG4\ X +9 &O_GG0\ X +9 &QEG0\ Y +10 &REF3\ Y +9 &TFG3\ Z +10 &VaEF4\ Z +9 &X HH.\ [\ +9 &YGI2\ \\ +10 &[FG3\ I +9 &\\8GF4\ . +9 &\\kDG2\ O +3 ( + "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 +2 "collection"'K& +3 "core" &\\hGG4\ O +2 .tHand.open + "manipulator"&L1 +60 "core" 1 + "manipulator"&M% +4 "core" % B    Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +447 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%O& +3 "core" &\  +2 "manipulator"&P& +4 "core" &  + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&Q(ӂ +31 "core" ( +2 "manipulator"&R& +3 "core" &ӌ   6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &ӌ  6 +3 .tForearm.seek CC +2 "manipulator"&T'? +93 "core" ' + .tHand.close +2 "manipulator"&U/ +62 "core" / +2 .tCC.seek :open +2 "collection"'V( +448 "core" ( +2 "manipulator"&W& +37 "core" &  % +9 "manipulator"&X% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&Y' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&Z( +344 "core" ( +2 "manipulator"&[& +5 "core" &   A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&]' +104 "core" ' +2 "manipulator"&^& +3 "core" &   +3 "manipulator"&_% +3 "core" %  +3 "processing"%`& +4 "core" &\  +2 "processing"%a& +5 .tPC.seek :closed +2 "processing"%b(^ +3 "core" &\  +9 &G\ %g +9 &Z\ 8 +10 &\ M +9 &\\\ M +10 &b`\ M +9 &%]\ M +9 &`\ M +10 &`\ M +9 &ka\ M +9 &-`\ M +10 &a\ M +9 &!`\ M +10 &#r`\ M +9 &%4`\ M +9 &&a\ M +10 &(a\ M +9 &*zb\ M +9 &,<b\ M +10 &-`\ M +9 &/a\ M +10 &1c\ M +9 &3C`\ M +9 &5`\ M +10 &6`\ N +9 &8a\ M +9 &:Ja\ N +10 &< c\ N +9 &=b\ N +10 &?a\ M +9 &ASc\ M +9 &Cp\ O +10 &Dq\ O +9 &F}\ Q +9 &HK\ S +10 &J\ R +9 &K\ S +10 &M\ S +9 &OQ\ S +9 &Q\ T +10 &R\ T +9 &T\ U +9 &VY\ S +10 &X\ T +9 &Y\ T +10 &[\ T +9 &]^\ A +9 &^K\ M +10 &^T\ ; +5 ( +2 "processing"%a& +3 "core" &^>\ ; +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.51 + "processing"%c& +3 "core" &^>\ ; +2 .tHand.open +2 "manipulator"&d1 +58 "core" 1 +2 "manipulator"&e% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +93 "core" ' + "collection"'g& +3 "core" &//7\ +831 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&h& +4 "core" &   ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&i( +3 "core" ( +2 "manipulator"&j& +3 "core" &  [ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&l' +95 "core" ' +2 .tHand.close + "manipulator"&m/ +60 "core" / +2 .tPC.seek :open +2 "processing"%n( +456 "core" ( + "manipulator"&o& +4 "core" &   +2 "manipulator"&p% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&r(- +127 "core" ( +2 "manipulator"&s& +3 "core" &-   D  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &-     +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&u'w +103 "core" ' +2 .tHand.open + "manipulator"&v1 +55 "core" 1 +2 "manipulator"&w% +3 "core" % n  U p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +96 "core" ' +471 #t-> exit +6 #mEXIT @1704819342.33UTC @1704829519.74UTC = =tMAIN =mMAIN_scheduler @UTC1704829521.42 #"core_reset"Sent BREAK +2 #t@41382 sendCRC with ifg=0x20, ie=0x7F #@43217 sendCRC with ifg=0x08, ie=0x5F + #@19995 idle with ifg=0x84, ie=0x75 + #@20664 select with ifg=0x10, ie=0xF5 + #@21296 receive with ifg=0x10, ie=0xFD #@21928 receive with ifg=0x10, ie=0xFD + #@22560 receive with ifg=0x10, ie=0xFD #@22888 receive with ifg=0x80, ie=0xFD + #@32311 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +291 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +367 "Can" @i 3 +  @i 3 + #tPolling Can every 10:00 +2 #Cleanly exited at 16:55:42UTC09-Jan-24 +768 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %i::" +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ع0\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڃ t\ +3 .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(2% +3 "core" % | b\  +2 "manipulator"&3% +3 "core" %     +2 "manipulator"&4& +3 "core" &-  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(5(K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &K \ +387 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'7& +4 "core" &<;F +2 .tHand.open + "manipulator"&81 +16 "core" 1 +2 "manipulator"&9& +3 "core" &-   < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&:(- +10 "core" ( + "manipulator"&;& +4 "core" &-   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &-    +2 .tForearm.seek :garage +2 "manipulator"&='w +96 "core" ' +2 .tHand.close + "manipulator"&>/ +58 "core" / +2 "manipulator"&?& +4 "core" &-    +2 "manipulator"&@% +3 "core" % ϊ   +3 .tForearm.seek :retract + "manipulator"&A' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&B(ӂ +273 "core" ( +2 "manipulator"&C& +4 "core" &{*   Bk + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &{*   Bk +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&E'? +104 "core" ' +2 "manipulator"&F& +3 "core" &Ӝ% / - =J +2 "manipulator"&G% +3 "core" %'  +3 "collection"'H& +3 "core" &:;$\ +3 "collection"'I& +5 "core" &;:\ +2 .tCC.seek :closed +2 "collection"'J(\\ +3 "core" &8;7\  +9 &4z99D\ *x +10 & e~;9>\ > +9 &p<=7\ M +9 &UR:<7\ L +10 &S9;9\ K +9 &T<;7\ K +10 &W?<>\ L +9 &]U=;9\ L +9 & W<<=\ K +10 &R;<;\ L +9 & V;;<\ L +9 &"fR<=A\ K +10 &$'R;<C\ L +9 &%U:;9\ L +10 &'R;;A\ K +9 &)mR:;B\ L +9 &+/U=<8\ L +10 &,R<;<\ K +9 &.S;<:\ K +9 &0vT;;8\ K +10 &28X;;7\ K +9 &3R;<6\ K +10 &5T;<4\ K +9 &7}X:;;\ L +9 &9>V<<=\ L +10 &;T;=<\ L +9 &<T<<;\ L +9 &>Z??8\ L +10 &@F[>@6\ L +9 &B ZA?7\ L +10 &CbID9\ M +9 &EwQO;\ P +9 &G9PR8\ S +10 &HRO;\ W +9 &JPP2\ X +9 &LqOQ6\ X +10 &N/QP8\ Y +9 &OPP:\ Y +10 &QPP9\ Y +9 &SsQO7\ Z +9 &U4QR8\ Z +10 &VRP7\ \\ +9 &XSR4\ [ +9 &ZsRQ4\ ] +10 &\\xPR3\ 2 +9 &\\-QQ2\ Y +9 ( +2 &\\vQR:\ P +2 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.42 +2 "collection"'K& +32 "core" &\\uRP6\ P +2 .tHand.open + "manipulator"&L1 +54 "core" 1 + "manipulator"&M% +4 "core" % ' 0 : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +472 #t-> Flush.garage +3 #Garaging FlushPuck in Collection Clamp + "manipulator"&O& +3 "core" & \ p - +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&P(ӂ +12 "core" ( +2 "manipulator"&Q& +4 "core" &z  Z K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +2 "core" &z   ] K +3 .tForearm.seek CC +2 "manipulator"&S'? +97 "core" ' +2 .tHand.close + "manipulator"&T/ +58 "core" / +2 .tCC.seek :open +2 "collection"'U( +448 "core" ( +2 "manipulator"&V& +3 "core" &   +2 "manipulator"&W% +4 "core" % ι   +36 .tForearm.seek :retract +9 "manipulator"&X' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Y(- +271 "core" ( +2 "manipulator"&Z& +4 "core" &-  ( 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &-   5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&\\'w +96 "core" ' +3 .tHand.open + "manipulator"&]1 +56 "core" 1 + "manipulator"&^% +4 "core" % {   0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +95 "core" ' +697 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'`& +3 "core" &87 +3 "manipulator"&a& +4 "core" &-    5 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&b(- +7 "core" ( +2 "manipulator"&c& +3 "core" &-    . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &-    . +3 .tForearm.seek :garage + "manipulator"&e'w +100 "core" ' +2 .tHand.close + "manipulator"&f/ +56 "core" / +2 "manipulator"&g& +3 "core" &-   K . +2 "manipulator"&h% +4 "core" % ρ   +2 .tForearm.seek :retract +2 "manipulator"&i' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&j(ӂ +283 "core" ( +2 "manipulator"&k& +4 "core" &ӊ(   @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &Ӌ(  \ @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'? +97 "core" ' +2 "manipulator"&n& +3 "core" &Ӑ&  ' ?S +3 "manipulator"&o% +3 "core" %6    \ +2 "collection"'p& +4 "core" &;9\ +2 "collection"'q& +5 "core" &::8\ +2 .tCC.seek :closed +2 "collection"'r(\\ +4 "core" &:::\ +9 &4;;7\ $e +9 &Wz8:'\ 7 +9 &x;:6\ K +10 &T;;5\ K +9 &V;:1\ K +9 &BW:;*\ K +10 &W<;/\ K +9 &W:;6\ K +10 &W:<4\ K +9 &JW;;,\ K +9 & T:<.\ L +10 &!U:<0\ L +9 &#T;;,\ L +9 &%RT;<,\ K +10 &'R9;+\ K +9 &(R=<*\ K +9 &*Q9;*\ K +10 &,ZR<:)\ K +9 &.V:7'\ K +10 &/W:;*\ K +9 &1W<:*\ K +9 &3bV;;,\ K +10 &5$W><'\ K +9 &6X>:&\ K +9 &8S:<*\ K +10 &:iS<:)\ L +9 &<*V;<*\ L +10 &=U><+\ L +9 &?U<=)\ L +9 &AqU?=$\ L +10 &C3]C?'\ L +9 &DpKL*\ O +9 &FPQ,\ Q +10 &H[OP+\ V +9 &JRO+\ W +10 &KQP&\ W +9 &MPO*\ X +9 &O^RP,\ X +10 &QQQ&\ Y +9 &RPP*\ Y +10 &TPQ)\ Z +9 &V^QQ*\ Z +9 &XPQ,\ [ +10 &YPP(\ \\ +9 &[SR)\ H +9 &\\>PS)\ (z +10 &\\uQS$\ P +2 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 + "collection"'s& +3 "core" &\\uSS)\ P +2 .tHand.open +2 "manipulator"&t1 +62 "core" 1 +2 "manipulator"&u% +3 "core" % 6   n \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v' +97 "core" ' +2 #tPurging external Intake + "collection"'w& +3 "core" &\\jSS\ P +2 "collection"'x% +4 "core" %iRS\ +2 .tCSV.dial :flush + "collection"'y  +68 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'z' +2458 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'{ + '|  +6 "core" +64 ~ + .tCTV.dial :intake +2 "collection"'}  +73 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'~'i +2359 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +75 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" & ! - +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +12 "core" ( + "manipulator"&& +3 "core" &Ӈ   R E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӈ  E +3 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"' ( +448 "core" ( +2 "manipulator"& & +3 "core" &   +2 "manipulator"& % +4 "core" % η   +2 .tForearm.seek :retract +2 "manipulator"&' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +38 .tElbow.seek :garage +9 "manipulator"&(- +272 "core" ( +2 "manipulator"&& +3 "core" &-   _ ( +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-   ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +102 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"&% +4 "core" % ρ   T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +5116 #t-> exit +6 #mEXIT @1704829734.18UTC @1704829778.39UTC = =tMAIN =mMAIN_scheduler @UTC1704829780.19 #"core_reset"Sent BREAK +2 #t@2262 sendCRC with ifg=0x20, ie=0x7F + #@4097 sendCRC with ifg=0x08, ie=0x5F + #@1819 idle with ifg=0x84, ie=0x75 #@2488 select with ifg=0x10, ie=0xF5 + #@3121 receive with ifg=0x10, ie=0xFD + #@3753 receive with ifg=0x10, ie=0xFD #@4385 receive with ifg=0x10, ie=0xFD + #@4713 receive with ifg=0x80, ie=0xFD #@57221 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +283 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +371 "Can" A=j3 +  A=j3 + #tPolling Can every 10:00 + #Cleanly exited at 19:48:54UTC09-Jan-24 +5 #Loading /home/esp/esp2local/mission/standAloneWCR_010224.rb mission +2 !o:RuntimeError: mesg"+Mission's startTube should be 3, not 2:@timestampu: Time 3:bt[":/home/esp/esp2/utils/commskel.rb:91:in `beginMission'"4/home/esp/esp2/utils/mission.rb:16:in `mission'":/home/esp/esp2local/mission/standAloneWCR_010224.rb:8"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +3 #Waiting to Resume from Checkpoint "Loading /home/esp/esp2local/mission/standAloneWCR_010224.rb mission" + ."Qmail"BadNews.email "Mission's startTube should be 3, not 2",Subject: "RuntimeError in MAIN" +429 #"uploadLog"upsync @1704829959.94UTC = =tMAIN =mMAIN_scheduler @UTC1704829961.61 #"core_reset"Sent BREAK +2 #t@2262 sendCRC with ifg=0x20, ie=0x7F + #@4097 sendCRC with ifg=0x08, ie=0x5F #@1819 idle with ifg=0x84, ie=0x75 + #@2488 select with ifg=0x10, ie=0xF5 + #@3121 receive with ifg=0x10, ie=0xFD #@3753 receive with ifg=0x10, ie=0xFD + #@4385 receive with ifg=0x10, ie=0xFD #@4713 receive with ifg=0x80, ie=0xFD + #@4246 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +168 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +97 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +351 "Can" Aj2+ +  Aj2+ #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_010224.rb mission +6 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_010224 w/pucks in tube 2\\n{2 => 1}\\nCTD data unavailable\\nCan@19:52:47, 26% flow, 20.9C, 22% humidity, 15.0psia, 13.812V, 0.315A, 8.251Ah, 4.34W",Subject: "standAloneWCR_010224 begun" +6 #tAsleep til + 00:00:05 + #Continuing at 19:52 +3 "Can" Aj3+ +26 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF #Shutdown +273 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,100], $da)\\n/home/esp/esp2local/mission/standAloneWCR_010224.rb:10\\n{2 => 1}\\nCTD data unavailable\\nCan@19:52:48, 26% flow, 20.9C, 22% humidity, 15.0psia, 13.812V, 0.315A, 8.251Ah, 4.34W",Subject: "Asleep until 19:52" +135 #"uploadLog"upsync +46 "Can" j4;3 +4 #tPowering core bus +231 #"uploadLog"upsync +286 .tGate.power :raw,:ON +2 "sampler") +46 ) +3 "core"  +2 "collection"' +3 ' +37 "core"  +5 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1}\\nCTD data unavailable\\nCan@19:53:36, 26% flow, 20.9C, 23% humidity, 15.0psia, 13.769V, 0.278A, 8.256Ah, 3.83W",Subject: "Started standAloneWCR_010224 phase initialPurge; standAloneWCR([nil,100], $da)" +3 #tStarting initialPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +4 "core" &==  +2 .tHand.open +2 "manipulator"&"1 +62 "core" 1 +2 "manipulator"&#& +3 "core" &    +2 "manipulator"&$% +4 "core" %   | +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(- +171 "core" ( + "manipulator"&&& +4 "core" &-   < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &-   < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&('w +97 "core" ' +3 .tHand.close +3 "manipulator"&)/ +50 #"uploadLog"upsync +8 "core" / +2 "manipulator"&*& +4 "core" &-   m < +2 "manipulator"&+% +3 "core" % ψ   c +3 .tForearm.seek :retract +2 "manipulator"&,' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +287 "core" ( +2 "manipulator"&.& +4 "core" &ӕ%  >I + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &ӕ%  >I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'? +101 "core" ' +2 "manipulator"&1& +4 "core" &ӣ#   <; +2 "manipulator"&2% +3 "core" %7   +3 "collection"'3& +3 "core" &<= +3 "collection"'4& +5 "core" &:= +2 .tCC.seek :closed +2 "collection"'5(\\ +3 "core" &<=  +9 &C;< \ $e +9 &nY~<= \ 7 +10 &x=>\ K +9 &T=<#\ L +10 &QT??\ K +9 &W?>%\ K +9 &U=<\ L +10 &U;=$\ L +9 &XU?>\ K +9 &R==(\ K +10 &W>=\ K +9 &!W;?\ K +10 &#_U=<\ L +9 &%"T<=\ K +9 &&R=;\ K +10 &(W=<\ K +9 &*gU;=\ L +9 &,*U>;\ K +10 &-R?>\ K +9 &/W<>\ K +10 &1pW=:\ K +9 &31U=>\ L +9 &4U=>\ K +10 &6S?>\ K +9 &8xS@>\ K +9 &:9T>=\ L +10 &;W@>\ L +9 &=T>=\ K +10 &?W@B\ L +9 &AAX@A\ L +9 &C[DB\ L +10 &DlOM\ N +9 &FwYW\ Q +9 &H,WX\ V +10 &ITW\ W +9 &KWV\ X +10 &MjWV\ X +9 &O,UX\ X +9 &PWX\ X +10 &RXW\ Z +9 &TmWV\ Z +9 &V.XX\ Z +10 &WUX\ [ +9 &YVW\ \\ +10 &[nXY\ J +9 &\\BVX\ *} +9 &\\ XY!\ ^ +6 ( + "collection"'4& +4 "core" &\\WW\ ^ +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.36 + "collection"'6& +3 "core" &\\ZZ\ ^ +2 .tHand.open +2 "manipulator"&71 +57 "core" 1 +2 "manipulator"&8% +4 "core" % W   ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +94 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &\\YX\ ^ +2 "collection"';% +4 "core" %mYX\ + .tCSV.dial CSR +2 "collection"'<  +135 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='s5 +1356 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +37 "collection"' +15 '>% +2 "core" %s1 XV\  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?' +674 "core" ' + .tCSV.dial :waste +2 "collection"'@ +123 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A'i +2000 "core" ' +2 #tPurging external Intake + "collection"'B& +3 "core" &\\UX\ ^ +2 "collection"'C% +4 "core" %gTU\ +2 .tCSV.dial :flush + "collection"'D  +43 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' +2437 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV + "collection"'F +2 'G  +5 "core" +64 ~ + .tCTV.dial :intake +2 "collection"'H  +75 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'I'i +2337 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +74 "core"  +2 #tFlushing upper manifold + "collection"'K& +3 "core" &\\_\\\\\ ^ +2 "collection"'L% +4 "core" %e\\\\ \ +2 .tCSV.dial :flush + "collection"'M  +69 "core"  +3 .tCS.seek 5ml + "collection"'N's5 +1293 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +39 "core" A +2 "collection"'P% +3 "core" %s6WY \ +3 .tCS.seek 7ml + "collection"'Q'! +552 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV + "collection"'R +99 "core" ~ +2 .tCTV.dial :air + "collection"'S  +5 "core"  +2 .tCS.seek 0ml + "collection"'T'i +1650 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'U'3J +803 "core" ' +2 .tCSV.dial :waste + "collection"'V +43 "core" +2 .tCS.seek 0ml + "collection"'W'i +761 "core" ' + "collection"'X& +4 "core" &\\XW,\ ^ +2 "collection"'Y% +4 "core" %nWW \ + .tCSV.dial :flush + "collection"'Z  +41 "core"  +3 .tCS.seek 3ml + "collection"'['3J +826 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +2 "collection"'\\ @ +40 "core" B +2 "collection"']% +3 "core" %3HWW?\ +3 .tCS.seek 5ml + "collection"'^'s3 +552 "core" ' +2 .tCSV.dial :air + "collection"'_ @ +14 "core" @ +3 .tCS.seek 0ml + "collection"'`'i +1214 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'a'3J +804 "core" ' + .tCSV.dial :waste +2 "collection"'b +69 "core" +2 .tCS.seek 0ml + "collection"'c'i +784 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +3 "core" &   | 0 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +14 "core" ( + "manipulator"&f& +3 "core" &y   ( T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &y C T +2 .tForearm.seek CC +2 "manipulator"&h'? +93 "core" ' + .tHand.close + "manipulator"&i/ +57 "core" / +2 .tCC.seek :open +2 "collection"'j( +450 "core" ( +2 "manipulator"&k& +4 "core" &   +2 "manipulator"&l% +3 "core" %   +36 .tForearm.seek :retract +8 "manipulator"&m' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&n(- +270 "core" ( +2 "manipulator"&o& +3 "core" &-   T +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &-  T +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage + "manipulator"&q'w +105 "core" ' + .tHand.open + "manipulator"&r1 +60 "core" 1 +2 "manipulator"&s% +4 "core" % z    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +97 "core" ' + #tStarting stand-alone da WCR +2 #da wcr sampling at most 100ml +3 #Whole Cell Archive sampling 100ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 19:57:53UTC09-Jan-24\\n{2 => 1}\\nCTD data unavailable\\nCan@19:53:36, 26% flow, 20.9C, 23% humidity, 15.0psia, 13.769V, 0.278A, 8.256Ah, 3.83W",Subject: "da wcr sampling at most 100ml" + #"WCR"Loading wcr puck from tube 2 into Collection Clamp +4 "collection"'u& +4 "core" &<>  +2 "manipulator"&v% +4 "core" %    +3 "storage"(w% +4 "core" % 1\ % + "storage"(x. +4 "core" .(,y +3 ."WCR"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 + "storage"(y(  +400 #"uploadLog"upsync +269 "core" ( + ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 (z& +3 "core" &  \ +3 "manipulator"&{& +3 "core" &-   \ T +3 "manipulator"&|% +3 "core" %      +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."WCR"Elbow.seek 2 + "manipulator"&}( +176 "core" ( +2 "manipulator"&~& +3 "core" &  ? +3 "storage"(& +4 "core" &  K\ +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&'S +90 "core" ' +2 "storage"(& +4 "core" &  4\ +2 ."WCR"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & /\  +3 "manipulator"&& +4 "core" &    ? +2 ."WCR"Elbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   ? +2 "storage"( & +4 "core" & !\  +3 ."WCR"Forearm.seek 2 + 300 counts + "manipulator"&\ 'Ͻ +21 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"& / +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &    ? + "manipulator"&% +5 "core" % ϻ    +40 ."WCR"Forearm.seek :retract +7 "manipulator"&' +88 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&(ӂ +124 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( +2 "manipulator"& & +3 "core" &y% \ 5 >I +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &y%   >I +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'? +103 "core" ' +2 "manipulator"&& +4 "core" &z%  >H +2 "manipulator"&% +4 "core" %F  +2 "collection"' & +4 "core" &==  +3 "collection"'& +4 "core" &=?  +3 ."WCR"CC.seek :closed + "collection"'(\\ +5 "core" &>=  +8 &<=> \ $f +9 &Z{<>\ 7 +9 &w>?\ K +10 &V>=\ J +9 &S>@ \ J +9 &MS?>\ J +10 &S>>\ J +9 &R>?\ J +10 &T<@\ J +9 &VU?@\ J +9 & U<?\ K +10 &!V?>\ K +9 &#W=>\ K +9 &%]V>?\ J +10 &' T@@\ J +9 &(U=>5\ K +10 &*U?@,\ J +9 &,eT>>)\ J +9 &.'S??"\ J +10 &/T?>i\ J +9 &1T??(\ J +9 &3mS@=?\ J +10 &5/T<=<\ J +9 &6V??@\ J +10 &8Y>>9\ K +9 &:tWA?<\ K +9 &<7U>>:\ J +10 &=WA?4\ J +9 &?Z=@2\ K +9 &A{Z??3\ K +10 &C;^@A6\ L +9 &Db@D,\ L +10 &FuGF1\ N +9 &HmUP1\ S +9 &J%VX4\ V +10 &KVU.\ W +9 &MUV-\ V +9 &OgVU.\ W +10 &Q)WV3\ W +9 &RUX4\ X +10 &TUT/\ X +9 &VgUU(\ Z +9 &X(TV*\ Z +10 &YUV/\ [\ +9 &[XW-\ I +9 &\\1YV.\ / +10 &\\gUX%\ O +2 ( +2 "collection"'& +3 #"WCR"Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&!1 +56 "core" 1 +2 "manipulator"&"% +4 "core" % .  ' P +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&#' +95 "core" ' +3 #"WCR"collectSample 100ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")$+ +3 "core" + +2 "sampler")&% +3 "core" %څ }\ E +2 "collection"''& +4 "core" &\\eUU\ O +4 "Can" Oj& + #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 "collection"'  +4 "core"  +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler")) +4 "core"  +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X +30  + ."WCR"delay 3.8 seconds +382 "collection"'(% +3 "core" %nUU \  +3 "sampler").% +4 "core" %/ o\ n +2 #"WCR"Sensor limits: Intake max 108.6psia; Outlet max 103.3psia + .SSV.dial :spit + "sampler")% +128 "core"  +2 ."WCR"SS.seek 0ml + "sampler")/'ڀ +278 "core" ' + ."WCR"SSV.dial CBV +2 "sampler")1  +128 "core"  +2 ."WCR"CTV.dial :intake + "collection"'2  +75 "core"  +2 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "sampler")3  + "collection"', @ +7 "core" ? +8  + #"WCR"Allowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open +2 "sampler") +209 "collection"'% +3 "core" %n__\ \  +2 #"WCR"Intake @15.5psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X?\  +3 "sampler")0% +3 "core" %Q3^[ |\  +24 "collection"'% +3 "core" %n@@\  +3 "sampler")>% +3 "core" %Q3fe r\  +28 "collection"'=% +3 "core" %nCB \  +2 "sampler")@% +3 "core" %Q3qn s\  +33 "collection"'?% +3 "core" %nIG\ \  +2 "sampler")B% +3 "core" %Q3|z z\  +40 "collection"'C% +3 "core" %nLL\  +2 "sampler")D% +4 "core" %Q3 r\  +41 "collection"'A% +3 "core" %nPO\  +2 "sampler")G% +4 "core" %Q3 {\  +2 ."WCR"Intake.select :close + "sampler")0 +10 )F% +2 "core" %Q3 {\  +2 ."WCR"SSV.dial :exhaust +2 "sampler")H  +73 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +9 ."WCR"SS.seek 0ml +2 "sampler")E'ڀ +415 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 100.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default +2 "sampler")#.0X/\  +2 "sampler")g% +4 "core" %FY[ q\  +61 "collection"'i% +3 "core" %n\\Z(\  +2 "sampler")-% +4 "core" % t\ / + ."WCR"Intake.select :close +2 "sampler")0 +9 )9% +2 "core" % r\ / +2 ."WCR"SSV.dial :exhaust +2 "sampler")5  +71 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +9 ."WCR"SS.seek 0ml +2 "sampler")k'ڀ +937 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")h  +2 "collection"'l @ +5 "core" ? +64  +2 #"WCR"Allowing 130s for 25.0ml of remaining 75.0ml + .Intake.select :open + "sampler") +211 "collection"'o% +3 "core" %nab(\  +2 #"WCR"Intake @15.7psia, vacuum from 10.0 to 13.0psi + .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X% +3 "core" %n8\  +2 #"WCR"Intake @11.9psia, vacuum from 6.4 to 9.4psi +2 .SS.reconfigure :inhaling 1.76ml/s +2 "sampler")#.x0X +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'b  +87 "core"  +2 "collection"'N% +4 "core" %QS>\ + ."WCR"CSV.dial between air and CTV +2 "collection"'a ` +28 "core" a +3 ."WCR"CS.seek 7.355ml + "collection"'d'u +679 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 "collection"'f  +2 ."WCR"CSV.dial CTV +3 "collection"'g  +29 "core"  +44  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< 3b +3 ."WCR"CS.seek 0ml +2 "collection"'i'i +456 "Can"\ [3jɝ. +1474 "core" ' + ."WCR"CSV.dial :air +2 "collection"'- @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'9' +2443 "core" ' + "collection"'5% +4 "core" %\ +\ +F\ \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'R ` +28 "core" a +3 ."WCR"CS.seek 3.499ml + "collection"'l'C: +1565 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'h  + 'o  +14 "core"  +16  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< 3b +3 ."WCR"CS.seek 0ml +2 "collection"'k'i +444 "core" '/ 6 4D\ ݦ +2 ."WCR"CBV.dial :waste2b +2 "collection"'r  +29 "core"  +3 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'s'i +588 "core" ' +2 ."WCR"delay 1:00 +6002 .CTV.dial :air,avoiding: :intake +2 "collection"'u  +128 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 2:30 +2 .CSV.dial CSR + "collection"'v  +40 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'m'T +591 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'w' +1956 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'x @ +70 "core" ? +53 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'q  +84 "core"  +2 "collection"'% +3 "core" %\ YW5\  +3 ."WCR"CSV.dial between air and CTV +38 "collection"'z ` +62 "core" ^ +3 ."WCR"CS.seek 7.283ml + "collection"'{'' +699 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'~  +2 '|  +29 "core"  +99  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< 3b +3 ."WCR"CS.seek 0ml +2 "collection"''i +1909 "core" ' +2 ."WCR"CSV.dial :air +2 "collection"' @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'n' +2439 "core" ' +2 "collection"'p% +3 "core" % T T@\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'t ` +29 "core" a +2 ."WCR"CS.seek 4.596ml +2 "collection"''fI +1305 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  + '  +19 "core"  +13  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< 3b +3 ."WCR"CS.seek 0ml +2 "collection"''i +1222 "core" ' + ."WCR"CSV.dial :air +2 "collection"' @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"' ' +2443 "core" ' + "collection"' % +4 "core" % R S8\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +28 "core" a +3 ."WCR"CS.seek 4.602ml + "collection"''f +1312 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +2 "collection"'e  +27 "core"  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< 3b +3 ."WCR"CS.seek 0ml +2 "collection"''i +1220 "core" ' +2 ."WCR"CSV.dial :air +2 "collection"' @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"' ' +2431 "core" ' + "collection"'}% +4 "core" % O O>\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +28 "core" a +3 ."WCR"CS.seek 4.629ml + "collection"''g] +1296 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV + "collection"'  +27 "core"  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<< 3b +2 ."WCR"CS.seek 0ml +2 "collection"''i +1233 "core" ' +2 ."WCR"CSV.dial :air + "collection"' @ +42 "core" > +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.hold +2 "collection"'+ +3 "core" + +2 "collection"'j% +4 "core" %ӑ\ A\ A4\ +2 !to:ShallowSampler::Error: mesg"NPuck.from 2, :wcr reached only 23.5 of 35psi after pumping in 40ml of gas:@timestampu: Time 48,":bt[#"4/home/esp/esp2/utils/sampler.rb:351:in `pumpTo'"2/home/esp/esp2/utils/sampler.rb:347:in `loop'"4/home/esp/esp2/utils/sampler.rb:347:in `pumpTo'" MainThread.resume +3 #tResuming Thread (suspended since 20:05:30) +5 #Pumping wcr puck from tube 2 up to 35psi... +5 .CBV.dial SSV +3 "collection"'! @ +87 "core" @ +53 .tCBV.dial between CSV and waste2b +2 "collection"'"  +87 "core"  +2 "collection"'&% +4 "core" %ӑ 8 6H\ +2 .tCSV.dial between air and CTV +3 "collection"'' ` +28 "core" a +3 .tCS.reconfigure :fast +3 "collection"'#d @b +4 .tCS.seek 4.806ml +2 "collection"''m +1257 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +4 "collection"'  +29 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<< 3b +4 .tCS.seek 0ml +2 "collection"')'i +1282 "core" ' +2 .tCSV.dial :air +2 "collection"' @ +43 "core" ? +2 .tCS.reconfigure :fast +3 "collection"'#d @b +5 .tCS.seek 10ml + "collection"'' +2448 "core" ' +2 "collection"'% +3 "core" % * -a\ +3 .tCSV.dial between air and CTV +2 "collection"'$ ` +28 "core" b +3 .tCS.seek 4.873ml + "collection"'+'o$ +1240 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +3 "collection"'  +28 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<< 3b +4 .tCS.seek 0ml +2 "collection"'('i +1210 "core" 'y 7 3^\ +3 .tdelay 2:30 +4477 "Can" UMk_6 +10525 .tCBV.dial :waste2b +2 "collection"'.  +31 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +4 .tCS.seek 0ml +2 "collection"'%'i +172 "core" ' +2 .tdelay 1:00 +6003 .CTV.dial :air,avoiding: :intake +2 "collection"'*  +131 "core" +2 #tFix #2 of 2 (with RNAlater) for 2:30 + .CSV.dial CSR +3 "collection"'1  +42 "core"  +2 #tPulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +4 "collection"' +11 .tCS.seek 2ml +2 "collection"'2'T +594 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +12 .tCS.reconfigure :fast +2 "collection"'#d @b +4 .tCS.seek 10ml +3 "collection"',' +1961 "core" ' +2 #tPumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +3 "collection"'3 @ +71 "core" ? +52 .tCBV.dial between CSV and waste2b +2 "collection"'  +88 "core"  +2 "collection"'\ % +3 "core" %ZZ`\  +3 .tCSV.dial between air and CTV +2 "collection"'8 ` +57 "core" ^ +3 .tCS.seek 7.237ml +2 "collection"':' +711 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +49 .tCSV.dial CTV +3 "collection"';  +5 '/  +28 "core"  +97  +3 .tCS.reconfigure :pressurize +2 "collection"'# d@<< 3b +5 .tCS.seek 0ml + "collection"'0'i +1506 "core" ' ; 7f\ +3 .tdelay 2:30 +15002 .CBV.dial :waste2b +2 "collection"'  +31 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +5 .tCS.seek 0ml + "collection"'>'i +457 "core" ' +3 .tdelay 1:00 +6002 .CTV.dial :air,avoiding: :intake +2 "collection"'?  +126 "core" + "collection"'B& +4 "core" &\\cZWW\ O +2 #tStoring wcr puck in Collection Clamp to tube 1 + "manipulator"&C% +6 "core" %     +2 "storage"(D% +3 "core" % \ +2 "storage"(6. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 1 +2 "storage"(A(C +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (G& +3 "core" &F | \ +2 "manipulator"&F& +4 "core" &ӧ   k 8 +2 "manipulator"&H% +3 "core" %  0 * ^  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek 1 +2 "manipulator"&7( +162 "core" ( +2 "manipulator"&4& +3 "core" &   e  +3 "storage"(K& +4 "core" &F e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 450 counts +2 "manipulator"&L' +98 "core" ' + "storage"(M& +4 "core" &F "\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(I'r +278 "core" ' +2 "storage"(<- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +5 .tSE.seek :place + "storage"(O'1 +42 "core" ' +2 "manipulator"&E& +3 "core" &  \   +2 "manipulator"&=% +4 "core" %   w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&P' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +154 "core" ( +2 "manipulator"&S& +3 "core" &x% + P >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &Q& +3 "core" &x%  R >H +2 .tForearm.seek CC +2 "manipulator"&T'? +96 "core" ' +2 .tHand.close + "manipulator"&V/ +63 "core" / +3 .tCC.seek :open +2 "collection"'U( +452 "core" ( +2 "storage"(X& +3 "core" &E }\ +2 "storage"(Y& +3 "core" &E w\ +3 "manipulator"&Z& +4 "core" &ӭ   6 + "manipulator"&W% +4 "core" % + \  +2 .tForearm.seek :retract +2 "manipulator"&\\' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek 1 +2 "manipulator"&@( +166 "core" ( + "manipulator"&[& +4 "core" & \   +2 "storage"(_& +3 "core" &E Z\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +45 .tForearm.seek 1 +6 "manipulator"&c'8 +98 "core" ' +2 .tElbow.hold + "manipulator"&`, +5 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tHand.open + "manipulator"&b1 +63 "core" 1 +2 "manipulator"&N% +4 "core" % L   # +2 "storage"(a& +4 "core" &E U\ +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 1 + 320 counts + "manipulator"&^'x +15 "core" ' +2 "manipulator"&g& +4 "core" &   + "storage"(f& +5 "core" &E J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 450 counts +2 "manipulator"&d' +18 "core" ' + "storage"(-% +5 "core" %2 S\  +2 ."downElevator"SE.seek :down +4 "storage"(i' +99 (5% +2 "core" %C >\ U] +3 "manipulator"&R% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +5 #tStarting finalPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'h& +6 "core" &FE  + "manipulator"&o& +5 "core" &   + "manipulator"&l% +4 "core" %  \   +3 .tElbow.seek FlushPuck::Garage + "manipulator"&r(- +182 "core" ( +2 "manipulator"&k& +3 "core" &-    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &u& +4 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&v'w +97 "core" ' +2 .tHand.close + "manipulator"&s/ +61 "core" / +2 "manipulator"&m& +3 "core" &-   S +2 "manipulator"&x% +3 "core" % ϋ   C +3 .tForearm.seek :retract +2 "manipulator"&q' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek CC +2 "manipulator"&(ӂ +292 "core" ( +2 "manipulator"&z& +3 "core" &Ӓ"   <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +5 &w& +3 "core" &Ӓ#  <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC + "manipulator"&|'? +98 "core" ' +2 "manipulator"&~& +3 "core" &ӓ"   Q ;8 +2 "manipulator"&{% +5 "core" %5    +2 "collection"'& +3 "core" &FG  +3 "collection"'& +5 "core" &EF  +2 .tCC.seek :closed +2 "collection"'p(\\ +6 "core" &GFE  +6 &<FG@\ $e +9 &YyGCB\ 7 +10 &xDEC\ J +9 &UGFF\ K +9 &WFFD\ J +10 &EXHHH\ J +9 &ZFFC\ J +9 &XFGD\ J +10 &XFGG\ J +9 &NUGEG\ J +10 & WFGC\ J +9 &!YEGD\ J +9 &#XFGE\ J +10 &%UWGGF\ J +9 &'TEGD\ J +10 &(WGED\ J +9 &*YGFD\ J +9 &,]WGFE\ J +10 &.WHHE\ J +9 &/TDHB\ J +9 &1WGED\ J +10 &3dWFEC\ K +9 &5'WGEE\ J +9 &6XEGE\ K +10 &8XGFB\ J +9 &:mZGG<\ J +10 &<.XGFA\ K +9 &=\\HJF\ J +9 &?\\JID\ J +10 &AuYGH<\ J +9 &C5`JJ8\ K +9 &DlWQC\ M +10 &F`^?\ P +9 &H^\\^D\ U +10 &J__:\ V +9 &K]\\9\ W +9 &M\\^;\ X +10 &O_\\^C\ W +9 &Q!_^;\ W +9 &R[_>\ X +10 &T]]D\ Y +9 &Va_\\<\ Y +10 &X]_;\ [ +9 &Ya]>\ [ +9 &[^_6\ I +10 &\\3\\`;\ 5 +9 &\\n^]4\ Q +2 ( +2 "collection"'& +53 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + "collection"'t& +5 "core" &\\j^_8\ Q +2 &\\j^^8\ Q + &\\j]^8\ Q + &\\j`_-\ Q + &\\j`]-\ Q + &\\j^_\ \ Q +2 .tHand.open + "manipulator"&n1 +55 "core" 1 + "manipulator"&% +4 "core" % ]   O ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'& +6 "core" &\\j^]\ Q +2 "collection"'% +3 "core" %j^_\ +3 .tCSV.dial CSR +2 "collection"'  +70 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +4 "collection"' +11 .tCS.seek 5ml +2 "collection"' 's5 +1357 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +11 '% +3 "core" %s6^^/\  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +4 .tCS.seek 7.5ml +2 "collection"' ' +672 "core" ' +2 .tCSV.dial :waste +2 "collection"'e +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +4 .tCS.seek 0ml +2 "collection"''i +1996 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'& +6 "core" &\\j^_ \ Q +2 "collection"'% +3 "core" %k_] \ +2 .tCSV.dial :flush +2 "collection"'}  +41 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +4 .tCS.seek 5ml +2 "collection"''s5 +1292 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +43 "core" A + "collection"' % +4 "core" %s3__5\ +3 .tCS.seek 7ml + "collection"'' +548 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'  +4 'j  +38 "core"  +89  +2 .tCBV.dial :waste2b +2 "collection"'  +5 "core"  +2 .tCS.seek 0ml +2 "collection"'!'i +1652 "core" ' + #tDisinfecting external Intake with kill + "collection"'"& +5 "core" &\\jee \ Q +3 "collection"'&% +4 "core" %fef5\ + .tCSV.dial CSR +2 "collection"''  +42 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +3 "collection"' +12 .tCS.seek 8ml + "collection"'' +1962 "Can" T[k= +16 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +11 .tCS.seek 10ml +2 "collection"'' +550 "core" ' +3 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +4 "collection"' +3 '  +45 "core"  +65 ~ +2 .tCTV.dial :intake + "collection"')  +76 "core" + .tIntake.select :open + "sampler") +12 .tCS.seek 2ml + "collection"''T +1878 "core" ' +2 .tIntake.select :close + "sampler")0 +11 .tCTV.dial :air + "collection"'$  +73 "core" ~ +2 .tCS.reconfigure :default +2 "collection"'#P d@b +4 .tCS.seek 0ml +2 "collection"''i +596 "core" ' +2 .tCSV.dial CSR + "collection"'  +97 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +3 "collection"' +11 .tCS.seek 5ml +2 "collection"'+'s5 +1356 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +11 .tCS.seek 10ml + "collection"'.' +1369 "core" ' +2 .tCSV.dial CBV +45 "collection"'( +99 "core" +2 .tCS.seek 0ml +3 "collection"'*'i +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&1& +6 "core" & \  , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +2 "manipulator"&%(ӂ +34 "core" ( + "manipulator"&2& +5 "core" & \  " 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +5 &3& +2 "core" &Ӏ  G 7 +3 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&\ / +55 "core" / +2 .tCC.seek :open +2 "collection"'8( +450 "core" ( +2 "manipulator"&,& +4 "core" &   "| + "manipulator"&/% +4 "core" % (  +2 .tForearm.seek :retract +2 "manipulator"&;' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek :garage + "manipulator"&:(- +267 "core" ( + "manipulator"&& +4 "core" &-  \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &0& +3 "core" &-  \\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage +2 "manipulator"&?'w +93 "core" ' + .tHand.open + "manipulator"&B1 +57 "core" 1 +2 "manipulator"&C% +3 "core" % π  \  9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&D' +94 "core" ' + #tCompleted [initialPurge; standAloneWCR([nil,100], $da)] begun 19:53:36 +7 #Asleep after completing standAloneWCR_010224 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCTD data unavailable\\nCan@20:22:50, 26% flow, 21.5C, 23% humidity, 15.0psia, 13.808V, 0.429A, 8.471Ah, 5.93W\\nSampled 100.0ml",Subject: "Asleep after completing standAloneWCR_010224 assays" +421 #"uploadLog"upsync +8 #mEXIT +2 #"espclient"Session Ended @1704831888.86UTC @1704832035.91UTC = =tMAIN =mMAIN_scheduler @UTC1704832037.58 #"core_reset"Sent BREAK +2 #t@49720 sendCRC with ifg=0x20, ie=0x7F #@51555 sendCRC with ifg=0x08, ie=0x5F + #@42232 idle with ifg=0x84, ie=0x75 + #@42905 select with ifg=0x10, ie=0xF5 + #@43540 receive with ifg=0x10, ie=0xFD #@44174 receive with ifg=0x10, ie=0xFD + #@44808 receive with ifg=0x10, ie=0xFD #@45136 receive with ifg=0x80, ie=0xFD + #@65225 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +361 "Can" =l9/ +  =l9/ + #tPolling Can every 10:00 +2 #Cleanly exited at 20:24:48UTC09-Jan-24 +593 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %eHH/  +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڂ r\  +2 .tSS.configure :default +3 "sampler")#.0X access 1 +2 "storage"(2% +3 "core" % H\  +2 "manipulator"&3% +4 "core" %    +2 "manipulator"&4& +4 "core" &- V \\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<- +1293 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &<+ 0 5 N\ +7028 #t-> access 2 +3 "storage"(7% +2 "core" % b\  +2 "manipulator"&8% +4 "core" %    +2 "manipulator"&9& +3 "core" &-  \\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(:(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &K t\  +498 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%<& +3 "core" & \  +2 .tHand.open +2 "manipulator"&=1 +15 "core" 1 + "manipulator"&>& +4 "core" &-   \\ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(- +3 "core" ( +2 "manipulator"&@& +4 "core" &-   \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &-  \\ +3 .tForearm.seek :garage + "manipulator"&B'w +93 "core" ' +2 .tHand.close + "manipulator"&C/ +55 "core" / +2 "manipulator"&D& +3 "core" &-   \\ +2 "manipulator"&E% +4 "core" % f  +2 .tForearm.seek :retract +2 "manipulator"&F' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&G( +116 "core" ( +2 "manipulator"&H& +3 "core" & \   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&J' +94 "core" ' +2 "manipulator"&K& +3 "core" &     +2 "manipulator"&L% +4 "core" %  +2 "processing"%M& +3 "core" &\  +3 "processing"%N& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%O(^ +5 "core" &\  +6 &G\ %h +9 &}X\ 9 +9 &\ M +10 &^\ M +9 &^_\ M +10 & ]\ M +9 &`\ M +9 &c\ N +10 &ec\ N +9 &(`\ M +9 &a\ M +10 &!c\ M +9 &#me\ N +10 &%/a\ N +9 &&d\ M +9 &(b\ M +10 &*ud\ N +9 &,7c\ N +9 &-b\ M +10 &/d\ N +9 &1}e\ N +10 &3?b\ N +9 &5b\ M +9 &6c\ N +10 &8c\ N +9 &:G_\ N +9 &<\ b\ M +10 &=b\ M +9 &?c\ N +10 &ANg\ N +9 &C m\ O +9 &Dr\ P +10 &F~\ P +9 &HH\ S +9 &J\ \ S +10 &K\ S +9 &M\ S +9 &ON\ S +10 &Q\ T +9 &R\ T +10 &T\ T +9 &VU\ T +9 &X\ T +10 &Y\ T +9 &[\ T +9 &]Z\ C +10 &^E|\ ] +9 &^?\ 5 +6 ( + "processing"%N& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.49 + "processing"%P& +2 "core" &^&\ 5 +2 &^&\ 5 +2 .tHand.open +2 "manipulator"&Q1 +55 "core" 1 + "manipulator"&R% +5 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +91 "core" ' +47998 "Can" I l0 +60001  Ime0 +60002  Im: +6514 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&T& +3 "core" &    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&U( +45 "core" ( + "manipulator"&V& +5 "core" &   E  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &   !  +3 .tForearm.seek PC + "manipulator"&X' +92 "core" ' + .tHand.close +2 "manipulator"&Y/ +64 "core" / +2 .tPC.seek :open + "processing"%Z( +457 "core" ( + "manipulator"&[& +4 "core" &   +2 "manipulator"&\\% +3 "core" %    +3 .tForearm.seek :retract +2 "manipulator"&]' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&^(- +130 "core" ( +2 "manipulator"&_& +4 "core" &-    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &-  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&a'w +92 "core" ' +2 .tHand.open + "manipulator"&b1 +61 "core" 1 +2 "manipulator"&c% +3 "core" % v     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +96 "core" ' +18367 #t-> exit +6 #mEXIT @1704834104.90UTC @1704834128.12UTC = =tMAIN =mMAIN_scheduler @UTC1704834129.81 #"core_reset"Sent BREAK +2 #t@22434 sendCRC with ifg=0x20, ie=0x7F + #@24269 sendCRC with ifg=0x08, ie=0x5F #@30388 idle with ifg=0x84, ie=0x75 + #@31059 select with ifg=0x10, ie=0xF5 + #@31694 receive with ifg=0x10, ie=0xFD + #@32328 receive with ifg=0x10, ie=0xFD #@32962 receive with ifg=0x10, ie=0xFD + #@33290 receive with ifg=0x80, ie=0xFD #@22842 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +284 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +371 "Can" >;nE+ +  >;nE+ + #tPolling Can every 10:00 +9680 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %eRP  +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڂ t\  +2 .tSS.configure :default +3 "sampler")#.0X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-  > +2 .tForearm.seek :garage +2 "manipulator"&'w +92 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 "manipulator"&& +4 "core" &-    > + "manipulator"&% +4 "core" % g   +2 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&!(ӂ +284 "core" ( +2 "manipulator"&"& +4 "core" &ӄ&   ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &ӄ&   ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&$'? +90 "core" ' +2 "manipulator"&%& +4 "core" &Ӆ%    >O +2 "manipulator"&&% +4 "core" %G   f J +2 "collection"''& +4 "core" &RS\ +2 "collection"'(& +5 "core" &QQ[\ +2 .tCC.seek :closed +2 "collection"')(\\ +3 "core" &RQ[\ +8 &<RS_\ %g +9 &XxQQ\\\ 7 +10 &xRRY\ L +9 &TSQW\ K +10 &RRQV\ K +9 &CTQSR\ K +9 &XQSV\ K +10 &RTRK\ K +9 &TPRL\ K +9 &KWQRH\ K +10 & WSRO\ K +9 &!SQSH\ K +10 &#SQSQ\ K +9 &%SWRTR\ K +9 &'WRPN\ K +10 &(RQTR\ K +9 &*TQRK\ K +9 &,ZUQQO\ L +10 &.RRQL\ K +9 &/RPSJ\ L +10 &1WQRM\ K +9 &3bVTQH\ L +9 &5$UPRK\ L +10 &6XPPI\ L +9 &8WPQI\ L +10 &:jTQRL\ L +9 &<-SSRL\ K +9 &=UPRK\ K +10 &?TQTK\ K +9 &ArYTTN\ L +9 &C2_WUN\ L +10 &Dn^YQ\ N +9 &FffO\ S +9 &HVegN\ X +10 &JfhN\ X +9 &KfgM\ X +10 &MhgK\ Z +9 &OYdgR\ Z +9 &QhhN\ Y +10 &RggO\ Z +9 &TghS\ Z +9 &V\\hiO\ [ +10 &XdhS\ ] +9 &YigS\ ] +10 &[gjN\ I +9 &\\@igO\ &u +9 &\\igM\ #g +3 ( + "collection"'(& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.46 +2 "collection"'*& +3 "core" &\\giG\ #g +2 .tHand.open + "manipulator"&+1 +58 "core" 1 +2 "manipulator"&,% +3 "core" % G $  o J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-' +96 "core" ' +2 #tPurging external Intake + "collection"'.& +5 "core" &\\hh\ #g + "collection"'/% +4 "core" %ehgR\ + .tCSV.dial :flush +2 "collection"'0  +69 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'1' +2486 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'2 + '3  +5 "core"  +64  +2 .tCTV.dial :intake + "collection"'4  +75 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'5'i +2349 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'6  +74 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&7& +4 "core" &ӥ - . \\ :/ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&8(ӂ +16 "core" ( + "manipulator"&9& +3 "core" &ӈ $ , ) . +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &ӈ , 1 5 . +3 .tForearm.seek CC + "manipulator"&;'? +96 "core" ' + .tHand.close + "manipulator"&& +5 "core" &Ӑ   - + "manipulator"&?% +4 "core" % S  = +2 .tForearm.seek :retract +2 "manipulator"&@' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&A(- +290 "core" ( + "manipulator"&B& +4 "core" &- \    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &-    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&D'w +101 "core" ' + .tHand.open +2 "manipulator"&E1 +58 "core" 1 + "manipulator"&F% +4 "core" % |   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +95 "core" ' +849 #t-> exit +6 #mEXIT @1704834331.20UTC @1704834342.24UTC = =tMAIN =mMAIN_scheduler @UTC1704834343.95 #"core_reset"Sent BREAK +2 #t@6182 sendCRC with ifg=0x20, ie=0x7F + #@8017 sendCRC with ifg=0x08, ie=0x5F #@26226 idle with ifg=0x84, ie=0x75 + #@26897 select with ifg=0x10, ie=0xF5 + #@27532 receive with ifg=0x10, ie=0xFD #@28166 receive with ifg=0x10, ie=0xFD + #@28800 receive with ifg=0x10, ie=0xFD + #@29128 receive with ifg=0x80, ie=0xFD #@59256 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +270 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can" B7nz( +  B7nz( + #tPolling Can every 10:00 + #Cleanly exited at 21:05:31UTC09-Jan-24 +5 #Loading /home/esp/esp2local/mission/standAloneWCR_010224.rb mission +6 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_010224 w/pucks in tube 2\\n{2 => 1}\\nCTD data unavailable\\nCan@21:05:50, 25% flow, 21.2C, 23% humidity, 15.0psia, 13.803V, 0.321A, 8.713Ah, 4.42W",Subject: "standAloneWCR_010224 begun" +4 #tAsleep til + 00:00:05 +5 #Continuing at 21:05 +2 "Can" B7nz, +21 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +286 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,100], $da)\\n/home/esp/esp2local/mission/standAloneWCR_010224.rb:10\\n{2 => 1}\\nCTD data unavailable\\nCan@21:05:50, 26% flow, 21.2C, 22% humidity, 15.0psia, 13.808V, 0.321A, 8.713Ah, 4.43W",Subject: "Asleep until 21:05" +135 #"uploadLog"upsync +37 "Can" 9n{) +4 #tPowering core bus +257 #"uploadLog"upsync +287 .tGate.power :raw,:ON + "sampler") +14 ) +3 "core"  +2 "collection"' +3 ' +36 "core"  +6 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1}\\nCTD data unavailable\\nCan@21:06:38, 25% flow, 21.2C, 23% humidity, 15.0psia, 13.773V, 0.290A, 8.718Ah, 4.00W",Subject: "Started standAloneWCR_010224 phase initialPurge; standAloneWCR([nil,100], $da)" +3 #tPhase [initialPurge; standAloneWCR([nil,100], $da)] +3 #Starting initialPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &RUD  +3 .tHand.open + "manipulator"&"1 +64 "core" 1 +2 "manipulator"&#& +4 "core" &    +2 "manipulator"&$% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(- +179 "core" ( + "manipulator"&&& +5 "core" &-  , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &'& +3 "core" &-  , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +7 "manipulator"&('w +101 "core" ' +2 .tHand.close + "manipulator"&)/ +30 #"uploadLog"upsync +23 "core" / +2 "manipulator"&*& +3 "core" &-    , +3 "manipulator"&+% +4 "core" % ~ \  +2 .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +278 "core" ( +2 "manipulator"&.& +3 "core" &~'   @Z +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &~(  @Z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'? +95 "core" ' +2 "manipulator"&1& +4 "core" &ӌ%   6 >L +2 "manipulator"&2% +4 "core" %? Q ! +2 "collection"'3& +3 "core" &STL +3 "collection"'4& +5 "core" &RQg +3 .tCC.seek :closed + "collection"'5(\\ +4 "core" &RSj +8 &CQSg\ $e +10 &nX{SSk\ 7 +9 &vSSd\ J +9 &SSTl\ K +10 &OWTQl\ K +9 &TSTl\ K +9 &TQRh\ J +10 &TRSo\ K +9 &XSTRi\ K +10 &STSm\ K +9 &WRRg\ K +9 &!TQUo\ K +10 &#`TRQk\ K +9 &%"SPSj\ K +9 &&TRSo\ K +10 &(STRb\ K +9 &*gWTTd\ K +9 &,)SPSl\ K +10 &-TRTj\ K +9 &/USSn\ K +10 &1pTSSo\ K +9 &32TTSg\ K +9 &4TTTk\ K +10 &6TSTn\ K +9 &8wTRTg\ K +9 &::RQRj\ K +10 &;UTRg\ K +9 &=XUTh\ K +10 &?URTk\ K +9 &AAUTUg\ K +9 &C[\\Zh\ L +10 &Dh`ah\ M +9 &Fvkgi\ Q +9 &H,ikk\ U +10 &Ihih\ W +9 &Kjjd\ X +10 &Mkijm\ X +9 &O+iji\ X +9 &Pkhj\ X +10 &Rjhk\ Y +9 &Tlkik\ Z +10 &V+jhh\ [\ +9 &Wlli\ [ +9 &Yikg\ \\ +10 &[kjli\ M +9 &\\>kji\ / +9 &\\lki\ [ +6 ( +2 "collection"'4& +3 "core" &\\~kkg\ [ +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + "collection"'6& +4 "core" &\\~kki\ [ +2 .tHand.open + "manipulator"&71 +64 "core" 1 + "manipulator"&8% +4 "core" % ?   L ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &\\~lmK\ [ +2 "collection"';% +3 "core" %kmlh\ +2 .tCSV.dial CSR +2 "collection"'<  +123 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='s5 +1377 "core" ' + .tdelay 5 seconds +539 .CSR.select :air +8 "collection"' +9 '>% +3 "core" %s9kjL\ +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.501ml + "collection"'?' +671 "core" ' +2 .tCSV.dial :waste + "collection"'@ +125 "core" +3 .tCS.reconfigure :default + "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'A'i +1998 "core" ' + #tPurging external Intake + "collection"'B& +5 "core" &\\}ij,\ [ + "collection"'C% +4 "core" %ikj%\ +2 .tCSV.dial :flush + "collection"'D  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' +2448 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV + "collection"'F +2 'G  +5 "core"  +64 ~ + .tCTV.dial :intake +2 "collection"'H  +70 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I'i +2364 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +72 "core" +2 #tFlushing upper manifold + "collection"'K& +3 "core" &\\}rrE\ [ +3 "collection"'L% +4 "core" %iqqK\  + .tCSV.dial :flush +2 "collection"'M  +70 "core"  +3 .tCS.seek 5ml + "collection"'N's5 +1287 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'O @ +39 "core" B +2 "collection"'P% +3 "core" %s8mmG\ +3 .tCS.seek 7ml + "collection"'Q'# +555 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV + "collection"'R +2 'S  +6 "core"  +92 ~ +2 .tCTV.dial :air +2 .CS.seek 0ml + "collection"'T'i +1648 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'U'3J +804 "core" ' + .tCSV.dial :waste +2 "collection"'V +42 "core" +2 .tCS.seek 0ml +2 "collection"'W'i +770 "core" ' + "collection"'X& +4 "core" &\\{jl!\ [ +2 "collection"'Y% +4 "core" %fkkF\ + .tCSV.dial :flush +2 "collection"'Z  +40 "core"  +3 .tCS.seek 3ml + "collection"'['3J +801 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'\\ @ +39 "core" A +2 "collection"']% +3 "core" %3HikL\  +3 .tCS.seek 5ml + "collection"'^'s3 +558 "core" ' +2 .tCSV.dial :air + "collection"'_ @ +5 "core" A +2 .tCS.seek 0ml +2 "collection"'`'i +1204 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'a'3J +819 "core" ' +2 .tCSV.dial :waste + "collection"'b +70 "core" +3 .tCS.seek 0ml + "collection"'c'i +773 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +3 "core" &Ӧ!  ;2 +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&e(ӂ +23 "core" ( + "manipulator"&f& +4 "core" &x   < # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &x   = # +3 .tForearm.seek CC + "manipulator"&h'? +100 "core" ' +2 .tHand.close + "manipulator"&i/ +55 "core" / +2 .tCC.seek :open +2 "collection"'j( +448 "core" ( + "manipulator"&k& +4 "core" &x  $ # +2 "manipulator"&l% +3 "core" % /   +38 .tForearm.seek :retract +8 "manipulator"&m' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&n(- +284 "core" ( +2 "manipulator"&o& +3 "core" &-  \  +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &p& +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&q'w +98 "core" ' +2 .tHand.open + "manipulator"&r1 +53 "core" 1 +2 "manipulator"&s% +3 "core" %     +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +96 "core" ' + #tStarting stand-alone da WCR + #da wcr sampling at most 100ml +3 #Whole Cell Archive sampling 100ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 21:10:56UTC09-Jan-24\\n{2 => 1}\\nCTD data unavailable\\nCan@21:06:38, 25% flow, 21.2C, 23% humidity, 15.0psia, 13.773V, 0.290A, 8.718Ah, 4.00W",Subject: "da wcr sampling at most 100ml" +4 #"WCR"Loading wcr puck from tube 2 into Collection Clamp +2 "collection"'u& +4 "core" &RR2  +3 "manipulator"&v% +4 "core" %    + "storage"(w% +4 "core" % \ $ +2 "storage"(x. +3 "core" .(,} +4 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +2 "storage"(y(  +408 #"uploadLog"upsync +265 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &  f\ +3 "manipulator"&{& +3 "core" &-   +3 "manipulator"&|% +3 "core" %    +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&}( +176 "core" ( +3 "manipulator"&~& +3 "core" & \  D +3 "storage"(& +4 "core" &  \ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' +2 "storage"(& +3 "core" &  n\ +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('r +301 "core" ' + "storage"(- +4 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +\ +2 "manipulator"&& +3 "core" &  D +3 ."WCR"Elbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  D +2 "storage"( & +5 "core" & \ +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +20 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close +2 "manipulator"& / +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +6 "core" &  D +2 "manipulator"&% +5 "core" % \  +41 ."WCR"Forearm.seek :retract +7 "manipulator"&' +96 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&(ӂ +113 "core" ' + ."downElevator"SE.stop + "storage"(5 +40 "core" ( +2 "manipulator"& & +3 "core" &ӗ"  ;6 +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӗ!   \ ;6 +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'? +92 "core" ' +3 "manipulator"&& +3 "core" &Ә"    ;5 +3 "manipulator"&% +3 "core" %8 \  < S +3 "collection"'\ & +3 "core" &SR3  +3 "collection"'& +5 "core" &QS0  +3 ."WCR"CC.seek :closed + "collection"'(\\ +5 "core" &QTZ  +7 &;STY\ %g +9 &YwSQQ\ 7 +9 &\ vRSO\ K +10 &SRSQ\ K +9 &USSI\ J +9 &PRUUN\ J +10 &XTSD\ J +9 &UUT?\ J +10 &RUSC\ J +9 &WUTTE\ K +9 & USSF\ J +10 &!XTSH\ J +9 &#VSUF\ K +9 &%`UVVO\ J +10 &'"WTTH\ J +9 &(USS@\ J +10 &*RRTB\ J +9 &,gTRS>\ K +9 &.*URR?\ J +10 &/XTUF\ J +9 &1VTTE\ K +10 &3oUSRA\ K +9 &51VTT?\ K +9 &6WTT9\ K +10 &8VSTF\ K +9 &:wUSSB\ K +9 &<9VUT7\ K +10 &=XTU:\ J +9 &?YTT7\ J +9 &AZTV5\ K +10 &C?_VU5\ K +9 &DgYV2\ L +10 &Fv`\\2\ N +9 &Hrdd7\ R +9 &J)hh8\ V +10 &Kfg3\ V +9 &Mgf<\ W +9 &Ojhh4\ W +10 &Q*hh3\ X +9 &Rgh4\ Y +10 &Tgj6\ Y +9 &Vmif9\ Y +9 &X-hh9\ Z +10 &Yih;\ Z +9 &[ij0\ H +9 &\\1ii/\ / +10 &\\kgl5\ Q +2 ( +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + .Hand.open + "manipulator"&!1 +63 "core" 1 + "manipulator"&"% +5 "core" % 8    S +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&#' +93 "core" ' +2 #"WCR"collectSample 100ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")$+ +4 "core" + + "sampler")&% +3 "core" %چ f\ @ +2 "collection"''& +3 "core" &\\kih'\ Q +4 "Can" Rn. + #"WCR"Calibrating pressure and temperature sensors +4 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 "sampler") +4 "core" +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X% +3 "core" %bdf#\ +2 "sampler")=% +5 "core" %Q i\ _ +31 "collection"'@% +3 "core" %bgf\ +2 "sampler")?% +4 "core" %Q k\ _ +36 "collection"'B% +3 "core" %bll+\ +2 "sampler")C% +4 "core" %Q v\ _ +41 "collection"'D% +3 "core" %bmo\ +2 "sampler")A% +4 "core" %Q w\ _ +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )G% +2 "core" %Q |\ _ +2 ."WCR"SSV.dial :exhaust +2 "sampler")F  +73 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")H'ڀ +409 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampling 100.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X' +460 "core" ' +3 #"WCR"Stroke completed -- waiting for pressure to equalize ... + .SS.reconfigure :exhale +2 "sampler")#.0X\ +2 "sampler")K% +3 "core" %E v\  +37 "collection"'L% +3 "core" %bAA(\ +2 "sampler")M% +3 "core" %E o\  +42 "collection"'H% +3 "core" %bDF\ +2 "sampler")I% +4 "core" %E k\  +47 "collection"'E% +3 "core" %bML\ +2 "sampler")N% +4 "core" %E f\  +53 "collection"'S% +3 "core" %bUV\ +2 "sampler")R% +3 "core" %E@? u\  +62 "collection"'Q% +2 "core" %bii\ +3 "sampler")T% +3 "core" %  e\ \ Q +69 "collection"'V% +3 "core" %bwx"\ +2 "sampler")U% +4 "core" %  u\ \ Q +2 ."WCR"Intake.select :close + "sampler")0 +10 )X% +3 "core" %  j\ \ Q +2 ."WCR"SSV.dial :exhaust +39 "sampler")Y  +79 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +9 ."WCR"SS.seek 0ml +2 "sampler")Z'ڀ +875 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampled 100.0ml +2 #Drying puck before fixing for 5:00 + .CBV.dial :waste2b + "collection"'W  +72 "core"  +2 ."WCR"delay 1:00 +6003 .CSV.dial :air + "collection"'\\ @ +70 "core" A +3 ."WCR"CS.seek 10ml + "collection"']' +2451 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'[ @ +73 "core" > +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'_  +87 "core"  +2 "collection"'^% +4 "core" %ii\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'O ` +38 "core" ^ +3 ."WCR"CS.seek 7.293ml + "collection"'`' +698 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'b  +2 'a  +32 "core"  +39  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< Fb +3 ."WCR"CS.seek 0ml +2 "collection"'d'i +23 "Can"\ \\o7( +1678 "core" ' K I\ +3 ."WCR"CBV.dial :waste2b +2 "collection"'f  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'g'i +295 "core" ' +2 ."WCR"delay 1:00 +6002 .CTV.dial :air,avoiding: :intake +2 "collection"'i  +128 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 2:30 +2 .CSV.dial CSR + "collection"'-  +40 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'P'T +588 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'5' +1962 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +2 "collection"'k @ +71 "core" > +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'9  +87 "core"  + "collection"'o% +4 "core" %kk#\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'p ` +56 "core" ^ +3 ."WCR"CS.seek 7.26ml + "collection"'e'l +704 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'r  +2 's  +31 "core"  +97  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< Fb +3 ."WCR"CS.seek 0ml +2 "collection"'u'i +1432 "core" ' L I)\ ڧ +3 ."WCR"delay 2:30 +15002 .CBV.dial :waste2b +2 "collection"'v  +29 "core"  +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +2 ."WCR"CS.seek 0ml +2 "collection"'w'i +548 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'x  +126 "core" +3 #"WCR"Fix #2 of 2 (with RNAlater) for 2:30 + .CSV.dial CSR + "collection"'m  +52 "core"  + #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +49 ."WCR"CS.seek 2ml +2 "collection"'q'T +593 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'' +1971 "core" ' + #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +2 "collection"'z @ +71 "core" ? +53 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'{  +86 "core"  +2 "collection"'|% +4 "core" %ll#\  + ."WCR"CSV.dial between air and CTV +2 "collection"'~ ` +55 "core" ^ +2 ."WCR"CS.seek 7.243ml +2 "collection"'l' +702 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  +2 '  +31 "core"  +97  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< Fb +3 ."WCR"CS.seek 0ml +2 "collection"'n'i +1467 "core" ' M J+\ +2 ."WCR"delay 2:30 +15003 .CBV.dial :waste2b + "collection"'t  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"''i +519 "core" ' +2 ."WCR"delay 1:00 +3058 "Can"\ Uo79 +2945 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'  +126 "core" + "collection"'& +4 "core" &\\ili;\ Q +2 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +2 "manipulator"&% +3 "core" %    +2 "storage"(% +4 "core" % N ]\  +2 "storage"( . +3 "core" .(  +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 + "storage"( (C +361 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &D > >\ +3 "manipulator"&h& +4 "core" &ӧ   9 9& + "manipulator"&}% +4 "core" %    +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 1 +2 "manipulator"&( +163 "core" ( + "manipulator"&& +3 "core" &   \\  +3 "storage"(& +4 "core" &D H H \ \ +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +95 "core" ' +2 "storage"(& +3 "core" &D P A T\ +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"('r +275 "core" ' +2 "storage"(\ - +3 "core" -'r +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."WCR"SE.seek :place +2 "storage"('1 +41 "core" ' +2 "manipulator"&& +3 "core" &   +2 "manipulator"&% +5 "core" %  ~ +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&j' +90 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&!(ӂ +154 "core" ( + "manipulator"&"& +3 "core" &}%   ?Q +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &}% # ?Q +46 ."WCR"Forearm.seek CC +4 "manipulator"&''? +92 "core" ' +2 ."WCR"Hand.close + "manipulator"&/ +56 "core" / +4 ."WCR"CC.seek :open + "collection"'( +449 "core" ( +2 "storage"(& +4 "core" &D m m ,\ +2 "storage"(& +3 "core" &D ` \\ 0\ +2 "manipulator"&& +4 "core" &Ӹ   7 +2 "manipulator"&$% +4 "core" % H   +2 ."WCR"Forearm.seek :retract +2 "manipulator"&+' +96 "core" ' +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&*( +164 "core" ( +2 "manipulator"&& +4 "core" &   } +2 "storage"((& +3 "core" &D v y M\ +2 ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 + "manipulator"&.'8 +98 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&), +3 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&%1 +56 "core" 1 +2 "manipulator"&1% +4 "core" % :    +2 "storage"(3& +3 "core" &D u y \ +2 ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 302 counts + "manipulator"&2'f +14 "core" ' + "manipulator"&,& +4 "core" & C } +2 "storage"(/& +4 "core" &D \ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +15 "core" ' + "storage"(8% +3 "core" %; \ +4 ."downElevator"SE.seek :down +3 "storage"(:' +98 (7% +4 "core" %t> _ l \ U] +2 "manipulator"&<% +3 "core" %  +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&0' +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tStarting finalPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &UUS\ +2 "manipulator"&;& +4 "core" &  } +2 "manipulator"&4% +4 "core" %  \   +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&@(- +167 "core" ( +2 "manipulator"&?& +3 "core" &-   Z +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &B& +3 "core" &-  Z +2 .tForearm.seek :garage +2 "manipulator"&C'w +93 "core" ' + .tHand.close + "manipulator"& / +61 "core" / +2 "manipulator"&D& +4 "core" &-   Z +2 "manipulator"&A% +4 "core" % |  , +2 .tForearm.seek :retract + "manipulator"&G' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&F(ӂ +285 "core" ( + "manipulator"&6& +4 "core" &ӓ    :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +41 "core" &ӓ   :/ +9 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&K'? +99 "core" ' + "manipulator"&L& +5 "core" &Ӕ   % :. +2 "manipulator"&M% +4 "core" %C   %  +2 "collection"'H& +4 "core" &WV8\ +2 "collection"'I& +5 "core" &YV`\ +3 .tCC.seek :closed + "collection"'>(\\ +3 "core" &WUa\ +9 &;UVb\ %f +9 &Y{XVb\ 7 +9 &wWVa\ K +10 &RWWd\ J +9 &RXXj\ J +9 &IUYXh\ J +10 & VXWd\ K +9 &UXWh\ K +10 &XYWd\ J +9 &PYWYd\ J +9 & XXWc\ J +10 &!YWVc\ J +9 &#TXXe\ J +9 &%XRYWb\ J +10 &'TWXd\ J +9 &(TXWa\ J +10 &*TVWe\ J +9 &,`TWVe\ J +9 &."SVWb\ J +10 &/TVVd\ J +9 &1TXXi\ J +9 &3hRXWb\ J +10 &5+UYVj\ J +14 &6WWVd\ K +5 &8TWXf\ J +11 &:oUXYd\ K +7 &<2YXYd\ J +10 &=ZVXk\ J +9 &?VXWd\ J +9 &AxYZYd\ J +10 &C8[[Xi\ K +9 &Dk^`c\ M +10 &Fmib\ P +9 &H^ppi\ V +9 &Jond\ X +10 &Knna\ X +9 &Mooc\ X +9 &O^moc\ Y +10 &Qpof\ Y +9 &Rong\ [\ +10 &Tpon\ Z +9 &V_qpl\ [\ +9 &Xoom\ \\ +10 &Ynpi\ ] +9 &[oog\ J +9 &\\0ro`\ : +10 &\\opqc\ Q +5 ( +2 "collection"'I& +4 "core" &\\goqh\ Q +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 + "collection"'E& +4 "core" &\\horC\ Q +2 .tHand.open + "manipulator"&N1 +61 "core" 1 +2 "manipulator"&S% +3 "core" % C  &  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +97 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'Q& +4 "core" &\\hqql\ Q +2 "collection"'T% +3 "core" %hqpB\  +2 .tCSV.dial CSR +2 "collection"'V  +51 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'U's5 +1370 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'X% +3 "core" %s?ooC\  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.501ml +2 "collection"'Y'% +671 "core" ' + .tCSV.dial :waste +2 "collection"'= +123 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'W'i +2016 "core" ' + #tFlushing lower manifold's waste2b port +2 "collection"'\\& +4 "core" &\\goqe\ Q + "collection"'c% +4 "core" %josB\  +2 .tCSV.dial :flush + "collection"'[  +43 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'_'s5 +1280 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'^ @ +40 "core" B + "collection"'O% +4 "core" %s2qpi\  +2 .tCS.seek 7ml +2 "collection"']' +558 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV + "collection"'a  +2 'b  +40 "core"  +89  +2 .tCBV.dial :waste2b +2 .CS.seek 0ml + "collection"'`'i +1674 "core" ' + #tDisinfecting external Intake with kill + "collection"'f& +4 "core" &\\etxB\ Q +2 "collection"'d% +3 "core" %iwwD\ +2 .tCSV.dial CSR +2 "collection"'i  +39 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill + "collection"' +10 .tCS.seek 8ml + "collection"'-' +1987 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'g' +546 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'P + 'k  +51 "core"  +49 +2 .tCTV.dial :intake + "collection"'9  +74 "core" + .tIntake.select :open + "sampler") +11 .tCS.seek 2ml + "collection"'o'T +1892 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'p  +71 "core" ~ +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'5'i +613 "core" ' +2 .tCSV.dial CSR + "collection"'s  +99 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'r's5 +1355 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'e' +1361 "core" ' +2 .tCSV.dial CBV + "collection"'v +97 "core" +2 .tCS.seek 0ml +2 "collection"'u'i +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&x& +4 "core" &Ө   : 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&m(ӂ +17 "core" ( +2 "manipulator"&w& +3 "core" &Ӆ    ) +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &q& +3 "core" &Ӆ   ) +3 .tForearm.seek CC + "manipulator"&z'? +103 "core" ' +2 .tHand.close + "manipulator"&{/ +55 "core" / +2 .tCC.seek :open +2 "collection"'|( +450 "core" ( +2 "manipulator"&~& +3 "core" &ӊ   = ( +2 "manipulator"&% +4 "core" %   \  +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +278 "core" ( + "manipulator"&l& +3 "core" &- \  X +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" &- 0 X +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&n'w +92 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +3 "core" % ς   A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,100], $da)] begun 21:06:38 +5 #Asleep after completing standAloneWCR_010224 assays + ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCTD data unavailable\\nCan@21:25:53, 26% flow, 21.2C, 23% humidity, 15.0psia, 13.715V, 0.435A, 8.861Ah, 5.97W\\nSampled 100.0ml",Subject: "Asleep after completing standAloneWCR_010224 assays" +418 #"uploadLog"upsync +6 #mEXIT @1704835856.56UTC @1704835889.44UTC = =tMAIN =mMAIN_scheduler @UTC1704835891.11 #"core_reset"Sent BREAK + #t@2448 sendCRC with ifg=0x20, ie=0x7F + #@4283 sendCRC with ifg=0x08, ie=0x5F + #@35376 idle with ifg=0x84, ie=0x75 + #@36048 select with ifg=0x10, ie=0xF5 + #@36683 receive with ifg=0x10, ie=0xFD #@37317 receive with ifg=0x10, ie=0xFD + #@37951 receive with ifg=0x10, ie=0xFD #@38278 receive with ifg=0x80, ie=0xFD + #@58611 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +297 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +369 "Can" ?Boh: +2  ?Boh: #tPolling Can every 10:00 +3 #Cleanly exited at 21:30:56UTC09-Jan-24 +441 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +4 "core" %l[X  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ػ2\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %| i\  +3 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(2% +3 "core" % [\  +2 "manipulator"&3% +4 "core" %    + "manipulator"&4& +4 "core" &-  ` X +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(5(<- +1299 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &<* R\  +1868 #t-> access 2 +2 "storage"(7% +3 "core" % \  +2 "manipulator"&8% +3 "core" %    +2 "manipulator"&9& +3 "core" &-  X +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(:(K +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &K } z \  +348 #t-> exit +7 #mEXIT @1704835984.24UTC @1704912687.35UTC = =tMAIN =mMAIN_scheduler @UTC1704912689.16 #"core_reset"Sent BREAK +2 #t@10878 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +296 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +394 "Can" A%r +  A%r #tPolling Can every 10:00 +2 #Cleanly exited at 21:33:04UTC09-Jan-24 +4900 #-> ESP.ready! +3 #Powering core bus +537 .Gate.power :raw,:ON +3 "sampler") +10 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X\ +2 .tSE.home.seek :down +2 "storage"(' +53 "core" ' +8 ' + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.home.seek :initial + "storage"((,y +272 "core" ' +6 ."rdyProcessing"PS.stop + "processing"%5 +163 "core" ' +2073 ( + .tSC.configure :limp +3 "storage"($\ 1b +2 "manipulator"&& +3 "core" &d ) ( G ) +3 .tForearm.seek :retract +2 "manipulator"&' +3 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&( +95 "core" ( +2 "manipulator"&& +4 "core" & & '  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted +2 "manipulator"&' +17 "core" ' +2 "manipulator"&% +4 "core" % \   j { +2 "processing"%& +2 "collection"'& +8 "core" &\ + & C B\ +2 ."openPC"PC.home.seek :open +2 .tCC.home.seek :open +2 "processing"% ( + "collection"'!( +281 "core" ( +23 ( +3 "collection"'" +3 "core"  +2 "processing"%# +3 "core" V +2 "processing"%$ +3 "core"  +2 "processing"%% +3 "core" A +2 "collection"'&% +5 "core" %k E E\ +2 "processing"%'% +4 "core" %ؽ\ +2 "sampler")(% +4 "core" %ڄ \ K +2 "collection"')& +4 "core" & D C\  +2 "processing"%*& +4 "core" &8\  +2 "manipulator"&+% +3 "core" % \   { +3 "manipulator"&,& +3 "core" &   =  +2 "storage"(-& +4 "core" &,w =\ \ +2 "storage"(.% +4 "core" % +\ \ ' +3 "collection"'/9 +3 "core" 9G" +2 "processing"%09 +3 "core" 9B\\ +753 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%1& +3 "core" &&\  +2 .tHand.open +2 "manipulator"&21 +64 "core" 1 +2 "manipulator"&3& +4 "core" & !  +  + "manipulator"&4% +4 "core" % \   I { +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&5(- +179 "core" ( + "manipulator"&6& +4 "core" &-  ! V 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &-   ' 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&8'w +97 "core" ' + .tHand.close +2 "manipulator"&9/ +53 "core" / +2 "manipulator"&:& +4 "core" &- ! ' 3 0 + "manipulator"&;% +4 "core" % ρ  ) i +2 .tForearm.seek :retract +2 "manipulator"&<' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&=( +117 "core" ( + "manipulator"&>& +4 "core" & " ' \\ ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &   ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&@' +93 "core" ' + "manipulator"&A& +4 "core" &  # 3 ! +2 "manipulator"&B% +3 "core" %   _ 7 +3 "processing"%C& +3 "core" &\  +2 "processing"%D& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%E(^ +4 "core" &+\  +9 &6x'\ *y +9 &e8\ ? +9 &]w4\ O +10 & Y9\ N +9 &]3\ N +9 &Z6\ N +10 &g\\4\ N +9 &(\\2\ N +9 &Z3\ N +10 &];\ N +9 & n\\8\ N +10 &"0\\2\ N +9 &#[2\ N +9 &%[9\ N +10 &'x]2\ N +9 &)9[7\ N +9 &*\\(\ N +10 &,\\'\ N +9 &.[(\ N +10 &0A\\1\ N +9 &2]6\ N +9 &3\\3\ N +10 &5\\)\ N +9 &7G[6\ O +9 &9\ ^1\ N +10 &:^)\ N +9 &<Z3\ N +10 &>P`3\ N +9 &@\\+\ N +9 &Ag3\ O +10 &Cr2\ P +9 &EN4\ R +10 &G\ :\ T +9 &H8\ S +9 &J+\ T +10 &LO)\ T +9 &N'\ U +9 &O'\ U +10 &Q0\ U +9 &SU-\ U +9 &U8\ U +10 &V1\ U +9 &X$\ U +10 &Z]3\ U +9 &\\7\ U +9 &]4\ 3 +10 &^4u4\ G +8 ( +2 &^!:\ 1 +3 "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + "processing"%F& +3 "core" &^"\ 1 +3 .tHand.open + "manipulator"&G1 +63 "core" 1 + "manipulator"&H% +4 "core" %  + ' 8 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +97 "core" ' +941 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&J& +3 "core" & %   ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&L& +4 "core" &  " ] ! +42 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" & '  1 ! +2 .tForearm.seek PC +2 "manipulator"&N' +95 "core" ' +2 .tHand.close + "manipulator"&O/ +58 "core" / +2 .tPC.seek :open +2 "processing"%P( +455 "core" ( +2 "manipulator"&Q& +3 "core" &   ! +2 "manipulator"&R% +4 "core" %    %  +2 .tForearm.seek :retract +2 "manipulator"&S' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&T(- +128 "core" ( +2 "manipulator"&U& +3 "core" &- ) + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &-   , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&W'w +99 "core" ' +2 .tHand.open + "manipulator"&X1 +54 "core" 1 + "manipulator"&Y% +4 "core" % p !  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +46601 "Can"\ ?h +16725 #t-> access 2 +3 "storage"([% +3 "core" % 2 0 \ \ ' +2 "manipulator"&\\% +3 "core" %      +2 "manipulator"&]& +4 "core" &-    +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(^(K +665 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +2 "core" &K D\  +42577 "Can"}\ @R +60001 h\ ?\ +6477 #t-> exit +6 #mEXIT @1704914565.60UTC @1704914712.82UTC = =tMAIN =mMAIN_scheduler @UTC1704914714.54 #"core_reset"Sent BREAK +2 #t@34650 receive with ifg=0x10, ie=0xFD + #@35286 receive with ifg=0x10, ie=0xFD + #@35944 receive with ifg=0x10, ie=0xFD #@36579 receive with ifg=0x10, ie=0xFD + #@37214 receive with ifg=0x10, ie=0xFD + #@37848 receive with ifg=0x10, ie=0xFD #@38482 receive with ifg=0x10, ie=0xFD + #@38809 receive with ifg=0x80, ie=0xFD + #@31280 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +269 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can"f\ =( + f\ =( + #tPolling Can every 10:00 +2 #Cleanly exited at 19:22:45UTC10-Jan-24 +4 #Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission +2 !o:RuntimeError: mesg"+Mission's startTube should be 3, not 2:@timestampu: Time S,HRe:bt[":/home/esp/esp2/utils/commskel.rb:91:in `beginMission'"4/home/esp/esp2/utils/mission.rb:16:in `mission'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:10"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Waiting to Resume from Checkpoint "Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission" +2 ."Qmail"BadNews.email "Mission's startTube should be 3, not 2",Subject: "RuntimeError in MAIN" +478 #"uploadLog"upsync @1704914811.05UTC = =tMAIN =mMAIN_scheduler @UTC1704914812.81 #"core_reset"Sent BREAK +2 #t@34650 receive with ifg=0x10, ie=0xFD + #@35286 receive with ifg=0x10, ie=0xFD + #@35944 receive with ifg=0x10, ie=0xFD #@36579 receive with ifg=0x10, ie=0xFD + #@37214 receive with ifg=0x10, ie=0xFD + #@37848 receive with ifg=0x10, ie=0xFD #@38482 receive with ifg=0x10, ie=0xFD + #@38809 receive with ifg=0x80, ie=0xFD #@51744 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +192 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +103 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +378 "Can"h\ <7 + h\ <7 #tPolling Can every 10:00 +1059 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %k > @c\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڄ \ K +2 .tSS.configure :default +2 "sampler")#.0Xf\  +2 "processing"%& +38 "core" &\ +8 "collection"'  +2 "core"  +3 "collection"'! +2 "core"  +3 "collection"'" +2 "core"  +3 "processing"%# +2 "core"  +3 "processing"%$ +2 "core" V +2 "processing"%% +3 "core"  +2 "processing"%& +3 "core" A +2 "sampler")' +3 "core"  +2 "collection"'(% +4 "core" %k < =`\ +3 "processing"%)% +3 "core" %ؽ\ +2 "sampler")*% +4 "core" %ڄ \ K +2 "collection"'+& +4 "core" & < >Z\  +2 "processing"%,& +4 "core" &\ +2 "manipulator"&-% +3 "core" %     +3 "manipulator"&.& +4 "core" &-   +2 "storage"(/& +3 "core" &K\ "\ ( s\  +2 "storage"(0% +4 "core" % \ "\ $ ,\ \ ' +2 "collection"'19 +3 "core" 9]7 +2 "processing"%29 +3 "core" 9Tn +941 #t-> Puck.count +2 "storage"(3% +4 "core" % C F\ \ ' +2 .tSE.seek :down +2 "storage"(4' +4 "core" ' + .tSE.stop + "storage"(5 +4 .tHand.open + "manipulator"&51 +18 "core" 1 +2 "manipulator"&6% +4 "core" %     +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(7(C +1610 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" &E R K L\ +2 "manipulator"&9& +4 "core" &- \ \  +2 "manipulator"&:% +3 "core" %    ;  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&;( +171 "core" ( +2 "manipulator"&<& +3 "core" &   o P +3 "storage"(=& +3 "core" &E $ ! B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&>' +101 "core" ' +2 "storage"(?& +3 "core" &E T 8 ,\ +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'r +280 "core" ' + "storage"(A- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (B% +2 "core" %p\ \  \ +3 ."downElevator"SE.seek :down +4 "storage"(C' +98 (D% +3 "core" %XD N 0\ V` +2 "manipulator"&E% +4 "core" %   R  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(G(  +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" & - .\  +2 "manipulator"&I& +4 "core" &   P +2 .tElbow.seek 2 + "manipulator"&J( +4 "core" ( +2 "manipulator"&K& +4 "core" &   r P +2 "storage"(L& +4 "core" & X W .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&M'S +93 "core" ' + "storage"(N& +4 "core" & m o m\  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'r +295 "core" ' +2 "storage"(P- +2 "core" -'7 +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Q% +3 "core" % 5 [ J\ +3 ."downElevator"SE.seek :down +4 "storage"(R' +98 (S% +3 "core" %ÍG \ \ V` +2 "manipulator"&T% +4 "core" %V   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +30 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(V( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (W& +2 "core" & - & [\ \ +3 "manipulator"&X& +36 "core" &   P +9 .tElbow.seek 3 +2 "manipulator"&Y( +28 "core" ( +2 "manipulator"&Z& +5 "core" &   H r + "storage"([& +4 "core" & i n z\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&\\'7 +94 "core" ' +2 "storage"(]& +3 "core" & a h \ \ +3 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'r +277 "core" ' + "storage"(_- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (`% +3 "core" %g W h\ +3 ."downElevator"SE.seek :down +4 "storage"(a' +98 (b% +3 "core" %>E " $\ U^ +2 "manipulator"&c% +4 "core" %-  j { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' +90 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(e(,y +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (f& +2 "core" &,v - ) s\  +2 "manipulator"&g& +4 "core" & \  r +2 .tElbow.seek 4 +2 "manipulator"&h( +45 "core" ( +2 "manipulator"&i& +4 "core" &   +2 "storage"(j& +3 "core" &,v L Q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&k' +94 "core" ' +2 "storage"(l& +4 "core" &,v n n \  +3 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'r +276 "core" ' +2 "storage"(n- +2 "core" -'r +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (o% +3 "core" %y `\ ) n\ +3 ."downElevator"SE.seek :down +4 "storage"(p' +98 (q% +3 "core" %D " \ V` +2 "manipulator"&r% +4 "core" %  ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +89 "core" ' +71 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(t(<- +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +2 "core" &<* K %\ +3 "manipulator"&v& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&w( +8 "core" ( +2 "manipulator"&x& +4 "core" &   <  + "storage"(y& +4 "core" &<* o o 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +94 "core" ' +2 "storage"({& +3 "core" &<* ` k \ +3 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +277 "core" ' + "storage"(}- +3 "core" -'r +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (~% +3 "core" %h K  \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %UD\ \ V\ Va +2 "manipulator"&% +4 "core" %I   [ l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K [ \ +3 "manipulator"&& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"& & +4 "core" &   .  + "storage"( & +4 "core" &K W Q 9\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(& +3 "core" &K T T M\ +3 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +277 "core" ' + "storage"(- +3 "core" -'r +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +35 (% +11 "core" %n N 7\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +4 "core" %=D\ \  \ V` +2 "manipulator"&% +4 "core" %  , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ " # 8\ \ +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 7 +2 "manipulator"&(r +43 "core" ( +2 "manipulator"&& +4 "core" &l   # +2 "storage"( & +3 "core" &[ U K d\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&!'= +94 "core" ' +2 "storage"("& +4 "core" &[ U U\ \ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'r +273 "core" ' + "storage"($- +3 "core" -'r +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (%% +3 "core" %w ( 0 i\ +3 ."downElevator"SE.seek :down +3 "storage"(&' +99 ('% +3 "core" %H\ $ o\ Va +2 "manipulator"&(% +3 "core" %?   q z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +88 "core" ' +73 ' + ."downElevator"SE.stop +2 "storage"(5 +25203 #t-> exit +6 #mEXIT @1704915190.67UTC @1704915205.10UTC = =tMAIN =mMAIN_scheduler @UTC1704915206.80 #"core_reset"Sent BREAK +2 #t@49424 select with ifg=0x10, ie=0xF5 + #@50058 receive with ifg=0x10, ie=0xFD + #@50691 receive with ifg=0x10, ie=0xFD #@51325 receive with ifg=0x10, ie=0xFD + #@51652 receive with ifg=0x80, ie=0xFD + #@42484 sendCRC with ifg=0x20, ie=0x7F #@42932 sendCRC with ifg=0x20, ie=0x7F + #@44522 sendCRC with ifg=0x08, ie=0x5F #@20234 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +12 #ESP2 v3.42 I2C Gateway v3.20 for core bus +257 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +396 "Can"g : ]? + g : ]? #tPolling Can every 10:00 +3 #Cleanly exited at 19:33:10UTC10-Jan-24 +4 #Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission +6 ."Qmail"GoodNews.email "Starting DA_WCR_011024 w/pucks in tube 2\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@19:33:33, 25% flow, 20.2C, 28% humidity, 14.5psia, 13.744V, 0.272A, 0.200Ah, 3.74W",Subject: "DA_WCR_011024 begun" +4 #tPreparing to sleep until + 00:00:05 +3 #Asleep til + 00:00:05 + #Continuing at 19:33 +3 "Can"g : ]O +26 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +351 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [50, 50] #da and wsr are run simultanelously\\n/home/esp/esp2local/mission/DA_WCR_011024.rb:14\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@19:33:33, 25% flow, 20.2C, 28% humidity, 14.5psia, 13.744V, 0.272A, 0.200Ah, 3.74W",Subject: "Asleep until 19:33" +105 "Can"f  _ +4 #tPowering core bus +59 #"uploadLog"upsync +341 #upsync +152 .tGate.power :raw,:ON +2 "sampler") +54 ) +2 "core"  +3 "collection"' +2 ' +4 "core"  +2 "processing"% +2 % +4 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@19:34:26, 25% flow, 20.1C, 28% humidity, 14.5psia, 13.778V, 0.290A, 0.205Ah, 4.00W",Subject: "Started DA_WCR_011024 phase initialPurge; da [50, 50] #da and wsr are run simultanelously" +2 #tStarting initialPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'!& +4 "core" & < =k\  + .tHand.open + "manipulator"&"1 +55 "core" 1 +2 "manipulator"&#& +7 "core" &   ? +2 "manipulator"&$% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(- +182 "core" ( +2 "manipulator"&&& +3 "core" &-   3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &-  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage + "manipulator"&('w +94 "core" ' +4 .tHand.close +3 "manipulator"&)/ +59 "core" / +2 "manipulator"&*& +5 "core" &-   3 + "manipulator"&+% +4 "core" % |  u 2 +3 .tForearm.seek :retract +2 "manipulator"&,' +75 #"uploadLog"upsync +19 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +286 "core" ( + "manipulator"&.& +4 "core" &Ӓ#   E <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &Ӓ#   <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'? +105 "core" ' +2 "manipulator"&1& +4 "core" &ӓ#   ` << +2 "manipulator"&2% +4 "core" %9   +2 "collection"'3& +4 "core" & ; >o\  +3 "collection"'4& +5 "core" & < <s\  +2 .tCC.seek :closed +2 "collection"'5(\\ +4 "core" & = ;i\  +9 &7~ = <k\ +{ +9 &g ; =i\ ? +10 &om ; <f\ M +9 &4U ; :l\ L +10 &U = ;m\ L +9 &T < =q\ L +9 &{U > <p\ K +10 &;Y < =n\ L +9 &T < <h\ L +9 &U < <o\ K +10 & V ; ;a\ K +9 &"EV > <e\ K +10 &$W ; <a\ K +9 &%U < <n\ L +9 &'X ; =k\ L +10 &)LX ; <d\ L +9 &+Y < =f\ L +9 &,Y > <d\ L +10 &.T < ;\\\ L +9 &0TY < ;c\ L +9 &2U < =c\ L +10 &3U < =l\ L +9 &5T < ;j\ L +10 &7]V = ;]\ K +9 &9W < <g\ L +9 &:Z > <`\ L +10 &<W = <g\ K +9 &>dW < >g\ L +10 &@%U > =f\ L +9 &AY @ ?h\ L +9 &Ce B C^\ M +10 &Eat L Ha\ O +9 &G W U^\ T +9 &H T Rf\ X +10 &J R Sg\ Y +9 &LO Q Tb\ X +10 &N S S]\ Z +9 &O Q Th\ Z +9 &Q T U\\\ Z +10 &ST S S[\ Y +9 &U U Tk\ [\ +9 &V T T\\\ \\ +10 &X V T\\\ ] +9 &ZP S Tb\ ] +10 &[x U V[\ @ +9 &\\* T Vn\ + +9 &\\ U S]\ Z +2 ( +3 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.41 + "collection"'6& +4 "core" &\\ U Tf\ Z +2 .tHand.open + "manipulator"&71 +63 "core" 1 +2 "manipulator"&8% +5 "core" % 9 ( 8 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &\\ U V]\ Z +2 "collection"';% +4 "core" %i S Ub\ +2 .tCSV.dial CSR + "collection"'<  +125 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml +2 "collection"'='s5 +1385 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +50 '>% +3 "core" %s2 S To\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'?' +685 "core" ' + .tCSV.dial :waste +2 "collection"'@ +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A'i +2020 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &\\ S Su\ Z +2 "collection"'C% +3 "core" %o T Tp\ +2 .tCSV.dial :flush +2 "collection"'D  +53 "core" +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' +2476 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'F +2 'G  +6 "core"  +61 +2 .tCTV.dial :intake + "collection"'H  +72 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'I'i +2370 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'J  +74 "core"  +2 #tFlushing upper manifold + "collection"'K& +4 "core" &\\ W Wk\ Z +2 "collection"'L% +3 "core" %i W Ws\ +2 .tCSV.dial :flush +2 "collection"'M  +70 "core"  +2 .tCS.seek 5ml +2 "collection"'N's5 +1288 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +40 "core" A + "collection"'P% +4 "core" %s; V Uu\ +2 .tCS.seek 7.001ml +2 "collection"'Q'& +555 "core" ' + ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'R +2 'S  +6 "core"  +92  + .tCTV.dial :air +2 "collection"'T  +5 "core"  +2 .tCS.seek 0ml + "collection"'U'i +1667 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'V'3J +813 "core" ' + .tCSV.dial :waste +2 "collection"'W +42 "core" +2 .tCS.seek 0ml +2 "collection"'X'i +785 "core" ' +2 "collection"'Y& +3 "core" &\\ T Uu\ Z +2 "collection"'Z% +4 "core" %l U Tv\  +2 .tCSV.dial :flush + "collection"'[  +41 "core"  +2 .tCS.seek 3ml +2 "collection"'\\'3J +813 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'] @ +52 "core" ? + "collection"'^% +4 "core" %3L T Sw\  +2 .tCS.seek 5ml +2 "collection"'_'s7 +574 "core" ' + .tCSV.dial :air +2 "collection"'` @ +4 "core" ? +3 .tCS.seek 0ml + "collection"'a'i +1220 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml +2 "collection"'b'3J +831 "core" ' +2 .tCSV.dial :waste + "collection"'c +69 "core" +2 .tCS.seek 0ml +2 "collection"'d'i +765 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +3 "core" &ӫ ? 8 M 9$ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +21 "core" ( +2 "manipulator"&g& +3 "core" &ӆ   "| +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &ӆ    "| +2 .tForearm.seek CC +2 "manipulator"&i'? +101 "core" ' +2 .tHand.close + "manipulator"&j/ +61 "core" / +3 .tCC.seek :open + "collection"'k( +448 "core" ( + "manipulator"&l& +4 "core" &ӆ   ] "| +35 "manipulator"&m% +11 "core" %    % +2 .tForearm.seek :retract +2 "manipulator"&n' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&o(- +279 "core" ( +2 "manipulator"&p& +3 "core" &-   > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +4 "core" &-   > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +100 "core" ' + .tHand.open + "manipulator"&s1 +55 "core" 1 +2 "manipulator"&t% +4 "core" % π   X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +97 "core" ' +2 #tda sampling at most 50ml, wcr at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 19:38:46UTC10-Jan-24\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@19:34:26, 25% flow, 20.1C, 28% humidity, 14.5psia, 13.778V, 0.290A, 0.205Ah, 4.00W",Subject: "da sampling at most 50ml, wcr at most 50ml" +2 "collection"'v& +5 "core" & 5 7x\ +2 "manipulator"&w% +4 "core" %    n  +3 "storage"(x% +4 "core" % =\ $ +2 "storage"(y. +2 "core" .(,} +4 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(z(  +373 #"uploadLog"upsync +293 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 ({& +3 "core" & \ +2 "manipulator"&|& +4 "core" &- 5 > +2 "manipulator"&}% +4 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&~( +175 "core" ( +2 "manipulator"&& +4 "core" &   C +2 "storage"(& +4 "core" & } ~ t\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +90 "core" ' +2 "storage"(& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +281 "core" ' +2 "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & 4\  +2 "manipulator"&& +4 "core" &   " C +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" &   v C +2 "storage"(\ & +4 "core" & \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  m C + "manipulator"&% +4 "core" % ϻ  t } +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +134 "core" ' +7 ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"&& +3 "core" &Ӓ"   ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӓ"   # ;3 +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + "manipulator"&& +4 "core" &ӓ" $ ;2 +2 "manipulator"& % +4 "core" %G   S +2 "collection"'& +4 "core" & 7 7t\ +3 "collection"'& +4 "core" & 7 7w\ +3 .tCC.seek :closed + "collection"'!(\\ +4 "core" & 9 9t\ +7 &A 7 9u\ %g +10 &Z{ : 8y\ 8 +9 &u 9 7v\ K +9 &T 7 :y\ K +10 &X 9 8u\ K +9 &US 9 ;y\ K +9 &U 9 7y\ J +10 &U 9 8x\ J +9 &U 7 9x\ K +10 &]Y 7 8q\ K +9 & X : 8t\ K +9 &!T 9 9{\ K +10 &#T 9 9v\ K +9 &%fU 8 9s\ J +9 &'(V : 9p\ J +10 &(T 8 9y\ J +9 &*T : :r\ J +9 &,nV : 9t\ J +10 &./U 9 8n\ K +9 &/Y 9 :w\ K +10 &1Y 8 9z\ K +9 &3uS 7 8v\ K +9 &57V 7 9w\ K +10 &6Y 8 :v\ K +9 &8U 9 9x\ J +10 &:|V 9 9x\ K +9 &U : :r\ K +10 &?W : <v\ K +9 &AX < :v\ K +9 &CE^ ; ;s\ L +10 &Ej @ >v\ M +9 &Fx H Gx\ O +10 &Ht U Qw\ T +9 &J/ T Uw\ V +9 &K Q Qt\ W +10 &M S Sy\ Y +9 &Oo Q Ss\ X +9 &Q, S Qx\ Z +10 &R S Sx\ Y +9 &T S Tx\ [ +9 &Vq S Sw\ Z +10 &X. S Tr\ \\ +9 &Y T Rx\ ] +10 &[ S Sx\ I +9 &\\1 S Tw\ 0 +9 &\\n T Sw\ S +3 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + .Hand.open + "manipulator"&"1 +53 "core" 1 +2 "manipulator"&#% +3 "core" % G !  S +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +94 "core" ' +3 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + + "sampler")'% +4 "core" %چ \ E +2 "collection"'& +4 "core" &\\j R Tv\ S +3 "Can"R Q % +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air + "collection"')  +5 "core"  +2 .tSSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X +28  +2 .tdelay 3.8 seconds +382 "collection"'(% +3 "core" %d R Py\ +2 "sampler").% +3 "core" %/ \ k +2 #tSensor limits: Intake max 96.1psia; Outlet max 91.3psia + .SSV.dial :spit + "sampler")/ +129 "core"  +2 .tSS.seek 0ml +2 "sampler")%'ڀ +277 "core" ' +2 .tSSV.dial CBV + "sampler")1  +127 "core"  + .tCTV.dial :intake +2 "collection"'2  +75 "core"  +2 ."connect"SSV.dial CBV +2 .tCBV.dial SSV +2 "collection"'3 @ +16 "core" A +2 #tAllowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open + "sampler") +211 "collection"',% +3 "core" %d [ [y\ +2 #tIntake @15.1psia, vacuum from 9.6 to 12.6psi + .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X% +3 "core" %d > >s\ +2 "sampler")=% +4 "core" %Q3 r s \  +31 "collection"'@% +4 "core" %d F Fx\ +37 "sampler")?% +11 "core" %Q+ \  +2 .tIntake.select :close + "sampler")0 +9 )B% +3 "core" %Q+ \  +2 .tSSV.dial :exhaust + "sampler")C  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")D'ڀ +427 "core" ' + .tExhaust.select :close + "sampler") +10 #tSampling 50.0ml + .Intake.select :close +2 .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X +2 ."airStroke"CS.seek 10ml + "collection"'0' +1491 .tSSV.dial :spit,avoiding: :exhaust + "sampler") +127 "core" +3 ."prepCSV"CTV.dial CSV,avoiding: :intake +3 .tSS.reconfigure :exhale +2 "collection"'>  +2 "sampler")#.0X9 +41 "core" 9 % +109 "collection"'@9 +3 "core" 9 + +103 "collection"'?9 +2 "core" 9 / +103 "collection"'B9 +3 "core" 9 3 +102 "collection"' 9 +3 "core" 9 8 +103 "collection"'C9 +2 "core" 9 < +103 "collection"'09 +6 "core" 9\ @ +103 "collection"'G9 +2 "core" 9\ D +103 "collection"'F9 +3 "core" 9\ I +102 "collection"'69 +3 "core" 9\ M +103 "collection"'J9 +2 "core" 9\ Q +103 "collection"'E9 +3 "core" 9\ U +103 "collection"'D9 +2 "core" 9\ Y +103 "collection"'=9 +3 "core" 9\ ^ +102 "collection"'A9 +3 "core" 9\ !b +103 "collection"'I9 +2 "core" 9\ $f +103 "collection"'O9 +3 "core" 9\ (j +103 "collection"'K9 +2 "core" 9\ ,o +103 "collection"'R9 +2 "core" 9\ /s +103 "collection"'P9 +3 "core" 9\ 2w +102 "collection"'S9 +3 "core" 9\ 6{ +103 "collection"'T9 +3 "core" 9\ : +103 "collection"'Q9 +2 "core" 9\ > +103 "collection"'W9 +2 "core" 9\ A +103 "collection"'N9 +3 "core" 9\ D +102 "collection"'Y9 +3 "core" 9\ H +102 "collection"'H9 +4 "core" 9\ K +102 "collection"'U9 +3 "core" 9\ N +102 "collection"'V9 +3 "core" 9\ Q +103 "collection"']9 +2 "core" 9\ U +103 "collection"'Z9 +3 "core" 9\ X +102 "collection"'X9 +3 "core" 9\ \\ +103 "collection"'L9 +3 "core" 9\ _ +102 "collection"'[9 +3 "core" 9\ a +102 "collection"'\\9 +3 "core" 9\ f +103 "collection"'`9 +2 "core" 9\ h +103 "collection"'^9 +3 "core" 9\ l +102 "collection"'_9 +3 "core" 9\ n +103 "collection"'a9 +2 "core" 9\ s +3 .tCH.hold 10:00,70C +3 "collection"'M `\ `\ s \ +2 'c9 +7 "core"  + 9\ r + "collection"'e% +4 "core" %[ \ +2 #tBegun lysing Collection Puck Heater at 68C/30.0psia +37511 "Can"A\ = +22477 "core" ` +2 "collection"'g9 +3 "core" 9\ f +2 "collection"'b% +4 "core" %[ \ +2 #tEnded lysing Collection Puck Heater at 70C/28.7psia +2 .CS.seek 0ml + "collection"'h'i +334 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'5 @ +99 "core" B +2 .tCSV.dial :air +2 "collection"'9 @ +40 "core" ? +2 .tCS.seek 5ml +2 "collection"'m's5 +1368 "core" ' + .tCSV.dial CTV +2 "collection"'l  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'p @ +42 "core" > +2 .tdelay 2 seconds +201 .CSV.dial CTV +2 "collection"'q  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'s @ +42 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml + "collection"'t'i +1353 "core" ' + "collection"'v% +4 "core" %k \ +2 #tPuck @57.2psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV +39 "collection"'w +105 "core" ~ + .tCBV.dial CSV +2 "collection"'x  +30 "core"  + "collection"'y% +4 "core" %k \ +3 .tCS.seek 5ml + "collection"'j's7 +1364 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'n  +41 "core" +2 "collection"'r% +3 "core" %s8\  +3 .tCS.seek 7ml + "collection"''# +585 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'{ @ +40 "core" ? +2 .tCS.seek 10ml +2 "collection"'|' +851 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'} ` +111 "core" _ +2 #tLysing Complete + "collection"'& +3 "core" &\\h  \ S +2 #tStoring sh1 puck in Collection Clamp to tube 1 +2 "manipulator"&% +3 "core" %   >  +2 "storage"(-% +4 "core" % \  \  +2 "storage"(o. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((C +355 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +3 "core" &F +\ +2 "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &ӫ  e 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& (ӂ + "storage"('r +15 "core" ( + "manipulator"&& +4 "core" &Ӌ  ( * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &Ӌ 5 < y * +3 .tForearm.seek CC + "manipulator"&'? +102 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +75 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +315 ( +2 "storage"(& +3 "core" &C\ \ U\ +2 "storage"(& +4 "core" &C\ \  /\ +2 "manipulator"&& +4 "core" &Ӝ   v ( +2 "manipulator"& % +4 "core" % +   +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&\ ( +162 "core" ( + "manipulator"&& +4 "core" &     +2 "storage"(& +4 "core" &C " !\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&'8 +96 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&k1 +55 "core" 1 +2 "manipulator"&"% +4 "core" % 2   o +2 "storage"(#& +4 "core" &C\ \  !\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 294 counts + "manipulator"&'^ +25 "core" ' +2 "manipulator"&)& +4 "core" &  P  +2 "storage"('& +4 "core" &C / ) \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +44 .tForearm.seek 1 + 450 counts +5 "manipulator"&' +16 "core" ' +2 "storage"(% +4 "core" %4 T 7 9\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (+% +3 "core" %E L h\ Va +2 "manipulator"&% +4 "core" %   ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +96 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA +2 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +3 "core" &\ +2 "manipulator"&&& +4 "core" &   +2 "manipulator"&.% +4 "core" %     +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&1(- +168 "core" ( + "manipulator"&& +4 "core" &-   U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &-   , U +2 .tForearm.seek :garage +2 "manipulator"&2'w +98 "core" ' + .tHand.close + "manipulator"&// +57 "core" / +2 "manipulator"&,& +4 "core" &-   B U +2 "manipulator"&%% +4 "core" % ψ   U +2 .tForearm.seek :retract + "manipulator"&:' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&7(ӂ +287 "core" ( +3 "manipulator"&8& +3 "core" &ӎ   $ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &ӎ + Y 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&4'? +105 "core" ' +2 "manipulator"&3& +4 "core" &ӗ   / 4 +2 "manipulator"&;% +4 "core" %G   B +2 "collection"'& +4 "core" &\ +3 "collection"'>& +5 "core" &\ +2 .tCC.seek :closed + "collection"'@(\\ +5 "core" &\ +7 &:\ %g +9 &Yv\ 7 +10 &v\ K +9 &Rr\ J +9 &U \ J +10 &HT ,\ K +9 &\ Y \ K +10 &W\ K +9 &S\ K +9 &PS\ K +10 & R\ K +9 &!T\ K +9 &#St\ K +10 &%YT\ J +9 &'T\ K +10 &(W\ K +9 &*W\ K +9 &,`Yx\ K +10 &."WZ\ K +9 &/XC\ K +9 &1S+\ K +10 &3hR\ K +9 &5*R \ K +10 &6U\ J +9 &8U\ K +9 &:pY\ K +10 &<3U\ J +9 &=V\ K +10 &?T\ K +9 &AxV\ K +9 &C8_y\ L +10 &Dl\ N +9 &F\ S +9 &H^\ W +10 &J\ X +9 &K\ X +10 &M\ Y +9 &O`{\ X +9 &Q m\ Y +10 &RX\ Z +9 &TJ\ [ +9 &V`B\ [ +10 &X1\ ] +9 &Y#\ ^ +9 &[\ K +10 &\\8\ / +9 &\\\ !b +3 ( +2 "collection"'>& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 + "collection"'?& +4 "core" &\\\ !b +2 .tHand.open + "manipulator"&B1 +64 "core" 1 + "manipulator"& % +4 "core" % G   - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C' +95 "core" ' +2 .tPSV.dial PSR + "processing"%0 +130 "core"  +2 "processing"%G% +4 "core" %ؿ\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%F'+ +1616 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +3 "processing"%6  +44 "core"  +3 .tPS.seek 0ml + "processing"%J'ؾ +1614 "core" ' + .tPSV.dial PSR +2 "processing"%E +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%D' +2635 "core" ' +3 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +2 "processing"%= +2 "collection"'A  +6 "core" A + "processing"%I +3 "core" A +2 "processing"%O  +64 "core" +94  + .tPSV.dial :mixloop +2 "processing"%K +101 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'R  +4 "core" +2 .tPTV.dial :PRVmixing + "processing"%P  +130 "core" +2 .tPS.seek 0ml +2 "processing"%S'ؾ +2629 "core" ' + .tPSV.dial :air +2 "processing"%T  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%Q' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%W +45 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%Y  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%H' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%U +44 "core" +2 .tPS.seek 0ml + "processing"%V'ؾ +2628 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&]& +4 "core" &ӡ  * 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&Z(ӂ +17 "core" ( +2 "manipulator"&X& +4 "core" &ӄ   X ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &ӄ   ' +3 .tForearm.seek CC + "manipulator"&['? +100 "core" ' +2 .tHand.close + "manipulator"&\\/ +56 "core" / +3 .tCC.seek :open + "collection"'`( +450 "core" ( +2 "manipulator"&^& +4 "core" &ӓ   % +2 "manipulator"&_% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&a' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&c(- +279 "core" ( +2 "manipulator"&e& +4 "core" &-    ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &-    ] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&M'w +101 "core" ' +3 .tHand.open + "manipulator"&g1 +59 "core" 1 +2 "manipulator"&b% +3 "core" % {   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +98 "core" ' +2 .tPSV.dial :mixloop + "processing"%5 +6 "core" + .tPTV.dial :PRVmixing +2 "processing"%9  +4 "core" +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%h  +3 "collection"'l  +44 "core"  +7 +3 .tCTV.dial :air,avoiding: :intake + "collection"'p  +6 "core" +2 #tLoading lyfil puck from tube 2 into Collection Clamp + "collection"'q& +3 "core" &_\ +3 "manipulator"&s% +3 "core" %     +2 "storage"(m% +4 "core" %\ \  S\  +2 "storage"(v. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(w(  +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" & \ \ +2 "manipulator"&y& +4 "core" &-   ] +2 "manipulator"&t% +3 "core" %  \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&n( +173 "core" ( + "manipulator"&r& +4 "core" &   ) - +2 "storage"(j& +3 "core" & E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&{'S +115 "core" ' + "storage"(& +4 "core" & S 7 !\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(}'r +290 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & J $\  +2 "manipulator"&-& +4 "core" &   D - +2 .tElbow.seek 2 + "manipulator"&o( +3 "core" ( +2 "manipulator"&z& +4 "core" &   - +2 "storage"(u& +4 "core" & ` \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +4 ."downElevator"SE.seek :down +2 "manipulator"&d& +3 "storage"(' +6 "core" &   d - +2 "manipulator"&% +4 "core" % Ϩ  \  ? +2 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&!& +4 "core" &x%  $ >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x%   >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' +2 "manipulator"&& +3 "core" &ӎ"   ;7 +3 "manipulator"&% +4 "core" %G   X 7 +2 "collection"' & +4 "core" &k\ +2 "collection"'& +5 "core" &A\ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" &V\  +55 &5{9\ +| +9 & i}\ ? +3 &k\ L + &_R_\ K +2 &#RG\ J + &Xs\ K + &TL\ J +4 &hQP\ J +7 &*R?\ J +10 &R\ J +9 & R \ J +9 &"pW*\ J +10 &$2W\ J +9 &%U\ K +10 &'T\ K +9 &)xTh\ J +9 &+:Rb\ J +10 &,WP\ J +9 &.WA\ J +9 &0W9\ J +10 &2BX\ J +9 &4X\ J +10 &5X\ K +9 &7Up\ J +9 &9ISd\ K +10 &; UT\ K +9 &<TU\ J +9 &>TO\ J +10 &@SU;\ J +9 &BY6\ J +10 &CY*\ K +9 &Ec!\ L +9 &GOp  \ N +10 &I  \ \ R +9 &J  \ V +9 &L|  \ V +10 &N:  \ X +9 &O  6\ X +10 &Q  \ X +9 &S}  9\ Y +9 &U=  \ Z +10 &V  \ Z +9 &X  \ [\ +9 &Z{  \ \\ +10 &\\!{  \ / +9 &\\.  \ b +9 ( +2 &\\s  \ Q +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"& % +4 "core" % G   S 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +91 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'"  +133 "core" ~ + .tCSV.dial CTV +2 "collection"'#  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%)' +1322 "Can"5\ O'\\ +1308 "core" ' +2 "collection"''% +3 "core" %  X\  +3 .tCS.seek 4.501ml + "collection"''c> +1480 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%  +44 "core"  +2 .tdelay 2 seconds +201 .PSV.dial :waste2 +2 "processing"%\  +82 "core"  +3 .tPS.seek 0ml + "processing"%+'ؾ +2635 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"' ` +30 "core" ^ + .tCSV.dial :air +2 "collection"' @ +42 "core" ? +2 .tCS.seek 10ml +2 "collection"' ' +1485 "core" ' +2 .tCSV.dial CTV + "collection"'  +42 "core"  +3 .tCS.seek 0ml + "collection"'&'i +2657 "core" ' +2 .tCBV.dial :waste1 + "collection"'. @ +29 "core" ? + .tdelay 5 seconds +503 .CTV.dial :air,avoiding: :intake +2 "collection"'  +131 "core" +2 "collection"'& +4 "core" &\\s  \ Q +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %    ;  +2 "storage"(*% +4 "core" % \  + "storage"(. +3 "core" .(  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(~(C +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "core" &F z \ +3 "manipulator"&,& +4 "core" &ӫ  7 + "manipulator"&%% +4 "core" %    :  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&(( +162 "core" ( +2 "manipulator"&2& +4 "core" &  ]  +2 "storage"(8& +3 "core" &G b\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&1' +93 "core" ' + "storage"(<& +4 "core" &G J\ +3 .tSE.reconfigure :pick + "storage"(#],K-0-\ b +42 .tSE.seek :beamBreak +8 "storage"(3'r +295 "core" ' +2 "storage"(;- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & \    +2 "storage"(:& +3 "core" &E ^\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&'8 +20 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(B- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"( '{ +27 "core" ' + "manipulator"&>% +4 "core" %H   +2 "storage"(0& +4 "core" &E A\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 316 counts +2 "manipulator"&G't +13 "core" ' + "manipulator"&4& +4 "core" &   $  +2 "storage"(6& +4 "core" &E B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&F' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(E' +37 "core" ' + "manipulator"&J& +4 "core" &  \   +2 "manipulator"&=% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&A(ӂ +158 "core" ( + "manipulator"&O& +4 "core" &ӏ   a 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &ӏ    9' +2 .tForearm.seek CC +2 "manipulator"&R'? +95 "core" ' + .tHand.close + "manipulator"&P/ +59 "core" / +2 .tCC.seek :open + "collection"'D( +447 "core" ( +2 "storage"(T& +4 "core" &E \  *\ +2 "storage"(S& +4 "core" &E\ U\ +2 "manipulator"&W& +4 "core" &ӫ  5 +2 "manipulator"&Q% +3 "core" % P    +3 .tForearm.seek :retract + "manipulator"&Y' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&N( +159 "core" ( +2 "manipulator"&U& +4 "core" &   +2 "storage"(H& +4 "core" &E \ ?\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&]'8 +96 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +92 "core" 1 +9 "manipulator"&\\% +4 "core" % D    +2 "storage"(7& +4 "core" &E B\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 312 counts + "manipulator"&C'p +26 "core" ' + "manipulator"&@& +4 "core" &     +2 "storage"(^& +4 "core" &E\ \ \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&_' +19 "core" ' + "storage"([% +4 "core" %\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(e' +99 (f% +3 "core" %? \ b\ U_ +2 "manipulator"&Z% +4 "core" %   2 $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 .tPSV.dial :air + "processing"%b  +72 "core" +2 .tPS.seek 2.5ml +2 "processing"%5' +2632 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%9 +43 "core" + .tdelay 1 second +102 .PSV.dial :air + "processing"%h  +44 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%l +44 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%a  +43 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml + "processing"%p'ؾ +2634 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%q& +3 "core" &\  +2 "manipulator"&s& +4 "core" &     +2 "manipulator"&m% +4 "core" %     +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&v(- +176 "core" ( +2 "manipulator"&M& +3 "core" &-  \ 7 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-   3 * +3 .tForearm.seek :garage + "manipulator"&x'w +92 "core" ' +2 .tHand.close + "manipulator"&y/ +58 "core" / +2 "manipulator"&t& +4 "core" &-   t * +2 "manipulator"&r% +4 "core" % t    +2 .tForearm.seek :retract + "manipulator"&j' +98 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&c( +117 "core" ( + "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" &    +2 "manipulator"&-% +3 "core" %    . +45 "processing"%z& +5 "core" &\  +2 "processing"%u& +6 "core" &\  +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +7 &E\ $f +10 &wU\ 8 +9 &\ M +9 &Y\ N +10 &N[\ N +9 &Z;\ M +9 &^\ N +10 &]\ N +9 &X\\\ M +9 &]\ N +10 &\\\ N +9 &!\\\ N +10 &#_]\ N +9 &%!_\ N +9 &&]\ N +10 &(`\ N +9 &*g_\ N +10 &,(]\ N +9 &-\\\ N +9 &/a\ N +10 &1n`\ N +9 &32]\ M +9 &4\\\ N +10 &6]\ M +9 &8v_\ N +9 &:8]\ N +10 &;_\ N +9 &=_\ O +10 &?|`\ O +9 &A>_\ O +9 &Bl\ P +10 &Dx\ Q +9 &Fw\ S +9 &H7\ T +10 &I\ T +9 &K\ T +10 &M{\ \ T +9 &O;\ U +9 &P\ V +10 &R\ \ U +9 &T~\ V +10 &VA\ V +9 &X\ U +9 &Y\ V +10 &[\ U +9 &]F\ N +9 &^yD\ !e +10 &^\ L \ 4 +5 ( +2 "processing"%u& +4 "core" &^+\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + "processing"%d& +4 "core" &^+ \ 4 +2 .tHand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&n% +4 "core" %   Y . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +93 "core" ' +2 .tPRV.dial :air +2 "processing"%!  +44 "core"  + .tPSV.dial :mixloop +2 "processing"% +43 "core" +2 "processing"%}% +4 "core" %ؽ-\ +2 .tPS.seek 0.3ml +2 "processing"%' +384 "core" ' +2 .tPSV.dial PSR + "processing"% +103 "core"  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml +2 "processing"%'2 +490 "core" ' +2 .tdelay 3 seconds +301 .PSR.select :air +3 .PS.seek 2.5ml + "processing"% ' +1924 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"%o +103 "core" +2 .tPTV.dial :mixing + "processing"% @ +74 "core" B + .tPBV.dial :waste2 +2 "processing"%  +91 "core"  +3 .tPS.seek 0ml + "processing"%`'ؾ +2636 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" &  ! u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &  y  +3 .tForearm.seek PC + "manipulator"&#' +96 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%V( +458 "core" ( +2 "manipulator"&'& +4 "core" &    + "manipulator"&|% +4 "core" %  \  +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&\ (- +129 "core" ( +2 "manipulator"&)& +4 "core" &-  I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +46 "core" &-   0 +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +94 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % y   <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%.& +4 "core" &d\ +2 "manipulator"&% +4 "core" %      +2 "storage"(% +4 "core" % \  Y\  +2 "storage"(. +2 "core" .(F +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(*(  +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  b\  +2 "manipulator"&w& +4 "core" &-   +2 "manipulator"&/% +3 "core" %     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&,( +170 "core" ( + "manipulator"&%& +4 "core" &  U 6 +2 "storage"(2& +3 "core" &  \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&8'S +101 "core" ' +2 "storage"(<& +3 "core" &  d\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'r +298 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" & \  +2 "manipulator"&& +4 "core" &  \  6 +2 .tElbow.seek 2 + "manipulator"&:( +4 "core" ( +2 "manipulator"&B& +4 "core" &    6 +2 "storage"(>& +3 "core" & \ i\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&0'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&4/ +55 "core" / +4 ."downElevator"SE.seek :down +2 "manipulator"&6& +2 "storage"(J' +8 "core" &   6 +2 "manipulator"&=% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&1' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&(( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&3& +4 "core" & % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &   4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&G' +100 "core" ' +2 "manipulator"& & +4 "core" &   +2 "manipulator"&O% +4 "core" % ' +2 "processing"%K& +4 "core" &5\ +3 "processing"%F& +5 "core" &5\ +2 .tPC.seek :closed +43 "processing"%?(^ +10 "core" &6\ + &4\ + &6\ + &5\ + &5\ + &/\ +3 &)\ 4 +7 &<H{-\ 0 +10 &gr,\ D +9 & c,\ N +9 &X+\ N +10 &W$\ N +9 &QY$\ M +10 &U\ M +9 &W\ N +9 &Z\ M +10 &XX\ N +9 &![\ N +9 &"W\ M +10 &$X\ M +9 &&aW\ M +10 &("Y \ N +9 &)[\ N +9 &+[\ \ N +10 &-h[ \ N +9 &/+\\ \ M +9 &0Y\ M +10 &2Z \ N +9 &4pY \ N +10 &62]\ \ N +9 &7Z\ N +9 &9W\ M +10 &;y\\\ M +9 &=:Y\ N +9 &>Z\ N +10 &@^\ N +9 &B~c\ N +10 &D=i\ O +9 &Ex\ Q +9 &G\ S +10 &Ix\ S +9 &K:\ S +9 &L\ T +10 &N\ T +9 &P{\ U +10 &R>\ T +9 &S\ U +9 &U\ T +10 &W\ U +9 &YF\ T +9 &[\ T +10 &\\\ U +9 &^?f\ * +10 &^{\ A +8 ( +2 &^*\ 6 +3 "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&P1 +54 "core" 1 +2 "manipulator"&I% +3 "core" %    a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%T n +3 %S9 +6 "core" 9 +102 "processing"%W9 +2 "core" 9 +103 "processing"%Q9 +3 "core" 9  +102 "processing"%U9 +3 "core" 9~  +103 "processing"%H9 +2 "core" 9} +103 "processing"%R9 +2 "core" 9} +103 "processing"%A9 +3 "core" 9~ +102 "processing"%L9 +3 "core" 9 +103 "processing"%\\9 +3 "core" 9" +103 "processing"%79 +2 "core" 9& +103 "processing"%@9 +2 "core" 9+ +103 "processing"%^9 +2 "core" 9/ +103 "processing"%[9 +2 "core" 93 +103 "processing"%Y9 +3 "core" 97 +103 "processing"%N9 +2 "core" 9< +103 "processing"%f9 +2 "core" 9@ +103 "processing"%Z9 +2 "core" 9D +103 "processing"%]9 +2 "core" 9H +103 "processing"%C9 +2 "core" 9L +103 "processing"%E9 +2 "core" 9Q +103 "processing"%b9 +3 "core" 9U +102 "processing"%_9 +3 "core" 9Y +102 "processing"%e9 +3 "core" 9] +103 "processing"%+9 +3 "core" 9a +103 "processing"%99 +2 "core" 9f +103 "processing"%h9 +2 "core" 9j +103 "processing"%l9 +3 "core" 9n +102 "processing"%a9 +3 "core" 9r +102 "processing"%59 +3 "core" 9v +103 "processing"%q9 +2 "core" 9{ +103 "processing"%s9 +3 "core" 9% +3 .tPH.hold 2:00:00,28C +2 "processing"%m pnp$ +4 .tdelay 1:30 +2 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%M +103 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%' +594 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%X' +1620 "core" ' +2 .tPTV.dial :puck +43 "processing"%y  +76 "core"  + .tPSV.dial PTV +2 "processing"%t +73 "core" +2 .tPBV.dial :waste1 + "processing"%r  +132 "core"  + "processing"%g% +4 "core" %9\  +3 .tPS.seek 1.5ml + "processing"%'- +590 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%i * +32 "core" , +2 .tPS.seek 0ml +2 "processing"%x'ؾ +1605 "core" ' +2 .tdelay 5:00 +9937 "Can"*\ s +20065 #trecoverPSRreagent08 + .PTV.dial :puck + "processing"%  +16 "core"  + .tPBV.dial :waste1 +2 "processing"%-  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%z * +33 "core" * +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"%v +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%j' +2411 "core" ' +2 .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%d +74 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"% +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%n  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%u'ؾ +2335 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%!  +131 "core" +2 .tPSV.dial :mixloop + "processing"% +43 "core" + .tPRV.dial :ab1 +2 "processing"%} @ +70 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%' +361 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "collection"'p  +3 "processing"%  +42 "core" + +3 "processing"%% +3 "core" %\ \ +3 .tPS.seek 0.34ml + "processing"%'" +434 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'o  +28 "core" +2 .tPRV.dial :air + "processing"%  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"% 'K +1193 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +72 "core" ? +2 .tPS.seek 0.5ml + "processing"%' +865 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%"' +1623 "core" ' +2 .tPSV.dial :PML + "processing"% +44 "core" +2 .tPTV.dial :mixing + "processing"%c @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%{  +33 "core" +2 "processing"%% +4 "core" %\ +2 .tPS.seek 1.85ml +2 "processing"%'' +242 "core" ' + .tPBV.dial between PSV and waste1 +42 "processing"%| * +36 "core" + +3 .tPS.seek 0ml + "processing"%)'ؾ +1973 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &\ +2 "manipulator"&#& +4 "core" &   +2 "manipulator"& % +4 "core" % #   3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +126 "core" ( + "manipulator"&& +4 "core" &-   X  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &-   +2 .tForearm.seek :garage +2 "manipulator"&'w +95 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 "manipulator"&& +3 "core" &-   $  +2 "manipulator"&% +4 "core" % j   j +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&~(ӂ +276 "core" ( +2 "manipulator"&& +4 "core" &Ӝ    8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &Ӝ    8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'? +92 "core" ' +2 "manipulator"&%& +4 "core" &Ӝ /  8 +2 "manipulator"&2% +4 "core" %F  X K +2 "collection"'<& +4 "core" &F\ +3 "collection"'\ & +4 "core" &"\ +3 .tCC.seek :closed + "collection"' (\\ +4 "core" &\ +7 &<\ $f +10 &Vy \ 7 +9 &v\ L +10 &R\ M +9 &qQ\ L +9 &3R\ L +10 &R\ L +9 &Q\ L +9 &yQ\ L +10 &;Q\ L +9 &Q\ L +10 &!R \ L +9 &#R\ L +9 &%BP\ M +10 &'P\ M +9 &(T\ L +9 &*R\ L +10 &,JO\ M +9 &. O\ M +9 &/U\ M +10 &1U\ L +9 &3SQ\ L +10 &5R\ L +9 &6U\ M +9 &8Q\ M +10 &:ZQ\ M +9 &<Q\ M +10 &=R\ L +9 &?S\ M +9 &AbV\ M +10 &C#Y\ M +9 &De\ \ O +9 &F \ S +10 &HJ  \ X +9 &J \ \ Z +9 &K  \ Z +10 &M  ;\ Z +9 &OI y\ [ +10 &Q  \ Z +9 &R  \ \\ +9 &T  \ \\ +10 &VM  \ \\ +9 &X  \ ] +10 &Y  \ _ +9 &[  \ K +9 &\\8  \ - +10 &\\  \ _ +5 ( +2 "collection"'\ & +4 "core" &\\  Q\ _ +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.48 + "collection"'k& +4 "core" &\\  E\ _ +2 .tHand.open + "manipulator"&;1 +59 "core" 1 +2 "manipulator"&% +4 "core" % F 2 : c K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +93 "core" ' +2 .tPSV.dial PSR + "processing"%> +103 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%4'+ +1608 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%6  +43 "core"  +2 .tPS.seek 0ml +40 "processing"%='ؾ +1612 "core" ' +2 .tPSV.dial PSR +2 "processing"%, +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%8' +2651 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +3 "processing"%$  +2 "collection"'0  +31 "core"  +126 + .tPSV.dial :mixloop +2 "processing"%3 +101 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +5 "core" + .tPTV.dial :PRVmixing +2 "processing"%:  +72 "core" +3 .tPS.seek 0ml + "processing"% 'ؾ +2635 "core" ' +2 .tPSV.dial :air +2 "processing"%O  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%K' +2624 "core" ' +2 .tPSV.dial :mixloop + "processing"%J +46 "core" +2 .tPS.seek 0ml +2 "processing"%1'ؾ +2629 "core" ' + .tPSV.dial :air +2 "processing"%V  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%P' +2637 "core" ' +2 .tPSV.dial :mixloop + "processing"%I +44 "core" +2 .tPS.seek 0ml +2 "processing"%S'ؾ +2637 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&F& +4 "core" &Ӥ / 2 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&W(ӂ +15 "core" ( + "manipulator"&G& +4 "core" &ӆ / :  * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &ӆ : 1 * +2 .tForearm.seek CC +2 "manipulator"&U'? +99 "core" ' +2 .tHand.close + "manipulator"&H/ +57 "core" / +2 .tCC.seek :open + "collection"'R( +14 "Can"/\ P +433 "core" ( +2 "manipulator"&A& +3 "core" &Ӌ  * * +2 "manipulator"&L% +4 "core" % 0 '   +3 .tForearm.seek :retract + "manipulator"&\\' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&7(- +283 "core" ( + "manipulator"&@& +4 "core" &-   \\ G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &-   G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&['w +100 "core" ' +2 .tHand.open + "manipulator"&Y1 +61 "core" 1 +2 "manipulator"&N% +4 "core" % ρ   f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +92 "core" ' +3 ."da"delayUntil "20:27:55.22" +2 #"WCR"Whole Cell Archive sampling 50ml +2 #Loading wcr puck from tube 2 into Collection Clamp + "collection"'Z& +4 "core" &\ +2 "manipulator"&]% +47 "core" %     +3 "storage"(C% +3 "core" % 1 ] m\  +3 "storage"(E. +3 "core" .(  +2 "storage"(b& +4 "core" & ] E \  +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +2 "storage"(_(  +24 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (e& +3 "core" &  D 7 f\ +2 "manipulator"&+& +4 "core" &-   G +2 "manipulator"&9% +4 "core" %     +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 + "manipulator"&h( +173 "core" ( +2 "manipulator"&l& +3 "core" &   \\ 6 +2 "storage"(a& +4 "core" &  x F }\ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&5'S +95 "core" ' + "storage"(q& +4 "core" &  V } c\ +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(s'r +295 "core" ' +2 "storage"(M- +3 "core" -' +2 ."WCR"SE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +3 "core" & I 1\ \ +2 "manipulator"&& +4 "core" &   5 +2 ."WCR"Elbow.seek 2 +2 "manipulator"&y( +4 "core" ( + "manipulator"&t& +4 "core" &   5 +2 "storage"(r& +4 "core" & y \ \ +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&g'Ͻ +23 "core" ' + ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."WCR"Hand.close +2 "manipulator"&X/ +64 "core" / +3 !"WCR"o:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"2/home/esp/esp2/protocol/2G/wcr.rb:24:in `wcr'"0/home/esp/esp2/protocol/2G/DA.rb:58:in `da'";/home/esp/esp2/protocol/2G/DAprocess.rb:368:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:56:in `da'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:14"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:10"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(' +6 "core" &   5 +3 "manipulator"&T% +4 "core" %   +3 ."WCR"Forearm.seek :retract + "manipulator"&' +89 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&-(ӂ +154 "core" ( + "manipulator"&z& +4 "core" &ӑ  *  6 +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&v& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &ӑ '   6 +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&x'? +98 "core" ' +2 "manipulator"&& +4 "core" &ӑ / ; $ 6 +2 "manipulator"&d% +4 "core" %G . 9 +2 "collection"'& +4 "core" &\ +3 "collection"'n& +5 "core" &|\ +42 ."WCR"CC.seek :closed +9 "collection"'j(\\ +4 "core" &\ + &\ + &\ + &\ + &\ + &\ +4 &A\ $f +8 &Vx\ 7 +10 &u\ K +9 &Qx\ L +9 &Rs\ L +10 &AU{\ L +9 &Rw\ L +9 &T|\ L +10 &Qz\ K +9 &JRy\ L +9 & Tz\ L +10 &!Tx\ L +9 &#Tv\ L +10 &%RTs\ L +9 &'Oh\ L +9 &(Oj\ L +10 &*Og\ L +9 &,ZPk\ L +10 &.Qk\ K +9 &/Rj\ L +9 &1Sk\ L +10 &3bQe\ L +9 &5#Ug\ L +9 &6Rd\ L +10 &8Uf\ L +9 &:jRd\ L +9 &<+Uh\ L +10 &=R^\ L +9 &?S`\ K +10 &ArTa\ L +9 &C3W^\ L +9 &D\\b\ M +10 &Fp^\ O +9 &He  c\ S +10 &J b\ W +9 &K `\ X +9 &M \ b\ Y +10 &O[ b\ Y +9 &Q b\ Y +9 &R \ b\ Z +10 &T `\ [\ +9 &V] _\ [\ +10 &X `\ \\ +9 &Y \ ^\ ] +9 &[  P\ J +10 &\\9 Y\ , +9 &\\z  X\ Z +2 ( +2 "collection"'n& +4 #"WCR"Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 +2 .Hand.open + "manipulator"&!1 +63 "core" 1 + "manipulator"&% +4 "core" % G @ > h +3 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&}' +94 "core" ' +2 #"WCR"collectSample 50ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close +2 .Exhaust.select :close + .SS.hold + "sampler")u+ +3 "core" + +2 "sampler")p% +4 "core" %ڨ \  +2 "collection"'& +4 "core" &\\{ $\ Z +3 "Can".\ X! +2 #"WCR"Calibrating pressure sensors +2 .CTV.dial :air + "collection"'  +4 "core" +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler")  +4 "core"  +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X > v\  +5 "collection"'% +4 "core" %n 0\ +2 "sampler")% +4 "core" %Q9 M K \  +28 "collection"'% +3 "core" %n  U\ +2 "sampler")% +4 "core" %Q T U \ v +31 "collection"'% +4 "core" %n  _\ +2 "sampler")% +4 "core" %Q ` ] \ / +36 "collection"'w% +3 "core" %n  1\ +2 "sampler")% +4 "core" %Q k i t\ / +41 "collection"'%% +3 "core" %n  -\ +2 "sampler")2% +4 "core" %Q v v y\ / +47 "collection"'<% +3 "core" %n " !`\ +2 "sampler")% +3 "core" %Q  v\ / +54 "collection"'D% +3 "core" %n $ #b\ +2 "sampler")k% +4 "core" %Q t\ / +61 "collection"';% +4 "core" %n # $/\ +2 "sampler")% +4 "core" %Q \ / +68 "collection"'\ % +3 "core" %n $ $'\ +2 "sampler")>% +4 "core" %Q v\ / +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )/% +3 "core" %Q \ / +2 ."WCR"SSV.dial :exhaust +2 "sampler"))  +75 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml +2 "sampler")6'ڀ +405 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 #"WCR"Sampling 50.0ml + .Intake.select :close +2 .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X\ +2 "sampler")r% +4 "core" %  {\ \ R +47 "collection"'X% +3 "core" %n<\ +2 "sampler")i% +4 "core" % \  y\ \ R +53 "collection"'T% +3 "core" %n  ;\ +2 "sampler")h% +4 "core" % @ B y\ \ R +60 "collection"'5% +4 "core" %n & &7\ +2 "sampler")z% +4 "core" % \ \ R +68 "collection"'v% +4 "core" %n * )2\ +2 "sampler")s% +4 "core" % \ \ R +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )g% +3 "core" % \ \ R +2 ."WCR"SSV.dial :exhaust +2 "sampler")  +75 "core"  + ."WCR"Exhaust.select :open +39 "sampler")@ +17 ."WCR"SS.seek 0ml +2 "sampler")d'ڀ +886 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 #"WCR"Sampled 50.0ml +2 #Drying puck before fixing for 5:00 + .CBV.dial :waste2b +2 "collection"'  +73 "core"  +2 ."WCR"delay 1:00 +6003 .CSV.dial :air + "collection"'y @ +44 "core" > +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'' +2508 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"' @ +73 "core" ? +53 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'R  +88 "core"  + "collection"'!% +4 "core" % \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +30 "core" b +2 ."WCR"CS.seek 7.328ml +2 "collection"'p' +705 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  + 'n  +29 "core"  +48  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml +2 "collection"''i +1650 "core" ' ;\ +3 ."WCR"CBV.dial :waste2b + "collection"'  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'x'i +335 "core" ' + ."WCR"delay 1:00 +692 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%u @ +73 "core" A +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2104 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'  +130 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 2:30 +2 .CSV.dial CSR + "collection"'o  +40 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +11 ."WCR"CS.seek 2ml +2 "collection"''T +118 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%c +44 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"delay 2 seconds +180 "core" ' +2 ."WCR"delay 5 seconds +20 ."da"PSV.dial :mixloop + "processing"%{ +44 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%"  +43 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +184 ."WCR"CSR.select :air +2 "collection"' +9 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +46 ."WCR"CS.seek 10ml +2 "collection"'' +2013 "core" ' + #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +2 "collection"'# @ +73 "core" > +3 ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +43 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'  +87 "core" +  +2 #"da"Pulling 0.5ml of PSR.wash +2 "collection"'.% +2 ."da"PSR.select :wash +6 "processing"% +3 "core" % @\ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'( ` +5 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +45 "core" _ +2 ."WCR"CS.seek 7.293ml +2 "collection"'' +542 "core" ' + ."da"delay 5 seconds +164 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +4 "collection"'  + '  +30 "core"  +100  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +4 ."WCR"CS.seek 0ml + "collection"''i +190 ."da"PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1255 "core" '\ @\ +3 ."WCR"delay 2:30 +353 "core" ' + ."da"PTV.dial :puck +2 "processing"%w  +72 "core"  +2 ."da"PSV.dial PTV + "processing"% +73 "core" +3 ."da"PBV.dial :waste1 + "processing"%|  +32 "core"  +2 "processing"%%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%2', +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%< * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1627 "core" ' +2 ."da"delay 2:00 +11895 ."WCR"CBV.dial :waste2b + "collection"'D  +31 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'k'i +66 #"da"recoverPSRreagent08 + .PTV.dial :puck + "processing"%;  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core"  + ."da"delay 30 seconds +432 "core" ' +2 ."WCR"delay 1:00 +2569 ."da"PBV.dial between PSV and waste1 + "processing"%\ * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%> +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%/' +2424 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%) +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%' +84 "core" + ."da"delay 5 seconds +208 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"',  +129 "core" +2 #"WCR"Fix #2 of 2 (with RNAlater) for 2:30 + .CSV.dial CSR +2 "collection"'=  +40 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater +43 .CSR.select :RNAlater +4 "collection"' +11 ."WCR"CS.seek 2ml + "collection"'0'T +57 ."da"PSV.dial PTV +2 "processing"%$ +71 "core" +2 ."da"delay 5 seconds +465 "core" ' + ."WCR"delay 5 seconds +36 ."da"PSV.dial :air + "processing"%6  +86 "core"  +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +250 "Can"(\ ! +125 ."WCR"CSR.select :air +3 "collection"' +9 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'4' +1969 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%8 +21 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +2 "collection"'O @ +73 "core" > +31  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +3 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'J  +88 "core"  +2 "collection"'K% +3 "core" % =\ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'V ` +56 "core" _ +3 ."WCR"CS.seek 7.28ml +2 "collection"'1' +429 "core" ' + ."da"delay 5 seconds +276 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +2 "collection"'I  +3 ."WCR"CSV.dial CTV +4 "collection"'P  +42 "core"  +85  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml +2 "collection"'F'i +77 ."da"PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%G' +1361 "core" '\ \ +3 ."WCR"delay 2:30 +253 "core" ' +2 ."da"PTV.dial :puck + "processing"%Q  +5 "core"  +2 ."da"PSV.dial PTV + "processing"%H +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%~  +34 "core" +2 "processing"%% +3 "core" %\ +3 ."da"PS.seek 1.5ml + "processing"%B'( +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%L  +5 "core"  +2 ."da"PBV.dial :waste1 + "processing"%U  +34 "core" +2 ."da"delay 30 seconds +24 ."WCR"CBV.dial :waste2b +2 "collection"'@  +31 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +4 ."WCR"CS.seek 0ml + "collection"'^'i +527 "core" ' +2 ."WCR"delay 1:00 +2407 ."da"PBV.dial between PSV and waste1 +2 "processing"%W * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%Y +117 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%N' +2410 "core" ' + ."da"PSV.dial PTV +2 "processing"%: +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%] +71 "core"  +2 ."da"delay 5 seconds +352 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'\\  +130 "core" +18 ."da"PSV.dial PTV +2 "processing"%Z +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%b  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%e'ؾ +2348 "core" ' + #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%+  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%9  +131 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%[  +43 "core" ~ +2 ."da"PTV.dial :PRVmixing +2 "processing"%l  +15 "core" +2 ."da"PSV.dial :mixloop + "processing"%a +46 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%*' +382 "core" ' +3 ."da"delay 2 seconds +201 .PRV.dial :air +2 "processing"%q  +44 "core"  +2 "processing"%7% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%f' +331 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%M  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%`' +1561 "core" ' +2 ."da"PSV.dial :PML + "processing"% +44 "core" +2 ."da"PTV.dial :mixing +2 "processing"%t @ +73 "core" A + ."da"PBV.dial :waste1 +2 "processing"%r  +34 "core" +2 "processing"%C% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%X' +236 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%i * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%T'ؾ +1965 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +24017 "Can"\ k% +23986 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%h @ +3 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%5  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%z * +33 "core" * + ."da"PSV.dial :air +2 "processing"%v  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%s' +2407 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%g +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%E +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +43 "core"  +3 ."da"PS.seek 0ml + "processing"%y'ؾ +2351 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%& +132 "core"  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +46 ."da"PS.seek 2ml +11 "processing"%R' +1606 "core" ' +2 ."da"PTV.dial :puck + "processing"%!  +72 "core"  +2 ."da"PSV.dial PTV + "processing"% +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%n% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%'' +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%p * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1612 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +13 "core"  + ."da"PBV.dial :waste1 +2 "processing"%u  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"% ' +2393 "core" ' +2 ."da"PSV.dial PTV + "processing"%S +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%o +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%c  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%x'ؾ +2268 "Can"\ i*J +89 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"% +131 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%{' +586 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"' +1611 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core"  +2 "processing"%#% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"% '+ +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +3 ."da"PS.seek 0ml + "processing"%.'ؾ +1606 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%(  +32 "core"  +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"% +86 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2424 "core" ' +2 ."da"PSV.dial PTV + "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%w  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2342 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +45 "processing"%| +135 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%%' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1624 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%< +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%2  +34 "core" + "processing"%D% +4 "core" % \  +3 ."da"PS.seek 1.5ml + "processing"%;'/ +602 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1629 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%\  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%> * +35 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%)' +2402 "core" ' +2 ."da"PSV.dial PTV + "processing"%' +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%, +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%= +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%$  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%k'ؾ +2350 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air + .PSV.dial PSR +2 "processing"%6 +134 "core"  +4 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +3 "processing"%/' +356 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%0' +340 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%O' +1605 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%8 +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%J  +34 "core" +2 "processing"%K% +3 "core" %\ a +3 ."da"PS.seek 1.5ml + "processing"%V'+ +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%3 * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +686 "Can"\ . +930 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%P  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%I * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%1 +87 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2444 "core" ' + ."da"PSV.dial PTV +2 "processing"%Q +74 "core" + ."da"delay 5 seconds +544 .PSV.dial PSR +7 "processing"%H +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%~ +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%G'ؾ +2409 "core" ' +2 #"da"Additional air clear + .PSR.select :air + .PSV.dial PSR +2 "processing"% +133 "core"  + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%B' +2140 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%L +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%U  +35 "core" + "processing"%@% +4 "core" %\ p +2 ."da"PS.seek 1.5ml +2 "processing"%F'( +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%W * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%Y  +103 "core"  +3 ."da"PS.seek 0ml +2 "processing"%A'ؾ +1611 "core" ' + "processing"%:9 +3 "core" 9l5x +3 #"da"Processing Puck Heater at 28C before imaging + .PH.coast + "processing"%] +3 %\\& + "core" 5y +4 &^)\ h6 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&Z% +4 "core" %  - .  +2 "storage"(b% +3 "core" % j j \ l +2 "storage"(N. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(+(C +360 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &E  *\ +2 "manipulator"&[& +4 "core" &ӓ / 0 I 6 +2 "manipulator"&l% +4 "core" %  / 0 }  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&a( +159 "core" ( +2 "manipulator"&e& +3 "core" &    +2 "storage"(q& +4 "core" &E \ p +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&7' +94 "core" ' +2 "storage"(*& +4 "core" &E \ +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(M'r +297 "core" ' +2 "storage"(f- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(t& +4 "core" &D 6\ n +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 + "manipulator"&r'8 +25 "core" ' + ."da"Elbow.hold +2 "manipulator"&C, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +4 ."da"SE.seek 1.18 Pucks below Top Plate + "storage"(`' +45 "core" ' + "manipulator"&X% +4 "core" %: / . e +2 "storage"(h& +3 "core" &D y\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 302 counts +2 "manipulator"&5'f +21 "core" ' +2 "manipulator"&z& +46 "core" &    +8 "storage"(v& +4 "core" &D |\ t +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&T' +17 "core" ' +2 ."da"SE.seek 2.18 Pucks below Top Plate +2 "storage"(g'_ +50 "core" ' +2 "manipulator"&& +4 "core" &    +2 "manipulator"&E% +4 "core" % C +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&s( +240 "core" ( +2 "manipulator"&&& +3 "core" & / :   +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &  ,   +2 ."da"Forearm.seek PC +2 "manipulator"&' +90 "core" ' +2 ."da"Hand.close + "manipulator"&!/ +69 "core" / +2 ."da"PC.seek :open +2 "processing"%( +458 "core" ( +2 "storage"(& +4 "core" &D \ s +2 "manipulator"&n& +3 "core" &   +2 "manipulator"&R% +4 "core" %    Y * +2 ."da"Forearm.seek :retract +2 "manipulator"&p' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&( +245 "core" ( + "manipulator"&& +4 "core" &   = +2 "storage"(u& +4 "core" &D \ \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +94 "core" ' + ."da"Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(- +3 "core" -'_ +3 ."da"SE.seek 1.83 Pucks below Top Plate + "storage"(S'+ +27 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 0.86 Pucks below Top Plate +2 "storage"(' +46 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da24jan1021h50ml.tif +733 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 2.811 seconds\ /var/log/esp/da24jan1021h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da24jan1021h50ml15s.tif +1216 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +348 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da24jan1021h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da24jan1021h50ml20s.tif +2061 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da24jan1021h50ml20s.tif: TIFF Upload Complete\ +2 ."Qmail"DAfans.email "2.811 sec auto-exposure",Subject: "da24jan1021h50ml images!" +3 ."da"Gate.power :camera,:OFF +2 "storage"(o- +9 "core" -' +8 "storage"(c& +14 "core" &D ( 2 W\ +4 "manipulator"& & +4 "core" &  ) = +2 ."da"Elbow.seek 1 +2 "manipulator"&( +3 "core" ( +4 "manipulator"&x& +5 "core" & 2   = +2 "storage"({& +4 "core" &D 7 7 $\ +3 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"& ' +14 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.58 Pucks below Top Plate +2 "storage"('P +50 "core" ' +2 "manipulator"&#& +5 "core" &  5 = +2 "storage"("& +4 "core" &D # ) 1\ +2 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +60 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 + "manipulator"&'8 +22 "core" ' + ."da"Elbow.hold +2 "manipulator"& , +4 "core" , + ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.76 Pucks below Top Plate +2 "storage"((' +21 "core" ' + "manipulator"&% +4 "core" %>  +2 "storage"(& +4 "core" &D P M F\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 306 counts + "manipulator"&.'j +23 "core" ' + "manipulator"&& +4 "core" &   % = +2 "storage"(& +4 "core" &D ~ o\ +4 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +20 "manipulator"&' +19 "core" ' +4 "storage"(w% +10 "core" % Y\ +6 ."downElevator"SE.seek :down +4 "storage"(' +100 (|% +6 "core" %? M B {\ Wb +8 "manipulator"&% +9 "core" %  W +6 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +3 "manipulator"&%' +99 "core" ' +12 ' +3 ."downElevator"SE.stop +2 "storage"(5 +7 (<& +6 "core" &D n c M\ +6 "collection"'2& +4 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +12 "processing"%D& +5 "core" &\\x  4\ Z +3 &\ +7 "manipulator"&& +7 "core" &  = +5 "manipulator"&% +8 "core" %    +7 ."psFlush"Elbow.seek FlushPuck::Garage +4 "manipulator"&;(- +173 "core" ( +5 "manipulator"&\ & +7 "core" &-   U +5 ."psFlush"Elbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +7 &>& +6 "core" &-  U +5 ."psFlush"Forearm.seek :garage +4 "manipulator"&'w +99 "core" ' +4 ."psFlush"Hand.close +2 "manipulator"&/ +66 "core" / +6 "manipulator"&'& +9 "core" &-   n U +3 "manipulator"&,% +26 "core" % σ   9 +10 ."psFlush"Forearm.seek :retract +56 "manipulator"&=' +98 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 ."psFlush"Elbow.seek PC +3 "manipulator"&$( +118 "core" ( +4 "manipulator"&)& +7 "core" & \  ( ! +6 ."psFlush"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +9 &6& +7 "core" & \  ! +6 ."psFlush"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 ."psFlush"Forearm.seek PC +3 "manipulator"&k' +98 "core" ' +5 "manipulator"&/& +13 "core" &  @ ! +4 "manipulator"&0% +7 "core" %  +5 "processing"%8& +9 "core" &\ +6 "processing"%J& +19 "core" &\ +4 & \ +2 &!\ +5 ."psFlush"PC.seek :closed +5 "processing"%K(^ +5 "core" &\ +15 &\  +5 &0v \ *x +2 &c\ \ > +8 &sn\ N +10 &4R\ N +9 &R\ N +10 &T\ N +9 &{W\ M +9 &=R\ M +9 &S\ N +11 &R\ M +11 & T\ \ N +8 &"DXt\ N +9 &$U\ N +8 &%Q\ M +11 &'T\ N +9 &)MW\ M +8 &+U\ M +10 &,U\ M +9 &.R\ N +10 &0TR\ N +9 &2T\ N +9 &3Q\ M +10 &5T\ M +9 &7\\S\ N +11 &9W\ N +10 &:W\ N +7 &<U\ M +9 &>dZ\ N +9 &@%Z\ N +9 &AY\ N +52 &Cf\ P +5 &Ecs\ Q +2 &G\ S +2 &H\ T + &J\ T + &La\ T + #"uploadLog"upsync +3 "core" &N x\ U +8 &Ot\ U +9 &Qt\ V +10 &Se\ U +9 &U'}\ U +9 &V\ U +10 &X~\ U +9 &Zm\ U +10 &\\/v\ U +9 &]}v~\ < +9 &^'sq\ Z +10 &^%m\ 4 +2 ( +2 "processing"%J& +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + "processing"%O& +4 "core" &^&q\ 4 +2 ."psFlush"Hand.open + "manipulator"&31 +59 "core" 1 +2 "manipulator"&V% +4 "core" %  g +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&P' +96 "core" ' +2 ."psFlush"PSR.select :air +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +2 ."psFlush"PSV.dial PSR + "manipulator"&I% +3 "processing"%1 +7 "core" % % /  h : +2 "storage"(4% +3 "core" % ~ g\  +2 "storage"(Q. +3 "core" .(C +3 "storage"(H& +4 "core" &D ? I G\ +2 "storage"(~& +4 "core" &D M L ;\ +2 "manipulator"&& +4 "core" & / . H ! +2 "manipulator"& % +3 "core" % % 2 <  : +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "core"  + ."WCR"Elbow.seek 1 +2 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +2 "manipulator"& ( +3 "processing"%@ +12 ."psFlush"PS.seek 0.5ml + "processing"%G' +231 "core" ( + "manipulator"&L& +4 "core" & 2 5  2 +3 "storage"(U& +3 "core" &D d d V\ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&@' +94 "core" ' +2 "storage"(B& +4 "core" &D f e \ +2 ."WCR"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."WCR"SE.seek :beamBreak +2 "storage"(W'r +235 "core" ' +2 ."psFlush"delay 5 seconds +51 "core" ' +2 "storage"(Y- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&F& +3 "core" & /  G 2 +2 "storage"(:& +4 "core" &D ` d &\ +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&]'8 +26 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&\\, +4 "core" , + ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Z- +3 "core" -' +3 ."WCR"SE.seek 2.16 Pucks below Top Plate +3 "storage"(b'T +32 "core" ' +2 "manipulator"&N% +3 "core" %0 + 8 = +2 "storage"(_& +4 "core" &D O O [\ +2 ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 292 counts + "manipulator"&9'\\ +28 "core" ' +2 "manipulator"&[& +4 "core" &   2 +2 "storage"(l& +4 "core" &D d e \ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +44 "manipulator"&e' +18 "core" ' +2 ."WCR"SE.seek 3.16 Pucks below Top Plate +2 "storage"(q' +36 "core" ' + "manipulator"&*& +4 "core" &  2 +2 "manipulator"&-% +4 "core" %  +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&f(ӂ +51 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +89 "core" ( + "manipulator"&t& +3 "core" &ӏ" 0 5 Z << +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &ӏ# > > ` << +3 ."WCR"Forearm.seek CC + "manipulator"&X'? +93 "core" ' +2 ."WCR"Hand.close + "manipulator"&h/ +61 "core" / +2 ."WCR"CC.seek :open +2 "collection"'z( +449 "core" ( +2 "storage"(v& +4 "core" &D \ +2 "storage"(& +4 "core" &D \ +2 "manipulator"&E& +4 "core" &ӫ 1 2 8 +2 "manipulator"&7% +4 "core" % < . . $  +2 ."WCR"Forearm.seek :retract +2 "manipulator"&a' +96 "core" ' +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&M( +166 "core" ( + "manipulator"&r& +4 "core" &   - { +2 "storage"(5& +4 "core" &D \ +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&`'8 +97 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&T, +3 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open +2 "manipulator"&&1 +54 "core" 1 +2 "manipulator"&y% +4 "core" % 9   ( +2 "storage"(C& +4 "core" &D \ +2 ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 301 counts +2 "manipulator"&!'e +25 "core" ' +2 "manipulator"&& +4 "core" &   b { +2 "storage"(?& +4 "core" &D \ +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts + "manipulator"&' +18 "core" ' +2 "storage"(n% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(R' +99 (% +3 "core" %/< }\ U_ +2 "manipulator"&% +4 "core" %  +40 ."WCR"Forearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&u' +85 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ' +4 #tStarting finalPurge +559 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%s @ +182 "core" A +2 ."psFlush"PTV.dial :PRVmixing + "processing"%  +128 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +100 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%p'ؠ +908 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +1731 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%g +101 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%S' +590 "core" ' + ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%o' +2126 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%c  +33 "core"  + ."psFlush"PTV.dial :mixing +2 "processing"% @ +72 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%x +102 "core" + ."psFlush"PS.seek :empty +2 "processing"%{'ؠ +2632 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%# +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%"'X\\ +1108 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1614 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" +2 ."psFlush"PTV.dial :puck + "processing"%  +71 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +85 "core" + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +591 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +2126 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%w +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%| U +52 "core" V +2 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2627 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%. +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%<' +2638 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%2 +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%D U +41 "core" V +9 ."psFlush"PS.seek 0ml + "processing"%('ؾ +563 "Can"$\ M3v +2075 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +83 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%\ 'ؾ +2626 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%> +42 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1104 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +1617 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +83 "core" + ."psFlush"PTV.dial :puck +2 "processing"%'  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%,  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%%'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%) +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%6' +594 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +2129 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%/ +72 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%0 U +53 "core" W +2 ."psFlush"PS.seek 0ml + "processing"%;'ؾ +2650 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%8 @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%=' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%O'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%3 +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%V' +2629 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%I +71 "core" + ."psFlush"PBV.dial PSV +2 "processing"%4 U +15 "core" T +3 ."psFlush"PS.seek 0ml + "processing"%J'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%Q @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%H' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%~  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"' & +3 "core" &\ +2 "manipulator"&1& +4 "core" &  { +2 "manipulator"&k% +4 "core" %    '  +2 .tElbow.seek PC +2 "manipulator"&L( +241 "core" ( + "manipulator"&U& +4 "core" &     +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &   +3 .tForearm.seek PC + "manipulator"&A' +130 "core" ' +8 .tHand.close + "manipulator"&B/ +55 "core" / +2 .tPC.seek :open +2 "processing"%P( +458 "core" ( + "manipulator"&Y& +4 "core" &   S  +2 "manipulator"&F% +4 "core" % [ ! +2 .tForearm.seek :retract +2 "manipulator"&:' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +354 "core" ( +2 "manipulator"&N& +4 "core" &Ӓ   8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &Ӓ  8" +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&['? +100 "core" ' +2 "manipulator"&l& +4 "core" &Ӓ   $ 8" +2 "manipulator"&*% +4 "core" %7 \  +2 "collection"'-& +4 "core" &\ +3 "collection"'@& +5 "core" &n\ +2 .tCC.seek :closed + "collection"' (\\ +4 "core" &\  +9 &4}\ +{ +10 &e}\ > +9 &m\ M +9 &OR\ L +10 &R\ L +11 &S\ L +10 &R\ L +8 &VS\ L +8 &R\ L +10 &R\ L +9 & R\ L +9 &"_S\ L +10 &$"S\ L +9 &%S\ L +9 &'R\ K +10 &)gS\ L +9 &+)R\ L +10 &,R\ L +9 &.S\ L +9 &0oR\ L +10 &21S\ L +9 &3T\ L +9 &5S\ L +10 &7wT\ L +9 &99T\ L +10 &:S\ L +9 &<T\ L +9 &>~T\ L +10 &@AQ\ L +9 &BU\ L +9 &C_\ M +10 &E~o\ O +9 &G2  \ T +10 &H  \ X +9 &J  \ X +9 &Lj  \ X +10 &N)  \ Z +9 &O  \ Z +9 &Q  \ Z +10 &Sl  \ [ +9 &U,  \ [ +10 &V  \ \\ +9 &X  \ ] +9 &Zk  \ ^ +10 &\\w  \ 9 +9 &\\&  \ )x +9 &\\  \ !a +3 ( +2 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.37 + "collection"'W& +4 "core" &\\  \ !a +2 .tHand.open + "manipulator"&]1 +56 "core" 1 +2 "manipulator"&9% +3 "core" % 7 / :  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +100 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'t& +4 "core" &\\  \ !a +2 "collection"'i% +3 "core" %f  \ +2 .tCSV.dial CSR +2 "collection"'e  +41 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'\\'s5 +1353 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 'h% +3 "core" %s8  \  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'G' +681 "core" ' +2 .tCSV.dial :waste + "collection"'} +126 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'j'i +2001 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'v& +3 "core" &\\  \ !a +2 "collection"'% +4 "core" %g  \ +2 .tCSV.dial :flush + "collection"'E  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml +2 "collection"'7's5 +1316 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'r @ +52 "core" > + "collection"'5% +4 "core" %s6  \ +3 .tCS.seek 7ml + "collection"'X'! +602 "core" ' +8 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'f  +2 '&  +43 "core"  +89  + .tCBV.dial :waste1 +2 "collection"'y @ +73 "core" A +3 .tCS.seek 0ml + "collection"'C'i +1682 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'& +4 "core" &\\  \ !a +2 "collection"'?% +4 "core" %c  \ + .tCSV.dial :flush +2 "collection"'n  +70 "core" +2 .tCS.seek 5ml +2 "collection"'a's5 +1279 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +41 "core" B + "collection"'% +4 "core" %s8 \ \  +3 .tCS.seek 7ml + "collection"'M'# +559 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV + "collection"'`  +3 '!  +6 "core"  +34  + .tCBV.dial :waste2 +2 "collection"'q  +100 "core"  +2 .tCS.seek 0ml +2 "collection"''i +1676 "core" ' + #tFlushing lower manifold's waste2b port +2 "collection"'R& +3 "core" &\\  \ !a +2 "collection"'s% +4 "core" %f  z\ +2 .tCSV.dial :flush + "collection"'  +71 "core" +2 .tCS.seek 5ml + "collection"''s5 +1276 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +43 "core" B + "collection"'g% +4 "core" %s3  \  +3 .tCS.seek 7ml + "collection"'p' +580 "core" ' +2 ."connect"CSV.dial CTV +2 "collection"'S  + .tCTV.dial CSV +42 "core"  + .tCBV.dial :waste2b +2 "collection"'c  +100 "core"  +2 .tCS.seek 0ml +2 "collection"' 'i +1658 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'x& +4 "core" &\\  \ !a +2 "collection"'o% +3 "core" %h  \ +2 .tCSV.dial CSR +2 "collection"'#  +41 "core"  + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'{' +2006 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml +2 "collection"'"' +557 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"' +2 '  +44 "core"  +57 + .tCTV.dial :intake +2 "collection"'  +75 "core" + .tIntake.select :open +2 "sampler") +10 .tCS.seek 2ml + "collection"''T +1697 "Can"\ m6  +195 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +69 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"''i +590 "core" ' +2 .tCSV.dial CSR + "collection"'w  +99 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'|'s5 +1367 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml +2 "collection"'' +1376 "core" ' +9 .tCSV.dial CBV + "collection"' +97 "core" +2 .tCS.seek 0ml + "collection"''i +2640 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӧ 8 1 6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +15 "core" ( + "manipulator"&.& +4 "core" &ӄ ; / P , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӄ   < , +2 .tForearm.seek CC +2 "manipulator"&2'? +98 "core" ' + .tHand.close + "manipulator"&D/ +54 "core" / +2 .tCC.seek :open +2 "collection"'<( +452 "core" ( + "manipulator"&& +4 "core" &Ӌ  + +2 "manipulator"&(% +4 "core" % 2 \  +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +281 "core" ( +2 "manipulator"&>& +4 "core" &-    F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &-  F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +97 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&'% +4 "core" % k   ) } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +2 #tCompleted [initialPurge; da [50, 50] #da and wsr are run simultanelously] begun 19:34:26 +5 #Asleep after completing DA_WCR_011024 assays +2 ."Qmail"GoodNews.email "{1 => 4,\\n 2 => 0,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@21:23:36, 25% flow, 20.9C, 25% humidity, 14.6psia, 13.627V, 0.580A, 1.306Ah, 7.91W\\nSampled 50.0ml",Subject: "Asleep after completing DA_WCR_011024 assays" +466 #"uploadLog"upsync +6 #mEXIT @1704921904.64UTC @1704921922.28UTC = =tMAIN =mMAIN_scheduler @UTC1704921923.96 #"core_reset"Sent BREAK +2 #t@60744 sendCRC with ifg=0x20, ie=0x7F + #@62578 sendCRC with ifg=0x08, ie=0x5F + #@19483 idle with ifg=0x84, ie=0x75 + #@20152 select with ifg=0x10, ie=0xF5 + #@20784 receive with ifg=0x10, ie=0xFD #@21417 receive with ifg=0x10, ie=0xFD + #@22049 receive with ifg=0x10, ie=0xFD #@22376 receive with ifg=0x80, ie=0xFD + #@50311 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +282 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can"\ A7l )z + \ A7l )z #tPolling Can every 10:00 +5 #Cleanly exited at 21:25:04UTC10-Jan-24 +379 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +6 "collection"' 9\ +3 ' 0\ +3 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %c\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +4 "core" % \ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڀ |\  +3 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(3% +3 "core" %\ \  Z\  +2 "manipulator"&4% +3 "core" %   \   +2 "manipulator"&5& +4 "core" &-   F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 5 +2 "storage"(6(<- +1300 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &<+ \  +2514 #t-> access 2 +3 "storage"(8% +3 "core" % N z\  +2 "manipulator"&9% +4 "core" %      +2 "manipulator"&:& +4 "core" &-  % F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(;(K +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +2 "core" &K \  +12788 #t-> exit +6 #mEXIT @1704922114.64UTC @1704923862.39UTC = =mMAIN_scheduler =tMAIN @UTC1704923864.13 #"core_reset"Sent BREAK +2 #t@37519 receive with ifg=0x10, ie=0xFD + #@38154 receive with ifg=0x10, ie=0xFD + #@38808 receive with ifg=0x10, ie=0xFD #@39441 receive with ifg=0x10, ie=0xFD + #@40074 receive with ifg=0x10, ie=0xFD + #@40707 receive with ifg=0x10, ie=0xFD #@41340 receive with ifg=0x10, ie=0xFD + #@41666 receive with ifg=0x80, ie=0xFD + #@642 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can"\ \ A>  +2 \ \ A>  #tPolling Can every 10:00 +3 #Cleanly exited at 21:28:34UTC10-Jan-24 +1733 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %cT\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +4 "core" %"\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +5 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڀ [ X q\  +2 .tSS.configure :default +3 "sampler")#.0X access 1 +3 "storage"(3% +4 "core" % 7\  +2 "manipulator"&4% +3 "core" %     +2 "manipulator"&5& +4 "core" &-   F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(6(<- +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<. \ 4\ +4164 #t-> access 2 +3 "storage"(8% +3 "core" % \  +2 "manipulator"&9% +4 "core" %   $  +2 "manipulator"&:& +3 "core" &-    F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(;(K +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +3 "core" &K\ k\  +36518 #t-> access 1 +3 "storage"(=% +3 "core" % \  a\  +2 "manipulator"&>% +3 "core" %    +2 "manipulator"&?& +4 "core" &-  F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(@(<- +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" & access 2 +3 "storage"(B% +3 "core" % N ^\  +2 "manipulator"&C% +4 "core" %     +2 "manipulator"&D& +3 "core" &-   , F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(E(K +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" &K\ \ ) +\ +787 #t-> access 1 +3 "storage"(G% +3 "core" % \  Z\  +2 "manipulator"&H% +3 "core" %    +2 "manipulator"&I& +4 "core" &-   F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(J(<- +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" &<+\  !\ +11913 "Can" \ CA# g +26419 #t-> access 1 +3 "storage"(L% +3 "core" % N i\  +2 "manipulator"&M% +4 "core" %     +2 "manipulator"&N& +3 "core" &-   F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(O(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &<+ \ \ \ +15593 #t-> access 1 +2 "storage"(Q% +3 "core" % \  +2 "manipulator"&R% +4 "core" %     +2 "manipulator"&S& +4 "core" &-    F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(T(<- +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +3 "core" &<+ \\\ +261 #t-> access 2 +2 "storage"(V% +4 "core" % \  +2 "manipulator"&W% +3 "core" %     +2 "manipulator"&X& +4 "core" &-  F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(Y(K +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Z& +2 "core" &K | $\  +1066 #t-> access 1 +3 "storage"([% +3 "core" % 1\  +2 "manipulator"&\\% +4 "core" %   \   +2 "manipulator"&]& +37 "core" &-  F +9 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(^(<- +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" &<0 | E\ +15768 "Can" BCn :g @1704925324.11UTC = =mMAIN_scheduler =tMAIN @UTC1704925325.88 #"core_reset"Sent BREAK +3 #t@32037 receive with ifg=0x10, ie=0xFD #@32671 receive with ifg=0x10, ie=0xFD + #@33326 receive with ifg=0x10, ie=0xFD + #@33959 receive with ifg=0x10, ie=0xFD + #@34592 receive with ifg=0x10, ie=0xFD #@35225 receive with ifg=0x10, ie=0xFD + #@35858 receive with ifg=0x10, ie=0xFD #@36184 receive with ifg=0x80, ie=0xFD + #@26742 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +287 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +379 "Can" @Dn { +  @Dn { + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +449 #-> ESP.ready! +155 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +7 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %cI +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" % \ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +2 "core" + +3 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڀ P Q {\  +2 .tSS.configure :default +2 "sampler")#.0X access 2 +3 "storage"(3% +3 "core" %  w P\  +2 "manipulator"&4% +3 "core" %   G  +2 "manipulator"&5& +4 "core" &-  \  F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(6(K +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &K { s %\  +2898 #t-> access 1 +3 "storage"(8% +3 "core" % 2\  +2 "manipulator"&9% +3 "core" %   !  +2 "manipulator"&:& +4 "core" &-  F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(;(<- +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" &<- \ +5707 #t-> access 2 +3 "storage"(=% +3 "core" % {\  +2 "manipulator"&>% +3 "core" %      +3 "manipulator"&?& +3 "core" &-   7 F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(@(K +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" &K \\\  +528 #t-> access 1 +3 "storage"(B% +3 "core" % S\  +2 "manipulator"&C% +3 "core" %      +3 "manipulator"&D& +3 "core" &- ) F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(E(<- +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" & ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %cbc+\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +4 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڀ c\  +2 .tSS.configure :default +3 "sampler")#.0X Flush +343 #-> Flush.PC + #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%3& +3 "core" &\ +2 .tHand.open + "manipulator"&41 +16 "core" 1 + "manipulator"&5& +4 "core" &-    F +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(- +4 "core" ( + "manipulator"&7& +5 "core" &-  \ F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &-   ; F +2 .tForearm.seek :garage +2 "manipulator"&9'w +99 "core" ' +2 .tHand.close + "manipulator"&:/ +61 "core" / + "manipulator"&;& +4 "core" &-   f F +2 "manipulator"&<% +3 "core" % χ  +3 .tForearm.seek :retract + "manipulator"&=' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&>( +116 "core" ( +2 "manipulator"&?& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +101 "core" ' +2 "manipulator"&B& +3 "core" &    +2 "manipulator"&C% +4 "core" %   +2 "processing"%D& +4 "core" &\ +3 "processing"%E& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(^ +5 "core" &\  +7 &2{\ )w +10 &b\ = +9 &ru\ N +9 &4W\ M +10 &\\\ M +9 &Y\ N +9 &y[\ N +10 &;\\\ N +9 &\\\ M +10 &Y\ M +9 & ^\ M +9 &"C]\ N +10 &$]\ M +9 &%Y\ M +9 &'^\ M +10 &)K]\ N +9 &+]\ M +10 &,[\ M +9 &.Y\ M +9 &0T_\ M +10 &2Z\ M +9 &3_\ M +9 &5_\ M +10 &7\\_\ M +9 &9`\ M +9 &:\\\ M +10 &<]\ M +9 &>cb\ N +10 &@&a\ M +9 &Af\ N +9 &Cp\ O +10 &Ea\ Q +9 &G\ R +9 &H\ R +10 &J\ S +9 &Lc\ S +10 &N"\ T +9 &O\ T +9 &Q\ U +10 &Sf\ U +9 &U)\ T +10 &V\ T +9 &X\ U +9 &Zo\ T +10 &\\0\ U +9 &]zy\ A +9 &^Q\ H +10 &^~\ ? +8 ( +3 "processing"%E& +3 "core" &^6\ : +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 "processing"%G& +3 "core" &^6\ : +2 .tHand.open + "manipulator"&H1 +57 "core" 1 + "manipulator"&I% +4 "core" % $ + o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +97 "core" ' +465 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&K& +3 "core" & , , / +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&M& +4 "core" & + " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &   +3 .tForearm.seek PC +2 "manipulator"&O' +91 "core" ' +2 .tHand.close + "manipulator"&P/ +65 "core" / +2 .tPC.seek :open + "processing"%Q( +458 "core" ( +2 "manipulator"&R& +4 "core" &  9 +2 "manipulator"&S% +4 "core" %  < C +2 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&U(- +127 "core" ( + "manipulator"&V& +38 "core" &-  }  +9 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &-   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&X'w +97 "core" ' +2 .tHand.open + "manipulator"&Y1 +57 "core" 1 + "manipulator"&Z% +4 "core" % π  \ & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +1061 #t-> access 2 +3 "storage"(\\% +3 "core" % t q \  +2 "manipulator"&]% +3 "core" %  \   +2 "manipulator"&^& +4 "core" &-   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(_(K +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &K a u r\ +419 #t-> exit +6 #mEXIT @1705072181.09UTC @1705073219.81UTC = =tMAIN =mMAIN_scheduler @UTC1705073221.50 #"core_reset"Sent BREAK +2 #t@29526 receive with ifg=0x10, ie=0xFD + #@30162 receive with ifg=0x10, ie=0xFD + #@30850 receive with ifg=0x10, ie=0xFD #@31488 receive with ifg=0x10, ie=0xFD + #@32120 receive with ifg=0x10, ie=0xFD + #@32799 receive with ifg=0x10, ie=0xFD #@33369 receive with ifg=0x10, ie=0xFD + #@33700 receive with ifg=0x80, ie=0xFD + #@58155 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +263 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +353 "Can" Aw\\+ +  Aw\\+ + #tPolling Can every 10:00 +2 #Cleanly exited at 15:09:41UTC12-Jan-24 +5 #Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission +6 ."Qmail"GoodNews.email "Starting DA_WCR_011024 w/pucks in tube 2\\n{3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@15:27:07, 26% flow, 21.7C, 22% humidity, 15.0psia, 13.798V, 0.315A, 13.872Ah, 4.34W",Subject: "DA_WCR_011024 begun" +3 #tPreparing to sleep until + 00:00:05 +5 #Asleep til + 00:00:05 +2 #Continuing at 15:27 +2 "Can" Aw\\+ +26 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown +248 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [50, 50] #da and wsr are run simultanelously\\n/home/esp/esp2local/mission/DA_WCR_011024.rb:14\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@15:27:08, 26% flow, 21.7C, 22% humidity, 15.0psia, 13.798V, 0.315A, 13.872Ah, 4.34W",Subject: "Asleep until 15:27" +179 #"uploadLog"upsync +26 "Can" w^;, +4 #tPowering core bus +169 #"uploadLog"upsync +392 .tGate.power :raw,:ON +2 "sampler") +11 ) +2 "core"  +3 "collection"' +35 ' +6 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@15:27:56, 26% flow, 21.9C, 22% humidity, 15.0psia, 13.749V, 0.321A, 13.877Ah, 4.41W",Subject: "Started DA_WCR_011024 phase initialPurge; da [50, 50] #da and wsr are run simultanelously" +2 #tStarting initialPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'!& +3 "core" &ff\  +2 .tHand.open + "manipulator"&"1 +56 "core" 1 +2 "manipulator"&#& +4 "core" &  \ C +2 "manipulator"&$% +4 "core" %   \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(- +174 "core" ( +4 "manipulator"&&& +10 "core" &-  N +5 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &'& +3 "core" &- O N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('w +91 #"uploadLog"upsync +8 "core" ' +2 .tHand.close + "manipulator"&)/ +62 "core" / +2 "manipulator"&*& +4 "core" &-   N +2 "manipulator"&+% +4 "core" % φ  - +2 .tForearm.seek :retract +2 "manipulator"&,' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +281 "core" ( +2 "manipulator"&.& +3 "core" &Ӝ   :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &Ӝ  \  :0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'? +99 "core" ' +2 "manipulator"&1& +4 "core" &Ӝ  \  :0 +2 "manipulator"&2% +4 "core" %D   +2 "collection"'3& +4 "core" &ce\  +3 "collection"'4& +5 "core" &de\  +2 .tCC.seek :closed +2 "collection"'5(\\ +4 "core" &dc\  +9 &6~dd\ +{ +10 &gdd\ ? +9 &bpee\ M +9 &(Udc\ K +10 &Vfe\ K +9 &Vfe\ L +10 &mYfd\ L +9 &/Tdf\ L +9 &Tdd\ L +10 &Uee\ K +9 & vVee\ K +9 &"8Uef\ K +10 &#Vgd\ L +9 &%Yec\ L +10 &'}Yge\ L +9 &)@Teg\ K +9 &+Ugf\ L +10 &,Xdg\ L +9 &.Yeg\ L +9 &0GXdd\ L +10 &2 Yff\ L +9 &3Ydd\ L +10 &5Xge\ L +9 &7OZff\ L +9 &9Yee\ L +10 &:Vgf\ K +9 &<Whg\ L +9 &>VYhh\ L +10 &@Wji\ K +10 &AZmi\ L +9 &Cino\ M +9 &ETs|x\ O +9 &G\ \ T +10 &H\ W +9 &J~\ Y +9 &LB\ X +10 &N\ Z +9 &O\ Z +9 &Q\ Z +10 &SE\ Z +9 &U\ Z +10 &V\ ] +9 &X\ ] +9 &ZC\ ] +10 &[x\ K +9 &\\\ $i +10 &\\"\ \\ +9 ( + &]r\ V +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.38 + "collection"'6& +3 "core" &]r\ V +3 .tHand.open + "manipulator"&71 +64 "core" 1 +2 "manipulator"&8% +3 "core" % D % . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +94 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &]r\ V +2 "collection"';% +4 "core" %k\ +2 .tCSV.dial CSR + "collection"'<  +136 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml +2 "collection"'='s5 +1377 "core" ' +2 .tdelay 5 seconds +537 .CSR.select :air +8 "collection"' +9 '>% +3 "core" %s6\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'?' +679 "core" ' +2 .tCSV.dial :waste + "collection"'@ +124 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A'i +1996 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &]q\ V +2 "collection"'C% +3 "core" %g\ +2 .tCSV.dial :flush +2 "collection"'D  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'E' +2461 "core" ' +2 .tdelay 5 seconds +503 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'F +2 'G  +7 "core"  +62 +2 .tCTV.dial :intake + "collection"'H  +75 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I'i +2366 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'J  +73 "core"  +2 #tFlushing upper manifold + "collection"'K& +4 "core" &]p\ V +2 "collection"'L% +3 "core" %l\  +2 .tCSV.dial :flush +2 "collection"'M  +68 "core"  +3 .tCS.seek 5ml + "collection"'N's5 +1295 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +52 "core" ? +2 "collection"'P% +4 "core" %s5\ +2 .tCS.seek 7ml +2 "collection"'Q' +558 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV + "collection"'R +3 'S  +6 "core"  +90  +2 .tCTV.dial :air + "collection"'T  +5 "core" +2 .tCS.seek 0ml +2 "collection"'U'i +1668 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'V'3J +806 "core" ' +2 .tCSV.dial :waste +2 "collection"'W +42 "core" +2 .tCS.seek 0ml +2 "collection"'X'i +779 "core" ' + "collection"'Y& +4 "core" &]o}{\ V +2 "collection"'Z% +3 "core" %g~}\  +2 .tCSV.dial :flush + "collection"'[  +41 "core"  +3 .tCS.seek 3ml + "collection"'\\'3J +810 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'] @ +40 "core" B + "collection"'^% +4 "core" %3Jz}\  +2 .tCS.seek 5ml +2 "collection"'_'s5 +558 "core" ' + .tCSV.dial :air +2 "collection"'` @ +14 "core" ? +2 .tCS.seek 0ml +2 "collection"'a'i +1232 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'b'3J +800 "core" ' +2 .tCSV.dial :waste + "collection"'c +69 "core" +2 .tCS.seek 0ml +2 "collection"'d'i +765 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +3 "core" &ӣ  W 9) +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&f(ӂ +21 "core" ( +2 "manipulator"&g& +3 "core" &}  \ # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &}  # +2 .tForearm.seek CC +2 "manipulator"&i'? +92 "core" ' +2 .tHand.close + "manipulator"&j/ +61 "core" / +2 .tCC.seek :open +2 "collection"'k( +450 "core" ( +2 "manipulator"&l& +37 "core" &ӎ\ \  o !s +9 "manipulator"&m% +3 "core" % @  m +3 .tForearm.seek :retract + "manipulator"&n' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&o(- +281 "core" ( + "manipulator"&p& +4 "core" &-  H E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +4 "core" &-   E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +92 "core" ' +2 .tHand.open + "manipulator"&s1 +63 "core" 1 +2 "manipulator"&t% +3 "core" % q  \ Q ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +94 "core" ' +2 #tda sampling at most 50ml, wcr at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp + ."Qmail"DAfans.email "Started da in tube 2 at 15:32:15UTC12-Jan-24\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@15:27:56, 26% flow, 21.9C, 22% humidity, 15.0psia, 13.749V, 0.321A, 13.877Ah, 4.41W",Subject: "da sampling at most 50ml, wcr at most 50ml" +2 "collection"'v& +5 "core" &_b\ +2 "manipulator"&w% +5 "core" %   +2 "storage"(x% +3 "core" % Z\ " +2 "storage"(y. +3 "core" .(,v +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(z(  +349 #"uploadLog"upsync +323 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &  o %\ +3 "manipulator"&|& +3 "core" &-   E +3 "manipulator"&}% +3 "core" %   -  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&~( +185 "core" ( +3 "manipulator"&& +3 "core" &    +3 "storage"(& +4 "core" &  j\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 450 counts + "manipulator"&'S +99 "core" ' + "storage"(& +4 "core" &  \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +283 "core" ' + "storage"(- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & w t y\ +2 "manipulator"&& +4 "core" &  * +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&\ & +4 "core" &  \ +2 "storage"( & +4 "core" & p | T\ +3 .tForearm.seek 2 + 300 counts + "manipulator"& 'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +56 "core" / +4 ."downElevator"SE.seek :down +2 "manipulator"&& +4 "storage"(' +5 "core" & \  +3 "manipulator"&% +3 "core" %  # +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +138 "core" ' +7 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&& +3 "core" &ӕ 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӕ   9( +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&& +4 "core" &Ӗ   s 9' +2 "manipulator"& % +4 "core" %6  = I +2 "collection"'& +4 "core" &bc\ +3 "collection"'& +5 "core" &`c\ +2 .tCC.seek :closed +2 "collection"'!(\\ +3 "core" &cb\ +7 &;bc\ $e +9 &Xz`c\ 7 +10 &xbc\ K +9 &Tbc\ J +10 &yUbc\ J +9 &:Vbb\ K +9 &Taa\ K +10 &Tcc\ K +9 &Tdd\ K +9 &CU`c\ J +10 & Tdd\ J +9 &!Ucc\ K +10 &#Yab\ K +9 &%JYbc\ K +9 &' Tcb\ K +10 &(Tac\ K +9 &*Ubd\ J +9 &,RTbc\ K +10 &.Rdc\ K +9 &/Sdb\ K +10 &1Uad\ J +9 &3ZVdc\ K +9 &5Ydd\ K +10 &6Tec\ K +9 &8Wfd\ K +9 &:aZgc\ K +10 &<$Udd\ K +9 &=Wad\ J +10 &?Wed\ K +9 &AjXdc\ K +9 &C*]hg\ L +10 &Dgni\ M +9 &Fvuo\ O +9 &H[}\ S +10 &J~\ V +9 &K~~\ W +10 &M{|\ W +9 &OU{|\ X +9 &Q||\ X +10 &R||\ X +9 &Tz|\ Z +9 &VVz{\ Z +10 &X{~\ [\ +9 &Y{~\ \\ +9 &[}|\ H +10 &\\9{|\ - +9 &\\||\ _ +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&"1 +60 "core" 1 +2 "manipulator"&#% +3 "core" % 6   I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +94 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")&+ +2 "core" + +2 "sampler")'% +4 "core" %ڂ k\ ) +2 "collection"'& +4 "core" &\\{}\ _ +3 "Can" Zy<%% +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 "sampler")) +4 "core"  +2 .tSS.reconfigure :fast +2 "sampler")#.0X% +4 "core" %Q m\ E +27 "collection"'=% +3 "core" %jsp\ +2 "sampler")@% +4 "core" %Q  b\ E +38 "collection"'?% +11 "core" %j}~\ +2 "sampler")B% +4 "core" %Q  l\ E +36 "collection"'C% +3 "core" %j\ +2 "sampler")D% +4 "core" %Q  b\ E +41 "collection"'A% +3 "core" %j\ +2 "sampler")G% +4 "core" %Q  c\ E +47 "collection"'F% +3 "core" %j\ +2 "sampler")H% +4 "core" %Q  Z\ E +2 .tIntake.select :close + "sampler")0 +9 )E% +3 "core" %Q  c\ E +2 .tSSV.dial :exhaust + "sampler")J  +73 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")K'ڀ +433 "core" ' +2 .tExhaust.select :close + "sampler") +10 #tSampling 50.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X' +1496 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")= +128 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.reconfigure :exhale +2 "collection"'@  +2 "sampler")#.0X9 +3 "core" 9\ @ +103 "collection"'F9 +3 "core" 9\ D +102 "collection"'H9 +3 "core" 9\ %H +103 "collection"'G9 +2 "core" 9\ *M +103 "collection"'J9 +2 "core" 9\ -Q +103 "collection"'79 +4 "core" 9\ 0U +102 "collection"'M9 +3 "core" 9\ 4Y +102 "collection"'?9 +3 "core" 9\ 8] +103 "collection"'O9 +2 "core" 9\ <b +103 "collection"'P9 +2 "core" 9\ >f +103 "collection"'K9 +3 "core" 9\ Bj +103 "collection"'I9 +2 "core" 9\ Fn +103 "collection"'N9 +3 "core" 9\ Jr +102 "collection"'Q9 +3 "core" 9\ Mw +102 "collection"'T9 +3 "core" 9\ P{ +103 "collection"'U9 +3 "core" 9\ S +102 "collection"'W9 +3 "core" 9\ V +103 "collection"'Y9 +2 "core" 9\ Y +103 "collection"'L9 +3 "core" 9\ \\ +102 "collection"'[9 +3 "core" 9\ _ +102 "collection"'E9 +4 "core" 9\ b +102 "collection"'V9 +3 "core" 9\ e +103 "collection"'Z9 +2 "core" 9\ g +103 "collection"'\\9 +3 "core" 9\ j +102 "collection"'X9 +3 "core" 9\ m +102 "collection"'^9 +3 "core" 9\ o +103 "collection"'`9 +2 "core" 9\ r +103 "collection"']9 +2 "core" 9\ v +103 "collection"'a9 +3 "core" 9\ x +102 "collection"'c9 +3 "core" 9\ { +3 .tCH.hold 10:00,70C +2 "collection"'_ `\ `\ y  +2 'S9 +5 "core"  +3 9\ z +2 "collection"'b% +3 "core" %` \ 0\ +2 #tBegun lysing Collection Puck Heater at 68C/31.2psia +38299 "Can"\ \\) +21690 "core" ` +2 "collection"'g9 +3 "core" 9\  +2 "collection"'e% +4 "core" %`\ \ \ +2 #tEnded lysing Collection Puck Heater at 70C/29.8psia + .CS.seek 0ml +2 "collection"'R'i +356 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'h @ +97 "core" B +2 .tCSV.dial :air + "collection"'9 @ +41 "core" > +3 .tCS.seek 5ml + "collection"'-'s5 +1382 "core" ' + .tCSV.dial CTV +2 "collection"'m  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'j @ +42 "core" ? +2 .tdelay 2 seconds +201 .CSV.dial CTV +2 "collection"'p  +42 "core"  +3 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'i @ +42 "core" > +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'f'i +1360 "core" ' +2 "collection"'s% +3 "core" %g E C \ +2 #tPuck @58.4psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"'v +96 "core" ~ +2 .tCBV.dial CSV +44 "collection"'w  +29 "core"  +2 "collection"'x% +4 "core" %g \ +3 .tCS.seek 5ml + "collection"'y's3 +1353 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'n  +42 "core" + "collection"'r% +4 "core" %s6TS\ +3 .tCS.seek 7ml + "collection"''! +584 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'5 @ +41 "core" ? +3 .tCS.seek 10ml + "collection"'{' +862 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'| ` +110 "core" _ +2 #tLysing Complete + "collection"'}& +4 "core" &\\..~\ _ +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&% +3 "core" %   \ g  +2 "storage"(% +4 "core" % ]\  +2 "storage"(o. +2 "core" .(  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((C +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +2 "manipulator"&l& +4 "core" &F \ +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &Ӫ  ' 6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek CC +2 "storage"('r +2 "manipulator"&(ӂ +20 "core" ( +2 "manipulator"&& +4 "core" &ӈ  . % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӈ  O % +3 .tForearm.seek CC + "manipulator"&\ '? +102 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / +2 .tCC.seek :open + "collection"'d( +62 "core" ' +2 "storage"( - +2 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(~'1 +45 "core" ' +331 ( +2 "storage"(& +3 "core" &E Y\ +2 "storage"(& +4 "core" &E \ +2 "manipulator"&& +4 "core" &ӊ \ \  % +2 "manipulator"&% +3 "core" % 1  +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +157 "core" ( +2 "manipulator"& & +4 "core" &    +2 "storage"(& +3 "core" &E \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&'8 +101 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&k% +4 "core" % B  +2 "storage"(& +3 "core" &E \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 310 counts + "manipulator"&#'n +14 "core" ' +3 "manipulator"&'& +4 "core" &  ,  +2 "storage"(& +3 "core" &E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&"' +47 "core" ' +2 "storage"(% +4 "core" %: M\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %D \ U\\ +2 "manipulator"&&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'(& +3 "core" &.-  +2 "manipulator"&)& +4 "core" &  +2 "manipulator"&/% +4 "core" %   +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +169 "core" ( +5 "manipulator"&+& +4 "core" &-  J R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" &- T R +3 .tForearm.seek :garage + "manipulator"&.'w +94 "core" ' + .tHand.close + "manipulator"&*/ +54 "core" / +2 "manipulator"&2& +3 "core" &-   R +2 "manipulator"&3% +4 "core" % τ 0 +2 .tForearm.seek :retract +2 "manipulator"&1' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&%(ӂ +284 "core" ( +2 "manipulator"&8& +4 "core" &Ӓ!  d ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &ӓ! \   ;6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&:'? +98 "core" ' +2 "manipulator"&;& +4 "core" &ӓ"   ;6 +2 "manipulator"&% +4 "core" %=  j +2 "collection"'0& +4 "core" &*+  +3 "collection"'& +5 "core" &,,  +2 .tCC.seek :closed + "collection"'<(\\ +5 "core" &.-  +7 &?-, %g +10 &Zw./K 7 +9 & x,+0 J +9 &X., I +10 &Z++ I +9 &RX,. J +10 &X++ J +9 &X+- I +9 &Z,. I +10 &ZY+-f J +9 & W-+@ I +9 &!U..d I +10 &#Z-- I +9 &%cW,-i I +10 &'%T,,M I +9 &(U-,/ I +9 &*Z-. I +10 &,kY-+ I +9 &.-U+, I +9 &/Z,. I +10 &1Y+, J +9 &3sY-- I +10 &55U,. I +9 &6\\,- I +9 &8\\+. I +10 &:{\\--o I +9 &<=\\.-c I +9 &=V--Q I +10 &?W-.; I +9 &AW-.( J +10 &CAc-, K +9 &Do+/ L +9 &F+-\ Q +10 &Hh/.g\ U +9 &J%./3\ W +9 &K.1*\ V +10 &M.0\ W +9 &Oj/1\ W +10 &Q(/0\ X +9 &R/0\ Y +9 &T.1\ Y +10 &Vh2/\ [ +9 &X).1\ [\ +9 &Y01\ \\ +10 &[01\ H +9 &\\,00\ < +10 &\\v01 S +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.34 + "collection"'=& +4 "core" &\\i/0 S + &\\i21} S +2 .tHand.open + "manipulator"&@1 +56 "core" 1 + "manipulator"&B% +4 "core" % =   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +97 "core" ' + .tPSV.dial PSR +2 "processing"%D +127 "core"  +2 "processing"%A% +3 "core" %ؾ\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%6'+ +1605 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%>  +46 "core"  +5 .tPS.seek 0ml + "processing"%F'ؾ +1617 "core" ' +2 .tPSV.dial PSR + "processing"%H +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%G' +2635 "core" ' +3 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +2 "processing"%J +2 "collection"'7  +6 "core" A +2 "processing"%M +2 "core" A +3 "processing"%?  +62 "core" +91  +2 .tPSV.dial :mixloop + "processing"%O +99 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'P  +21 "core" + .tPTV.dial :PRVmixing +2 "processing"%K  +126 "core" +2 .tPS.seek 0ml +2 "processing"%I'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%N  +55 "core"  +2 .tPS.seek 2.5ml + "processing"%Q' +2626 "core" ' +2 .tPSV.dial :mixloop + "processing"%T +43 "core" +2 .tPS.seek 0ml + "processing"%U'ؾ +2632 "core" ' +2 .tPSV.dial :air + "processing"%W  +44 "core"  +3 .tPS.seek 2.5ml + "processing"%Y' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%L +44 "core" +2 .tPS.seek 0ml + "processing"%['ؾ +2631 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&E& +3 "core" &ө 8 +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&V(ӂ +14 "core" ( +2 "manipulator"&Z& +3 "core" &Ӈ  7 , +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &\\& +3 "core" &Ӈ  , +3 .tForearm.seek CC + "manipulator"&X'? +102 "core" ' + .tHand.close + "manipulator"&^/ +59 "core" / +2 .tCC.seek :open + "collection"'`( +450 "core" ( +2 "manipulator"&]& +4 "core" &ӣ  ) +2 "manipulator"&a% +4 "core" %   , +2 .tForearm.seek :retract +2 "manipulator"&c' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&S(- +287 "core" ( +2 "manipulator"&b& +4 "core" &-   ( % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" &-  % +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&_'w +100 "core" ' + .tHand.open + "manipulator"&g1 +54 "core" 1 +2 "manipulator"&e% +3 "core" % ρ  [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +94 "core" ' + .tPSV.dial :mixloop +2 "processing"%h +5 "core" +2 .tPTV.dial :PRVmixing + "processing"%9  +5 "core" +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%R  +2 "collection"'m  +16 "core"  + +2 .tCTV.dial :air,avoiding: :intake +46 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'j& +3 "core" &58@  +2 "manipulator"&p% +4 "core" %   +2 "storage"(i% +4 "core" % \  +2 "storage"(-. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(s(  +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +3 "core" &  \ +2 "manipulator"&w& +4 "core" &- % +2 "manipulator"&x% +4 "core" %  G  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&f( +176 "core" ( +2 "manipulator"&n& +3 "core" & M 4 +2 "storage"(r& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&y'S +91 "core" ' +2 "storage"(5& +3 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +292 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (}& +3 "core" & c\  +2 "manipulator"&& +3 "core" & 5 4 +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&o& +4 "core" &  ; 4 +2 "storage"(z& +4 "core" & \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( ' +7 "core" & K 4 +2 "manipulator"&% +3 "core" %  ' +3 .tForearm.seek :retract + "manipulator"& ' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&$& +4 "core" &Ӕ  :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &Ӕ ) :* +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +103 "core" ' +2 "manipulator"&& +3 "core" &Ӕ!  :* +3 "manipulator"&% +3 "core" %8   +3 "collection"'& +3 "core" &;9]  +3 "collection"'& +5 "core" &:9I  +2 .tCC.seek :closed +2 "collection"' (\\ +3 "core" &89, +9 &A79C %g +9 &[x9<m 7 +10 &x::W J +9 &U:9B I +9 &U:9 I +10 &WW99 J +9 &Y8; J +10 &U99 J +9 &U:9s I +9 &_X<:b J +10 & "Z:8P I +9 &!W:9@ I +9 &#[98/ J +41 &%gU;: J +9 &'*U98 I +2 &(X8; J + &*Y79 J + &,pW99 I +4 &.2W8;C I +8 &/Z9:C J +9 &1Z:; J +10 &3xZ8: I +9 &5:X::y I +10 &6Y:9c I +9 &8X9:S J +9 &:\\<;F J +10 &V9; J +10 &?Y8; I +9 &AY;; J +9 &CG_9= K +10 &E e;< K +9 &FmB? L +9 &HKH O +10 &J5NN\ T +9 &KNN\ U +9 &MNP\ V +10 &OsON\ V +9 &Q4PRp\ V +10 &ROOg\ W +9 &TQQb\ X +9 &VtQQ`\ Y +10 &X3OPP\ Z +9 &YPQQ\ Z +9 &[OP@\ G +10 &\\1RP;\ , +9 &\\xNQ1 R +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 + .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&\ % +4 "core" % 8  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'  +127 "core" ~ +2 .tCSV.dial CTV + "collection"'k  +28 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2112 "Can" P/* +529 "core" ' +2 "collection"''% +4 "core" %PO~\ +3 .tCS.seek 4.5ml + "collection"''c; +1489 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air + "processing"%  +55 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'& ` +30 "core" ^ +2 .tCSV.dial :air + "collection"' @ +42 "core" ? +3 .tCS.seek 10ml + "collection"'' +1492 "core" ' + .tCSV.dial CTV +2 "collection"'#  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'('i +2635 "core" ' +2 .tCBV.dial :waste1 + "collection"') @ +27 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'/  +128 "core" +2 "collection"'~& +3 "core" &\\tXP\ R +3 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&"% +3 "core" %  [  +2 "storage"(+% +4 "core" % \ +2 "storage"(,. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((C +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &F &\ +2 "manipulator"&*& +4 "core" &Ӧ  7 +2 "manipulator"&2% +3 "core" %   +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&3( +163 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(.& +4 "core" &F \ +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&8' +92 "core" ' +2 "storage"(4& +4 "core" &F \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' +2 "storage"(;- +40 "core" -' +9 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +3 "storage"(0& +3 "core" &F \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&1'8 +22 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(@'w +31 "core" ' + "manipulator"&B% +4 "core" %L  \ n +2 "storage"(& +4 "core" &F S\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 320 counts + "manipulator"&D'x +14 "core" ' + "manipulator"&A& +4 "core" &    +2 "storage"(:& +4 "core" &F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&>' +15 "core" ' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(6' +37 "core" ' + "manipulator"&H& +4 "core" &  9  +2 "manipulator"&F% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +89 "core" ' +3 .tElbow.seek CC + "manipulator"&M(ӂ +159 "core" ( +2 "manipulator"&7& +3 "core" &ӏ"   <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &ӏ" <; +2 .tForearm.seek CC +2 "manipulator"&O'? +101 "core" ' +2 .tHand.close + "manipulator"&P/ +58 "core" / +2 .tCC.seek :open +2 "collection"'K( +450 "core" ( +2 "storage"(G& +3 "core" &F t\ +2 "storage"(N& +4 "core" &F \ +2 "manipulator"&I& +4 "core" &Ө \ \  8" +2 "manipulator"&T% +4 "core" % @   G +2 .tForearm.seek :retract +2 "manipulator"&Q' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&W( +163 "core" ( + "manipulator"&U& +4 "core" &  Q  +2 "storage"(L& +4 "core" &F \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&Y'8 +97 "core" ' +2 .tElbow.hold + "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Z1 +58 "core" 1 +2 "manipulator"&\\% +41 "core" % K   O  +9 "storage"(^& +4 "core" &F \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts +2 "manipulator"&%'w +14 "core" ' +2 "manipulator"&C& +3 "core" &  j  +2 "storage"(<& +4 "core" &F }\ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&]' +15 "core" ' +2 "storage"(a% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(X' +99 (b% +4 "core" %wD &\ U[ +2 "manipulator"&t% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%g  +70 "core" +3 .tPS.seek 2.5ml + "processing"%e' +2632 "core" ' +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%h +53 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%9  +42 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%c +43 "core" +2 .tdelay 1 second +102 .PSV.dial :air +2 "processing"%R  +54 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml + "processing"%m'ؾ +2632 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%j& +4 "core" &%\  +2 "manipulator"&p& +3 "core" &  '  +2 "manipulator"&i% +4 "core" %   +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&-(- +172 "core" ( + "manipulator"&_& +4 "core" &-  G D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- D +3 .tForearm.seek :garage + "manipulator"&v'w +93 "core" ' + .tHand.close +2 "manipulator"&w/ +59 "core" / +2 "manipulator"&x& +3 "core" &-  4 D +2 "manipulator"&n% +4 "core" % f B +2 .tForearm.seek :retract +2 "manipulator"&r' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&5( +119 "core" ( + "manipulator"&S& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &  ,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&|' +92 "core" ' +2 "manipulator"&}& +4 "core" &  Y  +2 "manipulator"&% +4 "core" %  R +2 "processing"%o& +4 "core" &%\  +46 "processing"%z& +5 "core" &K\  +2 .tPC.seek :closed +2 "processing"%l(^ +5 "core" &M\  +6 &FR\ %g +10 &[a\ 8 +9 &}]\ L +9 &VZ\ M +10 &c]]\ M +9 &&[c\ L +9 &[h\ L +10 &[a\ L +9 &l[_\ L +10 &.[k\ L +9 &\\o\ L +9 &![n\ L +10 &#sZr\ M +9 &%5Yy\ M +9 &&_r\ M +10 &(Zl\ M +9 &*{Zt\ M +10 &,>[z\ L +9 &-Zz\ M +9 &/_{\ M +10 &1]x\ L +9 &3E\\w\ M +9 &5^\ L +10 &6]\ L +9 &8]\ M +10 &:L_\ M +9 &<]\ M +9 &=]\ M +10 &?`\ M +9 &ASa\ M +9 &Co\ O +10 &Dw\ P +9 &F\ R +10 &HL\ R +9 &J \ S +9 &K\ S +10 &M\ S +9 &OQ\ S +9 &Q\ T +10 &R\ T +9 &T\ T +9 &VY\ S +10 &X\ T +9 &Y\ T +10 &[\ T +9 &]]\ B +9 &^J|\ O +10 &^ U\ : +5 ( +2 "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + "processing"%& +3 "core" &^<\ : +2 &^;\ : +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&f% +4 "core" %   P R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y' +91 "core" ' +2 .tPRV.dial :air + "processing"%$  +43 "core"  +2 .tPSV.dial :mixloop + "processing"%! +42 "core" +2 "processing"%% +3 "core" %ؽG\ +3 .tPS.seek 0.3ml +2 "processing"%u' +392 "core" ' + .tPSV.dial PSR +2 "processing"% +100 "core"  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml + "processing"%'2 +484 "core" ' +3 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml + "processing"%' +1917 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"% +100 "core" +2 .tPTV.dial :mixing + "processing"% @ +71 "core" A + .tPBV.dial :waste2 +2 "processing"%  +90 "core"  +3 .tPS.seek 0ml + "processing"%`'ؾ +2631 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +3 "core" &  +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&& +4 "core" &  ]  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  Z  +3 .tForearm.seek PC + "manipulator"&k' +95 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%[( +458 "core" ( + "manipulator"&'& +4 "core" & G  +2 "manipulator"&{% +3 "core" %  p  +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"& (- +128 "core" ( + "manipulator"&& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &-  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +43 "manipulator"&'w +95 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&#% +4 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%)& +4 "core" &\ +2 "manipulator"&/% +4 "core" %   2  +2 "storage"(~% +4 "core" % Q\  +2 "storage"(". +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(+(  +352 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 (,& +3 "core" & >\  +2 "manipulator"&s& +4 "core" &- +2 "manipulator"&% +3 "core" %  ;  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&*( +170 "core" ( +2 "manipulator"&2& +3 "core" &  ] = +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&.'S +92 "core" ' +2 "storage"(4& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +2 "core" & \  +3 "manipulator"&& +3 "core" &  = +2 .tElbow.seek 2 +2 "manipulator"&0( +4 "core" ( + "manipulator"&=& +4 "core" &   = +2 "storage"(B& +4 "core" & \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(H' +7 "core" & = +2 "manipulator"&F% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&8' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &  ;  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&D' +92 "core" ' +2 "manipulator"&@& +3 "core" &  H  +3 "manipulator"&7% +3 "core" %  y i +3 "processing"%?& +3 "core" &Q\ +3 "processing"%>& +6 "core" &\ +2 .tPC.seek :closed + "processing"%d(^ +5 "core" &U\  +8 &3}Y\ *y +9 &dG\ > +10 &s]\ N +9 &HYq\ L +9 & W\ L +47 &Y\ L +10 &W\ L +2 &PW\ L + &]\ L +2 &\\\ L + & [\ M +3 &"X[\ L +9 &$X\ L +10 &%Y\ L +9 &'W\ L +10 &)`\\\ L +9 &+![\ M +9 &,\\\ L +10 &.Z\ M +9 &0g[\ M +9 &2)Z\ M +10 &3Z\ M +9 &5[\ M +10 &7pZ\ L +9 &93Z\ L +9 &:]\ M +10 &<Z\ L +9 &>w_\ M +9 &@9`\ M +10 &Af\ M +9 &Cp\ O +10 &Eww~\ O +9 &G2y\ R +9 &H~\ R +10 &Jy\ R +9 &Lv{\ R +9 &N7~\ S +10 &O}\ S +9 &Q{\ T +10 &Syz\ T +9 &U;z\ T +9 &Vw\ T +10 &Xm\ S +9 &Zo\ U +9 &\\Cn\ T +10 &]zvn\ 6 +9 &^0g\ O +10 &^i\ 0 +2 ( +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&P1 +53 "core" 1 +2 "manipulator"&J% +4 "core" %  ! i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 + .PH.seek 28C,5:00 +2 "processing"%G v +3 %N9 +6 "core" 9 +102 "processing"%I9 +3 "core" 9 +102 "processing"%T9 +3 "core" 9  +103 "processing"%U9 +2 "core" 9  +103 "processing"%L9 +3 "core" 9 +103 "processing"%O9 +2 "core" 9 +103 "processing"%M9 +3 "core" 9 +102 "processing"%Z9 +3 "core" 9 +103 "processing"%\\9 +2 "core" 9" +103 "processing"%^9 +3 "core" 9' +103 "processing"%C9 +2 "core" 9+ +103 "processing"%<9 +3 "core" 9/ +102 "processing"%a9 +3 "core" 93 +102 "processing"%Q9 +3 "core" 97 +102 "processing"%b9 +3 "core" 9< +102 "processing"%t9 +3 "core" 9@ +102 "processing"%W9 +2 "core" 9D +103 "processing"%Y9 +3 "core" 9H +102 "processing"%%9 +3 "core" 9L +103 "processing"%69 +3 "core" 9Q +102 "processing"%g9 +3 "core" 9U +102 "processing"%]9 +3 "core" 9Y +103 "processing"%X9 +2 "core" 9] +103 "processing"%9 +3 "core" 9a +102 "processing"%h9 +3 "core" 9 f\ +103 "processing"%99 +2 "core" 9j\ +103 "processing"%c9 +2 "core" 9n +103 "processing"%R9 +2 "core" 9%r +103 "processing"%e9 +3 "core" 9,v +102 "processing"%j9 +3 "core" 94{ +4 .tPH.hold 2:00:00,28C +2 "processing"%p pvp- +2 .tdelay 1:30 +5 "core" { +8998 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%i +99 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +11 .tPS.seek 0.5ml + "processing"%_' +589 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%' +1620 "core" ' +2 .tPTV.dial :puck + "processing"%E  +71 "core"  + .tPSV.dial PTV +2 "processing"%w +72 "core" + .tPBV.dial :waste1 +2 "processing"%x  +126 "core"  +40 "processing"%n% +10 "core" %N\ +3 .tPS.seek 1.5ml +2 "processing"%V'1 +592 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%S * +31 "core" + +2 .tPS.seek 0ml +2 "processing"%q'ؾ +1610 "core" ' +2 .tdelay 5:00 +10943 "Can" HA; +19059 #trecoverPSRreagent08 + .PTV.dial :puck + "processing"%v  +4 "core"  +2 .tPBV.dial :waste1 +2 "processing"%}  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"%o +72 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%-' +2352 "core" ' +2 .tPSV.dial PTV + "processing"%r +73 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%f'ؾ +2295 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%z  +128 "core" +2 .tPSV.dial :mixloop + "processing"%$ +44 "core" + .tPRV.dial :ab1 +2 "processing"%! @ +69 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%' +351 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "collection"'|  +2 "processing"%m  +42 "core" +3  +2 "processing"%% +3 "core" %\ \ +3 .tPS.seek 0.34ml + "processing"%u'" +430 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +28 "core" +2 .tPRV.dial :air + "processing"%  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"% 'K +1193 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +70 "core" > +2 .tPS.seek 0.5ml +2 "processing"%' +866 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%' +1616 "core" ' +2 .tPSV.dial :PML + "processing"% +44 "core" +2 .tPTV.dial :mixing + "processing"% @ +71 "core" B + .tPBV.dial :waste1 +2 "processing"%5  +34 "core" +2 "processing"%y% +3 "core" %\  +3 .tPS.seek 1.85ml + "processing"%l' +233 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%' * +33 "core" * +2 .tPS.seek 0ml +2 "processing"%{'ؾ +1970 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +44 "collection"'& +4 "core" &CA  +2 "manipulator"&&& +4 "core" & /  +2 "manipulator"&k% +4 "core" %  P $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&\ (- +128 "core" ( +2 "manipulator"&& +4 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&)'w +98 "core" ' +2 .tHand.close + "manipulator"&// +61 "core" / + "manipulator"&~& +4 "core" &-   $ +2 "manipulator"&"% +4 "core" % χ  Q +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +278 "core" ( +2 "manipulator"&& +3 "core" &Ӓ$ . 1 T =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &Ӓ$ , + @ =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&s'? +99 "core" ' +2 "manipulator"&& +3 "core" &Ӓ% 1 2 =B +2 "manipulator"&2% +4 "core" %= - , [ +3 "collection"'& +3 "core" &AAI  +3 "collection"'4& +6 "core" &AC  +2 .tCC.seek :closed + "collection"' (\\ +4 "core" &B?;  +7 &=BB\ $d +10 &W|BB\ 7 +9 &vBA\ K +10 &UBA-\ L +9 &|UAC1\ K +9 &>XCA)\ K +10 &VBB)\ K +9 &RCD+\ K +10 &TCD(\ L +9 &FTDD8\ K +9 & RCE2\ K +10 &!WCB-\ K +9 &#VBC(\ L +9 &%NTBD/\ K +10 &'WAB0\ K +9 &(TAC1\ L +9 &*T@B(\ K +10 &,VVAC3\ K +9 &.UAC(\ K +10 &/UCF-\ L +9 &1UCC.\ K +9 &3^QDA$\ K +10 &5 WBA"\ K +9 &6WAC\ K +9 &8WCD%\ K +10 &:fWCB\ K +9 &<(WCB\ K +10 &=XCD\ K +9 &?TCC"\ K +9 &AnTDD\ K +10 &C.ZFF \ L +9 &DkKJ!\ N +9 &FZU \ R +10 &HV\\["\ V +9 &J[[\ W +10 &KZ[\ X +9 &MYY\ X +9 &OXXZ"\ X +10 &QZZ\ Y +9 &R[\\\ Y +9 &T][\ Z +10 &VY[[\ [ +9 &X[[\ [ +10 &YY[#\ \\ +9 &[[\\\ I +9 &\\@[[\ 'x +10 &\\[[\ $i +2 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.34 + "collection"'& +3 "core" &\\Z[ \ $i +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&;% +3 "core" % = 2 0 D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tPSV.dial PSR + "processing"%= +113 "core" + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%B'+ +1621 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%A  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%:'ؾ +1616 "core" ' +2 .tPSV.dial PSR + "processing"%F +43 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +39 "processing"%*' +2640 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%.  +2 "collection"'  +32 "core"  +121  +2 .tPSV.dial :mixloop +2 "processing"% +110 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +5 "core" +2 .tPTV.dial :PRVmixing + "processing"%1  +71 "core" +2 .tPS.seek 0ml +2 "processing"%0'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%@  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%7' +2628 "core" ' + .tPSV.dial :mixloop +2 "processing"%? +44 "core" +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2624 "core" ' + .tPSV.dial :air +2 "processing"%8  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%[' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%P +44 "core" +2 .tPS.seek 0ml +2 "processing"%J'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&N& +4 "core" &ӫ - - : 9) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&>(ӂ +19 "core" ( + "manipulator"&I& +4 "core" &ӈ - # * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &ӈ , - < * +2 .tForearm.seek CC +2 "manipulator"&T'? +101 "core" ' +2 .tHand.close + "manipulator"&U/ +53 "core" / +3 .tCC.seek :open + "collection"'L( +447 "core" ( + "manipulator"&O& +4 "core" &Ӌ ) , N * +2 "manipulator"&M% +4 "core" % ) + , C +2 .tForearm.seek :retract +2 "manipulator"&Z' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&\\(- +288 "core" ( + "manipulator"&^& +4 "core" &-  _ & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &- \  & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&<'w +100 "core" ' +2 .tHand.open + "manipulator"&a1 +64 "core" 1 +2 "manipulator"&Q% +4 "core" % {   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +96 "core" ' +2 ."da"delayUntil "16:21:17.42" +2 #"WCR"Whole Cell Archive sampling 50ml +2 #Loading wcr puck from tube 2 into Collection Clamp + "collection"'t& +4 "core" &<>  +2 "manipulator"&W% +3 "core" %   \   +3 "storage"(Y% +2 "Can" Bמ+ +4 "core" % 1\  + "storage"(%. +3 "core" .(  +3 "storage"(6& +3 "core" & \  +46 ."WCR"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."WCR"SC.seek 2 +2 "storage"(g(  +27 "core" ( + ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 (]& +2 "core" &  &\ +3 "manipulator"&X& +4 "core" &-  & +2 "manipulator"&% +4 "core" %    +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&h( +178 "core" ( +2 "manipulator"&9& +4 "core" &  2 +2 "storage"(c& +4 "core" &  \ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&R'S +92 "core" ' + "storage"(e& +4 "core" &  d\ +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 ."WCR"SE.seek :beamBreak + "storage"(j'r +294 "core" ' +2 "storage"(i- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +4 "core" & 2\  +2 "manipulator"&_& +3 "core" &  2 +3 ."WCR"Elbow.seek 2 + "manipulator"&E( +4 "core" ( +2 "manipulator"&w& +3 "core" &   2 +2 "storage"(x& +4 "core" & j\  +3 ."WCR"Forearm.seek 2 + 300 counts + "manipulator"&n'Ͻ +27 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close +2 "manipulator"&/ +61 "core" / +3 !"WCR"o:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"2/home/esp/esp2/protocol/2G/wcr.rb:24:in `wcr'"0/home/esp/esp2/protocol/2G/DA.rb:58:in `da'";/home/esp/esp2/protocol/2G/DAprocess.rb:368:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:56:in `da'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:14"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:10"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(V' +7 "core" &  ' 2 +2 "manipulator"&G% +4 "core" %  +3 ."WCR"Forearm.seek :retract + "manipulator"&v' +89 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&}(ӂ +148 "core" ( +2 "manipulator"&& +3 "core" &{% %  ?S +2 ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +2 "manipulator"&o& +2 "storage"(5 +4 "core" &{% - , ( ?S +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek CC +2 "manipulator"&q'? +99 "core" ' +2 "manipulator"&r& +4 "core" &|& 2 / $ ?R +2 "manipulator"& % +4 "core" %G , - K +3 "collection"'& +3 "core" &>@  +3 "collection"'& +5 "core" &>@ +2 ."WCR"CC.seek :closed +2 "collection"'-(\\ +4 "core" &<=  +8 &@==\ $f +10 &[}>>\ 8 +9 &u<<\ K +9 &SA@\ J +10 &V>?\ J +9 &YV?>v\ J +10 &V>@{\ J +9 &V@>\ J +9 &W?@\ I +10 &`W@@o\ J +9 & "U@@k\ J +9 &!V>?m\ J +10 &#V>?m\ J +9 &%iV@>o\ J +41 &'+V??g\ J +9 &(V>@a\ J +2 &*W?>[\ I + &,pWA@Y\ J + &.2U>@X\ J +3 &/W@>W\ J +9 &1W@@]\ J +9 &3xV<=P\ J +10 &5:W?>W\ J +9 &6Y??S\ J +9 &8W?@J\ J +10 &:W??N\ K +9 &W\ J +9 &>W@?\\\ J +10 &?X@@U\ K +9 &AYABM\ J +10 &CI`B@\\\ K +9 &EeMKT\ L +9 &FvRJS\ M +10 &Hyb_Y\ R +9 &J1ccY\ V +9 &KabJ\ W +10 &Md`L\ W +9 &Or`bF\ W +10 &Q4a`8\ W +9 &R_a:\ X +9 &T^`9\ Y +10 &Vs__?\ Z +9 &X4^_;\ Z +9 &Y^]A\ \\ +10 &[^^F\ H +9 &\\/__<\ / +10 &\\}^_5\ U +2 ( +2 "collection"'& +3 #"WCR"Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&z1 +54 "core" 1 +2 "manipulator"&$% +3 "core" % 1 3 / 6 +4 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&!' +99 "core" ' +2 #"WCR"collectSample 50ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")f+ +3 "core" + +2 "sampler")|% +4 "core" %ڬ n\  +2 "collection"'m& +4 "core" &\\z[_N\ U +3 "Can" Z}. +2 #"WCR"Calibrating pressure sensors + .CTV.dial :air +2 "collection"'  +4 "core" +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler")  +4 "core"  +3 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X\ +2 "sampler") % +4 "core" %Q o\ = +47 "collection"')% +4 "core" %cff3\ +2 "sampler")% +4 "core" %Q n\ = +36 "collection"',% +3 "core" %cjiN\ +2 "sampler")\ % +4 "core" %Q c\ = +41 "collection"'% +4 "core" %clmW\ +2 "sampler")2% +3 "core" %Q l\ = +48 "collection"'% +3 "core" %cooZ\ +2 "sampler")% +4 "core" %Q l\ = +53 "collection"'K% +3 "core" %crs[\ +2 "sampler")% +4 "core" %Q a\ = +61 "collection"'% +3 "core" %cssK\ +3 "sampler");% +3 "core" %Q m\ = +69 "collection"'4% +3 "core" %cqrF\ +2 "sampler")=% +4 "core" %Q o\ = +2 ."WCR"Intake.select :close + "sampler")0 +10 )s% +3 "core" %Q b\ = +2 ."WCR"SSV.dial :exhaust +2 "sampler"){  +73 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")A'ڀ +431 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 50.0ml +2 .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0XF n\  +2 "collection"'0% +4 "core" %c(*D\ +2 #"WCR"Intake @12.9psia, vacuum from 7.4 to 10.4psi +2 .SS.reconfigure :inhaling 1.76ml/s +2 "sampler")#.x0X\ +3 "sampler")I% +3 "core" %G$$ k\  +24 "collection"'D% +3 "core" %cCD+\ +3 "sampler")U% +3 "core" %G43 a\  +28 "collection"'% +47 "core" %c\\]\ +2 "sampler")% +4 "core" %= a\  +32 "collection"' % +3 "core" %crp'\ +2 "sampler")O% +4 "core" %% c\  +36 "collection"'M% +3 "core" %c|}\ +2 "sampler")T% +4 "core" % k\ @ +41 "collection"'^% +3 "core" %c\ +2 "sampler")>% +4 "core" % l\ @ +47 "collection"'C% +3 "core" %c~~\ +2 "sampler")a% +4 "core" % k\ @ +2 ."WCR"Intake.select :close + "sampler")0 +10 )Q% +3 "core" % f\ @ +2 ."WCR"SSV.dial :exhaust +2 "sampler")t  +73 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")W'ڀ +886 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")Y  +73 "core" +2 #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'Z% +3 "core" %cpr\ +2 #"WCR"Intake @16.3psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 1.76ml/s +2 "sampler")#.x0X +3 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'' +797 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +71 "core" B + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +1526 "core" ' + "collection"'q% +4 "core" %\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'f ` +28 "core" a +3 ."WCR"CS.seek 5.551ml + "collection"'u' +1087 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  + '  +22 "core" ~ +11  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< 5b +3 ."WCR"CS.seek 0ml +2 "collection"' 'i +297 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PSV.dial :air +2 "processing"%  +54 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +1072 "core" ' + ."WCR"CSV.dial :air +2 "collection"' @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +4 ."WCR"CS.seek 10ml + "collection"'y' +1243 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%5 +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%'  +44 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop +2 "processing"% +43 "core" +40 ."da"delay 2 seconds +208 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%&'ؾ +368 "core" ' + "collection"'k% +4 "core" %\ +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +28 "core" b +3 ."WCR"CS.seek 5.682ml +2 "collection"'#' +1055 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 "collection"'3  +2 ."WCR"CSV.dial CTV +4 "collection"'/  +15 "core"  +14  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<< 5b +3 ."WCR"CS.seek 0ml + "collection"'~'i +810 "core" ' +3 #"da"washCycleDA #1 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%" +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +535 "core" ' + ."WCR"CSV.dial :air +2 "collection"') @ +42 "core" > +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'' +5 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%,' +1605 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%\  +70 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" +2 "processing"%2% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%', +128 "core" ' + "collection"'% +4 "core" % \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'K ` +28 "core" a +3 ."WCR"CS.seek 5.733ml + "collection"'' +419 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +303 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'=  + '4  +14 "core"  +16  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< 5b +3 ."WCR"CS.seek 0ml +2 "collection"'s'i +1255 "core" ' +2 ."da"delay 2:00 +257 "core" ' +2 ."WCR"CSV.dial :air +2 "collection"'{ @ +42 "core" > + ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +3 ."WCR"CS.hold + "collection"'l+ +3 "core" + +2 "collection"'F% +3 "core" %ӗ\ M\ M\ +2 !to:ShallowSampler::Error: mesg"NPuck.from 2, :wcr reached only 23.9 of 35psi after pumping in 40ml of gas:@timestampu: Time ^:bt[""4/home/esp/esp2/utils/sampler.rb:351:in `pumpTo'"2/home/esp/esp2/utils/sampler.rb:347:in `loop'"4/home/esp/esp2/utils/sampler.rb:347:in `pumpTo'" +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%C  +73 "core"  +3 ."da"PS.seek 0ml + "processing"%a'ؾ +2306 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%Q  +41 "core"  +2 ."da"delay 5 seconds +545 .PTV.dial :PRVmixing +5 "processing"%t  +126 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%7  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%Y +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%Z' +388 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%W  +43 "core"  +2 "processing"%]% +4 "core" % \  +2 ."da"PS.seek 0.55ml +2 "processing"%X' +342 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%<' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%9 +44 "core" + ."da"PTV.dial :mixing +2 "processing"%c @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%+  +34 "core" +2 "processing"%e% +3 "core" %\  +3 ."da"PS.seek 1.85ml + "processing"%\\' +241 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%b * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%i'ؾ +1988 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +25489 "Can" b, +22513 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%` @ +4 "core" A +2 ."da"PBV.dial :waste1 + "processing"%_  +33 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%w * +33 "core" * +2 ."da"PSV.dial :air + "processing"%x  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2368 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%S  +44 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop +2 "processing"%G +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%h  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +2307 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%o' +610 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%6' +1617 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%n  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%r +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%(  +34 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%E'. +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%V * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%v'ؾ +1635 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%$  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%z * +72 "core" * +8 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +84 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%m' +2354 "core" ' +2 ."da"PSV.dial PTV + "processing"%| +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +85 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%q  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%f'ؾ +2305 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +129 "core"  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +238 "Can" \ f2 +1392 "core" ' + ."da"PTV.dial :puck +2 "processing"%u  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%J% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%'( +597 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +1629 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%'  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +84 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2368 "core" ' +2 ."da"PSV.dial PTV + "processing"%k +71 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%y +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%3  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%/'ؾ +2329 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%# +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%"' +598 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%&' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV + "processing"%) +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%~  +32 "core"  +2 "processing"% % +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%\ '1 +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +49 ."da"PS.seek 0ml +2 "processing"%'ؾ +1608 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%2  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%K +72 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%,' +2361 "core" ' +2 ."da"PSV.dial PTV + "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%=  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2329 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air + .PSV.dial PSR +2 "processing"% +130 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +5 "processing"% +18 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%{' +342 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%F' +334 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%s' +1612 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%: +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%.% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%A') +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%; * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +1611 "core" ' +2 ."da"delay 10 seconds +796 "Can"~\ ?/. +206 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%*  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%@ * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2408 "core" ' +2 ."da"PSV.dial PTV + "processing"%1 +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%8 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%P  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%['ؾ +2355 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%N +130 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%I' +2128 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%H +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%U  +32 "core" +2 "processing"%D% +3 "core" %\  +50 ."da"PS.seek 1.5ml +2 "processing"%'. +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%O  +103 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +1607 "core" ' + "processing"%9 +3 "core" 9s5V +3 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast + "processing"%? +3 %^& +2 "core" 5V +3 &^\ 0 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&>% +3 "core" %  ) +  +3 "storage"(C% +3 "core" % Y\  +2 "storage"(T. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(Q(C +360 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &E   \ +3 "manipulator"&7& +3 "core" &ӧ "  9' +2 "manipulator"&Y% +4 "core" %  , +   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&a( +161 "core" ( +2 "manipulator"&W& +4 "core" &  N  +2 "storage"(]& +3 "core" &F ' *\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&Z' +98 "core" ' +2 "storage"(& +3 "core" &F & &\ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(X'r +297 "core" ' +2 "storage"(9- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +4 "core" &  #  +3 "storage"(+& +3 "core" &E c\ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&e'8 +24 "core" ' +2 ."da"Elbow.hold + "manipulator"&b, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(<- +2 "core" -' +3 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(\\' +28 "core" ' +2 "manipulator"&`% +3 "core" %:  ( s +2 "storage"(_& +4 "core" &E ' & #\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 302 counts +2 "manipulator"&w'f +13 "core" ' +2 "manipulator"&x& +3 "core" &   k  +2 "storage"(i& +4 "core" &E % %\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&%' +16 "core" ' +2 ."da"SE.seek 2.17 Pucks below Top Plate +2 "storage"(S'^ +35 "core" ' + "manipulator"&G& +4 "core" & \   +2 "manipulator"&h% +4 "core" % X +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +240 "core" ( + "manipulator"&R& +4 "core" &  4  +3 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &  +44 ."da"Forearm.seek PC +9 "manipulator"&n' +90 "core" ' +2 ."da"Hand.close + "manipulator"&r/ +57 "core" / +2 ."da"PC.seek :open +2 "processing"%(( +458 "core" ( + "storage"(& +4 "core" &E l\ +2 "manipulator"&6& +4 "core" & \ \ 5  +2 "manipulator"&V% +3 "core" % \ \  +3 ."da"Forearm.seek :retract + "manipulator"&E' +99 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"& ( +245 "core" ( +2 "manipulator"&$& +4 "core" &  M < +2 "storage"(z& +3 "core" &E B A \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&L' +91 "core" ' +2 ."da"Hand.open + "manipulator"&v1 +63 "core" 1 +2 "storage"(|- +4 "core" -'^ +2 ."da"SE.seek 1.83 Pucks below Top Plate +2 "storage"('* +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.86 Pucks below Top Plate + "storage"(' +50 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da24jan1217h50ml.tif +800 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 3.545 seconds\ /var/log/esp/da24jan1217h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da24jan1217h50ml15s.tif +1146 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +417 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da24jan1217h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da24jan1217h50ml20s.tif +2072 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da24jan1217h50ml20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "3.545 sec auto-exposure",Subject: "da24jan1217h50ml images!" +7 "storage"(q- +7 "core" -' +11 "storage"(m& +9 "core" &E \ +4 "manipulator"&& +4 "core" & \  Y < +3 ."da"Elbow.seek 1 +2 "manipulator"&f( +6 "core" ( + "manipulator"& & +4 "core" &  < +3 "storage"(u& +5 "core" &E \ +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&' +4 "core" ' +3 ."da"SE.reconfigure :gently +4 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.58 Pucks below Top Plate + "storage"('O +51 "core" ' + "manipulator"&J& +4 "core" &  B < +3 "storage"(& +5 "core" &E q u &\ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"& '8 +23 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +4 "storage"(#QK-0-\ b +5 ."da"SE.seek 1.76 Pucks below Top Plate +3 "storage"('' +20 "core" ' +2 "manipulator"&% +4 "core" %;  +2 "storage"(& +4 "core" &E s q !\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 303 counts +2 "manipulator"&5'g +25 "core" ' +2 "manipulator"&k& +3 "core" &  < +2 "storage"(& +4 "core" &E O\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +64 "manipulator"&y' +21 "core" ' +5 "storage"(3% +11 "core" % V\ +9 ."downElevator"SE.seek :down +6 "storage"(' +98 (#% +6 "core" %P> v r K\ U[ +5 "manipulator"&/% +7 "core" % +6 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +3 "manipulator"&"' +97 "core" ' +24 ' +3 ."downElevator"SE.stop +3 "storage"(5 +6 ()& +7 "core" &E H\ +6 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 "processing"%~& +9 "core" &k\ +9 "manipulator"& & +7 "core" &  B ; +4 "manipulator"&&% +8 "core" %    m  +5 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&(- +180 "core" ( +4 "manipulator"&\ & +6 "core" &-  5 +4 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &2& +5 "core" &-   5 +7 ."psFlush"Forearm.seek :garage +3 "manipulator"&'w +101 "core" ' +4 ."psFlush"Hand.close +3 "manipulator"&K/ +61 "core" / +5 "manipulator"&& +9 "core" &- \  C 5 +6 "manipulator"&% +8 "core" % ρ S +4 ."psFlush"Forearm.seek :retract +4 "manipulator"&' +97 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 ."psFlush"Elbow.seek PC +3 "manipulator"&( +117 "core" ( +3 "manipulator"&=& +7 "core" & \  0 +5 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &,& +5 "core" &  0 +8 ."psFlush"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +9 ."psFlush"Forearm.seek PC +4 "manipulator"&' +106 "core" ' +3 "manipulator"&4& +11 "core" &  ) / +5 "manipulator"&{% +11 "core" %   ? ~ +4 "processing"%F& +8 "core" &H\ +6 "processing"%:& +8 "core" &C\ +6 ."psFlush"PC.seek :closed +4 "processing"%(^ +15 "core" &@\ +6 &?\ +3 &9\ 6 +4 &<Hu:\ / +6 &gr~:\ D +8 & ]6\ M +9 &V'\ L +15 &V$\ L +5 &SW$\ M +9 &U\ L +8 &X \ M +11 &W)\ L +12 &\\Y&\ L +8 &!Y\ M +7 &"W\ L +11 &$Z\ L +10 &&dX\ L +9 &('U\ L +9 &)Y\ M +8 &+X\ L +12 &-lU \ L +7 &/.[\ L +9 &0W \ M +11 &2X\ L +8 &4sX\ M +11 &66Y \ L +9 &7Z\ L +8 &9Y\ L +10 &;|W\ L +9 &=>\\\ L +9 &>\\\ M +14 &@\\\ L +8 &Bd\ M +7 &D@h\ N +10 &E{\ \ P +8 &GQ\ R +15 &Iy^\ S +7 &K:\\\ S +6 &LY\ S +11 &NO\ S +8 &P~X\ T +10 &R@Y\ T +8 &TP\ T +11 &U?\ T +8 &WM\ T +9 &YIM\ S +9 &[ K\ S +10 &\\H\ T +9 &^?d>\ (z +4 #"uploadLog"upsync +5 "core" &^uI\ > +10 ( + &^%L\ 6 +2 "processing"%:& +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 "processing"%.& +3 "core" &^%S\ 6 +2 ."psFlush"Hand.open + "manipulator"&s1 +54 "core" 1 +2 "manipulator"&;% +3 "core" %   7 ~ +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&A' +92 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%* +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%@' +594 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +54 "processing"% +59 ."psFlush"PS.seek 2.5ml + "processing"%0' +2126 "core" ' +2 ."psFlush"delay 1 second +101 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%B @ +181 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%1  +126 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +98 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%8'ؠ +2640 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%P +100 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +598 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%N' +2124 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%[  +35 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%H @ +72 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%U +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%D'ؠ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%I +102 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"% 'X\\ +1102 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%O' +1611 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +84 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%?  +4 "core" +3 ."psFlush"PS.seek 0ml +6 "processing"%^'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%> +70 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%C' +593 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%T' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%g +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%t U +51 "core" V +3 ."psFlush"PS.seek 0ml + "processing"%7'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%Y @ +54 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%W' +2638 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%]  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%} +43 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%!' +2630 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%9 +70 "core" +2 ."psFlush"PBV.dial PSV + "processing"%c U +5 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%+'ؾ +2402 "Can"w cŞ' +222 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%< @ +86 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%`' +2625 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%_  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%x'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%i +42 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%G'X\\ +1104 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%h' +1614 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Z +82 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%a  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%X  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%e'ؾ +2654 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%w +70 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%\\' +595 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +2141 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%R +85 "core"  +2 ."psFlush"PBV.dial PSV + "processing"%o U +51 "core" V +3 ."psFlush"PS.seek 0ml + "processing"%b'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%r @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%d  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%6 +42 "core" +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%V' +2636 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%n +83 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%$ U +4 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%z'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%v' +2638 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%|  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%E'ؾ +2629 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&S& +4 "core" & " ( \ / +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +3 "core" ( + "manipulator"&q& +4 "core" & *  I / +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" & (   / +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +93 "core" ' + ."psFlush"Hand.close + "manipulator"& / +58 "core" / +3 ."psFlush"PC.seek :open + "processing"%u( +461 "core" ( +2 "manipulator"&J& +41 "core" & \  / +9 "manipulator"&% +3 "core" %  +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +125 "core" ( +2 "manipulator"&k& +4 "core" &-  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- \  +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"& 'w +97 "core" ' +2 ."psFlush"Hand.open + "manipulator"&L1 +63 "core" 1 +2 "manipulator"&% +3 "core" % ρ  \  +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&3' +95 "core" ' +25696 "Can"r V[+ +60001 n V2 +60001 i V/ +60002 V X: +18035 #"dave"Session Begun +356 #-> CC +3 "collection"'& +5 "core" &\\yVW\ \ U +237 #"dave"-> PC +2 "processing"%f& +4 "core" &\ +220 #"dave"-> Hand +315 #-> Flush +8028 #-> MainThread.resume +2 #tResuming Thread (suspended since 16:20:39) +5 #Pumping wcr puck from tube 2 up to 35psi... +7 .CBV.dial SSV +4 "collection"' @ +85 "core" ? +53 .tCBV.dial between CSV and waste2b +2 "collection"'#  +86 "core"  +2 "collection"'/% +4 "core" %ӗVX\ +2 .tCSV.dial between air and CTV +2 "collection"' ` +29 "core" a +2 .tCS.reconfigure :fast +3 "collection"'#d @b +5 .tCS.seek 7.306ml +2 "collection"'5' +1893 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +4 .tCSV.dial CTV +2 "collection"')  +28 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<< 5b +4 .tCS.seek 0ml +2 "collection"'~'i +1924 "core" ' +2 .tCSV.dial :air +2 "collection"' @ +43 "core" > +3 .tCS.reconfigure :fast +2 "collection"'#d @b +5 .tCS.seek 10ml + "collection"''' +2436 "core" ' +2 "collection"'&% +4 "core" %jh\  +2 .tCSV.dial between air and CTV +2 "collection"'y ` +29 "core" a +3 .tCS.seek 7.045ml +2 "collection"'\ ' +747 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +4 "collection"'2  +27 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<< 5b +5 .tCS.seek 0ml +2 "collection"''i +1858 "core" ' +2 .tCSV.dial :air + "collection"' @ +44 "core" ? +2 .tCS.reconfigure :fast +3 "collection"'#d @b +4 .tCS.seek 10ml +2 "collection"'K' +2448 "core" ' +2 "collection"'% +41 "core" % 5 5\ +8 .tCSV.dial between air and CTV +3 "collection"' ` +29 "core" a +3 .tCS.seek 4.831ml +2 "collection"'"'m +1243 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +3 "collection"'=  +29 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<< 5b +4 .tCS.seek 0ml +2 "collection"','i +1286 "core" ' + .tCSV.dial :air +3 "collection"' @ +43 "core" > +2 .tCS.reconfigure :fast +3 "collection"'#d @b +4 .tCS.seek 10ml +2 "collection"'4' +2420 "core" ' +2 "collection"'{% +3 "core" %  \  +3 .tCSV.dial between air and CTV +2 "collection"' ` +29 "core" a +2 .tCS.seek 5.13ml +3 "collection"'F'wZ +1175 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +4 "collection"'  +26 "core"  +3 .tCS.reconfigure :pressurize +3 "collection"'# d@<< 5b +5 .tCS.seek 0ml + "collection"'('i +1362 "core" ' +2 .tCSV.dial :air + "collection"'. @ +44 "core" > +2 .tCS.reconfigure :default +2 "collection"'#P d@b +4 .tCS.hold +2 "collection"'s+ +5 "core" + +2 "collection"';% +4 "core" %Ӌ\ Y\ Y\ +2 !to:ShallowSampler::Error: mesg"NPuck.from 2, :wcr reached only 24.5 of 35psi after pumping in 40ml of gas:@timestampu: Time 5=:bt[""4/home/esp/esp2/utils/sampler.rb:351:in `pumpTo'"2/home/esp/esp2/utils/sampler.rb:347:in `loop'"4/home/esp/esp2/utils/sampler.rb:347:in `pumpTo'" CC.unloadPuck 1, ;WCR +2 !o:SyntaxError: mesg"acompile error\ dave:6: syntax error, unexpected ';'\ CC.unloadPuck 1, ;WCR\ ^:@timestampu: Time Ƀ:bt[" dave:6:in `topLevelBinding'" CC.unloadPuck 1, :WCR +2 "collection"':& +5 "core" &\\y\ U +2 !"dave"o:Puck::Warning: mesg"4Unloading Puck.from 2, :wcr to Storage Carousel:bt["6/home/esp/esp2/utils/puckmoves.rb:421:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'" dave:7:in `topLevelBinding'"'` +15 "core" ' + "manipulator"&^& +4 "core" &   < +2 "storage"(C& +3 "core" &C \  +3 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."dave"Forearm.seek 1 + 450 counts +2 "manipulator"&g' +17 "core" ' +2 ."dave"SE.seek 3.16 Pucks below Top Plate +2 "storage"(t' +37 "core" ' +2 "manipulator"&T& +3 "core" &  , < +2 "manipulator"&Y% +4 "core" % \  +2 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract +2 "manipulator"&7' +91 "core" ' +2 ."dave"Elbow.seek CC +3 "manipulator"&](ӂ +156 "core" ( +2 "manipulator"&W& +4 "core" &Ӓ   k 6 +2 ."dave"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &}& +3 "core" &Ӓ 6 +2 ."dave"Forearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 ."dave"Hand.close + "manipulator"&9/ +55 "core" / +2 ."dave"CC.seek :open +2 "collection"'c( +448 "core" ( + "storage"(!& +4 "core" &C +\  +2 "storage"(<& +4 "core" &C M\  +2 "manipulator"&+& +3 "core" &ӣ   4 +2 "manipulator"&_% +4 "core" % @ \   +2 ."dave"Forearm.seek :retract +3 "manipulator"&`' +99 "core" ' +2 ."dave"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."dave"Elbow.seek 1 +2 "manipulator"&i( +162 "core" ( +2 "manipulator"&x& +4 "core" &  !  +2 "storage"(G& +3 "core" &C u\  +2 ."dave"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 ."dave"Forearm.seek 1 +3 "manipulator"&Z'8 +91 "core" ' +2 ."dave"Elbow.hold +2 "manipulator"&a, +4 "core" , +2 ."dave"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."dave"Hand.open + "manipulator"&X1 +54 "core" 1 +2 "manipulator"&h% +4 "core" % H  \ D ' +2 "storage"(w& +4 "core" &C ;\  + ."dave"Forearm.force -20 +3 "manipulator"&5 +4 ."dave"Forearm.seek 1 + 316 counts +2 "manipulator"&e't +25 "core" ' +2 "manipulator"&\\& +3 "core" &    +2 "storage"(R& +5 "core" &C \  +2 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."dave"Forearm.seek 1 + 450 counts +2 "manipulator"&o' +15 "core" ' + "storage"(%% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(r' +99 (b% +3 "core" %f> \ U[ +2 "manipulator"&d% +3 "core" % \ H +2 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +38 ' + ."downElevator"SE.stop +2 "storage"(5 +759 #"dave"-> Puck.count +2 "storage"(6% +4 "core" % \  +3 ."dave"SE.seek :down +2 "storage"(' +5 "core" ' +2 ."dave"SE.stop + "storage"(5 +4 "manipulator"&n% +3 "core" %   ?  +3 ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."dave"SC.seek 1 +2 "storage"($(C +5 "core" ( + ."dave"SC.configure :limp +3 "storage"($\ 1b +5 (V& +2 "core" &C \  +3 "manipulator"&& +3 "core" &  &  +2 ."dave"Elbow.seek 1 +3 "manipulator"&z( +5 "core" ( +2 "manipulator"&|& +3 "core" &  H  +2 "storage"(v& +4 "core" &C \  +2 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 ."dave"Forearm.seek 1 + 450 counts +2 "manipulator"&S' +94 "core" ' +2 "storage"(q& +3 "core" &C \  +3 ."dave"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +5 ."dave"SE.seek :beamBreak + "storage"(m'r +304 "core" ' +3 "storage"( - +2 "core" -', +3 ."dave"SE.configure :default +2 "storage"(#QK-0-\ b +4 (% +4 "core" % , \ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (% +3 "core" %9 -\ TX +2 "manipulator"&J% +4 "core" %   w _ +2 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 ."dave"Forearm.seek :retract + "manipulator"&' +94 "core" ' +27 ' + ."downElevator"SE.stop +2 "storage"(5 +4 ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."dave"SC.seek 2 +3 "storage"(k(  +352 "core" ( +2 ."dave"SC.configure :limp +2 "storage"($\ 1b +5 (& +2 "core" & p\ +3 "manipulator"&& +3 "core" &    +3 ."dave"Elbow.seek 2 + "manipulator"&( +6 "core" ( +2 "manipulator"&L& +3 "core" & \  a  +2 "storage"(& +4 "core" & \ +2 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 ."dave"Forearm.seek 2 + 450 counts +2 "manipulator"&'S +96 "core" ' +2 "storage"( & +3 "core" & Y\ +3 ."dave"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +5 ."dave"SE.seek :beamBreak +2 "storage"('r +280 "core" ' + "storage"(f- +4 "core" -'r + ."dave"SE.configure :default +3 "storage"(#QK-0-\ b +4 (% +3 "core" %i X\ +3 ."downElevator"SE.seek :down +3 "storage"(#' +99 (/% +3 "core" %Y \ Wd +2 "manipulator"& % +3 "core" %M \   ~ +3 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract +2 "manipulator"&l' +98 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +5 ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."dave"SC.seek 3 +3 "storage"()( +339 "core" ( +2 ."dave"SC.configure :limp +3 "storage"($\ 1b +4 (5& +3 "core" & ^\ +2 "manipulator"& & +4 "core" &  U  +2 ."dave"Elbow.seek 3 +2 "manipulator"&~( +33 "core" ( +2 "manipulator"&&& +4 "core" &    4 +2 "storage"(y& +3 "core" & \ +2 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 ."dave"Forearm.seek 3 + 450 counts +2 "manipulator"&''7 +104 "core" ' +2 "storage"(2& +3 "core" & \ +2 ."dave"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +5 ."dave"SE.seek :beamBreak +2 "storage"(\ 'r +315 "core" ' +9 "storage"(- +4 "core" -'r + ."dave"SE.configure :default +3 "storage"(#QK-0-\ b +4 (% +3 "core" %r f\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %G P\ U] +2 "manipulator"&K% +4 "core" %K X +2 ."dave"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 ."dave"Forearm.seek :retract +3 "manipulator"&=' +90 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +5 ."dave"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +5 ."dave"SC.seek 4 +2 "storage"("(,y +355 "core" ( +2 ."dave"SC.configure :limp +2 "storage"($\ 1b +5 (& +3 "core" &,v \ \ +2 "manipulator"&,& +3 "core" & \  4 +2 ."dave"Elbow.seek 4 +2 "manipulator"&{( +33 "core" ( +2 "manipulator"&& +3 "core" &   .  +2 "storage"(4& +4 "core" &,v \ \ +2 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 ."dave"Forearm.seek 4 + 450 counts +2 "manipulator"&' +91 "core" ' +2 "storage"(F& +3 "core" &,v U\ \ +3 ."dave"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +6 ."dave"SE.seek :beamBreak +2 "storage"(.'r +277 "core" ' + "storage"(;- +3 "core" -'r +2 ."dave"SE.configure :default +3 "storage"(#QK-0-\ b +4 ((% +3 "core" %w 4\ +3 ."downElevator"SE.seek :down +3 "storage"(:' +99 (*% +3 "core" %J \ V` +2 "manipulator"&% +4 "core" %  \ > M +2 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract +2 "manipulator"&M' +92 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +5 ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."dave"SC.seek 5 +3 "storage"(B(<- +244 "Can"^ `, +98 "core" ( +2 ."dave"SC.configure :limp +3 "storage"($\ 1b +4 (1& +3 "core" &<* %\ +2 "manipulator"&& +3 "core" & B  +3 ."dave"Elbow.seek 5 +2 "manipulator"&P( +11 "core" ( +2 "manipulator"&8& +4 "core" &    +2 "storage"(Q& +3 "core" &<* E\ +3 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."dave"Forearm.seek 5 + 450 counts +3 "manipulator"&['O +95 "core" ' +2 "storage"(& +4 "core" &<* \ +2 ."dave"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +5 ."dave"SE.seek :beamBreak +2 "storage"(3'r +275 "core" ' +2 "storage"(U- +3 "core" -'r +2 ."dave"SE.configure :default +3 "storage"(#QK-0-\ b +4 (N% +3 "core" %z h\ +3 ."downElevator"SE.seek :down +5 "storage"(I' +98 (% +2 "core" %L -\ Va +2 "manipulator"&?% +5 "core" %P  ' +2 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 ."dave"Forearm.seek :retract +2 "manipulator"&O' +90 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +4 ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."dave"SC.seek 6 +3 "storage"(^(K +350 "core" ( +3 ."dave"SC.configure :limp +2 "storage"($\ 1b +5 (C& +3 "core" &K \  +2 "manipulator"&T& +3 "core" & A  +2 ."dave"Elbow.seek 6 +2 "manipulator"&Y( +6 "core" ( + "manipulator"&& +5 "core" &   + "storage"(0& +4 "core" &K /\ +40 ."dave"Forearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +5 ."dave"Forearm.seek 6 + 450 counts +2 "manipulator"&H' +90 "core" ' + "storage"(D& +4 "core" &K "\ +2 ."dave"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +5 ."dave"SE.seek :beamBreak +2 "storage"(>'r +277 "core" ' +2 "storage"(- +3 "core" -'r +2 ."dave"SE.configure :default +2 "storage"(#QK-0-\ b +5 (W% +3 "core" %t `\ +3 ."downElevator"SE.seek :down +5 "storage"(}' +97 (g% +3 "core" %I !\ V_ +2 "manipulator"& % +3 "core" %  ! z +3 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract +2 "manipulator"&9' +93 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +5 ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."dave"SC.seek 7 +3 "storage"(7([ +350 "core" ( + ."dave"SC.configure :limp +3 "storage"($\ 1b +4 (-& +3 "core" &[ \ \ +2 "manipulator"&!& +4 "core" &   +2 ."dave"Elbow.seek 7 +2 "manipulator"&<(r +28 "core" ( +2 "manipulator"&+& +3 "core" &f   1  +2 "storage"(_& +4 "core" &[ H\ +3 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."dave"Forearm.seek 7 + 450 counts +2 "manipulator"&x'= +97 "core" ' +2 "storage"(G& +4 "core" &[ \ +2 ."dave"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +5 ."dave"SE.seek :beamBreak +2 "storage"('r +275 "core" ' +2 "storage"(]- +3 "core" -'r +2 ."dave"SE.configure :default +3 "storage"(#QK-0-\ b +4 (X% +3 "core" %y g\ +3 ."downElevator"SE.seek :down +3 "storage"(h' +99 (w% +3 "core" %O \ V` +2 "manipulator"&\\% +3 "core" %N   f +3 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract +2 "manipulator"&R' +93 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +4517 #"dave"-> exit + #Session Ended +52357 "Can"^ @KI* +60001 V @ߞ. +60001 \\ Au5 +60002  @ 1 +60001  A$0 +60001  A[7/ +60002  @͞4 +60001  @c/ +60001  A. +60001  A6; +60002 ~ @m%( +60001 w @ˣ, +60001 u @Q/ +60001  @2 +60002  @H}4 +60001  @~? +60001  Aֶ2 +60002  @?3 +60001  A$՞2 +60001  A[k1 +60001  Aߒ/ +60002  A1 +60001  @-- +60001  A8Þ2 +60001  AoY. +60002  @4 +60001  @? +60001  @2 +60002  AJ+ +60001  @G. +60001  @ݞ< +60001   As2 +60002  @& = +60001  A\\) +60001  A5# +60001  A˞1 @UTC1705104431.12  @a) +60001  A9, +60001  Ap/ +60002  A #- +60001  A , +60001  ?O4 +60001  AL) +60002 ' A{. +60001 ' A, +60001 & @- +60001 " A'=8 +60002 # A^Ӟ+ +60001 * @i, +60001 , A+ +60001 - A"Õ2 +60002 / @$<+( +60001 2 A&s1 +60001 0 A(W. +60002 - A*/ +60001 1 @-ƃ' +60001 5 A/Q+ +60001 3 A1ǯ- +60002 0 A3E( +60001 7 A5۞* +60001 0 A8-q) +60001 3 @:d) +60002 4 A<ʝ +60001 1 A>3 +60001 8 @A\ ɞ. +60002 7 @CA_) +60001 5 @Ex% +60001 5 AG͋) +60001 @ AI!" +60002 C @Lη+ +60001 = @NVM( +60001 = @P4 +60001 ? ARy# +60002 ? @T# +60001 D @W3ѥ$ +60001 U @Yj;" +60002 S A[ў& +60001 V A]g0 +60001 ] A`/ +60001 V AbGԓ +60002 _ @d~) +60001 d @fտ! +60001 l @hU +60001 n Ak$ +60002 k @m\\ׁ +60001 p @o +60001 v Aqح +60001 t AtC +60002 x @v8ٞ +60001  Axoo +60001  Az +60002  A|ۛ +60001  A1 +60001  @KǞ +60001  A] +60002  A +60001  @މ +60001  A& +60001  A]ߵ +60002  AK +60001  @ +60001  @w +60002  A:  +60001  @p⣞ +60001  @9 +60001  AϞ +60002  @e +60001  AK +60001  A呞 +60001  A' +60002  A潞 +60001  A(S +60001  A_ +60001   A +60002  A +60001  @髞 +60001  @;A +60001 ' Asמ +60002 ' Am +60001 * A +60001 3 @왞 +60001 3 @N/ +60002 A AŞ +60001 < Aü[ +60001 ? 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+60001  A]+ +60001  @E4 +60001  Ay/ +60002  Aޮ( +60001  @- +60001  @K. +60001  @K0 +60002  @w9 +60001  @ - +60001  @ã. +60001   A9- +60002  @QϞ6 +60001  @e. +60001 # @= +60002 " AƑ* +60001 - @"'/ +60001 1 @Wǽ/ +60001 < @S& +60002 : A* +60001 ; A+ +60001 = @** +60001 @ @^ʫ* +60002 < AA1 +60001 H @\ מ0 +60001 ? @ m- +60002 B @0 +60001 B @d͙+ +60001 D A/7 +60001 > @Ş+ +60002 E @[- +60001 B A5. +60001 C AjЇ$ +60001 > @( +60002 < @ ѳ1 +60001 ; @#I* +60001 ? @%;ߞ. +60001 = A'ou4 +60002 > @) ' +60001 7 @+ԡ, +60001 = A. 7- +60001 : @0@͞, +60002 5 @2uc$ +60001 ; @4- +60001 8 @6׏) +60002 ? @9%: +60001 9 @;Fػ, +60001 < @=zQ& +60001 < @?/ +60002 : AA}- +60001 @ @D) +60001 < AFP۩+ +60002 D AH?+ +60001 C AJ՞< +60001 D @Lk' +60002 A AO)) +60001 J @Q`ޗ' +60001 @ AS-$ +60001 J @UÞ. +60002 N AXY' +60001 P @Z9' +60001 V @\\pᅞ3 +60001 U @^5 +60001 T @`ⱞ' +60002 Y @cG% +60001 c AeHݞ" +60001 c Ags- +60002 g @i # +60001 g @k埞' +60001 n @n"53 +60001 u ApX˞, +60002 v @ra( +60001 { @t @1705412657.64UTC = =tMAIN =mMAIN_scheduler @UTC1705412659.32 #"core_reset"Sent BREAK +2 #t@56796 select with ifg=0x10, ie=0xF5 + #@57430 receive with ifg=0x10, ie=0xFD + #@58064 receive with ifg=0x10, ie=0xFD #@58698 receive with ifg=0x10, ie=0xFD + #@59025 receive with ifg=0x80, ie=0xFD + #@30006 sendCRC with ifg=0x20, ie=0x7F #@30454 sendCRC with ifg=0x20, ie=0x7F + #@32044 sendCRC with ifg=0x08, ie=0x5F + #@24838 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +185 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +96 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +351 "Can" ?vYb +2  ?vYb #tPolling Can every 10:00 +4 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +386 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %Ӌ$  +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڂoo o\  +2 .tSS.configure :default +3 "sampler")#.0X +2 "collection"'! +3 "core"  +2 "collection"'" +4 "core"  + "processing"%# +3 "core"  +3 "processing"%$ +2 "core" V +3 "processing"%% +2 "core"  +3 "processing"%& +2 "core" A +3 "sampler")' +2 "core"  +3 "collection"'(% +3 "core" %Ӌ#  +3 "processing"%)% +3 "core" %?\ +3 "sampler")*% +3 "core" %ڂon d\  +3 "collection"'+& +3 "core" &=  +2 "processing"%,& +4 "core" &p\ +2 "manipulator"&-% +4 "core" %    +2 "manipulator"&.& +4 "core" &f    +2 "storage"(/& +3 "core" &[ g\  +2 "storage"(0% +4 "core" % \  +2 "collection"'19 +4 "core" 9~ + "processing"%29 +3 "core" 9 +278 #t-> access 1 +3 "storage"(3% +3 "core" % c\  +2 "manipulator"&4% +4 "core" %    +2 "manipulator"&5& +3 "core" &f \   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(6(<- +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<. \ +58000 "Can" Ax( +60001  Az鎞% +60001  @}$* +32396 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +7 #mEXIT @1705414789.74UTC @1705414810.61UTC = =tMAIN =mMAIN_scheduler @UTC1705414812.29 #"core_reset"Sent BREAK +2 #t@51267 receive with ifg=0x10, ie=0xFD + #@51902 receive with ifg=0x10, ie=0xFD + #@52558 receive with ifg=0x10, ie=0xFD + #@53195 receive with ifg=0x10, ie=0xFD #@53832 receive with ifg=0x10, ie=0xFD + #@54466 receive with ifg=0x10, ie=0xFD + #@55101 receive with ifg=0x10, ie=0xFD #@55427 receive with ifg=0x80, ie=0xFD + #@26163 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +289 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +360 "Can" ?~N|$ +  ?~N|$ + #tPolling Can every 10:00 +2 #Cleanly exited at 14:19:49UTC16-Jan-24 +423 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %Ӌ\ \ |  +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڂsp o\  +2 .tSS.configure :default +3 "sampler")#.0X +2 "collection"'! +4 "core"  + "collection"'" +4 "core"  +2 "processing"%# +2 "core"  +3 "processing"%$ +2 "core" V +2 "processing"%% +4 "core"  + "processing"%& +3 "core" A +2 "sampler")' +3 "core"  +2 "collection"'(% +4 "core" %Ӌ\ \   +2 "processing"%)% +4 "core" %\ +2 "sampler")*% +4 "core" %ڂsp g\  +2 "collection"'+& +5 "core" & \ r  + "processing"%,& +4 "core" &\ +2 "manipulator"&-% +4 "core" %    +2 "manipulator"&.& +3 "core" &f  \ f  +2 "storage"(/& +4 "core" &<. =\ +2 "storage"(0% +4 "core" % V\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +4 "core" 9 +343 #t-> access 2 +3 "storage"(3% +3 "core" % \  +2 "manipulator"&4% +3 "core" %     +2 "manipulator"&5& +3 "core" &f  W  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(6(K +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +4 "core" &K $\  +393 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%8& +3 "core" &\ +2 .tHand.open + "manipulator"&91 +18 "core" 1 + "manipulator"&:& +4 "core" &f   +2 "manipulator"&;% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&<(- +176 "core" ( + "manipulator"&=& +4 "core" &-   . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &- D . +2 .tForearm.seek :garage +2 "manipulator"&?'w +100 "core" ' + .tHand.close +2 "manipulator"&@/ +58 "core" / + "manipulator"&A& +4 "core" &-    . +2 "manipulator"&B% +3 "core" % ψ  +2 .tForearm.seek :retract +2 "manipulator"&C' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&D( +117 "core" ( + "manipulator"&E& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &   +  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&G' +97 "core" ' +2 "manipulator"&H& +4 "core" &    +2 "manipulator"&I% +4 "core" %   +2 "processing"%J& +3 "core" &\ +3 "processing"%K& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%L(^ +5 "core" &\  +9 &2|\ *x +10 &a\ = +9 &lv\ M +9 &-Z\ M +10 &_\ M +9 &\\\ M +10 &r^\ N +9 &4_\ N +9 &_\ N +10 &^\ M +9 & {[\ M +9 &"=`\ M +10 &#^\ M +9 &%Z\ M +10 &'_\ M +9 &)F\\\ M +9 &+]\ M +10 &,b\ M +9 &.]\ N +9 &0L_\ N +10 &2\\\ M +9 &3^\ N +10 &5^\ M +9 &7V[\ M +9 &9b\ M +10 &:c\ N +9 &<_\ N +9 &>[b\ N +10 &@^\ N +9 &Ak\ N +10 &Ct\ O +9 &EZ\ Q +9 &G\ R +10 &H\ R +9 &J\ R +9 &L\\\ S +10 &N\ T +9 &O\ S +10 &Q\ T +9 &S`\ T +9 &U#\ T +10 &V\ T +9 &X\ T +9 &Zh\ T +10 &\\)\ U +9 &]{y\ > +10 &^%`\ \\ +9 &^0\ 4 +2 ( +2 "processing"%K& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + "processing"%M& +3 "core" &^)\ 4 +2 .tHand.open + "manipulator"&N1 +54 "core" 1 +2 "manipulator"&O% +4 "core" %     +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +91 "core" ' +455 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&Q& +4 "core" & \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&R( +4 "core" ( + "manipulator"&S& +4 "core" &   4  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&U' +91 "core" ' + .tHand.close +2 "manipulator"&V/ +56 "core" / +2 .tPC.seek :open +35 "processing"%W( +468 "core" ( +2 "manipulator"&X& +3 "core" &  8  +2 "manipulator"&Y% +4 "core" %  A +2 .tForearm.seek :retract +2 "manipulator"&Z' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&[(- +129 "core" ( +2 "manipulator"&\\& +3 "core" &-    \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &-  6 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&^'w +98 "core" ' +2 .tHand.open + "manipulator"&_1 +59 "core" 1 +2 "manipulator"&`% +4 "core" % ρ    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +98 "core" ' +54704 "Can" A3 +16039 #t-> exit +6 #mEXIT @1705415579.21UTC @1705415611.51UTC = =mMAIN_scheduler =tMAIN @UTC1705415613.21 #"core_reset"Sent BREAK +2 #t@55068 sendCRC with ifg=0x20, ie=0x7F + #@56903 sendCRC with ifg=0x08, ie=0x5F + #@28728 idle with ifg=0x84, ie=0x75 + #@29399 select with ifg=0x10, ie=0xF5 + #@30033 receive with ifg=0x10, ie=0xFD #@30667 receive with ifg=0x10, ie=0xFD + #@31301 receive with ifg=0x10, ie=0xFD #@31628 receive with ifg=0x80, ie=0xFD + #@8254 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +263 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +362 "Can" ?NE) +  ?NE) + #tPolling Can every 10:00 +5 #Loading /home/esp/esp2local/mission/standAloneWCR_010224.rb mission +6 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_010224 w/pucks in tube 2\\n{2 => 1}\\nCTD data unavailable\\nCan@14:33:39, 26% flow, 21.7C, 20% humidity, 14.9psia, 13.842V, 0.302A, 41.907Ah, 4.19W",Subject: "standAloneWCR_010224 begun" +6 #tAsleep til + 00:00:05 +2 #Continuing at 14:33 +3 "Can" ?NE%/ +23 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +326 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,100], $da)\\n/home/esp/esp2local/mission/standAloneWCR_010224.rb:10\\n{2 => 1}\\nCTD data unavailable\\nCan@14:33:39, 26% flow, 21.6C, 20% humidity, 14.9psia, 13.847V, 0.302A, 41.907Ah, 4.19W",Subject: "Asleep until 14:33" +132 "Can" !QFZ$ +5 #tPowering core bus +10 #"uploadLog"upsync +250 #upsync +283 .tGate.power :raw,:ON +2 "sampler") +58 ) +2 "core"  +3 "collection"' +3 ' +2 "core"  +36 "processing"% +7 % +2 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1}\\nCTD data unavailable\\nCan@14:34:28, 25% flow, 21.7C, 20% humidity, 14.9psia, 13.803V, 0.290A, 41.912Ah, 4.01W",Subject: "Started standAloneWCR_010224 phase initialPurge; standAloneWCR([nil,100], $da)" +2 #tStarting initialPurge +4 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &   +2 .tHand.open +2 "manipulator"&"1 +63 "core" 1 +2 "manipulator"&#& +3 "core" &    +2 "manipulator"&$% +4 "core" %    +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(- +179 "core" ( +3 "manipulator"&&& +5 "core" &-   3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +4 "core" &- S 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('w +65 #"uploadLog"upsync +28 "core" ' +2 .tHand.close + "manipulator"&)/ +61 "core" / +2 "manipulator"&*& +4 "core" &-   3 +2 "manipulator"&+% +4 "core" % χ   +2 .tForearm.seek :retract +2 "manipulator"&,' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +286 "core" ( + "manipulator"&.& +4 "core" &ӗ   & 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &ӗ \  9( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&0'? +95 "core" ' + "manipulator"&1& +4 "core" &ӗ    9( +2 "manipulator"&2% +4 "core" %1   ! - +2 "collection"'3& +4 "core" &   +3 "collection"'4& +5 "core" &   +2 .tCC.seek :closed + "collection"'5(\\ +4 "core" &\\  +9 &H% %g +9 &s[\ 8 +10 &|*\ K +9 &W"\ L +9 &YU\ K +10 &Y`\ L +9 &\\i\ L +10 &Z=\ L +9 &aX\ K +9 &#X\ K +10 &\\\ L +9 &!\\\ L +9 &#i[\ K +10 &%*U \ L +9 &&\\#\ L +10 &(Y e\ L +9 &*qVe\ K +9 &,3Y4\ K +10 &-Z \ L +9 &/Y \ L +9 &1yV \ K +10 &3;W \ K +9 &4\\\ L +10 &6Z\ L +9 &8W8\ L +9 &:B\\\ L +10 &<Z\ L +9 &=X\ L +9 &?\\k\ K +10 &AKZ\ K +9 &C b1\ L +9 &Do!\ N +10 &F*$ \ Q +9 &H2XHg\ W +10 &Ibc6\ W +9 &K^db\ X +9 &MrY\\g\ Y +10 &O4RUf\ Y +9 &PLM:\ Y +9 &RKNg\ Y +10 &TtKLf\ [ +9 &V4LM\ [ +10 &WKL8\ \\ +9 &YKM5\ \\ +9 &[uNL\ I +10 &\\NMN\ ] +9 &\\MP\ *| +9 &\\LO\ Z +3 ( +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + "collection"'6& +4 "core" &\\KNd\ Z +2 .tHand.open + "manipulator"&71 +57 "core" 1 +2 "manipulator"&8% +4 "core" % 1   - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +94 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &\\EI\ Z +3 "collection"';% +3 "core" %fHH\ +2 .tCSV.dial CSR +2 "collection"'<  +123 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='s5 +1381 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +37 "collection"' +15 '>% +3 "core" %s4CEz\ +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'?' +673 "core" ' +2 .tCSV.dial :waste + "collection"'@ +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A'i +1998 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &\\EGw\ Z +2 "collection"'C% +4 "core" %fDD\ + .tCSV.dial :flush +2 "collection"'D  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'E' +2468 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV + "collection"'F +2 'G  +30 "core" +42  +2 .tCTV.dial :intake + "collection"'H  +76 "core"  + .tIntake.select :open + "sampler") +11 .tCS.seek 0ml + "collection"'I'i +2343 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'J  +75 "core"  +3 #tFlushing upper manifold + "collection"'K& +3 "core" &\\}@?z\ Z +2 "collection"'L% +4 "core" %j@?v\ +2 .tCSV.dial :flush + "collection"'M  +69 "core"  +2 .tCS.seek 5ml +2 "collection"'N's5 +1272 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air + "collection"'O @ +41 "core" A + "collection"'P% +4 "core" %s213u\  +2 .tCS.seek 7ml +2 "collection"'Q' +555 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'R +97 "core"  +2 .tCTV.dial :air + "collection"'S  +5 "core"  +2 .tCS.seek 0ml + "collection"'T'i +1661 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml +2 "collection"'U'3J +809 "core" ' +2 .tCSV.dial :waste + "collection"'V +42 "core" +3 .tCS.seek 0ml + "collection"'W'i +779 "core" ' +2 "collection"'X& +4 "core" &\\} #t\ Z +2 "collection"'Y% +3 "core" %i  o\  +2 .tCSV.dial :flush + "collection"'Z  +41 "core"  +2 .tCS.seek 3ml +2 "collection"'['3J +819 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'\\ @ +40 "core" B +2 "collection"']% +4 "core" %3M|\ +2 .tCS.seek 5ml +2 "collection"'^'s8 +546 "core" ' +2 .tCSV.dial :air +2 "collection"'_ @ +14 "core" ? +2 .tCS.seek 0ml + "collection"'`'i +1208 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml +2 "collection"'a'3J +803 "core" ' +2 .tCSV.dial :waste + "collection"'b +69 "core" +2 .tCS.seek 0ml +2 "collection"'c'i +761 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +4 "core" &ӫ * 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&e(ӂ +15 "core" ( +2 "manipulator"&f& +4 "core" &ӊ   . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &ӊ   V . +3 .tForearm.seek CC + "manipulator"&h'? +92 "core" ' +2 .tHand.close + "manipulator"&i/ +58 "core" / +3 .tCC.seek :open + "collection"'j( +448 "core" ( + "manipulator"&k& +4 "core" &ӟ \  + +2 "manipulator"&l% +37 "core" % ;   G +9 .tForearm.seek :retract + "manipulator"&m' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&n(- +284 "core" ( +2 "manipulator"&o& +3 "core" &-   B +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &-   B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&q'w +92 "core" ' + .tHand.open + "manipulator"&r1 +60 "core" 1 +2 "manipulator"&s% +4 "core" % ρ  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +93 "core" ' + #tStarting stand-alone da WCR + #da wcr sampling at most 100ml +4 #Whole Cell Archive sampling 100ml + ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 14:38:45UTC16-Jan-24\\n{2 => 1}\\nCTD data unavailable\\nCan@14:34:28, 25% flow, 21.7C, 20% humidity, 14.9psia, 13.803V, 0.290A, 41.912Ah, 4.01W",Subject: "da wcr sampling at most 100ml" +4 #"WCR"Loading wcr puck from tube 2 into Collection Clamp + "collection"'u& +4 "core" &n +2 "manipulator"&v% +4 "core" %     +2 "storage"(w% +4 "core" % \ % +2 "storage"(x. +6 "core" .(,y +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +4 "storage"(y(  +344 #"uploadLog"upsync +327 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &  \ +3 "manipulator"&{& +3 "core" &- U B +3 "manipulator"&|% +3 "core" %   S  +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 + "manipulator"&}( +174 "core" ( +3 "manipulator"&~& +4 "core" &    +2 "storage"(& +4 "core" &  h\ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."WCR"Forearm.seek 2 + 450 counts + "manipulator"&'S +98 "core" ' +2 "storage"(& +3 "core" &  f\ +3 ."WCR"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('r +284 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +5 ."WCR"SE.seek :down +2 "storage"(' +248 "core" ' +2 ."WCR"SE.stop + "storage"(5 +3 "manipulator"&% +4 "core" %M \  5 +3 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 !to:Puck::Error :@checkpoint: omitted: mesg".4 pucks loaded in tube 2 when expecting 1:@timestampu: Time  ":bt[ ";/home/esp/esp2/utils/puckmoves.rb:259:in `verifyCount'":/home/esp/esp2/utils/puckmoves.rb:586:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"2/home/esp/esp2/protocol/2G/wcr.rb:24:in `wcr'"=/home/esp/esp2/protocol/2G/wcr.rb:110:in `standAloneWCR'"=/home/esp/esp2/protocol/2G/utilities.rb:66:in `protocol'"=/home/esp/esp2/protocol/2G/wcr.rb:109:in `standAloneWCR'";/home/esp/esp2local/mission/standAloneWCR_010224.rb:11"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'";/home/esp/esp2local/mission/standAloneWCR_010224.rb:10"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'":/home/esp/esp2local/mission/standAloneWCR_010224.rb:8"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 ."Qmail"BadNews.email "4 pucks loaded in tube 2 when expecting 1",Subject: "Puck::Error in MAIN" + #tWaiting to Resume from Checkpoint "Loading wcr puck from tube 2 into Collection Clamp" +402 #"uploadLog"upsync +27445 "Can" <~ @1705416363.00UTC = =tMAIN =mMAIN_scheduler @UTC1705416364.70 #"core_reset"Sent BREAK +2 #t@58097 sendCRC with ifg=0x20, ie=0x7F + #@59932 sendCRC with ifg=0x08, ie=0x5F + #@9503 idle with ifg=0x84, ie=0x75 + #@10177 select with ifg=0x10, ie=0xF5 #@10812 receive with ifg=0x10, ie=0xFD + #@11446 receive with ifg=0x10, ie=0xFD + #@12080 receive with ifg=0x10, ie=0xFD #@12407 receive with ifg=0x80, ie=0xFD + #@54815 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +12 #ESP2 v3.42 I2C Gateway v3.20 for core bus +189 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +100 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +364 "Can" :s! +  :s! + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +249 #-> exit +5 #mEXIT @1705416374.02UTC @1705416388.04UTC = =tMAIN =mMAIN_scheduler @UTC1705416389.74 #"core_reset"Sent BREAK +2 #t@58097 sendCRC with ifg=0x20, ie=0x7F + #@59932 sendCRC with ifg=0x08, ie=0x5F + #@9503 idle with ifg=0x84, ie=0x75 + #@10177 select with ifg=0x10, ie=0xF5 #@10812 receive with ifg=0x10, ie=0xFD + #@11446 receive with ifg=0x10, ie=0xFD + #@12080 receive with ifg=0x10, ie=0xFD #@12407 receive with ifg=0x80, ie=0xFD + #@50045 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +12 #ESP2 v3.42 I2C Gateway v3.20 for core bus +258 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +387 "Can" :? +  :? + #tPolling Can every 10:00 +2 #Cleanly exited at 14:46:13UTC16-Jan-24 +4 #Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission +5 ."Qmail"GoodNews.email "Starting DA_WCR_011024 w/pucks in tube 2\\n{2 => 1}\\nCTD data unavailable\\nCan@14:46:36, 25% flow, 21.7C, 20% humidity, 14.9psia, 13.851V, 0.272A, 41.979Ah, 3.77W",Subject: "DA_WCR_011024 begun" +5 #tPreparing to sleep until + 00:00:05 +3 #Asleep til + 00:00:05 + #Continuing at 14:46 +3 "Can" :O +26 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +204 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [50, 50] #da and wsr are run simultanelously\\n/home/esp/esp2local/mission/DA_WCR_011024.rb:14\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@14:46:36, 25% flow, 21.7C, 20% humidity, 14.9psia, 13.851V, 0.272A, 41.979Ah, 3.77W",Subject: "Asleep until 14:46" +145 #"uploadLog"upsync +108 "Can"  +10 #tPowering core bus +127 #"uploadLog"upsync +410 .tGate.power :raw,:ON + "sampler") +22 ) +3 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +2 % +4 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@14:47:13, 25% flow, 21.8C, 20% humidity, 14.9psia, 13.837V, 0.290A, 41.982Ah, 4.02W",Subject: "Started DA_WCR_011024 phase initialPurge; da [50, 50] #da and wsr are run simultanelously" +2 #tStarting initialPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +3 "collection"'!& +3 "core" &\  "  +3 .tHand.open +2 "manipulator"&"1 +56 "core" 1 +2 "manipulator"&#& +3 "core" &    +2 "manipulator"&$% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek FlushPuck::Garage + "manipulator"&%(- +180 "core" ( +5 "manipulator"&&& +6 "core" &-  " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &'& +3 "core" &- \ N " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('w +82 #"uploadLog"upsync +13 "core" ' +3 .tHand.close + "manipulator"&)/ +54 "core" / +2 "manipulator"&*& +4 "core" &-   ; " +2 "manipulator"&+% +4 "core" % ψ \ \  +3 .tForearm.seek :retract + "manipulator"&,' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +282 "core" ( +2 "manipulator"&.& +4 "core" &Ӕ#    <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &ӕ# f <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'? +97 "core" ' +2 "manipulator"&1& +4 "core" &ӕ#   \ <9 +2 "manipulator"&2% +4 "core" %@  +2 "collection"'3& +4 "core" &\ \   +3 "collection"'4& +5 "core" &\    +3 .tCC.seek :closed +2 "collection"'5(\\ +3 "core" &\ \   +6 &  ! > +9 &L{  %\ 1 +10 &Vw \ &\ F +9 &\\  \ L +9 &U\ \ \ K +10 &Z \ C\ K +9 &L[  h\ K +10 &U  \ K +9 &Y\  \ K +9 &\\ \ i\ K +10 &S[  #\ L +9 &!Y  \ K +9 &"W \ ;\ K +10 &$Y  #\ L +9 &&\\Y\ \ f\ K +10 &(\\\  h\ K +9 &)Y\  g\ K +9 &+Y  (\ L +10 &-dY\  c\ K +9 &/&Z \ o\ K +9 &0X  \ K +10 &2U  "\ K +9 &4lZ \ \ K +10 &6-X  h\ L +9 &7Y  g\ K +9 &9W \ ~\ K +10 &;tW\  \ K +9 &=6V  \ K +9 &>W \ \ K +10 &@V  \ K +9 &B|] \ K +10 &D:h=\ M +9 &E|\ P +9 &G\ U +10 &Id\ V +9 &K"\ X +9 &L}\ X +10 &N|\ X +9 &Pf~\ X +10 &R'{\ Y +9 &S\ Y +9 &U\ Z +10 &Wg|\ [ +9 &Y'{\ [ +9 &Zz\ \\ +10 &\\S`z\ . +9 &\\|\ Y +9 ( +2 &\\y\ W +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.22 + "collection"'6& +4 "core" &\\y\ W +2 .tHand.open + "manipulator"&71 +55 "core" 1 +2 "manipulator"&8% +4 "core" % @   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +94 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &\\y}\ W +2 "collection"';% +4 "core" %h\ +2 .tCSV.dial CSR + "collection"'<  +126 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 5ml +2 "collection"'='s5 +1374 "core" ' +2 .tdelay 5 seconds +536 .CSR.select :air +9 "collection"' +9 '>% +3 "core" %s6u\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'?' +667 "core" ' + .tCSV.dial :waste +2 "collection"'@ +123 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A'i +1994 "core" ' +2 #tPurging external Intake + "collection"'B& +3 "core" &\\xu\ W +2 "collection"'C% +4 "core" %hv\ +2 .tCSV.dial :flush + "collection"'D  +42 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'E' +2440 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'F +2 'G  +5 "core" +65  +2 .tCTV.dial :intake + "collection"'H  +75 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'I'i +2348 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'J  +74 "core"  +2 #tFlushing upper manifold + "collection"'K& +4 "core" &\\wt\ W +2 "collection"'L% +4 "core" %g  w\ + .tCSV.dial :flush +2 "collection"'M  +69 "core"  +2 .tCS.seek 5ml + "collection"'N's5 +1262 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +41 "core" A +2 "collection"'P% +3 "core" %s9q\ \ +3 .tCS.seek 7.001ml + "collection"'Q'$ +553 "core" ' +3 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'R +98 "core" ~ +2 .tCTV.dial :air + "collection"'S  +5 "core"  +2 .tCS.seek 0ml +2 "collection"'T'i +1649 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'U'3J +803 "core" ' +2 .tCSV.dial :waste + "collection"'V +43 "core" +2 .tCS.seek 0ml + "collection"'W'i +770 "core" ' +2 "collection"'X& +3 "core" &\\vx\ W +2 "collection"'Y% +4 "core" %ho\ + .tCSV.dial :flush +2 "collection"'Z  +41 "core"  +2 .tCS.seek 3ml +2 "collection"'['3J +801 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'\\ @ +40 "core" B +2 "collection"']% +3 "core" %3Fr\ +3 .tCS.seek 5ml + "collection"'^'s1 +558 "core" ' +2 .tCSV.dial :air + "collection"'_ @ +14 "core" @ +2 .tCS.seek 0ml +2 "collection"'`'i +1201 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'a'3J +803 "core" ' +2 .tCSV.dial :waste + "collection"'b +69 "core" +2 .tCS.seek 0ml +2 "collection"'c'i +759 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +3 "core" &ӫ   Z 9# +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +15 "core" ( + "manipulator"&f& +4 "core" &Ӊ  \  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &Ӊ \   - +2 .tForearm.seek CC +2 "manipulator"&h'? +91 "core" ' +2 .tHand.close + "manipulator"&i/ +55 "core" / +2 .tCC.seek :open +2 "collection"'j( +448 "core" ( + "manipulator"&k& +4 "core" &ӡ  * +2 "manipulator"&l% +32 "core" % @   +14 .tForearm.seek :retract + "manipulator"&m' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&n(- +287 "core" ( +2 "manipulator"&o& +3 "core" &-   ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &- W ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&q'w +92 "core" ' +2 .tHand.open + "manipulator"&r1 +55 "core" 1 +2 "manipulator"&s% +4 "core" % ~  6 < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +94 "core" ' +2 #tda sampling at most 50ml, wcr at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp + ."Qmail"DAfans.email "Started da in tube 2 at 14:51:29UTC16-Jan-24\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@14:47:13, 25% flow, 21.8C, 20% humidity, 14.9psia, 13.837V, 0.290A, 41.982Ah, 4.02W",Subject: "da sampling at most 50ml, wcr at most 50ml" +3 "collection"'u& +4 "core" & v  +2 "manipulator"&v% +4 "core" %  4  +3 "storage"(w% +4 "core" % ^\ % +2 "storage"(x. +3 "core" .(,y +2 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(y(  +348 #"uploadLog"upsync +321 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &  %\ +2 "manipulator"&{& +5 "core" &-  ' + "manipulator"&|% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&}( +177 "core" ( +3 "manipulator"&~& +3 "core" & \   , +2 "storage"(& +4 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +96 "core" ' +2 "storage"(& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"('r +280 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" & \  +2 "manipulator"&& +4 "core" & G + +2 .tElbow.seek 2 + "manipulator"& ( +5 "core" ( + "manipulator"&& +4 "core" &   + +2 "storage"(& +3 "core" & E\  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&\ 'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +4 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(' +7 "core" &  O + + "manipulator"&% +4 "core" % \  & +3 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 .tElbow.seek CC + "manipulator"&(ӂ +138 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +45 "core" ( +2 "manipulator"& & +4 "core" &ӗ  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӗ  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +101 "core" ' +2 "manipulator"&& +3 "core" &ӗ   6 +2 "manipulator"&% +4 "core" %.   +3 "collection"' & +3 "core" &  `  +3 "collection"'& +5 "core" &\    +2 .tCC.seek :closed + "collection"'(\\ +5 "core" &\ |  +8 &5\  v\ *z +10 &\ g}\ b\ > +9 &n  r\ L +9 &]S\  s J +10 &W  r\ J +9 &U \ m\ K +10 &Y  v\ J +9 &eW  {\ J +9 &&Z\ \ w\ K +10 &W  u\ K +9 & T  v\ J +9 &"lT \ x\ K +10 &$/Y\  r\ J +9 &%U  l\ J +10 &'U  d\ K +9 &)uT  f\ J +9 &+7T  `\ J +10 &,W\ \ h\ J +9 &.Z\ \ h\ K +10 &0|W h\ K +9 &2>Y\ \ f\ K +9 &4X\ \ h\ K +10 &5Z\ j\ J +9 &7X\  e\ J +9 &9FZ  d\ J +10 &;W  b\ J +9 &<X  a\ J +10 &>W \ \\\ J +9 &@NZ\  `\ J +9 &BW  ]\ J +10 &CZ V\ K +9 &Edc\ L +9 &GNnW\ M +10 &IT\ P +9 &JS\ U +9 &Lz[\ V +10 &N9c\ W +9 &Oh\ W +10 &Qa\ X +9 &S~]\ X +9 &U=e\ Y +10 &Ve\ Y +9 &XZ\ Z +9 &Z}c\ [ +10 &\\"z^\ . +9 &\\0d\ _ +10 ( &\\b`\ M +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.10 + .Hand.open + "manipulator"&!1 +61 "core" 1 +2 "manipulator"&"% +3 "core" % .   [  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +102 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")$+ +3 "core" + +2 "sampler")&% +3 "core" %ځnk [\ A +3 "collection"''& +3 "core" &\\bD\ M +4 "Can" M)W +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air + "collection"'  +5 "core"  +3 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")) +4 "core"  +3 .tSS.reconfigure :fast + "sampler")#.0X +23  +2 .tdelay 3.8 seconds +382 "collection"'(% +3 "core" %gT  +2 "sampler").% +4 "core" %/{z f\ k +2 #tSensor limits: Intake max 111.4psia; Outlet max 106.0psia + .SSV.dial :spit + "sampler")/ +127 "core"  +2 .tSS.seek 0ml +2 "sampler")%'ڀ +278 "core" ' +2 .tSSV.dial CBV + "sampler")1  +129 "core"  +2 .tCTV.dial :intake + "collection"'2  +75 "core"  +2 ."connect"SSV.dial CBV +2 .tCBV.dial SSV +2 "collection"'3 @ +16 "core" A +2 #tAllowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open + "sampler") +210 "collection"',% +3 "core" %g"#O\ +2 #tIntake @15.5psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0Xt% +3 "core" %g_\ +2 "sampler")=% +4 "core" %Q%;; c\  +32 "collection"'@% +38 "core" %gb\ +9 "sampler")?% +4 "core" %Q%WT j\  +36 "collection"'B% +3 "core" %g_\ +2 "sampler")C% +4 "core" %Q$ba c\  +2 .tIntake.select :close + "sampler")0 +9 )D% +3 "core" %Q%je d\  +2 .tSSV.dial :exhaust +2 "sampler")A  +71 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")G'ڀ +397 "core" ' +2 .tExhaust.select :close + "sampler") +10 #tSampling 50.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X ]\ I +47 "collection"'^% +3 "core" %g&&P\ +2 "sampler")`% +3 "core" % c\ I +2 .tIntake.select :close +2 "sampler")0 +9 )b% +3 "core" % c\ I +2 .tSSV.dial :exhaust +2 "sampler")a  +71 "core"  + .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")d'ڀ +883 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")f  +2 "collection"'g @ +6 "core" A +64 + #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open +2 "sampler") +210 "collection"'i% +3 "core" %g%#b\ +2 #tIntake @15.5psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0Xt  +80 "core"  +46  +624 ' +2 .tSSV.dial between CBV and plug +2 "sampler")= +44 "core" +2 .tCBV.dial between SSV and waste2 +2 "collection"'@  +29 "core"  +2 "collection"'?% +4 "core" %9;`\  +2 .tCSV.dial between air and CTV +2 "collection"'B ` +26 "core" a +3 .tCS.seek 8.233ml + "collection"'C'ڈ +479 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +3 "collection"'D  + '  +15 "core"  +15  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<<\ b +3 .tCS.seek 0ml +2 "collection"'A'i +1678 "core" ' \ \ e\ +3 "collection"'6% +3 "core" % \ \ e\  +2 "sampler")H% +4 "core" %ڀ l\ C +2 #tBubblePoint: Intake @24.1psia, Outlet @1.3psia + .CBV.dial SSV + "collection"'E @ +30 "core" B +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'V'i +91 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust + "sampler")U +128 "core"  +3 .tSS.reconfigure :exhale + "sampler")#.0X@s\  +2 .tCS.seek 6ml +2 "collection"'a', +1362 "core" ' +2 .tdelay 2 seconds +202 .CSV.dial :waste2 + "collection"'O +42 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 0ml +2 "collection"'g'i +1426 "core" ' + .tCSV.dial CSR +2 "collection"'f  +42 "core"  +2 #tPulling 2ml of CSR.AqMeOH .CSR.select :AqMeOH +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 2ml + "collection"'i'T +588 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 'd% +3 "core" %P@Bl\ +2 .tCS.seek 5ml +2 "collection"'5's1 +843 "core" ' +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'k  +41 "core"  +2 .tCS.seek 1ml +2 "collection"'l'^ +1097 "core" ' +2 "collection"'h9 +3 "core" 9 +2 "collection"'o% +3 "core" %\\\ '\ 'w  +3 #tBefore lysing Collection Puck Heater at 21.7C/25.2psia +2 #Heating Puck.from 2, :sh1 in Collection Clamp to 70C for 10:00 + .CH.seek 70C,8:00 +2 "collection"'e \  +3 'p9 +5 "core" 9 +102 "collection"'r9 +2 "core" 9d +103 "collection"'s9 +3 "core" 9 d +102 "collection"'u9 +3 "core" 9 d +102 "collection"'v9 +3 "core" 9d +103 "collection"'w9 +2 "core" 9d +103 "collection"'x9 +3 "core" 9d +102 "collection"'m9 +3 "core" 9d +103 "collection"'-9 +2 "core" 9"d +103 "collection"'q9 +3 "core" 9&d +102 "collection"'9 +3 "core" 9+d +103 "collection"'z9 +3 "core" 9/d +140 "collection"'{9 +9 "core" 9 5d +103 "collection"'|9 +2 "core" 9;9d +103 "collection"'~9 +3 "core" 9Y=d +102 "collection"'99 +3 "core" 9yAd +103 "collection"'9 +2 "core" 9Fd +103 "collection"'n9 +3 "core" 9Jd +102 "collection"'t9 +3 "core" 9Nd +102 "collection"'9 +3 "core" 9Rd +103 "collection"'9 +3 "core" 9.Wd +103 "collection"'9 +2 "core" 9V[a +103 "collection"'9 +3 "core" 9}_] +102 "collection"'c9 +3 "core" 9cZ +103 "collection"'9 +3 "core" 9gU +102 "collection"' 9 +3 "core" 9lQ +103 "collection"'9 +3 "core" 9$pM +103 "collection"'}9 +2 "core" 9NtH +103 "collection"'9 +3 "core" 9yxE +102 "collection"'9 +3 "core" 9}A +103 "collection"'9 +2 "core" 9> +103 "collection"' 9 +3 "core" 9: +102 "collection"'9 +3 "core" 97 +102 "collection"'\ 9 +3 "core" 9A4 +103 "collection"'9 +2 "core" 9g2 +103 "collection"'9 +3 "core" 9/ +103 "collection"'9 +3 "core" 9- +102 "collection"' 9 +3 "core" 9+ +102 "collection"'9 +3 "core" 9) +102 "collection"'9 +3 "core" 9& +103 "collection"'j9 +3 "core" 94% +103 "collection"'!9 +2 "core" 9Q# +103 "collection"'9 +3 "core" 9n! +102 "collection"'9 +3 "core" 9 +102 "collection"'"9 +3 "core" 9 +103 "collection"''9 +2 "core" 9 +103 "collection"'9 +3 "core" 9 +102 "collection"')9 +3 "core" 9 +103 "collection"'9 +2 "core" 9 +103 "collection"'&9 +3 "core" 9  +102 "collection"'9 +3 "core" 9 $ +103 "collection"' 9 +3 "core" 9 5 +102 "collection"'9 +3 "core" 9 H +103 "collection"'/9 +2 "core" 9 W +103 "collection"'+9 +3 "core" 9 f +102 "collection"'$9 +3 "core" 9 u +103 "collection"'.9 +3 "core" 9  +102 "collection"'*9 +3 "core" 9  +102 "collection"'(9 +3 "core" 9  +102 "collection"'29 +3 "core" 9  +103 "collection"'39 +3 "core" 9  +103 "collection"'%9 +2 "core" 9  +103 "collection"',9 +3 "core" 9  +102 "collection"'79 +3 "core" 9   +102 "collection"';9 +3 "core" 9  +103 "collection"':9 +2 "core" 9  +103 "collection"'19 +3 "core" 9  +102 "collection"'89 +4 "core" 9  +102 "collection"'<9 +3 "core" 9 ! +102 "collection"'09 +3 "core" 9 % +103 "collection"'>9 +3 "core" 9\ ) +140 "collection"'=9 +10 "core" 9\ / +102 "collection"'@9 +3 "core" 9\ 4 +103 "collection"'?9 +2 "core" 9\ 8 +103 "collection"'B9 +3 "core" 9\ < +103 "collection"'49 +3 "core" 9\ @ +102 "collection"'D9 +3 "core" 9\ #D +102 "collection"' 9 +3 "core" 9\ (I +103 "collection"'C9 +2 "core" 9\ ,M +103 "collection"'69 +3 "core" 9\ /Q +102 "collection"'H9 +3 "core" 9\ 4U +103 "collection"'E9 +3 "core" 9\ 7Y +102 "collection"'9 +12 "core" 9\ :^ +102 "collection"'L9 +3 "core" 9\ >b +102 "collection"'K9 +3 "core" 9\ Bf +102 "collection"'G9 +5 "core" 9\ Ek +102 "collection"'J9 +3 "core" 9\ Io +102 "collection"'M9 +3 "core" 9\ Ms +103 "collection"'N9 +2 "core" 9\ Ow +103 "collection"'P9 +3 "core" 9\ S| +102 "collection"'R9 +6 "core" 9\ V +103 "collection"'S9 +3 "core" 9\ Y +102 "collection"'T9 +3 "core" 9\ ] +103 "collection"'F9 +2 "core" 9\ _ +103 "collection"'U9 +3 "core" 9\ c +103 "collection"'A9 +3 "core" 9\ f +103 "collection"'Q9 +3 "core" 9\ i +102 "collection"'V9 +3 "core" 9\ l +102 "collection"'W9 +3 "core" 9\ n +103 "collection"'X9 +2 "core" 9\ q +103 "collection"'Z9 +3 "core" 9\ s +103 "collection"'\\9 +3 "core" 9\ v +102 "collection"'Y9 +3 "core" 9\ z +3 .tCH.hold 10:00,70C +3 "collection"'[ `\ `\ y  +2 '_9 +5 "core"  + 9\ z +2 "collection"']% +4 "core" %\\\ \ \ +2 #tBegun lysing Collection Puck Heater at 68C/30.7psia +40228 "Can"\ 3% +19760 "core" ` +2 "collection"'I9 +2 "core" 9\  +3 "collection"'^% +3 "core" %\\\ \ \ +3 #tEnded lysing Collection Puck Heater at 70C/29.6psia + .CS.seek 0ml + "collection"'b'i +355 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'` @ +98 "core" A + .tCSV.dial :air +2 "collection"'O @ +41 "core" > +3 .tCS.seek 5ml + "collection"'a's5 +1353 "core" ' +2 .tCSV.dial CTV + "collection"'f  +43 "core"  + .tdelay 2 seconds +202 .CSV.dial :air + "collection"'g @ +42 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'d  +42 "core"  +3 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'i @ +41 "core" > +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'k'i +1355 "core" ' +2 "collection"'5% +3 "core" %j \ +2 #tPuck @58.6psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'h +97 "core"  +2 .tCBV.dial CSV + "collection"'o  +28 "core" +2 "collection"'p% +4 "core" %j \ +2 .tCS.seek 5ml +2 "collection"'r's6 +1364 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'s  +42 "core" + "collection"'u% +4 "core" %s8 \  +2 .tCS.seek 7ml +44 "collection"'v'# +586 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'w @ +40 "core" > +2 .tCS.seek 10ml + "collection"'x' +842 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV + "collection"'m ` +111 "core" ^ +2 #tLysing Complete + "collection"'-& +3 "core" &\\h \ M +3 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&q% +3 "core" %   +2 "storage"(% +4 "core" % 5\  +2 "storage"(z. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"({(C +358 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "manipulator"&~& +4 "core" &E k \ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &ӗ  6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek CC +2 "storage"(9'r +2 "manipulator"&(ӂ +20 "core" ( +2 "manipulator"&n& +4 "core" &ӂ  C ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &ӂ  \  ) +3 .tForearm.seek CC + "manipulator"&'? +91 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'( +77 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(c'1 +40 "core" ' +317 ( +2 "storage"(& +3 "core" &D s\ +2 "storage"( & +4 "core" &D \ +2 "manipulator"&& +3 "core" &Ӄ % ) +3 "manipulator"&}% +3 "core" % F * . +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" &     +2 "storage"( & +4 "core" &D Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&'8 +94 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % F  \  +2 "storage"(& +4 "core" &D \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 314 counts + "manipulator"& 'r +14 "core" ' +2 "manipulator"&& +4 "core" & >  +2 "storage"(& +3 "core" &D P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&j' +16 "core" ' +2 "storage"(!% +3 "core" %: \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %"F \ U^ +2 "manipulator"&"% +4 "core" % b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +7 "manipulator"&'' +89 "core" ' +16 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA +2 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \  +3 "manipulator"&)& +4 "core" &  +2 "manipulator"&% +3 "core" %    +3 .tElbow.seek FlushPuck::Garage + "manipulator"&&(- +169 "core" ( +2 "manipulator"&& +4 "core" &-    O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &- x O +2 .tForearm.seek :garage + "manipulator"&'w +93 "core" ' +2 .tHand.close + "manipulator"&// +54 "core" / + "manipulator"&+& +4 "core" &-  @ O +2 "manipulator"&$% +4 "core" % t    +2 .tForearm.seek :retract +2 "manipulator"&.' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&*(ӂ +284 "core" ( +2 "manipulator"&(& +4 "core" &ӏ"   <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &ӏ" \  s <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'? +92 "core" ' +2 "manipulator"&%& +3 "core" &ӏ# \  <? +3 "manipulator"&,% +3 "core" %A  9 +3 "collection"'7& +3 "core" &  +3 "collection"';& +5 "core" &  +2 .tCC.seek :closed +2 "collection"':(\\ +4 "core" &p  +8 &;\\ %f +9 &Z|:\ 8 +10 &u\ K +9 &V\ K +9 &W\ J +10 &MU\ J +9 &Z\ J +9 &Yt\ K +10 &X]\ J +9 &U[4\ J +9 & Y{\ J +10 &!UM\ J +9 &#ZD\ J +10 &%\\W*\ K +9 &'X\ J +9 &(Z\ J +10 &*X\ J +9 &,fU\ J +10 &.&Y\ K +9 &/W\ J +9 &1Y\ K +10 &3mX\ J +9 &5/Zo\ J +9 &6ZY\ J +10 &8UF\ J +9 &:tY6\ K +9 &<7X\ J +10 &=V\ J +9 &?W\ J +10 &A}[\ J +9 &C=_{\ K +9 &Dnc\ M +10 &F\ Q +9 &Hb\ V +10 &J"\ W +9 &K\ X +9 &M\ X +10 &Oe\ X +9 &Q$\ Y +9 &R\ Y +10 &T\ Z +9 &Vd\ [\ +10 &X"\ \\ +9 &Y\ \\ +9 &[\ I +10 &\\1l\ 7 +9 &\\\\\ V +2 ( +2 "collection"';& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 + "collection"'1& +3 "core" &\\yH\ V +2 .tHand.open + "manipulator"&81 +55 "core" 1 +2 "manipulator"&<% +3 "core" % A   3 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +99 "core" ' + .tPSV.dial PSR +2 "processing"%> +130 "core"  +2 "processing"%=% +3 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%@'+ +1607 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%?  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%B'ؾ +1608 "core" ' +2 .tPSV.dial PSR + "processing"%4 +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%D' +2629 "core" ' +47 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%  +2 "collection"'C  +6 "core" A +2 "processing"%6 +2 "core" A +3 "processing"%H  +66 "core" +87 +2 .tPSV.dial :mixloop + "processing"%E +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +5 "core" + .tPTV.dial :PRVmixing +2 "processing"%L  +127 "core" +3 .tPS.seek 0ml + "processing"%K'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%G  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%J' +2638 "core" ' +2 .tPSV.dial :mixloop + "processing"%M +44 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2630 "core" ' +2 .tPSV.dial :air +2 "processing"%P  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%R' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%S +44 "core" +2 .tPS.seek 0ml +2 "processing"%T'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&F& +4 "core" &ӫ  9# +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&U(ӂ +19 "core" ( +2 "manipulator"&A& +4 "core" &ӈ  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &ӈ \ \  ' +2 .tForearm.seek CC +2 "manipulator"&V'? +97 "core" ' +2 .tHand.close + "manipulator"&W/ +57 "core" / +2 .tCC.seek :open + "collection"'X( +451 "core" ( + "manipulator"&Z& +4 "core" &Ӝ $ +2 "manipulator"&\\% +4 "core" %  & +2 .tForearm.seek :retract +2 "manipulator"&Y' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&_(- +279 "core" ( +2 "manipulator"&]& +3 "core" &-   X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &- \   X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&['w +100 "core" ' + .tHand.open + "manipulator"&I1 +60 "core" 1 +2 "manipulator"&^% +3 "core" % π  0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +100 "core" ' +2 .tPSV.dial :mixloop + "processing"%` +4 "core" +2 .tPTV.dial :PRVmixing + "processing"%O  +5 "core" +2 ."connect"PRV.dial CBV +2 .tCBV.dial PRV +2 "collection"'b  +16 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'f  +4 "core" +2 #tLoading lyfil puck from tube 2 into Collection Clamp + "collection"'g& +4 "core" &  +2 "manipulator"&d% +3 "core" %  g  +2 "storage"(i% +4 "core" % h\ +2 "storage"(a. +2 "core" .(C +40 .tSC.reconfigure :tight +9 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(5(  +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +3 "core" &  l\  +2 "manipulator"&o& +4 "core" &-  X +2 "manipulator"&p% +3 "core" %  w  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&k( +174 "core" ( +2 "manipulator"&s& +3 "core" &  * 8 +2 "storage"(u& +4 "core" &  `\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'S +94 "core" ' +2 "storage"(w& +3 "core" &  \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +286 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" & A\  +2 "manipulator"&q& +4 "core" &  8 +2 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&z& +4 "core" &  _ 8 +2 "storage"(y& +4 "core" & A\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&|'Ͻ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(t' +7 "core" &  % 8 + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&#& +4 "core" &Ӌ  \\ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӌ  ? 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&9'? +105 "core" ' +2 "manipulator"&& +4 "core" &Ӌ  a 4 +2 "manipulator"& % +5 "core" %?  O +2 "collection"'& +3 "core" &  +3 "collection"'}& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" &o  +10 &6}a\ +{ +9 &i~:\ ? +9 &n\ K +10 &dX\ K +9 &(X\ J +9 &X\ J +10 &Yy\ J +9 &nX`\ J +10 &/Y:\ J +9 &X'\ K +9 & X\ J +10 &"uX \ J +9 &$8Z\ J +9 &%Y\ J +10 &'W\ J +9 &)}W\ J +10 &+?W9\ J +9 &-Xs\ K +9 &.Xo\ J +10 &0W_\ J +9 &2FXQ\ K +10 &4\ X;\ J +9 &5W\ J +9 &7U\ J +10 &9OX\ J +9 &;U\ J +9 &<Y\ K +10 &>Y\ J +9 &@WZ\ J +10 &BY\ K +9 &C\\\ K +9 &Ef\ L +10 &GUru\ N +9 &I n\ Q +9 &Jf\ U +10 &LM\ V +9 &NBK\ W +9 &PK\ W +10 &QA\ W +9 &S1\ Y +10 &UF \ X +9 &W\ Z +9 &X\ [ +48 &Z\ \ [ +9 &\\*z\ . +4 &\\*\ ] ( + &\\s\ R + &\\s\ R + &\\t\ R +4 "collection"'}& +3 "core" &\\t\ R +3 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.08 + .Hand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&% +5 "core" % ?   \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tCTV.dial CSV,avoiding: :intake + "collection"'  +132 "core" ~ + .tCSV.dial CTV +2 "collection"'  +41 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2632 "core" ' +2 "collection"'% +3 "core" %\ \ +3 .tCS.seek 4.499ml + "collection"''c5 +1430 "Can" Q{" +50 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%!  +42 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%  +70 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2634 "core" ' +2 .tCBV.dial between PRV and waste1 + "collection"'" ` +29 "core" _ + .tCSV.dial :air +2 "collection"' @ +40 "core" ? +3 .tCS.seek 10ml + "collection"'' +1482 "core" ' +2 .tCSV.dial CTV + "collection"'  +43 "core"  +2 .tCS.seek 0ml + "collection"''i +2636 "core" ' + .tCBV.dial :waste1 +2 "collection"') @ +28 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake + "collection"'  +129 "core" +2 "collection"'c& +3 "core" &\\rq\ R +3 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&j% +4 "core" %    +2 "storage"(% +3 "core" % p p \ +2 "storage"( . +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((C +367 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" &A G 7 ]\ +2 "manipulator"&/& +4 "core" &ӛ  E 2 +2 "manipulator"&+% +4 "core" %   D  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&$( +160 "core" ( +2 "manipulator"&'& +3 "core" &    +2 "storage"(& +4 "core" &A j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&(' +94 "core" ' +2 "storage"(2& +3 "core" &A Y\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +297 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &    +2 "storage"(7& +4 "core" &A m w \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +40 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&.'8 +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +3 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(8'k +28 "core" ' + "manipulator"&<% +4 "core" %K  +2 "storage"(;& +4 "core" &A | \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts + "manipulator"&>'w +14 "core" ' + "manipulator"&=& +4 "core" &  &  +2 "storage"(3& +4 "core" &A G\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&?' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(@' +34 "core" ' +2 "manipulator"&4& +3 "core" &  n  +2 "manipulator"&B% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&6(ӂ +158 "core" ( +2 "manipulator"&C& +4 "core" &Ӎ"   B << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &Ӎ"   , << +3 .tForearm.seek CC + "manipulator"&E'? +95 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'L( +447 "core" ( + "storage"(D& +4 "core" &A \ +2 "storage"(G& +4 "core" &A b\ +2 "manipulator"&K& +4 "core" &ӟ  > :* +2 "manipulator"&M% +3 "core" % N   +3 .tForearm.seek :retract + "manipulator"&J' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&P( +163 "core" ( +2 "manipulator"&N& +4 "core" &   l  +2 "storage"(S& +3 "core" &A 1\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&R'8 +94 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&A1 +64 "core" 1 +3 "manipulator"&Q% +4 "core" % K \  F  +2 "storage"(W& +4 "core" &A \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 319 counts + "manipulator"&*'w +14 "core" ' +39 "manipulator"&0& +10 "core" & q  +2 "storage"(:& +4 "core" &A v\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&Z' +16 "core" ' + "storage"(\\% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(V' +99 (]% +3 "core" %B #\ T[ +2 "manipulator"&e% +4 "core" % z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +97 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%I  +72 "core" +2 .tPS.seek 2.5ml +2 "processing"%^' +2633 "core" ' +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%` +41 "core" + .tdelay 1 second +102 .PSV.dial :air + "processing"%O  +55 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%Y +42 "core" +2 .tdelay 1 second +101 .PSV.dial :air + "processing"%b  +44 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%f'ؾ +2635 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%g& +3 "core" &\  +2 "manipulator"&d& +4 "core" & L  +2 "manipulator"&i% +3 "core" %   P  +3 .tElbow.seek FlushPuck::Garage + "manipulator"&a(- +175 "core" ( +2 "manipulator"&[& +4 "core" &-  E % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &-  Z % +3 .tForearm.seek :garage + "manipulator"&h'w +99 "core" ' + .tHand.close + "manipulator"&o/ +57 "core" / +2 "manipulator"&p& +3 "core" &-   W % +2 "manipulator"&s% +4 "core" % ω  +2 .tForearm.seek :retract +2 "manipulator"&u' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&w( +117 "core" ( +2 "manipulator"&_& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &  I  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +92 "core" ' +2 "manipulator"&-& +3 "core" &   {  +2 "manipulator"&q% +4 "core" %  R +3 "processing"%z& +3 "core" &\  +3 "processing"%y& +5 "core" &\  +3 .tPC.seek :closed + "processing"%~(^ +5 "core" &\  +6 &F\ $f +10 &xW"\ 8 +9 &)\ L +9 &[)\ M +10 &V\\+\ M +9 &Z(\ M +9 &]1\ M +10 &]6\ M +41 &]]6\ M +10 &]9\ M + &\\5\ N + &![;\ M + &#e]B\ M +2 &%']I\ M +9 &&_O\ M +10 &(^G\ M +9 &*l_A\ M +10 &,._L\ M +9 &-]N\ M +9 &/_O\ M +10 &1tbR\ M +9 &36_U\ M +9 &4^T\ M +10 &6_Y\ M +9 &8|`_\ M +10 &:>_]\ M +9 &<^b\ M +9 &=ae\ M +10 &?`f\ M +9 &AFee\ M +10 &Cm`\ O +9 &Dvg\ P +9 &Fk\ R +10 &H>h\ S +9 &Jo\ R +9 &Ki\ S +10 &Ml\ S +9 &ODi\ S +9 &Qh\ T +10 &Rn\ T +9 &Ty\ U +10 &VIu\ T +9 &X }\ T +9 &Yv\ T +10 &[v\ T +9 &]P~\ F +9 &^xFy\ !c +10 &^>w\ 3 +5 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + "processing"%n& +3 "core" &^ \ 3 +2 &^ |\ 3 +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&k% +4 "core" %    R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +98 "core" ' + .tPRV.dial :air +2 "processing"%#  +43 "core"  +2 .tPSV.dial :mixloop + "processing"% +43 "core" +2 "processing"%v% +4 "core" %ػ\ +2 .tPS.seek 0.3ml +2 "processing"%|' +387 "core" ' +2 .tPSV.dial PSR + "processing"% +102 "core"  +2 #tPulling 0.4ml of PSR.air .PSR.select :air +3 .PS.seek 0.7ml + "processing"%'2 +495 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"% ' +1920 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"% +114 "core" +2 .tPTV.dial :mixing + "processing"%t @ +74 "core" B + .tPBV.dial :waste2 +2 "processing"%  +91 "core"  +2 .tPS.seek 0ml + "processing"%X'ؾ +2636 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"& & +3 "core" & !  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +3 "core" ( +2 "manipulator"&}& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &   +3 .tForearm.seek PC +4 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&9/ +60 "core" / +2 .tPC.seek :open +2 "processing"%T( +457 "core" ( +2 "manipulator"&& +3 "core" &   +3 "manipulator"&x% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&!' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +131 "core" ( + "manipulator"&& +4 "core" &-  ,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &-  6  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +105 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"& % +3 "core" % u  I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +44 .tForearm.seek :retract +4 "manipulator"&' +92 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%)& +4 "core" &\ +2 "manipulator"&% +3 "core" %  N  +2 "storage"(c% +4 "core" % .\  +2 "storage"(j. +3 "core" .(C +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & \ +3 "manipulator"&5& +3 "core" &-   +2 "manipulator"&\ % +4 "core" %  g  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&/( +169 "core" ( +2 "manipulator"&+& +4 "core" &     +2 "storage"('& +3 "core" & %\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +112 "core" ' + "storage"(2& +4 "core" & \\\ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +310 "core" ' +2 "storage"(- +3 "core" -'* +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" & A\  +2 "manipulator"&,& +3 "core" & '  +3 .tElbow.seek 2 + "manipulator"&7( +16 "core" ( + "manipulator"&1& +4 "core" &  v  +3 "storage"(<& +3 "core" & (\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&;'Ͻ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +2 "storage"(4' +8 "core" &  M  +2 "manipulator"&B% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&(' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &  8  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&>' +104 "core" ' +2 "manipulator"&8& +3 "core" &  \ \  +2 "manipulator"&C% +4 "core" %  +2 "processing"%H& +4 "core" &\ +3 "processing"%?& +4 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\ +7 & -\ #a +10 &V\ 6 +9 &\ K +9 &W\ L +10 &hW\ L +9 &+W\ L +10 &\\\ M +9 &W\ L +9 &qZ\ L +10 &1]\ M +9 &\\\ M +9 &!W\ L +10 &#xZ\ L +9 &%9\\\ M +9 &&]{\ M +10 &(Zx\ L +9 &*Yy\ M +10 &,BY{\ L +9 &.Yy\ L +9 &/]y\ M +10 &1Zy\ M +9 &3I_n\ M +10 &5 \\n\ M +9 &6Yt\ M +9 &8Yq\ M +10 &:QYh\ M +9 &<\\k\ L +9 &=\\k\ M +10 &?b`\ M +9 &AX^h\ M +9 &Cm\\\ N +10 &Dre\ O +9 &Fh\ Q +10 &HQg\ R +9 &Jh\ S +43 &Ke\ S +14 &Mg\ S +3 &OU_\ S + &Qd\ T + &R[\ T + &TY\ T +3 &V[^\ T +9 &XW\ T +9 &Ya\ T +10 &[Z\ T +9 &]aX\ B +9 &^G{^\ S +10 &^ YY\ 5 +5 ( +2 "processing"%?& +4 "core" &^)`\ 5 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&1 +60 "core" 1 +3 "manipulator"& % +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +87 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%D w +2 %G9 +6 "core" 9 +102 "processing"%K9 +3 "core" 9 +103 "processing"%M9 +2 "core" 9  +103 "processing"%N9 +3 "core" 9  +102 "processing"%S9 +3 "core" 9 +102 "processing"%E9 +3 "core" 9 +103 "processing"%69 +2 "core" 9 +103 "processing"%A9 +3 "core" 9 +102 "processing"%Q9 +3 "core" 9" +102 "processing"%W9 +4 "core" 9& +102 "processing"%09 +3 "core" 9+ +103 "processing"%:9 +2 "core" 9/ +103 "processing"%\\9 +3 "core" 93 +102 "processing"%J9 +3 "core" 97 +102 "processing"%P9 +4 "core" 9< +102 "processing"%]9 +3 "core" 9@ +103 "processing"%e9 +2 "core" 9D +103 "processing"%R9 +2 "core" 9H +103 "processing"%*9 +3 "core" 9L +102 "processing"%@9 +3 "core" 9Q +103 "processing"%I9 +3 "core" 9U +102 "processing"%Z9 +3 "core" 9Y +102 "processing"%V9 +3 "core" 9] +102 "processing"%9 +3 "core" 9a +103 "processing"%`9 +2 "core" 9f\ +103 "processing"%O9 +3 "core" 9j\ +102 "processing"%Y9 +3 "core" 9n +102 "processing"%b9 +3 "core" 9%r +103 "processing"%^9 +2 "core" 9.v +3 .tPH.hold 2:00:00,28C +3 "processing"%g pwp. +3 .tdelay 1:30 +3 "core" w +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%d +100 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +11 .tPS.seek 0.5ml + "processing"%i' +596 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml +2 "processing"%[' +1607 "core" ' +2 .tPTV.dial :puck + "processing"%{  +71 "core"  + .tPSV.dial PTV +2 "processing"%F +72 "core" + .tPBV.dial :waste1 +2 "processing"%o  +128 "core"  +2 "processing"%p% +3 "core" %]\  +3 .tPS.seek 1.5ml + "processing"%s'+ +599 "core" ' +2 .tdelay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"%U * +32 "core" , +3 .tPS.seek 0ml + "processing"%_'ؾ +1609 "core" ' +46 .tdelay 5:00 +12952 "Can" DU_ +17050 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%l  +5 "core"  + .tPBV.dial :waste1 +2 "processing"%h  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%- * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%q +71 "core" +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%z' +2368 "core" ' + .tPSV.dial PTV +2 "processing"%a +84 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%u +70 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%n  +73 "core"  +3 .tPS.seek 0ml + "processing"%'ؾ +2318 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%k  +127 "core" +2 .tPSV.dial :mixloop + "processing"%y +44 "core" +2 .tPRV.dial :ab1 + "processing"%# @ +71 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%' +359 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +2 .tPRV.dial CBV + "collection"'v  +3 "processing"%m  +42 "core" +2  +2 "processing"%f% +3 "core" %\ +3 .tPS.seek 0.34ml + "processing"%'# +437 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'|  +28 "core" +2 .tPRV.dial :air + "processing"%  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'K +1193 "core" ' + .tPRV.dial :waste2 +2 "processing"%t @ +70 "core" > +3 .tPS.seek 0.5ml + "processing"%' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%  +54 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"% ' +1609 "core" ' +2 .tPSV.dial :PML + "processing"%} +43 "core" + .tPTV.dial :mixing +2 "processing"% @ +70 "core" A +2 .tPBV.dial :waste1 + "processing"%9  +35 "core" + "processing"%w% +4 "core" %\  +3 .tPS.seek 1.85ml + "processing"%r' +234 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%~ * +35 "core" , +2 .tPS.seek 0ml +2 "processing"%'ؾ +1974 "core" ' +2 .tdelay 2 seconds +201 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'x& +3 "core" &-\ +2 "manipulator"&& +4 "core" &   +2 "manipulator"&"% +3 "core" %   -  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +127 "core" ( +44 "manipulator"&& +5 "core" &-  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-   \ +2 .tForearm.seek :garage +2 "manipulator"& 'w +97 "core" ' +2 .tHand.close + "manipulator"&!/ +64 "core" / +2 "manipulator"&)& +3 "core" &-  H \ +2 "manipulator"&% +4 "core" % ϊ r +3 .tForearm.seek :retract + "manipulator"&c' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&j(ӂ +279 "core" ( +2 "manipulator"&& +4 "core" &ӑ# ( $ d <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӑ# - - A <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '? +98 "core" ' +2 "manipulator"&5& +4 "core" &Ӓ# 0 1 < <9 +2 "manipulator"&\ % +3 "core" %H - - b +3 "collection"'+& +4 "core" &v\ +3 "collection"''& +5 "core" &(\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &,\ +8 &<,\ %g +9 &X{0\ 8 +9 &x \ L +10 &T\ L +9 &yS\ M +10 &<W \ M +9 &S\ M +9 &U\ M +10 &T\ M +9 &EQ\ M +9 & T\ M +10 &!T\ M +9 &#S\ M +10 &%NR\ L +9 &'S\ M +9 &(W\ M +10 &*R\ L +9 &,UT\ M +9 &.R\ L +10 &/T\ L +9 &1W\ M +10 &3^U\ L +9 &5 T\ L +9 &6U\ M +10 &8U\ M +9 &:eT\ M +9 &<'R\ M +10 &=U\ M +9 &?UP\ M +10 &AmS\ M +9 &C.Z\ M +9 &Dg\ O +10 &F\ '\ S +9 &HV\ W +9 &J\ X +10 &K\ Y +9 &M \ Z +9 &OW \ Z +10 &Q\ Z +9 &R\ Z +10 &T \ [ +9 &VW\ \\ +9 &X  \ ] +10 &Y \ \ ^ +9 &[ \ K +9 &\\:  \ + +10 &\\\  \ "d +2 ( +2 "collection"''& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 + "collection"'2& +3 "core" &\\  \ "d +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +5 "core" % H 3 . k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +95 "core" ' + .tPSV.dial PSR +2 "processing"%, +114 "core" + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1.5ml + "processing"%1'+ +1605 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%<  +45 "core"  +2 .tPS.seek 0ml + "processing"%='ؾ +1606 "core" ' + .tPSV.dial PSR +2 "processing"%3 +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%B' +2629 "core" ' +3 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +2 "collection"'/  +2 "processing"%  +30 "core" +127  +2 .tPSV.dial :mixloop + "processing"% +100 "core" +2 .tCTV.dial :air,avoiding: :intake +39 "collection"';  +12 "core" + .tPTV.dial :PRVmixing +2 "processing"%&  +71 "core" +2 .tPS.seek 0ml +2 "processing"%.'ؾ +2650 "core" ' +2 .tPSV.dial :air + "processing"%7  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%8' +2629 "core" ' +2 .tPSV.dial :mixloop + "processing"%C +42 "core" +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2629 "core" ' +2 .tPSV.dial :air + "processing"%4  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%(' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"%T +57 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2631 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"& & +3 "core" &Ӫ , - < 8! +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&G(ӂ +18 "core" ( +2 "manipulator"&?& +3 "core" &Ӂ 1 0 ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &Ӂ - , [ ( +3 .tForearm.seek CC + "manipulator"&>'? +100 "core" ' + .tHand.close + "manipulator"&M/ +54 "core" / +2 .tCC.seek :open +2 "collection"'N( +450 "core" ( + "manipulator"&S& +4 "core" &ӕ - # 3 % +2 "manipulator"&E% +4 "core" %  - , $ +2 .tForearm.seek :retract +2 "manipulator"&6' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&A(- +281 "core" ( +2 "manipulator"&Q& +4 "core" &-  " @ +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &W& +3 "core" &-  @ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&0'w +90 "core" ' +2 .tHand.open +2 "manipulator"&:1 +54 "core" 1 +2 "manipulator"&\\% +3 "core" %   @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +94 "core" ' +2 ."da"delayUntil "15:40:26.64" +3 #"WCR"Whole Cell Archive sampling 50ml + #Loading wcr puck from tube 2 into Collection Clamp + "collection"'P& +4 "core" &\ +2 "manipulator"&]% +4 "core" %    +2 "storage"(e% +4 "core" % [\  +2 "storage"(R. +4 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 + "storage"(*(  +12 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &  ! % \  +2 "manipulator"&I& +4 "core" &-    @ +2 "manipulator"&Z% +4 "core" %  v  +46 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 + "manipulator"&V( +184 "core" ( + "manipulator"&& +4 "core" &  4 ` +2 "storage"(`& +4 "core" &  < C L\  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&O'S +94 "core" ' +2 "storage"(Y& +4 "core" &  Z v 0\  +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(b'r +296 "core" ' +2 "storage"(^- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 (d& +2 "core" & S p \ ! +2 "manipulator"&X& +4 "core" &  ` +2 ."WCR"Elbow.seek 2 +2 "manipulator"&i( +4 "core" ( + "manipulator"&{& +4 "core" &  ` +2 "storage"(F& +4 "core" & \ ! +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&o'Ͻ +19 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&p/ +61 "core" / +3 !"WCR"o:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"2/home/esp/esp2/protocol/2G/wcr.rb:24:in `wcr'"0/home/esp/esp2/protocol/2G/DA.rb:58:in `da'";/home/esp/esp2/protocol/2G/DAprocess.rb:368:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:56:in `da'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:14"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:10"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(U' +9 "core" &   ; ` +2 "manipulator"&s% +4 "core" %  E +3 ."WCR"Forearm.seek :retract + "manipulator"&D' +93 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&l(ӂ +152 "core" ( +2 "manipulator"&h& +4 "core" &Ӝ #  $ 6 + ' + ."downElevator"SE.stop +3 ."WCR"Elbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +4 &-& +3 "core" &Ӝ  % 6 +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC + "manipulator"&q'? +104 "core" ' +2 "manipulator"&_& +4 "core" &Ӝ  6 +2 "manipulator"&a% +5 "core" %<  +2 "collection"'u& +4 "core" &\ +3 "collection"'& +4 "core" &\ +3 ."WCR"CC.seek :closed + "collection"'n(\\ +5 "core" &\  +9 &1y\ *y +9 &e}\ > +9 &~py\ M +10 &ES{\ K +9 &U{\ L +9 &T}\ L +10 &Q|\ K +9 &KWl\ L +10 & Tj\ L +9 &Vn\ K +9 & Rh\ L +10 &"TVg\ K +9 &$Rl\ L +10 &%Rh\ K +9 &'Qc\ K +9 &)]TW\ K +10 &+TZ\ L +9 &,Ua\ K +9 &.R_\ K +10 &0dWW\ K +9 &2%S[\ L +9 &3VI\ L +10 &5VC\ L +9 &7lTC\ K +10 &9-XH\ L +9 &:XO\ L +9 &<TQ\ L +10 &>tUP\ K +9 &@5UP\ L +10 &AZO\ L +9 &C^N\ M +9 &EufI\ N +10 &G.N\ Q +9 &H  H\ V +9 &J H\ X +10 &L^ E\ X +9 &N \ C\ X +9 &O\  ;\ Y +10 &Q 6\ Z +9 &Sb\ \ 7\ Z +10 &U!7\ [ +9 &V\  8\ [\ +9 &X\ 7\ ] +10 &Za\ 9\ ] +9 &\\x 9\ < +9 &\\' \ 9\ )z +10 &\\\ 8\ !a +2 ( +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open + "manipulator"&z1 +101 "core" 1 +2 "manipulator"&k% +3 "core" % = % ( L +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&y' +90 "Can"\ ar +6 "core" ' +2 #"WCR"collectSample 50ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close +2 .Exhaust.select :close + .SS.hold + "sampler")#+ +4 "core" + +2 "sampler")% +3 "core" %ڨur i\  +3 "collection"'v& +3 "core" &\\\ A\ !a +4 "Can"\ lr +2 #"WCR"Calibrating pressure sensors + .CTV.dial :air +2 "collection"'m  +4 "core" +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler")f  +5 "core"  +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X% +4 "core" %l\ +2 "sampler")Q% +4 "core" % `\ 2 +18 "collection"'W% +3 "core" %l\ +2 "sampler")G% +4 "core" % \\\ 2 +20 "collection"':% +4 "core" %l\ +2 "sampler")\\% +4 "core" % k\ 2 +24 "collection"'P% +3 "core" %l\ +2 "sampler")]% +4 "core" % c\ 2 +27 "collection"'e% +3 "core" %l\ +3 "sampler")R% +3 "core" % k\ 2 +32 "collection"'6% +3 "core" %l\ +2 "sampler")@% +4 "core" %.* l\ 2 +36 "collection"'I% +3 "core" %l\ +2 "sampler")Z% +4 "core" %gi c\ 2 +41 "collection"'0% +3 "core" %l'&\ +2 "sampler")% +4 "core" % `\ 2 +2 ."WCR"Intake.select :close + "sampler")0 +10 )`% +3 "core" % e\ 2 +2 ."WCR"SSV.dial :exhaust +2 "sampler")  +72 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml +2 "sampler")A'ڀ +881 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampled 50.0ml + #Drying puck before fixing for 5:00 + .CBV.dial :waste2b +2 "collection"'Y  +72 "core"  +2 ."WCR"delay 1:00 +6002 .CSV.dial :air +2 "collection"'J @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'^' +2460 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'d @ +73 "core" > +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'X  +88 "core"  +2 "collection"'{% +4 "core" %  \  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'F ` +28 "core" a +2 ."WCR"CS.seek 7.272ml +2 "collection"'p' +703 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'[  + 's  +28 "core"  +45  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"'V'i +1346 "core" '\ \ \ ť +3 ."WCR"CBV.dial :waste2b + "collection"'O  +29 "core"  +2 ."WCR"CS.reconfigure :default +40 "collection"'#P d@b +10 ."WCR"CS.seek 0ml + "collection"'h'i +638 "core" ' +2 ."WCR"delay 1:00 +1485 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%- @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%b  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%o * +33 "core" * +2 ."da"PSV.dial :air + "processing"%_  +42 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%a' +1312 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'i  +127 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 2:30 +2 .CSV.dial CSR + "collection"'u  +40 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +11 ."WCR"CS.seek 2ml +2 "collection"'U'T +595 "core" ' +2 ."WCR"delay 5 seconds +305 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%D +43 "core" +2 ."da"delay 2 seconds +148 ."WCR"CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'N' +35 ."da"PSV.dial :air + "processing"%z  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%k +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1384 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'v @ +71 "core" ? +53 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'m  +86 "core"  +2 "collection"'f% +3 "core" %  \ \ +3 ."WCR"CSV.dial between air and CTV +2 "collection"'q ` +56 "core" ^ +2 ."WCR"CS.seek 7.289ml +2 "collection"'#'[ +689 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"% +2 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +4 ."WCR"CSV.dial CTV +2 "collection"'|  +2 '  +30 "core"  +86 +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 "core"  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml + "collection"'t'i +4 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +801 "core" ' +2 ."WCR"CSV.dial :air + "collection"' @ +42 "core" ? +3 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +47 ."WCR"CS.seek 10ml +2 "collection"'}' +708 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%9 +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%w  +34 "core" +2 "processing"% % +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%r'& +605 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%x * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +594 "core" ' + "collection"'"% +4 "core" % \  +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +28 "core" b +3 ."WCR"CS.seek 4.688ml + "collection"''i? +972 "core" ' +2 ."da"delay 2:00 +316 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'!  +2 '$  +7 "core"  +20  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"')'i +1243 "core" ' +2 ."WCR"CSV.dial :air +2 "collection"' @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'' +2467 "core" ' +2 "collection"' % +4 "core" % \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +28 "core" a +2 ."WCR"CS.seek 4.864ml +2 "collection"''n +1246 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'5  +2 '  +13 "core"  +16  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"'~'i +1292 "core" ' +2 ."WCR"CSV.dial :air +2 "collection"'\ @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'+' +2458 "core" ' +2 "collection"'c% +3 "core" %\  +3 ."WCR"CSV.dial between air and CTV +2 "collection"'L ` +27 "core" a +3 ."WCR"CS.seek 4.989ml +2 "collection"' 'r +1220 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV + "collection"'  +26 "core"  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"'''i +1360 "core" ' +8 ."WCR"CSV.dial :air +2 "collection"', @ +42 "core" ? +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +2 ."WCR"CS.hold +2 "collection"' + +5 "core" + +2 "collection"'% +3 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 "processing"%2  +2 "core" %ӕ 4 2\ +3 !to:ShallowSampler::Error: mesg"NPuck.from 2, :wcr reached only 14.1 of 35psi after pumping in 40ml of gas:@timestampu: Time T*:bt[$"4/home/esp/esp2/utils/sampler.rb:351:in `pumpTo'"2/home/esp/esp2/utils/sampler.rb:347:in `loop'"4/home/esp/esp2/utils/sampler.rb:347:in `pumpTo'" +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%Q  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%W'ؾ +2335 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%G  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%:  +126 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%\\  +42 "core" ~ + ."da"PTV.dial :PRVmixing +2 "processing"%P  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"%] +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%e' +393 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%R  +43 "core"  +2 "processing"%6% +4 "core" %\ \ +2 ."da"PS.seek 0.55ml +2 "processing"%@' +332 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%I  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%Z' +1566 "core" ' +2 ."da"PSV.dial :PML + "processing"%0 +44 "core" +2 ."da"PTV.dial :mixing + "processing"% @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%S  +35 "core" + "processing"%`% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%' +237 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%E * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%Y'ؾ +1968 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +27246 "Can"\ h! +20757 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%J @ +4 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%d * +35 "core" , + ."da"PSV.dial :air +2 "processing"%X  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%{' +2392 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%F +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%^  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%s +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%[  +43 "core"  +3 ."da"PS.seek 0ml + "processing"%p'ؾ +2323 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%O +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%V' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%-' +1614 "core" ' +2 ."da"PTV.dial :puck + "processing"%b  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%o +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%_  +35 "core" + "processing"%% +44 "core" %\  +8 ."da"PS.seek 1.5ml +2 "processing"%i'- +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%u * +33 "core" , +3 ."da"PS.seek 0ml +2 "processing"%h'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%D  +15 "core"  +2 ."da"PBV.dial :waste1 + "processing"%z  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%U * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%k +72 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2365 "core" ' +2 ."da"PSV.dial PTV + "processing"%a +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%v +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%m +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%f  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +2321 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%N +130 "core"  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +602 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%|  +14 "core"  +2 ."da"PSV.dial PTV + "processing"%# +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%'( +211 "Can"\ r +389 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%t * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%9  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%w * +33 "core" * +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"% +84 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2370 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%x +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%r +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%" +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +2326 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%! +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%$' +595 "core" ' +42 ."da"delay 5 seconds +508 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1607 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%)  +34 "core" +2 "processing"% % +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'& +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%\ +84 "core" +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%~' +2399 "core" ' +2 ."da"PSV.dial PTV + "processing"%c +71 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%L +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%+ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2322 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%, +133 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +7 "processing"% +18 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +4 "processing"%' +334 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%2' +330 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml +2 "processing"%<' +1608 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%' +84 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%=% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'& +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1623 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%;  +34 "core" +2 ."da"delay 30 seconds +1441 "Can"\ wM +1561 ."da"PBV.dial between PSV and waste1 +2 "processing"%& * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%/ +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%7' +2427 "core" ' +2 ."da"PSV.dial PTV + "processing"%B +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%. +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%8 +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%4  +74 "core"  +9 ."da"PS.seek 0ml + "processing"%H'ؾ +2371 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%T +131 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%C' +2129 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%(  +32 "core" +2 "processing"%?% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%K'1 +611 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%3 * +34 "core" , +2 ."da"delay 1 second +101 .PSV.dial :waste1 +2 "processing"%%  +103 "core"  +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +1611 "core" ' +2 "processing"%9 +3 "core" 9w5d +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%M +3 "core" 5d + "processing"%>& +4 "core" &^%\ 5 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&Q% +3 "core" %  $  7  +2 "storage"(j% +4 "core" %  S\  +2 "storage"(G. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(:(C +372 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" &E e 4\ +3 "manipulator"&P& +3 "core" &Ӟ * # 5 +2 "manipulator"&]% +4 "core" %  " ) %  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&W( +163 "core" ( +2 "manipulator"&R& +3 "core" &   +2 "storage"(6& +4 "core" &E K\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&e' +94 "core" ' +2 "storage"(I& +3 "core" &E  \ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(@'r +297 "core" ' + "storage"(0- +3 "core" -' +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   1  +2 "storage"(S& +3 "core" &D   9\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&`'8 +24 "core" ' +2 ."da"Elbow.hold + "manipulator"&E, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Z- +3 "core" -' +3 ."da"SE.seek 1.16 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&J% +4 "core" %4  ! ` +2 "storage"(& +3 "core" &D K\ +2 ."da"Forearm.force -20 + "manipulator"&5 +4 ."da"Forearm.seek 1 + 296 counts + "manipulator"&d'` +14 "core" ' + "manipulator"&X& +4 "core" &     +2 "storage"(Y& +4 "core" &D \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&F' +15 "core" ' +52 ."da"SE.seek 2.16 Pucks below Top Plate + "storage"(^'N +41 "core" ' + "manipulator"&s& +4 "core" &  $  +2 "manipulator"&[% +4 "core" %   +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&{' +99 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&O( +240 "core" ( +2 "manipulator"&p& +4 "core" &  \ 1  +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &  \\  +2 ."da"Forearm.seek PC +2 "manipulator"&b' +92 "core" ' +2 ."da"Hand.close + "manipulator"&o/ +64 "core" / +2 ."da"PC.seek :open +2 "processing"%_( +458 "core" ( +2 "storage"(& +4 "core" &D V X ,\ +2 "manipulator"&-& +4 "core" & \  +2 "manipulator"&u% +3 "core" % \ 4 +3 ."da"Forearm.seek :retract + "manipulator"&i' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&D( +245 "core" ( +2 "manipulator"&z& +3 "core" &   } 0 +2 "storage"(U& +4 "core" &D \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&k' +91 "core" ' + ."da"Hand.open +2 "manipulator"&h1 +59 "core" 1 +3 "storage"(a- +4 "core" -'N +2 ."da"SE.seek 1.81 Pucks below Top Plate +2 "storage"(v' +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.84 Pucks below Top Plate + "storage"(m' +56 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da24jan1616h50ml.tif +686 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 2.583 seconds\ /var/log/esp/da24jan1616h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da24jan1616h50ml15s.tif +1254 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +316 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da24jan1616h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da24jan1616h50ml20s.tif +2067 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da24jan1616h50ml20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "2.583 sec auto-exposure",Subject: "da24jan1616h50ml images!" +2 "storage"(f- +12 "core" -' +8 "storage"(& +18 "core" &D \ +3 "manipulator"&N& +4 "core" &  '  / +3 ."da"Elbow.seek 1 +3 "manipulator"&q( +3 "core" ( +2 "manipulator"&& +4 "core" & ' + ` / +4 "storage"(|& +4 "core" &D % %\ +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&#' +5 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.56 Pucks below Top Plate + "storage"('? +46 "core" ' +2 "manipulator"&& +4 "core" & \  a / +2 "storage"(& +5 "core" &D `\ +3 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 + "manipulator"&t'8 +20 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&, +2 "core" , +3 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +60 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.74 Pucks below Top Plate +2 "storage"(9' +23 "core" ' +2 "manipulator"&w% +4 "core" %@  9 +2 "storage"( & +4 "core" &D \ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 308 counts + "manipulator"&'l +15 "core" ' + "manipulator"&x& +4 "core" &  \  / +2 "storage"(r& +5 "core" &D b\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +11 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&"' +20 "core" ' +4 "storage"(% +10 "core" % V\ +6 ."downElevator"SE.seek :down +8 "storage"(' +97 (!% +6 "core" %; C\ U] +6 "manipulator"&}% +7 "core" %  o +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&$' +90 "core" ' +33 ' +6 ."downElevator"SE.stop +2 "storage"(5 +9 (& +5 "core" &D \ +6 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 "processing"%)& +6 "core" &\ +6 "manipulator"& & +8 "core" & ` / +4 "manipulator"&% +8 "core" %   1  +5 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&(- +180 "core" ( +5 "manipulator"&& +12 "core" &- \  @ +4 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 && +6 "core" &-  R @ +6 ."psFlush"Forearm.seek :garage +3 "manipulator"&'w +99 "core" ' +5 ."psFlush"Hand.close + "manipulator"&\ / +61 "core" / +4 "manipulator"&5& +6 "core" &-  _ @ +4 "manipulator"&c% +9 "core" % { y +4 ."psFlush"Forearm.seek :retract +3 "manipulator"&L' +97 "core" ' +6 ."psFlush"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 ."psFlush"Elbow.seek PC +3 "manipulator"&+( +139 "core" ( +3 "manipulator"&& +9 "core" & R +5 ."psFlush"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +6 &~& +8 "core" & \  / +7 ."psFlush"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 ."psFlush"Forearm.seek PC +4 "manipulator"&,' +103 "core" ' +5 "manipulator"& & +12 "core" &   R +3 "manipulator"&% +6 "core" %  f  +6 "processing"%2& +6 "core" &K\ +6 "processing"%'& +13 "core" &N\ +9 ."psFlush"PC.seek :closed +6 "processing"%(^ +10 "core" &!\ +2 &O\ +4 &N\  +2 &0wZ\ *x +7 &db\ > +10 &sqa\ N +8 &6Ui\ M +9 &U_\ M +12 &Uc\ M +8 &}W^\ M +9 &?WQ\ M +10 &WV\ M +8 &WO\ M +10 & WP\ M +9 &"GWN\ M +9 &$ XC\ M +11 &%VH\ M +10 &'W5\ M +10 &)NX9\ M +8 &+WC\ M +8 &,W<\ M +10 &.W0\ M +10 &0VV;\ M +9 &2W:\ M +10 &3V<\ L +8 &5X=\ M +10 &7^W/\ M +11 &9 W&\ M +9 &:Y#\ M +9 &<Y(\ M +9 &>e]%\ M +8 &@'\\3\ M +9 &A_2\ N +9 &Cg%\ N +9 &Edu%\ P +10 &G!#\ R +9 &H(\ S +2 #"uploadLog"upsync +7 "core" &J\ S +10 &Lc\ S +10 &N#\ T +9 &O\ T +9 &Q\ U +9 &Sg\ U +10 &U+ \ T +9 &V\ T +9 &X\ T +10 &Zo\ U +9 &\\1\ U +10 &]zu\ @ +9 &^O\ H +9 &^ y*\ ; +9 ( +2 &^ 2\ 3 +2 "processing"%'& +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + "processing"%=& +4 "core" &^ \ 3 +44 ."psFlush"Hand.open +8 "manipulator"&<1 +64 "core" 1 +2 "manipulator"&% +4 "core" % $    +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%; +43 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"%&' +587 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%/' +2123 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +182 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%B  +128 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%. +100 "core" +3 ."psFlush"PS.seek :empty + "processing"%8'ؠ +2639 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%4 +114 "core" +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%7' +596 "core" ' + ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%T' +2142 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%H  +34 "core" +2 ."psFlush"PTV.dial :mixing + "processing"% @ +72 "core" A +2 ."psFlush"PSV.dial :mixloop + "processing"%( +100 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%?'ؠ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%C +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%3'X\\ +1105 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%%' +1613 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%K +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%M  +14 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%>'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%Q +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%j' +584 "core" ' +2 ."psFlush"PSR.select :air + "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%G' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%* +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%\\ U +51 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%P'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%] @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%R' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%6  +71 "core"  +46 ."psFlush"PS.seek 0ml + "processing"%I'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%l +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%y' +2651 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%0 +70 "core" +2 ."psFlush"PBV.dial PSV + "processing"% U +16 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%Z @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%J' +1402 "Can" d +1225 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%X'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%Y +55 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%s'X\\ +1107 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%[' +1609 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%e +84 "core" +2 ."psFlush"PTV.dial :puck + "processing"%W  +16 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%@  +50 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%`'ؾ +2627 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%d +70 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +590 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%F' +2141 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%p +85 "core" + ."psFlush"PBV.dial PSV +2 "processing"%V U +51 "core" V +3 ."psFlush"PS.seek 0ml + "processing"%E'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%o @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%{' +2641 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2626 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%- +55 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%u' +2642 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%b +85 "core" + ."psFlush"PBV.dial PSV +2 "processing"%z U +4 "core" V +3 ."psFlush"PS.seek 0ml + "processing"%U'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%O @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%h' +2641 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%a  +71 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%i'ؾ +2635 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&^& +3 "core" &  G +41 ."psFlush"Elbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&f& +3 "core" & \  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  B +3 ."psFlush"Forearm.seek PC + "manipulator"&N' +95 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +58 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%|( +457 "core" ( +2 "manipulator"&& +4 "core" &  ! +2 "manipulator"&% +3 "core" %    +3 ."psFlush"Forearm.seek :retract + "manipulator"&w' +93 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"& (- +120 "core" ( + "manipulator"&x& +4 "core" &-  \  \ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &- \  \ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&D'w +101 "core" ' + ."psFlush"Hand.open +2 "manipulator"&k1 +62 "core" 1 +2 "manipulator"&% +3 "core" %   F +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&m' +96 "core" ' +27383 "Can" YQy +41228 #"dave"Session Begun +1575 #-> MainThread.reume +2 !o:NoMethodError\ : mesgu:NameError::messageNundefined method `reume' for #: name:\ reume: args[:@timestampu: Time %ؚ:bt[" dave:1:in `topLevelBinding'" MainThread.resume + #tResuming Thread (suspended since 15:41:44) +3 #Pumping wcr puck from tube 2 up to 35psi... +5 .CBV.dial SSV +4 "collection"'# @ +87 "core" > +54 .tCBV.dial between CSV and waste2b +2 "collection"'q  +87 "core"  + "collection"'!% +4 "core" %ӕ\ +2 .tCSV.dial between air and CTV +3 "collection"'} ` +29 "core" a +2 .tCS.reconfigure :fast +3 "collection"'#d @b +4 .tCS.seek 5.552ml +2 "collection"'' +1459 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +4 "collection"'t  +29 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<<\ b +5 .tCS.seek 0ml +2 "collection"''i +1479 "core" ' +2 .tCSV.dial :air + "collection"' @ +44 "core" > +2 .tCS.reconfigure :fast +3 "collection"'#d @b +5 .tCS.seek 10ml +2 "collection"')' +2457 "core" ' + "collection"'9% +4 "core" %\ +2 .tCSV.dial between air and CTV +2 "collection"' ` +30 "core" a +2 .tCS.seek 5.622ml +2 "collection"'' +1069 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +4 "collection"'"  +27 "core"  +40 .tCS.reconfigure :pressurize +9 "collection"'# d@<<\ b +5 .tCS.seek 0ml +2 "collection"''i +1486 "core" ' +2 .tCSV.dial :air +2 "collection"' @ +43 "core" > +3 .tCS.reconfigure :fast +2 "collection"'#d @b +6 .tCS.seek 10ml +2 "collection"'' +2453 "core" ' + "collection"'% +4 "core" %\ +2 .tCSV.dial between air and CTV +2 "collection"'\ ` +30 "core" a +2 .tCS.seek 4.974ml +4 "collection"'5'r_ +1220 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +4 "collection"'c  +28 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<<\ b +5 .tCS.seek 0ml + "collection"'$'i +1329 "core" ' +2 .tCSV.dial :air +2 "collection"' @ +43 "core" ? +3 .tCS.reconfigure :fast +2 "collection"'#d @b +5 .tCS.seek 10ml + "collection"'~' +2433 "core" ' +2 "collection"'% +3 "core" %\ +2 .tCSV.dial between air and CTV +3 "collection"' ` +29 "core" a +3 .tCS.seek 5.071ml +3 "collection"' 'u} +607 "Can" Xq +592 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +4 "collection"'  +28 "core"  +3 .tCS.reconfigure :pressurize +2 "collection"'# d@<<\ b +5 .tCS.seek 0ml +2 "collection"'2'i +1344 "core" ' +2 .tCSV.dial :air +2 "collection"'L @ +43 "core" > +2 .tCS.reconfigure :default +3 "collection"'#P d@b +4 .tCS.hold + "collection"'_+ +6 "core" + +2 "collection"'=% +3 "core" %ӏ  \ +3 !to:ShallowSampler::Error: mesg"NPuck.from 2, :wcr reached only 12.5 of 35psi after pumping in 40ml of gas:@timestampu: Time :bt[$"4/home/esp/esp2/utils/sampler.rb:351:in `pumpTo'"2/home/esp/esp2/utils/sampler.rb:347:in `loop'"4/home/esp/esp2/utils/sampler.rb:347:in `pumpTo'" CC.unloadPuck 1, :WCR +2 "collection"'<& +5 "core" &\\\ !a +2 !"dave"o:Puck::Warning: mesg"4Unloading Puck.from 2, :wcr to Storage Carousel:bt["6/home/esp/esp2/utils/puckmoves.rb:421:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'" dave:3:in `topLevelBinding'"' +19 "core" ' +2 ."dave"SE.seek 3.15 Pucks below Top Plate +2 "storage"(j' +43 "core" ' +2 "manipulator"&*& +4 "core" &  1 8 +2 "manipulator"&\\% +3 "core" %  i +3 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract + "manipulator"&G' +91 "core" ' +3 ."dave"Elbow.seek CC +2 "manipulator"&](ӂ +160 "core" ( +2 "manipulator"&P& +4 "core" &ӑ   b 8" +2 ."dave"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &6& +2 "core" &ӑ  K 8" +3 ."dave"Forearm.seek CC + "manipulator"&R'? +93 "core" ' + ."dave"Hand.close +2 "manipulator"&l/ +62 "core" / +2 ."dave"CC.seek :open +3 "collection"'I( +451 "core" ( + "storage"(0& +4 "core" &D j\ +2 "storage"(& +4 "core" &D X\ +2 "manipulator"&y& +3 "core" &Ӣ 6 +2 "manipulator"&Z% +4 "core" % G  H  +2 ."dave"Forearm.seek :retract +2 "manipulator"&S' +96 "core" ' +2 ."dave"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."dave"Elbow.seek 1 +2 "manipulator"&( +177 "core" ( +2 "manipulator"&J& +3 "core" &  E ' +2 "storage"(Y& +4 "core" &D \ +2 ."dave"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 ."dave"Forearm.seek 1 +3 "manipulator"&X'8 +96 "core" ' + ."dave"Elbow.hold +3 "manipulator"&s, +3 "core" , +3 ."dave"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 ."dave"Hand.open + "manipulator"&e1 +60 "core" 1 +3 "manipulator"&W% +3 "core" % C = +2 "storage"(@& +4 "core" &D \ +2 ."dave"Forearm.force -20 +2 "manipulator"&5 +4 ."dave"Forearm.seek 1 + 311 counts +2 "manipulator"&['o +15 "core" ' +2 "manipulator"&d& +3 "core" &  i ' +2 "storage"(`& +4 "core" &D \ +2 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 ."dave"Forearm.seek 1 + 450 counts + "manipulator"&' +17 "core" ' +2 "storage"(p% +43 "core" % \ +9 ."downElevator"SE.seek :down +3 "storage"(V' +99 (F% +3 "core" %= 8\ TY +2 "manipulator"&o% +4 "core" % +2 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract +2 "manipulator"&E' +90 "core" ' +38 ' +2 ."downElevator"SE.stop + "storage"(5 +527 #"dave"-> CC +2 "collection"'& +5 "core" &   +668 #"dave"-> exit +2 #Session Ended @1705423856.64UTC = =mMAIN_scheduler =tMAIN @UTC1705423858.33 #"core_reset"Sent BREAK +2 #t@43944 receive with ifg=0x10, ie=0xFD + #@44589 receive with ifg=0x10, ie=0xFD + #@45275 receive with ifg=0x10, ie=0xFD + #@45952 receive with ifg=0x10, ie=0xFD #@46541 receive with ifg=0x10, ie=0xFD + #@47189 receive with ifg=0x10, ie=0xFD + #@47836 receive with ifg=0x10, ie=0xFD #@48162 receive with ifg=0x80, ie=0xFD + #@47290 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +186 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +99 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +364 "Can" =RZ +  =RZ #tPolling Can every 10:00 +4 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +904 #-> CS.flush +2 !o:NoMethodError : mesgu:NameError::message,undefined method `flush' for CS:Syringe: name:\ flush: args[:bt[ "8/home/esp/esp2/lib/slide.rb:441:in `method_missing'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1111 #-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %ӏ   +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽU\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %}}z b\  +2 .tSS.configure :default +3 "sampler")#.0X\ +2 .tPC.configure :default +2 "processing"%$x2 ^22b +3 .tPC.hold +2 "processing"% , +3 "core" , + .tPC.configure :default +3 "processing"%$x2 ^22b +5 "manipulator"&% +3 "core" %  _  +2 .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.hold + "manipulator"&+ +3 "core" + +2 .tForearm.configure :loose +3 "manipulator"&#Q@2^d^b +3 && +3 "core" & f ' +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +5 "storage"(& +3 "core" &D \ +2 .tSC.configure :loose +3 "storage"($.\ 1~b +2 .tSC.hold +2 "storage"(, +37 "core" , +6 .tSC.configure :loose +2 "storage"($.\ 1~b +3 (% +3 "core" % \\\  +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"' +2 .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast +2 "processing"% +2 .tPH.configure :default +2 "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'& +3 "core" &   +2 .tHand.open +2 "manipulator"&1 +22 "core" 1 +2 "manipulator"&& +3 "core" &  m ' +2 "manipulator"&% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +176 "core" ( +2 "manipulator"&& +3 "core" &-  s ; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  ` ; +3 .tForearm.seek :garage + "manipulator"&'w +98 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 "manipulator"& & +3 "core" &-   ; +2 "manipulator"&!% +4 "core" % χ  +2 .tForearm.seek :retract +2 "manipulator"&"' +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +291 "core" ( +2 "manipulator"&$& +4 "core" &Ӎ  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &Ӎ  1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&&'? +91 "core" ' +2 "manipulator"&'& +3 "core" &Ӎ 1 +2 "manipulator"&(% +4 "core" %<   & +2 "collection"')& +4 "core" &  +3 "collection"'*& +5 "core" &  +3 .tCC.seek :closed + "collection"'+(\\ +5 "core" &    +8 &6~  \ +{ +10 & g  \ > +9 &o \ K +9 &]X  J +10 &Y  K +9 &Y  J +9 &X  J +10 &eY  J +9 &'\\  \ J +9 &X   J +10 & Y   J +9 &"mX   J +10 &$/Y   J +9 &%V I +9 &'Z \ J +10 &)vY \ J +9 &+7Y J +9 &,Y  \ J +10 &.[ \ J +9 &0~X \ J +10 &2?Y  \ J +9 &4Y  \ J +9 &5Y  K +10 &7Y   J +9 &9FZ \ K +9 &;\ Y \ J +10 &<Z\ J +9 &>W \ J +10 &@NY  \ K +9 &BZ  J +9 &C`\ K +10 &Es\ M +9 &GC""\ Q +9 &H!$\ V +10 &J""\ V +9 &Ly""\ V +10 &N9#"\ W +9 &O##\ W +9 &Q$#\ W +10 &Sz#$\ Y +9 &U;$"\ Y +9 &V#$\ Z +10 &X##\ [\ +9 &Zz$#\ \\ +10 &\\x$$\ / +9 &\\;"#\ 'v +9 &\\e#&\ P +3 ( +2 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.21 +2 "collection"',& +3 "core" &\\e$%\ P +2 .tHand.open + "manipulator"&-1 +53 "core" 1 +2 "manipulator"&.% +3 "core" % <    & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +95 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%0 +4 "core"  + "processing"%1 +3 "core"  +2 "processing"%2  +43 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml +2 "processing"%3'+ +1615 "core" ' +2 .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%4  +43 "core"  +3 .tPS.seek 0ml +2 "processing"%5'ؾ +1617 "core" ' +2 .tPSV.dial PSR +2 "processing"%6 +42 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%7' +2633 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%8  +2 "collection"'9  +85 "core" +14  +2 .tPSV.dial :PTV,via: :air + "processing"%: +187 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'; +3 "core"  + "collection"'< +3 "core"  +2 "collection"'=  +127 "core" +2 .tPTV.dial :PRV,avoiding: :puck +2 "processing"%> +2 "core"  +2 "processing"%? +3 "core"  +2 "processing"%@ @ +180 "core" ? +3 .tPS.seek 0ml + "processing"%A'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%B  +84 "core"  +3 .tPS.seek 2.5ml + "processing"%C' +2634 "core" ' + .tPSV.dial :PTV +2 "processing"%D +70 "core"  +2 .tPS.seek 0ml +2 "processing"%E'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&F& +4 "core" &ӑ !  1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&G(ӂ +17 "core" ( +2 "manipulator"&H& +3 "core" &Ӄ  9 & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &Ӄ & +36 .tForearm.seek CC +9 "manipulator"&J'? +99 "core" ' +2 .tHand.close + "manipulator"&K/ +60 "core" / +2 .tCC.seek :open +2 "collection"'L( +448 "core" ( +2 "manipulator"&M& +3 "core" &Ӄ  } & +2 "manipulator"&N% +4 "core" % 7 w +2 .tForearm.seek :retract +2 "manipulator"&O' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&P(- +278 "core" ( + "manipulator"&Q& +4 "core" &-   e G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &-   C G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&S'w +99 "core" ' +2 .tHand.open +2 "manipulator"&T1 +63 "core" 1 +2 "manipulator"&U% +4 "core" % ρ   . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V' +98 "core" ' +39188 "Can" A,+ +2132 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:346 +7 #mEXIT @1705424485.66UTC @1705424794.57UTC = =mMAIN_scheduler =tMAIN @UTC1705424796.26 #"core_reset"Sent BREAK +2 #t@63741 sendCRC with ifg=0x20, ie=0x7F + #@40 sendCRC with ifg=0x08, ie=0x5F + #@45278 idle with ifg=0x84, ie=0x75 + #@45949 select with ifg=0x10, ie=0xF5 #@46583 receive with ifg=0x10, ie=0xFD + #@47216 receive with ifg=0x10, ie=0xFD + #@47849 receive with ifg=0x10, ie=0xFD #@48176 receive with ifg=0x80, ie=0xFD + #@59303 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +283 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +359 "Can" ?o< +  ?o< #tPolling Can every 10:00 +4 #Cleanly exited at 17:01:25UTC16-Jan-24 +491 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %ӏd +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؼF\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %}sp X\  +2 .tSS.configure :default +3 "sampler")#.0X +2 "collection"'! +4 "core"  + "collection"'" +4 "core"  + "processing"%# +3 "core"  +2 "processing"%$ +3 "core" V +2 "processing"%% +3 "core" ? +2 "processing"%& +3 "core"  +3 "sampler")' +3 "core"  +2 "collection"'(% +4 "core" %ӏb +2 "processing"%)% +4 "core" %ؼB\ +2 "sampler")*% +4 "core" %}ro ^\  +2 "collection"'+& +5 "core" &c \ + "processing"%,& +4 "core" &\ +2 "manipulator"&-% +4 "core" %  O  +2 "manipulator"&.& +3 "core" &-  ` G +3 "storage"(/& +3 "core" &< 6\ +2 "storage"(0% +4 "core" % z\  +2 "collection"'19 +4 "core" 9 + "processing"%29 +3 "core" 9 +516 #t-> Flush +211 #-> CC +2 "collection"'3& +3 "core" &^ +161 #t-> PC +2 "processing"%4& +3 "core" &\ +539 #t-> exit +5 #mEXIT @1705424828.32UTC @1705424839.48UTC = =mMAIN_scheduler =tMAIN @UTC1705424841.16 #"core_reset"Sent BREAK +2 #t@42362 receive with ifg=0x10, ie=0xFD + #@43001 receive with ifg=0x10, ie=0xFD + #@43653 receive with ifg=0x10, ie=0xFD + #@44289 receive with ifg=0x10, ie=0xFD #@45118 receive with ifg=0x10, ie=0xFD + #@45754 receive with ifg=0x10, ie=0xFD + #@46387 receive with ifg=0x10, ie=0xFD #@46713 receive with ifg=0x80, ie=0xFD + #@41288 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +12 #ESP2 v3.42 I2C Gateway v3.20 for core bus +282 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can" ?H\  +  ?H\  + #tPolling Can every 10:00 +4 #Cleanly exited at 17:07:08UTC16-Jan-24 +1528 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %ӏJ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +4 "core" %ؼB\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %}pp `\  +2 .tSS.configure :default +2 "sampler")#.0X +3 "collection"'! +2 "core"  +3 "collection"'" +3 "core"  +2 "processing"%# +4 "core"  +2 "processing"%$ +2 "core" V +3 "processing"%% +3 "core" ? +2 "processing"%& +3 "core"  +2 "sampler")' +3 "core"  +2 "collection"'(% +4 "core" %ӏW +2 "processing"%)% +4 "core" %ؼ\ +2 "sampler")*% +4 "core" %}qo g\  +2 "collection"'+& +4 "core" &Q +2 "processing"%,& +3 "core" &\ +3 "manipulator"&-% +3 "core" %    +2 "manipulator"&.& +4 "core" &-  [ G +2 "storage"(/& +4 "core" &< $\ +2 "storage"(0% +4 "core" % M\  +2 "collection"'19 +3 "core" 9 +3 "processing"%29 +2 "core" 9 +1451 #t-> access 1 +3 "storage"(3% +3 "core" % $\  +2 "manipulator"&4% +4 "core" %   :  +2 "manipulator"&5& +3 "core" &- \ ~ G +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(6(<- +1302 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &<+ ;\  +350 #t-> exit +7 #mEXIT @1705424900.72UTC @1705434185.05UTC = =mMAIN_scheduler =tMAIN @UTC1705434186.72 #"core_reset"Sent BREAK +2 #t@18100 receive with ifg=0x10, ie=0xFD + #@18736 receive with ifg=0x10, ie=0xFD + #@19393 receive with ifg=0x10, ie=0xFD + #@20030 receive with ifg=0x10, ie=0xFD #@20665 receive with ifg=0x10, ie=0xFD + #@21299 receive with ifg=0x10, ie=0xFD + #@21933 receive with ifg=0x10, ie=0xFD #@22259 receive with ifg=0x80, ie=0xFD + #@31420 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +369 "Can" =ܘhc +  =ܘhc + #tPolling Can every 10:00 +2 #Cleanly exited at 17:08:20UTC16-Jan-24 +1169 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %ӏ;; +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؼ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +4 "core" %}~ n\  +2 .tSS.configure :default +2 "sampler")#.0X + "collection"'! +3 "core"  +2 "collection"'" +3 "core"  +2 "processing"%# +3 "core"  +2 "processing"%$ +3 "core" V +3 "processing"%% +2 "core" ? +3 "processing"%& +2 "core"  +3 "sampler")' +3 "core"  +2 "collection"'(% +3 "core" %ӏ9;  +3 "processing"%)% +3 "core" %ؼ\ +3 "sampler")*% +3 "core" %}~z b\  +3 "collection"'+& +3 "core" &<=  +2 "processing"%,& +4 "core" &\ +2 "manipulator"&-% +4 "core" %    1  +2 "manipulator"&.& +4 "core" &-  G +2 "storage"(/& +4 "core" &<+" \  +2 "storage"(0% +4 "core" % \  +2 "collection"'19 +4 "core" 9 + "processing"%29 +3 "core" 9 +1431 #t-> access 2 +3 "storage"(3% +3 "core" % G\  +2 "manipulator"&4% +3 "core" %     +3 "manipulator"&5& +3 "core" &-  d G +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(6(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (7& +2 "core" &K W\  +1329 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'8& +3 "core" &=; \ +2 .tHand.open + "manipulator"&91 +15 "core" 1 +2 "manipulator"&:& +4 "core" &-  \ 4 G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&;(- +4 "core" ( + "manipulator"&<& +4 "core" &-   \ G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &- G +2 .tForearm.seek :garage +2 "manipulator"&>'w +98 "core" ' +2 .tHand.close + "manipulator"&?/ +61 "core" / +2 "manipulator"&@& +4 "core" &-  \ V G +2 "manipulator"&A% +3 "core" % ϊ \  +3 .tForearm.seek :retract + "manipulator"&B' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&C(ӂ +281 "core" ( +2 "manipulator"&D& +3 "core" &ӎ   8! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &ӎ   8! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'? +101 "core" ' +2 "manipulator"&G& +4 "core" &ӎ  8! +2 "manipulator"&H% +3 "core" %5  K +2 "collection"'I& +4 "core" &<9  +3 "collection"'J& +4 "core" &:;  +3 .tCC.seek :closed + "collection"'K(\\ +5 "core" &;<  +8 &4{:=\ *z +9 &g~<;\ > +10 &n<<\ L +9 &aU==\ K +10 &"X?=\ K +9 &T=<\ K +9 &X>=\ K +10 &hW><\ K +9 &*T=;\ K +9 &W<<\ K +10 & W<<\ L +9 &"pU<>\ K +10 &$2X=<\ K +9 &%X;;\ L +9 &'V=<\ K +10 &)yT=<\ K +9 &+9W==\ L +9 &,V;=\ K +10 &.T<<\ K +9 &0Y<<\ K +10 &2AW<=\ L +9 &4W>?\ L +9 &5W>;\ K +10 &7U<<\ K +9 &9JU;;\ K +9 &; T><\ L +10 &<W==\ L +9 &>Z<>\ K +10 &@RZ;@\ K +9 &BZ>>\ L +9 &Cb@@\ L +10 &EuFD\ O +9 &GBKI\ T +9 &HJL\ W +10 &JLL\ X +9 &L{KK\ X +10 &N;JL\ Y +9 &OKL\ Y +9 &QJK\ X +10 &S}KK\ Z +9 &U=MK\ [ +9 &VLK\ [ +10 &XLL\ \\ +9 &ZJM\ \\ +10 &\\uML\ 4 +9 &\\%KL\ S +9 ( + &\\{JL\ Q +2 "collection"'J& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + "collection"'L& +3 "core" &\\{KL\ Q +3 .tHand.open + "manipulator"&M1 +63 "core" 1 +2 "manipulator"&N% +4 "core" % 5 % -  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +93 "core" ' +1881 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp + "processing"%P& +3 "core" &\ +3 "manipulator"&Q& +3 "core" &ө   5 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +15 "core" ( +2 "manipulator"&S& +4 "core" &ӈ  # - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &ӈ r - +2 .tForearm.seek CC +2 "manipulator"&U'? +99 "core" ' +2 .tHand.close + "manipulator"&V/ +53 "core" / +2 .tCC.seek :open +36 "collection"'W( +455 "core" ( +2 "manipulator"&X& +3 "core" &ӊ  - +3 "manipulator"&Y% +3 "core" % *  & +2 .tForearm.seek :retract +2 "manipulator"&Z' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&[( +351 "core" ( +2 "manipulator"&\\& +4 "core" & \  F + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" & \  Z + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&^' +100 "core" ' +2 "manipulator"&_& +4 "core" &   F + +2 "manipulator"&`% +3 "core" % +3 "processing"%a& +3 "core" &\ +3 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed + "processing"%c(^ +5 "core" &\  +9 &4}\ *x +9 &e\ > +10 &s\ M +9 &KX\ M +9 & _\ M +10 &\\\ M +9 &\\\ L +9 &S[\ M +10 &\\\ M +9 &^\ M +10 & _\ M +9 &"\\`\ L +9 &$\\\ L +10 &%Z\ M +9 &'[\ M +9 &)c[\ M +10 &+%Z\ M +9 &,[\ M +10 &.^\ M +9 &0ka\ M +9 &2.]\ L +10 &3]\ M +9 &5`\ M +9 &7s[\ M +10 &96]\ L +9 &:_\ M +10 &<`\ M +9 &>{_\ M +9 &@=`\ M +10 &Ag\ M +9 &Cu\ O +9 &Ew~\ Q +10 &G5\ R +9 &H\ S +10 &J\ R +9 &Lz\ R +9 &N9\ S +10 &O\ T +9 &Q\ T +9 &S~\ T +10 &U@\ T +9 &V\ U +10 &X\ S +9 &Z\ T +9 &\\G\ T +10 &]z\ 7 +9 &^-\ Q +9 &^\ / +3 ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.59 +2 "processing"%d& +3 "core" &^\ / +2 .tHand.open + "manipulator"&e1 +54 "core" 1 +2 "manipulator"&f% +3 "core" %  \ Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +97 "core" ' +2 "collection"'h& +3 "core" &=;M  +4404 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&i& +3 "core" & F + +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&j( +28 "core" ( + "manipulator"&k& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &  M +2 .tForearm.seek PC +2 "manipulator"&m' +92 "core" ' + .tHand.close +2 "manipulator"&n/ +59 "core" / +2 .tPC.seek :open +2 "processing"%o( +457 "core" ( +2 "manipulator"&p& +3 "core" &  ' +2 "manipulator"&q% +4 "core" % \  ) 8 +2 .tForearm.seek :retract +2 "manipulator"&r' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&s(- +124 "core" ( + "manipulator"&t& +4 "core" &-  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &-  d \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&v'w +104 "core" ' + .tHand.open +2 "manipulator"&w1 +55 "core" 1 + "manipulator"&x% +4 "core" % {    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +95 "core" ' +633 #t-> exit +6 #mEXIT @1705434357.84UTC @1705515207.29UTC = =tMAIN =mMAIN_scheduler @UTC1705515208.98 #t@49877 receive with ifg=0x10, ie=0xFD +12 #"core_reset"Sent BREAK +2 #t@50204 receive with ifg=0x80, ie=0xFD + #@45714 idle with ifg=0x00, ie=0x75 # + #@21816 sendCRC with ifg=0x20, ie=0x7F + #@23651 sendCRC with ifg=0x08, ie=0x5F #@47305 idle with ifg=0x84, ie=0x75 + #@47976 select with ifg=0x10, ie=0xF5 #@48610 receive with ifg=0x10, ie=0xFD + #@49243 receive with ifg=0x10, ie=0xFD + #@49877 receive with ifg=0x10, ie=0xFD #@50204 receive with ifg=0x80, ie=0xFD + #@26258 idle with ifg=0x00, ie=0x00 + #@21816 sendCRC with ifg=0x20, ie=0x7F #@23651 sendCRC with ifg=0x08, ie=0x5F + #@47305 idle with ifg=0x84, ie=0x75 + #@47976 select with ifg=0x10, ie=0xF5 #@48610 receive with ifg=0x10, ie=0xFD + #@49243 receive with ifg=0x10, ie=0xFD #@49877 receive with ifg=0x10, ie=0xFD + #@50204 receive with ifg=0x80, ie=0xFD + #@6389 initial with ifg=0x00, ie=0xF5 #ESP2 v3.42 I2C Gateway v3.20 +4 "Can" < 6L +9 #tESP2 v3.42 I2C Gateway v3.20 for core bus +289 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +383 "Can" = =L& +  = =L& + #tPolling Can every 10:00 +3 #Cleanly exited at 19:45:57UTC16-Jan-24 +567 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %ӏ\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %ؼ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %}23 c\  +2 .tSS.configure :default +3 "sampler")#.0X + "collection"'! +3 "core"  +2 "collection"'" +3 "core"  +2 "processing"%# +3 "core"  +2 "processing"%$ +3 "core" V +3 "processing"%% +2 "core" ? +3 "processing"%& +2 "core"  +2 "sampler")' +4 "core"  +2 "collection"'(% +3 "core" %ӏ\ +3 "processing"%)% +3 "core" %ؼ\ +2 "sampler")*% +4 "core" %}3/ a\  +2 "collection"'+& +4 "core" &\ +2 "processing"%,& +4 "core" &\ +2 "manipulator"&-% +4 "core" %    +2 "manipulator"&.& +4 "core" &-  \ +2 "storage"(/& +4 "core" &K z x \  +2 "storage"(0% +4 "core" % j h \  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +1588 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'3& +3 "core" &\ +2 .tHand.open + "manipulator"&41 +21 "core" 1 +2 "manipulator"&5& +3 "core" &-   \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&6(- +50 "core" ( +2 "manipulator"&7& +4 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&9'w +91 "core" ' +2 .tHand.close + "manipulator"&:/ +60 "core" / +2 "manipulator"&;& +3 "core" &-   +2 "manipulator"&<% +3 "core" % φ   (  +3 .tForearm.seek :retract + "manipulator"&=' +101 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&>(ӂ +284 "core" ( +2 "manipulator"&?& +3 "core" &ӕ"   ;6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &ӕ"  ;6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&A'? +102 "core" ' + "manipulator"&B& +4 "core" &ӕ" - # ;6 +2 "manipulator"&C% +4 "core" %:   K +2 "collection"'D& +3 "core" &2\ +3 "collection"'E& +5 "core" &/\ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" &\ +7 &=\ $e +10 &Xy\ 7 +9 &x\ K +10 &R\ L +9 &~S\ K +9 &@T\ K +10 &U\ K +9 &T\ L +9 &W\ L +10 &GW\ L +9 & X\ L +10 &!R\ L +9 &#R\ L +9 &%PS\ K +10 &'T\ K +9 &(U\ K +9 &*T\ K +10 &,WR\ L +9 &.S\ K +9 &/W\ L +10 &1T\ K +9 &3`T\ K +10 &5"U\ K +9 &6U\ L +9 &8Y\ L +10 &:gV\ L +9 &<)Y\ L +9 &=U\ K +10 &?U\ L +9 &ApW\ K +10 &C._\ M +9 &Dj\ N +9 &F\ R +10 &HV\  \ W +9 &JR\ X +9 &K^\ Y +10 &M\ Y +10 &OYz\ Y +9 &Q\ Y +9 &R{\ Z +9 &T`\ [ +10 &VZ\ [\ +9 &XF\ \\ +9 &Y\ ] +10 &[n\ J +9 &\\:\ * +10 &\\\ !b +5 ( +2 "collection"'E& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.36 +2 "collection"'G& +2 "core" &\\\ !b +2 &\\\ !b +2 .tHand.open + "manipulator"&H1 +60 "core" 1 +2 "manipulator"&I% +3 "core" % : 3 / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +94 "core" ' +1048 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%K& +3 "core" &\ +2 "manipulator"&L& +4 "core" &ӥ 1 . s 9& +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&M(ӂ +14 "core" ( +2 "manipulator"&N& +3 "core" &Ӈ 0 / 8 2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &Ӈ . , c 2 +2 .tForearm.seek CC +2 "manipulator"&P'? +91 "core" ' +2 .tHand.close + "manipulator"&Q/ +57 "core" / +2 .tCC.seek :open + "collection"'R( +446 "core" ( +2 "manipulator"&S& +4 "core" &Ө \  ] - +2 "manipulator"&T% +4 "core" % 7  9 +2 .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&V( +354 "core" ( +36 "manipulator"&W& +11 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Y' +98 "core" ' +2 "manipulator"&Z& +3 "core" &   X  +2 "manipulator"&[% +4 "core" % @  +2 "processing"%\\& +5 "core" &}\ +2 "processing"%]& +5 "core" &\ +3 .tPC.seek :closed + "processing"%^(^ +4 "core" &\ +8 & ,\ #b +9 &V~\ 7 +9 &|\ K +10 &V\ M +9 &mZ\ M +9 &/Y\ M +10 &^\ M +9 &Z\ M +10 &sZ\ M +9 &5Z\ M +9 &[\ M +10 &!Z\ M +9 &#{]\ M +9 &%=\\\ M +10 &']\ M +9 &(\\\ M +10 &*\\\ M +9 &,E\\\ M +9 &.[\ M +10 &/_\ M +9 &1`\ M +9 &3N`\ M +10 &5\\\ M +9 &6^\ M +10 &8^\ N +9 &:U^\ M +9 &<a\ M +10 &=_\ N +9 &?b\ N +9 &A[b\ N +10 &Cs\ O +9 &Dy\ P +10 &F\ R +9 &HT\ S +9 &J\ S +10 &K\ S +9 &M\ S +9 &OZ\ T +10 &Q\ T +9 &R\ T +10 &T\ T +9 &V_\ U +9 &X"\ T +10 &Y\ T +9 &[\ T +10 &]g\ B +9 &^=t\ (u +9 &^&\ . +5 ( +2 "processing"%]& +4 "core" &^\ . +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + "processing"%_& +4 "core" &^\ . +2 .tHand.open + "manipulator"&`1 +64 "core" 1 + "manipulator"&a% +4 "core" %  \ Z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +92 "core" ' +2 "collection"'c& +3 "core" &\ +350 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&d& +3 "core" & \ \\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&f& +3 "core" & \    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" & Q  +2 .tForearm.seek PC +2 "manipulator"&h' +93 "core" ' + .tHand.close +2 "manipulator"&i/ +55 "core" / +2 .tPC.seek :open + "processing"%j( +458 "core" ( +2 "manipulator"&k& +3 "core" &  \ q  +2 "manipulator"&l% +4 "core" %  +2 .tForearm.seek :retract +6 "manipulator"&m' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&n(- +128 "core" ( + "manipulator"&o& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &-  q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&q'w +98 "core" ' + .tHand.open + "manipulator"&r1 +65 "core" 1 + "manipulator"&s% +4 "core" % m   i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +93 "core" ' +553 #t-> access 2 +3 "storage"(u% +3 "core" % z @\  +2 "manipulator"&v% +3 "core" %    +2 "manipulator"&w& +3 "core" &-   +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(x(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +4 "core" &K } y \  +504 #t-> exit +7 #mEXIT @1705515315.09UTC @1705515368.52UTC = =mMAIN_scheduler =tMAIN @UTC1705515370.20 #"core_reset"Sent BREAK +2 #t@64946 receive with ifg=0x10, ie=0xFD + #@44 receive with ifg=0x10, ie=0xFD + #@701 receive with ifg=0x10, ie=0xFD + #@1337 receive with ifg=0x10, ie=0xFD + #@1973 receive with ifg=0x10, ie=0xFD #@2608 receive with ifg=0x10, ie=0xFD + #@3242 receive with ifg=0x10, ie=0xFD #@3568 receive with ifg=0x80, ie=0xFD + #@44402 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +263 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +363 "Can"  > L +  > L #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission +5 ."Qmail"GoodNews.email "Starting DA_WCR_011024 w/pucks in tube 2\\n{}\\nCTD data unavailable\\nCan@18:16:16, 25% flow, 21.6C, 12% humidity, 14.8psia, 13.793V, 0.296A, 50.371Ah, 4.09W",Subject: "DA_WCR_011024 begun" +5 #tPreparing to sleep until + 00:00:05 +3 #Asleep til + 00:00:05 + #Continuing at 18:16 +3 "Can"  > L +26 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown +254 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [50, 50] #da and wsr are run simultanelously\\n/home/esp/esp2local/mission/DA_WCR_011024.rb:14\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@18:16:16, 25% flow, 21.6C, 12% humidity, 14.8psia, 13.793V, 0.296A, 50.371Ah, 4.09W",Subject: "Asleep until 18:16" +169 #"uploadLog"upsync +31 "Can"  L* +5 #tPowering core bus +277 #"uploadLog"upsync +266 .tGate.power :raw,:ON +2 "sampler") +59 ) +2 "core"  +3 "collection"' +3 ' +39 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default + "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@18:17:05, 25% flow, 21.6C, 11% humidity, 14.8psia, 13.671V, 0.302A, 50.376Ah, 4.14W",Subject: "Started DA_WCR_011024 phase initialPurge; da [50, 50] #da and wsr are run simultanelously" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &\  +2 .tHand.open +2 "manipulator"&"1 +55 "core" 1 +2 "manipulator"&#& +4 "core" &   +2 "manipulator"&$% +4 "core" %  \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek FlushPuck::Garage + "manipulator"&%(- +174 "core" ( +4 "manipulator"&&& +11 "core" &- _ A +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &'& +3 "core" &- ) A +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&('w +88 #"uploadLog"upsync +5 "core" ' + .tHand.close + "manipulator"&)/ +57 "core" / +2 "manipulator"&*& +3 "core" &-  . A +2 "manipulator"&+% +4 "core" % r \ \  +3 .tForearm.seek :retract + "manipulator"&,' +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +285 "core" ( + "manipulator"&.& +5 "core" &ӊ(  @\\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &ӊ( \  3 @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'? +94 "core" ' +2 "manipulator"&1& +4 "core" &ӟ#  =G +2 "manipulator"&2% +3 "core" %?   9 +3 "collection"'3& +3 "core" &'\  +3 "collection"'4& +5 "core" &\  +3 .tCC.seek :closed + "collection"'5(\\ +4 "core" &+\  +9 &B.\ %h +9 &pZ|$\ 9 +9 &r&\ M +10 &Q&\ L +9 &XR%\ L +9 &U$\ L +10 &S\ L +9 &R#\ L +10 &_S)\ M +9 &#R#\ L +9 &S#\ L +10 &!T \ L +9 &#iS$\ L +9 &%*S$\ L +10 &&S$\ L +9 &(T#\ L +10 &*pT#\ L +9 &,2S!\ L +9 &-S$\ L +10 &/T"\ L +9 &1yS"\ L +9 &3;S#\ L +10 &4T-\ L +9 &6T"\ L +10 &8U#\ L +9 &:BU\ L +9 &<R#\ L +10 &=U\ L +9 &?Vk\ L +9 &AKUj\ L +10 &C\ ^1\ M +9 &Dj*\ O +10 &F\ R +9 &H2 \ W +9 &I\ X +10 &K*\ Y +9 &Mp*\ Z +9 &O3\ Z +10 &PX\ Z +9 &R.\ Z +10 &Tt\ [ +9 &V4\ \\ +9 &Wk\ ] +10 &Y+\ ] +9 &[u\ K +9 &\\:b\ 2 +10 &\\n\ W +5 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 +2 "collection"'6& +2 "core" &\\\ W +2 &\\'\ W +2 .tHand.open + "manipulator"&71 +59 "core" 1 + "manipulator"&8% +4 "core" % ?  \  9 +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +98 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &\\/\ W +2 "collection"';% +4 "core" %f\ +2 .tCSV.dial CSR +2 "collection"'<  +124 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.reconfigure :default + "collection"'#P d@b +3 .tCS.seek 5ml +2 "collection"'='s5 +1379 "core" ' +2 .tdelay 5 seconds +537 .CSR.select :air +7 "collection"' +10 '>% +3 "core" %s1\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?' +684 "core" ' +4 .tCSV.dial :waste +2 "collection"'@ +124 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +6 .tCS.seek 0ml +2 "collection"'A'i +1995 "core" ' + #tPurging external Intake + "collection"'B& +5 "core" &\\\ W +4 "collection"'C% +6 "core" %n\ +4 .tCSV.dial :flush +4 "collection"'D  +62 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'E' +2452 "core" ' +5 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +3 .tCBV.dial CSV + "collection"'F +2 'G  +70 "core"  +6  +2 .tCTV.dial :intake + "collection"'H  +74 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I'i +2366 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +74 "core"  +2 #tFlushing upper manifold + "collection"'K& +3 "core" &\\u\ W +2 "collection"'L% +4 "core" %eY\ +2 .tCSV.dial :flush + "collection"'M  +71 "core"  +2 .tCS.seek 5ml + "collection"'N's5 +1273 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +41 "core" A +2 "collection"'P% +3 "core" %s4\ +3 .tCS.seek 7ml + "collection"'Q' +557 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'R + 'S  +17 "core"  +82  +2 .tCTV.dial :air + "collection"'T  +5 "core" +2 .tCS.seek 0ml +2 "collection"'U'i +1668 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'V'3J +816 "core" ' + .tCSV.dial :waste +2 "collection"'W +42 "core" +3 .tCS.seek 0ml + "collection"'X'i +770 "core" ' + "collection"'Y& +4 "core" &\\\ W +2 "collection"'Z% +3 "core" %h\ +2 .tCSV.dial :flush +2 "collection"'[  +40 "core"  +3 .tCS.seek 3ml + "collection"'\\'3J +820 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'] @ +40 "core" B +2 "collection"'^% +3 "core" %3J \  +3 .tCS.seek 5ml + "collection"'_'s5 +574 "core" ' + .tCSV.dial :air +2 "collection"'` @ +14 "core" ? +2 .tCS.seek 0ml +2 "collection"'a'i +1232 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'b'3J +819 "core" ' +2 .tCSV.dial :waste + "collection"'c +69 "core" +2 .tCS.seek 0ml +2 "collection"'d'i +774 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +3 "core" &Ӯ! . 0 m ;8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&f(ӂ +17 "core" ( + "manipulator"&g& +4 "core" &Ӎ  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &Ӎ  . +2 .tForearm.seek CC +2 "manipulator"&i'? +102 "core" ' + .tHand.close +2 "manipulator"&j/ +62 "core" / +3 .tCC.seek :open + "collection"'k( +448 "core" ( + "manipulator"&l& +37 "core" &ӑ Q - +9 "manipulator"&m% +3 "core" % )  +3 .tForearm.seek :retract + "manipulator"&n' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&o(- +284 "core" ( + "manipulator"&p& +4 "core" &-  F B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &-  + B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +102 "core" ' + .tHand.open + "manipulator"&s1 +55 "core" 1 +2 "manipulator"&t% +4 "core" % π   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +97 "core" ' +2 #tda sampling at most 50ml, wcr at most 50ml +4 ."Qmail"DAfans.email "Started da in tube 2 at 18:21:24UTC17-Jan-24\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@18:17:05, 25% flow, 21.6C, 11% humidity, 14.8psia, 13.671V, 0.302A, 50.376Ah, 4.14W",Subject: "da sampling at most 50ml, wcr at most 50ml" +4 #tLoading sh1 puck from tube 2 into Collection Clamp + "collection"'v& +3 "core" &\ +3 "manipulator"&w% +4 "core" %  S  +2 "storage"(x% +4 "core" %   \ 0 +2 "storage"(y. +5 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(z(  +343 #"uploadLog"upsync +327 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +3 "core" &  \ +3 "manipulator"&|& +3 "core" &-  B +2 "manipulator"&}% +4 "core" %   H  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&~( +176 "core" ( +2 "manipulator"&& +4 "core" &    B +2 "storage"(& +3 "core" &  H $\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +90 "core" ' +2 "storage"(& +3 "core" &  $ " \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \  b\  +2 "manipulator"&& +4 "core" & A +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" &  \ A +2 "storage"(\ & +3 "core" & " " !\  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +8 "core" &   T A +2 "manipulator"&% +3 "core" % ϲ   +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +138 "core" ' +7 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&& +4 "core" &Ӓ"   ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӓ"  ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +101 "core" ' +2 "manipulator"&& +4 "core" &Ӓ"  $ ;7 +2 "manipulator"& % +4 "core" %E  +2 "collection"'& +4 "core" &V\ +3 "collection"'& +5 "core" &S\ +2 .tCC.seek :closed + "collection"'!(\\ +4 "core" &\ +9 &9\ %f +9 &Yz\ 7 +9 &vy\ K +10 &Tw\ L +9 &Tq\ L +10 &EQx\ K +9 &Uu\ K +9 &Uu\ L +10 &Sy\ K +9 &MTs\ K +9 & Pv\ K +10 &!Va\ K +9 &#Ue\ L +10 &%UTe\ K +9 &'Ua\ K +9 &(Tf\ K +10 &*Pa\ K +9 &,]Tc\ K +9 &. Q`\ K +10 &/T[\ L +9 &1Td\ K +10 &3eQc\ K +9 &5&RX\ L +9 &6V_\ L +10 &8Tc\ L +9 &:mS_\ K +9 &<.Wb\ L +10 &=Uf\ L +9 &?R\\\ L +10 &AtXd\ L +9 &C6Z_\ L +9 &Dgd\ N +10 &Fsi\ P +9 &Hdh\ T +9 &Jh\ X +10 &K^\ X +9 &M\\\ Y +10 &O_d\ X +9 &Q _\ Y +9 &RZ\ Z +10 &Tc\ Z +9 &V_^\ [\ +9 &X a\ [ +10 &YZ\ ] +9 &[a\ J +10 &\\3[\ 2 +9 &\\vW\ R +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&"1 +53 "core" 1 +2 "manipulator"&#% +3 "core" % D  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +94 "core" ' +3 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml + .Intake.select :close +2 .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + +2 "sampler")'% +3 "core" %څ76 b\ 0 +2 "collection"'& +3 "core" &\\uQ\ R +4 "Can"\ U M +2 #tCalibrating pressure and temperature sensors +2 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + "sampler")) +5 "core"  +2 .tSS.reconfigure :fast +2 "sampler")#.0X% +3 "core" %gV\ +2 "sampler")=% +3 "core" %Q m\ H +32 "collection"'@% +38 "core" %gN\ +10 "sampler")?% +3 "core" %Q c\ H +36 "collection"'B% +4 "core" %gT\ +2 "sampler")C% +3 "core" %Q*( m\ H +42 "collection"'D% +3 "core" %gS\ +2 "sampler")A% +3 "core" %Q97 r\ H +47 "collection"'F% +4 "core" %g]\ +2 "sampler")G% +3 "core" %QGC s\ H +2 .tIntake.select :close +2 "sampler")0 +9 )H% +3 "core" %QJE s\ H +2 .tSSV.dial :exhaust + "sampler")E  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")J'ڀ +425 "core" ' +2 .tExhaust.select :close + "sampler") +9 #tSampling 50.0ml + .Intake.select :close +2 .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X  +120 "core"  +9  +527 ' +2 .tSSV.dial between CBV and plug +2 "sampler")= +43 "core" +2 .tCBV.dial between SSV and waste2 + "collection"'@  +30 "core"  + "collection"'?% +4 "core" %F\ +3 ."connect"CTV.dial CSV,avoiding: :air +2 .tCSV.dial CTV +3 "collection"'C  + 'B  +14 "core"  +30  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< b +2 .tCS.seek 0ml +2 "collection"' 'i +1880 "core" ',T E\ ӥ +3 "collection"'D% +3 "core" %,' H\  +2 "sampler")A% +4 "core" %ڄfd n\  +2 #tBubblePoint: Intake @24.2psia, Outlet @0.5psia + .CBV.dial SSV + "collection"'F @ +30 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X +3 ."airStroke"CS.seek 10ml + "collection"'a' +1494 .tSSV.dial :spit,avoiding: :exhaust + "sampler")c +127 "core" +3 ."prepCSV"CTV.dial CSV,avoiding: :intake +2 .tSS.reconfigure :exhale +3 "collection"'b  +3 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"'}'i +73 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler") +129 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0X9 +3 "core" 9; +102 "collection"'19 +3 "core" 99 +140 "collection"'=9 +9 "core" 9@5 +103 "collection"'@9 +3 "core" 9f2 +102 "collection"'?9 +4 "core" 9/ +102 "collection"'C9 +3 "core" 9, +102 "collection"'B9 +3 "core" 9* +103 "collection"';9 +2 "core" 9' +103 "collection"'D9 +3 "core" 9% +102 "collection"'A9 +3 "core" 94$ +102 "collection"'F9 +3 "core" 9Q" +102 "collection"'9 +3 "core" 9n +103 "collection"'H9 +2 "core" 9 +103 "collection"'E9 +3 "core" 9 +102 "collection"'69 +4 "core" 9 +102 "collection"'G9 +3 "core" 9 +102 "collection"'P9 +3 "core" 9 +102 "collection"'L9 +3 "core" 9  +102 "collection"'I9 +3 "core" 9  +103 "collection"'O9 +3 "core" 9 ( +102 "collection"'J9 +3 "core" 9 : +103 "collection"'K9 +2 "core" 9 J +103 "collection"'M9 +3 "core" 9 \\ +102 "collection"'Q9 +3 "core" 9 j +103 "collection"' 9 +3 "core" 9 y +103 "collection"'N9 +2 "core" 9  +103 "collection"'T9 +3 "core" 9  +102 "collection"'U9 +3 "core" 9  +102 "collection"'V9 +3 "core" 9  +102 "collection"'Y9 +3 "core" 9  +102 "collection"'W9 +3 "core" 9  +102 "collection"'S9 +3 "core" 9  +103 "collection"']9 +2 "core" 9   +103 "collection"'R9 +3 "core" 9  +102 "collection"'^9 +4 "core" 9  +102 "collection"'_9 +3 "core" 9  +102 "collection"'`9 +3 "core" 9  +102 "collection"'Z9 +3 "core" 9 ! +102 "collection"'\\9 +3 "core" 9 % +103 "collection"'c9 +3 "core" 9\ ) +103 "collection"'b9 +2 "core" 9\ - +103 "collection"'g9 +3 "core" 9\ 2 +102 "collection"'h9 +3 "core" 9\ 6 +102 "collection"'j9 +3 "core" 9\ : +102 "collection"'-9 +4 "core" 9\ > +102 "collection"'99 +3 "core" 9\ B +102 "collection"'a9 +3 "core" 9\ !G +102 "collection"'l9 +3 "core" 9\ %K +103 "collection"'59 +2 "core" 9\ *O +103 "collection"'m9 +3 "core" 9\ ,S +102 "collection"'i9 +3 "core" 9\ 1W +102 "collection"'p9 +3 "core" 9\ 4\\ +102 "collection"'e9 +4 "core" 9\ 8` +102 "collection"'f9 +3 "core" 9\ ;d +102 "collection"'s9 +3 "core" 9\ >h +103 "collection"'t9 +3 "core" 9\ Al +102 "collection"'q9 +3 "core" 9\ Eq +102 "collection"'X9 +3 "core" 9\ Iu +102 "collection"'v9 +3 "core" 9\ Ky +102 "collection"'x9 +4 "core" 9\ O} +102 "collection"'r9 +3 "core" 9\ R +140 "collection"'n9 +9 "core" 9\ V +103 "collection"'y9 +3 "core" 9\ Y +102 "collection"'w9 +3 "core" 9\ \\ +103 "collection"'9 +3 "core" 9\ _ +102 "collection"'[9 +3 "core" 9\ b +103 "collection"'9 +2 "core" 9\ e +103 "collection"'}9 +3 "core" 9\ h +102 "collection"'9 +3 "core" 9\ k +102 "collection"'o9 +4 "core" 9\ n +102 "collection"'u9 +3 "core" 9\ q +103 "collection"'9 +3 "core" 9\ s +102 "collection"'9 +3 "core" 9\ v +102 "collection"'9 +3 "core" 9\ x +103 "collection"'9 +3 "core" 9\ { +3 .tCH.hold 10:00,70C +3 "collection"' `\ `\ x  +2 ' 9 +7 "core"  + 9\ | + "collection"'% +4 "core" %`\ M\ K \ +2 #tBegun lysing Collection Puck Heater at 68.1C/30.7psia +36752 "Can"\ Ma +23236 "core" ` + "collection"'\ 9 +3 "core" 9\  +2 "collection"'% +4 "core" %`\ 0\ 1\ +2 #tEnded lysing Collection Puck Heater at 70C/29.4psia +2 .CS.seek 0ml + "collection"''i +358 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'| @ +98 "core" A + .tCSV.dial :air +2 "collection"'{ @ +40 "core" > +3 .tCS.seek 5ml +2 "collection"''s5 +1365 "core" ' +2 .tCSV.dial CTV +2 "collection"'  +42 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"' @ +42 "core" ? + .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'  +43 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"' @ +41 "core" > +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"''i +1365 "core" ' + "collection"'% +4 "core" %c \ +2 #tPuck @58.9psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"' +98 "core" ~ + .tCBV.dial CSV + "collection"'k  +29 "core" + "collection"'"% +4 "core" %c H G\ +2 .tCS.seek 4.999ml +2 "collection"'#'s/ +1355 "core" ' +2 .tdelay 5 seconds +501 .CTV.dial :air +3 "collection"''  +41 "core" + "collection"'% +4 "core" %s4y~ \ +3 .tCS.seek 7ml + "collection"'' +594 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'~ @ +40 "core" ? +2 .tCS.seek 10ml +2 "collection"')' +841 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +110 "core" _ +3 #tLysing Complete + "collection"'& +3 "core" &\\s \ R +3 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&&% +3 "core" %  6  +2 "storage"(% +4 "core" %   w\  +2 "storage"(+. +2 "core" .(  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(((C +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +2 "manipulator"&/& +4 "core" &F   t\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &Ӣ 9' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek CC +2 "storage"(*'r + "manipulator"&(ӂ +26 "core" ( +47 "manipulator"&2& +3 "core" &  Q # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &  K # +2 .tForearm.seek CC +2 "manipulator"&3'? +102 "core" ' + .tHand.close + "manipulator"&8/ +60 "core" / +2 .tCC.seek :open +2 "collection"':( +16 "core" ' +2 "storage"(7- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(4'1 +43 "core" ' +375 ( +2 "storage"(d& +3 "core" &D j p\ +2 "storage"(%& +4 "core" &D ] [ *\ +2 "manipulator"&<& +4 "core" &Ӂ  # +2 "manipulator"&0% +3 "core" % &  S x +3 .tForearm.seek :retract + "manipulator"&>' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&1( +154 "core" ( + "manipulator"&=& +4 "core" &   +2 "storage"(@& +4 "core" &D C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&?'8 +101 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&B1 +63 "core" 1 +2 "manipulator"&;% +3 "core" % H  \ 3 +2 "storage"(D& +4 "core" &D j h \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 316 counts + "manipulator"&A't +13 "core" ' +2 "manipulator"&F& +4 "core" &  Z  +2 "storage"(& +3 "core" &D =\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&H' +16 "core" ' +2 "storage"(E% +4 "core" %0 \ +2 ."downElevator"SE.seek :down +3 "storage"(6' +99 (G% +3 "core" %D ~ \ U_ +2 "manipulator"&P% +4 "core" % w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +89 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'I& +3 "core" &  +2 "manipulator"&O& +4 "core" &  _  +2 "manipulator"&J% +4 "core" %  "  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&K(- +169 "core" ( +2 "manipulator"&M& +4 "core" &- \  ^ c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &- O c +2 .tForearm.seek :garage +2 "manipulator"& 'w +91 "core" ' +2 .tHand.close + "manipulator"&N/ +58 "core" / +2 "manipulator"&T& +3 "core" &-  Z c +2 "manipulator"&U% +4 "core" % υ a  +2 .tForearm.seek :retract +2 "manipulator"&V' +95 "core" ' +45 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&Y(ӂ +277 "core" ( +2 "manipulator"&W& +3 "core" &z'  @[ +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &S& +3 "core" &z'  @[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'? +95 "core" ' +2 "manipulator"&R& +3 "core" &ӑ#  1 =D +3 "manipulator"&^% +3 "core" %I \  +3 "collection"'_& +3 "core" &p\ +3 "collection"'`& +6 "core" &P\ +2 .tCC.seek :closed + "collection"'Z(\\ +5 "core" &8\ +7 &;\ $f +9 &Z{\ 7 +10 &x\ K +9 &W\ J +10 &W\ K +9 &JWx\ J +9 & UQ\ J +9 &Y+\ J +10 &X\ J +9 &RTR\ J +10 & Y7\ J +9 &!X\ J +9 &#U\ J +10 &%[Y\ J +9 &'W\ J +9 &(T\ J +10 &*W\ K +9 &,bW\ J +10 &.$T\ J +9 &/X\ K +9 &1Xd\ J +10 &3jTT\ J +11 &5,Z<\ J +7 &6Z*\ J +10 &8Z\ J +9 &:rZ\ J +10 &<4Z\ J +9 &=Z\ J +9 &?[\ J +10 &Ay\\Z\ K +9 &C9b\ K +9 &Dk\ M +10 &F\ R +9 &H`\ V +10 &J \ V +9 &K\ X +9 &M\ X +10 &O`\ Y +9 &Q"\ Y +9 &R\ Y +10 &T\ Z +9 &Va\ [\ +10 &X!n\ \\ +9 &Y[\ \\ +9 &[G\ J +10 &\\32\ 4 +9 &\\p"\ U +2 ( +2 "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + "collection"'\\& +4 "core" &\\n\ U +2 .tHand.open + "manipulator"&c1 +54 "core" 1 +2 "manipulator"&b% +3 "core" % I  M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +92 "core" ' +2 .tPSV.dial PSR + "processing"%h +128 "core" + "processing"%j% +4 "core" %ػ\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%-'+ +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%9  +43 "core"  +2 .tPS.seek 0ml + "processing"%a'ؾ +1614 "core" ' + .tPSV.dial PSR +2 "processing"%l +42 "core"  +2 .tPSR.select :air + "processing"% +11 .tPS.seek 2.5ml + "processing"%5' +2646 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 "processing"%m +2 .tCBV.dial PRV +3 "collection"'i  +7 "core"  + "processing"%p +3 "core"  +2 "processing"%e  +4 "core"  +56 + .tPSV.dial :mixloop +2 "processing"%f +99 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'s  +5 "core" + .tPTV.dial :PRVmixing + "processing"%t  +72 "core" +2 .tPS.seek 0ml +2 "processing"%q'ؾ +2629 "core" ' + .tPSV.dial :air +2 "processing"%X  +55 "core"  +2 .tPS.seek 2.5ml + "processing"%v' +2633 "core" ' + .tPSV.dial :mixloop +2 "processing"%x +42 "core" +2 .tPS.seek 0ml +2 "processing"%r'ؾ +2629 "core" ' + .tPSV.dial :air +2 "processing"%n  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%y' +2625 "core" ' +8 .tPSV.dial :mixloop +2 "processing"%w +43 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&[& +3 "core" &Ӭ  9) +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +17 "core" ( +2 "manipulator"&}& +4 "core" &Ӄ   b , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӄ  , +3 .tForearm.seek CC + "manipulator"&o'? +99 "core" ' + .tHand.close + "manipulator"&u/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "manipulator"&& +3 "core" &ӧ  ' +2 "manipulator"&% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"& (- +283 "core" ( + "manipulator"&& +4 "core" &-  \ R 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- \ $ 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +105 "core" ' + .tHand.open + "manipulator"&\ 1 +63 "core" 1 +2 "manipulator"&% +3 "core" % }   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%| +4 "core" +2 .tPTV.dial :PRVmixing + "processing"%{  +5 "core" +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%  + "collection"'  +7 "core" +7 +2 .tCTV.dial :air,avoiding: :intake + "collection"'  +5 "core" +2 #tLoading lyfil puck from tube 2 into Collection Clamp + "collection"'& +4 "core" &  +2 "manipulator"& % +4 "core" %    +2 "storage"(% +3 "core" % \  +2 "storage"(. +4 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +356 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 (k& +3 "core" & E\ +2 "manipulator"&"& +4 "core" &- Y 5 +2 "manipulator"&% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&'( +178 "core" ( + "manipulator"&& +4 "core" &  = +2 "storage"(#& +3 "core" & 0\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&~'S +92 "core" ' + "storage"(& +5 "core" & a\ +42 .tSE.reconfigure :pick +5 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" & Y\  +2 "manipulator"&& +4 "core" &   q < +2 .tElbow.seek 2 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&z& +3 "core" &  _ < +2 "storage"(.& +4 "core" & >\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&/'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(8' +7 "core" & \ S < +2 "manipulator"&7% +3 "core" %  8 +3 .tForearm.seek :retract + "manipulator"& ' +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&!& +3 "core" &Ӝ  [ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &Ӝ  7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&d'? +98 "core" ' +2 "manipulator"&%& +3 "core" &Ӝ  % 7 +3 "manipulator"&<% +3 "core" %H \  +3 "collection"'0& +3 "core" &w +3 "collection"'=& +6 "core" &\ +2 .tCC.seek :closed + "collection"'@(\\ +4 "core" &\  +9 &3yk\ *z +10 & g~E\ > +9 &k\ K +9 &[S\ J +10 &T\ J +9 &W\ J +10 &T\ J +9 &cWo\ J +9 &&T_\ J +10 &WU\ J +9 & T*\ J +10 &"kV*\ J +9 &$-X\ \ J +9 &%X\ J +10 &'S\ J +9 &)sW\ J +9 &+6T\ J +10 &,WV\ J +9 &.TV\ J +9 &0{WD\ J +10 &2=Yq\ J +9 &3Wq\ J +10 &5Tb\ J +9 &7XN\ K +9 &9EWF\ J +10 &;T\ J +9 &<Z\ J +9 &>Z\ J +10 &@MZ\ J +9 &BY\ K +10 &C\\\ K +9 &Ec\ K +9 &GMn\ M +10 &I\ Q +9 &J\ U +9 &Lx\ V +10 &N8w\ W +9 &Oo\ X +10 &Q\\\ W +9 &SzT\ X +9 &U:K\ Y +10 &VA\ Z +9 &X:\ Z +9 &Zz.\ [\ +10 &\\y+\ . +9 &\\6\ "j +10 ( + &\\c\ N +2 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.11 + .Hand.open + "manipulator"&31 +62 "core" 1 +2 "manipulator"&% +4 "core" % H   D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +95 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"';  +131 "core"  +2 .tCSV.dial CTV + "collection"'D  +29 "core"  +2 .tPS.seek 2.5ml + "processing"%F' +734 "Can"\ N ZNra& +1901 "core" ' +2 "collection"'% +3 "core" %\ +2 .tCS.seek 4.5ml +2 "collection"'E'c: +1490 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +39 "processing"%>  +50 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%G  +70 "core"  +3 .tPS.seek 0ml + "processing"%P'ؾ +2638 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"'1 ` +30 "core" ^ + .tCSV.dial :air +2 "collection"'? @ +42 "core" > +2 .tCS.seek 10ml +2 "collection"'I' +1482 "core" ' + .tCSV.dial CTV +2 "collection"'A  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'O'i +2660 "core" ' +2 .tCBV.dial :waste1 + "collection"'J @ +27 "core" @ +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'4  +128 "core" +2 "collection"'H& +3 "core" &\\cm\ N +3 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&M% +3 "core" %   (  +2 "storage"(Q% +4 "core" % C C \  +2 "storage"(6. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(C(C +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &C ; A \ +2 "manipulator"&T& +4 "core" &ӟ 7 +2 "manipulator"&U% +3 "core" %  e  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&L( +159 "core" ( +2 "manipulator"& & +3 "core" &    +2 "storage"(W& +4 "core" &D ] ] 6\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&S' +97 "core" ' +2 "storage"(K& +3 "core" &D } ~ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +294 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" & e  +2 "storage"(V& +4 "core" &D A C t\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&:'8 +24 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(b'w +27 "core" ' + "manipulator"&`% +5 "core" %> \ v + "storage"(h& +4 "core" &D\ \ d\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 306 counts + "manipulator"&j'j +14 "core" ' +2 "manipulator"&]& +3 "core" &   +2 "storage"(9& +4 "core" &D C C \ +44 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&-' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(l' +33 "core" ' +2 "manipulator"&a& +3 "core" &  +3 "manipulator"&m% +3 "core" % ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +158 "core" ( +3 "manipulator"&i& +3 "core" &Ӑ   9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &Ӑ A 9) +2 .tForearm.seek CC +2 "manipulator"&s'? +90 "core" ' + .tHand.close + "manipulator"&t/ +57 "core" / +2 .tCC.seek :open + "collection"'5( +451 "core" ( +2 "storage"(X& +3 "core" &D 3 & \ +2 "storage"(q& +4 "core" &D  \ +2 "manipulator"&x& +4 "core" &Ӿ \ x 3 +2 "manipulator"&v% +4 "core" % 4 \  +2 .tForearm.seek :retract +2 "manipulator"&n' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&r( +164 "core" ( + "manipulator"&w& +4 "core" &   v  +2 "storage"(y& +4 "core" &D E C \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&['8 +95 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&u% +3 "core" % >  +2 "storage"(Y& +3 "core" &D F F \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 306 counts +2 "manipulator"&g'j +14 "core" ' +2 "manipulator"&Z& +4 "core" & m  +3 "storage"(& +3 "core" &D D G\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&' +15 "core" ' +2 "storage"(o% +4 "core" % 9 9 V\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %F   4\ U_ +2 "manipulator"&% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +95 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%  +118 "core"  +9 .tPS.seek 2.5ml + "processing"%|' +2651 "core" ' +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%{ +44 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%  +43 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"% +43 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%  +44 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml + "processing"% 'ؾ +2636 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +4 "core" &\  +2 "manipulator"& & +4 "core" & &  +2 "manipulator"&% +3 "core" %  M  +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +172 "core" ( +2 "manipulator"&& +3 "core" &-  Q 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &- 6 +2 .tForearm.seek :garage +2 "manipulator"&k'w +100 "core" ' + .tHand.close +2 "manipulator"&"/ +64 "core" / +2 "manipulator"&& +3 "core" &-  \ 6 +2 "manipulator"&% +4 "core" % ς  +3 .tForearm.seek :retract + "manipulator"&#' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&( +119 "core" ( +2 "manipulator"& & +3 "core" &  f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' + "manipulator"&&& +4 "core" &   t +2 "manipulator"&% +4 "core" %  y +2 "processing"%z& +4 "core" &\  +3 "processing"%.& +5 "core" &\  +2 .tPC.seek :closed + "processing"%2(^ +4 "core" &\  +8 &C!\ $f +9 &qX'\ 8 +10 &$\ L +9 &\\,\ M +9 &QZ)\ M +10 &Y0\ L +9 &]7\ L +10 &^5\ L +9 &Y\\9\ M +9 &^8\ L +10 &a5\ M +9 &![@\ M +9 &#a]@\ M +10 &%#\\D\ M +9 &&bP\ M +10 &(\\E\ M +9 &*j]B\ L +9 &,,_N\ L +10 &-]Q\ M +9 &/bR\ M +9 &1qaU\ M +10 &33aQ\ M +9 &4[S\ M +10 &6_W\ M +9 &8xb`\ M +9 &:<^_\ L +10 &;`c\ M +9 &=`c\ M +9 &?ac\ M +10 &A@`e\ N +9 &Cna\ N +10 &Dvh\ P +9 &F{j\ Q +9 &H;m\ R +10 &Iq\ R +9 &Kp\ R +9 &Mf\ S +10 &O?g\ S +9 &Qn\ T +10 &Rm\ S +9 &Tt\ T +9 &VFy\ T +10 &X u\ S +9 &Y}\ T +9 &[\ S +10 &]K\ J +9 &^P\ !f +10 &^ t\ / +2 ( +2 "processing"%.& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + "processing"%,& +4 "core" &^s\ / +2 .tHand.open + "manipulator"&71 +60 "core" 1 +2 "manipulator"&'% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +98 "core" ' +2 .tPRV.dial :air + "processing"%!  +85 "core"  +4 .tPSV.dial :mixloop +2 "processing"%* +43 "core" +2 "processing"%% +3 "core" %غ\ +3 .tPS.seek 0.3ml + "processing"%/' +381 "core" ' +2 .tPSV.dial PSR + "processing"%% +102 "core"  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml + "processing"%<'2 +485 "core" ' +2 .tdelay 3 seconds +301 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%0' +1915 "core" ' +2 .tdelay 3 seconds +301 .PSV.dial :mixloop +2 "processing"%+ +101 "core" +2 .tPTV.dial :mixing + "processing"%8 @ +72 "core" B +2 .tPBV.dial :waste2 + "processing"%  +91 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&3& +4 "core" &  ] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +4 "core" ( + "manipulator"&=& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" & \  +3 .tForearm.seek PC + "manipulator"&D' +94 "core" ' +2 .tHand.close + "manipulator"&d/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +457 "core" ( +2 "manipulator"&& +4 "core" &  +2 "manipulator"&)% +3 "core" %  E  +3 .tForearm.seek :retract + "manipulator"&>' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&G(- +128 "core" ( +2 "manipulator"&F& +3 "core" &-  h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &-   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&?'w +100 "core" ' + .tHand.open + "manipulator"&E1 +63 "core" 1 +2 "manipulator"&A% +3 "core" % s   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +100 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%J& +4 "core" &\ \ +2 "manipulator"&4% +4 "core" %   2  +2 "storage"(H% +4 "core" % F F \  +2 "storage"(M. +2 "core" .(C +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(Q(  +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &  $ ! 8\  +2 "manipulator"&& +3 "core" &- a +2 "manipulator"&N% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 + "manipulator"&T( +168 "core" ( +2 "manipulator"&U& +3 "core" &   1 +44 "storage"( & +5 "core" &  C C \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&W'S +98 "core" ' +2 "storage"(K& +3 "core" &  D F\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'r +297 "core" ' +2 "storage"(B- +2 "core" -'' +3 .tSE.configure :default + "storage"(#QK-0-\ b +4 (^& +3 "core" &   H\  +2 "manipulator"&_& +3 "core" & 1 +3 .tElbow.seek 2 + "manipulator"&V( +3 "core" ( +3 "manipulator"&c& +4 "core" &  i 1 +2 "storage"(`& +3 "core" & # $ \  +3 .tForearm.seek 2 + 300 counts + "manipulator"&h'Ͻ +39 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"(a' +7 "core" & Q 1 +2 "manipulator"&m% +4 "core" % ϲ o +2 .tForearm.seek :retract +2 "manipulator"&S' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&L( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&R& +4 "core" &  S - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" & - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&j' +107 "core" ' +2 "manipulator"&b& +3 "core" &  E - +3 "manipulator"&i% +3 "core" %  ; 3 +2 "processing"%f& +4 "core" &\ +3 "processing"%-& +5 "core" &\ +2 .tPC.seek :closed + "processing"%\\(^ +5 "core" &\  +9 &0y\ *x +9 &d\ > +10 &~s\ N +9 &CT\ M +9 &Y\ M +10 &Y\ M +9 &Y\ M +9 &J[{\ M +10 & Yz\ M +9 &Yz\ M +9 & Yx\ L +10 &"RYz\ M +9 &$Yz\ M +10 &%Wo\ M +9 &'Yl\ M +9 &)\\Yl\ L +10 &+Zr\ M +9 &,Yq\ M +9 &.Xq\ L +10 &0bZk\ M +9 &2&Yq\ L +10 &3Zb\ M +9 &5[d\ M +9 &7kWb\ M +10 &9,[h\ M +9 &:[g\ M +9 &<\\h\ M +10 &>s]Z\ M +9 &@4\\b\ M +10 &AeY\ N +9 &CnX\ O +9 &EpzU\ P +10 &G,O\ R +9 &HZ\ S +9 &J\\\ S +10 &Lq[\ S +9 &N1X\ S +10 &OZ\ S +9 &QU\ T +9 &SuZ\ T +10 &U7V\ T +9 &VJ\ T +9 &XK\ T +10 &Z|L\ T +9 &\\=L\ U +10 &]yuM\ 9 +9 &^)L\ T +9 &^"J\ 3 +3 ( + "processing"%-& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&t1 +53 "core" 1 +2 "manipulator"&p% +3 "core" %    3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +93 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%X u +2 %q9 +6 "core" 9 +102 "processing"%x9 +3 "core" 9 +102 "processing"%v9 +3 "core" 9  +102 "processing"%w9 +3 "core" 9  +102 "processing"%y9 +3 "core" 9 +102 "processing"%s9 +10 "core" 9 +103 "processing"%e9 +2 "core" 9 +103 "processing"%9 +3 "core" 9 +102 "processing"%u9 +3 "core" 9" +103 "processing"%Y9 +2 "core" 9' +103 "processing"%Z9 +3 "core" 9+ +102 "processing"%9 +3 "core" 9/ +102 "processing"%o9 +3 "core" 93 +103 "processing"%n9 +3 "core" 98 +103 "processing"%9 +2 "core" 9< +103 "processing"%9 +3 "core" 9@ +102 "processing"%r9 +3 "core" 9D +102 "processing"%[9 +3 "core" 9H +102 "processing"%g9 +3 "core" 9M +103 "processing"%l9 +3 "core" 9Q +102 "processing"%9 +3 "core" 9U\ +102 "processing"%9 +3 "core" 9Y\ +103 "processing"%9 +2 "core" 9] +103 "processing"%P9 +3 "core" 9b +103 "processing"%{9 +2 "core" 9f +103 "processing"%9 +2 "core" 9'j +103 "processing"%9 +3 "core" 90n +3 .tPH.hold 2:00:00,28C +2 "processing"% pup, +2 .tdelay 1:30 +5 "core" o +9001 .tPSR.select :air + .PSV.dial PSR +2 "processing"%| +100 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"% ' +1608 "core" ' +2 .tPTV.dial :puck + "processing"%  +71 "core"  + .tPSV.dial PTV +2 "processing"% +84 "core" +2 .tPBV.dial :waste1 + "processing"%(  +129 "core"  + "processing"%}% +4 "core" %Q\  +2 .tPS.seek 1.5ml +2 "processing"%"'- +595 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" , +2 .tPS.seek 0ml + "processing"%'ؾ +1612 "core" ' +2 .tdelay 5:00 +9771 "Can"\ ? Oa +20231 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%\  +4 "core"  + .tPBV.dial :waste1 +2 "processing"%  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%k +70 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%&' +2384 "core" ' + .tPSV.dial PTV +2 "processing"% +84 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%z +70 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"% +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%#  +71 "core"  +46 .tPS.seek 0ml +2 "processing"%'ؾ +2359 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%,  +126 "core" +2 .tPSV.dial :mixloop + "processing"%7 +44 "core" +2 .tPRV.dial :ab1 + "processing"%' @ +72 "core" B +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%.' +355 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +2 "collection"'!  +2 .tPRV.dial CBV +4 "processing"%*  +39 "core" +4  +2 "processing"%% +3 "core" %\ +3 .tPS.seek 0.34ml + "processing"%'# +430 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'  +28 "core" +2 .tPRV.dial :air +2 "processing"%%  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%/'K +1196 "core" ' +2 .tPRV.dial :waste2 + "processing"%< @ +70 "core" ? +3 .tPS.seek 0.5ml + "processing"%+' +861 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%8  +53 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"% ' +1613 "core" ' + .tPSV.dial :PML +2 "processing"%0 +42 "core" +2 .tPTV.dial :mixing + "processing"%3 @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%=  +34 "core" +2 "processing"%;% +3 "core" %\  +3 .tPS.seek 1.85ml +2 "processing"%d' +236 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 .tPS.seek 0ml + "processing"%~'ؾ +1989 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'2& +3 "core" &  +2 "manipulator"&& +4 "core" & \  - +2 "manipulator"&)% +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&F(- +126 "core" ( + "manipulator"&1& +5 "core" &-  Z  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &- \ \ |  +2 .tForearm.seek :garage +2 "manipulator"&'w +99 "core" ' +2 .tHand.close + "manipulator"&E/ +57 "core" / +3 "manipulator"&A& +3 "core" &-   +2 "manipulator"&J% +4 "core" % υ  +3 .tForearm.seek :retract + "manipulator"&4' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&H(ӂ +279 "core" ( + "manipulator"&M& +4 "core" &Ә   8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &Ә 8 +2 .tForearm.reconfigure :tight +43 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC + "manipulator"&?'? +163 "core" ' +2 "manipulator"&C& +3 "core" &Ә  J 8 +3 "manipulator"&6% +3 "core" %H + +3 "collection"'& +3 "core" &\ +3 "collection"'N& +6 "core" &\ +2 .tCC.seek :closed + "collection"'U(\\ +4 "core" &\  +9 &5\ *z +10 &g\ ? +9 &p\ L +9 &XU\ K +10 &Y\ K +9 &S\ K +9 &U\ K +10 &`X\ K +9 &"Y\ K +9 &X\ K +10 & S5\ K +9 &"iU\ K +10 &$*X0\ K +9 &%X\ K +9 &'R\ K +10 &)oT\ L +9 &+1V\ L +9 &,X\ K +10 &.U\ K +9 &0xU\ K +10 &2:R\ K +9 &3T\ K +9 &5X\ L +10 &7X\ K +9 &9AT\ L +9 &;T\ K +10 &<W\ K +9 &>U\ L +10 &@JT\ K +9 &B V\ K +9 &C_\ M +10 &Es\ O +9 &G;\ S +9 &H\ W +10 &J\ X +9 &Lq\ Y +10 &N2\ Y +9 &O\ Y +9 &Q\ Z +10 &Sv\ Z +9 &U3\ [ +9 &V\ \\ +10 &X\ \\ +9 &Zv\ \\ +10 &\\v\ 8 +9 &\\$\ )y +9 &\\\ "d +3 ( + "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + "collection"' & +4 "core" &\\\ "d +2 .tHand.open + "manipulator"&G1 +55 "core" 1 +2 "manipulator"&K% +3 "core" % H & ) s + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +92 "core" ' +2 .tPSV.dial PSR + "processing"%B +102 "core"  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%^'+ +1606 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%_  +43 "core"  +2 .tPS.seek 0ml + "processing"%c'ؾ +1611 "core" ' + .tPSV.dial PSR +2 "processing"%` +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%]' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%9  + "collection"'m  +32 "core"  +122  +2 .tPSV.dial :mixloop + "processing"%T +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'W  +5 "core" + .tPTV.dial :PRVmixing +2 "processing"%$  +71 "core" +2 .tPS.seek 0ml +2 "processing"%h'ؾ +2648 "core" ' + .tPSV.dial :air +2 "processing"%R  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%:' +2632 "core" ' + .tPSV.dial :mixloop +2 "processing"%V +44 "core" +2 .tPS.seek 0ml + "processing"%b'ؾ +2628 "core" ' + .tPSV.dial :air +2 "processing"%i  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%f' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"%a +44 "core" +2 .tPS.seek 0ml +2 "processing"%S'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +40 "Can"\ ^ Oa) +8 "manipulator"&& +3 "core" &Ӫ - - U 6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&t(ӂ +14 "core" ( + "manipulator"&p& +4 "core" &ӎ ( !  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &ӎ , +  - +2 .tForearm.seek CC +2 "manipulator"&-'? +93 "core" ' +2 .tHand.close + "manipulator"&x/ +55 "core" / +2 .tCC.seek :open +2 "collection"'j( +446 "core" ( +2 "manipulator"&v& +4 "core" &Ӝ H + +2 "manipulator"&w% +3 "core" % R   +3 .tForearm.seek :retract + "manipulator"&y' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&s(- +287 "core" ( +2 "manipulator"&e& +4 "core" &-    ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&u'w +100 "core" ' + .tHand.open + "manipulator"&Y1 +56 "core" 1 + "manipulator"&Z% +4 "core" % |  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."da"delayUntil "19:10:39.71" +3 #"WCR"Whole Cell Archive sampling 50ml + #Loading wcr puck from tube 2 into Collection Clamp + "collection"'o& +4 "core" &w\ +2 "manipulator"&n% +4 "core" %    +2 "storage"(% +4 "core" % C C \  +2 "storage"(. +4 "core" .(  + "storage"(r& +4 "core" & 5 @ s\  +2 ."WCR"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 + "storage"([(  +35 "core" ( + ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (g& +3 "core" &    \ +2 "manipulator"&l& +5 "core" &- * ! + "manipulator"&% +4 "core" %    S  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 + "manipulator"&( +176 "core" ( +2 "manipulator"&& +4 "core" &   , +2 "storage"(P& +3 "core" &    e\ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&{'S +93 "core" ' +2 "storage"(& +4 "core" &  M _\ +2 ."WCR"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(|- +2 "core" -' +3 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (& +46 "core" & \ \  \ +3 "manipulator"&& +3 "core" & \   + +3 ."WCR"Elbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +4 "core" &   + +2 "storage"((& +4 "core" & \ \  |\ +3 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&}'Ͻ +16 "core" ' + ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close +2 "manipulator"& / +64 "core" / +2 !"WCR"o:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"2/home/esp/esp2/protocol/2G/wcr.rb:24:in `wcr'"0/home/esp/esp2/protocol/2G/DA.rb:58:in `da'";/home/esp/esp2/protocol/2G/DAprocess.rb:368:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:56:in `da'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:14"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:10"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"("' +8 "core" &  8 + +2 "manipulator"&X% +4 "core" % ϱ \  +3 ."WCR"Forearm.seek :retract +2 "manipulator"&\ ' +97 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"& (ӂ +149 "core" ( +2 "manipulator"&& +3 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" &x' + # S @W + ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &k& +3 "core" &x'  @W +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&& +3 "core" &Ӈ$   >H +2 "manipulator"&z% +4 "core" %H    = +3 "collection"'& +3 "core" &i\ +3 "collection"'#& +5 "core" &z\ +2 ."WCR"CC.seek :closed +2 "collection"'&(\\ +4 "core" &l\  +9 &3y^\ *z +9 &g{\\\ > +9 &la\ L +10 &`T[\ J +9 &"U[\ J +9 &TQ\ K +10 &WV\ K +9 &fWX\ K +10 &*TR\ J +9 &TL\ K +9 & RD\ K +10 &"pTB\ J +9 &$1UD\ K +10 &%T=\ K +9 &'T;\ K +9 &)vW?\ K +10 &+:T8\ J +9 &,U(\ K +9 &.W(\ K +10 &0U/\ K +9 &2@X1\ K +9 &4U/\ K +10 &5X0\ K +9 &7U'\ K +10 &9HY/\ K +9 &; T)\ K +9 &<V\ J +10 &>Y\ K +9 &@RW\ J +9 &B\\\ L +10 &Ca\ L +9 &Ei\ M +10 &GH!\ Q +9 &H\ U +9 &J \ W +10 &L{\ W +9 &N:\ X +9 &O\ X +10 &Q\ X +9 &S{\ Z +10 &U>\ Z +9 &V\ [ +9 &X\ [ +10 &Z|\ \\ +9 &\\#| \ 0 +9 &\\)\ ^ +10 ( + &\\t\ S +2 "collection"'#& +3 #"WCR"Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&,1 +52 "core" 1 +2 "manipulator"&7% +3 "core" % H & * g = +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&'' +94 "core" ' +2 #"WCR"collectSample 50ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")+ +4 "core" + + "sampler")!% +4 "core" %ڮOP o\  +2 "collection"'*& +3 "core" &\\t\ S +4 "Can"\ T O +2 #"WCR"Calibrating pressure sensors + .CTV.dial :air + "collection"'  +5 "core" +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler").  +4 "core" +3 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X% +3 "core" %p\ +3 "sampler")F% +3 "core" %Q% n\  +41 "collection"'C% +4 "core" %p\ +2 "sampler")6% +3 "core" %Q%'% r\  +47 "collection"'% +4 "core" %p\ +2 "sampler")4% +3 "core" %Q%4/ s\  +54 "collection"'5% +3 "core" %p\ +2 "sampler") % +4 "core" %Q%>= m\  +60 "collection"'G% +3 "core" %p \ +2 "sampler")K% +4 "core" %Q%KH r\  +69 "collection"'N% +3 "core" %p\ +2 "sampler")B% +4 "core" %Q%RS p\  +2 ."WCR"Intake.select :close + "sampler")0 +10 )?% +3 "core" %Q%UT n\  +2 ."WCR"SSV.dial :exhaust +2 "sampler")~  +71 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")_'ڀ +412 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +54 #"WCR"Sampling 50.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default +2 "sampler")#.0X +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'' +2485 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'# @ +73 "core" > +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'.  +86 "core"  +2 "collection"'% +46 "core" %\  +3 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +29 "core" a +2 ."WCR"CS.seek 7.319ml +2 "collection"''Q +693 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'%  + '<  +28 "core"  +47  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ b +4 ."WCR"CS.seek 0ml + "collection"'/'i +1358 "core" '\ \ \ ۥ +2 ."WCR"CBV.dial :waste2b +2 "collection"'8  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"' 'i +628 "core" ' +2 ."WCR"delay 1:00 +598 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%0 @ +71 "core" B +2 ."da"PBV.dial :waste1 + "processing"%3  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%; * +33 "core" + +2 ."da"PSV.dial :air + "processing"%=  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2202 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'+  +128 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 2:30 + .CSV.dial CSR +2 "collection"'2  +8 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +29 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +11 "core" +2 ."WCR"CS.seek 2ml +2 ."da"delay 2 seconds +2 "collection"')'T +200 ."da"PSV.dial :air +2 "processing"%1  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%D +44 "core" + ."da"delay 2 seconds +132 "core" ' +2 ."WCR"delay 5 seconds +68 ."da"PSV.dial :air +2 "processing"%L  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +385 ."WCR"CSR.select :air +2 "collection"' +9 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'A' +1901 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%J +74 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +2 "collection"'@ @ +50 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "core" @ +2 "processing"%' +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'M  +86 "core"  +2 "collection"'>% +4 "core" %\ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'F ` +56 "core" ^ +2 ."WCR"CS.seek 7.285ml +43 "collection"'C'8 +343 "core" ' +2 ."da"delay 5 seconds +354 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'6  + '  +28 "core"  +100  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"''i +4 ."da"PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%4' +1371 "core" '\ \ \ Х +3 ."WCR"delay 2:30 +243 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%5  +70 "core"  +2 ."da"PSV.dial PTV + "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%G  +32 "core" +2 "processing"%K% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%N'* +602 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%B * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%?'ؾ +1630 "core" ' +2 ."da"delay 2:00 +11992 ."WCR"CBV.dial :waste2b + "collection"'~  +9 #"da"recoverPSRreagent08 + .PTV.dial :puck + "processing"%d  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%`  +10 "core"  +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +2 ."WCR"CS.seek 0ml +2 "collection"'c'i +14 "core" + ."da"delay 30 seconds +595 "core" ' +2 ."WCR"delay 1:00 +2406 ."da"PBV.dial between PSV and waste1 +2 "processing"%m * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%9 +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%T' +2347 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%_ +72 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%W +71 "core"  +2 ."da"delay 5 seconds +475 ."WCR"CTV.dial :air,avoiding: :intake +3 "collection"'^  +23 ."da"PSV.dial PTV +2 "processing"%R +84 "core"  +2 ."da"delay 5 seconds +18 "core" +2 #"WCR"Fix #2 of 2 (with RNAlater) for 2:30 +2 .CSV.dial CSR + "collection"'h  +40 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +11 ."WCR"CS.seek 2ml + "collection"'V'T +423 ."da"PSV.dial :air + "processing"%:  +86 "core"  +2 ."da"PS.seek 0ml +2 "processing"%i'ؾ +79 "core" ' +2 ."WCR"delay 5 seconds +218 "Can"\ a P4a +284 ."WCR"CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'b' +1704 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%a +142 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +44 "processing"%f' +91 "core" ' + #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +2 "collection"' @ +71 "core" > +53 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'p  +84 "core"  +2 "collection"'q% +4 "core" %\ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'x ` +56 "core" ^ +2 ."WCR"CS.seek 7.306ml +2 "collection"'H' +212 "core" ' +2 ."da"delay 5 seconds +479 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 "collection"'I  +2 ."WCR"CSV.dial CTV +4 "collection"'U  +11 ."da"PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%v' +7 "core"  +94  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"'$'i +1505 "core" ' +2 ."da"PTV.dial :puck + "processing"%w  +5 "core"  +2 ."da"PSV.dial PTV + "processing"%- +83 "core" +2 ."da"PBV.dial :waste1 + "processing"%e  +33 "core"  +2 "processing"%% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%t'. +273 "core" ' +2 ."WCR"CSV.dial :air +2 "collection"'Y @ +54 "core" B +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'Z' +256 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%o * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%n'ؾ +1611 "core" ' +2 ."da"delay 2:00 +275 "core" ' +2 "collection"'% +3 "core" %\ +2 ."WCR"CSV.dial between air and CTV +3 "collection"'] ` +26 "core" b +3 ."WCR"CS.seek 4.218ml + "collection"'y'Z: +1401 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'r  + 'g  +14 "core"  +16  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"''i +1127 "core" ' + ."WCR"CSV.dial :air +2 "collection"'u @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'' +2455 "core" ' +2 "collection"'P% +3 "core" %\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'l ` +29 "core" a +2 ."WCR"CS.seek 4.324ml +46 "collection"''] +1392 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +2 "collection"'s  +26 "core"  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"''i +1154 "core" ' +2 ."WCR"CSV.dial :air + "collection"'| @ +42 "core" ? +3 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'' +2454 "core" ' +2 "collection"'% +4 "core" %\ \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +28 "core" a +2 ."WCR"CS.seek 4.467ml +2 "collection"'('b( +1346 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +2 "collection"'  +22 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  + "core"  +5 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<<\ b +2 "core"  +3 ."WCR"CS.seek 0ml +2 ."da"PBV.dial :waste1 +3 "processing"%X  + "collection"''i +34 "core" +2 ."da"delay 30 seconds +1162 "core" ' + ."WCR"CSV.dial :air +2 "collection"'{ @ +42 "core" > +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.hold +2 "collection"'+ +2 "core" + +2 "collection"'k% +4 "core" %ӊ \ +3 !to:ShallowSampler::Error: mesg"NPuck.from 2, :wcr reached only 26.7 of 35psi after pumping in 40ml of gas:@timestampu: Time 3O:bt[$"4/home/esp/esp2/utils/sampler.rb:351:in `pumpTo'"2/home/esp/esp2/utils/sampler.rb:347:in `loop'"4/home/esp/esp2/utils/sampler.rb:347:in `pumpTo'"% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%F'- +583 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%E * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +1605 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%6  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +41 "processing"%C * +39 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%5' +2349 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%G +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%K +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%4  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +2313 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%N +129 "core"  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%d' +150 "Can"\ b #Q`a +445 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%~' +1621 "core" ' + ."da"PTV.dial :puck +2 "processing"%`  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%m  +33 "core" + "processing"%9% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%?'/ +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%_ * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%W'ؾ +1612 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%R  +3 "core"  +2 ."da"PBV.dial :waste1 + "processing"%^  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%h * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%c +84 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%:' +2350 "core" ' + ."da"PSV.dial PTV +2 "processing"%T +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%V +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%a +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%i'ؾ +2313 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%p +128 "core"  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%q' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%x' +1618 "core" ' + ."da"PTV.dial :puck +2 "processing"%b  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%U +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%I  +35 "core" + "processing"%f% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%H'/ +594 "core" ' +7 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%w * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%-'ؾ +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 .PTV.dial :puck +2 "processing"%e  +3 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%v * +31 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%Y +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%$' +2343 "core" ' +2 ."da"PSV.dial PTV + "processing"%o +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%t +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%]  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +2302 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%r +133 "core"  +2 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +5 "processing"% +17 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +9 ."da"PS.seek 0.25ml +3 "processing"%g' +337 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%y' +353 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%u' +1606 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%P +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%l  +33 "core" +2 "processing"%% +3 "core" %\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%s'& +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%|'ؾ +1312 "Can"\ S 'RQa +315 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core"  +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2392 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%X +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%( +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%{  +84 "core" +3 ."da"PS.seek 0ml + "processing"%k'ؾ +2352 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"% +132 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%' +2167 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 "processing"%}  +5 "core"  +2 ."da"PSV.dial PTV + "processing"%n +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%z% +4 "core" %\ ~ +2 ."da"PS.seek 1.5ml +2 "processing"%', +587 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +3 "processing"% * +35 "core" , + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%Q  +102 "core"  +3 ."da"PS.seek 0ml + "processing"%\ 'ؾ +1617 "core" ' + "processing"%j9 +3 "core" 9w5R +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%, +2 "core" 5S +2 "processing"%& +3 "core" &^ \ 3 +3 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&!% +3 "core" %  " , B  +3 "storage"("% +3 "core" % \  +2 "storage"(O. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(#(C +355 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" &E <\ +2 "manipulator"&& +4 "core" &ӡ ( ,  :. +2 "manipulator"&.% +3 "core" %  ) ,  +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&( +160 "core" ( +2 "manipulator"&<& +4 "core" &  \ g  +2 "storage"(%& +3 "core" &E 4\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(/& +4 "core" &E * /\ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(8- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &  +2 "storage"(;& +3 "core" &D @ A \ +3 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 + "manipulator"&='8 +17 "core" ' +2 ."da"Elbow.hold + "manipulator"&S, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +3 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(2' +30 "core" ' + "manipulator"&% +4 "core" %H  # +2 "storage"(1& +3 "core" &D \ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 316 counts + "manipulator"& 't +14 "core" ' +2 "manipulator"&+& +3 "core" &   +3 "storage"(L& +3 "core" &D } \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&D' +16 "core" ' +3 ."da"SE.seek 2.17 Pucks below Top Plate + "storage"('Y +41 "core" ' +2 "manipulator"&J& +3 "core" &   V  +2 "manipulator"&@% +5 "core" % ! +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +45 ."da"Forearm.seek :retract +8 "manipulator"&M' +93 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&>( +240 "core" ( +3 "manipulator"&)& +3 "core" &   r  +3 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &  +3 ."da"Forearm.seek PC + "manipulator"&F' +97 "core" ' + ."da"Hand.close + "manipulator"& / +55 "core" / +2 ."da"PC.seek :open +2 "processing"%6( +455 "core" ( +2 "storage"(C& +3 "core" &D \ +3 "manipulator"&& +3 "core" &  }  +2 "manipulator"&A% +4 "core" %   A +2 ."da"Forearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&G( +252 "core" ( +2 "manipulator"&K& +3 "core" &   b N +2 "storage"(4& +3 "core" &D :\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&5' +93 "core" ' + ."da"Hand.open + "manipulator"&N1 +65 "core" 1 +3 "storage"(B- +3 "core" -'Y +2 ."da"SE.seek 1.82 Pucks below Top Plate +2 "storage"(d'% +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.86 Pucks below Top Plate +2 "storage"(`' +55 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da24jan1719h50ml.tif +801 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 3.57 seconds\ /var/log/esp/da24jan1719h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da24jan1719h50ml15s.tif +1138 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +424 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da24jan1719h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da24jan1719h50ml20s.tif +2065 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da24jan1719h50ml20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "3.57 sec auto-exposure",Subject: "da24jan1719h50ml images!" +4 "storage"(- +2 "core" -' +3 "storage"(m& +10 "core" &D U Z /\ +11 "manipulator"&9& +12 "core" & * , N +4 ."da"Elbow.seek 1 +2 "manipulator"&~( +5 "core" ( +2 "manipulator"&_& +3 "core" & . 1 % N +3 "storage"(?& +6 "core" &D b b\ +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&R' +6 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.57 Pucks below Top Plate +2 "storage"(^'J +49 "core" ' +2 "manipulator"&h& +6 "core" &  N +2 "storage"(c& +4 "core" &D D B \ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&W'8 +23 "core" ' + ."da"Elbow.hold +2 "manipulator"&T, +7 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.76 Pucks below Top Plate +2 "storage"(V' +23 "core" ' +2 "manipulator"&a% +3 "core" %> ^ +2 "storage"(& +4 "core" &D   7\ +50 ."da"Forearm.force -20 +8 "manipulator"&5 +3 ."da"Forearm.seek 1 + 306 counts +2 "manipulator"&:'j +15 "core" ' +5 "manipulator"&p& +10 "core" & M +4 "storage"(i& +10 "core" &D > 1 W\ +11 ."da"Forearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&q' +16 "core" ' +2 "storage"(b% +4 "core" % D @ $\ +3 ."downElevator"SE.seek :down +3 "storage"(U' +100 (I% +6 "core" %+?   1\ TY +4 "manipulator"&f% +11 "core" % \ \  +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +4 "manipulator"&x' +97 "core" ' +19 ' +3 ."downElevator"SE.stop +2 "storage"(5 +6 (w& +7 "core" &D \\ Z\ +6 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 "processing"%H& +9 "core" &E\ +2 "manipulator"&e& +9 "core" &   M +2 "manipulator"&% +11 "core" %     +4 ."psFlush"Elbow.seek FlushPuck::Garage +7 "manipulator"&v(- +174 "core" ( +4 "manipulator"&Y& +7 "core" &-  \  R +4 ."psFlush"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &-& +6 "core" &-  ' R +4 ."psFlush"Forearm.seek :garage +4 "manipulator"&o'w +103 "core" ' +4 ."psFlush"Hand.close +2 "manipulator"&t/ +63 "core" / +4 "manipulator"&& +6 "core" &-  g R +6 "manipulator"&]% +6 "core" % }   +7 ."psFlush"Forearm.seek :retract +7 "manipulator"&$' +96 "core" ' +5 ."psFlush"Elbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 ."psFlush"Elbow.seek PC +4 "manipulator"&r( +120 "core" ( +2 "manipulator"&Z& +8 "core" & \  0 +4 ."psFlush"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +8 &g& +5 "core" & \ 0 +5 ."psFlush"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +8 ."psFlush"Forearm.seek PC +2 "manipulator"&y' +102 "core" ' +4 "manipulator"&& +7 "core" & d 0 +4 "manipulator"&P% +10 "core" % \  +6 "processing"%l& +9 "core" &6\ +4 "processing"%& +10 "core" &X\ +4 &F\ +4 ."psFlush"PC.seek :closed +6 "processing"%u(^ +10 "core" &H\ +2 &J\ 3 +9 &:GwH\ 0 +8 &jt~H\ D +7 &\\H\ M +10 &U>\ L +11 &R?\ L +8 &WW<\ M +11 &UC\ L +8 &W?\ M +9 &WA\ L +11 &`Z=\ L +8 &!!Y6\ M +10 &"X+\ M +10 &$W4\ M +8 &&hW0\ L +10 &(*V(\ L +10 &)V2\ L +8 &+Z%\ L +11 &-oW\ M +8 &/2ZC\ L +9 &0YE\ L +12 &2Y2\ M +10 &4xX^\ L +8 &6:Z`\ L +9 &7ZY\ L +8 &9ZX\ L +11 &;\\U\ L +8 &=B\\S\ L +11 &?YU\ L +9 &@YS\ L +8 &BeM\ N +10 &DDhR\ N +11 &F|K\ P +8 &GL\ R +10 &I}G\ S +8 &K?L\ S +9 &MA\ S +11 &ND\ S +8 &P@\ T +11 &RC:\ T +9 &T>\ T +8 &U?\ T +11 &WG\ T +10 &YLE\ T +9 &[ D\ U +9 &\\A\ U +8 &^BdB\ 'w +11 &^nC\ ; +7 ( +3 &^%6\ 4 +3 "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + "processing"%& +4 "core" &^%8\ 4 +2 ."psFlush"Hand.open + "manipulator"&s1 +24 #"uploadLog"upsync +32 "core" 1 +2 "manipulator"&% +3 "core" %  0  +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +93 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +592 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%|' +2129 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 + "processing"% @ +181 "core" @ +2 ."psFlush"PTV.dial :PRVmixing + "processing"%X  +127 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%( +111 "core" +2 ."psFlush"PS.seek :empty + "processing"%{'ؠ +2636 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +100 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +595 "core" ' + ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%k' +2123 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%}  +34 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%n @ +72 "core" B +2 ."psFlush"PSV.dial :mixloop + "processing"% +102 "core" +2 ."psFlush"PS.seek :empty + "processing"%z'ؠ +2631 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +102 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%'X\\ +1105 "core" ' +2 ."psFlush"PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%Q' +1613 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +74 "core" + ."psFlush"PTV.dial :puck +2 "processing"%j  +70 "core"  +2 ."psFlush"PBV.dial :waste1 + "processing"%,  +16 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%! +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%"' +584 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%O' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%[ +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%* U +51 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%. @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%<' +2627 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%%  +71 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%/'ؾ +2648 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%'' +2635 "core" ' +8 ."psFlush"PSV.dial PTV + "processing"%8 +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%3 U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%;'ؾ +1414 "Can" \\ ,Ra +1218 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%0 @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%1  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%+'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%L +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%J'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%@' +1619 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +5 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%  +51 "core" +3 ."psFlush"PS.seek 0ml + "processing"%='ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +72 "core" + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%2' +588 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%D' +2123 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%) +72 "core" +2 ."psFlush"PBV.dial PSV + "processing"%E U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%M' +2628 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%\\  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%C'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%A' +2641 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%F +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%K U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%4'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%> @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%N' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%B  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2635 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" &   o 0 +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&d( +27 "core" ( +2 "manipulator"&& +3 "core" &    +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +41 "core" &  ( +9 ."psFlush"Forearm.seek PC + "manipulator"&9' +94 "core" ' + ."psFlush"Hand.close +2 "manipulator"&_/ +64 "core" / +2 ."psFlush"PC.seek :open + "processing"%?( +458 "core" ( +2 "manipulator"&h& +3 "core" &   F +2 "manipulator"&c% +4 "core" %  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&a' +93 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +121 "core" ( +2 "manipulator"&p& +3 "core" &- g  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &- \ F  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&G'w +101 "core" ' +2 ."psFlush"Hand.open + "manipulator"&51 +61 "core" 1 +2 "manipulator"&`% +4 "core" % π  " +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&b' +95 "core" ' +16077 #"dave"Session Begun +298 #-> CC +2 "collection"'R& +5 "core" &\\q!\ S +1697 #"dave"-> CC.unloadPuck 1, :WCR +2 "collection"'~& +3 "core" &\\q}%\ S +4 !"dave"o:Puck::Warning: mesg"4Unloading Puck.from 2, :wcr to Storage Carousel:bt["6/home/esp/esp2/utils/puckmoves.rb:421:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'" dave:2:in `topLevelBinding'" CC +2 "collection"'*& +5 "core" &  +168 #"dave"-> PC +2 "processing"%O& +4 "core" &V\ +264 #"dave"-> Flush +245 #-> access 1 +3 "storage"(.% +5 "core" % X\  +2 "manipulator"&% +3 "core" %  \   +2 "manipulator"&%& +4 "core" &   +2 ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."dave"SC.seek 5 +2 "storage"(<(<- +1301 "core" ( + ."dave"SC.configure :limp +3 "storage"($\ 1b +4 ( & +2 "core" &<* l \  +1172 "Can" > /S"a +3226 #"dave"-> CSV.CSVflush +2 !o:NoMethodError\ : mesgu:NameError::message.undefined method `CSVflush' for CSV:Shaft: name: CSVflush: args[:@timestampu: Time 4|:bt["7/home/esp/esp2/lib/shaft.rb:81:in `method_missing'" dave:7:in `topLevelBinding'" CSV.flush + .CSV.dial :flush +3 "collection"'/  +42 "core" +1102 #"dave"-> CS.fill +2 .CS.seek 10ml +3 "collection"'8' +2654 "core" ' + "collection"'3% +4 "core" %4  +1053 #"dave"-> CSV.waste1 +2 .CSV.dial :waste1 +3 "collection"'' +41 "core" +1445 #"dave"-> CS.empty +2 .CS.seek 0ml +5 "collection"'0'i +2634 "core" ' +2 "collection"';% +3 "core" %j2  +727 #"dave"-> CBV.waste1 +2 .CBV.dial :waste1 +3 "collection"'1 @ +57 "core" A +1343 #"dave"-> CTV.CSV + .CTV.dial CSV +694 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +5 "core" &-  +2 "manipulator"&L& +3 "core" & h  +2 "manipulator"&+% +4 "core" %   +2 ."dave"Elbow.seek FlushPuck::Garage +2 "manipulator"&J(- +173 "core" ( +8 "manipulator"&& +4 "core" &-  D +2 ."dave"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" &- D +3 ."dave"Forearm.seek :garage +2 "manipulator"&'w +94 "core" ' + ."dave"Hand.close +2 "manipulator"&@/ +56 "core" / +2 "manipulator"& & +3 "core" &-  ! D +2 "manipulator"&=% +4 "core" % ϋ \ \  +2 ."dave"Forearm.seek :retract +2 "manipulator"&2' +96 "core" ' +2 ."dave"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."dave"Elbow.seek CC + "manipulator"&)(ӂ +281 "core" ( + "manipulator"&E& +4 "core" &{(  P @\\ +2 ."dave"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &D& +2 "core" &|(  : @[ +3 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."dave"Forearm.seek CC +2 "manipulator"& '? +95 "core" ' +2 "manipulator"&S& +3 "core" &|(   @[ +2 "manipulator"&\\% +4 "core" %I  6 " +2 "collection"'M& +4 "core" &2\ +3 "collection"'& +5 "core" &4 +2 ."dave"CC.seek :closed +2 "collection"'C(\\ +4 "core" &,\ +8 &=+\ $f +9 &X{,\ 7 +10 &y*\ K +9 &T*\ J +9 &~V,\ K +10 &AV,\ K +9 &Y\ K +10 &V!\ K +9 &T#\ K +9 &HV \ K +10 & U\ K +9 &!Y\ K +9 &#V\ K +10 &%QT\ K +9 &'U\ K +10 &(T\ K +9 &*U\ K +9 &,XT\ K +10 &.U\ K +9 &/U \ J +9 &1V!\ K +10 &3aU\ K +9 &5"Z\ K +10 &6V\ K +9 &8U\ K +10 &:hV\ K +9 &<+V\ K +9 &=W\ K +9 &?U\ K +10 &ApW\ K +9 &C1\\\ L +10 &Di!\ M +9 &F\ Q +9 &HZ!\ V +10 &J\ W +9 &K\ X +9 &M\ W +10 &O[ \ X +9 &Q\ X +10 &R\ Y +9 &T \ Z +9 &V]\ Z +10 &X!\ [ +9 &Y\ \\ +9 &[\ I +10 &\\<"\ , +9 &\\\ ] +2 ( +2 "collection"'& +4 #"dave"Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 + "collection"'F& +5 "core" &\\#\ ] +2 ."dave"Hand.open + "manipulator"&K1 +61 "core" 1 +2 "manipulator"&A% +3 "core" % I $ " ! " +3 ."dave"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract +2 "manipulator"&>' +94 "core" ' +610 #"dave"-> CS.flush +2 !o:NoMethodError\ : mesgu:NameError::message,undefined method `flush' for CS:Syringe: name:\ flush: args[:@timestampu: Time 4C%:bt["8/home/esp/esp2/lib/slide.rb:441:in `method_missing'"!dave:15:in `topLevelBinding'" CSV.flush +2 .CSV.dial :flush +3 "collection"'4  +42 "core"  +631 #"dave"-> CS.fill +2 .CS.seek 10ml +4 "collection"'B' +2644 "core" ' +2 "collection"'N% +3 "core" %\ +646 #"dave"-> CSV.CTV + .CSV.dial CTV +3 "collection"'  +70 "core"  +411 #"dave"-> CTV.CBV +2 !o:NoMethodError\ : mesgu:NameError::message)undefined method `CBV' for CTV:Shaft: name:CBV: args[:@timestampu: Time 4b^):bt["7/home/esp/esp2/lib/shaft.rb:81:in `method_missing'"!dave:19:in `topLevelBinding'" CTV.CSV +2 .CTV.dial CSV +609 #-> CS.empty +2 .CS.seek 0ml +3 "collection"''i +2634 "core" ' + "collection"'m% +4 "core" %n\ +18392 #"dave"-> access 2 +2 "storage"(_% +4 "core" % Z Z \  +3 "manipulator"&r% +3 "core" %  * ! &  +2 "manipulator"&& +5 "core" &Ӧ   K :1 +2 ."dave"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 ."dave"SC.seek 6 +2 "storage"(u(K +353 "core" ( +2 ."dave"SC.configure :limp +2 "storage"($\ 1b +9 (h& +3 "core" &K C C \ +1660 #"dave"-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp +3 "manipulator"&c& +4 "core" &Ӧ   :1 +2 ."dave"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."dave"Elbow.seek CC + "manipulator"&p(ӂ +23 "core" ( +2 "manipulator"&i& +4 "core" &z  \ < & +2 ."dave"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &9& +3 "core" &z   & +2 ."dave"Forearm.seek CC +3 "manipulator"&d'? +105 "core" ' + ."dave"Hand.close +2 "manipulator"&5/ +58 "core" / +2 ."dave"CC.seek :open +2 "collection"'`( +451 "core" ( +2 "manipulator"&a& +3 "core" &Ӗ  # +2 "manipulator"&G% +4 "core" %  x +2 ."dave"Forearm.seek :retract +2 "manipulator"&R' +152 "core" ' + ."dave"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."dave"Elbow.seek :garage +2 "manipulator"&~(- +286 "core" ( +2 "manipulator"&I& +4 "core" &-    +2 ."dave"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &^& +3 "core" &- [  +3 ."dave"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +5 ."dave"Forearm.seek :garage + "manipulator"&f'w +94 "core" ' +2 ."dave"Hand.open + "manipulator"&W1 +57 "core" 1 + "manipulator"&w% +4 "core" % ~    +2 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract +2 "manipulator"&:' +96 "core" ' +352 #"dave"-> Flush +135 #-> CC +2 "collection"'H& +4 "core" &  +133 #"dave"-> PC + "processing"%V& +5 "core" &\ +5001 #"dave"-> exit + #Session Ended +3573 "Can" B 2Sa +60001  B 4TNa* +60002  B 7>Ta +60001  B 9Uza& +60001  B ;Va +60001  B > Va( +60002  B @RWa- @1705585746.41UTC = =tMAIN =mMAIN_scheduler @UTC1705585748.10 #"core_reset"Sent BREAK +2 #t@27584 receive with ifg=0x10, ie=0xFD + #@28221 receive with ifg=0x10, ie=0xFD + #@28878 receive with ifg=0x10, ie=0xFD + #@29514 receive with ifg=0x10, ie=0xFD + #@30147 receive with ifg=0x10, ie=0xFD #@30781 receive with ifg=0x10, ie=0xFD + #@31414 receive with ifg=0x10, ie=0xFD + #@31740 receive with ifg=0x80, ie=0xFD #@24576 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +185 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +98 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +367 "Can" H\ !i5 +  H\ !i5 #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +544 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %nuv^\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +5 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڂ e\ +2 .tSS.configure :default +2 "sampler")#.0X Flush.PC +3 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%3& +3 "core" &6\ +2 .tHand.open +2 "manipulator"&41 +21 "core" 1 +2 "manipulator"&5& +3 "core" &-     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek FlushPuck::Garage + "manipulator"&6(- +4 "core" ( + "manipulator"&7& +4 "core" &-   T  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &-  ]  +2 .tForearm.seek :garage +2 "manipulator"&9'w +99 "core" ' +2 .tHand.close +2 "manipulator"&:/ +59 "core" / +2 "manipulator"&;& +3 "core" &-    +2 "manipulator"&<% +4 "core" % ψ  S +3 .tForearm.seek :retract +2 "manipulator"&=' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&>( +118 "core" ( + "manipulator"&?& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&A' +93 "core" ' + "manipulator"&B& +4 "core" &   +2 "manipulator"&C% +4 "core" %  y +2 "processing"%D& +3 "core" &\ +3 "processing"%E& +5 "core" &,\ +2 .tPC.seek :closed +2 "processing"%F(^ +4 "core" &\  +9 &2|\ *x +9 &d\ > +10 &yt\ N +9 &=Y\ M +9 &Y\ M +10 &W\ M +9 &Y\ M +10 &FX\ M +9 &Y\ M +9 &Z\ L +10 & Z\ M +9 &"NZ\ M +9 &$^ \ M +10 &%Z\ M +9 &']\ M +10 &)U[\ M +9 &+Z \ M +9 &,Z\ M +10 &.]\ M +9 &0]\\\ M +9 &2[\ M +10 &3\\\ M +9 &5]\ M +10 &7d]\ M +9 &9'\\\ M +9 &:_ \ M +10 &<]\ M +9 &>l_\ M +9 &@.\\\ M +10 &Ac\ N +9 &Cf\ N +10 &Erc\ N +9 &G6]\ M +9 &Hc\ N +10 &Jc \ N +9 &L|e\ M +9 &N>d\ M +10 &O`\ N +9 &Qe\ N +10 &Sa\ N +9 &UEd\ N +9 &W_\ N +10 &X`\ N +9 &Z`\ N +10 &\\Mb\ N +9 &]xG\ - +9 &^+J\ 1 +10 &^\  +2 ( +2 "processing"%E& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.08 +3 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Slide::Error\ :@checkpoint: omitted: @reply0: mesg"(No Puck Clamped in Processing Clamp:@axisName"Processing Clamp:bt["E/home/esp/esp2/utils/misc.rb:481:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3759 #-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&G' +138 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&H* +51 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear + "manipulator"&I(d +186 "core" ( + "manipulator"&J& +4 "core" &d  M ' +2 "manipulator"&K% +4 "core" %  \ #  +447 #t-> PC.open +2 .PC.seek :open +2 "processing"%L( +456 "core" ( +2 "processing"%M& +3 "core" &;\ +242 #t-> Flush +820 #-> Arm.garage + "manipulator"&N& +3 "core" &d A ' +2 "manipulator"&O% +4 "core" %  V  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&P(- +133 "core" ( +2 "manipulator"&Q& +3 "core" &-   < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &-   < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&S'w +95 "core" ' +9 "manipulator"&T& +4 "core" &-  < +2 "manipulator"&U% +3 "core" %y  * +2073 #t-> Hand.open +2 !o:Puck::Error: mesg" Hand is closed on FlushPuck:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +496 #-> exit +5 !o:Storage::Warning: mesg"#Exiting with FlushPuck in Hand:bt["6/home/esp/esp2/utils/storage.rb:563:in `writeAll'"2/home/esp/esp2/utils/storage.rb:558:in `each'"6/home/esp/esp2/utils/storage.rb:558:in `writeAll'"./home/esp/esp2/lib/filepath.rb:80:in `[]'"2/home/esp/esp2/lib/filepath.rb:80:in `append'"0/home/esp/esp2/lib/filepath.rb:79:in `open'"2/home/esp/esp2/lib/filepath.rb:79:in `append'"6/home/esp/esp2/utils/storage.rb:554:in `writeAll'"(/home/esp/esp2/utils/storage.rb:570"4/home/esp/esp2/lib/framework.rb:170:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"-/home/esp/esp2/lib/thread.rb:760:in `[]'"0/home/esp/esp2/lib/thread.rb:760:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +4 #mEXIT @1705585872.54UTC @1705585944.25UTC = =tMAIN =mMAIN_scheduler @UTC1705585945.94 #"core_reset"Sent BREAK +2 #t@38693 receive with ifg=0x10, ie=0xFD + #@39327 receive with ifg=0x10, ie=0xFD + #@39980 receive with ifg=0x10, ie=0xFD + #@40615 receive with ifg=0x10, ie=0xFD #@41249 receive with ifg=0x10, ie=0xFD + #@41884 receive with ifg=0x10, ie=0xFD + #@42519 receive with ifg=0x10, ie=0xFD #@42845 receive with ifg=0x80, ie=0xFD + #@43418 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +280 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +356 "Can" J\ "K- +2  J\ "K- #tPolling Can every 10:00 +3 #Cleanly exited at 13:51:12UTC18-Jan-24 +2 !o:Storage::Warning: mesg"Hand.holds FlushPuck:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #ESP.ready! will restore puck positions +25673 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %nvv\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ػb\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڂ f\ +2 .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'<& +3 "core" &xzv\ +2 "manipulator"&=& +4 "core" &- w < +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&>(- +2 "core" ( +2 "manipulator"&?& +4 "core" &-  < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &-  z < +2 .tForearm.seek :garage +2 "manipulator"&A'w +91 "core" ' +2 .tHand.close + "manipulator"&B/ +55 "core" / +2 "manipulator"&C& +3 "core" &-  < +2 "manipulator"&D% +3 "core" % {   Q  +3 .tForearm.seek :retract + "manipulator"&E' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&F(ӂ +282 "core" ( + "manipulator"&G& +4 "core" &ӑ% !   =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &ӑ% " $ D =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&I'? +99 "core" ' +2 "manipulator"&J& +3 "core" &Ӓ% =C +2 "manipulator"&K% +5 "core" %:  { +2 "collection"'L& +3 "core" &vw\ +3 "collection"'M& +5 "core" &wy\ +2 .tCC.seek :closed + "collection"'N(\\ +5 "core" &xx\  +9 &4yxx\ *z +10 &f|xx\ > +9 &owy\ M +9 &SRwy\ L +10 &SxwJ\ L +9 &Txz\ L +9 &Qxy\ L +10 &z{\ L +9 &Vxy\ L +10 &Wyy\ L +9 & Ww{\ K +9 &"dTwy\ K +10 &$&Txz\ K +9 &%Tyy\ K +9 &'Svy\ K +10 &)kRxy\ L +9 &+-Ryz\ L +10 &,Vxw\ L +9 &.Wwy\ L +9 &0tTx{\ K +10 &25Xzy\ L +9 &3Xxx\ L +9 &5Wwy\ K +10 &7|Uxy\ K +9 &9>Txx\ K +10 &;Uzx\ K +9 &<Vzy\ L +9 &>Yzz\ L +10 &@EX{x\ L +9 &BZyz\ L +9 &Cc\ M +10 &Eu\ P +9 &G3\ U +10 &H\ X +9 &J\ X +9 &Ll\ Y +10 &N,\ Z +9 &O\ [ +9 &Q\ Y +10 &So\ [ +9 &U1\ [ +10 &V\ ] +9 &X\ ^ +9 &Zn\ ^ +10 &\\x\ 6 +9 &\\%\ %n +9 ( + &\\\ #e +2 "collection"'M& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.44 + "collection"'O& +3 "core" &\\\ #e +2 .tHand.open +2 "manipulator"&P1 +54 "core" 1 +2 "manipulator"&Q% +3 "core" % : * , ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R' +93 "core" ' +315 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%S& +3 "core" &X\ +2 "manipulator"&T& +4 "core" &ө! (   :, +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +36 "manipulator"&U(ӂ +23 "core" ( +2 "manipulator"&V& +3 "core" &Ӈ ' " . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &Ӈ ) . +2 .tForearm.seek CC +2 "manipulator"&X'? +103 "core" ' + .tHand.close +2 "manipulator"&Y/ +61 "core" / +2 .tCC.seek :open + "collection"'Z( +449 "core" ( +2 "manipulator"&[& +3 "core" &Ӊ   - +2 "manipulator"&\\% +3 "core" % !   +3 .tForearm.seek :retract +2 "manipulator"&]' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&^( +350 "core" ( +2 "manipulator"&_& +3 "core" &   A $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &  i $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&a' +93 "core" ' +3 "manipulator"&b& +3 "core" &  \  $ +2 "manipulator"&c% +5 "core" %  C 4 +2 "processing"%d& +3 "core" &o\ +3 "processing"%e& +5 "core" &p\ +2 .tPC.seek :closed + "processing"%f(^ +5 "core" &o\ \ +9 &1yl\ )w +9 &dn\ > +10 &tse\ N +9 &9W[\ L +9 &Y_\ L +10 &Zm\ M +9 &~ZT\ M +9 &@\\b\ M +10 &\\c\ M +9 &[c\ M +10 & [`\ M +9 &"H\\g\ M +9 &$\ \\e\ M +10 &%Wn\ M +11 &'Ye\ L +7 &)QYc\ L +10 &+Y`\ M +9 &,\\_\ M +10 &.Wb\ M +9 &0XXe\ M +9 &2Zd\ M +10 &3Y`\ L +9 &5[c\ M +9 &7aYe\ L +10 &9"Zd\ M +9 &:\\l\ M +10 &<^g\ M +9 &>g\\e\ M +9 &@(\\d\ M +10 &Afc\ N +9 &Csg\ P +9 &Edd\ Q +10 &G!b\ R +9 &He\ S +10 &Jc\ S +9 &Lef\ S +9 &N$g\ T +10 &Oe\ S +9 &Qa\ T +9 &Sfl\ U +10 &U*j\ U +9 &V^\ T +9 &Xh\ T +10 &Zpc\ U +9 &\\3d\ T +10 &]zxg\ @ +9 &^Me\ C +9 &^xg\ < +10 ( + &^-e\ 7 +2 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 "processing"%g& +3 "core" &^-g\ 7 +3 .tHand.open + "manipulator"&h1 +64 "core" 1 +2 "manipulator"&i% +3 "core" %  ^ 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j' +96 "core" ' + "collection"'k& +4 "core" &ux~\ +417 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&l& +3 "core" & "  $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&m( +27 "core" ( +2 "manipulator"&n& +3 "core" & ) * A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +4 "core" &   +2 .tForearm.seek PC +2 "manipulator"&p' +93 "core" ' + .tHand.close +2 "manipulator"&q/ +59 "core" / +2 .tPC.seek :open +2 "processing"%r( +456 "core" ( +2 "manipulator"&s& +3 "core" &  \ C +2 "manipulator"&t% +4 "core" %   < D +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&v(- +120 "core" ( +2 "manipulator"&w& +3 "core" &-  > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &-   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&y'w +101 "core" ' +2 .tHand.open + "manipulator"&z1 +53 "core" 1 +2 "manipulator"&{% +3 "core" % }  ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +99 "core" ' +26326 "Can" M\ %1!5 +36924 #t-> exit +6 #mEXIT @1705586921.13UTC @1705586940.38UTC = =mMAIN_scheduler =tMAIN @UTC1705586942.19 #"core_reset"Sent BREAK +2 #t@31978 sendCRC with ifg=0x20, ie=0x7F + #@33813 sendCRC with ifg=0x08, ie=0x5F + #@42356 idle with ifg=0x84, ie=0x75 + #@43027 select with ifg=0x10, ie=0xF5 + #@43661 receive with ifg=0x10, ie=0xFD #@44296 receive with ifg=0x10, ie=0xFD + #@44930 receive with ifg=0x10, ie=0xFD #@45257 receive with ifg=0x80, ie=0xFD + #@48601 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +379 "Can" \ J\ 'Te- +  \ J\ 'Te- + #tPolling Can every 10:00 +2 #Cleanly exited at 14:08:41UTC18-Jan-24 +5 #Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission +6 ."Qmail"GoodNews.email "Starting DA_WCR_011024 w/pucks in tube 2\\n{3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@14:09:08, 26% flow, 22.1C, 10% humidity, 15.0psia, 13.788V, 0.369A, 56.831Ah, 5.09W",Subject: "DA_WCR_011024 begun" +3 #tPreparing to sleep until + 00:00:05 +6 #Asleep til + 00:00:05 + #Continuing at 14:09 +3 "Can" \ L\ 'Tw- +26 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +240 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [50, 50] #da and wsr are run simultanelously\\n/home/esp/esp2local/mission/DA_WCR_011024.rb:14\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@14:09:09, 26% flow, 22.1C, 10% humidity, 15.0psia, 13.788V, 0.381A, 56.831Ah, 5.25W",Subject: "Asleep until 14:09" +157 #"uploadLog"upsync +56 "Can" \ 'W& +4 #tPowering core bus +170 #"uploadLog"upsync +365 .tGate.power :raw,:ON +3 "sampler") +21 ) +2 "core"  +3 "collection"' +36 ' +5 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@14:09:57, 25% flow, 22.2C, 10% humidity, 15.0psia, 13.778V, 0.333A, 56.836Ah, 4.58W",Subject: "Started DA_WCR_011024 phase initialPurge; da [50, 50] #da and wsr are run simultanelously" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &z{\ +3 .tHand.open + "manipulator"&"1 +62 "core" 1 +2 "manipulator"&#& +4 "core" &  K \ +2 "manipulator"&$% +4 "core" %  P  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(- +178 "core" ( +5 "manipulator"&&& +11 "core" &- ] ) +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &'& +3 "core" &-  ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('w +88 #"uploadLog"upsync +10 "core" ' +2 .tHand.close + "manipulator"&)/ +61 "core" / +2 "manipulator"&*& +4 "core" &-  o ) +2 "manipulator"&+% +4 "core" % ω  +3 .tForearm.seek :retract + "manipulator"&,' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +286 "core" ( + "manipulator"&.& +4 "core" &Ӗ$  7 <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &Ӗ$ <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'? +94 "core" ' +2 "manipulator"&1& +4 "core" &ӗ$ <9 +2 "manipulator"&2% +4 "core" %@  ( +2 "collection"'3& +4 "core" &z{\ +3 "collection"'4& +5 "core" &xy\ +2 .tCC.seek :closed +2 "collection"'5(\\ +4 "core" &zz7\ +6 &{z\ < +10 &Ivzz\ 1 +9 &Mw|{{'\ F +10 &Z{{'\ L +9 &Q{z'\ L +9 &W{z(\ L +9 &CWyz'\ K +10 &T{z(\ K +9 &W{{\ L +10 &W{|(\ L +9 &JU{z'\ L +9 &! Qzz'\ L +10 &"Wzyh\ L +9 &$U{{\ L +10 &&RRx{\ L +9 &(R{y'\ K +9 &)Tyz)\ K +10 &+Wzy%\ L +9 &-[Wx{\ K +9 &/Szz&\ K +10 &0Xzz\ L +9 &2Xyz$\ K +9 &4bSy{#\ L +10 &6$Syz#\ L +9 &7Wyz(\ L +10 &9Y{y%\ L +9 &;jY{z\ L +9 &=,W{z\ L +10 &>X|z\ L +9 &@T{{"\ L +9 &BqW}{(\ L +10 &D0d(\ M +9 &Ey(\ P +10 &G'\ U +9 &IX%\ W +9 &K!\ X +10 &L!\ X +9 &N(\ Y +9 &P[#\ Y +10 &R(\ Y +9 &S$\ [ +10 &U!\ Z +9 &WZ$\ \\ +9 &Y\ ] +10 &Z&\ ] +9 &\\Oej\ 3 +9 &\\%\ &q +10 ( + &\\'\ ^ +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.27 +2 "collection"'6& +3 "core" &\\\ ^ +2 .tHand.open + "manipulator"&71 +65 "core" 1 + "manipulator"&8% +4 "core" % @  G ( +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +93 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &\\\ ^ +2 "collection"';% +4 "core" %h\ +2 .tCSV.dial CSR +2 "collection"'<  +124 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 5ml +2 "collection"'='s5 +1382 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +36 "collection"' +16 '>% +3 "core" %s4\ +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?' +676 "core" ' + .tCSV.dial :waste +2 "collection"'@ +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A'i +2008 "core" ' + #tPurging external Intake + "collection"'B& +4 "core" &\\n\ ^ +2 "collection"'C% +3 "core" %cm\ +2 .tCSV.dial :flush +2 "collection"'D  +42 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'E' +2487 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"'F + 'G  +45 "core" +28  +2 .tCTV.dial :intake + "collection"'H  +74 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I'i +2388 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +72 "core" +2 #tFlushing upper manifold + "collection"'K& +3 "core" &\\Z\ ^ +2 "collection"'L% +4 "core" %gW\  +2 .tCSV.dial :flush + "collection"'M  +71 "core"  +2 .tCS.seek 5ml +2 "collection"'N's5 +1296 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'O @ +39 "core" A +2 "collection"'P% +3 "core" %s6k\  +3 .tCS.seek 7ml + "collection"'Q'! +558 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'R +98 "core" ~ +2 .tCTV.dial :air +2 .CS.seek 0ml + "collection"'S'i +1665 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'T'3J +804 "core" ' + .tCSV.dial :waste +2 "collection"'U +42 "core" +2 .tCS.seek 0ml +2 "collection"'V'i +791 "core" ' +2 "collection"'W& +3 "core" &\\U\ ^ +2 "collection"'X% +4 "core" %h^\  +2 .tCSV.dial :flush + "collection"'Y  +41 "core"  +2 .tCS.seek 3ml +2 "collection"'Z'3J +823 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'[ @ +40 "core" A +2 "collection"'\\% +4 "core" %3N`\  +2 .tCS.seek 5.001ml +2 "collection"']'s9 +578 "core" ' + .tCSV.dial :air +2 "collection"'^ @ +5 "core" A +2 .tCS.seek 0ml + "collection"'_'i +1239 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'`'3J +809 "core" ' +2 .tCSV.dial :waste + "collection"'a +71 "core" +2 .tCS.seek 0ml +2 "collection"'b'i +766 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&c& +4 "core" &Ө  7 9( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&d(ӂ +15 "core" ( +2 "manipulator"&e& +4 "core" &ӈ  # - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &ӈ 1 - +3 .tForearm.seek CC + "manipulator"&g'? +92 "core" ' +2 .tHand.close + "manipulator"&h/ +55 "core" / +2 .tCC.seek :open + "collection"'i( +451 "core" ( +2 "manipulator"&j& +4 "core" &Ӎ  , +2 "manipulator"&k% +3 "core" % Q  +36 .tForearm.seek :retract +8 "manipulator"&l' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&m(- +275 "core" ( + "manipulator"&n& +4 "core" &- | +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &- \\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&p'w +103 "core" ' +2 .tHand.open + "manipulator"&q1 +60 "core" 1 +2 "manipulator"&r% +3 "core" % π  < +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +98 "core" ' +2 #tda sampling at most 50ml, wcr at most 50ml +4 ."Qmail"DAfans.email "Started da in tube 2 at 14:14:16UTC18-Jan-24\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@14:09:57, 25% flow, 22.2C, 10% humidity, 15.0psia, 13.778V, 0.333A, 56.836Ah, 4.58W",Subject: "da sampling at most 50ml, wcr at most 50ml" +3 #tLoading sh1 puck from tube 2 into Collection Clamp +2 "collection"'t& +3 "core" &z{h\ +2 "manipulator"&u% +5 "core" %   \ +2 "storage"(v% +4 "core" %   \ \ ) +2 "storage"(w. +3 "core" .(,y +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(x(  +353 #"uploadLog"upsync +318 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (y& +3 "core" & \ \ +2 "manipulator"&z& +4 "core" &- ( | +2 "manipulator"&{% +4 "core" %  \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&|( +172 "core" ( +2 "manipulator"&}& +4 "core" &  @ 4 +2 "storage"(~& +4 "core" &  B 1\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +91 "core" ' + "storage"(& +4 "core" &  \ _\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +286 "core" ' + "storage"(- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ \  \  +2 "manipulator"&& +4 "core" & 4 +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & 4 +2 "storage"( & +4 "core" & \  L\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +36 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"& / +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" & M 4 + "manipulator"&% +4 "core" %  S B +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +140 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&& +40 "core" &ӈ 7 +8 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӈ 7 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +3 "manipulator"&& +3 "core" &ӈ  T 7 +3 "manipulator"&% +3 "core" %5 0  +3 "collection"'& +3 "core" &xyp\ +3 "collection"'\ & +5 "core" &xwj\ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" &zxj\ +6 &yyo\ 6 +9 &?Ivxwc\ 0 +10 &ru~wxm\ E +9 & Yy{c\ K +9 &Tz{j\ K +10 &XyzW\ L +9 &fRzzj\ K +10 &(U|zq\ K +9 &Txyo\ K +9 &Wzyn\ K +10 &nTzyo\ K +9 &!0Tx{g\ K +9 &"Txwl\ K +10 &$Tzyd\ K +9 &&uTxzY\ K +10 &(8Uxy\\\ K +9 &)Tz{]\ K +9 &+Tzx\\\ J +10 &-}Uyz\\\ K +9 &/@Tyz]\ K +10 &1TzzU\ K +9 &2TyzS\ K +9 &4TyzT\ K +10 &6HUzyW\ K +9 &8\ U{zP\ K +9 &9UzzL\ K +10 &;W{yL\ K +9 &=PUz{Y\ K +9 &?V{|Q\ K +10 &@Tz{L\ K +9 &B\\||V\ L +10 &DTbY\ L +9 &FrT\ N +9 &GP\ R +10 &IR\ U +9 &K;Q\ X +9 &LN\ W +10 &NK\ X +9 &P}M\ Y +10 &R=F\ Z +9 &SK\ Z +9 &UK\ [\ +10 &WyM\ ] +9 &Y=J\ \\ +9 &ZI\ ] +10 &\\]OJ\ 7 +9 &\\ F\ ^ +6 ( + "collection"'\ & +4 "core" &\\C\ ^ +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.24 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&!% +4 "core" % 5  M  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +97 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")#+ +2 "core" + +2 "sampler")$% +4 "core" %ڄ k\ @ +2 "collection"'&& +3 "core" &\\9\ ^ +4 "Can"\ ]\ )2$ +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 "sampler")' +15 "core" +2 .tSS.reconfigure :fast +2 "sampler")#.0X% +3 "core" %Q* ]\  +32 "collection"'=% +3 "core" %m~-\ +2 "sampler")@% +39 "core" %Q* b\  +10 "collection"'?% +4 "core" %m0\ +2 "sampler")B% +3 "core" %Q* j\  +42 "collection"'C% +3 "core" %m/\ +2 "sampler")D% +4 "core" %Q* h\  +2 .tIntake.select :close + "sampler")0 +9 )A% +3 "core" %Q* f\  +2 .tSSV.dial :exhaust +2 "sampler")G  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")F'ڀ +396 "core" ' +2 .tExhaust.select :close + "sampler") +10 #tSampling 50.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X k\  +69 "collection"'\ % +3 "core" %mV\ +2 "sampler")'% +3 "core" %;WU `\  +79 "collection"'% +3 "core" %mQ\ +2 "sampler")% +3 "core" %< _\  +89 "collection"'#% +3 "core" %ma\ +2 "sampler")*% +3 "core" % _\ 9 +100 "collection"')% +3 "core" %md\ +2 "sampler")+% +4 "core" % h\ 9 +2 .tIntake.select :close + "sampler")0 +10 )% +3 "core" % b\ 9 +2 .tSSV.dial :exhaust + "sampler")(  +71 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")'ڀ +881 "core" ' + .tExhaust.select :close + "sampler") +10 #tSampled 50.0ml + #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close + "collection"'/& +3 "core" &\\a\ ^ +2 ."airStroke"CSV.dial :waste +3 "sampler")%% +2 "collection"'2 +4 "core" %ڃ [\  +3 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler")1  +4 "core" +2 ."airStroke"CS.seek 0ml + "collection"'3'i +3 "core" ' +39 ."airStroke"CSV.dial :air +8 "collection"'. @ +68 "core" A +3 ."airStroke"CS.seek 10ml + "collection"'6' +57 "core"  +2 .tCTV.dial :air + "collection"'7  +72 "core" +2 .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")8 +128 "core"  +3 ."prepCSV"CTV.dial CSV,avoiding: :intake +3 .tSS.seek 0ml +2 "collection"':  +2 "sampler");'ڀ +7 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust + "sampler")4  +120 "core" ~ +10  +549 ' +2 .tSSV.dial between CBV and plug +2 "sampler")< +44 "core" +2 .tCBV.dial between SSV and waste2 +2 "collection"'0  +29 "core"  +2 "collection"'% +4 "core" %P\  +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +3 "collection"'=  + '>  +20 "core"  +26  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< b +3 .tCS.seek 0ml +2 "collection"'@'i +1850 "core" '/ U\ إ +3 "collection"'?% +3 "core" %/ U\  +2 "sampler")B% +3 "core" %ڃ `\  +2 #tBubblePoint: Intake @24.2psia, Outlet @0.7psia + .CBV.dial SSV +2 "collection"'C @ +30 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."airStroke"CS.seek 10ml +2 "collection"'_' +1429 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")a +127 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.reconfigure :exhale +2 "collection"'`  +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'}'i +86 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")~ +129 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +103 "collection"'49 +2 "core" 9r9 +103 "collection"'9 +3 "core" 9w6 +102 "collection"'<9 +3 "core" 9 {3 +102 "collection"'09 +3 "core" 9L0 +103 "collection"'9 +3 "core" 9t- +102 "collection"'=9 +10 "core" 9* +102 "collection"'>9 +3 "core" 9( +102 "collection"'69 +3 "core" 9' +103 "collection"'?9 +3 "core" 9 % +102 "collection"'B9 +3 "core" 9-" +103 "collection"'C9 +2 "core" 9L! +103 "collection"';9 +3 "core" 9j +102 "collection"',9 +3 "core" 9 +102 "collection"'A9 +4 "core" 9 +102 "collection"'G9 +3 "core" 9 +102 "collection"'D9 +3 "core" 9 +102 "collection"'K9 +3 "core" 9 +103 "collection"' 9 +2 "core" 9 +103 "collection"'J9 +3 "core" 9 \  +103 "collection"'L9 +3 "core" 9  +102 "collection"'F9 +3 "core" 9 . +102 "collection"'H9 +3 "core" 9 = +103 "collection"'E9 +2 "core" 9 L +103 "collection"'N9 +3 "core" 9 Z +102 "collection"'@9 +3 "core" 9 f +102 "collection"'M9 +3 "core" 9 s +103 "collection"'W9 +2 "core" 9  +103 "collection"'P9 +3 "core" 9  +102 "collection"'R9 +4 "core" 9  +102 "collection"'T9 +3 "core" 9  +102 "collection"'X9 +3 "core" 9  +103 "collection"'U9 +2 "core" 9  +103 "collection"'V9 +3 "core" 9  +102 "collection"'I9 +3 "core" 9  +103 "collection"'Z9 +3 "core" 9  +103 "collection"'[9 +2 "core" 9  +103 "collection"'\\9 +3 "core" 9 \  +102 "collection"']9 +3 "core" 9  +102 "collection"'O9 +5 "core" 9  +102 "collection"'Y9 +3 "core" 9  +102 "collection"'^9 +3 "core" 9  +102 "collection"'a9 +3 "core" 9  +103 "collection"'`9 +2 "core" 9 $ +103 "collection"'e9 +3 "core" 9 ( +102 "collection"'Q9 +3 "core" 9 , +103 "collection"'f9 +2 "core" 9 0 +103 "collection"'h9 +3 "core" 9 4 +102 "collection"'-9 +3 "core" 9 9 +102 "collection"'_9 +4 "core" 9\ = +102 "collection"'59 +3 "core" 9\ A +102 "collection"'j9 +3 "core" 9\ E +102 "collection"'99 +3 "core" 9\ J +103 "collection"'g9 +2 "core" 9\ N +103 "collection"'n9 +3 "core" 9\ R +103 "collection"'o9 +3 "core" 9\ V +102 "collection"'c9 +3 "core" 9\ Z +102 "collection"'q9 +3 "core" 9\ !_ +102 "collection"'r9 +3 "core" 9\ $c +103 "collection"'d9 +3 "core" 9\ 'g +103 "collection"'S9 +2 "core" 9\ +k +103 "collection"'p9 +3 "core" 9\ .o +102 "collection"'l9 +3 "core" 9\ 3t +102 "collection"'w9 +3 "core" 9\ 6x +102 "collection"'9 +3 "core" 9\ 9| +103 "collection"'y9 +9 "core" 9\ > +103 "collection"'{9 +4 "core" 9\ A +102 "collection"'v9 +3 "core" 9\ C +102 "collection"'~9 +3 "core" 9\ F +103 "collection"'k9 +3 "core" 9\ H +103 "collection"'z9 +2 "core" 9\ I +103 "collection"'}9 +3 "core" 9\ L +102 "collection"'9 +3 "core" 9\ L +103 "collection"'9 +2 "core" 9\ O +103 "collection"'s9 +3 "core" 9\ O +103 "collection"'9 +3 "core" 9\ R +102 "collection"'m9 +3 "core" 9\ U +103 "collection"'u9 +2 "core" 9\ W +103 "collection"'t9 +3 "core" 9\ [ +102 "collection"'9 +3 "core" 9\ \\ +103 "collection"' 9 +3 "core" 9\ ` +102 "collection"' 9 +3 "core" 9\ b +102 "collection"'9 +3 "core" 9\ g +103 "collection"'9 +2 "core" 9\ i +103 "collection"'9 +3 "core" 9\ n +103 "collection"'|9 +3 "core" 9\ r +102 "collection"'9 +3 "core" 9\ t +102 "collection"'9 +3 "core" 9\ y +102 "collection"' 9 +3 "core" 9\ } +3 .tCH.hold 10:00,70C +3 "collection"' `\ `\ {  +2 '9 +7 "core"  + 9\ }\ } + "collection"'% +4 "core" %`\ \  /\ +2 #tBegun lysing Collection Puck Heater at 68.1C/30.3psia +35624 "Can"\ \ 2y% +24364 "core" ` +2 "collection"'9 +3 "core" 9\  +2 "collection"'% +4 "core" %` \ +2 #tEnded lysing Collection Puck Heater at 70C/29.8psia +2 .CS.seek 0ml + "collection"''i +359 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'i @ +99 "core" A +2 .tCSV.dial :air +2 "collection"' @ +40 "core" ? +3 .tCS.seek 5ml +2 "collection"'!'s5 +1376 "core" ' +2 .tCSV.dial CTV + "collection"'$  +43 "core"  + .tdelay 2 seconds +202 .CSV.dial :air + "collection"'& @ +42 "core" > +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'\  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'' @ +42 "core" > +2 .tdelay 2 seconds +207 .CS.seek 0ml + "collection"''i +1382 "core" ' +2 "collection"'% +3 "core" %n a c\  +2 #tPuck @59.2psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'# +96 "core" + .tCBV.dial CSV +2 "collection"'*  +28 "core"  +2 "collection"')% +3 "core" %n * +\  +3 .tCS.seek 5.001ml + "collection"'+'s: +1353 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'  +43 "core" + "collection"'(% +4 "core" %s8\ ' \  +2 .tCS.seek 7ml +2 "collection"''# +586 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'/ @ +39 "core" ? +3 .tCS.seek 10ml + "collection"'%' +854 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'2 ` +112 "core" ^ +2 #tLysing Complete + "collection"'.& +3 "core" &\\OQ\ ^ +3 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&1% +3 "core" %    +2 "storage"(7% +48 "core" % 9 5 \  +3 "storage"(b. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(3(C +357 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &E @\ g\ +3 "manipulator"&:& +2 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &ӡ  4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek CC +2 "storage"(4'r +2 "manipulator"&(ӂ +20 "core" ( +2 "manipulator"&<& +4 "core" &ӆ  ! $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &ӆ   8 $ +3 .tForearm.seek CC + "manipulator"&'? +97 "core" ' + .tHand.close + "manipulator"&=/ +59 "core" / +2 .tCC.seek :open + "collection"'>( +74 "core" ' +2 "storage"(6- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'1 +49 "core" ' +311 ( + "storage"(B& +4 "core" &C [ ]\ +2 "storage"(C& +4 "core" &C X X :\ +2 "manipulator"&;& +3 "core" &ӆ  ? $ +2 "manipulator"&,% +4 "core" % .  \\ +3 .tForearm.seek :retract + "manipulator"&A' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&G( +176 "core" ( + "manipulator"&D& +4 "core" &    +2 "storage"(K& +4 "core" &C | r _\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"& '8 +93 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +55 "core" 1 +2 "manipulator"&F% +4 "core" % =   +2 "storage"(H& +4 "core" &C k n \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 305 counts + "manipulator"&E'i +14 "core" ' +2 "manipulator"&N& +4 "core" &  +2 "storage"(@& +4 "core" &C \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&M' +15 "core" ' +2 "storage"(W% +4 "core" %7 b\ +3 ."downElevator"SE.seek :down +3 "storage"(P' +99 (R% +3 "core" %n> q c Y\ U_ +2 "manipulator"&T% +4 "core" % > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X' +90 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'U& +4 "core" &LL +2 "manipulator"&V& +4 "core" & )  +2 "manipulator"&I% +3 "core" %  A  +3 .tElbow.seek FlushPuck::Garage + "manipulator"&Z(- +170 "core" ( +3 "manipulator"&[& +46 "core" &- ? ] +4 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &\\& +3 "core" &- ] +3 .tForearm.seek :garage + "manipulator"&]'w +98 "core" ' +2 .tHand.close + "manipulator"&O/ +54 "core" / + "manipulator"&Y& +4 "core" &-   ] +2 "manipulator"&^% +4 "core" % ς k +2 .tForearm.seek :retract +2 "manipulator"&a' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&`(ӂ +277 "core" ( +2 "manipulator"&e& +4 "core" &x+  5 Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &x+  Cm +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'? +106 "core" ' +2 "manipulator"&h& +3 "core" &ӛ%   a >J +3 "manipulator"&-% +3 "core" %' F +3 "collection"'_& +4 "core" &MO6\ +2 "collection"'5& +5 "core" &OMg\ +2 .tCC.seek :closed +2 "collection"'j(\\ +4 "core" &LN\ +8 &;KM\ %g +9 &ZvKN\ 7 +10 &wLN\ J +9 &UNN\ J +10 &VMNk\ J +9 &KXKNM\ J +9 & ZMKS\ K +10 &UMMW\ J +9 &WOLF\ J +9 &TTLL+\ I +10 & XMMf\ J +9 &!ZLMp\ K +10 &#TMM\ J +9 &%ZUMM\ J +9 &'UJL\ J +10 &(WLM\ J +9 &*VJM\ J +9 &,bWMM\ J +10 &.$WLN\ J +9 &/WLMl\ J +10 &1WMM_\ J +9 &3jVLNG\ J +9 &5-SLK:\ J +10 &6XNL|\ J +9 &8WKNz\ J +9 &:rYNLl\ J +10 &<4XMN\ J +9 &=XKN(\ K +10 &?XLLo\ J +9 &AyXLM\ K +9 &C:\\LLe\ K +10 &DkNK]\ M +9 &FNL\ R +9 &H_MO\ V +10 &JOO\ W +9 &KMO\ W +10 &MOQ\ W +9 &OaPP\ X +9 &Q$NP\ X +10 &RPP\ Y +9 &TPQ\ Z +9 &VcPS\ Z +10 &X PQw\ \\ +9 &YPQ`\ \\ +10 &[ORS\ I +9 &\\:PQC\ . +9 &\\nRPB\ U +3 ( + "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 +2 "collection"'9& +3 "core" &\\mRQ\ U +2 .tHand.open + "manipulator"&g1 +61 "core" 1 + "manipulator"&n% +4 "core" % '  \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' +2 .tPSV.dial PSR + "processing"%c +140 "core" +2 "processing"%q% +3 "core" %}\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%r'+ +1609 "core" ' +2 .tdelay 5 seconds +501 .PSV.dial :waste1 +3 "processing"%d  +44 "core"  +2 .tPS.seek 0ml + "processing"%S'ؾ +1628 "core" ' +2 .tPSV.dial PSR + "processing"%p +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%l' +2642 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%w + "collection"'  +7 "core" @ + "processing"%y +3 "core" @ +2 "processing"%{  +61 "core" +93  +2 .tPSV.dial :mixloop + "processing"%v +111 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'~  +20 "core" +2 .tPTV.dial :PRVmixing + "processing"%k  +128 "core" +9 .tPS.seek 0ml +2 "processing"%z'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%}  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2640 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%s'ؾ +2627 "core" ' +2 .tPSV.dial :air + "processing"%  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%m' +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"%u +42 "core" +3 .tPS.seek 0ml + "processing"%t'ؾ +2639 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӫ"  <; +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"& (ӂ +23 "core" ( +2 "manipulator"& & +3 "core" &|   O # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &|  3 # +2 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'|( +447 "core" ( +2 "manipulator"&& +3 "core" &Ӏ  R # +2 "manipulator"&% +4 "core" % )  Y t +2 .tForearm.seek :retract +2 "manipulator"& ' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +278 "core" ( + "manipulator"&& +4 "core" &-  - ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- p ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +105 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"&% +4 "core" % z  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tPSV.dial :mixloop + "processing"%i +4 "core" +2 .tPTV.dial :PRVmixing + "processing"%  +5 "core" +2 ."connect"PRV.dial CBV +2 .tCBV.dial PRV +3 "processing"%  + "collection"'$  +15 "core"  +2 +2 .tCTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'&& +3 "core" &gh  +2 "manipulator"&\ % +5 "core" %  b  + "storage"('% +4 "core" % X\  +2 "storage"(!. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +3 "core" & z g\ +2 "manipulator"&*& +4 "core" &- Y ^ +2 "manipulator"&)% +3 "core" %  C  +43 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +173 "core" ( + "manipulator"&& +4 "core" &  y , +2 "storage"((& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&+'S +100 "core" ' +2 "storage"(/& +3 "core" & *\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +291 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (.& +2 "core" & S b \  +2 "manipulator"&1& +4 "core" & V , +2 .tElbow.seek 2 +2 "manipulator"&7( +4 "core" ( +2 "manipulator"&b& +3 "core" & O , +2 "storage"(x& +4 "core" & u t Z\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&8'Ͻ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(0' +8 "core" & , + "manipulator"&=% +4 "core" %  [ +2 .tForearm.seek :retract +2 "manipulator"&6' +99 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +26 "core" ( +2 "manipulator"&"& +3 "core" &Ӏ r / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӏ f / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&4'? +100 "core" ' + "manipulator"&B& +4 "core" &Ӏ   / +2 "manipulator"&C% +5 "core" %4 - } +2 "collection"';& +3 "core" &gl; +3 "collection"',& +5 "core" &kl* +2 .tCC.seek :closed + "collection"'D(\\ +5 "core" &hj\ +7 &<hk\ %f +10 &Z}ji\ 7 +9 &xjk\ J +9 &Wlk\ J +10 &Vik\ J +9 &LWkk\ J +10 &Wji\ J +9 &Wiln\ K +9 &Ukk[\ J +10 &UUjk?\ J +5 "Can" F\ 6{W, +4 "core" & Wjl<\ J +9 &!Xjk\ J +10 &#Wkl\ J +9 &%]Vjk\ J +10 &'Wjh\ J +9 &(Wmk\ J +9 &*Wkh\ J +10 &,dWkk\ J +9 &.&Wii\ J +10 &/Wik\ J +9 &1Tjk\ J +9 &3mVglw\ J +10 &5.Wjj\ J +9 &6Yji\ K +9 &8Wik\ J +10 &:sXji\ K +9 &<6Xkj\ J +10 &=Zik\ J +9 &?Xkl\ J +9 &A|Ukl\ J +10 &C<]lk\ K +9 &Dblj\ L +9 &Fhwts\ L +10 &Ht}|j\ P +9 &J+}~b\ T +10 &K~}R\ V +9 &M~R\ W +9 &OgE\ W +10 &Q)~A\ W +9 &R~|2\ X +9 &T}~.\ X +10 &Vi~ \ Y +9 &X)|{\ Z +9 &Y~}\ [ +10 &[}~\ H +9 &\\2{|\ . +10 &\\s|~\ P +2 ( +2 "collection"',& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 + .Hand.open + "manipulator"&K1 +60 "core" 1 + "manipulator"&% +4 "core" % B  H o +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +40 "manipulator"&' +99 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'L  +127 "core"  +2 .tCSV.dial CTV + "collection"'F  +30 "core"  +2 .tPS.seek 2.5ml +2 "processing"%H' +2630 "core" ' + "collection"'N% +4 "core" %vxv\ +3 .tCS.seek 4.501ml + "collection"'@'c> +1486 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%W  +44 "core"  +2 .tdelay 2 seconds +201 .PSV.dial :waste2 +2 "processing"%A  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%R'ؾ +2635 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'T ` +30 "core" ^ +2 .tCSV.dial :air + "collection"'G @ +42 "core" ? +3 .tCS.seek 10ml + "collection"' ' +1489 "core" ' + .tCSV.dial CTV +2 "collection"'E  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'U'i +2638 "core" ' +2 .tCBV.dial :waste1 + "collection"'V @ +27 "core" ? + .tdelay 5 seconds +503 .CTV.dial :air,avoiding: :intake + "collection"'I  +129 "core" +2 "collection"'?& +3 "core" &\\ny\ P +3 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&M% +3 "core" %  G  +2 "storage"([% +4 "core" %  \  +2 "storage"(\\. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(P(C +372 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +2 (J& +4 "core" &A\ \  b\ +2 "manipulator"&O& +3 "core" &Ӌ  x - +2 "manipulator"&Y% +4 "core" %  %  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&^( +156 "core" ( + "manipulator"&X& +4 "core" &     +2 "storage"(]& +3 "core" &A Y X \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&e' +95 "core" ' +2 "storage"(Q& +3 "core" &A Y X /\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +298 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&-& +3 "core" &    +2 "storage"(_& +4 "core" &A 5 5 +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&a'8 +22 "core" ' + .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +2 "core" -' +47 .tSE.seek 0.17 Pucks below Top Plate + "storage"(g'z +28 "core" ' +2 "manipulator"&n% +4 "core" %A   : +2 "storage"(5& +3 "core" &A 9 : %\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 309 counts + "manipulator"&c'm +16 "core" ' +4 "manipulator"&q& +8 "core" & c  +3 "storage"(f& +6 "core" &A Y X \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&d' +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(r' +35 "core" ' + "manipulator"&p& +4 "core" & f  +2 "manipulator"&S% +4 "core" % v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&y(ӂ +158 "core" ( + "manipulator"&& +4 "core" &ӌ%  \ 5 >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &ӌ%   >N +2 .tForearm.seek CC +2 "manipulator"&v'? +93 "core" ' +2 .tHand.close + "manipulator"&~/ +63 "core" / +2 .tCC.seek :open + "collection"'k( +451 "core" ( +2 "storage"(l& +3 "core" &A Z ^ V\ +2 "storage"(}& +4 "core" &A Y Y\ +2 "manipulator"&z& +3 "core" &Ӭ  , :. +2 "manipulator"&% +4 "core" % C +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&( +159 "core" ( + "manipulator"&s& +4 "core" &  |  +2 "storage"(u& +4 "core" &A g f \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&m'8 +97 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +4 "core" % <  +2 "storage"(& +4 "core" &A g f %\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 304 counts +2 "manipulator"&`'h +22 "core" ' +3 "manipulator"&o& +3 "core" &    +2 "storage"(j& +4 "core" &A \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&' +22 "core" ' +2 "storage"(% +3 "core" % \ +46 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +3 "core" %I L V `\ V` +2 "manipulator"&% +3 "core" % ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%  +72 "core" +2 .tPS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%i +42 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%  +44 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop + "processing"% +44 "core" +2 .tdelay 1 second +101 .PSV.dial :air +3 "processing"%  +53 "core" +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%$'ؾ +2635 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%&& +3 "core" &\  +3 "manipulator"&\ & +3 "core" & w  +2 "manipulator"&'% +4 "core" %  3  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&!(- +173 "core" ( +2 "manipulator"&& +3 "core" &-   B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &- h B +3 .tForearm.seek :garage + "manipulator"&#'w +97 "core" ' + .tHand.close +2 "manipulator"&*/ +53 "core" / +2 "manipulator"&)& +3 "core" &-  % B +2 "manipulator"&% +4 "core" % ω    +3 .tForearm.seek :retract + "manipulator"&(' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&/( +117 "core" ( +2 "manipulator"&& +3 "core" &  -  +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 && +3 "core" & Q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&2' +90 "core" ' +2 "manipulator"&.& +4 "core" &    +2 "manipulator"&1% +3 "core" %  - +3 "processing"%b& +4 "core" &\  +3 "processing"%x& +5 "core" &r\  +2 .tPC.seek :closed +2 "processing"%:(^ +4 "core" &\  +8 &7}\ +{ +10 &g\ ? +9 &cp\ N +9 &&X\ M +10 &Z\ M +9 &X\ L +9 &nZ\ M +10 &0^\ M +9 &Y\ M +10 &Y\ M +9 & v]\ M +9 &"9Z\ L +10 &#[\ M +9 &%X\ M +9 &'~Z \ M +10 &)@Y\ M +9 &+Z \ M +10 &,Z\ M +9 &.Y\ M +9 &0H[\ M +10 &2\ [\ M +9 &3[\ L +9 &5[\ M +10 &7P[\ M +9 &9_\ M +10 &:\\\ M +9 &<\\\ M +9 &>X_\ M +10 &@^\ M +9 &Ae\ N +9 &Cp\ O +10 &EU}\ P +9 &G\ R +10 &H\ S +9 &J\ R +9 &LW\ R +10 &N\ S +9 &O\ S +9 &Q\ T +10 &SZ\ T +9 &U\ T +10 &V\ T +9 &X\ T +9 &Zb\ T +10 &\\$\ T +9 &]\ 1 +9 &^1n\ J +46 ( +4 &^&\ 4 +3 &^&\ 4 + &^&\ 4 + &^&\ 4 +2 &^&\ 4 + &^&\ 4 +2 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.60 + "processing"%<& +4 "core" &^&\ 4 +2 .tHand.open + "manipulator"&=1 +58 "core" 1 +2 "manipulator"&% +3 "core" %  @ - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +97 "core" ' + .tPRV.dial :air +2 "processing"%"  +44 "core"  +2 .tPSV.dial :mixloop + "processing"% +42 "core" +2 "processing"%% +4 "core" %ؼ\ +2 .tPS.seek 0.3ml +2 "processing"%8' +389 "core" ' + .tPSV.dial PSR +2 "processing"%B +101 "core"  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml +2 "processing"%7'2 +489 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%C' +1915 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"%; +102 "core" + .tPTV.dial :mixing +2 "processing"%0 @ +72 "core" A + .tPBV.dial :waste2 +2 "processing"%6  +92 "core"  +2 .tPS.seek 0ml +2 "processing"%|'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&K& +4 "core" & _  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +4 "core" ( + "manipulator"&,& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" & O  +2 .tForearm.seek PC +2 "manipulator"&4' +92 "core" ' + .tHand.close + "manipulator"&F/ +54 "core" / +2 .tPC.seek :open + "processing"%t( +458 "core" ( +2 "manipulator"&N& +3 "core" & b  +2 "manipulator"&%% +3 "core" %  ` = +3 .tForearm.seek :retract + "manipulator"&W' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&A(- +128 "core" ( +2 "manipulator"&H& +3 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&G'w +103 "core" ' + .tHand.open + "manipulator"&@1 +62 "core" 1 + "manipulator"&E% +4 "core" % | \  E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%V& +3 "core" &\ +2 "manipulator"&I% +5 "core" %  h  + "storage"(?% +4 "core" % 1\  +2 "storage"(M. +3 "core" .(C +45 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"([(  +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +3 "core" &  8\  +2 "manipulator"&& +3 "core" &- d +2 "manipulator"&J% +5 "core" %  F  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&O( +169 "core" ( +2 "manipulator"&Y& +3 "core" &  @ ( +2 "storage"(X& +4 "core" &  T\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&]'S +96 "core" ' +2 "storage"(Q& +3 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +313 "core" ' +2 "storage"(- +4 "core" -', + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" & N\  +2 "manipulator"&-& +5 "core" & f ( +2 .tElbow.seek 2 + "manipulator"&_( +4 "core" ( +2 "manipulator"&9& +3 "core" &  ( +2 "storage"(n& +3 "core" & -\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&5'Ͻ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +3 "storage"(p' +5 "core" &  ( +3 "manipulator"&S% +3 "core" % Ϸ % +3 .tForearm.seek :retract + "manipulator"&e' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&^( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&Z& +3 "core" & R  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" & ,  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c' +98 "core" ' +2 "manipulator"&g& +4 "core" &  c  +2 "manipulator"&% +3 "core" % ? +3 "processing"%{& +3 "core" &\ +3 "processing"%d& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%>(^ +3 "core" &\ +7 &5\ $c +9 &V\ 7 +10 &{\ K +9 &U\ M +10 &uW\ L +9 &7T\ L +9 &Z\ L +10 &Z\ L +9 &}W\ L +9 &@X\ L +10 & Z\ M +9 &!Y\ M +9 &#Z\ M +10 &%HU\ L +9 &' [\ L +10 &(W\ L +9 &*W\ M +9 &,NZ\ M +10 &.Y\ M +9 &/\\\ L +9 &1Z\ M +10 &3VZ\ M +9 &5Y\ L +10 &6Y\ L +9 &8\\\ M +9 &:_W\ L +10 & +9 &p{{\ M +9 &NRzx\ K +10 &Vyx\ L +9 &Qwz\ K +10 &Ryz\ L +9 &UU{y\ L +9 &Uy{\ L +10 &Uyz\ L +9 & Qyw\ K +9 &"^Vzy\ K +10 &$ Rwy\ K +9 &%Rxy\ K +10 &'Rxy\ K +9 &)fSz{\ K +9 &+(Rxz\ K +10 &,Qyx\ K +9 &.Ww{\ K +9 &0nWwy\ K +10 &2/U{x\ L +9 &3Ux{\ L +10 &5Uyz\ L +9 &7vTzz\ K +9 &97S{z\ L +10 &:Wzz\ K +9 &<Yyz\ L +9 &>}Vzz\ L +10 &@@T}|\ K +9 &BUz{\ L +10 &Cb~|\ M +9 &E}r\ N +9 &G3\ R +10 &H\ W +9 &J\ X +9 &Lk\ W +10 &N+\ X +9 &O\ Y +10 &Q\ Y +9 &Sn\ Y +9 &U)\ [ +10 &V\ \\ +9 &X\ \\ +9 &Zl\ \\ +10 &\\y\ 4 +9 &\\'\ "f +9 ( +2 &\\\ !a +2 "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 +2 "collection"'X& +3 "core" &\\\ !a +2 .tHand.open + "manipulator"&Q1 +53 "core" 1 + "manipulator"&A% +4 "core" % @ " )  N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' + .tPSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%h'+ +1610 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%-  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%9'ؾ +1613 "core" ' +2 .tPSV.dial PSR + "processing"%n +44 "core"  +2 .tPSR.select :air + "processing"% +11 .tPS.seek 2.5ml + "processing"%q' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%f  + "collection"'S  +32 "core" +122  +2 .tPSV.dial :mixloop + "processing"%O +111 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"']  +14 "core" +2 .tPTV.dial :PRVmixing + "processing"%  +72 "core" +2 .tPS.seek 0ml + "processing"%5'ؾ +2637 "core" ' +2 .tPSV.dial :air + "processing"%Z  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%a' +2627 "core" ' +2 .tPSV.dial :mixloop +46 "processing"%_ +43 "core" +2 .tPS.seek 0ml +2 "processing"%g'ؾ +2636 "core" ' +2 .tPSV.dial :air + "processing"%  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%{' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%p +42 "core" +2 .tPS.seek 0ml +2 "processing"%e'ؾ +1352 "Can"\ b\ <35 +1283 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&t& +4 "core" &Ӥ  " 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&~(ӂ +14 "core" ( +2 "manipulator"&w& +3 "core" &Ӌ ! ) 1 , +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +4 &d& +2 "core" &Ӌ   R , +3 .tForearm.seek CC + "manipulator"&}'? +100 "core" ' +2 .tHand.close + "manipulator"&z/ +59 "core" / +3 .tCC.seek :open + "collection"'c( +447 "core" ( +2 "manipulator"&& +3 "core" &Ӛ  ] * +2 "manipulator"&s% +4 "core" %  K +2 .tForearm.seek :retract +2 "manipulator"&u' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&v(- +282 "core" ( +2 "manipulator"&y& +3 "core" &- \  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &-  Z 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +99 "core" ' +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&o% +3 "core" % π  c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j' +94 "core" ' +2 ."da"delayUntil "15:03:45.27" +2 #"WCR"Whole Cell Archive sampling 50ml +2 #Loading wcr puck from tube 2 into Collection Clamp + "collection"'& +5 "core" &ts"\ + "manipulator"&% +4 "core" %    T  +2 "storage"(% +4 "core" % / % F\  +2 "storage"(. +4 "core" .(  + "storage"(& +5 "core" &  % 7\  +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 + "storage"(m(  +11 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" & \ \  \  +3 "manipulator"&r& +3 "core" &-   8 +2 "manipulator"&% +4 "core" %   N  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&( +174 "core" ( +2 "manipulator"&& +3 "core" & \  E , +2 "storage"(R& +4 "core" &  P \  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +47 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&i'S +99 "core" ' +2 "storage"(& +4 "core" &    v\  +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"( 'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" & \ \ +2 "manipulator"&&& +4 "core" &  E , +2 ."WCR"Elbow.seek 2 +2 "manipulator"&'( +4 "core" ( + "manipulator"&& +4 "core" &   @ , +2 "storage"(3& +4 "core" & \ \  \ +3 ."WCR"Forearm.seek 2 + 300 counts + "manipulator"&'Ͻ +24 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&\ / +53 "core" / +3 !"WCR"o:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"2/home/esp/esp2/protocol/2G/wcr.rb:24:in `wcr'"0/home/esp/esp2/protocol/2G/DA.rb:58:in `da'";/home/esp/esp2/protocol/2G/DAprocess.rb:368:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:56:in `da'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:14"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:10"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(*' +8 "core" & \  P , +2 "manipulator"&l% +4 "core" %  5 +3 ."WCR"Forearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &ӓ    8 +2 ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +4 "core" &ӓ  ( I 8 +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek CC +2 "manipulator"&'? +105 "core" ' +3 "manipulator"&1& +3 "core" &Ӕ ) # 8 +3 "manipulator"&b% +3 "core" %/     +3 "collection"'!& +5 "core" &stb\ +3 "collection"'(& +5 "core" &tv`\ +3 ."WCR"CC.seek :closed + "collection"'.(\\ +4 "core" &tuO\ +8 &;tuQ\ %f +9 &Y{ut^\ 7 +9 &vuua\ K +10 &Rwu[\ J +9 &TsyR\ J +10 &MTtu[\ J +9 &Uwv\\\ J +9 &SuuQ\ K +10 &RwvY\ K +9 &TRwv\ K +9 & Rxw\ J +10 &!Uwv\ J +9 &#Tuv\ J +10 &%\\Suw\ J +9 &'Ttt\ K +9 &(Utu\ K +10 &*Rvv\ K +9 &,eTvv\ J +10 &.'Tvw\ J +9 &/Twv\ J +9 &1Tww\ J +10 &3mTvv\ J +9 &5/Uvw\ J +9 &6Uwv\ K +10 &8Tuu\ K +9 &:tUvw\ K +10 &<5Yuu\ K +9 &=Tyx\ K +9 &?Vxy\ K +10 &A{Vxw\ K +9 &C;Zxy\ L +9 &D`w{\ L +10 &Fj|{\ M +9 &Hs\ P +9 &J*\ T +10 &K\ W +9 &M\ W +10 &Og\ W +9 &Q)\ W +9 &R\ Y +10 &T\ Y +9 &Vg\ Z +10 &X'\ [ +9 &Y\ [ +9 &[\ H +10 &\\2\ / +9 &\\g\ Q +2 ( +2 "collection"'(& +4 #"WCR"Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&<1 +60 "core" 1 +2 "manipulator"&=% +4 "core" % / 0 ,   +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&' +93 "core" ' +3 #"WCR"collectSample 50ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close +44 .Exhaust.select :close +3 .SS.hold + "sampler")+ +4 "core" + +2 "sampler")"% +4 "core" %ڬ e\  +2 "collection"'& +4 "core" &\\ir\ Q +4 "Can"\ Z\ = W\ \ S +36 "collection"'s% +3 "core" %cokf\ +2 "sampler")}% +4 "core" % RP h\ \ S +41 "collection"'y% +3 "core" %cwsb\ +2 "sampler") % +4 "core" % vs b\ \ S +47 "collection"'~% +3 "core" %c]\ +2 "sampler")% +4 "core" %  h\ \ S +53 "collection"'o% +6 "core" %cc\ + "sampler")% +4 "core" %  _\ \ S +61 "collection"'% +3 "core" %c\\\ +45 "sampler")% +5 "core" %  m\ \ S +2 ."WCR"Intake.select :close + "sampler")0 +10 )% +3 "core" %  g\ \ S +2 ."WCR"SSV.dial :exhaust +2 "sampler")u  +72 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")'ڀ +883 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "sampler")`  + "collection"'r @ +6 "core" ? +68 + #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml +2 .Intake.select :open + "sampler") +210 "collection"'% +4 "core" %cF\ +2 #"WCR"Intake @16.0psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 1.76ml/s +2 "sampler")#.x0X +3 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'8' +2457 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +2 "collection"'x @ +71 "core" ? +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"';  +87 "core"  +2 "collection"'C% +3 "core" %R\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"', ` +28 "core" a +3 ."WCR"CS.seek 7.292ml + "collection"'K'q +698 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'L  + '0  +28 "core"  +44  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<<\ fb +3 ."WCR"CS.seek 0ml + "collection"'F'i +1536 "core" '\ i\ h5\ ڧ +3 ."WCR"CBV.dial :waste2b + "collection"':  +31 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'N'i +442 "core" ' +2 ."WCR"delay 1:00 +328 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%% @ +71 "core" A +2 ."da"PBV.dial :waste1 + "processing"%T  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%4 * +33 "core" + +2 ."da"PSV.dial :air + "processing"%^  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%@' +2369 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%E +44 "core" + ."da"delay 2 seconds +52 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'V  +127 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 2:30 +2 .CSV.dial CSR + "collection"'D  +16 ."da"PSV.dial :air +2 "processing"%  +22 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'M'T +4 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%W +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +44 "processing"%H  +45 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +40 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'/' +1769 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%\\ +128 "core" +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +44 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'I @ +70 "core" ? +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'k  +87 "core"  + "collection"'X% +4 "core" %D\ \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'Q ` +56 "core" _ +3 ."WCR"CS.seek 7.275ml +2 "collection"'A' +262 "core" ' + ."da"delay 5 seconds +445 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  + 'J  +30 "core"  +18 ."da"PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%G' +68 "core"  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<<\ fb +3 ."WCR"CS.seek 0ml +2 "collection"'6'i +1520 "core" '!\ k\ iX\ ݤ +3 ."WCR"delay 2:30 +13 "core" ' + ."da"PTV.dial :puck +2 "processing"%h  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%n +83 "core" +2 ."da"PBV.dial :waste1 + "processing"%9  +33 "core" +2 "processing"%f% +4 "core" %/\  +2 ."da"PS.seek 1.5ml +2 "processing"%S') +595 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%+ * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +1627 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%-  +5 "core"  + ."da"PBV.dial :waste1 +2 "processing"%q  +33 "core" +2 ."da"delay 30 seconds +170 ."WCR"CBV.dial :waste2b +2 "collection"'Z  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'5'i +475 "core" ' +2 ."WCR"delay 1:00 +2313 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%g +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%p' +2359 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%{ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%t +72 "core"  +3 ."da"delay 5 seconds +55 "Can"\ \ ?* +447 ."da"PSV.dial PTV +2 "processing"%w +48 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'d  +21 "core" +2 ."da"delay 5 seconds +105 "core" +3 #"WCR"Fix #2 of 2 (with RNAlater) for 2:30 + .CSV.dial CSR +2 "collection"'z  +40 "core"  + #"WCR"Pulling 2ml of CSR.RNAlater +2 .CSR.select :RNAlater + "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'?'T +335 ."da"PSV.dial :air + "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%]'ؾ +173 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air + "collection"' +10 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'Y' +1623 "core" ' + #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +215 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'s @ +70 "core" ? +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'}  +86 "core"  +2 "collection"'y% +5 "core" %[\ + ."WCR"CSV.dial between air and CTV +2 "collection"' ` +56 "core" _ +3 ."WCR"CS.seek 7.283ml + "collection"'_'+ +100 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%~' +86 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  + 'o  +31 "core"  +97  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ fb +4 ."WCR"CS.seek 0ml + "collection"''i +1385 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +43 "core" ' \ k\ jb\ է +3 ."WCR"delay 2:30 +26 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%u% +3 "core" %t\  +3 ."da"PS.seek 1.5ml + "processing"%a'/ +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%r * +34 "core" , +3 ."da"PS.seek 0ml + "processing"%`'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +325 ."WCR"CBV.dial :waste2b +2 "collection"'R  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +48 ."WCR"CS.seek 0ml +2 "collection"'['i +533 "core" ' +2 ."WCR"delay 1:00 +2057 ."da"PBV.dial between PSV and waste1 +2 "processing"%v * +34 "core" , +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"% +84 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%j' +2364 "core" ' +2 ."da"PSV.dial PTV + "processing"% +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%| +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%& +72 "core" + ."da"delay 5 seconds +219 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'  +129 "core" +152 ."da"PSV.dial :air +2 "processing"%3  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +2313 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%)  +40 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%l  +126 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%  +42 "core"  + ."da"PTV.dial :PRVmixing +2 "processing"%  +4 "core" +2 ."da"PSV.dial :mixloop +2 "processing"%# +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"% ' +380 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%  +42 "core"  +2 "processing"%1% +3 "core" % \  +3 ."da"PS.seek 0.55ml +2 "processing"%b' +340 "core" ' +3 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%'  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%!' +1566 "core" ' + ."da"PSV.dial :PML +2 "processing"%* +44 "core" + ."da"PTV.dial :mixing +2 "processing"% @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%c% +4 "core" %\ +2 ."da"PS.seek 1.85ml +2 "processing"%<' +237 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%= * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%('ؾ +1968 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +22836 "Can"\ e\ C+ +25167 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%" @ +5 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" , + ."da"PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2380 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%B  +44 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop +2 "processing"%i +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%2  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%7'ؾ +2332 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%U +128 "core" +47 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%x' +599 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%;' +1620 "core" ' +2 ."da"PTV.dial :puck + "processing"%C  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%, +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%8  +34 "core" +2 "processing"%0% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%L'- +620 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%K * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 .PTV.dial :puck +2 "processing"%F  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%%  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%T * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%4 +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%^' +2363 "core" ' + ."da"PSV.dial PTV +2 "processing"%e +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%E +72 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%V +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%D  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1133 "Can"\ `\ GpE) +1202 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%W +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%N' +595 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%H' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%@  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%M +82 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%\\  +34 "core" +2 "processing"%I% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%k', +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%X * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 .PTV.dial :puck +2 "processing"%Q  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%/  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%J * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +70 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2369 "core" ' +2 ."da"PSV.dial PTV + "processing"%A +85 "core" + ."da"delay 5 seconds +543 .PSV.dial PSR +7 "processing"%h +71 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%n +85 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%9  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%f'ؾ +2332 "core" ' + #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%+' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%S' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%-  +5 "core"  +2 ."da"PSV.dial PTV + "processing"%q +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%Z  +32 "core" +2 "processing"%6% +4 "core" %,\  +2 ."da"PS.seek 1.5ml +2 "processing"%'' +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%g * +33 "core" + +2 ."da"PS.seek 0ml + "processing"%O'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%{  +3 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%t  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%w * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%d +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%z' +2363 "core" ' + ."da"PSV.dial PTV +2 "processing"%5 +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%p +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%?  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2319 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%s +133 "core"  +4 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +8 "processing"% +17 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +4 "processing"%]' +341 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%}' +337 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%y' +1615 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +5 "core"  + ."da"PSV.dial PTV +2 "processing"%Y +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%o  +34 "core" +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"% '- +590 "core" ' + ."da"delay 3 seconds +22 "Can"\ \ K& +280 ."da"PBV.dial between PSV and waste1 +2 "processing"%_ * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%'ؾ +1620 "core" ' +2 ."da"delay 10 seconds +1009 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%u * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%~ +73 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%r' +2405 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%a +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%R  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2370 "core" ' + #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%v +131 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%' +2129 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 "processing"%`  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%|  +34 "core" +2 "processing"%&% +3 "core" %4\  +3 ."da"PS.seek 1.5ml + "processing"%'+ +599 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%3 * +34 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%j  +114 "core"  +3 ."da"PS.seek 0ml + "processing"%)'ؾ +1632 "core" ' + "processing"%l9 +4 "core" 9y5[ +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast + "processing"% +3 %& +2 "core" 5[ +3 &^\ / +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&#% +4 "core" %    +2 "storage"(\ % +3 "core" % \  +2 "storage"(. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(1(C +374 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &F \ +2 "manipulator"&'& +4 "core" &ӭ !  5 +2 "manipulator"&b% +3 "core" %  ! !   +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&*( +167 "core" ( + "manipulator"&& +4 "core" &  >  +2 "storage"( & +4 "core" &G y f \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&c' +101 "core" ' +2 "storage"(=& +4 "core" &G \ +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(!'r +297 "core" ' +2 "storage"(<- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &  +3 "storage"(& +3 "core" &E 0 ) [\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +45 "manipulator"&'8 +27 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"((- +3 "core" -' +3 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 "manipulator"&B% +4 "core" %B +2 "storage"(i& +3 "core" &E \ +2 ."da"Forearm.force -20 + "manipulator"&5 +4 ."da"Forearm.seek 1 + 310 counts + "manipulator"&2'n +17 "core" ' + "manipulator"&& +4 "core" &    +2 "storage"(U& +4 "core" &E O\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&7' +25 "core" ' +2 ."da"SE.seek 2.17 Pucks below Top Plate +2 "storage"(x'Z +36 "core" ' + "manipulator"&C& +4 "core" &  1  +2 "manipulator"&,% +4 "core" %  W p +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&8' +96 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&0( +240 "core" ( + "manipulator"&;& +4 "core" & 4 & +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" & S & +2 ."da"Forearm.seek PC +2 "manipulator"&L' +90 "core" ' +2 ."da"Hand.close + "manipulator"&F/ +64 "core" / +2 ."da"PC.seek :open +2 "processing"%%( +455 "core" ( +2 "storage"(T& +4 "core" &E W V z\ +2 "manipulator"&4& +3 "core" &   N & +2 "manipulator"&:% +4 "core" %   ' B +3 ."da"Forearm.seek :retract + "manipulator"&e' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&E( +243 "core" ( +2 "manipulator"&V& +3 "core" &   ) +2 "storage"(D& +4 "core" &E \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&^' +94 "core" ' +2 ."da"Hand.open + "manipulator"&W1 +61 "core" 1 +3 "storage"(- +3 "core" -'Z +4 ."da"SE.seek 1.82 Pucks below Top Plate + "storage"(N'& +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.86 Pucks below Top Plate + "storage"(@' +48 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da24jan1815h50ml.tif +754 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 3.286 seconds\ /var/log/esp/da24jan1815h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da24jan1815h50ml15s.tif +1194 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +369 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da24jan1815h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da24jan1815h50ml20s.tif +2065 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da24jan1815h50ml20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF + ."Qmail"DAfans.email "3.286 sec auto-exposure",Subject: "da24jan1815h50ml images!" +8 "storage"(M- +8 "core" -' +13 "storage"(\\& +5 "core" &E q\ +2 "manipulator"&I& +4 "core" &   ) +2 ."da"Elbow.seek 1 +3 "manipulator"&H( +5 "core" ( +2 "manipulator"&X& +3 "core" & "  = ) +3 "storage"(k& +6 "core" &E \ +3 ."da"Forearm.seek 1 + 450 counts +59 "manipulator"&Q' +10 "core" ' +3 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.57 Pucks below Top Plate + "storage"(/'K +47 "core" ' +3 "manipulator"&J& +5 "core" &  ` ) +2 "storage"(& +4 "core" &E Y X _\ +2 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +3 "manipulator"&P'8 +24 "core" ' + ."da"Elbow.hold +2 "manipulator"&A, +3 "core" , +3 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.76 Pucks below Top Plate +2 "storage"(h' +24 "core" ' +2 "manipulator"&n% +3 "core" %H G +2 "storage"(9& +4 "core" &E X Y\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 316 counts +2 "manipulator"&'t +27 "core" ' +4 "manipulator"&G& +10 "core" & B ) +18 "storage"(f& +10 "core" &E t o 8\ +4 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&+' +16 "core" ' +2 "storage"(-% +4 "core" % } r {\ +3 ."downElevator"SE.seek :down +4 "storage"(q' +99 (Z% +7 "core" %; W X \ TZ +6 "manipulator"&6% +6 "core" %  \ +7 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&S' +91 "core" ' +24 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (g& +7 "core" &E y l 2\ +8 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 "processing"%& +6 "collection"'{& +10 "core" &*\ +5 &\\h\ Q +7 "manipulator"&t& +9 "core" &  A ) +3 "manipulator"&w% +7 "core" %   K  +7 ."psFlush"Elbow.seek FlushPuck::Garage +4 "manipulator"&d(- +175 "core" ( +2 "manipulator"&O& +7 "core" &- e +4 ."psFlush"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +7 &5& +5 "core" &- } e +7 ."psFlush"Forearm.seek :garage +4 "manipulator"& 'w +101 "core" ' +6 ."psFlush"Hand.close +2 "manipulator"&p/ +66 "core" / +4 "manipulator"&?& +8 "core" &- w e +5 "manipulator"&z% +12 "core" % ψ  +5 ."psFlush"Forearm.seek :retract +4 "manipulator"&s' +99 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 ."psFlush"Elbow.seek PC +2 "manipulator"&( +119 "core" ( +4 "manipulator"&]& +6 "core" &   q - +6 ."psFlush"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +7 &}& +7 "core" &    - +7 ."psFlush"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."psFlush"Forearm.seek PC +3 "manipulator"& ' +103 "core" ' +2 "manipulator"&Y& +11 "core" &   - +111 "manipulator"&o% +10 "core" %  P  +5 "processing"%& +10 "core" &\ +8 "processing"%y& +12 "core" &\ +6 ."psFlush"PC.seek :closed +4 "processing"%_(^ +8 "core" &\ +3 &\  +5 &2{\ )w +8 &c\ = +10 &wo\ M +10 &;U3\ L +8 &V\ L +11 &T\ L +9 &V\ L +11 &DV\ L +9 &W\ L +7 &W\ L +10 & V\ L +11 &"KW\ L +11 &$ W=\ L +6 &%V6\ L +9 &'V1\ M +9 &)SWE\ L +14 &+VO\ L +7 &,WV\ L +8 &.SW\ L +10 &0[VP\ L +10 &2VR\ L +9 &3VO\ L +8 &5XN\ L +9 &7cYN\ L +13 &9$WM\ L +8 &:Y=\ L +8 &<U<\ L +8 &>iZ=\ M +10 &@,\\=\ L +9 &Ab>\ M +9 &Ck9\ N +9 &Ehy;\ P +3 #"uploadLog"upsync +7 "core" &G%9\ Q +9 &H<\ S +9 &J;\ R +10 &Lh=\ R +9 &N(=\ S +10 &O=\ R +9 &Q9\ T +9 &Sn+\ S +10 &U/#\ S +9 &V1\ T +9 &X\ S +10 &ZtY\ T +9 &\\7\ S +10 &]|y\ 9 +9 &^*{\ T +9 &^&\ 4 +3 ( + "processing"%y& +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 +2 "processing"% & +3 "core" &^%\ 4 +2 ."psFlush"Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&% +4 "core" %     +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&u' +98 "core" ' +2 ."psFlush"PSR.select :air +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +2 ."psFlush"PSV.dial PSR +2 "manipulator"&~% +2 "processing"% +7 "core" %  7  + "storage"(a% +4 "core" % \ <\  +2 "storage"(. +3 "core" .(F +3 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 +3 "storage"((C +14 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +6 "core" ( + ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (R& +3 "core" &D O X D\  +2 "manipulator"&r& +5 ."psFlush"PS.seek 0.5ml +2 "processing"%v' +4 "core" & ; - + "manipulator"&% +4 "core" %  e  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&`( +246 "core" ( +2 "manipulator"&& +3 "core" &   4 +2 "storage"(|& +4 "core" &D Y Y\  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&&' +92 "core" ' + "storage"(& +4 "core" &D [ \\\  +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(3'r +190 "core" ' +2 ."psFlush"delay 5 seconds +95 "core" ' +2 "storage"(j- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &   4 +2 "storage"(l& +3 "core" &D , ) S\  +2 ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek 1 + "manipulator"&'8 +25 "core" ' +2 ."WCR"Elbow.hold +2 "manipulator"&, +3 "core" , +45 ."WCR"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +11 "storage"(#- +4 "core" -' +3 ."WCR"SE.seek 2.17 Pucks below Top Plate + "storage"(\ 'V +29 "core" ' +2 "manipulator"&% +3 "core" %J !  @ v +3 "storage"(m& +3 "core" &D , E !\  +2 ."WCR"Forearm.force -20 +2 "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 318 counts +2 "manipulator"& 'v +23 "core" ' +2 "manipulator"&'& +3 "core" &  4 +3 "storage"(b& +3 "core" &D X W R\  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&' +15 "core" ' +2 ."WCR"SE.seek 3.17 Pucks below Top Plate +2 "storage"( ' +36 "core" ' +2 "manipulator"&=& +3 "core" & Q 4 +2 "manipulator"&% +4 "core" % R +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&<(ӂ +5 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%"' +138 "core" ( + "manipulator"&& +5 "core" &ӓ  $ 9% + ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &ӓ " (  9% +3 ."WCR"Forearm.seek CC +2 "manipulator"&B'? +94 "core" ' + ."WCR"Hand.close +2 "manipulator"&i/ +62 "core" / +2 ."WCR"CC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(U& +3 "core" &D v u #\  +2 "storage"(C& +4 "core" &D v u `\  +2 "manipulator"&,& +3 "core" &Ӭ    5 +3 "manipulator"&c% +3 "core" % O ! !   +3 ."WCR"Forearm.seek :retract + "manipulator"&*' +93 "core" ' +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&!( +166 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(2& +4 "core" &D z 3\  +2 ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&'8 +96 "core" ' +2 ."WCR"Elbow.hold + "manipulator"&7, +4 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&;1 +62 "core" 1 +2 "manipulator"&K% +4 "core" % K  H +2 "storage"(& +4 "core" &D f f k\  +3 ."WCR"Forearm.force -20 + "manipulator"&5 +41 ."WCR"Forearm.seek 1 + 319 counts +8 "manipulator"&F'w +18 "core" ' + "manipulator"&8& +5 "core" &     +2 "storage"(>& +3 "core" &D K\  +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts + "manipulator"&T' +19 "core" ' +2 "storage"(4% +4 "core" % V\ +3 ."downElevator"SE.seek :down +3 "storage"(:' +99 (L% +3 "core" %f@ v u a\ TZ +2 "manipulator"&V% +4 "core" % R +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&D' +90 "core" ' +40 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge +479 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 + "processing"%0 @ +181 "core" B +2 ."psFlush"PTV.dial :PRVmixing + "processing"%W  +127 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +98 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%e'ؠ +968 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +1669 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%x +100 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%N' +597 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%M' +2117 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%\\  +34 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%I @ +71 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"%X +112 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%k'ؠ +2632 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%J +111 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1098 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%n' +1610 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%9 +70 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%E  +70 "core"  +2 ."psFlush"PBV.dial :waste1 + "processing"%G  +16 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%- +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%^' +593 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%@' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Q +72 "core" + ."psFlush"PBV.dial PSV +43 "processing"%Z U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%6'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%H @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%/' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%P  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%g'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%{' +2308 "Can"\ R\ Pq0 +327 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +81 "core" + ."psFlush"PBV.dial PSV +2 "processing"%h U +16 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%t'ؾ +2649 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%w @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%+' +2635 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%O  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%5'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%q +42 "core" +2 ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%A'X\\ +1105 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%p' +1620 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%? +71 "core" + ."psFlush"PTV.dial :puck +2 "processing"%z  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%S  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%]'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%} +72 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml + "processing"% ' +588 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%Y' +2142 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +72 "core" +2 ."psFlush"PBV.dial PSV + "processing"%d U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%s @ +43 "core" > +3 ."psFlush"PS.seek 2.5ml + "processing"%%' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%~' +2638 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%a +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%y U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2651 "core" ' +39 ."psFlush"PSV.dial PBV +8 "processing"% @ +43 "core" > +3 ."psFlush"PS.seek 2.5ml + "processing"%R' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%r  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2654 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"' & +4 "core" &~`\ +2 "manipulator"&1& +4 "core" &    +2 "manipulator"&% +3 "core" %   d  +3 .tElbow.seek PC + "manipulator"&|( +240 "core" ( + "manipulator"&)& +4 "core" & = & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & H & +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&u/ +60 "core" / +2 .tPC.seek :open +2 "processing"%j( +458 "core" ( +2 "manipulator"&& +3 "core" & % +2 "manipulator"&l% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&#' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +350 "core" ( + "manipulator"&m& +4 "core" &Ӑ   I 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &Ӑ c 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&b'? +98 "core" ' +2 "manipulator"&=& +4 "core" &ӑ   8 +2 "manipulator"&% +4 "core" %8 \ +2 "collection"'&& +4 "core" &\ +3 "collection"'`& +5 "core" &}~`\ +2 .tCC.seek :closed + "collection"'3(\\ +4 "core" &a\ +8 &<~a\ %f +10 &Y|~b\ 8 +9 &v~d\ K +10 &R_\ L +9 &Qe\ L +9 &DTb\ L +10 &W]\ L +9 &Wj\ L +9 &Q~c\ L +10 &MS~a\ K +9 & S~c\ K +10 &!T~_\ K +9 &#Ta\ L +9 &%UU|^\ K +10 &'T~]\ L +9 &(W~h\ L +9 &*V~^\ L +10 &,\\V~^\ L +9 &.U~i\ L +10 &/W|i\ L +9 &1Wk\ L +9 &3dQ~m\ L +10 &5&R~~k\ L +9 &6Td\ K +9 &8T~l\ L +10 &:mTk\ K +9 &<.Te\ L +10 &=Ti\ K +9 &?U~f\ L +9 &AtTg\ L +10 &C5Zd\ L +9 &Di\\\ N +9 &Fn\ R +10 &H[k\ W +9 &Jl\ X +10 &Kn\ Y +9 &Mj\ Y +9 &O[l\ Y +10 &Ql\ [\ +9 &Ro\ Z +9 &Tz\ [ +10 &V_p\ [\ +9 &Xc\ ] +10 &Yq\ ^ +9 &[v\ J +9 &\\=q\ ){ +10 &\\r\ #e +2 ( +2 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.42 + "collection"'& +4 "core" &\\p\ #e +2 .tHand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&\ % +3 "core" % 8 * \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'(& +3 "core" &\\>\ #e +3 "collection"'% +6 "core" %iw\ + .tCSV.dial CSR +2 "collection"'  +41 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'v's5 +1379 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'i% +3 "core" %s.3\ +3 .tCS.reconfigure :fast +2 "collection"'#d @b +47 .tCS.seek 7.499ml +2 "collection"'' +672 "core" ' + .tCSV.dial :waste +2 "collection"'. +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'U'i +2001 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'C& +4 "core" &\\`\ #e +2 "collection"',% +4 "core" %g!\ +2 .tCSV.dial :flush +2 "collection"'c  +52 "core" +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml +2 "collection"''s5 +1316 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'2 @ +43 "core" A + "collection"'B% +4 "core" %s;b\ +3 .tCS.seek 7.001ml + "collection"'<'& +570 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"';  +2 'K  +41 "core"  +89  +2 .tCBV.dial :waste1 + "collection"' @ +72 "core" B +3 .tCS.seek 0ml + "collection"'8'i +1663 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'>& +4 "core" &\\]\ #e +2 "collection"'4% +4 "core" %c)\ +2 .tCSV.dial :flush + "collection"'*  +70 "core" +3 .tCS.seek 5ml + "collection"'!'s5 +1307 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'L @ +43 "core" B + "collection"'V% +4 "core" %sA\\\ \ +3 .tCS.seek 7.002ml + "collection"'', +552 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV + "collection"'F  +2 '  +17 "core"  +26  +2 .tCBV.dial :waste2 + "collection"'T  +99 "core"  +2 .tCS.seek 0ml +2 "collection"':'i +1658 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'0& +3 "core" &\\\ #e +2 "collection"'W% +4 "core" %j \  +2 .tCSV.dial :flush + "collection"'  +70 "core" +2 .tCS.seek 5ml +2 "collection"'"'s5 +1311 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'x @ +41 "core" B +2 "collection"'e% +3 "core" %s8\ +3 .tCS.seek 7ml + "collection"'N'# +554 "core" ' + ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'\\  +40 "core"  +2 .tCBV.dial :waste2b +2 "collection"'I  +100 "core"  +2 .tCS.seek 0ml + "collection"'X'i +1659 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'M& +3 "core" &\\Y\ #e +2 "collection"'J% +4 "core" %j\ +2 .tCSV.dial CSR + "collection"'k  +41 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'' +1978 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'9' +555 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'E + 'G  +43 "core"  +99 +3 .tCTV.dial :intake +2 "collection"'n  +70 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"'-'T +654 "Can"\ h\ S( +1229 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'f  +73 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'^'i +593 "core" ' +2 .tCSV.dial CSR + "collection"'Q  +99 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +11 .tCS.seek 5ml + "collection"'Z's5 +1360 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'@' +1355 "core" ' +2 .tCSV.dial CBV + "collection"'H +97 "core" +2 .tCS.seek 0ml +2 "collection"'6'i +2640 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&P& +4 "core" &Ӧ g 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&/(ӂ +12 "core" ( +2 "manipulator"&& +3 "core" &Ӎ f , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &Ӎ , +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + .tHand.close + "manipulator"&h/ +52 "core" / +2 .tCC.seek :open +2 "collection"'{( +452 "core" ( +2 "manipulator"&w& +3 "core" &ӛ  + +2 "manipulator"&t% +4 "core" % A  +2 .tForearm.seek :retract +2 "manipulator"&O' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&+(- +281 "core" ( +2 "manipulator"&q& +3 "core" &-  k : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &- : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&A'w +104 "core" ' + .tHand.open + "manipulator"&?1 +54 "core" 1 + "manipulator"&z% +4 "core" % }   +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +95 "core" ' +2 #tCompleted [initialPurge; da [50, 50] #da and wsr are run simultanelously] begun 14:09:57 +6 #Asleep after completing DA_WCR_011024 assays + ."Qmail"GoodNews.email "{1 => 4,\\n 2 => 0,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@15:59:11, 25% flow, 22.7C, 10% humidity, 15.0psia, 13.691V, 0.550A, 57.912Ah, 7.53W\\nSampled 50.0ml",Subject: "Asleep after completing DA_WCR_011024 assays" +396 #"uploadLog"upsync +7 #mEXIT @1705593649.37UTC @1705593825.22UTC = =mMAIN_scheduler =tMAIN @UTC1705593826.89 #"core_reset"Sent BREAK +2 #t@61660 sendCRC with ifg=0x20, ie=0x7F + #@63494 sendCRC with ifg=0x08, ie=0x5F + #@35018 idle with ifg=0x84, ie=0x75 + #@35689 select with ifg=0x10, ie=0xF5 #@36322 receive with ifg=0x10, ie=0xFD + #@36956 receive with ifg=0x10, ie=0xFD + #@37589 receive with ifg=0x10, ie=0xFD #@37916 receive with ifg=0x80, ie=0xFD + #@24721 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +12 #ESP2 v3.42 I2C Gateway v3.20 for core bus +279 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +362 "Can"\ <\ U M}) + \ <\ U M}) + #tPolling Can every 10:00 +4 #Cleanly exited at 16:00:49UTC18-Jan-24 +381 #-> ESP.ready! +153 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %f\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؾ/\  +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold +2 "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڀ T\  +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(3% +4 "core" % : 9 a\  +2 "manipulator"&4% +3 "core" %  {  +2 "manipulator"&5& +4 "core" &- 9 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(6(<- +1293 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &<* c\  +9503 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%8& +3 "core" &\ +2 .tHand.open +2 "manipulator"&91 +20 "core" 1 +2 "manipulator"&:& +4 "core" &-   9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&;(- +6 "core" ( + "manipulator"&<& +4 "core" &-  R " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &- w " +2 .tForearm.seek :garage +2 "manipulator"&>'w +96 "core" ' +2 .tHand.close + "manipulator"&?/ +61 "core" / +2 "manipulator"&@& +4 "core" &-    " +2 "manipulator"&A% +3 "core" % ψ  d +2 .tForearm.seek :retract +2 "manipulator"&B' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&C( +115 "core" ( + "manipulator"&D& +4 "core" &  4 # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F' +91 "core" ' +3 "manipulator"&G& +3 "core" &  . # +2 "manipulator"&H% +4 "core" %  K +2 "processing"%I& +4 "core" &\ +3 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed + "processing"%K(^ +4 "core" &\ +8 & -o\ #b +9 &V|\ 7 +9 &x\ K +10 &U\ M +9 &lU\ M +9 &.W<\ M +10 &W\ M +9 &X\ M +10 &tX\ M +9 &6U\ M +9 &U\ L +10 &!Wh\ M +9 &#|[\ M +9 &%?VA\ L +10 &'W\ M +9 &(Z\ M +10 &*U\ M +9 &,FX\ M +9 &.Y\ M +10 &/Z\ M +9 &1U\ L +9 &3NW\ M +10 &5V\ L +9 &6Y\ M +10 &8W\ L +9 &:VW\ M +9 &<W\ M +10 &=[\ M +9 &?\\\ M +9 &A\\Y\ M +10 &Ck\ O +9 &Do\ P +10 &F\ R +9 &HT\ S +9 &J\ S +10 &K\ S +9 &M\ S +9 &OZ\ S +10 &Q\ U +9 &R\ T +9 &T\ U +10 &V`\ T +9 &X!\ T +10 &Y\ U +9 &[\ T +9 &]gx\ A +10 &^Cx\ ] +9 &^B\ 6 +5 ( +2 "processing"%J& +4 "core" &^%\ 6 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 "processing"%L& +3 "core" &^%\ 6 +2 .tHand.open +2 "manipulator"&M1 +63 "core" 1 +2 "manipulator"&N% +3 "core" %    K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +91 "core" ' +1667 #t-> Flush.garage +3 #Garaging FlushPuck in Processing Clamp + "manipulator"&P& +3 "core" &  L " +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&Q( +4 "core" ( +2 "manipulator"&R& +3 "core" &   c " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" & \  o " +3 .tForearm.seek PC + "manipulator"&T' +94 "core" ' + .tHand.close +2 "manipulator"&U/ +54 "core" / +2 .tPC.seek :open +36 "processing"%V( +464 "core" ( +2 "manipulator"&W& +3 "core" & u " +2 "manipulator"&X% +4 "core" %  w ! +2 .tForearm.seek :retract +2 "manipulator"&Y' +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Z(- +127 "core" ( +2 "manipulator"&[& +4 "core" &-  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &-  = \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&]'w +100 "core" ' +2 .tHand.open +2 "manipulator"&^1 +56 "core" 1 + "manipulator"&_% +4 "core" % ~ \  L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +95 "core" ' +3619 #t-> access 2 +2 "storage"(a% +3 "core" % t u T\  +3 "manipulator"&b% +3 "core" %   +2 "manipulator"&c& +4 "core" &- \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(d(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +3 "core" &K W [\ +13624 #t-> exit +6 #mEXIT @1705594181.46UTC @1705608058.83UTC = =tMAIN =mMAIN_scheduler @UTC1705608060.56 #"core_reset"Sent BREAK +2 #t@55633 receive with ifg=0x10, ie=0xFD + #@56269 receive with ifg=0x10, ie=0xFD + #@56924 receive with ifg=0x10, ie=0xFD + #@57562 receive with ifg=0x10, ie=0xFD + #@58196 receive with ifg=0x10, ie=0xFD #@58830 receive with ifg=0x10, ie=0xFD + #@59464 receive with ifg=0x10, ie=0xFD #@59790 receive with ifg=0x80, ie=0xFD + #@65445 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +292 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +378 "Can" =\ q3! +  =\ q3! + #tPolling Can every 10:00 +462 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %f*\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؾ1\  +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڀ U\  +2 .tSS.configure :default +2 "sampler")#.0X Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%3& +3 "core" &#\ +2 .tHand.open + "manipulator"&41 +18 "core" 1 +2 "manipulator"&5& +3 "core" &-    \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(- +24 "core" ( +2 "manipulator"&7& +3 "core" &-  ^ # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &- L # +2 .tForearm.seek :garage +2 "manipulator"&9'w +100 "core" ' +2 .tHand.close + "manipulator"&:/ +64 "core" / +2 "manipulator"&;& +4 "core" &-   / # +2 "manipulator"&<% +3 "core" % χ +3 .tForearm.seek :retract + "manipulator"&=' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&>( +136 "core" ( +2 "manipulator"&?& +3 "core" &  r +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +94 "core" ' +2 "manipulator"&B& +3 "core" &   +2 "manipulator"&C% +4 "core" % D E +2 "processing"%D& +5 "core" &)\ +2 "processing"%E& +5 "core" &%\ +2 .tPC.seek :closed +2 "processing"%F(^ +4 "core" &)\ +8 & -#\ $d +10 &W} \ 7 +9 &{/\ L +9 &U*\ M +10 &kX!\ M +9 &-S/\ M +9 &Z4\ M +10 &Z)\ M +9 &sZ)\ M +10 &5U!\ M +9 &U'\ M +9 &!V+\ M +10 &#{W,\ M +9 &%>V+\ L +9 &&[/\ M +10 &(W2\ L +9 &*Y)\ L +10 &,FY \ L +9 &.W$\ L +9 &/Y2\ L +10 &1Z2\ M +9 &3NZ,\ L +9 &5X1\ M +10 &6\\/\ M +9 &8W2\ M +10 &:UY*\ M +9 &<Z2\ L +9 &=Z'\ M +10 &?\\2\ M +9 &A\\\\+\ M +9 &Ce/\ N +10 &D_2\ N +9 &F\\.\ M +10 &Hd[1\ M +9 &J$^!\ N +9 &K_1\ N +10 &M`/\ N +9 &Ok\\+\ M +9 &Q-`2\ M +10 &R^(\ M +9 &Tc0\ N +10 &Vr_0\ N +9 &X4_0\ N +9 &Ya'\ M +10 &[b2\ M +9 &]{b0\ : +9 &^>M5\ E +10 &^ 9\  +5 ( +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.08 +3 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +2 !o:Slide::Error\ :@checkpoint: omitted: @reply0: mesg"(No Puck Clamped in Processing Clamp:@axisName"Processing Clamp:bt["E/home/esp/esp2/utils/misc.rb:481:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +4 "core" &^.\  +592 #t-> PC.open +2 .PC.seek :open +2 "processing"%G( +458 "core" ( +2 "processing"%H& +3 "core" &O\ +466 #t-> Arm.garage +2 "manipulator"&I& +3 "core" & +2 "manipulator"&J% +3 "core" % E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&L(- +121 "core" ( + "manipulator"&M& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &- X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&O'w +102 "core" ' +2 "manipulator"&P& +5 "core" &-   + "manipulator"&Q% +4 "core" %π   +565 #t-> Hand.open +2 !o:Puck::Error: mesg" Hand is closed on FlushPuck:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +428 #-> Hand.close +392 #-> Hand.open +2 !o:Puck::Error: mesg" Hand is closed on FlushPuck:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +657 #-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&R' +172 "core" ' +10 .tElbow.jog 1500 +2 "manipulator"&S* +51 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear +2 "manipulator"&T(d +311 "core" ( +2 "manipulator"&U& +4 "core" &d   & +2 "manipulator"&V% +3 "core" %   E  +609 #t-> Arm.garage + "manipulator"&W& +3 "core" &d  & +3 "manipulator"&X% +3 "core" %  \ \ O  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Y(- +127 "core" ( +2 "manipulator"&Z& +3 "core" &-  P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &-  X P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\\'w +90 "core" ' +2 "manipulator"&]& +4 "core" &-  \  P +2 "manipulator"&^% +3 "core" %m  5 $ +431 #t-> HAnd +2 !o:NameError: mesg" uninitialized constant HAnd: name: HAnd:bt["(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +225 #-> Hand +462 #-> Hand.open +2 !o:Puck::Error: mesg" Hand is closed on FlushPuck:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +1383 #-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Hand +2 "processing"%_& +3 "core" &R\ +2 "manipulator"&`& +3 "core" &- | P +2 "manipulator"&a% +4 "core" %m $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&c( +114 "core" ( +2 "manipulator"&d& +3 "core" &  B  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &  P  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&f' +92 "core" ' +2 "manipulator"&g& +3 "core" &  B  +2 "manipulator"&h% +4 "core" %  q P +2 "processing"%i& +4 "core" &R\ +3 "processing"%j& +5 "core" &R\ +2 .tPC.seek :closed +2 "processing"%k(^ +3 "core" &,\ +9 &6,\ #b +9 &V~2\ 6 +10 &{0\ K +9 &T3\ M +9 &`V4\ M +10 &"R5\ M +9 &W&\ L +9 &R4\ M +10 &hW5\ M +9 &*Y1\ M +10 &V'\ M +9 &!U3\ L +9 &#pY0\ M +10 &%2X0\ M +9 &&V)\ M +9 &(T*\ M +10 &*xT&\ M +9 &,:Y4\ M +10 &-V4\ M +9 &/U1\ L +9 &1W(\ L +10 &3BU*\ M +9 &5V#\ L +9 &6W/\ M +10 &8Z.\ M +9 &:JY"\ M +10 &< V#\ M +9 &=W%\ L +9 &?['\ M +10 &APZ%\ M +9 &C j(\ O +9 &Dq-\ P +10 &F$\ R +9 &HH*\ S +10 &J #\ S +9 &K&\ S +9 &M'\ S +10 &ON(\ S +9 &Q &\ T +9 &R\ T +10 &T\ T +9 &VS"\ T +10 &X$\ T +9 &Y0\ T +9 &[#\ T +10 &]Z#\ C +9 &^Ew&\ ] +9 &^;#\ 5 +6 ( + "processing"%j& +4 "core" &^* \ 5 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 +2 "processing"%l& +3 "core" &^*B\ 5 +2 .tHand.open +2 "manipulator"&m1 +53 "core" 1 +2 "manipulator"&n% +4 "core" %  < P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +94 "core" ' +673 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&p& +3 "core" &   N  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&q( +2 "core" ( +2 "manipulator"&r& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&t' +94 "core" ' +2 .tHand.close + "manipulator"&u/ +58 "core" / +2 .tPC.seek :open +2 "processing"%v( +458 "core" ( +2 "manipulator"&w& +3 "core" & \    +2 "manipulator"&x% +3 "core" %  . +3 .tForearm.seek :retract + "manipulator"&y' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&z(- +131 "core" ( + "manipulator"&{& +4 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &- \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&}'w +91 "core" ' +2 .tHand.open + "manipulator"&~1 +57 "core" 1 + "manipulator"&% +4 "core" % n  \   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +1552 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%& +3 "core" &#\ +2 "manipulator"&& +3 "core" &-  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +39 "core" ( +10 "manipulator"&& +3 "core" &- a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- a +2 .tForearm.seek :garage +2 "manipulator"&\ 'w +92 "core" ' +2 .tHand.close + "manipulator"& / +60 "core" / + "manipulator"&& +4 "core" &-   2 a +2 "manipulator"&% +3 "core" % φ   +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +117 "core" ( + "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&& +3 "core" &  d  +3 "manipulator"&% +3 "core" % \ +2 "processing"%& +4 "core" &7\ +3 "processing"%& +5 "core" &C\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &/\  +9 &1x'\ )w +9 &e&\ > +10 &|o \ M +9 &@S"\ L +9 &R'\ M +10 &T$\ M +9 &W*\ L +10 &GU$\ M +9 & U'\ M +9 &R(\ L +10 & X(\ L +9 &"OX#\ M +9 &$V#\ L +10 &%S#\ L +9 &'U!\ L +10 &)WW'\ M +9 &+V%\ M +9 &,X"\ L +10 &.X"\ L +9 &0`T"\ L +9 &2!S\ M +10 &3W"\ M +9 &5U!\ L +10 &7hW\ L +9 &9)U"\ M +9 &:Z"\ L +10 &<W!\ L +9 &>o\\"\ M +9 &@2Y\ L +10 &A`'\ M +9 &Cn#\ O +10 &Enw&\ P +9 &G*"\ R +9 &H'\ R +10 &J*\ R +9 &Ln$\ R +9 &N-!\ S +10 &O \ S +9 &Q!\ S +10 &Sq!\ T +9 &U3\ T +9 &V \ T +10 &X!\ S +9 &Zz"\ T +9 &\\;"\ T +10 &]{x!\ 9 +9 &^(x!\ V +10 &^%\ 4 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.65 +2 "processing"%& +3 "core" &^&\ 4 +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +99 "core" ' +1115 #t-> Flush/garage +392 #-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&!& +3 "core" &  <  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&"( +4 "core" ( + "manipulator"&#& +4 "core" &  .  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&%' +96 "core" ' +2 .tHand.close + "manipulator"&&/ +55 "core" / + .tPC.seek :open +2 "processing"%'( +458 "core" ( +3 "manipulator"&(& +3 "core" &   `  +2 "manipulator"&)% +3 "core" %  *  +3 .tForearm.seek :retract + "manipulator"&*' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&+(- +126 "core" ( + "manipulator"&,& +4 "core" &-  \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &-  g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&.'w +98 "core" ' + .tHand.open +2 "manipulator"&/1 +56 "core" 1 +2 "manipulator"&0% +3 "core" % k  t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +95 "core" ' +763 #t-> exit +6 #mEXIT @1705608266.24UTC @1705608282.63UTC = =tMAIN =mMAIN_scheduler @UTC1705608284.35 #"core_reset"Sent BREAK +2 #t@44108 sendCRC with ifg=0x20, ie=0x7F + #@45943 sendCRC with ifg=0x08, ie=0x5F + #@18824 idle with ifg=0x84, ie=0x75 + #@19494 select with ifg=0x10, ie=0xF5 #@20127 receive with ifg=0x10, ie=0xFD + #@20761 receive with ifg=0x10, ie=0xFD + #@21395 receive with ifg=0x10, ie=0xFD #@21722 receive with ifg=0x80, ie=0xFD + #@6576 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +267 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +367 "Can" A\ ]k% +2  A\ ]k% #tPolling Can every 10:00 +2 #Cleanly exited at 20:04:26UTC18-Jan-24 +5 #Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission +6 ."Qmail"GoodNews.email "Starting DA_WCR_011024 w/pucks in tube 2\\n{}\\nCTD data unavailable\\nCan@20:04:50, 25% flow, 22.6C, 12% humidity, 15.0psia, 13.754V, 0.315A, 59.063Ah, 4.33W",Subject: "DA_WCR_011024 begun" +5 #tPreparing to sleep until + 00:00:05 +2 #Asleep til + 00:00:05 +2 #Continuing at 20:04 +2 "Can" B\ ^k( +27 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF +2 #Shutdown +308 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [50, 50] #da and wsr are run simultanelously\\n/home/esp/esp2local/mission/DA_WCR_011024.rb:14\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@20:04:51, 25% flow, 22.6C, 12% humidity, 15.0psia, 13.754V, 0.321A, 59.063Ah, 4.41W",Subject: "Asleep until 20:04" +140 #"uploadLog"upsync +4 "Can" \ `m) +4 #tPowering core bus +249 #"uploadLog"upsync +268 .tGate.power :raw,:ON +2 "sampler") +23 ) +2 "core"  +3 "collection"' +2 ' +36 "core"  +5 "processing"% +2 % +3 "core"  +6 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +2 .tSS.configure :default +2 "sampler")#.0X\ + % L +2 ."rdyProcessing"PSV.dial :air +4 "manipulator"&% + "processing"%  +6 "core" + % D +2 ."rdySampler"CSV.dial :waste1 +3 .tForearm.home.seek :retract + "collection"'\ + "manipulator"& ' +40 "core" +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust + "sampler")  +3 "core"  +2 "sampler")  +3 "core"  +2 "sampler")  +17 "core" ' +2 ."closeHand"Hand.close +2 .tElbow.reconfigure :loose +3 "manipulator"&/ +2 &$ &.,(#b +6 .tElbow.jog 1500 + "manipulator"&* +4 "core" +2 ."rdyProcessing"PS.home.seek 0ml + "processing"%'ؾ +30 "core" * +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core"  + .tElbow.home.seek :clear +5 ."readyCS"CS.reconfigure :fast +2 "manipulator"&(d +5 ."rdySampler"SS.home.seek 0ml +2 "sampler")'ڀ +2 "collection"'#d @b +5 ."readyCS"CS.home.seek 0ml +2 "collection"''i +2 "core" / +295 ( + "storage"(& +4 "core" & X\ +2 .tSE.home.seek :down + "storage"(' +59 "core" ' +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.home.seek :initial + "storage"((,y +36 "core" ' +377 ' + ."rdyProcessing"PS.stop +2 "processing"%5 +77 "core" ' +2031 ( + .tSC.configure :limp +2 "storage"($\ 1b +4 .tForearm.seek :retract + "manipulator"&' +4 "core" ' +2 .tElbow.seek :hammer + "manipulator"&( +99 "core" ( +2 "manipulator"&& +4 "core" &  E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&' +6 "core" ' + "manipulator"&% +4 "core" %   c  +3 "processing"%& +2 "collection"'& +8 "core" &G\ + &.\ +3 ."openPC"PC.home.seek :open +2 .tCC.home.seek :open + "processing"%( +2 "collection"' ( +282 "core" ( +14 ( +35 "Can"\ =\ w# +11 #tPhase [initialPurge; da [50, 50] #da and wsr are run simultanelously] + ."Qmail"Notice.email "At 20:05:38 began in tube 2: initialPurge; da [50, 50] #da and wsr are run simultanelously\\n/home/esp/esp2local/mission/DA_WCR_011024.rb:14\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@20:05:38, 25% flow, 22.6C, 11% humidity, 15.0psia, 13.734V, 0.290A, 59.068Ah, 3.99W",Subject: "Started DA_WCR_011024 phase initialPurge; da [50, 50] #da and wsr are run simultanelously" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &8\ +3 .tHand.open + "manipulator"&"1 +65 "core" 1 +2 "manipulator"&#& +3 "core" &  j \ +2 "manipulator"&$% +4 "core" %    +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(- +174 "core" ( +2 "manipulator"&&& +3 "core" &-   4 D +11 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +6 &'& +5 "core" &-  ~ D +7 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 .tForearm.seek :garage +2 "manipulator"&('w +98 "core" ' +2 .tHand.close + "manipulator"&)/ +10 #"uploadLog"upsync +43 "core" / +2 "manipulator"&*& +3 "core" &-  D +3 "manipulator"&+% +3 "core" % ω +3 .tForearm.seek :retract + "manipulator"&,' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +284 "core" ( +2 "manipulator"&.& +3 "core" &Ӗ#  f <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &ӗ# <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'? +92 "core" ' +2 "manipulator"&1& +3 "core" &ӗ#    <> +3 "manipulator"&2% +3 "core" %8 \  S +3 "collection"'3& +3 "core" &3\ +3 "collection"'4& +5 "core" &7\ +2 .tCC.seek :closed +2 "collection"'5(\\ +4 "core" &(\  +10 &4y%\ *z +9 &g~#\ ? +9 &Zn%\ M +10 &R%\ L +9 &W\ L +10 &R&\ K +9 &eT\ L +9 &'W!\ L +10 &R)\ L +9 &S*\ L +9 & mW#\ L +10 &".W\ L +9 &#T\ K +9 &%S \ L +10 &'uV\ L +9 &)7W!\ L +10 &*R'\ L +9 &,S\ K +9 &.}T\ L +10 &0?W\ L +9 &2W\ L +9 &3R\ L +10 &5S\ K +9 &7FU \ L +10 &9 T$\ L +9 &:X'\ L +9 &<U-\ L +10 &>OU \ L +9 &@W%\ L +9 &AU&\ L +10 &C`&\ M +9 &ELx%\ O +10 &G\ T +9 &H\ X +9 &Jw,\ Y +10 &L9&\ X +9 &M&\ Z +10 &O\ Y +9 &Qw&\ [ +9 &S;"\ [ +10 &T%\ [\ +9 &V\ ] +9 &Xu\ _ +10 &Z9\ ^ +9 &[y!\ M +9 &\\*\ %l +10 &]%%\ Z +9 ( + &]&\ T +3 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.43 + "collection"'6& +4 "core" &]\ T +2 .tHand.open + "manipulator"&71 +58 "core" 1 +2 "manipulator"&8% +4 "core" % 8  S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +95 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &]#\ T +2 "collection"';% +3 "core" %k"\ +3 .tCSV.dial CSR + "collection"'<  +125 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='s5 +1375 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +43 "collection"' +9 '>% +3 "core" %s5\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'?' +682 "core" ' +2 .tCSV.dial :waste + "collection"'@ +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A'i +2001 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &]~\ T +2 "collection"'C% +4 "core" %i\ +2 .tCSV.dial :flush + "collection"'D  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' +2545 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 "collection"'F + .tCBV.dial CSV +4 "collection"'G  +5 "core"  +61  +2 .tCTV.dial :intake + "collection"'H  +75 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I'i +2355 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +76 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +3 "core" &]}\ T +2 "collection"'L% +4 "core" %l \ +2 .tCSV.dial :flush + "collection"'M  +71 "core"  +2 .tCS.seek 5ml + "collection"'N's5 +1344 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +40 "core" B +2 "collection"'P% +3 "core" %s/\ +2 .tCS.seek 6.999ml +2 "collection"'Q' +580 "core" ' +2 ."connect"CSV.dial CBV +2 "collection"'R +2 .tCBV.dial CSV +3 "collection"'S  +5 "core"  +91 + .tCTV.dial :air +2 "collection"'T  +4 "core"  +3 .tCS.seek 0ml + "collection"'U'i +1678 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml +2 "collection"'V'3J +812 "core" ' +2 .tCSV.dial :waste + "collection"'W +43 "core" +2 .tCS.seek 0ml + "collection"'X'i +776 "core" ' +2 "collection"'Y& +3 "core" &]{\ T +2 "collection"'Z% +4 "core" %i\ +2 .tCSV.dial :flush + "collection"'[  +41 "core"  +2 .tCS.seek 3ml +2 "collection"'\\'3J +844 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'] @ +41 "core" A +2 "collection"'^% +4 "core" %3F\ +2 .tCS.seek 5ml +2 "collection"'_'s1 +562 "core" ' +2 .tCSV.dial :air + "collection"'` @ +5 "core" A +2 .tCS.seek 0ml +2 "collection"'a'i +1216 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'b'3J +810 "core" ' + .tCSV.dial :waste +2 "collection"'c +70 "core" +3 .tCS.seek 0ml + "collection"'d'i +776 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +3 "core" &Ө  ( :- +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +23 "core" ( + "manipulator"&g& +4 "core" &Ӄ\ \ & !q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &Ӄ\  ] !q +3 .tForearm.seek CC + "manipulator"&i'? +104 "core" ' + .tHand.close + "manipulator"&j/ +59 "core" / +2 .tCC.seek :open + "collection"'k( +451 "core" ( +2 "manipulator"&l& +3 "core" &Ӄ  m !q +35 "manipulator"&m% +10 "core" %  \ \ +3 .tForearm.seek :retract + "manipulator"&n' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(- +283 "core" ( +2 "manipulator"&p& +3 "core" &-  + * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &- * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +94 "core" ' +2 .tHand.open + "manipulator"&s1 +60 "core" 1 + "manipulator"&t% +4 "core" % y  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +99 "core" ' +2 #tda sampling at most 50ml, wcr at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 20:09:59UTC18-Jan-24\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@20:05:38, 25% flow, 22.6C, 11% humidity, 15.0psia, 13.734V, 0.290A, 59.068Ah, 3.99W",Subject: "da sampling at most 50ml, wcr at most 50ml" +2 "collection"'v& +4 "core" & \ +2 "manipulator"&w% +4 "core" %  Q  +3 "storage"(x% +3 "core" % Y X \ & +2 "storage"(y. +4 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(z(  +355 #"uploadLog"upsync +318 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &  5 5 i\ +2 "manipulator"&|& +5 "core" &- N * + "manipulator"&}% +4 "core" %  u  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&~( +179 "core" ( + "manipulator"&& +4 "core" &  ? +2 "storage"(& +4 "core" &  Z Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +92 "core" ' +2 "storage"(& +3 "core" &  Z [ '\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & 5 # \ +2 "manipulator"&& +5 "core" & ? +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&\ & +4 "core" & l ? +2 "storage"( & +4 "core" & D C \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +9 "core" & c ? +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +143 "core" ' +7 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &ӏ" { ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ" \ a ;6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 "manipulator"&& +3 "core" &ӏ"    ;6 +2 "manipulator"& % +4 "core" %D +2 "collection"'& +4 "core" &$\ +3 "collection"'& +5 "core" &\ +2 .tCC.seek :closed + "collection"'!(\\ +4 "core" &\ +8 &3~\ $d +9 &Vu\ 6 +9 &w\ \ K +10 &Q\ \ J +9 &rS \ K +9 &3W \ K +10 &Q\ K +9 &S\ J +10 &zT\ K +9 &<V\ K +9 &Q\ K +10 &!S\ J +9 &#T\ K +9 &%DV\ K +10 &'Q\ K +9 &(S\ J +10 &*T\ K +9 &,LW\ K +9 &.Q\ K +10 &/T\ J +9 &1T\ K +10 &3TQ\ K +9 &5T\ K +9 &6U\ J +10 &8U\ K +9 &:\\T\ K +9 &<S\ K +10 &=U\ K +9 &?U\ K +9 &AdT\ K +10 &C%T\ K +9 &D]\ L +10 &Fh\ M +9 &H_y\ O +9 &J\ T +10 &K\ V +9 &M\ X +9 &OQ\ W +10 &Q\ X +9 &R\ X +10 &T\ Y +9 &VP\ Z +9 &X\ Z +10 &Y\ \\ +9 &[\ H +9 &\\>\ (y +10 &\\\ _ +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&"1 +60 "core" 1 + "manipulator"&#% +4 "core" % ; " (   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +94 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + +2 "sampler")'% +3 "core" %ڄ d\ < +2 "collection"'& +4 "core" &\\\ _ +3 "Can"\ V\ =! +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 "collection"')  +5 "core"  + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")* +15 "core"  +2 .tSS.reconfigure :fast +2 "sampler")#.0X% +4 "core" %Q d\ + +27 "collection"'=% +3 "core" %f\ +2 "sampler")@% +4 "core" %Q W\ + +39 "collection"'?% +10 "core" %f\ +2 "sampler")B% +4 "core" %Q `\ + +36 "collection"'C% +3 "core" %f\ +2 "sampler")D% +4 "core" %Q ^\ + +41 "collection"'A% +4 "core" %f\ +2 "sampler")G% +3 "core" %Q Y\ + +2 .tIntake.select :close + "sampler")0 +9 )F% +3 "core" %Q Y\ + +2 .tSSV.dial :exhaust +2 "sampler")H  +74 "core"  + .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")E'ڀ +414 "core" ' + .tExhaust.select :close + "sampler") +10 #tSampling 50.0ml + .Intake.select :close +2 .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X% +4 "core" %0T b\  +2 .tSS.reconfigure :default +2 "sampler")#.0X9 +3 "core" 9'3d +102 "collection"'@9 +3 "core" 9@7d +102 "collection"'?9 +3 "core" 9\\;d +140 "collection"'w9 +10 "core" 9Ad +103 "collection"'=9 +2 "core" 9Fd +103 "collection"'C9 +3 "core" 9Jd +102 "collection"'D9 +3 "core" 9Nd +102 "collection"'A9 +3 "core" 9Rd +103 "collection"'F9 +3 "core" 95Wd +102 "collection"'69 +3 "core" 9[[b +103 "collection"'79 +2 "core" 9__ +103 "collection"'d9 +3 "core" 9cZ +102 "collection"'G9 +4 "core" 9gU +102 "collection"'K9 +3 "core" 9lQ +103 "collection"'L9 +3 "core" 9#pM +102 "collection"'I9 +3 "core" 9MtJ +102 "collection"'B9 +3 "core" 9txG +102 "collection"'E9 +3 "core" 9|C +102 "collection"'O9 +3 "core" 9? +103 "collection"'J9 +3 "core" 9; +102 "collection"'S9 +3 "core" 99 +102 "collection"'R9 +3 "core" 9:7 +102 "collection"'H9 +3 "core" 9^3 +103 "collection"'P9 +3 "core" 90 +102 "collection"'N9 +3 "core" 9. +103 "collection"'W9 +2 "core" 9, +103 "collection"'M9 +3 "core" 9) +102 "collection"'Y9 +3 "core" 9' +102 "collection"'Z9 +3 "core" 9)% +103 "collection"'[9 +2 "core" 9E# +103 "collection"'V9 +3 "core" 9a# +102 "collection"'\\9 +3 "core" 9}! +102 "collection"'X9 +3 "core" 9 +102 "collection"'^9 +3 "core" 9 +103 "collection"'`9 +3 "core" 9 +102 "collection"'_9 +3 "core" 9 +102 "collection"'c9 +3 "core" 9 +103 "collection"']9 +2 "core" 9  +103 "collection"'e9 +3 "core" 9  +103 "collection"'T9 +2 "core" 9 / +103 "collection"'a9 +3 "core" 9 B +102 "collection"'b9 +3 "core" 9 R +102 "collection"'j9 +3 "core" 9 b +102 "collection"'g9 +3 "core" 9 r +103 "collection"'h9 +3 "core" 9  +102 "collection"'-9 +3 "core" 9  +102 "collection"'Q9 +3 "core" 9  +103 "collection"'59 +2 "core" 9  +103 "collection"'l9 +3 "core" 9  +102 "collection"'p9 +3 "core" 9  +102 "collection"'m9 +3 "core" 9  +102 "collection"'i9 +3 "core" 9   +102 "collection"'s9 +3 "core" 9  +102 "collection"'U9 +3 "core" 9  +103 "collection"'99 +3 "core" 9  +102 "collection"'q9 +3 "core" 9  +102 "collection"'f9 +3 "core" 9 ! +102 "collection"'x9 +3 "core" 9 % +102 "collection"'n9 +4 "core" 9\ ) +102 "collection"'r9 +3 "core" 9\ - +102 "collection"'9 +3 "core" 9\ 1 +102 "collection"'{9 +3 "core" 9\ 6 +140 "collection"'|9 +10 "core" 9\ < +102 "collection"'t9 +3 "core" 9\ "@ +103 "collection"'9 +3 "core" 9\ &D +102 "collection"'9 +3 "core" 9\ +H +103 "collection"'}9 +2 "core" 9\ /M +103 "collection"'o9 +3 "core" 9\ 3Q +102 "collection"'u9 +3 "core" 9\ 7U +103 "collection"'9 +3 "core" 9\ :Y +102 "collection"'y9 +3 "core" 9\ >] +103 "collection"'v9 +2 "core" 9\ Ab +103 "collection"'9 +3 "core" 9\ Ef +102 "collection"'9 +4 "core" 9\ Hj +103 "collection"'9 +3 "core" 9\ Kn +102 "collection"'\ 9 +3 "core" 9\ Ps +102 "collection"'9 +3 "core" 9\ Sw +103 "collection"' 9 +2 "core" 9\ V{ +103 "collection"'9 +6 "core" 9\ Y +103 "collection"'~9 +3 "core" 9\ \\ +102 "collection"'9 +3 "core" 9\ _ +102 "collection"' 9 +3 "core" 9\ b +102 "collection"'9 +3 "core" 9\ e +102 "collection"'9 +3 "core" 9\ g +103 "collection"'9 +3 "core" 9\ k +102 "collection"'9 +3 "core" 9\ l +103 "collection"'9 +2 "core" 9\ p +103 "collection"' 9 +3 "core" 9\ s +102 "collection"' 9 +3 "core" 9\ u +103 "collection"'9 +3 "core" 9\ w +102 "collection"'9 +3 "core" 9\ z +102 "collection"'9 +3 "core" 9\ } +3 .tCH.hold 10:00,70C +2 "collection"'k `\ `\ |  +2 '9 +6 "core"  + 9\ ~ + "collection"'"% +4 "core" %^\ \  )\ +2 #tBegun lysing Collection Puck Heater at 68.1C/30.7psia +35378 "Can"\ \ f1 +24612 "core" ` +2 "collection"'#9 +2 "core" 9\  +3 "collection"'% +3 "core" %^ \ +2 #tEnded lysing Collection Puck Heater at 70C/29.3psia +2 .CS.seek 0ml + "collection"'''i +339 "core" ' +3 .tCTV.dial between spare and air,avoiding: :intake + "collection"') @ +98 "core" @ +2 .tCSV.dial :air + "collection"' @ +41 "core" > +3 .tCS.seek 5ml + "collection"''s5 +1379 "core" ' + .tCSV.dial CTV + "collection"'*  +43 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'& @ +42 "core" ? + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'  +42 "core"  + .tdelay 2 seconds +202 .CSV.dial :air + "collection"' @ +42 "core" > +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'('i +1349 "core" ' +2 "collection"'/% +3 "core" %n a a\ +2 #tPuck @58.7psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"'% +96 "core"  +2 .tCBV.dial CSV + "collection"'2  +29 "core"  + "collection"'3% +4 "core" %n   @\ +2 .tCS.seek 5.001ml +2 "collection"','s: +1375 "core" ' +2 .tdelay 5 seconds +501 .CTV.dial :air +2 "collection"'  +43 "core" +2 "collection"'1% +3 "core" %s?ORP\ +3 .tCS.seek 7.001ml + "collection"'8'* +609 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"': @ +40 "core" ? +47 .tCS.seek 10ml + "collection"';' +844 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'4 ` +112 "core" ^ +2 #tLysing Complete + "collection"'<& +3 "core" &\\TT\ _ +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&0% +4 "core" % \    +2 "storage"(% +4 "core" %\ \  I\  +2 "storage"(>. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(@(C +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "manipulator"&w& +5 "core" &D\ \  \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &Ӓ! ;3 +4 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek CC +2 "storage"(='r + "manipulator"&C(ӂ +21 "core" ( +2 "manipulator"&D& +3 "core" &ӄ   n - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &ӄ  u - +2 .tForearm.seek CC +2 "manipulator"&F'? +94 "core" ' + .tHand.close + "manipulator"&6/ +52 "core" / +2 .tCC.seek :open +2 "collection"'7( +82 "core" ' + "storage"(d- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(G'1 +43 "core" ' +309 ( +2 "storage"(K& +3 "core" &C Y [\ +2 "storage"(L& +4 "core" &C Z Y i\ +2 "manipulator"&I& +4 "core" &ӄ \  k - +2 "manipulator"&B% +3 "core" % G   +3 .tForearm.seek :retract + "manipulator"&E' +102 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&O( +158 "core" ( +2 "manipulator"&J& +3 "core" &  +2 "storage"(S& +4 "core" &C k i \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&R'8 +91 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tHand.open + "manipulator"&P1 +55 "core" 1 +2 "manipulator"&N% +4 "core" % I   +2 "storage"(W& +4 "core" &C v v Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&M'u +14 "core" ' +3 "manipulator"&Y& +3 "core" &  +2 "storage"(Z& +5 "core" &C h h n\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&[' +15 "core" ' +2 "storage"(V% +3 "core" %5 x a\ +3 ."downElevator"SE.seek :down +3 "storage"(\\' +99 (X% +3 "core" %E Y Z\ U` +2 "manipulator"&^% +4 "core" % t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +47 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'_& +3 "core" &QS:\ +2 "manipulator"&c& +5 "core" &  + "manipulator"&]% +4 "core" %   +3 .tElbow.seek FlushPuck::Garage + "manipulator"&e(- +170 "core" ( + "manipulator"&T& +4 "core" &-  M T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &- s T +2 .tForearm.seek :garage +2 "manipulator"&b'w +90 "core" ' +2 .tHand.close + "manipulator"&j/ +63 "core" / +2 "manipulator"&g& +3 "core" &-  ( T +2 "manipulator"&h% +4 "core" % τ   +2 .tForearm.seek :retract +2 "manipulator"&-' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&Q(ӂ +281 "core" ( +3 "manipulator"&5& +3 "core" &Ӗ"   A <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &Ӗ" : <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&p'? +95 "core" ' +2 "manipulator"&m& +3 "core" &Ӗ#  <9 +2 "manipulator"&i% +4 "core" %C  +2 "collection"'s& +4 "core" &SR\ +3 "collection"'U& +5 "core" &QQ\ +2 .tCC.seek :closed + "collection"'9(\\ +4 "core" &SS\  +9 &4xRS\ *z +9 & hzSR\ > +10 &kPPz\ K +9 &_WRR[\ J +9 &!YRQ0\ J +10 &VQS\ J +9 &VSTl\ J +10 &gTRRN\ J +9 &)WRS\ J +9 &VSS\ J +10 & TSR\ J +9 &"nVQR\ J +9 &$1VRT\ J +10 &%ZRR\ J +9 &'UTS\ J +10 &)wVSRx\ J +9 &+8YPSe\ J +9 &,WRSW\ J +10 &.WRR<\ J +9 &0~YSS\ J +9 &2AUQS\ J +10 &4VRRt\ J +9 &5YSP_\ J +10 &7WSSL\ J +9 &9HWST\ J +9 &; WQS\ J +10 &<WRQ\ J +9 &>WRS\ J +9 &@QWQS\ J +10 &BYPR\ J +9 &CaPQ\ K +10 &E{QTs\ O +9 &G<SSS\ T +9 &HWV[\ V +10 &JTU\ Y +9 &LtTUi\ Y +9 &N7RTf\ X +10 &ORUc\ Z +9 &QTVC\ Y +9 &StSS\\\ [ +10 &U:QS\ Z +9 &VTT\ \\ +10 &XST\ ] +9 &ZyVU\ \\ +9 &\\yTVd\ 2 +10 &\\0US[\ $n +9 ( + &\\rTUP\ Y +3 "collection"'U& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + "collection"'q& +3 "core" &\\qUS\ Y +2 .tHand.open + "manipulator"&f1 +55 "core" 1 +2 "manipulator"&x% +4 "core" % C \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +91 "core" ' +2 .tPSV.dial PSR + "processing"%r +140 "core" + "processing"%% +4 "core" %ؿ\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%{'+ +1608 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%|  +43 "core"  +2 .tPS.seek 0ml + "processing"%t'ؾ +1608 "core" ' + .tPSV.dial PSR +2 "processing"% +42 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2631 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%} +2 "collection"'o  +6 "core" B +45 "processing"%u +4 "core" B +2 "processing"%  +17 "core" +138  + .tPSV.dial :mixloop +2 "processing"%y +100 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'v  +14 "core" +2 .tPTV.dial :PRVmixing + "processing"%  +128 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' +2 .tPSV.dial :air + "processing"%  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%\ ' +2642 "core" ' + .tPSV.dial :mixloop + "processing"% +43 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%~' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2636 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӭ 8" +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +23 "core" ( + "manipulator"&& +5 "core" &~  s $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &~   / $ +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' + .tHand.close + "manipulator"& / +54 "core" / +2 .tCC.seek :open + "collection"' ( +451 "core" ( + "manipulator"&& +4 "core" &ӑ  U !v +2 "manipulator"&% +4 "core" %  \ m +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +283 "core" ( + "manipulator"&"& +4 "core" &-  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &- 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&k'w +100 "core" ' +2 .tHand.open + "manipulator" +56 "core" 1 +2 "manipulator"&% +4 "core" % π  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +96 "core" ' + .tPSV.dial :mixloop +2 "processing"%) +5 "core" +2 .tPTV.dial :PRVmixing + "processing"%  +5 "core" +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%'  +2 "collection"'*  +6 "core"  + +2 .tCTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'&& +4 "core" &ih9\ +2 "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % \  +2 "storage"(. +2 "core" .(C +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +44 "storage"(/(  +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (%& +3 "core" & j %\ +2 "manipulator"&2& +4 "core" &- 3 +2 "manipulator"&3% +5 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(( +177 "core" ( + "manipulator"& & +4 "core" &   2 9 +2 "storage"(1& +4 "core" & $\ +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&,'S +114 "core" ' +2 "storage"(:& +3 "core" & 1\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +286 "core" ' + "storage"(4- +4 "core" -' +2 .tSE.configure :default + "storage"(#QK-0-\ b +4 (<& +3 "core" & h g l\  +2 "manipulator"&0& +3 "core" & m 9 +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&>& +3 "core" &   9 +2 "storage"(z& +4 "core" & } | t\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&?'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(A' +8 "core" & z 9 + "manipulator"&6% +4 "core" %  y +2 .tForearm.seek :retract +2 "manipulator"&d' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&$& +3 "core" &Ӎ# W <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &Ӎ"  d <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&='? +90 "Can" \ =\ .f% +14 "core" ' +2 "manipulator"&K& +3 "core" &Ӎ# ; <= +3 "manipulator"&L% +3 "core" %; Y +3 "collection"'I& +4 "core" &liz\ +2 "collection"'B& +5 "core" &jl\ +3 .tCC.seek :closed + "collection"'J(\\ +5 "core" &li\  +8 &6{ijj\ +{ +10 & h|hjU\ > +9 &mjj@\ K +10 &_Ukl1\ K +9 &"Tij\ J +9 &Sjj\ J +10 &Uij\ J +9 &hUjl\ J +9 &*Wkk\ J +10 &Uhj\ J +9 & Sjl\ I +10 &"qWil\ J +9 &$1Yil\ K +9 &%Vkk\ J +10 &'Ujj|\ J +9 &)yUkkg\ J +9 &+;UjiT\ J +10 &,VkkA\ J +9 &.Vkk3\ J +9 &0Ukm"\ J +10 &2AUjk\ K +9 &4VjkN\ J +10 &5WjiM\ J +9 &7WijF\ J +9 &9KSkj:\ J +10 &; Wij/\ J +9 &<Wjk!\ K +9 &>Wik\ \ J +10 &@QWjk\ K +9 &BXkk\ K +10 &C^kn\ K +9 &Edpl\ L +9 &GOtup\ N +10 &Iyy\ Q +9 &J||\ V +9 &L}z|\ V +10 &N<}|\ W +9 &O{{\ W +10 &Q|{\ X +9 &S~z{\ Y +9 &UA~z\ X +10 &V||\ Z +9 &X||\ Z +10 &Z~z}\ [ +9 &\\%zz{\ / +9 &\\,~}\ ^ +10 ( + &\\l||\ O +2 "collection"'B& +45 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.13 +8 .Hand.open + "manipulator"&S1 +3 "core" &\\m{~\ O + &\\m}{\ O + &\\m{~\ O + &\\m||\ O +47 1 +2 "manipulator"&F% +4 "core" % ; !  V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +96 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'P  +129 "core"  +2 .tCSV.dial CTV +2 "collection"'N  +29 "core"  +3 .tPS.seek 2.5ml + "processing"%W' +2635 "core" ' + "collection"'Y% +4 "core" %|{\  +2 .tCS.seek 4.499ml +2 "collection"'Z'c5 +1483 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%V  +42 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%E  +70 "core"  +3 .tPS.seek 0ml + "processing"%X'ؾ +2634 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'^ ` +30 "core" ^ +2 .tCSV.dial :air + "collection"'O @ +42 "core" ? +3 .tCS.seek 10ml + "collection"'R' +1488 "core" ' +2 .tCSV.dial CTV + "collection"'M  +43 "core"  +2 .tCS.seek 0ml + "collection"'G'i +2633 "core" ' + .tCBV.dial :waste1 +2 "collection"'_ @ +26 "core" @ +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +3 "collection"'c  +129 "core" +2 "collection"']& +4 "core" &\\l\ O +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&[% +4 "core" %   +2 "storage"(T% +4 "core" % \ +2 "storage"(a. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(\\(C +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &F\ \ \ +2 "manipulator"&j& +4 "core" &ӧ  9# +2 "manipulator"&g% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&h( +186 "core" ( +2 "manipulator"&`& +3 "core" &    +2 "storage"(b& +4 "core" &F C B \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&5' +93 "core" ' + "storage"(l& +4 "core" &F 9 - v\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +294 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" &    +2 "storage"(s& +4 "core" &E 4 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +46 .tForearm.seek 1 +2 "manipulator"&-'8 +24 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(q- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(f'b +26 "core" ' + "manipulator"&x% +4 "core" %I u w +2 "storage"(U& +4 "core" &E   @\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&r'u +15 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(p& +4 "core" &E - < ,\ +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&|' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"({' +35 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&t% +5 "core" %  w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&u(ӂ +148 "core" ( +3 "manipulator"&o& +3 "core" &{#  \ =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &{# =D +2 .tForearm.seek CC +2 "manipulator"&y'? +96 "core" ' + .tHand.close + "manipulator"&v/ +62 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(& +4 "core" &E u ` L\ +2 "storage"(& +3 "core" &E L V \ +2 "manipulator"&& +4 "core" &Ӷ  P 5 +2 "manipulator"&% +4 "core" % 1 B +2 .tForearm.seek :retract +2 "manipulator"&\ ' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&( +161 "core" ( +2 "manipulator"& & +3 "core" &  H  +2 "storage"(& +4 "core" &E j n \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&~'8 +96 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +3 "core" % <  ; +2 "storage"( & +4 "core" &E f s r\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 304 counts +2 "manipulator"&Q'h +26 "core" ' +3 "manipulator"&n& +3 "core" &   +40 "storage"(9& +9 "core" &E \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +24 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 ("% +3 "core" %D X Z f\ U_ +2 "manipulator"&+% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air + "processing"%#  +72 "core" +3 .tPS.seek 2.5ml + "processing"%' +2638 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%) +53 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%  +42 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%* +44 "core" + .tdelay 1 second +102 .PSV.dial :air + "processing"%'  +44 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml + "processing"%'ؾ +2640 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%&& +4 "core" &\  +2 "manipulator"&& +3 "core" &  +2 "manipulator"&% +4 "core" %  e  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +170 "core" ( +2 "manipulator"&k& +3 "core" &-  U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &- a U +2 .tForearm.seek :garage +2 "manipulator"&%'w +103 "core" ' +2 .tHand.close + "manipulator"&2/ +63 "core" / +2 "manipulator"&3& +3 "core" &-   g T +2 "manipulator"& % +4 "core" % k   +3 .tForearm.seek :retract + "manipulator"&1' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +119 "core" ( + "manipulator"&:& +4 "core" &   ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" & y ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&4' +97 "core" ' +2 "manipulator"&<& +3 "core" &  W ! +2 "manipulator"&0% +4 "core" % B  +3 "processing"%>& +3 "core" &\  +3 "processing"%z& +4 "core" &\  +3 .tPC.seek :closed + "processing"%w(^ +4 "core" &\  +8 &F9\ $f +10 &yX\ 8 +9 &{\ K +9 &R\ M +10 &YX\ M +9 &T \ L +9 &[\ M +10 &Z\ M +9 &bW\ L +10 &$Y \ L +9 &[\ M +9 &![\ L +10 &#iX\ M +48 &%,W\ L +2 &&Z\ L + &(Z\ L + &*q]\ M + &,3]\ M +3 &-\\\ L +9 &/Z\ L +10 &1y[\ M +9 &3:\\\ M +10 &4Y\ L +9 &6Z\ L +9 &8Z\ L +10 &:CY\ M +9 &<\\\ L +9 &=[\ L +10 &?_\ M +9 &AJ^\ M +10 &Cm\ N +9 &Ds\ O +9 &F\ Q +10 &HC\ R +9 &J\ S +9 &K\ S +10 &M\ S +9 &OG\ S +9 &Q\ T +10 &R\ T +9 &T\ T +10 &VM\ T +9 &X\ T +9 &Y\ T +10 &[\ S +9 &]S\ E +9 &^wB{\ #i +10 &^7\ 1 +5 ( +2 "processing"%z& +4 "core" &^!\ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + "processing"%D& +4 "core" &^!\ 1 +2 .tHand.open + "manipulator"&61 +64 "core" 1 + "manipulator"&(% +4 "core" %  {  +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +92 "core" ' + .tPRV.dial :air +2 "processing"%$  +43 "core"  + .tPSV.dial :mixloop +2 "processing"%! +43 "core" +2 "processing"%8% +4 "core" %ػ\ +3 .tPS.seek 0.3ml + "processing"%?' +381 "core" ' + .tPSV.dial PSR +2 "processing"%K +102 "core"  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml + "processing"%L'2 +495 "core" ' +2 .tdelay 3 seconds +301 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%I' +1924 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"% +114 "core" +2 .tPTV.dial :mixing + "processing"%A @ +71 "core" A + .tPBV.dial :waste2 +2 "processing"%d  +92 "core"  +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&S& +3 "core" & \ _ ! +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&F( +24 "core" ( +2 "manipulator"&B& +3 "core" &   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &   / \ +2 .tForearm.seek PC +2 "manipulator"&N' +92 "core" ' +2 .tHand.close + "manipulator"&=/ +61 "core" / +2 .tPC.seek :open +2 "processing"% ( +457 "core" ( +2 "manipulator"&Y& +3 "core" & \ +2 "manipulator"&;% +4 "core" %  % +3 .tForearm.seek :retract + "manipulator"&V' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&E(- +122 "core" ( + "manipulator"&W& +4 "core" &-  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &- L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&O'w +99 "core" ' + .tHand.open + "manipulator"&Z1 +54 "core" 1 +2 "manipulator"&M% +3 "core" % ρ   D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +139 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%_& +4 "core" &2\ +2 "manipulator"&c% +4 "core" %   +2 "storage"(]% +4 "core" % b\  +2 "storage"([. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(T(  +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &  N W X\ +2 "manipulator"&/& +5 "core" &- r + "manipulator"&H% +4 "core" %  |  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j( +176 "core" ( + "manipulator"&g& +4 "core" &   +2 "storage"(`& +4 "core" & f g g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&b'S +90 "core" ' +2 "storage"(l& +3 "core" & Q\ +3 .tSE.reconfigure :pick + "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(C- +3 "core" -'' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" & Y Y\  +2 "manipulator"&i& +3 "core" & x +2 .tElbow.seek 2 +2 "manipulator"&s( +14 "core" ( +2 "manipulator"&q& +4 "core" &  2 y +2 "storage"(x& +3 "core" & u v k\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&U'Ͻ +26 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(' +8 "core" & Q y + "manipulator"&t% +4 "core" %  k +2 .tForearm.seek :retract +2 "manipulator"&5' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&h( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&e& +3 "core" & 8 " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" & e " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +99 "core" ' +3 "manipulator"&o& +3 "core" &  " +3 "manipulator"&f% +3 "core" %  +3 "processing"%& +3 "core" &\ +3 "processing"%|& +5 "core" &\ +2 .tPC.seek :closed + "processing"%7(^ +4 "core" &\  +9 &3}\ )w +9 &c\ = +10 &zp\ L +9 &=S\ L +9 &V\ L +10 &U\ L +9 &U\ L +9 &DV\ L +10 &W\ L +9 &S\ L +10 & W\ L +9 &"LV\ L +9 &$W\ L +10 &%S\ L +9 &'W\ L +9 &)TW\ L +10 &+W\ M +9 &,V\ L +10 &.W\ L +9 &0\\W\ L +9 &2T\ L +10 &3X\ L +9 &5Y\ L +9 &7eU\ L +10 &9&Y\ L +9 &:V\ L +10 &<[\ L +9 &>kY\ M +9 &@-[\ M +10 &Ac\ M +9 &Cm\ N +9 &Elu\ O +10 &G'\ Q +9 &H\ R +10 &J\ R +9 &Lj\ R +9 &N*\ S +10 &O\ S +9 &Q\ T +9 &Sn\ T +50 &U0 \ T + &V\ T +2 &X\ S + &Zv\ T + &\\8\ T +2 &]yu\ < +9 &^"`\ "b +9 &^&\ 1 +3 ( +2 "processing"%|& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&v1 +55 "core" 1 +3 "manipulator"&}% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&J' +91 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"% z +2 %9 +6 "core" 9 +103 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9  +103 "processing"% 9 +3 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%y9 +3 "core" 9 +103 "processing"%u9 +2 "core" 9 +103 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"% 9 +3 "core" 9& +103 "processing"%n9 +3 "core" 9+ +102 "processing"%99 +3 "core" 9/ +102 "processing"%9 +3 "core" 93 +103 "processing"%\ 9 +2 "core" 97 +103 "processing"%9 +3 "core" 9< +103 "processing"%"9 +3 "core" 9@ +102 "processing"%+9 +3 "core" 9D +103 "processing"%~9 +2 "core" 9H +103 "processing"%Q9 +4 "core" 9L +102 "processing"%{9 +3 "core" 9Q +102 "processing"%#9 +3 "core" 9U +102 "processing"%9 +3 "core" 9Y\ +102 "processing"%9 +3 "core" 9]\ +103 "processing"%X9 +2 "core" 9a +103 "processing"%)9 +3 "core" 9f +103 "processing"%9 +3 "core" 9%j +102 "processing"%*9 +4 "core" 9,n +102 "processing"%'9 +3 "core" 93r +3 .tPH.hold 2:00:00,28C +2 "processing"% pzp1 +2 .tdelay 1:30 +5 "core" s +9001 .tPSR.select :air + .PSV.dial PSR +2 "processing"%& +100 "core"  + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%' +589 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%' +1611 "core" ' +2 .tPTV.dial :puck + "processing"%k  +71 "core"  +2 .tPSV.dial PTV + "processing"%@ +84 "core" +2 .tPBV.dial :waste1 + "processing"%  +129 "core"  + "processing"%2% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%3'- +586 "core" ' +2 .tdelay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" , +3 .tPS.seek 0ml + "processing"%'ؾ +1628 "core" ' +2 .tdelay 5:00 +8143 "Can" >\ f. +21859 #trecoverPSRreagent08 + .PTV.dial :puck + "processing"%:  +44 "core"  +5 .tPBV.dial :waste1 +2 "processing"%.  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%% * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%< +70 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%0' +2362 "core" ' +2 .tPSV.dial PTV + "processing"%> +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"% +72 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +4 "processing"%1 +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%D'ؾ +2310 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%6  +130 "core" + .tPSV.dial :mixloop +2 "processing"%( +44 "core" + .tPRV.dial :ab1 +2 "processing"%z @ +71 "core" B +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%$' +368 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "collection"'!  +2 "processing"%8  +42 "core" +3  +2 "processing"%4% +3 "core" %w\ +2 .tPS.seek 0.34ml +2 "processing"%'" +439 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'K  +29 "core" + .tPRV.dial :air +2 "processing"%?  +41 "core"  +3 .tPS.seek 0.9ml + "processing"%L'K +1187 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +70 "core" > +3 .tPS.seek 0.5ml + "processing"%A' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%d  +54 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%I' +1609 "core" ' +2 .tPSV.dial :PML + "processing"%S +43 "core" + .tPTV.dial :mixing +2 "processing"%B @ +70 "core" A +2 .tPBV.dial :waste1 + "processing"%P  +35 "core" + "processing"%=% +5 "core" %2\  +2 .tPS.seek 1.85ml + "processing"%' +234 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%, * +33 "core" * +2 .tPS.seek 0ml +2 "processing"%w'ؾ +1967 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'Y& +4 "core" &x|H\ +2 "manipulator"&;& +3 "core" & " +2 "manipulator"&W% +4 "core" %  }  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&^(- +125 "core" ( +2 "manipulator"&N& +4 "core" &-  \   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +45 &Z& +4 "core" &-  [  +2 .tForearm.seek :garage +2 "manipulator"&F'w +97 "core" ' +2 .tHand.close + "manipulator"&M/ +53 "core" / +2 "manipulator"&V& +3 "core" &-  \\  +3 "manipulator"&_% +3 "core" % ω j +3 .tForearm.seek :retract + "manipulator"&c' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&](ӂ +278 "core" ( +2 "manipulator"&[& +3 "core" &ә! ! ) ) :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &ә!   x :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\\'? +104 "core" ' +2 "manipulator"&a& +3 "core" &Ӛ!   :* +3 "manipulator"&/% +3 "core" %<  3 +3 "collection"'H& +3 "core" &vw=\ +3 "collection"'g& +6 "core" &{xJ\ +2 .tCC.seek :closed + "collection"'`(\\ +4 "core" &|xB\  +9 &3{yx>\ *z +9 &e~zy8\ > +10 &n{z:\ L +9 &QQyy2\ L +9 &T{{:\ L +10 &Qzz5\ K +9 &Qyy.\ L +10 &ZUz{3\ K +9 &Vx{&\ L +9 &Rx{-\ L +10 & Syx.\ L +9 &"cOzy0\ K +9 &$$Uy{6\ K +10 &%Rzz0\ K +9 &'Sy{/\ K +10 &)jWyy0\ K +9 &+,Ryy1\ K +9 &,Tz{1\ K +10 &.Wzz3\ K +9 &0qRxy.\ L +9 &24Vyy,\ K +10 &3Rxy,\ K +9 &5Uxy.\ K +10 &7ySyy.\ L +9 &9<Wyz+\ K +9 &:Tyz*\ L +10 &<Uxz*\ L +9 &>T{|'\ K +9 &@CU{|&\ L +10 &BWz{$\ L +9 &C]~~"\ L +10 &Eq#\ O +9 &G5(\ S +9 &H%\ W +10 &J#\ W +9 &Ln"\ X +9 &N0%\ X +10 &O)\ X +9 &Q \ Y +10 &Sq)\ Y +9 &U0&\ Z +9 &V \ [\ +10 &X&\ \\ +9 &Zp,\ \\ +9 &\\x'\ 6 +10 &\\$&\ (u +9 ( +2 "collection"'g& +3 "core" &\\'\ #f +3 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.32 + "collection"'l& +4 "core" &\\(\ #f +2 .tHand.open + "manipulator"&E1 +61 "core" 1 +2 "manipulator"&R% +3 "core" % < ! ) / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +91 "core" ' + .tPSV.dial PSR +2 "processing"%m +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%i'+ +1614 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%q  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%x'ؾ +1607 "core" ' +2 .tPSV.dial PSR + "processing"% +44 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%p' +2647 "core" ' +3 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +3 "collection"'j  + "processing"%t  +33 "core" ~ +124  +2 .tPSV.dial :mixloop + "processing"%b +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +5 "core" + .tPTV.dial :PRVmixing +40 "processing"%U  +78 "core" +3 .tPS.seek 0ml + "processing"%e'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%-  +55 "core"  +2 .tPS.seek 2.5ml + "processing"%s' +2651 "core" ' +2 .tPSV.dial :mixloop + "processing"%o +43 "core" +2 .tPS.seek 0ml + "processing"%f'ؾ +2632 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%5 +44 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +1108 "Can"\ b\ Zf. +1523 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&v& +3 "core" &Ӭ   7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +20 "core" ( + "manipulator"&& +4 "core" &Ӄ ) [ % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &Ӄ $ ' % +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&r/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "manipulator"& & +4 "core" &Ӎ  G $ +2 "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&y' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&u(- +280 "core" ( + "manipulator"&& +4 "core" &- \ & K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-   K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"& 'w +102 "core" ' + .tHand.open + "manipulator"&n1 +62 "core" 1 + "manipulator"&9% +4 "core" % |   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 ."da"delayUntil "20:59:29.31" +3 #"WCR"Whole Cell Archive sampling 50ml + #Loading wcr puck from tube 2 into Collection Clamp + "collection"'\ & +4 "core" &qt\ +2 "manipulator"&% +4 "core" %   #  +2 "storage"("% +4 "core" %  B \  +2 "storage"(+. +3 "core" .(  +2 "storage"(~& +3 "core" &  \  +3 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 + "storage"(Q(  +25 "core" ( + ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 ({& +3 "core" &  C g\ +2 "manipulator"&#& +3 "core" &-  [ K +2 "manipulator"&% +4 "core" %   \   +3 ."WCR"Elbow.reconfigure :tight +46 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 + "manipulator"&( +175 "core" ( + "manipulator"&X& +4 "core" &  G 1 +2 "storage"()& +4 "core" &   /\ +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' +2 "storage"(*& +4 "core" &  T\ +2 ."WCR"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(''r +298 "core" ' + "storage"(&- +3 "core" -' +3 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &  A \  +2 "manipulator"&& +4 "core" &  C 0 +2 ."WCR"Elbow.seek 2 +2 "manipulator"&k( +4 "core" ( +2 "manipulator"&@& +3 "core" &  0 +3 "storage"(& +3 "core" &   U\  +3 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&2'Ͻ +18 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."WCR"Hand.close +2 "manipulator"&/ +62 "core" / +3 !"WCR"o:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"2/home/esp/esp2/protocol/2G/wcr.rb:24:in `wcr'"0/home/esp/esp2/protocol/2G/DA.rb:58:in `da'";/home/esp/esp2/protocol/2G/DAprocess.rb:368:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:56:in `da'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:14"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:10"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(3' +6 "core" &  T 0 +3 "manipulator"&% +3 "core" % k +3 ."WCR"Forearm.seek :retract + "manipulator"&:' +93 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&.(ӂ +154 "core" ( + "manipulator"&%& +4 "core" &Ә  ! / 9# + ' +3 ."downElevator"SE.stop +2 "storage"(5 +2 ."WCR"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &<& +4 "core" &Ә   B 9# +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 "manipulator"&>& +3 "core" &Ә ! ) G 9# +2 "manipulator"&% +4 "core" %?  # % +3 "collection"'1& +3 "core" &vw\ +3 "collection"'& +6 "core" &vv\ +2 ."WCR"CC.seek :closed +2 "collection"'0(\\ +4 "core" &tu\  +9 &5{uw\ +{ +10 &g{tv\ > +9 &ktw\ L +9 &_Qww\ K +10 &!Rru\ K +9 &Rtv\ K +10 &Ruv:\ K +9 &hRtui\ K +9 &*Rtu|\ K +10 &Rvvy\ K +9 & Rtt\ K +9 &"pQtvp\ K +10 &$2Qttu\ K +9 &%Rtv}\ K +10 &'QvvK\ J +9 &)xTuv|\ J +9 &+;Tuwv\ J +10 &,Ttv{\ J +9 &.Tswn\ K +9 &0Vttg\ K +10 &2CWwvd\ J +9 &4Tvsl\ J +10 &5Tuug\ J +9 &7Uvtf\ K +9 &9JWuud\ K +10 &; Rtvm\ K +9 &<Uuwh\ J +9 &>Uvwc\ K +10 &@QYtu[\ K +9 &BZyw[\ L +10 &C\\xwc\ L +9 &Eh|za\ M +9 &GJf\ P +10 &IZ\ T +9 &JV\ W +9 &L{e\ W +10 &N<x\ X +9 &O\ X +10 &Q\ X +9 &S~\ Y +9 &U>\ Z +10 &V\ Z +9 &X\ [ +9 &Z\ [\ +10 &\\"x\ / +9 &\\1\ d +9 ( + &\\g|\ Q +3 "collection"'& +3 #"WCR"Collection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&61 +61 "core" 1 +9 "manipulator"&(% +3 "core" % ? '   % +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&z' +94 "core" ' +2 #"WCR"collectSample 50ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")D+ +2 "core" + +2 "sampler")!% +4 "core" %ڲ f\  +2 "collection"'8& +4 "core" &\\h\ Q +4 "Can"\ {\ f& +2 #"WCR"Calibrating pressure sensors + .CTV.dial :air + "collection"'4  +5 "core" + ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler")$  +5 "core"  +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X +2 "collection"'M& +4 "core" &\\g\ Q +3 "Can"\ `\ m& +2 ."WCR"CTV.dial :intake +2 "collection"'V  +20 "core" +2 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "sampler")_  + "collection"'J @ +51 "core" A +65  +2 #"WCR"Allowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open +2 "sampler") +210 "collection"'F% +3 "core" %n\ +2 #"WCR"Intake @14.6psia, vacuum from 9.1 to 12.1psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'b  +85 "core"  +2 "collection"'% +3 "core" %P\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'U ` +29 "core" a +2 ."WCR"CS.seek 7.33ml +2 "collection"'p' +688 "core" ' +5 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'e  +2 '-  +27 "core"  +49  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ gb +4 ."WCR"CS.seek 0ml + "collection"'o'i +1933 "core" ' + ."WCR"CSV.dial :air +2 "collection"'s @ +42 "core" > +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'' +2435 "core" ' +2 "collection"'f% +4 "core" %!\ \ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'5 ` +4 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +23 "core" b +2 ."WCR"CS.seek 7.33ml +2 "collection"'v' +45 "core" B + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +594 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'|  + 'r  +34 "core"  +5  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ gb +3 ."WCR"CS.seek 0ml +2 "collection"']'i +1933 "core" ' +2 ."WCR"CSV.dial :air + "collection"'C @ +42 "core" ? +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'`' +363 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +1983 "core" ' + "collection"'% +4 "core" %\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +28 "core" a +3 ."WCR"CS.seek 7.33ml + "collection"'}' +347 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%n +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%9  +43 "core"  +2 ."da"delay 2 seconds +46 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'\  + '  +22 "core" ~ +11  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ gb +3 ."WCR"CS.seek 0ml +2 "collection"'"'i +104 ."da"PSV.dial :mixloop +2 "processing"%+ +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%y  +44 "core"  +3 ."da"PS.seek 0ml +2 "processing"%~'ؾ +1530 "core" ' +2 ."WCR"CSV.dial :air +39 "collection"'{ @ +48 "core" > +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'#' +680 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"% ' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%X' +489 "core" ' +2 "collection"')% +4 "core" %\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'T ` +27 "core" a +3 ."WCR"CS.seek 7.33ml + "collection"'*' +687 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'u  + '  +20 "core"  +13  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ gb +3 ."WCR"CS.seek 0ml +2 "collection"'&'i +346 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +71 "core"  + ."da"PSV.dial PTV +2 "processing"% +83 "core"  + ."da"PBV.dial :waste1 +2 "processing"%@  +34 "core" +2 "processing"%% +3 "core" %6\  +3 ."da"PS.seek 1.5ml + "processing"%'- +585 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +3 ."da"PS.seek 0ml + "processing"%'ؾ +444 "core" ' + ."WCR"CSV.dial :air +2 "collection"' @ +42 "core" > +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.hold +2 "collection"'+ +2 "core" + +2 "collection"'%% +4 "core" %ӌ\ +2 !to:ShallowSampler::Error: mesg"MPuck.from 2, :wcr reached only 3.3 of 35psi after pumping in 40ml of gas:@timestampu: Time Ug:bt[""4/home/esp/esp2/utils/sampler.rb:351:in `pumpTo'"2/home/esp/esp2/utils/sampler.rb:347:in `loop'"4/home/esp/esp2/utils/sampler.rb:347:in `pumpTo'" +82 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2391 "core" ' +2 ."da"PSV.dial PTV +44 "processing"%1 +89 "core" +2 ."da"delay 5 seconds +377 "Can" [\ Bf +125 ."da"PSV.dial PSR + "processing"%k +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%3 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%:  +83 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2306 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%6 +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%(' +592 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%!' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%8  +5 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%4  +34 "core" +2 "processing"%$% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%'( +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%D * +32 "core" * +3 ."da"PS.seek 0ml + "processing"%?'ؾ +1603 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +3 "core"  +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%d +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%K' +2366 "core" ' + ."da"PSV.dial PTV +2 "processing"%S +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%B +76 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%P +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%=  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +2327 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%Y  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%;  +40 "core"  +2 ."da"PTV.dial :PRVmixing + "processing"%W  +5 "core" +2 ."da"PSV.dial :mixloop + "processing"%, +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%I' +387 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%h  +44 "core"  + "processing"%M% +4 "core" % \ +2 ."da"PS.seek 0.55ml +2 "processing"%V' +342 "core" ' +3 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%J  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%_' +1557 "core" ' + ."da"PSV.dial :PML +2 "processing"%N +44 "core" + ."da"PTV.dial :mixing +2 "processing"%F @ +72 "core" B + ."da"PBV.dial :waste1 +41 "processing"%Z  +40 "core" +2 "processing"%^% +3 "core" %\  +3 ."da"PS.seek 1.85ml +2 "processing"%a' +229 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%/ * +32 "core" * +3 ."da"PS.seek 0ml + "processing"%H'ؾ +1970 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +22562 "Can" Z\ f +25441 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%[ @ +16 "core" ? + ."da"PBV.dial :waste1 +2 "processing"%O  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%l * +35 "core" , + ."da"PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%E' +2370 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%c +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%m  +55 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop +3 "processing"%\\ +41 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%w  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +2320 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%R +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%g' +613 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%x  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%G +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%t  +34 "core" +2 "processing"%b% +4 "core" %5\  +2 ."da"PS.seek 1.5ml +2 "processing"%') +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%U * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%j'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%-  +15 "core"  +2 ."da"PBV.dial :waste1 + "processing"%e  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%p * +35 "core" , +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%s +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%o' +2365 "core" ' +2 ."da"PSV.dial PTV + "processing"%f +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%5 +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +900 "Can"\ {\ 9f +1410 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%r +129 "core"  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +41 "processing"%|' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%v' +1629 "core" ' +2 ."da"PTV.dial :puck + "processing"%C  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"%] +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"% '( +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1635 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%`  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%n  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%9 * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +71 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2351 "core" ' + ."da"PSV.dial PTV +2 "processing"%+ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%} +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%y +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%{'ؾ +2316 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%" +129 "core"  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%~' +1614 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +5 "core"  +2 ."da"PSV.dial PTV + "processing"%) +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%T  +34 "core" + "processing"%#% +4 "core" %r\  +2 ."da"PS.seek 1.5ml +2 "processing"%u'+ +627 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%*'ؾ +1609 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +3 "core"  +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%@ * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%X' +2369 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" +8 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%%  +71 "core"  +3 ."da"PS.seek 0ml + "processing"%&'ؾ +2315 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%< +133 "core"  +4 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +4 "processing"% +17 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +3 "processing"%'' +334 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%2' +340 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml +2 "processing"%>' +1617 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"%1 +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%k  +35 "core" + "processing"%3% +4 "core" %%\ +3 ."da"PS.seek 1.5ml + "processing"%:'1 +401 "Can"\ \ ,f, +197 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%6'ؾ +1617 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%(  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%8 * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%4' +2417 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%$ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%! +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%D +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2371 "core" ' +2 #"da"Additional air clear + .PSR.select :air + .PSV.dial PSR +2 "processing"% +131 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%L' +2141 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 "processing"%d  +4 "core"  + ."da"PSV.dial PTV +2 "processing"%? +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%S  +34 "core" +2 "processing"%B% +3 "core" %\ +3 ."da"PS.seek 1.5ml + "processing"%P'( +601 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +34 "core" , + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%K  +103 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +1612 "core" ' +2 "processing"%Y9 +2 "core" 9w5\\ +3 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast + "processing"%; +3 %W& +2 "core" 5\\ +3 &^  \ 1 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&,% +4 "core" %  $ & '  +2 "storage"(A% +3 "core" % V V \  +45 "storage"(h. +9 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(M(C +361 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" &F a d\ +2 "manipulator"&J& +4 "core" &ӣ   N 7 +2 "manipulator"&V% +4 "core" %  " " *  +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&N( +163 "core" ( + "manipulator"&F& +4 "core" &  G  +2 "storage"(Z& +4 "core" &F \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&^' +103 "core" ' +2 "storage"(/& +3 "core" &F 2 <\ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(_'r +300 "core" ' +2 "storage"(a- +3 "core" -' +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" & /  +2 "storage"(O& +3 "core" &E n\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&l'8 +21 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(H- +2 "core" -' +3 ."da"SE.seek 1.15 Pucks below Top Plate +2 "storage"(c' +27 "core" ' +2 "manipulator"&m% +3 "core" %? ! +2 "storage"(\\& +4 "core" &E | A\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 307 counts + "manipulator"&w'k +16 "core" ' + "manipulator"&E& +4 "core" &    +2 "storage"(R& +3 "core" &E   |\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&q' +15 "core" ' +2 ."da"SE.seek 2.15 Pucks below Top Plate +2 "storage"(g'J +36 "core" ' +2 "manipulator"&x& +3 "core" & ]  +2 "manipulator"&G% +4 "core" %  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&t' +89 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&b( +240 "core" ( +3 "manipulator"&& +3 "core" &  6  +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" & 7  +2 ."da"Forearm.seek PC +2 "manipulator"&' +93 "core" ' + ."da"Hand.close +2 "manipulator"&-/ +63 "core" / + ."da"PC.seek :open +2 "processing"%e( +455 "core" ( +2 "storage"(p& +4 "core" &E \ +2 "manipulator"&s& +3 "core" & 4  +2 "manipulator"&j% +4 "core" %  _  +2 ."da"Forearm.seek :retract +2 "manipulator"&f' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&5( +245 "core" ( +44 "manipulator"&& +10 "core" &  3 3 +2 "storage"(& +4 "core" &E   G\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&o' +94 "core" ' +2 ."da"Hand.open + "manipulator"&r1 +57 "core" 1 +3 "storage"(- +3 "core" -'J +2 ."da"SE.seek 1.8 Pucks below Top Plate +2 "storage"(|' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.84 Pucks below Top Plate +2 "storage"(C' +55 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da24jan1821h30ml.tif +776 #SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 3.506 seconds\ /var/log/esp/da24jan1821h30ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da24jan1821h30ml15s.tif +1164 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +408 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da24jan1821h30ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da24jan1821h30ml20s.tif +2067 #SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da24jan1821h30ml20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "3.506 sec auto-exposure",Subject: "da24jan1821h30ml images!" +14 "storage"(]- +7 "core" -' +8 "storage"( & +7 "core" &E T X K\ +2 "manipulator"&& +4 "core" &   3 +2 ."da"Elbow.seek 1 +3 "manipulator"&v( +5 "core" ( +2 "manipulator"&& +3 "core" & #  3 +2 "storage"( & +4 "core" &E U V {\ +5 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&`' +4 "core" ' +3 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 ."da"SE.seek 1.55 Pucks below Top Plate +2 "storage"(n'; +49 "core" ' +2 "manipulator"&9& +6 "core" & 3 +2 "storage"(\ & +4 "core" &E   R\ +2 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +4 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&'8 +23 "core" ' +2 ."da"Elbow.hold +3 "manipulator"&+, +4 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.74 Pucks below Top Plate +2 "storage"(}' +25 "core" ' +2 "manipulator"&y% +3 "core" %>   B | +2 "storage"(& +4 "core" &E   .\ +2 ."da"Forearm.force -20 + "manipulator"&5 +4 ."da"Forearm.seek 1 + 306 counts + "manipulator"&'j +25 "core" ' +2 "manipulator"&"& +4 "core" &    3 +2 "storage"({& +4 "core" &E 3 4\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&' +19 "core" ' +5 "storage"( % +9 "core" % 7 A \ +6 ."downElevator"SE.seek :down +7 "storage"()' +99 (T% +5 "core" %>   s\ U[ +5 "manipulator"&#% +7 "core" %  0 +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +3 "manipulator"&~' +91 "core" ' +32 ' +4 ."downElevator"SE.stop +3 "storage"(5 +9 (& +9 "core" &E Y Y \ +6 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 "processing"%u& +104 "core" &-\ +17 "manipulator"& & +7 "core" &  Z 3 +5 "manipulator"&% +6 "core" %    Y  +6 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&@(- +180 "core" ( +4 "manipulator"&& +8 "core" &-   K  +4 ."psFlush"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &*& +7 "core" &-  %  +4 ."psFlush"Forearm.seek :garage +4 "manipulator"& 'w +99 "core" ' +4 ."psFlush"Hand.close +2 "manipulator"&/ +66 "core" / +6 "manipulator"&& +15 "core" &- x  +9 "manipulator"&%% +9 "core" % ω V +4 ."psFlush"Forearm.seek :retract +4 "manipulator"&X' +97 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 ."psFlush"Elbow.seek PC +4 "manipulator"&<( +117 "core" ( +5 "manipulator"&&& +6 "core" &   5  +6 ."psFlush"Elbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +6 &'& +7 "core" &   +6 ."psFlush"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 ."psFlush"Forearm.seek PC +2 "manipulator"&2' +96 "core" ' +4 "manipulator"&& +6 "core" & t  +8 "manipulator"&1% +11 "core" %   e +5 "processing"%k& +6 "core" &E\ +6 "processing"%3& +10 "core" &?\ +7 ."psFlush"PC.seek :closed +4 "processing"%>(^ +14 "core" &&\ +2 &\ +2 & \ 4 +4 &?Iu\ 0 +9 &qu}\ D +10 &[\ L +10 &S\ L +12 &S\ L +5 &bS\ L +9 &%U\ K +11 &T \ K +9 &U\ K +10 &kU \ K +9 &!,U \ L +8 &"X\ L +11 &$Y \ L +7 &&rY\ L +10 &(4T\ L +11 &)T\ L +8 &+U\ K +9 &-{U\ K +11 &/<W\ L +8 &0W\ L +11 &2Y\ L +8 &4T\ L +9 &6DU\ L +12 &8U\ L +10 &9Y\ L +7 &;W\ K +10 &=LW\ L +8 &? U\ L +11 &@X\ L +8 &Bg\ M +9 &DOe\ M +11 &F {\ P +8 &G\ Q +11 &I\ R +7 &KI\ R +9 &M \ R +9 &N\ S +10 &P\ S +4 #"uploadLog"upsync +5 "core" &RN\ S +10 &T\ S +9 &U\ S +9 &W\ S +10 &YV\ S +9 &[\ S +9 &\\\ T +10 &^F^\ #k +9 &^gC\ 6 +10 ( + &^#\ 1 +2 "processing"%3& +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 +2 "processing"%& +3 "core" &^"2\ 1 +2 ."psFlush"Hand.open + "manipulator"&:1 +54 "core" 1 +2 "manipulator"&% +3 "core" %  e +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&(' +95 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%8 +43 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%6' +2141 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%$ @ +180 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%!  +126 "core" +2 ."psFlush"PSV.dial :mixloop + "processing"%D +111 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2629 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +100 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +55 ."psFlush"PS.seek 0.5ml +2 "processing"%' +593 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2117 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%d  +32 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%? @ +72 "core" B +2 ."psFlush"PSV.dial :mixloop + "processing"%S +102 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%B'ؠ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%L +100 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%='X\\ +1106 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%K' +1607 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%P +84 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%Y  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%;  +4 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%W'ؾ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%, +70 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%A' +597 "core" ' +4 ."psFlush"PSR.select :air +5 "processing"% +12 ."psFlush"PS.seek 2.5ml +5 "processing"%h' +2150 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%Q +72 "core" +2 ."psFlush"PBV.dial PSV + "processing"%I U +52 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%J'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%V @ +43 "core" > +3 ."psFlush"PS.seek 2.5ml + "processing"%F' +2649 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%Z  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%/'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%. +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%z' +2093 "Can" Y\ Hf# +542 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%a +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"%[ U +4 "core" U +3 ."psFlush"PS.seek 0ml + "processing"%O'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%H @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%m' +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%\\  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%E'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%R +54 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%x'X\\ +1104 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%G' +1678 "core" ' +8 ."psFlush"PSV.dial PTV +2 "processing"%^ +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%N  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%_  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%l'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%w +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%c' +584 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%q' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%U U +51 "core" V +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%- @ +43 "core" ? +3 ."psFlush"PS.seek 2.5ml + "processing"%t' +2653 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%7  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%s +42 "core" +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%j' +2636 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +5 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%b @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2632 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&g& +3 "core" &  W  +3 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC + "manipulator"&|( +4 "core" ( + "manipulator"&]& +4 "core" & +  W  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  0  +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +92 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +61 "core" / +2 ."psFlush"PC.seek :open +2 "processing"% ( +458 "core" ( +2 "manipulator"&9& +3 "core" & \ 1  +2 "manipulator"&\ % +4 "core" %   } 8 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&y' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage + "manipulator"&(- +128 "core" ( +2 "manipulator"&"& +3 "core" &-  \  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &- \  . +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage + "manipulator"& 'w +101 "core" ' + ."psFlush"Hand.open + "manipulator"&51 +94 "core" 1 +8 "manipulator"&o% +4 "core" % p    e +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&C' +95 "core" ' @1705614735.83UTC = =tMAIN =mMAIN_scheduler @UTC1705614737.51 #"core_reset"Sent BREAK +2 #t@63321 sendCRC with ifg=0x20, ie=0x7F + #@65156 sendCRC with ifg=0x08, ie=0x5F + #@43448 idle with ifg=0x84, ie=0x75 + #@44119 select with ifg=0x10, ie=0xF5 #@44753 receive with ifg=0x10, ie=0xFD + #@45386 receive with ifg=0x10, ie=0xFD + #@46019 receive with ifg=0x10, ie=0xFD #@46346 receive with ifg=0x80, ie=0xFD + #@56495 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +186 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +98 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can" K\ " +  K\ " + #tPolling Can every 10:00 +4 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:119:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +431 #-> esp +633 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %ӌa\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؿ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڄ  P\ G +2 .tSS.configure :default +2 "sampler")#.0X\  +2 "collection"'& +42 "core" &\\hv\ Q +2 "processing"%& +3 "core" &\ +3 "collection"'  +4 "core" > +2 "collection"'! +4 "core"  + "collection"'" +3 "core"  +3 "processing"%# +2 "core"  +3 "processing"%$ +2 "core" V +2 "processing"%% +3 "core"  +2 "processing"%& +3 "core" B +2 "sampler")' +3 "core"  +3 "collection"'(% +3 "core" %ӌm\ +3 "processing"%)% +3 "core" %ؿ\ +3 "sampler")*% +3 "core" %ڄ \ \\\ G +3 "collection"'+& +3 "core" &\\ho\ Q +3 "processing"%,& +3 "core" &\ +2 "manipulator"&-% +4 "core" %  \  <  +2 "manipulator"&.& +4 "core" &-  +2 "storage"(/& +4 "core" &D z k z\  +2 "storage"(0% +3 "core" % e w \  +3 "collection"'19 +3 "core" 9 +2 "processing"%29 +2 "core" 9 +1232 #t-> CC.unloadPuck 1, :WCR +2 "collection"'3& +3 "core" &\\hq\ Q +2 #tStoring WCR puck in Collection Clamp to tube 1 +2 .Hand.open + "manipulator"&41 +21 "core" 1 +2 "manipulator"&5% +3 "core" %    Q  +2 "storage"(6% +5 "core" % g w <\  + "storage"(7. +4 "core" .,D + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(8(C +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (9& +3 "core" &D i t\  +2 "manipulator"&:& +4 "core" &- { +2 "manipulator"&;% +5 "core" %  \  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&<( +168 "core" ( +2 "manipulator"&=& +3 "core" &  = 4 +2 "storage"(>& +4 "core" &D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&?' +89 "core" ' + "storage"(@& +5 "core" &D \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +286 "core" ' + "storage"(B- +3 "core" -'t +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +4 "core" &   : 4 +2 "storage"(D& +3 "core" &D s t \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&E'8 +24 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(G- +3 "core" -'t +2 .tSE.seek 2.14 Pucks below Top Plate +2 "storage"(H'B +31 "core" ' +2 "manipulator"&I% +3 "core" %8   l +2 "storage"(J& +3 "core" &D s s \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 300 counts + "manipulator"&K'd +23 "core" ' +2 "manipulator"&L& +3 "core" &   4 +2 "storage"(M& +4 "core" &D \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&N' +22 "core" ' +3 .tSE.seek 3.14 Pucks below Top Plate + "storage"(O' +36 "core" ' +2 "manipulator"&P& +3 "core" &  , 4 +2 "manipulator"&Q% +4 "core" %   % u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +148 "core" ( + "manipulator"&T& +4 "core" &{(  & ^ @\\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &{(   @\\ +3 .tForearm.seek CC + "manipulator"&V'? +98 "core" ' + .tHand.close +2 "manipulator"&W/ +58 "core" / +2 .tCC.seek :open +2 "collection"'X( +448 "core" ( +2 "storage"(Y& +3 "core" &D P\  +2 "storage"(Z& +4 "core" &D I\  +2 "manipulator"&[& +4 "core" &ӱ  j 9& +2 "manipulator"&\\% +3 "core" % 7   +3 .tForearm.seek :retract +2 "manipulator"&]' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&^( +201 "core" ( +2 "manipulator"&_& +3 "core" &  ]  +2 "storage"(`& +4 "core" &D -\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&a'8 +94 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +52 "core" 1 +3 "manipulator"&d% +4 "core" % J  ` ! +2 "storage"(e& +3 "core" &D \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 318 counts + "manipulator"&f'v +19 "core" ' +2 "manipulator"&g& +3 "core" &  #  +2 "storage"(h& +4 "core" &D {\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&i' +21 "core" ' +2 "storage"(j% +3 "core" % b\ +3 ."downElevator"SE.seek :down +3 "storage"(k' +99 (l% +3 "core" %kE M\ U^ +2 "manipulator"&m% +4 "core" % x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +94 "core" ' +37 ' + ."downElevator"SE.stop +2 "storage"(5 +861 #t-> access 2 +3 "storage"(o% +3 "core" % \  +2 "manipulator"&p% +4 "core" %  `  +2 "manipulator"&q& +4 "core" & 1  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(r(K +1612 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +3 "core" &K X\  +206 #t-> access 1 +3 "storage"(t% +3 "core" % \\\  +2 "manipulator"&u% +3 "core" %  z  +2 "manipulator"&v& +3 "core" & y  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(w(<- +372 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (x& +2 "core" &<+ \  +515 #t-> exit +7 #mEXIT @1705614836.19UTC @1705671886.41UTC = =tMAIN =mMAIN_scheduler @UTC1705671888.08 #"core_reset"Sent BREAK +2 #t@58440 receive with ifg=0x10, ie=0xFD + #@59076 receive with ifg=0x10, ie=0xFD + #@59731 receive with ifg=0x10, ie=0xFD + #@60365 receive with ifg=0x10, ie=0xFD #@60998 receive with ifg=0x10, ie=0xFD + #@61632 receive with ifg=0x10, ie=0xFD + #@62265 receive with ifg=0x10, ie=0xFD #@62591 receive with ifg=0x80, ie=0xFD + #@45501 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +12 #ESP2 v3.42 I2C Gateway v3.20 for core bus +281 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can" 9 tv\\ +  9 tv\\ + #tPolling Can every 10:00 +3 #Cleanly exited at 21:53:56UTC18-Jan-24 +1552 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %ӌ  +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؿ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڄ b\ G +2 .tSS.configure :default +2 "sampler")#.0X +2 "collection"'! +4 "core"  + "collection"'" +4 "core"  +2 "processing"%# +3 "core"  +2 "processing"%$ +3 "core" V +2 "processing"%% +4 "core"  + "processing"%& +3 "core" B +2 "sampler")' +3 "core"  +3 "collection"'(% +3 "core" %ӌ  +3 "processing"%)% +3 "core" %ؿ8\ +3 "sampler")*% +3 "core" %ڄ T\ G +3 "collection"'+& +3 "core" &  +2 "processing"%,& +4 "core" &<\ +2 "manipulator"&-% +4 "core" %   +2 "manipulator"&.& +3 "core" &  +3 "storage"(/& +3 "core" &<+ \ +2 "storage"(0% +4 "core" % \  +2 "collection"'19 +4 "core" 9 +2 "processing"%29 +3 "core" 9 +358 #t-> access 2 +3 "storage"(3% +3 "core" % ~\  +2 "manipulator"&4% +4 "core" %   +2 "manipulator"&5& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(6(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &K S\  +403 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%8& +4 "core" &.\ +2 .tHand.open + "manipulator"&91 +15 "core" 1 +2 "manipulator"&:& +3 "core" &   +2 "manipulator"&;% +4 "core" %   \ 3  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&<(- +196 "core" ( + "manipulator"&=& +4 "core" &-   k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &-  N  +2 .tForearm.seek :garage +2 "manipulator"&?'w +95 "core" ' + .tHand.close +2 "manipulator"&@/ +55 "core" / + "manipulator"&A& +4 "core" &-  (  +2 "manipulator"&B% +3 "core" % φ  f +3 .tForearm.seek :retract + "manipulator"&C' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&D( +141 "core" ( +2 "manipulator"&E& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +93 "core" ' + "manipulator"&H& +4 "core" &  +2 "manipulator"&I% +4 "core" %  l +2 "processing"%J& +4 "core" &7\ +2 "processing"%K& +6 "core" &\ +2 .tPC.seek :closed + "processing"%L(^ +6 "core" &\ +5 & ,\ $c +10 &T|\ 6 +9 &\ K +9 &X\ L +10 &mW\ L +9 &.Z\ L +10 &Y\ L +9 &] \ L +9 &s\\\ M +10 &6]\ L +9 &\\\ M +9 &![\ L +10 &#|Y\ L +9 &%>]\ L +10 &&]\ M +9 &(^\ L +9 &*`\ L +10 &,F^\ L +9 &.]\ L +9 &/^\ L +10 &1]\ L +9 &3N_\ L +10 &5^\ M +9 &6^\ M +10 &8]\ M +9 &:VZ\ L +9 &<]\ L +9 &=_\ M +10 &?b\ M +9 &A]\\\ M +10 &Ce\ M +9 &D_\ M +9 &F^\ L +10 &Hd`\ M +9 &J(`\ L +10 &K` \ M +9 &M`\ M +9 &Ol` \ M +10 &Q-b\ M +9 &Rc\ M +9 &Tc\ M +10 &Vub\ M +9 &X7a \ M +9 &Yb\ M +10 &[b\ M +9 &]|b\ : +10 &^?R\ B +9 &^ \  +5 ( +2 "processing"%K& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.05 +3 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Slide::Error\ :@checkpoint: omitted: @reply0: mesg"(No Puck Clamped in Processing Clamp:@axisName"Processing Clamp:bt["E/home/esp/esp2/utils/misc.rb:481:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +5 "core" &^\  +384 #t-> PC.open +2 .PC.seek :open +2 "processing"%M( +457 "core" ( + "processing"%N& +4 "core" &>\ +479 #t-> Hand.open + !o:Puck::Error: mesg" Hand is closed on FlushPuck:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +407 #-> Arm.garage +2 "manipulator"&O& +3 "core" &  ' +2 "manipulator"&P% +4 "core" % l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&R(- +123 "core" ( +2 "manipulator"&S& +3 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &-  =  +2 .tForearm.reconfigure :tight +37 "manipulator"&#Q@2^d^\ b +10 .tForearm.seek :garage +2 "manipulator"&U'w +100 "core" ' +2 "manipulator"&V& +3 "core" &-    +2 "manipulator"&W% +3 "core" %   +772 #t-> Hand.open +2 !o:Puck::Error: mesg" Hand is closed on FlushPuck:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1139 #-> Flush +572 #-> Flush.PC +3 #Loading FlushPuck into Processing Clamp from Hand + "processing"%X& +3 "core" &\ +2 "manipulator"&Y& +4 "core" &-  G  +2 "manipulator"&Z% +4 "core" % \ \ u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&[' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&\\( +138 "core" ( +2 "manipulator"&]& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &  , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&_' +92 "core" ' +2 "manipulator"&`& +3 "core" &  ^ +2 "manipulator"&a% +4 "core" %  : +2 "processing"%b& +4 "core" &A\ +3 "processing"%c& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%d(^ +3 "core" &\ +8 & -\ $c +9 &W\ 7 +9 &|\ K +10 &Q \ L +9 &nY\ L +9 &0W\ L +10 &Z \ L +9 &Z\ L +10 &uY\ L +9 &7[\ L +9 &Y\ L +10 &!V\ L +9 &#|Z\ M +10 &%?Y\ L +9 &'Z\ M +9 &(Z\ L +10 &*X\ L +9 &,G\\\ L +9 &. Y\ L +10 &/W\ L +9 &1W\ L +10 &3O\\\ L +9 &5Z\ M +9 &6[\ L +10 &8Y\ L +9 &:WW\ L +9 &<Y\ L +10 &=X\ L +9 &?\\\ L +10 &A^\\\ M +9 &Cp\ N +9 &Ds\ O +10 &F\ Q +9 &HU \ R +9 &J\ R +10 &K\ S +9 &M\ T +9 &O[\ S +10 &Q\ T +9 &R\ S +10 &T\ T +9 &Vc\ S +9 &X# \ T +10 &Y\ U +9 &[\ T +9 &]i\ A +10 &^?u\ a +9 &^?\ 4 +6 ( + "processing"%c& +4 "core" &^(\ 4 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 +2 "processing"%e& +3 "core" &^(0\ 4 +2 .tHand.open +2 "manipulator"&f1 +60 "core" 1 +2 "manipulator"&g% +4 "core" %  : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +96 "core" ' +1938 #t-> Hand.close + .Hand.close + "manipulator"&i/ +62 "core" / +784 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "processing"%j& +3 "core" &^(7\ 4 +2 .tHand.open + "manipulator"&k1 +56 "core" 1 +2 "manipulator"&l& +3 "core" &  J +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&n& +3 "core" &   B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &  b +2 .tForearm.seek PC +2 "manipulator"&p' +92 "core" ' + .tHand.close +2 "manipulator"&q/ +56 "core" / +2 .tPC.seek :open +2 "processing"%r( +457 "core" ( +2 "manipulator"&s& +3 "core" &  e +2 "manipulator"&t% +3 "core" %  ^  +3 .tForearm.seek :retract + "manipulator"&u' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&v(- +123 "core" ( + "manipulator"&w& +4 "core" &-  + k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &- k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&y'w +96 "core" ' +2 .tHand.open + "manipulator"&z1 +53 "core" 1 +2 "manipulator"&{% +4 "core" % {  V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +98 "core" ' +1223 #t-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'}& +3 "core" &  +2 "manipulator"&~& +4 "core" &-  L k +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +12 "core" ( +2 "manipulator"&& +3 "core" &-  * " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- " +2 .tForearm.seek :garage +2 "manipulator"&'w +98 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 "manipulator"&& +3 "core" &-   " +2 "manipulator"&% +4 "core" % χ   O +2 .tForearm.seek :retract +2 "manipulator"&\ ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"& (ӂ +282 "core" ( +45 "manipulator"&& +3 "core" &Ӄ% >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӄ% >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + "manipulator"&& +4 "core" &Ӈ%  s >I +2 "manipulator"&% +4 "core" %A  # > +2 "collection"'& +3 "core" &  +3 "collection"'& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &  +9 &5\ +{ +9 & f\ > +10 &p\ L +9 &WT\ K +9 &Y\ K +10 &Y\ K +9 &X \ K +10 &^W \ L +9 & W\ L +9 &U \ K +10 & T\ K +9 &"gX\ \ K +9 &$(W \ L +10 &%W\ K +9 &'S\ \ K +10 &)oT\ K +9 &+1X\ \ K +9 &,W\ K +10 &.W\ L +9 &0vW\ L +9 &28W\ L +10 &3W\ K +9 &5T\ K +10 &7U\ K +9 &9@U\ L +9 &;W\ L +10 &<U\ K +9 &>V\ L +9 &@HX\ L +10 &B\ \\\ L +9 &Cb\ L +10 &Ex\ O +9 &G:\ S +9 &H\ W +10 &J\ X +9 &Lt\ W +9 &N4 \ X +10 &O\ Y +9 &Q \ Y +10 &Sv\ Y +9 &U7\ Z +9 &V\ [ +10 &X\ [\ +9 &Zv\ \\ +9 &\\x\ 4 +10 &\\#\ 'r +9 ( + &\\\ #e +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 +2 "collection"'& +3 "core" &\\\ #e +2 .tHand.open + "manipulator"&1 +65 "core" 1 + "manipulator"&% +4 "core" % A " * q > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +381 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӫ  9% +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +15 "core" ( +2 "manipulator"&& +3 "core" &ӊ   3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӊ 3 +2 .tForearm.seek CC +2 "manipulator"&!'? +94 "core" ' + .tHand.close +2 "manipulator"&"/ +58 "core" / +2 .tCC.seek :open + "collection"'#( +447 "core" ( +2 "manipulator"&$& +3 "core" &Ӡ 0 +2 "manipulator"&%% +4 "core" % H  +2 .tForearm.seek :retract +2 "manipulator"&&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&'(- +289 "core" ( + "manipulator"&(& +4 "core" &- d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &-   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&*'w +104 "core" ' +2 .tHand.open + "manipulator"&+1 +61 "core" 1 + "manipulator"&,% +4 "core" % w   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +98 "core" ' +523 #t-> exit +6 #mEXIT @1705672087.55UTC @1705672581.44UTC = =tMAIN =mMAIN_scheduler @UTC1705672583.18 #"core_reset"Sent BREAK +2 #t@50962 sendCRC with ifg=0x20, ie=0x7F + #@52797 sendCRC with ifg=0x08, ie=0x5F + #@36726 idle with ifg=0x84, ie=0x75 + #@37396 select with ifg=0x10, ie=0xF5 #@38029 receive with ifg=0x10, ie=0xFD + #@38662 receive with ifg=0x10, ie=0xFD + #@39296 receive with ifg=0x10, ie=0xFD #@39623 receive with ifg=0x80, ie=0xFD + #@25866 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +380 "Can" 8 v6%& +  8 v6%& + #tPolling Can every 10:00 +5 #Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission +6 ."Qmail"GoodNews.email "Starting DA_WCR_011024 w/pucks in tube 2\\n{}\\nCTD data unavailable\\nCan@13:56:29, 25% flow, 22.5C, 12% humidity, 14.8psia, 13.822V, 0.260A, 64.198Ah, 3.60W",Subject: "DA_WCR_011024 begun" +3 #tPreparing to sleep until + 00:00:05 +5 #Asleep til + 00:00:05 +2 #Continuing at 13:56 +3 "Can" 9 v65" +26 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +254 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [50, 50] #da and wsr are run simultanelously\\n/home/esp/esp2local/mission/DA_WCR_011024.rb:14\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:56:30, 25% flow, 22.4C, 12% humidity, 14.8psia, 13.827V, 0.266A, 64.198Ah, 3.68W",Subject: "Asleep until 13:56" +145 #"uploadLog"upsync +54 "Can"  v7i' +5 #tPowering core bus +186 #"uploadLog"upsync +376 .tGate.power :raw,:ON +2 "sampler") +51 ) +3 "core"  +3 "collection"' +2 ' +37 "core"  +5 "processing"% +2 % +5 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +2 "sampler")#.0X 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:57:18, 25% flow, 22.6C, 12% humidity, 14.8psia, 13.827V, 0.236A, 64.203Ah, 3.26W",Subject: "Started DA_WCR_011024 phase initialPurge; da [50, 50] #da and wsr are run simultanelously" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &  +2 .tHand.open + "manipulator"&"1 +64 "core" 1 +2 "manipulator"&#& +3 "core" &  +2 "manipulator"&$% +4 "core" %   W  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(- +174 "core" ( +4 "manipulator"&&& +9 "core" &- n +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +7 &'& +6 "core" &-  $ n +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :garage +2 "manipulator"&('w +96 "core" ' +3 .tHand.close +2 #"uploadLog"upsync +2 "manipulator"&)/ +53 "core" / +2 "manipulator"&*& +3 "core" &-  " l +3 "manipulator"&+% +3 "core" % τ +3 .tForearm.seek :retract + "manipulator"&,' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +281 "core" ( +2 "manipulator"&.& +3 "core" &ӏ(  \ E @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &ӏ'  B @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'? +93 "core" ' +2 "manipulator"&1& +3 "core" &Ӑ(   @] +3 "manipulator"&2% +3 "core" %I   O  +3 "collection"'3& +3 "core" &  +3 "collection"'4& +5 "core" &#  +3 .tCC.seek :closed + "collection"'5(\\ +4 "core" &!  +8 &F\ $f +10 &qY~!\ 8 +9 &w&\ L +10 &T"\ K +9 &VU \ L +9 &V\ K +10 &X\ K +9 &V!\ K +9 &`S!\ K +10 &!U!\ K +9 &W\ K +10 &!V\ K +9 &#fU \ L +9 &%*U\ K +10 &&U\ L +9 &(U \ K +9 &*pX\ K +10 &,1U\ K +9 &-W\ K +10 &/V\ K +9 &1wW\ K +9 &39U \ K +10 &4S\ \ K +9 &6V \ L +9 &8W\ K +10 &:AT\ K +9 &<Y\ K +9 &=Y\ K +10 &?W\ L +9 &AIW\ K +10 &C\ \\ \ L +9 &Dm\ M +9 &F~ \ Q +10 &H3\ V +9 &I\ W +10 &K\ X +9 &Mt\ W +9 &O2\ \ Y +10 &P\ Y +9 &R\ \ Y +9 &Tr\ [ +10 &V3\ [\ +9 &W\ \\ +9 &Y \ \\ +10 &[u\ I +9 &\\> \ , +10 &\\\ ^ +5 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 + "collection"'6& +3 "core" &\\ \ ^ +2 &\\\ ^ +2 .tHand.open + "manipulator"&71 +62 "core" 1 +2 "manipulator"&8% +3 "core" % I " *  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +97 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &\\\ ^ +2 "collection"';% +3 "core" %k\  +3 .tCSV.dial CSR + "collection"'<  +126 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='s5 +1353 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +45 "collection"' +9 '>% +3 "core" %s1 \  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'?' +671 "core" ' + .tCSV.dial :waste +2 "collection"'@ +123 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'A'i +1996 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &\\\ ^ +2 "collection"'C% +4 "core" %m\ +2 .tCSV.dial :flush + "collection"'D  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' +2453 "core" ' + .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'F + 'G  +32 "core"  +42 ~ +2 .tCTV.dial :intake + "collection"'H  +72 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I'i +2351 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'J  +74 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +3 "core" &\\\ ^ +3 "collection"'L% +3 "core" %k \ +2 .tCSV.dial :flush + "collection"'M  +69 "core"  +3 .tCS.seek 5ml + "collection"'N's5 +1281 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +40 "core" B +2 "collection"'P% +3 "core" %s2\  +3 .tCS.seek 7ml + "collection"'Q' +549 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'R + 'S  +6 "core"  +92 ~ +2 .tCTV.dial :air + "collection"'T  +5 "core"  +2 .tCS.seek 0ml +2 "collection"'U'i +1663 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'V'3J +800 "core" ' +2 .tCSV.dial :waste + "collection"'W +43 "core" +2 .tCS.seek 0ml + "collection"'X'i +770 "core" ' +2 "collection"'Y& +3 "core" &\\\ ^ +2 "collection"'Z% +4 "core" %h\ +2 .tCSV.dial :flush + "collection"'[  +41 "core"  +2 .tCS.seek 3ml + "collection"'\\'3J +811 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'] @ +40 "core" B +2 "collection"'^% +3 "core" %3L \  +3 .tCS.seek 5ml + "collection"'_'s7 +552 "core" ' + .tCSV.dial :air +2 "collection"'` @ +14 "core" ? +2 .tCS.seek 0ml +2 "collection"'a'i +1207 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'b'3J +800 "core" ' +2 .tCSV.dial :waste + "collection"'c +70 "core" +2 .tCS.seek 0ml + "collection"'d'i +749 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +4 "core" &Ӯ" V <? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&f(ӂ +22 "core" ( + "manipulator"&g& +4 "core" &ӄ  C # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &ӄ  ( # +2 .tForearm.seek CC +2 "manipulator"&i'? +101 "core" ' + .tHand.close +2 "manipulator"&j/ +61 "core" / +2 .tCC.seek :open +2 "collection"'k( +447 "core" ( +2 "manipulator"&l& +3 "core" &ӌ  "x +37 "manipulator"&m% +10 "core" % \ +3 .tForearm.seek :retract + "manipulator"&n' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(- +280 "core" ( + "manipulator"&p& +4 "core" &-  @ = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &- ~ = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +105 "core" ' + .tHand.open +2 "manipulator"&s1 +59 "core" 1 +2 "manipulator"&t% +4 "core" % v \   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +97 "core" ' +2 #tda sampling at most 50ml, wcr at most 50ml +4 ."Qmail"DAfans.email "Started da in tube 2 at 14:01:35UTC19-Jan-24\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:57:18, 25% flow, 22.6C, 12% humidity, 14.8psia, 13.827V, 0.236A, 64.203Ah, 3.26W",Subject: "da sampling at most 50ml, wcr at most 50ml" +4 #tLoading sh1 puck from tube 2 into Collection Clamp + "collection"'v& +3 "core" &  +2 "manipulator"&w% +4 "core" %   +3 "storage"(x% +3 "core" % \ % +2 "storage"(y. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +3 "storage"(z(  +479 #"uploadLog"upsync +188 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" & '\ +3 "manipulator"&|& +3 "core" &- = +3 "manipulator"&}% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&~( +184 "core" ( +2 "manipulator"&& +4 "core" &   r V +2 "storage"(& +4 "core" & @\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +92 "core" ' +2 "storage"(& +4 "core" & X\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & e\  +2 "manipulator"&& +5 "core" & U +2 .tElbow.seek 2 +2 "manipulator"&( +13 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"( & +4 "core" & S\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +5 "core" &  +3 "manipulator"& % +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +133 "core" ' +8 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&& +3 "core" &ӌ& \  & ?V +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӌ&   ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' + "manipulator"&& +4 "core" &Ӎ&   ?U +2 "manipulator"&\ % +4 "core" %D \  +3 "collection"'& +3 "core" &  +3 "collection"'& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'!(\\ +3 "core" &  +7 &;\ %f +10 &Z} \ 8 +9 &u \ J +9 &R \ J +10 &V\ K +9 &UW\ K +9 &W\ K +10 &U\ J +9 &S\ J +9 &^S\ J +10 & W\ J +9 &!X\ J +10 &#W\ K +9 &%eU\ K +9 &'(X\ J +10 &(U\ K +9 &*U\ K +9 &,nV\ J +10 &.0S\ J +9 &/T\ J +10 &1T\ J +9 &3vT\ J +9 &59U\ J +10 &6W\ K +9 &8T\ J +10 &:}U\ K +9 &<@Y\ J +9 &>U\ K +10 &?Z\ J +9 &AX\ J +9 &CF[\ K +10 &Eh\ M +9 &Fu\ N +9 &Hw\ R +10 &J,\ W +9 &K\ V +10 &M\ X +9 &On\ X +9 &Q.\ Y +10 &R\ X +9 &T\ Z +9 &Vn\ [ +10 &X1\ Z +9 &Y\ \\ +10 &[\ I +9 &\\1\ - +9 &\\r\ U +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + .Hand.open + "manipulator"&"1 +54 "core" 1 +2 "manipulator"&#% +3 "core" % D   0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +98 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + + "sampler")'% +5 "core" %z Z\ + "collection"'& +4 "core" &\\p\ U +4 "Can" \ L x( + #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 "collection"')  +4 "core"  +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")* +4 "core"  +2 .tSS.reconfigure :fast +2 "sampler")#.0X +26  +2 .tdelay 3.8 seconds +382 "collection"'.% +4 "core" %n\ + "sampler")/% +4 "core" %/.+ d\ ` +2 #tSensor limits: Intake max 115.7psia; Outlet max 109.7psia + .SSV.dial :spit + "sampler")% +128 "core"  +3 .tSS.seek 0ml + "sampler")1'ڀ +277 "core" ' +2 .tSSV.dial CBV + "sampler")2  +129 "core"  +2 .tCTV.dial :intake +2 "collection"'3  +74 "core"  +2 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler"),  +2 "collection"' @ +6 "core"  +2 ? +2 #tAllowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open + "sampler") +210 "collection"'6% +4 "core" %n\ +2 #tIntake @15.0psia, vacuum from 9.5 to 12.5psi + .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X&% +3 "core" %n\ +2 "sampler")=% +4 "core" %Q e\  +27 "collection"'@% +3 "core" %n\ +40 "sampler")?% +11 "core" %Q e\  +3 "collection"'B% +3 "core" %n\ +2 "sampler")C% +5 "core" %Q a\  +35 "collection"'D% +3 "core" %n\ +2 "sampler")A% +4 "core" %Q \\\  +41 "collection"'G% +4 "core" %n\ +2 "sampler")F% +4 "core" %Q X\  +47 "collection"'H% +3 "core" %n\ +2 "sampler")E% +4 "core" %Q Z\  +53 "collection"'J% +3 "core" %n\ +2 "sampler")K% +4 "core" %Q Z\  +2 .tIntake.select :close + "sampler")0 +10 )L% +2 "core" %Q U\  +2 .tSSV.dial :exhaust +2 "sampler")M  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")I'ڀ +429 "core" ' + .tExhaust.select :close +2 "sampler") +10 #tSampling 50.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X,) X\  +2 "collection"'Z% +3 "core" %n\ +2 #tIntake @12.6psia, vacuum from 7.1 to 10.1psi +2 .SS.reconfigure :inhaling 1.76ml/s +2 "sampler")#.x0X& a\  +2 "collection"'% +4 "core" %n\ +2 #tIntake @13.7psia, vacuum from 8.2 to 11.2psi +2 .SS.reconfigure :inhaling 1.13ml/s + "sampler")#.M0X& +128 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml +2 "collection"'=  +2 "sampler")@'ڀ +7 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust + "sampler")?  +120 "core" ~ +12  +470 ' +2 .tSSV.dial between CBV and plug +2 "sampler")B +45 "core" +2 .tCBV.dial between SSV and waste2 + "collection"'C  +30 "core"  +2 "collection"'D% +3 "core" %\  +3 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +2 "collection"'A  + '7  +20 "core"  +27  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< b +3 .tCS.seek 0ml + "collection"'G'i +1813 "core" '4 \ +2 "collection"'F% +4 "core" %4n \  +2 "sampler")H% +3 "core" %ڄ95 a\  +2 #tBubblePoint: Intake @24.1psia, Outlet @0.5psia + .CBV.dial SSV +2 "collection"'E @ +31 "core" B +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"'O'i +93 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust + "sampler")V +130 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X9 +10 "core" 9 lO +102 "collection"'=9 +3 "core" 94pL +103 "collection"'?9 +2 "core" 9\\tG +103 "collection"',9 +3 "core" 9xE +102 "collection"'B9 +3 "core" 9}@ +103 "collection"'C9 +3 "core" 9= +103 "collection"'D9 +3 "core" 9: +102 "collection"'A9 +3 "core" 9&8 +103 "collection"'79 +2 "core" 9L5 +103 "collection"'09 +3 "core" 9r2 +102 "collection"'F9 +3 "core" 9/ +103 "collection"'H9 +2 "core" 9- +103 "collection"'E9 +3 "core" 9+ +102 "collection"'@9 +3 "core" 9( +103 "collection"'K9 +2 "core" 9& +103 "collection"'L9 +3 "core" 97% +103 "collection"'M9 +3 "core" 9S$ +102 "collection"'J9 +3 "core" 9p" +102 "collection"'S9 +3 "core" 9 +103 "collection"'89 +3 "core" 9 +102 "collection"'N9 +3 "core" 9 +103 "collection"'T9 +3 "core" 9 +102 "collection"'R9 +3 "core" 9 +102 "collection"'Q9 +3 "core" 9 +103 "collection"'P9 +2 "core" 9  +103 "collection"'V9 +3 "core" 9 " +102 "collection"'G9 +3 "core" 9 4 +102 "collection"'I9 +3 "core" 9 E +103 "collection"'W9 +2 "core" 9 T +103 "collection"'Y9 +3 "core" 9 d +102 "collection"'O9 +3 "core" 9 p +103 "collection"'U9 +3 "core" 9  +102 "collection"']9 +3 "core" 9  +103 "collection"'Z9 +2 "core" 9  +103 "collection"'\\9 +3 "core" 9  +102 "collection"'`9 +4 "core" 9  +102 "collection"'c9 +3 "core" 9  +102 "collection"'_9 +3 "core" 9  +103 "collection"'a9 +2 "core" 9   +103 "collection"'e9 +2 "core" 9  +103 "collection"'g9 +3 "core" 9  +103 "collection"'^9 +3 "core" 9  +102 "collection"'b9 +3 "core" 9  +102 "collection"'j9 +3 "core" 9 ! +106 "collection"'-9 +3 "core" 9 % +102 "collection"'59 +3 "core" 9 ) +102 "collection"'l9 +3 "core" 9\ . +102 "collection"'[9 +3 "core" 9\ 2 +103 "collection"'m9 +2 "core" 9\ 6 +103 "collection"'i9 +3 "core" 9\ : +102 "collection"'h9 +4 "core" 9\ ? +102 "collection"'q9 +3 "core" 9\ C +102 "collection"'f9 +3 "core" 9\ G +103 "collection"'p9 +2 "core" 9\ %K +103 "collection"'t9 +3 "core" 9\ )O +102 "collection"'x9 +4 "core" 9\ -T +102 "collection"'n9 +3 "core" 9\ 0X +102 "collection"'99 +3 "core" 9\ 4\\ +103 "collection"'r9 +2 "core" 9\ 8` +143 "collection"'X9 +9 "core" 9\ =f +103 "collection"'v9 +3 "core" 9\ @k +102 "collection"'y9 +3 "core" 9\ Do +103 "collection"'}9 +2 "core" 9\ Hs +103 "collection"'w9 +3 "core" 9\ Lw +102 "collection"'{9 +3 "core" 9\ O{ +103 "collection"'9 +3 "core" 9\ R +103 "collection"'9 +2 "core" 9\ U +103 "collection"'u9 +3 "core" 9\ X +102 "collection"'|9 +3 "core" 9\ [ +103 "collection"'9 +2 "core" 9\ _ +103 "collection"'s9 +3 "core" 9\ a +103 "collection"'o9 +3 "core" 9\ e +102 "collection"'9 +3 "core" 9\ h +102 "collection"'9 +3 "core" 9\ j +103 "collection"' 9 +2 "core" 9\ m +103 "collection"' 9 +3 "core" 9\ q +102 "collection"'9 +3 "core" 9\ s +102 "collection"'9 +3 "core" 9\ w +103 "collection"' 9 +2 "core" 9\ y +103 "collection"'~9 +3 "core" 9\ | +3 .tCH.hold 10:00,70C +2 "collection"' `\ `\ |  +2 '9 +6 "core"  + 9\ { + "collection"'% +5 "core" %[\ >\ ?\ +2 #tBegun lysing Collection Puck Heater at 68C/30.7psia +36739 "Can"\ sb, +23249 "core" ` +3 "collection"'9 +3 "core" 9\  +2 "collection"'% +3 "core" %[\ (\ ( \ +3 #tEnded lysing Collection Puck Heater at 70C/29.6psia + .CS.seek 0ml +2 "collection"''i +361 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"' @ +98 "core" A + .tCSV.dial :air +2 "collection"' @ +40 "core" > +3 .tCS.seek 5ml +2 "collection"'\ 's5 +1363 "core" ' + .tCSV.dial CTV +2 "collection"'  +42 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"' @ +42 "core" ? +2 .tdelay 2 seconds +201 .CSV.dial CTV +2 "collection"'k  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"' @ +42 "core" > + .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'#'i +1359 "core" ' + "collection"''% +4 "core" %h .\ +2 #tPuck @58.5psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"' +97 "core"  +2 .tCBV.dial CSV + "collection"')  +29 "core"  + "collection"'*% +4 "core" %h < ? \ +2 .tCS.seek 5ml +2 "collection"''s4 +1351 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'  +45 "core" + "collection"'% +4 "core" %s3nmX\  +2 .tCS.seek 7ml +2 "collection"'&' +584 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'( @ +40 "core" > +2 .tCS.seek 10ml + "collection"'' +851 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'. ` +110 "core" _ +2 #tLysing Complete + "collection"'/& +4 "core" &\\muu\ U +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&%% +4 "core" %  |  +2 "storage"(+% +4 "core" % u q w\  +2 "storage"(2. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(3(C +403 "core" ( +4 .tSC.configure :limp + "storage"($\ 1b +4 (& +2 "manipulator"& & +6 "core" &E X X \ + &Ө" <: +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +2 "storage"(#]kK-0-\ b + "manipulator"&1(ӂ +6 ."raiseStack"SE.seek :beamBreak + "storage"(6'r +17 "core" ( + "manipulator"&4& +4 "core" &ӂ  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &ӂ #  $ +2 .tForearm.seek CC +2 "manipulator"&;'? +101 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 .tCC.seek :open + "collection"'d( +72 "core" ' +2 "storage"(:- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'1 +41 "core" ' +320 ( +2 "storage"(=& +3 "core" &D \ +2 "storage"(?& +4 "core" &D \ +2 "manipulator"&,& +4 "core" &ӊ   # +2 "manipulator"&B% +4 "core" % (    +2 .tForearm.seek :retract +2 "manipulator"&C' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&D( +156 "core" ( +2 "manipulator"&A& +3 "core" &   +2 "storage"(7& +4 "core" &D U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&0'8 +96 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&H1 +56 "core" 1 +2 "manipulator"&E% +4 "core" % J  A +2 "storage"(@& +3 "core" &D \ +3 .tForearm.force -20 "manipulator"&5 +4 .tForearm.seek 1 + 318 counts + "manipulator"&K'v +14 "core" ' +2 "manipulator"&L& +5 "core" &   + "storage"(M& +4 "core" &D !\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&J' +15 "core" ' +2 "storage"(S% +3 "core" %: r\ +3 ."downElevator"SE.seek :down +4 "storage"(8' +98 (N% +3 "core" %-C \ U_ +2 "manipulator"&T% +5 "core" % \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'Q& +3 "core" &qr  +2 "manipulator"&P& +4 "core" & s  +2 "manipulator"&V% +5 "core" %  p  +2 .tElbow.seek FlushPuck::Garage + "manipulator"&G(- +171 "core" ( +2 "manipulator"&I& +3 "core" &-  $ F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &- F +48 .tForearm.seek :garage +2 "manipulator"&Y'w +93 "core" ' +2 .tHand.close + "manipulator"&O/ +55 "core" / +2 "manipulator"&U& +3 "core" &-  F +2 "manipulator"&]% +4 "core" % r O +3 .tForearm.seek :retract + "manipulator"&Z' +96 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +4 .tElbow.seek CC + "manipulator"&\\(ӂ +285 "core" ( +2 "manipulator"&`& +3 "core" &ӑ    8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &ӑ   8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&_'? +92 "core" ' +2 "manipulator"&a& +3 "core" &ӑ  L 8 +3 "manipulator"&e% +4 "core" %C  E Q +2 "collection"'g& +4 "core" &ss  +3 "collection"'^& +4 "core" &pr  +3 .tCC.seek :closed + "collection"'b(\\ +5 "core" &rr  +7 &Aprx\ $f +9 &Z}pqT\ 8 +9 & vqry\ J +10 &Urtr\ K +9 &UrpL\ J +10 &RWqs\ J +9 &Wqs\ J +9 &Wsr\ J +10 &Wps\ J +9 &[Wrq\ J +9 & Urt\ J +10 &!Zrsz\ J +9 &#Wsr`\ J +10 &%cVsrQ\ J +9 &'%Wrs<\ J +13 &(Wqs\ J +6 &*Zrr~\ J +9 &,jWprg\ J +10 &.-VrsM\ J +9 &/Wtp\ J +9 &1Vsq\ J +10 &3rWqq\ J +9 &54Wqq\ J +9 &6Xsp\ J +10 &8Yqp\ J +9 &:{Trt\ J +9 &<;Zqrt\ K +10 &=XrsV\ J +9 &?Yrr\ J +10 &AZtr\ K +9 &CB]oqI\ K +9 &Dnrr[\ M +10 &FssL\ R +9 &Hhpq<\ V +9 &J(ln{\ W +10 &Knm\ W +9 &Mon\ W +10 &Okpp\ W +9 &Q+nqr\ X +9 &Rpqa\ Y +10 &TopM\ Y +9 &Vkqp\ Z +9 &X+pp\ [\ +10 &Yqr\ \\ +9 &[rq\ I +10 &\\-qq\ 7 +9 &\\rqs\ T +2 ( +2 "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + "collection"'j& +4 "core" &\\mrr\ T +2 .tHand.open + "manipulator"&-1 +54 "core" 1 +2 "manipulator"&5% +3 "core" % C  ? Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +92 "core" ' +2 .tPSV.dial PSR + "processing"%[ +129 "core"  +2 "processing"%m% +3 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%i'+ +1606 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%h  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%q'ؾ +1613 "core" ' +2 .tPSV.dial PSR + "processing"%f +44 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%p' +2652 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 "processing"%t +2 .tCBV.dial PRV +3 "collection"'x  +4 "core" A +2 "processing"%n +4 "core" A +3 "processing"%9  +59 "core" +95  +2 .tPSV.dial :mixloop + "processing"%r +99 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'X  +14 "core" +2 .tPTV.dial :PRVmixing + "processing"%v  +127 "core" +2 .tPS.seek 0ml + "processing"%y'ؾ +2647 "core" ' + .tPSV.dial :air +2 "processing"%}  +43 "core"  +10 .tPS.seek 2.5ml + "processing"%w' +2627 "core" ' + .tPSV.dial :mixloop +2 "processing"%{ +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%u' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"%| +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&s& +3 "core" &ӥ A 5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&o(ӂ +14 "core" ( +2 "manipulator"&& +4 "core" &ӈ \   + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӈ \ i + +3 .tForearm.seek CC + "manipulator"& '? +95 "core" ' +2 .tHand.close + "manipulator"& / +64 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "manipulator"&& +3 "core" &Ӝ   6 ( +2 "manipulator"& % +4 "core" % 3  : +2 .tForearm.seek :retract +2 "manipulator"&~' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +289 "core" ( +2 "manipulator"&& +3 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +99 "core" ' +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +3 "core" % π   j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +100 "core" ' +2 .tPSV.dial :mixloop + "processing"% +5 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%  +4 "core" +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%  +4 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'& +4 "core" &-  +2 "manipulator"&% +3 "core" %  T  +2 "storage"(k% +4 "core" % w\  +2 "storage"(. +4 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(\ (  +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +3 "core" & &\ \ +2 "manipulator"&& +3 "core" &- s +2 "manipulator"&)% +4 "core" %  q  +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 + "manipulator"&*( +174 "core" ( +2 "manipulator"&#& +49 "core" &  +2 "storage"(& +5 "core" & R\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +92 "core" ' +2 "storage"(& +3 "core" & \ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('r +288 "core" ' + "storage"(&- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" & 3\  +2 "manipulator"&/& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&%( +4 "core" ( + "manipulator"&+& +4 "core" &   >  +2 "storage"(2& +4 "core" & \  +3 .tForearm.seek 2 + 300 counts + "manipulator"&z'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(4' +8 "core" & v  + "manipulator"&<% +4 "core" %  q +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +148 "core" ' + ( + "manipulator"& & +2 ."downElevator"SE.stop +4 "storage"(5 +5 "core" &z& G @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &z'  O @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&!'? +101 "core" ' +2 "manipulator"&6& +3 "core" &ӌ %   =H +2 "manipulator"&=% +4 "core" %/ N +2 "collection"'?& +5 "core" &]  +2 "collection"',& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'B(\\ +5 "core" &  +7 &;\ %g +9 &Ywh\ 7 +9 &xO\ J +10 &U2\ J +9 &W\ J +9 &LY\ J +10 &W\ J +9 &W\ J +10 &U\ J +9 &TT\ J +9 & V\ J +10 &!U\ J +9 &#Y\ J +9 &%\\V\ J +10 &'Wu\ J +9 &(Wf\ J +10 &*WK\ J +9 &,dW<\ J +9 &.&W-\ J +10 &/W\ J +9 &1WL\ J +9 &3kVO\ J +10 &5-WJ\ J +9 &6Y;\ J +10 &8X1\ J +9 &:sX&\ J +9 &<6U"\ J +10 &=X \ J +9 &?Z \ J +9 &A{Yf\ J +10 &C>Y\ J +9 &Dc\ L +10 &Fi\ L +9 &Ht\ O +9 &J+\ S +10 &K\ V +9 &M\ V +9 &Og\ W +10 &Q(\ W +9 &R\ X +10 &T\ Y +9 &Vg\ Y +9 &X)\ Y +10 &Y\ Z +9 &[\ G +9 &\\0\ 1 +10 &\\n\ M +2 ( +2 "collection"',& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 + .Hand.open + "manipulator"&A1 +54 "core" 1 + "manipulator"&7% +4 "core" % )  c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +95 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'1  +130 "core"  +41 .tCSV.dial CTV +8 "collection"'H  +27 "core"  +3 .tPS.seek 2.5ml + "processing"%E' +527 "Can" N G +2111 "core" ' +2 "collection"'@% +3 "core" %K\  +3 .tCS.seek 4.5ml + "collection"'L'c; +1484 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%M  +44 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%S  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2635 "core" ' +2 .tCBV.dial between PRV and waste1 + "collection"'N ` +29 "core" _ +2 .tCSV.dial :air + "collection"'T @ +42 "core" > +2 .tCS.seek 10ml +2 "collection"'D' +1477 "core" ' +2 .tCSV.dial CTV + "collection"'0  +43 "core"  +2 .tCS.seek 0ml + "collection"'Q'i +2661 "core" ' + .tCBV.dial :waste1 +2 "collection"'K @ +28 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'P  +130 "core" +2 "collection"'V& +3 "core" &\\i\ M +3 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&>% +3 "core" %  W  +2 "storage"(J% +9 "core" % t u \  +2 "storage"(I. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +8 .tSC.seek 1 + "storage"(W(C +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" &F 1 - \ +2 "manipulator"&F& +4 "core" &ӫ  9) +2 "manipulator"&O% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&U( +161 "core" ( +2 "manipulator"&]& +4 "core" &  -  +2 "storage"(R& +3 "core" &G g f ~\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&Y' +97 "core" ' +2 "storage"(`& +4 "core" &G \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'r +296 "core" ' +2 "storage"(G- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & _  +2 "storage"(e& +4 "core" &F N L\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&g'8 +21 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(j'v +30 "core" ' + "manipulator"&-% +4 "core" %H Z +2 "storage"(5& +50 "core" &F X X O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 316 counts + "manipulator"&^'t +14 "core" ' +2 "manipulator"&[& +3 "core" &   +3 "storage"(m& +3 "core" &F t u ,\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&_' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(h' +36 "core" ' +2 "manipulator"&i& +4 "core" & `  +2 "manipulator"&f% +4 "core" % m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +160 "core" ( +3 "manipulator"&n& +3 "core" &ӏ"   <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &ӏ"  7 <? +2 .tForearm.seek CC +2 "manipulator"&9'? +91 "core" ' +2 .tHand.close + "manipulator"&r/ +57 "core" / +2 .tCC.seek :open + "collection"'X( +447 "core" ( +2 "storage"(v& +3 "core" &F \ +3 "storage"(p& +3 "core" &F I\ +2 "manipulator"&}& +5 "core" &Ӵ w 7 + "manipulator"&y% +4 "core" % 7   +3 .tForearm.seek :retract + "manipulator"&{' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&w( +161 "core" ( + "manipulator"&& +4 "core" &  D  +2 "storage"(& +5 "core" &F ]\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&|'8 +97 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&s1 +61 "core" 1 +2 "manipulator"&% +4 "core" % >  +2 "storage"(& +4 "core" &F Q\ +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 1 + 306 counts + "manipulator"& 'j +21 "core" ' +2 "manipulator"&\\& +3 "core" &    +2 "storage"(l& +4 "core" &F 6\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&b' +27 "core" ' +2 "storage"(% +3 "core" % %\ +4 ."downElevator"SE.seek :down +2 "storage"( ' +102 ( % +3 "core" %B< \ TZ +41 "manipulator"&% +10 "core" % 4 g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' +5 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%  +82 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2638 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"% +44 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%  +43 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"% +44 "core" +2 .tdelay 1 second +101 .PSV.dial :air + "processing"%~  +55 "core"  +2 .tdelay 1 second +103 .PS.seek 0ml + "processing"%'ؾ +2639 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +5 "core" &#\  +2 "manipulator"&& +3 "core" & S  +2 "manipulator"&k% +3 "core" %  U  +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +177 "core" ( + "manipulator"&& +4 "core" &-  . . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &- l . +2 .tForearm.seek :garage +2 "manipulator"&''w +101 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 "manipulator"&)& +3 "core" &-   % . +2 "manipulator"&#% +4 "core" % v  G +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&( +117 "core" ( +2 "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" & j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&&' +98 "core" ' +2 "manipulator"&.& +4 "core" &    +2 "manipulator"&/% +4 "core" % d +2 "processing"%+& +4 "core" &T\  +3 "processing"%2& +5 "core" & \  +2 .tPC.seek :closed + "processing"% (^ +4 "core" &\  +7 &C\ %g +10 &vZ\ 8 +9 &{\ L +10 &V\ L +9 &ZY\ L +9 &X\ L +10 &W\ L +9 &Z\ M +10 &bZ\ L +9 &$\\\ L +9 &Z\ L +10 &!W\ L +9 &#i\\\ M +9 &%,Z\ L +10 &&Y\ L +9 &(]\ L +9 &*q\\\ M +10 &,4\\\ L +9 &-\\\ L +10 &/\\\ M +9 &1y]\ M +9 &3;]\ M +10 &4[\ L +9 &6Y\ L +9 &8Y\ L +10 &:D\\\ L +9 &<^\ L +10 &=Y\ L +9 &?]\ L +9 &AJ\\\ M +10 &Cp\ N +9 &Ds\ O +9 &F\ Q +10 &HD\ R +9 &J\ R +10 &K\ R +9 &M\ S +9 &OH\ S +10 &Q\ T +9 &R\ S +9 &T\ T +10 &VO\ S +9 &X\ T +10 &Y\ T +9 &[\ T +9 &]U\ D +10 &^x@t\ (u +9 &^%\ . +5 ( +2 "processing"%2& +4 "core" &^\ . +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + "processing"%& +3 "core" &^\ . +42 .tHand.open +8 "manipulator"&<1 +54 "core" 1 +2 "manipulator"&*% +4 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tPRV.dial :air +2 "processing"%  +42 "core"  +2 .tPSV.dial :mixloop + "processing"%$ +42 "core" +3 "processing"%(% +3 "core" %غ4\ +3 .tPS.seek 0.3ml +2 "processing"%z' +386 "core" ' +2 .tPSV.dial PSR + "processing"%6 +100 "core"  +3 #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml + "processing"%='2 +487 "core" ' +2 .tdelay 3 seconds +301 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%?' +1918 "core" ' +2 .tdelay 3 seconds +301 .PSV.dial :mixloop +2 "processing"%% +101 "core" +2 .tPTV.dial :mixing + "processing"%4 @ +71 "core" A + .tPBV.dial :waste2 +2 "processing"%  +89 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&A& +4 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&7( +4 "core" ( +2 "manipulator"&,& +3 "core" &  \ 5  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" & g  +2 .tForearm.seek PC +2 "manipulator"&!' +95 "core" ' + .tHand.close +2 "manipulator"&H/ +59 "core" / +2 .tPC.seek :open +2 "processing"%( +457 "core" ( +2 "manipulator"&@& +4 "core" & g  +2 "manipulator"&% +3 "core" %  `  +3 .tForearm.seek :retract + "manipulator"&M' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&S(- +126 "core" ( +2 "manipulator"&E& +4 "core" &-  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &- 2 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&T'w +100 "core" ' + .tHand.open +2 "manipulator"&L1 +58 "core" 1 +2 "manipulator"&0% +3 "core" % z  P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +91 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%K& +4 "core" &X\ +2 "manipulator"&P% +4 "core" %  B  +2 "storage"(V% +4 "core" % l\  +2 "storage"(>. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(J(  +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +42 (I& +9 "core" & .\ +2 "manipulator"&\ & +4 "core" &- \ +2 "manipulator"&8% +4 "core" %  .  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&F( +175 "core" ( + "manipulator"&O& +4 "core" &  R  +2 "storage"(]& +4 "core" & a\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&R'S +95 "core" ' +2 "storage"(`& +3 "core" & p\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +308 "core" ' +2 "storage"(;- +2 "core" -'% +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" & \  +2 "manipulator"&a& +3 "core" & }  +3 .tElbow.seek 2 + "manipulator"&e( +19 "core" ( +2 "manipulator"&d& +3 "core" &    +2 "storage"(-& +4 "core" & r\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&5'Ͻ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(i' +7 "core" & G  +2 "manipulator"&f% +4 "core" % ϱ 1 +2 .tForearm.seek :retract +2 "manipulator"&Y' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&U( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&c& +3 "core" & B  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^' +101 "core" ' +3 "manipulator"&j& +3 "core" &  +2 "manipulator"&n% +4 "core" %  +3 "processing"%x& +3 "core" &\ +3 "processing"%_& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%Z(^ +2 "core" &\ +7 &>\ #c +10 &W\ 7 +9 &y$\ K +9 &S\ L +10 &|W\ L +9 &?U\ L +10 &X\ \ L +9 &Y\ L +9 &V \ L +10 &EW \ L +9 & X\ L +9 &!Y\ L +10 &#Y\ L +9 &%MX\ L +10 &'Y\ L +9 &(Y\ L +9 &*Y\ L +10 &,VY\ L +9 &.Y\ L +9 &/Y\ L +10 &1Y\ L +9 &3^Y\ L +10 &5 X\ L +9 &6Y\ L +9 &8Z\ L +10 &:fZ\ L +9 &<(Z\ L +9 &=Z\ L +10 &?\\\ M +9 &Am]\ L +10 &C+l\ N +9 &Dn\ N +9 &F\ Q +10 &Hd\ R +9 &J&\ R +9 &K\ R +10 &M\ S +9 &Ok\ R +10 &Q*\ S +9 &R\ S +9 &T\ T +10 &Vq\ S +9 &X1\ T +9 &Y\ S +10 &[\ S +9 &]v\ A +10 &^<|\ !b +9 &^3\ 3 +5 ( +2 "processing"%_& +4 "core" &^!\ 3 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&r1 +57 "core" 1 +2 "manipulator"&q% +3 "core" %  @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +93 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +49 .PH.seek 28C,5:00 +2 "processing"%v z +2 %p9 +6 "core" 9 +102 "processing"%}9 +3 "core" 9 +103 "processing"%y9 +3 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +3 "core" 9 +103 "processing"%99 +3 "core" 9 +102 "processing"%t9 +3 "core" 9 +103 "processing"%s9 +2 "core" 9 +103 "processing"%9 +3 "core" 9" +102 "processing"%9 +4 "core" 9& +102 "processing"%\\9 +3 "core" 9+ +102 "processing"%l9 +3 "core" 9/ +103 "processing"%9 +2 "core" 93 +103 "processing"%{9 +3 "core" 97 +102 "processing"% 9 +3 "core" 9< +103 "processing"%9 +3 "core" 9@ +102 "processing"%w9 +3 "core" 9D +103 "processing"%|9 +2 "core" 9H\ +103 "processing"% 9 +3 "core" 9 L +102 "processing"%h9 +3 "core" 9Q +103 "processing"%9 +3 "core" 9U +102 "processing"%b9 +3 "core" 9Y +103 "processing"% 9 +2 "core" 9&] +103 "processing"%C9 +3 "core" 9.a +102 "processing"%9 +3 "core" 95f +4 .tPH.hold 2:00:00,28C +2 "processing"% pzp1 +3 .tdelay 1:30 +4 "core" f +9001 .tPSR.select :air + .PSV.dial PSR +2 "processing"% +102 "core"  +2 #tPulling 0.5ml of PSR.wash .PSR.select :wash +2 "processing"% +11 .tPS.seek 0.5ml + "processing"%~' +588 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml +2 "processing"%' +1607 "core" ' +2 .tPTV.dial :puck + "processing"%  +71 "core"  +2 .tPSV.dial PTV + "processing"% +72 "core" +2 .tPBV.dial :waste1 + "processing"%k  +128 "core"  +2 "processing"%% +3 "core" % \ +3 .tPS.seek 1.5ml + "processing"%3'' +590 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%u * +30 "core" + +3 .tPS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' + .tdelay 5:00 +9802 "Can" =  +20200 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%)  +4 "core"  + .tPBV.dial :waste1 +2 "processing"%#  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%o * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"% +72 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%"' +2365 "core" ' +2 .tPSV.dial PTV + "processing"%' +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%. +111 "core"  +8 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%/ +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%+  +71 "core"  +3 .tPS.seek 0ml + "processing"%'ؾ +2309 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%  +128 "core" +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPRV.dial :ab1 + "processing"% @ +72 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%<' +361 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'*  + "processing"%2  +43 "core" + +2 "processing"% % +4 "core" %\  +3 .tPS.seek 0.34ml + "processing"%$'' +436 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'(  +28 "core" +2 .tPRV.dial :air + "processing"%&  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'K +1193 "core" ' + .tPRV.dial :waste2 +2 "processing"%6 @ +70 "core" > +2 .tPS.seek 0.5ml +2 "processing"%z' +866 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%=  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml +2 "processing"%%' +1616 "core" ' +2 .tPSV.dial :PML + "processing"%4 +44 "core" +2 .tPTV.dial :mixing + "processing"% @ +70 "core" A +2 .tPBV.dial :waste1 +2 "processing"%?  +34 "core" +2 "processing"%A% +3 "core" %\  +3 .tPS.seek 1.85ml + "processing"%,' +233 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%1 * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%H'ؾ +1976 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &  +2 "manipulator"&& +4 "core" &    +2 "manipulator"& % +3 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&@(- +144 "core" ( +2 "manipulator"&& +3 "core" &-  N m +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &-   m +2 .tForearm.seek :garage +2 "manipulator"&N'w +99 "core" ' +2 .tHand.close + "manipulator"&!/ +53 "core" / +3 "manipulator"&7& +3 "core" &-  R m +2 "manipulator"&L% +4 "core" % χ +3 .tForearm.seek :retract + "manipulator"&0' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&K(ӂ +325 "core" ( +3 "manipulator"&P& +5 "core" &ӏ#   { <@ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &ӏ#  E <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&>'? +91 "core" ' +2 "manipulator"&M& +4 "core" &Ӑ#    <? +2 "manipulator"&T% +5 "core" %D    R +2 "collection"'W& +3 "core" &?  +3 "collection"'I& +5 "core" &'  +2 .tCC.seek :closed +2 "collection"'\ (\\ +3 "core" &`  +8 &=j\ %f +9 &Y~C\ 8 +9 &vb\ L +10 &T`\ L +9 &Wb\ K +10 &ESY\ K +9 &T^\ K +9 &S\\\ K +10 &S\\\ K +9 &MSP\ K +9 & RI\ K +10 &!YL\ L +9 &#VL\ K +10 &%UWM\ K +9 &'WN\ K +9 &(WL\ K +10 &*UN\ L +9 &,\\UK\ L +9 &.UM\ L +10 &/WP\ K +9 &1TM\ K +10 &3eRK\ K +9 &5'TL\ K +9 &6SM\ K +10 &8RE\ L +9 &:lVH\ L +9 &\ V +9 &J>\ W +10 &KA\ W +9 &M;\ X +10 &O`>\ X +9 &Q!?\ X +9 &R2\ Y +10 &T>\ Z +9 &Vb;\ Z +9 &X"?\ [ +10 &YA\ \\ +9 &[C\ I +10 &\\8?\ - +9 &\\k@\ Q +2 ( +2 "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.34 + "collection"'8& +4 "core" &\\mB\ Q +2 .tHand.open + "manipulator"&O1 +64 "core" 1 +2 "manipulator"&]% +3 "core" % D / , C R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +95 "core" ' +2 .tPSV.dial PSR + "processing"%S +100 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%D'+ +1616 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%;  +42 "core"  +3 .tPS.seek 0ml + "processing"%G'ؾ +1613 "core" ' +2 .tPSV.dial PSR +2 "processing"%a +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%d' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%-  + "collection"'[  +31 "core"  +123  + .tPSV.dial :mixloop +2 "processing"%m +98 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'f  +20 "core"  +2 .tPTV.dial :PRVmixing +2 "processing"%F  +72 "core" +3 .tPS.seek 0ml + "processing"%R'ؾ +2632 "core" ' +2 .tPSV.dial :air + "processing"%:  +42 "core"  +3 .tPS.seek 2.5ml + "processing"%5' +2632 "core" ' +2 .tPSV.dial :mixloop + "processing"%c +44 "core" +3 .tPS.seek 0ml + "processing"%g'ؾ +2631 "core" ' + .tPSV.dial :air +2 "processing"%e  +44 "core"  +2 .tPS.seek 2.5ml +41 "processing"%j' +2638 "core" ' + .tPSV.dial :mixloop +2 "processing"%n +44 "core" +2 .tPS.seek 0ml + "processing"%x'ؾ +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&i& +4 "core" &ӭ   8" +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&Y(ӂ +17 "core" ( +2 "manipulator"&& +4 "core" &ӄ   # + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &ӄ " % + +2 .tForearm.seek CC +2 "manipulator"&q'? +78 "Can" V $ +23 "core" ' + .tHand.close + "manipulator"&p/ +59 "core" / +2 .tCC.seek :open + "collection"'_( +450 "core" ( +2 "manipulator"&}& +4 "core" &ӟ  ( +2 "manipulator"&^% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&y' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +277 "core" ( + "manipulator"&& +4 "core" &-  `  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &- ]  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&t'w +100 "core" ' +2 .tHand.open + "manipulator"&s1 +61 "core" 1 +2 "manipulator"&% +4 "core" % x  | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."da"delayUntil "14:50:51.83" +2 #"WCR"Whole Cell Archive sampling 50ml +2 #Loading wcr puck from tube 2 into Collection Clamp + "collection"'\\& +4 "core" &  +2 "manipulator"&l% +4 "core" %      +2 "storage"(% +4 "core" % \  +2 "storage"({. +4 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +2 "storage"( (  +27 "core" ( + ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  q\ +2 "manipulator"&w& +4 "core" &-  X  +2 "manipulator"&|% +4 "core" %    +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"& ( +172 "core" ( +2 "manipulator"&h& +4 "core" &  @ @ +2 "storage"(& +4 "core" &  L\ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&b'S +97 "core" ' +2 "storage"( & +3 "core" &  M\ +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"(C'r +293 "core" ' +3 "storage"(- +4 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & w ?\  +2 "manipulator"&& +5 "core" &   i @ +2 ."WCR"Elbow.seek 2 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" &   Y @ +3 "storage"(& +3 "core" & | o >\  +3 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&k'Ͻ +35 "core" ' + ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."WCR"Hand.close +2 "manipulator"&/ +64 "core" / +2 !"WCR"o:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"2/home/esp/esp2/protocol/2G/wcr.rb:24:in `wcr'"0/home/esp/esp2/protocol/2G/DA.rb:58:in `da'";/home/esp/esp2/protocol/2G/DAprocess.rb:368:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:56:in `da'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:14"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:10"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(u' +5 "core" &  / @ +3 "manipulator"&3% +4 "core" % Ϻ    c +3 ."WCR"Forearm.seek :retract + "manipulator"&v' +94 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&)(ӂ +151 "core" ( +2 "manipulator"&#& +3 "core" &y*  = Bl +2 ' + ."downElevator"SE.stop +3 ."WCR"Elbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &o& +3 "core" &y* " $  Bl +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC + "manipulator"&'? +106 "core" ' +2 "manipulator"&& +3 "core" &ӟ#    =F +3 "manipulator"&'% +3 "core" %+  #  \ +3 "collection"'.& +4 "core" & +3 "collection"'/& +5 "core" &  +2 ."WCR"CC.seek :closed +2 "collection"'+(\\ +4 "core" &  +9 &5y \ *y +9 &g}\ > +10 &m\ K +9 &ZR\ K +10 &W\ J +9 &T\ K +9 &R\ J +10 &bT\ K +9 &%X\ J +10 &T\ K +9 & X\ J +9 &"jS\ K +10 &$-X\ J +9 &%T\ K +9 &'X\ J +10 &)rS\ K +9 &+5X\ J +9 &,T\ K +10 &.T\ J +9 &0{T\ J +10 &2<X\ K +9 &3Y\ J +9 &5W\ J +10 &7W\ J +9 &9CZ8\ K +9 &;Y\ K +10 &<Z\ K +9 &>Z\ K +10 &@KY\ K +9 &B Y\ K +9 &C^\ L +10 &Ej\ M +9 &GD\ P +9 &H\ U +10 &J\ V +9 &Lw\ V +10 &N8\ W +9 &O\ W +9 &Q\ W +10 &Sy\ Y +9 &U:\ Y +10 &V\ Z +9 &X\ Z +9 &Zz7\ [\ +10 &\\y\ / +9 &\\6\ !g +9 ( + &\\e\ N +2 "collection"'/& +5 #"WCR"Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&"1 +64 "core" 1 +2 "manipulator"&% +3 "core" % * ' * A +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #"WCR"collectSample 50ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")+ +4 "core" + + "sampler")% +4 "core" %ڝ f\  +2 "collection"'2& +4 "core" &\\e*\ N +3 "Can" R , +2 #"WCR"Calibrating pressure sensors + .CTV.dial :air +2 "collection"'*  +4 "core" +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +49 "sampler")  +6 "core"  +2 ."WCR"SS.reconfigure :fast +3 "sampler")#.0X'ڀ +409 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampling 50.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X'ؾ +389 "Can" ^ M& +1690 ."WCR"CBV.dial :waste2b +2 "collection"'[  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'H'i +207 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%f +93 "core" ' +2 ."WCR"delay 1:00 +33 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%F' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%d' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%- +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%m  +34 "core" +2 "processing"%c% +3 "core" %=\  +3 ."da"PS.seek 1.5ml +2 "processing"%5'( +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%e * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%g'ؾ +1608 "core" ' +2 ."da"delay 2:00 +561 ."WCR"CTV.dial :air,avoiding: :intake +48 "collection"'n  +128 "core" +11265 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%j  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%i * +32 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%r' +2363 "core" ' +2 ."da"PSV.dial PTV + "processing"%p +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%K +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%` +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%\  +71 "core"  +3 ."da"PS.seek 0ml + "processing"%}'ؾ +2324 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%^  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%q  +126 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%:  +41 "core" ~ +2 ."da"PTV.dial :PRVmixing + "processing"%  +5 "core" +2 ."da"PSV.dial :mixloop + "processing"%9 +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%Y' +389 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%s  +44 "core"  +2 "processing"%% +3 "core" %\ \ +3 ."da"PS.seek 0.55ml + "processing"%\\' +339 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%l  +55 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1561 "core" ' +2 ."da"PSV.dial :PML + "processing"%R +43 "core" + ."da"PTV.dial :mixing +2 "processing"%{ @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%y% +3 "core" %\  +3 ."da"PS.seek 1.85ml + "processing"%t' +246 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%h * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1985 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +24320 "Can" [ P +23683 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%J @ +5 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" * +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2366 "core" ' +2 ."da"PSV.dial :mixloop + "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +44 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%  +43 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2316 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +51 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%3' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"% ' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%w  +69 "core"  + ."da"PSV.dial PTV +2 "processing"%b +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%#  +35 "core" +2 "processing"%o% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%C'1 +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%k * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%'  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%~ * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%. +72 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%u' +2367 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%| +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%_ +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%" +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%Q  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2315 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%2 +141 "core" + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +11 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%/' +189 "Can"\ m +399 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%*' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +3 "core" %K\  +2 ."da"PS.seek 1.5ml +2 "processing"% '- +594 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"%( * +32 "core" * +3 ."da"PS.seek 0ml + "processing"%&'ؾ +1609 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%6  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%< +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%z' +2372 "core" ' +2 ."da"PSV.dial PTV + "processing"%x +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%? +71 "core" +2 ."da"delay 5 seconds +545 .PSV.dial :air +8 "processing"%=  +84 "core"  +3 ."da"PS.seek 0ml + "processing"%,'ؾ +2320 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%$ +141 "core" + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%4 +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%%  +34 "core" + "processing"%E% +4 "core" %=\  +2 ."da"PS.seek 1.5ml +2 "processing"%!'/ +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%7 * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +1612 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%B * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%P' +2366 "core" ' + ."da"PSV.dial PTV +2 "processing"%@ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%U +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%N +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%M  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%T'ؾ +2315 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%W +134 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +4 "processing"%0' +328 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%V' +333 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%8' +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%X +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%]  +34 "core" +2 "processing"%I% +3 "core" %\ +3 ."da"PS.seek 1.5ml +2 "processing"%S'1 +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%O * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +1303 "Can"\ | +302 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%D  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%a * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +53 ."da"PS.seek 2.5ml +2 "processing"%1' +2411 "core" ' +2 ."da"PSV.dial PTV + "processing"%[ +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%A +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%f +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%>  +75 "core"  +3 ."da"PS.seek 0ml + "processing"%F'ؾ +2382 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +131 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%m' +2129 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%c +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%d  +34 "core" +2 "processing"%e% +4 "core" %K\ +2 ."da"PS.seek 1.5ml +2 "processing"%5'( +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%n * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%j  +103 "core"  +2 ."da"PS.seek 0ml +2 "processing"%i'ؾ +1608 "core" ' +2 "processing"%9 +3 "core" 9x 5T +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%g +2 "core" 5T +2 "processing"%p& +4 "core" &^ \ 3 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&K% +4 "core" %     +2 "storage"(`% +3 "core" % R S \\\  +3 "storage"(\ . +2 "core" .(  +3 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(r(C +358 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (^& +3 "core" &F c r \ +2 "manipulator"&q& +4 "core" &Ӯ!   ;7 +2 "manipulator"&:% +3 "core" %  ! !  +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&( +253 "core" ( +2 "manipulator"&9& +3 "core" &   +3 "storage"(}& +3 "core" &F \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&s' +93 "core" ' +2 "storage"(& +4 "core" &F X V [\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(Y'r +299 "core" ' + "storage"(l- +4 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" & Q  +2 "storage"(R& +3 "core" &E y z \ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&{'8 +26 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(y- +3 "core" -' +3 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(h' +30 "core" ' + "manipulator"&% +4 "core" %A   +2 "storage"(t& +3 "core" &E ? ? =\ +47 ."da"Forearm.force -20 +8 "manipulator"&5 +3 ."da"Forearm.seek 1 + 309 counts + "manipulator"&J'm +25 "core" ' +2 "manipulator"& & +4 "core" &    +2 "storage"(& +3 "core" &E \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +18 "core" ' +2 ."da"SE.seek 2.17 Pucks below Top Plate +2 "storage"('X +41 "core" ' + "manipulator"&& +4 "core" & W  +2 "manipulator"&% +4 "core" %  + +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&' +90 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +260 "core" ( +2 "manipulator"&& +4 "core" &   +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & C +2 ."da"Forearm.seek PC +2 "manipulator"&' +96 "core" ' + ."da"Hand.close + "manipulator"&3/ +57 "core" / +2 ."da"PC.seek :open +2 "processing"%w( +458 "core" ( +2 "storage"(b& +3 "core" &E  \ +2 "manipulator"&#& +4 "core" &  % +2 "manipulator"&o% +3 "core" %  v  +3 ."da"Forearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&k( +238 "core" ( +2 "manipulator"&C& +3 "core" &  ) > +2 "storage"('& +5 "core" &E z F\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&~' +97 "core" ' + ."da"Hand.open + "manipulator"&.1 +57 "core" 1 +3 "storage"(- +3 "core" -'X +3 ."da"SE.seek 1.82 Pucks below Top Plate + "storage"(|'$ +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.85 Pucks below Top Plate +2 "storage"(_' +52 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da24jan1915h50ml.tif +716 #SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 2.835 seconds\ /var/log/esp/da24jan1915h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da24jan1915h50ml15s.tif +1226 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +338 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da24jan1915h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da24jan1915h50ml20s.tif +2061 #SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da24jan1915h50ml20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "2.835 sec auto-exposure",Subject: "da24jan1915h50ml images!" +3 "storage"("- +3 "core" -' +3 "storage"(Q& +9 "core" &E \ +7 "manipulator"&u& +7 "core" & ! ! > +11 ."da"Elbow.seek 1 +4 "manipulator"&2( +3 "core" ( +2 "manipulator"&& +5 "core" & " " u > +3 "storage"(/& +5 "core" &E \ +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +11 "core" ' +3 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +5 ."da"SE.seek 1.57 Pucks below Top Plate +2 "storage"('I +49 "core" ' + "manipulator"&& +65 "core" &  > +2 "storage"(*& +4 "core" &E :\ +3 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&('8 +23 "core" ' +2 ."da"Elbow.hold +3 "manipulator"& , +9 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.75 Pucks below Top Plate +2 "storage"(6' +23 "core" ' +2 "manipulator"&% +3 "core" %B * +2 "storage"(<& +4 "core" &E (\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 310 counts +2 "manipulator"&&'n +24 "core" ' +2 "manipulator"&x& +5 "core" & > +2 "storage"(& +4 "core" &E \ +22 ."da"Forearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&?' +18 "core" ' +3 "storage"(=% +4 "core" % \ +4 ."downElevator"SE.seek :down +3 "storage"(z' +102 ($% +4 "core" %^< \ U\\ +5 "manipulator"&,% +7 "core" % T +6 ."da"Forearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +7 ."da"Forearm.seek :retract +6 "manipulator"&' +92 "core" ' +18 ' +4 ."downElevator"SE.stop +2 "storage"(5 +6 (4& +7 "core" &E \ +8 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 "collection"'%& +2 "processing"%E& +22 "core" &\\b.\ N +4 &\ +5 "manipulator"&& +18 "core" &  < = +2 "manipulator"&7% +8 "core" %   G  +6 ."psFlush"Elbow.seek FlushPuck::Garage +4 "manipulator"&!(- +179 "core" ( +4 "manipulator"& & +6 "core" &-   : 8 +6 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +6 &B& +7 "core" &-   8 +5 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +95 "core" ' +6 ."psFlush"Hand.close +3 "manipulator"&L/ +65 "core" / +6 "manipulator"&@& +8 "core" &-  8 8 +4 "manipulator"&U% +11 "core" % ~ [ +12 ."psFlush"Forearm.seek :retract +3 "manipulator"&N' +98 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +7 ."psFlush"Elbow.seek PC +4 "manipulator"&M( +119 "core" ( +6 "manipulator"&P& +8 "core" & H  +5 ."psFlush"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &W& +8 "core" &  p  +6 ."psFlush"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +9 ."psFlush"Forearm.seek PC +3 "manipulator"&T' +105 "core" ' +2 "manipulator"&0& +11 "core" &   +4 "manipulator"&V% +9 "core" %  9  +5 "processing"%X& +8 "core" &\ +11 "processing"%]& +13 "core" &v\ +2 &s\ +4 ."psFlush"PC.seek :closed +6 "processing"%I(^ +12 "core" &k\ +6 &r\  +5 &2vp\ )w +7 &c}r\ = +6 &wmr\ M +7 &:P\ L +11 &Q\ M +10 &Rg\ M +8 &U\ L +9 &BQ\ L +11 &S\ L +8 &W\ M +12 & T\ M +8 &"JR\ L +106 &$ T\ L +19 &%U\ M +6 &'U'\ M +5 &)RQf\ L +10 &+Te\ L +3 &,Wh\ M +8 &.Ti\ M +2 &0ZWm\ L +4 &2Wl\ M +8 &3Uh\ M +2 &5Ue\ M +6 &7bRh\ L +2 &9$Td\ L +2 &:YY\ M +6 &<WV\ M +5 &>iTS\ M +4 &@+WS\ M + &A_[\ M +2 &Cf\\\ O +2 &Egt`\ P +2 &G#]\ R +4 &H[\ R +6 &JU\ R +8 &LhY\ R +10 &N'U\ S +11 &OP\ T +8 &QO\ S +9 &SlN\ T +12 &U.I\ T +10 &VC\ T +9 &XI\ T +6 &ZtE\ T +10 &\\6H\ T +11 &]{vJ\ ; +8 &^'kG\ T +12 &^-B\ 5 +3 ( +5 "processing"%]& +6 "core" &^*E\ 5 +6 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 +2 "processing"%8& +11 "core" &^*U\ 5 +3 ."psFlush"Hand.open +7 "manipulator"&O1 +60 #"uploadLog"upsync +2 "core" 1 +2 "manipulator"&S% +4 "core" %  ]  +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&D' +92 "core" ' + ."psFlush"PSR.select :air +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +2 ."psFlush"PSV.dial PSR +2 "manipulator"&a% +2 "processing"%G +6 "core" %  '  +3 "storage"(;% +4 "core" %  C e\  +2 "storage"([. +4 "core" .(F +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 +2 "storage"(A(C +19 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +2 "core" ( +2 ."WCR"SC.configure :limp +4 "storage"($\ 1b +3 (f& +3 "core" &D ;\  +4 ."psFlush"PS.seek 0.5ml +2 "manipulator"&>& +2 "processing"%1' +7 "core" & U  +2 "manipulator"&-% +3 "core" %   +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +3 "manipulator"&F( +246 "core" ( + "manipulator"&c& +4 "core" &   3 . +2 "storage"(d& +4 "core" &D \  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&e' +93 "core" ' + "storage"(m& +4 "core" &D d\  +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(n'r +192 "core" ' +2 ."psFlush"delay 5 seconds +93 "core" ' +2 "storage"(j- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +4 "core" & - +2 "storage"(& +4 "core" &D \  +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek 1 +2 "manipulator"&g'8 +23 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&p, +4 "core" , +9 ."WCR"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 "storage"(K- +3 "core" -' +3 ."WCR"SE.seek 2.16 Pucks below Top Plate +2 "storage"(`'R +33 "core" ' +2 "manipulator"&\ % +3 "core" %;   +2 "storage"( & +5 "core" &D \  + ."WCR"Forearm.force -20 +2 "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 303 counts +2 "manipulator"&^'g +48 "core" ' +5 "manipulator"&q& +3 "core" & - +2 "storage"(:& +4 "core" &D f\  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&9' +15 "core" ' +2 ."WCR"SE.seek 3.16 Pucks below Top Plate +2 "storage"(}' +36 "core" ' +2 "manipulator"&)& +4 "core" & - +2 "manipulator"&% +4 "core" % 0 +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&' +94 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&l(ӂ +20 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +120 "core" ( +2 "manipulator"&R& +3 "core" &ӑ# !  =E +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &ӑ#  2 =E +2 ."WCR"Forearm.seek CC +2 "manipulator"&'? +93 "core" ' + ."WCR"Hand.close +2 "manipulator"&t/ +53 "core" / +2 ."WCR"CC.seek :open +2 "collection"' ( +452 "core" ( + "storage"(& +5 "core" &D \  + "storage"(& +4 "core" &D \  +2 "manipulator"&& +4 "core" &ӡ" ! !  ;5 +2 "manipulator"&s% +4 "core" % S   - +3 ."WCR"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 + "manipulator"&Y( +165 "core" ( + "manipulator"&{& +4 "core" &   +2 "storage"(J& +4 "core" &D \  +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."WCR"Forearm.seek 1 +2 "manipulator"&h'8 +102 "core" ' +2 ."WCR"Elbow.hold +2 "manipulator"&, +3 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % H   J +3 "storage"(& +4 "core" &D h\  +2 ."WCR"Forearm.force -20 + "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 316 counts +2 "manipulator"&3't +21 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(Z& +4 "core" &D \  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&b' +24 "core" ' +2 "storage"(#% +4 "core" % \ +49 ."downElevator"SE.seek :down +3 "storage"(o' +99 (% +3 "core" %h: \ U\\ +2 "manipulator"&C% +5 "core" % % +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&'' +93 "core" ' +37 ' + ."downElevator"SE.stop + "storage"(5 +4 #tStarting finalPurge +516 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 + "processing"% @ +182 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%.  +128 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +100 "core" +3 ."psFlush"PS.seek :empty + "processing"% 'ؠ +954 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +1685 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"% +102 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%|' +596 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +2129 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%Q  +32 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%u @ +72 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"% +114 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%/'ؠ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +100 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%*'X\\ +1103 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%< +72 "core" +2 ."psFlush"PTV.dial :puck + "processing"%k  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%x  +4 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2646 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%~ +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%_' +593 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%=' +2125 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +72 "core" +2 ."psFlush"PBV.dial PSV + "processing"%$ U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%,'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%2 @ +54 "core" @ +3 ."psFlush"PS.seek 2.5ml + "processing"%' +2638 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%(  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%&'ؾ +2646 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%4 +100 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%E' +2632 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%% +72 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%6 U +15 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +1071 "Can" I ! +1578 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%7 @ +55 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%?' +2632 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%B'ؾ +2627 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%z +42 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"% 'X\\ +1107 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%L' +1625 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%@ +70 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%U  +4 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%  +49 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%P'ؾ +2624 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%W +72 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml + "processing"%' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%0' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%V +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%! U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%X'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%N @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2647 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%8  +71 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%O'ؾ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%S +42 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%a' +2639 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%] +71 "core" + ."psFlush"PBV.dial PSV +2 "processing"%; U +5 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%['ؾ +2636 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%G @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%>  +71 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%-'ؾ +2632 "core" ' +3 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'T& +4 "core" &\ +2 "manipulator"&r& +3 "core" & 4  +2 "manipulator"&c% +4 "core" %  ?  +45 .tElbow.seek PC +4 "manipulator"&d( +263 "core" ( +2 "manipulator"&i& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" & / +3 .tForearm.seek PC + "manipulator"&m' +94 "core" ' + .tHand.close + "manipulator"&D/ +55 "core" / +3 .tPC.seek :open +2 "processing"%j( +457 "core" ( +2 "manipulator"&5& +3 "core" & U +2 "manipulator"&% +4 "core" %  1 \ +3 .tForearm.seek :retract + "manipulator"&K' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&\ (ӂ +341 "core" ( +2 "manipulator"& & +3 "core" &y%   >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &y%  >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'? +103 "core" ' + "manipulator"&)& +4 "core" &ӡ  M 9& +2 "manipulator"&% +4 "core" %5 +2 "collection"'e& +4 "core" &\ +3 "collection"'F& +5 "core" &\ +3 .tCC.seek :closed + "collection"'n(\\ +4 "core" &\  +9 &4|\ *z +9 &f~\ > +10 &p\ L +9 &TU\ L +10 &W\ K +9 &X\ K +9 &U\ K +10 &]R\ K +9 &X\ K +9 &U\ K +10 & S\ K +9 &"dU\ L +10 &$'U\ K +9 &%X\ K +9 &'T\ K +10 &)nS\ K +9 &+/U\ K +9 &,R\ K +10 &.W\ K +9 &0vS\ K +10 &27W\ K +9 &3T\ K +9 &5W\ L +10 &7|W\ L +9 &9>V\ L +9 &;W\ L +10 &<Y\ K +9 &>Y\ K +10 &@GY\ K +9 &BZ\ L +9 &Cb\ L +10 &Er\ N +9 &G9\ S +9 &H\ V +10 &J\ W +9 &Lq\ W +10 &N0\ Y +9 &O\ X +9 &Q\ X +10 &St\ Y +9 &U4\ Z +9 &V\ [ +10 &X\ [ +9 &Zt\ \\ +10 &\\x\ 4 +9 &\\$\ &p +9 ( +3 "collection"'F& +3 "core" &\\\ #f +2 #tCollection Clamp onSpring/offSpring for 13/27 samples, on/off torque 2.31 + "collection"'g& +3 "core" &\\\ #f +2 .tHand.open + "manipulator"&^1 +54 "core" 1 +2 "manipulator"&`% +3 "core" % A  X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +90 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'y& +4 "core" &\\\ #f +2 "collection"'9% +4 "core" %i\ +2 .tCSV.dial CSR +2 "collection"'p  +41 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'t's5 +1365 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +9 '1% +3 "core" %s7\  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'' +670 "core" ' + .tCSV.dial :waste +2 "collection"'+ +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"''i +2017 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'& +3 "core" &\\\ #f +2 "collection"'% +4 "core" %h\  +2 .tCSV.dial :flush + "collection"'s  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +50 .tCS.seek 5ml +2 "collection"'{'s5 +1278 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'J @ +54 "core" > +2 "collection"'% +3 "core" %s2 \  +3 .tCS.seek 7ml + "collection"'l' +563 "core" ' +2 ."connect"CSV.dial CTV +2 .tCTV.dial CSV +3 "collection"'  + '  +43 "core"  +89  +2 .tCBV.dial :waste1 + "collection"' @ +72 "core" A +3 .tCS.seek 0ml + "collection"''i +1681 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'Z& +3 "core" &\\\ #f +2 "collection"'#% +4 "core" %g\ +2 .tCSV.dial :flush + "collection"'  +71 "core" +2 .tCS.seek 5ml +2 "collection"'Y's5 +1278 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +43 "core" B +2 "collection"'C% +3 "core" %s8\ +3 .tCS.seek 7ml + "collection"'h'# +567 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'3  +2 '}  +21 "core"  +23  +2 .tCBV.dial :waste2 +2 "collection"'b  +100 "core"  +2 .tCS.seek 0ml +2 "collection"'o'i +1692 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'& +4 "core" &\\\ #f +2 "collection"'.% +4 "core" %g\  +2 .tCSV.dial :flush + "collection"'  +70 "core" +3 .tCS.seek 5ml + "collection"'\\'s5 +1301 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +42 "core" B +2 "collection"' % +4 "core" %s1\ +3 .tCS.seek 7ml + "collection"'|' +558 "core" ' +2 ."connect"CSV.dial CTV +2 .tCTV.dial CSV +3 "collection"'Q  + 'u  +7 "core"  +33  +2 .tCBV.dial :waste2b + "collection"'  +99 "core"  +2 .tCS.seek 0ml + "collection"'"'i +1681 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'& +3 "core" &\\\ #f +2 "collection"'/% +4 "core" %d/\ +2 .tCSV.dial CSR + "collection"'*  +41 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'<' +2015 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'k' +562 "core" ' + ."connect"CSV.dial CBV +3 .tCBV.dial CSV +7 "collection"'x + '  +44 "core"  +56 +2 .tCTV.dial :intake + "collection"'~  +70 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"''T +1910 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'_  +71 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"''i +184 "Can" b  +407 "core" ' +2 .tCSV.dial CSR +45 "collection"'$  +111 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.seek 5ml + "collection"'='s5 +1382 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'2' +1368 "core" ' + .tCSV.dial CBV +2 "collection"', +95 "core" +3 .tCS.seek 0ml + "collection"'('i +2641 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӣ  9$ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&4(ӂ +21 "core" ( +2 "manipulator"&&& +3 "core" &ӈ\   E !q +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &ӈ\   !q +3 .tForearm.seek CC + "manipulator"&6'? +98 "core" ' +2 .tHand.close + "manipulator"&E/ +60 "core" / +2 .tCC.seek :open + "collection"'7( +452 "core" ( +2 "manipulator"&& +4 "core" &ӈ\   D !q +2 "manipulator"& % +3 "core" % % S +3 .tForearm.seek :retract + "manipulator"&?' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&z(- +276 "core" ( +2 "manipulator"&B& +4 "core" &-  ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &- j ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&@'w +97 "core" ' +2 .tHand.open + "manipulator"&U1 +62 "core" 1 +2 "manipulator"&% +4 "core" % π  U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +98 "core" ' +2 #tCompleted [initialPurge; da [50, 50] #da and wsr are run simultanelously] begun 13:57:18 +5 #Asleep after completing DA_WCR_011024 assays +2 ."Qmail"GoodNews.email "{1 => 4,\\n 2 => 0,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@15:46:32, 25% flow, 23.2C, 12% humidity, 14.8psia, 13.749V, 0.514A, 65.231Ah, 7.07W\\nSampled 50.0ml",Subject: "Asleep after completing DA_WCR_011024 assays" +404 #"uploadLog"upsync +6 #mEXIT @1705679276.45UTC @1705679337.07UTC = =tMAIN =mMAIN_scheduler @UTC1705679338.74 #"core_reset"Sent BREAK +2 #t@26542 sendCRC with ifg=0x20, ie=0x7F + #@28377 sendCRC with ifg=0x08, ie=0x5F + #@38798 idle with ifg=0x84, ie=0x75 + #@39467 select with ifg=0x10, ie=0xF5 #@40100 receive with ifg=0x10, ie=0xFD + #@40733 receive with ifg=0x10, ie=0xFD + #@41366 receive with ifg=0x10, ie=0xFD #@41693 receive with ifg=0x80, ie=0xFD + #@53428 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +282 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +364 "Can" ; f +  ; f + #tPolling Can every 10:00 +4 #Cleanly exited at 15:47:56UTC19-Jan-24 +441 #-> ESP.ready! +155 "sampler") +2 ) +2 "core"  +3 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %a:  +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %ځ I\  +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(3% +3 "core" % 5\  +2 "manipulator"&4% +4 "core" %  & s +2 "manipulator"&5& +3 "core" &- 8 ^ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(6(<- +1295 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &<* 3\ +2119 #t-> access 2 +3 "storage"(8% +3 "core" % f\  +2 "manipulator"&9% +3 "core" %  P s +2 "manipulator"&:& +5 "core" &- O ^ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(;(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &K m\ +2491 #t-> exit +7 #mEXIT @1705679422.00UTC @1705930960.48UTC = =mMAIN_scheduler =tMAIN @UTC1705930962.18 #"core_reset"Sent BREAK +2 #t@26236 receive with ifg=0x10, ie=0xFD + #@26869 receive with ifg=0x10, ie=0xFD + #@27523 receive with ifg=0x10, ie=0xFD + #@28158 receive with ifg=0x10, ie=0xFD + #@28790 receive with ifg=0x10, ie=0xFD #@29421 receive with ifg=0x10, ie=0xFD + #@30053 receive with ifg=0x10, ie=0xFD #@30379 receive with ifg=0x80, ie=0xFD + #@16654 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +284 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can"p A> + p A> + #tPolling Can every 10:00 +2 #Cleanly exited at 15:50:21UTC19-Jan-24 +782 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %aKJ\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ػ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ځ R\  +2 .tSS.configure :default +2 "sampler")#.0X Flush.PC + #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%3& +3 "core" &\ +2 .tHand.open + "manipulator"&41 +25 "core" 1 +2 "manipulator"&5& +3 "core" &-  ^ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&6(- +4 "core" ( + "manipulator"&7& +4 "core" &-  ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &- s ^ +2 .tForearm.seek :garage +2 "manipulator"&9'w +90 "core" ' + .tHand.close +2 "manipulator"&:/ +58 "core" / +2 "manipulator"&;& +3 "core" &-   - ^ +2 "manipulator"&<% +3 "core" % ς  D +3 .tForearm.seek :retract + "manipulator"&=' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&>( +118 "core" ( + "manipulator"&?& +4 "core" &  ?  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &  g  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&A' +91 "core" ' +2 "manipulator"&B& +4 "core" &  b  +2 "manipulator"&C% +3 "core" % o H +2 "processing"%D& +4 "core" &\ +2 "processing"%E& +5 "core" &\ \ +3 .tPC.seek :closed + "processing"%F(^ +5 "core" &\ +7 & +\ $d +10 &Ux\ 6 +9 &~\ K +9 &W\ M +10 &fW\ M +9 &(U\ M +9 &Y\ M +10 &Y\ L +9 &nZ \ M +9 &0\\\ M +10 &X\ M +9 &![\ L +10 &#v\\\ M +9 &%8]\ M +9 &&_\ M +10 &(Z\ M +9 &*\\\ L +9 &,@Z\ M +10 &.X \ M +9 &/[\ \ M +10 &1^\ M +9 &3H]\ \ M +9 &5\ [\ M +10 &6\\\ M +9 &8\\\ L +9 &:O\\\ M +10 &<]\ M +9 &=]\ \ M +10 &?`\ M +9 &AW\\\ M +9 &Ch\ N +10 &D\\\ M +9 &F]\ M +10 &H]`\ N +9 &J`\ N +9 &K_\ \ M +10 &Ma \ M +9 &Oe_\ N +9 &Q'e\ N +10 &R`\ N +9 &T`\ N +9 &Vnc\ M +10 &X0a\ \ M +9 &Yd\ N +10 &[`\ M +9 &]vb\ : +9 &^:D \ Y +10 &^\  +5 ( +2 "processing"%E& +4 "core" &^\  +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.07 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Slide::Error\ :@checkpoint: omitted: @reply0: mesg"(No Puck Clamped in Processing Clamp:@axisName"Processing Clamp:bt["E/home/esp/esp2/utils/misc.rb:481:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +440 #-> PC.open +2 .PC.seek :open + "processing"%G( +458 "core" ( + "processing"%H& +4 "core" &\ +401 #t-> Arm.home +2 "manipulator"&I& +3 "core" &  ]  +2 "manipulator"&J% +4 "core" %  w H +431 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&K' +145 "core" ' +3 .tElbow.jog 1500 + "manipulator"&L* +49 "core" * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +3 "manipulator"&M(d +186 "core" ( +2 "manipulator"&N& +3 "core" &d   f ) +2 "manipulator"&O% +4 "core" % \  ]  +516 #t-> Hand.open +2 !o:Puck::Error: mesg" Hand is closed on FlushPuck:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2765 #-> Arm.garage +2 "manipulator"&P& +3 "core" &d  ) +2 "manipulator"&Q% +3 "core" % \  7  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&R(- +129 "core" ( +2 "manipulator"&S& +37 "core" &- Y R +9 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +2 "core" &- A R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&U'w +102 "core" ' +2 "manipulator"&V& +3 "core" &-  R R +2 "manipulator"&W% +4 "core" %~ e +601 #t-> Arm.ready! +3 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&X' +149 "core" ' +3 .tElbow.jog 1500 + "manipulator"&Y* +53 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&Z(d +310 "core" ( +2 "manipulator"&[& +4 "core" &d   ' +2 "manipulator"&\\% +3 "core" %   } +490 #t-> Arm.garage +3 "manipulator"&]& +3 "core" &d  ' +2 "manipulator"&^% +3 "core" %    } +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&_(- +128 "core" ( + "manipulator"&`& +4 "core" &-   J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &- T J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&b'w +98 "core" ' + "manipulator"&c& +4 "core" &-  V J +2 "manipulator"&d% +4 "core" %ρ 9 +481 #t-> Hand.open + !o:Puck::Error: mesg" Hand is closed on FlushPuck:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +534 #-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Hand +2 "processing"%e& +3 "core" &\ +2 "manipulator"&f& +3 "core" &-  / J +2 "manipulator"&g% +4 "core" %π ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&i( +116 "core" ( +2 "manipulator"&j& +3 "core" &   >  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" & o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l' +92 "core" ' + "manipulator"&m& +4 "core" &   +2 "manipulator"&n% +4 "core" % b r +2 "processing"%o& +3 "core" &\ +3 "processing"%p& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%q(^ +3 "core" &\ +8 & -\ #b +10 &V\ 7 +9 &{\ K +9 &U\ L +10 &fW\ M +9 &)U\ L +10 &W\ M +9 &V\ L +9 &oZ\ L +10 &1Z\ L +9 &\\\ M +9 &!\\\ L +10 &#vY\ M +9 &%9W\ L +10 &&Z\ L +9 &(Z\ L +9 &*~]\ M +10 &,@Y\ M +9 &.\\\ L +10 &/Z\ L +9 &1`\ M +9 &3IZ\ L +10 &5\ W\ M +9 &6Y\ M +9 &8Y\ M +10 &:PX\ M +9 &<\\\ L +9 &=\\\ L +10 &?^\ M +9 &AW_\ M +10 &Cm\ N +9 &Du\ P +9 &F\ R +10 &HP\ R +9 &J\ R +9 &K\ R +10 &M\ S +9 &OT\ S +10 &Q\ T +9 &R\ T +9 &T\ T +10 &V[\ T +9 &X\ S +9 &Y\ S +10 &[\ T +9 &]a\ A +10 &^O\ E +9 &^\ V +9 &^%\ 1 +3 ( + "processing"%p& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 "processing"%r& +3 "core" &^#\ 1 +2 .tHand.open + "manipulator"&s1 +59 "core" 1 + "manipulator"&t% +4 "core" %  $ r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' +598 #t-> Flush.garage + #Garaging FlushPuck in Processing Clamp +2 "manipulator"&v& +3 "core" &   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&x& +3 "core" &   _  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&z' +92 "core" ' +2 .tHand.close + "manipulator"&{/ +63 "core" / +2 .tPC.seek :open + "processing"%|( +456 "core" ( + "manipulator"&}& +4 "core" & E  +2 "manipulator"&~% +3 "core" %  J  +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +127 "core" ( +2 "manipulator"&& +3 "core" &-   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- \\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +93 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&% +38 "core" % y - 4 +11 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +94 "core" ' +45391 "Can"a M"L> +14663 #t-> exit +6 #mEXIT @1705931714.79UTC @1705931739.40UTC = =tMAIN =mMAIN_scheduler @UTC1705931741.18 #"core_reset"Sent BREAK +2 #t@17467 sendCRC with ifg=0x20, ie=0x7F + #@19302 sendCRC with ifg=0x08, ie=0x5F + #@27028 idle with ifg=0x84, ie=0x75 + #@27701 select with ifg=0x10, ie=0xF5 #@28335 receive with ifg=0x10, ie=0xFD + #@28969 receive with ifg=0x10, ie=0xFD + #@29603 receive with ifg=0x10, ie=0xFD #@29930 receive with ifg=0x80, ie=0xFD + #@49335 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +381 "Can"d K#{J@C + d K#{J@C + #tPolling Can every 10:00 +2 #Cleanly exited at 13:55:14UTC22-Jan-24 +5 #Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission +6 ."Qmail"GoodNews.email "Starting DA_WCR_011024 w/pucks in tube 2\\n{3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:55:47, 26% flow, 23.2C, 8% humidity, 15.2psia, 13.793V, 0.375A, 84.435Ah, 5.17W",Subject: "DA_WCR_011024 begun" +4 #tPreparing to sleep until + 00:00:05 +3 #Asleep til + 00:00:05 +2 #Continuing at 13:55 +3 "Can"c L#{JQ< +25 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF #Shutdown +241 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [50, 50] #da and wsr are run simultanelously\\n/home/esp/esp2local/mission/DA_WCR_011024.rb:14\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:55:48, 26% flow, 23.2C, 8% humidity, 15.2psia, 13.793V, 0.381A, 84.435Ah, 5.25W",Subject: "Asleep until 13:55" +135 #"uploadLog"upsync +78 "Can"e #~KC +5 #tPowering core bus +180 #"uploadLog"upsync +363 .tGate.power :raw,:ON +2 "sampler") +13 ) +3 "core"  +3 "collection"' +3 ' +39 "core"  +2 "processing"% +2 % +4 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:56:36, 26% flow, 23.3C, 8% humidity, 15.2psia, 13.764V, 0.315A, 84.440Ah, 4.33W",Subject: "Started DA_WCR_011024 phase initialPurge; da [50, 50] #da and wsr are run simultanelously" +2 #tStarting initialPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +7 "collection"'!& +3 "core" &OOj\  +3 .tHand.open +2 "manipulator"&"1 +61 "core" 1 +2 "manipulator"&#& +3 "core" &  N +3 "manipulator"&$% +3 "core" %  _ V +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +3 "manipulator"&%(- +180 "core" ( +3 "manipulator"&&& +10 "core" &- Q +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &'& +6 "core" &- Q +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :garage +2 "manipulator"&('w +92 "core" ' +2 .tHand.close + "manipulator"&)/ +22 #"uploadLog"upsync +31 "core" / +2 "manipulator"&*& +3 "core" &- I Q +3 "manipulator"&+% +3 "core" % σ +3 .tForearm.seek :retract +2 "manipulator"&,' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +282 "core" ( +2 "manipulator"&.& +3 "core" &Ӏ- Dy +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &Ӂ. Dx +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'? +98 "core" ' +2 "manipulator"&1& +3 "core" &Ӡ( U @Y +3 "manipulator"&2% +3 "core" %< ^ +3 "collection"'3& +3 "core" &ON]\  +3 "collection"'4& +5 "core" &OOb\  +2 .tCC.seek :closed +2 "collection"'5(\\ +5 "core" &MOa\  +9 &6~NN`\ +{ +9 &gOQa\ ? +10 &hkPOa\ M +9 &.UOPa\ K +10 &WOOb\ K +9 &VNQ`\ L +9 &sYPP]\ L +10 &5YPP]\ L +9 &WOQa\ L +9 &UORY\ K +10 & |VQQa\ K +9 &"<YPPV\ L +10 &#TOOU\ L +9 &%TQQZ\ K +9 &'UQQY\ L +10 &)EYQPU\ L +9 &+WPPT\ L +9 &,SPPV\ L +10 &.TPQ_\ L +9 &0MTOQW\ L +10 &2TOQT\ L +9 &3TOQS\ L +9 &5TOOR\ L +10 &7UUOOU\ L +9 &9TQQS\ L +9 &:WPSN\ K +10 &<WTRU\ L +9 &>]ZTST\ L +10 &@URVT\ L +9 &AYWUP\ L +9 &CcZYU\ M +10 &E[t]\\U\ O +9 &GldU\ T +9 &HyS\ W +10 &JT\ X +9 &LDS\ Z +10 &NS\ Y +9 &OR\ Z +9 &QT\ Z +10 &SGU\ [ +9 &UT\ \\ +9 &VQ\ \\ +10 &XN\ ] +9 &ZJS\ ] +10 &[vO\ H +9 &\\O\ 'p +9 &])T\ Y +10 ( + &] nW\ S +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 +2 "collection"'6& +3 "core" &] mS\ S +2 .tHand.open + "manipulator"&71 +61 "core" 1 +3 "manipulator"&8% +4 "core" % <  # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &] mR\ S +2 "collection"';% +4 "core" %i}}W\ +2 .tCSV.dial CSR +2 "collection"'<  +122 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 5ml +2 "collection"'='s5 +1378 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +37 "collection"' +16 '>% +3 "core" %s6rt7\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'?' +679 "core" ' + .tCSV.dial :waste +2 "collection"'@ +123 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A'i +2009 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &] knp:\ S +2 "collection"'C% +4 "core" %gop7\ +2 .tCSV.dial :flush + "collection"'D  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' +2448 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'F +2 'G  +4 "core"  +64 ~ +2 .tCTV.dial :intake + "collection"'H  +75 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I'i +2354 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +74 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +4 "core" &] k]_A\ S +2 "collection"'L% +3 "core" %i\\^E\ +2 .tCSV.dial :flush +2 "collection"'M  +70 "core"  +2 .tCS.seek 5ml +2 "collection"'N's5 +1266 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +41 "core" B +2 "collection"'P% +3 "core" %s2TVL\ +3 .tCS.seek 7ml +2 "collection"'Q' +562 "core" ' +2 ."connect"CSV.dial CBV +2 "collection"'R +2 .tCBV.dial CSV +4 "collection"'S  +4 "core"  +91 ~ + .tCTV.dial :air +2 "collection"'T  +20 "core" +3 .tCS.seek 0ml + "collection"'U'i +1659 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml +2 "collection"'V'3J +816 "core" ' + .tCSV.dial :waste + "collection"'W +43 "core" +2 .tCS.seek 0ml +2 "collection"'X'i +766 "core" ' +2 "collection"'Y& +3 "core" &] iRPK\ S +2 "collection"'Z% +4 "core" %kPQI\ +2 .tCSV.dial :flush + "collection"'[  +41 "core"  +2 .tCS.seek 3ml +2 "collection"'\\'3J +804 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'] @ +41 "core" A + "collection"'^% +4 "core" %3L QPX\  +3 .tCS.seek 5ml + "collection"'_'s7 +569 "core" ' + .tCSV.dial :air +2 "collection"'` @ +4 "core" A +3 .tCS.seek 0ml + "collection"'a'i +1217 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml +2 "collection"'b'3J +822 "core" ' + .tCSV.dial :waste +2 "collection"'c +70 "core" +2 .tCS.seek 0ml +2 "collection"'d'i +770 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&e& +3 "core" &Ӱ%  >I +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&f(ӂ +17 "core" ( +2 "manipulator"&g& +4 "core" &Ӈ O . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &Ӈ . +3 .tForearm.seek CC + "manipulator"&i'? +101 "core" ' +2 .tHand.close + "manipulator"&j/ +63 "core" / +2 .tCC.seek :open +2 "collection"'k( +451 "core" ( + "manipulator"&l& +38 "core" &Ӟ + +8 "manipulator"&m% +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(- +284 "core" ( +2 "manipulator"&p& +4 "core" &- \\ . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &-  . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +100 "core" ' + .tHand.open + "manipulator"&s1 +54 "core" 1 +2 "manipulator"&t% +3 "core" % | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +95 "core" ' +2 #tda sampling at most 50ml, wcr at most 50ml +4 ."Qmail"DAfans.email "Started da in tube 2 at 14:00:54UTC22-Jan-24\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:56:36, 26% flow, 23.3C, 8% humidity, 15.2psia, 13.764V, 0.315A, 84.440Ah, 4.33W",Subject: "da sampling at most 50ml, wcr at most 50ml" +4 #tLoading sh1 puck from tube 2 into Collection Clamp + "collection"'v& +3 "core" &FEZ\ +2 "manipulator"&w% +5 "core" %  &  +2 "storage"(x% +4 "core" % | | E\ $ +2 "storage"(y. +5 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(z(  +377 #"uploadLog"upsync +291 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &  { ~ \ +2 "manipulator"&|& +4 "core" &- " . +2 "manipulator"&}% +4 "core" %    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&~( +187 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &  r\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' +2 "storage"(& +3 "core" &  \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('r +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & a V\  +2 "manipulator"&& +5 "core" & I  +2 .tElbow.seek 2 + "manipulator"&( +12 "core" ( + "manipulator"&\ & +4 "core" &   +2 "storage"( & +4 "core" & x g \  +3 .tForearm.seek 2 + 300 counts + "manipulator"& 'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" & ,  +2 "manipulator"&% +3 "core" % Ͼ +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +3 .tElbow.seek CC + "manipulator"&(ӂ +137 "core" ' +7 ."downElevator"SE.stop + "storage"(5 +17 "core" ( +2 "manipulator"&& +3 "core" &ӑ$  =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ$ =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + "manipulator"&& +4 "core" &ӑ% : =D +2 "manipulator"& % +4 "core" %I W Z +3 "collection"'& +3 "core" &EFh\ +3 "collection"'& +5 "core" &CDl\ +2 .tCC.seek :closed +2 "collection"'!(\\ +4 "core" &FFi\  +9 &4{EDo\ *y +10 &f~EEh\ > +9 &kEF[\ L +10 &OUFE]\ K +9 &ZGGX\ K +9 &UGD\\\ K +10 &VFE[\ J +9 &WVDGV\ K +9 &YHFS\ K +10 &UHHT\ J +9 & VDEO\ K +10 &"_YFFP\ K +9 &$"UFDM\ J +9 &%WDFQ\ K +10 &'YDDJ\ K +9 &)hUEDK\ J +9 &+)UGDN\ K +10 &,TCFC\ K +9 &.WDE<\ K +10 &0oYED;\ K +9 &22WFD<\ J +9 &3WGE<\ K +10 &5VEE=\ J +9 &7vWFE<\ K +9 &99WGG;\ K +10 &:WFG:\ K +9 &<XEF9\ K +10 &>~UFE;\ K +9 &@@WGG8\ K +9 &BYGF9\ K +10 &C]GG8\ L +9 &EjUU5\ M +9 &G;[T6\ P +10 &Hba/\ S +9 &JZZ4\ X +10 &LkWX/\ W +9 &N+WX4\ X +9 &OWX7\ X +10 &QWX:\ X +9 &SkWV:\ Z +9 &U0VX8\ Y +10 &VUW4\ [\ +9 &XTU7\ [ +10 &ZlVV6\ \\ +9 &\\zUV0\ 4 +9 &\\)TT-\ $m +10 ( + &\\VT,\ !a +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 12/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&"1 +54 "core" 1 +2 "manipulator"&#% +3 "core" % I ? Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +91 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + +2 "sampler")'% +3 "core" %چ G\ : +2 "collection"'& +4 "core" &\\PP\ !a +3 "Can"[ ]%MO; +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air + "collection"')  +5 "core" +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")* +16 "core"  +2 .tSS.reconfigure :fast +2 "sampler")#.0X +25  +2 .tdelay 3.8 seconds +381 "collection"'.% +3 "core" %gRQ\ +3 "sampler")/% +3 "core" %/ N\ d +2 #tSensor limits: Intake max 121.1psia; Outlet max 115.9psia + .SSV.dial :spit + "sampler")% +127 "core"  +2 .tSS.seek 0ml +2 "sampler")1'ڀ +293 "core" ' + .tSSV.dial CBV +2 "sampler")2  +127 "core"  +2 .tCTV.dial :intake + "collection"'3  +70 "core"  +2 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "collection"', @ +4 "core" ? +2 #tAllowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open + "sampler") +211 "collection"' % +3 "core" %gY[\ +2 #tIntake @15.7psia, vacuum from 10.0 to 13.0psi + .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X% +4 "core" %Q V\  +28 "collection"'=% +3 "core" %gNN\ +2 "sampler")@% +3 "core" %Q P\  +38 .tIntake.select :close +8 "sampler")0 +10 )?% +3 "core" %Q ^\  +2 .tSSV.dial :exhaust + "sampler")B  +73 "core"  + .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")C'ڀ +387 "core" ' +2 .tExhaust.select :close + "sampler") +10 #tSampling 50.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X +2 .tCTV.dial :intake + "collection"'F  +4 "core"  +2 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")H  + "collection"'E @ +7 "core" ? +64  + #tAllowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open +2 "sampler") +210 "collection"'J% +3 "core" %g]_.\ +2 #tIntake @15.9psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X!\ +3 "sampler")|% +3 "core" %; U\  +36 "collection"'}% +3 "core" %gDE+\ +3 "sampler")% +3 "core" %; K\  +41 "collection"'% +4 "core" %gKN*\ +2 "sampler")o% +3 "core" %<FD K\  +47 "collection"'% +3 "core" %g[[\ +2 "sampler")u% +4 "core" %~ K\ 3 +54 "collection"'% +3 "core" %gdh\ +2 "sampler")% +3 "core" % L\ 3 +2 .tIntake.select :close + "sampler")0 +10 )% +3 "core" % K\ 3 +2 .tSSV.dial :exhaust + "sampler")  +73 "core"  +2 .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")\ 'ڀ +879 "core" ' + .tExhaust.select :close + "sampler") +10 #tSampled 50.0ml +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close + "collection"' & +3 "core" &\\\\[\ !a +2 ."airStroke"CSV.dial :waste +3 "sampler") % +2 "collection"' +6 "core" %ڂ T\  +3 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +3 "sampler")  + "collection"'~ @ +5 "core" +4 ."airStroke"CS.seek 0ml + "collection"''i +3 "core" ? +2 ' + ."airStroke"CSV.dial :air +2 "collection"' @ +68 "core" B +2 ."airStroke"CS.seek 10ml +2 "collection"'' +94 "core"  +2 .tCTV.dial :air + "collection"'  +76 "core"  + .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler") +127 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml +2 "collection"'  +2 "sampler") 'ڀ +7 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust + "sampler")  +119 "core" ~ +11  +510 ' +2 .tSSV.dial between CBV and plug + "sampler") +45 "core" +2 .tCBV.dial between SSV and waste2 +2 "collection"'  +29 "core"  +2 "collection"'% +3 "core" %VU\ +3 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +3 "collection"'k  + '"  +15 "core"  +28  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< Hb +3 .tCS.seek 0ml + "collection"'#'i +1844 "core" '0 J H\ +3 "collection"''% +4 "core" %0s J L*\  +2 "sampler")% +3 "core" %ڂ U\  +2 #tBubblePoint: Intake @24.2psia, Outlet @0.7psia + .CBV.dial SSV + "collection"') @ +30 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"'3'i +80 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler"), +128 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X'i +4 "core" ' + ."airStroke"CSV.dial :air +2 "collection"'= @ +60 "core"  +2 .tCTV.dial :air +2 "collection"'@  +14 "core" +2 .tdelay 15 seconds +2 "core" ? +2 ."airStroke"CS.seek 10ml +2 "collection"'?' +1496 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")B +128 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.reconfigure :exhale +2 "collection"'6  +2 "sampler")#.0X +232 "collection"'R% +3 "core" % E D>\ +2 "sampler")T% +4 "core" %M \\\  +2 #tEvacuated: Intake @23.8psia, Outlet @15.1psia + .SSV.dial :spit,avoiding: :exhaust +2 "sampler")Q +99 "core"  +3 .tSS.reconfigure :exhale +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"']'i +82 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")^ +128 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +102 "collection"'9 +4 "core" 9; +103 "collection"'\ 9 +2 "core" 99 +103 "collection"'9 +3 "core" 9>6 +102 "collection"'9 +3 "core" 9d2 +102 "collection"'9 +3 "core" 91 +103 "collection"'k9 +3 "core" 9. +103 "collection"'"9 +3 "core" 9, +102 "collection"'9 +3 "core" 9) +103 "collection"''9 +2 "core" 9' +103 "collection"'9 +3 "core" 9.& +102 "collection"')9 +3 "core" 9L$ +102 "collection"' 9 +3 "core" 9g" +103 "collection"'*9 +2 "core" 9! +103 "collection"'9 +3 "core" 9 +102 "collection"'9 +3 "core" 9 +103 "collection"'9 +3 "core" 9 +103 "collection"'.9 +2 "core" 9 +103 "collection"'&9 +3 "core" 9 +102 "collection"'9 +3 "core" 9 \  +103 "collection"'/9 +4 "core" 9  +104 "collection"'%9 +4 "core" 9 0 +102 "collection"'29 +3 "core" 9 B +102 "collection"'(9 +3 "core" 9 R +103 "collection"',9 +2 "core" 9 ` +103 "collection"'#9 +3 "core" 9 o +102 "collection"'+9 +4 "core" 9 | +102 "collection"' 9 +3 "core" 9  +103 "collection"'39 +2 "core" 9  +103 "collection"'89 +3 "core" 9  +102 "collection"':9 +3 "core" 9  +103 "collection"'19 +3 "core" 9  +140 "collection"'49 +10 "core" 9  +102 "collection"'<9 +3 "core" 9 \  +103 "collection"'09 +2 "core" 9  +103 "collection"'9 +3 "core" 9  +102 "collection"'@9 +4 "core" 9  +102 "collection"'=9 +3 "core" 9  +103 "collection"';9 +3 "core" 9  +102 "collection"'>9 +3 "core" 9 # +103 "collection"'B9 +2 "core" 9 ' +103 "collection"'69 +3 "core" 9\ + +102 "collection"'A9 +3 "core" 9\ 0 +103 "collection"'G9 +2 "core" 9\ 4 +103 "collection"'F9 +3 "core" 9\ 8 +102 "collection"'E9 +3 "core" 9\ < +103 "collection"'H9 +3 "core" 9\ A +102 "collection"'?9 +3 "core" 9\ E +103 "collection"'J9 +2 "core" 9\ %I +103 "collection"'D9 +3 "core" 9\ *M +102 "collection"'C9 +3 "core" 9\ -Q +102 "collection"'I9 +4 "core" 9\ 1V +102 "collection"'O9 +3 "core" 9\ 6Z +103 "collection"'K9 +2 "core" 9\ 8^ +103 "collection"'79 +3 "core" 9\ =b +102 "collection"'R9 +3 "core" 9\ @f +103 "collection"'T9 +3 "core" 9\ Ck +102 "collection"'Q9 +3 "core" 9\ Go +103 "collection"'S9 +2 "core" 9\ K s +103 "collection"'V9 +3 "core" 9\ O\ w +102 "collection"'U9 +3 "core" 9\ R | +103 "collection"'L9 +3 "core" 9\ V  +103 "collection"'Y9 +2 "core" 9\ Y  +103 "collection"'Z9 +3 "core" 9\ ] +102 "collection"'X9 +3 "core" 9\ ` +103 "collection"'W9 +2 "core" 9\ c +103 "collection"'^9 +3 "core" 9\ f +103 "collection"'M9 +3 "core" 9\ j +102 "collection"'[9 +3 "core" 9\ m +103 "collection"']9 +2 "core" 9\ q +103 "collection"'\\9 +3 "core" 9\ t +102 "collection"'_9 +4 "core" 9\ w +102 "collection"'P9 +3 "core" 9\ x +102 "collection"'`9 +3 "core" 9\ } +103 "collection"'c9 +2 "core" 9\  +3 .tCH.hold 10:00,70C +3 "collection"'b `\ `\  +2 'a9 +7 "core"  + 9\  +2 "collection"'e% +3 "core" %b R\ +3 #tBegun lysing Collection Puck Heater at 68C/30.9psia +37992 "Can"W\ .v; +21995 "core" ` +2 "collection"'N9 +4 "core" 9\  + "collection"'h% +4 "core" %b '\ +2 #tEnded lysing Collection Puck Heater at 70.1C/29.6psia +2 .CS.seek 0ml + "collection"'j'i +334 "core" ' +3 .tCTV.dial between spare and air,avoiding: :intake + "collection"'g @ +98 "core" A +2 .tCSV.dial :air + "collection"'- @ +41 "core" ? +2 .tCS.seek 5ml + "collection"'m's5 +1379 "core" ' +2 .tCSV.dial CTV + "collection"'l  +43 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'9 @ +42 "core" > + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'i  +41 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +8 "collection"'f @ +42 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml + "collection"'5'i +1359 "core" ' + "collection"'t% +4 "core" %i # #{\ +2 #tPuck @58.8psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"'v +98 "core" + .tCBV.dial CSV +2 "collection"'x  +29 "core"  +2 "collection"'y% +4 "core" %i\ \ Z\ +3 .tCS.seek 5ml + "collection"'n's5 +1375 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"'r  +44 "core" + "collection"'% +4 "core" %s3\ +3 .tCS.seek 7ml + "collection"'{' +584 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'| @ +40 "core" ? +2 .tCS.seek 10ml + "collection"'}' +842 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +123 "core" a + #tLysing Complete + "collection"'& +4 "core" &\\ \ !a +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&o% +4 "core" %    +2 "storage"(p% +4 "core" % \  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(u(C +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&& +5 "core" &E %\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &ӥ  :0 +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek CC +2 "storage"('r +2 "manipulator"&(ӂ +37 "core" ( + "manipulator"&q& +4 "core" &x  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &x  _ 6 +2 .tForearm.seek CC +2 "manipulator"& '? +96 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'~( +54 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +339 ( + "storage"(& +5 "core" &D \ + "storage"(d& +4 "core" &D \ +2 "manipulator"&& +3 "core" &ӫ 4 / +2 "manipulator"& % +4 "core" % 8 0 +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&( +182 "core" ( +2 "manipulator"&\ & +4 "core" & 0  +2 "storage"(& +4 "core" &D\ \ \  C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 1 + "manipulator"&'8 +93 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +56 "core" 1 +3 "manipulator"&"% +3 "core" % C   +2 "storage"(& +4 "core" &D\ \ \ +2 .tForearm.force -20 + "manipulator"&5 +48 .tForearm.seek 1 + 311 counts + "manipulator"&''o +15 "core" ' +2 "manipulator"&& +4 "core" & e  +2 "storage"()& +5 "core" &D D !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"& ' +16 "core" ' +2 "storage"(*% +3 "core" %; D H\  +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +3 "core" %b? F\ Va +2 "manipulator"&% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +98 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'&& +3 "core" &\ +2 "manipulator"&& +4 "core" & E  +2 "manipulator"&/% +4 "core" %   +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(- +174 "core" ( + "manipulator"&2& +4 "core" &- J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &- G J +2 .tForearm.seek :garage +2 "manipulator"&,'w +91 "core" ' +2 .tHand.close + "manipulator"&#/ +55 "core" / +2 "manipulator"&+& +4 "core" &- J +2 "manipulator"& % +4 "core" % φ . +2 .tForearm.seek :retract +2 "manipulator"&3' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&8(ӂ +280 "core" ( +2 "manipulator"&:& +4 "core" &Ӎ'  @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &ӎ' @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&4'? +95 "core" ' + "manipulator"&<& +4 "core" &ӏ( Z @Z +2 "manipulator"&0% +4 "core" %< a J +2 "collection"'& +4 "core" &\ \ +3 "collection"'@& +6 "core" &\ \ +2 .tCC.seek :closed + "collection"'=(\\ +4 "core" &\ %\ +7 &>  \ $f +10 &Yy \ 7 +9 &w\ \ K +10 &T  \ K +9 &S\ j\ K +9 &DT\ \ \ K +10 &T\ \ K +9 &S  \ K +9 &T \ f\ K +10 &LT J\ K +9 & X'\ K +10 &!Y \ \ K +9 &#Y  \ K +9 &%UV  \ K +10 &'T  \ K +9 &(X \ K +9 &*W\  \ K +10 &,]W\  \ K +9 &. S  u\ J +10 &/U [\ J +9 &1W  \ K +9 &3fS  \ J +10 &5(V\ \ J +9 &6Y \ K +9 &8W u\ K +10 &:mU\  ]\ K +9 &<0U K\ J +10 &=W\ \ F\ J +9 &?W  1\ J +9 &AvX\  \ J +10 &C4_ {\ L +9 &Dl \ N +9 &F  \ R +10 &HY\  \ W +9 &J  \ X +10 &K  \ X +9 &M  \ Y +9 &O\\  \ Y +10 &Q \ Y +9 &R \ Z +9 &T\  r\ [ +10 &V\\  f\ [ +9 &X h\ ] +10 &Y \ ] +9 &[  \ J +9 &\\; \ . +10 &\\ \ "d +2 ( +2 "collection"'@& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 + "collection"';& +3 "core" &\\  \ "d +2 .tHand.open + "manipulator"&>1 +55 "core" 1 +2 "manipulator"&B% +3 "core" % < 2 J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&6' +96 "core" ' +45 .tPSV.dial PSR +3 "processing"%A +129 "core"  +2 "processing"%G% +4 "core" %ػ\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%F'+ +1620 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%E  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%H'ؾ +1615 "core" ' + .tPSV.dial PSR +2 "processing"%? +55 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%J' +2652 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 "processing"%D +2 .tCBV.dial PRV +3 "collection"'C  +4 "core" B +2 "processing"%I +4 "core" B +2 "processing"%O  +60 "core" +95  +2 .tPSV.dial :mixloop +2 "processing"%K +101 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'7  +20 "core" + .tPTV.dial :PRVmixing +2 "processing"%R  +128 "core" +2 .tPS.seek 0ml + "processing"%T'ؾ +2633 "core" ' + .tPSV.dial :air + "processing"%Q  +55 "core"  +3 .tPS.seek 2.5ml + "processing"%S' +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"%V +43 "core" +2 .tPS.seek 0ml +2 "processing"%U'ؾ +2628 "core" ' +2 .tPSV.dial :air + "processing"%L  +44 "core"  +3 .tPS.seek 2.5ml + "processing"%Y' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%Z +44 "core" +2 .tPS.seek 0ml + "processing"%X'ؾ +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&W& +4 "core" &Ӱ# A <9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&^(ӂ +17 "core" ( +2 "manipulator"&M& +4 "core" &Ӊ ' , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &Ӊ S , +3 .tForearm.seek CC + "manipulator"&]'? +102 "core" ' + .tHand.close + "manipulator"&\\/ +55 "core" / +3 .tCC.seek :open + "collection"'_( +447 "core" ( +2 "manipulator"&P& +3 "core" &Ө ( +2 "manipulator"&`% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&c' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&a(- +277 "core" ( +2 "manipulator"&e& +4 "core" &- C J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &- 2 J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&b'w +106 "core" ' +3 .tHand.open + "manipulator"&N1 +54 "core" 1 +2 "manipulator"&h% +3 "core" % v x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +40 .tForearm.seek :retract +8 "manipulator"&s' +97 "core" ' + .tPSV.dial :mixloop +2 "processing"%g +5 "core" +2 .tPTV.dial :PRVmixing + "processing"%-  +5 "core" +2 ."connect"PRV.dial CBV +2 "processing"%j  +2 .tCBV.dial PRV +3 "collection"'l  +7 "core" +4 +2 .tCTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'9& +3 "core" &(*r\ +3 "manipulator"&i% +3 "core" %  A  +3 "storage"(f% +3 "core" % T V\  +2 "storage"(m. +4 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(t(  +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +3 "core" & \  ?\ +2 "manipulator"&x& +4 "core" &- a J +2 "manipulator"&y% +4 "core" %  -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&5( +173 "core" ( +2 "manipulator"&r& +3 "core" &  +3 "storage"(& +3 "core" & A \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&n'S +94 "core" ' +2 "storage"(|& +4 "core" & E :\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +293 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \  +2 "manipulator"&o& +3 "core" & 1  +3 .tElbow.seek 2 + "manipulator"&p( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(z& +4 "core" & \  +3 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"( ' +6 "core" & '  +3 "manipulator"&% +3 "core" %  8 } +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&$& +4 "core" &ӓ" 1 ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &ӓ" ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +96 "core" ' +3 "manipulator"&& +3 "core" &Ӕ"  ;3 +3 "manipulator"&d% +3 "core" %5 Q +44 "collection"'& +6 "core" &('\ +3 "collection"' & +5 "core" &()\ +2 .tCC.seek :closed +2 "collection"'\ (\\ +4 "core" &&)\ +7 &9*+\ %h +9 &Yv))\ 7 +10 &v)*\ K +9 &S**\ K +9 &X*+t\ J +9 &FU*)Y\ K +10 &X*+I\ K +9 &W)+;\ K +10 &X)*0\ K +9 &OT** \ K +9 & R)) \ K +10 &!T**p\ K +9 &#T*,^\ K +9 &%WR)+L\ K +10 &'T++A\ J +9 &(U**7\ J +10 &*S*)\ K +9 &,_R**\ K +9 &.!W))\ K +10 &/W*)\ J +9 &1U*+\ J +9 &3gS(*\ K +10 &5*S)*\ J +9 &6U)+\ K +10 &8X(+\ J +9 &:pU(+s\ J +9 &<2U+,\ J +10 &=U**\ K +9 &?X,,\ K +9 &AwT*+\ K +10 &C8Y**\ K +9 &Da50\ L +10 &Fm45\ N +9 &Hl:6\ Q +9 &J#;<\ U +10 &K<={\ X +9 &M<<l\ W +9 &Oa:;`\ W +10 &Q!;:_\ X +9 &R;:i\ Y +10 &T:;T\ Z +9 &Vb;;O\ Z +9 &X!98E\ [\ +10 &Y9:C\ \\ +9 &[;<9\ H +9 &\\99:7\ , +10 &\\r997\ R +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"& % +3 "core" % 5   5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'k  +128 "core"  +2 .tCSV.dial CTV +2 "collection"'"  +26 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +1682 "Can"T\ U2 ; +954 "core" ' +2 "collection"'% +3 "core" %//\ \ +3 .tCS.seek 4.5ml +2 "collection"')'c8 +1492 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%*  +42 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%  +69 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"' ` +30 "core" ^ +2 .tCSV.dial :air + "collection"' @ +42 "core" > +2 .tCS.seek 10ml +2 "collection"'' +1491 "core" ' +2 .tCSV.dial CTV +2 "collection"''  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'&'i +2654 "core" ' + .tCBV.dial :waste1 +2 "collection"' @ +28 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'/  +130 "core" + "collection"'& +4 "core" &\\qD?\ R +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"& % +4 "core" %  8  +2 "storage"(2% +4 "core" % \  +2 "storage"((. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((C +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &F \ +2 "manipulator"&#& +4 "core" &Ӥ 9# +2 "manipulator"&+% +4 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"& ( +165 "core" ( + "manipulator"&.& +4 "core" & ?  +2 "storage"(,& +46 "core" &F\ \ \ +5 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&:' +91 "core" ' +2 "storage"(1& +3 "core" &F ^\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +294 "core" ' + "storage"(<- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" & M  +2 "storage"(& +4 "core" &E \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&3'8 +19 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(;- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(>'t +25 "core" ' + "manipulator"&B% +4 "core" %F +2 "storage"(@& +4 "core" &E \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 314 counts + "manipulator"&A'r +16 "core" ' + "manipulator"&G& +4 "core" & )  +2 "storage"(4& +4 "core" &E\ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&E' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(F' +35 "core" ' +2 "manipulator"&?& +3 "core" &  +3 "manipulator"&H% +4 "core" % a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +154 "core" ( +2 "manipulator"&C& +3 "core" &{(  B Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &{(  Ac +2 .tForearm.seek CC +2 "manipulator"&K'? +98 "core" ' +2 .tHand.close + "manipulator"&7/ +63 "core" / +2 .tCC.seek :open +2 "collection"'R( +450 "core" ( + "storage"(J& +4 "core" &E\ \ \ ]\ +2 "storage"(Q& +5 "core" &E\ \ \ +2 "manipulator"&T& +3 "core" &Ӱ  u :. +2 "manipulator"&V% +4 "core" % + +3 .tForearm.seek :retract + "manipulator"&S' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&L( +162 "core" ( + "manipulator"&U& +4 "core" &  +2 "storage"(Z& +4 "core" &E\ &\  Y\ +2 .tElbow.reconfigure :limp +42 "manipulator"&$ ,(b +8 .tForearm.seek 1 + "manipulator"&Y'8 +100 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +62 "core" 1 +3 "manipulator"&[% +4 "core" % E \ +2 "storage"(\\& +4 "core" &E\ \ \ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 313 counts +2 "manipulator"&8'q +14 "core" ' +2 "manipulator"&6& +3 "core" &  +2 "storage"(=& +4 "core" &E  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&P' +18 "core" ' + "storage"(`% +4 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(]' +99 (e% +3 "core" %> \ U^ +2 "manipulator"&w% +4 "core" % O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +92 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 .tPSV.dial :air + "processing"%N  +70 "core" +3 .tPS.seek 2.5ml + "processing"%h' +2629 "core" ' +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%c +41 "core" + .tdelay 1 second +102 .PSV.dial :air + "processing"%g  +55 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%- +42 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%l  +43 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%j'ؾ +2632 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%9& +3 "core" &\  +2 "manipulator"&i& +5 "core" & O  +2 "manipulator"&f% +3 "core" %  )  +3 .tElbow.seek FlushPuck::Garage + "manipulator"&m(- +191 "core" ( +2 "manipulator"&b& +4 "core" &- %  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &- $  +2 .tForearm.seek :garage +2 "manipulator"&v'w +101 "core" ' + .tHand.close + "manipulator"&x/ +59 "core" / + "manipulator"&y& +4 "core" &-  +2 "manipulator"&r% +4 "core" % τ b +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&|( +119 "core" ( +2 "manipulator"&a& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +44 &s& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&& +3 "core" & H  +3 "manipulator"&o% +3 "core" % ?  +3 "processing"%& +4 "core" &\  +3 "processing"%z& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &5y\ *z +10 &g\ ? +9 &Xr\ N +9 &X\ L +10 &Y\ L +9 &U\ M +10 &cV\ M +9 &%X\ M +9 &Z\ L +10 &Z\ M +9 & k\\\ M +9 &"-[\ M +10 &#]\ M +9 &%[\ M +10 &'s\\\ M +9 &)6Y\ L +9 &*Z\ M +10 &,X\ M +9 &.|Y\ L +9 &0<Z\ M +10 &1Z\ M +9 &3Z\ L +10 &5Z\ M +9 &7EZ\ M +9 &9Z\ M +10 &:Z\ M +9 &<Z\ M +9 &>K\\\ M +10 &@ ^\ M +9 &Ae\ N +10 &Co\ O +9 &EI{\ Q +9 &G\ R +10 &H\ S +9 &J\ S +9 &LK\ S +10 &N\ \ T +9 &O\ T +10 &Q\ T +9 &SN\ T +9 &U\ T +10 &V\ T +9 &X\ T +9 &ZU \ U +10 &\\\ T +9 &]\ 6 +10 &^+i\ "c +9 &^&\ 3 +2 ( +2 "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + "processing"%q& +4 "core" &^  \ 3 +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&5% +3 "core" %  0  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +92 "core" ' +2 .tPRV.dial :air + "processing"%$  +45 "core"  + .tPSV.dial :mixloop +2 "processing"%! +43 "core" +2 "processing"%{% +4 "core" %5\ +3 .tPS.seek 0.3ml + "processing"%' +404 "core" ' +2 .tPSV.dial PSR +2 "processing"% +112 "core" +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml +2 "processing"%d'2 +487 "core" ' +2 .tdelay 3 seconds +301 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%' +1918 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"%p +98 "core" +2 .tPTV.dial :mixing + "processing"% @ +70 "core" A +2 .tPBV.dial :waste2 +2 "processing"%  +89 "core"  +2 .tPS.seek 0ml + "processing"%_'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"& ( +4 "core" ( + "manipulator"& & +6 "core" & N  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &  +3 .tForearm.seek PC + "manipulator"&"' +94 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%X( +460 "core" ( +2 "manipulator"&& +3 "core" & /  +3 "manipulator"&}% +3 "core" %  7 0 +3 .tForearm.seek :retract +44 "manipulator"&*' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +124 "core" ( +2 "manipulator"&& +3 "core" &- +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +93 "core" ' +2 .tHand.open + "manipulator"&)1 +55 "core" 1 +2 "manipulator"&'% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &K\ +2 "manipulator"&/% +4 "core" % \   +2 "storage"(% +3 "core" % A\  +3 "storage"( . +2 "core" .(F +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(2(  +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +3 "core" & \ \ \ +3 "manipulator"&t& +3 "core" &- +2 "manipulator"&% +4 "core" % \  h  +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&#( +169 "core" ( + "manipulator"&+& +4 "core" & 0 +2 "storage"(.& +4 "core" & % (\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&,'S +91 "core" ' +2 "storage"(& +3 "core" & & ) $\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'r +297 "core" ' + "storage"(- +3 "core" -', +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" & \  a\  +2 "manipulator"&0& +4 "core" & 7 0 +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&;& +3 "core" & 0 +2 "storage"(B& +5 "core" & \ \  \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&@'Ͻ +35 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +60 "core" / +4 ."downElevator"SE.seek :down +2 "manipulator"&4& +2 "storage"(?' +8 "core" & k 0 + "manipulator"&H% +4 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&:' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&%& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" & x  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +100 "core" ' +8 "manipulator"&>& +4 "core" &  +2 "manipulator"&C% +4 "core" % +2 "processing"%O& +4 "core" &\ +3 "processing"%E& +6 "core" &\ +2 .tPC.seek :closed + "processing"%~(^ +4 "core" &\ +8 & -\ #b +9 &U~\ 7 +10 &{ \ L +9 &Q\ M +9 &XT\ L +10 &W \ M +9 &Y\ \ M +9 &S\ M +10 &_T\ M +9 &"U\ L +9 &V\ M +10 &!Y\ M +9 &#gY\ M +10 &%*V\ L +9 &&V\ M +9 &(Z\ M +10 &*oV\ M +9 &,2W\ L +9 &-V\ L +10 &/W\ M +9 &1xY\ L +10 &39W\ M +9 &4U\ M +9 &6W\ L +10 &8W\ M +9 &:AT\ M +9 &<X\ M +10 &=W\ M +9 &?[\ M +10 &AF\\\ N +9 &Ch\ N +9 &Dn\ P +10 &F\ R +9 &H?\ S +9 &J\ R +10 &K\ S +9 &M\ S +10 &OD\ T +9 &Q\ T +9 &R\ U +10 &T\ T +9 &VK\ T +9 &X \ T +10 &Y\ T +9 &[\ T +10 &]Q\ F +9 &^uB\ %n +9 &^F\ 9 +6 ( +2 "processing"%E& +3 "core" &^-\ 9 +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&71 +53 "core" 1 +2 "manipulator"&D% +4 "core" %  +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +100 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%J  +2 %Q9 +6 "core" 9 *\ +102 "processing"%T9 +3 "core" 9* +103 "processing"%V9 +2 "core" 9* +103 "processing"%U9 +4 "core" 9* +102 "processing"%Z9 +3 "core" 9* +102 "processing"%K9 +3 "core" 9* +103 "processing"%I9 +2 "core" 9) +103 "processing"%M9 +3 "core" 9* +102 "processing"%[9 +4 "core" 9)" +102 "processing"%\\9 +3 "core" 9)' +103 "processing"%69 +2 "core" 9)+ +103 "processing"%=9 +3 "core" 9)/ +102 "processing"%`9 +3 "core" 9*3 +103 "processing"%S9 +2 "core" 9*7 +103 "processing"%e9 +2 "core" 9\ )< +103 "processing"%w9 +3 "core" 9 *@ +102 "processing"%L9 +3 "core" 9*D +102 "processing"%Y9 +3 "core" 9*H +103 "processing"%89 +3 "core" 9)L +103 "processing"%F9 +2 "core" 9*Q +103 "processing"%N9 +3 "core" 9*U\ +102 "processing"%P9 +3 "core" 9%*Y +103 "processing"%]9 +2 "core" 9))] +103 "processing"%9 +3 "core" 9.)a +103 "processing"%c9 +2 "core" 93*f +103 "processing"%g9 +3 "core" 98*j +3 .tPH.hold 2:00:00,28C +2 "processing"%- pp7 +2 .tdelay 1:30 +5 "core" j +8999 .tPSR.select :air + .PSV.dial PSR +2 "processing"%l +99 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%h' +584 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%9' +1620 "core" ' +47 .tPTV.dial :puck +2 "processing"%i  +70 "core"  +2 .tPSV.dial PTV +2 "processing"%f +71 "core" +2 .tPBV.dial :waste1 +2 "processing"%b  +128 "core"  + "processing"%u% +4 "core" %\  +3 .tPS.seek 1.5ml + "processing"%W'. +597 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%x * +32 "core" , +3 .tPS.seek 0ml + "processing"%y'ؾ +1615 "core" ' +2 .tdelay 5:00 +10805 "Can"Q\ A5E墭M +19197 #trecoverPSRreagent08 + .PTV.dial :puck + "processing"%r  +4 "core"  +2 .tPBV.dial :waste1 + "processing"%^  +33 "core"  +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%a * +33 "core" * +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%s +72 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%v' +2373 "core" ' +2 .tPSV.dial PTV + "processing"% +85 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%o +69 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%m  +85 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2316 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%  +127 "core" + .tPSV.dial :mixloop +2 "processing"%q +42 "core" +2 .tPRV.dial :ab1 + "processing"% @ +70 "core" A +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%5' +371 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +3 "collection"'z  + "processing"%$  +44 "core" +3  + "processing"%!% +4 "core" %\ +3 .tPS.seek 0.34ml + "processing"%{' +437 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'  +29 "core" + .tPRV.dial :air +2 "processing"%j  +41 "core"  +3 .tPS.seek 0.9ml + "processing"%'K +1193 "core" ' +2 .tPRV.dial :waste2 + "processing"% @ +71 "core" > +2 .tPS.seek 0.5ml + "processing"%d' +864 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%p  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"% ' +1610 "core" ' +2 .tPSV.dial :PML + "processing"% +44 "core" +2 .tPTV.dial :mixing + "processing"% @ +72 "core" B +2 .tPBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"% % +4 "core" %\  +3 .tPS.seek 1.85ml + "processing"%k' +237 "core" ' +45 .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * +3 .tPS.seek 0ml + "processing"%|'ؾ +1970 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'n& +3 "core" &>= \ +2 "manipulator"&& +4 "core" &   +2 "manipulator"&% +4 "core" % \  Y  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&}(- +129 "core" ( +2 "manipulator"&& +3 "core" &-   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  +3 .tForearm.seek :garage + "manipulator"&"'w +97 "core" ' + .tHand.close +2 "manipulator"&)/ +55 "core" / + "manipulator"& & +4 "core" &- .  +2 "manipulator"&'% +4 "core" % ϊ +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&/(ӂ +279 "core" ( +2 "manipulator"&& +3 "core" &ӛ 8 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &ӛ 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&*'? +93 "core" ' +3 "manipulator"&& +3 "core" &ӛ  7 +3 "manipulator"&% +4 "core" %? # +2 "collection"'(& +5 "core" &?=\ +2 "collection"'t& +5 "core" &?>\ +3 .tCC.seek :closed + "collection"'(\\ +4 "core" &<? \ +7 &=@="\ %f +10 &X~@=\ 8 +9 &x?>\ L +9 &X>?\ L +10 &U;?\ L +9 &AY=?\ L +9 &U?@\ K +10 &V?? \ L +9 &S>? \ L +10 &KU>? \ K +9 & U?> \ L +9 &!Z?>\ L +10 &#T>@\ L +9 &%SU>?\ K +9 &'U??\ L +10 &(Y>?\ L +9 &*T>@\ K +10 &,[U@?\ K +9 &.U??\ K +9 &/W>@\ L +10 &1Y??\ L +9 &3bX??\ L +9 &5#S?? \ L +10 &6V<? \ L +9 &8U?@\ K +10 &:jV=?\ L +9 &<-V;?\ K +9 &=W@@ \ L +10 &?W>?\ K +9 &AqX@@\ L +9 &C1\\B@\ M +10 &DjEC\ N +9 &FJJ\ R +10 &H[IL\ V +9 &JJJ\ W +9 &KKL\ X +10 &MJK\ X +9 &O\\JL\ Y +9 &QKK\ X +10 &RNJ\ Y +9 &TML\ Z +10 &V^KL\ [ +9 &XLL\ \\ +9 &YML\ \\ +10 &[KN\ I +9 &\\@KN\ 'w +9 &\\LM\ "d +3 ( +2 "collection"'t& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.30 + "collection"'+& +3 "core" &\\ML\ "d +2 .tHand.open + "manipulator"&.1 +58 "core" 1 +2 "manipulator"&% +3 "core" % ?   # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tPSV.dial PSR +2 "processing"% +101 "core"  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%'+ +1612 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%<  +42 "core"  +3 .tPS.seek 0ml +43 "processing"%0'ؾ +1609 "core" ' +2 .tPSV.dial PSR + "processing"%; +44 "core"  +2 .tPSR.select :air + "processing"% +11 .tPS.seek 2.5ml + "processing"%B' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%G  +2 "collection"'4  +32 "core"  +123  +2 .tPSV.dial :mixloop + "processing"%H +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'#  +14 "core" +2 .tPTV.dial :PRVmixing + "processing"%,  +71 "core" +2 .tPS.seek 0ml +2 "processing"%1'ؾ +2630 "core" ' +2 .tPSV.dial :air +2 "processing"%@  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%%' +2635 "core" ' + .tPSV.dial :mixloop +2 "processing"%3 +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 .tPSV.dial :air + "processing"%>  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%C' +2632 "core" ' + .tPSV.dial :mixloop +2 "processing"%O +42 "core" +2 .tPS.seek 0ml +2 "processing"%?'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&:& +3 "core" &ӣ   6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&X(ӂ +16 "core" ( +2 "manipulator"&7& +4 "core" &ӆ   > * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &ӆ   * +2 .tForearm.seek CC +2 "manipulator"&Q'? +98 "core" ' + .tHand.close + "manipulator"&E/ +63 "core" / +2 .tCC.seek :open +2 "collection"'T( +447 "core" ( + "manipulator"&A& +4 "core" &Ӓ \ b ( +2 "manipulator"&V% +4 "core" % "  > +2 .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&Z(- +286 "core" ( +2 "manipulator"&K& +3 "core" &-  A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &- A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&M'w +86 "Can"\\\ A88L +12 "core" ' + .tHand.open + "manipulator"&[1 +62 "core" 1 +2 "manipulator"&\\% +3 "core" % l k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6' +94 "core" ' +2 ."da"delayUntil "14:49:59.28" +2 #"WCR"Whole Cell Archive sampling 50ml +2 #Loading wcr puck from tube 2 into Collection Clamp + "collection"'=& +4 "core" &8<\ +2 "manipulator"&`% +48 "core" %   +2 "storage"(S% +4 "core" % H\  [\  +3 "storage"(e. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 ."WCR"SC.seek 2 + "storage"(w(  +28 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (L& +3 "core" &   C `\ +2 "manipulator"&Y& +4 "core" &- A +2 "manipulator"&8% +5 "core" %   +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 + "manipulator"&F( +175 "core" ( +2 "manipulator"&N& +4 "core" & 4 +2 "storage"(P& +4 "core" & \  I\ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&]'S +89 "core" ' + "storage"(& +4 "core" &  G X\ +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(c'r +298 "core" ' +2 "storage"(g- +4 "core" -' + ."WCR"SE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +3 "core" & \  +2 "manipulator"&_& +4 "core" & 4 +2 ."WCR"Elbow.seek 2 +2 "manipulator"&h( +4 "core" ( +2 "manipulator"&i& +3 "core" & 4 +2 "storage"(f& +4 "core" & W\  +3 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&b'Ͻ +27 "core" ' + ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&u/ +57 "core" / +3 !"WCR"o:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"2/home/esp/esp2/protocol/2G/wcr.rb:24:in `wcr'"0/home/esp/esp2/protocol/2G/DA.rb:58:in `da'";/home/esp/esp2/protocol/2G/DAprocess.rb:368:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:56:in `da'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:14"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:10"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"(x' +8 "core" & 4 +2 "manipulator"&W% +4 "core" %  +3 ."WCR"Forearm.seek :retract + "manipulator"&J' +91 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&r(ӂ +152 "core" ( +2 "manipulator"&^& +5 "core" &Ӌ%    ?Q + ' + ."downElevator"SE.stop +2 ."WCR"Elbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +5 &a& +4 "core" &ӌ&  , ?P +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&s'? +99 "core" ' + "manipulator"&y& +4 "core" &ӥ"   ;7 +2 "manipulator"&% +4 "core" %A    +3 "collection"'o& +3 "core" &<:S\ +3 "collection"'& +6 "core" &:9T\ +2 ."WCR"CC.seek :closed +2 "collection"'m(\\ +47 "core" &;:U\ +9 &<9Q\ + &:<F\ + &:9G\ +2 &;;D\ + &;9B\ 9 + &IJv::7\ 1 +6 &w~898\ E +9 &1Z<9:\ K +9 &V;;7\ J +10 &W;<6\ K +9 &yV:;,\ J +10 &:W;;'\ K +9 &U9<'\ K +9 &W:;(\ K +10 &V;<#\ K +9 &!BV;< \ K +9 &#T;; \ K +10 &$W<; \ K +9 &&T;;\ K +10 &(JW:;\ K +9 &* V<<\ J +9 &+V;<\ K +10 &-Z:;\ K +9 &/SW:;\ J +9 &1V;;\ K +10 &2X<> \ K +9 &4Y;=\ K +10 &6ZW8; \ K +9 &8X:;\ K +9 &9W<;\ J +10 &;W;<\ K +9 &=bX:;\ K +9 &?$W;;\ K +10 &@X;> \ L +9 &BZ=<\ K +10 &Df`>=\ L +9 &F%k@>\ M +9 &GGG\ Q +10 &III\ U +9 &KPJK\ V +9 &MKI\ W +10 &NKK\ W +9 &PJI\ X +10 &RRKJ\ Y +9 &TJK\ Y +9 &UKI\ Y +10 &WML\ [ +9 &YSKJ\ [\ +9 &[IJ\ [ +10 &\\eDKJZ\ 2 +9 &\\ML\ P +6 ( + "collection"'& +4 "core" &\\cMK\ P +3 #"WCR"Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&v1 +54 "core" 1 +2 "manipulator"&% +3 "core" % A   9  +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&q' +94 "core" ' +2 #"WCR"collectSample 50ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")+ +4 "core" + +2 "sampler")% +3 "core" %ڧ H\  +2 "collection"'z& +4 "core" &\\cKL\ P +4 "Can"X\ Q89>$9 +2 #"WCR"Calibrating pressure sensors + .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")$  +4 "core" +3 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X G\  +21 "collection"'% +3 "core" %dNN\ +2 "sampler")% +4 "core" %Q-GF G\  +24 "collection"'% +3 "core" %dY]\ +2 "sampler")% +5 "core" %Q-RP R\  +47 "collection"' % +4 "core" %d]][\ +2 "sampler"))% +4 "core" %Q.a] G\  +32 "collection"' % +3 "core" %d[Zb\ +2 "sampler")'% +4 "core" %Q-lk C\  +36 "collection"'\ % +3 "core" %dgf\ +2 "sampler")"% +4 "core" %Q-zw N\  +41 "collection"'% +3 "core" %dkl\ +3 "sampler") % +3 "core" %Q Q\ O +47 "collection"'}% +3 "core" %dkj\ +2 "sampler")% +4 "core" %Q R\ ( +53 "collection"'% +4 "core" %djl\ +2 "sampler")(% +4 "core" %Q R\ ( +60 "collection"'% +4 "core" %dfi3\ +2 "sampler")R% +5 "core" %Q I\ ( +68 "collection"'+% +3 "core" %dfgu\ +2 "sampler").% +4 "core" %Q F\ ( +2 ."WCR"Intake.select :close + "sampler")0 +10 )% +3 "core" %Q @\ ( +2 ."WCR"SSV.dial :exhaust +2 "sampler")t  +73 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")'ڀ +415 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampling 50.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default +2 "sampler")#.0X\  +18 "collection"',% +4 "core" %d+,\ +2 "sampler")B% +5 "core" %G O\  +19 "collection"'@% +4 "core" %d-,f\ +2 "sampler")1% +4 "core" %G Q\  +2 "collection"'3% +4 "core" %d0.m\ +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 1.76ml/s +2 "sampler")#.x0X+ +3 "core" + +20 "collection"'% +4 "core" %d25\ +2 "sampler")O% +4 "core" %< Q\  +18 "collection"'C% +46 "core" %d77\ +3 "sampler"):% +4 "core" %< O\  +21 "collection"'7% +3 "core" %d;<\ +2 "sampler")D% +4 "core" %< G\  +24 "collection"'E% +3 "core" %d>@\ +3 "sampler")/% +3 "core" %< P\  +28 "collection"'% +3 "core" %dFF\ +2 "sampler")% +4 "core" %< Q\  +32 "collection"'A% +3 "core" %dMM\ +2 "sampler")V% +4 "core" %>  Q\  +36 "collection"'Q% +3 "core" %dYZ\ +2 "sampler")K% +4 "core" % NN G\ K +41 "collection"'I% +3 "core" %dig\ +2 "sampler")X% +4 "core" % E\ < +47 "collection"'[% +3 "core" %dor\ +2 "sampler")\\% +4 "core" % G\ < +53 "collection"'=% +4 "core" %drs\ +2 "sampler")`% +3 "core" % G\ < +61 "collection"'U% +4 "core" %dsr\ +2 "sampler")S% +4 "core" % O\ < +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )e% +3 "core" % V\ < +2 ."WCR"SSV.dial :exhaust +2 "sampler")L  +73 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml + "sampler")Y'ڀ +882 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +2 "sampler")8  +72 "core"  +2 #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'M% +3 "core" %ded\ +2 #"WCR"Intake @16.4psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 1.76ml/s +2 "sampler")#.x0X?\ +2 "sampler")% +4 "core" %2 P\  +18 "collection"'Z% +4 "core" %d<<\ +2 "sampler")6% +4 "core" %2 H\  +20 "collection"'g% +4 "core" %d??\ +2 "sampler")l% +4 "core" %2 G\  +24 "collection"'_% +3 "core" %dBC\ +2 "sampler")i% +4 "core" %2 S\  +28 "collection"'f% +3 "core" %dCD\ +2 "sampler")u% +5 "core" %2 M\  +31 "collection"'9% +4 "core" %dDE\ +2 "sampler")W% +4 "core" %2 O\  +2 "collection"'F% +4 "core" %dHE\ +2 #"WCR"Intake @14.9psia, vacuum from 9.4 to 12.4psi +2 .SS.reconfigure :inhaling 1.41ml/s +2 "sampler")#.`0X +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'t  +86 "core"  +2 "collection"' % +4 "core" %KK|\ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'| ` +56 "core" ^ +2 ."WCR"CS.seek 7.317ml +2 "collection"'<'@ +165 ."da"PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +525 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  +2 ';  +42 "core"  +89  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ (b +3 ."WCR"CS.seek 0ml +2 "collection"'0'i +935 "core" ' +2 ."da"PTV.dial :puck + "processing"%*  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%H +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%#  +47 "core" +2 "processing"%,% +4 "core" %"\  +3 ."da"PS.seek 1.5ml + "processing"%B'& +597 "core" ' +2 ."da"delay 3 seconds +64 "core" 'ߍ\ -\ +\ Ϣ +3 ."WCR"delay 4:00 +235 ."da"PBV.dial between PSV and waste1 +2 "processing"%@ * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +1633 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%3  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%4 * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2393 "core" ' + ."da"PSV.dial PTV +2 "processing"%O +72 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%C +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%: +72 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%7  +84 "core"  +3 ."da"PS.seek 0ml + "processing"%D'ؾ +1237 "Can"W\ `;έD +1109 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%E +130 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%/' +207 ."WCR"CBV.dial :waste2b +2 "collection"'  +29 "core"  +3 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"''i +197 "core" ' + ."WCR"delay 1:00 +149 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%A' +1614 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%V +85 "core" + ."da"PBV.dial :waste1 +2 "processing"%Q  +34 "core" +2 "processing"%K% +3 "core" % \  +3 ."da"PS.seek 1.5ml +2 "processing"%%'/ +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%I * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%X'ؾ +1605 "core" ' +2 ."da"delay 2:00 +1051 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'[  +127 "core" +10823 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%\\  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%= * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%` +70 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%U' +2368 "core" ' +2 ."da"PSV.dial PTV + "processing"%S +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%e +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%L +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%>  +114 "core"  +5 ."da"PS.seek 0ml +2 "processing"%8'ؾ +2329 "core" ' + #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%M  +71 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%Y  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%2  +41 "core" ~ + ."da"PTV.dial :PRVmixing +2 "processing"%  +5 "core" + ."da"PSV.dial :mixloop +2 "processing"%Z +43 "core" +3 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%6' +396 "core" ' +3 ."da"delay 2 seconds +201 .PRV.dial :air +2 "processing"%g  +43 "core"  + "processing"%l% +4 "core" % \ \  +3 ."da"PS.seek 0.55ml + "processing"%_' +339 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%i  +43 "core"  +3 ."da"PS.seek 2ml + "processing"%f' +1579 "core" ' +2 ."da"PSV.dial :PML + "processing"%u +44 "core" +2 ."da"PTV.dial :mixing + "processing"%9 @ +72 "core" @ +2 ."da"PBV.dial :waste1 + "processing"%W  +35 "core" + "processing"%F% +4 "core" %\ +2 ."da"PS.seek 1.85ml +2 "processing"%N' +237 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%P * +32 "core" * +3 ."da"PS.seek 0ml + "processing"%a'ؾ +1973 "core" ' +2 ."da"delay 2 seconds +201 .delay 8:00 +25055 "Can"^\ `?Md: +22948 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%c  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%b * +35 "core" , +2 ."da"PSV.dial :air + "processing"%y  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2387 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%o +44 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%h  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%x +44 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%J  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%T'ؾ +2326 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%v +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%z  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%] +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%$% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%s'' +594 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +41 "processing"%5  +11 "core"  + ."da"PBV.dial :waste1 +2 "processing"%j  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%{ * +32 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%!' +2391 "core" ' +2 ."da"PSV.dial PTV + "processing"%^ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%d +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%&  +71 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2340 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +597 "core" ' +2 ."da"delay 5 seconds +288 "Can"]\ ]B= +214 ."da"PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%k' +1611 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +4 "core"  +2 ."da"PSV.dial PTV + "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%n% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%)'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%'  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%\ * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%? +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2385 "core" ' + ."da"PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +69 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%} +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2354 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%" +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"% ' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1626 "core" ' +2 ."da"PTV.dial :puck + "processing"%+  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"%( +71 "core" + ."da"PBV.dial :waste1 +49 "processing"%  +33 "core" + "processing"%t% +4 "core" %\ +3 ."da"PS.seek 1.5ml + "processing"% '* +594 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%| * +32 "core" + +3 ."da"PS.seek 0ml + "processing"%R'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 +2 .PTV.dial :puck + "processing"%.  +5 "core"  +2 ."da"PBV.dial :waste1 + "processing"%;  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%< +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%*' +2381 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%H +72 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%# +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%, +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%@'ؾ +2348 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%B +131 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +8 ."da"PS.seek 0.25ml +4 "processing"%3' +337 "core" ' +2 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%4' +336 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml +2 "processing"%G' +1630 "core" ' + ."da"PTV.dial :puck +2 "processing"%1  +4 "core"  +2 ."da"PSV.dial PTV +2 "processing"%O +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%C  +34 "core" +2 "processing"%:% +3 "core" %\ +3 ."da"PS.seek 1.5ml + "processing"%7', +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +1613 "core" ' + ."da"delay 10 seconds +219 "Can"Z\ G萭< +784 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%D  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%0 * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%/ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%V' +2427 "core" ' + ."da"PSV.dial PTV +2 "processing"%Q +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%K +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%A +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%I  +73 "core"  +3 ."da"PS.seek 0ml + "processing"%%'ؾ +2387 "core" ' +2 #"da"Additional air clear + .PSR.select :air +44 .PSV.dial PSR +8 "processing"%[ +129 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%\\' +2116 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 "processing"%=  +5 "core"  +2 ."da"PSV.dial PTV +2 "processing"%` +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%X  +35 "core" + "processing"%S% +4 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%e') +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%L * +33 "core" * +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%>  +103 "core"  +3 ."da"PS.seek 0ml +2 "processing"%U'ؾ +1611 "core" ' + "processing"%M9 +4 "core" 95j +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast + "processing"%Y +3 %2& +2 "core" 5j +3 &^-\ 9 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&% +3 "core" %   @  +2 "storage"(Z% +4 "core" %\  +2 "storage"(8. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(g(C +351 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +3 (l& +3 "core" &F \ | +2 "manipulator"&6& +3 "core" &ӯ   ' :- +2 "manipulator"&i% +4 "core" %    +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&_( +167 "core" ( +2 "manipulator"&u& +3 "core" &  j  +3 "storage"(9& +3 "core" &F S V a\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&W' +92 "core" ' + "storage"(F& +4 "core" &F L 9 !\  +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(P'r +298 "core" ' +2 "storage"(f- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" &   +2 "storage"(c& +4 "core" &D }\ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&b'8 +19 "core" ' +2 ."da"Elbow.hold + "manipulator"&y, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +3 "core" -' +2 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(o' +29 "core" ' +2 "manipulator"&h% +3 "core" %J   C +2 "storage"(x& +4 "core" &D \ z +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 318 counts +2 "manipulator"&J'v +15 "core" ' + "manipulator"&& +4 "core" &  f  +2 "storage"(v& +3 "core" &D H\ | +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&T' +17 "core" ' +2 ."da"SE.seek 2.17 Pucks below Top Plate +2 "storage"('X +49 "core" ' + "manipulator"&z& +47 "core" &  +8 "manipulator"&]% +4 "core" % +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&$( +240 "core" ( +3 "manipulator"&& +4 "core" &  +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   +2 ."da"Forearm.seek PC +2 "manipulator"&s' +90 "core" ' + ."da"Hand.close +2 "manipulator"&5/ +58 "core" / +2 ."da"PC.seek :open +2 "processing"%j( +461 "core" ( +2 "storage"({& +3 "core" &D F\  +2 "manipulator"&& +4 "core" & 1  +2 "manipulator"&% +3 "core" %  < ' +3 ."da"Forearm.seek :retract +2 "manipulator"&^' +95 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&d( +247 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(&& +4 "core" &D   \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&!' +96 "core" ' + ."da"Hand.open +2 "manipulator"& 1 +56 "core" 1 +3 "storage"(- +2 "core" -'X +3 ."da"SE.seek 1.82 Pucks below Top Plate +2 "storage"('$ +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.85 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da24jan2215h50ml.tif +1940 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +1052 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 26.618 seconds\ /var/log/esp/da24jan2215h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da24jan2215h50ml15s.tif +1564 #SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da24jan2215h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da24jan2215h50ml20s.tif +2062 #SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da24jan2215h50ml20s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "26.618 sec auto-exposure",Subject: "da24jan2215h50ml images!" +5 "storage"(- +13 "core" -' +12 "storage"(& +4 "core" &D H\ +2 "manipulator"&n& +5 "core" &    +3 ."da"Elbow.seek 1 +2 "manipulator"&k( +9 "core" ( +2 "manipulator"&& +6 "core" &   P  +3 "storage"(& +4 "core" &D Z\ +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"& ' +5 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.57 Pucks below Top Plate +3 "storage"(''I +50 "core" ' +2 "manipulator"&\ & +6 "core" &  + "storage"(?& +4 "core" &D \ +3 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 + "manipulator"&)'8 +23 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +60 ."da"SE.seek 1.75 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 "manipulator"&}% +19 "core" %4 3 +5 "storage"(& +8 "core" &D \ +6 ."da"Forearm.force -20 +4 "manipulator"&5 +8 ."da"Forearm.seek 1 + 296 counts +2 "manipulator"&'` +24 "core" ' +6 "manipulator"&"& +10 "core" &  +2 "storage"(& +5 "core" &D K\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +27 "core" ' +4 "storage"(+% +8 "core" % \ +6 ."downElevator"SE.seek :down +6 "storage"((' +98 (% +6 "core" % > \ T[ +4 "manipulator"&t% +9 "core" % 1 y +7 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +26 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (|& +6 "core" &D 2\ +9 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 "collection"' & +2 "processing"%.& +12 "core" &\\bJIw\ P +4 &\ +10 "manipulator"&;& +12 "core" & 6  +4 "manipulator"&% +9 "core" %  7  +5 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&<(- +181 "core" ( +3 "manipulator"&R& +8 "core" &- q ( +4 ."psFlush"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &H& +7 "core" &- ( +5 ."psFlush"Forearm.seek :garage +4 "manipulator"&#'w +99 "core" ' +4 ."psFlush"Hand.close +2 "manipulator"&,/ +58 "core" / +4 "manipulator"&& +8 "core" &-  ( +4 "manipulator"&*% +11 "core" % ω +7 ."psFlush"Forearm.seek :retract +6 "manipulator"&B' +96 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 ."psFlush"Elbow.seek PC +5 "manipulator"&@( +120 "core" ( +4 "manipulator"&3& +8 "core" &  +8 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +8 &4& +6 "core" & ' +4 ."psFlush"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 ."psFlush"Forearm.seek PC +4 "manipulator"&1' +94 "core" ' +4 "manipulator"&O& +8 "core" & K +5 "manipulator"&C% +7 "core" % ' Y +5 "processing"%:& +9 "core" &\ +5 "processing"%G& +9 "core" &\ +6 ."psFlush"PC.seek :closed +4 "processing"%(^ +8 "core" &\ +4 &\  +4 &0v\ *x +9 &c~\ = +12 &qp\ M +7 &5T\ L +9 &R\ M +9 &U\ L +10 &zX\ M +8 &=W\ L +11 &S\ M +8 &R\ L +11 & U\ L +8 &"EU\ L +9 &$Y\ M +10 &%R\ L +10 &'U\ L +8 &)MU\ L +11 &+U\ L +10 &,U\ L +10 &.X\ M +9 &0US\ L +7 &2U\ L +10 &3T\ M +10 &5T\ L +8 &7\\U\ M +11 &9Y\ L +8 &:W\ L +9 &<V\ L +11 &>dW\ M +12 &@%[\ M +6 &A]\ M +10 &Ch\ O +8 &Ect\ P +11 &G\ R +8 &H\ S +9 &J\ S +11 &Lb\ S +10 &N"\ S +10 &O\ S +8 &Q\ T +8 &Sf\ T +11 &U(\ T +8 &V\ T +9 &X\ T +11 &Zo\ T +9 &\\0\ T +10 &]yr\ C +9 &^ L\ I +8 ( +4 "processing"%G& +9 "core" &^G\ A +4 &^G\ A +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 +2 "processing"%7& +7 "core" &^G\ A +4 ."psFlush"Hand.open +2 "manipulator"&1 +122 #"uploadLog"upsync +28 "core" 1 +2 "manipulator"&D% +4 "core" %  Y +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&0' +91 "core" ' +2 ."psFlush"PSR.select :air +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +2 ."psFlush"PSV.dial PSR +2 "manipulator"&/% +2 "processing"%E +7 "core" %    +2 "storage"(Q% +4 "core" % R \  +2 "storage"(K. +4 "core" .(F +3 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 +2 "storage"(A(C +3 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" &D \ +3 "manipulator"&V& +4 "core" &  r +  + #"psFlush"Pulling 0.5ml of PSR.flush +4 "manipulator"&[% + ."psFlush"PSR.select :flush +5 "processing"%@ +3 "core" %    +4 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&%( +4 ."psFlush"PS.seek 0.5ml +2 "processing"%=' +243 "core" ( +2 "manipulator"&`& +3 "core" &   : ; +2 "storage"(X& +4 "core" &D \ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&S' +93 "core" ' +2 "storage"(\\& +3 "core" &D 7\ +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(L'r +230 "core" ' +2 ."psFlush"delay 5 seconds +68 "core" ' + "storage"(>- +3 "core" -' +3 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +4 "core" &   Q ; +2 "storage"(M& +3 "core" &D !\ +2 ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek 1 + "manipulator"&Y'8 +22 "core" ' +2 ."WCR"Elbow.hold + "manipulator"&2, +3 "core" , +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 ."WCR"SE.seek 2.16 Pucks below Top Plate +2 "storage"(Z'T +45 "core" ' +2 "manipulator"&8% +3 "core" %=   9 +2 "storage"(w& +4 "core" &D K\ +2 ."WCR"Forearm.force -20 +2 "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 305 counts +2 "manipulator"&l'i +15 "core" ' +4 "manipulator"&6& +3 "core" & ( : +2 "storage"(i& +4 "core" &D \ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&u' +15 "core" ' +2 ."WCR"SE.seek 3.16 Pucks below Top Plate +2 "storage"(9' +45 "core" ' +6 "manipulator"&F& +3 "core" & ) : +3 "manipulator"&r% +3 "core" % +4 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&q' +95 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&f(ӂ +64 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%N' +76 "core" ( +2 "manipulator"&c& +3 "core" &ӎ% "  P >J +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &ӎ%  " >J +2 ."WCR"Forearm.seek CC +2 "manipulator"&h'? +97 "core" ' +2 ."WCR"Hand.close + "manipulator"&x/ +61 "core" / +2 ."WCR"CC.seek :open +2 "collection"'( +452 "core" ( +2 "storage"(v& +3 "core" &D \ +3 "storage"(z& +3 "core" &D \ +3 "manipulator"&]& +3 "core" &ө   :/ +2 "manipulator"&W% +4 "core" % L    +3 ."WCR"Forearm.seek :retract + "manipulator"&_' +92 "core" ' +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 1 +2 "manipulator"&P( +161 "core" ( +2 "manipulator"&b& +4 "core" &  O  +2 "storage"(J& +4 "core" &D f\ +2 ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&o'8 +96 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&T, +4 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +5 "core" % K   @ + "storage"(y& +4 "core" &D =\ +2 ."WCR"Forearm.force -20 + "manipulator"&5 +5 ."WCR"Forearm.seek 1 + 319 counts +2 "manipulator"&5'w +15 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(~& +3 "core" &D \ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&{' +15 "core" ' +2 "storage"(% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (s% +2 "core" %i? 5\ U[ +3 "manipulator"&% +4 "core" % +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&&' +90 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge +579 "core" ' +2 ."psFlush"delay 1 second +107 .PRV.dial :waste2,avoiding: :ab2 + "processing"%$ @ +182 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +127 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +100 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%^'ؠ +886 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +1742 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"% +102 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +587 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +2117 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%  +34 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%n @ +71 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%\ +101 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%?'X\\ +1104 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%}' +1613 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" + ."psFlush"PTV.dial :puck +2 "processing"%d  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%!  +13 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%"'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%+' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%k U +51 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2654 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%t @ +55 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'' +2638 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%)  +73 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%| +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%.' +2198 "Can"K\ ML&@ +440 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +70 "core" +3 ."psFlush"PBV.dial PSV +2 "processing"% U +16 "core" S +2 ."psFlush"PS.seek 0ml +2 "processing"%;'ؾ +2633 "core" ' +44 ."psFlush"PSV.dial PBV +4 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2627 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%R  +70 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%H'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%( +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 1ml + "processing"%'X\\ +1112 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%,' +1606 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +71 "core" + ."psFlush"PTV.dial :puck +2 "processing"%*  +15 "core"  +2 ."psFlush"PBV.dial :waste1 +2 "processing"%  +49 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%3'ؾ +2639 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%4 +72 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml + "processing"%#' +585 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%O' +2128 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%C +71 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%: U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%<'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%B @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%j' +2637 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%7  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2651 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%D +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%G' +2625 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%/ +71 "core" + ."psFlush"PBV.dial PSV +2 "processing"%Q U +4 "core" V +3 ."psFlush"PS.seek 0ml + "processing"%K'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%I @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%E' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%V  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%['ؾ +2638 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'1& +4 "core" &=<J\ +2 "manipulator"&`& +4 "core" &  +2 "manipulator"&g% +3 "core" %   +3 .tElbow.seek PC + "manipulator"&X( +243 "core" ( + "manipulator"&@& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&\\' +92 "core" ' + .tHand.close + "manipulator"&0/ +57 "core" / +40 .tPC.seek :open +7 "processing"%>( +462 "core" ( + "manipulator"&e& +4 "core" &   +2 "manipulator"&M% +4 "core" %  6 +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&8(ӂ +348 "core" ( + "manipulator"&w& +4 "core" &{' A @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &{( @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&i'? +91 "core" ' +2 "manipulator"&F& +3 "core" &ӗ# <> +3 "manipulator"&r% +4 "core" %G 2 +2 "collection"'S& +4 "core" &<>@\ +3 "collection"'%& +4 "core" &:<(\ +3 .tCC.seek :closed + "collection"'L(\\ +5 "core" &<=A\  +9 &4~;<G\ +{ +9 &e~>>>\ > +9 &p=>H\ M +10 &OT?@K\ L +9 &U==@\ L +10 &R>>@\ L +9 &T=<B\ L +10 &YS==E\ K +9 &T><@\ L +9 &T>?I\ L +9 & R><A\ L +10 &"`T<>G\ L +9 &$!W;>I\ L +9 &%U<?R\ L +10 &'V>=H\ L +9 &)hS<<L\ L +10 &+*W=?J\ L +9 &,R<>L\ L +9 &.U<>H\ L +10 &0pR=>P\ L +9 &22T>?K\ L +9 &3X>=I\ L +10 &5T>>M\ L +9 &7xU?=E\ L +10 &99W<>@\ L +9 &:U==>\ L +9 &<U>>@\ L +10 &>V<?H\ L +9 &@AT=@>\ L +9 &BV<?I\ L +10 &C_A?C\ M +9 &EpGE?\ O +10 &G3LJD\ T +9 &HLKM\ W +9 &JJLD\ Y +10 &LiLLE\ Y +9 &N,LLH\ X +10 &OLKC\ Y +9 &QKOF\ Y +9 &SjLN?\ [ +10 &U.IKA\ [ +9 &VML?\ \\ +9 &XMNB\ \\ +10 &ZlKLD\ ] +9 &\\yKL@\ 6 +10 &\\&ONI\ &p +8 ( +2 &\\MNM\ $j +2 "collection"'%& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 + "collection"'Y& +4 "core" &\\LM \ $j +2 .tHand.open + "manipulator"&l1 +61 "core" 1 +2 "manipulator"&Z% +3 "core" % G   C 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +92 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'a& +3 "core" &\\NMD\ $j +2 "collection"'u% +4 "core" %mLMB\  +2 .tCSV.dial CSR +2 "collection"'2  +41 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.seek 5ml + "collection"'x's5 +1376 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 '=% +2 "core" %s3NL \ +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'q' +683 "core" ' + .tCSV.dial :waste + "collection"'m +126 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'v'i +2001 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'z& +3 "core" &\\LLG\ $j +2 "collection"']% +4 "core" %nLK(\ +2 .tCSV.dial :flush + "collection"'W  +54 "core" +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'b's5 +1307 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'J @ +55 "core" ? +2 "collection"'h% +3 "core" %s5NK=\ +3 .tCS.seek 7ml + "collection"'f' +577 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'  + '  +89 "core"  +89  +2 .tCBV.dial :waste1 + "collection"'y @ +72 "core" @ +2 .tCS.seek 0ml +2 "collection"''i +1685 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'~& +4 "core" &\\XZB\ $j +2 "collection"'% +3 "core" %jVW\ +3 .tCSV.dial :flush + "collection"'_  +70 "core" +3 .tCS.seek 5ml + "collection"'s's5 +1304 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +42 "core" B +2 "collection"'P% +4 "core" %s4ORq\ +2 .tCS.seek 7ml +2 "collection"'o' +582 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'5  + '9  +7 "core"  +33  +2 .tCBV.dial :waste2 + "collection"'{  +102 "core"  +2 .tCS.seek 0ml +2 "collection"''i +1683 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'$& +3 "core" &\\WXw\ $j +2 "collection"' % +4 "core" %hWW\ +2 .tCSV.dial :flush +2 "collection"'  +70 "core" +2 .tCS.seek 5ml +2 "collection"'N's5 +1294 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +41 "core" B +2 "collection"'^% +4 "core" %s@MO\ +2 .tCS.seek 7.001ml +2 "collection"''+ +578 "core" ' +2 ."connect"CSV.dial CTV +2 .tCTV.dial CSV +2 "collection"'  +42 "core"  +3 .tCBV.dial :waste2b +3 "collection"'n  +100 "core"  +3 .tCS.seek 0ml + "collection"''i +1682 "core" ' +4 #tDisinfecting external Intake with kill +2 "collection"'& +7 "core" &\\WYt\ $j +4 "collection"'\ % +8 "core" %iVZ\ +4 .tCSV.dial CSR +3 "collection"'  +40 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'?' +2015 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml +2 "collection"'' +561 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'d + '!  +43 "core"  +69 ~ +2 .tCTV.dial :intake + "collection"'}  +74 "core"  + .tIntake.select :open + "sampler") +12 .tCS.seek 2ml +2 "collection"''T +411 "Can"`\ pO鼭; +1519 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'"  +71 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"''i +594 "core" ' +4 .tCSV.dial CSR +2 "collection"'  +96 "core"  +4 #tPulling 5ml of CSR.flush + .CSR.select :flush +4 "collection"' +10 .tCS.seek 5ml +2 "collection"'k's5 +1356 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'+' +1362 "core" ' +2 .tCSV.dial CBV + "collection"'t +110 "core" ~ +2 .tCS.seek 0ml +43 "collection"''i +2642 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&)& +4 "core" &Ӭ   E 9) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&'(ӂ +20 "core" ( +2 "manipulator"&|& +3 "core" &ӊ  ] $ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӊ   $ +3 .tForearm.seek CC + "manipulator"& '? +101 "core" ' +2 .tHand.close + "manipulator"& / +55 "core" / +2 .tCC.seek :open +2 "collection"'.( +452 "core" ( + "manipulator"&& +4 "core" &ӌ   $ +2 "manipulator"&;% +3 "core" %  J +3 .tForearm.seek :retract + "manipulator"&R' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"& (- +276 "core" ( +2 "manipulator"&(& +3 "core" &- Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &- G Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +100 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&*% +4 "core" % q  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 #tCompleted [initialPurge; da [50, 50] #da and wsr are run simultanelously] begun 13:56:36 +5 #Asleep after completing DA_WCR_011024 assays +2 ."Qmail"GoodNews.email "{1 => 4,\\n 2 => 0,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@15:45:49, 26% flow, 23.4C, 8% humidity, 15.2psia, 13.622V, 0.598A, 85.502Ah, 8.15W\\nSampled 50.0ml",Subject: "Asleep after completing DA_WCR_011024 assays" +391 #"uploadLog"upsync +6 #mEXIT @1705938451.08UTC @1705938812.44UTC = =tMAIN =mMAIN_scheduler @UTC1705938814.13 #"core_reset"Sent BREAK +2 #t@45035 sendCRC with ifg=0x20, ie=0x7F + #@46870 sendCRC with ifg=0x08, ie=0x5F + #@22274 idle with ifg=0x84, ie=0x75 + #@22948 select with ifg=0x10, ie=0xF5 #@23583 receive with ifg=0x10, ie=0xFD + #@24218 receive with ifg=0x10, ie=0xFD + #@24854 receive with ifg=0x10, ie=0xFD #@25182 receive with ifg=0x80, ie=0xFD + #@53711 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +281 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +360 "Can"b\ BQ2f; + b\ BQ2f; #tPolling Can every 10:00 +4 #Cleanly exited at 15:47:31UTC22-Jan-24 +497 #-> ESP.ready! +153 "sampler") +2 ) +4 "core"  +2 "collection"' +2 ' +2 "core"  +3 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %l><R\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ځ D\  +2 .tSS.configure :default +3 "sampler")#.0X access 1 +3 "storage"(3% +3 "core" % |\  +2 "manipulator"&4% +4 "core" %  R  +2 "manipulator"&5& +3 "core" &-  Z +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(6(<- +1296 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (7& +3 "core" &<* U\ +4654 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%8& +3 "core" &O\ +2 .tHand.open + "manipulator"&91 +22 "core" 1 +2 "manipulator"&:& +3 "core" &-  Z +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&;(- +4 "core" ( + "manipulator"&<& +4 "core" &-   Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &-  Z +2 .tForearm.seek :garage +2 "manipulator"&>'w +91 "core" ' +2 .tHand.close + "manipulator"&?/ +56 "core" / +2 "manipulator"&@& +4 "core" &-   Z +2 "manipulator"&A% +3 "core" % π . +3 .tForearm.seek :retract + "manipulator"&B' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&C( +120 "core" ( + "manipulator"&D& +4 "core" &  3 N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" & G N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +104 "core" ' +2 "manipulator"&G& +4 "core" & N +2 "manipulator"&H% +3 "core" % k +2 "processing"%I& +4 "core" &P\ +3 "processing"%J& +5 "core" &6\ +2 .tPC.seek :closed +2 "processing"%K(^ +4 "core" &M\  +9 &2{P\ )w +9 &dF\ > +9 &opH\ N +10 &2TM\ M +9 &UI\ M +9 &TF\ M +10 &xVN\ M +9 &:VM\ M +10 &WJ\ M +9 &SE\ M +9 & WE\ M +10 &"BWM\ M +9 &$WQ\ M +9 &%WF\ M +10 &'UO\ M +9 &)JWI\ M +10 &+ WE\ M +9 &,YC\ M +9 &.VH\ M +10 &0RWH\ M +9 &2VH\ M +9 &3ZI\ M +10 &5YF\ N +9 &7ZWE\ M +10 &9YG\ M +9 &:Y:\ M +9 &<UD\ M +10 &>b\\G\ M +9 &@#WF\ N +9 &AbN\ N +10 &CmM\ O +9 &EauK\ P +10 &GK\ S +9 &HL\ S +9 &JI\ S +10 &LaG\ S +9 &N!G\ T +9 &OG\ T +10 &QF\ U +9 &SeE\ T +10 &U'@\ T +9 &VA\ T +9 &XD\ T +10 &ZkG\ U +9 &\\.D\ U +9 &]{w?\ = +10 &^&kE\ [ +9 &^+F\ 5 +2 ( +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + "processing"%L& +3 "core" &^%@\ 5 +2 .tHand.open +2 "manipulator"&M1 +56 "core" 1 +3 "manipulator"&N% +3 "core" %   \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +92 "core" ' +358 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&P& +3 "core" & N +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&Q( +23 "core" ( +2 "manipulator"&R& +3 "core" &  C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" & Y +3 .tForearm.seek PC + "manipulator"&T' +92 "core" ' + .tHand.close +2 "manipulator"&U/ +57 "core" / +2 .tPC.seek :open +2 "processing"%V( +495 "core" ( +9 "manipulator"&W& +4 "core" & * +2 "manipulator"&X% +3 "core" %  # +3 .tForearm.seek :retract + "manipulator"&Y' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&Z(- +123 "core" ( + "manipulator"&[& +4 "core" &- = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &- E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&]'w +90 "core" ' + .tHand.open +2 "manipulator"&^1 +62 "core" 1 +2 "manipulator"&_% +4 "core" % ρ  K 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +95 "core" ' +48771 "Can"d\ ES-1 +60001 h\ EVN^-E +60001 h\ DX-2 +37322 #t-> exit +7 #mEXIT @1705940993.15UTC @1706017694.19UTC = =mMAIN_scheduler =tMAIN @UTC1706017695.89 #"core_reset"Sent BREAK +3 #t@43391 sendCRC with ifg=0x20, ie=0x7F + #@45226 sendCRC with ifg=0x08, ie=0x5F + #@5057 idle with ifg=0x84, ie=0x75 #@5731 select with ifg=0x10, ie=0xF5 + #@6366 receive with ifg=0x10, ie=0xFD #@7001 receive with ifg=0x10, ie=0xFD + #@7636 receive with ifg=0x10, ie=0xFD + #@7963 receive with ifg=0x80, ie=0xFD #@33136 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +284 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +367 "Can"\ G7:p; + \ G7:p; #tPolling Can every 10:00 +3 #Cleanly exited at 16:29:53UTC22-Jan-24 +569 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %l\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +4 "core" %ځ j\  +2 .tSS.configure :default +2 "sampler")#.0X Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%3& +3 "core" &\ +2 .tHand.open + "manipulator"&41 +23 "core" 1 +2 "manipulator"&5& +3 "core" &-  c +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&6(- +58 "core" ( + "manipulator"&7& +4 "core" &-   8 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &-  \ +2 .tForearm.seek :garage +2 "manipulator"&9'w +98 "core" ' +2 .tHand.close + "manipulator"&:/ +58 "core" / +2 "manipulator"&;& +3 "core" &- \   \ +2 "manipulator"&<% +4 "core" % χ +2 .tForearm.seek :retract +2 "manipulator"&=' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&>( +117 "core" ( +3 "manipulator"&?& +3 "core" &   $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &  ; $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +93 "core" ' + "manipulator"&B& +4 "core" &  _ # +2 "manipulator"&C% +4 "core" %  ] M +2 "processing"%D& +4 "core" &\ +2 "processing"%E& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(^ +5 "core" &\ +6 & +\ $c +10 &U|\ 7 +9 &y\ K +10 &U\ M +9 &_Z\ M +9 &!V\ M +10 &Z\ M +9 &W\ M +9 &gZ\ M +10 &(X\ N +9 &X\ M +10 &!T\ M +9 &#oY\ M +9 &%2U\ M +10 &&Y\ M +9 &(W\ M +9 &*wZ\ M +10 &,9Z\ M +9 &-W\ M +10 &/Z\ N +9 &1~Z\ N +9 &3AZ\ M +10 &5V\ M +9 &6]\ M +9 &8\\\ M +10 &:IW\ M +9 &< W\ M +10 &=W\ M +9 &?Z\ M +9 &AP]\ N +10 &Cn\ O +9 &Dr\ P +10 &F\ R +9 &HH\ S +9 &J \ S +10 &K\ T +9 &M\ T +9 &OM\ T +10 &Q \ U +9 &R\ U +9 &T\ U +10 &VS\ U +9 &X\ U +10 &Y\ U +9 &[\ U +9 &]Z\ C +10 &^M|\ J +9 &^"\ U +9 &^\ 0 +3 ( +2 "processing"%E& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 "processing"%G& +3 "core" &^\ 0 +2 .tHand.open + "manipulator"&H1 +52 "core" 1 +2 "manipulator"&I% +4 "core" %  " M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +98 "core" ' +612 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&K& +3 "core" &   # +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&M& +4 "core" & \  D # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &  7 # +2 .tForearm.seek PC +2 "manipulator"&O' +94 "core" ' +2 .tHand.close + "manipulator"&P/ +64 "core" / +2 .tPC.seek :open +2 "processing"%Q( +456 "core" ( + "manipulator"&R& +5 "core" & # + "manipulator"&S% +5 "core" %  >  +2 .tForearm.seek :retract +2 "manipulator"&T' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&U(- +127 "core" ( + "manipulator"&V& +4 "core" &-  ) +36 .tElbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +2 &W& +3 "core" &- Z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&X'w +100 "core" ' +2 .tHand.open +2 "manipulator"&Y1 +52 "core" 1 +2 "manipulator"&Z% +4 "core" % ρ  : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +95 "core" ' +914 #t-> access 2 +3 "storage"(\\% +3 "core" %\ \  #\  +2 "manipulator"&]% +3 "core" %   0  +2 "manipulator"&^& +4 "core" &-   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(_(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &K\ \  j\ \ +47332 #t-> exit +6 #mEXIT @1706018242.16UTC @1706018274.09UTC = =tMAIN =mMAIN_scheduler @UTC1706018275.81 #"core_reset"Sent BREAK +2 #t@30002 receive with ifg=0x10, ie=0xFD + #@30638 receive with ifg=0x10, ie=0xFD + #@31294 receive with ifg=0x10, ie=0xFD + #@31929 receive with ifg=0x10, ie=0xFD #@32563 receive with ifg=0x10, ie=0xFD + #@33198 receive with ifg=0x10, ie=0xFD + #@33832 receive with ifg=0x10, ie=0xFD #@34158 receive with ifg=0x80, ie=0xFD + #@62804 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +267 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +363 "Can" G=7\\; +  G=7\\; + #tPolling Can every 10:00 +2 #Cleanly exited at 13:57:22UTC23-Jan-24 +5 #Loading /home/esp/esp2local/mission/DA_WCR_011024.rb mission +6 #Preparing to sleep until + 00:00:05 +3 ."Qmail"GoodNews.email "Starting DA_WCR_011024 w/pucks in tube 2\\n{3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:58:02, 26% flow, 22.3C, 13% humidity, 15.1psia, 13.739V, 0.351A, 92.393Ah, 4.82W",Subject: "DA_WCR_011024 begun" +5 #tAsleep til + 00:00:05 +2 #Continuing at 13:58 +2 "Can"\ K>7m< +26 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown +242 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [50, 50] #da and wsr are run simultanelously\\n/home/esp/esp2local/mission/DA_WCR_011024.rb:14\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:58:02, 26% flow, 22.3C, 13% humidity, 15.1psia, 13.734V, 0.375A, 92.393Ah, 5.15W",Subject: "Asleep until 13:58" +135 #"uploadLog"upsync +76 "Can" @7̡F +4 #tPowering core bus +179 #"uploadLog"upsync +339 .tGate.power :raw,:ON + "sampler") +53 ) +3 "core"  +2 "collection"' +3 ' +35 "core"  +6 "processing"% +2 % +4 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:58:50, 26% flow, 22.4C, 13% humidity, 15.1psia, 13.666V, 0.321A, 92.398Ah, 4.38W",Subject: "Started DA_WCR_011024 phase initialPurge; da [50, 50] #da and wsr are run simultanelously" +3 #tStarting initialPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &\  +2 .tHand.open +2 "manipulator"&"1 +60 "core" 1 +2 "manipulator"&#& +3 "core" &  +2 "manipulator"&$% +4 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +3 "manipulator"&%(- +178 "core" ( +5 "manipulator"&&& +8 "core" &- L 4 +6 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &'& +3 "core" &- 4 +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('w +85 #"uploadLog"upsync +18 "core" ' +2 .tHand.close + "manipulator"&)/ +55 "core" / + "manipulator"&*& +4 "core" &-  o 4 +2 "manipulator"&+% +4 "core" % w p a +3 .tForearm.seek :retract + "manipulator"&,' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +287 "core" ( +2 "manipulator"&.& +3 "core" &Ӓ" ;5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &Ӓ# ;5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'? +103 "core" ' +2 "manipulator"&1& +3 "core" &Ӓ#   ;5 +2 "manipulator"&2% +4 "core" %? _ +3 "collection"'3& +3 "core" &\  +3 "collection"'4& +6 "core" &\  +2 .tCC.seek :closed + "collection"'5(\\ +5 "core" &\  +9 &6|\ +{ +9 &g~\ ? +10 &bl\ M +9 &&T\ L +9 &U\ L +10 &T\ L +9 &lU\ L +10 &.U\ L +9 &U\ L +9 &T\ L +10 & tU\ L +9 &"6T\ L +9 &#U\ L +10 &%T\ L +9 &'|T\ L +9 &)>U\ L +10 &+T\ L +9 &,T\ L +10 &.T\ L +9 &0GT\ L +9 &2 U\ L +10 &3U\ L +9 &5U\ L +9 &7OV\ L +10 &9U\ L +9 &:U\ L +10 &<W\ L +9 &>UW\ L +9 &@U\ L +10 &AW\ M +9 &Cb\ M +9 &ETr\ O +10 &G \ S +9 &H\ W +10 &J\ X +9 &LB\ X +9 &N\ Y +10 &O\ Y +9 &Q\ Z +9 &SD\ Z +10 &U\ [ +9 &V\ \\ +10 &X\ \\ +9 &ZB\ ^ +9 &[y\ E +10 &\\"\ / +9 &\\\ _ +2 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.37 +2 "collection"'6& +3 "core" &\\\ _ +2 .tHand.open + "manipulator"&71 +63 "core" 1 +2 "manipulator"&8% +3 "core" % ? # ! + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +95 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &\\\ _ +2 "collection"';% +4 "core" %j\ +2 .tCSV.dial CSR +2 "collection"'<  +125 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 5ml +2 "collection"'='s5 +1376 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +50 '>% +3 "core" %s3\ +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?' +676 "core" ' +2 .tCSV.dial :waste + "collection"'@ +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A'i +1992 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &\\\ _ +2 "collection"'C% +3 "core" %n\ +2 .tCSV.dial :flush +2 "collection"'D  +40 "core"  +3 .tCS.reconfigure :fast + "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'E' +2454 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'F + 'G  +5 "core"  +64  +2 .tCTV.dial :intake + "collection"'H  +76 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I'i +2372 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'J  +74 "core"  +2 #tFlushing upper manifold + "collection"'K& +4 "core" &\\\ _ +2 "collection"'L% +3 "core" %c\ +2 .tCSV.dial :flush +2 "collection"'M  +70 "core"  +2 .tCS.seek 5ml +2 "collection"'N's5 +1269 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +40 "core" B + "collection"'P% +4 "core" %s2\  +3 .tCS.seek 7ml + "collection"'Q' +558 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'R +2 'S  +5 "core"  +93  +2 .tCTV.dial :air + "collection"'T  +5 "core" +2 .tCS.seek 0ml +2 "collection"'U'i +1657 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml +2 "collection"'V'3J +803 "core" ' +2 .tCSV.dial :waste + "collection"'W +42 "core" +3 .tCS.seek 0ml + "collection"'X'i +785 "core" ' +2 "collection"'Y& +3 "core" &\\\ _ +3 "collection"'Z% +3 "core" %h\  +2 .tCSV.dial :flush + "collection"'[  +41 "core"  +2 .tCS.seek 3ml +2 "collection"'\\'3J +820 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'] @ +40 "core" A +2 "collection"'^% +3 "core" %3M\ +3 .tCS.seek 5ml + "collection"'_'s8 +564 "core" ' +2 .tCSV.dial :air + "collection"'` @ +5 "core" A +2 .tCS.seek 0ml +2 "collection"'a'i +1216 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'b'3J +801 "core" ' + .tCSV.dial :waste +2 "collection"'c +70 "core" +2 .tCS.seek 0ml +2 "collection"'d'i +773 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +3 "core" &Ӧ  l 8! +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +18 "core" ( + "manipulator"&g& +4 "core" &Ӊ & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &Ӊ & +3 .tForearm.seek CC +2 "manipulator"&i'? +101 "core" ' +2 .tHand.close + "manipulator"&j/ +64 "core" / +2 .tCC.seek :open +2 "collection"'k( +451 "core" ( + "manipulator"&l& +4 "core" &ӊ % & +35 "manipulator"&m% +10 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&n' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&o(- +279 "core" ( +2 "manipulator"&p& +3 "core" &-  t D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &- , D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +99 "core" ' +2 .tHand.open + "manipulator"&s1 +55 "core" 1 +2 "manipulator"&t% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +97 "core" ' +2 #tda sampling at most 50ml, wcr at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 14:03:08UTC23-Jan-24\\n{1 => 0,\\n 2 => 4,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:58:50, 26% flow, 22.4C, 13% humidity, 15.1psia, 13.666V, 0.321A, 92.398Ah, 4.38W",Subject: "da sampling at most 50ml, wcr at most 50ml" +2 "collection"'v& +4 "core" &\ +2 "manipulator"&w% +5 "core" %  %  +2 "storage"(x% +4 "core" % p h \ % +2 "storage"(y. +3 "core" .(,v +2 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(z(  +366 #"uploadLog"upsync +302 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &  V M v\ +2 "manipulator"&|& +4 "core" &- D +3 "manipulator"&}% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&~( +188 "core" ( +2 "manipulator"&& +4 "core" &  2  +2 "storage"(& +4 "core" &  s t \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +94 "core" ' +2 "storage"(& +4 "core" &  g g ;\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +284 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & K Z X\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&\ & +3 "core" &  ! | +2 "storage"( & +4 "core" & K N P\  +3 .tForearm.seek 2 + 300 counts + "manipulator"& 'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +6 "core" & 3 | +3 "manipulator"&% +4 "core" % ϲ +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +137 "core" ' +7 ."downElevator"SE.stop + "storage"(5 +14 "core" ( +2 "manipulator"&& +3 "core" &Ӥ  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӥ  7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' +2 "manipulator"&& +4 "core" &Ӥ a 7 +2 "manipulator"& % +5 "core" %? b +2 "collection"'& +3 "core" &\ +3 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'!(\\ +4 "core" &\ +8 &4\ $e +9 &Xy\ 7 +10 &v\ J +9 &S\ J +9 &xS\ K +10 &;T\ J +9 &W\ J +9 &Y\ K +10 &W\ K +9 &CT\ J +9 & U\ J +10 &!Y\ J +9 &#X\ K +10 &%JV\ K +9 &' T\ J +9 &(T\ K +10 &*W\ K +9 &,TT\ J +9 &.Z\ K +10 &/W\ K +9 &1X\ K +10 &3[S\ J +9 &5W\ J +9 &6T\ K +10 &8U\ J +9 &:bW\ J +9 &<$W\ K +10 &=X\ K +9 &?U\ K +10 &AjV\ K +9 &C,Z\ K +9 &De\ L +10 &Fq\ N +9 &H`\ Q +9 &J\ U +10 &K\ W +9 &M\ X +10 &OS\ X +9 &Q\ X +9 &R\ Y +10 &T\ Z +9 &VS\ [ +9 &X\ [\ +11 &Y\ \\ +8 &[\ H +10 &\\9\ , +9 &\\\ Y +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&"1 +60 "core" 1 + "manipulator"&#% +4 "core" % H  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +98 "core" ' + #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")&+ +2 "core" + +2 "sampler")'% +4 "core" %چ j\ : +2 "collection"'& +3 "core" &\\\ Y +4 "Can"\ W8e6 +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 "sampler")) +15 "core" +2 .tSS.reconfigure :fast +2 "sampler")#.0X +24  +2 .tdelay 3.8 seconds +382 "collection"'(% +3 "core" %c\ +2 "sampler").% +4 "core" %/ f\  +2 #tSensor limits: Intake max 115.5psia; Outlet max 111.0psia + .SSV.dial :spit + "sampler")% +127 "core"  +2 .tSS.seek 0ml +2 "sampler")/'ڀ +265 "core" ' + .tSSV.dial CBV +2 "sampler")1  +128 "core" +2 .tCTV.dial :intake +2 "collection"'2  +74 "core"  +2 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")3  + "collection"', @ +7 "core" +2 ? +2 #tAllowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open + "sampler") +211 "collection"' % +3 "core" %c\ +2 #tIntake @15.6psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 2.20ml/s + "sampler")#.0X% +4 "core" %Q [\  +28 "collection"'=% +3 "core" %c\ +2 "sampler")@% +4 "core" %Q k\  +37 .tIntake.select :close +8 "sampler")0 +10 )?% +3 "core" %Q  h\  +2 .tSSV.dial :exhaust +2 "sampler")B  +71 "core"  + .tExhaust.select :open + "sampler")@ +11 .tSS.seek 0ml + "sampler")C'ڀ +398 "core" ' +2 .tExhaust.select :close + "sampler") +10 #tSampling 50.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X e\  +24 "collection"'V% +4 "core" %c\ +2 "sampler")Y% +4 "core" %;PO f\  +28 "collection"'Z% +3 "core" %c\ +2 "sampler")[% +4 "core" %;hh Z\  +31 "collection"'X% +4 "core" %c\ +2 "sampler")]% +3 "core" %; Y\  +36 "collection"'^% +4 "core" %c\ +2 "sampler")\\% +3 "core" % a\ 5 +42 "collection"'`% +76 "core" %c\ + "sampler")_% +4 "core" %%" e\ 5 +2 .tIntake.select :close + "sampler")0 +9 )a% +3 "core" %$# i\ 5 +2 .tSSV.dial :exhaust + "sampler")c  +73 "core"  + .tExhaust.select :open + "sampler")@ +11 .tSS.seek 0ml + "sampler")b'ڀ +876 "core" ' +2 .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 .tCBV.dial SSV +3 "sampler")e  + "collection"'g @ +5 "core" ? +65 +2 #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'h% +3 "core" %c5\ +2 #tIntake @16.0psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 1.76ml/s +2 "sampler")#.x0X& +3 "core" &\\\ Y +3 ."airStroke"CSV.dial :waste +2 "sampler")=% +2 "collection"'@ +7 "core" %ڜ e\ +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler")?  +58 "core" +2 ."airStroke"CS.seek 0ml + "collection"'B'i +3 "core" ' +2 ."airStroke"CSV.dial :air +2 "collection"'6 @ +61 "core"  +2 .tCTV.dial :air + "collection"'7  +6 "core" B + +2 .tdelay 15 seconds +2 ."airStroke"CS.seek 10ml +2 "collection"'A' +1499 .tSSV.dial :spit,avoiding: :exhaust + "sampler")G +129 "core"  +3 ."prepCSV"CTV.dial CSV,avoiding: :intake +2 .tSS.reconfigure :exhale +3 "collection"'F  +2 "sampler")#.0X +463 "collection"'U% +3 "core" % \  +2 "sampler")W% +4 "core" %L\ \  e\  +2 #tEvacuated: Intake @23.8psia, Outlet @23.4psia + .SSV.dial :spit,avoiding: :exhaust +2 "sampler")V +98 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0XvL +103 "collection"'9 +2 "core" 9g{H +103 "collection"'k9 +3 "core" 9D +103 "collection"'9 +2 "core" 9A +103 "collection"'"9 +3 "core" 9= +102 "collection"'#9 +3 "core" 9: +102 "collection"''9 +3 "core" 9+7 +102 "collection"'9 +3 "core" 9Q5 +103 "collection"'9 +3 "core" 9u1 +102 "collection"' 9 +3 "core" 9/ +102 "collection"'9 +3 "core" 9- +102 "collection"'9 +3 "core" 9* +103 "collection"'&9 +2 "core" 9( +103 "collection"'9 +3 "core" 9& +102 "collection"'+9 +3 "core" 9<$ +103 "collection"'(9 +2 "core" 9Y# +103 "collection"'.9 +3 "core" 9t +102 "collection"'9 +3 "core" 9 +103 "collection"'29 +3 "core" 9 +102 "collection"'%9 +3 "core" 9 +102 "collection"'19 +3 "core" 9 +103 "collection"'39 +2 "core" 9 +103 "collection"',9 +3 "core" 9  +103 "collection"'/9 +2 "core" 9  +103 "collection"'*9 +3 "core" 9 * +102 "collection"':9 +3 "core" 9 < +102 "collection"')9 +3 "core" 9 M +102 "collection"' 9 +3 "core" 9 ] +103 "collection"';9 +3 "core" 9 m +102 "collection"'89 +3 "core" 9 { +140 "collection"'<9 +10 "core" 9  +102 "collection"'09 +3 "core" 9  +103 "collection"'49 +2 "core" 9  +103 "collection"'>9 +3 "core" 9  +102 "collection"'=9 +3 "core" 9  +103 "collection"'@9 +2 "core" 9   +103 "collection"'?9 +3 "core" 9  +102 "collection"'69 +4 "core" 9  +102 "collection"'79 +3 "core" 9  +102 "collection"'9 +3 "core" 9  +103 "collection"'B9 +2 "core" 9 ! +103 "collection"'G9 +3 "core" 9 % +103 "collection"'F9 +2 "core" 9 ) +103 "collection"'H9 +3 "core" 9\ - +102 "collection"'C9 +3 "core" 9\ 2 +102 "collection"'J9 +3 "core" 9\ 6 +103 "collection"'D9 +2 "core" 9\ : +103 "collection"'M9 +3 "core" 9\ > +103 "collection"'A9 +3 "core" 9\ B +102 "collection"'O9 +3 "core" 9\ G +103 "collection"'K9 +2 "core" 9\ #K +103 "collection"'I9 +3 "core" 9\ %O +102 "collection"'S9 +3 "core" 9\ *S +103 "collection"'R9 +3 "core" 9\ -X +102 "collection"'T9 +3 "core" 9\ 0\\ +103 "collection"'E9 +2 "core" 9\ 5` +103 "collection"'U9 +3 "core" 9\ 8d +102 "collection"'W9 +3 "core" 9\ ;h +103 "collection"'V9 +3 "core" 9\ ?m +102 "collection"'Q9 +3 "core" 9\ Cq +103 "collection"'X9 +2 "core" 9\ Fu +103 "collection"'Y9 +3 "core" 9\ Hy +102 "collection"'[9 +3 "core" 9\ J~ +102 "collection"']9 +3 "core" 9\ N +103 "collection"'^9 +2 "core" 9\ Q +103 "collection"'P9 +3 "core" 9\ T +102 "collection"'Z9 +3 "core" 9\ W +103 "collection"'_9 +3 "core" 9\ Z +102 "collection"'L9 +3 "core" 9\ ^ +102 "collection"'\\9 +3 "core" 9\ ` +103 "collection"'`9 +2 "core" 9\ c +103 "collection"'a9 +2 "core" 9\ g +103 "collection"'N9 +3 "core" 9\ i +103 "collection"'g9 +3 "core" 9\ l +102 "collection"'c9 +3 "core" 9\ o +103 "collection"'h9 +2 "core" 9\ r +103 "collection"'b9 +3 "core" 9\ t +102 "collection"'e9 +3 "core" 9\ v +103 "collection"'99 +3 "core" 9\ z +102 "collection"'59 +3 "core" 9\ { +103 "collection"'m9 +2 "core" 9\ ~ +4 .tCH.hold 10:00,70C +2 "collection"'l `\ `\ {  +2 'p9 +7 "core"  + 9\  +2 "collection"'i% +3 "core" %Y\ n\ o\ +2 #tBegun lysing Collection Puck Heater at 68.1C/32.5psia +37208 "Can"\ ,8< +22781 "core" ` + "collection"'j9 +3 "core" 9\  +3 "collection"'q% +3 "core" %Y\ T\ T\ +2 #tEnded lysing Collection Puck Heater at 70C/31.2psia +2 .CS.seek 0ml + "collection"'t'i +338 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'- @ +136 "core" A +10 .tCSV.dial :air +2 "collection"'w @ +40 "core" ? +2 .tCS.seek 5ml +2 "collection"'v's5 +1357 "core" ' + .tCSV.dial CTV +2 "collection"'y  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'n @ +42 "core" > +2 .tdelay 2 seconds +201 .CSV.dial CTV +2 "collection"'  +42 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'{ @ +42 "core" ? + .tdelay 2 seconds +203 .CS.seek 0ml + "collection"'|'i +1359 "core" ' + "collection"'}% +4 "core" %j "  \ +2 #tPuck @65.2psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"' +96 "core" +2 .tCBV.dial CSV + "collection"'  +28 "core"  +2 "collection"'o% +4 "core" %j \ +2 .tCS.seek 5ml +2 "collection"''s6 +1356 "core" ' +2 .tdelay 5 seconds +501 .CTV.dial :air +3 "collection"'u  +41 "core" + "collection"'f% +5 "core" %s=zy\  +2 .tCS.seek 7.001ml +2 "collection"''( +608 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"' @ +40 "core" ? +2 .tCS.seek 10ml + "collection"'' +851 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +111 "core" _ +2 #tLysing Complete + "collection"'\ & +3 "core" &\\\ Y +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"& % +4 "core" %    +2 "storage"( % +4 "core" % w v p\  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(s(C +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +2 "manipulator"&& +5 "core" &E X T 7\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &Ӥ  A 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek CC +2 "storage"('r +2 "manipulator"&(ӂ +21 "core" ( + "manipulator"&& +4 "core" &ӈ   8 "~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӈ  "~ +2 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' + .tHand.close + "manipulator"&d/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +74 "core" ' +2 "storage"(- +2 "core" -'r +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +43 "core" ' +317 ( +2 "storage"(k& +3 "core" &D D\ +2 "storage"(& +4 "core" &D {\ +2 "manipulator"&"& +4 "core" &ӊ  Z "| +2 "manipulator"&#% +3 "core" % "  +3 .tForearm.seek :retract + "manipulator"&'' +102 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&( +156 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"( & +4 "core" &D \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +45 "manipulator"&'8 +97 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&&1 +57 "core" 1 +3 "manipulator"&% +4 "core" % A  +2 "storage"(+& +4 "core" &D "\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 309 counts +2 "manipulator"&('m +14 "core" ' + "manipulator"&.& +4 "core" & X  +2 "storage"(& +4 "core" &D 9\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&2' +16 "core" ' + "storage"(%% +4 "core" %4 z\ +3 ."downElevator"SE.seek :down +3 "storage"(1' +99 (3% +3 "core" %F |\ U^ +2 "manipulator"&,% +4 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 #tTranferring DA + #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'*& +3 "core" &  +3 "manipulator"&:& +3 "core" & `  +3 "manipulator"&)% +3 "core" %   +3 .tElbow.seek FlushPuck::Garage + "manipulator"& (- +171 "core" ( + "manipulator"&;& +4 "core" &-   : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &- j : +2 .tForearm.seek :garage +2 "manipulator"&<'w +100 "core" ' +2 .tHand.close + "manipulator"&0/ +54 "core" / +2 "manipulator"&4& +4 "core" &-    : +2 "manipulator"&>% +4 "core" % } \ V b +2 .tForearm.seek :retract +2 "manipulator"&=' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&@(ӂ +287 "core" ( +2 "manipulator"&?& +3 "core" &ӗ!   ;3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &ӗ! \ * ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&7'? +92 "core" ' +2 "manipulator"&& +4 "core" &Ә"  D ;2 +2 "manipulator"&B% +3 "core" %E  E U +3 "collection"'G& +3 "core" &  +3 "collection"'F& +5 "core" &  +2 .tCC.seek :closed + "collection"'H(\\ +4 "core" &g  +9 &<[\ %f +9 &[}0\ 7 +10 & y\ J +9 &Wi\ I +9 &X\ I +10 &QY\ I +9 &X\ I +9 &Y\ I +10 &Yy\ I +9 &YXS\ I +10 & Wb\ I +9 &!Ym\ I +9 &#Yd\ J +10 &%aZI\ I +9 &'"Y7\ J +9 &([\ J +10 &*[z\ J +9 &,hZ]\ J +10 &.*[\ J +9 &/[\ J +9 &1[\ J +10 &3p[\ J +9 &52\\\ J +9 &6\\\ J +10 &8W\ J +9 &:yX|\ I +10 &<:Yb\ J +9 &=]V\ J +9 &?ZF\ I +10 &A[\ J +9 &C?`\ K +9 &Dq\ M +10 &F>\ Q +9 &Hf>\ V +10 &J&(\ V +9 &Ku\ V +9 &Mz\ W +10 &Ojk\ W +9 &Q*e\ X +9 &RZ\ X +10 &T\ Z +9 &Vj\ Z +10 &X*\ Z +50 &Y\ \\ +2 &[\ H + &\\/\ 9 + &\\~\ T + ( + &\\z\ T + &\\z\ T +2 "collection"'F& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 +2 "collection"'C& +3 "core" &\\yv\ T +2 .tHand.open + "manipulator"&J1 +55 "core" 1 +2 "manipulator"&D% +3 "core" % E  U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M' +91 "core" ' + .tPSV.dial PSR +2 "processing"%A +128 "core"  +2 "processing"%O% +4 "core" %غU\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%K'+ +1610 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%I  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%S'ؾ +1616 "core" ' +2 .tPSV.dial PSR + "processing"%R +44 "core"  +2 .tPSR.select :air + "processing"% +11 .tPS.seek 2.5ml + "processing"%T' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 "processing"%E +2 .tCBV.dial PRV +5 "collection"'U  +2 "core" B +2 "processing"%W +4 "core" B +2 "processing"%V  +62 "core" +92  +2 .tPSV.dial :mixloop + "processing"%Q +111 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'X  +4 "core" +2 .tPTV.dial :PRVmixing + "processing"%Y  +127 "core" +2 .tPS.seek 0ml + "processing"%['ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%]  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%^' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%P +44 "core" +2 .tPS.seek 0ml + "processing"%Z'ؾ +2637 "core" ' +2 .tPSV.dial :air + "processing"%_  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%L' +2632 "core" ' + .tPSV.dial :mixloop +2 "processing"%\\ +42 "core" +2 .tPS.seek 0ml +2 "processing"%`'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&a& +4 "core" &Ӥ 9& +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&N(ӂ +24 "core" ( + "manipulator"&g& +4 "core" &Ӆ  j e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" &Ӆ   e +3 .tForearm.seek CC + "manipulator"&h'? +100 "core" ' +2 .tHand.close + "manipulator"&b/ +63 "core" / +2 .tCC.seek :open +2 "collection"'e( +450 "core" ( +2 "manipulator"&9& +3 "core" &Ӈ  c +2 "manipulator"&5% +4 "core" % !  +2 .tForearm.seek :retract +2 "manipulator"&m' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&p(- +276 "core" ( +2 "manipulator"&i& +4 "core" &-  % F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +40 &r& +10 "core" &- g F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&l'w +105 "core" ' +2 .tHand.open + "manipulator"&j1 +63 "core" 1 + "manipulator"&q% +4 "core" % |  p G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x' +95 "core" ' +2 .tPSV.dial :mixloop + "processing"%- +5 "core" +2 .tPTV.dial :PRVmixing + "processing"%w  +5 "core" +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%t  +2 "collection"'y  +7 "core" +7  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'n  +5 "core" +2 #tLoading lyfil puck from tube 2 into Collection Clamp + "collection"'& +3 "core" &  +2 "manipulator"&{% +4 "core" %  v  +2 "storage"(v% +4 "core" % }\  +2 "storage"(}. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  B\ +3 "manipulator"&o& +3 "core" &- F +2 "manipulator"&|% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&u( +186 "core" ( +2 "manipulator"&f& +3 "core" &  !  +2 "storage"(& +4 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +99 "core" ' +2 "storage"(& +3 "core" &  J\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +286 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & \  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&z& +4 "core" &  !  +2 "storage"(~& +3 "core" & R\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(d' +8 "core" & y  +3 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +141 "core" ' +8 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&!& +4 "core" &ӎ"  ] <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӎ"    <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&k'? +94 "core" ' +3 "manipulator"&& +3 "core" &ӎ#   <@ +3 "manipulator"&"% +3 "core" %<   7 ( +3 "collection"'#& +3 "core" &Y  +3 "collection"'& +5 "core" &Q  +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" &  +9 &6~%\ +{ +9 &h\ > +9 &m\ K +10 &cWx\ J +9 &%\\\ J +9 &W\ I +10 &W\ J +9 &kV\ J +10 &-Y~\ J +9 &Va\ J +9 & XQ\ I +10 &"sXG\ J +9 &$4U:\ J +9 &%W \ J +10 &'Z\ J +9 &)|W\ I +10 &+=X\ J +9 &,[\ J +9 &.W\ J +10 &0X\ J +9 &2EZ\ J +9 &4V\ J +10 &5X\ J +9 &7W\ J +10 &9MY}\ J +9 &;Y\ I +9 &<Y\ J +10 &>Y\ J +9 &@UY\ J +9 &BY\ J +10 &C]\ K +9 &Ee\ L +10 &GSx\ M +9 &I\ \ Q +9 &J\ V +10 &L\ V +9 &N?\ W +9 &P\ W +10 &Ql\ W +9 &St\ W +10 &UBh\ Y +9 &Wi\ Y +9 &X[\ Z +10 &ZZ\ Z +9 &\\'zM\ . +9 &\\0L\ ^ +10 ( + &\\c6\ O +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&% +4 "core" % <  S ( +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' +2 .tCTV.dial CSV,avoiding: :intake + "collection"'  +132 "core" ~ +2 .tCSV.dial CTV + "collection"'+  +28 "core"  +3 .tPS.seek 2.5ml + "processing"%.' +986 "Can" \ K96 +1655 "core" ' +2 "collection"'% +3 "core" %\ +3 .tCS.seek 4.501ml + "collection"'%'c@ +1506 "core" ' + .tdelay 8 seconds +802 .PSV.dial :air + "processing"%'  +44 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%3  +70 "core"  +2 .tPS.seek 0ml + "processing"%,'ؾ +2631 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"' ` +30 "core" ^ +2 .tCSV.dial :air + "collection"' @ +42 "core" > +3 .tCS.seek 10ml + "collection"'(' +1489 "core" ' + .tCSV.dial CTV +2 "collection"'*  +42 "core"  +2 .tCS.seek 0ml +2 "collection"':'i +2635 "core" ' + .tCBV.dial :waste1 +2 "collection"') @ +28 "core" > +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'  +130 "core" +2 "collection"'2& +3 "core" &\\b\ O +3 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&;% +4 "core" %  x  +2 "storage"(8% +3 "core" % ] Z\  +2 "storage"(1. +4 "core" .(  +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"((C +400 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +8 "core" &F K F 9\ +2 "manipulator"&4& +4 "core" &Ӧ h 9( +2 "manipulator"&>% +8 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&/( +161 "core" ( +2 "manipulator"&<& +3 "core" &   +2 "storage"(?& +4 "core" &F } } \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"& ' +94 "core" ' +2 "storage"(6& +3 "core" &F p x \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +4 "core" & a  +2 "storage"(=& +3 "core" &F g g 9\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"& '8 +19 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(D'o +30 "core" ' + "manipulator"&F% +4 "core" %G _ +2 "storage"(A& +3 "core" &F [ Z\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 315 counts + "manipulator"&O's +13 "core" ' +2 "manipulator"&7& +4 "core" &  P  +2 "storage"(I& +4 "core" &F j ] k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&K' +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(R' +36 "core" ' +2 "manipulator"&S& +3 "core" &  +2 "manipulator"&E% +4 "core" % U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +157 "core" ( +2 "manipulator"&V& +3 "core" &Ӈ%  g ?T +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &Q& +3 "core" &ӈ% U ?S +3 .tForearm.seek CC +2 "manipulator"&X'? +93 "core" ' + .tHand.close + "manipulator"&Y/ +60 "core" / +2 .tCC.seek :open +2 "collection"'T( +447 "core" ( +2 "storage"(]& +3 "core" &F \ +2 "storage"([& +4 "core" &F u\ +2 "manipulator"&P& +4 "core" &ӯ  :, +39 "manipulator"&^% +11 "core" % I J +2 .tForearm.seek :retract + "manipulator"&_' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&Z( +161 "core" ( + "manipulator"&\\& +4 "core" &   S  +2 "storage"(L& +4 "core" &F 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&a'8 +103 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&c1 +52 "core" 1 +3 "manipulator"&b% +3 "core" % I  \  +2 "storage"(@& +4 "core" &F /\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&M'u +14 "core" ' +2 "manipulator"&H& +3 "core" & Y  +2 "storage"(9& +4 "core" &F w\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&5' +16 "core" ' +2 "storage"(h% +3 "core" % &\ +3 ."downElevator"SE.seek :down +3 "storage"(i' +100 (N% +3 "core" %B< 6\ TZ +2 "manipulator"&r% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air + "processing"%q  +73 "core" +2 .tPS.seek 2.5ml +2 "processing"%-' +2639 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%w +53 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%m  +42 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%y +44 "core" + .tdelay 1 second +102 .PSV.dial :air + "processing"%t  +55 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml + "processing"%n'ؾ +2651 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +3 "core" &j\  +3 "manipulator"&{& +3 "core" & z  +2 "manipulator"&v% +3 "core" %  k  +3 .tElbow.seek FlushPuck::Garage + "manipulator"&}(- +174 "core" ( +2 "manipulator"&l& +3 "core" &-  k 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &- v 7 +2 .tForearm.seek :garage +2 "manipulator"&'w +98 "core" ' +2 .tHand.close + "manipulator"&o/ +55 "core" / +8 "manipulator"&|& +4 "core" &-   ? 7 +2 "manipulator"&f% +4 "core" % υ  N +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&p( +118 "core" ( +2 "manipulator"&& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\ ' +90 "core" ' +2 "manipulator"& & +3 "core" &  @  +3 "manipulator"& % +3 "core" % + +3 "processing"%z& +3 "core" &\  +3 "processing"%~& +5 "core" &q\  +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &|\  +9 &6x\ *z +9 &g{\ ? +10 &`p\ M +9 &$W\ L +9 &\\\ L +10 &Y\ L +9 &j\\\ L +9 &,\\\ L +10 &\\\ M +9 &\\\ M +10 & q[\ M +9 &"4Z\ L +9 &#Z\ L +10 &%Z\ M +9 &'y\\\ M +9 &)<X\ L +10 &*]\ L +9 &,Y\ L +10 &.W\ L +9 &0DZD\ L +9 &2^>\ M +10 &3\\\ M +9 &5Y\ L +9 &7KY\ M +10 &9]3\ L +9 &:Y\ M +10 &<Y\ M +9 &>S`\ M +9 &@Z\ M +10 &Ac\ M +9 &Cr\ O +9 &EP~ \ P +10 &G\ R +9 &H\ R +10 &J\ R +9 &LR\ R +9 &N\ S +10 &O\ S +9 &Q\ T +9 &ST\ U +10 &U\ T +9 &V\ T +10 &X\ S +9 &Z\\\ T +9 &\\\ T +10 &]\ 4 +10 &^/k\ M +11 &^*\ 4 +2 ( +5 "processing"%~& +3 "core" &^*\ 4 +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + "processing"%& +4 "core" &^*\ 4 +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&u% +3 "core" %   I + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tPRV.dial :air + "processing"%!  +43 "core"  +2 .tPSV.dial :mixloop + "processing"% +42 "core" +2 "processing"%% +3 "core" %\  +3 .tPS.seek 0.3ml + "processing"%' +390 "core" ' + .tPSV.dial PSR +2 "processing"% +112 "core" +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml +2 "processing"%"'2 +490 "core" ' +2 .tdelay 3 seconds +301 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%#' +1918 "core" ' +2 .tdelay 3 seconds +301 .PSV.dial :mixloop +2 "processing"% +111 "core" + .tPTV.dial :mixing +2 "processing"%d @ +72 "core" @ + .tPBV.dial :waste2 +2 "processing"%  +90 "core"  +3 .tPS.seek 0ml + "processing"%e'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" &  \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +46 && +5 "core" &  1  +3 .tForearm.seek PC + "manipulator"&+' +97 "core" ' +2 .tHand.close + "manipulator"&k/ +64 "core" / +2 .tPC.seek :open +2 "processing"%`( +457 "core" ( +2 "manipulator"&& +3 "core" &  +2 "manipulator"&% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&'' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&3(- +129 "core" ( +2 "manipulator"&.& +4 "core" &-  D  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +104 "core" ' +2 .tHand.open + "manipulator"&%1 +63 "core" 1 +2 "manipulator"&*% +3 "core" % }  + } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +100 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%)& +4 "core" &\ +2 "manipulator"&% +4 "core" %  i  +2 "storage"(2% +3 "core" % *\  +2 "storage"(;. +3 "core" .(F +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(8(  +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" & \ +2 "manipulator"&& +4 "core" &-  +2 "manipulator"&0% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&4( +170 "core" ( + "manipulator"&>& +4 "core" &   +2 "storage"(<& +4 "core" & K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&?'S +94 "core" ' + "storage"(6& +4 "core" & `\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +295 "core" ' + "storage"(&- +4 "core" -'- + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & K\  +2 "manipulator"&G& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&J& +3 "core" &  )  +2 "storage"(F& +5 "core" & \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&A'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(S' +8 "core" & }  + "manipulator"&E% +4 "core" %  +40 .tForearm.seek :retract +8 "manipulator"& ' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&/( +107 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +133 "core" ( +2 "manipulator"&& +4 "core" & " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&O' +97 "core" ' +3 "manipulator"&D& +3 "core" &  7 +2 "manipulator"&V% +4 "core" % +3 "processing"%Q& +3 "core" &\ +3 "processing"%K& +5 "core" &\ +2 .tPC.seek :closed + "processing"%C(^ +4 "core" &\ +8 &<\ $d +9 &W{\ 7 +9 &x\ K +10 &V\ L +9 &|W\ L +9 &>W\ L +10 &Y\ M +9 &W\ L +10 &V\ L +9 &FW\ L +9 & Y\ L +10 &!Y\ M +9 &#Y\ L +9 &%NW\ L +10 &'Y\ L +9 &(U\ L +9 &*Y\ L +10 &,VY\ L +9 &.T\ L +10 &/Y\ L +9 &1X\ L +9 &3]Z\ M +10 &5!Y\ L +9 &6Z\ L +9 &8W \ L +10 &:eY\ M +9 &<(Z \ L +10 &=W\ L +9 &?Z\ M +9 &Ama \ M +10 &C+m\ \ N +9 &Ds\ O +10 &F\ Q +9 &Hf\ R +9 &J'n\ R +10 &Kt\ S +9 &M1\ S +9 &Ojt\ S +10 &Q*\ T +9 &R\ T +9 &T\ T +10 &Vq5\ S +9 &X1\ T +10 &Y\ T +9 &[\ S +9 &]v\ B +10 &^;\ #i +9 &^Q\ 8 +5 ( +2 "processing"%K& +4 "core" &^,\ 8 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&Y1 +60 "core" 1 + "manipulator"&W% +4 "core" %  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +93 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%] z +2 %[9 +6 "core" 9 +102 "processing"%P9 +3 "core" 9 +103 "processing"%^9 +2 "core" 9  +103 "processing"%\\9 +3 "core" 9  +102 "processing"%L9 +4 "core" 9 +102 "processing"%X9 +3 "core" 9 +103 "processing"%U9 +2 "core" 9 +103 "processing"%c9 +3 "core" 9 +102 "processing"%b9 +3 "core" 9" +103 "processing"%@9 +2 "core" 9& +103 "processing"%H9 +3 "core" 9+ +102 "processing"%99 +3 "core" 9/ +103 "processing"%h9 +2 "core" 93 +103 "processing"%_9 +2 "core" 97 +103 "processing"%N9 +3 "core" 9< +103 "processing"%r9 +3 "core" 9@ +102 "processing"%Z9 +3 "core" 9D +102 "processing"%a9 +3 "core" 9H +102 "processing"%M9 +3 "core" 9L +103 "processing"%R9 +3 "core" 9Q +102 "processing"%q9 +3 "core" 9U +102 "processing"%59 +3 "core" 9Y +103 "processing"%i9 +2 "core" 9] +103 "processing"%,9 +3 "core" 9a +102 "processing"%w9 +4 "core" 9f +102 "processing"%m9 +3 "core" 9j +145 "processing"%y9 +5 "core" 9!p\ +103 "processing"%t9 +3 "core" 9(t +102 "processing"%-9 +3 "core" 9.x +103 "processing"%9 +2 "core" 97} +4 .tPH.hold 2:00:00,28C +2 "processing"%{ pzp1 +3 .tdelay 1:30 +4 "core" } +9001 .tPSR.select :air + .PSV.dial PSR +2 "processing"%v +100 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%l' +591 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%s' +1611 "core" ' + .tPTV.dial :puck +2 "processing"%g  +70 "core"  +2 .tPSV.dial PTV + "processing"%o +85 "core" + .tPBV.dial :waste1 +2 "processing"%|  +127 "core"  + "processing"%f% +5 "core" %\  +2 .tPS.seek 1.5ml + "processing"%j'' +600 "core" ' +2 .tdelay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" , +3 .tPS.seek 0ml + "processing"%x'ؾ +1618 "core" ' +2 .tdelay 5:00 +9668 "Can"\ G:$< +20335 #trecoverPSRreagent08 + .PTV.dial :puck + "processing"%  +5 "core"  +2 .tPBV.dial :waste1 + "processing"%  +35 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * + .tPSR.select :air +2 .PSV.dial PSR + "processing"%z +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%}' +2365 "core" ' + .tPSV.dial PTV +2 "processing"% +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"% +72 "core" +2 .tdelay 5 seconds +501 .PSV.dial :air +2 "processing"%  +72 "core"  +2 .tPS.seek 0ml + "processing"%u'ؾ +2327 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%~  +126 "core" +2 .tPSV.dial :mixloop + "processing"%! +44 "core" +2 .tPRV.dial :ab1 + "processing"% @ +70 "core" A +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +385 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "collection"'\  +2 "processing"%n  +42 "core" +2  +2 "processing"%% +4 "core" %~\  +2 .tPS.seek 0.34ml +2 "processing"%' +433 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'"  +29 "core" + .tPRV.dial :air +2 "processing"%  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%d'K +1190 "core" ' +38 .tPRV.dial :waste2 +8 "processing"% @ +69 "core" > +3 .tPS.seek 0.5ml + "processing"%#' +862 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%' +1608 "core" ' + .tPSV.dial :PML +2 "processing"% +43 "core" +2 .tPTV.dial :mixing +2 "processing"%k @ +71 "core" A +2 .tPBV.dial :waste1 +2 "processing"%p  +34 "core" +2 "processing"%% +3 "core" %\  +3 .tPS.seek 1.85ml + "processing"%' +241 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * +2 .tPS.seek 0ml +2 "processing"%'ؾ +1969 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'.& +3 "core" &\ +2 "manipulator"&& +4 "core" & +2 "manipulator"&+% +4 "core" %   +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +128 "core" ( +2 "manipulator"&%& +3 "core" &-   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &-  , +3 .tForearm.seek :garage + "manipulator"&)'w +98 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / +2 "manipulator"&2& +3 "core" &- ! & / +2 "manipulator"&'% +4 "core" % ψ    +3 .tForearm.seek :retract + "manipulator"&;' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +287 "core" ( +2 "manipulator"&& +3 "core" &ӎ  ! ? 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &ӎ  2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' +3 "manipulator"&0& +4 "core" &ӎ ! & ^ 2 +2 "manipulator"&>% +4 "core" %B  * Q +2 "collection"'<& +4 "core" &\ +3 "collection"'6& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'3(\\ +4 "core" &\ +7 &>\ %g +10 &X{\ 8 +9 &u\ L +9 &Q\ L +10 &R\ L +9 &DS\ L +10 &S\ L +9 &R\ L +9 &V\ L +10 &LS\ L +9 & S\ L +9 &!T\ L +10 &#V\ L +9 &%TR\ L +10 &'R\ L +9 &(R\ L +9 &*U\ L +10 &,]S\ L +9 &.S\ L +10 &/W\ L +9 &1R\ L +9 &3dR\ L +10 &5&S\ L +9 &6R\ L +9 &8S\ L +10 &:kT\ L +9 &<,TG\ M +9 &=T\ L +10 &?T\ L +9 &AtW\ L +10 &C3Z\ M +9 &Dh\ N +9 &F\ R +10 &H]\ W +9 &J\ W +9 &K\ X +10 &M\ Y +9 &O_\ Y +10 &Q A\ Y +9 &R\ Z +9 &T\ [ +10 &V`\ [\ +9 &X \ \\ +10 &Y\ ] +9 &[\ I +9 &\\;\ + +10 &\\\ _ +2 ( +2 "collection"'6& +48 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.38 +2 "collection"'(& +3 "core" &\\\ _ +2 .tHand.open +2 "manipulator"&&1 +59 "core" 1 +2 "manipulator"&B% +3 "core" % B * + . Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +92 "core" ' +2 .tPSV.dial PSR + "processing"%J +114 "core" +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%F'+ +1619 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%7  +44 "core"  +2 .tPS.seek 0ml + "processing"%I'ؾ +1615 "core" ' +2 .tPSV.dial PSR + "processing"%E +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%4' +2641 "core" ' +3 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV + "processing"%?  +2 "collection"'$  +31 "core" +123  +2 .tPSV.dial :mixloop + "processing"%A +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +14 "core" +2 .tPTV.dial :PRVmixing + "processing"%  +71 "core" +2 .tPS.seek 0ml +2 "processing"%='ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%D  +44 "core"  +3 .tPS.seek 2.5ml + "processing"%V' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%Q +44 "core" +2 .tPS.seek 0ml + "processing"%S'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%`' +2627 "core" ' +2 .tPSV.dial :mixloop + "processing"%Y +44 "core" +2 .tPS.seek 0ml +2 "processing"%W'ؾ +2640 "core" ' + "Can"\ b:5 +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&[& +4 "core" &ӗ ( \ 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&K(ӂ +22 "core" ( +2 "manipulator"&P& +3 "core" &~ " *  P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &~    P +2 .tForearm.seek CC +2 "manipulator"&^'? +92 "core" ' +2 .tHand.close + "manipulator"&\\/ +55 "core" / +2 .tCC.seek :open + "collection"'L( +450 "core" ( +2 "manipulator"&X& +3 "core" &~  o P +3 "manipulator"&U% +3 "core" % K ~ +3 .tForearm.seek :retract + "manipulator"&c' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&b(- +276 "core" ( +2 "manipulator"&@& +41 "core" &- Y > +8 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &- > +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&9'w +103 "core" ' + .tHand.open + "manipulator"&h1 +63 "core" 1 +2 "manipulator"&_% +4 "core" % }    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +2 ."da"delayUntil "14:52:25.78" +2 #"WCR"Whole Cell Archive sampling 50ml +2 #Loading wcr puck from tube 2 into Collection Clamp + "collection"'r& +4 "core" &Z\ +2 "manipulator"&Z% +4 "core" %    B  +2 "storage"(a% +5 "core" % '\  + "storage"(M. +3 "core" .( +3 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +2 "storage"(R(  +28 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" &  c\ +2 "manipulator"&5& +5 "core" &-  > + "manipulator"&i% +4 "core" %   r  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&,( +183 "core" ( +2 "manipulator"&w& +3 "core" &  _ +2 "storage"(m& +4 "core" & \  $\ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts +2 "manipulator"&y'S +95 "core" ' + "storage"(t& +4 "core" & \ \  /\ +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(-'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" & \  +2 "manipulator"&e& +4 "core" & \  ; _ +2 ."WCR"Elbow.seek 2 +2 "manipulator"&l( +4 "core" ( + "manipulator"&g& +4 "core" &   _ +2 "storage"(o& +4 "core" & 0\  +3 ."WCR"Forearm.seek 2 + 300 counts + "manipulator"&|'Ͻ +16 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&f/ +62 "core" / +3 !"WCR"o:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:389:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"2/home/esp/esp2/protocol/2G/wcr.rb:24:in `wcr'"0/home/esp/esp2/protocol/2G/DA.rb:58:in `da'";/home/esp/esp2/protocol/2G/DAprocess.rb:368:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:56:in `da'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:14"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'"4/home/esp/esp2local/mission/DA_WCR_011024.rb:10"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:207:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"(' +8 "core" &  \  _ + "manipulator"&j% +4 "core" %   +3 ."WCR"Forearm.seek :retract + "manipulator"&]' +89 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"& & +4 "core" &ӑ# - / <9 +43 ."WCR"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +2 "manipulator"& & +2 "storage"(5 +5 "core" &ӑ"   \ <9 +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&z'? +95 "core" ' + "manipulator"&x& +4 "core" &Ӓ" ' # ? ;8 +3 "manipulator"&% +3 "core" %5 '  ! + +3 "collection"'& +4 "core" &W\ +3 "collection"'& +5 "core" &\ +2 ."WCR"CC.seek :closed +2 "collection"'(\\ +4 "core" &X\  +9 &3xS\ *y +9 &f{[\ > +10 &n[\ L +9 &UTW\ K +10 &QY\ K +9 &PT\ K +9 &SJ\ K +10 &]T\ K +9 &R\ K +9 &R\ K +10 & S\ K +9 &"eS\ K +10 &$'S\ K +9 &%R\ K +9 &'Q\ K +10 &)lS\ K +9 &+.S\ K +9 &,S\ K +10 &.T\ K +9 &0uS\ K +10 &27T\ K +9 &3R\ K +9 &5Q\ J +10 &7{U\ L +9 &9>S\ K +9 &;R\ K +10 &<U\ K +9 &>U\ K +10 &@FU\ K +9 &BS\ K +9 &C\\\ L +10 &Ee\ M +9 &G?\ P +9 &H\ T +10 &J\ W +9 &Lq\ W +10 &N2\ X +9 &O\ W +9 &Q\ Y +10 &St\ Y +9 &U4\ Z +9 &V\ Z +10 &X\ \\ +9 &Zu\ [ +10 &\\z|\ 1 +9 &\\0z\ ] +9 ( +3 "collection"'& +3 #"WCR"Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 .Hand.open + "manipulator"&}1 +2 "core" &\\p{\ P +57 1 + "manipulator"&~% +4 "core" % 5 1 /  + +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&!' +94 "core" ' +2 #"WCR"collectSample 50ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")+ +3 "core" + +2 "sampler")u% +5 "core" %ڬ `\  + "collection"'n& +4 "core" &\\ox\ P +4 "Can"\ [:nH +2 #"WCR"Calibrating pressure sensors + .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")\  +3 "core" +3 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X% +4 "core" %Q [\ ? +53 "collection"'<% +4 "core" %e{\ +2 "sampler");% +4 "core" %Q  a\ $ +60 "collection"'T% +3 "core" %e\ +2 "sampler")(% +4 "core" %Q [\ $ +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )&% +4 "core" %Q m\ $ +2 ."WCR"SSV.dial :exhaust +2 "sampler")B  +74 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml +2 "sampler")6'ڀ +401 "core" ' +2 ."WCR"Exhaust.select :close +3 "sampler") +9 #"WCR"Sampling 50.0ml +2 .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'.  +130 "core"  +2 "collection"'% +5 "core" %\ + ."WCR"CSV.dial between air and CTV +2 "collection"'+ ` +28 "core" a +2 ."WCR"CS.seek 7.292ml +2 "collection"'%'w +699 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'/  +2 '*  +27 "core"  +46  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"''i +1499 "core" 's\ \ )\ Ƨ +3 ."WCR"CBV.dial :waste2b +2 "collection"'2  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'''i +112 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%)  +32 "core" +2 ."da"delay 30 seconds +280 "core" ' +2 ."WCR"delay 1:00 +2720 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%1' +2391 "core" ' +2 ."da"PSV.dial :mixloop + "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%0  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%> +44 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%<  +51 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"';  +2 "core"  +4 ."da"PS.seek 0ml +2 "processing"%T'ؾ +122 "core" +3 #"WCR"Fix #1 of 1 (with RNAlater) for 4:00 + .CSV.dial CSR +2 "collection"'(  +40 "core"  + #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'&'T +587 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'B' +1049 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +130 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +596 "core" ' +2 ."da"delay 5 seconds +185 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"' @ +72 "core" > +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'7  +86 "core"  +2 "collection"'E% +4 "core" %2\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'F ` +89 ."da"PSR.select :air +6 "processing"% +3 "core" _ +3 ."WCR"CS.seek 7.326ml +2 "collection"'6' +5 ."da"PS.seek 2ml +2 "processing"%I' +688 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +4 ."WCR"CSV.dial CTV +3 "collection"'J  + 'A  +31 "core"  +98  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"''i +777 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%4 +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%D  +33 "core" + "processing"%$% +4 "core" %\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%?'( +586 "core" ' +2 ."da"delay 3 seconds +70 "core" '\ \ 2\ ȥ +3 ."WCR"delay 4:00 +229 ."da"PBV.dial between PSV and waste1 + "processing"%V * +32 "core" + +3 ."da"PS.seek 0ml + "processing"% 'ؾ +1603 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%S  +5 "core"  +2 ."da"PBV.dial :waste1 + "processing"%Y  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%` * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%[ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%P' +2385 "core" ' + ."da"PSV.dial PTV +2 "processing"%O +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%\\ +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%G  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +172 "Can"\ a;PD +2172 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%X +142 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%U' +236 ."WCR"CBV.dial :waste2b +2 "collection"'^  +29 "core"  +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'@'i +320 "core" ' +2 ."da"delay 5 seconds +57 "core" ' +2 ."WCR"delay 1:00 +443 ."da"PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%=' +1616 "core" ' +2 ."da"PTV.dial :puck + "processing"%K  +5 "core"  +2 ."da"PSV.dial PTV + "processing"%H +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%h  +33 "core" +2 "processing"%_% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%r'0 +600 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Z * +42 "core" , +8 ."da"PS.seek 0ml +2 "processing"%a'ؾ +1614 "core" ' +2 ."da"delay 2:00 +1227 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'c  +128 "core" +10646 #"da"recoverPSRreagent08 + .PTV.dial :puck + "processing"%Q  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%5  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%q * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%M' +2388 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%m +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%8 +72 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%b +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%t  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%N'ؾ +2355 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%v  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%e  +42 "core" ~ + ."da"PTV.dial :PRVmixing +2 "processing"%g  +15 "core" +2 ."da"PSV.dial :mixloop + "processing"%o +43 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%f' +384 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%s  +43 "core"  +2 "processing"%j% +3 "core" %\  +3 ."da"PS.seek 0.55ml +2 "processing"%9' +339 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%w  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"% ' +1579 "core" ' + ."da"PSV.dial :PML +2 "processing"%- +44 "core" + ."da"PTV.dial :mixing +2 "processing"%| @ +73 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%l% +3 "core" %\ +3 ."da"PS.seek 1.85ml + "processing"%x' +238 "core" ' +2 ."da"PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +23958 "Can"\ l;7 +24045 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"% @ +4 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%]  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%L * +33 "core" + +2 ."da"PSV.dial :air +2 "processing"%}  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%~' +2412 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%u +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%n  +44 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%,  +44 "core"  +2 ."da"PS.seek 0ml +41 "processing"%\ 'ؾ +2346 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%z +128 "core"  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +595 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml + "processing"%"' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core"  +2 "processing"%% +3 "core" %\  +3 ."da"PS.seek 1.5ml +2 "processing"%'- +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +3 ."da"PS.seek 0ml + "processing"%#'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + "processing"%k  +4 "core"  +2 ."da"PBV.dial :waste1 + "processing"%y  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%p * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%d +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%:' +2406 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%. +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%+  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2213 "Can"\ <|@ +126 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%* +129 "core"  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%/' +601 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%%' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%2 +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%)% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%'* +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1605 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%W  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%>' +2386 "core" ' +2 ."da"PSV.dial PTV + "processing"%< +121 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%; +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%( +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%1  +71 "core"  +3 ."da"PS.seek 0ml + "processing"%''ؾ +2334 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%& +130 "core"  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%T' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +83 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%7  +32 "core"  +2 "processing"%E% +3 "core" %\  +3 ."da"PS.seek 1.5ml + "processing"%F', +602 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%B * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1604 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%A  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%J * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%6 +70 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2366 "core" ' + ."da"PSV.dial PTV +2 "processing"%4 +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%D +69 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%$ +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%I  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%V'ؾ +2332 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates .PSR.select :air +2 .PSV.dial PSR + "processing"%? +133 "core"  +5 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +6 "processing"% +14 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +8 ."da"PS.seek 0.25ml +2 "processing"%S' +354 "core" ' +3 ."da"delay 5 seconds +502 #Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%Y' +339 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%`' +1614 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%[ +85 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%O% +4 "core" %\ z +2 ."da"PS.seek 1.5ml +2 "processing"%\\', +601 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +711 "Can"\  =7 +896 "core" ' +2 ."da"delay 10 seconds +1002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%P  +83 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%X * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%^ +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%3' +2404 "core" ' + ."da"PSV.dial PTV +2 "processing"% +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%U +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%K +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%H  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%h'ؾ +2385 "core" ' + #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%_ +131 "core"  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%=' +2133 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck + .PSV.dial PTV +2 "processing"%Z +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%r  +34 "core" +2 "processing"%c% +3 "core" %\ } +3 ."da"PS.seek 1.5ml +2 "processing"%Q'2 +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%5 * +34 "core" , + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%q  +103 "core"  +2 ."da"PS.seek 0ml + "processing"%i'ؾ +1609 "core" ' + "processing"%a9 +3 "core" 9}5h +3 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast + "processing"%m +3 "core" 5h +2 "processing"%8& +3 "core" &^+a\ 8 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&b% +4 "core" %  , + <  +2 "storage"(t% +3 "core" %  F\  +2 "storage"(M. +3 "core" .(  +3 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"((C +363 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (v& +3 "core" &E o\ v +2 "manipulator"&e& +5 "core" &ӡ " *  9) + "manipulator"&g% +4 "core" %  + ' o  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&o( +163 "core" ( + "manipulator"&N& +4 "core" & 7  +2 "storage"(s& +3 "core" &F \ z +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&j' +94 "core" ' + "storage"(f& +4 "core" &F\ +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(w'r +298 "core" ' +2 "storage"(9- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&-& +3 "core" &  M  +2 "storage"(|& +3 "core" &D  \ +3 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"& '8 +21 "core" ' + ."da"Elbow.hold +2 "manipulator"&l, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +46 "storage"(- +9 "core" -' +5 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"( ' +28 "core" ' +2 "manipulator"&x% +4 "core" %G "  f +2 "storage"(& +3 "core" &D \ y +2 ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 315 counts + "manipulator"&]'s +13 "core" ' +2 "manipulator"&L& +4 "core" &  j  +2 "storage"(}& +4 "core" &D \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +15 "core" ' +3 ."da"SE.seek 2.17 Pucks below Top Plate +2 "storage"(u'Z +35 "core" ' +2 "manipulator"&n& +3 "core" & s  +2 "manipulator"&% +4 "core" % / +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&,' +89 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&~( +259 "core" ( +2 "manipulator"&z& +3 "core" &   +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &  +2 ."da"Forearm.seek PC +2 "manipulator"&' +92 "core" ' +2 ."da"Hand.close + "manipulator"&/ +57 "core" / +2 ."da"PC.seek :open + "processing"%( +456 "core" ( + "storage"(& +4 "core" &D + + $\ +2 "manipulator"&& +3 "core" & \ \  +2 "manipulator"&"% +4 "core" %  +2 ."da"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&( +239 "core" ( +2 "manipulator"&k& +3 "core" &  p : +2 "storage"(y& +4 "core" &D \ | +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&p' +94 "core" ' + ."da"Hand.open +2 "manipulator"&d1 +63 "core" 1 +2 "storage"(#- +4 "core" -'Z +2 ."da"SE.seek 1.82 Pucks below Top Plate +2 "storage"('& +26 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 0.86 Pucks below Top Plate +2 "storage"(.' +49 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da24jan2315h50ml.tif +1949 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +5795 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 74.04 seconds\ /var/log/esp/da24jan2315h50ml.tif: TIFF Upload Complete\ +2 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da24jan2315h50ml15s.tif +1565 #SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da24jan2315h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 20.0 /var/log/esp/midres/da24jan2315h50ml20s.tif +2061 #SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 20 seconds\ /var/log/esp/midres/da24jan2315h50ml20s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "74.04 sec auto-exposure",Subject: "da24jan2315h50ml images!" +7 "storage"(- +12 "core" -' +9 "storage"(+& +6 "core" &D .\ +2 "manipulator"&:& +4 "core" & * ) Z : +3 ."da"Elbow.seek 1 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&& +4 "core" & / #  : +2 "storage"(/& +3 "core" &D <\ +3 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&2' +9 "core" ' +4 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 ."da"SE.seek 1.57 Pucks below Top Plate +2 "storage"( 'K +105 "core" ' +3 "manipulator"&)& +4 "core" &  0 : +2 "storage"(%& +4 "core" &D ]\ +3 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +3 "manipulator"&'8 +23 "core" ' + ."da"Elbow.hold +4 "manipulator"&, +2 "core" , +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.76 Pucks below Top Plate +2 "storage"(W' +25 "core" ' +2 "manipulator"&% +4 "core" %G " $ - +2 "storage"(0& +4 "core" &D `\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 315 counts + "manipulator"&'s +16 "core" ' +2 "manipulator"&<& +3 "core" &  \ c : +3 "storage"(;& +3 "core" &D R\ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&(' +15 "core" ' +20 "storage"(1% +10 "core" % \ +7 ."downElevator"SE.seek :down +8 "storage"(>' +95 (&% +8 "core" %I< \ U[ +3 "manipulator"&'% +8 "core" % \ 4 +6 ."da"Forearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +8 ."da"Forearm.seek :retract +3 "manipulator"&' +92 "core" ' +26 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (& +8 "core" &D {\ +8 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +6 "collection"'7& +4 "processing"%E& +17 "core" &\\n&\ P +3 &]\ +7 "manipulator"&T& +13 "core" & \ : +3 "manipulator"&B% +11 "core" %   +4 ."psFlush"Elbow.seek FlushPuck::Garage +6 "manipulator"&F(- +177 "core" ( +5 "manipulator"&A& +6 "core" &- \  K +5 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +6 &J& +5 "core" &- \ \ K +4 ."psFlush"Forearm.seek :garage +4 "manipulator"&6'w +103 "core" ' +3 ."psFlush"Hand.close +3 "manipulator"&/ +56 "core" / +4 "manipulator"&4& +9 "core" &-  ] K +4 "manipulator"&D% +6 "core" % z n +6 ."psFlush"Forearm.seek :retract +4 "manipulator"&$' +96 "core" ' +5 ."psFlush"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 ."psFlush"Elbow.seek PC +4 "manipulator"&I( +122 "core" ( +2 "manipulator"& & +9 "core" &  t " +2 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &?& +8 "core" & " +9 ."psFlush"Forearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +6 ."psFlush"Forearm.seek PC +5 "manipulator"&V' +103 "core" ' +4 "manipulator"&S& +6 "core" &  { " +5 "manipulator"&Y% +7 "core" %  V +6 "processing"%[& +6 "core" &K\ +6 "processing"% & +118 "core" &@\ +7 ."psFlush"PC.seek :closed +2 "processing"%O(^ +10 "core" &>\ +2 &=\ +6 & -9\ #b +6 &Uw1\ 6 +9 &z9\ K +10 &S0\ M +10 &cS1\ L +8 &%Q/\ L +11 &W6\ M +8 &Q2\ M +9 &jQ3\ M +11 &-T.\ L +8 &T2\ L +11 &!T/\ M +11 &#rY!\ M +9 &%5T#\ L +7 &&T \ M +9 &(Y#\ M +9 &*zT#\ M +11 &,;S \ M +8 &-T"\ L +10 &/U"\ M +10 &1V"\ M +8 &3DY"\ M +11 &5W!\ M +8 &6T!\ M +9 &8V\ M +12 &:LX\ M +10 &<V\ L +8 &=W\ M +8 &?Y\ M +9 &ASX\ M +11 &Ci\ O +8 &Dk\ O +9 &F\ Q +11 &HI\ S +8 &J \ S +11 &K\ S +10 &M\ S +8 &ON\ T +10 &Q\ T +8 &R\ T +9 &T \ U +11 &VW\ T +8 &X\ U +10 &Y\ T +10 &[\ T +8 &]\\\ B +11 &^P|\ F +8 &^\ \ Y +9 &^%\ 2 +3 ( +7 "processing"% & +4 "core" &^#\ 2 +6 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + "processing"%`& +7 "core" &^#\ 2 +4 ."psFlush"Hand.open +2 "manipulator"&1 +66 "core" 1 +4 "manipulator"&\\% +9 "core" %  N +8 ."psFlush"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."psFlush"Forearm.seek :retract +3 "manipulator"&P' +94 "core" ' +4 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +4 ."psFlush"PSR.select :air +4 "manipulator"&X% +7 ."psFlush"PSV.dial PSR +8 "processing"%^ +6 "core" %   ( (  +3 "storage"(G% +9 "core" % 3\  +4 "storage"(. +8 "core" .(F +8 ."WCR"SC.reconfigure :tight +9 "storage"($\ .\ 1~b +6 ."WCR"SC.seek 1 +3 "storage"(U(C +4 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +4 .PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%K' +60 "core" ( +3 ."WCR"SC.configure :limp +5 "storage"($\ 1b +6 (H& +6 "core" &F V\  +3 "manipulator"&3& +9 "core" & ) $ 9 " +3 "manipulator"&_% +10 "core" %  * & )  +4 ."WCR"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 ."WCR"Elbow.seek 1 +4 "manipulator"&h( +258 "core" ( +2 "manipulator"&Z& +5 #"uploadLog"upsync +2 "core" &    +2 "storage"(r& +4 "core" &F *\  +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&c' +99 "core" ' +2 "storage"(=& +4 "core" &F \  +3 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."WCR"SE.seek :beamBreak +2 "storage"(5'r +67 "core" ' + ."psFlush"delay 5 seconds +219 "core" ' +2 "storage"(q- +2 "core" -' +3 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &   @  +2 "storage"(a& +4 "core" &F i\  +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek 1 +2 "manipulator"&m'8 +19 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&8, +4 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +50 ."WCR"SE.seek 2.16 Pucks below Top Plate +2 "storage"(t'S +29 "core" ' +2 "manipulator"&M% +4 "core" %B ) & A +2 "storage"(R& +4 "core" &F \  +2 ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 310 counts +2 "manipulator"&v'n +24 "core" ' +2 "manipulator"&e& +3 "core" &    +2 "storage"(g& +4 "core" &F \  +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&N' +21 "core" ' +2 ."WCR"SE.seek 3.16 Pucks below Top Plate +2 "storage"(s' +41 ."psFlush"PSR.select :air +2 "processing"% +4 "core" ' +2 "manipulator"&f& +4 "core" & )   +2 "manipulator"&% +5 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +2 "core" %  \ +4 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&9' +89 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&-(ӂ +159 "core" ( + "manipulator"&|& +4 "core" &ӑ" 1 - e <; +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӓ" , ! <: +3 ."WCR"Forearm.seek CC + "manipulator"&x'? +96 "core" ' +2 ."WCR"Hand.close + "manipulator"&/ +60 "core" / +2 ."WCR"CC.seek :open +2 "collection"'L( +448 "core" ( +3 "storage"(}& +3 "core" &F i\  +3 "storage"(n& +3 "core" &F \  +2 "manipulator"&& +4 "core" &ө " , 9# +2 "manipulator"&j% +4 "core" % = , -   +3 ."WCR"Forearm.seek :retract + "manipulator"&o' +96 "core" ' +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 + "manipulator"&w( +163 "core" ( +2 "manipulator"& & +4 "core" & l  +2 "storage"(]& +3 "core" &F ~\  +3 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"& '8 +96 "core" ' +2 ."WCR"Elbow.hold +2 "manipulator"&, +3 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&z1 +57 "core" 1 +3 "manipulator"&\ % +3 "core" % A   +2 "storage"(l& +5 "core" &F \  + ."WCR"Forearm.force -20 +2 "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 309 counts + "manipulator"&'m +25 "core" ' + "manipulator"&,& +42 "core" &   n  +8 "storage"(C& +4 "core" &F -\  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(% +4 "core" % Q\ +3 ."downElevator"SE.seek :down +3 "storage"("' +99 (% +3 "core" %h< C\ TZ +2 "manipulator"&k% +5 "core" %  G +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&y' +89 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge +353 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%~ @ +180 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%d  +128 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%# +100 "core" +3 ."psFlush"PS.seek :empty + "processing"%'ؠ +1119 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +1519 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%u +101 "core"  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +599 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +2133 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%+  +34 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%: @ +71 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"% +102 "core" +2 ."psFlush"PS.seek :empty + "processing"%/'ؠ +2646 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%) +100 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%%'X\\ +1100 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +1620 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%0 +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%<  +70 "core"  +2 ."psFlush"PBV.dial :waste1 + "processing"%;  +16 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%p +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%1' +594 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%.' +2129 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%& +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%' U +51 "core" W +3 ."psFlush"PS.seek 0ml + "processing"%2'ؾ +2639 "core" ' + ."psFlush"PSV.dial PBV +46 "processing"%* @ +54 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +1629 "Can"\ M,=: +997 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%E' +2641 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%7 +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%W U +15 "core" S +2 ."psFlush"PS.seek 0ml +2 "processing"%T'ؾ +2648 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%B @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%A  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%J'ؾ +2626 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%> +44 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1093 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1619 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%4 +70 "core" +2 ."psFlush"PTV.dial :puck + "processing"%D  +5 "core"  +2 ."psFlush"PBV.dial :waste1 + "processing"%  +52 "core" +2 ."psFlush"PS.seek 0ml + "processing"% 'ؾ +2651 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%? +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%6' +584 "core" ' +2 ."psFlush"PSR.select :air + "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%S' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Y +84 "core" +2 ."psFlush"PBV.dial PSV + "processing"%F U +52 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%['ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%$ @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%`  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%\\ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"% ' +2642 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%X +70 "core" +2 ."psFlush"PBV.dial PSV + "processing"%G U +5 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%^ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%H' +2668 "core" ' +7 ."psFlush"PSV.dial :waste1 +2 "processing"%3  +70 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%V'ؾ +2651 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'_& +4 "core" &b\ +2 "manipulator"&& +4 "core" &  +2 "manipulator"&i% +4 "core" %  \ \  +2 .tElbow.seek PC +2 "manipulator"&Z( +259 "core" ( +2 "manipulator"&r& +3 "core" &  R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &  +3 .tForearm.seek PC + "manipulator"&=' +94 "core" ' + .tHand.close + "manipulator"&P/ +54 "core" / +2 .tPC.seek :open + "processing"%q( +462 "core" ( + "manipulator"&Q& +4 "core" & \ +2 "manipulator"&a% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&b' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&M(ӂ +350 "core" ( + "manipulator"&R& +4 "core" &ә   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &ә  7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'? +97 "core" ' +2 "manipulator"&f& +3 "core" &ә   7 +3 "manipulator"&% +3 "core" %I  ) +3 "collection"'c& +3 "core" &e\ +3 "collection"'h& +5 "core" &e\ +2 .tCC.seek :closed + "collection"'5(\\ +4 "core" &_\ +9 &;^\ %g +9 &Yy]\ 8 +10 &s^\ L +9 &P`\ L +9 &R\\\ K +10 &FS`\ L +9 &Ub\ L +9 &Rb\ K +10 &S_\ L +9 &NWZ\ L +10 & P^\ L +9 &!Rc\ K +9 &#S_\ K +10 &%WRb\ K +9 &'S_\ L +9 &(U^\ L +10 &*U]\ L +9 &,^V]\ L +9 &. Va\ L +10 &/W_\ L +9 &1V[\ L +10 &3fV\\\ L +9 &5(W`\ L +9 &6Q^\ L +10 &8T]\ K +9 &:nTX\ L +10 &>I +156 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'+  +2 ':  +6 "core"  +34  +2 .tCBV.dial :waste2b + "collection"'  +98 "core"  +3 .tCS.seek 0ml + "collection"''i +1675 "core" ' + #tDisinfecting external Intake with kill + "collection"')& +4 "core" &\\kZ\ O +2 "collection"'/% +4 "core" %gZ\ +2 .tCSV.dial CSR + "collection"'%  +41 "core"  +2 #tPulling 8ml of CSR.kill .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'0' +2003 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'<' +562 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'; +2 '  +45 "core"  +55 +2 .tCTV.dial :intake + "collection"'p  +75 "core" +2 .tIntake.select :open + "sampler") +54 .tCS.seek 2ml + "collection"''T +1917 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'1  +72 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'&'i +594 "core" ' + .tCSV.dial CSR +2 "collection"''  +98 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.seek 5ml + "collection"'.'s5 +1354 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'*' +1361 "core" ' +2 .tCSV.dial CBV +2 "collection"'2 +97 "core" +2 .tCS.seek 0ml + "collection"''i +2659 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"& & +3 "core" &Ӣ 8 6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +15 "core" ( +2 "manipulator"&& +4 "core" &ӆ  ; * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &ӆ > * +3 .tForearm.seek CC + "manipulator"&W'? +94 "core" ' + .tHand.close +2 "manipulator"&E/ +61 "core" / +2 .tCC.seek :open + "collection"'B( +449 "core" ( +2 "manipulator"&T& +3 "core" &Ӝ  ' +2 "manipulator"&A% +4 "core" % F \  +3 .tForearm.seek :retract + "manipulator"&(' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&>(- +284 "core" ( + "manipulator"&J& +4 "core" &-  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- 2 + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&4'w +102 "core" ' +2 .tHand.open + "manipulator"&D1 +64 "core" 1 +2 "manipulator"&% +3 "core" % ρ   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 #tCompleted [initialPurge; da [50, 50] #da and wsr are run simultanelously] begun 13:58:50 +5 #Asleep after completing DA_WCR_011024 assays +2 ."Qmail"GoodNews.email "{1 => 4,\\n 2 => 0,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@15:48:05, 26% flow, 22.3C, 14% humidity, 15.1psia, 13.656V, 0.447A, 93.506Ah, 6.11W\\nSampled 50.0ml",Subject: "Asleep after completing DA_WCR_011024 assays"